private void toolStripButton3_Click(object sender, EventArgs e)
{
if (lstFrames.SelectedItems.Count > 0)
{
List <ILogger> loggers = new List <ILogger>();
loggers.Add(mainForm.ConsoleLogger);
ProgressBarWnd wnd = new ProgressBarWnd();
wnd.Text = "Exporting frame...";
wnd.ProgressBarStyle = ProgressBarStyle.Blocks;
loggers.Add(wnd);
MultipleLogger logger = new MultipleLogger(loggers);
HotFrame hotFrame = lstFrames.SelectedItems[0].Tag as HotFrame;
var rootFolder = project.Folder + "\\" + Project.MetadataFolder;
var annot = hotFrame.Timestamp.ToString("HH_mm_ss");
wnd.Worker.DoWork += delegate(object senderWorker, DoWorkEventArgs eWorker)
{
MatlabExporter.ExportHotFrame(rootFolder, annot, hotFrame, MatlabExporterOptions.Overwrite, logger, wnd.CancelTokenSource.Token);
};
wnd.ShowDialog();
}
}
private void sampleLiDARToolStripMenuItem_Click(object sender, EventArgs e)
{
if (TimeLineWnd == null)
{
MessageBox.Show("Frame is not selected! Open the TimeLine window and select a frame.", "Frame is not selected", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
List <ILogger> loggers = new List <ILogger>();
loggers.Add(ConsoleLogger);
MainForm form = (MainForm)this.MdiParent;
ProgressBarWnd wnd = new ProgressBarWnd();
wnd.Text = "Export LiDAR frames...";
loggers.Add(wnd);
MultipleLogger logger = new MultipleLogger(loggers);
wnd.WriteLine("Export LiDAR frames..");
toolStripProgressBar.Visible = true;
DateTime startTime = TimeLineWnd.CurrentTime;
startTime = new DateTime(startTime.Year, startTime.Month, startTime.Day, startTime.Hour, startTime.Minute, startTime.Second);
wnd.Worker.DoWork += delegate(object senderWorker, DoWorkEventArgs eWorker)
{
try
{
for (int k = 0; k < 100; k++)
{
wnd.CancelTokenSource.Token.ThrowIfCancellationRequested();
DateTime currentTime = startTime.AddSeconds(k);
wnd.WriteLine("Time: " + currentTime.ToString("yyyy-MM-hh HH:mm:ss.fff"));
this.SampleLiDAR(currentTime, LiDARTransformType.None);
}
}
catch (OperationCanceledException)
{
logger.WriteLineWarning("User cancelled!");
return;
}
catch (Exception ex)
{
logger.WriteLineError("Error occured: " + ex.Message);
}
logger.WriteLineInfo("done.");
};
wnd.Worker.RunWorkerCompleted += delegate(object senderWorker, RunWorkerCompletedEventArgs eWorker)
{
toolStripProgressBar.Visible = false;
};
wnd.ShowDialog();
}
/// <summary>
/// Convert Velodyne data stream into internal format
/// </summary>
/// <param name="velodyneDataStream"></param>
private void ConvertVelodyneDataStream(VelodyneDataStream velodyneDataStream)
{
MainForm form = (MainForm)this.MdiParent;
ProgressBarWnd wnd = new ProgressBarWnd();
wnd.Text = "Conversion: " + velodyneDataStream.ShortName;
// create multiple logger
List <ILogger> loggers = new List <ILogger>();
loggers.Add(Logger);
loggers.Add(wnd);
MultipleLogger logger = new MultipleLogger(loggers);
wnd.Worker.DoWork += delegate(object senderWorker, DoWorkEventArgs eWorker)
{
foreach (VelodyneDataLine dataLine in velodyneDataStream.DataLines)
{
VelodyneConverter converter = VelodyneConverter.Create(form.Project.Folder + "\\" + velodyneDataStream.SubFolder + "\\" + dataLine.PcapLocation);
converter.ProgressReport += delegate(object senderReport, ProgressReportEventArgs argsReport)
{
logger.WriteLineInfo(argsReport.CurrentDataTime.ToString("yyy-MM-dd hh:mm:ss") + " " + argsReport.ReadBytes / 1000000 + " MB " + argsReport.Precentage.ToString("0.00") + "%" + Environment.NewLine);
logger.WriteProgress(argsReport.Precentage);
};
try
{
converter.Convert(wnd.CancelTokenSource.Token);
}
catch (OperationCanceledException)
{
// TODO: clean up files!
}
catch (Exception ex)
{
logger.WriteLineInfo("Error occured: " + ex.Message);
}
}
};
wnd.Worker.RunWorkerCompleted += delegate(object senderWorker, RunWorkerCompletedEventArgs eWorker)
{
logger.WriteLineInfo("Conversion done.");
logger.WriteProgress(100);
};
wnd.ShowDialog();
}
private void VelodyneStreamWnd_Load(object sender, EventArgs e)
{
MainForm form = (MainForm)this.MdiParent;
VelodyneDataLine dataLine = ((VelodyneDataLine)DataStream.DataLines[0]);
String pcapFile = form.Project.Folder + "\\" + DataStream.SubFolder + "\\" + dataLine.PcapLocation;
String indexFile = VelodyneConverter.GetDefaultIndexFile(pcapFile);
String pointFile = VelodyneConverter.GetDefaultPointFile(pcapFile);
ProgressBarWnd wnd = new ProgressBarWnd();
wnd.Text = "Load data stream: " + ((VelodyneDataStream)DataStream).ShortName;
wnd.Worker.DoWork += delegate(object senderWorker, DoWorkEventArgs eWorker)
{
VelodyneReader.ClearProgressReport();
VelodyneReader.ProgressReport += delegate(object senderReader, ProgressReportEventArgs argsReport)
{
form.ReportProgress(argsReport.Precentage);
logger.WriteInfo(argsReport.CurrentDataTime.ToString("yyy-MM-dd hh:mm:ss") + " " + argsReport.ReadBytes / 1000000 + " MB " + argsReport.Precentage.ToString("0.00") + "%" + Environment.NewLine);
wnd.WriteLine(argsReport.CurrentDataTime.ToString("yyy-MM-dd hh:mm:ss") + " " + argsReport.ReadBytes / 1000000 + " MB " + argsReport.Precentage.ToString("0.00") + "%" + Environment.NewLine);
((BackgroundWorker)senderWorker).ReportProgress(Convert.ToInt32(argsReport.Precentage));
};
veloReader = VelodyneReader.Open(((VelodyneDataStream)DataStream).SensorType, ReturnMode.StrongestReturnOnly, indexFile, pointFile);
};
wnd.Worker.RunWorkerCompleted += delegate(object senderWorker, RunWorkerCompletedEventArgs eWorker)
{
wnd.Close();
form.ReportProgress(100);
// set scroll bar
idxStart = veloReader.Indeces.First();
IndexData idxLast = veloReader.Indeces.Last();
trackBar.Minimum = 0;
trackBar.Maximum = Convert.ToInt32((idxLast.InternalTimeStamp.Ticks - idxStart.InternalTimeStamp.Ticks) / TimeSpan.TicksPerSecond);
this.Text = "Streams: ";
foreach (VelodyneDataStream ds in this.VeodyneDataStreams)
{
this.Text += ds.ShortName + " ";
}
// set reader to the first index
veloReader.Seek(idxStart);
viewer.Render();
};
wnd.ShowDialog();
}
private void extractFolderToolStripMenuItem_Click(object sender, EventArgs e)
{
List <ILogger> loggers = new List <ILogger>();
loggers.Add(ConsoleLogger);
if (!Directory.Exists(Project.Folder + "\\" + Project.MetadataFolder))
{
Directory.CreateDirectory(Project.Folder + "\\" + Project.MetadataFolder);
}
var fileLogger = FileLogger.Create(Project.Folder + "\\" + Project.MetadataFolder + "\\metadata.txt", Project.Folder + "\\" + Project.MetadataFolder + "\\warnings.txt");
loggers.Add(fileLogger);
MainForm form = (MainForm)this.MdiParent;
ProgressBarWnd wnd = new ProgressBarWnd();
wnd.Text = "Loading project...";
wnd.ProgressBarStyle = ProgressBarStyle.Blocks;
loggers.Add(wnd);
MultipleLogger logger = new MultipleLogger(loggers);
wnd.WriteLine("Start loading project: " + projectFolder);
toolStripProgressBar.Visible = true;
wnd.Worker.DoWork += delegate(object senderWorker, DoWorkEventArgs eWorker)
{
try
{
MetadataBuilder.Create(Project, new MultipleLogger(loggers), wnd.CancelTokenSource.Token);
}
catch (OperationCanceledException)
{
}
catch (Exception ex)
{
logger.WriteLineError("Error occured: " + ex.Message);
}
};
wnd.Worker.RunWorkerCompleted += delegate(object senderWorker, RunWorkerCompletedEventArgs eWorker)
{
toolStripProgressBar.Visible = false;
fileLogger.Flush();
fileLogger.Dispose();
};
wnd.ShowDialog();
}
private void updateFileTimesToolStripMenuItem_Click(object sender, EventArgs e)
{
List <ILogger> loggers = new List <ILogger>();
loggers.Add(ConsoleLogger);
MainForm form = (MainForm)this.MdiParent;
ProgressBarWnd wnd = new ProgressBarWnd();
wnd.Text = "Updating file times...";
loggers.Add(wnd);
MultipleLogger logger = new MultipleLogger(loggers);
wnd.WriteLine("Start updating file times: " + projectFolder);
toolStripProgressBar.Visible = true;
wnd.Worker.DoWork += delegate(object senderWorker, DoWorkEventArgs eWorker)
{
try
{
int k = 0;
foreach (DataStream stream in Project.DataStreams)
{
wnd.CancelTokenSource.Token.ThrowIfCancellationRequested();
logger.WriteProgress((++k / (double)Project.DataStreams.Count()) * 100.0);
if (stream is ImageDataStream)
{
logger.WriteLineInfo("Image data stream: " + stream.ShortName);
ImageDataStream imageDataStream = stream as ImageDataStream;
imageDataStream.UpdateFileTimes();
}
if (stream is VideoDataStream)
{
logger.WriteLineInfo("Image data stream: " + stream.ShortName);
VideoDataStream videoDataStream = stream as VideoDataStream;
videoDataStream.UpdateFileTimes();
}
}
}
catch (OperationCanceledException)
{
logger.WriteLineWarning("User cancelled!");
return;
}
catch (Exception ex)
{
logger.WriteLineError("Error occured: " + ex.Message);
}
logger.WriteLineInfo("done.");
};
wnd.Worker.RunWorkerCompleted += delegate(object senderWorker, RunWorkerCompletedEventArgs eWorker)
{
toolStripProgressBar.Visible = false;
};
wnd.ShowDialog();
}
private void loadToolStripMenuItem_Click(object sender, EventArgs e)
{
FolderBrowserDialog fdb = new FolderBrowserDialog();
DialogResult result = fdb.ShowDialog();
if (result != DialogResult.OK)
{
return;
}
projectFolder = fdb.SelectedPath;
MainForm form = (MainForm)this.MdiParent;
ProgressBarWnd wnd = new ProgressBarWnd();
wnd.Text = "Loading project...";
wnd.ProgressBarStyle = ProgressBarStyle.Marquee;
// create multiple logger
List <ILogger> loggers = new List <ILogger>();
loggers.Add(ConsoleLogger);
loggers.Add(wnd);
MultipleLogger logger = new MultipleLogger(loggers);
logger.WriteLineInfo("Start loading project: " + projectFolder);
wnd.Worker.DoWork += delegate(object senderWorker, DoWorkEventArgs eWorker)
{
try
{
Project = Project.Load(projectFolder, logger);
}
catch (OperationCanceledException)
{
logger.WriteLineInfo("Cancelled!");
eWorker.Cancel = true;
}
catch (Exception ex)
{
logger.WriteLineInfo("Error occured: " + ex.Message);
eWorker.Cancel = true;
}
};
wnd.Worker.RunWorkerCompleted += delegate(object senderWorker, RunWorkerCompletedEventArgs eWorker)
{
if (!eWorker.Cancelled)
{
logger.WriteLineInfo("Project has been loaded!");
logger.WriteLineInfo("Project folder: " + this.Project.Folder);
logger.WriteLineInfo("No. of data streams: " + this.Project.DataStreams.Count());
MetadataBuilder.PrintSummary(this.Project, ConsoleLogger);
if (DataStreamWnd != null)
{
DataStreamWnd.UpdateUI();
}
form?.ReportProgress(100);
wnd.WriteProgress(100);
wnd.Close();
}
};
wnd.ShowDialog();
}