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DetourDraw.ManAnnot.cs
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DetourDraw.ManAnnot.cs
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using System;
using System.Collections;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Drawing;
using System.IO;
using System.IO.Compression;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using DetourCore;
using DetourCore.CartDefinition;
using DetourCore.Debug;
using DetourCore.Types;
using Fake.Algorithms;
using Fake.UI;
using Fake.UI.MessyEngine.MEBuffers;
using Fake.UI.MessyEngine.MEMeshes;
using Fake.UI.MessyEngine.MEObjects;
using Fake.UI.MessyEngine.MEShaders;
using IconFonts;
using ImGuiNET;
using ImGuizmoNET;
using OpenTK;
using OpenTK.Graphics.OpenGL;
using ThreeCs.Cameras;
using Camera = ThreeCs.Cameras.Camera;
using Matrix4 = ThreeCs.Math.Matrix4;
using Vector3 = ThreeCs.Math.Vector3;
namespace Detour3D.UI
{
partial class DetourDraw
{
[StructLayout(LayoutKind.Sequential)]
public struct LidarPoint3D
{
public float d;
public float azimuth;
public float altitude;
public float intensity; //0~255
public float progression;
public override string ToString()
{
return $"d:{d}|azi:{azimuth}|alti:{altitude}|inten:{intensity}";
}
}
public struct LidarPoint2D
{
public float th;
public float d;
public float intensity; //0~255
public override string ToString()
{
return $"d:{d}|th:{th}";
}
}
// distortion compensation
private static bool useDistortionRectification = false;
private static int clockWise = 1;
private static float startAngle = 0;
// file
private static bool is2D = false;
private static string[] _flList;
private static string selectedFolder;
private static int frameCnt = 0;
private static bool inTimeEDL = false;
// point cloud and poses
public static CloudsObject ManCloudsObjects;
public static int ZmoMode = 0;
public static ImGuizmoNET.OPERATION CurrentGizmoOp = OPERATION.TRANSLATE;
public static ImGuizmoNET.MODE CurrentGizmoMode = MODE.LOCAL;
public static PerspectiveCamera Camera;
public static Size ClientSize;
private static float[] _modelMatrix = new float[]
{
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f
};
private static float[] lastModelMatrix = new float[]
{
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f
};
private static float[] _vecTrans = new float[3];
private static float[] _vecRot = new float[3];
private static float[] _vecScl = new float[3];
private static bool adjustMultiple = false;
private static float[] adjMultiRevMat = new float[16];
// UI
private static bool setScroll2Bottom = false;
private static string _radioSelcName = "";
private static string _radioPrevName = "";
private static string _radioLastName = ""; // last frame
private static int _radioSelc = -1;
public static bool[] ManualKeys = new bool[6];
private static float dragSpeed = 0.01f;
// public static bool EnableEyeDomeLighting = true;
public static object ManualEyeDomeLock;
public static int EyeDomeNum = 30;
private static ConcurrentQueue<CloudLoader> framesQueue = new ConcurrentQueue<CloudLoader>();
private class CloudLoader
{
public List<LidarPoint3D> points;
public string lidarPath;
public int frameCnt;
public float[] om;
}
private static void ManualAnnotation()
{
ImGui.Text("畸变矫正");
ImGui.SameLine();
ImGui.Checkbox("开启", ref useDistortionRectification);
if (useDistortionRectification)
{
ImGui.InputFloat("起始角度", ref startAngle);
ImGui.RadioButton("顺时针", ref clockWise, 0);
ImGui.SameLine();
ImGui.RadioButton("逆时针", ref clockWise, 1);
}
ImGui.Separator();
ImGui.Text("Eye Dome Lighting");
if (ImGui.Button("渲染"))
{
foreach (var kvp in ManCloudsObjects.CloudDictionary)
{
kvp.Value.IsDisplay = false;
}
lock (ManualEyeDomeLock)
Monitor.PulseAll(ManualEyeDomeLock);
}
ImGui.SameLine();
if (ImGui.Button("恢复"))
{
var painter = D.inst.getPainter($"lidar3dManual");
painter.clear();
foreach (var kvp in ManCloudsObjects.CloudDictionary)
{
kvp.Value.IsDisplay = true;
}
}
ImGui.SameLine();
ImGui.Checkbox("实时显示10帧", ref inTimeEDL);
ImGui.DragInt("渲染数", ref EyeDomeNum, 0.3f, 0, 200);
ImGui.Separator();
ImGui.Checkbox("2d数据", ref is2D);
if (ImGui.Button("打开数据所在文件夹"))
{
var openFolderTask = new Thread(() =>
{
var dialog = new FolderPicker();
if (dialog.ShowDialog(IntPtr.Zero) == true)
{
selectedFolder = dialog.ResultPath;
bool isLidarzip = false;
var od = new OpenFileDialog();
var flist = Directory.GetFiles(selectedFolder).Select(fn =>
new
{
fn,
d = File.GetLastWriteTime(fn)
}).OrderBy(p => p.d).Select(pck => pck.fn).ToArray();
if (flist[0].EndsWith(".lidarzip")|| flist[1].EndsWith(".lidarzip")|| flist[2].EndsWith(".lidarzip")|| flist[3].EndsWith(".lidarzip")|| flist[4].EndsWith(".lidarzip")|| flist[5].EndsWith(".lidarzip")|| flist[6].EndsWith(".lidarzip")) isLidarzip = true;
else isLidarzip = false;
if (isLidarzip)
{
Console.WriteLine("lidarzip path open done");
_flList = Directory.GetFiles(selectedFolder).Where(name => name.Split('.').Last() == "lidarzip")
.Select(fn => new
{
fn,
d = File.GetLastWriteTime(fn)
}).OrderBy(p => p.d).Select(pck => pck.fn).ToArray();
}
else
{
Console.WriteLine("lidar path open done");
_flList = Directory.GetFiles(selectedFolder).Where(name => name.Split('.').Last() == "lidar")
.Select(fn => new
{
fn,
d = File.GetLastWriteTime(fn)
}).OrderBy(p => p.d).Select(pck => pck.fn).ToArray();
}
}
});
openFolderTask.SetApartmentState(ApartmentState.STA);
openFolderTask.Start();
}
ImGui.SameLine();
if (ImGui.Button(label: "下一帧 (N)"))
{
NextManualFrame();
if (inTimeEDL)
{
int count = 0;
foreach (var kvp in ManCloudsObjects.CloudDictionary)
{
if (count < frameCnt-10 || count == frameCnt-1)
{
kvp.Value.IsDisplay = true;
count++;
continue;
}
kvp.Value.IsDisplay = false;
count++;
}
lock (ManualEyeDomeLock)
Monitor.PulseAll(ManualEyeDomeLock);
}
}
void DrawFilesList()
{
ImGuiWindowFlags window_flags = ImGuiWindowFlags.HorizontalScrollbar;
ImGui.BeginChild("ChildWindow", new System.Numerics.Vector2(ImGui.GetWindowContentRegionWidth(), 200), false,
window_flags);
var lastName = "";
foreach (var pair in ManCloudsObjects.CloudDictionary)
{
pair.Value.Hovered = false;
ImGui.PushID($"button_{pair.Key}");
if (pair.Value.IsDisplay)
{
if (ImGui.Button($"{FontAwesome5.Eye}")) pair.Value.IsDisplay = false;
}
else
{
if (ImGui.Button($"{FontAwesome5.EyeSlash}")) pair.Value.IsDisplay = true;
}
if (ImGui.IsItemHovered()) pair.Value.Hovered = true;
ImGui.PopID();
ImGui.SameLine(0, -1);
if (ImGui.RadioButton(pair.Key, ref _radioSelc, pair.Value.id))
CommitMultiPoses();
if (ImGui.IsItemHovered()) pair.Value.Hovered = true;
if (_radioSelc == pair.Value.id)
{
_radioSelcName = pair.Key;
_radioPrevName = lastName;
}
lastName = pair.Key;
}
if (setScroll2Bottom)
{
ImGui.SetScrollHereY(1.0f);
setScroll2Bottom = false;
}
ImGui.EndChild();
}
DrawFilesList();
if (_radioSelcName != _radioLastName && ManCloudsObjects.CloudDictionary.ContainsKey(_radioLastName))
{
Console.WriteLine($"选中帧：{_radioSelcName}");
}
_radioLastName = _radioSelcName;
if (ManCloudsObjects.CloudDictionary.ContainsKey(_radioSelcName) &&
ImGui.Checkbox("调整选定帧及其后整个序列", ref adjustMultiple))
{
if (adjustMultiple)
{
adjMultiRevMat = new ThreeCs.Math.Matrix4(_modelMatrix).GetInverse().Elements;
var flag = false;
foreach (var kvp in ManCloudsObjects.CloudDictionary)
{
if (flag) kvp.Value.IsAdjMulti = true;
if (kvp.Key == _radioSelcName) flag = true;
}
}
else CommitMultiPoses();
}
if (ImGui.RadioButton("平移 (T)", ref ZmoMode, 0))
CurrentGizmoOp = OPERATION.TRANSLATE;
ImGui.SameLine(0, -1);
if (ImGui.RadioButton("旋转 (R)", ref ZmoMode, 1))
CurrentGizmoOp = OPERATION.ROTATE;
_modelMatrix = ManCloudsObjects.CloudDictionary.ContainsKey(_radioSelcName)
? ManCloudsObjects.CloudDictionary[_radioSelcName].ModelMatrix
: _modelMatrix = new float[16];
ImGuizmo.DecomposeMatrixToComponents(ref _modelMatrix[0], ref _vecTrans[0], ref _vecRot[0], ref _vecScl[0]);
void Respond2Keys()
{
if (ManualKeys[0])
{
ManualKeys[0] = false;
if (CurrentGizmoOp == OPERATION.TRANSLATE) _vecTrans[0] += dragSpeed;
else _vecRot[0] += dragSpeed;
DeformationCompensation();
}
if (ManualKeys[1])
{
ManualKeys[1] = false;
if (CurrentGizmoOp == OPERATION.TRANSLATE) _vecTrans[0] -= dragSpeed;
else _vecRot[0] -= dragSpeed;
DeformationCompensation();
}
if (ManualKeys[2])
{
ManualKeys[2] = false;
if (CurrentGizmoOp == OPERATION.TRANSLATE) _vecTrans[1] += dragSpeed;
else _vecRot[1] += dragSpeed;
DeformationCompensation();
}
if (ManualKeys[3])
{
ManualKeys[3] = false;
if (CurrentGizmoOp == OPERATION.TRANSLATE) _vecTrans[1] -= dragSpeed;
else _vecRot[1] -= dragSpeed;
DeformationCompensation();
}
if (ManualKeys[4])
{
ManualKeys[4] = false;
if (CurrentGizmoOp == OPERATION.TRANSLATE) _vecTrans[2] += dragSpeed;
else _vecRot[2] += dragSpeed;
DeformationCompensation();
}
if (ManualKeys[5])
{
ManualKeys[5] = false;
if (CurrentGizmoOp == OPERATION.TRANSLATE) _vecTrans[2] -= dragSpeed;
else _vecRot[2] -= dragSpeed;
DeformationCompensation();
}
}
Respond2Keys();
var vecT = new System.Numerics.Vector3()
{
X = _vecTrans[0],
Y = _vecTrans[1],
Z = _vecTrans[2]
};
var vecR = new System.Numerics.Vector3()
{
X = _vecRot[0],
Y = _vecRot[1],
Z = _vecRot[2]
};
ImGui.InputFloat("拖动速度", ref dragSpeed);
var dragged = ImGui.DragFloat3("平移", ref vecT, dragSpeed) ? true : false;
// if (ImGui.DragFloat3("平移", ref vecT, dragSpeed)) DeformationCompensation();
if (ImGui.DragFloat3("旋转", ref vecR, dragSpeed)) dragged = true;// DeformationCompensation();
_vecTrans[0] = vecT.X;
_vecTrans[1] = vecT.Y;
_vecTrans[2] = vecT.Z;
_vecRot[0] = vecR.X;
_vecRot[1] = vecR.Y;
_vecRot[2] = vecR.Z;
ImGuizmo.RecomposeMatrixFromComponents(ref _vecTrans[0], ref _vecRot[0], ref _vecScl[0], ref _modelMatrix[0]);
if (CurrentGizmoOp != OPERATION.SCALE)
{
if (ImGui.RadioButton("局部 (L)", CurrentGizmoMode == MODE.LOCAL))
CurrentGizmoMode = MODE.LOCAL;
ImGui.SameLine();
if (ImGui.RadioButton("全局 (W)", CurrentGizmoMode == MODE.WORLD))
CurrentGizmoMode = MODE.WORLD;
}
void ImGuizmoManipulate()
{
ImGui.SetNextWindowSize(new System.Numerics.Vector2(ClientSize.Width, ClientSize.Height));
ImGui.SetNextWindowPos(new System.Numerics.Vector2(0, 0));
ImGui.PushStyleColor(ImGuiCol.WindowBg, new System.Numerics.Vector4(1, 1, 1, 0.3f));
var pOpen = false;
ImGui.Begin("a", ref pOpen,
ImGuiWindowFlags.NoMove | ImGuiWindowFlags.NoTitleBar | ImGuiWindowFlags.NoBringToFrontOnFocus |
ImGuiWindowFlags.NoBackground);
ImGui.GetIO().WantCaptureMouse = true;
if (ImGui.IsWindowHovered()) ImGui.GetIO().WantCaptureMouse = false;
ImGuizmo.SetDrawlist();
ImGuizmo.SetRect(0, 0, ClientSize.Width, ClientSize.Height);
var cameraView = ((ThreeCs.Math.Matrix4)OpenTK.Matrix4.LookAt((OpenTK.Vector3)Camera.Position,
(OpenTK.Vector3)Camera.Position + (OpenTK.Vector3)Camera.GetWorldDirection(), Camera.Up)).Elements;
var cameraProjection = //Camera.ProjectionMatrix.Elements;
((Matrix4)OpenTK.Matrix4.CreatePerspectiveFieldOfView(MathHelper.PiOver6,
ClientSize.Width / (float)ClientSize.Height, 0.1f, 4096f)).Elements;
if (ImGuizmo.Manipulate(ref cameraView[0], ref cameraProjection[0], CurrentGizmoOp, CurrentGizmoMode,
ref _modelMatrix[0]) || dragged) DeformationCompensation();
ImGuizmo.DecomposeMatrixToComponents(ref _modelMatrix[0], ref _vecTrans[0], ref _vecRot[0],
ref _vecScl[0]);
ImGui.End();
ImGui.PopStyleColor(1);
}
ImGuizmoManipulate();
ImGui.Separator();
if (ManCloudsObjects.CloudDictionary.ContainsKey(_radioSelcName))
{
var pcc = ManCloudsObjects.CloudDictionary[_radioSelcName];
pcc.ModelMatrix = _modelMatrix;
// for (var i = 0; i < 16; ++i)
// {
// if (i > 0 && i % 4 == 0) Console.WriteLine();
// Console.Write($"{_modelMatrix[i]:00.00} ");
// }
// Console.WriteLine();
// Console.WriteLine("==========");
ManCloudsObjects.deltaMatrix = new Matrix4(adjMultiRevMat) * new Matrix4(_modelMatrix);
lastModelMatrix = _modelMatrix;
}
if (ImGui.Button(label: "保存标注文件"))
{
var lines = new List<string>();
foreach (var kvp in ManCloudsObjects.CloudDictionary)
lines.Add($"{kvp.Key} {string.Join(" ", kvp.Value.ModelMatrix)}");
File.WriteAllLines(Path.Combine(selectedFolder, "annot.txt"), lines);
}
ImGui.SameLine();
if (ImGui.Button(label: "加载标注文件"))
{
var t = new Thread(() =>
{
var od = new OpenFileDialog()
{
Filter = "TXT files | *.txt"
};
if (od.ShowDialog() != DialogResult.OK) return;
string[] fileLines = File.ReadAllLines(od.FileName);
selectedFolder = Path.GetDirectoryName(od.FileName);
_flList = Directory.GetFiles(selectedFolder).Where(name => name.Split('.').Last() == "lidar")
.Select(fn => new
{
fn,
d = File.GetLastWriteTime(fn)
}).OrderBy(p => p.d).Select(pck => pck.fn).ToArray();
frameCnt = 0;
for (var k = 0; k < fileLines.Length; ++k)
{
var line = fileLines[k];
var fLine = (line.Split(' '));
var lidarPath = Path.Combine(selectedFolder, $"Lidar3D-{fLine[0]}");
// object matrix with pose and trans
List<float> omList = new List<float>();
for (int i = 1; i < fLine.Length; ++i)
{
omList.Add(float.Parse(fLine[i]));
}
float[] om = omList.ToArray();
framesQueue.Enqueue(new CloudLoader()
{
points = ReadPointsData(lidarPath),
lidarPath = lidarPath,
frameCnt = frameCnt,
om = om
});
frameCnt++;
if (k == 200) break;
}
});
t.SetApartmentState(ApartmentState.STA);
t.Start();
}
ImGui.Separator();
if (ImGui.Button("可视化Ground Truth"))
{
var t = new Thread(() =>
{
var od = new OpenFileDialog()
{
Filter = "TXT files | *.txt"
};
if (od.ShowDialog() != DialogResult.OK) return;
string[] fileLines = File.ReadAllLines(od.FileName);
selectedFolder = Path.GetDirectoryName(od.FileName);
_flList = Directory.GetFiles(selectedFolder).Where(name => name.Split('.').Last() == "lidar")
.Select(fn => new
{
fn,
d = File.GetLastWriteTime(fn)
}).OrderBy(p => p.d).Select(pck => pck.fn).ToArray();
var startTime = DateTime.Now;
Console.WriteLine($"start time: {startTime}");
frameCnt = 0;
for (var k = 0; k < fileLines.Length; ++k)
{
var line = fileLines[k];
var fLine = (line.Split(' '));
var lidarPath = _flList[k];
var kittiOm = new float[16];
for (var i = 0; i < fLine.Length; ++i)
kittiOm[i] = float.Parse(fLine[i]);
var omList = new float[16];
omList[0] = kittiOm[10];
omList[1] = -kittiOm[2];
omList[2] = kittiOm[6];
omList[4] = -kittiOm[8];
omList[5] = kittiOm[0];
omList[6] = -kittiOm[4];
omList[8] = kittiOm[9];
omList[9] = -kittiOm[1];
omList[10] = kittiOm[5];
omList[12] = kittiOm[11];
omList[13] = -kittiOm[3];
omList[14] = kittiOm[7];
omList[15] = 1;
// for (var i = 0; i < 16; ++i)
// {
// if (i > 0 && i % 4 == 0) Console.WriteLine();
// Console.Write($"{omList[i]:00.00} ");
// }
// Console.WriteLine();
// Console.WriteLine("==========");
framesQueue.Enqueue(new CloudLoader()
{
points = ReadPointsData(lidarPath),
lidarPath = lidarPath,
frameCnt = frameCnt,
om = omList
});
frameCnt++;
// Console.WriteLine($"{fileLines.Length}:{k}");
if (k == 200) break;
}
Console.WriteLine($"elapsed: {(DateTime.Now - startTime).TotalMilliseconds / 1000} s");
});
t.SetApartmentState(ApartmentState.STA);
t.Start();
}
if (ImGui.Button("生成kitti评估文件"))
{
var t = new Thread(() =>
{
var od = new OpenFileDialog()
{
Filter = "TXT files | *.txt"
};
if (od.ShowDialog() != DialogResult.OK) return;
string[] fileLines = File.ReadAllLines(od.FileName);
var result = new List<string>();
for (var k = 0; k < fileLines.Length; ++k)
{
var line = fileLines[k];
var fLine = (line.Split(' '));
var omList = new float[16];
var cnt = 0;
for (var i = 1; i < fLine.Length; ++i)
omList[cnt++] = float.Parse(fLine[i]);
var kittiOm = new float[12];
kittiOm[10] = omList[0];
kittiOm[2] = -omList[1];
kittiOm[6] = omList[2];
kittiOm[8] = -omList[4];
kittiOm[0] = omList[5];
kittiOm[4] = -omList[6];
kittiOm[9] = omList[8];
kittiOm[1] = -omList[9];
kittiOm[5] = omList[10];
kittiOm[11] = omList[12];
kittiOm[3] = -omList[13];
kittiOm[7] = omList[14];
result.Add(string.Join(" ", kittiOm));
// Console.WriteLine($"{fileLines.Length}:{k}");
}
File.WriteAllLines("annot-kitti.txt", result);
});
t.SetApartmentState(ApartmentState.STA);
t.Start();
}
var startDisplayTime = DateTime.Now;
while (framesQueue.TryDequeue(out var l))
{
VisualizePoints(l.points, l.lidarPath, l.frameCnt, l.om);
if ((DateTime.Now - startDisplayTime).TotalMilliseconds > 100) break;
}
}
public static void NextManualFrame()
{
if (_flList == null)
{
Console.WriteLine("the filepath is null");
return;
}
if (frameCnt < _flList.Length) TMPVIs(_flList[frameCnt], frameCnt, (float[])lastModelMatrix.Clone());
frameCnt++;
setScroll2Bottom = true;
CommitMultiPoses();
}
private static void CommitMultiPoses()
{
if (!adjustMultiple) return;
adjustMultiple = false;
foreach (var kvp in ManCloudsObjects.CloudDictionary)
{
if (!kvp.Value.IsAdjMulti) continue;
kvp.Value.ModelMatrix = (new Matrix4(kvp.Value.ModelMatrix) * ManCloudsObjects.deltaMatrix).Elements;
kvp.Value.IsAdjMulti = false;
}
}
private static void DeformationCompensation()
{
if (!useDistortionRectification) return;
var cloud = ManCloudsObjects.CloudDictionary[_radioSelcName];
var interpolated = cloud.Point3Ds;
if (ManCloudsObjects.CloudDictionary.Count > 1)
{
var prevMM = new Matrix4(ManCloudsObjects.CloudDictionary[_radioPrevName].ModelMatrix);
var curMM = new Matrix4(cloud.ModelMatrix);
var deltaMat = prevMM.GetInverse() * curMM;
var deltaEuler = EulerTransform.FromMatrix4(deltaMat);
// var prevR = new ThreeCs.Math.Matrix3(prevMM);
//interpolated = InterpolateFrame(cloud.Point3Ds,
// new EulerTransform(deltaEuler.R.X, deltaEuler.R.Y, deltaEuler.R.Z,
// deltaEuler.T.X, deltaEuler.T.Y, deltaEuler.T.Z));
var lastDeltaEuler =
EulerTransform.FromMatrix4(
new Matrix4(ManCloudsObjects.CloudDictionary[_radioPrevName].ModelMatrix));
var curDeltaEuler = EulerTransform.FromMatrix4(new Matrix4(cloud.ModelMatrix));
Console.WriteLine(curDeltaEuler);
interpolated = InterpolateFrame(cloud.Point3Ds,
new EulerTransform(deltaEuler.R.X, deltaEuler.R.Y, deltaEuler.R.Z,
deltaEuler.T.X, deltaEuler.T.Y, deltaEuler.T.Z),
new Tuple<float, float, float>(lastDeltaEuler.T.X, lastDeltaEuler.T.Y, lastDeltaEuler.R.Z),
new Tuple<float, float, float>(curDeltaEuler.T.X, curDeltaEuler.T.Y, curDeltaEuler.R.Z));
}
var mesh = new MEMesh(new MEMeshConfig()
{
vboConfig = new MEVertexBufferConfig(BufferUsageHint.DynamicDraw),
vaoConfig = new MEAttribPointerConfig(MEShaderType.GenericPoint, PrimitiveType.Points),
eboConfig = new MEElementBufferConfig(BufferUsageHint.DynamicDraw, PrimitiveType.Points),
shaderType = MEShaderType.GenericPoint,
useElementBuffer = false
});
var tmp = new List<Vertex>();
for (var i = 0; i < interpolated.Count; ++i)
{
var p = interpolated[i];
if (is2D)
{
tmp.Add(new Vertex()
{
position = new Vector3(p.X, p.Y, p.Z),
color = 128,
});
}
else
{
tmp.Add(new Vertex()
{
position = new Vector3(p.X, p.Y, p.Z),
color = cloud.Point3Ds[i].Color,
});
}
}
mesh.UpdateData(tmp, null);
cloud.Mesh = mesh;
}
//private static List<Point3D> InterpolateFrame(List<Point3D> inPoints, EulerTransform euler)
//{
// var res = new List<Point3D>();
// foreach (var pi in inPoints)
// {
// var s = 1 - pi.Fire;
// var rx = s * euler.R.X;
// var ry = s * euler.R.Y;
// var rz = s * euler.R.Z;
// var tx = s * euler.T.X;
// var ty = s * euler.T.Y;
// var tz = s * euler.T.Z;
// var x1 = (float)Math.Cos(rz) * (pi.X - tx) + (float)Math.Sin(rz) * (pi.Y - ty);
// var y1 = -(float)Math.Sin(rz) * (pi.X - tx) + (float)Math.Cos(rz) * (pi.Y - ty);
// var z1 = (pi.Z - tz);
// var x2 = x1;
// var y2 = (float)Math.Cos(rx) * y1 + (float)Math.Sin(rx) * z1;
// var z2 = -(float)Math.Sin(rx) * y1 + (float)Math.Cos(rx) * z1;
// res.Add(new Point3D(
// -(float)Math.Sin(ry) * z2 + (float)Math.Cos(ry) * x2,
// y2,
// (float)Math.Cos(ry) * z2 + (float)Math.Sin(ry) * x2));
// }
// return res;
//}
private static List<Point3D> InterpolateFrame(List<Point3D> inPoints, EulerTransform euler, Tuple<float, float, float> lastDelta,
Tuple<float, float, float> delta)
{
// var res = new List<Point3D>();
//
// foreach (var pi in inPoints)
// {
// var s = 1 - pi.Fire;
//
// var rx = s * euler.R.X;
// var ry = s * euler.R.Y;
// var rz = s * euler.R.Z;
// var tx = s * euler.T.X;
// var ty = s * euler.T.Y;
// var tz = s * euler.T.Z;
//
// var x1 = (float)Math.Cos(rz) * (pi.X - tx) + (float)Math.Sin(rz) * (pi.Y - ty);
// var y1 = -(float)Math.Sin(rz) * (pi.X - tx) + (float)Math.Cos(rz) * (pi.Y - ty);
// var z1 = (pi.Z - tz);
//
// var x2 = x1;
// var y2 = (float)Math.Cos(rx) * y1 + (float)Math.Sin(rx) * z1;
// var z2 = -(float)Math.Sin(rx) * y1 + (float)Math.Cos(rx) * z1;
//
// res.Add(new Point3D(
// -(float)Math.Sin(ry) * z2 + (float)Math.Cos(ry) * x2,
// y2,
// (float)Math.Cos(ry) * z2 + (float)Math.Sin(ry) * x2));
// }
//
// return res;
var res = new List<Point3D>();
for (var i = 0; i < inPoints.Count; ++i)
{
var th = Math.Atan2(inPoints[i].Y, inPoints[i].X) / Math.PI * 180;
if (th < 0) th += 360;
var thDiff = -1 * (-135 - th);
var p = (thDiff - Math.Floor(thDiff / 360.0) * 360.0) / 360;
var x = inPoints[i].X;
var y = inPoints[i].Y;
var p1 = 1 - p;
var pos = Tuple.Create((float)(p1 * (lastDelta.Item1 * p + delta.Item1 * p1)),
(float)(p1 * (lastDelta.Item2 * p + delta.Item2 * p1)),
(float)(p1 * (lastDelta.Item3 * p + delta.Item3 * p1)));
var pdelta = LessMath.SolveTransform2D(pos, delta);
var dth = pdelta.Item3;// * Math.PI / 180; // *0.9;
var cos = Math.Cos(-dth);
var sin = Math.Sin(-dth);
res.Add(new Point3D(
(float)(x * cos - y * sin + pdelta.Item1),
(float)(x * sin + y * cos + pdelta.Item2),
inPoints[i].Z));
// ret[i].X = (float)(x * cos - y * sin + pdelta.Item1); // * 0.9;
// ret[i].Y = (float)(x * sin + y * cos + pdelta.Item2); // * 0.9;
}
return res;
}
[DllImport("kernel32.dll", EntryPoint = "CopyMemory", SetLastError = false)]
private static extern unsafe void CopyMemory(void* dest, void* src, int count);
public class LidarOutput3D
{
public LidarPoint3D[] points;
public int tick;
//private static unsafe extern void CopyMemory(void* dest, void* src, int count);
public static unsafe LidarOutput3D deserialize(byte[] bytes)
{
var ret = new LidarOutput3D();
ret.tick = BitConverter.ToInt32(bytes, 0);
ret.points = new LidarPoint3D[BitConverter.ToInt32(bytes, 4)];
fixed (byte* ptr = bytes)
fixed (void* ptrs = ret.points)
{
CopyMemory(ptrs, ptr + 8, ret.points.Length * sizeof(LidarPoint3D));
}
return ret;
}
public static byte[] Unzip(byte[] bytes)
{
using (var msi = new MemoryStream(bytes))
using (var mso = new MemoryStream())
{
using (var gs = new GZipStream(msi, CompressionMode.Decompress))
gs.CopyTo(mso);
return mso.ToArray();
}
}
}
public class LidarOutput2D
{
public LidarPoint2D[] points;
public int tick;
public static unsafe LidarOutput2D deserialize(byte[] bytes)
{
var ret = new LidarOutput2D();
ret.tick = BitConverter.ToInt32(bytes, 0);
ret.points = new LidarPoint2D[BitConverter.ToInt32(bytes, 4)];
fixed (byte* ptr = bytes)
fixed (void* ptrs = ret.points)
{
CopyMemory(ptrs, ptr + 8, ret.points.Length * sizeof(LidarPoint2D));
}
return ret;
}
public static byte[] Unzip(byte[] bytes)
{
using (var msi = new MemoryStream(bytes))
using (var mso = new MemoryStream())
{
using (var gs = new GZipStream(msi, CompressionMode.Decompress))
gs.CopyTo(mso);
return mso.ToArray();
}
}
}
private static unsafe List<LidarPoint3D> ReadPointsData(string lidarPath)
{
if (is2D)
{
var buf = File.ReadAllBytes(lidarPath);
var out3d = new LidarOutput3D();
out3d.points = File.ReadAllLines(lidarPath).Select(s =>
{
var ls = s.Split(',');
var l = new LidarPoint3D()
{
d = float.Parse(ls[0]),
azimuth = float.Parse(ls[1]),
altitude = 0
};
float.TryParse(ls[2], out l.intensity);;
return l;
}).ToArray();
Console.WriteLine("lidar read done!");
return out3d.points.ToList();
}
else
{
if (lidarPath.EndsWith(".lidarzip"))
{
Console.WriteLine("lidarzip read done!");
var buf = File.ReadAllBytes(lidarPath);
var out3d = new LidarOutput3D();
out3d = LidarOutput3D.deserialize(LidarOutput3D.Unzip(buf));
//int pointsCount = out3d.points.Length;
//float maxInten = 10;
//float minInten = 5;
//for (int i = 0; i < pointsCount; i++)
//{
// if (out3d.points[i].intensity > maxInten)
// {
// maxInten = out3d.points[i].intensity;
// Console.WriteLine($"max{maxInten}");
// }
// else if (out3d.points[i].intensity < minInten)
// {
// minInten = out3d.points[i].intensity;
// Console.WriteLine($"min{minInten}");
// }
//}
//foreach (var point in out3d.points)
//{
// Console.WriteLine($"intensity {point.intensity}");
//}
//for (int i = 0; i < pointsCount; i++)
//{
// out3d.points[i].intensity = 255 * (out3d.points[i].intensity - minInten) / (maxInten - minInten);
// Console.WriteLine($"intensity lidarzip {out3d.points[i].intensity}");
//}
//maxInten = 10;
//minInten = 5;
//for (int i = 0; i < pointsCount; i++)
//{
// if (out3d.points[i].intensity > maxInten)
// {
// maxInten = out3d.points[i].intensity;
// Console.WriteLine($"aftermax{maxInten}");
// }
// else if (out3d.points[i].intensity < minInten)
// {
// minInten = out3d.points[i].intensity;
// Console.WriteLine($"aftermin{minInten}");
// }
//}
return out3d.points.ToList();
}
else// if (lidarPath.EndsWith(".lidar"))
{
Console.WriteLine("lidar read done!");
var buf = File.ReadAllBytes(lidarPath);
var out3d = new LidarOutput3D();
out3d.points = File.ReadAllLines(lidarPath).Select(s =>
{
var ls = s.Split(',');
var l = new LidarPoint3D()
{
d = float.Parse(ls[0]),
azimuth = float.Parse(ls[1]),
altitude = float.Parse(ls[2])
};
float.TryParse(ls[3], out l.intensity);