using Autodesk.AutoCAD.ApplicationServices;
using Autodesk.AutoCAD.DatabaseServices;
using Autodesk.AutoCAD.EditorInput;
using Autodesk.AutoCAD.Geometry;
using Autodesk.AutoCAD.GraphicsInterface;
using Autodesk.AutoCAD.Runtime;
using System.Runtime.InteropServices;
using System.Collections.Generic;
using System.Windows.Media;
using System.Diagnostics;
using System.Reflection;
using System.IO;
using System;
using NKinect;
namespace KinectIntegration
{
public class KinectJig : DrawJig
{
// We need our nKinect sensor
private Sensor _kinect = null;
// A list of points to be displayed
private Point3dCollection _points;
// A list of points captured by the sensor
// (for eventual export)
private List<ColorVector3> _vecs;
// The constructor takes a Sensor argument
public KinectJig(Sensor kinect)
{
_kinect = kinect;
_points = new Point3dCollection();
}
protected override SamplerStatus Sampler(JigPrompts prompts)
{
// Se don't really need a point, but we do need some
// user input event to allow us to loop, processing
// for the Kinect input
PromptPointResult ppr =
prompts.AcquirePoint("\nClick to capture: ");
if (ppr.Status == PromptStatus.OK)
{
// Generate a point cloud via nKinect
_vecs = _kinect.GeneratePointCloud();
// Extract the points for display in the jig
// (note we only take 1 in 5)
_points.Clear();
for (int i = 0; i < _vecs.Count; i += 5)
{
ColorVector3 vec = _vecs;
_points.Add(
new Point3d(vec.X, vec.Y, vec.Z)
);
}
return SamplerStatus.OK;
}
return SamplerStatus.Cancel;
}
protected override bool WorldDraw(WorldDraw draw)
{
// This simply draws our points
draw.Geometry.Polypoint(_points, null, null);
return true;
}
public void ExportPointCloud(string filename)
{
if (_vecs.Count > 0)
{
using (StreamWriter sw = new StreamWriter(filename))
{
// For each pixel, write a line to the text file:
// X, Y, Z, R, G, B
foreach (ColorVector3 pt in _vecs)
{
sw.WriteLine(
"{0}, {1}, {2}, {3}, {4}, {5}",
pt.X, pt.Y, pt.Z, pt.R, pt.G, pt.B
);
}
}
}
}
}
public class Commands
{
[CommandMethod("ADNPLUGINS", "KINECT", CommandFlags.Modal)]
public static void ImportFromKinect()
{
Document doc =
Autodesk.AutoCAD.ApplicationServices.
Application.DocumentManager.MdiActiveDocument;
Editor ed = doc.Editor;
Sensor kinect = null;
KinectJig kj = null;
PromptResult pr = null;
try
{
kinect = new Sensor(s => { }, r => { }, d => { });
kinect.Start();
kj = new KinectJig(kinect);
pr = ed.Drag(kj);
}
catch { }
finally
{
if (kinect != null)
{
kinect.Stop();
kinect.Dispose();
}
}
if (pr.Status == PromptStatus.OK)
{
// We'll store most local files in the temp folder.
// We get a temp filename, delete the file and
// use the name for our folder
string localPath = Path.GetTempFileName();
File.Delete(localPath);
Directory.CreateDirectory(localPath);
localPath += "\\";
// Paths for our temporary files
string txtPath = localPath + "points.txt";
string lasPath = localPath + "points.las";
// Our PCG file will be stored under My Documents
string outputPath =
Environment.GetFolderPath(
Environment.SpecialFolder.MyDocuments
) + "\\Kinect Point Clouds\\";
if (!Directory.Exists(outputPath))
Directory.CreateDirectory(outputPath);
// We'll use the title as a base filename for the PCG,
// but will use an incremented integer to get an unused
// filename
int cnt = 0;
string pcgPath;
do
{
pcgPath =
outputPath + "Kinect" +
(cnt == 0 ? "" : cnt.ToString()) + ".pcg";
cnt++;
}
while (File.Exists(pcgPath));
// The path to the txt2las tool will be the same as the
// executing assembly (our DLL)
string exePath =
Path.GetDirectoryName(
Assembly.GetExecutingAssembly().Location
) + "\\";
if (!File.Exists(exePath + "txt2las.exe"))
{
ed.WriteMessage(
"\nCould not find the txt2las tool: please make sure " +
"it is in the same folder as the application DLL."
);
return;
}
// Export our point cloud from the jig
ed.WriteMessage(
"\nSaving TXT file of the captured points.\n"
);
kj.ExportPointCloud(txtPath);
// Use the txt2las utility to create a .LAS
// file from our text file
ed.WriteMessage(
"\nCreating a LAS from the TXt file.\n"
);
ProcessStartInfo psi =
new ProcessStartInfo(
exePath + "txt2las",
"-i \"" + txtPath +
"\" -o \"" + lasPath +
"\" -parse xyzRGB"
);
psi.CreateNoWindow = false;
psi.WindowStyle = ProcessWindowStyle.Hidden;
// Wait up to 20 seconds for the process to exit
try
{
using (Process p = Process.Start(psi))
{
p.WaitForExit();
}
}
catch
{ }
// If there's a problem, we return
if (!File.Exists(lasPath))
{
ed.WriteMessage(
"\nError creating LAS file."
);
return;
}
File.Delete(txtPath);
ed.WriteMessage(
"Indexing the LAS and attaching the PCG.\n"
);
// Index the .LAS file, creating a .PCG
string lasLisp = lasPath.Replace('\\', '/'),
pcgLisp = pcgPath.Replace('\\', '/');
doc.SendStringToExecute(
"(command \"_.POINTCLOUDINDEX\" \"" +
lasLisp + "\" \"" +
pcgLisp + "\")(princ) ",
false, false, false
);
// Attach the .PCG file
doc.SendStringToExecute(
"_.WAITFORFILE \"" +
pcgLisp + "\" \"" +
lasLisp + "\" " +
"(command \"_.-POINTCLOUDATTACH\" \"" +
pcgLisp +
"\" \"0,0\" \"1\" \"0\")(princ) ",
false, false, false
);
doc.SendStringToExecute(
"_.-VISUALSTYLES _C _Conceptual _.ZOOM _E ",
false, false, false
);
//Cleanup();
}
}
// Return whether a file is accessible
private bool IsFileAccessible(string filename)
{
// If the file can be opened for exclusive access it means
// the file is accesible
try
{
FileStream fs =
File.Open(
filename, FileMode.Open,
FileAccess.Read, FileShare.None
);
using (fs)
{
return true;
}
}
catch (IOException)
{
return false;
}
}
// A command which waits for a particular PCG file to exist
[CommandMethod(
"ADNPLUGINS", "WAITFORFILE", CommandFlags.NoHistory
)]
public void WaitForFileToExist()
{
Document doc =
Application.DocumentManager.MdiActiveDocument;
Database db = doc.Database;
Editor ed = doc.Editor;
HostApplicationServices ha =
HostApplicationServices.Current;
PromptResult pr = ed.GetString("Enter path to PCG: ");
if (pr.Status != PromptStatus.OK)
return;
string pcgPath = pr.StringResult.Replace('/', '\\');
pr = ed.GetString("Enter path to LAS: ");
if (pr.Status != PromptStatus.OK)
return;
string lasPath = pr.StringResult.Replace('/', '\\');
ed.WriteMessage(
"\nWaiting for PCG creation to complete...\n"
);
// Check the write time for the PCG file...
// if it hasn't been written to for at least half a second,
// then we try to use a file lock to see whether the file
// is accessible or not
const int ticks = 50;
TimeSpan diff;
bool cancelled = false;
// First loop is to see when writing has stopped
// (better than always throwing exceptions)
while (true)
{
if (File.Exists(pcgPath))
{
DateTime dt = File.GetLastWriteTime(pcgPath);
diff = DateTime.Now - dt;
if (diff.Ticks > ticks)
break;
}
System.Windows.Forms.Application.DoEvents();
}
// Second loop will wait until file is finally accessible
// (by calling a function that requests an exclusive lock)
if (!cancelled)
{
int inacc = 0;
while (true)
{
if (IsFileAccessible(pcgPath))
break;
else
inacc++;
System.Windows.Forms.Application.DoEvents();
}
ed.WriteMessage("\nFile inaccessible {0} times.", inacc);
try
{
CleanupTmpFiles(lasPath);
}
catch
{ }
}
}
internal static void CleanupTmpFiles(string txtPath)
{
if (File.Exists(txtPath))
File.Delete(txtPath);
Directory.Delete(
Path.GetDirectoryName(txtPath)
);
}
}
}
发表于 2011-4-15 17:11:58
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