In this previous post we looked at some code to capture and combine a series of point clouds using a Kinect sensor.
In today’s post we’re going to take a very slightly modified version of the code – which really only adds the feature to let the user choose when the sequence of captures should start by clicking, rather than it just starting at the beginning of the command – to capture the geometry created by dragging a 2D cross-section in 3D space. The code in the last post clearly played a big part in helping digitise the profile and create the spline path for our sweep.
Here’s how it turned out:
Here’s the updated C# source code:
using Autodesk.AutoCAD.ApplicationServices;
using Autodesk.AutoCAD.DatabaseServices;
using Autodesk.AutoCAD.EditorInput;
using Autodesk.AutoCAD.Geometry;
using Autodesk.AutoCAD.Runtime;
using AcGi = Autodesk.AutoCAD.GraphicsInterface;
using System.Runtime.InteropServices;
using System.Collections.Generic;
using System.Diagnostics;
using System.Reflection;
using System.Timers;
using System.Linq;
using System.IO;
using System;
using NKinect;
namespace KinectIntegration
{
public class KinectDelayJig : DrawJig
{
[DllImport("acad.exe", CharSet = CharSet.Auto,
CallingConvention = CallingConvention.Cdecl,
EntryPoint = "?acedPostCommand@@YAHPB_W@Z"
)]
extern static private int acedPostCommand(string cmd);
// A transaction and database to add polylines
private Transaction _tr;
private Document _doc;
// We need our nKinect sensor
private Sensor _kinect = null;
// A list of points captured by the sensor
// (for eventual export)
private List<ColorVector3> _vecs;
// Uber list of points for final export/import
private List<ColorVector3> _totalVecs;
// A list of points to be displayed
// (we use this for the jig)
private Point3dCollection _points;
// Transient points that have already been snapped
private List<Point3dCollection> _snapped;
// An offset value we use to move the mouse back
// and forth by one screen unit
private int _offset;
// The number of snapshots to be taken
private int _numShots;
// Extents to filter points
Extents3d? _ext;
// Is it time to take a snapshot of the sensor data?
private bool _snapshot;
// Timer to tell us when to take a snapshot
private Timer _timer;
// Ready to exit the jig?
private bool _finished;
public bool Finished
{
get { return _finished; }
}
public KinectDelayJig(
Document doc, Transaction tr,
int numShots, double delay, Extents3d? ext
)
{
// Initialise the various members
_doc = doc;
_tr = tr;
_numShots = numShots;
_ext = ext;
_points = new Point3dCollection();
_snapped = new List<Point3dCollection>();
_totalVecs = new List<ColorVector3>();
_offset = 1;
_snapshot = false;
_finished = false;
_timer = new System.Timers.Timer(delay * 1000);
_timer.Enabled = false;
// Hook up the Elapsed event for the timer
_timer.Elapsed +=
delegate(object source, ElapsedEventArgs args)
{
// Flag that it's time to capture a snapshot
_snapshot = true;
// Turn off the timer to be re-enabled later
((Timer)source).Enabled = false;
};
// Create our sensor object - the constructor takes
// three callbacks to receive various data:
// - skeleton movement
// - rgb data
// - depth data
_kinect = new Sensor(s => {}, r => {}, d => {});
}
public void StartSensor()
{
if (_kinect != null)
{
_kinect.Start();
}
}
public void StopSensor()
{
if (_kinect != null)
{
_kinect.Stop();
_kinect.Dispose();
_kinect = null;
}
}
public void StartTimer()
{
if (_timer != null)
{
_timer.Enabled = true;
}
}
protected override SamplerStatus Sampler(JigPrompts prompts)
{
// We 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)
{
if (_finished)
{
acedPostCommand("CANCELCMD");
return SamplerStatus.Cancel;
}
// Generate a point cloud via nKinect
try
{
List<ColorVector3> vecList =
_kinect.GeneratePointCloud();
// Apply a bounding box filter, if one is defined
if (_ext.HasValue)
{
// Use LINQ to get the points within the
// bounding box
var vecSet =
from ColorVector3 vec in vecList
where
vec.X > _ext.Value.MinPoint.X &&
vec.X < _ext.Value.MaxPoint.X &&
vec.Y > _ext.Value.MinPoint.Y &&
vec.Y < _ext.Value.MaxPoint.Y &&
vec.Z > _ext.Value.MinPoint.Z &&
vec.Z < _ext.Value.MaxPoint.Z
select vec;
// Convert our IEnumerable<> into a List<>
_vecs = vecSet.ToList<ColorVector3>();
}
else
{
_vecs = vecList;
}
// Extract the points for display in the jig
// (note we only take 1 in 2)
_points.Clear();
for (int i = 0; i < _vecs.Count; i += 2)
{
ColorVector3 vec = _vecs[i];
_points.Add(
new Point3d(vec.X, vec.Y, vec.Z)
);
}
// Let's move the mouse slightly to avoid having
// to do it manually to keep the input coming
System.Drawing.Point pt =
System.Windows.Forms.Cursor.Position;
System.Windows.Forms.Cursor.Position =
new System.Drawing.Point(
pt.X, pt.Y + _offset
);
_offset = -_offset;
}
catch {}
return SamplerStatus.OK;
}
return SamplerStatus.Cancel;
}
protected override bool WorldDraw(AcGi.WorldDraw draw)
{
if (_snapshot)
{
if (_points.Count > 0)
{
// Make a copy of the latest set of points
Point3d[] tmp = new Point3d[_points.Count];
_points.CopyTo(tmp, 0);
// Add the copy to the list of snapshot previews
_snapped.Add(new Point3dCollection(tmp));
// Add the core list to the total set
_totalVecs.AddRange(_vecs);
}
}
short origColor = draw.SubEntityTraits.Color;
for (int i = 0; i < _snapped.Count; i++)
{
// Cycle through colour indeces for each snapshot
draw.SubEntityTraits.Color = (short)(i + 1);
// Draw the actual snapshot, one by one
if (_snapped[i].Count > 0)
draw.Geometry.Polypoint(_snapped[i], null, null);
}
// Set the colour back to the original
draw.SubEntityTraits.Color = origColor;
if (_snapshot)
{
// Reset the flag, timer and check whether finished
_snapshot = false;
_finished = (--_numShots == 0);
_timer.Enabled = true;
}
else
{
// This simply draws our points
if (_points.Count > 0)
draw.Geometry.Polypoint(_points, null, null);
}
return true;
}
public void ExportPointCloud(string filename)
{
if (_totalVecs.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 _totalVecs)
{
sw.WriteLine(
"{0}, {1}, {2}, {3}, {4}, {5}",
pt.X, pt.Y, pt.Z, pt.R, pt.G, pt.B
);
}
}
}
}
}
public class Commands
{
// Static members for command settings
private static int _numShots = 5;
private static double _delay = 5.0;
private static Extents3d? _ext = null;
private static Matrix3d? _trans = null;
public static Extents3d? Extents
{
get { return _ext; }
}
public static Matrix3d? Transformation
{
get { return _trans; }
}
[CommandMethod("ADNPLUGINS", "KINBOUNDS", CommandFlags.Modal)]
public void SetBoundingBox()
{
Document doc =
Autodesk.AutoCAD.ApplicationServices.
Application.DocumentManager.MdiActiveDocument;
Editor ed = doc.Editor;
// Ask the user to select an entity
PromptEntityOptions peo =
new PromptEntityOptions(
"\nSelect entity to define bounding box"
);
peo.AllowNone = true;
peo.Keywords.Add("None");
peo.Keywords.Default = "None";
PromptEntityResult per = ed.GetEntity(peo);
if (per.Status != PromptStatus.OK)
return;
// If "None" selected, clear the bounding box
if (per.Status == PromptStatus.None ||
per.StringResult == "None")
{
_ext = null;
ed.WriteMessage("\nBounding box cleared.");
return;
}
// Otherwise open the entity and gets its extents
Transaction tr =
doc.TransactionManager.StartTransaction();
using (tr)
{
Entity ent =
tr.GetObject(per.ObjectId, OpenMode.ForRead)
as Entity;
if (ent != null)
_ext = ent.Bounds;
ed.WriteMessage(
"\nBounding box set to {0}", _ext
);
tr.Commit();
}
}
[CommandMethod("ADNPLUGINS", "KINSNAPS", CommandFlags.Modal)]
public void ImportFromKinect()
{
Document doc =
Autodesk.AutoCAD.ApplicationServices.
Application.DocumentManager.MdiActiveDocument;
Editor ed = doc.Editor;
// Get some user input for the number of snapshots...
PromptIntegerOptions pio =
new PromptIntegerOptions("\nNumber of captures");
pio.AllowZero = false;
pio.DefaultValue = _numShots;
pio.UseDefaultValue = true;
pio.UpperLimit = 20;
pio.LowerLimit = 1;
PromptIntegerResult pir = ed.GetInteger(pio);
if (pir.Status != PromptStatus.OK)
return;
_numShots = pir.Value;
// ... and the delay between them
PromptDoubleOptions pdo =
new PromptDoubleOptions("\nNumber of seconds delay");
pdo.AllowZero = false;
pdo.AllowNegative = false;
pdo.AllowArbitraryInput = false;
pdo.DefaultValue = _delay;
pdo.UseDefaultValue = true;
PromptDoubleResult pdr = ed.GetDouble(pdo);
if (pdr.Status != PromptStatus.OK)
return;
_delay = pdr.Value;
Transaction tr =
doc.TransactionManager.StartTransaction();
KinectDelayJig kj =
new KinectDelayJig(doc, tr, _numShots, _delay, _ext);
kj.StartSensor();
PromptResult pr = ed.Drag(kj);
if (pr.Status == PromptStatus.OK)
{
kj.StartTimer();
pr = ed.Drag(kj);
}
kj.StopSensor();
if (pr.Status != PromptStatus.OK && !kj.Finished)
{
tr.Dispose();
return;
}
tr.Commit();
// Manually dispose to avoid scoping issues with
// other variables
tr.Dispose();
// 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 ",
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;
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 void CleanupTmpFiles(string txtPath)
{
if (File.Exists(txtPath))
File.Delete(txtPath);
Directory.Delete(
Path.GetDirectoryName(txtPath)
);
}
}
}
I’ve been making some good progress on a few other samples: one which performs the spline capture and sweep automatically (in the same way as we drew 3D polylines, before) and another that actually does some navigation with the Kinect (which I’ve been talking about for some time). More on those, soon.
