Lidar_Dome_360.txt

classdef Lidar_Dome_360 < matlab.apps.AppBase

    % Properties that correspond to app components
    properties (Access = public)
        LidarDomeUIFigure          matlab.ui.Figure
        ExportDropDown             matlab.ui.control.DropDown
        ExportDropDownLabel        matlab.ui.control.Label
        deNoiseDropDown            matlab.ui.control.DropDown
        deNoiseDropDownLabel       matlab.ui.control.Label
        DisplayDropDown            matlab.ui.control.DropDown
        DisplayDropDownLabel       matlab.ui.control.Label
        StopButton                 matlab.ui.control.Button
        LoadJSONfileButton         matlab.ui.control.Button
        DirectionDropDown          matlab.ui.control.DropDown
        DirectionDropDownLabel     matlab.ui.control.Label
        SelectLidarDropDown        matlab.ui.control.DropDown
        SelectLidarFirstLabel      matlab.ui.control.Label
        LidarDome360Label          matlab.ui.control.Label
        ProgressField              matlab.ui.control.EditField
        RunButton                  matlab.ui.control.Button
        SubsampleEditField         matlab.ui.control.NumericEditField
        SubsampleEditFieldLabel    matlab.ui.control.Label
        BandstoKeepDropDown        matlab.ui.control.DropDown
        BandstoKeepDropDownLabel   matlab.ui.control.Label
        PointstoKeepDropDown       matlab.ui.control.DropDown
        PointstoKeepDropDownLabel  matlab.ui.control.Label
        PcapFileEditField          matlab.ui.control.EditField
        DelayEditField             matlab.ui.control.NumericEditField
        DelayEditFieldLabel        matlab.ui.control.Label
        AngleEditField             matlab.ui.control.NumericEditField
        AngleEditFieldLabel        matlab.ui.control.Label
        DurationEditField_2        matlab.ui.control.NumericEditField
        DurationEditField_2Label   matlab.ui.control.Label
        LoadPCAPfileButton         matlab.ui.control.Button
        offsetrEditField           matlab.ui.control.NumericEditField
        offsetrEditFieldLabel      matlab.ui.control.Label
        alpha2EditField            matlab.ui.control.NumericEditField
        alpha2EditFieldLabel       matlab.ui.control.Label
        alpha1EditField            matlab.ui.control.NumericEditField
        alpha1EditFieldLabel       matlab.ui.control.Label
        ScanSettingsLabel          matlab.ui.control.Label
        PCAPtoPointCloudLabel      matlab.ui.control.Label
        CalibrationSettingsLabel   matlab.ui.control.Label
        ExportParametersLabel      matlab.ui.control.Label
    end

    
    properties (Access = private)
        input % Description
        input_file_name % Description
        calibFileName % Description
        result % Description
        times % Description
        angle % Description
        first % Description
        pos % Description
        pos2 % Description
        gridStep % Description
        alpha_1 % Description
        alpha_2 % Description
        R % Description
        puck % Description
        spinDirection % Description
        noise % Description
        export % Description
        
        usableTimes % Description
        totalScanFrames % Description
        
    end
    
    properties (Access = public)
        stopProcessing = false; % Description
        cyc % Description
    end
    
    methods (Access = private)
        
        function totalFrames = GetTotalScanFrames(app, input_file_name, puck, calibFileName)
            switch puck
                case 1
                    % VLP16
                    veloReader = velodyneFileReader(input_file_name, 'VLP16');
                    totalFrames = veloReader.NumberOfFrames; % count frames of scan
                case 2
                    % VLP32C
                    veloReader = velodyneFileReader(input_file_name, "VLP32C");
                    totalFrames = veloReader.NumberOfFrames; % count frames of scan
                case 3
                    % OUSTER
                    ousterReader = ousterFileReader(input_file_name, calibFileName);
                    totalFrames = ousterReader.NumberOfFrames; % count frames of scan for Ouster
                otherwise
                    error('Invalid puck value. Please use 1 for VLP16, 2 for VLP32C, or 3 for OUSTER.');
            end
        end


       
    end


    % Callbacks that handle component events
    methods (Access = private)

        % Code that executes after component creation
        function startupFcn(app)

            app.stopProcessing = false;

            my_settings = ("C:\LidarDome360\application\settings.mat");
            disp(['Settings file path: ', my_settings]);
            
            % Check if the file exists before loading
            if isfile(my_settings)
                disp('The settings.mat file exists. Loading...');
                % Load the settings
                data = load(my_settings); 
                    app.totalScanFrames = data.totalScanFrames;
                disp('The settings.mat file has been loaded successfully.');
            else
                disp('The settings.mat file does NOT exist.');
            end

            if isfield(data, 'angle')
                app.AngleEditField.Value = data.angle;
            end

            if isfield(data, 'times')
                app.DurationEditField_2.Value = data.times;
            end

            if isfield(data, 'first')
                app.DelayEditField.Value = data.first;
            end

            if isfield(data, 'alpha_1')
                app.alpha1EditField.Value = data.alpha_1;
            end

            if isfield(data, 'alpha_2')
                app.alpha2EditField.Value = data.alpha_2;
            end

            if isfield(data, 'gridStep')
                app.SubsampleEditField.Value = data.gridStep;
            end

            if isfield(data, 'R')
                app.offsetrEditField.Value = data.R;
            end
            % Default puck value
            app.puck = 2; % Default to VLP32, for example
            app.ProgressField.Value = "Select Lidar unit";
            drawnow;

        end

        % Button pushed function: LoadPCAPfileButton
        function LoadPCAPfileButtonPushed(app, event)
            [file, path] = uigetfile('*.pcap');
            if isequal(file, 0)
                disp('User selected Cancel');
                return;
            end
            app.input_file_name = fullfile(path, file);
            app.PcapFileEditField.Value = app.input_file_name;
            % Extract the totalScanFrames from the .pcap file
            app.totalScanFrames = app.GetTotalScanFrames(app.input_file_name, app.puck, app.calibFileName);

            app.ProgressField.Value = "Enter Settings and Press Run";
            drawnow;
            figure(app.LidarDomeUIFigure);

        end

        % Button pushed function: RunButton
        function RunButtonPushed(app, event)
            app.stopProcessing = false; % Reset the stop flag
            app.PcapFileEditField.Value = app.input_file_name;
            app.ProgressField.Value = "Processing PCAP File, Please Wait";
            drawnow;
            switch app.PointstoKeepDropDown.Value
             case 'All'
                 app.pos = 0;
             case 'Positive'
                 app.pos = 1;
             case 'Negative'
                 app.pos = 2;
             end
         switch app.BandstoKeepDropDown.Value
             case 'All'
                 app.pos2 = 1;
             case 'First,Last'
                 app.pos2 = 0;
             case 'Middle'
                 app.pos2 = 2;
         end
         switch app.SelectLidarDropDown.Value
             case 'VLP16'
                 app.puck = 1;
             case 'VLP32C'
                 app.puck = 2;
             case 'OUSTER'
                 app.puck = 3;
         end
         switch app.DirectionDropDown.Value
             case 'Clockwise'
                 app.spinDirection = -1;
             case 'Counterclockwise'
                 app.spinDirection = 1;
         end
         switch app.DisplayDropDown.Value
             case 'All Cycles'
                 app.cyc = 2;
             case 'First Cycle'
                 app.cyc = 1;
             case 'None'
                 app.cyc = 0;
         end
         switch app.deNoiseDropDown.Value
             case 'Low'
                 app.noise = 1;
             case 'High'
                 app.noise = 2;
             case 'None'
                 app.noise = 0;
         end
         switch app.ExportDropDown.Value
             case 'Singles'
                 app.export = 1;
             case 'Merged'
                 app.export = 2;
         end 
         app.times = app.DurationEditField_2.Value;
         app.angle = app.AngleEditField.Value;
         app.first = app.DelayEditField.Value;
         app.alpha_1 = app.alpha1EditField.Value;
         app.alpha_2 = app.alpha2EditField.Value;
         app.gridStep = app.SubsampleEditField.Value;
         app.R = app.offsetrEditField.Value;
         app.input_file_name = [app.input_file_name];
         app.calibFileName = [app.calibFileName];

         
         % Call the function
         try
             processLidarData(app, app.cyc, app.pos, app.pos2, app.puck, app.spinDirection, app.times, app.angle, app.noise, app.export, app.first, app.alpha_1, app.alpha_2, app.gridStep, app.R, app.input_file_name, app.calibFileName);

         catch ME
             uialert(app.LidarDomeUIFigure, ['Error when running script: ', ME.message], 'Error');
         end

         % Check if 'times' exceeds the usable times
         if app.times > (app.totalScanFrames - app.first)
             uialert(app.LidarDomeUIFigure, sprintf('Entered time value is too large. It has been replaced with the maximum allowed Time of %d. Correct the Scan Time for your next run', (app.totalScanFrames - app.first)), 'Time Error');
             app.DurationEditField_2.Value = (app.totalScanFrames - app.first);  % Update the UI field value

         end
         if ~app.stopProcessing
             app.ProgressField.Value = 'Processing Done';
         end
         app.stopProcessing = false;  % Reset the flag for the next run
         drawnow;
         

        end

        % Button pushed function: LoadJSONfileButton
        function LoadJSONfileButtonPushed(app, event)
           [file,path] = uigetfile('*.json');
            app.calibFileName = [fullfile(path,file)];
            app.PcapFileEditField.Value = app.calibFileName;
            app.ProgressField.Value = "Load Pcap file";
            drawnow;
        end

        % Button pushed function: StopButton
        function StopButtonPushed(app, event)
            app.stopProcessing = true;

        end

        % Value changed function: SelectLidarDropDown
        function LidarDropDownValueChanged(app, event)
            selectedValue = app.SelectLidarDropDown.Value;
            switch selectedValue
                case 'VLP16'
                    app.puck = 1;
                case 'VLP32C'
                    app.puck = 2;
                case 'OUSTER'
                    app.puck = 3;
                otherwise
                    disp('Unexpected Lidar type selected.');
            end
            app.ProgressField.Value = "Load JSON or PCAP File";
            drawnow;
        end
    end

    % Component initialization
    methods (Access = private)

        % Create UIFigure and components
        function createComponents(app)

            % Create LidarDomeUIFigure and hide until all components are created
            app.LidarDomeUIFigure = uifigure('Visible', 'off');
            app.LidarDomeUIFigure.Position = [100 100 640 456];
            app.LidarDomeUIFigure.Name = 'PCAP to Point Cloud Converter';

            % Create ExportParametersLabel
            app.ExportParametersLabel = uilabel(app.LidarDomeUIFigure);
            app.ExportParametersLabel.Position = [451 219 106 22];
            app.ExportParametersLabel.Text = 'Export Parameters';

            % Create CalibrationSettingsLabel
            app.CalibrationSettingsLabel = uilabel(app.LidarDomeUIFigure);
            app.CalibrationSettingsLabel.Position = [267 219 110 22];
            app.CalibrationSettingsLabel.Text = 'Calibration Settings';

            % Create PCAPtoPointCloudLabel
            app.PCAPtoPointCloudLabel = uilabel(app.LidarDomeUIFigure);
            app.PCAPtoPointCloudLabel.HorizontalAlignment = 'center';
            app.PCAPtoPointCloudLabel.FontSize = 16;
            app.PCAPtoPointCloudLabel.FontWeight = 'bold';
            app.PCAPtoPointCloudLabel.Position = [251 384 163 22];
            app.PCAPtoPointCloudLabel.Text = 'PCAP to Point Cloud';

            % Create ScanSettingsLabel
            app.ScanSettingsLabel = uilabel(app.LidarDomeUIFigure);
            app.ScanSettingsLabel.Position = [113 219 80 22];
            app.ScanSettingsLabel.Text = 'Scan Settings';

            % Create alpha1EditFieldLabel
            app.alpha1EditFieldLabel = uilabel(app.LidarDomeUIFigure);
            app.alpha1EditFieldLabel.HorizontalAlignment = 'right';
            app.alpha1EditFieldLabel.Position = [223 184 45 22];
            app.alpha1EditFieldLabel.Text = 'alpha 1';

            % Create alpha1EditField
            app.alpha1EditField = uieditfield(app.LidarDomeUIFigure, 'numeric');
            app.alpha1EditField.Tooltip = {'collimation axis'};
            app.alpha1EditField.Position = [283 184 54 22];

            % Create alpha2EditFieldLabel
            app.alpha2EditFieldLabel = uilabel(app.LidarDomeUIFigure);
            app.alpha2EditFieldLabel.HorizontalAlignment = 'right';
            app.alpha2EditFieldLabel.Position = [223 150 45 22];
            app.alpha2EditFieldLabel.Text = 'alpha 2';

            % Create alpha2EditField
            app.alpha2EditField = uieditfield(app.LidarDomeUIFigure, 'numeric');
            app.alpha2EditField.Tooltip = {'tilting axis'};
            app.alpha2EditField.Position = [283 150 54 22];

            % Create offsetrEditFieldLabel
            app.offsetrEditFieldLabel = uilabel(app.LidarDomeUIFigure);
            app.offsetrEditFieldLabel.HorizontalAlignment = 'right';
            app.offsetrEditFieldLabel.Position = [223 111 45 22];
            app.offsetrEditFieldLabel.Text = 'offset r';

            % Create offsetrEditField
            app.offsetrEditField = uieditfield(app.LidarDomeUIFigure, 'numeric');
            app.offsetrEditField.Tooltip = {'distance between the arm and the optical center of the LiDAR in [m]'};
            app.offsetrEditField.Position = [283 111 54 22];

            % Create LoadPCAPfileButton
            app.LoadPCAPfileButton = uibutton(app.LidarDomeUIFigure, 'push');
            app.LoadPCAPfileButton.ButtonPushedFcn = createCallbackFcn(app, @LoadPCAPfileButtonPushed, true);
            app.LoadPCAPfileButton.Tooltip = {'Select Ouster or Velodyne Pcap'};
            app.LoadPCAPfileButton.Position = [92 303 100 22];
            app.LoadPCAPfileButton.Text = 'Load PCAP file';

            % Create DurationEditField_2Label
            app.DurationEditField_2Label = uilabel(app.LidarDomeUIFigure);
            app.DurationEditField_2Label.HorizontalAlignment = 'right';
            app.DurationEditField_2Label.Position = [44 184 52 22];
            app.DurationEditField_2Label.Text = 'Duration';

            % Create DurationEditField_2
            app.DurationEditField_2 = uieditfield(app.LidarDomeUIFigure, 'numeric');
            app.DurationEditField_2.Tooltip = {'Scan duration in tenths of a second'};
            app.DurationEditField_2.Position = [110 184 54 22];
            app.DurationEditField_2.Value = 3630;

            % Create AngleEditFieldLabel
            app.AngleEditFieldLabel = uilabel(app.LidarDomeUIFigure);
            app.AngleEditFieldLabel.HorizontalAlignment = 'right';
            app.AngleEditFieldLabel.Position = [44 150 52 22];
            app.AngleEditFieldLabel.Text = 'Angle';

            % Create AngleEditField
            app.AngleEditField = uieditfield(app.LidarDomeUIFigure, 'numeric');
            app.AngleEditField.Tooltip = {'LiDAR rotation angle'};
            app.AngleEditField.Position = [110 150 54 22];

            % Create DelayEditFieldLabel
            app.DelayEditFieldLabel = uilabel(app.LidarDomeUIFigure);
            app.DelayEditFieldLabel.HorizontalAlignment = 'right';
            app.DelayEditFieldLabel.Position = [44 111 52 22];
            app.DelayEditFieldLabel.Text = 'Delay';

            % Create DelayEditField
            app.DelayEditField = uieditfield(app.LidarDomeUIFigure, 'numeric');
            app.DelayEditField.Tooltip = {'Time in tenths of a second till start of first frame'};
            app.DelayEditField.Position = [110 111 54 22];

            % Create PcapFileEditField
            app.PcapFileEditField = uieditfield(app.LidarDomeUIFigure, 'text');
            app.PcapFileEditField.HorizontalAlignment = 'center';
            app.PcapFileEditField.Position = [96 262 455 22];

            % Create PointstoKeepDropDownLabel
            app.PointstoKeepDropDownLabel = uilabel(app.LidarDomeUIFigure);
            app.PointstoKeepDropDownLabel.HorizontalAlignment = 'right';
            app.PointstoKeepDropDownLabel.Position = [396 184 84 22];
            app.PointstoKeepDropDownLabel.Text = 'Points to Keep';

            % Create PointstoKeepDropDown
            app.PointstoKeepDropDown = uidropdown(app.LidarDomeUIFigure);
            app.PointstoKeepDropDown.Items = {'All', 'Positive', 'Negative'};
            app.PointstoKeepDropDown.Tooltip = {'Default Negative. Use ALL for displaying A2 error'};
            app.PointstoKeepDropDown.Position = [495 184 100 22];
            app.PointstoKeepDropDown.Value = 'Negative';

            % Create BandstoKeepDropDownLabel
            app.BandstoKeepDropDownLabel = uilabel(app.LidarDomeUIFigure);
            app.BandstoKeepDropDownLabel.HorizontalAlignment = 'right';
            app.BandstoKeepDropDownLabel.Position = [396 150 84 22];
            app.BandstoKeepDropDownLabel.Text = 'Bands to Keep';

            % Create BandstoKeepDropDown
            app.BandstoKeepDropDown = uidropdown(app.LidarDomeUIFigure);
            app.BandstoKeepDropDown.Items = {'All', 'First,Last', 'Middle'};
            app.BandstoKeepDropDown.Tooltip = {'Scan is divided in section. Pick parts of scan to keep'};
            app.BandstoKeepDropDown.Position = [495 150 100 22];
            app.BandstoKeepDropDown.Value = 'All';

            % Create SubsampleEditFieldLabel
            app.SubsampleEditFieldLabel = uilabel(app.LidarDomeUIFigure);
            app.SubsampleEditFieldLabel.HorizontalAlignment = 'right';
            app.SubsampleEditFieldLabel.Position = [274 70 65 22];
            app.SubsampleEditFieldLabel.Text = 'Subsample';

            % Create SubsampleEditField
            app.SubsampleEditField = uieditfield(app.LidarDomeUIFigure, 'numeric');
            app.SubsampleEditField.Tooltip = {'Subsamplingn in [m] / Set to 0 to keep all the values'};
            app.SubsampleEditField.Position = [354 70 42 22];

            % Create RunButton
            app.RunButton = uibutton(app.LidarDomeUIFigure, 'push');
            app.RunButton.ButtonPushedFcn = createCallbackFcn(app, @RunButtonPushed, true);
            app.RunButton.Position = [451 346 100 22];
            app.RunButton.Text = 'Run';

            % Create ProgressField
            app.ProgressField = uieditfield(app.LidarDomeUIFigure, 'text');
            app.ProgressField.HorizontalAlignment = 'center';
            app.ProgressField.Position = [110 33 286 22];
            app.ProgressField.Value = 'Load PCAP File';

            % Create LidarDome360Label
            app.LidarDome360Label = uilabel(app.LidarDomeUIFigure);
            app.LidarDome360Label.HorizontalAlignment = 'center';
            app.LidarDome360Label.FontSize = 16;
            app.LidarDome360Label.FontWeight = 'bold';
            app.LidarDome360Label.Position = [265 405 124 22];
            app.LidarDome360Label.Text = 'Lidar Dome 360';

            % Create SelectLidarFirstLabel
            app.SelectLidarFirstLabel = uilabel(app.LidarDomeUIFigure);
            app.SelectLidarFirstLabel.VerticalAlignment = 'bottom';
            app.SelectLidarFirstLabel.FontSize = 14;
            app.SelectLidarFirstLabel.Position = [92 408 100 19];
            app.SelectLidarFirstLabel.Text = 'Select Lidar';

            % Create SelectLidarDropDown
            app.SelectLidarDropDown = uidropdown(app.LidarDomeUIFigure);
            app.SelectLidarDropDown.Items = {'VLP16', 'VLP32C', 'OUSTER'};
            app.SelectLidarDropDown.ValueChangedFcn = createCallbackFcn(app, @LidarDropDownValueChanged, true);
            app.SelectLidarDropDown.Tooltip = {'Select your Lidar Version'};
            app.SelectLidarDropDown.Position = [92 380 100 22];
            app.SelectLidarDropDown.Value = 'VLP32C';

            % Create DirectionDropDownLabel
            app.DirectionDropDownLabel = uilabel(app.LidarDomeUIFigure);
            app.DirectionDropDownLabel.HorizontalAlignment = 'right';
            app.DirectionDropDownLabel.Position = [48 70 52 22];
            app.DirectionDropDownLabel.Text = 'Direction';

            % Create DirectionDropDown
            app.DirectionDropDown = uidropdown(app.LidarDomeUIFigure);
            app.DirectionDropDown.Items = {'Clockwise', 'Counterclockwise'};
            app.DirectionDropDown.Tooltip = {'Select direction Lidar Rotates'};
            app.DirectionDropDown.Position = [115 70 142 22];
            app.DirectionDropDown.Value = 'Clockwise';

            % Create LoadJSONfileButton
            app.LoadJSONfileButton = uibutton(app.LidarDomeUIFigure, 'push');
            app.LoadJSONfileButton.ButtonPushedFcn = createCallbackFcn(app, @LoadJSONfileButtonPushed, true);
            app.LoadJSONfileButton.Tooltip = {'Select Ouster Calibration File'};
            app.LoadJSONfileButton.Position = [92 340 100 22];
            app.LoadJSONfileButton.Text = 'Load JSON file';

            % Create StopButton
            app.StopButton = uibutton(app.LidarDomeUIFigure, 'push');
            app.StopButton.ButtonPushedFcn = createCallbackFcn(app, @StopButtonPushed, true);
            app.StopButton.Position = [451 302 100 23];
            app.StopButton.Text = 'Stop';

            % Create DisplayDropDownLabel
            app.DisplayDropDownLabel = uilabel(app.LidarDomeUIFigure);
            app.DisplayDropDownLabel.HorizontalAlignment = 'right';
            app.DisplayDropDownLabel.Position = [436 111 44 22];
            app.DisplayDropDownLabel.Text = 'Display';

            % Create DisplayDropDown
            app.DisplayDropDown = uidropdown(app.LidarDomeUIFigure);
            app.DisplayDropDown.Items = {'All Cycles', 'First Cycle', 'None'};
            app.DisplayDropDown.Tooltip = {'Select to preview Point Cloud'};
            app.DisplayDropDown.Position = [495 111 100 22];
            app.DisplayDropDown.Value = 'All Cycles';

            % Create deNoiseDropDownLabel
            app.deNoiseDropDownLabel = uilabel(app.LidarDomeUIFigure);
            app.deNoiseDropDownLabel.HorizontalAlignment = 'right';
            app.deNoiseDropDownLabel.Position = [431 70 49 22];
            app.deNoiseDropDownLabel.Text = 'deNoise';

            % Create deNoiseDropDown
            app.deNoiseDropDown = uidropdown(app.LidarDomeUIFigure);
            app.deNoiseDropDown.Items = {'Low', 'High', 'None'};
            app.deNoiseDropDown.Tooltip = {'Level of Applied Noise Reduction'};
            app.deNoiseDropDown.Position = [495 70 100 22];
            app.deNoiseDropDown.Value = 'High';

            % Create ExportDropDownLabel
            app.ExportDropDownLabel = uilabel(app.LidarDomeUIFigure);
            app.ExportDropDownLabel.HorizontalAlignment = 'right';
            app.ExportDropDownLabel.Position = [440 33 40 22];
            app.ExportDropDownLabel.Text = 'Export';

            % Create ExportDropDown
            app.ExportDropDown = uidropdown(app.LidarDomeUIFigure);
            app.ExportDropDown.Items = {'Singles', 'Merged'};
            app.ExportDropDown.Tooltip = {'Single sliced files or one Merged file'};
            app.ExportDropDown.Position = [495 33 100 22];
            app.ExportDropDown.Value = 'Singles';

            % Show the figure after all components are created
            app.LidarDomeUIFigure.Visible = 'on';
        end
    end

    % App creation and deletion
    methods (Access = public)

        % Construct app
        function app = Lidar_Dome_360

            % Create UIFigure and components
            createComponents(app)

            % Register the app with App Designer
            registerApp(app, app.LidarDomeUIFigure)

            % Execute the startup function
            runStartupFcn(app, @startupFcn)

            if nargout == 0
                clear app
            end
        end

        % Code that executes before app deletion
        function delete(app)

            % Delete UIFigure when app is deleted
            delete(app.LidarDomeUIFigure)
        end
    end
end