public MainForm()
{
InitializeComponent();
m_UnitsComboBox.SelectedIndex = 0;
bool useCamera = false;
if (useCamera)
{
m_Capture = new Capture();
}
else
{
m_Capture = new Capture(@"C:\svnDev\oss\Google\drh-visual-odometry\TestVideos\2010-07-18 11-10-22.853.wmv");
m_Timer.Interval = 33;
m_Timer.Enabled = true;
}
CameraParameters cameraParameters = CameraParameters.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus12\1280x720\MicrosoftCinemaFocus12_1280x720.txt");
HomographyMatrix GroundProjectionTransformation = HomographyMatrixSupport.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus12\1280x720\BirdsEyeViewTransformationForCalculation.txt");
m_GroundProjectionTransformationForUI = HomographyMatrixSupport.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus12\1280x720\BirdsEyeViewTransformationForUI.txt");
m_VisualOdometer = new VisualOdometer(m_Capture, cameraParameters, GroundProjectionTransformation, new OpticalFlow());
UpdateFromModel();
m_VisualOdometer.Changed += new EventHandler(OnVisualOdometerChanged);
Application.Idle += OnApplicationIdle;
}
public MainForm()
{
InitializeComponent();
m_CameraParameters = CameraParameters.Load(@"..\..\..\..\CalibrationFiles\MicrosoftCinema\Focus14\1280x720\MicrosoftCinemaFocus14_1280x720.txt");
m_RawImage = new Image <Bgr, byte>(@"..\..\..\..\CalibrationFiles\MicrosoftCinema\Focus14\1280x720\GroundProjectionCalibration.jpg");
this.CurrentImage = m_RawImage.Clone();
this.BirdsEyeImage = m_RawImage.Clone();
InitializeUndistortMap(m_RawImage);
Undistort(m_RawImage, this.CurrentImage);
this.ChessBoard = new ChessBoard(8, 10);
PointF[] foundCorners = CollectImageCorners();
DrawFoundCorners(this.CurrentImage, foundCorners);
// We pick four corners for perspective transform
PointF[] outerCorners = new PointF[4];
outerCorners[0] = foundCorners[0];
outerCorners[1] = foundCorners[this.ChessBoard.PatternSize.Width - 1];
outerCorners[2] = foundCorners[this.ChessBoard.PatternSize.Width * this.ChessBoard.PatternSize.Height - this.ChessBoard.PatternSize.Width];
outerCorners[3] = foundCorners[this.ChessBoard.PatternSize.Width * this.ChessBoard.PatternSize.Height - 1];
DrawOuterCorners(this.CurrentImage, outerCorners);
float side;
float bottom;
float centerX;
side = 25.0f;
bottom = 310.0f;
PointF[] physicalPointsForCalculation = new PointF[4];
physicalPointsForCalculation[0] = new PointF(-3 * side, bottom + 8 * side);
physicalPointsForCalculation[1] = new PointF(+3 * side, bottom + 8 * side);
physicalPointsForCalculation[2] = new PointF(-3 * side, bottom);
physicalPointsForCalculation[3] = new PointF(+3 * side, bottom);
m_BirdsEyeViewTransformationForCalculation = CameraCalibration.GetPerspectiveTransform(outerCorners, physicalPointsForCalculation);
HomographyMatrixSupport.Save(m_BirdsEyeViewTransformationForCalculation, "BirdsEyeViewTransformationForCalculation.txt");
side = 8f;
bottom = 700.0f;
centerX = (float)m_CameraParameters.Intrinsic.Cx;
PointF[] physicalPointsForUI = new PointF[4];
physicalPointsForUI[0] = new PointF(-3 * side + centerX, bottom - 8 * side);
physicalPointsForUI[1] = new PointF(+3 * side + centerX, bottom - 8 * side);
physicalPointsForUI[2] = new PointF(-3 * side + centerX, bottom);
physicalPointsForUI[3] = new PointF(+3 * side + centerX, bottom);
m_BirdsEyeViewTransformationForUI = CameraCalibration.GetPerspectiveTransform(outerCorners, physicalPointsForUI);
HomographyMatrixSupport.Save(m_BirdsEyeViewTransformationForUI, "BirdsEyeViewTransformationForUI.txt");
//m_BirdsEyeViewTransformationForCalculation.ProjectPoints(outerCorners);
CreateAndDrawBirdsEyeView();
}
public MainForm()
{
InitializeComponent();
CameraParameters cameraParameters = null;
HomographyMatrix groundProjectionTransformation = null;
bool useCamera = false;
_CamIP = Prompt.ShowDialog("OK para testes", "Conexão Camara");
if (_CamIP != "")
{
useCamera = true;
}
if (useCamera)
{
//Emgu.CV.CvInvoke.cvCreateFileCapture("http://*****:*****@cam_address/axis-cgi/mjpg/video.cgi?resolution=1280x720&req_fps=30&.mjpg");
m_Capture = new Capture(0);
m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_WIDTH, 1280);
m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_HEIGHT, 720);
cameraParameters = CameraParameters.Load(@"..\..\CalibrationFiles\MicrosoftCinemaFocus12.txt");
groundProjectionTransformation = HomographyMatrixSupport.Load(@"..\..\CalibrationFiles\BirdsEyeViewTransformationForCalculation.txt");
}
else
{
m_Capture = new Capture(@"..\..\CalibrationFiles\2010-07-18 11-10-22.853.wmv");
m_Timer.Interval = 33;
m_Timer.Enabled = true;
cameraParameters = CameraParameters.Load(@"..\..\CalibrationFiles\MicrosoftCinemaFocus12.txt");
groundProjectionTransformation = HomographyMatrixSupport.Load(@"..\..\CalibrationFiles\BirdsEyeViewTransformationForCalculation.txt");
}
m_VisualOdometer = new VisualOdometer(m_Capture, cameraParameters, groundProjectionTransformation, new OpticalFlow());
UpdateFromModel();
m_VisualOdometer.Changed += new EventHandler(OnVisualOdometerChanged);
Application.Idle += OnApplicationIdle;
if (m_MapForm == null || m_MapForm.IsDisposed)
{
m_MapForm = new MapForm(m_RobotPath);
}
m_MapForm.Show();
}
public MainForm()
{
InitializeComponent();
m_UnitsComboBox.SelectedIndex = 0;
CameraParameters cameraParameters = null;
HomographyMatrix groundProjectionTransformation = null;
bool useCamera = false;
if (useCamera)
{
m_Capture = new Capture();
m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_WIDTH, 1280);
m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_HEIGHT, 720);
cameraParameters = CameraParameters.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus14\1280x720\MicrosoftCinemaFocus14_1280x720.txt");
groundProjectionTransformation = HomographyMatrixSupport.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus14\1280x720\BirdsEyeViewTransformationForCalculation.txt");
m_GroundProjectionTransformationForUI = HomographyMatrixSupport.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus14\1280x720\BirdsEyeViewTransformationForUI.txt");
}
else
{
m_Capture = new Capture(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"TestVideos\testvideo.wmv");
m_Timer.Interval = 33;
m_Timer.Enabled = true;
cameraParameters = CameraParameters.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus12\1280x720\MicrosoftCinemaFocus12_1280x720.txt");
groundProjectionTransformation = HomographyMatrixSupport.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus12\1280x720\BirdsEyeViewTransformationForCalculation.txt");
m_GroundProjectionTransformationForUI = HomographyMatrixSupport.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus12\1280x720\BirdsEyeViewTransformationForUI.txt");
}
m_VisualOdometer = new VisualOdometer(m_Capture, cameraParameters, groundProjectionTransformation, new OpticalFlow());
UpdateFromModel();
m_VisualOdometer.Changed += new EventHandler(OnVisualOdometerChanged);
Application.Idle += OnApplicationIdle;
}