public void Receiver_OnConnectionChanged(OYOReceiver receiver)
{
try
{
this.SetProgressbarState(this.raspCamProgressbar, receiver.Connected);
this.raspCamProgressbar.Invoke(new MethodInvoker(delegate()
{
this.raspCamProgressbar.Value = receiver.Connected ? 15 : 0;
this.raspCamProgressbar.ProgressBackColor = receiver.Connected ? Color.Gainsboro : Color.FromArgb(255, 200, 150);
}));
this.cameraConnectionLabel.Invoke(new MethodInvoker(delegate()
{
this.cameraConnectionLabel.Text = receiver.Connected ? "연결됨" : "연결 안됨";
}));
this.cameraStatePanel.Invoke(new MethodInvoker(delegate()
{
this.cameraStatePanel.Visible = receiver.Connected;
}));
}
catch (Exception)
{ }
}
public void Receiver_OnError(OYOReceiver receiver, string message)
{
var mainform = this;
this.Invoke(new MethodInvoker(delegate()
{
var dialog = new MessageDialog(message, System.Drawing.Color.Gainsboro);
dialog.ShowDialog(mainform);
}));
}
public void Receiver_OnConnectionChanged(OYOReceiver receiver)
{
try
{
this.streamingFrameBox.Invoke(new MethodInvoker(delegate()
{
this.streamingFrameBox.SizeMode = PictureBoxSizeMode.CenterImage;
this.streamingFrameBox.Image = Properties.Resources.no_image_available;
}));
this.Cursor = Cursors.Default;
}
catch (Exception)
{ }
}
public void Receiver_OnConnectionChanged(OYOReceiver receiver)
{
try
{
this.connectionCameraProgressbar.Invoke(new MethodInvoker(delegate()
{
this.connectionCameraProgressbar.animated = receiver.Connected;
this.connectionCameraProgressbar.Value = receiver.Connected ? 15 : 0;
}));
this.connectionLabel.Invoke(new MethodInvoker(delegate()
{
connectionLabel.Text = receiver.Connected ? "서버와 연결되었습니다." : "서버와 연결되지 않았습니다.";
}));
this.synchronizeFromConfig();
}
catch (Exception)
{ }
}
public void Receiver_OnDisconnected(OYOReceiver receiver)
{
//this.detectionStateSwitch.Value = false;
}
private void Receiver_OnDisconnected(OYOReceiver receiver)
{
this.Recorder.Release();
}
public void Receiver_OnUpdate(OYOReceiver receiver, StreamingType streamingType)
{
try
{
var stopwatch = new Stopwatch();
stopwatch.Start();
//
// Get scaled
//
var scaled = this.Visualizer.Scaled / 10.0f;
var baseSize = new OpenCvSharp.Size(640 * scaled, 480 * scaled);
//
// Get updated frame and store buffer
//
var updatedFrame = new Mat();
if (streamingType == StreamingType.Infrared)
{
updatedFrame = receiver.Infrared(baseSize);
this.UpdatedDataBuffer.SetInfrared(this.Visualizer.mappingPalette(updatedFrame), receiver.Temperature(baseSize));
this.Recorder.Write(OYORecorder.RecordingStateType.Infrared, updatedFrame);
}
else
{
updatedFrame = receiver.Visual(baseSize);
this.UpdatedDataBuffer.SetVisual(updatedFrame);
this.Recorder.Write(OYORecorder.RecordingStateType.Visual, updatedFrame);
}
//
// Set current frame box size to fix frame and temperature table size
//
this.Blender.Size = baseSize;
var currentDisplaySize = this.GetDisplaySize(streamingType, updatedFrame);
updatedFrame = this.UpdatedDataBuffer.SetDisplay(currentDisplaySize);
//
// Blend if user checked
//
var blendedFrame = new Mat();
if (this.Blender.Enabled || this.Recorder.IsRecording(OYORecorder.RecordingStateType.Blending))
{
var mask = this.UpdatedDataBuffer.Temperature.Threshold(this.Blender.Threshold, 255, ThresholdTypes.Binary);
this.Blender.Update(this.UpdatedDataBuffer.Visual);
this.Blender.Update(this.UpdatedDataBuffer.Infrared, mask);
if (this.Blender.Blendable)
{
blendedFrame = this.Blender.Blending();
}
if (this.Blender.Enabled)
{
updatedFrame = blendedFrame;
}
if (this.Recorder.IsRecording(OYORecorder.RecordingStateType.Blending) && streamingType == StreamingType.Infrared)
{
this.Recorder.Write(OYORecorder.RecordingStateType.Blending, blendedFrame);
}
}
//
// Record display frame
//
var isDisplayRecordable = this.Recorder.IsRecording(OYORecorder.RecordingStateType.Display) && ((this.Blender.Enabled && streamingType == StreamingType.Infrared) || (this.Visualizer.StreamingType == streamingType));
if (isDisplayRecordable)
{
var currentRecordSize = this.Recorder.GetRecordSize(OYORecorder.RecordingStateType.Display);
var displayFrame = updatedFrame.Resize(currentRecordSize);
this.UpdatedDataBuffer.SetDisplay(currentRecordSize);
// Draw detection boxes
if (this.defaultView.sideExpandedBar.droneTab.ShowDetectionBoxes)
{
var mask = this.UpdatedDataBuffer.Temperature.Threshold(this.defaultView.sideExpandedBar.detectFireTab.desiredTemperatureSlider.Value, 255, ThresholdTypes.Binary);
var betweenMin = this.UpdatedDataBuffer.MeanTemperature - this.UpdatedDataBuffer.MinimumTemperature;
var betweenMax = this.UpdatedDataBuffer.MaximumTemperature - this.UpdatedDataBuffer.MeanTemperature;
this.Detector.Update(mask, delegate(RotatedRect detectedRect)
{
var center = this.UpdatedDataBuffer.Temperature.Get <float>((int)detectedRect.Center.Y, (int)detectedRect.Center.X);
if (center - this.UpdatedDataBuffer.MeanTemperature > betweenMin * DETECTION_ALPHA)
{
return(true);
}
return(false);
});
displayFrame = this.Detector.DrawDetectedRects(displayFrame);
// Draw temperature label
foreach (var detectedRect in this.Detector.DetectedRects)
{
var center = this.UpdatedDataBuffer.Temperature.Get <float>((int)detectedRect.Center.Y, (int)detectedRect.Center.X);
this.Visualizer.markTemperature(displayFrame, new Point(detectedRect.Center.X, detectedRect.Center.Y), center, Scalar.Red);
}
}
// Draw google map
if (this.defaultView.sideExpandedBar.droneTab.ShowGmap)
{
displayFrame = this.Overlayer.Overlay(displayFrame, this.Overlayer.GetGmapPadding(displayFrame));
}
// Write record frame
this.Recorder.Write(OYORecorder.RecordingStateType.Display, displayFrame);
// Restore previous size
this.UpdatedDataBuffer.SetDisplay(currentDisplaySize);
}
//
// Detect current frame that showing
//
if (this.Detector.Enabled)
{
var mask = this.UpdatedDataBuffer.Temperature.Threshold(this.defaultView.sideExpandedBar.detectFireTab.desiredTemperatureSlider.Value, 255, ThresholdTypes.Binary);
var betweenMin = this.UpdatedDataBuffer.MeanTemperature - this.UpdatedDataBuffer.MinimumTemperature;
var betweenMax = this.UpdatedDataBuffer.MaximumTemperature - this.UpdatedDataBuffer.MeanTemperature;
this.Detector.Detect(mask, delegate(RotatedRect detectedRect)
{
var center = this.UpdatedDataBuffer.Temperature.Get <float>((int)detectedRect.Center.Y, (int)detectedRect.Center.X);
if (center - this.UpdatedDataBuffer.MeanTemperature > betweenMin * DETECTION_ALPHA)
{
return(true);
}
return(false);
});
updatedFrame = this.Detector.DrawDetectedRects(updatedFrame);
// Draw temperature label
foreach (var detectedRect in this.Detector.DetectedRects)
{
var center = this.UpdatedDataBuffer.Temperature.Get <float>((int)detectedRect.Center.Y, (int)detectedRect.Center.X);
this.Visualizer.markTemperature(updatedFrame, new Point(detectedRect.Center.X, detectedRect.Center.Y), center, Scalar.Red);
}
//
// Post information to central server
//
this._detectedWatcher.Stop();
if (this._detectedWatcher.ElapsedMilliseconds > 5000 && this.Detector.DetectedRects.Length != 0 && this.Bebop2.GPS.IsValid)
{
var detectedRect = this.Detector.DetectedRects[0];
var temperature = this.UpdatedDataBuffer.Temperature.Get <float>((int)detectedRect.Center.Y, (int)detectedRect.Center.X);
this.PostDetection(this.Detector.DrawDetectedRects(this.UpdatedDataBuffer.Infrared), this.UpdatedDataBuffer.Visual, receiver.Infrared(), this.Bebop2.GPS.lat, this.Bebop2.GPS.lon, this.Bebop2.Altitude, temperature);
this._detectedWatcher.Restart();
}
else
{
this._detectedWatcher.Start();
}
}
if ((this.Blender.Enabled && streamingType == StreamingType.Infrared) || (!this.Blender.Enabled && this.Visualizer.StreamingType == streamingType))
{
this._fps++;
}
if (this._stopwatch.ElapsedMilliseconds > 1000.0f)
{
this._lastFps = this._fps;
this._fps = 0;
this._stopwatch.Restart();
}
updatedFrame = updatedFrame.Resize(currentDisplaySize);
var fontScaled = Math.Min(updatedFrame.Width / 1200.0f, 0.8f);
var baseLine = 0;
var text = string.Format("fps : {0}", this._lastFps);
var font = HersheyFonts.HersheyPlain;
var textSize = Cv2.GetTextSize(text, font, fontScaled, 1, out baseLine);
Cv2.PutText(updatedFrame, text, new OpenCvSharp.Point(updatedFrame.Width - textSize.Width * 2, textSize.Height * 3), HersheyFonts.HersheyDuplex, fontScaled, Scalar.White);
var invalidated = (this.Blender.Enabled || (this.Visualizer.StreamingType == streamingType));
updatedFrame = this.Overlayer.Overlay(updatedFrame);
this.OnFrameUpdated.Invoke(this.UpdatedDataBuffer, updatedFrame, invalidated);
stopwatch.Stop();
var header = string.Empty;
if (this.Blender.Enabled)
{
header = "Blend";
}
else if (this.Visualizer.StreamingType == StreamingType.Infrared)
{
header = "Infrared";
}
else
{
header = "Visual";
}
stopwatch.Restart();
}
catch (Exception e)
{
return;
}
}
