private Task DoLoadFromFile(object o)
{
return(Task.Factory.StartNew(() =>
{
Parent.SyncContext.Post(c =>
{
CustomDialog customDialog = new CustomDialog()
{
Title = "Select calibration file"
};
var dataContext = new ReplaySelectDialogModel(obj =>
{
Parent.SyncContext.Post(d =>
{
Task.Factory.StartNew(async() =>
{
ReplaySelectDialogModel replaySelectDialogModel = obj as ReplaySelectDialogModel;
if (replaySelectDialogModel.SelectedFile != null)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Loading calibration images!", settings: Parent.MetroDialogSettings);
controller.SetCancelable(false);
controller.SetIndeterminate();
string file = null;
string outputPath = null;
Parent.SyncContext.Send(async d2 =>
{
file = replaySelectDialogModel.SelectedFile.FullPath;
outputPath = Path.Combine(Path.GetTempPath(), "firefly", Guid.NewGuid().ToString());
}, null);
RawDataReader reader = new RawDataReader(file, RawReaderMode.Camera0);
reader.Open();
MemoryImageExporter exporter = new MemoryImageExporter();
exporter.AddFromReader(reader, delegate(double percent)
{
double value = percent;
value = value > 1 ? 1 : value;
controller.SetProgress(value);
});
reader.Close();
Parent.SyncContext.Post(d2 =>
{
int i = 0;
int count = exporter.Images.Count;
foreach (Mat m in exporter.Images)
{
//double value = 0.5 + i / count * 0.5;
//value = value > 1 ? 1 : value;
//controller.SetProgress(value);
if (i++ % 20 == 0)
{
int squaresX = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresX;
int squaresY = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresY;
float squareLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquareLength;
float markerLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.MarkerLength;
PredefinedDictionaryName dictionary = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.Dictionary;
ChArUcoImageContainer cauic = new ChArUcoImageContainer(squaresX, squaresY, squareLength, markerLength, dictionary);
CvImageContainer container = new CvImageContainer();
container.CvImage = m;
cauic.OriginalImage = container;
Images.Add(cauic);
}
}
controller.CloseAsync();
}, null);
}
}, TaskCreationOptions.LongRunning);
Parent.DialogCoordinator.HideMetroDialogAsync(Parent, customDialog);
}, null);
});
Parent.ReplayViewModel.Refresh();
dataContext.FilesForReplay.AddRange(Parent.ReplayViewModel.FilesForReplay.Where(x => !x.Item1.IsRemote));
customDialog.Content = new ReplaySelectDialog {
DataContext = dataContext
};
Parent.DialogCoordinator.ShowMetroDialogAsync(Parent, customDialog);
}, null);
}));
}
private Action <ReplaySelectDialogModel> OnReplaySelectDialogClose(bool response, CustomDialog customDialog)
{
return(obj =>
{
Parent.SyncContext.Send(d =>
{
Parent.DialogCoordinator.HideMetroDialogAsync(Parent, customDialog);
}, null);
Parent.SyncContext.Post(d =>
{
Task.Factory.StartNew(async() =>
{
ReplaySelectDialogModel replaySelectDialogModel = obj as ReplaySelectDialogModel;
if (replaySelectDialogModel.SelectedFile != null)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Photometric calibration!", settings: Parent.MetroDialogSettings);
controller.SetCancelable(false);
controller.SetIndeterminate();
string file = null;
string outputPath = null;
double fxO = 0.0;
double fyO = 0.0;
double cxO = 0.0;
double cyO = 0.0;
double fxN = 0.0;
double fyN = 0.0;
double cxN = 0.0;
double cyN = 0.0;
double k1 = 0.0;
double k2 = 0.0;
double k3 = 0.0;
double k4 = 0.0;
int width = 0;
int height = 0;
List <double> responseValues = new List <double>();
Parent.SyncContext.Send(d2 =>
{
file = replaySelectDialogModel.SelectedFile.FullPath;
outputPath = Path.Combine(Path.GetTempPath(), "firefly", Guid.NewGuid().ToString());
fxO = Parent.CameraViewModel.OrginalCameraMatrix.GetValue(0, 0);
fyO = Parent.CameraViewModel.OrginalCameraMatrix.GetValue(1, 1);
cxO = Parent.CameraViewModel.OrginalCameraMatrix.GetValue(0, 2);
cyO = Parent.CameraViewModel.OrginalCameraMatrix.GetValue(1, 2);
fxN = Parent.CameraViewModel.NewCameraMatrix.GetValue(0, 0);
fyN = Parent.CameraViewModel.NewCameraMatrix.GetValue(1, 1);
cxN = Parent.CameraViewModel.NewCameraMatrix.GetValue(0, 2);
cyN = Parent.CameraViewModel.NewCameraMatrix.GetValue(1, 2);
k1 = Parent.CameraViewModel.DistortionCoefficients.GetValue(0, 0);
k2 = Parent.CameraViewModel.DistortionCoefficients.GetValue(0, 1);
k3 = Parent.CameraViewModel.DistortionCoefficients.GetValue(0, 2);
k4 = Parent.CameraViewModel.DistortionCoefficients.GetValue(0, 3);
if (!response)
{
responseValues.AddRange(ResponseValues.Select(f => f.Y));
}
width = Parent.CameraViewModel.ImageWidth;
height = Parent.CameraViewModel.ImageHeight;
}, null);
RawDataReader reader = new RawDataReader(file, RawReaderMode.Camera0);
reader.Open();
PhotometricCalibratrionExporter exporter = new PhotometricCalibratrionExporter(fxO, fyO, cxO, cyO, fxN, fyN, cxN, cyN, width, height, k1, k2, k3, k4, outputPath, response, responseValues);
exporter.Open();
exporter.AddFromReader(reader, delegate(double percent)
{
double value = percent * 0.33;
value = value > 1 ? 1 : value;
controller.SetProgress(value);
});
exporter.Close();
reader.Close();
Process p = new Process();
p.StartInfo.RedirectStandardOutput = true;
p.StartInfo.UseShellExecute = false;
p.StartInfo.WorkingDirectory = outputPath;
p.StartInfo.CreateNoWindow = true;
p.EnableRaisingEvents = true;
string options = "";
if (response)
{
p.StartInfo.FileName = Path.Combine(Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), "Tools", "responseCalib.exe");
}
else
{
p.StartInfo.FileName = Path.Combine(Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), "Tools", "vignetteCalib.exe");
options = "facW=7 facH=7";
}
p.StartInfo.Arguments = string.Format("{0}\\ -noGUI -showPercent {1}", outputPath, options);
p.OutputDataReceived += new DataReceivedEventHandler((s, e) =>
{
Debug.WriteLine(e.Data);
if (!string.IsNullOrEmpty(e.Data))
{
foreach (string line in e.Data.Split('\n'))
{
if (line.StartsWith("percent: "))
{
double percent = double.Parse(line.Replace("percent: ", ""), CultureInfo.InvariantCulture);
double value = 0.33 + percent * 0.66;
value = value > 1 ? 1 : value;
controller.SetProgress(value);
}
}
}
}
);
p.Exited += new EventHandler((s, e) =>
{
Parent.SyncContext.Post(async x =>
{
if (response)
{
ParseResponseResult(outputPath);
}
else
{
ParseVignetteResult(outputPath);
}
Directory.Delete(outputPath, true);
await controller.CloseAsync();
}, null);
});
p.Start();
p.BeginOutputReadLine();
}
}, TaskCreationOptions.LongRunning);
}, null);
});
}
private Task DoExportVideo(object o)
{
return(Task.Factory.StartNew(async() =>
{
ReplayFile file = o as ReplayFile;
RawDataReader reader = null;
string fullPath = null;
bool isRemote = false;
System.Windows.Forms.OpenFileDialog openFileDialog = null;
System.Windows.Forms.SaveFileDialog saveFileDialog = null;
bool open = false;
bool save = false;
CameraViewModel cvm = null;
Parent.SyncContext.Send(c =>
{
cvm = Parent.CameraViewModel;
fullPath = file.FullPath;
isRemote = file.IsRemote;
openFileDialog = new System.Windows.Forms.OpenFileDialog();
openFileDialog.Filter = "Matlab (*.mat) | *.mat";
open = openFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK;
saveFileDialog = new System.Windows.Forms.SaveFileDialog();
saveFileDialog.Filter = "Video (*.mp4) | *.mp4";
save = saveFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK;
}, null);
if (open && save && !isRemote)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Export video file!", settings: Parent.MetroDialogSettings);
controller.SetCancelable(false);
reader = new RawDataReader(fullPath, RawReaderMode.Imu0 | RawReaderMode.Camera0, null, false);
controller.SetIndeterminate();
reader.Open();
VIMatlabImporter matlabImporter = new VIMatlabImporter(openFileDialog.FileName);
matlabImporter.Open();
VIVideoRenderer renderer = new VIVideoRenderer(saveFileDialog.FileName, 1920, 1080, Parent.SyncContext, cvm.OrginalCameraMatrix, cvm.CenteredCameraMatrix, cvm.DistortionCoefficients);
renderer.Open();
renderer.Render(matlabImporter, reader, delegate(double percent)
{
controller.SetProgress(percent);
});
renderer.Close();
matlabImporter.Close();
reader.Close();
await controller.CloseAsync();
}
}));
}
private Task DoStart(object o)
{
return(Task.Factory.StartNew(() =>
{
ReplayFile file = o as ReplayFile;
RawDataReader reader = null;
string fullPath = null;
Parent.SyncContext.Send(c =>
{
if (!IsReplaying)
{
IsReplaying = true;
fullPath = file.FullPath;
file.IsPlaying = true;
}
else
{
file.IsPlaying = true;
file.IsPaused = false;
}
}, null);
if (!string.IsNullOrEmpty(fullPath))
{
reader = new RawDataReader(fullPath, RawReaderMode.Imu0 | RawReaderMode.Camera0);
reader.Open();
Parent.IOProxy.ChangeSlamStatus(Proxy.SlamStatusOverall.Restart, true);
Parent.IOProxy.ReplayOffline(reader, new Action <TimeSpan>((t) =>
{
Parent.SyncContext.Post(c =>
{
ReplayTime = t;
}, null);
}), new Action(() =>
{
//Parent.IOProxy.ChangeSlamStatus(Proxy.SlamStatusOverall.Stop);
Parent.SyncContext.Post(c =>
{
IsReplaying = false;
file.IsPlaying = false;
file.IsPaused = false;
IsStopping = false;
}, null);
}), delegate()
{
bool isPaused = false;
Parent.SyncContext.Send(c =>
{
isPaused = file.IsPaused;
}, null);
return isPaused;
},
delegate()
{
return IsStopping;
});
}
}));
}
private Task DoExport(object o)
{
return(Task.Factory.StartNew(async() =>
{
ReplayFile file = o as ReplayFile;
RawDataReader reader = null;
string fullPath = null;
bool isRemote = false;
System.Windows.Forms.SaveFileDialog saveFileDialog = null;
bool save = false;
Parent.SyncContext.Send(c =>
{
fullPath = file.FullPath;
isRemote = file.IsRemote;
saveFileDialog = new System.Windows.Forms.SaveFileDialog();
saveFileDialog.Filter = "Matlab (*.mat) | *.mat";
save = saveFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK;
}, null);
if (save)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Export data to Matlab!", settings: Parent.MetroDialogSettings);
controller.SetCancelable(false);
if (isRemote)
{
reader = new RawDataReader(fullPath, RawReaderMode.Imu0, new RemoteDataStore(Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.IpAddress, Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Username, Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Password));
reader.Open(delegate(double percent)
{
double value = percent * 0.66;
value = value > 1 ? 1 : value;
controller.SetProgress(value);
});
}
else
{
reader = new RawDataReader(fullPath, RawReaderMode.Imu0 | RawReaderMode.Camera0, null, true);
controller.SetIndeterminate();
reader.Open();
}
RawMatlabExporter matlabExporter = new RawMatlabExporter(saveFileDialog.FileName, MatlabFormat.Imu0 | MatlabFormat.Camera0);
matlabExporter.Open();
if (isRemote)
{
matlabExporter.AddFromReader(reader, delegate(double percent)
{
double value = percent * 0.33 + 0.66;
value = value > 1 ? 1 : value;
controller.SetProgress(value);
});
}
else
{
matlabExporter.AddFromReader(reader, delegate(double percent)
{
controller.SetProgress(percent);
});
}
matlabExporter.Close();
reader.Close();
await controller.CloseAsync();
}
}));
}