/// <summary>
/// Auger mounted device connect method - hokuyo lidar sensor and 3D-Imager
/// Revised 2013-10-16 by wonjae cho
/// </summary>
private void AugerConnect()
{
this._hokuyo_graph = new SickLidar.Graph();
this._hokuyo_graph.CreateHokuyoGraph(zg4, "Hokuyo Lidar", "X(mm)", "Y(mm)");
if (this.AugerReadCheckBox.Checked == false)
{
// lidar sensor connect
if (this.AugerLidarCheckBox.Checked == true)
{
this._hokuyo = new SickLidar.Hokuyo(this.AugerLidarComboBox.SelectedIndex, 19200);
// if hokuyo sensor connected then save data to txt file
if ((this.AugerSaveCheckBox.Checked == true) && (this._hokuyo.is_connected_sensor == true))
{
this._hokuyo_file = new SickLidar.File(this.AugerSaveCheckBox.Checked, this.AugerReadCheckBox.Checked);
}
}
else
{
}
// 3d-imager sensor connect
if (this.AugerDImagerCheckBox.Checked == true)
{
this.Panasonic3DImagerConnect();
// if 3d-imager sensor connected then save data to mpeg format
if ((this.AugerSaveCheckBox.Checked == true) && (this.dImager_Driver == 0))
{
this.dImager_io = new MachineVision.File();
this.dImager_io.InitializeDImagerIO(this.AugerSaveCheckBox.Checked, this.AugerReadCheckBox.Checked, Convert.ToInt32(this.TimerIntervalTxtBox.Text));
}
}
else
{
}
}
else
{
if (this.AugerLidarCheckBox.Checked == true)
{
this._hokuyo = new SickLidar.Hokuyo();
this._hokuyo_file = new SickLidar.File(this.AugerSaveCheckBox.Checked, this.AugerReadCheckBox.Checked);
}
if (this.AugerDImagerCheckBox.Checked == true)
{
this.dImager_io = new MachineVision.File();
this.dImager_io.InitializeDImagerIO(this.AugerSaveCheckBox.Checked, this.AugerReadCheckBox.Checked, Convert.ToInt32(this.TimerIntervalTxtBox.Text));
}
}
// Auger OpenGL form
if (this.AugerOpenGlCheckBox.Checked == true)
{
this.augerOpenGlForm = new AugerOpenGlForm(this.BodyModelComboBox.SelectedIndex, this.AugerReadCheckBox.Checked);
this.augerOpenGlForm.Show();
}
}
/// <summary>
/// Initialize Lidar Sensor
/// </summary>
private void LidarConnect()
{
this.isIniLidarInfo = false;
this.graph = new SickLidar.Graph();
this.graph.CreateGraph(zg1, zg3);
if (this.LidarReadCheckBox.Checked == false)
{
this.sickLidar = new SickLidar.SickLidar(
this.LidarHostTxtBox.Text,
Convert.ToInt32(this.LidarPortTxtBox.Text),
this.LidarSelectComboBox.SelectedIndex,
Convert.ToDouble(this.LidarScalingTxtBox.Text),
false
);
if (this.LidarSaveCheckBox.Checked == true)
{
this.lidarFile = new SickLidar.File(
this.LidarSaveCheckBox.Checked,
this.LidarReadCheckBox.Checked
);
}
}
else
{
this.sickLidar = new SickLidar.SickLidar(
this.LidarSelectComboBox.SelectedIndex,
Convert.ToDouble(this.LidarScalingTxtBox.Text)
);
this.lidarFile = new SickLidar.File(
this.LidarSaveCheckBox.Checked,
this.LidarReadCheckBox.Checked
);
}
// openGl display
if (this.LidarOpenGlCheckBox.Checked == true)
{
this.isOpenGL = true;
this.lidarOpenGlForm = new LidarOpenGlForm(this.BodyModelComboBox.SelectedIndex);
this.lidarOpenGlForm.Show();
}
}
