private void button6_Click(object sender, EventArgs e) { calibrator = new Flea3Calibrator(pictureBox1); calibrator.startCalibration(comboResolution.SelectedIndex, calibrator.CamIDs[0]); }
private void button6_Click(object sender, EventArgs e) { calibrator = new Flea3Calibrator(pictureBox1); calibrator.startCalibration(comboResolution.SelectedIndex, calibrator.CamIDs[0]); }
private void button4_Click(object sender, EventArgs e) { /*if (gps == null) * { * try * { * gps = new GPSReceiver(comboBox1.Items[comboBox1.SelectedIndex].ToString(), (int)numericUpDown1.Value, true); * * gps.StartReceiver(); * timer1.Start(); * } * catch (System.ArgumentOutOfRangeException ex) * { * MessageBox.Show("Make sure your GPS is connected and choose serial port!!! Starting capture without GPS", "GPS problem!", MessageBoxButtons.OK); * } * } * else if (!gps.CommPort.IsOpen) * { * try * { * gps = new GPSReceiver(comboBox1.Items[comboBox1.SelectedIndex].ToString(), (int)numericUpDown1.Value, true); * * gps.StartReceiver(); * timer1.Start(); * } * catch (System.ArgumentOutOfRangeException ex) * { * MessageBox.Show("Make sure your GPS is connected and choose serial port!!! Starting capture without GPS", "GPS problem!", MessageBoxButtons.OK); * } * } */ try { StreamReader sr = new StreamReader("CalibParams.txt"); string line = sr.ReadLine(); string[] row1 = line.Split(new char[] { ',' }); LatestCamIntrinsics.IntrinsicMatrix[0, 0] = Convert.ToDouble(row1[0]); LatestCamIntrinsics.IntrinsicMatrix[0, 1] = Convert.ToDouble(row1[1]); LatestCamIntrinsics.IntrinsicMatrix[0, 2] = Convert.ToDouble(row1[2]); LatestCamIntrinsics.IntrinsicMatrix[1, 0] = Convert.ToDouble(row1[3]); LatestCamIntrinsics.IntrinsicMatrix[1, 1] = Convert.ToDouble(row1[4]); LatestCamIntrinsics.IntrinsicMatrix[1, 2] = Convert.ToDouble(row1[5]); LatestCamIntrinsics.IntrinsicMatrix[2, 0] = Convert.ToDouble(row1[6]); LatestCamIntrinsics.IntrinsicMatrix[2, 1] = Convert.ToDouble(row1[7]); LatestCamIntrinsics.IntrinsicMatrix[2, 2] = Convert.ToDouble(row1[8]); line = sr.ReadLine(); string[] dcoeffs = line.Split(new char[] { ',' }); LatestCamIntrinsics.DistortionCoeffs[0, 0] = Convert.ToDouble(dcoeffs[0]); LatestCamIntrinsics.DistortionCoeffs[1, 0] = Convert.ToDouble(dcoeffs[1]); LatestCamIntrinsics.DistortionCoeffs[2, 0] = Convert.ToDouble(dcoeffs[2]); LatestCamIntrinsics.DistortionCoeffs[3, 0] = Convert.ToDouble(dcoeffs[3]); sr.Close(); // dumping out the new parameters from the file line = "[ " + row1[0] + " , " + row1[1] + " , " + row1[2] + " ]" + "\n" + "[ " + row1[3] + " , " + row1[4] + " , " + row1[5] + " ]" + "\n" + "[ " + row1[6] + " , " + row1[7] + " , " + row1[8] + " ]" + "\n" + "-------------------------------------------------" + "\n" + "[" + dcoeffs[0] + " , " + dcoeffs[1] + " , " + dcoeffs[2] + " , " + dcoeffs[3] + "]"; MessageBox.Show(line, "New camera Intrinsics and Distortion Coefficients loaded from the file", MessageBoxButtons.OK); } catch (FileNotFoundException ex) { // dumping out the new parameters from the file string line = "[ " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[0, 0]) + " , 0 , " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[0, 2]) + " ]" + "\n" + "[ 0 , " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[1, 1]) + " , " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[1, 2]) + " ]" + "\n" + "[ 0 , 0, 1 ]" + "\n" + "-------------------------------------------------" + "\n" + "[" + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[0, 0]) + " , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[1, 0]) + " , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[2, 0]) + " , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[3, 0]) + "]"; MessageBox.Show(line, "Could not retrieve intrinsics from file. Using the values previously stored in memory...", MessageBoxButtons.OK); }; if (MessageBox.Show("Do you wish to do a calibration before recording ?", "Calibration Alert!", MessageBoxButtons.YesNo) == DialogResult.Yes) { // calibrate first calibrator = new Flea3Calibrator(pictureBox1); calibrator.startCalibration(comboResolution.SelectedIndex, calibrator.CamIDs[0]); } else { recorder = new Flea3Recorder(gps, imu); // the file name format: "dd-mm-yyyy.hh-mm-ss" String fname = ""; if (checkRecord.Checked) { int day = DateTime.Now.Day; fname = fname + ((day < 10) ? "0" + Convert.ToString(day) + "-" : Convert.ToString(day) + "-"); int month = DateTime.Now.Month; fname = fname + ((month < 10) ? "0" + Convert.ToString(month) + "-" : Convert.ToString(month) + "-"); int year = DateTime.Now.Year; fname = fname + Convert.ToString(year) + '.'; int hour = DateTime.Now.Hour; fname = fname + ((hour < 10) ? "0" + Convert.ToString(hour) + "-" : Convert.ToString(hour) + "-"); int minute = DateTime.Now.Minute; fname = fname + ((minute < 10) ? "0" + Convert.ToString(minute) : Convert.ToString(minute)); fname = textOutputFolder.Text + "\\" + fname; } CurrentFileName = fname; // ok, starting the recording! // using the first camera in the list if (recorder.CamIDs.Count() > 0) { recorder.startCapture(recorder.CamIDs[0], comboResolution.SelectedIndex, pictureBox1, fname + ".avi", checkRecord.Checked); } else { Console.WriteLine(" No camera found on the bus!!! Capturing aborted!"); } } }
private void button4_Click(object sender, EventArgs e) { /*if (gps == null) { try { gps = new GPSReceiver(comboBox1.Items[comboBox1.SelectedIndex].ToString(), (int)numericUpDown1.Value, true); gps.StartReceiver(); timer1.Start(); } catch (System.ArgumentOutOfRangeException ex) { MessageBox.Show("Make sure your GPS is connected and choose serial port!!! Starting capture without GPS", "GPS problem!", MessageBoxButtons.OK); } } else if (!gps.CommPort.IsOpen) { try { gps = new GPSReceiver(comboBox1.Items[comboBox1.SelectedIndex].ToString(), (int)numericUpDown1.Value, true); gps.StartReceiver(); timer1.Start(); } catch (System.ArgumentOutOfRangeException ex) { MessageBox.Show("Make sure your GPS is connected and choose serial port!!! Starting capture without GPS", "GPS problem!", MessageBoxButtons.OK); } } */ try { StreamReader sr = new StreamReader("CalibParams.txt"); string line = sr.ReadLine(); string[] row1 = line.Split(new char[] {','}); LatestCamIntrinsics.IntrinsicMatrix[0, 0] = Convert.ToDouble(row1[0]); LatestCamIntrinsics.IntrinsicMatrix[0, 1] = Convert.ToDouble(row1[1]); LatestCamIntrinsics.IntrinsicMatrix[0, 2] = Convert.ToDouble(row1[2]); LatestCamIntrinsics.IntrinsicMatrix[1, 0] = Convert.ToDouble(row1[3]); LatestCamIntrinsics.IntrinsicMatrix[1, 1] = Convert.ToDouble(row1[4]); LatestCamIntrinsics.IntrinsicMatrix[1, 2] = Convert.ToDouble(row1[5]); LatestCamIntrinsics.IntrinsicMatrix[2, 0] = Convert.ToDouble(row1[6]); LatestCamIntrinsics.IntrinsicMatrix[2, 1] = Convert.ToDouble(row1[7]); LatestCamIntrinsics.IntrinsicMatrix[2, 2] = Convert.ToDouble(row1[8]); line = sr.ReadLine(); string[] dcoeffs = line.Split(new char[] { ',' }); LatestCamIntrinsics.DistortionCoeffs[0, 0] = Convert.ToDouble(dcoeffs[0]); LatestCamIntrinsics.DistortionCoeffs[1, 0] = Convert.ToDouble(dcoeffs[1]); LatestCamIntrinsics.DistortionCoeffs[2, 0] = Convert.ToDouble(dcoeffs[2]); LatestCamIntrinsics.DistortionCoeffs[3, 0] = Convert.ToDouble(dcoeffs[3]); sr.Close(); // dumping out the new parameters from the file line = "[ "+row1[0]+" , "+row1[1] + " , " + row1[2] + " ]" + "\n"+ "[ "+row1[3]+" , "+row1[4] + " , " + row1[5] + " ]" + "\n"+ "[ "+row1[6]+" , "+row1[7] + " , " + row1[8] + " ]" + "\n"+ "-------------------------------------------------" + "\n"+ "["+dcoeffs[0]+" , "+ dcoeffs[1] + " , "+ dcoeffs[2] + " , " + dcoeffs[3]+"]"; MessageBox.Show(line, "New camera Intrinsics and Distortion Coefficients loaded from the file", MessageBoxButtons.OK); } catch (FileNotFoundException ex) { // dumping out the new parameters from the file string line = "[ " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[0,0]) + " , 0 , "+Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[0,2])+ " ]" + "\n" + "[ 0 , " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[1,1]) + " , " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[1,2])+ " ]" + "\n" + "[ 0 , 0, 1 ]" + "\n" + "-------------------------------------------------" + "\n" + "[" + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[0,0]) + " , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[1,0]) + " , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[2,0]) + " , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[3,0]) + "]"; MessageBox.Show(line, "Could not retrieve intrinsics from file. Using the values previously stored in memory...", MessageBoxButtons.OK); }; if (MessageBox.Show("Do you wish to do a calibration before recording ?", "Calibration Alert!", MessageBoxButtons.YesNo) == DialogResult.Yes) { // calibrate first calibrator = new Flea3Calibrator(pictureBox1); calibrator.startCalibration(comboResolution.SelectedIndex, calibrator.CamIDs[0]); } else { recorder = new Flea3Recorder(gps, imu); // the file name format: "dd-mm-yyyy.hh-mm-ss" String fname = ""; if (checkRecord.Checked) { int day = DateTime.Now.Day; fname = fname + ((day < 10) ? "0" + Convert.ToString(day) + "-" : Convert.ToString(day) + "-"); int month = DateTime.Now.Month; fname = fname + ((month < 10) ? "0" + Convert.ToString(month) + "-" : Convert.ToString(month) + "-"); int year = DateTime.Now.Year; fname = fname + Convert.ToString(year) + '.'; int hour = DateTime.Now.Hour; fname = fname + ((hour < 10) ? "0" + Convert.ToString(hour) + "-" : Convert.ToString(hour) + "-"); int minute = DateTime.Now.Minute; fname = fname + ((minute < 10) ? "0" + Convert.ToString(minute) : Convert.ToString(minute)); fname = textOutputFolder.Text + "\\" + fname; } CurrentFileName = fname; // ok, starting the recording! // using the first camera in the list if (recorder.CamIDs.Count() > 0) { recorder.startCapture(recorder.CamIDs[0], comboResolution.SelectedIndex, pictureBox1, fname+".avi", checkRecord.Checked); } else Console.WriteLine(" No camera found on the bus!!! Capturing aborted!"); } }