private void Window_Loaded(object sender, RoutedEventArgs e)
{
controllerUpdater = new DispatcherTimer() { Interval = new TimeSpan(0, 0, 0, 0, 10) };
controllerUpdater.Tick += Link;
controllerUpdater.Start();
new Thread(() =>
{
// ROS stuff
ROS.ROS_MASTER_URI = "http://10.0.3.5:11311";
ROS.Init(new string[0], "The_Cam_Tester_" + System.Environment.MachineName.Replace("-", "__"));
nh = new NodeHandle();
tilt_pub = new Publisher<m.Int32>[4];
recalPub0 = nh.advertise<Messages.rock_publisher.recalibrateMsg>("/camera0/recalibrate", 4);
recalPub1 = nh.advertise<Messages.rock_publisher.recalibrateMsg>("/camera1/recalibrate", 4);
recalPub2 = nh.advertise<Messages.rock_publisher.recalibrateMsg>("/camera2/recalibrate", 4);
recalPub3 = nh.advertise<Messages.rock_publisher.recalibrateMsg>("/camera3/recalibrate", 4);
for (int i = 0; i < 4; i++)
{
tilt_pub[i] = nh.advertise<m.Int32>("camera" + i + "/tilt", 1);
}
Dispatcher.Invoke(new Action(() =>
{
mainCameras = new TabItem[] { MainCamera1, MainCamera2, MainCamera3, MainCamera4 };
subCameras = new TabItem[] { SubCamera1, SubCamera2, SubCamera3, SubCamera4 };
mainImages = new ROS_ImageWPF.CompressedImageControl[] { camImage0, camImage1, camImage2, camImage3 };
subImages = new ROS_ImageWPF.SlaveImage[] { camImageSlave0, camImageSlave1, camImageSlave2, camImageSlave3 };
for (int i = 0; i < mainCameras.Length; i++)
{
mainImages[i].AddSlave(subImages[i]);
}
subCameras[1].Focus();
// instantiating some global helpers
detectors = new DetectionHelper[4];
for (int i = 0; i < 4; ++i)
{
detectors[i] = new DetectionHelper(nh, i, this);
}
}));
while (ROS.ok)
{
Dispatcher.Invoke(new Action(() =>
{
for (int i = 0; i < 4; ++i)
{
detectors[i].churnAndBurn();
}
}));
Thread.Sleep(100);
}
}).Start();
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
controllerUpdater = new DispatcherTimer()
{
Interval = new TimeSpan(0, 0, 0, 0, 10)
};
controllerUpdater.Tick += Link;
controllerUpdater.Start();
new Thread(() =>
{
// ROS stuff
ROS.ROS_MASTER_URI = "http://10.0.3.5:11311";
ROS.Init(new string[0], "The_Cam_Tester_" + System.Environment.MachineName.Replace("-", "__"));
nh = new NodeHandle();
tilt_pub = new Publisher <m.Int32> [4];
recalPub0 = nh.advertise <Messages.rock_publisher.recalibrateMsg>("/camera0/recalibrate", 4);
recalPub1 = nh.advertise <Messages.rock_publisher.recalibrateMsg>("/camera1/recalibrate", 4);
recalPub2 = nh.advertise <Messages.rock_publisher.recalibrateMsg>("/camera2/recalibrate", 4);
recalPub3 = nh.advertise <Messages.rock_publisher.recalibrateMsg>("/camera3/recalibrate", 4);
for (int i = 0; i < 4; i++)
{
tilt_pub[i] = nh.advertise <m.Int32>("camera" + i + "/tilt", 1);
}
Dispatcher.Invoke(new Action(() =>
{
mainCameras = new TabItem[] { MainCamera1, MainCamera2, MainCamera3, MainCamera4 };
subCameras = new TabItem[] { SubCamera1, SubCamera2, SubCamera3, SubCamera4 };
mainImages = new ROS_ImageWPF.CompressedImageControl[] { camImage0, camImage1, camImage2, camImage3 };
subImages = new ROS_ImageWPF.SlaveImage[] { camImageSlave0, camImageSlave1, camImageSlave2, camImageSlave3 };
for (int i = 0; i < mainCameras.Length; i++)
{
mainImages[i].AddSlave(subImages[i]);
}
subCameras[1].Focus();
// instantiating some global helpers
detectors = new DetectionHelper[4];
for (int i = 0; i < 4; ++i)
{
detectors[i] = new DetectionHelper(nh, i, this);
}
}));
while (ROS.ok)
{
Dispatcher.Invoke(new Action(() =>
{
for (int i = 0; i < 4; ++i)
{
detectors[i].churnAndBurn();
}
}));
Thread.Sleep(100);
}
}).Start();
}
