public void RectangleTests()
{
int area = 12;
int perimeter = 14;
Assert.AreEqual(area, Rec1.GetArea());
Assert.AreEqual(perimeter, Rec1.GetPerimeter());
area = 20;
perimeter = 18;
Assert.AreEqual(area, Rec2.GetArea());
Assert.AreEqual(perimeter, Rec2.GetPerimeter());
area = 50;
perimeter = 30;
Assert.AreEqual(area, Rec3.GetArea());
Assert.AreEqual(perimeter, Rec3.GetPerimeter());
area = 24;
perimeter = 20;
Assert.AreEqual(area, Rec4.GetArea());
Assert.AreEqual(perimeter, Rec4.GetPerimeter());
area = 63;
perimeter = 32;
Assert.AreEqual(area, Rec5.GetArea());
Assert.AreEqual(perimeter, Rec5.GetPerimeter());
}
public void HashMatchWithMultikeysAndProbeResidual()
{
Rec1[] records1 = new Rec1[]
{
new Rec1(1, 1),
new Rec1(1, 2),
new Rec1(2, 1),
new Rec1(2, 2),
};
Rec1[] records2 = new Rec1[]
{
new Rec1(1, 2),
};
Query query = new Query();
query.DataContext.Tables.Add(records1, "Records1");
query.DataContext.Tables.Add(records2, "Records2");
query.Text = @"
SELECT *
FROM Records2 r2, Records1 r1
WHERE r1.Key = r2.Key
AND r1.SecKey = r2.SecKey
";
DataTable result = query.ExecuteDataTable();
Assert.AreEqual(1, result.Rows.Count);
Assert.AreEqual(1, result.Rows[0][0]);
Assert.AreEqual(2, result.Rows[0][1]);
Assert.AreEqual(1, result.Rows[0][2]);
Assert.AreEqual(2, result.Rows[0][3]);
}
public void ReccursionTest()
{
Rec1 rec = faker.Create <Rec1>();
if (rec.A.B == null)
{
logger.Info("ReccursionTest compled succesfully: object are equal");
}
else
{
logger.Info("ReccursionTest compled not succesfully: object are't equal");
}
Assert.AreEqual(null, rec.A.B);
}
public void RectangleTests()
{
int area = 12;
int perimeter = 14;
Assert.AreEqual(area, Rec1.GetArea());
Assert.AreEqual(perimeter, Rec1.GetPerimeter());
area = 20;
perimeter = 18;
Assert.AreEqual(area, Rec2.GetArea());
Assert.AreEqual(perimeter, Rec2.GetPerimeter());
}
public void ReccursionTest()
{
Rec1 rec = _faker.Create <Rec1>();
object expected = null;
var actual = rec.A.B;
if (actual == expected)
{
_logger.Info($"ReccursionTest complete succesfully => {expected} == {actual}");
}
else
{
_logger.Info($"ReccursionTest complete not succesfully => {expected} != {actual}");
}
Assert.AreEqual(null, rec.A.B);
}
public void HashMatchWithMultikeysAndProbeResidual()
{
Rec1[] records1 = new Rec1[]
{
new Rec1(1, 1),
new Rec1(1, 2),
new Rec1(2, 1),
new Rec1(2, 2),
};
Rec1[] records2 = new Rec1[]
{
new Rec1(1, 2),
};
Query query = new Query();
query.DataContext.Tables.Add(records1, "Records1");
query.DataContext.Tables.Add(records2, "Records2");
query.Text = @"
SELECT *
FROM Records2 r2, Records1 r1
WHERE r1.Key = r2.Key
AND r1.SecKey = r2.SecKey
";
DataTable result = query.ExecuteDataTable();
Assert.AreEqual(1, result.Rows.Count);
Assert.AreEqual(1, result.Rows[0][0]);
Assert.AreEqual(2, result.Rows[0][1]);
Assert.AreEqual(1, result.Rows[0][2]);
Assert.AreEqual(2, result.Rows[0][3]);
}
bool patternRightFound; // True if chessboard found in image
#endregion
/**********************************************************
* Calculates calibration transformatons and saves them.
**********************************************************/
public void Calibration()
{
string imagesPath = calibrationPath.Text;
if (imageCalibration != true)
{
try
{
FileStorage fs = new FileStorage(calibrationPath.Text, FileStorage.Mode.Read);
fs["rmapx1"].ReadMat(rmapx1);
fs["rmapy1"].ReadMat(rmapy1);
fs["rmapx2"].ReadMat(rmapx2);
fs["rmapy2"].ReadMat(rmapy2);
string rec1Str = fs["Rec1"].ReadString();
string rec2Str = fs["Rec2"].ReadString();
int idx1 = rec1Str.IndexOf('=');
int idx2 = rec1Str.IndexOf(',');
int x = Convert.ToInt32(rec1Str.Substring(idx1 + 1, idx2 - idx1 - 1));
idx1 = rec1Str.IndexOf('=', idx2);
idx2 = rec1Str.IndexOf(',', idx1);
int y = Convert.ToInt32(rec1Str.Substring(idx1 + 1, idx2 - idx1 - 1));
idx1 = rec1Str.IndexOf('=', idx2);
idx2 = rec1Str.IndexOf(',', idx1);
int w = Convert.ToInt32(rec1Str.Substring(idx1 + 1, idx2 - idx1 - 1));
idx1 = rec1Str.IndexOf('=', idx2);
idx2 = rec1Str.Length;
int h = Convert.ToInt32(rec1Str.Substring(idx1 + 1, idx2 - idx1 - 1));
Rec1 = new Rectangle(x, y, w, h);
idx1 = rec2Str.IndexOf('=');
idx2 = rec2Str.IndexOf(',');
x = Convert.ToInt32(rec2Str.Substring(idx1 + 1, idx2 - idx1 - 1));
idx1 = rec2Str.IndexOf('=', idx2);
idx2 = rec2Str.IndexOf(',', idx1);
y = Convert.ToInt32(rec2Str.Substring(idx1 + 1, idx2 - idx1 - 1));
idx1 = rec2Str.IndexOf('=', idx2);
idx2 = rec2Str.IndexOf(',', idx1);
w = Convert.ToInt32(rec2Str.Substring(idx1 + 1, idx2 - idx1 - 1));
idx1 = rec2Str.IndexOf('=', idx2);
idx2 = rec2Str.Length;
h = Convert.ToInt32(rec2Str.Substring(idx1 + 1, idx2 - idx1 - 1));
Rec2 = new Rectangle(x, y, w, h);
MessageBox.Show("Transformation maps loaded successfully");
}
catch (Exception)
{
MessageBox.Show("Error: Problem loading Transformation maps");
Environment.Exit(1);
}
}
if (imageCalibration == true)
{
for (int i = 0; i < bufferLength * 2; i++)
{
chessFrameL = CvInvoke.Imread(imagesPath + "\\camera1\\image_" + i.ToString() + ".jpg");
chessFrameR = CvInvoke.Imread(imagesPath + "\\camera2\\image_" + i.ToString() + ".jpg");
patternLeftFound = CvInvoke.FindChessboardCorners(chessFrameL, patternSize, cornersVecLeft, CalibCbType.NormalizeImage | CalibCbType.AdaptiveThresh);
patternRightFound = CvInvoke.FindChessboardCorners(chessFrameR, patternSize, cornersVecRight, CalibCbType.NormalizeImage | CalibCbType.AdaptiveThresh);
if (patternLeftFound && patternRightFound)
{
CvInvoke.CvtColor(chessFrameL, grayLeft, ColorConversion.Bgr2Gray);
CvInvoke.CvtColor(chessFrameR, grayRight, ColorConversion.Bgr2Gray);
CvInvoke.DrawChessboardCorners(chessFrameL, patternSize, cornersVecLeft, patternLeftFound);
CvInvoke.DrawChessboardCorners(chessFrameR, patternSize, cornersVecRight, patternRightFound);
CvInvoke.Imshow("Calibration image left", chessFrameL);
CvInvoke.Imshow("Calibration image right", chessFrameR);
//chessFrameL.Save(desktop + "\\Left_" + i + ".jpg");
//chessFrameR.Save(desktop + "\\Right" + i + ".jpg");
CvInvoke.WaitKey(10);
imagePoints1[bufferSavepoint] = cornersVecLeft.ToArray();
imagePoints2[bufferSavepoint] = cornersVecRight.ToArray();
bufferSavepoint++;
if (bufferSavepoint == bufferLength)
{
break;
}
}
}
CvInvoke.DestroyAllWindows();
//fill the MCvPoint3D32f with correct mesurments
for (int k = 0; k < bufferLength; k++)
{
//Fill our objects list with the real world mesurments for the intrinsic calculations
List <MCvPoint3D32f> object_list = new List <MCvPoint3D32f>();
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
object_list.Add(new MCvPoint3D32f(j * 20.0F, i * 20.0F, 0.0F));
}
}
cornersObjectPoints[k] = object_list.ToArray();
}
CvInvoke.CalibrateCamera(cornersObjectPoints, imagePoints1, chessFrameL.Size, camMat1, dist1, CalibType.Default, new MCvTermCriteria(200, 1e-5), out rvecs, out tvecs);
CvInvoke.CalibrateCamera(cornersObjectPoints, imagePoints2, chessFrameL.Size, camMat2, dist2, CalibType.Default, new MCvTermCriteria(200, 1e-5), out rvecs, out tvecs);
CvInvoke.StereoCalibrate(cornersObjectPoints, imagePoints1, imagePoints2, camMat1, dist1, camMat2, dist2, chessFrameL.Size,
R, T, essential, fundamental, CalibType.FixAspectRatio | CalibType.ZeroTangentDist | CalibType.SameFocalLength | CalibType.RationalModel | CalibType.UseIntrinsicGuess | CalibType.FixK3 | CalibType.FixK4 | CalibType.FixK5, new MCvTermCriteria(100, 1e-5));
CvInvoke.StereoRectify(camMat1, dist1, camMat2, dist2, chessFrameL.Size, R, T, R1, R2, P1, P2, Q, StereoRectifyType.CalibZeroDisparity, 0,
chessFrameL.Size, ref Rec1, ref Rec2);
// Create transformation maps
CvInvoke.InitUndistortRectifyMap(camMat1, dist1, R1, P1, chessFrameL.Size, DepthType.Cv32F, rmapx1, rmapy1);
CvInvoke.InitUndistortRectifyMap(camMat2, dist2, R2, P2, chessFrameL.Size, DepthType.Cv32F, rmapx2, rmapy2);
MessageBox.Show("Calibration has ended\n Connect to TELLO access point");
try
{
FileStorage fs = new FileStorage(calibrationPath.Text + "\\calibMaps.xml", FileStorage.Mode.Write);
fs.Write(rmapx1, "rmapx1");
fs.Write(rmapy1, "rmapy1");
fs.Write(rmapx2, "rmapx2");
fs.Write(rmapy2, "rmapy2");
fs.Write(Rec1.ToString(), "Rec1");
fs.Write(Rec2.ToString(), "Rec2");
MessageBox.Show("Transformation maps saved successfully");
}
catch (Exception)
{
MessageBox.Show("Error: Problem saving Transformation maps");
Environment.Exit(1);
}
}
}
