public void Dispose()
{
_source.StreamTypeChanged -= onStreamTypeChanged;
_source.FfmpegHeaderReceived -= onFfmpegHeaderReceived;
_source.FfmpegStreamReceived -= onFfmpegStreamReceived;
_source.Hikm4HeaderReceived -= onHikm4HeaderReceived;
_source.Hikm4StreamReceived -= onHikm4StreamReceived;
_source.Dispose();
}
public void Dispose()
{
try
{
Transceiver?.LocalVideoTrack?.Dispose();
VideoSource?.Dispose();
try
{
// Unable to exit process until DataChannel is removed/disposed,
// and this throws internally (at least in 2.0 version).
PeerSession?.RemoveDataChannel(CaptureChannel);
}
catch { }
PeerSession?.Dispose();
}
catch { }
}
//SEARCH: RENDER STEREO FRAME TO VIDEO FORM
private void StereoStreamFrameRender(VideoSource.StereoFrameSequenceElement stereoFrame)
{
this.UpdateCurPrevMEMSOrient();
if (!stereoFrame.IsNotFullFrame)
{
var leftImg = new Image<Bgr, byte>(stereoFrame.LeftRawFrame);
var rightImg = new Image<Bgr, byte>(stereoFrame.RightRawFrame);
Bitmap stuff1Bmp = null;
if (this.useCalibratedStereoRenderCheckBox.Checked)
{
if (this.StereoCameraParams != null)
{
var tmpLeft = this.StereoCameraParams.LeftIntrinsicCameraParameters.Undistort(leftImg);
var tmpRight = this.StereoCameraParams.RightIntrinsicCameraParameters.Undistort(rightImg);
CvInvoke.cvRemap(tmpLeft, leftImg, this.StereoCameraParams.LeftMapX, this.StereoCameraParams.LeftMapY, (int)INTER.CV_INTER_LINEAR | (int)WARP.CV_WARP_FILL_OUTLIERS, new MCvScalar(0));
CvInvoke.cvRemap(tmpRight, rightImg, this.StereoCameraParams.RightMapX, this.StereoCameraParams.RightMapY, (int)INTER.CV_INTER_LINEAR | (int)WARP.CV_WARP_FILL_OUTLIERS, new MCvScalar(0));
//Image<Gray, short> dispImg;
//var points = this.Get3DFeatures(this.StereoCameraParams, stereoFrame, out dispImg);
//var centroid = this.GetPoint3DCloudCentroid(points);
//Console.WriteLine("Centr: {0}, {1}, {2};", centroid.x, centroid.y, centroid.z);
//this.videoForm.RenderStereoFrame(dispImg.ToBitmap(), null);
}
}
var leftGrayImg = leftImg.Convert<Gray, byte>();
var rightGrayImg = rightImg.Convert<Gray, byte>();
Bitmap leftFrameRender;
Bitmap rightFrameRender;
if (this.renderGrayCheckBox.Checked)
{
leftFrameRender = new Bitmap(leftGrayImg.ToBitmap());
rightFrameRender = new Bitmap(rightGrayImg.ToBitmap());
}
else
{
leftFrameRender = new Bitmap(leftImg.ToBitmap());
rightFrameRender = new Bitmap(rightImg.ToBitmap());
}
if (this.showDepthMapCheckBox.Checked)
{
//var features = this.opticFlowProcessor.GetFeaturesToTrack(
// stereoFrame: frame,
// useGpu: true);
var depthMap = this.opticFlowProcessor.GetDispMap(leftGrayImg, rightGrayImg, this.useGPUCheckBox.Checked, this.GetParametersForStereoMapSolver(this.useGPUCheckBox.Checked));
stuff1Bmp = depthMap.ToBitmap();
//update frame
this.prevStereoDepthFrame = this.currStereoDepthFrame;
this.currStereoDepthFrame = new DataSource.OpticFlowFrameContainer()
{
DepthMapImg = depthMap,
StereoFrame = new VideoSource.StereoFrameSequenceElement(stereoFrame)
};
////
}
//try to use odometry
if (this.perfOdometryCheckBox.Checked)
{
if (this.StereoCameraParams != null)
{
var rotMatrix = new Matrix<double>(3, 3);
rotMatrix.SetIdentity();
var rotMatr = Utils.CvHelper.MatrixToArray(rotMatrix);
rotMatrix.Dispose();
if (this.prevMEMSRotMatr != null && this.currentMEMSRotMatr != null)
{
rotMatr = this.OrientationCalc.GetRotationMatrixBetweenTwoStates(this.prevMEMSRotMatr, this.currentMEMSRotMatr, this.orientCalibMatrix);
}
List<PointF> currFreatures;
List<PointF> prevFeatures;
Matrix<double> resRotation;
var featuresToTrackParams = this.GetVisualOdometerFeaturesToTrackParams();
var featuresOpticFlowParams = this.GetVisualOdometerFeaturesOpticFlowParams();
var disparitiesParams = this.GetVisualOdometerDisparitiesParams();
var tDiff = this.visualOdometer.GetTranslationAndRotation(
rotMatrArray: rotMatr,
prevFrame: this.prevStereoDepthFrame,
currFrame: this.currStereoDepthFrame,
cameraParams: this.StereoCameraParams,
currFeaturesList: out currFreatures,
prevFeaturesList: out prevFeatures,
resRotation: out resRotation,
featuresToTrackParams: featuresToTrackParams,
featuresOpticFlowParams: featuresOpticFlowParams,
disparitiesParams: disparitiesParams
);
if (resRotation != null)
{
this.svdDiffRotMatrix = resRotation.Mul(this.svdDiffRotMatrix);
}
if (tDiff != null)
{
if (!(double.IsNaN(tDiff.Value.x) || double.IsNaN(tDiff.Value.y) || double.IsNaN(tDiff.Value.z)))
{
this.position3d.x += tDiff.Value.x;
this.position3d.y += tDiff.Value.y;
this.position3d.z += tDiff.Value.z;
this.RenderTranslatoin(this.position3d);
}
Console.WriteLine("TRANSLATION: X={0}; Y={1}; Z={2}", tDiff.Value.x, tDiff.Value.y, tDiff.Value.z);
Console.WriteLine("POSITION: X={0}; Y={1}; Z={2}", position3d.x, position3d.y, position3d.z);
}
if (this.renderFraturesCheckBox.Checked)
{
if (currFreatures != null && prevFeatures != null)
{
var dotSize = new Size(10, 10);
var g = Graphics.FromImage(leftFrameRender);
for (int i = 0; i < currFreatures.Count; ++i)
{
g.DrawEllipse(Pens.Red, currFreatures[i].X - dotSize.Width / 2, currFreatures[i].Y - dotSize.Height / 2, dotSize.Width, dotSize.Height);
g.DrawLine(Pens.Red, currFreatures[i], prevFeatures[i]);
}
}
}
}
}
////
this.memsRenderForm.Invoke((MethodInvoker)delegate { this.RenderOrientationTransformation(Utils.CvHelper.MatrixToArray(this.svdDiffRotMatrix)); });
//general lr render
this.videoForm.RenderStereoFrame(leftFrameRender, rightFrameRender);
if (stuff1Bmp != null)
{
this.videoForm.RenderToStuffPictureBox1(stuff1Bmp);
}
stereoFrame.Dispose();
}
}
