private Task DoUndistortImage(object o)
{
return(Task.Factory.StartNew(async() =>
{
System.Windows.Forms.OpenFileDialog openFileDialog = null;
System.Windows.Forms.SaveFileDialog saveFileDialog = null;
bool open = false;
bool save = false;
CameraViewModel cvm = null;
Parent.SyncContext.Send(c =>
{
cvm = Parent.CameraViewModel;
openFileDialog = new System.Windows.Forms.OpenFileDialog();
openFileDialog.Filter = "Image (*.png) | *.png";
open = openFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK;
saveFileDialog = new System.Windows.Forms.SaveFileDialog();
saveFileDialog.Filter = "Image (*.png) | *.png";
save = saveFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK;
}, null);
if (open && save)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Export undistort image!", settings: Parent.MetroDialogSettings);
controller.SetCancelable(false);
Mat rawImage = CvInvoke.Imread(openFileDialog.FileName, Emgu.CV.CvEnum.ImreadModes.Grayscale);
Mat rawImageUndist = new Mat();
Mat map1 = new Mat();
Mat map2 = new Mat();
Fisheye.InitUndistorRectifyMap(cvm.OrginalCameraMatrix, cvm.DistortionCoefficients, Mat.Eye(3, 3, DepthType.Cv64F, 1), cvm.CenteredCameraMatrix, new System.Drawing.Size(512, 512), DepthType.Cv32F, map1, map2);
CvInvoke.Remap(rawImage, rawImageUndist, map1, map2, Inter.Linear, BorderType.Constant);
CvInvoke.Imwrite(saveFileDialog.FileName, rawImageUndist);
await controller.CloseAsync();
}
}));
}
public MainViewModel()
{
_IOProxy = new IOProxy(_SettingContainer);
_SyncContext = SynchronizationContext.Current;
CameraViewModel = new CameraViewModel(this);
SettingViewModel = new SettingViewModel(this);
DataPlotViewModel = new DataPlotViewModel(this);
CalibrationViewModel = new CalibrationViewModel(this);
RecordViewModel = new RecordViewModel(this);
ReplayViewModel = new ReplayViewModel(this);
DebugViewModel = new DebugViewModel(this);
VisualisationViewModel = new VisualisationViewModel(this);
_DialogCoordinator = MahApps.Metro.Controls.Dialogs.DialogCoordinator.Instance;
}
private static void OnPropertyChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
CameraViewModel cvm = (d as CameraViewModel);
bool changed = false;
switch (e.Property.Name)
{
case "Enabled":
changed = cvm.Parent.SettingContainer.Settings.StreamingSettings.CameraRawStreamEnabled != cvm.Enabled;
cvm.Parent.SettingContainer.Settings.StreamingSettings.CameraRawStreamEnabled = cvm.Enabled;
try
{
if (cvm.Enabled)
{
cvm.Parent.IOProxy.Subscribe(cvm, ProxyEventType.CameraEvent);
}
else
{
cvm.Parent.IOProxy.Unsubscribe(cvm, ProxyEventType.CameraEvent);
}
}
catch (Exception) { }
break;
case "ExposureTimeSetting":
cvm.Parent.IOProxy.SetExposure(cvm.ExposureTimeSetting);
break;
case "FOVScale":
changed = cvm.Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.FOVScale != cvm.FOVScale;
cvm.Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.FOVScale = cvm.FOVScale;
break;
default:
break;
}
if (changed)
{
cvm.Parent.UpdateSettings(false);
}
}
private Task DoExportVideo(object o)
{
return(Task.Factory.StartNew(async() =>
{
ReplayFile file = o as ReplayFile;
RawDataReader reader = null;
string fullPath = null;
bool isRemote = false;
System.Windows.Forms.OpenFileDialog openFileDialog = null;
System.Windows.Forms.SaveFileDialog saveFileDialog = null;
bool open = false;
bool save = false;
CameraViewModel cvm = null;
Parent.SyncContext.Send(c =>
{
cvm = Parent.CameraViewModel;
fullPath = file.FullPath;
isRemote = file.IsRemote;
openFileDialog = new System.Windows.Forms.OpenFileDialog();
openFileDialog.Filter = "Matlab (*.mat) | *.mat";
open = openFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK;
saveFileDialog = new System.Windows.Forms.SaveFileDialog();
saveFileDialog.Filter = "Video (*.mp4) | *.mp4";
save = saveFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK;
}, null);
if (open && save && !isRemote)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Export video file!", settings: Parent.MetroDialogSettings);
controller.SetCancelable(false);
reader = new RawDataReader(fullPath, RawReaderMode.Imu0 | RawReaderMode.Camera0, null, false);
controller.SetIndeterminate();
reader.Open();
VIMatlabImporter matlabImporter = new VIMatlabImporter(openFileDialog.FileName);
matlabImporter.Open();
VIVideoRenderer renderer = new VIVideoRenderer(saveFileDialog.FileName, 1920, 1080, Parent.SyncContext, cvm.OrginalCameraMatrix, cvm.CenteredCameraMatrix, cvm.DistortionCoefficients);
renderer.Open();
renderer.Render(matlabImporter, reader, delegate(double percent)
{
controller.SetProgress(percent);
});
renderer.Close();
matlabImporter.Close();
reader.Close();
await controller.CloseAsync();
}
}));
}
