private void Form1_Shown(object sender, EventArgs e)
{
updateCommPortCombos();
comboResolution.SelectedIndex = 0;
Matrix <double> test = new Matrix <double>(3, 3);
LatestCamIntrinsics = new IntrinsicCameraParameters();
// initializing the intrinsics matrix to the identity
LatestCamIntrinsics.IntrinsicMatrix.SetIdentity();
//LatestCamIntrinsics.DistortionCoeffs = new Matrix<double>(4, 1);
LatestCamIntrinsics.DistortionCoeffs.SetZero();
gps = null;
calibrator = null;
imu = null;
comboResolution.SelectedIndex = 2;
// start the timer
timer1.Start();
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
timer1.Stop();
if (recorder != null)
{
if (recorder.RecordingThreadActive)
{
recorder.stopCapturing();
}
}
if (gps != null)
{
if (gps.NMEAThreadActive)
{
gps.stopReceiver();
if (gps.CommPort.IsOpen)
{
gps.CommPort.Close();
}
}
}
if (imu != null)
{
if (imu.Flag_CommsActive)
{
imu.stopComms();
}
imu = null;
}
}
private void button9_Click(object sender, EventArgs e)
{
if (imu != null)
{
if (imu.Flag_CommsActive)
{
imu.stopComms();
}
imu = null;
textBox6.Text = "Disconnected";
}
}
private void button8_Click_1(object sender, EventArgs e)
{
if (comboBox2.Items.Count > 0)
{
string imuport = (string)comboBox2.Items[comboBox2.SelectedIndex];
imu = new IMUCommsDevice(imuport);
// starting imu communications
imu.startComms();
textBox6.Text = "Connected";
}
}
// A timer used to sample the IMU during the intervals betweem frame captures
//private System.Timers.Timer IMUSamplingTimer;
public Flea3Recorder(GPSReceiver gpsReceiver, IMUCommsDevice imu)
{
int i;
IMUcomms = imu;
// 1. creating the camera object
Cam = new ManagedCamera();
// 2. creating the bus manager in order to handle (potentially)
// multiple cameras
BusMgr = new ManagedBusManager();
// 3. retrieving the List of all camera ids connected to the bus
CamIDs = new List <ManagedPGRGuid>();
int camCount = (int)BusMgr.GetNumOfCameras();
for (i = 0; i < camCount; i++)
{
ManagedPGRGuid guid = BusMgr.GetCameraFromIndex((uint)i);
CamIDs.Add(guid);
}
// 4. assigning values to properties
GpsReceiver = gpsReceiver;
// 5. init flags
RecordingThreadActive = false;
RecordToFile = false;
OutOfRecordingThread = OutOfDumpingThread = true;
// 6. Creating the Frame data queue
FrameQueue = new ManagedImageRollingBuffer(MAX_FRAMEQUEUE_LEN);
}
// A timer used to sample the IMU during the intervals betweem frame captures
//private System.Timers.Timer IMUSamplingTimer;
public Flea3Recorder(GPSReceiver gpsReceiver, IMUCommsDevice imu)
{
int i;
IMUcomms = imu;
// 1. creating the camera object
Cam = new ManagedCamera();
// 2. creating the bus manager in order to handle (potentially)
// multiple cameras
BusMgr = new ManagedBusManager();
// 3. retrieving the List of all camera ids connected to the bus
CamIDs = new List<ManagedPGRGuid>();
int camCount = (int)BusMgr.GetNumOfCameras();
for (i = 0; i < camCount; i++)
{
ManagedPGRGuid guid = BusMgr.GetCameraFromIndex((uint)i);
CamIDs.Add(guid);
}
// 4. assigning values to properties
GpsReceiver = gpsReceiver;
// 5. init flags
RecordingThreadActive = false;
RecordToFile = false;
OutOfRecordingThread = OutOfDumpingThread = true;
// 6. Creating the Frame data queue
FrameQueue = new ManagedImageRollingBuffer(MAX_FRAMEQUEUE_LEN);
}
private void Form1_Shown(object sender, EventArgs e)
{
updateCommPortCombos();
comboResolution.SelectedIndex = 0;
Matrix<double> test = new Matrix<double>(3, 3);
LatestCamIntrinsics = new IntrinsicCameraParameters();
// initializing the intrinsics matrix to the identity
LatestCamIntrinsics.IntrinsicMatrix.SetIdentity();
//LatestCamIntrinsics.DistortionCoeffs = new Matrix<double>(4, 1);
LatestCamIntrinsics.DistortionCoeffs.SetZero();
gps = null;
calibrator = null;
imu = null;
comboResolution.SelectedIndex = 2;
// start the timer
timer1.Start();
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
timer1.Stop();
if (recorder != null)
if (recorder.RecordingThreadActive)
recorder.stopCapturing();
if (gps!=null)
if (gps.NMEAThreadActive) {
gps.stopReceiver();
if (gps.CommPort.IsOpen)
gps.CommPort.Close();
}
if (imu != null)
{
if (imu.Flag_CommsActive) imu.stopComms();
imu = null;
}
}
private void button9_Click(object sender, EventArgs e)
{
if (imu != null)
{
if (imu.Flag_CommsActive) imu.stopComms();
imu = null;
textBox6.Text = "Disconnected";
}
}
private void button8_Click_1(object sender, EventArgs e)
{
if (comboBox2.Items.Count > 0)
{
string imuport = (string)comboBox2.Items[comboBox2.SelectedIndex];
imu = new IMUCommsDevice(imuport);
// starting imu communications
imu.startComms();
textBox6.Text = "Connected";
}
}
