void CameraVehicle_MotorSpeedChanged(object sender, MotorSpeedChangedEventArgs e)
{
backgroundImage = null;
Dispatcher.Invoke(() =>
{
currentTimeTextBlock.Text = e.Tick.ToString();
leftWheelSpeedTextBlock.Text = e.LeftSpeed.ToString("f2");
rightWheelSpeedTextBlock.Text = e.RightSpeed.ToString("f2");
});
if (saveToFileCheckBox.IsChecked.GetValueOrDefault(false) && saveToFileCheckBox.IsEnabled)
{
actionList.Add(e);
}
if (e.LeftSpeed == 0 && e.RightSpeed == 0 && lastMotorEvent != null)
{
if (lastMotorEvent.LeftSpeed == lastMotorEvent.RightSpeed)
{
double distance = (e.Tick - lastMotorEvent.Tick) / 1000 * lastMotorEvent.LeftSpeed;
//vehicle.Forward(distance);
MapWindow w = GetMapWindow();
w.startingVehicleState = vehicle.State;
w.Draw();
}
}
lastMotorEvent = e;
}
private void AnalyzeFrame(object sender, DoWorkEventArgs e)
{
Image <Bgr, byte> img = ((ImageAvailableEventArgs)e.Argument).Image;
if (backgroundImage == null)
{
backgroundImage = new Image <Gray, byte>(img.Size);
}
//long t = Environment.TickCount;
Image <Gray, byte> b = GetBackground(img);
Dispatcher.BeginInvoke(new Action(() => CvInvoke.cvShowImage("Background", img.Copy(b))));
//Debug.WriteLine("GetBackground: " + (Environment.TickCount - t));
//t = Environment.TickCount;
//CvInvoke.cvShowImage("Masked", img);
Contour <PointInt> contours = b.FindContours();
Contour <PointInt> biggestContour = contours;
while (contours != null)
{
if (contours.Area > biggestContour.Area)
{
biggestContour = contours;
}
contours = contours.HNext;
}
//Debug.WriteLine("contours: " + (Environment.TickCount - t));
//t = Environment.TickCount;
bool voteFull = false;
Image <Gray, byte> tempImage = new Image <Gray, byte>(backgroundImage.Size);
tempImage.Draw(biggestContour, new Gray(10), -1);
backgroundImage = backgroundImage.Add(tempImage);
PointInt pUseless = PointInt.Empty;
voteFull = !backgroundImage.CheckRange(0, 250, ref pUseless);
if (voteFull)
{
collectedBackgroundCount++;
Dispatcher.Invoke(() =>
{
backgroundImage = backgroundImage - new Gray(130);
//w.carRectangle.Width = this.vehicle.State.Width;
//w.carRectangle.Height = this.vehicle.State.Length;
//w.carRectangle.SetValue(Canvas.LeftProperty, this.vehicle.State.Center.X - this.vehicle.State.Width / 2);
//w.carRectangle.SetValue(Canvas.TopProperty, this.vehicle.State.Center.Y + this.vehicle.State.Length / 2);
backgroundImage._Dilate(1);
//backgroundImage.ROI = new Rectangle(0, backgroundImage.Height - 1, backgroundImage.Width, 1);
//backgroundImage._Or(new Image<Gray, byte>(backgroundImage.Width, 1, new Gray(255)));
//backgroundImage.ROI = Rectangle.Empty;
CvInvoke.cvShowImage("Background-Draw to map",
backgroundImage.ThresholdBinary(new Gray(0), new Gray(255)));
AddToMap(backgroundImage.ThresholdBinary(new Gray(0), new Gray(255)), img);
MapWindow w = GetMapWindow();
w.Draw();
CameraVehicle vehicle = this.vehicle as CameraVehicle;
//if (vehicle != null)
//{
// if (collectedBackgroundCount < 3)
// vehicle.SetSpeed(4.05, 5000);
//}
getBackgroundCheckBox.IsChecked = false;
CvInvoke.cvShowImage("VotedBackground", backgroundImage);
});
}
else
{
Dispatcher.BeginInvoke(new Action(() => CvInvoke.cvShowImage("VotedBackground", backgroundImage)));
}
}