private Action <ReplaySelectDialogModel> OnReplaySelectDialogClose(CustomDialog customDialog)
{
return(obj =>
{
Parent.SyncContext.Send(d =>
{
Parent.DialogCoordinator.HideMetroDialogAsync(Parent, customDialog);
}, null);
Parent.SyncContext.Post(d =>
{
Task.Factory.StartNew(async() =>
{
ReplaySelectDialogModel replaySelectDialogModel = obj as ReplaySelectDialogModel;
if (replaySelectDialogModel.SelectedFile != null)
{
RemoteDataStore remoteDataStore = new RemoteDataStore(Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.IpAddress, Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Username, Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Password);
string guid = Guid.NewGuid().ToString();
string localFile = "";
string remoteFile = "";
string remoteFolder = string.Format(@"/var/tmp/firefly/{0}", guid);
string expactString = string.Format("{0}@{1}:.{{0,}}[$]", Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Username, Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Hostname);
string imuModel = Imu.ConvertImuModelToString(Parent.SettingContainer.Settings.CalibrationSettings.ImuCalibration.ImuModel);
Parent.SyncContext.Send(c =>
{
localFile = replaySelectDialogModel.SelectedFile.FullPath;
remoteFile = string.Format(@"/var/tmp/firefly/{0}/{1}", guid, Path.GetFileName(localFile));
}, null);
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Calculating calibration parameter now!", settings: Parent.MetroDialogSettings);
controller.SetIndeterminate();
controller.SetCancelable(false);
remoteDataStore.ExecuteCommands(new List <string>()
{
string.Format("mkdir -p {0}", remoteFolder)
}, expactString);
remoteDataStore.UploadFile(remoteFile, localFile);
remoteDataStore.UploadContentToFile(string.Format(@"{0}/target.yaml", remoteFolder), YamlTranslator.ConvertToYaml(new CalibrationTarget()
{
TargetType = CalibrationTargetType.Aprilgrid,
TagSize = Parent.SettingContainer.Settings.CalibrationSettings.AprilGridCalibration.TagSize,
TagSpacing = Parent.SettingContainer.Settings.CalibrationSettings.AprilGridCalibration.TagSpacingFactor,
TagCols = Parent.SettingContainer.Settings.CalibrationSettings.AprilGridCalibration.TagsX,
TagRows = Parent.SettingContainer.Settings.CalibrationSettings.AprilGridCalibration.TagsY
}));
remoteDataStore.UploadContentToFile(string.Format(@"{0}/imu.yaml", remoteFolder), YamlTranslator.ConvertToYaml(new Imu()
{
RosTopic = "/imu0",
UpdateRate = Parent.SettingContainer.Settings.ImuSettings.UpdateRate,
AccelerometerNoiseDensity = Parent.SettingContainer.Settings.CalibrationSettings.ImuCalibration.AccelerometerNoiseDensity * Parent.SettingContainer.Settings.CalibrationSettings.ImuCalibration.AccelerometerNoiseDensitySafetyScale,
AccelerometerRandomWalk = Parent.SettingContainer.Settings.CalibrationSettings.ImuCalibration.AccelerometerRandomWalk * Parent.SettingContainer.Settings.CalibrationSettings.ImuCalibration.AccelerometerRandomWalkSafetyScale,
GyroscopeNoiseDensity = Parent.SettingContainer.Settings.CalibrationSettings.ImuCalibration.GyroscopeNoiseDensity * Parent.SettingContainer.Settings.CalibrationSettings.ImuCalibration.GyroscopeNoiseDensitySafetyScale,
GyroscopeRandomWalk = Parent.SettingContainer.Settings.CalibrationSettings.ImuCalibration.GyroscopeRandomWalk * Parent.SettingContainer.Settings.CalibrationSettings.ImuCalibration.GyroscopeRandomWalkSafetyScale
}));
remoteDataStore.UploadContentToFile(string.Format(@"{0}/cam.yaml", remoteFolder), YamlTranslator.ConvertToYaml(new CameraChain()
{
Cam0 = new Data.Storage.Model.Camera()
{
CameraModel = CameraModel.Pinhole,
DistortionModel = DistortionModel.Equidistant,
DistortionCoefficients = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.ToArray(),
Fx = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fx,
Fy = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fy,
Cx = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cx,
Cy = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cy,
RosTopic = "/cam0/image_raw",
Height = Parent.SettingContainer.Settings.CameraSettings.Height,
Width = Parent.SettingContainer.Settings.CameraSettings.Width
}
}));
string options = string.Format(CultureInfo.InvariantCulture, "--dont-show-report --reprojection-sigma {0} {1}", Parent.SettingContainer.Settings.CalibrationSettings.ExtrinsicCalibrationSettings.ReprojectionSigma, Parent.SettingContainer.Settings.CalibrationSettings.ExtrinsicCalibrationSettings.TimeCalibration ? "--time-calibration" : "");
remoteDataStore.ExecuteCommands(new List <string>()
{
string.Format(@"cd {0}", remoteFolder),
string.Format(@"unzip {0} -d {1}", Path.GetFileName(localFile), Path.GetFileNameWithoutExtension(localFile)),
@"source ~/kalibr_workspace/devel/setup.bash",
string.Format(@"kalibr_bagcreater --folder {0} --output-bag {0}.bag", Path.GetFileNameWithoutExtension(localFile)),
string.Format(@"kalibr_calibrate_imu_camera --bag {0}.bag --cams cam.yaml --imu imu.yaml --imu-models {1} --target target.yaml {2}", Path.GetFileNameWithoutExtension(localFile), imuModel, options),
string.Format("pdftoppm report-imucam-{0}.pdf result -png", Path.GetFileNameWithoutExtension(localFile))
}, expactString);
CameraChain cameraChain = YamlTranslator.ConvertFromYaml <CameraChain>(remoteDataStore.DownloadFileToMemory(string.Format("{0}/camchain-imucam-{1}.yaml", remoteFolder, Path.GetFileNameWithoutExtension(localFile))));
ImuCain imuChain = YamlTranslator.ConvertFromYaml <ImuCain>(remoteDataStore.DownloadFileToMemory(string.Format("{0}/imu-{1}.yaml", remoteFolder, Path.GetFileNameWithoutExtension(localFile))));
List <string> availablePlots = new List <string>();
foreach (string file in remoteDataStore.GetAllFileNames(remoteFolder))
{
if (file.Contains(".csv"))
{
availablePlots.Add(file.Replace(string.Format("data-imucam-{0}.", Path.GetFileNameWithoutExtension(localFile)), "").Replace(".csv", ""));
}
}
Dictionary <string, string> plotDataImu = new Dictionary <string, string>();
foreach (string plot in availablePlots)
{
plotDataImu.Add(plot, remoteDataStore.DownloadFileToMemory(string.Format("{0}/data-imucam-{1}.{2}.csv", remoteFolder, Path.GetFileNameWithoutExtension(localFile), plot)));
}
string outputPath = Path.Combine(Path.GetTempPath(), "firefly", guid);
if (!Directory.Exists(outputPath))
{
Directory.CreateDirectory(outputPath);
}
foreach (string file in remoteDataStore.GetAllFileNames(remoteFolder))
{
if (!file.Contains(".bag") && !file.Contains(".ffc"))
{
remoteDataStore.DownloadFile(string.Format("{0}/{1}", remoteFolder, file), Path.Combine(outputPath, file));
}
}
CsvToMatlabWritter csvToMatlabWritter = new CsvToMatlabWritter(Path.Combine(outputPath, "plot-data.mat"));
csvToMatlabWritter.Write(plotDataImu, "ExtrinsicCalibrationData");
csvToMatlabWritter.Save();
ShowResults(outputPath, cameraChain, imuChain);
remoteDataStore.ExecuteCommands(new List <string>()
{
string.Format(@"rm -r {0}", remoteFolder)
}, expactString);
await controller.CloseAsync();
}
});
}, null);
});
}
private Action <ReplaySelectDialogModel> OnReplaySelectDialogClose(CustomDialog customDialog)
{
return(obj =>
{
Parent.SyncContext.Send(d =>
{
Parent.DialogCoordinator.HideMetroDialogAsync(Parent, customDialog);
}, null);
Parent.SyncContext.Post(d =>
{
Task.Factory.StartNew(async() =>
{
ReplaySelectDialogModel replaySelectDialogModel = obj as ReplaySelectDialogModel;
if (replaySelectDialogModel.SelectedFile != null)
{
RemoteDataStore remoteDataStore = new RemoteDataStore(Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.IpAddress, Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Username, Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Password);
string guid = Guid.NewGuid().ToString();
string localFile = "";
string remoteFile = "";
string remoteFolder = string.Format(@"/var/tmp/firefly/{0}", guid);
string expactString = string.Format("{0}@{1}:.{{0,}}[$]", Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Username, Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Hostname);
Parent.SyncContext.Send(c =>
{
localFile = replaySelectDialogModel.SelectedFile.FullPath;
remoteFile = string.Format(@"/var/tmp/firefly/{0}/{1}", guid, Path.GetFileName(localFile));
}, null);
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Calculating calibration parameter now!", settings: Parent.MetroDialogSettings);
controller.SetIndeterminate();
controller.SetCancelable(false);
remoteDataStore.ExecuteCommands(new List <string>()
{
string.Format("mkdir -p {0}", remoteFolder)
}, expactString);
remoteDataStore.UploadFile(remoteFile, localFile);
remoteDataStore.UploadContentToFile(string.Format(@"{0}/target.yaml", remoteFolder), YamlTranslator.ConvertToYaml(new CalibrationTarget()
{
TargetType = CalibrationTargetType.Aprilgrid,
TagSize = Parent.SettingContainer.Settings.CalibrationSettings.AprilGridCalibration.TagSize,
TagSpacing = Parent.SettingContainer.Settings.CalibrationSettings.AprilGridCalibration.TagSpacingFactor,
TagCols = Parent.SettingContainer.Settings.CalibrationSettings.AprilGridCalibration.TagsX,
TagRows = Parent.SettingContainer.Settings.CalibrationSettings.AprilGridCalibration.TagsY
}));
remoteDataStore.ExecuteCommands(new List <string>()
{
string.Format(@"cd {0}", remoteFolder),
string.Format(@"unzip {0} -d {1}", Path.GetFileName(localFile), Path.GetFileNameWithoutExtension(localFile)),
@"source ~/kalibr_workspace/devel/setup.bash",
string.Format(@"kalibr_bagcreater --folder {0} --output-bag {0}.bag", Path.GetFileNameWithoutExtension(localFile)),
string.Format(@"kalibr_calibrate_cameras --bag {0}.bag --topics /cam0/image_raw --models pinhole-equi --target target.yaml --dont-show-report", Path.GetFileNameWithoutExtension(localFile)),
string.Format("pdftoppm report-cam-{0}.pdf result -png", Path.GetFileNameWithoutExtension(localFile))
}, expactString);
CameraChain cameraChain = YamlTranslator.ConvertFromYaml <CameraChain>(remoteDataStore.DownloadFileToMemory(string.Format("{0}/camchain-{1}.yaml", remoteFolder, Path.GetFileNameWithoutExtension(localFile))));
string outputPath = Path.Combine(Path.GetTempPath(), "firefly", guid);
if (!Directory.Exists(outputPath))
{
Directory.CreateDirectory(outputPath);
}
foreach (string file in remoteDataStore.GetAllFileNames(remoteFolder))
{
if (!file.Contains(".bag") && !file.Contains(".ffc"))
{
remoteDataStore.DownloadFile(string.Format("{0}/{1}", remoteFolder, file), Path.Combine(outputPath, file));
}
}
ShowResults(outputPath, cameraChain);
remoteDataStore.ExecuteCommands(new List <string>()
{
string.Format(@"rm -r {0}", remoteFolder)
}, expactString);
await controller.CloseAsync();
}
});
}, null);
});
}
private Task DoPrintBoard(object o)
{
return(Task.Factory.StartNew(() =>
{
Parent.SyncContext.Post(c =>
{
if (o is string && !string.IsNullOrEmpty(o as string))
{
switch (o as string)
{
case "AprilGrid":
{
CustomDialog customDialog = new CustomDialog()
{
Title = "Board Properties"
};
var dataContext = new PrintAprilGridDialogModel(obj =>
{
Parent.SyncContext.Post(d =>
{
Parent.DialogCoordinator.HideMetroDialogAsync(Parent, customDialog);
System.Windows.Forms.SaveFileDialog saveFileDialog = new System.Windows.Forms.SaveFileDialog();
saveFileDialog.Filter = "Portable Document Format (*.pdf) | *.pdf";
if (saveFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
RemoteDataStore remoteDataStore = new RemoteDataStore(Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.IpAddress, Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Username, Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Password);
string expactString = string.Format("{0}@{1}:.{{0,}}[$]", Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Username, Parent.SettingContainer.Settings.ConnectionSettings.SelectedConnection.Hostname);
string guid = Guid.NewGuid().ToString();
string remoteFolder = string.Format(@"/var/tmp/firefly/{0}", guid);
remoteDataStore.ExecuteCommands(new List <string>()
{
string.Format("mkdir -p {0}", remoteFolder)
}, expactString);
string res = remoteDataStore.ExecuteCommands(new List <string>()
{
string.Format(@"cd {0}", remoteFolder),
@"source ~/kalibr_workspace/devel/setup.bash",
string.Format(CultureInfo.InvariantCulture, @"kalibr_create_target_pdf --type apriltag --nx {2} --ny {3} --tsize {0} --tspace {1} {4}/{5}", obj.TagSize, obj.TagSpacingFactor, obj.TagsX, obj.TagsY, remoteFolder, Path.GetFileName(saveFileDialog.FileName)),
}, expactString);
remoteDataStore.DownloadFile(string.Format("{0}/{1}", remoteFolder, Path.GetFileName(saveFileDialog.FileName)), saveFileDialog.FileName);
remoteDataStore.ExecuteCommands(new List <string>()
{
string.Format(@"rm -r {0}", remoteFolder)
}, expactString);
}
}, null);
},
obj =>
{
Parent.SyncContext.Post(d =>
{
Parent.DialogCoordinator.HideMetroDialogAsync(Parent, customDialog);
}, null);
});
dataContext.TagSize = TagSize;
dataContext.TagSpacingFactor = TagSpacingFactor;
dataContext.TagsX = TagsX;
dataContext.TagsY = TagsY;
customDialog.Content = new PrintAprilGridBoardDialog {
DataContext = dataContext
};
Parent.DialogCoordinator.ShowMetroDialogAsync(Parent, customDialog);
}
break;
case "ChAruco":
{
CustomDialog customDialog = new CustomDialog()
{
Title = "Board Properties"
};
var dataContext = new PrintCharucoBoardDialogModel(obj =>
{
Parent.SyncContext.Post(d =>
{
Parent.DialogCoordinator.HideMetroDialogAsync(Parent, customDialog);
System.Windows.Forms.SaveFileDialog saveFileDialog = new System.Windows.Forms.SaveFileDialog();
saveFileDialog.Filter = "Portable Network Graphics (*.png) | *.png";
if (saveFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
CvInvoke.Imwrite(saveFileDialog.FileName, obj.Image.CvImage, new KeyValuePair <Emgu.CV.CvEnum.ImwriteFlags, int>()
{
});
}
}, null);
},
obj =>
{
Parent.SyncContext.Post(d =>
{
Parent.DialogCoordinator.HideMetroDialogAsync(Parent, customDialog);
}, null);
});
dataContext.SquareLength = (int)Math.Round(SquareLength / 0.0254 * 100);
dataContext.MarkerLength = (int)Math.Round(MarkerLength / 0.0254 * 100);
dataContext.Dictionary = Dictionary;
dataContext.SquaresX = SquaresX;
dataContext.SquaresY = SquaresY;
customDialog.Content = new PrintCharucoBoardDialog {
DataContext = dataContext
};
Parent.DialogCoordinator.ShowMetroDialogAsync(Parent, customDialog);
}
break;
default:
break;
}
}
}, null);
}));
}