/**********************************************************
* redirect output to file for logging
* take scene background images for image subtraction algorithm
* drone takeoff
* main vido processing loop
**********************************************************/
public void StartButton_Click(object sender, EventArgs e)
{
// Change output to a file
FileStream ostrm;
StreamWriter writer;
TextWriter oldOut = Console.Out;
try
{
File.Delete(eventLogFile);
ostrm = new FileStream(eventLogFile, FileMode.OpenOrCreate, FileAccess.Write);
writer = new StreamWriter(ostrm);
}
catch (Exception er)
{
Console.WriteLine("Cannot open EventLog.txt for writing");
Console.WriteLine(er.Message);
return;
}
Console.SetOut(writer);
if (capLeft == null)
{
capLeft = new VideoCapture(Camera_Selection_Left.SelectedIndex);
}
if (capRight == null)
{
capRight = new VideoCapture(Camera_Selection_Right.SelectedIndex);
}
if (capLeft.IsOpened && capRight.IsOpened) // check that both cameras working
{
// set video parameters
videoFourcc = (int)capLeft.GetCaptureProperty(CapProp.FourCC);
videoWidth = 2 * (int)capLeft.GetCaptureProperty(CapProp.FrameWidth);
videoHeight = 2 * (int)capLeft.GetCaptureProperty(CapProp.FrameHeight);
videoFps = 25;
videoWrite = new VideoWriter(videoPath, videoFourcc, videoFps, new Size(videoWidth, videoHeight), true);
MessageBox.Show("Press ESCAPE key to close the program");
}
else
{
throw new Exception("Error opening a camera");
}
// Calibrate cameras
Calibration();
rmt = new Tello();
// Obtaining and showing first frame of loaded video(used as the base for difference detection)
backgroundFrame_l = capLeft.QueryFrame();
backgroundFrame_r = capRight.QueryFrame();
Mat backgroundLeftRemap = new Mat();
Mat backgroundRightRemap = new Mat();
// Apply transformation to rectify background images
CvInvoke.Remap(backgroundFrame_l, backgroundLeftRemap, rmapx1, rmapy1, Inter.Linear);
CvInvoke.Remap(backgroundFrame_r, backgroundRightRemap, rmapx2, rmapy2, Inter.Linear);
Mat backgroundLeftCrop = new Mat(backgroundLeftRemap, Rec1);
Mat backgroundRightCrop = new Mat(backgroundRightRemap, Rec2);
//Mat backgroundLeftCrop = backgroundLeftRemap.Clone();
//Mat backgroundRightCrop = backgroundRightRemap.Clone();
//CvInvoke.Imshow(BackgroundFrameWindowName_l, backgroundLeftCrop);
//CvInvoke.Imshow(BackgroundFrameWindowName_r, backgroundRightCrop);
// Drone takeoff from the ground
CvInvoke.Resize(telloFrame, telloFrame, new Size(100, 100));
CvInvoke.Imshow("Press Here", telloFrame);
rmt.Takeoff();
CvInvoke.WaitKey(5000);
System.Media.SystemSounds.Exclamation.Play();
//Handling video frames(image processing and contour detection)
VideoProcessingLoop(capLeft, backgroundLeftCrop, capRight, backgroundRightCrop, rmapx1, rmapy1, rmapx2, rmapy2, Rec1, Rec2);
}