private Task DoLoadFromFile(object o)
{
return(Task.Factory.StartNew(() =>
{
Parent.SyncContext.Post(c =>
{
CustomDialog customDialog = new CustomDialog()
{
Title = "Select calibration file"
};
var dataContext = new ReplaySelectDialogModel(obj =>
{
Parent.SyncContext.Post(d =>
{
Task.Factory.StartNew(async() =>
{
ReplaySelectDialogModel replaySelectDialogModel = obj as ReplaySelectDialogModel;
if (replaySelectDialogModel.SelectedFile != null)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Loading calibration images!", settings: Parent.MetroDialogSettings);
controller.SetCancelable(false);
controller.SetIndeterminate();
string file = null;
string outputPath = null;
Parent.SyncContext.Send(async d2 =>
{
file = replaySelectDialogModel.SelectedFile.FullPath;
outputPath = Path.Combine(Path.GetTempPath(), "firefly", Guid.NewGuid().ToString());
}, null);
RawDataReader reader = new RawDataReader(file, RawReaderMode.Camera0);
reader.Open();
MemoryImageExporter exporter = new MemoryImageExporter();
exporter.AddFromReader(reader, delegate(double percent)
{
double value = percent;
value = value > 1 ? 1 : value;
controller.SetProgress(value);
});
reader.Close();
Parent.SyncContext.Post(d2 =>
{
int i = 0;
int count = exporter.Images.Count;
foreach (Mat m in exporter.Images)
{
//double value = 0.5 + i / count * 0.5;
//value = value > 1 ? 1 : value;
//controller.SetProgress(value);
if (i++ % 20 == 0)
{
int squaresX = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresX;
int squaresY = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresY;
float squareLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquareLength;
float markerLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.MarkerLength;
PredefinedDictionaryName dictionary = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.Dictionary;
ChArUcoImageContainer cauic = new ChArUcoImageContainer(squaresX, squaresY, squareLength, markerLength, dictionary);
CvImageContainer container = new CvImageContainer();
container.CvImage = m;
cauic.OriginalImage = container;
Images.Add(cauic);
}
}
controller.CloseAsync();
}, null);
}
}, TaskCreationOptions.LongRunning);
Parent.DialogCoordinator.HideMetroDialogAsync(Parent, customDialog);
}, null);
});
Parent.ReplayViewModel.Refresh();
dataContext.FilesForReplay.AddRange(Parent.ReplayViewModel.FilesForReplay.Where(x => !x.Item1.IsRemote));
customDialog.Content = new ReplaySelectDialog {
DataContext = dataContext
};
Parent.DialogCoordinator.ShowMetroDialogAsync(Parent, customDialog);
}, null);
}));
}
public void ReplayOffline(RawDataReader reader, Action <TimeSpan> updateTime, Action onClose, Func <bool> isPaused, Func <bool> isStopped)
{
_Tasks.Add(Task.Factory.StartNew(() =>
{
ProxyMode = IOProxyMode.Offline;
Stopwatch watch = new Stopwatch();
watch.Start();
int nextTimeUpdate = 1000;
long startTime = -1;
int currentTime = 0;
while (reader.HasNext())
{
while (isPaused())
{
watch.Stop();
Thread.Sleep(500);
watch.Start();
}
if (isStopped())
{
break;
}
Tuple <long, List <Tuple <RawReaderMode, object> > > res = reader.Next();
if (startTime == -1)
{
startTime = res.Item1;
}
ImuEventData imuEventData = null;
CameraEventData cameraEventData = null;
int rawSize = 0;
byte[] rawImage = null;
byte[] rawImu = null;
double exposureTime = 0.0;
foreach (Tuple <RawReaderMode, object> val in res.Item2)
{
if (val.Item1 == RawReaderMode.Imu0)
{
imuEventData = ImuEventData.Parse(res.Item1, (Tuple <double, double, double, double, double, double>)val.Item2, res.Item2.Any(c => c.Item1 == RawReaderMode.Camera0));
rawSize += imuEventData.RawSize;
rawImu = imuEventData.GetRaw(_SettingContainer.Settings.ImuSettings.GyroscopeScale, _SettingContainer.Settings.ImuSettings.AccelerometerScale, _SettingContainer.Settings.ImuSettings.TemperatureScale, _SettingContainer.Settings.ImuSettings.TemperatureOffset);
}
if (val.Item1 == RawReaderMode.Camera0)
{
cameraEventData = CameraEventData.Parse(((Tuple <double, byte[]>)val.Item2).Item2, 0, false, ((Tuple <double, byte[]>)val.Item2).Item1);
rawSize += cameraEventData.RawSize;
rawImage = ((Tuple <double, byte[]>)val.Item2).Item2;
exposureTime = ((Tuple <double, byte[]>)val.Item2).Item1;
}
}
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
if (rawSize > 0)
{
byte[] data = new byte[rawSize];
Array.Copy(rawImu, data, rawImu.Length);
if (rawImage != null)
{
Array.Copy(BitConverter.GetBytes(exposureTime), 0, data, imuEventData.RawSize, sizeof(double));
Array.Copy(rawImage, 0, data, imuEventData.RawSize + sizeof(double), rawImage.Length);
}
_ReplayDataSend.AsyncCall(data);
}
}
else
{
_BackgroundQueue.Add(new Tuple <ImuEventData, CameraEventData>(imuEventData, cameraEventData));
}
currentTime += reader.DeltaTimeMs;
int sleep = (int)(currentTime - watch.ElapsedMilliseconds);
if (sleep > reader.DeltaTimeMs)
{
Thread.Sleep(sleep);
}
if (res.Item1 / 1000 > nextTimeUpdate)
{
nextTimeUpdate += 1000;
updateTime(reader.Length - TimeSpan.FromMilliseconds((res.Item1 - startTime) / (1000 * 1000)));
}
}
reader.Close();
ProxyMode = IOProxyMode.Live;
onClose();
}, TaskCreationOptions.LongRunning));
}
private Action <ReplaySelectDialogModel> OnReplaySelectDialogClose(bool response, 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)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Photometric calibration!", settings: Parent.MetroDialogSettings);
controller.SetCancelable(false);
controller.SetIndeterminate();
string file = null;
string outputPath = null;
double fxO = 0.0;
double fyO = 0.0;
double cxO = 0.0;
double cyO = 0.0;
double fxN = 0.0;
double fyN = 0.0;
double cxN = 0.0;
double cyN = 0.0;
double k1 = 0.0;
double k2 = 0.0;
double k3 = 0.0;
double k4 = 0.0;
int width = 0;
int height = 0;
List <double> responseValues = new List <double>();
Parent.SyncContext.Send(d2 =>
{
file = replaySelectDialogModel.SelectedFile.FullPath;
outputPath = Path.Combine(Path.GetTempPath(), "firefly", Guid.NewGuid().ToString());
fxO = Parent.CameraViewModel.OrginalCameraMatrix.GetValue(0, 0);
fyO = Parent.CameraViewModel.OrginalCameraMatrix.GetValue(1, 1);
cxO = Parent.CameraViewModel.OrginalCameraMatrix.GetValue(0, 2);
cyO = Parent.CameraViewModel.OrginalCameraMatrix.GetValue(1, 2);
fxN = Parent.CameraViewModel.NewCameraMatrix.GetValue(0, 0);
fyN = Parent.CameraViewModel.NewCameraMatrix.GetValue(1, 1);
cxN = Parent.CameraViewModel.NewCameraMatrix.GetValue(0, 2);
cyN = Parent.CameraViewModel.NewCameraMatrix.GetValue(1, 2);
k1 = Parent.CameraViewModel.DistortionCoefficients.GetValue(0, 0);
k2 = Parent.CameraViewModel.DistortionCoefficients.GetValue(0, 1);
k3 = Parent.CameraViewModel.DistortionCoefficients.GetValue(0, 2);
k4 = Parent.CameraViewModel.DistortionCoefficients.GetValue(0, 3);
if (!response)
{
responseValues.AddRange(ResponseValues.Select(f => f.Y));
}
width = Parent.CameraViewModel.ImageWidth;
height = Parent.CameraViewModel.ImageHeight;
}, null);
RawDataReader reader = new RawDataReader(file, RawReaderMode.Camera0);
reader.Open();
PhotometricCalibratrionExporter exporter = new PhotometricCalibratrionExporter(fxO, fyO, cxO, cyO, fxN, fyN, cxN, cyN, width, height, k1, k2, k3, k4, outputPath, response, responseValues);
exporter.Open();
exporter.AddFromReader(reader, delegate(double percent)
{
double value = percent * 0.33;
value = value > 1 ? 1 : value;
controller.SetProgress(value);
});
exporter.Close();
reader.Close();
Process p = new Process();
p.StartInfo.RedirectStandardOutput = true;
p.StartInfo.UseShellExecute = false;
p.StartInfo.WorkingDirectory = outputPath;
p.StartInfo.CreateNoWindow = true;
p.EnableRaisingEvents = true;
string options = "";
if (response)
{
p.StartInfo.FileName = Path.Combine(Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), "Tools", "responseCalib.exe");
}
else
{
p.StartInfo.FileName = Path.Combine(Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), "Tools", "vignetteCalib.exe");
options = "facW=7 facH=7";
}
p.StartInfo.Arguments = string.Format("{0}\\ -noGUI -showPercent {1}", outputPath, options);
p.OutputDataReceived += new DataReceivedEventHandler((s, e) =>
{
Debug.WriteLine(e.Data);
if (!string.IsNullOrEmpty(e.Data))
{
foreach (string line in e.Data.Split('\n'))
{
if (line.StartsWith("percent: "))
{
double percent = double.Parse(line.Replace("percent: ", ""), CultureInfo.InvariantCulture);
double value = 0.33 + percent * 0.66;
value = value > 1 ? 1 : value;
controller.SetProgress(value);
}
}
}
}
);
p.Exited += new EventHandler((s, e) =>
{
Parent.SyncContext.Post(async x =>
{
if (response)
{
ParseResponseResult(outputPath);
}
else
{
ParseVignetteResult(outputPath);
}
Directory.Delete(outputPath, true);
await controller.CloseAsync();
}, null);
});
p.Start();
p.BeginOutputReadLine();
}
}, TaskCreationOptions.LongRunning);
}, null);
});
}
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();
}
}));
}
