/// <summary> /// Auger mounted device connect method - hokuyo lidar sensor and 3D-Imager /// Revised 2013-10-16 by wonjae cho /// </summary> private void AugerConnect() { this._hokuyo_graph = new SickLidar.Graph(); this._hokuyo_graph.CreateHokuyoGraph(zg4, "Hokuyo Lidar", "X(mm)", "Y(mm)"); if (this.AugerReadCheckBox.Checked == false) { // lidar sensor connect if (this.AugerLidarCheckBox.Checked == true) { this._hokuyo = new SickLidar.Hokuyo(this.AugerLidarComboBox.SelectedIndex, 19200); // if hokuyo sensor connected then save data to txt file if ((this.AugerSaveCheckBox.Checked == true) && (this._hokuyo.is_connected_sensor == true)) { this._hokuyo_file = new SickLidar.File(this.AugerSaveCheckBox.Checked, this.AugerReadCheckBox.Checked); } } else { } // 3d-imager sensor connect if (this.AugerDImagerCheckBox.Checked == true) { this.Panasonic3DImagerConnect(); // if 3d-imager sensor connected then save data to mpeg format if ((this.AugerSaveCheckBox.Checked == true) && (this.dImager_Driver == 0)) { this.dImager_io = new MachineVision.File(); this.dImager_io.InitializeDImagerIO(this.AugerSaveCheckBox.Checked, this.AugerReadCheckBox.Checked, Convert.ToInt32(this.TimerIntervalTxtBox.Text)); } } else { } } else { if (this.AugerLidarCheckBox.Checked == true) { this._hokuyo = new SickLidar.Hokuyo(); this._hokuyo_file = new SickLidar.File(this.AugerSaveCheckBox.Checked, this.AugerReadCheckBox.Checked); } if (this.AugerDImagerCheckBox.Checked == true) { this.dImager_io = new MachineVision.File(); this.dImager_io.InitializeDImagerIO(this.AugerSaveCheckBox.Checked, this.AugerReadCheckBox.Checked, Convert.ToInt32(this.TimerIntervalTxtBox.Text)); } } // Auger OpenGL form if (this.AugerOpenGlCheckBox.Checked == true) { this.augerOpenGlForm = new AugerOpenGlForm(this.BodyModelComboBox.SelectedIndex, this.AugerReadCheckBox.Checked); this.augerOpenGlForm.Show(); } }
/// <summary> /// Initialize Lidar Sensor /// </summary> private void LidarConnect() { this.isIniLidarInfo = false; this.graph = new SickLidar.Graph(); this.graph.CreateGraph(zg1, zg3); if (this.LidarReadCheckBox.Checked == false) { this.sickLidar = new SickLidar.SickLidar( this.LidarHostTxtBox.Text, Convert.ToInt32(this.LidarPortTxtBox.Text), this.LidarSelectComboBox.SelectedIndex, Convert.ToDouble(this.LidarScalingTxtBox.Text), false ); if (this.LidarSaveCheckBox.Checked == true) { this.lidarFile = new SickLidar.File( this.LidarSaveCheckBox.Checked, this.LidarReadCheckBox.Checked ); } } else { this.sickLidar = new SickLidar.SickLidar( this.LidarSelectComboBox.SelectedIndex, Convert.ToDouble(this.LidarScalingTxtBox.Text) ); this.lidarFile = new SickLidar.File( this.LidarSaveCheckBox.Checked, this.LidarReadCheckBox.Checked ); } // openGl display if (this.LidarOpenGlCheckBox.Checked == true) { this.isOpenGL = true; this.lidarOpenGlForm = new LidarOpenGlForm(this.BodyModelComboBox.SelectedIndex); this.lidarOpenGlForm.Show(); } }