private static SurveyorVisionStereoWin Init(
string stereo_camera_IP,
string calibration_filename,
int image_width, int image_height,
int left_port, int right_port,
int broadcast_port,
int stereo_algorithm_type,
float fps)
{
SurveyorVisionStereoWin stereo_camera =
new SurveyorVisionStereoWin(stereo_camera_IP, left_port, right_port, broadcast_port, fps);
PictureBox picLeftImage = new PictureBox();
PictureBox picRightImage = new PictureBox();
picLeftImage.Image = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
picRightImage.Image = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
stereo_camera.window = null;
stereo_camera.display_image[0] = picLeftImage;
stereo_camera.display_image[1] = picRightImage;
stereo_camera.Load(calibration_filename);
stereo_camera.stereo_algorithm_type = stereo_algorithm_type;
stereo_camera.UpdateWhenClientsConnected = true;
stereo_camera.random_rows = 5;
return (stereo_camera);
}
public void Init(
string stereo_camera_IP,
int leftport,
int rightport)
{
this.stereo_camera_IP = stereo_camera_IP;
left_port = leftport;
right_port = rightport;
string version = String.Format("{0}", AssemblyVersion);
Console.WriteLine("surveyorstereo GUI version " + version);
Console.WriteLine("SVS IP: " + stereo_camera_IP.ToString());
Console.WriteLine("Left camera port: " + leftport.ToString());
Console.WriteLine("Right camera port: " + rightport.ToString());
stereo_camera = new SurveyorVisionStereoWin(stereo_camera_IP, left_port, right_port, broadcast_port, fps);
stereo_camera.temporary_files_path = temporary_files_path;
stereo_camera.recorded_images_path = recorded_images_path;
stereo_camera.window = this;
stereo_camera.display_image[0] = picLeftImage;
stereo_camera.display_image[1] = picRightImage;
stereo_camera.Load(calibration_filename);
stereo_camera.Run("M");
if (stereo_camera.stereo_algorithm_type == StereoVision.EDGES)
{
denseToolStripMenuItem.Checked = false;
simpleToolStripMenuItem.Checked = true;
}
else
{
denseToolStripMenuItem.Checked = true;
simpleToolStripMenuItem.Checked = false;
}
txtLogging.Text = path_identifier;
txtReplay.Text = replay_path_identifier;
SendCommand("M");
motors_active = true;
starting = false;
}