public MainForm()
{
InitializeComponent();
m_UnitsComboBox.SelectedIndex = 0;
bool useCamera = false;
if (useCamera)
{
m_Capture = new Capture();
}
else
{
m_Capture = new Capture(@"C:\svnDev\oss\Google\drh-visual-odometry\TestVideos\2010-07-18 11-10-22.853.wmv");
m_Timer.Interval = 33;
m_Timer.Enabled = true;
}
CameraParameters cameraParameters = CameraParameters.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus12\1280x720\MicrosoftCinemaFocus12_1280x720.txt");
HomographyMatrix GroundProjectionTransformation = HomographyMatrixSupport.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus12\1280x720\BirdsEyeViewTransformationForCalculation.txt");
m_GroundProjectionTransformationForUI = HomographyMatrixSupport.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus12\1280x720\BirdsEyeViewTransformationForUI.txt");
m_VisualOdometer = new VisualOdometer(m_Capture, cameraParameters, GroundProjectionTransformation, new OpticalFlow());
UpdateFromModel();
m_VisualOdometer.Changed += new EventHandler(OnVisualOdometerChanged);
Application.Idle += OnApplicationIdle;
}
internal void Update(VisualOdometer visualOdometer)
{
if (!this.Created)
{
return;
}
List <double> headingChanges = visualOdometer.RotationAnalyzer.MeasuredRotationIncrements;
if (headingChanges.Count == 0)
{
return;
}
double[] degreeAngles = new double[headingChanges.Count];
for (int i = 0; i < headingChanges.Count; i++)
{
degreeAngles[i] = headingChanges[i] * s_RadToDegree;
}
m_Histogram.Fill(degreeAngles);
m_HistogramSeries.Points.Clear();
for (int i = 0; i < m_Histogram.BinsCount; i++)
{
HistogramBin bin = m_Histogram[i];
// Add data point into the histogram series
double x = (bin.Min + bin.Max) / 2.0;
m_HistogramSeries.Points.AddXY(x, bin.Count);
}
m_CurrentHeadingChangeSeries.Points.Clear();
m_CurrentHeadingChangeSeries.Points.AddXY(visualOdometer.RotationAnalyzer.HeadingChange.Degrees, 0);
m_CurrentHeadingChangeAnnotation.AnchorDataPoint = m_CurrentHeadingChangeSeries.Points[0];
}
public AuxiliaryViewsForm(MainForm mainForm, VisualOdometer visualOdometer, HomographyMatrix groundProjectionTransformation)
{
InitializeComponent();
this.ShowInTaskbar = false;
m_MainForm = mainForm;
m_VisualOdometer = visualOdometer;
m_GroundProjectionTransformation = groundProjectionTransformation;
}
public AuxiliaryViewsForm(MainForm mainForm, VisualOdometer visualOdometer, HomographyMatrix groundProjectionTransformation)
{
InitializeComponent();
this.ShowInTaskbar = false;
m_MainForm = mainForm;
m_VisualOdometer = visualOdometer;
m_GroundProjectionTransformation = groundProjectionTransformation;
}
public MainForm()
{
InitializeComponent();
CameraParameters cameraParameters = null;
HomographyMatrix groundProjectionTransformation = null;
bool useCamera = false;
_CamIP = Prompt.ShowDialog("OK para testes", "Conexão Camara");
if (_CamIP != "")
{
useCamera = true;
}
if (useCamera)
{
//Emgu.CV.CvInvoke.cvCreateFileCapture("http://*****:*****@cam_address/axis-cgi/mjpg/video.cgi?resolution=1280x720&req_fps=30&.mjpg");
m_Capture = new Capture(0);
m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_WIDTH, 1280);
m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_HEIGHT, 720);
cameraParameters = CameraParameters.Load(@"..\..\CalibrationFiles\MicrosoftCinemaFocus12.txt");
groundProjectionTransformation = HomographyMatrixSupport.Load(@"..\..\CalibrationFiles\BirdsEyeViewTransformationForCalculation.txt");
}
else
{
m_Capture = new Capture(@"..\..\CalibrationFiles\2010-07-18 11-10-22.853.wmv");
m_Timer.Interval = 33;
m_Timer.Enabled = true;
cameraParameters = CameraParameters.Load(@"..\..\CalibrationFiles\MicrosoftCinemaFocus12.txt");
groundProjectionTransformation = HomographyMatrixSupport.Load(@"..\..\CalibrationFiles\BirdsEyeViewTransformationForCalculation.txt");
}
m_VisualOdometer = new VisualOdometer(m_Capture, cameraParameters, groundProjectionTransformation, new OpticalFlow());
UpdateFromModel();
m_VisualOdometer.Changed += new EventHandler(OnVisualOdometerChanged);
Application.Idle += OnApplicationIdle;
if (m_MapForm == null || m_MapForm.IsDisposed)
{
m_MapForm = new MapForm(m_RobotPath);
}
m_MapForm.Show();
}
public MainForm()
{
InitializeComponent();
m_UnitsComboBox.SelectedIndex = 0;
CameraParameters cameraParameters = null;
HomographyMatrix groundProjectionTransformation = null;
bool useCamera = false;
if (useCamera)
{
m_Capture = new Capture();
m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_WIDTH, 1280);
m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_HEIGHT, 720);
cameraParameters = CameraParameters.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus14\1280x720\MicrosoftCinemaFocus14_1280x720.txt");
groundProjectionTransformation = HomographyMatrixSupport.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus14\1280x720\BirdsEyeViewTransformationForCalculation.txt");
m_GroundProjectionTransformationForUI = HomographyMatrixSupport.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus14\1280x720\BirdsEyeViewTransformationForUI.txt");
}
else
{
m_Capture = new Capture(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"TestVideos\testvideo.wmv");
m_Timer.Interval = 33;
m_Timer.Enabled = true;
cameraParameters = CameraParameters.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus12\1280x720\MicrosoftCinemaFocus12_1280x720.txt");
groundProjectionTransformation = HomographyMatrixSupport.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus12\1280x720\BirdsEyeViewTransformationForCalculation.txt");
m_GroundProjectionTransformationForUI = HomographyMatrixSupport.Load(ConfigurationSettings.AppSettings["RootFilePath"].ToString() + @"CalibrationFiles\MicrosoftCinema\Focus12\1280x720\BirdsEyeViewTransformationForUI.txt");
}
m_VisualOdometer = new VisualOdometer(m_Capture, cameraParameters, groundProjectionTransformation, new OpticalFlow());
UpdateFromModel();
m_VisualOdometer.Changed += new EventHandler(OnVisualOdometerChanged);
Application.Idle += OnApplicationIdle;
}
public MainForm()
{
InitializeComponent();
m_UnitsComboBox.SelectedIndex = 0;
CameraParameters cameraParameters = null;
HomographyMatrix groundProjectionTransformation = null;
bool useCamera = false;
if (useCamera)
{
m_Capture = new Capture();
m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_WIDTH, 1280);
m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_HEIGHT, 720);
cameraParameters = CameraParameters.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus14\1280x720\MicrosoftCinemaFocus14_1280x720.txt");
groundProjectionTransformation = HomographyMatrixSupport.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus14\1280x720\BirdsEyeViewTransformationForCalculation.txt");
m_GroundProjectionTransformationForUI = HomographyMatrixSupport.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus14\1280x720\BirdsEyeViewTransformationForUI.txt");
}
else
{
m_Capture = new Capture(@"C:\svnDev\oss\Google\drh-visual-odometry\TestVideos\2010-07-18 11-10-22.853.wmv");
m_Timer.Interval = 33;
m_Timer.Enabled = true;
cameraParameters = CameraParameters.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus12\1280x720\MicrosoftCinemaFocus12_1280x720.txt");
groundProjectionTransformation = HomographyMatrixSupport.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus12\1280x720\BirdsEyeViewTransformationForCalculation.txt");
m_GroundProjectionTransformationForUI = HomographyMatrixSupport.Load(@"C:\svnDev\oss\Google\drh-visual-odometry\CalibrationFiles\MicrosoftCinema\Focus12\1280x720\BirdsEyeViewTransformationForUI.txt");
}
m_VisualOdometer = new VisualOdometer(m_Capture, cameraParameters, groundProjectionTransformation, new OpticalFlow());
UpdateFromModel();
m_VisualOdometer.Changed += new EventHandler(OnVisualOdometerChanged);
Application.Idle += OnApplicationIdle;
}
internal void Update(VisualOdometer visualOdometer)
{
if (!this.Created)
{
return;
}
List<double> headingChanges = visualOdometer.RotationAnalyzer.MeasuredRotationIncrements;
if (headingChanges.Count == 0)
{
return;
}
double[] degreeAngles = new double[headingChanges.Count];
for (int i = 0; i < headingChanges.Count; i++)
{
degreeAngles[i] = headingChanges[i] * s_RadToDegree;
}
m_Histogram.Fill(degreeAngles);
m_HistogramSeries.Points.Clear();
for (int i = 0; i < m_Histogram.BinsCount; i++)
{
HistogramBin bin = m_Histogram[i];
// Add data point into the histogram series
double x = (bin.Min + bin.Max) / 2.0;
m_HistogramSeries.Points.AddXY(x, bin.Count);
}
m_CurrentHeadingChangeSeries.Points.Clear();
m_CurrentHeadingChangeSeries.Points.AddXY(visualOdometer.RotationAnalyzer.HeadingChange.Degrees, 0);
m_CurrentHeadingChangeAnnotation.AnchorDataPoint = m_CurrentHeadingChangeSeries.Points[0];
}
