private void OnMapButtonClicked(object sender, EventArgs e)
{
if (m_MapForm == null || m_MapForm.IsDisposed)
{
m_MapForm = new MapForm(m_RobotPath);
}
m_MapForm.Show(this);
}
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();
}
