public void Fired(IOProxy proxy, List <AbstractProxyEventData> eventData)
{
SlamMapEventData slamMapEvent = (SlamMapEventData)eventData.FirstOrDefault(c => c is SlamMapEventData);
SlamStatusEventData slamStatusEvent = (SlamStatusEventData)eventData.FirstOrDefault(c => c is SlamStatusEventData);
if (slamMapEvent != null)
{
if (slamMapEvent.PublishType == SlamPublishType.Frame)
{
SlamModel3D.AddNewFrame(slamMapEvent.Frame);
_FPSCounter.CountFrame();
}
else if (slamMapEvent.PublishType == SlamPublishType.KeyframeWithPoints)
{
SlamModel3D.AddNewKeyFrame(slamMapEvent.KeyFrame);
}
else if (slamMapEvent.PublishType == SlamPublishType.Reset)
{
SlamModel3D.Reset();
}
}
if (slamStatusEvent != null)
{
Parent.SyncContext.Post(o =>
{
Status = slamStatusEvent.Status;
}, null);
}
}
/// <summary>
/// WorldSpaceの内容を描画します．
/// </summary>
public void Render()
{
if (WorldSpace == null || WorldSpace.IsDisposed)
{
return;
}
Context.SetRenderScreen(this);
Context.ClearScreenTarget(BackgroundColor);
Context.Timer.TickUpdater();
fpsCounter.CountFrame();
MoveCameraByCameraMotionProvider();
WorldSpace.DrawAllResources(HitChecker);
Context.DeviceManager.Context.Flush();
}
public void Fired(IOProxy proxy, List <AbstractProxyEventData> eventData)
{
CameraEventData cameraEventData = (CameraEventData)eventData.FirstOrDefault(c => c is CameraEventData);
if (cameraEventData != null)
{
Task.Factory.StartNew(() =>
{
Mat mat = cameraEventData.Image;
bool undistort = false;
Parent.SyncContext.Send(o =>
{
undistort = Undistort;
if (GammaCorretion)
{
Mat result = new Mat(ImageWidth, ImageHeight, DepthType.Cv32F, 1);
int i = 0;
Mat lut = new Mat(1, 256, DepthType.Cv32F, 1);
foreach (double val in Parent.SettingContainer.Settings.CalibrationSettings.PhotometricCalibrationSettings.ResponseValues)
{
lut.SetValue(0, i++, (byte)val);
}
CvInvoke.LUT(mat, lut, result);
result.ConvertTo(mat, DepthType.Cv8U);
}
if (VignetteCorretion)
{
Mat invVignette = new Mat(ImageWidth, ImageHeight, DepthType.Cv32F, 1);
Mat result = new Mat(ImageWidth, ImageHeight, DepthType.Cv32F, 1);
CvInvoke.Divide(Mat.Ones(ImageWidth, ImageHeight, DepthType.Cv32F, 1), Parent.CalibrationViewModel.PhotometricCalibrationViewModel.Vignette.CvImage, invVignette, 255, DepthType.Cv32F);
CvInvoke.Multiply(mat, invVignette, result, 1, DepthType.Cv32F);
result.ConvertTo(mat, DepthType.Cv8U);
}
}
, null);
if (undistort)
{
Mat matUndist = new Mat(ImageWidth, ImageHeight, DepthType.Cv8U, 1);
if (FishEyeCalibration)
{
Mat map1 = new Mat();
Mat map2 = new Mat();
Fisheye.InitUndistorRectifyMap(OrginalCameraMatrix, DistortionCoefficients, Mat.Eye(3, 3, DepthType.Cv64F, 1), CenteredCameraMatrix, new System.Drawing.Size(ImageWidth, ImageHeight), DepthType.Cv32F, map1, map2);
CvInvoke.Remap(mat, matUndist, map1, map2, Inter.Linear, BorderType.Constant);
}
else
{
CvInvoke.Undistort(mat, matUndist, CenteredCameraMatrix, DistortionCoefficients);
}
mat = matUndist;
}
_FPSCounter.CountFrame();
Parent.SyncContext.Post(o =>
{
ExposureTime = (eventData[0] as CameraEventData).ExposureTime;
Image = new CvImageContainer();
Image.CvImage = mat;
}
, null);
});
}
}
