private void DisplayVideo(object sender, ResultReadyEventArgs<Image<Bgr, byte>> e)
{
try
{
ImageBox imgBox = imgDebug;
if (sender == invPerp)
{
Image<Bgr, byte> cam = new Image<Bgr, byte>(imgVideoSource.Image.Bitmap);
imgOutput.Image = (Image<Bgr, byte>)e.Result + cam;
return;
}
else if (sender == colorVideoSource)
{
imgBox = imgVideoSource;
}
if (imgBox == null)
{
System.Console.Out.WriteLine("No receiver registered!!");
return;
}
imgBox.Image = (Image<Bgr, byte>)e.Result;
}
catch (Exception ex)
{
System.Console.WriteLine("Bad thing happened in display video :( -" + ex.Message);
}
}
/// <summary>
/// Process the worker result by extracting the coordinates and checking if a person has moved.
/// </summary>
/// <param name="sender">Worker thread.</param>
/// <param name="e">Event arguments.</param>
private void ResultReady(object sender, ResultReadyEventArgs e)
{
if (e.Result.GetCoordinates().HasValue)
{
Point currentCoordinates = e.Result.GetCoordinates().Value;
// check if the person did move since the last result
if (DidMove(currentCoordinates))
{
// reset the countdown if it already started
if (lastMove > 0)
{
lastMove = 0;
manager.SetInstructions("Go to the position and stand still");
// if the configuration is currently in a different step, completely cancel the active step and start again
if (!isActiveStep)
{
manager.Cancel();
manager.SetError("You moved during configuration. Restarting position.");
Task.Delay(3000).ContinueWith(_ =>
{
if (manager.IsTerminated())
{
return;
}
System.Windows.Application.Current.Dispatcher.Invoke(() => manager.Start());
});
}
}
}
else
{
if (lastMove == 0)
{
// if the person did not move and no countdown is set, start one
lastMove = DateTimeOffset.Now.ToUnixTimeMilliseconds();
manager.SetInstructions("Calculating coordinates");
coordinates.Clear();
}
else if (isActiveStep && DateTimeOffset.Now.ToUnixTimeMilliseconds() - lastMove >= StandStillTime * 1000)
{
// proceed to the next step if the person stood still long enough
manager.NextStep();
isActiveStep = false;
}
else if (isActiveStep)
{
coordinates.Add(currentCoordinates);
}
}
lastCoordinates = currentCoordinates;
}
}
/// <summary>
/// Update the current position when it changes.
/// </summary>
/// <param name="sender">Worker thread.</param>
/// <param name="e">Event arguments.</param>
private void ResultReady(object sender, ResultReadyEventArgs e)
{
if (e.Result.GetCoordinates().HasValue)
{
VolumeInterpolation volumeInterpolation = workerThread.GetVolumeInterpolation();
int scale = volumeInterpolation.GetScale();
Canvas.SetLeft(currentPosition, volumeInterpolation.MapCoordinate(e.Result.GetCoordinates().Value.X) * scale);
Canvas.SetTop(currentPosition, (volumeInterpolation.Values.GetLength(1) - volumeInterpolation.MapCoordinate(e.Result.GetCoordinates().Value.Y)) * scale);
}
}
private void DisplayVideo(object sender, ResultReadyEventArgs<Image<Gray, Byte>> e)
{
try
{
ImageBox imgBox = imgDebug;
imgBox.Image = (Image<Gray, Byte>)e.Result;
}
catch (Exception ex)
{
System.Console.WriteLine("Bad thing happened in display video :( -" + ex.Message);
}
}
private void DisplayVideo(object sender, ResultReadyEventArgs<Image<Bgr, byte>> e)
{
try
{
ImageBox big = imgVideoSource,
small = imgDebug;
if (swapImages)
{
ImageBox tmp = big;
big = small;
small = tmp;
}
if (sender == visRoad)
big = imgOutput;
if (sender == invPerp)
{
Image<Bgr, byte> cam = new Image<Bgr, byte>(big.Image.Bitmap);
Image<Bgr, byte> res = (Image<Bgr, byte>)e.Result + cam;
foreach (var p in probe)
res.Draw(new CircleF(p, 10), new Bgr(0, 0, 255), -1);
small.Image = res;
return;
}
if (sender == kalmanFilteredRoadCenter)
{
//Image<Bgr, byte> cam = new Image<Bgr, byte>(big.Image.Bitmap);
imgDebug3.Image = (Image<Bgr, byte>)e.Result;// +cam;
return;
}
// colorVideoSource
big.Image = (Image<Bgr, byte>)e.Result;
if (videoWriter != null && sender == colorVideoSource)
{
videoWriter.WriteFrame(((Image<Bgr, byte>)e.Result).Convert<Bgr, byte>());
}
}
catch (Exception ex)
{
System.Console.WriteLine("Bad thing happened in display video :( -" + ex.Message);
}
}
/// <summary>
/// Update the main window when the next result of the worker thread is ready.
/// </summary>
/// <param name="sender">Worker thread.</param>
/// <param name="e">Event arguments.</param>
private void ResultReady(object sender, ResultReadyEventArgs e)
{
// update coordinates text
if (e.Result.GetCoordinates().HasValue)
{
coordinatesTextBlock.Text = "Point(" + e.Result.GetCoordinates().Value.X + ", " + e.Result.GetCoordinates().Value.Y + ")";
}
// update the two camera frames
if (e.Result.GetFrames() != null)
{
for (int i = 0; i < e.Result.GetFrames().Length; i++)
{
cameras.Keys.ElementAt(i).Source = e.Result.GetFrames()[i];
}
}
}
private void PassRoadModel(object sender, ResultReadyEventArgs<SimpleRoadModel> e)
{
SimpleRoadModel model = e.Result as SimpleRoadModel;
if (model.center != null)
ActualRoadModel.Invoke(this, new RoadModelEvent(model));
}
