private void saveAsToolStripMenuItem_Click(object sender, EventArgs e)
{
if (rob.head.sensormodel[0] != null)
{
update();
saveFileDialog1.DefaultExt = "xml";
saveFileDialog1.FileName = rob.Name + ".xml";
saveFileDialog1.Filter = "Xml files|*.xml";
saveFileDialog1.Title = "Save robot design file";
if (saveFileDialog1.ShowDialog() == DialogResult.OK)
{
rob.Save(saveFileDialog1.FileName);
}
}
else
{
MessageBox.Show("Please update the sensor models before saving");
}
}
public static void Main(string[] args)
{
// extract command line parameters
ArrayList parameters = commandline.ParseCommandLineParameters(args, "-", GetValidParameters());
string help_str = commandline.GetParameterValue("help", parameters);
if (help_str != "")
{
ShowHelp();
}
else
{
Console.WriteLine("stereosensormodel version 0.1");
int no_of_cameras = 1;
robot rob = new robot(no_of_cameras, robot.MAPPING_DPSLAM);
string filename = commandline.GetParameterValue("filename", parameters);
if (filename == "")
{
filename = "sensormodel.xml";
}
rob.integer_sensor_model_values = false;
string integer_sensor_model_values_str = commandline.GetParameterValue("integer", parameters);
if (integer_sensor_model_values_str != "")
{
Console.WriteLine("Use integer sensor models");
rob.integer_sensor_model_values = true;
}
float baseline_mm = 107;
string baseline_mm_str = commandline.GetParameterValue("baseline", parameters);
if (baseline_mm_str != "")
{
baseline_mm = Convert.ToSingle(baseline_mm_str);
}
float camera_FOV_degrees = 90;
string camera_FOV_degrees_str = commandline.GetParameterValue("fov", parameters);
if (camera_FOV_degrees_str != "")
{
camera_FOV_degrees = Convert.ToSingle(camera_FOV_degrees_str);
}
float LocalGridCellSize_mm = 40;
string LocalGridCellSize_mm_str = commandline.GetParameterValue("cellsize", parameters);
if (LocalGridCellSize_mm_str != "")
{
LocalGridCellSize_mm = Convert.ToSingle(LocalGridCellSize_mm_str);
}
int image_width = 320;
string image_width_str = commandline.GetParameterValue("imagewidth", parameters);
if (image_width_str != "")
{
image_width = Convert.ToInt32(image_width_str);
}
int image_height = image_width / 2;
for (int i = 0; i < rob.head.no_of_stereo_cameras; i++)
{
rob.head.calibration[i].baseline = baseline_mm;
rob.head.calibration[i].leftcam.camera_FOV_degrees = camera_FOV_degrees;
rob.head.calibration[i].rightcam.camera_FOV_degrees = camera_FOV_degrees;
rob.head.calibration[i].positionOrientation.roll = 0;
rob.head.calibration[i].leftcam.image_width = 640;
rob.head.calibration[i].leftcam.image_height = 480;
}
if (File.Exists(filename))
{
Console.WriteLine("Loading " + filename);
rob.head.sensormodel = new rayModelLookup[no_of_cameras];
rob.head.sensormodel[0] = new rayModelLookup(image_width / 2, 4000);
rob.head.sensormodel[0].Load(filename);
}
// create the sensor models
Console.Write("Creating sensor models, please wait...");
rob.inverseSensorModel.createLookupTables(rob.head, (int)LocalGridCellSize_mm);
Console.WriteLine("Done");
string raymodel_image_filename = "ray_model.jpg";
Console.WriteLine("Saving ray model image: " + raymodel_image_filename);
int img_width = 640;
int img_height = 480;
byte[] img = new byte[img_width * img_height * 3];
rob.inverseSensorModel.ray_model_to_graph_image(img, img_width, img_height);
Bitmap bmp = new Bitmap(img_width, img_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
BitmapArrayConversions.updatebitmap_unsafe(img, bmp);
bmp.Save(raymodel_image_filename, System.Drawing.Imaging.ImageFormat.Jpeg);
string distribution_image_filename = "gaussian_distribution.jpg";
Console.WriteLine("Saving gaussian distribution image: " + distribution_image_filename);
rob.inverseSensorModel.showDistribution(img, img_width, img_height);
BitmapArrayConversions.updatebitmap_unsafe(img, bmp);
bmp.Save(distribution_image_filename, System.Drawing.Imaging.ImageFormat.Jpeg);
Console.WriteLine("Saving " + filename);
rob.Save(filename);
}
}
