private void Form1_Shown(object sender, EventArgs e)
{
updateCommPortCombos();
comboResolution.SelectedIndex = 0;
Matrix <double> test = new Matrix <double>(3, 3);
LatestCamIntrinsics = new IntrinsicCameraParameters();
// initializing the intrinsics matrix to the identity
LatestCamIntrinsics.IntrinsicMatrix.SetIdentity();
//LatestCamIntrinsics.DistortionCoeffs = new Matrix<double>(4, 1);
LatestCamIntrinsics.DistortionCoeffs.SetZero();
gps = null;
calibrator = null;
imu = null;
comboResolution.SelectedIndex = 2;
// start the timer
timer1.Start();
}
private void button6_Click(object sender, EventArgs e)
{
calibrator = new Flea3Calibrator(pictureBox1);
calibrator.startCalibration(comboResolution.SelectedIndex, calibrator.CamIDs[0]);
}
private void button4_Click(object sender, EventArgs e)
{
/*if (gps == null)
* {
* try
* {
* gps = new GPSReceiver(comboBox1.Items[comboBox1.SelectedIndex].ToString(), (int)numericUpDown1.Value, true);
*
* gps.StartReceiver();
* timer1.Start();
* }
* catch (System.ArgumentOutOfRangeException ex)
* {
* MessageBox.Show("Make sure your GPS is connected and choose serial port!!! Starting capture without GPS", "GPS problem!", MessageBoxButtons.OK);
* }
* }
* else if (!gps.CommPort.IsOpen)
* {
* try
* {
* gps = new GPSReceiver(comboBox1.Items[comboBox1.SelectedIndex].ToString(), (int)numericUpDown1.Value, true);
*
* gps.StartReceiver();
* timer1.Start();
* }
* catch (System.ArgumentOutOfRangeException ex)
* {
* MessageBox.Show("Make sure your GPS is connected and choose serial port!!! Starting capture without GPS", "GPS problem!", MessageBoxButtons.OK);
* }
* } */
try
{
StreamReader sr = new StreamReader("CalibParams.txt");
string line = sr.ReadLine();
string[] row1 = line.Split(new char[] { ',' });
LatestCamIntrinsics.IntrinsicMatrix[0, 0] = Convert.ToDouble(row1[0]);
LatestCamIntrinsics.IntrinsicMatrix[0, 1] = Convert.ToDouble(row1[1]);
LatestCamIntrinsics.IntrinsicMatrix[0, 2] = Convert.ToDouble(row1[2]);
LatestCamIntrinsics.IntrinsicMatrix[1, 0] = Convert.ToDouble(row1[3]);
LatestCamIntrinsics.IntrinsicMatrix[1, 1] = Convert.ToDouble(row1[4]);
LatestCamIntrinsics.IntrinsicMatrix[1, 2] = Convert.ToDouble(row1[5]);
LatestCamIntrinsics.IntrinsicMatrix[2, 0] = Convert.ToDouble(row1[6]);
LatestCamIntrinsics.IntrinsicMatrix[2, 1] = Convert.ToDouble(row1[7]);
LatestCamIntrinsics.IntrinsicMatrix[2, 2] = Convert.ToDouble(row1[8]);
line = sr.ReadLine();
string[] dcoeffs = line.Split(new char[] { ',' });
LatestCamIntrinsics.DistortionCoeffs[0, 0] = Convert.ToDouble(dcoeffs[0]);
LatestCamIntrinsics.DistortionCoeffs[1, 0] = Convert.ToDouble(dcoeffs[1]);
LatestCamIntrinsics.DistortionCoeffs[2, 0] = Convert.ToDouble(dcoeffs[2]);
LatestCamIntrinsics.DistortionCoeffs[3, 0] = Convert.ToDouble(dcoeffs[3]);
sr.Close();
// dumping out the new parameters from the file
line = "[ " + row1[0] + " , " + row1[1] + " , " + row1[2] + " ]" + "\n" +
"[ " + row1[3] + " , " + row1[4] + " , " + row1[5] + " ]" + "\n" +
"[ " + row1[6] + " , " + row1[7] + " , " + row1[8] + " ]" + "\n" +
"-------------------------------------------------" + "\n" +
"[" + dcoeffs[0] + " , " + dcoeffs[1] + " , " + dcoeffs[2] + " , " + dcoeffs[3] + "]";
MessageBox.Show(line, "New camera Intrinsics and Distortion Coefficients loaded from the file", MessageBoxButtons.OK);
}
catch (FileNotFoundException ex) {
// dumping out the new parameters from the file
string line = "[ " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[0, 0]) + " , 0 , " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[0, 2]) + " ]" + "\n" +
"[ 0 , " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[1, 1]) + " , " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[1, 2]) + " ]" + "\n" +
"[ 0 , 0, 1 ]" + "\n" +
"-------------------------------------------------" + "\n" +
"[" + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[0, 0]) +
" , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[1, 0]) +
" , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[2, 0]) +
" , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[3, 0]) + "]";
MessageBox.Show(line, "Could not retrieve intrinsics from file. Using the values previously stored in memory...", MessageBoxButtons.OK);
};
if (MessageBox.Show("Do you wish to do a calibration before recording ?", "Calibration Alert!", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
// calibrate first
calibrator = new Flea3Calibrator(pictureBox1);
calibrator.startCalibration(comboResolution.SelectedIndex, calibrator.CamIDs[0]);
}
else
{
recorder = new Flea3Recorder(gps, imu);
// the file name format: "dd-mm-yyyy.hh-mm-ss"
String fname = "";
if (checkRecord.Checked)
{
int day = DateTime.Now.Day;
fname = fname + ((day < 10) ? "0" + Convert.ToString(day) + "-" : Convert.ToString(day) + "-");
int month = DateTime.Now.Month;
fname = fname + ((month < 10) ? "0" + Convert.ToString(month) + "-" : Convert.ToString(month) + "-");
int year = DateTime.Now.Year;
fname = fname + Convert.ToString(year) + '.';
int hour = DateTime.Now.Hour;
fname = fname + ((hour < 10) ? "0" + Convert.ToString(hour) + "-" : Convert.ToString(hour) + "-");
int minute = DateTime.Now.Minute;
fname = fname + ((minute < 10) ? "0" + Convert.ToString(minute) : Convert.ToString(minute));
fname = textOutputFolder.Text + "\\" + fname;
}
CurrentFileName = fname;
// ok, starting the recording!
// using the first camera in the list
if (recorder.CamIDs.Count() > 0)
{
recorder.startCapture(recorder.CamIDs[0], comboResolution.SelectedIndex, pictureBox1, fname + ".avi", checkRecord.Checked);
}
else
{
Console.WriteLine(" No camera found on the bus!!! Capturing aborted!");
}
}
}
private void Form1_Shown(object sender, EventArgs e)
{
updateCommPortCombos();
comboResolution.SelectedIndex = 0;
Matrix<double> test = new Matrix<double>(3, 3);
LatestCamIntrinsics = new IntrinsicCameraParameters();
// initializing the intrinsics matrix to the identity
LatestCamIntrinsics.IntrinsicMatrix.SetIdentity();
//LatestCamIntrinsics.DistortionCoeffs = new Matrix<double>(4, 1);
LatestCamIntrinsics.DistortionCoeffs.SetZero();
gps = null;
calibrator = null;
imu = null;
comboResolution.SelectedIndex = 2;
// start the timer
timer1.Start();
}
private void button6_Click(object sender, EventArgs e)
{
calibrator = new Flea3Calibrator(pictureBox1);
calibrator.startCalibration(comboResolution.SelectedIndex, calibrator.CamIDs[0]);
}
private void button4_Click(object sender, EventArgs e)
{
/*if (gps == null)
{
try
{
gps = new GPSReceiver(comboBox1.Items[comboBox1.SelectedIndex].ToString(), (int)numericUpDown1.Value, true);
gps.StartReceiver();
timer1.Start();
}
catch (System.ArgumentOutOfRangeException ex)
{
MessageBox.Show("Make sure your GPS is connected and choose serial port!!! Starting capture without GPS", "GPS problem!", MessageBoxButtons.OK);
}
}
else if (!gps.CommPort.IsOpen)
{
try
{
gps = new GPSReceiver(comboBox1.Items[comboBox1.SelectedIndex].ToString(), (int)numericUpDown1.Value, true);
gps.StartReceiver();
timer1.Start();
}
catch (System.ArgumentOutOfRangeException ex)
{
MessageBox.Show("Make sure your GPS is connected and choose serial port!!! Starting capture without GPS", "GPS problem!", MessageBoxButtons.OK);
}
} */
try
{
StreamReader sr = new StreamReader("CalibParams.txt");
string line = sr.ReadLine();
string[] row1 = line.Split(new char[] {','});
LatestCamIntrinsics.IntrinsicMatrix[0, 0] = Convert.ToDouble(row1[0]);
LatestCamIntrinsics.IntrinsicMatrix[0, 1] = Convert.ToDouble(row1[1]);
LatestCamIntrinsics.IntrinsicMatrix[0, 2] = Convert.ToDouble(row1[2]);
LatestCamIntrinsics.IntrinsicMatrix[1, 0] = Convert.ToDouble(row1[3]);
LatestCamIntrinsics.IntrinsicMatrix[1, 1] = Convert.ToDouble(row1[4]);
LatestCamIntrinsics.IntrinsicMatrix[1, 2] = Convert.ToDouble(row1[5]);
LatestCamIntrinsics.IntrinsicMatrix[2, 0] = Convert.ToDouble(row1[6]);
LatestCamIntrinsics.IntrinsicMatrix[2, 1] = Convert.ToDouble(row1[7]);
LatestCamIntrinsics.IntrinsicMatrix[2, 2] = Convert.ToDouble(row1[8]);
line = sr.ReadLine();
string[] dcoeffs = line.Split(new char[] { ',' });
LatestCamIntrinsics.DistortionCoeffs[0, 0] = Convert.ToDouble(dcoeffs[0]);
LatestCamIntrinsics.DistortionCoeffs[1, 0] = Convert.ToDouble(dcoeffs[1]);
LatestCamIntrinsics.DistortionCoeffs[2, 0] = Convert.ToDouble(dcoeffs[2]);
LatestCamIntrinsics.DistortionCoeffs[3, 0] = Convert.ToDouble(dcoeffs[3]);
sr.Close();
// dumping out the new parameters from the file
line = "[ "+row1[0]+" , "+row1[1] + " , " + row1[2] + " ]" + "\n"+
"[ "+row1[3]+" , "+row1[4] + " , " + row1[5] + " ]" + "\n"+
"[ "+row1[6]+" , "+row1[7] + " , " + row1[8] + " ]" + "\n"+
"-------------------------------------------------" + "\n"+
"["+dcoeffs[0]+" , "+ dcoeffs[1] + " , "+ dcoeffs[2] + " , " + dcoeffs[3]+"]";
MessageBox.Show(line, "New camera Intrinsics and Distortion Coefficients loaded from the file", MessageBoxButtons.OK);
}
catch (FileNotFoundException ex) {
// dumping out the new parameters from the file
string line = "[ " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[0,0]) + " , 0 , "+Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[0,2])+ " ]" + "\n" +
"[ 0 , " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[1,1]) + " , " + Convert.ToString(LatestCamIntrinsics.IntrinsicMatrix[1,2])+ " ]" + "\n" +
"[ 0 , 0, 1 ]" + "\n" +
"-------------------------------------------------" + "\n" +
"[" + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[0,0]) +
" , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[1,0]) +
" , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[2,0]) +
" , " + Convert.ToString(LatestCamIntrinsics.DistortionCoeffs[3,0]) + "]";
MessageBox.Show(line, "Could not retrieve intrinsics from file. Using the values previously stored in memory...", MessageBoxButtons.OK);
};
if (MessageBox.Show("Do you wish to do a calibration before recording ?", "Calibration Alert!", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
// calibrate first
calibrator = new Flea3Calibrator(pictureBox1);
calibrator.startCalibration(comboResolution.SelectedIndex, calibrator.CamIDs[0]);
}
else
{
recorder = new Flea3Recorder(gps, imu);
// the file name format: "dd-mm-yyyy.hh-mm-ss"
String fname = "";
if (checkRecord.Checked)
{
int day = DateTime.Now.Day;
fname = fname + ((day < 10) ? "0" + Convert.ToString(day) + "-" : Convert.ToString(day) + "-");
int month = DateTime.Now.Month;
fname = fname + ((month < 10) ? "0" + Convert.ToString(month) + "-" : Convert.ToString(month) + "-");
int year = DateTime.Now.Year;
fname = fname + Convert.ToString(year) + '.';
int hour = DateTime.Now.Hour;
fname = fname + ((hour < 10) ? "0" + Convert.ToString(hour) + "-" : Convert.ToString(hour) + "-");
int minute = DateTime.Now.Minute;
fname = fname + ((minute < 10) ? "0" + Convert.ToString(minute) : Convert.ToString(minute));
fname = textOutputFolder.Text + "\\" + fname;
}
CurrentFileName = fname;
// ok, starting the recording!
// using the first camera in the list
if (recorder.CamIDs.Count() > 0)
{
recorder.startCapture(recorder.CamIDs[0], comboResolution.SelectedIndex, pictureBox1, fname+".avi", checkRecord.Checked);
}
else
Console.WriteLine(" No camera found on the bus!!! Capturing aborted!");
}
}
