private void RaiseFocusCameraEvent(Character character)
{
CameraEventData cameraEventData = new CameraEventData();
cameraEventData.transform = character.transform;
this.focusCamera.Raise(cameraEventData);
}
public void Fired(IOProxy proxy, List <AbstractProxyEventData> eventData)
{
if (_DataWritter != null)
{
ImuEventData imuEventData = (ImuEventData)eventData.FirstOrDefault(c => c is ImuEventData);
CameraEventData cameraEventData = (CameraEventData)eventData.FirstOrDefault(c => c is CameraEventData);
if (imuEventData != null)
{
_DataWritter.AddImu(0, imuEventData.TimeNanoSeconds, imuEventData.GyroX / 180 * Math.PI, imuEventData.GyroY / 180 * Math.PI, imuEventData.GyroZ / 180 * Math.PI, imuEventData.AccelX, imuEventData.AccelY, imuEventData.AccelZ);
}
if (cameraEventData != null && imuEventData != null)
{
_DataWritter.AddImage(0, imuEventData.TimeNanoSeconds, cameraEventData.Image.ToPNGBinary(3), cameraEventData.ExposureTime);
}
else if (cameraEventData != null)
{
_DataWritter.AddImage(0, -1, cameraEventData.Image.ToPNGBinary(3), cameraEventData.ExposureTime);
}
}
}
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);
});
}
}
public override IObservable <EventMessage> OnPublishAsObservable() => OnEventAsObservable() .Select(_ => EventMessage.Create(EventType.CameraEvent, Component, CameraEventData.Create(CameraEventType)));
public void OnResetCamera(CameraEventData cameraEventData)
{
UpdateFollowTransform(null);
}
/*-------------------------------------------------
* Event Handlers
* --------------------------------------------------*/
public void OnFocusCamera(CameraEventData cameraEventData)
{
UpdateFollowTransform(cameraEventData.transform);
}
//add GetHashCode and Equals
public override bool Equals(object obj)
{
CameraEventData other = obj as CameraEventData;
return(base.Equals(obj) && this.cameraLayout == other.CameraLayout && this.cameraID == other.CameraID);
}
private void RaiseResetCameraEvent()
{
CameraEventData cameraEventData = new CameraEventData();
this.resetCamera.Raise(cameraEventData);
}
