private void update()
{
// load calibration data
stereointerface.loadCalibration(calibration_filename);
// get image data from bitmaps
int bytes_per_pixel = 3;
// load images into the correspondence object
stereointerface.loadImage(fullres_left, image_width, image_height, true, bytes_per_pixel);
stereointerface.loadImage(fullres_right, image_width, image_height, false, bytes_per_pixel);
// set the quality of the disparity map
stereointerface.setDisparityMapCompression(horizontal_compression, vertical_compression);
clock.Start();
// perform stereo matching
stereointerface.stereoMatchRun(0, 8, correspondence_algorithm_type);
long correspondence_time_mS = clock.Stop();
txtStereoCorrespondenceTime.Buffer.Text = correspondence_time_mS.ToString();
// make a bitmap
byte[] depthmap = new byte[image_width * image_height * 3];
stereointerface.getDisparityMap(depthmap, image_width, image_height, 0);
picDepthMap.Pixbuf = GtkBitmap.createPixbuf(image_width, image_height);
GtkBitmap.setBitmap(depthmap, picDepthMap);
}
private void SaveImages(
string left_image_filename,
string right_image_filename)
{
byte[] left = new byte[image_width * image_height * 3];
byte[] right = new byte[image_width * image_height * 3];
GtkBitmap.getBitmap(leftimage, left);
GtkBitmap.getBitmap(rightimage, right);
Bitmap left_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
Bitmap right_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
BitmapArrayConversions.updatebitmap_unsafe(left, left_bmp);
BitmapArrayConversions.updatebitmap_unsafe(right, right_bmp);
if (left_image_filename.ToLower().EndsWith("png"))
{
left_bmp.Save(left_image_filename, System.Drawing.Imaging.ImageFormat.Png);
right_bmp.Save(right_image_filename, System.Drawing.Imaging.ImageFormat.Png);
}
if (left_image_filename.ToLower().EndsWith("bmp"))
{
left_bmp.Save(left_image_filename, System.Drawing.Imaging.ImageFormat.Bmp);
right_bmp.Save(right_image_filename, System.Drawing.Imaging.ImageFormat.Bmp);
}
if (left_image_filename.ToLower().EndsWith("gif"))
{
left_bmp.Save(left_image_filename, System.Drawing.Imaging.ImageFormat.Gif);
right_bmp.Save(right_image_filename, System.Drawing.Imaging.ImageFormat.Gif);
}
if (left_image_filename.ToLower().EndsWith("jpg"))
{
left_bmp.Save(left_image_filename, System.Drawing.Imaging.ImageFormat.Jpeg);
right_bmp.Save(right_image_filename, System.Drawing.Imaging.ImageFormat.Jpeg);
}
}
private bool LoadStereoImages()
{
bool success = false;
string left_image_filename = images_directory + "/test_left_" + stereo_image_index.ToString() + ".jpg";
string right_image_filename = images_directory + "/test_right_" + stereo_image_index.ToString() + ".jpg";
if (System.IO.File.Exists(left_image_filename))
{
if (System.IO.File.Exists(right_image_filename))
{
fullres_left = GtkBitmap.Load(left_image_filename, ref image_width, ref image_height);
picLeftImage.Pixbuf = GtkBitmap.createPixbuf(image_width, image_height);
GtkBitmap.setBitmap(fullres_left, picLeftImage);
fullres_right = GtkBitmap.Load(right_image_filename, ref image_width, ref image_height);
picRightImage.Pixbuf = GtkBitmap.createPixbuf(image_width, image_height);
GtkBitmap.setBitmap(fullres_right, picRightImage);
success = true;
}
else
{
//MessageBox.Show("Could not find image " + right_image_filename);
}
}
else
{
//MessageBox.Show("Could not find image " + left_image_filename);
}
return(success);
}
private void DisplayImage(Gtk.Image img, Bitmap default_image, bool is_left)
{
usage.Update("Display Image, SurveyorVisionStereoGtk, DisplayImage");
Bitmap disp_image = null;
switch (display_type)
{
case DISPLAY_RAW: { disp_image = default_image; break; }
case DISPLAY_CALIBRATION_DOTS: { disp_image = edges; break; }
case DISPLAY_CALIBRATION_GRID: { disp_image = linked_dots; break; }
case DISPLAY_CALIBRATION_DIFF: { disp_image = grid_diff; break; }
case DISPLAY_RECTIFIED: { if (is_left)
{
disp_image = rectified[0];
}
else
{
disp_image = rectified[1];
} break; }
}
if ((calibration_pattern == null) || (disp_image == null))
{
disp_image = default_image;
}
if (calibration_pattern == null)
{
if (is_left)
{
if (calibration_map[0] != null)
{
if (stereo_features == null)
{
disp_image = rectified[0];
}
else
{
disp_image = stereo_features;
}
}
}
else
{
if (calibration_map[1] != null)
{
disp_image = rectified[1];
}
}
}
if ((img != null) && (disp_image != null))
{
GtkBitmap.setBitmap(disp_image, img);
}
}
/// <summary>
/// perform a test
/// </summary>
/// <param name="test_index">index number of the test to be performed</param>
private void PerformTest(int test_index)
{
// initialise
init();
switch (test_index)
{
case 0: // motion model
{
test_motion_model(true);
break;
}
case 1: // stereo ray models
{
bool mirror = false;
stereo_model.showProbabilities(grid_layer,
grid_dimension,
img_rays, standard_width, standard_height,
false, true, mirror);
break;
}
case 2: // gaussian distribution function
{
stereo_model.showDistribution(img_rays, standard_width, standard_height);
break;
}
case 3: // a single stereo ray model
{
createSingleRayModel(false);
break;
}
case 4: // sensor model lookups
{
createSensorModelLookup();
break;
}
case 5: // path planner
{
test_path_planner(200, 50);
break;
}
}
// make a larger image
byte[] img_large = image.downSample(img_rays, standard_width, standard_height,
standard_width * 2, standard_height * 2);
// display the results
imgOutput.Pixbuf = GtkBitmap.createPixbuf(standard_width * 2, standard_height * 2);
GtkBitmap.setBitmap(img_large, imgOutput);
}
/// <summary>
///
/// </summary>
/// <param name="stereo_camera_IP">IP address of the SVS</param>
/// <param name="leftport">port number of the left camera</param>
/// <param name="rightport">port number of the right camera</param>
public MainWindow(
string stereo_camera_IP,
int leftport,
int rightport) : base(Gtk.WindowType.Toplevel)
{
Build();
robot = new robotSurveyor();
this.stereo_camera_IP = stereo_camera_IP;
string version = String.Format("{0}", AssemblyVersion);
Console.WriteLine("surveyorstereo GUI version " + version);
Console.WriteLine("SVS IP: " + stereo_camera_IP.ToString());
Console.WriteLine("Left camera port: " + leftport.ToString());
Console.WriteLine("Right camera port: " + rightport.ToString());
//SaveHpolarLookup();
if (BaseVisionStereo.IsWindows())
{
zip_utility = "zip";
}
byte[] img = new byte[image_width * image_height * 3];
Bitmap left_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
Bitmap right_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
sluggish.utilities.BitmapArrayConversions.updatebitmap_unsafe(img, left_bmp);
sluggish.utilities.BitmapArrayConversions.updatebitmap_unsafe(img, right_bmp);
GtkBitmap.setBitmap(left_bmp, leftimage);
GtkBitmap.setBitmap(right_bmp, rightimage);
stereo_camera = new SurveyorVisionStereoGtk(stereo_camera_IP, leftport, rightport, broadcast_port, fps, this);
stereo_camera.temporary_files_path = temporary_files_path;
stereo_camera.recorded_images_path = recorded_images_path;
stereo_camera.display_image[0] = leftimage;
stereo_camera.display_image[1] = rightimage;
stereo_camera.Run("M");
txtLogging.Text = path_identifier;
txtReplay.Text = replay_path_identifier;
motors_active = true;
starting = false;
// enable motors
//SendCommand("M");
}
/// <summary>
/// initialise variables prior to performing test routines
/// </summary>
private void init()
{
grid_layer = new float[grid_dimension, grid_dimension, 3];
pos3D_x = new float[4];
pos3D_y = new float[4];
stereo_model = new stereoModel();
robot_head = new stereoHead(4);
stereo_features = new float[900];
stereo_uncertainties = new float[900];
img_rays = new byte[standard_width * standard_height * 3];
imgOutput.Pixbuf = GtkBitmap.createPixbuf(standard_width, standard_height);
GtkBitmap.setBitmap(img_rays, imgOutput);
}
public MainWindow() : base(Gtk.WindowType.Toplevel)
{
Build();
byte[] img = new byte[image_width * image_height * 3];
Bitmap left_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
Bitmap right_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
BitmapArrayConversions.updatebitmap_unsafe(img, left_bmp);
BitmapArrayConversions.updatebitmap_unsafe(img, right_bmp);
GtkBitmap.setBitmap(left_bmp, leftimage);
GtkBitmap.setBitmap(right_bmp, rightimage);
stereo_camera = new WebcamVisionStereoGtk(left_camera_device, right_camera_device, broadcast_port, fps);
stereo_camera.temporary_files_path = temporary_files_path;
stereo_camera.recorded_images_path = recorded_images_path;
stereo_camera.window = this;
stereo_camera.display_image[0] = leftimage;
stereo_camera.display_image[1] = rightimage;
//stereo_camera.Load(calibration_filename);
stereo_camera.image_width = image_width;
stereo_camera.image_height = image_height;
stereo_camera.min_exposure = minimum_brightness;
stereo_camera.max_exposure = maximum_brightness;
stereo_camera.flip_left_image = flip_left_image;
stereo_camera.flip_right_image = flip_right_image;
stereo_camera.baseline_mm = baseline_mm;
stereo_camera.Run();
stereo_camera.disable_rectification = disable_rectification;
stereo_camera.disable_radial_correction = disable_radial_correction;
chkRectification.Active = !disable_rectification;
chkRadialCorrection.Active = !disable_radial_correction;
chkFlipLeft.Active = stereo_camera.flip_left_image;
chkFlipRight.Active = stereo_camera.flip_right_image;
txtBaseline.Text = stereo_camera.baseline_mm.ToString();
}
private void ShowDotPattern(Gtk.Image dest_img)
{
stereo_camera.calibration_pattern = SurveyorCalibration.CreateDotPattern(image_width, image_height, SurveyorCalibration.dots_across, SurveyorCalibration.dot_radius_percent);
GtkBitmap.setBitmap(stereo_camera.calibration_pattern, dest_img);
}
/// <summary>
/// shows both left and right camera images within the GUI
/// </summary>
/// <param name="left_image">left image bitmap</param>
/// <param name="right_image">right image bitmap</param>
protected override void DisplayImages(Bitmap left_image, Bitmap right_image)
{
usage.Update("Display Images, SurveyorVisionStereoGtk, DisplayImages");
if (display_image[0] != null)
{
if ((show_left_image) &&
(calibration_pattern != null))
{
try
{
GtkBitmap.setBitmap(calibration_pattern, display_image[0], ref buffer);
}
catch
{
}
if (calibration_survey != null)
{
CalibrationSurvey survey = calibration_survey[1];
if (survey != null)
{
if ((survey.minimum_rms_error < 3) &&
((prev_minimum_rms_error >= 3) || (prev_minimum_rms_error == 0)))
{
PlaySound("beep.wav");
}
prev_minimum_rms_error = survey.minimum_rms_error;
}
}
}
else
{
DisplayImage(display_image[0], left_image, true);
}
}
if (display_image[1] != null)
{
if ((!show_left_image) &&
(calibration_pattern != null))
{
try
{
GtkBitmap.setBitmap(calibration_pattern, display_image[1], ref buffer);
}
catch
{
}
if (calibration_survey != null)
{
CalibrationSurvey survey = calibration_survey[0];
if (survey != null)
{
if ((survey.minimum_rms_error < 3) &&
((prev_minimum_rms_error >= 3) || (prev_minimum_rms_error == 0)))
{
PlaySound("beep.wav");
}
prev_minimum_rms_error = survey.minimum_rms_error;
}
}
}
else
{
DisplayImage(display_image[1], right_image, false);
}
}
if (window != null)
{
if (!IsWindows())
{
// Here we need to update the GUI after receiving the right camera image
// Since we're running in a separate thread from the GUI we have to
// call it in a special way
RunOnMainThread.Run(this, "UpdateGUI", new object[] { window, calibration_window });
Gdk.Threads.Enter();
window.QueueDraw();
Gdk.Threads.Leave();
}
}
}
