private void ProcessFrame()
{
m_VisualOdometer.ProcessFrame();
if (m_VisualOdometer.CurrentImage == null)
{
return;
}
m_FoundFeaturesCountTextBox.Text = m_VisualOdometer.InitialFeaturesCount.ToString();
m_TrackedFeaturesCountTextBox.Text = m_VisualOdometer.TrackedFeatures.Count.ToString();
m_NotTrackedFeaturesCount.Text = m_VisualOdometer.NotTrackedFeaturesCount.ToString();
m_FrameTextBox.Text = m_VisualOdometer.FramesCounter.FrameNumber.ToString();
m_FramesPerSecondTextBox.Text = String.Format("{0:0.0}", m_VisualOdometer.FramesCounter.FramesPerSecond);
m_HeadingTextBox.Text = String.Format(
"{0:0.000}", m_VisualOdometer.RobotPose.Heading.Degrees);
m_LocationTextBox.Text = String.Format(
"({0:0.000}, {1:0.000})", m_VisualOdometer.RobotPose.Location.X * m_UnitFactor, m_VisualOdometer.RobotPose.Location.Y * m_UnitFactor);
//m_LocationChangeTextBox.Text = String.Format(
// "dx_r: {0:0.000} dy_r: {1:0.000}", m_VisualOdometer.TranslationAnalyzer.LocationChange.X, m_VisualOdometer.TranslationAnalyzer.LocationChange.Y);
m_PathLengthTextBox.Text = String.Format("{0:0.000}", m_RobotPath.PathLength * m_UnitFactor);
m_DistanceFromStartTextBox.Text = String.Format("{0:0.000}", m_RobotPath.DistanceFromStart * m_UnitFactor);
if (m_ShowImageCheckBox.Checked)
{
DrawRegionBounderies();
m_ImageBox.Image = m_VisualOdometer.CurrentImage;
}
Pose newPose = new Pose(m_VisualOdometer.RobotPose);
m_RobotPath.Add(newPose);
if (!m_RotationAnalysisForm.IsDisposed)
{
m_RotationAnalysisForm.Update(m_VisualOdometer);
}
if (m_AuxiliaryViewsForm != null && !m_AuxiliaryViewsForm.IsDisposed)
{
m_AuxiliaryViewsForm.Update(m_DrawFeaturesCheckBox.Checked);
}
if (m_MapForm != null && !m_MapForm.IsDisposed)
{
m_MapForm.UpdateMap();
}
if (m_DrawFeaturesCheckBox.Checked)
{
DrawAllFeatureLocationsPreviousAndCurrent();
}
}
private void ProcessFrame()
{
m_VisualOdometer.ProcessFrame();
if (m_VisualOdometer.CurrentImage == null)
{
return;
}
m_FramesPerSecondTextBox.Text = String.Format("{0:0.0}", m_VisualOdometer.FramesCounter.FramesPerSecond);
DrawRegionBounderies();
m_ImageBox.Image = m_VisualOdometer.CurrentImage;
Pose newPose = new Pose(m_VisualOdometer.RobotPose);
m_RobotPath.Add(newPose);
ObstacleDetector();
if (m_MapForm != null && !m_MapForm.IsDisposed)
{
m_MapForm.UpdateMap();
}
if (m_ObstaclesCheckBox.Checked)
{
DrawObstacle();
}
if (m_DrawFeaturesCheckBox.Checked)
{
DrawAllFeatureLocationsPreviousAndCurrent();
}
if (m_SurfCheckbox.Checked)
{
Image <Gray, Byte> img1 = new Image <Gray, Byte>("../../img.jpg");
Image <Gray, Byte> img2 = m_VisualOdometer.CurrentImage.Convert <Gray, Byte>();
executeSURF(img1, img2, m_VisualOdometer.CurrentImage);
}
ArtificialInteligence();
}
