示例#1
0
        public Tracker()
        {
            InitializeComponent();

            InitialCaiServer();
            MessageBox.Show("TCP IP is " + server.getUsedIP().ToString() + "  port is " + server.getPort().ToString());
            udp = new CaiNetwork.CaiUDP();
            MessageBox.Show("UDP IP is " + udp.broadcastIpEndPoint.Address.ToString() + "  port is " + udp.broadcastIpEndPoint.Port.ToString());

            tbsPoint = new TextBox[] { tbPoint1, tbPoint2, tbPoint3, tbPoint4 };
            // Init
            flags = new MyFlags();
            flags.Init();
            flags.Start();
            ptsShowCorners = new Point2f[4];
            cc             = new CoordinateConverter(flags);
            localiser      = new Localiser();
            capture        = new VideoCapture();
            // threadCamera = new Thread(CameraReading);
            /****************************************** 修改了此处,调用电脑自带摄像头 ******************************************/
            capture.Open(0);
            //capture.Open(1);
            timeCamNow  = DateTime.Now;
            timeCamPrev = timeCamNow;

            car1 = new Point2i();
            car2 = new Point2i();

            buttonStart.Enabled  = true;
            buttonPause.Enabled  = false;
            button_reset.Enabled = false;

            Game.LoadMap();
            game = new Game();

            if (capture.IsOpened())
            {
                capture.FrameWidth  = flags.cameraSize.Width;
                capture.FrameHeight = flags.cameraSize.Height;
                capture.ConvertRgb  = true;
                timer100ms.Interval = 75;
                timer100ms.Start();
                //Cv2.NamedWindow("binary");
            }
            portCB.Items.AddRange(System.IO.Ports.SerialPort.GetPortNames());
            myID = 'A';
        }