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';
}