private void OnMapButtonClicked(object sender, EventArgs e) { if (m_MapForm == null || m_MapForm.IsDisposed) { m_MapForm = new MapForm(m_RobotPath); } m_MapForm.Show(this); }
public MainForm() { InitializeComponent(); CameraParameters cameraParameters = null; HomographyMatrix groundProjectionTransformation = null; bool useCamera = false; _CamIP = Prompt.ShowDialog("OK para testes", "Conexão Camara"); if (_CamIP != "") { useCamera = true; } if (useCamera) { //Emgu.CV.CvInvoke.cvCreateFileCapture("http://*****:*****@cam_address/axis-cgi/mjpg/video.cgi?resolution=1280x720&req_fps=30&.mjpg"); m_Capture = new Capture(0); m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_WIDTH, 1280); m_Capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_HEIGHT, 720); cameraParameters = CameraParameters.Load(@"..\..\CalibrationFiles\MicrosoftCinemaFocus12.txt"); groundProjectionTransformation = HomographyMatrixSupport.Load(@"..\..\CalibrationFiles\BirdsEyeViewTransformationForCalculation.txt"); } else { m_Capture = new Capture(@"..\..\CalibrationFiles\2010-07-18 11-10-22.853.wmv"); m_Timer.Interval = 33; m_Timer.Enabled = true; cameraParameters = CameraParameters.Load(@"..\..\CalibrationFiles\MicrosoftCinemaFocus12.txt"); groundProjectionTransformation = HomographyMatrixSupport.Load(@"..\..\CalibrationFiles\BirdsEyeViewTransformationForCalculation.txt"); } m_VisualOdometer = new VisualOdometer(m_Capture, cameraParameters, groundProjectionTransformation, new OpticalFlow()); UpdateFromModel(); m_VisualOdometer.Changed += new EventHandler(OnVisualOdometerChanged); Application.Idle += OnApplicationIdle; if (m_MapForm == null || m_MapForm.IsDisposed) { m_MapForm = new MapForm(m_RobotPath); } m_MapForm.Show(); }