diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/2dd92849-35e7-4714-a5f2-81dac4ed8455.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/2dd92849-35e7-4714-a5f2-81dac4ed8455.vsidx deleted file mode 100644 index 57fb5cd93..000000000 Binary files a/AgroBase/.vs/AgroBase/FileContentIndex/2dd92849-35e7-4714-a5f2-81dac4ed8455.vsidx and /dev/null differ diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/6d33ccca-cdf0-4ec6-aa42-20a71587f073.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/6d33ccca-cdf0-4ec6-aa42-20a71587f073.vsidx new file mode 100644 index 000000000..255aa1761 Binary files /dev/null and b/AgroBase/.vs/AgroBase/FileContentIndex/6d33ccca-cdf0-4ec6-aa42-20a71587f073.vsidx differ diff --git a/AgroBase/.vs/AgroBase/v17/.suo b/AgroBase/.vs/AgroBase/v17/.suo index 58b4d5e52..f98ce9a29 100644 Binary files a/AgroBase/.vs/AgroBase/v17/.suo and b/AgroBase/.vs/AgroBase/v17/.suo differ diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs index cc904af84..d9fed78b5 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs @@ -211,14 +211,14 @@ namespace AgroBase.Forms.Operacoes private void AtualizarImagemPainel(Panel panel, Image novaImagem) { - if (panel.InvokeRequired) + if (panel?.InvokeRequired ?? false) { panel.BeginInvoke(new Action(() => AtualizarImagemPainel(panel, novaImagem))); return; } - panel.BackgroundImage?.Dispose(); - panel.BackgroundImage = novaImagem; + panel?.BackgroundImage?.Dispose(); + if (panel != null) panel.BackgroundImage = novaImagem; } diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs index e9c904513..50cd62083 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.Designer.cs @@ -372,24 +372,20 @@ this.picSonarRadar = new System.Windows.Forms.PictureBox(); this.tabSonarCalor = new System.Windows.Forms.TabPage(); this.picMapaCalor = new System.Windows.Forms.PictureBox(); - this.chbGrade = new System.Windows.Forms.CheckBox(); this.gridObstaculos = new System.Windows.Forms.DataGridView(); - this.txtDirecaoDesvio = new System.Windows.Forms.TextBox(); - this.label100 = new System.Windows.Forms.Label(); - this.txtDesvioNecessario = new System.Windows.Forms.TextBox(); + this.txtSonarDecisao = new System.Windows.Forms.TextBox(); this.label99 = new System.Windows.Forms.Label(); - this.txtEspacoLivreDireita = new System.Windows.Forms.TextBox(); + this.txtSonarDistanciaParada = new System.Windows.Forms.TextBox(); this.label98 = new System.Windows.Forms.Label(); - this.txtEspacoLivreEsquerda = new System.Windows.Forms.TextBox(); + this.txtSonarDistanciaObstaculo = new System.Windows.Forms.TextBox(); this.label97 = new System.Windows.Forms.Label(); this.tabSegmentacao = new System.Windows.Forms.TabPage(); - this.chbDesenharExtremos = new System.Windows.Forms.CheckBox(); - this.chbDesenharContornos = new System.Windows.Forms.CheckBox(); - this.txtCamCaminhoDireita = new System.Windows.Forms.TextBox(); + this.chbDesenharCorredor = new System.Windows.Forms.CheckBox(); + this.txtCamCaminhoStatusCarro = new System.Windows.Forms.TextBox(); this.label103 = new System.Windows.Forms.Label(); - this.txtCamCaminhoEsquerda = new System.Windows.Forms.TextBox(); + this.txtCamCaminhoErroLateral = new System.Windows.Forms.TextBox(); this.label102 = new System.Windows.Forms.Label(); - this.txtCamCaminhoAngulo = new System.Windows.Forms.TextBox(); + this.txtCamCaminhoErroAngular = new System.Windows.Forms.TextBox(); this.label101 = new System.Windows.Forms.Label(); this.pnlCaminho = new System.Windows.Forms.Panel(); this.tabCPU = new System.Windows.Forms.TabPage(); @@ -501,6 +497,9 @@ this.label36 = new System.Windows.Forms.Label(); this.txtMomento = new System.Windows.Forms.TextBox(); this.btnPlay = new System.Windows.Forms.Button(); + this.tabSonarDeteccoes = new System.Windows.Forms.TabPage(); + this.pnlSonarDeteccoes = new System.Windows.Forms.Panel(); + this.chbSonarDeteccoes = new System.Windows.Forms.CheckBox(); ((System.ComponentModel.ISupportInitialize)(this.trbMomento)).BeginInit(); this.panel1.SuspendLayout(); this.tabControl4.SuspendLayout(); @@ -570,6 +569,7 @@ this.panel6.SuspendLayout(); this.pnlInformacoesOperacao.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).BeginInit(); + this.tabSonarDeteccoes.SuspendLayout(); this.SuspendLayout(); // // trbMomento @@ -4072,16 +4072,14 @@ // // tabSonar // + this.tabSonar.Controls.Add(this.chbSonarDeteccoes); this.tabSonar.Controls.Add(this.tabControl3); - this.tabSonar.Controls.Add(this.chbGrade); this.tabSonar.Controls.Add(this.gridObstaculos); - this.tabSonar.Controls.Add(this.txtDirecaoDesvio); - this.tabSonar.Controls.Add(this.label100); - this.tabSonar.Controls.Add(this.txtDesvioNecessario); + this.tabSonar.Controls.Add(this.txtSonarDecisao); this.tabSonar.Controls.Add(this.label99); - this.tabSonar.Controls.Add(this.txtEspacoLivreDireita); + this.tabSonar.Controls.Add(this.txtSonarDistanciaParada); this.tabSonar.Controls.Add(this.label98); - this.tabSonar.Controls.Add(this.txtEspacoLivreEsquerda); + this.tabSonar.Controls.Add(this.txtSonarDistanciaObstaculo); this.tabSonar.Controls.Add(this.label97); this.tabSonar.Location = new System.Drawing.Point(4, 22); this.tabSonar.Name = "tabSonar"; @@ -4095,6 +4093,7 @@ // this.tabControl3.Controls.Add(this.tabSonarRGB); this.tabControl3.Controls.Add(this.tabSonarCalor); + this.tabControl3.Controls.Add(this.tabSonarDeteccoes); this.tabControl3.Location = new System.Drawing.Point(3, 6); this.tabControl3.Name = "tabControl3"; this.tabControl3.SelectedIndex = 0; @@ -4145,16 +4144,6 @@ this.picMapaCalor.TabIndex = 1; this.picMapaCalor.TabStop = false; // - // chbGrade - // - this.chbGrade.AutoSize = true; - this.chbGrade.Location = new System.Drawing.Point(435, 353); - this.chbGrade.Name = "chbGrade"; - this.chbGrade.Size = new System.Drawing.Size(55, 17); - this.chbGrade.TabIndex = 48; - this.chbGrade.Text = "Grade"; - this.chbGrade.UseVisualStyleBackColor = true; - // // gridObstaculos // this.gridObstaculos.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize; @@ -4164,35 +4153,15 @@ this.gridObstaculos.Size = new System.Drawing.Size(485, 140); this.gridObstaculos.TabIndex = 47; // - // txtDirecaoDesvio + // txtSonarDecisao // - this.txtDirecaoDesvio.Location = new System.Drawing.Point(312, 351); - this.txtDirecaoDesvio.Margin = new System.Windows.Forms.Padding(2); - this.txtDirecaoDesvio.Name = "txtDirecaoDesvio"; - this.txtDirecaoDesvio.ReadOnly = true; - this.txtDirecaoDesvio.Size = new System.Drawing.Size(100, 20); - this.txtDirecaoDesvio.TabIndex = 46; - this.txtDirecaoDesvio.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; - // - // label100 - // - this.label100.AutoSize = true; - this.label100.Location = new System.Drawing.Point(213, 354); - this.label100.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); - this.label100.Name = "label100"; - this.label100.Size = new System.Drawing.Size(95, 13); - this.label100.TabIndex = 45; - this.label100.Text = "Direção do Desvio"; - // - // txtDesvioNecessario - // - this.txtDesvioNecessario.Location = new System.Drawing.Point(109, 351); - this.txtDesvioNecessario.Margin = new System.Windows.Forms.Padding(2); - this.txtDesvioNecessario.Name = "txtDesvioNecessario"; - this.txtDesvioNecessario.ReadOnly = true; - this.txtDesvioNecessario.Size = new System.Drawing.Size(100, 20); - this.txtDesvioNecessario.TabIndex = 44; - this.txtDesvioNecessario.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtSonarDecisao.Location = new System.Drawing.Point(109, 351); + this.txtSonarDecisao.Margin = new System.Windows.Forms.Padding(2); + this.txtSonarDecisao.Name = "txtSonarDecisao"; + this.txtSonarDecisao.ReadOnly = true; + this.txtSonarDecisao.Size = new System.Drawing.Size(381, 20); + this.txtSonarDecisao.TabIndex = 44; + this.txtSonarDecisao.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // // label99 // @@ -4200,39 +4169,39 @@ this.label99.Location = new System.Drawing.Point(5, 354); this.label99.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label99.Name = "label99"; - this.label99.Size = new System.Drawing.Size(96, 13); + this.label99.Size = new System.Drawing.Size(46, 13); this.label99.TabIndex = 43; - this.label99.Text = "Desvio Necessário"; + this.label99.Text = "Decisão"; // - // txtEspacoLivreDireita + // txtSonarDistanciaParada // - this.txtEspacoLivreDireita.Location = new System.Drawing.Point(312, 327); - this.txtEspacoLivreDireita.Margin = new System.Windows.Forms.Padding(2); - this.txtEspacoLivreDireita.Name = "txtEspacoLivreDireita"; - this.txtEspacoLivreDireita.ReadOnly = true; - this.txtEspacoLivreDireita.Size = new System.Drawing.Size(100, 20); - this.txtEspacoLivreDireita.TabIndex = 42; - this.txtEspacoLivreDireita.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtSonarDistanciaParada.Location = new System.Drawing.Point(281, 327); + this.txtSonarDistanciaParada.Margin = new System.Windows.Forms.Padding(2); + this.txtSonarDistanciaParada.Name = "txtSonarDistanciaParada"; + this.txtSonarDistanciaParada.ReadOnly = true; + this.txtSonarDistanciaParada.Size = new System.Drawing.Size(69, 20); + this.txtSonarDistanciaParada.TabIndex = 42; + this.txtSonarDistanciaParada.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // // label98 // this.label98.AutoSize = true; - this.label98.Location = new System.Drawing.Point(213, 330); + this.label98.Location = new System.Drawing.Point(182, 330); this.label98.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label98.Name = "label98"; - this.label98.Size = new System.Drawing.Size(85, 13); + this.label98.Size = new System.Drawing.Size(88, 13); this.label98.TabIndex = 41; - this.label98.Text = "Espaço à Direita"; + this.label98.Text = "Distancia Parada"; // - // txtEspacoLivreEsquerda + // txtSonarDistanciaObstaculo // - this.txtEspacoLivreEsquerda.Location = new System.Drawing.Point(109, 327); - this.txtEspacoLivreEsquerda.Margin = new System.Windows.Forms.Padding(2); - this.txtEspacoLivreEsquerda.Name = "txtEspacoLivreEsquerda"; - this.txtEspacoLivreEsquerda.ReadOnly = true; - this.txtEspacoLivreEsquerda.Size = new System.Drawing.Size(100, 20); - this.txtEspacoLivreEsquerda.TabIndex = 40; - this.txtEspacoLivreEsquerda.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtSonarDistanciaObstaculo.Location = new System.Drawing.Point(109, 327); + this.txtSonarDistanciaObstaculo.Margin = new System.Windows.Forms.Padding(2); + this.txtSonarDistanciaObstaculo.Name = "txtSonarDistanciaObstaculo"; + this.txtSonarDistanciaObstaculo.ReadOnly = true; + this.txtSonarDistanciaObstaculo.Size = new System.Drawing.Size(69, 20); + this.txtSonarDistanciaObstaculo.TabIndex = 40; + this.txtSonarDistanciaObstaculo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // // label97 // @@ -4240,19 +4209,18 @@ this.label97.Location = new System.Drawing.Point(5, 330); this.label97.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label97.Name = "label97"; - this.label97.Size = new System.Drawing.Size(100, 13); + this.label97.Size = new System.Drawing.Size(102, 13); this.label97.TabIndex = 39; - this.label97.Text = "Espaço à Esquerda"; + this.label97.Text = "Distancia Obstaculo"; // // tabSegmentacao // - this.tabSegmentacao.Controls.Add(this.chbDesenharExtremos); - this.tabSegmentacao.Controls.Add(this.chbDesenharContornos); - this.tabSegmentacao.Controls.Add(this.txtCamCaminhoDireita); + this.tabSegmentacao.Controls.Add(this.chbDesenharCorredor); + this.tabSegmentacao.Controls.Add(this.txtCamCaminhoStatusCarro); this.tabSegmentacao.Controls.Add(this.label103); - this.tabSegmentacao.Controls.Add(this.txtCamCaminhoEsquerda); + this.tabSegmentacao.Controls.Add(this.txtCamCaminhoErroLateral); this.tabSegmentacao.Controls.Add(this.label102); - this.tabSegmentacao.Controls.Add(this.txtCamCaminhoAngulo); + this.tabSegmentacao.Controls.Add(this.txtCamCaminhoErroAngular); this.tabSegmentacao.Controls.Add(this.label101); this.tabSegmentacao.Controls.Add(this.pnlCaminho); this.tabSegmentacao.Location = new System.Drawing.Point(4, 22); @@ -4263,37 +4231,25 @@ this.tabSegmentacao.Text = "Segmentação"; this.tabSegmentacao.UseVisualStyleBackColor = true; // - // chbDesenharExtremos + // chbDesenharCorredor // - this.chbDesenharExtremos.AutoSize = true; - this.chbDesenharExtremos.Checked = true; - this.chbDesenharExtremos.CheckState = System.Windows.Forms.CheckState.Checked; - this.chbDesenharExtremos.Location = new System.Drawing.Point(368, 431); - this.chbDesenharExtremos.Name = "chbDesenharExtremos"; - this.chbDesenharExtremos.Size = new System.Drawing.Size(117, 17); - this.chbDesenharExtremos.TabIndex = 48; - this.chbDesenharExtremos.Text = "Desenhar extremos"; - this.chbDesenharExtremos.UseVisualStyleBackColor = true; + this.chbDesenharCorredor.AutoSize = true; + this.chbDesenharCorredor.Location = new System.Drawing.Point(369, 408); + this.chbDesenharCorredor.Name = "chbDesenharCorredor"; + this.chbDesenharCorredor.Size = new System.Drawing.Size(114, 17); + this.chbDesenharCorredor.TabIndex = 47; + this.chbDesenharCorredor.Text = "Desenhar corredor"; + this.chbDesenharCorredor.UseVisualStyleBackColor = true; // - // chbDesenharContornos + // txtCamCaminhoStatusCarro // - this.chbDesenharContornos.AutoSize = true; - this.chbDesenharContornos.Location = new System.Drawing.Point(369, 408); - this.chbDesenharContornos.Name = "chbDesenharContornos"; - this.chbDesenharContornos.Size = new System.Drawing.Size(122, 17); - this.chbDesenharContornos.TabIndex = 47; - this.chbDesenharContornos.Text = "Desenhar contornos"; - this.chbDesenharContornos.UseVisualStyleBackColor = true; - // - // txtCamCaminhoDireita - // - this.txtCamCaminhoDireita.Location = new System.Drawing.Point(5, 497); - this.txtCamCaminhoDireita.Margin = new System.Windows.Forms.Padding(2); - this.txtCamCaminhoDireita.Name = "txtCamCaminhoDireita"; - this.txtCamCaminhoDireita.ReadOnly = true; - this.txtCamCaminhoDireita.Size = new System.Drawing.Size(101, 20); - this.txtCamCaminhoDireita.TabIndex = 46; - this.txtCamCaminhoDireita.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtCamCaminhoStatusCarro.Location = new System.Drawing.Point(5, 497); + this.txtCamCaminhoStatusCarro.Margin = new System.Windows.Forms.Padding(2); + this.txtCamCaminhoStatusCarro.Name = "txtCamCaminhoStatusCarro"; + this.txtCamCaminhoStatusCarro.ReadOnly = true; + this.txtCamCaminhoStatusCarro.Size = new System.Drawing.Size(101, 20); + this.txtCamCaminhoStatusCarro.TabIndex = 46; + this.txtCamCaminhoStatusCarro.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // // label103 // @@ -4301,19 +4257,19 @@ this.label103.Location = new System.Drawing.Point(2, 481); this.label103.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label103.Name = "label103"; - this.label103.Size = new System.Drawing.Size(80, 13); + this.label103.Size = new System.Drawing.Size(65, 13); this.label103.TabIndex = 45; - this.label103.Text = "Angulo a direita"; + this.label103.Text = "Status Carro"; // - // txtCamCaminhoEsquerda + // txtCamCaminhoErroLateral // - this.txtCamCaminhoEsquerda.Location = new System.Drawing.Point(5, 459); - this.txtCamCaminhoEsquerda.Margin = new System.Windows.Forms.Padding(2); - this.txtCamCaminhoEsquerda.Name = "txtCamCaminhoEsquerda"; - this.txtCamCaminhoEsquerda.ReadOnly = true; - this.txtCamCaminhoEsquerda.Size = new System.Drawing.Size(101, 20); - this.txtCamCaminhoEsquerda.TabIndex = 44; - this.txtCamCaminhoEsquerda.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtCamCaminhoErroLateral.Location = new System.Drawing.Point(5, 459); + this.txtCamCaminhoErroLateral.Margin = new System.Windows.Forms.Padding(2); + this.txtCamCaminhoErroLateral.Name = "txtCamCaminhoErroLateral"; + this.txtCamCaminhoErroLateral.ReadOnly = true; + this.txtCamCaminhoErroLateral.Size = new System.Drawing.Size(101, 20); + this.txtCamCaminhoErroLateral.TabIndex = 44; + this.txtCamCaminhoErroLateral.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // // label102 // @@ -4321,19 +4277,19 @@ this.label102.Location = new System.Drawing.Point(2, 443); this.label102.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label102.Name = "label102"; - this.label102.Size = new System.Drawing.Size(96, 13); + this.label102.Size = new System.Drawing.Size(72, 13); this.label102.TabIndex = 43; - this.label102.Text = "Angulo a esquerda"; + this.label102.Text = "Erro Lateral %"; // - // txtCamCaminhoAngulo + // txtCamCaminhoErroAngular // - this.txtCamCaminhoAngulo.Location = new System.Drawing.Point(5, 421); - this.txtCamCaminhoAngulo.Margin = new System.Windows.Forms.Padding(2); - this.txtCamCaminhoAngulo.Name = "txtCamCaminhoAngulo"; - this.txtCamCaminhoAngulo.ReadOnly = true; - this.txtCamCaminhoAngulo.Size = new System.Drawing.Size(101, 20); - this.txtCamCaminhoAngulo.TabIndex = 42; - this.txtCamCaminhoAngulo.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtCamCaminhoErroAngular.Location = new System.Drawing.Point(5, 421); + this.txtCamCaminhoErroAngular.Margin = new System.Windows.Forms.Padding(2); + this.txtCamCaminhoErroAngular.Name = "txtCamCaminhoErroAngular"; + this.txtCamCaminhoErroAngular.ReadOnly = true; + this.txtCamCaminhoErroAngular.Size = new System.Drawing.Size(101, 20); + this.txtCamCaminhoErroAngular.TabIndex = 42; + this.txtCamCaminhoErroAngular.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // // label101 // @@ -4341,9 +4297,9 @@ this.label101.Location = new System.Drawing.Point(2, 405); this.label101.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label101.Name = "label101"; - this.label101.Size = new System.Drawing.Size(40, 13); + this.label101.Size = new System.Drawing.Size(65, 13); this.label101.TabIndex = 41; - this.label101.Text = "Angulo"; + this.label101.Text = "Erro Angular"; // // pnlCaminho // @@ -5552,6 +5508,37 @@ this.btnPlay.UseVisualStyleBackColor = true; this.btnPlay.Click += new System.EventHandler(this.btnPlay_Click); // + // tabSonarDeteccoes + // + this.tabSonarDeteccoes.Controls.Add(this.pnlSonarDeteccoes); + this.tabSonarDeteccoes.Location = new System.Drawing.Point(4, 22); + this.tabSonarDeteccoes.Name = "tabSonarDeteccoes"; + this.tabSonarDeteccoes.Padding = new System.Windows.Forms.Padding(3); + this.tabSonarDeteccoes.Size = new System.Drawing.Size(479, 290); + this.tabSonarDeteccoes.TabIndex = 2; + this.tabSonarDeteccoes.Text = "Detecções"; + this.tabSonarDeteccoes.UseVisualStyleBackColor = true; + // + // pnlSonarDeteccoes + // + this.pnlSonarDeteccoes.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom; + this.pnlSonarDeteccoes.Dock = System.Windows.Forms.DockStyle.Fill; + this.pnlSonarDeteccoes.Location = new System.Drawing.Point(3, 3); + this.pnlSonarDeteccoes.Name = "pnlSonarDeteccoes"; + this.pnlSonarDeteccoes.Size = new System.Drawing.Size(473, 284); + this.pnlSonarDeteccoes.TabIndex = 0; + this.pnlSonarDeteccoes.Paint += new System.Windows.Forms.PaintEventHandler(this.pnlSonarDeteccoes_Paint); + // + // chbSonarDeteccoes + // + this.chbSonarDeteccoes.AutoSize = true; + this.chbSonarDeteccoes.Location = new System.Drawing.Point(377, 329); + this.chbSonarDeteccoes.Name = "chbSonarDeteccoes"; + this.chbSonarDeteccoes.Size = new System.Drawing.Size(106, 17); + this.chbSonarDeteccoes.TabIndex = 50; + this.chbSonarDeteccoes.Text = "Exibir Detecções"; + this.chbSonarDeteccoes.UseVisualStyleBackColor = true; + // // frmResultadosOperacao // this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); @@ -5671,6 +5658,7 @@ this.pnlInformacoesOperacao.ResumeLayout(false); this.pnlInformacoesOperacao.PerformLayout(); ((System.ComponentModel.ISupportInitialize)(this.picCameraCaminho)).EndInit(); + this.tabSonarDeteccoes.ResumeLayout(false); this.ResumeLayout(false); this.PerformLayout(); @@ -5948,29 +5936,25 @@ private System.Windows.Forms.Label lblTipoMovimento; private System.Windows.Forms.TabPage tabSonar; private System.Windows.Forms.PictureBox picMapaCalor; - private System.Windows.Forms.TextBox txtEspacoLivreDireita; + private System.Windows.Forms.TextBox txtSonarDistanciaParada; private System.Windows.Forms.Label label98; - private System.Windows.Forms.TextBox txtEspacoLivreEsquerda; + private System.Windows.Forms.TextBox txtSonarDistanciaObstaculo; private System.Windows.Forms.Label label97; private System.Windows.Forms.DataGridView gridObstaculos; - private System.Windows.Forms.TextBox txtDirecaoDesvio; - private System.Windows.Forms.Label label100; - private System.Windows.Forms.TextBox txtDesvioNecessario; + private System.Windows.Forms.TextBox txtSonarDecisao; private System.Windows.Forms.Label label99; - private System.Windows.Forms.CheckBox chbGrade; private System.Windows.Forms.TabControl tabControl3; private System.Windows.Forms.TabPage tabSonarRGB; private System.Windows.Forms.TabPage tabSonarCalor; private System.Windows.Forms.PictureBox picSonarRadar; private System.Windows.Forms.TabPage tabSegmentacao; private System.Windows.Forms.Panel pnlCaminho; - private System.Windows.Forms.TextBox txtCamCaminhoAngulo; + private System.Windows.Forms.TextBox txtCamCaminhoErroAngular; private System.Windows.Forms.Label label101; - private System.Windows.Forms.CheckBox chbDesenharExtremos; - private System.Windows.Forms.CheckBox chbDesenharContornos; - private System.Windows.Forms.TextBox txtCamCaminhoDireita; + private System.Windows.Forms.CheckBox chbDesenharCorredor; + private System.Windows.Forms.TextBox txtCamCaminhoStatusCarro; private System.Windows.Forms.Label label103; - private System.Windows.Forms.TextBox txtCamCaminhoEsquerda; + private System.Windows.Forms.TextBox txtCamCaminhoErroLateral; private System.Windows.Forms.Label label102; private System.Windows.Forms.TabControl tabControl4; private System.Windows.Forms.TabPage tabMapaGPS; @@ -6126,5 +6110,8 @@ private System.Windows.Forms.Label label135; private System.Windows.Forms.ComboBox cmbMOV_Temperatura_Filtro; private System.Windows.Forms.Label label136; + private System.Windows.Forms.TabPage tabSonarDeteccoes; + private System.Windows.Forms.Panel pnlSonarDeteccoes; + private System.Windows.Forms.CheckBox chbSonarDeteccoes; } } \ No newline at end of file diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs index feaae3a69..1f0f3137c 100644 --- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs +++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs @@ -1385,7 +1385,7 @@ namespace AgroBase.Forms.Operacoes lblMagnetometro.ForeColor = !LogImu.Iniciado ? Color.Red : Color.Black; pnlOrientacaoMagnetometro.Invalidate(); pnlInclinacao.Invalidate(); - visualizador3D.AtualizarAngulos(-LogImu.InclinacaoLateral, -LogImu.InclinacaoFrontal, -LogsOperacao[idxMomentoAtual].Gps.OrientacaoReal); + visualizador3D.AtualizarAngulos(LogImu.InclinacaoFrontal, LogImu.InclinacaoLateral, -LogsOperacao[idxMomentoAtual].Gps.OrientacaoReal); txtTemperatura.Text = LogImu.Temperatura.ToString("0.00"); txtAltitude.Text = LogImu.Altitude.ToString("0.00"); txtPressao.Text = LogImu.Pressao + " Pa (" + (LogImu.Pressao / 101300.0).ToString("0.00") + " atm)"; @@ -1443,65 +1443,55 @@ namespace AgroBase.Forms.Operacoes private void AtualizarInformacoesSonar() { - var Log = LogsOperacao.FirstOrDefault(x => x.Momento == MomentoAtual).OperadorVisual; - //txtEspacoLivreEsquerda.Text = Log.Leitura.obj.radar_2d.analise.corredor_perfil[1].esquerda_m.ToString("0.00"); - //txtEspacoLivreDireita.Text = Log.Leitura.obj.radar_2d.analise.corredor_perfil[1].direita_m.ToString("0.00"); - //txtDesvioNecessario.Text = (Log?.Resumo?.DesvioNecessario ?? false) ? "Sim" : "Não"; - //txtDirecaoDesvio.Text = (Log?.Resumo?.DirecaoDesvio ?? Enums.Direcao.Parado).ToString(); + var Log = LogsOperacao[idxMomentoAtual].OperadorVisual.Analises; + txtSonarDistanciaObstaculo.Text = Log.matriz_confianca.block.d_obs_true_min_m.ToString("0.00"); + txtSonarDistanciaParada.Text = Log.matriz_confianca.block.decision.dist_necessaria.ToString("0.00"); + txtSonarDecisao.Text = Log.matriz_confianca.block.reason_detail; if (gridObstaculos.Columns.Count == 0) { gridObstaculos.Columns.Clear(); - gridObstaculos.Columns.Add("clDistancia", "Distância"); - gridObstaculos.Columns.Add("clLargura", "Largura"); - gridObstaculos.Columns.Add("clAltura", "Altura"); - gridObstaculos.Columns.Add("clEspacoEsquerda", "Espaço à Esquerdo"); - gridObstaculos.Columns.Add("clEspacoDireita", "Espaço à Direita"); - gridObstaculos.Columns.Add("clDesvioNecessario", "Desvio Necessário"); - gridObstaculos.Columns.Add("clDirecaoDesvio", "Direção Desvio"); + gridObstaculos.Columns.Add("clDeteccao", "Detecção"); + gridObstaculos.Columns.Add("clConfianca", "Confiança"); } gridObstaculos.Rows.Clear(); - /*if (Log != null) + if (Log != null) { - foreach (var obstaculo in Log?.Resumo?.Obstaculos?.Where(x => x.DesvioNecessario)?.OrderBy(x => x.DistanciaMedia_mm)) + foreach (var obstaculo in Log.deteccao) { gridObstaculos.Rows.Add ( - obstaculo.DistanciaMedia_mm.ToString("0.00"), - obstaculo.Largura_mm.ToString("0.00"), - obstaculo.Altura_mm.ToString("0.00"), - obstaculo.DistanciaLivreEsquerda.ToString("0.00"), - obstaculo.DistanciaLivreDireita.ToString("0.00"), - obstaculo.DesvioNecessario ? "Sim" : "Não", - obstaculo.DirecaoDesvio.ToString() + obstaculo.label, + obstaculo.conf ); } - }*/ + } picMapaCalor.Image = CarregarImagemCamera(pathImagensCaminho, "_heatmap"); picSonarRadar.Image = CarregarImagemCamera(pathImagensCaminho, "_radar"); - - if (chbGrade.Checked) - { - picSonarRadar.Image?.Dispose(); - //picSonarRadar.Image = Log.Leitura.obj.radar_2d.PlotarAnalsie((Bitmap)picSonarRadar.Image.Clone()); - } + + Bitmap rgb = CarregarImagemCamera(pathImagensCaminho, "_rgb"); + Bitmap seg = CarregarImagemCamera(pathImagensCaminho, "_segmentacao"); + pnlSonarDeteccoes.BackgroundImage = FuncoesGlobais.FazerOverlay(rgb, seg); + pnlSonarDeteccoes.Invalidate(); + + //if (chbSonarDeteccoes.Checked) + //{ + // picSonarRadar.Image?.Dispose(); + // //picSonarRadar.Image = Log.Leitura.obj.radar_2d.PlotarAnalsie((Bitmap)picSonarRadar.Image.Clone()); + //} } private void AtualizarInformacoesCameraCaminho() { - /*var Log = LogsCam_Caminho.FirstOrDefault(x => x.Momento == MomentoAtual); - - if (Log != null) - { - txtCamCaminhoAngulo.Text = Log.Angulo.ToString("0.00"); - txtCamCaminhoEsquerda.Text = Log.AnguloEsquerdo.ToString("0.00"); - txtCamCaminhoDireita.Text = Log.AnguloDireito.ToString("0.00"); - }*/ + var Log = LogsOperacao[idxMomentoAtual]; + txtCamCaminhoErroAngular.Text = (Log.OperadorVisual?.Analises?.segmentacao?.erro_angular ?? 0).ToString("0.00"); + txtCamCaminhoErroLateral.Text = (Log.OperadorVisual?.Analises?.segmentacao?.erro_lateral_pct ?? 0).ToString("0.00"); + txtCamCaminhoStatusCarro.Text = (Log.OperadorVisual?.Analises?.segmentacao?.status_corredor ?? Enums.StatusCarroMapa.Parado).ToString(); pnlCaminho.BackgroundImage = CarregarImagemCamera(pathImagensCaminho, "_segmentacao"); pnlCaminho.BackgroundImageLayout = ImageLayout.Zoom; @@ -1646,85 +1636,295 @@ namespace AgroBase.Forms.Operacoes private void pnlCaminho_Paint(object sender, PaintEventArgs e) { - /*var Log = LogsCam_Caminho.FirstOrDefault(x => x.Momento == MomentoAtual); - if (Log == null || Log.Leitura == null) return; + if (!chbDesenharCorredor.Checked) return; + int _robotWidthPxOnImage = 100; - Panel pnlContornos = (Panel)sender; + var panel = (Panel)sender; + var g = e.Graphics; + g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias; - Graphics graphics = e.Graphics; - graphics.Clear(pnlContornos.BackColor); // Limpa o fundo + var _segDebug = LogsOperacao[idxMomentoAtual].OperadorVisual?.Analises?.segmentacao; - // Determina as dimensões máximas dos contornos - float larguraMaxContornos = 512; // Substitua pelo valor real - float alturaMaxContornos = 512; // Substitua pelo valor real + // pré-checagens + if (_segDebug == null) return; + if (_segDebug.centros_corredor == null || _segDebug.centros_corredor.Count < 2) return; + if (panel.BackgroundImage == null) return; - // Proporção de escala baseada no tamanho do Panel e nas dimensões dos contornos - float proporcaoX = pnlContornos.Width / larguraMaxContornos; - float proporcaoY = pnlContornos.Height / alturaMaxContornos; - float escala = Math.Min(proporcaoX, proporcaoY); // Mantém a proporção sem distorcer + // 1) Calcula onde a imagem é desenhada dentro do Panel (considera Layout=Zoom, Stretch, Center, etc.) + Rectangle bounds = panel.ClientRectangle; + Size imgSize = panel.BackgroundImage.Size; + var layout = panel.BackgroundImageLayout; + Rectangle destRect; - // Calcula o novo tamanho dos contornos após o redimensionamento - float novaLargura = larguraMaxContornos * escala; - float novaAltura = alturaMaxContornos * escala; - - // Calcula o deslocamento para centralizar os contornos no Panel - float deslocamentoX = (pnlContornos.Width - novaLargura) / 2; - float deslocamentoY = (pnlContornos.Height - novaAltura) / 2; - - List pontosCamera = new List(); - var Classe = Log.ClassMap.FirstOrDefault(x => x.Key == "rua"); - foreach (var cameraClass in Log.Leitura.Classes.Where(x => x.Classe == Classe.Key)) + switch (layout) { - if (cameraClass.Contornos == null || cameraClass.Contornos.Length == 0) continue; + case ImageLayout.None: + destRect = new Rectangle(bounds.Location, imgSize); + break; + case ImageLayout.Tile: + destRect = bounds; // pra overlay, tratamos como cobrindo tudo + break; + case ImageLayout.Center: + destRect = new Rectangle( + bounds.X + (bounds.Width - imgSize.Width) / 2, + bounds.Y + (bounds.Height - imgSize.Height) / 2, + imgSize.Width, imgSize.Height); + break; + case ImageLayout.Stretch: + destRect = bounds; + break; + case ImageLayout.Zoom: + default: + float rx = (float)bounds.Width / imgSize.Width; + float ry = (float)bounds.Height / imgSize.Height; + float r = Math.Min(rx, ry); + int w = (int)(imgSize.Width * r); + int h = (int)(imgSize.Height * r); + int x = bounds.X + (bounds.Width - w) / 2; + int y = bounds.Y + (bounds.Height - h) / 2; + destRect = new Rectangle(x, y, w, h); + break; + } - using (Pen pen = new Pen(Color.Blue, 2)) + // 2) Mapeamento de coordenadas da SEGMENTAÇÃO (seg.width/seg.height) -> painel + // (use o tamanho que gerou os 'centros_corredor') + float sx = (float)destRect.Width / Math.Max(1, _segDebug.width); + float sy = (float)destRect.Height / Math.Max(1, _segDebug.height); + + PointF Map(double xImg, double yImg) + => new PointF(destRect.X + (float)(xImg * sx), destRect.Y + (float)(yImg * sy)); + + // largura do robô nas coordenadas do painel + float halfRobot = (float)(_robotWidthPxOnImage * sx * 0.5); + + // 3) Desenho: linha central, pontos e largura do robô em cada ponto + var penCenter = new Pen(Color.FromArgb(255, 255, 0), 2f); // amarelo + var penRobot = new Pen(Color.FromArgb(255, 0, 255), 1.5f); // magenta + var brushPt = new SolidBrush(Color.FromArgb(255, 255, 0)); + float rPt = 3.5f; + + // mapeia os pontos + var pts = _segDebug.centros_corredor + .Where(p => p != null && p.Length >= 2) + .Select(p => Map(p[0], p[1])) + .ToArray(); + + if (pts.Length < 2) return; + + // linha central do corredor + g.DrawLines(penCenter, pts); + + // pontos e largura do robô por ponto + foreach (var p in pts) + { + g.FillEllipse(brushPt, p.X - rPt, p.Y - rPt, 2 * rPt, 2 * rPt); + g.DrawLine(penRobot, p.X - halfRobot, p.Y, p.X + halfRobot, p.Y); + } + } + + private void pnlSonarDeteccoes_Paint(object sender, PaintEventArgs e) + { + var panel = (Panel)sender; + var g = e.Graphics; + g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias; + + var _snap = LogsOperacao[idxMomentoAtual].OperadorVisual.Analises.matriz_confianca; + + if (_snap == null || panel.BackgroundImage == null) return; + + int W = _snap.grid_w; + int H = _snap.grid_h; + if (W <= 0 || H <= 0) return; + + // -- destRect da imagem (respeita BackgroundImageLayout=Zoom) + Rectangle bounds = panel.ClientRectangle; + Size imgSize = panel.BackgroundImage.Size; + Rectangle destRect; + switch (panel.BackgroundImageLayout) + { + case ImageLayout.Stretch: destRect = bounds; break; + case ImageLayout.Center: + destRect = new Rectangle( + bounds.X + (bounds.Width - imgSize.Width) / 2, + bounds.Y + (bounds.Height - imgSize.Height) / 2, + imgSize.Width, imgSize.Height); + break; + case ImageLayout.None: + destRect = new Rectangle(bounds.Location, imgSize); + break; + case ImageLayout.Zoom: + default: + float rx = (float)bounds.Width / imgSize.Width; + float ry = (float)bounds.Height / imgSize.Height; + float r = Math.Min(rx, ry); + int w = (int)(imgSize.Width * r); + int h = (int)(imgSize.Height * r); + int x = bounds.X + (bounds.Width - w) / 2; + int y = bounds.Y + (bounds.Height - h) / 2; + destRect = new Rectangle(x, y, w, h); + break; + } + + // helpers de mapeamento da GRID -> painel + float cellW = (float)destRect.Width / W; + float cellH = (float)destRect.Height / H; + Func CenterOfCell = (i, j) => + new PointF(destRect.X + (i + 0.5f) * cellW, destRect.Y + (j + 0.5f) * cellH); + + // --- central_cols (fallback: terço central) + int c0 = W / 3; + int c1 = 2 * W / 3; + + // --- linha que bloqueia (se houver) + var blk = _snap.block; + int? j_block = null; + // reason_detail/blocked já estão em blk; j_block em si não veio no seu modelo. + // Então projetamos a "linha foco" pela distância de bloqueio quando existir: + // fallback simples: escolher a linha cujo row_dist_m é mais próxima de d_obs_true_min_m. + if (blk != null && _snap.row_dist_m != null && _snap.row_dist_m.Count == H) + { + float? dRef = blk.d_block_line_m ?? (float?)blk.d_obs_true_min_m; + if (dRef.HasValue && dRef.Value > 0) { - for (int i = 0; i < cameraClass.Contornos.Length - 1; i++) + float bestAbs = float.MaxValue; + int bestJ = -1; + for (int j = 0; j < H; j++) { - Point contorno = new Point() { X = cameraClass.Contornos[i][0], Y = cameraClass.Contornos[i][1] }; - Point contornoP = new Point() { X = cameraClass.Contornos[i + 1][0], Y = cameraClass.Contornos[i + 1][1] }; - - // Aplica a escala e o deslocamento às coordenadas - Point start = new Point((int)(contorno.X * escala + deslocamentoX), (int)(contorno.Y * escala + deslocamentoY)); - Point end = new Point((int)(contornoP.X * escala + deslocamentoX), (int)(contornoP.Y * escala + deslocamentoY)); - - if (chbDesenharContornos.Checked) - { - graphics.DrawLine(pen, start, end); - } - - pontosCamera.Add(contorno); - } - - // Se necessário, fechar o contorno conectando o último ponto ao primeiro - if (cameraClass.Contornos.Length > 1 && chbDesenharContornos.Checked) - { - var primeiro = cameraClass.Contornos.First(); - var ultimo = cameraClass.Contornos.Last(); - Point start = new Point((int)(ultimo[0] * escala + deslocamentoX), (int)(ultimo[1] * escala + deslocamentoY)); - Point end = new Point((int)(primeiro[0] * escala + deslocamentoX), (int)(primeiro[1] * escala + deslocamentoY)); - graphics.DrawLine(pen, start, end); + float drow = _snap.row_dist_m[j]; + float diff = Math.Abs(drow - dRef.Value); + if (diff < bestAbs) { bestAbs = diff; bestJ = j; } } + if (bestJ >= 0) j_block = bestJ; } } - if (chbDesenharExtremos.Checked) - { - using (Pen pen = new Pen(Classe.Value, 2)) - { - var PontosExtremos = CameraCaminhoModel.DefinirPontosExtremos(pontosCamera); - for (int i = 0; i < PontosExtremos.Count - 1; i++) - { - // Aplica a escala e o deslocamento às coordenadas - Point start = new Point((int)(PontosExtremos[i].X * escala + deslocamentoX), (int)(PontosExtremos[i].Y * escala + deslocamentoY)); - Point end = new Point((int)(PontosExtremos[i + 1].X * escala + deslocamentoX), (int)(PontosExtremos[i + 1].Y * escala + deslocamentoY)); + // desenha a região central (guias) + var penCols = new Pen(Color.FromArgb(160, 255, 255, 255), 1f); + float xC0 = destRect.X + c0 * cellW; + float xC1 = destRect.X + c1 * cellW; + g.DrawLine(penCols, xC0, destRect.Top, xC0, destRect.Bottom); + g.DrawLine(penCols, xC1, destRect.Top, xC1, destRect.Bottom); - graphics.DrawLine(pen, start, end); + // Desenha linha horizontal na j_block + janela do robô + if (j_block.HasValue) + { + int jb = Math.Max(0, Math.Min(H - 1, j_block.Value)); + float y = destRect.Y + (jb + 0.5f) * cellH; + + var penLine = new Pen(blk.blocked ? Color.Red : Color.Yellow, 2f); + g.DrawLine(penLine, destRect.Left, y, destRect.Right, y); + + // largura necessária em colunas nessa linha + float widthNeedM = (float)(VariaveisEquipamento.LarguraEquipamentoMm / 1000.0); + int ncols = c1 - c0; + if (_snap.row_scale_x_m != null && _snap.row_scale_x_m.Count == H) + { + float sx_m_per_col = _snap.row_scale_x_m[jb]; + if (sx_m_per_col > 1e-6f) + ncols = Math.Max(1, Math.Min(W, (int)Math.Ceiling(widthNeedM / sx_m_per_col))); + } + int mid = (c0 + c1) / 2; + int a = Math.Max(0, mid - ncols / 2); + int b = Math.Min(W, a + ncols); + a = Math.Max(0, b - ncols); + + // retângulo central na linha de bloqueio + float x1 = destRect.X + a * cellW; + float x2 = destRect.X + b * cellW; + var rect = Rectangle.FromLTRB((int)x1, (int)(y - 10), (int)x2, (int)(y + 10)); + var penWin = new Pen(Color.Lime, 2f); + g.DrawRectangle(penWin, rect); + } + + // Status no canto + string status = $"BLOCKED: {blk?.blocked ?? false} ({blk?.reason ?? "none"})"; + var font = new Font("Consolas", 10f, FontStyle.Bold); + var col = (blk?.blocked ?? false) ? Color.Red : Color.LimeGreen; + var br = new SolidBrush(col); + var brBg = new SolidBrush(Color.FromArgb(120, 0, 0, 0)); + var sz = g.MeasureString(status, font); + var box = new RectangleF(panel.ClientSize.Width - sz.Width - 12, 8, sz.Width + 8, sz.Height + 6); + g.FillRectangle(brBg, box); + g.DrawString(status, font, br, box.X + 4, box.Y + 3); + + if (chbSonarDeteccoes.Checked) + { + var _deteccoes = LogsOperacao[idxMomentoAtual].OperadorVisual.Analises.deteccao; + // === DESENHAR DETECÇÕES (bboxes + label/conf) === + if (_deteccoes != null && _deteccoes.Count > 0) + { + // tamanho da imagem original (a mesma do BackgroundImage) + int imgW = panel.BackgroundImage.Width; + int imgH = panel.BackgroundImage.Height; + + // mapeia coordenadas da IMAGEM -> painel (considerando destRect) + float sxImg = (float)destRect.Width / Math.Max(1, imgW); + float syImg = (float)destRect.Height / Math.Max(1, imgH); + + RectangleF MapImgRect(double x0, double y0, double x1, double y1) + { + // coords em px da imagem -> px do painel + float X0 = destRect.X + (float)(x0 * sxImg); + float Y0 = destRect.Y + (float)(y0 * syImg); + float X1 = destRect.X + (float)(x1 * sxImg); + float Y1 = destRect.Y + (float)(y1 * syImg); + // normaliza caso entre invertido + float left = Math.Min(X0, X1), top = Math.Min(Y0, Y1); + float right = Math.Max(X0, X1), bottom = Math.Max(Y0, Y1); + return new RectangleF(left, top, right - left, bottom - top); + } + + var penBox = new Pen(Color.Lime, 2f); // cor da bbox + var brBg2 = new SolidBrush(Color.FromArgb(180, 0, 0, 0)); // fundo do rótulo + var brText = new SolidBrush(Color.White); + var fontLbl = new Font("Consolas", 9f, FontStyle.Bold); + + foreach (var d in _deteccoes) + { + // escolhe fonte das coordenadas: bbox_px (preferível) ou bbox_norm + double x0, y0, x1, y1; + if (d.bbox_norm != null && d.bbox_norm.Count >= 4) + { + x0 = d.bbox_norm[0] * imgW; y0 = d.bbox_norm[1] * imgH; + x1 = d.bbox_norm[2] * imgW; y1 = d.bbox_norm[3] * imgH; + } + else + { + continue; // sem bbox válida + } + + // ignora caixas muito pequenas + if (Math.Abs(x1 - x0) < 2 || Math.Abs(y1 - y0) < 2) continue; + + // rect no painel + var rect = MapImgRect(x0, y0, x1, y1); + + // clipe simples ao destRect (pra não “vazar” fora da imagem) + var inter = RectangleF.Intersect(rect, destRect); + if (inter.Width < 2 || inter.Height < 2) continue; + + // desenha bbox + g.DrawRectangle(penBox, inter.X, inter.Y, inter.Width, inter.Height); + + // rótulo + confiança + string labelTxt = string.IsNullOrEmpty(d.label) ? $"id:{d.label_id}" : d.label; + string txt = $"{labelTxt} {d.conf:0.00}"; + var sz2 = g.MeasureString(txt, fontLbl); + + // fundo do rótulo (acima da bbox, se couber; senão, dentro) + float pad = 3f; + float bx = inter.X; + float by = inter.Y - sz2.Height - 2; // acima + if (by < destRect.Top) by = inter.Y + 2; // fallback: dentro da caixa + + var box2 = new RectangleF(bx, by, sz2.Width + 2 * pad, sz.Height + 2 * pad); + g.FillRectangle(brBg2, box2); + g.DrawString(txt, fontLbl, brText, box2.X + pad, box2.Y + pad); } } - }*/ + } } - } + } diff --git a/AgroBase/AgroBase/Forms/frmWT901C.cs b/AgroBase/AgroBase/Forms/frmWT901C.cs index a95bbf835..dccddbd39 100644 --- a/AgroBase/AgroBase/Forms/frmWT901C.cs +++ b/AgroBase/AgroBase/Forms/frmWT901C.cs @@ -60,9 +60,9 @@ namespace AgroBase.Forms private async Task tmrLeitura_Tick() { var Imu = Variaveis.OperacaoEmAndamento.Sensoriamento.IMU; - AnguloX = -Imu.InclinacaoFrontal; - AnguloY = -Imu.InclinacaoLateral; - AnguloZ = -Imu.Rotacao; + AnguloX = Imu.InclinacaoFrontal; + AnguloY = Imu.InclinacaoLateral; + AnguloZ = Imu.Rotacao; OrientacaoMagnetica = Imu.RotacaoCorrigida; AtualizarDadosTela(); @@ -225,12 +225,7 @@ namespace AgroBase.Forms picBussola.Invalidate(); //glControl.Invalidate(); pnlInclinacao.Invalidate(); - - double agX = (AnguloX + 180) % 360; - if (agX > 180) agX -= 360; - double agY = (AnguloY + 180) % 360; - if (agY > 180) agY -= 360; - visualizador3D.AtualizarAngulos(agX, agY, AnguloZ); + visualizador3D.AtualizarAngulos(AnguloX, AnguloY, AnguloZ); txtX.Text = AnguloX.ToString("0.00"); txtY.Text = AnguloY.ToString("0.00"); diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs index fd41921ae..6c258fd62 100644 --- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs +++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs @@ -1287,9 +1287,13 @@ namespace AgroBase.Models Camera.SaveFrames(new List() { CameraFrameType.Rgb, CameraFrameType.Segmentacao }, nome, Caminho); - var cam_data = JsonConvert.DeserializeObject>(RedisService.Get(CtxKey.DadosCameras)); - if (cam_data.ContainsKey(Camera.Id)) - SalvarLog(camera_name, cam_data[Camera.Id], false); + var cameras_conectadas = JsonConvert.DeserializeObject>(RedisService.Get(CtxKey.DadosCameras)); + bool conectada = cameras_conectadas.ContainsKey(Camera.Id); + if (conectada) + { + var cam_data = JsonConvert.DeserializeObject>(RedisService.Get(RedisService.CamKey(Camera.Id))); + SalvarLog(camera_name, cam_data, false); + } } } @@ -1307,9 +1311,13 @@ namespace AgroBase.Models Camera.SaveFrames(new List() { CameraFrameType.Rgb, CameraFrameType.Segmentacao }, nome, Caminho); // CameraFrameType.Heatmap, CameraFrameType.RadarTopDown - var cam_data = JsonConvert.DeserializeObject>(RedisService.Get(CtxKey.DadosCameras)); - if (cam_data.ContainsKey(Camera.Id)) - SalvarLog(Camera.Dispositivo.ToString(), cam_data[Camera.Id], false); + var cameras_conectadas = JsonConvert.DeserializeObject>(RedisService.Get(CtxKey.DadosCameras)); + bool conectada = cameras_conectadas.ContainsKey(Camera.Id); + if (conectada) + { + var cam_data = JsonConvert.DeserializeObject>(RedisService.Get(RedisService.CamKey(Camera.Id))); + SalvarLog(Camera.Dispositivo.ToString(), cam_data, false); + } } diff --git a/AgroBase/AgroBase/Models/Operadores/VisualWorkerModel.cs b/AgroBase/AgroBase/Models/Operadores/VisualWorkerModel.cs index 42eb2554d..fbe1f3220 100644 --- a/AgroBase/AgroBase/Models/Operadores/VisualWorkerModel.cs +++ b/AgroBase/AgroBase/Models/Operadores/VisualWorkerModel.cs @@ -1,6 +1,7 @@ using System; using System.Collections.Generic; using System.Drawing; +using System.Linq; using static AgroBase.Models.Enums; namespace AgroBase.Models.Operadores @@ -181,6 +182,7 @@ namespace AgroBase.Models.Operadores //public List corredor_seg { get; set; } public VisualWorkerMessageSegmentacaoSemanticaModel segmentacao { get; set; } public VisualWorkerMessageMatrizConfiancaModel matriz_confianca { get; set; } + public List deteccao { get; set; } public VisualWorkerMessageAnaliseModel Clone() { @@ -194,6 +196,7 @@ namespace AgroBase.Models.Operadores //corredor_seg = new List(corredor_seg ?? new List()), segmentacao = segmentacao?.Clone() ?? new VisualWorkerMessageSegmentacaoSemanticaModel(), matriz_confianca = matriz_confianca?.Clone() ?? new VisualWorkerMessageMatrizConfiancaModel(), + deteccao = deteccao?.Select(x => x.Clone()).ToList() ?? new List() }; } @@ -576,6 +579,28 @@ namespace AgroBase.Models.Operadores } } + public class VisualWorkerMessageDeteccaoModel + { + public int label_id { get; set; } + public string label { get; set; } + public double conf { get; set; } + public List bbox_norm { get; set; } + public List bbox_px { get; set; } + + public VisualWorkerMessageDeteccaoModel Clone() + { + return new VisualWorkerMessageDeteccaoModel() + { + label_id = label_id, + label = label, + bbox_norm = bbox_norm, + bbox_px = bbox_px, + conf = conf + }; + } + } + + public enum VisualWorkerCommandType { ScriptCarregado = 1, diff --git a/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs b/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs index 3369dcd7f..3b52c4f04 100644 --- a/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs +++ b/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs @@ -158,8 +158,9 @@ namespace AgroBase.Services.Operadores ("percentual_tensao_bateria_min", VariaveisEquipamento.PercentualTensaoBateriaMin), ("camera_caminho_id", Variaveis.OperacaoEmAndamento.DispSen?.Dados?.CameraCaminho?.Id ?? ""), ("camera_solo_id", Variaveis.OperacaoEmAndamento.DispSen?.Dados?.CamerasSolo?.FirstOrDefault()?.Id ?? ""), - ("path_ia_model_ruas", VersionamentoService.ArquivoModeloStreetDetector.CaminhoCompleto), - ("path_ia_labelmap_ruas", VersionamentoService.ArquivoLabelmapStreetDetector.CaminhoCompleto), + ("path_ia_model_ruas_seg", VersionamentoService.ArquivoModeloSegStreetDetector.CaminhoCompleto), + ("path_ia_labelmap_ruas_seg", VersionamentoService.ArquivoLabelmapSegStreetDetector.CaminhoCompleto), + ("path_ia_model_ruas_det", VersionamentoService.ArquivoModeloDetStreetDetector.CaminhoCompleto), ("path_ia_model_ervas", VersionamentoService.ArquivoModeloWeedDetector.CaminhoCompleto), ("path_ia_labelmap_ervas", VersionamentoService.ArquivoModeloLabelmapWeedDetector.CaminhoCompleto), ("angulo_roll_max", VariaveisEquipamento.AnguloInclinacaoRollMax), diff --git a/AgroBase/AgroBase/Services/Operadores/VisualWorkerService.cs b/AgroBase/AgroBase/Services/Operadores/VisualWorkerService.cs index 52bf86d25..fd37f4da7 100644 --- a/AgroBase/AgroBase/Services/Operadores/VisualWorkerService.cs +++ b/AgroBase/AgroBase/Services/Operadores/VisualWorkerService.cs @@ -1,6 +1,5 @@ using AgroBase.Models; using AgroBase.Models.Operadores; -using Microsoft.DirectX.DirectInput; using Newtonsoft.Json; using Newtonsoft.Json.Linq; using System; @@ -204,6 +203,18 @@ namespace AgroBase.Services.Operadores } catch { /* opcional: log */ } } + + // deteccao (sem re-serializar o token) + var detTok = root["deteccao"]; + if (detTok != null) + { + try + { + var det = detTok.ToObject>(); + if (det != null) DadosLeitura.Analises.deteccao = det; + } + catch { /* opcional: log */ } + } } public static void ReiniciarLeituraAnalise() @@ -211,7 +222,8 @@ namespace AgroBase.Services.Operadores RedisService.AtualizarCampos( CtxKey.DadosWeedWorker, ("analise.segmentacao", new VisualWorkerMessageSegmentacaoSemanticaModel()), - ("analise.matriz_confianca", new VisualWorkerMessageMatrizConfiancaModel()) + ("analise.matriz_confianca", new VisualWorkerMessageMatrizConfiancaModel()), + ("analise.deteccao", new List()) ); } diff --git a/AgroBase/AgroBase/Services/VersionamentoService.cs b/AgroBase/AgroBase/Services/VersionamentoService.cs index 1e3abde71..d071acc62 100644 --- a/AgroBase/AgroBase/Services/VersionamentoService.cs +++ b/AgroBase/AgroBase/Services/VersionamentoService.cs @@ -22,7 +22,7 @@ namespace AgroBase.Services public static bool ForcarDownloadArquivos { get; set; } = false; public static AsyncTaskTimerModel tmrAtualizacaoArquivos; private static List _ArquivosVersionados { get; set; } = CarregarArquivosVersionadosPadrao(); - public static VersaoArquivoModel ArquivoModeloStreetDetector + public static VersaoArquivoModel ArquivoModeloSegStreetDetector { get { @@ -32,7 +32,7 @@ namespace AgroBase.Services } } } - public static VersaoArquivoModel ArquivoLabelmapStreetDetector + public static VersaoArquivoModel ArquivoLabelmapSegStreetDetector { get { @@ -42,6 +42,16 @@ namespace AgroBase.Services } } } + public static VersaoArquivoModel ArquivoModeloDetStreetDetector + { + get + { + lock (_ArquivoLock) + { + return _ArquivosVersionados.Where(x => x.TipoArquivo == TipoArquivoVersionado.ModeloIA_StreetDetector).Skip(2).FirstOrDefault(); + } + } + } public static VersaoArquivoModel ArquivoModeloWeedDetector { get diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe index cf8ff3b04..20cf0534a 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat index f42b18198..cb2863c89 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Crashpad/settings.dat differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState index cefc2c060..41278ac15 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState +++ b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/BrowsingTopicsState @@ -20,7 +20,14 @@ "padded_top_topics_start_index": 0, "taxonomy_version": 0, "top_topics_and_observing_domains": [ ] + }, { + "calculation_time": "13399827811771001", + "config_version": 0, + "model_version": "0", + "padded_top_topics_start_index": 0, + "taxonomy_version": 0, + "top_topics_and_observing_domains": [ ] } ], "hex_encoded_hmac_key": "40F346D3248C3AFDF2BEE1FE496DBD32F7CED6E5AE98B881ABC421AA7E7B5642", - "next_scheduled_calculation_time": "13399758321059321" + "next_scheduled_calculation_time": "13400432611771207" } diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_0 b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_0 index f423b65bc..6b23eeda1 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_0 and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_0 differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_1 b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_1 index cb80755ec..d8bfe90cb 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_1 and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_1 differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_3 b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_3 index e1e908c53..5d94bc92b 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_3 and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Cache/Cache_Data/data_3 differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DIPS b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DIPS index 8a4d6fda3..5f8c7bf95 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DIPS and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DIPS differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/DawnGraphiteCache/data_1 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b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/GPUCache/data_1 index 29ec51a24..c788e241d 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/GPUCache/data_1 and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/GPUCache/data_1 differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/History b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/History index f4dbcf740..1533ed647 100644 Binary files a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/History and b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/History differ diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG index 6c6d760c3..a416676eb 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG +++ b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG @@ -1,3 +1,3 @@ -2025/08/15-13:16:10.784 5274 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 -2025/08/15-13:16:10.790 5274 Recovering log #3 -2025/08/15-13:16:10.794 5274 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log +2025/08/16-13:04:37.147 27f4 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 +2025/08/16-13:04:37.153 27f4 Recovering log #3 +2025/08/16-13:04:37.156 27f4 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old index c5b5f1a34..0385ffe3d 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old +++ b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Local Storage/leveldb/LOG.old @@ -1,3 +1,3 @@ -2025/08/15-10:42:52.375 713c Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 -2025/08/15-10:42:52.380 713c Recovering log #3 -2025/08/15-10:42:52.383 713c Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log +2025/08/16-13:03:08.714 82d8 Reusing MANIFEST C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/MANIFEST-000001 +2025/08/16-13:03:08.720 82d8 Recovering log #3 +2025/08/16-13:03:08.725 82d8 Reusing old log C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\x64\Debug\AgroBase.exe.WebView2\EBWebView\Default\Local Storage\leveldb/000003.log diff --git a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State index 5e1f00b00..1e9b96249 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State +++ b/AgroBase/AgroBase/bin/x64/Debug/AgroBase.exe.WebView2/EBWebView/Default/Network/Network Persistent State @@ -1 +1 @@ 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@@ -19,24 +19,33 @@ }, { "id": 3, - "Arquivo": "model", + "Arquivo": "modelseg", "Diretorio": "C:\\AgroBaseModels\\Ruas\\", "Extensao": ".blob", "Versao": "1_1", "TipoArquivo": 0, - "ArquivoDownload": "models/street_detector_model-1_1.blob", + "ArquivoDownload": "models/street_detector_model_seg-1_1.blob", }, { "id": 4, - "Arquivo": "model", + "Arquivo": "modelseg", "Diretorio": "C:\\AgroBaseModels\\Ruas\\", "Extensao": ".txt", "Versao": "1_1", "TipoArquivo": 0, - "ArquivoDownload": "models/street_detector_labelmap-1_1.txt" + "ArquivoDownload": "models/street_detector_labelmap_seg-1_1.txt" }, { "id": 5, + "Arquivo": "modeldet", + "Diretorio": "C:\\AgroBaseModels\\Ruas\\", + "Extensao": ".blob", + "Versao": "1_0", + "TipoArquivo": 0, + "ArquivoDownload": "models/street_detector_model_det-1_0.blob", + }, + { + "id": 6, "Arquivo": "parametersAtu", "Diretorio": "Parametros/", "Extensao": ".par", @@ -45,7 +54,7 @@ "ArquivoDownload": "parameters/parametersAtu-1_1.par", }, { - "id": 6, + "id": 7, "Arquivo": "parametersMvd", "Diretorio": "Parametros/", "Extensao": ".par", @@ -54,7 +63,7 @@ "ArquivoDownload": "parameters/parametersMvd-2_0.par" }, { - "id": 7, + "id": 8, "Arquivo": "parametersSen", "Diretorio": "Parametros/", "Extensao": ".par", @@ -63,7 +72,7 @@ "ArquivoDownload": "parameters/parametersSen-1_3.par" }, { - "id": 8, + "id": 9, "Arquivo": "pinoutAtu", "Diretorio": "Parametros/", "Extensao": ".pin", @@ -72,7 +81,7 @@ "ArquivoDownload": "parameters/pinoutAtu-1_0.pin" }, { - "id": 9, + "id": 10, "Arquivo": "pinoutSen", "Diretorio": "Parametros/", "Extensao": ".pin", @@ -81,7 +90,7 @@ "ArquivoDownload": "parameters/pinoutSen-1_2.pin" }, { - "id": 10, + "id": 11, "Arquivo": "weed_detector_oak", "Diretorio": "Python\\Scripts\\", "Extensao": ".py", @@ -90,7 +99,7 @@ "ArquivoDownload": "weed_detector_oak-1_0.py" }, { - "id": 11, + "id": 12, "Arquivo": "map_load", "Diretorio": "Python\\Scripts\\", "Extensao": ".py", @@ -99,7 +108,7 @@ "ArquivoDownload": "scripts/map_load-1_0.py" }, { - "id": 12, + "id": 13, "Arquivo": "map_follow", "Diretorio": "Python\\Scripts\\", "Extensao": ".py", @@ -108,7 +117,7 @@ "ArquivoDownload": "scripts/map_follow-1_0.py" }, { - "id": 13, + "id": 14, "Arquivo": "gps_viewer", "Diretorio": "Python\\Scripts\\", "Extensao": ".py", @@ -117,7 +126,7 @@ "ArquivoDownload": "scripts/gps_viewer-1_0.py" }, { - "id": 14, + "id": 15, "Arquivo": "modelo_3d", "Diretorio": "Python\\Output\\", "Extensao": ".obj", @@ -126,7 +135,7 @@ "ArquivoDownload": "modelo_3d-1_0.obj" }, { - "id": 15, + "id": 16, "Arquivo": "modelo_3d", "Diretorio": "Python\\Output\\", "Extensao": ".mtl", diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Output/GeoJson.json b/AgroBase/AgroBase/bin/x64/Debug/Python/Output/GeoJson.json index cbd02c3aa..8497ae83f 100644 --- a/AgroBase/AgroBase/bin/x64/Debug/Python/Output/GeoJson.json +++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Output/GeoJson.json @@ -1,221 +1 @@ -{ - "type": "FeatureCollection", - 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