public BasicCamLoopState UpdateState(BasicCamLoopState state, ButtonCommands button)
{
int i = (int)state;
int j = (int)button;
return(nextState[i, j]);
}
public BasicStreamController(OryxCamera oryxCamera)
{
manager = oryxCamera.manager;
if (manager.output.nChannels != 1)
{
throw new Exception(message: "BasicStreamInfo accommodates only one output channel!");
}
messageQueue = oryxCamera.messageQueue;
Console.WriteLine("messageQueue: {0}", messageQueue);
managedCamera = oryxCamera.managedCamera;
inputSize = manager.input.inputChannel.imageSize;
streamQueue = manager.output.streamQueue;
outputSize = manager.output.outputChannels[0].imageSize;
enqueueRate = manager.output.outputChannels[0].enqueueOrDequeueRate;
isResizeNeeded = !Equals(objA: manager.input.inputChannel.imageSize, objB: manager.output.outputChannels[0].imageSize);
handler = new MessageHandler.BasicMessageHandler(style: MessageHandlerStyle.Basic);
state = BasicCamLoopState.Waiting;
}
public void Run()
{
Console.WriteLine("Run was called");
while (true)
{
if (state == BasicCamLoopState.Waiting)
{
isMessageDequeueSuccess = messageQueue.TryDequeue(out ButtonCommands message);
if (isMessageDequeueSuccess)
{
Console.WriteLine("message received on camera: {0}", message);
state = handler.UpdateState(state: state, button: message);
if (state == BasicCamLoopState.Streaming && !managedCamera.IsStreaming())
{
ResetCounter();
managedCamera.BeginAcquisition();
}
continue;
}
Thread.Sleep(100);
continue;
}
else if (state == BasicCamLoopState.Streaming)
{
try
{
using (IManagedImage rawImage = managedCamera.GetNextImage())
{
imageCtr += 1;
long frameID = rawImage.ChunkData.FrameID;
long timestamp = rawImage.ChunkData.Timestamp;
if (imageCtr == 1)
{
currFrameMetaData = new FrameMetaData(streamCtr: imageCtr, frameID: frameID, timestamp: timestamp);
continue;
}
prevFrameMetaData = currFrameMetaData;
currFrameMetaData = new FrameMetaData(streamCtr: imageCtr, frameID: frameID, timestamp: timestamp);
if (imageCtr % enqueueRate == 0)
{
Mat fullMat = new Mat(rows: inputSize.Height, cols: inputSize.Width,
type: Emgu.CV.CvEnum.DepthType.Cv8U, channels: 1, data: rawImage.DataPtr, step: inputSize.Width);
if (isResizeNeeded)
{
Mat resizedMat = new Mat(size: outputSize, type: Emgu.CV.CvEnum.DepthType.Cv8U, channels: 1);
CvInvoke.Resize(src: fullMat, dst: resizedMat, dsize: outputSize, interpolation: Emgu.CV.CvEnum.Inter.Linear);
Tuple <Mat, FrameMetaData>[] output = Util.GetStreamOutput(mat: resizedMat, metaData: currFrameMetaData);
streamQueue.Enqueue(item: output);
fullMat.Dispose();
}
else
{
Tuple <Mat, FrameMetaData>[] output = Util.GetStreamOutput(mat: fullMat, metaData: currFrameMetaData);
streamQueue.Enqueue(item: output);
}
}
}
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error in SimpleStreamingLoop: {0}", ex.Message);
}
isMessageDequeueSuccess = messageQueue.TryDequeue(out ButtonCommands message);
if (isMessageDequeueSuccess)
{
state = handler.UpdateState(state: state, button: message);
}
}
else if (state == BasicCamLoopState.Recording)
{
try
{
using (IManagedImage rawImage = managedCamera.GetNextImage())
{
imageCtr += 1;
long frameID = rawImage.ChunkData.FrameID;
long timestamp = rawImage.ChunkData.Timestamp;
if (imageCtr == 1)
{
currFrameMetaData = new FrameMetaData(streamCtr: imageCtr, frameID: frameID, timestamp: timestamp);
continue;
}
prevFrameMetaData = currFrameMetaData;
currFrameMetaData = new FrameMetaData(streamCtr: imageCtr, frameID: frameID, timestamp: timestamp);
if (imageCtr % enqueueRate == 0)
{
Mat fullMat = new Mat(rows: inputSize.Height, cols: inputSize.Width,
type: Emgu.CV.CvEnum.DepthType.Cv8U, channels: 1, data: rawImage.DataPtr, step: inputSize.Width);
if (isResizeNeeded)
{
Mat resizedMat = new Mat(size: outputSize, type: Emgu.CV.CvEnum.DepthType.Cv8U, channels: 1);
CvInvoke.Resize(src: fullMat, dst: resizedMat, dsize: outputSize, interpolation: Emgu.CV.CvEnum.Inter.Linear);
Tuple <Mat, FrameMetaData>[] output = Util.GetStreamOutput(mat: resizedMat, metaData: currFrameMetaData);
streamQueue.Enqueue(item: output);
fullMat.Dispose();
}
else
{
Tuple <Mat, FrameMetaData>[] output = Util.GetStreamOutput(mat: fullMat, metaData: currFrameMetaData);
streamQueue.Enqueue(item: output);
}
}
}
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error in SimpleStreamingLoop: {0}", ex.Message);
}
isMessageDequeueSuccess = messageQueue.TryDequeue(out ButtonCommands message);
if (isMessageDequeueSuccess)
{
state = handler.UpdateState(state: state, button: message);
}
}
else if (state == BasicCamLoopState.Exit)
{
return;
}
}
}
