private ManagedImage temp; // an temporary image for storage of ca[ture
#endregion Fields
#region Constructors
// constructir
public ManagedImageRollingBuffer(int maxlen)
{
int i;
MAX_LEN = maxlen;
Buffer = new ManagedImage[MAX_LEN];
// pre-allocating buffers
for (i = 0; i < MAX_LEN; i++)
Buffer[i] = new ManagedImage();
first = last = -1;
BufSemaphore = new Semaphore(1, 1); // single access at a time
temp = new ManagedImage(); // initialize the temporary image
}
void RunSingleCamera(ManagedPGRGuid guid)
{
const int k_numImages = 10;
ManagedGigECamera cam = new ManagedGigECamera();
// Connect to a camera
cam.Connect(guid);
// Get the camera information
CameraInfo camInfo = cam.GetCameraInfo();
PrintCameraInfo(camInfo);
uint numStreamChannels = cam.GetNumStreamChannels();
for (uint i=0; i < numStreamChannels; i++)
{
PrintStreamChannelInfo(cam.GetGigEStreamChannelInfo(i));
}
GigEImageSettingsInfo imageSettingsInfo = cam.GetGigEImageSettingsInfo();
GigEImageSettings imageSettings = new GigEImageSettings();
imageSettings.offsetX = 0;
imageSettings.offsetY = 0;
imageSettings.height = imageSettingsInfo.maxHeight;
imageSettings.width = imageSettingsInfo.maxWidth;
imageSettings.pixelFormat = PixelFormat.PixelFormatMono8;
cam.SetGigEImageSettings(imageSettings);
// Get embedded image info from camera
EmbeddedImageInfo embeddedInfo = cam.GetEmbeddedImageInfo();
// Enable timestamp collection
if (embeddedInfo.timestamp.available == true)
{
embeddedInfo.timestamp.onOff = true;
}
// Set embedded image info to camera
cam.SetEmbeddedImageInfo(embeddedInfo);
// Start capturing images
cam.StartCapture();
ManagedImage rawImage = new ManagedImage();
for (int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
{
// Retrieve an image
cam.RetrieveBuffer(rawImage);
// Get the timestamp
TimeStamp timeStamp = rawImage.timeStamp;
Console.WriteLine(
"Grabbed image {0} - {1} {2} {3}",
imageCnt,
timeStamp.cycleSeconds,
timeStamp.cycleCount,
timeStamp.cycleOffset);
// Create a converted image
ManagedImage convertedImage = new ManagedImage();
// Convert the raw image
rawImage.Convert(PixelFormat.PixelFormatBgr, convertedImage);
// Create a unique filename
string filename = String.Format(
"GigEGrabEx_CSharp-{0}-{1}.bmp",
camInfo.serialNumber,
imageCnt);
// Get the Bitmap object. Bitmaps are only valid if the
// pixel format of the ManagedImage is RGB or RGBU.
System.Drawing.Bitmap bitmap = convertedImage.bitmap;
// Save the image
bitmap.Save(filename);
}
// Stop capturing images
cam.StopCapture();
// Disconnect the camera
cam.Disconnect();
}
static void Main(string[] args)
{
PrintBuildInfo();
const int k_numImages = 10;
bool useSoftwareTrigger = true;
ManagedBusManager busMgr = new ManagedBusManager();
uint numCameras = busMgr.GetNumOfCameras();
Console.WriteLine("Number of cameras detected: {0}", numCameras);
ManagedPGRGuid guid = busMgr.GetCameraFromIndex(0);
ManagedCamera cam = new ManagedCamera();
cam.Connect(guid);
// Get the camera information
CameraInfo camInfo = cam.GetCameraInfo();
PrintCameraInfo(camInfo);
if (!useSoftwareTrigger)
{
// Check for external trigger support
TriggerModeInfo triggerModeInfo = cam.GetTriggerModeInfo();
if (triggerModeInfo.present != true)
{
Console.WriteLine("Camera does not support external trigger! Exiting...\n");
return;
}
}
// Get current trigger settings
TriggerMode triggerMode = cam.GetTriggerMode();
// Set camera to trigger mode 0
// A source of 7 means software trigger
triggerMode.onOff = true;
triggerMode.mode = 0;
triggerMode.parameter = 0;
if (useSoftwareTrigger)
{
// A source of 7 means software trigger
triggerMode.source = 7;
}
else
{
// Triggering the camera externally using source 0.
triggerMode.source = 0;
}
// Set the trigger mode
cam.SetTriggerMode(triggerMode);
// Poll to ensure camera is ready
bool retVal = PollForTriggerReady(cam);
if (retVal != true)
{
return;
}
// Get the camera configuration
FC2Config config = cam.GetConfiguration();
// Set the grab timeout to 5 seconds
config.grabTimeout = 5000;
// Set the camera configuration
cam.SetConfiguration(config);
// Camera is ready, start capturing images
cam.StartCapture();
if (useSoftwareTrigger)
{
if (CheckSoftwareTriggerPresence(cam) == false)
{
Console.WriteLine("SOFT_ASYNC_TRIGGER not implemented on this camera! Stopping application\n");
return;
}
}
else
{
Console.WriteLine("Trigger the camera by sending a trigger pulse to GPIO%d.\n",
triggerMode.source);
}
ManagedImage image = new ManagedImage();
for (int iImageCount = 0; iImageCount < k_numImages; iImageCount++)
{
if (useSoftwareTrigger)
{
// Check that the trigger is ready
retVal = PollForTriggerReady(cam);
Console.WriteLine("Press the Enter key to initiate a software trigger.\n");
Console.ReadLine();
// Fire software trigger
retVal = FireSoftwareTrigger(cam);
if (retVal != true)
{
Console.WriteLine("Error firing software trigger!");
return;
}
}
// Grab image
cam.RetrieveBuffer(image);
Console.WriteLine(".\n");
}
Console.WriteLine("Finished grabbing images");
// Stop capturing images
cam.StopCapture();
// Turn off trigger mode
triggerMode.onOff = false;
cam.SetTriggerMode(triggerMode);
// Disconnect the camera
cam.Disconnect();
Console.WriteLine("Done! Press any key to exit...");
Console.ReadKey();
}
// start capturing
public void startCapture(ManagedPGRGuid camGuid, int vidMode,System.Windows.Forms.PictureBox displayPicture,
String fileName,Boolean record2file)
{
int i;
Flag_GravityFound_Y = false; // garvity is not known
// CLEARING THE FRAME QUEUE NO MATTER WHAT...
FrameQueue.clear();
RecordToFile = record2file;
// creating the GPS data list
GpsCaptureData = new List<GPSDataInstance>();
// creating the IMU data List
IMUCapturedata = new List<IMUDataInstance>();
// resetting frame index
FrameIndex = 0;
// 1. connect to the camera
Cam.Connect(camGuid);
int fps_i = 0;
if (vidMode == 0)
{
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Yuv422, FrameRate.FrameRate30);
fps_i = 30;
}
else if (vidMode == 1) {
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Rgb, FrameRate.FrameRate15);
fps_i = 15;
}
else if (vidMode == 2)
{
Format7ImageSettings fset = new Format7ImageSettings();
fset.height = 540;
fset.width = 960;
fset.offsetX = 40;
fset.offsetY = 118;
fset.mode = Mode.Mode4;
fset.pixelFormat = PixelFormat.PixelFormatRgb8;
Cam.SetFormat7Configuration(fset, 40.0f); // this equivalent to 24 fps
fps_i = 24;
}
if (RecordToFile)
{
// 3. Creating the avi recorder object
AviRecorder = new ManagedAVIRecorder();
MJPGOption option = new MJPGOption();
float fps = (float)fps_i;
option.frameRate = fps;
option.quality = 100; // 100 for superb quality
AviRecorder.AVIOpen(fileName, option);
}
// 4. setting the frame buffering option
// leave it for now...
// 5. start the capturing
Cam.StartCapture();
// MUST discard the first few frames!
ManagedImage rawImage = new ManagedImage();
for (i = 0; i < 10; i++)
{
Cam.RetrieveBuffer(rawImage);
}
// 6. set the display bitmap
DisplayPicture = displayPicture;
// 7. starting sampling, recording and dumping threads
// IMU sampling thread
IMUSamplingTimer = new PrecisionTimer(.0075, this.IMUSamplingEvent); // sampling frequency at 150 Hz
RecordingThreadActive = true;
OutOfRecordingThread = true;
IMUSamplingTimer.start();
RecordingThread = new Thread(this.mainLoop);
//RecordingThread.Priority = ThreadPriority.Highest;
RecordingThread.Start();
// creating the thread for the dumping
DumpingThread = new System.Threading.Thread(this.dumpingLoop);
while (OutOfRecordingThread); // must wait until the recording thread enters the loop, otherwise the dumping will never start!
DumpingThread.Start();
}
// the recording thread main loop
public void mainLoop()
{
OutOfRecordingThread = false;
ManagedImage rawImage = new ManagedImage();
ManagedImage convertedImage = new ManagedImage();
GPSDataInstance newGpsData;
while (RecordingThreadActive)
{
// 1. retrieving a frame from the buffer
if ((Flag_GravityFound_Y && (IMUcomms != null)) || (IMUcomms == null)) // record only if gravity is found or if there is no IMU
{
FrameQueue.add(Cam);
//Cam.RetrieveBuffer(rawImage);
// increasing frame index
FrameIndex++;
//tempImage = new ManagedImage(rawImage);
//FrameQueue.add(tempImage);
//FrameQueue.Buffer[FrameQueue.last].Convert(PixelFormat.PixelFormatBgr, convertedImage);
//System.Drawing.Bitmap bitmap = convertedImage.bitmap;
//DisplayPicture.Image = (Image)convertedImage.bitmap;
// adding gps data in the GPS data list
if (GpsReceiver != null)
{
newGpsData = new GPSDataInstance(FrameIndex,
GpsReceiver.LatitudeAsDecimal,
GpsReceiver.LongitudeAsDecimal,
GpsReceiver.SpeedOverGround,
GpsReceiver.CourseOverGround,
GpsReceiver.MRCStatus);
GpsCaptureData.Add(newGpsData);
}
}
}
DisplayPicture.Image = null;
OutOfRecordingThread = true;
}
// the dumping thread loop
public void dumpingLoop()
{
OutOfDumpingThread = false;
ManagedImage convertedImage = new ManagedImage();
ManagedImage mgdimg;
while (!OutOfRecordingThread || (!FrameQueue.isEmpty()))
{
// recording the image straight into the file
if (!FrameQueue.isEmpty())
{
mgdimg = FrameQueue.remove();
// displying the image (via the DisplayBitmap)
// Convert the raw image
mgdimg.Convert(PixelFormat.PixelFormatBgr, convertedImage);
DisplayPicture.Image = (Image)convertedImage.bitmap;
if (RecordToFile)
AviRecorder.AVIAppend(mgdimg);
}
}
// displying the image (via the DisplayBitmap)
// Convert the raw image
//ManagedImage convertedImage = new ManagedImage();
//FrameQueue[0].Convert(PixelFormat.PixelFormatBgr, convertedImage);
//System.Drawing.Bitmap bitmap = convertedImage.bitmap;
//Image<Bgr, Byte> img = new Image<Bgr, byte>(bitmap);
//DisplayPicture.Image = (Image)bitmap;
//if (RecordToFile) AviRecorder.AVIClose();
//DisplayPicture.Image = null;
OutOfDumpingThread = true;
}
public void MainLoop()
{
// Managed Image MUST BE OUT OF THE LOOP! (For some reason...)
ManagedImage rawImage = new ManagedImage();
ManagedImage convertedImage = new ManagedImage();
//System.Drawing.Bitmap bitmap;
while (state == ST_CALIBRATING)
{
// retrieving an image using the Flea3 API
Cam.RetrieveBuffer(rawImage);
// Convert the raw image to a System.Drawing.Bitmap
rawImage.Convert(PixelFormat.PixelFormatBgr, convertedImage);
System.Drawing.Bitmap bitmap = convertedImage.bitmap;
// Suimply create a new openCV frame with the bitmap
Image<Bgr, Byte> frame = new Image<Bgr, byte>(bitmap);
Image<Gray, Byte> grayFrame = frame.Convert<Gray, Byte>();
// and creating the drawImage frame
DrawImage = grayFrame.Clone();
// decalring array of points for all RGB components
PointF[][] corners = new PointF[3][];
// finding corners in the frame
// left frame
// bool result = CameraCalibration.FindChessboardCorners(grayFrame,
// new Size(ChessHorizCount, ChessVertCount), Emgu.CV.CvEnum.CALIB_CB_TYPE.FAST_CHECK, out corners[0]);
corners[0] = CameraCalibration.FindChessboardCorners(grayFrame,
new Size(ChessHorizCount, ChessVertCount), Emgu.CV.CvEnum.CALIB_CB_TYPE.FAST_CHECK);
//Emgu.CV.CvEnum.CALIB_CB_TYPE.ADAPTIVE_THRESH | Emgu.CV.CvEnum.CALIB_CB_TYPE.NORMALIZE_IMAGE
//);
bool result = !(corners[0] == null);
if (result)
{
FrameCounter++;
//finding corners with sub pixel accuracy
grayFrame.FindCornerSubPix(corners, new Size(10, 10), new Size(-1, -1), new MCvTermCriteria(0.01));
// now draing the corners
/* CameraCalibration.DrawChessboardCorners(DrawImage,
new Size(ChessHorizCount, ChessVertCount),
corners[0],
true
); */
CameraCalibration.DrawChessboardCorners(DrawImage,
new Size(ChessHorizCount, ChessVertCount),
corners[0]
);
// adding the detected points to the list
Points[FrameCounter - 1] = corners[0];
}
// assiging the image to the imageviewer (so that it shows)
//imageViewer.Image = DrawImage;
DisplayBox.Image = (Image)DrawImage.Bitmap;
if (FrameCounter >= FrameCount)
{
state = ST_IDLE;
calibrate();
Console.WriteLine("Calibration now is complete. You may NOW kill the thread!");
}
}
}
static void Main(string[] args)
{
PrintBuildInfo();
const Mode k_fmt7Mode = Mode.Mode0;
const PixelFormat k_fmt7PixelFormat = PixelFormat.PixelFormatMono8;
const int k_numImages = 10;
// Since this application saves images in the current folder
// we must ensure that we have permission to write to this folder.
// If we do not have permission, fail right away.
FileStream fileStream;
try
{
fileStream = new FileStream(@"test.txt", FileMode.Create);
fileStream.Close();
File.Delete("test.txt");
}
catch
{
Console.WriteLine("Failed to create file in current folder. Please check permissions.\n");
return;
}
ManagedBusManager busMgr = new ManagedBusManager();
uint numCameras = busMgr.GetNumOfCameras();
Console.WriteLine("Number of cameras detected: {0}", numCameras);
ManagedPGRGuid guid = busMgr.GetCameraFromIndex(0);
ManagedCamera cam = new ManagedCamera();
cam.Connect(guid);
// Get the camera information
CameraInfo camInfo = cam.GetCameraInfo();
PrintCameraInfo(camInfo);
// Query for available Format 7 modes
bool supported = false;
Format7Info fmt7Info = cam.GetFormat7Info(k_fmt7Mode, ref supported);
PrintFormat7Capabilities(fmt7Info);
if ((k_fmt7PixelFormat & (PixelFormat)fmt7Info.pixelFormatBitField) == 0)
{
// Pixel format not supported!
return;
}
Format7ImageSettings fmt7ImageSettings = new Format7ImageSettings();
fmt7ImageSettings.mode = k_fmt7Mode;
fmt7ImageSettings.offsetX = 0;
fmt7ImageSettings.offsetY = 0;
fmt7ImageSettings.width = fmt7Info.maxWidth;
fmt7ImageSettings.height = fmt7Info.maxHeight;
fmt7ImageSettings.pixelFormat = k_fmt7PixelFormat;
// Validate the settings to make sure that they are valid
bool settingsValid = false;
Format7PacketInfo fmt7PacketInfo = cam.ValidateFormat7Settings(
fmt7ImageSettings,
ref settingsValid);
if (settingsValid != true)
{
// Settings are not valid
return;
}
// Set the settings to the camera
cam.SetFormat7Configuration(
fmt7ImageSettings,
fmt7PacketInfo.recommendedBytesPerPacket);
// Get embedded image info from camera
EmbeddedImageInfo embeddedInfo = cam.GetEmbeddedImageInfo();
// Enable timestamp collection
if (embeddedInfo.timestamp.available == true)
{
embeddedInfo.timestamp.onOff = true;
}
// Set embedded image info to camera
cam.SetEmbeddedImageInfo(embeddedInfo);
// Start capturing images
cam.StartCapture();
// Retrieve frame rate property
CameraProperty frmRate = cam.GetProperty(PropertyType.FrameRate);
Console.WriteLine("Frame rate is {0:F2} fps", frmRate.absValue);
Console.WriteLine("Grabbing {0} images", k_numImages);
ManagedImage rawImage = new ManagedImage();
for (int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
{
// Retrieve an image
cam.RetrieveBuffer(rawImage);
// Get the timestamp
TimeStamp timeStamp = rawImage.timeStamp;
Console.WriteLine(
"Grabbed image {0} - {1} {2} {3}",
imageCnt,
timeStamp.cycleSeconds,
timeStamp.cycleCount,
timeStamp.cycleOffset);
// Create a converted image
ManagedImage convertedImage = new ManagedImage();
// Convert the raw image
rawImage.Convert(PixelFormat.PixelFormatBgr, convertedImage);
// Create a unique filename
string filename = String.Format(
"CustomImageEx_CSharp-{0}-{1}.bmp",
camInfo.serialNumber,
imageCnt);
// Get the Bitmap object. Bitmaps are only valid if the
// pixel format of the ManagedImage is RGB or RGBU.
System.Drawing.Bitmap bitmap = convertedImage.bitmap;
// Save the image
bitmap.Save(filename);
}
// Stop capturing images
cam.StopCapture();
// Disconnect the camera
cam.Disconnect();
Console.WriteLine("Done! Press any key to exit...");
Console.ReadKey();
}
public FrameData(ManagedImage img, GPSDataInstance gpsData)
{
Img = img;
GPSData = gpsData;
}
void OnImageGrabbed(ManagedImage image)
{
Console.WriteLine("Grabbed image {0}", imageCnt++);
}
void RunSingleCamera(ManagedPGRGuid guid)
{
const int NumImages = 10;
ManagedCamera cam = new ManagedCamera();
// Connect to a camera
cam.Connect(guid);
// Get the camera information
CameraInfo camInfo = cam.GetCameraInfo();
PrintCameraInfo(camInfo);
// Get embedded image info from camera
EmbeddedImageInfo embeddedInfo = cam.GetEmbeddedImageInfo();
// Enable timestamp collection
if (embeddedInfo.timestamp.available == true)
{
embeddedInfo.timestamp.onOff = true;
}
// Set embedded image info to camera
cam.SetEmbeddedImageInfo(embeddedInfo);
// Start capturing images
cam.StartCapture();
// Create a raw image
ManagedImage rawImage = new ManagedImage();
// Create a converted image
ManagedImage convertedImage = new ManagedImage();
for (int imageCnt = 0; imageCnt < NumImages; imageCnt++)
{
try
{
// Retrieve an image
cam.RetrieveBuffer(rawImage);
}
catch (FC2Exception ex)
{
Console.WriteLine("Error retrieving buffer : {0}", ex.Message);
continue;
}
// Get the timestamp
TimeStamp timeStamp = rawImage.timeStamp;
Console.WriteLine(
"Grabbed image {0} - {1} {2} {3}",
imageCnt,
timeStamp.cycleSeconds,
timeStamp.cycleCount,
timeStamp.cycleOffset);
// Convert the raw image
rawImage.Convert(PixelFormat.PixelFormatBgr, convertedImage);
// Create a unique filename
string filename = String.Format(
"FlyCapture2Test_CSharp-{0}-{1}.bmp",
camInfo.serialNumber,
imageCnt);
// Get the Bitmap object. Bitmaps are only valid if the
// pixel format of the ManagedImage is RGB or RGBU.
System.Drawing.Bitmap bitmap = convertedImage.bitmap;
// Save the image
bitmap.Save(filename);
}
// Stop capturing images
cam.StopCapture();
// Disconnect the camera
cam.Disconnect();
}
void RunSingleCamera(ManagedPGRGuid guid)
{
const int NumImages = 10;
ManagedCamera cam = new ManagedCamera();
// Connect to a camera
cam.Connect(guid);
// Get the camera information
CameraInfo camInfo = cam.GetCameraInfo();
PrintCameraInfo(camInfo);
//
// Register for End of Exposure (EoE) event. We simply create an instance of
// the ManagedEventOptions, populate it, and register it with the camera.
//
ManagedEventOptions option = new ManagedEventOptions();
option.EventCallbackFcn = OnEventReceived;
option.EventName = "EventExposureEnd";
try
{
cam.RegisterEvent(option);
Console.WriteLine("Successfully registered event: {0}", option.EventName);
}
catch (FC2Exception ex)
{
Console.WriteLine("Error registering EventExposureEnd : {0}", ex.Message);
return;
}
//
// Attempt to register all events. This will fail, since we only expect this
// to be called if no events have yet been registered, but a fatal error
// will not be generated. If the user wants to use this call, the user can
// DeregisterAllEvents(), and then run RegisterAllEvents().
//
// If there are numerious different event types, and the user would like to
// create a "default" callback and/or UserData struct, the user can run
// RegisterAllEvents() with the default callback function, issue
// DeregisterEvent() for the specific event that uses a custom callback, and
// then issue RegisterEvent() with the specific callback function. This is
// to ensure the user doesn't accidentally corrupt the callback function
// list.
//
try
{
cam.RegisterAllEvents(option);
}
catch (FC2Exception ex)
{
// Expected error
Console.WriteLine("Error registering EventExposureEnd : {0}", ex.Message);
}
// Start capturing images
cam.StartCapture();
// Retrieve images from buffer
ManagedImage rawImage = new ManagedImage();
for (ImageCount = 0; ImageCount < NumImages; ImageCount++)
{
try
{
// Retrieve an image
cam.RetrieveBuffer(rawImage);
}
catch (FC2Exception ex)
{
Console.WriteLine("Error retrieving buffer : {0}", ex.Message);
continue;
}
}
// Stop capturing images
cam.StopCapture();
// Uncomment the following to deregister event handler for specific device event
//cam.DeregisterEvent(option);
// Deregister event handler for all events
cam.DeregisterAllEvents();
// Disconnect the camera
cam.Disconnect();
// Reset counter for next iteration
ImageCount = 0;
}
public void MainLoop()
{
// Managed Image MUST BE OUT OF THE LOOP! (For some reason...)
ManagedImage rawImage = new ManagedImage();
ManagedImage convertedImage = new ManagedImage();
//System.Drawing.Bitmap bitmap;
while (state == ST_CALIBRATING)
{
// retrieving an image using the Flea3 API
Cam.RetrieveBuffer(rawImage);
// Convert the raw image to a System.Drawing.Bitmap
rawImage.Convert(PixelFormat.PixelFormatBgr, convertedImage);
System.Drawing.Bitmap bitmap = convertedImage.bitmap;
// Suimply create a new openCV frame with the bitmap
Image <Bgr, Byte> frame = new Image <Bgr, byte>(bitmap);
Image <Gray, Byte> grayFrame = frame.Convert <Gray, Byte>();
// and creating the drawImage frame
DrawImage = grayFrame.Clone();
// decalring array of points for all RGB components
PointF[][] corners = new PointF[3][];
// finding corners in the frame
// left frame
// bool result = CameraCalibration.FindChessboardCorners(grayFrame,
// new Size(ChessHorizCount, ChessVertCount), Emgu.CV.CvEnum.CALIB_CB_TYPE.FAST_CHECK, out corners[0]);
corners[0] = CameraCalibration.FindChessboardCorners(grayFrame,
new Size(ChessHorizCount, ChessVertCount), Emgu.CV.CvEnum.CALIB_CB_TYPE.FAST_CHECK);
//Emgu.CV.CvEnum.CALIB_CB_TYPE.ADAPTIVE_THRESH | Emgu.CV.CvEnum.CALIB_CB_TYPE.NORMALIZE_IMAGE
//);
bool result = !(corners[0] == null);
if (result)
{
FrameCounter++;
//finding corners with sub pixel accuracy
grayFrame.FindCornerSubPix(corners, new Size(10, 10), new Size(-1, -1), new MCvTermCriteria(0.01));
// now draing the corners
/* CameraCalibration.DrawChessboardCorners(DrawImage,
* new Size(ChessHorizCount, ChessVertCount),
* corners[0],
* true
* ); */
CameraCalibration.DrawChessboardCorners(DrawImage,
new Size(ChessHorizCount, ChessVertCount),
corners[0]
);
// adding the detected points to the list
Points[FrameCounter - 1] = corners[0];
}
// assiging the image to the imageviewer (so that it shows)
//imageViewer.Image = DrawImage;
DisplayBox.Image = (Image)DrawImage.Bitmap;
if (FrameCounter >= FrameCount)
{
state = ST_IDLE;
calibrate();
Console.WriteLine("Calibration now is complete. You may NOW kill the thread!");
}
}
}
void RunCamera(ManagedPGRGuid guid)
{
const uint k_numImages = 100;
try
{
using (ManagedCamera cam = new ManagedCamera())
{
cam.Connect(guid);
CameraInfo camInfo = cam.GetCameraInfo();
PrintCameraInfo(camInfo);
// Start capturing images
Console.WriteLine("Starting capture...");
cam.StartCapture();
List <ManagedImage> imageList = new List <ManagedImage>();
ManagedImage rawImage = new ManagedImage();
for (int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
{
cam.RetrieveBuffer(rawImage);
ManagedImage tempImage = new ManagedImage(rawImage);
imageList.Add(tempImage);
Console.WriteLine("Grabbed image {0}", imageCnt);
}
// Stop capturing images
Console.WriteLine("Stopping capture...");
// Check if the camera supports the FRAME_RATE property
CameraPropertyInfo propInfo = cam.GetPropertyInfo(PropertyType.FrameRate);
float frameRateToUse = 15.0F;
if (propInfo.present == true)
{
// Get the frame rate
CameraProperty prop = cam.GetProperty(PropertyType.FrameRate);
frameRateToUse = prop.absValue;
}
Console.WriteLine("Using frame rate of {0}", frameRateToUse);
string aviFileName;
aviFileName = String.Format("SaveImageToAviEx_CSharp-Uncompressed-{0}", camInfo.serialNumber);
SaveAviHelper(AviType.Uncompressed, ref imageList, aviFileName, frameRateToUse);
aviFileName = String.Format("SaveImageToAviEx_CSharp-Mjpg-{0}", camInfo.serialNumber);
SaveAviHelper(AviType.Mjpg, ref imageList, aviFileName, frameRateToUse);
aviFileName = String.Format("SaveImageToAviEx_CSharp-h264-{0}", camInfo.serialNumber);
SaveAviHelper(AviType.H264, ref imageList, aviFileName, frameRateToUse);
}
}
catch (FC2Exception ex)
{
Console.WriteLine("There was an FC2 error: " + ex.Message);
}
}
