/// <summary>
/// Find all camera implementations in the currently loaded assemblies (DLLs).
/// </summary>
public static void ScanLoadedAssemblies()
{
log.Debug("CameraManagement: Scanning all loaded assemblies");
foreach (Assembly assembly in AppDomain.CurrentDomain.GetAssemblies())
{
InspectAssembly(assembly, "memory");
}
}
private void backgroundWorker_DoWork(object sender, DoWorkEventArgs e)
{
DateTime lastSecond = DateTime.Now;
int fps = 0;
while (!backgroundWorker.CancellationPending)
{
try
{
cam.Update();
}
catch (Exception ex)
{
log.Debug("Update failed", ex);
continue;
}
ImageBase camImg = cam.CalcSelectedChannel();
if (null == camImg)
{
// ignore errors. However, this might be a hint that something is wrong in your application.
continue;
}
if (camImg is FloatImage && (cam.SelectedChannel == ChannelNames.Distance || cam.SelectedChannel == ChannelNames.ZImage))
{
TrimImage((FloatImage)camImg, Properties.Settings.Default.MinDepthToDisplay, Properties.Settings.Default.MaxDepthToDisplay);
}
Bitmap bmp = camImg.ToBitmap();
if (saveSnapshot)
{
string snapName = "MetriCam 2 Snapshot.png";
string snapFilename = Path.GetTempPath() + snapName;
bmp.Save(snapFilename);
MessageBox.Show(string.Format("Snapshot saved as '{0}'.", snapFilename), "Snapshot saved", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
saveSnapshot = false;
}
this.BeginInvokeEx(f => pictureBox.Image = bmp);
fps++;
DateTime now = DateTime.Now;
if (now - lastSecond > new TimeSpan(0, 0, 1))
{
int fpsCopy = fps;
this.BeginInvokeEx(f => labelFps.Text = $"{fpsCopy} fps");
lastSecond = now;
fps = 0;
}
}
DisconnectCamera();
isBgwFinished.Set();
}
/// <summary>
/// Gets the raw frame data from camera.
/// </summary>
/// <remarks>Data is checked for correct protocol version and packet type.</remarks>
/// <returns>Raw frame</returns>
internal byte[] GetFrameData()
{
if (!Utils.SyncCoLa(streamData))
{
string msg = string.Format("{0}: Could not sync to CoLa bus", cam.Name);
log.Error(msg);
throw new IOException(msg);
}
log.Debug("Start getting frame");
byte[] buffer = new byte[0];
if (!Utils.Receive(streamData, ref buffer, 4))
{
string msg = string.Format("{0}: Could not read package length", cam.Name);
log.Error(msg);
throw new IOException(msg);
}
uint pkgLength = Utils.FromBigEndianUInt32(buffer, 0);
if (!Utils.Receive(streamData, ref buffer, (int)pkgLength))
{
string msg = string.Format("{0}: Could not read package payload", cam.Name);
log.Error(msg);
throw new IOException(msg);
}
// check buffer content
int offset = 0;
ushort protocolVersion = Utils.FromBigEndianUInt16(buffer, offset);
offset += 2;
byte packetType = buffer[offset];
offset += 1;
if (0x0001 != protocolVersion)
{
string msg = string.Format("{0}: The protocol version is not 0x0001 as expected: {1:X4}", cam.Name, protocolVersion);
log.Error(msg);
throw new InvalidDataException(msg);
}
if (0x62 != packetType)
{
string msg = string.Format("{0}: The packet type is not 0x62 as expected: {1:X2}", cam.Name, packetType);
log.Error(msg);
throw new InvalidDataException(msg);
}
return(buffer.Skip(offset).ToArray());
}
/// <summary>
/// Tells the device that there is a streaming channel.
/// </summary>
private void InitStream()
{
log.Debug("InitStream");
SendCommand("sMN GetBlobClientConfig");
bool success = ReceiveResponse(out byte[] payload, out byte checkSum);
if (!success)
{
throw new InvalidOperationException("Failed to init control stream.");
}
}
private static FloatImage Compare(FloatImage currentImg, FloatImage oldImg, float thres, int cnt, string channel, MetriLog log)
{
if (null != oldImg)
{
FloatImage diff = oldImg - currentImg;
float sad = diff.Abs().Sum();
log.Debug("SAD = " + sad);
if (sad < thres)
{
log.ErrorFormat("Image {0}{1}: SAD ({2}) was below the threshold of {3}.", cnt, channel, sad, thres);
return(null);
}
}
oldImg = currentImg;
return(oldImg);
}
static void Main(string[] args)
{
MetriLog log = new MetriLog();
Random rand = new Random();
const int MAX_DELAY_IN_MIN = 20;
Camera leftCam = new TheImagingSource();
Camera rightCam = new TheImagingSource();
SerialPort triggerPort = new SerialPort("COM7", 9600);
TriggeredStereoCamera cam = new TriggeredStereoCamera(leftCam, rightCam, triggerPort);
FloatImage left, leftOld = null, right, rightOld = null;
float thres;
// thres = 1000.0f; // uEye
thres = 100000.0f; // TIS
int cnt = 0;
const float MAX_EXPOSURE = 10f;
const float DARK_THRES = 50f; // uEye: 10f, TIS: 50f
const int NUM_WARMUP_IMAGES = 50;
ConfigureLogging(StressTests.Freeze.Resources.LoggingConfigInfo);
log.SetLogFile(@"D:\temp\stress_test_TIS.log");
cam.Connect();
cam.Exposure = 4;
log.Info("Warming up.");
for (int i = 0; i < NUM_WARMUP_IMAGES; i++)
{
Capture(cam, out left, out right, ref cnt);
}
log.Info("Starting test.");
bool running = true;
while (running)
{
log.Debug("Another round starts.");
for (int i = 0; i < 10; i++)
{
if (cam.Exposure > MAX_EXPOSURE)
{
cam.Exposure = MAX_EXPOSURE;
leftOld = null;
rightOld = null;
continue;
}
Capture(cam, out left, out right, ref cnt);
float minL, maxL, minR, maxR;
left.GetMinMax(out minL, out maxL);
right.GetMinMax(out minR, out maxR);
log.Debug("MAX = " + maxL + " " + maxR);
if (maxL == 255f || maxR == 255f)
{
log.Info("Overexposed, reducing exposure time.");
cam.Exposure = cam.Exposure * (3f / 4f);
leftOld = null;
rightOld = null;
continue;
}
if (maxL < DARK_THRES && maxR < DARK_THRES)
{
if (cam.Exposure < MAX_EXPOSURE)
{
log.Info("Underexposed, increasing exposure time.");
cam.Exposure = cam.Exposure * (4f / 3f);
leftOld = null;
rightOld = null;
continue;
}
log.Info("seems to be dark, let's sleep an hour.");
Thread.Sleep(1000 * 60 * 60);
leftOld = null;
rightOld = null;
continue;
}
rightOld = Compare(right, rightOld, thres, cnt, "R", log);
leftOld = Compare(left, leftOld, thres, cnt, "L", log);
if (null == leftOld || null == rightOld)
{
break;
}
}
int random = rand.Next(100);
float delayInMinutes = (float)random / 100f * (float)MAX_DELAY_IN_MIN;
log.Debug("Sleeping for " + delayInMinutes + " minutes");
Thread.Sleep((int)(1000 * 60 * delayInMinutes));
//Thread.Sleep(500);
}
cam.Disconnect();
}
private void ApplyConfiguration()
{
log.EnterMethod();
int nrChannelsBeforeConfigurationChange = camera.Channels.Count;
List <string> channelsNotDeactivated = new List <string>();
List <string> channelsNotActivated = new List <string>();
// BUG: If currently selected channel will be deactivated, then we are in trouble
Task channelsTask = Task.Factory.StartNew(() =>
{
log.Debug("Deactivate unchecked channels");
for (int i = 0; i < checkedListBoxChannels.Items.Count; i++)
{
var item = checkedListBoxChannels.Items[i];
string channel = item.ToString();
if (!checkedListBoxChannels.CheckedItems.Contains(item))
{
try
{
camera.DeactivateChannel(channel);
}
catch (Exception ex)
{
log.ErrorFormat("Could not deactivate channel '{0}': {1}", channel, ex.Message);
channelsNotDeactivated.Add(channel);
}
}
}
}).ContinueWith((t) =>
{
log.Debug("Activate checked channels");
for (int i = 0; i < checkedListBoxChannels.CheckedItems.Count; i++)
{
var item = checkedListBoxChannels.CheckedItems[i];
string channel = item.ToString();
try
{
camera.ActivateChannel(channel);
}
catch (Exception ex)
{
log.ErrorFormat("Could not activate channel '{0}': {1}", channel, ex.Message);
channelsNotActivated.Add(channel);
}
}
});
channelsTask.Wait();
log.Debug("Try to select a channel");
if (1 == camera.ActiveChannels.Count)
{
camera.SelectChannel(camera.ActiveChannels[0].Name);
}
else if (1 == checkedListBoxChannels.SelectedItems.Count && checkedListBoxChannels.CheckedItems.Contains(checkedListBoxChannels.SelectedItem))
{
camera.SelectChannel(checkedListBoxChannels.SelectedItem.ToString());
}
if (channelsNotDeactivated.Count + channelsNotActivated.Count > 0)
{
StringBuilder sb = new StringBuilder();
if (channelsNotDeactivated.Count > 0)
{
sb.AppendLine(string.Format("Could not deactivate the channels '{0}'", string.Join("', '", channelsNotDeactivated)));
}
if (channelsNotDeactivated.Count > 0)
{
sb.AppendLine(string.Format("Could not activate the channels '{0}'", string.Join("', '", channelsNotActivated)));
}
MessageBox.Show(sb.ToString(), "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
log.Debug("Apply camera parameters");
cameraSettingsControl.ApplyCameraSettings();
//If configuring the camera involves an automatic change of the available channels, we should update the channel panel size.
//TODO: Perform a deep comparison of all channels instead of just comparing the number of elements.
if (camera.Channels.Count != nrChannelsBeforeConfigurationChange)
{
LoadChannels();
AdjustLayout();
}
}
/// <summary>
/// Tells the device that there is a streaming channel.
/// </summary>
public void Control_InitStream()
{
log.Debug("Initializing streaming");
byte[] toSend = AddFraming("sMN GetBlobClientConfig");
byte[] receive = new byte[50];
// send ctrl message
streamControl.Write(toSend, 0, toSend.Length);
// get response
if (streamControl.Read(receive, 0, receive.Length) == 0)
{
log.Error("Got no answer from camera");
ExceptionBuilder.Throw(typeof(InvalidOperationException), cam, "error_setParameter", "Failed to init stream.");
}
else
{
string response = Encoding.ASCII.GetString(receive);
log.DebugFormat("Got response: {0}", response);
}
log.Debug("Done: Initializing streaming");
}