private static Exception Build(Type exType, string msg)
{
ConstructorInfo ci = exType.GetConstructor(new Type[] { typeof(string) });
log.ErrorFormat("{0}: {1}", exType.Name, msg);
return((Exception)ci.Invoke(new object[] { msg }));
}
private static Exception Build(Type exType, string msg)
{
log.ErrorFormat("{0}: {1}", exType.Name, msg);
// Try ctor with message
ConstructorInfo ci = exType.GetConstructor(new Type[] { typeof(string) });
if (null != ci)
{
return((Exception)ci.Invoke(new object[] { msg }));
}
// Fall-back
return(new Exception(exType + ": " + msg));
}
private static void TestSetParameterToInvalid(string name, object value)
{
try
{
cam.SetParameter(name, value);
log.ErrorFormat("Setting {0} to \"{1}\" should have thrown an Exception!", name, value);
}
catch (ArgumentException)
{
log.InfoFormat("Setting {0} to \"{1}\" expectedly caused an error.", name, value);
}
catch (ParameterNotSupportedException)
{
log.InfoFormat("Setting {0} to \"{1}\" caused an unexpected error." + Environment.NewLine
+ "Probably the camera does not support this parameter.", name, value);
return;
}
LogParameterValue(name);
}
/// <summary>
///
/// </summary>
/// <exception cref="Exception">If the file <paramref name="filename"/> is not a MetriCam2 camera DLL.</exception>
/// <exception cref="NativeDependencyMissingException">If the assembly could not be loaded because of missing a dependency.</exception>
/// <exception cref="InvalidOperationException">
/// If the file <paramref name="filename"/> could not be loaded, or
/// if a file with the same name has been inspected before, or
/// if no implementations of <see cref="MetriCam2.Camera"/> were found in the assembly.
/// </exception>
/// <param name="filename"></param>
public static void ScanAssembly(string filename)
{
log.DebugFormat("ScanAssembly({0})", filename);
if (!File.Exists(filename))
{
log.ErrorFormat("File '{0}' does not exist.", filename);
return;
}
if (!Path.IsPathRooted(filename))
{
filename = Path.GetFullPath(filename);
log.DebugFormat("Updated filename to absolute path: '{0}'.", filename);
}
Assembly assembly = null;
try
{
// Try to load the assembly from the given filename
assembly = Assembly.LoadFile(filename);
}
catch (Exception ex)
{
log.DebugFormat(" Loading '{0}' failed: {1}. Finding out the reason for failure...", filename, ex.Message);
DetermineReasonForLoadFailure(filename); // If a reason is found an appropriate Exception is thrown
}
if (null == assembly)
{
// assembly is only set at the call to .LoadFile. If we end up here we were not able to determine the reason for failure.
string msg = string.Format("Assembly could not be loaded (for an unknown reason).");
log.Error(msg);
throw new InvalidOperationException(msg);
}
if (inspectedCameraDllNames.Contains(assembly.GetName().ToString()))
{
string msg = "An assembly with the same name has already been inspected.";
log.Warn(msg);
throw new InvalidOperationException(msg);
}
if (!InspectAssembly(assembly, filename))
{
string msg = string.Format("No implementation of MetriCam2.Camera was found in {0}.", filename);
log.Error(msg);
throw new InvalidOperationException(msg);
}
}
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);
}
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>
/// Reads the XML part and saves the image properties (e.g. width/height).
/// </summary>
/// <param name="xml">XML string</param>
private void ReadXML(string xml)
{
XmlDocument doc = new XmlDocument();
doc.Load(new StringReader(xml));
XmlNode dataSets = doc["SickRecord"]["DataSets"];
XmlNode dataSetDepthMap = dataSets["DataSetDepthMap"];
XmlNode formatDescriptionDepthMap = dataSetDepthMap["FormatDescriptionDepthMap"];
XmlNode dataStream = formatDescriptionDepthMap["DataStream"];
// get camera/image parameters
width = Convert.ToInt32(dataStream["Width"].InnerText);
height = Convert.ToInt32(dataStream["Height"].InnerText);
XmlNode cameraToWorldTransform = dataStream["CameraToWorldTransform"];
List <float> cam2WorldList = new List <float>();
foreach (XmlNode child in cameraToWorldTransform)
{
cam2WorldList.Add(float.Parse(child.InnerText, CultureInfo.InvariantCulture.NumberFormat));
}
cam2WorldMatrix = cam2WorldList.ToArray();
cam2WorldList = null;
XmlNode cameraMatrix = dataStream["CameraMatrix"];
fx = float.Parse(cameraMatrix.ChildNodes[0].InnerText, CultureInfo.InvariantCulture.NumberFormat);
fy = float.Parse(cameraMatrix.ChildNodes[1].InnerText, CultureInfo.InvariantCulture.NumberFormat);
cx = float.Parse(cameraMatrix.ChildNodes[2].InnerText, CultureInfo.InvariantCulture.NumberFormat);
cy = float.Parse(cameraMatrix.ChildNodes[3].InnerText, CultureInfo.InvariantCulture.NumberFormat);
XmlNode distortionParams = dataStream["CameraDistortionParams"];
k1 = float.Parse(distortionParams["K1"].InnerText, CultureInfo.InvariantCulture.NumberFormat);
k2 = float.Parse(distortionParams["K2"].InnerText, CultureInfo.InvariantCulture.NumberFormat);
f2rc = Convert.ToSingle(dataStream["FocalToRayCross"].InnerText, CultureInfo.InvariantCulture.NumberFormat);
// data types, should always be uint16_t
if (dataStream["Distance"].InnerText.ToLower() == "uint16")
{
numBytesPerDistanceValue = 2;
}
else
{
log.ErrorFormat("Bytes per distance value has unexpected value \"{0}\"", dataStream.ChildNodes[8].InnerText.ToLower());
ExceptionBuilder.Throw(typeof(NotImplementedException), cam, "error_unknown", "Bytes per distance value has unexpected value.");
}
if (dataStream["Intensity"].InnerText.ToLower() == "uint16")
{
numBytesPerIntensityValue = 2;
}
else
{
log.ErrorFormat("Bytes per intensity value has unexpected value \"{0}\"", dataStream.ChildNodes[8].InnerText.ToLower());
ExceptionBuilder.Throw(typeof(NotImplementedException), cam, "error_unknown", "Bytes per intensity value has unexpected value.");
}
if (dataStream["Confidence"].InnerText.ToLower() == "uint16")
{
numBytesPerConfidenceValue = 2;
}
else
{
log.ErrorFormat("Bytes per confidence value has unexpected value \"{0}\"", dataStream.ChildNodes[8].InnerText.ToLower());
ExceptionBuilder.Throw(typeof(NotImplementedException), cam, "error_unknown", "Bytes per confidence value has unexpected value.");
}
}
/// <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>
public byte[] Stream_GetFrame()
{
log.Debug("Start getting frame");
List <byte> data = new List <byte>();
byte[] buffer = new byte[FRAGMENT_SIZE];
int read = 0;
// first read and check header
read = streamData.Read(buffer, 0, buffer.Length);
if (read < 11)
{
ExceptionBuilder.Throw(typeof(InvalidOperationException), cam, "error_getData", "Not enough bytes received: " + read);
}
// check buffer content
uint magicWord, pkgLength;
ushort protocolVersion;
byte packetType;
magicWord = BitConverter.ToUInt32(buffer, 0);
pkgLength = BitConverter.ToUInt32(buffer, 4);
protocolVersion = BitConverter.ToUInt16(buffer, 8);
packetType = buffer[10];
// take care of endianness
magicWord = Utils.ConvertEndiannessUInt32(magicWord);
pkgLength = Utils.ConvertEndiannessUInt32(pkgLength);
protocolVersion = Utils.ConvertEndiannessUInt16(protocolVersion);
if (magicWord != 0x02020202)
{
log.ErrorFormat("MagicWord is wrong. Got {0}", magicWord);
ExceptionBuilder.Throw(typeof(Exception), cam, "error_getData", "MagicWord is wrong.");
}
if (protocolVersion != 0x0001)
{
log.ErrorFormat("ProtocolVersion is wrong. Got {0}", protocolVersion);
ExceptionBuilder.Throw(typeof(Exception), cam, "error_getData", "ProtocolVersion is wrong.");
}
if (packetType != 0x62)
{
log.ErrorFormat("PacketType is wrong. Got {0}", packetType);
ExceptionBuilder.Throw(typeof(Exception), cam, "error_getData", "PacketType is wrong.");
}
// get actual frame data
data.AddRange(buffer.Take(read));
pkgLength++; // checksum byte
int alreadyReceived = read - 8;
while (alreadyReceived < pkgLength)
{
read = streamData.Read(buffer, 0, (int)Math.Min(FRAGMENT_SIZE, pkgLength - alreadyReceived));
if (read == 0)
{
log.Error("Failed to receive bytes from camera.");
ExceptionBuilder.Throw(typeof(Exception), cam, "error_getData", "Failed to read Frame.");
}
data.AddRange(buffer.Take(read));
alreadyReceived += read;
}
log.Debug("Done: Start getting frame");
return(data.ToArray());
}
