/// <summary>
/// Scans for connectable cameras.
/// </summary>
/// <returns>true.</returns>
/// <remarks>The return value is necessary as this method can be called in a splash screen and has to be able to report its success.</remarks>
public static bool ScanForConnectableCameras()
{
log.Info("Scanning for available camera assemblies...");
// force new initialization with ScanForCameraDlls true
GetInstance().InitializeCameras(true);
List <Camera> cameras = GetInstance().AvailableCameras;
log.Info(cameras.Count + " cameras available:");
log.Info(String.Join(" / ", cameras.Select(f => f.Name).ToArray()));
log.Info("Detecting connectable cameras...");
connectableCameras = new List <Camera>();
foreach (var item in cameras)
{
try
{
item.Connect();
log.Info(item.Name + " available for connection.");
item.Disconnect();
connectableCameras.Add(item);
}
catch
{
/* empty */
}
}
return(true);
}
static void Main(string[] args)
{
log.SetLogLevel(log4net.Core.Level.Debug);
SVS cam = new SVS();
try
{
cam.Connect();
}
catch (MetriCam2.Exceptions.ConnectionFailedException e)
{
log.FatalFormat("Could not connect to camera: {0}", e.Message);
return;
}
log.InfoFormat("Camera connected: {0} (S/N {1})", cam.Name, cam.SerialNumber);
//log.DebugFormat("activating software trigger (current setting: {0})", cam.AcquisitionMode);
cam.SetParameter("AutoGain", false);
//log.DebugFormat("activated software trigger (current setting: {0})", cam.AcquisitionMode);
cam.SetParameter("Exposure", 5.0f * 1000f);
log.DebugFormat("exposure: {0}", cam.Exposure);
log.DebugFormat("activating software trigger (current setting: {0})", cam.AcquisitionMode);
cam.AcquisitionMode = MetriCam2.Cameras.Internal.SVS.GigeApi.ACQUISITION_MODE.ACQUISITION_MODE_SOFTWARE_TRIGGER;
log.DebugFormat("activated software trigger (current setting: {0})", cam.AcquisitionMode);
Console.WriteLine("Press Esc to quit. Press any other key to capture a frame.");
while (true)
{
ConsoleKeyInfo key = Console.ReadKey();
if (key.Key == ConsoleKey.Escape)
{
break;
}
cam.Update();
log.InfoFormat("Updated camera. Frame number is {0}", cam.FrameNumber);
//cam.CalcChannel()
}
cam.Disconnect();
log.Info("Camera disconnected");
}
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();
}
static void Main(string[] args)
{
log.SetLogLevel(log4net.Core.Level.Info);
cam = new UEyeCamera(); // Change this type if you want to test your camera implementation.
List <Camera.ParamDesc> allParameters;
log.Info("Testing " + cam.Name);
allParameters = cam.GetParameters();
log.InfoFormat("Camera {0} has {1} parameter(s):\n{2}", cam.Name, allParameters.Count, Camera.ParamDesc.ToString(allParameters));
// TEST: setting a writable parameter while disconnected
if (cam is UEyeCamera)
{
TestSetParameterSuccess("TriggerMode", "SOFTWARE");
}
// TEST: setting a non-writable parameter while disconnected
TestSetParameterDisconnected("Gain", 40);
cam.Connect();
log.InfoFormat("Connected {0} camera with S/N \"{1}\".", cam.Name, cam.SerialNumber);
allParameters = cam.GetParameters();
log.InfoFormat("Camera {0} has {1} parameter(s):\n{2}", cam.Name, allParameters.Count, Camera.ParamDesc.ToString(allParameters));
if (cam is UEyeCamera)
{
// TEST: setting a list parameter to a valid value.
TestSetParameterSuccess("TriggerMode", "HARDWARE");
// TEST: setting a list parameter to an invalid value.
TestSetParameterToInvalid("TriggerMode", "---");
}
// TEST: setting a range parameter to a valid value.
TestSetParameterSuccess("Gain", 40);
// TEST: setting a range parameter to an invalid value.
TestSetParameterToInvalid("Gain", 305);
// TEST: setting an Auto* parameter to a valid value
TestSetParameterSuccess("AutoGain", true);
// TEST: setting an Auto* parameter to an invalid value
TestSetParameterToInvalid("AutoGain", 13);
Dictionary <string, object> params1 = new Dictionary <string, object>();
params1["Gain"] = 40;
params1["AutoGain"] = true;
if (cam is UEyeCamera)
{
params1["TriggerMode"] = "FREERUN";
}
cam.SetParameters(params1);
List <Camera.ParamDesc> allParameters1 = cam.GetParameters();
log.InfoFormat("Camera {0} has {1} parameter(s):\n{2}", cam.Name, allParameters1.Count, Camera.ParamDesc.ToString(allParameters1));
Dictionary <string, object> params2 = new Dictionary <string, object>();
params2["Gain"] = 40;
params2["AutoGain"] = false;
if (cam is UEyeCamera)
{
params2["TriggerMode"] = "FREERUN";
}
cam.SetParameters(params2);
List <Camera.ParamDesc> allParameters2 = cam.GetParameters();
log.InfoFormat("Camera {0} has {1} parameter(s):\n{2}", cam.Name, allParameters2.Count, Camera.ParamDesc.ToString(allParameters2));
cam.Disconnect();
log.Info("Press any key to close.");
Console.ReadKey();
}
private static void TestBoolParam()
{
string paramName = "BoolParam";
log.Info("Testing a ParamDesc<bool>");
SetParameterToValid(paramName, true);
SetParameterToValid(paramName, false);
SetParameterToInvalid(paramName, -1);
SetParameterToInvalid(paramName, 0);
SetParameterToInvalid(paramName, 1);
SetParameterToInvalid(paramName, 2);
SetParameterToInvalid(paramName, -1f);
SetParameterToInvalid(paramName, 0f);
SetParameterToInvalid(paramName, 1f);
SetParameterToInvalid(paramName, 2f);
SetParameterToValid(paramName, "true");
SetParameterToValid(paramName, "True");
SetParameterToValid(paramName, "TRUE");
SetParameterToValid(paramName, "false");
SetParameterToValid(paramName, "False");
SetParameterToValid(paramName, "FALSE");
SetParameterToInvalid(paramName, "on");
SetParameterToInvalid(paramName, "On");
SetParameterToInvalid(paramName, "ON");
SetParameterToInvalid(paramName, "off");
SetParameterToInvalid(paramName, "Off");
SetParameterToInvalid(paramName, "OFF");
SetParameterToInvalid(paramName, "-1");
SetParameterToInvalid(paramName, "0");
SetParameterToInvalid(paramName, "1");
SetParameterToInvalid(paramName, "2");
}
static void Main(string[] args)
{
MetriLog log = new MetriLog();
Kinect2 cam = new Kinect2();
try
{
cam.Connect();
}
catch (MetriCam2.Exceptions.ConnectionFailedException)
{
log.Error("Connection failed. Closing window in 5 sec.");
Thread.Sleep(5 * 1000);
return;
}
cam.ActivateChannel(ChannelNames.Color);
bool running = false;
while (running)
{
cam.Update();
}
ProjectiveTransformationZhang pt;
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
RigidBodyTransformation rbt = cam.GetExtrinsics(ChannelNames.Color, ChannelNames.ZImage);
}
catch (FileNotFoundException)
{
log.Warn("No fwd RBT found.");
}
try
{
RigidBodyTransformation rbtInverse = cam.GetExtrinsics(ChannelNames.ZImage, ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No inverse RBT found.");
}
cam.Disconnect();
log.Info("Program ended. Closing window in 5 sec.");
Thread.Sleep(5 * 1000);
}
