private CSImgT LoadImage()
{
// This is just a demo
MessageBox.Show("这里仅以代码形式演示如何加载 ICON(dat|xml) 类型的图像数据。");
CSImgT img = new CSImgT();
string strConfigPath = string.Empty;
OpenFileDialog ofd = new OpenFileDialog();
ofd.Title = "Please select the path / 请选择加载路径";
ofd.InitialDirectory = Application.StartupPath;
ofd.Filter = "xml|*.xml";
if (ofd.ShowDialog() == DialogResult.OK)
{
strConfigPath = ofd.FileName;
}
else
{
return(img);
}
if (false == img.loadFromIconFile(strConfigPath))
{
MessageBox.Show("加载失败！！ \n\n\nLoad Image failed!!");
}
return(img);
}
static void test_CS_CPP_Graber_thread_process_img(bool isPrint, CSImgT imgT)
{
for (DataNames i = 0; i < DataNames.SCA2_CAL; ++i)
{
unit_test_print(isPrint, imgT.DN2Str(i));
}
// --- test CSR3 ImgT data array
byte[] senData = imgT.getDataByte(DataNames.SEN);
// --- test CSImgT data info getting
int cols = imgT.get_cols(DataNames.SEN);
int rows = imgT.get_rows(DataNames.SEN);
int S_cols = imgT.getS_cols();
int S_rows = imgT.getS_rows();
int S_OffsetX = imgT.getS_OffsetX();
int S_OffsetY = imgT.getS_OffsetY();
int R_cols = imgT.getR_cols();
int R_rows = imgT.getR_rows();
int R_AoiOffsetX = imgT.getR_AoiOffsetX();
int R_AoiOffsetY = imgT.getR_AoiOffsetY();
int R_AoiHeight = imgT.getR_AoiHeight();
int R_AoiWidth = imgT.getR_AoiWidth();
bool R_RangeAxis = imgT.getR_RangeAxis();
int C_cols = imgT.getC_cols();
int C_rows = imgT.getC_rows();
double C_offsetX = imgT.getC_offsetX();
double C_offsetY = imgT.getC_offsetY();
double C_scaleX = imgT.getC_scaleX();
double C_scaleY = imgT.getC_scaleY();
double C_lower_bound_x = imgT.getC_lower_bound_x();
double C_upper_bound_x = imgT.getC_upper_bound_x();
double C_lower_bound_r = imgT.getC_lower_bound_r();
double C_upper_bound_r = imgT.getC_upper_bound_r();
/// test CS ImgT data info getting
int id = imgT.get_ID();
bool isE = imgT.isEmpty();
bool hasS = imgT.has(DataNames.SEN);
bool hasR = imgT.has(DataNames.RAN);
bool hasCI = imgT.has_ChunkInfo();
bool saveSenOk = imgT.SaveToIconFile("D:\\sen", DataNames.SEN);
bool saveRanOk = imgT.SaveToIconFile("D:\\ran", DataNames.RAN);
bool saveRacOk = imgT.SaveToIconFile("D:\\rac", DataNames.RAN_CAL);
unit_test_print(true, "Get Image, id = {0}", id);
}
private void btnLoadBuffer_Click(object sender, EventArgs e)
{
CSImgT img = LoadImage();
if (!img.isEmpty())
{
var dnList = img.getAvalibleDataNames();
foreach (var dn in dnList)
{
Form f = new Form();
Bitmap src = BuiltGrayBitmap(img.getDataByte(dn), img.get_cols(dn), img.get_rows(dn));
if (dn == DataNames.SEN)
{
f.Text = "激光线图像 | Sensor Image";
src = BuiltGrayBitmap(img.getDataByte(dn), img.get_cols(dn), img.get_rows(dn));
}
else if (dn == DataNames.RAN)
{
f.Text = "高度图像 | Range Image";
src = BuiltGrayBitmap(img.getDataWord(dn), img.get_cols(dn), img.get_rows(dn));
}
else if (dn == DataNames.RAN_CAL)
{
f.Text = "标定后的高度图像 | Calibrated Range Image";
src = BuiltGrayBitmap(img.getDataFloat(dn), img.get_cols(dn), img.get_rows(dn));
}
else if (dn == DataNames.REF)
{
f.Text = "激光强度图像 | Reflectance Image";
src = BuiltGrayBitmap(img.getDataByte(dn), img.get_cols(dn), img.get_rows(dn));
}
else if (dn == DataNames.REF_CAL)
{
f.Text = "标定后的激光强度图像 | Calibrated Reflectance Image";
src = BuiltGrayBitmap(img.getDataByte(dn), img.get_cols(dn), img.get_rows(dn));
}
IntPtr pp = new IntPtr();
Size imgSize = new Size(src.Width / 3, src.Height / 3);
f.BackgroundImage = src.GetThumbnailImage(imgSize.Width, imgSize.Height, null, pp);
f.Size = new Size(imgSize.Width, imgSize.Height + 30);
f.MaximumSize = new Size(imgSize.Width, imgSize.Height + 30);
f.Show();
}
}
}
private void GrabImageTimer(object sender, System.Timers.ElapsedEventArgs e)
{
// 响应停止请求
if (m_reqStop == 0)
{
m_reqStop = 1;
myTimer.Enabled = false;
}
if (R3(m_ip).getStatus() == CAM_STATUS.CAM_IS_STARTED && R3(m_ip).isGrabbed())
{
CSImgT imgTable = new CSImgT();
if (R3(m_ip).getImageData(imgTable) == CAM_STATUS.All_OK)
{
Bitmap imgGray;
// 读取图片 convert image to show
var mode = GetGrabMode();
if (!imgTable.has(mode))
{
return;
}
switch (mode)
{
case DataNames.SEN:
imgGray = BuiltGrayBitmap(
imgTable.getDataByte(mode),
imgTable.getS_cols(),
imgTable.getS_rows()
);
break;
case DataNames.REF:
case DataNames.SCA:
case DataNames.REF_CAL:
case DataNames.SCA_CAL:
case DataNames.REF2:
case DataNames.SCA2:
case DataNames.REF2_CAL:
case DataNames.SCA2_CAL:
imgGray = BuiltGrayBitmap(
imgTable.getDataByte(mode),
imgTable.getR_cols(),
imgTable.getR_rows()
);
break;
case DataNames.RAN:
case DataNames.RAN2:
imgGray = BuiltGrayBitmap(
imgTable.getDataWord(mode),
imgTable.getR_cols(),
imgTable.getR_rows()
);
break;
case DataNames.RAN_CAL:
case DataNames.RAN2_CAL:
imgGray = BuiltGrayBitmap(
imgTable.getDataFloat(mode),
imgTable.getR_cols(),
imgTable.getR_rows()
);
break;
default:
imgTable.Dispose();
return;
}
// 显示图片 Show Image
// Code below will cost a lot of memory.
// This is a side effect of C# gc.
#if true
System.Drawing.Image imgShow = System.Drawing.Image.FromHbitmap(imgGray.GetHbitmap());
pictureBox1.BackgroundImage = imgShow.GetThumbnailImage(pictureBox1.Size.Width, pictureBox1.Size.Height, null, IntPtr.Zero);
imgShow.Dispose();
imgGray.Dispose();
imgShow = null;
imgGray = null;
GC.Collect();
GC.WaitForPendingFinalizers();
#endif
lock (m_imgLocker)
{
m_lastImg._deepCopy(imgTable);
}
// 响应停止请求
if (m_reqStop == 0)
{
m_reqStop = 1;
myTimer.Enabled = false;
}
// show ID
wFlog(imgTable.get_ID().ToString());
}
imgTable.Dispose();
GC.Collect();
GC.WaitForPendingFinalizers();
}
}
static bool test_CS_CPP_ShowImage(bool isPrintToScream = true, int nImg = 5)
{
bool enable_CPP_Grab_thread = true;
// --- test CSR3S. (Please note: "CS" = C_Sharp, "R3S" = Ranger3_Shared_runtime_environment, So "CSR3S" = class of C_Sharp_Ranger3_Shared_runtime_environment.)
String logPath = "D:\\log.txt";
String ctiPath = "";
bool isPrintLog = isPrintToScream;
bool isWriteLog = true;
GenICam3D r3s = new GenICam3D(logPath, ctiPath, isPrintLog, isWriteLog);
String[] IPs = r3s.getConDevListIP();
String[] Nas = r3s.getConDevList();
var scanRes = r3s.scanDevice();
// --- test CSR3. (Please note: "CS" = C_Sharp, "R3" = Ranger3, So "CSR3" = class of C_Sharp_Ranger3.)
String mac = "0006770c69e1";
Ranger3 r3 = new Ranger3(mac, false);
/// CSR3 r3 = new CSR3(IPs[0], true);
if (r3.isReady() != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera is not ready!");
return(false);
}
/// If program might last time, camera status will be incorrect. re-conencting to make it ready!
/// Debug tips.
r3.connectCamera(false);
r3.disconnectCamera();
var camStatus = r3.connectCamera(enable_CPP_Grab_thread);
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera connecting failed!");
return(false);
}
/// test CS getting paramters info
if (r3.updateParamtersInfo() == false)
{
return(false);
}
String[] CategoryList = r3.paramCategoryList();
String[] FullNameList = r3.paramFullNameList();
int fnId = 0;
unit_test_print(isPrintToScream, "");
unit_test_print(isPrintToScream, "--------------");
foreach (String cate in CategoryList)
{
unit_test_print(isPrintToScream, "|");
unit_test_print(isPrintToScream, "---- Cate: {0}", cate);
String[] categries = r3.paramFullNameOfCategory(cate);
foreach (String fn in categries)
{
unit_test_print(isPrintToScream, " |"); unit_test_print(isPrintToScream, " --- FullName: {0}", fn);
unit_test_print(isPrintToScream, " |"); unit_test_print(isPrintToScream, " --- CurrentValue: {0}", r3.paramCurrentValue(fn));
unit_test_print(isPrintToScream, " |"); unit_test_print(isPrintToScream, " --- Optional values:");
String[] opt = r3.paramOptionalValues(fn, ref fnId);
foreach (String sub in opt)
{
unit_test_print(isPrintToScream, " |");
unit_test_print(isPrintToScream, " ---- {0}", sub);
}
}
}
// --- test CSR3 setting paramters info
///r3.setParameterValue("DeviceScanType", "Linescan3D"); /// 3D Range image
r3.setParameterValue("DeviceScanType", "Areascan"); /// 2D Sensor image
camStatus = r3.startCamera();
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera starting failed!");
return(false);
}
// --- test CSR3 acquisition
Thread.Sleep(1000);
int i = 0;
while (true)
{
if (r3.isGrabbed())
{
// --- test CS ImgT
CSImgT imgT = new CSImgT();
camStatus = r3.getImageData(imgT);
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera get data failed!");
return(false);
}
//读取图片
byte[] senImage = imgT.getDataByte(DataNames.SEN);
var img2 = BuiltGrayBitmap(senImage, 2560, 832);
//显示图片
System.Drawing.Image imgXXXX = System.Drawing.Image.FromHbitmap(img2.GetHbitmap());
++i;
}
else
{
Thread.Sleep(50);
}
if (i == nImg)
{
break;
}
}
camStatus = r3.stopCamera();
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera stopping failed!");
return(false);
}
camStatus = r3.disconnectCamera();
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera disconnecting failed!");
return(false);
}
// --- delete variable.
r3s.Dispose();
return(true);
}
/////////////////////////////////////////////////////////////////////////////////////
static bool test_CS_basic_functions(bool isPrintToScream = true)
{
bool enable_CPP_Grab_thread = false;
// --- test CSR3S. (Please note: "CS" = C_Sharp, "R3S" = Ranger3_Shared_runtime_environment, So "CSR3S" = class of C_Sharp_Ranger3_Shared_runtime_environment.)
String logPath = "D:\\log.txt";
String ctiPath = "";
bool isPrintLog = isPrintToScream;
bool isWriteLog = true;
GenICam3D r3s = new GenICam3D(logPath, ctiPath, isPrintLog, isWriteLog);
String[] IPs = r3s.getConDevListIP();
String[] Nas = r3s.getConDevList();
var scanRes = r3s.scanDevice();
// --- test CSR3. (Please note: "CS" = C_Sharp, "R3" = Ranger3, So "CSR3" = class of C_Sharp_Ranger3.)
String mac = "0006770c69e1";
Ranger3 r3 = new Ranger3(mac, false);
/// CSR3 r3 = new CSR3(IPs[0], true);
if (r3.isReady() != CAM_STATUS.All_OK)
{
if (isPrintToScream)
{
unit_test_print(isPrintToScream, "Camera is not ready!");
}
return(false);
}
var camStatus = r3.connectCamera(enable_CPP_Grab_thread);
if (camStatus != CAM_STATUS.All_OK)
{
if (isPrintToScream)
{
unit_test_print(isPrintToScream, "Camera connecting failed!");
}
return(false);
}
/// test CS getting paramters info
if (r3.updateParamtersInfo() == false)
{
return(false);
}
String[] CategoryList = r3.paramCategoryList();
String[] FullNameList = r3.paramFullNameList();
int fnId = 0;
unit_test_print(isPrintToScream, "");
unit_test_print(isPrintToScream, "--------------");
foreach (String cate in CategoryList)
{
unit_test_print(isPrintToScream, "|");
unit_test_print(isPrintToScream, "---- Cate: {0}", cate);
String[] categries = r3.paramFullNameOfCategory(cate);
foreach (String fn in categries)
{
unit_test_print(isPrintToScream, " |"); unit_test_print(isPrintToScream, " --- FullName: {0}", fn);
unit_test_print(isPrintToScream, " |"); unit_test_print(isPrintToScream, " --- CurrentValue: {0}", r3.paramCurrentValue(fn));
unit_test_print(isPrintToScream, " |"); unit_test_print(isPrintToScream, " --- Optional values:");
String[] opt = r3.paramOptionalValues(fn, ref fnId);
foreach (String sub in opt)
{
unit_test_print(isPrintToScream, " |");
unit_test_print(isPrintToScream, " ---- {0}", sub);
}
}
}
// --- test CSR3 setting paramters info
///r3.setParameterValue("DeviceScanType", "Linescan3D"); /// 3D Range image
r3.setParameterValue("DeviceScanType", "Areascan"); /// 2D Sensor image
camStatus = r3.startCamera();
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera starting failed!");
return(false);
}
// --- test CSR3 acquisition
Thread.Sleep(1000);
// --- test CS ImgT
CSImgT imgT = new CSImgT();
camStatus = r3.getImageData(imgT);
for (DataNames i = 0; i < DataNames.SCA2_CAL; ++i)
{
unit_test_print(isPrintToScream, imgT.DN2Str(i));
}
// --- test CSR3 ImgT data array
byte[] senData = imgT.getDataByte(DataNames.SEN);
// --- test CSImgT data info getting
int S_cols = imgT.getS_cols();
int S_rows = imgT.getS_rows();
int S_OffsetX = imgT.getS_OffsetX();
int S_OffsetY = imgT.getS_OffsetY();
int R_cols = imgT.getR_cols();
int R_rows = imgT.getR_rows();
int R_AoiOffsetX = imgT.getR_AoiOffsetX();
int R_AoiOffsetY = imgT.getR_AoiOffsetY();
int R_AoiHeight = imgT.getR_AoiHeight();
int R_AoiWidth = imgT.getR_AoiWidth();
bool R_RangeAxis = imgT.getR_RangeAxis();
int C_cols = imgT.getC_cols();
int C_rows = imgT.getC_rows();
double C_offsetX = imgT.getC_offsetX();
double C_offsetY = imgT.getC_offsetY();
double C_scaleX = imgT.getC_scaleX();
double C_scaleY = imgT.getC_scaleY();
double C_lower_bound_x = imgT.getC_lower_bound_x();
double C_upper_bound_x = imgT.getC_upper_bound_x();
double C_lower_bound_r = imgT.getC_lower_bound_r();
double C_upper_bound_r = imgT.getC_upper_bound_r();
/// test CS ImgT data info getting
int id = imgT.get_ID();
bool isE = imgT.isEmpty();
bool hasS = imgT.has(DataNames.SEN);
bool hasR = imgT.has(DataNames.RAN);
bool hasCI = imgT.has_ChunkInfo();
bool saveSenOk = imgT.SaveToIconFile("D:\\sen", DataNames.SEN);
bool saveRanOk = imgT.SaveToIconFile("D:\\ran", DataNames.RAN);
bool saveRacOk = imgT.SaveToIconFile("D:\\rac", DataNames.RAN_CAL);
camStatus = r3.stopCamera();
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera stopping failed!");
return(false);
}
camStatus = r3.disconnectCamera();
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera disconnecting failed!");
return(false);
}
return(true);
}
static bool test_CS_CPP_Graber_thread(bool isPrintToScream = true, int nImg = 5)
{
bool enable_CPP_Grab_thread = true;
// --- test CSR3S. (Please note: "CS" = C_Sharp, "R3S" = Ranger3_Shared_runtime_environment, So "CSR3S" = class of C_Sharp_Ranger3_Shared_runtime_environment.)
String logPath = "D:\\log.txt";
String ctiPath = "";
bool isPrintLog = isPrintToScream;
bool isWriteLog = true;
GenICam3D r3s = new GenICam3D(logPath, ctiPath, isPrintLog, isWriteLog);
String[] IPs = r3s.getConDevListIP();
String[] Nas = r3s.getConDevList();
var scanRes = r3s.scanDevice();
// --- test CSR3. (Please note: "CS" = C_Sharp, "R3" = Ranger3, So "CSR3" = class of C_Sharp_Ranger3.)
///String mac = "0006770c69e1";
///Ranger3 r3 = new Ranger3(mac, false);
Ranger3 r3 = new Ranger3(IPs[0], true);
if (r3.isReady() != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera is not ready!");
return(false);
}
/// If program might last time, camera status will be incorrect. re-conencting to make it ready!
///Debug tips.
r3.connectCamera(false);
r3.disconnectCamera();
var camStatus = r3.connectCamera(enable_CPP_Grab_thread);
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera connecting failed!");
return(false);
}
/// test CS getting paramters info
if (r3.updateParamtersInfo() == false)
{
return(false);
}
String[] CategoryList = r3.paramCategoryList();
String[] FullNameList = r3.paramFullNameList();
int fnId = 0;
unit_test_print(isPrintToScream, "");
unit_test_print(isPrintToScream, "--------------");
foreach (String cate in CategoryList)
{
unit_test_print(isPrintToScream, "|");
unit_test_print(isPrintToScream, "---- Cate: {0}", cate);
String[] categries = r3.paramFullNameOfCategory(cate);
foreach (String fn in categries)
{
unit_test_print(isPrintToScream, " |"); unit_test_print(isPrintToScream, " --- FullName: {0}", fn);
unit_test_print(isPrintToScream, " |"); unit_test_print(isPrintToScream, " --- CurrentValue: {0}", r3.paramCurrentValue(fn));
unit_test_print(isPrintToScream, " |"); unit_test_print(isPrintToScream, " --- Optional values:");
String[] opt = r3.paramOptionalValues(fn, ref fnId);
foreach (String sub in opt)
{
unit_test_print(isPrintToScream, " |");
unit_test_print(isPrintToScream, " ---- {0}", sub);
}
}
}
// --- test CSR3 setting paramters info
///r3.setParameterValue("DeviceScanType", "Linescan3D"); /// 3D Range image
r3.setParameterValue("DeviceScanType", "Areascan"); /// 2D Sensor image
// --- Memory using check: X Mb before starting
camStatus = r3.startCamera();
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera starting failed!");
return(false);
}
// --- test CSR3 acquisition
Thread.Sleep(1000);
int i = 0;
#if true
while (true)
{
if (r3.isGrabbed())
{
// --- test CS ImgT
CSImgT imgT = new CSImgT();
camStatus = r3.getImageData(imgT);
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera get data failed!");
return(false);
}
test_CS_CPP_Graber_thread_process_img(isPrintToScream, imgT);
// --- Important to list these code here and collect memory allocating to imgT.
imgT.Dispose();
GC.Collect();
GC.WaitForFullGCComplete();
++i;
}
else
{
Thread.Sleep(50);
}
if (i == nImg)
{
break;
}
}
#else
while (true)
{
Thread.Sleep(50);
++i;
Console.WriteLine("i = {0}", i);
if (i == nImg)
{
break;
}
}
#endif
// --- Memory using check: around X Mb after stopping.
camStatus = r3.stopCamera();
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera stopping failed!");
return(false);
}
camStatus = r3.disconnectCamera();
if (camStatus != CAM_STATUS.All_OK)
{
unit_test_print(isPrintToScream, "Camera disconnecting failed!");
return(false);
}
// --- delete variable.
r3s.Dispose();
return(true);
}
