public void update_state()
{
usage.Update("Update entry state " + svs_state.ToString() + ", SurveyorVisionStereo, update_state");
if ((camera[0].Running) &&
(camera[1].Running))
{
TimeSpan diff;
switch (svs_state)
{
case SVS_STATE_GRAB_IMAGES:
{
int time_step_mS = (int)(1000 / fps);
diff = DateTime.Now.Subtract(svs_state_last);
if (diff.TotalMilliseconds > time_step_mS)
{
svs_state_last = DateTime.Now;
// enable embedded stereo
TimeSpan diff2 = DateTime.Now.Subtract(embedded_last_enabled_disabled);
if (enable_embedded)
{
if (diff2.TotalSeconds > EMBEDDED_TIMEOUT_SEC)
{
enable_embedded = false;
}
camera[0].Embedded = true;
camera[1].Embedded = true;
camera[0].EnableEmbeddedStereo();
//Console.WriteLine("Embedded stereo enabled");
}
// disable embedded stereo
if (disable_embedded)
{
if (diff2.TotalSeconds > EMBEDDED_TIMEOUT_SEC)
{
enable_embedded = false;
}
camera[0].Embedded = false;
camera[1].Embedded = false;
camera[0].DisableEmbeddedStereo();
//Console.WriteLine("Embedded stereo disabled");
}
// pause or resume grabbing frames from the cameras
bool is_paused = false;
if (correspondence != null)
{
if ((!UpdateWhenClientsConnected) ||
((UpdateWhenClientsConnected) && (correspondence.GetNoOfClients() > 0)))
{
is_paused = false;
}
else
{
is_paused = true;
}
}
if ((Pause) || (is_paused))
{
Console.WriteLine("Paused");
}
if (((!is_paused) || (Pause)) &&
((diff2.TotalSeconds > EMBEDDED_TIMEOUT_SEC) || (first_frame_request)))
{
// request images
camera[0].RequestFrame();
camera[1].RequestFrame();
if ((camera[0].send_command != null) && (camera[0].send_command != ""))
{
svs_state = SVS_STATE_GRAB_IMAGES;
}
else
{
svs_state = SVS_STATE_RECEIVE_IMAGES;
if (first_frame_request)
{
Console.WriteLine("Frames requested");
first_frame_request = false;
}
}
}
}
break;
}
case SVS_STATE_RECEIVE_IMAGES:
{
// both frames arrived
if ((camera[0].frame_arrived) &&
(camera[1].frame_arrived))
{
bmp_state_left = (Bitmap)camera[0].current_frame;
bmp_state_right = (Bitmap)camera[1].current_frame;
if ((bmp_state_left != null) &&
(bmp_state_right != null))
{
// proceed to process the images
svs_state = SVS_STATE_PROCESS_IMAGES;
}
else
{
// images were invalid - try again
svs_state = SVS_STATE_GRAB_IMAGES;
}
}
else
{
int timeout_mS = 1000;
diff = DateTime.Now.Subtract(svs_state_last);
if (diff.TotalMilliseconds > timeout_mS)
{
// timed out - request images again
Console.WriteLine("Timed out waiting for images");
svs_state = SVS_STATE_GRAB_IMAGES;
}
}
break;
}
case SVS_STATE_PROCESS_IMAGES:
{
if (bmp_state_left != null)
{
image_width = bmp_state_left.Width;
if (bmp_state_left != null)
{
image_height = bmp_state_left.Height;
//busy_processing = true;
if (calibration_pattern != null)
{
if (!show_left_image)
{
SurveyorCalibration.DetectDots(bmp_state_left, ref edge_detector, calibration_survey[0], ref edges, ref linked_dots, ref grid, ref grid_diff, ref rectified[0]);
}
else
{
SurveyorCalibration.DetectDots(bmp_state_right, ref edge_detector, calibration_survey[1], ref edges, ref linked_dots, ref grid, ref grid_diff, ref rectified[1]);
}
}
RectifyImages(bmp_state_left, bmp_state_right);
Process(bmp_state_left, bmp_state_right);
// save images to file
if (Record)
{
string path = "";
if ((recorded_images_path != null) &&
(recorded_images_path != ""))
{
if (recorded_images_path.EndsWith("/"))
{
path = recorded_images_path;
}
else
{
path = recorded_images_path + "/";
}
}
RecordFrameNumber++;
DateTime t = DateTime.Now;
LogEvent(t, "RAW_L " + stereo_camera_index.ToString() + " raw0_" + RecordFrameNumber.ToString() + ".jpg", image_log);
LogEvent(t, "RAW_R " + stereo_camera_index.ToString() + " raw1_" + RecordFrameNumber.ToString() + ".jpg", image_log);
bmp_state_left.Save(path + "raw0_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
bmp_state_right.Save(path + "raw1_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
if ((rectified[0] != null) && (rectified[0] != null))
{
LogEvent(t, "REC_L " + stereo_camera_index.ToString() + " rectified0_" + RecordFrameNumber.ToString() + ".jpg", image_log);
LogEvent(t, "REC_R " + stereo_camera_index.ToString() + " rectified1_" + RecordFrameNumber.ToString() + ".jpg", image_log);
rectified[0].Save(path + "rectified0_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
rectified[1].Save(path + "rectified1_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
}
}
}
}
svs_state = SVS_STATE_GRAB_IMAGES;
break;
}
}
if (prev_svs_state != svs_state)
{
string msg = "";
switch (svs_state)
{
case SVS_STATE_GRAB_IMAGES: { msg = "grab images"; break; }
case SVS_STATE_RECEIVE_IMAGES: { msg = "images received"; break; }
case SVS_STATE_PROCESS_IMAGES: { msg = "process images"; break; }
}
//if (Verbose)
//Console.WriteLine(msg);
}
if (svs_state != prev_svs_state)
{
//Console.WriteLine("svs_state = " + svs_state.ToString());
}
prev_svs_state = svs_state;
}
usage.Update("Update exit state " + svs_state.ToString() + ", SurveyorVisionStereo, update_state");
//usage.ExportAsDot("debug.dot", true, true);
}
protected void GrabWindows()
{
string filename = "capture";
// append temporary files path if specified
if ((temporary_files_path != null) &&
(temporary_files_path != ""))
{
if (temporary_files_path.EndsWith("\\"))
{
filename = temporary_files_path + filename;
}
else
{
filename = temporary_files_path + "\\" + filename;
}
}
// Extract numbers from the camera device names
// This is ised to uniquely identify devices so that
// potentially more than one stereo camera could be running
// at the same time
string identifier = "";
for (int cam = 0; cam < 2; cam++)
{
char[] ch = camera_device[cam].ToCharArray();
for (int i = 0; i < ch.Length; i++)
{
if ((ch[i] >= '0') && (ch[i] <= '9'))
{
identifier += ch[i];
}
}
}
filename += identifier;
if (dsCameras == null)
{
dsCameras = new WebcamVisionDirectShow();
dsCameras.camera_devices = camera_device[0] + "," + camera_device[1];
if (image_width > 0)
{
dsCameras.image_width = image_width;
dsCameras.image_height = image_height;
}
dsCameras.Open();
}
// set the camera index
dsCameras.stereo_camera_index = stereo_camera_index;
// whether to use pause or stop on the media control
dsCameras.use_pause = use_media_pause;
// acquire new images
dsCameras.Grab();
// set exposure
dsCameras.exposure = exposure;
// define exposure range for the camera
dsCameras.min_exposure = min_exposure;
dsCameras.max_exposure = max_exposure;
if ((dsCameras.left_image_bitmap != null) &&
(dsCameras.right_image_bitmap != null))
{
// grab the data from the captured images
Bitmap[] bmp = new Bitmap[2];
for (int cam = 0; cam < 2; cam++)
{
try
{
if (cam == 0)
{
bmp[cam] = dsCameras.left_image_bitmap;
}
else
{
bmp[cam] = dsCameras.right_image_bitmap;
}
}
catch
{
bmp[cam] = null;
}
if (bmp[cam] == null)
{
break;
}
try
{
image_width = bmp[cam].Width;
image_height = bmp[cam].Height;
}
catch
{
bmp[cam] = null;
}
//byte[] raw_image_data = new byte[image_width * image_height * 3];
//BitmapArrayConversions.updatebitmap(bmp[cam], raw_image_data);
}
if ((bmp[0] != null) && (bmp[1] != null))
{
if (calibration_pattern != null)
{
if (!show_left_image)
{
SurveyorCalibration.DetectDots(bmp[0], ref edge_detector, calibration_survey[0], ref edges, ref linked_dots, ref grid, ref grid_diff, ref rectified[0]);
}
else
{
SurveyorCalibration.DetectDots(bmp[1], ref edge_detector, calibration_survey[1], ref edges, ref linked_dots, ref grid, ref grid_diff, ref rectified[1]);
}
}
RectifyImages(bmp[0], bmp[1]);
Process(bmp[0], bmp[1]);
// save images to file
if (Record)
{
string path = "";
if ((recorded_images_path != null) &&
(recorded_images_path != ""))
{
if (recorded_images_path.EndsWith("\\"))
{
path = recorded_images_path;
}
else
{
path = recorded_images_path + "\\";
}
}
RecordFrameNumber++;
DateTime t = DateTime.Now;
LogEvent(t, "RAW_L " + stereo_camera_index.ToString() + " raw" + identifier + "_0_" + RecordFrameNumber.ToString() + ".jpg", image_log);
LogEvent(t, "RAW_R " + stereo_camera_index.ToString() + " raw" + identifier + "_1_" + RecordFrameNumber.ToString() + ".jpg", image_log);
bmp[0].Save(path + "raw" + identifier + "_0_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
bmp[1].Save(path + "raw" + identifier + "_1_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
if ((rectified[0] != null) && (rectified[0] != null))
{
LogEvent(t, "REC_L " + stereo_camera_index.ToString() + " rectified" + identifier + "_0_" + RecordFrameNumber.ToString() + ".jpg", image_log);
LogEvent(t, "REC_R " + stereo_camera_index.ToString() + " rectified" + identifier + "_1_" + RecordFrameNumber.ToString() + ".jpg", image_log);
rectified[0].Save(path + "rectified" + identifier + "_0_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
rectified[1].Save(path + "rectified" + identifier + "_1_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
}
}
}
else
{
for (int i = 0; i < 2; i++)
{
if (bmp[i] == null)
{
Console.WriteLine("Warning: Did not acquire image from " + camera_device[i]);
}
}
}
try
{
if (bmp[0] != null)
{
bmp[0].Dispose();
}
if (bmp[1] != null)
{
bmp[1].Dispose();
}
}
catch
{
}
}
if (next_camera != null)
{
active_camera = false;
Pause();
next_camera.active_camera = true;
next_camera.Resume();
}
}
protected void GrabLinux()
{
string filename = "capture";
// append temporary files path if specified
if ((temporary_files_path != null) &&
(temporary_files_path != ""))
{
if (temporary_files_path.EndsWith("/"))
{
filename = temporary_files_path + filename;
}
else
{
filename = temporary_files_path + "/" + filename;
}
}
// Extract numbers from the camera device names
// This is ised to uniquely identify devices so that
// potentially more than one stereo camera could be running
// at the same time
string identifier = "";
for (int cam = 0; cam < 2; cam++)
{
char[] ch = camera_device[cam].ToCharArray();
for (int i = 0; i < ch.Length; i++)
{
if ((ch[i] >= '0') && (ch[i] <= '9'))
{
identifier += ch[i];
}
}
}
filename += identifier;
string command_str = "fswebcam -q -d " + camera_device[0] + "," + camera_device[1];
command_str += " -r " + image_width.ToString() + "x" + image_height.ToString();
command_str += " --no-banner";
command_str += " -S " + skip_frames.ToString();
if (exposure > 0)
{
command_str += " -s brightness=" + exposure.ToString() + "%";
}
command_str += " --save " + filename + "_.jpg";
// fswebcam -q -d /dev/video1,/dev/video2 -r 320x240 --no-banner -S 2 -s brightness=50% --save capture12_.jpg
if (capture_utility == "v4l2stereo")
{
command_str = "v4l2stereo --dev0 " + camera_device[0] + " ";
command_str += "--dev1 " + camera_device[1] + " ";
if (flip_left_image)
{
command_str += "--flipleft ";
}
if (flip_right_image)
{
command_str += "--flipright ";
}
command_str += "--save " + filename + "_ ";
}
Console.WriteLine("");
Console.WriteLine("");
Console.WriteLine(command_str);
Console.WriteLine("");
Console.WriteLine("");
string left_image_filename = filename + "_0.jpg";
string right_image_filename = filename + "_1.jpg";
// delete any existing images
for (int cam = 0; cam < 2; cam++)
{
if (File.Exists(filename + "_" + cam.ToString() + ".jpg"))
{
try
{
File.Delete(filename + "_" + cam.ToString() + ".jpg");
}
catch
{
}
}
}
bool command_succeeded = false;
Process proc = new Process();
proc.EnableRaisingEvents = false;
proc.StartInfo.FileName = command_str;
try
{
proc.Start();
command_succeeded = true;
}
catch
{
}
if (!command_succeeded)
{
Console.WriteLine("Command failed. fswebcam may not be installed.");
}
else
{
//proc.WaitForExit();
proc.Close();
// wait for the file to appear
const int timeout_secs = 10;
DateTime start_time = DateTime.Now;
int seconds_elapsed = 0;
while (((!File.Exists(left_image_filename)) ||
(!File.Exists(right_image_filename))) &&
(seconds_elapsed < timeout_secs))
{
System.Threading.Thread.Sleep(50);
TimeSpan diff = DateTime.Now.Subtract(start_time);
seconds_elapsed = (int)diff.TotalSeconds;
}
if ((File.Exists(left_image_filename)) &&
(File.Exists(right_image_filename)))
{
// grab the data from the captured images
Bitmap[] bmp = new Bitmap[2];
for (int cam = 0; cam < 2; cam++)
{
try
{
bmp[cam] = (Bitmap)Bitmap.FromFile(filename + "_" + cam.ToString() + ".jpg");
}
catch
{
bmp[cam] = null;
}
if (bmp[cam] == null)
{
break;
}
image_width = bmp[cam].Width;
image_height = bmp[cam].Height;
byte[] raw_image_data = new byte[image_width * image_height * 3];
BitmapArrayConversions.updatebitmap(bmp[cam], raw_image_data);
}
if ((bmp[0] != null) && (bmp[1] != null))
{
if (calibration_pattern != null)
{
if (!show_left_image)
{
SurveyorCalibration.DetectDots(bmp[0], ref edge_detector, calibration_survey[0], ref edges, ref linked_dots, ref grid, ref grid_diff, ref rectified[0]);
}
else
{
SurveyorCalibration.DetectDots(bmp[1], ref edge_detector, calibration_survey[1], ref edges, ref linked_dots, ref grid, ref grid_diff, ref rectified[1]);
}
}
RectifyImages(bmp[0], bmp[1]);
Process(bmp[0], bmp[1]);
// save images to file
if (Record)
{
string path = "";
if ((recorded_images_path != null) &&
(recorded_images_path != ""))
{
if (recorded_images_path.EndsWith("/"))
{
path = recorded_images_path;
}
else
{
path = recorded_images_path + "/";
}
}
RecordFrameNumber++;
DateTime t = DateTime.Now;
LogEvent(t, "RAW_L " + stereo_camera_index.ToString() + " raw" + identifier + "_0_" + RecordFrameNumber.ToString() + ".jpg", image_log);
LogEvent(t, "RAW_R " + stereo_camera_index.ToString() + " raw" + identifier + "_1_" + RecordFrameNumber.ToString() + ".jpg", image_log);
bmp[0].Save(path + "raw" + identifier + "_0_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
bmp[1].Save(path + "raw" + identifier + "_1_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
if ((rectified[0] != null) && (rectified[0] != null))
{
LogEvent(t, "REC_L " + stereo_camera_index.ToString() + " rectified" + identifier + "_0_" + RecordFrameNumber.ToString() + ".jpg", image_log);
LogEvent(t, "REC_R " + stereo_camera_index.ToString() + " rectified" + identifier + "_1_" + RecordFrameNumber.ToString() + ".jpg", image_log);
rectified[0].Save(path + "rectified" + identifier + "_0_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
rectified[1].Save(path + "rectified" + identifier + "_1_" + RecordFrameNumber.ToString() + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
}
}
}
else
{
for (int i = 0; i < 2; i++)
{
if (bmp[i] == null)
{
Console.WriteLine("Warning: Did not acquire image from " + camera_device[i]);
}
}
}
}
else
{
if (!File.Exists(left_image_filename))
{
Console.WriteLine("Timed out: File not found " + left_image_filename + ".");
}
if (!File.Exists(right_image_filename))
{
Console.WriteLine("Timed out: File not found " + right_image_filename + ".");
}
}
}
if (next_camera != null)
{
active_camera = false;
Pause();
next_camera.active_camera = true;
next_camera.Resume();
}
}
