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 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();
}
}
