// 主体
void RunSingleCamera(AcquireMode acquireMode)
{
try
{
// 获取图像
AcquireImages(acquireMode);
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
}
}
/// <summary>
/// Set current acquire mode of the oscilloscope.
/// </summary>
public void SetAcquireMode(AcquireMode memoryDepth)
{
Write(":ACQuire:MODE " + memoryDepth.SetterDescription());
}
void AcquireImages(AcquireMode acquireMode)
{
try
{
try
{
if (acquireMode.Equals(AcquireMode.CONTINUOUS))
{
cam.AcquisitionMode.Value = AcquisitionModeEnums.Continuous.ToString();
}
else if (acquireMode.Equals(AcquireMode.MULTIFRAME))
{
cam.AcquisitionMode.Value = AcquisitionModeEnums.MultiFrame.ToString();
cam.AcquisitionFrameCount.Value = NumImages;
}
else if (acquireMode.Equals(AcquireMode.SINGLEFRAME))
{
cam.AcquisitionMode.Value = AcquisitionModeEnums.SingleFrame.ToString();
}
//Console.WriteLine("设置获取模式-成功！");
}
catch (Exception)
{
Console.WriteLine("连续获取模式设置-失败！");
}
//
// 获取图像前
//
// *** NOTES ***
// 获取图像前的操作取决于 图像获取模式。
// Single frame captures ：单图模式只获取一张图像
// multi frame catures ：多图模式获取多张图像
// continuous captures ：连续模式获得图像流
//
// *** LATER ***
// 不需要获取图像后需要关闭图像获取
//
cam.BeginAcquisition();
//Console.WriteLine("获取图像...");
switch (acquireMode)
{
case AcquireMode.CONTINUOUS:
stopwatch2.Start();
int miss = 0;
for (int imageCnt = 0; imageCnt < 100; imageCnt++)
{
try
{
//
// 获取下一幅图像
//
// *** NOTES ***
// 获取相机缓冲器上的图像，若图像不存在则导致相机挂起
//
// 使用using关键字可以保证图像正确释放
// 缓冲器图像超出容量导致相机挂起，调用 Release() 可以手动释放图像。
//
using (IManagedImage rawImage = cam.GetNextImage())
{
//
// 确保图像的完整性
//
// *** NOTES ***
// 检测完整性，并检测错误
//
if (rawImage.IsIncomplete)
{
miss++;
Console.WriteLine("图像不完整，状态为： {0}...", rawImage.ImageStatus);
Console.WriteLine("{1} miss={0}", miss, imageCnt);
}
else
{
//
// 输出长宽
//
// *** NOTES ***
// 图像包含大量元数据，包括CRC、图像状态和偏移值等等
//
//uint width = rawImage.Width;
//uint height = rawImage.Height;
//Console.WriteLine("当前图像 {0}, width = {1}, height = {2}", imageCnt, width, height);
//
// 转换为8位单通道
//
// *** NOTES ***
// 图像格式可以在已有枚举间任意转换
// 与原始图像不同，转换的图像无需释放且不影响图像缓冲器
//
// using避免内存溢出.
//
using (IManagedImage convertedImage = rawImage.Convert(PixelFormatEnums.Mono8))
{
//显示
//ImageBox.Source = ToBitmapSource(convertedImage.bitmap);
}
}
}
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
}
}
Console.WriteLine("miss:{0} in 1000", miss);
stopwatch2.Stop();
Console.WriteLine("time:{0}", stopwatch2.ElapsedMilliseconds / 100.0);
stopwatch2.Reset();
break;
case AcquireMode.MULTIFRAME:
for (int imageCnt = 0; imageCnt < NumImages; imageCnt++)
{
try
{
using (IManagedImage rawImage = cam.GetNextImage())
{
if (rawImage.IsIncomplete)
{
Console.WriteLine("图像不完整，状态为： {0}...", rawImage.ImageStatus);
}
else
{
uint width = rawImage.Width;
uint height = rawImage.Height;
Console.WriteLine("当前图像 {0}, width = {1}, height = {2}", imageCnt, width, height);
using (IManagedImage convertedImage = rawImage.Convert(PixelFormatEnums.Mono8))
{
ImageBox.Source = ToBitmapSource(convertedImage.bitmap);
String filename = SavePath + "/" + "Acquisition-CSharp-";
if (deviceSerialNumber != "")
{
filename = filename + deviceSerialNumber + "-";
}
filename = filename + imageCnt + ".jpg";
convertedImage.Save(filename);
//Console.WriteLine("图像 {0} 已储存\n", filename);
}
}
}
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
}
}
break;
case AcquireMode.SINGLEFRAME:
try
{
//stopwatch2.Start();
using (IManagedImage rawImage = cam.GetNextImage())
{
if (rawImage.IsIncomplete)
{
Console.WriteLine("图像不完整，状态为： {0}...", rawImage.ImageStatus);
}
else
{
int width = (int)rawImage.Width;
int height = (int)rawImage.Height;
Console.WriteLine("当前图像 {0}, width = {1}, height = {2}", 0, width, height);
//Matrix<double> cameraMat = new Matrix<double>(3, 3);
//cameraMat.Data[0, 0] = 2578.42; cameraMat.Data[0, 1] = 0; cameraMat.Data[0, 2] = 1266.60;
//cameraMat.Data[1, 0] = 0; cameraMat.Data[1, 1] = 2491.45; cameraMat.Data[1, 2] = 1111.35;
//cameraMat.Data[2, 0] = 0; cameraMat.Data[2, 1] = 0; cameraMat.Data[2, 2] = 1;
//Matrix<double> distortionMat = new Matrix<double>(1, 4);
//distortionMat.Data[0, 0] = -0.078470991609759;
//distortionMat.Data[0, 1] = 0.109106631527471;
//distortionMat.Data[0, 2] = 0;
//distortionMat.Data[0, 3] = 0;
//Matrix<double> mapxMat = new Matrix<double>(height, width);
//Matrix<double> mapyMat = new Matrix<double>(height, width);
//CvInvoke.InitUndistortRectifyMap(cameraMat, distortionMat, null, cameraMat, new System.Drawing.Size((int)width, (int)height), DepthType.Cv8U, mapxMat,mapyMat);
using (IManagedImage convertedImage = rawImage.Convert(PixelFormatEnums.Mono8))
{
//ManagedImage currentImage = new ManagedImage(convertedImage);
//畸变矫正
//CvInvoke.Remap(convertedImage, currentImage, mapxMat, mapyMat, Inter.Linear);
//显示
ImageBox.Source = ToBitmapSource(convertedImage.bitmap);
//检测高亮点
IntPtr imgPtr = convertedImage.DataPtr;
byte maxPiexl;
double X_ind, Y_ind;
List <double[, ]> list = new List <double[, ]>();
for (int y = 0; y < height; y++)
{
//mono8格式，忽略边缘两个像素
maxPiexl = Marshal.ReadByte(imgPtr, (int)(y * width + 2));
X_ind = 2;
Y_ind = y;
for (int x = 3; x < width - 2; x++)
{
byte currentPiexl = Marshal.ReadByte(imgPtr, (int)(y * width + x));
if (currentPiexl > maxPiexl)
{
maxPiexl = currentPiexl;
X_ind = x;
Y_ind = y;
}
}
if (maxPiexl < acceptPointValue.slider.Value)
{
continue;
}
//重心法求光心，取邻域2个像素距离
byte piexel0 = Marshal.ReadByte(imgPtr, (int)(Y_ind * width + X_ind - 2));
byte piexel1 = Marshal.ReadByte(imgPtr, (int)(Y_ind * width + X_ind - 1));
byte piexel2 = Marshal.ReadByte(imgPtr, (int)(Y_ind * width + X_ind + 1));
byte piexel3 = Marshal.ReadByte(imgPtr, (int)(Y_ind * width + X_ind + 2));
X_ind = (piexel0 * (X_ind - 2) + piexel1 * (X_ind - 1) + maxPiexl * X_ind + piexel2 * (X_ind + 1) + piexel3 * (X_ind + 2)) / (piexel0 + piexel1 + maxPiexl + piexel2 + piexel3);
//Console.WriteLine("(x,y)=>({0},{1})", X_ind, Y_ind);
//距离计算
double halfHeightPic = 1111.35;
double halfWidthPic = 1266.60;
//全部转换为mm
double perPiexl = 3.45 / 1000.0; //单位像素大小
double f = 8.596; //8.596;//焦距
double s = 265; //基线长度
double beta0 = 90 * Math.PI / 180; //初始度数
//double epsilon = 0 * Math.PI / 180;
//double offset0 = -halfWidthPic* perPiexl;//待拟合
double beta1;
double _d, _f, d, offset;
_f = f / Math.Cos(Math.Atan(Math.Abs(Y_ind - halfHeightPic) * perPiexl / f));
//offset = offset0 + f * (Math.Tan(epsilon + Math.PI/2 - beta0) - Math.Tan(Math.PI/2 - beta0));
offset = f / Math.Tan(beta0);
//beta1 = Math.Atan(_f / (halfWidthPic*perPiexl + offset));
beta1 = Math.Atan(_f / offset);
_d = s * _f / ((X_ind - halfWidthPic) * perPiexl + offset);
d = f * s / ((X_ind - halfWidthPic) * perPiexl + offset);
double xx, yy, zz;
xx = _d * Math.Tan(Math.PI / 2 - beta1);
yy = _d * Math.Sin(Math.Atan(Math.Abs(Y_ind - halfHeightPic) * perPiexl / f));
zz = d;
double[,] xyz = new double[1, 3];
xyz[0, 0] = beta0 > Math.PI / 2 ? xx : -xx;
xyz[0, 1] = Y_ind > halfHeightPic ? yy : -yy;
xyz[0, 2] = zz;
list.Add(xyz);
Console.WriteLine("[{3}\t,{4}\t](x,y,z)=>({0}\t,{1}\t,{2}\t)", Math.Round(xyz[0, 0], 3), Math.Round(xyz[0, 1], 3), Math.Round(xyz[0, 2], 3), Y_ind, Math.Round(X_ind, 3));//math.round(x,3)保留3为小数
}
//保存list
Util.PLYUtil ply = new Util.PLYUtil(".");
ply.PLYWriter(list, "raw.ply");
}
}
}
Console.WriteLine("获取单张显示计算耗时：{0}", stopwatch2.ElapsedMilliseconds);
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
}
break;
}
//
// 结束捕获图像
//
// *** NOTES ***
// 保持设备内存干净，而不用重启设备
//
cam.EndAcquisition();
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
}
}