/// <summary>
/// Retrieve F7 info from camera
/// </summary>
/// <returns></returns>
private Format7Info QueryFormat7Info()
{
ManagedCamera camera = (ManagedCamera)m_camera;
Format7ImageSettings imageSettings = new Format7ImageSettings();
uint packetSize = 0;
float speed = 0;
camera.GetFormat7Configuration(imageSettings, ref packetSize, ref speed);
Format7Info fmt7Info = new Format7Info();
bool supported = false;
fmt7Info = camera.GetFormat7Info(imageSettings.mode, ref supported);
return(fmt7Info);
}
static void Main(string[] args)
{
PrintBuildInfo();
const Mode k_fmt7Mode = Mode.Mode0;
const PixelFormat k_fmt7PixelFormat = PixelFormat.PixelFormatMono8;
const int k_numImages = 10;
// Since this application saves images in the current folder
// we must ensure that we have permission to write to this folder.
// If we do not have permission, fail right away.
FileStream fileStream;
try
{
fileStream = new FileStream(@"test.txt", FileMode.Create);
fileStream.Close();
File.Delete("test.txt");
}
catch
{
Console.WriteLine("Failed to create file in current folder. Please check permissions.\n");
return;
}
ManagedBusManager busMgr = new ManagedBusManager();
uint numCameras = busMgr.GetNumOfCameras();
Console.WriteLine("Number of cameras detected: {0}", numCameras);
ManagedPGRGuid guid = busMgr.GetCameraFromIndex(0);
ManagedCamera cam = new ManagedCamera();
cam.Connect(guid);
// Get the camera information
CameraInfo camInfo = cam.GetCameraInfo();
PrintCameraInfo(camInfo);
// Query for available Format 7 modes
bool supported = false;
Format7Info fmt7Info = cam.GetFormat7Info(k_fmt7Mode, ref supported);
PrintFormat7Capabilities(fmt7Info);
if ((k_fmt7PixelFormat & (PixelFormat)fmt7Info.pixelFormatBitField) == 0)
{
// Pixel format not supported!
return;
}
Format7ImageSettings fmt7ImageSettings = new Format7ImageSettings();
fmt7ImageSettings.mode = k_fmt7Mode;
fmt7ImageSettings.offsetX = 0;
fmt7ImageSettings.offsetY = 0;
fmt7ImageSettings.width = fmt7Info.maxWidth;
fmt7ImageSettings.height = fmt7Info.maxHeight;
fmt7ImageSettings.pixelFormat = k_fmt7PixelFormat;
// Validate the settings to make sure that they are valid
bool settingsValid = false;
Format7PacketInfo fmt7PacketInfo = cam.ValidateFormat7Settings(
fmt7ImageSettings,
ref settingsValid);
if (settingsValid != true)
{
// Settings are not valid
return;
}
// Set the settings to the camera
cam.SetFormat7Configuration(
fmt7ImageSettings,
fmt7PacketInfo.recommendedBytesPerPacket);
// Get embedded image info from camera
EmbeddedImageInfo embeddedInfo = cam.GetEmbeddedImageInfo();
// Enable timestamp collection
if (embeddedInfo.timestamp.available == true)
{
embeddedInfo.timestamp.onOff = true;
}
// Set embedded image info to camera
cam.SetEmbeddedImageInfo(embeddedInfo);
// Start capturing images
cam.StartCapture();
// Retrieve frame rate property
CameraProperty frmRate = cam.GetProperty(PropertyType.FrameRate);
Console.WriteLine("Frame rate is {0:F2} fps", frmRate.absValue);
Console.WriteLine("Grabbing {0} images", k_numImages);
ManagedImage rawImage = new ManagedImage();
for (int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
{
// Retrieve an image
cam.RetrieveBuffer(rawImage);
// Get the timestamp
TimeStamp timeStamp = rawImage.timeStamp;
Console.WriteLine(
"Grabbed image {0} - {1} {2} {3}",
imageCnt,
timeStamp.cycleSeconds,
timeStamp.cycleCount,
timeStamp.cycleOffset);
// Create a converted image
ManagedImage convertedImage = new ManagedImage();
// Convert the raw image
rawImage.Convert(PixelFormat.PixelFormatBgr, convertedImage);
// Create a unique filename
string filename = String.Format(
"CustomImageEx_CSharp-{0}-{1}.bmp",
camInfo.serialNumber,
imageCnt);
// Get the Bitmap object. Bitmaps are only valid if the
// pixel format of the ManagedImage is RGB or RGBU.
System.Drawing.Bitmap bitmap = convertedImage.bitmap;
// Save the image
bitmap.Save(filename);
}
// Stop capturing images
cam.StopCapture();
// Disconnect the camera
cam.Disconnect();
Console.WriteLine("Done! Press any key to exit...");
Console.ReadKey();
}
// start capturing
public void startCapture(ManagedPGRGuid camGuid, int vidMode, System.Windows.Forms.PictureBox displayPicture,
String fileName, Boolean record2file)
{
int i;
Flag_GravityFound_Y = false; // garvity is not known
// CLEARING THE FRAME QUEUE NO MATTER WHAT...
FrameQueue.clear();
RecordToFile = record2file;
// creating the GPS data list
GpsCaptureData = new List <GPSDataInstance>();
// creating the IMU data List
IMUCapturedata = new List <IMUDataInstance>();
// resetting frame index
FrameIndex = 0;
// 1. connect to the camera
Cam.Connect(camGuid);
int fps_i = 0;
if (vidMode == 0)
{
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Yuv422, FrameRate.FrameRate30);
fps_i = 30;
}
else if (vidMode == 1)
{
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Rgb, FrameRate.FrameRate15);
fps_i = 15;
}
else if (vidMode == 2)
{
Format7ImageSettings fset = new Format7ImageSettings();
fset.height = 540;
fset.width = 960;
fset.offsetX = 40;
fset.offsetY = 118;
fset.mode = Mode.Mode4;
fset.pixelFormat = PixelFormat.PixelFormatRgb8;
Cam.SetFormat7Configuration(fset, 40.0f); // this equivalent to 24 fps
fps_i = 24;
}
if (RecordToFile)
{
// 3. Creating the avi recorder object
AviRecorder = new ManagedAVIRecorder();
MJPGOption option = new MJPGOption();
float fps = (float)fps_i;
option.frameRate = fps;
option.quality = 100; // 100 for superb quality
AviRecorder.AVIOpen(fileName, option);
}
// 4. setting the frame buffering option
// leave it for now...
// 5. start the capturing
Cam.StartCapture();
// MUST discard the first few frames!
ManagedImage rawImage = new ManagedImage();
for (i = 0; i < 10; i++)
{
Cam.RetrieveBuffer(rawImage);
}
// 6. set the display bitmap
DisplayPicture = displayPicture;
// 7. starting sampling, recording and dumping threads
// IMU sampling thread
IMUSamplingTimer = new PrecisionTimer(.0075, this.IMUSamplingEvent); // sampling frequency at 150 Hz
RecordingThreadActive = true;
OutOfRecordingThread = true;
IMUSamplingTimer.start();
RecordingThread = new Thread(this.mainLoop);
//RecordingThread.Priority = ThreadPriority.Highest;
RecordingThread.Start();
// creating the thread for the dumping
DumpingThread = new System.Threading.Thread(this.dumpingLoop);
while (OutOfRecordingThread)
{
; // must wait until the recording thread enters the loop, otherwise the dumping will never start!
}
DumpingThread.Start();
}
// start capturing
public void startCapture(ManagedPGRGuid camGuid, int vidMode,System.Windows.Forms.PictureBox displayPicture,
String fileName,Boolean record2file)
{
int i;
Flag_GravityFound_Y = false; // garvity is not known
// CLEARING THE FRAME QUEUE NO MATTER WHAT...
FrameQueue.clear();
RecordToFile = record2file;
// creating the GPS data list
GpsCaptureData = new List<GPSDataInstance>();
// creating the IMU data List
IMUCapturedata = new List<IMUDataInstance>();
// resetting frame index
FrameIndex = 0;
// 1. connect to the camera
Cam.Connect(camGuid);
int fps_i = 0;
if (vidMode == 0)
{
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Yuv422, FrameRate.FrameRate30);
fps_i = 30;
}
else if (vidMode == 1) {
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Rgb, FrameRate.FrameRate15);
fps_i = 15;
}
else if (vidMode == 2)
{
Format7ImageSettings fset = new Format7ImageSettings();
fset.height = 540;
fset.width = 960;
fset.offsetX = 40;
fset.offsetY = 118;
fset.mode = Mode.Mode4;
fset.pixelFormat = PixelFormat.PixelFormatRgb8;
Cam.SetFormat7Configuration(fset, 40.0f); // this equivalent to 24 fps
fps_i = 24;
}
if (RecordToFile)
{
// 3. Creating the avi recorder object
AviRecorder = new ManagedAVIRecorder();
MJPGOption option = new MJPGOption();
float fps = (float)fps_i;
option.frameRate = fps;
option.quality = 100; // 100 for superb quality
AviRecorder.AVIOpen(fileName, option);
}
// 4. setting the frame buffering option
// leave it for now...
// 5. start the capturing
Cam.StartCapture();
// MUST discard the first few frames!
ManagedImage rawImage = new ManagedImage();
for (i = 0; i < 10; i++)
{
Cam.RetrieveBuffer(rawImage);
}
// 6. set the display bitmap
DisplayPicture = displayPicture;
// 7. starting sampling, recording and dumping threads
// IMU sampling thread
IMUSamplingTimer = new PrecisionTimer(.0075, this.IMUSamplingEvent); // sampling frequency at 150 Hz
RecordingThreadActive = true;
OutOfRecordingThread = true;
IMUSamplingTimer.start();
RecordingThread = new Thread(this.mainLoop);
//RecordingThread.Priority = ThreadPriority.Highest;
RecordingThread.Start();
// creating the thread for the dumping
DumpingThread = new System.Threading.Thread(this.dumpingLoop);
while (OutOfRecordingThread); // must wait until the recording thread enters the loop, otherwise the dumping will never start!
DumpingThread.Start();
}
public void startCalibration(int vidmode, ManagedPGRGuid camGuid)
{
int i, j;
VidMode = vidmode;
// Starting the camera
// 1. connect to the camera
Cam.Connect(camGuid);
// 2. setting up the video mode
if (VidMode == 0)
{
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Yuv422, FrameRate.FrameRate30);
}
else if (VidMode == 1)
{
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Rgb, FrameRate.FrameRate15);
}
else if (VidMode == 2)
{
Format7ImageSettings fset = new Format7ImageSettings();
fset.height = 540;
fset.width = 960;
fset.offsetX = 40;
fset.offsetY = 118;
fset.mode = Mode.Mode4;
fset.pixelFormat = PixelFormat.PixelFormatRgb8;
Cam.SetFormat7Configuration(fset, 40.0f); // this equivalent to 24 fps
}
// creating the thread
CalibrationThread = new Thread(MainLoop);
// zeroing the index of frame counter
FrameCounter = 0;
// creating the point detected storage array
Points = new PointF[FrameCount][];
ObjectPoints = new MCvPoint3D32f[FrameCount][];
// showing the image viewer
//imageViewer.Show();
// clearing flag
CalibrationDone = false;
for (i=0; i<FrameCount; i++) {
ObjectPoints[i] = new MCvPoint3D32f[ChessHorizCount * ChessVertCount];
for (j=0; j<ChessVertCount * ChessHorizCount; j++) {
ObjectPoints[i][j].x = (float)(RectWidth * ( j % ChessHorizCount ));
ObjectPoints[i][j].y = (float)(RectHeight * ( j / ChessHorizCount));
ObjectPoints[i][j].z = 0;
}
}
// starting the camera capture
Cam.StartCapture();
state = ST_CALIBRATING;
CalibrationThread.Start();
}
/// <summary>
/// Set new packet size to camera
/// </summary>
private void ApplyPacketSize()
{
Format7ImageSettings currFmt7Settings = new Format7ImageSettings();
uint currPacketSize = 0;
float percentage = 0.0f;
ManagedCamera camera = (ManagedCamera)m_camera;
try
{
camera.GetFormat7Configuration(currFmt7Settings, ref currPacketSize, ref percentage);
}
catch (FC2Exception ex)
{
ShowErrorMessageDialog("Error getting current Format7 configuration", ex);
ex.Dispose();
return;
}
bool needToRestartCamera = true;
// Stop the camera
try
{
camera.StopCapture();
}
catch (FC2Exception ex)
{
if (ex.Type == ErrorType.IsochNotStarted)
{
// This means the camera was stopped and therefore we
// do not need to restart it
needToRestartCamera = false;
}
else
{
string error = string.Format("Error stopping capture. {0}", ex.Message);
Debug.WriteLine(error);
ShowErrorMessageDialog("Error stopping camera.", ex);
ex.Dispose();
return;
}
ex.Dispose();
}
try
{
// Apply same F7 settings and new packet size
camera.SetFormat7Configuration(currFmt7Settings, (uint)m_packetSizeSpinButton.Value);
}
catch (FC2Exception settingFormat7Exception)
{
ShowErrorMessageDialog("There was an error setting new packet size settings.", settingFormat7Exception);
settingFormat7Exception.Dispose();
return;
}
// Settings were applied, or reverted to previous mode
// Either way, the camera should be able to be restarted successfully
if (needToRestartCamera)
{
try
{
// Restart the camera if it was running beforehand.
camera.StartCapture();
}
catch (FC2Exception ex)
{
ShowErrorMessageDialog("There was an error restarting the camera.", ex);
ex.Dispose();
}
}
}
static void Main(string[] args)
{
PrintBuildInfo();
const Mode k_fmt7Mode = Mode.Mode0;
const PixelFormat k_fmt7PixelFormat = PixelFormat.PixelFormatMono8;
const int k_numImages = 10;
// Since this application saves images in the current folder
// we must ensure that we have permission to write to this folder.
// If we do not have permission, fail right away.
FileStream fileStream;
try
{
fileStream = new FileStream(@"test.txt", FileMode.Create);
fileStream.Close();
File.Delete("test.txt");
}
catch
{
Console.WriteLine("Failed to create file in current folder. Please check permissions.\n");
return;
}
ManagedBusManager busMgr = new ManagedBusManager();
uint numCameras = busMgr.GetNumOfCameras();
Console.WriteLine("Number of cameras detected: {0}", numCameras);
ManagedPGRGuid guid = busMgr.GetCameraFromIndex(0);
ManagedCamera cam = new ManagedCamera();
cam.Connect(guid);
// Get the camera information
CameraInfo camInfo = cam.GetCameraInfo();
PrintCameraInfo(camInfo);
// Query for available Format 7 modes
bool supported = false;
Format7Info fmt7Info = cam.GetFormat7Info(k_fmt7Mode, ref supported);
PrintFormat7Capabilities(fmt7Info);
if ((k_fmt7PixelFormat & (PixelFormat)fmt7Info.pixelFormatBitField) == 0)
{
// Pixel format not supported!
return;
}
Format7ImageSettings fmt7ImageSettings = new Format7ImageSettings();
fmt7ImageSettings.mode = k_fmt7Mode;
fmt7ImageSettings.offsetX = 0;
fmt7ImageSettings.offsetY = 0;
fmt7ImageSettings.width = fmt7Info.maxWidth;
fmt7ImageSettings.height = fmt7Info.maxHeight;
fmt7ImageSettings.pixelFormat = k_fmt7PixelFormat;
// Validate the settings to make sure that they are valid
bool settingsValid = false;
Format7PacketInfo fmt7PacketInfo = cam.ValidateFormat7Settings(
fmt7ImageSettings,
ref settingsValid);
if (settingsValid != true)
{
// Settings are not valid
return;
}
// Set the settings to the camera
cam.SetFormat7Configuration(
fmt7ImageSettings,
fmt7PacketInfo.recommendedBytesPerPacket);
// Get embedded image info from camera
EmbeddedImageInfo embeddedInfo = cam.GetEmbeddedImageInfo();
// Enable timestamp collection
if (embeddedInfo.timestamp.available == true)
{
embeddedInfo.timestamp.onOff = true;
}
// Set embedded image info to camera
cam.SetEmbeddedImageInfo(embeddedInfo);
// Start capturing images
cam.StartCapture();
// Retrieve frame rate property
CameraProperty frmRate = cam.GetProperty(PropertyType.FrameRate);
Console.WriteLine("Frame rate is {0:F2} fps", frmRate.absValue);
Console.WriteLine("Grabbing {0} images", k_numImages);
ManagedImage rawImage = new ManagedImage();
for (int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
{
// Retrieve an image
cam.RetrieveBuffer(rawImage);
// Get the timestamp
TimeStamp timeStamp = rawImage.timeStamp;
Console.WriteLine(
"Grabbed image {0} - {1} {2} {3}",
imageCnt,
timeStamp.cycleSeconds,
timeStamp.cycleCount,
timeStamp.cycleOffset);
// Create a converted image
ManagedImage convertedImage = new ManagedImage();
// Convert the raw image
rawImage.Convert(PixelFormat.PixelFormatBgr, convertedImage);
// Create a unique filename
string filename = String.Format(
"CustomImageEx_CSharp-{0}-{1}.bmp",
camInfo.serialNumber,
imageCnt);
// Get the Bitmap object. Bitmaps are only valid if the
// pixel format of the ManagedImage is RGB or RGBU.
System.Drawing.Bitmap bitmap = convertedImage.bitmap;
// Save the image
bitmap.Save(filename);
}
// Stop capturing images
cam.StopCapture();
// Disconnect the camera
cam.Disconnect();
Console.WriteLine("Done! Press any key to exit...");
Console.ReadKey();
}
private void CaptureCameraCallback()
{
//initialise camera here
#region camsetup
const Mode k_fmt7Mode = Mode.Mode0;
const PixelFormat k_fmt7PixelFormat = PixelFormat.PixelFormatMono8;
ManagedBusManager busMgr = new ManagedBusManager();
uint numCameras = busMgr.GetNumOfCameras();
Console.WriteLine("Number of cameras detected: {0}", numCameras);
ManagedPGRGuid guid = busMgr.GetCameraFromIndex(0);
ManagedCamera cam = new ManagedCamera();
cam.Connect(guid);
// Get the camera information
CameraInfo camInfo = cam.GetCameraInfo();
PrintCameraInfo(camInfo);
// Query for available Format 7 modes
bool supported = false;
Format7Info fmt7Info = cam.GetFormat7Info(k_fmt7Mode, ref supported);
PrintFormat7Capabilities(fmt7Info);
if ((k_fmt7PixelFormat & (PixelFormat)fmt7Info.pixelFormatBitField) == 0)
{
// Pixel format not supported!
Console.WriteLine("Pixel format is not supported");
return;
}
Format7ImageSettings fmt7ImageSettings = new Format7ImageSettings();
fmt7ImageSettings.mode = k_fmt7Mode;
fmt7ImageSettings.offsetX = 1124;
fmt7ImageSettings.offsetY = 924;
fmt7ImageSettings.width = 200;
fmt7ImageSettings.height = 200;
fmt7ImageSettings.pixelFormat = k_fmt7PixelFormat;
// Validate the settings to make sure that they are valid
bool settingsValid = false;
Format7PacketInfo fmt7PacketInfo = cam.ValidateFormat7Settings(
fmt7ImageSettings,
ref settingsValid);
if (settingsValid != true)
{
// Settings are not valid
return;
}
// Set the settings to the camera
cam.SetFormat7Configuration(
fmt7ImageSettings,
fmt7PacketInfo.recommendedBytesPerPacket);
// Get embedded image info from camera
EmbeddedImageInfo embeddedInfo = cam.GetEmbeddedImageInfo();
// Enable timestamp collection
if (embeddedInfo.timestamp.available == true)
{
embeddedInfo.timestamp.onOff = true;
}
// Set embedded image info to camera
cam.SetEmbeddedImageInfo(embeddedInfo);
// Start capturing images
cam.StartCapture();
// Retrieve frame rate property
CameraProperty frmRate = cam.GetProperty(PropertyType.FrameRate);
Console.WriteLine("Frame rate is {0:F2} fps", frmRate.absValue);
#endregion
Mat image;
Mat grey = new Mat();
int differencex = 0;
int differencey = 0;
double diffenceeucl = 0;
OpenCvSharp.Point centre_im = new OpenCvSharp.Point();
int centrex = Convert.ToInt16(fmt7ImageSettings.width) / 2;
int centrey = Convert.ToInt16(fmt7ImageSettings.width) / 2;
double dp_ = 1; //inverse ratio of array accumulator to image resolution
double minDist_ = 100; // minimum distance between centre of detected circles
double param1_ = 100; // Higher threshold of Canny edge detection
double param2_ = 20; // Accumulator threshold, smaller value leads to higher false detection rates
int minRad_ = 45; // minimum radius
int maxRad_ = 60; // maximum radius
centre_im.X = centrex;
centre_im.Y = centrey;
int windowsize = 20;
int[] centresx = new int[windowsize];
int[] centresy = new int[windowsize];
int[] radi = new int[windowsize];
OpenCvSharp.Point centre = new OpenCvSharp.Point();
int radius = 1;
int buffpos = 0;
int flag = 0;
ManagedImage rawImage = new ManagedImage();
ManagedImage convertedImage = new ManagedImage();
//do repeated actions here
while (true)
{
//Thread.Sleep(1000);
cam.RetrieveBuffer(rawImage);
rawImage.Convert(PixelFormat.PixelFormatBgr, convertedImage);
System.Drawing.Bitmap bitmap = convertedImage.bitmap;
image = OpenCvSharp.Extensions.BitmapConverter.ToMat(bitmap);
Cv2.CvtColor(image, grey, ColorConversionCodes.BGR2GRAY);
// Inner circle
CircleSegment[] circles = Cv2.HoughCircles(grey, HoughMethods.Gradient, dp_, minDist_, param1_, param2_, minRad_, maxRad_);
for (int i = 0; i < circles.Length; i++)
{
flag = 1;
centre.X = Convert.ToInt16(Math.Round(circles[0].Center.X));
centre.Y = Convert.ToInt16(Math.Round(circles[0].Center.Y));
radius = Convert.ToInt16(Math.Round(circles[0].Radius));
buffpos = (buffpos + 1) % windowsize;
centresx[buffpos] = centre.X;
centresy[buffpos] = centre.Y;
radi[buffpos] = radius;
centre.X = Convert.ToInt16(centresx.Average());
centre.Y = Convert.ToInt16(centresy.Average());
radius = Convert.ToInt16(radi.Average());
differencex = centre.X - centrex;
differencey = centre.Y - centrey;
diffenceeucl = Math.Round((Math.Sqrt(Math.Pow(differencex, 2) + Math.Pow(differencey, 2))), 2);
}
if (flag == 1)
{
Cv2.Circle(image, centre, 3, Scalar.Red);
Cv2.Circle(image, centre, radius, Scalar.Red, 3);
}
Cv2.Circle(image, centre_im, 3, Scalar.DeepSkyBlue);
Cv2.Circle(image, centre_im, 50, Scalar.DeepSkyBlue, 3);
string xdiff = differencex.ToString();
string textxparse = "X Offset: " + xdiff + " [pixels]";
string ydiff = differencey.ToString();
string textyparse = "Y Offset: " + ydiff + " [pixels]";
string eucl = diffenceeucl.ToString();
string texteucle = "Eucl. Dist: " + eucl + " [pixels]";
AppendTextBoxX(textxparse);
AppendTextBoxE(texteucle);
AppendTextBoxY(textyparse);
Bitmap bm = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(image);
bm.SetResolution(flydisp.Width, flydisp.Height);
flydisp.Image = bm;
}
}
public void startCalibration(int vidmode, ManagedPGRGuid camGuid)
{
int i, j;
VidMode = vidmode;
// Starting the camera
// 1. connect to the camera
Cam.Connect(camGuid);
// 2. setting up the video mode
if (VidMode == 0)
{
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Yuv422, FrameRate.FrameRate30);
}
else if (VidMode == 1)
{
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Rgb, FrameRate.FrameRate15);
}
else if (VidMode == 2)
{
Format7ImageSettings fset = new Format7ImageSettings();
fset.height = 540;
fset.width = 960;
fset.offsetX = 40;
fset.offsetY = 118;
fset.mode = Mode.Mode4;
fset.pixelFormat = PixelFormat.PixelFormatRgb8;
Cam.SetFormat7Configuration(fset, 40.0f); // this equivalent to 24 fps
}
// creating the thread
CalibrationThread = new Thread(MainLoop);
// zeroing the index of frame counter
FrameCounter = 0;
// creating the point detected storage array
Points = new PointF[FrameCount][];
ObjectPoints = new MCvPoint3D32f[FrameCount][];
// showing the image viewer
//imageViewer.Show();
// clearing flag
CalibrationDone = false;
for (i = 0; i < FrameCount; i++)
{
ObjectPoints[i] = new MCvPoint3D32f[ChessHorizCount * ChessVertCount];
for (j = 0; j < ChessVertCount * ChessHorizCount; j++)
{
ObjectPoints[i][j].x = (float)(RectWidth * (j % ChessHorizCount));
ObjectPoints[i][j].y = (float)(RectHeight * (j / ChessHorizCount));
ObjectPoints[i][j].z = 0;
}
}
// starting the camera capture
Cam.StartCapture();
state = ST_CALIBRATING;
CalibrationThread.Start();
}
