// Example entry point; please see Enumeration_CSharp example for more
// in-depth comments on preparing and cleaning up the system.
public static int Start()
{
int result = 0;
Program program = new Program();
// 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.");
Console.WriteLine("Press enter to exit...");
Console.ReadLine();
return(-1);
}
// Retrieve singleton reference to system object
ManagedSystem system = new ManagedSystem();
// Print out current library version
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine("Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
// Retrieve list of cameras from the system
IList <IManagedCamera> camList = system.GetCameras();
Console.WriteLine("Number of cameras detected: {0}\n\n", camList.Count);
// Finish if there are no cameras
if (camList.Count == 0)
{
// Clear camera list before releasing system
camList.Clear();
// Release system
system.Dispose();
Console.WriteLine("Not enough cameras!");
Console.WriteLine("Done! Press Enter to exit...");
Console.ReadLine();
return(-1);
}
//
// Run example on each camera
//
// *** NOTES ***
// Cameras can either be retrieved as their own IManagedCamera
// objects or from camera lists using the [] operator and an index.
//
// Using-statements help ensure that cameras are disposed of when
// they are no longer needed; otherwise, cameras can be disposed of
// manually by calling Dispose(). In C#, if cameras are not disposed
// of before the system is released, the system will do so
// automatically.
//
int index = 0;
foreach (IManagedCamera managedCamera in camList)
{
using (managedCamera) {
Console.WriteLine("Running example for camera {0}...", index);
try {
// Run example
result = result | program.RunSingleCamera(managedCamera);
} catch (SpinnakerException ex) {
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
Console.WriteLine("Camera {0} example complete...\n", index++);
}
}
// Clear camera list before releasing system
camList.Clear();
// Release system
system.Dispose();
Console.WriteLine("\nDone! Press Enter to exit...");
Console.ReadLine();
return(result);
}
// Example entry points; this function sets up the system and retrieves
// interfaces to retrieves interfaces for the example.
public static int Start()
{
int result = 0;
Program program = new Program();
//
// Retrieve singleton reference to system object
//
// *** NOTES ***
// Everything originates with the system object. It is important to
// notice that it has a singleton implementation, so it is impossible
// to have multiple system objects at the same time.
//
// *** LATER ***
// The system object should be cleared prior to program completion.
// If not released explicitly, it will be released automatically
// when all system objects go out of scope.
//
ManagedSystem system = new ManagedSystem();
// Print out current library version
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine("Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
//
// Retrieve list of interfaces from the system
//
// *** NOTES ***
// Interface lists are retrieved from the system object.
//
// *** LATER ***
// Interface lists are constructed using list objects of
// IManagedInterface objects. Lists are native to C# and must be
// cleared after use.
//
List <IManagedInterface> interfaceList = system.GetInterfaces();
Console.WriteLine("Number of interfaces detected: {0}\n", interfaceList.Count);
//
// Retrieve list of cameras from the system
//
// *** NOTES ***
// Camera lists are retrieved from the system object.
//
// *** LATER ***
// Camera lists are constructed using list objects of IManagedCamera
// objects. Lists are native to C# and must be cleared after use.
//
List <IManagedCamera> camList = system.GetCameras();
Console.WriteLine("Number of cameras detected: {0}\n", camList.Count);
// Finish if there are no cameras
if (camList.Count == 0 || interfaceList.Count == 0)
{
// Clear camera list before releasing system
camList.Clear();
// Clear interface list before releasing system
interfaceList.Clear();
// Release system
system.Dispose();
Console.WriteLine("Not enough cameras!");
Console.WriteLine("Done! Press Enter to exit...");
Console.ReadLine();
return(-1);
}
Console.WriteLine("\n*** QUERYING INTERFACES ***\n");
//
// Run example on each interface
//
// *** NOTES ***
// Managed interfaces will need to be disposed of after use in order
// to fully clean up. Using-statements help ensure that this is taken
// care of; otherwise, interfaces can be disposed of manually by calling
// Dispose().
//
foreach (IManagedInterface managedInterface in interfaceList)
{
using (managedInterface) {
try {
// Run example
result = result | program.QueryInterface(managedInterface);
} catch (SpinnakerException ex) {
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
}
}
//
// Clear camera list before releasing system
//
// *** NOTES ***
// If a camera list is not cleaned up
// manually, the system will do so when System.Dispose() is
// called.
//
camList.Clear();
//
// Clear interface list before releasing system
//
// *** NOTES ***
// If an interface list is not cleaned up
// manually, the system will do so when System.Dispose() is
// called.
//
interfaceList.Clear();
//
// Release system
//
// *** NOTES ***
// The system should be released, but if it is not, it will do so
// itself. It is often at the release of the system (whether manual
// or automatic) that unbroken references and still registered
// events will throw an exception.
//
system.Dispose();
Console.WriteLine("\nDone!");
//Console.ReadLine();
return(result);
}
public Form1()
{
InitializeComponent();
system = new ManagedSystem();
// Print current Spinnaker library version info:
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine(
"Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
// Find all Flir cameras on the system:
managedCameras = system.GetCameras();
// Assert that exactly two cameras are found:
int nCamsFound = managedCameras.Count;
if (nCamsFound != nCameras)
{
Console.WriteLine("Need exactly two cameras, but {0} cameras were found. Disposing system.", nCamsFound.ToString());
managedCameras.Clear();
system.Dispose();
}
// Create or select folder to write video data:
sessionPaths = Util.SetDataWritePaths(animalName: Util.AnimalName.Charlie);
// Initialize OryxSetupInfo Object to pass to camera constructors upon initialization:
oryxSetupInfos = new Util.OryxSetupInfo[nCameras];
for (int i = 0; i < nCameras; i++)
{
oryxSetupInfos[i] = new Util.OryxSetupInfo();
}
bool areAllCamSettingsIdentical = true;
if (areAllCamSettingsIdentical)
{
Console.WriteLine("\n\n");
Console.WriteLine("Cameras have identical settings, shown here:");
oryxSetupInfos[0].PrintSettingsToLoad();
Console.WriteLine("\n\n");
}
StreamArchitecture architecture = StreamArchitecture.ThreeLevelBasic;
threadManager = new ThreadManager(architecture: architecture, sessionPaths: sessionPaths,
managedCameras: managedCameras, oryxSetups: oryxSetupInfos);
xBoxController = new XBoxController(mainForm: this,
messageQueues: threadManager.managerBundle.messageQueues, streamGraph: threadManager.streamGraph);
displayTimer = new System.Windows.Forms.Timer();
displayTimer.Interval = 2;
displayTimer.Tick += DisplayTimerEventProcessor;
displayTimer.Enabled = true;
displayQueue = threadManager.managerBundle.mergeStreamsManager.output.displayQueue;
threadManager.StartThreads();
}
// Example entry point; please see Enumeration_CSharp example for more
// in-depth comments on preparing and cleaning up the system.
public static int Start()
{
int result = 0;
Program program = new Program();
// Ensure write permissions to current folder
try {
FileStream 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");
Console.WriteLine("\nDone! Press enter to exit...");
Console.ReadLine();
return(-1);
}
// Retrieve singleton reference to system object
ManagedSystem system = new ManagedSystem();
// Print out current library version
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine("Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
// Retrieve list of cameras from the system
List <IManagedCamera> camList = system.GetCameras();
Console.WriteLine("Number of cameras detected: {0}\n", camList.Count);
// Finish if there are no cameras
if (camList.Count == 0)
{
// Clear camera list before releasing system
camList.Clear();
// Release system
system.Dispose();
Console.WriteLine("Not enough cameras!");
Console.WriteLine("Done! Press Enter to exit...");
Console.ReadLine();
return(-1);
}
// Run example on each camera
int index = 0;
foreach (IManagedCamera managedCamera in camList)
{
using (managedCamera) {
Console.WriteLine("Running example for camera {0}...", index);
try {
// Run example
result = result | program.RunSingleCamera(managedCamera);
} catch (SpinnakerException ex) {
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
Console.WriteLine("Camera {0} example complete...\n", index++);
}
}
// Clear camera list before releasing system
camList.Clear();
// Release system
system.Dispose();
Console.WriteLine("\nDone! Press Enter to exit...");
Console.ReadLine();
return(result);
}
public string GetSpinnakerLibraryVersion()
{
LibraryVersion version = spinnaker.GetLibraryVersion();
return(version.major + "." + version.minor + "." + version.type + "." + version.build);
}
public Form1()
{
InitializeComponent();
// initialize multi-camera system:
system = new ManagedSystem();
// Print current Spinnaker library version info:
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine(
"Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
// Find all Flir cameras on the system:
managedCameras = system.GetCameras();
nCameras = managedCameras.Count;
// Finish and dispose system if no cameres are detected:
if (nCameras != 2)
{
managedCameras.Clear();
system.Dispose();
Console.WriteLine("{0} cameras detected. This application supports exactly 2 cameras. System disposed", nCameras.ToString());
}
// Create or select folder to write video data:
sessionPaths = Util.SetDataWritePaths(animalName: Util.AnimalName.Charlie, nCameras: 2);
// Initialize OryxSetupInfo Object to pass to camera constructors upon initialization:
oryxSetupInfos = new Util.OryxSetupInfo[nCameras];
for (int i = 0; i < nCameras; i++)
{
oryxSetupInfos[i] = new Util.OryxSetupInfo();
}
bool areCamerasSharingSettings = true;
if (areCamerasSharingSettings)
{
Console.WriteLine("These settings will be loaded on both cameras:");
oryxSetupInfos[0].PrintSettingsToLoad();
Console.WriteLine("\n\n");
}
// Initialize camera control message queues to control cameras from XBox controller:
camControlMessageQueues = new ConcurrentQueue <ButtonCommands> [nCameras];
for (int i = 0; i < nCameras; i++)
{
camControlMessageQueues[i] = new ConcurrentQueue <ButtonCommands>();
}
// Initialize XBox Controller
xBoxController = new XBoxController(mainForm: this, camControlMessageQueues: camControlMessageQueues);
// Initialize queue to connect output from each camera to a thread to merge camera streams:
streamQueue0 = new ConcurrentQueue <RawMat> [nCameras];
for (int i = 0; i < nCameras; i++)
{
streamQueue0[i] = new ConcurrentQueue <RawMat>();
}
// Open each camera on its own thread.
oryxCameraThreads = new Thread[nCameras];
for (int i = 0; i < nCameras; i++)
{
int _i = i;
string _sessionPath = string.Copy(sessionPaths[i]);
oryxCameraThreads[i] = new Thread(() => new OryxCamera(camNumber: _i, managedCamera: managedCameras[_i], camControlMessageQueue: camControlMessageQueues[_i],
streamOutputQueue: streamQueue0[_i], setupInfo: oryxSetupInfos[_i], sessionPath: _sessionPath));
oryxCameraThreads[i].IsBackground = false;
oryxCameraThreads[i].Priority = ThreadPriority.Highest;
oryxCameraThreads[i].Start();
}
// Initialize queue to send combined images to display form:
displayQueue = new ConcurrentQueue <Tuple <byte[], Mat> >();
// Initialize Size of camera stream output image and merged image for display:
streamFramesize = new Size(width: oryxSetupInfos[0].streamFramesize.Width, height: oryxSetupInfos[0].streamFramesize.Height);
displayFramesize = new Size(width: streamFramesize.Width, height: streamFramesize.Height * 2);
// Initialize thread to merge camera stream data into a single byte array:
Size _inputImageSize = new Size(width: streamFramesize.Width, height: streamFramesize.Height);
processingThreadMessageQueue = new ConcurrentQueue <ButtonCommands>();
mergeStreamsThread = new Thread(() => MergeStreamsThreadInit(inputQueues: streamQueue0, outputQueue: displayQueue, messageQueue: processingThreadMessageQueue, inputImgSize: _inputImageSize));
mergeStreamsThread.IsBackground = true;
mergeStreamsThread.Priority = ThreadPriority.Highest;
mergeStreamsThread.Start();
// Initialize streaming state
isStreaming = false;
// Initialize Timer:
displayTimer = new System.Windows.Forms.Timer();
displayTimer.Interval = 5;
displayTimer.Tick += DisplayTimerEventProcessor;
displayTimer.Enabled = true;
}
public MainWindow()
{
InitializeComponent();
time.Tick += new EventHandler(Time_Tick);
time.Interval = 10;
exposureControl.sliderName.Content = "曝光时间";
exposureControl.sliderCheck.Content = "手动曝光";
frameRateControl.sliderName.Content = "帧率";
frameRateControl.sliderCheck.Content = "手动帧率";
blackLevelControl.sliderName.Content = "灰度偏移";
blackLevelControl.sliderCheck.Content = "手动偏移";
GainControl.sliderName.Content = "增益";
GainControl.sliderCheck.Content = "手动增益";
acceptPointValue.sliderName.Content = "接受阈值";
acceptPointValue.sliderCheck.Content = "手动";
if (SavePath == null)
{
SavePath = "./";
}
FileStream fileStream;
try
{
fileStream = new FileStream(SavePath + "test.txt", FileMode.Create);
fileStream.Close();
File.Delete("test.txt");
}
catch
{
Console.WriteLine("权限不足");
return;
}
// 单例
system = new ManagedSystem();
// 输出当前库版本
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine("Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
//输出相机参数-0
camList = system.GetCameras();
if (camList.Count == 0)
{
camList.Clear();
system.Dispose();
Console.WriteLine("无相机！");
return;
}
cam = camList[0];
INodeMap nodeMapTLDevice = cam.GetTLDeviceNodeMap();
PrintDeviceInfo(nodeMapTLDevice);
// 为文件名检索设备序列号
// *** NOTES ***
// 设备序列号可以放置其他设备覆盖本设备图像
// 图像ID和帧ID
//
deviceSerialNumber = "";
while (true)
{
try
{
cam.Init();
break;
}
catch (SpinnakerException e)
{
Console.WriteLine("init error");
Thread.Sleep(1000);
}
}
while (cam.DeviceIndicatorMode.Value != DeviceIndicatorModeEnums.Active.ToString())
{
Thread.Sleep(1000);
}
//相机参数初始化
cam.ExposureAuto.Value = ExposureAutoEnums.Continuous.ToString();
cam.AcquisitionFrameRateEnable.Value = true;
frameRateManualDisable();
//cam.BlackLevelAuto.Value = BlackLevelAutoEnums.Continuous.ToString();
cam.GainAuto.Value = GainAutoEnums.Continuous.ToString();
Console.WriteLine("设备序列号为： {0}", cam.DeviceSerialNumber.Value);
Console.WriteLine("曝光时间设置为 {0} us", cam.ExposureTime.Value);
cam.DeviceLinkThroughputLimit.Value = cam.DeviceLinkThroughputLimit.Max;
Console.WriteLine("当前带宽：{0}", cam.DeviceLinkThroughputLimit.Value);
Console.WriteLine("当前帧率：{0} Hz", cam.AcquisitionFrameRate.Value);
#if DEBUG
// 判断是否禁用了心跳检测
if (DisableHeartbeat() != 0)
{
Console.WriteLine("心跳检测未禁用");
System.Windows.Application.Current.Shutdown();
}
#endif
//调用刷新控件
flushControl();
//接受点阈值
acceptPointValue.slider.Maximum = 255;
acceptPointValue.slider.Minimum = 0;
acceptPointValue.slider.Value = 60;
//控件委托
#region
exposureControl.setSliderEvent += () => { cam.ExposureTime.Value = exposureControl.slider.Value; };
exposureControl.setCheckedEvent += () => { cam.ExposureAuto.Value = ExposureAutoEnums.Off.ToString(); };
exposureControl.setUnCheckEvent += () => { cam.ExposureAuto.Value = ExposureAutoEnums.Continuous.ToString(); };
frameRateControl.setSliderEvent += () => { cam.AcquisitionFrameRate.Value = frameRateControl.slider.Value; };
frameRateControl.setCheckedEvent += frameRateManualEnable;
frameRateControl.setUnCheckEvent += frameRateManualDisable;
//blackLevelControl.setSliderEvent += () => { cam.BlackLevelAuto.Value = BlackLevelAutoEnums.Off.ToString(); };
blackLevelControl.slider.IsEnabled = false;
GainControl.setSliderEvent += () => { cam.Gain.Value = GainControl.slider.Value; };
GainControl.setCheckedEvent += () => { cam.GainAuto.Value = GainAutoEnums.Off.ToString(); };
GainControl.setUnCheckEvent += () => { cam.GainAuto.Value = GainAutoEnums.Continuous.ToString(); };
#endregion
acceptPointValue.sliderCheck.IsChecked = true;
}
