private static void Capture(TriggeredStereoCamera cam, out FloatImage left, out FloatImage right, ref int cnt)
{
cam.Update();
cnt++;
FloatCameraImage leftCamImg = cam.CalcChannel(ChannelNames.Left).ToFloatCameraImage();
FloatCameraImage rightCamImg = cam.CalcChannel(ChannelNames.Right).ToFloatCameraImage();
long ts_l = leftCamImg.TimeStamp;
long ts_r = rightCamImg.TimeStamp;
int fn_l = leftCamImg.FrameNumber;
int fn_r = rightCamImg.FrameNumber;
unsafe
{
left = new FloatImage(leftCamImg.Width, leftCamImg.Height, leftCamImg.AbandonDataBuffer());
right = new FloatImage(rightCamImg.Width, rightCamImg.Height, rightCamImg.AbandonDataBuffer());
}
left.TimeStamp = ts_l;
right.TimeStamp = ts_r;
left.FrameNumber = fn_l;
right.FrameNumber = fn_r;
}
static void Main(string[] args)
{
MetriLog log = new MetriLog();
Random rand = new Random();
const int MAX_DELAY_IN_MIN = 20;
Camera leftCam = new TheImagingSource();
Camera rightCam = new TheImagingSource();
SerialPort triggerPort = new SerialPort("COM7", 9600);
TriggeredStereoCamera cam = new TriggeredStereoCamera(leftCam, rightCam, triggerPort);
FloatImage left, leftOld = null, right, rightOld = null;
float thres;
// thres = 1000.0f; // uEye
thres = 100000.0f; // TIS
int cnt = 0;
const float MAX_EXPOSURE = 10f;
const float DARK_THRES = 50f; // uEye: 10f, TIS: 50f
const int NUM_WARMUP_IMAGES = 50;
ConfigureLogging(StressTests.Freeze.Resources.LoggingConfigInfo);
log.SetLogFile(@"D:\temp\stress_test_TIS.log");
cam.Connect();
cam.Exposure = 4;
log.Info("Warming up.");
for (int i = 0; i < NUM_WARMUP_IMAGES; i++)
{
Capture(cam, out left, out right, ref cnt);
}
log.Info("Starting test.");
bool running = true;
while (running)
{
log.Debug("Another round starts.");
for (int i = 0; i < 10; i++)
{
if (cam.Exposure > MAX_EXPOSURE)
{
cam.Exposure = MAX_EXPOSURE;
leftOld = null;
rightOld = null;
continue;
}
Capture(cam, out left, out right, ref cnt);
float minL, maxL, minR, maxR;
left.GetMinMax(out minL, out maxL);
right.GetMinMax(out minR, out maxR);
log.Debug("MAX = " + maxL + " " + maxR);
if (maxL == 255f || maxR == 255f)
{
log.Info("Overexposed, reducing exposure time.");
cam.Exposure = cam.Exposure * (3f / 4f);
leftOld = null;
rightOld = null;
continue;
}
if (maxL < DARK_THRES && maxR < DARK_THRES)
{
if (cam.Exposure < MAX_EXPOSURE)
{
log.Info("Underexposed, increasing exposure time.");
cam.Exposure = cam.Exposure * (4f / 3f);
leftOld = null;
rightOld = null;
continue;
}
log.Info("seems to be dark, let's sleep an hour.");
Thread.Sleep(1000 * 60 * 60);
leftOld = null;
rightOld = null;
continue;
}
rightOld = Compare(right, rightOld, thres, cnt, "R", log);
leftOld = Compare(left, leftOld, thres, cnt, "L", log);
if (null == leftOld || null == rightOld)
{
break;
}
}
int random = rand.Next(100);
float delayInMinutes = (float)random / 100f * (float)MAX_DELAY_IN_MIN;
log.Debug("Sleeping for " + delayInMinutes + " minutes");
Thread.Sleep((int)(1000 * 60 * delayInMinutes));
//Thread.Sleep(500);
}
cam.Disconnect();
}
