private void updateCammeraParameters()
{
CameraParameter cameraParameter = this.parameters.GetCameraParameter();
if (this.xiAcquirer == null)
{
this.xiAcquirer = new XIAcquirer();
}
this.xiAcquirer.Open();
object[] parameters = this.xiAcquirer.Get();
this.xiAcquirer.Close();
if ((parameters != null) && (parameters.Length > 0))
{
CameraParameter newCammeraParam = parameters[0] as CameraParameter;
if (newCammeraParam != null)
{
cameraParameter.DeviceInstancePath = newCammeraParam.DeviceInstancePath;
cameraParameter.DeviceName = newCammeraParam.DeviceName;
cameraParameter.DeviceSN = newCammeraParam.DeviceSN;
cameraParameter.DeviceType = newCammeraParam.DeviceType;
cameraParameter.FrameRate = newCammeraParam.FrameRate;
cameraParameter.AvailableBandWidth = newCammeraParam.AvailableBandWidth;
cameraParameter.OuputImageOffsetX = newCammeraParam.OuputImageOffsetX;
cameraParameter.OutputImageOffsetY = newCammeraParam.OutputImageOffsetY;
this.propertyGridParameters.Refresh();
}
}
}
void CalculateBackCamera()
{
Camera camera = backCamera;
CameraParameter param = backCameraParam;
param.farWidth = w + wext + wext;
param.nearWidth = w;
param.farDis = hext;
CalCamera(param.farWidth, param.nearWidth, param.farDis,
ref param.disToEarth, ref param.fovV, ref param.fovH, ref param.ratio);
param.texHeight = 256;
param.texWidth = param.texHeight * param.ratio;
camera.transform.position = new Vector3(0, param.disToEarth, h / 2);
camera.transform.rotation = Quaternion.EulerRotation(Mathf.PI / 2 - param.fovV / 2, 0, 0);
camera.fieldOfView = Mathf.Rad2Deg * param.fovV;
CVRenderTexture rt = camera.GetComponent <CVRenderTexture>();
if (rt)
{
rt.width = (int)param.texWidth;
rt.height = (int)param.texHeight;
}
}
void Start()
{
originalRotate = cameraRootTf.rotation;
cameraDistance = cameraTf.localPosition.z;
targetCameraDistance = cameraDistance;
currentCameraParameter = freeOrbitParameter;
isAlreadyFire = new bool[yMinAngles.Length];
}
private void ConnectBtnOnClick(object sender, EventArgs e)
{
try
{
int device_id = int.Parse(this._cameraCb.SelectedItem.ToString().Split(new char[] { '(', ')' })[1]);
this._preset = CameraParameter.FromXml("cp.xml");
CamView f = new CamView();
episcan.InitializeSensor(f.Handle, device_id);
episcan.ImageRoi = Roi;
//Roi = episcan.ImageRoi;
SetUIImageRoi();
f.Sensor = episcan.Sensor;
f.Show();
f.Width = (int)(0.5 * episcan.Sensor.Width);
f.Height = (int)(0.5 * episcan.Sensor.Height);
InitUIfromCamera();
InitUI();
//UpdateUIfromCamera();
this._cameraGb.Enabled = true;
this._episcanGb.Enabled = true;
// apply camera parameters
try
{
ApplyCameraParameters(this._preset);
}
catch (Exception)
{
}
// update UI
UpdateUIfromCamera();
UpdateDelayExposure();
UpdateDispString();
episcan.Sensor.StartCapture();
}
catch (Exception ex)
{
throw ex;
}
}
public static CameraParameter FromXml(string path)
{
System.Xml.Serialization.XmlSerializer serializer =
new System.Xml.Serialization.XmlSerializer(typeof(CameraParameter));
System.IO.StreamReader sr = new System.IO.StreamReader(path, new System.Text.UTF8Encoding(false));
CameraParameter cp = (CameraParameter)serializer.Deserialize(sr);
//ファイルを閉じる
sr.Close();
return(cp);
}
private void ApplyCameraParameters(CameraParameter param)
{
//this._sensor.Delay = param.Delay;
this._sensor.DelayOffset = param.DelayOffset;
this._sensor.PixelClock = param.PixelClock;
this._sensor.Exposure = param.Exposure;
this._sensor.ShutterMode = param.ShutterMode;
this._sensor.TrigerMode = param.TriggerMode;
this._sensor.Width = param.Width;
this._sensor.Height = param.Height;
this._sensor.EnableGainBoost = param.EnableGainBoost;
this._sensor.MasterGain = param.MasterGain;
this._sensor.Scaler = param.Scaler;
this._sensor.PixelFormat = param.PixelFormat;
}
private void ApplyCameraParameters_h(CameraParameter param)
{
//episcan.Sensor.Delay = param.Delay;
subcam.Sensor_h.DelayOffset = param.DelayOffset;
subcam.Sensor_h.PixelClock = param.PixelClock;
subcam.Sensor_h.Exposure = param.Exposure;
subcam.Sensor_h.ShutterMode = param.ShutterMode_h;
subcam.Sensor_h.TrigerMode = param.TriggerMode_h;
subcam.Sensor_h.Width = param.Width;
subcam.Sensor_h.Height = param.Height;
subcam.Sensor_h.EnableGainBoost = param.EnableGainBoost;
subcam.Sensor_h.MasterGain = param.MasterGain;
subcam.Sensor_h.Scaler = param.Scaler;
subcam.Sensor_h.PixelFormat = param.PixelFormat_h;
}
private void applyParameters()
{
NetworkParameter networkParameter = this.parameters.GetNetworkParameter();
CameraParameter cameraParameter = this.parameters.GetCameraParameter();
BarcodeImagingParameter barcodeImagingParameter = this.parameters.GetBarcodeImagingParameter();
PersistencyParameter persistencyParameter = this.parameters.GetPersistencyParameter();
MES.Processor.ModuleConfiguration.Default_BarCodeScanningTimes = barcodeImagingParameter.ScanTimes;
MES.Processor.ModuleConfiguration.Default_FailureRetryTimes = barcodeImagingParameter.FailureRetryTimes;
MES.Processor.ModuleConfiguration.IsExtractingBarCodes = barcodeImagingParameter.IsExtractingBarCode;
MES.Processor.ModuleConfiguration.IsCheckingSkewAngle = barcodeImagingParameter.IsCheckingSkewAngle;
MES.Processor.ModuleConfiguration.Default_ImageRotationDegree = barcodeImagingParameter.ImageRotationDegree;
MES.Processor.ModuleConfiguration.Default_ImageRotationParameters = new Dictionary <string, object>()
{
{ "RotationAtPercentageOfImageWidth", barcodeImagingParameter.RotationAtPercentageOfImageWidth },
{ "RotationAtPercentageOfImageHeight", barcodeImagingParameter.RotationAtPercentageOfImageHeight },
{ "IsNoClip", barcodeImagingParameter.IsNoClip }
};
MES.Acquirer.ModuleConfiguration.Default_Timeout = cameraParameter.DeviceTimeout;
MES.Acquirer.ModuleConfiguration.Default_CameraParameters = new Dictionary <string, object>()
{
{ "exposure", cameraParameter.Exposure },
{ "gain", cameraParameter.Gain },
{ "imgdataformat", cameraParameter.ImageDataFormat },
{ "downsampling_type", cameraParameter.DownSamplingType },
{ "downsampling", cameraParameter.DownSampling },
{ "height", cameraParameter.OutputImageHeight },
{ "width", cameraParameter.OuputImageWidth },
{ "sharpness", cameraParameter.Sharpness },
{ "gammaY", cameraParameter.GammaY },
{ "gammaC", cameraParameter.GammaC },
{ "exp_priority", cameraParameter.ExposurePriority },
{ "bpc", cameraParameter.EnableBPC ? 1 : 0 },
{ "auto_bandwidth_calculation", cameraParameter.EnableAutoBandWidthCalculation ? 1 : 0 },
{ "buffer_policy", cameraParameter.BufferPolicy },
//{"limit_bandwidth", cameraParameter.LimitBandWidth}
{ "aeag", cameraParameter.EnableAEAG ? 1 : 0 },
{ "offsetX", cameraParameter.OuputImageOffsetX },
{ "offsetY", cameraParameter.OutputImageOffsetY }
};
MES.Acquirer.ModuleConfiguration.Default_ImageOuputFormat = cameraParameter.ImageOutputFormat;
}
//カメラパラメータ変更（初期化なし）
public void ChangeCameraParamater(CameraParameter parameter)
{
mainCameraParameter = parameter;
}
//モード変更して必要なところを初期化（パラメータが変更されるとき使用）
public void InitCameraParameterChange(CameraParameter parameter)
{
mainCameraParameter = parameter;
nowCameraMode = mainCameraParameter.CameraMode;
}
public Camera GetCameraParameters(string cameraName)
{
var cameraDeviceInfoPtr = IntPtr.Zero;
Camera camera = new Camera()
{
CameraParameters = new List <CameraParameter>()
};
try
{
var cameraInfoByte = Marshal.SizeOf(typeof(VideoDeviceInfo));
cameraDeviceInfoPtr = Marshal.AllocHGlobal(cameraInfoByte);
var result = MeetingAgent.GetCameraInfo(cameraName, cameraDeviceInfoPtr);
var pointer = new IntPtr(cameraDeviceInfoPtr.ToInt64());
var cameraInfo = (VideoDeviceInfo)Marshal.PtrToStructure(pointer, typeof(VideoDeviceInfo));
camera.Name = cameraInfo.Name;
for (int i = 0; i < cameraInfo.FormatCount; i++)
{
VideoFormat videoFormat = cameraInfo.Formats[i];
CameraParameter cameraParameter = new CameraParameter()
{
ColorSpace = videoFormat.ColorSpace.ToString(),
Fps = new List <int>(),
VideSizes = new List <Size>()
};
for (int j = 0; j < videoFormat.sizeCount; j++)
{
VideoSize videoSize = videoFormat.VideoSizes[j];
cameraParameter.VideSizes.Add(new Size()
{
Width = videoSize.Width,
Height = videoSize.Height
});
}
for (int k = 0; k < videoFormat.fpsCount; k++)
{
cameraParameter.Fps.Add(videoFormat.Fps[k]);
}
camera.CameraParameters.Add(cameraParameter);
}
}
catch (Exception ex)
{
Log.Error($"GetCameraParameters({cameraName}) exception：{ex}");
}
finally
{
if (cameraDeviceInfoPtr != IntPtr.Zero)
{
Marshal.FreeHGlobal(cameraDeviceInfoPtr);
}
}
return(camera);
}
private void HelperBtnOnClick(object sender, EventArgs e)
{
try
{
int device_id_sub = int.Parse(this._cameraCb.SelectedItem.ToString().Split(new char[] { '(', ')' })[1]);
if (device_id_sub == 1)
{
device_id_sub = 2;
}
else if (device_id_sub == 2)
{
device_id_sub = 1;
}
this._preset_h = CameraParameter.FromXml("cp_sub.xml");
CamView_h f_h = new CamView_h();
subcam.InitializeSensor(f_h.Handle, device_id_sub);
subcam.ImageRoi = Roi;
//Roi = episcan.ImageRoi;
//SetUIImageRoi();
f_h.SubSensor = subcam.Sensor_h;
f_h.Show();
f_h.Width = (int)(0.5 * subcam.Sensor_h.Width);
f_h.Height = (int)(0.5 * subcam.Sensor_h.Height);
// InitUIfromCamera();
// InitUI();
//UpdateUIfromCamera();
this._cameraGb.Enabled = true;
this._episcanGb.Enabled = true;
// apply camera parameters
//try
//{
// ApplyCameraParameters_h(this._preset_h);
//}
//catch (Exception)
//{
//}
// update UI
//UpdateUIfromCamera();
//UpdateDelayExposure();
//UpdateDispString();
subcam.Sensor_h.StartCapture();
}
catch (Exception ex)
{
throw ex;
}
}
/// <summary>
/// Retrieves the <see cref="EffectParameter"/> which implements the specified built-in camera parameter,
/// assuming this effect supports that parameter.
/// </summary>
/// <param name="parameter">A <see cref="CameraParameter"/> value for which to retrieve a corresponding effect parameter.</param>
/// <returns>The <see cref="EffectParameter"/> that implements the specified built-in camera parameter,
/// or <see langword="null"/> if the effect does not support that parameter.</returns>
public EffectParameter GetCameraParameter(CameraParameter parameter)
{
return(builtInCameraParameters?[(Int32)parameter]);
}
public void OnHandUpdate(CameraParameter cameraParam, SpatialCoordinateSystem CoordinateSystem, IList <Hand> hands)
{
lock (this)
{
if (m_spatialCoordinateSystem != null)
{
//Start a new frame
foreach (HandDetected hand in m_handsDetected)
{
hand.NewDetection = true;
}
//For each detected hand
foreach (Hand hand in hands)
{
//Add offsets in the ROI
float[] roi = new float[4];
roi[0] = hand.WristROIMinX - 10;
roi[1] = hand.WristROIMinY - 10;
roi[2] = hand.WristROIMaxX + 10;
roi[3] = hand.WristROIMaxY + 10;
//check if we already know it
HandDetected handDetected = null;
foreach (HandDetected hd in m_handsDetected)
{
if (!hd.IsDetected && hd.HandCollision(roi))
{
handDetected = hd;
break;
}
}
//If not, this is a new hand!
if (handDetected == null)
{
handDetected = new HandDetected(m_smoothness);
handDetected.NewDetection = true;
m_handsDetected.Add(handDetected);
}
//Compute the hand 3D position in the left-handed coordinate system
System.Numerics.Matrix4x4?cameraToWorld = CoordinateSystem.TryGetTransformTo(m_spatialCoordinateSystem).Value;
System.Numerics.Matrix4x4 viewToCamera;
System.Numerics.Matrix4x4.Invert(cameraParam.CameraViewTransform, out viewToCamera);
if (cameraToWorld == null)
{
cameraToWorld = System.Numerics.Matrix4x4.Identity;
}
System.Numerics.Vector4 handVec = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(hand.PalmX, hand.PalmY, hand.PalmZ, 1.0f), viewToCamera);
handVec = System.Numerics.Vector4.Transform(handVec, cameraToWorld.Value);
Vector3 unityHandVec = new Vector3(handVec.X, handVec.Y, -handVec.Z) / handVec.W;
System.Numerics.Vector4 wristVec = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(hand.WristX, hand.WristY, hand.WristZ, 1.0f), viewToCamera);
wristVec = System.Numerics.Vector4.Transform(wristVec, cameraToWorld.Value);
Vector3 unityWristVec = new Vector3(wristVec.X, wristVec.Y, -wristVec.Z) / wristVec.W;
handDetected.PushPosition(unityHandVec, unityWristVec, roi);
//Clear fingers information
handDetected.Fingers.Clear();
handDetected.UppestFinger = null;
FingerDetected formerFinger = handDetected.UppestFinger;
if (hand.Fingers.Count > 0)
{
//Conver each fingers detected
foreach (Finger f in hand.Fingers)
{
//Register the finger position
System.Numerics.Vector4 fingerVec = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(f.TipX, f.TipY, f.TipZ, 1.0f), viewToCamera);
fingerVec = System.Numerics.Vector4.Transform(fingerVec, cameraToWorld.Value);
Vector3 unityFingerVec = new Vector3(fingerVec.X, fingerVec.Y, -fingerVec.Z) / fingerVec.W;
handDetected.Fingers.Add(new FingerDetected(unityFingerVec));
}
//Detect the uppest finger
float minFY = hand.Fingers[0].TipY;
handDetected.UppestFinger = handDetected.Fingers[0];
for (int i = 1; i < handDetected.Fingers.Count; i++)
{
if (minFY > hand.Fingers[0].TipY)
{
minFY = hand.Fingers[0].TipY;
handDetected.UppestFinger = handDetected.Fingers[i];
}
}
//Apply smoothness on this particular finger
if (formerFinger != null)
{
handDetected.UppestFinger.Position = (1.0f - m_smoothness) * handDetected.UppestFinger.Position + m_smoothness * formerFinger.Position;
}
}
}
}
for (int i = 0; i < m_handsDetected.Count; i++)
{
HandDetected hd = m_handsDetected[i];
//Handle non detected hands
if (!hd.IsDetected)
{
hd.PushUndetection();
//Delete the non valid hands
if (!hd.IsValid)
{
m_handsDetected.RemoveAt(i);
i--;
continue;
}
}
}
}
}
private void RefreshResolutionsAsync(ConfigChangedItem configChangedItem)
{
if (configChangedItem.value == NonExclusiveItem)
{
return;
}
Camera videoDeviceInfo = _sdkService.GetCameraInfo(configChangedItem.value);
if (configChangedItem.key == ConfigItemKey.MainCamera)
{
if (videoDeviceInfo.CameraParameters.Count > 0)
{
MeetingConfigParameter.UserCameraSetting.ResolutionList.Clear();
CameraParameter cameraParameter = videoDeviceInfo.CameraParameters[0];
foreach (Size t in cameraParameter.VideoSizes)
{
string resolution = $"{t.Width}*{t.Height}";
if (!MeetingConfigParameter.UserCameraSetting.ResolutionList.Contains(resolution))
{
MeetingConfigParameter.UserCameraSetting.ResolutionList.Add(resolution);
}
}
}
if (
MeetingConfigParameter.UserCameraSetting.ResolutionList.Contains(
GlobalData.Instance.AggregatedConfig.MainCamera.Resolution))
{
MeetingConfigResult.MainCamera.Resolution =
GlobalData.Instance.AggregatedConfig.MainCamera.Resolution;
}
else if (MeetingConfigParameter.UserCameraSetting.ResolutionList.Count > 0)
{
MeetingConfigResult.MainCamera.Resolution =
MeetingConfigParameter.UserCameraSetting.ResolutionList[0];
}
}
if (configChangedItem.key == ConfigItemKey.SecondaryCamera)
{
if (videoDeviceInfo.CameraParameters.Count > 0)
{
MeetingConfigParameter.DataCameraSetting.ResolutionList.Clear();
CameraParameter cameraParameter = videoDeviceInfo.CameraParameters[0];
foreach (Size t in cameraParameter.VideoSizes)
{
string resolution = $"{t.Width}*{t.Height}";
if (!MeetingConfigParameter.DataCameraSetting.ResolutionList.Contains(resolution))
{
MeetingConfigParameter.DataCameraSetting.ResolutionList.Add(resolution);
}
}
}
if (
MeetingConfigParameter.DataCameraSetting.ResolutionList.Contains(
GlobalData.Instance.AggregatedConfig.SecondaryCamera.Resolution))
{
MeetingConfigResult.SecondaryCamera.Resolution =
GlobalData.Instance.AggregatedConfig.SecondaryCamera.Resolution;
}
else if (MeetingConfigParameter.DataCameraSetting.ResolutionList.Count > 0)
{
MeetingConfigResult.SecondaryCamera.Resolution =
MeetingConfigParameter.DataCameraSetting.ResolutionList[0];
}
}
}
public void OnHandUpdate(CameraParameter cameraParam, SpatialCoordinateSystem CoordinateSystem, IList <Hand> hands)
{
lock (this)
{
if (m_spatialCoordinateSystem != null)
{
//Start a new frame
foreach (HandDetected hand in m_handsDetected)
{
hand.NewDetection = true;
}
//For each detected hand
foreach (Hand hand in hands)
{
//Get the needed transformation matrices to convert hand in image space to camera and world space
System.Numerics.Matrix4x4?cameraToWorld = CoordinateSystem.TryGetTransformTo(m_spatialCoordinateSystem).Value;
System.Numerics.Matrix4x4 viewToCamera;
System.Numerics.Matrix4x4.Invert(cameraParam.CameraViewTransform, out viewToCamera);
if (cameraToWorld == null)
{
cameraToWorld = System.Numerics.Matrix4x4.Identity;
}
//Hand in camera space
System.Numerics.Vector4 handVecCamera = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(hand.PalmX, hand.PalmY, hand.PalmZ, 1.0f), viewToCamera);
Vector3 unityHandCamera = new Vector3(handVecCamera.X, handVecCamera.Y, handVecCamera.Z) / handVecCamera.W;
//Wrist in camera space
System.Numerics.Vector4 wristVecCamera = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(hand.WristX, hand.WristY, hand.WristZ, 1.0f), viewToCamera);
Vector3 unityWristCamera = new Vector3(wristVecCamera.X, wristVecCamera.Y, wristVecCamera.Z) / wristVecCamera.W;
//Add offsets in the ROI
float[] roi = new float[4];
roi[0] = hand.WristROIMinX - 10;
roi[1] = hand.WristROIMinY - 10;
roi[2] = hand.WristROIMaxX + 10;
roi[3] = hand.WristROIMaxY + 10;
//check if we already know it
bool created = false;
HandDetected handDetected = null;
foreach (HandDetected hd in m_handsDetected)
{
if (!hd.IsDetected && hd.HandCollision(roi) && (hd.CameraSpacePosition - unityHandCamera).magnitude <= 0.10) //Test the ROI and the magnitude in the position (no more than 5 cm)
{
handDetected = hd;
break;
}
}
//If not, this is a new hand!
if (handDetected == null)
{
handDetected = new HandDetected();
handDetected.NewDetection = true;
m_handsDetected.Add(handDetected);
created = true;
}
float smoothness = m_smoothness;
if (created == true)
{
smoothness = 0.0f;
}
//Smooth the hand
Vector3 smoothPosCamera = unityHandCamera * (1.0f - smoothness) + handDetected.CameraSpacePosition * smoothness; //Smooth the position
System.Numerics.Vector4 handVec = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(smoothPosCamera.x, smoothPosCamera.y, smoothPosCamera.z, 1.0f), cameraToWorld.Value);
Vector3 unityHandVec = new Vector3(handVec.X, handVec.Y, -handVec.Z) / handVec.W;
//Smooth the wrist
Vector3 smoothWristCamera = unityWristCamera * (1.0f - smoothness) + handDetected.CameraSpaceWristPosition * smoothness; //Smooth the position
System.Numerics.Vector4 wristVec = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(smoothWristCamera.x, smoothWristCamera.y, smoothWristCamera.z, 1.0f), cameraToWorld.Value);
Vector3 unityWristVec = new Vector3(wristVec.X, wristVec.Y, -wristVec.Z) / wristVec.W;
handDetected.PushPosition(unityHandVec, unityWristVec, smoothPosCamera, smoothWristCamera, roi);
//Clear fingers information
handDetected.Fingers.Clear();
handDetected.UppestFinger = null;
FingerDetected formerFinger = handDetected.UppestFinger;
if (hand.Fingers.Count > 0)
{
//Conver each fingers detected
foreach (Finger f in hand.Fingers)
{
//Register the finger position
System.Numerics.Vector4 fingerVec = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(f.TipX, f.TipY, f.TipZ, 1.0f), viewToCamera);
fingerVec = System.Numerics.Vector4.Transform(fingerVec, cameraToWorld.Value);
Vector3 unityFingerVec = new Vector3(fingerVec.X, fingerVec.Y, -fingerVec.Z) / fingerVec.W;
handDetected.Fingers.Add(new FingerDetected(unityFingerVec));
}
//Detect the uppest finger
float minFY = hand.Fingers[0].TipY;
handDetected.UppestFinger = handDetected.Fingers[0];
for (int j = 1; j < handDetected.Fingers.Count; j++)
{
if (minFY > hand.Fingers[0].TipY)
{
minFY = hand.Fingers[0].TipY;
handDetected.UppestFinger = handDetected.Fingers[j];
}
}
}
}
}
int i = 0;
while (i < m_handsDetected.Count)
{
HandDetected hd = m_handsDetected[i];
//Handle non detected hands
if (!hd.IsDetected)
{
hd.PushUndetection();
//Delete the non valid hands
if (!hd.IsValid)
{
m_handsDetected.RemoveAt(i);
continue;
}
}
i++;
}
}
}
