public void DoFinalAction()
{
m_isFinalActionRuning = true;
if (this.Data.Count != 0)
{
AviOption option = new AviOption();
option.frameRate = 7.5F;
string fileName = this.DirectoryToSaveVideo + @"\" + "PG_Video" + "_" +
DateTime.Now.Year.ToString() + "_" +
DateTime.Now.Month.ToString() + "_" +
DateTime.Now.Day.ToString() + "_" +
DateTime.Now.Hour.ToString() + "_" +
DateTime.Now.Minute.ToString() + "_" +
DateTime.Now.Second.ToString() + ".avi";
using (ManagedAVIRecorder managedRecoder = new ManagedAVIRecorder())
{
managedRecoder.AVIOpen(fileName, option);
foreach (ManagedImage mi in this.Data)
{
managedRecoder.AVIAppend(mi);
}
managedRecoder.AVIClose();
}
}
OnFinalStateIsReached();
this.IsNeedImage = false;
MessageBox.Show("The video has been recorded successfully", "Video recording is done", MessageBoxButton.OK, MessageBoxImage.Information);
}
/// <summary>
/// Helper function for creating video file
/// </summary>
/// <param name="imageList">Reference to list where frames are being added</param>
/// <param name="aviFileName">Path to .avi file where video will save</param>
/// <param name="frameRate">Video framerate to use</param>
private void SaveAviHelper(ref List <ManagedImage> imageList, string aviFileName, float frameRate)
{
using (ManagedAVIRecorder aviRecorder = new ManagedAVIRecorder())
{
// Set MJPG codec options
MJPGOption option = new MJPGOption();
option.frameRate = frameRate;
option.quality = 90;
aviRecorder.AVIOpen(aviFileName, option);
// Write frames to video as they are being added
int imageCnt = 0;
while (this.Recording)
{
// Don't write latest frame as it is incomplete
if (imageCnt < imageList.Count - 1)
{
aviRecorder.AVIAppend(imageList[imageCnt]);
imageList[imageCnt].Dispose(); // Dispose to save RAM
imageCnt++;
}
}
// Write remaining frames to file
for (; imageCnt < imageList.Count; imageCnt++)
{
aviRecorder.AVIAppend(imageList[imageCnt]);
}
// Close file
aviRecorder.AVIClose();
}
}
private void SaveAviHelper(AviType aviType, ref List <ManagedImage> imageList, string aviFileName, float frameRate)
{
// Set maximum AVI file size to 2GB. A new AVI file is generated when 2GB
// limit is reached. Setting maximum file size to 0 indicates no limit.
const uint AviMaxSize = 2048;
using (ManagedAVIRecorder aviRecorder = new ManagedAVIRecorder())
{
aviRecorder.SetMaximumAVISize(AviMaxSize);
switch (aviType)
{
case AviType.Uncompressed:
{
AviOption option = new AviOption();
option.frameRate = frameRate;
aviRecorder.AVIOpen(aviFileName, option);
}
break;
case AviType.Mjpg:
{
MJPGOption option = new MJPGOption();
option.frameRate = frameRate;
option.quality = 75;
aviRecorder.AVIOpen(aviFileName, option);
}
break;
case AviType.H264:
{
H264Option option = new H264Option();
option.frameRate = frameRate;
option.bitrate = 1000000;
option.height = Convert.ToInt32(imageList[0].rows);
option.width = Convert.ToInt32(imageList[0].cols);
aviRecorder.AVIOpen(aviFileName, option);
}
break;
}
Console.WriteLine("Appending {0} images to AVI file {1}...", imageList.Count, aviFileName);
for (int imageCnt = 0; imageCnt < imageList.Count; imageCnt++)
{
// Append the image to AVI file
aviRecorder.AVIAppend(imageList[imageCnt]);
Console.WriteLine("Appended image {0}", imageCnt);
}
aviRecorder.AVIClose();
}
}
private void SaveAviHelper(AviType aviType, ref List <ManagedImage> imageList, string aviFileName, float frameRate)
{
using (ManagedAVIRecorder aviRecorder = new ManagedAVIRecorder())
{
switch (aviType)
{
case AviType.Uncompressed:
{
AviOption option = new AviOption();
option.frameRate = frameRate;
aviRecorder.AVIOpen(aviFileName, option);
}
break;
case AviType.Mjpg:
{
MJPGOption option = new MJPGOption();
option.frameRate = frameRate;
option.quality = 75;
aviRecorder.AVIOpen(aviFileName, option);
}
break;
case AviType.H264:
{
H264Option option = new H264Option();
option.frameRate = frameRate;
option.bitrate = 1000000;
option.height = Convert.ToInt32(imageList[0].rows);
option.width = Convert.ToInt32(imageList[0].cols);
aviRecorder.AVIOpen(aviFileName, option);
}
break;
}
Console.WriteLine("Appending {0} images to AVI file {1}...", imageList.Count, aviFileName);
for (int imageCnt = 0; imageCnt < imageList.Count; imageCnt++)
{
// Append the image to AVI file
aviRecorder.AVIAppend(imageList[imageCnt]);
Console.WriteLine("Appended image {0}", imageCnt);
}
aviRecorder.AVIClose();
}
}
// 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();
}