/// <summary>
/// Get image from the opened XIMEA camera.
/// </summary>
///
/// <param name="timeout">Maximum time to wait in milliseconds till image becomes available.</param>
/// <param name="makeCopy">Make a copy of the camera's image or not.</param>
///
/// <returns>Returns image retrieved from the camera.</returns>
///
/// <remarks><para>If the <paramref name="makeCopy"/> is set to <see langword="true"/>, then the method
/// creates a managed copy of the camera's image, so the managed image stays valid even when the camera
/// is closed. However, setting this parameter to <see langword="false"/> creates a managed image which is
/// just a wrapper around camera's unmanaged image. So if camera is closed and its resources are freed, the
/// managed image becomes no longer valid and accessing it will generate an exception.</para></remarks>
///
/// <exception cref="VideoException">An error occurred while communicating with a camera. See error
/// message for additional information.</exception>
/// <exception cref="NotConnectedException">No camera was opened, so can not access its methods.</exception>
/// <exception cref="TimeoutException">Time out value reached - no image is available within specified time value.</exception>
///
public Bitmap GetImage( int timeout, bool makeCopy )
{
lock ( sync )
{
CheckConnection( );
int errorCode;
XimeaImage ximeaImage = new XimeaImage( );
unsafe
{
ximeaImage.StructSize = sizeof( XimeaImage );
}
// get image from XIMEA camera
try
{
errorCode = XimeaAPI.xiGetImage( deviceHandle, timeout, ref ximeaImage );
}
catch ( AccessViolationException )
{
errorCode = 9;
}
// handle error if any
HandleError( errorCode );
// create managed bitmap for the unmanaged image provided by camera
PixelFormat pixelFormat = PixelFormat.Undefined;
int stride = 0;
switch ( ximeaImage.PixelFormat )
{
case ImageFormat.Grayscale8:
pixelFormat = PixelFormat.Format8bppIndexed;
stride = ximeaImage.Width;
break;
case ImageFormat.RGB24:
pixelFormat = PixelFormat.Format24bppRgb;
stride = ximeaImage.Width * 3;
break;
case ImageFormat.RGB32:
pixelFormat = PixelFormat.Format32bppRgb;
stride = ximeaImage.Width * 4;
break;
default:
throw new VideoException( "Unsupported pixel format." );
}
Bitmap bitmap = null;
if ( !makeCopy )
{
bitmap = new Bitmap( ximeaImage.Width, ximeaImage.Height, stride, pixelFormat, ximeaImage.BitmapData );
}
else
{
bitmap = new Bitmap( ximeaImage.Width, ximeaImage.Height, pixelFormat );
// lock destination bitmap data
BitmapData bitmapData = bitmap.LockBits(
new Rectangle( 0, 0, ximeaImage.Width, ximeaImage.Height ),
ImageLockMode.ReadWrite, pixelFormat );
int dstStride = bitmapData.Stride;
int lineSize = Math.Min( stride, dstStride );
unsafe
{
byte* dst = (byte*) bitmapData.Scan0.ToPointer( );
byte* src = (byte*) ximeaImage.BitmapData.ToPointer( );
if ( stride != dstStride )
{
// copy image
for ( int y = 0; y < ximeaImage.Height; y++ )
{
Accord.SystemTools.CopyUnmanagedMemory( dst, src, lineSize );
dst += dstStride;
src += stride;
}
}
else
{
Accord.SystemTools.CopyUnmanagedMemory( dst, src, stride * ximeaImage.Height );
}
}
// unlock destination images
bitmap.UnlockBits( bitmapData );
}
// set palette for grayscale image
if ( ximeaImage.PixelFormat == ImageFormat.Grayscale8 )
{
ColorPalette palette = bitmap.Palette;
for ( int i = 0; i < 256; i++ )
{
palette.Entries[i] = Color.FromArgb( i, i, i );
}
bitmap.Palette = palette;
}
return bitmap;
}
}
public static extern int xiGetImage(IntPtr deviceHandle, int timeout, [In, MarshalAs(UnmanagedType.Struct)] ref XimeaImage image);