public static Tuple <Mat, FrameMetaData> GetMetaMatTuple(Mat mat, FrameMetaData metaData)
{
return(Tuple.Create(item1: mat, item2: metaData));
}
public static Tuple <Mat, FrameMetaData>[] GetStreamOutput(Mat mat, FrameMetaData metaData)
{
return(new Tuple <Mat, FrameMetaData>[1] {
Tuple.Create(item1: mat, item2: metaData)
});
}
public void Run()
{
Console.WriteLine("Run was called");
while (true)
{
if (state == BasicCamLoopState.Waiting)
{
isMessageDequeueSuccess = messageQueue.TryDequeue(out ButtonCommands message);
if (isMessageDequeueSuccess)
{
Console.WriteLine("message received on camera: {0}", message);
state = handler.UpdateState(state: state, button: message);
if (state == BasicCamLoopState.Streaming && !managedCamera.IsStreaming())
{
ResetCounter();
managedCamera.BeginAcquisition();
}
continue;
}
Thread.Sleep(100);
continue;
}
else if (state == BasicCamLoopState.Streaming)
{
try
{
using (IManagedImage rawImage = managedCamera.GetNextImage())
{
imageCtr += 1;
long frameID = rawImage.ChunkData.FrameID;
long timestamp = rawImage.ChunkData.Timestamp;
if (imageCtr == 1)
{
currFrameMetaData = new FrameMetaData(streamCtr: imageCtr, frameID: frameID, timestamp: timestamp);
continue;
}
prevFrameMetaData = currFrameMetaData;
currFrameMetaData = new FrameMetaData(streamCtr: imageCtr, frameID: frameID, timestamp: timestamp);
if (imageCtr % enqueueRate == 0)
{
Mat fullMat = new Mat(rows: inputSize.Height, cols: inputSize.Width,
type: Emgu.CV.CvEnum.DepthType.Cv8U, channels: 1, data: rawImage.DataPtr, step: inputSize.Width);
if (isResizeNeeded)
{
Mat resizedMat = new Mat(size: outputSize, type: Emgu.CV.CvEnum.DepthType.Cv8U, channels: 1);
CvInvoke.Resize(src: fullMat, dst: resizedMat, dsize: outputSize, interpolation: Emgu.CV.CvEnum.Inter.Linear);
Tuple <Mat, FrameMetaData>[] output = Util.GetStreamOutput(mat: resizedMat, metaData: currFrameMetaData);
streamQueue.Enqueue(item: output);
fullMat.Dispose();
}
else
{
Tuple <Mat, FrameMetaData>[] output = Util.GetStreamOutput(mat: fullMat, metaData: currFrameMetaData);
streamQueue.Enqueue(item: output);
}
}
}
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error in SimpleStreamingLoop: {0}", ex.Message);
}
isMessageDequeueSuccess = messageQueue.TryDequeue(out ButtonCommands message);
if (isMessageDequeueSuccess)
{
state = handler.UpdateState(state: state, button: message);
}
}
else if (state == BasicCamLoopState.Recording)
{
try
{
using (IManagedImage rawImage = managedCamera.GetNextImage())
{
imageCtr += 1;
long frameID = rawImage.ChunkData.FrameID;
long timestamp = rawImage.ChunkData.Timestamp;
if (imageCtr == 1)
{
currFrameMetaData = new FrameMetaData(streamCtr: imageCtr, frameID: frameID, timestamp: timestamp);
continue;
}
prevFrameMetaData = currFrameMetaData;
currFrameMetaData = new FrameMetaData(streamCtr: imageCtr, frameID: frameID, timestamp: timestamp);
if (imageCtr % enqueueRate == 0)
{
Mat fullMat = new Mat(rows: inputSize.Height, cols: inputSize.Width,
type: Emgu.CV.CvEnum.DepthType.Cv8U, channels: 1, data: rawImage.DataPtr, step: inputSize.Width);
if (isResizeNeeded)
{
Mat resizedMat = new Mat(size: outputSize, type: Emgu.CV.CvEnum.DepthType.Cv8U, channels: 1);
CvInvoke.Resize(src: fullMat, dst: resizedMat, dsize: outputSize, interpolation: Emgu.CV.CvEnum.Inter.Linear);
Tuple <Mat, FrameMetaData>[] output = Util.GetStreamOutput(mat: resizedMat, metaData: currFrameMetaData);
streamQueue.Enqueue(item: output);
fullMat.Dispose();
}
else
{
Tuple <Mat, FrameMetaData>[] output = Util.GetStreamOutput(mat: fullMat, metaData: currFrameMetaData);
streamQueue.Enqueue(item: output);
}
}
}
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error in SimpleStreamingLoop: {0}", ex.Message);
}
isMessageDequeueSuccess = messageQueue.TryDequeue(out ButtonCommands message);
if (isMessageDequeueSuccess)
{
state = handler.UpdateState(state: state, button: message);
}
}
else if (state == BasicCamLoopState.Exit)
{
return;
}
}
}
public static void MergeStreamsThreadInit(MergeStreamsManager manager)
{
int imageCtr = 0;
bool isMessageDequeueSuccess;
int nQueues = manager.input.nInputQueues;
bool[] isInputDequeueSuccess = new bool[nQueues];
StreamLoopState state = StreamLoopState.Waiting;
Tuple <Mat, FrameMetaData>[][] input;
while (true)
{
UpdateLoopState();
if (state == StreamLoopState.Waiting)
{
Thread.Sleep(100); continue;
}
else if (state == StreamLoopState.Exit)
{
return;
}
input = new Tuple <Mat, FrameMetaData> [nQueues][];
for (int i = 0; i < nQueues; i++)
{
while (true)
{
isInputDequeueSuccess[i] = manager.input.streamQueues[i].TryDequeue(out input[i]);
if (isInputDequeueSuccess[i])
{
isInputDequeueSuccess[i] = false;
break;
}
else
{
UpdateLoopState();
if (state == StreamLoopState.Streaming)
{
continue;
}
else if (state == StreamLoopState.Waiting)
{
Thread.Sleep(100);
}
else if (state == StreamLoopState.Exit)
{
return;
}
}
}
}
ProcessInput();
continue;
void ProcessInput()
{
imageCtr += 1;
if (imageCtr % manager.output.outputChannels[0].enqueueOrDequeueRate != 0)
{
input[0][0].Item1.Dispose();
input[1][0].Item1.Dispose();
return;
}
Mat outputMat = new Mat(size: manager.output.outputChannels[0].imageSize, type: Emgu.CV.CvEnum.DepthType.Cv8U, channels: 1);
CvInvoke.VConcat(src1: input[0][0].Item1, src2: input[1][0].Item1, dst: outputMat);
FrameMetaData outputMeta = input[0][0].Item2;
Tuple <Mat, FrameMetaData>[] output = Util.GetStreamOutput(mat: outputMat, metaData: outputMeta);
manager.output.displayQueue.Enqueue(item: output);
}
void UpdateLoopState()
{
isMessageDequeueSuccess = manager.messageQueue.TryDequeue(out ButtonCommands message);
if (isMessageDequeueSuccess)
{
if (message == ButtonCommands.BeginStreaming)
{
Console.WriteLine("BeginStreaming command received in MergeStreamsThread");
state = StreamLoopState.Streaming;
}
else if (message == ButtonCommands.EndStreaming)
{
Console.WriteLine("EndStreaming command received in MergeStreamsThread");
state = StreamLoopState.Waiting;
}
else if (message == ButtonCommands.Exit)
{
state = StreamLoopState.Exit;
}
}
}
}
}
public void ResetCounter()
{
imageCtr = 0;
prevFrameMetaData = new FrameMetaData();
currFrameMetaData = new FrameMetaData();
}
