/// <summary>
/// Initializes a new instance of the <see cref="Irseny.Core.Sensors.VideoCapture.VideoFrame"/> class.
/// </summary>
/// <param name="width">Width.</param>
/// <param name="height">Height.</param>
/// <param name="format">Pixel format.</param>
/// <param name="data">Pixel data.</param>
/// <param name="metadata">Associated metadata.</param>
public VideoFrame(int width, int height, RasterImagePixelFormat format, byte[] data, VideoFrameMetadata metadata)
{
if (width < 0 || width > 16384)
{
throw new ArgumentOutOfRangeException("width");
}
if (height < 0 || height > 16884)
{
throw new ArgumentOutOfRangeException("height");
}
if (data == null)
{
throw new ArgumentNullException("data");
}
if (metadata.FrameRate < 0)
{
throw new ArgumentOutOfRangeException("metadata.FrameRate");
}
if (metadata.FrameTime < 0)
{
throw new ArgumentOutOfRangeException("metadata.FrameTime");
}
if (metadata.FrameTimeDeviation < 0)
{
throw new ArgumentOutOfRangeException("metadata.FrameTimeVariance");
}
Width = width;
Height = height;
PixelFormat = format;
PixelData = data;
Metadata = metadata;
}
/// <inheritdoc/>
public SensorDataPacket Process(long timestamp)
{
lock (captureSync) {
if (!Capturing)
{
return(null);
}
long startTime = rateAnalyzer.GetTimeStamp();
// TODO implrement prediction service and divide split multiple calls into grab begin/end
// get image and metadata from the backend
if (!VideoCaptureBackend.BeginVideoCaptureFrameGrab(videoCapture))
{
return(null);
}
if (!VideoCaptureBackend.EndVideoCaptureFrameGrab(videoCapture))
{
return(null);
}
long endTime = rateAnalyzer.GetTimeStamp();
if (endTime - startTime > 0)
{
Console.WriteLine("waited additional " + (endTime - startTime) + "ms for the next frame");
}
rateAnalyzer.Tick();
int width = VideoCaptureBackend.GetVideoCaptureFrameProperty(videoFrame, VideoFrameProperty.Width);
int height = VideoCaptureBackend.GetVideoCaptureFrameProperty(videoFrame, VideoFrameProperty.Height);
RasterImagePixelFormat format = (RasterImagePixelFormat)VideoCaptureBackend.GetVideoCaptureFrameProperty(
videoFrame, VideoFrameProperty.PixelFormat);
int pixelSize = VideoFrame.GetPixelSize(format);
// construct a data packet as result
if (width < 0 || width >= 16384 || height < 0 || height >= 16384 || pixelSize < 1 || pixelSize > 16)
{
return(null);
}
int imageSize = width * height * pixelSize;
byte[] image = new byte[imageSize];
GCHandle imageBuffer = GCHandle.Alloc(image, GCHandleType.Pinned);
if (!VideoCaptureBackend.CopyVideoCaptureFrame(videoFrame, imageBuffer.AddrOfPinnedObject(), imageSize))
{
imageBuffer.Free();
return(null);
}
imageBuffer.Free();
var metadata = new VideoFrameMetadata()
{
FrameRate = rateAnalyzer.AverageFrameRate,
FrameTime = rateAnalyzer.AverageFrameTime,
FrameTimeDeviation = rateAnalyzer.StandardFrameTimeDeviation
};
var frame = new VideoFrame(width, height, format, image, metadata);
// TODO generate packet id
return(new SensorDataPacket(this, SensorDataType.Video, frame, 0));
}
}