private void SendCommand(string command_str)
{
if (stereo_camera.Record)
{
BaseVisionStereo.LogEvent(DateTime.Now, command_str, teleoperation_log);
}
stereo_camera.SendCommand(0, command_str);
}
/// <summary>
/// Toggles logging of images on or off
/// </summary>
/// <param name="enable"></param>
private void ToggleLogging(bool enable)
{
Console.WriteLine("");
Console.WriteLine("");
if (enable)
{
Console.WriteLine("Logging Enabled");
}
else
{
Console.WriteLine("Logging Disabled");
}
Console.WriteLine("");
Console.WriteLine("");
stereo_camera.recorded_images_path = log_path;
// reset the frame number
if (!stereo_camera.replaying_actions)
{
if (enable == true)
{
if ((txtLogging.Text != "") &&
(txtLogging.Text != null))
{
path_identifier = txtLogging.Text;
}
BaseVisionStereo.LogEvent(DateTime.Now, "BEGIN", teleoperation_log);
// clear any previous recorded data
stereo_camera.RecordFrameNumber = 0;
}
stereo_camera.Record = enable;
}
if (enable == false)
{
BaseVisionStereo.LogEvent(DateTime.Now, "END", teleoperation_log);
// compress the recorded images
BaseVisionStereo.CompressRecordedData(
zip_utility,
path_identifier,
log_path);
}
}
/// <summary>
///
/// </summary>
/// <param name="stereo_camera_IP">IP address of the SVS</param>
/// <param name="leftport">port number of the left camera</param>
/// <param name="rightport">port number of the right camera</param>
public MainWindow(
string stereo_camera_IP,
int leftport,
int rightport) : base(Gtk.WindowType.Toplevel)
{
Build();
robot = new robotSurveyor();
this.stereo_camera_IP = stereo_camera_IP;
string version = String.Format("{0}", AssemblyVersion);
Console.WriteLine("surveyorstereo GUI version " + version);
Console.WriteLine("SVS IP: " + stereo_camera_IP.ToString());
Console.WriteLine("Left camera port: " + leftport.ToString());
Console.WriteLine("Right camera port: " + rightport.ToString());
//SaveHpolarLookup();
if (BaseVisionStereo.IsWindows())
{
zip_utility = "zip";
}
byte[] img = new byte[image_width * image_height * 3];
Bitmap left_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
Bitmap right_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
sluggish.utilities.BitmapArrayConversions.updatebitmap_unsafe(img, left_bmp);
sluggish.utilities.BitmapArrayConversions.updatebitmap_unsafe(img, right_bmp);
GtkBitmap.setBitmap(left_bmp, leftimage);
GtkBitmap.setBitmap(right_bmp, rightimage);
stereo_camera = new SurveyorVisionStereoGtk(stereo_camera_IP, leftport, rightport, broadcast_port, fps, this);
stereo_camera.temporary_files_path = temporary_files_path;
stereo_camera.recorded_images_path = recorded_images_path;
stereo_camera.display_image[0] = leftimage;
stereo_camera.display_image[1] = rightimage;
stereo_camera.Run("M");
txtLogging.Text = path_identifier;
txtReplay.Text = replay_path_identifier;
motors_active = true;
starting = false;
// enable motors
//SendCommand("M");
}
/// <summary>
/// stereo camera server
/// </summary>
/// <example>
/// use with a Surveyor stereo vision system
/// stereoserver -server 169.254.0.10
/// -algorithm dense
/// -calibration0 calibration.xml
/// -width 320 -height 240
/// -broadcastport 10010
/// -fps 10
/// use with a webcam based stereo camera:
/// stereoserver -leftdevice /dev/video1
/// -rightdevice /dev/video2
/// -algorithm dense
/// -calibration0 calibration.xml
/// -width 320 -height 240
/// -ramdisk /home/myusername/ramdisk
/// -record /home/myusername/recordedimages
/// -broadcastport 10010
/// use with two stereo cameras (based on webcams):
/// stereoserver -leftdevice /dev/video1
/// -rightdevice /dev/video2
/// -leftdevice2 /dev/video3
/// -rightdevice2 /dev/video4
/// -algorithm dense
/// -calibration0 calibration0.xml
/// -calibration1 calibration1.xml
/// -width 320 -height 240
/// -ramdisk /home/myusername/ramdisk
/// -record /home/myusername/recordedimages
/// -broadcastport 10010
/// -broadcastport2 10011
/// use with two stereo cameras (based on webcams) on Microsoft Windows:
/// stereoserver -leftdevice 0
/// -rightdevice 1
/// -leftdevice2 2
/// -rightdevice2 3
/// -algorithm dense
/// -calibration0 calibration0.xml
/// -calibration1 calibration1.xml
/// -width 320 -height 240
/// -record /home/myusername/recordedimages
/// -broadcastport 10010
/// -broadcastport2 10011
/// </example>
/// <param name="args"></param>
static void Main(string[] args)
{
// default settings for the surveyor stereo camera
string stereo_camera_IP = "169.254.0.10";
string calibration_filename0 = "calibration0.xml";
string calibration_filename1 = "calibration1.xml";
int left_port = 10001;
int right_port = 10002;
int image_width = 320;
int image_height = 240;
int broadcast_port = 10010;
int broadcast_port2 = 10011;
int stereo_algorithm_type = StereoVision.SIMPLE;
float fps = 1.0f;
BaseVisionStereo stereo_camera0 = null;
BaseVisionStereo stereo_camera1 = null;
// extract command line parameters
ArrayList parameters = commandline.ParseCommandLineParameters(args, "-", GetValidParameters());
bool record = false;
string record_path = commandline.GetParameterValue("record", parameters);
if (record_path != "")
{
record = true;
if (record_path.ToLower() == "true")
{
record_path = "";
}
}
// You may want to have temporary images written to a ram disk
// rather than thrashing the hard disk.
// To create a ram disk:
// mkdir /home/myusername/ramdisk
// sudo mount -t tmpfs none /home/myusername/ramdisk -o size=10m
string ramdisk = commandline.GetParameterValue("ramdisk", parameters);
// device names for the left and right camera (primary stereo camera)
string left_device = commandline.GetParameterValue("leftdevice", parameters);
string right_device = commandline.GetParameterValue("rightdevice", parameters);
// device names for the left and right camera (secondary stereo camera)
string left_device2 = commandline.GetParameterValue("leftdevice2", parameters);
string right_device2 = commandline.GetParameterValue("rightdevice2", parameters);
// ideal frames per second
string fps_str = commandline.GetParameterValue("fps", parameters);
if (fps_str != "")
{
fps = Convert.ToSingle(fps_str);
}
string width_str = commandline.GetParameterValue("width", parameters);
if (width_str != "")
{
image_width = Convert.ToInt32(width_str);
}
string height_str = commandline.GetParameterValue("height", parameters);
if (height_str != "")
{
image_height = Convert.ToInt32(height_str);
}
string server_str = commandline.GetParameterValue("server", parameters);
if (server_str != "")
{
stereo_camera_IP = server_str;
}
string left_port_str = commandline.GetParameterValue("leftport", parameters);
if (left_port_str != "")
{
left_port = Convert.ToInt32(left_port_str);
}
string right_port_str = commandline.GetParameterValue("rightport", parameters);
if (right_port_str != "")
{
right_port = Convert.ToInt32(right_port_str);
}
string broadcast_port_str = commandline.GetParameterValue("broadcastport", parameters);
if (broadcast_port_str != "")
{
broadcast_port = Convert.ToInt32(broadcast_port_str);
}
broadcast_port_str = commandline.GetParameterValue("broadcastport2", parameters);
if (broadcast_port_str != "")
{
broadcast_port2 = Convert.ToInt32(broadcast_port_str);
}
// minimum exposure value for the camera
// this varies from one webcam to the next
int min_exposure = 0;
string min_exposure_str = commandline.GetParameterValue("minexposure", parameters);
if (min_exposure_str != "")
{
min_exposure = Convert.ToInt32(min_exposure_str);
}
// maximum exposure value for the camera
// this varies from one webcam to the next, and can even be a negative value
int max_exposure = 650;
string max_exposure_str = commandline.GetParameterValue("maxexposure", parameters);
if (max_exposure_str != "")
{
max_exposure = Convert.ToInt32(max_exposure_str);
}
// on windows systems use pause on the media control rather than stop
bool use_media_pause = false;
string use_media_pause_str = commandline.GetParameterValue("mediapause", parameters);
if (use_media_pause_str != "")
{
use_media_pause = true;
}
bool disable_rectification = false;
string disable_rectification_str = commandline.GetParameterValue("norectify", parameters);
if (disable_rectification_str != "")
{
disable_rectification = true;
}
bool disable_radial_correction = false;
string disable_radial_correction_str = commandline.GetParameterValue("noradial", parameters);
if (disable_radial_correction_str != "")
{
disable_radial_correction = true;
}
string force = commandline.GetParameterValue("force", parameters);
bool flip_left_image = false;
string flip_left_image_str = commandline.GetParameterValue("flipleft", parameters);
if (flip_left_image_str != "")
{
flip_left_image = true;
}
bool flip_right_image = false;
string flip_right_image_str = commandline.GetParameterValue("flipright", parameters);
if (flip_right_image_str != "")
{
flip_right_image = true;
}
string algorithm_str = commandline.GetParameterValue("algorithm", parameters);
if (algorithm_str != "")
{
algorithm_str = algorithm_str.ToLower();
if (algorithm_str == "simple")
{
stereo_algorithm_type = StereoVision.SIMPLE;
}
if (algorithm_str == "edges")
{
stereo_algorithm_type = StereoVision.EDGES;
}
if (algorithm_str == "dense")
{
stereo_algorithm_type = StereoVision.DENSE;
}
}
// a file which if present pauses frame capture
string pause_file = commandline.GetParameterValue("pause", parameters);
// whether to save debugging images of the stereo disparities
bool save_debug_images = false;
string save_debug_images_str = commandline.GetParameterValue("debug", parameters);
if (save_debug_images_str != "")
{
save_debug_images = true;
}
calibration_filename0 = commandline.GetParameterValue("calibration0", parameters);
calibration_filename1 = commandline.GetParameterValue("calibration1", parameters);
if (calibration_filename0 == "")
{
Console.WriteLine("You must supply a calibration file for stereo camera 0");
}
else
{
if (!File.Exists(calibration_filename0))
{
Console.WriteLine("The calibration file for stereo camera 0 " + calibration_filename0 + " could not be found");
}
else
{
// ensure that a server for the same stereo camera isn't already running
bool is_ip_camera;
bool mutex_ok;
System.Threading.Mutex m = null;
if ((left_device == "") || (left_device == null))
{
m = new System.Threading.Mutex(true, "stereoserver " + stereo_camera_IP, out mutex_ok);
is_ip_camera = true;
}
else
{
m = new System.Threading.Mutex(true, "stereoserver " + left_device + " " + right_device, out mutex_ok);
is_ip_camera = false;
}
if ((!mutex_ok) && (force == ""))
{
Console.WriteLine("A server for this stereo camera is already running");
}
else
{
if (is_ip_camera)
{
// surveyor stereo camera
stereo_camera0 = Init(stereo_camera_IP, calibration_filename0, image_width, image_height, left_port, right_port, broadcast_port, stereo_algorithm_type, fps);
}
else
{
// webcam based stereo camera
stereo_camera0 = Init(left_device, right_device, calibration_filename0, image_width, image_height, broadcast_port, stereo_algorithm_type, fps, pause_file);
if ((left_device2 != "") && (right_device2 != ""))
{
if (calibration_filename1 == "")
{
Console.WriteLine("No calibration file found for stereo camera 1");
}
else
{
stereo_camera1 = Init(left_device2, right_device2, calibration_filename1, image_width, image_height, broadcast_port2, stereo_algorithm_type, fps, pause_file);
}
}
}
stereo_camera0.Record = record;
stereo_camera0.temporary_files_path = ramdisk;
stereo_camera0.recorded_images_path = record_path;
stereo_camera0.SetPauseFile(pause_file);
stereo_camera0.stereo_camera_index = -1;
stereo_camera0.min_exposure = min_exposure;
stereo_camera0.max_exposure = max_exposure;
stereo_camera0.disable_rectification = disable_rectification;
stereo_camera0.disable_radial_correction = disable_radial_correction;
stereo_camera0.use_media_pause = use_media_pause;
stereo_camera0.SaveDebugImages = save_debug_images;
stereo_camera0.flip_left_image = flip_left_image;
stereo_camera0.flip_right_image = flip_right_image;
stereo_camera0.Run();
if (stereo_camera1 != null)
{
stereo_camera0.next_camera = stereo_camera1;
stereo_camera1.next_camera = stereo_camera0;
stereo_camera0.stereo_camera_index = 0;
stereo_camera1.stereo_camera_index = 1;
stereo_camera1.SaveDebugImages = save_debug_images;
stereo_camera1.min_exposure = min_exposure;
stereo_camera1.max_exposure = max_exposure;
stereo_camera1.use_media_pause = use_media_pause;
stereo_camera1.disable_rectification = disable_rectification;
stereo_camera1.disable_radial_correction = disable_radial_correction;
stereo_camera0.active_camera = true;
stereo_camera1.active_camera = false;
stereo_camera1.Record = record;
stereo_camera1.temporary_files_path = ramdisk;
stereo_camera1.recorded_images_path = record_path;
stereo_camera1.flip_left_image = flip_left_image;
stereo_camera1.flip_right_image = flip_right_image;
stereo_camera1.SetPauseFile(pause_file);
stereo_camera1.Run();
}
while (stereo_camera0.Running)
{
System.Threading.Thread.Sleep(1000);
}
// keeping the dream alive
GC.KeepAlive(m);
}
}
}
}
