/// <summary>
/// Private Constructor
/// </summary>
Camera()
{
try
{
// pre-allocate and initialize the variables and data structures for brightness correction
imgGPU = worker.Malloc <byte>(new byte[640 * 640]);
meanImg = worker.Malloc <float>(new float[640 * 640]);
addReduce = DeviceSumModuleF32.Default.Create(numPixels);
correctionFactor = worker.Malloc <float>(640 * 640);
float[] temp = new float[640 * 640];
for (int i = 0; i < temp.Length; i++)
{
temp[i] = 1;
}
correctionFactor.Scatter(temp);
scalarOutput = worker.Malloc <float>(1);
if (File.Exists("correctionFactor.dat"))
{
FileStream stream = new FileStream("correctionFactor.dat", FileMode.Open);
byte[] buffer = new byte[640 * 640 * 4];
stream.Read(buffer, 0, (int)Math.Min(buffer.Length, stream.Length));
for (int i = 0; i < 640 * 640; i++)
{
temp[i] = BitConverter.ToSingle(buffer, 4 * i);
}
stream.Close();
correctionFactor.Scatter(temp);
}
// initialize CUDA parameters
var blockDims = new dim3(32, 32);
var gridDims = new dim3(Common.divup(640, blockDims.x), Common.divup(640, blockDims.y));
lp = new LaunchParam(gridDims, blockDims);
// set up the camera parameters and events
provider = new IduleProviderCsCam(0);
provider.Initialize();
if (provider.IsConnected)
{
provider.ImageTransaction += provider_ImageTransaction;
provider.Interrupt += provider_Interrupt;
provider.Exception += camera_Exception;
provider.WriteRegister(new NanEyeGSRegisterPayload(false, 0x05, true, 0, prescaler));
provider.WriteRegister(new NanEyeGSRegisterPayload(false, 0x06, true, 0, exposure));
ProcessingWrapper.pr[0].ReduceProcessing = true;
}
}
catch (Exception ex) { OnError(ex.Message); }
}
/// <summary>
/// Reset the brightness correction parameters and start calibrating them
/// </summary>
public void StartCalibration()
{
calibrating = true;
meanImg.Scatter(new float[640 * 640]);
float[] temp = new float[640 * 640];
for (int i = 0; i < temp.Length; i++)
{
temp[i] = 1;
}
correctionFactor.Scatter(temp);
numCalibrationSamples = 0;
}
/// <summary>
/// Called every time a new frame shows up from the camera
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void provider_ImageTransaction(object sender, ImageReceivedEventArgs e)
{
if (stopping || e == null || e.PixelData == null)
{
return;
}
if (Monitor.TryEnter(this))
{
imgGPU.Scatter(e.PixelData);
if (calibrating)
{
// compute a running mean of each pixel
worker.Launch(RunningMean_Kernel, lp, e.Width, imgGPU.Ptr, meanImg.Ptr, numCalibrationSamples);
numCalibrationSamples++;
// compute the mean over the full mean image, using a reduction operation
addReduce.Reduce(meanImg.Ptr, scalarOutput.Ptr, numPixels);
var mean = scalarOutput.GatherScalar();
mean /= numPixels;
// update the correction factor for each pixel
worker.Launch(UpdateCorrectionFactor_Kernel, lp, e.Width, meanImg.Ptr, correctionFactor.Ptr, mean);
}
if (correctBrightness)
{
worker.Launch(ApplyCorrectionFactor_Kernel, lp, e.Width, correctionFactor.Ptr, imgGPU.Ptr);
imgGPU.Gather(e.PixelData);
}
img.Bytes = e.PixelData; // note: have to do this last, because if you set it earlier but then modify the bytes it won't update the image
// trigger a new frame event
OnFrameAvailable(new VideoFrame {
Image = img, ImageGPU = imgGPU, Timestamp = e.TimeStamp
});
Monitor.Exit(this);
}
}
/// <summary>
/// Computes an LBP histogram over the full image
/// </summary>
/// <param name="image">an EMGU image</param>
/// <returns>a normalized histogram of uniform LBP patterns</returns>
public float[] GetHistogram(VideoFrame frame)
{
// reshape the image data to a 1D array, and push it to the GPU
//Buffer.BlockCopy(image.Data, 0, imageData, 0, image.Width * image.Height);
//byte[, ,] data = image.Data;
//int w = image.Width, h = image.Height;
//for (int i = 0; i < h; i++)
// for (int j = 0; j < w; j++)
// imageData[i * w + j] = data[i, j, 0];
//imageGPU.ScatterScalar(data[i, j, 0], i * w + j);
//imageGPU.Scatter(image);
// run the LBP kernel
worker.Launch(LBP_Kernel, lp, frame.Width, frame.Height, frame.ImageGPU.Ptr, lbpImageGPU.Ptr, varImageGPU.Ptr, binLookupGPU.Ptr, neighborCoordinateXGPU.Ptr, neighborCoordinateYGPU.Ptr, varBinsGPU.Ptr);
// zero out the histogram data on the GPU, then compute a new histogram from the LBP patterns
for (int i = 0; i < hist.Length; i++)
{
hist[i] = 0;
}
histGPU.Scatter(hist);
worker.Launch(Hist_Kernel, lp, frame.Width, frame.Height, lbpImageGPU.Ptr, varImageGPU.Ptr, histGPU.Ptr);
histGPU.Gather(useSubuniform ? hist2 : hist);
if (useSubuniform)
{
// shift the histogram segments to achieve rotation invariance
hist[0] = hist2[0];
hist[1] = hist2[1];
for (int m = 0; m < numNeighbors - 1; m++)
{
int maxIndex = 0;
int max = 0;
for (int w = 0; w < numNeighbors; w++)
{
int v = 0;
for (int i = 0; i < numVarBins; i++)
{
v += hist2[(m * numNeighbors + w) * numVarBins + i];
}
if (v > max)
{
max = v;
maxIndex = w;
}
}
for (int w = 0; w < numNeighbors; w++)
{
for (int i = 0; i < numVarBins; i++)
{
hist[(m * numNeighbors + w) * numVarBins + i] = hist2[(m * numNeighbors + (w + maxIndex) % numNeighbors) * numVarBins + i];
}
}
}
}
// normalize the histogram (doesn't need to run on GPU)
int n = (frame.Width - 2 * radius) * (frame.Height - 2 * radius);
float[] histNorm = new float[hist.Length];
//for (int i = 0; i < hist.Length; i++) histNorm[i] = (float)hist[i] / n;
for (int i = 0; i < hist.Length; i++)
{
histNorm[i] = hist[i];
}
return(histNorm);
}
/// <summary>
/// Computes an LBP histogram over the full image
/// </summary>
/// <param name="image">an EMGU image</param>
/// <returns>a normalized histogram of uniform LBP patterns</returns>
public float[] GetHistogram(VideoFrame frame)
{
// build the scale space and select the best scale for each pixel
worker.Launch(ConvertFloat_Kernel, lp, frame.Width, frame.Height, frame.ImageGPU.Ptr, floatImageGPU.Ptr);
for (int i = 0; i < numScales; i++)
{
worker.Launch(Filter_Symmetric_Kernel, lp, frame.Width, frame.Height, floatImageGPU.Ptr, scaledImages[i].Ptr, filtersGPU[i].Ptr, filterSizes[i]);
}
worker.Launch(EstimateScale_Kernel, lp, frame.Width, frame.Height, 1.0f, scaledImagePointers.Ptr, pixelScaleImage.Ptr);
// run the LBP kernel
worker.Launch(LBP_Kernel, lp, frame.Width, frame.Height, frame.ImageGPU.Ptr, lbpImageGPU.Ptr, varImageGPU.Ptr, subuniformBinsGPU.Ptr, neighborCoordinateXGPU.Ptr, neighborCoordinateYGPU.Ptr, pixelScaleImage.Ptr, varBinsGPU.Ptr);
// zero out the histogram data on the GPU, then compute a new histogram from the LBP patterns
for (int i = 0; i < hist.Length; i++)
{
hist[i] = 0;
}
histGPU.Scatter(hist);
worker.Launch(Hist_Kernel, lp, frame.Width, frame.Height, lbpImageGPU.Ptr, varImageGPU.Ptr, histGPU.Ptr);
histGPU.Gather(hist2);
// shift the histogram segments to achieve rotation invariance
hist[0] = hist2[0];
hist[1] = hist2[1];
for (int m = 0; m < numNeighbors - 1; m++)
{
int maxIndex = 0;
int max = 0;
for (int w = 0; w < numNeighbors; w++)
{
int v = 0;
for (int i = 0; i < numVarBins; i++)
{
v += hist2[(m * numNeighbors + w) * numVarBins + i];
}
if (v > max)
{
max = v;
maxIndex = w;
}
}
for (int w = 0; w < numNeighbors; w++)
{
for (int i = 0; i < numVarBins; i++)
{
hist[(m * numNeighbors + w) * numVarBins + i] = hist2[(m * numNeighbors + (w + maxIndex) % numNeighbors) * numVarBins + i];
}
}
}
// normalize the histogram (doesn't need to run on GPU)
int n = (frame.Width) * (frame.Height);
float[] histNorm = new float[hist.Length];
for (int i = 0; i < hist.Length; i++)
{
histNorm[i] = (float)hist[i] / n;
}
return(histNorm);
}
