/// <summary>
/// Helper function for creating video file
/// </summary>
/// <param name="imageList">Reference to list where frames are being added</param>
/// <param name="aviFileName">Path to .avi file where video will save</param>
/// <param name="frameRate">Video framerate to use</param>
private void SaveAviHelper(ref List <ManagedImage> imageList, string aviFileName, float frameRate)
{
using (ManagedAVIRecorder aviRecorder = new ManagedAVIRecorder())
{
// Set MJPG codec options
MJPGOption option = new MJPGOption();
option.frameRate = frameRate;
option.quality = 90;
aviRecorder.AVIOpen(aviFileName, option);
// Write frames to video as they are being added
int imageCnt = 0;
while (this.Recording)
{
// Don't write latest frame as it is incomplete
if (imageCnt < imageList.Count - 1)
{
aviRecorder.AVIAppend(imageList[imageCnt]);
imageList[imageCnt].Dispose(); // Dispose to save RAM
imageCnt++;
}
}
// Write remaining frames to file
for (; imageCnt < imageList.Count; imageCnt++)
{
aviRecorder.AVIAppend(imageList[imageCnt]);
}
// Close file
aviRecorder.AVIClose();
}
}
private void SaveAviHelper(AviType aviType, ref List <ManagedImage> imageList, string aviFileName, float frameRate)
{
// Set maximum AVI file size to 2GB. A new AVI file is generated when 2GB
// limit is reached. Setting maximum file size to 0 indicates no limit.
const uint AviMaxSize = 2048;
using (ManagedAVIRecorder aviRecorder = new ManagedAVIRecorder())
{
aviRecorder.SetMaximumAVISize(AviMaxSize);
switch (aviType)
{
case AviType.Uncompressed:
{
AviOption option = new AviOption();
option.frameRate = frameRate;
aviRecorder.AVIOpen(aviFileName, option);
}
break;
case AviType.Mjpg:
{
MJPGOption option = new MJPGOption();
option.frameRate = frameRate;
option.quality = 75;
aviRecorder.AVIOpen(aviFileName, option);
}
break;
case AviType.H264:
{
H264Option option = new H264Option();
option.frameRate = frameRate;
option.bitrate = 1000000;
option.height = Convert.ToInt32(imageList[0].rows);
option.width = Convert.ToInt32(imageList[0].cols);
aviRecorder.AVIOpen(aviFileName, option);
}
break;
}
Console.WriteLine("Appending {0} images to AVI file {1}...", imageList.Count, aviFileName);
for (int imageCnt = 0; imageCnt < imageList.Count; imageCnt++)
{
// Append the image to AVI file
aviRecorder.AVIAppend(imageList[imageCnt]);
Console.WriteLine("Appended image {0}", imageCnt);
}
aviRecorder.AVIClose();
}
}
private void SaveAviHelper(AviType aviType, ref List <ManagedImage> imageList, string aviFileName, float frameRate)
{
using (ManagedAVIRecorder aviRecorder = new ManagedAVIRecorder())
{
switch (aviType)
{
case AviType.Uncompressed:
{
AviOption option = new AviOption();
option.frameRate = frameRate;
aviRecorder.AVIOpen(aviFileName, option);
}
break;
case AviType.Mjpg:
{
MJPGOption option = new MJPGOption();
option.frameRate = frameRate;
option.quality = 75;
aviRecorder.AVIOpen(aviFileName, option);
}
break;
case AviType.H264:
{
H264Option option = new H264Option();
option.frameRate = frameRate;
option.bitrate = 1000000;
option.height = Convert.ToInt32(imageList[0].rows);
option.width = Convert.ToInt32(imageList[0].cols);
aviRecorder.AVIOpen(aviFileName, option);
}
break;
}
Console.WriteLine("Appending {0} images to AVI file {1}...", imageList.Count, aviFileName);
for (int imageCnt = 0; imageCnt < imageList.Count; imageCnt++)
{
// Append the image to AVI file
aviRecorder.AVIAppend(imageList[imageCnt]);
Console.WriteLine("Appended image {0}", imageCnt);
}
aviRecorder.AVIClose();
}
}
// start capturing
public void startCapture(ManagedPGRGuid camGuid, int vidMode, System.Windows.Forms.PictureBox displayPicture,
String fileName, Boolean record2file)
{
int i;
Flag_GravityFound_Y = false; // garvity is not known
// CLEARING THE FRAME QUEUE NO MATTER WHAT...
FrameQueue.clear();
RecordToFile = record2file;
// creating the GPS data list
GpsCaptureData = new List <GPSDataInstance>();
// creating the IMU data List
IMUCapturedata = new List <IMUDataInstance>();
// resetting frame index
FrameIndex = 0;
// 1. connect to the camera
Cam.Connect(camGuid);
int fps_i = 0;
if (vidMode == 0)
{
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Yuv422, FrameRate.FrameRate30);
fps_i = 30;
}
else if (vidMode == 1)
{
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Rgb, FrameRate.FrameRate15);
fps_i = 15;
}
else if (vidMode == 2)
{
Format7ImageSettings fset = new Format7ImageSettings();
fset.height = 540;
fset.width = 960;
fset.offsetX = 40;
fset.offsetY = 118;
fset.mode = Mode.Mode4;
fset.pixelFormat = PixelFormat.PixelFormatRgb8;
Cam.SetFormat7Configuration(fset, 40.0f); // this equivalent to 24 fps
fps_i = 24;
}
if (RecordToFile)
{
// 3. Creating the avi recorder object
AviRecorder = new ManagedAVIRecorder();
MJPGOption option = new MJPGOption();
float fps = (float)fps_i;
option.frameRate = fps;
option.quality = 100; // 100 for superb quality
AviRecorder.AVIOpen(fileName, option);
}
// 4. setting the frame buffering option
// leave it for now...
// 5. start the capturing
Cam.StartCapture();
// MUST discard the first few frames!
ManagedImage rawImage = new ManagedImage();
for (i = 0; i < 10; i++)
{
Cam.RetrieveBuffer(rawImage);
}
// 6. set the display bitmap
DisplayPicture = displayPicture;
// 7. starting sampling, recording and dumping threads
// IMU sampling thread
IMUSamplingTimer = new PrecisionTimer(.0075, this.IMUSamplingEvent); // sampling frequency at 150 Hz
RecordingThreadActive = true;
OutOfRecordingThread = true;
IMUSamplingTimer.start();
RecordingThread = new Thread(this.mainLoop);
//RecordingThread.Priority = ThreadPriority.Highest;
RecordingThread.Start();
// creating the thread for the dumping
DumpingThread = new System.Threading.Thread(this.dumpingLoop);
while (OutOfRecordingThread)
{
; // must wait until the recording thread enters the loop, otherwise the dumping will never start!
}
DumpingThread.Start();
}
// start capturing
public void startCapture(ManagedPGRGuid camGuid, int vidMode,System.Windows.Forms.PictureBox displayPicture,
String fileName,Boolean record2file)
{
int i;
Flag_GravityFound_Y = false; // garvity is not known
// CLEARING THE FRAME QUEUE NO MATTER WHAT...
FrameQueue.clear();
RecordToFile = record2file;
// creating the GPS data list
GpsCaptureData = new List<GPSDataInstance>();
// creating the IMU data List
IMUCapturedata = new List<IMUDataInstance>();
// resetting frame index
FrameIndex = 0;
// 1. connect to the camera
Cam.Connect(camGuid);
int fps_i = 0;
if (vidMode == 0)
{
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Yuv422, FrameRate.FrameRate30);
fps_i = 30;
}
else if (vidMode == 1) {
Cam.SetVideoModeAndFrameRate(VideoMode.VideoMode1600x1200Rgb, FrameRate.FrameRate15);
fps_i = 15;
}
else if (vidMode == 2)
{
Format7ImageSettings fset = new Format7ImageSettings();
fset.height = 540;
fset.width = 960;
fset.offsetX = 40;
fset.offsetY = 118;
fset.mode = Mode.Mode4;
fset.pixelFormat = PixelFormat.PixelFormatRgb8;
Cam.SetFormat7Configuration(fset, 40.0f); // this equivalent to 24 fps
fps_i = 24;
}
if (RecordToFile)
{
// 3. Creating the avi recorder object
AviRecorder = new ManagedAVIRecorder();
MJPGOption option = new MJPGOption();
float fps = (float)fps_i;
option.frameRate = fps;
option.quality = 100; // 100 for superb quality
AviRecorder.AVIOpen(fileName, option);
}
// 4. setting the frame buffering option
// leave it for now...
// 5. start the capturing
Cam.StartCapture();
// MUST discard the first few frames!
ManagedImage rawImage = new ManagedImage();
for (i = 0; i < 10; i++)
{
Cam.RetrieveBuffer(rawImage);
}
// 6. set the display bitmap
DisplayPicture = displayPicture;
// 7. starting sampling, recording and dumping threads
// IMU sampling thread
IMUSamplingTimer = new PrecisionTimer(.0075, this.IMUSamplingEvent); // sampling frequency at 150 Hz
RecordingThreadActive = true;
OutOfRecordingThread = true;
IMUSamplingTimer.start();
RecordingThread = new Thread(this.mainLoop);
//RecordingThread.Priority = ThreadPriority.Highest;
RecordingThread.Start();
// creating the thread for the dumping
DumpingThread = new System.Threading.Thread(this.dumpingLoop);
while (OutOfRecordingThread); // must wait until the recording thread enters the loop, otherwise the dumping will never start!
DumpingThread.Start();
}
// This function prepares, saves, and cleans up an video from a list of images.
int SaveListToVideo(INodeMap nodeMap, INodeMap nodeMapTLDevice, ref List <IManagedImage> images)
{
int result = 0;
Console.WriteLine("\n\n*** CREATING VIDEO ***\n");
try {
// Retrieve device serial number for filename
String deviceSerialNumber = "";
IString iDeviceSerialNumber = nodeMapTLDevice.GetNode <IString>("DeviceSerialNumber");
if (iDeviceSerialNumber != null && iDeviceSerialNumber.IsReadable)
{
deviceSerialNumber = iDeviceSerialNumber.Value;
Console.WriteLine("Device serial number retrieved as {0}...", deviceSerialNumber);
}
//
// Retrieve the current frame rate; acquisition frame rate recorded in hertz
//
// *** NOTES ***
// The video frame rate can be set to anything; however, in
// order to have videos play in real-time, the acquisition frame
// rate can be retrieved from the camera.
//
IFloat iAcquisitionFrameRate = nodeMap.GetNode <IFloat>("AcquisitionFrameRate");
if (iAcquisitionFrameRate == null || !iAcquisitionFrameRate.IsReadable)
{
Console.WriteLine("Unable to retrieve frame rate. Aborting...\n");
return(-1);
}
float frameRateToSet = (float)iAcquisitionFrameRate.Value;
Console.WriteLine("Frame rate to be set to {0}", frameRateToSet);
//
// Create a unique filename
//
// *** NOTES ***
// This example creates filenames according to the type of
// video being created. Notice that '.avi' does not need to be
// appended to the name of the file. This is because the video
// recorder object takes care of the file extension
// automatically.
//
string videoFilename;
switch (chosenFileType)
{
case VideoType.Uncompressed:
videoFilename = "SaveToAvi-CSharp-Uncompressed";
if (deviceSerialNumber != "")
{
videoFilename = videoFilename + "-" + deviceSerialNumber;
}
break;
case VideoType.Mjpg:
videoFilename = "SaveToAvi-CSharp-MJPG";
if (deviceSerialNumber != "")
{
videoFilename = videoFilename + "-" + deviceSerialNumber;
}
break;
case VideoType.H264:
videoFilename = "SaveToAvi-CSharp-H264";
if (deviceSerialNumber != "")
{
videoFilename = videoFilename + "-" + deviceSerialNumber;
}
break;
default:
videoFilename = "SaveToAvi-CSharp";
break;
}
//
// Select option and open video file type
//
// *** NOTES ***
// Depending on the filetype, a number of settings need to be
// set in an object called an option. An uncompressed option
// only needs to have the video frame rate set whereas videos
// with MJPG or H264 compressions should have more values set.
//
// Once the desired option object is configured, open the video
// file with the option in order to create the image file.
//
// *** LATER ***
// Once all images have been added, it is important to close the
// file - this is similar to many other standard file streams.
//
using (IManagedSpinVideo video = new ManagedSpinVideo()) {
// Set maximum video file size to 2GB. A new video file is generated when 2GB
// limit is reached. Setting maximum file size to 0 indicates no limit.
const uint FileMaxSize = 2048;
video.SetMaximumFileSize(FileMaxSize);
switch (chosenFileType)
{
case VideoType.Uncompressed:
AviOption uncompressedOption = new AviOption();
uncompressedOption.frameRate = frameRateToSet;
video.Open(videoFilename, uncompressedOption);
break;
case VideoType.Mjpg:
MJPGOption mjpgOption = new MJPGOption();
mjpgOption.frameRate = frameRateToSet;
mjpgOption.quality = 75;
video.Open(videoFilename, mjpgOption);
break;
case VideoType.H264:
H264Option h264Option = new H264Option();
h264Option.frameRate = frameRateToSet;
h264Option.bitrate = 1000000;
h264Option.height = Convert.ToInt32(images[0].Height);
h264Option.width = Convert.ToInt32(images[0].Width);
video.Open(videoFilename, h264Option);
break;
}
//
// Construct and save video
//
// *** NOTES ***
// Although the video file has been opened, images must be
// individually appended in order to construct the video.
//
Console.WriteLine("Appending {0} images to video file {1}.avi...", images.Count, videoFilename);
for (int imageCnt = 0; imageCnt < images.Count; imageCnt++)
{
video.Append(images[imageCnt]);
Console.WriteLine("Appended image {0}...", imageCnt);
}
Console.WriteLine();
//
// Close video file
//
// *** NOTES ***
// Once all images have been appended, it is important to
// close the video file. Notice that once an video file has
// been closed, no more images can be added.
//
video.Close();
}
} catch (SpinnakerException ex) {
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
return(result);
}
