private void task()
{
MotorControler mc = MotorControler.GetInstance(parameterManager);
Surface sur = Surface.GetInstance(parameterManager);
Camera camera = Camera.GetInstance();
Led led = Led.GetInstance();
CoordManager cm = new CoordManager(parameterManager);
string txtfileName = string.Format(@"c:\img\aaaaaa.txt");
StreamWriter twriter = File.CreateText(txtfileName);
Vector3 initialpoint = mc.GetPoint();
camera.Start();
int nview = 5;//plus minus X view, (2X+1)^2 views
for (int r = -nview; r <= nview; r++)
{
mc.MovePointX(initialpoint.X + 0.5 * r);//0.5で行っていたものを、修正して2.0にした。
mc.Join();
for (int i = -nview; i <= nview; i++)
{
mc.MovePointY(initialpoint.Y + 0.5 * i);//0.5で行っていたものを、修正して2.0にした。
mc.Join();
Vector3 nowpoint = mc.GetPoint();
byte[] b = camera.ArrayImage;
Mat image = new Mat(440, 512, MatType.CV_8U, b);
Mat clone_image = image.Clone();
Scalar meanbrightness = clone_image.Mean();
string stlog = "";
stlog += String.Format("{0} {1} {2} {3}\n",
nowpoint.X,
nowpoint.Y,
nowpoint.Z,
meanbrightness.Val0);
twriter.Write(stlog);
} //i-finish
} //r-finish
camera.Stop();
twriter.Close();
/* for (int r = 0; r < 5; r++) {
* for (int i = 0; i < 5; i++) {
*
*
* mc.MovePoint(initialpoint.X + 1750 * i, initialpoint.Y + 10 * r, initialpoint.Z);
* mc.Join();
*
* int ledbrightness = led.AdjustLight(parameterManager);
*
*
*
*
*
* Vector3 nowpoint = mc.GetPoint();
*
* byte[] b = camera.ArrayImage;
* Mat image = new Mat(440, 512, MatType.CV_8U, b);
* Mat clone_image = image.Clone();
*
* //image_set.Add(clone_image);
* //char[] filename = new char[64];
* //String.Format(filename,"gtrd%d.png" , i );
*
* clone_image.ImWrite(String.Format(@"c:\img\gtrd_{0}_{1}_{2}_{3}.bmp",
* (int)(nowpoint.X),
* (int)(nowpoint.Y),
* i,
* r)
* );
*
*
*
* // mc.MovePointY(currentpoint.Y - (0.180 - 0.01));
*
* // mc.Join();
* string stlog = "";
* stlog += String.Format("{0} {1} {2} {3}\n",
* ledbrightness,
* nowpoint.X,
* nowpoint.Y,
* nowpoint.Z);
* twriter.Write(stlog);
*
* }
* }
*
*
* camera.Stop();
* twriter.Close();
*/
/* Vector3 to = new Vector3(InitPoint.X+10, InitPoint.Y+20, InitPoint.Z+0.2);
* Vector3 speed = new Vector3(0.01, 0.02, 0.3);
* mc.MovePointApproximate(to, speed);
* mc.Join();
*/
/*
* int viewcounter = 0;
*
*
* string txtfileName = string.Format(@"{0}\{1}.txt",
* direcotryPath, System.DateTime.Now.ToString("yyyyMMdd_HHmmss_ffff"));
* StreamWriter twriter = File.CreateText(txtfileName);
*
* List<Vector3> PointList = new List<Vector3>();
* for (int xx = 0; xx < 5; xx++) {
* for (int yy = 0; yy < 5; yy++) {
* GridMark nearestMark = cm.GetTheNearestGridMark(new Vector3(InitPoint.X + xx * 10, InitPoint.Y + yy * 10, InitPoint.Z));
* PointList.Add(new Vector3(nearestMark.x, nearestMark.y, InitPoint.Z));
* }
* }
*
* camera.Stop();
*
* for (int pp = 0; pp < PointList.Count(); pp++) {
* string stlog = "";
* int nshot = 20;
* byte[] bb = new byte[440 * 512 * nshot];
*
* mc.MovePoint(PointList[pp]);
* mc.Join();
*
* p = mc.GetPoint();
* double prev_z = p.Z;
* DateTime starttime = System.DateTime.Now;
* string datfileName = string.Format(@"{0}\{1}_x{2}_y{3}.dat",
* direcotryPath,
* starttime.ToString("yyyyMMdd_HHmmss_fff"),
* (int)(p.X * 1000),
* (int)(p.Y * 1000));
* BinaryWriter writer = new BinaryWriter(File.Open(datfileName, FileMode.Create));
*
*
*
* while (viewcounter < nshot) {
* mc.MoveDistance(-0.001, VectorId.Z);
* mc.Join();
* byte[] b = Ipt.CaptureMain();
* p = mc.GetPoint();
* TimeSpan ts = System.DateTime.Now - starttime;
* stlog += String.Format("{0} {1} {2} {3} {4} {5} {6} {7}\n",
* pp,
* System.DateTime.Now.ToString("HHmmss\\.fff"),
* ts.ToString("s\\.fff"),
* (p.X * 1000).ToString("0.0"),
* (p.Y * 1000).ToString("0.0"),
* (p.Z * 1000).ToString("0.0"),
* (prev_z * 1000 - p.Z * 1000).ToString("0.0"),
* viewcounter);
* b.CopyTo(bb, 440 * 512 * viewcounter);
* viewcounter++;
* }
*
* viewcounter = 0;
* twriter.Write(stlog);
* writer.Write(bb);
* writer.Flush();
* writer.Close();
*
* }
*
* twriter.Close();
* camera.Start();
*/
}