void OnTriggerEnter(Collider collider)
{
if (collider.transform.parent.name == (CAM.CorridorLength - 3).ToString())
{
direct(CAM.Pilot());
}
}
public CameraEntiy this[CAM camera]
{
get
{
return(this.Entiys[camera]);
}
}
/*
* Each Track just needs a name - the rest is maintained
* automatically by the parent CAM.
*/
public CAMTrackImp(CAM parent, String name, UInt32 trackUid)
{
this.parent = parent;
this.trackUid = trackUid;
#if UNITY_ANDROID
if (canDoAnnotations())
{
gator_cam_track(parent.viewUid, this.trackUid, 0xffffffff, name);
}
#endif
}
public void addMessage(IMessage _Message)
{
Node tmp = Head;
if (notEmpty(_Message))
{
if (_Message.GetType().Name.Equals("DENM"))
{
addDENM(_Message);
return;
}
while (tmp.Next != null)
{
if (tmp.Data.GetType().Name.Equals("CAM"))
{
CAM message = (CAM)_Message;
CAM data = (CAM)tmp.Data;
if (equilsTime(message.gernerationDeltaTime, data.gernerationDeltaTime))
{
addCAM(_Message, tmp);
return;
}
}
tmp = tmp.Next;
}
if (tmp.Next == null)
{
if (tmp.Data.GetType().Name.Equals("DENM") &&
_Message.GetType().Name.Equals("CAM"))
{
addLastCAM(_Message);
}
else if (tmp.Data.GetType().Name.Equals("CAM") &&
_Message.GetType().Name.Equals("CAM"))
{
CAM message = (CAM)_Message;
CAM data = (CAM)tmp.Data;
if (equilsTime(message.gernerationDeltaTime, data.gernerationDeltaTime))
{
addFirstCAM(_Message);
}
else
{
addLastCAM(_Message);
}
}
}
}
}
/*
* Retrieves the existing time and uses it to register the start
* of a job. Finish it with a call to stop(). If you want to
* register a job after the fact, use Track.registerJob() to
* register a Job with a specific start and end time.
*/
public CAMJobImp(CAM parent, UInt32 trackUid, UInt32 jobUid, string name, UInt32 color)
{
this.viewUid = parent.viewUid;
this.jobUid = jobUid;
this.trackUid = trackUid;
#if UNITY_ANDROID
if (canDoAnnotations())
{
UInt64 startTime = gator_get_time();
gator_cam_job_start(this.viewUid, this.jobUid, name, this.trackUid, startTime, color);
}
#endif
}
// Update is called once per frame
void Update()
{
if (initiate == 0)
{
// initiate black skybox
fixedCamera.GetComponent <Camera>().enabled = false;
mirrorCamera.GetComponent <Camera>().enabled = false;
mouseCamera.GetComponent <Camera>().enabled = true;
simCamera.GetComponent <Camera>().enabled = false;
selected = CAM.MOUSE;
initiate++;
}
else if (initiate == 1)
{
// switch to fixed camera
fixedCamera.GetComponent <Camera>().enabled = true;
mirrorCamera.GetComponent <Camera>().enabled = false;
mouseCamera.GetComponent <Camera>().enabled = false;
simCamera.GetComponent <Camera>().enabled = false;
selected = CAM.FIXED;
initiate++;
}
if (Input.GetButtonDown("ChangeCam"))
{
if (selected == CAM.FIXED)
{
fixedCamera.GetComponent <Camera>().enabled = false;
mirrorCamera.GetComponent <Camera>().enabled = true;
mouseCamera.GetComponent <Camera>().enabled = false;
simCamera.GetComponent <Camera>().enabled = false;
selected = CAM.MIRROR;
}
else if (selected == CAM.MIRROR)
{
fixedCamera.GetComponent <Camera>().enabled = false;
mirrorCamera.GetComponent <Camera>().enabled = false;
mouseCamera.GetComponent <Camera>().enabled = true;
simCamera.GetComponent <Camera>().enabled = false;
selected = CAM.MOUSE;
}
else if (selected == CAM.MOUSE)
{
fixedCamera.GetComponent <Camera>().enabled = true;
mirrorCamera.GetComponent <Camera>().enabled = false;
mouseCamera.GetComponent <Camera>().enabled = false;
simCamera.GetComponent <Camera>().enabled = false;
selected = CAM.FIXED;
}
}
}
/// <summary>
/// Returns a task to generate a CAM color map from a CAM object.
/// </summary>
/// <param name="cam">The CAM object.</param>
/// <param name="color">Color for the color map.</param>
/// <param name="width">Width of the generated color map.</param>
/// <param name="height">Height of the generated color map.</param>
/// <param name="cancellationToken">A <see cref="CancellationToken"/> to cancel the task returned by this method.</param>
/// <returns>The CAM color map SKBitmap.</returns>
public static Task <SKBitmap> GetCAMColorMapTask(CAM cam, SKColor color, int width, int height, CancellationToken cancellationToken)
{
return(Task.Factory.StartNew(() =>
{
SKBitmap colorMap = ImageProcessor.GenerateColorMap(cam, color, width, height);
if (cancellationToken.IsCancellationRequested)
{
colorMap.Dispose();
cancellationToken.ThrowIfCancellationRequested();
}
System.Diagnostics.Debug.WriteLine("CAM color map generated");
return colorMap;
}, cancellationToken));
}
public CAM generatCAM(uint _stationID)
{
generateCAM++;
uint messageID = (uint)generateCAM;
uint stationID = 0;
uint protocolVersion = 0;
DateTime time = DateTime.UtcNow;
string name = "generierte CAM " + generateCAM;
//var C = new CAM(new Header(messageID, stationID, protocolVersion), time, new CAMParameters(name));
var C = new CAM(new Header(messageID, stationID, protocolVersion), generateTime(), new CAMParameters(name));
CultureInfo culture = new CultureInfo(cultureNames[culterNumber]);
Console.WriteLine("Create CAM \t {0}", time.ToString(culture));
return(C);
}
/// <summary>
/// Generates an <see cref="SKBitmap"/> of size width x height that represents a set of CAM values mapped over shades of a particular color
/// and interpolated to fill the size.
/// i.e. The areas with a higher CAM value will appear as a higher intensity of the provided color.
/// Note: All channels of the input color are mapped (Red, Green, Blue, Alpha).
/// </summary>
/// <param name="cam">The CAM data to map.</param>
/// <param name="color">The color to map the CAM values over.</param>
/// <param name="width">The desired width of the resulting color-map.</param>
/// <param name="height">The desired height of the resulting color-map.</param>
/// <returns>The color-mapped CAM as a <see cref="SKBitmap"/>.</returns>
public static SKBitmap GenerateColorMap(CAM cam, SKColor color, int width, int height)
{
// Create an array to hold the output
float[,] expCAMData = new float[cam.Rows, cam.Cols];
// Map the input data onto an exponential curve (retain higher intensities more than lower intensities)
for (int row = 0; row < cam.Rows; row++)
{
for (int col = 0; col < cam.Cols; col++)
{
expCAMData[row, col] = (float)Math.Pow(ExpMappingBase, cam[row, col]);
}
}
CAM expCAM = new CAM(expCAMData);
// Normalize the new CAM to be between 0 and 1
CAM normalizedCAM = expCAM.Normalize();
// Create a bitmap to hold the output
SKBitmap bitmap = new SKBitmap(new SKImageInfo(cam.Cols, cam.Rows, SKColorType.Rgba8888));
// Iterate through and fill the bitmap
for (int row = 0; row < cam.Rows; row++)
{
for (int col = 0; col < cam.Cols; col++)
{
float camVal = normalizedCAM[row, col];
// SetPixel accepts an x and y coordinate: the row is the y coordinate, the column is the x coordinate
bitmap.SetPixel(col, row, new SKColor(
(byte)(color.Red * camVal),
(byte)(color.Green * camVal),
(byte)(color.Blue * camVal),
(byte)(color.Alpha * camVal)
));
}
}
// Resize the bitmap (with interpolation) to the desired width and height
return(bitmap.Resize(new SKImageInfo(width, height), SKBitmapResizeMethod.Lanczos3));
}
private void ExtractResultsFromIntent()
{
// Load and unparcel scores
IParcelable[] parcelableScores = this.Intent.GetParcelableArrayExtra(ExtraScores);
ScoreOutput[] scores = new ScoreOutput[parcelableScores.Length];
for (int i = 0; i < parcelableScores.Length; i++)
{
scores[i] = ((ParcelableScoreOutput)parcelableScores[i]).Value;
}
// Load and unparcel CAMs
IParcelable[] parcelableCAMs = this.Intent.GetParcelableArrayExtra(ExtraCAMs);
CAM[] cams = new CAM[parcelableCAMs.Length];
for (int i = 0; i < parcelableCAMs.Length; i++)
{
cams[i] = ((ParcelableCAM)parcelableCAMs[i]).Value;
}
// Collapse into results array
results = ResultsHelper.BuildConditionResultArray((ChestCondition[])Enum.GetValues(typeof(ChestCondition)), scores, cams, conditionColors);
}
static int EntryPoint()
{
// Create and start the thread for receiving and parsing the tuple
RX rx = new RX();
Thread tuple_parser = new Thread(new ThreadStart(rx.parse_rx));
tuple_parser.Start();
// Create and start the thread for retrieving the tuple from the CAM
CAM cam = new CAM();
Thread tupler = new Thread(new ThreadStart(cam.find_tuple));
tupler.Start();
while (true)
{
Kiwi.Pause();
}
;
return(0);
}
public bool LoadCalibImage(CAM camera)
{
try
{
int len = 1;
if (camera == CAM.Bottom1 || camera == CAM.Bottom2)
{
len = 2;
}
// 读取标定文件
this.CalibImage = new VisionImage[len];
this.CenterPt = new PointContour[len];
this.IsCailb = true;
for (int i = 0; i < len; ++i)
{
this.CalibImage[i] = new VisionImage();
this.CenterPt[i] = new PointContour();
string direct = string.Format(Variable.sPath_CaliPath, (int)camera, i);
this.CalibImage[i].ReadVisionFile(direct + Variable.sPath_CaliImage);
// 中心点像素坐标
this.CenterPt[i].X = this.Config.FOV.Width / 2;
this.CenterPt[i].Y = this.Config.FOV.Height / 2;
var coordreport = Algorithms.ConvertPixelToRealWorldCoordinates(this.CalibImage[i], this.CenterPt[i]);
if (coordreport.Points.Count > 0)
{
this.CenterPt[i] = coordreport.Points[0];
}
else
{
this.IsCailb = false;
}
}
}
catch { this.IsCailb = false; }
return(this.IsCailb);
}
/// <summary>
/// Reconstructs a <see cref="ParcelableCAM"/> object from the provided <see cref="Parcel"/>
/// </summary>
/// <param name="parcel">The <see cref="Parcel"/> containing the data to use for reconstruction.</param>
private ParcelableCAM(Parcel parcel)
{
// Read out the dimensions to initialize the array
// (order matches the order they were written)
int rows = parcel.ReadInt();
int cols = parcel.ReadInt();
float[,] camData = new float[rows, cols];
// Deserialize the 1D array to a 2D array
float[] camData1D = new float[rows * cols];
parcel.ReadFloatArray(camData1D);
for (int row = 0; row < rows; row++)
{
for (int col = 0; col < cols; col++)
{
camData[row, col] = camData1D[row * cols + col];
}
}
this.Value = new CAM(camData);
}
private async Task <Bitmap> GenerateBlendedCAMImage(CAM cam, SKColor color)
{
// Cancel the previous blending task if there is one
cancellationTokenSource?.Cancel();
cancellationTokenSource = new CancellationTokenSource();
// Dispose of previous blended image
blendedImage?.Dispose();
SKBitmap colorMap = await ImageProcessorRunner.GetCAMColorMapTask(
cam,
color,
originalXRay.Width,
originalXRay.Height,
cancellationTokenSource.Token
);
SKBitmap input = originalXRay.ToSKBitmap();
SKBitmap blendedSKBitmap = await ImageProcessorRunner.GetOverlayImageTask(
input,
colorMap,
cancellationTokenSource.Token
);
// Dispose of temporary SKBitmap
input.Dispose();
Bitmap blendedBitmap = blendedSKBitmap.ToBitmap();
// Cleanup the intermediate bitmaps
colorMap?.Dispose();
blendedSKBitmap?.Dispose();
return(blendedBitmap);
}
/// <summary>
/// Generates a blended image with a CAM and the desired overlay color
/// </summary>
/// <returns>The blended CAMI mage.</returns>
/// <param name="index">Index.</param>
/// <param name="color">Color.</param>
private async Task <UIImage> GenerateBlendedCAMImage(CAM cam, SKColor color)
{
// Cancel the previous blending task if there is one
cancellationTokenSource?.Cancel();
cancellationTokenSource = new CancellationTokenSource();
// Dispose of previous blended image
blendedImage?.Dispose();
SKBitmap colorMap = await ImageProcessorRunner.GetCAMColorMapTask(
cam,
color,
(int)(InputImage.Size.Width *InputImage.CurrentScale),
(int)(InputImage.Size.Height *InputImage.CurrentScale),
cancellationTokenSource.Token
);
SKBitmap input = InputImage.ToSKBitmap();
SKBitmap blendedSKBitmap = await ImageProcessorRunner.GetOverlayImageTask(
input,
colorMap,
cancellationTokenSource.Token
);
// Dispose of temporary SKBitmap
input.Dispose();
UIImage blendedUIImage = blendedSKBitmap.ToUIImage();
// Cleanup the intermediate bitmaps
colorMap?.Dispose();
blendedSKBitmap?.Dispose();
return(blendedUIImage);
}
private void UpdateBaslerDeviceList()
{
try
{
// Ask the camera finder for a list of camera devices.
BaslerCameraAll = CameraFinder.Enumerate();
foreach (ICameraInfo cameraInfo in BaslerCameraAll)
{
// Loop over all cameras in the list of cameras.
bool newitem = true;
foreach (CAM cam in CAMs)
{
ICameraInfo tag = cam.Tag as ICameraInfo;
// Is the camera found already in the list of cameras?
if (tag[CameraInfoKey.FullName] == cameraInfo[CameraInfoKey.FullName])
{
tag = cameraInfo;
newitem = false;
break;
}
}
// If the camera is not in the list, add it to the list.
if (newitem)
{
// Create the item to display.
CAM cam = new CAM()
{
Name = cameraInfo[CameraInfoKey.FullName],
Tag = cameraInfo,
CAMType = CAMTYPE.BASLER
};
CAMs.Add(cam);
}
}
// Remove old camera devices that have been disconnected.
foreach (CAM cam in CAMs)
{
bool exists = false;
// For each camera in the list, check whether it can be found by enumeration.
foreach (ICameraInfo cameraInfo in BaslerCameraAll)
{
if (((ICameraInfo)cam.Tag)[CameraInfoKey.FullName] == cameraInfo[CameraInfoKey.FullName])
{
exists = true;
break;
}
}
// If the camera has not been found, remove it from the list view.
if (!exists)
{
CAMs.Remove(cam);
}
}
}
catch (Exception e)
{
Debug.WriteLine("Exception: {0}", e.Message);
}
}
/// <summary>
/// Initializes a new instance of <see cref="ConditionResult"/> with the provided data
/// </summary>
public ConditionResult(ChestCondition condition, ScoreOutput score, CAM cam)
{
Condition = condition;
Score = score;
CAM = cam;
}
/// <summary>
/// Application entry point.
/// </summary>
/// <param name="args">Standard command-line arguments.</param>
public static void Main( string[] args )
{
// Attempt a simple CM query.
string searchPath = "//report";
string userName = "******";
string userPassword = "******";
string userNamespace = "namespaceID";
char[] arg_separator = { '=' };
foreach( string arg in args )
{
string[] command = arg.Split( arg_separator, 2 );
switch( command[0] )
{
case "--search":
searchPath = command[1];
break;
case "--uid":
userName = command[1];
break;
case "--pwd":
userPassword = command[1];
break;
case "--namespace":
userNamespace = command[1];
break;
default:
throw new ApplicationException( "Unknown argument: " + arg );
}
}
// Concatenate the read filter to the searchPath this way we
// ask CM to only return the objects we have read acces on.
searchPath = searchPath + "[permission('read')]";
// Create the ReportNet connection object.
Console.WriteLine( "Creating CognosReportNetService..." );
CognosReportNetService crn = new CognosReportNetService();
crn.Url = "http://localhost:8080/series8/cgi-bin/cognos.cgi";
// Add the authentication information, if any.
//
// Another option would be to use the logon() methods...
CAM cam = new CAM();
cam.action = "logonAs";
hdrSession header = new hdrSession();
if( userName != null )
{
formFieldVar[] vars = new formFieldVar[3];
vars[0] = new formFieldVar();
vars[0].name = "CAMNamespace";
vars[0].value = userNamespace;
vars[0].format = formatEnum.not_encrypted;
vars[1] = new formFieldVar();
vars[1].name = "CAMUsername";
vars[1].value = userName;
vars[1].format = formatEnum.not_encrypted;
vars[2] = new formFieldVar();
vars[2].name = "CAMPassword";
vars[2].value = userPassword;
vars[2].format = formatEnum.not_encrypted;
header.formFieldVars = vars;
}
else
{
cam.action = "logon";
}
biBusHeader bibus = new biBusHeader();
bibus.CAM = cam;
bibus.hdrSession = header;
crn.biBusHeaderValue = bibus;
try
{
propEnum[] props = new propEnum[] { propEnum.searchPath,
propEnum.defaultName, propEnum.policies,
propEnum.permissions, propEnum.members };
sort[] s = new sort[]{ new sort() };
s[0].order = orderEnum.ascending;
s[0].propName = propEnum.defaultName;
queryOptions qo = new queryOptions();
// Look for all of the reports.
Console.WriteLine( "\nReports:\n" );
baseClass[] bc = crn.query( "/content//report", props, s, qo );
if( bc.Length > 0 )
{
foreach( baseClass report_item in bc )
{
Console.WriteLine( " {0}", report_item.searchPath.value);
policy[] p = report_item.policies.value;
if (p.Length > 0)
{
foreach( policy pol in p )
{
Console.WriteLine( " {0}", pol.securityObject.searchPath.value);
permission[] perm = pol.permissions;
foreach( permission prm in perm )
Console.WriteLine( " {0} {1}",prm.name, prm.access.ToString());
}
}
}
}
}
catch( System.Web.Services.Protocols.SoapHeaderException ex )
{
Console.WriteLine( "SOAP Header Exception:" );
Console.WriteLine( "Actor : " + ex.Actor );
Console.WriteLine( "Code : " + ex.Code );
Console.WriteLine( "Detail : " + ex.Detail );
Console.WriteLine( "Message: " + ex.Message );
// We can access the SOAP fault information through
// the ex.Detail property.
System.Xml.XmlNode node = ex.Detail;
Console.WriteLine( node.OuterXml );
}
catch( System.Web.Services.Protocols.SoapException ex )
{
Console.WriteLine( "SOAP Exception:" );
Console.WriteLine( "Actor : " + ex.Actor );
Console.WriteLine( "Code : " + ex.Code );
Console.WriteLine( "Detail : " + ex.Detail );
Console.WriteLine( "Message: " + ex.Message );
// We can access the SOAP fault information through
// the ex.Detail property.
System.Xml.XmlNode node = ex.Detail;
Console.WriteLine( node.OuterXml );
}
}
public string doQuery(CognosReportNetService reportNet,
string searchPath,
string userName,
string userPassword,
string userNamespace,
bool isGUImode)
{
string output = "";
try
{
// Search properties: we need the defaultName and the searchPath.
propEnum[] properties =
{ propEnum.defaultName, propEnum.searchPath };
// Sort options: ascending sort on the defaultName property.
sort[] sortBy = { new sort()};
sortBy[0].order = orderEnum.ascending;
sortBy[0].propName = propEnum.defaultName;
// Query options; use the defaults.
queryOptions options = new queryOptions();
// Add the authentication information, if any.
//
// Another option would be to use the logon() and logonAs() methods...
CAM cam = new CAM();
cam.action = "logonAs";
hdrSession header = new hdrSession();
if ((userName != null) && (0 != userName.CompareTo("")) )
{
formFieldVar[] vars = new formFieldVar[3];
vars[0] = new formFieldVar();
vars[0].name = "CAMNamespace";
vars[0].value = userNamespace;
vars[0].format = formatEnum.not_encrypted;
vars[1] = new formFieldVar();
vars[1].name = "CAMUsername";
vars[1].value = userName;
vars[1].format = formatEnum.not_encrypted;
vars[2] = new formFieldVar();
vars[2].name = "CAMPassword";
vars[2].value = userPassword;
vars[2].format = formatEnum.not_encrypted;
header.formFieldVars = vars;
}
else
{
cam.action = "logon";
}
biBusHeader bibus = new biBusHeader();
bibus.CAM = cam;
bibus.hdrSession = header;
reportNet.biBusHeaderValue = bibus;
// Make the query.
baseClass[] results =
reportNet.query(searchPath, properties, sortBy, options);
// Display the results.
output += "Results:\n\n";
for (int i = 0; i < results.GetLength(0); i++)
{
tokenProp theDefaultName = results[i].defaultName;
stringProp theSearchPath = results[i].searchPath;
output += "\t" + theDefaultName.value + "\t\t" + theSearchPath.value + "\n";
}
}
catch(SoapException ex)
{
SamplesException.ShowExceptionMessage("\n" + ex, isGUImode, "Content Manager Query Sample - doQuery()" );
return "The error occurred in doQuery()";
}
catch(System.Exception ex)
{
if (0 != ex.Message.CompareTo("INPUT_CANCELLED_BY_USER"))
{
SamplesException.ShowExceptionMessage("\n" + ex.Message, isGUImode, "Content Manager Query Sample - doQuery()" );
}
return "The error occurred in doQuery()";
}
return output;
}
/// <summary>
/// Initializes a new instance of the <see cref="ParcelableCAM"/> class to wrap the provided <see cref="CAM"/>.
/// </summary>
/// <param name="value">The <see cref="CAM"/> to wrap.</param>
public ParcelableCAM(CAM value)
{
this.Value = value;
}
