public OryxCamera(int camNumber, IManagedCamera managedCamera, ConcurrentQueue <ButtonCommands> camControlMessageQueue, ConcurrentQueue <RawMat> streamOutputQueue, Util.OryxSetupInfo setupInfo, string sessionPath)
{
this.camNumber = camNumber;
this.managedCamera = managedCamera;
this.camControlMessageQueue = camControlMessageQueue;
this.streamOutputQueue = streamOutputQueue;
this.setupInfo = setupInfo;
this.sessionPath = sessionPath;
settingsFileName = this.sessionPath + @"\" + "cam" + this.camNumber.ToString() + @"_cameraSettings.txt";
encodePipeName = "ffpipe" + camNumber.ToString();
frameSize = new Size(width: setupInfo.maxFramesize.Width, height: setupInfo.maxFramesize.Height);
streamFrameSize = this.setupInfo.streamFramesize;
streamEnqueueDutyCycle = 2;
GetNodeMapsAndInitialize();
LoadCameraSettings();
DisplayLoop();
}
public Form1()
{
InitializeComponent();
// initialize multi-camera system:
system = new ManagedSystem();
// Print current Spinnaker library version info:
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine(
"Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
// Find all Flir cameras on the system:
managedCameras = system.GetCameras();
nCameras = managedCameras.Count;
// Finish and dispose system if no cameres are detected:
if (nCameras != 2)
{
managedCameras.Clear();
system.Dispose();
Console.WriteLine("{0} cameras detected. This application supports exactly 2 cameras. System disposed", nCameras.ToString());
}
// Create or select folder to write video data:
sessionPaths = Util.SetDataWritePaths(animalName: Util.AnimalName.Charlie, nCameras: 2);
// Initialize OryxSetupInfo Object to pass to camera constructors upon initialization:
oryxSetupInfos = new Util.OryxSetupInfo[nCameras];
for (int i = 0; i < nCameras; i++)
{
oryxSetupInfos[i] = new Util.OryxSetupInfo();
}
bool areCamerasSharingSettings = true;
if (areCamerasSharingSettings)
{
Console.WriteLine("These settings will be loaded on both cameras:");
oryxSetupInfos[0].PrintSettingsToLoad();
Console.WriteLine("\n\n");
}
// Initialize camera control message queues to control cameras from XBox controller:
camControlMessageQueues = new ConcurrentQueue <ButtonCommands> [nCameras];
for (int i = 0; i < nCameras; i++)
{
camControlMessageQueues[i] = new ConcurrentQueue <ButtonCommands>();
}
// Initialize XBox Controller
xBoxController = new XBoxController(mainForm: this, camControlMessageQueues: camControlMessageQueues);
// Initialize queue to connect output from each camera to a thread to merge camera streams:
streamQueue0 = new ConcurrentQueue <RawMat> [nCameras];
for (int i = 0; i < nCameras; i++)
{
streamQueue0[i] = new ConcurrentQueue <RawMat>();
}
// Open each camera on its own thread.
oryxCameraThreads = new Thread[nCameras];
for (int i = 0; i < nCameras; i++)
{
int _i = i;
string _sessionPath = string.Copy(sessionPaths[i]);
oryxCameraThreads[i] = new Thread(() => new OryxCamera(camNumber: _i, managedCamera: managedCameras[_i], camControlMessageQueue: camControlMessageQueues[_i],
streamOutputQueue: streamQueue0[_i], setupInfo: oryxSetupInfos[_i], sessionPath: _sessionPath));
oryxCameraThreads[i].IsBackground = false;
oryxCameraThreads[i].Priority = ThreadPriority.Highest;
oryxCameraThreads[i].Start();
}
// Initialize queue to send combined images to display form:
displayQueue = new ConcurrentQueue <Tuple <byte[], Mat> >();
// Initialize Size of camera stream output image and merged image for display:
streamFramesize = new Size(width: oryxSetupInfos[0].streamFramesize.Width, height: oryxSetupInfos[0].streamFramesize.Height);
displayFramesize = new Size(width: streamFramesize.Width, height: streamFramesize.Height * 2);
// Initialize thread to merge camera stream data into a single byte array:
Size _inputImageSize = new Size(width: streamFramesize.Width, height: streamFramesize.Height);
processingThreadMessageQueue = new ConcurrentQueue <ButtonCommands>();
mergeStreamsThread = new Thread(() => MergeStreamsThreadInit(inputQueues: streamQueue0, outputQueue: displayQueue, messageQueue: processingThreadMessageQueue, inputImgSize: _inputImageSize));
mergeStreamsThread.IsBackground = true;
mergeStreamsThread.Priority = ThreadPriority.Highest;
mergeStreamsThread.Start();
// Initialize streaming state
isStreaming = false;
// Initialize Timer:
displayTimer = new System.Windows.Forms.Timer();
displayTimer.Interval = 5;
displayTimer.Tick += DisplayTimerEventProcessor;
displayTimer.Enabled = true;
}
