/// <summary>
/// Initialize this frame with the received data by Device.Stream_GetFrame().
/// </summary>
/// <param name="data">image data</param>
/// <param name="cam">camera instance</param>
/// <param name="log">metri log from camera instance</param>
public FrameData(byte[] data, Camera cam, MetriLog log)
{
imageData = data;
this.cam = cam;
this.log = log;
DefaultValues();
}
/// <summary>
/// Initialize this frame with the received data by Device.Stream_GetFrame().
/// </summary>
/// <param name="data">image data</param>
/// <param name="cam">camera instance</param>
/// <param name="log">metri log from camera instance</param>
internal FrameData(byte[] data, VisionaryT cam, MetriLog log)
{
ImageBuffer = data;
this.cam = cam;
this.log = log;
SetDefaultValues();
Parse();
}
/// <summary>
/// Creates a new Device instance which can be used to handle the low level TCP communication
/// between camera and client.
/// </summary>
/// <param name="ip">IP address of client</param>
/// <param name="cam">MetriCam2 camera object used for exceptions</param>
/// <param name="log">MetriLog</param>
public Device(string ip, Camera cam, MetriLog log)
{
ipAddress = ip;
this.cam = cam;
this.log = log;
sockControl = null;
sockData = null;
streamControl = null;
streamData = null;
}
public Form1()
{
InitializeComponent();
log = new MetriLog();
this.FormClosing += Form1_FormClosing;
int margin = 20;
int halfWidth = (panelContainerLeft.Parent.Width - margin) / 2;
panelContainerLeft.Width = halfWidth;
panelContainerRight.Width = halfWidth;
panelTL.Height = (panelTL.Parent.Height - margin) / 2;
panelTR.Height = (panelTR.Parent.Height - margin) / 2;
panelBL.Height = (panelBL.Parent.Height - margin) / 2;
panelBR.Height = (panelBR.Parent.Height - margin) / 2;
}
public Control(MetriLog log, string ipAddress)
{
this.log = log;
try
{
sockControl = new TcpClient(ipAddress, TCP_PORT_SOPAS);
streamControl = sockControl.GetStream();
}
catch (Exception ex)
{
string msg = string.Format("Failed to connect to IP={0}, reasons={1}", ipAddress, ex.Message);
log.Error(msg);
throw new Exceptions.ConnectionFailedException(msg, ex);
}
_accessMode = GetAccessMode();
InitStream();
}
/// <summary>
/// Creates a new Device instance which can be used to handle the low level TCP communication
/// between camera and client.
/// </summary>
/// <param name="ipAddress">IP address of client</param>
/// <param name="cam">MetriCam2 camera object used for exceptions</param>
/// <param name="log">MetriLog</param>
internal Device(string ipAddress, VisionaryT cam, MetriLog log)
{
this.cam = cam;
this.log = log;
try
{
sockData = new TcpClient(ipAddress, TCP_PORT_BLOBSERVER);
}
catch (Exception ex)
{
string msg = string.Format("{0}: Failed to connect to IP {1}{2}Reason: {3}", cam.Name, ipAddress, Environment.NewLine, ex.Message);
log.Error(msg);
throw new Exceptions.ConnectionFailedException(msg, ex);
}
streamData = sockData.GetStream();
// say "hello" to camera
byte[] hbBytes = Encoding.ASCII.GetBytes(HEARTBEAT_MSG);
streamData.Write(hbBytes, 0, hbBytes.Length);
}
static void Main(string[] args)
{
MetriLog log = new MetriLog();
Random rand = new Random();
const int MAX_DELAY_IN_MIN = 20;
Camera leftCam = new TheImagingSource();
Camera rightCam = new TheImagingSource();
SerialPort triggerPort = new SerialPort("COM7", 9600);
TriggeredStereoCamera cam = new TriggeredStereoCamera(leftCam, rightCam, triggerPort);
FloatImage left, leftOld = null, right, rightOld = null;
float thres;
// thres = 1000.0f; // uEye
thres = 100000.0f; // TIS
int cnt = 0;
const float MAX_EXPOSURE = 10f;
const float DARK_THRES = 50f; // uEye: 10f, TIS: 50f
const int NUM_WARMUP_IMAGES = 50;
ConfigureLogging(StressTests.Freeze.Resources.LoggingConfigInfo);
log.SetLogFile(@"D:\temp\stress_test_TIS.log");
cam.Connect();
cam.Exposure = 4;
log.Info("Warming up.");
for (int i = 0; i < NUM_WARMUP_IMAGES; i++)
{
Capture(cam, out left, out right, ref cnt);
}
log.Info("Starting test.");
bool running = true;
while (running)
{
log.Debug("Another round starts.");
for (int i = 0; i < 10; i++)
{
if (cam.Exposure > MAX_EXPOSURE)
{
cam.Exposure = MAX_EXPOSURE;
leftOld = null;
rightOld = null;
continue;
}
Capture(cam, out left, out right, ref cnt);
float minL, maxL, minR, maxR;
left.GetMinMax(out minL, out maxL);
right.GetMinMax(out minR, out maxR);
log.Debug("MAX = " + maxL + " " + maxR);
if (maxL == 255f || maxR == 255f)
{
log.Info("Overexposed, reducing exposure time.");
cam.Exposure = cam.Exposure * (3f / 4f);
leftOld = null;
rightOld = null;
continue;
}
if (maxL < DARK_THRES && maxR < DARK_THRES)
{
if (cam.Exposure < MAX_EXPOSURE)
{
log.Info("Underexposed, increasing exposure time.");
cam.Exposure = cam.Exposure * (4f / 3f);
leftOld = null;
rightOld = null;
continue;
}
log.Info("seems to be dark, let's sleep an hour.");
Thread.Sleep(1000 * 60 * 60);
leftOld = null;
rightOld = null;
continue;
}
rightOld = Compare(right, rightOld, thres, cnt, "R", log);
leftOld = Compare(left, leftOld, thres, cnt, "L", log);
if (null == leftOld || null == rightOld)
{
break;
}
}
int random = rand.Next(100);
float delayInMinutes = (float)random / 100f * (float)MAX_DELAY_IN_MIN;
log.Debug("Sleeping for " + delayInMinutes + " minutes");
Thread.Sleep((int)(1000 * 60 * delayInMinutes));
//Thread.Sleep(500);
}
cam.Disconnect();
}
private static FloatImage Compare(FloatImage currentImg, FloatImage oldImg, float thres, int cnt, string channel, MetriLog log)
{
if (null != oldImg)
{
FloatImage diff = oldImg - currentImg;
float sad = diff.Abs().Sum();
log.Debug("SAD = " + sad);
if (sad < thres)
{
log.ErrorFormat("Image {0}{1}: SAD ({2}) was below the threshold of {3}.", cnt, channel, sad, thres);
return(null);
}
}
oldImg = currentImg;
return(oldImg);
}
/// <summary>
/// Static constructor.
/// Registers all camera types from the currently loaded assemblies.
/// </summary>
static CameraManagement()
{
log = new MetriLog(LoggerName);
ScanLoadedAssemblies();
}
static void Main(string[] args)
{
MetriLog log = new MetriLog();
Kinect2 cam = new Kinect2();
try
{
cam.Connect();
}
catch (MetriCam2.Exceptions.ConnectionFailedException)
{
log.Error("Connection failed. Closing window in 5 sec.");
Thread.Sleep(5 * 1000);
return;
}
cam.ActivateChannel(ChannelNames.Color);
bool running = false;
while (running)
{
cam.Update();
}
ProjectiveTransformationZhang pt;
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
RigidBodyTransformation rbt = cam.GetExtrinsics(ChannelNames.Color, ChannelNames.ZImage);
}
catch (FileNotFoundException)
{
log.Warn("No fwd RBT found.");
}
try
{
RigidBodyTransformation rbtInverse = cam.GetExtrinsics(ChannelNames.ZImage, ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No inverse RBT found.");
}
cam.Disconnect();
log.Info("Program ended. Closing window in 5 sec.");
Thread.Sleep(5 * 1000);
}
