/// <summary>
/// A camera can register channels of a default name and type (e.g. <see cref="ChannelNames.Distance"/>).
/// </summary>
/// <param name="name">Symbolic name of the channel.</param>
/// <returns>ChannelName object containing information about the channel.</returns>
/// <remarks>The type is derived automatically from the channel name.</remarks>
public ChannelDescriptor RegisterChannel(string name)
{
Type imageType;
bool isKnownChannel = registeredChannels.TryGetValue(name, out imageType);
if (!isKnownChannel)
{
string msg = string.Format("{0}: Could not register channel '{1}'. Channels of that name are unknown.", this.GetType().Name, name);
log.Warn(msg);
throw new ArgumentException(msg);
}
return(new ChannelDescriptor(name, imageType));
}
public void SelectCamera(Camera cam)
{
if (null == cam)
{
log.Warn("SelectCamera(null)");
return;
}
log.DebugFormat("SelectCamera({0})", cam.Name);
Camera myCam = null;
string dummy;
try
{
myCam = CameraManagement.GetCameraInstanceByName(cam.Name, out dummy);
}
catch (ArgumentException)
{
string cameraTypeName = cam.GetType().ToString();
log.DebugFormat(" camera with name {0} not found, trying {1}", cam.Name, cameraTypeName);
try
{
myCam = CameraManagement.GetCameraInstanceByName(cameraTypeName, out dummy);
}
catch (ArgumentException)
{
log.WarnFormat(" camera with names {0} or {1} not found", cam.Name, cameraTypeName);
throw;
}
}
this.SelectedCameras.Add(myCam);
if (SelectedCamerasChanged != null)
{
SelectedCamerasChanged(this, new SelectedCamerasChangedArgs(myCam, false));
}
}
private void cameraManagement_SelectedCamerasChanged(object sender, CameraManagement.SelectedCamerasChangedArgs args)
{
if (args.Deselected)
{
if (args.Camera.IsConnected)
{
log.Warn(String.Format("CameraExplorer: Camera {0} was deselected by CameraManagement but is currently connected. Camera will not be deselected in CameraExplorer", args.Camera.ToString()));
return;
}
for (int i = 0; i < listViewSelected.Items.Count; i++)
{
if (((CameraListViewItem)listViewSelected.Items[i]).Cam == args.Camera)
{
listViewSelected.Items.RemoveAt(i);
break;
}
}
args.Camera.OnConnected -= cam_OnConnected;
args.Camera.OnDisconnected -= cam_OnDisconnected;
}
else
{
Camera cam = args.Camera;
cam.OnConnected += cam_OnConnected;
cam.OnDisconnected += cam_OnDisconnected;
CameraListViewItem clvi = null;
for (int i = 0; i < listViewAvailable.Items.Count; i++)
{
if (listViewAvailable.Items[i].Text == cam.Name)
{
clvi = new CameraListViewItem(listViewAvailable.Items[i].Text, listViewAvailable.Items[i].ImageKey);
clvi.Name = listViewAvailable.Items[i].Name;
break;
}
}
if (clvi == null)
{
return;
}
clvi.Cam = cam;
clvi.SubItems.Add("Not connected");
clvi.SubItems.Add("N/A");
clvi.SubItems.Add("");
this.listViewSelected.Items.Add(clvi);
}
}
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);
}
