private void SetCameraCalibrationParameters(PtGreyCamera camera)
{
InitializeCameraSettings(camera);
Thread.Sleep(1000);
camera.StartCapture();
//Default settings
camera.SetProprtyAutomaticSetting("Sharpness", false);
camera.SetProprtyAutomaticSetting("ExposureCompensationAuto", false);
camera.SetProprtyAutomaticSetting("Saturation", false);
camera.SetProprtyAutomaticSetting("Hue", false);
camera.SetProprtyAutomaticSetting("FrameRate", false);
//camera.SetProprtyAutomaticSetting("WhiteBalance", false);
camera.SetAbsolutePropertyValue("BlackLevel", App.Settings.BlackLevel.ToString());
camera.SetAbsolutePropertyValue("Saturation", App.Settings.Saturation.ToString());
camera.SetAbsolutePropertyValue("Hue", App.Settings.Hue.ToString());
camera.SetAbsolutePropertyValue("FrameRate", App.Settings.FrameRate.ToString());
Thread.Sleep(200);
InitializeCameraSettingsWB(camera, false);
Thread.Sleep(1200);
// TODO: start capture in calibration
}
public void Stop(PtGreyCamera camera)
{
if (camera != null)
{
camera.Disconnect();
}
}
public bool StartVideo(PtGreyCamera camera, ImageReceivedEventHandler imageReceivedHandler)
{
bool result = false;
if (!camera.Start(imageReceivedHandler))
{
camera = null;
}
else
{
if (camera.cameraType == CameraType.Top)
{
InitializeCameraSettings(camera);
InitializeCameraSettingsWB(camera, true);
}
else
{
InitializeBlackWhiteCameraSettings(camera);
}
result = true;
camera.StartCapture();
}
return(result);
}
/// <summary>
/// Initialize the control class by setting the timers, creating the channels and a Point Grey camera
/// </summary>
/// <exception cref="FormatNotRespectedException">Thrown when the setting file for the camera doesn't respect the expected format</exception>
/// <exception cref="NoCameraDetectedException">Thrown when there isn't any camera detected</exception>
public AControl()
{
SetTimer();
timerNikon = new System.Timers.Timer
{
Interval = 2 * 3600 * 1000 + 15000, //we create a timer to reinitialize the nikon to avoid bugs
Enabled = false,
AutoReset = true
};
timerNikon.Elapsed += TimerNikon_Elapsed;
timerNikon.Start();
shutterControl = new ComponentControl(ConfigurationManager.AppSettings["Shutter"], "Shutter");
lampControl = new RelayBoxComponent(ConfigurationManager.AppSettings["LampControl"], "Main lamp");
redLampControl = new ComponentControl(ConfigurationManager.AppSettings["RedLampControl"], "Red Lamp");
traverse = new Traverse();
nikonCamera = new NikonCamera();
try
{
PtGreyCameraSetting setting = new PtGreyCameraSetting("PtGreySetting.txt");
ptGreyCamera = new PtGreyCamera(setting);
}
catch (FileNotFoundException)
{
ptGreyCamera = new PtGreyCamera();
}
using StreamWriter writer = new StreamWriter("log.txt", true);
writer.WriteLine(ProtocolDescription());
}
public string GetLastError(PtGreyCamera camera)
{
string error = "";
if (camera != null)
{
error = camera.GetLastError();
}
return(error);
}
/*
* public bool Measure(List<System.Drawing.Bitmap> img, List<System.Drawing.Bitmap> bgImg,
* int brightAreaThreshold, int darkAreaThreshold,
* out string color, out double L, out double a, out double b,
* out double C, out double H, out double mask_L, out double mask_A, out string error, out double temp,
* out double mask2_A, out List<Tuple<double,double,double,double,double,double>> hsvList)
* {
* return MeasureEx(img, bgImg, brightAreaThreshold, darkAreaThreshold,
* out color, out L, out a, out b, out C, out H, out mask_L,
* out mask_A, out error, out temp, out mask2_A, out hsvList,
* App.Settings.LConv, App.Settings.AConv, App.Settings.BConv,
* App.Settings.Lshift, App.Settings.Ashift, App.Settings.Bshift);
* }
*
* public bool MeasureEx(List<System.Drawing.Bitmap> img, List<System.Drawing.Bitmap> bgImg,
* int brightAreaThreshold, int darkAreaThreshold, out string color, out double L, out double a, out double b,
* out double C, out double H, out double mask_L, out double mask_A, out string error,out double temp,
* out double mask2_A, out List<Tuple<double,double,double,double,double,double>> hsvList,
* double Lconv = 1.0, double Aconv = 1.0, double Bconv = 1.0,
* double Lshift = 0, double Ashift = 0, double Bshift = 0)
* {
* bool result = false;
* hsvList = new List<Tuple<double, double, double,double,double,double>>();
*
* color = "";
* error = "";
* L = 0; a = 0; b = 0; C = 0; H = 0;
* mask_L = 0; mask_A = 0; mask2_A = 0;
* temp = 0;
*
* try
* {
* if (img.Count != bgImg.Count)
* {
* error = "background image count not equal to image count";
* return false;
* }
*
* ImageProcessing.setLabAdjustment(Lconv, Aconv, Bconv,
* Lshift, Ashift, Bshift);
*
*
* //string unused = "";
* //int x = (int)(img.Width / 2.0);
* //int y = (int)(img.Height / 2.0);
* //if (!ImageProcessing.check_diamond_position(ref img, x, y, ref unused))
* //{
* // error = "Check diamond position";
* // return false;
* //}
*
*
* //var imageList = new List<System.Drawing.Bitmap>();
*
* //for (int i = 0; i < img.Count; i++)
* //{
* // BitmapSource mainImage, bgImage;
*
* // if (!GetMeasurementImages(imgSrc[i], out mainImage, out bgImage))
* // {
* // error = "Could not divide image";
* // return false;
* // }
*
* // imageList.Add(camera.GetBitmap(mainImage));
* //}
*
*
* string L_description = "", C_description = "", H_description = "", comment1 = "",
* comment2 = "", comment3 = "";
*
* bool colorResult = ImageProcessing.GetColor_description(ref img, ref bgImg,
* ref L, ref a, ref b, ref C, ref H, ref L_description, ref C_description,
* ref H_description, ref mask_L, ref mask_A, ref comment1, ref comment2, ref comment3,
* ref mask2_A, ref hsvList, false,
* App.Settings.MaxPhotoChromicLDiff, brightAreaThreshold, darkAreaThreshold);
*
* temp = CameraTemperature();
*
* if (colorResult)
* {
* color = C_description;
* result = true;
* error = comment3;
* }
* else
* {
* error = "Bad color result: " + comment3;
* result = false;
* }
* }
* catch (Exception ex)
* {
* error = ex.ToString() ;
* }
*
*
* return result;
* }
*
*
*
*/
public double CameraTemperature(PtGreyCamera camera)
{
double temp = 0;
if (camera != null)
{
// TODO: need to verify the value
temp = Convert.ToDouble(camera.GetPropertyValue("DeviceTemperature"));
}
return(temp);
}
public bool GetImages(PtGreyCamera camera, out System.Drawing.Bitmap img, out BitmapSource imgSrc)
{
img = null;
imgSrc = null;
if (!camera.GetImage(out imgSrc, out img))
{
return(false);
}
return(true);
}
private void AdjustWhiteBalance(PtGreyCamera camera, double R, double G, double B)
{
double oldValue = 0.0;
//if (R - G > App.Settings.WBConvergence)
//{
// camera.AdjustWhiteBalance(-1, false, ref oldValue);
//}
//else if (G - R > App.Settings.WBConvergence)
//{
// camera.AdjustWhiteBalance(1, false, ref oldValue);
//}
//if (B - G > App.Settings.WBConvergence)
//{
// camera.AdjustWhiteBalance(-1, true, ref oldValue);
//}
//else if (G - B > App.Settings.WBConvergence)
//{
// camera.AdjustWhiteBalance(1, true, ref oldValue);
//}
if (R - G > App.Settings.WBConvergence)
{
camera.AdjustWhiteBalance(-0.04, false, ref oldValue);
//Application.Current.Dispatcher.Invoke((Action)(() =>
// App.LogEntry.AddEntry("Calibration Mode : Decremented WB Red from " + oldValue)));
}
else if (G - R > App.Settings.WBConvergence)
{
camera.AdjustWhiteBalance(0.04, false, ref oldValue);
//Application.Current.Dispatcher.Invoke((Action)(() =>
// App.LogEntry.AddEntry("Calibration Mode : Incremented WB Red from " + oldValue)));
}
if (B - G > App.Settings.WBConvergence)
{
camera.AdjustWhiteBalance(-0.04, true, ref oldValue);
//Application.Current.Dispatcher.Invoke((Action)(() =>
// App.LogEntry.AddEntry("Calibration Mode : Decremented WB Blue from " + oldValue)));
}
else if (G - B > App.Settings.WBConvergence)
{
camera.AdjustWhiteBalance(0.04, true, ref oldValue);
//Application.Current.Dispatcher.Invoke((Action)(() =>
// App.LogEntry.AddEntry("Calibration Mode : Incremented WB Blue from " + oldValue)));
}
Thread.Sleep(500);
}
public void AdjustShutter(PtGreyCamera camera, bool increase)
{
double current = camera.GetShutterTime();
if (increase)
{
camera.SetShutterTime(current + 0.5 * current);
Console.WriteLine("shutter time: {0}", current + 0.5 * current);
}
else
{
camera.SetShutterTime(0.5 * current);
Console.WriteLine("shutter time: {0}", 0.5 * current);
}
}
private void InitializeCameraSettingsWB(PtGreyCamera camera, bool auto)
{
if (App.Settings.WBInitialize)
{
if (auto)
{
camera.SetProprtyAutomaticSetting("WhiteBalance", true);
//camera.SetWhiteBalance(App.Settings.WBInitializeRed, false);
//camera.SetWhiteBalance(App.Settings.WBInitializeBlue, true);
}
else
{
camera.SetProprtyAutomaticSetting("WhiteBalance", false);
}
}
}
void ConnectCameraDoWork(object sender, DoWorkEventArgs e)
{
_statusVM.Busy++;
DateTime timestamp = DateTime.Now;
var sts = new StatusMessage {
Timestamp = timestamp, Message = "Trying to connect to camera..."
};
_statusVM.Messages.Add(sts);
_timestamps.Push(timestamp);
_ptGreyImageQueue = new ConcurrentQueue <PtGreyCameraImage>();
_ptGreyCamera = new PtGreyCamera();
long width, height;
string message;
if (_ptGreyCamera.Open(_ptGreyImageQueue, out message, out width, out height))
{
_ptGreyStopImageThreadEvent = new System.Threading.AutoResetEvent(false);
if (_ptGreyCamera.DefaultSettings())
{
Properties.Settings.Default.VideoMode = 0;
Properties.Settings.Default.Save();
Gain = Properties.Settings.Default.Gain;
Shutter = Properties.Settings.Default.ShutterTimePhos;
WBred = Properties.Settings.Default.WBRed;
WBblue = Properties.Settings.Default.WBBlue;
VideoMode = Properties.Settings.Default.VideoMode;
_ptGreyCamera.StartVideo();
ImageHeight = height;
ImageWidth = width;
}
else
{
message = "Error: Could not load default camera settings";
}
e.Result = message;
}
else
{
e.Result = "Error: " + message;
}
}
private void InitializeBlackWhiteCameraSettings(PtGreyCamera camera)
{
camera.SetAbsolutePropertyValue("VideoMode", "Continuous");
int width = Convert.ToInt32(camera.GetPropertyValue("WidthMax"));
int height = Convert.ToInt32(camera.GetPropertyValue("HeightMax"));
camera.SetAbsolutePropertyValue("Width", width.ToString());
camera.SetAbsolutePropertyValue("Height", height.ToString());
camera.SetProprtyEnabledSetting("AcquisitionFrameRate", true);
camera.SetAbsolutePropertyValue("FrameRate", "10");
camera.SetProprtyAutomaticSetting("Shutter", false);
camera.SetAbsolutePropertyValue("ShutterMode", "Timed");
camera.SetShutterTime(10 * 1000);
camera.SetStreamBufferCount(1); // test only
camera.SetAbsolutePropertyValue("StreamBufferMode", "NewestOnly");
}
void ConnectCameraDoWork(object sender, DoWorkEventArgs e)
{
DateTime timestamp = DateTime.Now;
var sts = new StatusMessage {
Timestamp = timestamp, Message = "Trying to connect to camera..."
};
_statusVM.CamMessages.Add(sts);
_ptGreyCamera = new PtGreyCamera();
if (_ptGreyCamera.Connect())
{
e.Result = _ptGreyCamera.SerialNumber.ToString();
Connected = true;
}
else
{
e.Result = "Error";
Connected = false;
}
}
private void InitializeCameraSettings(PtGreyCamera camera)
{
//first reset to default settings
camera.DefaultSettings();
// hue, gamma, and saturation setting controled by pixel format RGB8 will enable those settings
//TODO: spinnaker
//camera.SetCameraVideoModeAndFrameRate(VideoMode.VideoMode800x600Rgb,
// FrameRate.FrameRate30);
camera.SetAbsolutePropertyValue("PixelFormat", "RGB8");
camera.SetAbsolutePropertyValue("VideoMode", "Continuous");
int width = Convert.ToInt32(camera.GetPropertyValue("WidthMax"));
int height = Convert.ToInt32(camera.GetPropertyValue("HeightMax"));
camera.SetAbsolutePropertyValue("Width", width.ToString());
camera.SetAbsolutePropertyValue("Height", height.ToString());
camera.SetProprtyAutomaticSetting("Shutter", true);
camera.SetAbsolutePropertyValue("Gain", "0");
camera.SetProprtyEnabledSetting("AcquisitionFrameRate", true);
camera.SetAbsolutePropertyValue("FrameRate", App.Settings.FrameRate.ToString());
camera.SetProprtyEnabledSetting("Saturation", true);
camera.SetAbsolutePropertyValue("Saturation", App.Settings.Saturation.ToString());
camera.SetProprtyEnabledSetting("Gamma", true);
camera.SetAbsolutePropertyValue("Gamma", App.Settings.Gamma.ToString());
camera.SetProprtyEnabledSetting("Hue", true);
camera.SetAbsolutePropertyValue("Hue", App.Settings.Hue.ToString());
camera.SetStreamBufferCount(1); // test only
camera.SetAbsolutePropertyValue("StreamBufferMode", "NewestOnly");
}
public bool Calibrate(PtGreyCamera camera)
{
bool result = false;
try
{
App.LogEntry.AddEntry("Initializing calibration settings...");
// TODO: those parameters never used
//ImageProcessing.setLabAdjustment(App.Settings.LConv, App.Settings.AConv, App.Settings.BConv,
//App.Settings.Lshift, App.Settings.Ashift, App.Settings.Bshift);
SetCameraCalibrationParameters(camera);
int retries = 0;
bool success = false;
for (retries = 0; retries < 40; retries++)
{
App.LogEntry.AddEntry("Checking BGR...");
System.Drawing.Bitmap img = null;
BitmapSource imgSrc = null;
if (!camera.GetImage(out imgSrc, out img))
{
return(false);
}
double B = 0, G = 0, R = 0;
CamCalibrationUtil.calcBGR_wholeimage(ref img, ref B, ref G, ref R);
if (Math.Abs(R - G) <= App.Settings.WBConvergence &&
Math.Abs(B - G) <= App.Settings.WBConvergence)
{
App.LogEntry.AddEntry("Finalizing calibration settings...");
FinishCalibration(camera);
success = true;
break;
}
App.LogEntry.AddEntry("Adjusting white balance...");
AdjustWhiteBalance(camera, R, G, B);
Thread.Sleep(200);
}
if (success)
{
result = true;
}
else
{
result = false;
}
}
catch (Exception ex)
{
result = false;
}
return(result);
}
private void FinishCalibration(PtGreyCamera camera)
{
camera.SetProprtyAutomaticSetting("Shutter", false);
Thread.Sleep(500);
}
public void EditCameraSettings(PtGreyCamera camera)
{
//todo: spinnaker PropertyGridControl
camera.EditCameraSettings();
}
public bool Connect()
{
bool result = false;
try
{
system = new ManagedSystem();
IList <IManagedCamera> camList = system.GetCameras();
if (camList.Count != 2)
{
int count = camList.Count;
foreach (IManagedCamera mc in camList)
{
mc.Dispose();
}
// Clear camera list before releasing system
camList.Clear();
// Release system
system.Dispose();
throw new Exception("2 cameras needed but found " + camList.Count);
}
for (int i = 0; i < camList.Count; i++)
{
var cam = camList[i];
// Initialize camera
cam.Init();
// Retrieve GenICam nodemap
var nodemap = cam.GetNodeMap();
uint SerialNumber = Convert.ToUInt32(cam.DeviceSerialNumber);
if (SerialNumber == App.Settings.SideCameraSerialNum)
{
cameraSide = new PtGreyCamera(cam, CameraType.Side);
}
else
{
cameraTop = new PtGreyCamera(cam, CameraType.Top);
}
}
if (cameraSide != null && cameraTop != null)
{
cameras.Add(cameraTop);
cameras.Add(cameraSide);
result = true;
}
else
{
result = false;
}
}
catch (Exception ex)
{
result = false;
if (cameraTop != null)
{
cameraTop.Disconnect();
}
if (cameraSide != null)
{
cameraSide.Disconnect();
}
}
return(result);
}
