/// <summary>
/// c# implementation of https://github.com/robidouille/robidouille/blob/master/raspicam_cv/RaspiCamTest.c
/// </summary>
public void Run()
{
Log.Info("Creating Window");
var windowName = "PiCamCVSimpleTest";
CvInvoke.NamedWindow(windowName); //Create the window using the specific name
Log.Info("Creating capture");
EnvironmentService.DemandUnix("OpenCV 3.0 deprecated these capture methods. Only supported with PiCamCv on Pi");
var captureConfig = new CaptureConfig { Resolution= new Resolution(640,480) , Framerate = 25, Monochrome = true };
var piConfig = PiCameraConfig.FromConfig(captureConfig);
IntPtr capture = CvInvokeRaspiCamCV.cvCreateCameraCapture2(0, ref piConfig); // Index doesn't really matter
do
{
IntPtr imagePtr = CvInvokeRaspiCamCV.cvQueryFrame(capture);
using (var managedImage = Image<Bgr, Byte>.FromIplImagePtr(imagePtr))
{
CvInvoke.Imshow(windowName, managedImage);
}
} while (CvInvoke.WaitKey(100) < 0);
CvInvoke.DestroyWindow("RaspiCamTest");
CvInvokeRaspiCamCV.cvReleaseCapture(ref capture);
}
private static ICaptureGrab BuildCaptureGrabber(CaptureConfig config = null)
{
var request = new CaptureRequest {Device = CaptureDevice.Usb};
if (EnvironmentService.IsUnix)
{
request.Device = CaptureDevice.Pi;
}
if (config == null)
{
// Default capture
request.Config = new CaptureConfig {Resolution = new Resolution(160, 120), Framerate = 50, Monochrome = false};
}
else
{
request.Config = config;
}
var capture = CaptureFactory.GetCapture(request);
var actualConfig = capture.GetCaptureProperties();
Log.Info($"Created capture: {actualConfig}");
SafetyCheckRoi(_consoleOptions, actualConfig);
return capture;
}
/// <summary>
/// Expect of the form '120x340,40' say
/// </summary>
public static CaptureConfig Parse(string config)
{
if (string.IsNullOrWhiteSpace(config))
{
return(null);
}
string strRegex = @"(?<resWidth>\d{1,})x(?<resHeight>\d{1,}),(?<fps>\d{1,})";
var captureRegex = new Regex(strRegex, RegexOptions.None);
var match = captureRegex.Match(config);
if (match.Success)
{
var captureConfig = new CaptureConfig();
try
{
captureConfig.Framerate = Convert.ToInt32(match.Groups["fps"].Value);
captureConfig.Resolution.Width = Convert.ToInt32(match.Groups["resWidth"].Value);
captureConfig.Resolution.Height = Convert.ToInt32(match.Groups["resHeight"].Value);
captureConfig.Bitrate = 100000;
}
catch (Exception e)
{
throw new ArgumentException($"CaptureConfig='{config}' is invalid", e);
}
return(captureConfig);
}
return(null);
}
/// <summary>
/// Expect of the form '120x340,40' say
/// </summary>
public static CaptureConfig Parse(string config)
{
if (string.IsNullOrWhiteSpace(config))
{
return null;
}
string strRegex = @"(?<resWidth>\d{1,})x(?<resHeight>\d{1,}),(?<fps>\d{1,})";
var captureRegex = new Regex(strRegex, RegexOptions.None);
var match = captureRegex.Match(config);
if (match.Success)
{
var captureConfig = new CaptureConfig();
try
{
captureConfig.Framerate = Convert.ToInt32(match.Groups["fps"].Value);
captureConfig.Resolution.Width = Convert.ToInt32(match.Groups["resWidth"].Value);
captureConfig.Resolution.Height = Convert.ToInt32(match.Groups["resHeight"].Value);
captureConfig.Bitrate = 100000;
}
catch(Exception e)
{
throw new ArgumentException($"CaptureConfig='{config}' is invalid", e);
}
return captureConfig;
}
return null;
}
public HandCalibratedModifierStrategy(CaptureConfig captureConfig, Point target)
: base(captureConfig, target)
{
_regressorPair = new LinearRegressorFactory().GetHandMeasured320x240();
// calibration was done in 320x240. If capture settings different need to scale the calibration
decimal xDiffScale = captureConfig.Resolution.Width / 320m;
decimal yDiffScale = captureConfig.Resolution.Height / 240m;
Scale = new PointD(xDiffScale, yDiffScale);
}
private static void SafetyCheckRoi(ConsoleOptions options, CaptureConfig captureProperties)
{
if (
captureProperties.Resolution.IsValid && options.ColourSettings != null
)
{
var roiWidthTooBig = options.ColourSettings.Roi.Width > captureProperties.Resolution.Width;
var roiHeightTooBig = options.ColourSettings.Roi.Height > captureProperties.Resolution.Height;
if (roiWidthTooBig || roiHeightTooBig)
{
Log.Warn("ROI is too big! Ignoring");
options.ColourSettings.Roi = Rectangle.Empty;
}
}
}
protected CameraBasedModifierStrategy(CaptureConfig captureConfig, Point target)
{
Target = target;
CaptureConfig = captureConfig;
Scale = new PointD(decimal.One, decimal.One);
}
protected override void OnSubscribe()
{
base.OnSubscribe();
_captureConfig = CameraCapture.GetCaptureProperties();
_centre = _captureConfig.Resolution.GetCenter();
txtReticleX.Text = _centre.X.ToString();
txtReticleY.Text = _centre.Y.ToString();
var screen = new TextboxScreen(txtScreen);
//var imageTransmitter = new BsonPostImageTransmitter();
var imageTransmitter = new BsonPostJpegTransmitter();
var colorSettings = _colourSettingsRepo.Read();
var motionSettings = _motionSettingsRepo.Read();
// these should be disposed if not null
_faceTrackingController = new FaceTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_colourTrackingController = new ColourTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_motionTrackingController = new MotionTrackingPanTiltController(PanTiltMechanism, _captureConfig, screen);
// if haven't subscribed first time yet
if (_multimodePanTiltController == null)
{
_remoteScreen = new RemoteTextboxScreen(CameraHubProxy, txtScreen);
_remoteImageSender = new RemoteImageSender(imageTransmitter, CameraHubProxy);
CameraHubProxy.SettingsChanged += (o, s) =>
{
_remoteScreen.WriteLine($"Camera received new settings: {s}");
_remoteImageSender.SendEveryPeriod = s.TransmitImagePeriod;
_remoteImageSender.Enabled = s.EnableImageTransmit;
_remoteScreen.Enabled = s.EnableConsoleTransmit;
};
}
else
{
// don't resubscribe and get duplicate events on cameraHubProxy
_multimodePanTiltController.Unsubscribe();
}
_multimodePanTiltController = new MultimodePanTiltController(
PanTiltMechanism
, _captureConfig
, _remoteScreen
, CameraHubProxy
, _remoteImageSender);
_calibratingPanTiltController = new CalibratingPanTiltController(PanTiltMechanism, new CalibrationReadingsRepository(), screen);
_colourTrackingController.Settings = colorSettings;
_calibratingPanTiltController.Settings = colorSettings;
_motionTrackingController.Settings = motionSettings;
_calibratingPanTiltController.GetCameraCapture = PullImage;
_calibratingPanTiltController.WaitStep = CalibrationWaitStep;
_calibratingPanTiltController.ColourCaptured += _calibratingPanTiltController_ColourCaptured;
// default check states
chkBoxColourTracking.Checked = false;
chkBoxFaceTracker.Checked = false;
chkBoxMotionTracking.Checked = false;
chkMultimode.Checked = false;
Log.InfoFormat("MotionSettings: {0}", motionSettings);
}
protected override void OnSubscribe()
{
_captureConfig = CameraCapture.GetCaptureProperties();
_centre = _captureConfig.Resolution.GetCenter();
txtReticleX.Text = _centre.X.ToString();
txtReticleY.Text = _centre.Y.ToString();
InitI2C();
var screen = new TextboxScreen(txtScreen);
var colorSettings = _colourSettingsRepo.Read();
var motionSettings = _motionSettingsRepo.Read();
// these should be disposed if not null
_faceTrackingController = new FaceTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_colourTrackingController = new ColourTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_motionTrackingController = new MotionTrackingPanTiltController(PanTiltMechanism, _captureConfig, screen);
_calibratingPanTiltController = new CalibratingPanTiltController(PanTiltMechanism, new CalibrationReadingsRepository(), screen);
_colourTrackingController.Settings = colorSettings;
_calibratingPanTiltController.Settings = colorSettings;
_motionTrackingController.Settings = motionSettings;
_calibratingPanTiltController.GetCameraCapture = PullImage;
_calibratingPanTiltController.WaitStep = CalibrationWaitStep;
_calibratingPanTiltController.ColourCaptured += _calibratingPanTiltController_ColourCaptured;
Log.InfoFormat("MotionSettings: {0}", motionSettings);
}
/*
*
CV_CAP_PROP_POS_MSEC Current position of the video file in milliseconds.
CV_CAP_PROP_POS_FRAMES 0-based index of the frame to be decoded/captured next.
CV_CAP_PROP_POS_AVI_RATIO Relative position of the video file
CV_CAP_PROP_FRAME_WIDTH Width of the frames in the video stream.
CV_CAP_PROP_FRAME_HEIGHT Height of the frames in the video stream.
CV_CAP_PROP_FPS Frame rate.
CV_CAP_PROP_FOURCC 4-character code of codec.
CV_CAP_PROP_FRAME_COUNT Number of frames in the video file.
CV_CAP_PROP_FORMAT Format of the Mat objects returned by retrieve() .
CV_CAP_PROP_MODE Backend-specific value indicating the current capture mode.
CV_CAP_PROP_BRIGHTNESS Brightness of the image (only for cameras).
CV_CAP_PROP_CONTRAST Contrast of the image (only for cameras).
CV_CAP_PROP_SATURATION Saturation of the image (only for cameras).
CV_CAP_PROP_HUE Hue of the image (only for cameras).
CV_CAP_PROP_GAIN Gain of the image (only for cameras).
CV_CAP_PROP_EXPOSURE Exposure (only for cameras).
CV_CAP_PROP_CONVERT_RGB Boolean flags indicating whether images should be converted to RGB.
CV_CAP_PROP_WHITE_BALANCE Currently unsupported
CV_CAP_PROP_RECTIFICATION Rectification flag for stereo cameras (note: only supported by DC1394 v 2.x backend currently)
*/
public static CaptureConfig GetCaptureProperties(this ICaptureGrab capture)
{
if (capture == null)
{
return null;
}
var settings = new CaptureConfig();
settings.Resolution.Height = Convert.ToInt32(capture.GetCaptureProperty(CapProp.FrameHeight));
settings.Resolution.Width = Convert.ToInt32(capture.GetCaptureProperty(CapProp.FrameWidth));
settings.Framerate = Convert.ToInt32(capture.GetCaptureProperty(CapProp.Fps));
settings.Monochrome = Convert.ToBoolean(capture.GetCaptureProperty(CapProp.Monochrome));
return settings;
}
public void InvokeUpdateCapture(CaptureConfig captureConfig)
{
UpdateCapture?.Invoke(this, captureConfig);
}
