// class constructor
public Camera()
{
// set up image formats
NaoCamImageFormat format120 = new NaoCamImageFormat();
NaoCamImageFormat format240 = new NaoCamImageFormat();
NaoCamImageFormat format480 = new NaoCamImageFormat();
NaoCamImageFormat format960 = new NaoCamImageFormat();
format120.name = "160 * 120";
format120.id = 0;
format120.width = 160;
format120.height = 120;
format240.name = "320 * 240";
format240.id = 1;
format240.width = 320;
format240.height = 240;
format480.name = "640 * 480";
format480.id = 2;
format480.width = 640;
format480.height = 480;
format960.name = "1280 * 960";
format960.id = 3;
format960.width = 1280;
format960.height = 960;
// add them to the formats list
NaoCamImageFormats.Add(format120);
NaoCamImageFormats.Add(format240);
NaoCamImageFormats.Add(format480);
NaoCamImageFormats.Add(format960);
}
/// <summary>
/// Connects to the camera on the NAO robot
/// </summary>
/// <param name="ip"> the ip address of the robot </param>
/// <param name="format"> the video format desired </param>
/// <param name="ColorSpace"> the video color space </param>
/// <param name="FPS"> the FPS of the video </param>
public void connect(string ip, NaoCamImageFormat format, int ColorSpace, int FPS)
{
try
{
if (naoCamera != null)
{
Disconnect();
}
naoCamera = new VideoDeviceProxy(ip, 9559);
// Attempt to unsubscribe incase program was not shut down properly
try
{
naoCamera.unsubscribe("NAO Camera");
}
catch (Exception)
{
}
// subscribe to NAO Camera for easier access to camera memory
naoCamera.subscribe("NAO Camera", format.id, ColorSpace, FPS);
}
catch (Exception e)
{
// display error message and write exceptions to a file
MessageBox.Show("Exception occurred, error log in C:\\NAOcam\\exception.txt");
naoCamera = null;
System.IO.File.WriteAllText(@"C:\\NAOcam\\exception.txt",e.ToString());
}
}
/// <summary>
/// Connects to the camera on the NAO robot
/// </summary>
/// <param name="ip"> the ip address of the robot </param>
/// <param name="format"> the video format desired </param>
/// <param name="ColorSpace"> the video color space </param>
/// <param name="FPS"> the FPS of the video </param>
public void connect(string ip, NaoCamImageFormat format, int ColorSpace, int FPS)
{
try
{
if (naoCamera != null)
{
Disconnect();
}
naoCamera = new VideoDeviceProxy(ip, 9559);
// Attempt to unsubscribe incase program was not shut down properly
try
{
naoCamera.unsubscribe("NAO Camera");
}
catch (Exception)
{
}
// subscribe to NAO Camera for easier access to camera memory
naoCamera.subscribe("NAO Camera", format.id, ColorSpace, FPS);
}
catch (Exception e)
{
// display error message and write exceptions to a file
MessageBox.Show("Exception occurred, error log in C:\\NAOserver\\exception.txt");
naoCamera = null;
System.IO.File.WriteAllText(@"C:\\NAOserver\\exception.txt", e.ToString());
}
}
// class constructor
public Camera()
{
// set up image formats
NaoCamImageFormat format120 = new NaoCamImageFormat();
NaoCamImageFormat format240 = new NaoCamImageFormat();
NaoCamImageFormat format480 = new NaoCamImageFormat();
NaoCamImageFormat format960 = new NaoCamImageFormat();
format120.name = "160 * 120";
format120.id = 0;
format120.width = 160;
format120.height = 120;
format240.name = "320 * 240";
format240.id = 1;
format240.width = 320;
format240.height = 240;
format480.name = "640 * 480";
format480.id = 2;
format480.width = 640;
format480.height = 480;
format960.name = "1280 * 960";
format960.id = 3;
format960.width = 1280;
format960.height = 960;
// add them to the formats list
NaoCamImageFormats.Add(format120);
NaoCamImageFormats.Add(format240);
NaoCamImageFormats.Add(format480);
NaoCamImageFormats.Add(format960);
}
/// <summary>
/// Class constructor
/// </summary>
/// <param name="ip"> ip address of the robot </param>
/// <param name="format"> image format to use </param>
/// <param name="colorSpace"> color space to use </param>
/// <param name="FPS"> FPS to use </param>
/// <param name="currentCamera"> instance of the camera class to use
/// <param name="currentStorage"> instance of the DataStorage class to use
public GetFrame(string ip, NaoCamImageFormat format, int colorSpace, int
FPS, Camera currentCamera, DataStorage currentStorage)
{
naoCam = currentCamera;
storage = currentStorage;
naoCam.connect(ip, format, colorSpace, FPS);
}
/// <summary>
/// Class constructor, starts getting frames from the robot
/// and makes a connection to the motion and audio classes
/// </summary>
/// <param name="ip"> ip address of the NAO robot </param>
public _640window(string ip)
{
InitializeComponent();
// puts the IP in the ipBox so the user knows which NAO the program is connected to
ipBox.Text = ip;
// call the Camera constuctor, and set the image format to 640x480
naoCam = new Camera();
currentFormat = naoCam.NaoCamImageFormats[2];
HDFormat = naoCam.NaoCamImageFormats[3];
// call the Motion constructor
naoMotion = new Motion();
// call the Audio constructor
naoAudio = new Audio();
// create timer to display recording time
recordingTimer.Interval = new TimeSpan(0,0,1);
recordingTimer.Tick += new EventHandler(recordingTimeIncrease);
try // attempt to connect to the camera and motion system
{
// connect to the NAO Motion API
naoMotion.connect(ipBox.Text);
// create the newFrames instance of the getFrames class
newFrames = new GetFrame(ipBox.Text, currentFormat, COLOR_SPACE, FPS, naoCam, storage);
// create a new thread to allow frame acquisition to occur without interrupting UI smoothness
frameThread = new Thread(new ThreadStart(newFrames.grabFrame));
// start the thread
frameThread.Start();
// Create a timer for event based frame acquisition.
// Program will get new frame from storage based on FPS
dispatcherTimer.Interval = new TimeSpan(0, 0, 0, 0,
(int)Math.Ceiling(1000.0 / 30));
dispatcherTimer.Start();
// whenever the timer ticks the bitmapReady event is called
dispatcherTimer.Tick += new EventHandler(bitmapReady);
// let rest of program know that camera is ready
isCamInitialized = true;
}
catch (Exception ex)
{
isCamInitialized = false;
// display error message and write exceptions to a file
MessageBox.Show("Exception occurred, error log in C:\\NAOcam\\exception.txt");
System.IO.File.WriteAllText(@"C:\\NAOcam\\exception.txt", ex.ToString());
}
}
/// <summary>
/// constuctor for MainWindow
/// </summary>
public MainWindow()
{
InitializeComponent();
// call the Camera constuctor, and set the image format to 640x480
naoCam = new Camera();
// call the Motion constructor
naoMotion = new Motion();
currentFormat = naoCam.NaoCamImageFormats[2];
// Make sure the standard output directory exists
if (!System.IO.Directory.Exists("C:\\NAOserver\\"))
{
System.IO.Directory.CreateDirectory("C:\\NAOserver\\");
}
}
/// <summary>
/// constuctor for MainWindow
/// </summary>
public MainWindow()
{
InitializeComponent();
// call the Camera constuctor, and set the image format to 320x240
naoCam = new Camera();
// call the Motion constructor
naoMotion = new Motion();
// call the Audio constructor
naoAudio = new Audio();
currentFormat = naoCam.NaoCamImageFormats[1]; //angka 1 menunjukkan res 320x240
// Make sure the standard output directory exists
if (!System.IO.Directory.Exists("C:\\NAOserver\\"))
{
System.IO.Directory.CreateDirectory("C:\\NAOserver\\");
}
}
