private void DetectorSec(int deger)
{
Kamera camera = kameraKutusu1.Camera;
if (camera != null)
{
camera.Lock();
switch (deger)
{
case 0:
md = null;
camera.MDetector = md;
break;
case 1:
//md = new TwoFramesDifferenceMotionDetector(true);
TwoFramesDifferenceMotionDetector TwoFrameTH = new TwoFramesDifferenceMotionDetector(true, noise);
TwoFrameTH.DifferenceThreshold = trackBar1.Value;
//label4.Text = TwoFrameTH.MotionLevel.ToString();
camera.MDetector = TwoFrameTH;
break;
case 2:
//md = new BackgroundModelingHighPrecisionMotionDetector(true);
BackgroundModelingHighPrecisionMotionDetector BgHighTH = new BackgroundModelingHighPrecisionMotionDetector(true, noise);
BgHighTH.DifferenceThreshold = trackBar1.Value;
//label4.Text = BgHighTH.MotionLevel.ToString();
camera.MDetector = BgHighTH;
break;
case 3:
//md = new BackgroundModelingLowPrecisionMotionDetector(true);
BackgroundModelingLowPrecisionMotionDetector BgLowTH = new BackgroundModelingLowPrecisionMotionDetector(true);
BgLowTH.DifferenceThreshold = trackBar1.Value;
//label4.Text = BgLowTH.MotionLevel.ToString();
camera.MDetector = BgLowTH;
break;
case 4:
//md = new CountingMotionDetector(true);
CountingMotionDetector CountTH = new CountingMotionDetector(true);
CountTH.DifferenceThreshold = trackBar1.Value;
//CountTH.FramesPerBackgroundUpdate = 50;
camera.MDetector = CountTH;
//camera.IsRunning
break;
}
//camera.MDetector = md;
camera.UnLock();
}
}
private void MotionDetectionOn()
{
if (cameraWindow1.Camera != null)
{
MotionDetectionButton.Text = "ON";
MotionDetectionButton.BackColor = Color.Green;
GunTrackButton.Enabled = true;
CameraFeedButton.Enabled = false;
CountingMotionDetector cmd = new CountingMotionDetector(true);
cmd.MinObjectsWidth = 20;
cmd.MinObjectsHeight = 20;
cmd.MaxObjectsWidth = cameraWindow1.Width - 75;
cmd.MaxObjectsHeight = cameraWindow1.Height;
SetMotionDetector(cmd);
}
else
{
MessageBox.Show("No Active Camera!");
}
}
//Timer that tracks refresh of position tracking
private void TrackingTimer_Tick(object sender, EventArgs e) //125ms refresh rate as of right now
{
if (cameraWindow1.Camera != null && cameraWindow1.Camera.MotionDetector != null)
{
CountingMotionDetector cmd = (CountingMotionDetector)cameraWindow1.Camera.MotionDetector;
Rectangle[] rectmotion = cmd.ObjectRectangles;
if (rectmotion.Length != 0)
{
if (!firingsoundplayed && soundOn)
{
switch (soundTracker % 4)
{
case 0:
PlaySound(pwd + "\\Sounds\\Sentry Sounds\\Target Found\\firing.wav", IntPtr.Zero, SoundFlags.SND_FILENAME | SoundFlags.SND_ASYNC);
firingsoundplayed = true;
break;
case 1:
PlaySound(pwd + "\\Sounds\\Sentry Sounds\\Target Found\\i_see_you.wav", IntPtr.Zero, SoundFlags.SND_FILENAME | SoundFlags.SND_ASYNC);
firingsoundplayed = true;
break;
case 2:
PlaySound(pwd + "\\Sounds\\Sentry Sounds\\Target Found\\target_acquired.wav", IntPtr.Zero, SoundFlags.SND_FILENAME | SoundFlags.SND_ASYNC);
firingsoundplayed = true;
break;
case 3:
PlaySound(pwd + "\\Sounds\\Sentry Sounds\\Target Found\\there_you_are.wav", IntPtr.Zero, SoundFlags.SND_FILENAME | SoundFlags.SND_ASYNC);
firingsoundplayed = true;
break;
}
}
ceasefiringsoundplayed = false;
aimDot.BackColor = Color.Red;
//aimDot.Visible = true;
//calculate largest detected motion area
Rectangle largest = rectmotion[0];
for (int i = 1; i < rectmotion.Length; i++)
{
if (rectmotion[i].Width * rectmotion[i].Height > largest.Width * largest.Height)
{
largest = rectmotion[i];
}
}
//get center of largest motion area
int x = largest.X + largest.Width / 2 + cameraWindow1.Location.X;
int y = largest.Y + largest.Height / 2 + cameraWindow1.Location.Y;
//calculate difference from last center point and adjust target lead depending on speed
if (lastCenterPosition.IsEmpty)
{
lastCenterPosition = new Point(x, y);
lastLeadingPosition = new Point(lastCenterPosition.X, lastCenterPosition.Y);
}
else if (!lastCenterPosition.IsEmpty)
{
int xdiff = x - lastCenterPosition.X;
int ydiff = y - lastCenterPosition.Y;
lastLeadingPosition = new Point(x + multiplier*xdiff, y + ydiff);
lastCenterPosition = new Point(x, y);
Console.WriteLine(xdiff.ToString());
}
//set aimdot location
aimDot.Location = new Point(lastLeadingPosition.X - 2, lastLeadingPosition.Y - 2);
//create packet, set servo position, and fire
servos.SetPorportionalMathPosition(cameraWindow1.Bounds, lastLeadingPosition);
Packet packet = new Packet(servos.ServosPosition);
//Console.WriteLine("(" + servos.Position.X + "," + servos.Position.Y + ")");
//MessageBox.Show("(" + servos.Position.X + "," + servos.Position.Y + ")");
packet.setFireOff();
if (firingOn)
{
packet.setFireOn();
}
sendData(packet);
}
else if (rectmotion.Length == 0)
{
if (!ceasefiringsoundplayed && soundOn)
{
switch (soundTracker % 4)
{
case 0:
PlaySound(pwd + "\\Sounds\\Sentry Sounds\\Target lost\\searching.wav", IntPtr.Zero, SoundFlags.SND_FILENAME | SoundFlags.SND_ASYNC);
ceasefiringsoundplayed = true;
break;
case 1:
PlaySound(pwd + "\\Sounds\\Sentry Sounds\\Target lost\\is_anyone_there.wav", IntPtr.Zero, SoundFlags.SND_FILENAME | SoundFlags.SND_ASYNC);
ceasefiringsoundplayed = true;
break;
case 2:
PlaySound(pwd + "\\Sounds\\Sentry Sounds\\Target lost\\target_lost.wav", IntPtr.Zero, SoundFlags.SND_FILENAME | SoundFlags.SND_ASYNC);
ceasefiringsoundplayed = true;
break;
case 3:
PlaySound(pwd + "\\Sounds\\Sentry Sounds\\Target Lost\\are_you_still_there.wav", IntPtr.Zero, SoundFlags.SND_FILENAME | SoundFlags.SND_ASYNC);
ceasefiringsoundplayed = true;
break;
}
soundTracker++;
}
firingsoundplayed = false;
//when no motion, center aimDot and return servos to center position
aimDot.Location = new Point(cameraWindow1.Location.X + cameraWindow1.Width / 2 - 2, cameraWindow1.Location.Y + cameraWindow1.Height / 2 - 2);
aimDot.BackColor = Color.Yellow;
//aimDot.Visible = false;
lastCenterPosition = new Point();
lastLeadingPosition = new Point();
Packet packet = new Packet(servos.CenterServosPosition);
packet.setFireOff();
sendData(packet);
}
}
else
{
MessageBox.Show("No Active Camera w/ Active Motion Detector!");
TrackingTimer.Stop();
}
}
private void MotionDetectionOn()
{
if (cameraWindow1.Camera != null)
{
MotionDetectionButton.Text = "ON";
MotionDetectionButton.BackColor = Color.Green;
GunTrackButton.Enabled = true;
CameraFeedButton.Enabled = false;
CountingMotionDetector cmd = new CountingMotionDetector(true);
cmd.MinObjectsWidth = 20;
cmd.MinObjectsHeight = 20;
cmd.MaxObjectsWidth = cameraWindow1.Width - 75;
cmd.MaxObjectsHeight = cameraWindow1.Height;
SetMotionDetector(cmd);
}
else
{
MessageBox.Show("No Active Camera!");
}
}
