private void speedBar_Scroll(object sender, EventArgs e)
{
TrackBar speedBar = (TrackBar)sender;
if (speedBar.Name == "speedbarJoint")
{
speedJ_txt.Text = speedBar.Value.ToString() + " %";
}
else
{
speedXYX_txt.Text = speedBar.Value.ToString() + " %";
}
try
{
SpeedControl.SpeedChange(speedBar.Value, serialPort);
}
catch (Exception ex)
{
MessageBox.Show("Wystąpił błąd!\n" + ex.ToString(), "Error", MessageBoxButtons.OK);
}
}
private void Capture_ImageGrabbed(object sender, EventArgs e)
{
try
{
int sizeOfPicBox = Convert.ToInt32(picBoxCameraView.Height);
currentFrame = cameraCapture.QueryFrame().ToImage <Bgr, Byte>();
hsvFrame = currentFrame.Convert <Hsv, Byte>();
hsvFindColorFrame = ImageProcessing.ImageProcessing.FindColor(hsvFrame);
binaryFrame = ImageProcessing.ImageProcessing.ConvertImageToBinary(hsvFindColorFrame);
rectanglesFist = fistClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
rectanglesPalm = palmClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
rectanglesTomb = tombClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
rectanglesTwoFingers = twoFingersClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
rectanglesFinger = fingerClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
rectanglesTwoFingers = victoryClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
foreach (var rectangle in rectanglesPalm)
{
currentFrame.Draw(rectangle, new Bgr(50, 255, 50));
richTextBoxStatus.Text = string.Empty + "Run";
richTextBoxRecognitionData.Text = "x = " + rectangle.X + "y = " + rectangle.Y;
MovingRobotXYZ.MoveRobotXYZ(rectangle, richTextBoxRecognitionData, serialPort);
}
foreach (var rectangle in rectanglesFist)
{
currentFrame.Draw(rectangle, new Bgr(255, 0, 0));
richTextBoxStatus.Text = string.Empty + "Stop";
}
foreach (var rectangle in rectanglesTomb)
{
currentFrame.Draw(rectangle, new Bgr(128, 0, 128));
richTextBoxStatus.Text = string.Empty + "Chwytak ON";
SendingCommandsToRobot.SendCommand("HNDOFF1", serialPort);
}
foreach (var rectangle in rectanglesTwoFingers)
{
currentFrame.Draw(rectangle, new Bgr(75, 0, 130));
richTextBoxStatus.Text = string.Empty + "Chwytak OFF";
SendingCommandsToRobot.SendCommand("HNDON1", serialPort);
}
foreach (var rectangle in rectanglesVictory)
{
currentFrame.Draw(rectangle, new Bgr(0, 0, 128));
int actualSpeed = Convert.ToInt32(speedTxtBox.Text);
int newSpeed;
if (actualSpeed == 100)
{
newSpeed = 100;
}
else
{
newSpeed = actualSpeed + 10;
}
SpeedControl.SpeedChange(newSpeed, serialPort, speedTxtBox);
}
foreach (var rectangle in rectanglesFinger)
{
currentFrame.Draw(rectangle, new Bgr(135, 200, 255));
int actualSpeed = Convert.ToInt32(speedTxtBox.Text);
int newSpeed;
if (actualSpeed == 0)
{
newSpeed = 0;
}
else
{
newSpeed = actualSpeed - 10;
}
SpeedControl.SpeedChange(newSpeed, serialPort, speedTxtBox);
}
Bitmap bitmap = currentFrame.ToBitmap();
bitmap.RotateFlip(RotateFlipType.RotateNoneFlipX);
picBoxCameraView.Image = bitmap;
}
catch (Exception)
{
}
}
