/// <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);
// 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>
/// 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>
/// <param name="currentStorage"> instance of the DataStorage class to use
///</param>
public GetFrame(string ip, NaoCamImageFormat format, int colorSpace, int
FPS, Camera currentCamera, DataStorage currentStorage)
{
naoCam = currentCamera;
storage = currentStorage;
naoCam.connect(ip, format, colorSpace, FPS);
}
// 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);
}
private void initializeNaoComponents()
{
naoCam = new Camera();
currentFormat = naoCam.NaoCamImageFormats[2];
HDFormat = naoCam.NaoCamImageFormats[3];
naoMotion = new Motion();
naoFaceDetection = new FaceDetection(IP);
initialPosition = new System.Drawing.Point(this.Width / 2, this.Height / 2);
pen = new System.Drawing.Pen(System.Drawing.Brushes.Green);
faceP1 = new System.Drawing.Point(-1, -1);
faceP2 = new System.Drawing.Point(-1, -1);
try
{
naoMotion.connect(IP);
naoFaceDetection.initializeProxies();
newFrames = new GetFrame(IP, currentFormat, COLOR_SPACE, FPS, naoCam, storage);
frameThread = new Thread(new ThreadStart(newFrames.grabFrame));
frameThread.Start();
faceThread = new Thread(new ThreadStart(naoFaceDetection.startDetecting));
faceThread.Start();
isCamInitialized = true;
textBox1.Enabled = false;
}
catch (Exception ex)
{
isCamInitialized = false;
System.IO.File.WriteAllText(@"C:\\NAOcam\\exception.txt", ex.ToString());
}
timer1.Start();
}