Image Tracking and Computer Vision Using Fourier Image Correlation

///////////////////////////////////////////////////////////////////////////////
//
//  CamCorderUI.cs
//
//  By Philip R. Braica (HoshiKata@aol.com, VeryMadSci@gmail.com)
//
//  Distributed under the The Code Project Open License (CPOL)
//  http://www.codeproject.com/info/cpol10.aspx
///////////////////////////////////////////////////////////////////////////////

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using OpenCvSharp;

namespace OpenCVDemo
{
    /// <summary>
    /// Simple cam corder for testing.
    /// </summary>
    public partial class CamCorderUI : UserControl
    {
        #region Protected objects.
        /// <summary>
        /// Capture device.
        /// </summary>
        protected CvCapture m_capture = null;

        /// <summary>
        /// Locking object.
        /// </summary>
        protected object m_lockObj = new object();

        /// <summary>
        /// Video writer.
        /// </summary>
        protected CvVideoWriter m_vidWriter = null;

        /// <summary>
        /// Back buffer.
        /// </summary>
        protected Bitmap m_backBuffer = null;

        /// <summary>
        /// Front buffer.
        /// </summary>
        protected Bitmap m_frontBuffer = null;
        #endregion

        #region Public Properies: Connected, Recording, FlipVertical, FlipHorizontal
        /// <summary>
        /// Camera is connected.
        /// </summary>
        public bool Connected { get; protected set; }

        /// <summary>
        /// Recording.
        /// </summary>
        public bool Recording 
        { 
            get { return button3.Text == "Stop"; } 
            set { button3.Text = value ? "Stop" : "Record"; }
        }

        /// <summary>
        /// Flip vertical.
        /// </summary>
        public bool FlipVertical 
        { 
            get { return checkBox1.Checked; } 
            set { checkBox1.Checked = value; } 
        }

        /// <summary>
        /// Flip vertical.
        /// </summary>
        public bool FlipHorizontal 
        { 
            get { return checkBox2.Checked; }
            set { checkBox2.Checked = value; } 
        }

        #endregion

        /// <summary>
        /// Constructor.
        /// </summary>
        public CamCorderUI()
        {
            InitializeComponent();
        }

        /// <summary>
        /// Connect
        /// </summary>
        /// <returns></returns>
        public bool Connect()
        {
            return Connect(0);
        }

        /// <summary>
        /// Connect to a specific device.
        /// </summary>
        /// <param name="device"></param>
        /// <returns></returns>
        public bool Connect(int device)
        {
            if (m_capture != null)
            {
                m_capture.Dispose();
                m_capture = null;
            }

            try
            {
                m_capture = CvCapture.FromCamera(device);
                m_capture.FrameWidth = (int)numericUpDown1.Value;
                m_capture.FrameHeight = (int)numericUpDown2.Value;
            }
            catch (Exception)
            {
                return false;
            }

            timer1.Enabled = true;
            Connected = true;
            return true;
        }

        /// <summary>
        /// Disconnect.
        /// </summary>
        /// <returns></returns>
        public bool Disconnect()
        {
            CvCapture tmp = m_capture;

            m_capture = null;
            if (tmp != null)
            {
                if (m_vidWriter != null)
                {
                    lock (m_vidWriter)
                    {
                        CvVideoWriter cvwriter = m_vidWriter;
                        m_vidWriter = null;
                        cvwriter.Dispose();
                    }
                }
                tmp.Dispose();
            }
            Connected = false;
            return false;
        }

        /// <summary>
        /// Connect button.
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button1_Click(object sender, EventArgs e)
        {
            if (button1.Text == "Connect")
            {
                timer1.Enabled = false;
                numericUpDown1.Enabled = false;
                numericUpDown2.Enabled = false;
                Connect();
                button1.Text = "Disconnect";
                timer1.Enabled = true;
            }
            else
            {
                timer1.Enabled = false;
                numericUpDown1.Enabled = true;
                numericUpDown2.Enabled = true;
                Disconnect();
                button1.Text = "Connect";
            }
        }

        /// <summary>
        /// Record button.
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button3_Click(object sender, EventArgs e)
        {
            if (button3.Text == "Record")
            {
                SaveFileDialog sfd = new SaveFileDialog();
                DialogResult dr = sfd.ShowDialog();
                if ((dr == DialogResult.OK) || (dr == DialogResult.Yes))
                {
                    m_vidWriter = new CvVideoWriter(
                        sfd.FileName,
                         FourCC.DIVX, 
                        10, 
                        new CvSize((int)numericUpDown1.Value, (int)numericUpDown2.Value));
                    button3.Text = "Stop";
                }

            }
            else
            {
                button3.Text = "Record";
            }
        }

        /// <summary>
        /// Timer went off.
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void timer1_Tick(object sender, EventArgs e)
        {
            if (!Connected)
            {
                return;
            }

            // Grab capture thread safe.
            CvCapture cap = m_capture;
            if (cap == null)
            {
                return;
            }

            // Grab our potential destinations.

            // Grab the frame.
            cap.GrabFrame();
            IplImage img = cap.RetrieveFrame();
            if (img == null)
            {
                Connected = false;
                m_capture.Dispose();
                m_capture = null;
            }

            if (FlipVertical)
            {
                img.Flip(img, FlipMode.X);
            }
            if (FlipHorizontal)
            {
                img.Flip(img, FlipMode.Y);
            }

            // Push to back buffer.
            // Swap
            lock (m_lockObj)
            {
                if (m_backBuffer == null)
                {
                    m_backBuffer = new System.Drawing.Bitmap(320, 240, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
                }
                using (System.Drawing.Bitmap tmp = img.ToBitmap())
                {
                    using (System.Drawing.Graphics g = System.Drawing.Graphics.FromImage(m_backBuffer))
                    {
                        g.DrawImage(tmp, 0, 0, m_backBuffer.Width, m_backBuffer.Height);
                    }
                }

                CvVideoWriter writer = m_vidWriter;
                // If recording push to file.
                if (Recording && (writer != null))
                {
                    writer.WriteFrame(img);
                }

                System.Drawing.Bitmap swap = m_backBuffer;
                m_backBuffer = m_frontBuffer;
                m_frontBuffer = swap;
                pictureBox1.Image = m_frontBuffer;
            }

            img.Dispose();
        }

        /// <summary>
        /// Camcorder delay.
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void numericUpDown3_ValueChanged(object sender, EventArgs e)
        {
            timer1.Interval = (int)numericUpDown3.Value;
        }
    }
}