双轮云台小车实现追踪彩色目标功能

② 上位机例程

   下面提供一个可以实现双轮智能小车追踪蓝色小球的参考例程（MainWindow.xaml.cs），大家可参考演示视频完成该实验。

using System;
 
using System.Collections.Generic;
 
using System.Linq;
 
using System.Text;
 
using System.Threading.Tasks;
 
using System.Windows;
 
using System.Windows.Controls;
 
using System.Windows.Data;
 
using System.Windows.Documents;
 
using System.Windows.Input;
 
using System.Windows.Media;
 
using System.Windows.Media.Imaging;
 
using System.Windows.Navigation;
 
using System.Windows.Shapes;
 
using System.Windows.Forms;
 
using System.Runtime.InteropServices;
 
using System.Threading;
 
using System.Net;
 
using System.Net.Sockets;
 
 
namespace Project
 
{
 
    /// 
 
    /// 云台跟踪
 
    /// 
 
    public partial class MainWindow : Window
 
    {
 
        //导入 camshift.dll 动态链接库
 
        [DllImport("Camshift_DLL.dll", CharSet = CharSet.Ansi)]
 
        public static extern void Camshift([MarshalAs(UnmanagedType.LPStr)]string ip_address, //图片或视频地址
 
                                                                                ref int xpos, //检测框中心X坐标
 
                                                                                ref int ypos, //检测框中心Y坐标
 
                                                                                ref int td);   //检测区域对角线长度
 
 
        //定义窗口大小
 
        int cap_w = 320, cap_h = 240;
 
        //跟踪物体中心 x, y 坐标值
 
        int x = 0, y = 0, d = 0;
 
        //定义命令变量
 
        string CMD_FORWARD = "", CMD_TURN_LEFT = "", CMD_TURN_RIGHT = "", CMD_STOP = "", CMD_LOST = "";
 
        //结构体
 
        public struct Boundaries
 
        {
 
            public int x_left;
 
            public int x_right;
 
            public int y_up;
 
            public int y_down;
 
            public int d_min;
 
            public int d_max;
 
        }
 
        Boundaries boundaries = new Boundaries();
 
 
        public MainWindow()
 
        {
 
            InitializeComponent();
 
        }
 
 
        private void Window_Loaded(object sender, RoutedEventArgs e)
 
        {
 
            GetIni();
 
            SetPosition();
 
            CmdInit();
 
            StructInit();
 
        }
 
 
        //变量初始化
 
        private void CmdInit()
 
        {
 
            CMD_FORWARD = "F";
 
            CMD_TURN_LEFT = "L";
 
            CMD_TURN_RIGHT = "R";
 
            CMD_STOP = "S";
 
            CMD_LOST = "N";
 
        }
 
 
        //结构体初始化
 
        private void StructInit()
 
        {
 
            boundaries.x_left = 120;
 
            boundaries.x_right = 240;
 
            boundaries.y_up = 80;
 
            boundaries.y_down = 160;
 
            boundaries.d_min = 50;
 
            boundaries.d_max = 150;
 
        }
 
 
        //获取ini配置文件信息
 
        private void GetIni()
 
        {
 
            ini_RW.FileName = System.Windows.Forms.Application.StartupPath + "\\Config.ini";
 
            this.videoAddress.Text = ini_RW.ReadIni("VideoUrl", "videourl", "");
 
            this.ipAddress.Text = ini_RW.ReadIni("ControlUrl", "controlUrl", "");
 
            this.portBox.Text = ini_RW.ReadIni("ControlPort", "controlPort", "");
 
        }
 
 
        //修改配置
 
        private void setBtn_Click(object sender, RoutedEventArgs e)
 
        {
 
            ini_RW.WriteIni("VideoUrl", "videourl", this.videoAddress.Text);
 
            ini_RW.WriteIni("ControlUrl", "controlUrl", this.ipAddress.Text);
 
            ini_RW.WriteIni("ControlPort", "controlPort", this.portBox.Text);
 
 
            System.Windows.MessageBox.Show("配置成功！请重启程序以使配置生效。",
 
                                                "配置信息", MessageBoxButton.OK,
 
                                                MessageBoxImage.Information);
 
            //this.Close();
 
        }
 
 
        //命令发送函数
 
        void SendData(string data)
 
        {
 
            try
 
            {
 
                IPAddress ips = IPAddress.Parse(ipAddress.Text.ToString());//("192.168.8.1");
 
                IPEndPoint ipe = new IPEndPoint(ips, Convert.ToInt32(portBox.Text.ToString()));//把ip和端口转化为IPEndPoint实例
 
                Socket c = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);//创建一个Socket
 
 
                c.Connect(ipe);//连接到服务器
 
 
                byte[] bs = Encoding.ASCII.GetBytes(data);
 
                c.Send(bs, bs.Length, 0);//发送测试信息
 
                c.Close();
 
            }
 
            catch (Exception e)
 
            {
 
                System.Windows.Forms.MessageBox.Show(e.Message);
 
            }
 
        }
 
 
        //跟踪物体位置界限判断
 
        private void LineDetect(int _x, int _y, int _d)
 
        {
 
            try
 
            {
 
                //判断转动方向
 
                if (_x > 0 && _x <= boundaries.x_left)
 
                {
 
                    SendData(CMD_TURN_LEFT);
 
                }
 
                else if (x > boundaries.x_right && x < cap_w)
 
                {
 
                    SendData(CMD_TURN_RIGHT);
 
                }
 
                //判断是否前进
 
                else if (_d > boundaries.d_min && _d < boundaries.d_max)
 
                {
 
                    SendData(CMD_FORWARD);
 
                }
 
                else if ((_x > boundaries.x_left && _x < boundaries.x_right)&&
 
                        (_d >= 0 && _d <= boundaries.d_min ))
 
                {
 
                    SendData(CMD_LOST);
 
                }
 
                else
 
                {
 
                    SendData(CMD_STOP);
 
                }
 
            }
 
            catch { };
 
        }
 
 
        //物体位置初始化
 
        private void SetPosition()
 
        {
 
            var color = new SolidColorBrush((System.Windows.Media.Color)System.Windows.Media.ColorConverter.ConvertFromString("#FFACAAAA"));
 
            objEllipse.Height = 30;
 
            objEllipse.Width = 30;
 
            objEllipse.Fill = color;
 
 
            var left_distance = (cap_w - objEllipse.Width) / 2;
 
            var top_distance = (cap_h - objEllipse.Height) / 2;
 
 
            Canvas.SetLeft(objEllipse, left_distance);
 
            Canvas.SetTop(objEllipse, top_distance);
 
        }
 
 
        //跟踪物体位置更新函数
 
        private void PositionUpdate(int x, int y, int d)
 
        {
 
            LineDetect(x, y, d);
 
 
            Canvas.SetLeft(objEllipse, x);
 
            Canvas.SetTop(objEllipse, y);
 
 
            posLable.Content = x + " , " + y + " , " + d;
 
        }
 
 
        //线程函数
 
        private void ThreadCapShow()
 
        {
 
            try
 
            {
 
                while (true)
 
                {
 
                    this.Dispatcher.Invoke(
 
                        new Action(
 
                            delegate
 
                            {
 
                                string ip = this.videoAddress.Text;
 
                                Camshift(ip, ref x, ref y, ref d);
 
                                PositionUpdate(x - 15, y - 15, d);
 
                            }
 
                            ));
 
                }
 
 
            }
 
            catch { };
 
        }
 
 
        //打开跟踪窗口
 
        private void openBtn_Click(object sender, RoutedEventArgs e)
 
        {
 
            try
 
            {
 
                Thread m_thread = new Thread(ThreadCapShow);
 
                m_thread.IsBackground = true;
 
                m_thread.Start();
 
            }
 
            catch { };
 
        }
 
    }
 
}