Hi,

I'm using the camera above the Six Hexapod. I want to create my own plugin in which I would like to process the returned matrix from the video Stream. I followed tutorials and successfuly managed to create my plugin in which I'm attaching the camera and displaying messages :

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

namespace Spidy
{
    public partial class MainForm : EZ_Builder.UCForms.FormPluginMaster
    {
        EZ_Builder.UCForms.FormCameraDevice _cameraControl;

        public MainForm()
        {
            InitializeComponent();
            detach();
        }

        private void FormMaster_FormClosing(object sender, FormClosingEventArgs e)
        {

            detach();
        }

        private void MainForm_Load(object sender, EventArgs e)
        {

        }

        /// 
        /// This method is called by ARC when it requests the configuration for your  plugin. 
        /// ARC will request the configuration when the control is created and when the project is saved.
        /// The data set in this configuration will be serialized and saved in the ARC user's project.
        /// Custom data may be stored in the STORAGE dictionary.
        /// 
        public override EZ_Builder.Config.Sub.PluginV1 GetConfiguration()
        {

            return base.GetConfiguration();
        }

        /// 
        /// This method is called by ARC when a project is loaded or when the control is added to a project.
        /// Set your default data in here!
        /// The configuration from the user's project file will be set using this method.
        /// *Note: The   plugin must call Base.SetConfiguration(cf) in your override. See the example!
        /// Also note that this is a good place to ensure all required configuration data exists.
        /// In the case of a newer version of your   plugin where different configuration data may be required outside of the users configuration file, set it here.
        /// 
        public override void SetConfiguration(EZ_Builder.Config.Sub.PluginV1 cf)
        {

            base.SetConfiguration(cf);
        }

        /// 
        /// This method is called by ARC when another control sends a command to this control using the  EZ-Script   ControlCommand() function.
        /// The available   ControlCommand() functions for this control should be returned in the GetSupportedControlCommandsMethodsForSlave() override.
        /// 
        public override void SendCommand(string windowCommand, params string[] values)
        {
            if (windowCommand.Equals("attach", StringComparison.InvariantCultureIgnoreCase))
                attach();
            else if (windowCommand.Equals("detach", StringComparison.InvariantCultureIgnoreCase))
                detach();
            else
                base.SendCommand(windowCommand, values);

            //base.SendCommand(windowCommand, values);
        }

        /// 
        /// This method is called by ARC for the   Cheat Sheet to receive all available   ControlCommand() syntax for this control.
        /// When the   ControlCommand() is called for this function, see the SendCommand() override.
        /// 
        public override object[] GetSupportedControlCommands()
        {

            List cmds = new List();

            cmds.Add("Attach");
            cmds.Add("Detach");

            return cmds.ToArray();

            //return base.GetSupportedControlCommands();

        }

        private void button1_Click(object sender, EventArgs e)
        {
            if (_cameraControl == null)
                attach();
            else
                detach();

            /* int sensor_value = EZ_Builder.EZBManager.GetADC(EZ_B.ADC.ADCPortEnum.ADC7);
             if (sensor_value < 100)
             {
                 EZ_Builder.EZBManager.EZBs[0].Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D0,10);
                 label1.Text = sensor_value.ToString();
             } else
             {

                 //label1.Text = "Not moving";
                 label1.Text = EZ_Builder.EZBManager.EZBs[0].Servo.GetServoPosition(EZ_B.Servo.ServoPortEnum.D0).ToString();
             }*/

        }

        void detach()
        {

            if (_cameraControl != null)
            {

                EZ_Builder.Invokers.SetAppendText(textBox1, true, "Detaching from {0}", _cameraControl.Text);
               _cameraControl.Camera.OnNewFrame -= Camera_OnNewFrame;

                _cameraControl = null;
            }

            EZ_Builder.Invokers.SetText(button1, "Attach");
        }

        void attach()
        {
            detach();

            Control[] cameras = EZ_Builder.EZBManager.FormMain.GetControlByType(typeof(EZ_Builder.UCForms.FormCameraDevice));

            if (cameras.Length == 0)
            {

                EZ_Builder.Invokers.SetAppendText(textBox1, true, "There are no camera controls in this project.");
                return;
            }

            _cameraControl = (EZ_Builder.UCForms.FormCameraDevice)cameras[0];

            _cameraControl.Camera.OnNewFrame += Camera_OnNewFrame;

            EZ_Builder.Invokers.SetAppendText(textBox1, true, "Attached to: {0}", _cameraControl.Text);

            EZ_Builder.Invokers.SetText(button1, "Detach");
        }

        void Camera_OnNewFrame()
        {

            if (_cameraControl == null)
                return;

            using (Graphics g = Graphics.FromImage(_cameraControl.Camera.GetOutputBitmap.ToManagedImage(false)))
            {

                if (EZ_Builder.Scripting.VariableManager.GetVariable("$CameraIsTracking") == "0")
                {

                    g.DrawString("No object detected", SystemFonts.CaptionFont, Brushes.Red, 0, 0);

                    return;
                }

                int objectX = Convert.ToInt32(EZ_Builder.Scripting.VariableManager.GetVariable("$CameraObjectX"));
                int objectY = Convert.ToInt32(EZ_Builder.Scripting.VariableManager.GetVariable("$CameraObjectY"));
                int objectCenterX = Convert.ToInt32(EZ_Builder.Scripting.VariableManager.GetVariable("$CameraObjectCenterX"));
                int objectCenterY = Convert.ToInt32(EZ_Builder.Scripting.VariableManager.GetVariable("$CameraObjectCenterY"));
                int objectWidth = Convert.ToInt32(EZ_Builder.Scripting.VariableManager.GetVariable("$CameraObjectWidth"));
                int objectHeight = Convert.ToInt32(EZ_Builder.Scripting.VariableManager.GetVariable("$CameraObjectHeight"));

                // Crosshair
                AForge.Imaging.Drawing.Line(_cameraControl.Camera.GetOutputBitmap, new AForge.IntPoint(objectCenterX - 8, objectCenterY), new AForge.IntPoint(objectCenterX + 8, objectCenterY), Color.FromArgb(200, 240, 100, 200));
                AForge.Imaging.Drawing.Line(_cameraControl.Camera.GetOutputBitmap, new AForge.IntPoint(objectCenterX, objectCenterY - 8), new AForge.IntPoint(objectCenterX, objectCenterY + 8), Color.FromArgb(200, 240, 100, 200));

                // filled rectangle with opacity
                AForge.Imaging.Drawing.FillRectangle(_cameraControl.Camera.GetOutputBitmap, new Rectangle(objectX, objectY, objectWidth, objectHeight), Color.FromArgb(100, 50, 50, 250));


                if (EZ_Builder.Scripting.VariableManager.GetVariable("$CameraTrackingType") == "\"Object\"")
                    g.DrawString(EZ_Builder.Scripting.VariableManager.GetVariable("$CameraObjectName"), SystemFonts.CaptionFont, Brushes.White, objectX, objectY + objectHeight + 5);
            }
        }
    }

}

My question is, how to get the initial video Stream like the rgb matrix and process it with librairies such as openCV ?

Thanks