public override void Loop()
{
var img = Eye.GetLatestData();
var faces = Brain.DetectFaces(img);
if (faces.Length > 0)
{
var firstFace = faces.First();
// map the location
var x = firstFace.FaceRectangle.Left + firstFace.FaceRectangle.Width / 2;
var y = firstFace.FaceRectangle.Top + firstFace.FaceRectangle.Height / 2;
var coordinateX = 80;
var coordinateZ = 60 + 120 * (1 - (y * 1.0) / img.Height);
var pose = Arm.ConvertToPose(new Tuple <double, double, double>(coordinateX, 0, coordinateZ));
var rotate = 45 + 90 * (1 - x * 1.0 / img.Width);
var rotateStep = Arm.AngleToMM(rotate);
pose.MotorThreeSteps = rotateStep;
// Command ARM
Arm.MoveTo(pose);
}
else
{
Console.WriteLine("Face is not detected!");
}
//Thread.Sleep(10);
}
