private async Task Controller_OnCameraFrameProcessingResult(CameraFrameProcessingResult arg)
{
// TODO: if the spot detector is confident there's a laser and has been for X seconds then:
// - move head if the spot is high, lower head if it's low
// - use angle of head to determine whether spot is far or near by height
// - if spot is left, turn left a little (and vice versa for right)
// TODO: if the spot seemed to be near, and then it disappeared, we might have caught it
// TODO: if the spot is nearby and not moving, initiate a pounce?
// TODO: if the spot detector hasn't seen the spot for a while, abandon the chase
}
private async Task Controller_OnCameraFrameProcessingResult(CameraFrameProcessingResult result)
{
if (RecoveredSinceTrigger() && result != null && result.Boxes.Count() > 0)
{
// This is the minimum confidence for Vector to talk about.
var thresholdConfidence = 0.5f;
var sortedBoxes = result.Boxes
.Where(b => b.Confidence > thresholdConfidence && !string.IsNullOrWhiteSpace(b.Label))
.OrderByDescending(b => b.Dimensions.Width * b.Dimensions.Height * b.Confidence);
if (sortedBoxes.Count() > 0)
{
RecordTrigger();
var label = sortedBoxes.First().Label;
var confidence = sortedBoxes.First().Confidence;
var msg = "I'm not sure, but I thought I saw ";
switch (confidence)
{
case float n when n >= 0.6f && n < 0.7f:
msg = "I think I see ";
break;
case float n when n >= 0.7f && n < 0.8f:
msg = "I see ";
break;
case float n when n >= 0.8f:
msg = "I'm confident I see ";
break;
}
var description = YoloNamer.ParseLabel(label);
var speech = msg + (description ?? label);
controller.EnqueueAction(new SimpleSpeechAction(this, speech));
}
}
}
