void PixyCameraSensor_PixyCameraBlocksChanged(object sender, TargetingCameraEventArgs args)
{
//Debug.WriteLine("Pixy Camera Event: " + args);
// On Arduino:
// pixy.blocks[i].signature The signature number of the detected object (1-7)
// pixy.blocks[i].x The x location of the center of the detected object (0 to 319)
// pixy.blocks[i].y The y location of the center of the detected object (0 to 199)
// pixy.blocks[i].width The width of the detected object (1 to 320)
// pixy.blocks[i].height The height of the detected object (1 to 200)
// Field of view:
// goal 45 degrees left x=10
// middle x=160
// goal 45 degrees right x=310
//
// goal 30 degrees up y=10
// middle y=90
// goal 30 degrees down y=190
//
if (args.width * args.height > 500) // only large objects count
{
int bearing = GeneralMath.map(args.x, 0, 320, -45, 45);
int inclination = GeneralMath.map(args.y, 0, 200, 30, -30);
//Debug.WriteLine("Pixy: bearing=" + bearing + " inclination: " + inclination);
lock (currentSensorsDataLock)
{
SensorsData sensorsData = new SensorsData(this.currentSensorsData);
sensorsData.TargetingCameraBearingDegrees = bearing;
sensorsData.TargetingCameraInclinationDegrees = inclination;
sensorsData.TargetingCameraTimestamp = args.timestamp;
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
}
private void RPiCameraSensor_TargetsChanged(object sender, TargetingCameraEventArgs args)
{
// Raspberry Pi based camera sensor works under Wheezy and uses OpenCV and Python to process
// 240x320 frames and select areas with yellow color. Bearing, inclination and size of blobs is then
// reported over HTTP to RPiCamera (derived from HttpServerBase). Frequency is around 10 FPS.
//Debug.WriteLine("RPi Camera Event: " + args);
// On Raspberry Pi:
// pixy.blocks[i].signature The signature number of the detected object (1-7)
// pixy.blocks[i].x The x location of the center of the detected object (0 to 319)
// pixy.blocks[i].y The y location of the center of the detected object (0 to 199)
// pixy.blocks[i].width The width of the detected object (1 to 320)
// pixy.blocks[i].height The height of the detected object (1 to 200)
// Field of view:
// goal 45 degrees left x=10
// middle x=160
// goal 45 degrees right x=310
//
// goal 30 degrees up y=10
// middle y=90
// goal 30 degrees down y=190
//
if (args.width * args.height > 500) // only large objects count
{
int bearing = GeneralMath.map(args.x, 0, 320, 45, -45);
int inclination = GeneralMath.map(args.y, 0, 200, 30, -30);
//Debug.WriteLine("RPi: bearing=" + bearing + " inclination: " + inclination);
lock (currentSensorsDataLock)
{
SensorsData sensorsData = new SensorsData(this.currentSensorsData);
sensorsData.TargetingCameraBearingDegrees = bearing;
sensorsData.TargetingCameraInclinationDegrees = inclination;
sensorsData.TargetingCameraTimestamp = args.timestamp;
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
}
