/// <summary>Sets the downsampling of the image beng processed. A factor of 1 means there is no change in the resolution. A factor of 2 halves the resolution of the axis. This gives you a speed increase and reduces the amount of data sent. Commands like SendFrame and TrackColor will operate at this lower downsampled resolution.</summary>
public void SetDownSampling(byte xFactor, byte yFactor)
{
_c.SendCommand("DS", xFactor, yFactor);
_stateDownsampleX = xFactor;
_stateDownsampleY = yFactor;
VirtualWindow frame = GetVirtualWindow();
_stateFullFrameSize = new Size(frame.Width, frame.Height);
}
/// <summary>Sets the high-resolution mode of the camera. High resolution mode affects almost every coordinate system in the camera (such as tracking).</summary>
public void SetHighResolution(bool enabled)
{
_c.SendCommand("HR", enabled ? 1 : 0);
_stateHighResolution = enabled;
ResetViewWindow();
VirtualWindow frame = GetVirtualWindow();
_stateFullFrameSize = new Size(frame.Width, frame.Height);
}
private void ResetState()
{
// Protocol and Serial
_statePollMode = false;
_stateSerialDelay = 0;
_statePacketSkipRate = 0;
_statePacketFiltering = false;
_stateLineModeTrack = 0;
_stateLineModeMean = 0;
_stateLineModeDiff = 0;
_stateOutputMask.Clear();
_stateFrameStreaming = false;
// Configuration
_stateFrameBuffer = false;
_statePowerMode = PowerMode.On;
_stateSlaveCameraType = CameraType.OV6620;
_stateHighResolution = false;
_stateFrameDifferencingChannel = Channel.Green;
_stateFrameDifferencingHighRes = false;
_stateNoiseFilter = 2;
_statePixelDifference = false;
_stateTrackInverted = false;
_stateLed1 = LedMode.Auto;
_stateLed2 = LedMode.Auto;
_stateDownsampleX = 1;
_stateDownsampleY = 1;
_stateWindow = GetVirtualWindow();
_stateFullFrameSize = new Size(_stateWindow.Width, _stateWindow.Height);
_stateHistogramBins = HistogramBinCount.Bins28;
_stateHistogramScale = 0;
_stateHistogramTracking = false;
// Servo
_stateServoPanFar = 16;
_stateServoPanNear = 8;
_stateServoPanStep = 5;
_stateServoTiltFar = 16;
_stateServoTiltNear = 8;
_stateServoTiltStep = 5;
for (int i = 0; i < _stateServoHigh.Length; i++)
{
_stateServoHigh[i] = false;
}
ResetRegistersState();
ReloadState();
}
public VirtualWindow GetVirtualWindow()
{
String resp = _c.SendCommandGetResponse("GW");
String[] components = resp.Split(' ');
if (components.Length != 4)
{
throw new CmuCamException("Expected 4-tuple response");
}
Byte x = Byte.Parse(components[0], Cult.InvariantCulture);
Byte y = Byte.Parse(components[1], Cult.InvariantCulture);
Byte bx = Byte.Parse(components[2], Cult.InvariantCulture);
Byte by = Byte.Parse(components[3], Cult.InvariantCulture);
return(_stateWindow = new VirtualWindow(x, y, bx, by));
}
/// <summary>Resets the Virtual Window size to that of the full-frame at the current resolution setting.</summary>
public void ResetViewWindow()
{
_c.SendCommand("VW");
_stateWindow = GetVirtualWindow();
}
public void SetVirtualWindow(byte x, byte y, byte bx, byte by)
{
_c.SendCommand("VW", x, y, bx, by);
_stateWindow = new VirtualWindow(x, y, bx, by);
}
