/// <summary>
/// Constructs a new eyes object.
/// </summary>
/// <param name="visionPreview">A capture element that is placed on a canvas used for capturing what Robbie sees.</param>
/// <param name="previewCanvas">A canvas element used for rendering the image preview showing what Robbie sees.</param>
public Eyes(CaptureElement visionPreview, Canvas previewCanvas)
{
Camera.Instance.Initialize(visionPreview);
this.previewCanvas = previewCanvas;
faceTracking = new FaceTracking();
faceDetection = new FaceDetection();
computerVision = new ComputerVision();
identityInterpolation = new IdentityInterpolation();
visualization = new Vision();
panTilt = new PanTilt();
eyesDisplay = new EyesDisplay();
identityInterpolation.LargestFaceChanged += IdentityInterpolation_LargestFaceChanged;
// fire up the continuous tasks of processing video and controlling the servos
ThreadPoolTimer.CreatePeriodicTimer(ProcessCurrentVideoFrame_Delegate, TimeSpan.FromMilliseconds(125)); // 8 fps
ThreadPoolTimer.CreatePeriodicTimer(UpdatePanTiltPosition_Delegate, TimeSpan.FromMilliseconds(25)); // 40 fps
ThreadPoolTimer.CreatePeriodicTimer(Blink_Delegate, TimeSpan.FromMilliseconds(5000)); // 12 fpm
}
public PanTiltAdapter(PanTilt target)
{
_target = target;
}