public AxisCalibrationReadings this[PanTiltAxis axis]
{
get
{
switch (axis)
{
case PanTiltAxis.Horizontal: return(Horizontal);
case PanTiltAxis.Vertical: return(Vertical);
default: throw new NotSupportedException();
}
}
}
public LinearRegressor this[PanTiltAxis axis]
{
get
{
switch (axis)
{
case PanTiltAxis.Horizontal: return(PanAxis);
case PanTiltAxis.Vertical: return(TiltAxis);
default: throw new NotSupportedException();
}
}
}
private void CalibrateHalfAxis(int signMovement, PanTiltAxis axis)
{
decimal accumulatedDeviation = 0;
bool foundColour;
do
{
_screen.BeginRepaint();
ResetToCenter();
WaitServo("Relocated to center position. About to capture first detection");
var firstDetection = LocateColour();
DoStep("Center detection @ {0} is {1}", CurrentSetting, firstDetection.CentralPoint);
accumulatedDeviation += signMovement * saccadePercentIncrement;
var movementRequired = new PanTiltSetting();
if (axis == PanTiltAxis.Horizontal)
{
movementRequired.PanPercent = accumulatedDeviation;
}
else
{
movementRequired.TiltPercent = accumulatedDeviation;
}
_screen.WriteLine("Sign={0}", signMovement);
_screen.WriteLine("Axis={0}", axis);
_screen.WriteLine("Saccade={0}", accumulatedDeviation);
MoveRelative(movementRequired);
WaitServo("Settle time after moving to new detection location {0}. About to capture new detection.", movementRequired);
var newDetection = LocateColour();
DoStep("New detection @ {0} is {1}", CurrentSetting, newDetection.CentralPoint);
foundColour = newDetection.IsDetected;
if (foundColour)
{
Func <PointF, float> getAxisValue;
if (axis == PanTiltAxis.Horizontal)
{
getAxisValue = p => p.X;
}
else
{
getAxisValue = p => p.Y;
}
var pixelDeviation = Convert.ToInt32(getAxisValue(newDetection.CentralPoint) - getAxisValue(firstDetection.CentralPoint));
var axisReadings = _currentResolutionReadings[axis];
if (axisReadings.ContainsKey(pixelDeviation))
{
axisReadings[pixelDeviation].AllReadings.Add(accumulatedDeviation);
}
else
{
axisReadings.Add(pixelDeviation, new ReadingSet(accumulatedDeviation));
}
_screen.WriteLine("Deviation={0}", pixelDeviation);
}
_screen.WriteLine("First={0}", firstDetection.CentralPoint);
_screen.WriteLine("New={0}", newDetection.CentralPoint);
}while (foundColour && Math.Abs(accumulatedDeviation) < 60);
}
public string ToCsv(PanTiltAxis axis)
{
var yValue = axis == PanTiltAxis.Horizontal ? Setting.PanPercent : Setting.TiltPercent;
return $"{TimeSpan.TotalMilliseconds},{yValue}";
}
public string ToCsv(PanTiltAxis axis)
{
var yValue = axis == PanTiltAxis.Horizontal ? Setting.PanPercent : Setting.TiltPercent;
return($"{TimeSpan.TotalMilliseconds},{yValue}");
}
