RobotCamera.cpp

#include "RobotCamera.h"
#include "vxWorks.h" 
#include "Vision/AxisCamera.h"
#include "Timer.h"
#include <cstdlib>

RoboCam::RoboCam()
	: cam(NULL)
{
	//Stuff
	
	
}

void RoboCam::Initialize()
{
	/*
	//wait_timer = new Timer();
	//wait_timer->Start();
	//Initializing camera operations
	cam = &AxisCamera::GetInstance();
	//printf("Setting camera parameters\n");
	//sets the camera image compression
	cam->WriteCompression(0); // valid values 0 – 100
	//Sets the camera resolution
	//original resolution k320X240
	//cam->WriteResolution(AxisCamera::kResolution_160x120);
	//cam->WriteResolution(AxisCamera::kResolution_640x480);
	cam->WriteResolution(AxisCamera::kResolution_320x240);
	cam->WriteBrightness(0);*/
	
}
void RoboCam::Track()
{
	//Camera Tracking
	// RefreshCamera();
}

void RoboCam::SetTrackPeriod(double p)
{
	/*
	if (p < 0.01 || p >= 1)
		return;
	per = p;
	*/
}
void RoboCam::Process()
{
	/*
	if (wait_timer->HasPeriodPassed(per))
	{
		//Makes the cameraclass do stuff
		Track();
		wait_timer->Reset();
	}
	*/
	
}
std::vector<Target> RoboCam::GetTargets()
{
	return Target::FindCircularTargets(cam->GetImage());
}

void RoboCam::RefreshCamera()
{
	if (cam->IsFreshImage())
	{
		ColorImage *image = cam->GetImage();
		if (image == NULL) 
		{
			// don't do anything
			// Something wrong with the camera
		} 
		else 
		{
			targets = Target::FindCircularTargets(image);
			//Be sure to clean up your mess after you are done...
			delete image;
		}
	}
}
float RoboCam::GetDistance()
{
	//Gets the distance of the target from the camera
	return 0;
}
float RoboCam::GetLocation()
{
	//Gets the location of the target in the image
	/* if (targets.size() != 0)
	{
		return targets[0].GetHorizontalAngle();
	} else {
		return 0;
	}*/
	
	
	return 0.0;
}