void Start()
{
_canny1Bar.onValueChanged.AddListener(Canny1Changed);
_canny2Bar.onValueChanged.AddListener(Canny2Changed);
_threshold1Bar.onValueChanged.AddListener(Threshold1Changed);
_threshold2Bar.onValueChanged.AddListener(Threshold2Changed);
m_canShow = false;
core = CoreWrapper.GetInstance();
core.InitCore();
core.OpenVideoStream(0);
core.GetCameraFrame();
}
// Use this for initialization
void Start()
{
core = CoreWrapper.GetInstance();
cameraOk = core.OpenVideoStream(0);
if (!cameraOk)
{
showPopUp = true;
return;
}
this.frame = core.GetCameraFrame();
this.texture = new Texture2D(core.GetFrameWidth(), core.GetFrameHeight(), TextureFormat.BGRA32, false);
this.transform.localScale = new Vector3(core.GetFrameWidth(), core.GetFrameHeight(), 1);
// Camera.main.transform.position = this.transform.position;
// Camera.main.transform.Translate(Vector3.back);
Camera.main.orthographicSize = core.GetFrameHeight() / 2f + 2;
m_FinishedBuild = false;
}
private void initializeMaze()
{
Debug.Log("Initgo");
GameObject prefabObstacle = ((GameObject)Resources.Load("Prefabs/" + Const.OBSTACLE_PREFAB_NAME, typeof(GameObject)));
GameObject o = Instantiate(prefabObstacle, Vector3.zero, Quaternion.Euler(90.0f, 0.0f, 0.0f));
Vector3 mazeScale = this.GetMazeScale();
o.transform.localScale = mazeScale;
o.transform.parent = GameObject.Find(Const.MAZE_GAMEOBJECT_NAME).transform;
Renderer rend = o.GetComponent <Renderer>();
rend.material.SetTextureScale("_MainTex", new Vector2(mazeScale.x, mazeScale.y));
GameObject arrivalPrefab = ((GameObject)Resources.Load("Prefabs/" + Const.POINT_OF_ARRIVAL_PREFAB_NAME, typeof(GameObject)));
double[] end = CoreWrapper.GetInstance().GetEndCenter();
//GameObject arrivalObject = Instantiate(arrivalPrefab, MazeData.MAZE_POINT_OF_ARRIVAL, Quaternion.Euler(-90.0f, 0.0f, 0.0f));
float x_scale_arrivee = -Const.HAUTEUR_MAZE / 2f + Const.HAUTEUR_MAZE * (float)end[0];
float y_scale_arrivee = -Const.LARGEUR_MAZE / 2f + Const.LARGEUR_MAZE * (float)end[1];
GameObject arrivalObject = Instantiate(arrivalPrefab, new Vector3(x_scale_arrivee, 1.0f, y_scale_arrivee), Quaternion.Euler(-90.0f, 0.0f, 0.0f));
arrivalObject.transform.parent = GameObject.Find(Const.MAZE_GAMEOBJECT_NAME).transform;
arrivalObject.transform.localScale = new Vector3(0.25f, 0.25f, 0.25f);
ParticleSystem arrivalPs = arrivalObject.GetComponent <ParticleSystem>();
ParticleSystem.MainModule arrivalMain = arrivalPs.main;
arrivalPs.transform.localScale = new Vector3(0.25f, 0.25f, 0.25f);
ParticleSystemRenderer arrivalPsr = arrivalObject.GetComponent <ParticleSystemRenderer>();
arrivalPsr.renderMode = ParticleSystemRenderMode.Billboard;
Debug.Log(arrivalMain.simulationSpace);
arrivalMain.simulationSpace = ParticleSystemSimulationSpace.Local;
/* for (int i = 0; i < MazeData.ARRAY_DATAS_TEST.Length / 2; ++i)
* {
* MazeObstacle.Create(MazeData.ARRAY_DATAS_TEST[i, 0], MazeData.ARRAY_DATAS_TEST[i, 1]);
* }*/
List <double[, ]> walls = CoreWrapper.GetInstance().GetWall();
foreach (double[,] wall in walls)
{
// Debug.Log("(" + -10f / 2f + 10f * (float)wall[0, 0] + " , " + -10f / 2f + 10f * (float)wall[0, 1] + "); (" + -10f / 2f + 10f * (float)wall[1, 0] + " , " + -10f / 2f + 10f * (float)wall[1, 1] + ")");
float x_scale_wall_start = -Const.HAUTEUR_MAZE / 2f + Const.HAUTEUR_MAZE * (float)wall[0, 0];
float y_scale_wall_start = -Const.LARGEUR_MAZE / 2f + Const.LARGEUR_MAZE * (float)wall[0, 1];
float x_scale_wall_end = -Const.HAUTEUR_MAZE / 2f + Const.HAUTEUR_MAZE * (float)wall[1, 0];
float y_scale_wall_end = -Const.LARGEUR_MAZE / 2f + Const.LARGEUR_MAZE * (float)wall[1, 1];
Debug.Log("(" + x_scale_wall_start + " , " + y_scale_wall_start + "); (" + x_scale_wall_end + " , " + y_scale_wall_end + ")");
MazeObstacle.Create(new Vector3(x_scale_wall_start, 1f, y_scale_wall_start), new Vector3(x_scale_wall_end, 1f, y_scale_wall_end));
}
GameObject mazeObject = GameObject.Find(Const.MAZE_GAMEOBJECT_NAME);
mazeObject.transform.position = new Vector3(0.8f, 394.74f, -10.15f);
mazeObject.transform.localScale = new Vector3(1.4f, 1.0f, 1.0f);
}
// Update is called once per frame
void Update()
{
if (paused)
{
return;
}
if (!cameraOk)
{
return;
}
this.frame = core.GetCameraFrame();
this.texture.LoadRawTextureData(this.frame);
this.texture.Apply();
this.GetComponent <Renderer>().material.SetTexture("_MainTex", this.texture);
/*
*
* if(!m_calibrated && !m_config_exists)
* {
*
* accTime += Time.deltaTime;
* if( accTime >= 1)
* {
* accTime -= 1;
* Debug.Log("mdr");
* StartCoroutine(AsycnFindPattern());
* //core.AddPatternToCalibrator();
*
* if(core.CheckCalibrator())
* {
* m_calibrated = true;
* core.Calibrate();
* }
*
* }
* return;
*
* }
*
*/
//this.camera.Video();
if (!m_FinishedBuild)
{
core.Build();
if (core.CheckBuid())
{
m_FinishedBuild = true;
core.InitTransformDefault();
Debug.Log("Built");
double[] start = CoreWrapper.GetInstance().GetBeginCenter();
GameObject prefabBall = ((GameObject)Resources.Load("Prefabs/" + Const.BALL_PREFAB_NAME, typeof(GameObject)));
float x_unity = -Const.HAUTEUR_MAZE / 2 + Const.HAUTEUR_MAZE * (float)start[0];
float y_unity = (-Const.LARGEUR_MAZE / 2 + Const.LARGEUR_MAZE * (float)start[1]) - 10.15f;
Vector3 spawnPosition = new Vector3(x_unity, 400.0f, y_unity);
GameObject objetBall = Instantiate(prefabBall, spawnPosition, Quaternion.Euler(90.0f, 0.0f, 0.0f));
objetBall.GetComponent <Ball>().spawnPosition = spawnPosition;
GameObject o = ((GameObject)Resources.Load("Prefabs/" + Const.MAZE_PREFAB_NAME, typeof(GameObject)));
maze = Instantiate(o, new Vector3(0.0f, 0.0f, 0.0f), Quaternion.Euler(0.0f, 0.0f, 0.0f));
GameObject Init = ((GameObject)Resources.Load("Prefabs/" + Const.GAMEINITIALIZER_PREFAB_NAME, typeof(GameObject)));
GameObject o2 = Instantiate(Init, Vector3.zero, Quaternion.Euler(0.0f, 0.0f, 0.0f));
double[] rot = core.GetInitRot();
rotLab = new Vector3(-(float)(rot[0]) + rotOffsetX,
-(float)(rot[2]) + rotOffsetY,
-(float)(rot[1]) + rotOffsetZ);
inGameController.StartTimer();
}
}
else
{
core.Tracking();
core.UpdateTranform();
double[] rot = core.GetDeltaRot();
rotLab += new Vector3(-(float)rot[0], -(float)(rot[2]), -(float)(rot[1]));
// correction
/*
* float rotZ = rotLab[2];
* if(rotZ > 0)
* rotZ -= 35.50f;
* else
* rotZ += 35.5f;
*/
Quaternion previousRotation = maze.transform.rotation;
Quaternion nextRotation = Quaternion.Euler(rotLab);
maze.transform.rotation = Quaternion.Lerp(previousRotation, nextRotation, Time.deltaTime * 15.0f);
}
}