public Sensor(string sensorID, GameObject sensorGameObject)
{
bodies = new Dictionary<string, SensorBody> ();
_active = true;
SensorID = sensorID;
lastBodiesMessage = null;
_sensorGameObject = sensorGameObject;
SensorGameObject.name = sensorID;
center1 = new Vector3 ();
center2 = new Vector3 ();
up1 = new Vector3 ();
up2 = new Vector3 ();
_floorValues = new List<Vector3> ();
_bestFitPlanePoints = new List<Vector3> ();
_material = _chooseMaterial ();
CommonUtils.changeGameObjectMaterial (_sensorGameObject, _material);
GameObject cloudobj = new GameObject ("PointCloud");
cloudobj.transform.parent = sensorGameObject.transform;
cloudobj.transform.localPosition = Vector3.zero;
cloudobj.transform.localRotation = Quaternion.identity;
cloudobj.transform.localScale = new Vector3 (-1, 1, 1);
cloudobj.AddComponent<PointCloudSimple> ();
lastCloud = cloudobj.GetComponent<PointCloudSimple> ();
}
public void newFrameFromSensor(string bodies)
{
try
{
BodiesMessage b = new BodiesMessage(bodies);
trackerGameObject.GetComponent<Tracker>().setNewFrame(b);
}
catch (BodiesMessageException e)
{
Debug.Log(e.Message);
}
}
void Update()
{
while (_stringsToParse.Count > 0)
{
try
{
byte[] toProcess = _stringsToParse.First();
if(toProcess != null)
{
// TMA: THe first char distinguishes between a BodyMessage and a CloudMessage
if (Convert.ToChar(toProcess[0]) == 'B') {
try
{
string stringToParse = Encoding.ASCII.GetString(toProcess);
string[] splitmsg = stringToParse.Split(MessageSeparators.L0);
BodiesMessage b = new BodiesMessage(splitmsg[1]);
gameObject.GetComponent<Tracker>().setNewFrame(b);
}
catch (BodiesMessageException e)
{
Debug.Log(e.Message);
}
}
else if(Convert.ToChar(toProcess[0]) == 'C')
{
string stringToParse = Encoding.ASCII.GetString(toProcess);
string[] splitmsg = stringToParse.Split(MessageSeparators.L0);
CloudMessage c = new CloudMessage(splitmsg[1], toProcess);
gameObject.GetComponent<Tracker>().setNewCloud(c);
}
}
_stringsToParse.RemoveAt(0);
}
catch (Exception exc) { _stringsToParse.RemoveAt(0); }
}
}
internal void setNewFrame(BodiesMessage bodies)
{
if (!Sensors.ContainsKey (bodies.KinectId)) {
Vector3 position = new Vector3 (Mathf.Ceil (Sensors.Count / 2.0f) * (Sensors.Count % 2 == 0 ? -1.0f : 1.0f), 1, 0);
Sensors [bodies.KinectId] = new Sensor (bodies.KinectId, (GameObject)Instantiate (Resources.Load ("Prefabs/KinectSensorPrefab"), position, Quaternion.identity));
}
Sensors [bodies.KinectId].lastBodiesMessage = bodies;
}
