void ActivateCamera(CameraIndex cameraIndex)
{
switch (cameraIndex)
{
case CameraIndex.Right:
m_frontCam.GetComponent <Camera>().enabled = false;
m_rightCam.GetComponent <Camera>().enabled = true;
m_backCam.GetComponent <Camera>().enabled = false;
m_leftCam.GetComponent <Camera>().enabled = false;
break;
case CameraIndex.Back:
m_frontCam.GetComponent <Camera>().enabled = false;
m_rightCam.GetComponent <Camera>().enabled = false;
m_backCam.GetComponent <Camera>().enabled = true;
m_leftCam.GetComponent <Camera>().enabled = false;
break;
case CameraIndex.Left:
m_frontCam.GetComponent <Camera>().enabled = false;
m_rightCam.GetComponent <Camera>().enabled = false;
m_backCam.GetComponent <Camera>().enabled = false;
m_leftCam.GetComponent <Camera>().enabled = true;
break;
}
}
public Laptop(Level owner)
{
Level = owner;
RebootProgress = 1.0f;
cameraOffsets = new Dictionary <CameraIndex, CameraOffsetState>();
for (CameraIndex ci = CameraIndex.Cam1; ci < (CameraIndex)8; ci++)
{
// IsEnabled is meaningless here. Instead I will use _updateRoomInputs to handle all at once.
CameraIndex clone = ci; // Otherwise ci is passed by reference into lambda
roomInputs.Add(ci, new InputRegion(MAP_OFFSET + MAP_CAMERA_OFFSETS[ci], ROOM_INPUT_SIZE, true, (i) => {
if (ActiveCamera == clone || Level.LaptopBattery <= 0.0f || IsRebooting)
{
return;
}
ActiveCamera = clone;
_staticScreensLeft = UIScreen.STATIC_SCREEN_LENGTH;
_currentStaticScreen = Level.Rand.Next(0, UIScreen.STATIC_SCREEN_COUNT);
_isStaticIntermittent = false;
_timeUntilRoomIconSwitches = ROOM_ICON_TIME;
_roomIconBright = true;
soundCameraChange.Stop();
soundCameraChange.Play();
}));
cameraOffsets.Add(clone, new CameraOffsetState(Level.Rand));
}
}
public override void DrawOnCamera(SpriteBatch sb, Vector2 offset, CameraIndex cam)
{
if (cam == CameraIndex.Cam3 && Pos == Position.Perch)
{
string sprite = IsActive ? "Glaring" : "Sleeping";
perchSprites[sprite].Draw(sb, PERCH_OFFSET + offset);
}
if (_ventAnimPlaying)
{
if ((Pos == Position.VentMidW && cam == CameraIndex.Cam4) ||
(Pos == Position.VentMidE && cam == CameraIndex.Cam5))
{
Vector2 v = VENT_OFFSETS[_ventCurrentFrame];
if (_ventCurrentFrame < 4)
{
if (Pos == Position.VentMidW)
{
v -= VENT_EARLY_EXTRA_OFFSET * (4 - _ventCurrentFrame);
}
else if (Pos == Position.VentMidE)
{
v += VENT_EARLY_EXTRA_OFFSET * (4 - _ventCurrentFrame);
}
}
ventSprites[_ventCurrentFrame].Draw(sb, v);
}
}
}
public static CameraIndex getInstance()
{
if (_me == null)
{
_me = new CameraIndex(0);
}
return(_me);
}
public static void TakeSnapshot(CameraIndex eCam)
{
foreach (Camera cam in m_lstCameras.Where(x => eCam == CameraIndex.All ? true : x.ID == eCam))
{
cam.TakeSnapshot();
cam.AccionTerminada.WaitOne();
}
}
public static void StartGrab(CameraIndex eCam, string strPath)
{
foreach (Camera cam in m_lstCameras.Where(x => eCam == CameraIndex.All ? true : x.ID == eCam))
{
cam.StartGrab(strPath);
cam.AccionTerminada.WaitOne();
}
}
public static void SetVideo(CameraIndex eCam)
{
foreach (Camera cam in m_lstCameras.Where(x => eCam == CameraIndex.All ? true : x.ID == eCam))
{
cam.SetVideo();
cam.AccionTerminada.WaitOne();
}
}
public AlliedVisionCamera(CameraIndex DeviceID) : base(DeviceID)
{
VimbaHelper vimbaHelper = new VimbaHelper();
vimbaHelper.Startup(null);
m_vimbaHelper = vimbaHelper;
var id = DeviceID == CameraIndex.Cam1 ? Properties.Settings.Default.AlliedID1 : Properties.Settings.Default.AlliedID2;
m_cameraInfo = m_vimbaHelper.CameraList.First(x => x.ID == id);
m_vimbaHelper.OpenCamera(m_cameraInfo.ID);
Ready = true;
}
public override void DrawOnCamera(SpriteBatch sb, Vector2 offset, CameraIndex cam)
{
CameraIndex?visible = GetCameraVisible();
if (visible == null)
{
return; // in case of office entry
}
if (visible.Value == cam)
{
roomSprites[Pos.ToString()].Draw(sb, offset + ROOM_OFFSETS[Pos]);
}
}
public override void DrawOnCamera(SpriteBatch sb, Vector2 offset, CameraIndex cam)
{
if (cam == CameraIndex.Cam2 && !IsExposing)
{
if (IsActive)
{
roomSprites["Active"].Draw(sb, ACTIVE_OFFSET + offset);
}
else
{
roomSprites["Waiting"].Draw(sb, WAITING_OFFSET + offset);
}
}
}
public void DrawOnCamera(SpriteBatch sb, Vector2 offset, CameraIndex cam)
{
Owl.DrawOnCamera(sb, offset, cam);
if (cam != CameraIndex.Cam6)
{
Eyesaur.DrawOnCamera(sb, offset, cam);
}
Clown.DrawOnCamera(sb, offset, cam);
Flumpty.DrawOnCamera(sb, offset, cam);
BBB.DrawOnCamera(sb, offset, cam);
if (cam == CameraIndex.Cam6)
{
Eyesaur.DrawOnCamera(sb, offset, cam);
}
}
void Start()
{
obiekt = GameObject.Find("Obiekt");
myObiektPosition = ObiektPosition.getInstance(obiekt.transform.position);
GameObject.Find("Obiekt").transform.position = myObiektPosition.pos;
currentMax = Camera.allCamerasCount;
cameras = new Camera[currentMax];
Camera.GetAllCameras(cameras);
myCameraIndex = CameraIndex.getInstance();
currentIndex = myCameraIndex.index;
for (int i = 0; i < currentMax; i++)
{
cameras[i].gameObject.SetActive(false);
}
cameras[myCameraIndex.index].gameObject.SetActive(true);
}
public static Camera CameraFactory(CameraIndex DeviceID)
{
var cameraType = DeviceID == CameraIndex.Cam1 ? Properties.Settings.Default.Camera1 : Properties.Settings.Default.Camera2;
Enum.TryParse(cameraType, out CameraType type);
switch (type)
{
case CameraType.AlliedVision:
return(new AlliedVision.AlliedVisionCamera(DeviceID));
case CameraType.IDS:
return(new IDS.IDSCamera(DeviceID));
default:
return(null);
}
}
public override void DrawOnCamera(SpriteBatch sb, Vector2 offset, CameraIndex cam)
{
CameraIndex?visible = GetCameraVisible();
if (visible == null)
{
return; // in case of office entry
}
if (visible.Value == cam)
{
roomSprites[Pos.ToString()].Draw(sb, offset + ROOM_OFFSETS[Pos]);
}
if (cam == CameraIndex.Cam1 && Pos != Position.Cam1_Waiting && Pos != Position.Cam1_Emerging)
{
roomSprites["Cam1_Missing"].Draw(sb, offset + ROOM_OFFSETS[Position.Cam1_Waiting]);
}
}
public IDSCamera(CameraIndex DevideID) : base(DevideID)
{
Ready = false;
//Si no he obtenido la lista de camaras, la obtengo
if (m_cameraList == null || m_cameraList.Length == 0)
{
uEye.Info.Camera.GetCameraList(out m_cameraList);
}
if (m_cameraList.Length == 0)
{
MessageBox.Show("No se han encontrado camaras...");
}
m_Camera = new uEye.Camera();
m_DeviceID = (int)m_cameraList.Where(x => x.CameraID == (int)DevideID).FirstOrDefault().DeviceID;
EnqueueAction(Acciones.Init);
m_threadCiclo = new Thread(Cycle);
m_threadCiclo.IsBackground = true;
m_threadCiclo.Name = $"Camera {DevideID} thread";
m_threadCiclo.Start();
}
public virtual void DrawOnCamera(SpriteBatch sb, Vector2 offset, CameraIndex cam)
{
}
public Vector2 GetClickPos(CameraIndex cam)
{
return(Laptop.MAP_OFFSET + Laptop.MAP_CAMERA_OFFSETS[cam] + CAMERA_BUTTON_TARGET);
}
public Matrix<double> GetCalibrationMatrix(CameraIndex idx)
{
return idx == CameraIndex.Left ? CalibrationLeft : CalibrationRight;
}
public Camera(CameraIndex DevideID)
{
ID = DevideID;
AccionTerminada = new AutoResetEvent(false);
}
void UpdateCameraMatrix(Matrix<double> camera, CameraIndex index)
{
var RQ = camera.SubMatrix(0, 3, 0, 3).QR();
var calib = RQ.R;
if(Math.Abs(calib[2, 2] - 1) > 1e-6)
{
double scale = calib[2, 2];
camera.MultiplyThis(scale);
// NotifyPropertyChanged("CameraLeft");
RQ = camera.SubMatrix(0, 3, 0, 3).QR();
}
calib = RQ.R;
var rot = RQ.Q;
// If fx < 0 then set fx = -fx and [r11,r12,r13] = -[r11,r12,r13]
// As first row of rotation matrix is multiplied only with fx, then changing sign of both
// fx and this row won't change matrix M = K*R, and so camera matrix (same with fy, but we need to change skew also)
if(calib[0, 0] < 0)
{
calib[0, 0] = -calib[0, 0];
rot[0, 0] = -rot[0, 0];
rot[0, 1] = -rot[0, 1];
rot[0, 2] = -rot[0, 2];
}
if(calib[1, 1] < 0)
{
calib[1, 1] = -calib[1, 1];
calib[0, 1] = -calib[0, 1];
rot[1, 0] = -rot[1, 0];
rot[1, 1] = -rot[1, 1];
rot[1, 2] = -rot[1, 2];
}
var trans = -camera.SubMatrix(0, 3, 0, 3).Inverse().Multiply(camera.Column(3));
SetCalibrationMatrix(index, calib);
SetRotationMatrix(index, rot);
SetTranslationVector(index, trans);
ComputeEssentialFundamental();
}
public Matrix<double> GetCameraMatrix(CameraIndex idx)
{
return idx == CameraIndex.Left ? CameraLeft : CameraRight;
}
public void SetRotationMatrix(CameraIndex idx, Matrix<double> matrix)
{
if(idx == CameraIndex.Left)
RotationLeft = matrix;
else
RotationRight = matrix;
}
public static Camera GetCamera(CameraIndex eCam)
{
return(m_lstCameras.Where(x => x.ID == eCam).FirstOrDefault());
}
public void SetCameraMatrix(CameraIndex idx, Matrix<double> matrix)
{
if(idx == CameraIndex.Left)
CameraLeft = matrix;
else
CameraRight = matrix;
}
public void SetDistortionModel(CameraIndex idx, RadialDistortionModel model)
{
if(idx == CameraIndex.Left)
DistortionModelLeft = model;
else
DistortionModelRight = model;
}
public void SetCalibrationMatrix(CameraIndex idx, Matrix<double> matrix)
{
if(idx == CameraIndex.Left)
CalibrationLeft = matrix;
else
CalibrationRight = matrix;
}
public Vector<double> GetTranslationVector(CameraIndex idx)
{
return idx == CameraIndex.Left ? TranslationLeft : TranslationRight;
}
public Matrix<double> GetRotationMatrix(CameraIndex idx)
{
return idx == CameraIndex.Left ? RotationLeft : RotationRight;
}
void ActivateCamera(CameraIndex cameraIndex)
{
switch(cameraIndex)
{
case CameraIndex.Right:
m_frontCam.GetComponent<Camera>().enabled = false;
m_rightCam.GetComponent<Camera>().enabled = true;
m_backCam.GetComponent<Camera>().enabled = false;
m_leftCam.GetComponent<Camera>().enabled = false;
break;
case CameraIndex.Back:
m_frontCam.GetComponent<Camera>().enabled = false;
m_rightCam.GetComponent<Camera>().enabled = false;
m_backCam.GetComponent<Camera>().enabled = true;
m_leftCam.GetComponent<Camera>().enabled = false;
break;
case CameraIndex.Left:
m_frontCam.GetComponent<Camera>().enabled = false;
m_rightCam.GetComponent<Camera>().enabled = false;
m_backCam.GetComponent<Camera>().enabled = false;
m_leftCam.GetComponent<Camera>().enabled = true;
break;
}
}
public void SetTranslationVector(CameraIndex idx, Vector<double> matrix)
{
if(idx == CameraIndex.Left)
TranslationLeft = matrix;
else
TranslationRight = matrix;
}
public Vector<double> GetEpipole(CameraIndex idx)
{
return idx == CameraIndex.Left ? EpipoleLeft : EpipoleRight;
}
public RadialDistortionModel GetDistortionModel(CameraIndex idx)
{
return idx == CameraIndex.Left ? DistortionModelLeft : DistortionModelRight;
}
