protected override void CheckIfDetectedMarkers()
{
base.CheckIfDetectedMarkers();
for (int i = 0; i < ids.Length; i++)
{
Cv2.CornerSubPix(grayedImg, corners[i], new Size(5, 5), new Size(-1, -1), TermCriteria.Both(30, 0.1));
if (!MarkerManager.IsMarkerRegistered(ids[i]))
{
continue;
}
MarkerBehaviour m = MarkerManager.GetMarker(ids[i]);
if (!allDetectedMarkers.ContainsKey(ids[i]))
{
m.OnMarkerDetected.Invoke();
allDetectedMarkers.Add(m.GetMarkerID(), m);
}
// m.UpdateMarker(img.Cols, img.Rows, corners[i], rejectedImgPoints[i]);
m.UpdateMarker(corners[i], calibrationData.GetCameraMatrix(),
calibrationData.GetDistortionCoefficients(), grayedImg);
}
}
protected override void CheckIfDetectedMarkers()
{
base.CheckIfDetectedMarkers();
for (int i = 0; i < ids.Length; i++)
{
Cv2.CornerSubPix(grayedImg, corners[i], new Size(5, 5), new Size(-1, -1), TermCriteria.Both(30, 0.1));
if (!MarkerManager.IsMarkerRegistered(ids[i]))
{
continue;
}
MarkerBehaviour m = MarkerManager.GetMarker(ids[i]);
if (!allDetectedMarkers.ContainsKey(ids[i]))
{
Debug.Log("FOUND MARKER: " + m.GetMarkerID());
m.OnMarkerDetected.Invoke();
allDetectedMarkers.Add(m.GetMarkerID(), m);
}
float rotZ = 0;
switch (Screen.orientation)
{
case ScreenOrientation.Portrait:
rotZ = 90;
break;
case ScreenOrientation.LandscapeLeft:
rotZ = 180;
break;
case ScreenOrientation.LandscapeRight:
rotZ = 0;
break;
case ScreenOrientation.PortraitUpsideDown:
rotZ = -90;
break;
}
if (!UseCustomCalibration)
{
cameraManager.TryGetIntrinsics(out cameraIntrinsics);
m.UpdateMarker(corners[i], cameraIntrinsics, grayedImg, Vector3.forward * rotZ);
}
else
{
m.UpdateMarker(corners[i], calibrationData.GetCameraMatrix(), calibrationData.GetDistortionCoefficients(), grayedImg, Vector3.forward * rotZ);
}
}
}
/// <summary>
/// Draws a village on the map
/// </summary>
/// <param name="g">The graphics object</param>
/// <param name="game">The game location of the village</param>
/// <param name="mapVillage">Where and how big to draw the village</param>
private void Paint(Graphics g, Point game, Rectangle mapVillage)
{
if (!(game.X >= 0 && game.X < 1000 && game.Y >= 0 && game.Y < 1000))
{
return;
}
Village village;
DrawerBase finalCache = null;
if (World.Default.Villages.TryGetValue(game, out village))
{
Marker marker = _markers.GetMarker(Settings, village);
if (marker != null)
{
// Paint village icon/shape
BackgroundDrawerData mainData = World.Default.Views.GetBackgroundDrawerData(village, marker);
if (mainData != null)
{
finalCache = _drawerFactoryStrategy.CreateVillageDrawer(village.Bonus, mainData, marker);
if (finalCache != null)
{
finalCache.PaintVillage(g, mapVillage);
if (_drawerFactoryStrategy.SupportDecorators && village.Type != VillageType.None)
{
// Paint extra village decorators
foreach (DrawerBase decorator in World.Default.Views.GetDecoratorDrawers(_drawerFactoryStrategy, village, mainData))
{
decorator.PaintVillage(g, mapVillage);
}
}
}
}
}
}
if (finalCache == null)
{
PaintNonVillage(g, game, mapVillage);
}
}
protected override void ConcentrateOnTheClosestMarker(int[] markerIds)
{
MarkerBehaviour closestMarker = null;
float closestDistance = Mathf.Infinity;
markersCache.Clear();
//Perform direction filtering
if (minDirectionDotProductValue >= -0.9f)
{
Vector3 oldPos = transform.position;
Quaternion oldRotation = transform.rotation;
foreach (int i in markerIds)
{
MarkerBehaviour m = MarkerManager.GetMarker(i);
if (m == null)
{
continue;
}
Pose targetPose = GetTargetPose(m);
//Move in the target pose before checking for direction
transform.SetPositionAndRotation(targetPose.position, targetPose.rotation);
Vector3 cameraForward = new Vector3(transform.forward.x, 0, transform.forward.z);
Vector3 markerForward = new Vector3(m.transform.forward.x, 0, m.transform.forward.z);
float dot = Vector3.Dot(cameraForward, markerForward);
// Debug.Log("DOT: " + dot);
if (dot > 0)
{
//store the ones that we need
markersCache.Add(m);
}
else
{
if (trackingTarget != null && m.GetMarkerID() == trackingTarget.GetMarkerID())
{
trackingTarget = null;
}
}
}
//move back where we were
transform.SetPositionAndRotation(oldPos, oldRotation);
}
// if we didnt find anything just check for the closest one
if (markersCache.Count == 0 || minDirectionDotProductValue < -0.9f)
{
foreach (int i in markerIds)
{
MarkerBehaviour m = MarkerManager.GetMarker(i);
if (m == null)
{
continue;
}
markersCache.Add(m);
}
}
// go through the cache and check for the closest marker and make it the target marker
foreach (MarkerBehaviour m in markersCache)
{
//Debug.Log("IDD: " + i);
if (GetMarkerDistanceFromCamera(m) < closestDistance)
{
closestDistance = GetMarkerDistanceFromCamera(m);
closestMarker = m;
}
// Debug.Log("ID: " + i + " " + "Distance: " + GetMarkerDistanceFromCamera(m));
}
if (closestMarker == null)
{
return;
}
if (trackingTarget == null)
{
trackingTarget = closestMarker;
Debug.Log("here");
return;
}
float d1 = GetMarkerDistanceFromCamera(closestMarker);
float d2 = GetMarkerDistanceFromCamera(trackingTarget);
float difference = Mathf.Abs(d1 - d2);
//Debug.Log(difference);
if (difference > 0.1)
{
trackingTarget = closestMarker;
}
}
