GameObject addErrors(MovingBall m, string error_type)
{
float error_std_x = error_model.GetErrorStdX(m);
float error_std_y = error_model.GetErrorStdY(m);
float error_std_z = error_model.GetErrorStdZ(m);
Debug.LogFormat("Errors: X: {0}, Y: {1}, Z: {2}", error_std_x, error_std_y, error_std_z);
ProjectionError error_object = null;
if (error_type == "shell")
{
// Sample error object
error_object = Instantiate <ProjectionError>(error_sample);
}
else if (error_type == "heatmap")
{
error_object = Instantiate <ProjectionError>(heatmap_error_sample);
}
else
{
Debug.Log("You've f****d up.");
return(null);
}
error_object.parent_object = m;
error_object.err_x = error_std_x;
error_object.err_y = error_std_y;
error_object.err_z = error_std_z;
error_object.error_type = error_type;
return(error_object.gameObject);
}
public void FindShortestPath(int x, int y)
{
try
{
if (_matrix.DijkstraData == null)
{
return;
}
int value = _matrix.DijkstraData[x, y].Value;
if (value < 0)
{
MessageBox.Show(String.Format("Không tìm được đường đi từ điểm '{0}' đến điểm '{1}'",
(char)('1' + x), (char)('1' + y)));
return;
}
if (_ball == null)
{
_ball = new MovingBall(this);
}
_ball.Reset();
_path.Clear();
_preNodeIndex = x;
_ball.NodeLocations.Add(this.Controls[x + 1].Location);
GetPath(x, y);
_ball.NodeLocations.Add(this.Controls[y + 1].Location);
_ball.Start();
Invalidate();
}
catch (IndexOutOfRangeException ex)
{
MessageBox.Show(ex.Message);
}
}
void Start()
{
IdleBall idle = new IdleBall();
MovingBall moving = new MovingBall();
idle.AddTransition(moving, "GoToMove");
moving.AddTransition(idle, "GoToIdle");
AddState(idle, "Idle");
AddState(moving, "Moving");
InitFSM();
}
private float ComputeError(MovingBall m, float[] betas)
{
float i = 0.0f; // m.x_offset - this.kinect_x_offset;
float z = (m.y_offset - this.kinect_y_offset) / conversion_factor;
float j = 0.0f; // m.z_offset - this.kinect_z_offset;
float ji = i * j;
float iz = i * z;
float zj = z * j;
float i2 = i * i;
float j2 = j * j;
float z2 = z * z;
float square_vals = betas[0] * j2 + betas[1] * i2 + betas[2] * z2;
float corr_vals = betas[3] * ji + betas[4] * iz + betas[5] * zj;
float lin_vals = betas[6] * j + betas[7] * i + betas[8] * z + betas[9];
return(square_vals + corr_vals + lin_vals);
}
public float GetErrorStdZ(MovingBall m)
{
return(z_factor * ComputeError(m, y_betas));
}
public float GetErrorStdY(MovingBall m)
{
return(conversion_factor * ComputeError(m, z_betas));
}
public float GetErrorStdX(MovingBall m)
{
return(x_factor * ComputeError(m, x_betas));
}
void updateObjects()
{
// Clean up the scene objects
foreach (GameObject ext_object in tracked_game_objects)
{
Destroy(ext_object);
}
tracked_game_objects.Clear();
// Set the hand information for the current index
if (experiment_info[current_index].show_hands)
{
hand_model_l.SetActive(true);
hand_model_r.SetActive(true);
}
else
{
hand_model_r.SetActive(false);
hand_model_l.SetActive(false);
}
// Get the information of the moving balls
MovingBallInfo[] object_infos = experiment_info[current_index].data;
error_model.UpdateKinectPosition(experiment_info[current_index].kinect_x_offset, experiment_info[current_index].kinect_y_offset, experiment_info[current_index].kinect_z_offset);
// Set the hand tracking
foreach (HandPositionManager hp in GameObject.FindObjectsOfType <HandPositionManager>())
{
hp.from_leap = !experiment_info[current_index].use_vive_tracker;
}
// Construct the object
foreach (MovingBallInfo info in object_infos)
{
// Instantiate the new object based on the reference object
MovingBall new_object = null;
if (info.type == "sphere")
{
new_object = Instantiate(object_samples[0]);
}
else if (info.type == "cylinder")
{
new_object = Instantiate(object_samples[1]);
}
else if (info.type == "cube")
{
new_object = Instantiate(object_samples[2]);
}
else if (info.type == "flat-cylinder")
{
new_object = Instantiate(object_samples[3]);
}
else if (info.type == "hand")
{
HandTracker.Hand h = HandTracker.LoadHand(info.handPath);
h._sphere_material = GameObject.FindGameObjectWithTag("hand_tracker").GetComponent <HandTracker>()._sphere_material;
h._cyl_material = GameObject.FindGameObjectWithTag("hand_tracker").GetComponent <HandTracker>()._cyl_material;
new_object = Instantiate(object_samples[4]);
new_object.GetComponent <HandMovingBall>().h = h;
// ref_object = object_samples[4];
}
else if (info.type == "controller")
{
new_object = Instantiate(object_samples[5]);
}
else if (info.type == "neutral")
{
new_object = Instantiate(object_samples[6]);
}
else
{
Debug.Log("Error. Invalid object type.");
continue;
}
new_object.use_vive = info.enable_tracking;
// Set the x, y and z offset from the info
new_object.x_offset = info.x_offset;
new_object.z_offset = info.z_offset;
new_object.y_offset = info.y_offset;
new_object.xrot_offset = info.xrot_offset; // + t.start_rot_x;
new_object.zrot_offset = info.zrot_offset; // + t.start_rot_z;
new_object.yrot_offset = info.yrot_offset; // + t.start_rot_y;
if (info.wireframe)
{
new_object.SetWireframe();
}
// Set the rotation and scale from the info
new_object.transform.eulerAngles = new Vector3(new_object.transform.eulerAngles.x, new_object.transform.eulerAngles.y, new_object.transform.eulerAngles.z);
new_object.transform.localScale = new Vector3(info.scale_x, info.scale_y, info.scale_z);
// Add the object to the tracked game objects class
tracked_game_objects.Add(new_object.gameObject);
if (info.show_error)
{
tracked_game_objects.Add(addErrors(new_object, info.error_type));
}
}
}
public BallInterface()
{
topLabelPoint = newPoint(0, 0);
topLabelSize = newSize(interfaceWidth, 50.0);
label.Text = "Corey's Moving Ball";
label.Location = topLabelPoint;
label.TextAlign = ContentAlignment.MiddleCenter;
label.Size = topLabelSize;
label.BackColor = Color.LightCoral;
label.ForeColor = Color.Black;
bottomContainer.Location = newPoint(0, 8 / 10.0 * interfaceHeight);
bottomContainer.Size = newSize(interfaceWidth, 2 / 10.0 * interfaceHeight);
bottomContainer.BackColor = Color.LightBlue;
goButton.Text = "Play";
goButton.Location = newPoint(50, 50);
goButton.Size = newSize(100, 100);
AcceptButton = goButton;
resetButton.Text = "Reset";
resetButton.Location = newPoint(150, 50);
resetButton.Size = newSize(100, 100);
exitButton.Text = "Exit";
exitButton.Location = newPoint(250, 50);
exitButton.Size = newSize(100, 100);
positionLabel.Location = newPoint(bottomContainer.Width - 300.0, 50);
positionLabel.Size = newSize(100, 100);
positionLabel.Text = positionString;
pathX = 1 / 10.0 * interfaceWidth;
pathY = topLabelPoint.Y + 100.0;
pathWidth = 8 / 10.0 * interfaceWidth;
pathHeight = 5 / 10.0 * interfaceHeight;
path = new Rectangle((int)pathX, (int)pathY, (int)pathWidth, (int)pathHeight);
ball = new MovingBall(path);
//Set size of the interface
Size = newSize(interfaceWidth, interfaceHeight);
ballClock.Elapsed += UpdateBall;
uiClock.Elapsed += UpdateUI;
uiClock.Start();
goButton.Click += new EventHandler(StartAndStop);
resetButton.Click += new EventHandler(Reset);
exitButton.Click += new EventHandler(Exit);
isPlaying = false;
ballPen = donePen;
ballBrush = doneBrush;
Controls.Add(label);
bottomContainer.Controls.Add(goButton);
bottomContainer.Controls.Add(resetButton);
bottomContainer.Controls.Add(exitButton);
bottomContainer.Controls.Add(positionLabel);
Controls.Add(bottomContainer);
}
void Awake()
{
GetMovingBall = this;
}
