/// <summary>
/// Every time RobotScene is loaded, attempt to retrieve intrensics
/// and start updating the space pinning if successful
/// </summary>
private void OnSceneLoaded(Scene scene, LoadSceneMode mode)
{
if (scene.name.Equals("RobotScene"))
{
Intrensics?intr = CameraIntrensicsHelper.ReadIntrensics();
if (intr.HasValue)
{
_intrensics = intr.Value;
StartCoroutine("PinSpace");
}
else
{
Debug.Log("Failed to retrieve existing webcam parameters from disk. Manual calibration is required!");
// Tell the UI to prompt user for calibration
GoalPoseClient gpc = FindObjectOfType <GoalPoseClient>();
if (gpc != null)
{
gpc.State = GoalPoseClient.GoalPoseClientState.NEEDING_CALIBRATION;
}
}
}
else
{
CancelInvoke("PipePhotoToSpacePinning");
}
}
private void Start()
{
gpc = FindObjectOfType <GoalPoseClient>();
}