public void Reset()
{
Level.Rotation = Vector3.Zero;
Translation = Level.GetNode <Spatial>("SpawnPoint").GlobalTransform.origin;
ShouldKill = false;
velocity = Vector3.Zero;
Respawn?.Invoke();
RotationDir = 1;
Visible = true;
CalibrateCamera?.Invoke();
}
//Stop the calibration thread and clear the data
public void ResetCalibrationImmediate()
{
objPoints.Clear();
CornerPoints.Clear();
corners.Clear();
obj.Clear();
calibrationThread.Abort();
calibrationThread = null;
if (CalibrateCamera.OnCalibrationReset != null)
{
CalibrateCamera.OnCalibrationReset();
}
Debug.Log("Reseting....");
}
void CheckForCollisions()
{
if (GetSlideCount() > 0)
{
var collision = GetSlideCollision(0);
if (collision.Collider is Node node)
{
var block = node.GetParent <Block>();
if (block.IsPad)
{
if (lastPad == null)
{
Level.Rotate(Vector3.Up, Mathf.Deg2Rad(90 * RotationDir));
RotationDir *= -1;
var pad = node.GetParent <Block>();
Translation = new Vector3(pad.GlobalTransform.origin.x, Translation.y, pad.GlobalTransform.origin.z);
velocity = Vector3.Zero;
CalibrateCamera?.Invoke();
lastPad = block;
velocity.x = 0;
}
}
else if (block.IsBad)
{
ShouldKill = true;
}
else if (block.DisableAfterTouch && IsOnFloor())
{
block.MakeItFall();
}
if (IsOnFloor() && !block.DisableAfterTouch && !block.IsBad)
{
LowestPoint = GlobalTransform.origin;
CalibrateCameraY?.Invoke();
}
if (!block.IsPad)
{
lastPad = null;
}
}
}
}
private void Calibrate()
{
Debug.Log("Calibrating Async.....");
// calibrationMutex.WaitOne();
if (OnCalibrationStarted != null)
{
CalibrateCamera.OnCalibrationStarted();
}
//prepare the data which the calibration process will fill up
int maxSize = (int)Mathf.Max(imageWidth, imageHeight);
double fx = maxSize;
double fy = maxSize;
double cx = (double)imageWidth / 2;
double cy = (double)imageHeight / 2;
double[,] k = new double[3, 3]
{
{ fx, 0d, cx },
{ 0d, fy, cy },
{ 0d, 0d, 1d }
};
double[] d = new double[5];
double projectionError = -1;
Vec3d[] rvec = new Vec3d[boardWidth * boardHeight];
Vec3d[] tvec = new Vec3d[boardWidth * boardHeight];
Size boardSize = new Size(boardWidth, boardHeight);
try
{
// calibrate the camera
projectionError = Cv2.CalibrateCamera(objPoints, CornerPoints, new Size(imageWidth, imageHeight), k, d,
out rvec, out tvec,
calibrationFlags, TermCriteria.Both(30, 0.1));
Debug.Log("Error: " + projectionError);
}
catch (Exception e)
{
ResetCalibrationImmediate();
Debug.Log("restarting...");
}
//register the data and save them
calibrationData.RegisterMatrix(k);
calibrationData.RegisterDistortionCoefficients(d);
calibrationData.projectionError = projectionError;
string s = "";
for (int i = 0; i < d.Length; i++)
{
s += d[i] + " ";
}
Debug.Log(s);
Debug.Log("Finished!!");
if (OnCalibrationFinished != null)
{
OnCalibrationFinished(calibrationData);
}
//calibrationMutex.ReleaseMutex();
}
