public void addCamera(Vector3 position, float pan, float tilt, int imageWidth, int imageHeight)
{
if (!(robot is ICameras))
{
Debug.Log("Trying to add Camera to unsupported robot type");
}
else
{
Transform CameraContainer = robotObject.transform.Find("CameraContainer");
if (CameraContainer == null)
{
CameraContainer = AddCameraContainer();
}
Object cameraPrefab = Resources.Load("CameraPrefab");
GameObject camera = Object.Instantiate(cameraPrefab) as GameObject;
camera.transform.SetParent(CameraContainer, false);
camera.transform.localPosition = position;
camera.transform.localRotation = Quaternion.Euler(tilt, pan, 0);
EyeCamera eyecamera = camera.AddComponent <EyeCamera>();
eyecamera.cameraComponent = camera.GetComponent <Camera>();
(robot as LabBot).eyeCamController.cameras.Add(eyecamera);
}
}
void EnsureCamera(Camera camera)
{
// renderTexture might still be null so this creates and assigns it.
if (renderTexture == null)
{
if (OutputResolution != Resolutions.WindowSized)
{
var selectedResolutionSize = resolutionSizes[(int)OutputResolution];
ResizeRenderTexture(selectedResolutionSize.width, selectedResolutionSize.height);
}
else
{
ResizeRenderTexture(Screen.width, Screen.height);
}
}
EyeCamera eyeCamera;
if (!eyeCameras.TryGetValue(camera, out eyeCamera))
{
eyeCamera = new EyeCamera();
eyeCameras.Add(camera, eyeCamera);
}
EnsureEyeCamera(camera, ":Instant Preview Left", new Rect(0.0f, 0.0f, 0.5f, 1.0f), ref eyeCamera.leftEyeCamera);
EnsureEyeCamera(camera, ":Instant Preview Right", new Rect(0.5f, 0.0f, 0.5f, 1.0f), ref eyeCamera.rightEyeCamera);
}
// Use this for initialization
void Awake()
{
if (robot is ICameras)
{
if ((cameraToDisplay = (robot as ICameras).GetCameraComponent(0)) != null)
{
cameraTarget.texture = cameraToDisplay.rendTex;
}
else
{
Debug.Log("Failed to get camera component");
}
}
lockButtonImage.sprite = lockedImage;
robotNumber.text = "ID # " + robot.objectID.ToString();
robotName.text = robot.name;
trailButtonImage.color = robot.trail.enabled ? Color.white : Color.grey;
if (robot is IVWDrive)
{
toggleVWAccurate.isOn = (robot as IVWDrive).VWAccurate;
}
if (robot is IPSDSensors)
{
if ((psdController = robot.GetComponent <PSDController>()) == null)
{
Debug.Log("No PSD Controller");
}
if ((robot as IPSDSensors).UseGlobalError)
{
psdMeanError.text = PSDController.globalMean.ToString("N2");
psdStdDevError.text = PSDController.globalStdDev.ToString("N2");
}
else
{
psdMeanError.text = (robot as IPSDSensors).MeanError.ToString("N2");
psdStdDevError.text = (robot as IPSDSensors).StdDevError.ToString("N2");
}
useGlobalError = (robot as IPSDSensors).UseGlobalError;
}
visualiseToggle.isOn = SimManager.instance.defaultVis;
SaltPepperNoiseToggle(false);
GaussianNoiseToggle(false);
PSDErrorEnabled(false);
SimManager.instance.OnPause += OnSimPaused;
SimManager.instance.OnResume += OnSimResumed;
}