// Constructors
public ProgramMotionData(BINAReader reader)
{
MotionType = (MotionTypes)reader.ReadUInt32();
reader.JumpAhead(12);
Axis = reader.ReadVector3();
reader.JumpAhead(4);
Power = reader.ReadSingle();
SpeedScale = reader.ReadSingle();
Time = reader.ReadSingle();
reader.JumpAhead(4);
}
public void MoveEntity(IEntity entity, Vector3 delta, MotionTypes motionTypes)
{
if (motionTypes.HasFlag(MotionTypes.Position))
{
const int maxBlocks = 8;
if (delta.LengthSquared() > maxBlocks * maxBlocks)
{
_networkClient.Send(new MessageClientEntityTeleport.Message(
entity.Id,
entity.Position,
entity.Rotation,
entity.Grounded
));
}
else
{
const int scale = short.MaxValue / maxBlocks;
if (motionTypes.HasFlag(MotionTypes.Rotation))
{
_networkClient.Send(new MessageClientEntityMoveRotate.Message(
entity.Id,
(short)(delta.X * scale),
(short)(delta.Y * scale),
(short)(delta.Z * scale),
entity.Rotation,
entity.Grounded
));
}
else
{
_networkClient.Send(new MessageClientEntityMove.Message(
entity.Id,
(short)(delta.X * scale),
(short)(delta.Y * scale),
(short)(delta.Z * scale),
entity.Grounded
));
}
}
}
else if (motionTypes.HasFlag(MotionTypes.Rotation))
{
_networkClient.Send(new MessageClientEntityRotate.Message(
entity.Id,
entity.Rotation,
true
));
}
}
/// <summary>
/// Finds the geometric transform (warp) between two images in terms of the ECC criterion @cite EP08 .
/// </summary>
/// <param name="templateImage">single-channel template image; CV_8U or CV_32F array.</param>
/// <param name="inputImage">single-channel input image which should be warped with the final warpMatrix in
/// order to provide an image similar to templateImage, same type as templateImage.</param>
/// <param name="warpMatrix">floating-point \f$2\times 3\f$ or \f$3\times 3\f$ mapping matrix (warp).</param>
/// <param name="motionType">parameter, specifying the type of motion</param>
/// <param name="criteria">parameter, specifying the termination criteria of the ECC algorithm;
/// criteria.epsilon defines the threshold of the increment in the correlation coefficient between two
/// iterations(a negative criteria.epsilon makes criteria.maxcount the only termination criterion).
/// Default values are shown in the declaration above.</param>
/// <param name="inputMask">An optional mask to indicate valid values of inputImage.</param>
/// <returns></returns>
public static double FindTransformECC(
InputArray templateImage,
InputArray inputImage,
InputOutputArray warpMatrix,
MotionTypes motionType = MotionTypes.Affine,
TermCriteria?criteria = null,
InputArray?inputMask = null)
{
if (templateImage == null)
{
throw new ArgumentNullException(nameof(templateImage));
}
if (inputImage == null)
{
throw new ArgumentNullException(nameof(inputImage));
}
if (warpMatrix == null)
{
throw new ArgumentNullException(nameof(warpMatrix));
}
templateImage.ThrowIfDisposed();
inputImage.ThrowIfDisposed();
warpMatrix.ThrowIfDisposed();
inputMask?.ThrowIfDisposed();
var criteriaValue = criteria.GetValueOrDefault(new TermCriteria(CriteriaType.Count | CriteriaType.Eps, 50, 0.001));
NativeMethods.HandleException(
NativeMethods.video_findTransformECC2(
templateImage.CvPtr, inputImage.CvPtr, warpMatrix.CvPtr, (int)motionType,
criteriaValue, inputMask?.CvPtr ?? IntPtr.Zero, out var ret));
GC.KeepAlive(templateImage);
GC.KeepAlive(inputImage);
GC.KeepAlive(warpMatrix);
GC.KeepAlive(inputMask);
return(ret);
}
/// <summary>
/// Finds the geometric transform (warp) between two images in terms of the ECC criterion @cite EP08 .
/// </summary>
/// <param name="templateImage">single-channel template image; CV_8U or CV_32F array.</param>
/// <param name="inputImage">single-channel input image which should be warped with the final warpMatrix in
/// order to provide an image similar to templateImage, same type as templateImage.</param>
/// <param name="warpMatrix">floating-point \f$2\times 3\f$ or \f$3\times 3\f$ mapping matrix (warp).</param>
/// <param name="motionType">parameter, specifying the type of motion</param>
/// <param name="criteria">parameter, specifying the termination criteria of the ECC algorithm;
/// criteria.epsilon defines the threshold of the increment in the correlation coefficient between two
/// iterations(a negative criteria.epsilon makes criteria.maxcount the only termination criterion).
/// Default values are shown in the declaration above.</param>
/// <param name="inputMask">An optional mask to indicate valid values of inputImage.</param>
/// <param name="gaussFiltSize">An optional value indicating size of gaussian blur filter; (DEFAULT: 5)</param>
/// <returns></returns>
public static double FindTransformECC(
InputArray templateImage,
InputArray inputImage,
InputOutputArray warpMatrix,
MotionTypes motionType,
TermCriteria criteria,
InputArray?inputMask = null,
int gaussFiltSize = 5)
{
if (templateImage == null)
{
throw new ArgumentNullException(nameof(templateImage));
}
if (inputImage == null)
{
throw new ArgumentNullException(nameof(inputImage));
}
if (warpMatrix == null)
{
throw new ArgumentNullException(nameof(warpMatrix));
}
templateImage.ThrowIfDisposed();
inputImage.ThrowIfDisposed();
warpMatrix.ThrowIfDisposed();
inputMask?.ThrowIfDisposed();
NativeMethods.HandleException(
NativeMethods.video_findTransformECC1(
templateImage.CvPtr, inputImage.CvPtr, warpMatrix.CvPtr, (int)motionType,
criteria, inputMask?.CvPtr ?? IntPtr.Zero, gaussFiltSize,
out var ret));
GC.KeepAlive(templateImage);
GC.KeepAlive(inputImage);
GC.KeepAlive(warpMatrix);
GC.KeepAlive(inputMask);
return(ret);
}
