private void Update()
{
switch (state)
{
case robotState.hablando:
e_i.material = rojo;
e_d.material = rojo;
count += Time.deltaTime;
if (!RobotMgr.instance.speechManager.audioSource.isPlaying && count > 2)
{
if (activo)
{
state = robotState.escuchando;
}
else
{
state = robotState.Inactivo;
}
}
break;
case robotState.escuchando:
e_i.material = verde;
e_d.material = verde;
RobotMgr.instance.microphoneManager.StartCapturingAudio();
break;
default:
e_i.material = normal;
e_d.material = normal;
break;
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (running)
{
//code is needed here: using pointcloud to receive the data from the transform
using (Image transformedDepth = new Image(ImageFormat.Depth16, colorWidth, colorHeight, colorWidth * sizeof(UInt16)))
using (Capture capture = await Task.Run(() => { return(this.kinect.GetCapture()); }))
using (Image colorImage = transform.ColorImageToDepthCamera(capture))
using (Image xyzImage = transform.DepthImageToPointCloud(capture.Depth))
{
this.transform.DepthImageToColorCamera(capture, transformedDepth);
this.StatusText = "Received Capture: " + capture.Depth.DeviceTimestamp;
var color = capture.Color;
var depth = capture.Depth;
MaskColor(color, transformedDepth); //for display on the screen
if (flag == true)
{
state = primaryInt.getRobotState();
try
{
info.Text = "please wait for a while ...";
GetPointcloud(colorImage, depth, xyzImage, state);
}
catch (Exception)
{
info.Text = "error existing when getting the pointcloud data!";
}
}
//for getting the point coordinates
}
}
}
// Update is called once per frame
void Update()
{
switch (bobState)
{
case robotState.Roaming:
if (this.gameObject.transform.position == robotNav.destination)
{
if (Random.Range(0, 10) <= 5)
{
reTarget(false);
}
else
{
reTarget(true);
bobState = robotState.Targetting;
}
}
break;
case robotState.Targetting:
if (lightOn())
{
robotNav.destination = new Vector3(-1.75f, 0.5f, 14.0f);
}
else
{
if (this.gameObject.transform.position == robotNav.destination)
{
if (Random.Range(0, 10) <= 8)
{
reTarget(false);
}
else
{
reTarget(true);
bobState = robotState.Targetting;
}
}
}
break;
case robotState.Attacking:
break;
case robotState.InSight:
break;
}
}
public void DictationProcess(string dic)
{
if (activo)
{
string texto_out = dic.ToLower();
if (!conversationStarted)
{
conversationStarted = true;
texto_out = "Hola. Soy Robochachi. Puedes hablar conmigo, pero solo te escucharé cuando tenga los ojitos verdes";
}
else
{
if (dic.Contains("desconecta"))
{
texto_out = "Muy bien. Hasta luego machote";
activo = false;
conversationStarted = false;
}
else
{
if (dic.Contains("tiempo") && dic.Contains("mañana"))
{
texto_out = "Creo que mañana va a llover. Eso no es bueno para mis circuitos.";
}
else if (dic.Contains("realidad") && dic.Contains("mixta"))
{
texto_out = "Sin duda la realidad mixta es el futuro... por la cuenta que me trae.";
}
else if (dic.Contains("xxxxx"))
{
texto_out = "Apagando sistema....";
activo = false;
conversationStarted = false;
}
else if (dic.Contains("repite conmigo"))
{
texto_out = "Has dicho... " + texto_out;
}
else
{
int r = Random.Range(0, 6);
switch (r)
{
case 1:
texto_out = "¿que tiempo hará mañana?... eso si es una pregunta interesante.";
break;
case 2:
texto_out = "No se que quieres decir. Pero si te sirve de algo, mi color favorito es el azul.";
break;
case 3:
texto_out = "La vida de un robot es dura. Aveces no entiendo a los humanos.";
break;
case 4:
texto_out = "Porque no me preguntas sobre la realidad mixta... por ejemplo.";
break;
case 5:
texto_out = "También se repetir tus palabras... si me lo pides.";
break;
default:
texto_out = "En realidad no soy tan listo aún. Dame un poco de tiempo.";
break;
}
}
}
}
RobotMgr.instance.speechManager.Speak(texto_out);
count = 0;
state = robotState.hablando;
}
}
private void GetPointcloud(Image colorImage, Image depth, Image xyzImage, robotState state)
{
flag = false;
times++; //make sure this program has been processed once
//give out the tcp value and the tranformation matrix
if (state.cartesianInfo != null)
{
tcp = new Vector6 <double>();
ROT = new rot();
tcp = state.cartesianInfo.tcp;
ROT.Rx = state.cartesianInfo.tcp.Rx;
ROT.Ry = state.cartesianInfo.tcp.Ry;
ROT.Rz = state.cartesianInfo.tcp.Rz;
matrix_R = RobMath.RotVec2Matrix(ROT);
matrix_T_tcp2base.SetSubMatrix(0, 3, 0, 3, matrix_R);
matrix_T_tcp2base[3, 0] = 0;
matrix_T_tcp2base[3, 1] = 0;
matrix_T_tcp2base[3, 2] = 0;
matrix_T_tcp2base[3, 3] = 1;
matrix_T_tcp2base[0, 3] = tcp.X;
matrix_T_tcp2base[1, 3] = tcp.Y;
matrix_T_tcp2base[2, 3] = tcp.Z;
matrix_T = (DenseMatrix)(matrix_T_tcp2base * matrix_T_tool2tcp);
//info.Text = tcp.ToString();
//info.Text = matrix_T_tcp2base.ToString();
BGRA[] colorArray = colorImage.GetPixels <BGRA>().ToArray();
Short3[] xyzArray = xyzImage.GetPixels <Short3>().ToArray();
MathNet.Numerics.LinearAlgebra.Double.Matrix matrix_P1 = new DenseMatrix(4, 1);
MathNet.Numerics.LinearAlgebra.Double.Matrix matrix_P0 = new DenseMatrix(4, 1);
Vector3[] vertices = new Vector3[num];
Color32[] colors = new Color32[num];
//indices = new int[num];
//描画する点の配列番号を記録。(全ての点を描画)
//for (int i = 0; i < num; i++)
//{
// indices[i] = i;
//}
for (int i = 0; i < num; i++)
{
//頂点座標の代入
vertices[i].x = xyzArray[i].X * 0.001f;
vertices[i].y = xyzArray[i].Y * 0.001f;
vertices[i].z = xyzArray[i].Z * 0.001f;
//色の代入
colors[i].b = colorArray[i].B;
colors[i].g = colorArray[i].G;
colors[i].r = colorArray[i].R;
colors[i].a = 255;
////for each point-1 , use the T-matrix to tansform it to point-0
matrix_P1[0, 0] = vertices[i].x;
matrix_P1[1, 0] = vertices[i].y;
matrix_P1[2, 0] = vertices[i].z;
matrix_P1[3, 0] = 1;
matrix_P0 = (DenseMatrix)(matrix_T * matrix_P1);
//according to the position of the arm to save the pointcloud data
switch (position)
{
case 1:
{
vertices_0_b1[i].x = (float)matrix_P0[0, 0];
vertices_0_b1[i].y = (float)matrix_P0[1, 0];
vertices_0_b1[i].z = (float)matrix_P0[2, 0];
colors_0_b1[i] = colors[i];
}
break;
case 2:
{
vertices_0_b2[i].x = (float)matrix_P0[0, 0];
vertices_0_b2[i].y = (float)matrix_P0[1, 0];
vertices_0_b2[i].z = (float)matrix_P0[2, 0];
colors_0_b2[i] = colors[i];
}
break;
case 3:
{
vertices_0_b3[i].x = (float)matrix_P0[0, 0];
vertices_0_b3[i].y = (float)matrix_P0[1, 0];
vertices_0_b3[i].z = (float)matrix_P0[2, 0]; colors_0_b1[i] = colors[i];
colors_0_b3[i] = colors[i];
}
break;
case 4:
{
vertices_0_b4[i].x = (float)matrix_P0[0, 0];
vertices_0_b4[i].y = (float)matrix_P0[1, 0];
vertices_0_b4[i].z = (float)matrix_P0[2, 0];
colors_0_b4[i] = colors[i];
}
break;
case 5:
{
vertices_0_b5[i].x = (float)matrix_P0[0, 0];
vertices_0_b5[i].y = (float)matrix_P0[1, 0];
vertices_0_b5[i].z = (float)matrix_P0[2, 0];
colors_0_b5[i] = colors[i];
}
break;
}
}
info.Text = "times:" + times.ToString() + "," + "position:" + position.ToString() + "," + "scanning and processing done!";
}
else
{
info.Text = "times:" + times.ToString() + "state.cartesianInfo is null!";
}
}
// Use this for initialization
void Start()
{
bobState = robotState.Roaming;
robotNav = GetComponent <NavMeshAgent>();
}
