// Update is called once per frame
void Update()
{
//Debug.Log("Depth camera: " + DepthSourceManager.Width() + " " + DepthSourceManager.Height());
float lsz = DepthSourceManager.Height() / ((float)DepthSourceManager.Width());
float lsx = lsz * ColorSourceManager.ColorWidth / ((float)ColorSourceManager.ColorHeight);
transform.localScale = 0.2f * new Vector3(lsx, 5.0f, lsz);
}
private void updatedRect(Transform t, RotatedRect r)
{
if (!isListening)
{
return;
}
var points_kinect = r.GetVertices();
calibrateHomographyMaths(points_kinect, DepthSourceManager.Width(), DepthSourceManager.Height());
}
void OnRectangleUpdate(List <RotatedRect> l)
{
if (!isEnabled)
{
return;
}
if (l.Count > 0)
{
if (OnUnstableRectangleEvent != null)
{
int width = DepthSourceManager.Width();
int height = DepthSourceManager.Height();
if (debug)
{
width = height = 512;
}
RotatedRect copy = l[0];
float r_w = copy.Size.Width;
float r_h = copy.Size.Height;
float angle = copy.Angle;
if (r_h > r_w)
{
r_h = copy.Size.Width;
r_w = copy.Size.Height;
angle = angle - 90.0f;
}
Vector2 centre = new Vector2(l[0].Center.X / width, l[0].Center.Y / height);
centre = centre * 2 - new Vector2(1, 1);
centre = -centre;
tracked.transform.position = new Vector3(centre.x, 0, centre.y) + transform.position;
tracked.transform.localScale = new Vector3(r_w / width, 0.2f, r_h / height) * 2;
tracked.transform.rotation = Quaternion.Euler(0, -angle, 0);
OnUnstableRectangleEvent(tracked.transform, copy);
}
if (!detected)
{
if (last_seen_rect.Equals(RotatedRect.Empty))
{
last_seen_rect = l[0];
return;
}
current_frame++;
float delta_pos = (float)Vector2.Distance(new Vector2(l[0].Center.X, l[0].Center.Y), new Vector2(last_seen_rect.Center.X, last_seen_rect.Center.Y));
float new_pos_h = position_history * 0.75f + delta_pos * 0.25f;
// Debug.Log("History: " + Mathf.Abs(new_pos_h - position_history));
float diff = Mathf.Abs(new_pos_h - position_history);
position_history = new_pos_h;
if (current_frame < frames_to_stabilize || diff > 0.1f)
{
return;
}
last_seen_rect = l[0];
int width = DepthSourceManager.Width();
int height = DepthSourceManager.Height();
if (debug)
{
width = height = 512;
}
RotatedRect copy = l[0];
float r_w = copy.Size.Width;
float r_h = copy.Size.Height;
float angle = copy.Angle;
if (r_h > r_w)
{
r_h = copy.Size.Width;
r_w = copy.Size.Height;
angle = angle - 90.0f;
}
Vector2 centre = new Vector2(l[0].Center.X / width, l[0].Center.Y / height);
centre = centre * 2 - new Vector2(1, 1);
centre = -centre;
tracked.transform.position = new Vector3(centre.x, 0, centre.y) + transform.position;
tracked.transform.localScale = new Vector3(r_w / width, 0.2f, r_h / height) * 2;
tracked.transform.rotation = Quaternion.Euler(0, -angle, 0);
if (OnStableRectangleEvent != null)
{
StartCoroutine(stableRectEvent(tracked.transform, copy));
}
detected = true;
}
}
else
{
//current_frame = Mathf.Max(0, current_frame - 1);
//if(current_frame == 0)
//{
// detected = false;
// if (OnDisappearEvent != null)
// OnDisappearEvent();
// tracked.transform.position = Vector3.one * -100000.0f;
//}
}
}