private async void OnObjectsDetected([NotNull] Task <List <DetectedObject> > detectedObjectsTask)
{
if (detectedObjectsTask == null)
{
throw new ArgumentNullException(nameof(detectedObjectsTask));
}
if (detectedObjectsTask.Result == null)
{
return;
}
List <DetectedObject> detectedObjects = await detectedObjectsTask;
if (detectedObjects.Count == 0)
{
Debug.Log("No objects detected");
}
if (_objectDetectionService.detectOnRepeat)
{
List <TrackedObject> trackedObjects = detectedObjectsTask.Result.Select(detectedObject => new TrackedObject(detectedObject)).ToList();
FPSUtils.TrackTick();
Vector2 unprojectionOffset = ObjectTrackingService.unprojectionOffset;
_visualizationManager.UpdateTrackedObjects(trackedObjects, unprojectionOffset);
}
else
{
ObjectTrackingService.Reset();
List <TrackedObject> trackedObjects = ObjectTrackingService.InitializeTrackers(detectedObjects);
if (detectedObjects.Count != trackedObjects.Count)
{
Debug.LogWarning("Could not initialize tracker for all detected objects");
}
Vector2 unprojectionOffset = ObjectTrackingService.unprojectionOffset;
_visualizationManager.UpdateTrackedObjects(trackedObjects, unprojectionOffset);
}
}
public List <TrackedObject> TrackSync(CameraFrame frame)
{
if (frame == null)
{
throw new ArgumentNullException(nameof(frame));
}
stopWatch.Reset();
stopWatch.Start();
List <TrackedObject> trackedObjects = ObjectTracker.Update(frame);
stopWatch.Stop();
FPSUtils.TrackTick();
_trackedObjects = trackedObjects;
return(trackedObjects);
}