public ProcessedObject GetObjectByGuid(Guid guid)
{
ProcessedObject o = null;
foreach (var obj in detectedObjects)
{
if (obj.guid == guid)
{
o = obj;
}
}
if (o == null)
{
Debug.LogWarning("cannot find object with guid " + guid);
}
return(o);
}
void UpdateObjectList()
{
List <HKY.RawObject> newlyDetectedObjects = DetectObjects(croppedDistances, distanceConstrainList);
//apply offset!===============
if (useOffset)
{
foreach (var obj in newlyDetectedObjects)
{
obj.position += positionOffset;
}
}
//============================
rawObjectList = new List <RawObject>(newlyDetectedObjects);
lock (detectedObjects)
{
//update existing objects
if (detectedObjects.Count != 0)
{
foreach (var oldObj in detectedObjects)
{
Dictionary <RawObject, float> objectByDistance = new Dictionary <RawObject, float>();
//calculate all distance between existing objects and newly found objects
foreach (var newObj in newlyDetectedObjects)
{
float distance = Vector3.Distance(newObj.position, oldObj.position);
objectByDistance.Add(newObj, distance);
}
if (objectByDistance.Count <= 0)
{
oldObj.Update();
}
else
{
//find the closest new obj and check if the dist is smaller than distanceThresholdForMerge, if yes, then update oldObj's position to this newObj
var closest = objectByDistance.Aggregate((l, r) => l.Value < r.Value ? l : r);
if (closest.Value <= distanceThresholdForMerge)
{
oldObj.Update(closest.Key.position, closest.Key.size);
//remove the newObj that is being used
newlyDetectedObjects.Remove(closest.Key);
}
else
{
//this oldObj cannot find a new one that is close enough to it
oldObj.Update();
}
}
}
//remove all missed objects
for (int i = 0; i < detectedObjects.Count; i++)
{
var obj = detectedObjects[i];
if (obj.clear)
{
detectedObjects.RemoveAt(i);
if (OnLostObject != null)
{
OnLostObject(obj);
}
}
}
//create new object for those newobject that cannot find match from the old objects
foreach (var leftOverNewObject in newlyDetectedObjects)
{
var newbie = new ProcessedObject(leftOverNewObject.position, leftOverNewObject.size, objectPositionSmoothTime);
detectedObjects.Add(newbie);
if (OnNewObject != null)
{
OnNewObject(newbie);
}
}
}
else //add all raw objects into detectedObjects
{
foreach (var obj in rawObjectList)
{
var newbie = new ProcessedObject(obj.position, obj.size, objectPositionSmoothTime);
detectedObjects.Add(newbie);
if (OnNewObject != null)
{
OnNewObject(newbie);
}
}
}
}
}
