void Visualize(List <Ros.Detection2D> objects, Camera cam, RenderTextureDisplayer camPreview)
{
if (objects == null || cam == null || camPreview == null)
{
return;
}
if (!cam.enabled || !camPreview.gameObject.activeSelf)
{
return;
}
foreach (Ros.Detection2D obj in objects)
{
float x = (float)obj.bbox.x;
float y = (float)obj.bbox.y;
float width = (float)obj.bbox.width;
float height = (float)obj.bbox.height;
Vector3[] corners = new Vector3[4];
((RectTransform)camPreview.transform).GetWorldCorners(corners);
var previewWidth = corners[3].x - corners[0].x;
var previewHeight = corners[1].y - corners[0].y;
x = obj.bbox.x / cam.pixelWidth * previewWidth;
y = obj.bbox.y / cam.pixelHeight * previewHeight;
width = obj.bbox.width / cam.pixelWidth * previewWidth;
height = obj.bbox.height / cam.pixelHeight * previewHeight;
// Top-left corner is (0, 0)
var x_left = x - width / 2;
var x_right = x + width / 2;
var y_up = y - height / 2;
var y_down = y + height / 2;
// Crop if box is out of preview
if (x_left < 0)
{
x_left = 0;
}
if (x_right > previewWidth)
{
x_right = previewWidth;
}
if (y_up < 0)
{
y_up = 0;
}
if (y_down > previewHeight)
{
y_down = previewHeight;
}
Vector2 min = new Vector2(corners[0].x + x_left, (Screen.height - corners[1].y) + y_up);
Vector2 max = new Vector2(corners[0].x + x_right, (Screen.height - corners[1].y) + y_down);
Rect rect = Rect.MinMaxRect(min.x, min.y, max.x, max.y);
if (obj.label == "car")
{
GUI.backgroundColor = new Color(0, 1, 0, 0.3f); // Color.green
}
else if (obj.label == "pedestrian")
{
GUI.backgroundColor = new Color(1, 0.92f, 0.016f, 0.3f); // Color.yellow
}
else if (obj.label == "bicycle")
{
GUI.backgroundColor = new Color(0, 1, 1, 0.3f); // Color.cyan
}
else
{
GUI.backgroundColor = new Color(1, 0, 1, 0.3f); // Color.magenta
}
GUI.Box(rect, "", textureStyle);
}
}