/// <summary>
/// Returs the GameObject (instantiated from boundingBoxPrefab) that represents the provided DetectedObject.
/// If none exists, it retrieves one from the pool (or instantiates a new one if none is available) and
/// sets it up with the proper ID and colors.
/// </summary>
private GameObject GetBBoxForObject(DetectedObject dobj)
{
if (!liveBBoxes.ContainsKey(dobj.id))
{
GameObject newbox = GetAvailableBBox();
newbox.name = "Object #" + dobj.id;
BBox3DHandler boxhandler = newbox.GetComponent <BBox3DHandler>();
Color col;
if (idColorDict.ContainsKey(dobj.id))
{
col = idColorDict[dobj.id];
}
else
{
col = GetNextColor();
idColorDict.Add(dobj.id, col);
}
if (boxhandler)
{
boxhandler.SetColor(col);
boxhandler.SetID(dobj.id);
}
liveBBoxes[dobj.id] = newbox;
return(newbox);
}
else
{
return(liveBBoxes[dobj.id]);
}
}
/// <summary>
/// Given a frame of object detections, positions a GameObject to represent every visible object
/// in that object's actual 3D location within the world.
/// <para>Called from ZEDManager.OnObjectDetection each time there's a new detection frame available.</para>
/// </summary>
private void Visualize3DBoundingBoxes(DetectionFrame dframe)
{
//Get a list of all active IDs from last frame, and we'll remove each box that's visible this frame.
//At the end, we'll clear the remaining boxes, as those are objects no longer visible to the ZED.
List <int> activeids = liveBBoxes.Keys.ToList();
List <DetectedObject> newobjects = dframe.GetFilteredObjectList(showONTracked, showSEARCHINGTracked, showOFFTracked);
foreach (DetectedObject dobj in newobjects)
{
Bounds objbounds = dobj.Get3DWorldBounds();
//Make sure the object is big enough to count. We filter out very small boxes.
if (objbounds.size.x < minimumWidthToDisplay)
{
continue;
}
//Remove the ID from the list we'll use to clear no-longer-visible boxes.
if (activeids.Contains(dobj.id))
{
activeids.Remove(dobj.id);
}
//Get the box and update its distance value.
GameObject bbox = GetBBoxForObject(dobj);
//Move the box into position.
bbox.transform.position = dobj.Get3DWorldPosition();
if (floorBBoxPosition)
{
bbox.transform.position = new Vector3(bbox.transform.position.x, 0, bbox.transform.position.z);
}
bbox.transform.rotation = dobj.Get3DWorldRotation(boxesFaceCamera); //Rotate them.
//Transform the box if desired.
if (transformBoxScale)
{
//We'll scale the object assuming that it's mesh is the default Unity cube, or something sized equally.
if (transformBoxToTouchFloor)
{
Vector3 startscale = objbounds.size;
float distfromfloor = bbox.transform.position.y - (objbounds.size.y / 2f);
bbox.transform.localScale = new Vector3(objbounds.size.x, objbounds.size.y + distfromfloor, objbounds.size.z);
Vector3 newpos = bbox.transform.position;
newpos.y -= (distfromfloor / 2f);
bbox.transform.position = newpos;
}
else
{
bbox.transform.localScale = objbounds.size;
}
}
//Now that we've adjusted position, tell the handler on the prefab to adjust distance display..
BBox3DHandler boxhandler = bbox.GetComponent <BBox3DHandler>();
if (boxhandler)
{
float disttobox = Vector3.Distance(dobj.detectingZEDManager.GetLeftCameraTransform().position, dobj.Get3DWorldPosition());
boxhandler.SetDistance(disttobox);
boxhandler.UpdateBoxUVScales();
boxhandler.UpdateLabelScaleAndPosition();
}
//DrawDebugBox(dobj);
}
//Remove boxes for objects that the ZED can no longer see.
foreach (int id in activeids)
{
ReturnBoxToPool(id, liveBBoxes[id]);
}
}
