protected virtual void Update()
{
if (Input.GetKeyDown(KeyCode.Escape))
{
exitScreen.SetActive(!exitScreen.activeInHierarchy);
}
if (Input.GetKeyDown(KeyCode.F5))
{
// save pos/rot
SaveAutoPositionRotation();
}
if (Input.GetKeyDown(KeyCode.F9))
{
// load saved pos and rot and apply to controller transform
LoadAutoPositionRotation();
}
if (Input.GetKeyDown(KeyCode.F10))
{
// move car in front of user vehicle
ToggleNPCObstacleToUser();
}
if (Input.GetKeyDown(KeyCode.S))
{
var ui = GetComponent <RectTransform>();
var camView = CameraPreview.GetComponent <RectTransform>();
var extraView = ColorSegmentPreview.GetComponent <RectTransform>();
int w, h;
if (camView.offsetMax.y == 480)
{
// make it big
camView.offsetMax = new Vector2(0, ui.sizeDelta.y * 2);
camView.offsetMin = new Vector2(-ui.sizeDelta.x, 0);
extraView.offsetMax = new Vector2(-ui.sizeDelta.x / 2, ui.sizeDelta.y);
extraView.offsetMin = new Vector2(-ui.sizeDelta.x, 0);
w = (int)camView.sizeDelta.x;
h = (int)camView.sizeDelta.y;
}
else
{
// revert
camView.offsetMax = new Vector2(0.0f, 480.0f);
camView.offsetMin = new Vector2(-640.0f, 0.0f);
extraView.offsetMax = new Vector2(-320.0f, 240.0f);
extraView.offsetMin = new Vector2(-640.0f, 0.0f);
w = 640;
h = 480;
}
CameraPreview.renderTexture = new RenderTexture(w, h, 24, RenderTextureFormat.ARGB32);
{
var vs = CameraPreview?.renderCamera?.GetComponent <VideoToROS>();
if (vs != null)
{
vs.SwitchResolution(w, h);
}
}
ColorSegmentPreview.renderTexture = new RenderTexture(w, h, 24, RenderTextureFormat.ARGBHalf);
{
var rendCam = ColorSegmentPreview?.renderCamera;
if (rendCam != null)
{
rendCam.targetTexture = ColorSegmentPreview.renderTexture;
}
}
}
CheckStateErrors();
}
void Visualize(List <Ros.Detection2D> objects, Camera cam, RenderTextureDisplayer camPreview, List <GameObject> boundingBoxes)
{
if (objects == null || cam == null || camPreview == null)
{
return;
}
if (!cam.enabled || !camPreview.gameObject.activeInHierarchy)
{
return;
}
foreach (GameObject bbox in boundingBoxes)
{
Destroy(bbox);
}
boundingBoxes.Clear();
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;
if (previewWidth == -1 || previewHeight == -1)
{
previewWidth = camPreview.GetComponent <RectTransform>().sizeDelta.x;
previewHeight = camPreview.GetComponent <RectTransform>().sizeDelta.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;
GameObject bbox = Instantiate(boundingBox, camPreview.transform);
RectTransform rt = bbox.GetComponent <RectTransform>();
rt.anchoredPosition = new Vector3(x, -y, 0);
rt.sizeDelta = new Vector3(width, height);
rt.localScale = Vector3.one;
Image image = bbox.GetComponent <Image>();
switch (obj.label)
{
case "car":
image.color = new Color(0, 1, 0, 0.1f); // Color.green
break;
case "pedestrian":
image.color = new Color(1, 0.92f, 0.016f, 0.1f); // Color.yellow
break;
case "bicycle":
image.color = new Color(0, 1, 1, 0.1f); // Color.cyan
break;
default:
image.color = new Color(1, 0, 1, 0.1f); // Color.magenta
break;
}
bbox.SetActive(true);
Destroy(bbox, Time.deltaTime);
boundingBoxes.Add(bbox);
}
}