private GameObject FindCloseBoundingBoxForObject(ObjectClassification objectClassification, Vector3?center)
{
var candidateBoxes = _boundingBoxes
.FindAll(box => box.GetComponent <LabeledBoundingBox>().GetLabel() == objectClassification.label);
if (candidateBoxes.Count == 0)
{
return(null);
}
var closestBox = candidateBoxes.First();
if (center == null)
{
return(closestBox);
}
foreach (var box in candidateBoxes)
{
if ((closestBox.transform.position - center.Value).magnitude
< (box.transform.position - center.Value).magnitude)
{
closestBox = box;
}
}
return(closestBox);
}
// Adds a bounding box game object into the AR world
private GameObject GetNewBoundingBoxForClassification(ObjectClassification classification,
Vector3 position, float distancePerPixel)
{
var boundingBox = Instantiate(placedPrefab, position, cameraManager.transform.rotation);
boundingBox.cameraManager = cameraManager;
boundingBox.SetWidth(classification.box.Size().x *distancePerPixel / LabeledBoundingBoxScale / RectangleScale);
boundingBox.SetHeight(classification.box.Size().y *distancePerPixel / LabeledBoundingBoxScale / RectangleScale);
boundingBox.SetColor(BoxColors.ColorForItemLabel(classification.label) ?? Color.black);
boundingBox.SetLabel(classification.label);
boundingBox.SetPredictionScore(classification.score);
boundingBox.UpdatesRemaining = TransientBoxUpdateCount;
return(boundingBox.gameObject);
}
protected override string GetSingleOffsetDescription(Offset oSet, byte[] sectionedData)
{
// Get the object classification triplet from the BOC field in our container
ObjectClassification oc = LowestLevelContainer.GetStructure <BOC>()?.Triplets.OfType <ObjectClassification>().FirstOrDefault();
if (oc != null)
{
StringBuilder sb = new StringBuilder();
string byteLevel = " bytes";
float byteSize = Data.Length;
if (byteSize > 1024)
{
byteSize /= 1024; byteLevel = "KB";
}
if (byteSize > 1024)
{
byteSize /= 1024; byteLevel = "MB";
}
;
if (byteSize % 1 > 0)
{
byteSize = (float)Math.Round(byteSize, 2);
}
string dataType = "UNKNOWN";
if (Lookups.OIDs.ContainsKey(oc.RegisteredObjectID))
{
dataType = Lookups.OIDs[oc.RegisteredObjectID];
}
sb.AppendLine($"Data Type: {dataType}");
sb.AppendLine($"Data Length: {byteSize} {byteLevel}");
return(sb.ToString());
}
return("Could not find BOC/Object Classification Triplet");
}
// Adds an ObjectClassification to the AR view, either by creating a new box or reusing an old one that is nearby
private void AddObjectClassification(ObjectClassification objectClassification)
{
List <ARRaycastHit> raycastHits = new List <ARRaycastHit>();
var middle = objectClassification.box.MiddlePoint();
// Convert from y-increases-downward to y-increases-upward coordinate space
middle.y = Screen.height - middle.y;
// Attempt to raycast
if (_arRaycastManager.Raycast(middle, raycastHits, TrackableType.PlaneWithinPolygon))
{
var raycastHitPosition = raycastHits[0].pose.position;
var surroundingHits = new List <List <ARRaycastHit> >();
new List <Vector2> {
Vector2.down, Vector2.left, Vector2.up, Vector2.right
}
// Go out by several pixels in each direction
.ConvertAll(it => it * SurroundingPixelDistance + middle)
.ForEachIndexed((position, index) =>
{
surroundingHits.Add(new List <ARRaycastHit>());
// Do a raycast to each surrounding position
_arRaycastManager.Raycast(position, surroundingHits[index], TrackableType.PlaneWithinPolygon);
});
var validSurroundingPointCount = surroundingHits
.FindAll(points => points.Count > 0)
.Count;
// Find all surrounding distances, divide each by number of distances, then sum for average distance
// After dividing by surrounding pixel distance, will result in distance per pixel
var distancePerPixel = surroundingHits
.FindAll(hits => hits.Count > 0)
.ConvertAll(hits => hits.First().pose.position)
.Aggregate(0.0f, (avg, position) =>
avg + (position - raycastHitPosition).magnitude / validSurroundingPointCount / SurroundingPixelDistance);
var hitPosition = raycastHits[0].pose.position;
var boundingBoxGameObject = FindCloseBoundingBoxForObject(objectClassification, hitPosition);
if (boundingBoxGameObject != null)
{
// Console.WriteLine("Re-using bounding box at center: " + hitPosition);
var boundingBox = boundingBoxGameObject.GetComponent <LabeledBoundingBox>();
boundingBox.UpdatesRemaining = TransientBoxUpdateCount;
boundingBox.SetPredictionScore(objectClassification.score);
}
else
{
// Console.WriteLine("Added bounding box at center: " + hitPosition);
_boundingBoxes.Add(GetNewBoundingBoxForClassification(objectClassification, hitPosition, distancePerPixel));
}
}
else // If it can't raycast, try to reuse any old box with the same label
{
var boundingBoxWithLabel = FindCloseBoundingBoxForObject(objectClassification, null);
if (boundingBoxWithLabel != null)
{
// Console.WriteLine("Re-using bounding box at old center: " + boundingBoxWithLabel.transform.position);
var boundingBox = boundingBoxWithLabel.GetComponent <LabeledBoundingBox>();
boundingBox.UpdatesRemaining = TransientBoxUpdateCount;
boundingBox.SetPredictionScore(objectClassification.score);
}
}
}
