/// <summary>
/// Updates the skeleton data from ZEDCamera call and send it to Skeleton Handler script.
/// </summary>
private void updateSkeletonData(DetectionFrame dframe)
{
#if FAKEMODE
if (avatarControlList.ContainsKey(0))
{
SkeletonHandler handler = avatarControlList[0];
handler.setFakeTest(indexFakeTest);
}
else
{
SkeletonHandler handler = ScriptableObject.CreateInstance <SkeletonHandler>();
handler.Create(Avatar, Vector3.zero);
avatarControlList.Add(0, handler);
}
#else
List <int> remainingKeyList = new List <int>(avatarControlList.Keys);
List <DetectedObject> newobjects = dframe.GetFilteredObjectList(showON, showSEARCHING, showOFF);
/*if (dframe.rawObjectsFrame.detectionModel!= sl.DETECTION_MODEL.HUMAN_BODY_ACCURATE &&
* dframe.rawObjectsFrame.detectionModel!= sl.DETECTION_MODEL.HUMAN_BODY_FAST)
* {
* Debug.Log("Wrong model selected : " + dframe.rawObjectsFrame.detectionModel);
* return;
* }*/
foreach (DetectedObject dobj in newobjects)
{
int person_id = dobj.rawObjectData.id;
//Avatar controller already exist --> update position
if (avatarControlList.ContainsKey(person_id))
{
SkeletonHandler handler = avatarControlList[person_id];
UpdateAvatarControl(handler, dobj.rawObjectData, useAvatar);
// remove keys from list
remainingKeyList.Remove(person_id);
}
else
{
SkeletonHandler handler = ScriptableObject.CreateInstance <SkeletonHandler>();
Vector3 spawnPosition = zedManager.GetZedRootTansform().TransformPoint(dobj.rawObjectData.rootWorldPosition);
handler.Create(Avatar, spawnPosition);
handler.initSkeleton(person_id);
avatarControlList.Add(person_id, handler);
UpdateAvatarControl(handler, dobj.rawObjectData, useAvatar);
}
}
foreach (int index in remainingKeyList)
{
SkeletonHandler handler = avatarControlList[index];
handler.Destroy();
avatarControlList.Remove(index);
}
#endif
}
/// <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]);
}
}
/// <summary>
/// Given a frame of object detections, positions a canvas object to represent every visible object
/// to encompass the object within the 2D image from the ZED.
/// <para>Called from ZEDManager.OnObjectDetection each time there's a new detection frame available.</para>
/// </summary>
public void Visualize2DBoundingBoxes(DetectionFrame dframe)
{
//Clear any masks that were displayed last frame, to avoid memory leaks.
DestroyLastFrameMaskTextures();
//Debug.Log("Received frame with " + dframe.detectedObjects.Count + " objects.");
//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);
//Test just setting box to first available.
foreach (DetectedObject dobj in newobjects)
{
//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 relevant box. This function will create a new one if it wasn't designated yet.
RectTransform bbox = GetBBoxForObject(dobj);
BBox2DHandler idtext = bbox.GetComponentInChildren <BBox2DHandler>();
if (idtext)
{
float disttobox = Vector3.Distance(dobj.detectingZEDManager.GetLeftCameraTransform().position, dobj.Get3DWorldPosition());
idtext.SetDistance(disttobox);
}
#if UNITY_2018_3_OR_NEWER
float xmod = canvas.GetComponent <RectTransform>().rect.width / zedManager.zedCamera.ImageWidth;
Rect objrect = dobj.Get2DBoundingBoxRect(xmod);
#else
Rect objrect = dobj.Get2DBoundingBoxRect();
#endif
//Adjust the size of the RectTransform to encompass the object.
bbox.sizeDelta = new Vector2(objrect.width, objrect.height);
bbox.anchoredPosition = new Vector2(objrect.x, objrect.y);
/*
#if UNITY_2018_3_OR_NEWER
* float xmod = canvas.GetComponent<RectTransform>().rect.width / zedManager.zedCamera.ImageWidth;
* bbox.anchoredPosition = new Vector2(bbox.anchoredPosition.x * xmod, bbox.anchoredPosition.y);
* bbox.sizeDelta *= xmod;
#endif
*/
//Apply the mask.
if (showObjectMask)
{
//Make a new image for this new mask.
Texture2D maskimage;
if (dobj.GetMaskTexture(out maskimage, false))
{
idtext.SetMaskImage(maskimage); //Apply to 2D bbox.
lastFrameMasks.Add(maskimage); //Cache the texture so it's deleted next time we update our objects.
}
}
}
//Remove boxes for objects that the ZED can no longer see.
foreach (int id in activeids)
{
ReturnBoxToPool(id, liveBBoxes[id]);
}
SortActiveObjectsByDepth(); //Sort all object transforms so that ones with further depth appear behind objects that are closer.
}
