public void UpdateProperties()
{
Position = new Vector3(Corners.Average(p => p.position.x), Corners.Average(p => p.position.y), Corners.Average(p => p.position.z));
float heightAv = (Vector3.Distance(Corners[0].position, Corners[2].position) +
Vector3.Distance(Corners[1].position, Corners[7].position) +
Vector3.Distance(Corners[6].position, Corners[4].position) +
Vector3.Distance(Corners[3].position, Corners[5].position)) / 4;
float widthAv = (Vector3.Distance(Corners[0].position, Corners[1].position) +
Vector3.Distance(Corners[3].position, Corners[6].position) +
Vector3.Distance(Corners[2].position, Corners[7].position) +
Vector3.Distance(Corners[4].position, Corners[5].position)) / 4;
float deepAv = (Vector3.Distance(Corners[0].position, Corners[3].position) +
Vector3.Distance(Corners[1].position, Corners[6].position) +
Vector3.Distance(Corners[7].position, Corners[4].position) +
Vector3.Distance(Corners[2].position, Corners[5].position)) / 4;
Size = new Vector3(deepAv, heightAv, widthAv);
float angleAv = Mathf.Atan2(Corners[1].position.x - Corners[0].position.x, Corners[1].position.z - Corners[0].position.z) * Mathf.Rad2Deg +
Mathf.Atan2(Corners[6].position.x - Corners[3].position.x, Corners[6].position.z - Corners[3].position.z) * Mathf.Rad2Deg +
Mathf.Atan2(Corners[7].position.x - Corners[2].position.x, Corners[7].position.z - Corners[2].position.z) * Mathf.Rad2Deg +
Mathf.Atan2(Corners[4].position.x - Corners[5].position.x, Corners[4].position.z - Corners[5].position.z) * Mathf.Rad2Deg;
Rotation = Quaternion.Euler(0, angleAv / 4, 0);
// Update ObjectClass
ObjectClass = Scores.OrderByDescending(x => x.Value).FirstOrDefault().Key;
Score = Scores[ObjectClass] / NDetections;
Defined = (!Corners[0].occluded &&
!Corners[1].occluded &&
(!Corners[7].occluded || !Corners[2].occluded || !Corners[4].occluded || !Corners[5].occluded) &&
(!Corners[4].occluded || !Corners[5].occluded || !Corners[6].occluded || !Corners[3].occluded)) || Defined;
if (Defined)
{
Corners.ForEach(c => c.SetOccluded(false));
}
}