private async void OnObjectsDetected([NotNull] Task <List <DetectedObject> > detectedObjectsTask)
{
if (detectedObjectsTask == null)
{
throw new ArgumentNullException(nameof(detectedObjectsTask));
}
if (detectedObjectsTask.Result == null)
{
return;
}
List <DetectedObject> detectedObjects = await detectedObjectsTask;
if (detectedObjects.Count == 0)
{
Debug.Log("No objects detected");
}
if (_objectDetectionService.detectOnRepeat)
{
List <TrackedObject> trackedObjects = detectedObjectsTask.Result.Select(detectedObject => new TrackedObject(detectedObject)).ToList();
FPSUtils.TrackTick();
Vector2 unprojectionOffset = ObjectTrackingService.unprojectionOffset;
_visualizationManager.UpdateTrackedObjects(trackedObjects, unprojectionOffset);
}
else
{
ObjectTrackingService.Reset();
List <TrackedObject> trackedObjects = ObjectTrackingService.InitializeTrackers(detectedObjects);
if (detectedObjects.Count != trackedObjects.Count)
{
Debug.LogWarning("Could not initialize tracker for all detected objects");
}
Vector2 unprojectionOffset = ObjectTrackingService.unprojectionOffset;
_visualizationManager.UpdateTrackedObjects(trackedObjects, unprojectionOffset);
}
}
public List <TrackedObject> TrackSync(CameraFrame frame)
{
if (frame == null)
{
throw new ArgumentNullException(nameof(frame));
}
stopWatch.Reset();
stopWatch.Start();
List <TrackedObject> trackedObjects = ObjectTracker.Update(frame);
stopWatch.Stop();
FPSUtils.TrackTick();
_trackedObjects = trackedObjects;
return(trackedObjects);
}
/// <summary>
/// Depending on color format, the frame is passed on or buffered for conversion.
/// </summary>
private void OnFrameArrived(object sender, FrameArrivedEventArgs e)
{
if (Format == ColorFormat.Grayscale)
{
_frame = e.Frame;
FPSUtils.VideoTick();
FrameArrived?.Invoke(this, e);
}
else
{
if (IsProcessingFrame)
{
return;
}
IsProcessingFrame = true;
CurrentCameraFrame = e.Frame;
}
}
/// <summary>
/// Invoked if the NV12 to RGB conversion is complete and the data is ready to be read to the CPU.
/// </summary>
private void OnCompleteReadback(AsyncGPUReadbackRequest request)
{
if (request.hasError)
{
Debug.LogError("GPU readback error");
return;
}
MatUtils.copyToMat(request.GetData <uint>(), _rgb);
Core.flip(_rgb, _rgb, 0); // image is flipped on x-axis
CameraFrame newFrame = new CameraFrame(_rgb, CurrentCameraFrame.Intrinsic, CurrentCameraFrame.Extrinsic, CurrentCameraFrame.Width, CurrentCameraFrame.Height, CurrentCameraFrame.FrameCount, Format);
FrameArrivedEventArgs args = new FrameArrivedEventArgs(newFrame);
_frame = newFrame;
FrameArrived?.Invoke(this, args);
FPSUtils.VideoTick();
NewFrameAvailable = true;
IsProcessingFrame = false;
}
private void LateUpdate()
{
_renderDeltaTime = FPSUtils.GetRenderDeltaTime();
_trackDeltaTime = FPSUtils.GetTrackDeltaTime();
_videoDeltaTime = FPSUtils.GetVideoDeltaTime();
if (_displayRenderFPS)
{
renderFPS.text = $"Render: {_renderDeltaTime:0.0} ms ({GetRenderFPS():0.} fps)";
}
if (_displayVideoFPS)
{
videoFPS.text = $"Video: {_videoDeltaTime:0.0} ms ({GetVideoFPS():0.} fps)";
}
if (_displayTrackFPS)
{
trackFPS.text = $"Track: {_trackDeltaTime:0.0} ms ({GetTrackFPS():0.} fps)";
}
}
private void LateUpdate()
{
HandleKeyboardInput();
FPSUtils.RenderTick();
}
void Start()
{
fpsUtils = GameObject.Find("FPS").GetComponent <FPSUtils>();
}
