private bool IsGCPInCameraView(Camera camera, GroundControlPoint gcp)
{
// Here, we check if the gcp is actually in front of the camera
Vector3 viewportPoint = camera.WorldToViewportPoint(gcp.position);
return(0 <= viewportPoint.x && viewportPoint.x <= 1 && 0 <= viewportPoint.y && viewportPoint.y <= 1 && 0 <= viewportPoint.z);
}
private bool HasNothingInFront(Texture2D screenShot, Camera camera, GroundControlPoint gcp)
{
// Here, we check if there is something between the camera and the gcp by comparing the color on the screenshow.
// Another way could be to use Raycasting, but we would need to have good fitting colliders for trees in those cases, and it could be computationally expensive.
Pixel pixel = WorldToPixel(camera, gcp.position);
bool a = AreTheSameColor(gcp.color, screenShot.GetPixel(pixel.x, pixel.y));
return(a);
}
private bool IsInSight(Texture2D screenShot, Camera camera, GroundControlPoint gcp)
{
return(IsGCPInCameraView(camera, gcp) && HasNothingInFront(screenShot, camera, gcp));
}
