public override void OnVisualize(Visualizer visualizer)
{
MaxTracked = Math.Max(MaxTracked, Detected.Length);
foreach (var detected in Detected)
{
Color color;
switch (detected.Label)
{
case "Car":
color = Color.green;
break;
case "Pedestrian":
color = Color.yellow;
break;
case "Bicycle":
color = Color.cyan;
break;
default:
color = Color.magenta;
break;
}
if (MapOrigin == null)
{
Debug.LogError("Fail to visualize Apollo perceptions due to null MapOrigin.");
return;
}
var position = MapOrigin.NorthingEastingToPosition(detected.Gps.Northing, detected.Gps.Easting);
position.y = (float)detected.Gps.Altitude - MapOrigin.AltitudeOffset;
var mapRotation = MapOrigin.transform.localRotation;
var rotationY = detected.Heading + mapRotation.eulerAngles.y;
Quaternion rotation = Quaternion.Euler(0, (float)rotationY, 0);
var transform = Matrix4x4.TRS(position, rotation, Vector3.one);
WireframeBoxes.Draw(transform, Vector3.zero, detected.Scale, color);
}
}