/// <summary>
/// Returs the RectTransform within the GameObject (instantiated from boundingBoxPrefab) that represents the provided DetectedObject.
/// If none exists, it retrieves one from the pool (or instantiates a new one if none is available) and
/// sets it up with the proper ID and colors.
/// </summary>
private RectTransform GetBBoxForObject(DetectedObject dobj)
{
if (!liveBBoxes.ContainsKey(dobj.id))
{
GameObject newbox = GetAvailableBBox();
newbox.transform.SetParent(canvas.transform, false);
newbox.name = "Object #" + dobj.id;
Color col;
if (idColorDict.ContainsKey(dobj.id))
{
col = idColorDict[dobj.id];
}
else
{
col = GetNextColor();
idColorDict.Add(dobj.id, col);
}
BBox2DHandler boxhandler = newbox.GetComponent <BBox2DHandler>();
if (boxhandler)
{
boxhandler.SetColor(col);
boxhandler.SetID(dobj.id);
}
RectTransform newrecttrans = newbox.GetComponent <RectTransform>();
if (!newrecttrans)
{
UnityEngine.Debug.LogError("BBox prefab needs a RectTransform in the root object.");
return(null);
}
liveBBoxes[dobj.id] = newrecttrans;
return(newrecttrans);
}
else
{
return(liveBBoxes[dobj.id]);
}
}
/// <summary>
/// Sorts all objects in the canvas based on their distance from the camera, so that closer objects overlap further objects.
/// </summary>
private void SortActiveObjectsByDepth()
{
List <BBox2DHandler> handlers = new List <BBox2DHandler>();
foreach (Transform child in canvas.transform)
{
BBox2DHandler handler = child.GetComponent <BBox2DHandler>();
if (handler)
{
handlers.Add(handler);
}
}
handlers.Sort((x, y) => y.currentDistance.CompareTo(x.currentDistance));
for (int i = 0; i < handlers.Count; i++)
{
handlers[i].transform.SetSiblingIndex(i);
}
}
/// <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.
}
