private VirtualObjectBox InstanceNewSemanticObject(SemanticObject _obj)
{
Transform obj_inst = Instantiate(prefDetectedObject, _obj.Position, _obj.Rotation).transform;
obj_inst.parent = tfFrameForObjects;
VirtualObjectBox result = obj_inst.GetComponentInChildren <VirtualObjectBox>();
result.InitializeSemanticObject(_obj);
return(result);
}
public Color32 GetColorObject(VirtualObjectBox vob)
{
Color32 newColor = new Color32((byte)Random.Range(0f, 255f), (byte)Random.Range(0f, 255f), (byte)Random.Range(0f, 255f), 255);
while (boxColors.ContainsKey(newColor))
{
newColor = new Color32((byte)Random.Range(0f, 255f), (byte)Random.Range(0f, 255f), (byte)Random.Range(0f, 255f), 255);
}
boxColors[newColor] = vob;
return(newColor);
}
private VirtualObjectBox Matching(SemanticObject obj1, ICollection <VirtualObjectBox> listToCompare)
{
VirtualObjectBox match = null;
float best_score = 999;
foreach (VirtualObjectBox vob in listToCompare)
{
List <SemanticObject.Corner> order = YNN(vob.semanticObject.Corners, obj1.Corners);
float score = CalculateMatchingScore(vob.semanticObject.Corners, order);
if (((score < thresholdMatchSameSype && obj1.ObjectClass.Equals(vob.semanticObject.ObjectClass)) ||
(score < thresholdMatchDiffType && !obj1.ObjectClass.Equals(vob.semanticObject.ObjectClass))) && score < best_score)
{
obj1.SetNewCorners(order);
match = vob;
best_score = score;
//Debug.Log("Union: " + obj1.Id+ " con: " + vob.semanticObject.Id + ", por distancia: " + score);
}//else { Debug.Log("NO Union: " + obj1.Id+ " con: " + vob.semanticObject.Id + ", por distancia: " + score); }
}
return(match);
}
private IEnumerator ProcessMsgs()
{
Rect rect = new Rect(0, 0, 640, 480);
Texture2D image = new Texture2D(640, 480, TextureFormat.RGB24, false);
RenderTexture renderTextureMask = new RenderTexture(640, 480, 24);
while (Application.isPlaying)
{
if (processingQueue.Count > 0)
{
DetectionArrayMsg _detections = processingQueue.Dequeue();
//Get view previous detections from bbCamera located in the origin
bbCamera.transform.position = _detections.origin.GetPositionUnity();
bbCamera.transform.rotation = _detections.origin.GetRotationUnity() * Quaternion.Euler(0f, 90f, 0f);
Dictionary <VirtualObjectBox, int> virtualObjectBoxInRange = new Dictionary <VirtualObjectBox, int>();
List <VirtualObjectBox> visibleVirtualObjectBox = new List <VirtualObjectBox>();
//int n = 0;
bool newIteration = true;
while (newIteration)
{
newIteration = false;
bbCamera.targetTexture = renderTextureMask;
bbCamera.Render();
RenderTexture.active = renderTextureMask;
image.ReadPixels(rect, 0, 0);
image.Apply();
var q = from x in image.GetPixels()
group x by x into g
let count = g.Count()
orderby count descending
select new { Value = g.Key, Count = count };
foreach (var xx in q)
{
if (boxColors.ContainsKey(xx.Value))
{
var vob = boxColors[xx.Value];
vob.gameObject.SetActive(false);
visibleVirtualObjectBox.Add(vob);
var distance = Vector3.Distance(vob.semanticObject.Position, bbCamera.transform.position);
if (deepRange.y >= distance && distance >= deepRange.x)
{
virtualObjectBoxInRange.Add(vob, xx.Count);
}
newIteration = true;
//Debug.Log("Value: " + xx.Value + " Count: " + xx.Count);
}
}
bbCamera.targetTexture = null;
RenderTexture.active = null; //Clean
//Destroy(renderTextureMask); //Free memory
if (q.Count() == 1)
{
break;
}
//n++;
}
foreach (VirtualObjectBox vob in visibleVirtualObjectBox)
{
vob.gameObject.SetActive(true);
}
List <VirtualObjectBox> detectedVirtualObjectBox = new List <VirtualObjectBox>();
foreach (DetectionMsg detection in _detections.detections)
{
SemanticObject virtualObject = new SemanticObject(detection.GetScores(),
detection.GetCorners(),
detection.occluded_corners);
//Check the type object is in the ontology
if (!OntologySystem.instance.CheckInteresObject(virtualObject.ObjectClass))
{
Log(virtualObject.ObjectClass + " - detected but it is not in the ontology", LogLevel.Error, true);
continue;
}
//Checks the distance to the object
var distance = Vector3.Distance(virtualObject.Position, bbCamera.transform.position);
if (distance < deepRange.x || distance > deepRange.y)
{
Log(virtualObject.ObjectClass + " - detected but it is not in deep range. Distance: " + distance, LogLevel.Normal, true);
continue;
}
//Insertion detection into the ontology
virtualObject = OntologySystem.instance.AddNewDetectedObject(virtualObject);
//Try to get a match
VirtualObjectBox match = Matching(virtualObject, virtualObjectBoxInRange.Keys);
//Match process
if (match != null)
{
match.NewDetection(virtualObject);
detectedVirtualObjectBox.Add(match);
}
else
{
Log("New object detected: " + virtualObject.ToString(), LogLevel.Developer);
m_objectDetected.Add(virtualObject);
VirtualObjectBox nvob = InstanceNewSemanticObject(virtualObject);
detectedVirtualObjectBox.Add(nvob);
}
nDetections++;
}
List <VirtualObjectBox> inRange = virtualObjectBoxInRange.Keys.ToList();
for (int i = 0; i < inRange.Count - 1; i++)
{
if (inRange[i] != null)
{
VirtualObjectBox match = null;
match = Matching(inRange[i].semanticObject, inRange.GetRange(i + 1, inRange.Count - i - 1));
if (match != null)
{
match.NewDetection(inRange[i].semanticObject);
inRange[i].RemoveVirtualBox();
}
}
}
detectedVirtualObjectBox.ForEach(dvob => virtualObjectBoxInRange.Remove(dvob));
foreach (KeyValuePair <VirtualObjectBox, int> o in virtualObjectBoxInRange)
{
if (o.Value > minPixelsMask)
{
o.Key.NewDetection(null);
}
}
}
yield return(null);
}
}