Cleanup, create prefab

Assets/Scenes.meta → Assets/Calibration.meta

@@ -1,5 +1,5 @@
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+guid: 5e3488ba1461f9b4ca1cba28d65d547f
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Assets/Scenes/CalibrationTest.unity → Assets/Calibration/CalibrationTest.unity

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Assets/Pong.meta

@@ -0,0 +1,8 @@
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+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
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Assets/Scenes/Pong.unity → Assets/Pong/Pong.unity

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Assets/StreamingAssets/Configuration.json

@@ -1,5 +1,3 @@
 {
-	"OutputCalibrationFilesDirectory": "C:\\Git\\git.tk.informatik.tu-darmstadt.de\\StreetLight\\Calibration",
-	"InputCalibrationFilePath": "C:\\Git\\git.tk.informatik.tu-darmstadt.de\\StreetLight\\CalibrationBright2022-10-01_19-13-20.csv",
 	"HomographyFilePath" : "C:\\Users\\nick.steyer\\SmartStreetLight\\testEntfernthomography.csv"
 }

Assets/StreetLight/Configuration.cs

@@ -7,43 +7,6 @@ namespace Assets.StreetLight
 {
     public sealed class Configuration
     {
-        //private string outputCalibrationFilesDirectory;
-
-        ///// <summary>
-        ///// The directory path where new calibration files are saved when the calibration is run.
-        ///// </summary>
-        //[JsonRequired]
-        //public string OutputCalibrationFilesDirectory
-        //{
-        //    get => outputCalibrationFilesDirectory;
-        //    set
-        //    {
-        //        if (!Directory.Exists(value))
-        //        {
-        //            throw new InvalidOperationException($"Directory \"{value}\" does not exist.");
-        //        }
-        //        outputCalibrationFilesDirectory = value;
-        //    }
-        //}
-
-        //private string inputCalibrationFilePath;
-        ///// <summary>
-        ///// The file path to the calibration file that is used as input for the actual calibration.
-        ///// </summary>
-        //[JsonRequired]
-        //public string InputCalibrationFilePath
-        //{
-        //    get => inputCalibrationFilePath;
-        //    set
-        //    {
-        //        if (!File.Exists(value))
-        //        {
-        //            throw new InvalidOperationException($"File \"{value}\" does not exist.");
-        //        }
-        //        inputCalibrationFilePath = value;
-        //    }
-        //}
-
         private string homographyFilePath;
         /// <summary>
         /// The file path to the csv file containing the homography for mapping world coodrinates to Unity coordinates.

Assets/StreetLight/MyZED3DObjectVisualizer.cs

@@ -1,417 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using Assets.Logging;
-using Assets.StreetLight.Poco;
-using Assets.StreetLight.Scripts;
-using Assets.ZED.SDK.Helpers.Scripts;
-using UnityEngine;
-
-/// <summary>
-/// For the ZED 3D Object Detection sample.
-/// Listens for new object detections (via the ZEDManager.OnObjectDetection event) and moves + resizes cube prefabs
-/// to represent them.
-/// <para>Works by instantiating a pool of prefabs, and each frame going through the DetectedFrame received from the event
-/// to make sure each detected object has a representative GameObject. Also disables GameObjects whose objects are no
-/// longer visible and returns them to the pool.</para>
-/// </summary>
-public class MyZED3DObjectVisualizer : MonoBehaviour
-{
-    /// <summary>
-    /// Prefab object that's instantiated to represent detected objects.
-    /// This class expects the object to have the default Unity cube as a mesh - otherwise, it may be scaled incorrectly.
-    /// It also expects a BBox3DHandler component in the root object, but you won't have errors if it lacks one.
-    /// </summary>
-    [Space(5)]
-    [Header("Box Appearance")]
-    [Tooltip("Prefab object that's instantiated to represent detected objects. " +
-        "This class expects the object to have the default Unity cube as a mesh - otherwise, it may be scaled incorrectly.\r\n" +
-        "It also expects a BBox3DHandler component in the root object, but you won't have errors if it lacks one. ")]
-    public GameObject boundingBoxPrefab;
-
-
-    /// <summary>
-    /// The colors that will be cycled through when assigning colors to new bounding boxes.
-    /// </summary>
-    [Tooltip("The colors that will be cycled through when assigning colors to new bounding boxes. ")]
-    //[ColorUsage(true, true)] //Uncomment to enable HDR colors in versions of Unity that support it.
-    public List<Color> boxColors = new List<Color>()
-    {
-        new Color(.231f, .909f, .69f, 1),
-        new Color(.098f, .686f, .816f, 1),
-        new Color(.412f, .4f, .804f, 1),
-        new Color(1, .725f, 0f, 1),
-        new Color(.989f, .388f, .419f, 1)
-    };
-
-
-    /// <summary>
-    /// If true, bounding boxes are rotated to face the camera that detected them. This has more parity with the SDK and will generally result in more accurate boxes.
-    /// If false, the boxes are calculated from known bounds to face Z = 1.
-    /// </summary>
-    [Space(5)]
-    [Header("Box Transform")]
-    [Tooltip("If true, bounding boxes are rotated to face the camera that detected them. If false, the boxes are calculated from known bounds to face Z = 1. " +
-        "'False' has more parity with the SDK and will generally result in more accurate boxes.")]
-    public bool boxesFaceCamera = false;
-    /// <summary>
-    /// If true, transforms the localScale of the root bounding box transform to match the detected 3D bounding box.
-    /// </summary>
-    [Tooltip("If true, transforms the localScale of the root bounding box transform to match the detected 3D bounding box. ")]
-    public bool transformBoxScale = true;
-    /// <summary>
-    /// If true, and transformBoxScale is also true, modifies the center and Y bounds of each detected bounding box so that its
-    /// bottom is at floor level (Y = 0) while keeping the other corners at the same place.
-    /// </summary>
-    [Tooltip("If true, and transformBoxScale is also true, modifies the center and Y bounds of each detected bounding box so that its " +
-        "bottom is at floor level (Y = 0) while keeping the other corners at the same place. WARNING: Estimate Initial position must be set to true.")]
-    public bool transformBoxToTouchFloor = true;
-    /// <summary>
-    /// If true, sets the Y value of the center of the bounding box to 0. Use for bounding box prefabs meant to be centered at the user's feet.
-    /// </summary>
-    [Tooltip("If true, sets the Y value of the center of the bounding box to 0. Use for bounding box prefabs meant to be centered at the user's feet. ")]
-    [LabelOverride("Box Center Always On Floor")]
-    public bool floorBBoxPosition = false;
-
-    /// <summary>
-    /// Display bounding boxes of objects that are actively being tracked by object tracking, where valid positions are known.
-    /// </summary>
-    [Space(5)]
-    [Header("Filters")]
-    [Tooltip("Display bounding boxes of objects that are actively being tracked by object tracking, where valid positions are known. ")]
-    public bool showONTracked = true;
-    /// <summary>
-    /// Display bounding boxes of objects that were actively being tracked by object tracking, but that were lost very recently.
-    /// </summary>
-    [Tooltip("Display bounding boxes of objects that were actively being tracked by object tracking, but that were lost very recently.")]
-    public bool showSEARCHINGTracked = false;
-    /// <summary>
-    /// Display bounding boxes of objects that are visible but not actively being tracked by object tracking (usually because object tracking is disabled in ZEDManager).
-    /// </summary>
-    [Tooltip("Display bounding boxes of objects that are visible but not actively being tracked by object tracking (usually because object tracking is disabled in ZEDManager).")]
-    public bool showOFFTracked = false;
-
-    /// <summary>
-    /// How wide a bounding box has to be in order to be displayed. Use this to remove tiny bounding boxes from partially-occluded objects.
-    /// (If you have this issue, it can also be helpful to set showSEARCHINGTracked to OFF.)
-    /// </summary>
-    [Tooltip("How wide a bounding box has to be in order to be displayed. Use this to remove tiny bounding boxes from partially-occluded objects.\r\n" +
-        "(If you have this issue, it can also be helpful to set showSEARCHINGTracked to OFF.)")]
-    public float minimumWidthToDisplay = 0.3f;
-
-
-    /// <summary>
-    /// When a detected object is first given a box and assigned a color, we store it so that if the object
-    /// disappears and appears again later, it's assigned the same color.
-    /// This is also solvable by making the color a function of the ID number itself, but then you can get
-    /// repeat colors under certain conditions.
-    /// </summary>
-    private Dictionary<int, Color> idColorDict = new Dictionary<int, Color>();
-
-    /// <summary>
-    /// Pre-instantiated bbox prefabs currently not in use.
-    /// </summary>
-    private Stack<GameObject> bboxPool = new Stack<GameObject>();
-
-    /// <summary>
-    /// All active GameObjects that were instantiated to the prefab and that currently represent a detected object.
-    /// Key is the object's objectID.
-    /// </summary>
-    private Dictionary<int, GameObject> liveBBoxes = new Dictionary<int, GameObject>();
-
-    /// <summary>
-    /// Used to know which of the available colors will be assigned to the next bounding box to be used.
-    /// </summary>
-    private int nextColorIndex = 0;
-
-    PersonManager PersonManager => personManagerLazy.Value;
-    Lazy<PersonManager> personManagerLazy;
-
-    private void Awake()
-    {
-        personManagerLazy = new(FindObjectOfType<PersonManager>());
-    }
-
-    // Use this for initialization
-    void Start()
-    {
-
-    }
-
-    private void Update()
-    {
-        Visualize3DBoundingBoxes(PersonManager.Persons);
-    }
-
-    private void ZedManager_OnObjectDetection(DetectionFrame objFrame)
-    {
-        //Visualize3DBoundingBoxes(objFrame);
-        UpdateMinMaxCoordinates(objFrame);
-    }
-
-    private void UpdateMinMaxCoordinates(DetectionFrame objFrame)
-    {
-        List<DetectedObject> newobjects = objFrame.GetFilteredObjectList(showONTracked, showSEARCHINGTracked, showOFFTracked);
-        foreach (var detectedObject in newobjects)
-        {
-            Bounds objbounds = detectedObject.Get3DWorldBounds();
-            if (objbounds.size.x < minimumWidthToDisplay || objbounds.size == Vector3.zero) { }
-            {
-                Vector3 obj_position = detectedObject.Get3DWorldPosition();
-                minX = Math.Min(minX, obj_position.x);
-                maxX = Math.Max(maxX, obj_position.x);
-                minY = Math.Min(minY, obj_position.y);
-                maxY = Math.Max(maxY, obj_position.y);
-                minZ = Math.Min(minZ, obj_position.z);
-                maxZ = Math.Max(maxZ, obj_position.z);
-            }
-        }
-    }
-
-    float maxX = 0.9971107f;
-    float minX = -0.7968294f;
-    float maxY = int.MinValue;
-    float minY = int.MaxValue;
-    float maxZ = 2.373606f;
-    float minZ = 0.4380694f;
-
-    /// <summary>
-    /// Given a frame of object detections, positions a GameObject to represent every visible object
-    /// in that object's actual 3D location within the world.
-    /// <para>Called from ZEDManager.OnObjectDetection each time there's a new detection frame available.</para>
-    /// </summary>
-    private void Visualize3DBoundingBoxes(IEnumerable<Person> persons)
-    {
-        //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();
-
-        foreach (var person in persons)
-        {
-            //GameObject bump = GameObject.Find($"Bump{count}");
-            //Bounds objbounds = dobj.Get3DWorldBounds();
-            //Make sure the object is big enough to count. We filter out very small boxes.
-            //if (objbounds.size.x < minimumWidthToDisplay || objbounds.size == Vector3.zero) { }
-            //{
-            //Remove the ID from the list we'll use to clear no-longer-visible boxes.
-            if (activeids.Contains(person.Id)) activeids.Remove(person.Id);
-
-            //Get the box and update its distance value.
-            GameObject bbox = GetBBoxForObject(person);
-
-            //Move the box into position.
-            //Vector3 obj_position = dobj.Get3DWorldPosition();
-
-            //if (!ZEDSupportFunctions.IsVector3NaN(obj_position))
-            //{
-            bbox.transform.position = new Vector3(person.WorldPosition.x, 0, person.WorldPosition.y);
-
-            if (floorBBoxPosition)
-            {
-                bbox.transform.position = new Vector3(bbox.transform.position.x, 0, bbox.transform.position.z);
-            }
-
-            var x = bbox.transform.position.x;
-
-            var totalDistance = maxX - minX;
-            var distanceFromStart = x - minX;
-            var ratio = distanceFromStart / totalDistance;
-            var newX = -12 + ratio * 24;
-
-            var z = bbox.transform.position.z;
-
-            totalDistance = maxZ - minZ;
-            distanceFromStart = z - minZ;
-            ratio = distanceFromStart / totalDistance;
-            var newZ = -6 + ratio * 12;
-
-            bbox.transform.position = new Vector3(newX, 0, newZ);
-            //bbox.transform.rotation = dobj.Get3DWorldRotation(boxesFaceCamera); //Rotate them.
-
-            //}
-
-            //Transform the box if desired.
-            //if (transformBoxScale)
-            //{
-            //    //We'll scale the object assuming that it's mesh is the default Unity cube, or something sized equally.
-            //    if (transformBoxToTouchFloor)
-            //    {
-            //        Vector3 startscale = objbounds.size;
-            //        float distfromfloor = bbox.transform.position.y - (objbounds.size.y / 2f);
-            //        bbox.transform.localScale = new Vector3(objbounds.size.x, objbounds.size.y + distfromfloor, objbounds.size.z);
-            //        Vector3 newpos = bbox.transform.position;
-            //        newpos.y -= (distfromfloor / 2f);
-
-            //        bbox.transform.position = newpos;
-
-            //    }
-            //    else
-            //    {
-            //        bbox.transform.localScale = objbounds.size;
-            //    }
-            //}
-
-            //Now that we've adjusted position, tell the handler on the prefab to adjust distance display..
-            BBox3DHandler boxhandler = bbox.GetComponent<BBox3DHandler>();
-            //if (boxhandler)
-            //{
-            //    float disttobox = Vector3.Distance(dobj.detectingZEDManager.GetLeftCameraTransform().position, dobj.Get3DWorldPosition());
-            //    boxhandler.SetDistance(disttobox);
-
-            //    boxhandler.UpdateBoxUVScales();
-            //    boxhandler.UpdateLabelScaleAndPosition();
-            //}
-
-            //DrawDebugBox(dobj);
-            // }
-
-            //Remove boxes for objects that the ZED can no longer see.
-            foreach (int id in activeids)
-            {
-                ReturnBoxToPool(id, liveBBoxes[id]);
-            }
-        }
-    }
-
-    /// <summary>
-    /// Returs 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 GameObject GetBBoxForObject(Person dobj)
-    {
-        if (!liveBBoxes.ContainsKey(dobj.Id))
-        {
-            GameObject newbox = GetAvailableBBox();
-            newbox.name = "Object #" + dobj.Id;
-
-            BBox3DHandler boxhandler = newbox.GetComponent<BBox3DHandler>();
-
-            Color col;
-            if (idColorDict.ContainsKey(dobj.Id))
-            {
-                col = idColorDict[dobj.Id];
-            }
-            else
-            {
-                col = GetNextColor();
-                idColorDict.Add(dobj.Id, col);
-            }
-
-            if (boxhandler)
-            {
-                boxhandler.SetColor(col);
-                boxhandler.SetID(dobj.Id.ToString());
-            }
-
-            liveBBoxes[dobj.Id] = newbox;
-            return newbox;
-        }
-        else return liveBBoxes[dobj.Id];
-    }
-
-    /// <summary>
-    /// Gets an available GameObject (instantiated from boundingBoxPrefab) from the pool,
-    /// or instantiates a new one if none are available.
-    /// </summary>
-    /// <returns></returns>
-    private GameObject GetAvailableBBox()
-    {
-        if (bboxPool.Count == 0)
-        {
-            GameObject newbbox = Instantiate(boundingBoxPrefab);
-            newbbox.transform.SetParent(transform, false);
-            bboxPool.Push(newbbox);
-        }
-
-        GameObject bbox = bboxPool.Pop();
-        bbox.SetActive(true);
-
-        return bbox;
-    }
-
-    /// <summary>
-    /// Disables a GameObject that was being used to represent an object (of the given id) and puts it back
-    /// into the pool for later use.
-    /// </summary>
-    private void ReturnBoxToPool(int id, GameObject bbox)
-    {
-        bbox.SetActive(false);
-        bbox.name = "Unused";
-
-        bboxPool.Push(bbox);
-
-        if (liveBBoxes.ContainsKey(id))
-        {
-            liveBBoxes.Remove(id);
-        }
-        else
-        {
-            Debug.LogError("Tried to remove object ID " + id + " from active bboxes, but it wasn't in the dictionary.");
-        }
-    }
-
-    /// <summary>
-    /// Returns a color from the boxColors list.
-    /// Colors are returned sequentially in order of their appearance in that list.
-    /// </summary>
-    /// <returns></returns>
-    private Color GetNextColor()
-    {
-        if (boxColors.Count == 0)
-        {
-            return new Color(.043f, .808f, .435f, 1);
-        }
-
-        if (nextColorIndex >= boxColors.Count)
-        {
-            nextColorIndex = 0;
-        }
-
-        Color returncol = boxColors[nextColorIndex];
-
-        nextColorIndex++;
-
-
-        return returncol;
-    }
-
-    private void OnDestroy()
-    {
-    }
-
-    /// <summary>
-    /// Draws a bounding box in the Scene window. Useful for debugging a 3D bbox's position relative to it.
-    /// </summary>
-    private void DrawDebugBox(DetectedObject dobj)
-    {
-        //Test bbox orientation.
-        Transform camtrans = dobj.detectingZEDManager.GetLeftCameraTransform();
-        Vector3[] corners = dobj.rawObjectData.worldBoundingBox;
-        Vector3[] rotcorners = new Vector3[8];
-        //Vector3[] corners3d = new Vector3[8];
-        Vector3[] corners3d = dobj.Get3DWorldCorners();
-        for (int i = 0; i < 8; i++)
-        {
-            Vector3 fixrot = camtrans.InverseTransformPoint(corners[i]);
-            rotcorners[i] = fixrot;
-        }
-
-
-        Debug.DrawLine(corners3d[0], corners3d[1], Color.red);
-        Debug.DrawLine(corners3d[1], corners3d[2], Color.red);
-        Debug.DrawLine(corners3d[2], corners3d[3], Color.red);
-        Debug.DrawLine(corners3d[3], corners3d[0], Color.red);
-
-        Debug.DrawLine(corners3d[4], corners3d[5], Color.red);
-        Debug.DrawLine(corners3d[5], corners3d[6], Color.red);
-        Debug.DrawLine(corners3d[6], corners3d[7], Color.red);
-        Debug.DrawLine(corners3d[7], corners3d[4], Color.red);
-
-        Debug.DrawLine(corners3d[0], corners3d[4], Color.red);
-        Debug.DrawLine(corners3d[1], corners3d[5], Color.red);
-        Debug.DrawLine(corners3d[2], corners3d[6], Color.red);
-        Debug.DrawLine(corners3d[3], corners3d[7], Color.red);
-    }
-}

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