WIP: positionCalculation

Assembly-CSharp.csproj

@@ -207,6 +207,8 @@
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\LookAtCameraPartialAxis.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\PlaneDetection\ZEDPlaneDetectionManager.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\Utilities\ZEDLogMessage.cs" />
+    <Compile Include="Assets\StreetLight\Interfaces\IPositionCalculator.cs" />
+    <Compile Include="Assets\StreetLight\Scripts\PositionCalculator.cs" />
   </ItemGroup>
   <ItemGroup>
     <None Include="Assets\ZED\Examples\GreenScreen\Shaders\Mask_Quad.shader" />

Assets/Scenes/BoundingBoxes.unity

@@ -386,6 +386,104 @@ PrefabInstance:
       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
+--- !u!1 &686470193
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 686470197}
+  - component: {fileID: 686470196}
+  - component: {fileID: 686470195}
+  - component: {fileID: 686470194}
+  m_Layer: 0
+  m_Name: CylinderUR
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!136 &686470194
+CapsuleCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 686470193}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  m_Radius: 0.5000001
+  m_Height: 2
+  m_Direction: 1
+  m_Center: {x: 0.000000059604645, y: 0, z: -0.00000008940697}
+--- !u!23 &686470195
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 686470193}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RayTraceProcedural: 0
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+  m_AdditionalVertexStreams: {fileID: 0}
+--- !u!33 &686470196
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 686470193}
+  m_Mesh: {fileID: 10206, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!4 &686470197
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 686470193}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 11.2, y: 0, z: 4.8}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 11
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &686810653
 GameObject:
   m_ObjectHideFlags: 0
@@ -723,6 +821,104 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 2
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &871516467
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 871516471}
+  - component: {fileID: 871516470}
+  - component: {fileID: 871516469}
+  - component: {fileID: 871516468}
+  m_Layer: 0
+  m_Name: CylinderDR
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!136 &871516468
+CapsuleCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 871516467}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  m_Radius: 0.5000001
+  m_Height: 2
+  m_Direction: 1
+  m_Center: {x: 0.000000059604645, y: 0, z: -0.00000008940697}
+--- !u!23 &871516469
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 871516467}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RayTraceProcedural: 0
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+  m_AdditionalVertexStreams: {fileID: 0}
+--- !u!33 &871516470
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 871516467}
+  m_Mesh: {fileID: 10206, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!4 &871516471
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 871516467}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 10, y: 0, z: -1.9}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 12
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &954312568
 GameObject:
   m_ObjectHideFlags: 0
@@ -1016,6 +1212,104 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 6
   m_LocalEulerAnglesHint: {x: 90, y: 0, z: 0}
+--- !u!1 &1613512745
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1613512749}
+  - component: {fileID: 1613512748}
+  - component: {fileID: 1613512747}
+  - component: {fileID: 1613512746}
+  m_Layer: 0
+  m_Name: CylinderDL
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!136 &1613512746
+CapsuleCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1613512745}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  m_Radius: 0.5000001
+  m_Height: 2
+  m_Direction: 1
+  m_Center: {x: 0.000000059604645, y: 0, z: -0.00000008940697}
+--- !u!23 &1613512747
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1613512745}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RayTraceProcedural: 0
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+  m_AdditionalVertexStreams: {fileID: 0}
+--- !u!33 &1613512748
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1613512745}
+  m_Mesh: {fileID: 10206, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!4 &1613512749
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1613512745}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: -9.6, y: 0, z: -1.5}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 13
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &1689640812
 GameObject:
   m_ObjectHideFlags: 0
@@ -1067,3 +1361,101 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 9
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &1847039502
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1847039506}
+  - component: {fileID: 1847039505}
+  - component: {fileID: 1847039504}
+  - component: {fileID: 1847039503}
+  m_Layer: 0
+  m_Name: CylinderUL
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!136 &1847039503
+CapsuleCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1847039502}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  m_Radius: 0.5000001
+  m_Height: 2
+  m_Direction: 1
+  m_Center: {x: 0.000000059604645, y: 0, z: -0.00000008940697}
+--- !u!23 &1847039504
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1847039502}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RayTraceProcedural: 0
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+  m_AdditionalVertexStreams: {fileID: 0}
+--- !u!33 &1847039505
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1847039502}
+  m_Mesh: {fileID: 10206, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!4 &1847039506
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1847039502}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: -11.2, y: 0, z: 4.8}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 10
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}

Assets/StreetLight/Adapters/ZedPersonDetector.cs

@@ -16,12 +16,14 @@ namespace Assets.StreetLight.Adapters
     internal class ZedPersonDetector : IPersonDetector
     {
         private readonly ZEDManager zedManager;
+        private readonly IPositionCalculator positionCalculator;
 
         public event EventHandler<IEnumerable<Person>> PersonsDetected;
 
-        public ZedPersonDetector(ZEDManager zedManager)
+        public ZedPersonDetector(ZEDManager zedManager, IPositionCalculator positionCalculator)
         {
             this.zedManager = zedManager;
+            this.positionCalculator = positionCalculator;
             zedManager.OnObjectDetection += ZedManager_OnObjectDetection;
             zedManager.OnZEDReady += ZedManager_OnZEDReady;
 
@@ -42,11 +44,7 @@ namespace Assets.StreetLight.Adapters
 
             var detectedPersons = from p in persons
                                   let position = p.Get3DWorldPosition()
-                                  select new Person
-                                  {
-                                      Id = p.id,
-                                      GroundPosition = new Vector3(position.x, position.y, 0)
-                                  };
+                                  select new Person(positionCalculator, p.id, new Vector3(position.x, position.y, position.z));
 
             PersonsDetected?.Invoke(this, detectedPersons.ToList());
         }

Assets/StreetLight/Interfaces/IPositionCalculator.cs

@@ -0,0 +1,9 @@
+using UnityEngine;
+
+namespace Assets.StreetLight.Interfaces
+{
+    public interface IPositionCalculator
+    {
+        Vector3 WorldPositionToUnityPosition(Vector3 worldPosition);
+    }
+}

Assets/StreetLight/Interfaces/IPositionCalculator.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5485cbfc38a2d014d82ee326d801e2df
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/StreetLight/MyZED3DObjectVisualizer.cs

@@ -204,7 +204,7 @@ public class MyZED3DObjectVisualizer : MonoBehaviour
 
             //if (!ZEDSupportFunctions.IsVector3NaN(obj_position))
             //{
-            bbox.transform.position = new Vector3(person.GroundPosition.x, 0, person.GroundPosition.y);
+            bbox.transform.position = new Vector3(person.WorldPosition.x, 0, person.WorldPosition.y);
 
             if (floorBBoxPosition)
             {

Assets/StreetLight/PersonVisualizer.cs

@@ -33,44 +33,23 @@ public class PersonVisualizer : MonoBehaviour
 
     void Update()
     {
-        //List<int> activeids = liveBBoxes.Keys.ToList();
-
-        //foreach (var person in PersonManager.Persons)
-        //{
-        //    if (activeids.Contains(person.Id)) activeids.Remove(person.Id);
-        //    RectTransform bbox = GetBBoxForObject(person);
-
-        //    bbox.sizeDelta = new Vector2(20, 20);
-        //    bbox.anchoredPosition = person.GroundPosition;
-
-        //    foreach (int id in activeids)
-        //    {
-        //        ReturnBoxToPool(id, liveBBoxes[id]);
-        //    }
-        //}
-
         foreach (var person in PersonManager.Persons)
         {
-            minX = Math.Min(minX, person.GroundPosition.x);
-            maxX = Math.Max(maxX, person.GroundPosition.x);
-            minY = Math.Min(minY, person.GroundPosition.y);
-            maxY = Math.Max(maxY, person.GroundPosition.y);
-
-            //GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-            //sphere.transform.position = new Vector3(person.GroundPosition.x, 0, person.GroundPosition.y);
+            GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+            sphere.transform.position = new Vector3(person.UnityPosition.x, person.UnityPosition.y, person.UnityPosition.z);
 
-            var camera = Camera.main;
-            Vector3[] frustumCorners = new Vector3[4];
-            camera.CalculateFrustumCorners(new Rect(0, 0, 1, 1), camera.transform.position.y, Camera.MonoOrStereoscopicEye.Mono, frustumCorners);
+            //var camera = Camera.main;
+            //Vector3[] frustumCorners = new Vector3[4];
+            //camera.CalculateFrustumCorners(new Rect(0, 0, 1, 1), camera.transform.position.y, Camera.MonoOrStereoscopicEye.Mono, frustumCorners);
 
-            GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-            sphere.transform.position = new Vector3(0, 0, 0);
-            sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-            sphere.transform.position = new Vector3(0, 0, Camera.main.rect.width);
-            sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-            sphere.transform.position = new Vector3(Camera.main.rect.height, 0, 0);
-            sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-            sphere.transform.position = new Vector3(Camera.main.rect.height, 0, Camera.main.rect.width);
+            //GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+            //sphere.transform.position = new Vector3(0, 0, 0);
+            //sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+            //sphere.transform.position = new Vector3(0, 0, Camera.main.rect.width);
+            //sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+            //sphere.transform.position = new Vector3(Camera.main.rect.height, 0, 0);
+            //sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+            //sphere.transform.position = new Vector3(Camera.main.rect.height, 0, Camera.main.rect.width);
         }
     }
 

Assets/StreetLight/Poco/Person.cs

@@ -1,10 +1,21 @@
-using UnityEngine;
+using Assets.StreetLight.Interfaces;
+using UnityEngine;
 
 namespace Assets.StreetLight.Poco
 {
     public class Person
     {
+        private readonly IPositionCalculator positionCalculator;
+
         public int Id { get; set; }
-        public Vector2 GroundPosition { get; set; }
+        public Vector3 WorldPosition { get; set; }
+        public Vector3 UnityPosition => positionCalculator.WorldPositionToUnityPosition(WorldPosition);
+
+        public Person(IPositionCalculator positionCalculator, int id, Vector3 worldPosition)
+        {
+            this.positionCalculator = positionCalculator;
+            Id = id;
+            WorldPosition = worldPosition;
+        }
     }
 }

Assets/StreetLight/Scripts/PersonManager.cs

@@ -4,6 +4,7 @@ using Assets.StreetLight.Poco;
 using System.Collections;
 using System.Collections.Generic;
 using System.Collections.ObjectModel;
+using System.Runtime.CompilerServices;
 using UnityEngine;
 
 public class PersonManager : MonoBehaviour
@@ -14,8 +15,24 @@ public class PersonManager : MonoBehaviour
 
     void Start()
     {
+        var cylinderUL = GameObject.Find("CylinderUL");
+        var cylinderUR = GameObject.Find("CylinderUR");
+        var cylinderDR = GameObject.Find("CylinderDR");
+        var cylinderDL = GameObject.Find("CylinderDL");
+        var sphere = GameObject.Find("Sphere");
+        // World to Unity Position
+        var calibrationVectors = new Dictionary<Vector3, Vector3> {
+            { new Vector3(-0.5225359f, -2.012292f, 3.934204f), new Vector3(cylinderUL.transform.position.x, cylinderUL.transform.position.y, cylinderUL.transform.position.z) },
+            { new Vector3(2.538264f, -2.015675f, 2.318164f), new Vector3(cylinderUR.transform.position.x, cylinderUR.transform.position.y, cylinderUR.transform.position.z) },
+            { new Vector3(-1.551626f, -1.86093f, 2.275376f), new Vector3(cylinderDR.transform.position.x, cylinderDR.transform.position.y, cylinderDR.transform.position.z) },
+            { new Vector3(-1.095514f, -1.981828f, 2.849167f), new Vector3(cylinderDL.transform.position.x, cylinderDL.transform.position.y, cylinderDL.transform.position.z) },
+            { new Vector3(0.6326299f, -1.908295f, 2.349819f), new Vector3(cylinderDL.transform.position.x, cylinderDL.transform.position.y, cylinderDL.transform.position.z) },
+        };
+
+        var positionCalculator = new PositionCalculator(calibrationVectors);
+
         Persons = new ObservableCollection<Person>();
-        personDetector = new ZedPersonDetector(FindObjectOfType<ZEDManager>());
+        personDetector = new ZedPersonDetector(FindObjectOfType<ZEDManager>(), positionCalculator);
         personDetector.PersonsDetected += PersonDetector_PersonsDetected;
     }
 

Assets/StreetLight/Scripts/PositionCalculator.cs

@@ -0,0 +1,18 @@
+using Assets.StreetLight.Interfaces;
+using System.Collections.Generic;
+using UnityEngine;
+
+internal class PositionCalculator : IPositionCalculator
+{
+    private Dictionary<Vector3, Vector3> calibrationVectors;
+
+    public PositionCalculator(Dictionary<Vector3, Vector3> calibrationVectors)
+    {
+        this.calibrationVectors = calibrationVectors;
+    }
+
+    public Vector3 WorldPositionToUnityPosition(Vector3 worldPosition)
+    {
+        throw new System.NotImplementedException();
+    }
+}

Assets/StreetLight/Scripts/PositionCalculator.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0b272d3fabafc244e9581c99ed63559c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: