Assembly-CSharp-Editor.csproj

@@ -332,7 +332,7 @@
       <HintPath>Library\PackageCache\com.unity.collab-proxy@1.15.16\Lib\Editor\PlasticSCM\log4netPlastic.dll</HintPath>
     </Reference>
     <Reference Include="MathNet.Numerics">
-      <HintPath>Assets\MathNet.Numerics.dll</HintPath>
+      <HintPath>Assets\StreetLight\MathNet.Numerics.dll</HintPath>
     </Reference>
     <Reference Include="Unity.VisualScripting.Antlr3.Runtime">
       <HintPath>Library\PackageCache\com.unity.visualscripting@1.7.6\Runtime\VisualScripting.Flow\Dependencies\NCalc\Unity.VisualScripting.Antlr3.Runtime.dll</HintPath>

Assembly-CSharp.csproj

@@ -56,14 +56,12 @@
     <Analyzer Include="C:\Program Files\Microsoft Visual Studio\2022\Community\Common7\IDE\Extensions\Microsoft\Visual Studio Tools for Unity\Analyzers\Microsoft.Unity.Analyzers.dll" />
   </ItemGroup>
   <ItemGroup>
-    <Compile Include="Assets\StreetLight\Serialization\Matrix4x4Converter.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\ChooseTrackedObjectMenu.cs" />
     <Compile Include="Assets\StreetLight\Scripts\PositionCalculator.cs" />
-    <Compile Include="Assets\Ball.cs" />
+    <Compile Include="Assets\Pong\Ball.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\ObjectDetection\DetectedObject.cs" />
     <Compile Include="Assets\ZED\Examples\SpatialMapping\Scripts\EnemyBehavior.cs" />
     <Compile Include="Assets\ZED\Examples\OpenCV ArUco Detection\Scripts\Core\MarkerObject_MoveToMarkerSimple.cs" />
-    <Compile Include="Assets\Logging\Poco\ObjectDataSDK.cs" />
     <Compile Include="Assets\ZED\SDK\NativeInterface\ZEDCameraSettings.cs" />
     <Compile Include="Assets\ZED\Examples\Object Detection\Scripts\ZEDCustomObjDetection.cs" />
     <Compile Include="Assets\ZED\Examples\Dark Room\Scripts\RotateOnAxes.cs" />
@@ -71,6 +69,7 @@
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\TransformGrabbable.cs" />
     <Compile Include="Assets\ZED\Examples\OpenCV ArUco Detection\Scripts\Core\ZEDArUcoDetectionManager.cs" />
     <Compile Include="Assets\ZED\Examples\OpenCV ArUco Detection\Scripts\Core\MarkerObject_MoveToMarker.cs" />
+    <Compile Include="Assets\Pong\Side.cs" />
     <Compile Include="Assets\ZED\Examples\MultiCam\Scripts\ViewControl.cs" />
     <Compile Include="Assets\ZED\Examples\MultiCam\Scripts\EnableWhenReady.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\FrustumDisplay.cs" />
@@ -84,13 +83,9 @@
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\ObjectDetection\DetectionFrame.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\AutoCalibrationManager.cs" />
     <Compile Include="Assets\ZED\Examples\MultiCam\Scripts\CopyToSurface.cs" />
-    <Compile Include="Assets\StreetLight\PersonVisualizer.cs" />
     <Compile Include="Assets\ZED\Examples\OpenCV ArUco Detection\Scripts\Core\ZEDToOpenCVRetriever.cs" />
-    <Compile Include="Assets\StreetLight\Poco\HomographyCorrespondence.cs" />
-    <Compile Include="Assets\Bumper.cs" />
+    <Compile Include="Assets\Pong\Bumper.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\Utilities\GUIMessage.cs" />
-    <Compile Include="Assets\Logging\DetectionFrameLogger.cs" />
-    <Compile Include="Assets\StreetLight\Serialization\Vector2Converter.cs" />
     <Compile Include="Assets\ZED\Examples\SpatialMapping\Scripts\NavMeshSurface.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\Interactions\ZEDControllerTracker_DemoInputs.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\ZEDXRGrabber.cs" />
@@ -100,12 +95,12 @@
     <Compile Include="Assets\ZED\Examples\Drone Shooter\Scripts\Utilities\ILaserable.cs" />
     <Compile Include="Assets\ZED\Examples\Dark Room\Scripts\DisableUntilZEDReady.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\TranslateArrow.cs" />
-    <Compile Include="Assets\StreetLight\Serialization\QuaternionConverter.cs" />
     <Compile Include="Assets\ZED\Examples\OpenCV ArUco Detection\Scripts\Drone Wars\AssertObjectExistenceOnEnable.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\DrawOutputToPlane.cs" />
     <Compile Include="Assets\ZED\Examples\Object Detection\Scripts\ZED3DObjectVisualizer.cs" />
     <Compile Include="Assets\ZED\SDK\NativeInterface\ZEDCamera.cs" />
     <Compile Include="Assets\ZED\Examples\OpenCV ArUco Detection\Scripts\Drone Wars\OscillatePosition.cs" />
+    <Compile Include="Assets\Pong\PongBehavior.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\RotateControl.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\AutoCalibBall.cs" />
     <Compile Include="Assets\ZED\Examples\Planetarium\Scripts\SunBursts.cs" />
@@ -113,9 +108,8 @@
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\SpatialMapping\ZEDSpatialMapping.cs" />
     <Compile Include="Assets\ZED\Examples\Dark Room\Scripts\LightShow.cs" />
     <Compile Include="Assets\ZED\Examples\Drone Shooter\Scripts\Simple\LaserGun.cs" />
-    <Compile Include="Assets\CalibrationTestMarkerBehavior.cs" />
+    <Compile Include="Assets\StreetLight\Calibration\CalibrationTestMarkerBehavior.cs" />
     <Compile Include="Assets\ZED\Examples\Planetarium\Scripts\LookAtCamera.cs" />
-    <Compile Include="Assets\Logging\Poco\ObjectsFrameSDK.cs" />
     <Compile Include="Assets\ZED\Examples\GreenScreen\Scripts\GreenScreenManager.cs" />
     <Compile Include="Assets\ZED\Examples\Planetarium\Scripts\PlanetMover.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\MR\ZEDMirror.cs" />
@@ -124,7 +118,6 @@
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\Utilities\ZEDSVOManager.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\ToggleGroup3D.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\SkeletonTracking\RigBone.cs" />
-    <Compile Include="Assets\StreetLight\Serialization\Vector3Converter.cs" />
     <Compile Include="Assets\ZED\Examples\Dark Room\Scripts\RandomDirLightManager.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\CreateZEDModel.cs" />
     <Compile Include="Assets\ZED\Examples\SpatialMapping\Scripts\RandomWalk.cs" />
@@ -141,20 +134,17 @@
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\Button3D.cs" />
     <Compile Include="Assets\ZED\Examples\Dark Room\Scripts\RandomDirectionMover.cs" />
     <Compile Include="Assets\ZED\Examples\Drone Shooter\Scripts\Simple\Drone.cs" />
-    <Compile Include="Assets\Logging\ILogger.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\MessageDisplay.cs" />
     <Compile Include="Assets\ZED\Examples\Planetarium\Scripts\PlanetariumMover.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\TranslateControl.cs" />
     <Compile Include="Assets\ZED\Examples\Drone Shooter\Scripts\Utilities\ZEDProjectile.cs" />
     <Compile Include="Assets\ZED\Examples\Drone Shooter\Scripts\Simple\DroneSpawner.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\TransformControl.cs" />
-    <Compile Include="Assets\StreetLight\Serialization\GameObjectConverter.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\ToggleButton.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\Utilities\ExportNavMesh.cs" />
-    <Compile Include="Assets\CalibrationRecorderBehavior.cs" />
+    <Compile Include="Assets\StreetLight\Calibration\CalibrationRecorderBehavior.cs" />
     <Compile Include="Assets\ZED\Examples\OpenCV ArUco Detection\Scripts\Core\MarkerObject_CreateObjectsAtMarkers.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\SpatialMapping\ZEDMeshRenderer.cs" />
-    <Compile Include="Assets\StreetLight\MyZED3DObjectVisualizer.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\CameraAnchor.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\PrimaryHandSwitcher.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\PlaneDetection\ZEDPlaneGameObject.cs" />
@@ -162,22 +152,19 @@
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\SetControllerSkin.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\SkeletonTracking\SkeletonHandler.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\IZEDManager.cs" />
-    <Compile Include="Assets\StreetLight\Serialization\ColorConverter.cs" />
     <Compile Include="Assets\ZED\SDK\NativeInterface\ZEDMat.cs" />
     <Compile Include="Assets\ZED\Examples\SpatialMapping\Scripts\NavMeshAgentController.cs" />
     <Compile Include="Assets\ZED\Examples\Dark Room\Scripts\StrobeLight.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\ParentToGrandparentOnStart.cs" />
     <Compile Include="Assets\ZED\Examples\OpenCV ArUco Detection\Scripts\Core\MarkerObject.cs" />
-    <Compile Include="Assets\Logging\Poco\DetectionFrame.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\Utilities\ZEDDefineHandler.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\ChooseTrackedObjectButton.cs" />
     <Compile Include="Assets\ZED\Examples\Drone Shooter\Scripts\Utilities\DestroyAfterTime.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\ForceTrackingSpaceType.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\ClickButton.cs" />
     <Compile Include="Assets\ZED\Examples\Object Detection\Scripts\BBox3DHandler.cs" />
-    <Compile Include="Assets\ZED\SDK\Helpers\Scripts\LoggingZEDManager.cs" />
     <Compile Include="Assets\ZED\Examples\Plane Detection\Scripts\Bunny.cs" />
-    <Compile Include="Assets\CalibrationMarkerBehavior.cs" />
+    <Compile Include="Assets\StreetLight\Calibration\CalibrationMarkerBehavior.cs" />
     <Compile Include="Assets\ZED\Examples\Plane Detection\Scripts\Capsule.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\Interactions\ZEDControllerManager.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\RotateRing.cs" />
@@ -198,9 +185,7 @@
     <Compile Include="Assets\ZED\Examples\Drone Shooter\Scripts\Simple\LaserShot_Drone.cs" />
     <Compile Include="Assets\StreetLight\Poco\Person.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\TempAudioObject.cs" />
-    <Compile Include="Assets\StreetLight\Poco\CalibrationPoint.cs" />
     <Compile Include="Assets\ZED\SDK\Helpers\Scripts\Utilities\Utils.cs" />
-    <Compile Include="Assets\Logging\Poco\DetectedObject.cs" />
     <Compile Include="Assets\ZED\Examples\GreenScreen\Scripts\GarbageMatte.cs" />
     <Compile Include="Assets\ZED\Tools\Mixed Reality Calibration\Scripts\SpotlightFollow.cs" />
     <Compile Include="Assets\ZED\SDK\NativeInterface\ZEDLayersManager.cs" />
@@ -252,7 +237,7 @@
     <None Include="Assets\ZED\Examples\GreenScreen\Shaders\GreenScreen.shader" />
     <None Include="Assets\ZED\SDK\Helpers\Shaders\GUI\ZED_Default_OverlayNoZTest.shader" />
     <None Include="Assets\ZED\Examples\GreenScreen\Shaders\YUV.shader" />
-    <None Include="Assets\MathNet.Numerics.dll" />
+    <None Include="Assets\StreetLight\MathNet.Numerics.dll" />
     <None Include="Assets\ZED\SDK\Helpers\Shaders\PlaneDetection\GeometryWirePlane.shader" />
     <None Include="Assets\ZED\Examples\Planetarium\Resources\Sun\Shader\Sun.shader" />
     <None Include="Assets\ZED\SDK\Helpers\Shaders\PostProcessing\ZED_Post-Processing.shader" />
@@ -533,7 +518,7 @@
       <HintPath>C:\Program Files\Unity\Hub\Editor\2021.3.2f1\Editor\Data\Managed\UnityEngine\UnityEditor.UnityConnectModule.dll</HintPath>
     </Reference>
     <Reference Include="MathNet.Numerics">
-      <HintPath>Assets\MathNet.Numerics.dll</HintPath>
+      <HintPath>Assets\StreetLight\MathNet.Numerics.dll</HintPath>
     </Reference>
     <Reference Include="Unity.VisualScripting.Antlr3.Runtime">
       <HintPath>Library\PackageCache\com.unity.visualscripting@1.7.6\Runtime\VisualScripting.Flow\Dependencies\NCalc\Unity.VisualScripting.Antlr3.Runtime.dll</HintPath>

Assets/Ball.cs

@@ -1,40 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using System.Threading;
-using UnityEngine;
-
-public class Ball : MonoBehaviour
-{
-    public bool IsInUse { get; private set; }
-    public float speed = 5f;
-
-    // Start is called before the first frame update
-    void Start()
-    {
-    }
-
-    public void Recenter()
-    {
-        var component = GetComponent<Rigidbody>();
-        component.velocity = Vector3.zero;
-        component.transform.position = Vector3.zero;
-
-        IsInUse = false;
-    }
-
-    public void Kickoff()
-    {
-        float sx = Random.Range(0, 2) == 0 ? -1 : 1;
-        float sz = Random.Range(0, 2) == 0 ? -1 : 1;
-
-        GetComponent<Rigidbody>().velocity = new Vector3(speed * sx, 0f, speed * sz);
-
-        IsInUse = true;
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-        
-    }
-}

Assets/Bumper.cs

@@ -1,28 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class Bumper : MonoBehaviour
-{
-    public bool isBump1;
-    public float speed = 5f;
-
-    // Start is called before the first frame update
-    void Start()
-    {
-        
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-        if (isBump1)
-        {
-            transform.Translate(0f, Input.GetAxis("Vertical") * speed * Time.deltaTime, 0f);
-        }
-        else
-        {
-            //transform.Translate(0f, Input.GetAxis("Vertical2") * speed * Time.deltaTime, 0f);
-        }
-    }
-}

Assets/Logging/DetectionFrameLogger.cs

@@ -1,120 +0,0 @@
-using Newtonsoft.Json;
-using System;
-using System.IO;
-using System.Text;
-using UnityEngine;
-using UnityEngine.Networking;
-
-namespace Assets.Logging
-{
-    internal class DetectionFrameLogger : ILogger<DetectionFrame>
-    {
-        public void Log(DetectionFrame frame)
-        {
-            var pocoFrame = new Poco.DetectionFrame()
-            {
-                RawObjectsFrame = new Poco.ObjectsFrameSDK
-                {
-                    DetectionModel = frame.rawObjectsFrame.detectionModel,
-                    IsNew = frame.rawObjectsFrame.isNew,
-                    IsTracked = frame.rawObjectsFrame.isTracked,
-                    NumObject = frame.rawObjectsFrame.numObject,
-                    Timestamp = frame.rawObjectsFrame.timestamp
-                }
-            };
-
-            foreach (var detectedObject in frame.detectedObjects)
-            {
-                pocoFrame.DetectedObjects.Add(new Poco.DetectedObject
-                {
-                    RawObjectData = new Poco.ObjectDataSDK()
-                    {
-                        actionState = detectedObject.actionState,
-                        confidence = detectedObject.confidence,
-                        globalRootOrientation = detectedObject.rawObjectData.globalRootOrientation,
-                        headBoundingBox = detectedObject.rawObjectData.headBoundingBox,
-                        headWorldPosition = detectedObject.rawObjectData.headWorldPosition,
-                        id = detectedObject.rawObjectData.id,
-                        imageBoundingBox = detectedObject.rawObjectData.imageBoundingBox,
-                        keypointConfidence = detectedObject.rawObjectData.keypointConfidence,
-                        localOrientationPerJoint = detectedObject.rawObjectData.localOrientationPerJoint,
-                        localPositionPerJoint = detectedObject.rawObjectData.localPositionPerJoint,
-                        mask = detectedObject.rawObjectData.mask,
-                        objectClass = detectedObject.objectClass,
-                        objectSubClass = detectedObject.objectSubClass,
-                        objectTrackingState = detectedObject.rawObjectData.objectTrackingState,
-                        positionCovariance = detectedObject.rawObjectData.positionCovariance,
-                        rawLabel = detectedObject.rawObjectData.rawLabel,
-                        rootWorldPosition = detectedObject.rawObjectData.rootWorldPosition,
-                        rootWorldVelocity = detectedObject.rawObjectData.rootWorldVelocity,
-                        skeletonJointPosition2D = detectedObject.rawObjectData.skeletonJointPosition2D,
-                        skeletonJointPosition = detectedObject.rawObjectData.skeletonJointPosition,
-                        uniqueObjectId = detectedObject.rawObjectData.uniqueObjectId,
-                        worldBoundingBox = detectedObject.rawObjectData.worldBoundingBox
-                    }
-                });
-            }
-
-            string json = JsonConvert.SerializeObject(pocoFrame, new Vector2Converter(), new Vector3Converter(), new QuaternionConverter());
-
-            File.AppendAllText(@".\log.txt", json);
-        }
-    }
-
-    public class Vector2Converter : JsonConverter
-    {
-        public override bool CanConvert(Type objectType)
-        {
-            return objectType == typeof(Vector2);
-        }
-
-        public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
-        {
-            return new Vector2();
-        }
-
-        public override void WriteJson(JsonWriter writer, object value, JsonSerializer serializer)
-        {
-            var vector = (Vector2)value;
-            writer.WriteValue($"({vector.x}|{vector.y})");
-        }
-    }
-
-    public class Vector3Converter : JsonConverter
-    {
-        public override bool CanConvert(Type objectType)
-        {
-            return objectType == typeof(Vector3);
-        }
-
-        public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
-        {
-            return new Vector3();
-        }
-
-        public override void WriteJson(JsonWriter writer, object value, JsonSerializer serializer)
-        {
-            var vector = (Vector3)value;
-            writer.WriteValue($"({vector.x}|{vector.y}|{vector.z})");
-        }
-    }
-
-    public class QuaternionConverter : JsonConverter
-    {
-        public override bool CanConvert(Type objectType)
-        {
-            return objectType == typeof(Quaternion);
-        }
-
-        public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
-        {
-            return new Quaternion();
-        }
-
-        public override void WriteJson(JsonWriter writer, object value, JsonSerializer serializer)
-        {
-            var vector = (Quaternion)value;
-            writer.WriteValue($"({vector.x}|{vector.y}|{vector.z}|{vector.w})");
-        }
-    }
-}

Assets/Logging/DetectionFrameLogger.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 61d3d8d41102f6c4cb3459abcc647686
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Logging/ILogger.cs

@@ -1,7 +0,0 @@
-namespace Assets.Logging
-{
-    interface ILogger<in TClass>
-    {
-        void Log(TClass objectToLog);
-    }
-}

Assets/Logging/ILogger.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 7f29196108dc0ae40af11a8ff976265d
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Logging/Poco/DetectedObject.cs

@@ -1,7 +0,0 @@
-namespace Assets.Logging.Poco
-{
-    public class DetectedObject
-    {
-        public ObjectDataSDK RawObjectData { get; set; }
-    }
-}

Assets/Logging/Poco/DetectedObject.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 21147163a83f56e418ec227929ded6d6
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Logging/Poco/DetectionFrame.cs

@@ -1,13 +0,0 @@
-using System.Collections.Generic;
-
-namespace Assets.Logging.Poco
-{
-    public class DetectionFrame
-    {
-        public Poco.ObjectsFrameSDK RawObjectsFrame { get; set; }
-
-        private List<DetectedObject> detObjects = new List<DetectedObject>();
-
-        public List<DetectedObject> DetectedObjects => detObjects;
-    }
-}

Assets/Logging/Poco/DetectionFrame.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 13341be3ec8cdc146bf00f3b0e8d7544
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Logging/Poco/ObjectDataSDK.cs

@@ -1,38 +0,0 @@
-using UnityEngine;
-
-namespace Assets.Logging.Poco
-{
-    public class ObjectDataSDK
-    {
-        public int id;
-        public string uniqueObjectId;
-        public int rawLabel;
-        public sl.OBJECT_CLASS objectClass;
-        public sl.OBJECT_SUBCLASS objectSubClass;
-        public sl.OBJECT_TRACK_STATE objectTrackingState;
-        public sl.OBJECT_ACTION_STATE actionState;
-        public float confidence;
-
-        public System.IntPtr mask;
-        public Vector2[] imageBoundingBox;
-
-
-        public Vector3 rootWorldPosition; //object root position
-        public Vector3 headWorldPosition; //object head position (only for HUMAN detectionModel)
-        public Vector3 rootWorldVelocity; //object root velocity
-
-
-        public Vector3[] worldBoundingBox; // 3D Bounding Box of object
-        public Vector3[] headBoundingBox;// 3D Bounding Box of head (only for HUMAN detectionModel)
-
-        public Vector2[] skeletonJointPosition2D;// 2D position of the joints of the skeleton
-        public Vector3[] skeletonJointPosition;// 3D position of the joints of the skeleton
-        public float[] positionCovariance;// covariance matrix of the 3d position, represented by its upper triangular matrix value
-
-        public float[] keypointConfidence;
-
-        public Vector3[] localPositionPerJoint;
-        public Quaternion[] localOrientationPerJoint;
-        public Quaternion globalRootOrientation;
-    }
-}

Assets/Logging/Poco/ObjectDataSDK.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 33c29bb21b69f734fac09011e134f72b
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Logging/Poco/ObjectsFrameSDK.cs

@@ -1,11 +0,0 @@
-namespace Assets.Logging.Poco
-{
-    public class ObjectsFrameSDK
-    {
-        public int NumObject { get; set; }
-        public ulong Timestamp { get; set; }
-        public int IsNew { get; set; }
-        public int IsTracked { get; set; }
-        public sl.DETECTION_MODEL DetectionModel { get; set; }
-    }
-}

Assets/Logging/Poco/ObjectsFrameSDK.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 7f353ead75bcfd3499b7acd7d28a68e4
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Logging.meta → Assets/Pong.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 5badd69bdb9428842a905a2e953bea2d
+guid: 31155e1808036f1438fc3def748e30a9
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}

Assets/Pong/Ball.cs

@@ -0,0 +1,46 @@
+using System;
+using System.ComponentModel;
+using UnityEngine;
+using Random = UnityEngine.Random;
+
+namespace Assets.Pong
+{
+    public class Ball : MonoBehaviour
+    {
+        public float speed = 5f;
+
+        public event EventHandler<Side> GoalScored;
+        bool scored;
+
+        public void Recenter()
+        {
+            var component = GetComponent<Rigidbody>();
+            component.velocity = Vector3.zero;
+            component.transform.position = Vector3.zero;
+            scored = false;
+        }
+
+        public void Kickoff()
+        {
+            float sx = Random.Range(0, 2) == 0 ? -1 : 1;
+            float sz = Random.Range(0, 2) == 0 ? -1 : 1;
+
+            GetComponent<Rigidbody>().velocity = new Vector3(speed * sx, 0f, speed * sz);
+        }
+
+        private void Update()
+        {
+            var xPosition = GetComponent<Rigidbody>().transform.position.x;
+            if (xPosition > 15 && !scored)
+            {
+                scored = true;
+                GoalScored.Invoke(this, Side.Right);
+            }
+            else if (xPosition < -15 && !scored)
+            {
+                scored = true;
+                GoalScored.Invoke(this, Side.Left);
+            }
+        }
+    }
+}

Assets/Pong/Bumper.cs

@@ -0,0 +1,40 @@
+using Assets.StreetLight.Scripts;
+using System;
+using System.Linq;
+using UnityEngine;
+
+namespace Assets.Pong
+{
+    public class Bumper : MonoBehaviour
+    {
+        public bool isBump1;
+        public float speed = 5f;
+
+        PersonManager PersonManager => personManagerLazy.Value;
+        Lazy<PersonManager> personManagerLazy;
+
+        private void Awake()
+        {
+            personManagerLazy = new Lazy<PersonManager>(FindObjectOfType<PersonManager>);
+        }
+
+        void Update()
+        {
+            if (PersonManager.Persons.Count == 1)
+            {
+                var person = PersonManager.Persons.Single();
+
+
+
+                //if (isBump1)
+                //{
+                //    transform.Translate(0f, Input.GetAxis("Vertical") * speed * Time.deltaTime, 0f);
+                //}
+                //else
+                //{
+                //    //transform.Translate(0f, Input.GetAxis("Vertical2") * speed * Time.deltaTime, 0f);
+                //}
+            }
+        }
+    }
+}

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Assets/Pong/PongBehavior.cs

@@ -0,0 +1,189 @@
+using Assets.StreetLight.Poco;
+using Assets.StreetLight.Scripts;
+using System;
+using System.Collections;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Collections.Specialized;
+using System.IO;
+using System.Linq;
+using System.Threading.Tasks;
+using TMPro;
+using Unity.VisualScripting;
+using UnityEngine;
+using UnityEngine.UI;
+
+namespace Assets.Pong
+{
+    public class PongBehavior : MonoBehaviour
+    {
+        Person playerLeft;
+        Person playerRight;
+        State state = State.WaitingForPlayers;
+        Ball ball;
+
+        BlockingCollection<Action> taskQueue;
+        string logFileName;
+
+        enum State
+        {
+            WaitingForPlayers,
+            ReadyForKickoff,
+            Running
+        }
+
+        PersonManager PersonManager => personManagerLazy.Value;
+
+        public int ScoreLeft { get; set; }
+        public int ScoreRight { get; set; }
+
+        Lazy<PersonManager> personManagerLazy;
+
+        private void Awake()
+        {
+            personManagerLazy = new Lazy<PersonManager>(FindObjectOfType<PersonManager>);
+        }
+
+        private void Start()
+        {
+            PersonManager.PersonAppeared += PersonManager_PersonAppeared;
+            PersonManager.PersonDisappeared += PersonManager_PersonDisappeared;
+            var sphere = GameObject.Find("Sphere");
+            ball = sphere.GetComponent<Ball>();
+
+            taskQueue = new BlockingCollection<Action>();
+            logFileName = Path.Combine(@".\Logs", $"Log{DateTime.Now:yyyy-MM-dd_HH-mm-ss}.txt");
+
+            InitializeLogFile();
+        }
+
+        private void InitializeLogFile()
+        {
+            var directoryPath = Path.GetDirectoryName(logFileName);
+            if (!Directory.Exists(directoryPath))
+            {
+                Directory.CreateDirectory(directoryPath);
+            }
+
+            if (!File.Exists(logFileName))
+            {
+                File.WriteAllText(logFileName, string.Empty);
+            }
+        }
+
+        private void AppendNewLogEntry(string message)
+        {
+            taskQueue.Add(() => File.AppendAllLines(logFileName, new string[] { $"{DateTime.Now}: {message}" }));
+            Task.Run(() => taskQueue.Take().Invoke());
+        }
+
+        private void PersonManager_PersonDisappeared(object sender, Person e)
+        {
+            if (playerLeft.Id == e.Id)
+            {
+                playerLeft = null;
+                if (state == State.Running)
+                {
+                    EndGame();
+                }
+            }
+            else if (playerRight.Id == e.Id)
+            {
+                playerRight = null;
+                if (state == State.Running)
+                {
+                    EndGame();
+                }
+            }
+        }
+
+        private void EndGame()
+        {
+            AppendNewLogEntry($"Game ended with score {ScoreLeft}:{ScoreRight}.");
+            ScoreLeft = 0;
+            ScoreRight = 0;
+            ball.GoalScored -= Ball_GoalScored;
+            ball.Recenter();
+            state = State.WaitingForPlayers;
+        }
+
+        private void PersonManager_PersonAppeared(object sender, Person e)
+        {
+            if (playerLeft == null && playerRight == null)
+            {
+                if (e.GetUnityPosition().x > 0)
+                {
+                    playerRight = e;
+                    AppendNewLogEntry("Right player joined. Waiting for left player...");
+                }
+                else
+                {
+                    playerLeft = e;
+                    AppendNewLogEntry("Left player joined. Waiting for right player...");
+                }
+            }
+            else if (playerLeft == null)
+            {
+                playerLeft = e;
+                AppendNewLogEntry("All players joined. Let's go!");
+                StartGame();
+            }
+            else if (playerRight == null)
+            {
+                playerRight = e;
+                AppendNewLogEntry("All players joined. Let's go!");
+                StartGame();
+            }
+        }
+
+        private void StartGame()
+        {
+            state = State.Running;
+            AppendNewLogEntry($"New game started.");
+            ball.GoalScored += Ball_GoalScored;
+            ball.Kickoff();
+        }
+
+        private void Ball_GoalScored(object sender, Side e)
+        {
+            var ball = (Ball)sender;
+            if (e == Side.Left)
+            {
+                ScoreRight++;
+                AppendNewLogEntry($"Right player scored a goal. Current score: {ScoreLeft}:{ScoreRight}");
+            }
+            else
+            {
+                ScoreLeft++;
+                AppendNewLogEntry($"Left player scored a goal. Current score: {ScoreLeft}:{ScoreRight}");
+            }
+            ball.Recenter();
+            ball.Kickoff();
+        }
+
+        void Update()
+        {
+            if (playerLeft != null)
+            {
+                var bumper = GameObject.Find("Bump1");
+                bumper.transform.position = new Vector3(bumper.transform.position.x, bumper.transform.position.y, playerLeft.GetUnityPosition().z);
+            }
+            else
+            {
+                var bumper = GameObject.Find("Bump1");
+                bumper.transform.position = new Vector3(bumper.transform.position.x, bumper.transform.position.y, 0);
+            }
+
+            if (playerRight != null)
+            {
+                var bumper = GameObject.Find("Bump2");
+                bumper.transform.position = new Vector3(bumper.transform.position.x, bumper.transform.position.y, playerRight.GetUnityPosition().z);
+            }
+            else
+            {
+                var bumper = GameObject.Find("Bump2");
+                bumper.transform.position = new Vector3(bumper.transform.position.x, bumper.transform.position.y, 0);
+            }
+        }
+    }
+}

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Assets/Pong/Side.cs

@@ -0,0 +1,8 @@
+namespace Assets.Pong
+{
+    public enum Side
+    {
+        Left,
+        Right
+    }
+}

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Assets/StreamingAssets/StreetLight/Configuration.json

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+}

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--0.2794904 0.7688609 0.5713876 1.163492
--0.2794904 0.7688609 0.5880522 1.163521
--0.2794904 0.7688609 0.5963771 1.163535
--0.2794904 0.7688609 0.6380517 1.163605
--0.2794904 0.7688609 0.6547176 1.163634
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--0.2800989 0.7692559 0.6880444 1.16369
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--0.2800989 0.7692559 0.7463909 1.163789
--0.2800989 0.7692559 0.7547159 1.163803
--0.2800989 0.7692559 0.7963863 1.163873
--0.2795489 0.7692069 0.8047113 1.163888
--0.2795489 0.7692069 0.8630589 1.163986
--0.2795489 0.7692069 0.8797194 1.164015
--0.2795489 0.7692069 0.8880444 1.164029
--0.2795489 0.7692069 0.9463889 1.164127
--0.2795489 0.7692069 0.9547139 1.164142
--0.2795489 0.7692069 0.971388 1.16417
-0.8385564 0.3646015 5.577663 -0.9366344
-0.8385564 0.3646015 5.569453 -0.9352557
-0.8385564 0.3646015 5.511915 -0.9255935
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-0.8418682 0.4533716 5.002375 -0.840029
-0.8418682 0.4533716 4.98594 -0.8372692
-0.8418682 0.4533716 4.97773 -0.8358905
-0.8434878 0.466624 4.928406 -0.8276077
-0.8434878 0.466624 4.920196 -0.826229
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-0.8434878 0.466624 4.895543 -0.8220893
-0.8434878 0.466624 4.846228 -0.8138081
-0.8434878 0.466624 4.821575 -0.8096682
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-0.7991742 0.4392097 4.755822 -0.7986267
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-0.8584402 0.4996719 4.369576 -0.7337661
-0.8584402 0.4996719 4.320256 -0.7254841
-0.8584402 0.4996719 4.312046 -0.7241054
-0.8584402 0.4996719 4.26273 -0.7158241
-0.8584402 0.4996719 4.254519 -0.7144454

Assets/StreamingAssets/pairs.csv.meta

@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: baba5a71047700049af39b03615c1171
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/StreetLight/Adapters/ZedPersonDetector.cs

@@ -1,10 +1,7 @@
 using Assets.StreetLight.Interfaces;
 using Assets.StreetLight.Poco;
-using Assets.StreetLight.Serialization;
-using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
-using System.IO;
 using System.Linq;
 using UnityEngine;
 
@@ -21,9 +18,6 @@ namespace Assets.StreetLight.Adapters
             this.zedManager = zedManager;
             zedManager.OnObjectDetection += ZedManager_OnObjectDetection;
             zedManager.OnZEDReady += ZedManager_OnZEDReady;
-
-            zedManager.objectDetectionModel = sl.DETECTION_MODEL.HUMAN_BODY_ACCURATE;
-            zedManager.enableTracking = true;
         }
 
         private void ZedManager_OnZEDReady()
@@ -46,45 +40,5 @@ namespace Assets.StreetLight.Adapters
 
             PersonsDetected?.Invoke(this, detectedPersons.ToList());
         }
-
-        private void WriteDetectionFrameToJson(DetectionFrame objFrame)
-        {
-            var errors = new List<string>();
-
-            JsonSerializerSettings settings = new()
-            {
-                Converters = new List<JsonConverter>() {
-                    new Vector2Converter(),
-                    new Vector3Converter(),
-                    new QuaternionConverter(),
-                    new ColorConverter(),
-                    new Matrix4x4Converter()
-                },
-                Error = (s, a) =>
-                {
-                    if (a.CurrentObject != null)
-                    {
-                        errors.Add(a.ErrorContext.Error.Message);
-                    }
-                    a.ErrorContext.Handled = true;
-                },
-                //TraceWriter = new TraceWriter()
-            };
-
-            var serializer = JsonSerializer.Create(settings);
-
-            using (var file = File.CreateText(@$"C:\Users\nick.steyer\SmartStreetLight\{DateTime.Now:HH-mm-ss-fff}.json"))
-            {
-                try
-                {
-                    serializer.Serialize(file, objFrame);
-                }
-                catch (Exception ex)
-                {
-                    Debug.Log(ex.Message);
-                    Debug.Log(ex.StackTrace);
-                }
-            }
-        }
     }
 }

Assets/StreetLight/Serialization.meta → Assets/StreetLight/Calibration.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 7682ae16720c56b4b88a608288699f4c
+guid: 5e3488ba1461f9b4ca1cba28d65d547f
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}

Assets/Scenes/CalibrationTest.unity → Assets/StreetLight/Calibration/Calibration.unity

@@ -159,7 +159,7 @@ Camera:
   m_Enabled: 1
   serializedVersion: 2
   m_ClearFlags: 2
-  m_BackGroundColor: {r: 0.7273031, g: 1, b: 0.6179246, a: 0}
+  m_BackGroundColor: {r: 0, g: 0, b: 0, a: 0}
   m_projectionMatrixMode: 1
   m_GateFitMode: 2
   m_FOVAxisMode: 0
@@ -207,7 +207,7 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 90, y: 0, z: 0}
---- !u!1 &1915020868
+--- !u!1 &919955599
 GameObject:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
@@ -215,36 +215,36 @@ GameObject:
   m_PrefabAsset: {fileID: 0}
   serializedVersion: 6
   m_Component:
-  - component: {fileID: 1915020870}
-  - component: {fileID: 1915020869}
+  - component: {fileID: 919955601}
+  - component: {fileID: 919955600}
   m_Layer: 0
-  m_Name: PersonManager
+  m_Name: CalibrationRecorder
   m_TagString: Untagged
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
   m_IsActive: 1
---- !u!114 &1915020869
+--- !u!114 &919955600
 MonoBehaviour:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1915020868}
+  m_GameObject: {fileID: 919955599}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 9113063bb18312e4e8212e4124aab528, type: 3}
+  m_Script: {fileID: 11500000, guid: 2ff7a32f4db31ec4885acbcd99389e5e, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
---- !u!4 &1915020870
+--- !u!4 &919955601
 Transform:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1915020868}
+  m_GameObject: {fileID: 919955599}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: -0.54269624, y: -2.6881542, z: 5.9205313}
+  m_LocalPosition: {x: -4.6961923, y: -4.180311, z: 7.6556225}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
@@ -263,10 +263,10 @@ GameObject:
   - component: {fileID: 2057004206}
   - component: {fileID: 2057004205}
   - component: {fileID: 2057004204}
+  - component: {fileID: 2057004208}
   - component: {fileID: 2057004209}
-  - component: {fileID: 2057004210}
   m_Layer: 0
-  m_Name: CalibrationTestMarker
+  m_Name: CalibrationMarker
   m_TagString: Untagged
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
@@ -350,6 +350,19 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &2057004208
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2057004203}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 1b4c4acdcaaafa446b01abd537ac6f64, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  speed: 0.5
 --- !u!54 &2057004209
 Rigidbody:
   m_ObjectHideFlags: 0
@@ -366,84 +379,60 @@ Rigidbody:
   m_Interpolate: 0
   m_Constraints: 0
   m_CollisionDetection: 0
---- !u!114 &2057004210
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 2057004203}
-  m_Enabled: 1
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-  m_Script: {fileID: 11500000, guid: c488f1db47e57994bab11c4c73dd2430, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
---- !u!1001 &2139725572
+--- !u!1001 &2114185233
 PrefabInstance:
   m_ObjectHideFlags: 0
   serializedVersion: 2
   m_Modification:
     m_TransformParent: {fileID: 0}
     m_Modifications:
-    - target: {fileID: 1180261165772202, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
+    - target: {fileID: 3876240157451764341, guid: 520f07e4e9b1df3499037a602046fe08, type: 3}
       propertyPath: m_Name
-      value: ZED_Rig_Mono
+      value: PersonManager
       objectReference: {fileID: 0}
-    - target: {fileID: 4329734432191940, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
+    - target: {fileID: 3876240157451764343, guid: 520f07e4e9b1df3499037a602046fe08, type: 3}
       propertyPath: m_RootOrder
       value: 3
       objectReference: {fileID: 0}
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       propertyPath: m_LocalPosition.z
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       objectReference: {fileID: 0}
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       value: 1
       objectReference: {fileID: 0}
-    - target: {fileID: 4329734432191940, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
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       value: 0
       objectReference: {fileID: 0}
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       value: 0
       objectReference: {fileID: 0}
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       value: 0
       objectReference: {fileID: 0}
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       value: 0
       objectReference: {fileID: 0}
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       value: 0
       objectReference: {fileID: 0}
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       value: 0
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-      value: 4
-      objectReference: {fileID: 0}
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-      propertyPath: inputType
-      value: 0
-      objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
-      propertyPath: svoInputFileName
-      value: C:/Users/nick.steyer/SmartStreetLight/Files/testEntfernt.svo
-      objectReference: {fileID: 0}
     m_RemovedComponents: []
-  m_SourcePrefab: {fileID: 100100000, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
+  m_SourcePrefab: {fileID: 100100000, guid: 520f07e4e9b1df3499037a602046fe08, type: 3}

Assets/CalibrationRecorderBehavior.cs → Assets/StreetLight/Calibration/CalibrationRecorderBehavior.cs

@@ -60,7 +60,6 @@ namespace Assets
 
             taskQueue.Add(() => File.AppendAllLines(calibrationFileName, new string[] { line }));
             Task.Run(() => taskQueue.Take().Invoke());
-
         }
 
         private void MarkerBehavior_PathFinished(object sender, EventArgs e)

Assets/Scenes/Calibration.unity → Assets/StreetLight/Calibration/CalibrationTest.unity

@@ -159,7 +159,7 @@ Camera:
   m_Enabled: 1
   serializedVersion: 2
   m_ClearFlags: 2
-  m_BackGroundColor: {r: 0.7273031, g: 1, b: 0.6179246, a: 0}
+  m_BackGroundColor: {r: 0, g: 0, b: 0, a: 0}
   m_projectionMatrixMode: 1
   m_GateFitMode: 2
   m_FOVAxisMode: 0
@@ -205,96 +205,65 @@ Transform:
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   m_Children: []
   m_Father: {fileID: 0}
-  m_RootOrder: 0
+  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 90, y: 0, z: 0}
---- !u!1 &919955599
-GameObject:
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-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  serializedVersion: 6
-  m_Component:
-  - component: {fileID: 919955601}
-  - component: {fileID: 919955600}
-  m_Layer: 0
-  m_Name: CalibrationRecorder
-  m_TagString: Untagged
-  m_Icon: {fileID: 0}
-  m_NavMeshLayer: 0
-  m_StaticEditorFlags: 0
-  m_IsActive: 1
---- !u!114 &919955600
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-  m_CorrespondingSourceObject: {fileID: 0}
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-  m_PrefabAsset: {fileID: 0}
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-  m_Script: {fileID: 11500000, guid: 2ff7a32f4db31ec4885acbcd99389e5e, type: 3}
-  m_Name: 
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-  m_Script: {fileID: 11500000, guid: 9113063bb18312e4e8212e4124aab528, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
---- !u!4 &1915020870
-Transform:
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-  m_PrefabAsset: {fileID: 0}
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-  m_LocalPosition: {x: -0.54269624, y: -2.6881542, z: 5.9205313}
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-  m_Children: []
-  m_Father: {fileID: 0}
-  m_RootOrder: 2
-  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+  serializedVersion: 2
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+    m_Modifications:
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+      value: PersonManager
+      objectReference: {fileID: 0}
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+      value: -2.6881542
+      objectReference: {fileID: 0}
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+      propertyPath: m_LocalPosition.z
+      value: 5.9205313
+      objectReference: {fileID: 0}
+    - target: {fileID: 3876240157451764343, guid: 520f07e4e9b1df3499037a602046fe08, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 3876240157451764343, guid: 520f07e4e9b1df3499037a602046fe08, type: 3}
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+      value: 0
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+      value: 0
+      objectReference: {fileID: 0}
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+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3876240157451764343, guid: 520f07e4e9b1df3499037a602046fe08, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3876240157451764343, guid: 520f07e4e9b1df3499037a602046fe08, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3876240157451764343, guid: 520f07e4e9b1df3499037a602046fe08, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 520f07e4e9b1df3499037a602046fe08, type: 3}
 --- !u!1 &2057004203
 GameObject:
   m_ObjectHideFlags: 0
@@ -307,10 +276,10 @@ GameObject:
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   - component: {fileID: 2057004205}
   - component: {fileID: 2057004204}
-  - component: {fileID: 2057004208}
   - component: {fileID: 2057004209}
+  - component: {fileID: 2057004210}
   m_Layer: 0
-  m_Name: CalibrationMarker
+  m_Name: CalibrationTestMarker
   m_TagString: Untagged
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
@@ -392,21 +361,8 @@ Transform:
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 0}
-  m_RootOrder: 1
+  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
---- !u!114 &2057004208
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 2057004203}
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-  m_Name: 
-  m_EditorClassIdentifier: 
-  speed: 0.5
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   m_ObjectHideFlags: 0
@@ -423,72 +379,15 @@ Rigidbody:
   m_Interpolate: 0
   m_Constraints: 0
   m_CollisionDetection: 0
---- !u!1001 &2139725572
-PrefabInstance:
+--- !u!114 &2057004210
+MonoBehaviour:
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-  m_Modification:
-    m_TransformParent: {fileID: 0}
-    m_Modifications:
-    - target: {fileID: 1180261165772202, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
-      propertyPath: m_Name
-      value: ZED_Rig_Mono
-      objectReference: {fileID: 0}
-    - target: {fileID: 4329734432191940, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
-      propertyPath: m_RootOrder
-      value: 4
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Assets/CalibrationTestMarkerBehavior.cs → Assets/StreetLight/Calibration/CalibrationTestMarkerBehavior.cs

@@ -13,9 +13,6 @@ public class CalibrationTestMarkerBehavior : MonoBehaviour
         personManagerLazy = new Lazy<PersonManager>(FindObjectOfType<PersonManager>);
     }
 
-    void Start()
-    {
-    }
 
     void Update()
     {

Assets/RedMaterial.mat → Assets/StreetLight/Calibration/RedMaterial.mat

@@ -77,5 +77,5 @@ Material:
     - _ZWrite: 1
     m_Colors:
     - _Color: {r: 1, g: 0, b: 0.71579885, a: 1}
-    - _EmissionColor: {r: 1, g: 0, b: 0.04131365, a: 1}
+    - _EmissionColor: {r: 1, g: 1, b: 1, a: 1}
   m_BuildTextureStacks: []

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.
@@ -62,7 +25,12 @@ namespace Assets.StreetLight
             }
         }
 
-        private static readonly Lazy<Configuration> lazy = new(() => JsonConvert.DeserializeObject<Configuration>(File.ReadAllText(Path.Combine(Application.streamingAssetsPath, "Configuration.json"))));
+        private static readonly Lazy<Configuration> lazy = new(() =>
+        {
+            var dataPath = new DirectoryInfo(Application.streamingAssetsPath).FullName;
+            var configFilePath = Path.Combine(dataPath, "StreetLight", "Configuration.json");
+            return JsonConvert.DeserializeObject<Configuration>(File.ReadAllText(configFilePath));
+        });
 
         public static Configuration Instance => lazy.Value;
 

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);
-    }
-}

Assets/StreetLight/MyZED3DObjectVisualizer.cs.meta

@@ -1,11 +0,0 @@
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Assets/StreetLight/PersonVisualizer.cs

@@ -1,167 +0,0 @@
-using Assets.StreetLight.Poco;
-using Assets.StreetLight.Scripts;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using UnityEngine;
-
-namespace Assets.StreetLight
-{
-    public class PersonVisualizer : MonoBehaviour
-    {
-        PersonManager PersonManager => personManagerLazy.Value;
-        Lazy<PersonManager> personManagerLazy;
-
-        public GameObject boundingBoxPrefab;
-
-        IDictionary<int, GameObject> markers = new Dictionary<int, GameObject>();
-
-        private void Awake()
-        {
-            personManagerLazy = new Lazy<PersonManager>(FindObjectOfType<PersonManager>);
-        }
-
-        GameObject[] spheres;
-
-        void Start()
-        {
-            spheres = new GameObject[] { GameObject.CreatePrimitive(PrimitiveType.Sphere), GameObject.CreatePrimitive(PrimitiveType.Sphere) };
-        }
-
-        void Update()
-        {
-            int count = 0;
-            foreach (var person in PersonManager.Persons.OrderBy(p => p.Id))
-            {
-                GameObject sphere = spheres[count];
-                var unityPosition = person.GetUnityPosition();
-                sphere.transform.position = new Vector3(unityPosition.x, unityPosition.y, unityPosition.z);
-                count++;
-            }
-        }
-
-        float GroundPositionToSceneCoordinate(float minValue, float actualValue)
-        {
-            return 0;
-        }
-
-        private void ReturnBoxToPool(int id, RectTransform bbox)
-        {
-            bbox.gameObject.SetActive(false);
-            bbox.name = "Unused";
-
-            bboxPool.Push(bbox.gameObject);
-
-            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.");
-            }
-        }
-
-        private Dictionary<int, RectTransform> liveBBoxes = new Dictionary<int, RectTransform>();
-        private Dictionary<int, Color> idColorDict = new Dictionary<int, Color>();
-
-        private Stack<GameObject> bboxPool = new Stack<GameObject>();
-
-        /// <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(Person 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)
-                {
-                    Debug.LogError("BBox prefab needs a RectTransform in the root object.");
-                    return null;
-                }
-
-                liveBBoxes[dobj.Id] = newrecttrans;
-                return newrecttrans;
-            }
-            else return liveBBoxes[dobj.Id];
-
-        }
-
-        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)
-    };
-
-        private int nextColorIndex = 0;
-
-        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;
-        }
-
-        /// <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;
-        }
-    }
-}

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Assets/StreetLight/Poco/CalibrationPoint.cs

@@ -1,23 +0,0 @@
-using System.Diagnostics;
-using UnityEngine;
-
-namespace Assets.StreetLight.Poco
-{
-    [DebuggerDisplay("{" + nameof(GetDebuggerDisplay) + "(),nq}")]
-    public class CalibrationPoint
-    {
-        public Vector3 WorldPosition { get; }
-        public Vector3 UnityPosition { get; }
-
-        public CalibrationPoint(Vector3 worldPosition, Vector3 unityPosition)
-        {
-            WorldPosition = worldPosition;
-            UnityPosition = unityPosition;
-        }
-
-        private string GetDebuggerDisplay()
-        {
-            return $"World: {WorldPosition}, Unity: {UnityPosition}";
-        }
-    }
-}

Assets/StreetLight/Poco/CalibrationPoint.cs.meta

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Assets/StreetLight/Poco/HomographyCorrespondence.cs

@@ -1,23 +0,0 @@
-using MathNet.Numerics.LinearAlgebra;
-using System.Diagnostics;
-
-namespace Assets.StreetLight.Poco
-{
-    [DebuggerDisplay("{" + nameof(GetDebuggerDisplay) + "(),nq}")]
-    public class HomographyCorrespondence
-    {
-        public Vector<double> WorldPosition { get; }
-        public Vector<double> UnityPosition { get; }
-
-        public HomographyCorrespondence(Vector<double> worldPosition, Vector<double> unityPosition)
-        {
-            WorldPosition = worldPosition;
-            UnityPosition = unityPosition;
-        }
-
-        private string GetDebuggerDisplay()
-        {
-            return $"World: {WorldPosition}, Unity: {UnityPosition}";
-        }
-    }
-}

Assets/StreetLight/Poco/HomographyCorrespondence.cs.meta

@@ -1,11 +0,0 @@
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Assets/StreetLight/Poco/Person.cs

@@ -11,7 +11,6 @@ namespace Assets.StreetLight.Poco
         public int Id { get; }
         public event PropertyChangedEventHandler PropertyChanged;
 
-        // todo: make world position private and add get position method for unity position
         private Vector3 worldPosition = Vector3.zero;
         private readonly PositionCalculator positionCalculator;
 

Assets/StreetLight/Prefabs/PersonManager.prefab

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Assets/StreamingAssets/Configuration.json.meta → Assets/StreetLight/Prefabs/PersonManager.prefab.meta

@@ -1,6 +1,6 @@
 fileFormatVersion: 2
-guid: 472ae3cdca295fa4a80a9fe1eca99d1c
-DefaultImporter:
+guid: 520f07e4e9b1df3499037a602046fe08
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Assets/StreetLight/Scripts/PersonManager.cs

@@ -20,6 +20,16 @@ namespace Assets.StreetLight.Scripts
 
         public event EventHandler DetectionReady;
 
+        /// <summary>
+        /// Occurs when a new person has been detected that was not present before.
+        /// </summary>
+        public event EventHandler<Person> PersonAppeared;
+
+        /// <summary>
+        /// Occurs when a person can no longer be detected.
+        /// </summary>
+        public event EventHandler<Person> PersonDisappeared;
+
         void Start()
         {
             try
@@ -29,7 +39,7 @@ namespace Assets.StreetLight.Scripts
             }
             catch (Exception ex)
             {
-                Debug.LogError($"Could not load homography: {ex.Message}");
+                Debug.LogWarning($"Could not load homography: {ex.Message} Calculating the unity position of a person will not be possible. (This is expected during calibration.)");
             }
 
             Persons = new ObservableCollection<Person>();
@@ -73,6 +83,7 @@ namespace Assets.StreetLight.Scripts
                 {
                     person = new Person(detectedPerson.Id, PositionCalculator);
                     Persons.Add(person);
+                    PersonAppeared?.Invoke(this, person);
                 }
                 person.WorldPosition = detectedPerson.WorldPosition;
                 detectedIds.Add(detectedPerson.Id);
@@ -82,6 +93,7 @@ namespace Assets.StreetLight.Scripts
             foreach (var person in personsToBeRemoved)
             {
                 Persons.Remove(person);
+                PersonDisappeared?.Invoke(this, person);
             }
         }
 

Assets/StreetLight/Serialization/ColorConverter.cs

@@ -1,25 +0,0 @@
-using Newtonsoft.Json;
-using System;
-using UnityEngine;
-
-namespace Assets.StreetLight.Serialization
-{
-    public class ColorConverter : JsonConverter
-    {
-        public override bool CanConvert(Type objectType)
-        {
-            return objectType == typeof(Color);
-        }
-
-        public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
-        {
-            return new Color();
-        }
-
-        public override void WriteJson(JsonWriter writer, object value, JsonSerializer serializer)
-        {
-            var color = (Color)value;
-            writer.WriteValue($"({color.a}|{color.r}|{color.g}|{color.b})");
-        }
-    }
-}

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Assets/StreetLight/Serialization/GameObjectConverter.cs

@@ -1,33 +0,0 @@
-using Newtonsoft.Json;
-using System;
-using UnityEngine;
-
-namespace Assets.StreetLight.Serialization
-{
-    public class GameObjectConverter : JsonConverter
-    {
-        public override bool CanConvert(Type objectType)
-        {
-            return objectType == typeof(GameObject);
-        }
-
-        public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
-        {
-            return new GameObject();
-        }
-
-        public override void WriteJson(JsonWriter writer, object value, JsonSerializer serializer)
-        {
-            var gameObject = (GameObject)value;
-
-            if (gameObject == null)
-            {
-                writer.WriteValue("null");
-            }
-            else
-            {
-                writer.WriteValue(gameObject);
-            }
-        }
-    }
-}

Assets/StreetLight/Serialization/GameObjectConverter.cs.meta

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Assets/StreetLight/Serialization/Matrix4x4Converter.cs

@@ -1,25 +0,0 @@
-using Newtonsoft.Json;
-using System;
-using UnityEngine;
-
-namespace Assets.StreetLight.Serialization
-{
-    public class Matrix4x4Converter : JsonConverter
-    {
-        public override bool CanConvert(Type objectType)
-        {
-            return objectType == typeof(Matrix4x4);
-        }
-
-        public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
-        {
-            return new Matrix4x4();
-        }
-
-        public override void WriteJson(JsonWriter writer, object value, JsonSerializer serializer)
-        {
-            var matrix = (Matrix4x4)value;
-            writer.WriteValue(matrix.ToString());
-        }
-    }
-}

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-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/StreetLight/Serialization/QuaternionConverter.cs

@@ -1,26 +0,0 @@
-using Newtonsoft.Json;
-using System;
-using UnityEngine;
-
-namespace Assets.StreetLight.Serialization
-{
-    public class QuaternionConverter : JsonConverter
-    {
-        public override bool CanConvert(Type objectType)
-        {
-            return objectType == typeof(Quaternion);
-        }
-
-        public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
-        {
-            return new Quaternion();
-        }
-
-        public override void WriteJson(JsonWriter writer, object value, JsonSerializer serializer)
-        {
-            var vector = (Quaternion)value;
-            var text = $"({vector.x}|{vector.y}|{vector.z}|{vector.w})";
-            writer.WriteValue(text);
-        }
-    }
-}

Assets/StreetLight/Serialization/QuaternionConverter.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 53336bb50d2125d4f8bad2d8ace18efb
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
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Assets/StreetLight/Serialization/Vector2Converter.cs

@@ -1,25 +0,0 @@
-using Newtonsoft.Json;
-using System;
-using UnityEngine;
-
-namespace Assets.StreetLight.Serialization
-{
-    public class Vector2Converter : JsonConverter
-    {
-        public override bool CanConvert(Type objectType)
-        {
-            return objectType == typeof(Vector2);
-        }
-
-        public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
-        {
-            return new Vector2();
-        }
-
-        public override void WriteJson(JsonWriter writer, object value, JsonSerializer serializer)
-        {
-            var vector = (Vector2)value;
-            writer.WriteValue($"({vector.x}|{vector.y})");
-        }
-    }
-}

Assets/StreetLight/Serialization/Vector2Converter.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 8860e15b629f9a44a82837fd8574c2df
-MonoImporter:
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-  userData: 
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Assets/StreetLight/Serialization/Vector3Converter.cs

@@ -1,25 +0,0 @@
-using Newtonsoft.Json;
-using System;
-using UnityEngine;
-
-namespace Assets.StreetLight.Serialization
-{
-    public class Vector3Converter : JsonConverter
-    {
-        public override bool CanConvert(Type objectType)
-        {
-            return objectType == typeof(Vector3);
-        }
-
-        public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
-        {
-            return new Vector3();
-        }
-
-        public override void WriteJson(JsonWriter writer, object value, JsonSerializer serializer)
-        {
-            var vector = (Vector3)value;
-            writer.WriteValue($"({vector.x}|{vector.y}|{vector.z})");
-        }
-    }
-}

Assets/StreetLight/Serialization/Vector3Converter.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: e41625be946800347a550e0b18923c84
-MonoImporter:
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-  assetBundleVariant: 

Assets/ZED/Examples/Object Detection/Scripts/ZED3DObjectVisualizer.cs

@@ -2,8 +2,6 @@
 using System.Collections;
 using System.Collections.Generic;
 using System.Linq;
-using Assets.Logging;
-using Assets.ZED.SDK.Helpers.Scripts;
 using UnityEngine;
 using UnityEngine.UIElements;
 
@@ -144,7 +142,7 @@ public class ZED3DObjectVisualizer : MonoBehaviour
 
     private void Awake()
     {
-        zedManagerLazy = new(new LoggingZEDManager(FindObjectOfType<ZEDManager>(), new DetectionFrameLogger()));
+        zedManagerLazy = new(() => FindObjectOfType<ZEDManager>());
     }
 
     void Start()

Assets/ZED/SDK/Helpers/Scripts/LoggingZEDManager.cs

@@ -1,52 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using Assets.Logging;
-using sl;
-using static ZEDManager;
-
-namespace Assets.ZED.SDK.Helpers.Scripts
-{
-    internal class LoggingZEDManager : IZEDManager
-    {
-        readonly ZEDManager zedManager;
-        readonly ILogger<DetectionFrame> detectionFrameLogger;
-
-        public LoggingZEDManager(ZEDManager zedManager, ILogger<DetectionFrame> detectionFrameLogger)
-        {
-            this.zedManager = zedManager;
-            this.detectionFrameLogger = detectionFrameLogger;
-            zedManager.OnObjectDetection += ZedManager_OnObjectDetection;
-        }
-
-        void ZedManager_OnObjectDetection(DetectionFrame objFrame)
-        {
-            detectionFrameLogger.Log(objFrame);
-        }
-
-        public bool IsObjectDetectionRunning => zedManager.IsObjectDetectionRunning;
-
-        public bool EstimateInitialPosition => zedManager.EstimateInitialPosition;
-
-        public DETECTION_MODEL ObjectDetectionModel => zedManager.ObjectDetectionModel;
-
-        public event ZEDManager.onNewDetectionTriggerDelegate OnObjectDetection
-        {
-            add => zedManager.OnObjectDetection += value;
-            remove => zedManager.OnObjectDetection -= value;
-        }
-
-        public event ZEDManager.OnZEDManagerReady OnZEDReady
-        {
-            add => zedManager.OnZEDReady += value;
-            remove => zedManager.OnZEDReady -= value;
-        }
-
-        public void StartObjectDetection()
-        {
-            zedManager.StartObjectDetection();
-        }
-    }
-}

Assets/ZED/SDK/Helpers/Scripts/LoggingZEDManager.cs.meta

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CalibrationRecordings/CalibrationRecording2022-10-09_09-56-48.csv

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