StreetLight/Assets/StreetLight/PersonVisualizer.cs

using Assets.Logging;
using Assets.StreetLight.Poco;
using Assets.ZED.SDK.Helpers.Scripts;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;

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) };
    }

    float minX = int.MaxValue;
    float minY = int.MaxValue;
    float maxX = int.MinValue;
    float maxY = int.MinValue;

    void Update()
    {
        int count = 0;
        foreach (var person in PersonManager.Persons)
        {
            GameObject sphere = spheres[count];
            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);

            //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);
            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;
    }
}