StreetLight/Assets/StreetLight/Adapters/ZedPersonDetector.cs

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;

namespace Assets.StreetLight.Adapters
{
    internal class ZedPersonDetector : IPersonDetector
    {
        private readonly ZEDManager zedManager;

        public event EventHandler<IEnumerable<Person>> PersonsDetected;

        public ZedPersonDetector(ZEDManager zedManager)
        {
            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()
        {
            zedManager.StartObjectDetection();
        }

        private void ZedManager_OnObjectDetection(DetectionFrame detectionFrame)
        {
            var detectedObjects = detectionFrame.GetFilteredObjectList(true, true, false);

            var persons = detectedObjects.Where(d => d.objectClass == sl.OBJECT_CLASS.PERSON);

            var detectedPersons = from p in persons
                                  let position = p.Get3DWorldPosition()
                                  select new Person(p.id, null)
                                  {
                                      WorldPosition = new Vector3(position.x, position.y, position.z)
                                  };

            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);
                }
            }
        }
    }
}