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- using System.Collections;
- using System.Collections.Generic;
- using UnityEngine;
- using sl;
- /// <summary>
- /// Holds all objects detected by the ZED Object Detection module from a single ZED camera during a single frame.
- /// Holds metadata about the frame and camera, and provides helper functions for filtering out the detected objects.
- /// <para>This is provided when subscribed to the ZEDManager.OnObjectDetection event.</para>
- /// </summary><remarks>
- /// This is a higher level version of sl.ObjectsFrame, which comes directly from the ZED SDK and doesn't follow Unity conventions.
- /// </remarks>
- public class DetectionFrame
- {
- private ObjectsFrameSDK objectsFrame;
- /// <summary>
- /// The raw ObjectsFrame object that this object is an abstraction of - ObjectsFrame comes
- /// directly from the SDk and doesn't follow Unity conventions.
- /// </summary>
- public ObjectsFrameSDK rawObjectsFrame
- {
- get
- {
- return objectsFrame;
- }
- }
- /// <summary>
- /// Timestamp of when the object detection module finished detecting the frame. (TODO: Verify.)
- /// </summary>
- public ulong timestamp
- {
- get
- {
- return objectsFrame.timestamp;
- }
- }
- private int frameDetected = -1;
- /// <summary>
- /// Value of Time.frameCount when this object was created. Assumes the constructor was called in the same frame
- /// that the object was detected by the SDK.
- /// </summary>
- public int frameCountAtDetection
- {
- get
- {
- return frameDetected;
- }
- }
- /// <summary>
- /// How many objects were detected in total.
- /// <para>Note this does not include any filtering, so it includes objects in the SEARCHING and OFF tracking states.</para>
- /// </summary>
- public int objectCount
- {
- get
- {
- return objectsFrame.numObject;
- }
- }
- /// <summary>
- /// The manager class responsible for the ZED camera that detected the objects in this frame.
- /// </summary>
- public ZEDManager detectingZEDManager;
- private List<DetectedObject> detObjects = new List<DetectedObject>();
- /// <summary>
- /// All objects detected within this frame. Use GetFilteredObjectList to filter them by category or confidence.
- /// </summary>
- public List<DetectedObject> detectedObjects
- {
- get
- {
- return detObjects;
- }
- }
- /// <summary>
- /// Constructor that sets up this frame and spawns DetectedObject objects for each raw ObjectData object in the frame.
- /// </summary>
- /// <param name="oframe">Raw sl.ObjectsFrame object from the SDK, that this object is an abstraction of.</param>
- /// <param name="detectingmanager">ZEDManager that represents the camera that detected this frame.</param>
- public DetectionFrame(ObjectsFrameSDK oframe, ZEDManager detectingmanager)
- {
- objectsFrame = oframe;
- detectingZEDManager = detectingmanager;
- frameDetected = Time.frameCount;
- Vector3 campos = detectingmanager.GetLeftCameraTransform().position;
- Quaternion camrot = detectingmanager.GetLeftCameraTransform().rotation;
- for (int i = 0; i < oframe.numObject; i++)
- {
- DetectedObject dobj = new DetectedObject(oframe.objectData[i], detectingmanager, campos, camrot);
- detObjects.Add(dobj);
- }
- }
- /// <summary>
- /// Returns the list of detected objects from this frame, but with only objects of the desired tracking state and
- /// minimum confidence included.
- /// <para>Note: The object detection module itself already filters confidence, adjustable with ZEDManager.objectDetectionConfidenceThreshold.
- /// It's simpler to set this value instead (via the Inspector) unless you want multiple filters.</para>
- /// </summary>
- /// <param name="tracking_ok">True to include objects where tracking data is known.</param>
- /// <param name="tracking_searching">True to include objects where the SDK is currently searching for its position.</param>
- /// <param name="tracking_off">True to include objects that have no tracking data at all.</param>
- /// <param name="confidencemin">Minimum confidence threshold.</param>
- public List<DetectedObject> GetFilteredObjectList(bool tracking_ok, bool tracking_searching, bool tracking_off, float confidencemin = 0)
- {
- List<DetectedObject> filteredobjects = new List<DetectedObject>();
- foreach(DetectedObject dobj in detObjects)
- {
- if (dobj.confidence < confidencemin && dobj.confidence != -1) continue;
- switch (dobj.trackingState)
- {
- case OBJECT_TRACK_STATE.OK:
- if (tracking_ok) filteredobjects.Add(dobj);
- break;
- case OBJECT_TRACK_STATE.SEARCHING:
- if (tracking_searching) filteredobjects.Add(dobj);
- break;
- case OBJECT_TRACK_STATE.OFF:
- if (tracking_off) filteredobjects.Add(dobj);
- break;
- }
- }
- return filteredobjects;
- }
- /// <summary>
- /// Releases all textures and ZEDMats in all detected objects.
- /// Call when the frame won't be used anymore to avoid memory leaks.
- /// </summary>
- public void CleanUpAllObjects()
- {
- foreach(DetectedObject dobj in detObjects)
- {
- dobj.CleanUpTextures();
- }
- }
- }
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