StreetLight/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectionFrame.cs

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();
        }
    }
}