public GroundTruthGenerator(DepthRenderingManager drm, ViewManager vm, PointCloudManager pcm, OccupancyGridManager ogm, StudyObjectMamanger som, float requiredAccuracy = 0.99f)
{
// Save function messes up executable file, must make due without it
_path = _basePath + "_" + vm.Count().ToString() + ".txt";
_drm = drm;
_vm = vm;
_pcm = pcm;
_ogm = ogm;
_som = som;
this.requiredAccuracy = requiredAccuracy;
//Generate(false); // Do not count tallies
//Save();
_grids = Load();
CountGrids();
}
public SystemInterface(Camera depthCamera)
{
//Prepare depth rendering texture
_depthCamera = depthCamera;
RenderTexture rTex = _depthCamera.targetTexture;
rTex.width = _textureResolution;
rTex.height = _textureResolution;
//Setup Managers
_vm = new ViewManager(_viewGridLayers, _sphereRadius, _numberViews);
_som = new StudyObjectMamanger(_objectPosition);
_drm = new DepthRenderingManager(_depthCamera, _nearClipPlane, _farClipPlane);
_pcm = new PointCloudManager(rTex, _depthSawOff, _depthCamera);
_ogm = new OccupancyGridManager(_occupancyGridCount, _studyGridSize, _gridPosition);
_gtg = new GroundTruthGenerator(_drm, _vm, _pcm, _ogm, _som);
_rm = new RewardManager(_gtg, _ogm, _som, _vm, _requiredAccuracy);
Reset();
}
private void Start()
{
_timer = new Stopwatch();
RenderTexture rTex = _depthCamera.targetTexture;
rTex.width = _textureResolution;
rTex.height = _textureResolution;
//Setup Managers
_vm = new ViewManager(_viewGridLayers, _sphereRadius, _numberViews);
_som = new StudyObjectMamanger(_objectPosition);
_drm = new DepthRenderingManager(_depthCamera, _nearClipPlane, _farClipPlane);
_pcm = new PointCloudManager(rTex, _depthSawOff, _depthCamera);
_ogm = new OccupancyGridManager(_occupancyGridCount, _studyGridSize, _gridPosition);
_gtg = new GroundTruthGenerator(_drm, _vm, _pcm, _ogm, _som);
_rm = new RewardManager(_gtg, _ogm, _som, _vm, 0.95f);
Vector3 v = _vm.GetView(0);
_drm.SetCameraView(v);
}