// Use this for initialization
void Start()
{
_socket = GameObject.Find("SocketIO").GetComponent <SocketIOComponent>();
_socket.On("open", OnOpen);
_socket.On("steer", OnSteer);
_socket.On("manual", onManual);
_carController = CarRemoteControl.GetComponent <CarController>();
point_path = CarRemoteControl.GetComponent <PointTracker>();
wpt = new WaypointTracker_mpc();
polyOrder = 5;
}
void Awake()
{
a = 3;
time = 8f;
_carController = CarRemoteControl.GetComponent <CarController>();
setupSocket();
}
// Use this for initialization
void Start()
{
_socket = GameObject.Find("SocketIO").GetComponent <SocketIOComponent>();
_socket.On("open", OnOpen);
_socket.On("steer", OnSteer);
_socket.On("manual", onManual);
_carController = CarRemoteControl.GetComponent <CarController>();
}
// Use this for initialization
void Start()
{
Debug.Log("CommandGateway init");
webGateway = GameObject.Find("WebGateway").GetComponent <WebGateway>();
webGateway.MessageReceived += OnMessage;
_carController = CarRemoteControl.GetComponent <CarController>();
EmitTelemetry();
//OnSteer(JsonUtility.FromJson<CarInputData>("{\"steering_angle\": 10, \"throttle\": 10}"));
}
// Use this for initialization
void Start()
{
_socket = GameObject.Find("SocketIO").GetComponent <SocketIOComponent>();
_socket.On("open", OnOpen);
_socket.On("steer", OnSteer);
_socket.On("manual", onManual);
_socket.On("send_image_request", onImageRequest);
_carController = CarRemoteControl.GetComponent <CarController>();
DontDestroyOnLoad(this.gameObject);
}
// Use this for initialization
void Start()
{
_socket = GameObject.Find("SocketIO").GetComponent <SocketIOComponent>();
_socket.On("open", OnOpen);
_socket.On("reset", OnReset);
_socket.On("steer", OnSteer);
_socket.On("manual", onManual);
_carController = CarRemoteControl.GetComponent <CarController>();
wpt = new WaypointTracker_pid();
}
// Use this for initialization
void Start()
{
Application.targetFrameRate = fps;
acceleration = 0;
steeringAngle = 0;
carController = CarRemoteControl.GetComponent <CarController>();
connected = false;
received = false;
Connect();
}
// Use this for initialization
void Start()
{
_socket = GameObject.Find("SocketIO").GetComponent <SocketIOComponent>();
_socket.On("open", OnOpen); //"events", callback function called when event is dequeued
// Debug.Log (_socket.On);
_socket.On("steer", OnSteer);
Debug.Log("Start up");
_socket.On("manual", onManual);
_carController = CarRemoteControl.GetComponent <CarController>();
}
void Awake()
{
int width = 160;
int height = 80;
NorthCamera.targetTexture = new RenderTexture(width, height, 24);
SouthCamera.targetTexture = new RenderTexture(width, height, 24);
EastCamera.targetTexture = new RenderTexture(width, height, 24);
WestCamera.targetTexture = new RenderTexture(width, height, 24);
_carController = CarRemoteControl.GetComponent <CarController>();
}
// Use this for initialization
void Start()
{
Debug.Log("Starting");
_socket = GameObject.Find("SocketIO").GetComponent <SocketIOComponent>();
_socket.On("open", OnOpen);
_socket.On("steer", OnSteer);
_socket.On("manual", onManual);
_socket.On("telemetry", OnTelemetry);
_socket.On("close", OnClose);
_carController = CarRemoteControl.GetComponent <CarController>();
}
// Use this for initialization
void Start()
{
_socket = GameObject.Find("SocketIOMon").GetComponent <SocketIOComponent>();
_socket.On("open", OnOpen);
//_socket.On("manual", onManual);
_socket.On("close", onClose);
_carController = CarRemoteControl.GetComponent <CarController>();
// 获得组件
// 事件更新
LidarSensor.HitPointsTrans += MsgUpdate;
soObj = null;
}
void Start()
{
CommandServer = GameObject.Find("CommandServer").GetComponent <MyCommandServer_mpc>();
lineRenderer = path_point.GetComponentInParent <LineRenderer> ();
lineRenderer.SetWidth((float).5, (float).5);
lineRenderer.useWorldSpace = true;
_carController = CarRemoteControl.GetComponent <CarController>();
lastPoint = _carController.Position();
lineRenderer.SetVertexCount(2);
}
// Use this for initialization
void Start()
{
_socket = GameObject.Find("SocketIO").GetComponent <SocketIOComponent>();
_socket.On("open", OnOpen);
_socket.On("steer", OnSteer);
_socket.On("manual", onManual);
_carController = CarRemoteControl.GetComponent <CarController>();
canvas = GameObject.FindWithTag("Adversarial").GetComponent <Image>();
clear = canvas.color;
full = canvas.color;
clear.a = 0.0f;
full.a = 1.0f;
canvas.color = full;
}
// Use this for initialization
void Start()
{
_socket = GameObject.Find("SocketIO").GetComponent <SocketIOComponent>();
_socket.On("open", OnOpen);
_socket.On("steer", OnSteer);
_socket.On("manual", onManual);
_carController = mainCar.GetComponent <CarController>();
dataCapturer.init(GetComponent <Renderer>(), mainCamera);
rgbShader = Shader.Find("Standard");
depthShader = Shader.Find("Custom/DepthGrayscale");
pointCloud = new float[imgHeight * imgWidth * 4];
otherCar1 = GameObject.Find("Sedan_3A");
otherCar2 = GameObject.Find("Interceptor_2A");
}
// Use this for initialization
void Start()
{
_carController = CarRemoteControl.GetComponent <CarController>();
wpt = new WaypointTracker_pid();
//connect to TCP Server
ReadOk = false;
WriteOk = false;
try
{
client = new TcpClient(Server_IP, SERVER_PORT);
client.GetStream().BeginRead(readBuffer, 0, READ_BUFFER_SIZE, new AsyncCallback(DoRead), null);
Debug.Log("Connection OK!");
}
catch (Exception ex)
{
Debug.Log("Connection ERROR!");
}
}
public void Init(CarRemoteControl value, string trainPath)
{
// set the car controller and cameras
carController = value.GetComponent <CarController>();
cameraCenter = GameObject.Find("CenterCamera").GetComponent <Camera>();
cameraLeft = GameObject.Find("LeftCamera").GetComponent <Camera>();
cameraRight = GameObject.Find("RightCamera").GetComponent <Camera>();
trainFolder = trainPath + "input/";
Debug.Log(trainFolder);
if (!Directory.Exists(trainFolder + "imgs/"))
{
Directory.CreateDirectory(trainFolder + "imgs/");
}
else
{
Directory.Delete(trainFolder + "imgs/", true);
Directory.CreateDirectory(trainFolder + "imgs/");
}
}
void Start()
{
/// for the car
carCtrl = carRemoteCtrl.GetComponent <CarController>();
centerCam = GameObject.Find("CenterCamera").GetComponent <Camera>();
rightCam = GameObject.Find("RightCamera").GetComponent <Camera>();
leftCam = GameObject.Find("LeftCamera").GetComponent <Camera>();
carPos = new List <Vector3>();
carIntentDir = new List <Vector3>();
carActualDir = new List <Vector3>();
carMult = new List <float>();
carLeftLbl = new List <int>();
carRightLbl = new List <int>();
eps = 1;
/// for obstacles
///
obstAll = Resources.LoadAll("Const_prop_sets");
obstIdx = 1;
obstPos = new Vector3(1.875f, 0f, 100f); // for the straight road: 1.875f,0f,100f
obstScl = new Vector3(2f, 10f, 2f);
obstTmp = (GameObject)Instantiate(obstAll[obstIdx]) as GameObject;
obstTmp.transform.position = obstPos;
obstTmp.transform.localScale = obstScl;
/// specify training file directories
///
/// Input
trainFolder = "C:/DeepDrive/train/201805/detection-straight/";
zoneLog = "input-zone";
/// Output
trainImgFolder = "train-imgs/";
trainLog = "train-log.csv";
analysisLog = "analysis-log.csv";
if (!Directory.Exists(trainFolder + trainImgFolder))
{
Directory.CreateDirectory(trainFolder + trainImgFolder);
}
/// main program
LoadZoneInfo();
Debug.Log(carPos.Count);
for (int i = 0; i < carPos.Count; i++)
{
carCtrl.transform.position = carPos[i];
float limitAngle = Vector3.Angle(Vector3.right, carActualDir[i]) + carMult[i] * eps;
float angleToIntentialDir = Vector3.Angle(Vector3.right, carIntentDir[i]);
Debug.Log(angleToIntentialDir);
float rightMostAngle = angleToIntentialDir - 2.5f;
float leftMostAngle = angleToIntentialDir + 2.5f;
float curAngle = rightMostAngle;
float gapRot = 0.1f;
while (curAngle <= leftMostAngle)
{
carCtrl.transform.rotation = Quaternion.AngleAxis(90 - curAngle, Vector3.up);
if (curAngle > limitAngle)
{
writeTrainingData(carLeftLbl[i], carPos[i].z);
}
else
{
writeTrainingData(carRightLbl[i], carPos[i].z);
}
curAngle += gapRot;
}
}
}