/// <inheritdoc/>
public void Encode(DetectionResult result)
{
m_GridBuffer.Clear();
if (m_Debug_IsEnabled)
{
m_Debug_ChannelData.ClearGridPositions();
}
int firstTagChannel = 0;
// TODO Too many nested loops.
foreach (var tag in result.DetectableTags)
{
// Observables for current tag.
var tagObs = m_Settings.GetObservables(tag);
if (result.TryGetItems(tag, out IList <DetectionResult.Item> tagItems))
{
// Has detection result for current tag -> get matching modifier.
var modifier = m_PointModifiersByTag[tag];
foreach (var item in tagItems)
{
modifier.Reset();
int channel = firstTagChannel;
// Iterate observables for current result item.
foreach (var obs in tagObs)
{
// We evaluate the observable here and write obsValue
// to all grid positions below, UNLESS it's distance.
bool encodeDistance = obs.Evaluate(
item.Detectable, out float obsValue)
== ObservableType.Distance;
if (!modifier.HasGridPositions)
{
if (item.HasPoints)
{
// Is first observable we have any points for.
foreach (var point in item.NormPoints)
{
// Normalized item point -> grid position.
Vector2Int pos = m_GridBuffer.NormalizedToGridPos(point);
if (encodeDistance)
{
// Ignore obsValue (is 0 for distance).
// (Weighted) inverse distance, 1 (near) - 0 (far).
float proximity = m_Normalization.Evaluate(point.z);
// Override if closer.
if (proximity > m_GridBuffer.Read(channel, pos))
{
// Write unmodified position to buffer.
m_GridBuffer.Write(channel, pos, proximity);
// Write unmodified position to modifier.
modifier.AddPosition(pos, 1 - point.z); // unweighted
}
// else: ignore occluded.
}
else
{
// Write unmodified position to buffer.
m_GridBuffer.Write(channel, pos, obsValue);
// Write unmodified position to modifier.
// NOTE Need some proximity value for PointModDilation.
// Passing 0.5 to get a visible result, 0 does nothing.
modifier.AddPosition(pos, 0.5f);
}
}
// Will write additional positions to buffer.
// NOTE So far, all point modifiers are only ADDING positions,
// but that might not be the case for future modifiers.
modifier.Process(m_GridBuffer, channel);
if (m_Debug_IsEnabled)
{
// Store modified grid positions.
m_Debug_ChannelData.AddGridPositions(channel, modifier.GridPositions);
}
}
}
else
{
// Is additional observable.
//
// The modifier already contains the required grid positions,
// even if we haven't applied any modifications (PointModNone).
//
// The reason for requiring distance as the first observable,
// is that we write obsValue to ALL stored grid positions here.
// Distance is the only observable with individual position values.
//
// Will write all positions to buffer.
modifier.Write(m_GridBuffer, channel, obsValue);
if (m_Debug_IsEnabled)
{
// Store modified grid positions.
m_Debug_ChannelData.AddGridPositions(channel, modifier.GridPositions);
}
}
// Next observable...
channel++;
}
}
}
firstTagChannel += tagObs.Count();
}
}
/// <inheritdoc/>
public override void Reset()
{
base.Reset();
m_AuxGrid.Clear();
}