public override void Encode(DetectionResult result)
{
int tagChannel = m_NumChannels * m_CrntStackIndex;
m_Grid.ClearChannels(tagChannel, m_NumChannels);
for (int iTag = 0, nTag = result.DetectableTags.Count; iTag < nTag; iTag++)
{
string tag = result.DetectableTags[iTag];
if (m_Settings.HasObservations(tag, out IList <int> obsIndices))
{
if (result.TryGetItems(tag, out IList <DetectionResult.Item> items))
{
ShapeModifier modifier = m_ModifiersByTag[tag];
for (int iItem = 0, nItem = items.Count; iItem < nItem; iItem++)
{
var item = items[iItem];
int channel = tagChannel;
modifier.Clear();
// First observation.
float value = item.Detectable.Observations.Evaluate(obsIndices[0]);
for (int iPoint = 0, nPoint = item.Points.Count; iPoint < nPoint; iPoint++)
{
Vector2Int pos = m_Grid.NormalizedToGridPos(item.Points[iPoint]);
m_Grid.Write(channel, pos, value);
modifier.AddPoint(pos);
}
modifier.Process(m_Grid, channel);
channel++;
// Additional observations.
if (obsIndices.Count > 1)
{
for (int iObs = 1, nObs = obsIndices.Count; iObs < nObs; iObs++)
{
// The modifier already contains the required grid positions,
// even if we haven't applied any modifications (ShapeModNone).
modifier.Write(m_Grid, channel,
item.Detectable.Observations.Evaluate(obsIndices[iObs]));
channel++;
}
}
}
}
}
else
{
throw new UnityException("No observations found for " + tag);
}
tagChannel += obsIndices.Count;
}
IncrementStackIndex();
}
public override void Encode(DetectionResult result)
{
int tagChannel = m_NumChannels * m_CrntStackIndex;
m_Grid.ClearChannels(tagChannel, m_NumChannels);
for (int iTag = 0, nTag = result.DetectableTags.Count; iTag < nTag; iTag++)
{
string tag = result.DetectableTags[iTag];
bool hasObs = m_Settings.HasObservations(tag, out IList <int> obsIndices);
if (result.TryGetItems(tag, out IList <DetectionResult.Item> items))
{
ShapeModifier modifier = m_ModifiersByTag[tag];
for (int iItem = 0, nItem = items.Count; iItem < nItem; iItem++)
{
var item = items[iItem];
int channel = tagChannel;
modifier.Clear();
// Distance.
for (int iPoint = 0, nPoint = item.Points.Count; iPoint < nPoint; iPoint++)
{
Vector3 p = item.Points[iPoint];
Vector2Int pos = m_Grid.NormalizedToGridPos(p);
// Inverts z -> 0 (far) to 1 (near).
float norm = m_DistanceNormalization.Evaluate(p.z);
float prev = m_Grid.Read(channel, pos);
// Override if closer.
if (norm > prev)
{
m_Grid.Write(channel, pos, norm);
modifier.AddPoint(pos, p.z); // z: 0 (near) to 1 (far).
}
// else: ignore occluded.
}
modifier.Process(m_Grid, channel);
channel++;
// Additional observations.
if (hasObs)
{
for (int iObs = 0, nObs = obsIndices.Count; iObs < nObs; iObs++)
{
// The modifier already contains the required grid positions,
// even if we haven't applied any modifications (ShapeModNone).
modifier.Write(m_Grid, channel,
item.Detectable.Observations.Evaluate(obsIndices[iObs]));
channel++;
}
}
}
}
tagChannel += hasObs ? obsIndices.Count + 1 : 1;
}
IncrementStackIndex();
}