void updateDynamicObjectSettings()
{
// Update object settings.
if (internal_state.readyToRender)
{
// Update depth cameras with dynamic depth scale.
var depthCameras = state.cameras.Where(obj => obj.isDepth);
foreach (var objState in depthCameras)
{
// Get object
ObjectState_t internal_object_state = internal_state.getWrapperObject(objState.ID, camera_template);
GameObject obj = internal_object_state.gameObj;
/*
* // Scale depth.
* if (internal_object_state.postProcessingProfile.debugViews.settings.depth.scale != state.camDepthScale)
* {
* var debugSettings = internal_object_state.postProcessingProfile.debugViews.settings;
* debugSettings.mode = BuiltinDebugViewsModel.Mode.Depth;
* debugSettings.depth.scale = state.camDepthScale;
* internal_object_state.postProcessingProfile.debugViews.settings = debugSettings;
* }
*/
}
}
}
void updateDynamicObjectSettings()
{
// Update object settings.
if (internal_state.readyToRender)
{
// Update depth cameras with dynamic depth scale.
state.cameras.Where(obj => obj.isDepth).ToList().ForEach(
obj_state =>
{
// Get object
ObjectState_t internal_object_state = internal_state.getWrapperObject(obj_state.ID, camera_template);
GameObject obj = internal_object_state.gameObj;
// Scale depth.
if (internal_object_state.postProcessingProfile.debugViews.settings.depth.scale != state.camDepthScale)
{
var debugSettings = internal_object_state.postProcessingProfile.debugViews.settings;
debugSettings.mode = BuiltinDebugViewsModel.Mode.Depth;
debugSettings.depth.scale = state.camDepthScale;
internal_object_state.postProcessingProfile.debugViews.settings = debugSettings;
}
}
);
}
}
void setCameraPostProcessSettings()
{
state.cameras.ToList().ForEach(
obj_state =>
{
// Get object
ObjectState_t internal_object_state = internal_state.getWrapperObject(obj_state.ID, camera_template);
GameObject obj = internal_object_state.gameObj;
// Copy and save postProcessingProfile into internal_object_state.
var postBehaviour = obj.GetComponent <PostProcessingBehaviour>();
internal_object_state.postProcessingProfile = Instantiate(postBehaviour.profile);
postBehaviour.profile = internal_object_state.postProcessingProfile;
// Enable depth if needed.
if (obj_state.isDepth)
{
var debugSettings = internal_object_state.postProcessingProfile.debugViews.settings;
debugSettings.mode = BuiltinDebugViewsModel.Mode.Depth;
debugSettings.depth.scale = state.camDepthScale;
// Save the settings.
internal_object_state.postProcessingProfile.debugViews.settings = debugSettings;
}
else
{
// Set CTAA settings
CTAA_PC AA = obj.GetComponent <CTAA_PC>();
// Check if AA object exists.
if (AA != null)
{
AA.TemporalStability = state.temporalStability;
AA.HdrResponse = state.hdrResponse;
AA.Sharpness = state.sharpness;
AA.AdaptiveEnhance = state.adaptiveEnhance;
AA.TemporalJitterScale = state.temporalJitterScale;
AA.MicroShimmerReduction = state.microShimmerReduction;
AA.StaticStabilityPower = state.staticStabilityPower;
AA.enabled = true;
}
else
{
// If CTAA is not installed on camera, fallback to PostProcessing FXAA.
AntialiasingModel.Settings AASettings = internal_object_state.postProcessingProfile.antialiasing.settings;
AASettings.method = AntialiasingModel.Method.Fxaa;
AASettings.fxaaSettings.preset = AntialiasingModel.FxaaPreset.ExtremeQuality;
// Save the settings.
internal_object_state.postProcessingProfile.antialiasing.settings = AASettings;
}
}
});
//
}
void instantiateCameras()
{
// Initialize Camera objects.
state.cameras.ToList().ForEach(
obj_state =>
{
// Get object
ObjectState_t internal_object_state = internal_state.getWrapperObject(obj_state.ID, camera_template);
GameObject obj = internal_object_state.gameObj;
// Ensure FOV is set for camera.
obj.GetComponent <Camera>().fieldOfView = state.camFOV;
}
);
}
void instantiateObjects()
{
// Initialize additional objects
state.objects.ToList().ForEach(
obj_state =>
{
// Get object
ObjectState_t internal_object_state = internal_state.getWrapperObject(obj_state.ID, obj_state.prefabID);
GameObject obj = internal_object_state.gameObj;
// @TODO Set object size
//obj.transform.localScale = ListToVector3(obj_state.size);
}
);
}
void setCameraViewports()
{
// Resize camera viewports.
state.cameras.ToList().ForEach(
obj_state =>
{
// Get object
ObjectState_t internal_object_state = internal_state.getWrapperObject(obj_state.ID, camera_template);
GameObject obj = internal_object_state.gameObj;
// Make sure camera renders to the correct portion of the screen.
obj.GetComponent <Camera>().pixelRect = new Rect(0, state.camHeight * (state.numCameras - obj_state.outputIndex - 1), state.camWidth, state.camHeight);
// enable Camera.
obj.SetActive(true);
}
);
}
void instantiateWindows()
{
// Initialize windows
state.windows.ToList().ForEach(
obj_state =>
{
// Get objects
ObjectState_t internal_object_state = internal_state.getWrapperObject(obj_state.ID, window_template);
GameObject obj = internal_object_state.gameObj;
// Set window size
obj.transform.localScale = ListToVector3(obj_state.size);
// set window color
obj.GetComponentInChildren <MeshRenderer>().material.SetColor("_EmissionColor", ListHSVToColor(obj_state.color));
}
);
}
void updateCameraCollisions()
{
if (internal_state.readyToRender)
{
state.hasCameraCollision = false;
var raycastingCameras = state.cameras.Where(obj => obj.hasCollisionCheck);
foreach (var obj_state in raycastingCameras)
{
// Get object
ObjectState_t internal_object_state = internal_state.getWrapperObject(obj_state.ID, camera_template);
GameObject obj = internal_object_state.gameObj;
// Check if object has collided (requires that collider hook has been setup on object previously.)
state.hasCameraCollision = (state.hasCameraCollision || obj.GetComponent <collisionHandler>().hasCollided);
}
}
}
// Update object and camera positions based on the positions sent by ZMQ.
void updateObjectPositions()
{
if (internal_state.readyToRender)
{
// Update camera positions
internal_state.uavCenterOfMass = new Vector3();
foreach (Camera_t obj_state in state.cameras)
{
// Get camera game object
GameObject obj = internal_state.getGameobject(obj_state.ID, camera_template);
// Apply translation and rotation
Vector3 pos = ListToVector3(obj_state.position);
obj.transform.SetPositionAndRotation(pos, ListToQuaternion(obj_state.rotation));
// Calculate center of mass
internal_state.uavCenterOfMass += pos;
}
// Adjust camera colliders such that camera colliders are at the center of mass.
internal_state.uavCenterOfMass /= state.numCameras;
// Get camera to cast from
ObjectState_t internal_object_state = internal_state.getWrapperObject(state.cameras[0].ID, camera_template);
// Get camera collider
SphereCollider cameraCollider = internal_object_state.gameObj.GetComponent <SphereCollider>();
// Set collider global pos to center of mass.
cameraCollider.center = internal_state.uavCenterOfMass - internal_object_state.gameObj.transform.position;
// Update Window positions
foreach (Object_t obj_state in state.objects)
{
// Get game object
GameObject obj = internal_state.getGameobject(obj_state.ID, obj_state.prefabID);
// Apply translation and rotation
obj.transform.SetPositionAndRotation(ListToVector3(obj_state.position), ListToQuaternion(obj_state.rotation));
}
}
}
void enableCollidersAndLandmarks()
{
internal_state.landmarkObjects = new Dictionary <string, GameObject>();
// Enable object colliders in scene
foreach (Collider c in FindObjectsOfType <Collider>())
{
c.enabled = true;
}
// Disable unneeded camera colliders
var nonRaycastingCameras = state.cameras.Where(obj => !obj.hasCollisionCheck);
foreach (Camera_t obj_state in nonRaycastingCameras)
{
ObjectState_t internal_object_state = internal_state.getWrapperObject(obj_state.ID, camera_template);
// Get camera collider
Collider cameraCollider = internal_object_state.gameObj.GetComponent <Collider>();
cameraCollider.enabled = false;
}
// Find all landmarks in scene
foreach (GameObject obj in GameObject.FindGameObjectsWithTag("IR_Markers"))
{
// Tag the landmarks
string gateName = obj.transform.parent.parent.name;
string landmarkID = gateName + "_" + obj.name;
// Save for later use
try
{
internal_state.landmarkObjects.Add(landmarkID, obj);
} catch (ArgumentException)
{
Debug.LogWarning("Landmark ID " + landmarkID + " already exists!");
}
}
//UNload unused assets
//Resources.UnloadUnusedAssets();
}
void instantiateCameras()
{
// Disable cameras in scene
foreach (Camera c in FindObjectsOfType <Camera>())
{
c.enabled = false;
}
// Initialize new Camera objects.
state.cameras.ForEach(
obj_state =>
{
// Get object
ObjectState_t internal_object_state = internal_state.getWrapperObject(obj_state.ID, camera_template);
GameObject obj = internal_object_state.gameObj;
// Ensure FOV is set for camera.
obj.GetComponent <Camera>().fieldOfView = state.camFOV;
// Apply translation and rotation
obj.transform.SetPositionAndRotation(ListToVector3(obj_state.position), ListToQuaternion(obj_state.rotation));
}
);
}
void instantiateObjects()
{
// Initialize additional objects
state.objects.ForEach(
obj_state =>
{
// Get object
ObjectState_t internal_object_state = internal_state.getWrapperObject(obj_state.ID, obj_state.prefabID);
GameObject obj = internal_object_state.gameObj;
// @TODO Set object size
//obj.transform.localScale = ListToVector3(obj_state.size);
}
);
// Check if should load obstacle perturbation file.
if (obstacle_perturbation_file.Length > 0)
{
using (var reader = new StreamReader(obstacle_perturbation_file)) {
while (reader.Peek() >= 0)
{
// Read line
string str;
str = reader.ReadLine();
// Parse line
string objectName = str.Split(':')[0];
string translationString = str.Split(':')[1];
float[] translationsFloat = Array.ConvertAll(translationString.Split(','), float.Parse);
// Find object
GameObject obj = GameObject.Find(objectName);
if (obj != null)
{
//// Check if object is statically batched. (NOT AVAILABLE IN STANDALONE BUILD)
//int flags = (int)GameObjectUtility.GetStaticEditorFlags(obj);
//if ((flags & 4)!= 0)
//{
// // Gameobject is not movable!!!
// Debug.LogError("WARNING: " + objectName + " is statically batched and not movable! Make sure the gameobject is only lightmap static.");
//} else
//{
// Translate and rotate object
obj.transform.Translate(-translationsFloat[1], 0, translationsFloat[0], Space.World);
obj.transform.Rotate(0, translationsFloat[2], 0, Space.World);
//}
}
}
}
}
if (outputLandmarkLocations)
{
// Output current locations.
Dictionary <string, List <GameObject> > GateMarkers = new Dictionary <string, List <GameObject> >();
// Find all landmarks and print to file.
foreach (GameObject obj in GameObject.FindGameObjectsWithTag("IR_Markers"))
{
// Tag the landmarks
string gateName = obj.transform.parent.parent.name;
string landmarkID = obj.name;
// Check if gate already exists.
if (GateMarkers.ContainsKey(gateName))
{
GateMarkers[gateName].Add(obj);
}
else
{
List <GameObject> markerList = new List <GameObject>();
markerList.Add(obj);
GateMarkers.Add(gateName, markerList);
}
}
// Print results
//Write some text to the test.txt file
StreamWriter writer = new StreamWriter("markerLocations.yaml", false);
foreach (var pair in GateMarkers)
{
writer.WriteLine(pair.Key + ":");
writer.Write(" location: [");
int i = 0;
// Sort landmark IDs
foreach (GameObject marker in pair.Value.OrderBy(gobj => gobj.name).ToList())
{
// Convert vector from EUN to NWU.
Vector3 NWU = new Vector3(marker.transform.position.z, -marker.transform.position.x, marker.transform.position.y);
// Print out locations in yaml format.
writer.Write("[" + NWU.x + ", " + NWU.y + ", " + NWU.z + "]");
if (i < 3)
{
writer.Write(", ");
}
else
{
writer.WriteLine("]");
}
i++;
}
}
writer.Close();
}
}
void updateLandmarkVisibility()
{
if (internal_state.readyToRender)
{
// Erase old set of landmarks
state.landmarksInView = new List <Landmark_t>();
// Get camera to cast from
ObjectState_t internal_object_state = internal_state.getWrapperObject(state.cameras[0].ID, camera_template);
Camera castingCamera = internal_object_state.gameObj.GetComponent <Camera>();
Vector3 cameraPosition = internal_object_state.gameObj.transform.position;
// Get camera collider
Collider cameraCollider = internal_object_state.gameObj.GetComponent <Collider>();
// Cull landmarks based on camera frustrum
// Gives lookup table of screen positions.
Dictionary <string, Vector3> visibleLandmarkScreenPositions = new Dictionary <string, Vector3>();
foreach (KeyValuePair <string, GameObject> entry in internal_state.landmarkObjects)
{
Vector3 screenPoint = castingCamera.WorldToViewportPoint(entry.Value.transform.position);
bool visible = screenPoint.z > 0 && screenPoint.x > 0 && screenPoint.x < 1 && screenPoint.y > 0 && screenPoint.y < 1;
if (visible)
{
visibleLandmarkScreenPositions.Add(entry.Key, screenPoint);
}
}
int numLandmarksInView = visibleLandmarkScreenPositions.Count();
// Batch raytrace from landmarks to camera
var results = new NativeArray <RaycastHit>(numLandmarksInView, Allocator.TempJob);
var commands = new NativeArray <RaycastCommand>(numLandmarksInView, Allocator.TempJob);
int i = 0;
var visibleLandmarkScreenPosList = visibleLandmarkScreenPositions.ToArray();
foreach (var elm in visibleLandmarkScreenPosList)
{
var landmark = internal_state.landmarkObjects[elm.Key];
Vector3 origin = landmark.transform.position;
Vector3 direction = cameraPosition - origin;
commands[i] = new RaycastCommand(origin, direction, distance: direction.magnitude, maxHits: max_num_ray_collisions);
i++;
}
// Run the raytrace commands
JobHandle handle = RaycastCommand.ScheduleBatch(commands, results, 1, default(JobHandle));
// Wait for the batch processing job to complete.
// @TODO: Move to end of frame.
handle.Complete();
// Cull based on number of collisions
// Remove if it collided with something
for (int j = 0; j < numLandmarksInView; j++)
{
// Check collisions. NOTE: indexing is via N*max_hits with first null being end of hit list.
RaycastHit batchedHit = results[j];
if (batchedHit.collider == null)
{
// No collisions here. Add it to the current state.
var landmark = visibleLandmarkScreenPosList[j];
Landmark_t landmarkScreenPosObject = new Landmark_t();
landmarkScreenPosObject.ID = landmark.Key;
landmarkScreenPosObject.position = Vector3ToList(landmark.Value);
state.landmarksInView.Add(landmarkScreenPosObject);
}
else if (batchedHit.collider == cameraCollider)
{
// No collisions here. Add it to the current state.
var landmark = visibleLandmarkScreenPosList[j];
Landmark_t landmarkScreenPosObject = new Landmark_t();
landmarkScreenPosObject.ID = landmark.Key;
landmarkScreenPosObject.position = Vector3ToList(landmark.Value);
state.landmarksInView.Add(landmarkScreenPosObject);
}
}
results.Dispose();
commands.Dispose();
}
}
void setCameraPostProcessSettings()
{
state.cameras.ForEach(
obj_state =>
{
// Get object
ObjectState_t internal_object_state = internal_state.getWrapperObject(obj_state.ID, camera_template);
GameObject obj = internal_object_state.gameObj;
// Copy and save postProcessingProfile into internal_object_state.
/*
* var postBehaviour = obj.GetComponent<PostProcessingBehaviour>();
* internal_object_state.postProcessingProfile = Instantiate(postBehaviour.profile);
* postBehaviour.profile = internal_object_state.postProcessingProfile;
*/
/*
* // Enable depth if needed.
* if (obj_state.isDepth)
* {
*
* var debugSettings = internal_object_state.postProcessingProfile.debugViews.settings;
*
* debugSettings.mode = BuiltinDebugViewsModel.Mode.Depth;
* debugSettings.depth.scale = state.camDepthScale;
* // Save the settings.
* internal_object_state.postProcessingProfile.debugViews.settings = debugSettings;
*
* // Disable AA
* CTAA_PC AA = obj.GetComponent<CTAA_PC>();
* // Check if AA object exists.
* if (AA != null)
* {
* AA.enabled = false;
* } else
* {
* // If CTAA is not installed on camera, fallback to PostProcessing FXAA.
* internal_object_state.postProcessingProfile.antialiasing.enabled = false;
* }
*
* } else */
/*
* {
* // Set CTAA settings
* CTAA_PC AA = obj.GetComponent<CTAA_PC>();
* // Check if AA object exists.
* if (AA != null)
* {
* AA.TemporalStability = state.temporalStability;
* AA.HdrResponse = state.hdrResponse;
* AA.Sharpness = state.sharpness;
* AA.AdaptiveEnhance = state.adaptiveEnhance;
* AA.TemporalJitterScale = state.temporalJitterScale;
* AA.MicroShimmerReduction = state.microShimmerReduction;
* AA.StaticStabilityPower = state.staticStabilityPower;
* AA.enabled = true;
* } else
* {
* // If CTAA is not installed on camera, fallback to PostProcessing FXAA.
* AntialiasingModel.Settings AASettings = internal_object_state.postProcessingProfile.antialiasing.settings;
*
* AASettings.method = AntialiasingModel.Method.Fxaa;
* AASettings.fxaaSettings.preset = AntialiasingModel.FxaaPreset.ExtremeQuality;
*
* // Save the settings.
* internal_object_state.postProcessingProfile.antialiasing.settings = AASettings;
* internal_object_state.postProcessingProfile.antialiasing.enabled = true;
*
* }
*
* // Ensure that Camera's RGB/Grayscale mode reflects the number of channels it has.
* ColorGradingModel.Settings colorGradingSettings = internal_object_state.postProcessingProfile.colorGrading.settings;
* float saturation = (obj_state.channels == 3) ? 1.0f : 0.0f;
*
* colorGradingSettings.basic.saturation = saturation;
* // Save the settings.
* internal_object_state.postProcessingProfile.colorGrading.settings = colorGradingSettings;
*
* }*/
});
//
}
