private bool IsVisiblePoint(Vector3 center, Vector3 pos, out NormalizedPoint point)
{
var delta = pos - center;
var sqrMag = delta.sqrMagnitude;
if (sqrMag >= m_MinDistanceSqr && sqrMag <= m_MaxDistanceSqr)
{
var lonLat = Geometry.GetLonLat(m_ReferenceFrame, delta);
if (m_LonLatRect.Contains(lonLat))
{
float d = Mathf.Sqrt(sqrMag) - m_MinDistance; // > 0
// lon/lat -> norm. x/y
point.Position = Rect.PointToNormalized(m_LonLatRect, lonLat);
point.Position.z = d / m_DistanceRange;
point.Position.z = m_ApplyWeight
? Normalization.InvSigmoid(point.Position.z, m_NormalizationWeight)
: 1 - point.Position.z; // 0 at max, 1 at min distance
point.DistanceRatio = m_DistanceRange / d; // 1 at max distance
return(true);
}
}
point = default;
return(false);
}
private bool EncodePoint(NormalizedPoint point, int distanceChannel, int onehotChannel, out Vector2Int gridPos)
{
gridPos = m_Grid.NormalizedToGridPos(point.Position);
// Shorter distances have higher normalized values.
bool write = point.Position.z > m_Grid.Read(distanceChannel, gridPos);
if (write)
{
m_Grid.Write(distanceChannel, gridPos, point.Position.z);
}
if (onehotChannel != -1)
{
m_Grid.Write(onehotChannel, gridPos, 1);
}
return(write);
}
public void AddPoint(NormalizedPoint point)
{
m_Points.Add(point);
m_Rect.min = Vector2.Min(m_Rect.min, point.Position);
m_Rect.max = Vector2.Max(m_Rect.max, point.Position);
}
