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(); }
/// <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(); } }