// this builds a VC problem from a list of targets. For each target, we request size, visibility, vertical
// and horizontal orientation
void buildVCProblem(List <GameObject> targetObjects, float desiredSize, bool addChildren)
{
// define list of properties
List <CLVisualProperty> properties = new List <CLVisualProperty> ();
List <CLVisualProperty> allProperties = new List <CLVisualProperty> ();
List <CLTarget> targets = new List <CLTarget> ();
List <float> weights = new List <float> ();
int layerMask = (1 << 2);
float preferredSize = desiredSize / (targetObjects.Count);
// for each game object in the list
foreach (GameObject targetobj in targetObjects)
{
List <GameObject> renderables = getChildrenWithRenderers(targetobj);
List <GameObject> colliders = getChildrenWithColliders(targetobj);
if ((renderables.Count > 0) && (colliders.Count > 0))
{
CLTarget target = new CLTarget(targetobj, renderables, colliders, layerMask, CLTarget.VisibilityPointGenerationMethod.UNIFORM_IN_BB, 6);
targets.Add(target);
List <CLTarget> properties_targets = new List <CLTarget> ();
properties_targets.Add(target);
//area property with 2.5 weight
List <float> sizeSatFuncCtrlX = new List <float> {
0.0f, 0.002f, preferredSize, 0.4f, 0.5f, 1.0f
};
List <float> sizeSatFuncCtrlY = new List <float> {
0.0f, 0.1f, 0.8f, 1.0f, 0.1f, 0.0f
};
CLSizeProperty sizeP = new CLSizeProperty(CLSizeProperty.SizeMode.AREA, targetobj.name + " size", properties_targets, sizeSatFuncCtrlX, sizeSatFuncCtrlY);
weights.Add(2.5f);
properties.Add(sizeP);
// orientation property (see from front) with w = 1.0
List <float> hORFuncCtrlX = new List <float> {
-180.0f, -90f, 0.0f, 90f, 180.0f
};
List <float> hORFuncCtrlY = new List <float> {
0.0f, 0.1f, 1.0f, 0.1f, 0.0f
};
CLOrientationProperty orP = new CLOrientationProperty(CLOrientationProperty.OrientationMode.HORIZONTAL, targetobj.name + " orientation",
properties_targets, hORFuncCtrlX, hORFuncCtrlY);
properties.Add(orP);
weights.Add(1.0f);
// v-orientation property (see from 90 to top), w=1.5
List <float> vORFuncCtrlX = new List <float> {
0.0f, 90.0f, 95f, 180.0f
};
List <float> vORFuncCtrlY = new List <float> {
0.0f, 1.0f, 0.1f, 0.0f
};
CLOrientationProperty orPV = new CLOrientationProperty(CLOrientationProperty.OrientationMode.VERTICAL_WORLD,
targetobj.name + " vorientation", properties_targets, vORFuncCtrlX, vORFuncCtrlY);
properties.Add(orPV);
weights.Add(1.5f);
// occlusion property with 4.0 weight
List <float> occlFuncCtrlX = new List <float> {
0.0f, 0.5f, 0.6f, 1.0f
};
List <float> occlFuncCtrlY = new List <float> {
1.0f, 0.7f, 0.1f, 0.0f
};
CLOcclusionProperty occlP = new CLOcclusionProperty(targetobj.name + " occlusion", properties_targets, occlFuncCtrlX, occlFuncCtrlY, doubleSidedVisibilityChecking, randomRayCasts);
weights.Add(4.0f);
properties.Add(occlP);
}
}
CLTradeOffSatisfaction satFunction = new CLTradeOffSatisfaction("all", targets, properties, weights);
allProperties.AddRange(properties);
allProperties.Insert(0, satFunction);
camLibCam.SetSpecification(allProperties);
}
// this method generates a random viewpoint with more probability where
// target properties will be satisfied. It assumes we have at least a size
// property for the target, plus optional angle and occlusion properties
public Vector3 GenerateRandomSatisfyingPosition(CLCameraMan camera, bool considerVisibility = false)
{
Vector3 result = new Vector3();
bool found = false;
int ntries = 0;
float yFOV = (camera.cameraDomain.yFOVBounds [0] + camera.cameraDomain.yFOVBounds [1]) / 2;
// we allow for 30 tries before giving up
while (ntries < 30 && !found)
{
float distance = 0.0f;
float phi = 0.0f;
float theta = 0.0f;
foreach (CLGroundProperty p in groundProperties)
{
if (p is CLSizeProperty)
{
CLSizeProperty sp = (CLSizeProperty)p;
// this returns a random area, or width, or height, depending on the type of size
// property, with more probability where the satisfaction is higher
float randomSize = p.satFunction.GenerateRandomXPoint();
if (randomSize < 0.0001f)
{
randomSize = 0.0001f; // to avoid computing an infinite distance.
}
// compute distance from target size
distance = ComputeDistanceFromSize(randomSize, sp.sizeType, camera, yFOV);
}
if (p is CLOrientationProperty)
{
CLOrientationProperty op = (CLOrientationProperty)p;
if (op.orientation == CLOrientationProperty.OrientationMode.HORIZONTAL)
{
phi = Mathf.Deg2Rad * op.satFunction.GenerateRandomXPoint(); // horizontal random angle
}
else
{
theta = Mathf.Deg2Rad * op.satFunction.GenerateRandomXPoint(); // vertical random angle
}
}
}
// if we are not inside bs sphere
if (distance > radius)
{
result = ComputeWorldPosFromSphericalCoordinates(distance, phi, theta);
if (camera.InSearchSpace(new float[] { result.x, result.y, result.z }))
{
found = true;
}
}
ntries++;
}
if (!found)
{
float[] randomCandidate = camera.cameraDomain.ComputeRandomViewpoint(3);
result = new Vector3(randomCandidate [0], randomCandidate [1], randomCandidate [2]);
//Debug.Log ("random candidate");
}
else
{
//Debug.Log ("smart candidate in " + ntries + " tries");
}
return(result);
}
