private void RenderView(int view)
{
Vector3 newView = _vm.SetView(view);
_drm.SetCameraView(newView);
_currentRendering = _drm.GetDepthRendering();
HashSet <Vector3> pointCloud = _pcm.CreatePointSet(_currentRendering);
_ogm.AddPoints(pointCloud);
}
public void RenderView(int viewIndex)
{
//Redners the current view of the index
SetView(viewIndex);
_currentRendering = _drm.GetDepthRendering();
HashSet <Vector3> pointCloud = _pcm.CreatePointSet(_currentRendering);
_ogm.AddPoints(pointCloud);
_rm.ComputeRewards();
}
void Update()
{
if (Input.GetKeyDown(KeyCode.I)) //Changes the camera view
{
NextView();
}
if (Input.GetKeyDown(KeyCode.O)) //Changes the study object
{
NextObject();
}
if (Input.GetKeyDown(KeyCode.L)) //Sets the view to the index of the serialized field
{
SetView();
}
if (Input.GetKeyDown(KeyCode.K))//Skips 10 candidate view indices forward
{
Vector3 v = _vm.SetNeighbouringView(10);
_drm.SetCameraView(v);
}
if (Input.GetKeyDown(KeyCode.Z)) // Renders and adds current view to pointcloud
{
Texture2D _currentRendering = _drm.GetDepthRendering();
HashSet <Vector3> pointCloud = _pcm.CreatePointSet(_currentRendering);
_ogm.AddPoints(pointCloud);
}
if (Input.GetKeyDown(KeyCode.X)) // Generates a occupancy grid object on the scene
{
_ogm.BuildGrid();
}
if (Input.GetKeyDown(KeyCode.C)) //Renders the view from image to point cloud to occupancy grid
{
RenderView();
}
if (Input.GetKeyDown(KeyCode.B)) //Builds the occupancy grid of the current view
{
Texture2D _currentRendering = _drm.GetDepthRendering();
HashSet <Vector3> pointCloud = _pcm.CreatePointSet(_currentRendering);
_pcm.BuildPointCloudObjectFromCloud(new Vector3(4, 0, 0), pointCloud, Vector3.one);
_ogm.AddPoints(pointCloud);
_ogm.BuildGrid();
}
if (Input.GetKeyDown(KeyCode.G)) //Shows the ground truth of the current object
{
VisualizeGrountTruth();
}
if (Input.GetKeyDown(KeyCode.Y)) //Logs the distance between the views
{
UnityEngine.Debug.Log(_vm.GetDistance(_vm.GetCurrentViewIndex(), _compareViewWith).ToString());
}
if (Input.GetKeyDown(KeyCode.M)) //Shows the view sphere representation
{
_vm.BuildSphere(Vector3.zero);
}
if (Input.GetKeyDown(KeyCode.N)) //Shows the view sphere representation
{
_vm.VisualizePath();
}
if (Input.GetKeyDown(KeyCode.P)) //Shows the view sphere representation
{
_som.PrepareStudyObject(_setObject);
}
}