public vectorvfEnumerator(vectorvf collection)
{
collectionRef = collection;
currentIndex = -1;
currentObject = null;
currentSize = collectionRef.Count;
}
public vectorvf(vectorvf other) : this(csogmaneoPINVOKE.new_vectorvf__SWIG_1(vectorvf.getCPtr(other)), true)
{
if (csogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw csogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
}
public void SetRange(int index, vectorvf values)
{
csogmaneoPINVOKE.vectorvf_SetRange(swigCPtr, index, vectorvf.getCPtr(values));
if (csogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw csogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
}
public void learn(vectorvf inputsPredict)
{
csogmaneoPINVOKE.Hierarchy_learn__SWIG_1(swigCPtr, vectorvf.getCPtr(inputsPredict));
if (csogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw csogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
}
public void activate(vectorvf inputsFeed)
{
csogmaneoPINVOKE.Hierarchy_activate(swigCPtr, vectorvf.getCPtr(inputsFeed));
if (csogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw csogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
}
public vectorvf getPredictions()
{
vectorvf ret = new vectorvf(csogmaneoPINVOKE.Hierarchy_getPredictions(swigCPtr), false);
if (csogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw csogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static vectorvf Repeat(ValueField2D value, int count)
{
global::System.IntPtr cPtr = csogmaneoPINVOKE.vectorvf_Repeat(ValueField2D.getCPtr(value), count);
vectorvf ret = (cPtr == global::System.IntPtr.Zero) ? null : new vectorvf(cPtr, true);
if (csogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw csogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public vectorvf GetRange(int index, int count)
{
global::System.IntPtr cPtr = csogmaneoPINVOKE.vectorvf_GetRange(swigCPtr, index, count);
vectorvf ret = (cPtr == global::System.IntPtr.Zero) ? null : new vectorvf(cPtr, true);
if (csogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw csogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
void Update()
{
if (applicationExiting)
{
return;
}
if (cameraTexture == null || predictionTexture == null || carController == null)
{
return;
}
ogmaneo.Vec2i pixelPos = new Vec2i();
// Remember currently active render texture
RenderTexture currentActiveRT = RenderTexture.active;
// Transfer the camera capture into the prediction texture (temporarily)
RenderTexture.active = cameraTexture;
predictionTexture.ReadPixels(new Rect(0, 0, _inputWidth, _inputHeight), 0, 0);
predictionTexture.Apply();
// Restore active render texture
RenderTexture.active = currentActiveRT;
// Transfer the RGB camera texture into ValueField2D fields
Color actualPixel = new Color();
Color yuvPixel = new Color(0.0f, 0.0f, 0.0f);
for (int x = 0; x < _inputWidth; x++)
{
for (int y = 0; y < _inputHeight; y++)
{
actualPixel = predictionTexture.GetPixel(x, y);
// SDTV (BT.601) Y'UV conversion
yuvPixel.r = actualPixel.r * 0.299f + actualPixel.g * 0.587f + actualPixel.b * 0.114f; // Y' luma component
// Chrominance
// U = r * -0.14713 + g * -0.28886 + b * 0.436
//yuvPixel.g = 0.0f;
// V = r * 0.615 + g * -0.51499 + b * -0.10001
//yuvPixel.b = 0.0f;
predictionTexture.SetPixel(x, y, yuvPixel);
}
}
// Edge Detection Convolution methods:
// Laplacian of the Gaussian (LoG) - https://en.wikipedia.org/wiki/Blob_detection#The_Laplacian_of_Gaussian
// - Sobel-Feldman and Sharr operators - https://en.wikipedia.org/wiki/Sobel_operator
// - Prewitt operator - https://en.wikipedia.org/wiki/Prewitt_operator
// Kirch operator - https://en.wikipedia.org/wiki/Kirsch_operator
Texture2D horzTexture = ConvolutionFilter.Apply(predictionTexture, ConvolutionFilter.Sobel3x3Horizontal); // ConvolutionFilter.Prewitt3x3Horizontal);
Texture2D vertTexture = ConvolutionFilter.Apply(predictionTexture, ConvolutionFilter.Sobel3x3Vertical); // ConvolutionFilter.Prewitt3x3Vertical);
Texture2D convolvedTexture = new Texture2D(_inputWidth, _inputHeight, predictionTexture.format, false);
Color tempPixel = new Color(0.0f, 0.0f, 0.0f);
for (int x = 0; x < _inputWidth; x++)
{
for (int y = 0; y < _inputHeight; y++)
{
Color horzPixel = horzTexture.GetPixel(x, y);
Color vertPixel = vertTexture.GetPixel(x, y);
tempPixel.r = Mathf.Sqrt((horzPixel.r * horzPixel.r) + (vertPixel.r * vertPixel.r));
tempPixel.g = tempPixel.r; // Mathf.Sqrt((horzPixel.g * horzPixel.g) + (vertPixel.g * vertPixel.g));
tempPixel.b = tempPixel.r; // Mathf.Sqrt((horzPixel.b * horzPixel.b) + (vertPixel.b * vertPixel.b));
convolvedTexture.SetPixel(x, y, tempPixel);
}
}
predictionTexture.SetPixels(convolvedTexture.GetPixels());
predictionTexture.Apply();
// Transfer the RGB camera texture into ValueField2D fields
for (int x = 0; x < _inputWidth; x++)
{
for (int y = 0; y < _inputHeight; y++)
{
actualPixel = predictionTexture.GetPixel(x, y);
pixelPos.x = x;
pixelPos.y = y;
_inputField.setValue(pixelPos, actualPixel.r);
previousImage[x, y] = sourceImage[x, y];
sourceImage[x, y] = actualPixel.r;// * 0.299f + actualPixel.g * 0.587f + actualPixel.b * 0.114f;
}
}
// Encode scalar values from the car controller
Steer = carController.CurrentSteerAngle / carController.m_MaximumSteerAngle;
Accel = carController.AccelInput;
Brake = carController.BrakeInput;
pixelPos.x = 0;
pixelPos.y = 0;
_inputValues.setValue(pixelPos, Steer);
// Setup the hierarchy input vector
vectorvf inputVector = new vectorvf();
inputVector.Add(_inputField);
inputVector.Add(_inputValues);
// Step the hierarchy
_hierarchy.activate(inputVector);
if (Training)
{
_hierarchy.learn(inputVector);
}
// Grab the predictions vector
vectorvf prediction = _hierarchy.getPredictions();
// Transfer the ValueField2D fields into the RGB prediction texture
Color predictedPixel = new Color();
for (int x = 0; x < _inputWidth; x++)
{
for (int y = 0; y < _inputHeight; y++)
{
pixelPos.x = x;
pixelPos.y = y;
predictedPixel.r = prediction[0].getValue(pixelPos);
predictedPixel.g = predictedPixel.r; // prediction[1].getValue(pixelPos);
predictedPixel.b = predictedPixel.r; // prediction[2].getValue(pixelPos);
predictionTexture.SetPixel(x, y, predictedPixel);
predictedImage[x, y] = predictedPixel.r;// * 0.299f + predictedPixel.g * 0.587f + predictedPixel.b * 0.114f;
}
}
predictionTexture.Apply();
// Wait for physics to settle
if (_time < 1.0f)
{
_time += Time.deltaTime;
// Apply hand brake
carSteer = 0.0f;
carAccel = 0.0f;
carBrake = -1.0f;
HandBrake = 1.0f;
}
else
{
// Release hand brake
HandBrake = 0.0f;
Accel = -1.0f;
Brake = Accel;
pixelPos.x = 0;
pixelPos.y = 0;
// Update the car controller
PredictedSteer = prediction[1].getValue(pixelPos);
PredictedAccel = Accel;
PredictedBrake = Brake;
carSteer = PredictedSteer;// * carController.m_MaximumSteerAngle;
carAccel = PredictedAccel;
carBrake = PredictedBrake;
// Search along the spline for the closest point to the current car position
float bestT = 0.0f, minDistance = 100000.0f;
Vector3 carPosition = carController.gameObject.transform.localPosition;
// When not training use the track spline
BezierSpline spline = trackSpline;
if (Training)
{
spline = splineList[SplineIndex];
}
float totalDistance = 0.0f;
for (float t = 0.0f; t <= 1.0f; t += 0.001f)
{
Vector3 position = spline.GetPoint(t);
Vector3 positionPrev = spline.GetPoint(t - 0.001f);
float distance = Vector3.Distance(position, carPosition);
totalDistance += Vector3.Distance(position, positionPrev);
if (distance <= minDistance)
{
minDistance = distance;
bestT = t;
}
}
// Reset car position and direction?
if (Input.GetKeyUp(KeyCode.R) || carController.Collided)
{
if (ForcePredictionMode == false)
{
Training = true;
}
carController.ResetCollided();
// Spline 0 is usually set as the spline used to create the track
SplineIndex = 0;
Vector3 position = spline.GetPoint(bestT);
carController.gameObject.transform.localPosition = position;
Vector3 splineDirection = spline.GetDirection(bestT).normalized;
carController.gameObject.transform.forward = -splineDirection;
}
// Determine the difference between the input image (t) and predicted image (t+1)
CalculateNormalizedCrossCorrelation();
// Toggle training on iff too divergent?
if (Training == false && ForcePredictionMode == false && NCC < 0.25f)
{
Training = true;
}
// Toggle training off iff quite confident?
if (Training == true && NCC > 0.85f && LapCount >= initialTrainingLaps)
{
Training = false;
}
if (carController.CurrentSpeed < 2.0f)
{
Training = true;
}
if (Training)
{
_trainingCount++;
}
else
{
_predictingCount++;
}
if (Training && spline != null)
{
Vector3 carDirection = -carController.gameObject.transform.forward.normalized;
Vector3 targetPosition = spline.GetPoint(bestT + SteerAhead / totalDistance);
//Vector3 splineDirection = spline.GetDirection(bestT).normalized;
Vector3 targetDirection = (targetPosition - carPosition).normalized;
float angle = (1.0f - Vector3.Dot(carDirection, targetDirection));// * Mathf.Rad2Deg;
Vector3 right = Vector3.Cross(carDirection, Vector3.up);
float angle2 = Vector3.Dot(right, targetDirection);
float newCarSteer = Mathf.Exp(256.0f * angle) - 1.0f;
if (Mathf.Abs(minDistance) > 0.01f)//newCarSteer > Mathf.PI / 64.0f)
{
newCarSteer += angle2 * Mathf.Abs(minDistance);
}
if (angle2 > 0.0f)
{
newCarSteer = -newCarSteer;
}
if (newCarSteer > 1.0f)
{
newCarSteer = 1.0f;
}
else
if (newCarSteer < -1.0f)
{
newCarSteer = -1.0f;
}
float steerBlend = 0.75f;
carSteer = (steerBlend * newCarSteer) + ((1.0f - steerBlend) * carSteer);
if (enableDebugLines)
{
debugLinePositions[0] = carController.gameObject.transform.localPosition;
debugLinePositions[1] = debugLinePositions[0] + carDirection * 10.0f;
debugLinePositions[2] = carController.gameObject.transform.localPosition;
debugLinePositions[3] = debugLinePositions[2] + targetDirection * 10.0f;
debugLine.SetPositions(debugLinePositions);
}
}
float totalCount = _trainingCount + _predictingCount;
if (totalCount == 0.0f)
{
TrainingPercent = 1.0f;
PredictionPercent = 0.0f;
}
else
{
TrainingPercent = (float)_trainingCount / totalCount;
PredictionPercent = (float)_predictingCount / totalCount;
}
if (bestT < prevBestT)
{
LapCount++;
_trainingCount = 0;
_predictingCount = 0;
if ((LapCount % lapsPerSpline) == 0)
{
SplineIndex++;
if (SplineIndex >= splineList.Length)
{
SplineIndex = 0;
}
}
}
prevBestT = bestT;
}
if (userControl)
{
// Control overides
// pass the input to the car!
float h = CrossPlatformInputManager.GetAxis("Horizontal");
float v = CrossPlatformInputManager.GetAxis("Vertical");
#if !MOBILE_INPUT
float handbrake = CrossPlatformInputManager.GetAxis("Jump");
#endif
carSteer = h;
carAccel = v;
carBrake = v;
HandBrake = handbrake;
}
// Toggle training?
if (Input.GetKeyUp(KeyCode.T))
{
Training = !Training;
ForcePredictionMode = false;
}
else
// Force prediction mode?
if (Input.GetKeyUp(KeyCode.F))
{
Training = false;
ForcePredictionMode = true;
}
// Save out the current state of the hierarchy?
if (Input.GetKeyUp(KeyCode.O) && hierarchyFileName.Length > 0)
{
_hierarchy.save(_res.getComputeSystem(), hierarchyFileName);
print("Saved OgmaNeo hierarchy to " + hierarchyFileName);
}
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(vectorvf obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
static void Main(string[] args)
{
int numSimSteps = 500;
ComputeSystem.DeviceType deviceType = ComputeSystem.DeviceType._gpu;
Resources _res = new Resources();
_res.create(deviceType);
Architect arch = new Architect();
arch.initialize(1234, _res);
// Input size (width and height)
int w = 4;
int h = 4;
ParameterModifier inputParams = arch.addInputLayer(new Vec2i(w, h));
inputParams.setValue("in_p_alpha", 0.02f);
inputParams.setValue("in_p_radius", 16);
for (int i = 0; i < 2; i++)
{
ParameterModifier layerParams = arch.addHigherLayer(new Vec2i(36, 36), SparseFeaturesType._chunk);
layerParams.setValue("sfc_chunkSize", new Vec2i(6, 6));
layerParams.setValue("sfc_ff_radius", 12);
layerParams.setValue("hl_poolSteps", 2);
layerParams.setValue("sfc_weightAlpha", 0.02f);
layerParams.setValue("sfc_biasAlpha", 0.001f);
layerParams.setValue("p_alpha", 0.08f);
layerParams.setValue("p_beta", 0.16f);
layerParams.setValue("p_radius", 16);
}
Hierarchy hierarchy = arch.generateHierarchy();
ValueField2D inputField = new ValueField2D(new Vec2i(w, h));
for (int y = 0; y < h; y++)
{
for (int x = 0; x < w; x++)
{
inputField.setValue(new Vec2i(x, y), (y * w) + x);
}
}
vectorvf inputVector = new vectorvf();
inputVector.Add(inputField);
System.Console.WriteLine("Stepping the hierarchy...");
for (int i = 0; i < numSimSteps; i++)
{
hierarchy.simStep(inputVector, true);
}
vectorvf prediction = hierarchy.getPredictions();
System.Console.Write("Input :");
for (int y = 0; y < h; y++)
{
for (int x = 0; x < w; x++)
{
System.Console.Write(" " + inputField.getValue(new Vec2i(x, y)).ToString("n2"));
}
}
System.Console.WriteLine();
System.Console.Write("Prediction :");
for (int y = 0; y < h; y++)
{
for (int x = 0; x < w; x++)
{
System.Console.Write(" " + prediction[0].getValue(new Vec2i(x, y)).ToString("n2"));
}
}
System.Console.WriteLine();
}
