void Start()
{
///*******************************
/// hardcode values
///*******************************
trainFolder = string.Concat("C:/DeepDrive/train/201809/detect-", roadType, "/");
trainFile = "input/area";
/// initialize variables
positionList = new List <Vector3>();
intentDirectionList = new List <Vector3>();
limitAngleList = new List <Vector3>();
multList = new List <float>();
leftLabelList = new List <float>();
rightLabelList = new List <float>();
/// initialize the recorder
recorder.Init(carRemote, trainFolder);
recorder.LoadObstacle(roadType);
/// load the zone information
LoadZoneInfo();
/// main program
eps = 1;
maxRot = 2.5f;
gapRot = 0.1f;
for (int i = 0; i < positionList.Count; i++)
{
/// set the car position
recorder.SetCarPosition(positionList[i]);
/// compute the relevant angles
limitAngleModified = Vector3.Angle(Vector3.right, limitAngleList[i]) + multList[i] * eps;
angleToIntentDirection = Vector3.Angle(Vector3.right, intentDirectionList[i]);
rightMostAngle = angleToIntentDirection - maxRot;
leftMostAngle = angleToIntentDirection + maxRot;
curAngle = rightMostAngle;
/// generate training data
while (curAngle <= leftMostAngle)
{
float angle = 90 - curAngle;
recorder.SetCarOrientation(Quaternion.AngleAxis(angle, Vector3.up));
// recorder.WriteTrainData(-1, leftLabelList[i], positionList[i], angle);
if (curAngle > limitAngleModified)
{
recorder.WriteTrainData(leftLabelList[i]);
}
else
{
recorder.WriteTrainData(rightLabelList[i]);
}
curAngle += gapRot;
}
}
}
void Start()
{
///*******************************
/// hardcode values
///*******************************
trainFolder = string.Concat("C:/DeepDrive/train/ICRA19/detect-", roadType, "/");
recorder.Init(carRemote, trainFolder);
recorder.LoadObstacle(roadType);
float minx = -3f;
float maxx = 3f;
float curx = minx;
float gapx = 0.02f;
float minz = 50f;
float maxz = 90f;
float curz = minz;
float gapz = 0.5f;
while (curz <= maxz)
{
while (curx <= maxx)
{
Vector3 pos = new Vector3(curx, 0f, curz);
recorder.SetCarPosition(pos);
if (curx >= -1.2)
{
recorder.WriteTrainData(1);
}
else
{
recorder.WriteTrainData(0);
}
curx += gapx;
}
curx = minx;
curz += gapz;
}
}
void Start()
{
///*******************************
/// hardcode values
///*******************************
trainFolder = string.Concat("C:/DeepDrive/train/201809/avoid-", roadType, "/");
/// initialize variables
positionList = new List <Vector3>();
velocityList = new List <Vector3>();
angleList = new List <float>();
/// set some variable values
switch (roadType)
{
case "straight":
nTrajFrame = 73;
rotationAdjust = -1;
break;
case "curved":
Debug.Log("helloo-curved");
nTrajFrame = 23;
rotationAdjust = 1;
break;
default:
throw new Exception("The road type is not specified, enter either straight or curve!");
}
/// initialize the recorder
recorder.Init(carRemote, trainFolder);
recorder.LoadObstacle(roadType);
trainFolder = trainFolder + "input/traj/";
/// record the camera data alone a trajectory
for (int i = 0; i <= nTrajFrame; i++)
{
string trajName = trainFolder + i.ToString() + "-" + 5.ToString();
LoadTraj(trajName);
for (int k = 0; k < positionList.Count; k++)
{
float angle = angleList[k];
Vector3 pos = positionList[k];
float orient = rotationAdjust * Vector3.Angle(Vector3.forward, velocityList[k]);
recorder.SetCarPosition(pos);
recorder.SetCarOrientation(Quaternion.AngleAxis(orient, transform.up));
recorder.WriteTrainData(i, angle, pos, orient);
}
}
/// record the camera data by conducting extra manipulations at each position of a trajectory
if (false)
{
for (int j = 0; j < positionList.Count; j++)
{
// horizontal shift
float startShift = -0.3f;
float endShift = 0.3f;
float curShift = startShift;
float gapShift = 0.1f;
while (curShift <= endShift)
{
Vector3 pos = positionList[j];
pos.x += curShift;
recorder.SetCarPosition(pos);
// left-to-right rotation
float startAngle = -5f;
float endAngle = 5f;
float curAngle = startAngle;
float gapAngle = 1f;
while (curAngle <= endAngle)
{
recorder.SetCarOrientation(Quaternion.AngleAxis(curAngle, Vector3.up));
//recorder.WriteTrainData(-1, angleList[j], pos, curAngle);
curAngle += gapAngle;
}
curShift += gapShift;
}
}
}
}
