void Update()
{
if (debugWaitedFrames++ == debugNumFramesToWait)
{
debugWaitedFrames = 0;
}
else
{
return;
}
if (Settings.config.datasetOptions.debugOptions.drawDetectionRect)
{
cameraObject.GetComponent <DetectionRectDraw>().doDrawRect = true;
}
switch (generationState)
{
case GenerationState.SingleObjectsSetup:
{
ClearSceneFromObjects();
if (Settings.config.datasetOptions.classObstacleFrameNum == 0 && Settings.config.datasetOptions.classDetectedFrameNum == 0)
{
generationState = GenerationState.MultipleObjectsSetup;
return;
}
Instantiate(selectedObjects[currentObjectIndex]);
Debug.Log("Clearing scene for S.O. Creating object index: " + currentObjectIndex);
generationState = GenerationState.SingleObjects;
var info = selectedObjects[currentObjectIndex].GetComponent <DatasetObjectInfo>();
if (IncludeInDataset(selectedObjects[currentObjectIndex]))
{
counter = Settings.config.datasetOptions.classDetectedFrameNum / objectsNumInClass[info.className];
}
else
{
counter = Settings.config.datasetOptions.classObstacleFrameNum * Settings.config.datasetOptions.classNames.Count / objectsNumInClass["OBSTACLE"];
}
for (int i = 0; i < selectedObjects.Count; i++)
{
string className = selectedObjects[i].GetComponent <DatasetObjectInfo>().className;
if (IncludeInDataset(selectedObjects[i]))
{
Directory.CreateDirectory(Settings.config.datasetOptions.datasetDirPath + @"\" + className);
}
else
{
Directory.CreateDirectory(Settings.config.datasetOptions.datasetDirPath + @"\" + "obstacle");
}
}
break;
}
case GenerationState.SingleObjects:
{
GameObject singleObject = GameObject.FindGameObjectWithTag("ToDetect");
string className = singleObject.GetComponent <DatasetObjectInfo>().className;
if (!IncludeInDataset(singleObject))
{
className = "obstacle";
}
singleObject.transform.rotation = Quaternion.Euler(Random.Range(0f, 360f), Random.Range(0f, 360f), Random.Range(0f, 0f));
singleObject.transform.position = DatasetObjectInfo.GetRandomWorldPosistionInBoundary(singleObject, selectedWaterContainer);
if (Random.value < Settings.config.datasetOptions.percentClosest)
{
cameraObject.transform.position = DatasetObjectInfo.GetRandomWorldPosistionInBoundaryClosest(cameraObject, selectedWaterContainer, singleObject);
}
else
{
cameraObject.transform.position = DatasetObjectInfo.GetRandomWorldPosistionInBoundary(cameraObject, selectedWaterContainer);
}
LookAtTargetRandomly(singleObject, cameraObject, Settings.config.datasetOptions.cameraLookAtObjectPitchOffset, Settings.config.datasetOptions.cameraLookAtObjectYawOffset, Settings.config.datasetOptions.cameraLookAtObjectRollOffset);
var detector = new Detector();
detector.Detect(cameraObject.GetComponent <Camera>());
if (detector.detection[0].visible &&
detector.detection[0].fill >= Settings.config.datasetOptions.minObjectFill &&
(singleObject.transform.position - cameraObject.transform.position).magnitude >= Settings.config.datasetOptions.minCameraDistanceToObject &&
(singleObject.transform.position - cameraObject.transform.position).magnitude <= Settings.config.datasetOptions.maxCameraDistanceToObject &&
!DatasetObjectInfo.BoundaryIsColliding(cameraObject, singleObject))
{
string datasetRootPath = Settings.config.datasetOptions.datasetDirPath;
string txtFileName = datasetRootPath + @"/" + className + @"/" + createdFramesPerClass[className].ToString() + ".txt";
string pngFileName = datasetRootPath + @"/" + className + @"/" + createdFramesPerClass[className].ToString() + ".png";
string trainFileName = datasetRootPath + @"/train.txt";
if (IncludeInDataset(detector.detection[0].gameObject))
{
File.WriteAllText(txtFileName, detector.detection[0].GetTextInfo());
}
else
{
File.WriteAllText(txtFileName, "");
}
File.AppendAllText(trainFileName, pngFileName + System.Environment.NewLine);
if (!Settings.config.datasetOptions.debugOptions.disableScreenshot)
{
ScreenCapture.CaptureScreenshot(System.IO.Directory.GetCurrentDirectory() + "/" + pngFileName);
}
createdFramesPerClass[className]++;
// Debug.Log("detected " + createdFramesPerClass[className] + "/" + Settings.config.datasetOptions.objectVisibleFrameNum * selectedObjects.Count);
Debug.Log("detected " + createdFramesPerClass[className] + "/" + 7 * selectedObjects.Count);
createdTypeFrames++;
counter--;
if (Settings.config.datasetOptions.debugOptions.logDetection)
{
File.AppendAllText(datasetRootPath + @"/log.dat", detector.detection[0].distance + " " + detector.detection[0].fill + System.Environment.NewLine);
}
}
StartCoroutine(RandomizeGraphics(cameraObject.GetComponent <Camera>()));
if (counter <= 0)
{
Debug.Log("Finished object index:" + currentObjectIndex + " " + (currentObjectIndex + 1) + "/" + selectedObjects.Count);
generationState = GenerationState.SingleObjectsSetup;
if (++currentObjectIndex >= selectedObjects.Count)
{
Debug.Log("Finished all single objects");
generationState = GenerationState.MultipleObjectsSetup;
}
}
}
break;
case GenerationState.MultipleObjectsSetup:
{
ClearSceneFromObjects();
// if (Settings.config.datasetOptions.objectMultipleFrameNum == 0)
/* if (1 == 0)
* {
* generationState = GenerationState.NoObjectsSetup;
* return; TODO
* }*/
Debug.Log("Cleared scene for M.O.");
randomObjectsInScene = new List <GameObject>();
int TODOrandomObjectsNum = 20;
for (int i = 0; i < TODOrandomObjectsNum; i++)
{
var randomObject = Instantiate(selectedObjects[Random.Range(0, selectedObjects.Count)]);
randomObject.transform.rotation = Quaternion.Euler(Random.Range(0f, 360f), Random.Range(0f, 360f), Random.Range(0f, 0f));
randomObject.transform.position = DatasetObjectInfo.GetRandomWorldPosistionInBoundary(randomObject, selectedWaterContainer);
randomObjectsInScene.Add(randomObject);
}
counter = Settings.config.datasetOptions.classMultipleFrameNum * Settings.config.datasetOptions.classNames.Count;
if (!Directory.Exists(Settings.config.datasetOptions.datasetDirPath + @"/multiple"))
{
Directory.CreateDirectory(Settings.config.datasetOptions.datasetDirPath + @"/multiple");
}
generationState = GenerationState.MultipleObjects;
}
break;
case GenerationState.MultipleObjects:
{
if (counter <= 0)
{
generationState = GenerationState.NoObjectsSetup;
return;
}
//
int detectedVisibleObjectsNum = 0;
foreach (var obj in randomObjectsInScene)
{
obj.SetActive(Random.value > 0.5f);
if (!obj.activeSelf)
{
continue;
}
obj.transform.rotation = Quaternion.Euler(Random.Range(0f, 360f), Random.Range(0f, 360f), Random.Range(0f, 0f));
obj.transform.position = DatasetObjectInfo.GetRandomWorldPosistionInBoundary(obj, selectedWaterContainer);
}
cameraObject.transform.position = DatasetObjectInfo.GetRandomWorldPosistionInBoundary(cameraObject, selectedWaterContainer);
LookRandomly(cameraObject, 20f, 180f, 30f);
StartCoroutine(RandomizeGraphics(cameraObject.GetComponent <Camera>()));
var detector = new Detector();
string detectedObjectsText = "";
foreach (var info in detector.Detect(cameraObject.GetComponent <Camera>()))
{
if (!info.visible ||
info.fill < Settings.config.datasetOptions.minObjectFill ||
DatasetObjectInfo.BoundaryIsColliding(cameraObject, info.gameObject))
{
continue; //TODO sprawdz nową kolizję
}
if (IncludeInDataset(info.gameObject))
{
detectedObjectsText += info.GetTextInfo() + System.Environment.NewLine;
}
detectedVisibleObjectsNum++;
}
if (detectedVisibleObjectsNum >= Settings.config.datasetOptions.minVisibleMultipleObjectsNum)
{
string datasetRootPath = Settings.config.datasetOptions.datasetDirPath;
string txtFileName = datasetRootPath + @"/" + "multiple" + @"/" + createdFramesPerClass["multiple"].ToString() + ".txt";
string pngFileName = datasetRootPath + @"/" + "multiple" + @"/" + createdFramesPerClass["multiple"].ToString() + ".png";
string trainFileName = datasetRootPath + @"/train.txt";
File.WriteAllText(txtFileName, detectedObjectsText);
File.AppendAllText(trainFileName, pngFileName + System.Environment.NewLine);
ScreenCapture.CaptureScreenshot(System.IO.Directory.GetCurrentDirectory() + "/" + pngFileName);
createdFramesPerClass["multiple"]++;
counter--;
}
break;
}
case GenerationState.NoObjectsSetup:
{
ClearSceneFromObjects();
if (Settings.config.datasetOptions.classBlankFrameNum == 0)
{
generationState = GenerationState.Finished;
return;
}
counter = Settings.config.datasetOptions.classBlankFrameNum * Settings.config.datasetOptions.classNames.Count;
generationState = GenerationState.NoObjects;
if (!Directory.Exists(Settings.config.datasetOptions.datasetDirPath + @"/blank"))
{
Directory.CreateDirectory(Settings.config.datasetOptions.datasetDirPath + @"/blank");
}
break;
}
case GenerationState.NoObjects:
{
StartCoroutine(RandomizeGraphics(cameraObject.GetComponent <Camera>()));
cameraObject.transform.position = DatasetObjectInfo.GetRandomWorldPosistionInBoundary(cameraObject, selectedWaterContainer);
LookRandomly(cameraObject, Settings.config.datasetOptions.cameraLookRandomlyPitchOffset, Random.Range(0f, 360f), Settings.config.datasetOptions.cameraLookRandomlyRollOffset);
string datasetRootPath = Settings.config.datasetOptions.datasetDirPath;
string txtFileName = datasetRootPath + @"/" + "blank" + @"/" + createdFramesPerClass["blank"].ToString() + ".txt";
string pngFileName = datasetRootPath + @"/" + "blank" + @"/" + createdFramesPerClass["blank"].ToString() + ".png";
string trainFileName = datasetRootPath + @"/train.txt";
File.WriteAllText(txtFileName, "");
File.AppendAllText(trainFileName, pngFileName + System.Environment.NewLine);
ScreenCapture.CaptureScreenshot(System.IO.Directory.GetCurrentDirectory() + "/" + pngFileName);
createdFramesPerClass["blank"]++;
}
// if (createdFramesPerClass["blank"] >= Settings.config.datasetOptions.objectBlankFrameNum)
if (--counter <= 0)
{
Debug.Log("Finished all no objects frames");
generationState = GenerationState.Finished;
}
break;
case GenerationState.Finished:
{
ClearSceneFromObjects();
Destroy(selectedWaterContainer);
#if UNITY_EDITOR
UnityEditor.EditorApplication.isPlaying = false;
#else
Application.Quit();
#endif
break;
}
default:
break;
}
}
void Start()
{
QualitySettings.vSyncCount = 0; // VSync must be disabled
Application.targetFrameRate = 35;
mainThreadUpdateWorkers = new ConcurrentQueue <MainThreadUpdateWorker>();
if (Settings.config == null || Settings.config.mode == null)
{
SceneManager.LoadScene("Start");
return;//TODO take config
}
string selectedWaterContainer = Settings.config.simulationOptions.selectedWaterContainer;
if (TryGetObjectByTypeName(selectedWaterContainer, out GameObject waterContainerPrefab))
{
waterContainer = Instantiate(waterContainerPrefab, Vector3.zero, Quaternion.identity);
}
robot = Instantiate(robotPrefab, new Vector3(0, 2, 0), Quaternion.identity);
robotController = robot.GetComponent <RobotController>();
PlaceRobotInStartZone();
List <string> selectedRandomObjectsNames = Settings.config.simulationOptions.selectedRandomObjects;
foreach (string randomObjectName in selectedRandomObjectsNames)
{
if (TryGetObjectByTypeName(randomObjectName, out GameObject randomObjectPrefab))
{
var randomObject = Instantiate(randomObjectPrefab);
randomObject.transform.rotation = Quaternion.Euler(UnityEngine.Random.Range(0f, 360f), UnityEngine.Random.Range(0f, 360f), UnityEngine.Random.Range(0f, 0f));
randomObject.transform.position = DatasetObjectInfo.GetRandomWorldPosistionInBoundary(randomObject, waterContainer);
}
else
{
Debug.LogError(randomObjectName);
}
}
Time.fixedDeltaTime = Settings.config.simulationOptions.fixedDeltaTime;
/*
* camera = Camera.main;
* postDebug = cameraObject.GetComponent<PostProcessDebug>();
* postLayer = cameraObject.GetComponent<PostProcessLayer>();
* postVolume = cameraObject.GetComponent<PostProcessVolume>();
* SetGraphics();*/
bool TryGetObjectByTypeName(string typeName, out GameObject obj)
{
obj = null;
for (int i = 0; i < knownObjects.Count; i++)
{
if (knownObjects[i].GetComponent <DatasetObjectInfo>().typeName.ToLower() == typeName.ToLower())
{
obj = knownObjects[i];
return(true);
}
}
return(false);
}
StartCoroutine(StartCapture());
wapiThread = new Thread(WAPIRecv)
{
IsBackground = true
};
wapiThread.Start();
JsonSerializer.ToJsonString(GetDetection()); //No idea why first first call takes 1 second, leave it for performance
}
