public RewardManager(GroundTruthGenerator gtg, OccupancyGridManager ogm, StudyObjectMamanger som, ViewManager vm, float requiredAccuracy)
{
_gtg = gtg;
_ogm = ogm;
_som = som;
_vm = vm;
this.requiredAccuracy = requiredAccuracy;
prediscovered = 0;
distance = 0f;
accuracy = 0f;
increasedAccuracy = 0f;
viewReward = 0f;
}
public SystemInterface(Camera depthCamera)
{
//Prepare depth rendering texture
_depthCamera = depthCamera;
RenderTexture rTex = _depthCamera.targetTexture;
rTex.width = _textureResolution;
rTex.height = _textureResolution;
//Setup Managers
_vm = new ViewManager(_viewGridLayers, _sphereRadius, _numberViews);
_som = new StudyObjectMamanger(_objectPosition);
_drm = new DepthRenderingManager(_depthCamera, _nearClipPlane, _farClipPlane);
_pcm = new PointCloudManager(rTex, _depthSawOff, _depthCamera);
_ogm = new OccupancyGridManager(_occupancyGridCount, _studyGridSize, _gridPosition);
_gtg = new GroundTruthGenerator(_drm, _vm, _pcm, _ogm, _som);
_rm = new RewardManager(_gtg, _ogm, _som, _vm, _requiredAccuracy);
Reset();
}
private void Start()
{
_timer = new Stopwatch();
RenderTexture rTex = _depthCamera.targetTexture;
rTex.width = _textureResolution;
rTex.height = _textureResolution;
//Setup Managers
_vm = new ViewManager(_viewGridLayers, _sphereRadius, _numberViews);
_som = new StudyObjectMamanger(_objectPosition);
_drm = new DepthRenderingManager(_depthCamera, _nearClipPlane, _farClipPlane);
_pcm = new PointCloudManager(rTex, _depthSawOff, _depthCamera);
_ogm = new OccupancyGridManager(_occupancyGridCount, _studyGridSize, _gridPosition);
_gtg = new GroundTruthGenerator(_drm, _vm, _pcm, _ogm, _som);
_rm = new RewardManager(_gtg, _ogm, _som, _vm, 0.95f);
Vector3 v = _vm.GetView(0);
_drm.SetCameraView(v);
}
