/// <summary>
/// Initializes the sensor.
/// </summary>
/// <param name="grid">The <see cref="PixelGrid"/> instance to wrap.</param>
/// <param name="compression">The compression to apply to the generated image.</param>
/// <param name="name">Name of the sensor.</param>
public GridSensor(PixelGrid grid, SensorCompressionType compression, string name)
{
m_SensorName = name;
m_PixelGrid = grid;
m_Compression = compression;
Allocate();
}
public Encoder(PixelGrid grid, IEnumerable <string> tags, float blurStrength, float blurThreshold)
{
m_Grid = grid;
m_Tags = tags;
if (blurStrength > 0)
{
m_ApplyBlur = true;
m_Blurring = new Blurring(m_Grid, blurStrength, blurThreshold);
}
}
public ColliderEncoder(
PixelGrid grid,
ColliderEncodingType encoding,
IEnumerable <string> tags,
float blurStrength,
float blurThreshold)
: base(grid, tags, blurStrength, blurThreshold)
{
m_EncodingType = encoding;
m_ChannelOffset = encoding == ColliderEncodingType.OneHotAndShortestDistance ? 1 : 0;
m_ChannelIncr = encoding == ColliderEncodingType.OneHotAndDistances ? 2 : 1;
}
public override void UpdateSensor()
{
ClampProperties();
UpdateGeometry();
if (Sensor != null)
{
m_Grid = NewGrid();
base.UpdateSensor();
Sensor.Detector = NewDetector();
Sensor.Encoder = NewEncoder();
}
}