public override void Encode(DetectionResult result)
{
int tagChannel = m_NumChannels * m_CrntStackIndex;
m_Grid.ClearChannels(tagChannel, m_NumChannels);
for (int iTag = 0, nTag = result.DetectableTags.Count; iTag < nTag; iTag++)
{
string tag = result.DetectableTags[iTag];
bool hasObs = m_Settings.HasObservations(tag, out IList <int> obsIndices);
if (result.TryGetItems(tag, out IList <DetectionResult.Item> items))
{
ShapeModifier modifier = m_ModifiersByTag[tag];
for (int iItem = 0, nItem = items.Count; iItem < nItem; iItem++)
{
var item = items[iItem];
int channel = tagChannel;
modifier.Clear();
// Distance.
for (int iPoint = 0, nPoint = item.Points.Count; iPoint < nPoint; iPoint++)
{
Vector3 p = item.Points[iPoint];
Vector2Int pos = m_Grid.NormalizedToGridPos(p);
// Inverts z -> 0 (far) to 1 (near).
float norm = m_DistanceNormalization.Evaluate(p.z);
float prev = m_Grid.Read(channel, pos);
// Override if closer.
if (norm > prev)
{
m_Grid.Write(channel, pos, norm);
modifier.AddPoint(pos, p.z); // z: 0 (near) to 1 (far).
}
// else: ignore occluded.
}
modifier.Process(m_Grid, channel);
channel++;
// Additional observations.
if (hasObs)
{
for (int iObs = 0, nObs = obsIndices.Count; iObs < nObs; iObs++)
{
// The modifier already contains the required grid positions,
// even if we haven't applied any modifications (ShapeModNone).
modifier.Write(m_Grid, channel,
item.Detectable.Observations.Evaluate(obsIndices[iObs]));
channel++;
}
}
}
}
tagChannel += hasObs ? obsIndices.Count + 1 : 1;
}
IncrementStackIndex();
}
/// <inheritdoc/>
public void Encode(DetectionResult result)
{
m_GridBuffer.Clear();
if (m_Debug_IsEnabled)
{
m_Debug_ChannelData.ClearGridPositions();
}
int firstTagChannel = 0;
// TODO Too many nested loops.
foreach (var tag in result.DetectableTags)
{
// Observables for current tag.
var tagObs = m_Settings.GetObservables(tag);
if (result.TryGetItems(tag, out IList <DetectionResult.Item> tagItems))
{
// Has detection result for current tag -> get matching modifier.
var modifier = m_PointModifiersByTag[tag];
foreach (var item in tagItems)
{
modifier.Reset();
int channel = firstTagChannel;
// Iterate observables for current result item.
foreach (var obs in tagObs)
{
// We evaluate the observable here and write obsValue
// to all grid positions below, UNLESS it's distance.
bool encodeDistance = obs.Evaluate(
item.Detectable, out float obsValue)
== ObservableType.Distance;
if (!modifier.HasGridPositions)
{
if (item.HasPoints)
{
// Is first observable we have any points for.
foreach (var point in item.NormPoints)
{
// Normalized item point -> grid position.
Vector2Int pos = m_GridBuffer.NormalizedToGridPos(point);
if (encodeDistance)
{
// Ignore obsValue (is 0 for distance).
// (Weighted) inverse distance, 1 (near) - 0 (far).
float proximity = m_Normalization.Evaluate(point.z);
// Override if closer.
if (proximity > m_GridBuffer.Read(channel, pos))
{
// Write unmodified position to buffer.
m_GridBuffer.Write(channel, pos, proximity);
// Write unmodified position to modifier.
modifier.AddPosition(pos, 1 - point.z); // unweighted
}
// else: ignore occluded.
}
else
{
// Write unmodified position to buffer.
m_GridBuffer.Write(channel, pos, obsValue);
// Write unmodified position to modifier.
// NOTE Need some proximity value for PointModDilation.
// Passing 0.5 to get a visible result, 0 does nothing.
modifier.AddPosition(pos, 0.5f);
}
}
// Will write additional positions to buffer.
// NOTE So far, all point modifiers are only ADDING positions,
// but that might not be the case for future modifiers.
modifier.Process(m_GridBuffer, channel);
if (m_Debug_IsEnabled)
{
// Store modified grid positions.
m_Debug_ChannelData.AddGridPositions(channel, modifier.GridPositions);
}
}
}
else
{
// Is additional observable.
//
// The modifier already contains the required grid positions,
// even if we haven't applied any modifications (PointModNone).
//
// The reason for requiring distance as the first observable,
// is that we write obsValue to ALL stored grid positions here.
// Distance is the only observable with individual position values.
//
// Will write all positions to buffer.
modifier.Write(m_GridBuffer, channel, obsValue);
if (m_Debug_IsEnabled)
{
// Store modified grid positions.
m_Debug_ChannelData.AddGridPositions(channel, modifier.GridPositions);
}
}
// Next observable...
channel++;
}
}
}
firstTagChannel += tagObs.Count();
}
}