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 GroundTruthGenerator(DepthRenderingManager drm, ViewManager vm, PointCloudManager pcm, OccupancyGridManager ogm, StudyObjectMamanger som, float requiredAccuracy = 0.99f) { // Save function messes up executable file, must make due without it _path = _basePath + "_" + vm.Count().ToString() + ".txt"; _drm = drm; _vm = vm; _pcm = pcm; _ogm = ogm; _som = som; this.requiredAccuracy = requiredAccuracy; //Generate(false); // Do not count tallies //Save(); _grids = Load(); CountGrids(); }
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); }