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updates in functionalities and segmentation
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@xavierpuigf
xavierpuigf committed Jul 3, 2021
1 parent cf6aaca commit 87f1d08
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Showing 2 changed files with 118 additions and 24 deletions.
85 changes: 61 additions & 24 deletions Assets/Story Generator/Scripts/ColorEncoding.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -189,53 +189,84 @@ static void Segmentation(Transform home)
idToColorMapping = Helper.SampleRandomOrder(MAX_INSTANCE - 2);
#endif
MaterialPropertyBlock mpb = new MaterialPropertyBlock();
int gsi_id = 0;
Color instClr, classClr;
foreach (GameObjectSgmtInfo gsi in list_gsi) {
bool isWall = false;
bool isFloor = false;
int instID;
// Wall color would be black
if (gsi.m_sgmt_inst_id == ID_WALL) {
isWall = true;
if (gsi_id == 0)
{
instID = 0;

instClr = Color.white;
classClr = gsi.m_sgmt_class_clr;
}
// Floor color would be white
else if (gsi.m_sgmt_inst_id == ID_FLOOR_INIT) {
isFloor = true;
instID = (int)totalSplit - 1;
} else {
// Need -1 index due to the fact that id to color map starts at index 0 and
// id starts at 1 due to 0 is reserved for wall
// Need + 1 at the result because output must start at 1
instID = idToColorMapping[gsi.m_sgmt_inst_id - 1] + 1;
}
else
{
if (gsi.m_sgmt_inst_id == ID_WALL)
{
isWall = true;
instID = 0;
}
// Floor color would be white
else if (gsi.m_sgmt_inst_id == ID_FLOOR_INIT)
{
isFloor = true;
instID = (int)totalSplit - 1;
}
else
{
// Need -1 index due to the fact that id to color map starts at index 0 and
// id starts at 1 due to 0 is reserved for wall
// Need + 1 at the result because output must start at 1
instID = idToColorMapping[gsi.m_sgmt_inst_id - 1] + 1;
}
instClr = EncodeIDAsColor(instID);
classClr = gsi.m_sgmt_class_clr;
// This Object is neither floor nor wall but has white segmentaion color
// I used white color to represent null in this case so this is clearly an error.
if (!isFloor && !isWall && (instClr == Color.white || classClr == Color.white))
{
Debug.LogError("Object with " + instID + " color instance ID has white segmentaion color");
Debug.Break();
}

Color instClr = EncodeIDAsColor(instID);
Color classClr = gsi.m_sgmt_class_clr;
// This Object is neither floor nor wall but has white segmentaion color
// I used white color to represent null in this case so this is clearly an error.
if (!isFloor && !isWall && (instClr == Color.white || classClr == Color.white)) {
Debug.LogError("Object with " + instID + " color instance ID has white segmentaion color");
Debug.Break();
}




instanceColor.Add(gsi.go.GetInstanceID(), instClr);
mpb.SetColor("_ObjectColor", instClr);
mpb.SetColor("_ClusterColor", classClr);

foreach (Renderer rdr in gsi.list_rdr) {
rdr.SetPropertyBlock(mpb);
}

gsi_id += 1;
}
}

static void SegmentationHelper(Transform tsfm, int id_inst_parent, Color clr_class_parent,
List<GameObjectSgmtInfo> list_gsi, Dictionary<string, int> ggim)
List<GameObjectSgmtInfo> list_gsi, Dictionary<string, int> ggim, int index_gsi_parent = 0)
{
int id_inst_self = -1;
Color clr_class_self = Color.white;

Renderer[] arry_rdr = tsfm.GetComponents<Renderer>();

if (list_gsi.Count == 0)
{
GameObject dummy_go = new GameObject();
list_gsi.Add(new GameObjectSgmtInfo(dummy_go, -1, clr_class_self));
index_gsi_parent = list_gsi.Count - 1;
}
if (tsfm.name.Contains("StoveCoil"))
{
Debug.Log("HEre");
}
if (m_instanceGroup_prefab.ContainsKey(tsfm.name)) {
id_inst_self = ColorEncoding.GetInstID();
id_inst_parent = id_inst_self;
Expand Down Expand Up @@ -278,15 +309,21 @@ static void SegmentationHelper(Transform tsfm, int id_inst_parent, Color clr_cla
clr_class_parent = c;

list_gsi.Add(new GameObjectSgmtInfo(tsfm.gameObject, id_inst_self, c));
index_gsi_parent = list_gsi.Count - 1;

}

if (arry_rdr != null && arry_rdr.Length > 0) {
list_gsi[list_gsi.Count - 1].AddRenderer(arry_rdr);
if (arry_rdr != null && arry_rdr.Length > 0 && list_gsi.Count > 1 && tsfm.IsChildOf(list_gsi[index_gsi_parent].go.transform)) {
list_gsi[index_gsi_parent].AddRenderer(arry_rdr);
}
else
{
list_gsi[0].AddRenderer(arry_rdr);
}

// Recursive call
for (int i = 0; i < tsfm.childCount; i++) {
ColorEncoding.SegmentationHelper(tsfm.GetChild(i), id_inst_parent, clr_class_parent, list_gsi, ggim);
ColorEncoding.SegmentationHelper(tsfm.GetChild(i), id_inst_parent, clr_class_parent, list_gsi, ggim, index_gsi_parent);
}
}
}
Expand Down
57 changes: 57 additions & 0 deletions Assets/Story Generator/Scripts/TestDriver.cs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -918,6 +918,63 @@ IEnumerator ProcessNetworkRequest()
yield break;
}
}
else if (networkRequest.action == "observation")
{

if (currentGraph == null)
{
response.success = false;
response.message = "Envrionment graph is not yet initialized";
}
else
{
IList<int> indices = networkRequest.intParams;
if (!CheckCameraIndexes(indices, cameras.Count))
{
response.success = false;
response.message = "Invalid parameters";
}
else
{
int index = indices[0];
Camera cam = cameras[index];
CameraExpander.AdjustCamera(cam);
cameras[index].gameObject.SetActive(true);
cam.enabled = true;
yield return new WaitForEndOfFrame();

Plane[] frustum = GeometryUtility.CalculateFrustumPlanes(cam);

Dictionary<int, String> visibleObjs = new Dictionary<int, String>();
foreach (EnvironmentObject node in currentGraph.nodes)
{
if (EnvironmentGraphCreator.IGNORE_IN_EDGE_OBJECTS.Contains(node.class_name))
{
continue;
}

// check if the object bounding box is in the camera frustum
if (GeometryUtility.TestPlanesAABB(frustum, node.bounding_box.bounds))
{
// check is camera can actually see the object by raycasting
if (SeenByCamera(cam, node.transform))
{
visibleObjs.Add(node.id, node.class_name);
}
}
}
cam.enabled = false;
Debug.Log(visibleObjs);

response.success = true;
response.message = JsonConvert.SerializeObject(visibleObjs);

}
}


}

else if (networkRequest.action == "fast_reset")
{
System.Diagnostics.Stopwatch resetStopwatch = System.Diagnostics.Stopwatch.StartNew();
Expand Down

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