Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Stretch robot restructured arm updated secondary camera image synthesis #951

Merged
merged 5 commits into from
Dec 14, 2021
Merged

Stretch robot restructured arm updated secondary camera image synthesis #951

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
7675df8
Changed Stretch Agent's secondary camera to update its imagesynthesis…
elimvb Dec 7, 2021
37bc4dc
More direct reference to main camera's image-synthesis activation
elimvb Dec 7, 2021
54353b9
Using override method instead
elimvb Dec 8, 2021
03b26e9
Added context to updateThirdPartyCameraImageSynthesis, and made it pa…
elimvb Dec 8, 2021
7184aa4
Corrected visibility point conditions to include Stretch Arm edge case
elimvb Dec 14, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 2 additions & 4 deletions unity/Assets/Scripts/BaseFPSAgentController.cs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,6 @@ public GameObject[] TargetCircles {
protected bool snapToGrid;
protected bool continuousMode;// deprecated, use snapToGrid instead
public ImageSynthesis imageSynthesis;
// public bool enableImageSynthesis;
private bool isVisible = true;
public bool inHighFrictionArea = false;
// outbound object filter
Expand Down Expand Up @@ -619,7 +618,6 @@ public void Initialize(ServerAction action) {

if (action.renderDepthImage || action.renderSemanticSegmentation || action.renderInstanceSegmentation || action.renderNormalsImage) {
this.updateImageSynthesis(true);
// enableImageSynthesis = true;
}

if (action.visibilityDistance > 0.0f) {
Expand Down Expand Up @@ -1789,7 +1787,7 @@ public virtual MetadataWrapper generateMetadataWrapper() {
}


public void updateImageSynthesis(bool status) {
public virtual void updateImageSynthesis(bool status) {
if (this.imageSynthesis == null) {
imageSynthesis = this.gameObject.GetComponentInChildren<ImageSynthesis>() as ImageSynthesis;
}
Expand Down Expand Up @@ -3000,7 +2998,7 @@ bool includeInvisible
if (Physics.Raycast(camera.transform.position, point.position - camera.transform.position, out hit, raycastDistance, (1 << 8) | (1 << 10))) {
if (
hit.transform == sop.transform
|| (isSopHeldByArm && Arm.heldObjects[sop].Contains(hit.collider))
|| ( isSopHeldByArm && ((Arm != null && Arm.heldObjects[sop].Contains(hit.collider)) || (SArm != null && SArm.heldObjects[sop].Contains(hit.collider))) )
) {
// if this line is drawn, then this visibility point is in camera frame and not occluded
// might want to use this for a targeting check as well at some point....
Expand Down
14 changes: 11 additions & 3 deletions unity/Assets/Scripts/StretchAgentController.cs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,17 @@ public partial class StretchAgentController : PhysicsRemoteFPSAgentController {
public StretchAgentController(BaseAgentComponent baseAgentComponent, AgentManager agentManager) : base(baseAgentComponent, agentManager) {
}

public override void updateImageSynthesis(bool status) {
base.updateImageSynthesis(status);

// updateImageSynthesis is run in BaseFPSController's Initialize method after the
// Stretch Agent's unique secondary camera has been added to the list of third party
// cameras in InitializeBody, so a third-party camera image synthesis update is
// necessary if we want the secondary camera's image synthesis componenent to match
// the primary camera's
agentManager.updateThirdPartyCameraImageSynthesis(status);
}

public override void InitializeBody() {
VisibilityCapsule = StretchVisCap;
m_CharacterController.center = new Vector3(0, -0.1934924f, -0.1247f);
Expand Down Expand Up @@ -44,9 +55,6 @@ public override void InitializeBody() {
fp_camera_2.transform.localEulerAngles = new Vector3(45f, 90f, 0f);
fp_camera_2.fieldOfView = 60f;
agentManager.registerAsThirdPartyCamera(fp_camera_2);
// if (enableImageSynthesis) {
agentManager.updateThirdPartyCameraImageSynthesis(true);
// }

// limit camera from looking too far down
this.maxDownwardLookAngle = 90f;
Expand Down