void ObservationGenerator::generateLineObservations() {
getSelf(gtSelf,obsSelf,player_);
int seenLines = 0;
for (int i = WO_OPP_GOAL_LINE; i <= WO_BOTTOM_SIDE_LINE; i++) {
if (seenLines >= 4) break;
WorldObject& truthWO = gt_object_->objects_[i];
Line2D visionLine(gtSelf.loc, gtSelf.orientation);
Point2D point = truthWO.lineLoc.getSegmentIntersection(visionLine);
int idx = WO_UNKNOWN_FIELD_LINE_1+seenLines;
if(i == WO_CENTER_LINE) idx = WO_CENTER_LINE;
auto& obsWO = obs_object_->objects_[idx];
float bearing = gtSelf.loc.getBearingTo(point, gtSelf.orientation);
float distance = gtSelf.loc.getDistanceTo(point);
float pan = joint_->values_[HeadPan];
if (fabs(pan - bearing) > FOVx/2.0)
continue;
float missedObsRate = 1.0/3.0;
float randPct = rand_.sampleU();
// see lines up to 2.5 m
if (randPct > (missedObsRate * MISSED_OBS_FACTOR) && distance < 2500) {
// seen
seenLines++;
float maxleft = gtSelf.orientation + pan + FOVx/2;
float maxright = gtSelf.orientation + pan - FOVx/2;
LineSegment vline = truthWO.lineLoc.getVisiblePortion(gtSelf.loc, gtSelf.orientation + pan, FOVx);
vline = vline.globalToRelative(gtSelf.loc, gtSelf.orientation);
float xnoise = rand_.sampleU(.95,1.05);
float ynoise = rand_.sampleU(.95,1.05);
float tnoise = rand_.sampleU(-10 * DEG_T_RAD, 10 * DEG_T_RAD);
vline.start.x *= xnoise;
vline.end.x *= xnoise;
vline.start.y *= ynoise;
vline.end.y *= ynoise;
vline.computeCenter();
obsWO.visionPt1 = vline.start;
obsWO.visionPt2 = vline.end;
obsWO.visionLine = vline;
Point2D robot(0,0);
Point2D closest = vline.getPointOnSegmentClosestTo(robot);
obsWO.visionDistance = closest.getMagnitude();
obsWO.visionBearing = closest.getDirection();
obsWO.visionConfidence = 1.0;
float diff = joint_->values_[HeadPan] - bearing;
obsWO.imageCenterX = iparams_.width/2.0 + (diff / (FOVx/2.0) * iparams_.width/2.0);
obsWO.imageCenterY = iparams_.height/2.0;
obsWO.seen = true;
point = point.globalToRelative(gtSelf.loc, gtSelf.orientation);
} // line was seen with random prob
} // line loop
}
