Since we ultimately want to visualize the changing illumination in the room due to the control algorithm, we also record the lightmap lt corresponding to the determined illumination at time t (i.e., a 1024 × 1024 matrix), which like (4) is a linear combination of precomputed lightmaps using the control inputs ut as weightings. These are computed in a batch after the control simulation is complete, imported all together into Unity, and allow the resulting video to be accurately rendered in real time. The overall