// Update is called once per frame
void Update()
{
//TMP
if (Input.GetKey(KeyCode.G))
{
generateOffsetRandoms();
}
if (lastDownSample != downSample)
{
updateDownSample();
lastDownSample = downSample;
return;
}
CameraSpacePoint[] realWorldMap = multiSourceManager.GetRealWorldData();
byte[] bodyIndexMap = multiSourceManager.GetBodyIndexData();
//Texture2D tex = multiSourceManager.GetColorTexture();
bodyTree = new PointOctree <PCLPoint>(10, bodyCenter, .01f); //take previous frame
bodyPoints.Clear();
bodyCenter = new Vector3();
for (int ix = 0; ix < pointsWidth; ix++)
{
for (int iy = 0; iy < pointsHeight; iy++)
{
int dsIndex = iy * pointsWidth + ix;
Vector2 rIndex = dsOffsetRandoms[dsIndex];
int index = Mathf.RoundToInt(rIndex.x * multiSourceManager.DepthHeight * multiSourceManager.DepthWidth) + Mathf.RoundToInt(rIndex.y * multiSourceManager.DepthWidth);
//Vector3 dv = new Vector3(rIndex.x * 10, rIndex.y * 10);
//Debug.DrawLine(dv, dv + Vector3.forward * .2f, Color.red);
if (index >= realWorldMap.Length)
{
continue;
}
CameraSpacePoint csp = realWorldMap[index];
Vector3 p = new Vector3(csp.X, csp.Y, csp.Z);
Vector3 tPoint = transform.TransformPoint(p);
int tIndex = iy * pointsWidth + ix;
bodyMask[tIndex] = bodyIndexMap[index] != 255;
bool isBody = bodyMask[tIndex];
bool isValid = true;
if (isBody)
{
if (bodyRandomProba < 1)
{
isBody = Random.value <= bodyRandomProba;
}
}
if (float.IsNaN(tPoint.x) || float.IsInfinity(tPoint.x))
{
isValid = false;
tPoint = Vector3.zero;
}
PCLPoint pp = new PCLPoint(tPoint, isBody, isValid, true, isBody ? Color.yellow : Color.white);
points[tIndex] = pp;
if (isBody && isValid)
{
bodyPoints.Add(pp);
bodyTree.Add(pp, tPoint);
bodyCenter += tPoint;
}
if (debug && isValid)
{
if (isBody || !debugBodyOnly)
{
Color c = isBody ? Color.yellow : Color.white;
Debug.DrawLine(tPoint, tPoint + Vector3.forward * .05f, c);
}
}
}
}
if (bodyPoints.Count > 0)
{
bodyCenter /= bodyPoints.Count;
}
}
