| private GetPixels32 ( ) : UnityEngine.Color32[] | ||
| return | UnityEngine.Color32[] | |
static public int GetPixels32(IntPtr l)
{
try {
int argc = LuaDLL.lua_gettop(l);
if (argc == 1)
{
UnityEngine.WebCamTexture self = (UnityEngine.WebCamTexture)checkSelf(l);
var ret = self.GetPixels32();
pushValue(l, ret);
return(1);
}
else if (argc == 2)
{
UnityEngine.WebCamTexture self = (UnityEngine.WebCamTexture)checkSelf(l);
UnityEngine.Color32[] a1;
checkType(l, 2, out a1);
var ret = self.GetPixels32(a1);
pushValue(l, ret);
return(1);
}
LuaDLL.luaL_error(l, "No matched override function to call");
return(0);
}
catch (Exception e) {
LuaDLL.luaL_error(l, e.ToString());
return(0);
}
}
static public int GetPixels32(IntPtr l)
{
try {
int argc = LuaDLL.lua_gettop(l);
if (argc == 1)
{
UnityEngine.WebCamTexture self = (UnityEngine.WebCamTexture)checkSelf(l);
var ret = self.GetPixels32();
pushValue(l, true);
pushValue(l, ret);
return(2);
}
else if (argc == 2)
{
UnityEngine.WebCamTexture self = (UnityEngine.WebCamTexture)checkSelf(l);
UnityEngine.Color32[] a1;
checkArray(l, 2, out a1);
var ret = self.GetPixels32(a1);
pushValue(l, true);
pushValue(l, ret);
return(2);
}
pushValue(l, false);
LuaDLL.lua_pushstring(l, "No matched override function to call");
return(2);
}
catch (Exception e) {
return(error(l, e));
}
}
/// <summary>
/// Create a native CGImage object from a WebCamTexture.
/// </summary>
/// <returns>The newly created native CGImage object or null if error.</returns>
/// <param name="texture">Texture.</param>
/// <param name="scale">Scale.</param>
public static CGImage FromWebCamTexture(WebCamTexture texture, float scale = 1.0f)
{
if (texture == null)
return null;
var data = texture.GetPixels32();
return CGImage.FromPixels32(data, texture.width, texture.height, scale);
}
static public int GetPixels32(IntPtr l)
{
try {
UnityEngine.WebCamTexture self = (UnityEngine.WebCamTexture)checkSelf(l);
var ret = self.GetPixels32();
pushValue(l, true);
pushValue(l, ret);
return(2);
}
catch (Exception e) {
return(error(l, e));
}
}
static public int GetPixels32__A_Color32(IntPtr l)
{
try {
UnityEngine.WebCamTexture self = (UnityEngine.WebCamTexture)checkSelf(l);
UnityEngine.Color32[] a1;
checkArray(l, 2, out a1);
var ret = self.GetPixels32(a1);
pushValue(l, true);
pushValue(l, ret);
return(2);
}
catch (Exception e) {
return(error(l, e));
}
}
static public int GetPixels32(IntPtr l)
{
try {
#if DEBUG
var method = System.Reflection.MethodBase.GetCurrentMethod();
string methodName = GetMethodName(method);
#if UNITY_5_5_OR_NEWER
UnityEngine.Profiling.Profiler.BeginSample(methodName);
#else
Profiler.BeginSample(methodName);
#endif
#endif
int argc = LuaDLL.lua_gettop(l);
if (argc == 1)
{
UnityEngine.WebCamTexture self = (UnityEngine.WebCamTexture)checkSelf(l);
var ret = self.GetPixels32();
pushValue(l, true);
pushValue(l, ret);
return(2);
}
else if (argc == 2)
{
UnityEngine.WebCamTexture self = (UnityEngine.WebCamTexture)checkSelf(l);
UnityEngine.Color32[] a1;
checkArray(l, 2, out a1);
var ret = self.GetPixels32(a1);
pushValue(l, true);
pushValue(l, ret);
return(2);
}
pushValue(l, false);
LuaDLL.lua_pushstring(l, "No matched override function GetPixels32 to call");
return(2);
}
catch (Exception e) {
return(error(l, e));
}
#if DEBUG
finally {
#if UNITY_5_5_OR_NEWER
UnityEngine.Profiling.Profiler.EndSample();
#else
Profiler.EndSample();
#endif
}
#endif
}
/**
* WebTextureで更新します。
*/
public void updateByWebCamTexture(WebCamTexture i_wtx)
{
i_wtx.GetPixels32((Color32[])this._buf);
//this._rgb_pixel_driver.switchRaster(this);//バッファを上書きするからいらない。
return;
}
void Update()
{
if (timer < 2.0f) {
timer += Time.deltaTime;
return;
}
wct = wcb.wct;
c = wct.GetPixels32 ();
width = wcb.width;
height = wcb.height;
GetComponent<Renderer>().material.mainTexture = wct;
// ------------------------------------------------------------------------
// 真値.
// 状態更新.
x = dotVec(dotVec(dotVec(A ,x), dotVec(B ,u)), dotVec(s_sigma, randn(2, 1)));
// 観測.
z = dotVec(dotVec(o_sigma, randn(2, 1)), x);
// ------------------------------------------------------------------------
// particle filter
// サンプリング
Kai = dotVec(dotVec(dotVec(A ,Kai) ,repmat21M(dotVec(B, u))) ,dotVec(s_sigma ,randn(2, M)));
// 尤度を計算
for(int i = 0; i < M; i++)
w[i] = 1.0f/(Mathf.Sqrt(2.0f* Mathf.PI) * sigma)
* Mathf.Exp(
-(
(Kai[1, i] - z[1, 1])*(Kai[1, i] - z[1, 1])
/(2.0f * sigma * sigma)
)
)
/(Mathf.Sqrt(2.0f*Mathf.PI)*sigma)
* Mathf.Exp(
-(Kai[2,i]-z[2,1])*(Kai[2,i]-z[2,1])/(2.0f*sigma*sigma)
);
// 重みを正規化
float w_sum = 0;
for(int i = 0; i < M; i++)
w_sum += w[i];
for(int i = 0; i < M; i++)
w[i] /= w_sum;
// Kai_barに入れておく
for(int i = 0; i < M; i++)
for(int j = 0; j < 2; j++)
Kai_bar[j, i] = Kai[j, i];
for(int i = 0; i < M; i++)
Kai_bar[2, i] = w[i];
// リサンプリング
// 重みを入れる箱(無駄が多い)
float[,] box = new float[M + 1, 1];
for (int i = 0; i < M - 1; i++)
box[i + 1, 0] = box[i, 0] + w[i];
box[M, 0] = 1.0f;
// くじ引き
for (int i = 0; i < M; i++){
float r = Random.Range(0.0f, 1.0f);
int num = 0;
// 乱数がどの箱かを調べる(遅い)
for (int j = 0; j < M; j++){
if((box[j, 0] < r) && (r < box[j + 1, 0])){
num = j;
}
}
// 新たなKaiに代入
Kai[0, i] = Kai_bar[0, num];
Kai[1, i] = Kai_bar[1, num];
}
// ------------------------------------------------------------------------
// 描画
// パーティクル
for (int i = 0; i < M; i++) {
objParticles [i].transform.position = new Vector3(Kai[0,i], Kai[1, i], 0);
// objParticles [i].renderer.material.color = c [Kai[1,i] * width + Kai[0, i]];
}
}
