「授業用」カテゴリーアーカイブ

A*関係,複数キャラクタを複数のポイントに向かわせる

作成中

using UnityEngine;
using System.Collections;
using System.Collections.Generic;
using UnityStandardAssets.Characters.ThirdPerson;

public class myscript : MonoBehaviour {
	
	public GameObject myInstance;//for prefab
	public GameObject myGoal;//for goal object
	public int sakusei = 10;//chara duplicate count
	public GameObject targetbj;//GameObject of chara target
	Transform targetPos;//位置情報用の変数
	GameObject NavObj;//NavMeshのついているGameObject
	NavMeshAgent myNav;//NavMeshAgent入れ用

	List<Vector3> myPoint = new List<Vector3>();//ゴール地点リスト用

	// Use this for initialization
	void Start () {
		myPoint = new List<Vector3>();//リスト初期化
		myPoint.Add (new Vector3 (0.0f, 0.5f, -5.0f));//リスト項目追加   
		myPoint.Add (new Vector3 (-20f, 0.5f, 14f));
		myPoint.Add (new Vector3 (20f, 0.5f, 14f));

		//ゴール地点3個作成用(テスト)
		GameObject goalObj = Instantiate (myGoal, myPoint [0], Quaternion.identity) as GameObject;
		goalObj.name =  "goal1";
		goalObj = Instantiate (myGoal, myPoint [1], Quaternion.identity) as GameObject;
		goalObj.name =  "goal2";
		goalObj = Instantiate (myGoal, myPoint [2], Quaternion.identity) as GameObject;
		goalObj.name =  "goal3";

		//キャラn体作成
		for (int i = 0; i < sakusei; i++) {
			GameObject go = Instantiate (myInstance, new Vector3 (i + 1.0f, 0, 0), Quaternion.identity) as GameObject;
			string myAIname =  "AI" + i.ToString ();
			go.name = myAIname;
			int divideInt = i % 3;
			if (divideInt == 0) {
				GameObject my1 = GameObject.Find("goal1");
				targetPos = my1.GetComponent<Transform> ();
	
			}else if (divideInt == 1) {
				GameObject my2 = GameObject.Find("goal2");
				targetPos = my2.GetComponent<Transform> ();
			}else if (divideInt == 2) {
				GameObject my3 = GameObject.Find("goal3");
				targetPos = my3.GetComponent<Transform> ();
			}

		myNav = NavObj.GetComponent<NavMeshAgent> ();//Get Nav mesh from current object

			myNav.SetDestination (targetPos.position);//set goal pos of myNav
			myNav.stoppingDistance = 3.0f;//offset distance from goal point...korenaito guriguri suru
			AICharacterControl  myTar  = NavObj.GetComponent<AICharacterControl>();//find component of NabObj
			myTar.target = targetPos;//set Goal variable

		}
	}
	
	// tsukotenai
	void Update () {
	
	}
}

Tensorflowでopencv

opencvはいってなかった

 

http://qiita.com/suppy193/items/91609e75789e9f458c39

でOpencv2.7いれて

http://arkouji.cocolog-nifty.com/blog/2016/08/tensorflowraspb.html

でclassfy_image.pyがない(そもそもmodelsディレクトリがない)ので、TensorFlowのソースみて

nano classify_image.py

# Copyright 2015 The TensorFlow Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================

"""Simple image classification with Inception.

Run image classification with Inception trained on ImageNet 2012 Challenge data
set.

This program creates a graph from a saved GraphDef protocol buffer,
and runs inference on an input JPEG image. It outputs human readable
strings of the top 5 predictions along with their probabilities.

Change the --image_file argument to any jpg image to compute a
classification of that image.

Please see the tutorial and website for a detailed description of how
to use this script to perform image recognition.

https://tensorflow.org/tutorials/image_recognition/
"""

from __future__ import absolute_import
from __future__ import division
from __future__ import print_function

import argparse
import os.path
import re
import sys
import tarfile

import numpy as np
from six.moves import urllib
import tensorflow as tf

FLAGS = None

# pylint: disable=line-too-long
DATA_URL = 'http://download.tensorflow.org/models/image/imagenet/inception-2015-12-05.tgz'
# pylint: enable=line-too-long


class NodeLookup(object):
  """Converts integer node ID's to human readable labels."""

  def __init__(self,
               label_lookup_path=None,
               uid_lookup_path=None):
    if not label_lookup_path:
      label_lookup_path = os.path.join(
          FLAGS.model_dir, 'imagenet_2012_challenge_label_map_proto.pbtxt')
    if not uid_lookup_path:
      uid_lookup_path = os.path.join(
          FLAGS.model_dir, 'imagenet_synset_to_human_label_map.txt')
    self.node_lookup = self.load(label_lookup_path, uid_lookup_path)

  def load(self, label_lookup_path, uid_lookup_path):
    """Loads a human readable English name for each softmax node.

    Args:
      label_lookup_path: string UID to integer node ID.
      uid_lookup_path: string UID to human-readable string.

    Returns:
      dict from integer node ID to human-readable string.
    """
    if not tf.gfile.Exists(uid_lookup_path):
      tf.logging.fatal('File does not exist %s', uid_lookup_path)
    if not tf.gfile.Exists(label_lookup_path):
      tf.logging.fatal('File does not exist %s', label_lookup_path)

    # Loads mapping from string UID to human-readable string
    proto_as_ascii_lines = tf.gfile.GFile(uid_lookup_path).readlines()
    uid_to_human = {}
    p = re.compile(r'[n\d]*[ \S,]*')
    for line in proto_as_ascii_lines:
      parsed_items = p.findall(line)
      uid = parsed_items[0]
      human_string = parsed_items[2]
      uid_to_human[uid] = human_string

    # Loads mapping from string UID to integer node ID.
    node_id_to_uid = {}
    proto_as_ascii = tf.gfile.GFile(label_lookup_path).readlines()
    for line in proto_as_ascii:
      if line.startswith('  target_class:'):
        target_class = int(line.split(': ')[1])
      if line.startswith('  target_class_string:'):
        target_class_string = line.split(': ')[1]
        node_id_to_uid[target_class] = target_class_string[1:-2]

    # Loads the final mapping of integer node ID to human-readable string
    node_id_to_name = {}
    for key, val in node_id_to_uid.items():
      if val not in uid_to_human:
        tf.logging.fatal('Failed to locate: %s', val)
      name = uid_to_human[val]
      node_id_to_name[key] = name

    return node_id_to_name

  def id_to_string(self, node_id):
    if node_id not in self.node_lookup:
      return ''
    return self.node_lookup[node_id]


def create_graph():
  """Creates a graph from saved GraphDef file and returns a saver."""
  # Creates graph from saved graph_def.pb.
  with tf.gfile.FastGFile(os.path.join(
      FLAGS.model_dir, 'classify_image_graph_def.pb'), 'rb') as f:
    graph_def = tf.GraphDef()
    graph_def.ParseFromString(f.read())
    _ = tf.import_graph_def(graph_def, name='')


def run_inference_on_image(image):
  """Runs inference on an image.

  Args:
    image: Image file name.

  Returns:
    Nothing
  """
  if not tf.gfile.Exists(image):
    tf.logging.fatal('File does not exist %s', image)
  image_data = tf.gfile.FastGFile(image, 'rb').read()

  # Creates graph from saved GraphDef.
  create_graph()

  with tf.Session() as sess:
    # Some useful tensors:
    # 'softmax:0': A tensor containing the normalized prediction across
    #   1000 labels.
    # 'pool_3:0': A tensor containing the next-to-last layer containing 2048
    #   float description of the image.
    # 'DecodeJpeg/contents:0': A tensor containing a string providing JPEG
    #   encoding of the image.
    # Runs the softmax tensor by feeding the image_data as input to the graph.
    softmax_tensor = sess.graph.get_tensor_by_name('softmax:0')
    predictions = sess.run(softmax_tensor,
                           {'DecodeJpeg/contents:0': image_data})
    predictions = np.squeeze(predictions)

    # Creates node ID --> English string lookup.
    node_lookup = NodeLookup()

    top_k = predictions.argsort()[-FLAGS.num_top_predictions:][::-1]
    for node_id in top_k:
      human_string = node_lookup.id_to_string(node_id)
      score = predictions[node_id]
      print('%s (score = %.5f)' % (human_string, score))


def maybe_download_and_extract():
  """Download and extract model tar file."""
  dest_directory = FLAGS.model_dir
  if not os.path.exists(dest_directory):
    os.makedirs(dest_directory)
  filename = DATA_URL.split('/')[-1]
  filepath = os.path.join(dest_directory, filename)
  if not os.path.exists(filepath):
    def _progress(count, block_size, total_size):
      sys.stdout.write('\r>> Downloading %s %.1f%%' % (
          filename, float(count * block_size) / float(total_size) * 100.0))
      sys.stdout.flush()
    filepath, _ = urllib.request.urlretrieve(DATA_URL, filepath, _progress)
    print()
    statinfo = os.stat(filepath)
    print('Successfully downloaded', filename, statinfo.st_size, 'bytes.')
  tarfile.open(filepath, 'r:gz').extractall(dest_directory)


def main(_):
  maybe_download_and_extract()
  image = (FLAGS.image_file if FLAGS.image_file else
           os.path.join(FLAGS.model_dir, 'cropped_panda.jpg'))
  run_inference_on_image(image)


if __name__ == '__main__':
  parser = argparse.ArgumentParser()
  # classify_image_graph_def.pb:
  #   Binary representation of the GraphDef protocol buffer.
  # imagenet_synset_to_human_label_map.txt:
  #   Map from synset ID to a human readable string.
  # imagenet_2012_challenge_label_map_proto.pbtxt:
  #   Text representation of a protocol buffer mapping a label to synset ID.
  parser.add_argument(
      '--model_dir',
      type=str,
      default='/tmp/imagenet',
      help="""\
      Path to classify_image_graph_def.pb,
      imagenet_synset_to_human_label_map.txt, and
      imagenet_2012_challenge_label_map_proto.pbtxt.\
      """
  )
  parser.add_argument(
      '--image_file',
      type=str,
      default='',
      help='Absolute path to image file.'
  )
  parser.add_argument(
      '--num_top_predictions',
      type=int,
      default=5,
      help='Display this many predictions.'
  )
  FLAGS, unparsed = parser.parse_known_args()
  tf.app.run(main=main, argv=[sys.argv[0]] + unparsed)

で、

python classify_image.py

やって

giant panda, panda, panda bear, coon bear, Ailuropoda melanoleuca (score = 0.89107)
indri, indris, Indri indri, Indri brevicaudatus (score = 0.00779)
lesser panda, red panda, panda, bear cat, cat bear, Ailurus fulgens (score = 0.00296)
custard apple (score = 0.00147)
earthstar (score = 0.00117)

パンダ89% インドリ(サル)0.7%、レッサーパンダ0.2%、custard apple(リンゴの仲間?)0.14%、アーススターって謎の花0.11% じゃないって出る

 

自分で作る参考

http://arkouji.cocolog-nifty.com/blog/2016/08/tensorflow-76e9.html

このサイトとそこにのってる参考サイト

http://qiita.com/khayate/items/bb7c61f447b4c579ddd1

 

わかりやすい解説

WEBアプリ化する

 

いろいろ入れるの

http://qiita.com/PonDad/items/9fbdf4d694f825dd1b6e

deep learning そのご

面倒なので、最近なにかと話題のTesor Flowにしてみる

インストはこっち

http://tech.mof-mof.co.jp/blog/tensorflow-tutorial.html

参考

https://github.com/samjabrahams/tensorflow-on-raspberry-pi

追記 インストはできったっぽい

動作確認はここ

http://qiita.com/mix_dvd/items/6b38859148a988c3fe06

エラー出たので

sudo pip install –upgrade html5lib==1.0b8

したら、またエラー

sudo pip install -U pandas

した

python mnist_softmax.py

やって、

Extracting /tmp/tensorflow/mnist/input_data/t10k-labels-idx1-ubyte.gz
0.9193

でた。たぶんこれでOK

ーーおまけーー

ブラウザでできるとかなんとk

http://qiita.com/payashim/items/d4fe5227b21a5215e78b

 

Chainerも考えたけど、まぁ簡単そうなのから。

 

deep celief SDK

raspi de caffe

make runtest

.build_release/tools/caffe: error while loading shared libraries: libglog.so.0: cannot open shared object file: No such file or directory

が出る

対策?

sudo nano /etc/ld.so.conf

して、

末尾に

/usr/local/lib
/usr/lib

を追加

sudo ldconfig

する。

おわり

 

runtestで


[  FAILED  ] SGDSolverTest/0.TestSnapshotShare, where TypeParam = caffe::CPUDevice&lt;float&gt;

出るので

cd /etc

sudo nano profile

export CUDA_VISIBLE_DEVICES=0
export MKL_CBWR=AUTO

VR Hanami

時間がないのでAsset使いまくり

以前自作したS3Dカメラリグが見つからなかったので、フリーLCVRkitを利用したけどもっと便利そうなのがあった

参考にしたサイト

http://qiita.com/yanosen_jp/items/b9fdd31928960995f7ea

https://developers.google.com/vr/unity/download

 

ちな、OpenCVは重い。Vuforiaは軽いけど、マーカーは簡単なものでは認識しない。

想定される現場は暗いので、CVもVuoriaもダメ。

単にサクラ置くだけっていうなんでもないものになる。

カメラが起動しない、、

Camera Usage Descriptionに日本語でいいので何かいれとく

http://qiita.com/JunSuzukiJapan/items/e7c04072ac5e83fa6595

 

SeriesをSetActive Falseにする

表題の件,

最後の1こがどうしてもデータに残るので,対処療法でとりあえずFalseにするのをTagでやる.

Tagの追加はAddSeriesのときにやってる

		///test
		GameObject[] pairSer = GameObject.FindGameObjectsWithTag ("pairGra");//Sseriesの位置を絶対パスで指定
		foreach(GameObject setObj in pairSer){
		Debug.Log ("set false_" + setObj.name);
		setObj.SetActive (false);//検索したSeriesのオブジェクトを表示/非表示させる
		}

 

非アクティブ(inActive)オブジェクトのFind

GameobjectFindではなく,TransformFindを使うべし

		SeriesParent = GameObject.Find ("Canvas/mainGraph/RadarGraph/Series");//Sseriesの位置を絶対パスで指定

		setObj = SeriesParent.transform.Find ("my" + this.name).gameObject;//Transformでないとfalseのオブジェクトをfindできない
		//Debug.Log (setObj.name);
		setObj.SetActive (false);//検索したSeriesのオブジェクトを表示/非表示させる