/// <summary>
/// あるフレームにおける座標変換行列を深度情報から計算する
/// </summary>
/// <param name="frame"></param>
public static List <CvMat> GetConvMatrixFromDepthFrame(Frame frame, List <CvMat> convList, List <LocalCoordinateMapper> localCoordinateMappers)
{
Func <float, double> distance2weight = x => 1.0 / (x * 0 + 400 / 1000f);
using (ColoredIterativePointMatching sipm = new ColoredIterativePointMatching(frame, localCoordinateMappers, convList, distance2weight, 200))
{
List <CvMat> conversions = sipm.CalculateTransformSequntially(0.2, 3);
return(conversions);
}
}
/// <summary>
/// フレーム範囲における座標変換行列を深度情報から計算する
/// </summary>
/// <param name="frames"></param>
public static List <CvMat> GetConvMatrixFromDepthFrameSequence(FrameSequence frameSeq, int startIndex, int endIndex)
{
List <CvMat> conversions = frameSeq.ToWorldConversions;
IEnumerable <Frame> frames = frameSeq.Slice(startIndex, endIndex);
foreach (Frame frame in frames)
{
Func <float, double> distance2weight = x => 1.0 / (x * 0 + 400 / 1000f);
using (ColoredIterativePointMatching sipm = new ColoredIterativePointMatching(frame, frameSeq.LocalCoordinateMappers, conversions, distance2weight, 200))
{
conversions = sipm.CalculateTransformSequntially(0.1, 1);
}
}
return(conversions);
}
/// <summary>
/// フレーム範囲における座標変換行列を深度情報から計算する
/// </summary>
/// <param name="frames"></param>
public static List<CvMat> GetConvMatrixFromDepthFrameSequence(FrameSequence frameSeq, int startIndex, int endIndex)
{
List<CvMat> conversions = frameSeq.ToWorldConversions;
IEnumerable<Frame> frames = frameSeq.Slice(startIndex, endIndex);
foreach (Frame frame in frames)
{
Func<float, double> distance2weight = x => 1.0 / (x * 0 + 400 / 1000f);
using (ColoredIterativePointMatching sipm = new ColoredIterativePointMatching(frame, frameSeq.LocalCoordinateMappers, conversions, distance2weight, 200))
{
conversions = sipm.CalculateTransformSequntially(0.1, 1);
}
}
return conversions;
}
/// <summary>
/// あるフレームにおける座標変換行列を深度情報から計算する
/// </summary>
/// <param name="frame"></param>
public static List<CvMat> GetConvMatrixFromDepthFrame(Frame frame, List<CvMat> convList, List<LocalCoordinateMapper> localCoordinateMappers)
{
Func<float, double> distance2weight = x => 1.0 / (x * 0 + 400 / 1000f);
using (ColoredIterativePointMatching sipm = new ColoredIterativePointMatching(frame, localCoordinateMappers, convList, distance2weight, 200))
{
List<CvMat> conversions = sipm.CalculateTransformSequntially(0.2, 3);
return conversions;
}
}
