internal void SetDeviation(int sequenceIndex, int frameIndex, float poseDeviation, float trajectoryDeviation)
{
Assert.IsTrue(sequenceIndex < sequences.Length);
Assert.IsTrue(frameIndex < sequences[sequenceIndex].sequence.numFrames);
int deviationIndex = sequences[sequenceIndex].firstDeviationIndex + frameIndex;
deviations[deviationIndex] = new DeviationScore()
{
poseDeviation = poseDeviation,
trajectoryDeviation = trajectoryDeviation
};
}
string GetCostInformation(ref Binary binary, ref DeviationTable deviationTable, SamplingTime samplingTime)
{
if (!deviationTable.IsValid || !samplingTime.IsValid)
{
return("");
}
DeviationScore deviation = deviationTable.GetDeviation(ref binary, samplingTime.timeIndex);
if (!deviation.IsValid)
{
return($"\nThis fragment wasn't considered during the query");
}
if (deviation.trajectoryDeviation >= 0.0f)
{
return($"\n<b>Pose cost:</b> {deviation.poseDeviation:0.000}, <b>Trajectory:</b> {deviation.trajectoryDeviation:0.000}, <b>Total:</b> {deviation.poseDeviation + deviation.trajectoryDeviation:0.000}");
}
else
{
return($"\n<b>Pose cost:</b> {deviation.poseDeviation:0.000}");
}
}
internal static DeviationTable Create(PoseSet candidates)
{
int numDeviations = 0;
for (int i = 0; i < candidates.sequences.Length; ++i)
{
numDeviations += candidates.sequences[i].numFrames;
}
DeviationTable table = new DeviationTable()
{
allocator = Allocator.Temp,
sequences = new NativeArray <PoseSequenceInfo>(candidates.sequences.Length, Allocator.Temp),
deviations = new NativeArray <DeviationScore>(numDeviations, Allocator.Temp)
};
int deviationIndex = 0;
for (int i = 0; i < candidates.sequences.Length; ++i)
{
table.sequences[i] = new PoseSequenceInfo()
{
sequence = candidates.sequences[i],
firstDeviationIndex = deviationIndex
};
deviationIndex += candidates.sequences[i].numFrames;
}
for (int i = 0; i < numDeviations; ++i)
{
table.deviations[i] = DeviationScore.CreateInvalid();
}
return(table);
}