private BenchmarkSample AverageMarkerSet(PSMarker[] markerSet)
{
var result = new BenchmarkSample();
var subSampleSet = new List <Vector4>();
float avgCondition = 0f; // bad, no cam sees the marker
Vector3 avgVector = Vector3.zero;
float n = markerSet.Length;
foreach (var marker in markerSet)
{
avgCondition += marker.cond;
avgVector += marker.position;
subSampleSet.Add(new Vector4(marker.position.x, marker.position.y, marker.position.z, marker.cond));
}
if (n < expectedMarkerCount)
{
result.condition = 0; // If a marker is missing mark the whole sample as dirty
}
result.subsamples = subSampleSet.ToArray();
avgVector = avgVector / n;
avgCondition = avgCondition / n;
result.position = avgVector;
result.condition = avgCondition;
return(result);
}
public BenchmarkSample AveragePosition(ICollection <PSMarker[]> markerSets)
{
var result = new BenchmarkSample();
var subsamples = new List <Vector4>();
float condition = 0f;
Vector3 sumVector = Vector3.zero;
float n = markerSets.Count;
foreach (var set in markerSets)
{
var setAvg = AverageMarkerSet(set);
condition += setAvg.condition;
sumVector += setAvg.position;
subsamples.Add(new Vector4(setAvg.position.x, setAvg.position.y, setAvg.position.z, setAvg.condition));
}
result.subsamples = subsamples.ToArray();
Vector3 avgVector = sumVector / n;
float avgError = condition / n;
result.position = avgVector;
result.condition = avgError;
return(result);
}
void AppendToBenchmark(GameObject preview, BenchmarkSample sample)
{
var obj = GameObject.Instantiate(preview);
obj.transform.parent = activeBenchmarkPresenter.transform;
activeBenchmarkPresenter.model.Samples.Add(sample);
}
void Render(BenchmarkSample avgPosition)
{
var obj = GameObject.Instantiate(prototypSample);
obj.transform.position = avgPosition.position;
obj.transform.localScale = new Vector3(0.1f, 0.1f, 0.1f);
obj.GetComponent <Renderer>().material.color = GetFrom(avgPosition.condition);
}
GameObject UpdatePreviewSample(BenchmarkSample sample)
{
samplePrototype.transform.position = sample.position;
var benchmarkColor = activeBenchmarkPresenter.model.color;
samplePrototype.GetComponent <Renderer>().material.color = new Color(benchmarkColor.r, benchmarkColor.g, benchmarkColor.b, sample.condition / availableCameras);
return(samplePrototype);
}
// Update is called once per frame
void Update()
{
if (markerQueue.Count >= minAveraginCount)
{
var avgPosition = AveragePosition(markerQueue.ToList());
markerQueue.Clear();
latestAvgResult = avgPosition;
var currentSample = UpdatePreviewSample(avgPosition);
if (recording)
{
AppendToBenchmark(currentSample, avgPosition);
}
}
}
