IEnumerator BuildFragments()
{
GenerateCodeBooks();
allocator.Allocate(codeBooks.Count, ref Binary.codeBooks);
int codeBookIndex = 0;
foreach (var codeBook in codeBooks)
{
var metricIndex = codeBook.metric.index;
var traitIndex = codeBook.traitIndex;
MemoryRef <Binary.CodeBook> destination = new MemoryRef <Binary.CodeBook>(ref Binary.codeBooks[codeBookIndex]);
destination.Ref.metricIndex = metricIndex;
destination.Ref.traitIndex = traitIndex;
var numIntervals = codeBook.intervals.Count;
allocator.Allocate(numIntervals, ref destination.Ref.intervals);
int intervalIndex = 0;
foreach (var interval in codeBook.intervals)
{
destination.Ref.intervals[intervalIndex] = interval.index;
intervalIndex++;
}
Assert.IsTrue(intervalIndex == codeBook.intervals.Count);
{
FragmentFactory fragmentFactory = PoseFragmentFactory.Create();
using (CodeBook.FragmentEncoder factory = codeBook.CreateEncoder(ref Binary))
{
IEnumerator fragmentEncoder = factory.EncodeFragments(binary, codeBook.intervals.ToArray(), fragmentFactory, "pose", progressInfo => progressFeedback?.Invoke(progressInfo));
while (fragmentEncoder.MoveNext())
{
yield return(null);
if (bCancel)
{
factory.CancelEncoding();
fragmentEncoder.MoveNext(); // release resources
yield break;
}
}
int numFragments = factory.numFragments;
Assert.IsTrue(destination.Ref.numFragments == 0);
destination.Ref.numFragments = numFragments;
var numFeatures = PoseFragment.GetNumFeatures(ref Binary, metricIndex);
var numQuantizedFeatures = PoseFragment.GetNumQuantizedFeatures(ref Binary, metricIndex);
var numNormalizedFeatures = PoseFragment.GetNumNormalizedFeatures(ref Binary, metricIndex);
var numTransformedFeatures = numFeatures - numQuantizedFeatures - numNormalizedFeatures;
destination.Ref.poses.numFragments = numFragments;
destination.Ref.poses.numFeatures = (short)numFeatures;
destination.Ref.poses.numFeaturesQuantized = (short)numQuantizedFeatures;
destination.Ref.poses.numFeaturesNormalized = (short)numNormalizedFeatures;
destination.Ref.poses.numFeaturesTransformed = (short)numTransformedFeatures;
var numCodes = factory.Codes.Length + factory.QuantizedValues.Length;
allocator.Allocate(numCodes, ref destination.Ref.poses.codes);
int writeIndex = 0;
int readIndexQuantized = 0;
int readIndex = 0;
for (int i = 0; i < numFragments; ++i)
{
for (int j = 0; j < numQuantizedFeatures; ++j)
{
var quantizedValue = factory.QuantizedValues[readIndexQuantized++];
destination.Ref.poses.codes[writeIndex++] = quantizedValue;
}
for (int j = 0; j < numFeatures; ++j)
{
var code = factory.Codes[readIndex++];
destination.Ref.poses.codes[writeIndex++] = code;
}
}
Assert.IsTrue(readIndexQuantized == factory.QuantizedValues.Length);
Assert.IsTrue(readIndex == factory.Codes.Length);
Assert.IsTrue(writeIndex == numCodes);
var numCodeWords = factory.CodeWords.Length;
allocator.Allocate(numCodeWords, ref destination.Ref.poses.centroids);
for (int i = 0; i < numCodeWords; ++i)
{
destination.Ref.poses.centroids[i] = factory.CodeWords[i];
}
allocator.Allocate(numTransformedFeatures, ref destination.Ref.poses.boundingBoxes);
Assert.IsTrue(numTransformedFeatures == factory.BoundingBoxes.Length);
for (int i = 0; i < numTransformedFeatures; ++i)
{
destination.Ref.poses.boundingBoxes[i].transform = factory.BoundingBoxes[i].transform;
destination.Ref.poses.boundingBoxes[i].extent = factory.BoundingBoxes[i].extent;
destination.Ref.poses.boundingBoxes[i].inverseDiagonal = factory.BoundingBoxes[i].inverseDiagonal;
}
allocator.Allocate(numQuantizedFeatures, ref destination.Ref.poses.quantizers);
Assert.IsTrue(numQuantizedFeatures == factory.Quantizers.Length);
for (int i = 0; i < numQuantizedFeatures; ++i)
{
destination.Ref.poses.quantizers[i].minimum = factory.Quantizers[i].minimum;
destination.Ref.poses.quantizers[i].range = factory.Quantizers[i].range;
}
}
}
{
FragmentFactory fragmentFactory = TrajectoryFragmentFactory.Create();
using (CodeBook.FragmentEncoder factory = codeBook.CreateEncoder(ref Binary))
{
IEnumerator fragmentEncoder = factory.EncodeFragments(binary, codeBook.intervals.ToArray(), fragmentFactory, "trajectory", progressInfo => progressFeedback?.Invoke(progressInfo));
while (fragmentEncoder.MoveNext())
{
yield return(null);
if (bCancel)
{
factory.CancelEncoding();
fragmentEncoder.MoveNext(); // release resources
yield break;
}
}
int numFragments = factory.numFragments;
Assert.IsTrue(destination.Ref.numFragments == numFragments);
var numFeatures = TrajectoryFragment.GetNumFeatures(ref Binary, metricIndex);
var numQuantizedFeatures = TrajectoryFragment.GetNumQuantizedFeatures(ref Binary, metricIndex);
var numNormalizedFeatures = TrajectoryFragment.GetNumNormalizedFeatures(ref Binary, metricIndex);
var numTransformedFeatures = numFeatures - numQuantizedFeatures - numNormalizedFeatures;
destination.Ref.trajectories.numFragments = numFragments;
destination.Ref.trajectories.numFeatures = (short)numFeatures;
destination.Ref.trajectories.numFeaturesQuantized = (short)numQuantizedFeatures;
destination.Ref.trajectories.numFeaturesNormalized = (short)numNormalizedFeatures;
destination.Ref.trajectories.numFeaturesTransformed = (short)numTransformedFeatures;
var numCodes = factory.Codes.Length + factory.QuantizedValues.Length;
allocator.Allocate(numCodes, ref destination.Ref.trajectories.codes);
int writeIndex = 0;
int readIndexQuantized = 0;
int readIndex = 0;
for (int i = 0; i < numFragments; ++i)
{
for (int j = 0; j < numQuantizedFeatures; ++j)
{
var quantizedValue = factory.QuantizedValues[readIndexQuantized++];
destination.Ref.trajectories.codes[writeIndex++] = quantizedValue;
}
for (int j = 0; j < numFeatures; ++j)
{
var code = factory.Codes[readIndex++];
destination.Ref.trajectories.codes[writeIndex++] = code;
}
}
Assert.IsTrue(readIndexQuantized == factory.QuantizedValues.Length);
Assert.IsTrue(readIndex == factory.Codes.Length);
Assert.IsTrue(writeIndex == numCodes);
var numCodeWords = factory.CodeWords.Length;
allocator.Allocate(numCodeWords, ref destination.Ref.trajectories.centroids);
for (int i = 0; i < numCodeWords; ++i)
{
destination.Ref.trajectories.centroids[i] = factory.CodeWords[i];
}
allocator.Allocate(numTransformedFeatures, ref destination.Ref.trajectories.boundingBoxes);
Assert.IsTrue(numTransformedFeatures == factory.BoundingBoxes.Length);
for (int i = 0; i < numTransformedFeatures; ++i)
{
destination.Ref.trajectories.boundingBoxes[i].transform = factory.BoundingBoxes[i].transform;
destination.Ref.trajectories.boundingBoxes[i].extent = factory.BoundingBoxes[i].extent;
destination.Ref.trajectories.boundingBoxes[i].inverseDiagonal = factory.BoundingBoxes[i].inverseDiagonal;
}
allocator.Allocate(numQuantizedFeatures, ref destination.Ref.trajectories.quantizers);
Assert.IsTrue(numQuantizedFeatures == factory.Quantizers.Length);
for (int i = 0; i < numQuantizedFeatures; ++i)
{
destination.Ref.trajectories.quantizers[i].minimum = factory.Quantizers[i].minimum;
destination.Ref.trajectories.quantizers[i].range = factory.Quantizers[i].range;
}
}
}
codeBookIndex++;
}
Assert.IsTrue(codeBookIndex == codeBooks.Count);
}
public int GetNumFeatures(ref Binary binary, MetricIndex metricIndex)
{
return(PoseFragment.GetNumFeatures(ref binary, metricIndex));
}