public TriggeredProcessingUnit(bool autofilter)
: base(autofilter)
{
this.learning = false;
this.analyzing = false;
this.current = new Gesture();
this.trainsequence = new List<Gesture>();
}
/**
* Make a deep copy of another Gesture object.
*
* @param original Another Gesture object
*/
public Gesture(Gesture original)
{
this.data = new List<AccelerationVector>();
var origin = original.getData();
for (int i = 0; i < origin.Count; i++)
{
this.add((AccelerationVector)origin[i]);
}
}
private Gesture Circle()
{
var gesture = new Gesture();
var steps = Enumerable.Range(1, 100)
.Select(i => 2 * Math.PI * i / 100.0)
.Select(i => new AccelerationVector(-Math.Sin(i), -Math.Cos(i), -Math.Sin(i)));
foreach (var s in steps)
{
gesture.add(s);
}
return gesture;
}
/**
* This method recognize a specific gesture, given to the procedure.
* For classification a bayes classification algorithm is used.
*
* @param g gesture to classify
*/
public GestureModel classifyGesture(Gesture g)
{
// Calculate the denominator, Bayesian
double sum = 0;
foreach (var model in gesturemodel)
{
sum += model.DefaultProbability *
model.GetMatchProbability(g);
}
GestureModel recognized = null; // which gesture has been recognized
double recogprob = Int32.MinValue; // probability of this gesture
double probgesture = 0; // temporal value for bayes algorithm
double probmodel = 0; // temporal value for bayes algorithm
foreach (var model in gesturemodel)
{
double tmpgesture = model.GetMatchProbability(g);
double tmpmodel = model.DefaultProbability;
if (((tmpmodel * tmpgesture) / sum) > recogprob)
{
probgesture = tmpgesture;
probmodel = tmpmodel;
recogprob = ((tmpmodel * tmpgesture) / sum);
recognized = model;
}
}
// a gesture could be recognized
if (recogprob > 0 && probmodel > 0 && probgesture > 0 && sum > 0)
{
this.lastprob = recogprob;
return recognized;
}
else
{
// no gesture could be recognized
return null;
}
}
public void StopTraining()
{
if (this.learning)
{
if (this.current.getCountOfData() > 0)
{
Gesture gesture = new Gesture(this.current);
this.trainsequence.Add(gesture);
this.current = new Gesture();
}
this.learning = false;
}
}
public void StopRecognition()
{
if (this.analyzing)
{
if (this.current.getCountOfData() > 0)
{
Gesture gesture = new Gesture(this.current);
var recognized = this.classifier.classifyGesture(gesture);
if (recognized != null)
{
double recogprob = this.classifier.getLastProbability();
this.OnGestureRecognized(recognized, recogprob);
}
else
{
this.OnGestureRecognized(null, 0.0);
// No gesture recognized
}
this.current = new Gesture();
}
this.analyzing = false;
}
}
/**
* With this method you can transform a gesture to a discrete symbol
* sequence with values between 0 and granularity (number of observations).
*
* @param gesture
* Gesture to get the observationsequence to.
*/
public int[] getObservationSequence(Gesture gesture)
{
int[,] groups = this.deriveGroups(gesture);
List<int> sequence = new List<int>();
for (int j = 0; j < groups.GetLength(1); j++)
{ // spalten
for (int i = 0; i < groups.GetLength(0); i++)
{ // zeilen
if (groups[i,j] == 1)
{
sequence.Add(i);
break;
}
}
}
// this is very dirty! it have to be here because if not
// too short sequences would cause an error. i've to think about a
// better resolution than copying the old value a few time.
while (sequence.Count < this.numStates)
{
sequence.Add(sequence[sequence.Count - 1]);
}
int[] output = new int[sequence.Count];
for (int i = 0; i < sequence.Count; i++)
{
output[i] = sequence[i];
}
return output;
}
/**
* This methods looks up a Gesture to a group matrix, used by the
* k-mean-algorithm (traincenteroid method) above.
*
* @param gesture
* the gesture
*/
private int[,] deriveGroups(Gesture gesture)
{
List<AccelerationVector> data = gesture.getData();
int[,] groups = new int[this.map.Length, data.Count];
// Calculate cartesian distance
double[,] d = new double[this.map.Length, data.Count];
double[] curr = new double[3];
double[] vector = new double[3];
for (int i = 0; i < this.map.Length; i++)
{ // lines
var line = this.map[i];
for (var j = 0; j < data.Count; j++)
{ // split
var accel = data[j];
curr[0] = accel.X;
curr[1] = accel.Y;
curr[2] = accel.Z;
vector[0] = line[0] - curr[0];
vector[1] = line[1] - curr[1];
vector[2] = line[2] - curr[2];
d[i,j] = Math.Sqrt((vector[0] * vector[0])
+ (vector[1] * vector[1]) + (vector[2] * vector[2]));
}
}
// look, to which group a value belongs
for (int j = 0; j < data.Count; j++)
{
double smallest = Double.MaxValue;
int row = 0;
for (int i = 0; i < this.map.GetLength(0); i++)
{
if (d[i, j] < smallest)
{
smallest = d[i, j];
row = i;
}
groups[i, j] = 0;
}
groups[row, j] = 1; // group set
}
return groups;
}
/**
* Trains this Quantizer with a specific gesture. This means that the
* positions of the centeroids would adapt to this training gesture. In our
* case this would happen with a summarized virtual gesture, containing all
* the other gestures.
*
* @param gesture
* the summarized virtual gesture
*/
public void trainCenteroids(Gesture gesture)
{
List<AccelerationVector> data = gesture.getData();
double pi = Math.PI;
this.radius = (gesture.getMaxAcceleration() + gesture.getMinAcceleration()) / 2;
// x , z , y
if (!this.maptrained) {
this.maptrained = true;
this.map[0] = new double[] { this.radius, 0.0, 0.0 };
this.map[1] = new double[] { Math.Cos(pi / 4) * this.radius, 0.0,
Math.Sin(pi / 4) * this.radius };
this.map[2] = new double[] { 0.0, 0.0, this.radius };
this.map[3] = new double[] { Math.Cos(pi * 3 / 4) * this.radius,
0.0, Math.Sin(pi * 3 / 4) * this.radius };
this.map[4] = new double[] { -this.radius, 0.0, 0.0 };
this.map[5] = new double[] { Math.Cos(pi * 5 / 4) * this.radius,
0.0, Math.Sin(pi * 5 / 4) * this.radius };
this.map[6] = new double[] { 0.0, 0.0, -this.radius };
this.map[7] = new double[] { Math.Cos(pi * 7 / 4) * this.radius,
0.0, Math.Sin(pi * 7 / 4) * this.radius };
this.map[8] = new double[] { 0.0, this.radius, 0.0 };
this.map[9] = new double[] { 0.0, Math.Cos(pi / 4) * this.radius,
Math.Sin(pi / 4) * this.radius };
this.map[10] = new double[] { 0.0,
Math.Cos(pi * 3 / 4) * this.radius,
Math.Sin(pi * 3 / 4) * this.radius };
this.map[11] = new double[] { 0.0, -this.radius, 0.0 };
this.map[12] = new double[] { 0.0,
Math.Cos(pi * 5 / 4) * this.radius,
Math.Sin(pi * 5 / 4) * this.radius };
this.map[13] = new double[] { 0.0,
Math.Cos(pi * 7 / 4) * this.radius,
Math.Sin(pi * 7 / 4) * this.radius };
}
int[,] g_alt = new int[this.map.Length, data.Count];
int[,] g = new int[this.map.Length, data.Count];
do {
// Derive new Groups...
g_alt = this.copyarray(g);
g = this.deriveGroups(gesture);
// calculate new centeroids
for (int i = 0; i < this.map.GetLength(0); i++) {
double zaehlerX = 0;
double zaehlerY = 0;
double zaehlerZ = 0;
int nenner = 0;
for (int j = 0; j < data.Count; j++) {
if (g[i,j] == 1) {
var e = data[j];
zaehlerX += e.X;
zaehlerY += e.Y;
zaehlerZ += e.Z;
nenner++;
}
}
if (nenner > 1) { // nur wenn der nenner>0 oder >1??? ist muss
// was
// geaendert werden
// Log.write("Setze neuen Centeroid!");
this.map[i] = new double[] {(zaehlerX / (double) nenner),
(zaehlerY / (double) nenner),
(zaehlerZ / (double) nenner) };
// Log.write("Centeroid: "+i+": "+newcenteroid[0]+":"+newcenteroid[1]);
}
} // new centeroids
} while (!equalarrays(g_alt, g));
// Debug: Printout groups
/*
* for (int i = 0; i < n; i++) { for (int j = 0; j < this.data.Count;
* j++) { Log.write(g[i][j] + "|"); } Log.write(""); }
*/
}
/**
* Trains the model to a set of motion-sequences, representing
* different evaluations of a gesture
*
* @param trainsequence a vector of gestures
*/
public void Train(IEnumerable<Gesture> trainsequence)
{
// summarize all vectors from the different gestures in one
// gesture called sum.
double maxacc = 0;
double minacc = 0;
Gesture sum = new Gesture();
foreach (var gesture in trainsequence)
{
IEnumerable<AccelerationVector> t = gesture.getData();
// add the max and min acceleration, we later get the average
maxacc += gesture.getMaxAcceleration();
minacc += gesture.getMinAcceleration();
// transfer every single accelerationevent of each gesture to
// the new gesture sum
foreach (var accelerationEvent in t)
{
sum.add(accelerationEvent);
}
}
// get the average and set it to the sum gesture
sum.setMaxAndMinAcceleration(maxacc / trainsequence.Count(), minacc / trainsequence.Count());
// train the centeroids of the quantizer with this master gesture sum.
this.quantizer.trainCenteroids(sum);
// convert gesture vector to a sequence of discrete values
var seqs = new List<int[]>();
foreach (var gesture in trainsequence)
{
seqs.Add(this.quantizer.getObservationSequence(gesture));
}
// train the markov model with this derived discrete sequences
this.markovmodell.train(seqs);
// set the default probability for use with the bayes classifier
this.SetDefaultProbability(trainsequence);
}
/**
* Returns the probability that a gesture matches to this
* gesture model.
*
* @param gesture a gesture to test.
* @return probability that the gesture belongs to this gesture
* model.
*/
public double GetMatchProbability(Gesture gesture)
{
int[] sequence = quantizer.getObservationSequence(gesture);
return this.markovmodell.getProbability(sequence);
}