protected override bool Recognise(FeatureData data)
{
switch (_motionState)
{
case MotionState.Initial:
float footHeight = data.CalculateDifferY(JointType.AnkleRight, JointType.AnkleLeft);
// 判断是否抬高脚data.CompareThresholdY(JointType.AnkleRight, JointType.AnkleLeft, 15) == 1
if (footHeight > MinFootHeight &&
footHeight < MaxFootHeight) // 用Y判断脚抬高度,脚离地阈值为15
{
_motionState = MotionState.Invalid;// 标记为无效，等待放下脚恢复初始状态
if (data.CompareThresholdZ(JointType.AnkleRight, JointType.HipRight, 30) == 0 && // 用Z排除非前踢腿
data.CompareThresholdX(JointType.AnkleRight, JointType.HipRight, 15) == 0) // 用X排除非左右侧踢腿
{
return true;
}
}
break;
default:
// 放下脚恢复初始状态
if (data.CompareThresholdY(JointType.AnkleRight, JointType.AnkleLeft, 5) == 0)
{
_motionState = MotionState.Initial;
}
break;
}
return false;
}
private const float LegRadianThreshold = 0.57f; //30, 0.64f; //弧度阈值；40度约为0.64左右,45度约为0.707
#endregion Fields
#region Methods
protected override bool Recognise(FeatureData data)
{
switch (_motionState)
{
case MotionState.Initial:
// 判断是否抬高脚
if (data.CompareThresholdY(JointType.AnkleRight, JointType.AnkleLeft, 10) == 1) // 用Y判断脚抬高度,脚离地阈值为10
{
_motionState = MotionState.Valid;
}
break;
case MotionState.Valid:
// 区别抬脚动作
if (data.CompareThresholdZ(JointType.AnkleRight, JointType.HipRight, 30) == 0 &&
data.CompareThresholdX(JointType.AnkleRight, JointType.HipRight, 15) == 0)
{
_motionState = MotionState.Invalid;
return false;
}
// 大概的腿长，从踝开始计算
float legLength = data.CalculateDifferY(JointType.HipLeft, JointType.AnkleLeft);
if (legLength <= 0) // 腿长不适合理论数据
{
return false;
}
// 在x和z轴上的映射投影距离差值
float ankleDifferX = Math.Abs(data.CalculateDifferX(JointType.AnkleRight, JointType.AnkleLeft));
float ankleDifferZ = Math.Abs(data.CalculateDifferZ(JointType.AnkleRight, JointType.AnkleLeft));
if (ankleDifferX >= ankleDifferZ) // 排除向前或后踢的情况
{
// 计算腿抬起后裸相差的水平距离
float ankleHorizontalDistance = (float)Math.Sqrt(ankleDifferX * ankleDifferX + ankleDifferZ * ankleDifferZ);
// 计算腿抬起的弧度
float legRadian = ankleHorizontalDistance / legLength;
// 当抬起角度超过弧度阈值后生效
if (legRadian > LegRadianThreshold)
{
_motionState = MotionState.Invalid;
return true;
}
}
else
{
_motionState = MotionState.Invalid;
}
break;
default:
// 放下脚恢复初始状态
if (data.CompareThresholdY(JointType.AnkleRight, JointType.AnkleLeft, 5) == 0)
{
_motionState = MotionState.Initial;
}
break;
}
return false;
}