/// <summary>
/// returns arbNumber many planes, sliced height wise, which have been averaged, subsampled and clock sorted.
/// </summary>
/// <param name="pc">PointCloud</param>
/// <param name="arbNumber">int</param>
/// <returns>Tuple(List(List(Point3D)),double)</returns>
public static Tuple <List <List <Point3D> >, double> pullAll(PointCloud pc, int arbNumber)
{
double xmin = pc.getxMin();
double xmax = pc.getxMax();
double zmin = pc.getzMin();
double zmax = pc.getzMax();
double[] limits = { xmin, zmin, xmax, zmax };
double ymin = pc.getyMin();
double ymax = pc.getyMax();
double increment = (ymax - ymin) / arbNumber;
List <List <Point3D> > output = new List <List <Point3D> >();
for (double i = ymin + (increment / 2); i <= ymax - (increment / 2); i = i + increment)
{
List <Point3D> plane = pc.getKDTree().getAllPointsAt(i, increment / 2, limits);
plane = SubSampler.averageSubSample(plane, sampleNumber);
plane = PointSorter.clockSort(plane);
output.Add(plane);
}
return(Tuple.Create(output, increment));
}
/// <summary>
/// returns arbNumber many planes, sliced height wise, which have been averaged, subsampled and clock sorted.
/// </summary>
/// <param name="pc">PointCloud</param>
/// <param name="arbNumber">int</param>
/// <returns>Tuple(List(List(Point3D)),double)</returns>
public static Tuple<List<List<Point3D>>, double> pullAll(PointCloud pc, int arbNumber)
{
double xmin = pc.getxMin();
double xmax = pc.getxMax();
double zmin = pc.getzMin();
double zmax = pc.getzMax();
double[] limits = { xmin, zmin, xmax, zmax };
double ymin = pc.getyMin();
double ymax = pc.getyMax();
double increment = (ymax - ymin) / arbNumber;
List<List<Point3D>> output = new List<List<Point3D>>();
for (double i = ymin + (increment / 2); i <= ymax - (increment / 2); i = i + increment)
{
List<Point3D> plane = pc.getKDTree().getAllPointsAt(i, increment / 2, limits);
plane = SubSampler.averageSubSample(plane, sampleNumber);
plane = PointSorter.clockSort(plane);
output.Add(plane);
}
return Tuple.Create(output,increment);
}
public static Tuple<double, double, List<List<Point3D>>> calculateLimbBounds(PointCloud pc, Dictionary<String, double[]> jointDepths, int limb, double weight)
{
//Calculate limb bounds based on limb choice
double finalCircum = 0.0;
double numPlanes = 0.0;
Tuple<List<List<Point3D>>, double> T = new Tuple<List<List<Point3D>>, double>(null, 0);
//premodify limb circum factors with discovered weight
if (weight < 60)
{
ArmFactorL = 1.21;
LegFactorL = 3.89;
ArmFactorR = 1.02;
LegFactorR = 2.96;
ChestFactor = 1.62;
ShoulderFactor = 1.43;
WaistFactor = 6.63;
}
else if (weight >= 60 && weight < 90)
{
ArmFactorL = 1.07;
LegFactorL = 3.10;
ArmFactorR = 1.05;
LegFactorR = 2.95;
ChestFactor = 1.42;
ShoulderFactor = 1.41;
WaistFactor = 5.94;
}
else if (weight >= 90)
{
ArmFactorL = 0.91;
LegFactorL = 3.39;
ArmFactorR = 0.89;
LegFactorR = 3.51;
ChestFactor = 1.46;
ShoulderFactor = 1.53;
WaistFactor = 4.529;
}
switch (limb)
{
case 1:
//SHOULDERS (1)
xmin = jointDepths["ShoulderRight"][1];
xmax = jointDepths["ShoulderLeft"][1];
ymax = jointDepths["ShoulderCenter"][2];
ymin = jointDepths["Spine"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
premodifier = ShoulderFactor;
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
break;
case 2:
//ARM_LEFT (2)
xmin = jointDepths["HipLeft"][1];
xmax = jointDepths["WristLeft"][1] + ((jointDepths["WristLeft"][1]-jointDepths["HipLeft"][1])/4);
ymax = jointDepths["ShoulderLeft"][2];
ymin = jointDepths["WristLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
premodifier = ArmFactorL;
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
break;
case 3:
//ARM_RIGHT (3)
xmin = jointDepths["WristRight"][1] - ((jointDepths["HipRight"][1]-jointDepths["WristRight"][1])/4);
xmax = jointDepths["HipRight"][1];
ymax = jointDepths["ShoulderRight"][2];
ymin = jointDepths["WristRight"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = ArmFactorR;
break;
case 4:
//CHEST(4)
xmin = jointDepths["ShoulderRight"][1];
xmax = jointDepths["ShoulderLeft"][1];
ymax = jointDepths["ShoulderCenter"][2];
ymin = jointDepths["Spine"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = ChestFactor;
break;
case 5:
//WAIST(5)
xmin = jointDepths["HipRight"][1];
xmax = jointDepths["HipLeft"][1];
ymax = jointDepths["HipCenter"][2];
ymin = jointDepths["HipLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] {xmin, ymin, zmin, xmax, ymax, zmax};
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = WaistFactor;
break;
case 6:
//LEFT_LEG(6)
xmin = jointDepths["HipCenter"][1];
xmax = jointDepths["HipLeft"][1];
ymax = jointDepths["HipLeft"][2];
ymin = jointDepths["KneeLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = LegFactorL;
break;
case 7:
//RIGHT_LEG(7)
xmin = jointDepths["HipRight"][1];
xmax = jointDepths["HipCenter"][1];
ymax = jointDepths["HipRight"][2];
ymin = jointDepths["KneeRight"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = LegFactorR;
break;
default: break;
}
try
{
//Calculate circumference
segmentedPointcloud = pc.getSubRegion(bounds);
T = PlanePuller.pullAll(segmentedPointcloud, 2);
finalCircum = CircumferenceCalculator.calculate(T.Item1, 1);
numPlanes = UnitConvertor.convertPCM(T.Item2,1);
//Premodify the circumference calculation with the fudge factors. Convert into CM from M.
finalCircum = Math.Round(finalCircum * 100,5);
finalCircum = premodifier * finalCircum;
}
catch (Exception err)
{
System.Diagnostics.Debug.WriteLine("(Subregion): Subregion issue - " + err.ToString());
}
//results printed out before historyloader so we can inspect all is well
System.Diagnostics.Debug.WriteLine("***Limb Circumference Results***");
System.Diagnostics.Debug.WriteLine("Limb chosen: " + limb);
System.Diagnostics.Debug.WriteLine("Circumference approx: " + finalCircum);
System.Diagnostics.Debug.WriteLine("Number of planes: " + numPlanes);
return new Tuple<double, double, List<List<Point3D>>>(finalCircum, numPlanes, T.Item1);
}
public static Tuple <double, double, List <List <Point3D> > > calculateLimbBounds(PointCloud pc, Dictionary <String, double[]> jointDepths, int limb, double weight)
{
//Calculate limb bounds based on limb choice
double finalCircum = 0.0;
double numPlanes = 0.0;
Tuple <List <List <Point3D> >, double> T = new Tuple <List <List <Point3D> >, double>(null, 0);
//premodify limb circum factors with discovered weight
if (weight < 60)
{
ArmFactorL = 1.21;
LegFactorL = 3.89;
ArmFactorR = 1.02;
LegFactorR = 2.96;
ChestFactor = 1.62;
ShoulderFactor = 1.43;
WaistFactor = 6.63;
}
else if (weight >= 60 && weight < 90)
{
ArmFactorL = 1.07;
LegFactorL = 3.10;
ArmFactorR = 1.05;
LegFactorR = 2.95;
ChestFactor = 1.42;
ShoulderFactor = 1.41;
WaistFactor = 5.94;
}
else if (weight >= 90)
{
ArmFactorL = 0.91;
LegFactorL = 3.39;
ArmFactorR = 0.89;
LegFactorR = 3.51;
ChestFactor = 1.46;
ShoulderFactor = 1.53;
WaistFactor = 4.529;
}
switch (limb)
{
case 1:
//SHOULDERS (1)
xmin = jointDepths["ShoulderRight"][1];
xmax = jointDepths["ShoulderLeft"][1];
ymax = jointDepths["ShoulderCenter"][2];
ymin = jointDepths["Spine"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
premodifier = ShoulderFactor;
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
break;
case 2:
//ARM_LEFT (2)
xmin = jointDepths["HipLeft"][1];
xmax = jointDepths["WristLeft"][1] + ((jointDepths["WristLeft"][1] - jointDepths["HipLeft"][1]) / 4);
ymax = jointDepths["ShoulderLeft"][2];
ymin = jointDepths["WristLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
premodifier = ArmFactorL;
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
break;
case 3:
//ARM_RIGHT (3)
xmin = jointDepths["WristRight"][1] - ((jointDepths["HipRight"][1] - jointDepths["WristRight"][1]) / 4);
xmax = jointDepths["HipRight"][1];
ymax = jointDepths["ShoulderRight"][2];
ymin = jointDepths["WristRight"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = ArmFactorR;
break;
case 4:
//CHEST(4)
xmin = jointDepths["ShoulderRight"][1];
xmax = jointDepths["ShoulderLeft"][1];
ymax = jointDepths["ShoulderCenter"][2];
ymin = jointDepths["Spine"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = ChestFactor;
break;
case 5:
//WAIST(5)
xmin = jointDepths["HipRight"][1];
xmax = jointDepths["HipLeft"][1];
ymax = jointDepths["HipCenter"][2];
ymin = jointDepths["HipLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = WaistFactor;
break;
case 6:
//LEFT_LEG(6)
xmin = jointDepths["HipCenter"][1];
xmax = jointDepths["HipLeft"][1];
ymax = jointDepths["HipLeft"][2];
ymin = jointDepths["KneeLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = LegFactorL;
break;
case 7:
//RIGHT_LEG(7)
xmin = jointDepths["HipRight"][1];
xmax = jointDepths["HipCenter"][1];
ymax = jointDepths["HipRight"][2];
ymin = jointDepths["KneeRight"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = LegFactorR;
break;
default: break;
}
try
{
//Calculate circumference
segmentedPointcloud = pc.getSubRegion(bounds);
T = PlanePuller.pullAll(segmentedPointcloud, 2);
finalCircum = CircumferenceCalculator.calculate(T.Item1, 1);
numPlanes = UnitConvertor.convertPCM(T.Item2, 1);
//Premodify the circumference calculation with the fudge factors. Convert into CM from M.
finalCircum = Math.Round(finalCircum * 100, 5);
finalCircum = premodifier * finalCircum;
}
catch (Exception err)
{
System.Diagnostics.Debug.WriteLine("(Subregion): Subregion issue - " + err.ToString());
}
//results printed out before historyloader so we can inspect all is well
System.Diagnostics.Debug.WriteLine("***Limb Circumference Results***");
System.Diagnostics.Debug.WriteLine("Limb chosen: " + limb);
System.Diagnostics.Debug.WriteLine("Circumference approx: " + finalCircum);
System.Diagnostics.Debug.WriteLine("Number of planes: " + numPlanes);
return(new Tuple <double, double, List <List <Point3D> > >(finalCircum, numPlanes, T.Item1));
}
