public TimeSeriesCollection BuildKinematics(Dictionary <string, FilteredTrajectory> trajs, AngleOptions angleOptions, CalibrationHelper calibrationHelper)
{
if (trajs == null || trajs.Count != 3)
{
throw new InvalidProgramException();
}
// Assume o, a, b keys for now.
// We also use the "o" key as a reference, this implies that all three trajectories must have data at the same time points.
// We must take care during tracking to keep the length of trajectories the same.
TimeSeriesCollection tsc = new TimeSeriesCollection(trajs["o"].Length);
tsc.AddTimes(trajs["o"].Times);
tsc.InitializeKinematicComponents(new List <Kinematics>()
{
Kinematics.AngularPosition,
Kinematics.AngularDisplacement,
Kinematics.TotalAngularDisplacement,
Kinematics.AngularVelocity,
Kinematics.TangentialVelocity,
Kinematics.AngularAcceleration,
Kinematics.TangentialAcceleration,
Kinematics.CentripetalAcceleration,
Kinematics.ResultantLinearAcceleration
});
// Keep series in the reference unit.
radii = new float[tsc.Length];
positions = new float[tsc.Length];
velocities = new float[tsc.Length];
accelerations = new float[tsc.Length];
ComputeAngles(tsc, calibrationHelper, trajs, angleOptions);
ComputeVelocity(tsc, calibrationHelper);
ComputeAcceleration(tsc, calibrationHelper);
return(tsc);
}
private void ComputeAngles(TimeSeriesCollection tsc, CalibrationHelper calibrationHelper, Dictionary <string, FilteredTrajectory> trajs, AngleOptions angleOptions)
{
for (int i = 0; i < tsc.Length; i++)
{
PointF o = PointF.Empty;
PointF a = PointF.Empty;
PointF b = PointF.Empty;
if (trajs["o"].CanFilter)
{
o = trajs["o"].Coordinates(i);
a = trajs["a"].Coordinates(i);
b = trajs["b"].Coordinates(i);
}
else
{
o = trajs["o"].RawCoordinates(i);
a = trajs["a"].RawCoordinates(i);
b = trajs["b"].RawCoordinates(i);
}
// Compute the actual angle value. The logic here should match the one in AngleHelper.Update().
// They work on different type of inputs so it's difficult to factorize the functions.
if (angleOptions.Supplementary)
{
// Create a new point by point reflection of a around o.
PointF c = new PointF(2 * o.X - a.X, 2 * o.Y - a.Y);
a = b;
b = c;
}
float angle = 0;
if (angleOptions.CCW)
{
angle = GeometryHelper.GetAngle(o, a, b);
}
else
{
angle = GeometryHelper.GetAngle(o, b, a);
}
if (!angleOptions.Signed && angle < 0)
{
angle = (float)(TAU + angle);
}
positions[i] = angle;
radii[i] = GeometryHelper.GetDistance(o, b);
tsc[Kinematics.AngularPosition][i] = calibrationHelper.ConvertAngle(angle);
if (i == 0)
{
tsc[Kinematics.AngularDisplacement][i] = 0;
tsc[Kinematics.TotalAngularDisplacement][i] = 0;
}
else
{
float totalDisplacementAngle = angle - positions[0];
float displacementAngle = angle - positions[i - 1];
tsc[Kinematics.AngularDisplacement][i] = calibrationHelper.ConvertAngle(displacementAngle);
tsc[Kinematics.TotalAngularDisplacement][i] = calibrationHelper.ConvertAngle(totalDisplacementAngle);
}
}
}
private static void ImportCustomDrawingsData(Metadata metadata, List <TimeSeriesPlotData> timeSeriesData)
{
// Collect angular trajectories for all the angles in all the custom tools.
foreach (DrawingGenericPosture drawing in metadata.GenericPostures())
{
Dictionary <string, TrackablePoint> trackablePoints = metadata.TrackabilityManager.GetTrackablePoints(drawing);
// First create trajectories for all the trackable points in the drawing.
// This avoids duplicating the filtering operation for points shared by more than one angle.
// Here the trajectories are indexed by the original alias in the custom tool, based on the index.
Dictionary <string, FilteredTrajectory> trajs = new Dictionary <string, FilteredTrajectory>();
bool tracked = true;
foreach (string key in trackablePoints.Keys)
{
Timeline <TrackFrame> timeline = trackablePoints[key].Timeline;
if (timeline.Count == 0)
{
// The point is trackable but doesn't have any timeline data.
// This happens if the user is not tracking that drawing, so we don't need to go further.
tracked = false;
break;
}
List <TimedPoint> samples = timeline.Enumerate().Select(p => new TimedPoint(p.Location.X, p.Location.Y, p.Time)).ToList();
FilteredTrajectory traj = new FilteredTrajectory();
traj.Initialize(samples, metadata.CalibrationHelper);
trajs.Add(key, traj);
}
if (!tracked)
{
continue;
}
// Loop over all angles in this drawing and find the trackable aliases of the points making up the particular angle.
// The final collection of trajectories for each angle should have indices named o, a, b.
foreach (GenericPostureAngle gpa in drawing.GenericPostureAngles)
{
// From integer indices to tracking aliases.
string keyO = gpa.Origin.ToString();
string keyA = gpa.Leg1.ToString();
string keyB = gpa.Leg2.ToString();
// All points in an angle must be trackable as there is currently no way to get the static point coordinate.
if (!trajs.ContainsKey(keyO) || !trajs.ContainsKey(keyA) || !trajs.ContainsKey(keyB))
{
continue;
}
// Remap to oab.
Dictionary <string, FilteredTrajectory> angleTrajs = new Dictionary <string, FilteredTrajectory>();
angleTrajs.Add("o", trajs[keyO]);
angleTrajs.Add("a", trajs[keyA]);
angleTrajs.Add("b", trajs[keyB]);
AngleOptions options = new AngleOptions(gpa.Signed, gpa.CCW, gpa.Supplementary);
TimeSeriesCollection tsc = angularKinematics.BuildKinematics(angleTrajs, options, metadata.CalibrationHelper);
string name = drawing.Name;
if (!string.IsNullOrEmpty(gpa.Name))
{
name = name + " - " + gpa.Name;
}
Color color = gpa.Color == Color.Transparent ? drawing.Color : gpa.Color;
TimeSeriesPlotData data = new TimeSeriesPlotData(name, color, tsc);
timeSeriesData.Add(data);
}
}
}
