private bool isIntermediaryFrameValidGestureFrame(GESTURE gesture, GestureDatabase gestureDatabase)
{
Skeleton currentSkeleton;
AppropriateJointInfo currentAptJointInfo;
gestureDatabase.getLastRecord(out currentSkeleton, out currentAptJointInfo);
switch (gesture)
{
case GESTURE.SWIPE_RIGHT:
{
HCI580_Geometry.Vector2D currentElbowShoulder = new HCI580_Geometry.Vector2D((currentAptJointInfo.shoulderRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.shoulderRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D currentElbowHand = new HCI580_Geometry.Vector2D((currentAptJointInfo.handRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.handRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
// check if hand Y > elbow Y , angle between elbowShoulder and elbowHand negative
if (currentAptJointInfo.handRightPos.Y > currentAptJointInfo.elbowRightPos.Y &&
currentElbowShoulder.cpsign(currentElbowHand) < 0)
{
return true;
}
}
break;
case GESTURE.SWIPE_LEFT:
{
HCI580_Geometry.Vector2D currentElbowShoulder = new HCI580_Geometry.Vector2D((currentAptJointInfo.shoulderRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.shoulderRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D currentElbowHand = new HCI580_Geometry.Vector2D((currentAptJointInfo.handRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.handRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
// check if hand Y > elbow Y , angle between elbowShoulder and elbowHand negative
if (currentAptJointInfo.handRightPos.Y > currentAptJointInfo.elbowRightPos.Y &&
currentElbowShoulder.cpsign(currentElbowHand) < 0)
{
return true;
}
}
break;
}
return false;
}
private double updateCurrentAngle(GESTURE gesture , GestureDatabase gestureDatabase)
{
double diffAngle = 0.0;
Skeleton lastSkeleton;
AppropriateJointInfo lastAptJointInfo;
Skeleton lastValidSkeleton;
AppropriateJointInfo lastValidAptJointInfo;
int indexOfLastValidGesture = (gesture == GESTURE.SWIPE_RIGHT) ?
indexOfLastValidSwipeRightFrame :
indexOfLastValidSwipeLeftFrame;
// compare the current frame with the last valid swipe right frame
gestureDatabase.getLastRecord(out lastSkeleton, out lastAptJointInfo);
gestureDatabase.getRecord(indexOfLastValidGesture, out lastValidSkeleton, out lastValidAptJointInfo);
HCI580_Geometry.Vector2D lastElbowShoulder = new HCI580_Geometry.Vector2D(
(lastAptJointInfo.shoulderRightPos.X - lastAptJointInfo.elbowRightPos.X),
(lastAptJointInfo.shoulderRightPos.Y - lastAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastElbowHand = new HCI580_Geometry.Vector2D(
(lastAptJointInfo.handRightPos.X - lastAptJointInfo.elbowRightPos.X),
(lastAptJointInfo.handRightPos.Y - lastAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastValidElbowShoulder = new HCI580_Geometry.Vector2D(
(lastValidAptJointInfo.shoulderRightPos.X - lastValidAptJointInfo.elbowRightPos.X),
(lastValidAptJointInfo.shoulderRightPos.Y - lastValidAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastValidElbowHand = new HCI580_Geometry.Vector2D(
(lastValidAptJointInfo.handRightPos.X - lastValidAptJointInfo.elbowRightPos.X),
(lastValidAptJointInfo.handRightPos.Y - lastValidAptJointInfo.elbowRightPos.Y));
diffAngle = lastElbowShoulder.angleTo(lastElbowHand) - lastValidElbowShoulder.angleTo(lastValidElbowHand);
// Console.WriteLine("diff Angle " + diffAngle);
diffAngle = (gesture == GESTURE.SWIPE_RIGHT) ? (diffAngle < 0 ? 0 : diffAngle) : (diffAngle > 0 ? 0 : diffAngle);
// both the angles need to be added , as the diff angle will be negative for left swipes.
return ((gesture == GESTURE.SWIPE_RIGHT) ? this.currentSwipeRightAngle + diffAngle : this.currentSwipeLeftAngle + diffAngle);
}
// check for too fast and opposite movements
private bool isHandAngularChangeWithInBounds(GESTURE gesture , GestureDatabase gestureDatabase)
{
Skeleton lastSkeleton;
AppropriateJointInfo lastAptJointInfo;
Skeleton lastValidSkeleton;
AppropriateJointInfo lastValidAptJointInfo;
int indexOfLastValidGesture = (gesture == GESTURE.SWIPE_RIGHT) ?
indexOfLastValidSwipeRightFrame :
indexOfLastValidSwipeLeftFrame;
if (indexOfLastValidGesture < 0)
{
return true;
}
// compare the current frame with the last valid swipe right frame
gestureDatabase.getLastRecord(out lastSkeleton , out lastAptJointInfo);
gestureDatabase.getRecord(indexOfLastValidGesture , out lastValidSkeleton , out lastValidAptJointInfo);
HCI580_Geometry.Vector2D lastElbowShoulder = new HCI580_Geometry.Vector2D(
(lastAptJointInfo.shoulderRightPos.X - lastAptJointInfo.elbowRightPos.X) ,
(lastAptJointInfo.shoulderRightPos.Y - lastAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastElbowHand = new HCI580_Geometry.Vector2D(
(lastAptJointInfo.handRightPos.X - lastAptJointInfo.elbowRightPos.X),
(lastAptJointInfo.handRightPos.Y - lastAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastValidElbowShoulder = new HCI580_Geometry.Vector2D(
(lastValidAptJointInfo.shoulderRightPos.X - lastValidAptJointInfo.elbowRightPos.X),
(lastValidAptJointInfo.shoulderRightPos.Y - lastValidAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastValidElbowHand = new HCI580_Geometry.Vector2D(
(lastValidAptJointInfo.handRightPos.X - lastValidAptJointInfo.elbowRightPos.X),
(lastValidAptJointInfo.handRightPos.Y - lastValidAptJointInfo.elbowRightPos.Y));
if (Math.Abs(lastElbowShoulder.angleTo(lastElbowHand) - lastValidElbowShoulder.angleTo(lastValidElbowHand)) > MAX_RATE_OF_ANGLE_CHANGE)
{
// Console.WriteLine("angle change too fast");
return false; // moving too fast
}
// Console.WriteLine("last frame Angle " + lastElbowShoulder.angleTo(lastElbowHand) + " last Valid Frame Angle " + lastValidElbowShoulder.angleTo(lastValidElbowHand) +
// " difference " + (lastElbowShoulder.angleTo(lastElbowHand) - lastValidElbowShoulder.angleTo(lastValidElbowHand)));
switch (gesture)
{
case GESTURE.SWIPE_RIGHT:
{
/*
* we are getting only the magnitude of the angles here, so swipe right opposite is moving from larger angle to smaller angle
*/
if (lastElbowShoulder.angleTo(lastElbowHand) - lastValidElbowShoulder.angleTo(lastValidElbowHand) <= -THRESHOLD_OPPOSITE_ANGLE)
{
// Console.WriteLine("Gesture : SWIPE RIGHT , OPPOSITE MOTION ....");
return false;
}
}
break;
case GESTURE.SWIPE_LEFT:
{
if (lastElbowShoulder.angleTo(lastElbowHand) - lastValidElbowShoulder.angleTo(lastValidElbowHand) >= THRESHOLD_OPPOSITE_ANGLE)
{
// Console.WriteLine("Gesture : SWIPE LEFT , OPPOSITE MOTION ....");
return false;
}
}
break;
}
return true;
}
private bool isIntermediaryCumulativeAngularMotionValid(GESTURE gesture, GestureDatabase gestureDatabase)
{
Skeleton currentSkeleton;
AppropriateJointInfo currentAptInfo;
Skeleton firstValidSkeleton;
AppropriateJointInfo firstValidAptInfo;
int indexOfFirstValidMotion;
indexOfFirstValidMotion = (gesture == GESTURE.SWIPE_RIGHT) ?
indexOfFirstValidSwipeRightFrame :
indexOfFirstValidSwipeLeftFrame;
gestureDatabase.getLastRecord(out currentSkeleton, out currentAptInfo);
gestureDatabase.getRecord(indexOfFirstValidMotion,out firstValidSkeleton , out firstValidAptInfo);
HCI580_Geometry.Vector2D currentElbowShoulder = new HCI580_Geometry.Vector2D((currentAptInfo.shoulderRightPos.X - currentAptInfo.elbowRightPos.X),
(currentAptInfo.shoulderRightPos.Y - currentAptInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D currentElbowHand = new HCI580_Geometry.Vector2D((currentAptInfo.handRightPos.X - currentAptInfo.elbowRightPos.X),
(currentAptInfo.handRightPos.Y - currentAptInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D firstElbowShoulder = new HCI580_Geometry.Vector2D((firstValidAptInfo.shoulderRightPos.X - firstValidAptInfo.elbowRightPos.X),
(firstValidAptInfo.shoulderRightPos.Y - firstValidAptInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D firstElbowHand = new HCI580_Geometry.Vector2D((firstValidAptInfo.handRightPos.X - firstValidAptInfo.elbowRightPos.X),
(firstValidAptInfo.handRightPos.Y - firstValidAptInfo.elbowRightPos.Y));
double diffAngle = currentElbowShoulder.angleTo(currentElbowHand) - firstElbowShoulder.angleTo(firstElbowHand);
// Console.WriteLine("cumulative diff " + diffAngle);
return (gesture == GESTURE.SWIPE_RIGHT) ? (diffAngle > 0 ? true : false) : (diffAngle < 0 ? true : false);
}
private bool isFirstValidGestureFrame(GESTURE gesture , GestureDatabase gestureDatabase)
{
Skeleton skeleton;
AppropriateJointInfo aptJointInfo;
gestureDatabase.getLastRecord(out skeleton ,out aptJointInfo);
switch(gesture)
{
case GESTURE.SWIPE_RIGHT:
{
HCI580_Geometry.Vector2D elbowShoulder = new HCI580_Geometry.Vector2D((aptJointInfo.shoulderRightPos.X - aptJointInfo.elbowRightPos.X),
(aptJointInfo.shoulderRightPos.Y - aptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D elbowHand = new HCI580_Geometry.Vector2D((aptJointInfo.handRightPos.X - aptJointInfo.elbowRightPos.X),
(aptJointInfo.handRightPos.Y - aptJointInfo.elbowRightPos.Y));
// check if hand Y > elbow Y , hand X < elbow X and angle between elbowShoulder and elbowHand negative
if(aptJointInfo.handRightPos.Y > aptJointInfo.elbowRightPos.Y &&
aptJointInfo.handRightPos.X < aptJointInfo.elbowRightPos.X &&
elbowShoulder.cpsign(elbowHand) < 0)
{
return true;
}
}
break;
case GESTURE.SWIPE_LEFT:
{
HCI580_Geometry.Vector2D elbowShoulder = new HCI580_Geometry.Vector2D((aptJointInfo.shoulderRightPos.X - aptJointInfo.elbowRightPos.X),
(aptJointInfo.shoulderRightPos.Y - aptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D elbowHand = new HCI580_Geometry.Vector2D((aptJointInfo.handRightPos.X - aptJointInfo.elbowRightPos.X),
(aptJointInfo.handRightPos.Y - aptJointInfo.elbowRightPos.Y));
// check if hand Y > elbow Y , hand X < elbow X and angle between elbowShoulder and elbowHand negative
if(aptJointInfo.handRightPos.Y > aptJointInfo.elbowRightPos.Y &&
aptJointInfo.handRightPos.X > aptJointInfo.elbowRightPos.X &&
elbowShoulder.cpsign(elbowHand) < 0)
{
return true;
}
}
break;
}
return false;
}
/*
* doc: The function takes the first valid gesture frame ,depending upon what the gesture is, and currently added
* and compares the shouldercenter position , which is representative of the body , accross these frames to
* check for out of range body movements
*/
private bool isBodyLinearDeflectionWithInBounds(GESTURE gesture , GestureDatabase gestureDatabase)
{
Skeleton firstValidSkeleton;
AppropriateJointInfo firstValidAptInfo;
Skeleton currentSkeleton;
AppropriateJointInfo currentAptInfo;
int indexOfFirstValidGesture = (gesture == GESTURE.SWIPE_LEFT) ?
indexOfFirstValidSwipeLeftFrame :
indexOfFirstValidSwipeRightFrame;
if(indexOfFirstValidGesture < 0)
return true;
gestureDatabase.getLastRecord(out currentSkeleton, out currentAptInfo); // last added frame
gestureDatabase.getRecord(indexOfFirstValidGesture , out firstValidSkeleton , out firstValidAptInfo); // first valid frame
// difference between joint positions of shouldercenter in currently added and first valid gesture frame
return isJointDelectionValid(currentAptInfo.shoulderCenterPos, firstValidAptInfo.shoulderCenterPos);
}
private bool isIntermediaryFrameValidGestureFrame(GESTURE gesture, GestureDatabase gestureDatabase)
{
Skeleton currentSkeleton;
AppropriateJointInfo currentAptJointInfo;
gestureDatabase.getLastRecord(out currentSkeleton, out currentAptJointInfo);
Vector2D currentElbowShoulder = new Vector2D((currentAptJointInfo.shoulderRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.shoulderRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
Vector2D currentElbowHand = new Vector2D((currentAptJointInfo.handRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.handRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
double angle = currentElbowShoulder.angleTo(currentElbowHand);
switch (gesture)
{
case GESTURE.CONST_LEFT:
{
if (currentAptJointInfo.shoulderCenterPos.Y > currentAptJointInfo.handRightPos.Y &&
currentAptJointInfo.shoulderCenterPos.Y > currentAptJointInfo.elbowRightPos.Y &&
currentAptJointInfo.handRightPos.X < currentAptJointInfo.elbowRightPos.X &&
currentElbowShoulder.cpsign(currentElbowHand) > 0 &&
angle >= CONST_LEFT_GESTURE_MIN_THETA - THRESHOLD_ANGLE_DEFLECTION &&
angle <= CONST_LEFT_GESTURE_MAX_THETA + THRESHOLD_ANGLE_DEFLECTION)
{
return true;
}
}
break;
case GESTURE.CONST_RIGHT:
{
if (
currentAptJointInfo.shoulderCenterPos.Y > currentAptJointInfo.elbowRightPos.Y &&
currentAptJointInfo.elbowRightPos.Y > currentAptJointInfo.handRightPos.Y &&
currentAptJointInfo.handRightPos.X > currentAptJointInfo.elbowRightPos.X &&
currentElbowShoulder.cpsign(currentElbowHand) < 0 &&
angle >= CONST_RIGHT_GESTURE_MIN_THETA - THRESHOLD_ANGLE_DEFLECTION &&
angle <= CONST_RIGHT_GESTURE_MAX_THETA + THRESHOLD_ANGLE_DEFLECTION)
{
return true;
}
}
break;
}
return false;
}
private bool isIntermediaryCumulativeAngleDeflectionValid(GESTURE gesture , GestureDatabase gestureDatabase)
{
Skeleton firstValidSkeleton;
AppropriateJointInfo firstValidAptJointInfo;
Skeleton currentSkeleton;
AppropriateJointInfo currentAptJointInfo;
int indexOfFirstValidGestureFrame = (gesture == GESTURE.CONST_LEFT) ?
indexOfFirstValidConstLeftGestureFrame :
indexOfFirstValidConstRightGestureFrame;
gestureDatabase.getLastRecord(out currentSkeleton , out currentAptJointInfo);
gestureDatabase.getRecord(indexOfFirstValidGestureFrame, out firstValidSkeleton , out firstValidAptJointInfo);
Vector2D currentElbowShoulder = new Vector2D((currentAptJointInfo.shoulderRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.shoulderRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
Vector2D currentElbowHand = new Vector2D((currentAptJointInfo.handRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.handRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
Vector2D firstElbowShoulder = new Vector2D((firstValidAptJointInfo.shoulderRightPos.X - firstValidAptJointInfo.elbowRightPos.X),
(firstValidAptJointInfo.shoulderRightPos.Y - firstValidAptJointInfo.elbowRightPos.Y));
Vector2D firstElbowHand = new Vector2D((firstValidAptJointInfo.handRightPos.X - firstValidAptJointInfo.elbowRightPos.X),
(firstValidAptJointInfo.handRightPos.Y - firstValidAptJointInfo.elbowRightPos.Y));
double angularDeflection = Math.Abs(currentElbowShoulder.angleTo(currentElbowHand) - firstElbowShoulder.angleTo(firstElbowHand));
if (angularDeflection <= THRESHOLD_ANGLE_DEFLECTION)
return true;
return false;
}
private bool isHandAngleDeflectionWithInBounds(GESTURE gesture, GestureDatabase gestureDatabase)
{
Skeleton skeleton;
AppropriateJointInfo aptJoint;
switch (gesture)
{
case GESTURE.CONST_LEFT:
{
gestureDatabase.getLastRecord(out skeleton, out aptJoint);
Vector2D elbowShoulder = new Vector2D(aptJoint.shoulderRightPos.X - aptJoint.elbowRightPos.X, aptJoint.shoulderRightPos.Y - aptJoint.elbowRightPos.Y);
Vector2D elbowHand = new Vector2D(aptJoint.handRightPos.X - aptJoint.elbowRightPos.X, aptJoint.handRightPos.Y - aptJoint.elbowRightPos.Y);
if (elbowShoulder.cpsign(elbowHand) > 0 &&
elbowShoulder.angleTo(elbowHand) >= CONST_LEFT_GESTURE_MIN_THETA - THRESHOLD_ANGLE_DEFLECTION &&
elbowShoulder.angleTo(elbowHand) <= CONST_LEFT_GESTURE_MAX_THETA + THRESHOLD_ANGLE_DEFLECTION)
{
return true;
}
break;
}
case GESTURE.CONST_RIGHT:
{
gestureDatabase.getLastRecord(out skeleton, out aptJoint);
Vector2D elbowShoulder = new Vector2D(aptJoint.shoulderRightPos.X - aptJoint.elbowRightPos.X, aptJoint.shoulderRightPos.Y - aptJoint.elbowRightPos.Y);
Vector2D elbowHand = new Vector2D(aptJoint.handRightPos.X - aptJoint.elbowRightPos.X, aptJoint.handRightPos.Y - aptJoint.elbowRightPos.Y);
if (elbowShoulder.cpsign(elbowHand) < 0 &&
elbowShoulder.angleTo(elbowHand) >= CONST_RIGHT_GESTURE_MIN_THETA - THRESHOLD_ANGLE_DEFLECTION &&
elbowShoulder.angleTo(elbowHand) <= CONST_RIGHT_GESTURE_MAX_THETA + THRESHOLD_ANGLE_DEFLECTION)
{
return true;
}
break;
}
}
return false;
}