static void Main(string[] args)
{
Dictionary<string, string> actions = new Dictionary<string, string>();
actions["raise the roof"] = "raisetheroof";
actions["walk forward"] = "walkforward";
actions["walk left"] = "walkleft";
actions["wave right"] = "waveright";
actions["wave left"] = "waveleft";
string filename = "Z:/dev/kinect-nao/recordings/";
ActionLibrary lib = new ActionLibrary();
foreach (string actionName in actions.Keys)
{
List<HumanSkeleton> seq = new List<HumanSkeleton>();
using (StreamReader s = new StreamReader(filename + actions[actionName] + "/"
+ actionName + "1.rec"))
{
while (!s.EndOfStream)
{
seq.Add(new HumanSkeleton(s.ReadLine()));
}
}
//List<float[]> naoSeq = new List<float[]>();
ActionSequence<NaoSkeleton> naoSeq = new ActionSequence<NaoSkeleton>();
foreach (HumanSkeleton h in seq)
{
AngleConverter ac = new AngleConverter(h);
naoSeq.append(ac.getNaoSkeleton());
//naoSeq.Add(ac.getAngles());
}
lib.appendToCache(naoSeq);
lib.setCachedName(actionName);
lib.saveCache();
//bool isJointAction = true; // false if is a walking action
//ExecuteOnNao(naoSeq, isJointAction);
}
lib.save(MainController.ACTION_LIB_PATH);
}
public static ActionLibrary load(String path)
{
/*ActionLibrary al = new ActionLibrary();
Stream stream = File.Open(path, FileMode.Open);
BinaryFormatter bformatter = new BinaryFormatter();
al = (ActionLibrary)bformatter.Deserialize(stream);
stream.Close();
return al;*/
Dictionary<string, string> actions = new Dictionary<string, string>();
actions["raise the roof"] = "raisetheroof";
actions["walk forward"] = "walkforward";
actions["walk left"] = "walkleft";
actions["walk back"] = "walkbackward";
actions["walk right"] = "walkright";
actions["wave right"] = "waveright";
actions["wave left"] = "waveleft";
string filename = "Z:/dev/kinect-nao/recordings/";
ActionLibrary lib = new ActionLibrary();
foreach (string actionName in actions.Keys)
{
List<HumanSkeleton> seq = new List<HumanSkeleton>();
using (StreamReader s = new StreamReader(filename + actions[actionName] + "/"
+ actionName + "1.rec"))
{
while (!s.EndOfStream)
{
seq.Add(new HumanSkeleton(s.ReadLine()));
}
}
ActionSequence<NaoSkeleton> naoSeq = new ActionSequence<NaoSkeleton>();
foreach (HumanSkeleton h in seq)
{
AngleConverter ac = new AngleConverter(h);
naoSeq.append(ac.getNaoSkeleton());
}
if (actionName.StartsWith("walk"))
{
NaoSkeleton start = naoSeq.get(0);
NaoSkeleton end = naoSeq.get(naoSeq.size() - 1);
NaoSkeleton diff = new NaoSkeleton(new NaoPosition(end.Position.X - start.Position.X, end.Position.Y - start.Position.Y, end.Position.Z - start.Position.Z));
naoSeq = new ActionSequence<NaoSkeleton>();
naoSeq.append(diff);
}
lib.appendToCache(naoSeq);
lib.setCachedName(actionName);
lib.saveCache();
}
return lib;
}
public double[] toArray(bool useJointvals)
{
// TODO: convert to joint vals if needed
if (useJointvals)
{
AngleConverter ac = new AngleConverter(this);
return Util.toDoubleArray(ac.getAngles());
}
else
return new double[] {
joints[JointID.HipCenter].x,
joints[JointID.HipCenter].y,
joints[JointID.HipCenter].z};
}