protected override void OnLoad(EventArgs e) {
base.OnLoad(e);
GL.ClearColor(0.2f, 0.2f, 0.2f, 1.0f);
GL.PointSize(8.0f);
GL.Enable(EnableCap.DepthTest);
CurrState = null;
}
bool _IsNeutralStance(JointState js) {
// TODO: punch stance
float tolerance = 0.85f;
float damping = mCurrSegmentSize / 175.0f;
float final = tolerance - damping * damping * damping;
var conf = AllFeatures.LearnedFrameFeatures["NeutralStance"].QueryFrame(js);
Console.WriteLine("Neutral tolerance: {1} / {0}", final, conf);
return conf > final;
}
protected override void OnLoad(EventArgs e) {
base.OnLoad(e);
GL.ClearColor(0.2f, 0.2f, 0.2f, 1.0f);
GL.PointSize(8.0f);
GL.Enable(EnableCap.DepthTest);
mGesture = new InputGesture(new LogFileLoader(mLogFilename));
mCurrState = JointState.CloneFrom(mGesture.States[0]);
}
bool _IsNeutralStance(JointState js)
{
// TODO: punch stance
float tolerance = 0.85f;
float damping = mCurrSegmentSize / 175.0f;
float final = tolerance - damping * damping * damping;
var conf = AllFeatures.LearnedFrameFeatures["NeutralStance"].QueryFrame(js);
Console.WriteLine("Neutral tolerance: {1} / {0}", final, conf);
return(conf > final);
}
public InputGesture(IEnumerable <RawJointState> states)
{
States = new List <JointState>();
if (states != null)
{
foreach (var js in states)
{
States.Add(JointState.FromRawJointState(js));
}
if (States.Count > 0)
{
StartTime = States[0].Timestamp;
}
}
}
public void AddState (JointState js) {
if ( _IsNeutralStance(js) ) {
_CheckIfSegmented();
_AddToBuffer(js);
if ( mCurrSegmentSize > 0 ) {
mCurrGesture.Clear();
}
mCurrSegmentSize = 0;
}
else {
mCurrGesture.AddRange(mBuffer);
mBuffer.Clear();
mCurrGesture.Add(js);
mCurrSegmentSize++;
}
}
static public JointState FromRawJointState(RawJointState rjs)
{
JointState rel = new JointState();
rel.Timestamp = rjs.Timestamp;
rel.NeckPos = rjs.Joints[0];
rel.RelativeJoints = rjs.Joints.Select(x => x - rel.NeckPos).ToArray();
rel.RelativeAngles = new float[rjs.Joints.Length];
for (int i = 1; i < rel.RelativeJoints.Length; i++)
{
Vector3 thisVec = rel.RelativeJoints[i] - rel.RelativeJoints[JointParents[i]];
Vector3 parentVec = (JointParents[JointParents[i]] == -1) ? Vector3.UnitY :
rel.RelativeJoints[JointParents[i]] - rel.RelativeJoints[JointParents[JointParents[i]]];
rel.RelativeAngles[i] = Vector3.CalculateAngle(thisVec, parentVec);
}
return(rel);
}
public void AddState(JointState js)
{
if (_IsNeutralStance(js))
{
_CheckIfSegmented();
_AddToBuffer(js);
if (mCurrSegmentSize > 0)
{
mCurrGesture.Clear();
}
mCurrSegmentSize = 0;
}
else
{
mCurrGesture.AddRange(mBuffer);
mBuffer.Clear();
mCurrGesture.Add(js);
mCurrSegmentSize++;
}
}
public JointAmplitude(string jn, JointState.JointComponent jc, bool d) {
JointName = jn;
JointComponent = jc;
Directional = d;
}
public float QueryFrame(JointState js) {
if (js.Pos("right-palm").X - js.Pos("neck").X < 0.0f)
return 1.0f;
else
return 0.0f;
}
void _AddToBuffer(JointState js) {
mBuffer.Enqueue(js);
if ( mBuffer.Count > _numBufferFrames ) mBuffer.Dequeue();
}
public float QueryFrame(JointState js) {
if (js.Pos("right-palm").Z > 0.5f)
return 1.0f;
else
return 0.0f;
}
public RecognizerResult AddNewData(JointState js) {
throw new NotImplementedException();
}
public ProportionChange(string jn, JointState.JointComponent jc) {
JointName = jn;
JointComponent = jc;
}
public NeutralDeviation(string jn, JointState.JointComponent jc) {
JointName = jn;
JointComponent = jc;
}
public float QueryFrame(JointState js) {
if ((js.Pos("right-palm") - js.Pos("left-palm")).Length < 0.2f)
return 1.0f;
else
return 0.0f;
}
static public JointState CloneFrom(JointState rjs)
{
JointState rel = new JointState();
rel.Timestamp = rjs.Timestamp;
rel.NeckPos = rjs.NeckPos;
rel.RelativeJoints = new Vector3[rjs.RelativeJoints.Length];
rjs.RelativeJoints.CopyTo(rel.RelativeJoints, 0);
return rel;
}
public void Run(string[] args)
{
Command c = Recognizer.Command.Help;
if (args.Length > 0)
{
c = (Command)Enum.Parse(typeof(Recognizer.Command), args[0]);
}
if (c == Recognizer.Command.Help)
{
Console.WriteLine("Usage:\n\tFinalProject.exe command [filename]\n\nCommands:");
foreach (var cm in Enum.GetNames(typeof(Recognizer.Command)))
{
Console.WriteLine(cm);
}
return;
}
// For CV
mCV = new CrossValidation("cvindex.txt");
////////////////////
// CHANGE THESE LINES TO SWAP MODELS
////////////////////
mRec = new LogisticRegressionRecognizer();
mSeg = new DumbSegmenter();
Console.WriteLine("Using recognizer {0}", mRec.GetType().ToString());
Console.WriteLine("Using segmenter {0}", mSeg.GetType().ToString());
mRecFilename = "models/" + mRec.GetType().ToString() + ".rec.model";
mSegFilename = "models/" + mSeg.GetType().ToString() + ".seg.model";
mSeg.GestureSegmented += delegate(object sender, EventArgs e) {
var segm = ((ISegmenter)sender).LastGesture;
var recres = mRec.RecognizeSingleGesture(segm);
if (recres.Confidence1 > 0.5f)
{
Console.WriteLine("Recognized gesture: {0}", recres.Gesture1);
}
else
{
Console.WriteLine("Inconclusive");
}
};
string filename = "gestures/track_high_kick_01.log";
if (args.Length > 1)
{
filename = args[1];
}
InputGesture gest;
Thread visthread;
switch (c)
{
case Command.Train:
Train();
break;
case Command.TestSingle:
LoadModels();
var result = mRec.RecognizeSingleGesture(new InputGesture(new LogFileLoader(filename)));
Console.WriteLine(result.ToString());
break;
case Command.TestRecognize:
LoadModels();
var test_gestures = LoadData(mGestureNames, false);
int[] total = Enumerable.Range(0, test_gestures.Count).Select(x => 0).ToArray(),
correct = Enumerable.Range(0, test_gestures.Count).Select(x => 0).ToArray();
int i = 0;
Console.WriteLine();
foreach (var gn in test_gestures)
{
foreach (var tg in gn.Value)
{
total[i]++;
var result2 = mRec.RecognizeSingleGesture(tg);
if (result2.Gesture1 == gn.Key)
{
correct[i]++;
}
}
Console.WriteLine("{0}: {1} correct / {2} total = {3}% correct",
gn.Key,
correct[i], total[i], (float)correct[i] / (float)total[i] * 100.0f);
i++;
}
Console.WriteLine("TEST RESULTS:\n\t{0} correct / {1} total = {2}% correct",
correct.Sum(), total.Sum(), (float)correct.Sum() / (float)total.Sum() * 100.0f);
Utility.PrintMemoryUsage();
break;
case Command.TestRealtime:
LoadModels();
gest = new InputGesture(new LogFileLoader(filename));
visthread = new Thread(new ThreadStart(this.StartVisualize));
visthread.Start();
while (true) // Wait for window to get created
{
lock (this) {
if (mVisWindow != null)
{
break;
}
}
}
float lastTime = gest.States[0].Timestamp;
foreach (var frame in gest.States)
{
mSeg.AddState(frame);
mVisWindow.CurrState = frame;
Thread.Sleep((int)((frame.Timestamp - lastTime) * 750.0f));
lastTime = frame.Timestamp;
}
mSeg.Finish();
visthread.Abort();
break;
case Command.RunRealtime:
LoadModels();
visthread = new Thread(new ThreadStart(this.StartVisualize));
visthread.Start();
while (true) // Wait for window to get created
{
lock (this) {
if (mVisWindow != null)
{
break;
}
}
}
var nfl = new NetworkFrameListener(4711);
nfl.Start();
Console.WriteLine("Press the 'x' key to quit");
while (true)
{
var frame = nfl.GetState();
if (frame != null)
{
var js = JointState.FromRawJointState(frame);
mSeg.AddState(js);
mVisWindow.CurrState = js;
}
if (Console.KeyAvailable)
{
var cki = Console.ReadKey(true);
if (cki.Key == ConsoleKey.X)
{
break;
}
}
if (!nfl.Running)
{
break;
}
Thread.Sleep(0);
}
mSeg.Finish();
nfl.Stop();
visthread.Abort();
break;
case Command.PrintFeatures:
gest = new InputGesture(new LogFileLoader(filename));
/*foreach ( var f in Features.AllFeatures.SingleGestureFeatures ) {
* Console.WriteLine("{0}: {1}", f.ToString(), f.QueryGesture(gest));
* }*/
foreach (var f in Features.AllFeatures.GestureFeatures)
{
Console.WriteLine("{0}: {1}", f.ToString(), f.QueryGesture(gest));
}
break;
case Command.BenchmarkRecognize:
Benchmarks.BenchmarkRecognize();
break;
case Command.CycleCV:
mCV.Incr();
mCV.Save();
break;
}
}
public NumberCriticalPoints(string jn, JointState.JointComponent jc) {
JN = jn;
JC = jc;
}
public float QueryFrame(JointState js) {
if ( js.Pos("right-foot").Y >= -0.2f )
return 1.0f;
else
return 0.0f;
}
static public JointState FromRawJointState(RawJointState rjs)
{
JointState rel = new JointState();
rel.Timestamp = rjs.Timestamp;
rel.NeckPos = rjs.Joints[0];
rel.RelativeJoints = rjs.Joints.Select(x => x - rel.NeckPos).ToArray();
rel.RelativeAngles = new float[rjs.Joints.Length];
for ( int i = 1; i < rel.RelativeJoints.Length; i++ ) {
Vector3 thisVec = rel.RelativeJoints[i] - rel.RelativeJoints[JointParents[i]];
Vector3 parentVec = (JointParents[JointParents[i]] == -1) ? Vector3.UnitY :
rel.RelativeJoints[JointParents[i]] - rel.RelativeJoints[JointParents[JointParents[i]]];
rel.RelativeAngles[i] = Vector3.CalculateAngle(thisVec, parentVec);
}
return rel;
}
public DerivativeSum(string jn, JointState.JointComponent jc, Func<JointState, bool> condition) {
JN = jn;
JC = jc;
Cond = condition;
}
public RecognizerResult AddNewData(JointState js)
{
throw new NotImplementedException();
}
public AxisCoincidence(string jn, JointState.JointComponent ja, JointState.JointComponent jb) {
JN = jn;
JA = ja;
JB = jb;
}
