private Trajectory readTrajectory(string inputFileName, out GaitFile file)
{
var input = (EinputMode)Enum.Parse(typeof(EinputMode), ConfigurationManager.AppSettings["inputMode"], true);
var projection = (EprojectionMode)Enum.Parse(typeof(EprojectionMode), ConfigurationManager.AppSettings["projectionMode"], true);
file = new GaitFile();
Trajectory trajectory = new Trajectory();
Frame fr;
file.ReadFile(inputFileName);
trajectory.points = new List <Point>();
long frameNum = -1;
while ((fr = file.GetNextFrame(frameNum)) != null)
{
trajectory.add(fr);
frameNum = fr.FrameNumber;
}
if (projection == EprojectionMode.ground)
{
trajectory.rotateTrajectory();
}
trajectory.samplingRate = (input == EinputMode.wii) ? 100 : 30;
return(trajectory);
}
public Trajectory removeLinearPath()
{
if (points == null || !points.Any())
{
return(this);
}
var tOffset = points[0].timeStamp;
double xt = 0, zt = 0, tt = 0, meanX = 0, meanT = 0, meanZ = 0;
foreach (var p in points)
{
var t = p.timeStamp - tOffset;
xt += t * p.x;
zt += t * p.z;
tt += t * t;
meanX += p.x;
meanZ += p.z;
meanT += t;
}
var n = points.Count;
xt /= n;
zt /= n;
tt /= n;
meanX /= n;
meanT /= n;
meanZ /= n;
double factor = 0;
if (tt - meanT * meanT != 0)
{
factor = 1.0 / (tt - meanT * meanT);
}
double slopeX = (xt - meanX * meanT) * factor;
double slopeZ = (zt - meanZ * meanT) * factor;
double offsetX = meanX - slopeX * meanT;
double offsetZ = meanZ - slopeZ * meanT;
Trajectory segment = new Trajectory();
segment.samplingRate = samplingRate;
foreach (var p in points)
{
Point p1 = new Point();
var t = p.timeStamp - tOffset;
p1.timeStamp = p.timeStamp;
p1.x = p.x - offsetX - slopeX * t;
p1.z = p.z - offsetZ - slopeZ * t;
segment.add(p1);
}
return(segment);
}