protected override int Recognise(FeatureData data)
{
switch (_motionState)
{
case MotionState.Initial:
float footHeight = data.CalculateDifferY(JointType.AnkleLeft, JointType.AnkleRight);
// 判断是否抬高脚data.CompareThresholdY(JointType.AnkleLeft, JointType.AnkleRight, 15) == 1
if (footHeight > MinFootHeight &&
footHeight < MaxFootHeight) // 用Y判断脚抬高度,脚离地阈值为15
{
_motionState = MotionState.Invalid; // 标记为无效，等待放下脚恢复初始状态
if (data.CompareThresholdZ(JointType.AnkleLeft, JointType.HipLeft, 30) == 0 && // 用Z排除非前踢腿
data.CompareThresholdX(JointType.AnkleLeft, JointType.HipLeft, 15) == 0) // 用X排除非左右侧踢腿
{
return(1);
}
}
break;
default:
// 放下脚恢复初始状态
if (data.CompareThresholdY(JointType.AnkleLeft, JointType.AnkleRight, 5) == 0)
{
_motionState = MotionState.Initial;
}
break;
}
return(0);
}
/// <summary>
/// 处理请求数据
/// </summary>
/// <param name="data">传入的特征数据</param>
/// <returns>处理成功返回true，否则返回false</returns>
public bool HandleData(FeatureData data)
{
if (Recognise(data) != 0)
{
//// 识别到连续RecognizedCountThreshold个成功后发送命令，而且只发送一次
//if (++_recognizedCount == RecognizedCountThreshold) // 特别注意是先加
//{
// // convert and send
// SendCommand();
// //Thread.Sleep(1000);
//}
++_recognizedID;
// convert and send
try
{
SendCommand();
}
catch (System.Exception ex)
{
throw new Exception(ex.Message);
}
return(true);
}
else
{
// _recognizedCount = 0; // 恢复识别计数器
if (_successor != null) // 如果存在后继者则处理
{
return(_successor.HandleData(data));
}
}
return(false);
}
protected override int Recognise(FeatureData data)
{
// 当另一只手也举起则无效
if (data.CompareThresholdY(JointType.HandLeft, JointType.ShoulderLeft, 0) == 1)
{
_motionState = MotionState.Invalid;
return(0);
}
switch (_motionState)
{
case MotionState.Initial:
// 当超过肩开始生效
if (data.CompareThresholdY(JointType.HandRight, JointType.ShoulderLeft, 0) == 1)
{
// 太近了则无效，区别于划圆
if (data.CalculateDifferX(JointType.HandRight, JointType.ShoulderCenter) < 5 ||
(data.HandRight2BodyHorizontalDistance < data.ShoulderCenter2SpineHeight &&
data.CalculateSpaceDistance(JointType.HandRight, JointType.ShoulderLeft) < data.ShoulderCenter2SpineHeight))
{
_motionState = MotionState.Invalid;
}
else
{
_motionState = MotionState.Valid;
}
}
break;
case MotionState.Valid:
// 手举起后肘关节与头的相对位置
//if (data.CompareThresholdY(JointType.ElbowRight, JointType.Head, 13) == 0 &&
// data.CompareThresholdX(JointType.ElbowRight, JointType.Head, 33) == 0)
if (data.CompareThresholdY(JointType.HandRight, JointType.Head, 5) == 1)
{
_motionState = MotionState.Invalid;
return(1);
}
//else if (data.HandRight2BodyHorizontalDistance > 1.1 * data.Head2HipCenterHeight) // 在有效状态下，超出身体指定的范围标记为无效，可能是从侧面举起手的
//{
// // 水平距离的阈值,大致估计手的比例，确保身高不影响(可用1.8 * data.ShoulderCenter2SpineHeight)
// _motionState = MotionState.Invalid;
//}
break;
default:
break;
}
// 手放下来后恢复初始状态
if (_motionState != MotionState.Initial &&
data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == -1)
{
_motionState = MotionState.Initial;
}
return(0);
}
protected override int Recognise(FeatureData data)
{
switch (_motionState)
{
case MotionState.Initial:
// 手超过了脊椎的位置
if (data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == 1 &&
data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == 1)
{
// 用肩中心到脊椎的距离替代肩宽，理论上比肩宽大一些
// 并且两手距离近
if (data.Hand2HandHorizontalDistance < data.ShoulderCenter2SpineHeight)
{
_motionState = MotionState.Valid;
}
//else
//{
// _motionState = MotionState.Invalid; // W.S.
//}
}
break;
case MotionState.Valid:
// 上身的高度，用于近视计算手的比例 WS (此处不知双手平推和双手展开的区别，先区别一个双手交叉吧)
// 当两手距离超过阈值后识别成功
if (data.Hand2HandHorizontalDistance > 2 * data.ShoulderCenter2HipCenterHeight)
{
//_motionState = MotionState.Invalid; // 无论是否成功识别者标记为无效状态 W.S.
_motionState = MotionState.Initial; // 为了多次识别
// 区别于双手向下的动作,只有在肩的上方
if (data.CompareThresholdY(JointType.HandRight, JointType.ShoulderRight, 5) >= 0 &&
data.CompareThresholdY(JointType.HandLeft, JointType.ShoulderLeft, 5) >= 0)
{
return(1);
}
}
break;
default:
break;
}
// 如果手抬起太高，则抬起失效
if (_motionState != MotionState.Invalid &&
(data.CompareThresholdY(JointType.HandRight, JointType.ShoulderCenter, 15) == 1 ||
data.CompareThresholdY(JointType.HandLeft, JointType.ShoulderCenter, 15) == 1))
{
_motionState = MotionState.Invalid;
}
// 当手放下时恢复初始
if (_motionState != MotionState.Initial)
{
if (data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == -1 ||
data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == -1)
{
_motionState = MotionState.Initial;
}
}
return(0);
}
protected override int Recognise(FeatureData data)
{
// 用肩中心到脊椎的距离替代肩宽，理论上比肩宽大一些
float minHorizontalDistanceThreshold = data.ShoulderCenter2SpineHeight;
switch (_motionState)
{
case MotionState.Initial:
// 手是否在经过肩附近
if (data.CompareThresholdY(JointType.HandRight, JointType.ShoulderRight, 15) == 0 &&
data.CompareThresholdY(JointType.HandLeft, JointType.ShoulderRight, 15) == 0 &&
data.Hand2HandHorizontalDistance < minHorizontalDistanceThreshold) // 并且两手距离很近
{
_motionState = MotionState.Valid;
}
break;
case MotionState.Valid:
// 上身的高度，用于近视计算手的比例
// 当两手距离超过阈值后识别成功
if (data.Hand2HandHorizontalDistance > /*2 * */ data.ShoulderCenter2HipCenterHeight)
{
// 判断是否高于头部
if (data.CompareThresholdY(JointType.HandRight, JointType.Head, 0) == 1 &&
data.CompareThresholdY(JointType.HandLeft, JointType.Head, 0) == 1)
{
_motionState = MotionState.Initial; // 识别后标记为初始状态
return(1);
}
else if (data.Hand2HandHorizontalDistance > 2 * data.ShoulderCenter2HipCenterHeight) // &&
//data.CompareThresholdY(JointType.HandRight, JointType.ShoulderRight, 15) == 0 &&
//data.CompareThresholdY(JointType.HandLeft, JointType.ShoulderRight, 15) == 0)
{
_motionState = MotionState.Initial; // 排除从两边抬起手臂，还可排除手低的情况
}
}
break;
default:
break;
}
// 当手放下时恢复初始状态
if (_motionState != MotionState.Initial &&
(data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == -1 ||
data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == -1))
{
_motionState = MotionState.Initial;
}
// 当两手合在一起后超过头设置
//if (_motionState != MotionState.Initial &&
// data.Hand2HandHorizontalDistance < minHorizontalDistanceThreshold &&
// (data.CompareThresholdY(JointType.HandRight, JointType.Head, 0) == 1 ||
// data.CompareThresholdY(JointType.HandLeft, JointType.Head, 0) == 1))
//{
// _motionState = MotionState.Initial;
//}
return(0);
}
private const double TimeMillisecondsThreshold = 750d; // 时间阈值，以毫秒计算
protected override int Recognise(FeatureData data)
{
// 如果另一只手不在初始位置，则不识别
if (data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == 1)
{
_motionState = MotionState.Invalid;
return(0);
}
switch (_motionState)
{
case MotionState.Initial:
// 如果手超过肩位置，则手抬起开始生效
if (data.CompareThresholdY(JointType.HandLeft, JointType.ShoulderLeft, 0) == 1)
{
_dtBegin = DateTime.Now; // 获取开始时间
_motionState = MotionState.Valid;
}
break;
case MotionState.Valid:
// 如果生效了，则判断是否回到初始位置，如果是，则识别成功
if (data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == -1)
{
_motionState = MotionState.Initial;
_dtEnd = DateTime.Now; // 获取截止时间
// 如果时间差小于一定的阈值则识别
if (_dtEnd.Subtract(_dtBegin).TotalMilliseconds < TimeMillisecondsThreshold)
{
return(1);
}
}
break;
default:
// 其他状态回到了初始位置，则重置状态为初始状态
if (data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == -1)
{
_motionState = MotionState.Initial;
}
break;
}
if (_motionState != MotionState.Invalid)
{
// 如果手抬起太高，则抬起失效
if (data.CompareThresholdY(JointType.HandLeft, JointType.Head, 5) == 1)
{
_motionState = MotionState.Invalid;
}
// 超出身体指定的范围标记为无效，此时刚好为到Y轴的距离
if (data.HandLeft2BodyHorizontalDistance > data.Head2HipCenterHeight)
{
_motionState = MotionState.Invalid;
}
}
return(0);
}
protected override int Recognise(FeatureData data)
{
// 如果另一只手不在初始位置，则不识别
if (data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == 1)
{
_motionState = MotionState.Invalid;
return(0);
}
switch (_motionState)
{
case MotionState.Initial:
// 用肩中心到脊椎的距离大致估计手的比例，确保身高不影响,超出身体指定的范围标记为无效，此时刚好为到Y轴的距离
// 手超过了脊椎的位置并且手在身体附近
if (data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == 1 &&
data.HandRight2BodyHorizontalDistance < data.ShoulderCenter2SpineHeight)
{
_motionState = MotionState.Valid;
}
break;
case MotionState.Valid:
// 上身的高度，用于近视计算手的比例
if (data.HandRight2BodyHorizontalDistance > data.Head2HipCenterHeight)
{
_motionState = MotionState.Initial;
return(1);
}
break;
default:
break;
}
// 如果手抬起太高，则抬起失效
if (_motionState != MotionState.Invalid &&
data.CompareThresholdY(JointType.HandRight, JointType.Head, 0) == 1)
{
_motionState = MotionState.Invalid;
}
// 当手放下时
if (_motionState != MotionState.Initial)
{
if (data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == -1)
{
_motionState = MotionState.Initial;
}
else if (_motionState == MotionState.Invalid && // 当因为另一只手抬起导致状态无效时
data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == -1)
{
_motionState = MotionState.Initial;
}
}
return(0);
}
protected override int Recognise(FeatureData data)
{
// 计算两脚高度差
float ankleDifferY = Math.Abs(data.CalculateDifferY(JointType.AnkleRight, JointType.AnkleLeft));
// 计算两脚的绝对坐标
float absoluteAnkleRightY = data.RelativeJoints[(int)JointType.AnkleRight].y + data.AbsoluteOrigin.y;
float absoluteAnkleLeftY = data.RelativeJoints[(int)JointType.AnkleLeft].y + data.AbsoluteOrigin.y;
//bool tracked = data.IsJointTracked(KinectWrapper.NuiSkeletonPositionIndex.AnkleRight); Waterstrong
// 两脚绝对坐标Y的较小值
float minAbsoluteAnkleY = Math.Min(absoluteAnkleLeftY, absoluteAnkleRightY);
// 当一只脚超过另一脚时
if (ankleDifferY > MaxHeightThreshold)
{
// 当想站上某个高处时即开始准备重设地面，获取较大值
_groundLevel = Math.Max(absoluteAnkleLeftY, absoluteAnkleRightY);
}
switch (_motionState)
{
case MotionState.Initial:
// 当两脚高度差不超过阈值时
if (ankleDifferY < MinHeightThreshold)
{
// 获取左右脚以及地面中最小的值来重设地面
_groundLevel = Math.Min(minAbsoluteAnkleY, _groundLevel);
// 直接判断
if (minAbsoluteAnkleY - _groundLevel > JumpHeightThreshold /*&& tracked Waterstrong*/)
{
// 重置地面，用于判断是否开始落下，否则跳太高会二次识别
_groundLevel = minAbsoluteAnkleY;
_counter = 0;
_motionState = MotionState.Invalid;
return(1);
}
}
break;
default:
if (minAbsoluteAnkleY < _groundLevel) // 当开始落下时才生效
{
_motionState = MotionState.Initial;
}
else if (++_counter >= CounterThreshold) // 可能跳到了一个较高的地方，需要一段时间来重置
{
_counter = 0;
_groundLevel = minAbsoluteAnkleY;
_motionState = MotionState.Initial;
}
break;
}
return(0);
}
protected override int Recognise(FeatureData data)
{
switch (_motionState)
{
case MotionState.Initial:
// 手超过了脊椎的位置
if (data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == 1 &&
data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == 1)
{
// 并且两手距离很远(上半身的高度，用于近视计算手的比例)
if (data.Hand2HandHorizontalDistance > 2 * data.ShoulderCenter2HipCenterHeight)
{
_motionState = MotionState.Valid;
}
else
{
_motionState = MotionState.Invalid;
}
}
break;
case MotionState.Valid:
// 用肩中心到脊椎的距离替代肩宽，理论上比肩宽大一些
if (data.Hand2HandHorizontalDistance < data.ShoulderCenter2SpineHeight)
{
_motionState = MotionState.Invalid; // 识别后标记为无效状态
return(1);
}
break;
default:
break;
}
// 如果手抬起太高，则抬起失效
if (_motionState != MotionState.Invalid &&
(data.CompareThresholdY(JointType.HandRight, JointType.Head, 0) == 1 ||
data.CompareThresholdY(JointType.HandLeft, JointType.Head, 0) == 1))
{
_motionState = MotionState.Invalid;
}
// 当手放下时恢复初始状态
if (_motionState != MotionState.Initial)
{
if (data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == -1 ||
data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == -1)
{
_motionState = MotionState.Initial;
}
}
return(0);
}
/// <summary>
/// 处理数据请求
/// </summary>
/// <param name="data">传入特征数据</param>
/// <returns>返回识别代码，未识别返回-1</returns>
public MotionType HandleDataEx(FeatureData data)
{
int res = Recognise(data);
if (res != 0)
{
++_recognizedID;
return(SendCommand(res));
}
else
{
if (_successor != null) // 如果存在后继者则处理
{
return(_successor.HandleDataEx(data));
}
}
return(MotionType.None);
}
private const float LegRadianThreshold = 0.64f; //弧度阈值；40度约为0.64左右,45度约为0.707
protected override int Recognise(FeatureData data)
{
switch (_motionState)
{
case MotionState.Initial:
// 判断是否抬高脚
if (data.CompareThresholdY(JointType.AnkleLeft, JointType.AnkleRight, 10) == 1) // 用Y判断脚抬高度,脚离地阈值为10
{
_motionState = MotionState.Valid;
}
break;
case MotionState.Valid:
// 区别抬脚动作
if (data.CompareThresholdZ(JointType.AnkleLeft, JointType.HipLeft, 30) == 0 &&
data.CompareThresholdX(JointType.AnkleLeft, JointType.HipLeft, 15) == 0)
{
_motionState = MotionState.Invalid;
return(0);
}
// 大概的腿长，从踝开始计算
float legLength = data.CalculateDifferY(JointType.HipRight, JointType.AnkleRight);
if (legLength <= 0) // 腿长不适合理论数据
{
return(0);
}
// 在x和z轴上的映射投影距离差值
float ankleDifferX = Math.Abs(data.CalculateDifferX(JointType.AnkleLeft, JointType.AnkleRight));
float ankleDifferZ = Math.Abs(data.CalculateDifferZ(JointType.AnkleLeft, JointType.AnkleRight));
if (ankleDifferX >= ankleDifferZ) // 排除向前或后踢的情况
{
// 计算腿抬起后裸相差的水平距离
float ankleHorizontalDistance = (float)Math.Sqrt(ankleDifferX * ankleDifferX + ankleDifferZ * ankleDifferZ);
// 计算腿抬起的弧度
float legRadian = ankleHorizontalDistance / legLength;
// 当抬起角度超过弧度阈值后生效
if (legRadian > LegRadianThreshold)
{
_motionState = MotionState.Invalid;
return(1);
}
}
else
{
_motionState = MotionState.Invalid;
}
break;
default:
// 放下脚恢复初始状态
if (data.CompareThresholdY(JointType.AnkleLeft, JointType.AnkleRight, 5) == 0)
{
_motionState = MotionState.Initial;
}
break;
}
return(0);
}
protected override int Recognise(FeatureData data)
{
// 如果另一只手不在初始位置，则不识别
if (data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == 1)
{
_motionState = MotionState.Invalid;
return(0);
}
switch (_motionState)
{
case MotionState.Initial:
// 手超过一定位置
if (data.CompareThresholdY(JointType.HandLeft, JointType.ShoulderRight, 0) == 1)
{
// 用肩中心到脊椎的距离大致估计手的比例，确保身高不影响,超出身体指定的范围标记为无效，此时刚好为到Y轴的距离
// 并且手在身体附近
if (data.CalculateDifferX(JointType.ShoulderCenter, JointType.HandLeft) < 5 ||
(data.HandLeft2BodyHorizontalDistance < data.ShoulderCenter2SpineHeight &&
data.CalculateSpaceDistance(JointType.HandLeft, JointType.ShoulderRight) < data.ShoulderCenter2SpineHeight))
{
_motionState = MotionState.Valid;
}
else
{
_motionState = MotionState.Invalid;
}
}
break;
case MotionState.Valid: // 达到第一个有效点后
// 判断是否超过了头
if (data.CompareThresholdY(JointType.HandLeft, JointType.Head, 0) == 1)
{
_motionState = MotionState.Valid2;
}
break;
case MotionState.Valid2: // 第二个有效点
if (data.CompareThresholdY(JointType.HandLeft, JointType.ShoulderLeft, 15) == 0) // 经过了肩的位置，表明正放下
{
_motionState = MotionState.Invalid; // 无论结果如何都无效
// 手是否伸直的,上身的高度，用于近视计算手的比例
if (data.HandLeft2BodyHorizontalDistance > data.Head2HipCenterHeight * 0.8)
{
return(1);
}
}
break;
default:
break;
}
// 当手放下时
if (_motionState != MotionState.Initial &&
data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == -1)
{
_motionState = MotionState.Initial;
}
return(0);
}
private const double TimeMillisecondsThreshold = 800d; // 时间阈值，以毫秒计算
protected override int Recognise(FeatureData data)
{
// 上身的高度，用于近视计算手的比例
float maxHorizontalDistanceThreshold = 2 * data.ShoulderCenter2HipCenterHeight;
switch (_motionState)
{
case MotionState.Initial:
// 手超过了脊椎的位置
if (data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == 1 &&
data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == 1)
{
// 并且两手距离不远,用max因为向下的手势比较难识别，所以范围大
if (data.Hand2HandHorizontalDistance < maxHorizontalDistanceThreshold)
{
_dtBegin = DateTime.Now; // 获取开始时间
_motionState = MotionState.Valid;
}
else // 区别于双手收缩
{
_motionState = MotionState.Invalid;
}
}
break;
case MotionState.Valid:
// 判断是否低于一定的位置
if (data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == -1 &&
data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == -1)
{
_dtEnd = DateTime.Now;
// 如果时间差小于一定的阈值则识别
if (_dtEnd.Subtract(_dtBegin).TotalMilliseconds < TimeMillisecondsThreshold)
{
// 当两手距离超过阈值后识别成功
if (data.Hand2HandHorizontalDistance > maxHorizontalDistanceThreshold)
{
_motionState = MotionState.Initial; // 识别后标记为初始状态
return(1);
}
}
else
{
_motionState = MotionState.Invalid; //时间到了后无效
}
}
else if (data.Hand2HandHorizontalDistance > maxHorizontalDistanceThreshold &&
data.CompareThresholdY(JointType.HandRight, JointType.ShoulderRight, 5) >= 0 &&
data.CompareThresholdY(JointType.HandLeft, JointType.ShoulderLeft, 5) >= 0)
{
_motionState = MotionState.Invalid;
}
//else if (data.CompareThresholdY(JointType.HandRight, JointType.HipRight, 14) == -1 || // 加入时间戳后需要重置
// data.CompareThresholdY(JointType.HandLeft, JointType.HipLeft, 14) == -1)
//{
// _motionState = MotionState.Invalid;
//}
break;
default:
// 当手放下时恢复初始
if (data.CompareThresholdY(JointType.HandRight, JointType.Spine, 0) == -1 ||
data.CompareThresholdY(JointType.HandLeft, JointType.Spine, 0) == -1)
{
_motionState = MotionState.Initial;
}
break;
}
// 如果手抬起太高，则抬起失效
if (_motionState != MotionState.Invalid &&
(data.CompareThresholdY(JointType.HandRight, JointType.Head, 0) == 1 ||
data.CompareThresholdY(JointType.HandLeft, JointType.Head, 0) == 1))
{
_motionState = MotionState.Invalid;
}
return(0);
}
/// <summary> /// 识别是否为当前的定义的动作 /// </summary> /// <param name="data">特征数据</param> /// <returns>识别是否成功,+-1表示正反两种状态，0表示未识别</returns> protected abstract int Recognise(FeatureData data);