public ImportedSkeleton(ImportedSkeleton skeleton)
: base()
{
InitializeDictionaries();
CopyBasicDataFromSkeleton(skeleton);
CopyBoneOrientationsFromImportedSkeleton(skeleton);
}
public ImportedSkeleton(ImportedSkeleton skeleton)
: base()
{
InitializeDictionaries();
CopyBasicDataFromSkeleton(skeleton);
CopyBoneOrientationsFromImportedSkeleton(skeleton);
}
private void CopyBoneOrientationsFromImportedSkeleton(ImportedSkeleton skeleton)
{
foreach (var key in Enum.GetNames(typeof(JointType)))
{
var joint = (JointType)Enum.Parse(typeof(JointType), key);
this.Joints[joint] = skeleton.Joints[joint];
this.HiararchicalQuaternions[joint].X = skeleton.HiararchicalQuaternions[joint].X;
this.HiararchicalQuaternions[joint].Y = skeleton.HiararchicalQuaternions[joint].Y;
this.HiararchicalQuaternions[joint].Z = skeleton.HiararchicalQuaternions[joint].Z;
this.HiararchicalQuaternions[joint].W = skeleton.HiararchicalQuaternions[joint].W;
this.AbsoluteQuaternions[joint].X = skeleton.AbsoluteQuaternions[joint].X;
this.AbsoluteQuaternions[joint].Y = skeleton.AbsoluteQuaternions[joint].Y;
this.AbsoluteQuaternions[joint].Z = skeleton.AbsoluteQuaternions[joint].Z;
this.AbsoluteQuaternions[joint].W = skeleton.AbsoluteQuaternions[joint].W;
}
}
private void CopyBoneOrientationsFromImportedSkeleton(ImportedSkeleton skeleton)
{
foreach (var key in Enum.GetNames(typeof(JointType)))
{
var joint = (JointType)Enum.Parse(typeof(JointType), key);
this.Joints[joint] = skeleton.Joints[joint];
this.HiararchicalQuaternions[joint].X = skeleton.HiararchicalQuaternions[joint].X;
this.HiararchicalQuaternions[joint].Y = skeleton.HiararchicalQuaternions[joint].Y;
this.HiararchicalQuaternions[joint].Z = skeleton.HiararchicalQuaternions[joint].Z;
this.HiararchicalQuaternions[joint].W = skeleton.HiararchicalQuaternions[joint].W;
this.AbsoluteQuaternions[joint].X = skeleton.AbsoluteQuaternions[joint].X;
this.AbsoluteQuaternions[joint].Y = skeleton.AbsoluteQuaternions[joint].Y;
this.AbsoluteQuaternions[joint].Z = skeleton.AbsoluteQuaternions[joint].Z;
this.AbsoluteQuaternions[joint].W = skeleton.AbsoluteQuaternions[joint].W;
}
}
public static double CompareWithSMIJ(ImportedSkeleton mainSkeleton, ImportedSkeleton secondarySkeleton, List<JointType> mostInformativeJoints)
{
double overall = 0;
int jointID = 0;
foreach (var joint in mostInformativeJoints)
{
var jointWeight = (mostInformativeJoints.Count - jointID) == 0 ? 1 : (mostInformativeJoints.Count - jointID);
var similarity = CompareQuaternions(mainSkeleton.HiararchicalQuaternions[joint],
secondarySkeleton.HiararchicalQuaternions[joint]);
overall += (similarity * 1000);// * jointWeight;
jointID++;
}
return overall;
}
public static double CompareWithSMIJ(ImportedSkeleton mainSkeleton, ImportedSkeleton secondarySkeleton, List <JointType> mostInformativeJoints)
{
double overall = 0;
int jointID = 0;
foreach (var joint in mostInformativeJoints)
{
var jointWeight = (mostInformativeJoints.Count - jointID) == 0 ? 1 : (mostInformativeJoints.Count - jointID);
var similarity = CompareQuaternions(mainSkeleton.HiararchicalQuaternions[joint],
secondarySkeleton.HiararchicalQuaternions[joint]);
overall += (similarity * 1000); // * jointWeight;
jointID++;
}
return(overall);
}
public void AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
currentFrame++;
using (DepthImageFrame depth = e.OpenDepthImageFrame())
{
#region Regular checks
#region First
if (kinectSensor == null)
{
return;
}
GC.Collect();
#endregion
Skeleton first = Utility.GetFirstSkeleton.Get(e, allSkeletons);
#region Second
if (first == null)
{
return;
}
#endregion
#endregion
if (CurrentMode == Mode.FillingWindow)
{
window.Add(new ImportedSkeleton(first), ACCEPTABLE_WINDOW_SIZE);
if (window.Size >= ACCEPTABLE_WINDOW_SIZE)
{
CurrentMode = Mode.AlgorithmRunning;
}
}
if (CurrentMode == Mode.AlgorithmRunning)
{
if (currentFrame % 2 == 0)
{
foreach (var activity in Activities)
{
double overallResult = 0.0;
foreach (var activityRecord in activity.Recordings)
{
var activityRecordResult = 0.0;
if (AlgorithmType == AlgorithmTypes.DTW)
{
activityRecordResult = DTW(activityRecord, window, DynamicTimeWarpingCalculationType.Standart, StepPattern, true);
}
else if (AlgorithmType == AlgorithmTypes.DLM)
{
activityRecordResult = ElasticMatchingWithFreedomDegree.CompareActivities(activityRecord, window);
}
overallResult += activityRecordResult;
}
overallResult /= activity.Recordings.Count;
var currentAlgorithmAcceptableActionSimilarity = 0;
if (AlgorithmType == AlgorithmTypes.DTW)
{
currentAlgorithmAcceptableActionSimilarity = AcceptableActionSimilarity.DTW;
}
else if(AlgorithmType == AlgorithmTypes.DLM){
currentAlgorithmAcceptableActionSimilarity = AcceptableActionSimilarity.DLM;
}
if (overallResult <= currentAlgorithmAcceptableActionSimilarity && !activityRecognizingStartedTriggered)
{
activityRecognizingStartedTriggered = true;
activityRecognizingEndedTriggered = false;
ActivityRecognizingStarted.Invoke(this, new ActivityRecognizingEventArgs(activity, overallResult));
recognizedActivityName = activity.Name;
}
else if (overallResult > currentAlgorithmAcceptableActionSimilarity && !activityRecognizingEndedTriggered && recognizedActivityName == activity.Name)
{
activityRecognizingEndedTriggered = true;
activityRecognizingStartedTriggered = false;
ActivityRecognizingEnded.Invoke(this, new ActivityRecognizingEventArgs(activity, overallResult));
}
Console.WriteLine(overallResult);
}
Console.WriteLine();
}
CurrentMode = Mode.FillingWindow;
}
if (CurrentMode == Mode.ToSelectMainSkeleton)
{
CurrentMode = Mode.None;
mainSkeleton = first;
JointAnglesManager jointManager = new JointAnglesManager(first);
mainSkeletonWithAngles = jointManager.GetComputedAngles(mainSkeleton);
}
if (CurrentMode == Mode.ComparingSkeletons)
{
///Debug data - Most informative joints
List<JointType> joints = new List<JointType>();
joints.Add(JointType.ShoulderLeft);
joints.Add(JointType.ShoulderRight);
joints.Add(JointType.Head);
joints.Add(JointType.ElbowLeft);
joints.Add(JointType.ElbowRight);
///
Skeleton secondarySkeleton = first;
var jointManager = new JointAnglesManager(secondarySkeleton);
var secondarySkeletonWithAngles = jointManager.GetComputedAngles(secondarySkeleton);
var result = SkeletonComparer.CompareWithSMIJ(mainSkeletonWithAngles, secondarySkeletonWithAngles, joints);
Console.WriteLine("Skeleton comparison: {0}", result);
if (result < ACCEPTABLE_SKELETON_SIMILARITY)
{
PoseRecognizedEventArgs args = new PoseRecognizedEventArgs(result);
PoseReconized.Invoke(this, args);
}
}
}
}
public void Add(ImportedSkeleton skel, int maxSize)
{
windowFixedSize = maxSize;
Frames.Enqueue(skel);
FixFramesLenght();
}
private static ImportedSkeleton CalculateSkeletonDerivative(List<ImportedSkeleton> query, int index, List<JointType> mostInformativeJoints)
{
var skeletonToReturn = new ImportedSkeleton();
if (index < query.Count - 1)
{
foreach (var jointType in mostInformativeJoints)
{
var currentMinusPrev = new JointRotation(
query[index].HiararchicalQuaternions[jointType].X - query[index - 1].HiararchicalQuaternions[jointType].X,
query[index].HiararchicalQuaternions[jointType].Y - query[index - 1].HiararchicalQuaternions[jointType].Y,
query[index].HiararchicalQuaternions[jointType].Z - query[index - 1].HiararchicalQuaternions[jointType].Z,
query[index].HiararchicalQuaternions[jointType].W - query[index - 1].HiararchicalQuaternions[jointType].W);
var nextMinusPrevDividedByTwo = new JointRotation(
(query[index + 1].HiararchicalQuaternions[jointType].X - query[index - 1].HiararchicalQuaternions[jointType].X) / 2,
(query[index + 1].HiararchicalQuaternions[jointType].Y - query[index - 1].HiararchicalQuaternions[jointType].Y) / 2,
(query[index + 1].HiararchicalQuaternions[jointType].Z - query[index - 1].HiararchicalQuaternions[jointType].Z) / 2,
(query[index + 1].HiararchicalQuaternions[jointType].W - query[index - 1].HiararchicalQuaternions[jointType].W) / 2);
var calculatedDerivative = new JointRotation(
(currentMinusPrev.X + nextMinusPrevDividedByTwo.X) / 2,
(currentMinusPrev.Y + nextMinusPrevDividedByTwo.Y) / 2,
(currentMinusPrev.Z + nextMinusPrevDividedByTwo.Z) / 2,
(currentMinusPrev.W + nextMinusPrevDividedByTwo.W) / 2
);
skeletonToReturn.HiararchicalQuaternions[jointType] = calculatedDerivative;
}
}
return skeletonToReturn;
}
