private List <Body> CreateBodies(TimeSpan frameRelativeTime, List <Head> validatedHeads)
{
_stopwatch.Restart();
Dictionary <Head, int> identifiedHeadsWithLabels = BodyUtils.IdentifyHeads(validatedHeads);
var bodies = new List <Body>();
foreach (var identifiedHead in identifiedHeadsWithLabels)
{
Stopwatch stopwatchBody = new Stopwatch();
stopwatchBody.Start();
Body body;
int bodyId = identifiedHead.Value;
Head head = identifiedHead.Key;
if (bodyId == -1)
{
GlobVar.MaxBodyCount++;
int newBodyId = GlobVar.MaxBodyCount;
body = new Body(newBodyId, frameRelativeTime);
body.AddHead(head);
bodies.Add(body);
BodyUtils.AddBodyRegions(GeodesicUtils.GeodesicGraph, head, body);
}
else
{
// Attribute head with average centerpoint in from the last
// frames.
head.AvgCenterPoint = BodyUtils.GetAverageHeadLocationLastFrames(bodyId);
if (Logger.ShowHeadAvgCenterPoint)
{
GraphicsUtils.DrawPoint(head.AvgCenterPoint);
}
body = new Body(bodyId, frameRelativeTime);
body.AddHead(head);
bodies.Add(body);
BodyUtils.AddBodyRegions(GeodesicUtils.GeodesicGraph, head, body);
}
Logger.Draw(body);
EnergyUtils.CalculateBodyMechanicalEnergy(body);
}
if (Logger.LogTimeCreateBodies)
{
_stopwatch.Stop();
Console.WriteLine("CreateBodies: {0}", _stopwatch.ElapsedMilliseconds);
}
return(bodies);
}
private List <Head> DetectHeads(CameraSpacePoint[] noiseFilteredFrame)
{
_stopwatch.Restart();
var haarDetector = new HaarDetector(noiseFilteredFrame);
List <int> headCandidatesHaar = haarDetector.GetHeadCandidates();
if (Logger.LogTimeHaar)
{
_stopwatch.Stop();
Console.WriteLine("Haar: {0}", _stopwatch.ElapsedMilliseconds);
}
_stopwatch.Restart();
var candidatesHighestConnectingPoints = new List <int>();
for (int i = 0; i < headCandidatesHaar.Count; i++)
{
if (Logger.ShowCandidateHeadpixel)
{
GraphicsUtils.DrawPoint(headCandidatesHaar[i]);
}
int headCandidateIndex = headCandidatesHaar[i];
if (headCandidateIndex != -1)
{
int highestPointIndex = ClassificationUtils.GetHighestConnectingPoint(headCandidateIndex, Thresholds.ClassificationHighestPointSearchDepth);
candidatesHighestConnectingPoints.Add(highestPointIndex);
if (Logger.ShowTopHeadpixel)
{
GraphicsUtils.DrawPoint(highestPointIndex);
}
}
}
var groupedHighestIndexes = ClassificationUtils.GroupCandidatesHighestPoints(candidatesHighestConnectingPoints, Thresholds.ClassificationHighestPointGroupingDistance);
List <Head> validatedCandidateHeads = ValidateCandidateHeads(groupedHighestIndexes);
GlobVar.ValidatedCandidateHeads = validatedCandidateHeads;
if (Logger.LogTimeClassificationValidation)
{
_stopwatch.Stop();
Console.WriteLine("ClassificationValidation: {0}", _stopwatch.ElapsedMilliseconds);
}
return(validatedCandidateHeads);
}
/// <summary>
/// Draw bodyelements in detection frame for debugging purposes.
/// </summary>
public static void Draw(Body body)
{
if (ShowHandCenterPoint)
{
Hand firstHand = body.Hands[0];
if (firstHand != null)
{
GraphicsUtils.DrawPoint(firstHand.CenterPoint);
}
Hand secondHand = body.Hands[1];
if (secondHand != null)
{
GraphicsUtils.DrawPoint(secondHand.CenterPoint);
}
}
if (ShowHandAvgPoint)
{
Hand firstHand = body.Hands[0];
if (firstHand != null && !float.IsNaN(firstHand.AvgCenterPointLastFrames.Z))
{
GraphicsUtils.DrawPoint(firstHand.AvgCenterPointLastFrames);
}
Hand secondHand = body.Hands[1];
if (secondHand != null && !float.IsNaN(secondHand.AvgCenterPointLastFrames.Z))
{
GraphicsUtils.DrawPoint(secondHand.AvgCenterPointLastFrames);
}
}
if (ShowTorsoCenterPoint)
{
if (body.Torso != null && !float.IsNaN(body.Torso.CenterPoint.Z))
{
GraphicsUtils.DrawPoint(body.Torso.CenterPoint);
}
}
if (ShowTorsoAvgCenterPoint)
{
if (body.Torso != null && !float.IsNaN(body.Torso.AvgCenterPoint.Z))
{
GraphicsUtils.DrawPoint(body.Torso.AvgCenterPoint);
}
}
if (ShowHeadCenterPoint)
{
GraphicsUtils.DrawPoint(body.Head.CenterPoint);
}
}
private static Dictionary <int, CameraSpacePoint> GetAvgLocationsRecentHeadsFromIds(List <int> recentBodyIds)
{
var avgLocationsRecentHeads = new Dictionary <int, CameraSpacePoint>();
foreach (var bodyId in recentBodyIds)
{
avgLocationsRecentHeads.Add(bodyId, GetAverageHeadLocationLastTenFrames(bodyId));
if (Logger.ShowHeadAvgCenterLastTenFrames)
{
if (!float.IsNaN(GetAverageHeadLocationLastTenFrames(bodyId).Z))
{
GraphicsUtils.DrawPoint(GetAverageHeadLocationLastTenFrames(bodyId));
}
}
}
return(avgLocationsRecentHeads);
}
private static List <Head> ValidateCandidateHeads(IReadOnlyList <int> groupedHighestIndexes)
{
List <Head> validatedCandidateHeads = new List <Head>();
foreach (var highestPointIndex in groupedHighestIndexes)
{
if (Logger.ShowTopHeadPixelAfterGrouping)
{
GraphicsUtils.DrawPoint(highestPointIndex);
}
var headPointIndexes = ClassificationUtils.ConnectedComponentLabeling(highestPointIndex, Thresholds.ClassificationLabelingMaxPoints);
if (Logger.ShowHeadpixelsBeforeValidation)
{
foreach (var index in headPointIndexes)
{
GraphicsUtils.DrawPoint(index);
}
}
if (Validators.EvaluateSizeOfHeadRegion(headPointIndexes))
{
if (Logger.ShowValidatedTopHeadpixel)
{
GraphicsUtils.DrawPoint(highestPointIndex);
}
var head = new Head(highestPointIndex);
var success = head.AddHeadPixels(headPointIndexes);
if (success != -1)
{
validatedCandidateHeads.Add(head);
}
if (Logger.ShowValidatedHeadPixels)
{
foreach (var p in head.HeadPointIndexes)
{
GraphicsUtils.DrawPoint(p);
}
}
}
}
return(validatedCandidateHeads);
}