public static double Compare(JointRotation firstJoint, JointRotation secondJoint)
{
Vector4 mainQuaternion = new Vector4();
mainQuaternion.X = firstJoint.X;
mainQuaternion.Y = firstJoint.Y;
mainQuaternion.Z = firstJoint.Z;
mainQuaternion.W = firstJoint.W;
Vector4 secondaryQuaternion = new Vector4();
secondaryQuaternion.X = secondJoint.X;
secondaryQuaternion.Y = secondJoint.Y;
secondaryQuaternion.Z = secondJoint.Z;
secondaryQuaternion.W = secondJoint.W;
double distanceX = mainQuaternion.X - secondaryQuaternion.X;
double distanceY = mainQuaternion.Y - secondaryQuaternion.Y;
double distanceZ = mainQuaternion.Z - secondaryQuaternion.Z;
double distanceW = mainQuaternion.W - secondaryQuaternion.W;
double similarity = distanceX*distanceX +
distanceY * distanceY +
distanceZ * distanceZ +
distanceW * distanceW;
return similarity;
}
public static double CompareQuaternions(Vector4 mainQuaternion, Vector4 secondaryQuaternion)
{
JointRotation newMainQuaternion = new JointRotation(mainQuaternion.X, mainQuaternion.Y, mainQuaternion.Z, mainQuaternion.W);
JointRotation newSecondaryQuaternion = new JointRotation(secondaryQuaternion.X, secondaryQuaternion.Y, secondaryQuaternion.Z, secondaryQuaternion.W);
return CompareQuaternions(newMainQuaternion, newSecondaryQuaternion);
}
public static double Compare(JointRotation firstJoint, JointRotation secondJoint)
{
Vector4 mainQuaternion = new Vector4();
mainQuaternion.X = firstJoint.X;
mainQuaternion.Y = firstJoint.Y;
mainQuaternion.Z = firstJoint.Z;
mainQuaternion.W = firstJoint.W;
Vector4 secondaryQuaternion = new Vector4();
secondaryQuaternion.X = secondJoint.X;
secondaryQuaternion.Y = secondJoint.Y;
secondaryQuaternion.Z = secondJoint.Z;
secondaryQuaternion.W = secondJoint.W;
double distanceX = mainQuaternion.X - secondaryQuaternion.X;
double distanceY = mainQuaternion.Y - secondaryQuaternion.Y;
double distanceZ = mainQuaternion.Z - secondaryQuaternion.Z;
double distanceW = mainQuaternion.W - secondaryQuaternion.W;
double similarity = distanceX * distanceX +
distanceY * distanceY +
distanceZ * distanceZ +
distanceW * distanceW;
return(similarity);
}
public static double CompareQuaternions(Vector4 mainQuaternion, Vector4 secondaryQuaternion)
{
JointRotation newMainQuaternion = new JointRotation(mainQuaternion.X, mainQuaternion.Y, mainQuaternion.Z, mainQuaternion.W);
JointRotation newSecondaryQuaternion = new JointRotation(secondaryQuaternion.X, secondaryQuaternion.Y, secondaryQuaternion.Z, secondaryQuaternion.W);
return(CompareQuaternions(newMainQuaternion, newSecondaryQuaternion));
}
public static double CompareQuaternions(JointRotation mainQuaternion, JointRotation secondaryQuaternion)
{
//(x1-x2)^2 + (y1-y2)^2 + (z1-z2)^2 + (w1 - w2)^2
double distanceX = mainQuaternion.X - secondaryQuaternion.X;
double distanceY = mainQuaternion.Y - secondaryQuaternion.Y;
double distanceZ = mainQuaternion.Z - secondaryQuaternion.Z;
double distanceW = mainQuaternion.W - secondaryQuaternion.W;
double similarity =
distanceX * distanceX +
distanceY * distanceY +
distanceZ * distanceZ +
distanceW * distanceW;
return(similarity);
}
public static double CompareQuaternions(JointRotation mainQuaternion, JointRotation secondaryQuaternion)
{
//(x1-x2)^2 + (y1-y2)^2 + (z1-z2)^2 + (w1 - w2)^2
double distanceX = mainQuaternion.X - secondaryQuaternion.X;
double distanceY = mainQuaternion.Y - secondaryQuaternion.Y;
double distanceZ = mainQuaternion.Z - secondaryQuaternion.Z;
double distanceW = mainQuaternion.W - secondaryQuaternion.W;
double similarity =
distanceX * distanceX +
distanceY * distanceY +
distanceZ * distanceZ +
distanceW * distanceW;
return similarity;
}
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;
}
