public void TestConstructorRef()
{
ulong trackingId = 125;
Dictionary<JointType, Vector3> data = new Dictionary<JointType, Vector3>();
data.Add(JointType.AnkleLeft, new Vector3(2, 4, 5));
data.Add(JointType.ElbowLeft, new Vector3(7, 4, 5));
data.Add(JointType.FootRight, new Vector3(-5, 4, 5));
KinectJointTable table = new KinectJointTable(trackingId, data);
Assert.AreEqual(trackingId, table.TrackingId);
Assert.AreEqual(table.Joints, data);
}
public void TestConstructorRef()
{
ulong trackingId = 125;
Dictionary <JointType, Vector3> data = new Dictionary <JointType, Vector3>();
data.Add(JointType.AnkleLeft, new Vector3(2, 4, 5));
data.Add(JointType.ElbowLeft, new Vector3(7, 4, 5));
data.Add(JointType.FootRight, new Vector3(-5, 4, 5));
KinectJointTable table = new KinectJointTable(trackingId, data);
Assert.AreEqual(trackingId, table.TrackingId);
Assert.AreEqual(table.Joints, data);
}
public void TestConstructorData()
{
ulong trackingId = 125;
Dictionary<JointType, Vector3> data = new Dictionary<JointType,Vector3>();
data.Add(JointType.AnkleLeft, new Vector3(2,4,5));
data.Add(JointType.ElbowLeft, new Vector3(7,4,5));
data.Add(JointType.FootRight, new Vector3(-5,4,5));
KinectJointTable table = new KinectJointTable(trackingId, data);
Assert.AreEqual(trackingId, table.TrackingId);
Assert.AreEqual(table.Joints.Count, data.Count);
foreach (JointType jt in data.Keys)
{
Assert.AreEqual(data[jt], table.Joints[jt]);
}
}
public void TestConstructorData()
{
ulong trackingId = 125;
Dictionary <JointType, Vector3> data = new Dictionary <JointType, Vector3>();
data.Add(JointType.AnkleLeft, new Vector3(2, 4, 5));
data.Add(JointType.ElbowLeft, new Vector3(7, 4, 5));
data.Add(JointType.FootRight, new Vector3(-5, 4, 5));
KinectJointTable table = new KinectJointTable(trackingId, data);
Assert.AreEqual(trackingId, table.TrackingId);
Assert.AreEqual(table.Joints.Count, data.Count);
foreach (JointType jt in data.Keys)
{
Assert.AreEqual(data[jt], table.Joints[jt]);
}
}
public void TesTransform()
{
ulong trackingId = 125;
Dictionary<JointType, Vector3> data = new Dictionary<JointType, Vector3>();
data.Add(JointType.AnkleLeft, new Vector3(2, 4, 5));
data.Add(JointType.ElbowLeft, new Vector3(7, 4, 5));
data.Add(JointType.FootRight, new Vector3(-5, 4, 5));
KinectJointTable table = new KinectJointTable(trackingId, data);
Matrix m = Matrix.Translation(-4.0f, 5.0f, 6.0f);
KinectJointTable transformed = table.Transform(m);
foreach (JointType jt in data.Keys)
{
Assert.AreEqual(Vector3.TransformCoordinate(data[jt], m), transformed.Joints[jt]);
}
}
public void TesTransform()
{
ulong trackingId = 125;
Dictionary <JointType, Vector3> data = new Dictionary <JointType, Vector3>();
data.Add(JointType.AnkleLeft, new Vector3(2, 4, 5));
data.Add(JointType.ElbowLeft, new Vector3(7, 4, 5));
data.Add(JointType.FootRight, new Vector3(-5, 4, 5));
KinectJointTable table = new KinectJointTable(trackingId, data);
Matrix m = Matrix.Translation(-4.0f, 5.0f, 6.0f);
KinectJointTable transformed = table.Transform(m);
foreach (JointType jt in data.Keys)
{
Assert.AreEqual(Vector3.TransformCoordinate(data[jt], m), transformed.Joints[jt]);
}
}
/// <summary>
/// Process joint table
/// </summary>
/// <param name="jointTable"></param>
public void Process(KinectJointTable jointTable)
{
var leftHand = jointTable.Joints[JointType.HandLeft];
var rightHand = jointTable.Joints[JointType.HandRight];
var hipLeft = jointTable.Joints[JointType.HipLeft];
var hipRight = jointTable.Joints[JointType.HipRight];
var shoulderLeft = jointTable.Joints[JointType.ShoulderLeft];
var shoulderRight = jointTable.Joints[JointType.ShoulderRight];
var elbowLeft = jointTable.Joints[JointType.ElbowLeft];
var elbowRight = jointTable.Joints[JointType.ElbowRight];
//First compute elevation, we consider min y at hip and max y at shoulder
float leftE = ((leftHand.Y - hipLeft.Y) / (shoulderLeft.Y - hipLeft.Y)) * 2.0f - 1.0f;
float rightE = ((rightHand.Y - hipRight.Y) / (shoulderRight.Y - hipRight.Y)) * 2.0f - 1.0f;
this.elevation = this.elevationCurve.Apply(MathUtil.Clamp((leftE + rightE) * 0.5f, -1.0f,1.0f));
float handDirX = leftHand.X - rightHand.X;
float handDirY = leftHand.Y - rightHand.Y;
float ang = Convert.ToSingle(Math.Atan2(handDirY, handDirX));
float pi = (float)Math.PI;
float halfpi = (float)Math.PI * 0.5f;
//remap left steer from -halpi to -pi
if (ang < 0.0f)
{
ang = (1.0f - (ang + halfpi) / (-halfpi)) * -1.0f;
}
else
{
ang = (ang - pi) / (-halfpi);
}
this.steeringY = this.steeringCurve.Apply(MathUtil.Clamp(ang, -1.0f, 1.0f));
//Build z steering as per star wars game, hand angle in xz plane
float handDirZ = leftHand.Z - rightHand.Z;
float zang = Convert.ToSingle(Math.Atan2(handDirZ, handDirX));
if (zang < 0.0f)
{
zang = (1.0f - (zang + halfpi) / (-halfpi)) * -1.0f;
}
else
{
zang = (zang - pi) / (-halfpi);
}
this.steeringZ = zang;
//Last computes push amount, here we say min push is Z next to shoulder and max push is shoulder + arm length
float leftArmLength = Vector3.Distance(shoulderLeft, elbowLeft) + Vector3.Distance(elbowLeft, leftHand);
float rightArmLength = Vector3.Distance(shoulderRight, elbowRight) + Vector3.Distance(elbowRight, rightHand);
float leftP = ((shoulderLeft.Z - leftHand.Z) / (leftArmLength)) * 2.0f - 1.0f;
float rightP = ((shoulderRight.Z -rightHand.Z) / (rightArmLength)) * 2.0f - 1.0f;
this.push = this.pushCurve.Apply(MathUtil.Clamp((leftP + rightP) * 0.5f, -1.0f, 1.0f));
}
public void TestNullData()
{
ulong trackingId = 125;
KinectJointTable table = new KinectJointTable(trackingId, null);
}
/// <summary>
/// Process joint table
/// </summary>
/// <param name="jointTable"></param>
public void Process(KinectJointTable jointTable)
{
var leftHand = jointTable.Joints[JointType.HandLeft];
var rightHand = jointTable.Joints[JointType.HandRight];
var hipLeft = jointTable.Joints[JointType.HipLeft];
var hipRight = jointTable.Joints[JointType.HipRight];
var shoulderLeft = jointTable.Joints[JointType.ShoulderLeft];
var shoulderRight = jointTable.Joints[JointType.ShoulderRight];
var elbowLeft = jointTable.Joints[JointType.ElbowLeft];
var elbowRight = jointTable.Joints[JointType.ElbowRight];
//First compute elevation, we consider min y at hip and max y at shoulder
float leftE = ((leftHand.Y - hipLeft.Y) / (shoulderLeft.Y - hipLeft.Y)) * 2.0f - 1.0f;
float rightE = ((rightHand.Y - hipRight.Y) / (shoulderRight.Y - hipRight.Y)) * 2.0f - 1.0f;
this.elevation = this.elevationCurve.Apply(MathUtil.Clamp((leftE + rightE) * 0.5f, -1.0f, 1.0f));
float handDirX = leftHand.X - rightHand.X;
float handDirY = leftHand.Y - rightHand.Y;
float ang = Convert.ToSingle(Math.Atan2(handDirY, handDirX));
float pi = (float)Math.PI;
float halfpi = (float)Math.PI * 0.5f;
//remap left steer from -halpi to -pi
if (ang < 0.0f)
{
ang = (1.0f - (ang + halfpi) / (-halfpi)) * -1.0f;
}
else
{
ang = (ang - pi) / (-halfpi);
}
this.steeringY = this.steeringCurve.Apply(MathUtil.Clamp(ang, -1.0f, 1.0f));
//Build z steering as per star wars game, hand angle in xz plane
float handDirZ = leftHand.Z - rightHand.Z;
float zang = Convert.ToSingle(Math.Atan2(handDirZ, handDirX));
if (zang < 0.0f)
{
zang = (1.0f - (zang + halfpi) / (-halfpi)) * -1.0f;
}
else
{
zang = (zang - pi) / (-halfpi);
}
this.steeringZ = zang;
//Last computes push amount, here we say min push is Z next to shoulder and max push is shoulder + arm length
float leftArmLength = Vector3.Distance(shoulderLeft, elbowLeft) + Vector3.Distance(elbowLeft, leftHand);
float rightArmLength = Vector3.Distance(shoulderRight, elbowRight) + Vector3.Distance(elbowRight, rightHand);
float leftP = ((shoulderLeft.Z - leftHand.Z) / (leftArmLength)) * 2.0f - 1.0f;
float rightP = ((shoulderRight.Z - rightHand.Z) / (rightArmLength)) * 2.0f - 1.0f;
this.push = this.pushCurve.Apply(MathUtil.Clamp((leftP + rightP) * 0.5f, -1.0f, 1.0f));
}
public void TestNullData()
{
ulong trackingId = 125;
KinectJointTable table = new KinectJointTable(trackingId, null);
}
