/// <summary>
/// Groups the hand points if closer than threshold.
/// </summary>
public static List <CameraSpacePoint> GroupHandPoints(List <int> handPointsIndexes)
{
List <CameraSpacePoint> handPoints = new List <CameraSpacePoint>();
for (int i = 0; i < handPointsIndexes.Count; i++)
{
handPoints.Add(GlobVar.SubtractedFilteredPointCloud[handPointsIndexes[i]]);
}
DisjointSet3D disjointSetHandPoints = new DisjointSet3D(handPoints);
for (int i = 0; i < handPoints.Count; i++)
{
for (int j = 0; j < handPoints.Count; j++)
{
if (i == j)
{
continue;
}
;
if (GlobUtils.GetEuclideanDistance(handPoints[i], handPoints[j]) < Thresholds.HandPointGroupingMaxDistance)
{
disjointSetHandPoints.Union(i, j);
}
}
}
List <CameraSpacePoint> handCenterPoints = FilterHandCandidates(disjointSetHandPoints);
return(handCenterPoints);
}
/// <summary>
/// Filters the hand candidate points. Only the two candidate points belonging to the two biggest sets are kept.
/// </summary>
private static List <CameraSpacePoint> FilterHandCandidates(DisjointSet3D groupedSet)
{
Dictionary <int, int> filteredCandidatesIndex = new Dictionary <int, int>();
for (int i = 0; i < groupedSet.Count; i++)
{
int setRepresentative = groupedSet.Find(i);
int setSize = groupedSet.SetSize(setRepresentative);
if (!filteredCandidatesIndex.ContainsKey(setRepresentative) && setSize > Thresholds.HandPointMinCount)
{
filteredCandidatesIndex.Add(setRepresentative, setSize);
}
}
var sortedFilteredCandidatesIndex = filteredCandidatesIndex.OrderByDescending(kvp => kvp.Value);
var filteredTopCandidates = new List <CameraSpacePoint>();
int counter = 0;
foreach (var filteredCandidate in sortedFilteredCandidatesIndex)
{
var cp = new CameraSpacePoint
{
X = groupedSet.AverageX[filteredCandidate.Key],
Y = groupedSet.AverageY[filteredCandidate.Key],
Z = groupedSet.AverageZ[filteredCandidate.Key]
};
filteredTopCandidates.Add(cp);
counter++;
if (counter == 2)
{
break;
}
}
return(filteredTopCandidates);
}
/// <summary>
/// Filters the hand candidate points. Only the two candidate points belonging to the two biggest sets are kept.
/// </summary>
private static List<CameraSpacePoint> FilterHandCandidates(DisjointSet3D groupedSet)
{
Dictionary<int, int> filteredCandidatesIndex = new Dictionary<int, int>();
for (int i = 0; i < groupedSet.Count; i++)
{
int setRepresentative = groupedSet.Find(i);
int setSize = groupedSet.SetSize(setRepresentative);
if (!filteredCandidatesIndex.ContainsKey(setRepresentative) && setSize > Thresholds.HandPointMinCount)
{
filteredCandidatesIndex.Add(setRepresentative, setSize);
}
}
var sortedFilteredCandidatesIndex = filteredCandidatesIndex.OrderByDescending(kvp => kvp.Value);
var filteredTopCandidates = new List<CameraSpacePoint>();
int counter = 0;
foreach (var filteredCandidate in sortedFilteredCandidatesIndex)
{
var cp = new CameraSpacePoint
{
X = groupedSet.AverageX[filteredCandidate.Key],
Y = groupedSet.AverageY[filteredCandidate.Key],
Z = groupedSet.AverageZ[filteredCandidate.Key]
};
filteredTopCandidates.Add(cp);
counter++;
if (counter == 2)
{
break;
}
}
return filteredTopCandidates;
}
/// <summary>
/// Groups the hand points if closer than threshold.
/// </summary>
public static List<CameraSpacePoint> GroupHandPoints(List<int> handPointsIndexes)
{
List<CameraSpacePoint> handPoints = new List<CameraSpacePoint>();
for (int i = 0; i < handPointsIndexes.Count; i++)
{
handPoints.Add(GlobVar.SubtractedFilteredPointCloud[handPointsIndexes[i]]);
}
DisjointSet3D disjointSetHandPoints = new DisjointSet3D(handPoints);
for (int i = 0; i < handPoints.Count; i++)
{
for (int j = 0; j < handPoints.Count; j++)
{
if (i == j) { continue; };
if (GlobUtils.GetEuclideanDistance(handPoints[i], handPoints[j]) < Thresholds.HandPointGroupingMaxDistance)
{
disjointSetHandPoints.Union(i, j);
}
}
}
List<CameraSpacePoint> handCenterPoints = FilterHandCandidates(disjointSetHandPoints);
return handCenterPoints;
}
