Add MocapNET

2026-10-15 00:03:06 +00:00 · 2023-12-15 04:22:41 +05:30
parent 8434144ded
commit 65e8934d5e
336 changed files with 100584 additions and 0 deletions
@@ -0,0 +1,180 @@
+#include "poseRecognition.hpp"
+#include "../mocapnet2.hpp"
+#include "../tools.hpp"
+#include "../IO/bvh.hpp"
+#include "../IO/csvRead.hpp"
+
+
+#define NORMAL   "\033[0m"
+#define BLACK   "\033[30m"      /* Black */
+#define RED     "\033[31m"      /* Red */
+#define GREEN   "\033[32m"      /* Green */
+#define YELLOW  "\033[33m"      /* Yellow */
+
+
+
+
+int loadPoses(struct PoseDatabase * poseDB)
+{
+    unsigned  int poseID;
+    char posePath[512]= {0};
+
+    poseDB->poseChecksPerformed=0;
+
+    for (poseID=0; poseID<hardcodedPoseNumber; poseID++)
+        {
+            snprintf(posePath,512,"dataset/poses/%s",hardcodedPoseName[poseID]);
+            fprintf(stderr,"Loading Pose %u -> %s  : ",poseID,posePath);
+
+          std::vector<std::vector<float> >  bvhFileLoaded = loadBVHFileMotionFrames(posePath); 
+          
+          if (bvhFileLoaded.size()==0)
+          { 
+            fprintf(stderr,RED "Pose %u -> %s  is corrupted\n" NORMAL,poseID,posePath);
+          } else
+          {
+              poseDB->pose[poseID].pose=bvhFileLoaded[0]; 
+             if (bvhFileLoaded.size()>1)
+             {
+                fprintf(stderr,YELLOW "Pose %u -> %s  has more than one frames\n" NORMAL,poseID,posePath); 
+             }
+          }
+          
+            
+            if (poseDB->pose[poseID].pose.size()>0)
+                {
+                    fprintf(stderr,"Pose %s has %lu frames with %lu fields each\n",posePath,poseDB->pose[poseID].pose.size(),poseDB->pose[poseID].pose.size());
+                    poseDB->pose[poseID].loaded=1;
+                    poseDB->pose[poseID].poseCallback=0;
+                    snprintf(poseDB->pose[poseID].label,128,"%s",hardcodedPoseName[poseID]);
+                    poseDB->numberOfLoadedPoses +=1;
+                    
+                    fprintf(stderr,GREEN "Success , loaded a pose with %lu values\n" NORMAL,poseDB->pose[poseID].pose.size());
+                }
+            else
+                {
+                    fprintf(stderr,RED "Failure\n" NORMAL);
+                }
+
+        }
+
+    return  (poseDB->numberOfLoadedPoses>0);
+}
+
+
+int areTwoBVHFramesCloseEnough(std::vector<float> vecA,std::vector<float> vecB,std::vector<char> active,float threshold)
+{  
+    if (vecA.size()!=vecB.size())
+        {
+            fprintf(stderr,"areTwoBVHFramesCloseEnough cannot compare different sized vectors..\n");
+            return 0;
+        }
+
+
+    //Always skip X pos, Y pos, Z pos , and rotation
+    for (int i=6; i<vecA.size(); i++)
+        {
+            float difference=abs(vecA[i]-vecB[i]);
+
+            if (active.size()==0)
+                {
+                    //If there is no active vector consider all joints as active..
+                    if (difference>threshold)
+                        {
+                            return 0;
+                        }
+                }
+            else
+                {
+                    if (i>=active.size())
+                        {
+                            fprintf(stderr,RED "Failure comparing bvh frames due to short activeJoint vector\n" NORMAL);
+                            return 0;
+                        }
+                    else
+                        {
+                            if ( (active[i]) && (difference>threshold) )
+                                {
+                                    return 0;
+                                }
+                        }
+                }
+        }
+
+
+    return 1;
+}
+
+
+
+int getBVHFramesMSE(std::vector<float> vecA,std::vector<float> vecB,std::vector<char> active)
+{
+    if (vecA.size()!=vecB.size())
+        {
+            fprintf(stderr,"areTwoBVHFramesCloseEnough cannot compare different sized vectors..\n");
+            return 0;
+        }
+    
+    unsigned int samples=0;
+    float total=0.0;
+
+    //Always skip X pos, Y pos, Z pos , and rotation
+    for (int i=6; i<vecA.size(); i++)
+        {
+            float difference=abs(vecA[i]-vecB[i]);
+
+            if (active.size()==0)
+                {
+                    ++samples;
+                    total += difference * difference;
+                    //If there is no active vector consider all joints as active.. 
+                }
+            else
+                {
+                    if (i>=active.size())
+                        {
+                            fprintf(stderr,RED "Failure comparing bvh frames due to short activeJoint vector\n" NORMAL);
+                            return 0;
+                        }
+                    else
+                        if ( (active[i])  )
+                                {
+                                   ++samples;
+                                    total += difference * difference;
+                                } 
+                }
+        }
+        
+    return total/samples;
+}
+
+
+
+int isThisPoseFamiliar(
+    struct PoseDatabase * poseDB,
+    std::vector<float> currentPose,
+    float percentageForDetection,
+    float threshold
+)
+{
+    std::vector<char> active;
+    
+    if (poseDB!=0)
+    {
+        for (unsigned int poseID=0; poseID<poseDB->numberOfLoadedPoses; poseID++)
+        {
+            
+            float thisD = getBVHFramesMSE(currentPose,poseDB->pose[poseID].pose,active);
+                fprintf(stderr,GREEN "Difference from pose %u ( %s  = %0.2f ) \n" NORMAL,poseID,hardcodedPoseName[poseID],thisD);
+            
+            if ( areTwoBVHFramesCloseEnough(currentPose,poseDB->pose[poseID].pose,active,threshold))
+            {
+                fprintf(stderr,GREEN "Detected pose %u ( %s ) \n" NORMAL,poseID,hardcodedPoseName[poseID]);
+                return poseID;
+            }     
+        } 
+    }
+    
+    fprintf(stderr,YELLOW "Not a familiar pose \n" NORMAL);
+    return 0;
+}