Step counter test1

2026-08-14 18:16:55 +08:00
parent 5d07c8c8bd
commit 905400a59a
17 changed files with 1397 additions and 136 deletions
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+/**
+ * @file PoseFrame.kt
+ * @brief Time-stamped, per-frame pose snapshot buffered across a recording session.
+ */
+package com.example.jnicpp.bowling
+
+import com.google.mlkit.vision.pose.PoseLandmark
+
+/**
+ * @brief A single joint's 2D position, in the same analysis-image pixel space as [SmoothedLandmark].
+ *
+ * Deliberately drops the confidence field -- by the time a landmark becomes
+ * part of a [PoseFrame] it's already passed the
+ * [PoseSkeletonRenderer.MIN_LIKELIHOOD] gate (see [buildPoseFrame]), so
+ * downstream step-detection logic only ever sees positions worth trusting.
+ *
+ * @param x Pixel x coordinate, in analysis-image space.
+ * @param y Pixel y coordinate, in analysis-image space.
+ */
+data class LandmarkPoint(val x: Float, val y: Float)
+
+/**
+ * @brief One time-stamped sample of a bowler's pose, buffered by
+ *        [CameraViewModel] over a recording session for step-detection
+ *        logic to analyze frame-by-frame movement.
+ *
+ * Ankle/hip fields hold the position after [AnkleHipMovingAverageFilter]'s
+ * simple moving average on top of [PoseLandmarkSmoother]'s per-frame EMA --
+ * those are the joints step timing is derived from, so they get the extra
+ * jitter reduction. The matching `*Raw` fields keep the pre-SMA (but still
+ * EMA'd) position alongside it, so the smoothing can be compared against or
+ * re-tuned later without needing to re-record; [LiveStepDetector] also
+ * deliberately reads the `*Raw` fields itself for peak detection, since the
+ * heavier SMA smoothing risks flattening a footfall's brief motion. Every
+ * field is nullable because a joint isn't always reliably detected in a
+ * given frame -- see [buildPoseFrame].
+ *
+ * @param timestampMs Wall-clock time this frame was captured, in milliseconds.
+ * @param leftAnkle SMA-smoothed left ankle position, or null if unreliable.
+ * @param rightAnkle SMA-smoothed right ankle position, or null if unreliable.
+ * @param leftAnkleRaw EMA-only (pre-SMA) left ankle position, or null if unreliable.
+ * @param rightAnkleRaw EMA-only (pre-SMA) right ankle position, or null if unreliable.
+ * @param leftKnee Left knee position, or null if unreliable.
+ * @param rightKnee Right knee position, or null if unreliable.
+ * @param leftHip SMA-smoothed left hip position, or null if unreliable.
+ * @param rightHip SMA-smoothed right hip position, or null if unreliable.
+ * @param leftHipRaw EMA-only (pre-SMA) left hip position, or null if unreliable.
+ * @param rightHipRaw EMA-only (pre-SMA) right hip position, or null if unreliable.
+ * @param leftShoulder Left shoulder position, or null if unreliable.
+ * @param rightShoulder Right shoulder position, or null if unreliable.
+ * @param leftElbow Left elbow position, or null if unreliable.
+ * @param rightElbow Right elbow position, or null if unreliable.
+ * @param leftWrist Left wrist position, or null if unreliable.
+ * @param rightWrist Right wrist position, or null if unreliable.
+ * @param angles Joint angles computed for this same frame.
+ */
+data class PoseFrame(
+    val timestampMs: Long,
+    val leftAnkle: LandmarkPoint?,
+    val rightAnkle: LandmarkPoint?,
+    val leftAnkleRaw: LandmarkPoint?,
+    val rightAnkleRaw: LandmarkPoint?,
+    val leftKnee: LandmarkPoint?,
+    val rightKnee: LandmarkPoint?,
+    val leftHip: LandmarkPoint?,
+    val rightHip: LandmarkPoint?,
+    val leftHipRaw: LandmarkPoint?,
+    val rightHipRaw: LandmarkPoint?,
+    val leftShoulder: LandmarkPoint?,
+    val rightShoulder: LandmarkPoint?,
+    val leftElbow: LandmarkPoint?,
+    val rightElbow: LandmarkPoint?,
+    val leftWrist: LandmarkPoint?,
+    val rightWrist: LandmarkPoint?,
+    val angles: PoseAngles
+)
+
+/**
+ * @brief Builds a [PoseFrame] from one frame's detection results.
+ *
+ * @param timestampMs Wall-clock time this frame was captured, in milliseconds.
+ * @param landmarks EMA-smoothed landmarks for this frame, keyed by ML Kit's `PoseLandmark` type constant.
+ * @param smoothedAnkleHip SMA-smoothed ankle/hip positions for this frame,
+ *        expected to come from an [AnkleHipMovingAverageFilter] fed the
+ *        same [landmarks], keyed the same way as [landmarks] itself.
+ * @param angles Joint angles computed for this same frame.
+ * @return The assembled [PoseFrame], with each landmark field null wherever
+ *         it wasn't reliably detected.
+ */
+fun buildPoseFrame(
+    timestampMs: Long,
+    landmarks: Map<Int, SmoothedLandmark>,
+    smoothedAnkleHip: Map<Int, LandmarkPoint>,
+    angles: PoseAngles
+): PoseFrame {
+    /**
+     * @brief Looks up one landmark and converts it to a [LandmarkPoint], gated by confidence.
+     * @param type ML Kit `PoseLandmark` type constant to look up.
+     * @return The landmark's position, or null if missing or below [PoseSkeletonRenderer.MIN_LIKELIHOOD].
+     */
+    fun point(type: Int): LandmarkPoint? {
+        val landmark = landmarks[type] ?: return null
+        if (landmark.inFrameLikelihood < PoseSkeletonRenderer.MIN_LIKELIHOOD) return null
+        return LandmarkPoint(landmark.x, landmark.y)
+    }
+
+    return PoseFrame(
+        timestampMs = timestampMs,
+        leftAnkle = smoothedAnkleHip[PoseLandmark.LEFT_ANKLE],
+        rightAnkle = smoothedAnkleHip[PoseLandmark.RIGHT_ANKLE],
+        leftAnkleRaw = point(PoseLandmark.LEFT_ANKLE),
+        rightAnkleRaw = point(PoseLandmark.RIGHT_ANKLE),
+        leftKnee = point(PoseLandmark.LEFT_KNEE),
+        rightKnee = point(PoseLandmark.RIGHT_KNEE),
+        leftHip = smoothedAnkleHip[PoseLandmark.LEFT_HIP],
+        rightHip = smoothedAnkleHip[PoseLandmark.RIGHT_HIP],
+        leftHipRaw = point(PoseLandmark.LEFT_HIP),
+        rightHipRaw = point(PoseLandmark.RIGHT_HIP),
+        leftShoulder = point(PoseLandmark.LEFT_SHOULDER),
+        rightShoulder = point(PoseLandmark.RIGHT_SHOULDER),
+        leftElbow = point(PoseLandmark.LEFT_ELBOW),
+        rightElbow = point(PoseLandmark.RIGHT_ELBOW),
+        leftWrist = point(PoseLandmark.LEFT_WRIST),
+        rightWrist = point(PoseLandmark.RIGHT_WRIST),
+        angles = angles
+    )
+}