static void Main(string[] args)
{
Dictionary<string, string> actions = new Dictionary<string, string>();
actions["raise the roof"] = "raisetheroof";
actions["walk forward"] = "walkforward";
actions["walk left"] = "walkleft";
actions["wave right"] = "waveright";
actions["wave left"] = "waveleft";
string filename = "Z:/dev/kinect-nao/recordings/";
ActionLibrary lib = new ActionLibrary();
foreach (string actionName in actions.Keys)
{
List<HumanSkeleton> seq = new List<HumanSkeleton>();
using (StreamReader s = new StreamReader(filename + actions[actionName] + "/"
+ actionName + "1.rec"))
{
while (!s.EndOfStream)
{
seq.Add(new HumanSkeleton(s.ReadLine()));
}
}
//List<float[]> naoSeq = new List<float[]>();
ActionSequence<NaoSkeleton> naoSeq = new ActionSequence<NaoSkeleton>();
foreach (HumanSkeleton h in seq)
{
AngleConverter ac = new AngleConverter(h);
naoSeq.append(ac.getNaoSkeleton());
//naoSeq.Add(ac.getAngles());
}
lib.appendToCache(naoSeq);
lib.setCachedName(actionName);
lib.saveCache();
//bool isJointAction = true; // false if is a walking action
//ExecuteOnNao(naoSeq, isJointAction);
}
lib.save(MainController.ACTION_LIB_PATH);
}