public KinectDepthImageTexture(KinectDevice device, KinectDepthImageType type)
{
m_Device = device;
m_ImageType = type;
m_Image = new ImageBox(null);
}
public KinectColorImageTexture(KinectDevice device)
{
m_Device = device;
m_Image = new ImageBox(null);
m_Image.FlipHorizontal = true;
}
public MainModel()
{
mKinect = KinectDevice.Instance;
mWindow = (MainWindow)System.Windows.Application.Current.MainWindow;
//mVoiceControl = VoiceControl.Instance();
speechRecognizer = SpeechRecognizer.Create(); //returns null if problem with speech prereqs or instantiation.
if (speechRecognizer != null)
{
speechRecognizer.Start(new KinectAudioSource()); //KinectSDK TODO: expose Runtime.AudioSource to return correct audiosource.
speechRecognizer.SaidSomething += new EventHandler <SpeechRecognizer.SaidSomethingEventArgs>(recognizer_SaidSomething);
}
mSkeleton = mKinect.mSkeleton;
mGraphPlot = mWindow.theGraphPlot.vm;
mCurrentModeState = ModeState.TrackingMode;
mWindow.IndicatorPan.TrackingButton.IsChecked = true;
UpdateMode((int)ModeState.TrackingMode);
mSelectedJoint = "Head";
ChangeCurrentJoint(mSelectedJoint);
mLineGraphing = new LineGraphing();
mParabolaGraphing = new ParabolaGraphing();
mSineGraphing = new SineGraphing();
mAllowLineEdit = false;
mAllowParabolaEdit = false;
mAllowSineEdit = false;
mRandom = new Random();
}
private void DrawFace()
{
for (int i = 0; i < FaceModel.VertexCount; i++)
{
Vector3 point = Target.ToVector3(KinectDevice.GetNeckLocalFacePoint(i));
Debug.DrawRay(headTarget.neck.target.transform.position + headTarget.neck.target.transform.rotation * point, Vector3.forward * 0.01F);
}
}
protected void UpdateBones(HeadSensor sensor)
{
if (headTarget.head.target.confidence.position > KinectDevice.TrackingConfidence(KinectDevice.JointID.Head))
{
if (headTarget.humanoid.leftHandTarget.hand.target.confidence.position > KinectDevice.TrackingConfidence(KinectDevice.JointID.WristLeft) &&
headTarget.humanoid.rightHandTarget.hand.target.confidence.position > KinectDevice.TrackingConfidence(KinectDevice.JointID.WristRight))
{
CalibrateWithHeadAndHands();
}
else
{
CalibrateWithHead();
}
return;
}
//if (headTarget.head.target.confidence.rotation > 0) {
// headTarget.head.target.transform.rotation = Kinect2Tracker.SmoothRotation(headTarget.head.target.transform.rotation, sensor.head.rotation);
// headTarget.head.target.confidence.rotation = sensor.head.confidence.rotation;
// headTarget.head.target.transform.position = Kinect2Tracker.SmoothPosition(headTarget.head.target.transform.position, sensor.head.position);
// headTarget.head.target.confidence.position = sensor.head.confidence.position;
//}
//if (headTarget.neck.target.confidence.rotation > 0) {
// headTarget.neck.target.transform.rotation = Kinect2Tracker.SmoothRotation(headTarget.neck.target.transform.rotation, sensor.neck.rotation);
// headTarget.neck.target.confidence.rotation = sensor.neck.confidence.rotation;
// headTarget.neck.target.transform.position = Kinect2Tracker.SmoothPosition(headTarget.neck.target.transform.position, sensor.neck.position);
// headTarget.neck.target.confidence.position = sensor.neck.confidence.position;
//}
else
{
if (headTarget.neck.target.transform != null)
{
headTarget.neck.target.transform.position = Target.ToVector3(sensor.neck.position);
headTarget.neck.target.transform.rotation = Target.ToQuaternion(sensor.neck.rotation);
headTarget.neck.target.confidence = sensor.neck.confidence;
}
if (headTarget.head.target.transform != null)
{
headTarget.head.target.transform.position = Target.ToVector3(sensor.head.position);
headTarget.head.target.transform.rotation = Target.ToQuaternion(sensor.head.rotation);
headTarget.head.target.confidence = sensor.head.confidence;
}
if (rotationTrackingAxis == RotationTrackingAxis.XY)
{
headTarget.head.target.transform.rotation = Quaternion.LookRotation(headTarget.head.target.transform.rotation * Vector3.forward);
}
}
if (headTarget.virtual3d)
{
UpdateVirtual3D();
}
}
public override void UpdateTracker()
{
if (!enabled)
{
return;
}
//status = kinectTransform.status;
if (trackerTransform != null)
{
if (KinectDevice.status == Status.Unavailable)
{
trackerTransform.gameObject.SetActive(false);
}
else
{
trackerTransform.gameObject.SetActive(true);
}
}
if (KinectDevice.status != Status.Unavailable)
{
if ((humanoid.headTarget.kinect.status == Status.Tracking) ||
(humanoid.leftHandTarget.kinect.status == Status.Tracking) ||
(humanoid.rightHandTarget.kinect.status == Status.Tracking) ||
(humanoid.hipsTarget.kinect.status == Status.Tracking) ||
(humanoid.leftFootTarget.kinect.status == Status.Tracking) ||
(humanoid.rightFootTarget.kinect.status == Status.Tracking))
{
status = Status.Tracking;
}
else
{
status = Status.Present;
}
}
else
{
status = Status.Unavailable;
}
if (trackerTransform != null)
{
kinectDevice.position = Target.ToVector(trackerTransform.position);
kinectDevice.orientation = Target.ToRotation(trackerTransform.rotation);
//device.position = trackerTransform.position;
//device.rotation = trackerTransform.rotation;
}
//device.Update();
//status = kinectTransform.status;
KinectDevice.Update();
}
private void UpdateBones()
{
head.position = kinectDevice.GetTargetPosition(KinectDevice.JointID.Head);
head.confidence.position = KinectDevice.TrackingConfidence(KinectDevice.JointID.Head);
Rotation localRotation = KinectDevice.GetHeadOrientation();
head.rotation = device.ToWorldOrientation(localRotation);
head.confidence.rotation = 0.6F;
neck.position = kinectDevice.GetTargetPosition(KinectDevice.JointID.Neck);
neck.confidence.position = KinectDevice.TrackingConfidence(KinectDevice.JointID.Neck);
neck.rotation = head.rotation;
neck.confidence.rotation = 0.6F;
}
public override Status Update()
{
if (!KinectDevice.JointIsTracked(KinectDevice.JointID.Neck))
{
status = Status.Present;
return(status);
}
status = Status.Tracking;
if (headTracking)
{
UpdateBones();
}
return(status);
}
public int volumethreshold = 9; // Used to determine when the volule is enough high to be a peak (volume between 0 and 13-14)
#endregion
#region Constructor
/// <summary>
/// Instantiates a Pitch object
/// </summary>
public Pitch(KinectDevice kd)
{
this.recordingFormat = new WaveFormat(44100, 1);
this.pitchList = new List <float>();
this.pitchRecorded = new List <float>();
this.sent = false;
this.isRecording = false;
this.kinect = kd;
i = 0;
AudioAnalysis.FFT.reflexEvent += switchSendEvent;
Length = 500;
Threshold = 20.0;
ThresholdVariation = 50.0;
minFrequency = 10.0;
maxFrequency = 130.0;
instance = this;
}
public override void StartTracker(HumanoidControl _humanoid)
{
_humanoid = humanoid;
if (!enabled)
{
return;
}
AddTracker(humanoid);
KinectDevice.Start();
//device = new KinectInterface();
//device.Init();
//kinectTransform = device.GetTracker();
//status = kinectTransform.status;
}
public override Status Update()
{
if (!KinectDevice.JointIsTracked(KinectDevice.JointID.HipCenter))
{
status = Status.Present;
return(status);
}
status = Status.Tracking;
hips.position = kinectDevice.GetTargetPosition(KinectDevice.JointID.HipCenter);
hips.confidence.position = KinectDevice.TrackingConfidence(KinectDevice.JointID.HipCenter);
chest.position = kinectDevice.GetTargetPosition(KinectDevice.JointID.SpineShoulder);
chest.confidence.position = KinectDevice.TrackingConfidence(KinectDevice.JointID.SpineShoulder);
Vector lHipPosition = kinectDevice.GetTargetPosition(KinectDevice.JointID.HipLeft);
Vector rHipPosition = kinectDevice.GetTargetPosition(KinectDevice.JointID.HipRight);
Vector lrDirection = rHipPosition - lHipPosition;
Vector lrDirection2 = Rotation.AngleAxis(90, Vector.forward) * lrDirection;
Vector direction = chest.position - hips.position;
hips.rotation = kinectDevice.ToWorldOrientation(Rotation_.FromToRotation(direction, lrDirection2) * Rotation.AngleAxis(180, Vector.up));
hips.confidence.rotation = 0.8F;
hips.length = Vector.Magnitude(hips.position - chest.position);
hips.confidence.length = 0.6F;
Vector neckPosition = kinectDevice.GetTargetPosition(KinectDevice.JointID.Neck);
chest.rotation = CalculateBoneRotation(neckPosition, chest.position, hips.rotation * Vector.forward) * Rotation.AngleAxis(90, Vector.right) * Rotation.AngleAxis(180, Vector.up);
chest.confidence.rotation = 0.8F;
chest.length = Vector.Magnitude(neckPosition - chest.position);
chest.confidence.length = 0.6F;
return(status);
}
public KinectDeviceViewModel()
{
kinectDevice = new KinectDevice();
}
public KinectFieldImage(CompositeFieldImage owner, KinectDevice device)
{
// assign the parent
m_Parent = owner;
// assign the device
m_Device = device;
// calculate size from the resilution of the device
m_Stride = KinectHelper.GetWidthForResolution(m_Device.DepthResolution);
m_Width = m_Stride - 8;
m_Height = KinectHelper.GetHeightForResolution(m_Device.DepthResolution);
int size = m_Stride * m_Height;
// create array for the feild data
m_FieldData = new double[size];
// create arrays for blending and clip maps
m_BlendingMap = new double[size];
m_DepthClippingMap = new double[size];
}
public override void StopTracker()
{
//if (device != null)
// device.Stop();
KinectDevice.Stop();
}
private void UpdateEyelids(FaceTarget face)
{
face.leftEye.closed = Mathf.Clamp01(KinectDevice.GetFaceExpression(KinectDevice.FaceExpression.EyeClosedLeft) * 4 - 2.5F);
face.rightEye.closed = Mathf.Clamp01(KinectDevice.GetFaceExpression(KinectDevice.FaceExpression.EyeClosedRight) * 4 - 2.5F);
}
public void RegisterDevice(KinectDevice device)
{
KinectFieldImage image = new KinectFieldImage(this, device);
Images.Add(image);
}
public void Load_KinectCamera()
{
mKinect = KinectDevice.Instance;
this.FloatingWindowSize = new Size(640, 480);
//this.ShowAsFloatingWindow(false);
}
