private void HandsController_HandsDetected(object sender, HandCollection e)
{
// Display the results!
if (e.HandLeft != null)
{
// Draw contour.
foreach (var point in e.HandLeft.ContourDepth)
{
DrawEllipse(point, Brushes.Green, 2.0);
}
// Draw fingers.
foreach (var finger in e.HandLeft.Fingers)
{
DrawEllipse(finger.DepthPoint, Brushes.White, 4.0);
}
}
if (e.HandRight != null)
{
// Draw contour.
foreach (var point in e.HandRight.ContourDepth)
{
DrawEllipse(point, Brushes.Blue, 2.0);
}
// Draw fingers.
foreach (var finger in e.HandRight.Fingers)
{
DrawEllipse(finger.DepthPoint, Brushes.White, 4.0);
}
}
}
/// <summary>
/// Updates the finger-detection engine with the new data.
/// </summary>
/// <param name="data">A pointer to an array of depth data.</param>
/// <param name="body">The body to search for hands and fingers.</param>
public unsafe void Update(ushort *data, Body body)
{
if (data == null || body == null)
{
return;
}
if (DepthWidth == 0)
{
DepthWidth = DEFAULT_DEPTH_WIDTH;
}
if (DepthHeight == 0)
{
DepthHeight = DEFAULT_DEPTH_HEIGHT;
}
if (_handPixelsLeft == null)
{
_handPixelsLeft = new byte[DepthWidth * DepthHeight];
}
if (_handPixelsRight == null)
{
_handPixelsRight = new byte[DepthWidth * DepthHeight];
}
//Hand handLeft = null;
Hand handRight = null;
//Joint jointHandLeft = body.Joints[JointType.HandLeft];
Joint jointHandRight = body.Joints[JointType.HandRight];
//Joint jointWristLeft = body.Joints[JointType.WristLeft];
Joint jointWristRight = body.Joints[JointType.WristRight];
//Joint jointTipLeft = body.Joints[JointType.HandTipLeft];
Joint jointTipRight = body.Joints[JointType.HandTipRight];
//Joint jointThumbLeft = body.Joints[JointType.ThumbLeft];
Joint jointThumbRight = body.Joints[JointType.ThumbRight];
// DepthSpacePoint depthPointHandLeft = CoordinateMapper.MapCameraPointToDepthSpace(jointHandLeft.Position);
// DepthSpacePoint depthPointWristLeft = CoordinateMapper.MapCameraPointToDepthSpace(jointWristLeft.Position);
//DepthSpacePoint depthPointTipLeft = CoordinateMapper.MapCameraPointToDepthSpace(jointTipLeft.Position);
//DepthSpacePoint depthPointThumbLeft = CoordinateMapper.MapCameraPointToDepthSpace(jointThumbLeft.Position);
DepthSpacePoint depthPointHandRight = CoordinateMapper.MapCameraPointToDepthSpace(jointHandRight.Position);
DepthSpacePoint depthPointWristRight = CoordinateMapper.MapCameraPointToDepthSpace(jointWristRight.Position);
DepthSpacePoint depthPointTipRight = CoordinateMapper.MapCameraPointToDepthSpace(jointTipRight.Position);
DepthSpacePoint depthPointThumbRight = CoordinateMapper.MapCameraPointToDepthSpace(jointThumbRight.Position);
//float handLeftX = depthPointHandLeft.X;
//float handLeftY = depthPointHandLeft.Y;
//float wristLeftX = depthPointWristLeft.X;
//float wristLeftY = depthPointWristLeft.Y;
//float tipLeftX = depthPointTipLeft.X;
//float tipLeftY = depthPointTipLeft.Y;
//float thumbLeftX = depthPointThumbLeft.X;
//float thumbLeftY = depthPointThumbLeft.Y;
float handRightX = depthPointHandRight.X;
float handRightY = depthPointHandRight.Y;
float wristRightX = depthPointWristRight.X;
float wristRightY = depthPointWristRight.Y;
float tipRightX = depthPointTipRight.X;
float tipRightY = depthPointTipRight.Y;
float thumbRightX = depthPointThumbRight.X;
float thumbRightY = depthPointThumbRight.Y;
// bool searchForLeftHand = DetectLeftHand && !float.IsInfinity(handLeftX) && !float.IsInfinity(handLeftY) && !float.IsInfinity(wristLeftX) && !float.IsInfinity(wristLeftY) && !float.IsInfinity(tipLeftX) && !float.IsInfinity(tipLeftY) && !float.IsInfinity(thumbLeftX) && !float.IsInfinity(thumbLeftY);
bool searchForRightHand = DetectRightHand && !float.IsInfinity(handRightX) && !float.IsInfinity(handRightY) && !float.IsInfinity(wristRightX) && !float.IsInfinity(wristRightY) && !float.IsInfinity(tipRightX) && !float.IsInfinity(tipRightY) && !float.IsInfinity(thumbRightX) && !float.IsInfinity(thumbRightY);
this.fingers = new List <DepthPointEx>();
//if (searchForLeftHand || searchForRightHand)
if (searchForRightHand)
{
//double distanceLeft = searchForLeftHand ? CalculateDistance(handLeftX, handLeftY, tipLeftX, tipLeftY, thumbLeftX, thumbLeftY) : 0.0;
double distanceRight = searchForRightHand ? CalculateDistance(handRightX, handRightY, tipRightX, tipRightY, thumbRightX, thumbRightY) : 0.0;
//double angleLeft = searchForLeftHand ? DepthPointEx.Angle(wristLeftX, wristLeftY, wristLeftX, 0, handLeftX, handLeftY) : 0.0;
double angleRight = searchForRightHand ? DepthPointEx.Angle(wristRightX, wristRightY, wristRightX, 0, handRightX, handRightY) : 0.0;
//int minLeftX = searchForLeftHand ? (int)(handLeftX - distanceLeft) : 0;
//int minLeftY = searchForLeftHand ? (int)(handLeftY - distanceLeft) : 0;
//int maxLeftX = searchForLeftHand ? (int)(handLeftX + distanceLeft) : 0;
//int maxLeftY = searchForLeftHand ? (int)(handLeftY + distanceLeft) : 0;
int minRightX = searchForRightHand ? (int)(handRightX - distanceRight) : 0;
int minRightY = searchForRightHand ? (int)(handRightY - distanceRight) : 0;
int maxRightX = searchForRightHand ? (int)(handRightX + distanceRight) : 0;
int maxRightY = searchForRightHand ? (int)(handRightY + distanceRight) : 0;
//float depthLeft = jointHandLeft.Position.Z * 1000; // m to mm
float depthRight = jointHandRight.Position.Z * 1000;
for (int i = 0; i < DepthWidth * DepthHeight; ++i)
{
ushort depth = data[i];
int depthX = i % DepthWidth;
int depthY = i / DepthWidth;
bool isInBounds = depth >= MIN_DEPTH && depth <= MAX_DEPTH;
//bool conditionLeft = depth >= depthLeft - DEPTH_THRESHOLD &&
// depth <= depthLeft + DEPTH_THRESHOLD &&
// depthX >= minLeftX && depthX <= maxLeftX &&
// depthY >= minLeftY && depthY <= maxLeftY;
bool conditionRight = depth >= depthRight - DEPTH_THRESHOLD &&
depth <= depthRight + DEPTH_THRESHOLD &&
depthX >= minRightX && depthX <= maxRightX &&
depthY >= minRightY && depthY <= maxRightY;
//_handPixelsLeft[i] = (byte)(isInBounds && searchForLeftHand && conditionLeft ? 255 : 0);
_handPixelsRight[i] = (byte)(isInBounds && searchForRightHand && conditionRight ? 255 : 0);
}
List <DepthPointEx> contourLeft = new List <DepthPointEx>();
List <DepthPointEx> contourRight = new List <DepthPointEx>();
for (int i = 0; i < DepthWidth * DepthHeight; ++i)
{
ushort depth = data[i];
int depthX = i % DepthWidth;
int depthY = i / DepthWidth;
//if (searchForLeftHand)
//{
// if (_handPixelsLeft[i] != 0)
// {
// byte top = i - DepthWidth >= 0 ? _handPixelsLeft[i - DepthWidth] : (byte)0;
// byte bottom = i + DepthWidth < _handPixelsLeft.Length ? _handPixelsLeft[i + DepthWidth] : (byte)0;
// byte left = i - 1 >= 0 ? _handPixelsLeft[i - 1] : (byte)0;
// byte right = i + 1 < _handPixelsLeft.Length ? _handPixelsLeft[i + 1] : (byte)0;
// bool isInContour = top == 0 || bottom == 0 || left == 0 || right == 0;
// if (isInContour)
// {
// contourLeft.Add(new DepthPointEx { X = depthX, Y = depthY, Z = depth });
// }
// }
//}
if (searchForRightHand)
{
if (_handPixelsRight[i] != 0)
{
byte top = i - DepthWidth >= 0 ? _handPixelsRight[i - DepthWidth] : (byte)0;
byte bottom = i + DepthWidth < _handPixelsRight.Length ? _handPixelsRight[i + DepthWidth] : (byte)0;
byte left = i - 1 >= 0 ? _handPixelsRight[i - 1] : (byte)0;
byte right = i + 1 < _handPixelsRight.Length ? _handPixelsRight[i + 1] : (byte)0;
bool isInContour = top == 0 || bottom == 0 || left == 0 || right == 0;
if (isInContour)
{
contourRight.Add(new DepthPointEx {
X = depthX, Y = depthY, Z = depth
});
}
}
}
}
//if (searchForLeftHand)
//{
// handLeft = GetHand(body.TrackingId, body.HandLeftState, contourLeft, angleLeft, wristLeftX, wristLeftY, false, handLeftX, handLeftY);
//}
if (searchForRightHand)
{
handRight = GetHand(body.TrackingId, body.HandRightState, contourRight, angleRight, wristRightX, wristRightY, true, handRightX, handRightY);
}
}
//if (handLeft != null || handRight != null)
if (handRight != null)
{
HandCollection hands = new HandCollection
{
TrackingId = body.TrackingId,
//HandLeft = handLeft,
HandRight = handRight
};
if (HandsDetected != null)
{
HandsDetected(this, hands);
}
}
}
/// <summary>
/// Updates the finger-detection engine with the new data.
/// </summary>
/// <param name="data">A pointer to an array of depth data.</param>
/// <param name="body">The body to search for hands and fingers.</param>
public unsafe void Update(ushort* data, Body body)
{
if (data == null || body == null) return;
if (DepthWidth == 0)
{
DepthWidth = DEFAULT_DEPTH_WIDTH;
}
if (DepthHeight == 0)
{
DepthHeight = DEFAULT_DEPTH_HEIGHT;
}
if (_handPixelsLeft == null)
{
_handPixelsLeft = new byte[DepthWidth * DepthHeight];
}
if (_handPixelsRight == null)
{
_handPixelsRight = new byte[DepthWidth * DepthHeight];
}
Hand handLeft = null;
Hand handRight = null;
Joint jointHandLeft = body.Joints[JointType.HandLeft];
Joint jointHandRight = body.Joints[JointType.HandRight];
Joint jointWristLeft = body.Joints[JointType.WristLeft];
Joint jointWristRight = body.Joints[JointType.WristRight];
Joint jointTipLeft = body.Joints[JointType.HandTipLeft];
Joint jointTipRight = body.Joints[JointType.HandTipRight];
Joint jointThumbLeft = body.Joints[JointType.ThumbLeft];
Joint jointThumbRight = body.Joints[JointType.ThumbRight];
DepthSpacePoint depthPointHandLeft = CoordinateMapper.MapCameraPointToDepthSpace(jointHandLeft.Position);
DepthSpacePoint depthPointWristLeft = CoordinateMapper.MapCameraPointToDepthSpace(jointWristLeft.Position);
DepthSpacePoint depthPointTipLeft = CoordinateMapper.MapCameraPointToDepthSpace(jointTipLeft.Position);
DepthSpacePoint depthPointThumbLeft = CoordinateMapper.MapCameraPointToDepthSpace(jointThumbLeft.Position);
DepthSpacePoint depthPointHandRight = CoordinateMapper.MapCameraPointToDepthSpace(jointHandRight.Position);
DepthSpacePoint depthPointWristRight = CoordinateMapper.MapCameraPointToDepthSpace(jointWristRight.Position);
DepthSpacePoint depthPointTipRight = CoordinateMapper.MapCameraPointToDepthSpace(jointTipRight.Position);
DepthSpacePoint depthPointThumbRight = CoordinateMapper.MapCameraPointToDepthSpace(jointThumbRight.Position);
float handLeftX = depthPointHandLeft.X;
float handLeftY = depthPointHandLeft.Y;
float wristLeftX = depthPointWristLeft.X;
float wristLeftY = depthPointWristLeft.Y;
float tipLeftX = depthPointTipLeft.X;
float tipLeftY = depthPointTipLeft.Y;
float thumbLeftX = depthPointThumbLeft.X;
float thumbLeftY = depthPointThumbLeft.Y;
float handRightX = depthPointHandRight.X;
float handRightY = depthPointHandRight.Y;
float wristRightX = depthPointWristRight.X;
float wristRightY = depthPointWristRight.Y;
float tipRightX = depthPointTipRight.X;
float tipRightY = depthPointTipRight.Y;
float thumbRightX = depthPointThumbRight.X;
float thumbRightY = depthPointThumbRight.Y;
bool searchForLeftHand = DetectLeftHand && !float.IsInfinity(handLeftX) && !float.IsInfinity(handLeftY) && !float.IsInfinity(wristLeftX) && !float.IsInfinity(wristLeftY) && !float.IsInfinity(tipLeftX) && !float.IsInfinity(tipLeftY) && !float.IsInfinity(thumbLeftX) && !float.IsInfinity(thumbLeftY);
bool searchForRightHand = DetectRightHand && !float.IsInfinity(handRightX) && !float.IsInfinity(handRightY) && !float.IsInfinity(wristRightX) && !float.IsInfinity(wristRightY) && !float.IsInfinity(tipRightX) && !float.IsInfinity(tipRightY) && !float.IsInfinity(thumbRightX) && !float.IsInfinity(thumbRightY);
this.fingers = new List<DepthPointEx>();
if (searchForLeftHand || searchForRightHand)
{
double distanceLeft = searchForLeftHand ? CalculateDistance(handLeftX, handLeftY, tipLeftX, tipLeftY, thumbLeftX, thumbLeftY) : 0.0;
double distanceRight = searchForRightHand ? CalculateDistance(handRightX, handRightY, tipRightX, tipRightY, thumbRightX, thumbRightY) : 0.0;
double angleLeft = searchForLeftHand ? DepthPointEx.Angle(wristLeftX, wristLeftY, wristLeftX, 0, handLeftX, handLeftY) : 0.0;
double angleRight = searchForRightHand ? DepthPointEx.Angle(wristRightX, wristRightY, wristRightX, 0, handRightX, handRightY) : 0.0;
int minLeftX = searchForLeftHand ? (int)(handLeftX - distanceLeft) : 0;
int minLeftY = searchForLeftHand ? (int)(handLeftY - distanceLeft) : 0;
int maxLeftX = searchForLeftHand ? (int)(handLeftX + distanceLeft) : 0;
int maxLeftY = searchForLeftHand ? (int)(handLeftY + distanceLeft) : 0;
int minRightX = searchForRightHand ? (int)(handRightX - distanceRight) : 0;
int minRightY = searchForRightHand ? (int)(handRightY - distanceRight) : 0;
int maxRightX = searchForRightHand ? (int)(handRightX + distanceRight) : 0;
int maxRightY = searchForRightHand ? (int)(handRightY + distanceRight) : 0;
float depthLeft = jointHandLeft.Position.Z * 1000; // m to mm
float depthRight = jointHandRight.Position.Z * 1000;
for (int i = 0; i < DepthWidth * DepthHeight; ++i)
{
ushort depth = data[i];
int depthX = i % DepthWidth;
int depthY = i / DepthWidth;
bool isInBounds = depth >= MIN_DEPTH && depth <= MAX_DEPTH;
bool conditionLeft = depth >= depthLeft - DEPTH_THRESHOLD &&
depth <= depthLeft + DEPTH_THRESHOLD &&
depthX >= minLeftX && depthX <= maxLeftX &&
depthY >= minLeftY && depthY <= maxLeftY;
bool conditionRight = depth >= depthRight - DEPTH_THRESHOLD &&
depth <= depthRight + DEPTH_THRESHOLD &&
depthX >= minRightX && depthX <= maxRightX &&
depthY >= minRightY && depthY <= maxRightY;
_handPixelsLeft[i] = (byte)(isInBounds && searchForLeftHand && conditionLeft ? 255 : 0);
_handPixelsRight[i] = (byte)(isInBounds && searchForRightHand && conditionRight ? 255 : 0);
}
List<DepthPointEx> contourLeft = new List<DepthPointEx>();
List<DepthPointEx> contourRight = new List<DepthPointEx>();
for (int i = 0; i < DepthWidth * DepthHeight; ++i)
{
ushort depth = data[i];
int depthX = i % DepthWidth;
int depthY = i / DepthWidth;
if (searchForLeftHand)
{
if (_handPixelsLeft[i] != 0)
{
byte top = i - DepthWidth >= 0 ? _handPixelsLeft[i - DepthWidth] : (byte)0;
byte bottom = i + DepthWidth < _handPixelsLeft.Length ? _handPixelsLeft[i + DepthWidth] : (byte)0;
byte left = i - 1 >= 0 ? _handPixelsLeft[i - 1] : (byte)0;
byte right = i + 1 < _handPixelsLeft.Length ? _handPixelsLeft[i + 1] : (byte)0;
bool isInContour = top == 0 || bottom == 0 || left == 0 || right == 0;
if (isInContour)
{
contourLeft.Add(new DepthPointEx { X = depthX, Y = depthY, Z = depth });
}
}
}
if (searchForRightHand)
{
if (_handPixelsRight[i] != 0)
{
byte top = i - DepthWidth >= 0 ? _handPixelsRight[i - DepthWidth] : (byte)0;
byte bottom = i + DepthWidth < _handPixelsRight.Length ? _handPixelsRight[i + DepthWidth] : (byte)0;
byte left = i - 1 >= 0 ? _handPixelsRight[i - 1] : (byte)0;
byte right = i + 1 < _handPixelsRight.Length ? _handPixelsRight[i + 1] : (byte)0;
bool isInContour = top == 0 || bottom == 0 || left == 0 || right == 0;
if (isInContour)
{
contourRight.Add(new DepthPointEx { X = depthX, Y = depthY, Z = depth });
}
}
}
}
if (searchForLeftHand)
{
handLeft = GetHand(body.TrackingId, body.HandLeftState, contourLeft, angleLeft, wristLeftX, wristLeftY,false);
}
if (searchForRightHand)
{
handRight = GetHand(body.TrackingId, body.HandRightState, contourRight, angleRight, wristRightX, wristRightY,true);
}
}
if (handLeft != null || handRight != null)
{
HandCollection hands = new HandCollection
{
TrackingId = body.TrackingId,
HandLeft = handLeft,
HandRight = handRight
};
if (HandsDetected != null)
{
HandsDetected(this, hands);
}
}
}
