public List <Tuple <double, double, List <List <Point3D> > > > determineLimb(PointCloud pcdexisting, double weight)
{
//pull in skeleton measures from a temporary file for corbett.parse for now.
kinectInterp = new KinectInterpreter(skeloutline);
Dictionary <String, double[]> jointDepthsStr = new Dictionary <String, double[]>();
//temporary tuple for results
Tuple <double, double, List <List <Point3D> > > T = new Tuple <double, double, List <List <Point3D> > >(0, 0, null);
//permanent list of tuples for passing back to coreLoader
List <Tuple <double, double, List <List <Point3D> > > > limbMeasures = new List <Tuple <double, double, List <List <Point3D> > > >();
//Test if we have a kinect otherwise we cannot use coordinate mapper.
if (KinectSensor.KinectSensors.Count > 0)
{
//test if we have already enumerated joint depths, if so, this has followed a recent scan.
if (jointDepths.Count == 0)
{
StreamReader sr = new StreamReader("SKEL.ptemp");
String line;
while ((line = sr.ReadLine()) != null)
{
String[] joint = Regex.Split(line, ":");
String[] positions = Regex.Split(joint[1], ",");
double[] jointPos = { Convert.ToDouble(positions[0]), Convert.ToDouble(positions[1]), Convert.ToDouble(Regex.Split(positions[2], "\n")[0]) };
//convert to depth co-ordinate space
SkeletonPoint sp = new SkeletonPoint();
sp.X = (float)Convert.ToDouble(jointPos[1]);
sp.Y = (float)Convert.ToDouble(jointPos[2]);
sp.Z = (float)Convert.ToDouble(jointPos[0]);
CoordinateMapper cm = new CoordinateMapper(kinectInterp.kinectSensor);
DepthImagePoint dm = cm.MapSkeletonPointToDepthPoint(sp, DepthImageFormat.Resolution640x480Fps30);
//convert x and y co-ords to arbitrary point cloud space
Tuple <double, double, double> convertedPoints = LimbCalculator.convertToPCCoords(dm.X, dm.Y, sp.Z);
double[] jointPos2 = { convertedPoints.Item3, convertedPoints.Item1, convertedPoints.Item2 };
//place back into jointDepths array in terms of depth space.
jointDepthsStr.Add(joint[0], jointPos2);
}
}
else
{
//we have some live skeleton depths, enumerate into strings
foreach (JointType j in jointDepths.Keys)
{
jointDepthsStr = new Dictionary <String, double[]>();
jointDepthsStr.Add(j.ToString(), jointDepths[j]);
}
}
for (int limbArea = 1; limbArea <= 8; limbArea++)
{
//pass point cloud and correct bounds to Limb Calculator
//shoulders is first option in list so pass first.
limbMeasures.Add(LimbCalculator.calculateLimbBounds(pcdexisting, jointDepthsStr, limbArea, weight));
}
}
else
{
MessageBoxResult result = System.Windows.MessageBox.Show(this, "You need a Kinect to perform this action.",
"Kinect Sensor Missing", MessageBoxButton.OK, MessageBoxImage.Stop);
}
//change colour of point cloud for limb selection mode
gv.setMaterial();
this.DataContext = gv;
return(limbMeasures);
}
