private uint getPlaybackOrClosestUserID()
{
if (Fubi.isPlayingSkeletonData())
{
return(FubiUtils.PlaybackUserID);
}
return(Fubi.getClosestUserID());
}
public void autoCalibrateMapping(bool leftHand)
{
uint id = Fubi.getClosestUserID();
if (id > 0)
{
FubiUtils.SkeletonJoint elbow = FubiUtils.SkeletonJoint.RIGHT_ELBOW;
FubiUtils.SkeletonJoint shoulder = FubiUtils.SkeletonJoint.RIGHT_SHOULDER;
FubiUtils.SkeletonJoint hand = FubiUtils.SkeletonJoint.RIGHT_HAND;
if (leftHand)
{
elbow = FubiUtils.SkeletonJoint.LEFT_ELBOW;
shoulder = FubiUtils.SkeletonJoint.LEFT_SHOULDER;
hand = FubiUtils.SkeletonJoint.LEFT_HAND;
}
float confidence;
double timeStamp;
float elbowX, elbowY, elbowZ;
Fubi.getCurrentSkeletonJointPosition(id, elbow, out elbowX, out elbowY, out elbowZ, out confidence, out timeStamp);
if (confidence > 0.5f)
{
float shoulderX, shoulderY, shoulderZ;
Fubi.getCurrentSkeletonJointPosition(id, shoulder, out shoulderX, out shoulderY, out shoulderZ, out confidence, out timeStamp);
if (confidence > 0.5f)
{
double dist1 = Math.Sqrt(Math.Pow(elbowX - shoulderX, 2) + Math.Pow(elbowY - shoulderY, 2) + Math.Pow(elbowZ - shoulderZ, 2));
float handX, handY, handZ;
Fubi.getCurrentSkeletonJointPosition(id, hand, out handX, out handY, out handZ, out confidence, out timeStamp);
if (confidence > 0.5f)
{
double dist2 = Math.Sqrt(Math.Pow(elbowX - handX, 2) + Math.Pow(elbowY - handY, 2) + Math.Pow(elbowZ - handZ, 2));
MapH = (float)(dist1 + dist2);
// Calculate all others in depence of maph
MapY = 250.0f / 550.0f * MapH;
MapW = MapH / m_aspect;
MapX = -100.0f / (550.0f / m_aspect) * MapW;
}
}
}
}
}
// Called for rendering the gui
void OnGUI()
{
// AA: Position the depth image so the user can see the kinect output
if (!m_disableTrackingImage && (!m_disableTrackingImageWithSwipeMenu || !m_swipeMenuDisplayedLastFrame))
{
// Debug image
GUI.depth = -4;
GUI.DrawTexture(new Rect(25, Screen.height - m_yRes / m_factor - 25, m_xRes / m_factor, m_yRes / m_factor), m_depthMapTexture);
//GUI.DrawTexture(new Rect(Screen.width-m_xRes/m_factor, Screen.height-m_yRes/m_factor, m_xRes / m_factor, m_yRes / m_factor), m_depthMapTexture);
}
//AA: add the GUI elements
int shift = 42;
GUI.Box(new Rect(5 + shift, 25, Screen.width / 3 - 130, Screen.height - 50), "FILTERS");
m_bUseSimpleAverage = GUI.Toggle(new Rect(45 + shift, 50, 200, 30), m_bUseSimpleAverage, " SIMPLE AVERAGE 10");
m_bUseMovingAverage = GUI.Toggle(new Rect(45 + shift, 90, 200, 30), m_bUseMovingAverage, " MOVING AVERAGE");
m_bUseSimpleAverage5 = GUI.Toggle(new Rect(45 + shift, 130, 200, 30), m_bUseSimpleAverage5, " SIMPLE AVERAGE 5");
m_bDblMovingAverage = GUI.Toggle(new Rect(45 + shift, 170, 200, 30), m_bDblMovingAverage, " DOUBLE MOV AVERAGE");
m_bUseExpSmoothing = GUI.Toggle(new Rect(45 + shift, 210, 200, 30), m_bUseExpSmoothing, " EXP SMOOTHING");
m_bUseDblExpSmoothing = GUI.Toggle(new Rect(45 + shift, 250, 200, 30), m_bUseDblExpSmoothing, " DOUBLE EXP SMOOTHING");
m_bUseAdaptive = GUI.Toggle(new Rect(45 + shift, 290, 200, 30), m_bUseAdaptive, " ADAPTIVE DBL EXP");
m_bUseMedian = GUI.Toggle(new Rect(45 + shift, 330, 200, 30), m_bUseMedian, " MEDIAN");
m_bUseCombination1 = GUI.Toggle(new Rect(45 + shift, 370, 200, 30), m_bUseCombination1, " SIMPLE AVG + Median");
m_bUseCombination2 = GUI.Toggle(new Rect(45 + shift, 410, 200, 30), m_bUseCombination2, " DBL MOV AVG + Median");
m_bUseNone = GUI.Toggle(new Rect(45 + shift, 450, 200, 30), m_bUseNone, " NONE");
if (GUI.Button(new Rect(50 + shift, Screen.height - 75, 150, 30), "Clear"))
{
WriteableAreaResize();
fv.DrawCircle();
}
// If some button has been pressed OR this is the first exection
if (GUI.changed)
{
LoadFilters();
if (fm.filters.Count == 1)
{
m_principalCursor = 0;
}
}
int count = 0;
if (m_bUseSimpleAverage)
{
GUI.Label(new Rect(15 + shift, 45, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseMovingAverage)
{
GUI.Label(new Rect(15 + shift, 85, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseSimpleAverage5)
{
GUI.Label(new Rect(15 + shift, 125, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bDblMovingAverage)
{
GUI.Label(new Rect(15 + shift, 165, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseExpSmoothing)
{
GUI.Label(new Rect(15 + shift, 205, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseDblExpSmoothing)
{
GUI.Label(new Rect(15 + shift, 245, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseAdaptive)
{
GUI.Label(new Rect(15 + shift, 285, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseMedian)
{
GUI.Label(new Rect(15 + shift, 325, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseCombination1)
{
GUI.Label(new Rect(15 + shift, 365, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseCombination2)
{
GUI.Label(new Rect(15 + shift, 405, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseNone)
{
GUI.Label(new Rect(15 + shift, 445, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (prevScreenWidth != Screen.width || prevScreenHeight != Screen.height)
{
// Resize writeable area, redraw the circle
WriteableAreaResize();
prevScreenWidth = Screen.width;
prevScreenHeight = Screen.height;
fv.DrawCircle();
}
//AA: Draw the writeable area
fv.Apply();
for (int i = 0; i < fv.m_filterOutputTexture.Count; i++)
{
GUI.DrawTexture(new Rect(fv.filterOutputLocX, fv.filterOutputLocY, fv.filterOutputWidth, fv.filterOutputHeight), fv.m_filterOutputTexture[i]);
}
// Cursor
m_gotNewFubiCoordinates = false;
if (Fubi.isInitialized())
{
// Take closest user
uint userID = Fubi.getClosestUserID();
if (userID != m_currentUser)
{
m_currentUser = userID;
m_lastCalibrationSucceded = false;
}
if (userID > 0)
{
if (!m_lastCalibrationSucceded)
{
m_lastCalibrationSucceded = calibrateCursorMapping(m_currentUser);
}
FubiUtils.SkeletonJoint joint = FubiUtils.SkeletonJoint.RIGHT_HAND;
FubiUtils.SkeletonJoint relJoint = FubiUtils.SkeletonJoint.RIGHT_SHOULDER;
// Get hand and shoulder position and check their confidence
double timeStamp;
float handX, handY, handZ, confidence;
Fubi.getCurrentSkeletonJointPosition(userID, joint, out handX, out handY, out handZ, out confidence, out timeStamp);
if (confidence > 0.5f)
{
float relX, relY, relZ;
Fubi.getCurrentSkeletonJointPosition(userID, relJoint, out relX, out relY, out relZ, out confidence, out timeStamp);
if (confidence > 0.5f)
{
// AA: Filtering should happen here for the hand and relative joints separately
// If true, use the smoothed joints for calculating screen coordinates
fm.UpdateJointFilters(new Vector3(handX, handY, handZ), new Vector3(relX, relY, relZ));
for (int i = 0; i < fm.filters.Count; i++)
{
if (m_bUseJointFiltering)
{
//Debug.Log ("Prehand " + new Vector3(handX, handY, handZ) + " relJoint " + new Vector3(relX, relY, relZ));
Vector3 handPos = fm.joints[i]; // filter.Update(new Vector3(handX, handY, handZ), Filter.JOINT_TYPE.JOINT);
Vector3 relJointPos = fm.relativeJoints[i]; //filter.Update(new Vector3(relX, relY, relZ), Filter.JOINT_TYPE.RELATIVEJOINT);
//Debug.Log ("hand " + handPos + " relJoint " + relJointPos);
handZ = handPos.z;
handY = handPos.y;
handX = handPos.x;
relZ = relJointPos.z;
relY = relJointPos.y;
relX = relJointPos.x;
m_relativeCursorPosition = fm.relativeCursorPosition[i];
}
// AA: End
// Take relative coordinates
float zDiff = handZ - relZ;
float yDiff = handY - relY;
float xDiff = handX - relX;
// Check if hand is enough in front of shoulder
if ((yDiff > 0 && zDiff < -150.0f) || (Mathf.Abs(xDiff) > 150.0f && zDiff < -175.0f) || zDiff < -225.0f)
{
// Now get the possible cursor position
// Convert to screen coordinates
float newX, newY;
float mapX = m_mapping.x;
newX = (xDiff - mapX) / m_mapping.width;
newY = (m_mapping.y - yDiff) / m_mapping.height; // Flip y for the screen coordinates
// Filtering
// New coordinate is weighted more if it represents a longer distance change
// This should reduce the lagging of the cursor on higher distances, but still filter out small jittering
float changeX = newX - m_relativeCursorPosition.x;
float changeY = newY - m_relativeCursorPosition.y;
if (changeX != 0 || changeY != 0 && timeStamp != m_timeStamp)
{
float changeLength = Mathf.Sqrt(changeX * changeX + changeY * changeY);
float filterFactor = changeLength; //Mathf.Sqrt(changeLength);
if (filterFactor > 1.0f)
{
filterFactor = 1.0f;
}
// Apply the tracking to the current position with the given filter factor
// AA: Filtering should happen here for joint-to-relativejoint (VECTOR) filtering
// AA: filtering code
Vector2 tempNew = new Vector2(newX, newY);
fm.UpdateVectorFilters(m_relativeCursorPosition, tempNew, filterFactor);
// If true, use the calculated factor for smoothing, else just use the new
if (m_bUseVectorFiltering)
{
m_relativeCursorPosition = fm.vectors[i]; //filter.Update(m_relativeCursorPosition, tempNew, filterFactor);
}
else // Just give equal weight to both
{
m_relativeCursorPosition = filter.Update(m_relativeCursorPosition, tempNew, 0.5f);
}
// AA: Calculate all filters
// fm.UpdateVectorFilters(m_relativeCursorPosition, tempNew, filterFactor);
m_timeStamp = timeStamp;
// Send it, but only if it is more or less within the screen
if (m_relativeCursorPosition.x > -0.1f && m_relativeCursorPosition.x < 1.1f &&
m_relativeCursorPosition.y > -0.1f && m_relativeCursorPosition.y < 1.1f)
{
MoveMouse(m_relativeCursorPosition.x, m_relativeCursorPosition.y, i);
// Each filter must store it's own value of relative position, absolute and previous absolute positions
fm.relativeCursorPosition[i] = m_relativeCursorPosition;
fm.absPixelPosition[i] = m_absPixelPosition;
fm.prevAbsPixelPosition[i] = m_previousAbsPixelPosition;
DrawFilterOutputs(i);
m_gotNewFubiCoordinates = true;
m_lastCursorChangeDoneByFubi = true;
}
}
}
}
}
}
}
}
// AA: FUBI does not move mouse if the confidence value is too low
if (!m_gotNewFubiCoordinates) // AA: this only executes when input is coming from mouse
{
// Got no mouse coordinates from fubi this frame
Vector2 mousePos = Input.mousePosition;
// Only move mouse if it wasn't changed by fubi the last time or or it really has changed
if (!m_lastCursorChangeDoneByFubi || mousePos != m_lastMousePos)
{
//AA: Old code for cursor placement
m_relativeCursorPosition.x = mousePos.x / (float)Screen.width;
m_relativeCursorPosition.y = 1.0f - (mousePos.y / (float)Screen.height);
// Get mouse X and Y position as a percentage of screen width and height
MoveActualMouse(m_relativeCursorPosition.x, m_relativeCursorPosition.y, true);
m_lastMousePos = mousePos;
m_lastCursorChangeDoneByFubi = false;
}
}
}
private void updateFubi()
{
if (clearRecognizersOnNextUpdate)
{
Fubi.clearUserDefinedRecognizers();
if (Fubi.getNumUserDefinedCombinationRecognizers() == 0 && Fubi.getNumUserDefinedRecognizers() == 0)
{
button3.IsEnabled = false;
}
clearRecognizersOnNextUpdate = false;
}
if (switchSensorOnNextUpdate)
{
Fubi.switchSensor(new FubiUtils.SensorOptions(new FubiUtils.StreamOptions(), new FubiUtils.StreamOptions(), new FubiUtils.StreamOptions(-1, -1, -1),
(FubiUtils.SensorType)Enum.Parse(typeof(FubiUtils.SensorType), sensorSelectionComboBox.SelectedItem.ToString())));
switchSensorOnNextUpdate = false;
}
label1.Content = "User Count : " + Fubi.getNumUsers().ToString();
// Update Fubi and get the debug image
int width = 0, height = 0;
FubiUtils.ImageNumChannels channels = FubiUtils.ImageNumChannels.C4;
FubiUtils.ImageType type = FubiUtils.ImageType.Depth;
uint renderOptions = 0;
if (shapeCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.Shapes;
}
if (skeletonCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.Skeletons;
}
if (userCaptionscheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.UserCaptions;
}
if (localOrientCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.LocalOrientCaptions;
}
if (globalOrientCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.GlobalOrientCaptions;
}
if (localPosCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.LocalPosCaptions;
}
if (globalPosCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.GlobalPosCaptions;
}
if (backgroundCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.Background;
}
if (swapRAndBcheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.SwapRAndB;
}
if (fingerShapecheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.FingerShapes;
}
if (detailedFaceCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.DetailedFaceShapes;
}
if (bodyMeasuresCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.BodyMeasurements;
}
FubiUtils.DepthImageModification depthMods = (FubiUtils.DepthImageModification)Enum.Parse(typeof(FubiUtils.DepthImageModification), comboBox1.SelectedItem.ToString(), true);
if (checkBox3.IsChecked == true)
{
Fubi.getRgbResolution(out width, out height);
channels = FubiUtils.ImageNumChannels.C3;
type = FubiUtils.ImageType.Color;
}
else
{
Fubi.getDepthResolution(out width, out height);
channels = FubiUtils.ImageNumChannels.C4;
type = FubiUtils.ImageType.Depth;
}
// Display the debug image
if (width > 0 && height > 0)
{
WriteableBitmap wb = image1.Source as WriteableBitmap;
if (wb != null && (wb.Width != width || wb.Height != height || wb.Format.BitsPerPixel != (int)channels * 8))
{
wb = null;
image1.Width = width;
image1.Height = height;
buffer = new byte[(int)channels * width * height];
}
if (wb == null)
{
PixelFormat format = PixelFormats.Bgra32;
if (channels == FubiUtils.ImageNumChannels.C3)
{
format = PixelFormats.Rgb24;
}
else if (channels == FubiUtils.ImageNumChannels.C1)
{
format = PixelFormats.Gray8;
}
wb = new WriteableBitmap(width, height, 0, 0, format, BitmapPalettes.Gray256);
image1.Source = wb;
}
Fubi.updateSensor();
Fubi.getImage(buffer, type, channels, FubiUtils.ImageDepth.D8, renderOptions, depthMods);
int stride = wb.PixelWidth * (wb.Format.BitsPerPixel / 8);
wb.WritePixels(new Int32Rect(0, 0, wb.PixelWidth, wb.PixelHeight), buffer, stride, 0);
}
//Check postures for all users
for (uint i = 0; i < Fubi.getNumUsers(); i++)
{
uint id = Fubi.getUserID(i);
if (id > 0)
{
bool changedSomething = false;
// Print postures
if (checkBox1.IsChecked == true)
{
// Only user defined postures
for (uint p = 0; p < Fubi.getNumUserDefinedRecognizers(); ++p)
{
if (Fubi.recognizeGestureOn(p, id) == FubiUtils.RecognitionResult.RECOGNIZED)
{
// Posture recognized
if (!currentPostures.ContainsKey(p) || !currentPostures[p])
{
// Posture start
textBox1.Text += "User" + id + ": START OF " + Fubi.getUserDefinedRecognizerName(p) + " -->\n";
currentPostures[p] = true;
changedSomething = true;
}
}
else if (currentPostures.ContainsKey(p) && currentPostures[p])
{
// Posture end
textBox1.Text += "User" + id + ": --> END OF " + Fubi.getUserDefinedRecognizerName(p) + "\n";
currentPostures[p] = false;
changedSomething = true;
}
}
if (PredefinedCheckBox.IsChecked == true)
{
for (int p = 0; p < (int)FubiPredefinedGestures.Postures.NUM_POSTURES; ++p)
{
if (Fubi.recognizeGestureOn((FubiPredefinedGestures.Postures)p, id) == FubiUtils.RecognitionResult.RECOGNIZED)
{
if (!currentPostures1[p])
{
// Posture recognized
textBox1.Text += "User" + id + ": START OF" + FubiPredefinedGestures.getPostureName((FubiPredefinedGestures.Postures)p) + "\n";
currentPostures1[p] = true;
changedSomething = true;
}
}
else if (currentPostures1[p])
{
textBox1.Text += "User" + id + ": --> END OF " + FubiPredefinedGestures.getPostureName((FubiPredefinedGestures.Postures)p) + "\n";
currentPostures1[p] = false;
changedSomething = true;
}
}
}
if (changedSomething)
{
textBox1.ScrollToEnd();
}
}
// Print combinations
for (uint pc = 0; pc < Fubi.getNumUserDefinedCombinationRecognizers(); ++pc)
{
// Only user defined postures
if (checkBox2.IsChecked == true)
{
if (Fubi.getCombinationRecognitionProgressOn(Fubi.getUserDefinedCombinationRecognizerName(pc), id) == FubiUtils.RecognitionResult.RECOGNIZED)
{
// Posture recognized
textBox2.Text += "User" + id + ": " + Fubi.getUserDefinedCombinationRecognizerName(pc) + "\n";
}
else
{
Fubi.enableCombinationRecognition(Fubi.getUserDefinedCombinationRecognizerName(pc), id, true);
}
}
//else
// Fubi.enableCombinationRecognition(Fubi.getUserDefinedCombinationRecognizerName(pc), id, false);
}
for (uint pc = 0; pc < (uint)FubiPredefinedGestures.Combinations.NUM_COMBINATIONS; ++pc)
{
if (checkBox2.IsChecked == true && PredefinedCheckBox.IsChecked == true)
{
if (Fubi.getCombinationRecognitionProgressOn((FubiPredefinedGestures.Combinations)pc, id) == FubiUtils.RecognitionResult.RECOGNIZED)
{
// Posture recognized
textBox2.Text += "User" + id + ": " + FubiPredefinedGestures.getCombinationName((FubiPredefinedGestures.Combinations)pc) + "\n";
}
else
{
Fubi.enableCombinationRecognition((FubiPredefinedGestures.Combinations)pc, id, true);
}
}
//else
// Fubi.enableCombinationRecognition((FubiPredefinedGestures.Combinations)pc, id, false);
}
if (checkBox2.IsChecked == true)
{
textBox2.ScrollToEnd();
}
}
}
uint closestId = Fubi.getClosestUserID();
if (closestId > 0)
{
// For printing the user orientation
//float[] mat = new float[9];
//float confidence;
//double timeStamp;
//Fubi.getCurrentSkeletonJointOrientation(closestId, FubiUtils.SkeletonJoint.Torso, mat, out confidence, out timeStamp);
//float rx, ry, rz;
//FubiUtils.Math.rotMatToRotation(mat, out rx, out ry, out rz);
//label1.Content = "UserOrient:" + String.Format("{0:0.#}", rx) + "/" + String.Format("{0:0.#}", ry) + "/" + String.Format("{0:0.#}", rz);
if (controlMouse)
{
float x, y;
FubiMouse.applyHandPositionToMouse(closestId, out x, out y, leftHandRadioButton.IsChecked == true);
label2.Content = "X:" + x + " Y:" + y;
}
if (checkBox4.IsChecked == true)
{
FubiPredefinedGestures.Combinations activationGesture = FubiPredefinedGestures.Combinations.WAVE_RIGHT_HAND_OVER_SHOULDER;
// TODO use left hand waving
if (Fubi.getCombinationRecognitionProgressOn(activationGesture, closestId, false) == FubiUtils.RecognitionResult.RECOGNIZED)
{
if (controlMouse)
{
stopMouseEmulation();
}
else
{
startMouseEmulation();
}
}
else
{
Fubi.enableCombinationRecognition(activationGesture, closestId, true);
}
}
}
}