static void SensorOnSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs skeletonFrameReadyEventArgs)
{
using (SkeletonFrame skeletonFrame = skeletonFrameReadyEventArgs.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
return;
}
try
{
skeletonFrame.CopySkeletonDataTo(_skeletons);
var accelerometerReading = _sensor.AccelerometerGetCurrentReading();
_interactionStream.ProcessSkeleton(_skeletons, accelerometerReading, skeletonFrame.Timestamp);
}
catch (InvalidOperationException)
{
}
var users = _skeletons.Where(s => s.TrackingState == SkeletonTrackingState.Tracked).ToList();
if (users.Count > 0)
{
string json = users.Serialize(_coordinateMapper, _mode);
foreach (var socket in _clients)
{
socket.Send(json);
}
}
}
}
private void OnSkeletonFrameReady(object o, SkeletonFrameReadyEventArgs sf)
{
// Console.WriteLine("Skeleton");
{
using (SkeletonFrame skeletonFrame = sf.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
return;
}
try
{
skeletonFrame.CopySkeletonDataTo(skels);
var accelerometerReading = ks.AccelerometerGetCurrentReading();
inter_stream.ProcessSkeleton(skels, accelerometerReading, skeletonFrame.Timestamp);
}
catch (InvalidOperationException)
{
Console.WriteLine("Skeleton Problems");
// SkeletonFrame functions may throw w
// into a bad state. Ignore the frame in that case.
}
}
}
}
/// <summary>
/// Event handler for Kinect sensor's SkeletonFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
// Acquire data from the SkeletonFrameReadyEventArgs...
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
return;
}
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
try
{
skeletonFrame.CopySkeletonDataTo(skeletons);
var accelerometerReading = sensor.AccelerometerGetCurrentReading();
interactionStream.ProcessSkeleton(skeletons, accelerometerReading, skeletonFrame.Timestamp);
}
catch (InvalidOperationException)
{
// SkeletonFrame functions may throw when the sensor gets
// into a bad state. Ignore the frame in that case.
}
}
}
void kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
using (var colorFrame = e.OpenColorImageFrame()) {
if (colorFrame != null)
{
var pixel = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(pixel);
ImageRgb.Source = BitmapSource.Create(colorFrame.Width, colorFrame.Height, 96, 96,
PixelFormats.Bgr32, null, pixel, colorFrame.Width * 4);
}
}
using (var depthFrame = e.OpenDepthImageFrame()) {
if (depthFrame != null)
{
// Depth情報を入れる
// GetRawPixelData()はインタラクションライブラリ内で実装された拡張メソッド
stream.ProcessDepth(depthFrame.GetRawPixelData(), depthFrame.Timestamp);
}
}
using (var skeletonFrame = e.OpenSkeletonFrame()) {
if (skeletonFrame != null)
{
var skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
// スケルトン情報を入れる
stream.ProcessSkeleton(skeletons, kinect.AccelerometerGetCurrentReading(), skeletonFrame.Timestamp);
}
}
}
private void SensorOnSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs skeletonFrameReadyEventArgs)
{
if (_sensor != sender)
{
return;
}
using (var skeletonFrame = skeletonFrameReadyEventArgs.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
try
{
skeletonFrame.CopySkeletonDataTo(_skeletons);
var accelerometerReading = _sensor.AccelerometerGetCurrentReading();
_interactionStream.ProcessSkeleton(_skeletons, accelerometerReading, skeletonFrame.Timestamp);
}
catch (Exception e)
{
Debug.WriteLine(e.Message);
}
}
}
}
/// <summary>
/// Evènement : A chaque nouvelle image de squelette
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void EventSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
// Récupération des squelettes trouvés et envoie au interaction stream
Skeleton[] skeletons = null;
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
return;
}
try
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
interactionStream.ProcessSkeleton(skeletons, Sensor.AccelerometerGetCurrentReading(), skeletonFrame.Timestamp);
}
catch (InvalidOperationException) { }
}
// Vider les anciens os dessinés, donc rajout de l'image sur la canvas
canvas.Children.Clear();
canvas.Children.Add(image);
// Si il n'y a pas encore le canvas de position, on l'ajoute
if (!canvasDessin.Children.Contains(canvasPosition))
{
canvasDessin.Children.Add(canvasPosition);
}
if (skeletons.Length == 0) // Si pas de squelette
{
return;
}
var skels = skeletons.OrderBy(sk => sk.Position.Z);
//var skels = skeletons.Where(sk => sk.TrackingState == SkeletonTrackingState.Tracked).OrderBy(sk => sk.Position.Z);
bool skelDrawn = false;
// Pour chaque squelette
foreach (Skeleton skel in skels)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked && !skelDrawn) // Si on trouve le squelette et on en a dessiné un
{
// On dessine la main actuelle
if (actualHandType == InteractionHandType.Left)
{
DrawHand(skel, JointType.HandLeft);
}
else if (actualHandType == InteractionHandType.Right)
{
DrawHand(skel, JointType.HandRight);
}
skelDrawn = true;
}
}
}
private void kinect_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (SkeletonFrame skelFrame = e.OpenSkeletonFrame())
{
if (skelFrame != null && server.serverMasterOptions.kinectOptions[kinectID].trackSkeletons)
{
Skeleton[] skeletons = new Skeleton[6];
skelFrame.CopySkeletonDataTo(skeletons);
Vector4 acceleration = kinect.AccelerometerGetCurrentReading();
if (interactStream != null)
{
interactStream.ProcessSkeleton(skeletons, acceleration, skelFrame.Timestamp);
}
//Generate the transformation matrix for the skeletons
double kinectYaw = server.serverMasterOptions.kinectOptions[kinectID].kinectYaw;
Point3D kinectPosition = server.serverMasterOptions.kinectOptions[kinectID].kinectPosition;
Matrix3D gravityBasedKinectRotation = findRotation(new Vector3D(acceleration.X, acceleration.Y, acceleration.Z), new Vector3D(0, -1, 0));
AxisAngleRotation3D yawRotation = new AxisAngleRotation3D(new Vector3D(0, 1, 0), -kinectYaw);
RotateTransform3D tempTrans = new RotateTransform3D(yawRotation);
TranslateTransform3D transTrans = new TranslateTransform3D((Vector3D)kinectPosition);
Matrix3D masterMatrix = Matrix3D.Multiply(Matrix3D.Multiply(tempTrans.Value, gravityBasedKinectRotation), transTrans.Value);
skeletonTransformation = masterMatrix; //This may need a lock on it, but that will require a seperate lock object
//Transform the skeletons based on the Kinect settings
for (int i = 0; i < skeletons.Length; i++)
{
if (skeletons[i].TrackingState != SkeletonTrackingState.NotTracked) //Don't bother to transform untracked skeletons
{
skeletons[i] = makeTransformedSkeleton(skeletons[i], masterMatrix);
}
}
//Add the skeletons to the list to be merged
lock (skeletonData.actualSkeletons)
{
//skeletonData.actualSkeletons.Clear();
for (int i = 0; i < skeletons.Length; i++)
{
skeletonData.actualSkeletons[i].skeleton = skeletons[i];
}
}
lock (skeletonData)
{
//The skeleton data is constaintly going to change, so lets just call the update everytime we get new data
skeletonData.needsUpdate = true;
}
}
}
}
private void SensorOnSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletonList = new Skeleton[sensor.SkeletonStream.FrameSkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletonList);
stream.ProcessSkeleton(skeletonList, sensor.AccelerometerGetCurrentReading(), skeletonFrame.Timestamp);
}
}
}
private void KinectSensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
using (var colorFrame = e.OpenColorImageFrame())
{
if (colorFrame == null)
{
return;
}
var pixels = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(pixels);
var stride = colorFrame.Width * 4;
ImageSource = BitmapSource.Create(colorFrame.Width, colorFrame.Height, 96, 96, PixelFormats.Bgr32, null, pixels, stride);
}
using (var depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame == null)
{
return;
}
try
{
interactionStream.ProcessDepth(depthFrame.GetRawPixelData(), depthFrame.Timestamp);
}
catch (InvalidOperationException ex)
{
Console.Error.WriteLine(ex);
}
}
using (var skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
return;
}
try
{
skeletonFrame.CopySkeletonDataTo(skeletons);
var accelerometerReading = kinectSensor.AccelerometerGetCurrentReading();
interactionStream.ProcessSkeleton(skeletons, accelerometerReading, skeletonFrame.Timestamp);
}
catch (InvalidOperationException ex)
{
Console.Error.WriteLine(ex);
}
}
}
void kinect_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (SkeletonFrame skf = e.OpenSkeletonFrame())
{
if (skf == null)
{
return;
}
Skeleton[] skeletons = new Skeleton[skf.SkeletonArrayLength];
skf.CopySkeletonDataTo(skeletons);
var accelerometerReading = kinect.AccelerometerGetCurrentReading();
interStream.ProcessSkeleton(skeletons, accelerometerReading, skf.Timestamp);
}
}
/// <summary>
/// Instantiates a new InteractionStream, feeds this InteractionStream with Skeleton- and DepthData and subscribes to the InteractionFrameReady event.
/// </summary>
/// <param name="kinectSensor">The Kinect sensor passed to the interaction stream instance.</param>
/// <param name="interactionClient">The interaction client passed to the interaction stream instance.</param>
/// <returns>An UserInfo stream that contains an action that disposes the interaction stream when the observable is disposed.</returns>
public static IObservable <UserInfo[]> GetUserInfoObservable(this KinectSensor kinectSensor, IInteractionClient interactionClient)
{
if (kinectSensor == null)
{
throw new ArgumentNullException("kinect");
}
if (interactionClient == null)
{
throw new ArgumentNullException("interactionClient");
}
if (!kinectSensor.DepthStream.IsEnabled)
{
throw new InvalidOperationException("The depth stream is not enabled, but mandatory.");
}
if (!kinectSensor.SkeletonStream.IsEnabled)
{
throw new InvalidOperationException("The skeleton stream is not enabled, but mandatory.");
}
return(Observable.Create <UserInfo[]>(observer =>
{
var stream = new InteractionStream(kinectSensor, interactionClient);
var obs = kinectSensor.GetAllFramesReadyObservable()
.SelectStreams((_, __) => Tuple.Create(_.Timestamp, __.Timestamp))
.Subscribe(_ =>
{
stream.ProcessSkeleton(_.Item3, kinectSensor.AccelerometerGetCurrentReading(), _.Item4.Item1);
stream.ProcessDepth(_.Item2, _.Item4.Item2);
});
stream.GetInteractionFrameReadyObservable()
.SelectUserInfo()
.Subscribe(_ => observer.OnNext(_));
return new Action(() =>
{
obs.Dispose();
stream.Dispose();
});
}));
}
private void FuncoesEsqueletoUsuario(SkeletonFrame quadro)
{
if (quadro == null)
{
return;
}
using (quadro)
{
Skeleton esqueletoUsuario = quadro.ObterEsqueletoUsuario();
if (btnDesenhar.IsChecked)
{
Skeleton[] esqueletos = new Skeleton[6];
quadro.CopySkeletonDataTo(esqueletos);
fluxoInteracao.ProcessSkeleton(esqueletos, kinect.AccelerometerGetCurrentReading(), quadro.Timestamp);
EsqueletoUsuarioAuxiliar esqueletoAuxiliar = new EsqueletoUsuarioAuxiliar(kinect);
if (configuracaoMaoDireita.DesenhoAtivo)
{
esqueletoAuxiliar.InteracaoDesenhar(esqueletoUsuario.Joints[JointType.HandRight], canvasDesenho, configuracaoMaoDireita);
}
if (configuracaoMaoEsquerda.DesenhoAtivo)
{
esqueletoAuxiliar.InteracaoDesenhar(esqueletoUsuario.Joints[JointType.HandLeft], canvasDesenho, configuracaoMaoEsquerda);
}
}
else
{
foreach (IRastreador rastreador in rastreadores)
{
rastreador.Rastrear(esqueletoUsuario);
}
if (btnEsqueletoUsuario.IsChecked)
{
quadro.DesenharEsqueletoUsuario(kinect, canvasKinect);
}
}
}
}
void runtime_SkeletonFrameReady(object sender, Microsoft.Kinect.SkeletonFrameReadyEventArgs e)
{
Skeleton[] skels = null;
long ts = 0;
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skels = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skels);
ts = skeletonFrame.Timestamp;
}
}
if (skels != null)
{
Vector4 accel = this.runtime.Runtime.AccelerometerGetCurrentReading();
stream.ProcessSkeleton(skels, accel, ts);
}
}
private void SensorOnSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs skeletonFrameReadyEventArgs)
{
using (SkeletonFrame skeletonFrame = skeletonFrameReadyEventArgs.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
return;
}
try
{
skeletonFrame.CopySkeletonDataTo(_skeletons);
var accelerometerReading = _sensor.AccelerometerGetCurrentReading();
_interactionStream.ProcessSkeleton(_skeletons, accelerometerReading, skeletonFrame.Timestamp);
}
catch (InvalidOperationException)
{
// If exception skip frame
}
}
}
private void SensorOnSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs skeletonFrameReadyEventArgs)
{
using (SkeletonFrame skeletonFrame = skeletonFrameReadyEventArgs.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
return;
}
try
{
skeletonFrame.CopySkeletonDataTo(_skeletons);
var accelerometerReading = _sensor.AccelerometerGetCurrentReading();
interactionStream.ProcessSkeleton(_skeletons, accelerometerReading, skeletonFrame.Timestamp);
}
catch (InvalidOperationException)
{
// SkeletonFrame functions may throw when the sensor gets
// into a bad state. Ignore the frame in that case.
}
}
}
private void sensor_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[sensor.SkeletonStream.FrameSkeletonArrayLength];
//double handposition = 0;
//onRaisedVoiceCommand(new VoiceCommandEventArgs("I'm in state" + state +" and I got skeleton data"));
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletonFrame.CopySkeletonDataTo(skeletons);
inStream.ProcessSkeleton(skeletons, sensor.AccelerometerGetCurrentReading(), skeletonFrame.Timestamp);
}
/*
* foreach (Skeleton skeleton in skeletons)
* {
* if (skeleton.TrackingState == SkeletonTrackingState.Tracked)
* {
* Joint wristjoint = skeleton.Joints[JointType.WristLeft];
* if (wristjoint.TrackingState == JointTrackingState.Tracked)
* {
* if (wristjoint.Position.Y > handposition)
* {
* handposition = wristjoint.Position.Y;
* }
* }
* wristjoint = skeleton.Joints[JointType.WristRight];
* if (wristjoint.TrackingState == JointTrackingState.Tracked)
* {
* if (wristjoint.Position.Y > handposition)
* {
* handposition = wristjoint.Position.Y;
* }
* }
* }
* }
*/
}
}
//Listener del esqueleto
private void SensorOnSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs skeletonFrameReadyEventArgs)
{
using (SkeletonFrame skeletonFrame = skeletonFrameReadyEventArgs.OpenSkeletonFrame())
{
//Si el eskeleto es null se sale del metodo
if (skeletonFrame == null)
{
return;
}
try
{
//se le coloca el esqueleto al areglo
skeletonFrame.CopySkeletonDataTo(_skeletons);
var accelerometerReading = _sensor.AccelerometerGetCurrentReading();
_interactionStream.ProcessSkeleton(_skeletons, accelerometerReading, skeletonFrame.Timestamp);
}
catch (InvalidOperationException)
{
// Error al obtener el esqueleto del sensor
}
}
}
private void kinect_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (SkeletonFrame skelFrame = e.OpenSkeletonFrame())
{
if (skelFrame != null && masterSettings.kinectOptionsList.Count > kinectID && (masterKinectSettings.mergeSkeletons || masterKinectSettings.sendRawSkeletons))
{
DateTime now = DateTime.UtcNow;
Skeleton[] skeletons = new Skeleton[skelFrame.SkeletonArrayLength];
skelFrame.CopySkeletonDataTo(skeletons);
EigenWrapper.Matrix predAccel = new EigenWrapper.Matrix(3, 1);
predAccel[2, 0] = 1;
if (accelFilterStarted)
{
predAccel = accelerationFilter.PredictAndDiscard(0);
}
if (interactStream != null)
{
Vector4 filteredAccel = new Vector4();
filteredAccel.W = 0;
filteredAccel.X = (float)predAccel[0, 0];
filteredAccel.Y = (float)predAccel[1, 0];
filteredAccel.Z = (float)predAccel[2, 0];
interactStream.ProcessSkeleton(skeletons, filteredAccel, skelFrame.Timestamp);
//System.Diagnostics.Trace.WriteLine("[" + filteredAccel.X + ", " + filteredAccel.Y + ", " + filteredAccel.Z + "]");
}
//Generate the transformation matrix for the skeletons
double kinectYaw = masterKinectSettings.kinectYaw;
Point3D kinectPosition = masterKinectSettings.kinectPosition;
Matrix3D gravityBasedKinectRotation = findRotation(new Vector3D(predAccel[0, 0], predAccel[1, 0], predAccel[2, 0]), new Vector3D(0, -1, 0));
AxisAngleRotation3D yawRotation = new AxisAngleRotation3D(new Vector3D(0, 1, 0), -kinectYaw);
RotateTransform3D tempYawTrans = new RotateTransform3D(yawRotation);
TranslateTransform3D transTrans = new TranslateTransform3D((Vector3D)kinectPosition);
Matrix3D rotationOnlyMatrix = Matrix3D.Multiply(tempYawTrans.Value, gravityBasedKinectRotation);
Matrix3D masterMatrix = Matrix3D.Multiply(rotationOnlyMatrix, transTrans.Value);
skeletonTransformation = masterMatrix;
skeletonRotQuaternion = KinectBase.HelperMethods.MatrixToQuaternion(rotationOnlyMatrix);
//Convert from Kinect v1 skeletons to KVR skeletons
KinectBase.KinectSkeleton[] kvrSkeletons = new KinectBase.KinectSkeleton[skeletons.Length];
for (int i = 0; i < kvrSkeletons.Length; i++)
{
//Set the tracking ID numbers for the hand grab data
int grabID = -1;
for (int j = 0; j < skeletonHandGrabData.Count; j++)
{
if (skeletonHandGrabData[j].skeletonTrackingID == skeletons[i].TrackingId)
{
grabID = j;
break;
}
}
if (grabID < 0)
{
skeletonHandGrabData.Add(new HandGrabInfo(skeletons[i].TrackingId));
grabID = skeletonHandGrabData.Count - 1;
}
kvrSkeletons[i] = new KinectBase.KinectSkeleton();
kvrSkeletons[i].Position = new Point3D(skeletons[i].Position.X, skeletons[i].Position.Y, skeletons[i].Position.Z);
kvrSkeletons[i].SkeletonTrackingState = convertTrackingState(skeletons[i].TrackingState);
kvrSkeletons[i].TrackingId = skeletons[i].TrackingId;
//kvrSkeletons[i].utcSampleTime = DateTime.UtcNow;
kvrSkeletons[i].sourceKinectID = kinectID;
for (int j = 0; j < skeletons[i].Joints.Count; j++)
{
KinectBase.Joint newJoint = new KinectBase.Joint();
newJoint.Confidence = KinectBase.TrackingConfidence.Unknown; //The Kinect 1 doesn't support the confidence property
newJoint.JointType = convertJointType(skeletons[i].Joints[(JointType)j].JointType);
Vector4 tempQuat = skeletons[i].BoneOrientations[(JointType)j].AbsoluteRotation.Quaternion;
newJoint.Orientation.orientationQuaternion = new Quaternion(tempQuat.X, tempQuat.Y, tempQuat.Z, tempQuat.W);
Matrix4 tempMat = skeletons[i].BoneOrientations[(JointType)j].AbsoluteRotation.Matrix;
newJoint.Orientation.orientationMatrix = new Matrix3D(tempMat.M11, tempMat.M12, tempMat.M13, tempMat.M14,
tempMat.M21, tempMat.M22, tempMat.M23, tempMat.M24,
tempMat.M31, tempMat.M32, tempMat.M33, tempMat.M34,
tempMat.M41, tempMat.M42, tempMat.M43, tempMat.M44);
SkeletonPoint tempPos = skeletons[i].Joints[(JointType)j].Position;
newJoint.Position = new Point3D(tempPos.X, tempPos.Y, tempPos.Z);
newJoint.TrackingState = convertTrackingState(skeletons[i].Joints[(JointType)j].TrackingState);
newJoint.spatialErrorStdDev = getJointError(newJoint.Position, newJoint.TrackingState);
newJoint.utcTime = now;
kvrSkeletons[i].skeleton[newJoint.JointType] = newJoint; //Skeleton doesn't need to be initialized because it is done in the KinectSkeleton constructor
}
//Get the hand states from the hand grab data array
kvrSkeletons[i].rightHandClosed = skeletonHandGrabData[grabID].rightHandClosed;
kvrSkeletons[i].leftHandClosed = skeletonHandGrabData[grabID].leftHandClosed;
}
//Add the skeleton data to the event handler and throw the event
KinectBase.SkeletonEventArgs skelE = new KinectBase.SkeletonEventArgs();
skelE.skeletons = kvrSkeletons;
skelE.kinectID = kinectID;
OnSkeletonChanged(skelE);
}
}
}
private void KinectOnSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs eventArgs)
{
using (SkeletonFrame skeletonFrame = eventArgs.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
int i = 0;
Skeleton[] squelettes = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(squelettes);
try
{
var accelerometerReading = kinect.AccelerometerGetCurrentReading();
interStream.ProcessSkeleton(squelettes, accelerometerReading, skeletonFrame.Timestamp);
}
catch (InvalidOperationException)
{}
bufSkel.Clear();
if (skeletonFrame.SkeletonArrayLength == 0)
{
return;
}
var trackedSquelettes = squelettes.Where(skel => skel.TrackingState == SkeletonTrackingState.Tracked).OrderBy <Skeleton, float>(skel => skel.Position.Z);
if (trackedSquelettes.Count() == 0)
{
return;
}
squelette = trackedSquelettes.First();
if (squelette != null)
{
players[i] = squelette;
drawBone(squelette, JointType.Head, JointType.ShoulderCenter, colorSkel);
drawBone(squelette, JointType.ShoulderCenter, JointType.ShoulderLeft, colorSkel);
drawBone(squelette, JointType.ShoulderCenter, JointType.ShoulderRight, colorSkel);
drawBone(squelette, JointType.ShoulderCenter, JointType.Spine, colorSkel);
drawBone(squelette, JointType.Spine, JointType.HipCenter, colorSkel);
drawBone(squelette, JointType.HipCenter, JointType.HipLeft, colorSkel);
drawBone(squelette, JointType.HipCenter, JointType.HipRight, colorSkel);
drawBone(squelette, JointType.ShoulderLeft, JointType.ElbowLeft, colorSkel);
drawBone(squelette, JointType.ElbowLeft, JointType.WristLeft, colorSkel);
drawBone(squelette, JointType.WristLeft, JointType.HandLeft, colorSkel);
drawBone(squelette, JointType.ShoulderRight, JointType.ElbowRight, colorSkel);
drawBone(squelette, JointType.ElbowRight, JointType.WristRight, colorSkel);
drawBone(squelette, JointType.WristRight, JointType.HandRight, colorSkel);
// Left Leg
drawBone(squelette, JointType.HipLeft, JointType.KneeLeft, colorSkel);
drawBone(squelette, JointType.KneeLeft, JointType.AnkleLeft, colorSkel);
drawBone(squelette, JointType.AnkleLeft, JointType.FootLeft, colorSkel);
// Right Leg
drawBone(squelette, JointType.HipRight, JointType.KneeRight, colorSkel);
drawBone(squelette, JointType.KneeRight, JointType.AnkleRight, colorSkel);
drawBone(squelette, JointType.AnkleRight, JointType.FootRight, colorSkel);
if (focusSquelette)
{
ViewPort.Camera = (PerspectiveCamera)squelette2CameraConverter.Convert(players[0], null, null, null);
}
++i;
}
lignes.Points = bufSkel;
}
}
}
/// <summary>
/// Event handler for Kinect sensor's SkeletonFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
//Bloque usado por InteractionStream
if (skeletonFrame != null)
{
//Se hace una copia del esqueleto se asigna la lectura del accelerometro y procesa interactionstream el esqueleto usando lo anterior.
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
//Este bloque está sacado de:
//////////////////////////////////////////////////////////////////////////////////////////////////
//http://dotneteers.net/blogs/vbandi/archive/2013/05/03/kinect-interactions-with-wpf-part-iii-demystifying-the-interaction-stream.aspx
//////////////////////////////////////////////////////////////////////////////////////////////////
Vector4 accelerometerReading = sensor.AccelerometerGetCurrentReading();
interactionStream.ProcessSkeleton(skeletons, accelerometerReading, skeletonFrame.Timestamp);
}
}
using (DrawingContext dc = this.drawingGroup.Open())
{
//Dibuja los rectángulos que no están cogidos.
puzzle.DrawPuzzle(dc);
//Mostramos por pantalla el tiempo que nos queda.
FormattedText t = new FormattedText(puzzle.getTiempo() + " s", CultureInfo.GetCultureInfo("es-es"), FlowDirection.LeftToRight, new Typeface("Verdana"),
24,
Brushes.Black);
dc.DrawText(t, new Point(570, 10));
//Comprobamos que kinect nos haya leido el esqueleto
if (skeletons.Length != 0)
{
// Coge cada esqueleto de cada frame para manejarlo dentro.
foreach (Skeleton skel in skeletons)
{
//Asignamos al esqueleto de este frame el estado del rastreo del esqueleto
//Si detecta los puntos de las articulaciones entra en este bloque.
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
//Comprobamos si se ha acabado el tutorial.
if (!fin_tuto)
{
//Si el tutorial no se ha acabado dibujamos la imagen del tutorial y pintamos un circulo rojo para que al tocarlo se acabe el tutorial
dc.DrawImage(tutorial, new Rect(0, 0, RenderWidth, RenderHeight));
FormattedText ft = new FormattedText("Toque el\ncirculo para\nfin Tutorial", CultureInfo.GetCultureInfo("es-es"), FlowDirection.LeftToRight, new Typeface("Consola"),
14,
Brushes.Black);
dc.DrawText(ft, new Point(550, 60));
dc.DrawEllipse(Brushes.Red, null, new Point(600, 30), 30, 30);
//Si la mano toca el circulo.
if (SkeletonPointToScreen(skel.Joints[JointType.HandRight].Position).X > 560 &&
SkeletonPointToScreen(skel.Joints[JointType.HandRight].Position).Y < 60)
{
//Ponemos a true el final del tutorial y empieza a contar el tiempo.
fin_tuto = true;
puzzle.iniciarTiempo();
}
}
else
{ //Dibujamos la pieza que esté cogida.
puzzle.DrawPuzzleCogidos(dc);
}
//Si se ha acabado el tiempo para resolver el puzzle mostramos la puntuación.
if (puzzle.getFin())
{
FormattedText punt = new FormattedText("Puntuacion: " + puzzle.getPuntuacion() + "/100", CultureInfo.GetCultureInfo("es-es"), FlowDirection.LeftToRight, new Typeface("Verdana"),
24,
Brushes.Black);
dc.DrawText(punt, new Point(240, 240));
}
//Actualizamos el esqueleto del puzzle
puzzle.actualizarSkeleto(skel);
//Dibujamos las manos.
dc.DrawImage(manoDer, new Rect(this.SkeletonPointToScreen(skel.Joints[JointType.HandRight].Position).X - manoDer.Width / 2, this.SkeletonPointToScreen(skel.Joints[JointType.HandRight].Position).Y - manoDer.Height / 2, manoDer.Width, manoDer.Height));
dc.DrawImage(manoIzq, new Rect(this.SkeletonPointToScreen(skel.Joints[JointType.HandLeft].Position).X - manoIzq.Width / 2, this.SkeletonPointToScreen(skel.Joints[JointType.HandLeft].Position).Y - manoIzq.Height / 2, manoIzq.Width, manoIzq.Height));
}
}
}
// prevent drawing outside of our render area
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
}
}
private void KinectSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs args)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = args.OpenSkeletonFrame()) {
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
try {
skeletonFrame.CopySkeletonDataTo(skeletons);
#if MOUSE_CONTROL
Vector4 accelReading = sensor.AccelerometerGetCurrentReading();
_interactionStream.ProcessSkeleton(skeletons, accelReading, skeletonFrame.Timestamp);
#endif
}
catch (InvalidOperationException) {
//Ignoramos el frame
activeSkeleton = null;
return;
}
}
}
if (skeletons.Length == 0)
{
activeSkeleton = null;
return;
}
//Retorna el primer jugador que tenga tracking del Kinect.
Skeleton[] trackedSkeletons = (from s in skeletons where s.TrackingState == SkeletonTrackingState.Tracked select s).ToArray();
if (trackedSkeletons.Length == 0)
{
activeSkeleton = null;
return;
}
//Para este punto ya tenemos por lo menos un candidato para activeSkeleton
activeSkeleton = trackedSkeletons[0];
if (trackedSkeletons.Length > 1)
{
for (int i = 1; i < trackedSkeletons.Length; i++)
{
if (KinectDistanceTools.FirstSkeletonIsCloserToSensor(ref trackedSkeletons[i], ref activeSkeleton, JointType.HipCenter))
{
activeSkeleton = trackedSkeletons[i];
}
}
}
#if MOUSE_CONTROL
/*
* El sistema de referencia que ocupa el kinect tiene como origen la posición
* del sensor, es decir que eje Z apunta al frente del kinect, el eje X el positivo estád
* a la derecha del kinect y el eje Y
* */
//A partir de ahora ya sabemos que hay un jugador detectado por el Kinect y podemos obtener alguna
//parte del cuerpo de referencia.
Joint rightHand = activeSkeleton.Joints[JointType.WristRight];
Joint leftHand = activeSkeleton.Joints[JointType.WristLeft];
XValueRight.Text = rightHand.Position.X.ToString("F", CultureInfo.InvariantCulture);
YValueRight.Text = rightHand.Position.Y.ToString("F", CultureInfo.InvariantCulture);
ZValueRight.Text = rightHand.Position.Z.ToString("F", CultureInfo.InvariantCulture);
XValueLeft.Text = leftHand.Position.X.ToString("F", CultureInfo.InvariantCulture);
YValueLeft.Text = leftHand.Position.Y.ToString("F", CultureInfo.InvariantCulture);
ZValueLeft.Text = leftHand.Position.Z.ToString("F", CultureInfo.InvariantCulture);
//Queremos la mano más cercana al sensor para que controle el mouse.
if (KinectDistanceTools.FirstIsCloserToSensor(ref rightHand, ref leftHand))
{
RightRaised.Text = "Activada";
LeftRaised.Text = "Desactivado";
Vector2 result = mouseController.Move(ref rightHand, isClicks[(int)HandType.Right]);
MousePos.Text = string.Format("X: {0}, Y: {1}, Click: {2}", result.x, result.y, isClicks[(int)HandType.Right] ? "Sí" : "No");
}
else
{
LeftRaised.Text = "Activada";
RightRaised.Text = "Desactivado";
Vector2 result = mouseController.Move(ref leftHand, isClicks[(int)HandType.Left]);
MousePos.Text = string.Format("X: {0}, Y: {1}, Click: {2}", result.x, result.y, isClicks[(int)HandType.Left] ? "Sí" : "No");
}
#endif
}