private void Initialize()
{
if (kinectSensor == null)
{
return;
}
audioManager = new AudioStreamManager(kinectSensor.AudioSource);
audioBeamAngle.DataContext = audioManager;
kinectSensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
kinectSensor.ColorFrameReady += kinectRuntime_ColorFrameReady;
kinectSensor.DepthStream.Enable(DepthImageFormat.Resolution320x240Fps30);
kinectSensor.DepthFrameReady += kinectSensor_DepthFrameReady;
kinectSensor.SkeletonStream.Enable(new TransformSmoothParameters
{
Smoothing = 0.5f,
Correction = 0.5f,
Prediction = 0.5f,
JitterRadius = 0.05f,
MaxDeviationRadius = 0.04f
});
kinectSensor.SkeletonFrameReady += kinectRuntime_SkeletonFrameReady;
swipeGestureRecognizer = new SwipeGestureDetector();
swipeGestureRecognizer.OnGestureDetected += OnGestureDetected;
tPostureDetector = new AlgorithmicPostureDetector();
tPostureDetector.PostureDetected += templatePostureDetector_PostureDetected;
skeletonDisplayManager = new SkeletonDisplayManager(kinectSensor, kinectCanvas);
kinectSensor.Start();
LoadCircleGestureDetector();
LoadLetterTPostureDetector();
//nuiCamera = new BindableNUICamera(kinectSensor);
elevationSlider.DataContext = nuiCamera;
voiceCommander = new VoiceCommander("record", "stop");
voiceCommander.OrderDetected += voiceCommander_OrderDetected;
StartVoiceCommander();
kinectDisplay.DataContext = colorManager;
parallelCombinedGestureDetector = new ParallelCombinedGestureDetector();
parallelCombinedGestureDetector.OnGestureDetected += OnGestureDetected;
parallelCombinedGestureDetector.Add(circleGestureRecognizer);
parallelCombinedGestureDetector.Add(swipeGestureRecognizer);
}
private GestureDetector InitTrain(string name, bool isUseRel)
{
m_tagCount = Mathf.Max(m_skRecorder.m_tagList.ToArray());
GestureDetector gd = new GestureDetector();
gd.m_name = name;
gd.m_jointIdx = (Joint[])m_jointIdx.Clone();
gd.m_thresMulPerPost = new float[m_tagCount];
gd.m_thresMulPerJoint = new float[JointCount];
PostureDetector[] pd = new PostureDetector[m_tagCount];
gd.m_posts = pd;
for (int i = 0; i < m_tagCount; i++)
{
gd.m_thresMulPerPost[i] = 1;
pd[i] = new PostureDetector();
pd[i].m_name = name + '_' + (i + 1);
JointMatcher[] jm = new JointMatcher[JointCount];
pd[i].m_jointMatcher = jm;
for (int j = 0; j < JointCount; j++)
{
if (i == 0 || !isUseRel)
{
jm[j] = new JointMatcher();
}
else
{
jm[j] = new JointMatcherR();
((JointMatcherR)jm[j]).SetLastPostJoint(gd, i, j);
}
jm[j].m_jointIdx = m_jointIdx[j];
gd.m_thresMulPerJoint[j] = 1;
}
}
return(gd);
}
private bool DetectDynamic()
{
if (m_isDetected && m_frameIntv > 0)
{
PostureDetector endPosDet = m_posts[PostureCount - 1];
float lastScore = endPosDet.Score;
//endPosDet.m_isCheckRise = false;
if (endPosDet.Detect(false) && endPosDet.Score / lastScore > .5)
{
m_frameIntvCounter = (m_frameIntvCounter + 1) % (m_isStartCont ? m_frameIntv : m_frameWait);
if (m_frameIntvCounter == 0)
{
m_isStartCont = true;
return(true);
}
else
{
return(false);
}
}
else
{
m_frameIntvCounter = 0;
//endPosDet.m_isCheckRise = true;
m_isStartCont = false;
}
}
m_isPostDet[CurState] = m_posts[CurState].Detect(true);
if (CurState == 1)
{
m_isPostDet[0] = m_posts[0].Detect(false);
}
m_isDetected = m_fsm.Update(m_isPostDet);
return(m_isDetected);
}
/// <summary>
/// Serializes an array of Kinect skeletons into an array of JSON skeletons.
/// </summary>
/// <param name="bodies">The Kinect bodies.</param>
/// <param name="mapper">The coordinate mapper.</param>
/// <param name="faceFrameResults">The kinect faces.</param>
/// <returns>A JSON representation of the skeletons.</returns>
public static string Serialize(this List <Body> bodies, CoordinateMapper mapper, FaceFrameResult[] faceFrameResults)
{
JSONBodyCollection jsonBodies = new JSONBodyCollection {
Bodies = new List <JSONBody>()
};
foreach (Body body in bodies)
{
JSONBody jsonBody = new JSONBody
{
ID = body.TrackingId.ToString(),
Joints = new List <JSONJoint>()
};
foreach (KeyValuePair <JointType, Joint> jointpair in body.Joints)
{
Joint joint = jointpair.Value;
DepthSpacePoint depthPoint = mapper.MapCameraPointToDepthSpace(joint.Position);
jsonBody.Joints.Add(new JSONJoint
{
Name = joint.JointType.ToString().ToLower(),
MapX = depthPoint.X,
MapY = depthPoint.Y,
MapZ = joint.Position.Z,
X = body.Joints[joint.JointType].Position.X,
Y = body.Joints[joint.JointType].Position.Y,
Z = body.Joints[joint.JointType].Position.Z,
// absolute
Quaternion_W = body.JointOrientations[joint.JointType].Orientation.W,
Quaternion_X = body.JointOrientations[joint.JointType].Orientation.X,
Quaternion_Y = body.JointOrientations[joint.JointType].Orientation.Y,
Quaternion_Z = body.JointOrientations[joint.JointType].Orientation.Z,
IsTracked = (body.Joints[joint.JointType].TrackingState == TrackingState.Tracked)
});
}
// faceとbodyの関連付け
FaceFrameResult associatedFace = null;
foreach (var f in faceFrameResults)
{
if (f == null)
{
continue;
}
if (f.TrackingId == body.TrackingId)
{
associatedFace = f;
break;
}
}
if (associatedFace != null)
{
jsonBody.Face = new JSONFace
{
Quaternion_W = associatedFace.FaceRotationQuaternion.W,
Quaternion_X = associatedFace.FaceRotationQuaternion.X,
Quaternion_Y = associatedFace.FaceRotationQuaternion.Y,
Quaternion_Z = associatedFace.FaceRotationQuaternion.Z,
MouthOpened = (associatedFace.FaceProperties[FaceProperty.MouthOpen] == DetectionResult.Maybe || associatedFace.FaceProperties[FaceProperty.MouthOpen] == DetectionResult.Yes),
MouthMoved = (associatedFace.FaceProperties[FaceProperty.MouthMoved] == DetectionResult.Maybe || associatedFace.FaceProperties[FaceProperty.MouthMoved] == DetectionResult.Yes),
LeftEyeClosed = (associatedFace.FaceProperties[FaceProperty.LeftEyeClosed] == DetectionResult.Maybe || associatedFace.FaceProperties[FaceProperty.LeftEyeClosed] == DetectionResult.Yes),
RightEyeClosed = (associatedFace.FaceProperties[FaceProperty.RightEyeClosed] == DetectionResult.Maybe || associatedFace.FaceProperties[FaceProperty.RightEyeClosed] == DetectionResult.Yes)
};
}
// 立っている, 座っている, 寝ている の判定
int posture = PostureDetector.Detect(body);
jsonBody.Posture = posture;
jsonBodies.Bodies.Add(jsonBody);
}
return(Serialize(jsonBodies));
}