public MainWindow()
{
InitializeComponent();
//get ip address of local machine, may not work if virtual machine installed (adds network adapter)
IPHostEntry host;
string localIP = "?";
currentIDAssociation = null;
host = Dns.GetHostEntry(Dns.GetHostName());
foreach (IPAddress ip in host.AddressList)
{
if (ip.AddressFamily.ToString() == "InterNetwork")
{
localIP = ip.ToString();
}
}
ServerTextBox.Text = localIP;
//update rule display on UI
lblCalibrationOrientation.Content = "Change in Orientation: " + translateRule.changeInOrientation;
lblCalibrationPoint.Content = "dX, dZ: " + translateRule.dX + ", " + translateRule.dZ;
lblCalibrationTranslation.Content = "xTran, zTran: " + translateRule.xSpace + ", " + translateRule.zSpace;
lblCalibrationStartingLocation.Content = "Starting Location: " + translateRule.startingLocation.X + ", "
+ translateRule.startingLocation.Y + ", " + translateRule.startingLocation.Z;
}
/// <summary>
/// Handles the body frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Reader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
{
BodyFrameReference frameReference = e.FrameReference;
try
{
BodyFrame frame = frameReference.AcquireFrame();
if (frame != null)
{
List<Person> persons = new List<Person>();
// BodyFrame is IDisposable
using (frame)
{
// render skeleton
this.framesSinceUpdate++;
this.Dispatcher.Invoke(new Action(delegate()
{
skeletonRenderer2.renderBodyFrame(e,currentIDAssociation);
}));
frame.GetAndRefreshBodyData(this.bodies);
foreach (Body body in this.bodies)
{
if (body.IsTracked)
{
float x = body.Joints[JointType.SpineBase].Position.X;
float y = body.Joints[JointType.SpineBase].Position.Y;
float z = body.Joints[JointType.SpineBase].Position.Z;
Joint handLeft = body.Joints[JointType.HandLeft];
Joint handRight = body.Joints[JointType.HandRight];
//Console.WriteLine("State: " + body.Joints[JointType.HandLeft].TrackingState + " position: " + body.Joints[JointType.HandLeft].Position.X + "," + body.Joints[JointType.HandLeft].Position.Y + "," + body.Joints[JointType.HandLeft].Position.Z);
/*
double x1 = body.JointOrientations[JointType.SpineBase].Orientation.X;
double y1 = body.JointOrientations[JointType.SpineBase].Orientation.Y;
double z1 = body.JointOrientations[JointType.SpineBase].Orientation.Z;
double w1 = body.JointOrientations[JointType.SpineBase].Orientation.W;
// convert face rotation quaternion to Euler angles in degrees
double yawD, pitchD, rollD;
pitchD = Math.Atan2(2 * ((y1 * z1) + (w1 * x1)), (w1 * w1) - (x1 * x1) - (y1 * y1) + (z1 * z1)) / Math.PI * 180.0;
yawD = Math.Asin(2 * ((w1 * y1) - (x1 * z1))) / Math.PI * 180.0;
//yawD = Math.Asin(2 * ((x1 * y1) + (w1 * z1))) / Math.PI * 180.0;
rollD = Math.Atan2(2 * ((x1 * y1) + (w1 * z1)), (w1 * w1) + (x1 * x1) - (y1 * y1) - (z1 * z1)) / Math.PI * 180.0;
// Math convertion from quaternion to euler: http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/index.htm
// Found quaternion resource: http://www.opengl-tutorial.org/intermediate-tutorials/tutorial-17-quaternions/#Foreword__rotation_VS_orientation
//Console.WriteLine(body.TrackingId + " ori: " + pitchD + " - " + yawD + " - " + rollD);//body.JointOrientations[JointType.SpineBase].Orientation.X + "," + body.JointOrientations[JointType.SpineBase].Orientation.Y + "," + body.JointOrientations[JointType.SpineBase].Orientation.Z + " w: " + body.JointOrientations[JointType.SpineBase].Orientation.W);
*/
//body.JointOrientations
/*LightBuzz.Vitruvius.GestureController gestureController; //gesture controller
gestureController = new LightBuzz.Vitruvius.GestureController(LightBuzz.Vitruvius.GestureType.All);
gestureController.GestureRecognized += GestureController_GestureRecognized;
*/
//double y = skeleton.getHeight() / 2;
//Console.WriteLine("X: " + x + " Y: " + y + " Z: " + z);
//update body gestures
gestureController.Update(body);
String gesture = null;
try
{
if (gestureList.Keys.Contains(body.TrackingId))
{
gesture = gestureList[body.TrackingId];
gestureList.Remove(body.TrackingId);
}
}
catch(Exception)
{
Console.WriteLine("failed to grab gesture from list");
}
Person person;
if (AcceptableNumInferredJoints(body.Joints) && AcceptableNumTrackedJoints(body.Joints)) //deemed accurate enough, send as "tracked"
{
person = new Person(body.TrackingId.ToString(), applyTranslateRule(new Point3D(x, y, z), translateRule), gesture, Person.trackingStates.tracked,handLeft,handRight, body.HandLeftState, body.HandRightState, body.HandLeftConfidence, body.HandRightConfidence);
}
else //not accurate enough, send as "inferred"
{
person = new Person(body.TrackingId.ToString(), applyTranslateRule(new Point3D(x, y, z), translateRule), gesture, Person.trackingStates.inferred, handLeft, handRight, body.HandLeftState, body.HandRightState, body.HandLeftConfidence, body.HandRightConfidence);
}
//Console.WriteLine("X: " + person.location.X + " Y: " + person.location.Y + " Z: " + person.location.Z);
persons.Add(person);
//translateRule.changeInOrientation = translateRule.changeInOrientation * -1;
}
}// after loop through each skeleton.
}
if (socket != null)
{
if (socket.IsConnected) //add check for isConnected
{
socket.Emit("personUpdate", persons, null, (callback) => {
SODMessage assocations = new SODMessage(callback);
currentIDAssociation = assocations;
});
}
}
else
{
Console.WriteLine("Socket not connected.");
}
}
}
catch (Exception)
{
// ignore if the frame is no longer available
}
}
