private void SetTrackedSkeleton(int matchingSkeleton)
{
if (matchingSkeleton == _activeTID)
{
return;
}
if (matchingSkeleton != -1 && _kinect != null && _kinect.GetSensor() != null)
{
_kinect.GetSensor().SkeletonStream.ChooseSkeletons(matchingSkeleton);
if (Strategy.Equals(TrackingEngine.CLOSEST_SKELETON) || (_activeUser != null && _activeUser.Attempts >= User.MAX_ATTEMPTS))
{
Log.Info("Closest skeleton found. Starting tracking of id : " + matchingSkeleton);
_kinectHandler.StartTracking(matchingSkeleton);
_kinectHandler.TrackingStarted(matchingSkeleton);
}
_activeTID = matchingSkeleton;
}
else
{
Log.Info("No suitable skeleton found for tracking. Tracking stopped");
_kinectHandler.StopTracking(_activeTID);
_kinectHandler.TrackingStopped(matchingSkeleton);
_activeTID = -1;
}
}
void IKinect.Init()
{
// initialize the KinectData object
if (_kinect != null && _kinect.GetSensor() == null)
{
Log.Error("Init cannot be completed. Kinect not active");
return;
}
_gestureProcessor = new GestureProcessor(this, _kinect);
Log.Info("Gesture processor created");
_trackingEngine = new TrackingEngine(_kinect, this);
_trackingEngine.Strategy = TrackingEngine.RECOGNIZED_FIRST;
//_featureProcessor.StartProcess();
if (_vocCom != null)
{
_vocCom.Start(_kinect.GetSensor());
}
else
{
Log.Error("Could not load voice commands.");
}
Log.Info("Voice Commands loaded.");
}
public KinectHandler(KinectData kinect, Device comInterface)
{
if (Log == null)
{
return;
}
Log.Info("Initializing Framework");
_comInterface = comInterface;
_kinect = kinect;
if (_kinect != null && _kinect.GetSensor() == null)
{
Log.Error("Kinect not initialized, Cannot continue.");
return;
}
_commands = FileLoader.LoadVoiceCommands();
if (_commands == null)
{
return;
}
_vocCom = new VoiceCommander(_commands);
_vocCom.OrderDetected += VoiceCommandDetected;
}
public TrackingEngine(KinectData kinect, KinectHandler kinectHandler)
{
if (Log == null)
{
return;
}
Log.Info("Starting TrackingEngine");
_kinect = kinect;
_kinectHandler = kinectHandler;
Strategy = RECOGNIZED_FIRST;
if (_kinect != null)
{
Log.Info("Attaching to Kinect");
var kinectSensor = _kinect.GetSensor();
if (kinectSensor != null)
{
kinectSensor.AllFramesReady += TrackingEngineAllFramesReady;
}
_recognitionEngine = new RecognitionEngine(kinect, this);
}
_activeTID = -1;
Log.Info("Tracking Engine Started");
LoadUsers();
Log.Info("Users loaded");
}
private void SkeletonDataReadyHandler(object sender, SkeletonFrameReadyEventArgs e)
{
// no active user, ignore events
if (_activeUser == -1 || e == null || _kinect == null)
{
return;
}
// not recording and no context, ignore events.
var sFrame = e.OpenSkeletonFrame();
if (sFrame == null)
{
return;
}
var skeletons = new Skeleton[_kinect.GetSensor().SkeletonStream.FrameSkeletonArrayLength];
sFrame.CopySkeletonDataTo(skeletons);
sFrame.Dispose();
foreach (var skeleton in skeletons.Where(skeleton => skeleton != null && skeleton.TrackingId == _activeUser))
{
Skeleton2DDataExtract.ProcessData(skeleton, _defaultHand);
if (!_isRecording)
{
if (_pointer != null)
{
_pointer.FindContext(skeleton);
}
}
if (_addOnGesture)
{
AddOnGesture(_addOnGestureType, skeleton);
}
}
}
private Image <Bgr, byte>[] FindFace(Skeleton skel, Bitmap image)
{
var headPos = _kinect.GetSensor().MapSkeletonPointToColor(skel.Joints[JointType.Head].Position,
ColorImageFormat.RgbResolution640x480Fps30);
var shoulderL = _kinect.GetSensor().MapSkeletonPointToColor(skel.Joints[JointType.ShoulderLeft].Position,
ColorImageFormat.RgbResolution640x480Fps30);
var shoulderR = _kinect.GetSensor().MapSkeletonPointToColor(skel.Joints[JointType.ShoulderRight].Position,
ColorImageFormat.RgbResolution640x480Fps30);
var startX = shoulderL.X;
var startY = Math.Max(headPos.Y - 80, 0);
var width = Math.Sqrt((shoulderR.X - shoulderL.X) * (shoulderR.X - shoulderL.X));
var height = Math.Sqrt((headPos.Y - shoulderL.Y) * (headPos.Y - shoulderL.Y)) + 100;
//Log.Info(startX + "," + startY + "," + width + "," + height);
width = Math.Min(Math.Max(width, 0), 640);
height = Math.Min(Math.Max(height, 0), 480);
if (Double.IsNaN(width) || Double.IsNaN(height) || Math.Abs(width - 0) < 0.0001 || Math.Abs(height - 0) < 0.0001)
{
return(null);
}
var img = new Image <Bgr, byte>(image)
{
ROI = new Rectangle(startX, startY, (int)width, (int)height)
};
var faces = new Image <Bgr, byte> [1];
faces[0] = img.Copy();
img.Save(FileLoader.DefaultPath + "testHeadPos.jpg");
return(faces);
}
Boolean IDevice.Init()
{
LoadLogger();
Log.Info("Starting Kinect automation environment...");
_kinect = new KinectData(0);
_kHandler = new KinectHandler(_kinect, this);
_kHandler.Init();
if (_kinect.GetSensor() == null)
{
Log.Error("Kinect could not be instantiated. Terminating.");
return(false);
}
return(true);
}
public KinectHandler(KinectData kinect, Device comInterface)
{
if (Log == null) return;
Log.Info("Initializing Framework");
_comInterface = comInterface;
_kinect = kinect;
if(_kinect != null && _kinect.GetSensor() == null)
{
Log.Error("Kinect not initialized, Cannot continue.");
return;
}
_commands = FileLoader.LoadVoiceCommands();
if (_commands == null) return;
_vocCom = new VoiceCommander(_commands);
_vocCom.OrderDetected += VoiceCommandDetected;
}
public TrackingEngine(KinectData kinect, KinectHandler kinectHandler)
{
if (Log == null) return;
Log.Info("Starting TrackingEngine");
_kinect = kinect;
_kinectHandler = kinectHandler;
Strategy = RECOGNIZED_FIRST;
if (_kinect != null)
{
Log.Info("Attaching to Kinect");
var kinectSensor = _kinect.GetSensor();
if (kinectSensor != null)
kinectSensor.AllFramesReady+=TrackingEngineAllFramesReady;
_recognitionEngine = new RecognitionEngine(kinect,this);
}
_activeTID = -1;
Log.Info("Tracking Engine Started");
LoadUsers();
Log.Info("Users loaded");
}
Boolean IDevice.Init()
{
LoadLogger();
Log.Info("Starting Kinect automation environment...");
_kinect = new KinectData(0);
_kHandler = new KinectHandler(_kinect, this);
_kHandler.Init();
if(_kinect.GetSensor() == null)
{
Log.Error("Kinect could not be instantiated. Terminating.");
return false;
}
return true;
}
