/// <summary>
/// Initializes a new instance of the <see cref="CustomBody"/> class.
/// </summary>
public CustomBody()
{
_clippedEdges = FrameEdges.None;
_handLeftConfidence = TrackingConfidence.Low;
_handLeftState = HandState.Unknown;
_handRightConfidence = TrackingConfidence.Low;
_handRightState = HandState.Unknown;
_isDisposed = false;
_isRestricted = false;
_isTracked = false;
_joints = new Dictionary<JointType, IJoint>();
_jointOrientations = new Dictionary<JointType, IJointOrientation>();
foreach (var jointType in CustomJointType.AllJoints)
{
_joints.Add(jointType, new CustomJoint(jointType));
_jointOrientations.Add(jointType, new CustomJointOrientation(jointType));
}
_lean = new PointF();
_leanTrackingState = TrackingState.NotTracked;
_trackingId = ulong.MaxValue;
_hasMappedDepthPositions = false;
_hasMappedColorPositions = false;
}
/// <summary>
/// Constructs a body adapter from a serialized version
/// </summary>
/// <param name="body"></param>
public KinectBody(KGP.Serialization.Body.KinectBodyInternal body)
{
body.Validate(); //This will check preconditions to make sure we have a valid construct
this.clippedEdges = body.ClippedEdges;
this.handLeftConfidence = body.HandLeftConfidence;
this.handLeftState = body.HandLeftState;
this.handRightConfidence = body.HandRightConfidence;
this.handRightState = body.HandRightState;
this.isRestricted = body.IsRestricted;
this.isTracked = body.IsTracked;
Dictionary<JointType, JointOrientation> orientations = new Dictionary<JointType, JointOrientation>();
Dictionary<JointType, Joint> jointsDic = new Dictionary<JointType,Joint>();
for (int i = 0; i < body.Joints.Length;i++)
{
var joint = body.Joints[i];
orientations.Add(joint.JointType, body.JointOrientations[i]);
jointsDic.Add(joint.JointType, joint);
}
this.joints = jointsDic;
this.jointOrientations =orientations;
this.lean = body.Lean;
this.leanTrackingState = body.LeanTrackingState;
this.trackingId = body.TrackingId;
}
private void DrawLeft(FrameEdges clippedEdges)
{
if (clippedEdges.HasFlag(FrameEdges.Left))
{
var rect = new Rect(0, 0, ClipBoundsThickness, this.displaySize.Height);
drawingContext.DrawRectangle(Brushes.Red, null, rect);
}
}
private void DrawBottom(FrameEdges clippedEdges)
{
if (clippedEdges.HasFlag(FrameEdges.Bottom))
{
var rect = new Rect(0, this.displaySize.Height - ClipBoundsThickness, this.displaySize.Width, ClipBoundsThickness);
drawingContext.DrawRectangle(Brushes.Red, null, rect);
}
}
/// <summary>
/// Constructs a body adapter from a kinect sdk body
/// </summary>
/// <param name="body">Body from Kinect SDK</param>
public KinectBody(Microsoft.Kinect.Body body)
{
this.clippedEdges = body.ClippedEdges;
this.handLeftConfidence = body.HandLeftConfidence;
this.handLeftState = body.HandLeftState;
this.handRightConfidence = body.HandRightConfidence;
this.handRightState = body.HandRightState;
this.isRestricted = body.IsRestricted;
this.isTracked = body.IsTracked;
this.jointOrientations = body.JointOrientations;
this.joints = body.Joints;
this.lean = body.Lean;
this.leanTrackingState = body.LeanTrackingState;
this.trackingId = body.TrackingId;
}
/// <summary>
/// Draws indicators to show which edges are clipping body data
/// </summary>
/// <param name="body">body to draw clipping information for</param>
/// <param name="drawingContext">drawing context to draw to</param>
private void DrawClippedEdges(Body body, DrawingContext drawingContext)
{
FrameEdges clippedEdges = body.ClippedEdges;
if (clippedEdges.HasFlag(FrameEdges.Bottom))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, this.displayHeight - ClipBoundsThickness, this.displayWidth, ClipBoundsThickness));
}
if (clippedEdges.HasFlag(FrameEdges.Top))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, 0, this.displayWidth, ClipBoundsThickness));
}
if (clippedEdges.HasFlag(FrameEdges.Left))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, 0, ClipBoundsThickness, this.displayHeight));
}
if (clippedEdges.HasFlag(FrameEdges.Right))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(this.displayWidth - ClipBoundsThickness, 0, ClipBoundsThickness, this.displayHeight));
}
}
private void DrawClippedEdges(TSkeleton body, DrawingContext drawingContext)
{
FrameEdges clippedEdges = body.ClippedEdges;
if (clippedEdges.HasFlag(FrameEdges.Bottom))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, HendlerHolder.DisplayHeight - HendlerHolder.ClipBoundsThickness, HendlerHolder.DisplayWidth, HendlerHolder.ClipBoundsThickness));
}
if (clippedEdges.HasFlag(FrameEdges.Top))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, 0, HendlerHolder.DisplayWidth, HendlerHolder.ClipBoundsThickness));
}
if (clippedEdges.HasFlag(FrameEdges.Left))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, 0, HendlerHolder.ClipBoundsThickness, HendlerHolder.DisplayHeight));
}
if (clippedEdges.HasFlag(FrameEdges.Right))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(HendlerHolder.DisplayWidth - HendlerHolder.ClipBoundsThickness, 0, HendlerHolder.ClipBoundsThickness, HendlerHolder.DisplayHeight));
}
}
/// <summary>
/// Draws indicators to show which edges are clipping body data
/// </summary>
/// <param name="body">body to draw clipping information for</param>
/// <param name="drawingContext">drawing context to draw to</param>
public void DrawClippedEdges(Body body)
{
FrameEdges clippedEdges = body.ClippedEdges;
if (clippedEdges.HasFlag(FrameEdges.Bottom))
{
this.imageSource.DrawRectangle(0, this.displayHeight - ClipBoundsThickness, this.displayWidth, ClipBoundsThickness, Color.FromRgb(255, 0, 0));
}
if (clippedEdges.HasFlag(FrameEdges.Top))
{
this.imageSource.DrawRectangle(0, 0, this.displayWidth, ClipBoundsThickness, Color.FromRgb(255, 0, 0));
}
if (clippedEdges.HasFlag(FrameEdges.Left))
{
this.imageSource.DrawRectangle(0, 0, ClipBoundsThickness, this.displayHeight, Color.FromRgb(255, 0, 0));
}
if (clippedEdges.HasFlag(FrameEdges.Right))
{
this.imageSource.DrawRectangle(this.displayWidth - ClipBoundsThickness, 0, ClipBoundsThickness, this.displayHeight, Color.FromRgb(255, 0, 0));
}
}
private void detectFall(Body body, Plane theFloor, FrameEdges clippedEdges)
{
//condifdence proportional to head off ground
//factor1 distance of head off ground
if (this.hitEdge == true) { return; }
var distanceToGround = this.headOffFloor(body.Joints[JointType.Head].Position, this.theFloor);
float fallVelocity = 0;
if (theCount % 1 == 0) //changing intervals of velocity detection
{
watch.Stop();
headPoints.Add(body.Joints[JointType.Head].Position); //needs clean up
if (headPoints.Count > 2)
{
fallVelocity = (float)(2 * ((headPoints[headPoints.Count - 1].Y) - (headPoints[headPoints.Count - 2].Y)) / (watch.ElapsedMilliseconds * .001));
//will implement velocity and confidence as an additional factor
}
watch.Reset();
watch.Start();
}
// Console.WriteLine(fallVelocity);
// Console.WriteLine(distanceToGround);
if (distanceToGround <= .5f) //60cm threshold for detection
{
if (fallDetected != true)
{
this.fallDetected = true;
incapacitatedStopWatch.Reset();
incapacitatedStopWatch.Start();
String question = "I have detected a fall. " + App.UserName + "Are you alright?";
synth.SpeakAsync(question);
fallDetectedLoopCount++;
}
}
if (this.scanningHealthMode == true && distanceToGround > 1f)
{
Console.WriteLine("Stood up");
// scanningHealthMode = false;
this.returnToIdle();
}
if (this.userIncapacitated == true && distanceToGround > 1f)
{
Console.WriteLine("Stood up");
this.returnToIdle();
}
{
}
}
private void showBodyFrame(BodyFrame bodyFrame, bool dataReceived)
{
if (fallDetected)
{
elapsedFallTime = this.incapacitatedStopWatch.ElapsedMilliseconds * .001;
if (elapsedFallTime >= 8 && responseToFallCount ==0)
{
incapacitatedStopWatch.Stop();
synth.SpeakAsync("No response detected");
this.incapacitationDetected();
}
}
if (bodyFrame != null)
{
this.theFloor = new Plane(bodyFrame.FloorClipPlane); //get floor plane
if (this.bodies == null)
{
this.bodies = new Body[bodyFrame.BodyCount];
}
bodyFrame.GetAndRefreshBodyData(this.bodies);
dataReceived = true;
}
if (dataReceived)
{
using (DrawingContext dc = this.drawingGroup.Open())
{
dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, this.displayWidth, this.displayHeight));
int penIndex = 0;
foreach (Body body in this.bodies)
{
Pen drawPen = this.bodyColors[penIndex++];
FrameEdges clippedEdges = body.ClippedEdges;
if (body.IsTracked)
{
this.DrawClippedEdges(body, dc);
IReadOnlyDictionary<JointType, Joint> joints = body.Joints;
detectFall(body, theFloor,clippedEdges);
Dictionary<JointType, Point> jointPoints = new Dictionary<JointType, Point>();
foreach (JointType jointType in joints.Keys)
{
CameraSpacePoint position = joints[jointType].Position;
if (position.Z < 0)
{
position.Z = InferredZPositionClamp;
}
DepthSpacePoint depthSpacePoint = this.coordinateMapper.MapCameraPointToDepthSpace(position);
jointPoints[jointType] = new Point(depthSpacePoint.X, depthSpacePoint.Y);
}
this.DrawBody(joints, jointPoints, dc, drawPen);
this.DrawHand(body.HandLeftState, jointPoints[JointType.HandLeft], dc);
this.DrawHand(body.HandRightState, jointPoints[JointType.HandRight], dc);
theCount++;
}
}
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, this.displayWidth, this.displayHeight));
}
}
}
public Kinect2KitBody(string trackingId, FrameEdges clippedEdges)
{
this.TrackingId = trackingId;
this.ClippedEdges = clippedEdges;
}
void Reader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
var reference = e.FrameReference.AcquireFrame();
// Color
using (var frame = reference.ColorFrameReference.AcquireFrame())
{
if (frame != null)
{
if (viewer.Visualization == Visualization.Color)
{
viewer.Image = frame.ToBitmap();
}
}
}
// Body
using (var frame = reference.BodyFrameReference.AcquireFrame())
{
if (frame != null)
{
var bodies = frame.Bodies();
_userReporter.Update(bodies);
Body body = bodies.Closest();
if (body != null)
{
FrameEdges clippedEdges = body.ClippedEdges;
viewer.DrawBody(body, 15, Brushes.Red, 8, Brushes.Aqua);
_recorder.Update(body);
DateTime currentT = DateTime.Now;
TimeSpan elapsed = currentT - startTime;
//Stop recording if duration is not default (0) and reached duration
if (Application.Current.Properties["duration"].ToString() != "0")
{
if (elapsed >= duration)
{
_recorder.IsRecording = false;
}
}
//Update instructions when user reaches edge of frame
if (clippedEdges.HasFlag(FrameEdges.Left))
{
Instructions.Text = "Turn right and walk";
if (current == 2)
{
laps++;
}
current = 1;
}
if (clippedEdges.HasFlag(FrameEdges.Right))
{
Instructions.Text = "Turn left and walk";
if (current == 1)
{
laps++;
}
current = 2;
}
if (laps == 3) //end of exercise. Save node data
{
Instructions.Text = "You have completed this exercise!";
_timer.Stop();
if (!dataSaved)
{
_recorder.Stop();
SaveFileDialog dialog = new SaveFileDialog
{
Filter = "Excel files|*.csv"
};
dialog.ShowDialog();
if (!string.IsNullOrWhiteSpace(dialog.FileName))
{
System.IO.File.Copy(_recorder.Result, dialog.FileName, true);
}
//Write data for report generation
string path = System.IO.Path.Combine(Environment.CurrentDirectory, @"..\..\..\UserData\WalkingReportData.csv");
// This text is added only once to the file.
if (!File.Exists(path))
{
// Record duration and date of exercise
using (StreamWriter sw = File.CreateText(path))
{
sw.WriteLine("ExerciseDuration,Date");
sw.WriteLine(_timer.Elapsed.ToString() + "," + DateTime.Today.ToString("d"));
}
}
else
{
// This text is always added, making the file longer over time
// if it is not deleted.
using (StreamWriter sw = File.AppendText(path))
{
sw.WriteLine(_timer.Elapsed.ToString() + "," + DateTime.Today.ToString("d"));
}
}
dataSaved = true;
}
}
}
}
}
}
private void MyDataFrameReadyEventHandler(object sender, DataFrameReadyEventArgs e)
{
using (DataFrame dataFrame = e.OpenFrame() as DataFrame)
{
if (dataFrame != null)
{
Skeleton skl = dataFrame.Skeletons[0];
edgeWarnings = skl.ClippedEdges;
StringBuilder sb = new StringBuilder();
int warningsCount = CheckEdgeWarnings(sb);
if (SdkManager.IsDebugRun)
{
Debug.Log(String.Format("Warnings frame: {0}, contains {1} Warnings:\n{2}", dataFrame.FrameKey.FrameNumberKey, warningsCount, sb.ToString()));
}
}
}
}
public static Offset<Body> CreateBody(FlatBufferBuilder builder,
ulong trackingId = 0,
bool isTracked = false,
bool isRestricted = false,
FrameEdges clippedEdges = FrameEdges.None,
Offset<Hand> handLeftOffset = default(Offset<Hand>),
Offset<Hand> handRightOffset = default(Offset<Hand>),
VectorOffset jointsOffset = default(VectorOffset))
{
builder.StartObject(7);
Body.AddTrackingId(builder, trackingId);
Body.AddJoints(builder, jointsOffset);
Body.AddHandRight(builder, handRightOffset);
Body.AddHandLeft(builder, handLeftOffset);
Body.AddClippedEdges(builder, clippedEdges);
Body.AddIsRestricted(builder, isRestricted);
Body.AddIsTracked(builder, isTracked);
return Body.EndBody(builder);
}
public static void AddClippedEdges(FlatBufferBuilder builder, FrameEdges clippedEdges)
{
builder.AddInt(3, (int)clippedEdges, 0);
}
private void UpdateFrameEdges(FrameEdges edges)
{
// Using .NET Enum functions to see what Warnings we received
Right.IsChecked = edges.HasFlag(FrameEdges.Right);
Near.IsChecked = edges.HasFlag(FrameEdges.Near);
Left.IsChecked = edges.HasFlag(FrameEdges.Left);
Far.IsChecked = edges.HasFlag(FrameEdges.Far);
}
