/// <summary>
/// Attempt to get a frame & track bodies each frame
/// </summary>
private bool GetAndRefreshBodyData(BodyFrameArrivedEventArgs e, bool dataReceived)
{
// Represents a frame that contains all the computed real-time tracking information
// about people that are in view of the sensor.
using (BodyFrame bodyFrame = e.FrameReference.AcquireFrame())
{
// Not able to get a frame?
//if (bodyFrame == null) return !dataReceived;
//TODO: Can probably get rid of this
if (bodyFrame == null)
{
kinectState = KinectState.notTracked;
Debug.WriteLine("Cannot get Frame Reference");
}
// Able to get a frame, but bodies is currently null
if (bodyFrame != null && this.bodies == null)
{
this.bodies = new Body[bodyFrame.BodyCount];
// TODO: Determine the correct Kinect State
Debug.WriteLine("Current _body count: " + bodyFrame.BodyCount);
}
// Return current status of bodies to Kinect
bodyFrame?.GetAndRefreshBodyData(this.bodies);
kinectState = KinectState.bodyTrackedAndIsTracking;
}
return(false);
}
void detector_OnGestureDetected(string obj)
{
if (obj == "SwipeToRight")
{
kinectState = KinectState.MovingCursor;
if (movingButton != null)
{
movingButton.Release();
movingButton = null;
}
}
}
void voiceCommander_OrderDetected(string obj)
{
if (obj == "stop")
{
kinectState = KinectState.MovingCursor;
if (movingButton != null)
{
movingButton.Release();
movingButton = null;
}
}
}
private void CheckBodies(object sender, BodyFrameArrivedEventArgs e)
{
switch (kinectState)
{
case KinectState.bodyTrackedAndIsTracking:
SaveCameraFrame(_body);
break;
case KinectState.notTracked:
//GetAndRefreshBodyData(e, false);
_body = TrackBodies(_body);
break;
default:
// Set default state
kinectState = KinectState.notTracked;
break;
}
}
private void CheckForCollision()
{
//get stackpanel top and left compared to the canvas
double stackPanelLeft = Canvas.GetLeft(lettersStackPanel);
double stackPanelTop = Canvas.GetTop(lettersStackPanel);
//get moving letter's top and left
double letterLeft = Canvas.GetLeft(movingButton);
double letterTop = Canvas.GetTop(movingButton);
int width = 0;
//check for collision
for (int i = 0; i < lettersStackPanel.Children.Count; i++)
{
Border b = lettersStackPanel.Children[i] as Border;
if (staticLetters[i].IsMatched)
{
width += (int)b.Width;
continue; //already matched
}
double distance = Math.Sqrt(Math.Pow(stackPanelLeft + width - letterLeft, 2) + Math.Pow(stackPanelTop - letterTop, 2));
StaticLetter staticLetter = staticLetters.Where(x => x.Border == b).Single();
MoveableLetter moveableLetter = movingLetters.Where(x => x.HoverButton == movingButton).Single();
if (distance < Utilities.DistanceForSucking && staticLetter.Index == moveableLetter.Index) //if it's the same letter
{
kinectState = KinectState.MovingCursor;
PiecesMatched(staticLetter, moveableLetter);
return;
}
width += (int)b.Width;
}
}
void HoButton_Click(object sender, RoutedEventArgs e)
{
//user has captured a letter
kinectState = KinectState.MovingObject;
movingButton = sender as HoverButton;
}
private void dispatcherTimer_Tick(object sender, EventArgs e)
{
if (this.skeleton.TrackingState == SkeletonTrackingState.Tracked)
{
// 内積を計算して類似度を取得
int SetSimilarity = (int)(MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseSet) * 100);
int ChargeSimilarity = (int)(MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseCharge) * 100);
int AimSimilarity = (int)(MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseAim) * 100);
int ShootSimilarity = (int)(MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseShoot) * 100);
// 状態遷移
#if false
switch (this.nowState)
{
case State.None:
if (kamaeSimilarity >= this.slider1.Value)
{
this.counter++;
if (this.counter >= slider4.Value)
{
this.counter = 0;
this.nowState = State.Kamae;
}
}
break;
case State.Kamae:
if (pose1Similarity >= this.slider2.Value)
this.nowState = State.Up;
if (pose2Similarity >= this.slider3.Value)
this.nowState = State.Down;
break;
case State.Up:
case State.Down:
this.counter++;
if (this.counter > this.slider4.Value)
{
this.counter = 0;
this.nowState = State.None;
}
break;
default:
break;
}
// 表示
this.label4.Content = kamaeSimilarity + " / " + this.slider1.Value.ToString("F0");
this.label5.Content = pose1Similarity + " / " + this.slider1.Value.ToString("F0");
this.label6.Content = pose2Similarity + " / " + this.slider1.Value.ToString("F0");
#endif
// 骨格を描画
for (int i = 0; i < this.skeleton.Joints.Count; i++)
{
// 3次元座標を2次元座標に変換
cip[i] = this.sensor.CoordinateMapper.MapSkeletonPointToColorPoint(this.skeleton.Joints[(JointType)i].Position, ColorImageFormat.RgbResolution640x480Fps30);
// 描画範囲に合わせ収まるように縮小
cip[i].X /= 4;
cip[i].Y /= 4;
}
// 骨格情報をセット
// 今は上半身のみ
this.SetBonePoint(0, 3, 2);
this.SetBonePoint(1, 2, 4);
this.SetBonePoint(2, 4, 5);
this.SetBonePoint(3, 5, 6);
this.SetBonePoint(4, 6, 7);
this.SetBonePoint(5, 2, 8);
this.SetBonePoint(6, 8, 9);
this.SetBonePoint(7, 9, 10);
this.SetBonePoint(8, 10, 11);
}
else
{
#if false
this.label4.Content = this.slider1.Value.ToString("F0");
this.label5.Content = this.slider2.Value.ToString("F0");
this.label6.Content = this.slider3.Value.ToString("F0");
this.label8.Content = this.slider4.Value.ToString("F0") + "[ms]";
#endif
//MainWindow.getInstance.Shoot(800, 420, -50, -4);
}
// this.label9.Content = "認識状態:" + this.nowState.ToString();
}
public void Reset()
{
nowState = KinectState.Other;
RemoveBone();
counter = 0;
}
public KinectState input()
{
if (this.skeleton.TrackingState == SkeletonTrackingState.Tracked)
{
// 内積を計算して類似度を取得
// 構え１左肩→左手・左肘→左手・右肩→右手・右肘→右手
int SetSimilarity = (int)(
MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseSet) * 30
+ MyMath.Dot(JointType.ElbowLeft , JointType.HandLeft, this.skeleton, this.poseSet) * 33
+ MyMath.Dot(JointType.ShoulderRight, JointType.HandRight, this.skeleton, this.poseSet) * 20
+ MyMath.Dot(JointType.ElbowRight , JointType.HandRight, this.skeleton, this.poseSet) * 17
);
// 構え２(引くまで)たぶん使わない
int ChargeSimilarity = (int)(MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseCharge) * 100);
// 狙いをつける これもたぶん使わない
int AimSimilarity = (int)(MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseAim) * 100);
// 放つ たぶんこいつも・・・
int ShootSimilarity = (int)(MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseShoot) * 100);
// 骨格を描画
for (int i = 0; i < this.skeleton.Joints.Count; i++)
{
// 3次元座標を2次元座標に変換
cip[i] = this.sensor.CoordinateMapper.MapSkeletonPointToColorPoint(this.skeleton.Joints[(JointType)i].Position, ColorImageFormat.RgbResolution640x480Fps30);
// 描画範囲に合わせ収まるように縮小
cip[i].X /= 4;
cip[i].Y /= 4;
}
// 骨格情報をセット
// 今は上半身のみ
this.SetBonePoint(0, 3, 2); // 頭→肩中
this.SetBonePoint(1, 2, 4); // 肩中→左肩
this.SetBonePoint(2, 4, 5); // 左肩→左肘
this.SetBonePoint(3, 5, 6); // 左肘→左手
this.SetBonePoint(4, 6, 7); // 左手→？
this.SetBonePoint(5, 2, 8); // 肩中→右肩
this.SetBonePoint(6, 8, 9); // 右肩→右肘
this.SetBonePoint(7, 9, 10); // 右肘→右手
this.SetBonePoint(8, 10, 11); // 右手→？
this.SetBonePoint(9, 2, 1); // 肩中→腰
this.SetBonePoint(10, 1, 0); // 腰→尻
this.SetBonePoint(11, 0, 12); // 尻→左尻
this.SetBonePoint(12, 12, 13);// 左尻→左膝
this.SetBonePoint(13, 13, 14);// 左膝→左足
this.SetBonePoint(14, 14, 15);//
this.SetBonePoint(15, 0, 16); // 尻→右尻
this.SetBonePoint(16, 16, 17);// 右尻→右膝
this.SetBonePoint(17, 17, 18);// 右膝→右足
this.SetBonePoint(18, 18, 19);//
this.bones[19].Stroke = alphaColor;
// 状態遷移
#if false
switch (this.nowState)
{
case KinectState.Other:
this.nowState = KinectState.None;
Bow.getInstance.Idling(new Point(bones[4].X1, bones[4].Y1));
break;
case KinectState.None:
Bow.getInstance.Idling(new Point(bones[4].X1, bones[4].Y1));
if (SetSimilarity >= 90)
{
this.counter++;
if (this.counter >= 20)
{
this.counter = 5;
this.nowState = KinectState.Set;
}
}
else {
this.counter = 0;
}
break;
case KinectState.Set:
Bow.getInstance.Drawing(new Point(bones[4].X1, bones[4].Y1), new Point(bones[8].X1, bones[8].Y1));
// 左肘が伸びているか
if (MyMath.Dot(new Point(bones[3].X1, bones[3].Y1), new Point(bones[4].X1, bones[4].Y1), new Point(bones[2].X1, bones[2].Y1)) < -0.4f) {
// 右肘が曲がっているか
if (MyMath.Dot(new Point(bones[7].X1, bones[7].Y1), new Point(bones[8].X1, bones[8].Y1), new Point(bones[4].X1, bones[4].Y1)) > 0.1f) {
// 現在の位置を保存する
fromShoot.X = bones[8].X1; fromShoot.Y = bones[8].Y1;
toShoot.X = bones[4].X1; toShoot.Y = bones[4].Y1;
//this.SetBonePoint(19, 6, 10);
this.SetBonePoint(19, toShoot, fromShoot);
counter = (counter < 10) ? 10 : counter;
}
}
else {
counter--;
if (counter < 0) {
counter = 0;
this.nowState = KinectState.None;
}
}
#if false
if (MyMath.PointToLength(fromShoot, toShoot) > 34) {
counter++;
if (counter > 30) {
this.counter = 5;
this.nowState = State.Charge;
//MainWindow.getInstance.Shoot((float)toShoot.X, (float)toShoot.Y, (float)(toShoot.X - fromShoot.X) * 2.0f, (float)(toShoot.Y - fromShoot.Y) * 2.0f);
}
}
#else
if (MyMath.PointToLength(fromShoot, toShoot) >
MyMath.PointToLength(
new Point(bones[3].X1, bones[3].Y1)
, new Point(bones[3].X2, bones[3].Y2)
) * 3.1f)
{
counter++;
if (counter > 30) {
this.counter = 5;
this.nowState = KinectState.Charge;
//MainWindow.getInstance.Shoot((float)toShoot.X, (float)toShoot.Y, (float)(toShoot.X - fromShoot.X) * 2.0f, (float)(toShoot.Y - fromShoot.Y) * 2.0f);
}
}
#endif
break;
case KinectState.Charge:
Bow.getInstance.Drawing(new Point(bones[4].X1, bones[4].Y1), new Point(bones[8].X1, bones[8].Y1));
//float d = -1.0f;
//d = MyMath.PointToLength(fromShoot, new Point(bones[8].X1, bones[8].Y1));
float fsL, tsL;
tsL = MyMath.PointToLength(toShoot, new Point(bones[4].X1, bones[4].Y1));
fsL = MyMath.PointToLength(fromShoot, new Point(bones[8].X1, bones[8].Y1));
if (MyMath.Dot(new Point(bones[3].X1, bones[3].Y1), new Point(bones[4].X1, bones[4].Y1), new Point(bones[2].X1, bones[2].Y1)) < -0.5f) {
// 右肘が曲がっているか
if (MyMath.Dot(new Point(bones[7].X1, bones[7].Y1), new Point(bones[8].X1, bones[8].Y1), new Point(bones[4].X1, bones[4].Y1)) > 0.26f) {
// 現在の位置を保存する
//float fsL, tsL;
if (tsL > 0.9f && fsL > 0.6f && fsL < 6.5f) {
// 動いた場合に移動する処理を行う
fromShoot.X = bones[8].X1; fromShoot.Y = bones[8].Y1;
toShoot.X = bones[4].X1; toShoot.Y = bones[4].Y1;
counter = 20;
}
else {
// 動かなかった場合にインクリメント
counter++;
}
//this.SetBonePoint(19, 6, 10);
//this.SetBonePoint(19, toShoot, fromShoot);
counter = (counter < 20) ? 20 : counter;
}
}
else {
counter--;
if (counter < 0) {
counter = 0;
this.nowState = KinectState.None;
}
}
if (counter > 100) {
this.nowState = KinectState.Aim;
}
if (fsL > 4.9f && tsL < 3.0f) {
this.nowState = KinectState.Shoot;
}
break;
case KinectState.Aim:
Bow.getInstance.Drawing(new Point(bones[4].X1, bones[4].Y1), new Point(bones[8].X1, bones[8].Y1));
float a = -1.0f;
a = MyMath.PointToLength(fromShoot, new Point(bones[8].X1, bones[8].Y1));
if (MyMath.Dot(new Point(bones[2].X1, bones[2].Y1), new Point(bones[2].X1, bones[2].Y1 + 2.0f), new Point(bones[4].X1, bones[4].Y1)) < -0.5f) {
counter = 0;
this.nowState = KinectState.None;
}
// 左肘が伸びているか
if (MyMath.Dot(new Point(bones[3].X1, bones[3].Y1), new Point(bones[4].X1, bones[4].Y1), new Point(bones[2].X1, bones[2].Y1)) < -0.5f) {
// 右肘が曲がっているか
if (MyMath.Dot(new Point(bones[7].X1, bones[7].Y1), new Point(bones[8].X1, bones[8].Y1), new Point(bones[4].X1, bones[4].Y1)) > 0.26f) {
// 現在の位置を保存する
//float fsL, tsL;
fsL = a;
if ((tsL = MyMath.PointToLength(toShoot, new Point(bones[4].X1, bones[4].Y1))) > 3.2f) {
fromShoot.X = bones[8].X1; fromShoot.Y = bones[8].Y1;
toShoot.X = bones[4].X1; toShoot.Y = bones[4].Y1;
this.nowState = KinectState.Charge;
}
else {
counter++;
}
//this.SetBonePoint(19, 6, 10);
//this.SetBonePoint(19, toShoot, fromShoot);
//counter++;
}
}
else {
counter = 0;
this.nowState = KinectState.None;
}
#if false
if (this.counter > 60)
{
this.counter = 0;
this.nowState = State.None;
MainWindow.getInstance.Shoot((float)toShoot.X, (float)toShoot.Y, (float)(toShoot.X - fromShoot.X) * 2.0f, (float)(toShoot.Y - fromShoot.Y) * 2.0f);
}
#else
if (counter > 1 && a < 1.8f) {
this.counter = 0;
this.nowState = KinectState.Shoot;
//MainWindow.getInstance.Shoot((float)toShoot.X, (float)toShoot.Y, (float)(toShoot.X - fromShoot.X) * 2.0f, (float)(toShoot.Y - fromShoot.Y) * 2.0f);
}
#endif
break;
case KinectState.Shoot:
Bow.getInstance.Drawing(new Point(bones[4].X1, bones[4].Y1), new Point(bones[8].X1, bones[8].Y1));
this.counter = 0;
this.nowState = KinectState.None;
MainWindow.getInstance.Shoot((float)toShoot.X, (float)toShoot.Y, (float)(toShoot.X - fromShoot.X) * 2.0f, (float)(toShoot.Y - fromShoot.Y) * 2.0f);
break;
default:
break;
}
#else
recastTime--;
float cal = 0.0f; // 雑用変数
// 一部の状態を除いて腕が肩より上か手が腰より下にある場合はIdleに戻す
if (!(nowState == KinectState.Other || nowState == KinectState.MuscleAtack || nowState == KinectState.AraburuTakaNoPose))
if (
(bones[7].Y1 < bones[6].Y1 && bones[3].Y1 < bones[2].Y1)
|| (bones[8].Y1 > bones[11].Y1 + 8 || bones[4].Y1 > bones[11].Y1 + 8)
)
{
nowState = KinectState.Idle;
}
switch (nowState) {
case KinectState.Other:
nowState = KinectState.Idle;
counter = 0;
break;
case KinectState.Idle:
// -> move
if (
(bones[7].Y1 > bones[1].Y1 && bones[3].Y1 > bones[1].Y1) // 肘が肩より下
&& (bones[8].Y1 > bones[7].Y1 && bones[4].Y1 > bones[3].Y1) // 両手が肘より下
&& ((cal = MyMath.Dot(new Point(bones[8].X1, bones[8].Y1), new Point(bones[1].X1, bones[1].Y1), new Point(bones[7].X1, bones[7].Y1))) < 0.8f && cal > -0.5f) // 右腕の肘を上げて手を腰に当ててる状態
&& ((cal = MyMath.Dot(new Point(bones[4].X1, bones[4].Y1), new Point(bones[1].X1, bones[1].Y1), new Point(bones[3].X1, bones[3].Y1))) < 0.8f && cal > -0.5f) // 左腕の肘を上げて手を腰に当ててる状態
)
{
counter++;
if (counter > 32) {
nowState = KinectState.MoveSet;
counter = 0;
}
}
else {
counter = 0;
}
// -> guard
if (
(bones[7].Y1 > bones[1].Y1 && bones[3].Y1 > bones[1].Y1) // 肘が肩より下
&& (bones[8].Y1 < bones[7].Y1 + 3 && bones[4].Y1 < bones[3].Y1 + 5) // 両手が肘よりやや上
&& (bones[8].X1 < bones[1].X1 && bones[4].X1 > bones[1].X1) // 腕が交差している
)
{
nowState = KinectState.Guard;
counter = 0;
}
// -> Bomb
// -> fire
if (
(bones[7].Y1 < bones[6].Y1 && bones[3].Y1 < bones[2].Y1)
&& (bones[8].Y1 < bones[7].Y1 && bones[4].Y1 < bones[3].Y1)
&& (MyMath.Dot(new Point(bones[7].X1, bones[7].Y1), new Point(bones[8].X1, bones[8].Y1), new Point(bones[6].X1, bones[8].Y1)) > -0.4f)
&& (MyMath.Dot(new Point(bones[3].X1, bones[3].Y1), new Point(bones[4].X1, bones[4].Y1), new Point(bones[2].X1, bones[4].Y1)) > -0.4f)
)
{
if (bones[8].Y1 < bones[0].Y1 && bones[4].Y1 < bones[0].Y1 && bones[14].Y1 < bones[18].Y1 && recastTime < 0)
{
nowState = KinectState.AraburuTakaNoPose;
recastTime = 300;
}
else
{
nowState = KinectState.MuscleAtack;
}
}
break;
case KinectState.MoveSet:
// -> idle ↑のあれで処理
// -> move RL
if (
(bones[7].X1 > bones[6].X1 && bones[8].X1 > bones[7].X1) // 右腕が外に開いている
&& (bones[8].Y1 < bones[7].Y1) // 右手が肘より上
)
{
nowState = KinectState.MoveRight;
counter = 0;
}
if (
(bones[3].X1 < bones[2].X1 && bones[4].X1 < bones[3].X1) // 左腕が外に開いている
&& (bones[4].Y1 < bones[3].Y1) // 右手が肘より上
)
{
nowState = KinectState.MoveLeft;
counter = 0;
}
break;
case KinectState.MoveRight:
// -> idle ↑のあれで処理
counter++;
if (counter > 150) {
nowState = KinectState.Idle;
counter = 0;
}
break;
case KinectState.MoveLeft:
// -> idle ↑のあれで処理
counter++;
if (counter > 150) {
nowState = KinectState.Idle;
counter = 0;
}
break;
case KinectState.Guard:
// -> idle ↑のあれで処理
// -> parge
if (
(bones[7].X1 > bones[6].X1 && bones[8].X1 > bones[7].X1) // 右腕が外に開いている
&& (bones[3].X1 < bones[2].X1 && bones[4].X1 < bones[3].X1) // 左腕が外に開いている
&& (bones[8].Y1 < bones[7].Y1 && bones[4].Y1 < bones[3].Y1) // 左右の手が肘より上
)
{
nowState = KinectState.GuardParge;
counter = 0;
}
break;
case KinectState.GuardParge:
// -> idle
counter++;
if (counter > 100) {
nowState = KinectState.Idle;
counter = 0;
}
// -> fire
// -> bomb
if (
(bones[7].Y1 < bones[6].Y1 && bones[3].Y1 < bones[2].Y1)
&& (bones[8].Y1 < bones[7].Y1 && bones[4].Y1 < bones[3].Y1)
&& (MyMath.Dot(new Point(bones[7].X1, bones[7].Y1), new Point(bones[8].X1, bones[8].Y1), new Point(bones[6].X1, bones[8].Y1)) > -0.4f)
&& (MyMath.Dot(new Point(bones[3].X1, bones[3].Y1), new Point(bones[4].X1, bones[4].Y1), new Point(bones[2].X1, bones[4].Y1)) > -0.4f)
)
{
if (bones[8].Y1 < bones[0].Y1 && bones[4].Y1 < bones[0].Y1 && bones[14].Y1 < bones[18].Y1 && recastTime < 0) {
nowState = KinectState.AraburuTakaNoPose;
counter = 0;
recastTime = 300;
}
else {
nowState = KinectState.MuscleAtack;
counter = 0;
}
}
break;
case KinectState.MuscleAtack:
//counter++;
if (
(bones[7].Y1 < bones[6].Y1 && bones[3].Y1 < bones[2].Y1)
&& (bones[8].Y1 < bones[7].Y1 && bones[4].Y1 < bones[3].Y1)
&& (MyMath.Dot(new Point(bones[7].X1, bones[7].Y1), new Point(bones[8].X1, bones[8].Y1), new Point(bones[6].X1, bones[8].Y1)) > -0.4f)
&& (MyMath.Dot(new Point(bones[3].X1, bones[3].Y1), new Point(bones[4].X1, bones[4].Y1), new Point(bones[2].X1, bones[4].Y1)) > -0.4f)
)
{
if (bones[8].Y1 < bones[0].Y1 && bones[4].Y1 < bones[0].Y1 && bones[14].Y1 < bones[18].Y1 && recastTime < 0) {
nowState = KinectState.AraburuTakaNoPose;
counter = 0;
recastTime = 300;
}
else {
Player.getInstance.VectorPath(new Point(bones[4].X1 - bones[1].X1, bones[4].Y1 - bones[1].Y1), new Point(bones[8].X1 - bones[1].X1, bones[8].Y1 - bones[1].Y1));
}
}
else {
nowState = KinectState.Idle;
counter = 0;
}
break;
case KinectState.AraburuTakaNoPose:
counter++;
if (counter > 120) {
nowState = KinectState.Idle;
counter = 0;
}
break;
}
#endif
}
else
{
#if false
this.label4.Content = this.slider1.Value.ToString("F0");
this.label5.Content = this.slider2.Value.ToString("F0");
this.label6.Content = this.slider3.Value.ToString("F0");
this.label8.Content = this.slider4.Value.ToString("F0") + "[ms]";
#endif
// MainWindow.getInstance.Shoot(800, 420, -50, -4);
RemoveBone();
Bow.getInstance.unDraw();
return KinectState.Other;
}
// this.label9.Content = "認識状態:" + this.nowState.ToString();
return nowState;
}
public bool Initialize()
{
// インスタンスを代入
getInstance = this;
// 接続されているセンサを捜索
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
this.sensor = potentialSensor;
break;
}
}
if (null != this.sensor)
{
// SkeletonStreamを有効にする
this.sensor.SkeletonStream.Enable();
// SkeletonStreamにイベントを追加
this.sensor.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(sensor_SkeletonFrameReady);
// Turn on the depth stream to receive depth frames
this.sensor.DepthStream.Enable(DepthFormat);
this.depthWidth = this.sensor.DepthStream.FrameWidth;
this.depthHeight = this.sensor.DepthStream.FrameHeight;
this.sensor.ColorStream.Enable(ColorFormat);
int colorWidth = this.sensor.ColorStream.FrameWidth;
int colorHeight = this.sensor.ColorStream.FrameHeight;
this.colorToDepthDivisor = colorWidth / this.depthWidth;
// Turn on to get player masks
this.sensor.SkeletonStream.Enable();
// Allocate space to put the depth pixels we'll receive
this.depthPixels = new DepthImagePixel[this.sensor.DepthStream.FramePixelDataLength];
// Allocate space to put the color pixels we'll create
this.colorPixels = new byte[this.sensor.ColorStream.FramePixelDataLength];
this.playerPixelData = new int[this.sensor.DepthStream.FramePixelDataLength];
this.colorCoordinates = new ColorImagePoint[this.sensor.DepthStream.FramePixelDataLength];
// This is the bitmap we'll display on-screen
this.colorBitmap = new WriteableBitmap(colorWidth, colorHeight, 96.0, 96.0, PixelFormats.Bgr32, null);
// Set the image we display to point to the bitmap where we'll put the image data
// Image に設定する
//this.MaskedImage.Source = this.colorBitmap;
// Add an event handler to be called whenever there is new depth frame data
this.sensor.AllFramesReady += this.SensorAllFramesReady;
// センサを起動
try
{
this.sensor.Start();
}
catch (IOException)
{
this.sensor = null;
}
}
else {
//CompositionTarget.Rendering += UpdateImage;
}
// インスタンス化
this.skeleton = new Skeleton();
// スレッドでの呼び出し優先度指定
this.dispatcherTimer = new DispatcherTimer();
// 1秒ごとに処理()
this.dispatcherTimer.Interval = new TimeSpan(100000);
// イベント追加
this.dispatcherTimer.Tick += new EventHandler(dispatcherTimer_Tick);
// タイマー動作開始
//this.dispatcherTimer.Start();
this.poseSet = new Vector4[20];
this.poseCharge = new Vector4[20];
this.poseAim = new Vector4[20];
this.poseShoot = new Vector4[20];
try
{
this.poseSet = MotionIO.LoadJoint("poseSet");
this.poseCharge = MotionIO.LoadJoint("poseCharge");
this.poseAim = MotionIO.LoadJoint("poseAim");
this.poseShoot = MotionIO.LoadJoint("poseShoot");
}
catch (Exception ex)
{
Console.WriteLine("読み込み失敗");
}
playerColor = Brushes.ForestGreen;
alphaColor = new SolidColorBrush(Color.FromArgb((byte)0, (byte)255, (byte)255, (byte)255));
this.bones = new Line[20];
for (int i = 0; i < this.bones.Length; i++)
{
this.bones[i] = new Line();
// 描画設定
this.bones[i].HorizontalAlignment = System.Windows.HorizontalAlignment.Left;
this.bones[i].VerticalAlignment = System.Windows.VerticalAlignment.Top;
this.bones[i].StrokeThickness = 4;
this.bones[i].Stroke = playerColor;
// Canvasに追加
MainWindow.mainCanvas.Children.Add(this.bones[i]);
}
nowState = KinectState.Other;
fromShoot = new Point();
toShoot = new Point();
recastTime = -1;
return true;
}
public KinectState input()
{
if (this.skeleton.TrackingState == SkeletonTrackingState.Tracked)
{
// 内積を計算して類似度を取得
// 構え１左肩→左手・左肘→左手・右肩→右手・右肘→右手
int SetSimilarity = (int)(
MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseSet) * 30
+ MyMath.Dot(JointType.ElbowLeft , JointType.HandLeft, this.skeleton, this.poseSet) * 33
+ MyMath.Dot(JointType.ShoulderRight, JointType.HandRight, this.skeleton, this.poseSet) * 20
+ MyMath.Dot(JointType.ElbowRight , JointType.HandRight, this.skeleton, this.poseSet) * 17
);
// 構え２(引くまで)たぶん使わない
int ChargeSimilarity = (int)(MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseCharge) * 100);
// 狙いをつける これもたぶん使わない
int AimSimilarity = (int)(MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseAim) * 100);
// 放つ たぶんこいつも・・・
int ShootSimilarity = (int)(MyMath.Dot(JointType.ShoulderLeft, JointType.HandLeft, this.skeleton, this.poseShoot) * 100);
// 骨格を描画
for (int i = 0; i < this.skeleton.Joints.Count; i++)
{
// 3次元座標を2次元座標に変換
cip[i] = this.sensor.CoordinateMapper.MapSkeletonPointToColorPoint(this.skeleton.Joints[(JointType)i].Position, ColorImageFormat.RgbResolution640x480Fps30);
// 描画範囲に合わせ収まるように縮小
cip[i].X /= 4;
cip[i].Y /= 4;
}
// 骨格情報をセット
// 今は上半身のみ
this.SetBonePoint(0, 3, 2); // 頭→肩中
this.SetBonePoint(1, 2, 4); // 肩中→左肩
this.SetBonePoint(2, 4, 5); // 左肩→左肘
this.SetBonePoint(3, 5, 6); // 左肘→左手
this.SetBonePoint(4, 6, 7); // 左手→？
this.SetBonePoint(5, 2, 8); // 肩中→右肩
this.SetBonePoint(6, 8, 9); // 右肩→右肘
this.SetBonePoint(7, 9, 10); // 右肘→右手
this.SetBonePoint(8, 10, 11); // 右手→？
this.SetBonePoint(9, 2, 1); // 肩中→腰
this.SetBonePoint(10, 1, 0); // 腰→尻
this.SetBonePoint(11, 0, 12); // 尻→左尻
this.SetBonePoint(12, 12, 13);// 左尻→左膝
this.SetBonePoint(13, 13, 14);// 左膝→左足
this.SetBonePoint(14, 14, 15);//
this.SetBonePoint(15, 0, 16); // 尻→右尻
this.SetBonePoint(16, 16, 17);// 右尻→右膝
this.SetBonePoint(17, 17, 18);// 右膝→右足
this.SetBonePoint(18, 18, 19);//
this.bones[19].Stroke = alphaColor;
// 状態遷移
#if true
switch (this.nowState)
{
case KinectState.Other:
this.nowState = KinectState.None;
Bow.getInstance.Idling(new Point(bones[4].X1, bones[4].Y1));
break;
case KinectState.None:
Bow.getInstance.Idling(new Point(bones[4].X1, bones[4].Y1));
if (SetSimilarity >= 90)
{
this.counter++;
if (this.counter >= 20)
{
this.counter = 5;
this.nowState = KinectState.Set;
}
}
else {
this.counter = 0;
}
break;
case KinectState.Set:
Bow.getInstance.Drawing(new Point(bones[4].X1, bones[4].Y1), new Point(bones[8].X1, bones[8].Y1));
// 左肘が伸びているか
if (MyMath.Dot(new Point(bones[3].X1, bones[3].Y1), new Point(bones[4].X1, bones[4].Y1), new Point(bones[2].X1, bones[2].Y1)) < -0.4f) {
// 右肘が曲がっているか
if (MyMath.Dot(new Point(bones[7].X1, bones[7].Y1), new Point(bones[8].X1, bones[8].Y1), new Point(bones[4].X1, bones[4].Y1)) > 0.1f) {
// 現在の位置を保存する
fromShoot.X = bones[8].X1; fromShoot.Y = bones[8].Y1;
toShoot.X = bones[4].X1; toShoot.Y = bones[4].Y1;
//this.SetBonePoint(19, 6, 10);
this.SetBonePoint(19, toShoot, fromShoot);
counter = (counter < 10) ? 10 : counter;
}
}
else {
counter--;
if (counter < 0) {
counter = 0;
this.nowState = KinectState.None;
}
}
#if false
if (MyMath.PointToLength(fromShoot, toShoot) > 34) {
counter++;
if (counter > 30) {
this.counter = 5;
this.nowState = State.Charge;
//MainWindow.getInstance.Shoot((float)toShoot.X, (float)toShoot.Y, (float)(toShoot.X - fromShoot.X) * 2.0f, (float)(toShoot.Y - fromShoot.Y) * 2.0f);
}
}
#else
if (MyMath.PointToLength(fromShoot, toShoot) >
MyMath.PointToLength(
new Point(bones[3].X1, bones[3].Y1)
, new Point(bones[3].X2, bones[3].Y2)
) * 3.1f)
{
counter++;
if (counter > 30) {
this.counter = 5;
this.nowState = KinectState.Charge;
//MainWindow.getInstance.Shoot((float)toShoot.X, (float)toShoot.Y, (float)(toShoot.X - fromShoot.X) * 2.0f, (float)(toShoot.Y - fromShoot.Y) * 2.0f);
}
}
#endif
break;
case KinectState.Charge:
Bow.getInstance.Drawing(new Point(bones[4].X1, bones[4].Y1), new Point(bones[8].X1, bones[8].Y1));
//float d = -1.0f;
//d = MyMath.PointToLength(fromShoot, new Point(bones[8].X1, bones[8].Y1));
float fsL, tsL;
tsL = MyMath.PointToLength(toShoot, new Point(bones[4].X1, bones[4].Y1));
fsL = MyMath.PointToLength(fromShoot, new Point(bones[8].X1, bones[8].Y1));
if (MyMath.Dot(new Point(bones[3].X1, bones[3].Y1), new Point(bones[4].X1, bones[4].Y1), new Point(bones[2].X1, bones[2].Y1)) < -0.5f) {
// 右肘が曲がっているか
if (MyMath.Dot(new Point(bones[7].X1, bones[7].Y1), new Point(bones[8].X1, bones[8].Y1), new Point(bones[4].X1, bones[4].Y1)) > 0.26f) {
// 現在の位置を保存する
//float fsL, tsL;
if (tsL > 0.9f && fsL > 0.6f && fsL < 6.5f) {
// 動いた場合に移動する処理を行う
fromShoot.X = bones[8].X1; fromShoot.Y = bones[8].Y1;
toShoot.X = bones[4].X1; toShoot.Y = bones[4].Y1;
counter = 20;
}
else {
// 動かなかった場合にインクリメント
counter++;
}
//this.SetBonePoint(19, 6, 10);
//this.SetBonePoint(19, toShoot, fromShoot);
counter = (counter < 20) ? 20 : counter;
}
}
else {
counter--;
if (counter < 0) {
counter = 0;
this.nowState = KinectState.None;
}
}
if (counter > 100) {
this.nowState = KinectState.Aim;
}
if (fsL > 4.9f && tsL < 3.0f) {
this.nowState = KinectState.Shoot;
}
break;
case KinectState.Aim:
Bow.getInstance.Drawing(new Point(bones[4].X1, bones[4].Y1), new Point(bones[8].X1, bones[8].Y1));
float a = -1.0f;
a = MyMath.PointToLength(fromShoot, new Point(bones[8].X1, bones[8].Y1));
if (MyMath.Dot(new Point(bones[2].X1, bones[2].Y1), new Point(bones[2].X1, bones[2].Y1 + 2.0f), new Point(bones[4].X1, bones[4].Y1)) < -0.5f) {
counter = 0;
this.nowState = KinectState.None;
}
// 左肘が伸びているか
if (MyMath.Dot(new Point(bones[3].X1, bones[3].Y1), new Point(bones[4].X1, bones[4].Y1), new Point(bones[2].X1, bones[2].Y1)) < -0.5f) {
// 右肘が曲がっているか
if (MyMath.Dot(new Point(bones[7].X1, bones[7].Y1), new Point(bones[8].X1, bones[8].Y1), new Point(bones[4].X1, bones[4].Y1)) > 0.26f) {
// 現在の位置を保存する
//float fsL, tsL;
fsL = a;
if ((tsL = MyMath.PointToLength(toShoot, new Point(bones[4].X1, bones[4].Y1))) > 3.2f) {
fromShoot.X = bones[8].X1; fromShoot.Y = bones[8].Y1;
toShoot.X = bones[4].X1; toShoot.Y = bones[4].Y1;
this.nowState = KinectState.Charge;
}
else {
counter++;
}
//this.SetBonePoint(19, 6, 10);
//this.SetBonePoint(19, toShoot, fromShoot);
//counter++;
}
}
else {
counter = 0;
this.nowState = KinectState.None;
}
#if false
if (this.counter > 60)
{
this.counter = 0;
this.nowState = State.None;
MainWindow.getInstance.Shoot((float)toShoot.X, (float)toShoot.Y, (float)(toShoot.X - fromShoot.X) * 2.0f, (float)(toShoot.Y - fromShoot.Y) * 2.0f);
}
#else
if (counter > 1 && a < 1.8f) {
this.counter = 0;
this.nowState = KinectState.Shoot;
//MainWindow.getInstance.Shoot((float)toShoot.X, (float)toShoot.Y, (float)(toShoot.X - fromShoot.X) * 2.0f, (float)(toShoot.Y - fromShoot.Y) * 2.0f);
}
#endif
break;
case KinectState.Shoot:
Bow.getInstance.Drawing(new Point(bones[4].X1, bones[4].Y1), new Point(bones[8].X1, bones[8].Y1));
this.counter = 0;
this.nowState = KinectState.None;
MainWindow.getInstance.Shoot((float)toShoot.X, (float)toShoot.Y, (float)(toShoot.X - fromShoot.X) * 2.0f, (float)(toShoot.Y - fromShoot.Y) * 2.0f);
break;
default:
break;
}
#endif
}
else
{
#if false
this.label4.Content = this.slider1.Value.ToString("F0");
this.label5.Content = this.slider2.Value.ToString("F0");
this.label6.Content = this.slider3.Value.ToString("F0");
this.label8.Content = this.slider4.Value.ToString("F0") + "[ms]";
#endif
// MainWindow.getInstance.Shoot(800, 420, -50, -4);
RemoveBone();
Bow.getInstance.unDraw();
return KinectState.Other;
}
// this.label9.Content = "認識状態:" + this.nowState.ToString();
return nowState;
}
