// Saves the joint state to a .csv file
private Boolean WriteJoint(Body body)
{
CameraSpacePoint rightWristPosition = body.Joints[JointType.WristRight].Position;
CameraSpacePoint spineBasePosition = body.Joints[JointType.SpineBase].Position;
CameraSpacePoint rightHandPosition = body.Joints[JointType.HandRight].Position;
CameraSpacePoint rightThumbPosition = body.Joints[JointType.ThumbRight].Position;
// Save the elbow as well in case we want it in the future
CameraSpacePoint rightElbowPosition = body.Joints[JointType.ElbowRight].Position;
// The change the coordinate frame with respect to Baxter according to the rotation matrix
Single xW = spineBasePosition.Z - rightWristPosition.Z;
Single yW = spineBasePosition.X - rightWristPosition.X;
Single zW = rightWristPosition.Y - spineBasePosition.Y;
Single xH = spineBasePosition.Z - rightHandPosition.Z;
Single yH = spineBasePosition.X - rightHandPosition.X;
Single zH = rightHandPosition.Y - spineBasePosition.Y;
Single xT = spineBasePosition.Z - rightThumbPosition.Z;
Single yT = spineBasePosition.X - rightThumbPosition.X;
Single zT = rightThumbPosition.Y - spineBasePosition.Y;
Single xE = spineBasePosition.Z - rightElbowPosition.Z;
Single yE = spineBasePosition.X - rightElbowPosition.X;
Single zE = rightElbowPosition.Y - spineBasePosition.Y;
DateTime finalTime = DateTime.Now;
Double ElapsedTime = (finalTime - this.initialTime).TotalSeconds;
String name = "NEW_ROTZ";
String filePathAll = @"C:\Users\Usuario\Documents\Universidad\Master\TFM\Kinect\BodyBasics-WPF\Data\" + this.dateString +
"-" + name + ".csv";
String filePathHigh = @"C:\Users\Usuario\Documents\Universidad\Master\TFM\Kinect\BodyBasics-WPF\Data\HighConf\" + this.dateString +
"-" + name + ".csv";
String line = ElapsedTime.ToString(CultureInfo.InvariantCulture) + "," +
xW.ToString(CultureInfo.InvariantCulture) + "," + yW.ToString(CultureInfo.InvariantCulture)
+ "," + zW.ToString(CultureInfo.InvariantCulture) + "," +
xH.ToString(CultureInfo.InvariantCulture) + "," + yH.ToString(CultureInfo.InvariantCulture)
+ "," + zH.ToString(CultureInfo.InvariantCulture) + "," +
xT.ToString(CultureInfo.InvariantCulture) + "," + yT.ToString(CultureInfo.InvariantCulture)
+ "," + zT.ToString(CultureInfo.InvariantCulture) + "," +
xT.ToString(CultureInfo.InvariantCulture) + "," + yT.ToString(CultureInfo.InvariantCulture)
+ "," + zT.ToString(CultureInfo.InvariantCulture);
TrackingConfidence conf = body.HandRightConfidence;
switch (body.HandRightState)
{
/*
* case HandState.Closed:
* Console.WriteLine("Closed");
* return false; */
case HandState.NotTracked:
//Do nothing
default:
//Console.WriteLine("DEFAULT");
// Use coordinates only if confidence is high
if (conf.Equals(TrackingConfidence.High))
{
using (StreamWriter file = new StreamWriter(filePathHigh, true))
{
file.WriteLine(line);
}
}
using (StreamWriter file = new StreamWriter(filePathAll, true))
{
file.WriteLine(line);
}
return(true);
}
}
