public Gesture(string name)
{
this.name = name;
filepath = Gesture.ACTION_DIRECTORY + "\\" + name + ".action";
Dictionary<string, string> headers = KinectFileUtils.GetRecordingFileHeaders(filepath);
startPose = new Pose(headers["STARTPOSE"]);
endPose = new Pose(headers["ENDPOSE"]);
endPose.ScaleErrors(float.Parse(headers["ENDSCALAR"]));
string[] td = headers["TRAININGDATA"].Split(',');
foreach (string s in td)
{
trainingDataFrames.Add(KinectFileUtils.ReadSkeletonFromRecordingFile(ACTION_DIRECTORY + "\\" + s));
}
string[] errors = headers["ERRORS"].Split(',');
torsoError = double.Parse(errors[0]);
leftArmError = double.Parse(errors[1]);
rightArmError = double.Parse(errors[2]);
leftLegError = double.Parse(errors[3]);
rightLegError = double.Parse(errors[4]);
foreach (List<Skeleton> train in trainingDataFrames)
{
for (int i = 0; i < 3; i++)
{
train.Add(train[train.Count - 1]);
}
}
bestFrames = trainingDataFrames[0];
dist = KinectFrameUtils.GetTotalDistTraveled(bestFrames);
}
public Pose GetPoseOfFrame(int index)
{
Pose p = new Pose(bestFrames[index]);
p.SetErrors(torsoError, leftArmError, rightArmError, leftLegError, rightLegError);
return p;
}
/// <summary>
/// Event handler for Kinect sensor's SkeletonFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
}
}
using (DrawingContext dc = this.drawingGroup.Open())
{
// Draw a transparent background to set the render size
dc.DrawRectangle(Brushes.LightBlue, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
Pen oldPen = trackedBonePen;
switch (dm)
{
case DemoMode.POSE:
trackedBonePen = new Pen(Brushes.DarkGreen, 6);
this.DrawBonesAndJoints(currentPose.frame, dc);
break;
case DemoMode.ACTION:
if (actionFrameCount == currentAction.bestFrames.Count)
{
actionFrameCount = 0;
}
trackedBonePen = new Pen(Brushes.DarkGreen, 6);
this.DrawBonesAndJoints(currentAction.bestFrames.ElementAt(actionFrameCount), dc);
actionFrameCount++;
break;
}
trackedBonePen = oldPen;
switch (cpm)
{
case CompareMode.POSE:
foreach (Skeleton skel in skeletons)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJointsWithComparison(skel, currentPose, dc);
if (currentPose.MatchesSkeleton(skel, 1))
{
critiquePose = false;
coach.SayCorrect();
ClearAll();
}
if (critiquePose)
{
coach.SayPoseErrors(currentPose.GetSignificantErrors(skel, frontTransform));
critiquePose = false;
}
}
}
break;
case CompareMode.CALIBRATE:
foreach (Skeleton skel in skeletons)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
currentPose = new Pose("ready");
rotTransform = KinectFrameUtils.GetRotationMatrix(skel, currentPose.frame);
currentPose = new Pose("frontready");
frontTransform = KinectFrameUtils.GetRotationMatrix(skel, currentPose.frame);
currentPose = null;
coach.Speak("Rotational differences recorded");
cpm = CompareMode.NONE;
}
}
break;
case CompareMode.ACTION:
if (actionFrameCount >= currentAction.bestFrames.Count)
{
actionFrameCount = 0;
}
this.DrawBonesAndJointsWithComparison(actionFrames.ElementAt(actionFrameCount), currentAction.GetPoseOfFrame(actionFrameCount), dc);
actionFrameCount++;
break;
case CompareMode.SIMUL_ACTION:
if (actionFrameCount >= currentAction.bestFrames.Count)
{
actionFrameCount = 0;
}
trackedBonePen = new Pen(Brushes.DarkGreen, 6);
this.DrawBonesAndJoints(currentAction.bestFrames.ElementAt(actionFrameCount), dc);
trackedBonePen = new Pen(Brushes.DarkBlue, 6);
this.DrawBonesAndJointsWithComparison(actionFrames.ElementAt(actionFrameCount), currentAction.GetPoseOfFrame(actionFrameCount), dc);
actionFrameCount++;
break;
case CompareMode.NONE:
foreach (Skeleton skel in skeletons)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
if (watchingAction)
{
if (!actionStarted)
{
CheckActionStart(skel);
this.DrawBonesAndJointsWithComparison(skel, currentAction.startPose, dc);
}
else
{
this.DrawBonesAndJoints(skel, dc);
actionFrames.Add(skel);
CheckActionEnd(skel);
}
}
else
{
RenderClippedEdges(skel, dc);
this.DrawBonesAndJoints(skel, dc);
}
}
}
break;
}
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
}
}
/// <summary>
/// Compare the passed skeleton "skeleton" with the skeleton "compare" to get an error map, then draw bones according to pose and error
/// </summary>
/// <param name="skeleton"></param>
/// <param name="compare"></param>
/// <param name="drawingContext"></param>
private void DrawBonesAndJointsWithComparison(Skeleton skeleton, Pose currentP, DrawingContext drawingContext)
{
Dictionary<JointType, double> errorMap = currentP.GetErrorMap(skeleton);
// Render Torso
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.Head, JointType.ShoulderCenter, errorMap, currentP.torsoError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderLeft, errorMap, currentP.torsoError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderRight, errorMap, currentP.torsoError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.Spine, errorMap, currentP.torsoError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.Spine, JointType.HipCenter, errorMap, currentP.torsoError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipLeft, errorMap, currentP.torsoError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipRight, errorMap, currentP.torsoError);
// Left Arm
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.ShoulderLeft, JointType.ElbowLeft, errorMap, currentP.leftArmError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.ElbowLeft, JointType.WristLeft, errorMap, currentP.leftArmError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.WristLeft, JointType.HandLeft, errorMap, currentP.leftArmError);
// Right Arm
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.ShoulderRight, JointType.ElbowRight, errorMap, currentP.rightArmError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.ElbowRight, JointType.WristRight, errorMap, currentP.rightArmError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.WristRight, JointType.HandRight, errorMap, currentP.rightArmError);
// Left Leg
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.HipLeft, JointType.KneeLeft, errorMap, currentP.leftLegError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.KneeLeft, JointType.AnkleLeft, errorMap, currentP.leftLegError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.AnkleLeft, JointType.FootLeft, errorMap, currentP.leftLegError);
// Right Leg
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.HipRight, JointType.KneeRight, errorMap, currentP.rightLegError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.KneeRight, JointType.AnkleRight, errorMap, currentP.rightLegError);
this.CheckErrorAndDrawBone(skeleton, drawingContext, JointType.AnkleRight, JointType.FootRight, errorMap, currentP.rightLegError);
// Sword (right handed)
this.DrawSword(skeleton, drawingContext);
// Render Joints
foreach (Joint joint in skeleton.Joints)
{
drawingContext.DrawEllipse(this.trackedJointBrush, null, this.SkeletonPointToScreen(joint.Position), JointThickness, JointThickness);
}
}
private void ClearAll()
{
signal.Text = "Ready";
currentPose = null;
currentAction = null;
dm = DemoMode.NONE;
cpm = CompareMode.NONE;
watchingAction = false;
actionStarted = false;
actionFrames = new List<Skeleton>();
actionFrameCount = 0;
StopRecordingSkeleton();
}
private void CheckPose(string pose)
{
coach.Speak("Enter " + pose + " position");
signal.Text = "Checking " + pose;
currentPose = new Pose(pose);
currentPose.ApplyTransform(rotTransform);
cpm = CompareMode.POSE;
correctBonePen = new Pen(Brushes.Green, 6);
}
private string getStringFromErrorType(Pose.ErrorType et)
{
switch (et)
{
case Pose.ErrorType.INSIDE: return "too far inside";
case Pose.ErrorType.OUTSIDE: return "too far outside";
case Pose.ErrorType.HIGH: return "too high";
case Pose.ErrorType.LOW: return "too low";
case Pose.ErrorType.FORWARD: return "too far forward";
default: return "too far back";
}
}
