public static bool getmouse(out int x, out int y, out int z)
{
int X, Y, Z;
int xm, ym, zm;
Graph.getmouse(out xm, out ym, out zm);
GKinect.getjoint(0, MapToCamera.Metric, BodyParts.HandRight, out X, out Y, out Z, true);
x = (X - X0) * Graph.width / (X1 - X0);
y = (Y - Y0) * Graph.height / (Y1 - Y0);
z = (Z - Z0) * 2 * MaxZ / (Z1 - Z0) + MaxZ;
return(zm == 1);
}
public static void initmouse()
{
if (IsRunning)
{
int x1, y1, z1;
int Mouse = 0, xm, ym;
Graph.cleardevice();
Graph.setcolor(Color.White);
while (Mouse == 0)
{
Graph.putimage(0, 0, ColorCameraImage);
getjoint(0, MapToCamera.Color, BodyParts.HandRight, out x1, out y1, out z1, true);
Graph.setcolor(Color.Green);
Graph.fillcircle(x1, y1, 3);
Graph.outtextxy(100, 100, "Click when your Right hand points to Left-Top-Far corner of your space");
Graph.delay(0);
Graph.getmouse(out xm, out ym, out Mouse);
}
GKinect.getjoint(0, MapToCamera.Metric, BodyParts.HandRight, out X0, out Y0, out Z0, true);
while (Mouse != 0)
{
Graph.getmouse(out xm, out ym, out Mouse);
}
while (Mouse == 0)
{
Graph.putimage(0, 0, ColorCameraImage);
GKinect.getjoint(0, MapToCamera.Color, BodyParts.HandRight, out x1, out y1, out z1, true);
Graph.setcolor(Color.Green);
Graph.fillcircle(x1, y1, 3);
Graph.outtextxy(100, 200, "Click when your Right hand points to Right-Down-Near corner of your space");
Graph.delay(0);
Graph.getmouse(out xm, out ym, out Mouse);
}
GKinect.getjoint(0, MapToCamera.Metric, BodyParts.HandRight, out X1, out Y1, out Z1, true);
while (Mouse != 0)
{
Graph.getmouse(out xm, out ym, out Mouse);
}
Graph3d.getmouse += getmouse;
}
}
static bool FingerTracking(out int xFinger, out int yFinger,
out int zFinger, out int NoseX, out int NoseY, out int NoseZ
, out int SkullX, out int SkullY, out int SkullZ)
{
int SkullMin, SkullMax = -3;
xFinger = -1; yFinger = -1; zFinger = -1;
NoseX = -1; NoseY = -1; NoseZ = -1;
SkullX = -1; SkullY = -1; SkullZ = -1;
int xf = -1, yf = -1, zf = -1;
int x, y, z = 10000;
int xp1, xp3, yp1, yp3, l, dl;
int NoseSearchArea = 150; // (int)(z12 * Graph.width / 3);
int zBase;
if (zNose > 0)
{
zBase = zNose;
}
else
{
zBase = zLeftEye;
}
bool FingerOrNose = true, Exit = false;
if (Show)
{
for (int i = xLeftEye > 20 ? xLeftEye - 20 : 0; i < x1; i++)
{
for (int j = yLeftEye > 50 ? yLeftEye - 50 : 0; j < y3; j++)
{
Graph.putpixel(Graph.width - x1 + i, Graph.height - y3 + j, GKinect.GetColorPixel(i, j));
}
}
Graph.setcolor(Color.White);
Graph.line(Graph.width - x1 + x1, Graph.height - y3 + y1, Graph.width - x1 + x3, Graph.height - y3 + y3);
Graph.line(Graph.width - x1 + x1, Graph.height - y3 + y1, Graph.width - x1 + x2, Graph.height - y3 + y2);
Graph.line(Graph.width - x1 + x3, Graph.height - y3 + y3, Graph.width - x1 + x4, Graph.height - y3 + y4);
Graph.line(Graph.width - x1 + x2, Graph.height - y3 + y2, Graph.width - x1 + x4, Graph.height - y3 + y4);
Graph.setcolor(Color.Yellow);
Graph.line(Graph.width - x1 + x1, Graph.height - y3 + y1, Graph.width - x1 + xLeftEye, Graph.height - y3 + yLeftEye);
Graph.line(Graph.width - x1 + x2, Graph.height - y3 + y2, Graph.width - x1 + xLeftEye, Graph.height - y3 + yLeftEye);
Graph.line(Graph.width - x1 + x3, Graph.height - y3 + y3, Graph.width - x1 + xLeftEye, Graph.height - y3 + yLeftEye);
Graph.line(Graph.width - x1 + x4, Graph.height - y3 + y4, Graph.width - x1 + xLeftEye, Graph.height - y3 + yLeftEye);
Graph.setcolor(Color.Blue);
//Graph.setfont("Times New Roman", FontStyle.Bold, 20);
Graph.outtextxy(Graph.width - 200, Graph.height - 30, "Kinect Camera");
//Graph.outtextxy(xLeftEye, yLeftEye - 20, "EYE: X=" + xLeftEye + " Y=" + yLeftEye + " Z=" + zLeftEye);
}
l = (int)Math.Sqrt((x3 - x1) * (x3 - x1) + (y3 - y1) * (y3 - y1));
int xLast = (int)(xLeftEye - 10 / PixelLength);
if (xLast < 0)
{
xLast = 0;
}
for (xp1 = x1; (xp1 > xLast) && (!Exit); xp1--)
{
double d = 1.0 * (xp1 - xLeftEye) / (x1 - xLeftEye);
//if (d < 0.2) break; // End of Refresh Area near to eye
if (FingerOrNose)
{
if (d < 0.25)
{
FingerOrNose = false; SkullMax = -3; continue;
}
else
{
} // End of Refresh Area for fingers (near to eyes)
}
else
if (d >= 0.25)
{
continue;
}
yp1 = (int)(yLeftEye + d * (y1 - yLeftEye));
if (FingerOrNose)
{
xp3 = (int)(xLeftEye + d * (x3 - xLeftEye));
yp3 = (int)(yLeftEye + d * (y3 - yLeftEye));
}
else
{
xp3 = (int)(xp1 + x13 * 100 / PixelLength);
yp3 = (int)(yp1 + y13 * 100 / PixelLength);
}
int TempX = (xp1 - xp3);
TempX *= TempX;
int TempY = (yp1 - yp3);
TempY *= TempY;
l = (int)Math.Sqrt(TempX + TempY);
SkullMin = FingerOrNose ? 0 : -l;
if (FingerOrNose)
{
SkullMax = l;
}
else if (SkullMax == -3)
{
SkullMax = l;
}
for (dl = SkullMin; dl <= SkullMax; dl++)
{
double dll = 1.0 * dl / l;
x = (int)(xp1 + dll * (xp3 - xp1));
if (x > 640)
{
x = 639;
}
y = (int)(yp1 + dll * (yp3 - yp1));
if (y < 0)
{
y = 0;
}
z = GKinect.GetDepthPixel(x, y, MapToCamera.Color);
if (FingerOrNose)
{
if (z != -1 && z >= z1 && z <= z2)
{
if (xf == -1 && yf == -1 && zf == -1)
{
if (Show)
{
Graph.setcolor(Color.Yellow);
Graph.circle(Graph.width - x1 + x, Graph.height - y3 + y, 5);
}
xf = x; yf = y; zf = z;
_KinectToMonitor(xf, yf, zf, out xFinger, out yFinger, out zFinger);
FingerOrNose = false;
SkullMax = -3;
break;
}
}
}
else
if (z != -1 && z >= zBase - NoseSearchArea * 2 && z <= zBase + NoseSearchArea)
{
if (NoseX == -1 && NoseY == -1 && NoseZ == -1)
{
NoseX = x; NoseY = y; NoseZ = z; //Exit = true; break;
}
SkullX = x; SkullY = y; SkullZ = z;
SkullMax = dl - 1; break;
}
}
}
if (NoseX == -1 && NoseY == -1 && NoseZ == -1)
{
if (!KinectCalibration())
{
Graph.closegraph();
}
}
if (Show)
{
Graph.setcolor(Color.Yellow);
Graph.circle(Graph.width - x1 + SkullX, Graph.height - y3 + SkullY, 5);
}
if (xFinger >= 0 && xFinger < Graph.width && yFinger >= 0 && yFinger < Graph.height)
{
return(true);
}
return(false);
}
static bool _ResetMonitorPoints()
{
int xLeft = (Graph.width - 640) / 2;
int yTop = (Graph.height - 480) / 2;
int xRight = Graph.width - xLeft;
int yDown = Graph.height - yTop;
int xm, ym, zm, click, turn = 1;
string str = "Click on Top-Left point of screen!";
Graph.getmouse(out xm, out ym, out click);
Graph.setfont("Times New Roman", FontStyle.Bold, 28);
while (!Graph.keydown(Keys.Enter) && (!loaded))
{
Graph.putimage(wall, 0, 0, Graph.width, Graph.height);
for (int i = 0; i < 640; i++)
{
for (int j = 0; j < 480; j++)
{
Color col = GKinect.GetColorPixel(i, j);
Graph.putpixel(i + xLeft, j + yTop, col);
}
}
Graph.setcolor(Color.Black);
Graph.outtextxy(0, 0, "Correct Kinect Vertical camera angle by UP and DOWN and then press Enter.");
Graph.outtextxy(Graph.width - 200, Graph.height - 30, "Kinect Camera");
Graph.delay(0);
if (Graph.keydown(Keys.Up))
{
if (KinectAngle < 27)
{
KinectAngle += 2;
}
CameraVerticalAngle = KinectAngle;
}
if (Graph.keydown(Keys.Down))
{
if (KinectAngle > -27)
{
KinectAngle -= 2;
}
CameraVerticalAngle = KinectAngle;
}
if (Graph.keydown(Keys.Escape))
{
return(false);
}
}
if (loaded)
{
str = "Put your 3D glass and then click on Your eye!"; turn = 5;
}
while (turn < 6)
{
Graph.putimage(wall, 0, 0, Graph.width, Graph.height);
for (int i = 0; i < 640; i++)
{
for (int j = 0; j < 480; j++)
{
Graph.putpixel(i + xLeft, j + yTop, GKinect.GetColorPixel(i, j));
}
}
Graph.setcolor(Color.Black);
Graph.setfont("Times New Roman", FontStyle.Bold, 28);
Graph.outtextxy(Graph.width - 200, Graph.height - 30, "Kinect Camera");
Graph.setfont("Times New Roman", FontStyle.Bold, 28);
Graph.outtextxy(0, 0, str);
Graph.getmouse(out xm, out ym, out click);
zm = -1;
if (xm >= xLeft && xm < xRight && ym >= yTop && ym < yDown)
{
Graph.setcolor(Color.Yellow);
Graph.line(xm, yTop, xm, ym - 6);
Graph.line(xm - 1, yTop, xm - 1, ym - 26);
Graph.line(xm + 1, yTop, xm + 1, ym - 26);
Graph.line(xm, yDown, xm, ym + 6);
Graph.line(xm + 1, yDown, xm + 1, ym + 26);
Graph.line(xm - 1, yDown, xm - 1, ym + 26);
Graph.line(xLeft, ym, xm - 6, ym);
Graph.line(xLeft, ym + 1, xm - 26, ym + 1);
Graph.line(xLeft, ym - 1, xm - 26, ym - 1);
Graph.line(xm + 6, ym, xRight, ym);
Graph.line(xm + 26, ym + 1, xRight, ym + 1);
Graph.line(xm + 26, ym - 1, xRight, ym - 1);
Graph.setcolor(Color.White);
Graph.circle(xm, ym, 5);
Graph.circle(xm, ym, 6);
if (xm - 40 / 3 >= xLeft && xm + 40 / 3 < xRight && ym - 40 / 3 >= yTop && ym + 40 / 3 < yDown)
{
zm = GKinect.GetDepthPixel(xm - xLeft, ym - yTop, MapToCamera.Color);
Graph.setfont("Times New Roman", FontStyle.Bold, 16);
Graph.setcolor(Color.Blue);
Graph.outtextxy(xm - 160, ym - 30, "Distance = " + zm / 10.0 + " cm");
for (int i = -40; i < 40; i++)
{
for (int j = -40; j < 40; j++)
{
if (i * i + j * j < 1600)
{
Graph.putpixel(xm - 50 + i, ym + 50 + j,
GKinect.GetColorPixel(xm - xLeft + i / 3, ym - yTop + j / 3));
}
}
}
if (zm == -1)
{
Graph.setcolor(Color.Red);
}
else
{
Graph.setcolor(Color.White);
}
Graph.circle(xm - 50, ym + 50, 40);
Graph.circle(xm - 50, ym + 50, 41);
if (zm == -1)
{
Graph.setcolor(Color.Red);
}
else
{
Graph.setcolor(Color.Yellow);
}
Graph.line(xm - 90, ym + 50, xm - 10, ym + 50);
Graph.line(xm - 50, ym + 10, xm - 50, ym + 90);
}
}
switch (turn)
{
case 1:
if (click == 1 && zm != -1)
{
x1 = xm - xLeft;
y1 = ym - yTop;
z1 = zm;
str = "Click on Down-Left point of screen!"; turn++;
while (click != 0)
{
Graph.getmouse(out xm, out ym, out click);
}
}
break;
case 2:
Graph.setcolor(Color.Blue);
for (int r = 0; r <= 5; r++)
{
Graph.circle(x1 + xLeft, y1 + yTop, r);
}
if (click == 1 && zm != -1)
{
x3 = xm - xLeft;
y3 = ym - yTop;
z3 = zm;
str = "Click on Top-Right point of screen!"; turn++;
while (click != 0)
{
Graph.getmouse(out xm, out ym, out click);
}
}
break;
case 3:
Graph.setcolor(Color.Blue);
for (int r = 0; r <= 5; r++)
{
Graph.circle(x1 + xLeft, y1 + yTop, r);
Graph.circle(x3 + xLeft, y3 + yTop, r);
}
if (click == 1 && zm != -1)
{
x2 = xm - xLeft;
y2 = ym - yTop;
z2 = zm;
str = "Click on Down-Right point of screen!"; turn++;
while (click != 0)
{
Graph.getmouse(out xm, out ym, out click);
}
}
break;
case 4:
Graph.setcolor(Color.Blue);
for (int r = 0; r <= 5; r++)
{
Graph.circle(x1 + xLeft, y1 + yTop, r);
Graph.circle(x2 + xLeft, y2 + yTop, r);
Graph.circle(x3 + xLeft, y3 + yTop, r);
}
if (click == 1 && zm != -1)
{
x4 = xm - xLeft;
y4 = ym - yTop;
z4 = zm;
//dxLeftEye = xLeftEye - xHead; dyLeftEye = yLeftEye - yHead; dzLeftEye = zLeftEye - zHead;
str = "Put your 3D glass and then click on Your eye!"; turn++;
while (click != 0)
{
Graph.getmouse(out xm, out ym, out click);
}
}
break;
case 5:
Graph.setcolor(Color.Blue);
for (int r = 0; r <= 5; r++)
{
Graph.circle(x1 + xLeft, y1 + yTop, r);
Graph.circle(x2 + xLeft, y2 + yTop, r);
Graph.circle(x3 + xLeft, y3 + yTop, r);
Graph.circle(x4 + xLeft, y4 + yTop, r);
}
if (click == 1 && zm != -1)
{
xLeftEye = xm - xLeft;
yLeftEye = ym - yTop;
zLeftEye = zm;
SeenEyeX = xLeftEye; SeenEyeY = yLeftEye; SeenEyeZ = zLeftEye;
//dxLeftEye = xLeftEye - xHead; dyLeftEye = yLeftEye - yHead; dzLeftEye = zLeftEye - zHead;
turn++;
while (click != 0)
{
Graph.getmouse(out xm, out ym, out click);
}
WriteMonitorIntoFile();
}
break;
}
Graph.delay(0);
if (Graph.keydown(Keys.Escape))
{
while (click != 0)
{
Graph.getmouse(out xm, out ym, out click);
}
return(false);
}
}
return(true);
}
