/// <summary>
/// Deserialize a skeleton
/// </summary>
/// <param name="reader">Binary reader</param>
/// <returns>Deserialized skeleton</returns>
private kinect.Skeleton DeserializeSkeleton(BinaryReader reader)
{
kinect.Skeleton skeleton = new kinect.Skeleton();
skeleton.ClippedEdges = (kinect.FrameEdges)reader.ReadInt32();
kinect.SkeletonPoint point = new kinect.SkeletonPoint();
point.X = reader.ReadSingle();
point.Y = reader.ReadSingle();
point.Z = reader.ReadSingle();
skeleton.Position = point;
skeleton.TrackingId = reader.ReadInt32();
skeleton.TrackingState = (kinect.SkeletonTrackingState)reader.ReadInt32();
int jointsCount = reader.ReadInt32();
for (int index = 0; index < jointsCount; index++)
{
kinect.JointType jointType = (kinect.JointType)reader.ReadInt32();
kinect.Joint joint = skeleton.Joints[jointType];
joint.TrackingState = (kinect.JointTrackingState)reader.ReadInt32();
point.X = reader.ReadSingle();
point.Y = reader.ReadSingle();
point.Z = reader.ReadSingle();
joint.Position = point;
skeleton.Joints[joint.JointType] = joint;
}
return(skeleton);
}
private static void SumWithFatherPosition(
Dictionary <Microsoft.Kinect.JointType, Vector3D> jointVectors,
Microsoft.Kinect.JointType jointType)
{
jointVectors[jointType] +=
jointVectors[(Microsoft.Kinect.JointType)JointTypeHelper.GetFather((PreposeGestures.JointType)jointType)];
}
private static void SumWithFatherPosition(
Dictionary <Microsoft.Kinect.JointType, Vector3D> jointVectors,
List <PreposeGestures.JointType> targetCalculatedJoints,
Microsoft.Kinect.JointType jointType)
{
if (targetCalculatedJoints.Contains((PreposeGestures.JointType)jointType))
{
jointVectors[jointType] +=
jointVectors[(Microsoft.Kinect.JointType)JointTypeHelper.GetFather((PreposeGestures.JointType)jointType)];
}
}
public static Vector3D CalcAbsoluteJointPosition(
Dictionary <Microsoft.Kinect.JointType, Vector3D> jointVectors,
Microsoft.Kinect.JointType jointType)
{
var result = jointVectors[jointType];
var fatherJointType = (Microsoft.Kinect.JointType)JointTypeHelper.GetFather((PreposeGestures.JointType)jointType);
if (jointType != Microsoft.Kinect.JointType.SpineBase)
{
result += CalcAbsoluteJointPosition(jointVectors, fatherJointType);
}
return(result);
}
void ProcessHandGesture(KBody user, J hand, HandState curState, HandState oldState)
{
var id = user.TrackingId;
var uiInteracting = uiInterState != UIInterState.IDLE && uiInterUserId == id && uiInterHand == hand;
var shoulderPos = user.Joints[J.SpineShoulder].Position;
//filter on old state
if (oldState == HandState.Closed)
{
if (uiInterState == UIInterState.GRABBING_MENU && uiInteracting)
{
uiInterState = UIInterState.IDLE;
if (user.Joints[hand].Position.Y < shoulderPos.Y)
{
interCbWithIdleRefresh(id, InteractionType.RELEASE_MENU_SHOW, 0);
}
else
{
interCbWithIdleRefresh(id, InteractionType.RELEASE_MENU_CANCEL, 0);
}
}
else
{
interCbWithIdleRefresh(id, InteractionType.RELEASE, hand);
}
}
else if (oldState == HandState.Lasso)
{
interCbWithIdleRefresh(id, InteractionType.END_DRAW, hand);
}
//filter on current state
if (curState == HandState.Closed)
{
if (uiInterState == UIInterState.PEEKING_MENU && uiInteracting)
{
uiInterState = UIInterState.GRABBING_MENU;
interCbWithIdleRefresh(id, InteractionType.GRAB_MENU, hand);
}
else
{
interCbWithIdleRefresh(id, InteractionType.GRAB, hand);
}
}
else if (curState == HandState.Lasso)
{
interCbWithIdleRefresh(id, InteractionType.BEGIN_DRAW, hand);
}
}
private static PreposeGestures.JointType Convert(Microsoft.Kinect.JointType jointType)
{
return((PreposeGestures.JointType)jointType);
}
public VisualizableJoint(kinect.JointType jt)
{
this.TrackingState = kinect.JointTrackingState.NotTracked;
this.jointType = jt;
this.IsJointOfInterest = false;
}
private void StrategyPersonFollowing()
{
haveATargetNow = false;
bool haveSkeleton = false;
bool lostSkeletons = false;
DateTime Now = DateTime.Now;
//kinect.JointType targetJointType = kinect.JointType.HandLeft;
kinect.JointType targetJointType = kinect.JointType.Spine;
setCurrentGoalDistance(null); // measured value, best case is distance to skeleton, can be null if we completely lost target, or assumed to be 5 meters for red shirt.
FollowDirectionTargetDistanceToGoalMeters = TargetDistanceToGoalMeters; // desired value. We want to stop at this distance to human and keep him in front of the robot.
SetLightsTrackingSkeleton(false);
SetLightsTrackingRedShirt(false);
if (!_mapperVicinity.robotState.ignoreKinectSkeletons)
{
var tmpAllSkeletons = frameProcessor.AllSkeletons; // get a snapshot of the pointer to allocated array, and then take sweet time processing it knowing it will not change
var skels = from s in tmpAllSkeletons
where s.IsSkeletonActive && s.JointPoints[targetJointType].TrackingState == kinect.JointTrackingState.Tracked
orderby s.JointPoints[targetJointType].Z
select s;
int skelsCount = skels.Count();
if (skelsCount != skelsCountPrev)
{
int deltaSkelsCount = skelsCount - skelsCountPrev;
skelsCountPrev = skelsCount;
//if (deltaSkelsCount < 0)
//{
// if ((Now - lastAmazing).TotalSeconds > 10.0d)
// {
// lastAmazing = Now;
// _soundsHelper.PlaySound("you were amazing", 0.5d);
// }
//}
//else
//{
// _soundsHelper.PlaySound("skeletons number changed", 0.2d);
//}
//talkerToHuman.ensureAnnouncementDelay();
if (skelsCount > 0)
{
frameProcessor.doSaveOneImage = _mapperVicinity.robotState.doPhotos; // snap a picture
//_mainWindow.PlayRandomSound();
//talkerToHuman.Say(9, "" + skelsCount + " tasty human" + (skelsCount > 1 ? "s" : ""));
HeadlightsOff();
}
else
{
lostSkeletons = true;
}
}
if (skelsCount > 0)
{
haveSkeleton = true;
#region Have a skeleton, follow it
lastHadSkeletons = Now;
// found the first skeleton; track it:
VisualizableSkeletonInformation vsi = skels.FirstOrDefault();
if (vsi == null)
{
// this really, really should not happen, especially now when we allocate frameProcessor.AllSkeletons for every frame.
Tracer.Error("StrategyPersonFollowing() vsi == null");
return;
}
VisualizableJoint targetJoint = vsi.JointPoints[targetJointType];
//bool isSkeletonActive = vsi.IsSkeletonActive; always true
SkeletonPose skeletonPose = vsi.SkeletonPose;
// when changed, announce pose and react to it:
ReactOnSkeletonPose(skeletonPose);
// Warning: VisualizableJoint::ComputePanTilt() can set Pan or Tilt to NaN
if (targetJoint != null && !double.IsNaN(targetJoint.Pan) && !double.IsNaN(targetJoint.Tilt))
{
haveATargetNow = true;
SetLightsTrackingSkeleton(true);
double targetPanRelativeToRobot = _state.currentPanKinect + targetJoint.Pan;
double targetPanRelativeToHead = targetJoint.Pan;
//Tracer.Trace("================== currentPanKinect=" + _state.currentPanKinect + " targetJoint.Pan=" + targetJoint.Pan + " targetPanRelativeToRobot=" + targetPanRelativeToRobot);
// guns rotate (pan) with Kinect, but tilt independently of Kinect. They are calibrated when Kinect tilt = 0
targetPan = targetPanRelativeToHead;
targetTilt = targetJoint.Tilt + _state.currentTiltKinect;
double kinectTurnEstimate = targetPanRelativeToRobot - _state.currentPanKinect;
bool shouldTurnKinect = Math.Abs(kinectTurnEstimate) > smallMovementsAngleTreshold; // don't follow small movements
SetDesiredKinectPlatformPan(shouldTurnKinect ? (double?)targetPanRelativeToRobot : null); // will be processed in computeAndExecuteKinectPlatformTurn() when head turn measurement comes.
setPanTilt(targetPan, targetTilt);
double distanceToHumanMeters = targetJoint.Z; // actual distance from Kinect to human
bool tooCloseToHuman = distanceToHumanMeters < TargetDistanceToGoalMeters - 0.1d; // cannot shoot, likely backing up
bool veryCloseToHuman = distanceToHumanMeters < TargetDistanceToGoalMeters + 0.1d; // can talk to human, likely in the dead zone and not moving
#region Greet the Human
if (veryCloseToHuman && talkerToHuman.canTalk())
{
frameProcessor.doSaveOneImage = _mapperVicinity.robotState.doPhotos; // snap a picture
talkerToHuman.TalkToHuman();
}
#endregion // Greet the Human
#region Shoot the Human
if (skeletonPose == shootingPose)
{
if (!tooCloseToHuman)
{
//lock (shootingPoseLock)
//{
if (!shotAtHuman && (Now - lastShotAtHuman).TotalSeconds > 2.0d)
{
lastShotAtHuman = Now;
shotAtHuman = true;
talkerToHuman.Say(9, "good boy");
SpawnIterator(ShootGunOnce);
}
//}
}
}
else
{
shotAtHuman = false;
}
#endregion // Shoot the Human
ComputeMovingVelocity(distanceToHumanMeters, targetPanRelativeToRobot, 0.25d, 10.0d);
}
// else
// {
// // we have skeleton(s) but the target joint is not visible. What to do here?
// }
#endregion // Have a skeleton, follow it
}
else if ((Now - lastHadSkeletons).TotalSeconds < 1.0d)
{
return; // may be just temporary loss of skeletons, wait a little before switching to red shirt
}
} // end ignoreKinectSkeletons
if (!_mapperVicinity.robotState.ignoreRedShirt && !haveSkeleton && frameProcessor.videoSurveillanceDecider != null)
{
#region Have a red shirt, follow it
VideoSurveillanceTarget target = frameProcessor.videoSurveillanceDecider.mainColorTarget;
if (target != null && (Now - target.TimeStamp).TotalSeconds < 0.5d) // must also be recent
{
lastHadRedShirt = Now;
haveATargetNow = true;
SetLightsTrackingRedShirt(true);
double targetPanRelativeToRobot = target.Pan; // already adjusted for currentPanKinect
//Tracer.Trace("+++++++++++++++ currentPanKinect=" + _state.currentPanKinect + " target.Pan=" + target.Pan + " targetPanRelativeToRobot=" + targetPanRelativeToRobot);
//Tracer.Trace(" target.Pan=" + target.Pan + " Tilt=" + target.Tilt);
// guns rotate (pan) with Kinect, but tilt independently of Kinect. They are calibrated when Kinect tilt = 0
targetPan = targetPanRelativeToRobot - _state.currentPanKinect;
targetTilt = target.Tilt; // currentTiltKinect already accounted for by VideoSurveillance
//Tracer.Trace("+++++++++++++++ currentTiltKinect=" + _state.currentTiltKinect + " target.Tilt=" + target.Tilt + " targetTilt=" + targetTilt);
//if((DateTime.Now - lastTurnedKinectPlatform).TotalSeconds > 1.0d)
{
lastTurnedKinectPlatform = DateTime.Now;
double kinectTurnEstimate = targetPan; // targetPanRelativeToRobot - _state.currentPanKinect;
bool shouldTurnKinect = Math.Abs(kinectTurnEstimate) > smallMovementsAngleTreshold; // don't follow small movements
SetDesiredKinectPlatformPan(shouldTurnKinect ? (double?)targetPanRelativeToRobot : null); // will be processed in computeAndExecuteKinectPlatformTurn() when head turn measurement comes.
}
//Tracer.Trace(string.Format(" targetPan={0:0.00} Tilt={1:0.00} PanKinect={2:0.00}", targetPan, targetTilt, _state.currentPanKinect));
setPanTilt(targetPan, targetTilt);
double bestKinectTilt = targetTilt; // will be limited to +-27 degrees
SetDesiredKinectTilt(bestKinectTilt);
// choose robotTacticsType - current tactics is move towards human:
var mostRecentParkingSensor = _state.MostRecentParkingSensor;
double redShirtDistanceMetersEstimated = mostRecentParkingSensor == null ? TargetDistanceToGoalMeters : Math.Min(mostRecentParkingSensor.parkingSensorMetersLF, mostRecentParkingSensor.parkingSensorMetersRF);
//Tracer.Trace("redShirtDistanceEstimated = " + redShirtDistanceMetersEstimated);
ComputeMovingVelocity(redShirtDistanceMetersEstimated, targetPanRelativeToRobot, 0.35d, 10.0d);
if (_mapperVicinity.robotState.robotTacticsType == RobotTacticsType.None &&
Math.Abs(redShirtDistanceMetersEstimated - TargetDistanceToGoalMeters) < 0.35d &&
Math.Abs(targetPan) < 10.0d &&
(DateTime.Now - lastGunsFiredOnRed).TotalSeconds > 5.0d)
{
lastGunsFiredOnRed = Now;
//talkerToHuman.Say(9, "red shirt");
SpawnIterator(ShootGunOnce);
}
if (!hadATarget || lostSkeletons) // just acquired target, or lost all Skeletons
{
frameProcessor.doSaveOneImage = _mapperVicinity.robotState.doPhotos; // snap a picture
//talkerToHuman.Say(9, "red shirt");
//nextAnnouncementDelay = _soundsHelper.Announce("$lady in red", nextAnnouncementDelayDefault, 0.05d);
//nextAnnouncementDelay = _soundsHelper.Announce("red shirt", nextAnnouncementDelayDefault, 0.05d);
talkerToHuman.rewindDialogue();
}
}
else
{
if (target == null)
{
Tracer.Trace("----------------- no main color target");
}
else
{
Tracer.Trace("----------------- main color target too old at " + (Now - target.TimeStamp).TotalSeconds + " sec");
}
}
#endregion // Have a red shirt, follow it
} // end ignoreRedShirt
else if ((Now - lastHadRedShirt).TotalSeconds < 1.0d)
{
_mapperVicinity.robotDirection.bearing = null; // indication for tactics to compute collisions and stop.
return; // may be just temporary loss of red shirt, wait a little before switching to sound
}
else if (!haveSkeleton && !_mapperVicinity.robotState.ignoreKinectSounds)
{
// we let voice recognizer have control for several seconds, if we can't track skeleton or red shirt anyway.
if ((Now - lastVoiceLocalized).TotalSeconds > 5.0d)
{
// choose robotTacticsType - current tactics is Stop:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.None;
}
}
if (!haveATargetNow)
{
// no target means stopping
PerformAvoidCollision(null, 1.0d); // just in case
setCurrentGoalDistance(null);
_mapperVicinity.robotDirection.bearing = null; // indication for tactics to compute collisions and stop.
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.None;
StopMoving();
_state.MovingState = MovingState.Unable;
_state.Countdown = 0; // 0 = immediate response
}
if (hadATarget && !haveATargetNow)
{
lastLostTargets = Now;
secondsSinceLostTargetLast = -1;
haveATargetNowState = 0;
if ((Now - lastThanksForStoppingBy).TotalSeconds > 60.0d)
{
lastThanksForStoppingBy = Now;
talkerToHuman.Say(9, "thanks for stopping by!");
}
//talkerToHuman.Say(9, "lost all humans");
//string messageToSay = "$lost all humans";
//nextAnnouncementDelay = _soundsHelper.Announce(messageToSay, nextAnnouncementDelayDefault, 0.1d);
talkerToHuman.rewindDialogue();
lastTargetPanSwitch = 0;
StartHeadAnimationCombo(HeadComboAnimations.Restpose, false);
AddHeadAnimationCombo(HeadComboAnimations.BlinkCycle, true, 0.4d);
}
hadATarget = haveATargetNow; // set flag for the next cycle
#region Target Lost Routine
if (!haveATargetNow)
{
if (_mapperVicinity.robotState.doLostTargetRoutine)
{
// after losing targets, rotate both directions for a while, and then stop and wait:
int secondsSinceLostTarget = (int)Math.Round((Now - lastLostTargets).TotalSeconds);
if (secondsSinceLostTarget != secondsSinceLostTargetLast)
{
// we come here once every second when the target is not in view.
secondsSinceLostTargetLast = secondsSinceLostTarget;
if (secondsSinceLostTarget <= 30)
{
HeadlightsOn();
double tmpPanKinect = 0.0d;
switch (secondsSinceLostTarget)
{
case 0:
case 1:
// stop for now:
setCurrentGoalDistance(null);
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.None;
SetDesiredKinectTilt(3.0d);
return;
case 2:
case 3:
case 4:
if (haveATargetNowState != 1)
{
tmpPanKinect = 50.0d * Math.Sign(targetPan);
Tracer.Trace("setPanTilt() 1 Kinect pan=" + tmpPanKinect);
SetDesiredKinectPlatformPan(tmpPanKinect);
setGunsParked();
haveATargetNowState = 1;
talkerToHuman.Say(9, "One");
}
break;
case 5:
case 6:
case 7:
if (haveATargetNowState != 2)
{
Tracer.Trace("setPanKinect() 2 Kinect pan=0");
SetDesiredKinectPlatformPan(0.0d);
haveATargetNowState = 2;
talkerToHuman.Say(9, "Two");
}
break;
case 8:
case 9:
case 10:
if (haveATargetNowState != 3)
{
tmpPanKinect = -50.0d * Math.Sign(targetPan);
Tracer.Trace("setPanKinect() 3 Kinect pan=" + tmpPanKinect);
SetDesiredKinectPlatformPan(tmpPanKinect);
haveATargetNowState = 3;
talkerToHuman.Say(9, "Three");
}
break;
case 11:
case 12:
if (haveATargetNowState != 4)
{
Tracer.Trace("setPanKinect() 4 Kinect pan=0");
SetDesiredKinectPlatformPan(0.0d);
haveATargetNowState = 4;
talkerToHuman.Say(9, "Four");
}
break;
}
if (secondsSinceLostTarget > 12 && secondsSinceLostTarget % 6 == 0 && lastTargetPanSwitch != secondsSinceLostTarget)
{
lastTargetPanSwitch = secondsSinceLostTarget;
targetPan = -targetPan; // switch rotation direction every 6 seconds
Tracer.Trace("setPanKinect() 5 Kinect pan=0");
talkerToHuman.Say(9, "Switch");
SetDesiredKinectPlatformPan(0.0d);
}
setCurrentGoalBearingRelativeToRobot(60.0d * Math.Sign(targetPan)); // keep in the same direction where the target last was, aiming at 60 degrees for a steep turn in place
// choose robotTacticsType - rotate towards where the target was last seen:
setCurrentGoalDistance(TargetDistanceToGoalMeters);
FollowDirectionMaxVelocityMmSec = MinimumForwardVelocityMmSec; // ;ModerateForwardVelocityMmSec
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.FollowDirection;
}
else
{
// stop, sing a song and wait for a target to appear:
FollowDirectionMaxVelocityMmSec = 0.0d;
setCurrentGoalDistance(null);
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.None;
haveATargetNowState = 0;
int lonelyPlayTime = 180; // the song is 2:40 - give it 3 minutes to play
if (secondsSinceLostTarget % 20 == 0 && (lastWaitingForHumansAnnounced == 0 || lastWaitingForHumansAnnounced == secondsSinceLostTarget - lonelyPlayTime))
{
lastWaitingForHumansAnnounced = secondsSinceLostTarget;
//talkerToHuman.Say(9, "waiting for humans");
_soundsHelper.Announce("$lonely", 5.0d, 0.05d); // play "I-am-Mr-Lonely.mp3" really quietly
talkerToHuman.rewindDialogue();
lastWaitingForHumansAnnounced = 0;
HeadlightsOff();
}
Tracer.Trace("secondsSinceLostTarget=" + secondsSinceLostTarget);
if (secondsSinceLostTarget % 10 == 0)
{
Tracer.Trace("setPanKinect() 5 Kinect pan=" + panKinectSearchAngles[panKinectSearchIndex]);
SetDesiredKinectTilt(3.0d);
SetDesiredKinectPlatformPan(panKinectSearchAngles[panKinectSearchIndex++]);
if (panKinectSearchIndex >= panKinectSearchAngles.Length)
{
panKinectSearchIndex = 0;
}
}
}
}
}
else // !doLostTargetRoutine
{
// just assume safe position and wait till a new target appears in front of the camera:
HeadlightsOff();
if ((DateTime.Now - lastLostTargets).TotalSeconds > 3.0d)
{
SafePosture();
}
// stop for now:
setCurrentGoalDistance(null);
_mapperVicinity.robotDirection.bearing = null;
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.None;
}
}
#endregion // Target Lost Routine
}
private void writeJoint(XmlWriter writerXML, StringBuilder csv, Body curBody, string name, Microsoft.Kinect.JointType jt)
{
writerXML.WriteStartElement(name);
writerXML.WriteStartElement("x");
writerXML.WriteString(curBody.Joints[jt].Position.X.ToString());
writerXML.WriteEndElement();
writerXML.WriteStartElement("y");
writerXML.WriteString(curBody.Joints[jt].Position.Y.ToString());
writerXML.WriteEndElement();
writerXML.WriteStartElement("z");
writerXML.WriteString(curBody.Joints[jt].Position.Z.ToString());
writerXML.WriteEndElement();
writerXML.WriteEndElement();
csv.AppendFormat("\t{0},\t{1},\t{2}", curBody.Joints[jt].Position.X.ToString(), curBody.Joints[jt].Position.Y.ToString(), curBody.Joints[jt].Position.Z.ToString());
csv.Append((jt != Final_Joint) ? ',' : '\n', 1);
}
public static MyJointType ToMyJointType(this KJointType kJointType)
{
return((MyJointType)(int)kJointType);
}
public Joint GetJoint(JointType joint)
{
Microsoft.Kinect.JointType jointType = (Microsoft.Kinect.JointType)Enum.Parse(typeof(Microsoft.Kinect.JointType), joint.ToString());
return(new Joint(_skeleton.Joints[jointType]));
}
public static MyJointType ToMyJointType(this KJointType kJointType)
{
return(JointConversionTable[(int)kJointType]);
}
void DetectEvent(KBody user)
{
var id = user.TrackingId;
var oldHands = usersHands[id];
var now = DateTime.Now;
var clippedEdges = (user.ClippedEdges & (FrameEdges.Right | FrameEdges.Left | FrameEdges.Top)) != 0;
var lastLeftEventElapsed = now - oldHands.LeftChangeTime;
var lastRightEventElapsed = now - oldHands.RightChangeTime;
var topHeadPos = user.Joints[J.Head].Position;
var spineMidPos = user.Joints[J.SpineMid].Position;
var leftCoord = CameraPointToScreen(user.Joints[J.HandLeft].Position);
var rightCoord = CameraPointToScreen(user.Joints[J.HandRight].Position);
var leftWristPos = user.Joints[J.WristLeft].Position;
var rightWristPos = user.Joints[J.WristRight].Position;
var leftHandTracked = user.Joints[J.HandLeft].TrackingState == TrackingState.Tracked;
var rightHandTracked = user.Joints[J.HandRight].TrackingState == TrackingState.Tracked;
var leftEngaged = leftHandTracked && leftWristPos.Y > spineMidPos.Y + ENGAGED_SPINE_OFFSET;
var rightEngaged = rightHandTracked && rightWristPos.Y > spineMidPos.Y + ENGAGED_SPINE_OFFSET;
//Hand shape gestures:
//both hands logic:
if (lastLeftEventElapsed > ANTI_SPAM_SPAN || lastRightEventElapsed > ANTI_SPAM_SPAN)
{
var leftClosed = user.HandLeftState == HandState.Closed;
var rightClosed = user.HandRightState == HandState.Closed;
var oldLeftClosed = oldHands.LeftState == HandState.Closed;
var oldRightClosed = oldHands.RightState == HandState.Closed;
if (leftEngaged && rightEngaged && leftClosed && rightClosed &&
(!oldLeftClosed || !oldRightClosed))
{
interCbWithIdleRefresh(id, InteractionType.BEGIN_CREATING_OBJECT, 0);
}
else if (oldLeftClosed && oldRightClosed &&
(!leftClosed || !rightClosed))
{
interCbWithIdleRefresh(id, InteractionType.FINISH_CREATING_OBJECT, 0);
}
// old hand state is updated below
}
//left hand logic:
if (lastLeftEventElapsed > ANTI_SPAM_SPAN)
{
if (user.HandLeftState == HandState.Unknown || user.HandLeftState == HandState.NotTracked)
{
//hand gesture expired
if (oldHands.LeftState != HandState.Unknown &&
now - oldHands.LeftChangeTime > EXPIRE_STATE_SPAN)
{
ProcessHandGesture(user, J.HandLeft, user.HandLeftState, oldHands.LeftState);
oldHands.LeftState = HandState.Unknown;
}
}
else if (user.HandLeftState != oldHands.LeftState &&
(user.HandLeftState != HandState.Lasso || leftEngaged))
{
ProcessHandGesture(user, J.HandLeft, user.HandLeftState, oldHands.LeftState);
oldHands.LeftState = user.HandLeftState;
oldHands.LeftChangeTime = now;
}
}
//right hand logic:
if (lastRightEventElapsed > ANTI_SPAM_SPAN)
{
if (user.HandRightState == HandState.Unknown || user.HandRightState == HandState.NotTracked)
{
//hand gesture expired
if (oldHands.RightState != HandState.Unknown &&
now - oldHands.RightChangeTime > EXPIRE_STATE_SPAN)
{
ProcessHandGesture(user, J.HandRight, user.HandRightState, oldHands.RightState);
oldHands.RightState = HandState.Unknown;
}
}
else if (user.HandRightState != oldHands.RightState &&
(user.HandRightState != HandState.Lasso || rightEngaged))
{
ProcessHandGesture(user, J.HandRight, user.HandRightState, oldHands.RightState);
oldHands.RightState = user.HandRightState;
oldHands.RightChangeTime = now;
}
}
if (id == uiInterUserId)
{
// menu peeking gestures:
//left hand logic:
if (leftEngaged && !clippedEdges &&
leftWristPos.Y > topHeadPos.Y && user.HandLeftState == HandState.Open)
{
if (uiInterState == UIInterState.IDLE)
{
uiInterState = UIInterState.PEEKING_MENU;
uiInterHand = J.HandLeft;
interCbWithIdleRefresh(id, InteractionType.PEEK_MENU, J.HandLeft);
}
}
else if (uiInterState == UIInterState.PEEKING_MENU && uiInterHand == J.HandLeft)
{
uiInterState = UIInterState.IDLE;
interCbWithIdleRefresh(id, InteractionType.CANCEL_PEEK_MENU, J.HandLeft);
}
//right hand logic:
if (rightEngaged && !clippedEdges &&
rightWristPos.Y > topHeadPos.Y && user.HandRightState == HandState.Open)
{
if (uiInterState == UIInterState.IDLE)
{
uiInterState = UIInterState.PEEKING_MENU;
uiInterHand = J.HandRight;
interCbWithIdleRefresh(id, InteractionType.PEEK_MENU, J.HandRight);
}
}
else if (uiInterState == UIInterState.PEEKING_MENU && uiInterHand == J.HandRight)
{
uiInterState = UIInterState.IDLE;
interCbWithIdleRefresh(id, InteractionType.CANCEL_PEEK_MENU, J.HandRight);
}
// Margin reaching logic:
//left
if (leftHandTracked && (leftCoord.X < gameSpace.Left ||
(user.ClippedEdges & FrameEdges.Left) != 0))
{
if (leftEngaged && uiInterState == UIInterState.IDLE) // put in nested if to allow keeping margin interaction if hand is lowered
{
uiInterState = UIInterState.REACHING_MARGIN;
uiInterHand = J.HandLeft;
interCbWithIdleRefresh(id, InteractionType.BEGIN_REACH_MARGIN, J.HandLeft);
}
}
else if (uiInterState == UIInterState.REACHING_MARGIN && uiInterHand == J.HandLeft)
{
uiInterState = UIInterState.IDLE;
interCbWithIdleRefresh(id, InteractionType.END_REACH_MARGIN, J.HandLeft);
}
//right
if (rightHandTracked && (rightCoord.X > gameSpace.Right ||
(user.ClippedEdges & FrameEdges.Right) != 0))
{
if (rightEngaged && uiInterState == UIInterState.IDLE)
{
uiInterState = UIInterState.REACHING_MARGIN;
uiInterHand = J.HandRight;
interCbWithIdleRefresh(id, InteractionType.BEGIN_REACH_MARGIN, J.HandRight);
}
}
else if (uiInterState == UIInterState.REACHING_MARGIN && uiInterHand == J.HandRight)
{
uiInterState = UIInterState.IDLE;
interCbWithIdleRefresh(id, InteractionType.END_REACH_MARGIN, J.HandRight);
}
}
}
void Kinect20__receivepoints(Microsoft.Kinect.JointType jt, double x, double y, double z)
{
switch (jt)
{
case JointType.HandLeft: //左手 HandLeft
Canvas.SetLeft(this.leftHand, x);
Canvas.SetTop(this.leftHand, y);
break;
case JointType.HandRight: //右手 HandRight
Canvas.SetLeft(this.rightHand, x);
Canvas.SetTop(this.rightHand, y);
break;
}
//其他骨骼数据
//show other joints data
if (jt == JointType.HipLeft)
{
this.textBlock1.Text = "HipLeft X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.SpineBase)
{
this.textBlock2.Text = "SpineBase X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.ShoulderLeft)
{
this.textBlock3.Text = "ShoulderLeft X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.Head)
{
this.textBlock4.Text = "Head X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.ShoulderLeft)
{
this.textBlock5.Text = "ShoulderLeft X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.ElbowLeft)
{
this.textBlock6.Text = "ElbowLeft X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.WristLeft)
{
this.textBlock7.Text = "WristLeft X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.ShoulderRight)
{
this.textBlock8.Text = "ShoulderRight X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.ElbowRight)
{
this.textBlock9.Text = "ElbowRight X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.WristRight)
{
this.textBlock10.Text = "WristRight X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.HipLeft)
{
this.textBlock11.Text = "HipLeft X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.KneeLeft)
{
this.textBlock12.Text = "KneeLeft X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.AnkleLeft)
{
this.textBlock13.Text = "AnkleLeft X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.FootLeft)
{
this.textBlock14.Text = "FootLeft X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.HipRight)
{
this.textBlock15.Text = "HipRight X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
else if (jt == JointType.KneeRight)
{
this.textBlock16.Text = "KneeRight X:" + x.ToString() + " Y:" + y.ToString() + " Z:" + z.ToString();
}
}