void SaveStartPositions()
{
Astra.Body body = skeletonViewer.Bodies[0];
var rightHandPos = body.Joints[7].WorldPosition; //transform to local Position!!
jointPositions[7] = new Vector3(rightHandPos.X / 1000f, rightHandPos.Y / 1000f, rightHandPos.Z / 1000f);
var rightEllbowPos = body.Joints[6].WorldPosition; //transform to local Position!!
jointPositions[6] = new Vector3(rightEllbowPos.X / 1000f, rightEllbowPos.Y / 1000f, rightEllbowPos.Z / 1000f);
var rightShoulderPos = body.Joints[5].WorldPosition; //transform to local Position!!
jointPositions[5] = new Vector3(rightShoulderPos.X / 1000f, rightShoulderPos.Y / 1000f, rightShoulderPos.Z / 1000f);
// route gestreckter Arm, von nach unten hängen, gestreckt bis gerade nach oben
//distance zwischen hand/ellenbogen/schulter soll gleich bleiben, anderer winkel! --> kein x movement?
distHandEllbow = Vector3.Distance(jointPositions[7], jointPositions[6]);
distEllbowShoulder = Vector3.Distance(jointPositions[6], jointPositions[5]);
distHandShoulder = Vector3.Distance(jointPositions[7], jointPositions[5]);
//more positions:
/*
* positions[0] = new Vector3(jointPositions[5].x, jointPositions[7].y, jointPositions[7].z);
* positions[1] = new Vector3(jointPositions[5].x, jointPositions[7].y + distHandEllbow, jointPositions[7].z - distHandEllbow);
* positions[2] = new Vector3(jointPositions[5].x, jointPositions[5].y, jointPositions[5].z - distHandShoulder);
* positions[3] = new Vector3(jointPositions[5].x, jointPositions[5].y + distHandEllbow, jointPositions[5].z - distHandEllbow);
* positions[4] = new Vector3(jointPositions[5].x, jointPositions[5].y + distHandShoulder, jointPositions[7].z);
*
* SpawnRoute();
*/
}
// Draws joint as circle
private void DrawJoints(DrawingContext dc, Astra.Body body)
{
foreach (var joint in body.Joints)
{
if (IsJointOk(joint))
{
var isTracked = joint.Status == Astra.JointStatus.Tracked;
var brush = isTracked
? TrackedJointFill
: LowConfidenceJointFill;
var radius = isTracked
? TrackedJointCircleRadius
: LowConfidenceJointCircleRadius;
dc.DrawEllipse(brush, JointBorder, ToImagePoint(joint), radius, radius);
// Show label with 3D coordinates only for one spine joint.
// You can remove the following "if"-statement, in case you want to see labels with 3D coordinates for all joints.
if (joint.Type == Astra.JointType.RightHand)
{
DrawJointLabel(dc, joint, radius);
}
if (joint.Type == Astra.JointType.LeftHand)
{
DrawJointLabel(dc, joint, radius);
}
getGesture(joint); //dkdkdkdk
}
}
}
private static int FindJointIndex(Astra.Body body, Astra.JointType jointType)
{
for (int i = 0; i < body.Joints.Length; i++)
{
if (body.Joints[i].Type == jointType)
{
return(i);
}
}
return(-1);
}
void ShoulderYX()
{
Astra.Body body = skeletonViewer.Bodies[0];
var rightHandPos = body.Joints[7].WorldPosition; //transform to local Position!!
var jointPos = new Vector3(rightHandPos.X / 1000f, rightHandPos.Y / 1000f, rightHandPos.Z / 1000f);
if (Vector3.Distance(new Vector3(0, 0, jointPos.z), new Vector3(0, 0, jointPositions[7].z)) > 0.15f)
{
//Debug.Log("uffbassa! YX");
//thalmicMyo.Vibrate(VibrationType.Short);
}
}
/// <summary>
/// Creates visualizer. Call from UI thread because during construction <c>ImageSource</c> is being created.
/// </summary>
/// <param name="dispatcher">Dispatcher of owner thread. As a rule, UI thread.</param>
/// <param name="depthWidth">Width of depth map.</param>
/// <param name="depthHeight">Height of depth map.</param>
public BodyVisualizer(Dispatcher dispatcher, int depthWidth, int depthHeight)
{
if (dispatcher.Thread != Thread.CurrentThread)
{
throw new InvalidOperationException(
"Call this constructor from UI thread please, because it creates ImageSource object for UI");
}
this.dispatcher = dispatcher;
this.depthWidth = depthWidth;
this.depthHeight = depthHeight;
// Astra SDK supports up to 6 bodies
bodies = new Astra.Body[6];
// WPF stuff to draw skeleton
drawingGroup = new DrawingGroup
{
ClipGeometry = new RectangleGeometry(new Rect(0, 0, depthWidth, depthHeight)),
};
ImageSource = new DrawingImage(drawingGroup);
}
// Draws bone as line (stick) between two joints
private void DrawBones(DrawingContext dc, Astra.Body body)
{
foreach (var bone in bones)
{
var parentJoint = FindJoint(body, bone.ParentJointType);
if (IsJointOk(parentJoint))
{
var endJoint = FindJoint(body, bone.EndJointType);
if (IsJointOk(endJoint))
{
var isTracked =
parentJoint.Status == Astra.JointStatus.Tracked &&
endJoint.Status == Astra.JointStatus.Tracked;
var pen = isTracked
? TrackedBonePen
: LowConfidenceBonePen;
dc.DrawLine(pen, ToImagePoint(parentJoint), ToImagePoint(endJoint));
}
}
}
}
private static Astra.Joint FindJoint(Astra.Body body, Astra.JointType jointType) => body.Joints.FirstOrDefault(j => j.Type == jointType);
public static bool IsBodyOk(Astra.Body body) => body != null && body.Status != Astra.BodyStatus.NotTracking;
