internal String setup(FaceTrackFrame frame)
{
if (this.smileSetupArray.Count < SETUP_VALUES)
{
this.smileSetupArray.Add(frame.GetAnimationUnitCoefficients()[2]);
this.browUpSetupArray.Add(frame.GetAnimationUnitCoefficients()[5]);
this.browLowRSetupArray.Add(this.pointDistance(frame.GetShapePoints()[89], frame.GetShapePoints()[25]));
this.browLowLSetupArray.Add(this.pointDistance(frame.GetShapePoints()[89], frame.GetShapePoints()[35]));
return(".");
}
else
{
this.evaluateInitalValues();
this.isSetupComplete = true;
return("\r\nSetup Complete!\r\n");
}
}
/// <summary>
/// Updates the face tracking information for this skeleton
/// </summary>
internal void OnFrameReady(KinectSensor kinectSensor, ColorImageFormat colorImageFormat, byte[] colorImage, DepthImageFormat depthImageFormat, short[] depthImage, Skeleton skeletonOfInterest)
{
this._skeletonTrackingState = skeletonOfInterest.TrackingState;
if (this._skeletonTrackingState != SkeletonTrackingState.Tracked)
{
// nothing to do with an untracked skeleton.
return;
}
if (this._faceTracker == null)
{
try
{
this._faceTracker = new FaceTracker(kinectSensor);
}
catch (InvalidOperationException e)
{
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
Console.WriteLine(Converter.EncodeError("FaceTracker.OnFrameReady - creating a new FaceTracker threw an InvalidOperationException: " + e.Message));
this._faceTracker = null;
}
}
if (this._faceTracker != null)
{
FaceTrackFrame frame = this._faceTracker.Track(
colorImageFormat, colorImage, depthImageFormat, depthImage, skeletonOfInterest);
this._lastFaceTrackSucceeded = frame.TrackSuccessful;
if (this._lastFaceTrackSucceeded)
{
var animUnits = frame.GetAnimationUnitCoefficients();
var pos = frame.Translation;
var rot = frame.Rotation;
var faceData = new FaceData();
faceData.Au0 = animUnits[0];
faceData.Au1 = animUnits[1];
faceData.Au2 = animUnits[2];
faceData.Au3 = animUnits[3];
faceData.Au4 = animUnits[4];
faceData.Au5 = animUnits[5];
faceData.PosX = pos.X;
faceData.PosY = pos.Y;
faceData.PosZ = pos.Z;
faceData.RotX = rot.X;
faceData.RotY = rot.Y;
faceData.RotZ = rot.Z;
var data = Converter.EncodeFaceTrackingData(faceData);
Console.WriteLine(data);
}
}
}
/// <summary>
/// Prova i vari tipi di emozioni alla ricerca di quello esatto
/// </summary>
internal String analizeEmotion(FaceTrackFrame frame)
{
if (frame.GetAnimationUnitCoefficients()[5] > this.browUpBasicValue + BROW_UP_GAP)
{
return("Surprise!");
}
else if (frame.GetAnimationUnitCoefficients()[2] > this.smileBasicValue + SMILE_GAP)
{
return("Joy!");
}
else
{
double distDx = this.pointDistance(frame.GetShapePoints()[89], frame.GetShapePoints()[25]);
double distSx = this.pointDistance(frame.GetShapePoints()[89], frame.GetShapePoints()[35]);
if (distDx + BROW_LOW_GAP < browLowRBasicValue || distSx + BROW_LOW_GAP < browLowLBasicValue)
{
return("Disgust!");
}
else
{
return("No action");
}
}
}
public static String detectBrowLowerer(FaceTrackFrame frame)
{
return(frame.GetAnimationUnitCoefficients()[3].ToString());
}
public static String detectLipStretch(FaceTrackFrame frame)
{
return(frame.GetAnimationUnitCoefficients()[2].ToString());
}
private bool CheckFace(KinectSensor kinectSensor, ColorImageFormat colorImageFormat, byte[] colorImage, DepthImageFormat depthImageFormat, short[] depthImage, Skeleton skeletonOfInterest)
{
this.skeletonTrackingState = skeletonOfInterest.TrackingState;
if (this.skeletonTrackingState != SkeletonTrackingState.Tracked)
{
// nothing to do with an untracked skeleton.
return(false);
}
if (this.faceTracker == null)
{
try
{
this.faceTracker = new FaceTracker(kinectSensor);
}
catch (InvalidOperationException)
{
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
Debug.WriteLine("AllFramesReady - creating a new FaceTracker threw an InvalidOperationException");
this.faceTracker = null;
}
}
if (this.faceTracker != null)
{
FaceTrackFrame frame = this.faceTracker.Track(
colorImageFormat, colorImage, depthImageFormat, depthImage, skeletonOfInterest);
this.lastFaceTrackSucceeded = frame.TrackSuccessful;
if (this.lastFaceTrackSucceeded)
{
if (faceTriangles == null)
{
// only need to get this once. It doesn't change.
faceTriangles = frame.GetTriangles();
}
//getting the Animation Unit Coefficients
this.AUs = frame.GetAnimationUnitCoefficients();
var jawLowerer = AUs[AnimationUnit.JawLower];
var browLower = AUs[AnimationUnit.BrowLower];
var browRaiser = AUs[AnimationUnit.BrowRaiser];
var lipDepressor = AUs[AnimationUnit.LipCornerDepressor];
var lipRaiser = AUs[AnimationUnit.LipRaiser];
var lipStretcher = AUs[AnimationUnit.LipStretcher];
//set up file for output
using (System.IO.StreamWriter file = new System.IO.StreamWriter
(@"C:\Users\Public\data.txt"))
{
file.WriteLine("FaceTrack Data, started recording at " + DateTime.Now.ToString("HH:mm:ss tt"));
}
//here is the algorithm to test different facial features
//BrowLower is messed up if you wear glasses, works if you don't wear 'em
string state = "";
//surprised
if ((jawLowerer < 0.25 || jawLowerer > 0.25) && browLower < 0)
{
state = "surprised";
}
//smiling
if (lipStretcher > 0.4 || lipDepressor < 0)
{
state = "smiling";
}
//sad
if (browRaiser < 0 && lipDepressor > 0)
{
state = "sad";
}
//angry
if ((browLower > 0 && (jawLowerer > 0.25 || jawLowerer < -0.25)) ||
(browLower > 0 && lipDepressor > 0))
{
state = "angry";
}
//System.Diagnostics.Debug.WriteLine(browLower);
this.facePoints = frame.GetProjected3DShape();
if (states[currentState] == state)
{
Trace.WriteLine("Yo!");
return(true);
}
}
}
return(false);
}
/// <summary>
/// Handles the AllFramesReady event of the kinectSensor control.
/// </summary>
/// <param name="sender">The source of the event.</param>
/// <param name="e">The <see cref="Microsoft.Kinect.AllFramesReadyEventArgs"/> instance containing the event data.</param>
void kinectSensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
// Retrieve each single frame and copy the data
using (ColorImageFrame colorImageFrame = e.OpenColorImageFrame())
{
if (colorImageFrame == null)
{
return;
}
colorImageFrame.CopyPixelDataTo(colorPixelData);
}
using (DepthImageFrame depthImageFrame = e.OpenDepthImageFrame())
{
if (depthImageFrame == null)
{
return;
}
depthImageFrame.CopyPixelDataTo(depthPixelData);
}
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
return;
}
skeletonFrame.CopySkeletonDataTo(skeletonData);
}
// Retrieve the first tracked skeleton if any. Otherwise, do nothing.
var skeleton = skeletonData.FirstOrDefault(s => s.TrackingState == SkeletonTrackingState.Tracked);
if (skeleton == null)
{
return;
}
// Make the faceTracker processing the data.
FaceTrackFrame faceFrame = faceTracker.Track(kinectSensor.ColorStream.Format, colorPixelData,
kinectSensor.DepthStream.Format, depthPixelData,
skeleton);
// If a face is tracked, then we can use it
if (faceFrame.TrackSuccessful)
{
// Retrieve only the Animation Units coeffs
var AUCoeff = faceFrame.GetAnimationUnitCoefficients();
// Records to list buffer if record is enabled
if (isRecord == true)
{
// Start stopwatch
stopwatch.Start();
// AU coefficients
lipRaiserBuffer.Add(AUCoeff[AnimationUnit.LipRaiser]);
jawLowerBuffer.Add(AUCoeff[AnimationUnit.JawLower]);
lipStretchBuffer.Add(AUCoeff[AnimationUnit.LipStretcher]);
browLowerBuffer.Add(AUCoeff[AnimationUnit.BrowLower]);
lipDepressBuffer.Add(AUCoeff[AnimationUnit.LipCornerDepressor]);
browRaiserBuffer.Add(AUCoeff[AnimationUnit.BrowLower]);
// Face rotation
xRotation.Add(faceFrame.Rotation.X);
yRotation.Add(faceFrame.Rotation.Y);
zRotation.Add(faceFrame.Rotation.Z);
// Get time in ms
timeBuffer.Add(stopwatch.ElapsedMilliseconds);
}
// Display on UI coefficients and rotation for user
LipRaiser.Content = AUCoeff[AnimationUnit.LipRaiser];
JawLower.Content = AUCoeff[AnimationUnit.JawLower];
LipStretch.Content = AUCoeff[AnimationUnit.LipStretcher];
BrowLower.Content = AUCoeff[AnimationUnit.BrowLower];
LipDepress.Content = AUCoeff[AnimationUnit.LipCornerDepressor];
BrowRaiser.Content = AUCoeff[AnimationUnit.BrowRaiser];
XRotation.Content = faceFrame.Rotation.X;
YRotation.Content = faceFrame.Rotation.Y;
ZRotation.Content = faceFrame.Rotation.Z;
// Animates the drawn face
var jawLowerer = AUCoeff[AnimationUnit.JawLower];
jawLowerer = jawLowerer < 0 ? 0 : jawLowerer;
MouthScaleTransform.ScaleY = jawLowerer * 5 + 0.1;
MouthScaleTransform.ScaleX = (AUCoeff[AnimationUnit.LipStretcher] + 1);
LeftBrow.Y = RightBrow.Y = (AUCoeff[AnimationUnit.BrowLower]) * 40;
RightBrowRotate.Angle = (AUCoeff[AnimationUnit.BrowRaiser] * 20);
LeftBrowRotate.Angle = -RightBrowRotate.Angle;
CanvasRotate.Angle = faceFrame.Rotation.Z;
}
}
private void AnalyzeFace(FaceTrackFrame frame)
{
//Move ThoughtBubble
System.Windows.Point facePoint = new System.Windows.Point();
facePoint.X = frame.FaceRect.Right + _thoughtBubbleOffset;
facePoint.Y = frame.FaceRect.Top - (_thoughtBubble.ActualHeight / 2);
MoveToCameraPosition(_thoughtBubble, facePoint);
var animationUnits = frame.GetAnimationUnitCoefficients();
if (animationUnits[AnimationUnit.JawLower] > .3)
{
//_thoughtBubble.SetThoughtBubble("openmouth.png");
_thoughtBubble.SetThoughtBubble("firin_mah_laser.png");
while (receiver.RunLoop)
{
receiver.Loop();
}
receiver.reset();
}
if (animationUnits[AnimationUnit.BrowRaiser] > .4)
{
//_thoughtBubble.SetThoughtBubble("eyebrow.png");
_thoughtBubble.SetThoughtBubble("wide_eyed.png");
while (receiver.RunLoop)
{
receiver.Loop2();
}
receiver.reset();
}
//Check for yes
if (frame.Rotation.X > 10 && yesStarted == false)
{
yesStarted = true;
_yesNo.Reset();
_yesNo.Start();
//start YES timer
return;
}
//check for no
if (frame.Rotation.Y < -10 && noStarted == false)
{
noStarted = true;
_yesNo.Reset();
_yesNo.Start();
return;
}
if (_yesNo.Elapsed.TotalSeconds > 3)
{
_yesNo.Stop();
yesStarted = false;
noStarted = false;
}
else
{
if (frame.Rotation.X < -5 && yesStarted)
{
//YES!!
//_thoughtBubble.SetThoughtBubble("yes.png");
_thoughtBubble.SetThoughtBubble("trigger_on.png");
while (receiver.RunLoop)
{
receiver.Loop3();
}
receiver.reset();
}
if (frame.Rotation.Y > 10 && noStarted)
{
//NO!!!
_thoughtBubble.SetThoughtBubble("no.png");
//_thoughtBubble.SetThoughtBubble("trigger_off.png");
while (receiver.RunLoop)
{
receiver.Loop4();
}
receiver.reset();
}
}
UpdateTextReading(frame, animationUnits[AnimationUnit.BrowRaiser], animationUnits[AnimationUnit.JawLower]);
}
private async Task FaceTrackingAsync(TimeSpan dueTime, TimeSpan interval, CancellationToken token)
{
if (interval.TotalMilliseconds == 0)
{
return;
}
// Initial wait time before we begin the periodic loop.
if (dueTime > TimeSpan.Zero)
{
await Task.Delay(dueTime, token);
}
DateTime LocalTimestamp = Timestamp;
FaceTracker tracker = new FaceTracker(Sensor);
// Repeat this loop until cancelled.
while (!token.IsCancellationRequested)
{
// Skip already work with given data
if (Timestamp == LocalTimestamp)
{
await Task.Delay(interval, token);
continue;
}
// Timestamp data
LocalTimestamp = Timestamp;
FaceTrackWatch.Again();
// Do Job
try {
CopyColorData = true;
CopySkeletons = true;
FPoints = null;
Mood = 0;
if (null != GestureManager && null != GestureManager.Skeleton)
{
FaceTrackFrame frame = tracker.Track(ColorFormat, ColorData, DepthFormat, DepthData, GestureManager.Skeleton);
if (frame.TrackSuccessful)
{
// Only once. It doesn't change.
if (FTriangles == null)
{
FTriangles = frame.GetTriangles();
}
FPoints = frame.GetProjected3DShape();
Mood = frame.GetAnimationUnitCoefficients()[AnimationUnit.LipCornerDepressor];
WSRProfileManager.GetInstance().UpdateMood(Mood);
}
}
}
catch (Exception ex) {
WSRConfig.GetInstance().logError("FACE", ex);
}
FaceTrackWatch.Stop();
// Wait to repeat again.
if (interval > TimeSpan.Zero)
{
await Task.Delay(interval, token);
}
}
// Dispose Tracker
tracker.Dispose();
}
/// <summary>
/// Updates the face tracking information for this skeleton
/// </summary>
internal void OnFrameReady(KinectSensor sensor, ColorImageFormat colorImageFormat, byte[] colorImage, DepthImageFormat depthImageFormat, short[] depthImage)
{
if (this.faceTracker == null)
{
try
{
this.faceTracker = new FaceTracker(sensor);
}
catch (InvalidOperationException)
{
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
Debug.WriteLine("AllFramesReady - creating a new FaceTracker threw an InvalidOperationException");
this.faceTracker = null;
}
}
if (this.faceTracker != null)
{
FaceTrackFrame frame = this.faceTracker.Track(colorImageFormat, colorImage, depthImageFormat, depthImage);
this.lastFaceTrackSucceeded = frame.TrackSuccessful;
if (this.lastFaceTrackSucceeded)
{
if (faceTriangles == null)
{
// only need to get this once. It doesn't change.
faceTriangles = frame.GetTriangles();
}
this.facePoints = frame.GetProjected3DShape();
this.facePoints3D = frame.Get3DShape();
//X-man modification
this.AU = frame.GetAnimationUnitCoefficients();
}
if (faceTriangles != null && facePoints != null)
{
faceUpdated(this, new FaceTrackerEventArgs(facePoints, faceTriangles));
}
if (FaceRecognition.compare)
{
FaceRecognition.recognizer(this);
}
if (mouthOpened.detect)
{
mouthOpened.mouthRecognizer();
}
if (mouthShut.detect)
{
mouthShut.mouth2Recognizer();
}
if (lookingDirection.detect)
{
lookingDirection.lookRecognizer();
}
if (pupilRight.detect)
{
pupilRight.pupilRecognizer();
}
}
}
/// <summary>
/// Handles the AllFramesReady event of the kinectSensor control.
/// </summary>
/// <param name="sender">The source of the event.</param>
/// <param name="e">The <see cref="Microsoft.Kinect.AllFramesReadyEventArgs"/> instance containing the event data.</param>
void kinectSensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
// Retrieve each single frame and copy the data
using (ColorImageFrame colorImageFrame = e.OpenColorImageFrame())
{
if (colorImageFrame == null)
{
return;
}
colorImageFrame.CopyPixelDataTo(colorPixelData);
}
using (DepthImageFrame depthImageFrame = e.OpenDepthImageFrame())
{
if (depthImageFrame == null)
{
return;
}
depthImageFrame.CopyPixelDataTo(depthPixelData);
}
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
return;
}
skeletonFrame.CopySkeletonDataTo(skeletonData);
}
// Retrieve the first tracked skeleton if any. Otherwise, do nothing.
var skeleton = skeletonData.FirstOrDefault(s => s.TrackingState == SkeletonTrackingState.Tracked);
if (skeleton == null)
{
return;
}
// Make the faceTracker processing the data.
FaceTrackFrame faceFrame = faceTracker.Track(kinectSensor.ColorStream.Format, colorPixelData,
kinectSensor.DepthStream.Format, depthPixelData,
skeleton);
// If a face is tracked, then we can use it.
if (faceFrame.TrackSuccessful)
{
var triangles = faceFrame.GetTriangles();
// Retrieve only the Animation Units coeffs.
var AUCoeff = faceFrame.GetAnimationUnitCoefficients();
var jawLowerer = AUCoeff[AnimationUnit.JawLower];
jawLowerer = jawLowerer < 0 ? 0 : jawLowerer;
MouthScaleTransform.ScaleY = jawLowerer * 5 + 0.1;
MouthScaleTransform.ScaleX = (AUCoeff[AnimationUnit.LipStretcher] + 1);
LeftBrow.Y = RightBrow.Y = (AUCoeff[AnimationUnit.BrowLower]) * 40;
RightBrowRotate.Angle = (AUCoeff[AnimationUnit.BrowRaiser] * 20);
LeftBrowRotate.Angle = -RightBrowRotate.Angle;
CanvasRotate.Angle = -faceFrame.Rotation.Z;
// CanvasTranslate.X = faceFrame.Translation.X;
// CanvasTranslate.Y = faceFrame.Translation.Y;
if (logToFile)
{
writeToFile(filename_txt.Text, faceFrame);
}
if (writeToOSC)
{
sendOsc(osc_channel_txt.Text, faceFrame, oscWriter);
}
}
}
private void OnAllFramesReady(object sender, Microsoft.Kinect.AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
// Check for image format changes. The FaceTracker doesn't
// deal with that so we need to reset.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
// Get the skeleton information
if (this.SkeletonData == null || this.SkeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.SkeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.SkeletonData);
Skeleton activeSkeleton = null;
activeSkeleton = (from skel in this.SkeletonData where skel.TrackingState == SkeletonTrackingState.Tracked select skel).FirstOrDefault();
//Idea: Separate Eye-Parts of Color Image
//Use learning Algorithm for right and left eye
//Detect blink on separated parts of color Image
//colorImage is one dimensional array with 640 x 480 x 4 (RGBA) values
if (activeSkeleton != null)
{
FaceTrackFrame currentFaceFrame = faceTracker.Track(ColorImageFormat.RgbResolution640x480Fps30, colorImage, depthImageFormat, depthImage, activeSkeleton);
float browRaiserValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowRaiser];
float browLowererValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowLower];
tbBrowLowerer.Text = browLowererValue.ToString();
tbBrowRaiser.Text = browRaiserValue.ToString();
//Get relevant Points for blink detection
//Left eye
int minX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveOneFourthLeftEyelid].X);
int minY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveOneFourthLeftEyelid].Y);
int maxX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.BelowThreeFourthLeftEyelid].X);
int maxY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.BelowThreeFourthLeftEyelid].Y);
Bitmap leftEye = EyeExtract(colorImageFrame, currentFaceFrame, minX, minY, maxX, maxY, false);
pbLeftEye.Image = leftEye;
//Right eye
minX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveThreeFourthRightEyelid].X);
minY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveThreeFourthRightEyelid].Y);
maxX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.OneFourthBottomRightEyelid].X);
maxY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.OneFourthBottomRightEyelid].Y);
Bitmap rightEye = EyeExtract(colorImageFrame, currentFaceFrame, minX, minY, maxX, maxY, true);
pbRightEye.Image = rightEye;
//Wende Kantenfilter auf die beiden Augen an.
double dxRight;
double dyRight;
double dxLeft;
double dyLeft;
if (rightEye != null && leftEye != null)
{
Bitmap edgePicRight = Convolution(ConvertGrey(rightEye), true, out dxRight, out dyRight);
Bitmap edgePicLeft = Convolution(ConvertGrey(leftEye), false, out dxLeft, out dyLeft);
//If Face is rotated, move Mouse
if (headRotationHistory.Count > filterLength && currentFaceFrame.TrackSuccessful)
{
int x = 0;
int y = 0;
//Method 1: Ohne Glättung
//ScaleXY(currentFaceFrame.Rotation, out x, out y);
//MouseControl.Move(x, y);
////Method 2: Glättung über die letzten x Bilder:
//int i = 0;
//Vector3DF rotationMedium = new Vector3DF();
//while (i < 10 && headRotationHistory.Count - 1 > i)
//{
// i++;
// rotationMedium.X += headRotationHistory[headRotationHistory.Count - 1 - i].X;
// rotationMedium.Y += headRotationHistory[headRotationHistory.Count - 1 - i].Y;
//}
//rotationMedium.X = rotationMedium.X / i;
//rotationMedium.Y = rotationMedium.Y / i;
//ScaleXY(rotationMedium, out x, out y);
//MouseControl.Move(x, y);
//Method 3: Gauß-Filter: Gewichte die letzten Bilder stärker.
Vector3DF rotationMedium = new Vector3DF();
rotationMedium.X = currentFaceFrame.Rotation.X * gaussFilter[0];
rotationMedium.Y = currentFaceFrame.Rotation.Y * gaussFilter[0];
int i = 0;
while (i < filterLength - 1)
{
i++;
rotationMedium.X += (headRotationHistory[headRotationHistory.Count - 1 - i].X * gaussFilter[i]);
rotationMedium.Y += (headRotationHistory[headRotationHistory.Count - 1 - i].Y * gaussFilter[i]);
}
rotationMedium.X = (float)(rotationMedium.X / gaussFactor);
rotationMedium.Y = (float)(rotationMedium.Y / gaussFactor);
ScaleXY(rotationMedium, out x, out y);
MouseControl.Move(x, y);
//Method 4: Quadratische Glättung
//double deltaX = ((-currentFaceFrame.Rotation.Y) - (-headRotationHistory.Last().Y));
//double deltaY = ((-currentFaceFrame.Rotation.X) - (-headRotationHistory.Last().X));
//if (deltaX < 0)
// deltaX = -Math.Pow(deltaX, 2) * 4;
//else
// deltaX = Math.Pow(deltaX, 2) * 4;
//if (deltaY < 0)
// deltaY = -Math.Pow(deltaY, 2) * 5;
//else
// deltaY = Math.Pow(deltaY, 2) * 5;
//MouseControl.DeltaMove((int)Math.Round(deltaX, 0), (int)Math.Round(deltaY));
}
headRotationHistory.Add(currentFaceFrame.Rotation);
if (headRotationHistory.Count >= 100)
{
headRotationHistory.RemoveAt(0);
}
}
}
}
catch (Exception e)
{
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}
/// <summary>
/// Updates the face tracking information for this skeleton
/// </summary>
///
public void OnFrameReady(KinectSensor kinectSensor, ColorImageFormat colorImageFormat, byte[] colorImage, DepthImageFormat depthImageFormat, short[] depthImage, Skeleton skeletonOfInterest)
{
//No Touchy
this.skeletonTrackingState = skeletonOfInterest.TrackingState;
if (this.skeletonTrackingState != SkeletonTrackingState.Tracked)
{
return;
}
if (faceTracker == null)
{
faceTracker = new FaceTracker(kinectSensor);
}
frame = this.faceTracker.Track(
colorImageFormat, colorImage, depthImageFormat, depthImage, skeletonOfInterest);
this.lastFaceTrackSucceeded = frame.TrackSuccessful;
if (this.lastFaceTrackSucceeded)
{
if (faceTriangles == null)
{
faceTriangles = frame.GetTriangles();
}
this.facePoints = frame.GetProjected3DShape();
//Touchy
//Assign Reference points
this.absfacePoints = frame.Get3DShape();
leftForehead = this.absfacePoints[FeaturePoint.TopLeftForehead];
rightForehead = this.absfacePoints[FeaturePoint.TopRightForehead];
jaw = this.absfacePoints[FeaturePoint.BottomOfChin];
faceRotationX = frame.Rotation.X;
faceRotationY = frame.Rotation.Y;
faceRotationZ = frame.Rotation.Z;
//Calculate Reference Points
foreheadReferencePointX = ((rightForehead.X - leftForehead.X) / 2);
foreheadReferencePointY = ((rightForehead.Y - leftForehead.Y) / 2);
foreheadReferencePointZ = ((rightForehead.Z - leftForehead.Z) / 2);
//Set Animation Units
AUCoeff = frame.GetAnimationUnitCoefficients();
jawLowererAU = AUCoeff[AnimationUnit.JawLower];
lipStretcherAU = AUCoeff[AnimationUnit.LipStretcher];
browRaiserAU = AUCoeff[AnimationUnit.BrowRaiser];
setJawData(jaw.Y, leftForehead.Y, rightForehead.Y, jawLowererAU, lipStretcherAU);
rotations = new float[5];
//set up matlab
matlab = new MLApp.MLApp();
matlab.Execute(@"cd C:\Users\Bala\Documents\MATLAB");
result = null;
//get rotation values
rotations[0] = faceRotationX;
rotations[1] = faceRotationY;
rotations[2] = faceRotationZ;
rotations[3] = jawLowererAU;
rotations[4] = lipStretcherAU;
//Set up GlovePie
OscPacket.LittleEndianByteOrder = false;
IPEndPoint myapp = new IPEndPoint(IPAddress.Loopback, 1944);
IPEndPoint glovepie = new IPEndPoint(IPAddress.Loopback, 1945);
Console.WriteLine(browRaiserAU);
matlab.Feval("nnW", 1, out result, rotations[0]);
object[] resW = result as object[];
nnoutput = (int)((float)resW[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 1;
}
else
{
result = null;
matlab.Feval("nnA", 1, out result, rotations[1]);
object[] resA = result as object[];
nnoutput = (int)((float)resA[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 2;
}
else
{
result = null;
matlab.Feval("nnS", 1, out result, rotations[0]);
object[] resS = result as object[];
nnoutput = (int)((float)resS[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 3;
}
else
{
result = null;
matlab.Feval("nnd", 1, out result, rotations[1]);
object[] resD = result as object[];
nnoutput = (int)((float)resD[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 4;
}
else
{
result = null;
matlab.Feval("nnLC", 1, out result, rotations[2]);
object[] resLC = result as object[];
nnoutput = (int)((float)resLC[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 5;
}
else
{
result = null;
matlab.Feval("nnRC", 1, out result, rotations[2]);
object[] resRC = result as object[];
nnoutput = (int)((float)resRC[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 6;
}
else
{
result = null;
if (jawLowererAU > 0.7)
{
commandtoSend = 7;
}
/*
* matlab.Feval("nnSpace", 1, out result, rotations[3]);
* object[] resSpace = result as object[];
* nnoutput = (int)((float)resSpace[0] + 0.5f);
* if (nnoutput == 1)
* {
* commandtoSend = 7;
* }*/
else
{
result = null;
if (browRaiserAU > 0.4)
{
commandtoSend = 8;
}
else
{
result = null;
commandtoSend = 0;
}
/*result = null;
* matlab.Feval("nnMiddle", 1, out result, lipStretcherAU);
* object[] resMiddle = result as object[];
* nnoutput = (int)((float)resMiddle[0] + 0.5f);
* if (nnoutput == 1)
* {
* commandtoSend = 8;
* }
* else
* {
* result = null;
* commandtoSend = 0;
* }*/
}
}
}
}
}
}
}
//Console.WriteLine("Iteration Complete");
switch (commandtoSend)
{
case 0:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 1:
msg = new OscMessage(myapp, "/move/w", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 2:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 3:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 4:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 5:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 6:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 7:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 8:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 10.0f);
msg.Send(glovepie);
break;
}
}
}
/// <summary>
/// Updates the face tracking information for this skeleton
/// </summary>
internal void OnFrameReady(KinectSensor kinectSensor, ColorImageFormat colorImageFormat, byte[] colorImage, DepthImageFormat depthImageFormat, short[] depthImage, Skeleton skeletonOfInterest)
{
this.skeletonTrackingState = skeletonOfInterest.TrackingState;
if (this.skeletonTrackingState != SkeletonTrackingState.Tracked)
{
// nothing to do with an untracked skeleton.
return;
}
if (this.faceTracker == null)
{
try
{
this.faceTracker = new FaceTracker(kinectSensor);
}
catch (InvalidOperationException)
{
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
Debug.WriteLine("AllFramesReady - creating a new FaceTracker threw an InvalidOperationException");
this.faceTracker = null;
}
}
if (this.faceTracker != null)
{
FaceTrackFrame frame = this.faceTracker.Track(
colorImageFormat, colorImage, depthImageFormat, depthImage, skeletonOfInterest);
this.lastFaceTrackSucceeded = frame.TrackSuccessful;
if (this.lastFaceTrackSucceeded)
{
if (faceTriangles == null)
{
// only need to get this once. It doesn't change.
faceTriangles = frame.GetTriangles();
}
this.facePoints3DRaw = frame.Get3DShape();
this.facePoints = frame.GetProjected3DShape();
animationUnitsRaw = frame.GetAnimationUnitCoefficients();
}
x = frame.Rotation.X;
y = frame.Rotation.Y;
z = frame.Rotation.Z;
facePointS3D = this.facePoints3DRaw;
animationUnits = animationUnitsRaw;
//Debug.WriteLine(animationUnits[AnimationUnit.JawLower]);
//Debug.WriteLine(animationUnits[AnimationUnit.BrowLower]);
//Debug.WriteLine(animationUnits[AnimationUnit.BrowRaiser]);
//Debug.WriteLine(animationUnits[AnimationUnit.JawLower]);
//Debug.WriteLine(animationUnits[AnimationUnit.LipCornerDepressor]);
//Debug.WriteLine(animationUnits[AnimationUnit.LipRaiser]);
//Debug.WriteLine(animationUnits[AnimationUnit.LipStretcher]);
//Debug.WriteLine(frame.Translation.ToString());
//Debug.WriteLine(frame.Rotation.ToString());
//this.facePoints[FeaturePoint.AboveChin].X+2;
//Debug.WriteLine(frame.Translation.X.ToString());
//Debug.WriteLine(frame.Translation.Y.ToString());
//Debug.WriteLine(frame.Translation.Z.ToString());
}
}
public static String detectLipCornerDepressor(FaceTrackFrame frame)
{
return(frame.GetAnimationUnitCoefficients()[4].ToString());
}
private void MoveMouseAccordingToFaceRotation(FaceTrackFrame currentFaceFrame)
{
if (headRotationHistory.Count > gaussFilter.Count - 1 && leftEyeClosedHistory.Count > nudConvolutionFilterLength.Value && currentFaceFrame.TrackSuccessful)
{
lastFramesReady = DateTime.Now;
if (status == StatusEnum.Initializing)
{
SetReadyStatus();
}
else
{
if (status == StatusEnum.UnreadyDeactivated)
{
SwitchStatus(StatusEnum.ReadyActivated);
}
else if (status == StatusEnum.ReadyActivated)
{
float browRaiserValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowRaiser];
float browLowererValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowLower];
float mouthOpenValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.JawLower];
if (browRaiserHistory.Count >= 100)
{
browRaiserHistory.RemoveAt(0);
browLowererHistory.RemoveAt(0);
mouthOpenHistory.RemoveAt(0);
}
browLowererHistory.Add(browLowererValue);
browRaiserHistory.Add(browRaiserValue);
mouthOpenHistory.Add(mouthOpenValue);
//Method 1: Without Smoothing
//System.Drawing.Point smoothedXY = ScaleXY(currentFaceFrame.Rotation);
//Method 2: Gaussian Smoothing
System.Drawing.Point smoothedXY = CalculateGaussianSmoothedXYPosition(currentFaceFrame);
//Check for right, left or Double Click
//1. Check if there was already a click 20 Frames ago, or if Drag & Drop is active
if (clickDelay > nudClickDelay.Value && !DragnDropActive)
{
//2. If not, calculate mean values of dy's last 16 Frames
if (HandleMouseClickActions())
{
clickDelay = 0;
}
else
{
//check for open Mouth
if (mouthOpenValue > (float)nudMouthOpenStartThreshold.Value && mouthOpenHistory[mouthOpenHistory.Count - 2] > (float)nudMouthOpenConfirmation.Value && mouthOpenHistory[mouthOpenHistory.Count - 3] > (float)nudMouthOpenConfirmation.Value && mouthOpenHistory[mouthOpenHistory.Count - 4] > (float)nudMouthOpenConfirmation.Value)
{
MouseControl.Move(mousePositionHistory[mousePositionHistory.Count - 4].X, mousePositionHistory[mousePositionHistory.Count - 4].Y);
this.lbAction.Invoke((MethodInvoker)(() => this.lbAction.Items.Add("Left Mouse Down on X: " + mousePositionHistory[mousePositionHistory.Count - 4].X + " Y: " + mousePositionHistory[mousePositionHistory.Count - 4].Y)));
//lbAction.Items.Add("Left Mouse Down on X: " + mousePositionHistory[mousePositionHistory.Count - 4].X + " Y: " + mousePositionHistory[mousePositionHistory.Count - 4].Y);
MouseControl.MouseDownLeft();
DragnDropActive = true;
clickDelay = 0;
}
}
}
else if (DragnDropActive)
{
if (mouthOpenValue < (float)nudMouthOpenEndThreshold.Value)
{
this.lbAction.Invoke((MethodInvoker)(() => this.lbAction.Items.Add("Left Mouse Up on X: " + smoothedXY.X + " Y: " + smoothedXY.Y)));
MouseControl.MouseUpLeft();
DragnDropActive = false;
clickDelay = 0;
}
}
MouseControl.Move(smoothedXY.X, smoothedXY.Y);
HandleScrolling(browRaiserValue, browLowererValue);
if (mousePositionHistory.Count > 100)
{
mousePositionHistory.RemoveAt(0);
}
mousePositionHistory.Add(new Microsoft.Kinect.Toolkit.FaceTracking.Point(smoothedXY.X, smoothedXY.Y));
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Face and eyes successfully tracked.\n");
}
}
}
}
public static String detectOuterBrowRaiser(FaceTrackFrame frame)
{
return(frame.GetAnimationUnitCoefficients()[5].ToString());
}
private void OnAllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
File.AppendAllText("mouseLog.txt", DateTime.Now + " - All Kinect frames ready.\n");
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Color- depth or Skeletonframe is null. Aborting Frame.\n");
return;
}
// Check for image format changes. The FaceTracker doesn't
// deal with that so we need to reset.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
// Get the skeleton information
if (this.SkeletonData == null || this.SkeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.SkeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.SkeletonData);
Skeleton activeSkeleton = null;
activeSkeleton = (from skel in this.SkeletonData where skel.TrackingState == SkeletonTrackingState.Tracked select skel).FirstOrDefault();
//Idea: Separate Eye-Parts of Color Image
//Use learning Algorithm for right and left eye
//Detect blink on separated parts of color Image
//colorImage is one dimensional array with 640 x 480 x 4 (RGBA) values
if (activeSkeleton != null)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Skeleton is there. Trying to find face.\n");
FaceTrackFrame currentFaceFrame = faceTracker.Track(ColorImageFormat.RgbResolution640x480Fps30, colorImage, depthImageFormat, depthImage, activeSkeleton);
if (currentFaceFrame.TrackSuccessful)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Recognized face successfully.\n");
}
else
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Couldn't find face in frame.\n");
}
//Get relevant Points for blink detection
//Left eye
int minX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveOneFourthLeftEyelid].X);
int minY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveOneFourthLeftEyelid].Y);
int maxX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.BelowThreeFourthLeftEyelid].X);
int maxY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.BelowThreeFourthLeftEyelid].Y);
Bitmap leftEye = EyeExtract(colorImageFrame, currentFaceFrame, minX, minY, maxX, maxY, false);
//this.pbRight.BeginInvoke((MethodInvoker)(() => this.pbRight.Image = leftEye));
//
//Right eye
minX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveThreeFourthRightEyelid].X);
minY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveThreeFourthRightEyelid].Y);
maxX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.OneFourthBottomRightEyelid].X);
maxY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.OneFourthBottomRightEyelid].Y);
Bitmap rightEye = EyeExtract(colorImageFrame, currentFaceFrame, minX, minY, maxX, maxY, true);
Bitmap leftEye2 = null;
Bitmap rightEye2 = null;
if (leftEye != null)
{
leftEye2 = new Bitmap(leftEye);
}
if (rightEye != null)
{
rightEye2 = new Bitmap(rightEye);
}
// System.Delegate d = new MethodInvoker(SetPictures));
// this.Invoke(SetPictures, leftEye);
//pbRight.Image = rightEye;
this.pbLeft.BeginInvoke((MethodInvoker)(() => this.pbLeft.Image = rightEye2));
this.pbLeft.BeginInvoke((MethodInvoker)(() => this.pbRight.Image = leftEye2));
// this.Invoke(new MethodInvoker(SetPictures));
//Wende Kantenfilter auf die beiden Augen an.
if (rightEye != null && leftEye != null)
{
Dictionary <string, int> angleCount;
Bitmap edgePicRight = Convolution(ConvertGrey(rightEye), true, out angleCount);
bool rightEyeClosed = IsEyeClosed(angleCount);
Bitmap edgePicLeft = Convolution(ConvertGrey(leftEye), false, out angleCount);
bool leftEyeClosed = IsEyeClosed(angleCount);
// pbLeftFaltung.Image = edgePicLeft;
// pbRightFaltung.Image = edgePicRight;
if (rightEyeClosedHistory.Count > 100)
{
rightEyeClosedHistory.RemoveAt(0);
}
if (leftEyeClosedHistory.Count > 100)
{
leftEyeClosedHistory.RemoveAt(0);
}
leftEyeClosedHistory.Add(leftEyeClosed);
rightEyeClosedHistory.Add(rightEyeClosed);
//If Face is rotated, move Mouse
if (headRotationHistory.Count > gaussFilter.Count - 1 && leftEyeClosedHistory.Count > nudConvolutionFilterLength.Value && currentFaceFrame.TrackSuccessful)
{
int x = 0;
int y = 0;
float browRaiserValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowRaiser];
float browLowererValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowLower];
float mouthOpenValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.JawLower];
if (browRaiserHistory.Count >= 100)
{
browRaiserHistory.RemoveAt(0);
browLowererHistory.RemoveAt(0);
mouthOpenHistory.RemoveAt(0);
}
browLowererHistory.Add(browLowererValue);
browRaiserHistory.Add(browRaiserValue);
mouthOpenHistory.Add(mouthOpenValue);
//Method 1: Ohne Glättung
//ScaleXY(currentFaceFrame.Rotation, out x, out y);
//MouseControl.Move(x, y);
////Method 2: Glättung über die letzten x Bilder:
//int i = 0;
//Vector3DF rotationMedium = new Vector3DF();
//while (i < 10 && headRotationHistory.Count - 1 > i)
//{
// i++;
// rotationMedium.X += headRotationHistory[headRotationHistory.Count - 1 - i].X;
// rotationMedium.Y += headRotationHistory[headRotationHistory.Count - 1 - i].Y;
//}
//rotationMedium.X = rotationMedium.X / i;
//rotationMedium.Y = rotationMedium.Y / i;
//ScaleXY(rotationMedium, out x, out y);
//MouseControl.Move(x, y);
//Method 3: Gauß-Filter: Gewichte die letzten Bilder stärker.
Vector3DF rotationMedium = new Vector3DF();
rotationMedium.X = currentFaceFrame.Rotation.X * gaussFilter[0];
rotationMedium.Y = currentFaceFrame.Rotation.Y * gaussFilter[0];
int i = 0;
while (i < gaussFilter.Count - 1)
{
rotationMedium.X += (headRotationHistory[headRotationHistory.Count - 1 - i].X * gaussFilter[i]);
rotationMedium.Y += (headRotationHistory[headRotationHistory.Count - 1 - i].Y * gaussFilter[i]);
i++;
}
rotationMedium.X = (float)(rotationMedium.X / gaussFactor);
rotationMedium.Y = (float)(rotationMedium.Y / gaussFactor);
ScaleXY(rotationMedium, out x, out y);
//Method 4: Quadratische Glättung
//double deltaX = ((-currentFaceFrame.Rotation.Y) - (-headRotationHistory.Last().Y));
//double deltaY = ((-currentFaceFrame.Rotation.X) - (-headRotationHistory.Last().X));
//if (deltaX < 0)
// deltaX = -Math.Pow(deltaX, 2) * 4;
//else
// deltaX = Math.Pow(deltaX, 2) * 4;
//if (deltaY < 0)
// deltaY = -Math.Pow(deltaY, 2) * 5;
//else
// deltaY = Math.Pow(deltaY, 2) * 5;
//MouseControl.DeltaMove((int)Math.Round(deltaX, 0), (int)Math.Round(deltaY));
//Check for right, left or Double Click
//1. Check if there was already a click 20 Frames ago, or if Drag & Drop is active
if (clickDelay > nudClickDelay.Value && !pointNClickActive)
{
//2. If not, calculate mean values of dy's last 16 Frames
if (CalculateMeanConvolutionValues())
{
clickDelay = 0;
}
else
{
//Else check for open Mouth
if (mouthOpenValue > (float)nudMouthOpenStartThreshold.Value && mouthOpenHistory[mouthOpenHistory.Count - 2] > (float)nudMouthOpenConfirmation.Value && mouthOpenHistory[mouthOpenHistory.Count - 3] > (float)nudMouthOpenConfirmation.Value && mouthOpenHistory[mouthOpenHistory.Count - 4] > (float)nudMouthOpenConfirmation.Value)
{
MouseControl.Move(mousePositionHistory[mousePositionHistory.Count - 4].X, mousePositionHistory[mousePositionHistory.Count - 4].Y);
this.lbAction.Invoke((MethodInvoker)(() => this.lbAction.Items.Add("Left Mouse Down on X: " + mousePositionHistory[mousePositionHistory.Count - 4].X + " Y: " + mousePositionHistory[mousePositionHistory.Count - 4].Y)));
//lbAction.Items.Add("Left Mouse Down on X: " + mousePositionHistory[mousePositionHistory.Count - 4].X + " Y: " + mousePositionHistory[mousePositionHistory.Count - 4].Y);
MouseControl.MouseDownLeft();
pointNClickActive = true;
clickDelay = 0;
}
}
}
else if (pointNClickActive)
{
if (mouthOpenValue < (float)nudMouthOpenEndThreshold.Value)
{
this.lbAction.Invoke((MethodInvoker)(() => this.lbAction.Items.Add("Left Mouse Up on X: " + x + " Y: " + y)));
MouseControl.MouseUpLeft();
pointNClickActive = false;
clickDelay = 0;
}
}
MouseControl.Move(x, y);
if (browLowererValue > (float)nudBrowLowererStartThreshold.Value)
{
MouseControl.ScrollDown((int)(-browLowererValue * (int)nudScrollMultiplierDown.Value));
}
if (browRaiserValue > (float)nudBrowRaiserStartThreshold.Value)
{
MouseControl.ScrollDown((int)(browRaiserValue * (int)nudScrollMultiplierUp.Value));
}
if (mousePositionHistory.Count > 100)
{
mousePositionHistory.RemoveAt(0);
}
mousePositionHistory.Add(new Microsoft.Kinect.Toolkit.FaceTracking.Point(x, y));
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Face and eyes successfully tracked.\n");
}
}
else
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Face recognized but couldn't find eye in face.\n");
}
clickDelay++;
headRotationHistory.Add(currentFaceFrame.Rotation);
if (headRotationHistory.Count >= 100)
{
headRotationHistory.RemoveAt(0);
}
}
else
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Active Skeleton is null. Couldn't analyze frame.\n");
}
}
catch (Exception e)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Error during frame analyzation.\n" + e.ToString());
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}