/// Cleanup
private void WindowClosed(object sender, EventArgs e)
{
// Stop the sensor
if (null != this.sensor)
{
this.sensor.Stop();
}
// Close the SerialSender communication
SerialSender.SerialSenderShutdown();
Environment.Exit(0);
}
//////////////////////////////////
////// Main Window Elements //////
//////////////////////////////////
/// Called when each depth frame is ready
/// Does necessary processing to get our finger points and predicting gestures
/// Most of the interesting stuff happens in here
private void GestureDepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
// Calculating and storing finger and palm positions
Image <Gray, Byte> emguImg = convertToEmgu();
CalculateAndStorePos(emguImg);
this.emguImage.Source = BitmapSourceConvert.ToBitmapSource(emguImg);
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
// Copy the pixel data from the image to a temporary array
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
// Get the min and max reliable depth for the current frame
int minDepth = depthFrame.MinDepth;
int maxDepth = depthFrame.MaxDepth;
// Convert the depth to RGB
int colorPixelIndex = 0;
for (int i = 0; i < this.depthPixels.Length; ++i)
{
int x = i % this.sensor.DepthStream.FrameWidth;
int y = (int)(i / this.sensor.DepthStream.FrameWidth);
// Get the depth for this pixel
short depth = depthPixels[i].Depth;
// To convert to a byte, we're discarding the most-significant
// rather than least-significant bits.
// We're preserving detail, although the intensity will "wrap."
// Values outside the reliable depth range are mapped to 0 (black).
// Note: Using conditionals in this loop could degrade performance.
// Consider using a lookup table instead when writing production code.
// See the KinectDepthViewer class used by the KinectExplorer sample
// for a lookup table example.
byte intensity = (byte)(0);
//if (depth >= minDepth && depth <= threshDepth)
if (depth >= 180 && depth <= threshDepth)
{
intensity = (byte)(depth);
}
// Write out blue byte
this.depthcolorPixels[colorPixelIndex++] = intensity;
// Write out green byte
this.depthcolorPixels[colorPixelIndex++] = intensity;
// Write out red byte
this.depthcolorPixels[colorPixelIndex++] = intensity;
// We're outputting BGR, the last byte in the 32 bits is unused so skip it
// If we were outputting BGRA, we would write alpha here.
++colorPixelIndex;
}
// If read is enabled
if (_video.Count > MinimumFrames && _capturing == true)
{
sample = new Matrix <float>(1, _dimension);
string[] features = _dtw.ExtractFeatures().Split(' ');
for (int i = 0; i < features.Length; i++)
{
int featureIndex;
if (Int32.TryParse(features[i], out featureIndex))
{
sample[0, i] = (float)featureIndex;
}
}
Gestures recordedGesture = EmguCVKNearestNeighbors.Predict(sample);
results.Text = "Recognised as: " + recordedGesture.ToString();
if (SerialSender.GetSendState() && recordedGesture != Gestures.ReadySignal)
{
SerialSender.SendGesture(recordedGesture, pulse);
SerialSender.SetSendState(false);
recordedGesture = Gestures.None;
imageBorder.BorderThickness = new Thickness(0);
}
if (recordedGesture == Gestures.ReadySignal)
{
imageBorder.BorderThickness = new Thickness(10);
SerialSender.SetSendState(true);
}
if (recordedGesture == Gestures.None)
{
// There was no match so reset the buffer
_video = new ArrayList();
}
}
// Ensures that we remember only the last x frames
if (_video.Count > BufferSize)
{
// If we are currently capturing and we reach the maximum buffer size then automatically store
if (_capturing)
{
DtwStoreClick(null, null);
}
else
{
// Remove the first // 2 frame in the buffer
for (int i = 0; i < 3; ++i)
{
_video.RemoveAt(0);
}
}
}
// Write the pixel data into our bitmap
this.depthBitmap.WritePixels(
new Int32Rect(0, 0, this.depthBitmap.PixelWidth, this.depthBitmap.PixelHeight),
this.depthcolorPixels,
this.depthBitmap.PixelWidth * sizeof(int),
0);
}
}
}