// ustawianie nastepnego punktu kalibracji
public void SetNextCalibrationPoint(double x, double y, double z = 0)
{
if (!calibrated)
{
// tu wypada spr sensownosc punktu
calibrationPoints[nextPointIndex] = new Point3D(x, y, z);
nextPointIndex++;
mainEngine.AddTextToLog("Punkt kalibracji: " + x.ToString() + " " + y.ToString() + " " + z.ToString());
}
if (nextPointIndex == 6) // tu jeszcze inne rzeczy trzeba sprawdzic (np. sensownosc punktow)
{
if (mainEngine.GetAppState() == ApplicationState.Calibration)
{
computeCalibrationCoeffs();
mainEngine.SetAppState(ApplicationState.Calibrated);
calibrated = true;
mainEngine.AddTextToLog("Kalibracja zakonczona!");
}
else
{
// cos poszlo zle, skoro apka nie byla w stanie kalibracji a kalibracja sie odbywala...
}
}
}
public void sensor_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
// nie ma potrzeby odczytywac szkieletu gdy nie jest on potrzebny aplikacji
if (mainEngine.GetAppState() == ApplicationState.Calibration ||
mainEngine.GetAppState() == ApplicationState.Working)
{
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
lock (this)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
if (skeletons.All(s => s.TrackingState == SkeletonTrackingState.NotTracked))
{
return;
}
Skeleton firstTrackedSkeleton = skeletons.Where(s => s.TrackingState == SkeletonTrackingState.Tracked).FirstOrDefault();
if (firstTrackedSkeleton != null && firstTrackedSkeleton.Joints[JointType.HandRight].TrackingState == JointTrackingState.Tracked)
{
rightHand = firstTrackedSkeleton.Joints[JointType.HandRight];
rightHandCoord = new Point3D(rightHand.Position.X, rightHand.Position.Y, rightHand.Position.Z);
if (mainEngine.GetAppState() == ApplicationState.Working)
{
MainEngine.MoveCursorTo(mainEngine.GetCalibrator().ScaleKinectPositionToScreen(
rightHand.Position.X, rightHand.Position.Y, rightHand.Position.Z));
}
//mainEngine.AddTextToLog("SkelControl: hand tracked " + rightHand.Position.X.ToString()
// + " " + rightHand.Position.Y.ToString() + " " + rightHand.Position.Z.ToString());
}
}
}
}
}
}
void speechEngine_SpeechRecognized(object sender, SpeechRecognizedEventArgs e)
{
const double ConfidenceThreshold = 0.3;
if (e.Result.Confidence >= ConfidenceThreshold)
{
if (e.Result.Semantics.Value != null)
{
string semValue = e.Result.Semantics.Value.ToString();
switch (semValue)
{
case "CALIB_CALIBRATE":
mainEngine.AddTextToLog("SpeechRec: " + semValue);
if (mainEngine.GetAppState() == ApplicationState.Ready)
{
mainEngine.SetAppState(ApplicationState.Calibration);
mainEngine.service.send(Orders.CALIBRATE);
// no i komunikat do klienta...
}
else
{
// jakies inne przypadki? np. ponowna kalibracja czy cos...
}
break;
case "CALIB_MARK":
mainEngine.AddTextToLog("SpeechRec: " + semValue);
if (mainEngine.GetAppState() == ApplicationState.Calibration)
{
mainEngine.GetCalibrator().SetNextCalibrationPoint(
mainEngine.GetSkeletonController().GetRightHandCoord());
if (mainEngine.GetAppState() == ApplicationState.Calibrated)
{
mainEngine.AddTextToLog("skalibrowane");
mainEngine.service.send(Orders.DONE);
}
else if (mainEngine.GetAppState() == ApplicationState.Calibration)
{
mainEngine.service.send(Orders.MARK);
}
}
else
{
// cos poszlo zle...
}
break;
case "ONN_MOVE":
mainEngine.AddTextToLog("SpeechRec: " + semValue);
break;
case "ONN_THERE":
mainEngine.AddTextToLog("SpeechRec: " + semValue);
if (mainEngine.GetAppState() == ApplicationState.Working)
{
mainEngine.GetObjectManager().SelectedMoveTo(mainEngine.GetSkeletonController().GetRightHandCoord());
// no i komunikat do klienta...
}
else
{
// ...
}
break;
case "ONN_REMOVE":
mainEngine.AddTextToLog("SpeechRec: " + semValue);
if (mainEngine.GetAppState() == ApplicationState.Working)
{
if (mainEngine.GetObjectManager().GetSelectedObject() != null)
{
mainEngine.service.sendRemoveObject(mainEngine.GetObjectManager().GetSelectedObject().GetObjectName());
mainEngine.GetObjectManager().RemoveSelectedObject();
}
// no i komunikat do klienta...
}
else
{
// ...
}
break;
}
}
else
{
var semVal = e.Result.Semantics;
if (semVal.ContainsKey("OWN_MOVE_NAME"))
{
mainEngine.AddTextToLog("SpeechRec: move " + semVal["OWN_MOVE_NAME"].Value);
if (mainEngine.GetAppState() == ApplicationState.Working)
{
string name = semVal["OWN_MOVE_NAME"].Value.ToString();
mainEngine.GetObjectManager().MoveTo(name,
mainEngine.GetSkeletonController().GetRightHandCoord());
SingleObject so = mainEngine.GetObjectManager().GetUsedObjectByName(name);
if (so != null)
{
mainEngine.service.sendMoveObject(so.GetObjectName(), so.GetScreenCentroidPosition().Y,
so.GetScreenCentroidPosition().X);
}
}
else
{
// ...
}
}
else if (semVal.ContainsKey("OWN_NEW_NAME"))
{
mainEngine.AddTextToLog("SpeechRec: new " + semVal["OWN_NEW_NAME"].Value);
if (mainEngine.GetAppState() == ApplicationState.Working)
{
mainEngine.GetObjectManager().AddUsedObject(semVal["OWN_NEW_NAME"].Value.ToString(),
mainEngine.GetSkeletonController().GetRightHandCoord());
SingleObject so = mainEngine.GetObjectManager().GetUsedObjectByName(semVal["OWN_NEW_NAME"].Value.ToString());
so.SetScreenPosition(mainEngine.GetCalibrator().ScaleKinectPositionToScreen(so.GetCentroidPosition()));
mainEngine.service.sendCreateObject(so.GetObjectName(), so.GetObjectType(), so.GetScreenCentroidPosition().Y, so.GetScreenCentroidPosition().X);
}
else
{
// ...
}
}
else if (semVal.ContainsKey("OWN_REMOVE_NAME"))
{
mainEngine.AddTextToLog("SpeechRec: remove " + semVal["OWN_REMOVE_NAME"].Value);
if (mainEngine.GetAppState() == ApplicationState.Working)
{
mainEngine.GetObjectManager().RemoveUsedObject(semVal["OWN_REMOVE_NAME"].Value.ToString());
mainEngine.service.sendRemoveObject(semVal["OWN_REMOVE_NAME"].Value.ToString());
}
else
{
}
}
}
}
}
