// We don't actually have to "update" any sense of state. Just easier to conform to this usage
// in the event that we need to change the implementation to be more complex. Also makes
// maintaining observers easier, as I'm not familiar with C#'s peculiarities regarding static classes.
// And, really, the code itself is already dubious.
public void Update(Person person)
{
if (person != null && person.skeletonData != null)
{
if (person.skeletonData.getTrackingState() == SkeletonTrackingState.Tracked)
{
TrackPress(person, true);
TrackPress(person, false);
}
}
}
private ScissorGestureTracker getTrackerForPerson(Person p)
{
bool extractionSuccessful;
ScissorGestureTracker output;
if (scissorGestureTrackers.ContainsKey(p) != true)
{
ScissorGestureTracker newSGT = new ScissorGestureTracker();
scissorGestureTrackers.Add(p, newSGT);
}
extractionSuccessful = scissorGestureTrackers.TryGetValue(p, out output);
return output;
}
public void update(Person subject)
{
if (subject.skeletonData != null)
{
ScissorGestureTracker gestureTracker = this.getTrackerForPerson(subject);
if (subject.skeletonData.getTrackingState() == SkeletonTrackingState.Tracked)
{
// Check the state of the user's left and right hands to determine the relation of each to a
// wave gesture.
TrackGesture(subject, ref gestureTracker);
}
// If we can't track the user's motions we'll have to reset our data on them;
// they may have left and will be replaced by another user.
else
{
gestureTracker.reset();
} // end if-else
}
}
private void TrackPress(Person person, bool isLeft)
{
/* We define a press gesture as being made up of two properties:
* 1) whether the user's hand is below their shoulder when they make the gesture and
* 2) whether the user stretches their arm out to approximately a third of their body height
* when making the gesture.
* We require that the arm be outstretched by a third because the average adult arm is approximately
* half of that adult's height (measuring from the tips of the fingers). We thus allow the user not to have to
* fully outstretch their arm but also take into accoutn that we are unable to track their fingers. Having
* tested this on an honest to God child it /also/ inadvertantly helps to accomodate the fact that children
* have commicaly disproprotionate arms.
*/
SkeletonWrapper skeleton = person.skeletonData;
Joint hand, shoulder, head, foot;
if (isLeft == true)
{
hand = skeleton.getLeftHandJoint();
shoulder = skeleton.getLeftShoulderJoint();
foot = skeleton.getLeftFootJoint();
}
else
{
hand = skeleton.getRightHandJoint();
shoulder = skeleton.getRightShoulderJoint();
foot = skeleton.getRightFootJoint();
}
head = skeleton.getHeadJoint();
PressPosition pressPosition = PressPosition.None;
// TODO: Don't spawn if hands are overlapping (deleting vs spawning mode)
float metricHeight, metricArmExtension;
// If anybody turns sideways, I swear to God, I'll kill them.
if (hand.TrackingState == JointTrackingState.Tracked && head.TrackingState == JointTrackingState.Tracked
&& shoulder.TrackingState == JointTrackingState.Tracked)
{
// Height of user torso (in meters) - this is innacurate as hell, typically off by about two feet.
metricHeight = head.Position.Y - foot.Position.Y;
// Length of user's extension of arm (in meters) - this is also innacurate as hell but it is /proportionally so/,
// so we can still use the relationship between them to identify a press.
metricArmExtension = -(hand.Position.Z - shoulder.Position.Z);
// If the user's hand is below the shoulder...
if (hand.Position.Y < (shoulder.Position.Y + HAND_HEIGHT_THRESHOLD))
{
// If the user has extended their arm to the length of a third of their body,
// allowing for the grace threshold...
if ((metricHeight / 2.78) < (metricArmExtension + ARM_EXTENSION_THRESHOLD) == true)
{
// Then they have extended their arm into a press.
pressPosition = PressPosition.Extended;
}
else
{
pressPosition = PressPosition.Neutral;
} // end if-else if-else
// If the user has extended their arm...
if (pressPosition == PressPosition.Extended)
{
// Then notify the observers that we have a press. There's going to be a party. There is going to be cake.
if (GestureDetected != null)
{
GestureDetected(this, new PressGestureEventArgs(isLeft, person));
} // end if
} // end if
}
}
}
public PressGestureEventArgs(bool leftHandPressing, Person user)
{
this.leftHandPressing = leftHandPressing;
this.rightHandPressing = !leftHandPressing;
this.user = user;
}
/* Computes a unique color for a user based on the average color of their torso.
* Takes a TorsoData object that defines the dimensions of the user's torso, a width that defines the width
* of the Kinect's ColorImageFrame, and a colorMap that defines the location of our colorData.
*
* Returns a color that defines a user based on their torso color.
*/
public static Color ComputeUserColor(Person user, int width, Color[] colorMap, KinectSensor kSensor)
{
/* ComputeUserColor computes a Color for a user based on the color of their torso. This
* color is computed by taking the metric length of their torso and taking a vertical slice
* from which an average is computed from a selection of color samples. These samples are
* taken every millimeter from the base of the user's torso to the top of it.
* For those of us who are not drug users, deals, or Europhiles, this equates to between
* 300 and 400 color samples for an average adult and approximately 200 samples for a child.
*/
// Retrieve the skeletal data from the TorsoData.
SkeletonPoint torsoTop = user.torsoTop;
SkeletonPoint torsoBottom = user.torsoBottom;
// Compute the metric length of the user's torso.
double metricTorsoLength = torsoTop.Y - torsoBottom.Y;
// The avergae color computed from our user sampling. Defaults to Hot Pink but will be overriden,
// rather than modified, in the event that we successfully compute a user color.
Color userColorAverage = Color.HotPink;
// We initialize the RGB values as integers, rather than bytes, as each of their values prior to being
// averaged will almost certainly be many times larger than a byte.
int r = 0, g = 0, b = 0;
/* The skeletalSamplePosition defines the location of the skeletal position for which we desire a color sample
// from the RGB colorMap. As we are taking a vertical color sample we initialize the skeletalSamplePosition
// as being equivalent to the base of the user's torso and merely modify the Y value for each new color sample. */
SkeletonPoint skeletalSamplePosition = new SkeletonPoint(); // New as opposed to pointing torsoBottom directly to avoid reference issues.
skeletalSamplePosition.X = torsoBottom.X;
skeletalSamplePosition.Y = torsoBottom.Y;
skeletalSamplePosition.Z = torsoBottom.Z;
if ((skeletalSamplePosition.X != 0 || skeletalSamplePosition.Y != 0 || skeletalSamplePosition.Z != 0) == false)
{
return new Color();
}
// Defines the location of the color sample within the RGB space.
ColorImagePoint colorLocation;
// The actual color sample defined by colorLocation.
Color userSampleColor;
// The number of color samples taken from the user. Used to average our RGB values into an average color.
int numColorSamples = 0;
// The distance from the bottom of the user's torso of the current color sample. Measured in millimeters.
float i;
for (i = 0; i < metricTorsoLength; i += MILLIMETER)
{
// Set the color value to a default, value-less color.
userSampleColor = new Color();
// Shift the source of the sample upwards by the value of i.
skeletalSamplePosition.Y = torsoBottom.Y + i;
// Convert our skeletal position (colorPosition) to color coordinates.
colorLocation = kSensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeletalSamplePosition, ColorImageFormat.RgbResolution640x480Fps30);
// Ensure that the location of our color sample is a valid index. If the person moves
// offscreen while we're taking the sample then the colorLocation will contain invalid
// negative values.
if (colorLocation.X > 0 && colorLocation.Y > 0)
{
// Extract the color sample from the RGB image.
userSampleColor = colorMap[colorLocation.X + colorLocation.Y * width];
}
// Sum the color sample data for later averaging.
r += userSampleColor.R;
g += userSampleColor.G;
b += userSampleColor.B;
// We have now taken a color sample. Let's maintain our invariant.
numColorSamples++;
} // end for
/* Average the running sum of RGB values taken from our color sampling.
// If we were passed an invalid TorsoData then we will not have taken any color samples,
// so we need to account by division by zero. Unless you want to be a dick, then by all means,
delete this if-condition. */
if (numColorSamples != 0)
{
userColorAverage.R = (byte)(r / numColorSamples);
userColorAverage.G = (byte)(g / numColorSamples);
userColorAverage.B = (byte)(b / numColorSamples);
} // end if
// Determine color of area surrounding user
// Retrieve the position of the user's head as we can use its Y coordinate to define
// the outer edge of the person
Joint personTopJoint = user.skeletonData.getHeadJoint();
SkeletonPoint personTopPos = personTopJoint.Position;
// Retrieve the position of the user's left shoulder as we can use its X coordinate
// to define the outer edge of the person
Joint leftShoulderJoint = user.skeletonData.getLeftShoulderJoint();
SkeletonPoint leftShoulderPos = leftShoulderJoint.Position;
// We define the top bound of the person to be excluded as being the height of the person
// shifted over to their far lefthand side, so we create a faux SkeletonPoint that amalgamates
// the head and the shoulder
SkeletonPoint personTopBoundPos = new SkeletonPoint();
personTopBoundPos.X = leftShoulderPos.X;
personTopBoundPos.Y = personTopPos.Y;
personTopBoundPos.Z = personTopPos.Z;
// We define the bottom bound of the person to be excluded as being their bottom right
// foot, as this is caddy-corner to our upper bound, implying a rectangle that surrounds
// the person
Joint personBottomBoundJoint = user.skeletonData.getRightFootJoint();
SkeletonPoint personBottomBoundPos = personBottomBoundJoint.Position;
// Convert the Skeletal location data to color location data so that our locations correspond
// to the colormap that we are working with
ColorImagePoint topExclusionBound = kSensor.CoordinateMapper.MapSkeletonPointToColorPoint(personTopBoundPos, ColorImageFormat.RgbResolution640x480Fps30);
ColorImagePoint bottomExclusionBound = kSensor.CoordinateMapper.MapSkeletonPointToColorPoint(personBottomBoundPos, ColorImageFormat.RgbResolution640x480Fps30);
Color outerSampleColor;
int numOuterColorSamples = 0;
int currY;
int currX;
Boolean isOuterColor = true;
r = 0; g = 0; b = 0;
for (int j = 0; j < colorMap.Length; j++)
{
outerSampleColor = new Color();
currY = j % width;
// If j currently identifies a point within the exclusion bounds on the Y-axis...
if (currY >= topExclusionBound.Y && currY <= bottomExclusionBound.Y)
{
// Then it is possible that the color data corresponding to j is within our
// exclusion zone.
// We'll determine j's X coordinate and compare it to the exclusion bounds.
currX = j - (currY * width);
if (currX >= topExclusionBound.X && currX <= topExclusionBound.X)
{
isOuterColor = false;
}
else
{
isOuterColor = true;
}
}
else
{
isOuterColor = true;
}
if (isOuterColor == true)
{
outerSampleColor = colorMap[j];
// Sum the color sample data for later averaging.
r += outerSampleColor.R;
g += outerSampleColor.G;
b += outerSampleColor.B;
}
// We have now taken a color sample. Let's maintain our invariant.
numOuterColorSamples++;
} // end for-loop
Color outerColorAverage = new Color();
/* Average the running sum of RGB values taken from our color sampling.
// If we were passed an invalid TorsoData then we will not have taken any color samples,
// so we need to account by division by zero. Unless you want to be a dick, then by all means,
delete this if-condition. */
if (numOuterColorSamples != 0)
{
outerColorAverage.R = (byte)(r / numOuterColorSamples);
outerColorAverage.G = (byte)(g / numOuterColorSamples);
outerColorAverage.B = (byte)(b / numOuterColorSamples);
} // end if
int colorContrast = computerContrast(outerColorAverage, userColorAverage);
colorycontrasty = colorContrast;
// If the contrast between the user and the surrounding area is high...
if (colorContrast > 58)
{
// Then we only need to brighten the color of our resulting color by a small amount
userColorAverage = brightenColor(userColorAverage, SLIGHTLY_BRIGHTER);
}
// the contrast between the user and the surrounding area is low...
else
{
// We need to brighten our resulting color by a non-trivial amount
userColorAverage = brightenColor(userColorAverage, SIGNIFICANTLY_BRIGHTER);
}
//userColorAverage = saturateColor(userColorAverage);
// HSLColor hslColor = new HSLColor(colorAverage.R, colorAverage.G, colorAverage.B);
// hslColor.Luminosity *= 0.1;
// hslColor.Saturation *= 0.8;
return userColorAverage;
}
private void updateUserColor(Person person)
{
if (mostRecentFrame != null && mostRecentColorMap.Length != 0)
{
TorsoData curr = new TorsoData(person.torsoTop, person.torsoBottom);
if ((curr.torsoTop.X == 0 && curr.torsoTop.Y == 0 && curr.torsoTop.Z == 0) == false)
{
person.color = ColorUtility.ComputeUserColor(person, mostRecentFrame.Width, mostRecentColorMap, kinectSensor);
}
}
}
private Person updatePerson(SkeletonWrapper skeletonWrap, Person person, bool isGhost)
{
// Retrieve hand data.
Joint rightHand = skeletonWrap.getRightHandJoint();
Joint leftHand = skeletonWrap.getLeftHandJoint();
// Store retrieved data.
if (person == null)
{
person = new Person(skeletonWrap, isGhost);
}
else
{
person.updateSkeletonData(skeletonWrap);
}
person.rightHandLocation = this.kinectSensor.CoordinateMapper.MapSkeletonPointToDepthPoint(person.rightHandPosition, this.kinectSensor.DepthStream.Format);
person.leftHandLocation = this.kinectSensor.CoordinateMapper.MapSkeletonPointToDepthPoint(person.leftHandPosition, this.kinectSensor.DepthStream.Format);
//fileWriter.writeLine(file, timestamp, x, y, z)
person.setRightHandRadius(person.rightHandLocation.Depth / 60);
person.setLeftHandRadius(person.leftHandLocation.Depth / 60);
Button b;
for (int x = 0; x < buttonsCollection.Count; x++)
{
b = (Button)buttonsCollection[x];
if (b != null)
{
b.UpdateHands(users);
}
}
//if (tutorialButton != null)
//{
// tutorialButton.UpdateHands(users);
//}
// Update user color.
if (isGhost == false)
{
updateUserColor(person);
}
// Update the gesture detectors of the user's physical state.
//waveGestureDetector.Update(playerSkeleton, i);
scissorGestureDetector.update(person);
pressGestureDetector.Update(person);
return person;
}
public void updateGhost(SkeletonWrapper skel)
{
if (skel == null)
{
ghostUser = null;
return;
}
if (ghostUser == null)
{
ghostUser = new Person(skel, GHOST_USER_COLOR, true);
}
updatePerson(skel, ghostUser, true);
}
public Person[] getUsers()
{
if (users != null)
{
int i = 0;
while (users[i] != null)
{
i++;
}
int activeGhost = 0;
if (ghostUser != null)
{
activeGhost++;
}
Person[] activeUsers = new Person[i + activeGhost];
for (int j = 0; j < i; j++)
{
activeUsers[j] = users[j];
}
if (activeGhost > 0)
{
activeUsers[activeUsers.Length - 1] = ghostUser;
}
return activeUsers;
}
return new Person[0];
}
public void UpdateHands(Person[] newHands)
{
if (newHands != null)
{
this.people = newHands;
}
}
private void TrackGesture(Person person, ref ScissorGestureTracker gestureTracker)
{
if (person.leftHand == null || person.rightHand == null)
{
gestureTracker.reset();
return;
}
Hand leftHand = person.leftHand;
Hand rightHand = person.rightHand;
Vector2 leftHandVelocity = leftHand.getHeading();
Vector2 rightHandVelocity = rightHand.getHeading();
Vector2 relativeHeading = Vector2.Subtract(leftHandVelocity, rightHandVelocity);
Vector2.Normalize(relativeHeading);
DotNET.Point leftHandPosition = leftHand.getLocation();
DotNET.Point rightHandPosition = rightHand.getLocation();
DotNET.Vector tempVec = DotNET.Point.Subtract(rightHandPosition, leftHandPosition);
Vector2 leftToRight = new Vector2((float) tempVec.X, (float) tempVec.Y);
double dotProduct = Vector2.Dot(relativeHeading, leftToRight);
if (dotProduct > 0)
{
gestureTracker.currState = ScissorGestureState.Converging;
}
else
{
gestureTracker.currState = ScissorGestureState.Diverging;
}
// If the user's hands are converging...
if (gestureTracker.currState == ScissorGestureState.Converging)
{
double leftHandRadius = leftHand.getAgentRadius();
double rightHandRadius = rightHand.getAgentRadius();
double minContactRadius = (leftHandRadius + rightHandRadius) * CONTACT_SCALE;
// Check if they're proximal
if (minContactRadius <= leftToRight.Length())
{
gestureTracker.currState = ScissorGestureState.Proximal;
}
}
if (gestureTracker.currState == ScissorGestureState.Proximal)
{
// send message
GestureDetected(this, new ScissorGestureEventArgs(person, false, CONTACT_SCALE));
}
else if (gestureTracker.currState == ScissorGestureState.Diverging)
{
GestureDetected(this, new ScissorGestureEventArgs(person, true, CONTACT_SCALE));
}
}
public ScissorGestureEventArgs(Person user, Boolean diverging, double radiusScale)
{
this.user = user;
this.diverging = diverging;
this.radiusScale = radiusScale;
}