/// <summary>
/// Used in "Manual" mode to record a single <c>BodyFrame</c>.
/// </summary>
public override void RecordFrame(BodyFrame frame)
{
if (!_isStarted)
{
throw new InvalidOperationException("Cannot record frames unless the KinectRecorder is started.");
}
var time = _dataAccessFacade.GetSceneInUseAccess().GetLocation();
if (!ReferenceEquals(null, frame) && time.HasValue)
{
var replayFrame = new ReplayBodyFrameCustomTime(frame, time.Value);
if (MapDepthPositions)
{
replayFrame.MapDepthPositions();
}
if (MapColorPositions)
{
replayFrame.MapColorPositions();
}
_recordQueue.Enqueue(replayFrame);
System.Diagnostics.Debug.WriteLine("+++ Enqueued Body Frame ({0})", _recordQueue.Count);
}
else
{
System.Diagnostics.Debug.WriteLine("!!! FRAME SKIPPED (Body in KinectRecorder)");
}
}
public void _audioBeamReader_FrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
{
var frames = e.FrameReference.AcquireBeamFrames();
if (ReferenceEquals(null, frames))
{
return;
}
foreach (var frame in frames)
{
if (ReferenceEquals(null, frame) || ReferenceEquals(null, frame.SubFrames))
{
return;
}
foreach (var subFrame in frame.SubFrames)
{
if (ReferenceEquals(null, subFrame.AudioBodyCorrelations))
{
return;
}
foreach (var audioBodyCorrelation in subFrame.AudioBodyCorrelations)
{
CheckPerson.Instance.CheckIfExistsPerson(audioBodyCorrelation.BodyTrackingId);
var time = _dataAccessFacade.GetSceneInUseAccess()?.GetLocation();
if (time.HasValue)
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[audioBodyCorrelation.BodyTrackingId], "Voice", "Talked", time.Value, 1);
}
//Console.WriteLine("Tiempo: {0}, Llegó Voz de {1}", DateTime.Now, audioBodyCorrelation.BodyTrackingId);
}
}
}
}
public void _bodyReader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
{
IEnumerable <IBody> bodies = null; // to make the GetBitmap call a little cleaner
using (var frame = e.FrameReference.AcquireFrame())
{
if (!ReferenceEquals(null, frame))
{
frame.GetAndRefreshBodyData(_bodies);
bodies = _bodies;
}
}
if (!ReferenceEquals(null, bodies))
{
CameraSpacePoint lastCentralPoint = new CameraSpacePoint();
foreach (IBody body in bodies)
{
//using only the central point
var centralPoint = body.Joints[JointType.SpineMid].Position;
if (centralPoint.X != 0 || centralPoint.Y != 0 || centralPoint.Z != 0)
{
if (lastCentralPoint.X != 0 || lastCentralPoint.Y != 0 || lastCentralPoint.Z != 0)
{
var distance = Math.Sqrt(
Math.Pow(lastCentralPoint.X - centralPoint.X, 2) +
Math.Pow(lastCentralPoint.Y - centralPoint.Y, 2) +
Math.Pow(lastCentralPoint.Z - centralPoint.Z, 2));
CheckPerson.Instance.CheckIfExistsPerson(body.TrackingId);
var time = _dataAccessFacade.GetSceneInUseAccess()?.GetLocation();
if (time.HasValue)
{
//_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Proxemic", "Events", time.Value, distance, false);
if (distance < 0.45)
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Proxemic", "Events", time.Value, distance, 0);
}
else if (distance < 0.65)
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Proxemic", "Events", time.Value, distance, 1);
}
else if (distance < 0.85)
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Proxemic", "Events", time.Value, distance, 2);
}
else
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Proxemic", "Events", time.Value, distance, 3);
}
//Console.WriteLine($"Proxemic is: {distance}");
}
}
lastCentralPoint = centralPoint;
}
}
}
}
/// <summary>
/// Check if the person is in the dictionary, if not, check if the person
/// is in the scene (checking by the name), if yes, add it to the dictionary,
/// if not, create a new person and adds it to the scene and dictionary
/// </summary>
/// <param name="bodyTrackingId">The kinect body tracking identifier.</param>
public void CheckIfExistsPerson(ulong bodyTrackingId)
{
if (!PersonsId.ContainsKey(bodyTrackingId))
{
bool isPersonInScene = false;
string personName = "Kinect" + bodyTrackingId;
var personsInScene = _dataAccessFacade.GetSceneInUseAccess()?.GetScene()?.PersonsInScene;
foreach (var personInScene in personsInScene)
{
string name = personInScene?.Person?.Name;
if (!ReferenceEquals(null, name) && name.Equals(personName))
{
PersonsId[bodyTrackingId] = personInScene.Person;
isPersonInScene = true;
break;
}
}
if (!isPersonInScene)
{
var newPerson = new Data.Model.Person()
{
Name = personName,
Photo = null,
Birthday = null,
Sex = null,
TrackingId = (long)bodyTrackingId
};
var pis = new Data.Model.PersonInScene()
{
Person = newPerson,
Scene = _dataAccessFacade.GetSceneInUseAccess()?.GetScene()
};
_dataAccessFacade.GetSceneInUseAccess()?.GetScene().PersonsInScene.Add(pis);
PersonsId[bodyTrackingId] = newPerson;
/*
* //this writes to the database directly
* var newPerson = _dataAccessFacade.GetPersonAccess().Add(personName, null, null, null, (long)bodyTrackingId);
* PersonsId[bodyTrackingId] = newPerson.PersonId;
* _dataAccessFacade.GetPersonAccess().AddToScene(newPerson, _dataAccessFacade.GetSceneInUseAccess()?.GetScene());
*/
}
}
}
public void Play()
{
if (ReferenceEquals(null, _replay) &&
!ReferenceEquals(null, _dataAccessFacade.GetSceneInUseAccess().GetScene()))
{
try
{
string fileName = _dataAccessFacade.GetGeneralSettings().GetDataDirectory() +
"scene/" + _dataAccessFacade.GetSceneInUseAccess().GetScene().SceneId + "/kinect.dvr";
if (File.Exists(fileName))
{
Console.WriteLine($"archivo {fileName} existe, a abrirlo");
_replay = new KinectReplay(File.Open(fileName, FileMode.Open, FileAccess.Read));
_replay.PropertyChanged += _replay_PropertyChanged;
if (_replay.HasBodyFrames)
{
_replay.BodyFrameArrived += KinectInput.SkeletonColorVideoViewer._replay_BodyFrameArrived;
}
if (_replay.HasColorFrames)
{
_replay.ColorFrameArrived += KinectInput.SkeletonColorVideoViewer._replay_ColorFrameArrived;
}
_replay.ScrubTo(new TimeSpan(0));
_replay.Start();
}
}
catch (Exception)
{
Close();
}
}
else
{
_replay.Start();
}
}
private void VgbFrameReader_FrameArrived(object sender, VisualGestureBuilderFrameArrivedEventArgs e)
{
var kFrame = e.FrameReference.AcquireFrame();
if (!ReferenceEquals(null, kFrame))
{
var frame = new KinectGestureFrameArrivedArgs()
{
Time = _dataAccessFacade.GetSceneInUseAccess().GetLocation(),
TrackingId = TrackingId,
Frame = kFrame
};
OnKinectGestureFrameArrived(frame);
}
}
private void SerialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
if (sender is SerialPort port)
{
byte[] buffer = new byte[port.BytesToRead];
port.Read(buffer, 0, buffer.Length);
var time = _dataAccessFacade.GetSceneInUseAccess().GetLocation();
if (!time.HasValue)
{
return;
}
foreach (var bufferData in buffer)
{
double[] data = _interpretStream.interpretBinaryStream(bufferData);
if (!ReferenceEquals(null, data))
{
if (data.Length >= 9)
{
double[] dataToGraph = new double[9];
dataToGraph[0] = data[0];
var eegArgs = new EegFrameArrivedEventArgs()
{
Time = time.Value,
Person = _person,
Channels = new List <EegChannel>()
};
for (int j = 1; j < 9; j++)
{
double value = _filter.FiltersSelect((FilterType)(OpenBCISettings.Instance.Filter.Value),
(NotchType)(OpenBCISettings.Instance.Notch.Value), data[j], j - 1);
dataToGraph[j] = value;
eegArgs.Channels.Add(new EegChannel()
{
Filter = FilterType.None,
Notch = (NotchType)OpenBCISettings.Instance.Notch.Value,
Position = _positions[j - 1] ?? "",
Value = value
});
}
GraphTab.Enqueue(dataToGraph);
OnEegFrameArrived(eegArgs);
}
if (data.Length == 12 && data[9] != 0 && data[10] != 0 && data[11] != 0)
{
var accArgs = new AccelerometerFrameArrivedEventArgs()
{
Place = "Head",
// Time = ,
XAxis = data[9],
YAxis = data[10],
ZAxis = data[11]
};
OnAccelerometerArrived(accArgs);
}
var actualTime = _dataAccessFacade.GetSceneInUseAccess().GetLocation();
if (actualTime.HasValue)
{
_filemanage?.WriteFile(actualTime.Value, data);
}
}
}
}
}
public void _bodyReader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
{
IEnumerable <IBody> bodies = null; // to make the GetBitmap call a little cleaner
using (var frame = e.FrameReference.AcquireFrame())
{
if (!ReferenceEquals(null, frame))
{
frame.GetAndRefreshBodyData(_bodies);
bodies = _bodies;
}
}
if (!ReferenceEquals(null, bodies))
{
foreach (IBody body in bodies)
{
try
{
var left = body.Joints[JointType.ShoulderLeft].Position;
var right = body.Joints[JointType.ShoulderRight].Position;
var spine = body.Joints[JointType.SpineShoulder].Position;
var v1 = new double[]
{
spine.X - left.X + _movementToPositive,
spine.Y - left.Y + _movementToPositive,
spine.Z - left.Z + _movementToPositive
};
var v2 = new double[]
{
right.X - spine.X + _movementToPositive,
right.Y - spine.Y + _movementToPositive,
right.Z - spine.Z + _movementToPositive
};
//The dot product of v1 and v2 is a function of
//the cosine of the angle between them
//(it's scaled by the product of their magnitudes).
//So first normalize v1 and v2
var v1mag = Math.Sqrt(v1[0] * v1[0] + v1[1] * v1[1] + v1[2] * v1[2]);
var v1norm = new double[] { v1[0] / v1mag, v1[1] / v1mag, v1[2] / v1mag };
var v2mag = Math.Sqrt(v2[0] * v2[0] + v2[1] * v2[1] + v2[2] * v2[2]);
var v2norm = new double[] { v2[0] / v2mag, v2[1] / v2mag, v2[2] / v2mag };
//Then calculate the dot product:
var res = v1norm[0] * v2norm[0] + v1norm[1] * v2norm[1] + v1norm[2] * v2norm[2];
//And finally, recover the angle:
var angle = Math.Acos(res) * 180.0 / Math.PI;
if (!double.IsNaN(angle) && !double.IsInfinity(angle))
{
CheckPerson.Instance.CheckIfExistsPerson(body.TrackingId);
var time = _dataAccessFacade.GetSceneInUseAccess()?.GetLocation();
if (time.HasValue)
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Shoulders", "Angle", time.Value, angle, -1);
//Console.WriteLine($"El ángulo de los hombros es: {angle}");
}
}
}
catch (Exception ex)
{
System.Diagnostics.Debug.WriteLine($"Exception obtained at try get shoulders angle: {ex.Message}");
}
}
}
}
public async Task StartRecording()
{
if (!GetSensor())
{
return;
}
int detectorCount = _sensor.BodyFrameSource.BodyCount > 0 ? _sensor.BodyFrameSource.BodyCount : 6;
for (int i = 0; i < _sensor.BodyFrameSource.BodyCount; ++i)
{
try
{
GestureDetector detector = new GestureDetector(i, _sensor);
GestureDetector.GestureDetectorList.Add(detector);
}
catch (Exception ex)
{
Console.WriteLine("Error at creating the gesture detector: " + ex.Message);
}
}
_bodyReader.FrameArrived += GestureDetector._bodyReader_FrameArrived;
foreach (var module in ProcessingLoader.Instance.ProcessingModules)
{
if (module.IsEnabled)
{
if (module is IKinectProcessingModule kinectModule)
{
if (!ReferenceEquals(null, kinectModule.BodyListener()))
{
_bodyReader.FrameArrived += kinectModule.BodyListener();
}
if (!ReferenceEquals(null, kinectModule.ColorListener()))
{
_colorReader.FrameArrived += kinectModule.ColorListener();
}
if (!ReferenceEquals(null, kinectModule.AudioListener()))
{
_audioBeamReader.FrameArrived += kinectModule.AudioListener();
}
if (!ReferenceEquals(null, kinectModule.GestureListener()))
{
foreach (var detector in GestureDetector.GestureDetectorList)
{
detector.KinectGestureFrameArrived += kinectModule.GestureListener();
}
}
}
}
}
if (ReferenceEquals(null, _recorder) && !ReferenceEquals(null, _dataAccessFacade.GetSceneInUseAccess().GetScene()))
{
string fileName = Path.Combine(_dataAccessFacade.GetGeneralSettings().GetSceneInUseDirectory(), "kinect.dvr");
_recorder = new DVR.Recorder(File.Open(fileName, FileMode.Create), _sensor)
{
EnableBodyRecorder = true,
EnableColorRecorder = true,
EnableDepthRecorder = false,
EnableInfraredRecorder = false,
ColorRecorderCodec = new JpegColorCodec()
};
//TODO: revisar estos pixeles
//_recorder.ColorRecorderCodec.OutputWidth = 1280;
//_recorder.ColorRecorderCodec.OutputHeight = 720;
_recorder.Start();
}
_isRecording = true;
}
public void _bodyReader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
{
IEnumerable <IBody> bodies = null; // to make the GetBitmap call a little cleaner
using (var frame = e.FrameReference.AcquireFrame())
{
if (!ReferenceEquals(null, frame))
{
frame.GetAndRefreshBodyData(_bodies);
bodies = _bodies;
}
}
if (!ReferenceEquals(null, bodies))
{
foreach (IBody body in bodies)
{
var orientation = body.JointOrientations[JointType.Neck].Orientation;
var rotationX = orientation.Pitch();
var rotationY = orientation.Yaw();
var rotationZ = orientation.Roll();
if (rotationX != 0 || rotationY != 0 || rotationZ != 0)
{
CheckPerson.Instance.CheckIfExistsPerson(body.TrackingId);
var time = _dataAccessFacade.GetSceneInUseAccess()?.GetLocation();
if (time.HasValue)
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Neck Orientation", "Pitch", time.Value, rotationX, -1);
//_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Neck Orientation", "Yaw", time.Value, rotationY, false);
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Neck Orientation", "Roll", time.Value, rotationZ, -1);
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Lean", "X", time.Value, body.Lean.X, -1);
//_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Lean", "Y", time.Value, body.Lean.Y, false);
if (body.Lean.Y < (2 / 3) - 1) //between -1 and -0.333
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Lean", "Y", time.Value, body.Lean.Y, 0);
}
else if (body.Lean.Y < 1 - (2 / 3)) //between -0.333 and 0.333
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Lean", "Y", time.Value, body.Lean.Y, 1);
}
else //between 0.333 and 1
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Lean", "Y", time.Value, body.Lean.Y, 2);
}
//Console.WriteLine($"XPitch: {rotationX}\tYYaw: {rotationY}\tZRoll: {rotationZ}");
//Console.WriteLine($"XLean: {body.Lean.X}\tYLean: {body.Lean.Y}");
//2 is because the horizontal max y 4 mts
double distanceMaxOfBorder = 2 + Math.Abs(body.Joints[JointType.Neck].Position.X);
//4.3 is the distance between the public and the person
Console.WriteLine($"The distance between the sensor and person is: {body.Joints[JointType.Neck].Position.Z}");
double hipoten = Math.Sqrt(distanceMaxOfBorder * distanceMaxOfBorder + 4.3 * 4.3);
double angle = Math.Asin(distanceMaxOfBorder / hipoten);
if (rotationY <= angle)
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Neck Orientation", "Yaw", time.Value, body.Lean.Y, 0);
}
else
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "Neck Orientation", "Yaw", time.Value, body.Lean.Y, -1);
}
}
}
}
}
}
public void _bodyReader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
{
IEnumerable <IBody> bodies = null; // to make the GetBitmap call a little cleaner
using (var frame = e.FrameReference.AcquireFrame())
{
if (!ReferenceEquals(null, frame))
{
frame.GetAndRefreshBodyData(_bodies);
bodies = _bodies;
}
}
if (!ReferenceEquals(null, bodies))
{
List <CameraSpacePoint> lastPersonsJoints = new List <CameraSpacePoint>();
foreach (IBody body in bodies)
{
//using all points
List <CameraSpacePoint> actualPersonJoints = new List <CameraSpacePoint>();
double minDistance = double.PositiveInfinity;
foreach (var joint in body.Joints)
{
if (joint.Value.Position.X != 0 || joint.Value.Position.Y != 0 || joint.Value.Position.Z != 0)
{
actualPersonJoints.Add(joint.Value.Position);
foreach (var lastJoint in lastPersonsJoints)
{
var distance = Math.Sqrt(
Math.Pow(lastJoint.X - joint.Value.Position.X, 2) +
Math.Pow(lastJoint.Y - joint.Value.Position.Y, 2) +
Math.Pow(lastJoint.Z - joint.Value.Position.Z, 2));
if (distance < minDistance)
{
minDistance = distance;
}
}
}
}
if (actualPersonJoints.Count > 0)
{
lastPersonsJoints = actualPersonJoints;
}
if (!double.IsInfinity(minDistance))
{
CheckPerson.Instance.CheckIfExistsPerson(body.TrackingId);
var time = _dataAccessFacade.GetSceneInUseAccess()?.GetLocation();
if (time.HasValue)
{
//_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "AccProxemic", "Events", time.Value, minDistance, false);
if (minDistance < 0.45)
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "AccProxemic", "Events", time.Value, minDistance, 0);
}
else if (minDistance < 0.65)
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "AccProxemic", "Events", time.Value, minDistance, 1);
}
else if (minDistance < 0.85)
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "AccProxemic", "Events", time.Value, minDistance, 2);
}
else
{
_dataAccessFacade.GetEventAccess().Add(CheckPerson.Instance.PersonsId[body.TrackingId], "AccProxemic", "Events", time.Value, minDistance, 3);
}
//Console.WriteLine($"Proxemic real min is: {minDistance}");
}
}
}
}
}
