private void RecogMove(PXCMHandData.IHand hand, PXCMPointF32 mcp)
{
int side = (int)hand.QueryBodySide() - 1;
if (side < 0)
{
return;
}
hand.QueryTrackedJoint(PXCMHandData.JointType.JOINT_MIDDLE_TIP, out middleData[side]);
if (oldMiddleData[side] == null)
{
oldMiddleData[side] = middleData[side];
return;
}
//Console.WriteLine(middleData[side].speed.x);
var distance = Math.Pow(
Math.Pow(middleData[side].positionWorld.x - oldMiddleData[side].positionWorld.x, 2)
+ Math.Pow(middleData[side].positionWorld.y - oldMiddleData[side].positionWorld.y, 2)
+ Math.Pow((middleData[side].positionWorld.z - oldMiddleData[side].positionWorld.z) * 1000, 2),
0.5);
oldMiddleData[side] = middleData[side];
//Console.Write(middleData[side].positionImage.x + ":" + oldMiddleData[side].positionImage.x + ":");
//Console.WriteLine(middleData[side].positionImage.x - oldMiddleData[side].positionImage.x);
//oldMiddleData = middleData;
}
public void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
hand = senseManager.QueryHand();
if (hand != null)
{
// Retrieve the most recent processed data
handData = hand.CreateOutput();
handData.Update();
// Get number of tracked hands
nhands = handData.QueryNumberOfHands();
if (nhands > 0)
{
// Retrieve hand identifier
handData.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, 0, out handId);
// Retrieve hand data
handData.QueryHandDataById(handId, out ihand);
PXCMHandData.BodySideType bodySideType = ihand.QueryBodySide();
if (bodySideType == PXCMHandData.BodySideType.BODY_SIDE_LEFT)
{
leftHand = true;
}
else if (bodySideType == PXCMHandData.BodySideType.BODY_SIDE_RIGHT)
{
leftHand = false;
}
// Retrieve all hand joint data
for (int i = 0; i < nhands; i++)
{
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
ihand.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
}
}
// Get world coordinates for tip of middle finger on the first hand in camera range
handTipX = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.x;
handTipY = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.y;
handTipZ = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.z;
swipehandTipX = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.x;
swipehandTipY = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.y;
swipehandTipZ = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.z;
//Console.Out.WriteLine("Before x={0}", swipehandTipX);
//Console.Out.WriteLine("Before speed={0}", nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].speed.x);
// Retrieve gesture data
if (handData.IsGestureFired("spreadfingers", out gestureData))
{
gesture = Gesture.FingerSpread;
}
else if (handData.IsGestureFired("two_fingers_pinch_open", out gestureData))
{
gesture = Gesture.Pinch;
}
else if (handData.IsGestureFired("wave", out gestureData))
{
gesture = Gesture.Wave;
}
else if (handData.IsGestureFired("swipe_left", out gestureData))
{
gesture = Gesture.SwipeLeft;
}
else if (handData.IsGestureFired("swipe_right", out gestureData))
{
gesture = Gesture.SwipeRight;
}
else if (handData.IsGestureFired("fist", out gestureData))
{
gesture = Gesture.Fist;
}
else if (handData.IsGestureFired("thumb_up", out gestureData))
{
gesture = Gesture.Thumb;
}
}
else
{
gesture = Gesture.Undefined;
}
UpdateUI();
if (handData != null)
{
handData.Dispose();
}
}
senseManager.ReleaseFrame();
}
}
private void DetectTap(PXCMHandData.IHand hand)
{
PXCMHandData.JointData MiddleData;
PXCMHandData.JointData CenterData;
//指のデータをとってくる(depth)
//ユーザの右手のデータ
if (hand.QueryBodySide() == PXCMHandData.BodySideType.BODY_SIDE_LEFT)
{
hand.QueryTrackedJoint(PXCMHandData.JointType.JOINT_CENTER, out CenterData);
RightCenter = CenterData.positionWorld;
hand.QueryTrackedJoint(PXCMHandData.JointType.JOINT_MIDDLE_TIP, out MiddleData);
RightMiddle = MiddleData.positionWorld;
//RightCenter = hand.QueryMassCenterWorld();
}
//ユーザの左手のデータ
if (hand.QueryBodySide() == PXCMHandData.BodySideType.BODY_SIDE_RIGHT)
{
hand.QueryTrackedJoint(PXCMHandData.JointType.JOINT_CENTER, out CenterData);
LeftCenter = CenterData.positionWorld;
hand.QueryTrackedJoint(PXCMHandData.JointType.JOINT_MIDDLE_TIP, out MiddleData);
LeftMiddle = MiddleData.positionWorld;
}
//if文の条件を記述(前の指のデータと比較)
// ユーザの右手でタップ
if (-RightMiddle.z + preRightMiddle.z > 0.02 && // 1F(約1/60秒)あたりの深度の変化が0.02m以上
System.Math.Pow(System.Math.Pow(RightMiddle.x - preRightMiddle.x, 2) // 指先の速度が1.8m/s以上
+ System.Math.Pow(RightMiddle.y - preRightMiddle.y, 2)
+ System.Math.Pow(RightMiddle.z * 1000 - preRightMiddle.z * 1000, 2), 0.5) > 0.03 &&
System.Math.Pow(System.Math.Pow(RightCenter.x - preRightCenter.x, 2) // 手のひらの速度が0.6m/s以上
+ System.Math.Pow(RightCenter.y - preRightCenter.y, 2)
+ System.Math.Pow(RightCenter.z * 1000 - preRightCenter.z * 1000, 2), 0.5) > 0.01 &&
rsw.ElapsedMilliseconds > 250
)
{
//tap音を出力
midiManager.SetOnNote(player.MusicTime);
rsw.Restart();
}
// ユーザの左手でタップ
if (-LeftMiddle.z + preLeftMiddle.z > 0.02 && // 1F(約1/60秒)あたりの深度の変化が0.02m以上
System.Math.Pow(System.Math.Pow(LeftMiddle.x - preLeftMiddle.x, 2) // 指先の速度が1.8m/s以上
+ System.Math.Pow(RightMiddle.y - preLeftMiddle.y, 2)
+ System.Math.Pow(RightMiddle.z - preLeftMiddle.z, 2), 0.5) > 0.03 &&
System.Math.Pow(System.Math.Pow(RightCenter.x - preLeftCenter.x, 2) // 手のひらの速度が0.6m/s以上
+ System.Math.Pow(RightCenter.y - preLeftCenter.y, 2)
+ System.Math.Pow(RightCenter.z - preLeftCenter.z, 2), 0.5) > 0.01 &&
System.Math.Pow(System.Math.Pow(RightCenter.x - preLeftCenter.x, 2) // 手のひらの速度が1.5m/s以下
+ System.Math.Pow(RightCenter.y - preLeftCenter.y, 2)
+ System.Math.Pow(RightCenter.z - preLeftCenter.z, 2), 0.5) < 0.025
)
{
//tap音を出力
midiManager.SetOnNote(player.MusicTime);
}
//Console.WriteLine("RightCenter.x:" + RightCenter.x);
//Console.WriteLine("preRightCenter.x:" + preRightCenter.x);
//Console.WriteLine();
//Console.WriteLine("RightMiddle.x:" + RightMiddle.x);
//Console.WriteLine("preRightMiddle.x:" + preRightMiddle.x);
//前の指のデータに今の指のデータを上書き
//plc,preLeftMiddle,preRightCenter,preRightMiddle
// 上手くいかなければディープコピーする．
preRightCenter.x = RightCenter.x;
preRightCenter.y = RightCenter.y;
preRightCenter.z = RightCenter.z;
preRightMiddle.x = RightMiddle.x;
preRightMiddle.y = RightMiddle.y;
preRightMiddle.z = RightMiddle.z;
preLeftCenter.x = LeftCenter.x;
preLeftCenter.y = LeftCenter.y;
preLeftCenter.z = LeftCenter.z;
preLeftMiddle.x = LeftMiddle.x;
preLeftMiddle.y = LeftMiddle.y;
preLeftMiddle.z = LeftMiddle.z;
}
private void DetectTap(PXCMHandData.IHand hand, PXCMPointF32 mcp)
{
PXCMHandData.JointData midData;
PXCMHandData.JointData cntData;
//指のデータをとってくる(depth)
//ユーザの右手のデータ
if (hand.QueryBodySide() == PXCMHandData.BodySideType.BODY_SIDE_LEFT)
{
hand.QueryTrackedJoint(PXCMHandData.JointType.JOINT_CENTER, out cntData);
RightCenter = cntData.positionWorld;
hand.QueryTrackedJoint(PXCMHandData.JointType.JOINT_MIDDLE_TIP, out midData);
RightMiddle = midData.positionWorld;
}
//ユーザの左手のデータ
if (hand.QueryBodySide() == PXCMHandData.BodySideType.BODY_SIDE_RIGHT)
{
hand.QueryTrackedJoint(PXCMHandData.JointType.JOINT_CENTER, out cntData);
LeftCenter = cntData.positionWorld;
hand.QueryTrackedJoint(PXCMHandData.JointType.JOINT_MIDDLE_TIP, out midData);
LeftMiddle = midData.positionWorld;
}
if (mcp.y < 0)
{
mcp.y = 0;
}
if (mcp.y > ColorImage.Height)
{
mcp.y = (float)ColorImage.Height;
}
//Console.WriteLine(rsw.ElapsedMilliseconds);
//if文の条件を記述(前の指のデータと比較)
// ユーザの右手でタップ
if (-RightMiddle.z + preRightMiddle.z > 0.02 && // 1F(約1/60秒)あたりの深度の変化が0.02m以上
Math.Pow(Math.Pow(RightMiddle.x - preRightMiddle.x, 2) // 指先の速度が1.8m/s以上
+ Math.Pow(RightMiddle.y - preRightMiddle.y, 2)
+ Math.Pow(RightMiddle.z * 1000 - preRightMiddle.z * 1000, 2), 0.5) > 0.03 &&
Math.Pow(Math.Pow(RightCenter.x - preRightCenter.x, 2) // 手のひらの速度が0.6m/s以上
+ Math.Pow(RightCenter.y - preRightCenter.y, 2)
+ Math.Pow(RightCenter.z * 1000 - preRightCenter.z * 1000, 2), 0.5) > 0.01 &&
rsw.ElapsedMilliseconds > 300
)
{
//tap音を出力
midi.OnNote(currentFreqs[(int)(((ColorImage.Height - mcp.y) / (ColorImage.Height + 0.01)) * currentFreqs.Length)]);
rsw.Restart();
}
//var c = ColorImage.Height - y;
//var e = c / ColorImage.Height;
//var d = e * currentFreqs.Length;
//Index.Text = y + "\n" + d + "\n" + (int)d;
//Index.Text = mcp.y.ToString();
//Chord.Text = e.ToString();
// ユーザの左手でタップ
if (-LeftMiddle.z + preLeftMiddle.z > 0.02 && // 1F(約1/60秒)あたりの深度の変化が0.02m以上
Math.Pow(Math.Pow(LeftMiddle.x - preLeftMiddle.x, 2) // 指先の速度が1.8m/s以上
+ Math.Pow(LeftMiddle.y - preLeftMiddle.y, 2)
+ Math.Pow(LeftMiddle.z * 1000 - preLeftMiddle.z * 1000, 2), 0.5) > 0.03 &&
Math.Pow(Math.Pow(LeftCenter.x - preLeftCenter.x, 2) // 手のひらの速度が0.6m/s以上
+ Math.Pow(LeftCenter.y - preLeftCenter.y, 2)
+ Math.Pow(LeftCenter.z * 1000 - preLeftCenter.z * 1000, 2), 0.5) > 0.01 &&
lsw.ElapsedMilliseconds > 300
)
{
//tap音を出力
//midi.OnNote(currentFreqs[(int)(((ColorImage.Height - mcp.y) / (ColorImage.Height + 0.01)) * currentFreqs.Length)]);
lsw.Restart();
}
//Console.WriteLine("RightCenter.x:" + RightCenter.x);
//Console.WriteLine("preRightCenter.x:" + preRightCenter.x);
//Console.WriteLine();
//Console.WriteLine("RightMiddle.x:" + RightMiddle.x);
//Console.WriteLine("preRightMiddle.x:" + preRightMiddle.x);
//前の指のデータに今の指のデータを上書き
//plc,preLeftMiddle,preRightCenter,preRightMiddle
// 上手くいかなければディープコピーする．
preRightCenter.x = RightCenter.x;
preRightCenter.y = RightCenter.y;
preRightCenter.z = RightCenter.z;
preRightMiddle.x = RightMiddle.x;
preRightMiddle.y = RightMiddle.y;
preRightMiddle.z = RightMiddle.z;
preLeftCenter.x = LeftCenter.x;
preLeftCenter.y = LeftCenter.y;
preLeftCenter.z = LeftCenter.z;
preLeftMiddle.x = LeftMiddle.x;
preLeftMiddle.y = LeftMiddle.y;
preLeftMiddle.z = LeftMiddle.z;
}
/// <summary> 指のデータを取得する </summary>
private bool GetFingerData(PXCMHandData.IHand hand, PXCMHandData.JointType jointType)
{
PXCMHandData.JointData jointData;
var sts = hand.QueryTrackedJoint(jointType, out jointData);
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return(false);
}
// Depth座標系をカラー座標系に変換する
var depthPoint = new PXCMPoint3DF32[1];
var colorPoint = new PXCMPointF32[1];
depthPoint[0].x = jointData.positionImage.x;
depthPoint[0].y = jointData.positionImage.y;
depthPoint[0].z = jointData.positionWorld.z * 1000;
projection.MapDepthToColor(depthPoint, colorPoint);
var masp = hand.QueryMassCenterImage();
var mdp = new PXCMPoint3DF32[1];
var mcp = new PXCMPointF32[1];
mdp[0].x = masp.x;
mdp[0].y = masp.y;
mdp[0].z = hand.QueryMassCenterWorld().z * 1000;
projection.MapDepthToColor(mdp, mcp);
//Console.WriteLine(mcp[0].x);
AddEllipse(new Point(mcp[0].x, mcp[0].y), 10, Brushes.Red, 1);
colorPoint = mcp;
//ユーザの右手に対して演奏領域の当たり判定確認
if (hand.QueryBodySide() == PXCMHandData.BodySideType.BODY_SIDE_LEFT)
{
for (int i = 0; i < 5; i++)
{
if ((imageColor.Height / 5) * i <= colorPoint[0].y && colorPoint[0].y < (imageColor.Height / 5) * (i + 1))
{
if (16 - i != NowRange)
{
NowRange = 16 - i;
PivotList.Dispatcher.BeginInvoke(
new Action(() =>
{
PivotList.SelectedItem = NowRange;
}
));
}
}
}
}
//ユーザの左手に対してアイコンの当たり判定の確認
if (hand.QueryBodySide() == PXCMHandData.BodySideType.BODY_SIDE_RIGHT)
{
IconHitCheck(colorPoint[0]);
}
AddEllipse(new Point(colorPoint[0].x, colorPoint[0].y), 5, Brushes.White, 1);
return(true);
}