private void AllFrameReady(object sender, AllFramesReadyEventArgs e)
{
//Console.Clear();
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(this.skeletons);
Skeleton skel = skeletons[0];
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
SkeletonPoint rightHand = skeletons[0].Joints[JointType.HandRight].Position;
SkeletonPoint head = skeletons[0].Joints[JointType.Head].Position;
rightHandPosition = SkeletonPointToScreen(rightHand);
headPosition = SkeletonPointToScreen(head);
}
}
}
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
// Copy the pixel data from the image to a temporary array
colorFrame.CopyPixelDataTo(this.colorPixels);
// Write the pixel data into our bitmap
this.ColorWriteBitmap.WritePixels(
new System.Windows.Int32Rect(0, 0, this.ColorWriteBitmap.PixelWidth, this.ColorWriteBitmap.PixelHeight),
this.colorPixels,
this.ColorWriteBitmap.PixelWidth * sizeof(int),
0);
}
}
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
var sw = Stopwatch.StartNew();
// Copy the pixel data from the image to a temporary array
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
// short[] depthData = new short[depthFrame.PixelDataLength];
// Get the min and max reliable depth for the current frame
int minDepth = depthFrame.MinDepth;
int maxDepth = depthFrame.MaxDepth;
int width = depthFrame.Width;
int height = depthFrame.Height;
if (headPosition.X == 0)
{
headDepth = 100;
}
else
{
headDepth = depthPixels[headPosition.X + headPosition.Y * 640].Depth;
}
sw.Restart();
//*********** Convert cull and transform*****************
colorizer.TransformCullAndConvertDepthFrame(
depthPixels, minDepth, maxDepth, colorPixels,
AngleRotateTan,
(short)(headDepth - (short)CullingThresh), headPosition);
Image <Bgra, byte> depthImg;
//Console.WriteLine("iteration:" + sw.ElapsedMilliseconds);
sw.Restart();
Image <Gray, Byte> rightFront = null;
Image <Gray, Byte> leftFront = null;
depthImg = ImageConverter.Array2Image(colorPixels, width, height, width * 4);
PointF rightVector = PointF.Empty;
PointF leftVector = PointF.Empty;
bool isSkip = false;
bool leftHandRaise = false;
if (skeletons != null && skeletons[0].TrackingState == SkeletonTrackingState.Tracked)
{
PointF hr = SkeletonPointToScreen(skeletons[0].Joints[JointType.HandRight].Position);
PointF hl = SkeletonPointToScreen(skeletons[0].Joints[JointType.HandLeft].Position);
PointF er = SkeletonPointToScreen(skeletons[0].Joints[JointType.ElbowRight].Position);
PointF el = SkeletonPointToScreen(skeletons[0].Joints[JointType.ElbowLeft].Position);
PointF hip = SkeletonPointToScreen(skeletons[0].Joints[JointType.HipCenter].Position);
// hand is lower than hip
//Console.WriteLine(skeletons[0].Joints[JointType.HandRight].Position.Y);
//Console.WriteLine(skeletons[0].Joints[JointType.HipCenter].Position.Y);
//Console.WriteLine("-------------");
if (skeletons[0].Joints[JointType.HandRight].Position.Y <
skeletons[0].Joints[JointType.HipCenter].Position.Y + 0.05)
{
isSkip = true;
}
if (skeletons[0].Joints[JointType.HandLeft].Position.Y >
skeletons[0].Joints[JointType.HipCenter].Position.Y)
{
leftHandRaise = true;
}
rightVector.X = (hr.X - er.X);
rightVector.Y = (hr.Y - er.Y);
leftVector.X = (hl.X - el.X);
leftVector.Y = (hl.Y - el.Y);
}
HandShapeModel handModel = null;
if (!isSkip)
{
//handModel = m_OpenCVController.FindHandPart(ref depthImg, out rightFront, out leftFront, headDepth - (int)CullingThresh, rightVector, leftVector,leftHandRaise);
}
// no hands detected
if (handModel == null)
{
handModel = new HandShapeModel(0, HandEnum.None);
}
//sw.Restart();
// database processing
DBManager db = DBManager.GetSingleton();
if (db != null)
{
if (skeletons != null)
{
handModel.SetSkeletonData(skeletons[0]);
}
db.AddFrameData(handModel);
}
// not recording show prob
else
{
//Image<Bgr, byte>[] result = HandShapeClassifier.GetSingleton()
//.RecognizeGesture(handModel.hogRight, 3);
////Console.WriteLine(sw.ElapsedMilliseconds);
//if (result != null)
//{
// ImageConverter.UpdateWriteBMP(WrtBMP_Candidate1, result[0].Convert<Gray, byte>().ToBitmap());
// ImageConverter.UpdateWriteBMP(WrtBMP_Candidate2, result[1].Convert<Gray, byte>().ToBitmap());
// ImageConverter.UpdateWriteBMP(WrtBMP_Candidate3, result[2].Convert<Gray, byte>().ToBitmap());
//}
}
string currentSign = db == null ? "0" : db.CurrentSign.ToString();
string path = @"J:\Kinect data\Aaron 141-180\hands\" + currentSign + " " + handModel.frame.ToString();
// UI update
if (rightFront != null)
{
Bitmap right = rightFront.ToBitmap();
//right.Save(path + " r.jpg");
ImageConverter.UpdateWriteBMP(WrtBMP_RightHandFront, right);
}
if (leftFront != null)
{
Bitmap left = leftFront.ToBitmap();
//left.Save(path + " l.jpg");
ImageConverter.UpdateWriteBMP(WrtBMP_LeftHandFront, left);
}
if (sw.ElapsedMilliseconds > 15)
{
Console.WriteLine("Find hand:" + sw.ElapsedMilliseconds);
}
sw.Restart();
//**************************draw gray histogram
//Bitmap histo = m_OpenCVController.Histogram(depthImg);
//ImageConverter.UpdateWriteBMP(GrayWriteBitmap, histo);
// draw hand position from kinect
// DrawHandPosition(depthBMP, rightHandPosition, System.Drawing.Brushes.Purple);
//*******************upadte UI
ImageConverter.UpdateWriteBMP(DepthWriteBitmap, depthImg.ToBitmap());
// Console.WriteLine("Update UI:" + sw.ElapsedMilliseconds);
}
}
}