private void MoveMouseAccordingToFaceRotation(FaceTrackFrame currentFaceFrame)
{
if (headRotationHistory.Count > gaussFilter.Count - 1 && leftEyeClosedHistory.Count > nudConvolutionFilterLength.Value && currentFaceFrame.TrackSuccessful)
{
lastFramesReady = DateTime.Now;
if (status == StatusEnum.Initializing)
{
SetReadyStatus();
}
else
{
if (status == StatusEnum.UnreadyDeactivated)
{
SwitchStatus(StatusEnum.ReadyActivated);
}
else if (status == StatusEnum.ReadyActivated)
{
float browRaiserValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowRaiser];
float browLowererValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowLower];
float mouthOpenValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.JawLower];
if (browRaiserHistory.Count >= 100)
{
browRaiserHistory.RemoveAt(0);
browLowererHistory.RemoveAt(0);
mouthOpenHistory.RemoveAt(0);
}
browLowererHistory.Add(browLowererValue);
browRaiserHistory.Add(browRaiserValue);
mouthOpenHistory.Add(mouthOpenValue);
//Method 1: Without Smoothing
//System.Drawing.Point smoothedXY = ScaleXY(currentFaceFrame.Rotation);
//Method 2: Gaussian Smoothing
System.Drawing.Point smoothedXY = CalculateGaussianSmoothedXYPosition(currentFaceFrame);
//Check for right, left or Double Click
//1. Check if there was already a click 20 Frames ago, or if Drag & Drop is active
if (clickDelay > nudClickDelay.Value && !DragnDropActive)
{
//2. If not, calculate mean values of dy's last 16 Frames
if (HandleMouseClickActions())
{
clickDelay = 0;
}
else
{
//check for open Mouth
if (mouthOpenValue > (float)nudMouthOpenStartThreshold.Value && mouthOpenHistory[mouthOpenHistory.Count - 2] > (float)nudMouthOpenConfirmation.Value && mouthOpenHistory[mouthOpenHistory.Count - 3] > (float)nudMouthOpenConfirmation.Value && mouthOpenHistory[mouthOpenHistory.Count - 4] > (float)nudMouthOpenConfirmation.Value)
{
MouseControl.Move(mousePositionHistory[mousePositionHistory.Count - 4].X, mousePositionHistory[mousePositionHistory.Count - 4].Y);
this.lbAction.Invoke((MethodInvoker)(() => this.lbAction.Items.Add("Left Mouse Down on X: " + mousePositionHistory[mousePositionHistory.Count - 4].X + " Y: " + mousePositionHistory[mousePositionHistory.Count - 4].Y)));
//lbAction.Items.Add("Left Mouse Down on X: " + mousePositionHistory[mousePositionHistory.Count - 4].X + " Y: " + mousePositionHistory[mousePositionHistory.Count - 4].Y);
MouseControl.MouseDownLeft();
DragnDropActive = true;
clickDelay = 0;
}
}
}
else if (DragnDropActive)
{
if (mouthOpenValue < (float)nudMouthOpenEndThreshold.Value)
{
this.lbAction.Invoke((MethodInvoker)(() => this.lbAction.Items.Add("Left Mouse Up on X: " + smoothedXY.X + " Y: " + smoothedXY.Y)));
MouseControl.MouseUpLeft();
DragnDropActive = false;
clickDelay = 0;
}
}
MouseControl.Move(smoothedXY.X, smoothedXY.Y);
HandleScrolling(browRaiserValue, browLowererValue);
if (mousePositionHistory.Count > 100)
{
mousePositionHistory.RemoveAt(0);
}
mousePositionHistory.Add(new Microsoft.Kinect.Toolkit.FaceTracking.Point(smoothedXY.X, smoothedXY.Y));
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Face and eyes successfully tracked.\n");
}
}
}
}
private void OnAllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
File.AppendAllText("mouseLog.txt", DateTime.Now + " - All Kinect frames ready.\n");
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Color- depth or Skeletonframe is null. Aborting Frame.\n");
return;
}
// Check for image format changes. The FaceTracker doesn't
// deal with that so we need to reset.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
// Get the skeleton information
if (this.SkeletonData == null || this.SkeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.SkeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.SkeletonData);
Skeleton activeSkeleton = null;
activeSkeleton = (from skel in this.SkeletonData where skel.TrackingState == SkeletonTrackingState.Tracked select skel).FirstOrDefault();
//Idea: Separate Eye-Parts of Color Image
//Use learning Algorithm for right and left eye
//Detect blink on separated parts of color Image
//colorImage is one dimensional array with 640 x 480 x 4 (RGBA) values
if (activeSkeleton != null)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Skeleton is there. Trying to find face.\n");
FaceTrackFrame currentFaceFrame = faceTracker.Track(ColorImageFormat.RgbResolution640x480Fps30, colorImage, depthImageFormat, depthImage, activeSkeleton);
if (currentFaceFrame.TrackSuccessful)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Recognized face successfully.\n");
}
else
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Couldn't find face in frame.\n");
}
//Get relevant Points for blink detection
//Left eye
int minX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveOneFourthLeftEyelid].X);
int minY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveOneFourthLeftEyelid].Y);
int maxX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.BelowThreeFourthLeftEyelid].X);
int maxY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.BelowThreeFourthLeftEyelid].Y);
Bitmap leftEye = EyeExtract(colorImageFrame, currentFaceFrame, minX, minY, maxX, maxY, false);
//this.pbRight.BeginInvoke((MethodInvoker)(() => this.pbRight.Image = leftEye));
//
//Right eye
minX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveThreeFourthRightEyelid].X);
minY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveThreeFourthRightEyelid].Y);
maxX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.OneFourthBottomRightEyelid].X);
maxY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.OneFourthBottomRightEyelid].Y);
Bitmap rightEye = EyeExtract(colorImageFrame, currentFaceFrame, minX, minY, maxX, maxY, true);
Bitmap leftEye2 = null;
Bitmap rightEye2 = null;
if (leftEye != null)
{
leftEye2 = new Bitmap(leftEye);
}
if (rightEye != null)
{
rightEye2 = new Bitmap(rightEye);
}
// System.Delegate d = new MethodInvoker(SetPictures));
// this.Invoke(SetPictures, leftEye);
//pbRight.Image = rightEye;
this.pbLeft.BeginInvoke((MethodInvoker)(() => this.pbLeft.Image = rightEye2));
this.pbLeft.BeginInvoke((MethodInvoker)(() => this.pbRight.Image = leftEye2));
// this.Invoke(new MethodInvoker(SetPictures));
//Wende Kantenfilter auf die beiden Augen an.
if (rightEye != null && leftEye != null)
{
Dictionary <string, int> angleCount;
Bitmap edgePicRight = Convolution(ConvertGrey(rightEye), true, out angleCount);
bool rightEyeClosed = IsEyeClosed(angleCount);
Bitmap edgePicLeft = Convolution(ConvertGrey(leftEye), false, out angleCount);
bool leftEyeClosed = IsEyeClosed(angleCount);
// pbLeftFaltung.Image = edgePicLeft;
// pbRightFaltung.Image = edgePicRight;
if (rightEyeClosedHistory.Count > 100)
{
rightEyeClosedHistory.RemoveAt(0);
}
if (leftEyeClosedHistory.Count > 100)
{
leftEyeClosedHistory.RemoveAt(0);
}
leftEyeClosedHistory.Add(leftEyeClosed);
rightEyeClosedHistory.Add(rightEyeClosed);
//If Face is rotated, move Mouse
if (headRotationHistory.Count > gaussFilter.Count - 1 && leftEyeClosedHistory.Count > nudConvolutionFilterLength.Value && currentFaceFrame.TrackSuccessful)
{
int x = 0;
int y = 0;
float browRaiserValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowRaiser];
float browLowererValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowLower];
float mouthOpenValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.JawLower];
if (browRaiserHistory.Count >= 100)
{
browRaiserHistory.RemoveAt(0);
browLowererHistory.RemoveAt(0);
mouthOpenHistory.RemoveAt(0);
}
browLowererHistory.Add(browLowererValue);
browRaiserHistory.Add(browRaiserValue);
mouthOpenHistory.Add(mouthOpenValue);
//Method 1: Ohne Glättung
//ScaleXY(currentFaceFrame.Rotation, out x, out y);
//MouseControl.Move(x, y);
////Method 2: Glättung über die letzten x Bilder:
//int i = 0;
//Vector3DF rotationMedium = new Vector3DF();
//while (i < 10 && headRotationHistory.Count - 1 > i)
//{
// i++;
// rotationMedium.X += headRotationHistory[headRotationHistory.Count - 1 - i].X;
// rotationMedium.Y += headRotationHistory[headRotationHistory.Count - 1 - i].Y;
//}
//rotationMedium.X = rotationMedium.X / i;
//rotationMedium.Y = rotationMedium.Y / i;
//ScaleXY(rotationMedium, out x, out y);
//MouseControl.Move(x, y);
//Method 3: Gauß-Filter: Gewichte die letzten Bilder stärker.
Vector3DF rotationMedium = new Vector3DF();
rotationMedium.X = currentFaceFrame.Rotation.X * gaussFilter[0];
rotationMedium.Y = currentFaceFrame.Rotation.Y * gaussFilter[0];
int i = 0;
while (i < gaussFilter.Count - 1)
{
rotationMedium.X += (headRotationHistory[headRotationHistory.Count - 1 - i].X * gaussFilter[i]);
rotationMedium.Y += (headRotationHistory[headRotationHistory.Count - 1 - i].Y * gaussFilter[i]);
i++;
}
rotationMedium.X = (float)(rotationMedium.X / gaussFactor);
rotationMedium.Y = (float)(rotationMedium.Y / gaussFactor);
ScaleXY(rotationMedium, out x, out y);
//Method 4: Quadratische Glättung
//double deltaX = ((-currentFaceFrame.Rotation.Y) - (-headRotationHistory.Last().Y));
//double deltaY = ((-currentFaceFrame.Rotation.X) - (-headRotationHistory.Last().X));
//if (deltaX < 0)
// deltaX = -Math.Pow(deltaX, 2) * 4;
//else
// deltaX = Math.Pow(deltaX, 2) * 4;
//if (deltaY < 0)
// deltaY = -Math.Pow(deltaY, 2) * 5;
//else
// deltaY = Math.Pow(deltaY, 2) * 5;
//MouseControl.DeltaMove((int)Math.Round(deltaX, 0), (int)Math.Round(deltaY));
//Check for right, left or Double Click
//1. Check if there was already a click 20 Frames ago, or if Drag & Drop is active
if (clickDelay > nudClickDelay.Value && !pointNClickActive)
{
//2. If not, calculate mean values of dy's last 16 Frames
if (CalculateMeanConvolutionValues())
{
clickDelay = 0;
}
else
{
//Else check for open Mouth
if (mouthOpenValue > (float)nudMouthOpenStartThreshold.Value && mouthOpenHistory[mouthOpenHistory.Count - 2] > (float)nudMouthOpenConfirmation.Value && mouthOpenHistory[mouthOpenHistory.Count - 3] > (float)nudMouthOpenConfirmation.Value && mouthOpenHistory[mouthOpenHistory.Count - 4] > (float)nudMouthOpenConfirmation.Value)
{
MouseControl.Move(mousePositionHistory[mousePositionHistory.Count - 4].X, mousePositionHistory[mousePositionHistory.Count - 4].Y);
this.lbAction.Invoke((MethodInvoker)(() => this.lbAction.Items.Add("Left Mouse Down on X: " + mousePositionHistory[mousePositionHistory.Count - 4].X + " Y: " + mousePositionHistory[mousePositionHistory.Count - 4].Y)));
//lbAction.Items.Add("Left Mouse Down on X: " + mousePositionHistory[mousePositionHistory.Count - 4].X + " Y: " + mousePositionHistory[mousePositionHistory.Count - 4].Y);
MouseControl.MouseDownLeft();
pointNClickActive = true;
clickDelay = 0;
}
}
}
else if (pointNClickActive)
{
if (mouthOpenValue < (float)nudMouthOpenEndThreshold.Value)
{
this.lbAction.Invoke((MethodInvoker)(() => this.lbAction.Items.Add("Left Mouse Up on X: " + x + " Y: " + y)));
MouseControl.MouseUpLeft();
pointNClickActive = false;
clickDelay = 0;
}
}
MouseControl.Move(x, y);
if (browLowererValue > (float)nudBrowLowererStartThreshold.Value)
{
MouseControl.ScrollDown((int)(-browLowererValue * (int)nudScrollMultiplierDown.Value));
}
if (browRaiserValue > (float)nudBrowRaiserStartThreshold.Value)
{
MouseControl.ScrollDown((int)(browRaiserValue * (int)nudScrollMultiplierUp.Value));
}
if (mousePositionHistory.Count > 100)
{
mousePositionHistory.RemoveAt(0);
}
mousePositionHistory.Add(new Microsoft.Kinect.Toolkit.FaceTracking.Point(x, y));
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Face and eyes successfully tracked.\n");
}
}
else
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Face recognized but couldn't find eye in face.\n");
}
clickDelay++;
headRotationHistory.Add(currentFaceFrame.Rotation);
if (headRotationHistory.Count >= 100)
{
headRotationHistory.RemoveAt(0);
}
}
else
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Active Skeleton is null. Couldn't analyze frame.\n");
}
}
catch (Exception e)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Error during frame analyzation.\n" + e.ToString());
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}