public double Update(IList <Body> skeletons, int bodyCount)
{
if (activeBody != null)
{
zoomRight = activeBody.Joints[JointType.HandRight].Position.X;
// kinect units are in meters. Hence left - right is scaled from minHandDistance to maxHandDistance
double handDistance = (zoomRightStart - zoomRight);
bool zoomOut = (handDistance < 0);
handDistance = Math.Abs(handDistance);
handDistance = handDistance.Clamp(minHandDistance, maxHandDistance);
double zoomFraction = calculateZoomFactor(handDistance, zoomOut);
double returnValue = (zoomFraction / currentZoom);
currentZoom = zoomFraction;
if (!GestureUtils.IsZoomGestureActive(activeBody))
{
activeBody = null;
//Application.DocumentManager.MdiActiveDocument.Editor.WriteMessage("DEACTIVATED\n");
}
return(returnValue);
}
return(1);
}
// Finds the closest body from the sensor if any
private static Microsoft.Kinect.Body FindClosestBody(
BodyFrame bodyFrame
)
{
Microsoft.Kinect.Body result = null;
double closestBodyDist = double.MaxValue;
var bodies = new Microsoft.Kinect.Body[bodyFrame.BodyCount];
bodyFrame.GetAndRefreshBodyData(bodies);
foreach (var body in bodies)
{
if (body.IsTracked)
{
var curLoc = body.Joints[JointType.SpineBase].Position;
var curDist = VectorLength(curLoc);
if (result == null || curDist < closestBodyDist)
{
result = body;
closestBodyDist = curDist;
}
}
}
return(result);
}
public override void Update(Microsoft.Kinect.Body body)
{
//check next gesture of the sequence
GesturePartResult result = this.CheckGesturePart(body);
//if result has been positive
if (result == GesturePartResult.Succeded)
{
//increase counter and check whether the limit has been reached (--> fire event)
this.CheckSuccededFlow(body);
}
//if result has been negative
else
{
//check whether maximal amount of frames has been arrived
if (++_frameCounter == MAX_WINDOW_SIZE)
{
//reset counter
this.Reset();
//check this frame again, maybe it might be the start of a new gesture:
//DO NOT USE RECURSITION since this might lead into a stack overflow!
result = this.CheckGesturePart(body);
if (result == GesturePartResult.Succeded)
{
CheckSuccededFlow(body);
// it is not necessary to check the boundaries of the array since we know, that this array has more than 2 fields
}
}
}
}
public Vector3d Update(IList <Body> skeletons, int bodyCount)
{
Vector3d movement = new Vector3d(0.0, 0.0, 0.0);
if (activeBody != null)
{
toolPosition = activeBody.Joints[JointType.HandRight].Position;
double dX = (toolPosition.X - toolPreviousPosition.X);
double dY = (toolPosition.Y - toolPreviousPosition.Y);
double dZ = (toolPosition.Z - toolPreviousPosition.Z);
double distance = Math.Sqrt(dX * dX + dY * dY + dZ * dZ);
if (distance > ROTATION_COMMAND_THRESHOLD)
{
toolPreviousPosition = toolPosition;
movement = new Vector3d(dX, dY, dZ);
}
if (activeBody.HandRightState != HandState.Closed)
{
activeBody = null;
//Application.DocumentManager.MdiActiveDocument.Editor.WriteMessage("DEACTIVATED\n");
}
}
return(movement);
}
void ProcessHandGesture(KBody user, J hand, HandState curState, HandState oldState)
{
var id = user.TrackingId;
var uiInteracting = uiInterState != UIInterState.IDLE && uiInterUserId == id && uiInterHand == hand;
var shoulderPos = user.Joints[J.SpineShoulder].Position;
//filter on old state
if (oldState == HandState.Closed)
{
if (uiInterState == UIInterState.GRABBING_MENU && uiInteracting)
{
uiInterState = UIInterState.IDLE;
if (user.Joints[hand].Position.Y < shoulderPos.Y)
{
interCbWithIdleRefresh(id, InteractionType.RELEASE_MENU_SHOW, 0);
}
else
{
interCbWithIdleRefresh(id, InteractionType.RELEASE_MENU_CANCEL, 0);
}
}
else
{
interCbWithIdleRefresh(id, InteractionType.RELEASE, hand);
}
}
else if (oldState == HandState.Lasso)
{
interCbWithIdleRefresh(id, InteractionType.END_DRAW, hand);
}
//filter on current state
if (curState == HandState.Closed)
{
if (uiInterState == UIInterState.PEEKING_MENU && uiInteracting)
{
uiInterState = UIInterState.GRABBING_MENU;
interCbWithIdleRefresh(id, InteractionType.GRAB_MENU, hand);
}
else
{
interCbWithIdleRefresh(id, InteractionType.GRAB, hand);
}
}
else if (curState == HandState.Lasso)
{
interCbWithIdleRefresh(id, InteractionType.BEGIN_DRAW, hand);
}
}
/// <summary>
/// Constructs a body adapter from a kinect sdk body
/// </summary>
/// <param name="body">Body from Kinect SDK</param>
public KinectBody(Microsoft.Kinect.Body body)
{
this.clippedEdges = body.ClippedEdges;
this.handLeftConfidence = body.HandLeftConfidence;
this.handLeftState = body.HandLeftState;
this.handRightConfidence = body.HandRightConfidence;
this.handRightState = body.HandRightState;
this.isRestricted = body.IsRestricted;
this.isTracked = body.IsTracked;
this.jointOrientations = body.JointOrientations;
this.joints = body.Joints;
this.lean = body.Lean;
this.leanTrackingState = body.LeanTrackingState;
this.trackingId = body.TrackingId;
}
// This event is fired when a tracking is lost for a
// body tracked by HDFace Tracker
private void HdFaceSource_TrackingIdLost(
object sender, TrackingIdLostEventArgs e
)
{
var lostTrackingID = e.TrackingId;
if (_currentTrackingId == lostTrackingID)
{
_currentTrackingId = 0;
_currentTrackedBody = null;
if (_faceModelBuilder != null)
{
_faceModelBuilder.Dispose();
_faceModelBuilder = null;
}
_hdFaceFrameSource.TrackingId = 0;
}
}
// This event fires when a BodyFrame is ready for consumption
private void BodyReader_FrameArrived(
object sender, BodyFrameArrivedEventArgs e
)
{
CheckOnBuilderStatus();
var frameReference = e.FrameReference;
using (var frame = frameReference.AcquireFrame())
{
if (frame == null)
{
// We might miss the chance to acquire the frame,
// it will be null if it's missed
return;
}
if (_currentTrackedBody != null)
{
_currentTrackedBody =
FindBodyWithTrackingId(frame, _currentTrackingId);
if (_currentTrackedBody != null)
{
return;
}
}
var selectedBody = FindClosestBody(frame);
if (selectedBody == null)
{
return;
}
_currentTrackedBody = selectedBody;
_currentTrackingId = selectedBody.TrackingId;
_hdFaceFrameSource.TrackingId = _currentTrackingId;
}
}
public bool IsActive(IList <Body> skeletons, int bodyCount)
{
if (activeBody == null && skeletons != null)
{
for (int i = 0; i < bodyCount; i++)
{
Microsoft.Kinect.Body body = skeletons[i];
if (GestureUtils.IsZoomGestureActive(body))
{
activeBody = body;
currentZoom = 1.0;
zoomRightStart = activeBody.Joints[JointType.HandRight].Position.X;
zoomRight = zoomRightStart;
//Application.DocumentManager.MdiActiveDocument.Editor.WriteMessage("ZOOM\n");
break;
}
}
}
return(activeBody != null);
}
public bool IsActive(IList <Body> skeletons, int bodyCount)
{
if (activeBody == null && skeletons != null)
{
for (int i = 0; i < bodyCount; ++i)
{
Microsoft.Kinect.Body body = skeletons[i];
if (GestureUtils.IsOrbitGestureActive(body))
{
activeBody = body;
//Application.DocumentManager.MdiActiveDocument.Editor.WriteMessage("ORBIT\n");
// Record right hand location
toolStartPosition = activeBody.Joints[JointType.HandRight].Position;
toolPreviousPosition = toolStartPosition;
break;
}
}
}
return(activeBody != null);
}
// Find if there is a body tracked with the given trackingId
private static Microsoft.Kinect.Body FindBodyWithTrackingId(
BodyFrame bodyFrame, ulong trackingId
)
{
Microsoft.Kinect.Body result = null;
var bodies = new Microsoft.Kinect.Body[bodyFrame.BodyCount];
bodyFrame.GetAndRefreshBodyData(bodies);
foreach (var body in bodies)
{
if (body.IsTracked)
{
if (body.TrackingId == trackingId)
{
result = body;
break;
}
}
}
return(result);
}
private void AddLinesForSkeleton(
List <Line> lines, Microsoft.Kinect.Body sk, int idx
)
{
// Hard-code lists of connections between joints
var links =
new int[][]
{
// Head to left toe
new int[] { 3, 2, 20, 1, 0, 12, 13, 14, 15 },
// Hips to right toe
new int[] { 0, 16, 17, 18, 19 },
// Left hand to right hand
new int[] { 21, 7, 6, 5, 4, 2, 8, 9, 10, 11, 23 },
// Left thumb to palm
new int[] { 22, 7 },
// Right thumb to palm
new int[] { 24, 11 }
};
// Populate an array of joints
var joints = new Point3dCollection();
for (int i = 0; i < sk.Joints.Count; i++)
{
joints.Add(
PointFromVector(
sk.Joints[(JointType)i].Position, false
)
);
}
// For each path of joints, create a sequence of lines
int limit = sk.Joints.Count - 1;
foreach (int[] link in links)
{
for (int i = 0; i < link.Length - 1; i++)
{
// Only add lines where links are within bounds
// (check needed for seated mode)
int first = link[i],
second = link[i + 1];
if (
isValidJoint(first, limit) &&
isValidJoint(second, limit)
)
{
// Line from this vertex to the next
var ln = new Line(joints[first], joints[second]);
// Set the color to distinguish between skeletons
ln.ColorIndex = idx;
// Make tracked skeletons bolder
ln.LineWeight =
(sk.IsTracked?
LineWeight.LineWeight050 :
LineWeight.LineWeight000
);
lines.Add(ln);
}
}
}
}
void DetectEvent(KBody user)
{
var id = user.TrackingId;
var oldHands = usersHands[id];
var now = DateTime.Now;
var clippedEdges = (user.ClippedEdges & (FrameEdges.Right | FrameEdges.Left | FrameEdges.Top)) != 0;
var lastLeftEventElapsed = now - oldHands.LeftChangeTime;
var lastRightEventElapsed = now - oldHands.RightChangeTime;
var topHeadPos = user.Joints[J.Head].Position;
var spineMidPos = user.Joints[J.SpineMid].Position;
var leftCoord = CameraPointToScreen(user.Joints[J.HandLeft].Position);
var rightCoord = CameraPointToScreen(user.Joints[J.HandRight].Position);
var leftWristPos = user.Joints[J.WristLeft].Position;
var rightWristPos = user.Joints[J.WristRight].Position;
var leftHandTracked = user.Joints[J.HandLeft].TrackingState == TrackingState.Tracked;
var rightHandTracked = user.Joints[J.HandRight].TrackingState == TrackingState.Tracked;
var leftEngaged = leftHandTracked && leftWristPos.Y > spineMidPos.Y + ENGAGED_SPINE_OFFSET;
var rightEngaged = rightHandTracked && rightWristPos.Y > spineMidPos.Y + ENGAGED_SPINE_OFFSET;
//Hand shape gestures:
//both hands logic:
if (lastLeftEventElapsed > ANTI_SPAM_SPAN || lastRightEventElapsed > ANTI_SPAM_SPAN)
{
var leftClosed = user.HandLeftState == HandState.Closed;
var rightClosed = user.HandRightState == HandState.Closed;
var oldLeftClosed = oldHands.LeftState == HandState.Closed;
var oldRightClosed = oldHands.RightState == HandState.Closed;
if (leftEngaged && rightEngaged && leftClosed && rightClosed &&
(!oldLeftClosed || !oldRightClosed))
{
interCbWithIdleRefresh(id, InteractionType.BEGIN_CREATING_OBJECT, 0);
}
else if (oldLeftClosed && oldRightClosed &&
(!leftClosed || !rightClosed))
{
interCbWithIdleRefresh(id, InteractionType.FINISH_CREATING_OBJECT, 0);
}
// old hand state is updated below
}
//left hand logic:
if (lastLeftEventElapsed > ANTI_SPAM_SPAN)
{
if (user.HandLeftState == HandState.Unknown || user.HandLeftState == HandState.NotTracked)
{
//hand gesture expired
if (oldHands.LeftState != HandState.Unknown &&
now - oldHands.LeftChangeTime > EXPIRE_STATE_SPAN)
{
ProcessHandGesture(user, J.HandLeft, user.HandLeftState, oldHands.LeftState);
oldHands.LeftState = HandState.Unknown;
}
}
else if (user.HandLeftState != oldHands.LeftState &&
(user.HandLeftState != HandState.Lasso || leftEngaged))
{
ProcessHandGesture(user, J.HandLeft, user.HandLeftState, oldHands.LeftState);
oldHands.LeftState = user.HandLeftState;
oldHands.LeftChangeTime = now;
}
}
//right hand logic:
if (lastRightEventElapsed > ANTI_SPAM_SPAN)
{
if (user.HandRightState == HandState.Unknown || user.HandRightState == HandState.NotTracked)
{
//hand gesture expired
if (oldHands.RightState != HandState.Unknown &&
now - oldHands.RightChangeTime > EXPIRE_STATE_SPAN)
{
ProcessHandGesture(user, J.HandRight, user.HandRightState, oldHands.RightState);
oldHands.RightState = HandState.Unknown;
}
}
else if (user.HandRightState != oldHands.RightState &&
(user.HandRightState != HandState.Lasso || rightEngaged))
{
ProcessHandGesture(user, J.HandRight, user.HandRightState, oldHands.RightState);
oldHands.RightState = user.HandRightState;
oldHands.RightChangeTime = now;
}
}
if (id == uiInterUserId)
{
// menu peeking gestures:
//left hand logic:
if (leftEngaged && !clippedEdges &&
leftWristPos.Y > topHeadPos.Y && user.HandLeftState == HandState.Open)
{
if (uiInterState == UIInterState.IDLE)
{
uiInterState = UIInterState.PEEKING_MENU;
uiInterHand = J.HandLeft;
interCbWithIdleRefresh(id, InteractionType.PEEK_MENU, J.HandLeft);
}
}
else if (uiInterState == UIInterState.PEEKING_MENU && uiInterHand == J.HandLeft)
{
uiInterState = UIInterState.IDLE;
interCbWithIdleRefresh(id, InteractionType.CANCEL_PEEK_MENU, J.HandLeft);
}
//right hand logic:
if (rightEngaged && !clippedEdges &&
rightWristPos.Y > topHeadPos.Y && user.HandRightState == HandState.Open)
{
if (uiInterState == UIInterState.IDLE)
{
uiInterState = UIInterState.PEEKING_MENU;
uiInterHand = J.HandRight;
interCbWithIdleRefresh(id, InteractionType.PEEK_MENU, J.HandRight);
}
}
else if (uiInterState == UIInterState.PEEKING_MENU && uiInterHand == J.HandRight)
{
uiInterState = UIInterState.IDLE;
interCbWithIdleRefresh(id, InteractionType.CANCEL_PEEK_MENU, J.HandRight);
}
// Margin reaching logic:
//left
if (leftHandTracked && (leftCoord.X < gameSpace.Left ||
(user.ClippedEdges & FrameEdges.Left) != 0))
{
if (leftEngaged && uiInterState == UIInterState.IDLE) // put in nested if to allow keeping margin interaction if hand is lowered
{
uiInterState = UIInterState.REACHING_MARGIN;
uiInterHand = J.HandLeft;
interCbWithIdleRefresh(id, InteractionType.BEGIN_REACH_MARGIN, J.HandLeft);
}
}
else if (uiInterState == UIInterState.REACHING_MARGIN && uiInterHand == J.HandLeft)
{
uiInterState = UIInterState.IDLE;
interCbWithIdleRefresh(id, InteractionType.END_REACH_MARGIN, J.HandLeft);
}
//right
if (rightHandTracked && (rightCoord.X > gameSpace.Right ||
(user.ClippedEdges & FrameEdges.Right) != 0))
{
if (rightEngaged && uiInterState == UIInterState.IDLE)
{
uiInterState = UIInterState.REACHING_MARGIN;
uiInterHand = J.HandRight;
interCbWithIdleRefresh(id, InteractionType.BEGIN_REACH_MARGIN, J.HandRight);
}
}
else if (uiInterState == UIInterState.REACHING_MARGIN && uiInterHand == J.HandRight)
{
uiInterState = UIInterState.IDLE;
interCbWithIdleRefresh(id, InteractionType.END_REACH_MARGIN, J.HandRight);
}
}
}
