static private OpenNI.Point3D Change(DepthMetaData depthMD, int[,] backgroundDepthMD)
{
OpenNI.Point3D newF = new OpenNI.Point3D(0, 0, 0);
bool skip = false;
int checkUp = 0;
for (int j = depthMD.FullYRes - 10; 10 < j; j--)
{
for (int i = 0; depthMD.FullXRes - 40 > i; i++)
{
if (Math.Abs(depthMD[i, j] - backgroundDepthMD[i, j]) > 50)
{
checkUp = j - 50;
if (checkUp >= depthMD.FullYRes || checkUp <= 0)
{
skip = true;
}
if (skip == false && (Math.Abs(depthMD[i, checkUp] - backgroundDepthMD[i, checkUp]) > 50))
{
//Console.WriteLine("change at {0},{1} size {2}", i, j, Math.Abs(depthMD[i, checkUp] - backgroundDepthMD[i, checkUp]));
newF = new OpenNI.Point3D(i, j, depthMD[i, j]);
j = 9; i = depthMD.FullXRes;
}
skip = false;
}
}
}
return(newF);
}
public HandTouchingFOVEdgeEventArgs(UserID id, Point3D position, float time, Direction dir)
{
this.id = id;
this.position = position;
this.time = time;
this.dir = dir;
}
/// <summary>
/// Substract point1 from point2 and creates a new point.
/// </summary>
/// <param name="point1"></param>
/// <param name="point2"></param>
/// <returns>Point2 - point1</returns>
public static Point3D CreateDirectionVector(Point3D point1, Point3D point2)
{
Point3D res = new Point3D();
res.X = point2.X - point1.X;
res.Y = point2.Y - point1.Y;
res.Z = point2.Z - point1.Z;
return res;
}
static public float Distance(Plane3D wall, OpenNI.Point3D newF)
{
float d, d_u, d_d;
float a = wall.Normal.X; float b = wall.Normal.Y; float c = wall.Normal.Z;
float x_p = wall.Point.X; float y_p = wall.Point.Y; float z_p = wall.Point.Z;
float x_0 = (float)newF.X; float y_0 = (float)newF.Y; float z_0 = (float)newF.Z;
d_u = (float)Math.Abs(a * (x_0 - x_p) + b * (y_0 - y_p) + c * (z_0 - z_p));
d_d = (float)Math.Sqrt(a * a + b * b + c * c);
return(d = d_u / d_d);
}
// こちらのページを参考にしました
// http://net2.cocolog-nifty.com/blog/2009/11/post-8792.html
bool CrossHitCheck(Point3D a1, Point3D a2, Point3D b1, Point3D b2)
{
// 外積:axb = ax*by - ay*bx
// 外積と使用して交差判定を行なう
double v1 = (a2.X - a1.X) * (b1.Y - a1.Y) - (a2.Y - a1.Y) * (b1.X - a1.X);
double v2 = (a2.X - a1.X) * (b2.Y - a1.Y) - (a2.Y - a1.Y) * (b2.X - a1.X);
double m1 = (b2.X - b1.X) * (a1.Y - b1.Y) - (b2.Y - b1.Y) * (a1.X - b1.X);
double m2 = (b2.X - b1.X) * (a2.Y - b1.Y) - (b2.Y - b1.Y) * (a2.X - b1.X);
// +-,-+だったら-値になるのでそれぞれを掛けて確認する
if ((v1 * v2 <= 0) && (m1 * m2 <= 0)) {
return true; // ２つとも左右にあった
}
else {
return false;
}
}
// 骨格の線を引く
void DrawLine(int player, SkeletonJoint eJoint1, SkeletonJoint eJoint2)
{
// 各箇所の座標を取得する
SkeletonJointPosition joint1 = skelton.GetSkeletonJointPosition(player, eJoint1);
SkeletonJointPosition joint2 = skelton.GetSkeletonJointPosition(player, eJoint2);
if (joint1.Confidence < 0.5 || joint2.Confidence < 0.5) {
return;
}
// 現実の座標から画面の座標に変換する
Point3D[] pt = new Point3D[] { joint1.Position, joint2.Position };
pt = depth.ConvertRealWorldToProjective(pt);
Graphics g = Graphics.FromImage(bitmap);
g.DrawLine(pen, pt[0].X, pt[0].Y, pt[1].X, pt[1].Y);
}
/// <summary>
/// Parameterized class constructor
/// </summary>
/// <param name="key">the string that will be used to identify this class object</param>
/// <summary>
/// set method for flag 'isDone'
/// </summary>
/// <summary>
/// getter for the fingerTips array list
/// </summary>
/// <returns>returns a list containing the number of finger tips detected</returns>
/// <summary>
/// invoked by GestureManager to check detection
/// </summary>
/// <param name="clipping">clipping of the depth map containing hand point</param>
/// <returns>true / false if gesture is detected</returns>
public int isDetected(ref byte[,] clipping, Point3D handPoint)
{
isDone = false;
int size = (int)Math.Sqrt(clipping.Length); //get the size of the clip
int center = size / 2; //get the center
Contour<Point> hand = extract_hand(clipping); //extract the hand contour from this clip
MemStorage st = new MemStorage();
MemStorage cmst=new MemStorage();//general purpose storage
if (hand != null) //if hand contour extracted was not null, do this
{
/*Step 1 - Distance calculation of all contour points from center*/
Double[] dis = new Double[hand.Total]; //this array will store the distance from the center of all the contour points
for (int i = 0; i < hand.Total; i++) //this loop will calculate those distances
{
Point pt = new Point();
pt.X = hand[i].X - center;
pt.Y = hand[i].Y - center;
double d = Math.Sqrt(pt.X * pt.X + pt.Y * pt.Y); //calculating distance of a contour point from center
dis[i] = d; //store this value in the array
}
/*Step 2 - determining local maxima and minima points*/
int[] max = new int[20]; //this array will store the local maxima points
int[] min = new int[20]; //this array will store the local minima points
int mincount = 0; //total number of local minima points
int maxcount = 0; //total number of local maxima points
find_peak(dis, 5, ref min, ref max, ref mincount, ref maxcount);//find the local maxima and minima in the clip and store them in the vars declared above
if (mincount <=3 && maxcount <=3)
{
return 2; //close hand
}
else
{
return 1; //open hand
}
}
return 0; //unknown
}
// 腕の交差点を描画する
private void DrawCrossPoint(int player)
{
Point3D[] parts = new Point3D[4] {
GetJointPosition(player, SkeletonJoint.LeftElbow).Position,
GetJointPosition(player, SkeletonJoint.LeftHand).Position,
GetJointPosition(player, SkeletonJoint.RightElbow).Position,
GetJointPosition(player, SkeletonJoint.RightHand).Position,
};
// 腕が交差している場合に、交差している座標を表示する
bool isCross = CrossHitCheck(parts[0], parts[1], parts[2], parts[3]);
if (isCross) {
parts = depth.ConvertRealWorldToProjective(parts);
Point3D point = GetCrossPoint(parts[0], parts[1], parts[2], parts[3]);
Graphics g = Graphics.FromImage(bitmap);
g.DrawEllipse(new Pen(Color.Red, 10),
new Rectangle(new Point((int)point.X, (int)point.Y), new Size(10, 10)));
}
}
public void DrawOrientation(ref WriteableBitmap image, int id, UserGenerator userGenerator, SkeletonJoint joint, Point3D corner)
{
SkeletonJointOrientation orientation = new SkeletonJointOrientation();
SkeletonJointPosition position = new SkeletonJointPosition();
position = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, joint);
orientation = userGenerator.SkeletonCapability.GetSkeletonJointOrientation(id, joint);
if (position.Confidence != 1 && orientation.Confidence != 1)
{
return;
}
SkeletonJointPosition v1 = new SkeletonJointPosition();
SkeletonJointPosition v2 = new SkeletonJointPosition();
v1.Confidence = v2.Confidence = 1;
v1.Position = position.Position;
v2.Position = new Point3D(v1.Position.X + 100 * orientation.X1,
v1.Position.Y + 100 * orientation.Y1,
v1.Position.Z + 100 * orientation.Z1);
DrawTheLine(ref image, ref v1, ref v2);
v1.Position = position.Position;
v2.Position = new Point3D(v1.Position.X + 100 * orientation.X2,
v1.Position.Y + 100 * orientation.Y2,
v1.Position.Z + 100 * orientation.Z2);
DrawTheLine(ref image, ref v1, ref v2);
v1.Position = position.Position;
v2.Position = new Point3D(v1.Position.X + 100 * orientation.X3,
v1.Position.Y + 100 * orientation.Y3,
v1.Position.Z + 100 * orientation.Z3);
DrawTheLine(ref image, ref v1, ref v2);
}
public Point3D[] ConvertRealWorldToProjective(Point3D[] realWorldPoints)
{
Point3D[] projective = new Point3D[realWorldPoints.Length];
ConvertRealWorldToProjective(realWorldPoints, projective);
return projective;
}
public Point3D ConvertProjectiveToRealWorld(Point3D projectivePoint)
{
Point3D[] projectivePoints = new Point3D[1];
projectivePoints[0] = projectivePoint;
return ConvertProjectiveToRealWorld(projectivePoints)[0];
}
private bool FirstAboveSecond(OpenNI.Point3D p0, OpenNI.Point3D p1)
{
return(p0.Y - p1.Y > 0);
}
private void checkUserGestures(int id)
{
SkeletonJointPosition head = new SkeletonJointPosition();
SkeletonJointPosition leftHand = new SkeletonJointPosition();
SkeletonJointPosition rightHand = new SkeletonJointPosition();
SkeletonJointPosition leftShoulder = new SkeletonJointPosition();
SkeletonJointPosition rightShoulder = new SkeletonJointPosition();
head = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, SkeletonJoint.Head);
leftHand = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, SkeletonJoint.LeftHand);
rightHand = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, SkeletonJoint.RightHand);
leftShoulder = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, SkeletonJoint.LeftShoulder);
rightShoulder = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, SkeletonJoint.RightShoulder);
OpenNI.Point3D headPoint = head.Position;
OpenNI.Point3D leftPoint = leftHand.Position;
OpenNI.Point3D rightPoint = rightHand.Position;
Ray3D leftPointer = new Ray3D(headPoint.X, headPoint.Y, headPoint.Z,
leftPoint.X, leftPoint.Y, leftPoint.Z);
Ray3D rightPointer = new Ray3D(headPoint.X, headPoint.Y, headPoint.Z,
rightPoint.X, rightPoint.Y, rightPoint.Z);
lock (animationLock)
{
raysToBeAnimated[0] = leftPointer;
raysToBeAnimated[1] = rightPointer;
}
Console.Write("Left vector: " + leftPointer);
Console.Write("Right vector: " + rightPointer);
if (VerticallyClose(leftPoint, rightPoint))
{
// Handle dimming.
if (FirstAboveSecond(leftPoint, headPoint) && FirstAboveSecond(rightPoint, headPoint))
{
Console.Write("Beginning dim down!");
dimmingDown = true;
dimmingStartY = leftPoint.Y;
}
else if (dimmingDown)
{
int dimPercent = (int)((dimmingStartY - leftPoint.Y) / TOTAL_DIMMING_DISTANCE);
if (dimPercent < 0)
{
dimPercent = 0;
}
else if (dimPercent > 100)
{
dimPercent = 100;
}
Device.dimAllToPercent(dimPercent);
}
else if (VerticallyClose(leftPoint, leftShoulder.Position) &&
VerticallyClose(leftShoulder.Position, rightShoulder.Position) &&
VerticallyClose(rightShoulder.Position, rightPoint))
{
Console.Write("Beginning dim up!");
dimmingUp = true;
dimmingStartY = leftPoint.Y;
}
else if (dimmingUp)
{
int dimPercent = (int)((leftPoint.Y - dimmingStartY) / TOTAL_DIMMING_DISTANCE);
if (dimPercent < 0)
{
dimPercent = 0;
}
else if (dimPercent > 100)
{
dimPercent = 100;
}
Device.dimAllToPercent(dimPercent);
}
}
else
{
// Allow pointing.
dimmingDown = false;
dimmingUp = false;
}
if (!dimmingUp && !dimmingDown)
{
foreach (Device d in devices)
{
if (leftPointer.closeTo(d.position) || rightPointer.closeTo(d.position))
{
d.isInFocus();
}
}
}
Console.Write("=============================");
}
/*void gestureGenerator_GestureRecognized(object sender, GestureRecognizedEventArgs e)
{
Trace.WriteLine("Gesture recognized");
//gestureGenerator.RemoveGesture(e.Gesture);
handsGenerator.StartTracking(e.EndPosition);
}*/
public void StartTrackingAt(Point3D position)
{
handsGenerator.StopTrackingAll();
handsGenerator.StartTracking(position);
}
//Unused ..
void smoothenCursorMovement(Point3D updatedhandPoint,HandPointContact hdc)
{
/* if (is_steady == 1)
{
if (steady_counter > 10)
{
}
is_push_allow_counter = 0;
is_push_allow = 1;
is_steady = 0;
steady_counter++;
}*/
System.Windows.Point center = hdc.OriginPoint;
int deskHeight = scrHeight;
int deskWidth = scrWidth;
int h_x = 0;
int h_y = 0;
double power = 1.7;
PointStatus pt = pointCollections[hdc.Id];
h_x = (int)(updatedhandPoint.X - (center.X - 100));
h_y = (int)(updatedhandPoint.Y - (center.Y - 100));
if (h_x < 0) h_x = 0;
if (h_y < 0) h_y = 0;
int x = 0;
int y = 0;
x = h_x * deskWidth / 200;
y = h_y * deskHeight / 200;
if (is_steady == 1)
{
// Console.WriteLine("Steady...");
}
/* if (pt.is_non_steady == true)
{
double diffx = updatedhandPoint.X - hdc.Position.X;
double diffy = updatedhandPoint.Y - hdc.Position.Y;
if (Math.Abs(diffx) < 5 && Math.Abs(diffy) < 5)
{
return;
}
else
{
pt.is_non_steady = false;
}
}*/
hdc.RowPoint = updatedhandPoint;
/* if (pt.is_non_steady == true )
{
pt.nonsteady_counter++;
// System.Console.WriteLine(pt.nonsteady_counter);
// pt.SetColor(Brushes.BlueViolet);
if (pt.nonsteady_counter > 10) //stop looking for gesture
{
pt.nonsteady_counter = 0;
// pt.gesture_start = false;
pt.is_non_steady = false;
//System.Console.WriteLine("Grab Session Ended");
if (pt.is_clicked == true)
{
pt.SetColor(Brushes.Red);
}
else
{
pt.SetColor(Brushes.Green);
}
}
if(pt.nonsteady_counter<5)
{
return;
}
if (pt.nonsteady_counter > 7 && pt.nonsteady_counter < 10)
{
x = (x + pt.Location.X )/ 2;
y = (y + pt.Location.Y )/ 2;
}
}*/
/* clipHandFromDepthMap(updatedhandPoint);
if (is_steady == 1)
{
}
int status = openpalm.isDetected(clipping, updatedhandPoint);
if (status == 1)
{
//System.Console.WriteLine("open Palm");
}
else if (status == 2)
{
// System.Console.WriteLine("Close Plam");
}
else
{
System.Console.WriteLine("unknown");
}*/
double avgx = x;
double avgy = y;
pt.Location = new System.Drawing.Point((int)avgx, (int)avgy);
if (hdc.State == Multitouch.Contracts.ContactState.New || hdc.State == Multitouch.Contracts.ContactState.Moved)
{
hdc.Update((int)avgx, (int)avgy, Multitouch.Contracts.ContactState.Moved);
inputProvider.EnqueueContact(hdc, Multitouch.Contracts.ContactState.Moved);
//System.Console.WriteLine("Moving..");
//pt.SetColor(Brushes.Red);
}
// x = ((int)((Math.Pow(h_x, power) * (deskWidth )) / Math.Pow(200, power)));
// y = ((int)((Math.Pow(h_y, power) * (deskHeight)) / Math.Pow(200, power)));
/* if (h_x < change_point)
{
x = ((int)((Math.Pow(h_x, power) * (deskWidth*2)) / Math.Pow(200, power)));
}
else
{
x = ((int)((Math.Pow(h_x, (1/power)) * (deskWidth)) / Math.Pow(200, (1/power))));
}
if (h_y < change_point)
{
y = ((int)((Math.Pow(h_y, power) * (deskHeight)*2) / Math.Pow(200, power)));
}
else
{
y = ((int)((Math.Pow(h_y,(1/ power)) * (deskHeight)) / Math.Pow(200, (1/power))));
}*/
// Do not delete
/*
double avgx = x;
double avgy = y;
if (is_push_allow == 1 & is_push==0)
{
if (is_push_allow_counter > 3)
{
is_push_allow = 0;
//flrouter.ActiveListener = null;
if (hdc.State == Multitouch.Contracts.ContactState.Removed)
{
pt.SetColor(Brushes.Green);
}
else
{
pt.SetColor(Brushes.Red);
}
}
is_push_allow_counter++;
return;
}
if (is_push == 1 && is_push_stable==0)
{
return;
}
hdc.RowPoint = updatedhandPoint;
pt.Location = new System.Drawing.Point((int)avgx, (int)avgy);
//bool status = openpalm.isDetected(clipping, updatedhandPoint);
if (hdc.State == Multitouch.Contracts.ContactState.New || hdc.State == Multitouch.Contracts.ContactState.Moved)
{
hdc.Update((int)avgx, (int)avgy, Multitouch.Contracts.ContactState.Moved);
inputProvider.EnqueueContact(hdc, Multitouch.Contracts.ContactState.Moved);
//System.Console.WriteLine("Moving..");
//pt.SetColor(Brushes.Red);
}
*/
}
void pointCtrl_PointUpdate(object sender, HandEventArgs e)
{
lock (this)
{
Point3D updatedhandPoint = depthGen.ConvertRealWorldToProjective(e.Hand.Position);
updatedhandPoint = e.Hand.Position;
updatedhandPoint.Y = -updatedhandPoint.Y;
// Console.WriteLine("x:"+ updatedhandPoint.X +" y:"+updatedhandPoint.Y );
handPoint = updatedhandPoint;
for (int i = 0; i < HandPointBuffer.Count; i++)
{
HandPointContact hdc = HandPointBuffer[i] as HandPointContact;
if (hdc.Id == e.Hand.ID)
{
relativemotion(updatedhandPoint, hdc);
break;
}
}
}
}
private void clipHandFromDepthMap(Point3D HandPoint)
{
clipping = new byte[clipSize, clipSize]; //initialize the clipping matrix
int xStart = (int)HandPoint.X - clipSize / 2; //starting x coordinate of the clip region
int yStart = (int)HandPoint.Y - clipSize / 2; //starting y coordinate of the clip region
int xEnd = (int)HandPoint.X + clipSize / 2; //ending x coordinate of the clip region
int yEnd = (int)HandPoint.Y + clipSize / 2; //ending y coordinate of the clip region
int depthAtPoint = (int)HandPoint.Z; //save the depth of the hand point
int deviationDepth = 50; //permissible distance in mm ahead/behind the hand point
int left = 0, right = xRes; //boundary along x
int top = 0, bottom = yRes; //boundary along y
/*
*the loop below scans the depth map from the starting (x,y) coords to the ending (x,y) coords and thresholds each
*point within this window based on its depth. If the depth of this point is within a permissible distance of the hand
*point, then it is saved, else it is discarded.
*the boundary conditions are observed and only points within the boundary of the 640 x 480 are considered. Sometimes, if the hand
* point is near the edges, the clipping region will extend outside the boundaries. In this case only the points which lie in the clipping
* area and are within the boundary are taken for thresholding.
*/
for (int j = yStart; j < yEnd; j++)
{
for (int i = xStart; i < xEnd; i++)
{
byte valueToSet = 0;
//boundary condition check made here. The point being considered must be within the 640x480 boundary
if ((i >= left && i < right) && (j >= top && j < bottom))
{
int depth = depthMeta[i, j]; //read the depth at this point
/*
* this point (i,j) is within the boundary, so lets check if its within the permissible depth.
* if yes, save it as a bright spot (MAX_COLOR)
*/
if ((depth < depthAtPoint + deviationDepth) && (depth > depthAtPoint - deviationDepth))
valueToSet = (byte)255;
}
//the if clause above will help us decide the value of the point (either 0 or 255), now just fill the
//clip matrix with this value
clipping[i - xStart, j - yStart] = valueToSet;
}
}
}
public void Initialize()
{
string SAMPLE_XML_FILE = @"C:\Users\blub\Desktop\MusicWall2\KinectLibrary\KinectLibrary\bin\Release\SamplesConfig.xml";
context = Context.CreateFromXmlFile(SAMPLE_XML_FILE, out scriptNode);
scene = new SceneAnalyzer(context);
// DepthGenerator
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null)
{
//Console.WriteLine("Sample must have a depth generator!");
return;
}
mapMode = depth.MapOutputMode;
xRes = (int)mapMode.XRes;
yRes = (int)mapMode.YRes;
backgroundDepthMD = new int[xRes, yRes];
while (true)
{
context.WaitOneUpdateAll(depth);
depth.GetMetaData(depthMD);
// SceneAnalyzer
if (depthMD.FrameID <= loadRuns)
{
Background(depthMD, backgroundDepthMD, depthMD.FullXRes, depthMD.FullYRes, loadRuns);
//if (depthMD.FrameID == 1)
// Console.WriteLine("loading background data... ", depthMD.FrameID * 10);
//Console.Write(" . ", (double)depthMD.FrameID / loadRuns * 100);
centerpointDepth = centerpointDepth + depthMD[(int)mapMode.XRes / 2, (int)mapMode.YRes / 2];
if (depthMD.FrameID == loadRuns)
{
centerpointDepth = centerpointDepth / loadRuns;
}
}
if (depthMD.FrameID == loadRuns)
{
scene = new SceneAnalyzer(context);
if (scene == null)
{
//Console.WriteLine("Retry!");
}
else
{
wallNorm = scene.Floor.Normal;
wallPoint = scene.Floor.Point;
//Console.WriteLine("\n Wall Normal : {0}, {1}, {2}", wallNorm.X, wallNorm.Y, wallNorm.Z);
//Console.WriteLine(" Wall Point: {0}, {1}, {2}", wallPoint.X, wallPoint.Y, wallPoint.Z);
Vector n1 = new Vector(0, 1);
Vector n2 = new Vector(wallNorm.Y, wallNorm.Z);
Vector n3 = new Vector(wallNorm.X, wallNorm.Z);
angleBetween = (double)Vector.AngleBetween(n1, n2); // need to get the angle for the last axis in degrees
angleBetweenY = (double)Vector.AngleBetween(n1, n3);
//Console.WriteLine(" Angle: {0}", angleBetween);
}
break;
}
}
}
public HandCreateEventArgs(UserID id, Point3D position, float time)
{
this.id = id;
this.position = position;
this.time = time;
}
public Plane3D(Point3D normal, Point3D point)
{
this.vNormal = normal;
this.ptPoint = point;
}
void pointCtrl_PointCreate(object sender, HandEventArgs e)
{
// Console.WriteLine("Created..\n");
handPoint = depthGen.ConvertRealWorldToProjective(e.Hand.Position);
handPoint = e.Hand.Position;
handPoint.Y = -handPoint.Y;
// handPoint = depthGen.ConvertProjectiveToRealWorld(e.Hand.Position);
HandPointContact hdc = new HandPointContact(e.Hand.ID, (int)((handPoint.X * scrWidth) / xRes), (int)(((handPoint.Y) * scrHeight) / yRes), Multitouch.Contracts.ContactState.Removed);
hdc.RowPoint = handPoint;
hdc.prev_RowPoint = handPoint;
hdc.OriginPoint =new System.Windows.Point(hdc.RowPoint.X,hdc.RowPoint.Y);
hdc.timestamp = e.Hand.Time;
// HandPointContact hdc = new HandPointContact(e.Hand.ID, (int)(handPoint.X ), (int)((handPoint.Y) ), Multitouch.Contracts.ContactState.New);
HandPointBuffer.Add(hdc);
for (int i = 0; i < 5; i++)
{
pbuffer[i] = new Point((int)hdc.Position.X,(int)hdc.Position.Y);
point_counter = 1;
}
inputProvider.EnqueueContact(hdc, Multitouch.Contracts.ContactState.Removed);
pointCollections.Add(new PointStatus(hdc));
PointStatus pt = pointCollections[hdc.Id];
Console.WriteLine("Created" + e.Hand.ID.ToString() + " Hello Time:\n" + e.Hand.Time.ToString());
}
public static extern XnStatus xnConvertRealWorldToProjective(XnNodeHandle hInstance, XnUInt32 nCount, Point3D[] aRealWorld, [In][Out] Point3D[] aProjective);
//needs improvement
void relativemotion(Point3D updatedhandPoint, HandPointContact hdc)
{
double diffx = ( updatedhandPoint.X-hdc.RowPoint.X) *(scrWidth/((scrWidth*1)/2)) ;
double diffy = (updatedhandPoint.Y - hdc.RowPoint.Y) * (scrHeight / ((scrHeight*1 )/ 2));
hdc.accelerationx = diffx - hdc.velocityx;
hdc.velocityx += hdc.accelerationx;
hdc.accelerationy = diffy - hdc.velocityy;
hdc.velocityy += hdc.accelerationy;
//double scrdiffx = (((scrWidth/) * Math.Pow(diffx,1.5)) / Math.Pow(50,1.5));
// double scrdiffy = (((scrHeight/4) * Math.Pow(diffy,1.5)) / Math.Pow(50,1.5));
PointStatus pt = pointCollections[hdc.Id];
hdc.RowPoint = updatedhandPoint;
/* if (pt.is_non_steady == true)
{
pt.nonsteady_counter++;
if (pt.nonsteady_counter < 11)
{
pt.Location = new Point((int)(pt.Location.X + hdc.velocityx * (1 - (1 / pt.nonsteady_counter))), (int)(pt.Location.Y + hdc.velocityy * (1 - (1 / pt.nonsteady_counter))));
}
else
{
pt.is_non_steady = false;
pt.nonsteady_counter = 0;
}
}
else
{
pt.Location = new Point((int)(pt.Location.X + hdc.velocityx ), (int)(pt.Location.Y + hdc.velocityy ));
}*/
double xval = pt.Location.X + hdc.velocityx;
double yval = pt.Location.Y + hdc.velocityy;
if (xval < 0)
{
xval = 0;
}
if (yval < 0)
{
yval = 0;
}
pt.Location = new Point((int)(xval), (int)(yval));
if (hdc.State == Multitouch.Contracts.ContactState.New || hdc.State == Multitouch.Contracts.ContactState.Moved)
{
hdc.Update((int)pt.Location.X, (int)pt.Location.Y, Multitouch.Contracts.ContactState.Moved);
inputProvider.EnqueueContact(hdc, Multitouch.Contracts.ContactState.Moved);
//System.Console.WriteLine("Moving..");
//pt.SetColor(Brushes.Red);
}
/*if (pt.is_non_steady == false)
{
grab_gesture(hdc, pt);
}*/
}
void boxes_Update(Point3D p)
{
updated(this, p);
}
void handsGenerator_HandUpdate(object sender, HandUpdateEventArgs e)
{
Trace.WriteLine("Hand updated at " + e.Position.X + ", " + e.Position.Y + ", " + e.Position.Z);
handPosition = new Point3D(e.Position.X + 320, 240 - e.Position.Y, e.Position.Z);
}
public Point3D GetCoM(UserID id)
{
Point3D com = new Point3D();
int status = SafeNativeMethods.xnGetUserCoM(this.InternalObject, id, out com);
WrapperUtils.ThrowOnError(status);
return com;
}
void MyBox_PrimaryPointUpdate(object sender, HandEventArgs e)
{
//Console.WriteLine("Point Updated" + e.Hand.Position.ToString());
this.currentPoint = e.Hand.Position;
Update(e.Hand.Position, "locationupdate");
}
void pointControl_PointUpdate(object sender, HandEventArgs e)
{
Console.WriteLine("Point Updated");
handPoint = DepthGenerator.ConvertRealWorldToProjective(e.Hand.Position);
}
private bool VerticallyClose(OpenNI.Point3D p0, OpenNI.Point3D p1)
{
return(Math.Abs(p0.Y - p1.Y) < MAX_DIMMING_HAND_OFFSET_Y);
}
void handsGenerator_HandUpdate(object sender, HandUpdateEventArgs e)
{
//
this.shouldDrawHands = true;
//MessageBox.Show("Hand being updated");
List<Point3D> historyList = history[e.UserID];
historyList.Add(e.Position);
while (historyList.Count > historySize)
{
//String text = historyList.ElementAt(0).ToString();
//MessageBox.Show(text);
historyList.RemoveAt(0);
}
history.Remove(e.UserID);
history.Add(e.UserID, historyList);
this.lastPoint = e.Position;
this.lastPalmPoint = convertPoint3D(e.Position);
}
public Point3D[] ConvertProjectiveToRealWorld(Point3D[] projectivePoints)
{
Point3D[] realWorld = new Point3D[projectivePoints.Length];
ConvertProjectiveToRealWorld(projectivePoints, realWorld);
return realWorld;
}
private Point convertPoint3D(Point3D point3D)
{
point3D = depth.ConvertRealWorldToProjective(point3D);
int x = (int)point3D.X;
int y = (int)point3D.Y;
Point point2D = new Point(x, y);
return point2D;
}
public void ConvertRealWorldToProjective(Point3D[] realWorldPoints, Point3D[] projectivePoints)
{
if (projectivePoints.Length < realWorldPoints.Length)
{
throw new ArgumentException("Destination array is too small", "projectivePoints");
}
int status = SafeNativeMethods.xnConvertRealWorldToProjective(this.InternalObject, (uint)realWorldPoints.Length, realWorldPoints, projectivePoints);
WrapperUtils.ThrowOnError(status);
}
public void StartTracking(Point3D position)
{
int status = SafeNativeMethods.xnStartTracking(this.InternalObject, ref position);
WrapperUtils.ThrowOnError(status);
}
public Point3D ConvertRealWorldToProjective(Point3D realWorldPoint)
{
Point3D[] realWorldPoints = new Point3D[1];
realWorldPoints[0] = realWorldPoint;
return ConvertRealWorldToProjective(realWorldPoints)[0];
}
private void InternalHandUpdate(IntPtr hNode, UserID id, ref Point3D position, float fTime, IntPtr pCookie)
{
EventHandler<HandUpdateEventArgs> handlers = this.handUpdateEvent;
if (handlers != null)
handlers(this, new HandUpdateEventArgs(id, position, fTime));
}
