private void initJointsToTrack(FubiUtils.SkeletonJoint center_joint)
{
this.TRACKED_JOINTS = new Dictionary<FubiUtils.SkeletonJoint, Point3D>();
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.FACE_CHIN, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.FACE_FOREHEAD, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.FACE_RIGHT_EAR, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.FACE_LEFT_EAR, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.FACE_NOSE, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.RIGHT_FOOT, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.RIGHT_ANKLE, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.RIGHT_KNEE, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.RIGHT_HIP, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.LEFT_FOOT, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.LEFT_ANKLE, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.LEFT_KNEE, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.LEFT_HIP, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.RIGHT_HAND, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.RIGHT_WRIST, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.RIGHT_ELBOW, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.RIGHT_SHOULDER, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.LEFT_HAND, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.LEFT_WRIST, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.LEFT_ELBOW, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.LEFT_SHOULDER, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.WAIST, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.TORSO, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.NECK, new Point3D());
this.TRACKED_JOINTS.Add(FubiUtils.SkeletonJoint.HEAD, new Point3D());
this.TRACKED_CENTER_JOINT = center_joint;
}
// Called for rendering the gui
void OnGUI()
{
// AA: Position the depth image so the user can see the kinect output
if (!m_disableTrackingImage && (!m_disableTrackingImageWithSwipeMenu || !m_swipeMenuDisplayedLastFrame))
{
// Debug image
GUI.depth = -4;
GUI.DrawTexture(new Rect(25, Screen.height - m_yRes / m_factor - 25, m_xRes / m_factor, m_yRes / m_factor), m_depthMapTexture);
//GUI.DrawTexture(new Rect(Screen.width-m_xRes/m_factor, Screen.height-m_yRes/m_factor, m_xRes / m_factor, m_yRes / m_factor), m_depthMapTexture);
}
//AA: add the GUI elements
int shift = 42;
GUI.Box(new Rect(5 + shift, 25, Screen.width / 3 - 130, Screen.height - 50), "FILTERS");
m_bUseSimpleAverage = GUI.Toggle(new Rect(45 + shift, 50, 200, 30), m_bUseSimpleAverage, " SIMPLE AVERAGE 10");
m_bUseMovingAverage = GUI.Toggle(new Rect(45 + shift, 90, 200, 30), m_bUseMovingAverage, " MOVING AVERAGE");
m_bUseSimpleAverage5 = GUI.Toggle(new Rect(45 + shift, 130, 200, 30), m_bUseSimpleAverage5, " SIMPLE AVERAGE 5");
m_bDblMovingAverage = GUI.Toggle(new Rect(45 + shift, 170, 200, 30), m_bDblMovingAverage, " DOUBLE MOV AVERAGE");
m_bUseExpSmoothing = GUI.Toggle(new Rect(45 + shift, 210, 200, 30), m_bUseExpSmoothing, " EXP SMOOTHING");
m_bUseDblExpSmoothing = GUI.Toggle(new Rect(45 + shift, 250, 200, 30), m_bUseDblExpSmoothing, " DOUBLE EXP SMOOTHING");
m_bUseAdaptive = GUI.Toggle(new Rect(45 + shift, 290, 200, 30), m_bUseAdaptive, " ADAPTIVE DBL EXP");
m_bUseMedian = GUI.Toggle(new Rect(45 + shift, 330, 200, 30), m_bUseMedian, " MEDIAN");
m_bUseCombination1 = GUI.Toggle(new Rect(45 + shift, 370, 200, 30), m_bUseCombination1, " SIMPLE AVG + Median");
m_bUseCombination2 = GUI.Toggle(new Rect(45 + shift, 410, 200, 30), m_bUseCombination2, " DBL MOV AVG + Median");
m_bUseNone = GUI.Toggle(new Rect(45 + shift, 450, 200, 30), m_bUseNone, " NONE");
if (GUI.Button(new Rect(50 + shift, Screen.height - 75, 150, 30), "Clear"))
{
WriteableAreaResize();
fv.DrawCircle();
}
// If some button has been pressed OR this is the first exection
if (GUI.changed)
{
LoadFilters();
if (fm.filters.Count == 1)
{
m_principalCursor = 0;
}
}
int count = 0;
if (m_bUseSimpleAverage)
{
GUI.Label(new Rect(15 + shift, 45, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseMovingAverage)
{
GUI.Label(new Rect(15 + shift, 85, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseSimpleAverage5)
{
GUI.Label(new Rect(15 + shift, 125, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bDblMovingAverage)
{
GUI.Label(new Rect(15 + shift, 165, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseExpSmoothing)
{
GUI.Label(new Rect(15 + shift, 205, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseDblExpSmoothing)
{
GUI.Label(new Rect(15 + shift, 245, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseAdaptive)
{
GUI.Label(new Rect(15 + shift, 285, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseMedian)
{
GUI.Label(new Rect(15 + shift, 325, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseCombination1)
{
GUI.Label(new Rect(15 + shift, 365, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseCombination2)
{
GUI.Label(new Rect(15 + shift, 405, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (m_bUseNone)
{
GUI.Label(new Rect(15 + shift, 445, 30, 30), m_colorTextureDictionary[fm.colors[count].ToString()]);
count++;
}
if (prevScreenWidth != Screen.width || prevScreenHeight != Screen.height)
{
// Resize writeable area, redraw the circle
WriteableAreaResize();
prevScreenWidth = Screen.width;
prevScreenHeight = Screen.height;
fv.DrawCircle();
}
//AA: Draw the writeable area
fv.Apply();
for (int i = 0; i < fv.m_filterOutputTexture.Count; i++)
{
GUI.DrawTexture(new Rect(fv.filterOutputLocX, fv.filterOutputLocY, fv.filterOutputWidth, fv.filterOutputHeight), fv.m_filterOutputTexture[i]);
}
// Cursor
m_gotNewFubiCoordinates = false;
if (Fubi.isInitialized())
{
// Take closest user
uint userID = Fubi.getClosestUserID();
if (userID != m_currentUser)
{
m_currentUser = userID;
m_lastCalibrationSucceded = false;
}
if (userID > 0)
{
if (!m_lastCalibrationSucceded)
{
m_lastCalibrationSucceded = calibrateCursorMapping(m_currentUser);
}
FubiUtils.SkeletonJoint joint = FubiUtils.SkeletonJoint.RIGHT_HAND;
FubiUtils.SkeletonJoint relJoint = FubiUtils.SkeletonJoint.RIGHT_SHOULDER;
// Get hand and shoulder position and check their confidence
double timeStamp;
float handX, handY, handZ, confidence;
Fubi.getCurrentSkeletonJointPosition(userID, joint, out handX, out handY, out handZ, out confidence, out timeStamp);
if (confidence > 0.5f)
{
float relX, relY, relZ;
Fubi.getCurrentSkeletonJointPosition(userID, relJoint, out relX, out relY, out relZ, out confidence, out timeStamp);
if (confidence > 0.5f)
{
// AA: Filtering should happen here for the hand and relative joints separately
// If true, use the smoothed joints for calculating screen coordinates
fm.UpdateJointFilters(new Vector3(handX, handY, handZ), new Vector3(relX, relY, relZ));
for (int i = 0; i < fm.filters.Count; i++)
{
if (m_bUseJointFiltering)
{
//Debug.Log ("Prehand " + new Vector3(handX, handY, handZ) + " relJoint " + new Vector3(relX, relY, relZ));
Vector3 handPos = fm.joints[i]; // filter.Update(new Vector3(handX, handY, handZ), Filter.JOINT_TYPE.JOINT);
Vector3 relJointPos = fm.relativeJoints[i]; //filter.Update(new Vector3(relX, relY, relZ), Filter.JOINT_TYPE.RELATIVEJOINT);
//Debug.Log ("hand " + handPos + " relJoint " + relJointPos);
handZ = handPos.z;
handY = handPos.y;
handX = handPos.x;
relZ = relJointPos.z;
relY = relJointPos.y;
relX = relJointPos.x;
m_relativeCursorPosition = fm.relativeCursorPosition[i];
}
// AA: End
// Take relative coordinates
float zDiff = handZ - relZ;
float yDiff = handY - relY;
float xDiff = handX - relX;
// Check if hand is enough in front of shoulder
if ((yDiff > 0 && zDiff < -150.0f) || (Mathf.Abs(xDiff) > 150.0f && zDiff < -175.0f) || zDiff < -225.0f)
{
// Now get the possible cursor position
// Convert to screen coordinates
float newX, newY;
float mapX = m_mapping.x;
newX = (xDiff - mapX) / m_mapping.width;
newY = (m_mapping.y - yDiff) / m_mapping.height; // Flip y for the screen coordinates
// Filtering
// New coordinate is weighted more if it represents a longer distance change
// This should reduce the lagging of the cursor on higher distances, but still filter out small jittering
float changeX = newX - m_relativeCursorPosition.x;
float changeY = newY - m_relativeCursorPosition.y;
if (changeX != 0 || changeY != 0 && timeStamp != m_timeStamp)
{
float changeLength = Mathf.Sqrt(changeX * changeX + changeY * changeY);
float filterFactor = changeLength; //Mathf.Sqrt(changeLength);
if (filterFactor > 1.0f)
{
filterFactor = 1.0f;
}
// Apply the tracking to the current position with the given filter factor
// AA: Filtering should happen here for joint-to-relativejoint (VECTOR) filtering
// AA: filtering code
Vector2 tempNew = new Vector2(newX, newY);
fm.UpdateVectorFilters(m_relativeCursorPosition, tempNew, filterFactor);
// If true, use the calculated factor for smoothing, else just use the new
if (m_bUseVectorFiltering)
{
m_relativeCursorPosition = fm.vectors[i]; //filter.Update(m_relativeCursorPosition, tempNew, filterFactor);
}
else // Just give equal weight to both
{
m_relativeCursorPosition = filter.Update(m_relativeCursorPosition, tempNew, 0.5f);
}
// AA: Calculate all filters
// fm.UpdateVectorFilters(m_relativeCursorPosition, tempNew, filterFactor);
m_timeStamp = timeStamp;
// Send it, but only if it is more or less within the screen
if (m_relativeCursorPosition.x > -0.1f && m_relativeCursorPosition.x < 1.1f &&
m_relativeCursorPosition.y > -0.1f && m_relativeCursorPosition.y < 1.1f)
{
MoveMouse(m_relativeCursorPosition.x, m_relativeCursorPosition.y, i);
// Each filter must store it's own value of relative position, absolute and previous absolute positions
fm.relativeCursorPosition[i] = m_relativeCursorPosition;
fm.absPixelPosition[i] = m_absPixelPosition;
fm.prevAbsPixelPosition[i] = m_previousAbsPixelPosition;
DrawFilterOutputs(i);
m_gotNewFubiCoordinates = true;
m_lastCursorChangeDoneByFubi = true;
}
}
}
}
}
}
}
}
// AA: FUBI does not move mouse if the confidence value is too low
if (!m_gotNewFubiCoordinates) // AA: this only executes when input is coming from mouse
{
// Got no mouse coordinates from fubi this frame
Vector2 mousePos = Input.mousePosition;
// Only move mouse if it wasn't changed by fubi the last time or or it really has changed
if (!m_lastCursorChangeDoneByFubi || mousePos != m_lastMousePos)
{
//AA: Old code for cursor placement
m_relativeCursorPosition.x = mousePos.x / (float)Screen.width;
m_relativeCursorPosition.y = 1.0f - (mousePos.y / (float)Screen.height);
// Get mouse X and Y position as a percentage of screen width and height
MoveActualMouse(m_relativeCursorPosition.x, m_relativeCursorPosition.y, true);
m_lastMousePos = mousePos;
m_lastCursorChangeDoneByFubi = false;
}
}
}
protected string getJointName(FubiUtils.SkeletonJoint jointID)
{
return(UseHand ? FubiUtils.getHandJointName((FubiUtils.SkeletonHandJoint)jointID) : FubiUtils.getJointName(jointID));
}
public void applyHandPositionToMouse(uint userID, out float x, out float y, bool leftHand = false)
{
x = float.NaN;
y = float.NaN;
float handX, handY, handZ, confidence;
FubiUtils.SkeletonJoint joint = FubiUtils.SkeletonJoint.RIGHT_HAND;
FubiUtils.SkeletonJoint relJoint = FubiUtils.SkeletonJoint.RIGHT_SHOULDER;
if (leftHand)
{
joint = FubiUtils.SkeletonJoint.LEFT_HAND;
relJoint = FubiUtils.SkeletonJoint.LEFT_SHOULDER;
}
double timeStamp;
Fubi.getCurrentSkeletonJointPosition(userID, joint, out handX, out handY, out handZ, out confidence, out timeStamp);
if (confidence > 0.5f)
{
float relX, relY, relZ;
Fubi.getCurrentSkeletonJointPosition(userID, relJoint, out relX, out relY, out relZ, out confidence, out timeStamp);
if (confidence > 0.5f)
{
// Take relative coordinates
float rawX = handX - relX;
float rawY = handY - relY;
// Convert to screen coordinates
float newX, newY;
float mapX = m_mapX;
if (leftHand)
{
// Mirror x area for left hand
mapX = -m_mapX - m_mapW;
}
newX = (rawX - mapX) / m_mapW;
newY = (m_mapY - rawY) / m_mapH; // Flip y for the screen coordinates
// Filtering
// New coordinate is weighted more if it represents a longer distance change
// This should reduce the lagging of the cursor on higher distances, but still filter out small jittering
float changeX = newX - m_x;
float changeY = newY - m_y;
if (changeX != 0 || changeY != 0 && timeStamp != m_timeStamp)
{
double changeLength = Math.Sqrt(changeX * changeX + changeY * changeY);
double changeDur = timeStamp - m_timeStamp;
float filterFactor = (float)Math.Sqrt(changeLength) * m_smoothingFactor;
if (filterFactor > 1.0f)
{
filterFactor = 1.0f;
}
// Apply the tracking to the current position with the given filter factor
m_x = (1.0f - filterFactor) * m_x + filterFactor * newX;
m_y = (1.0f - filterFactor) * m_y + filterFactor * newY;
m_timeStamp = timeStamp;
// Send it
MouseSimulator.sendMousePos(m_x, m_y);
x = m_x;
y = m_x;
}
// Check for mouse click
if (Fubi.recognizeGestureOn("mouseClick", userID) == FubiUtils.RecognitionResult.RECOGNIZED ||
Fubi.recognizeGestureOn("mouseClick1", userID) == FubiUtils.RecognitionResult.RECOGNIZED)
{
if (m_timeStamp - m_lastMouseClick > 1)
{
MouseSimulator.sendMouseButton(true, true);
MouseSimulator.sendMouseButton(true, false);
m_lastMouseClick = m_timeStamp;
}
}
}
}
}
public RelativeJoint(FubiUtils.SkeletonJoint main, FubiUtils.SkeletonJoint relative = FubiUtils.SkeletonJoint.NUM_JOINTS)
{
Main = main;
Relative = relative;
}
internal static extern void getSkeletonJointPosition(IntPtr trackingData, FubiUtils.SkeletonJoint joint, out float x, out float y, out float z,
out float confidence, out double timeStamp, [MarshalAs(UnmanagedType.U1)] bool useLocalPositions = false);
internal static extern void getSkeletonJointOrientation(IntPtr trackingData, FubiUtils.SkeletonJoint joint, [MarshalAs(UnmanagedType.LPArray)] float[] mat,
out float confidence, out double timeStamp, [MarshalAs(UnmanagedType.U1)] bool useLocalOrientations = true);
internal static extern UInt32 addFingerCountRecognizer(FubiUtils.SkeletonJoint handJoint,
UInt32 minFingers, UInt32 maxFingers,
Int32 atIndex,
IntPtr name,
float minConfidence,
bool useMedianCalculation);
internal static extern UInt32 addLinearMovementRecognizer(FubiUtils.SkeletonJoint joint, FubiUtils.SkeletonJoint relJoint,
float dirX, float dirY, float dirZ, float minVel, float maxVel,
[MarshalAs(UnmanagedType.U1)] bool useLocalPositions,
int atIndex, IntPtr name, float maxAngleDifference, [MarshalAs(UnmanagedType.U1)] bool useOnlyCorrectDirectionComponent);
internal static extern UInt32 addJointRelationRecognizer(FubiUtils.SkeletonJoint joint, FubiUtils.SkeletonJoint relJoint,
float minX, float minY, float minZ,
float maxX, float maxY, float maxZ,
float minDistance, float maxDistance,
[MarshalAs(UnmanagedType.U1)] bool useLocalPositions,
Int32 atIndex, IntPtr name,
float minConfidence, FubiUtils.BodyMeasurement measuringUnit);
internal static extern bool saveImage(IntPtr fileName, int jpegQuality /*0-100*/,
FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
uint renderOptions = (uint)FubiUtils.RenderOptions.Default,
FubiUtils.DepthImageModification depthModifications = FubiUtils.DepthImageModification.UseHistogram,
UInt32 userId = 0, FubiUtils.SkeletonJoint jointOfInterest = FubiUtils.SkeletonJoint.NUM_JOINTS);
internal static extern void getImage(IntPtr outputImage, FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
uint renderOptions = (uint)FubiUtils.RenderOptions.Default,
FubiUtils.DepthImageModification depthModifications = FubiUtils.DepthImageModification.UseHistogram,
UInt32 userId = 0, FubiUtils.SkeletonJoint jointOfInterest = FubiUtils.SkeletonJoint.NUM_JOINTS);
