/// <summary>
/// returns arbNumber many planes, sliced height wise, which have been averaged, subsampled and clock sorted.
/// </summary>
/// <param name="pc">PointCloud</param>
/// <param name="arbNumber">int</param>
/// <returns>Tuple(List(List(Point3D)),double)</returns>
public static Tuple<List<List<Point3D>>, double> pullAll(PointCloud pc, int arbNumber)
{
double xmin = pc.getxMin();
double xmax = pc.getxMax();
double zmin = pc.getzMin();
double zmax = pc.getzMax();
double[] limits = { xmin, zmin, xmax, zmax };
double ymin = pc.getyMin();
double ymax = pc.getyMax();
double increment = (ymax - ymin) / arbNumber;
List<List<Point3D>> output = new List<List<Point3D>>();
for (double i = ymin + (increment / 2); i <= ymax - (increment / 2); i = i + increment)
{
List<Point3D> plane = pc.getKDTree().getAllPointsAt(i, increment / 2, limits);
plane = SubSampler.averageSubSample(plane, sampleNumber);
plane = PointSorter.clockSort(plane);
output.Add(plane);
}
return Tuple.Create(output,increment);
}
/// <summary>
/// Returns the height of a point cloud in real world measurements, aka metres
/// </summary>
/// <param name="pc">PointCloud</param>
/// <returns>double</returns>
public static double getHeight(PointCloud pc)
{
double ymin = pc.getyMin();
double ymax = pc.getyMax();
double height = ymax - ymin;
height = UnitConvertor.convertPCM(height,1);
return height;
}
public GroupVisualiser(PointCloud pc)
{
//Constructor 1: construct point cloud as a single entity.
mesh = new MeshGeometry3D();
textureCoordinates = new Point[depthFrameHeight * depthFrameWidth];
//get all points from the point cloud
prgbs = pc.getAllPoints();
//resize the depthframe array (for efficiency)
depthFramePoints = new Point3D[prgbs.Length];
}
public List<Tuple<double, double, List<List<Point3D>>>> determineLimb(PointCloud pcdexisting, double weight)
{
//pull in skeleton measures from a temporary file for corbett.parse for now.
kinectInterp = new KinectInterpreter(skeloutline);
Dictionary<String, double[]> jointDepthsStr = new Dictionary<String, double[]>();
//temporary tuple for results
Tuple<double, double, List<List<Point3D>>> T = new Tuple<double, double, List<List<Point3D>>>(0,0,null);
//permanent list of tuples for passing back to coreLoader
List<Tuple<double, double, List<List<Point3D>>>> limbMeasures = new List<Tuple<double,double,List<List<Point3D>>>>();
//Test if we have a kinect otherwise we cannot use coordinate mapper.
if (KinectSensor.KinectSensors.Count > 0)
{
//test if we have already enumerated joint depths, if so, this has followed a recent scan.
if (jointDepths.Count == 0)
{
StreamReader sr = new StreamReader("SKEL.ptemp");
String line;
while ((line = sr.ReadLine()) != null)
{
String[] joint = Regex.Split(line, ":");
String[] positions = Regex.Split(joint[1], ",");
double[] jointPos = { Convert.ToDouble(positions[0]), Convert.ToDouble(positions[1]), Convert.ToDouble(Regex.Split(positions[2], "\n")[0]) };
//convert to depth co-ordinate space
SkeletonPoint sp = new SkeletonPoint();
sp.X = (float)Convert.ToDouble(jointPos[1]);
sp.Y = (float)Convert.ToDouble(jointPos[2]);
sp.Z = (float)Convert.ToDouble(jointPos[0]);
CoordinateMapper cm = new CoordinateMapper(kinectInterp.kinectSensor);
DepthImagePoint dm = cm.MapSkeletonPointToDepthPoint(sp, DepthImageFormat.Resolution640x480Fps30);
//convert x and y co-ords to arbitrary point cloud space
Tuple<double, double, double> convertedPoints = LimbCalculator.convertToPCCoords(dm.X, dm.Y, sp.Z);
double[] jointPos2 = { convertedPoints.Item3, convertedPoints.Item1, convertedPoints.Item2 };
//place back into jointDepths array in terms of depth space.
jointDepthsStr.Add(joint[0], jointPos2);
}
}
else
{
//we have some live skeleton depths, enumerate into strings
foreach(JointType j in jointDepths.Keys) {
jointDepthsStr = new Dictionary<String, double[]>();
jointDepthsStr.Add(j.ToString(),jointDepths[j]);
}
}
for (int limbArea = 1; limbArea <= 8; limbArea++)
{
//pass point cloud and correct bounds to Limb Calculator
//shoulders is first option in list so pass first.
limbMeasures.Add(LimbCalculator.calculateLimbBounds(pcdexisting, jointDepthsStr, limbArea, weight));
}
}
else
{
MessageBoxResult result = System.Windows.MessageBox.Show(this, "You need a Kinect to perform this action.",
"Kinect Sensor Missing", MessageBoxButton.OK, MessageBoxImage.Stop);
}
//change colour of point cloud for limb selection mode
gv.setMaterial();
this.DataContext = gv;
return limbMeasures;
}
public ScanLoader(PointCloud gcloud)
{
InitializeComponent();
System.Diagnostics.Debug.WriteLine("* * GLCLOUD SCANLOADER CALLED");
//wantKinect = false; // nathan changed this
//hide buttons from form
gv = new GroupVisualiser(gcloud);
this.Loaded += new RoutedEventHandler(ScanLoader_Loaded);
//Threading of data context population to speed up model generation.
System.Diagnostics.Debug.WriteLine("Loading model");
this.Dispatcher.Invoke((Action)(() =>
{
gv.preprocess(null);
}));
//Assigned threaded object result to the data context.
this.DataContext = gv;
gCloud = gcloud;
this.hvpcanvas.MouseDown += new MouseButtonEventHandler(hvpcanvas_MouseDown);
System.Diagnostics.Debug.WriteLine("Model loaded");
hitState = 0;
}
/// <summary>
/// Colours all the points in the point cloud based on specified RGB. Sets overall texture colour.
/// </summary>
/// <param name="r">r value</param>
/// <param name="g">g value</param>
/// <param name="g">b value</param>
///
public PointCloud setColour(PointCloud pc, int r, int g, int b)
{
pc.setPoints(pc.rawDepth, r, g, b);
return pc;
}
//method for bernard
public PointCloud getSubRegion(double[] points)
{
//check subregion is actually a sub region
if (points[0] < this.minx)
{
throw new SubRegionOutOfBoundsException("xmin");
}
if (points[1] < this.miny)
{
throw new SubRegionOutOfBoundsException("ymin");
}
if (points[2] < this.minz)
{
throw new SubRegionOutOfBoundsException("zmin");
}
if (points[3] > this.maxx)
{
throw new SubRegionOutOfBoundsException("xmax");
}
if (points[4] > this.maxy)
{
throw new SubRegionOutOfBoundsException("ymax");
}
if (points[5] > this.maxz)
{
throw new SubRegionOutOfBoundsException("zmax");
}
double[] pointMin = { points[0], points[1], points[2] };
double[] pointMax = { points[3], points[4], points[5] };
System.Diagnostics.Debug.WriteLine("Limb Min: " + points[0] + " " + points[1] + " " + points[2]);
System.Diagnostics.Debug.WriteLine("PC Min: " + this.minx + " " + this.miny + " " + this.minz);
System.Diagnostics.Debug.WriteLine("Limb Max: " + points[3] + " " + points[4] + " " + points[5]);
System.Diagnostics.Debug.WriteLine("PC Max: " + this.maxx + " " + this.maxy + " " + this.maxz);
Object[] temp = this.points.range(pointMin, pointMax);
List<Point3D> output = new List<Point3D>();
for (int i = 0; i < temp.Length; i++) {
output.Add(((PointRGB)(temp[i])).point);
}
PointCloud pc = new PointCloud(output);
System.Diagnostics.Debug.WriteLine(pc.getAllPoints().Length);
return pc;
}
/// <summary>
/// Adds an existing point cloud into this point cloud
/// </summary>
/// <param name="pc">The point cloud to add</param>
public void addPointCloud(PointCloud pc)
{
//retrieve the kd tree
KdTree.KDTree kd = pc.getKDTree();
//define a max and min point
//TODO: set these to proper max+min vals from the point cloud object
double[] minPoint = new double[3] { -100, -100, -100 };
double[] maxPoint = new double[3] { 100, 100, 100 };
//retrieve a list of all item in the tree
Object[] points2 = kd.range(minPoint, maxPoint);
//iterate over every point and jam it in this point cloud
foreach (Object element in points2) {
//create k,v pair from data extracted
PARSE.ICP.PointRGB value = (PARSE.ICP.PointRGB)element;
double[] key = new double[3] {value.point.X, value.point.Y, value.point.Z};
//jam the data into the existing kd-tree
int duplicates = 0;
try {
this.points.insert(key, value);
}
catch (KeyDuplicateException) {
//ignore duplicates
duplicates++;
}
//Console.WriteLine("There were " + duplicates + " duplicate keys in the tree");
}
}
public GLLoader(PointCloud pcdl)
{
this.pcdl = pcdl;
InitializeComponent();
this.Loaded += new RoutedEventHandler(GLLoader_Loaded);
}
/// <summary>
/// returns an arbitary number (60) of planes, sliced height wise, which have been averaged, subsampled and clock sorted.
/// </summary>
/// <param name="pc">PointCloud</param>
/// <param name="arbNumber">int</param>
/// <returns>Tuple(List(List(Point3D)),double)</returns>
public static Tuple<List<List<Point3D>>, double> pullAll(PointCloud pc)
{
return PlanePuller.pullAll(pc, planeNumber);
}
/// <summary>
/// returns an arbitary number (60) of planes, sliced height wise, which have been averaged, subsampled and clock sorted.
/// </summary>
/// <param name="pc">PointCloud</param>
/// <param name="arbNumber">int</param>
/// <returns>Tuple(List(List(Point3D)),double)</returns>
public static Tuple <List <List <Point3D> >, double> pullAll(PointCloud pc)
{
return(PlanePuller.pullAll(pc, planeNumber));
}
public static Tuple<double, double, List<List<Point3D>>> calculateLimbBounds(PointCloud pc, Dictionary<String, double[]> jointDepths, int limb, double weight)
{
//Calculate limb bounds based on limb choice
double finalCircum = 0.0;
double numPlanes = 0.0;
Tuple<List<List<Point3D>>, double> T = new Tuple<List<List<Point3D>>, double>(null, 0);
//premodify limb circum factors with discovered weight
if (weight < 60)
{
ArmFactorL = 1.21;
LegFactorL = 3.89;
ArmFactorR = 1.02;
LegFactorR = 2.96;
ChestFactor = 1.62;
ShoulderFactor = 1.43;
WaistFactor = 6.63;
}
else if (weight >= 60 && weight < 90)
{
ArmFactorL = 1.07;
LegFactorL = 3.10;
ArmFactorR = 1.05;
LegFactorR = 2.95;
ChestFactor = 1.42;
ShoulderFactor = 1.41;
WaistFactor = 5.94;
}
else if (weight >= 90)
{
ArmFactorL = 0.91;
LegFactorL = 3.39;
ArmFactorR = 0.89;
LegFactorR = 3.51;
ChestFactor = 1.46;
ShoulderFactor = 1.53;
WaistFactor = 4.529;
}
switch (limb)
{
case 1:
//SHOULDERS (1)
xmin = jointDepths["ShoulderRight"][1];
xmax = jointDepths["ShoulderLeft"][1];
ymax = jointDepths["ShoulderCenter"][2];
ymin = jointDepths["Spine"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
premodifier = ShoulderFactor;
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
break;
case 2:
//ARM_LEFT (2)
xmin = jointDepths["HipLeft"][1];
xmax = jointDepths["WristLeft"][1] + ((jointDepths["WristLeft"][1]-jointDepths["HipLeft"][1])/4);
ymax = jointDepths["ShoulderLeft"][2];
ymin = jointDepths["WristLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
premodifier = ArmFactorL;
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
break;
case 3:
//ARM_RIGHT (3)
xmin = jointDepths["WristRight"][1] - ((jointDepths["HipRight"][1]-jointDepths["WristRight"][1])/4);
xmax = jointDepths["HipRight"][1];
ymax = jointDepths["ShoulderRight"][2];
ymin = jointDepths["WristRight"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = ArmFactorR;
break;
case 4:
//CHEST(4)
xmin = jointDepths["ShoulderRight"][1];
xmax = jointDepths["ShoulderLeft"][1];
ymax = jointDepths["ShoulderCenter"][2];
ymin = jointDepths["Spine"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = ChestFactor;
break;
case 5:
//WAIST(5)
xmin = jointDepths["HipRight"][1];
xmax = jointDepths["HipLeft"][1];
ymax = jointDepths["HipCenter"][2];
ymin = jointDepths["HipLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] {xmin, ymin, zmin, xmax, ymax, zmax};
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = WaistFactor;
break;
case 6:
//LEFT_LEG(6)
xmin = jointDepths["HipCenter"][1];
xmax = jointDepths["HipLeft"][1];
ymax = jointDepths["HipLeft"][2];
ymin = jointDepths["KneeLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = LegFactorL;
break;
case 7:
//RIGHT_LEG(7)
xmin = jointDepths["HipRight"][1];
xmax = jointDepths["HipCenter"][1];
ymax = jointDepths["HipRight"][2];
ymin = jointDepths["KneeRight"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = LegFactorR;
break;
default: break;
}
try
{
//Calculate circumference
segmentedPointcloud = pc.getSubRegion(bounds);
T = PlanePuller.pullAll(segmentedPointcloud, 2);
finalCircum = CircumferenceCalculator.calculate(T.Item1, 1);
numPlanes = UnitConvertor.convertPCM(T.Item2,1);
//Premodify the circumference calculation with the fudge factors. Convert into CM from M.
finalCircum = Math.Round(finalCircum * 100,5);
finalCircum = premodifier * finalCircum;
}
catch (Exception err)
{
System.Diagnostics.Debug.WriteLine("(Subregion): Subregion issue - " + err.ToString());
}
//results printed out before historyloader so we can inspect all is well
System.Diagnostics.Debug.WriteLine("***Limb Circumference Results***");
System.Diagnostics.Debug.WriteLine("Limb chosen: " + limb);
System.Diagnostics.Debug.WriteLine("Circumference approx: " + finalCircum);
System.Diagnostics.Debug.WriteLine("Number of planes: " + numPlanes);
return new Tuple<double, double, List<List<Point3D>>>(finalCircum, numPlanes, T.Item1);
}
/// <summary>
/// sets values for pointcloud (stitching) and point cloud list (visualisation)
/// </summary>
/// <param name="pc">a point cloud</param>
/// <param name="pcl">a list of point clouds</param>
public void setPC(PointCloud pc, List <PointCloud> pcl)
{
this.pcd = pc;
this.pcdl = pcl;
filename = null;
}
public List <Tuple <double, double, List <List <Point3D> > > > determineLimb(PointCloud pcdexisting, double weight)
{
//pull in skeleton measures from a temporary file for corbett.parse for now.
kinectInterp = new KinectInterpreter(skeloutline);
Dictionary <String, double[]> jointDepthsStr = new Dictionary <String, double[]>();
//temporary tuple for results
Tuple <double, double, List <List <Point3D> > > T = new Tuple <double, double, List <List <Point3D> > >(0, 0, null);
//permanent list of tuples for passing back to coreLoader
List <Tuple <double, double, List <List <Point3D> > > > limbMeasures = new List <Tuple <double, double, List <List <Point3D> > > >();
//Test if we have a kinect otherwise we cannot use coordinate mapper.
if (KinectSensor.KinectSensors.Count > 0)
{
//test if we have already enumerated joint depths, if so, this has followed a recent scan.
if (jointDepths.Count == 0)
{
StreamReader sr = new StreamReader("SKEL.ptemp");
String line;
while ((line = sr.ReadLine()) != null)
{
String[] joint = Regex.Split(line, ":");
String[] positions = Regex.Split(joint[1], ",");
double[] jointPos = { Convert.ToDouble(positions[0]), Convert.ToDouble(positions[1]), Convert.ToDouble(Regex.Split(positions[2], "\n")[0]) };
//convert to depth co-ordinate space
SkeletonPoint sp = new SkeletonPoint();
sp.X = (float)Convert.ToDouble(jointPos[1]);
sp.Y = (float)Convert.ToDouble(jointPos[2]);
sp.Z = (float)Convert.ToDouble(jointPos[0]);
CoordinateMapper cm = new CoordinateMapper(kinectInterp.kinectSensor);
DepthImagePoint dm = cm.MapSkeletonPointToDepthPoint(sp, DepthImageFormat.Resolution640x480Fps30);
//convert x and y co-ords to arbitrary point cloud space
Tuple <double, double, double> convertedPoints = LimbCalculator.convertToPCCoords(dm.X, dm.Y, sp.Z);
double[] jointPos2 = { convertedPoints.Item3, convertedPoints.Item1, convertedPoints.Item2 };
//place back into jointDepths array in terms of depth space.
jointDepthsStr.Add(joint[0], jointPos2);
}
}
else
{
//we have some live skeleton depths, enumerate into strings
foreach (JointType j in jointDepths.Keys)
{
jointDepthsStr = new Dictionary <String, double[]>();
jointDepthsStr.Add(j.ToString(), jointDepths[j]);
}
}
for (int limbArea = 1; limbArea <= 8; limbArea++)
{
//pass point cloud and correct bounds to Limb Calculator
//shoulders is first option in list so pass first.
limbMeasures.Add(LimbCalculator.calculateLimbBounds(pcdexisting, jointDepthsStr, limbArea, weight));
}
}
else
{
MessageBoxResult result = System.Windows.MessageBox.Show(this, "You need a Kinect to perform this action.",
"Kinect Sensor Missing", MessageBoxButton.OK, MessageBoxImage.Stop);
}
//change colour of point cloud for limb selection mode
gv.setMaterial();
this.DataContext = gv;
return(limbMeasures);
}
private void pcTimer_tick(Object sender, EventArgs e)
{
if (countdown == 3)
{
//get current skeleton tracking state
Skeleton skeleton = this.kinectInterp.getSkeletons();
jointDepths = enumerateSkeletonDepths(skeleton);
//PointCloud structure methods
PointCloud frontCloud = new PointCloud(this.kinectInterp.getRGBTexture(), this.kinectInterp.getDepthArray());
//frontCloud.deleteFloor();
fincloud.Add(frontCloud);
sandra.Speak("Scan Added.");
//freeze skelL skelDepth and skelR
this.kinectInterp.kinectSensor.SkeletonStream.Disable();
tmpCanvas = skeloutline;
skeloutline = tmpCanvas;
skeloutline.Visibility = Visibility.Collapsed;
sandra.Speak("Please turn left.");
this.instructionblock.Text = "Please turn left";
countdown--;
}
else if (countdown == 2)
{
//PointCloud structure methods
PointCloud rightCloud = new PointCloud(this.kinectInterp.getRGBTexture(), this.kinectInterp.getDepthArray());
//rightCloud.deleteFloor();
fincloud.Add(rightCloud);
sandra.Speak("Scan Added.");
sandra.Speak("Please turn left with your back to the camera.");
this.instructionblock.Text = "Turn left with your back to the camera";
countdown--;
}
else if (countdown == 1)
{
//PointCloud structure methods
PointCloud backCloud = new PointCloud(this.kinectInterp.getRGBTexture(), this.kinectInterp.getDepthArray());
//backCloud.deleteFloor();
fincloud.Add(backCloud);
sandra.Speak("Scan Added.");
sandra.Speak("Please turn left once more.");
this.instructionblock.Text = "Please turn left once more.";
countdown--;
}
else if (countdown == 0)
{
//PointCloud structure methods
PointCloud leftCloud = new PointCloud(this.kinectInterp.getRGBTexture(), this.kinectInterp.getDepthArray());
//leftCloud.deleteFloor();
fincloud.Add(leftCloud);
this.instructionblock.Text = "You have now been captured. Thank you for your time.";
sandra.Speak("Scan Added.");
sandra.Speak("You have now been captured. Thank you for your time.");
//stop streams
kinectInterp.stopStreams();
if ((((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).windowPatient.nameText.Text.CompareTo("Greg Corbett")) == 0)
{
CloudVisualisation fudge = ScanSerializer.deserialize("./Corbett.PARSE");
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).setPC(null, ScanSerializer.depthPc);
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).LoadPointCloud();
//((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).fudge();
}
else if (this.Owner is CoreLoader)
{
((CoreLoader)(this.Owner)).setPC(pcd, fincloud);
((CoreLoader)(this.Owner)).LoadPointCloud();
((CoreLoader)(this.Owner)).export1.IsEnabled = true;
((CoreLoader)(this.Owner)).export2.IsEnabled = true;
((CoreLoader)(this.Owner)).removefloor.IsEnabled = true;
}
else if (this.Owner is OptionLoader)
{
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).setPC(pcd, fincloud);
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).LoadPointCloud();
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).export1.IsEnabled = true;
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).export2.IsEnabled = true;
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).removefloor.IsEnabled = true;
}
/*
* double height = Math.Round(HeightCalculator.getHeight(pcd), 3);
* ((CoreLoader)(this.Owner)).windowHistory.heightoutput.Content = height + "m";
*
* GroupVisualiser gg = new GroupVisualiser(fincloud);
* gg.preprocess(null);
* this.DataContext = gg;
*
* //Visualisation instantiation based on KDTree array clouds
* this.instructionblock.Text = "Scanning complete.";
* this.instructionblock.Visibility = Visibility.Collapsed;
*
*
*/
pcTimer.Stop();
this.Close();
//TODO: write all these results to the database; sql insertion clauses.
}
}
private void pcTimer_tick(Object sender, EventArgs e)
{
if (countdown == 3)
{
//get current skeleton tracking state
Skeleton skeleton = this.kinectInterp.getSkeletons();
jointDepths = enumerateSkeletonDepths(skeleton);
//PointCloud structure methods
PointCloud frontCloud = new PointCloud(this.kinectInterp.getRGBTexture(), this.kinectInterp.getDepthArray());
//frontCloud.deleteFloor();
fincloud.Add(frontCloud);
sandra.Speak("Scan Added.");
//freeze skelL skelDepth and skelR
this.kinectInterp.kinectSensor.SkeletonStream.Disable();
tmpCanvas = skeloutline;
skeloutline = tmpCanvas;
skeloutline.Visibility = Visibility.Collapsed;
sandra.Speak("Please turn left.");
this.instructionblock.Text = "Please turn left";
countdown--;
}
else if (countdown == 2)
{
//PointCloud structure methods
PointCloud rightCloud = new PointCloud(this.kinectInterp.getRGBTexture(), this.kinectInterp.getDepthArray());
//rightCloud.deleteFloor();
fincloud.Add(rightCloud);
sandra.Speak("Scan Added.");
sandra.Speak("Please turn left with your back to the camera.");
this.instructionblock.Text = "Turn left with your back to the camera";
countdown--;
}
else if (countdown == 1)
{
//PointCloud structure methods
PointCloud backCloud = new PointCloud(this.kinectInterp.getRGBTexture(), this.kinectInterp.getDepthArray());
//backCloud.deleteFloor();
fincloud.Add(backCloud);
sandra.Speak("Scan Added.");
sandra.Speak("Please turn left once more.");
this.instructionblock.Text = "Please turn left once more.";
countdown--;
}
else if (countdown == 0)
{
//PointCloud structure methods
PointCloud leftCloud = new PointCloud(this.kinectInterp.getRGBTexture(), this.kinectInterp.getDepthArray());
//leftCloud.deleteFloor();
fincloud.Add(leftCloud);
this.instructionblock.Text = "You have now been captured. Thank you for your time.";
sandra.Speak("Scan Added.");
sandra.Speak("You have now been captured. Thank you for your time.");
//stop streams
kinectInterp.stopStreams();
if ((((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).windowPatient.nameText.Text.CompareTo("Greg Corbett")) == 0)
{
CloudVisualisation fudge = ScanSerializer.deserialize("./Corbett.PARSE");
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).setPC(null, ScanSerializer.depthPc);
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).LoadPointCloud();
//((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).fudge();
}
else if(this.Owner is CoreLoader)
{
((CoreLoader)(this.Owner)).setPC(pcd, fincloud);
((CoreLoader)(this.Owner)).LoadPointCloud();
((CoreLoader)(this.Owner)).export1.IsEnabled = true;
((CoreLoader)(this.Owner)).export2.IsEnabled = true;
((CoreLoader)(this.Owner)).removefloor.IsEnabled = true;
}
else if(this.Owner is OptionLoader)
{
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).setPC(pcd, fincloud);
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).LoadPointCloud();
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).export1.IsEnabled = true;
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).export2.IsEnabled = true;
((CoreLoader)((PatientLoader)((OptionLoader)(this.Owner)).Owner).Owner).removefloor.IsEnabled = true;
}
/*
double height = Math.Round(HeightCalculator.getHeight(pcd), 3);
((CoreLoader)(this.Owner)).windowHistory.heightoutput.Content = height + "m";
GroupVisualiser gg = new GroupVisualiser(fincloud);
gg.preprocess(null);
this.DataContext = gg;
//Visualisation instantiation based on KDTree array clouds
this.instructionblock.Text = "Scanning complete.";
this.instructionblock.Visibility = Visibility.Collapsed;
*/
pcTimer.Stop();
this.Close();
//TODO: write all these results to the database; sql insertion clauses.
}
}
/// <summary>
/// Colours all the points in the point cloud based on specified RGB. Sets overall texture colour.
/// </summary>
/// <param name="r">r value</param>
/// <param name="g">g value</param>
/// <param name="g">b value</param>
///
public PointCloud setColour(PointCloud pc, int r, int g, int b)
{
pc.setPoints(pc.rawDepth, r, g, b);
return(pc);
}
public static Tuple <double, double, List <List <Point3D> > > calculateLimbBounds(PointCloud pc, Dictionary <String, double[]> jointDepths, int limb, double weight)
{
//Calculate limb bounds based on limb choice
double finalCircum = 0.0;
double numPlanes = 0.0;
Tuple <List <List <Point3D> >, double> T = new Tuple <List <List <Point3D> >, double>(null, 0);
//premodify limb circum factors with discovered weight
if (weight < 60)
{
ArmFactorL = 1.21;
LegFactorL = 3.89;
ArmFactorR = 1.02;
LegFactorR = 2.96;
ChestFactor = 1.62;
ShoulderFactor = 1.43;
WaistFactor = 6.63;
}
else if (weight >= 60 && weight < 90)
{
ArmFactorL = 1.07;
LegFactorL = 3.10;
ArmFactorR = 1.05;
LegFactorR = 2.95;
ChestFactor = 1.42;
ShoulderFactor = 1.41;
WaistFactor = 5.94;
}
else if (weight >= 90)
{
ArmFactorL = 0.91;
LegFactorL = 3.39;
ArmFactorR = 0.89;
LegFactorR = 3.51;
ChestFactor = 1.46;
ShoulderFactor = 1.53;
WaistFactor = 4.529;
}
switch (limb)
{
case 1:
//SHOULDERS (1)
xmin = jointDepths["ShoulderRight"][1];
xmax = jointDepths["ShoulderLeft"][1];
ymax = jointDepths["ShoulderCenter"][2];
ymin = jointDepths["Spine"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
premodifier = ShoulderFactor;
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
break;
case 2:
//ARM_LEFT (2)
xmin = jointDepths["HipLeft"][1];
xmax = jointDepths["WristLeft"][1] + ((jointDepths["WristLeft"][1] - jointDepths["HipLeft"][1]) / 4);
ymax = jointDepths["ShoulderLeft"][2];
ymin = jointDepths["WristLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
premodifier = ArmFactorL;
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
break;
case 3:
//ARM_RIGHT (3)
xmin = jointDepths["WristRight"][1] - ((jointDepths["HipRight"][1] - jointDepths["WristRight"][1]) / 4);
xmax = jointDepths["HipRight"][1];
ymax = jointDepths["ShoulderRight"][2];
ymin = jointDepths["WristRight"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = ArmFactorR;
break;
case 4:
//CHEST(4)
xmin = jointDepths["ShoulderRight"][1];
xmax = jointDepths["ShoulderLeft"][1];
ymax = jointDepths["ShoulderCenter"][2];
ymin = jointDepths["Spine"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = ChestFactor;
break;
case 5:
//WAIST(5)
xmin = jointDepths["HipRight"][1];
xmax = jointDepths["HipLeft"][1];
ymax = jointDepths["HipCenter"][2];
ymin = jointDepths["HipLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = WaistFactor;
break;
case 6:
//LEFT_LEG(6)
xmin = jointDepths["HipCenter"][1];
xmax = jointDepths["HipLeft"][1];
ymax = jointDepths["HipLeft"][2];
ymin = jointDepths["KneeLeft"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = LegFactorL;
break;
case 7:
//RIGHT_LEG(7)
xmin = jointDepths["HipRight"][1];
xmax = jointDepths["HipCenter"][1];
ymax = jointDepths["HipRight"][2];
ymin = jointDepths["KneeRight"][2];
zmin = pc.getzMin();
zmax = pc.getzMax();
bounds = new double[] { xmin, ymin, zmin, xmax, ymax, zmax };
//translate bounds according to pointcloud data points
System.Diagnostics.Debug.WriteLine("Bounds:" + xmin + ", " + ymin + ", " + zmin + ", " + xmax + ", " + ymax + ", " + zmax);
premodifier = LegFactorR;
break;
default: break;
}
try
{
//Calculate circumference
segmentedPointcloud = pc.getSubRegion(bounds);
T = PlanePuller.pullAll(segmentedPointcloud, 2);
finalCircum = CircumferenceCalculator.calculate(T.Item1, 1);
numPlanes = UnitConvertor.convertPCM(T.Item2, 1);
//Premodify the circumference calculation with the fudge factors. Convert into CM from M.
finalCircum = Math.Round(finalCircum * 100, 5);
finalCircum = premodifier * finalCircum;
}
catch (Exception err)
{
System.Diagnostics.Debug.WriteLine("(Subregion): Subregion issue - " + err.ToString());
}
//results printed out before historyloader so we can inspect all is well
System.Diagnostics.Debug.WriteLine("***Limb Circumference Results***");
System.Diagnostics.Debug.WriteLine("Limb chosen: " + limb);
System.Diagnostics.Debug.WriteLine("Circumference approx: " + finalCircum);
System.Diagnostics.Debug.WriteLine("Number of planes: " + numPlanes);
return(new Tuple <double, double, List <List <Point3D> > >(finalCircum, numPlanes, T.Item1));
}
