/*
* /// <summary>
* /// Converts rotation quaternion to Euler angles
* /// And then maps them to a specified range of values to control the refresh rate
* /// v1(v1.5-v1.8)ではQuaternion使えない？？
* /// </summary>
* /// <param name="rotQuaternion">face rotation quaternion</param>
* /// <param name="pitch">rotation about the X-axis</param>
* /// <param name="yaw">rotation about the Y-axis</param>
* /// <param name="roll">rotation about the Z-axis</param>
* private static void ExtractFaceRotationInDegrees(double qx, double qy, double qz, double qw, out double pitch, out double yaw, out double roll)
* {
* double x = qx;
* double y = qy;
* double z = qz;
* double w = qw;
*
* double pitchD, yawD, rollD;
*
* // convert face rotation quaternion to Euler angles in degrees
*
* pitchD = Math.Atan2(2 * ((y * z) + (w * x)), (w * w) - (x * x) - (y * y) + (z * z)) / Math.PI * 180.0;
* yawD = Math.Asin(2 * ((w * y) - (x * z))) / Math.PI * 180.0;
* rollD = Math.Atan2(2 * ((x * y) + (w * z)), (w * w) + (x * x) - (y * y) - (z * z)) / Math.PI * 180.0;
*
* // clamp the values to a multiple of the specified increment to control the refresh rate
* double increment = FaceRotationIncrementInDegrees;
* pitch = (double)(Math.Floor((pitchD + ((increment / 2.0) * (pitchD > 0 ? 1.0 : -1.0))) / increment) * increment);
* yaw = (double)(Math.Floor((yawD + ((increment / 2.0) * (yawD > 0 ? 1.0 : -1.0))) / increment) * increment);
* roll = (double)(Math.Floor((rollD + ((increment / 2.0) * (rollD > 0 ? 1.0 : -1.0))) / increment) * increment);
* }
*/
/// <summary>
/// Frames更新で実行されるイベント(eの中に更新されたデータを格納)
/// kinectのメインループ
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void Kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
// Image部品にRGB表示
if (colorFrame != null)
{
imageRgbCamera.Source = colorFrame.ToBitmapSource();
}
// Skeletonが取れているとき表示
if (skeletonFrame != null)
{
foreach (var skeleton in skeletonFrame.GetTrackedSkeletons())
{
ShowSkeleton(skeleton);
}
}
// RGB, Depth, Skeltonフレームが取得できたら, 追跡されているSkeltonに対して顔認識
if ((colorFrame != null) && (depthFrame != null) && (skeletonFrame != null))
{
foreach (var skeleton in skeletonFrame.GetTrackedSkeletons())
{
FaceDataAcquisition(colorFrame, depthFrame, skeleton);
}
}
}
}
public static void Rastrear(SkeletonFrame skeletonFrame, ITracker[] rastreadoresCheck)
{
if (skeletonFrame == null)
{
return;
}
Skeleton esqueletoUsuario = skeletonFrame.GetTrackedSkeletons()?.First();
if (esqueletoUsuario == null)
{
return;
}
foreach (ITracker rastreador in rastreadoresCheck)
{
rastreador.Rastrear(esqueletoUsuario);
}
}
/// <summary>
/// Retorna verdadeiro se o Kinect estiver reconhecendo apenas um jogador e o mesmo estiver na distância mínima
/// </summary>
/// <param name="skeletonFrame"></param>
/// <returns></returns>
public static bool Validation(this SkeletonFrame skeletonFrame)
{
var skeletonsTracked = skeletonFrame.GetTrackedSkeletons();
if (skeletonsTracked == null || skeletonsTracked.Count() > 1)
{
return(false);
}
if (skeletonsTracked.First().Joints[JointType.Spine].TrackingState == JointTrackingState.NotTracked)
{
return(false);
}
var distance = Util.GetDistance(skeletonsTracked.First().Joints[JointType.Spine].Position);
if (distance >= Configuration.DISTANCE_CHECK)
{
return(true);
}
return(false);
}