/// <summary>
/// Returns a KinectMotion of a single frame.
/// </summary>
/// <returns></returns>
public KinectMotion takeSnapshot()
{
KinectMotion km = new KinectMotion();
km.addKeyframe(lastPlayer.copyPlayer());
return km;
}
/// <summary>
/// Begins recording from the Kinect. Keyframes made at timeInterval specified. Anything under 150
/// will likely not work.
/// </summary>
/// <param name="timeInterval"></param>
public void startRecording(int timeInterval)
{
// Create the thread object. This does not start the thread.
currentRecordingInterval = timeInterval;
System.Threading.Thread recordingThread = new System.Threading.Thread(Record);
lastMotion = new KinectMotion(timeInterval);
isRecording = true;
startTime = DateTime.Now;
recordingThread.Start();
}
/// <summary>
/// Plays back motion at speed recorded.
/// </summary>
/// <param name="motion"></param>
public void playbackMotion(KinectMotion motion)
{
float secs = motion.seconds;
if (secs == 0)
secs = motion.keyframes * .2f; //200ms per keyframe
playbackMotion(convertMotionToAngles(motion), secs);
}
/// <summary>
/// Reads from XML format outlined above.
/// </summary>
/// <param name="root"></param>
/// <returns></returns>
public static KinectMotion readFromXML(XElement root)
{
List<XElement> dataList = root.Descendants("Data").ToList<XElement>();
if(dataList == null)
return null;
XElement dataElement = dataList[0];
KinectMotion motion = new KinectMotion(int.Parse(dataElement.Attribute("Interval").Value),
float.Parse(dataElement.Attribute("Length").Value), int.Parse(dataElement.Attribute("Keyframes").Value));
IEnumerable<XElement> frames = dataElement.Descendants("Frame");
Player newFrame;
foreach (XElement frame in frames)
{
newFrame = new Player();
foreach (XElement joint in frame.Descendants("JointData")){
JointAngles jangles = KinectMotion.parseJoint(joint);
XElement nameNode = joint.Descendants("Name").ToList<XElement>()[0];
switch (nameNode.Value){
case "Head":
jangles.name = "Head";
newFrame.head = jangles;
break;
case "Neck":
jangles.name = "Neck";
newFrame.neck = jangles;
break;
case "Spine":
jangles.name = "Spine";
newFrame.spine = jangles;
break;
case "Left Shoulder":
jangles.name = "Left Shoulder";
newFrame.lShoulder = jangles;
break;
case "Right Shoulder":
jangles.name = "Right Shoulder";
newFrame.rShoulder = jangles;
break;
case "Left Elbow":
jangles.name = "Left Elbow";
newFrame.lElbow = jangles;
break;
case "Right Elbow":
jangles.name = "Right Elbow";
newFrame.rElbow = jangles;
break;
case "Right Hand":
jangles.name = "Right Hand";
newFrame.rHand = jangles;
break;
case "Left Hand":
jangles.name = "Left Hand";
newFrame.lHand = jangles;
break;
case "Right Hip":
jangles.name = "Right Hip";
newFrame.rHip = jangles;
break;
case "Left Hip":
jangles.name = "Left Hip";
newFrame.lHip = jangles;
break;
case "Center Hip":
jangles.name = "Center Hip";
newFrame.cHip = jangles;
break;
case "Left Knee":
jangles.name = "Left Knee";
newFrame.lKnee = jangles;
break;
case "Right Knee":
jangles.name = "Right Knee";
newFrame.rKnee = jangles;
break;
case "Pelvis":
jangles.name = "Pelvis";
newFrame.pelvis = jangles;
break;
case "Right Ankle":
jangles.name = "Right Ankle";
newFrame.rAnkle = jangles;
break;
case "Left Ankle":
jangles.name = "Left Ankle";
newFrame.lAnkle = jangles;
break;
}
}
//have to copy to keep list references?
motion.addKeyframe(newFrame.copyPlayer());
}
return motion;
}
/// <summary>
/// Converts motion to angles needed by Nao.
/// </summary>
/// <param name="motion"></param>
/// <returns></returns>
public List<List<float>> convertMotionToAngles(KinectMotion motion)
{
List<List<float>> returnAngles = new List<List<float>>();
for (int n = 0; n < 10; n++)//10 for number of joints
{
returnAngles.Add(new List<float>());
}
foreach (Player player in motion.poses)
{
float[] lastPoseAngles = copyAnglesToArray(player);
for (int i = 0; i < lastPoseAngles.Length; i++)
{
returnAngles[i].Add(lastPoseAngles[i]);
}
}
return returnAngles;
}
