public HandTracker(KinectSensor mySensor)
{
this.kinectSensor = mySensor;
this.kinectSensor.DepthStream.Enable(DepthImageFormat.Resolution320x240Fps30);
this.kinectSensor.DepthFrameReady += this.sensorDepthFrameReady;
this.hand = new Point3d();
this.imagePixelList = new List<DepthImagePixel>();
this.closestPoint = new DepthImagePixel();
// Start the sensor!
try
{
this.kinectSensor.Start();
}
catch (IOException)
{
this.kinectSensor = null;
}
}
public HandTracking()
{
if (leftWristDepths == null)
{
leftWristDepths = new Point3d[MINDATAPOINTSREQ];
}
if (rightWristDepths == null)
{
rightWristDepths = new Point3d[MINDATAPOINTSREQ];
}
if (leftWrist == null)
{
leftWrist = new Point3d();
}
if (rightWrist == null)
{
rightWrist = new Point3d();
}
}
public void updatePath(Point3d point)
{
GridSquare currentSquare = grid.getGridSquareContainingPoint(point);
if (currentSquare != null)
{
currentPath.AddLast(currentSquare);
}
// Advance to the next target
if (currentSquare == currentTarget)
{
currentTarget = manipulatableTargetSequence.Dequeue();
}
double currentDistance = euclideanDistance(new Point2d(point.X, point.Y), currentTarget.getCenter());
if (currentDistance > previousDistance)
{
failedAuthentication = true;
}
else
{
previousDistance = currentDistance;
}
}
private void drawHands(DrawingContext drawingContext, ThreeDAuth.DepthPoint hand, bool drawHand, DepthImageFrame depthFrame)
{
//showDepthView(depthFrame, drawingContext);
//return;
//Start Siavash
double resetButtonTimePercentage = 0.0;
double doneButtonTimePercentage = 0.0;
if (userImage != null)
{
drawingContext.DrawImage(userImage, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
// Draw the reset button regardless
//Pen buttonPen = new Pen(Brushes.Black, 0.1);
//Brush resetButtonBrush = new SolidColorBrush(Color.FromRgb());
//drawingContext
if (resetButtonTimer.IsRunning)
{
resetButtonTimePercentage = (double) resetButtonTimer.ElapsedMilliseconds / (double) BUTTON_HOLD_CUTOFF;
}
if (resetButtonTimePercentage > 1.0)
{
drawingContext.DrawEllipse(Brushes.Green, null, new System.Windows.Point(0, 0), 50, 50);
resetButtonTimePercentage = 1.0;
}
else
{
drawingContext.DrawEllipse(Brushes.White, null, new System.Windows.Point(0, 0), 50, 50);
}
DrawWedge(drawingContext, 0, 0, SweepDirection.Counterclockwise, resetButtonTimePercentage);
drawingContext.DrawText(
new FormattedText("Reset",
System.Globalization.CultureInfo.CurrentCulture,
FlowDirection.LeftToRight,
new Typeface("Arial"),
14.0,
Brushes.Black),
new System.Windows.Point(3, 12.5));
// Draw the done button if we're learning
if (gLearner.isRecording)
{
if (doneButtonTimer.IsRunning)
{
doneButtonTimePercentage = (double)doneButtonTimer.ElapsedMilliseconds / (double)BUTTON_HOLD_CUTOFF;
}
if (doneButtonTimePercentage > 1.0) doneButtonTimePercentage = 1.0;
drawingContext.DrawEllipse(Brushes.White, null, new System.Windows.Point(depthFrame.Width, 0), 50, 50);
DrawWedge(drawingContext, depthFrame.Width, 0, SweepDirection.Clockwise, doneButtonTimePercentage);
drawingContext.DrawText(
new FormattedText("Done",
System.Globalization.CultureInfo.CurrentCulture,
FlowDirection.LeftToRight,
new Typeface("Arial"),
14.0,
Brushes.Black),
new System.Windows.Point(depthFrame.Width - 35.0, 12.5));
}
}
//End Siavash
drawHand = true;
if (drawHand)
{
if (myFrame.AvgTorsoPosition != null)
//if (myFrame.torsoPosition != null)
{
// Anton's code
// when a new frame is available, we check if the wrists are crossing the plane and we draw an appropriately colored
// rectangle over them to give the user feedback
double planeDepth = myFrame.armLength * .8;
int planeDepthPixels = (int)((planeDepth / myFrame.armLength) * myFrame.AvgArmLengthPixels);
//ThreeDAuth.FlatPlane myPlane = new ThreeDAuth.FlatPlane(myFrame.torsoPosition, planeDepth);
ThreeDAuth.FlatPlane myPlane = new ThreeDAuth.FlatPlane(myFrame.AvgTorsoPosition, planeDepth);
//Console.WriteLine("Torso depth: " + torsoSkeletonPoint.Z);
//ThreeDAuth.Point3d wristRight = new ThreeDAuth.Point3d(rightWrist.Position.X, rightWrist.Position.Y, rightWrist.Position.Z);
//ThreeDAuth.DepthPoint right = this.SkeletonPointToScreen(rightWrist.Position);
//ThreeDAuth.PlanePoint arrived = new ThreeDAuth.PlanePoint(right.x, right.y, myPlane.crossesPlane(right));
//pDistributor.GivePoint(arrived);
//Console.WriteLine("Depth: " + hand.depth);
short planeDepthmm = (short)(planeDepth * 1000); // convert m to mm
Tuple<int, int> handTuple = new Tuple<int, int>(hand.x, hand.y);
handTuple = ProjectPoint(handTuple,
myFrame.AvgTorsoPosition,
myFrame.AvgArmLengthPixels,
planeDepthPixels,
.9,
depthFrame.Width,
depthFrame.Height);
if (handTuple == null)
{
// encountered a problem and won't be able to project this point, so drop this frame
return;
}
ThreeDAuth.PlanePoint planePoint = new ThreeDAuth.PlanePoint(handTuple.Item1, handTuple.Item2, myPlane.crossesPlane(hand));
//ThreeDAuth.PlanePoint planePoint = new ThreeDAuth.PlanePoint(hand.x, hand.y, myPlane.crossesPlane(hand));
pDistributor.GivePoint(planePoint);
//drawingContext.DrawRoundedRectangle(Brushes.Green, null, new Rect(hand.x, hand.y, 30, 30), null, 14, null, 14, null);
// Check if the point is in the buttons
// reset button
bool inButton = false;
if (Math.Sqrt((planePoint.x * planePoint.x) + (planePoint.y * planePoint.y)) < 50.0)
{
// in reset button
inButton = true;
if (!resetButtonTimer.IsRunning)
{
resetButtonTimer.Start();
}
}
else
{
if (resetButtonTimer.IsRunning)
{
resetButtonTimer.Reset();
}
}
// done button
if (gLearner.isRecording)
{
if (Math.Sqrt(((planePoint.x - depthFrame.Width) * (planePoint.x - depthFrame.Width)) +
(planePoint.y * planePoint.y)) < 50.0)
{
// in done button
inButton = true;
if (!doneButtonTimer.IsRunning)
{
doneButtonTimer.Start();
}
}
else
{
if (doneButtonTimer.IsRunning)
{
doneButtonTimer.Reset();
}
}
}
//drawingContext.DrawRoundedRectangle(Brushes.Yellow, null, new Rect(hand.x, hand.y, 30, 30), null, 14, null, 14, null);
//if (arrived.inPlane)
if (planePoint.inPlane)
{
//drawingContext.DrawRoundedRectangle(Brushes.Blue, null, new Rect(right.x, right.y, 30, 30), null, 14, null, 14, null);
//drawingContext.DrawRoundedRectangle(Brushes.Blue, null, new Rect(hand.x, hand.y, 30, 30), null, 14, null, 14, null);
drawingContext.DrawRoundedRectangle(Brushes.Blue, null, new Rect(planePoint.x, planePoint.y, 30, 30), null, 14, null, 14, null);
}
else
{
//drawingContext.DrawRoundedRectangle(Brushes.Red, null, new Rect(right.x, right.y, 30, 30), null, 14, null, 14, null);
//drawingContext.DrawRoundedRectangle(Brushes.Red, null, new Rect(hand.x, hand.y, 30, 30), null, 14, null, 14, null);
drawingContext.DrawRoundedRectangle(Brushes.Red, null, new Rect(planePoint.x, planePoint.y, 30, 30), null, 14, null, 14, null);
}
ThreeDAuth.Point3d wristLeft = new ThreeDAuth.Point3d(leftWrist.Position.X, leftWrist.Position.Y, leftWrist.Position.Z);
ThreeDAuth.DepthPoint left = this.SkeletonPointToScreen(leftWrist.Position);
if (myPlane.crossesPlane(left))
{
//drawingContext.DrawRoundedRectangle(Brushes.Blue, null, new Rect(left.X, left.Y, 30, 30), null, 14, null, 14, null);
}
else
{
//drawingContext.DrawRoundedRectangle(Brushes.Red, null, new Rect(left.X, left.Y, 30, 30), null, 14, null, 14, null);
}
// Mason's code
// If we're learning a gesture, draw the learned points
if (gLearner != null && gLearner.isRecording)
{
System.Collections.Generic.Queue<ThreeDAuth.Point2d> currentPoints = gLearner.getGesturePath();
foreach (ThreeDAuth.Point2d point in currentPoints)
{
drawingContext.DrawRoundedRectangle(Brushes.Green, null, new Rect(point.x, point.y, 30, 30), null, 14, null, 14, null);
}
}
if (gLearner != null && gLearner.isRecording && doneButtonTimePercentage >= 1.0)
{
// Done recording
gLearner.stopRecording();
this.myImageBox.Visibility = System.Windows.Visibility.Collapsed;
List<ThreeDAuth.Point2d> password = new List<ThreeDAuth.Point2d>(gLearner.getGesturePath());
this.currentUser.password = password;
this.gestureMassage.Text = "Success. Your account has been created. Welcome to 3DAuth!";
SaveUser(currentUser);
}
if (inButton && resetButtonTimePercentage >= 1.0)
{
if (gLearner != null && gLearner.isRecording)
{
// Reset the learner
gLearner.restart();
}
else if (gValidator != null)
{
// Reset the validator
gValidator.restart();
}
}
/*
// If we're learning a gesture and we've been out of the plane for 5 seconds, stop learning
if (gLearner.isRecording && !planePoint.inPlane)
{
if (!outOfPlaneTimer.IsRunning)
{
outOfPlaneTimer.Start();
}
if (outOfPlaneTimer.ElapsedMilliseconds > BUTTON_HOLD_CUTOFF)
{
gLearner.stopRecording();
this.myImageBox.Visibility = System.Windows.Visibility.Collapsed;
List<ThreeDAuth.Point2d> password = new List<ThreeDAuth.Point2d>(gLearner.getGesturePath());
this.currentUser.password = password;
this.gestureMassage.Text = "Success. Your account has been created. Welcome to 3DAuth!";
SaveUser(currentUser);
}
}
else if (gLearner.isRecording)
{
outOfPlaneTimer.Reset();
}
* */
}
}
}
public bool containsPoint(Point3d point)
{
return containsPoint(new Point2d(point.X, point.Y));
}
public void updatePath(Point3d point)
{
GridSquare currentSquare = grid.getGridSquareContainingPoint(point);
if (currentSquare != null)
{
currentPath.AddLast(currentSquare);
}
}
public GridSquare getGridSquareContainingPoint(Point3d point)
{
// Initially we just naively search over the entire grid, later we can build in knowledge of closeness to improve performance
for (int row = 0; row < dimX; row++)
{
for (int col = 0; col < dimY; col++)
{
if (grid[row, col].containsPoint(point))
{
return grid[row, col];
}
}
}
return null; // Didn't find a square containing it
}
public Vec3d(Point3d p1, Point3d p2)
{
this.p1 = p1;
this.p2 = p2;
}
public Vec2d(Point3d p1, Point3d p2)
{
this.p1 = new Point2d(p1.X, p1.Y);
this.p2 = new Point2d(p2.X, p2.Y);
}
public static Point3d operator +(Point3d firstPoint, Point3d secondPoint)
{
Point3d sumPoint = new Point3d();
sumPoint.X = firstPoint.X + secondPoint.X;
sumPoint.Y = firstPoint.Y + secondPoint.Y;
sumPoint.Z = firstPoint.Z + secondPoint.Z;
return sumPoint;
}
public static Point3d operator *(Point3d firstPoint, double constant)
{
Point3d multPoint = new Point3d();
multPoint.X = firstPoint.X * constant;
multPoint.Y = firstPoint.Y * constant;
multPoint.Z = firstPoint.Z * constant;
return multPoint;
}