// Event for handling depth stream updates from the Kinect. Calls the finger update function
private void SensorDepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
// "using" param ensures depth frame is disposed after use.
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
// Set depth frame parameters
DFP.Bitmask = DepthImageFrame.PlayerIndexBitmaskWidth;
DFP.Width = depthFrame.Width;
DFP.Height = depthFrame.Height;
#region DEBUG_HAND_OUTLINE
depthFrame.CopyPixelDataTo(this.depthPixels);
short[] tempDepth = new short[depthPixels.Length];
depthFrame.CopyPixelDataTo(tempDepth);
// Updates the hand position based on the kinematic data. Dampened by a multiple to reduce oscillation.
//Hands[0].position_Pixels += 0.8 * Hands[0].elapsedMillis * Hands[0].velocity_Pixels;
HandFrame HF = ProcessDepthImage.zoomOnHand(tempDepth, DFP, Hands[0]);
IntPtr dataStartPtr = bmpData[0].Scan0;
int dataLength = bmpData[0].Stride * bmpData[0].Height;
// Print to debug left hand
rgbValues = new byte[bmpData[0].Stride * bmpData[0].Height];
for (int y = 1; y < HF.dx.GetLength(0); y++)
{
for (int x = 1; x < HF.dy.GetLength(1); x++)
{
int dD = (byte)(Math.Sqrt(HF.dx[y, x] * HF.dx[y, x] + HF.dy[y, x] * HF.dy[y, x]));
int val = debugBitmapSizes[0].Width * (y + (debugBitmapSizes[0].Height - HF.dx.GetLength(0)) / 2) + x + (debugBitmapSizes[0].Width - HF.dx.GetLength(1)) / 2;
if (dD > 5 && x + (debugBitmapSizes[0].Width - HF.dx.GetLength(1)) / 2 > 0 && x + (debugBitmapSizes[0].Width - HF.dx.GetLength(1)) / 2 < debugBitmapSizes[0].Width && y + (debugBitmapSizes[0].Height - HF.dx.GetLength(0)) / 2 > 0 && y + (debugBitmapSizes[0].Height - HF.dx.GetLength(0)) / 2 < debugBitmapSizes[0].Height)
{
rgbValues[4 * val + 0] = 255;
rgbValues[4 * val + 1] = 255;
rgbValues[4 * val + 2] = 255;
rgbValues[4 * val + 3] = 255;
}
}
}
System.Runtime.InteropServices.Marshal.Copy(rgbValues, 0, dataStartPtr, dataLength);
#endregion
if (checkBox2.Checked)
{
Hands[1].tracked = false;
foreach (ObjectPoint f in Hands[1].fingers)
{
f.tracked = false;
}
}
ProcessDepthImage.updateFingersFromDepth(depthPixels, DFP, Hands);
this.FPScount++;
}
}
// Get the Thumb, Finger or Palm directors of a hand
public Vector3 GetHandFrameVector(HandType hand, HandFrame vec)
{
var handTrans = GetHandTransform(hand, HandJoint.Wrist);
return(handTrans.TransformDirection(HAND_FRAME_VECTORS[(int)hand, (int)vec]));
}
