private void KinectManager_FrameArrived(object sender, KinectFrameArrivedEventArgs e)
{
UpdateBodies(_KinectManager.KinectSensor, e.Bodies, e.FrameNumber);
}
private void KinectManager_FrameArrived(object sender, KinectFrameArrivedEventArgs e)
{
//Find body closest to centre of FoV
double ClosestBodyDistance = 3 * 3;
ulong ClosestBodyKey = ulong.MaxValue;
bool EngagedBodyStillPresent = false;
int i = 0;
foreach (var body in _BodyManager)
{
if (body.Value.IsOnScreen)
{
// Ideal position is at X=0, Z=1.5
BodyDistance = body.Value.Joints[JointType.SpineShoulder].Position.X * body.Value.Joints[JointType.SpineShoulder].Position.X
+ (body.Value.Joints[JointType.SpineShoulder].Position.Z - 1.5) * (body.Value.Joints[JointType.SpineShoulder].Position.Z - 1.5);
if (BodyDistance < ClosestBodyDistance)
{
ClosestBodyDistance = BodyDistance;
ClosestBodyKey = body.Value.TrackingId;
}
}
// This IF must always be tested!!
if (body.Key == EngagedBodyKey) // Identifies the currently engaged body - to allow for it to be disengaged
{
EngagedBodyStillPresent = true;
}
i++;
}
if (!EngagedBodyStillPresent)
{
EngagedBodyKey = ulong.MaxValue;
}
if (ClosestBodyKey == ulong.MaxValue || ClosestBodyKey == EngagedBodyKey)
{
//If no bodies fall within the max range
// OR
//If the closest body is the previously engaged body
FramesEngaged = 0;
}
else
{
//If the closest body is NOT the previously engaged body
//Then check if closest body is engaged (hand over spinemid) and if previously engaged body is a certain distance further than closest body
Joint handLeft = _BodyManager[ClosestBodyKey].Joints[JointType.HandLeft];
Joint handRight = _BodyManager[ClosestBodyKey].Joints[JointType.HandRight];
Joint spineMid = _BodyManager[ClosestBodyKey].Joints[JointType.SpineMid];
//Joint shoulderLeft = _BodyManager[ClosestBodyKey].Joints[JointType.ShoulderLeft];
//Joint shoulderRight = _BodyManager[ClosestBodyKey].Joints[JointType.ShoulderRight];
if (handLeft.IsTracked() && handRight.IsTracked() && spineMid.IsTracked())// && shoulderLeft.IsTracked() && shoulderRight.IsTracked())
{
// If hand above hip and body facing sensor
if ((handLeft.Position.Y > spineMid.Position.Y || handRight.Position.Y > spineMid.Position.Y) && _BodyManager[ClosestBodyKey].IsFacingScreen)
{
// If there is a currently engaged body, then compare distances.
if (EngagedBodyKey < ulong.MaxValue)
{
if (_BodyManager[EngagedBodyKey].IsOnScreen)
{
BodyDistance = Math.Sqrt(_BodyManager[ClosestBodyKey].Joints[JointType.SpineShoulder].Position.X * _BodyManager[ClosestBodyKey].Joints[JointType.SpineShoulder].Position.X +
_BodyManager[ClosestBodyKey].Joints[JointType.SpineShoulder].Position.Z * _BodyManager[ClosestBodyKey].Joints[JointType.SpineShoulder].Position.Z);
EngagedBodyDistance = Math.Sqrt(_BodyManager[ClosestBodyKey].Joints[JointType.SpineShoulder].Position.X * _BodyManager[ClosestBodyKey].Joints[JointType.SpineShoulder].Position.X +
_BodyManager[ClosestBodyKey].Joints[JointType.SpineShoulder].Position.Z * _BodyManager[ClosestBodyKey].Joints[JointType.SpineShoulder].Position.Z);
if (EngagedBodyDistance - BodyDistance > MinPositionDifference)
{
FramesEngaged++;
}
else
{
FramesEngaged = 0;
}
}
else
{
FramesEngaged++;
}
}
else
{
FramesEngaged++;
}
if (FramesEngaged > MinFramesEngaged)
{
if (EngagedBodyKey < ulong.MaxValue)
{
RaiseDisengagedEventHandler(_BodyManager[EngagedBodyKey].TrackingId);
}
RaiseEngagedEventHandler(_BodyManager[ClosestBodyKey].TrackingId);
EngagedBodyKey = _BodyManager[ClosestBodyKey].TrackingId;
FramesEngaged = 0;
}
}
}
}
}
private void KinectManager_FrameArrived(object sender, KinectFrameArrivedEventArgs e)
{
}
