/* Displaying current frames hand joints */
private void DisplayJoints(PXCMHandData handOutput, long timeStamp = 0)
{
if (form.GetJointsState() || form.GetSkeletonState())
{
//Iterate hands
PXCMHandData.JointData[][] nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
int numOfHands = handOutput.QueryNumberOfHands();
for (int i = 0; i < numOfHands; i++)
{
//Get hand by time of appearence
//PXCMHandAnalysis.HandData handData = new PXCMHandAnalysis.HandData();
PXCMHandData.IHand handData;
if (handOutput.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, i, out handData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (handData != null)
{
//Iterate Joints
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
handData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
} // end iterating over joints
}
}
} // end itrating over hands
form.DisplayJoints(nodes, numOfHands);
}
else
{
form.DisplayJoints(null, 0);
}
}
public void updateData(PXCMHandData.IHand handData)
{
this.handJoint = new PXCMHandData.JointData[22];
var jointTypes = Enum.GetValues(typeof(PXCMHandData.JointType)).Cast <PXCMHandData.JointType>();
int index = 0;
foreach (var jtmp in jointTypes)
{
PXCMHandData.JointData jdata = null;
handData.QueryTrackedJoint(jtmp, out jdata);
handJoint[index] = jdata;
index++;
}
index = 0;
this.handFinger = new PXCMHandData.FingerData[5];
var fingerTypes = Enum.GetValues(typeof(PXCMHandData.FingerType)).Cast <PXCMHandData.FingerType>();
foreach (var fmp in fingerTypes)
{
PXCMHandData.FingerData fdata = null;
handData.QueryFingerData(fmp, out fdata);
handFinger[index] = fdata;
index++;
}
this.handContourInner = new List <PXCMPointI32[]>();
this.handContourOuter = new List <PXCMPointI32[]>();
int contourNumber = handData.QueryNumberOfContours();
if (contourNumber > 0)
{
PXCMPointI32[] pointOuter;
PXCMPointI32[] pointInner;
for (int k = 0; k < contourNumber; ++k)
{
PXCMHandData.IContour contour;
pxcmStatus sts = handData.QueryContour(k, out contour);
if (sts == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (contour.IsOuter() == true)
{
contour.QueryPoints(out pointOuter);
handContourOuter.Add(pointOuter);
}
else
{
contour.QueryPoints(out pointInner);
handContourInner.Add(pointInner);
}
}
}
}
}
private void SetVisibleJointPosition(Item item, PXCMHandData.JointData jointData)
{
var imagePosition = ToPoint3D(jointData.positionImage);
var worldPosition = ToPoint3D(jointData.positionWorld);
item.IsVisible = true;
item.Position = CreatePosition(imagePosition, worldPosition);
}
/* Displaying current frames hand joints */
private void DisplayJoints(PXCMHandData handOutput, long timeStamp = 0)
{
if (form.GetJointsState() || form.GetSkeletonState())
{
//Iterate hands
PXCMHandData.JointData[][] nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
int numOfHands = handOutput.QueryNumberOfHands();
if (numOfHands > 1)
{
numOfHands = 1;
}
for (int i = 0; i < numOfHands; i++)
{
//Get hand by time of appearence
//PXCMHandAnalysis.HandData handData = new PXCMHandAnalysis.HandData();
PXCMHandData.IHand handData;
if (handOutput.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, i, out handData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (handData != null)
{
//Iterate Joints
float xsum = 0;
float ysum = 0;
int num = 0;
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
handData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
if (jointData.positionImage.x > 0 && jointData.positionImage.y > 0)
{
xsum += jointData.positionImage.x;
ysum += jointData.positionImage.y;
num++;
}
} // end iterating over joints
float xmean = xsum / num;
float ymean = ysum / num;
//Console.WriteLine(String.Format("({0},{0})",xsum/num ,ysum/num ));
form.DisplayHandPointAndPressKey(xmean, ymean);
}
}
} // end itrating over hands
form.DisplayJoints(nodes, numOfHands);
}
else
{
form.DisplayJoints(null, 0);
}
}
public bool isRight;/* whether right hand is existed */
public HandsModel(){
jointData = new PXCMHandData.JointData[MaxHands][];
isLeft = false;
isRight = false;
for (int i = 0; i < MaxHands; i++) {
jointData [i] = new PXCMHandData.JointData[MaxJoints];
}
for (int i = 0; i < MaxHands; i++)
for (int j = 0; j < MaxJoints; j++) {
jointData [i] [j] = new PXCMHandData.JointData ();
}
}
//Populate bones and joints gameobjects
void InitializeGameobjects()
{
myJoints = new GameObject[MaxHands][];
myBones = new GameObject[MaxHands][];
jointData = new PXCMHandData.JointData[MaxHands][];
for (int i = 0; i < MaxHands; i++)
{
myJoints[i] = new GameObject[MaxJoints];
myBones[i] = new GameObject[MaxJoints];
smoother3D[i] = new PXCMSmoother.Smoother3D[MaxJoints];
jointData[i] = new PXCMHandData.JointData[MaxJoints];
}
for (int i = 0; i < MaxHands; i++)
{
for (int j = 0; j < MaxJoints; j++)
{
smoother3D[i][j] = smoother.Create3DWeighted(weightsNum);
jointData[i][j] = new PXCMHandData.JointData();
if (j == 1)
{
myJoints[i][j] = (GameObject)Instantiate(PalmCenterPrefab, Vector3.zero, Quaternion.identity);
}
else if (j == 21 || j == 17 || j == 13 || j == 9 || j == 5)
{
myJoints[i][j] = (GameObject)Instantiate(TipPrefab, Vector3.zero, Quaternion.identity);
}
else
{
myJoints[i][j] = (GameObject)Instantiate(JointPrefab, Vector3.zero, Quaternion.identity);
}
if (j != 1)
{
myBones[i][j] = (GameObject)Instantiate(BonePrefab, Vector3.zero, Quaternion.identity);
}
}
}
}
PXCMHandData.JointData[,] getHandInfo()
{
int handNum = handData.QueryNumberOfHands();
PXCMHandData.JointData[,] nodes = new PXCMHandData.JointData[handNum, PXCMHandData.NUMBER_OF_JOINTS];
// Iterate through hands
for (int i = 0; i < handNum; i++)
{
// Get hand joints by time of appearance
PXCMHandData.IHand ihandData;
if (handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, i, out ihandData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
for (int j = 0; j < PXCMHandData.NUMBER_OF_JOINTS; j++)
{
ihandData.QueryTrackedJoint((PXCMHandData.JointType)j, out nodes[i, j]);
}
}
}
return(nodes);
}
public MainWindow2()
{
InitializeComponent();
nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
currentPoint = new Point();
gesture = Gesture.Undefined;
xValues = new float[arraySize];
yValues = new float[arraySize];
zValues = new float[arraySize];
xyzValueIndex = 0;
detectionAlert = string.Empty;
calibrationAlert = string.Empty;
bordersAlert = string.Empty;
detectionStatusOk = false;
calibrationStatusOk = false;
borderStatusOk = false;
processingThread = new Thread(new ThreadStart(ProcessingThread));
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableHand();
senseManager.Init();
ConfigureHandModule();
processingThread.Start();
}
pxcmStatus newHandFrame(PXCMHandModule hand)
{
if (hand != null)
{
PXCMHandData handData = hand.CreateOutput();
handData.Update();
PXCMHandData.IHand iHandDataLeft = null, iHandDataRight = null;
PXCMHandData.JointData jointData = null;
PXCMImage image = null;
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_LEFT_HANDS, 0, out iHandDataLeft);
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_RIGHT_HANDS, 0, out iHandDataRight);
if (handForm != null && !handForm.IsDisposed)
{
this.handForm.HandCount = handData.QueryNumberOfHands();
if (iHandDataLeft != null)
{
iHandDataLeft.QuerySegmentationImage(out image);
if (image != null)
{
PXCMImage.ImageData data = new PXCMImage.ImageData();
image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data);
handForm.LeftHand = data.ToBitmap(0, image.info.width, image.info.height);
image.ReleaseAccess(data);
}
}
if (iHandDataRight != null)
{
iHandDataRight.QuerySegmentationImage(out image);
if (image != null)
{
PXCMImage.ImageData data = new PXCMImage.ImageData();
image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data);
handForm.RightHand = data.ToBitmap(0, image.info.width, image.info.height);
image.ReleaseAccess(data);
}
}
}
if (iHandDataLeft != null)
{
if (jointData == null)
{
iHandDataLeft.QueryTrackedJoint(PXCMHandData.JointType.JOINT_INDEX_TIP, out jointData);
}
}
if (iHandDataRight != null)
{
if (jointData == null)
{
iHandDataRight.QueryTrackedJoint(PXCMHandData.JointType.JOINT_INDEX_TIP, out jointData);
}
}
if (jointData != null && canTrack.Checked)
{
Cursor.Position = new System.Drawing.Point(
(int)((640.0f - jointData.positionImage.x) * Screen.PrimaryScreen.Bounds.Width / 640.0f),
(int)(jointData.positionImage.y * Screen.PrimaryScreen.Bounds.Height / 480.0f));
PXCMHandData.GestureData gestureData = null;
if (handData.IsGestureFired("two_fingers_pinch_open", out gestureData))
{
Program.DoMouseClick();
}
Console.WriteLine("Z Position: " + jointData.positionWorld.z);
}
handData.Dispose();
}
return(pxcmStatus.PXCM_STATUS_NO_ERROR);
}
private Hashtable handList; //keep track of bodyside and hands for GUItext
// Use this for initialization
void Start()
{
handList = new Hashtable();
/* Initialize a PXCMSenseManager instance */
sm = PXCMSenseManager.CreateInstance();
if (sm == null)
{
Debug.LogError("SenseManager Initialization Failed");
}
/* Enable hand tracking and retrieve an hand module instance to configure */
sts = sm.EnableHand();
handAnalyzer = sm.QueryHand();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.EnableHand: " + sts);
}
/* Initialize the execution pipeline */
sts = sm.Init();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.Init: " + sts);
}
/* Retrieve the the DataSmoothing instance */
sm.QuerySession().CreateImpl <PXCMSmoother>(out smoother);
/* Create a 3D Weighted algorithm */
smoother3D = new PXCMSmoother.Smoother3D[MaxHands, MaxJoints];
/* Configure a hand - Enable Gestures and Alerts */
PXCMHandConfiguration hcfg = handAnalyzer.CreateActiveConfiguration();
if (hcfg != null)
{
hcfg.EnableAllGestures();
hcfg.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED);
hcfg.ApplyChanges();
hcfg.Dispose();
}
myJoints = new Joint[MaxHands, MaxJoints];
Joint[] joints;
if (RightHand != null)
{
HandMapping RightMapping = RightHand.GetComponent <HandMapping>();
joints = RightMapping.GetJoints();
for (int j = 0; j < MaxJoints; j++)
{
myJoints[0, j] = joints[j];
}
}
if (LeftHand != null)
{
HandMapping LeftMapping = LeftHand.GetComponent <HandMapping>();
joints = LeftMapping.GetJoints();
for (int j = 0; j < MaxJoints; j++)
{
myJoints[1, j] = joints[j];
}
}
jointData = new PXCMHandData.JointData[MaxHands, MaxJoints];
for (int i = 0; i < MaxHands; i++)
{
for (int j = 0; j < MaxJoints; j++)
{
Joint joint = myJoints[i, j];
if (joint != null)
{
joint.originalPosition = joint.transform.position;
joint.originalRotation = joint.transform.rotation;
//Calculate orientation
Vector3 v = Vector3.zero;
Vector3 parent = joint.transform.position;
int childcount = 0;
foreach (Joint.Neighbour n in joint.neighbours)
{
if (n.index < j)
{
parent = n.joint.transform.position;
}
else
{
v += n.joint.transform.position;
childcount++;
}
}
Vector3 direction = v - parent * childcount;
joint.originalOrientation = direction + parent - joint.transform.position;
//Joint extensions
foreach (Joint e in joint.extensions)
{
e.originalPosition = e.transform.position;
e.originalRotation = e.transform.rotation;
e.originalOrientation = joint.transform.position - e.transform.position;
}
}
smoother3D[i, j] = smoother.Create3DWeighted(smoothing);
jointData[i, j] = new PXCMHandData.JointData();
//Test output to check Hand Mapping
if (myJoints[i, j] == null)
{
Debug.Log("null");
}
else
{
Debug.Log(myJoints[i, j].transform.name);
}
}
}
}
pxcmStatus OnModuleProcessedFrame(Int32 mid, PXCMBase module, PXCMCapture.Sample sample)
{
thread.Wait();
if (mid == PXCMHandModule.CUID)
{
PXCMHandModule hand = module.QueryInstance<PXCMHandModule>();
PXCMHandData handData = hand.CreateOutput();
handData.Update();
if (handData == null)
{
Console.WriteLine("Failed Create Output");
Console.WriteLine("That`s all...");
Console.ReadKey();
return 0;
}
PXCMHandData.JointData[][] nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
int numOfHands = handData.QueryNumberOfHands();
for (int i = 0; i < numOfHands; i++)
{
//Get hand by time of appearence
PXCMHandData.IHand IhandData;
if (handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, i, out IhandData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (handData != null)
{
//Iterate Joints
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
IhandData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
} // end iterating over joints
}
}
} // end itrating over hands
int numOfGestures = handData.QueryFiredGesturesNumber();
if (numOfGestures > 0)
{
for (int i = 0; i < numOfGestures; i++)
{
PXCMHandData.GestureData gestureData;
if (handData.QueryFiredGestureData(i, out gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
switch (gestureData.name)
{
case "thumb_up":
break;
case "thumb_down":
break;
case "fist":
break;
case "spreadfingers":
textSpeed.Invoke(new Inform((s) => textSpeed.Text = s), vol[0].ToString("F"));
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), DateTime.Now.ToString("hh:mm:ss") + " Gesture: Spreadfingers" + "\n");
break;
case "full_pinch":
textPanorama.Invoke(new Inform((s) => textPanorama.Text = s), vol[4].ToString("0.##"));
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), DateTime.Now.ToString("hh:mm:ss") + " Gesture: Full pinch" + "\n");
break;
case "v_sign":
textVolume.Invoke(new Inform((s) => textVolume.Text = s), vol[3].ToString("F"));
textSpeed.Invoke(new Inform((s) => textSpeed.Text = s), vol[0].ToString("F"));
textPanorama.Invoke(new Inform((s) => textPanorama.Text = s), vol[4].ToString("0.##"));
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), DateTime.Now.ToString("hh:mm:ss") + " Gesture: V sign" + "\n");
break;
}
}
}
}
}
return pxcmStatus.PXCM_STATUS_NO_ERROR;
}
protected void DisplayGesturesNew(PXCMHandData.JointData[][] nodes, int numOfHands)
{
string handsR = "";
string handsC = "";
string info = "";
// reversed (?)
bool reversed = false;
if (numOfHands >= 2)
{
PXCMHandData.JointData joint1 = nodes[0][1];
PXCMHandData.JointData joint2 = nodes[1][1];
if (joint1 != null && joint2 != null)
{
reversed = joint1.positionImage.x < joint2.positionImage.x;
}
}
if (reversed)
{
PXCMHandData.JointData[] hand0 = nodes[0];
nodes[0] = nodes[1];
nodes[1] = hand0;
}
// joints
for (int h = 0; h < numOfHands; h++)
{
PXCMHandData.JointData joint = nodes[h][0];
if (joint == null)
{
continue;
}
string handInfo = "Hand " + h.ToString() + "\r\n";
string folded = GetFolded(nodes[h]);
handInfo += folded + "\r\n";
handsC += GetFoldedCount(nodes[h]);
handsR += GetRoundFingers(nodes[h]);
string rounded = GetRoundFingers(nodes[h]);
handInfo += "\r\n" + GetRoundFingers(nodes[h]);
handInfo += "\r\n" + getProportions(nodes[h]);
info += handInfo + "\r\n";
}
string letter = "?";
if (handsC == "41")
{
letter = findVovel(nodes, GetTip(nodes[1]), handsC);
}
if (handsC == "42")
{
letter = findVovel(nodes, GetTip(nodes[1]), handsC);
}
if (handsC == "43")
{
letter = findVovel(nodes, GetTip(nodes[1]), handsC);
}
if (letter == "?")
{
/* int leftHandIndexTip = GetTip(nodes[0]);
* int rightHandIndexTip = GetTip(nodes[1]);
*
* PXCMPoint3DF32 leftIndex = nodes[0][5 + 4 * leftHandIndexTip].positionWorld;
* PXCMPoint3DF32 rightIndex = nodes[1][5 + 4 * rightHandIndexTip].positionWorld;
*
* float FDistance = Distance(leftIndex, rightIndex);
* bool isF = false;
*
* if (FDistance < 1000)
* {
* isF = true;
* }*/
letter = GetLetter(handsR, handsC);
}
info = reversed.ToString() + "\tLetter - " + letter + "\r\n" + "Hands - " + handsR + handsC + "\r\n" + info;
form.UpdateLetter(letter);
if (letter != "?")
{
form.UpdateKaraoke(letter);
}
form.UpdateGestureInfo(info);
}
/* Displaying current frames hand joints */
private void DisplayJoints(PXCMHandData handOutput, long timeStamp = 0)
{
//Iterate hands
PXCMHandData.JointData[][] nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
int numOfHands = handOutput.QueryNumberOfHands();
for (int i = 0; i < numOfHands; i++)
{
//Get hand by time of appearence
PXCMHandData.IHand handData;
if (handOutput.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, i, out handData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (handData != null)
{
Coordinate coor;
string handSide = "Unknown Hand";
handSide = handData.QueryBodySide() == PXCMHandData.BodySideType.BODY_SIDE_LEFT ? "Left Hand" : "Right Hand";
switch (handSide)
{
case ("Left Hand"): { coor.handside = 0; Rnum++; break; }
case ("Right Hand"): { coor.handside = 1; Lnum++; break; }
default: { coor.handside = 2; break; }
}
//Iterate Joints
for (int j = 0; j < 0x20; j++)
{
sr = File.CreateText(FILE_NAME);
PXCMHandData.JointData jointData;
handData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
if (handData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData) == pxcmStatus.PXCM_STATUS_NO_ERROR && Handsinfo.JointToInt((PXCMHandData.JointType)j) != -1)
{
coor.finger = Handsinfo.JointToInt((PXCMHandData.JointType)j);
coor.x = jointData.positionWorld.x;
coor.y = jointData.positionWorld.y;
coor.z = jointData.positionWorld.z;
//right
if (coor.finger == 1 && coor.handside == 1)
{
this.RHandMove(coor.x, coor.y);
sr.WriteLine(coor.x + " " + coor.y + " " + coor.z + "\n");
MYPoint p = new MYPoint(coor.x, coor.y, coor.z);
int num = rightcp.checkNote(p);
if (num != 0 && Rnum < 2 && Lnum < 2)
{
DateTime DateTime2 = DateTime.Now;
diff = tim.ExecTimeDiff(starttmp, DateTime2);
this.HandClick(num, (int)diff);
}
}
//left
if (coor.finger == 1 && coor.handside == 0)
{
this.LHandMove(coor.x, coor.y);
sr.WriteLine(coor.x + " " + coor.y + " " + coor.z + "\n");
MYPoint p = new MYPoint(coor.x, coor.y, coor.z);
int num = leftcp.checkNote(p);
if (num != 0 && Rnum < 2 && Lnum < 2)
{
DateTime DateTime2 = DateTime.Now;
diff = tim.ExecTimeDiff(starttmp, DateTime2);
this.HandClick(num, (int)diff);
}
}
}
sr.Close();
} // end iterating over joints
}
} // end itrating over hands
}
Lnum = 0; Rnum = 0;
}
protected void DisplayGesturesNew(PXCMHandData.JointData[][] nodes, int numOfHands)
{
string handsR = "";
string handsC = "";
string info = "";
// reversed (?)
bool reversed = false;
if (numOfHands >= 2)
{
PXCMHandData.JointData joint1 = nodes[0][1];
PXCMHandData.JointData joint2 = nodes[1][1];
if (joint1 != null && joint2 != null)
{
reversed = joint1.positionImage.x < joint2.positionImage.x;
}
}
if (reversed)
{
PXCMHandData.JointData[] hand0 = nodes[0];
nodes[0] = nodes[1];
nodes[1] = hand0;
}
// joints
for (int h = 0; h < numOfHands; h++)
{
PXCMHandData.JointData joint = nodes[h][0];
if (joint == null)
{
continue;
}
string handInfo = "Hand " + h.ToString() + "\r\n";
string folded = GetFolded(nodes[h]);
handInfo += folded + "\r\n";
if (folded.Substring(1) == "||__")
{
handInfo += "Victory";
}
if (folded == "||__|")
{
form.UpdateKaraoke("*");
return;
}
if (folded == "|_|__")
{
handInfo += "F**k";
}
handsC += GetFoldedCount(nodes[h]);
handsR += GetRoundFingers(nodes[h]);
string rounded = GetRoundFingers(nodes[h]);
handInfo += "\r\n" + GetRoundFingers(nodes[h]);
handInfo += "\r\n" + getProportions(nodes[h]);
info += handInfo + "\r\n";
}
string letter = "?";
if (handsC == "41")
{
letter = findVovel(nodes, GetTip(nodes[1]));
}
if (letter == "?")
{
letter = GetLetter(handsR, handsC);
}
info = reversed.ToString() + "\tLetter - " + letter + "\r\n" + "Hands - " + handsR + handsC + "\r\n" + info;
form.UpdateLetter(letter);
if (letter != "?")
{
form.UpdateKaraoke(letter);
}
form.UpdateGestureInfo(info);
}
// System.Windows.Forms.Timer _timer;
pxcmStatus OnModuleProcessedFrame(Int32 mid, PXCMBase module, PXCMCapture.Sample sample)
{
thread.Wait();
if (mid == PXCMHandModule.CUID)
{
PXCMHandModule hand = module.QueryInstance<PXCMHandModule>();
PXCMHandData handData = hand.CreateOutput();
handData.Update();
if (handData == null)
{
Console.WriteLine("Failed Create Output");
Console.WriteLine("That`s all...");
Console.ReadKey();
return 0;
}
PXCMHandData.JointData[][] nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
int numOfHands = handData.QueryNumberOfHands();
for (int i = 0; i < numOfHands; i++)
{
//Get hand by time of appearence
PXCMHandData.IHand IhandData;
if (handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, i, out IhandData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (handData != null)
{
//Iterate Joints
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
IhandData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
} // end iterating over joints
}
}
} // end itrating over hands
int numOfGestures = handData.QueryFiredGesturesNumber();
if (numOfGestures > 0)
{
for (int i = 0; i < numOfGestures; i++)
{
PXCMHandData.GestureData gestureData;
if (handData.QueryFiredGestureData(i, out gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
switch (gestureData.name)
{
case "wave":
string[] response = GET("http://168.63.82.20/api/login", "login=sbst&password=ebc1628c26f8515f81a5178a5abfcbd9").Split('\"');
response = GET("http://168.63.82.20/api/thing", @"user_id=" + response[7] + @"&token=" + response[3] + @"&did=yk5ynj69aw7z").Split('\"'); ;
label1.Invoke(new Inform((s) => label1.Text = s), response[15] + " C");
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text + WindState.ToString()), "GETDATA Temperature:" + response[15] + " C" + "\n");
break;
case "tap":
flagLight++;
if (flagLight == 2)
{
if (LightState == 0)
LightState = 1;
else
LightState = 0;
flagLight = 0;
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), "MAKEDATA LightState:" + LightState + " WindState:" + WindState + "\n");
}
break;
case "swipe_up":
flagWind++;
if (flagWind == 2)
{
if (WindState == 0)
WindState = 1;
else
WindState = 0;
flagWind = 0;
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text + WindState.ToString()), "MAKEDATA LightState:" + LightState + " WindState:" + WindState + "\n");
}
break;
case "thumb_up":
SendState++;
if (SendState == 2)
{
if (LightState == 0)
ChangeSwitch(DidLight, "501");
else
ChangeSwitch(DidLight, "498");
if (WindState == 0)
ChangeSwitch(DidWind, "501");
else
ChangeSwitch(DidWind, "498");
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), "SENDDATA LightState:" + LightState + " WindState:" + WindState + "\n");
//SendState = 0;
}
break;
//textVolume.Invoke(new Inform((s) => textVolume.Text = s), vol[3].ToString("F"));
//textSpeed.Invoke(new Inform((s) => textSpeed.Text = s), vol[0].ToString("F"));
//textPanorama.Invoke(new Inform((s) => textPanorama.Text = s), vol[4].ToString("0.##"));
//logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), DateTime.Now.ToString("hh:mm:ss") + " Gesture: V sign" + "\n");
}
}
}
}
}
//Thread.Sleep(100);
return pxcmStatus.PXCM_STATUS_NO_ERROR;
}
/* Constructor */
public HandsData(int MaxHands, int MaxJoints)
{
NumOfHands = MaxHands;
NumOfJoints = MaxJoints;
JointData = new PXCMHandData.JointData[NumOfHands][]; // Joint coordinates
Coordinates = new Main.HandCoord[NumOfHands];
/* Declaration of the array for the hand data*/
for (int i = 0; i < NumOfHands; i++)
{
JointData[i] = new PXCMHandData.JointData[NumOfJoints];
Coordinates[i] = new Main.HandCoord(6, NumOfJoints);
for (int j = 0; j < NumOfJoints; j++)
{
JointData[i][j] = new PXCMHandData.JointData();
}
}
/* Initialization of SenseManager */
SenseManager = PXCMSenseManager.CreateInstance();
if (SenseManager == null)
{
Debug.LogError("Initialization of the SenseManager has failed");
}
/* Enable hand tracking and get an instance of an hand module */
Status = SenseManager.EnableHand();
HandModule = SenseManager.QueryHand();
if (Status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("SenseManager --> EnableHand " + Status);
}
/* Create the connection to the Intel RealSense camera */
Status = SenseManager.Init();
if (Status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("Initialization of SenseManager: " + Status);
}
/* Settings for the hand module */
PXCMHandConfiguration HandConfig = HandModule.CreateActiveConfiguration();
if (HandConfig != null)
{
HandConfig.EnableAllGestures();
HandConfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED);
PXCMHandData.JointType st = PXCMHandData.JointType.JOINT_WRIST;
for (int i = 0; i < NumOfJoints; i++)
{
HandConfig.EnableJointSpeed(st, PXCMHandData.JointSpeedType.JOINT_SPEED_AVERAGE, 1000 / 10);
st++;
}
//HandConfig.EnableJointSpeed(PXCMHandData.JointType.JOINT_WRIST, PXCMHandData.JointSpeedType.JOINT_SPEED_ABSOLUTE,1000/20);
HandConfig.ApplyChanges();
HandConfig.Dispose();
}
}
/* Displaying current frames hand joints */
private void DisplayJoints(PXCMHandData handOutput, long timeStamp = 0)
{
if (form.GetJointsState() || form.GetSkeletonState())
{
//Iterate hands
PXCMHandData.JointData[][] nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
int numOfHands = handOutput.QueryNumberOfHands();
for (int i = 0; i < numOfHands; i++)
{
//Get hand by time of appearence
//PXCMHandAnalysis.HandData handData = new PXCMHandAnalysis.HandData();
PXCMHandData.IHand handData;
if (handOutput.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, i, out handData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (handData != null)
{
//Iterate Joints
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
handData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
} // end iterating over joints
}
}
} // end itrating over hands
form.DisplayJoints(nodes, numOfHands);
DisplayGesturesNew(nodes, numOfHands);
}
else
{
form.DisplayJoints(null, 0);
}
}
//Populate bones and joints gameobjects
void InitializeGameobjects()
{
myJoints = new GameObject[MaxHands][];
myBones = new GameObject[MaxHands][];
jointData = new PXCMHandData.JointData[MaxHands][];
for (int i = 0; i < MaxHands; i++) {
myJoints [i] = new GameObject[MaxJoints];
myBones [i] = new GameObject[MaxJoints];
smoother3D [i] = new PXCMDataSmoothing.Smoother3D[MaxJoints];
jointData [i] = new PXCMHandData.JointData[MaxJoints];
}
for (int i = 0; i < MaxHands; i++)
for (int j = 0; j < MaxJoints; j++) {
smoother3D [i] [j] = ds.Create3DWeighted (weightsNum);
jointData [i] [j] = new PXCMHandData.JointData ();
if (j == 1)
myJoints [i] [j] = (GameObject)Instantiate (PalmCenterPrefab, transform.position, Quaternion.identity);
else if (j == 21 || j == 17 || j == 13 || j == 9 || j == 5)
myJoints [i] [j] = (GameObject)Instantiate (TipPrefab, transform.position, Quaternion.identity);
else
myJoints [i] [j] = (GameObject)Instantiate (JointPrefab, transform.position, Quaternion.identity);
if (j != 1)
myBones [i] [j] = (GameObject)Instantiate (BonePrefab, transform.position, Quaternion.identity);
}
}
//Smoothen and Display the Joint Data by moving the Hand
void MoveJoints(int i)
{
//Caclulate the target positions of the joints
Vector3[] targetPositions = new Vector3[MaxJoints];
for (int j = 0; j < MaxJoints; j++)
{
Joint joint = myJoints[i, j];
PXCMHandData.JointData data = jointData[i, j];
jointData[i, j] = null;
if (joint == null || data == null || data.confidence != 100)
{
continue;
}
PXCMPoint3DF32 smoothedPoint = smoother3D[i, j].SmoothValue(data.positionWorld);
Vector3 targetPosition = new Vector3(-1 * smoothedPoint.x, smoothedPoint.y, smoothedPoint.z);
targetPosition -= trackingOffset[i];
//Clamp the offset
Vector3 offset = targetPosition - joint.transform.position;
if (offset.magnitude > speed)
{
offset = offset.normalized * speed;
}
targetPosition = joint.transform.position + offset;
//Ensure that the bone length to the parent joint is kept
//Should only have one valid iteration, because joints only have one parent
//The joints are iterated hierarchically, so that the position of the joint's parent is already updated here
foreach (Joint.Neighbour neighbour in joint.neighbours)
{
if (neighbour.index >= j) // = Is neighbour a child?
{
continue;
}
float bone_length = (neighbour.joint.originalPosition - joint.originalPosition).magnitude;
//Set target position so that the bone length is kept
targetPosition = neighbour.joint.transform.position + (targetPosition - neighbour.joint.transform.position).normalized * bone_length;
}
//Store the target position
targetPositions[j] = targetPosition;
}
//Apply joint positions and rotate
for (int j = 0; j < MaxJoints; j++)
{
Joint joint = myJoints[i, j];
if (joint == null)
{
continue;
}
//Apply the position
joint.transform.position = targetPositions[j];
if (!applyRotation || joint.neighbours.Count == 0)
{
continue;
}
//Calculate orientation
Vector3 v = Vector3.zero;
Vector3 parent = joint.transform.position;
int childcount = 0;
foreach (Joint.Neighbour n in joint.neighbours)
{
if (n.index < j)
{
parent = n.joint.transform.position;
}
else
{
v += n.joint.transform.position;
childcount++;
}
}
Vector3 direction = v - parent * childcount;
Debug.DrawLine(parent, direction + parent, Color.red);
Debug.DrawLine(joint.transform.position, direction + parent, Color.blue);
Vector3 orientation = direction + parent - joint.transform.position;
Quaternion targetRotation = Quaternion.FromToRotation(joint.originalOrientation, orientation);
//Factor in the original rotation, if the joint transform didnt align with the target rotation
targetRotation = targetRotation * joint.originalRotation;
//Clamp rotation
targetRotation = Quaternion.RotateTowards(joint.transform.rotation, targetRotation, rotateSpeedFactor * speed);
//Move and Rotate Joint Extensions (skeleton joints that are not tracked)
foreach (Joint e in joint.extensions)
{
Vector3 difference = e.originalPosition - joint.originalPosition;
e.transform.position = targetPositions[j] + targetRotation * difference;
e.transform.rotation = targetRotation * e.originalRotation;
}
//Joint extension could be a parent in the skeleton, reset position
joint.transform.position = targetPositions[j];
//Set own rotation
joint.transform.rotation = targetRotation;
}
}
/* Displaying current frames hand joints */
private void DisplayJoints(PXCMHandData handOutput, long timeStamp = 0)
{
if (form.GetJointsState() || form.GetSkeletonState())
{
//Iterate hands
PXCMHandData.JointData[][] nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
int numOfHands = handOutput.QueryNumberOfHands();
for (int i = 0; i < numOfHands; i++)
{
//Get hand by time of appearence
//PXCMHandAnalysis.HandData handData = new PXCMHandAnalysis.HandData();
PXCMHandData.IHand handData;
if (handOutput.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, i, out handData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (handData != null)
{
Coordinate coor;
string handSide = "Unknown Hand";
handSide = handData.QueryBodySide() == PXCMHandData.BodySideType.BODY_SIDE_LEFT ? "Left Hand" : "Right Hand";
switch (handSide){
case("Left Hand"):
coor.handside = 0;
Rnum++;
break;
case("Right Hand"):
coor.handside = 1;
Lnum++;
break;
default:
coor.handside = 2;
break;
}
//Iterate Joints
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
handData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
if (handData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData) == pxcmStatus.PXCM_STATUS_NO_ERROR && Handsinfo.JointToInt((PXCMHandData.JointType)j) != -1)
{
coor.finger = Handsinfo.JointToInt((PXCMHandData.JointType)j);
coor.x = jointData.positionWorld.x;
coor.y = jointData.positionWorld.y;
coor.z = jointData.positionWorld.z;
//right
if (coor.finger == 1 && coor.handside == 1)// && Rnum == 1)
{
sr.WriteLine(coor.x + " " + coor.y + " " + coor.z + "\n");
MYPoint p = new MYPoint(coor.x, coor.y, coor.z);
int num = rightcp.checkNote(p);
if (num != 0 && Rnum < 2 && Lnum < 2)
{
DateTime DateTime2 = DateTime.Now;
diff = tim.ExecTimeDiff(starttmp, DateTime2);
//form.UpdateInfo("play sound" + num.ToString(), Color.RoyalBlue);
playwave.play(num);
playwave.savehistory(num, (int)diff);
}
}
//left
if (coor.finger == 1 && coor.handside == 0)// && Lnum == 1)
{
sr.WriteLine(coor.x + " " + coor.y + " " + coor.z + "\n");
MYPoint p = new MYPoint(coor.x, coor.y, coor.z);
int num = leftcp.checkNote(p);
if (num != 0 && Rnum < 2 && Lnum < 2)
{
DateTime DateTime2 = DateTime.Now;
diff = tim.ExecTimeDiff(starttmp, DateTime2);
//form.UpdateInfo("play sound" + num.ToString(), Color.RoyalBlue);
playwave.play(num);
playwave.savehistory(num, (int)diff);
}
}
}
} // end iterating over joints
}
} // end itrating over hands
}
Lnum = 0; Rnum = 0;
form.DisplayJoints(nodes, numOfHands);
}
else
{
form.DisplayJoints(null, 0);
}
}
pxcmStatus OnModuleProcessedFrame(Int32 mid, PXCMBase module, PXCMCapture.Sample sample)
{
// check if the callback is from the hand tracking module.
if (mid == PXCMHandModule.CUID)
{
PXCMHandModule hand = module.QueryInstance<PXCMHandModule>();
PXCMHandData handData = hand.CreateOutput();
handData.Update();
if (handData == null)
{
Console.WriteLine("Failed Create Output");
Console.WriteLine("That`s all...");
Console.ReadKey();
return 0;
}
PXCMHandData.JointData[][] nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
int numOfHands = handData.QueryNumberOfHands();
for (int i = 0; i < numOfHands; i++)
{
//Get hand by time of appearence
PXCMHandData.IHand IhandData;
if (handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, i, out IhandData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (handData != null)
{
//Iterate Joints
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
IhandData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
} // end iterating over joints
}
}
} // end itrating over hands
int numOfGestures = handData.QueryFiredGesturesNumber();
if (numOfGestures > 0)
{
for (int i = 0; i < numOfGestures; i++)
{
PXCMHandData.GestureData gestureData;
if (handData.QueryFiredGestureData(i, out gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
switch (gestureData.name)
{
case "thumb_up":
if (vol[3] > 10F)
break;
vol[3] += 0.4F;
textVolume.Invoke(new Inform((s) => textVolume.Text = s), vol[3].ToString("F"));
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), DateTime.Now.ToString("hh:mm:ss") + " Gesture: Thumb up" + "\n");
Send("/vol4", vol[3]);
break;
case "thumb_down":
vol[3] -= 0.4F;
textVolume.Invoke(new Inform((s) => textVolume.Text = s), vol[3].ToString("F"));
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), DateTime.Now.ToString("hh:mm:ss") + " Gesture: Thumb down" + "\n");
Send("/vol4", vol[3]);
break;
case "fist":
if (vol[0] < 1.6F)
vol[0] += 0.1F;
textSpeed.Invoke(new Inform((s) => textSpeed.Text = s), vol[0].ToString("F"));
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), DateTime.Now.ToString("hh:mm:ss") + " Gesture: Fist" + "\n");
Send("/vol1", vol[0]);
break;
case "spreadfingers":
if (vol[0] > 0.4F)
vol[0] -= 0.1F;
textSpeed.Invoke(new Inform((s) => textSpeed.Text = s), vol[0].ToString("F"));
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), DateTime.Now.ToString("hh:mm:ss") + " Gesture: Spreadfingers" + "\n");
// Send("/vol1", vol[0]);
break;
case "full_pinch":
if (vol[4] > 0.9F)
flag3 = 1;
if (vol[4] < 0.1F)
flag3 = 0;
if (flag3 == 0)
vol[4] += 0.1F;
else
vol[4] -= 0.1F;
textPanorama.Invoke(new Inform((s) => textPanorama.Text = s), vol[4].ToString("0.##"));
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), DateTime.Now.ToString("hh:mm:ss") + " Gesture: Full pinch" + "\n");
Send("/vol2", vol[4]);
break;
case "v_sign":
vol[0] = 1F;
Send("/vol1", vol[0]);
vol[4] = 1F;
Send("/vol2", vol[4]);
//vol[2] = 0F;
//Send("/vol3", vol[2]);
vol[3] = 2F;
Send("/vol4", vol[3]);
textVolume.Invoke(new Inform((s) => textVolume.Text = s), vol[3].ToString("F"));
textSpeed.Invoke(new Inform((s) => textSpeed.Text = s), vol[0].ToString("F"));
textPanorama.Invoke(new Inform((s) => textPanorama.Text = s), vol[4].ToString("0.##"));
logTextBox.Invoke(new Inform((s) => logTextBox.Text = s + logTextBox.Text), DateTime.Now.ToString("hh:mm:ss") + " Gesture: V sign" + "\n");
//vol[4] = 0.5F;
//Send("/vol5", vol[4]);
//vol[5] = 0F;
//Send("/vol6", vol[5]);
break;
}
Thread.Sleep(500);//100
}
}
}
}
// return NO_ERROR to continue, or any error to abort.
return pxcmStatus.PXCM_STATUS_NO_ERROR;
}
/* Displaying current frames hand joints */
private void DisplayJoints(PXCMHandData handOutput, long timeStamp = 0)
{
//if (form.GetJointsState() || form.GetSkeletonState())
//{
//Iterate hands
PXCMHandData.JointData[][] nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
int numOfHands = handOutput.QueryNumberOfHands();
for (int i = 0; i < numOfHands; i++)
{
//Get hand by time of appearence
//PXCMHandAnalysis.HandData handData = new PXCMHandAnalysis.HandData();
String jointString = String.Empty;
PXCMHandData.IHand handData;
if (handOutput.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, i, out handData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (handData != null)
{
//Iterate Joints
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
handData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
} // end iterating over joints
//for (int j = 0; j < 22; j++)
//{
// Single x, y, z, w;
// x = nodes[i][j].localRotation.x;
// y = nodes[i][j].localRotation.y;
// z = nodes[i][j].localRotation.z;
// w = nodes[i][j].localRotation.w;
// jointString = i + "x" + j + ", " + x + "," + y + "," + z + "," + w +"\n";
// form.UpdateInfo(jointString, Color.Red);
//} // end iterating over joints
}
}
} // end itrating over hands
form.DisplayJoints(nodes, numOfHands);
//}
//else
//{
// form.DisplayJoints(null, 0);
//}
}
private int DisplayHandOrientation(PXCMHandData handAnalysis)
{
// HAND ORIENTATION
PXCMHandData handOutput = handAnalysis;
int numOfHands = handOutput.QueryNumberOfHands();
int value = -1;
if (numOfHands != 2)
return -1;
if (numOfHands == 2)
{
PXCMHandData.IHand hand1Data;
PXCMHandData.IHand hand2Data;
if (handOutput.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, 0, out hand1Data) == pxcmStatus.PXCM_STATUS_NO_ERROR &&
handOutput.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, 1, out hand2Data) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMHandData.JointData[] joint1Data = new PXCMHandData.JointData[3];
PXCMHandData.JointData[] joint2Data = new PXCMHandData.JointData[3];
hand1Data.QueryTrackedJoint((PXCMHandData.JointType)0, out joint1Data[0]);
hand1Data.QueryTrackedJoint((PXCMHandData.JointType)1, out joint1Data[1]);
hand1Data.QueryTrackedJoint((PXCMHandData.JointType)10, out joint1Data[2]);
hand2Data.QueryTrackedJoint((PXCMHandData.JointType)0, out joint2Data[0]);
hand2Data.QueryTrackedJoint((PXCMHandData.JointType)1, out joint2Data[1]);
hand2Data.QueryTrackedJoint((PXCMHandData.JointType)10, out joint2Data[2]);
Single[] x1 = {
joint1Data[0].globalOrientation.x,
joint1Data[1].globalOrientation.x,
joint1Data[2].globalOrientation.x
};
Single[] x2 = {
joint2Data[0].globalOrientation.x,
joint2Data[1].globalOrientation.x,
joint2Data[2].globalOrientation.x
};
form.updateXlabel(form.label1, x1[0].ToString());
form.updateXlabel(form.label2, x1[1].ToString());
form.updateXlabel(form.label3, x1[2].ToString());
form.updateXlabel(form.label6, x2[0].ToString());
form.updateXlabel(form.label7, x2[1].ToString());
form.updateXlabel(form.label8, x2[2].ToString());
int x1_pos = -1;
int x2_pos = -1;
if (x1[0] > 0.9 && x1[1] > 0.9 && x1[2] > 0.9)
{
x1_pos = 1;
}
else if (x1[0] < 0.85 && x1[1] < 0.85 && x1[2] < 0.85 )
{
x1_pos = 2;
}
if (x2[0] > 0.9 && x2[1] > 0.9 && x2[2] > 0.9)
{
x2_pos = 1;
}
else if (x2[0] < 0.85 && x2[1] < 0.85 && x2[2] < 0.85 )
{
x2_pos = 2;
}
if (x1_pos == 1 && x2_pos == 1)
{
value = 0;
}
else if (x1_pos == 2 && x2_pos == 1)
{
value = 1;
}
else if (x1_pos == 1 && x2_pos == 2)
{
value = 2;
}
else if (x1_pos == 2 && x2_pos == 2)
{
value = 3;
}
form.updateXlabel(form.label4, x1_pos.ToString());
form.updateXlabel(form.label5, x2_pos.ToString());
form.updateXlabel(form.label9, value.ToString());
if (value != -1)
{
//form.UpdateInfo("Orientation: " + value + "\n", Color.SeaGreen);
return value;
}
}
}
return -1;
}
