/// <summary>
/// Constructs a body adapter from a serialized version
/// </summary>
/// <param name="body"></param>
public KinectBody(KGP.Serialization.Body.KinectBodyInternal body)
{
body.Validate(); //This will check preconditions to make sure we have a valid construct
this.clippedEdges = body.ClippedEdges;
this.handLeftConfidence = body.HandLeftConfidence;
this.handLeftState = body.HandLeftState;
this.handRightConfidence = body.HandRightConfidence;
this.handRightState = body.HandRightState;
this.isRestricted = body.IsRestricted;
this.isTracked = body.IsTracked;
Dictionary <JointType, JointOrientation> orientations = new Dictionary <JointType, JointOrientation>();
Dictionary <JointType, Joint> jointsDic = new Dictionary <JointType, Joint>();
for (int i = 0; i < body.Joints.Length; i++)
{
var joint = body.Joints[i];
orientations.Add(joint.JointType, body.JointOrientations[i]);
jointsDic.Add(joint.JointType, joint);
}
this.joints = jointsDic;
this.jointOrientations = orientations;
this.lean = body.Lean;
this.leanTrackingState = body.LeanTrackingState;
this.trackingId = body.TrackingId;
}
/// <summary>
/// Initializes a new instance of the <see cref="CustomBody"/> class.
/// </summary>
public CustomBody()
{
_clippedEdges = FrameEdges.None;
_handLeftConfidence = TrackingConfidence.Low;
_handLeftState = HandState.Unknown;
_handRightConfidence = TrackingConfidence.Low;
_handRightState = HandState.Unknown;
_isDisposed = false;
_isRestricted = false;
_isTracked = false;
_joints = new Dictionary<JointType, IJoint>();
_jointOrientations = new Dictionary<JointType, IJointOrientation>();
foreach (var jointType in CustomJointType.AllJoints)
{
_joints.Add(jointType, new CustomJoint(jointType));
_jointOrientations.Add(jointType, new CustomJointOrientation(jointType));
}
_lean = new PointF();
_leanTrackingState = TrackingState.NotTracked;
_trackingId = ulong.MaxValue;
_hasMappedDepthPositions = false;
_hasMappedColorPositions = false;
}
public OscMessage BuildHandMessage(Body body, string key, HandState state, TrackingConfidence confidence)
{
var address = String.Format("/bodies/{0}/hands/{1}", body.TrackingId, key);
//System.Diagnostics.Debug.WriteLine(address);
return(new OscMessage(address, state.ToString(), confidence.ToString()));
}
private void GetHandState(OVRPlugin.Step step)
{
if (OVRPlugin.GetHandState(step, (OVRPlugin.Hand)HandType, ref _handState))
{
IsTracked = (_handState.Status & OVRPlugin.HandStatus.HandTracked) != 0;
IsSystemGestureInProgress = (_handState.Status & OVRPlugin.HandStatus.SystemGestureInProgress) != 0;
IsPointerPoseValid = (_handState.Status & OVRPlugin.HandStatus.InputStateValid) != 0;
PointerPose.localPosition = _handState.PointerPose.Position.FromFlippedZVector3f();
PointerPose.localRotation = _handState.PointerPose.Orientation.FromFlippedZQuatf();
HandScale = _handState.HandScale;
HandConfidence = (TrackingConfidence)_handState.HandConfidence;
IsDataValid = true;
IsDataHighConfidence = IsTracked && HandConfidence == TrackingConfidence.High;
}
else
{
IsTracked = false;
IsSystemGestureInProgress = false;
IsPointerPoseValid = false;
PointerPose.localPosition = Vector3.zero;
PointerPose.localRotation = Quaternion.identity;
HandScale = 1.0f;
HandConfidence = TrackingConfidence.Low;
IsDataValid = false;
IsDataHighConfidence = false;
}
}
public BodyData(BinaryReader reader, byte kinectId)
{
this.kinectId = kinectId;
trackingId = 0;
position = Vector3.zero;
trackingState = 0;
spineMidPosition = Vector3.zero;
spineMidState = 0;
spineShoulderPosition = Vector3.zero;
spineShoulderState = 0;
headPosition = Vector3.zero;
headState = 0;
handLeftState = HandState.NotTracked;
handLeftConfidence = TrackingConfidence.Low;
handLeftTrackingState = TrackingState.NotTracked;
handLeftPosition = Vector3.zero;
handRightState = HandState.NotTracked;
handRightConfidence = TrackingConfidence.Low;
handRightTrackingState = TrackingState.NotTracked;
handRightPosition = Vector3.zero;
valid = true;
Deserialize(reader, kinectId);
}
void DrawHandGizmo(Vector3 position, HandState handState, TrackingConfidence confidence, TrackingState trackingState)
{
Color trackingColor = confidence == TrackingConfidence.High ? Color.green : Color.yellow;
switch (handState)
{
case HandState.Unknown:
Gizmos.color = trackingColor;
Gizmos.DrawWireSphere(position, 0.15f);
break;
case HandState.Closed:
Gizmos.color = trackingColor;
Gizmos.DrawWireCube(position, Vector3.one * 0.3f);
break;
case HandState.Open:
Gizmos.color = trackingColor;
Gizmos.DrawWireSphere(position, 0.3f);
break;
case HandState.Lasso:
Gizmos.color = Color.blue;
Gizmos.DrawWireCube(position + new Vector3(0, 0.3f, 0), new Vector3(0.3f, 0.6f, 0.3f));
break;
case HandState.NotTracked:
Gizmos.color = Color.red;
Gizmos.DrawWireSphere(position, 0.3f);
break;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="CustomBody"/> class.
/// </summary>
public CustomBody()
{
_clippedEdges = FrameEdges.None;
_handLeftConfidence = TrackingConfidence.Low;
_handLeftState = HandState.Unknown;
_handRightConfidence = TrackingConfidence.Low;
_handRightState = HandState.Unknown;
_isDisposed = false;
_isRestricted = false;
_isTracked = false;
_joints = new Dictionary <JointType, IJoint>();
_jointOrientations = new Dictionary <JointType, IJointOrientation>();
foreach (var jointType in JointTypeEx.AllJoints)
{
_joints.Add(jointType, new CustomJoint(jointType));
_jointOrientations.Add(jointType, new CustomJointOrientation(jointType));
}
#if NETFX_CORE
_lean = new Point();
#else
_lean = new PointF();
#endif
_leanTrackingState = TrackingState.NotTracked;
_trackingId = ulong.MaxValue;
_hasMappedDepthPositions = false;
_hasMappedColorPositions = false;
}
public void Update(TrackingConfidence leftConfidence, HandState leftHand, TrackingConfidence rightConfidence, HandState rightHand)
{
if ( leftConfidence == TrackingConfidence.High && leftHand == HandState.Closed )
{
if (!this.HasLeftHandWeapon)
{
this.LeftHandWeaponIndex = this.selectRandomWeapon();
this.HasLeftHandWeapon = true;
}
}
else
{
this.HasLeftHandWeapon = false;
this.LeftHandWeaponIndex = -1;
}
if (rightConfidence == TrackingConfidence.High && rightHand == HandState.Closed)
{
if (!this.HasRightHandWeapon)
{
this.RightHandWeaponIndex = this.selectRandomWeapon();
this.HasRightHandWeapon = true;
}
}
else
{
this.HasRightHandWeapon = false;
this.RightHandWeaponIndex = -1;
}
}
/// <summary>
/// Constructs a body adapter from a serialized version
/// </summary>
/// <param name="body"></param>
public KinectBody(KGP.Serialization.Body.KinectBodyInternal body)
{
body.Validate(); //This will check preconditions to make sure we have a valid construct
this.clippedEdges = body.ClippedEdges;
this.handLeftConfidence = body.HandLeftConfidence;
this.handLeftState = body.HandLeftState;
this.handRightConfidence = body.HandRightConfidence;
this.handRightState = body.HandRightState;
this.isRestricted = body.IsRestricted;
this.isTracked = body.IsTracked;
Dictionary<JointType, JointOrientation> orientations = new Dictionary<JointType, JointOrientation>();
Dictionary<JointType, Joint> jointsDic = new Dictionary<JointType,Joint>();
for (int i = 0; i < body.Joints.Length;i++)
{
var joint = body.Joints[i];
orientations.Add(joint.JointType, body.JointOrientations[i]);
jointsDic.Add(joint.JointType, joint);
}
this.joints = jointsDic;
this.jointOrientations =orientations;
this.lean = body.Lean;
this.leanTrackingState = body.LeanTrackingState;
this.trackingId = body.TrackingId;
}
private string GetTrackingConfidence(TrackingConfidence confidence)
{
switch (confidence)
{
case TrackingConfidence.High: return("high");
}
return("low");
}
public Data(double xPos, double yPos, MouseControlState state, double xHand, double yHand, HandState handState, TrackingConfidence trackingConfidence, TrackingState trackingState)
{
XHand = xHand;
YHand = yHand;
HandState = handState;
HandConfidence = trackingConfidence;
TrackingState = trackingState;
XPos = xPos;
YPos = yPos;
State = state;
}
double TrackingConfidenceToValue(TrackingConfidence c)
{
if (c == TrackingConfidence.High)
{
return(1);
}
if (c == TrackingConfidence.Low)
{
return(0);
}
return(0.5);
}
/// <summary>
/// Updates hand state ellipses depending on tracking state and it's confidence.
/// </summary>
/// <param name="ellipse">ellipse representing hand state</param>
/// <param name="handState">open, closed, or lasso</param>
/// <param name="trackingConfidence">confidence of hand state</param>
/// <param name="point">location of hand joint</param>
private void UpdateHand(Ellipse ellipse, HandState handState, TrackingConfidence trackingConfidence, Point point)
{
ellipse.Fill = new SolidColorBrush(this.HandStateToColor(handState));
// draw handstate ellipse based on tracking confidence
ellipse.Width = ellipse.Height = (trackingConfidence == TrackingConfidence.Low) ? LowConfidenceHandSize : HighConfidenceHandSize;
ellipse.Visibility = Windows.UI.Xaml.Visibility.Visible;
// don't draw handstate if hand joints are not tracked
if (!double.IsInfinity(point.X) && !double.IsInfinity(point.Y))
{
Canvas.SetLeft(ellipse, point.X - (ellipse.Width / 2));
Canvas.SetTop(ellipse, point.Y - (ellipse.Width / 2));
}
}
/// <summary>
/// Constructs a body adapter from a kinect sdk body
/// </summary>
/// <param name="body">Body from Kinect SDK</param>
public KinectBody(Microsoft.Kinect.Body body)
{
this.clippedEdges = body.ClippedEdges;
this.handLeftConfidence = body.HandLeftConfidence;
this.handLeftState = body.HandLeftState;
this.handRightConfidence = body.HandRightConfidence;
this.handRightState = body.HandRightState;
this.isRestricted = body.IsRestricted;
this.isTracked = body.IsTracked;
this.jointOrientations = body.JointOrientations;
this.joints = body.Joints;
this.lean = body.Lean;
this.leanTrackingState = body.LeanTrackingState;
this.trackingId = body.TrackingId;
}
/// <summary>
/// Constructs a body adapter from a kinect sdk body
/// </summary>
/// <param name="body">Body from Kinect SDK</param>
public KinectBody(Microsoft.Kinect.Body body)
{
this.clippedEdges = body.ClippedEdges;
this.handLeftConfidence = body.HandLeftConfidence;
this.handLeftState = body.HandLeftState;
this.handRightConfidence = body.HandRightConfidence;
this.handRightState = body.HandRightState;
this.isRestricted = body.IsRestricted;
this.isTracked = body.IsTracked;
this.jointOrientations = body.JointOrientations;
this.joints = body.Joints;
this.lean = body.Lean;
this.leanTrackingState = body.LeanTrackingState;
this.trackingId = body.TrackingId;
}
public static KinectBodyInternal BodyWithRightHandState(ulong id, TrackingConfidence confidence, HandState state)
{
var result = new KinectBodyInternal()
{
ClippedEdges = FrameEdges.None,
HandLeftConfidence = TrackingConfidence.High,
HandLeftState = HandState.NotTracked,
HandRightConfidence = confidence,
HandRightState = state,
IsRestricted = false,
IsTracked = true,
JointOrientations = new JointOrientation[Microsoft.Kinect.Body.JointCount],
Joints = FakeJoints.ValidRandomJoints(),
LeanTrackingState = TrackingState.NotTracked,
TrackingId = id
};
return result;
}
private void GetHandState(OVRPlugin.Step step)
{
if (OVRPlugin.GetHandState(step, (OVRPlugin.Hand)HandType, ref _handState))
{
IsTracked = (_handState.Status & OVRPlugin.HandStatus.HandTracked) != 0;
IsSystemGestureInProgress = (_handState.Status & OVRPlugin.HandStatus.SystemGestureInProgress) != 0;
IsPointerPoseValid = (_handState.Status & OVRPlugin.HandStatus.InputStateValid) != 0;
PointerPose.localPosition = _handState.PointerPose.Position.FromFlippedZVector3f();
PointerPose.localRotation = _handState.PointerPose.Orientation.FromFlippedZQuatf();
HandScale = _handState.HandScale;
HandConfidence = (TrackingConfidence)_handState.HandConfidence;
_isInitialized = true;
}
else
{
_isInitialized = false;
}
}
public static KinectBodyInternal BodyWithLeftHandState(ulong id, TrackingConfidence confidence, HandState state)
{
var result = new KinectBodyInternal()
{
ClippedEdges = FrameEdges.None,
HandLeftConfidence = confidence,
HandLeftState = state,
HandRightConfidence = TrackingConfidence.High,
HandRightState = HandState.NotTracked,
IsRestricted = false,
IsTracked = true,
JointOrientations = new JointOrientation[Microsoft.Kinect.Body.JointCount],
Joints = FakeJoints.ValidRandomJoints(),
LeanTrackingState = TrackingState.NotTracked,
TrackingId = id
};
return(result);
}
public void Deserialize(BinaryReader reader, byte kinectId)
{
this.kinectId = kinectId;
trackingId = reader.ReadUInt64(); //WTF
ReadJointData(reader, ref trackingState, ref position);
ReadJointData(reader, ref spineMidState, ref spineMidPosition);
ReadJointData(reader, ref spineShoulderState, ref spineShoulderPosition);
ReadJointData(reader, ref headState, ref headPosition);
handLeftState = (HandState)reader.ReadByte();
handLeftConfidence = (TrackingConfidence)reader.ReadByte();
ReadJointData(reader, ref handLeftTrackingState, ref handLeftPosition);
handRightState = (HandState)reader.ReadByte();
handRightConfidence = (TrackingConfidence)reader.ReadByte();
ReadJointData(reader, ref handRightTrackingState, ref handRightPosition);
modifiedByMatrix = false;
valid = true;
}
public Person(string ID, Point3D location, string gesture, trackingStates trackState,Joint leftHand, Joint rightHand, HandState leftHandState, HandState rightHandState, TrackingConfidence leftHandConfidence, TrackingConfidence rightHandConfidence)
{
this.ID = ID;
this.location = location;
this.gesture = gesture;
this.trackingState = (int)trackState;
this.leftHandLocation = null;
this.rightHandLocation = null;
if (leftHand.TrackingState == TrackingState.Tracked) {
this.leftHandLocation = new Point3D((double)leftHand.Position.X, (double)leftHand.Position.Y, (double)leftHand.Position.Z);
this.leftHandState = leftHandState.ToString();
this.leftHandConfidence = leftHandConfidence.ToString();
this.rightHandConfidence = rightHandConfidence.ToString();
}
if (rightHand.TrackingState == TrackingState.Tracked)
{
this.rightHandLocation = new Point3D((double)rightHand.Position.X, (double)rightHand.Position.Y, (double)rightHand.Position.Z);
this.rightHandState = rightHandState.ToString();
}
}
private void DrawHandState(Joint joint,
TrackingConfidence trackingConfidence, HandState handState)
{
// 手の追跡信頼性が高い
if (trackingConfidence != TrackingConfidence.High)
{
return;
}
// 手が開いている(パー)
if (handState == HandState.Open)
{
DrawEllipse(joint, 40, new Color()
{
R = 255,
G = 255,
A = 128
});
}
// チョキのような感じ
else if (handState == HandState.Lasso)
{
DrawEllipse(joint, 40, new Color()
{
R = 255,
B = 255,
A = 128
});
}
// 手が閉じている(グー)
else if (handState == HandState.Closed)
{
DrawEllipse(joint, 40, new Color()
{
G = 255,
B = 255,
A = 128
});
}
}
private void GetHandState(OVRPlugin.Step step)
{
if (OVRPlugin.GetHandState(step, (OVRPlugin.Hand)HandType, ref _handState))
{
IsTracked = (_handState.Status & OVRPlugin.HandStatus.HandTracked) != 0;
IsSystemGestureInProgress = (_handState.Status & OVRPlugin.HandStatus.SystemGestureInProgress) != 0;
IsPointerPoseValid = (_handState.Status & OVRPlugin.HandStatus.InputStateValid) != 0;
PointerPose.localPosition = _handState.PointerPose.Position.FromFlippedZVector3f();
PointerPose.localRotation = _handState.PointerPose.Orientation.FromFlippedZQuatf();
HandScale = _handState.HandScale;
HandConfidence = (TrackingConfidence)_handState.HandConfidence;
_isInitialized = true;
}
else
{
#if UNITY_EDITOR
//in editor don't change _isInitialized - this could cause feeders adding data at invalid moment (depending on call order) - which will result in no hands being visible
return;
#endif
_isInitialized = false;
}
}
internal Body(
Joint[] jointData,
Guid entityId,
bool isTracked,
HandState leftHandState,
TrackingConfidence leftHandConfidence,
HandState rightHandState,
TrackingConfidence rightHandConfidence,
Vector2 lean,
TrackingState leanState,
FrameEdges clippedEdges)
{
Joints = new EnumDictionary <Joint>(jointData);
IsTracked = isTracked;
EntityId = entityId;
HandStateLeft = leftHandState;
ConfidenceLeft = leftHandConfidence;
HandStateRight = rightHandState;
ConfidenceRight = rightHandConfidence;
Lean = lean;
LeanTrackingState = leanState;
ClippedEdges = clippedEdges;
}
void Update()
{
updateHandTracking();
if (IsHandTracking)
{
LeftHandConfidence = LeftHand.GetFingerConfidence(HandFinger.Index);
RightHandConfidence = RightHand.GetFingerConfidence(HandFinger.Index);
if (leftSkele != null && leftSkele.Bones != null)
{
leftIndexBone = leftSkele.Bones.FirstOrDefault(x => x.Id == OVRSkeleton.BoneId.Hand_IndexTip);
if (leftIndexBone != null)
{
LeftIndexPosition = leftIndexBone.Transform.position;
}
}
IsLeftIndexPinching = LeftHand.GetFingerIsPinching(HandFinger.Index) && LeftHandConfidence == TrackingConfidence.High;
LeftIndexPinchStrength = LeftHand.GetFingerPinchStrength(HandFinger.Index);
if (rightSkele && rightSkele.Bones != null)
{
rightIndexBone = rightSkele.Bones.FirstOrDefault(x => x.Id == OVRSkeleton.BoneId.Hand_IndexTip);
if (rightIndexBone != null)
{
RightIndexPosition = rightIndexBone.Transform.position;
}
}
IsRightIndexPinching = RightHand.GetFingerIsPinching(HandFinger.Index) && RightHandConfidence == TrackingConfidence.High;
RightIndexPinchStrength = RightHand.GetFingerPinchStrength(HandFinger.Index);
}
updateGrabbers();
}
public OscMessage BuildHandMessage(Body body, string key, HandState state, TrackingConfidence confidence)
{
var address = String.Format("/bodies/{0}/hands/{1}", body.TrackingId, key);
//System.Diagnostics.Debug.WriteLine(address);
return new OscMessage(address, state.ToString(), confidence.ToString());
}
private void UpdateHand(FrameworkElement thumbsUp, HandState handState, TrackingConfidence trackingConfidence, Point point)
{
thumbsUp.Visibility = (handState == HandState.Lasso) ? Visibility.Visible : Visibility.Collapsed;
if (!Double.IsInfinity(point.X) && !Double.IsInfinity(point.Y))
{
Canvas.SetLeft(thumbsUp, point.X - thumbsUp.Width / 2);
Canvas.SetTop(thumbsUp, point.Y - thumbsUp.Height / 2);
}
}
/// <summary>
/// Updates hand state ellipses depending on tracking state and it's confidence.
/// </summary>
/// <param name="ellipse">ellipse representing handstate</param>
/// <param name="handState">open, closed, or lasso</param>
/// <param name="trackingConfidence">confidence of handstate</param>
/// <param name="point">location of handjoint</param>
private void UpdateHand(Ellipse ellipse, HandState handState, TrackingConfidence trackingConfidence, Point point)
{
ellipse.Fill = new SolidColorBrush(this.HandStateToColor(handState));
// draw handstate ellipse based on tracking confidence
ellipse.Width = ellipse.Height = (trackingConfidence == TrackingConfidence.Low) ? LowConfidenceHandSize : HighConfidenceHandSize;
ellipse.Visibility = Windows.UI.Xaml.Visibility.Visible;
// don't draw handstate if hand joints are not tracked
if (!Double.IsInfinity(point.X) && !Double.IsInfinity(point.Y))
{
Canvas.SetLeft(ellipse, point.X - ellipse.Width / 2);
Canvas.SetTop(ellipse, point.Y - ellipse.Width / 2);
}
}
void ProcessHandStateInformation(int joint, Joint j, JointOrientation jo, HandState state, TrackingConfidence confidence, double time, int pointScale, UdpWriter osc, StreamWriter fileWriter)
{
SendHandStateMessage(joint,
j.Position.X, j.Position.Y, j.Position.Z,
JointToConfidenceValue(j),
HandStateToValue(state),
TrackingConfidenceToValue(confidence), time,
pointScale, osc, fileWriter);
}
public static KinectBody BodyWithRightHandState(ulong id, TrackingConfidence confidence, HandState state)
{
return new KinectBody(FakeInternalBodies.BodyWithRightHandState(id, confidence, state));
}
private KinectBase.TrackingConfidence convertTrackingConfidence(TrackingConfidence confidence)
{
//The enums are numbered the same, so we can do a straight cast
return (KinectBase.TrackingConfidence)confidence;
}
private KinectBase.TrackingConfidence convertTrackingConfidence(TrackingConfidence confidence)
{
//The enums are numbered the same, so we can do a straight cast
return((KinectBase.TrackingConfidence)confidence);
}
// Saves the joint state to a .csv file
private Boolean WriteJoint(Body body)
{
CameraSpacePoint rightWristPosition = body.Joints[JointType.WristRight].Position;
CameraSpacePoint spineBasePosition = body.Joints[JointType.SpineBase].Position;
CameraSpacePoint rightHandPosition = body.Joints[JointType.HandRight].Position;
CameraSpacePoint rightThumbPosition = body.Joints[JointType.ThumbRight].Position;
// Save the elbow as well in case we want it in the future
CameraSpacePoint rightElbowPosition = body.Joints[JointType.ElbowRight].Position;
// The change the coordinate frame with respect to Baxter according to the rotation matrix
Single xW = spineBasePosition.Z - rightWristPosition.Z;
Single yW = spineBasePosition.X - rightWristPosition.X;
Single zW = rightWristPosition.Y - spineBasePosition.Y;
Single xH = spineBasePosition.Z - rightHandPosition.Z;
Single yH = spineBasePosition.X - rightHandPosition.X;
Single zH = rightHandPosition.Y - spineBasePosition.Y;
Single xT = spineBasePosition.Z - rightThumbPosition.Z;
Single yT = spineBasePosition.X - rightThumbPosition.X;
Single zT = rightThumbPosition.Y - spineBasePosition.Y;
Single xE = spineBasePosition.Z - rightElbowPosition.Z;
Single yE = spineBasePosition.X - rightElbowPosition.X;
Single zE = rightElbowPosition.Y - spineBasePosition.Y;
DateTime finalTime = DateTime.Now;
Double ElapsedTime = (finalTime - this.initialTime).TotalSeconds;
String name = "NEW_ROTZ";
String filePathAll = @"C:\Users\Usuario\Documents\Universidad\Master\TFM\Kinect\BodyBasics-WPF\Data\" + this.dateString +
"-" + name + ".csv";
String filePathHigh = @"C:\Users\Usuario\Documents\Universidad\Master\TFM\Kinect\BodyBasics-WPF\Data\HighConf\" + this.dateString +
"-" + name + ".csv";
String line = ElapsedTime.ToString(CultureInfo.InvariantCulture) + "," +
xW.ToString(CultureInfo.InvariantCulture) + "," + yW.ToString(CultureInfo.InvariantCulture)
+ "," + zW.ToString(CultureInfo.InvariantCulture) + "," +
xH.ToString(CultureInfo.InvariantCulture) + "," + yH.ToString(CultureInfo.InvariantCulture)
+ "," + zH.ToString(CultureInfo.InvariantCulture) + "," +
xT.ToString(CultureInfo.InvariantCulture) + "," + yT.ToString(CultureInfo.InvariantCulture)
+ "," + zT.ToString(CultureInfo.InvariantCulture) + "," +
xT.ToString(CultureInfo.InvariantCulture) + "," + yT.ToString(CultureInfo.InvariantCulture)
+ "," + zT.ToString(CultureInfo.InvariantCulture);
TrackingConfidence conf = body.HandRightConfidence;
switch (body.HandRightState)
{
/*
* case HandState.Closed:
* Console.WriteLine("Closed");
* return false; */
case HandState.NotTracked:
//Do nothing
default:
//Console.WriteLine("DEFAULT");
// Use coordinates only if confidence is high
if (conf.Equals(TrackingConfidence.High))
{
using (StreamWriter file = new StreamWriter(filePathHigh, true))
{
file.WriteLine(line);
}
}
using (StreamWriter file = new StreamWriter(filePathAll, true))
{
file.WriteLine(line);
}
return(true);
}
}
public static void AddConfidence(FlatBufferBuilder builder, TrackingConfidence confidence)
{
builder.AddInt(0, (int)confidence, 0);
}
public static Offset<Hand> CreateHand(FlatBufferBuilder builder,
TrackingConfidence confidence = TrackingConfidence.Low,
HandState state = HandState.Unknown)
{
builder.StartObject(2);
Hand.AddState(builder, state);
Hand.AddConfidence(builder, confidence);
return Hand.EndHand(builder);
}
public static KinectBody BodyWithLeftHandState(ulong id, TrackingConfidence confidence, HandState state)
{
return(new KinectBody(FakeInternalBodies.BodyWithLeftHandState(id, confidence, state)));
}
/// <summary>
/// update elipse tangan
/// </summary>
/// <param name="ellipse"></param>
/// <param name="handState"></param>
/// <param name="trackingConfidence"></param>
/// <param name="point"></param>
private void UpdateHand(Ellipse ellipse, HandState handState, TrackingConfidence trackingConfidence, Point point)
{
}
private void DrawHandState( Joint joint,
TrackingConfidence trackingConfidence, HandState handState )
{
// 手の追跡信頼性が高い
if ( trackingConfidence != TrackingConfidence.High ) {
return;
}
// 手が開いている(パー)
if ( handState == HandState.Open ) {
DrawEllipse( joint, 40, new SolidColorBrush( new Color()
{
R = 255,
G = 255,
A = 128
} ) );
}
// チョキのような感じ
else if ( handState == HandState.Lasso ) {
DrawEllipse( joint, 40, new SolidColorBrush( new Color()
{
R = 255,
B = 255,
A = 128
} ) );
}
// 手が閉じている(グー)
else if ( handState == HandState.Closed ) {
DrawEllipse( joint, 40, new SolidColorBrush( new Color()
{
G = 255,
B = 255,
A = 128
} ) );
}
}
OscElement ProcessHandStateInformation(int joint, Joint j, JointOrientation jo, HandState state, TrackingConfidence confidence, double time, int pointScale)
{
return(SendHandStateMessage(joint,
j.Position.X, j.Position.Y, j.Position.Z,
JointToConfidenceValue(j),
HandStateToValue(state),
TrackingConfidenceToValue(confidence), time,
pointScale));
}
private HandUpdate Create(Joint hand, Joint head, HandState state, bool isLeft, TrackingConfidence confidence, int bodyId)
{
return(new HandUpdate
{
X = hand.Position.X,
Y = hand.Position.Y,
Z = hand.Position.Z,
DX = hand.Position.X - head.Position.X,
DY = hand.Position.Y - head.Position.Y,
DZ = hand.Position.Z - head.Position.Z,
IsLeft = isLeft,
Gesture = GetHandTrackingState(state),
Confidence = GetTrackingConfidence(confidence),
BodyId = bodyId
});
}
