public void showSkeleton(HumanSkeleton skel)
{
// Visualize the points if we are not playing currently
if (gmt.ready())
{
if (kinectPointsId != -1)
{
gmt.removePoints(kinectPointsId);
}
kinectPointsId = gmt.showPoints(skel.JointPositions.ToList());
}
}
void kinect_NewData(object sender, NewDataEventArgs e)
{
HumanSkeleton skel = new HumanSkeleton(arrayToList(e.data));
viz.showSkeleton(skel);
lock (currentRecordingSequence)
{
if (currentRecordingSequence.Count == 0)
{
currentRecordingSequence.Add(Tuple.Create(stopwatch.ElapsedMilliseconds, skel));
}
else
{
long startMs = currentRecordingSequence[0].Item1;
long endMs = stopwatch.ElapsedMilliseconds;
long msDelta = (endMs - startMs);
if (msDelta > maxTimeWindow)
{
// We need to remove elements from the front until we are within the delta
while ((endMs - startMs) > maxTimeWindow && currentRecordingSequence.Count > 0)
{
currentRecordingSequence.RemoveAt(0);
if (currentRecordingSequence.Count > 0)
startMs = currentRecordingSequence[0].Item1;
}
}
currentRecordingSequence.Add(Tuple.Create(endMs, skel));
startMs = currentRecordingSequence[0].Item1;
msDelta = (endMs - startMs);
if (msDelta > maxTimeWindow / 2 && currentRecordingSequence.Count > (maxTimeWindow / 30) / 2)
{
// We have a valid capture if we have at least half our max time window
SequenceAvailable = true;
}
}
}
}
public AngleConverter(HumanSkeleton hk)
{
this.hk = hk;
this.angles = new float[(int)NaoJointAngle.count];
getArmAngles();
}