private void DesenharEsqueletoUsuario(SkeletonFrame quadro)
{
if (quadro == null) return;
using (quadro)
quadro.DesenharEsqueletoUsuario(kinect, canvasKinect);
}
public void Record(SkeletonFrame frame)
{
// Header
writer.Write((int)KinectRecordOptions.Skeletons);
// Data
var time = DateTime.Now;
TimeSpan timeSpan = time.Subtract(referenceTime);
referenceTime = time;
writer.Write((long)timeSpan.TotalMilliseconds);
writer.Write((int)frame.TrackingMode);
writer.Write(frame.FloorClipPlane.Item1);
writer.Write(frame.FloorClipPlane.Item2);
writer.Write(frame.FloorClipPlane.Item3);
writer.Write(frame.FloorClipPlane.Item4);
writer.Write(frame.FrameNumber);
// Skeletons
Skeleton[] skeletons = frame.GetSkeletons();
frame.CopySkeletonDataTo(skeletons);
BinaryFormatter formatter = new BinaryFormatter();
formatter.Serialize(writer.BaseStream, skeletons);
}
private void ExecutaRegraMaoDireitaAcimaDaCabeca(SkeletonFrame quadroAtual)
{
Skeleton[] esqueletos = new Skeleton[6];
quadroAtual.CopySkeletonDataTo(esqueletos);
Skeleton usuario = esqueletos.FirstOrDefault(esqueleto => esqueleto.TrackingState == SkeletonTrackingState.Tracked);
if(usuario != null)
{
Joint maoDireita = usuario.Joints[JointType.HandRight];
Joint maoEsquerda = usuario.Joints[JointType.HandLeft];
Joint cabeca = usuario.Joints[JointType.Head];
LmaoDireita.Content = maoDireita.Position.X.ToString();
LmaoEsquerda.Content = maoEsquerda.Position.X.ToString();
Lcabeca.Content = cabeca.Position.X.ToString();
LmaoEsquerdaY.Content = maoEsquerda.Position.Y.ToString();
LmaoDireitaY .Content = maoDireita.Position.Y.ToString();
LcabecaY.Content = cabeca.Position.Y.ToString();
bool novoTesteMaoDireitaAcimaCabeca = maoDireita.Position.Y > cabeca.Position.Y;
if(MaoDireitaAcimaCabeca != novoTesteMaoDireitaAcimaCabeca)
{
MaoDireitaAcimaCabeca = novoTesteMaoDireitaAcimaCabeca;
if(MaoDireitaAcimaCabeca)
{
MessageBox.Show("Mao direita acima da cabeca.");
}
}
}
}
public float[] WriteSkeletonToFile(Skeleton skeleton, SkeletonFrame skeletonFrame, System.IO.StreamWriter file)
{
int count = 2;
float[] dataLine = new float[63];
System.Text.StringBuilder sb = new System.Text.StringBuilder(150);
string str_framenum = skeletonFrame.FrameNumber.ToString();
dataLine[0] = float.Parse(str_framenum);
sb.Append(str_framenum);
sb.Append(" , ");
string str_timestamp = skeletonFrame.Timestamp.ToString();
dataLine[1] = float.Parse(str_timestamp);
sb.Append(str_timestamp);
sb.Append(" , ");
foreach (Joint joint in skeleton.Joints){
dataLine[count] = joint.Position.X;
sb.Append(joint.Position.X.ToString());
sb.Append(" , ");
dataLine[count + 1] = joint.Position.Y;
sb.Append(joint.Position.Y.ToString());
sb.Append(" , ");
dataLine[count + 2] = joint.Position.Z;
sb.Append(joint.Position.Z.ToString());
sb.Append(" , ");
count = count + 3;
}
string str = sb.ToString();
file.WriteLine(str);
return dataLine;
}
public void OnAllFramesReady(ColorImageFrame colorImageFrame, DepthImageFrame depthImageFrame, SkeletonFrame skeletonFrame)
{
string stat = "";
// Face tracking / timing stuff
if (FaceList.Count > 0) {
foreach (Face f in FaceList.toList()) {
stat += " {" + f.Id + ", " + String.Format("{0:0.00}", f.Velocity) + "}";
if (f.TakePicture) {
int[] coordsExpanded = expandBy(f.Coords, 250, colorImageFrame.Width - 1, colorImageFrame.Height - 1);
if (coordsExpanded[2] == 0 || coordsExpanded[3] == 0) // width or height can't be 0
continue;
string time = System.DateTime.Now.ToString("hh'-'mm'-'ss", CultureInfo.CurrentUICulture.DateTimeFormat);
string path = "..\\..\\Images\\CroppedPics\\pic" + f.Id + "--" + time + ".jpg";
f.Path = path;
bool success = SaveImage(path, cropImage(colorImageFrame, coordsExpanded), ImageFormat.Jpeg);
if (success && USE_BETAFACE) {
bfw.enqueue(f);
f.ProcessingBetaface = true;
}
}
}
}
FaceTracking.Status = stat;
FaceTracking.Status = "";
}
public ReplaySkeletonFrame(SkeletonFrame frame)
{
FloorClipPlane = frame.FloorClipPlane;
FrameNumber = frame.FrameNumber;
TimeStamp = frame.Timestamp;
Skeletons = Tools.GetSkeletons(frame);
}
public WriteableBitmap bmpFromColorFrame(ColorImageFrame NewFrame, bool SkeletonWanted, SkeletonFrame SkelFrame)
{
if (bmpColor == null)
{
bmpColor = new WriteableBitmap(frameWidth, frameHeight, 96, 96, PixelFormats.Bgr32, null);
}
if (NewFrame == null)
{
throw new InvalidOperationException("Null Image");
}
NewFrame.CopyPixelDataTo(colorPixels);
// Write the pixel data into our bitmap
bmpColor.WritePixels(
new Int32Rect(0, 0, bmpColor.PixelWidth, bmpColor.PixelHeight),
colorPixels,
bmpColor.PixelWidth * sizeof(int),
0);
//Skeleton
if (SkeletonWanted != false && SkelFrame != null)
{
return bmpWithSkelFromColor(bmpColor, SkelFrame);
}
return bmpColor;
}
public ReplaySkeletonFrame(SkeletonFrame frame)
{
FloorClipPlane = frame.FloorClipPlane;
FrameNumber = frame.FrameNumber;
TimeStamp = frame.Timestamp;
//Skeletons = frame.GetSkeletons();
TrackingMode = frame.TrackingMode;
}
/// <summary>
/// Public constructor from SkeletonDataFrame
/// </summary>
/// <param name="skeletonFrame">Skeleton Frame</param>
public SkeletonDataFrame(kinect.SkeletonFrame skeletonFrame)
{
this.FrameNumber = skeletonFrame.FrameNumber;
this.FloorClipPlane = skeletonFrame.FloorClipPlane;
this.Timestamp = skeletonFrame.Timestamp;
this.SkeletonData = new kinect.Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(this.SkeletonData);
}
/// <summary>
/// Process data from one Kinect skeleton frame.
/// </summary>
/// <param name="skeletons">
/// Kinect skeleton data.
/// </param>
/// <param name="skeletonFrame">
/// <see cref="SkeletonFrame"/> from which we obtained skeleton data.
/// </param>
public override void ProcessSkeleton(Skeleton[] skeletons, SkeletonFrame skeletonFrame)
{
if (skeletonFrame == null)
{
throw new ArgumentNullException("skeletonFrame");
}
this.ProcessSkeletonAsync(skeletons, skeletonFrame.Timestamp);
}
void Kinect_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
if(ClientList.Count > 0)
{
using(SkeletonFrame frame = e.OpenSkeletonFrame())
{
this.SkeletonFrame = frame;
if(frame != null)
{
_memoryStream.Seek(0, SeekOrigin.Begin);
if(_skeletons == null || _skeletons.Length != frame.SkeletonArrayLength)
_skeletons = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(_skeletons);
_binaryWriter.Write(frame.FloorClipPlane.Item1);
_binaryWriter.Write(frame.FloorClipPlane.Item2);
_binaryWriter.Write(frame.FloorClipPlane.Item3);
_binaryWriter.Write(frame.FloorClipPlane.Item4);
_binaryWriter.Write(frame.FrameNumber);
_binaryWriter.Write(frame.SkeletonArrayLength);
_binaryWriter.Write(frame.Timestamp);
foreach(Skeleton s in _skeletons)
{
_binaryWriter.Write((int)s.ClippedEdges);
_binaryWriter.Write(s.Joints.Count);
foreach(Joint j in s.Joints)
{
_binaryWriter.Write((int)j.JointType);
_binaryWriter.Write(j.Position.X);
_binaryWriter.Write(j.Position.Y);
_binaryWriter.Write(j.Position.Z);
_binaryWriter.Write((int)j.TrackingState);
}
_binaryWriter.Write(s.Position.X);
_binaryWriter.Write(s.Position.Y);
_binaryWriter.Write(s.Position.Z);
_binaryWriter.Write(s.TrackingId);
_binaryWriter.Write((int)s.TrackingState);
}
Parallel.For(0, ClientList.Count, index =>
{
SocketClient sc = ClientList[index];
sc.Send(BitConverter.GetBytes((int)_memoryStream.Length));
sc.Send(_memoryStream.ToArray());
});
RemoveClients();
}
}
}
}
// three methods to record specific frames (color, depth, and skeleton):
public void Record(SkeletonFrame frame)
{
if (writer == null)
throw new Exception("This recorder is stopped");
if (skeletonRecorder == null)
throw new Exception("Skeleton recording is not actived on this KinectRecorder");
skeletonRecorder.Record(frame);
}
public static Skeleton[] GetSkeletons(SkeletonFrame frame)
{
if (frame == null)
return null;
var skeletons = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(skeletons);
return skeletons;
}
private void DesenharEsqueletoUsuario(SkeletonFrame quadro)
{
if (quadro == null) return;
using (quadro)
{
if (chkEsqueleto.IsChecked.HasValue && chkEsqueleto.IsChecked.Value)
quadro.DesenharEsqueletoUsuario(kinect, canvasKinect);
}
}
public static void GetSkeletons(SkeletonFrame frame, ref Skeleton[] skeletons)
{
if (frame == null)
return;
if (skeletons == null || skeletons.Length != frame.SkeletonArrayLength)
{
skeletons = new Skeleton[frame.SkeletonArrayLength];
}
frame.CopySkeletonDataTo(skeletons);
}
public Skeleton GetFirstTrackedSkeleton(SkeletonFrame frame)
{
var skeletonData = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(skeletonData);
var trackedSkel = TrackNearerSkeleton(skeletonData);
var skeleton = (from s in skeletonData
where s.TrackingState == SkeletonTrackingState.Tracked
&& s.TrackingId == trackedSkel
select s).FirstOrDefault();
return skeleton;
}
public void synchronize(
DepthImageFrame depthFrame,
ColorImageFrame colorFrame,
SkeletonFrame skletonFrame,
Boolean isPauseMode
)
{
IsPauseMode = isPauseMode;
colorFrame.CopyPixelDataTo(_colorByte);
//Console.WriteLine("max depth: "+depthFrame.MaxDepth);
depthFrame.CopyDepthImagePixelDataTo(_depthPixels);
_sensor.CoordinateMapper.MapColorFrameToDepthFrame(
ColorImageFormat.RgbResolution640x480Fps30,
DepthImageFormat.Resolution640x480Fps30,
_depthPixels,
_depthPoint
);
for (int i = 0; i < _pixelDepthDataLength; i++)
{
_depthShort[i] = (short)_depthPoint[i].Depth;
_depthByte[i] = (byte)(_depthPoint[i].Depth*0.064-1);
}
skletonFrame.CopySkeletonDataTo(totalSkeleton);
Skeleton firstSkeleton = (from trackskeleton in totalSkeleton
where trackskeleton.TrackingState == SkeletonTrackingState.
Tracked
select trackskeleton).FirstOrDefault();
_isCreation = true;
if (firstSkeleton != null)
{
if (firstSkeleton.Joints[JointType.Spine].TrackingState == JointTrackingState.Tracked)
{
IsSkeletonDetected = true;
UserSkeleton[SkeletonDataType.RIGHT_HAND] =
ScalePosition(firstSkeleton.Joints[JointType.HandRight].Position);
UserSkeleton[SkeletonDataType.LEFT_HAND] =
ScalePosition(firstSkeleton.Joints[JointType.HandLeft].Position);
UserSkeleton[SkeletonDataType.SPINE] =
ScalePosition(firstSkeleton.Joints[JointType.Spine].Position);
return;
}
}
IsSkeletonDetected = false;
_isCreation = false;
}
/// <summary>
/// Event handler for Kinect sensor's SkeletonFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void SensorSkeletonFrameReady(object sender, kinect.SkeletonFrameReadyEventArgs e)
{
kinect.Skeleton[] skeletons = new kinect.Skeleton[0];
using (kinect.SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new kinect.Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
}
}
processSkeletons(skeletons);
}
void Context_AllFramesUpdated(KinectSensor sensor, ColorImageFrame cf, DepthImageFrame df, SkeletonFrame sf)
{
this.sensor = sensor;
if (colorImage == null)
{
colorImage = new byte[cf.PixelDataLength];
depthImage = new short[df.PixelDataLength];
skeletonData = new Skeleton[sf.SkeletonArrayLength];
}
cf.CopyPixelDataTo(colorImage);
df.CopyPixelDataTo(depthImage);
sf.CopySkeletonDataTo(skeletonData);
TrackFace();
}
/// <summary>
/// 交差点の描画
/// </summary>
/// <param name="kinect"></param>
/// <param name="skeletonFrame"></param>
private void DrawCrossPoint( KinectSensor kinect, SkeletonFrame skeletonFrame )
{
// 描画する円の半径
const int R = 5;
// キャンバスをクリアする
canvas.Children.Clear();
// スケルトンから4か所の座標を取得（左肘・手、右肘・手）
var joints = GetFourSkeletonPosition( skeletonFrame, JointType.ElbowLeft, JointType.HandLeft,
JointType.ElbowRight, JointType.HandRight );
if ( joints == null ) {
return;
}
// スケルトン座標をRGB画像の座標に変換し表示する
ColorImagePoint[] jointImagePosition = new ColorImagePoint[4];
for ( int i = 0; i < 4; i++ ) {
jointImagePosition[i] =
kinect.MapSkeletonPointToColor( joints[i].Position, kinect.ColorStream.Format );
canvas.Children.Add( new Ellipse()
{
Fill = new SolidColorBrush( Colors.Yellow ),
Margin = new Thickness( jointImagePosition[i].X - R, jointImagePosition[i].Y - R, 0, 0 ),
Width = R * 2,
Height = R * 2,
} );
}
// 腕がクロスしているかチェック
bool isCross = CrossHitCheck( joints[0].Position, joints[1].Position,
joints[2].Position, joints[3].Position );
if ( isCross ) {
// クロスしている点を計算して円を表示する
ColorImagePoint crossPoint = GetCrossPoint( jointImagePosition[0], jointImagePosition[1],
jointImagePosition[2], jointImagePosition[3] );
CrossEllipse.Margin = new Thickness( crossPoint.X - CrossEllipse.Width / 2,
crossPoint.Y - CrossEllipse.Height / 2, 0, 0 );
CrossEllipse.Visibility = System.Windows.Visibility.Visible;
canvas.Children.Add( CrossEllipse );
}
else {
CrossEllipse.Visibility = System.Windows.Visibility.Hidden;
}
}
private void FuncoesEsqueletoUsuario(SkeletonFrame quadro)
{
if (quadro == null) return;
using (quadro)
{
Skeleton primeiroUsuario = quadro.ObterEsqueletoPrimeiroUsuario();
foreach(IRastreador rastreador in Rastreadores)
{
rastreador.Rastrear(primeiroUsuario);
}
if (IsDesenhaEsqueleto())
{
quadro.DesenharEsqueletoUsuario(Kinect, canvasKinect);
}
}
}
private void DesenharEsqueletoUsuario(SkeletonFrame quadro)
{
if (quadro == null) return;
using (quadro)
{
Skeleton[] esqueletos = new Skeleton[quadro.SkeletonArrayLength];
quadro.CopySkeletonDataTo(esqueletos);
IEnumerable<Skeleton> esqueletosRastreados = esqueletos.Where(esqueleto => esqueleto.TrackingState == SkeletonTrackingState.Tracked);
if (esqueletosRastreados.Count() > 0)
{
Skeleton esqueleto = esqueletosRastreados.First();
EsqueletoUsuarioAuxiliar funcoesEsqueletos = new EsqueletoUsuarioAuxiliar(kinect);
funcoesEsqueletos.DesenharArticulacao(esqueleto.Joints[JointType.HandRight], canvasKinect);
funcoesEsqueletos.DesenharArticulacao(esqueleto.Joints[JointType.HandLeft], canvasKinect);
}
}
}
public void Record(SkeletonFrame frame)
{
if (writer == null)
throw new Exception("You must call Start before calling Record");
TimeSpan timeSpan = DateTime.Now.Subtract(referenceTime);
referenceTime = DateTime.Now;
writer.Write((long)timeSpan.TotalMilliseconds);
writer.Write(frame.FloorClipPlane.Item1);
writer.Write(frame.FloorClipPlane.Item2);
writer.Write(frame.FloorClipPlane.Item3);
writer.Write(frame.FloorClipPlane.Item4);
Skeleton[] skeletons = Tools.GetSkeletons(frame);
frame.CopySkeletonDataTo(skeletons);
BinaryFormatter formatter = new BinaryFormatter();
formatter.Serialize(writer.BaseStream, skeletons);
}
private void ExecutarRegraMaoDireitaAcimaDaCabeca(SkeletonFrame quadroAtual)
{
Skeleton[] esqueletos = new Skeleton[6];
quadroAtual.CopySkeletonDataTo(esqueletos);
Skeleton usuario = esqueletos.FirstOrDefault(esqueleto => esqueleto.TrackingState == SkeletonTrackingState.Tracked);
if (usuario != null)
{
Joint maoDireita = usuario.Joints[JointType.HandRight];
Joint cabeca = usuario.Joints[JointType.Head];
bool novoTesteMaoDireitaAcimaCabeca = maoDireita.Position.Y > cabeca.Position.Y;
if (MaoDireitaAcimaCabeca != novoTesteMaoDireitaAcimaCabeca)
{
MaoDireitaAcimaCabeca = novoTesteMaoDireitaAcimaCabeca;
if (MaoDireitaAcimaCabeca)
{
MessageBox.Show("A mão direita está acima da cabeça!");
}
}
}
}
public static ReplaySkeletonFrame FromSkeletonFrame(SkeletonFrame frame)
{
ReplaySkeleton[] skeletonData = new ReplaySkeleton[frame.SkeletonArrayLength];
Skeleton[] frameSkeletonData = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(frameSkeletonData);
for (int i = 0; i < frame.SkeletonArrayLength; i++)
{
Skeleton skeleton = frameSkeletonData[i];
skeletonData[i] = ReplaySkeleton.FromSkeleton(skeleton);
}
return new ReplaySkeletonFrame()
{
FrameNumber = frame.FrameNumber,
FloorClipPane = ReplaySkeletonFrameFloorClipPane.FromTuple(frame.FloorClipPlane),
SkeletonArrayLength = frame.SkeletonArrayLength,
SkeletonData = skeletonData,
TrackingMode = frame.TrackingMode
};
}
public void Update(SkeletonFrame frame)
{
if (isRunning == false)
{
return;
}
Skeleton [] skeletons = Tools.GetSkeletons(frame);
foreach (var skeleton in skeletons)
{
if (skeleton.TrackingState != SkeletonTrackingState.Tracked)
continue;
// just the 1st skeleton at the moment
//TrackGestures(skeleton);
}
}
/// <summary>
/// 指定された点により近いユーザーをアクティブにする
/// </summary>
/// <param name="skeletons"></param>
public static void SetActivePlayerAtCenter( SkeletonStream stream, SkeletonFrame frame, SkeletonPoint centerPosition )
{
Skeleton player = null;
double distance = 100;
var skeletons = frame.ToSkeletonData();
foreach ( var skeleton in skeletons ) {
if ( skeleton.TrackingState != SkeletonTrackingState.NotTracked ) {
double new_ = Distance_XY( centerPosition, skeleton.Position );
if ( (new_ < distance) ) {
player = skeleton;
distance = new_;
}
}
}
if ( player != null ) {
stream.ChooseSkeletons( player.TrackingId );
}
else {
stream.ChooseSkeletons();
}
}
public Option<HandInputEvent> Update(SkeletonFrame sf, byte[] cf)
{
if (sf != null) {
if (skeletonData == null || skeletonData.Length != sf.SkeletonArrayLength) {
skeletonData = new Skeleton[sf.SkeletonArrayLength];
}
sf.CopySkeletonDataTo(skeletonData);
var trackedIndex = SkeletonUtil.FirstTrackedSkeletonIndex(skeletonData);
if (trackedIndex >= 0) {
var skeleton = skeletonData[trackedIndex];
var handRight = SkeletonUtil.GetJoint(skeleton, JointType.HandRight);
var handLeft = SkeletonUtil.GetJoint(skeleton, JointType.HandLeft);
var handRightPos = coordMapper.MapSkeletonPointToDepthPoint(handRight.Position,
DepthImageFormat.Resolution640x480Fps30);
var handLeftPos = coordMapper.MapSkeletonPointToDepthPoint(handLeft.Position,
DepthImageFormat.Resolution640x480Fps30);
return new Some<HandInputEvent>(new HandInputEvent(handLeftPos, handRightPos));
}
}
return new None<HandInputEvent>();
}
/// <summary>
/// 停止状態にあるかチェックする
/// </summary>
/// <param name="skeletonFrame"></param>
/// <param name="point"></param>
/// <returns></returns>
bool IsSteady( SkeletonFrame skeletonFrame, ColorImagePoint point )
{
var currentPoint = new FramePoint()
{
Point = point,
TimeStamp = skeletonFrame.Timestamp,
};
// milliseconds時間経過したら steady
if ( (currentPoint.TimeStamp - basePoint.TimeStamp) > milliseconds ) {
basePoint = currentPoint;
return true;
}
// 座標の変化量がthreshold以上ならば、basePointを更新して初めから計測
if ( Math.Abs( currentPoint.Point.X - basePoint.Point.X ) > threshold
|| Math.Abs( currentPoint.Point.Y - basePoint.Point.Y ) > threshold ) {
// 座標が動いたので基点を動いた位置にずらして、最初から計測
basePoint = currentPoint;
}
return false;
}
private void WriteImageSkeleton(SkeletonFrame frame)
{
foreach (Skeleton skeleton in this._skeletonData)
{
if (skeleton.TrackingState == SkeletonTrackingState.Tracked && _movieRecordingOn)
{
this._ImageSkelFile.WriteLine("{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8},{9},{10},{11},{12},{13},{14},{15},{16},{17},{18},{19},{20},{21},{22},{23},{24},{25},{26},{27},{28},{29}, {30}, {31}, {32}, {33}, {34},{35},{36},{37},{38},{39}",
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.Head].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.Head].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.ShoulderCenter].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.ShoulderCenter].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.ShoulderLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.ShoulderLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.ElbowLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.ElbowLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.WristLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.WristLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.HandLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.HandLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.ShoulderRight].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.ShoulderRight].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.ElbowRight].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.ElbowRight].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.WristRight].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.WristRight].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.HandRight].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.HandRight].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.Spine].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.Spine].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.HipCenter].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.HipCenter].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.HipLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.HipLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.KneeLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.KneeLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.AnkleLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.AnkleLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.FootLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.FootLeft].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.HipRight].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.HipRight].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.KneeRight].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.KneeRight].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.AnkleRight].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.AnkleRight].Position, ColorImageFormat.RgbResolution640x480Fps30).Y,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.FootRight].Position, ColorImageFormat.RgbResolution640x480Fps30).X,
this._sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeleton.Joints[JointType.FootRight].Position, ColorImageFormat.RgbResolution640x480Fps30).Y);
}
}
}
private void AccessSkeletonData(SkeletonFrame skeletonFrame)
{
if (this._skelFrameCount == 0)
{
this._firstSkelFrameTimestamp = skeletonFrame.Timestamp;
}
foreach (Skeleton skeleton in this._skeletonData)
{
if (skeleton.TrackingState == SkeletonTrackingState.Tracked && _skeletonRecordingOn)
{
this._skelFrameTime = ((float)(skeletonFrame.Timestamp - this._firstSkelFrameTimestamp)) / 1000f;
radioButton1.IsChecked = true;
_DataFile.WriteLine( "{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8},{9},{10},{11},{12},{13},{14},{15},{16},{17},{18},{19},{20},{21},{22},{23},{24},{25},{26},{27},{28},{29}, {30}, {31}, {32}, {33}, {34},{35},{36},{37},{38},{39},{40}, {41}, {42}, {43},{44}, {45}, {46}, {47},{48},{49}, {50},{51},{52},{53}, {54}, {55}, {56}, {57}, {58}, {59}, {60}",
skeleton.Joints[JointType.Head].Position.X,
skeleton.Joints[JointType.Head].Position.Y,
skeleton.Joints[JointType.Head].Position.Z,
skeleton.Joints[JointType.ShoulderCenter].Position.X,
skeleton.Joints[JointType.ShoulderCenter].Position.Y,
skeleton.Joints[JointType.ShoulderCenter].Position.Z,
skeleton.Joints[JointType.ShoulderLeft].Position.X,
skeleton.Joints[JointType.ShoulderLeft].Position.Y,
skeleton.Joints[JointType.ShoulderLeft].Position.Z,
skeleton.Joints[JointType.ElbowLeft].Position.X,
skeleton.Joints[JointType.ElbowLeft].Position.Y,
skeleton.Joints[JointType.ElbowLeft].Position.Z,
skeleton.Joints[JointType.WristLeft].Position.X,
skeleton.Joints[JointType.WristLeft].Position.Y,
skeleton.Joints[JointType.WristLeft].Position.Z,
skeleton.Joints[JointType.HandLeft].Position.X,
skeleton.Joints[JointType.HandLeft].Position.Y,
skeleton.Joints[JointType.HandLeft].Position.Z,
skeleton.Joints[JointType.ShoulderRight].Position.X,
skeleton.Joints[JointType.ShoulderRight].Position.Y,
skeleton.Joints[JointType.ShoulderRight].Position.Z,
skeleton.Joints[JointType.ElbowRight].Position.X,
skeleton.Joints[JointType.ElbowRight].Position.Y,
skeleton.Joints[JointType.ElbowRight].Position.Z,
skeleton.Joints[JointType.WristRight].Position.X,
skeleton.Joints[JointType.WristRight].Position.Y,
skeleton.Joints[JointType.WristRight].Position.Z,
skeleton.Joints[JointType.HandRight].Position.X,
skeleton.Joints[JointType.HandRight].Position.Y,
skeleton.Joints[JointType.HandRight].Position.Z,
skeleton.Joints[JointType.Spine].Position.X,
skeleton.Joints[JointType.Spine].Position.Y,
skeleton.Joints[JointType.Spine].Position.Z,
skeleton.Joints[JointType.HipCenter].Position.X,
skeleton.Joints[JointType.HipCenter].Position.Y,
skeleton.Joints[JointType.HipCenter].Position.Z,
skeleton.Joints[JointType.HipLeft].Position.X,
skeleton.Joints[JointType.HipLeft].Position.Y,
skeleton.Joints[JointType.HipLeft].Position.Z,
skeleton.Joints[JointType.KneeLeft].Position.X,
skeleton.Joints[JointType.KneeLeft].Position.Y,
skeleton.Joints[JointType.KneeLeft].Position.Z,
skeleton.Joints[JointType.AnkleLeft].Position.X,
skeleton.Joints[JointType.AnkleLeft].Position.Y,
skeleton.Joints[JointType.AnkleLeft].Position.Z,
skeleton.Joints[JointType.FootLeft].Position.X,
skeleton.Joints[JointType.FootLeft].Position.Y,
skeleton.Joints[JointType.FootLeft].Position.Z,
skeleton.Joints[JointType.HipRight].Position.X,
skeleton.Joints[JointType.HipRight].Position.Y,
skeleton.Joints[JointType.HipRight].Position.Z,
skeleton.Joints[JointType.KneeRight].Position.X,
skeleton.Joints[JointType.KneeRight].Position.Y,
skeleton.Joints[JointType.KneeRight].Position.Z,
skeleton.Joints[JointType.AnkleRight].Position.X,
skeleton.Joints[JointType.AnkleRight].Position.Y,
skeleton.Joints[JointType.AnkleRight].Position.Z,
skeleton.Joints[JointType.FootRight].Position.X,
skeleton.Joints[JointType.FootRight].Position.Y,
skeleton.Joints[JointType.FootRight].Position.Z,
this._skelFrameTime);
this._skelFrameCount++;
if (_skelFrameCount % 10 == 0)
{
this.numFramesBox.Text = _skelFrameCount.ToString();
}
}
}
}
/// <summary>
/// Process data from one Kinect skeleton frame.
/// </summary>
/// <param name="skeletons">
/// Kinect skeleton data.
/// </param>
/// <param name="skeletonFrame">
/// <see cref="SkeletonFrame"/> from which we obtained skeleton data.
/// </param>
public override void ProcessSkeleton(Skeleton[] skeletons, SkeletonFrame skeletonFrame)
{
if (skeletons == null)
{
throw new ArgumentNullException("skeletons");
}
if (skeletonFrame == null)
{
throw new ArgumentNullException("skeletonFrame");
}
if (this.backgroundRemovalStreamIsEnabled)
{
this.backgroundRemovalStream.ProcessSkeleton(skeletons, skeletonFrame.Timestamp);
}
}
