private Skeleton GetSkeletonForPlayer(int player)
{
Skeleton[] skeletons;
using (SkeletonFrame skeletonFrame = this._skeletonFrameEventArgs.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
throw new SkeletonFrameDataNotAvailableException();
}
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
}
var tracked = skeletons
.Where(skeleton => skeleton.TrackingState == SkeletonTrackingState.Tracked);
if (!tracked.Any())
{
throw new Exception("No players found!");
}
return tracked.ElementAtOrDefault(player);
}
static void Sensor_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (var frame = e.OpenSkeletonFrame())
{
if (frame != null)
{
Microsoft.Kinect.Skeleton[] skeletons = new Microsoft.Kinect.Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(skeletons);
if (skeletons.Length > 0)
{
var user = skeletons.Where(u => u.TrackingState == SkeletonTrackingState.Tracked).FirstOrDefault();
if (user != null)
{
if (!_skeleton)
{
Console.WriteLine("Skeleton detected");
}
_skeleton = true;
_mainGesture.Update(user);
}
else
{
if (_skeleton)
{
Console.WriteLine("No Skeleton detected");
}
_skeleton = false;
}
}
}
}
}
public static Skeleton ObterEsqueletoUsuario(this SkeletonFrame quadro)
{
Skeleton esqueletoUsuario = null;
Skeleton[] esqueletos = new Skeleton[quadro.SkeletonArrayLength];
quadro.CopySkeletonDataTo(esqueletos);
IEnumerable<Skeleton> esqueletosRastreados = esqueletos.Where(esqueleto => esqueleto.TrackingState == SkeletonTrackingState.Tracked);
if (esqueletosRastreados.Count() > 0)
esqueletoUsuario = esqueletosRastreados.First();
return esqueletoUsuario;
}
static void Main(string[] args)
{
var sensor = Microsoft.Kinect.KinectSensor.KinectSensors.FirstOrDefault(sens => sens.Status == KinectStatus.Connected);
if (sensor == null)
return;
sensor.SkeletonStream.Enable();
var skeletonData = new Skeleton[sensor.SkeletonStream.FrameSkeletonArrayLength];
sensor.SkeletonFrameReady += (o, arg) =>
{
using (SkeletonFrame frame = arg.OpenSkeletonFrame())
{
if (frame == null || skeletonData == null)
return;
frame.CopySkeletonDataTo(skeletonData);
foreach (var skeleton in skeletonData)
{
}
}
};
sensor.Start();
sensor.ElevationAngle = 0;
sensor.SkeletonStream.TrackingMode = SkeletonTrackingMode.Default;
Vector<double> p0 = null, p1 = null, p2 = null;
Func<Vector<double>, Vector<double>> transform = null;
Func<Vector<double>> readRightHand = () => skeletonData.Where(row => row.TrackingState == SkeletonTrackingState.Tracked).Select(row => row.Joints[JointType.HandRight]).Select(row => new DenseVector(new double[] { row.Position.X, row.Position.Y, row.Position.Z })).FirstOrDefault();
while (true)
{
var key = Console.ReadKey();
if (key.Key == ConsoleKey.D0)
p0 = readRightHand();
if (key.Key == ConsoleKey.D1)
p1 = readRightHand();
if (key.Key == ConsoleKey.D2)
p2 = readRightHand();
if (p0 != null && p1 != null && p2 != null)
{
transform = WorldTransform.GenerateTransform(p0, p1, p2);
}
if (transform != null)
{
var transformed = transform(readRightHand());
Console.Clear();
Console.WriteLine("Transformed: " + PosToString(transformed));
}
else
{
Console.Clear();
Console.WriteLine("Untransformed: " + PosToString(readRightHand()));
}
}
}
/// <summary>
/// Creates skeleton models for each of the tracked skeleton in the array
/// </summary>
/// <param name="skeletons">Array of all found skeletons</param>
/// <param name="brush">Color of the skeleton</param>
/// <param name="sensor">The sensor.</param>
/// <param name="width">The width of the canvas.</param>
/// <param name="height">The height of the canvas.</param>
public void DrawSkeleton(Skeleton[] skeletons, Brush brush, KinectSensor sensor, double width, double height)
{
var skeletonModels = new ObservableCollection<Polyline>();
foreach (var skeleton in skeletons.Where(skeleton => skeleton.TrackingState != SkeletonTrackingState.NotTracked))
{
skeletonModels.Add(CreateFigure(skeleton, brush, CreateBody(), sensor, width, height));
skeletonModels.Add(CreateFigure(skeleton, brush, CreateLeftHand(), sensor, width, height));
skeletonModels.Add(CreateFigure(skeleton, brush, CreateRightHand(), sensor, width, height));
skeletonModels.Add(CreateFigure(skeleton, brush, CreateLeftLeg(), sensor, width, height));
skeletonModels.Add(CreateFigure(skeleton, brush, CreateRightLeg(), sensor, width, height));
}
SkeletonParts = skeletonModels;
}
protected void onSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
Skeleton[] squelettes = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(squelettes);
if (canvas.Children.Count > 2)
canvas.Children.RemoveRange(1, canvas.Children.Count - 1);
foreach (Skeleton squelette in squelettes.Where(skel => skel.TrackingState == SkeletonTrackingState.Tracked))
{
drawBone(squelette, canvas, JointType.Head, JointType.ShoulderCenter, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.ShoulderCenter, JointType.ShoulderLeft, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.ShoulderCenter, JointType.ShoulderRight, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.ShoulderCenter, JointType.Spine, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.Spine, JointType.HipCenter, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.HipCenter, JointType.HipLeft, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.HipCenter, JointType.HipRight, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.ShoulderLeft, JointType.ElbowLeft, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.ElbowLeft, JointType.WristLeft, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.WristLeft, JointType.HandLeft, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.ShoulderRight, JointType.ElbowRight, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.ElbowRight, JointType.WristRight, Brushes.AliceBlue);
drawBone(squelette, canvas, JointType.WristRight, JointType.HandRight, Brushes.AliceBlue);
// Left Leg
this.drawBone(squelette, canvas, JointType.HipLeft, JointType.KneeLeft, Brushes.AliceBlue);
this.drawBone(squelette, canvas, JointType.KneeLeft, JointType.AnkleLeft, Brushes.AliceBlue);
this.drawBone(squelette, canvas, JointType.AnkleLeft, JointType.FootLeft, Brushes.AliceBlue);
// Right Leg
this.drawBone(squelette, canvas, JointType.HipRight, JointType.KneeRight, Brushes.AliceBlue);
this.drawBone(squelette, canvas, JointType.KneeRight, JointType.AnkleRight, Brushes.AliceBlue);
this.drawBone(squelette, canvas, JointType.AnkleRight, JointType.FootRight, Brushes.AliceBlue);
}
}
}
}
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);
}
}
}
// Process the new skeleton data
private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
// Copy the skeleton data to the "skeletons" array.
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
// Cull off the non tracked skeletons.
skeletons = skeletons.Where(x => x.TrackingState == SkeletonTrackingState.Tracked).ToArray();
// Detect high fives between pairs of skeletons.
detectHighFives(skeletons);
}
}
}
static void Sensor_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (var frame = e.OpenSkeletonFrame())
{
if (frame != null)
{
Skeleton[] skeletons = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(skeletons);
if (skeletons.Length > 0)
{
var user = skeletons.Where(u => u.TrackingState == SkeletonTrackingState.Tracked).FirstOrDefault();
if (user != null)
{
//_gesture.Update(user);
}
}
}
}
}
private Skeleton FindClosestSkeleton(Skeleton[] skeletons)
{
var seed = new
{
Distance = float.PositiveInfinity,
Skeleton = new Skeleton()
};
var result = skeletons.Where(skeleton => skeleton.TrackingState != SkeletonTrackingState.NotTracked)
.Aggregate(seed, (running, cur) =>
{
if (cur.Position.Z >= running.Distance)
return running;
return new
{
Distance = cur.Position.Z,
Skeleton = cur
};
});
return result.Skeleton;
}
public static void Run(string[] args)
{
var camfile = args.FirstOrDefault() ?? Calibration.KinectDefaultFileName;
var projfile = args.Skip(1).FirstOrDefault() ?? Calibration.ProjectorDefaultFileName;
if (!File.Exists(camfile) || !File.Exists(projfile))
{
Console.WriteLine("Either calib file could not be found.");
return;
}
var cc = Utils.DeSerializeObject<CalibrationResult>(camfile);
var pc = Utils.DeSerializeObject<CalibrationResult>(projfile);
var window = ProgramWindow.OpenOnSecondary();
var program = new PointCloudProgram(29f);
window.SetProgram(program);
program.Draw().All((xp, yp) =>
{
var x = 0.5 - xp;
var y = 0.5 - yp;
var i = Math.Sqrt(x * x + y * y) * 2.5;
if (i > 1)
i = 1;
i = Math.Pow(1 - i, 3);
byte ii = (byte)(i * 255);
return Color.FromArgb(ii, 255, 255, 255);
}).Finish();
KinectSensor sensor = KinectSensor.KinectSensors.First();
var format = DepthImageFormat.Resolution80x60Fps30;
DepthCamera depthCam = new DepthCamera(sensor, format);
SkeletonCamera skeletonCam = new SkeletonCamera(sensor);
TriplexCamera triplex = new TriplexCamera(depthCam, skeletonCam);
KinectCalibrator kc = new KinectCalibrator(cc);
sensor.Start();
sensor.SkeletonStream.Enable();
program.SetProjection(pc, kc.GetModelView());
Rendering rend = new Rendering(program);
float dt = 0;
{
float[] hand = new float[] { 0.124f, -0.9f, 1.7f, 1f };
{
var t = program.SetLight0Pos(hand);
Console.Write("({0}, {1}, {2}) ", hand[0], hand[1], hand[2]);
Console.WriteLine("({0}, {1}, {2})", t.X, t.Y, t.Z);
}
window.KeyPress += (o, e) =>
{
if (e.KeyChar == 'w')
hand[1] += 0.1f;
else if (e.KeyChar == 's')
hand[1] -= 0.1f;
if (e.KeyChar == 'a')
hand[0] += 0.1f;
else if (e.KeyChar == 'd')
hand[0] -= 0.1f;
if (e.KeyChar == 'r')
hand[2] += 0.1f;
else if (e.KeyChar == 'f')
hand[2] -= 0.1f;
var t = program.SetLight0Pos(hand);
Console.Write("({0}, {1}, {2}) ", hand[0], hand[1], hand[2]);
Console.WriteLine("({0}, {1}, {2})", t.X, t.Y, t.Z);
};
}
while (true)
{
var players = triplex.Trigger(1000);
if (players == null)
continue;
rend.Render(players, sensor, format);
window.RenderFrame();
window.ProcessEvents();
}
//program.SetPositions(new Vector3[] { new Vector3(0.0f, -0.1f, 0) });
//window.RenderFrame();
Func<float[]> getHand = () =>
{
using (var frame = sensor.SkeletonStream.OpenNextFrame(100))
{
if (frame == null)
return null;
Skeleton[] skeletons = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(skeletons);
var rhand = skeletons.Where(sk => sk.TrackingState == SkeletonTrackingState.Tracked)
.SelectMany(sk => sk.Joints).Where(j => j.TrackingState != JointTrackingState.NotTracked)
.Where(j => j.JointType == JointType.HandRight)
.Select(j => j.Position).ToArray();
if (rhand.Length > 0)
return kc.ToGlobal(rhand.First());
else
return null;
}
};
while (true)
{
var test = depthCam.GetDepth(10000);
if (test == null)
continue;
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
sw.Start();
var points = test.Select(f => sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, f))
.Select(p => new Vector3(p.X, p.Y, p.Z)).ToArray();
program.SetPositions(points);
window.RenderFrame();
sw.Stop();
Console.WriteLine("Time: " + sw.ElapsedMilliseconds);
window.ProcessEvents();
//System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
//sw.Start();
//var sp = test.Select(f => sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, f));
//var globals = sp.Select(p => new float[] { p.X, p.Y, p.Z, 1 }).ToArray();
////var globals = kc.ToGlobal(sp).Where(g => g[2] > 0.1f).ToArray();
//sw.Stop();
//Console.WriteLine("Time: " + sw.ElapsedMilliseconds);
//program.SetLight0Pos(new float[] { 0.16f, -0.14f, 0.24f, 1 });
//var hand = getHand();
//if (hand != null)
//{
// var t = program.SetLight0Pos(hand);
// Console.Write("({0}, {1}, {2}) ", hand[0], hand[1], hand[2]);
// Console.WriteLine("({0}, {1}, {2})", t.X, t.Y, t.Z);
// //Console.Write("Done ");
//}
//program.SetPositions(globals);
//window.RenderFrame();
//window.ProcessEvents();
//{
// var projected = pc.Transform(globals.Where(g => g[2] > -0.0f).ToArray());
// projector.DrawPoints(projected,2, Color.Gray);
//}
}
}
private void ExtractValidSkeletons(Skeleton[] rawSkeletons)
{
var validSkeletons = rawSkeletons.Where(
skeleton => skeleton.TrackingState == SkeletonTrackingState.Tracked &&
skeleton.Joints.Count(joint => joint.TrackingState == JointTrackingState.Tracked) > Constants.MINIMUM_JOINT_THRESHOLD
);
foreach (Skeleton skeleton in validSkeletons)
{
if (currentVisitors.ContainsKey(skeleton.TrackingId))
currentVisitors[skeleton.TrackingId].Update(skeleton);
else
currentVisitors.Add(skeleton.TrackingId, new WagSkeleton(skeleton));
WagFaceTracker wagFaceTracker = wagFaceTrackers.SingleOrDefault(tracker => tracker.SkeletonId == skeleton.TrackingId);
if (wagFaceTracker == null)
{
wagFaceTracker = wagFaceTrackers.FirstOrDefault(tracker => tracker.IsUsing == false);
wagFaceTracker.SkeletonId = skeleton.TrackingId;
wagFaceTracker.IsUsing = true;
}
currentVisitors[skeleton.TrackingId].LastFrameSeen = currentFrame;
Calibration.ApplyTransformations(currentVisitors[skeleton.TrackingId]);
}
foreach (WagSkeleton wagSkeleton in currentVisitors.Values)
{
wagSkeleton.FramesNotSeen = currentFrame - wagSkeleton.LastFrameSeen;
}
OnPropertyChanged("ClosestVisitor");
}
protected int TrackNearerSkeleton(Skeleton[] skeletonData)
{
float closestDistance = 10000f; // Start with a far enough distance
int closestID = 0;
foreach (Skeleton skeleton in skeletonData.Where(s => s.TrackingState != SkeletonTrackingState.NotTracked))
{
if (skeleton.Position.Z < closestDistance)
{
closestID = skeleton.TrackingId;
closestDistance = skeleton.Position.Z;
}
}
if (closestID > 0)
{
kinectSensor.SkeletonStream.ChooseSkeletons(closestID); // Track this skeleton
}
return closestID;
}
/// <summary>
/// Looks for the closest skeleton
/// </summary>
/// <param name="skeletons">All skeletons recognised by Kinect</param>
/// <returns>The skeleton closestto the sensor</returns>
public static Skeleton GetPrimarySkeleton(Skeleton[] skeletons)
{
Skeleton skeleton = null;
if (skeletons != null)
foreach (Skeleton skelet in skeletons.Where(s => s.TrackingState == SkeletonTrackingState.Tracked))
if (skeleton == null || skelet.Position.Z < skeleton.Position.Z)
skeleton = skelet;
return skeleton;
}
private Skeleton getSkeletonImage(SkeletonFrame frame)
{
Skeleton[] skeletonArray = new Skeleton[6];
frame.CopySkeletonDataTo(skeletonArray);
var trackedSkeletons = skeletonArray.Where(s => s.TrackingState == SkeletonTrackingState.Tracked);
var skeleton = trackedSkeletons.FirstOrDefault();
return skeleton;
}
private void SkeletonDataReadyHandler(object sender, SkeletonFrameReadyEventArgs e)
{
// no active user, ignore events
if (_activeUser == -1 || e == null || _kinect == null) return;
// not recording and no context, ignore events.
var sFrame = e.OpenSkeletonFrame();
if (sFrame == null) return;
var skeletons = new Skeleton[_kinect.GetSensor().SkeletonStream.FrameSkeletonArrayLength];
sFrame.CopySkeletonDataTo(skeletons);
sFrame.Dispose();
foreach (var skeleton in skeletons.Where(skeleton => skeleton != null && skeleton.TrackingId == _activeUser))
{
Skeleton2DDataExtract.ProcessData(skeleton, _defaultHand);
if (!_isRecording)
if (_pointer != null) _pointer.FindContext(skeleton);
if (_addOnGesture)
{
AddOnGesture(_addOnGestureType, skeleton);
}
}
}
private void KinectOnSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs eventArgs)
{
using (SkeletonFrame skeletonFrame = eventArgs.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
int i = 0;
Skeleton[] squelettes = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(squelettes);
try
{
var accelerometerReading = kinect.AccelerometerGetCurrentReading();
interStream.ProcessSkeleton(squelettes, accelerometerReading, skeletonFrame.Timestamp);
}
catch (InvalidOperationException)
{}
bufSkel.Clear();
if (skeletonFrame.SkeletonArrayLength == 0)
return;
var trackedSquelettes = squelettes.Where(skel => skel.TrackingState == SkeletonTrackingState.Tracked).OrderBy<Skeleton, float>(skel => skel.Position.Z);
if (trackedSquelettes.Count() == 0)
{
return;
}
squelette = trackedSquelettes.First();
if (squelette != null)
{
players[i] = squelette;
drawBone(squelette, JointType.Head, JointType.ShoulderCenter, colorSkel);
drawBone(squelette, JointType.ShoulderCenter, JointType.ShoulderLeft, colorSkel);
drawBone(squelette, JointType.ShoulderCenter, JointType.ShoulderRight, colorSkel);
drawBone(squelette, JointType.ShoulderCenter, JointType.Spine, colorSkel);
drawBone(squelette, JointType.Spine, JointType.HipCenter, colorSkel);
drawBone(squelette, JointType.HipCenter, JointType.HipLeft, colorSkel);
drawBone(squelette, JointType.HipCenter, JointType.HipRight, colorSkel);
drawBone(squelette, JointType.ShoulderLeft, JointType.ElbowLeft, colorSkel);
drawBone(squelette, JointType.ElbowLeft, JointType.WristLeft, colorSkel);
drawBone(squelette, JointType.WristLeft, JointType.HandLeft, colorSkel);
drawBone(squelette, JointType.ShoulderRight, JointType.ElbowRight, colorSkel);
drawBone(squelette, JointType.ElbowRight, JointType.WristRight, colorSkel);
drawBone(squelette, JointType.WristRight, JointType.HandRight, colorSkel);
// Left Leg
drawBone(squelette, JointType.HipLeft, JointType.KneeLeft, colorSkel);
drawBone(squelette, JointType.KneeLeft, JointType.AnkleLeft, colorSkel);
drawBone(squelette, JointType.AnkleLeft, JointType.FootLeft, colorSkel);
// Right Leg
drawBone(squelette, JointType.HipRight, JointType.KneeRight, colorSkel);
drawBone(squelette, JointType.KneeRight, JointType.AnkleRight, colorSkel);
drawBone(squelette, JointType.AnkleRight, JointType.FootRight, colorSkel);
if (focusSquelette)
ViewPort.Camera = (PerspectiveCamera)squelette2CameraConverter.Convert(players[0], null, null, null);
++i;
}
lignes.Points = bufSkel;
}
}
}
private void processSkeleton(SkeletonFrame frame)
{
Skeleton[] skeletons = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(skeletons);
// Console.WriteLine("Skeletons: " + skeletons.Where(S => S.TrackingState == SkeletonTrackingState.Tracked).Count() );
Skeleton person = null;
if ( (person = skeletons.Where(s => s.TrackingState == SkeletonTrackingState.Tracked).FirstOrDefault()) != null)
{
Console.WriteLine("Doing it, doing it!!");
double person_core_x = Math.Round(person.Position.X, 1);
double person_core_y = Math.Round(person.Position.Y, 1);
double person_hand_l_x = Math.Round(person.Joints.Where(Joint => Joint.JointType == JointType.HandLeft).First().Position.X, 2);
double person_hand_l_y = Math.Round(person.Joints.Where(Joint => Joint.JointType == JointType.HandLeft).First().Position.Y, 2);
double person_hand_r_x = Math.Round(person.Joints.Where(Joint => Joint.JointType == JointType.HandRight).First().Position.X, 2);
double person_hand_r_y = Math.Round(person.Joints.Where(Joint => Joint.JointType == JointType.HandRight).First().Position.Y, 2);
label3.Content = (
"Sensor: " + Math.Round(this.x_actual,2) + ", " + Math.Round(this.y_actual,2) +
" Core: " + person_core_x + ", " + person_core_y +
" LH: " + person_hand_l_x + ", " + person_hand_l_y +
" RH: " + person_hand_r_x + ", " + person_hand_r_y
);
}
else
{
Console.WriteLine("Totally gone wrong.");
this.label3.Content = (
"Sensor: " + Math.Round(this.x_actual,1) + ", " + Math.Round(this.y_actual,1) + " - no skeletons found"
);
}
}
private static void SkeletonFramesReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (SkeletonFrame skeletonFrameData = e.OpenSkeletonFrame())
{
if (skeletonFrameData != null)
{
var allSkeletons = new Skeleton[skeletonFrameData.SkeletonArrayLength];
skeletonFrameData.CopySkeletonDataTo(allSkeletons);
List<Skeleton> tracked =
allSkeletons.Where(s => s.TrackingState == SkeletonTrackingState.Tracked).ToList();
if (tracked.Any())
{
// Find the closest skeleton
Skeleton closest = tracked.OrderBy(t => t.Position.Z).First();
// Get the head x position
float headX = closest.Joints
.Where(j => j.JointType == JointType.Head)
.Select(h => h.Position.X)
.FirstOrDefault();
// Broadcast to subject
HeadXSubject.OnNext(headX);
}
}
}
}
private static int TrackClosestSkeleton(KinectSensor sensor, Skeleton[] skeletons)
{
if (sensor != null && sensor.SkeletonStream != null)
{
if (!sensor.SkeletonStream.AppChoosesSkeletons)
{
sensor.SkeletonStream.AppChoosesSkeletons = true; // Ensure AppChoosesSkeletons is set
}
SkeletonPoint camera = new SkeletonPoint();
camera.X = camera.Y = camera.Z = 0;
double closestDistance = 10000f; // Start with a far enough distance
int closestID = 0;
foreach (Skeleton skeleton in skeletons.Where(s => s.TrackingState != SkeletonTrackingState.NotTracked))
{
double dist = Utilities.Distance(camera, skeleton.Position);
if (dist < closestDistance)
{
closestID = skeleton.TrackingId;
closestDistance = dist;
}
}
if (closestID > 0)
{
sensor.SkeletonStream.ChooseSkeletons(closestID); // Track this skeleton
}
return closestID;
}
return -1;
}
void kinect_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
Skeleton[] skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
//skeletonFrame.CopySkeletonDataTo(skeletons);
skeletonFrame.CopySkeletonDataTo(skeletonData);
trackedSkeleton = skeletonData.Where(s => s.TrackingState == SkeletonTrackingState.Tracked).FirstOrDefault();
Skeleton playerSkeleton = (from s in skeletonData where s.TrackingState == SkeletonTrackingState.Tracked select s).FirstOrDefault();
if (skeletonData == null)
{
skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
if (playerSkeleton != null)
{
Joint body = playerSkeleton.Joints[JointType.Spine];
bodyPositionPixels = new Vector2((((0.5f * body.Position.X) + 0.5f) * (640)), (((-0.5f * body.Position.Y) + 0.5f) * (480)));
if (body.Position.X > 0.1)
{
Console.WriteLine("Moving Right");
scorpionduck = false;
Sleft = false;
Sright = true;
}
if (body.Position.X < -0.1)
{
Console.WriteLine("Moving Left");
scorpionduck = false;
Sright = false;
Sleft = true;
}
if (body.Position.Y < 0)
{
Console.WriteLine("Ducking");
Sright = false;
Sleft = false;
scorpionduck = true;
}
if (body.Position.X > -0.1 && body.Position.X < 0.1)
{
Sright = false;
Sleft = false;
scorpionduck = false;
Sidle = true;
}
}
}
}
}
private void SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (var skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame == null)
return;
var skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
inactivityCounter = 0;
if (skeletons.FirstOrDefault(x => x.TrackingId == player) == null)
{
player = -1;
OnKinectLeave(new KinectLeaveEventHandlerArgs {Player = player});
}
foreach (var skeleton in skeletons.Where(s => s.TrackingState == SkeletonTrackingState.Tracked))
{
foreach (var joint in skeleton.Joints.Where(j => j.JointType == JointType.HandRight))
{
// Neuer Spieler gekommen
if (player < 0)
{
player = skeleton.TrackingId;
OnKinectEnter(new KinectEnterEventHandlerArgs {Player = player});
}
// Wenn aktueller Spieler, dann Event auslösen
if (player != skeleton.TrackingId)
continue;
var newZ = joint.Position.Z;
var currentZ = (float)handZ.GetAverageValue(newZ);
Debug.WriteLine("{0}", newZ - currentZ);
if ((oldZ > 0f) && (newZ - currentZ) < -0.1)
{
handZ.Reset();
MessageBeep(0);
}
oldZ = newZ;
var screenPos = ReSizeForScreen(new Point(joint.Position.X, joint.Position.Y));
OnKinectPos(new KinectPosEventHandlerArgs {Player = player, Point = screenPos});
}
}
}
}
private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
if (skeletons != null)
{
Skeleton firstTrackedSkeleton = skeletons.Where(s => s.TrackingState == SkeletonTrackingState.Tracked).FirstOrDefault();
if (firstTrackedSkeleton != null)
{
//MessageBox.Show("Recording Gesture Now", "Result");
Joint j = firstTrackedSkeleton.Joints[JointType.HandRight];
Joint jleft = firstTrackedSkeleton.Joints[JointType.HandLeft];
if (j.TrackingState == JointTrackingState.Tracked && jleft.TrackingState == JointTrackingState.Tracked)
{
if (trainmode == 0)
{
button1.Visibility = Visibility.Hidden;
if (restarttesting == 0)
return;
int starttracking = 0;
if (timerstarted == 0)
{
sw.Start(); // starts the stopwatch
label3.Content = "";
label3.Visibility = Visibility.Visible;
timerstarted = 1;
}
else
{
long elapsed = sw.ElapsedMilliseconds;
if (elapsed < 5000)
{
long remainingtime = 5000 - elapsed;
label3.Content = "Recording in\n" + remainingtime / 1000 + " seconds";
}
else
{
//timerstarted = 0;
starttracking = 1;
label3.Visibility = Visibility.Hidden;
sw.Stop();
//sw.Reset();
}
}
if (starttracking == 0)
{
return;
}
recordFlag = 1;
}
else
{
button1.Visibility = Visibility.Visible;
}
// Console.WriteLine("Right hand: " + j.Position.X + ", " + j.Position.Y + ", " + j.Position.Z);
String lines = j.Position.X + ", " + j.Position.Y + ", " + j.Position.Z;
String filename,filename2;
Boolean fileappend = false ;
if (trainmode == 1)
{
filename = "./train\\right\\" + trainname;
filename2 = "./train\\left\\" + trainname;
fileappend = true;
}
else
{
filename = "test";
filename2 = "testleft";
fileappend = false;
}
// textBox1.Text = "Right hand: " + lines;
if (recordFlag == 1)
{
xString = xString + " " + j.Position.X*1000;
yString = yString + " " + j.Position.Y*1000;
zString = zString + " " + j.Position.Z*1000;
xStringl = xStringl + " " + jleft.Position.X * 1000;
yStringl = yStringl + " " + jleft.Position.Y * 1000;
zStringl = zStringl + " " + jleft.Position.Z * 1000;
frameCount++;
label2.Content = frameCount * 2;
if (frameCount == 60)
{
frameCount = 0;
recordFlag = 0;
System.IO.StreamWriter filex = new System.IO.StreamWriter( filename+"_x.txt", fileappend);
filex.WriteLine(xString);
filex.Close();
System.IO.StreamWriter filey = new System.IO.StreamWriter(filename + "_y.txt", fileappend);
filey.WriteLine(yString);
filey.Close();
System.IO.StreamWriter filez = new System.IO.StreamWriter(filename + "_z.txt", fileappend);
filez.WriteLine(zString);
filez.Close();
System.IO.StreamWriter filex2 = new System.IO.StreamWriter(filename2 + "_x.txt", fileappend);
filex2.WriteLine(xStringl);
filex2.Close();
System.IO.StreamWriter filey2 = new System.IO.StreamWriter(filename2 + "_y.txt", fileappend);
filey2.WriteLine(yStringl);
filey2.Close();
System.IO.StreamWriter filez2 = new System.IO.StreamWriter(filename2 + "_z.txt", fileappend);
filez2.WriteLine(zStringl);
filez2.Close();
xString = "";
yString = "";
zString = "";
xStringl = "";
yStringl = "";
zStringl = "";
testgesture();
}
}
}
}
}
}
}
using (DrawingContext dc = this.drawingGroup.Open())
{
// Draw a transparent background to set the render size
dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
RenderClippedEdges(skel, dc);
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJoints(skel, dc);
}
else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
{
dc.DrawEllipse(
this.centerPointBrush,
null,
this.SkeletonPointToScreen(skel.Position),
BodyCenterThickness,
BodyCenterThickness);
}
}
}
// prevent drawing outside of our render area
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
}
}
void Sensor_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (var frame = e.OpenSkeletonFrame())
{
if (frame != null)
{
Skeleton[] bodies = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(bodies);
var body = bodies.Where(b => b.TrackingState == SkeletonTrackingState.Tracked).FirstOrDefault();
if (body != null)
{
Joint handLeft = body.Joints[JointType.HandLeft];
Joint handRight = body.Joints[JointType.HandRight];
if (handLeft.TrackingState != JointTrackingState.NotTracked && handRight.TrackingState != JointTrackingState.NotTracked)
{
// Select the hand that is closer to the sensor.
var activeHand = handRight.Position.Z <= handLeft.Position.Z ? handRight : handLeft;
var position = _sensor.CoordinateMapper.MapSkeletonPointToColorPoint(activeHand.Position, ColorImageFormat.RgbResolution640x480Fps30);
cursor.Flip(activeHand);
cursor.Update(position);
}
}
}
}
}
private void KinectSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
Skeleton skel = skeletons.Where(s => s.TrackingState == SkeletonTrackingState.Tracked).FirstOrDefault();
if (skel != null)
{
if (skeletonReady != null)
{
skeletonReady(skel);
}
}
}
}
}
private void TrackClosestSkeleton(Skeleton[] skeletons)
{
int closestID = 0;
if (this.sensor != null && this.sensor.SkeletonStream != null)
{
if (!this.sensor.SkeletonStream.AppChoosesSkeletons)
{
this.sensor.SkeletonStream.AppChoosesSkeletons = true; // Ensure AppChoosesSkeletons is set
}
float closestDistance = 10000f; // Start with a far enough distance
Skeleton closestSkeleton = null;
foreach (Skeleton skeleton in skeletons.Where(s => s.TrackingState != SkeletonTrackingState.NotTracked))
{
if (skeleton.Position.Z < closestDistance)
{
closestID = skeleton.TrackingId;
closestDistance = skeleton.Position.Z;
closestSkeleton = skeleton;
}
}
if (closestID > 0)
{
if (currentSkeleton == null || currentSkeleton.TrackingId != closestSkeleton.TrackingId)
{
startDelayTimer.Restart();
leftHandChecker.Initialize(closestSkeleton);
rightHandChecker.Initialize(closestSkeleton);
}
this.currentSkeleton = closestSkeleton;
this.sensor.SkeletonStream.ChooseSkeletons(closestID); // Track this skeleton
}
else
{
this.currentSkeleton = null;
if (kinectStrategy != null)
kinectStrategy.CurrentAcceleration = Vector2.Zero;
}
}
}
private void ExtractValidSkeletons(Skeleton[] rawSkeletons)
{
var validSkeletons = rawSkeletons.Where(skeleton => skeleton.TrackingState == SkeletonTrackingState.Tracked);
validSkeletons = validSkeletons.Where(skeleton => skeleton.Joints.Count(joint => joint.TrackingState == JointTrackingState.Tracked) > MINIMUM_JOINT_THRESHOLD);
foreach (Skeleton skeleton in validSkeletons)
{
if (currentVisitors.ContainsKey(skeleton.TrackingId))
currentVisitors[skeleton.TrackingId].Update(skeleton);
else
{
currentVisitors.Add(skeleton.TrackingId, new WagSkeleton(skeleton));
faceTrackers.Add(skeleton.TrackingId, new FaceTracker(kinectSensor));
}
currentVisitors[skeleton.TrackingId].LastFrameSeen = currentFrame;
ApplyTransformations(currentVisitors[skeleton.TrackingId]);
}
var oldSkeletons = currentVisitors.Values.Where(skeleton => skeleton.LastFrameSeen <= (currentFrame - 5)).ToArray();
foreach (WagSkeleton skeleton in oldSkeletons)
{
currentVisitors.Remove(skeleton.TrackingId);
faceTrackers.Remove(skeleton.TrackingId);
}
OnPropertyChanged("ClosestVisitor");
}
private void kinectSensor_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e) {
using (var skeletonFrame = e.OpenSkeletonFrame()) {
if (skeletonFrame == null) { return; }
var skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletonData);
foreach (var skelaton in skeletonData.Where(skelaton => skelaton.TrackingState == SkeletonTrackingState.Tracked)) {
foreach (var gestureCommand in gestureCommands.Where(gestureCommand => gestureCommand.ShouldHandle(skelaton.Joints))) {
gestureCommand.Execute();
}
return;
}
}
}
private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
if (skeletons.Length > 0)
{
var user = skeletons.Where(u => u.TrackingState == SkeletonTrackingState.Tracked).FirstOrDefault();
if (user != null)
{
_gestureRight.Update(user);
_gestureLeft.Update(user);
}
}
}
}
}
/// <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, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
if (skeletons.Length > 0)
{
var user = skeletons.Where(u => u.TrackingState == SkeletonTrackingState.Tracked).FirstOrDefault();
if (user != null)
{
_gestureRight.Update(user);
_gestureLeft.Update(user);
}
}
}
}
using (DrawingContext dc = this.drawingGroup.Open())
{
// Draw a transparent background to set the render size
dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
RenderClippedEdges(skel, dc);
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJoints(skel, dc);
}
else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
{
dc.DrawEllipse(
this.centerPointBrush,
null,
this.SkeletonPointToScreen(skel.Position),
BodyCenterThickness,
BodyCenterThickness);
}
}
}
// prevent drawing outside of our render area
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
if(skeletons != null)
{
}
}
}
void NewSensor_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs args)
{
var colors = new Dictionary<int, Color>();
Skeleton[] skeletons;
using (var frame = args.OpenSkeletonFrame())
{
if (frame == null)
return;
skeletons = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(skeletons);
}
foreach (var skeleton in skeletons.Where(s => SkeletonTrackingState.Tracked.Equals(s.TrackingState)))
{
Random _rnd = new Random();
var userId = skeleton.TrackingId;
var crazyColors = Color.FromRgb((byte)_rnd.Next(255), (byte)_rnd.Next(255), (byte)_rnd.Next(255));
colors.Add(userId, KinectRegion.PrimaryUserTrackingId == userId ?
crazyColors :
Colors.Blue);
}
this.KinectUserViewer.UserColors = colors;
}