void kinectSensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
// Retrieve each single frame and copy the data
using (ColorImageFrame colorImageFrame = e.OpenColorImageFrame())
{
if (colorImageFrame == null)
{
return;
}
colorImageFrame.CopyPixelDataTo(colorPixelData);
//int strade = colorImageFrame.Width * 4;
//image1.Source = BitmapSource.Create(colorImageFrame.Width, colorImageFrame.Height, 96, 96,
// PixelFormats.Bgr32, null, colorPixelData, strade);
}
using (DepthImageFrame depthImageFrame = e.OpenDepthImageFrame())
{
if (depthImageFrame == null)
{
return;
}
depthImageFrame.CopyPixelDataTo(depthPixelData);
}
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame == null)
{
return;
}
skeletonFrame.CopySkeletonDataTo(skeletonData);
}
// Retrieve the first tracked skeleton if any. Otherwise, do nothing.
var skeleton = skeletonData.FirstOrDefault(s => s.TrackingState == SkeletonTrackingState.Tracked);
if (skeleton == null && !sessionClose)
{
serialP.WriteLine("s");
serialP.WriteLine("c");
serialP.WriteLine("p");
serialP.WriteLine("g");
if (isActive)
{
isActive = false;
}
slejenie = false;
activatorRightHand = 0;
activatorLeftHand = false;
firstMeet = false;
sessionClose = true;
return;
}
else if (skeleton != null && !firstMeet)
{
serialP.WriteLine("i");
playsound(comms[0]);
firstMeet = true;
sessionClose = false;
}
if (sessionClose)
{
return;
}
// Make the faceTracker processing the data.
FaceTrackFrame faceFrame = faceTracker.Track(kinectSensor.ColorStream.Format, colorPixelData,
kinectSensor.DepthStream.Format, depthPixelData,
skeleton);
EnumIndexableCollection <FeaturePoint, PointF> facePoints = faceFrame.GetProjected3DShape();
// points of hands and shoulder - to determine HELLO, etc.
Joint shoulderCenter = skeleton.Joints[JointType.ShoulderCenter];
Joint head = skeleton.Joints[JointType.Head];
Joint rightHand = skeleton.Joints[JointType.HandRight];
Joint leftHand = skeleton.Joints[JointType.HandLeft];
// initialize sound for hello
//SoundPlayer a = new SoundPlayer("C:\\sal.wav");
// open stream for uart reading
//serialP.Open();
// points of lip's corner - with help of this I determine smile
double x1 = facePoints[88].X;
double y1 = facePoints[88].Y;
System.Windows.Point leftLip = new System.Windows.Point(x1, y1);
double x2 = facePoints[89].X;
double y2 = facePoints[89].Y;
System.Windows.Point rightLip = new System.Windows.Point(x2, y2);
Vector subtr = System.Windows.Point.Subtract(leftLip, rightLip);
// distance between kinect and human
distance = skeleton.Position.Z * 100;
// distance between two corners of lip
double length = Math.Sqrt(subtr.X * subtr.X + subtr.Y * subtr.Y);
int check = 100;
double angle1 = 0d;
double angle2 = 0d;
double angle = skeleton.Position.X * 100;
#region "Smile deterine"
if (distance >= 95 && distance < 110)
{
check = 22;
}
else if (distance >= 110 && distance < 120)
{
check = 19;
}
else if (distance >= 120 && distance < 130)
{
check = 18;
}
else if (distance >= 130 && distance < 140)
{
check = 17;
}
else if (distance >= 140 && distance < 150)
{
check = 16;
}
else if (distance >= 150 && distance < 160)
{
check = 14;
}
else if (distance >= 160 && distance < 170)
{
check = 13;
}
else if (distance >= 170 && distance < 180)
{
check = 12;
}
else if (distance >= 180 && distance < 190)
{
check = 11;
}
#endregion
#region "Angle"
if (distance >= 90 && distance < 110)
{
angle1 = -15;
angle2 = 15;
}
else if (distance >= 110 && distance < 150)
{
angle1 = -20;
angle2 = 20;
}
else if (distance >= 150 && distance < 170)
{
angle1 = -30;
angle2 = 30;
}
else if (distance >= 170 && distance < 200)
{
angle1 = -35;
angle2 = 35;
}
else if (distance >= 200)
{
angle1 = -40;
angle2 = 40;
}
#endregion
double condition1 = Math.Abs(leftHand.Position.Z * 100 - shoulderCenter.Position.Z * 100);
double condition2 = Math.Abs(rightHand.Position.Z * 100 - shoulderCenter.Position.Z * 100);
// If position of two hands higher than shoulder it's activate 'slejenie za ob'ektom'
if (condition1 > 45 &&
condition2 > 45 &&
leftHand.Position.X < rightHand.Position.X)
{
if (!slejenie)
{
isActive = true;
FIXED_DISTANCE = distance;
slejenie = true;
}
}
// The command to stop 'slejenie za ob'ektom'
if (leftHand.Position.X > rightHand.Position.X)
{
isActive = false;
}
// Slejenie za ob'ektom
if (isActive)
{
int pinkIs = (int)typeCondition.THIRD;
int purpleIs = (int)typeCondition.FORTH;
int redIs = (int)typeCondition.FIVTH;
int yellowIs = (int)typeCondition.SIXTH;
if (distance > FIXED_DISTANCE + 10.0d)
{
if (angle < angle1)
{
ellipseSmile.Fill = Brushes.Pink;
if (currentAction != pinkIs)//povorot na pravo
{
currentAction = pinkIs;
serialP.WriteLine("r");
}
}
else if (angle > angle2)//povorot na levo
{
ellipseSmile.Fill = Brushes.Purple;
if (currentAction != purpleIs)
{
currentAction = purpleIs;
serialP.WriteLine("l");
}
}
else
{
ellipseSmile.Fill = Brushes.Red;
if (currentAction != redIs)// vpered
{
currentAction = redIs;
serialP.WriteLine("f");
}
}
}
else if (distance > 90)
{
if (angle < angle1)
{
ellipseSmile.Fill = Brushes.Pink;
if (currentAction != pinkIs)//na pravo
{
currentAction = pinkIs;
serialP.WriteLine("r");
}
}
else if (angle > angle2)
{
ellipseSmile.Fill = Brushes.Purple;
if (currentAction != purpleIs)// na levo
{
currentAction = purpleIs;
serialP.WriteLine("l");
}
}
else
{
ellipseSmile.Fill = Brushes.Yellow;
if (currentAction != yellowIs)//stop, ili - do nothing
{
currentAction = yellowIs;
serialP.WriteLine("s");
}
}
}
else
{
ellipseSmile.Fill = Brushes.Yellow;
if (currentAction != yellowIs)//stop, ili - do nothing
{
currentAction = yellowIs;
serialP.WriteLine("s");
}
}
}
// esli 'slejenie za ob'ektom' otklu4en
else if (!isActive)
{
int blueIs = (int)typeCondition.FIRST;
int blackIs = (int)typeCondition.SECOND;
int onkol = (int)typeCondition.SEVENTH;
if (leftHand.Position.Y > head.Position.Y && rightHand.Position.Y < shoulderCenter.Position.Y)
{
ellipseSmile.Fill = Brushes.Blue;
if (currentAction != blueIs && !activatorLeftHand)//privet levoi rukoi ----------------------------------------------------------------------------
{
currentAction = blueIs;
serialP.WriteLine("q");
activatorLeftHand = true;
}
}
else if (rightHand.Position.Y > head.Position.Y && leftHand.Position.Y < shoulderCenter.Position.Y)
{
ellipseSmile.Fill = Brushes.Blue;
if (currentAction != onkol && activatorRightHand != 12)//privet pravoi rukoi -----------------------------------------------------------------------------
{
currentAction = onkol;
serialP.WriteLine("w");
activatorRightHand = 12;
}
}
else
{
ellipseSmile.Fill = Brushes.Black;
if (currentAction != blackIs)// toktaidy ili do nothing
{
currentAction = blackIs;
serialP.WriteLine("s");
}
if (currentAction == blackIs)
{
if (length >= check && currentFace != (int)faceConditions.FIRST)
{
serialP.WriteLine("z"); // smile
currentFace = (int)faceConditions.FIRST;
ellipseSmile.Fill = Brushes.Brown;
}
else if (length < check && currentFace != (int)faceConditions.SECOND)
{
serialP.WriteLine("x"); // poker face
currentFace = (int)faceConditions.SECOND;
ellipseSmile.Fill = Brushes.Gold;
}
#region "povoroti golovoi"
if (angle < angle1)
{
ellipseSmile.Fill = Brushes.Pink;
if (!headToRight)//povorot golovi na pravo
{
headToRight = true;
headToCenter = false;
headToLeft = false;
serialP.WriteLine("k");
}
}
else if (angle > angle2)//povorot golovi na levo
{
if (!headToLeft)
{
headToLeft = true;
headToCenter = false;
headToRight = false;
serialP.WriteLine("j");
}
}
else if (angle < angle2 && angle > angle1)//golova v centre
{
if (!headToCenter)
{
headToCenter = true;
headToRight = false;
headToLeft = false;
serialP.WriteLine("p");
}
}
#endregion
}
else if (!faceFrame.TrackSuccessful && currentFace != (int)faceConditions.NONE)
{
serialP.WriteLine("c"); // sad face
currentFace = (int)faceConditions.NONE;
ellipseSmile.Fill = Brushes.Chocolate;
}
}
}
label2.Content = distance.ToString();
//label1.Content = (leftHand.Position.Z * 100).ToString();
//label3.Content = (shoulderCenter.Position.Z * 100).ToString();
//serialP.Close();
}
/// <summary>
/// Updates the face tracking information for this skeleton
/// </summary>
///
public void OnFrameReady(KinectSensor kinectSensor, ColorImageFormat colorImageFormat, byte[] colorImage, DepthImageFormat depthImageFormat, short[] depthImage, Skeleton skeletonOfInterest)
{
//No Touchy
this.skeletonTrackingState = skeletonOfInterest.TrackingState;
if (this.skeletonTrackingState != SkeletonTrackingState.Tracked)
{
return;
}
if (faceTracker == null)
{
faceTracker = new FaceTracker(kinectSensor);
}
frame = this.faceTracker.Track(
colorImageFormat, colorImage, depthImageFormat, depthImage, skeletonOfInterest);
this.lastFaceTrackSucceeded = frame.TrackSuccessful;
if (this.lastFaceTrackSucceeded)
{
if (faceTriangles == null)
{
faceTriangles = frame.GetTriangles();
}
this.facePoints = frame.GetProjected3DShape();
//Touchy
//Assign Reference points
this.absfacePoints = frame.Get3DShape();
leftForehead = this.absfacePoints[FeaturePoint.TopLeftForehead];
rightForehead = this.absfacePoints[FeaturePoint.TopRightForehead];
jaw = this.absfacePoints[FeaturePoint.BottomOfChin];
faceRotationX = frame.Rotation.X;
faceRotationY = frame.Rotation.Y;
faceRotationZ = frame.Rotation.Z;
//Calculate Reference Points
foreheadReferencePointX = ((rightForehead.X - leftForehead.X) / 2);
foreheadReferencePointY = ((rightForehead.Y - leftForehead.Y) / 2);
foreheadReferencePointZ = ((rightForehead.Z - leftForehead.Z) / 2);
//Set Animation Units
AUCoeff = frame.GetAnimationUnitCoefficients();
jawLowererAU = AUCoeff[AnimationUnit.JawLower];
lipStretcherAU = AUCoeff[AnimationUnit.LipStretcher];
browRaiserAU = AUCoeff[AnimationUnit.BrowRaiser];
setJawData(jaw.Y, leftForehead.Y, rightForehead.Y, jawLowererAU, lipStretcherAU);
rotations = new float[5];
//set up matlab
matlab = new MLApp.MLApp();
matlab.Execute(@"cd C:\Users\Bala\Documents\MATLAB");
result = null;
//get rotation values
rotations[0] = faceRotationX;
rotations[1] = faceRotationY;
rotations[2] = faceRotationZ;
rotations[3] = jawLowererAU;
rotations[4] = lipStretcherAU;
//Set up GlovePie
OscPacket.LittleEndianByteOrder = false;
IPEndPoint myapp = new IPEndPoint(IPAddress.Loopback, 1944);
IPEndPoint glovepie = new IPEndPoint(IPAddress.Loopback, 1945);
Console.WriteLine(browRaiserAU);
matlab.Feval("nnW", 1, out result, rotations[0]);
object[] resW = result as object[];
nnoutput = (int)((float)resW[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 1;
}
else
{
result = null;
matlab.Feval("nnA", 1, out result, rotations[1]);
object[] resA = result as object[];
nnoutput = (int)((float)resA[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 2;
}
else
{
result = null;
matlab.Feval("nnS", 1, out result, rotations[0]);
object[] resS = result as object[];
nnoutput = (int)((float)resS[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 3;
}
else
{
result = null;
matlab.Feval("nnd", 1, out result, rotations[1]);
object[] resD = result as object[];
nnoutput = (int)((float)resD[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 4;
}
else
{
result = null;
matlab.Feval("nnLC", 1, out result, rotations[2]);
object[] resLC = result as object[];
nnoutput = (int)((float)resLC[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 5;
}
else
{
result = null;
matlab.Feval("nnRC", 1, out result, rotations[2]);
object[] resRC = result as object[];
nnoutput = (int)((float)resRC[0] + 0.5f);
if (nnoutput == 1)
{
commandtoSend = 6;
}
else
{
result = null;
if (jawLowererAU > 0.7)
{
commandtoSend = 7;
}
/*
* matlab.Feval("nnSpace", 1, out result, rotations[3]);
* object[] resSpace = result as object[];
* nnoutput = (int)((float)resSpace[0] + 0.5f);
* if (nnoutput == 1)
* {
* commandtoSend = 7;
* }*/
else
{
result = null;
if (browRaiserAU > 0.4)
{
commandtoSend = 8;
}
else
{
result = null;
commandtoSend = 0;
}
/*result = null;
* matlab.Feval("nnMiddle", 1, out result, lipStretcherAU);
* object[] resMiddle = result as object[];
* nnoutput = (int)((float)resMiddle[0] + 0.5f);
* if (nnoutput == 1)
* {
* commandtoSend = 8;
* }
* else
* {
* result = null;
* commandtoSend = 0;
* }*/
}
}
}
}
}
}
}
//Console.WriteLine("Iteration Complete");
switch (commandtoSend)
{
case 0:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 1:
msg = new OscMessage(myapp, "/move/w", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 2:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 3:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 4:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 5:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 6:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 7:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 10.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 0.0f);
msg.Send(glovepie);
break;
case 8:
msg = new OscMessage(myapp, "/move/w", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/a", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/s", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/d", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/lc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/rc", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/space", 0.0f);
msg.Send(glovepie);
msg = new OscMessage(myapp, "/move/middle", 10.0f);
msg.Send(glovepie);
break;
}
}
}
private void OnAllFramesReady(object sender, Microsoft.Kinect.AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
// Check for image format changes. The FaceTracker doesn't
// deal with that so we need to reset.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
// Get the skeleton information
if (this.SkeletonData == null || this.SkeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.SkeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.SkeletonData);
Skeleton activeSkeleton = null;
activeSkeleton = (from skel in this.SkeletonData where skel.TrackingState == SkeletonTrackingState.Tracked select skel).FirstOrDefault();
//Idea: Separate Eye-Parts of Color Image
//Use learning Algorithm for right and left eye
//Detect blink on separated parts of color Image
//colorImage is one dimensional array with 640 x 480 x 4 (RGBA) values
if (activeSkeleton != null)
{
FaceTrackFrame currentFaceFrame = faceTracker.Track(ColorImageFormat.RgbResolution640x480Fps30, colorImage, depthImageFormat, depthImage, activeSkeleton);
float browRaiserValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowRaiser];
float browLowererValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowLower];
tbBrowLowerer.Text = browLowererValue.ToString();
tbBrowRaiser.Text = browRaiserValue.ToString();
//Get relevant Points for blink detection
//Left eye
int minX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveOneFourthLeftEyelid].X);
int minY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveOneFourthLeftEyelid].Y);
int maxX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.BelowThreeFourthLeftEyelid].X);
int maxY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.BelowThreeFourthLeftEyelid].Y);
Bitmap leftEye = EyeExtract(colorImageFrame, currentFaceFrame, minX, minY, maxX, maxY, false);
pbLeftEye.Image = leftEye;
//Right eye
minX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveThreeFourthRightEyelid].X);
minY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveThreeFourthRightEyelid].Y);
maxX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.OneFourthBottomRightEyelid].X);
maxY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.OneFourthBottomRightEyelid].Y);
Bitmap rightEye = EyeExtract(colorImageFrame, currentFaceFrame, minX, minY, maxX, maxY, true);
pbRightEye.Image = rightEye;
//Wende Kantenfilter auf die beiden Augen an.
double dxRight;
double dyRight;
double dxLeft;
double dyLeft;
if (rightEye != null && leftEye != null)
{
Bitmap edgePicRight = Convolution(ConvertGrey(rightEye), true, out dxRight, out dyRight);
Bitmap edgePicLeft = Convolution(ConvertGrey(leftEye), false, out dxLeft, out dyLeft);
//If Face is rotated, move Mouse
if (headRotationHistory.Count > filterLength && currentFaceFrame.TrackSuccessful)
{
int x = 0;
int y = 0;
//Method 1: Ohne Glättung
//ScaleXY(currentFaceFrame.Rotation, out x, out y);
//MouseControl.Move(x, y);
////Method 2: Glättung über die letzten x Bilder:
//int i = 0;
//Vector3DF rotationMedium = new Vector3DF();
//while (i < 10 && headRotationHistory.Count - 1 > i)
//{
// i++;
// rotationMedium.X += headRotationHistory[headRotationHistory.Count - 1 - i].X;
// rotationMedium.Y += headRotationHistory[headRotationHistory.Count - 1 - i].Y;
//}
//rotationMedium.X = rotationMedium.X / i;
//rotationMedium.Y = rotationMedium.Y / i;
//ScaleXY(rotationMedium, out x, out y);
//MouseControl.Move(x, y);
//Method 3: Gauß-Filter: Gewichte die letzten Bilder stärker.
Vector3DF rotationMedium = new Vector3DF();
rotationMedium.X = currentFaceFrame.Rotation.X * gaussFilter[0];
rotationMedium.Y = currentFaceFrame.Rotation.Y * gaussFilter[0];
int i = 0;
while (i < filterLength - 1)
{
i++;
rotationMedium.X += (headRotationHistory[headRotationHistory.Count - 1 - i].X * gaussFilter[i]);
rotationMedium.Y += (headRotationHistory[headRotationHistory.Count - 1 - i].Y * gaussFilter[i]);
}
rotationMedium.X = (float)(rotationMedium.X / gaussFactor);
rotationMedium.Y = (float)(rotationMedium.Y / gaussFactor);
ScaleXY(rotationMedium, out x, out y);
MouseControl.Move(x, y);
//Method 4: Quadratische Glättung
//double deltaX = ((-currentFaceFrame.Rotation.Y) - (-headRotationHistory.Last().Y));
//double deltaY = ((-currentFaceFrame.Rotation.X) - (-headRotationHistory.Last().X));
//if (deltaX < 0)
// deltaX = -Math.Pow(deltaX, 2) * 4;
//else
// deltaX = Math.Pow(deltaX, 2) * 4;
//if (deltaY < 0)
// deltaY = -Math.Pow(deltaY, 2) * 5;
//else
// deltaY = Math.Pow(deltaY, 2) * 5;
//MouseControl.DeltaMove((int)Math.Round(deltaX, 0), (int)Math.Round(deltaY));
}
headRotationHistory.Add(currentFaceFrame.Rotation);
if (headRotationHistory.Count >= 100)
{
headRotationHistory.RemoveAt(0);
}
}
}
}
catch (Exception e)
{
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}
private void AllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
// Check for changes in any of the data this function is receiving
// and reset things appropriately.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.DestroyFaceTracker();
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.DestroyFaceTracker();
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
this.colorImageWritableBitmap = null;
this.ColorImage.Source = null;
this.theMaterial.Brush = null;
}
if (this.skeletonData != null && this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.skeletonData = null;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
if (this.colorImageWritableBitmap == null)
{
this.colorImageWritableBitmap = new WriteableBitmap(
colorImageFrame.Width, colorImageFrame.Height, 96, 96, PixelFormats.Bgr32, null);
this.ColorImage.Source = this.colorImageWritableBitmap;
this.theMaterial.Brush = new ImageBrush(this.colorImageWritableBitmap)
{
ViewportUnits = BrushMappingMode.Absolute
};
}
if (this.skeletonData == null)
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
// Copy data received in this event to our buffers.
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
this.colorImageWritableBitmap.WritePixels(
new Int32Rect(0, 0, colorImageFrame.Width, colorImageFrame.Height),
this.colorImage,
colorImageFrame.Width * Bgr32BytesPerPixel,
0);
// Find a skeleton to track.
// First see if our old one is good.
// When a skeleton is in PositionOnly tracking state, don't pick a new one
// as it may become fully tracked again.
Skeleton skeletonOfInterest =
this.skeletonData.FirstOrDefault(
skeleton =>
skeleton.TrackingId == this.trackingId &&
skeleton.TrackingState != SkeletonTrackingState.NotTracked);
if (skeletonOfInterest == null)
{
// Old one wasn't around. Find any skeleton that is being tracked and use it.
skeletonOfInterest =
this.skeletonData.FirstOrDefault(
skeleton => skeleton.TrackingState == SkeletonTrackingState.Tracked);
if (skeletonOfInterest != null)
{
// This may be a different person so reset the tracker which
// could have tuned itself to the previous person.
if (this.faceTracker != null)
{
this.faceTracker.ResetTracking();
}
this.trackingId = skeletonOfInterest.TrackingId;
}
}
bool displayFaceMesh = false;
if (skeletonOfInterest != null && skeletonOfInterest.TrackingState == SkeletonTrackingState.Tracked)
{
if (this.faceTracker == null)
{
try
{
this.faceTracker = new FaceTracker(this.Kinect);
}
catch (InvalidOperationException)
{
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
Debug.WriteLine("AllFramesReady - creating a new FaceTracker threw an InvalidOperationException");
this.faceTracker = null;
}
}
if (this.faceTracker != null)
{
FaceTrackFrame faceTrackFrame = this.faceTracker.Track(
this.colorImageFormat,
this.colorImage,
this.depthImageFormat,
this.depthImage,
skeletonOfInterest);
if (faceTrackFrame.TrackSuccessful)
{
this.UpdateMesh(faceTrackFrame);
// Only display the face mesh if there was a successful track.
displayFaceMesh = true;
}
}
}
else
{
this.trackingId = -1;
}
this.viewport3d.Visibility = displayFaceMesh ? Visibility.Visible : Visibility.Hidden;
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}
/// <summary>
/// Updates the face tracking information for this skeleton
/// </summary>
internal void OnFrameReady(KinectSensor kinectSensor, ColorImageFormat colorImageFormat, byte[] colorImage, DepthImageFormat depthImageFormat, short[] depthImage, Skeleton skeletonOfInterest)
{
this.skeletonTrackingState = skeletonOfInterest.TrackingState;
if (this.skeletonTrackingState != SkeletonTrackingState.Tracked)
{
// nothing to do with an untracked skeleton.
return;
}
if (this.faceTracker == null)
{
try
{
this.faceTracker = new FaceTracker(kinectSensor);
}
catch (InvalidOperationException)
{
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
Debug.WriteLine("AllFramesReady - creating a new FaceTracker threw an InvalidOperationException");
this.faceTracker = null;
}
}
if (this.faceTracker != null)
{
FaceTrackFrame frame = this.faceTracker.Track(
colorImageFormat, colorImage, depthImageFormat, depthImage, skeletonOfInterest);
this.lastFaceTrackSucceeded = frame.TrackSuccessful;
if (this.lastFaceTrackSucceeded)
{
if (faceTriangles == null)
{
// only need to get this once. It doesn't change.
faceTriangles = frame.GetTriangles();
}
this.facePoints3DRaw = frame.Get3DShape();
this.facePoints = frame.GetProjected3DShape();
animationUnitsRaw = frame.GetAnimationUnitCoefficients();
}
x = frame.Rotation.X;
y = frame.Rotation.Y;
z = frame.Rotation.Z;
facePointS3D = this.facePoints3DRaw;
animationUnits = animationUnitsRaw;
//Debug.WriteLine(animationUnits[AnimationUnit.JawLower]);
//Debug.WriteLine(animationUnits[AnimationUnit.BrowLower]);
//Debug.WriteLine(animationUnits[AnimationUnit.BrowRaiser]);
//Debug.WriteLine(animationUnits[AnimationUnit.JawLower]);
//Debug.WriteLine(animationUnits[AnimationUnit.LipCornerDepressor]);
//Debug.WriteLine(animationUnits[AnimationUnit.LipRaiser]);
//Debug.WriteLine(animationUnits[AnimationUnit.LipStretcher]);
//Debug.WriteLine(frame.Translation.ToString());
//Debug.WriteLine(frame.Rotation.ToString());
//this.facePoints[FeaturePoint.AboveChin].X+2;
//Debug.WriteLine(frame.Translation.X.ToString());
//Debug.WriteLine(frame.Translation.Y.ToString());
//Debug.WriteLine(frame.Translation.Z.ToString());
}
}
private bool CheckFace(KinectSensor kinectSensor, ColorImageFormat colorImageFormat, byte[] colorImage, DepthImageFormat depthImageFormat, short[] depthImage, Skeleton skeletonOfInterest)
{
this.skeletonTrackingState = skeletonOfInterest.TrackingState;
if (this.skeletonTrackingState != SkeletonTrackingState.Tracked)
{
// nothing to do with an untracked skeleton.
return(false);
}
if (this.faceTracker == null)
{
try
{
this.faceTracker = new FaceTracker(kinectSensor);
}
catch (InvalidOperationException)
{
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
Debug.WriteLine("AllFramesReady - creating a new FaceTracker threw an InvalidOperationException");
this.faceTracker = null;
}
}
if (this.faceTracker != null)
{
FaceTrackFrame frame = this.faceTracker.Track(
colorImageFormat, colorImage, depthImageFormat, depthImage, skeletonOfInterest);
this.lastFaceTrackSucceeded = frame.TrackSuccessful;
if (this.lastFaceTrackSucceeded)
{
if (faceTriangles == null)
{
// only need to get this once. It doesn't change.
faceTriangles = frame.GetTriangles();
}
//getting the Animation Unit Coefficients
this.AUs = frame.GetAnimationUnitCoefficients();
var jawLowerer = AUs[AnimationUnit.JawLower];
var browLower = AUs[AnimationUnit.BrowLower];
var browRaiser = AUs[AnimationUnit.BrowRaiser];
var lipDepressor = AUs[AnimationUnit.LipCornerDepressor];
var lipRaiser = AUs[AnimationUnit.LipRaiser];
var lipStretcher = AUs[AnimationUnit.LipStretcher];
//set up file for output
using (System.IO.StreamWriter file = new System.IO.StreamWriter
(@"C:\Users\Public\data.txt"))
{
file.WriteLine("FaceTrack Data, started recording at " + DateTime.Now.ToString("HH:mm:ss tt"));
}
//here is the algorithm to test different facial features
//BrowLower is messed up if you wear glasses, works if you don't wear 'em
string state = "";
//surprised
if ((jawLowerer < 0.25 || jawLowerer > 0.25) && browLower < 0)
{
state = "surprised";
}
//smiling
if (lipStretcher > 0.4 || lipDepressor < 0)
{
state = "smiling";
}
//sad
if (browRaiser < 0 && lipDepressor > 0)
{
state = "sad";
}
//angry
if ((browLower > 0 && (jawLowerer > 0.25 || jawLowerer < -0.25)) ||
(browLower > 0 && lipDepressor > 0))
{
state = "angry";
}
//System.Diagnostics.Debug.WriteLine(browLower);
this.facePoints = frame.GetProjected3DShape();
if (states[currentState] == state)
{
Trace.WriteLine("Yo!");
return(true);
}
}
}
return(false);
}
/// <summary>
/// Updates the face tracking information for this skeleton
/// </summary>
internal void OnFrameReady(KinectSensor kinectSensor, ColorImageFormat colorImageFormat, byte[] colorImage, DepthImageFormat depthImageFormat, short[] depthImage, Skeleton skeletonOfInterest)
{
this.skeletonTrackingState = skeletonOfInterest.TrackingState;
if (this.skeletonTrackingState != SkeletonTrackingState.Tracked)
{
// if the current skeleton is not tracked, track it now
//kinectSensor.SkeletonStream.ChooseSkeletons(skeletonOfInterest.TrackingId);
}
if (this.faceTracker == null)
{
try
{
this.faceTracker = new FaceTracker(kinectSensor);
}
catch (InvalidOperationException)
{
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
Debug.WriteLine("AllFramesReady - creating a new FaceTracker threw an InvalidOperationException");
this.faceTracker = null;
}
}
if (this.faceTracker != null)
{
// hack to make this face tracking detect the face even when it is not actually tracked
// <!>need to confirm if it works
//skeletonOfInterest.TrackingState = SkeletonTrackingState.Tracked;
FaceTrackFrame frame = this.faceTracker.Track(
colorImageFormat, colorImage, depthImageFormat, depthImage, skeletonOfInterest);
//new Microsoft.Kinect.Toolkit.FaceTracking.Rect(skeletonOfInterest.Position.));
this.lastFaceTrackSucceeded = frame.TrackSuccessful;
if (this.lastFaceTrackSucceeded)
{
if (faceTriangles == null)
{
// only need to get this once. It doesn't change.
faceTriangles = frame.GetTriangles();
}
if (faceTag == null)
{
// here call the face detection
faceTag = new FaceRecognizer().getFaceTag(this.colorImageBmp);
if (faceTag != null)
{
Global.StatusBarText.Text = "Found " + faceTag + "!";
if (Global.trackedPeople.ContainsKey(skeletonOfInterest))
{
Global.trackedPeople[skeletonOfInterest] = faceTag;
}
else
{
Global.trackedPeople.Add(skeletonOfInterest, faceTag);
}
}
}
this.facePoints = frame.GetProjected3DShape();
this.faceRect = frame.FaceRect;
}
}
}
private void OnAllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
File.AppendAllText("mouseLog.txt", DateTime.Now + " - All Kinect frames ready.\n");
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Color- depth or Skeletonframe is null. Aborting Frame.\n");
return;
}
// Check for image format changes. The FaceTracker doesn't
// deal with that so we need to reset.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
// Get the skeleton information
if (this.SkeletonData == null || this.SkeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.SkeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.SkeletonData);
Skeleton activeSkeleton = null;
activeSkeleton = (from skel in this.SkeletonData where skel.TrackingState == SkeletonTrackingState.Tracked select skel).FirstOrDefault();
//Idea: Separate Eye-Parts of Color Image
//Use learning Algorithm for right and left eye
//Detect blink on separated parts of color Image
//colorImage is one dimensional array with 640 x 480 x 4 (RGBA) values
if (activeSkeleton != null)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Skeleton is there. Trying to find face.\n");
FaceTrackFrame currentFaceFrame = faceTracker.Track(ColorImageFormat.RgbResolution640x480Fps30, colorImage, depthImageFormat, depthImage, activeSkeleton);
if (currentFaceFrame.TrackSuccessful)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Recognized face successfully.\n");
}
else
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Couldn't find face in frame.\n");
}
//Get relevant Points for blink detection
//Left eye
int minX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveOneFourthLeftEyelid].X);
int minY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveOneFourthLeftEyelid].Y);
int maxX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.BelowThreeFourthLeftEyelid].X);
int maxY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.BelowThreeFourthLeftEyelid].Y);
Bitmap leftEye = EyeExtract(colorImageFrame, currentFaceFrame, minX, minY, maxX, maxY, false);
//this.pbRight.BeginInvoke((MethodInvoker)(() => this.pbRight.Image = leftEye));
//
//Right eye
minX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveThreeFourthRightEyelid].X);
minY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.AboveThreeFourthRightEyelid].Y);
maxX = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.OneFourthBottomRightEyelid].X);
maxY = (int)Math.Round(currentFaceFrame.GetProjected3DShape()[FeaturePoint.OneFourthBottomRightEyelid].Y);
Bitmap rightEye = EyeExtract(colorImageFrame, currentFaceFrame, minX, minY, maxX, maxY, true);
Bitmap leftEye2 = null;
Bitmap rightEye2 = null;
if (leftEye != null)
{
leftEye2 = new Bitmap(leftEye);
}
if (rightEye != null)
{
rightEye2 = new Bitmap(rightEye);
}
// System.Delegate d = new MethodInvoker(SetPictures));
// this.Invoke(SetPictures, leftEye);
//pbRight.Image = rightEye;
this.pbLeft.BeginInvoke((MethodInvoker)(() => this.pbLeft.Image = rightEye2));
this.pbLeft.BeginInvoke((MethodInvoker)(() => this.pbRight.Image = leftEye2));
// this.Invoke(new MethodInvoker(SetPictures));
//Wende Kantenfilter auf die beiden Augen an.
if (rightEye != null && leftEye != null)
{
Dictionary <string, int> angleCount;
Bitmap edgePicRight = Convolution(ConvertGrey(rightEye), true, out angleCount);
bool rightEyeClosed = IsEyeClosed(angleCount);
Bitmap edgePicLeft = Convolution(ConvertGrey(leftEye), false, out angleCount);
bool leftEyeClosed = IsEyeClosed(angleCount);
// pbLeftFaltung.Image = edgePicLeft;
// pbRightFaltung.Image = edgePicRight;
if (rightEyeClosedHistory.Count > 100)
{
rightEyeClosedHistory.RemoveAt(0);
}
if (leftEyeClosedHistory.Count > 100)
{
leftEyeClosedHistory.RemoveAt(0);
}
leftEyeClosedHistory.Add(leftEyeClosed);
rightEyeClosedHistory.Add(rightEyeClosed);
//If Face is rotated, move Mouse
if (headRotationHistory.Count > gaussFilter.Count - 1 && leftEyeClosedHistory.Count > nudConvolutionFilterLength.Value && currentFaceFrame.TrackSuccessful)
{
int x = 0;
int y = 0;
float browRaiserValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowRaiser];
float browLowererValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.BrowLower];
float mouthOpenValue = currentFaceFrame.GetAnimationUnitCoefficients()[AnimationUnit.JawLower];
if (browRaiserHistory.Count >= 100)
{
browRaiserHistory.RemoveAt(0);
browLowererHistory.RemoveAt(0);
mouthOpenHistory.RemoveAt(0);
}
browLowererHistory.Add(browLowererValue);
browRaiserHistory.Add(browRaiserValue);
mouthOpenHistory.Add(mouthOpenValue);
//Method 1: Ohne Glättung
//ScaleXY(currentFaceFrame.Rotation, out x, out y);
//MouseControl.Move(x, y);
////Method 2: Glättung über die letzten x Bilder:
//int i = 0;
//Vector3DF rotationMedium = new Vector3DF();
//while (i < 10 && headRotationHistory.Count - 1 > i)
//{
// i++;
// rotationMedium.X += headRotationHistory[headRotationHistory.Count - 1 - i].X;
// rotationMedium.Y += headRotationHistory[headRotationHistory.Count - 1 - i].Y;
//}
//rotationMedium.X = rotationMedium.X / i;
//rotationMedium.Y = rotationMedium.Y / i;
//ScaleXY(rotationMedium, out x, out y);
//MouseControl.Move(x, y);
//Method 3: Gauß-Filter: Gewichte die letzten Bilder stärker.
Vector3DF rotationMedium = new Vector3DF();
rotationMedium.X = currentFaceFrame.Rotation.X * gaussFilter[0];
rotationMedium.Y = currentFaceFrame.Rotation.Y * gaussFilter[0];
int i = 0;
while (i < gaussFilter.Count - 1)
{
rotationMedium.X += (headRotationHistory[headRotationHistory.Count - 1 - i].X * gaussFilter[i]);
rotationMedium.Y += (headRotationHistory[headRotationHistory.Count - 1 - i].Y * gaussFilter[i]);
i++;
}
rotationMedium.X = (float)(rotationMedium.X / gaussFactor);
rotationMedium.Y = (float)(rotationMedium.Y / gaussFactor);
ScaleXY(rotationMedium, out x, out y);
//Method 4: Quadratische Glättung
//double deltaX = ((-currentFaceFrame.Rotation.Y) - (-headRotationHistory.Last().Y));
//double deltaY = ((-currentFaceFrame.Rotation.X) - (-headRotationHistory.Last().X));
//if (deltaX < 0)
// deltaX = -Math.Pow(deltaX, 2) * 4;
//else
// deltaX = Math.Pow(deltaX, 2) * 4;
//if (deltaY < 0)
// deltaY = -Math.Pow(deltaY, 2) * 5;
//else
// deltaY = Math.Pow(deltaY, 2) * 5;
//MouseControl.DeltaMove((int)Math.Round(deltaX, 0), (int)Math.Round(deltaY));
//Check for right, left or Double Click
//1. Check if there was already a click 20 Frames ago, or if Drag & Drop is active
if (clickDelay > nudClickDelay.Value && !pointNClickActive)
{
//2. If not, calculate mean values of dy's last 16 Frames
if (CalculateMeanConvolutionValues())
{
clickDelay = 0;
}
else
{
//Else check for open Mouth
if (mouthOpenValue > (float)nudMouthOpenStartThreshold.Value && mouthOpenHistory[mouthOpenHistory.Count - 2] > (float)nudMouthOpenConfirmation.Value && mouthOpenHistory[mouthOpenHistory.Count - 3] > (float)nudMouthOpenConfirmation.Value && mouthOpenHistory[mouthOpenHistory.Count - 4] > (float)nudMouthOpenConfirmation.Value)
{
MouseControl.Move(mousePositionHistory[mousePositionHistory.Count - 4].X, mousePositionHistory[mousePositionHistory.Count - 4].Y);
this.lbAction.Invoke((MethodInvoker)(() => this.lbAction.Items.Add("Left Mouse Down on X: " + mousePositionHistory[mousePositionHistory.Count - 4].X + " Y: " + mousePositionHistory[mousePositionHistory.Count - 4].Y)));
//lbAction.Items.Add("Left Mouse Down on X: " + mousePositionHistory[mousePositionHistory.Count - 4].X + " Y: " + mousePositionHistory[mousePositionHistory.Count - 4].Y);
MouseControl.MouseDownLeft();
pointNClickActive = true;
clickDelay = 0;
}
}
}
else if (pointNClickActive)
{
if (mouthOpenValue < (float)nudMouthOpenEndThreshold.Value)
{
this.lbAction.Invoke((MethodInvoker)(() => this.lbAction.Items.Add("Left Mouse Up on X: " + x + " Y: " + y)));
MouseControl.MouseUpLeft();
pointNClickActive = false;
clickDelay = 0;
}
}
MouseControl.Move(x, y);
if (browLowererValue > (float)nudBrowLowererStartThreshold.Value)
{
MouseControl.ScrollDown((int)(-browLowererValue * (int)nudScrollMultiplierDown.Value));
}
if (browRaiserValue > (float)nudBrowRaiserStartThreshold.Value)
{
MouseControl.ScrollDown((int)(browRaiserValue * (int)nudScrollMultiplierUp.Value));
}
if (mousePositionHistory.Count > 100)
{
mousePositionHistory.RemoveAt(0);
}
mousePositionHistory.Add(new Microsoft.Kinect.Toolkit.FaceTracking.Point(x, y));
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Face and eyes successfully tracked.\n");
}
}
else
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Face recognized but couldn't find eye in face.\n");
}
clickDelay++;
headRotationHistory.Add(currentFaceFrame.Rotation);
if (headRotationHistory.Count >= 100)
{
headRotationHistory.RemoveAt(0);
}
}
else
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Active Skeleton is null. Couldn't analyze frame.\n");
}
}
catch (Exception e)
{
File.AppendAllText("mouseLog.txt", DateTime.Now + " - Error during frame analyzation.\n" + e.ToString());
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}