// Get xyz physical coordinates
private BallCoords XYZLocation(DepthFrame depthFrame, int xavg, int yavg)
{
BallCoords ballLocn = new BallCoords();
if (depthFrame == null)
{
return(ballLocn);
}
using (KinectBuffer depthFrameData = depthFrame.LockImageBuffer())
{
CameraSpacePoint[] camSpacePoints = new CameraSpacePoint[1920 * 1080];
this.coordinateMapper.MapColorFrameToCameraSpaceUsingIntPtr(depthFrameData.UnderlyingBuffer, depthFrameData.Size, camSpacePoints);
List <float> xvals = new List <float>();
List <float> yvals = new List <float>();
List <float> zvals = new List <float>();
int Vcount = 0;
// Find ball in camera space
for (int i = -40; i < 40; i++)
{
for (int j = -40; j < 40; j++)
{
if (yavg + i > tableLevel)
{
int tempIndex = (yavg + i) * 1920 + xavg + j;
if (camSpacePoints[tempIndex].Z > GlobalClass.minZ && camSpacePoints[tempIndex].Z < 3.6)
{
xvals.Add(camSpacePoints[tempIndex].X);
yvals.Add(camSpacePoints[tempIndex].Y);
zvals.Add(camSpacePoints[tempIndex].Z);
Vcount++;
}
}
}
}
if (Vcount > 0)
{
ballLocn.X = FindMedian(xvals);
ballLocn.Y = FindMedian(yvals);
ballLocn.Z = FindMedian(zvals);
ballLocn.Time = DateTime.Now;
}
else
{
ballLocn.X = 0;
ballLocn.Y = 0;
ballLocn.Z = 0;
}
return(ballLocn);
}
}
// Calculate ball speed in m/s
private double BallSpeed(BallCoords currLocn, BallCoords prevLocn)
{
double deltat = currLocn.Time.Subtract(prevLocn.Time).TotalSeconds;
if (currLocn.X != 0 && currLocn.Y != 0 && prevLocn.X != 0 && prevLocn.Y != 0 && deltat > 0.025 && deltat < 0.07)
{
double deltax = currLocn.X - prevLocn.X;
double deltay = currLocn.Y - prevLocn.Y;
double distance = Math.Sqrt(deltax * deltax + deltay * deltay);
SpeedData[SpeedIndex] = currLocn.X + " " + prevLocn.X + " " + currLocn.Y + " " + prevLocn.Y + " " + distance + " " + deltat;
SpeedIndex++;
return(distance / deltat);
}
else
{
return(0);
}
}
// Color frame analysis With ball action analysis
private void Frame_Arrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
bool changeDir = false;
if (scoreDelay != DateTime.MinValue)
{
if ((float)DateTime.Now.Subtract(this.scoreDelay).TotalSeconds < 2)
{
pause = true;
}
else
{
scoreDelay = DateTime.MinValue;
pause = false;
}
}
if (!gameOver && !pause)
{
MultiSourceFrame multiSourceFrame = e.FrameReference.AcquireFrame();
if (inVolley)
{
// If too much time passes without bounce/return, someone missed
if (this.hitTime != DateTime.MinValue)
{
if ((float)DateTime.Now.Subtract(this.hitTime).TotalSeconds > 1.5)
{
if (this.Direction == "Left" && bounce1)
{
Score("P2", "Time Limit - no return");
}
else if (this.Direction == "Left")
{
Score("P1", "Time Limit - no bounce");
}
else if (this.Direction == "Right" && bounce1)
{
Score("P1", "Time Limit - no return");
}
else
{
Score("P2", "Time Limit - no bounce");
}
}
}
// Get Ball xy coordinates
DataPoint BallLocation = FindBall(multiSourceFrame);
int xavg = (int)BallLocation.X;
int yavg = (int)BallLocation.Y;
// Check if location seems reasonable, set xavg to 1 (default no ball found value) if not
if (AllData.Count > 0)
{
if (!ReasonableLocation(BallLocation))
{
xavg = 1;
}
}
// If good data point, analyze it
if (xavg > 1)
{
// Get ball xyz coordinates
using (DepthFrame depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame())
{
CurrentXYZ = XYZLocation(depthFrame, xavg, yavg);
}
// Off (or rather under) table
if (yavg < tableLevel - 100)
{
if (bounce1)
{
if (this.Direction == "Left")
{
Score("P2", "Below Table - no return");
}
else
{
Score("P1", "Below Table - no return");
}
}
else if (served)
{
if (this.Direction == "Left")
{
Score("P1", "Below Table - no bounce");
}
else
{
Score("P2", "Below Table - no bounce");
}
}
else
{
ServeIsBad();
}
}
// Determine direction and do game processing
float xdelta = 0;
float ydelta = 0;
if (AllData.Count > 0)
{
xdelta = AllData[AllData.Count - 1].X - xavg;
ydelta = AllData[AllData.Count - 1].Y - yavg;
}
if (served)
{
// Horizontal direction determination and direction change detection
if (xdelta > 10)
{
if (this.Direction == "Right")
{
ChangeDirection(ydelta);
changeDir = true;
}
this.Direction = "Left";
PossibleNet = false;
}
else if (xdelta < -10)
{
if (this.Direction == "Left")
{
ChangeDirection(ydelta);
changeDir = true;
}
this.Direction = "Right";
PossibleNet = false;
}
// Check for possible hitting net - two frames at net means a score
else if (xavg - netLocation < 20 && xavg - netLocation > 0 && Direction == "Left")
{
if (PossibleNet)
{
Score("P1", "Hit Net");
}
else
{
PossibleNet = true;
}
}
else if (xavg - netLocation > -20 && xavg - netLocation < 0 && Direction == "Right")
{
if (PossibleNet)
{
Score("P2", "Hit Net");
}
else
{
PossibleNet = true;
}
}
// Vertical direction and bounce detection
if (ydelta > 5)
{
this.VertDir = "Down";
PossibleBounce = false;
}
else if (ydelta < -5)
{
if (this.VertDir == "Down" && !changeDir && yavg - tableLevel < 100) // Log possible bounce
{
PossibleBounce = true;
this.hitTime = DateTime.Now;
this.tempBounce = new DataPoint(xavg, yavg, 0, 0);
}
else if (PossibleBounce) // if no direction change one frame later, possible bounce is a bounce
{
if (!changeDir)
{
// Handle bounce processing
if (PreviousXYZ.X != 0 && PreviousXYZ.Y != 0 && PreviousXYZ.Z != 0 && PreviousXYZ.Z > GlobalClass.minZ && this.serveBounce)
{
HitLocation bounceXYZ = new HitLocation();
bounceXYZ.X = PreviousXYZ.X;
bounceXYZ.Y = PreviousXYZ.Y;
bounceXYZ.Z = PreviousXYZ.Z;
bounceXYZ.Volley = VolleyNumber;
this.Bounces.Add(bounceXYZ);
}
Bounce(new DataPoint(tempBounce.X, tempBounce.Y, 0, (float)(DateTime.Now.Subtract(this.timeStarted).TotalSeconds)));
}
PossibleBounce = false;
}
this.VertDir = "Up";
}
else if (PossibleBounce)
{
PossibleBounce = false;
}
else if (ydelta <= 0)
{
if (this.VertDir == "Down" && !changeDir && yavg - tableLevel < 100) // Log possible bounce
{
PossibleBounce = true;
this.hitTime = DateTime.Now;
this.tempBounce = new DataPoint(xavg, yavg, 0, 0);
}
}
}
else if (inVolley) // if not served yet, check for serve hit
{
// check for low, shallow bounce serve
int xStartDelta = 0;
if (Server == "P1")
{
xStartDelta = xavg - (int)startLocation.X;
}
else
{
xStartDelta = (int)startLocation.X - xavg;
}
if (xStartDelta > 50)
{
served = true;
VolleyStartTime = DateTime.Now;
if (ydelta > 10)
{
VertDir = "Down";
}
else if (yavg - tableLevel < 50)
{
VertDir = "Up";
serveBounce = true;
}
if (xdelta > 0)
{
this.Direction = "Left";
}
else
{
this.Direction = "Right";
}
}
// Serve defined as moving in x and negative y (slower serve, easy bounce detection)
else if ((xdelta > 10 || xdelta < 10) && ydelta > 10 && xStartDelta > 50)
{
this.served = true;
VolleyStartTime = DateTime.Now;
this.VertDir = "Down";
if (xdelta > 0)
{
this.Direction = "Left";
}
else
{
this.Direction = "Right";
}
}
}
// Add current location to points list
this.AllData.Add(new DataPoint(xavg, yavg, 0, (float)(DateTime.Now.Subtract(this.timeStarted).TotalSeconds)));
double currentSpeed = 0;
// Check ball speed
if (PreviousXYZ != null)
{
currentSpeed = BallSpeed(CurrentXYZ, PreviousXYZ);
}
if (currentSpeed > maxSpeed)
{
maxSpeed = currentSpeed;
}
PreviousXYZ = CurrentXYZ;
}
}
else // Check for ball in start position to start volley
{
// Get Ball xy coordinates
DataPoint BallLocation = FindBall(multiSourceFrame);
int xavg = (int)BallLocation.X;
int yavg = (int)BallLocation.Y;
CheckStartPosition(xavg, yavg);
}
}
}