1 using System;

     2 using System.Collections.Generic;

     3 using System.Linq;

     4 using System.Text;

     5 using Microsoft.Kinect;

     6 using System.Drawing;

     7 

     8 namespace Trakers.Tracking.Gestures

     9 {

    10     public class GestureDetector

    11     {

    12         //Historique des positions du squelette.

    13         protected List<List<Joint>> history = new List<List<Joint>>();

    14         //protected JointCollection previousSkeleton;

    15 

    16         //Voici les ID des noeuds d'un squelette.

    17         protected int hipCenterID = 0, spineID = 1, shoulderCenterID = 2, headID = 3;

    18         protected int shoulderLeftID = 4, elbowLeftID = 5, wristLeftID = 6, handLeftID = 7;

    19         protected int shoulderRightID = 8, elbowRightID = 9, wristRightID = 10, handRightID = 11;

    20         protected int hipLeftID = 12, kneeLeftID = 13, ankleLeftID = 14, footLeftID = 15;

    21         protected int hipRightID = 16, kneeRightID = 17, ankleRightID = 18, footRightID = 19;

    22 

    23         //Elements nécessaires à la reconnaissance du geste :

    24         //Distance du parcours du geste (va dépendre de la distance de l'utilisateur).

    25         protected float refDistance;

    26         //Position de départ pour le geste.

    27         protected SkeletonPoint startPoint;

    28         //Estimation du temps que prend la gesture (en s).

    29         protected float gesturePeriod = 1;

    30         //Estimation du nombre d'indexes par seconde (framerate).

    31         protected int indexesPerSecond = 30;

    32         //Estimation du nombre de positions du squelette à vérifier dans l'historique.

    33         protected int indexesToCheck;// = gesturePeriod * indexesPerSecond;

    34 

    35         public GestureDetector()

    36         {

    37             

    38         }

    39 

    40         //Setters.

    41         public void setRefDistance(float _refDistance)

    42         {

    43             refDistance = _refDistance;

    44         }

    45         public void setStartPoint(SkeletonPoint _startPoint)

    46         {

    47             startPoint = _startPoint;

    48         }

    49         public void setGesturePeriod(float _gesturePeriod)

    50         {

    51             gesturePeriod = _gesturePeriod;

    52         }

    53         public void setIndexesPerSecond(int _indexesPerSecond)

    54         {

    55             indexesPerSecond = _indexesPerSecond;

    56         }

    57         public void setIndexesToCheck(int _indexesToCheck)

    58         {

    59             indexesToCheck = _indexesToCheck;

    60         }

    61 

    62         //Getters.

    63         public float getRefDistance()

    64         {

    65             return refDistance;

    66         }

    67         public SkeletonPoint getStartPoint()

    68         {

    69             return startPoint;

    70         }

    71         public float getGesturePeriod()

    72         {

    73             return gesturePeriod;

    74         }

    75         public int getIndexesPerSecond()

    76         {

    77             return indexesPerSecond;

    78         }

    79         public int getIndexesToCheck()

    80         {

    81             return indexesToCheck;

    82         } 

    83 

    84         //Stocke les gestes du skelette pour ~3 seconds (si on prend en compte que le framerate de la Kinect

    85         //est de ~30 fps.

    86         public void UpdateSkeletonHistory(List<Joint> latestSkeleton)

    87         {

    88             /*if (previousSkeleton == null)

    89                 previousSkeleton = latestSkeleton;

    90             else if (previousSkeleton != latestSkeleton)

    91             {*/

    92                 history.Add(latestSkeleton);

    93                 /*if (history.Count > 3)

    94                 {

    95                     System.Console.WriteLine(history[0][0].Position.X + " " + history[1][0].Position.X + " " + history[2][0].Position.X);

    96                 }*/

    97                 if (history.Count > 90)

    98                 {

    99                     history.RemoveAt(0);

   100                 }

   101             //}

   102         }

   103 

   104         /*public bool CheckForHandWave()

   105         {

   106             //Crée un historique de squelette local, puisque l'historique est mis à jour toutes les ~1/30 s.

   107             List<Skeleton> history = new List<Skeleton>(history);

   108             //Si il n'y a pas assez de positions dans l'historique local pour vérifier le geste.

   109             if (history.Count < indexesToCheck)

   110                 return false;

   111 

   112             float refDistance = Math.Abs(history[0].Joints.ElementAt(spineID).Position.Y - history[0].Joints.ElementAt(hipCenterID).Position.Y);

   113             float startPos = history[history.Count - indexesToCheck].Joints.ElementAt(handRightID).Position.X;

   114             bool movedRight = false;

   115             for (int i = history.Count - indexesToCheck + 1; i < history.Count; i++)

   116             {

   117                 // Throughout the gesture period, right hand should be above theelbow, below the head and hand should be higher than the wrist

   118                 if (!(history[i].Joints[JointID.HandRight].Position.Y > history[i].Joints[JointID.ElbowRight].Position.Y + refDistance &&

   119                 history[i].Joints[JointID.HandRight].Position.Y < history[i].Joints[JointID.Head].Position.Y &&

   120                 history[i].Joints[JointID.HandRight].Position.Y > history[i].Joints[JointID.WristRight].Position.Y + refDistance / 4))

   121                 {

   122                     return false;

   123                 }

   124                 // If the previous condition was met, check if the hand has moved to the right

   125                 if (history[i].Joints[JointID.HandRight].Position.X >= startPos + refDistance / 2 && !movedRight)

   126                 {

   127                     movedRight = true;

   128                 }

   129                 // If the hand did move to the right, check if it returned near the original position

   130                 if (movedRight && history[i].Joints[JointID.HandRight].Position.X <= startPos + refDistance / 5)

   131                 {

   132                     skeletonHistory.Clear();

   133                     return true;

   134                 }

   135             }

   136                 return false;

   137         }*/

   138     }

   139 }