ângulo de articulações do corpo usando kinect (verificar o intervalo de tempo)
Como você pode ver na imagem (o link é dado abaixo), quando a mão esquerda é levantada, mostra um ângulo que eu queria. Uma pessoa deve segurar seu braço por 5s (na posição mostrada em uma imagem) e se a pessoa mudar sua posição de braço (ou seja, se o ângulo estiver abaixo de 70 ou acima de 80) dentro de 5 segundos alguma mensagem deve ser exibida para colocar o braço de volta na mesma posição e reinicia o temporizador!
http://postimage.org/image/hpfl41nzp/
Arquivo Mainwindow.xaml
<Window x:Class="shoulder_joint.MainWindow"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
Title="MainWindow" Height="511" Width="525" Loaded="Window_Loaded"
Closing="Window_Closing" >
<Grid Height="479" Width="510">
<Grid.ColumnDefinitions>
<ColumnDefinition Width="Auto" />
<ColumnDefinition Width="6*" />
<ColumnDefinition Width="497*" />
</Grid.ColumnDefinitions>
<Image Height="479" HorizontalAlignment="Left" Name="frame_image" Stretch="Fill"
VerticalAlignment="Top" Width="503" Grid.Column="1" Grid.ColumnSpan="2" />
<Image Height="131" Margin="14,14,319,0" Name="Color_image" Stretch="Fill"
VerticalAlignment="Top" Grid.Column="2" />
</Grid>
</Window>
Janela principal.xaml.cs
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using Microsoft.Xna.Framework;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using Microsoft.Kinect;
namespace shoulder_joint
{
/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public partial class MainWindow : Window
{
bool flag = false;
angle angle1 = new angle();
Draw_joint draw = new Draw_joint();
int joint_thick =10;
private readonly Brush detect_brush = Brushes.GreenYellow;
private readonly Brush inferred_brush = Brushes.Indigo;
private readonly Pen detect_pen = new Pen( Brushes.Black,6);
private readonly Pen inferred_pen = new Pen (Brushes.DarkOliveGreen,2);
KinectSensor sensor;
Skeleton[] skelton;
int width =491;
int height =470;
DrawingGroup drawing_group;
DrawingImage draw_image;
byte[] color_pixel;
WriteableBitmap bitmap;
public MainWindow()
{
InitializeComponent();
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
foreach (var potential_sensor in KinectSensor.KinectSensors)
{
if (potential_sensor.Status == KinectStatus.Connected)
{
sensor = potential_sensor;
break;
}
}
sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
sensor.SkeletonStream.Enable();
color_pixel = new byte [sensor.ColorStream.FramePixelDataLength];
bitmap = new WriteableBitmap(sensor.ColorStream.FrameWidth,
sensor.ColorStream.FrameHeight,96,96,PixelFormats.Bgr32,null);
Color_image.Source = bitmap;
drawing_group = new DrawingGroup();
draw_image = new DrawingImage(drawing_group);
frame_image.Source = draw_image;
sensor.SkeletonFrameReady += SensorSkeltonFrameReady;
sensor.ColorFrameReady += SensorColorFrameReady;
sensor.Start();
}
private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
if (sensor != null)
{
sensor.Stop();
}
}
private void SensorColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
{
ColorImageFrame color_frame;
using (color_frame = e.OpenColorImageFrame())
{
if (color_frame != null)
{
color_frame.CopyPixelDataTo(color_pixel);
bitmap.WritePixels(new Int32Rect(0,
0,bitmap.PixelWidth,bitmap.PixelHeight),
this.color_pixel,
this.bitmap.PixelWidth* sizeof(int),
0);
}
}
}
private void SensorSkeltonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
SkeletonFrame skelton_frame;
using (skelton_frame = e.OpenSkeletonFrame())
{
if (skelton_frame != null)
{
skelton = new Skeleton[skelton_frame.SkeletonArrayLength];
skelton_frame.CopySkeletonDataTo(skelton);
using (DrawingContext dc = drawing_group.Open())
{
dc.DrawRectangle(Brushes.Gray, null, new Rect(0, 0, width,
height));
if (skelton != null)
{
foreach (Skeleton skel in skelton)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.find_pos_joints(skel, dc);
// this.angle_between(dc);
}
}
}
drawing_group.ClipGeometry = new RectangleGeometry(new
Rect(0,0,width,height));
}
}
}
}
private void find_pos_joints(Skeleton sk, DrawingContext draw_contex)
{
draw.Draw_joint1(sk, draw_contex, JointType.ShoulderCenter,
JointType.ShoulderRight,
JointType.ElbowRight,JointType.WristRight,
JointType.ShoulderLeft,JointType.ElbowLeft,JointType.WristLeft,
JointType.Head,JointType.HipCenter,JointType.HipLeft,
JointType.KneeLeft,JointType.AnkleLeft,
detect_brush,inferred_brush,joint_thick,inferred_pen,detect_pen,sensor);
angle1.angle_between_right_shoulder(sk,
draw_contex,JointType.Head,JointType.Spine ,JointType.ShoulderCenter,
JointType.ShoulderRight,JointType.ElbowRight,sensor);
angle1.angle_between_left_shoulder(sk, draw_contex, JointType.ShoulderCenter,
JointType.ShoulderLeft, JointType.ElbowLeft, sensor);
angle1.angle_between_left_leg(sk,
draw_contex,JointType.HipLeft,JointType.KneeLeft,JointType.AnkleLeft,sensor);
}
}
}
Desenhar aula conjunta
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using Microsoft.Kinect;
using System.Windows.Media;
namespace shoulder_joint
{
class Draw_joint
{
angle angle1 = new angle();
public void Draw_joint1(Skeleton sk1, DrawingContext dc1, JointType joint1,
JointType joint2,
JointType joint3, JointType joint4, JointType joint5, JointType joint6,
JointType joint7,
JointType joint8 ,JointType joint9,JointType joint100,JointType joint101,
JointType joint102
,Brush det_brush,
Brush infer_brush,int thick, Pen det_pen,Pen infer_pen,KinectSensor sensor)
{
Joint joint11 = sk1.Joints[joint1];
Joint joint22 = sk1.Joints[joint2];
Joint joint33 = sk1.Joints[joint3];
Joint joint44 = sk1.Joints[joint4];
Joint joint55 = sk1.Joints[joint5];
Joint joint66 = sk1.Joints[joint6];
Joint joint77 = sk1.Joints[joint7];
Joint joint88 = sk1.Joints[joint8];
Joint joint99 = sk1.Joints[joint9];
Joint joint10 = sk1.Joints[joint100];
Joint joint1011 = sk1.Joints[joint101];
Joint joint1022 = sk1.Joints[joint102];
if (joint11.TrackingState == JointTrackingState.Tracked &&
joint22.TrackingState == JointTrackingState.Tracked &&
joint33.TrackingState == JointTrackingState.Tracked &&
joint44.TrackingState == JointTrackingState.Tracked &&
joint55.TrackingState == JointTrackingState.Tracked &&
joint66.TrackingState == JointTrackingState.Tracked &&
joint77.TrackingState == JointTrackingState.Tracked &&
joint88.TrackingState == JointTrackingState.Tracked &&
joint99.TrackingState == JointTrackingState.Tracked &&
joint10.TrackingState == JointTrackingState.Tracked &&
joint1011.TrackingState == JointTrackingState.Tracked &&
joint1022.TrackingState == JointTrackingState.Tracked
)
{
dc1.DrawEllipse(det_brush, det_pen, angle1.point_toScreen(joint11.Position,
sensor), thick, thick);
dc1.DrawEllipse(det_brush, det_pen, angle1.point_toScreen(joint22.Position,
sensor), thick, thick);
dc1.DrawEllipse(det_brush, det_pen, angle1.point_toScreen(joint33.Position,
sensor), thick, thick);
dc1.DrawEllipse(det_brush, det_pen, angle1.point_toScreen(joint44.Position,
sensor), thick, thick);
dc1.DrawEllipse(det_brush, det_pen, angle1.point_toScreen(joint55.Position,
sensor), thick, thick);
dc1.DrawEllipse(det_brush, det_pen, angle1.point_toScreen(joint66.Position,
sensor), thick, thick);
dc1.DrawEllipse(det_brush, det_pen, angle1.point_toScreen(joint77.Position,
sensor), thick, thick);
dc1.DrawEllipse(det_brush, det_pen, angle1.point_toScreen(joint88.Position,
sensor), thick, thick);
dc1.DrawEllipse(det_brush, det_pen, angle1.point_toScreen(joint99.Position,
sensor), thick, thick);
dc1.DrawEllipse(det_brush, det_pen, angle1.point_toScreen(joint10.Position,
sensor), thick, thick);
dc1.DrawEllipse(det_brush, det_pen,
angle1.point_toScreen(joint1011.Position, sensor), thick, thick);
dc1.DrawEllipse(det_brush, det_pen,
angle1.point_toScreen(joint1022.Position, sensor), thick, thick);
dc1.DrawLine(infer_pen, angle1.point_toScreen(joint11.Position, sensor),
angle1.point_toScreen(joint22.Position, sensor));
dc1.DrawLine(infer_pen, angle1.point_toScreen(joint11.Position, sensor),
angle1.point_toScreen(joint88.Position, sensor));
dc1.DrawLine(infer_pen, angle1.point_toScreen(joint11.Position, sensor),
angle1.point_toScreen(joint99.Position, sensor));
dc1.DrawLine(infer_pen, angle1.point_toScreen(joint22.Position, sensor),
angle1.point_toScreen(joint33.Position, sensor));
dc1.DrawLine(infer_pen, angle1.point_toScreen(joint33.Position, sensor),
angle1.point_toScreen(joint44.Position, sensor));
dc1.DrawLine(infer_pen, angle1.point_toScreen(joint11.Position, sensor),
angle1.point_toScreen(joint55.Position, sensor));
dc1.DrawLine(infer_pen, angle1.point_toScreen(joint55.Position, sensor),
angle1.point_toScreen(joint66.Position, sensor));
dc1.DrawLine(infer_pen, angle1.point_toScreen(joint66.Position, sensor),
angle1.point_toScreen(joint77.Position, sensor));
dc1.DrawLine(infer_pen, angle1.point_toScreen(joint99.Position, sensor),
angle1.point_toScreen(joint10.Position, sensor));
dc1.DrawLine(infer_pen, angle1.point_toScreen(joint10.Position, sensor),
angle1.point_toScreen(joint1011.Position, sensor));
dc1.DrawLine(infer_pen, angle1.point_toScreen(joint1011.Position, sensor),
angle1.point_toScreen(joint1022.Position, sensor));
}
}
}
}
classe angle.cs
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using Microsoft.Kinect;
using System.Windows.Media;
using Microsoft.Xna.Framework;
using System.Windows;
namespace shoulder_joint
{
class angle
{
public void angle_between_left_shoulder(Skeleton sk1, DrawingContext draw,
JointType Shoulder_cntre,
JointType Shoulder_left, JointType Elbow_left, KinectSensor sen)
{
Joint sh_cntr = sk1.Joints[Shoulder_cntre];
Joint sh_left = sk1.Joints[Shoulder_left];
Joint elb_left = sk1.Joints[Elbow_left];
Vector3 v_shoulder = new Vector3(sh_cntr.Position.X, sh_cntr.Position.Y,
sh_cntr.Position.Z);
Vector3 v_should_l = new Vector3(sh_left.Position.X, sh_left.Position.Y,
sh_left.Position.Z);
Vector3 v_elbow_l = new Vector3(elb_left.Position.X, elb_left.Position.Y,
elb_left.Position.Z);
Vector3 va = v_shoulder - v_should_l;
Vector3 vb = v_elbow_l - v_should_l;
va = Vector3.Normalize(va);
vb = Vector3.Normalize(vb);
float len_prod = va.Length() * va.Length();
float dot_pro = Vector3.Dot(va, vb);
double angle = Math.Acos(dot_pro);
angle = angle * 180 / Math.PI;
angle = 180 - angle;
System.Windows.Point shoul_l = this.point_toScreen(sh_left.Position, sen);
draw.DrawText(new FormattedText(angle.ToString("0"), new
System.Globalization.CultureInfo("en-us"),
FlowDirection.LeftToRight,
new Typeface("Verdana"), 16, Brushes.WhiteSmoke),
new System.Windows.Point(shoul_l.X+10, shoul_l.Y +20));
}
public void angle_between_right_shoulder(Skeleton sk1, DrawingContext draw,
JointType head, JointType spine,
JointType Shoulder_cntre, JointType Shoulder_right, JointType
Elbow_right,KinectSensor sen)
{
Joint sh_cntr = sk1.Joints[Shoulder_cntre];
Joint sh_right = sk1.Joints[Shoulder_right];
Joint elb_right = sk1.Joints[Elbow_right];
Vector3 v_shoulder = new Vector3(sh_cntr.Position.X, sh_cntr.Position.Y,
sh_cntr.Position.Z);
Vector3 v_should_r = new Vector3(sh_right.Position.X, sh_right.Position.Y,
sh_right.Position.Z);
Vector3 v_elbow_r = new Vector3(elb_right.Position.X, elb_right.Position.Y,
elb_right.Position.Z);
Vector3 newv1 =v_shoulder - v_should_r ;
Vector3 newv2 = v_elbow_r - v_should_r;
newv1 = Vector3.Normalize(newv1);
newv2 = Vector3.Normalize(newv2);
float len_prod = newv1.Length() * newv2.Length();
float dot_pro = Vector3.Dot(newv1, newv2);
double angle = Math.Acos(dot_pro);
angle = angle * 180 / Math.PI;
angle = 180 - angle;
System.Windows.Point shoul_r = this.point_toScreen(sh_right.Position, sen);
draw.DrawText(new FormattedText(angle.ToString("0"), new
System.Globalization.CultureInfo("en-us"),
FlowDirection.LeftToRight,
new Typeface("Verdana"), 16, Brushes.WhiteSmoke),
new System.Windows.Point(shoul_r.X-15, shoul_r.Y+20));
}
public System.Windows.Point point_toScreen(SkeletonPoint point,KinectSensor sensor)
{
DepthImagePoint depth_point = sensor.MapSkeletonPointToDepth(point,
DepthImageFormat.Resolution640x480Fps30);
return new System.Windows.Point(depth_point.X, depth_point.Y);
}
public void angle_between_left_leg(Skeleton sk, DrawingContext draw_contex,
JointType hip_l, JointType knee_l,
JointType ankle_l,KinectSensor sen)
{
Joint Hl = sk.Joints[hip_l];
Joint kl = sk.Joints[knee_l];
Joint Al = sk.Joints[ankle_l];
Vector3 hip_left = new Vector3(Hl.Position.X,Hl.Position.Y,Hl.Position.Z);
Vector3 knee_left = new Vector3(kl.Position.X, kl.Position.Y, kl.Position.Z);
Vector3 ankle_left = new Vector3(Al.Position.X, Al.Position.Y, Al.Position.Z);
Vector3 va = hip_left - knee_left;
Vector3 vb = ankle_left - knee_left;
float len_prod = va.Length() * vb.Length();
float dot_pro = Vector3.Dot(va, vb);
double angle = Math.Acos(dot_pro/len_prod);
angle = angle * 180 / Math.PI;
angle = 180 - angle;
System.Windows.Point shoul_r = this.point_toScreen(kl.Position, sen);
draw_contex.DrawText(new FormattedText(angle.ToString("0"), new
System.Globalization.CultureInfo("en-us"),
FlowDirection.LeftToRight,
new Typeface("Verdana"), 16, Brushes.WhiteSmoke),
new System.Windows.Point(shoul_r.X - 15, shoul_r.Y + 20));
}
}
}