Kinect 开发 —— WaveHand

基本注释都写了，就不废话了

<Window x:Class="KinectBasicHandTrackingFrameworkTest.MainWindow"
        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
         Title="MainWindow" Height="600" Width="800" xmlns:my="clr-namespace:KinectBasicHandTrackingFramework;assembly=KinectBasicHandTrackingFramework">
    <Grid Background="#CCFFFF">
        <!--自定义控件-->
        <my:KinectButton Content="Kinect Button" Height="130" Width="130"  HorizontalAlignment="Left" Margin="576,51,0,0" Name="kinectButton1" VerticalAlignment="Top" Click="Button_Click" Background="Red" KinectCursorLeave="Button_KinectCursorLeave" />
        <my:HoverButton Content="Hover Button" Height="130" Width="130" HorizontalAlignment="Left" Margin="576,227,0,0"  Name="hoverButton1" VerticalAlignment="Top" Click="Button_Click" Background="Red" KinectCursorLeave="Button_KinectCursorLeave"/>
        <my:MagnetButton Content="Magnet Button" Height="130" Width="130" HorizontalAlignment="Left" Margin="576,395,0,0" Name="magnetButton1" VerticalAlignment="Top" Click="Button_Click" Background="Red" KinectCursorLeave="Button_KinectCursorLeave" />
        <ListBox Height="306" HorizontalAlignment="Left" Margin="46,51,0,0" Name="listBox1" VerticalAlignment="Top" Width="296" />
    </Grid>
</Window>

---

namespace KinectBasicHandTrackingFrameworkTest
{
    /// <summary>
    /// Interaction logic for MainWindow.xaml
    /// </summary>
    public partial class MainWindow : Window
    {
        private KinectSensor _kinectDevice;
        private Skeleton[] _FrameSkeletons;
        private WaveGesture _WaveGesture;   // 此应用程序只能识别这一个手势，有待添加

        public MainWindow()
        {
            InitializeComponent();
            this._WaveGesture = new WaveGesture();
            this._WaveGesture.GestureDetected += new EventHandler(_WaveGesture_GestureDetected);    // 绑定事件，可以检测wave动作
            this._kinectDevice = KinectSensor.KinectSensors.FirstOrDefault(x => x.Status == KinectStatus.Connected);
            this._kinectDevice.SkeletonFrameReady += KinectDevice_SkeletonFrameReady;
        }

        private void Button_Click(object sender, RoutedEventArgs e)
        {
            var button = sender as KinectButton;    // 重写点击方法
            button.Background = new SolidColorBrush(Colors.Green);
        }

        private void Button_KinectCursorLeave(object sender, KinectCursorEventArgs e)
        {
            var button = sender as KinectButton;
            button.Background = new SolidColorBrush(Colors.Red);
        }


        private void KinectDevice_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
        {
            using (SkeletonFrame frame = e.OpenSkeletonFrame())
            {
                if (frame != null)
                {
                    this._FrameSkeletons = new Skeleton[_kinectDevice.SkeletonStream.FrameSkeletonArrayLength];
                    frame.CopySkeletonDataTo(this._FrameSkeletons);

                    DateTime startMarker = DateTime.Now;    // 时间戳
                    this._WaveGesture.Update(this._FrameSkeletons, frame.Timestamp);
                }
            }
        }

        private void _WaveGesture_GestureDetected(object sender, EventArgs e)
        {
            listBox1.Items.Add(string.Format("Wave Detected {0}", DateTime.Now.ToLongTimeString()));

        }
    }
}

---

namespace KinectBasicHandTrackingFrameworkTest
{
    public class WaveGesture
    {
        #region Member Variables
        private const float WAVE_THRESHOLD = 0.1f;
        private const int WAVE_MOVEMENT_TIMEOUT = 5000;
        private const int LEFT_HAND = 0;
        private const int RIGHT_HAND = 1;
        private const int REQUIRED_ITERATIONS = 4;


        private WaveGestureTracker[,] _PlayerWaveTracker = new WaveGestureTracker[6, 2];

        public event EventHandler GestureDetected;  // 表示将处理不包含事件数据的事件的方法
        #endregion Member Variables


        #region Methods
        public void Update(Skeleton[] skeletons, long frameTimestamp)
        {
            if (skeletons != null)
            {
                Skeleton skeleton;

                for (int i = 0; i < skeletons.Length; i++)
                {
                    skeleton = skeletons[i];

                    if (skeleton.TrackingState != SkeletonTrackingState.NotTracked)
                    {
                        TrackWave(skeleton, true, ref this._PlayerWaveTracker[i, LEFT_HAND], frameTimestamp);   // 六个人分别检测左右手是否挥动
                        TrackWave(skeleton, false, ref this._PlayerWaveTracker[i, RIGHT_HAND], frameTimestamp);
                    }
                    else
                    {
                        this._PlayerWaveTracker[i, LEFT_HAND].Reset();
                        this._PlayerWaveTracker[i, RIGHT_HAND].Reset();
                    }
                }
            }
        }


        private void TrackWave(Skeleton skeleton, bool isLeft, ref WaveGestureTracker tracker, long timestamp)
        {
            JointType handJointId = (isLeft) ? JointType.HandLeft : JointType.HandRight;
            JointType elbowJointId = (isLeft) ? JointType.ElbowLeft : JointType.ElbowRight;
            Joint hand = skeleton.Joints[handJointId];
            Joint elbow = skeleton.Joints[elbowJointId];


            if (hand.TrackingState != JointTrackingState.NotTracked && elbow.TrackingState != JointTrackingState.NotTracked)
            {
                if (tracker.State == WaveGestureState.InProgress && tracker.Timestamp + WAVE_MOVEMENT_TIMEOUT < timestamp)  // 超过规定时间仍未完成
                {
                    tracker.UpdateState(WaveGestureState.Failure, timestamp);
                    System.Diagnostics.Debug.WriteLine("Fail!");
                }
                else if (hand.Position.Y > elbow.Position.Y)
                {
                    //Using the raw values where (0, 0) is the middle of the screen.  From the user's perspective, the X-Axis grows more negative left and more positive right.
                    // 右手坐标系，Z轴射出，Y轴向上，X轴向左，坐标系的单位为米
                    if (hand.Position.X <= elbow.Position.X - WAVE_THRESHOLD)
                    {
                        tracker.UpdatePosition(WavePosition.Left, timestamp);
                    }
                    else if (hand.Position.X >= elbow.Position.X + WAVE_THRESHOLD)
                    {
                        tracker.UpdatePosition(WavePosition.Right, timestamp);
                    }
                    else
                    {
                        tracker.UpdatePosition(WavePosition.Neutral, timestamp);
                    }


                    if (tracker.State != WaveGestureState.Success && tracker.IterationCount == REQUIRED_ITERATIONS)
                    {
                        tracker.UpdateState(WaveGestureState.Success, timestamp);   // 重置
                        System.Diagnostics.Debug.WriteLine("Success!");

                        if (GestureDetected != null)
                        {
                            GestureDetected(this, new EventArgs());
                        }
                    }
                }
                else
                {
                    if (tracker.State == WaveGestureState.InProgress)
                    {
                        tracker.UpdateState(WaveGestureState.Failure, timestamp);
                        System.Diagnostics.Debug.WriteLine("Fail!");
                    }
                    else
                    {
                        tracker.Reset();
                    }
                }
            }
            else
            {
                    // 关节点未成功跟踪，重置
                tracker.Reset();
            }
        }
        #endregion Methods


        #region Helper Objects
        private enum WavePosition
        {
            None = 0,
            Left = 1,
            Right = 2,
            Neutral = 3
        }


        private enum WaveGestureState
        {
            None = 0,
            Success = 1,
            Failure = 2,
            InProgress = 3
        }


        private struct WaveGestureTracker
        {
            public int IterationCount;
            public WaveGestureState State;
            public long Timestamp;
            public WavePosition StartPosition;
            public WavePosition CurrentPosition;


            public void UpdateState(WaveGestureState state, long timestamp)
            {
                State = state;
                Timestamp = timestamp;
            }


            public void Reset()
            {
                IterationCount = 0;
                State = WaveGestureState.None;
                Timestamp = 0;
                StartPosition = WavePosition.None;
                CurrentPosition = WavePosition.None;
            }


            public void UpdatePosition(WavePosition position, long timestamp)
            {
                if (CurrentPosition != position)
                {
                    if (position == WavePosition.Left || position == WavePosition.Right)
                    {
                        if (State != WaveGestureState.InProgress)
                        {   // 若向左或向右但不是处理状态（None ，Success ，Failure） ，则重置
                            State = WaveGestureState.InProgress;
                            IterationCount = 0;
                            StartPosition = position;
                        }

                        IterationCount++;   // 挥手过程中状态改变，迭代数++
                    }

                    CurrentPosition = position; // 状态重置
                    Timestamp = timestamp;
                }
            }
        }
        #endregion Helper Objects
    }
}