Kinect 1.8 体感开发，手势，姿态（Pose） 捕捉判断方法以及一些辅方法

/// <summary>
/// 根据人体各种姿态的生理数据判断姿态
/// 通过关节之间角度，关节之间的相关位置判断姿态
/// </summary>
/// <param name="sk">骨架数据</param>
private void ProcessPosePerForming2(Skeleton sk)
{
string mess = "";
//T型姿态
//double angelLeft = GetJointAngle(sk.Joints[JointType.ElbowLeft],sk.Joints[JointType.ShoulderLeft]);
//double angelRight = GetJointAngle(sk.Joints[JointType.ElbowRight],sk.Joints[JointType.ShoulderRight]);
#region 获取数据
double angelLeft = GetJointAngle(sk.Joints[JointType.ShoulderLeft], sk.Joints[JointType.ElbowLeft], sk.Joints[JointType.WristLeft]);
double angelRight = GetJointAngle(sk.Joints[JointType.ShoulderRight], sk.Joints[JointType.ElbowRight], sk.Joints[JointType.WristRight]);

//胸关节空间位置
Vector4 shoulderCenter = GetJointVector4(sk.Joints[JointType.ShoulderCenter]);
Vector4 handLeft = GetJointVector4(sk.Joints[JointType.HandLeft]);
Vector4 handRight = GetJointVector4(sk.Joints[JointType.HandRight]);
Vector4 spine = GetJointVector4(sk.Joints[JointType.Spine]);

double leftCentZ = Math.Round((shoulderCenter.Z - handLeft.Z), 2);
double rightCenterZ = Math.Round((shoulderCenter.Z - handRight.Z), 2);

double leftAndRightX = Math.Round(Math.Abs((handRight.X - handLeft.X)), 2);
double leftAndRightY = Math.Round(Math.Abs((handRight.Y - handLeft.Y)), 2);

#endregion

#region 姿势判断
//T型姿势
if (leftAndRightX >= 750 && leftAndRightY <= 10 && isOK == false)
{
mess = "T型姿势";
KinectTimer.Start();
isKinectControl = true;
(minWindow.FindName("gridMainMenu") as Grid).Visibility = Visibility.Collapsed;
(minWindow.FindName("gridPose") as Grid).Visibility = Visibility.Visible;
(minWindow.FindName("gridTuch") as Grid).Visibility = Visibility.Collapsed;
if ((this.minWindow as MainMenu).mainWindow != null)
{
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
}

}
else
//左手举起，右手放下
if (leftAndRightY > 200 && handLeft.Y < handRight.Y && isOK)
{
mess = "左手举起，右手放下";
(minWindow.FindName("gridMainMenu") as Grid).Visibility = Visibility.Collapsed;
(minWindow.FindName("gridPose") as Grid).Visibility = Visibility.Collapsed;
(minWindow.FindName("gridTuch") as Grid).Visibility = Visibility.Visible;
}
else
//右手举起，左手放下
if (leftAndRightY > 200 && handLeft.Y > handRight.Y && isOK)
{
mess = "右手举起，左手放下";

}
else
//双手交叉
if ((handRight.X - handLeft.X) < 0 && handLeft.Y < 150 && handRight.Y < 150 && isOK) //handLeft.Y<spine.Y&&handRight.Y<spine.Y
{
mess = "双手交叉";
KinectTimer.Stop();
isKinectControl = false;
(minWindow.FindName("gridMainMenu") as Grid).Visibility = Visibility.Visible;
(minWindow.FindName("gridPose") as Grid).Visibility = Visibility.Collapsed;
(minWindow.FindName("gridTuch") as Grid).Visibility = Visibility.Collapsed;
if ((this.minWindow as MainMenu).mainWindow != null)
{
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,GUI_FUNC_225_鼠标左键按下");
}

}
else
//双手高举
if ((angelRight >= 350 && angelRight <= 380) && (angelLeft >= 350 && angelLeft <= 380))
{
mess = "双手高举";
}
#endregion

#region 测试用例
(minWindow.FindName("leftX") as TextBlock).Text = "左手X：" + handLeft.X;
(minWindow.FindName("leftY") as TextBlock).Text = "左手Y：" + handLeft.Y;
(minWindow.FindName("leftZ") as TextBlock).Text = "左手Z：" + handLeft.Z;

(minWindow.FindName("rightX") as TextBlock).Text = "右手X：" + handRight.X;
(minWindow.FindName("rightY") as TextBlock).Text = "右手Y：" + handRight.Y;
(minWindow.FindName("rightZ") as TextBlock).Text = "右手Z：" + handRight.Z;

(minWindow.FindName("centerX") as TextBlock).Text = "中心X：" + shoulderCenter.X;
(minWindow.FindName("centerY") as TextBlock).Text = "中心Y：" + shoulderCenter.Y;
(minWindow.FindName("centerZ") as TextBlock).Text = "中心Z：" + shoulderCenter.Z;
//(minWindow.FindName("leftAndCenter") as TextBlock).Text = "（脊椎Y-左手Y）=：(" + spine.Y + "-" + handLeft.Y + ")=" + Math.Round((spine.Y - handLeft.Y), 2);
//(minWindow.FindName("rightAndCenter") as TextBlock).Text = "(脊椎Y-右手Y)=：(" + spine.Y + "-" + handRight.Y + ")=" + Math.Round((spine.Y - handRight.Y), 2);
//(minWindow.FindName("leftAndCenter") as TextBlock).Text = "（中心Z-左手Z）=：(" + shoulderCenter.Z + "-" + handLeft.Z + ")=" + Math.Round((shoulderCenter.Z - handLeft.Z), 2);
//(minWindow.FindName("rightAndCenter") as TextBlock).Text = "(右手Z-中心Z)=：(" + shoulderCenter.Z + "-" + handRight.Z + ")=" + Math.Round((shoulderCenter.Z - handRight.Z), 2);
//(minWindow.FindName("rightAndRightX") as TextBlock).Text = "(左手X-右手X)=：(" + handRight.X + "-" + handLeft.X + ")=" + Math.Round((handRight.X - handLeft.X), 2);//Math.Round(Math.Abs((handRight.X - handLeft.X)), 2);
//(minWindow.FindName("rightAndLeftY") as TextBlock).Text = "(左手Y-右手Y)绝对值=：(" + handRight.Y + "-" + handLeft.Y + ")=" + Math.Round(Math.Abs((handRight.Y - handLeft.Y)), 2);

//(minWindow.FindName("leftCenterY") as TextBlock).Text = "（中心Y-左手Y）绝对值=：(" + shoulderCenter.Y + "-" + handLeft.Y + ")=" + Math.Abs(Math.Round((shoulderCenter.Y - handLeft.Y), 2));
//(minWindow.FindName("rightCenterY") as TextBlock).Text = "（中心Y-右手Y）绝对值=：(" + shoulderCenter.Y + "-" + handLeft.Y + ")=" + Math.Abs(Math.Round((shoulderCenter.Y - handLeft.Y), 2));

(minWindow.FindName("els") as Ellipse).Width = Math.Abs((handRight.X - handLeft.X));
(minWindow.FindName("els") as Ellipse).Height = Math.Abs((handRight.Y - handLeft.Y));
(minWindow.FindName("mess") as TextBlock).Text = mess;
#endregion

#region 判断姿势执行函数
string function = "";
bool isSheck = true;
if (handRight2 == null)
{

handRight2 = handRight;

}

#region 计算平滑度
double maxX;
double maxY;
(minWindow.FindName("rightAndCenter") as TextBlock).Text = "(右手X1-是右手X2)=：(" + handRight.X+ "-" + handRight2.X + ")=" + Math.Abs((handRight.X - handRight2.X));
(minWindow.FindName("rightAndLeftY") as TextBlock).Text = "(左手Y1-右手Y2)绝对值=：(" + handRight.Y + "-" + handRight2.Y + ")=" + Math.Abs((handRight.Y - handRight2.Y));

maxX = Math.Abs((handRight.X - handRight2.X));
maxY = Math.Abs((handRight.Y - handRight2.Y));

if (maxX > 3 || maxY>3)
{
isSheck = false;
(minWindow.FindName("leftCenterY") as TextBlock).Text = "滑动了";
}
else
{
(minWindow.FindName("leftCenterY") as TextBlock).Text = "抖动";
isSheck = true;
}

#endregion

//左手控制
if (isKinectControl && leftCentZ > 0.4 && rightCenterZ < 0.4)
{
double movX = MoveX - handLeft.X;
double movY = MoveY - handLeft.Y;
if ((this.minWindow as MainMenu).mainWindow != null)
{
if (movX < 0)//向右
{
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("相机移动控制, 0, 3");
}
else if (movX > 0)//向左
{
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("相机移动控制, 0, 4");
}
if (movY > 0)//向上
{
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("相机移动控制, 0, 1");

}
else if (movY < 0)//向下
{
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("相机移动控制, 0, 2");
}
}

function = "右手控制地图移动X方向：" + handRight.X + "右手控制地图移动Y方向:" + handRight.Y;
MoveY = handLeft.Y;
MoveX = handLeft.X;
function = "左手控制地图移动X方向：" + handLeft.X + "左手控制地图移动Y方向:" + handLeft.Y;
}
//右手控制
if (isKinectControl && leftCentZ < 0.4 && rightCenterZ > 0.4 && !isSheck)
{
(minWindow.FindName("moveX") as TextBlock).Text = "手移动X" + MoveX + "-" + handRight.X + "=" + (MoveX - handRight.X).ToString();
(minWindow.FindName("moveY") as TextBlock).Text = "手移动Y" + MoveY + "-" + handRight.Y + "=" + (MoveY - handRight.Y).ToString();
double movX = MoveX - handRight.X;
double movY = MoveY - handRight.Y;
if ((this.minWindow as MainMenu).mainWindow != null)
{
if (movX < 0)//向右
{
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("相机移动控制, 0, 3");
}
else if (movX > 0)//向左
{
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("相机移动控制, 0, 4");
}
if (movY > 0)//向上
{
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("相机移动控制, 0, 1");

}
else if (movY < 0)//向下
{
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("相机移动控制, 0, 2");
}
}

function = "右手控制地图移动X方向：" + handRight.X + "右手控制地图移动Y方向:" + handRight.Y;
MoveY = handRight.Y;
MoveX = handRight.X;
}
if (isKinectControl && leftCentZ < 0 && rightCenterZ < 0)
{
function = "地图复位";
}
//地图缩放
if (isKinectControl && leftCentZ < 0 && rightCenterZ > 0)
{
function = "地图缩放右手控制：" + rightCenterZ;
}
if (isKinectControl && leftCentZ > 0 && rightCenterZ < 0)
{
function = "地图缩放左手控制：" + rightCenterZ;
}
//双手X放大
if (isKinectControl && leftCentZ > 0 && leftCentZ < 0.3 && rightCenterZ > 0 && rightCenterZ < 0.3 && leftAndRightX > 300 && !isSheck)
{
if ((this.minWindow as MainMenu).mainWindow != null)
{
if (MoveX - leftAndRightX > 0)//缩小
{
string fun1 = "设置相机只能水平移动, 0";
string fun2 = "相机移动控制, 0, 2";
// (this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun1);
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun2);

}
if (MoveX - leftAndRightX < 0)//放大
{
string fun1 = "设置相机只能水平移动, 0";
string fun2 = "相机移动控制, 0, 1";
//  (this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun1);
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun2);
}
}

(minWindow.FindName("moveX") as TextBlock).Text = "双手放大X" + MoveX + "-" + leftAndRightX + "=" + (MoveX - leftAndRightX).ToString();

MoveX = leftAndRightX;
}
//双手Y放大
if (isKinectControl && leftCentZ > 0 && leftCentZ < 0.3 && rightCenterZ > 0 && rightCenterZ < 0.3 && leftAndRightY > 100 && !isSheck)
{
function = "地图放大双手控制Y：" + leftAndRightX;
if ((this.minWindow as MainMenu).mainWindow != null)
{
if (MoveY - leftAndRightY > 0)// 缩小
{
string fun1 = "设置相机只能水平移动, 0";
string fun2 = "相机移动控制, 0, 2";
//   (this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun1);
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun2);
}
if (MoveY - leftAndRightY < 0)//放大
{
string fun1 = "设置相机只能水平移动, 0";
string fun2 = "相机移动控制, 0, 1";
// (this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun1);
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun2);
}
}
(minWindow.FindName("moveY") as TextBlock).Text = "双手缩放Y" + MoveY + "-" + leftAndRightY + "=" + (MoveY - leftAndRightY).ToString();
MoveY = leftAndRightY;
}
//双手放大
if (isKinectControl && leftCentZ > 0.4 && rightCenterZ > 0.4 && leftAndRightY > 80 && !isSheck)
{
if ((this.minWindow as MainMenu).mainWindow != null)
{
string fun1 = "设置相机只能水平移动, 0";
string fun2 = "相机移动控制, 0, 1";
// (this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun1);
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun2);
}
function = "地图缩小控制X：" + leftAndRightY;
}
//双缩小
if (isKinectControl && leftCentZ > 0.4 && rightCenterZ > 0.4 && leftAndRightX > 600)
{
if ((this.minWindow as MainMenu).mainWindow != null)
{
string fun1 = "设置相机只能水平移动, 0";
string fun2 = "相机移动控制, 0, 2";
//   (this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript("执行内部函数,funReset");
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun1);
(this.minWindow as MainMenu).mainWindow.VRPControl.ExecuteVrpScript(fun2);
}
}
(minWindow.FindName("ctiveInfo") as TextBlock).Text = function;
#endregion

handRight2 = handRight;

}
/// <summary>
/// 绘画人体当前骨架
/// </summary>
/// <param name="skeleton">骨架数据</param>
/// <param name="brush">画笔</param>
private void DrawSkeleton(Skeleton skeleton, Brush brush)
{
Grid SkeletonsPanel = (minWindow.FindName("SkeletonsPanel") as Grid);
SkeletonsPanel.Children.Clear();
if (skeleton != null && skeleton.TrackingState == SkeletonTrackingState.Tracked)
{
//绘制头部和躯干部
Polyline figure = CreateFigure(skeleton, brush, new[] { JointType.Head, JointType.ShoulderCenter, JointType.ShoulderLeft, JointType.Spine,
JointType.ShoulderRight, JointType.ShoulderCenter, JointType.HipCenter,
JointType.HipLeft, JointType.Spine, JointType.HipRight, JointType.HipCenter});
SkeletonsPanel.Children.Add(figure);
//绘画左脚
figure = CreateFigure(skeleton, brush, new[] { JointType.HipLeft, JointType.KneeLeft, JointType.AnkleLeft, JointType.FootLeft });
SkeletonsPanel.Children.Add(figure);

//画右脚
figure = CreateFigure(skeleton, brush, new[] { JointType.HipRight, JointType.KneeRight, JointType.AnkleRight, JointType.FootRight });
SkeletonsPanel.Children.Add(figure);

//h画左臂
figure = CreateFigure(skeleton, brush, new[] { JointType.ShoulderLeft, JointType.ElbowLeft, JointType.WristLeft, JointType.HandLeft });
SkeletonsPanel.Children.Add(figure);

//画右臂
figure = CreateFigure(skeleton, brush, new[] { JointType.ShoulderRight, JointType.ElbowRight, JointType.WristRight, JointType.HandRight });
SkeletonsPanel.Children.Add(figure);
}
}
/// <summary>
/// 根据人体骨架绘制多线段
/// </summary>
/// <param name="skeleton">骨架数据</param>
/// <param name="brush">画笔</param>
/// <param name="joints">关节</param>
/// <returns>多线段</returns>
private Polyline CreateFigure(Skeleton skeleton, Brush brush, JointType[] joints)
{
Polyline figure = new Polyline();

figure.StrokeThickness = 18;
figure.Stroke = brush;

for (int i = 0; i < joints.Length; i++)
{
figure.Points.Add(GetJointPoint(skeleton.Joints[joints[i]]));
}

return figure;
}
#endregion
}
}