Question
I have a application in c# for skeleton tracking. It is showing (visualizing) the skeleton properly, but when I want to show the actual value of chosen joint, it is not working right.
EXAMPLE: In my app I have a button that should get the actual Y position of hip center and a textbox where this value should be displayed. I am standing still in front of kinect and everytime I click the button, the value changes (even though I am not moving).
click : -56,236589
click : -89,214563
click : -100,254789
and so on.
Below is full source code of my app:
https://stackoverflow.com/questions/22295689
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Russianusing System;
using System.Collections.Generic;
using System.Linq;
using System.Windows;
using System.Windows.Media;
using Microsoft.Kinect;
using System.IO;
using Encog.Neural.Networks;
using Encog.Neural.Networks.Layers;
using Encog.Engine.Network.Activation;
using Encog.ML.Data;
using Encog.Neural.Networks.Training.Propagation.Resilient;
using Encog.ML.Train;
using Encog.ML.Data.Basic;
using Encog.ML.SVM;
using Encog.ML.SVM.Training;
namespace WpfApplication1
{
/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public partial class MainWindow : Window
{
KinectSensor sensor = KinectSensor.KinectSensors[0];
private double shoulderRightY;
private double shoulderLeftY;
private double headY;
private double hipY;
Joint rightShoulder = new Joint();
Joint leftShoulder = new Joint();
Joint head = new Joint();
Joint hip = new Joint();
#region "Variables"
/// <summary>
/// Thickness of body center ellipse
/// </summary>
private const double BodyCenterThickness = 10;
/// <summary>
/// Thickness of clip edge rectangles
/// </summary>
private const double ClipBoundsThickness = 10;
/// <summary>
/// Brush used to draw skeleton center point
/// </summary>
private readonly Brush centerPointBrush = Brushes.Blue;
/// <summary>
/// Brush used for drawing joints that are currently tracked
/// </summary>
private readonly Brush trackedJointBrush = new SolidColorBrush(Color.FromArgb(255, 68, 192, 68));
/// <summary>
/// Brush used for drawing joints that are currently inferred
/// </summary>
private readonly Brush inferredJointBrush = Brushes.Yellow;
/// <summary>
/// Pen used for drawing bones that are currently tracked
/// </summary>
private readonly Pen trackedBonePen = new Pen(Brushes.Green, 6);
/// <summary>
/// Pen used for drawing bones that are currently inferred
/// </summary>
private readonly Pen inferredBonePen = new Pen(Brushes.Gray, 1);
/// <summary>
/// Drawing image that we will display
/// </summary>
private DrawingImage imageSource;
/// <summary>
/// Thickness of drawn joint lines
/// </summary>
private const double JointThickness = 3;
/// <summary>
/// Drawing group for skeleton rendering output
/// </summary>
private DrawingGroup drawingGroup;
/// <summary>
/// Width of output drawing
/// </summary>
private const float RenderWidth = 640.0f;
/// <summary>
/// Height of our output drawing
/// </summary>
private const float RenderHeight = 480.0f;
#endregion
public MainWindow()
{
InitializeComponent();
//After Initialization subscribe to the loaded event of the form
Loaded += MainWindow_Loaded;
//After Initialization subscribe to the unloaded event of the form
//We use this event to stop the sensor when the application is being closed.
Unloaded += MainWindow_Unloaded;
}
void MainWindow_Unloaded(object sender, RoutedEventArgs e)
{
//stop the Sestor
sensor.Stop();
}
void MainWindow_Loaded(object sender, RoutedEventArgs e)
{
//Create a Drawing Group that will be used for Drawing
this.drawingGroup = new DrawingGroup();
//Create an image Source that will display our skeleton
this.imageSource = new DrawingImage(this.drawingGroup);
//Display the Image in our Image control
Image.Source = imageSource;
try
{
//Check if the Sensor is Connected
if (sensor.Status == KinectStatus.Connected)
{
//Start the Sensor
sensor.Start();
//Tell Kinect Sensor to use the Default Mode(Human Skeleton Standing) || Seated(Human Skeleton Sitting Down)
sensor.SkeletonStream.TrackingMode = SkeletonTrackingMode.Default;
//Subscribe to te Sensor's SkeletonFrameready event to track the joins and create the joins to display on our image control
sensor.SkeletonFrameReady += sensor_SkeletonFrameReady;
//nice message with Colors to alert you if your sensor is working or not
Message.Text = "Kinect Ready";
Message.Background = new SolidColorBrush(Colors.Green);
Message.Foreground = new SolidColorBrush(Colors.White);
// Turn on the skeleton stream to receive skeleton frames
this.sensor.SkeletonStream.Enable();
}
else if (sensor.Status == KinectStatus.Disconnected)
{
//nice message with Colors to alert you if your sensor is working or not
Message.Text = "Kinect Sensor is not Connected";
Message.Background = new SolidColorBrush(Colors.Orange);
Message.Foreground = new SolidColorBrush(Colors.Black);
}
else if (sensor.Status == KinectStatus.NotPowered)
{//nice message with Colors to alert you if your sensor is working or not
Message.Text = "Kinect Sensor is not Powered";
Message.Background = new SolidColorBrush(Colors.Red);
Message.Foreground = new SolidColorBrush(Colors.Black);
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
/// <summary>
//When the Skeleton is Ready it must draw the Skeleton
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void sensor_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
//declare an array of Skeletons
Skeleton[] skeletons = new Skeleton[1];
//Opens a SkeletonFrame object, which contains one frame of skeleton data.
using (SkeletonFrame skeletonframe = e.OpenSkeletonFrame())
{
//Check if the Frame is Indeed open
if (skeletonframe != null)
{
skeletons = new Skeleton[skeletonframe.SkeletonArrayLength];
// Copies skeleton data to an array of Skeletons, where each Skeleton contains a collection of the joints.
skeletonframe.CopySkeletonDataTo(skeletons);
//draw the Skeleton based on the Default Mode(Standing), "Seated"
if (sensor.SkeletonStream.TrackingMode == SkeletonTrackingMode.Default)
{
//Draw standing Skeleton
DrawStandingSkeletons(skeletons);
}
else if (sensor.SkeletonStream.TrackingMode == SkeletonTrackingMode.Seated)
{
//Draw a Seated Skeleton with 10 joints
DrawSeatedSkeletons(skeletons);
}
}
}
foreach (Skeleton skeleton in skeletons)
{
if (skeleton != null)
{
hip = skeleton.Joints[JointType.HipCenter];
rightShoulder = skeleton.Joints[JointType.ShoulderRight];
leftShoulder = skeleton.Joints[JointType.ShoulderLeft];
head = skeleton.Joints[JointType.Head];
shoulderRightY += rightShoulder.Position.Y;
shoulderLeftY += leftShoulder.Position.Y;
headY += head.Position.Y;
hipY += hip.Position.Y;
}
}
}
// button click method
private void stoji_Click(object sender, RoutedEventArgs e)
{
File.AppendAllText(@"E:\KINECT\inputs.txt", shoulderRightY + " " + shoulderLeftY + " " + headY + " " + hipY + Environment.NewLine);
File.AppendAllText(@"E:\KINECT\outputs.txt", "1" + Environment.NewLine);
}
private void sedi_Click(object sender, RoutedEventArgs e)
{
File.AppendAllText(@"E:\KINECT\inputs.txt", shoulderRightY + " " + shoulderLeftY + " " + headY + " " + hipY + Environment.NewLine);
File.AppendAllText(@"E:\KINECT\outputs.txt", "2" + Environment.NewLine);
}
private void lezi_Click(object sender, RoutedEventArgs e)
{
File.AppendAllText(@"E:\KINECT\inputs.txt", shoulderRightY + " " + shoulderLeftY + " " + headY + " " + hipY + Environment.NewLine);
File.AppendAllText(@"E:\KINECT\outputs.txt", "3" + Environment.NewLine);
}
//Thi Function Draws the Standing or Default Skeleton
private void DrawStandingSkeletons(Skeleton[] skeletons)
{
using (DrawingContext dc = this.drawingGroup.Open())
{
//Draw a Transparent background to set the render size or our Canvas
dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
//If the skeleton Array has items
if (skeletons.Length != 0)
{
//Loop through the Skeleton joins
foreach (Skeleton skel in skeletons)
{
RenderClippedEdges(skel, dc);
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJoints(skel, dc);
}
else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
{
dc.DrawEllipse(this.centerPointBrush,
null,
this.SkeletonPointToScreen(skel.Position), BodyCenterThickness, BodyCenterThickness);
}
}
}
//Prevent Drawing outside the canvas
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
}
}
private void DrawSeatedSkeletons(Skeleton[] skeletons)
{
using (DrawingContext dc = this.drawingGroup.Open())
{
//Draw a Transparent background to set the render size
dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
RenderClippedEdges(skel, dc);
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJoints(skel, dc);
}
else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
{
dc.DrawEllipse(this.centerPointBrush,
null,
this.SkeletonPointToScreen(skel.Position), BodyCenterThickness, BodyCenterThickness);
}
}
}
//Prevent Drawing outside the canvas
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
}
}
/// <summary>
/// Draws indicators to show which edges are clipping skeleton data
/// </summary>
/// <param name="skeleton">skeleton to draw clipping information for</param>
/// <param name="drawingContext">drawing context to draw to</param>
private static void RenderClippedEdges(Skeleton skeleton, DrawingContext drawingContext)
{
if (skeleton.ClippedEdges.HasFlag(FrameEdges.Bottom))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, RenderHeight - ClipBoundsThickness, RenderWidth, ClipBoundsThickness));
}
if (skeleton.ClippedEdges.HasFlag(FrameEdges.Top))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, 0, RenderWidth, ClipBoundsThickness));
}
if (skeleton.ClippedEdges.HasFlag(FrameEdges.Left))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, 0, ClipBoundsThickness, RenderHeight));
}
if (skeleton.ClippedEdges.HasFlag(FrameEdges.Right))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(RenderWidth - ClipBoundsThickness, 0, ClipBoundsThickness, RenderHeight));
}
}
/// <summary>
/// Draws a skeleton's bones and joints
/// </summary>
/// <param name="skeleton">skeleton to draw</param>
/// <param name="drawingContext">drawing context to draw to</param>
private void DrawBonesAndJoints(Skeleton skeleton, DrawingContext drawingContext)
{
// Render Torso
this.DrawBone(skeleton, drawingContext, JointType.Head, JointType.ShoulderCenter);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderLeft);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderRight);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.Spine);
this.DrawBone(skeleton, drawingContext, JointType.Spine, JointType.HipCenter);
this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipLeft);
this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipRight);
// Left Arm
this.DrawBone(skeleton, drawingContext, JointType.ShoulderLeft, JointType.ElbowLeft);
this.DrawBone(skeleton, drawingContext, JointType.ElbowLeft, JointType.WristLeft);
this.DrawBone(skeleton, drawingContext, JointType.WristLeft, JointType.HandLeft);
// Right Arm
this.DrawBone(skeleton, drawingContext, JointType.ShoulderRight, JointType.ElbowRight);
this.DrawBone(skeleton, drawingContext, JointType.ElbowRight, JointType.WristRight);
this.DrawBone(skeleton, drawingContext, JointType.WristRight, JointType.HandRight);
// Left Leg
this.DrawBone(skeleton, drawingContext, JointType.HipLeft, JointType.KneeLeft);
this.DrawBone(skeleton, drawingContext, JointType.KneeLeft, JointType.AnkleLeft);
this.DrawBone(skeleton, drawingContext, JointType.AnkleLeft, JointType.FootLeft);
// Right Leg
this.DrawBone(skeleton, drawingContext, JointType.HipRight, JointType.KneeRight);
this.DrawBone(skeleton, drawingContext, JointType.KneeRight, JointType.AnkleRight);
this.DrawBone(skeleton, drawingContext, JointType.AnkleRight, JointType.FootRight);
// Render Joints
foreach (Joint joint in skeleton.Joints)
{
Brush drawBrush = null;
if (joint.TrackingState == JointTrackingState.Tracked)
{
drawBrush = this.trackedJointBrush;
}
else if (joint.TrackingState == JointTrackingState.Inferred)
{
drawBrush = this.inferredJointBrush;
}
if (drawBrush != null)
{
drawingContext.DrawEllipse(drawBrush, null, this.SkeletonPointToScreen(joint.Position), JointThickness, JointThickness);
}
}
}
/// <summary>
/// Draws a bone line between two joints
/// </summary>
/// <param name="skeleton">skeleton to draw bones from</param>
/// <param name="drawingContext">drawing context to draw to</param>
/// <param name="jointType0">joint to start drawing from</param>
/// <param name="jointType1">joint to end drawing at</param>
private void DrawBone(Skeleton skeleton, DrawingContext drawingContext, JointType jointType0, JointType jointType1)
{
Joint joint0 = skeleton.Joints[jointType0];
Joint joint1 = skeleton.Joints[jointType1];
// If we can't find either of these joints, exit
if (joint0.TrackingState == JointTrackingState.NotTracked || joint1.TrackingState == JointTrackingState.NotTracked)
{
return;
}
// Don't draw if both points are inferred
if (joint0.TrackingState == JointTrackingState.Inferred && joint1.TrackingState == JointTrackingState.Inferred)
{
return;
}
// We assume all drawn bones are inferred unless BOTH joints are tracked
Pen drawPen = this.inferredBonePen;
if (joint0.TrackingState == JointTrackingState.Tracked && joint1.TrackingState == JointTrackingState.Tracked)
{
drawPen = this.trackedBonePen;
}
drawingContext.DrawLine(drawPen, this.SkeletonPointToScreen(joint0.Position), this.SkeletonPointToScreen(joint1.Position));
}
/// <summary>
/// Maps a SkeletonPoint to lie within our render space and converts to Point
/// </summary>
/// <param name="skelpoint">point to map</param>
/// <returns>mapped point</returns>
private Point SkeletonPointToScreen(SkeletonPoint skelpoint)
{
// Convert point to depth space.
// We are not using depth directly, but we do want the points in our 640x480 output resolution.
DepthImagePoint depthPoint = this.sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(skelpoint, DepthImageFormat.Resolution640x480Fps30);
return new Point(depthPoint.X, depthPoint.Y);
}
private void classify_Click(object sender, RoutedEventArgs e)
{
double detect=Program.siet();
vysledok.Text = detect.ToString();
}
private void testexample_Click(object sender, RoutedEventArgs e)
{
/* if (File.Exists(@"E:\KINECT\test.txt"))
{
File.Delete(@"E:\KINECT\test.txt");
}*/
File.AppendAllText(@"E:\KINECT\test.txt", shoulderRightY + " " + shoulderLeftY + " " + headY + " " + hipY + Environment.NewLine);
}
private void deletedata_Click(object sender, RoutedEventArgs e)
{
File.Delete(@"E:\KINECT\inputs.txt");
File.Delete(@"E:\KINECT\outputs.txt");
}
private void vymaztest_Click(object sender, RoutedEventArgs e)
{
File.Delete(@"E:\KINECT\test.txt");
File.Delete(@"E:\KINECT\testout.txt");
}
private void yhip_Click(object sender, RoutedEventArgs e)
{
ybox.Text = hipY.ToString();
}
}
}
Can anyone pleeease tell me what can I do to fix this bug? Thank you
Solution
You use
hipY += hip.Position.Y
Unless you stand accurate at the center (Position.Y = 0) it is correct, that hipY changes every time.
I think you want
hipY = hip.Position.Y
And by the way:
