-
Notifications
You must be signed in to change notification settings - Fork 2
/
KinectMonitor.py~
411 lines (378 loc) · 22.1 KB
/
KinectMonitor.py~
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
from IPC import *
from nitepy import *
from poses import *
import threading
import thread
import sys
import clr
import numpy as np
clr.AddReference('FTCHpy')
import FTCHpy
ftch = FTCHpy.FTCHcalc
lock = threading.Lock()
lock.acquire()
aspects = [[0,-1,-1,-1]] #person id,hips-head dist,sh dist,sh-elbow
skasps = [[0,-1,-1,-1]] #skeleton id, ...
rightWave=False
leftWave =False
follow = False
stopfollow = False
pauseSkel = False
userOfInt=0
quits = False
e = threading.Event()
lock.release()
pose = poses()
curSkeletonPersonIDs = {} #dictionary where a skeletonID is paired with a personID
oldSkeletonPersonIDs = {} #old version of curSkeletonPersonIDs dictionary, used to check for changes
personIDAttempts = {} #dictionary where a skeletonID is paired with the number of attempts made to identify the person
gestGivenPID = -1 #personID of the user who provided a gesture
lib.loop(track)
MAX_GUESSES = 30 #maximum number of guesses the face identifier is allowed before a person is considered unrecognized
framecount = 0
def detect_motion():
global framecount
global curSkeletonPersonIDs
global oldSkeletonPersonIDs
global aspects
global skasps
global rightWave
global leftWave
global follow
global stopfollow
global userOfInt
global quits
global track
global gestGivenPID
user = 0
lstage = ["none"] #array of states for left wave. Each stage is for one person.
rstage = ["none"] #array of states for right wave.
follstage = ["none"] #array of states for follow.
stopfollstage = ["none"] #array of states for stop follow.
quitstage = ["none"] #array of states for quit.
lstate = [0]
rstate = [0]
follstate = [0]
while True:
e.wait() #pauses thread if main thread flag is cleared
lock.acquire()
lib.loop(track) #grab a new 3D frame
lock.release()
#TODO check for monotonic approach to new poses using functions in poses class
for user in range(0,lib.getUsersCount(track)):
if len(lstage)<=user:
lstage.append("none") #there is an additional user, we need more state variables
rstage.append("none")
follstage.append("none")
quitstage.append("none")
stopfollstage.append("none")
lstate.append(0)
rstate.append(0)
follstate.append(0)
if lstage[user]=="none": #nothing has happened yet, check if the arm is in a position of interest
if lib.getUserSkeletonL_HandX(track,user)-lib.getUserSkeletonL_ElbowX(track,user)>100:# or poses.LeftArmAboveLeftSh(pose,user)<200:
if lib.getUserSkeletonL_HandY(track,user)-lib.getUserSkeletonL_ElbowY(track,user)>0:# or poses.LeftArmAboveLeftSh(pose,user)<200:
lstage[user] = "ready"
#lstate[user] = poses.LeftArmExtLeft(pose,user)
if lstage[user]=="ready":#we hit one point of interest, move to the next if the arm has met the new POI
if lib.getUserSkeletonL_ElbowX(track,user)-lib.getUserSkeletonL_HandX(track,user)>100:
if lib.getUserSkeletonL_HandY(track,user)-lib.getUserSkeletonL_ElbowY(track,user)>0:
lstage[user] = "none"
lock.acquire()
leftWave = True
gestGivenPID = curSkeletonPersonIDs[lib.getUserID(track, user)]
sys.stderr.write("got left wave from user "+str(user) +"\n")
lock.release()
if lib.getUserSkeletonL_HandY(track,user)-lib.getUserSkeletonL_ElbowY(track,user)<0:# or lib.getUserSkeletonL_ElbowConf(track,user)<=0.5:
lstage[user] = "none"#we hit a point that is un acceptable for this gesture, cancel it
if rstage[user]=="none":#nothing has happened yet, check if the arm is in a position of interest
if lib.getUserSkeletonR_HandX(track,user)-lib.getUserSkeletonR_ElbowX(track,user)<-100:
if lib.getUserSkeletonR_HandY(track,user)-lib.getUserSkeletonR_ElbowY(track,user)>0:
rstage[user] = "ready"
if rstage[user]=="ready":#we hit one point of interest, move to the next if the arm has met the new POI
if lib.getUserSkeletonR_ElbowX(track,user)-lib.getUserSkeletonR_HandX(track,user)<-100:
if lib.getUserSkeletonR_HandY(track,user)-lib.getUserSkeletonR_ElbowY(track,user)>0:
rstage[user] = "none"
lock.acquire()
rightWave = True
gestGivenPID = curSkeletonPersonIDs[lib.getUserID(track, user)]
sys.stderr.write("got right wave from user "+str(user)+"\n")
lock.release()
if lib.getUserSkeletonR_HandY(track,user)-lib.getUserSkeletonR_ElbowY(track,user)<0 or lib.getUserSkeletonR_ElbowConf(track,user)<=0.5:
rstage[user] = "none"#we hit a point that is un acceptable for this gesture, cancel it
if follstage[user]=="none":#nothing has happened yet, check if the arm is in a position of interest
if abs(lib.getUserSkeletonL_HandZ(track,user)-lib.getUserSkeletonR_HandZ(track,user))<100:
if abs(lib.getUserSkeletonL_HandZ(track,user)-lib.getUserSkeletonL_ShZ(track,user))>300:
follstage[user] = "ext"
if follstage[user]=="ext":#we hit one point of interest, move to the next if the arm has met the new POI
if abs(lib.getUserSkeletonL_HandZ(track,user)-lib.getUserSkeletonR_HandZ(track,user))<100:
if abs(lib.getUserSkeletonL_HandZ(track,user)-lib.getUserSkeletonL_ShZ(track,user))<150:
follstage[user]="none"
lock.acquire()
userOfInt = lib.getUserID(track,user)
follow = True
sys.stderr.write("got follow from user "+str(user)+"\n")
lock.release()
if abs(lib.getUserSkeletonL_HandZ(track,user)-lib.getUserSkeletonR_HandZ(track,user))>100 or lib.getUserSkeletonR_HandConf(track,user)<=0.5:
follstage[user]="none" #invalid for the follow gesture
if lib.getUserSkeletonL_HandY(track,user)-lib.getUserSkeletonTorsoY(track,user)<0 or lib.getUserSkeletonL_HandConf(track,user)<=0.5:
follstage[user]="none"#invalid for the follow gesture
if lib.getUserSkeletonR_HandY(track,user)-lib.getUserSkeletonTorsoY(track,user)<0 or lib.getUserSkeletonR_HandConf(track,user)<=0.5:
follstage[user]="none"#invalid for the follow gesture
if stopfollstage[user]=="none":#nothing has happened yet, check if the arm is in a position of interest
if abs(lib.getUserSkeletonL_HandZ(track,user)-lib.getUserSkeletonR_HandZ(track,user))<100:
if abs(lib.getUserSkeletonL_HandZ(track,user)-lib.getUserSkeletonL_ShZ(track,user))<150:
stopfollstage[user] = "close"
if stopfollstage[user]=="close":#we hit one point of interest, move to the next if the arm has met the new POI
if abs(lib.getUserSkeletonL_HandZ(track,user)-lib.getUserSkeletonR_HandZ(track,user))<100:
if abs(lib.getUserSkeletonL_HandZ(track,user)-lib.getUserSkeletonL_ShZ(track,user))>300:
stopfollstage[user]="none"
lock.acquire()
userOfInt = lib.getUserID(track,user)
stopfollow = True
sys.stderr.write("got stop follow from user "+str(user)+"\n")
lock.release()
if abs(lib.getUserSkeletonL_HandZ(track,user)-lib.getUserSkeletonR_HandZ(track,user))>100 or lib.getUserSkeletonR_HandConf(track,user)<=0.5:
stopfollstage[user]="none"#invalid for the stop follow gesture
if lib.getUserSkeletonL_HandY(track,user)-lib.getUserSkeletonTorsoY(track,user)<0 or lib.getUserSkeletonL_HandConf(track,user)<=0.5:
stopfollstage[user]="none"#invalid for the stop follow gesture
if lib.getUserSkeletonR_HandY(track,user)-lib.getUserSkeletonTorsoY(track,user)<0 or lib.getUserSkeletonR_HandConf(track,user)<=0.5:
stopfollstage[user]="none"#invalid for the stop follow gesture
if quitstage[user]=="none":#nothing has happened yet, check if the arm is in a position of interest
if lib.getUserSkeletonR_HandX(track,user)-lib.getUserSkeletonNeckX(track,user)<-50:
quitstage[user]="scut"
if quitstage[user]=="scut":#we hit one point of interest, move to the next if the arm has met the new POI
if lib.getUserSkeletonR_HandX(track,user)-lib.getUserSkeletonNeckX(track,user)>50:
quitstage[user]="none"
lock.acquire()
quits = True
gestGivenPID = curSkeletonPersonIDs[lib.getUserID(track, user)]
sys.stderr.write("goodbye "+str(user)+"\n")
lock.release()
if lib.getUserSkeletonR_HandY(track,user)-lib.getUserSkeletonNeckY(track,user)<0 or lib.getUserSkeletonR_HandConf(track,user)<=0.5:
quitstage[user]="none"#invalid for the quit gesture
if lib.getUserSkeletonR_HandY(track,user)-lib.getUserSkeletonHeadY(track,user)>0 or lib.getUserSkeletonR_HandConf(track,user)<=0.5:
quitstage[user]="none"#invalid for the quit gesture
found = False
i = 0
for skasp in skasps:
if skasp[0] == lib.getUserID(track, user):
found = True
break
i=i+1
if found==False:
skasps.append([lib.getUserID(track, user),-1,-1,-1])
if lib.getUserSkeletonHeadConf(track,user)>0.5 and lib.getUserSkeletonR_HipConf(track,user)>0.5:# and lib.getUserSkeletonR_ElbowConf(track,user)>0.5 and lib.getUserSkeletonL_ElbowConf(track,user)>0.5:
#hip to head
skasps[i][1] = (np.sqrt((lib.getUserSkeletonHeadX(track,user)-lib.getUserSkeletonR_HipX(track,user))**2 + (lib.getUserSkeletonHeadY(track,user)-lib.getUserSkeletonR_HipY(track,user))**2 + (lib.getUserSkeletonHeadZ(track,user)-lib.getUserSkeletonR_HipZ(track,user))**2) + np.sqrt((lib.getUserSkeletonHeadX(track,user)-lib.getUserSkeletonL_HipX(track,user))**2 + (lib.getUserSkeletonHeadY(track,user)-lib.getUserSkeletonL_HipY(track,user))**2 + (lib.getUserSkeletonHeadZ(track,user)-lib.getUserSkeletonL_HipZ(track,user))**2))/2 #avg dist from hip to head
#sh dist
skasps[i][2] = np.sqrt((lib.getUserSkeletonL_ShX(track,user)-lib.getUserSkeletonR_ShX(track,user))**2 + (lib.getUserSkeletonL_ShY(track,user)-lib.getUserSkeletonR_ShY(track,user))**2 + (lib.getUserSkeletonL_ShZ(track,user)-lib.getUserSkeletonR_ShZ(track,user))**2)
#upper arm dist
skasps[i][3] = np.sqrt((lib.getUserSkeletonL_ShX(track,user)-lib.getUserSkeletonR_ElbowX(track,user))**2 + (lib.getUserSkeletonL_ShY(track,user)-lib.getUserSkeletonR_ElbowY(track,user))**2 + (lib.getUserSkeletonL_ShZ(track,user)-lib.getUserSkeletonR_ElbowZ(track,user))**2)
framecount+=1
if framecount>=30:
print skasps[i]
print aspects[0]
framecount=0
#TODO: verify that curSPID is cleaned and maintained properly
if not lib.getUserID(track, user) in curSkeletonPersonIDs:
curSkeletonPersonIDs[lib.getUserID(track, user)] = -1
if curSkeletonPersonIDs[lib.getUserID(track, user)]<0:
for j in range(0,len(aspects)):#check for similarity
if skasps[i][1] < aspects[j][1]*1.05 and skasps[i][1] > aspects[j][1]*0.95:
if skasps[i][2] < aspects[j][2]*1.05 and skasps[i][2] > aspects[j][2]*0.95:
#if skasps[i][3] < aspects[j][3]*1.2 and skasps[i][3] > aspects[j][3]*0.8:
#TODO: send notification of recognition and set appropriate values
curSkeletonPersonIDs[lib.getUserID(track, user)] = aspects[j][0]
p.write("face recognized " + str(lib.getUserID(track, user)) + " " + str(curSkeletonPersonIDs[lib.getUserID(track, user)]) + " " + str(time.time()) + "\n")
sys.stderr.write("Proportions match! Skeleton " + str(lib.getUserID(track, user)) + " identified as person: " + str(curSkeletonPersonIDs[lib.getUserID(track, user)]) + "\n")
personIDAttempts[key] = MAX_GUESSES + 1
#keys are skeleton id's (not indexies)
for key in curSkeletonPersonIDs.keys():
if curSkeletonPersonIDs[key]>=0:
found = False
i = 0
for aspect in aspects:
if aspect[0] == curSkeletonPersonIDs[key]:
found = True
break
i=i+1
if found==False:
aspects.append([curSkeletonPersonIDs[key],-1,-1,-1])
found = False
user = 0
for j in range(0,lib.getUsersCount(track)):
if lib.getUserID(track, j) == key:
user = j
found = True
break
if found==False:
sys.stderr.write("failed to find")
continue #the skeleton of this person isn't present
if lib.getUserSkeletonHeadConf(track,user)>0.5 and lib.getUserSkeletonR_HipConf(track,user)>0.5:# and lib.getUserSkeletonR_ElbowConf(track,user)>0.5 and lib.getUserSkeletonL_ElbowConf(track,user)>0.5:
#TODO check distance and average it
if aspects[i][1] < 0:
aspects[i][1] = (np.sqrt((lib.getUserSkeletonHeadX(track,user)-lib.getUserSkeletonR_HipX(track,user))**2 + (lib.getUserSkeletonHeadY(track,user)-lib.getUserSkeletonR_HipY(track,user))**2 + (lib.getUserSkeletonHeadZ(track,user)-lib.getUserSkeletonR_HipZ(track,user))**2) + np.sqrt((lib.getUserSkeletonHeadX(track,user)-lib.getUserSkeletonL_HipX(track,user))**2 + (lib.getUserSkeletonHeadY(track,user)-lib.getUserSkeletonL_HipY(track,user))**2 + (lib.getUserSkeletonHeadZ(track,user)-lib.getUserSkeletonL_HipZ(track,user))**2))/2 #avg dist from hip to head
else:
aspects[i][1] = (aspects[i][1]+(np.sqrt((lib.getUserSkeletonHeadX(track,user)-lib.getUserSkeletonR_HipX(track,user))**2 + (lib.getUserSkeletonHeadY(track,user)-lib.getUserSkeletonR_HipY(track,user))**2 + (lib.getUserSkeletonHeadZ(track,user)-lib.getUserSkeletonR_HipZ(track,user))**2) + np.sqrt((lib.getUserSkeletonHeadX(track,user)-lib.getUserSkeletonL_HipX(track,user))**2 + (lib.getUserSkeletonHeadY(track,user)-lib.getUserSkeletonL_HipY(track,user))**2 + (lib.getUserSkeletonHeadZ(track,user)-lib.getUserSkeletonL_HipZ(track,user))**2))/2)/2 #avg dist from hip to head
if aspects[i][2] < 0: #sh dist
aspects[i][2] = np.sqrt((lib.getUserSkeletonL_ShX(track,user)-lib.getUserSkeletonR_ShX(track,user))**2 + (lib.getUserSkeletonL_ShY(track,user)-lib.getUserSkeletonR_ShY(track,user))**2 + (lib.getUserSkeletonL_ShZ(track,user)-lib.getUserSkeletonR_ShZ(track,user))**2)
else:
aspects[i][2] = (aspects[i][2]+np.sqrt((lib.getUserSkeletonL_ShX(track,user)-lib.getUserSkeletonR_ShX(track,user))**2 + (lib.getUserSkeletonL_ShY(track,user)-lib.getUserSkeletonR_ShY(track,user))**2 + (lib.getUserSkeletonL_ShZ(track,user)-lib.getUserSkeletonR_ShZ(track,user))**2))/2
if aspects[i][3] < 0: #sh dist
aspects[i][3] = np.sqrt((lib.getUserSkeletonL_ShX(track,user)-lib.getUserSkeletonR_ShX(track,user))**2 + (lib.getUserSkeletonL_ShY(track,user)-lib.getUserSkeletonR_ShY(track,user))**2 + (lib.getUserSkeletonL_ShZ(track,user)-lib.getUserSkeletonR_ShZ(track,user))**2)
else:
aspects[i][3] = (aspects[i][3]+np.sqrt((lib.getUserSkeletonL_ShX(track,user)-lib.getUserSkeletonR_ShX(track,user))**2 + (lib.getUserSkeletonL_ShY(track,user)-lib.getUserSkeletonR_ShY(track,user))**2 + (lib.getUserSkeletonL_ShZ(track,user)-lib.getUserSkeletonR_ShZ(track,user))**2))/2
# TODO Allow identification to be done using body proportion and color information
# when confidence is high that the user is the correct person, send identifier.
#LMC should be modified to look through current users and delete false recognitions when new recognitions are received
def facialActions():
global curSkeletonPersonIDs
global oldSkeletonPersonIDs
global personIDAttempts
while True:
e.wait() #pauses thread if main thread flag is cleared
lock.acquire()
lib.takeSnapShot(track)
lib.detectPeople(track)
lock.release()
tempSkelIDs = []
lock.acquire()
for user in range(0, lib.getUsersCount(track)):
if curSkeletonPersonIDs[lib.getUserID(track, user)] < 0: # user could have been recognized by shirt/height
curSkeletonPersonIDs[lib.getUserID(track, user)] = lib.getUserPersonID(track, user) #for each user, match skeletonID to personID
if not lib.getUserID(track, user) in personIDAttempts.keys():
personIDAttempts[lib.getUserID(track, user)] = 0
tempSkelIDs.append(lib.getUserID(track, user))
for key in curSkeletonPersonIDs: #for every skeletonID that has been created
if not key in tempSkelIDs: #check if it is still on screen
curSkeletonPersonIDs[key] = -5 #skeleton is no longer on screen
deleteKeys = [] #holds keys to be deleted
#check for any changes in the personIDs that correspond to the skeletonIDs
for key in curSkeletonPersonIDs.keys():
if key in oldSkeletonPersonIDs.keys(): #check skeletonIDs that were previously on screen
if (not (curSkeletonPersonIDs[key] == oldSkeletonPersonIDs[key])) and (personIDAttempts[key] < MAX_GUESSES): #if the personID changed for a given skeletonID
if curSkeletonPersonIDs[key] >= 0 and oldSkeletonPersonIDs[key] < 0:
#person is now recognized
p.write("face recognized " + str(key) + " " + str(curSkeletonPersonIDs[key]) + " " + str(time.time()) + "\n")
personIDAttempts[key] = MAX_GUESSES + 1
sys.stderr.write("recognized skeleton: " + str(key) + " as person: " + str(curSkeletonPersonIDs[key]) + "\n")
elif curSkeletonPersonIDs[key] < 0 and oldSkeletonPersonIDs[key] >= 0:
#recognized person has left the frame
p.write("face lost " + str(key) + " " + str(oldSkeletonPersonIDs[key]) + " " + str(time.time()) + "\n")
sys.stderr.write("person: " + str(oldSkeletonPersonIDs[key]) + " has left vision as skeleton: " + str(key) + "\n")
deleteKeys.append(key)
elif curSkeletonPersonIDs[key] < 0 and oldSkeletonPersonIDs[key] < 0: #for different negative numbers showing up (any negative number is a failure to recognize
sys.stderr.write("failed guess for " + str(key) + "\n")
personIDAttempts[key] = personIDAttempts[key] + 1
else:
curSkeletonPersonIDs[key] = oldSkeletonPersonIDs[key] #keep first identification
sys.stderr.write("both greater, but different\n")
elif personIDAttempts[key] < MAX_GUESSES:
sys.stderr.write("failed same guess " + str(key) + "\n")
personIDAttempts[key] = personIDAttempts[key] + 1 #attempt failed to identify user
elif personIDAttempts[key] == MAX_GUESSES:
#person was failed to be recognized
p.write("face unrecognized " + str(time.time()) + "\n")
sys.stderr.write(" user is unrecognizable\n")
personIDAttempts[key] = personIDAttempts[key] + 1
elif personIDAttempts[key] > MAX_GUESSES:
if curSkeletonPersonIDs[key] == -5:
deleteKeys.append(key) #skeleton has used max guesses and then left the screen
if oldSkeletonPersonIDs[key] >= 0: #recognized person left
p.write("face lost " + str(key) + " " + str(oldSkeletonPersonIDs[key]) + " " + str(time.time()) + "\n")
sys.stderr.write("person: " + str(oldSkeletonPersonIDs[key]) + " has left vision as skeleton: " + str(key) + "\n")
curSkeletonPersonIDs[key] = oldSkeletonPersonIDs[key]
else:
sys.stderr.write("equal and not other three\n")
else:
personIDAttempts[key] = personIDAttempts[key] + 1
if curSkeletonPersonIDs[key] >= 0:
#if face is recognized in one try (user comes on and is immediately recognized
p.write("face recognized " + str(key) + " " + str(curSkeletonPersonIDs[key]) + " " + str(time.time()) + "\n")
personIDAttempts[key] = MAX_GUESSES + 1
sys.stderr.write("recognized skeleton: " + str(key) + " as person: " + str(curSkeletonPersonIDs[key]) + "\n")
else:
sys.stderr.write("first guess fail " + str(key) + "\n")
for key in deleteKeys:
sys.stderr.write("deleted skeleton " + str(key) + " as person " + str(oldSkeletonPersonIDs[key])+ "\n")
del curSkeletonPersonIDs[key] #removes from dictionary any skeletons that have left the field of vision
del personIDAttempts[key] #removes skeleton that has been lost so that the skeletonID can be reused
oldSkeletonPersonIDs = dict(curSkeletonPersonIDs)
#load in pixel values (FCTH)
#run calculation
#retrieve ressult values
#store and compare
lock.release()
time.sleep(.3)
def handleLine():
global userOfInt
global follow
global stopfollow
if p.line == "follow\n": #follow command comes from master control because the follow speech command was given
if lib.getUsersCount(track)>0:
lock.acquire()
userOfInt = lib.getUserID(track,0) #default to following user 0 regardless of recognition or number of users
follow = True
sys.stderr.write("got follow from userID "+str(userOfInt)+"\n")
lock.release()
else:
sys.stderr.write("no users\n")
elif p.line == "follow stop\n": #follow stop command from master control because the stop command was given by speech
stopfollow = True
follow = False
sys.stderr.write("got stop follow\n")
elif p.line == "sleep\n":
e.clear() #pauses the other threads until ready for them to start again
elif p.line == "wake\n":
e.set() #allows other threads to continue
else:
sys.stderr.write("handle line " + p.line)
thread.start_new_thread(detect_motion,()) #gesture recognition
thread.start_new_thread(facialActions, ()) #face recognition
sys.stderr.write("starting KM process\n")
p = process(True,"KM")
p.setOnReadLine(handleLine)
InitSync()
e.set()
while True:
p.tryReadLine()
lock.acquire()
if stopfollow:
p.write("follow stop "+str(time.time()) + "\n") #received command to stop following
follow = False
stopfollow = False
if quits:
p.write("quit " + str(gestGivenPID) + " " + str(time.time()) + "\n") #if person is unknown, master control/speaking program will handle
gestGivenPID = -1 #reset it to an unknown person
exit()
if follow:
#sys.stderr.write(str(track) + " " + str(userOfInt) + "\n")
user = -1
index = 0
while index<lib.getUsersCount(track): #find index of userOfInt which is a UserID. (user is an index)
#sys.stderr.write("in while loop\n")
if lib.getUserID(track,index)==userOfInt:
user = index
index = index + 1
if user>=0: #we found the user
if lib.isUserTracked(track, user):
#sys.stderr.write("is following\n")
if userOfInt in curSkeletonPersonIDs.keys() and curSkeletonPersonIDs[userOfInt] >= 0: #user is recognized and skeletonID should be sent
p.write("follow "+str(lib.getUserSkeletonTorsoZ(track,user)/1000)+" "+str(lib.getUserSkeletonTorsoX(track,user)/1000)+ " " + str(userOfInt) + " " + str(time.time()) + "\n")
else: #user is unrecognized, send anyways in case follow was started by voice command and let the master control handle. should not send skeletonID.
p.write("follow "+str(lib.getUserSkeletonTorsoZ(track,user)/1000)+" "+str(lib.getUserSkeletonTorsoX(track,user)/1000)+ " " + str(time.time()) + "\n")
else:#they aren't tracked
stopfollow = True
else:#they're not here
stopfollow = True
if rightWave:
rightWave=False
p.write("rightWave " + str(gestGivenPID) + " " + str(time.time()) + "\n") #if person is unknown, master control/speaking program will handle
gestGivenPID = -1 #reset it to an unknown person
if leftWave:
leftWave=False
p.write("leftWave " + str(gestGivenPID) + " " + str(time.time()) + "\n") #if person is unknown, master control/speaking program will handle
gestGivenPID = -1 #reset it to an unknown person
lock.release()
Sync()