public PointDepth3D GetDepth3DPosition(FingerType id)
{
if (this[id].TrackingState == FingerTrackingState.Tracked)
{
CoordinateMapperPlus mapper = new CoordinateMapperPlus(this.sensor);
return mapper.MapSkeletonPointToDepthPoint(this[id].Position, this.sensor.DepthStream.Format);
}
return new PointDepth3D();
}
void Sensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (!skeletonReadyFlag || CurrViewType != ViewEnum.CameraView) //return if no person is detected
return;
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
CoordinateMapperPlus mapper = new CoordinateMapperPlus(this.Sensor);
PointDepth3D leftDepth3D = mapper.MapSkeletonPointToDepthPoint(leftHand, this.Sensor.DepthStream.Format);
PointDepth3D rightDepth3D = mapper.MapSkeletonPointToDepthPoint(rightHand, this.Sensor.DepthStream.Format);
int index = rightDepth3D.Y * DepthFrameWidth + rightDepth3D.X;
if (index < 0 || index > this.depthPixels.Length)
return;
short currDepth = depthPixels[index].Depth;
int indexColor = 0;
int rectSize = 0;
for (int i = 0; i < this.DepthFrameWidth; i++)
{
for (int j = 0; j < this.DepthFrameHeight; j++)
{
indexColor = (j * this.DepthFrameWidth + i) * 4;
if (KinectUtil.isInTrackRegion(i, j, rightDepth3D.X, rightDepth3D.Y))
{
int indexDepthPixels = j * this.DepthFrameWidth + i;
rectDepth3D[rectSize++] = new PointDepth3D(i, j, depthPixels[indexDepthPixels].Depth);
}
}
}
if (rectSize == rectWidth * rectHeight)
{
detector.RightHand = new Hand(rectDepth3D, rightDepth3D, rectWidth, rectHeight);
detector.DetectAndSmooth(timeStamp);
Fingers.Identify3(this.Sketelon3DFingerTips, timeStamp);
timeStamp = (++timeStamp) % KinectUtil.LOOP_TIMES;
}
this.DepthBitmap.WritePixels(
new Int32Rect(0, 0, this.DepthBitmap.PixelWidth, this.DepthBitmap.PixelHeight),
this.depthColor,
this.DepthBitmap.PixelWidth * sizeof(int),
0);
}
}
}