/// <summary>
/// Maps the information received for a Body from the Kinect to a
/// KinectBody we can serialize and send over the wire.
/// </summary>
/// <param name="body">Body to map</param>
/// <param name="sensorId">Sensor ID, or any other value being used as the device connection Id</param>
/// <returns>Mapped KinectBody containing the body information,
/// an identifier, and othe processed data</returns>
private static KinectBody MapBody(Body body, string sensorId)
{
var d = new KinectBody(sensorId, body.TrackingId);
// All six bodies are fully tracked. Wee!
var jointCount = Enum.GetNames(typeof (KinectJointType)).Length;
d.Joints = new KinectJoint[jointCount];
for (var i = 0; i < jointCount; i++)
{
var nativeJoint = body.Joints[(JointType) i];
var orientation = body.JointOrientations[(JointType) i].Orientation;
var joint = new KinectJoint
{
TrackingState = ((KinectTrackingState) (int) nativeJoint.TrackingState),
Position = new KinectVector3
{
X = nativeJoint.Position.X,
Y = nativeJoint.Position.Y,
Z = nativeJoint.Position.Z
},
JointType = ((KinectJointType) (int) nativeJoint.JointType),
Orientation = new KinectVector4
{
W = orientation.W,
X = orientation.X,
Y = orientation.Y,
Z = orientation.Z
}
};
d.Joints[i] = joint;
}
d.Lean = new KinectPoint {X = body.Lean.X, Y = body.Lean.Y};
d.LeanTrackingState = (KinectTrackingState) (int) body.LeanTrackingState;
// Record hand states
d.HandLeftState = (KinectHandState) (int) body.HandLeftState;
d.HandRightState = (KinectHandState) (int) body.HandRightState;
// Record hand confidence. Initially we'll just convert the enum to an int,
// but we could do some exponential smoothing between their {0,1} values.
d.HandLeftConfidence = (int) body.HandLeftConfidence;
d.HandRightConfidence = (int) body.HandRightConfidence;
return d;
}
protected override bool ProcessBody(KinectBody body)
{
// If at least three of the arm joints are inferred, as assume there's no arm
var inferredCount = body.Joints.Count(x =>
x.TrackingState == KinectTrackingState.Inferred &&
(x.JointType == KinectJointType.ElbowLeft ||
x.JointType == KinectJointType.WristLeft ||
x.JointType == KinectJointType.HandLeft ||
x.JointType == KinectJointType.HandTipLeft ||
x.JointType == KinectJointType.ThumbLeft));
var isMissing = inferredCount >= 4;
if (isMissing)
{
body.Tags.Add("LeftArmMissing");
}
return isMissing;
}