/**********************************la fonction du skeletons*************************************************************/
private Point getDisplayPosition(Joint joint)
{
float depthX, depthY;
_nui.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = Math.Max(0, Math.Min(depthX * 320, 320));
depthY = Math.Max(0, Math.Min(depthY * 240, 240));
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
_nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
return new Point((int)(skeleton.Width * colorX / 640.0), (int)(skeleton.Height * colorY / 480));
}
// Receives the RAW depthX and Y (no the 320x240 one)
private Point getDisplayPosition(float depthX, float depthY)
{
// Convert to 320, 240 space
depthX = depthX * 320;
depthY = depthY * 240;
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// Only ImageResolution.Resolution640x480 is supported at this point
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// Map back to skeletonCanvas.Width & skeletonCanvas.Height
return(new Point((int)(skeletonCanvas.Width * colorX / 640.0), (int)(skeletonCanvas.Height * colorY / 480)));
}
// Receives the just the depth pixel index
private Point getColorMatrixPosition(int depthIndex)
{
// Convert to 320, 240 space
float depthX = depthIndex % 320;
float depthY = depthIndex / 320;
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// Only ImageResolution.Resolution640x480 is supported at this point
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// Map back to skeletonCanvas.Width & skeletonCanvas.Height
return(new Point((int)(colorX), (int)(colorY)));
}
private static Point getDiplayPosition(Microsoft.Research.Kinect.Nui.Vector Position, Microsoft.Research.Kinect.Nui.Runtime nui, Canvas skeleton)
{
float depthX, depthY;
nui.SkeletonEngine.SkeletonToDepthImage(Position, out depthX, out depthY);
depthX = depthX * 320; //convert to 320, 240 space
depthY = depthY * 240; //convert to 320, 240 space
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// map back to skeleton.Width & skeleton.Height
return new Point((int)(skeleton.Width * colorX / 640.0), (int)(skeleton.Height * colorY / 480));
}
private Point getDisplayPosition(Joint joint)
{
float depthX, depthY;
myRuntime.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = depthX * 320; //convert to 320, 240 space
depthY = depthY * 240; //convert to 320, 240 space
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
myRuntime.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// map back to skeleton.Width & skeleton.Height
return new Point((int)(preview.Width * colorX / 640.0), (int)(preview.Height * colorY / 480));
}
private static Point GetDisplayPosition(Runtime nui, Joint joint, int width, int height)
{
float depthX, depthY;
nui.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = depthX*320; //convert to 320, 240 space
depthY = depthY*240; //convert to 320, 240 space
int colorX, colorY;
var iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int) depthX,
(int) depthY, 0, out colorX, out colorY);
// map back to skeleton.Width & skeleton.Height
return new Point((int) (width*colorX/640.0), (height*colorY/480));
}
private Point getPointPosition(Joint joint)
{
float depthX, depthY;
runtime.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = depthX * 320;
depthY = depthY * 240;
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
runtime.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// map back to skeleton.Width & skeleton.Height
return(new Point((int)(skeleton.Width * colorX / 640.0), (int)(skeleton.Height * colorY / 480)));
}
private Point getDisplayPosition(Joint joint)
{
float depthX, depthY;
nui.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = Math.Max(0, Math.Min(depthX * 320, 320)); //convert to 320, 240 space
depthY = Math.Max(0, Math.Min(depthY * 240, 240)); //convert to 320, 240 space
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// map back to skeleton.Width & skeleton.Height
return(new Point((int)(skeleton.Width * colorX / 640.0), (int)(skeleton.Height * colorY / 480)));
}
private Point getDisplayPosition(Microsoft.Research.Kinect.Nui.Vector mainPoint)
{
float depthX, depthY;
nui.SkeletonEngine.SkeletonToDepthImage(mainPoint, out depthX, out depthY);
// Convert to 320, 240 space
depthX = depthX * 320; // MICHI: WATCH OUT HERE!!!! this are the depth X/Y coordinates first in the 0-1 interval
depthY = depthY * 240;
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// Only ImageResolution.Resolution640x480 is supported at this point
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// Map back to skeletonCanvas.Width & skeletonCanvas.Height
return(new Point((int)(skeletonCanvas.Width * colorX / 640.0), (int)(skeletonCanvas.Height * colorY / 480)));
}
//Maps a circle to a joint position
public void SetJointPosition(ref Runtime nui, FrameworkElement ellipse, Joint incJoint)
{
float depthX, depthY;
nui.SkeletonEngine.SkeletonToDepthImage(incJoint.Position, out depthX, out depthY);
depthX = Math.Max(0, Math.Min(depthX * (float)mVideoX, (float)mVideoX)); //convert to 320, 240 space
depthY = Math.Max(0, Math.Min(depthY * (float)mVideoY, (float)mVideoY)); //convert to 320, 240 space
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
Canvas.SetLeft(ellipse, (int)(320 * colorX / 640.0) - ellipse.Width / 2);
Canvas.SetTop(ellipse, (int)(240 * colorY / 480) - ellipse.Width / 2);
}
private Point getDisplayPosition(Joint joint)
{
float depthX, depthY;
Point newPoint = new Point(); ;
nuiRuntime.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = Math.Max(0, Math.Min(depthX * 320, 320)); //convert to 320, 240 space
depthY = Math.Max(0, Math.Min(depthY * 240, 240)); //convert to 320, 240 space
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
nuiRuntime.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
newPoint = new Point((int)(skeletonToForm.Width * colorX / 640.0), (int)(skeletonToForm.Height * colorY / 480));
return newPoint;
}
public static Point getDisplayPosition(Runtime tr,Joint joint, int width,int height)
{
float depthX, depthY;
tr.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = Math.Max(0, Math.Min(depthX * 320, 320)); //convert to 320, 240 space
depthY = Math.Max(0, Math.Min(depthY * 240, 240)); //convert to 320, 240 space
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
tr.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// map back to skeleton.Width & skeleton.Height
return new Point((int)(width * colorX / 640.0), (int)(height * colorY / 480));
}
public bool Init()
{
_kinectruntime = Runtime.Kinects[0];
_viewarea = new ImageViewArea();
_viewarea.CenterX = 0;
_viewarea.CenterY = 0;
_kinectruntime.DepthFrameReady +=
new EventHandler<ImageFrameReadyEventArgs>(KinectruntimeDepthFrameReady);
_kinectruntime.VideoFrameReady +=
new EventHandler<ImageFrameReadyEventArgs>(KinectruntimeVideoFrameReady);
try
{
if (SettingsManager.KinectSet.KinectMode == EKinectMode.Depth)
{
_kinectruntime.Initialize(RuntimeOptions.UseColor | RuntimeOptions.UseDepth);
}
else
{
_kinectruntime.Initialize(RuntimeOptions.UseDepthAndPlayerIndex | RuntimeOptions.UseColor);
}
if (SettingsManager.KinectSet.KinectMode == EKinectMode.Depth)
{
_kinectruntime.VideoStream.Open(ImageStreamType.Video, 2, SettingsManager.KinectSet.VideoResolution, ImageType.Color);
_kinectruntime.DepthStream.Open(ImageStreamType.Depth, 2, SettingsManager.KinectSet.DepthResolution, ImageType.Depth);
}
else
{
_kinectruntime.DepthStream.Open(ImageStreamType.Depth, 2, SettingsManager.KinectSet.DepthResolution, ImageType.DepthAndPlayerIndex);
}
}
catch
{
return false;
}
return true;
}
static Point GetDisplayPosition(double totalWidth, double totalHeight, Joint joint)
{
float depthX, depthY;
runtime.SkeletonEngine.SkeletonToDepthImage(joint.Position,
out depthX, out depthY);
depthX = Math.Max(Zero, Math.Min(depthX * ThreeTwenty, ThreeTwenty));
depthY = Math.Max(Zero, Math.Min(depthY * TwoForty, TwoForty));
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
runtime.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(
ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY,
(short)0, out colorX, out colorY);
return new Point((int)(totalWidth * colorX / SixForty),
(int)(totalHeight * colorY / FourEighty));
}
private System.Windows.Point getDisplayPosition(Joint joint)
{
float depthX, depthY;
nui.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = Math.Max(0, Math.Min(depthX * 320, 320)); //convert to 320, 240 space
depthY = Math.Max(0, Math.Min(depthY * 240, 240)); //convert to 320, 240 space
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// map back to skeleton.Width & skeleton.Height
return new System.Windows.Point((int)(cvsSkeleton.Width * colorX / 640.0), (int)((cvsSkeleton.Height * colorY / 480) - 30));
}
private Point getPointPosition(Joint joint)
{
float depthX, depthY;
runtime.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = depthX * 320;
depthY = depthY * 240;
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
runtime.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// map back to skeleton.Width & skeleton.Height
return new Point((int)(skeleton.Width * colorX / 640.0), (int)(skeleton.Height * colorY / 480));
}
private Point getDisplayPosition(Joint j)
{
float depthX, depthY;
MainWindow.Instance.NuiRuntime.SkeletonEngine.SkeletonToDepthImage(j.Position, out depthX, out depthY);
depthX = depthX * 320; //convert to 320, 240 space
depthY = depthY * 240; //convert to 320, 240 space
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
MainWindow.Instance.NuiRuntime.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// map back to canvas1.Width & canvas1.Height
//Console.WriteLine("main window width: " + MainWindow.Instance.canvas1.Width);
//Console.WriteLine("main window height: " + MainWindow.Instance.canvas1.Height);
return new Point((double)(MainWindow.Instance.canvas1.ActualWidth * colorX / 640.0), (double)(MainWindow.Instance.canvas1.ActualHeight * 1.2 * colorY / 480));
}
void nui_DepthFrameReady(object sender, ImageFrameReadyEventArgs e)
{
PlanarImage Image = e.ImageFrame.Image;
ViewArea = e.ImageFrame.ViewArea;
depthImage1 = Image;
depth1Ready = true;
byte[] convertedDepthFrame = convertDepthFrame(Image.Bits);
depth.Source = BitmapSource.Create(
Image.Width, Image.Height, 96, 96, PixelFormats.Bgr32, null, convertedDepthFrame, Image.Width * 4);
++totalFrames;
DateTime cur = DateTime.Now;
if (cur.Subtract(lastTime) > TimeSpan.FromSeconds(1))
{
int frameDiff = totalFrames - lastFrames;
lastFrames = totalFrames;
lastTime = cur;
frameRate.Text = frameDiff.ToString() + " fps";
}
}
// Converts a 16-bit grayscale depth frame which includes player indexes into a 32-bit frame
// that displays different players in different colors
byte[] convertDepthFrame(byte[] depthFrame16)
{
for (int i16 = 0, i32 = 0; i16 < depthFrame16.Length && i32 < depthFrame32.Length; i16 += 2, i32 += 4)
{
int player = depthFrame16[i16] & 0x07;
int realDepth = (depthFrame16[i16+1] << 5) | (depthFrame16[i16] >> 3);
// transform 13-bit depth information into an 8-bit intensity appropriate
// for display (we disregard information in most significant bit)
byte intensity = (byte)(255 - (255 * realDepth / 0x0fff));
depthFrame32[i32 + RED_IDX] = 0;
depthFrame32[i32 + GREEN_IDX] = 0;
depthFrame32[i32 + BLUE_IDX] = 0;
// choose different display colors based on player
switch (player)
{
case 0:
depthFrame32[i32 + RED_IDX] = (byte)(intensity / 2);
depthFrame32[i32 + GREEN_IDX] = (byte)(intensity / 2);
depthFrame32[i32 + BLUE_IDX] = (byte)(intensity / 2);
break;
case 1:
depthFrame32[i32 + RED_IDX] = intensity;
break;
case 2:
depthFrame32[i32 + GREEN_IDX] = intensity;
break;
case 3:
depthFrame32[i32 + RED_IDX] = (byte)(intensity / 4);
depthFrame32[i32 + GREEN_IDX] = (byte)(intensity);
depthFrame32[i32 + BLUE_IDX] = (byte)(intensity);
break;
case 4:
depthFrame32[i32 + RED_IDX] = (byte)(intensity);
depthFrame32[i32 + GREEN_IDX] = (byte)(intensity);
depthFrame32[i32 + BLUE_IDX] = (byte)(intensity / 4);
break;
case 5:
depthFrame32[i32 + RED_IDX] = (byte)(intensity);
depthFrame32[i32 + GREEN_IDX] = (byte)(intensity / 4);
depthFrame32[i32 + BLUE_IDX] = (byte)(intensity);
break;
case 6:
depthFrame32[i32 + RED_IDX] = (byte)(intensity / 2);
depthFrame32[i32 + GREEN_IDX] = (byte)(intensity / 2);
depthFrame32[i32 + BLUE_IDX] = (byte)(intensity);
break;
case 7:
depthFrame32[i32 + RED_IDX] = (byte)(255 - intensity);
depthFrame32[i32 + GREEN_IDX] = (byte)(255 - intensity);
depthFrame32[i32 + BLUE_IDX] = (byte)(255 - intensity);
break;
}
if (colorFrame != null && (i16 % 500 == 0))
{
ImageViewArea iv = new ImageViewArea();
int depthX = i16 % 320;
int depthY = i16 / 320;
int colorX, colorY;
//depthX = Math.Max(0, Math.Min(depthX * 320, 320)); //convert to 320, 240 space
//depthY = Math.Max(0, Math.Min(depthY * 240, 240)); //convert to 320, 240 space
kinect1.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, depthX, depthY, (short)realDepth, out colorX, out colorY);
int index = colorX + colorY * 320;
//System.Console.WriteLine(depthX + "," + depthY);
//depthFrame32[i32 + RED_IDX] = colorFrame[index + RED_IDX];
//depthFrame32[i32 + GREEN_IDX] = colorFrame[index + GREEN_IDX]; ;
//depthFrame32[i32 + BLUE_IDX] = colorFrame[index + BLUE_IDX]; ;
}
}
return depthFrame32;
}
//adapted from Kinect demo app, i.e. ShapeGame
private Point getDisplayPosition(Joint joint)
{
float depthX, depthY;
nui.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = depthX * 320; //convert to 320, 240 space
depthY = depthY * 240; //convert to 320, 240 space
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// map back to skeleton.Width & skeleton.Height
Point p = new Point((int)(KinectScreenSize.X * colorX / 640.0), (int)(KinectScreenSize.Y * colorY / 480));
debugMsg.WriteLine("getDisplayPosition=" + p, DebugMsg.getDisplayPosition);
return p;
}
/// <summary>
/// Gets the display position (i.e. where in the display image) of a Joint
/// </summary>
/// <param name="joint">Kinect NUI Joint</param>
/// <returns>Point mapped location of sent joint</returns>
private Point GetDisplayPosition(Joint joint)
{
float depthX, depthY;
_nui.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = Math.Max(0, Math.Min(depthX * 320, 320)); // convert to 320, 240 space
depthY = Math.Max(0, Math.Min(depthY * 240, 240)); // convert to 320, 240 space
int colorX, colorY;
var iv = new ImageViewArea();
// Only ImageResolution.Resolution640x480 is supported at this point
_nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, 0, out colorX, out colorY);
// Map back to skeleton.Width & skeleton.Height
return new Point((int)(skeletonCanvas.Width * colorX / 640.0), (int)(skeletonCanvas.Height * colorY / 480));
}
/// <summary>
/// Gets the display position (i.e. where in the display image) of a Joint
/// </summary>
/// <param name="joint">Kinect NUI Joint</param>
/// <returns>Point mapped location of sent joint</returns>
private System.Windows.Point GetDisplayPosition(Joint joint)
{
var nui = model_.Provider.Runtime;
//return new System.Windows.Point((int)(skeletonCanvas.ActualWidth / 2 + joint.Position.X * skeletonCanvas.ActualWidth / 2),
// (int)(skeletonCanvas.ActualHeight / 2 + joint.Position.Y * skeletonCanvas.ActualHeight / 2));
float depthX, depthY;
nui.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = Math.Max(0, Math.Min(depthX * 320, 320)); // convert to 320, 240 space
depthY = Math.Max(0, Math.Min(depthY * 240, 240)); // convert to 320, 240 space
int colorX, colorY;
var iv = new ImageViewArea();
// Only ImageResolution.Resolution640x480 is supported at this point
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, 0, out colorX, out colorY);
// Map back to skeleton.Width & skeleton.Height
return new System.Windows.Point((int)(skeletonCanvas.ActualWidth * colorX / 640.0), (int)(skeletonCanvas.ActualHeight * colorY / 480));
}
private Point getDisplayPosition(Joint joint)
{
float depthX, depthY;
nui.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
depthX = Math.Max(0, Math.Min(depthX * 320, 320)); //convert to 320, 240 space
depthY = Math.Max(0, Math.Min(depthY * 240, 240)); //convert to 320, 240 space
int colorX, colorY;
ImageViewArea iv = new ImageViewArea();
// only ImageResolution.Resolution640x480 is supported at this point
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)depthX, (int)depthY, (short)0, out colorX, out colorY);
// map back to skeleton.Width & skeleton.Height
Point p = new Point((int)(skeleton.Width * colorX / 640.0), (int)(skeleton.Height * colorY / 480));
if (p.X < 10 && p.Y < 10)
{
System.Diagnostics.Debug.WriteLine("Point: " + p.ToString());
}
return p;
}
private void Window_Loaded(object sender, EventArgs e)
{
nui = new Runtime();
try
{
nui.Initialize(RuntimeOptions.UseDepthAndPlayerIndex | RuntimeOptions.UseSkeletalTracking | RuntimeOptions.UseColor);
}
catch (InvalidOperationException)
{
System.Windows.MessageBox.Show("Runtime initialization failed. Please make sure Kinect device is plugged in.");
return;
}
try
{
nui.VideoStream.Open(ImageStreamType.Video, 2, ImageResolution.Resolution640x480, ImageType.Color);
nui.DepthStream.Open(ImageStreamType.Depth, 2, ImageResolution.Resolution320x240, ImageType.DepthAndPlayerIndex);
}
catch (InvalidOperationException)
{
System.Windows.MessageBox.Show("Failed to open stream. Please make sure to specify a supported image type and resolution.");
return;
}
lastTime = DateTime.Now;
nui.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(nui_SkeletonFrameReady);
nui.VideoFrameReady += new EventHandler<ImageFrameReadyEventArgs>(nui_ColorFrameReady);
SkeletonDataAlternative.JointPositionConverter = new JointPositionConverter(delegate(Joint joint)
{
float depthX, depthY;
nui.SkeletonEngine.SkeletonToDepthImage(joint.Position, out depthX, out depthY);
ImageViewArea iv = new ImageViewArea();
int colorX, colorY;
nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, iv, (int)(depthX * 320), (int)(depthY * 240), (short)0, out colorX, out colorY);
Microsoft.Research.Kinect.Nui.Vector converted = new Microsoft.Research.Kinect.Nui.Vector();
converted.X = (float)colorX / 640.0f;
converted.Y = (float)colorY / 480.0f;
converted.Z = joint.Position.Z;
converted.W = joint.Position.W;
joint.Position = converted;
return joint;
});
}
