private void BodyFrameReaderOnFrameArrived(object sender, KinectV2::Microsoft.Kinect.BodyFrameArrivedEventArgs bodyFrameArrivedEventArgs)
{
if (ReadBodyFrame(bodyFrameArrivedEventArgs))
{
UpdateSkeletons();
}
}
private void UpdateSkeleton(KinectV2::Microsoft.Kinect.Body body, ISkeleton newSkeleton)
{
foreach (KeyValuePair<JointType, KinectV2::Microsoft.Kinect.JointType> jointMapping in mapping)
{
var joint = new OrientedJoint
{
JointType = jointMapping.Key,
Point = ToVec3(body.Joints[jointMapping.Value].Position),
Orientation = ToVec4(body.JointOrientations[jointMapping.Value].Orientation),
Valid = body.Joints[jointMapping.Value].TrackingState == KinectV2::Microsoft.Kinect.TrackingState.Tracked
};
newSkeleton.UpdateSkeleton(joint.JointType, joint);
}
}
private ISkeleton CreateSkeleton(KinectV2::Microsoft.Kinect.Body body)
{
var newSkeleton = new InMapSkeleton { ID = (uint) body.TrackingId };
UpdateSkeleton(body, newSkeleton);
return newSkeleton;
}
/// <summary>
/// Tos the vec4.
/// </summary>
/// <returns>The vec4.</returns>
/// <param name="v">V.</param>
private static Vector4 ToVec4(KinectV2::Microsoft.Kinect.Vector4 v)
{
return new Vector4(v.X, v.Y, v.Z, v.W);
}
/// <summary>
/// Absolutes to relative.
/// </summary>
/// <returns>The to relative.</returns>
/// <param name="point">point.</param>
private static Vector3 ToVec3(KinectV2::Microsoft.Kinect.CameraSpacePoint point)
{
return new Vector3(point.X, point.Y, point.Z) * 1000;
}
private void KinectSensorOnIsAvailableChanged(object sender, KinectV2::Microsoft.Kinect.IsAvailableChangedEventArgs isAvailableChangedEventArgs)
{
Console.WriteLine("Kinect availability status changed to {0}." , isAvailableChangedEventArgs.IsAvailable);
}
/// <summary>
/// Tries to read the new frame and returns wether actual data was read.
/// </summary>
/// <param name="bodyFrameArrivedEventArgs"></param>
/// <returns></returns>
private bool ReadBodyFrame(KinectV2::Microsoft.Kinect.BodyFrameArrivedEventArgs bodyFrameArrivedEventArgs)
{
using (KinectV2::Microsoft.Kinect.BodyFrame bodyFrame = bodyFrameArrivedEventArgs.FrameReference.AcquireFrame())
{
if (bodyFrame != null)
{
if (_bodyDataBuffer == null || _bodyDataBuffer.Length != bodyFrame.BodyCount)
{
_bodyDataBuffer = new KinectV2::Microsoft.Kinect.Body[bodyFrame.BodyCount];
}
bodyFrame.GetAndRefreshBodyData(_bodyDataBuffer);
return true;
}
}
return false;
}