/// <summary>
/// Local msthod for firing the PreProcessBodyFrame event
/// </summary>
/// <param name="e"></param>
protected virtual void OnPreProcessBodyFrame(PreProcessBodyFrameEventArgs e)
{
if (PreProcessBodyFrame != null)
PreProcessBodyFrame(this, e);
}
async void bodyReader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
{
CalculateFPS();
try
{
// grab color frame
var colorFrame = colorReader.AcquireLatestFrame();
if (colorFrame != null)
{
// ColorFrame is IDisposable
using (colorFrame)
{
BodyFrame frame = e.FrameReference.AcquireFrame();
if (frame != null)
{
using (frame)
{
SensorStatus = SensorStatus.Active;
if (this.bodies == null)
{
this.bodies = new Body[kinectSensor.BodyFrameSource.BodyCount];
}
// The first time GetAndRefreshBodyData is called, Kinect will allocate each Body in the array.
// As long as those body objects are not disposed and not set to null in the array,
// those body objects will be re-used.
frame.GetAndRefreshBodyData(this.bodies);
FrameDescription frameDescription = colorFrame.FrameDescription;
// verify data and write the new color frame data to the display bitmap
if ((frameDescription.Width == this.videoImageSource.PixelWidth) && (frameDescription.Height == this.videoImageSource.PixelHeight))
{
await DisplayColorFrame(colorFrame);
}
if (DrawBodies == true)
{
using (DrawingContext dc = this.drawingGroup.Open())
{
// Draw a transparent background to set the render size
// get size of color space
dc.DrawRectangle(Brushes.Transparent, null, new Rect(0.0, 0.0, frameDescription.Width, frameDescription.Height));
for (int i = 0; i < bodies.Length; i++)
{
Body body = bodies[i];
if (body.IsTracked)
{
this.DrawClippedEdges(body, dc);
var args = new PreProcessBodyFrameEventArgs(frame, bodies);
OnPreProcessBodyFrame(args);
IReadOnlyDictionary<JointType, Joint> joints = body.Joints;
foreach (JointType jointType in joints.Keys)
{
this.Joints[(int)jointType] = joints[jointType];
}
Point[] jointPoints = new Point[joints.Count];
// convert the Joint points to depth (display) space
foreach (JointType jointType in joints.Keys)
{
ColorSpacePoint depthSpacePoint = this.coordinateMapper.MapCameraPointToColorSpace(joints[jointType].Position);
jointPoints[(int)jointType] = new Point(depthSpacePoint.X, depthSpacePoint.Y);
}
this.DrawBody(Joints, jointPoints, dc);
this.DrawHand(body.HandLeftState, jointPoints[(int)JointType.HandLeft], dc);
this.DrawHand(body.HandRightState, jointPoints[(int)JointType.HandRight], dc);
DrawHead(body, dc);
OnBodyTracked(new BodyTrackedEventArgs(body, i, dc));
}
}
// prevent drawing outside of our render area
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, colorWidth, colorHeight));
}
}
else
{
for (int i = 0; i < bodies.Length; i++)
{
Body body = bodies[i];
if (body.IsTracked)
{
OnBodyTracked(new BodyTrackedEventArgs(body, i, null));
}
}
}
}
}
}
}
}
catch (Exception ex)
{
// ignore if the frame is no longer available
var msg = ex.Message;
}
}
