void OnBodyData()
{
var description = Sensor.DepthFrameSource.FrameDescription;
var cm = Sensor.CoordinateMapper;
OnMessage(new Message <BodyFrameData>
{
Content = new BodyFrameData
{
ScreenDescription = description,
Bodies = Bodies.Select(x => new BodyModel
{
Lean = x.Lean,
IsRestricted = x.IsRestricted,
IsTracked = x.IsTracked,
TrackingId = x.TrackingId,
ClippedEdges = x.ClippedEdges,
Joints = x.Joints,
HandRightState = x.HandRightState,
HandLeftConfidence = x.HandLeftConfidence,
HandLeftState = x.HandLeftState,
JointOrientations = x.JointOrientations,
LeanTrackingState = x.LeanTrackingState,
HandRightConfidence = x.HandRightConfidence,
// Convert all joint camera space points to depth space
// points that can be projected to 2D screen.
JointScreenPositions = x.Joints.ToDictionary(
y => y.Key,
y => cm.MapCameraPointToDepthSpace(new CameraSpacePoint
{
X = y.Value.Position.X,
Y = y.Value.Position.Y,
// Make sure that depth does not vanish.
Z = Math.Max(y.Value.Position.Z, 0.1f)
})
)
})
}
});
}
