/// <summary>
/// Encodes skeleton data to transmission.
/// </summary>
public static string EncodeSkeletonData(BodyData bodyData)
{
if (bodyData.JointData == null)
{
return EncodeError("EncodeSkeletonData: joint data is null.");
}
_stringBuilder.Remove(0, _stringBuilder.Length);
_stringBuilder.AppendFormat(CultureInfo.InvariantCulture,"{0}|{1} {2} ", SkeletonFrameType, bodyData.UserId, (int)bodyData.TrackingState);
foreach (var jointData in bodyData.JointData)
{
if (jointData.State == JointTrackingState.NotTracked)
{
continue;
}
// joint_id state x y z qx qy qz qw
_stringBuilder.AppendFormat(CultureInfo.InvariantCulture, "{0} {1} {2} {3} {4} {5} {6} {7} {8} ",
(int)jointData.JointId, (int)jointData.State, jointData.PositionX, jointData.PositionY, jointData.PositionZ,
jointData.QuaternionX, jointData.QuaternionY, jointData.QuaternionZ, jointData.QuaternionW);
}
return _stringBuilder.ToString();
}
/// <summary>
/// Decodes the skeleton data received from the data stream into joint positions.
/// </summary>
public static void DecodeSkeletonData(string data, out BodyData bodyData)
{
const int jointsNumber = (int)JointType.NumberOfJoints;
bodyData = new BodyData();
bodyData.JointData = new JointData[jointsNumber];
var jointsData = bodyData.JointData;
if (jointsData == null || jointsData.Length != jointsNumber)
{
throw new Exception("DecodeSkeletonData is expecting a JointData[] buffer big enough to hold the data.");
}
for (int i = 0; i < jointsData.Length; i++)
{
jointsData[i].State = JointTrackingState.NotTracked;
}
string[] tokens = data.Split(' ');
bodyData.UserId = int.Parse(tokens[0], CultureInfo.InvariantCulture);
bodyData.TrackingState = (BodyTrackingState)int.Parse(tokens[1], CultureInfo.InvariantCulture);
const int jointDataOffset = 2;
const int elementsNumber = 9;
for (int i = 0; i + jointDataOffset < (tokens.Length / elementsNumber) + jointDataOffset; i++)
{
int jointId = int.Parse(tokens[(i * elementsNumber) + jointDataOffset], CultureInfo.InvariantCulture);
jointsData[jointId].State = (JointTrackingState)int.Parse(tokens[(i * elementsNumber + 1) + jointDataOffset], CultureInfo.InvariantCulture);
jointsData[jointId].PositionX = float.Parse(tokens[(i * elementsNumber + 2) + jointDataOffset], CultureInfo.InvariantCulture);
jointsData[jointId].PositionY = float.Parse(tokens[(i * elementsNumber + 3) + jointDataOffset], CultureInfo.InvariantCulture);
jointsData[jointId].PositionZ = float.Parse(tokens[(i * elementsNumber + 4) + jointDataOffset], CultureInfo.InvariantCulture);
jointsData[jointId].QuaternionX = float.Parse(tokens[(i * elementsNumber + 5) + jointDataOffset], CultureInfo.InvariantCulture);
jointsData[jointId].QuaternionY = float.Parse(tokens[(i * elementsNumber + 6) + jointDataOffset], CultureInfo.InvariantCulture);
jointsData[jointId].QuaternionZ = float.Parse(tokens[(i * elementsNumber + 7) + jointDataOffset], CultureInfo.InvariantCulture);
jointsData[jointId].QuaternionW = float.Parse(tokens[(i * elementsNumber + 8) + jointDataOffset], CultureInfo.InvariantCulture);
}
}
private BodyData SetupBodyData(int userId)
{
var bodyData = new BodyData();
bodyData.UserId = userId;
const int jointsNumber = (int)DataConverter.JointType.NumberOfJoints;
var jointData = new JointData[jointsNumber];
for (int i = 0; i < jointsNumber; i++)
{
jointData[i] = new JointData();
jointData[i].JointId = (DataConverter.JointType)i;
}
bodyData.JointData = jointData;
return bodyData;
}
