/// <summary>
/// Handles the body frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Reader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
{
int p = 0;
bool dataReceived = false;
this.JsonObject.Persons.Clear();
using (BodyFrame bodyFrame = e.FrameReference.AcquireFrame())
{
if (bodyFrame != null)
{
if (this.bodies == null)
{
this.bodies = new Body[bodyFrame.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.
bodyFrame.GetAndRefreshBodyData(this.bodies);
dataReceived = true;
}
}
if (dataReceived)
{
using (DrawingContext dc = this.drawingGroup.Open())
{
// Draw a transparent background to set the render size
ImageDrawing img = new ImageDrawing(this.colorBitmap, new Rect(0, 0, this.displayWidth, this.displayHeight));
dc.DrawDrawing(img);
int penIndex = 0;
foreach (Body body in this.bodies)
{
writer.WriteStartArrayAsync();
Pen drawPen = this.bodyColors[penIndex++];
if (body.IsTracked)
{
this.JsonObject.Persons.Add(new person(p++));
this.DrawClippedEdges(body, dc); // 1296 x 1080
IReadOnlyDictionary <JointType, Joint> joints = body.Joints;
// convert the joint points to depth (display) space
Dictionary <JointType, Point> jointPoints = new Dictionary <JointType, Point>();
foreach (JointType jointType in joints.Keys)
{
poseData PoseData = new poseData();
// sometimes the depth(Z) of an inferred joint may show as negative
// clamp down to 0.1f to prevent coordinatemapper from returning (-Infinity, -Infinity)
CameraSpacePoint position = joints[jointType].Position;
if (position.Z < 0)
{
position.Z = InferredZPositionClamp;
}
ColorSpacePoint colorSpacePoint = this.coordinateMapper.MapCameraPointToColorSpace(position);
jointPoints[jointType] = new Point(colorSpacePoint.X, colorSpacePoint.Y);
PoseData.index = (int)jointType;
PoseData.x = (int)colorSpacePoint.X;
PoseData.y = (int)colorSpacePoint.Y;
PoseData.z = position.Z;
this.JsonObject.Persons[this.JsonObject.Persons.Count - 1].PoseData[PoseData.index] = PoseData;
}
this.DrawBody(joints, jointPoints, dc, drawPen);
this.DrawHand(body.HandLeftState, jointPoints[JointType.HandLeft], dc);
this.DrawHand(body.HandRightState, jointPoints[JointType.HandRight], dc);
}
}
// prevent drawing outside of our render area
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, this.displayWidth, this.displayHeight));
this.drawLaneBorders(dc);
}
}
#if DEBUG
nbConsole.WriteLine(sw.ToString());
#endif
string jsonString = JsonConvert.SerializeObject(this.JsonObject);
TCPSocket.sendmsg(jsonString + "\n"); //add LF because it makes server side parsing easier
sb.Clear();
}
public person(int myindex)
{
index = myindex;
PoseData = new poseData[25];
}
