/// <summary>
/// Draw the Kinect Objects onto a Body within a canvas
/// </summary>
/// <param name="canvas">The Canvas to paint images on</param>
/// <param name="sensor">The Kinect sensor</param>
/// <param name="body">The body to locate the images on</param>
/// <param name="kinectObjects">The Kinect Object</param>
public static void DrawKinectObjects(this Canvas canvas, KinectSensor sensor, Body body, List <KinectObject> kinectObjects)
{
if (kinectObjects == null)
{
return;
}
foreach (KinectObject kinectObject in kinectObjects)
{
Joint firstJoint = body.Joints[(JointType)kinectObject.FirstJoint],
secondJoint = body.Joints[(JointType)kinectObject.SecondJoint];
if (firstJoint.TrackingState == TrackingState.Tracked && secondJoint.TrackingState == TrackingState.Tracked)
{
CameraSpacePoint firstJointPos = firstJoint.Position,
secondJointPos = secondJoint.Position;
Point firstPoint = new Point(),
secondPoint = new Point();
ColorSpacePoint firstColorPoint = sensor.CoordinateMapper.MapCameraPointToColorSpace(firstJointPos),
secondColorPoint = sensor.CoordinateMapper.MapCameraPointToColorSpace(secondJointPos);
firstPoint.X = float.IsInfinity(firstColorPoint.X) ? 0 : firstColorPoint.X;
firstPoint.Y = float.IsInfinity(firstColorPoint.Y) ? 0 : firstColorPoint.Y;
secondPoint.X = float.IsInfinity(secondColorPoint.X) ? 0 : secondColorPoint.X;
secondPoint.Y = float.IsInfinity(secondColorPoint.Y) ? 0 : secondColorPoint.Y;
firstJoint = firstJoint.ScaleTo(canvas.ActualWidth, canvas.ActualHeight);
secondJoint = secondJoint.ScaleTo(canvas.ActualWidth, canvas.ActualHeight);
Image bmp = new Image()
{
Width = KinectUtils.DistanceBetween(firstJoint, secondJoint) * 1.5,
Height = KinectUtils.DistanceBetween(firstJoint, secondJoint) * 1.5
};
Canvas.SetTop(bmp, (firstPoint.Y + (secondPoint.Y - firstPoint.Y) / 2 - kinectObject.OffsetY) - bmp.Height / 2);
Canvas.SetLeft(bmp, (firstPoint.X + (secondPoint.X - firstPoint.X) / 2 + kinectObject.OffsetX) - bmp.Width / 2);
bmp.RenderTransformOrigin = new Point(0.5f, 0.5f);
var rotateT = new RotateTransform(KinectUtils.AngleBetween(firstJoint, secondJoint) + 90);
var skewT = new SkewTransform(KinectUtils.YAngleBetween(firstJoint, secondJoint), KinectUtils.YAngleBetween(firstJoint, secondJoint));
var transformGroup = new TransformGroup();
transformGroup.Children.Add(rotateT);
transformGroup.Children.Add(skewT);
bmp.RenderTransform = transformGroup;
//Load the image
bmp.Source = kinectObject.Image;
canvas.Children.Add(bmp);
}
}
}
/// <summary>
/// The Infrared reader event
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
protected void Reader_InfraredFrameArrived(object sender, InfraredFrameArrivedEventArgs e)
{
using (var frame = e.FrameReference.AcquireFrame()) {
if (frame != null)
{
InfraredView.Source = KinectUtils.ToBitmap(frame);
}
}
}
/// <summary>
/// The Body reader evnet
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
protected void Reader_BodyFrameArrived(object sender, BodyFrameArrivedEventArgs e)
{
using (var frame = e.FrameReference.AcquireFrame()) {
if (frame != null && this.maxBodyCount > 0)
{
var bodies = new Body[this.maxBodyCount];
frame.GetAndRefreshBodyData(bodies);
var closestBody = KinectUtils.GetClosestBody(frame);
Canvas.Children.Clear();
foreach (Body body in bodies)
{
if (body.IsTracked && body != null)
{
//Draw The Skeleton
if (this.DrawDots)
{
KinectDraw.DrawDots(Canvas, kinectSensor, body);
}
//Draw the images
if (this.DrawImages)
{
KinectDraw.DrawKinectObjects(Canvas, kinectSensor, body, kinectObjects);
}
//Render 3D Objects
if (this.RenderObjects)
{
KinectDraw.UpdateKinect3DObjects(body, kinect3DObjects);
}
//Use the Kinect to control the mouse and it is the closest body
if (this.KinectAsMouse && closestBody != null && body.TrackingId == closestBody.TrackingId)
{
CameraSpacePoint mousePoint = body.Joints[Mouse].Position;
CameraSpacePoint spinePoint = body.Joints[JointType.SpineBase].Position;
//Is the hand in front of the person?
if (mousePoint.Z - spinePoint.Z < -0.15f)
{
Point curPos = MouseOverride.GetCursorPosition();
MouseOverride.SetCursorPos((int)(curPos.X + (mousePoint.X * 2f * (int)SystemParameters.PrimaryScreenWidth - curPos.X) * 0.4), (int)(curPos.Y + (((spinePoint.Y - mousePoint.Y + 0.5f) + 0.25f) * 2f * (int)SystemParameters.PrimaryScreenHeight - curPos.Y) * 0.4));
if (body.HandRightState == HandState.Closed)
{
if (!grippedHand)
{
// If the hand is closed hold down the left mouse button
MouseOverride.MouseLeftDown();
grippedHand = true;
System.Windows.Input.Mouse.OverrideCursor = Cursor;
}
}
else if (body.HandRightState == HandState.Open)
{
if (grippedHand)
{
// If the hand is opened let go of the left mouse button
MouseOverride.MouseLeftUp();
grippedHand = false;
System.Windows.Input.Mouse.OverrideCursor = null;
}
}
}
else
{
grippedHand = true;
}
}
}
}
}
}
}
