private void KinectAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
KinectSensor sensor = sender as KinectSensor;
foreach (var skeletonCanvas in this.skeletonCanvases)
{
skeletonCanvas.Skeleton = null;
}
// Have we already been "shut down" by the user of this viewer,
// or has the SkeletonStream been disabled since this event was posted?
if ((null == this.KinectSensorManager) ||
(null == sensor) ||
(null == sensor.SkeletonStream) ||
!sensor.SkeletonStream.IsEnabled)
{
return;
}
bool haveSkeletonData = false;
long frameTimeStamp = -1;
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
if ((this.skeletonData == null) || (this.skeletonData.Length != skeletonFrame.SkeletonArrayLength))
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
frameTimeStamp = skeletonFrame.Timestamp;
haveSkeletonData = true;
}
}
int trackedIndex = -1;
// find the first tracked skeleton and set var trackedSkeleton accordingly
for (int i = 0; i < skeletonData.Length; i++)
{
if (skeletonData[i].TrackingState.Equals(SkeletonTrackingState.Tracked))
{
trackedIndex = i;
break;
}
}
bool isFullyTracked = false;
if (isMeasuring && trackedIndex > -1)
{
// check to see if the skeleton @ trackedIndex is fully tracked
if (fullyTrackedMapping == null && IsFullyTracked(skeletonData[trackedIndex]))
{
isFullyTracked = true;
}
SkeletonMeasurer measurer = new SkeletonMeasurer(skeletonData[trackedIndex]);
measurer.determineMeasurements();
AddMeasurementsToBuffer(measurer.TestMeasurements);
skeletonBuffer.Add(ObjectCopier.Clone<Skeleton>(skeletonData[trackedIndex]));
frameTimeStampBuffer.Add(frameTimeStamp);
}
if (haveSkeletonData)
{
ColorImageFormat colorFormat = ColorImageFormat.Undefined;
int colorWidth = 0;
int colorHeight = 0;
DepthImageFormat depthFormat = DepthImageFormat.Undefined;
int depthWidth = 0;
int depthHeight = 0;
switch (this.ImageType)
{
case ImageType.Color:
// Retrieve the current color format, from the frame if present, and from the sensor if not.
using (ColorImageFrame colorImageFrame = e.OpenColorImageFrame())
{
if (null != colorImageFrame)
{
colorFormat = colorImageFrame.Format;
colorWidth = colorImageFrame.Width;
colorHeight = colorImageFrame.Height;
}
else if (null != sensor.ColorStream)
{
colorFormat = sensor.ColorStream.Format;
colorWidth = sensor.ColorStream.FrameWidth;
colorHeight = sensor.ColorStream.FrameHeight;
}
}
break;
case ImageType.Depth:
// Retrieve the current depth format, from the frame if present, and from the sensor if not.
using (DepthImageFrame depthImageFrame = e.OpenDepthImageFrame())
{
if (null != depthImageFrame)
{
depthFormat = depthImageFrame.Format;
depthWidth = depthImageFrame.Width;
depthHeight = depthImageFrame.Height;
}
else if (null != sensor.DepthStream)
{
depthFormat = sensor.DepthStream.Format;
depthWidth = sensor.DepthStream.FrameWidth;
depthHeight = sensor.DepthStream.FrameHeight;
}
}
break;
}
for (int i = 0; i < this.skeletonData.Length && i < this.skeletonCanvases.Count; i++)
{
var skeleton = this.skeletonData[i];
var skeletonCanvas = this.skeletonCanvases[i];
var jointMapping = this.jointMappings[i];
jointMapping.Clear();
try
{
// Transform the data into the correct space
// For each joint, we determine the exact X/Y coordinates for the target view
foreach (Joint joint in skeleton.Joints)
{
Point mappedPoint = Get2DPosition(
sensor,
this.ImageType,
this.RenderSize,
joint.Position,
colorFormat,
colorWidth,
colorHeight,
depthFormat,
depthWidth,
depthHeight);
jointMapping[joint.JointType] = new JointMapping
{
Joint = joint,
MappedPoint = mappedPoint
};
}
}
catch (UnauthorizedAccessException)
{
// Kinect is no longer available.
return;
}
// Look up the center point
Point centerPoint = Get2DPosition(
sensor,
this.ImageType,
this.RenderSize,
skeleton.Position,
colorFormat,
colorWidth,
colorHeight,
depthFormat,
depthWidth,
depthHeight);
// Scale the skeleton thickness
// 1.0 is the desired size at 640 width
double scale = this.RenderSize.Width / 640;
skeletonCanvas.Skeleton = skeleton;
skeletonCanvas.JointMappings = jointMapping;
skeletonCanvas.Center = centerPoint;
skeletonCanvas.ScaleFactor = scale;
}
if (isFullyTracked)
{
fullyTrackedMapping = new Dictionary<JointType, JointMapping>();
foreach (JointType type in jointMappings[trackedIndex].Keys)
{
fullyTrackedMapping[type] = new JointMapping();
fullyTrackedMapping[type].Joint = jointMappings[trackedIndex][type].Joint;
fullyTrackedMapping[type].MappedPoint = jointMappings[trackedIndex][type].MappedPoint;
}
}
}
}
private void KinectAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
KinectSensor sensor = sender as KinectSensor;
foreach (var skeletonCanvas in this.skeletonCanvases)
{
skeletonCanvas.Skeleton = null;
}
// Have we already been "shut down" by the user of this viewer,
// or has the SkeletonStream been disabled since this event was posted?
if ((null == this.KinectSensorManager) ||
(null == sensor) ||
(null == sensor.SkeletonStream) ||
!sensor.SkeletonStream.IsEnabled)
{
return;
}
bool haveSkeletonData = false;
long frameTimeStamp = -1;
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
if ((this.skeletonData == null) || (this.skeletonData.Length != skeletonFrame.SkeletonArrayLength))
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
frameTimeStamp = skeletonFrame.Timestamp;
haveSkeletonData = true;
}
}
int trackedIndex = -1;
// find the first tracked skeleton and set var trackedSkeleton accordingly
for (int i = 0; i < skeletonData.Length; i++)
{
if (skeletonData[i].TrackingState.Equals(SkeletonTrackingState.Tracked))
{
trackedIndex = i;
break;
}
}
bool isFullyTracked = false;
if (isMeasuring && trackedIndex > -1)
{
// check to see if the skeleton @ trackedIndex is fully tracked
if (fullyTrackedMapping == null && IsFullyTracked(skeletonData[trackedIndex]))
{
isFullyTracked = true;
}
SkeletonMeasurer measurer = new SkeletonMeasurer(skeletonData[trackedIndex]);
measurer.determineMeasurements();
AddMeasurementsToBuffer(measurer.TestMeasurements);
skeletonBuffer.Add(ObjectCopier.Clone <Skeleton>(skeletonData[trackedIndex]));
frameTimeStampBuffer.Add(frameTimeStamp);
}
if (haveSkeletonData)
{
ColorImageFormat colorFormat = ColorImageFormat.Undefined;
int colorWidth = 0;
int colorHeight = 0;
DepthImageFormat depthFormat = DepthImageFormat.Undefined;
int depthWidth = 0;
int depthHeight = 0;
switch (this.ImageType)
{
case ImageType.Color:
// Retrieve the current color format, from the frame if present, and from the sensor if not.
using (ColorImageFrame colorImageFrame = e.OpenColorImageFrame())
{
if (null != colorImageFrame)
{
colorFormat = colorImageFrame.Format;
colorWidth = colorImageFrame.Width;
colorHeight = colorImageFrame.Height;
}
else if (null != sensor.ColorStream)
{
colorFormat = sensor.ColorStream.Format;
colorWidth = sensor.ColorStream.FrameWidth;
colorHeight = sensor.ColorStream.FrameHeight;
}
}
break;
case ImageType.Depth:
// Retrieve the current depth format, from the frame if present, and from the sensor if not.
using (DepthImageFrame depthImageFrame = e.OpenDepthImageFrame())
{
if (null != depthImageFrame)
{
depthFormat = depthImageFrame.Format;
depthWidth = depthImageFrame.Width;
depthHeight = depthImageFrame.Height;
}
else if (null != sensor.DepthStream)
{
depthFormat = sensor.DepthStream.Format;
depthWidth = sensor.DepthStream.FrameWidth;
depthHeight = sensor.DepthStream.FrameHeight;
}
}
break;
}
for (int i = 0; i < this.skeletonData.Length && i < this.skeletonCanvases.Count; i++)
{
var skeleton = this.skeletonData[i];
var skeletonCanvas = this.skeletonCanvases[i];
var jointMapping = this.jointMappings[i];
jointMapping.Clear();
try
{
// Transform the data into the correct space
// For each joint, we determine the exact X/Y coordinates for the target view
foreach (Joint joint in skeleton.Joints)
{
Point mappedPoint = Get2DPosition(
sensor,
this.ImageType,
this.RenderSize,
joint.Position,
colorFormat,
colorWidth,
colorHeight,
depthFormat,
depthWidth,
depthHeight);
jointMapping[joint.JointType] = new JointMapping
{
Joint = joint,
MappedPoint = mappedPoint
};
}
}
catch (UnauthorizedAccessException)
{
// Kinect is no longer available.
return;
}
// Look up the center point
Point centerPoint = Get2DPosition(
sensor,
this.ImageType,
this.RenderSize,
skeleton.Position,
colorFormat,
colorWidth,
colorHeight,
depthFormat,
depthWidth,
depthHeight);
// Scale the skeleton thickness
// 1.0 is the desired size at 640 width
double scale = this.RenderSize.Width / 640;
skeletonCanvas.Skeleton = skeleton;
skeletonCanvas.JointMappings = jointMapping;
skeletonCanvas.Center = centerPoint;
skeletonCanvas.ScaleFactor = scale;
}
if (isFullyTracked)
{
fullyTrackedMapping = new Dictionary <JointType, JointMapping>();
foreach (JointType type in jointMappings[trackedIndex].Keys)
{
fullyTrackedMapping[type] = new JointMapping();
fullyTrackedMapping[type].Joint = jointMappings[trackedIndex][type].Joint;
fullyTrackedMapping[type].MappedPoint = jointMappings[trackedIndex][type].MappedPoint;
}
}
}
}
