private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
{
// Enque Capture
tracker.EnqueueCapture(capture);
// Pop Result
using (K4ABT.Frame frame = tracker.PopResult())
// Get Color Image
using (K4A.Image color_image = frame.Capture.Color)
{
// Get Color Buffer and Write Bitmap
byte[] color_buffer = color_image.Memory.ToArray();
color_bitmap.WritePixels(color_rect, color_buffer, color_stride, 0, 0);
// Clear All Ellipse from Canvas
Canvas_Body.Children.Clear();
// Draw Skeleton
for (uint body_index = 0; body_index < frame.NumberOfBodies; body_index++)
{
// Get Skeleton and ID
K4ABT.Skeleton skeleton = frame.GetBodySkeleton(body_index);
uint id = frame.GetBodyId(body_index);
// Draw Joints
for (int joint_index = 0; joint_index < (int)K4ABT.JointId.Count; joint_index++)
{
// Get Joint and Position
K4ABT.Joint joint = skeleton.GetJoint(joint_index);
Vector2? position = calibration.TransformTo2D(joint.Position, K4A.CalibrationDeviceType.Depth, K4A.CalibrationDeviceType.Color);
if (!position.HasValue)
{
continue;
}
// Create Ellipse
const int radius = 10;
SolidColorBrush stroke_color = new SolidColorBrush(colors[id % colors.Length]);
SolidColorBrush fill_color = new SolidColorBrush((joint.ConfidenceLevel >= K4ABT.JointConfidenceLevel.Medium) ? colors[id % colors.Length] : Colors.Transparent);
Ellipse ellipse = new Ellipse()
{
Width = radius, Height = radius, StrokeThickness = 1, Stroke = stroke_color, Fill = fill_color
};
// Add Ellipse to Canvas
Canvas.SetLeft(ellipse, position.Value.X - (radius / 2));
Canvas.SetTop(ellipse, position.Value.Y - (radius / 2));
Canvas_Body.Children.Add(ellipse);
}
}
}
}
}
}
public UJoint(Joint joint)
{
Vector3 kinectSpacePosition = joint.Position.ToUnityVector3();
Position = AdjustScale(kinectSpacePosition);
Rotation = joint.Quaternion.ToUnityQuaternion();
Confidence = joint.ConfidenceLevel;
}
/// <summary>
/// Get all joints with their original position and rotation
/// </summary>
/// <returns></returns>
public UJoint[] ResolveSkeleton()
{
//Debug.Log("Resolving Skeleton");
//get all joint positions
UJoint[] joints = new UJoint[27];
for (int i = 0; i < 27; i++)
{
Joint j = trackedBody.GetJoint(i);
UJoint unityJoint = new UJoint(j);
joints[i] = unityJoint;
}
if (AppManager.recording)
{
MotionManager.Instance.StoreFrame(joints);
}
return(joints);
}
// Converts Azure Kinect SDK BT Body to PoseDataJSON (serializable for JSON) pose
public static PoseDataJSON Body2PoseDataJSON(Body body)
{
JointDataJSON[] joint_data_array = new JointDataJSON[(int)JointId.Count];
for (JointId jt = 0; jt < JointId.Count; jt++)
{
// write recorded poses to file
Microsoft.Azure.Kinect.BodyTracking.Joint joint = body.Skeleton.GetJoint(jt);
var pos = joint.Position;
var orientation = joint.Quaternion;
// save raw data
var v = new Vector3(pos.X, pos.Y, pos.Z);
var r = new Quaternion(orientation.X, orientation.Y, orientation.Z, orientation.W);
var joint_data = new JointDataJSON {
position = JsonUtility.ToJson(v), rotation = JsonUtility.ToJson(r)
};
joint_data_array[(int)jt] = joint_data;
}
PoseDataJSON jdl = new PoseDataJSON {
data = joint_data_array
};
return(jdl);
}
// Converts Azure Kinect SDK BT Body to PoseData pose
public static PoseData Body2PoseData(Body body)
{
JointData[] joint_data_live_array = new JointData[(int)JointId.Count];
PoseData live_data = new PoseData {
data = { }
};
for (JointId jt = 0; jt < JointId.Count; jt++)
{
Microsoft.Azure.Kinect.BodyTracking.Joint stickJoint = body.Skeleton.GetJoint(jt);
var stickPos = stickJoint.Position;
var stickOrientation = stickJoint.Quaternion;
JointData joint_data_live = new JointData
{
Position = new Vector3(stickPos.X, stickPos.Y, stickPos.Z),
Orientation = new Quaternion(stickOrientation.X, stickOrientation.Y, stickOrientation.Z, stickOrientation.W)
};
joint_data_live_array[(int)jt] = joint_data_live;
}
live_data = new PoseData {
data = joint_data_live_array
};
return(live_data);
}
public static void Assign(this LineRenderer lR, int index, Joint joint) => lR.SetPosition(index, -joint.Position.ToUnityVector3() / 200f);
