void SensorFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
var sensor = (KinectSensor)sender;
var sensorIndex = ActiveSensors.IndexOf(sensor);
Skeleframe frame;
using (var skeleFrame = e.OpenSkeletonFrame())
{
if (skeleFrame == null)
{
return;
}
var timeDelta = skeleFrame.Timestamp - _lastTimeStamps[sensorIndex];
_lastTimeStamps[sensorIndex] = skeleFrame.Timestamp;
frame = new Skeleframe
{
FloorClipPlane = skeleFrame.FloorClipPlane,
SkeletonFrameNumber = skeleFrame.FrameNumber,
TimeStamp = skeleFrame.Timestamp,
TimeDelta = timeDelta,
SensorIndex = sensorIndex,
Skeletons = new Skeleton[skeleFrame.SkeletonArrayLength],
KinectId = sensor.UniqueKinectId
};
skeleFrame.CopySkeletonDataTo(frame.Skeletons);
lock (_frameQueue)
{
_frameQueue.Enqueue(frame);
HasFrames = true;
}
}
}
private List <Body> GetBodiesForFrame(Skeleframe frame)
{
List <Body> result = new List <Body>();
if (!_sortedBodies.ContainsKey(frame.SensorIndex))
{
_sortedBodies[frame.SensorIndex] = new Dictionary <int, Body>();
}
var sx = _sortedBodies[frame.SensorIndex];
for (var ix = 0; ix < frame.Skeletons.Length; ix++)
{
if (frame.Skeletons[ix].TrackingId != 0)
{
var body = GetBodyForSkeleton(sx, frame.Skeletons[ix]);
body.SensorIndex = frame.SensorIndex;
result.Add(body);
}
}
return(result);
}