Here is my code so far. It is very basic as I'm just learning how to code with the Kinect.
KinectSensor Sensor = null;
private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
}
}
// Draw the skeleton.
if (skeletons.Length > 0)
{
drawSkeleton(skeletons[0]);
}
}
private void drawSkeleton(Skeleton skeleton)
{
// Dispose of the current image if applicable.
if (pctSkeleton.Image != null)
{
pctSkeleton.Image.Dispose();
}
Image image = Image.FromFile(CanvasPath);
using (Graphics g = Graphics.FromImage(image))
{
// If any joints aren't tracked, return.
foreach (Joint joint in skeleton.Joints)
{
if (joint.TrackingState == JointTrackingState.NotTracked)
{
return;
}
}
// Sort the 20 joints.
Joint head = skeleton.Joints[JointType.Head];
Joint hipCenter = skeleton.Joints[JointType.HipCenter];
Joint spine = skeleton.Joints[JointType.Spine];
Joint shoulderCenter = skeleton.Joints[JointType.ShoulderCenter];
Joint shoulderLeft = skeleton.Joints[JointType.ShoulderLeft];
Joint elbowLeft = skeleton.Joints[JointType.ElbowLeft];
Joint wristLeft = skeleton.Joints[JointType.WristLeft];
Joint handLeft = skeleton.Joints[JointType.HandLeft];
Joint shoulderRight = skeleton.Joints[JointType.ShoulderRight];
Joint elbowRight = skeleton.Joints[JointType.ElbowRight];
Joint wristRight = skeleton.Joints[JointType.WristRight];
Joint handRight = skeleton.Joints[JointType.HandRight];
Joint hipLeft = skeleton.Joints[JointType.HipLeft];
Joint kneeLeft = skeleton.Joints[JointType.KneeLeft];
Joint ankleLeft = skeleton.Joints[JointType.AnkleLeft];
Joint footLeft = skeleton.Joints[JointType.FootLeft];
Joint hipRight = skeleton.Joints[JointType.HipRight];
Joint kneeRight = skeleton.Joints[JointType.KneeRight];
Joint ankleRight = skeleton.Joints[JointType.AnkleRight];
Joint footRight = skeleton.Joints[JointType.FootRight];
Pen inBoundPen = new Pen(Brushes.Green, 3);
///////////////////DRAW BONES////////////////////////
// head => shoulder center.
g.DrawLine(inBoundPen, convertX(head.Position.X), convertY(head.Position.Y), convertX(shoulderCenter.Position.X), convertY(shoulderCenter.Position.Y));
// shoulders => shoulder center.
g.DrawLine(inBoundPen, convertX(shoulderRight.Position.X), convertY(shoulderRight.Position.Y), convertX(shoulderCenter.Position.X), convertY(shoulderCenter.Position.Y));
g.DrawLine(inBoundPen, convertX(shoulderLeft.Position.X), convertY(shoulderLeft.Position.Y), convertX(shoulderCenter.Position.X), convertY(shoulderCenter.Position.Y));
// shoulder center => spine.
g.DrawLine(inBoundPen, convertX(shoulderCenter.Position.X), convertY(shoulderCenter.Position.Y), convertX(spine.Position.X), convertY(spine.Position.Y));
// shoulder right => elbow right
g.DrawLine(inBoundPen, convertX(shoulderRight.Position.X), convertY(shoulderRight.Position.Y), convertX(elbowRight.Position.X), convertY(elbowRight.Position.Y));
// elbow right => wrist right
g.DrawLine(inBoundPen, convertX(elbowRight.Position.X), convertY(elbowRight.Position.Y), convertX(wristRight.Position.X), convertY(wristRight.Position.Y));
// wrist right => hand right
g.DrawLine(inBoundPen, convertX(wristRight.Position.X), convertY(wristRight.Position.Y), convertX(handRight.Position.X), convertY(handRight.Position.Y));
// shoulder left => elbow left
g.DrawLine(inBoundPen, convertX(shoulderLeft.Position.X), convertY(shoulderLeft.Position.Y), convertX(elbowLeft.Position.X), convertY(elbowLeft.Position.Y));
// elbow left => wrist left
g.DrawLine(inBoundPen, convertX(elbowLeft.Position.X), convertY(elbowLeft.Position.Y), convertX(wristLeft.Position.X), convertY(wristLeft.Position.Y));
// wrist left => hand left
g.DrawLine(inBoundPen, convertX(wristLeft.Position.X), convertY(wristLeft.Position.Y), convertX(handLeft.Position.X), convertY(handLeft.Position.Y));
// spine => hip center.
g.DrawLine(inBoundPen, convertX(spine.Position.X), convertY(spine.Position.Y), convertX(hipCenter.Position.X), convertY(hipCenter.Position.Y));
// hips => hip center.
g.DrawLine(inBoundPen, convertX(hipCenter.Position.X), convertY(hipCenter.Position.Y), convertX(hipLeft.Position.X), convertY(hipLeft.Position.Y));
g.DrawLine(inBoundPen, convertX(hipCenter.Position.X), convertY(hipCenter.Position.Y), convertX(hipRight.Position.X), convertY(hipRight.Position.Y));
// hip left => knee left.
g.DrawLine(inBoundPen, convertX(hipLeft.Position.X), convertY(hipLeft.Position.Y), convertX(kneeLeft.Position.X), convertY(kneeLeft.Position.Y));
// knee left => ankle left.
g.DrawLine(inBoundPen, convertX(kneeLeft.Position.X), convertY(kneeLeft.Position.Y), convertX(ankleLeft.Position.X), convertY(ankleLeft.Position.Y));
// ankle left => foot left.
g.DrawLine(inBoundPen, convertX(ankleLeft.Position.X), convertY(ankleLeft.Position.Y), convertX(footLeft.Position.X), convertY(footLeft.Position.Y));
// hip right => knee right.
g.DrawLine(inBoundPen, convertX(hipRight.Position.X), convertY(hipRight.Position.Y), convertX(kneeRight.Position.X), convertY(kneeRight.Position.Y));
// knee right => ankle right.
g.DrawLine(inBoundPen, convertX(kneeRight.Position.X), convertY(kneeRight.Position.Y), convertX(ankleRight.Position.X), convertY(ankleRight.Position.Y));
// ankle right => foot right.
g.DrawLine(inBoundPen, convertX(ankleRight.Position.X), convertY(ankleRight.Position.Y), convertX(footRight.Position.X), convertY(footRight.Position.Y));
////////////////////////////////////////////////
pctSkeleton.Image = image;
}
}
private float convertX(float x)
{
return (pctSkeleton.Width / 2) + (x * 100);
}
private float convertY(float y)
{
return (pctSkeleton.Height / 2) - (y * 100);
}
private void button2_Click(object sender, EventArgs e)
{
// Get the first sensor
Sensor = KinectSensor.KinectSensors[0];
// Enable the skeleton and video streams.
Sensor.SkeletonStream.Enable();
Sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
// Set the event handlers
Sensor.SkeletonFrameReady += SensorSkeletonFrameReady;
Sensor.ColorFrameReady += SensorColorFrameReady;
// Start the kinect.
Sensor.Start();
}
For some reason, the sensor isn't tracking the skeleton most of the time. It works about 20% of the time however. When setting breakpoints, it shows the joints as not tracked. I am new at this, so any information as to what I'm doing wrong would be greatly appreciated.
