Corrected some issues with how skeletons were displayed.

LiveScanServer/KinectSettings.cs

@@ -34,6 +34,7 @@ namespace KinectServer
         public BindingList<MarkerPose> lMarkerPoses = new BindingList<MarkerPose>();
 
         public bool bStreamOnlyBodies = false;
+        public bool bShowSkeletons = true;
 
         public int nNumICPIterations = 10;
         public int nNumRefineIters = 2;

LiveScanServer/OpenGLWindow.cs

@@ -259,7 +259,7 @@ namespace KinectServer
             if ((DateTime.Now - tFPSUpdateTimer).Seconds >= 1)
             {
                 double FPS = nTickCounter / (DateTime.Now - tFPSUpdateTimer).TotalSeconds;
-                this.Title = "FPS: " + string.Format("{0:F}", FPS);
+                //this.Title = "FPS: " + string.Format("{0:F}", FPS);
 
                 tFPSUpdateTimer = DateTime.Now;
                 nTickCounter = 0;
@@ -292,42 +292,43 @@ namespace KinectServer
 
             lock (vertices)
             {
-                lock (settings)
+                bool bShowSkeletons = settings.bShowSkeletons;
-                {
+
-                    PointCount = vertices.Count / 3;
+                PointCount = vertices.Count / 3;
-                    //bounding box
+                //bounding box
-                    LineCount = 12;
+                LineCount = 12;
-                    //markers
+                //markers
-                    LineCount += settings.lMarkerPoses.Count * 3;
+                LineCount += settings.lMarkerPoses.Count * 3;
-                    //cameras
+                //cameras
-                    LineCount += cameraPoses.Count * 3;
+                LineCount += cameraPoses.Count * 3;
+                if (bShowSkeletons)
                     LineCount += 24 * bodies.Count;
 
-                    VBO = new VertexC4ubV3f[PointCount + 2 * LineCount];
+                VBO = new VertexC4ubV3f[PointCount + 2 * LineCount];
 
-                    for (int i = 0; i < PointCount; i++)
+                for (int i = 0; i < PointCount; i++)
-                    {
+                {
-                        VBO[i].R = (byte)colors[i * 3];
+                    VBO[i].R = (byte)colors[i * 3];
-                        VBO[i].G = (byte)colors[i * 3 + 1];
+                    VBO[i].G = (byte)colors[i * 3 + 1];
-                        VBO[i].B = (byte)colors[i * 3 + 2];
+                    VBO[i].B = (byte)colors[i * 3 + 2];
-                        VBO[i].A = 255;
+                    VBO[i].A = 255;
-                        VBO[i].Position.X = vertices[i * 3];
+                    VBO[i].Position.X = vertices[i * 3];
-                        VBO[i].Position.Y = vertices[i * 3 + 1];
+                    VBO[i].Position.Y = vertices[i * 3 + 1];
-                        VBO[i].Position.Z = vertices[i * 3 + 2];
+                    VBO[i].Position.Z = vertices[i * 3 + 2];
-                    }
-
-                    int iCurLineCount = 0;
-                    iCurLineCount += AddBoundingBox(PointCount + 2 * iCurLineCount);
-                    for (int i = 0; i < settings.lMarkerPoses.Count; i++)
-                    {
-                        iCurLineCount += AddMarker(PointCount + 2 * iCurLineCount, settings.lMarkerPoses[i].pose);
-                    }
-                    for (int i = 0; i < cameraPoses.Count; i++)
-                    {
-                        iCurLineCount += AddCamera(PointCount + 2 * iCurLineCount, cameraPoses[i]);
-                    }
-                    iCurLineCount += AddBodies(PointCount + 2 * iCurLineCount);
                 }
+
+                int iCurLineCount = 0;
+                iCurLineCount += AddBoundingBox(PointCount + 2 * iCurLineCount);
+                for (int i = 0; i < settings.lMarkerPoses.Count; i++)
+                {
+                    iCurLineCount += AddMarker(PointCount + 2 * iCurLineCount, settings.lMarkerPoses[i].pose);
+                }
+                for (int i = 0; i < cameraPoses.Count; i++)
+                {
+                    iCurLineCount += AddCamera(PointCount + 2 * iCurLineCount, cameraPoses[i]);
+                }
+                if (bShowSkeletons)
+                    iCurLineCount += AddBodies(PointCount + 2 * iCurLineCount);
             }
         }
 
@@ -574,6 +575,9 @@ namespace KinectServer
 
             for (int bodyIdx = 0; bodyIdx < bodies.Count; bodyIdx++)
             {
+                if (bodies[bodyIdx].bTracked == false)
+                    continue;
+
                 //Torso
                 n += AddBone(bodyIdx, JointType.JointType_Head, JointType.JointType_Neck, startIdx + n);
                 n += AddBone(bodyIdx, JointType.JointType_Neck, JointType.JointType_SpineShoulder, startIdx + n);
@@ -607,7 +611,8 @@ namespace KinectServer
                 n += AddBone(bodyIdx, JointType.JointType_HipLeft, JointType.JointType_KneeLeft, startIdx + n);
                 n += AddBone(bodyIdx, JointType.JointType_KneeLeft, JointType.JointType_AnkleLeft, startIdx + n);
                 n += AddBone(bodyIdx, JointType.JointType_AnkleLeft, JointType.JointType_FootLeft, startIdx + n);
-            }
+            }         
+
             return nLinesToAdd;
         }
 

LiveScanServer/SettingsForm.Designer.cs

@@ -77,6 +77,7 @@
             this.rAsciiPly = new System.Windows.Forms.RadioButton();
             this.txtRefinIters = new System.Windows.Forms.TextBox();
             this.lbOuterIters = new System.Windows.Forms.Label();
+            this.chSkeletons = new System.Windows.Forms.CheckBox();
             this.grClient.SuspendLayout();
             this.grBody.SuspendLayout();
             this.grMarkers.SuspendLayout();
@@ -137,6 +138,7 @@
             // 
             // grBody
             // 
+            this.grBody.Controls.Add(this.chSkeletons);
             this.grBody.Controls.Add(this.label1);
             this.grBody.Controls.Add(this.chBodyData);
             this.grBody.Location = new System.Drawing.Point(9, 211);
@@ -149,7 +151,7 @@
             // label1
             // 
             this.label1.AutoSize = true;
-            this.label1.Location = new System.Drawing.Point(11, 43);
+            this.label1.Location = new System.Drawing.Point(8, 61);
             this.label1.Name = "label1";
             this.label1.Size = new System.Drawing.Size(187, 13);
             this.label1.TabIndex = 20;
@@ -570,6 +572,17 @@
             this.lbOuterIters.TabIndex = 26;
             this.lbOuterIters.Text = "Num of refinement iters:";
             // 
+            // chSkeletons
+            // 
+            this.chSkeletons.AutoSize = true;
+            this.chSkeletons.Location = new System.Drawing.Point(11, 41);
+            this.chSkeletons.Name = "chSkeletons";
+            this.chSkeletons.Size = new System.Drawing.Size(154, 17);
+            this.chSkeletons.TabIndex = 21;
+            this.chSkeletons.Text = "show skeletons in live view";
+            this.chSkeletons.UseVisualStyleBackColor = true;
+            this.chSkeletons.CheckedChanged += new System.EventHandler(this.chSkeletons_CheckedChanged);
+            // 
             // SettingsForm
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@@ -648,6 +661,7 @@
         private System.Windows.Forms.RadioButton rBinaryPly;
         private System.Windows.Forms.Label lbFormat;
         private System.Windows.Forms.RadioButton rAsciiPly;
+        private System.Windows.Forms.CheckBox chSkeletons;
 
     }
 }

LiveScanServer/SettingsForm.cs

@@ -51,7 +51,8 @@ namespace KinectServer
 
             lisMarkers.DataSource = oSettings.lMarkerPoses;
 
-            chBodyData.Checked = oSettings.bStreamOnlyBodies;            
+            chBodyData.Checked = oSettings.bStreamOnlyBodies;
+            chSkeletons.Checked = oSettings.bShowSkeletons;
 
             chMerge.Checked = oSettings.bMergeScansForSave;
             txtICPIters.Text = oSettings.nNumICPIterations.ToString();
@@ -310,5 +311,10 @@ namespace KinectServer
                 oSettings.bSaveAsBinaryPLY = true;
             }
         }
+
+        private void chSkeletons_CheckedChanged(object sender, EventArgs e)
+        {
+            oSettings.bShowSkeletons = chSkeletons.Checked;
+        }
     }
 }

include/LiveScanClient/iCapture.h

@@ -19,6 +19,12 @@
 
 struct Body
 {
+	Body()
+	{
+		bTracked = false;
+		vJoints.resize(JointType_Count);
+		vJointsInColorSpace.resize(JointType_Count);
+	}
 	bool bTracked;
 	std::vector<Joint> vJoints;
 	std::vector<Point2f> vJointsInColorSpace;

src/LiveScanClient/kinectCapture.cpp

@@ -187,11 +187,11 @@ void KinectCapture::GetBodyFrame(IMultiSourceFrame* pMultiFrame)
 
 	if (SUCCEEDED(hr))
 	{
-		IBody* bodies[6] = { NULL };
+		IBody* bodies[BODY_COUNT] = { NULL };
-		pBodyFrame->GetAndRefreshBodyData(6, bodies);
+		pBodyFrame->GetAndRefreshBodyData(BODY_COUNT, bodies);
 
 		vBodies = std::vector<Body>(BODY_COUNT);
-		for (int i = 0; i < 6; i++)
+		for (int i = 0; i < BODY_COUNT; i++)
 		{		
 			if (bodies[i])
 			{

src/LiveScanClient/liveScanClient.cpp

@@ -721,23 +721,25 @@ void LiveScanClient::StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color,
 		}
 	}
 
-	for (unsigned int i = 0; i < bodies.size(); i++)
+	vector<Body> tempBodies = bodies;
+
+	for (unsigned int i = 0; i < tempBodies.size(); i++)
 	{
-		for (unsigned int j = 0; j < bodies[i].vJoints.size(); j++)
+		for (unsigned int j = 0; j < tempBodies[i].vJoints.size(); j++)
 		{
 			if (calibration.bCalibrated)
 			{
-				bodies[i].vJoints[j].Position.X += calibration.worldT[0];
+				tempBodies[i].vJoints[j].Position.X += calibration.worldT[0];
-				bodies[i].vJoints[j].Position.Y += calibration.worldT[1];
+				tempBodies[i].vJoints[j].Position.Y += calibration.worldT[1];
-				bodies[i].vJoints[j].Position.Z += calibration.worldT[2];
+				tempBodies[i].vJoints[j].Position.Z += calibration.worldT[2];
 
-				Point3f tempPoint(bodies[i].vJoints[j].Position.X, bodies[i].vJoints[j].Position.Y, bodies[i].vJoints[j].Position.Z);
+				Point3f tempPoint(tempBodies[i].vJoints[j].Position.X, tempBodies[i].vJoints[j].Position.Y, tempBodies[i].vJoints[j].Position.Z);
 
 				tempPoint = RotatePoint(tempPoint, calibration.worldR);
 
-				bodies[i].vJoints[j].Position.X = tempPoint.X;
+				tempBodies[i].vJoints[j].Position.X = tempPoint.X;
-				bodies[i].vJoints[j].Position.Y = tempPoint.Y;
+				tempBodies[i].vJoints[j].Position.Y = tempPoint.Y;
-				bodies[i].vJoints[j].Position.Z = tempPoint.Z;
+				tempBodies[i].vJoints[j].Position.Z = tempPoint.Z;
 			}
 		}
 	}
@@ -752,7 +754,7 @@ void LiveScanClient::StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color,
 		goodVerticesShort[i] = goodVertices[i];
 	}
 
-	m_vLastFrameBody = bodies;
+	m_vLastFrameBody = tempBodies;
 	m_vLastFrameVertices = goodVerticesShort;
 	m_vLastFrameRGB = goodColorPoints;
 }