Kinect loses track of bodies when rotated in pitch/elevation

I have an application where I am using a Kinect v2 to track people. The Kinect is mounted to a gimbal that is then moved to point at the body joint the Kinect is tracking. This seems to work just fine when the Kinect is moved in yaw/azimuth (rotated about
its y-axis), however the Kinect seems to have issues when it is moved in pitch/elevation (rotated about its x-axis). The body tracking loses track of all bodies, causing the gimbal to stop, and after a second or two it will reacquire the people in view. With
smaller motions or very slow motions, the Kinect is less likely to lose track, but it is still very sensitive. The track loss seems to be correlated with a change in what the Kinect views as the floor plane (it can happen regardless of whether or not the Kinect
can see the floor).
Is this a fundamental limitation of the Kinect body tracking? Is there anything that can be done to make the body tracking less sensitive to pitch changes or floor plane changes? I understand that having the Kinect itself move is not exactly a normal
use-case for it.

Body tracking is only supported when the sensor is orientated horizontally with the ground/floor plane. We do not support any other sensor orientation by design. Optimal sensor configuration is 6 feet from the floor with the sensor tilted down with
unobstructed view of the floor(no IR shadow casting because of object edges). The sensor must see the users head and both shoulders to acquire a hard lock-on.
If you need other tracking abilities you may need to revert to blob detections of your own tracking system.
Carmine Sirignano - MSFT

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Ultrabeat loses track of samples when saved within a Project???

Why is it that when I save a project with all my custom samples loaded into the Ultrabeat, I have to manually re-find them once it comes time for me to open the saved project?
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public void getangles(FaceTrackFrame fr)
var shape = fr.Get3DShape();
var X_7 = shape[FeaturePoint.MiddleTopDipUpperLip].X;
var Y_7 = shape[FeaturePoint.MiddleTopDipUpperLip].Y;
var Z_7 = shape[FeaturePoint.MiddleTopDipUpperLip].Z;
var X_31 = shape[FeaturePoint.OutsideRightCornerMouth].X;
var Y_31 = shape[FeaturePoint.OutsideRightCornerMouth].Y;
var Z_31 = shape[FeaturePoint.OutsideRightCornerMouth].Z;
var X_33 = shape[FeaturePoint.RightTopDipUpperLip].X;
var Y_33 = shape[FeaturePoint.RightTopDipUpperLip].Y;
var Z_33 = shape[FeaturePoint.RightTopDipUpperLip].Z;
var X_40 = shape[FeaturePoint.MiddleTopLowerLip].X;
var Y_40 = shape[FeaturePoint.MiddleTopLowerLip].Y;
var Z_40 = shape[FeaturePoint.MiddleTopLowerLip].Z;
var X_41 = shape[FeaturePoint.MiddleBottomLowerLip].X;
var Y_41 = shape[FeaturePoint.MiddleBottomLowerLip].Y;
var Z_41 = shape[FeaturePoint.MiddleBottomLowerLip].Z;
var X_64 = shape[FeaturePoint.OutsideLeftCornerMouth].X;
var Y_64 = shape[FeaturePoint.OutsideLeftCornerMouth].Y;
var Z_64 = shape[FeaturePoint.OutsideLeftCornerMouth].Z;
var X_66 = shape[FeaturePoint.LeftTopDipUpperLip].X;
var Y_66 = shape[FeaturePoint.LeftTopDipUpperLip].Y;
var Z_66 = shape[FeaturePoint.LeftTopDipUpperLip].Z;
//some stuff
float[] point1 = new float[3] { X_7, Y_7, Z_7 };
float[] point2 = new float[3] { X_64, Y_64, Z_64 };
float[] point3 = new float[3] { X_41, Y_41, Z_41 };
float[] point4 = new float[3] { X_80, Y_80, Z_80 };
float[] point5 = new float[3] { X_88, Y_88, Z_88 };
float[] point6 = new float[3] { X_31, Y_31, Z_31 };
float[] point7 = new float[3] { X_87, Y_87, Z_87 };
float[] point8 = new float[3] { X_40, Y_40, Z_40 };
float[] point9 = new float[3] { X_89, Y_89, Z_89 };
float[] point10 = new float[3] { X_86, Y_86, Z_86 };
float[] point11 = new float[3] { X_85, Y_85, Z_85 };
float[] point12 = new float[3] { X_82, Y_82, Z_82 };
float[] point13 = new float[3] { X_84, Y_84, Z_84 };
float[] point14 = new float[3] { X_66, Y_66, Z_66 };
float deltax = point2[0] - point1[0];
float deltay = point2[1] - point1[1];
float deltaz = point2[2] - point1[2];
float cetax = point3[0] - point2[0];
float cetay = point3[1] - point2[1];
float cetaz = point3[2] - point2[2];
float notex = point3[0] - point1[0];
float notey = point3[1] - point1[1];
float notez = point3[2] - point1[2];
float deltax1 = point5[0] - point4[0];
float deltay1 = point5[1] - point4[1];
float deltaz1 = point5[2] - point4[2];
float deltax2 = point5[0] - point3[0];
float deltay2 = point5[1] - point3[1];
float deltaz2 = point5[2] - point3[2];
//some stuff
float distance = (float)
Math.Sqrt((deltax * deltax) + (deltay * deltay) + (deltaz * deltaz));
float distance1 = (float)
Math.Sqrt((cetax * cetax) + (cetay * cetay) + (cetaz * cetaz));
float distance2 = (float)
Math.Sqrt((notex * notex) + (notey * notey) + (notez * notez));
float distance3 = (float)
Math.Sqrt((deltax1 * deltax1) + (deltay1 * deltay1) + (deltaz1 * deltaz1));
float distance4 = (float)
Math.Sqrt((deltax2 * deltax2) + (deltay2 * deltay2) + (deltaz2 * deltaz2));
float distance5 = (float)
Math.Sqrt((deltax3 * deltax3) + (deltay3 * deltay3) + (deltaz3 * deltaz3));
float distance6 = (float)
Math.Sqrt((deltax4 * deltax4) + (deltay4 * deltay4) + (deltaz4 * deltaz4));
float distance7 = (float)
Math.Sqrt((deltax5 * deltax5) + (deltay5 * deltay5) + (deltaz5 * deltaz5));
float distance9 = (float)
Math.Sqrt((deltax6 * deltax6) + (deltay6 * deltay6) + (deltaz6 * deltaz6));
float distance8 = (float)
Math.Sqrt((deltax7 * deltax7) + (deltay7 * deltay7) + (deltaz7 * deltaz7));
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double feature = CalcAngleB(distance, distance2, distance1);
double feature2 = CalcAngleB(distance2, distance, distance);
double feature3 = CalcAngleB(distance, distance1, distance2);
double feature4 = CalcAngleB(distance3, distance5, distance4);
double feature5 = CalcAngleB(distance5, distance4, distance3);
double feature6 = CalcAngleB(distance4, distance3, distance5);
double feature7 = CalcAngleB(distance6, distance, distance7);
double feature8 = CalcAngleB(distance10, distance8, distance9);
double feature9 = CalcAngleB(distance9, distance10, distance8);
double feature10 = CalcAngleB(distance8, distance9, distance10);
//some stuff
using (System.IO.StreamWriter file = new System.IO.StreamWriter(@"D:\angles.txt", true))
file.WriteLine("{0},{1},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14},{15},{16},{17},{18},{19},{20},{21},{22},{23},{24},{25},{26},{27},{28}", feature, feature2, feature3, feature4, feature5, feature6, feature7, feature8, feature9, feature10, feature11, feature12, feature13, feature14, feature15, feature16, feature17, feature18, feature19, feature20, feature21, feature22, feature23, feature24, feature25, feature26, feature27, feature28, feature29);
Where CalculateAngleB is a declared function above:
public double CalcAngleB(double a, double b, double c)
return Math.Acos((a * a + c * c - b * b) / (2 * a * c));
and I call getangles(fr) at :
internal void OnFrameReady(KinectSensor kinectSensor, ColorImageFormat colorImageFormat, byte[] colorImage, DepthImageFormat depthImageFormat, short[] depthImage, Skeleton skeletonOfInterest)
this.skeletonTrackingState = skeletonOfInterest.TrackingState;
if (this.skeletonTrackingState != SkeletonTrackingState.Tracked)
// nothing to do with an untracked skeleton.
return;
if (this.faceTracker == null)
try
this.faceTracker = new FaceTracker(kinectSensor);
catch (InvalidOperationException)
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
Debug.WriteLine("AllFramesReady - creating a new FaceTracker threw an InvalidOperationException");
this.faceTracker = null;
if (this.faceTracker != null)
FaceTrackFrame frame = this.faceTracker.Track(
colorImageFormat, colorImage, depthImageFormat, depthImage, skeletonOfInterest);
getangles(frame);
this.lastFaceTrackSucceeded = frame.TrackSuccessful;
if (this.lastFaceTrackSucceeded)
if (faceTriangles == null)
// only need to get this once. It doesn't change.
faceTriangles = frame.GetTriangles();
//MessageBox.Show("face has been detected");
this.facePoints = frame.GetProjected3DShape();
//this.FaceRect = new System.Windows.Rect(frame.FaceRect.Left, frame.FaceRect.Top, frame.FaceRect.Width, frame.FaceRect.Height);
Now, whenever the mask appears as if (this.facetracker!=null), the code starts to calculate the angles and generate the text file. My question is how can I add a control (e.g.Timer or button) to decide exactly when to start calculating features or generating
the file because in data collection I need features to be recorded accurately when the speaker starts to pronounce phrases not when the mask appears. I have tried to add a dispatcherTimer as when the timer counts after the mask appears it starts to calculate
the angles like this:
private static void dispatcherTimer_Tick(object sender, EventArgs e)
Microsoft.Kinect.Toolkit.FaceTracking.FaceTrackFrame fr;
fr = facetracker.Track(sensor.ColorStream.Format, colorPixelData,
sensor.DepthStream.Format, depthPixelData,skeleton);
//getangles(fr) and stream writter
and added this to getangles(fr)
System.Windows.Threading.DispatcherTimer dispatcherTimer = new System.Windows.Threading.DispatcherTimer();
dispatcherTimer.Tick += dispatcherTimer_Tick;
dispatcherTimer.Interval = new TimeSpan(0, 0, 10);
dispatcherTimer.Start();
but this gives an error in: var shape = frame.Get3DShape(); as using unassigned variable frame and I tried to declare facetracker in timer's void but this gives me an error too so, if you have an I idea how can I add a timer or a button to control when the
angles to be calculated I would be grateful.
Thanks in advance.

Hi Mesbah15,
I am not sure if I’ve understood the question correctly. You can try using event to communicate with other classes. Define an event, when mask appears you just need call that event handler.
https://msdn.microsoft.com/en-us/library/17sde2xt(v=VS.100).aspx.
Please post more information about your scenario for better understanding if event handler not help.
Regards,
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Why does Bridge always lose track of the Favorites folders I put into it?

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====
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Message was edited by:
MatthewH

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