KinectWithVRServer.MainWindow.DrawBoneOnColor C# (CSharp) Method

        private void DrawBoneOnColor(Joint startJoint, Joint endJoint, Color boneColor, double thickness, Point offset, int kinectID)
        {
            if (startJoint.TrackingState != TrackingState.NotTracked && endJoint.TrackingState != TrackingState.NotTracked)
            {
                //Map the joint from the skeleton to the color image
                Point startPoint = server.kinects[kinectID].MapJointToColor(startJoint, false);
                Point endPoint = server.kinects[kinectID].MapJointToColor(endJoint, false);

                //Don't draw bones that are off the image
                if (startPoint.X < 0 || startPoint.Y < 0 || startPoint.X >= colorSource.PixelWidth || startPoint.Y >= colorSource.PixelHeight ||
                    endPoint.X < 0 || endPoint.Y < 0 || endPoint.X >= colorSource.PixelWidth || endPoint.Y >= colorSource.PixelHeight)
                {
                    return;
                }

                //Calculate the coordinates on the image (the offset of the image is added in the next section)
                Point imagePointStart = new Point(0.0, 0.0);
                imagePointStart.X = ((double)startPoint.X / colorSource.PixelWidth) * ColorImage.ActualWidth;
                imagePointStart.Y = ((double)startPoint.Y / colorSource.PixelHeight) * ColorImage.ActualHeight;
                Point imagePointEnd = new Point(0.0, 0.0);
                imagePointEnd.X = ((double)endPoint.X / colorSource.PixelWidth) * ColorImage.ActualWidth;
                imagePointEnd.Y = ((double)endPoint.Y / colorSource.PixelHeight) * ColorImage.ActualHeight;

                if (startJoint.TrackingState == TrackingState.Inferred || endJoint.TrackingState == TrackingState.Inferred)
                {
                    thickness = thickness / 2.0;  //If either end of the joint is inferred, use a thinner line
                }

                //Generate the line for the bone
                Line line = new Line();
                line.Stroke = new SolidColorBrush(boneColor);
                line.StrokeThickness = thickness;
                line.X1 = imagePointStart.X + offset.X;
                line.X2 = imagePointEnd.X + offset.X;
                line.Y1 = imagePointStart.Y + offset.Y;
                line.Y2 = imagePointEnd.Y + offset.Y;
                ColorImageCanvas.Children.Add(line);
            }
        }