void Update()
{
var rawImage = kinectInputManager.GetColorBuffer();
if (processFullImage)
{
// Process full image
ProcessImage(ref rawImage, COLOR_WIDTH, COLOR_HEIGHT);
}
else
{
// Process regions of the image
//TODO: set these as input parameters
List <RectInt> rois = new List <RectInt>();
rois.Add(new RectInt(0, 0, 100, 100));
rois.Add(new RectInt(200, 200, 200, 100));
rois.Add(new RectInt(500, 500, 250, 250));
foreach (RectInt roi in rois)
{
ProcessImageRegion(ref rawImage, COLOR_WIDTH, COLOR_HEIGHT, roi);
}
}
texture.LoadRawTextureData(rawImage);
texture.Apply();
}
void Update()
{
var rawImage = kinectInputManager.GetColorBuffer();
texture.LoadRawTextureData(rawImage);
texture.Apply();
}
void Update()
{
foundOrientation = false;
//////// DISPLAY - BEGIN
var rawImage = kinectInputManager.GetColorBuffer();
//////// DISPLAY - MID
ulong id = bodyTracker.GetTrackedId(1);
if (id != 0)
{
Vector2 position = bodyTracker.GetPosition(id, JointType.Head);
if (position != Vector2.zero)
{
if ((position.x < COLOR_WIDTH) && (position.y < COLOR_HEIGHT))
{
//TODO: should check if valid bodyTracker3D as well
//=> Or have a combined 2D+3D tracker
Vector3 pos = bodyTracker3D.GetPosition(id, JointType.Head);
RectInt roi = GetROI(position.x, position.y, -pos.z);
//TODO: what size minimum?
if ((roi.width <= 10) || (roi.height <= 10))
{
return;
}
//////// DISPLAY - MID
// var rawImage = kinectInputManager.GetColorBuffer();
//////// DISPLAY - END
if (filterBodyData)
{
FilterBodyData(rawImage, roi);
}
//////// RUNTIME_COLOURS - BEGIN
/*
* // For test purpose (runtime colours setting in Editor)
* minHSV = new Scalar[] {
* new Scalar(leftHSVMin),
* new Scalar(rightHSVMin),
* new Scalar(topHSVMin)
* };
*
* maxHSV = new Scalar[] {
* new Scalar(leftHSVMax),
* new Scalar(rightHSVMax),
* new Scalar(topHSVMax)
* };
*/
//////// RUNTIME_COLOURS - MID
Vector3[] blobs = new Vector3[3];
// Blobs are defined by their position (x,y) and size (z).
// If for a colour no blob has been found, its size is 0 (z=0).
bool detect = DetectColoursInROI(ref rawImage, COLOR_WIDTH, COLOR_HEIGHT, roi, true, 3, minHSV, maxHSV, ref blobs);
if (detect)
{
bool haveLeft = GetPosition((int)blobs[0].x + roi.x, (int)blobs[0].y + roi.y, blobs[0].z, out Vector3 left);
bool haveRight = GetPosition((int)blobs[1].x + roi.x, (int)blobs[1].y + roi.y, blobs[1].z, out Vector3 right);
//TODO: Extend process to 3 points
//bool haveTop = GetPosition((int)blobs[2].x + roi.x, (int)blobs[2].y + roi.y, blobs[2].z, out Vector3 top);
if (haveLeft && haveRight) // +haveTop
//orientation = GetOrientation(left, right, top);
{
orientation = GetOrientation(left, right);
foundOrientation = true;
}
}
}
}
}
if (foundOrientation)
{
trackingListener.NotifyChange(orientation);
}
//////// DISPLAY - BEGIN
texture.LoadRawTextureData(rawImage);
texture.Apply();
//////// DISPLAY - MID
}
void Update()
{
List <RectInt> rois = new List <RectInt>();
ulong id = bodyTracker.GetTrackedId(1);
if (id != 0)
{
Dictionary <JointType, Vector2> joints;
if (!trackFullBody)
{
//TODO: add possibility in Editor to specify joints
List <JointType> jointTypes = new List <JointType> {
JointType.Head,
JointType.HandRight,
JointType.HandLeft
};
joints = new Dictionary <JointType, Vector2>();
foreach (JointType jointType in jointTypes)
{
joints.Add(jointType, bodyTracker.GetPosition(id, jointType));
}
}
else
{
joints = bodyTracker.GetJoints(id);
}
foreach (KeyValuePair <JointType, Vector2> joint in joints)
{
Vector2 point = joint.Value;
if (point != Vector2.zero)
{
if ((point.x >= COLOR_WIDTH) || (point.y >= COLOR_HEIGHT))
{
continue;
}
int x = (int)point.x - 100;
int y = (int)point.y - 100;
int w = 200;
int h = 200;
if (joint.Key == JointType.Head)
{
x = (int)point.x - 200;
y = (int)point.y - 200;
w = 400;
h = 400;
}
if (x < 0)
{
x = 0;
}
if (y < 0)
{
y = 0;
}
if ((x + w) >= COLOR_WIDTH)
{
w = COLOR_WIDTH - 1 - x;
}
if ((y + h) >= COLOR_HEIGHT)
{
h = COLOR_HEIGHT - 1 - y;
}
rois.Add(new RectInt(x, y, w, h));
}
}
}
var rawImage = kinectInputManager.GetColorBuffer();
foreach (RectInt roi in rois)
{
//TODO: check in library if roi is in image!!!!
ProcessImageRegion(ref rawImage, COLOR_WIDTH, COLOR_HEIGHT, roi);
}
// var rawImage = kinectInputManager.GetBodyIndexBuffer();
texture.LoadRawTextureData(rawImage);
texture.Apply();
}
