void clientHandler(object o)
{
int SIZEHELLO = 200;
TcpClient client = (TcpClient)o;
KinectStream kstream = new KinectStream(client);
_kinectStreams.Add(kstream);
using (NetworkStream ns = client.GetStream())
{
byte[] message = new byte[SIZEHELLO];
int bytesRead = 0;
byte[] buffer = new byte[4341760];
try
{
bytesRead = ns.Read(message, 0, SIZEHELLO);
}
catch
{
Debug.Log("Connection Lost from " + kstream.name);
client.Close();
_kinectStreams.Remove(kstream);;
}
if (bytesRead == 0)
{
Debug.Log("Connection Lost from " + kstream.name);
client.Close();
_kinectStreams.Remove(kstream);;
}
//Login
string s = System.Text.Encoding.Default.GetString(message);
string[] l = s.Split('/');
if (l.Length == 3 && l[0] == "k")
{
kstream.name = l[1];
Debug.Log("New stream from " + l[1]);
}
while (_running)
{
try
{
bytesRead = ns.Read(message, 0, 8);
}
catch (Exception e)
{
Debug.Log(e.Message);
_running = false;
break;
}
if (bytesRead == 0)
{
_running = false;
break;
}
byte[] idb = { message[0], message[1], message[2], message[3] };
uint id = BitConverter.ToUInt32(idb, 0);
kstream.lastID = id;
byte[] sizeb = { message[4], message[5], message[6], message[7] };
int size = BitConverter.ToInt32(sizeb, 0);
kstream.size = size;
while (size > 0)
{
try
{
bytesRead = ns.Read(buffer, 0, size);
}catch (Exception e)
{
Debug.Log(e.Message);
_running = false;
break;
}
if (bytesRead == 0)
{
_running = false;
break;
}
//save because can't update from outside main thread
Array.Copy(buffer, 0, kstream.data, kstream.size - size, bytesRead);
size -= bytesRead;
}
kstream.dirty = true;
}
}
}
void clientHandler2(object o)
{
TcpClient client = (TcpClient)o;
KinectStream kstream = new KinectStream(client);
_kinectStreams.Add(kstream);
using (NetworkStream ns = client.GetStream())
{
bool login = false;
byte[] message = new byte[BUFFER];
byte[] loginMessage = new byte[BUFFER];
List <byte> received = new List <byte>();
int bytesRead;
byte[] rcvSizeInBytes = new byte[2];
int rcvSize = 0;
int rcvBuffer = 0;
while (_running)
{
if (!login)
{
try
{
bytesRead = ns.Read(loginMessage, 0, loginMessage.Length);
kstream.bytesReceived = bytesRead;
}
catch
{
break;
}
if (bytesRead == 0)
{
break;
}
string s = System.Text.Encoding.Default.GetString(loginMessage);
string[] l = s.Split('/');
if (l.Length == 3 && l[0] == "k")
{
kstream.name = l[1];
login = true;
Debug.Log("New stream from " + l[1]);
}
}
else
{
try
{
bytesRead = ns.Read(rcvSizeInBytes, 0, rcvSizeInBytes.Length);
}
catch
{
break;
}
if (bytesRead > 0)
{
rcvSize = BitConverter.ToInt16(rcvSizeInBytes, 0);
Debug.Log(rcvSize);
continue;
try
{
message = new byte[rcvSize];
bytesRead = ns.Read(message, 0, message.Length);
kstream.bytesReceived = bytesRead;
message = received.ToArray();
kstream.Ready = false;
Color background = new Color(0, 0, 0, 0);
Color foreground = Color.white;
int index;
ushort depth;
int ptr = 0;
byte[] byteValues = new byte[2];
//message
int currentLine = 0;
continue;
for (int i = 0; i < kstream.texture.Length; i++)
{
byteValues[0] = message[ptr];
byteValues[1] = message[ptr + 1];
index = BitConverter.ToInt16(byteValues, 0);
if (index == 5000)
{
currentLine++;
ptr += 2;
continue;
}
else if (i - (currentLine * 512) == index)
{
foreground.b = ((float)message[ptr + 2]) / 255;
foreground.g = ((float)message[ptr + 3]) / 255;
foreground.r = ((float)message[ptr + 4]) / 255;
kstream.texture[i] = foreground;
byteValues[0] = message[ptr + 5];
byteValues[1] = message[ptr + 6];
depth = BitConverter.ToUInt16(byteValues, 0);
kstream.depthData[i] = depth;
ptr += 7;
}
else
{
kstream.texture[i] = background;
kstream.depthData[i] = 0;
}
}
kstream.Ready = true;
}
catch (Exception e)
{
Debug.LogError(e.Message);
Debug.LogError(e.StackTrace);
break;
}
}
else
{
break;
}
}
}
}
Debug.Log("Connection Lost from " + kstream.name);
client.Close();
_kinectStreams.Remove(kstream);
}
void Start()
{
jointPositions = new Dictionary <Joint, Vector3>();
foreach (var j in Joints)
{
jointPositions[j] = Vector3.zero;
}
filteredJointPositions = new Dictionary <Joint, Vector3[]>();
foreach (Joint joint in Joints)
{
filteredJointPositions[joint] = new Vector3[FilterWindow];
}
filterCoefficients = new float[] { 0.197413f, 0.174666f, 0.120978f, 0.065591f, 0.027835f, 0.009245f, 0.002403f, 0.000489f, 0.000078f, 0.00001f, 0.000001f, };
for (int i = 0; i < filterCoefficients.Length; ++i)
{
filterCoefficients[i] *= 5;
}
/*filterCoefficients[0] = 1f;
* for (int i = 1; i < FilterWindow; ++i) {
* filterCoefficients[i] = 0.5f / Mathf.Pow(2, i);
* }*/
kinectStream = kinectReference.GetComponent <KinectStream>();
animator = GetComponent <Animator>();
Hips = animator.GetBoneTransform(HumanBodyBones.Hips);
LeftUpperLeg = animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg);
RightUpperLeg = animator.GetBoneTransform(HumanBodyBones.RightUpperLeg);
LeftLowerLeg = animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg);
RightLowerLeg = animator.GetBoneTransform(HumanBodyBones.RightLowerLeg);
LeftFoot = animator.GetBoneTransform(HumanBodyBones.LeftFoot);
RightFoot = animator.GetBoneTransform(HumanBodyBones.RightFoot);
LeftToes = animator.GetBoneTransform(HumanBodyBones.LeftToes);
RightToes = animator.GetBoneTransform(HumanBodyBones.RightToes);
Spine = animator.GetBoneTransform(HumanBodyBones.Spine);
Chest = animator.GetBoneTransform(HumanBodyBones.Chest);
UpperChest = animator.GetBoneTransform(HumanBodyBones.UpperChest);
Neck = animator.GetBoneTransform(HumanBodyBones.Neck);
Head = animator.GetBoneTransform(HumanBodyBones.Head);
LeftShoulder = animator.GetBoneTransform(HumanBodyBones.LeftShoulder);
RightShoulder = animator.GetBoneTransform(HumanBodyBones.RightShoulder);
LeftUpperArm = animator.GetBoneTransform(HumanBodyBones.LeftUpperArm);
RightUpperArm = animator.GetBoneTransform(HumanBodyBones.RightUpperArm);
LeftLowerArm = animator.GetBoneTransform(HumanBodyBones.LeftLowerArm);
RightLowerArm = animator.GetBoneTransform(HumanBodyBones.RightLowerArm);
LeftHand = animator.GetBoneTransform(HumanBodyBones.LeftHand);
RightHand = animator.GetBoneTransform(HumanBodyBones.RightHand);
modelBoneLengths = new Dictionary <Joint, float>();
modelBoneLengths[Joint.Neck] = (Neck.position - Hips.position).magnitude;
modelBoneLengths[Joint.ShoulderLeft] = (Neck.position - LeftUpperArm.position).magnitude;
modelBoneLengths[Joint.ElbowLeft] = (LeftUpperArm.position - LeftLowerArm.position).magnitude;
modelBoneLengths[Joint.WristLeft] = (LeftLowerArm.position - LeftHand.position).magnitude;
modelBoneLengths[Joint.ShoulderRight] = (Neck.position - RightUpperArm.position).magnitude;
modelBoneLengths[Joint.ElbowRight] = (RightUpperArm.position - RightLowerArm.position).magnitude;
modelBoneLengths[Joint.WristRight] = (RightLowerArm.position - RightHand.position).magnitude;
modelBoneLengths[Joint.HipLeft] = (Hips.position - LeftUpperLeg.position).magnitude;
modelBoneLengths[Joint.KneeLeft] = (LeftUpperLeg.position - LeftLowerLeg.position).magnitude;
modelBoneLengths[Joint.AnkleLeft] = (LeftLowerLeg.position - LeftFoot.position).magnitude;
modelBoneLengths[Joint.HipRight] = (Hips.position - RightUpperLeg.position).magnitude;
modelBoneLengths[Joint.KneeRight] = (RightUpperLeg.position - RightLowerLeg.position).magnitude;
modelBoneLengths[Joint.AnkleRight] = (RightLowerLeg.position - RightFoot.position).magnitude;
HipOffset = Hips.position - transform.position;
}
void clientHandler(object o)
{
int SIZEHELLO = 200;
TcpClient client = (TcpClient)o;
KinectStream kstream = new KinectStream(client);
_kinectStreams.Add(kstream);
bool login = false;
using (NetworkStream ns = client.GetStream())
{
byte [] message = new byte[SIZEHELLO];
int bytesRead = 0;
byte[] buffer = new byte[BUFFER];
try
{
bytesRead = ns.Read(message, 0, SIZEHELLO);
}
catch
{
Debug.Log("Connection Lost from " + kstream.name);
client.Close();
_kinectStreams.Remove(kstream);
}
if (bytesRead == 0)
{
Debug.Log("Connection Lost from " + kstream.name);
client.Close();
_kinectStreams.Remove(kstream);
}
// login
string s = System.Text.Encoding.Default.GetString(message);
string[] l = s.Split('/');
if (l.Length == 3 && l[0] == "k")
{
kstream.name = l[1];
Debug.Log("New stream from " + l[1]);
login = true;
}
else
{
Debug.Log("Invalid Login data from: " + kstream.name);
client.Close();
_kinectStreams.Remove(kstream);
}
while (login && _running)
{
try
{
bytesRead = ns.Read(message, 0, 4);
}
catch (Exception e)
{
Debug.Log(e.Message);
login = false;
break;
}
if (bytesRead == 0)
{
login = false;
break;
}
byte[] sizeb = { message[0], message[1], message[2], message[3] };
int size = BitConverter.ToInt32(sizeb, 0);
kstream.size = size;
kstream.bytesReceived = size;
string ccc = "X";
while (size > 0)
{
try
{
bytesRead = ns.Read(buffer, 0, size);
ccc += "Y";
}
catch (Exception e)
{
Debug.Log(e.Message);
login = false;
break;
}
if (bytesRead == 0)
{
login = false;
break;
}
Array.Copy(buffer, 0, kstream.data, kstream.size - size, bytesRead);
size -= bytesRead;
}
kstream.Ready = false;
Color background = new Color(0, 0, 0, 0);
Color foreground = Color.white;
int index;
ushort depth;
int ptr = 0;
byte[] byteValues = new byte[2];
int currentLine = 0;
for (int i = 0; i < kstream.texture.Length; i++)
{
byteValues[0] = kstream.data[ptr];
byteValues[1] = kstream.data[ptr + 1];
index = BitConverter.ToInt16(byteValues, 0);
if (index == 5000)
{
currentLine++;
ptr += 2;
continue;
}
else if (i - (currentLine * 512) == index)
{
foreground.b = ((float)kstream.data[ptr + 2]) / 255;
foreground.g = ((float)kstream.data[ptr + 3]) / 255;
foreground.r = ((float)kstream.data[ptr + 4]) / 255;
kstream.texture[i] = foreground;
byteValues[0] = kstream.data[ptr + 5];
byteValues[1] = kstream.data[ptr + 6];
depth = BitConverter.ToUInt16(byteValues, 0);
kstream.depthData[i] = depth;
ptr += 7;
}
else
{
kstream.texture[i] = background;
kstream.depthData[i] = 0;
}
}
kstream.Ready = true;
}
Debug.Log("Connection Lost from " + kstream.name);
client.Close();
_kinectStreamsToDestroy.Add(kstream);
_kinectStreams.Remove(kstream);
}
}
