// Initializes a new instance of the class.
public ClippedLegsFilter()
{
this.lerpLeftKnee = new TimedLerp();
this.lerpLeftAnkle = new TimedLerp();
this.lerpLeftFoot = new TimedLerp();
this.lerpRightKnee = new TimedLerp();
this.lerpRightAnkle = new TimedLerp();
this.lerpRightFoot = new TimedLerp();
this.filterJoints = new JointPositionsFilter();
this.filteredSkeleton = new KinectWrapper.NuiSkeletonData();
// knee, ankle, foot blend amounts
this.allTracked = new Vector3(0.0f, 0.0f, 0.0f); // All joints are tracked
this.footInferred = new Vector3(0.0f, 0.0f, 1.0f); // foot is inferred
this.ankleInferred = new Vector3(0.5f, 1.0f, 1.0f); // ankle is inferred
this.kneeInferred = new Vector3(1.0f, 1.0f, 1.0f); // knee is inferred
Reset();
}
// Initializes a new instance of the class.
public ClippedLegsFilter()
{
this.lerpLeftKnee = new TimedLerp();
this.lerpLeftAnkle = new TimedLerp();
this.lerpLeftFoot = new TimedLerp();
this.lerpRightKnee = new TimedLerp();
this.lerpRightAnkle = new TimedLerp();
this.lerpRightFoot = new TimedLerp();
this.filterJoints = new JointPositionsFilter();
this.filteredSkeleton = new KinectWrapper.NuiSkeletonData();
// knee, ankle, foot blend amounts
this.allTracked = new Vector3(0.0f, 0.0f, 0.0f); // All joints are tracked
this.footInferred = new Vector3(0.0f, 0.0f, 1.0f); // foot is inferred
this.ankleInferred = new Vector3(0.5f, 1.0f, 1.0f); // ankle is inferred
this.kneeInferred = new Vector3(1.0f, 1.0f, 1.0f); // knee is inferred
Reset();
}
void StartKinect()
{
try
{
// try to initialize the default Kinect2 sensor
KinectInterop.FrameSource dwFlags = KinectInterop.FrameSource.TypeBody;
if(computeUserMap != UserMapType.None)
dwFlags |= KinectInterop.FrameSource.TypeDepth | KinectInterop.FrameSource.TypeBodyIndex;
if(computeColorMap)
dwFlags |= KinectInterop.FrameSource.TypeColor;
if(computeInfraredMap)
dwFlags |= KinectInterop.FrameSource.TypeInfrared;
// if(useAudioSource)
// dwFlags |= KinectInterop.FrameSource.TypeAudio;
// open the default sensor
BackgroundRemovalManager brManager = gameObject.GetComponentInChildren<BackgroundRemovalManager>();
sensorData = KinectInterop.OpenDefaultSensor(sensorInterfaces, dwFlags, sensorAngle, useMultiSourceReader, computeUserMap, brManager);
if (sensorData == null)
{
if(sensorInterfaces == null || sensorInterfaces.Count == 0)
throw new Exception("No sensor found. Make sure you have installed the SDK and the sensor is connected.");
else
throw new Exception("OpenDefaultSensor failed.");
}
// enable or disable getting height and angle info
sensorData.hintHeightAngle = (autoHeightAngle != AutoHeightAngle.DontUse);
//create the transform matrix - kinect to world
Quaternion quatTiltAngle = Quaternion.Euler(-sensorAngle, 0.0f, 0.0f);
kinectToWorld.SetTRS(new Vector3(0.0f, sensorHeight, 0.0f), quatTiltAngle, Vector3.one);
}
catch(DllNotFoundException ex)
{
string message = ex.Message + " cannot be loaded. Please check the Kinect SDK installation.";
Debug.LogError(message);
Debug.LogException(ex);
if(calibrationText != null)
{
calibrationText.text = message;
}
return;
}
catch(Exception ex)
{
string message = ex.Message;
Debug.LogError(message);
Debug.LogException(ex);
if(calibrationText != null)
{
calibrationText.text = message;
}
return;
}
// set the singleton instance
instance = this;
// init skeleton structures
bodyFrame = new KinectInterop.BodyFrameData(sensorData.bodyCount, KinectInterop.Constants.MaxJointCount); // sensorData.jointCount
bodyFrame.bTurnAnalisys = allowTurnArounds;
KinectInterop.SmoothParameters smoothParameters = new KinectInterop.SmoothParameters();
switch(smoothing)
{
case Smoothing.Default:
smoothParameters.smoothing = 0.5f;
smoothParameters.correction = 0.5f;
smoothParameters.prediction = 0.5f;
smoothParameters.jitterRadius = 0.05f;
smoothParameters.maxDeviationRadius = 0.04f;
break;
case Smoothing.Medium:
smoothParameters.smoothing = 0.5f;
smoothParameters.correction = 0.1f;
smoothParameters.prediction = 0.5f;
smoothParameters.jitterRadius = 0.1f;
smoothParameters.maxDeviationRadius = 0.1f;
break;
case Smoothing.Aggressive:
smoothParameters.smoothing = 0.7f;
smoothParameters.correction = 0.3f;
smoothParameters.prediction = 1.0f;
smoothParameters.jitterRadius = 1.0f;
smoothParameters.maxDeviationRadius = 1.0f;
break;
}
// init data filters
jointPositionFilter = new JointPositionsFilter();
jointPositionFilter.Init(smoothParameters);
// init the bone orientation constraints
if(useBoneOrientationConstraints)
{
boneConstraintsFilter = new BoneOrientationsConstraint();
boneConstraintsFilter.AddDefaultConstraints();
boneConstraintsFilter.SetDebugText(calibrationText);
}
if(computeUserMap != UserMapType.None && computeUserMap != UserMapType.RawUserDepth)
{
// Initialize depth & label map related stuff
usersLblTex = new Texture2D(sensorData.depthImageWidth, sensorData.depthImageHeight, TextureFormat.ARGB32, false);
usersMapSize = sensorData.depthImageWidth * sensorData.depthImageHeight;
usersHistogramImage = new Color32[usersMapSize];
usersPrevState = new ushort[usersMapSize];
usersHistogramMap = new float[5001];
}
if(computeColorMap)
{
// Initialize color map related stuff
//usersClrTex = new Texture2D(sensorData.colorImageWidth, sensorData.colorImageHeight, TextureFormat.RGBA32, false);
usersClrSize = sensorData.colorImageWidth * sensorData.colorImageHeight;
}
// try to automatically use the available avatar controllers in the scene
if(avatarControllers.Count == 0)
{
MonoBehaviour[] monoScripts = FindObjectsOfType(typeof(MonoBehaviour)) as MonoBehaviour[];
foreach(MonoBehaviour monoScript in monoScripts)
{
if(typeof(AvatarController).IsAssignableFrom(monoScript.GetType()) && monoScript.enabled)
{
AvatarController avatar = (AvatarController)monoScript;
avatarControllers.Add(avatar);
}
}
}
// set up the gesture manager, if not already set
if(gestureManager == null)
{
MonoBehaviour[] monoScripts = FindObjectsOfType(typeof(MonoBehaviour)) as MonoBehaviour[];
foreach(MonoBehaviour monoScript in monoScripts)
{
if(typeof(KinectGestures).IsAssignableFrom(monoScript.GetType()) && monoScript.enabled)
{
gestureManager = (KinectGestures)monoScript;
break;
}
}
}
// try to automatically use the available gesture listeners in the scene
if(gestureListeners.Count == 0)
{
MonoBehaviour[] monoScripts = FindObjectsOfType(typeof(MonoBehaviour)) as MonoBehaviour[];
foreach(MonoBehaviour monoScript in monoScripts)
{
if(typeof(KinectGestures.GestureListenerInterface).IsAssignableFrom(monoScript.GetType()) &&
monoScript.enabled)
{
//KinectGestures.GestureListenerInterface gl = (KinectGestures.GestureListenerInterface)monoScript;
gestureListeners.Add(monoScript);
}
}
}
// Initialize user list to contain all users.
//alUserIds = new List<Int64>();
//dictUserIdToIndex = new Dictionary<Int64, int>();
// // start the background reader
// kinectReaderThread = new System.Threading.Thread(UpdateKinectStreamsThread);
// kinectReaderThread.Name = "KinectReaderThread";
// kinectReaderThread.IsBackground = true;
// kinectReaderThread.Start();
// kinectReaderRunning = true;
kinectInitialized = true;
#if USE_SINGLE_KM_IN_MULTIPLE_SCENES
DontDestroyOnLoad(gameObject);
#endif
// GUI Text.
if(calibrationText != null)
{
calibrationText.text = "WAITING FOR USERS";
}
Debug.Log("Waiting for users.");
}
void StartKinect()
{
try
{
// try to initialize the default Kinect2 sensor
KinectInterop.FrameSource dwFlags = KinectInterop.FrameSource.TypeBody;
if(computeUserMap)
dwFlags |= KinectInterop.FrameSource.TypeDepth | KinectInterop.FrameSource.TypeBodyIndex;
if(computeColorMap)
dwFlags |= KinectInterop.FrameSource.TypeColor;
if(computeInfraredMap)
dwFlags |= KinectInterop.FrameSource.TypeInfrared;
// if(useAudioSource)
// dwFlags |= KinectInterop.FrameSource.TypeAudio;
// open the default sensor
sensorData = KinectInterop.OpenDefaultSensor(sensorInterfaces, dwFlags, sensorAngle, useMultiSourceReader);
if (sensorData == null)
{
throw new Exception("OpenDefaultSensor failed");
}
//create the transform matrix - kinect to world
Quaternion quatTiltAngle = new Quaternion();
quatTiltAngle.eulerAngles = new Vector3(-sensorAngle, 0.0f, 0.0f);
kinectToWorld.SetTRS(new Vector3(0.0f, sensorHeight, 0.0f), quatTiltAngle, Vector3.one);
}
catch(DllNotFoundException ex)
{
string message = ex.Message + " cannot be loaded. Please check the Kinect SDK installation.";
Debug.LogError(message);
Debug.LogException(ex);
if(calibrationText != null)
{
calibrationText.guiText.text = message;
}
return;
}
catch(Exception ex)
{
string message = ex.Message;
Debug.LogError(message);
Debug.LogException(ex);
if(calibrationText != null)
{
calibrationText.guiText.text = message;
}
return;
}
// set the singleton instance
instance = this;
// init skeleton structures
bodyFrame = new KinectInterop.BodyFrameData(sensorData.bodyCount, KinectInterop.Constants.JointCount); // sensorData.jointCount
KinectInterop.SmoothParameters smoothParameters = new KinectInterop.SmoothParameters();
switch(smoothing)
{
case Smoothing.Default:
smoothParameters.smoothing = 0.5f;
smoothParameters.correction = 0.5f;
smoothParameters.prediction = 0.5f;
smoothParameters.jitterRadius = 0.05f;
smoothParameters.maxDeviationRadius = 0.04f;
break;
case Smoothing.Medium:
smoothParameters.smoothing = 0.5f;
smoothParameters.correction = 0.1f;
smoothParameters.prediction = 0.5f;
smoothParameters.jitterRadius = 0.1f;
smoothParameters.maxDeviationRadius = 0.1f;
break;
case Smoothing.Aggressive:
smoothParameters.smoothing = 0.7f;
smoothParameters.correction = 0.3f;
smoothParameters.prediction = 1.0f;
smoothParameters.jitterRadius = 1.0f;
smoothParameters.maxDeviationRadius = 1.0f;
break;
}
// init data filters
jointPositionFilter = new JointPositionsFilter();
jointPositionFilter.Init(smoothParameters);
// init the bone orientation constraints
if(useBoneOrientationConstraints)
{
boneConstraintsFilter = new BoneOrientationsConstraint();
boneConstraintsFilter.AddDefaultConstraints();
//boneConstraintsFilter.SetDebugText(calibrationText);
}
// get the main camera rectangle
Rect cameraRect = Camera.main.pixelRect;
// calculate map width and height in percent, if needed
if(DisplayMapsWidthPercent == 0f)
{
DisplayMapsWidthPercent = (sensorData.depthImageWidth / 2) * 100 / cameraRect.width;
}
if(computeUserMap)
{
float displayMapsWidthPercent = DisplayMapsWidthPercent / 100f;
float displayMapsHeightPercent = displayMapsWidthPercent * sensorData.depthImageHeight / sensorData.depthImageWidth;
float displayWidth = cameraRect.width * displayMapsWidthPercent;
float displayHeight = cameraRect.width * displayMapsHeightPercent;
// Initialize depth & label map related stuff
usersLblTex = new Texture2D(sensorData.depthImageWidth, sensorData.depthImageHeight);
usersMapRect = new Rect(cameraRect.width - displayWidth, cameraRect.height, displayWidth, -displayHeight);
usersMapSize = sensorData.depthImageWidth * sensorData.depthImageHeight;
usersHistogramImage = new Color32[usersMapSize];
usersPrevState = new ushort[usersMapSize];
usersHistogramMap = new float[5001];
}
if(computeColorMap)
{
float displayMapsWidthPercent = DisplayMapsWidthPercent / 100f;
float displayMapsHeightPercent = displayMapsWidthPercent * sensorData.colorImageHeight / sensorData.colorImageWidth;
float displayWidth = cameraRect.width * displayMapsWidthPercent;
float displayHeight = cameraRect.width * displayMapsHeightPercent;
// Initialize color map related stuff
usersClrTex = new Texture2D(sensorData.colorImageWidth, sensorData.colorImageHeight, TextureFormat.RGBA32, false);
usersClrRect = new Rect(cameraRect.width - displayWidth, cameraRect.height, displayWidth, -displayHeight);
usersClrSize = sensorData.colorImageWidth * sensorData.colorImageHeight;
// if(computeUserMap && displayColorMap)
// {
// usersMapRect.x -= cameraRect.width * displayMapsWidthPercent;
// }
}
// try to automatically use the available avatar controllers in the scene
if(avatarControllers.Count == 0)
{
MonoBehaviour[] monoScripts = FindObjectsOfType(typeof(MonoBehaviour)) as MonoBehaviour[];
foreach(MonoBehaviour monoScript in monoScripts)
{
if(typeof(AvatarController).IsAssignableFrom(monoScript.GetType()))
{
AvatarController avatar = (AvatarController)monoScript;
avatarControllers.Add(avatar);
}
}
}
// try to automatically use the available gesture listeners in the scene
if(gestureListeners.Count == 0)
{
MonoBehaviour[] monoScripts = FindObjectsOfType(typeof(MonoBehaviour)) as MonoBehaviour[];
foreach(MonoBehaviour monoScript in monoScripts)
{
if(typeof(KinectGestures.GestureListenerInterface).IsAssignableFrom(monoScript.GetType()))
{
print ("Found Listener");
//KinectGestures.GestureListenerInterface gl = (KinectGestures.GestureListenerInterface)monoScript;
gestureListeners.Add(monoScript);
}
}
}
// Initialize user list to contain all users.
alUserIds = new List<Int64>();
dictUserIdToIndex = new Dictionary<Int64, int>();
kinectInitialized = true;
DontDestroyOnLoad(gameObject);
// GUI Text.
if(calibrationText != null)
{
calibrationText.guiText.text = "WAITING FOR USERS";
}
Debug.Log("Waiting for users.");
}
void Start()
{
// int hr = 0;
try
{
// if(startKinectServer)
// {
// // start the Kinect-server app
// hr = StartKinectServer();
// if (hr != 0)
// {
// throw new Exception("Kinect2Server not started");
// }
// }
// try to initialize the default Kinect2 sensor
KinectInterop.FrameSource dwFlags = KinectInterop.FrameSource.TypeBody;
if(computeUserMap)
dwFlags |= KinectInterop.FrameSource.TypeDepth | KinectInterop.FrameSource.TypeBodyIndex;
if(computeColorMap)
dwFlags |= KinectInterop.FrameSource.TypeColor;
if(computeInfraredMap)
dwFlags |= KinectInterop.FrameSource.TypeInfrared;
// hr = KinectInterop.InitDefaultKinectSensor(dwFlags, KinectInterop.Constants.ColorImageWidth, KinectInterop.Constants.ColorImageHeight);
// if (hr != 0)
// {
// throw new Exception("InitDefaultKinectSensor failed");
// }
// open the default kinect sensor
sensorData = KinectInterop.OpenDefaultKinectSensor(dwFlags);
if (sensorData == null)
{
throw new Exception("OpenDefaultKinectSensor failed");
}
// transform matrix - kinect to world
kinectToWorld.SetTRS(new Vector3(0.0f, sensorHeight, 0.0f), Quaternion.identity, Vector3.one);
}
catch(DllNotFoundException ex)
{
string message = ex.Message + " cannot be loaded. Please check the Kinect SDK installation.";
Debug.LogError(message);
Debug.LogException(ex);
if(calibrationText != null)
{
calibrationText.guiText.text = message;
}
return;
}
catch(Exception ex)
{
string message = ex.Message;
Debug.LogError(message);
Debug.LogException(ex);
if(calibrationText != null)
{
calibrationText.guiText.text = message;
}
return;
}
// init skeleton structures
bodyFrame = new KinectInterop.BodyFrameData(true);
KinectInterop.SmoothParameters smoothParameters = new KinectInterop.SmoothParameters();
switch(smoothing)
{
case Smoothing.Default:
smoothParameters.smoothing = 0.5f;
smoothParameters.correction = 0.5f;
smoothParameters.prediction = 0.5f;
smoothParameters.jitterRadius = 0.05f;
smoothParameters.maxDeviationRadius = 0.04f;
break;
case Smoothing.Medium:
smoothParameters.smoothing = 0.5f;
smoothParameters.correction = 0.1f;
smoothParameters.prediction = 0.5f;
smoothParameters.jitterRadius = 0.1f;
smoothParameters.maxDeviationRadius = 0.1f;
break;
case Smoothing.Aggressive:
smoothParameters.smoothing = 0.7f;
smoothParameters.correction = 0.3f;
smoothParameters.prediction = 1.0f;
smoothParameters.jitterRadius = 1.0f;
smoothParameters.maxDeviationRadius = 1.0f;
break;
}
// init data filters
jointPositionFilter = new JointPositionsFilter();
jointPositionFilter.Init(smoothParameters);
// init the bone orientation constraints
if(useBoneOrientationConstraints)
{
boneConstraintsFilter = new BoneOrientationsConstraint();
boneConstraintsFilter.AddDefaultConstraints();
boneConstraintsFilter.SetDebugText(calibrationText);
}
// get the main camera rectangle
Rect cameraRect = Camera.main.pixelRect;
// calculate map width and height in percent, if needed
if(MapsPercentWidth == 0f)
MapsPercentWidth = (sensorData.depthImageWidth / 2) / cameraRect.width;
if(MapsPercentHeight == 0f)
MapsPercentHeight = (sensorData.depthImageHeight / 2) / cameraRect.height;
if(computeUserMap)
{
// init user-depth structures
//depthImage = new KinectInterop.DepthBuffer(true);
//bodyIndexImage = new KinectInterop.BodyIndexBuffer(true);
// Initialize depth & label map related stuff
usersLblTex = new Texture2D(sensorData.depthImageWidth, sensorData.depthImageHeight);
usersMapRect = new Rect(cameraRect.width - cameraRect.width * MapsPercentWidth, cameraRect.height, cameraRect.width * MapsPercentWidth, -cameraRect.height * MapsPercentHeight);
usersMapSize = sensorData.depthImageWidth * sensorData.depthImageHeight;
usersHistogramImage = new Color32[usersMapSize];
usersPrevState = new ushort[usersMapSize];
usersHistogramMap = new float[5001];
}
if(computeColorMap)
{
// init color image structures
//colorImage = new KinectInterop.ColorBuffer(true);
// Initialize color map related stuff
usersClrTex = new Texture2D(sensorData.colorImageWidth, sensorData.colorImageHeight, TextureFormat.RGBA32, false);
usersClrRect = new Rect(cameraRect.width - 320, cameraRect.height, 320, -180);
usersCaliBox = new Rect(cameraRect.width - 160 - 320 / 14, cameraRect.height - 90, 320 / 7, 90);
usersClrSize = sensorData.colorImageWidth * sensorData.colorImageHeight;
if(computeUserMap && displayColorMap)
{
usersMapRect.x -= cameraRect.width * MapsPercentWidth; //usersClrTex.width / 2;
}
}
// try to automatically find the available avatar controllers at the scene
if(avatarControllers.Count == 0)
{
AvatarController[] avatars = FindObjectsOfType(typeof(AvatarController)) as AvatarController[];
foreach(AvatarController avatar in avatars)
{
avatarControllers.Add(avatar);
}
}
// Initialize user list to contain all users.
alUserIds = new List<Int64>();
dictUserIdToIndex = new Dictionary<Int64, int>();
kinectInitialized = true;
instance = this;
//DontDestroyOnLoad(gameObject);
// GUI Text.
if(calibrationText != null)
{
calibrationText.guiText.text = "WAITING FOR USERS";
}
Debug.Log("Waiting for users.");
}
