//// user world pos & rot
//private Vector3[] userWorldPos = null;
//private Quaternion[] userWorldRot = null;
void Start()
{
kinectManager = KinectManager.Instance;
numSensors = kinectManager ? kinectManager.GetSensorCount() : 0;
if (numSensors > 1)
{
ShowDebugMessage(numSensors + " sensors found. Starting multi-camera setup...");
}
else
{
ShowErrorMessage(numSensors + " sensors found. No need for multi-camera setup.");
return;
}
// user meshes per camera
cameraUserMesh = new GameObject[numSensors];
// init camera pos & rot
savedCamPos = new List <Vector3> [numSensors];
savedCamRot = new List <Quaternion> [numSensors];
// init multi-camera pose
multiCamPose.version = 1;
multiCamPose.camPose = new KinectInterop.CameraPose[numSensors];
multiCamPose.settings = new string[numSensors];
for (int i = 0; i < numSensors; i++)
{
KinectInterop.SensorData sensorData = kinectManager.GetSensorData(i);
if (sensorData != null && sensorData.sensorInterface != null)
{
multiCamPose.camPose[i] = new KinectInterop.CameraPose();
multiCamPose.camPose[i].sensorType = (int)sensorData.sensorInterface.GetSensorPlatform();
multiCamPose.camPose[i].sensorIndex = ((DepthSensorBase)sensorData.sensorInterface).deviceIndex;
multiCamPose.camPose[i].sensorId = sensorData.sensorInterface.GetSensorDeviceId();
DepthSensorBase.BaseSensorSettings settings = sensorData.sensorInterface.GetSensorSettings(null);
multiCamPose.settings[i] = JsonUtility.ToJson(settings);
if (i != 0)
{
// reset poses of all non-first cameras
sensorData.sensorInterface.SetSensorToWorldMatrix(Vector3.zero, Quaternion.identity, true);
}
}
savedCamPos[i] = new List <Vector3>();
savedCamRot[i] = new List <Quaternion>();
if (userMeshPrefab != null)
{
cameraUserMesh[i] = Instantiate(userMeshPrefab, transform);
cameraUserMesh[i].name = ((KinectInterop.DepthSensorPlatform)multiCamPose.camPose[i].sensorType).ToString() + multiCamPose.camPose[i].sensorIndex + "Mesh";
UserMeshRendererGpu meshRenderer = cameraUserMesh[i].GetComponent <UserMeshRendererGpu>();
if (meshRenderer != null)
{
meshRenderer.sensorIndex = i;
}
}
}
//userWorldPos = new Vector3[numSensors];
//userWorldRot = new Quaternion[numSensors];
// initial user rotation
initialUserRot = Quaternion.Euler(0f, 180f, 0f); // always mirrored
// start co-routine
bStopCoroutine = false;
StartCoroutine(EstimateCameraPoses());
}
void Start()
{
kinectManager = KinectManager.Instance;
numSensors = kinectManager ? kinectManager.GetSensorCount() : 0;
numJoints = trackedBodyJoint.Length;
if (numSensors > 1)
{
ShowDebugMessage(numSensors + " sensors found. Starting multi-camera setup...");
}
else
{
ShowErrorMessage(numSensors + " sensor(s) found. No need for multi-camera setup.");
return;
}
// user meshes & body transforms per camera
if (userMeshPrefab != null)
{
cameraUserMesh = new GameObject[numSensors];
}
if (bodyTransformPrefab != null)
{
bodyTransforms = new Transform[numSensors];
}
// maximum saved samples
maxSavedSamples = numberOfSamples;
numMvaSamples = Mathf.Min(Mathf.Max(Mathf.RoundToInt(maxSavedSamples * optimizeForPercentage), 1), maxSavedSamples);
//Debug.Log("OptForPerc: " + numMvaSamples);
minPoseError = new float[numSensors];
minPoseIndex = new int[numSensors];
// init user pos & rot
userBodyPose = new UserBodyPose[numSensors];
// init camera pos & rot
savedCamPos = new List <Vector3> [numSensors];
savedCamRot = new List <Quaternion> [numSensors];
savedUserPose = new List <UserBodyPose> [numSensors];
// init multi-camera pose
multiCamPose.version = 1;
multiCamPose.camPose = new KinectInterop.CameraPose[numSensors];
multiCamPose.settings = new string[numSensors];
for (int i = 0; i < numSensors; i++)
{
KinectInterop.SensorData sensorData = kinectManager.GetSensorData(i);
if (sensorData != null && sensorData.sensorInterface != null)
{
multiCamPose.camPose[i] = new KinectInterop.CameraPose();
multiCamPose.camPose[i].sensorType = (int)sensorData.sensorInterface.GetSensorPlatform();
multiCamPose.camPose[i].sensorIndex = ((DepthSensorBase)sensorData.sensorInterface).deviceIndex;
multiCamPose.camPose[i].sensorId = sensorData.sensorInterface.GetSensorDeviceId();
DepthSensorBase.BaseSensorSettings settings = sensorData.sensorInterface.GetSensorSettings(null);
multiCamPose.settings[i] = JsonUtility.ToJson(settings);
// set master-sub frame sync
sensorData.sensorInterface.EnableSensorSync(sensorData, useSynchronizedSamples);
if (sensorData.sensorInterface.IsSensorMaster())
{
masterIndex = i;
}
if (i == 0)
{
// first camera
Transform sensorTrans = kinectManager.GetSensorTransform(0);
refCameraPos = sensorTrans.position;
refCameraRot = sensorTrans.rotation;
// src camera matrix
srcCameraMatrix = Matrix4x4.TRS(refCameraPos, refCameraRot, Vector3.one);
}
// reset poses of all cameras
sensorData.sensorInterface.SetSensorToWorldMatrix(Vector3.zero, Quaternion.identity, true);
}
userBodyPose[i] = new UserBodyPose(numJoints);
savedCamPos[i] = new List <Vector3>();
savedCamRot[i] = new List <Quaternion>();
savedUserPose[i] = new List <UserBodyPose>();
if (bodyTransformPrefab != null)
{
GameObject userBodyTransform = Instantiate(bodyTransformPrefab, Vector3.zero, Quaternion.identity);
userBodyTransform.name = "BodyTransform" + i;
Renderer renderer = userBodyTransform.GetComponent <Renderer>();
if (renderer != null)
{
renderer.material.color = bodyTransformColor[i % bodyTransformColor.Length];
}
bodyTransforms[i] = userBodyTransform.transform;
}
if (userMeshPrefab != null)
{
cameraUserMesh[i] = Instantiate(userMeshPrefab, transform);
cameraUserMesh[i].name = ((KinectInterop.DepthSensorPlatform)multiCamPose.camPose[i].sensorType).ToString() + multiCamPose.camPose[i].sensorIndex + "Mesh";
UserMeshRendererGpu userMeshRenderer = cameraUserMesh[i].GetComponent <UserMeshRendererGpu>();
if (userMeshRenderer != null)
{
userMeshRenderer.sensorIndex = i;
}
else
{
SceneMeshRendererGpu sceneMeshRenderer = cameraUserMesh[i].GetComponent <SceneMeshRendererGpu>();
if (sceneMeshRenderer != null)
{
sceneMeshRenderer.sensorIndex = i;
}
}
if (bodyTransforms != null && bodyTransforms[i] != null)
{
bodyTransforms[i].parent = cameraUserMesh[i].transform;
}
}
//minPoseError[i] = float.MaxValue;
}
//userWorldPos = new Vector3[numSensors];
//userWorldRot = new Quaternion[numSensors];
// initial user rotation
initialUserRot = Quaternion.Euler(0f, 180f, 0f); // always mirrored
if (updatePanel)
{
// hide the update panel
updatePanel.gameObject.SetActive(false);
sensorRotTransform = new Vector3[numSensors];
sensorRotAdjust = new Vector3[numSensors];
sensorPosTransform = new Vector3[numSensors];
sensorPosAdjust = new Vector3[numSensors];
if (sensorDropdown)
{
// create list of sensor indices (and exclude the 1st one)
List <string> alSensorOptions = new List <string>();
for (int i = 1; i < numSensors; i++)
{
alSensorOptions.Add(i.ToString());
}
sensorDropdown.ClearOptions();
sensorDropdown.AddOptions(alSensorOptions);
}
}
bool bConfigLoaded = false;
if (kinectManager.useMultiCamConfig)
{
// load the config file
bConfigLoaded = LoadMultiCamConfig();
if (bConfigLoaded)
{
// show cam-pose adjustment panel
ShowUpdatePanel();
}
}
if (!bConfigLoaded)
{
// start auto-calibration co-routine
bStopCoroutine = false;
StartCoroutine(AutoCalibrateCameras());
}
}
