private static extern int GetBodyData(int bodyIndex, ref ObtBody pbodyData);
public KinectInterop.SensorData OpenDefaultSensor(KinectInterop.FrameSource dwFlags, float sensorAngle, bool bUseMultiSource)
{
// init interface
int hr = InitAstraInterface();
if (hr != 0)
{
return(null);
}
bMultiSource = bUseMultiSource;
KinectInterop.SensorData sensorData = new KinectInterop.SensorData();
if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
hr = OpenAstraColorStream();
// try to get a color frame
hr = PollColorFrame(500);
if (hr == 0)
{
ReleaseColorFrame();
}
if (hr != 0)
{
bWebColorStream = true;
for (int i = 0; i < WebCamTexture.devices.Length; i++)
{
if (WebCamTexture.devices[i].name.IndexOf("astra", StringComparison.CurrentCultureIgnoreCase) >= 0)
{
colorWebCam = new WebCamTexture(WebCamTexture.devices[i].name);
break;
}
}
if (colorWebCam)
{
colorWebCam.Play();
sensorData.colorImageWidth = colorWebCam.width;
sensorData.colorImageHeight = colorWebCam.height;
sensorData.colorImageTexture = colorWebCam;
Debug.Log("Webcam - vMirrored: " + colorWebCam.videoVerticallyMirrored + ", rotAngle: " + colorWebCam.videoRotationAngle);
}
}
}
if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
hr = OpenAstraDepthStream();
// try to get a depth frame
hr = PollDepthFrame(500);
if (hr == 0)
{
ReleaseDepthFrame();
}
}
if (((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0) ||
((dwFlags & KinectInterop.FrameSource.TypeBody) != 0))
{
hr = OpenAstraBodyStream();
if (hr == 0)
{
obtBody = new ObtBody();
obtBody.joints = new ObtJoint[OBT_MAX_JOINTS];
obtBodyInited = true;
}
}
// if((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
// {
// }
sensorData.bodyCount = Constants.SkeletonCount;
sensorData.jointCount = Constants.JointCount;
sensorData.depthCameraFOV = 49.5f;
sensorData.colorCameraFOV = 48.6f;
sensorData.depthCameraOffset = 0f;
sensorData.faceOverlayOffset = 0f;
if (!bWebColorStream)
{
sensorData.colorImageWidth = GetColorWidth();
sensorData.colorImageHeight = GetColorHeight();
}
// flip color image horizontally
sensorData.colorImageScale = new Vector3(-1f, 1f, 1f);
sensorData.depthImageWidth = GetDepthWidth();
sensorData.depthImageHeight = GetDepthHeight();
if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
int colorImageSize = GetColorDataSize();
sensorData.colorImage = new byte[colorImageSize];
}
if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
int depthImageSize = GetDepthDataSize() / sizeof(ushort);
sensorData.depthImage = new ushort[depthImageSize];
}
if ((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
{
int bodyIndexImageSize = GetBodyIndexDataSize();
sensorData.bodyIndexImage = new byte[bodyIndexImageSize];
}
if ((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
{
int depthImageSize = GetDepthDataSize() / sizeof(ushort);
sensorData.infraredImage = new ushort[depthImageSize];
}
Debug.Log("Orbbec Astra sensor opened");
return(sensorData);
}
public KinectInterop.SensorData OpenDefaultSensor(KinectInterop.FrameSource dwFlags, float sensorAngle, bool bUseMultiSource)
{
// init interface
int hr = InitAstraInterface();
if (hr != 0)
{
return(null);
}
sensorFlags = dwFlags;
bMultiSource = bUseMultiSource;
KinectInterop.SensorData sensorData = new KinectInterop.SensorData();
if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
hr = OpenAstraColorStream();
// try to get a color frame
hr = PollColorFrame(500);
if (hr == 0)
{
ReleaseColorFrame();
Debug.Log("Astra-sensor detected");
}
if (hr != 0)
{
bWebColorStream = true;
isAstraPro = true;
Debug.Log("AstraPro camera detected.");
for (int i = 0; i < WebCamTexture.devices.Length; i++)
{
Debug.Log(WebCamTexture.devices [i].name);
if (WebCamTexture.devices[i].name.IndexOf("astra", StringComparison.CurrentCultureIgnoreCase) >= 0)
{
colorWebCam = new WebCamTexture(WebCamTexture.devices[i].name, 640, 480, 30);
break;
}
}
if (colorWebCam)
{
colorWebCam.Play();
sensorData.colorImageWidth = colorWebCam.width;
sensorData.colorImageHeight = colorWebCam.height;
sensorData.colorImageTexture = colorWebCam;
//Debug.Log("Webcam - vMirrored: " + colorWebCam.videoVerticallyMirrored + ", rotAngle: " + colorWebCam.videoRotationAngle);
}
}
}
if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
hr = OpenAstraDepthStream();
// try to get a depth frame
hr = PollDepthFrame(500);
if (hr == 0)
{
ReleaseDepthFrame();
}
}
if (((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0) ||
((dwFlags & KinectInterop.FrameSource.TypeBody) != 0))
{
hr = OpenAstraBodyStream();
if (hr == 0)
{
obtBody = new ObtBody();
obtBody.joints = new ObtJoint[OBT_MAX_JOINTS];
obtBodyInited = true;
}
}
// if((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
// {
// }
sensorData.bodyCount = Constants.SkeletonCount;
sensorData.jointCount = Constants.JointCount;
sensorData.depthCameraFOV = 45.64f;
sensorData.colorCameraFOV = 45.64f;
sensorData.depthCameraOffset = 0f;
sensorData.faceOverlayOffset = 0f;
if (!bWebColorStream)
{
sensorData.colorImageWidth = GetColorWidth();
sensorData.colorImageHeight = GetColorHeight();
// flip color image vertically
sensorData.colorImageScale = new Vector3(1f, -1f, 1f);
}
else
{
// flip color image horizontally
sensorData.colorImageScale = new Vector3(-1f, 1f, 1f);
}
sensorData.depthImageWidth = GetDepthWidth();
sensorData.depthImageHeight = GetDepthHeight();
if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
int colorImageSize = !colorWebCam ? (GetColorDataSize() * 4 / 3) : 0;
sensorData.colorImage = new byte[colorImageSize];
}
if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
int depthImageSize = GetDepthDataSize() / sizeof(ushort);
sensorData.depthImage = new ushort[depthImageSize];
}
if ((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
{
int bodyIndexImageSize = GetBodyIndexDataSize();
sensorData.bodyIndexImage = new byte[bodyIndexImageSize];
}
if ((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
{
int depthImageSize = GetDepthDataSize() / sizeof(ushort);
sensorData.infraredImage = new ushort[depthImageSize];
}
// setup coordinate mapper
coordMapper = new OrbbecAstraMapper();
coordMapper.SetupSpaceMapping(sensorData.depthImageWidth, sensorData.depthImageHeight, 1.0226f, 0.7966157f); // hfov, vfov in rad
coordMapper.SetupCalibrationData(isAstraPro);
// set lost-user time tolerance equal to KM
if (KinectManager.Instance != null)
{
waitTimeBeforeRemove = KinectManager.Instance.waitTimeBeforeRemove;
}
// enable depth-to-color sync, if needed
if (bMultiSource && ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0) && ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0))
{
//hr = EnableDepthColorSync(1);
}
Debug.Log("OrbbecAstra sensor opened");
return(sensorData);
}
