// Update is called once per frame
void Update()
{
if (!mJointGenerator || !mElbowObject || !mHandObject || !mWebcamCamera)
{
return;
}
// work out the best joint...
IList <TJoint> Joints = mJointGenerator.mJoints;
TJoint joint = new TJoint();
// if no joints, make up dummy one
if (Joints.Count == 0)
{
return;
}
mJointLooper = (mJointLooper + 1) % Joints.Count;
joint = Joints [mJointLooper];
// use camera to make 3D positions
Vector3 MiddleScreen = new Vector3(joint.mMiddle.x * mWebcamCamera.pixelWidth, joint.mMiddle.y * mWebcamCamera.pixelHeight, MiddleDepth);
Vector3 EndScreen = new Vector3(joint.mEnd.x * mWebcamCamera.pixelWidth, joint.mEnd.y * mWebcamCamera.pixelHeight, EndDepth);
Vector3 Middle = mWebcamCamera.ScreenToWorldPoint(MiddleScreen);
Vector3 End = mWebcamCamera.ScreenToWorldPoint(EndScreen);
mElbowObject.position = Middle;
mHandObject.position = End;
}
public void Read(BinaryReader reader)
{
m_olJoints = new List <TJoint>();
m_olBitmaps = new List <Bitmap>();
m_nDrawMode = reader.ReadInt32();
m_sTension = reader.ReadSingle();
m_nCurveWidth = reader.ReadInt32();
m_nJointCount = reader.ReadInt32();
int nCount = reader.ReadInt32();
for (int i = 0; i < nCount; i++)
{
TJoint joint = new TJoint();
joint.Read(reader);
m_olJoints.Add(joint);
}
m_nPoseCount = reader.ReadInt32();
m_sAlpha = 1.0f - (m_nPoseCount / 255.0f);
m_nBitmapCount = reader.ReadInt32();
for (int f = 0; f < m_nBitmapCount; f++)
{
Bitmap bmp = FileFormat.LoadBitmap(reader);
m_olBitmaps.Add(bmp);
}
}
/// <summary>
/// Draws a bone line between two joints
/// </summary>
/// <param name="skeleton">skeleton to draw bones from</param>
/// <param name="drawingContext">drawing context to draw to</param>
/// <param name="jointType0">joint to start drawing from</param>
/// <param name="jointType1">joint to end drawing at</param>
public static void DrawBone(TSkeleton skeleton, DrawingContext drawingContext, TJointType jointType0, TJointType jointType1)
{
TJoint joint0 = skeleton.Joints[(int)jointType0];
TJoint joint1 = skeleton.Joints[(int)jointType1];
// If we can't find either of these joints, exit
if (joint0.TrackingState == TJointTrackingState.NotTracked ||
joint1.TrackingState == TJointTrackingState.NotTracked)
{
return;
}
// Don't draw if both points are inferred
if (joint0.TrackingState == TJointTrackingState.Inferred &&
joint1.TrackingState == TJointTrackingState.Inferred)
{
return;
}
// We assume all drawn bones are inferred unless BOTH joints are tracked
Pen drawPen = inferredBonePen;
if (joint0.TrackingState == TJointTrackingState.Tracked && joint1.TrackingState == TJointTrackingState.Tracked)
{
drawPen = trackedBonePen;
}
drawingContext.DrawLine(drawPen, SkeletonPointToScreen(joint0.Position), SkeletonPointToScreen(joint1.Position));
}
private void NavigateByBothHands(TJoint lastLeftHandFrame, TJoint lastRightHandFrame, List <Frame> frames)
{
var distance = CalculateDistance(lastLeftHandFrame, lastRightHandFrame);
ZoomSum += distance - LastHandsDistance;
if (ZoomSum > Configuration.minimalHandDistanceChanged)
{
var transitionVector = new Vector3()
{
X = ZoomSum
};
//LogString.Log("Hand: " + Kinect.Toolbox.Utils.Extensions.Print(jointPos.Position));
Raise(() => RaiseEvent(frames, transitionVector, -1, ControlType.BOTH_HANDS));
ZoomSum = 0;
}
else if (ZoomSum < -Configuration.minimalHandDistanceChanged)
{
var transitionVector = new Vector3()
{
X = ZoomSum
};
//LogString.Log("Hand: " + Kinect.Toolbox.Utils.Extensions.Print(jointPos.Position));
Raise(() => RaiseEvent(frames, transitionVector, -1, ControlType.BOTH_HANDS));
ZoomSum = 0;
}
LastHandsDistance = distance;
}
private void CompareJoint(TJoint joint1, TJoint joint2)
{
Assert.True(joint1.JointType == joint2.JointType);
CompareSkeletonPoints(joint1.Position, joint2.Position);
Assert.True(joint1.TrackingState == joint2.TrackingState);
}
public void UpdateSettInfo()
{
if (nMain.currObj != null)
{
TJoint jointcomp = nMain.currObj.GetComponent <TJoint>();
AXInp.GetComponent <UnityEngine.UI.InputField>().text = jointcomp.comp.anchor.x.ToString();
AYInp.GetComponent <UnityEngine.UI.InputField>().text = jointcomp.comp.anchor.y.ToString();
}
}
private float CalculateDistance(TJoint lastLeftHandFrame, TJoint lastRightHandFrame)
{
var transitionLeftX = lastLeftHandFrame.Position.X - LeftLastPosition.X;
var transitionLeftY = lastLeftHandFrame.Position.Y - LeftLastPosition.Y;
var transitionRightX = lastRightHandFrame.Position.X - RightLastPosition.X;
var transitionRightY = lastRightHandFrame.Position.Y - RightLastPosition.Y;
var distance = (float)Math.Sqrt((transitionRightX - transitionLeftX) * (transitionRightX - transitionLeftX) + (transitionRightY - transitionLeftY) * (transitionRightY - transitionLeftY));
return(distance);
}
private void NavigateByLeftHand(TJoint lastLeftHandFrame, List <Frame> frames)
{
var transitionX = lastLeftHandFrame.Position.X - LeftLastPosition.X;
var transitionY = lastLeftHandFrame.Position.Y - LeftLastPosition.Y;
var transitionVector = new Vector3()
{
X = transitionX, Y = transitionY
};
Raise(() => RaiseEvent(frames, transitionVector, 0, ControlType.LEFT_HAND));
LeftLastPosition = lastLeftHandFrame.Position;
}
private void NavigateByRightHand(TJoint lastRightHandFrame, List <Frame> frames)
{
var transitionX = lastRightHandFrame.Position.X - RightLastPosition.X;
var transitionY = lastRightHandFrame.Position.Y - RightLastPosition.Y;
var transitionVector = new Vector3()
{
X = -transitionX, Y = -transitionY
};
Raise(() => RaiseEvent(frames, transitionVector, 0, ControlType.RIGHT_HAND));
RightLastPosition = lastRightHandFrame.Position;
}
// Update is called once per frame
void Update()
{
// yield return new WaitForEndOfFrame();
if (mMaskTexture == null)
{
return;
}
if (mJointCalculator == null)
{
mJointCalculator = new TJointCalculator();
}
if (mDebugJoint)
{
TJoint joint = new TJoint();
joint.mStart = new float2(0, 0);
joint.mMiddle = new float2(0.2f, 0.2f);
joint.mEnd = new float2(0.4f, 0.5f);
mJoints = new List <TJoint> ();
mJoints.Add(joint);
}
else
{
mJoints = mJointCalculator.CalculateJoints(ref mDebug, mMaskTexture, mRayTexture, mRayMaterial, mSecondJointTexture, mSecondJointMaterial, mMaxColumnTest, mReadBackFormat, mMinJointLength);
if (mBestJointOnly)
{
// filter out best
int Best = 0;
for (int i = 1; i < mJoints.Count; i++)
{
if (mJoints[i].Length() > mJoints[Best].Length())
{
Best = i;
}
}
if (mJoints.Count > 0)
{
TJoint joint = mJoints[Best];
mJoints.Clear();
mJoints.Add(joint);
}
}
}
}
private TSkeleton GetSkeleton()
{
var joints = new TJoint[10];
for (int i = 0; i < 10; i++)
{
joints[i] = GetJoint();
}
return(new TSkeleton()
{
ClippedEdges = TFrameEdges.Left,
Position = GetSkeletonPoint(),
TrackingId = new Random().Next(),
TrackingState = TSkeletonTrackingState.Tracked,
Joints = joints
});
}
public void Read(BinaryReader reader)
{
int f;
TJoint pChild;
int nCount;
m_olChildren = new List <TJoint>();
m_nDrawAs = reader.ReadInt32();
m_nDrawWidth = reader.ReadInt32();
m_nLineWidth = reader.ReadInt32();
m_bShowLine = reader.ReadBoolean();
byte[] color = new byte[] { reader.ReadByte(), reader.ReadByte(), reader.ReadByte(), reader.ReadByte() };
m_nColor = Functions.Helpers.ODDCOLORtoCOLOR(color);
byte[] inColor = new byte[] { reader.ReadByte(), reader.ReadByte(), reader.ReadByte(), reader.ReadByte() };
m_nInColor = Functions.Helpers.ODDCOLORtoCOLOR(inColor);
m_bFill = reader.ReadBoolean();
m_nX = reader.ReadInt32();
m_nY = reader.ReadInt32();
m_nState = reader.ReadInt32();
m_nLength = reader.ReadInt32();
m_nIndex = reader.ReadInt32();
m_sAngleToParent = reader.ReadSingle();
m_nBitmap = reader.ReadInt32();
m_nBMPXoffs = reader.ReadInt32();
m_nBMPYoofs = reader.ReadInt32();
m_sBitmapRotation = reader.ReadSingle();
m_nBitmapAlpha = reader.ReadByte();
nCount = reader.ReadInt32();
for (f = 0; f < nCount; f++)
{
pChild = new TJoint();
pChild.m_pParent = this;
pChild.Read(reader);
m_olChildren.Add(pChild);
}
}
public static void DrawJoint(TJoint joint, Rect ScreenRect)
{
Vector2 Start = new Vector2(joint.mStart.x, joint.mStart.y);
Vector2 Middle = new Vector2(joint.mMiddle.x, joint.mMiddle.y);
Vector2 RayEnd = new Vector2(joint.mRayEnd.x, joint.mRayEnd.y);
Vector2 End = new Vector2(joint.mEnd.x, joint.mEnd.y);
Vector2 Left = End + new Vector2(joint.mRadLeft.x, joint.mRadLeft.y);
Vector2 Right = End + new Vector2(joint.mRadRight.x, joint.mRadRight.y);
float Radius = joint.mEndRadius;
FitToRect(ref Start, ScreenRect);
FitToRect(ref Middle, ScreenRect);
FitToRect(ref RayEnd, ScreenRect);
FitToRect(ref End, ScreenRect);
FitToRect(ref Left, ScreenRect);
FitToRect(ref Right, ScreenRect);
FitToRect(ref Radius, ScreenRect);
GuiHelper.DrawLine(Start, Middle, Color.red);
GuiHelper.DrawLine(Middle, RayEnd, Color.green);
GuiHelper.DrawCircle(End, Radius, Color.magenta);
GuiHelper.DrawLine(End, Left, Color.blue);
GuiHelper.DrawLine(End, Right, Color.blue);
}
public static void DrawJoint(TJoint joint, int ScreenSectionX, int ScreenSectionY)
{
Rect rect = GetScreenRect(ScreenSectionX, ScreenSectionY);
DrawJoint(joint, rect);
}
List <TJoint> CalculateJoints(ref string DebugOut, Color32[] SecondJointPixels, Texture SecondJointTexture, Texture MaskTexture, int MaxJointLength, float AngleDegMin, float AngleDegMax, int MaxColumnTest, int MinJointLength, Material ParamsMaterial)
{
//int RayPad = ParamsMaterial.GetInt ("RayPad");
int MaxJoints = 400;
List <TJoint> Joints = new List <TJoint> ();
// gr: verify w/h agains pixels size?
int PixelCount = SecondJointPixels.Length;
if (PixelCount % SecondJointTexture.width != 0)
{
return(Joints);
}
// should match mSecondJointTexture.height
int PixelsWidth = SecondJointTexture.width;
int PixelsHeight = PixelCount / PixelsWidth;
MaxColumnTest = Mathf.Min(SecondJointTexture.width, MaxColumnTest);
List <int> Columns = new List <int> ();
for (int c = 0; c < MaxColumnTest; c++)
{
float xf = (c / (float)MaxColumnTest) * SecondJointTexture.width;
int x = Mathf.FloorToInt(xf);
// don't add dupes
if (Columns.Count > 0)
{
if (Columns [Columns.Count - 1] == x)
{
continue;
}
}
Columns.Add(x);
}
DebugOut += SecondJointPixels [0 + (0 * PixelsWidth)] + "\n";
DebugOut += SecondJointPixels [0 + ((PixelsHeight / 2) * PixelsWidth)] + "\n";
DebugOut += SecondJointPixels [(10) + ((PixelsHeight - 1) * PixelsWidth)] + "\n";
// gr: could probbaly be more cache friendly by approaching this row-by-row...
for (int xi = 0; xi < Columns.Count; xi++)
{
int x = Columns[xi];
Color32 ColPixel = SecondJointPixels[x];
// height is the same for each angle so we can skip that quick
float Height = (ColPixel.a / 255.0f) * PixelsHeight;
if (Height < 1)
{
continue;
}
// get the longest joint for this X
float BestJointLength = 0.0f;
int BestJointAng = -1;
for (int angstep = 0; angstep < PixelsHeight; angstep++)
{
int p = x + (angstep * PixelsWidth);
Color32 Pixel = SecondJointPixels[p];
int pixr = Pixel.r;
// float AngleDeg = Mathf.Lerp( AngleDegMin, AngleDegMax, (float)angstep / (float)PixelsHeight );
float JointLength = (pixr / 255.0f) * MaxJointLength;
if (JointLength < BestJointLength)
{
continue;
}
BestJointLength = JointLength;
BestJointAng = angstep;
}
if (BestJointAng < 0)
{
continue;
}
if (BestJointLength < MinJointLength)
{
continue;
}
{
int angstep = BestJointAng;
int p = x + (angstep * PixelsWidth);
Color32 Pixel = SecondJointPixels[p];
float AngleDeg = Mathf.Lerp(AngleDegMin, AngleDegMax, (float)angstep / (float)PixelsHeight);
float JointLength = ((float)Pixel.r / 255.0f) * MaxJointLength;
float PanLength = ((float)Pixel.g / 255.0f) * MaxJointLength;
float RadiusLength = ((float)Pixel.b / 255.0f) * MaxJointLength;
RadiusLength = Mathf.Max(1, RadiusLength);
// gr: something wrong in this calc? half seems to look right
// texture->texture scale
// gr: maybe just UVscalar is wrong?
JointLength /= MaskTexture.width / SecondJointTexture.width;
RadiusLength /= MaskTexture.width / SecondJointTexture.width;
PanLength /= MaskTexture.width / SecondJointTexture.width;
float AngleRad = radians(AngleDeg);
Vector2 AngleVector = new Vector2(Mathf.Sin(AngleRad), Mathf.Cos(AngleRad));
AngleVector.Normalize();
Vector2 LeftVector = new Vector2(AngleVector.y, -AngleVector.x);
Vector2 RightVector = new Vector2(-AngleVector.y, AngleVector.x);
// in order to center the circle, we want to move it back a bit. we know it's already <PAD> back, but we might want to go further in either direction
// basically pad needs to become radius
//float Diff = RadiusLength - RayPad;
float Diff = 0;
AngleVector *= JointLength + Diff;
Vector2 PanVector = new Vector2(LeftVector.x, LeftVector.y);
PanVector *= PanLength;
LeftVector *= RadiusLength - PanLength;
RightVector *= RadiusLength + PanLength;
float2 UvScalar = new float2(1.0f / SecondJointTexture.width, 1.0f / SecondJointTexture.height);
TJoint joint = new TJoint();
joint.mStart = new float2(x * UvScalar.x, 0);
joint.mMiddle = new float2(x * UvScalar.x, Height * UvScalar.y);
joint.mRayEnd = new float2(joint.mMiddle.x + (AngleVector.x * UvScalar.x), joint.mMiddle.y + (AngleVector.y * UvScalar.y));
joint.mEnd = new float2(joint.mRayEnd.x + (PanVector.x * UvScalar.x), joint.mRayEnd.y + (PanVector.y * UvScalar.y));
joint.mEndRadius = RadiusLength * UvScalar.x;
joint.mRadLeft = new float2(LeftVector.x * UvScalar.x, LeftVector.y * UvScalar.y);
joint.mRadRight = new float2(RightVector.x * UvScalar.x, RightVector.y * UvScalar.y);
Joints.Add(joint);
if (Joints.Count >= MaxJoints)
{
return(Joints);
}
}
}
return(Joints);
}
