public void InitModules()
{
try
{
nuitrack.Nuitrack.Init();
depthSensor = nuitrack.DepthSensor.Create();
userTracker = nuitrack.UserTracker.Create();
skeletonTracker = nuitrack.SkeletonTracker.Create();
depthSensor.OnUpdateEvent += DepthUpdate;
userTracker.OnUpdateEvent += UserUpdate;
skeletonTracker.OnSkeletonUpdateEvent += SkeletonsUpdate;
nuitrack.Nuitrack.Run();
issuesProcessor = (GameObject)Instantiate(issuesProcessorPrefab);
depthUserVisualization = (GameObject)Instantiate(depthUserVisualizationPrefab);
skeletonsVisualization = (GameObject)Instantiate(skeletonsVisualizationPrefab);
}
catch (Exception ex)
{
exceptionsLogger.AddEntry(ex.ToString());
}
}
void NuitrackInit()
{
try
{
if (nuitrackInitialized)
{
return;
}
//Debug.Log("Application.runInBackground " + Application.runInBackground);
//CloseUserGen(); //just in case
if (wifiConnect == WifiConnect.VicoVR)
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
nuitrack.Nuitrack.SetConfigValue("Settings.IPAddress", "192.168.1.1");
}
else if (wifiConnect == WifiConnect.TVico)
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
nuitrack.Nuitrack.SetConfigValue("Settings.IPAddress", "192.168.43.1");
}
else
{
nuitrack.Nuitrack.Init();
}
Debug.Log("Init OK");
depthSensor = nuitrack.DepthSensor.Create();
colorSensor = nuitrack.ColorSensor.Create();
userTracker = nuitrack.UserTracker.Create();
skeletonTracker = nuitrack.SkeletonTracker.Create();
gestureRecognizer = nuitrack.GestureRecognizer.Create();
handTracker = nuitrack.HandTracker.Create();
nuitrack.Nuitrack.Run();
Debug.Log("Run OK");
ChangeModulsState(
skeletonTrackerModuleOn,
handsTrackerModuleOn,
depthModuleOn,
colorModuleOn,
gesturesRecognizerModuleOn,
userTrackerModuleOn
);
nuitrackInitialized = true;
_threadRunning = false;
}
catch (System.Exception ex)
{
initException = ex;
Debug.LogError(ex.ToString());
}
}
void InitSensors()
{
depthSensor = nuitrack.DepthSensor.Create();
colorSensor = nuitrack.ColorSensor.Create();
userTracker = nuitrack.UserTracker.Create();
skeletonTracker = nuitrack.SkeletonTracker.Create();
gestureRecognizer = nuitrack.GestureRecognizer.Create();
handTracker = nuitrack.HandTracker.Create();
nuitrack.Nuitrack.Run();
Debug.Log("Run OK");
ChangeModulsState(
skeletonTrackerModuleOn,
handsTrackerModuleOn,
depthModuleOn,
colorModuleOn,
gesturesRecognizerModuleOn,
userTrackerModuleOn
);
initSuccessful = true;
}
public void ReleaseNuitrack()
{
if (depthSensorInit != null)
{
depthSensorInit.OnUpdateEvent -= DepthUpdate;
}
if (colorSensorInit != null)
{
colorSensorInit.OnUpdateEvent -= ColorUpdate;
}
if (userTrackerInit != null)
{
userTrackerInit.OnUpdateEvent -= UserUpdate;
}
if (skeletonTrackerInit != null)
{
skeletonTrackerInit.OnSkeletonUpdateEvent -= SkeletonsUpdate;
}
if (handTrackerInit != null)
{
handTrackerInit.OnUpdateEvent -= HandTrackerUpdate;
}
if (gestureRecognizerInit != null)
{
gestureRecognizerInit.OnNewGesturesEvent -= GesturesUpdate;
}
if (issuesProcessor != null)
{
Destroy(issuesProcessor);
}
if (depthUserVisualization != null)
{
Destroy(depthUserVisualization);
}
if (skeletonsVisualization != null)
{
Destroy(skeletonsVisualization);
}
if (handTrackerVisualization != null)
{
Destroy(handTrackerVisualization);
}
if (gesturesVisualization != null)
{
Destroy(gesturesVisualization);
}
depthSensorInit = null;
colorSensorInit = null;
userTrackerInit = null;
skeletonTrackerInit = null;
handTrackerInit = null;
gestureRecognizerInit = null;
nuitrack.Nuitrack.Release();
}
void OnDestroy()
{
try
{
skeletonTracker = null;
nuitrack.Nuitrack.Release();
}
catch (Exception ex)
{
exceptionsLogger.AddEntry(ex.ToString());
}
}
public void CloseUserGen()
{
try
{
if (depthSensor != null)
{
depthSensor.OnUpdateEvent -= HandleOnDepthSensorUpdateEvent;
}
if (colorSensor != null)
{
colorSensor.OnUpdateEvent -= HandleOnColorSensorUpdateEvent;
}
if (userTracker != null)
{
userTracker.OnUpdateEvent -= HandleOnUserTrackerUpdateEvent;
}
if (skeletonTracker != null)
{
skeletonTracker.OnSkeletonUpdateEvent -= HandleOnSkeletonUpdateEvent;
}
if (gestureRecognizer != null)
{
gestureRecognizer.OnNewGesturesEvent -= OnNewGestures;
}
if (handTracker != null)
{
handTracker.OnUpdateEvent -= HandleOnHandsUpdateEvent;
}
depthFrame = null;
colorFrame = null;
userFrame = null;
skeletonData = null;
handTrackerData = null;
depthSensor = null;
colorSensor = null;
userTracker = null;
skeletonTracker = null;
gestureRecognizer = null;
handTracker = null;
nuitrack.Nuitrack.Release();
Debug.Log("CloseUserGen");
nuitrackInitialized = false;
}
catch (System.Exception ex)
{
Debug.LogError(ex.ToString());
}
}
void Start()
{
skeletonParts = new Dictionary <int, GameObject[]>();
//nuitrack initialization and creation of depth and segmentation generators:
try
{
nuitrack.Nuitrack.Init(debugPath);
skeletonTracker = nuitrack.SkeletonTracker.Create();
//event handler registerering:
skeletonTracker.OnSkeletonUpdateEvent += SkeletonUpdate;
nuitrack.Nuitrack.Run();
}
catch (Exception ex)
{
exceptionsLogger.AddEntry(ex.ToString());
}
}
public void CloseUserGen()
{
if (depthSensor != null)
{
depthSensor.OnUpdateEvent -= HandleOnDepthSensorUpdateEvent;
}
if (colorSensor != null)
{
colorSensor.OnUpdateEvent -= HandleOnColorSensorUpdateEvent;
}
if (userTracker != null)
{
userTracker.OnUpdateEvent -= HandleOnUserTrackerUpdateEvent;
}
if (skeletonTracker != null)
{
skeletonTracker.OnSkeletonUpdateEvent -= HandleOnSkeletonUpdateEvent;
}
if (gestureRecognizer != null)
{
gestureRecognizer.OnNewGesturesEvent -= OnNewGestures;
}
if (handTracker != null)
{
handTracker.OnUpdateEvent -= HandleOnHandsUpdateEvent;
}
// Debug.Log ("preRelease");
nuitrack.Nuitrack.Release();
// Debug.Log ("postRelease");
depthSensor = null;
colorSensor = null;
userTracker = null;
skeletonTracker = null;
gestureRecognizer = null;
handTracker = null;
depthFrame = null;
colorFrame = null;
userFrame = null;
skeletonData = null;
handTrackerData = null;
}
void NuitrackInit()
{
// CloseUserGen(); //just in case
#if UNITY_IOS
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
#else
if (Application.isEditor && wifiConnectFromEditor)
{
//nuitrack.Nuitrack.Init();
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
}
else
{
nuitrack.Nuitrack.Init();
}
#endif
Debug.Log("Init OK");
depthSensor = nuitrack.DepthSensor.Create();
colorSensor = nuitrack.ColorSensor.Create();
userTracker = nuitrack.UserTracker.Create();
skeletonTracker = nuitrack.SkeletonTracker.Create();
gestureRecognizer = nuitrack.GestureRecognizer.Create();
handTracker = nuitrack.HandTracker.Create();
nuitrack.Nuitrack.Run();
Debug.Log("Run OK");
ChangeModulsState(
skeletonTrackerModuleOn,
handsTrackerModuleOn,
depthModuleOn,
colorModuleOn,
gesturesRecognizerModuleOn,
userTrackerModuleOn
);
}
public void ReleaseNuitrack()
{
if (issuesProcessor != null)
{
Destroy(issuesProcessor);
}
if (depthUserVisualization != null)
{
Destroy(depthUserVisualization);
}
if (skeletonsVisualization != null)
{
Destroy(skeletonsVisualization);
}
depthSensor = null;
userTracker = null;
skeletonTracker = null;
nuitrack.Nuitrack.Release();
}
public void ChangeModules(bool depthOn, bool colorOn, bool userOn, bool skeletonOn, bool handsOn, bool gesturesOn)
{
try
{
// if (depthSensor != null) depthSensor.OnUpdateEvent -= DepthUpdate;
// if (userTracker != null) userTracker.OnUpdateEvent -= UserUpdate;
// if (skeletonTracker != null) skeletonTracker.OnSkeletonUpdateEvent -= SkeletonsUpdate;
// if (handTracker != null) handTracker.OnUpdateEvent -= HandTrackerUpdate;
// if (gestureRecognizer != null) gestureRecognizer.OnNewGesturesEvent -= GesturesUpdate;
//*
if (!nuitrackInitialized)
{
#if UNITY_IOS
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
#else
nuitrack.Nuitrack.Init();
#endif
Debug.Log("init ok");
depthSensorInit = nuitrack.DepthSensor.Create();
colorSensorInit = nuitrack.ColorSensor.Create();
userTrackerInit = nuitrack.UserTracker.Create();
skeletonTrackerInit = nuitrack.SkeletonTracker.Create();
handTrackerInit = nuitrack.HandTracker.Create();
gestureRecognizerInit = nuitrack.GestureRecognizer.Create();
nuitrack.Nuitrack.Run();
Debug.Log("run ok");
nuitrackInitialized = true;
}
// */
depthFrame = null;
colorFrame = null;
userFrame = null;
skeletonData = null;
handTrackerData = null;
gesturesData = null;
//
// depthSensor = null;
// userTracker = null;
// skeletonTracker = null;
// handTracker = null;
// gestureRecognizer = null;
//if (issuesProcessor != null) Destroy(issuesProcessor);
if (prevDepth != depthOn)
{
prevDepth = depthOn;
if (depthOn)
{
depthSensor = depthSensorInit;
depthSensorInit.OnUpdateEvent += DepthUpdate;
}
else
{
depthSensorInit.OnUpdateEvent -= DepthUpdate;
depthSensor = null;
}
}
if (prevColor != colorOn)
{
prevColor = colorOn;
if (colorOn)
{
colorSensor = colorSensorInit;
colorSensorInit.OnUpdateEvent += ColorUpdate;
}
else
{
colorSensorInit.OnUpdateEvent -= ColorUpdate;
colorSensor = null;
}
}
if (prevUser != userOn)
{
prevUser = userOn;
if (userOn)
{
userTracker = userTrackerInit;
userTrackerInit.OnUpdateEvent += UserUpdate;
}
else
{
userTrackerInit.OnUpdateEvent -= UserUpdate;
userTracker = null;
}
}
if (skeletonOn != prevSkel)
{
prevSkel = skeletonOn;
if (skeletonOn)
{
skeletonTracker = skeletonTrackerInit;
skeletonTrackerInit.OnSkeletonUpdateEvent += SkeletonsUpdate;
}
else
{
skeletonTrackerInit.OnSkeletonUpdateEvent -= SkeletonsUpdate;
skeletonTracker = null;
}
}
if (prevHand != handsOn)
{
prevHand = handsOn;
if (handsOn)
{
handTracker = handTrackerInit;
handTrackerInit.OnUpdateEvent += HandTrackerUpdate;
}
else
{
handTrackerInit.OnUpdateEvent -= HandTrackerUpdate;
handTracker = null;
}
}
if (prevGesture != gesturesOn)
{
prevGesture = gesturesOn;
if (gesturesOn)
{
gestureRecognizer = gestureRecognizerInit;
gestureRecognizerInit.OnNewGesturesEvent += GesturesUpdate;
}
else
{
gestureRecognizerInit.OnNewGesturesEvent -= GesturesUpdate;
gestureRecognizer = null;
}
}
//issuesProcessor = (GameObject)Instantiate(issuesProcessorPrefab);
}
catch (Exception ex)
{
exceptionsLogger.AddEntry(ex.ToString());
}
}
void NuitrackInit()
{
// CloseUserGen(); //just in case
#if UNITY_IOS
if (wifiConnect == WifiConnect.VicoVR)
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
nuitrack.Nuitrack.SetConfigValue("Settings.IPAddress", "192.168.1.1");
}
else if (wifiConnect == WifiConnect.TVico)
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
nuitrack.Nuitrack.SetConfigValue("Settings.IPAddress", "192.168.43.1");
}
else
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
}
#else
if ((Application.isEditor || Application.platform == RuntimePlatform.WindowsPlayer) && wifiConnect != WifiConnect.none)
{
if (wifiConnect == WifiConnect.VicoVR)
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
nuitrack.Nuitrack.SetConfigValue("Settings.IPAddress", "192.168.1.1");
}
if (wifiConnect == WifiConnect.TVico)
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
nuitrack.Nuitrack.SetConfigValue("Settings.IPAddress", "192.168.43.1");
}
}
else
{
nuitrack.Nuitrack.Init();
}
#endif
Debug.Log("Init OK");
depthSensor = nuitrack.DepthSensor.Create();
colorSensor = nuitrack.ColorSensor.Create();
userTracker = nuitrack.UserTracker.Create();
skeletonTracker = nuitrack.SkeletonTracker.Create();
gestureRecognizer = nuitrack.GestureRecognizer.Create();
handTracker = nuitrack.HandTracker.Create();
nuitrack.Nuitrack.Run();
Debug.Log("Run OK");
ChangeModulsState(
skeletonTrackerModuleOn,
handsTrackerModuleOn,
depthModuleOn,
colorModuleOn,
gesturesRecognizerModuleOn,
userTrackerModuleOn
);
}
private void InitTrackers(bool depthOn, bool colorOn, bool userOn, bool skeletonOn, bool handsOn, bool gesturesOn)
{
if (!nuitrackInitialized)
{
nuitrack.Nuitrack.Init();
Debug.Log("init ok");
depthSensorInit = nuitrack.DepthSensor.Create();
colorSensorInit = nuitrack.ColorSensor.Create();
userTrackerInit = nuitrack.UserTracker.Create();
skeletonTrackerInit = nuitrack.SkeletonTracker.Create();
handTrackerInit = nuitrack.HandTracker.Create();
gestureRecognizerInit = nuitrack.GestureRecognizer.Create();
nuitrack.Nuitrack.Run();
Debug.Log("run ok");
nuitrackInitialized = true;
}
depthFrame = null;
colorFrame = null;
userFrame = null;
skeletonData = null;
handTrackerData = null;
gesturesData = null;
//
// depthSensor = null;
// userTracker = null;
// skeletonTracker = null;
// handTracker = null;
// gestureRecognizer = null;
//if (issuesProcessor != null) Destroy(issuesProcessor);
if (prevDepth != depthOn)
{
prevDepth = depthOn;
if (depthOn)
{
depthSensor = depthSensorInit;
depthSensorInit.OnUpdateEvent += DepthUpdate;
}
else
{
depthSensorInit.OnUpdateEvent -= DepthUpdate;
depthSensor = null;
}
}
if (prevColor != colorOn)
{
prevColor = colorOn;
if (colorOn)
{
colorSensor = colorSensorInit;
colorSensorInit.OnUpdateEvent += ColorUpdate;
}
else
{
colorSensorInit.OnUpdateEvent -= ColorUpdate;
colorSensor = null;
}
}
if (prevUser != userOn)
{
prevUser = userOn;
if (userOn)
{
userTracker = userTrackerInit;
userTrackerInit.OnUpdateEvent += UserUpdate;
}
else
{
userTrackerInit.OnUpdateEvent -= UserUpdate;
userTracker = null;
}
}
if (skeletonOn != prevSkel)
{
prevSkel = skeletonOn;
if (skeletonOn)
{
skeletonTracker = skeletonTrackerInit;
skeletonTrackerInit.OnSkeletonUpdateEvent += SkeletonsUpdate;
}
else
{
skeletonTrackerInit.OnSkeletonUpdateEvent -= SkeletonsUpdate;
skeletonTracker = null;
}
}
if (prevHand != handsOn)
{
prevHand = handsOn;
if (handsOn)
{
handTracker = handTrackerInit;
handTrackerInit.OnUpdateEvent += HandTrackerUpdate;
}
else
{
handTrackerInit.OnUpdateEvent -= HandTrackerUpdate;
handTracker = null;
}
}
if (prevGesture != gesturesOn)
{
prevGesture = gesturesOn;
if (gesturesOn)
{
gestureRecognizer = gestureRecognizerInit;
gestureRecognizerInit.OnNewGesturesEvent += GesturesUpdate;
}
else
{
gestureRecognizerInit.OnNewGesturesEvent -= GesturesUpdate;
gestureRecognizer = null;
}
}
StopThread();
}
public void CloseSensor(KinectInterop.SensorData sensorData)
{
if (colorWebCam)
{
colorWebCam.Stop();
colorWebCam = null;
}
if (coordMapper != null)
{
coordMapper.CleanUp();
coordMapper = null;
}
if (colorSensor != null)
{
colorSensor.OnUpdateEvent -= HandleOnColorSensorUpdateEvent;
colorSensor = null;
colorFrame = null;
}
if (depthSensor != null)
{
depthSensor.OnUpdateEvent -= HandleOnDepthSensorUpdateEvent;
depthSensor = null;
depthFrame = null;
}
if (userTracker != null)
{
userTracker.OnUpdateEvent -= HandleOnUserTrackerUpdateEvent;
userTracker = null;
userFrame = null;
}
if (skeletonTracker != null)
{
skeletonTracker.OnSkeletonUpdateEvent -= HandleOnSkeletonUpdateEvent;
skeletonTracker = null;
skeletonData = null;
}
if (handTracker != null)
{
handTracker.OnUpdateEvent -= HandleOnHandsUpdateEvent;
handTracker = null;
handTrackerData = null;
}
if (gestureRecognizer != null)
{
gestureRecognizer.OnNewGesturesEvent -= OnNewGestures;
gestureRecognizer = null;
}
if (bNuitrackInited)
{
bNuitrackInited = false;
nuitrack.Nuitrack.onIssueUpdateEvent -= OnIssuesUpdate;
NuitrackTerm();
}
Debug.Log("Nuitrack sensor closed");
}
public KinectInterop.SensorData OpenDefaultSensor(KinectInterop.FrameSource dwFlags, float sensorAngle, bool bUseMultiSource)
{
// init interface
if (!bNuitrackInited)
{
bNuitrackInited = NuitrackInit();
if (!bNuitrackInited)
{
return(null);
}
}
sensorFlags = dwFlags;
bMultiSource = bUseMultiSource;
KinectInterop.SensorData sensorData = new KinectInterop.SensorData();
if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
for (int i = 0; i < WebCamTexture.devices.Length; i++)
{
if (WebCamTexture.devices[i].name.IndexOf("astra", StringComparison.CurrentCultureIgnoreCase) >= 0)
{
Debug.Log(" " + WebCamTexture.devices[i].name + "- AstraPro detected.");
colorWebCam = new WebCamTexture(WebCamTexture.devices[i].name, 640, 480, 30);
break;
}
}
if (!colorWebCam)
{
colorSensor = nuitrack.ColorSensor.Create();
colorSensor.OnUpdateEvent += HandleOnColorSensorUpdateEvent;
}
else
{
bWebColorStream = true;
colorWebCam.Play();
sensorData.colorImageTexture = colorWebCam;
}
}
if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
depthSensor = nuitrack.DepthSensor.Create();
// depthSensor.SetMirror (true);
depthSensor.OnUpdateEvent += HandleOnDepthSensorUpdateEvent;
}
if ((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
{
userTracker = nuitrack.UserTracker.Create();
userTracker.OnUpdateEvent += HandleOnUserTrackerUpdateEvent;
}
if ((dwFlags & KinectInterop.FrameSource.TypeBody) != 0)
{
skeletonTracker = nuitrack.SkeletonTracker.Create();
skeletonTracker.OnSkeletonUpdateEvent += HandleOnSkeletonUpdateEvent;
handTracker = nuitrack.HandTracker.Create();
handTracker.OnUpdateEvent += HandleOnHandsUpdateEvent;
gestureRecognizer = nuitrack.GestureRecognizer.Create();
gestureRecognizer.OnNewGesturesEvent += OnNewGestures;
}
// if((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
// {
// }
nuitrack.Nuitrack.onIssueUpdateEvent += OnIssuesUpdate;
nuitrack.Nuitrack.Run();
sensorData.bodyCount = Constants.SkeletonCount;
sensorData.jointCount = Constants.JointCount;
sensorData.depthCameraOffset = 0f;
sensorData.faceOverlayOffset = 0f;
if (!bWebColorStream)
{
// // wait for color frame
// if (colorSensor != null)
// {
// colorFrame = colorSensor.GetColorFrame();
// float waitTillTime = Time.realtimeSinceStartup + 2.5f;
//
// while (colorFrame == null && Time.realtimeSinceStartup <= waitTillTime)
// {
// nuitrack.Nuitrack.Update();
// System.Threading.Thread.Sleep(50);
// colorFrame = colorSensor.GetColorFrame();
// }
// }
sensorData.colorImageWidth = colorSensor != null?colorSensor.GetOutputMode().XRes : 640;
sensorData.colorImageHeight = colorSensor != null?colorSensor.GetOutputMode().YRes : 480;
// flip color image vertically
sensorData.colorImageScale = new Vector3(1f, -1f, 1f);
}
else
{
sensorData.colorImageWidth = colorWebCam.width;
sensorData.colorImageHeight = colorWebCam.height;
// flip color image horizontally
sensorData.colorImageScale = new Vector3(-1f, 1f, 1f);
}
Debug.Log(" Color sensor: " + (colorSensor != null ? colorSensor.ToString() : "-") +
", width: " + sensorData.colorImageWidth + ", height: " + sensorData.colorImageHeight);
// // wait for depth frame
// if (depthSensor != null)
// {
// depthFrame = depthSensor.GetDepthFrame();
// float waitTillTime = Time.realtimeSinceStartup + 2.5f;
//
// while (depthFrame == null && Time.realtimeSinceStartup <= waitTillTime)
// {
// nuitrack.Nuitrack.Update();
// System.Threading.Thread.Sleep(50);
// depthFrame = depthSensor.GetDepthFrame();
// }
// }
sensorData.depthImageWidth = depthSensor != null?depthSensor.GetOutputMode().XRes : 640;
sensorData.depthImageHeight = depthSensor != null?depthSensor.GetOutputMode().YRes : 480;
Debug.Log(" Depth sensor: " + (depthSensor != null ? depthSensor.ToString() : "-") +
", width: " + sensorData.depthImageWidth + ", height: " + sensorData.depthImageHeight);
// color & depth FOV
float hfovr = colorSensor != null?colorSensor.GetOutputMode().HFOV : 0f;
float vfovr = 2f * Mathf.Atan(Mathf.Tan(hfovr / 2f) * sensorData.depthImageHeight / sensorData.depthImageWidth);
sensorData.colorCameraFOV = vfovr * Mathf.Rad2Deg;
hfovr = depthSensor != null?depthSensor.GetOutputMode().HFOV : 0f;
vfovr = 2f * Mathf.Atan(Mathf.Tan(hfovr / 2f) * sensorData.depthImageHeight / sensorData.depthImageWidth);
sensorData.depthCameraFOV = vfovr * Mathf.Rad2Deg;
if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
int colorImageSize = !colorWebCam ? (sensorData.colorImageWidth * sensorData.colorImageHeight * 3) : 0;
sensorData.colorImage = new byte[colorImageSize];
if (!colorWebCam)
{
sensorData.colorImageTexture2D = new Texture2D(sensorData.colorImageWidth, sensorData.colorImageHeight, TextureFormat.RGB24, false);
}
}
if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
int depthImageSize = sensorData.depthImageWidth * sensorData.depthImageHeight;
sensorData.depthImage = new ushort[depthImageSize];
}
if ((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
{
int bodyIndexImageSize = sensorData.depthImageWidth * sensorData.depthImageHeight;
sensorData.bodyIndexImage = new byte[bodyIndexImageSize];
}
if ((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
{
int depthImageSize = sensorData.depthImageWidth * sensorData.depthImageHeight;
sensorData.infraredImage = new ushort[depthImageSize];
}
// setup coordinate mapper
coordMapper = new OrbbecAstraMapper();
coordMapper.SetupSpaceMapping(sensorData.depthImageWidth, sensorData.depthImageHeight, hfovr, vfovr);
// d2c-calibration data is valid for Orbbec-Astra only (sensor id & calib.data not provided by Nuitrack)
coordMapper.SetupCalibrationData(bWebColorStream);
// set lost-user time tolerance equal to KM
if (KinectManager.Instance != null)
{
waitTimeBeforeRemove = KinectManager.Instance.waitTimeBeforeRemove;
}
Debug.Log("Nuitrack sensor opened");
return(sensorData);
}
void NuitrackInit()
{
//Debug.Log("Application.runInBackground " + Application.runInBackground);
//CloseUserGen(); //just in case
#if UNITY_IOS
if (wifiConnect == WifiConnect.VicoVR)
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
nuitrack.Nuitrack.SetConfigValue("Settings.IPAddress", "192.168.1.1");
}
else if (wifiConnect == WifiConnect.TVico)
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
nuitrack.Nuitrack.SetConfigValue("Settings.IPAddress", "192.168.43.1");
}
else
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
}
#else
if ((Application.isEditor || Application.platform == RuntimePlatform.WindowsPlayer) && wifiConnect != WifiConnect.none)
{
if (wifiConnect == WifiConnect.VicoVR)
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
nuitrack.Nuitrack.SetConfigValue("Settings.IPAddress", "192.168.1.1");
}
if (wifiConnect == WifiConnect.TVico)
{
nuitrack.Nuitrack.Init("", nuitrack.Nuitrack.NuitrackMode.DEBUG);
nuitrack.Nuitrack.SetConfigValue("Settings.IPAddress", "192.168.43.1");
}
}
else
{
nuitrack.Nuitrack.Init();
//... Change default nuitrack.config settings for better resolution and color mapping
nuitrack.Nuitrack.SetConfigValue("DepthProvider.Depth2ColorRegistration", "true");
nuitrack.Nuitrack.SetConfigValue("Realsense2Module.Depth.Preset", "5");
nuitrack.Nuitrack.SetConfigValue("Realsense2Module.Depth.RawWidth", "848");
nuitrack.Nuitrack.SetConfigValue("Realsense2Module.Depth.RawHeight", "480");
nuitrack.Nuitrack.SetConfigValue("Realsense2Module.Depth.ProcessWidth", "848");
nuitrack.Nuitrack.SetConfigValue("Realsense2Module.Depth.ProcessHeight", "480");
nuitrack.Nuitrack.SetConfigValue("Realsense2Module.Depth.FPS", "60");
nuitrack.Nuitrack.SetConfigValue("Realsense2Module.RGB.ProcessWidth", "848");
nuitrack.Nuitrack.SetConfigValue("Realsense2Module.RGB.ProcessHeight", "480");
//string alignCheckBefore = nuitrack.Nuitrack.GetConfigValue("DepthProvider.Depth2ColorRegistration");
//string resolutionCheckBefore = nuitrack.Nuitrack.GetConfigValue("Realsense2Module.Depth.RawWidth");
//Debug.Log("In NewtrackManager: " + alignCheckBefore);
//Debug.Log("In NewtrackManager: " + resolutionCheckBefore);
//...
}
#endif
Debug.Log("Init OK");
depthSensor = nuitrack.DepthSensor.Create();
colorSensor = nuitrack.ColorSensor.Create();
userTracker = nuitrack.UserTracker.Create();
skeletonTracker = nuitrack.SkeletonTracker.Create();
gestureRecognizer = nuitrack.GestureRecognizer.Create();
handTracker = nuitrack.HandTracker.Create();
nuitrack.Nuitrack.Run();
Debug.Log("Run OK");
ChangeModulsState(
skeletonTrackerModuleOn,
handsTrackerModuleOn,
depthModuleOn,
colorModuleOn,
gesturesRecognizerModuleOn,
userTrackerModuleOn
);
}