// Update the filter for all body joints
private void FilterBodyJoints(ref KinectInterop.BodyData bodyData, int bodyIndex, SmoothParameters tempSmoothingParams)
{
KinectManager manager = KinectManager.Instance;
int jointCount = manager.GetJointCount();
for (int jointIndex = 0; jointIndex < jointCount; jointIndex++)
{
// If not tracked, we smooth a bit more by using a bigger jitter radius
// Always filter end joints highly as they are more noisy
if (bodyData.joint[jointIndex].trackingState != KinectInterop.TrackingState.Tracked ||
jointIndex == (int)KinectInterop.JointType.FootLeft || jointIndex == (int)KinectInterop.JointType.FootRight ||
jointIndex == (int)KinectInterop.JointType.HandLeft || jointIndex == (int)KinectInterop.JointType.HandRight ||
jointIndex == (int)KinectInterop.JointType.HandtipLeft || jointIndex == (int)KinectInterop.JointType.HandtipRight ||
jointIndex == (int)KinectInterop.JointType.ThumbLeft || jointIndex == (int)KinectInterop.JointType.ThumbRight)
//|| jointIndex == (int)KinectInterop.JointType.Head)
{
tempSmoothingParams.jitterRadius = smoothParameters.jitterRadius * 2.0f;
tempSmoothingParams.maxDeviationRadius = smoothParameters.maxDeviationRadius * 2.0f;
}
else
{
tempSmoothingParams.jitterRadius = smoothParameters.jitterRadius;
tempSmoothingParams.maxDeviationRadius = smoothParameters.maxDeviationRadius;
}
Vector3 jPosition = bodyData.joint[jointIndex].trackingState != KinectInterop.TrackingState.NotTracked ? bodyData.joint[jointIndex].position : Vector3.zero;
bodyData.joint[jointIndex].position = FilterJoint(jPosition, bodyIndex, jointIndex, tempSmoothingParams);
}
bodyData.position = bodyData.joint[0].position;
}
// Resets the filter to default values.
public void Reset()
{
KinectManager kinectManager = KinectManager.Instance;
int maxBodyCount = 10; // kinectManager.GetMaxBodyCount();
int jointCount = kinectManager.GetJointCount();
//history = new JointHistoryData[kinectManager.GetMaxBodyCount(), kinectManager.GetJointCount()];
history = new BodyHistoryData[maxBodyCount];
for (int i = 0; i < maxBodyCount; i++)
{
history[i] = new BodyHistoryData(jointCount);
}
//Debug.Log("BodyCount: " + kinectManager.GetMaxBodyCount() + ", JointCount: " + kinectManager.GetJointCount());
}
/// <summary>
/// Applies foreground filter by body bounds.
/// </summary>
public void ApplyForegroundFilterByBody(Texture vertexTexture, RenderTexture alphaTexture, int playerIndex, int sensorIndex, int maxBodyCount,
Matrix4x4 matKinectWorld, KinectManager kinectManager, Camera foregroundCamera)
{
Matrix4x4 matWorldKinect = matKinectWorld.inverse;
if (kinectManager != null && kinectManager.userManager != null)
{
List <ulong> alUserIds = null;
if (playerIndex < 0)
{
alUserIds = kinectManager.userManager.alUserIds;
}
else
{
alUserIds = new List <ulong>();
ulong userId = kinectManager.GetUserIdByIndex(playerIndex);
if (userId != 0)
{
alUserIds.Add(userId);
}
}
int uCount = Mathf.Min(alUserIds.Count, maxBodyCount);
foregroundFilterShader.SetInt("_NumBodies", uCount);
//if (uCount > 0)
//{
// Debug.Log("playerIndex: " + playerIndex + ", uCount: " + uCount + ", userId: " + (uCount > 0 ? alUserIds[0] : 0));
//}
// get the background rectangle (use the portrait background, if available)
Rect backgroundRect = foregroundCamera.pixelRect;
PortraitBackground portraitBack = PortraitBackground.Instance;
if (portraitBack && portraitBack.enabled)
{
backgroundRect = portraitBack.GetBackgroundRect();
}
int jCount = kinectManager.GetJointCount();
for (int i = 0; i < uCount; i++)
{
ulong userId = alUserIds[i];
bool bSuccess = kinectManager.GetUserBoundingBox(userId, /**foregroundCamera*/ null, sensorIndex, backgroundRect,
out Vector3 pMin, out Vector3 pMax);
//Debug.Log("pMin: " + pMin + ", pMax: " + pMax);
if (bSuccess)
{
Vector3 posMin = new Vector3(pMin.x - leftOffset, pMin.y - offsetToFloor, pMin.z - frontOffset);
Vector3 posMaxX = new Vector3(pMax.x + rightOffset, posMin.y, posMin.z);
Vector3 posMaxY = new Vector3(posMin.x, pMax.y + headOffset, posMin.z);
Vector3 posMaxZ = new Vector3(posMin.x, posMin.y, pMax.z + backOffset);
//foregroundFilterDistXY[i] = new Vector4(xMin - 0.1f, xMax + 0.1f, yMin - offsetToFloor, yMax + 0.1f);
//foregroundFilterDistZ[i] = new Vector4(zMin - 0.2f, zMax + 0.0f, 0f, 0f);
bodyPosMin[i] = matWorldKinect.MultiplyPoint3x4(posMin);
bodyPosMaxX[i] = matWorldKinect.MultiplyPoint3x4(posMaxX) - (Vector3)bodyPosMin[i];
bodyPosMaxY[i] = matWorldKinect.MultiplyPoint3x4(posMaxY) - (Vector3)bodyPosMin[i];
bodyPosMaxZ[i] = matWorldKinect.MultiplyPoint3x4(posMaxZ) - (Vector3)bodyPosMin[i];
bodyPosDot[i] = new Vector3(Vector3.Dot(bodyPosMaxX[i], bodyPosMaxX[i]), Vector3.Dot(bodyPosMaxY[i], bodyPosMaxY[i]), Vector3.Dot(bodyPosMaxZ[i], bodyPosMaxZ[i]));
//Debug.Log("pMin: " + (Vector3)posMin + ", pMaxX: " + (Vector3)bodyPosMaxX[i] + ", pMaxY: " + (Vector3)bodyPosMaxY[i] + ", pMaxZ: " + (Vector3)bodyPosMaxZ[i] + ", pDot: " + (Vector3)bodyPosDot[i]);
}
//string sMessage2 = string.Format("Xmin: {0:F1}; Xmax: {1:F1}", bodyPosMin[i].x, bodyPosMaxX[i].x);
//Debug.Log(sMessage2);
}
}
//foregroundFilterShader.SetVectorArray("BodyPos", foregroundFilterPos);
foregroundFilterShader.SetVectorArray("_BodyPosMin", bodyPosMin);
foregroundFilterShader.SetVectorArray("_BodyPosMaxX", bodyPosMaxX);
foregroundFilterShader.SetVectorArray("_BodyPosMaxY", bodyPosMaxY);
foregroundFilterShader.SetVectorArray("_BodyPosMaxZ", bodyPosMaxZ);
foregroundFilterShader.SetVectorArray("_BodyPosDot", bodyPosDot);
foregroundFilterShader.SetTexture(foregroundFilterKernel, "_VertexTex", vertexTexture);
foregroundFilterShader.SetTexture(foregroundFilterKernel, "_AlphaTex", alphaTexture);
foregroundFilterShader.Dispatch(foregroundFilterKernel, vertexTexture.width / 8, vertexTexture.height / 8, 1);
}
// applies foreground filter by body
private void ApplyForegroundFilterByBody()
{
Matrix4x4 matKinectWorld = sensorInt.GetSensorToWorldMatrix();
//foregroundFilterShader.SetMatrix("_Transform", matKinectWorld);
//foregroundFilterShader.SetFloat("Distance", 1f);
Matrix4x4 matWorldKinect = matKinectWorld.inverse;
if (kinectManager != null && kinectManager.userManager != null)
{
List <ulong> alUserIds = null;
if (playerIndex < 0)
{
alUserIds = kinectManager.userManager.alUserIds;
}
else
{
alUserIds = new List <ulong>();
ulong userId = kinectManager.GetUserIdByIndex(playerIndex);
if (userId != 0)
{
alUserIds.Add(userId);
}
}
int uCount = Mathf.Min(alUserIds.Count, MAX_BODY_COUNT);
foregroundFilterShader.SetInt("_NumBodies", uCount);
// get the background rectangle (use the portrait background, if available)
Rect backgroundRect = foregroundCamera.pixelRect;
PortraitBackground portraitBack = PortraitBackground.Instance;
if (portraitBack && portraitBack.enabled)
{
backgroundRect = portraitBack.GetBackgroundRect();
}
int jCount = kinectManager.GetJointCount();
for (int i = 0; i < uCount; i++)
{
ulong userId = alUserIds[i];
//foregroundFilterPos[i] = kinectManager.GetUserPosition(userId);
//float xMin = float.MaxValue, xMax = float.MinValue;
//float yMin = float.MaxValue, yMax = float.MinValue;
//float zMin = float.MaxValue, zMax = float.MinValue;
//for (int j = 0; j < jCount; j++)
//{
// if(kinectManager.IsJointTracked(userId, j))
// {
// Vector3 jPos = kinectManager.GetJointPosColorOverlay(userId, j, sensorIndex, foregroundCamera, backgroundRect);
// if (jPos.x < xMin) xMin = jPos.x;
// if (jPos.y < yMin) yMin = jPos.y;
// if (jPos.z < zMin) zMin = jPos.z;
// if (jPos.x > xMax) xMax = jPos.x;
// if (jPos.y > yMax) yMax = jPos.y;
// if (jPos.z > zMax) zMax = jPos.z;
// }
//}
bool bSuccess = kinectManager.GetUserBoundingBox(userId, foregroundCamera, sensorIndex, backgroundRect,
out Vector3 pMin, out Vector3 pMax);
if (bSuccess)
{
Vector3 posMin = new Vector3(pMin.x - leftRightOffset, pMin.y - offsetToFloor, pMin.z - frontOffset);
Vector3 posMaxX = new Vector3(pMax.x + leftRightOffset, posMin.y, posMin.z);
Vector3 posMaxY = new Vector3(posMin.x, pMax.y + headOffset, posMin.z);
Vector3 posMaxZ = new Vector3(posMin.x, posMin.y, pMax.z + backOffset);
//foregroundFilterDistXY[i] = new Vector4(xMin - 0.1f, xMax + 0.1f, yMin - offsetToFloor, yMax + 0.1f);
//foregroundFilterDistZ[i] = new Vector4(zMin - 0.2f, zMax + 0.0f, 0f, 0f);
bodyPosMin[i] = matWorldKinect.MultiplyPoint3x4(posMin);
bodyPosMaxX[i] = matWorldKinect.MultiplyPoint3x4(posMaxX) - (Vector3)bodyPosMin[i];
bodyPosMaxY[i] = matWorldKinect.MultiplyPoint3x4(posMaxY) - (Vector3)bodyPosMin[i];
bodyPosMaxZ[i] = matWorldKinect.MultiplyPoint3x4(posMaxZ) - (Vector3)bodyPosMin[i];
bodyPosDot[i] = new Vector3(Vector3.Dot(bodyPosMaxX[i], bodyPosMaxX[i]), Vector3.Dot(bodyPosMaxY[i], bodyPosMaxY[i]), Vector3.Dot(bodyPosMaxZ[i], bodyPosMaxZ[i]));
}
//string sMessage2 = string.Format("Xmin: {0:F1}; Xmax: {1:F1}", bodyPosMin[i].x, bodyPosMaxX[i].x);
//Debug.Log(sMessage2);
}
}
//foregroundFilterShader.SetVectorArray("BodyPos", foregroundFilterPos);
foregroundFilterShader.SetVectorArray("_BodyPosMin", bodyPosMin);
foregroundFilterShader.SetVectorArray("_BodyPosMaxX", bodyPosMaxX);
foregroundFilterShader.SetVectorArray("_BodyPosMaxY", bodyPosMaxY);
foregroundFilterShader.SetVectorArray("_BodyPosMaxZ", bodyPosMaxZ);
foregroundFilterShader.SetVectorArray("_BodyPosDot", bodyPosDot);
foregroundFilterShader.SetTexture(foregroundFilterKernel, "_VertexTex", vertexTexture);
//foregroundFilterShader.SetTexture(foregroundFilterKernel, "_AlphaTex", alphaTexture);
foregroundFilterShader.Dispatch(foregroundFilterKernel, textureRes.x / 8, textureRes.y / 8, 1);
}