void Awake()
{
int hr = 0;
try
{
hr = KinectWrapper.NuiInitialize(KinectWrapper.NuiInitializeFlags.UsesSkeleton |
KinectWrapper.NuiInitializeFlags.UsesDepthAndPlayerIndex |
(ComputeColorMap ? KinectWrapper.NuiInitializeFlags.UsesColor : 0));
if (hr != 0)
{
throw new Exception("NuiInitialize Failed");
}
hr = KinectWrapper.NuiSkeletonTrackingEnable(IntPtr.Zero,
8); // 0, 12,8
if (hr != 0)
{
throw new Exception("Cannot initialize Skeleton Data");
}
depthStreamHandle = IntPtr.Zero;
if (ComputeUserMap)
{
hr = KinectWrapper.NuiImageStreamOpen
(KinectWrapper.NuiImageType.DepthAndPlayerIndex,
KinectWrapper.Constants.DepthImageResolution, 0, 2, IntPtr.Zero, ref
depthStreamHandle);
if (hr != 0)
{
throw new Exception("Cannot open depth stream");
}
}
colorStreamHandle = IntPtr.Zero;
if (ComputeColorMap)
{
hr = KinectWrapper.NuiImageStreamOpen
(KinectWrapper.NuiImageType.Color,
KinectWrapper.Constants.ColorImageResolution, 0, 2, IntPtr.Zero, ref
colorStreamHandle);
if (hr != 0)
{
throw new Exception("Cannot open color stream");
}
}
// set kinect elevation angle
KinectWrapper.NuiCameraElevationSetAngle(SensorAngle);
// init skeleton structures
skeletonFrame = new KinectWrapper.NuiSkeletonFrame()
{
SkeletonData = new KinectWrapper.NuiSkeletonData
[KinectWrapper.Constants.NuiSkeletonCount]
};
// values used to pass to smoothing function
smoothParameters = new
KinectWrapper.NuiTransformSmoothParameters();
switch (smoothing)
{
case Smoothing.Default:
smoothParameters.fSmoothing = 0.5f;
smoothParameters.fCorrection = 0.5f;
smoothParameters.fPrediction = 0.5f;
smoothParameters.fJitterRadius = 0.05f;
smoothParameters.fMaxDeviationRadius = 0.04f;
break;
case Smoothing.Medium:
smoothParameters.fSmoothing = 0.5f;
smoothParameters.fCorrection = 0.1f;
smoothParameters.fPrediction = 0.5f;
smoothParameters.fJitterRadius = 0.1f;
smoothParameters.fMaxDeviationRadius = 0.1f;
break;
case Smoothing.Aggressive:
smoothParameters.fSmoothing = 0.7f;
smoothParameters.fCorrection = 0.3f;
smoothParameters.fPrediction = 1.0f;
smoothParameters.fJitterRadius = 1.0f;
smoothParameters.fMaxDeviationRadius = 1.0f;
break;
}
// create arrays for joint positions and joint orientations
int skeletonJointsCount = (int)
KinectWrapper.NuiSkeletonPositionIndex.Count;
playerJointsTracked = new bool[skeletonJointsCount];
playerPrevTracked = new bool[skeletonJointsCount];
playerJointsPos = new Vector3[skeletonJointsCount];
//create the transform matrix that converts from kinect-space to world-space
Quaternion quatTiltAngle = new Quaternion();
quatTiltAngle.eulerAngles = new Vector3(-SensorAngle, 0.0f, 0.0f);
//float heightAboveHips = SensorHeight - 1.0f;
// transform matrix - kinect to world
//kinectToWorld.SetTRS(new Vector3(0.0f, heightAboveHips, 0.0f), quatTiltAngle, Vector3.one);
kinectToWorld.SetTRS(new Vector3(0.0f, SensorHeight, 0.0f), quatTiltAngle, Vector3.one);
flipMatrix = Matrix4x4.identity;
flipMatrix[2, 2] = -1;
instance = this;
}
catch (DllNotFoundException e)
{
string message = "Please check the Kinect SDK installation.";
Debug.LogError(message);
Debug.LogError(e.ToString());
return;
}
catch (Exception e)
{
string message = e.Message + " - " +
KinectWrapper.GetNuiErrorString(hr);
Debug.LogError(message);
Debug.LogError(e.ToString());
return;
}
if (ComputeUserMap)
{
// Initialize depth & label map related stuff
usersMapSize = KinectWrapper.GetDepthWidth() *
KinectWrapper.GetDepthHeight();
usersLblTex = new Texture2D(KinectWrapper.GetDepthWidth(),
KinectWrapper.GetDepthHeight());
usersMapColors = new Color32[usersMapSize];
usersPrevState = new ushort[usersMapSize];
usersDepthMap = new ushort[usersMapSize];
usersHistogramMap = new float[8192];
}
if (ComputeColorMap)
{
// Initialize color map related stuff
usersClrTex = new Texture2D(KinectWrapper.GetColorWidth(),
KinectWrapper.GetColorHeight());
colorImage = new Color32[KinectWrapper.GetColorWidth() *
KinectWrapper.GetColorHeight()];
usersColorMap = new byte[colorImage.Length << 2];
}
// Initialize user list to contain ALL users.
allUsers = new List <uint>();
KinectInitialized = true;
}
/// <summary>
/// This function usually works up to a second =)
/// </summary>
void InitializeKinect()
{
if (KinectText != null)
{
KinectText.text = "Starting Kinect initialization";
}
// Error code.
int hr = 0;
try
{
// Initialize kinect for skeleton tracking and video
hr = KinectWrapper.NuiInitialize(KinectWrapper.NuiInitializeFlags.UsesColor | KinectWrapper.NuiInitializeFlags.UsesSkeleton);
if (hr != 0)
{
if (KinectText != null)
{
KinectText.text = "Failed to Initialize Kinect";
}
throw new Exception("NuiInitialize Failed");
}
// Initialize video
colorStreamHandle = IntPtr.Zero;
hr = KinectWrapper.NuiImageStreamOpen(KinectWrapper.NuiImageType.Color,
KinectWrapper.Constants.ImageResolution, 0, 2, IntPtr.Zero, ref colorStreamHandle);
if (hr != 0)
{
if (KinectText != null)
{
KinectText.text = "Failed to Initialize Color Stream";
}
throw new Exception("Cannot open color stream");
}
// Initialize skeleton
hr = KinectWrapper.NuiSkeletonTrackingEnable(IntPtr.Zero, 8); // 0, 12,8
if (hr != 0)
{
if (KinectText != null)
{
KinectText.text = "Failed to Initialize Skeleton Stream";
}
throw new Exception("Cannot initialize Skeleton Data");
}
// init skeleton structures
skeletonFrame = new KinectWrapper.NuiSkeletonFrame()
{
SkeletonData = new KinectWrapper.NuiSkeletonData[KinectWrapper.Constants.NuiSkeletonCount]
};
// values used to pass to smoothing function
smoothParameters = new KinectWrapper.NuiTransformSmoothParameters();
smoothParameters.fSmoothing = 0.5f;
smoothParameters.fCorrection = 0.5f;
smoothParameters.fPrediction = 0.5f;
smoothParameters.fJitterRadius = 0.05f;
smoothParameters.fMaxDeviationRadius = 0.04f;
// set kinect elevation angle
//KinectWrapper.NuiCameraElevationSetAngle(15);
}
catch (DllNotFoundException e)
{
if (KinectText != null)
{
KinectText.text = "Please check the Kinect SDK installation.";
}
string message = "Please check the Kinect SDK installation.";
Debug.LogError(message);
Debug.LogError(e.ToString());
return;
}
catch (Exception e)
{
string message = e.Message + " - " + KinectWrapper.GetNuiErrorString(hr);
if (KinectText != null)
{
if ((uint)hr == (uint)KinectWrapper.NuiErrorCodes.DeviceNotConnected)
{
KinectText.text = "O-ops, where is my kinect";//"Упс, де мій Кінект ???";
}
else if ((uint)hr == (uint)KinectWrapper.NuiErrorCodes.DeviceNotPowered)
{
KinectText.text = "O-ops, why my kinect is not powered";//"Упс, чому Кінект не у розетці ???";
}
else if ((uint)hr == (uint)KinectWrapper.NuiErrorCodes.DeviceInUse)
{
KinectText.text = "O-ops, why someone else is using my kinect";//"Упс, хто використовує мій Кінект ???";
}
else
{
KinectText.text = message;
}
}
Debug.LogError(message);
return;
}
// Initialize color map related stuff
usersClrTex = new Texture2D(KinectWrapper.GetDepthWidth(), KinectWrapper.GetDepthHeight());
if (SmallVideo)
{
usersClrRect = new Rect(10, 10, 160, 120);
}
else
{
usersClrRect = new Rect(10, 10, usersClrTex.width, usersClrTex.height);
}
colorImage = new Color32[KinectWrapper.GetDepthWidth() * KinectWrapper.GetDepthHeight()];
KinectInitialized = true;
if (KinectText != null)
{
KinectText.text = "Kinect initialization successful";
}
}
//----------------------------------- end of public functions --------------------------------------//
void Start()
{
//CalibrationText = GameObject.Find("CalibrationText");
int hr = 0;
try
{
hr = KinectWrapper.NuiInitialize(KinectWrapper.NuiInitializeFlags.UsesSkeleton |
KinectWrapper.NuiInitializeFlags.UsesDepthAndPlayerIndex |
(ComputeColorMap ? KinectWrapper.NuiInitializeFlags.UsesColor : 0));
if (hr != 0)
{
throw new Exception("NuiInitialize Failed");
}
hr = KinectWrapper.NuiSkeletonTrackingEnable(IntPtr.Zero, 8); // 0, 12,8
if (hr != 0)
{
throw new Exception("Cannot initialize Skeleton Data");
}
_depthStreamHandle = IntPtr.Zero;
if (ComputeUserMap)
{
hr = KinectWrapper.NuiImageStreamOpen(KinectWrapper.NuiImageType.DepthAndPlayerIndex,
KinectWrapper.Constants.DepthImageResolution, 0, 2, IntPtr.Zero, ref _depthStreamHandle);
if (hr != 0)
{
throw new Exception("Cannot open depth stream");
}
}
_colorStreamHandle = IntPtr.Zero;
if (ComputeColorMap)
{
hr = KinectWrapper.NuiImageStreamOpen(KinectWrapper.NuiImageType.Color,
KinectWrapper.Constants.ColorImageResolution, 0, 2, IntPtr.Zero, ref _colorStreamHandle);
if (hr != 0)
{
throw new Exception("Cannot open color stream");
}
}
// set kinect elevation angle
KinectWrapper.NuiCameraElevationSetAngle(SensorAngle);
// init skeleton structures
_skeletonFrame = new KinectWrapper.NuiSkeletonFrame()
{
SkeletonData = new KinectWrapper.NuiSkeletonData[KinectWrapper.Constants.NuiSkeletonCount]
};
// values used to pass to smoothing function
_smoothParameters = new KinectWrapper.NuiTransformSmoothParameters();
switch (smoothing)
{
case Smoothing.Default:
_smoothParameters.fSmoothing = 0.5f;
_smoothParameters.fCorrection = 0.5f;
_smoothParameters.fPrediction = 0.5f;
_smoothParameters.fJitterRadius = 0.05f;
_smoothParameters.fMaxDeviationRadius = 0.04f;
break;
case Smoothing.Medium:
_smoothParameters.fSmoothing = 0.5f;
_smoothParameters.fCorrection = 0.1f;
_smoothParameters.fPrediction = 0.5f;
_smoothParameters.fJitterRadius = 0.1f;
_smoothParameters.fMaxDeviationRadius = 0.1f;
break;
case Smoothing.Aggressive:
_smoothParameters.fSmoothing = 0.7f;
_smoothParameters.fCorrection = 0.3f;
_smoothParameters.fPrediction = 1.0f;
_smoothParameters.fJitterRadius = 1.0f;
_smoothParameters.fMaxDeviationRadius = 1.0f;
break;
}
// create arrays for joint positions and joint orientations
int skeletonJointsCount = (int)KinectWrapper.NuiSkeletonPositionIndex.Count;
_player1JointsTracked = new bool[skeletonJointsCount];
_player2JointsTracked = new bool[skeletonJointsCount];
_player1PrevTracked = new bool[skeletonJointsCount];
_player2PrevTracked = new bool[skeletonJointsCount];
_player1JointsPos = new Vector3[skeletonJointsCount];
_player2JointsPos = new Vector3[skeletonJointsCount];
_player1JointsOri = new Matrix4x4[skeletonJointsCount];
_player2JointsOri = new Matrix4x4[skeletonJointsCount];
//create the transform matrix that converts from kinect-space to world-space
Quaternion quatTiltAngle = new Quaternion();
quatTiltAngle.eulerAngles = new Vector3(-SensorAngle, 0.0f, 0.0f);
// transform matrix - kinect to world
_kinectToWorld.SetTRS(new Vector3(0.0f, SensorHeight, 0.0f), quatTiltAngle, Vector3.one);
_flipMatrix = Matrix4x4.identity;
_flipMatrix[2, 2] = -1;
Instance = this;
DontDestroyOnLoad(gameObject);
}
catch (DllNotFoundException e)
{
string message = "Please check the Kinect SDK installation.";
Debug.LogError(message);
Debug.LogError(e.ToString());
return;
}
catch (Exception e)
{
string message = e.Message + " - " + KinectWrapper.GetNuiErrorString(hr);
Debug.LogError(message);
Debug.LogError(e.ToString());
return;
}
// get the main camera rectangle
Rect cameraRect = Camera.main.pixelRect;
if (ComputeUserMap)
{
var displayMapsWidthPercent = DisplayMapsWidthPercent / 100f;
var displayMapsHeightPercent = displayMapsWidthPercent * KinectWrapper.GetDepthHeight() / KinectWrapper.GetDepthWidth();
var displayWidth = cameraRect.width * displayMapsWidthPercent;
var displayHeight = cameraRect.width * displayMapsHeightPercent;
// Initialize depth & label map related stuff
_usersMapSize = KinectWrapper.GetDepthWidth() * KinectWrapper.GetDepthHeight();
_usersLblTex = new Texture2D(KinectWrapper.GetDepthWidth(), KinectWrapper.GetDepthHeight());
_usersMapColors = new Color32[_usersMapSize];
_usersPrevState = new ushort[_usersMapSize];
_usersMapRect = new Rect(cameraRect.width - displayWidth, cameraRect.height, displayWidth, -displayHeight);
_usersDepthMap = new ushort[_usersMapSize];
_usersHistogramMap = new float[8192];
}
if (ComputeColorMap)
{
var displayMapsWidthPercent = DisplayMapsWidthPercent / 100f;
var displayMapsHeightPercent = displayMapsWidthPercent * KinectWrapper.GetColorHeight() / KinectWrapper.GetColorWidth();
var displayWidth = cameraRect.width * displayMapsWidthPercent;
var displayHeight = cameraRect.width * displayMapsHeightPercent;
// Initialize color map related stuff
_usersClrTex = new Texture2D(KinectWrapper.GetColorWidth(), KinectWrapper.GetColorHeight());
_usersClrRect = new Rect(cameraRect.width - displayWidth, cameraRect.height, displayWidth, -displayHeight);
_colorImage = new Color32[KinectWrapper.GetColorWidth() * KinectWrapper.GetColorHeight()];
_usersColorMap = new byte[_colorImage.Length << 2];
}
// Initialize user list to contain ALL users.
_allUsers = new List <uint>();
Debug.Log("Waiting for users.");
_kinectInitialized = true;
}
void Awake()
{
WrapperTools.EnsureKinectWrapperPresence();
int hr = 0;
try
{
hr = KinectWrapper.NuiInitialize(KinectWrapper.NuiInitializeFlags.UsesSkeleton |
KinectWrapper.NuiInitializeFlags.UsesDepthAndPlayerIndex);
if (hr != 0)
{
throw new Exception("NuiInitialize Failed");
}
hr = KinectWrapper.NuiSkeletonTrackingEnable(IntPtr.Zero, 8); // 0, 12,8
if (hr != 0)
{
throw new Exception("Cannot initialize Skeleton Data");
}
depthStreamHandle = IntPtr.Zero;
// set kinect elevation angle
KinectWrapper.NuiCameraElevationSetAngle(SensorAngle);
// init skeleton structures
skeletonFrame = new KinectWrapper.NuiSkeletonFrame()
{
SkeletonData = new KinectWrapper.NuiSkeletonData[KinectWrapper.Constants.NuiSkeletonCount]
};
// values used to pass to smoothing function
smoothParameters = new KinectWrapper.NuiTransformSmoothParameters();
switch (smoothing)
{
case Smoothing.Default:
smoothParameters.fSmoothing = 0.5f;
smoothParameters.fCorrection = 0.5f;
smoothParameters.fPrediction = 0.5f;
smoothParameters.fJitterRadius = 0.05f;
smoothParameters.fMaxDeviationRadius = 0.04f;
break;
case Smoothing.Medium:
smoothParameters.fSmoothing = 0.5f;
smoothParameters.fCorrection = 0.1f;
smoothParameters.fPrediction = 0.5f;
smoothParameters.fJitterRadius = 0.1f;
smoothParameters.fMaxDeviationRadius = 0.1f;
break;
case Smoothing.Aggressive:
smoothParameters.fSmoothing = 0.7f;
smoothParameters.fCorrection = 0.3f;
smoothParameters.fPrediction = 1.0f;
smoothParameters.fJitterRadius = 1.0f;
smoothParameters.fMaxDeviationRadius = 1.0f;
break;
}
// init the tracking state filter
trackingStateFilter = new TrackingStateFilter[KinectWrapper.Constants.NuiSkeletonMaxTracked];
for (int i = 0; i < trackingStateFilter.Length; i++)
{
trackingStateFilter[i] = new TrackingStateFilter();
trackingStateFilter[i].Init();
}
// init the bone orientation filter
boneOrientationFilter = new BoneOrientationsFilter[KinectWrapper.Constants.NuiSkeletonMaxTracked];
for (int i = 0; i < boneOrientationFilter.Length; i++)
{
boneOrientationFilter[i] = new BoneOrientationsFilter();
boneOrientationFilter[i].Init();
}
// init the clipped legs filter
clippedLegsFilter = new ClippedLegsFilter[KinectWrapper.Constants.NuiSkeletonMaxTracked];
for (int i = 0; i < clippedLegsFilter.Length; i++)
{
clippedLegsFilter[i] = new ClippedLegsFilter();
}
// init the bone orientation constraints
boneConstraintsFilter = new BoneOrientationsConstraint();
boneConstraintsFilter.AddDefaultConstraints();
// init the self intersection constraints
selfIntersectionConstraint = new SelfIntersectionConstraint();
// create arrays for joint positions and joint orientations
int skeletonJointsCount = (int)KinectWrapper.NuiSkeletonPositionIndex.Count;
player1JointsTracked = new bool[skeletonJointsCount];
player1PrevTracked = new bool[skeletonJointsCount];
player1JointsPos = new Vector3[skeletonJointsCount];
player1JointsOri = new Matrix4x4[skeletonJointsCount];
gestureTrackingAtTime = new float[KinectWrapper.Constants.NuiSkeletonMaxTracked];
//create the transform matrix that converts from kinect-space to world-space
Quaternion quatTiltAngle = new Quaternion();
quatTiltAngle.eulerAngles = new Vector3(-SensorAngle, 0.0f, 0.0f);
//float heightAboveHips = SensorHeight - 1.0f;
// transform matrix - kinect to world
kinectToWorld.SetTRS(new Vector3(0.0f, SensorHeight, 0.0f), quatTiltAngle, Vector3.one);
flipMatrix = Matrix4x4.identity;
flipMatrix[2, 2] = -1;
}
catch (DllNotFoundException e)
{
string message = "Please check the Kinect SDK installation.";
Debug.LogError(message);
Debug.LogError(e.ToString());
return;
}
catch (Exception e)
{
string message = e.Message + " - " + KinectWrapper.GetNuiErrorString(hr);
Debug.LogError(message);
Debug.LogError(e.ToString());
return;
}
// Initialize user list to contain ALL users.
allUsers = new List <uint>();
KinectInitialized = true;
}
//---------------------------------- END OF PUBLIC FUNCTIONS -----------------------------------------------------------//
void Awake()
{
KinectCoordinatesAdjustment = new KinectWrapper.NuiImageViewArea
{
eDigitalZoom = 0,
lCenterX = 0,
lCenterY = 0
};
int hr = 0;
try
{
hr = KinectWrapper.NuiInitialize(KinectWrapper.NuiInitializeFlags.UsesSkeleton |
KinectWrapper.NuiInitializeFlags.UsesDepthAndPlayerIndex |
KinectWrapper.NuiInitializeFlags.UsesColor);
if (hr != 0)
{
throw new Exception("NuiInitialize Failed");
}
depthStreamHandle = IntPtr.Zero;
hr = KinectWrapper.NuiImageStreamOpen(KinectWrapper.NuiImageType.DepthAndPlayerIndex,
KinectWrapper.Constants.DepthImageResolution, 0, 2, IntPtr.Zero, ref depthStreamHandle);
if (hr != 0)
{
throw new Exception("Cannot open depth stream");
}
colorStreamHandle = IntPtr.Zero;
hr = KinectWrapper.NuiImageStreamOpen(KinectWrapper.NuiImageType.Color,
KinectWrapper.Constants.ColorImageResolution, 0, 2, IntPtr.Zero, ref colorStreamHandle);
if (hr != 0)
{
throw new Exception("Cannot open color stream");
}
// set kinect elevation angle
KinectWrapper.NuiCameraElevationSetAngle(kinectMotorAngle);
//create the transform matrix that converts from kinect-space to world-space
Quaternion quatTiltAngle = new Quaternion();
quatTiltAngle.eulerAngles = new Vector3(-kinectMotorAngle, 0.0f, 0.0f);
// transform matrix - kinect to world
kinectToWorld.SetTRS(new Vector3(0.0f, kinectPlacementHeight, 0.0f), quatTiltAngle, Vector3.one);
flipMatrix = Matrix4x4.identity;
flipMatrix[2, 2] = -1;
DontDestroyOnLoad(gameObject);
}
catch (DllNotFoundException e)
{
string message = "Please check the Kinect SDK installation.";
Debug.LogError(message);
Debug.LogError(e.ToString());
if (UILog != null)
{
UILog.text = message;
}
return;
}
catch (Exception e)
{
string message = e.Message + " - " + KinectWrapper.GetNuiErrorString(hr);
Debug.LogError(message);
Debug.LogError(e.ToString());
if (UILog != null)
{
UILog.text = message;
}
return;
}
InitializeFeeds();
InitializeGradedDepthStreamColors();
instance = this;
if (UILog != null)
{
UILog.text = "Kinect is initialized";
}
Debug.Log("Kinect is initialized");
kinectInitialized = true;
}