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 Start()
{
//_adaptiveUi = GameObject.Find("Cube").GetComponent<AdaptiveUi>(); // Waterstrong
int hr = 0;
try
{
hr = KinectWrapper.NuiInitialize(KinectWrapper.NuiInitializeFlags.UsesDepthAndPlayerIndex |
KinectWrapper.NuiInitializeFlags.UsesSkeleton |
KinectWrapper.NuiInitializeFlags.UsesColor);
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;
hr = KinectWrapper.NuiImageStreamOpen(KinectWrapper.NuiImageType.DepthAndPlayerIndex,
KinectWrapper.Constants.ImageResolution, 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.ImageResolution, 0, 2, IntPtr.Zero, ref colorStreamHandle);
// if (hr != 0)
// {
// throw new Exception("Cannot open color stream.");
// }
// set kinect elevation angle
KinectWrapper.NuiCameraSetAngle((long)KinectAngle);
// 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 = 0.7f; //0.5f;
smoothParameters.fCorrection = 0.0f; //0.5f;
smoothParameters.fPrediction = 0.0f; //0.5f;
smoothParameters.fJitterRadius = 0.05f;
smoothParameters.fMaxDeviationRadius = 0.05f; // 0.04f;
// Smoothing = 0.3f,
// Correction = 0.0f,
// Prediction = 0.0f,
// JitterRadius = 1.0f,
// MaxDeviationRadius = 0.5f
//Smoothing = 1.0f,
//Correction = 0.1f,
//Prediction = 0.1f,
//JitterRadius = 0.05f,
//MaxDeviationRadius = 0.05f
// create arrays for joint positions and joint orientations
int skeletonJointsCount = (int)KinectWrapper.NuiSkeletonPositionIndex.Count;
player1JointsTracked = new bool[skeletonJointsCount];
player2JointsTracked = 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 quat = new Quaternion();
quat.eulerAngles = new Vector3(-KinectAngle, 0.0f, 0.0f);
// transform matrix - kinect to world
kinectToWorld.SetTRS(new Vector3(0.0f, SensorHeight, 0.0f), quat, Vector3.one);
//quatToWorld = Quaternion.LookRotation(kinectToWorld.GetColumn(2), kinectToWorld.GetColumn(1));
instance = this;
DontDestroyOnLoad(gameObject);
Debug.Log("success kinect.");
// Waterstrong Add
_motion = MotionFactory.CreateHandleChain();
Debug.Log("motion chain success.");
}
catch (Exception e)
{
Debug.Log(e.Message + ", hr=" + hr.ToString());
return;
}
// Initialize depth & label map related stuff
usersMapSize = KinectWrapper.GetDepthWidth() * KinectWrapper.GetDepthHeight();
usersLblTex = new Texture2D(KinectWrapper.GetDepthWidth(), KinectWrapper.GetDepthHeight());
usersMapColors = new Color[usersMapSize];
/*
* usersMapRect = new Rect(Screen.width - usersLblTex.width / 2,
* Screen.height - usersLblTex.height / 2,
* -usersLblTex.width / 2,
* usersLblTex.height / 2);
*/
usersMapRect = new Rect(Screen.width - 10,
Screen.height - 240 - 10,
-320,
240);
if (DisplayColorMap)
{
usersClrTex = new Texture2D(KinectWrapper.GetDepthWidth(), KinectWrapper.GetDepthHeight());
//usersClrColors = new Color[usersMapSize];
usersClrRect = new Rect(Screen.width /**- usersLblTex.width / 2*/ /**- usersClrTex.width / 2*/, Screen.height - usersClrTex.height / 2, -usersClrTex.width / 2, usersClrTex.height / 2);
usersMapRect.x -= usersLblTex.width / 2;
colorImage = new Color32[usersMapSize];
}
usersDepthMap = new short[usersMapSize];
usersHistogramMap = new float[5000];
// Initialize user list to contain ALL users.
allUsers = new List <uint>();
// Pull the AvatarController from each of the players Avatars.
Player1Controllers = new List <AvatarController>();
Player2Controllers = new List <AvatarController>();
// Add each of the avatars' controllers into a list for each player.
foreach (GameObject avatar in Player1Avatars)
{
Player1Controllers.Add(avatar.GetComponent <AvatarController>());
}
foreach (GameObject avatar in Player2Avatars)
{
Player2Controllers.Add(avatar.GetComponent <AvatarController>());
}
// GUI Text.
CalibrationText = GameObject.Find("CalibrationText");
if (CalibrationText != null)
{
CalibrationText.guiText.text = "WAITING FOR USERS";
}
Debug.Log("Waiting for users.");
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;
}