public KinectInterop.SensorData OpenDefaultSensor(KinectInterop.FrameSource dwFlags, float sensorAngle, bool bUseMultiSource)
{
KinectInterop.SensorData sensorData = new KinectInterop.SensorData();
sensorFlags = dwFlags;
kinectSensor = KinectSensor.GetDefault();
if(kinectSensor == null)
return null;
coordMapper = kinectSensor.CoordinateMapper;
this.bodyCount = kinectSensor.BodyFrameSource.BodyCount;
sensorData.bodyCount = this.bodyCount;
sensorData.jointCount = 25;
sensorData.depthCameraFOV = 60f;
sensorData.colorCameraFOV = 53.8f;
sensorData.depthCameraOffset = -0.05f;
sensorData.faceOverlayOffset = -0.04f;
if((dwFlags & KinectInterop.FrameSource.TypeBody) != 0)
{
if(!bUseMultiSource)
bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
bodyData = new Body[sensorData.bodyCount];
}
var frameDesc = kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
sensorData.colorImageWidth = frameDesc.Width;
sensorData.colorImageHeight = frameDesc.Height;
if((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
if(!bUseMultiSource)
colorFrameReader = kinectSensor.ColorFrameSource.OpenReader();
sensorData.colorImage = new byte[frameDesc.BytesPerPixel * frameDesc.LengthInPixels];
}
sensorData.depthImageWidth = kinectSensor.DepthFrameSource.FrameDescription.Width;
sensorData.depthImageHeight = kinectSensor.DepthFrameSource.FrameDescription.Height;
if((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
if(!bUseMultiSource)
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
sensorData.depthImage = new ushort[kinectSensor.DepthFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
{
if(!bUseMultiSource)
bodyIndexFrameReader = kinectSensor.BodyIndexFrameSource.OpenReader();
sensorData.bodyIndexImage = new byte[kinectSensor.BodyIndexFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
{
if(!bUseMultiSource)
infraredFrameReader = kinectSensor.InfraredFrameSource.OpenReader();
sensorData.infraredImage = new ushort[kinectSensor.InfraredFrameSource.FrameDescription.LengthInPixels];
}
//if(!kinectSensor.IsOpen)
{
//Debug.Log("Opening sensor, available: " + kinectSensor.IsAvailable);
kinectSensor.Open();
}
float fWaitTime = Time.realtimeSinceStartup + 3f;
while(!kinectSensor.IsAvailable && Time.realtimeSinceStartup < fWaitTime)
{
// wait for sensor to open
}
Debug.Log("K2-sensor " + (kinectSensor.IsOpen ? "opened" : "closed") +
", available: " + kinectSensor.IsAvailable);
if(bUseMultiSource && dwFlags != KinectInterop.FrameSource.TypeNone && kinectSensor.IsOpen)
{
multiSourceFrameReader = kinectSensor.OpenMultiSourceFrameReader((FrameSourceTypes)((int)dwFlags & 0x3F));
}
return sensorData;
}
void Start()
{
hint.SetActive(false);
spriteRenderer = GetComponent <SpriteRenderer>();
if (!DEBUG)
{
// If there hasn't assigned BodySourceManager, byebye
if (bodySourceManager == null)
{
return;
}
bodyManager = bodySourceManager.GetComponent <BodySourceManager>();
// If there is no BodySourceManager
if (bodyManager == null)
{
return;
}
coordinate = bodyManager.GetCoordinate();
}
// for animation
m_animator = gameObject.GetComponent <Animator>();
m_animator.SetBool("handclosebool", false);
}
public KinectManager()
{
_Sensor = Kinect.KinectSensor.GetDefault();
if (_Sensor == null)
{
ExitWithLog("Kinect Sensor not avalibalbe");
}
_Reader = _Sensor.OpenMultiSourceFrameReader(
Kinect.FrameSourceTypes.Depth |
Kinect.FrameSourceTypes.Body
);
if (_Reader == null)
{
ExitWithLog("Fail to load multiframe source reader.");
}
DepthFrameDesc = _Sensor.DepthFrameSource.FrameDescription;
Mapper = _Sensor.CoordinateMapper;
DepthData = new ushort[DepthFrameDesc.LengthInPixels];
_BodyData = new Kinect.Body[_Sensor.BodyFrameSource.BodyCount];
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
void Start()
{
winey = Resources.Load <Sprite>("KingChina");
money = Resources.Load <Sprite>("money");
normalBackground = Resources.Load <Sprite>("normalbackground");
if (!DEBUG)
{
// If there hasn't assigned BodySourceManager, byebye
if (bodySourceManager == null)
{
return;
}
bodyManager = bodySourceManager.GetComponent <BodySourceManager>();
// If there is no BodySourceManager
if (bodyManager == null)
{
return;
}
coordinate = bodyManager.GetCoordinate();
}
// for animation
m_animator = gameObject.GetComponent <Animator>();
m_animator.SetBool("handclosebool", false);
}
public ZigInputKinectOne()
{
_sensor = KinectSensor.GetDefault();
_mapper = _sensor.CoordinateMapper;
_depth = new KinectOneDepth(_sensor);
_image = new KinectOneImage(_sensor);
_labelMap = new KinectOneLabelMap(_sensor);
}
void Start()
{
_Sensor = Kinect.KinectSensor.GetDefault();
_CoordinateMapper = _Sensor.CoordinateMapper;
SensorWidth = _Sensor.ColorFrameSource.FrameDescription.Width;
SensorHeight = _Sensor.ColorFrameSource.FrameDescription.Height;
}
void Start()
{
_Sensor = Kinect.KinectSensor.GetDefault();
_CoordinateMapper = _Sensor.CoordinateMapper;
SensorWidth = _Sensor.ColorFrameSource.FrameDescription.Width;
SensorHeight = _Sensor.ColorFrameSource.FrameDescription.Height;
}
private Vector3 GetVector3FromJoint(Kinect.CoordinateMapper mapper, Kinect.Joint joint)
{
Kinect.ColorSpacePoint colorPoint = mapper.MapCameraPointToColorSpace(joint.Position);
//Debug.Log("Position of " + joint.JointType.ToString() + ": " + joint.Position.X + "," + joint.Position.Y + "," + joint.Position.Z);
float newX = (joint.Position.X * 10);
float newY = joint.Position.Y * 10;
return(new Vector3(newX, newY, gameObject.transform.position.z - (joint.Position.Z * 10)));
}
void Start()
{
leftHandCube = GameObject.CreatePrimitive(PrimitiveType.Cube);
rightHandCube = GameObject.CreatePrimitive(PrimitiveType.Cube);
sensor = Kinect.KinectSensor.GetDefault();
mapper = sensor.CoordinateMapper;
depthFrameInfo = sensor.DepthFrameSource.FrameDescription;
depthImg = new Texture2D(depthFrameInfo.Width, depthFrameInfo.Height, TextureFormat.RGB24, false);
}
public void CloseSensor(KinectInterop.SensorData sensorData)
{
if(coordMapper != null)
{
coordMapper = null;
}
if(bodyFrameReader != null)
{
bodyFrameReader.Dispose();
bodyFrameReader = null;
}
if(bodyIndexFrameReader != null)
{
bodyIndexFrameReader.Dispose();
bodyIndexFrameReader = null;
}
if(colorFrameReader != null)
{
colorFrameReader.Dispose();
colorFrameReader = null;
}
if(depthFrameReader != null)
{
depthFrameReader.Dispose();
depthFrameReader = null;
}
if(infraredFrameReader != null)
{
infraredFrameReader.Dispose();
infraredFrameReader = null;
}
if(multiSourceFrameReader != null)
{
multiSourceFrameReader.Dispose();
multiSourceFrameReader = null;
}
if(kinectSensor != null)
{
if (kinectSensor.IsOpen)
{
kinectSensor.Close();
}
kinectSensor = null;
}
}
public StickRecognizer(KinectManager manager)
{
_Width = manager.DepthFrameDesc.Width;
_Height = manager.DepthFrameDesc.Height;
_LeftTipCache = new Kinect.CameraSpacePoint();
_RightTipCache = new Kinect.CameraSpacePoint();
_LeftCacheElapsedFrame = 10;
_RightCacheElapsedFrame = 10;
_Mapper = manager.Mapper;
//debugPlane = GameObject.CreatePrimitive(PrimitiveType.Plane);
//debugPlane.transform.Translate(-10, 2, 0);
//debugPlane.transform.Rotate(-90, 180, 0);
//debugTexture = new Texture2D(manager.DepthFrameDesc.Width, manager.DepthFrameDesc.Height, TextureFormat.RGB24, false);
}
void Start()
{
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Reader = _Sensor.BodyFrameSource.OpenReader();
if (!_Sensor.IsOpen)
{
_Sensor.Open();
coordinateMapper=_Sensor.CoordinateMapper;
}
}
}
void Start()
{
depthFrameDesc = KinectSensor.GetDefault().DepthFrameSource.FrameDescription;
depthWidth = depthFrameDesc.Width;
depthHeight = depthFrameDesc.Height;
// buffer for points mapped to camera space coordinate.
mapper = KinectSensor.GetDefault().CoordinateMapper;
cameraSpacePoints = new CameraSpacePoint[depthWidth * depthHeight];
depthSourceManagerScript = depthSourceManager.GetComponent<DepthSourceManager>();
colorSourceManagerScript = colorSourceManager.GetComponent<ColorSourceManager>();
particles = new ParticleSystem.Particle[depthWidth * depthHeight];
color_reader = KinectSensor.GetDefault().ColorFrameSource.OpenReader();
colorFrameDesc = KinectSensor.GetDefault().ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
colorSpacePoints = new ColorSpacePoint[depthWidth * depthHeight];
color_array = new byte[colorFrameDesc.BytesPerPixel * colorFrameDesc.LengthInPixels];
}
void Start()
{
// Get the description of the depth frames.
depthFrameDesc = KinectSensor.GetDefault().DepthFrameSource.FrameDescription;
depthWidth = depthFrameDesc.Width;
depthHeight = depthFrameDesc.Height;
// buffer for points mapped to camera space coordinate.
cameraSpacePoints = new CameraSpacePoint[depthWidth * depthHeight];
mapper = KinectSensor.GetDefault ().CoordinateMapper;
// get reference to DepthSourceManager (which is included in the distributed 'Kinect for Windows v2 Unity Plugin zip')
depthSourceManagerScript = depthSourceManager.GetComponent<DepthSourceManager> ();
// particles to be drawn
particles = new ParticleSystem.Particle[depthWidth * depthHeight];
}
void Start()
{
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Mapper = _Sensor.CoordinateMapper;
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
// Downsample to lower resolution
CreateMesh(frameDesc.Width / _DownsampleSize, frameDesc.Height / _DownsampleSize);
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
}
// Use this for initialization
void Start()
{
// Get the description of the depth frames.
infraredFrameDesc = KinectSensor.GetDefault().InfraredFrameSource.FrameDescription;
depthFrameDesc = KinectSensor.GetDefault().DepthFrameSource.FrameDescription;
depthWidth = depthFrameDesc.Width;
depthHeight = depthFrameDesc.Height;
// buffer for points mapped to camera space coordinate.
cameraSpacePoints = new CameraSpacePoint[depthWidth * depthHeight];
mapper = KinectSensor.GetDefault().CoordinateMapper;
// get reference to infraredSourceManager (which is included in the distributed 'Kinect for Windows v2 Unity Plugin zip')
multiSourceManagerScript = multiSourceManager.GetComponent<MultiSourceManager>();
infraredSourceManagerScript = infraredSourceManager.GetComponent<InfraredSourceManager>();
//最初はてきとーな場所に配置
transform.position = new Vector3(0.0f, 10.0f, 10.0f);
}
// Use this for initialization
void Start()
{
mySensor = KinectSensor.GetDefault();
if (mySensor != null)
{
depthFrameData = new ushort[depthWidth * depthHeight];
bodyIndexFrameData = new byte[depthWidth * depthHeight];
colorFrameData = new byte[colorWidth * colorHeight * bytes_per_pixel];
displayPixels = new byte[depthWidth * depthHeight * bytes_per_pixel];
colorPoints = new ColorSpacePoint[depthWidth * depthHeight];
ninjaTex = new Texture2D(depthWidth, depthHeight, TextureFormat.BGRA32, false);
if (!mySensor.IsOpen)
{
mySensor.Open();
}
myCoordinateMapper = mySensor.CoordinateMapper;
msFrameReader = mySensor.OpenMultiSourceFrameReader(FrameSourceTypes.BodyIndex |
FrameSourceTypes.Color | FrameSourceTypes.Depth);
//Rendering user as part of the Unity Scene background via Main Camera
Rect cameraRect = Camera.main.pixelRect;
float rectHeight = cameraRect.height;
float rectWidth = cameraRect.width;
if (rectWidth > rectHeight)
rectWidth = rectHeight * depthWidth / depthHeight;
else
rectHeight = rectWidth * depthHeight / depthWidth;
float foregroundOfsX = (cameraRect.width - rectWidth) / 2;
float foregroundOfsY = (cameraRect.height - rectHeight) / 2;
foregroundImgRect = new Rect(foregroundOfsX, foregroundOfsY, rectWidth, rectHeight);
foregroundGuiRect = new Rect(foregroundOfsX, cameraRect.height - foregroundOfsY, rectWidth, -rectHeight);
}
}
void Start()
{
KinectOneInput input = ((KinectOneInput)KinectOneInput.Instance);
_mapper = input.GetMapper();
depthInfo = input.GetDepthSensor();
textureSize = new ResolutionData(depthInfo.Sensor.DepthFrameSource.FrameDescription.Width, depthInfo.Sensor.DepthFrameSource.FrameDescription.Height);
texture = new Texture2D(depthInfo.Sensor.DepthFrameSource.FrameDescription.Width, depthInfo.Sensor.DepthFrameSource.FrameDescription.Height, TextureFormat.RGBA32, false);
texture.wrapMode = TextureWrapMode.Clamp;
depthHistogramMap = new float[depthInfo.Sensor.DepthFrameSource.DepthMaxReliableDistance];
depthToColor = new Color32[depthInfo.Sensor.DepthFrameSource.DepthMaxReliableDistance];
outputPixels = new Color32[textureSize.Width * textureSize.Height];
if (null != target)
{
target.material.mainTexture = texture;
}
m_engageuser = this.GetComponent <KinectOneEngageSingleUser>();
CalImage2Screen(DepthImagePos.LeftMain);
}
private void UpdateClothHandlers(Kinect.Body body)
{
foreach (AbstractClothHandler handler in clothHandlers)
{
for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++)
{
if (jt != handler.jointType) // If it's not the joint the handler wants,
{
continue; // Skip!
}
Kinect.Joint joint = body.Joints[jt];
Kinect.CoordinateMapper mapper = _BodyManager.Sensor().CoordinateMapper;
Kinect.ColorSpacePoint screenPos = mapper.MapCameraPointToColorSpace(joint.Position);
Vector3 jointPos = new Vector3(screenPos.X, screenPos.Y, joint.Position.Z); // Z should be distance to kinect plane
//Vector3 legacy = GetVector3FromJoint(_BodyManager.Sensor().CoordinateMapper, joint);
handler.UpdatePosition(body.TrackingId, joint, jointPos);
}
}
}
void InitializeDefaultSensor()
{
m_pKinectSensor = KinectSensor.GetDefault();
if (m_pKinectSensor != null)
{
// Initialize the Kinect and get coordinate mapper and the frame reader
m_pCoordinateMapper = m_pKinectSensor.CoordinateMapper;
m_pKinectSensor.Open();
if (m_pKinectSensor.IsOpen)
{
m_pMultiSourceFrameReader = m_pKinectSensor.OpenMultiSourceFrameReader(
FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.BodyIndex);
}
}
if (m_pKinectSensor == null)
{
UnityEngine.Debug.LogError("No ready Kinect found!");
}
}
// Use this for initialization
void Start()
{
terrCollider = GetComponent <TerrainCollider>();
terrData = terrCollider.terrainData;
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Reader = _Sensor.DepthFrameSource.OpenReader();
_Reader.FrameArrived += _Reader_FrameArrived;
_Data = new ushort[_Sensor.DepthFrameSource.FrameDescription.LengthInPixels];
Debug.LogFormat("Depth:H:{0} x W:{1}", _Sensor.DepthFrameSource.FrameDescription.Height, _Sensor.DepthFrameSource.FrameDescription.Width);
Debug.LogFormat("TerrData:H:{0} x W:{1}", terrData.heightmapHeight, terrData.heightmapWidth);
minDist = _Sensor.DepthFrameSource.DepthMinReliableDistance;
maxDist = 1500f;// _Sensor.DepthFrameSource.DepthMaxReliableDistance;
scale = 0.1f / (maxDist - minDist);
Debug.LogFormat("Depth:Min:{0} x Max:{1} (Scale:{2})", minDist, maxDist, scale);
mapper = _Sensor.CoordinateMapper;
_Sensor.Open();
}
logFile = new System.IO.StreamWriter(new System.IO.FileStream("e:\\log.txt", System.IO.FileMode.OpenOrCreate));
Debug.LogFormat("Scale:{0}", terrData.heightmapScale);
data = new float[terrData.heightmapHeight, terrData.heightmapWidth];
}
void Update()
{
if (BodySourceManager == null)
{
return;
}
_BodyManager = BodySourceManager.GetComponent <BodySourceManager>();
if (_BodyManager == null)
{
return;
}
Kinect.Body[] data = _BodyManager.GetData();
if (data == null)
{
return;
}
List <ulong> trackedIds = new List <ulong>();
foreach (var body in data)
{
if (body == null)
{
continue;
}
if (body.IsTracked)
{
trackedIds.Add(body.TrackingId);
}
}
List <ulong> knownIds = new List <ulong>(_Bodies.Keys);
// First delete untracked bodies
foreach (ulong trackingId in knownIds)
{
if (!trackedIds.Contains(trackingId))
{
Destroy(_Bodies[trackingId]);
_Bodies.Remove(trackingId);
}
}
foreach (var body in data)
{
if (body == null)
{
continue;
}
if (body.IsTracked)
{
if (!_Bodies.ContainsKey(body.TrackingId))
{
_Bodies[body.TrackingId] = CreateBodyObject(body.TrackingId);
}
RefreshBodyObject(body, _Bodies[body.TrackingId]);
}
}
if (_CoordinateMapper == null)
{
_CoordinateMapper = _BodyManager.Sensor.CoordinateMapper;
}
}
// Use this for initialization
void Start()
{
myProjector = GetComponent<Camera>();
tex = new Texture2D(proWidth, proHeight, TextureFormat.ARGB32, false);
// buffer for points mapped to camera space coordinate.
mapper = KinectSensor.GetDefault().CoordinateMapper;
// get reference to DepthSourceManager (which is included in the distributed 'Kinect for Windows v2 Unity Plugin zip')
multiSourceManagerScript = multiSourceManager.GetComponent<MultiSourceManager>();
}
//
private void Start()
{
m_Sensor = KinectSensor.GetDefault();
if (m_Sensor != null)
{
//
m_CoordinateMapper = m_Sensor.CoordinateMapper;
//
m_Reader = m_Sensor.OpenMultiSourceFrameReader(FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.Body | FrameSourceTypes.BodyIndex);
var colorFrameDesc = m_Sensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
ColorWidth = colorFrameDesc.Width;
ColorHeight = colorFrameDesc.Height;
m_ColorTexture = new Texture2D(colorFrameDesc.Width, colorFrameDesc.Height, TextureFormat.RGBA32, false);
m_ColorData = new byte[colorFrameDesc.BytesPerPixel * colorFrameDesc.LengthInPixels];
m_ColorMappedToDepthPoints = new DepthSpacePoint[ColorWidth * ColorHeight];
//
var depthFrameDesc = m_Sensor.DepthFrameSource.FrameDescription;
DepthWidth = depthFrameDesc.Width;
DepthHeight = depthFrameDesc.Height;
m_DepthData = new ushort[depthFrameDesc.Width * depthFrameDesc.Height];
m_DepthCoordinates = new DepthSpacePoint[colorFrameDesc.Width * colorFrameDesc.Height];
//
m_BodyData = new Body[m_Sensor.BodyFrameSource.BodyCount];
//
var bodyIndexFrameDesc = m_Sensor.BodyIndexFrameSource.FrameDescription;
BodyIndexWidth = bodyIndexFrameDesc.Width;
BodyIndexHeight = bodyIndexFrameDesc.Height;
m_BodyIndexData = new byte[ bodyIndexFrameDesc.Width * bodyIndexFrameDesc.Height ];
//
if (!m_Sensor.IsOpen)
{
m_Sensor.Open();
}
}
}
void Update()
{
if (BodySourceManager == null)
{
return;
}
_BodyManager = BodySourceManager.GetComponent<BodySourceManager>();
if (_BodyManager == null)
{
return;
}
Kinect.Body[] data = _BodyManager.GetData();
if (data == null)
{
return;
}
if ( _CoordinateMapper ==null ) {
_CoordinateMapper = _BodyManager.Sensor.CoordinateMapper;
}
List<ulong> trackedIds = new List<ulong>();
foreach(var body in data)
{
if (body == null)
{
continue;
}
if(body.IsTracked)
{
trackedIds.Add (body.TrackingId);
}
}
List<ulong> knownIds = new List<ulong>(_Bodies.Keys);
// First delete untracked bodies
foreach(ulong trackingId in knownIds)
{
if(!trackedIds.Contains(trackingId))
{
Destroy(_Bodies[trackingId]);
_Bodies.Remove(trackingId);
}
}
foreach(var body in data)
{
if (body == null)
{
continue;
}
if(body.IsTracked)
{
if(!_Bodies.ContainsKey(body.TrackingId))
{
// depth distance winnow
Kinect.Joint head = body.Joints[Kinect.JointType.Head];
float z = head.Position.Z;
if(z >= distanceThreshold){
//Destroy(bodyObject);
continue;
}
// 認識してるボディの数表示 認識制限１人にする
Debug.Log(_Bodies.Count);
if(_Bodies.Count > 0){
Debug.Log("1人プレイだよ");
continue;
}
_Bodies[body.TrackingId] = CreateBodyObject(body.TrackingId);
}
RefreshBodyObject(body, _Bodies[body.TrackingId]);
}
}
}
void Start()
{
sensor = KinectSensor.GetDefault();
if ( sensor != null )
{
reader = sensor.OpenMultiSourceFrameReader(
FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.BodyIndex);
coordinateMapper = sensor.CoordinateMapper;
FrameDescription depthFrameDesc = sensor.DepthFrameSource.FrameDescription;
depthData = new ushort[depthFrameDesc.LengthInPixels];
depthWidth = depthFrameDesc.Width;
depthHeight = depthFrameDesc.Height;
FrameDescription colorFrameDesc = sensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
colorLengthInBytes = colorFrameDesc.LengthInPixels * colorFrameDesc.BytesPerPixel;
colorData = new byte[colorLengthInBytes];
colorWidth = colorFrameDesc.Width;
colorBytesPerPixel = colorFrameDesc.BytesPerPixel;
FrameDescription bodyIndexDesc = sensor.BodyIndexFrameSource.FrameDescription;
bodyIndexData = new byte[bodyIndexDesc.LengthInPixels * bodyIndexDesc.BytesPerPixel];
// PREPARE THE COLOR TO DEPTH MAPPED BYTE ARRAY FOR CREATING OUR DYNAMIC TEXTURE
// ---------------------------------------------------------------------------------------
// STEP 1. ALLOCATE SPACE FOR THE RESULT OF MAPPING COLORSPACEPOINTS FOR EACH DEPTH FRAME POINT
colorSpacePoints = new ColorSpacePoint[depthFrameDesc.LengthInPixels];
cameraSpacePoints = new CameraSpacePoint[depthFrameDesc.LengthInPixels];
// STEP 2. PREPARE THE BYTE ARRAY THAT WILL HOLD A CALCULATED COLOR PIXEL FOR EACH DEPTH PIXEL
// THIS BYTE ARRAY WILL BE FED TO THE MATERIAL AND USED AS THE MESH TEXTURE
mappedColorData = new byte[depthFrameDesc.LengthInPixels * colorFrameDesc.BytesPerPixel];
// STEP 3. CREATE A TEXTURE THAT HAS THE SIZE OF THE DEPTH FRAME BUT CAN HOLD RGBA VALUES FROM THE COLOR FRAME
texture = new Texture2D(depthFrameDesc.Width, depthFrameDesc.Height, TextureFormat.RGBA32, false);
// STEP 4. BIND THE MAIN TEXTURE TO THE LOCAL VARIABLE FOR FUTURE PROCESSING
gameObject.GetComponent<Renderer>().material.mainTexture = texture;
if (!sensor.IsOpen) sensor.Open();
BuildSimpleMesh();
//BuildVariableMesh();
} else
{
Debug.LogError("Couldn't find Kinect Sensor!");
}
}
// Token: 0x060029B0 RID: 10672 RVA: 0x000D49E4 File Offset: 0x000D2DE4
internal CoordinateMapper(IntPtr pNative)
{
this._pNative = pNative;
CoordinateMapper.Windows_Kinect_CoordinateMapper_AddRefObject(ref this._pNative);
}
public void CloseSensor(KinectInterop.SensorData sensorData)
{
if(coordMapper != null)
{
coordMapper = null;
}
if(bodyFrameReader != null)
{
bodyFrameReader.Dispose();
bodyFrameReader = null;
}
if(bodyIndexFrameReader != null)
{
bodyIndexFrameReader.Dispose();
bodyIndexFrameReader = null;
}
if(colorFrameReader != null)
{
colorFrameReader.Dispose();
colorFrameReader = null;
}
if(depthFrameReader != null)
{
depthFrameReader.Dispose();
depthFrameReader = null;
}
if(infraredFrameReader != null)
{
infraredFrameReader.Dispose();
infraredFrameReader = null;
}
if(multiSourceFrameReader != null)
{
multiSourceFrameReader.Dispose();
multiSourceFrameReader = null;
}
if(kinectSensor != null)
{
//if (kinectSensor.IsOpen)
{
//Debug.Log("Closing sensor, available: " + kinectSensor.IsAvailable);
kinectSensor.Close();
}
float fWaitTime = Time.realtimeSinceStartup + 3f;
while(kinectSensor.IsOpen && Time.realtimeSinceStartup < fWaitTime)
{
// wait for sensor to close
}
Debug.Log("K2-sensor " + (kinectSensor.IsOpen ? "opened" : "closed") +
", available: " + kinectSensor.IsAvailable);
kinectSensor = null;
}
}
void Update()
{
if (BodySourceManager == null)
{
return;
}
_BodyManager = BodySourceManager.GetComponent<BodySourceManager>();
if (_BodyManager == null)
{
return;
}
Kinect.Body[] data = _BodyManager.GetData();
if (data == null)
{
return;
}
if ( _CoordinateMapper ==null ) {
_CoordinateMapper = _BodyManager.Sensor.CoordinateMapper;
}
List<ulong> trackedIds = new List<ulong>();
foreach(var body in data)
{
if (body == null)
{
continue;
}
if(body.IsTracked)
{
trackedIds.Add (body.TrackingId);
}
}
List<ulong> knownIds = new List<ulong>(_Bodies.Keys);
// First delete untracked bodies
foreach(ulong trackingId in knownIds)
{
if(!trackedIds.Contains(trackingId))
{
Destroy(_Bodies[trackingId]);
_Bodies.Remove(trackingId);
}
}
foreach(var body in data)
{
if (body == null)
{
continue;
}
if(body.IsTracked)
{
if(!_Bodies.ContainsKey(body.TrackingId))
{
_Bodies[body.TrackingId] = CreateBodyObject(body.TrackingId);
}
RefreshBodyObject(body, _Bodies[body.TrackingId]);
}
}
}
public KinectInterop.SensorData OpenDefaultSensor(KinectInterop.FrameSource dwFlags, float sensorAngle, bool bUseMultiSource)
{
KinectInterop.SensorData sensorData = new KinectInterop.SensorData();
//sensorFlags = dwFlags;
kinectSensor = KinectSensor.GetDefault();
if(kinectSensor == null)
return null;
coordMapper = kinectSensor.CoordinateMapper;
this.bodyCount = kinectSensor.BodyFrameSource.BodyCount;
sensorData.bodyCount = this.bodyCount;
sensorData.jointCount = 25;
sensorData.depthCameraFOV = 60f;
sensorData.colorCameraFOV = 53.8f;
sensorData.depthCameraOffset = -0.03f;
if((dwFlags & KinectInterop.FrameSource.TypeBody) != 0)
{
if(!bUseMultiSource)
bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
bodyData = new Body[sensorData.bodyCount];
}
var frameDesc = kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
sensorData.colorImageWidth = frameDesc.Width;
sensorData.colorImageHeight = frameDesc.Height;
if((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
if(!bUseMultiSource)
colorFrameReader = kinectSensor.ColorFrameSource.OpenReader();
sensorData.colorImage = new byte[frameDesc.BytesPerPixel * frameDesc.LengthInPixels];
}
sensorData.depthImageWidth = kinectSensor.DepthFrameSource.FrameDescription.Width;
sensorData.depthImageHeight = kinectSensor.DepthFrameSource.FrameDescription.Height;
if((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
if(!bUseMultiSource)
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
sensorData.depthImage = new ushort[kinectSensor.DepthFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
{
if(!bUseMultiSource)
bodyIndexFrameReader = kinectSensor.BodyIndexFrameSource.OpenReader();
sensorData.bodyIndexImage = new byte[kinectSensor.BodyIndexFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
{
if(!bUseMultiSource)
infraredFrameReader = kinectSensor.InfraredFrameSource.OpenReader();
sensorData.infraredImage = new ushort[kinectSensor.InfraredFrameSource.FrameDescription.LengthInPixels];
}
if(!kinectSensor.IsOpen)
{
kinectSensor.Open();
}
if(bUseMultiSource && dwFlags != KinectInterop.FrameSource.TypeNone && kinectSensor.IsOpen)
{
multiSourceFrameReader = kinectSensor.OpenMultiSourceFrameReader((FrameSourceTypes)dwFlags);
}
return sensorData;
}
void Update()
{
if (bodyManager == null)
{
return;
}
bManager = bodyManager.GetComponent <BodySourceManager>();
if (bManager == null)
{
return;
}
if (mapper == null)
{
mapper = bManager.Sensor.CoordinateMapper;
}
Kinect.Body[] data = bManager.GetData();
if (data == null)
{
return;
}
List <ulong> trackedIds = new List <ulong>();
foreach (var body in data)
{
if (body == null)
{
continue;
}
if (body.IsTracked)
{
trackedIds.Add(body.TrackingId);
}
}
List <ulong> knownIds = new List <ulong>(bBuff.Keys);
foreach (ulong trackingId in knownIds)
{
if (!trackedIds.Contains(trackingId))
{
Destroy(bBuff[trackingId]);
bBuff.Remove(trackingId);
}
}
foreach (var body in data)
{
if (body == null)
{
continue;
}
if (body.IsTracked && type != null)
{
Vector3 pos = GetVector3FromJoint(body.Joints[type]);
Renderer r = GetComponentInChildren <Renderer>();
transform.position = new Vector3(pos.x, (pos.y + r.bounds.extents.y / 2), -2f);
}
}
}
void Start ()
{
sensor = KinectSensor.GetDefault ();
if (sensor != null) {
coordinateMapper = sensor.CoordinateMapper;
reader = sensor.OpenMultiSourceFrameReader (FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.BodyIndex);
FrameDescription colorFrameDesc = sensor.ColorFrameSource.CreateFrameDescription (ColorImageFormat.Rgba);
texture = new Texture2D (colorFrameDesc.Width, colorFrameDesc.Height, TextureFormat.RGBA32, false);
colorData = new byte[colorFrameDesc.BytesPerPixel * colorFrameDesc.LengthInPixels];
FrameDescription depthFrameDesc = sensor.DepthFrameSource.FrameDescription;
depthData = new ushort[depthFrameDesc.LengthInPixels];
depthSpacePoints = new DepthSpacePoint[colorFrameDesc.LengthInPixels];
FrameDescription bodyIndexFrameDesc = sensor.BodyIndexFrameSource.FrameDescription;
bodyIndexData = new byte[bodyIndexFrameDesc.BytesPerPixel * bodyIndexFrameDesc.LengthInPixels];
if (!sensor.IsOpen) {
sensor.Open ();
}
rgbaMat = new Mat (colorFrameDesc.Height, colorFrameDesc.Width, CvType.CV_8UC4);
Debug.Log ("rgbaMat " + rgbaMat.ToString ());
maskMat = new Mat (rgbaMat.rows (), rgbaMat.cols (), CvType.CV_8UC1);
outputMat = new Mat (rgbaMat.rows (), rgbaMat.cols (), CvType.CV_8UC4);
maskData = new byte[rgbaMat.rows () * rgbaMat.cols ()];
gameObject.transform.localScale = new Vector3 (texture.width, texture.height, 1);
gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
Camera.main.orthographicSize = texture.height / 2;
// sepia
sepiaKernel = new Mat (4, 4, CvType.CV_32F);
sepiaKernel.put (0, 0, /* R */0.189f, 0.769f, 0.393f, 0f);
sepiaKernel.put (1, 0, /* G */0.168f, 0.686f, 0.349f, 0f);
sepiaKernel.put (2, 0, /* B */0.131f, 0.534f, 0.272f, 0f);
sepiaKernel.put (3, 0, /* A */0.000f, 0.000f, 0.000f, 1f);
// pixelize
pixelizeIntermediateMat = new Mat ();
pixelizeSize0 = new Size ();
//comic
comicGrayMat = new Mat (texture.height, texture.width, CvType.CV_8UC1);
comicLineMat = new Mat (texture.height, texture.width, CvType.CV_8UC1);
comicMaskMat = new Mat (texture.height, texture.width, CvType.CV_8UC1);
//create a striped background.
comicBgMat = new Mat (texture.height, texture.width, CvType.CV_8UC1, new Scalar (255));
for (int i = 0; i < comicBgMat.rows ()*2.5f; i=i+4) {
Core.line (comicBgMat, new Point (0, 0 + i), new Point (comicBgMat.cols (), -comicBgMat.cols () + i), new Scalar (0), 1);
}
comicDstMat = new Mat (texture.height, texture.width, CvType.CV_8UC1);
comicGrayPixels = new byte[comicGrayMat.cols () * comicGrayMat.rows () * comicGrayMat.channels ()];
comicMaskPixels = new byte[comicMaskMat.cols () * comicMaskMat.rows () * comicMaskMat.channels ()];
} else {
UnityEngine.Debug.LogError ("No ready Kinect found!");
}
}
void Start()
{
// Get the description of the depth frames.
depthFrameDesc = KinectSensor.GetDefault().DepthFrameSource.FrameDescription;
depthWidth = depthFrameDesc.Width;
depthHeight = depthFrameDesc.Height;
// buffer for points mapped to camera space coordinate.
cameraSpacePoints = new CameraSpacePoint[depthWidth * depthHeight];
mapper = KinectSensor.GetDefault ().CoordinateMapper;
// get reference to DepthSourceManager (which is included in the distributed 'Kinect for Windows v2 Unity Plugin zip')
multiSourceManagerScript = multiSourceManager.GetComponent<MultiSourceManager> ();
// point cloud
pointCloud = new Vector3[depthWidth * depthHeight];
// crate mesh
CreateMesh(depthWidth / downsampleSize, depthHeight / downsampleSize);
transform.position = new Vector3(0.0f, 0.0f, 10.0f);
}
//關閉Sensor等等動作。
void OnApplicationQuit()
{
if (_Mapper != null)
{
_Mapper = null;
}
if (_Sensor != null)
{
if (_Sensor.IsOpen)
{
_Sensor.Close();
}
_Sensor = null;
}
}
// Use this for initialization
void Start()
{
terrCollider = GetComponent<TerrainCollider>();
terrData = terrCollider.terrainData;
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Reader = _Sensor.DepthFrameSource.OpenReader();
_Reader.FrameArrived += _Reader_FrameArrived;
_Data = new ushort[_Sensor.DepthFrameSource.FrameDescription.LengthInPixels];
Debug.LogFormat("Depth:H:{0} x W:{1}", _Sensor.DepthFrameSource.FrameDescription.Height, _Sensor.DepthFrameSource.FrameDescription.Width);
Debug.LogFormat("TerrData:H:{0} x W:{1}", terrData.heightmapHeight, terrData.heightmapWidth);
minDist = _Sensor.DepthFrameSource.DepthMinReliableDistance;
maxDist = 1500f;// _Sensor.DepthFrameSource.DepthMaxReliableDistance;
scale = 0.1f / (maxDist - minDist);
Debug.LogFormat("Depth:Min:{0} x Max:{1} (Scale:{2})", minDist, maxDist, scale);
mapper = _Sensor.CoordinateMapper;
_Sensor.Open();
}
logFile = new System.IO.StreamWriter(new System.IO.FileStream("e:\\log.txt", System.IO.FileMode.OpenOrCreate));
Debug.LogFormat("Scale:{0}", terrData.heightmapScale);
data = new float[terrData.heightmapHeight, terrData.heightmapWidth];
}
