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;
}
private static void Windows_Data_PropertyChangedEventArgs_Delegate_Handler(IntPtr result, IntPtr pNative)
{
List <EventHandler <PropertyChangedEventArgs> > list = null;
DepthFrameReader.Windows_Data_PropertyChangedEventArgs_Delegate_callbacks.TryGetValue(pNative, out list);
object obj = list;
lock (obj)
{
DepthFrameReader objThis = NativeObjectCache.GetObject <DepthFrameReader>(pNative);
PropertyChangedEventArgs args = new PropertyChangedEventArgs(result);
using (List <EventHandler <PropertyChangedEventArgs> > .Enumerator enumerator = list.GetEnumerator())
{
while (enumerator.MoveNext())
{
EventHandler <PropertyChangedEventArgs> func = enumerator.Current;
EventPump.Instance.Enqueue(delegate
{
try
{
func(objThis, args);
}
catch
{
}
});
}
}
}
}
// Use this for initialization
void Start()
{
this.imageHeight = 424;
this.imageWidth = 512;
this.sensor = Windows.Kinect.KinectSensor.GetDefault();
this.depthreader = this.sensor.DepthFrameSource.OpenReader();
this.RawData = new ushort[this.depthreader.DepthFrameSource.FrameDescription.LengthInPixels];
this.SaveRawData = new ushort[this.depthreader.DepthFrameSource.FrameDescription.LengthInPixels];
this.ListCube = new List<GameObject>();
this.cameraSpacePoints = new Windows.Kinect.CameraSpacePoint[this.depthreader.DepthFrameSource.FrameDescription.LengthInPixels];
if (!this.IsArchive)
{
this.depthreader.FrameArrived += depthreader_FrameArrived;
this.sensor.Open();
}
if (this.IsArchive)
{
this.saveData = this.ReadDepth.GetComponent<ReadDepth>();
}
this.centerPos = new Vector3();
}
void Start()
{
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Reader = _Sensor.DepthFrameSource.OpenReader();
_Data = new ushort[_Sensor.DepthFrameSource.FrameDescription.LengthInPixels];
}
}
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;
}
}
// Token: 0x06002C3A RID: 11322 RVA: 0x000DCDF8 File Offset: 0x000DB1F8
public DepthFrame AcquireLatestFrame()
{
if (this._pNative == IntPtr.Zero)
{
throw new ObjectDisposedException("DepthFrameReader");
}
IntPtr intPtr = DepthFrameReader.Windows_Kinect_DepthFrameReader_AcquireLatestFrame(this._pNative);
ExceptionHelper.CheckLastError();
if (intPtr == IntPtr.Zero)
{
return(null);
}
return(NativeObjectCache.CreateOrGetObject <DepthFrame>(intPtr, (IntPtr n) => new DepthFrame(n)));
}
// Token: 0x06002C2A RID: 11306 RVA: 0x000DC8B0 File Offset: 0x000DACB0
private void Dispose(bool disposing)
{
if (this._pNative == IntPtr.Zero)
{
return;
}
this.__EventCleanup();
NativeObjectCache.RemoveObject <DepthFrameReader>(this._pNative);
if (disposing)
{
DepthFrameReader.Windows_Kinect_DepthFrameReader_Dispose(this._pNative);
}
DepthFrameReader.Windows_Kinect_DepthFrameReader_ReleaseObject(ref this._pNative);
this._pNative = IntPtr.Zero;
}
// Use this for initialization
void Start()
{
this.imageHeight = 424;
this.imageWidth = 512;
this.sensor = Windows.Kinect.KinectSensor.GetDefault();
this.depthreader = this.sensor.DepthFrameSource.OpenReader();
this.RawData = new ushort[this.depthreader.DepthFrameSource.FrameDescription.LengthInPixels];
this.ListCube = new List<GameObject>();
this.cameraSpacePoints = new Windows.Kinect.CameraSpacePoint[this.depthreader.DepthFrameSource.FrameDescription.LengthInPixels];
this.depthreader.FrameArrived += depthreader_FrameArrived;
this.sensor.Open();
this.centerPos = new Vector3();
this.hidePositon = new Vector3(0, -100, 0);
}
// Use this for initialization
void Start()
{
this.imageHeight = 424;
this.imageWidth = 512;
this.sensor = Windows.Kinect.KinectSensor.GetDefault();
this.depthreader = this.sensor.DepthFrameSource.OpenReader();
this.RawData = new ushort[this.depthreader.DepthFrameSource.FrameDescription.LengthInPixels];
this.ListCube = new List <GameObject>();
this.cameraSpacePoints = new Windows.Kinect.CameraSpacePoint[this.depthreader.DepthFrameSource.FrameDescription.LengthInPixels];
this.depthreader.FrameArrived += depthreader_FrameArrived;
this.sensor.Open();
this.centerPos = new Vector3();
this.hidePositon = new Vector3(0, -100, 0);
}
// Use this for initialization
void Start () {
this.sensor = Windows.Kinect.KinectSensor.GetDefault();
this.depthreader = this.sensor.DepthFrameSource.OpenReader();
this.depthreader.FrameArrived += depthreader_FrameArrived;
this.RawData = new ushort[this.depthreader.DepthFrameSource.FrameDescription.LengthInPixels];
// particles to be drawn
particles = new ParticleSystem.Particle[this.depthreader.DepthFrameSource.FrameDescription.LengthInPixels];
this.cameraSpacePoints = new Windows.Kinect.CameraSpacePoint[this.depthreader.DepthFrameSource.FrameDescription.LengthInPixels];
this.sensor.Open();
}
// Token: 0x06002C3D RID: 11325 RVA: 0x000DCE90 File Offset: 0x000DB290
private void __EventCleanup()
{
DepthFrameReader.Windows_Kinect_DepthFrameArrivedEventArgs_Delegate_callbacks.TryAddDefault(this._pNative);
List <EventHandler <DepthFrameArrivedEventArgs> > list = DepthFrameReader.Windows_Kinect_DepthFrameArrivedEventArgs_Delegate_callbacks[this._pNative];
object obj = list;
lock (obj)
{
if (list.Count > 0)
{
list.Clear();
if (this._pNative != IntPtr.Zero)
{
IntPtr pNative = this._pNative;
if (DepthFrameReader.f__mg2 == null)
{
DepthFrameReader.f__mg2 = new DepthFrameReader._Windows_Kinect_DepthFrameArrivedEventArgs_Delegate(DepthFrameReader.Windows_Kinect_DepthFrameArrivedEventArgs_Delegate_Handler);
}
DepthFrameReader.Windows_Kinect_DepthFrameReader_add_FrameArrived(pNative, DepthFrameReader.f__mg2, true);
}
DepthFrameReader._Windows_Kinect_DepthFrameArrivedEventArgs_Delegate_Handle.Free();
}
}
DepthFrameReader.Windows_Data_PropertyChangedEventArgs_Delegate_callbacks.TryAddDefault(this._pNative);
List <EventHandler <PropertyChangedEventArgs> > list2 = DepthFrameReader.Windows_Data_PropertyChangedEventArgs_Delegate_callbacks[this._pNative];
object obj2 = list2;
lock (obj2)
{
if (list2.Count > 0)
{
list2.Clear();
if (this._pNative != IntPtr.Zero)
{
IntPtr pNative2 = this._pNative;
if (DepthFrameReader.f__mg3 == null)
{
DepthFrameReader.f__mg3 = new DepthFrameReader._Windows_Data_PropertyChangedEventArgs_Delegate(DepthFrameReader.Windows_Data_PropertyChangedEventArgs_Delegate_Handler);
}
DepthFrameReader.Windows_Kinect_DepthFrameReader_add_PropertyChanged(pNative2, DepthFrameReader.f__mg3, true);
}
DepthFrameReader._Windows_Data_PropertyChangedEventArgs_Delegate_Handle.Free();
}
}
}
void OnApplicationQuit()
{
if (_Reader != null)
{
_Reader.Dispose();
_Reader = null;
}
if (_Sensor != null)
{
if (_Sensor.IsOpen)
{
_Sensor.Close();
}
_Sensor = null;
}
}
private void Start()
{
_Sensor = Kinect.KinectSensor.GetDefault();
if (_Sensor != null)
{
_ColorReader = _Sensor.ColorFrameSource.OpenReader();
_DepthReader = _Sensor.DepthFrameSource.OpenReader();
var colorFrameDesc = _Sensor.ColorFrameSource.CreateFrameDescription(Kinect.ColorImageFormat.Rgba);
var depthFrameDesc = _Sensor.DepthFrameSource.FrameDescription;
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
bodySourceManager = gameObject.AddComponent <BodySourceManager>();
}
// Use this for initialization
void Start () {
mySensor = KinectSensor.GetDefault();
if (mySensor != null)
{
depthFrameReader = mySensor.DepthFrameSource.OpenReader();
var depthFrameDescrip = mySensor.DepthFrameSource.FrameDescription;
depthFrameData = new ushort[depthFrameDescrip.LengthInPixels];
// Raw data contains B, G, R, A values
depthRawData = new byte[depthFrameDescrip.LengthInPixels * BYTES_PER_PIXEL];
depthTex = new Texture2D(depthFrameDescrip.Width, depthFrameDescrip.Height, TextureFormat.BGRA32, false);
if (!mySensor.IsOpen)
{
mySensor.Open();
}
//Get the IR image size
depthImageHeight = depthFrameDescrip.Height;
depthImageWidth = depthFrameDescrip.Width;
//Calculate the foreground rectangles
Rect cameraRect = Camera.main.pixelRect;
float rectHeight = cameraRect.height;
float rectWidth = cameraRect.width;
if (rectWidth > rectHeight)
rectWidth = rectHeight * depthImageWidth / depthImageHeight;
else
rectHeight = rectWidth * depthImageHeight / depthImageWidth;
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);
}
}
private void OnApplicationQuit()
{
if (_ColorReader != null)
{
_ColorReader.Dispose();
_ColorReader = null;
}
if (_DepthReader != null)
{
_DepthReader.Dispose();
_DepthReader = null;
}
if (_Sensor != null)
{
if (_Sensor.IsOpen)
{
_Sensor.Close();
}
_Sensor = null;
}
}
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;
}
}
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 OnApplicationQuit()
{
if (depthFrameReader != null)
{
depthFrameReader.Dispose();
depthFrameReader = null;
}
if (mySensor != null)
{
if (mySensor.IsOpen)
mySensor.Close();
mySensor = null;
}
}
// Token: 0x06002C25 RID: 11301 RVA: 0x000DC85D File Offset: 0x000DAC5D
internal DepthFrameReader(IntPtr pNative)
{
this._pNative = pNative;
DepthFrameReader.Windows_Kinect_DepthFrameReader_AddRefObject(ref this._pNative);
}
// 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];
}
