void Update()
{
using (Capture capture = device.GetCapture())
{
tracker.EnqueueCapture(capture);
var color = capture.Color;
if (color.WidthPixels > 0)
{
Texture2D tex = new Texture2D(color.WidthPixels, color.HeightPixels, TextureFormat.BGRA32, false);
tex.LoadRawTextureData(color.GetBufferCopy());
tex.Apply();
renderer.material.mainTexture = tex;
}
}
using (var frame = tracker.PopResult())
{
//Debug.LogFormat("{0} bodies found.", frame.NumBodies);
if (frame.NumBodies > 0)
{
var bodyId = frame.GetBodyId(0);
//Debug.LogFormat("bodyId={0}", bodyId);
this.skeleton = frame.GetSkeleton(0);
Stack <string> JointNames = new Stack <string>();
Stack <Vector3> JointLocations = new Stack <Vector3>();
for (var i = 0; i < (int)JointId.Count; i++)
{
var joint = this.skeleton.Joints[i];
var pos = joint.Position;
var rot = joint.Orientation;
var v = new Vector3(pos[0], -pos[1], pos[2]) * 0.004f;
var r = new Quaternion(rot[1], rot[2], rot[3], rot[0]);
var obj = debugObjects[i];
obj.transform.SetPositionAndRotation(v, r);
JointNames.Push(obj.name.ToString());
JointLocations.Push(v);
}
//handler.UpdateJointLocations(JointNames, JointLocations);
//if (handler.GetDataCount() == 5000)
//{
// Debug.Log("Wrote JSON!");
// handler.WriteJSON();
// UnityEditor.EditorApplication.isPlaying = false;
//}
string sjl = handler.StreamJointLocations(JointNames, JointLocations);
streamer.SendMessage(sjl);
}
}
}
void Update()
{
if (canUpdate)
{
//this streams camera output as a texture to a plane in the scene
using (Capture capture = device.GetCapture())
{
tracker.EnqueueCapture(capture);
var color = capture.Color;
if (color.WidthPixels > 0)
{
Texture2D tex = new Texture2D(color.WidthPixels, color.HeightPixels, TextureFormat.BGRA32, false);
tex.LoadRawTextureData(color.GetBufferCopy());
tex.Apply();
renderer.material.mainTexture = tex;
}
}
//this gets skeleton data from frames and pulls individual joint data from the skeleton to apply to blocks that represent joints
using (var frame = tracker.PopResult())
{
Debug.LogFormat("{0} bodies found.", frame.NumBodies);
if (frame.NumBodies > 0)
{
var bodyId = frame.GetBodyId(0);
//Debug.LogFormat("bodyId={0}", bodyId);
this.skeleton = frame.GetSkeleton(0);
skeletons.Add(this.skeleton);
for (var i = 0; i < (int)JointId.Count; i++)
{
var joint = this.skeleton.Joints[i];
var pos = joint.Position;
//Debug.Log("pos: " + (JointId)i + " " + pos[0] + " " + pos[1] + " " + pos[2]);
var rot = joint.Orientation;
//Debug.Log("rot " + (JointId)i + " " + rot[0] + " " + rot[1] + " " + rot[2] + " " + rot[3]); // Length 4
var v = new Vector3(pos[0], -pos[1], pos[2]) * 0.004f;
var r = new Quaternion(rot[1], rot[2], rot[3], rot[0]);
var obj = debugObjects[i];
obj.transform.SetPositionAndRotation(v, r);
}
}
}
if (skeletons.Count > 4) // and the current scene is CaptureScene
{
Debug.Log("we have enough skeletons");
GameManager.Instance.currentState = GameState.CaptureCompleted;
//Disable this Update loop's logic from running
canUpdate = false;
}
} //end if(canUpdate)
} //end Update()
void StreamCameraAsTexture()
{
using (Capture capture = device.GetCapture())
{
tracker.EnqueueCapture(capture);
var color = capture.Color;
if (color.WidthPixels > 0)
{
Texture2D tex = new Texture2D(color.WidthPixels, color.HeightPixels, TextureFormat.BGRA32, false);
tex.LoadRawTextureData(color.GetBufferCopy());
tex.Apply();
renderer.material.mainTexture = tex;
}
}
}
void Update()
{
using (Capture capture = device.GetCapture())
{
tracker.EnqueueCapture(capture);
// TODO DO NOT USE IT!!! It causes memory leak!
/*var color = capture.Color;
* if (color != null && color.WidthPixels > 0)
* {
* Texture2D tex = new Texture2D(color.WidthPixels, color.HeightPixels, TextureFormat.BGRA32, false);
* tex.LoadRawTextureData(color.GetBufferCopy());
* tex.Apply();
* renderer.material.mainTexture = tex;
* }*/
}
using (BodyFrame frame = tracker.PopResult())
{
Debug.LogFormat("{0} bodies found.", frame.BodyCount);
if (frame.BodyCount > 0)
{
var bodies = frame.Bodies;
var body = bodies[0];
for (JointType jt = 0; jt < JointType.Count; jt++)
{
var joint = body.Skeleton.Joints[(int)jt];
var pos = joint.Position;
var orientation = joint.Orientation;
var v = new Vector3(pos.X, -pos.Y, pos.Z) * 0.004f;
var r = new Quaternion(orientation.X, orientation.Y, orientation.Z, orientation.W);
var obj = debugObjects[(int)jt];
obj.transform.SetPositionAndRotation(v, r);
}
}
}
}
void Update()
{
using (Capture capture = device.GetCapture())
{
tracker.EnqueueCapture(capture);
var color = capture.Color;
if (color.WidthPixels > 0)
{
Texture2D tex = new Texture2D(color.WidthPixels, color.HeightPixels, TextureFormat.BGRA32, false);
tex.LoadRawTextureData(color.GetBufferCopy());
tex.Apply();
renderer.material.mainTexture = tex;
}
}
using (var frame = tracker.PopResult())
{
Debug.LogFormat("{0} bodies found.", frame.NumBodies);
if (frame.NumBodies > 0)
{
var bodyId = frame.GetBodyId(0);
Debug.LogFormat("bodyId={0}", bodyId);
this.skeleton = frame.GetSkeleton(0);
for (var i = 0; i < (int)JointId.Count; i++)
{
var joint = this.skeleton.Joints[i];
var pos = joint.Position;
var rot = joint.Orientation;
var v = new Vector3(pos[0], -pos[1], pos[2]) * 0.004f;
var r = new Quaternion(rot[1], rot[2], rot[3], rot[0]);
var obj = debugObjects[i];
obj.transform.SetPositionAndRotation(v, r);
}
}
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
using (Device device = Device.Open(0))
{
device.StartCameras(new DeviceConfiguration
{
ColorFormat = ImageFormat.ColorBGRA32,
ColorResolution = ColorResolution.R720p,
DepthMode = DepthMode.WFOV_2x2Binned,
SynchronizedImagesOnly = true,
CameraFPS = FPS.FPS30,
});
int colorWidth = device.GetCalibration().ColorCameraCalibration.ResolutionWidth;
int colorHeight = device.GetCalibration().ColorCameraCalibration.ResolutionHeight;
Stopwatch sw = new Stopwatch();
int frameCount = 0;
sw.Start();
// Allocate image buffers for us to manipulate
using (Image transformedDepth = new Image(ImageFormat.Depth16, colorWidth, colorHeight))
using (Image outputColorImage = new Image(ImageFormat.ColorBGRA32, colorWidth, colorHeight))
using (Transformation transform = device.GetCalibration().CreateTransformation())
using (BodyTracker tracker = new BodyTracker(device.GetCalibration()))
{
tracker.SetTemporalSmoothing(0);
while (this.running)
{
//if (!Environment.Is64BitProcess)
{
// In 32-bit the BitmapSource memory runs out quickly and we can hit OutOfMemoryException.
// Force garbage collection in each loop iteration to keep memory in check.
GC.Collect();
}
// Wait for a capture on a thread pool thread
using (Capture capture = await Task.Run(() => { return(device.GetCapture()); }).ConfigureAwait(true))
{
// Create a BitmapSource for the unmodified color image.
// Creating the BitmapSource is slow, so do it asynchronously on another thread
Task <BitmapSource> createInputColorBitmapTask = Task.Run(() =>
{
BitmapSource source = capture.Color.CreateBitmapSource();
// Allow the bitmap to move threads
source.Freeze();
return(source);
});
// Compute the colorized output bitmap on a thread pool thread
Task <BitmapSource> createOutputColorBitmapTask = Task.Run(() =>
{
// Transform the depth image to the perspective of the color camera
transform.DepthImageToColorCamera(capture, transformedDepth);
// Get Span<T> references to the pixel buffers for fast pixel access.
Span <ushort> depthBuffer = transformedDepth.GetPixels <ushort>().Span;
Span <BGRA> colorBuffer = capture.Color.GetPixels <BGRA>().Span;
Span <BGRA> outputColorBuffer = outputColorImage.GetPixels <BGRA>().Span;
// Create an output color image with data from the depth image
for (int i = 0; i < colorBuffer.Length; i++)
{
// The output image will be the same as the input color image,
// but colorized with Red where there is no depth data, and Green
// where there is depth data at more than 1.5 meters
outputColorBuffer[i] = colorBuffer[i];
if (depthBuffer[i] == 0)
{
outputColorBuffer[i].R = 255;
}
else if (depthBuffer[i] > 1500)
{
outputColorBuffer[i].G = 255;
}
}
BitmapSource source = outputColorImage.CreateBitmapSource();
// Allow the bitmap to move threads
source.Freeze();
return(source);
});
// Wait for both bitmaps to be ready and assign them.
BitmapSource inputColorBitmap = await createInputColorBitmapTask.ConfigureAwait(true);
BitmapSource outputColorBitmap = await createOutputColorBitmapTask.ConfigureAwait(true);
this.inputColorImageViewPane.Source = inputColorBitmap;
this.outputColorImageViewPane.Source = outputColorBitmap;
++frameCount;
if (sw.Elapsed > TimeSpan.FromSeconds(2))
{
double framesPerSecond = (double)frameCount / sw.Elapsed.TotalSeconds;
this.fps.Content = $"{framesPerSecond:F2} FPS";
frameCount = 0;
sw.Restart();
}
tracker.EnqueueCapture(capture);
using (BodyFrame frame = tracker.PopFrame())
{
for (uint i = 0; i < frame.GetNumBodies(); ++i)
{
Body body = new Body()
{
id = frame.GetBodyID(i), skeleton = frame.GetBodySkeleton(i)
};
Joint chest = body.skeleton.joints[(int)Joints.SPINE_CHEST];
Console.WriteLine($"User {body.id}: ({chest.position.X}, {chest.position.Y}, {chest.position.Z})");
Vector2?convertedPos = device.GetCalibration().TransformTo2D(chest.position, CalibrationDeviceType.Depth, CalibrationDeviceType.Color);
if (convertedPos.HasValue)
{
Console.WriteLine($"Converted: ({convertedPos.Value.X}, {convertedPos.Value.Y})");
}
}
frame.GetCapture().Dispose();
}
}
}
}
}
}