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()
{
if (instance == null)
{
instance = this;
DontDestroyOnLoad(gameObject);
}
else
{
if (instance != this)
{
Destroy(gameObject);
}
}
//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;
}
// 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];
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];
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, 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;
DontDestroyOnLoad(gameObject);
}
catch(DllNotFoundException e)
{
string message = "Please check the Kinect SDK installation.";
Debug.LogError(message);
Debug.LogError(e.ToString());
if(CalibrationText != null)
CalibrationText.GetComponent<GUIText>().text = message;
return;
}
catch (Exception e)
{
string message = e.Message + " - " + KinectWrapper.GetNuiErrorString(hr);
Debug.LogError(message);
Debug.LogError(e.ToString());
if(CalibrationText != null)
CalibrationText.GetComponent<GUIText>().text = message;
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];
}
// try to automatically find the available avatar controllers in the scene
if(Player1Avatars.Count == 0 && Player2Avatars.Count == 0)
{
AvatarController[] avatars = FindObjectsOfType(typeof(AvatarController)) as AvatarController[];
foreach(AvatarController avatar in avatars)
{
Player1Avatars.Add(avatar.gameObject);
}
}
// 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)
{
if(avatar != null && avatar.activeInHierarchy)
{
Player1Controllers.Add(avatar.GetComponent<AvatarController>());
}
}
foreach(GameObject avatar in Player2Avatars)
{
if(avatar != null && avatar.activeInHierarchy)
{
Player2Controllers.Add(avatar.GetComponent<AvatarController>());
}
}
// create the list of gesture listeners
gestureListeners = new List<KinectGestures.GestureListenerInterface>();
foreach(MonoBehaviour script in GestureListeners)
{
if(script && (script is KinectGestures.GestureListenerInterface))
{
KinectGestures.GestureListenerInterface listener = (KinectGestures.GestureListenerInterface)script;
gestureListeners.Add(listener);
}
}
// GUI Text.
if(CalibrationText != null)
{
CalibrationText.GetComponent<GUIText>().text = "WAITING FOR USERS";
}
Debug.Log("Waiting for users.");
KinectInitialized = true;
}
//----------------------------------- end of public functions --------------------------------------//
void Start()
{
CalibrationText = GameObject.Find("CalibrationText");
int hr = 0;
try
{
hr = KinectWrapper.NuiInitialize(KinectWrapper.NuiInitializeFlags.UsesDepthAndPlayerIndex |
KinectWrapper.NuiInitializeFlags.UsesSkeleton |
(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.ImageResolution, 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.ImageResolution, 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;
}
// 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];
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);
float heightAboveHips = SensorHeight - 1.0f;
// transform matrix - kinect to world
kinectToWorld.SetTRS(new Vector3(0.0f, heightAboveHips, 0.0f), quatTiltAngle, Vector3.one);
flipMatrix = Matrix4x4.identity;
flipMatrix[2, 2] = -1;
instance = this;
// roger> DontDestroyOnLoad(gameObject); // comment this, we want to reset and reopen kinect every time
}
catch (Exception e)
{
string message = e.Message + " - " + KinectWrapper.GetNuiErrorString(hr);
Debug.LogError(message);
if(CalibrationText != null)
CalibrationText.guiText.text = message;
return;
}
if(ComputeUserMap)
{
// Initialize depth & label map related stuff
usersMapSize = KinectWrapper.GetDepthWidth() * KinectWrapper.GetDepthHeight();
usersLblTex = new Texture2D(KinectWrapper.GetDepthWidth(), KinectWrapper.GetDepthHeight());
usersMapColors = new Color[usersMapSize];
// roger> user map size
usersMapRect = new Rect(Screen.width, Screen.height - usersLblTex.height / 2, -usersLblTex.width / 2, usersLblTex.height / 2);
//usersMapRect = new Rect(0, 0, Screen.width, Screen.height);
usersDepthMap = new short[usersMapSize];
usersHistogramMap = new float[5000];
}
if(ComputeColorMap)
{
// Initialize color map related stuff
usersClrTex = new Texture2D(KinectWrapper.GetDepthWidth(), KinectWrapper.GetDepthHeight());
//usersClrColors = new Color[usersMapSize];
usersClrRect = new Rect(Screen.width, Screen.height - usersClrTex.height / 2, -usersClrTex.width / 2, usersClrTex.height / 2);
if(ComputeUserMap)
usersMapRect.x -= usersClrTex.width / 2;
colorImage = new Color32[KinectWrapper.GetDepthWidth() * KinectWrapper.GetDepthHeight()];
}
// Initialize user list to contain ALL users.
allUsers = new List<uint>();
// Pull the AvatarController from each of the players Avatars.
Player1Controllers = new List<TrainingAvatarController>();
Player2Controllers = new List<TrainingAvatarController>();
// Add each of the avatars' controllers into a list for each player.
foreach(GameObject avatar in Player1Avatars)
{
if(avatar.activeInHierarchy)
{
Player1Controllers.Add(avatar.GetComponent<TrainingAvatarController>());
}
}
foreach(GameObject avatar in Player2Avatars)
{
if(avatar.activeInHierarchy)
{
Player2Controllers.Add(avatar.GetComponent<TrainingAvatarController>());
}
}
// GUI Text.
if(CalibrationText != null)
{
CalibrationText.guiText.text = "WAITING FOR USERS";
}
Debug.Log("Waiting for users.");
KinectInitialized = true;
}