private void InitializeKinect()
{
kinect = KinectSensor.GetDefault();
filter = new KinectJointFilter();
filter.Init();
if (kinect == null)
{
throw new Exception("Kinectを開けません");
}
//選択デバイス情報を更新
Constants.deviceSelect = Constants.SET_KINECT;
record = new KinectRecorder(main);
gesture = new KinectGesture(main);
//抜き差しイベントを設定
kinect.IsAvailableChanged += Kinect_IsAvailableChanged;
handler = (s, e) =>
{
ColorFrameReader_FrameArrived(s, e);
};
//フレームの準備
PrepareFrame();
Constants.kinectImageRate = colorFrameDesc.Height / main.ImageColor.Height;
kinectTimer.Start();
}
private void Start()
{
Offset = Vector3.zero;
positionSmoothingfilter = new KinectJointFilter();
positionSmoothingfilter.Init();
IsTrackingHuman = false;
}
void Start()
{
_BodyManager = FindObjectOfType <BodySourceManager>();
_Bodies = new Dictionary <ulong, Body>();
jointMaterial = Resources.Load("Materials/JointMaterial") as Material;
boneMaterial = Resources.Load("Materials/BoneMaterial") as Material;
filter = new KinectJointFilter();
filter.Init();
}
public KinectCursor()
{
MRect screenRect = new MRect(0, 0, SystemParameters.PrimaryScreenWidth, SystemParameters.PrimaryScreenHeight);
cursorMapper = new CursorMapper(gestureRect, screenRect, CursorMapper.ScaleAlignment.LongerRange);
sensorReader = new KinectReader(false);
sensorReader.OnTrackedBody += Kinect_OnTrackedBody;
sensorReader.OnLostTracking += Kinect_OnLostTracking;
hoverTimer.Interval = TimeSpan.FromSeconds(HoverDuration);
hoverTimer.Tick += new EventHandler(HoverTimer_Tick);
kinectJointFilter = new KinectJointFilter();
kinectJointFilter.Reset(fJitterRadius: 0.03f, fMaxDeviationRadius: 0.05f);
}
public void ListenBoneData()
{
if (sensor == null)
{
listener.OnLogMessageReceived("No sensor attached!");
return;
}
if (bodyFrameReader != null)
{
bodyFrameReader.IsPaused = false;
}
else
{
jointFilter = new KinectJointFilter();
bodyFrameReader = sensor.BodyFrameSource.OpenReader();
bodyFrameReader.FrameArrived += BodyFrameReaderOnFrameArrived;
}
listener.OnLogMessageReceived("Started listening to body frames");
}
void Awake()
{
m_jointFilter = new KinectJointFilter();
m_jointFilter.Init(0.55f, 0.25f, 2.0f, 0.30f, 1.25f);
}
protected override void OnStart(string[] args)
{
// Try to open the first available Kinect sensor.
this.kinect = KinectSensor.GetDefault();
if (this.kinect == null)
{
EventLog.WriteEntry("No Kinect device was detected.");
ExitCode = -1;
throw new KinectException("No kinect device was detected.");
}
else
{
this.filter = new KinectJointFilter();
this.filter.Init(0.5f, 0.5f, 0.5f, 0.05f, 0.04f); // change params if you want
this.kinect.Open();
this.kinect.IsAvailableChanged += this.OnAvailableChanged;
}
// Register as a handler for the image data being returned by the Kinect.
this.reader = this.kinect.OpenMultiSourceFrameReader(FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.Infrared | FrameSourceTypes.Body);
this.audioSource = this.kinect.AudioSource;
if (this.reader == null)
{
EventLog.WriteEntry("Unable to connect to Kinect data stream.");
ExitCode = -2;
throw new KinectException("Unable to connect to Kinect data stream.");
}
else
{
this.reader.MultiSourceFrameArrived += this.OnFrameArrived;
}
if (this.audioSource == null)
{
EventLog.WriteEntry("Unable to open audio source on kinect");
ExitCode = -3;
throw new KinectException("Unable to connect to kinect audio source");
}
else
{
this.audioReader = this.audioSource.OpenReader();
if (this.audioReader == null)
{
Console.WriteLine("Issues with audio reader");
}
else
{
this.audioReader.FrameArrived += this.onAudioFrameArrived;
}
}
// Allocate storage for the data from the Kinect.
this.colorArray = new byte[(this.kinect.ColorFrameSource.FrameDescription.Height * this.kinect.ColorFrameSource.FrameDescription.Width * BYTES_PER_COLOR_PIXEL)];
this.depthArray = new ushort[this.kinect.DepthFrameSource.FrameDescription.Height * this.kinect.DepthFrameSource.FrameDescription.Width];
this.irArray = new ushort[this.kinect.InfraredFrameSource.FrameDescription.Height * this.kinect.InfraredFrameSource.FrameDescription.Width];
this.byteColorArray = new byte[(this.kinect.ColorFrameSource.FrameDescription.Height * this.kinect.ColorFrameSource.FrameDescription.Width * BYTES_PER_COLOR_PIXEL) + sizeof(double)];
this.byteDepthArray = new byte[this.kinect.DepthFrameSource.FrameDescription.Height * this.kinect.DepthFrameSource.FrameDescription.Width * BYTES_PER_DEPTH_PIXEL + sizeof(double)];
this.byteIRArray = new byte[this.kinect.InfraredFrameSource.FrameDescription.Height * this.kinect.InfraredFrameSource.FrameDescription.Width * BYTES_PER_IR_PIXEL + sizeof(double)];
this.bodyArray = new Body[this.kinect.BodyFrameSource.BodyCount];
this.audioContainer = new AudioContainer();
this.audioContainer.samplingFrequency = 16000;
this.audioContainer.frameLifeTime = 0.016;
this.audioContainer.numSamplesPerFrame = (int)(this.audioContainer.samplingFrequency * this.audioContainer.frameLifeTime);
this.audioContainer.numBytesPerSample = sizeof(float);
this.audioContainer.audioStream = new float[256];
// Create network connectors that will send out the data when it is received.
this.colorConnector = new AsyncNetworkConnector(Properties.Settings.Default.RgbImagePort);
this.depthConnector = new AsyncNetworkConnector(Properties.Settings.Default.DepthImagePort);
this.irConnector = new AsyncNetworkConnector(Properties.Settings.Default.IrImagePort);
this.bodyConnector = new AsyncNetworkConnector(Properties.Settings.Default.BodyPort);
this.audioConnector = new AsyncNetworkConnector(Properties.Settings.Default.AudioPort);
// Open the server connections.
this.colorConnector.Listen();
this.depthConnector.Listen();
this.irConnector.Listen();
this.bodyConnector.Listen();
this.audioConnector.Listen();
}
//update body from filtered data
private void RefreshBodyObject(Kinect.Body body, KinectJointFilter bodyFilter, GameObject bodyObject, ulong id)
{
bodyFilter.UpdateFilter(body);
filteredJoints = bodyFilter.GetFilteredJoints();
orientJoints.Clear();
orientJoints = CalculateJointRotations(body.JointOrientations);
for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++)
{
filteredJointPos = GetVector3FromCameraSpacePoint(filteredJoints[(int)jt]);
sourceJoint = body.Joints[jt];
targetJoint = null;
filteredTargetJointPos = null;
if (_BoneMap.ContainsKey(jt))
{
targetJoint = body.Joints[_BoneMap[jt]];
filteredTargetJointPos = GetVector3FromCameraSpacePoint(filteredJoints[(int)_BoneMap[jt]]);
}
//jointObj = bodyObject.transform.Find(jt.ToString());
jointObj = jointTransforms[id][jt];
//calculate orientations of end joints that are not captured by the kinect
if (zeroQuaternion.Equals(orientJoints[jt]) && filteredTargetJointPos.HasValue)
{
Vector3 direction = filteredJointPos - filteredTargetJointPos.Value;
if (jt == Kinect.JointType.AnkleLeft || jt == Kinect.JointType.AnkleRight) //the ankle roations have to be pointed at the foot to match the mesh
{
if (jt == Kinect.JointType.AnkleLeft)
{
direction = GetVector3FromCameraSpacePoint(filteredJoints[(int)Kinect.JointType.FootLeft]) - filteredJointPos;
}
else
{
direction = GetVector3FromCameraSpacePoint(filteredJoints[(int)Kinect.JointType.FootRight]) - filteredJointPos;
}
Vector3 perpendicular = Vector3.Cross(direction, Vector3.up);
Vector3 normal = Vector3.Cross(direction, perpendicular);
if (normal.sqrMagnitude != 0 && direction.sqrMagnitude != 0)
{
orientJoints[jt] = Quaternion.LookRotation(normal, direction); //normal, direction
}
else
{
orientJoints[jt] = Quaternion.identity;
}
}
else if (jt == Kinect.JointType.ThumbLeft || jt == Kinect.JointType.ThumbRight) //the thumbs are along their parents forward vector so they are calculated
{
Vector3 perpendicular = Vector3.Cross(direction, Vector3.up);
Vector3 normal = Vector3.Cross(perpendicular, direction);
if (normal.sqrMagnitude != 0 && direction.sqrMagnitude != 0)
{
orientJoints[jt] = Quaternion.LookRotation(normal, direction);
}
else
{
orientJoints[jt] = Quaternion.identity;
}
}
else if (jt == Kinect.JointType.Neck) //rotate the neck from side to side while keeping the Z axis pointing forwards
{
Vector3 forward = orientJoints[_BoneMap[jt]] * Vector3.forward;
Vector3 childFilteredJointPos = GetVector3FromCameraSpacePoint(filteredJoints[(int)_JointChildMap[jt]]);
Vector3 y = childFilteredJointPos - filteredJointPos;
orientJoints[jt] = Quaternion.LookRotation(forward, y);
}
else //by default set the up axis to point away from the joint and forward axis towards the parent's forward axis
{
Vector3 forward = orientJoints[_BoneMap[jt]] * Vector3.forward;
// calculate a rotation, Y forward for Kinect
if (direction.sqrMagnitude != 0)
{
orientJoints[jt] = Quaternion.LookRotation(forward, direction);
}
else
{
orientJoints[jt] = Quaternion.identity;
}
}
}
else //if joints are not computed in above, then point their Y value at the next joint while keeping their current Z value
{
if (_JointChildMap.ContainsKey(jt) && rotateToNextJoint)
{
Vector3 childFilteredJointPos = GetVector3FromCameraSpacePoint(filteredJoints[(int)_JointChildMap[jt]]);
Vector3 y = childFilteredJointPos - filteredJointPos;
orientJoints[jt] = Quaternion.LookRotation(orientJoints[jt] * Vector3.forward, y);
}
}
//check tracking state of joint to make sure it is tracked, turn off rendered objects if not.
if (debugJoints)
{
switch (sourceJoint.TrackingState)
{
case Kinect.TrackingState.NotTracked:
if (jointObj.GetChild(0).gameObject.activeSelf)
{
jointObj.GetChild(0).gameObject.SetActive(useUntrackedJoints);
}
JointTracked[body.TrackingId][jt.ToString()] = useUntrackedJoints;
break;
case Kinect.TrackingState.Inferred:
if (jointObj.GetChild(0).gameObject.activeSelf)
{
jointObj.GetChild(0).gameObject.SetActive(useInferredJoints);
}
jointObj.localPosition = filteredJointPos;
jointObj.localRotation = orientJoints[jt];
JointTracked[body.TrackingId][jt.ToString()] = useInferredJoints;
break;
case Kinect.TrackingState.Tracked:
if (!jointObj.GetChild(0).gameObject.activeSelf)
{
jointObj.GetChild(0).gameObject.SetActive(true);
}
jointObj.localPosition = filteredJointPos;
jointObj.localRotation = orientJoints[jt];
JointTracked[body.TrackingId][jt.ToString()] = true;
break;
default:
break;
}
LineRenderer lr = jointObj.GetComponent <LineRenderer>();
if (targetJoint.HasValue)
{
lr.useWorldSpace = false;
lr.SetPosition(0, Vector3.zero);
lr.SetPosition(1, Quaternion.Inverse(jointObj.localRotation) * (filteredTargetJointPos.Value - filteredJointPos));
lr.startColor = GetColorForState(sourceJoint.TrackingState);
lr.endColor = GetColorForState(targetJoint.Value.TrackingState);
}
else
{
lr.enabled = false;
}
}
else
{
switch (sourceJoint.TrackingState)
{
case Kinect.TrackingState.NotTracked:
JointTracked[body.TrackingId][jt.ToString()] = useUntrackedJoints;
break;
case Kinect.TrackingState.Inferred:
JointTracked[body.TrackingId][jt.ToString()] = useInferredJoints;
break;
case Kinect.TrackingState.Tracked:
JointTracked[body.TrackingId][jt.ToString()] = true;
break;
default:
break;
}
jointObj.localPosition = filteredJointPos;
jointObj.localRotation = orientJoints[jt];
}
/*if(jointObj.localRotation == zeroQuaternion)
* {
* Vector3 perpendicular = Vector3.Cross(jointObj.localPosition, Vector3.up);
* Vector3 normal = Vector3.Cross(perpendicular, jointObj.localPosition);
*
* // calculate a rotation
* jointObj.rotation.SetLookRotation(normal, jointObj.localPosition);
* }*/
}
}
