void Awake()
{
if (KinectOneSensor.instance != null)
{
Debug.Log("There should be only one active instance of the KinectSensor component at at time.");
throw new Exception("There should be only one active instance of the KinectSensor component at a time.");
}
try
{
// The MSR Kinect DLL (native code) is going to load into the Unity process and stay resident even between debug runs of the game.
// So our component must be resilient to starting up on a second run when the Kinect DLL is already loaded and
// perhaps even left in a running state. Kinect does not appear to like having NuiInitialize called when it is already initialized as
// it messes up the internal state and stops functioning. It is resilient to having Shutdown called right before initializing even if it
// hasn't been initialized yet. So calling this first puts us in a good state on a first or second run.
// However, calling NuiShutdown before starting prevents the image streams from being read, so if you want to use image data
// (either depth or RGB), comment this line out.
//NuiShutdown();
int hr = NativeMethods.NuiInitialize(NuiInitializeFlags.UsesDepthAndPlayerIndex | NuiInitializeFlags.UsesSkeleton | NuiInitializeFlags.UsesColor);
if (hr != 0)
{
throw new Exception("NuiInitialize Failed.");
}
hr = NativeMethods.NuiSkeletonTrackingEnable(IntPtr.Zero, skeltonTrackingMode);
if (hr != 0)
{
throw new Exception("Cannot initialize Skeleton Data.");
}
depthStreamHandle = IntPtr.Zero;
hr = NativeMethods.NuiImageStreamOpen(NuiImageType.DepthAndPlayerIndex, NuiImageResolution.resolution320x240, 0, 2, IntPtr.Zero, ref depthStreamHandle);
//Debug.Log(depthStreamHandle);
if (hr != 0)
{
throw new Exception("Cannot open depth stream.");
}
colorStreamHandle = IntPtr.Zero;
hr = NativeMethods.NuiImageStreamOpen(NuiImageType.Color, NuiImageResolution.resolution640x480, 0, 2, IntPtr.Zero, ref colorStreamHandle);
//Debug.Log(colorStreamHandle);
if (hr != 0)
{
throw new Exception("Cannot open color stream.");
}
colorImage = new Color32[640*480];
double theta = Mathf.Atan((lookAt.y+kinectCenter.y-sensorHeight) / (lookAt.z + kinectCenter.z));
long kinectAngle = (long)(theta * (180 / Mathf.PI));
NativeMethods.NuiCameraSetAngle(kinectAngle);
DontDestroyOnLoad(gameObject);
KinectOneSensor.Instance = this;
NativeMethods.NuiSetDeviceStatusCallback(new NuiStatusProc(), IntPtr.Zero);
}
catch (Exception e)
{
Debug.Log(e.Message);
}
}
// Use this for initialization
void Start()
{
kinect = devOrEmu.getKinect();
players = new NuiSkeletonTrackingState[Constants.NuiSkeletonCount];
trackedPlayers = new int[Constants.NuiSkeletonMaxTracked];
trackedPlayers[0] = -1;
trackedPlayers[1] = -1;
bonePos = new Vector3[2,(int)NuiSkeletonPositionIndex.Count];
rawBonePos = new Vector3[2,(int)NuiSkeletonPositionIndex.Count];
boneVel = new Vector3[2,(int)NuiSkeletonPositionIndex.Count];
boneState = new NuiSkeletonPositionTrackingState[2,(int)NuiSkeletonPositionIndex.Count];
boneLocalOrientation = new Quaternion[2, (int)NuiSkeletonPositionIndex.Count];
boneAbsoluteOrientation = new Quaternion[2, (int)NuiSkeletonPositionIndex.Count];
//create the transform matrix that converts from kinect-space to world-space
Matrix4x4 trans = new Matrix4x4();
trans.SetTRS( new Vector3(-kinect.getKinectCenter().x,
kinect.getSensorHeight()-kinect.getKinectCenter().y,
-kinect.getKinectCenter().z),
Quaternion.identity, Vector3.one );
Matrix4x4 rot = new Matrix4x4();
Quaternion quat = new Quaternion();
double theta = Mathf.Atan((kinect.getLookAt().y+kinect.getKinectCenter().y-kinect.getSensorHeight()) / (kinect.getLookAt().z + kinect.getKinectCenter().z));
float kinectAngle = (float)(theta * (180 / Mathf.PI));
// BUG here
//quat.eulerAngles = new Vector3(-kinectAngle, 0, 0);
//rot.SetTRS( Vector3.zero, quat, Vector3.one);
//final transform matrix offsets the rotation of the kinect, then translates to a new center
kinectToWorld = flipMatrix*trans*rot;
}
//end lxjk
// Use this for initialization
void Start()
{
kinect = devOrEmu.getKinect();
}
