/// <summary>
/// Update the coordinates of hand skeleton points.
/// </summary>
private void UpdateHandSkeletonsData(float[] handSkeletons)
{
ShaderUtil.CheckGlError(TAG, "Update hand skeletons data start.");
// Each point has a 3D coordinate. The total number of coordinates
// is three times the number of skeleton points.
int mPointsNum = handSkeletons.Length / 3;
Log.Debug(TAG, "ARHand HandSkeletonNumber = " + mPointsNum);
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, mVbo);
mNumPoints = mPointsNum;
if (mVboSize < mNumPoints * BYTES_PER_POINT)
{
while (mVboSize < mNumPoints * BYTES_PER_POINT)
{
// If the size of VBO is insufficient to accommodate the new point cloud, resize the VBO.
mVboSize *= 2;
}
GLES20.GlBufferData(GLES20.GlArrayBuffer, mVboSize, null, GLES20.GlDynamicDraw);
}
FloatBuffer mSkeletonPoints = FloatBuffer.Wrap(handSkeletons);
GLES20.GlBufferSubData(GLES20.GlArrayBuffer, 0, mNumPoints * BYTES_PER_POINT,
mSkeletonPoints);
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, 0);
ShaderUtil.CheckGlError(TAG, "Update hand skeletons data end.");
}
/// <summary>
/// Update the coordinates of the hand bounding box.
/// </summary>
/// <param name="gesturePoints">Gesture hand box data.</param>
private void UpdateHandBoxData(float[] gesturePoints)
{
ShaderUtil.CheckGlError(TAG, "Update hand box data start.");
float[] glGesturePoints =
{
// Get the four coordinates of a rectangular box bounding the hand.
gesturePoints[0], gesturePoints[1], gesturePoints[2],
gesturePoints[3], gesturePoints[1], gesturePoints[2],
gesturePoints[3], gesturePoints[4], gesturePoints[5],
gesturePoints[0], gesturePoints[4], gesturePoints[5],
};
int gesturePointsNum = glGesturePoints.Length / COORDINATE_DIMENSION;
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, mVbo);
mNumPoints = gesturePointsNum;
if (mVboSize < mNumPoints * BYTES_PER_POINT)
{
while (mVboSize < mNumPoints * BYTES_PER_POINT)
{
// If the size of VBO is insufficient to accommodate the new point cloud, resize the VBO.
mVboSize *= 2;
}
GLES20.GlBufferData(GLES20.GlArrayBuffer, mVboSize, null, GLES20.GlDynamicDraw);
}
Log.Debug(TAG, "gesture.getGestureHandPointsNum()" + mNumPoints);
FloatBuffer mVertices = FloatBuffer.Wrap(glGesturePoints);
GLES20.GlBufferSubData(GLES20.GlArrayBuffer, 0, mNumPoints * BYTES_PER_POINT,
mVertices);
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, 0);
ShaderUtil.CheckGlError(TAG, "Update hand box data end.");
}
/// <summary>
/// This method updates the connection data of skeleton points and is called when any frame is updated.
/// </summary>
/// <param name="handSkeletons">Bone point data of hand.</param>
/// <param name="handSkeletonConnection">Data of connection between bone points of hand.</param>
private void UpdateHandSkeletonLinesData(float[] handSkeletons, int[] handSkeletonConnection)
{
ShaderUtil.CheckGlError(TAG, "Update hand skeleton lines data start.");
int pointsLineNum = 0;
// Each point is a set of 3D coordinate. Each connection line consists of two points.
float[] linePoint = new float[handSkeletonConnection.Length * 3 * 2];
// The format of HandSkeletonConnection data is [p0,p1;p0,p3;p0,p5;p1,p2].
// handSkeletonConnection saves the node indexes. Two indexes obtain a set
// of connection point data. Therefore, j = j + 2. This loop obtains related
// coordinates and saves them in linePoint.
for (int j = 0; j < handSkeletonConnection.Length; j += 2)
{
linePoint[pointsLineNum * 3] = handSkeletons[3 * handSkeletonConnection[j]];
linePoint[pointsLineNum * 3 + 1] = handSkeletons[3 * handSkeletonConnection[j] + 1];
linePoint[pointsLineNum * 3 + 2] = handSkeletons[3 * handSkeletonConnection[j] + 2];
linePoint[pointsLineNum * 3 + 3] = handSkeletons[3 * handSkeletonConnection[j + 1]];
linePoint[pointsLineNum * 3 + 4] = handSkeletons[3 * handSkeletonConnection[j + 1] + 1];
linePoint[pointsLineNum * 3 + 5] = handSkeletons[3 * handSkeletonConnection[j + 1] + 2];
pointsLineNum += 2;
}
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, mVbo);
mPointsNum = pointsLineNum;
// If the storage space is insufficient, apply for twice the memory each time.
if (mVboSize < mPointsNum * BYTES_PER_POINT)
{
while (mVboSize < mPointsNum * BYTES_PER_POINT)
{
mVboSize *= 2;
}
GLES20.GlBufferData(GLES20.GlArrayBuffer, mVboSize, null, GLES20.GlDynamicDraw);
}
FloatBuffer linePoints = FloatBuffer.Wrap(linePoint);
Log.Debug(TAG, "Skeleton skeleton line points num: " + mPointsNum);
Log.Debug(TAG, "Skeleton line points: " + linePoints.ToString());
GLES20.GlBufferSubData(GLES20.GlArrayBuffer, 0, mPointsNum * BYTES_PER_POINT,
linePoints);
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, 0);
ShaderUtil.CheckGlError(TAG, "Update hand skeleton lines data end.");
}
private void FindValidSkeletonPoints(ARBody arBody)
{
int index = 0;
int[] isExists;
int validPointNum = 0;
float[] points;
float[] skeletonPoints;
// Determine whether the data returned by the algorithm is 3D human
// skeleton data or 2D human skeleton data, and obtain valid skeleton points.
if (arBody.CoordinateSystemType == ARCoordinateSystemType.CoordinateSystemType3dCamera)
{
isExists = arBody.GetSkeletonPointIsExist3D();
points = new float[isExists.Length * 3];
skeletonPoints = arBody.GetSkeletonPoint3D();
}
else
{
isExists = arBody.GetSkeletonPointIsExist2D();
points = new float[isExists.Length * 3];
skeletonPoints = arBody.GetSkeletonPoint2D();
}
// Save the three coordinates of each joint point(each point has three coordinates).
for (int i = 0; i < isExists.Length; i++)
{
if (isExists[i] != 0)
{
points[index++] = skeletonPoints[3 * i];
points[index++] = skeletonPoints[3 * i + 1];
points[index++] = skeletonPoints[3 * i + 2];
validPointNum++;
}
}
mSkeletonPoints = FloatBuffer.Wrap(points);
mPointsNum = validPointNum;
}
private void FindValidConnectionSkeletonLines(ARBody arBody)
{
mPointsLineNum = 0;
int[] connections = arBody.GetBodySkeletonConnection();
float[] linePoints = new float[LINE_POINT_RATIO * connections.Length];
float[] coors;
int[] isExists;
if (arBody.CoordinateSystemType == ARCoordinateSystemType.CoordinateSystemType3dCamera)
{
coors = arBody.GetSkeletonPoint3D();
isExists = arBody.GetSkeletonPointIsExist3D();
}
else
{
coors = arBody.GetSkeletonPoint2D();
isExists = arBody.GetSkeletonPointIsExist2D();
}
// Filter out valid skeleton connection lines based on the returned results,
// which consist of indexes of two ends, for example, [p0,p1;p0,p3;p0,p5;p1,p2].
// The loop takes out the 3D coordinates of the end points of the valid connection
// line and saves them in sequence.
for (int j = 0; j < connections.Length; j += 2)
{
if (isExists[connections[j]] != 0 && isExists[connections[j + 1]] != 0)
{
linePoints[mPointsLineNum * 3] = coors[3 * connections[j]];
linePoints[mPointsLineNum * 3 + 1] = coors[3 * connections[j] + 1];
linePoints[mPointsLineNum * 3 + 2] = coors[3 * connections[j] + 2];
linePoints[mPointsLineNum * 3 + 3] = coors[3 * connections[j + 1]];
linePoints[mPointsLineNum * 3 + 4] = coors[3 * connections[j + 1] + 1];
linePoints[mPointsLineNum * 3 + 5] = coors[3 * connections[j + 1] + 2];
mPointsLineNum += 2;
}
}
mLinePoints = FloatBuffer.Wrap(linePoints);
}