void GetColorForRegsiteredColorStreamPixel(ref int index, ref KinectData sourceKinectData, ref Color32 result)
{
result = new Color32(0, 0, 0, 255);
if (fullResolutionKinectData.RawColorStreamColors != null)
{
int x = index % sourceKinectData.Width;
int y = index / sourceKinectData.Width;
int cx, cy;
int hr = KinectWrapper.NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution(
KinectWrapper.Constants.ColorImageResolution,
KinectWrapper.Constants.DepthImageResolution,
ref KinectCoordinatesAdjustment,
x, y, sourceKinectData.RawDepths[index],
out cx, out cy);
if (hr == 0)
{
int colorIndex = cy * sourceKinectData.Width + cx;
if (colorIndex >= 0 && colorIndex < sourceKinectData.Size)
{
result = sourceKinectData.RawColorStreamColors [colorIndex];
}
}
}
return;
}
public Vector2 GetColorCorrespondingToDepthPixelPosition(Vector2 posDepth)
{
int cx, cy;
KinectWrapper.NuiImageViewArea pcViewArea = new KinectWrapper.NuiImageViewArea {
eDigitalZoom = 0,
lCenterX = 0,
lCenterY = 0
};
KinectWrapper.NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution(
KinectWrapper.Constants.ColorImageResolution,
KinectWrapper.Constants.DepthImageResolution,
ref pcViewArea,
(int)posDepth.x, (int)posDepth.y, GetDepthForPixel((int)posDepth.x, (int)posDepth.y),
out cx, out cy);
return(new Vector2(cx, cy));
}
void UpdateUserMap()
{
int numOfPoints = 0;
Array.Clear(usersHistogramMap, 0, usersHistogramMap.Length);
// Calculate cumulative histogram for depth
for (int i = 0; i < usersMapSize; i++)
{
// Only calculate for depth that contains users
if ((usersDepthMap[i] & 7) != 0)
{
ushort userDepth = (ushort)(usersDepthMap[i] >> 3);
usersHistogramMap[userDepth]++;
numOfPoints++;
}
}
if (numOfPoints > 0)
{
for (int i = 1; i < usersHistogramMap.Length; i++)
{
usersHistogramMap[i] += usersHistogramMap[i - 1];
}
for (int i = 0; i < usersHistogramMap.Length; i++)
{
usersHistogramMap[i] = 1.0f - (usersHistogramMap[i]
/ numOfPoints);
}
}
// dummy structure needed by the coordinate mapper
KinectWrapper.NuiImageViewArea pcViewArea = new
KinectWrapper.NuiImageViewArea
{
eDigitalZoom = 0,
lCenterX = 0,
lCenterY = 0
};
// Create the actual users texture based on label map and depth histogram
Color32 clrClear = Color.clear;
for (int i = 0; i < usersMapSize; i++)
{
// Flip the texture as we convert label map to color array
int flipIndex = i; // usersMapSize - i - 1;
ushort userMap = (ushort)(usersDepthMap[i] & 7);
ushort userDepth = (ushort)(usersDepthMap[i] >> 3);
ushort nowUserPixel = userMap != 0 ? (ushort)((userMap << 13) | userDepth) : userDepth;
ushort wasUserPixel = usersPrevState[flipIndex];
// draw only the changed pixels
if (nowUserPixel != wasUserPixel)
{
usersPrevState[flipIndex] = nowUserPixel;
if (userMap == 0)
{
usersMapColors[flipIndex] = clrClear;
}
else
{
if (colorImage != null)
{
int x = i %
KinectWrapper.Constants.DepthImageWidth;
int y = i /
KinectWrapper.Constants.DepthImageWidth;
int cx, cy;
int hr =
KinectWrapper.NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution(
KinectWrapper.Constants.ColorImageResolution,
KinectWrapper.Constants.DepthImageResolution,
ref pcViewArea,
x, y, usersDepthMap[i],
out cx, out cy);
if (hr == 0)
{
int colorIndex = cx + cy *
KinectWrapper.Constants.ColorImageWidth;
//colorIndex = usersMapSize - colorIndex - 1;
if (colorIndex >= 0 &&
colorIndex < usersMapSize)
{
Color32 colorPixel =
colorImage[colorIndex];
usersMapColors[flipIndex] = colorPixel; // new Color(colorPixel.r / 256f, colorPixel.g / 256f, colorPixel.b / 256f, 0.9f);
usersMapColors[flipIndex].a = 230; // 0.9f
}
}
}
else
{
// Create a blending color based on the depth histogram
float histDepth = usersHistogramMap[userDepth];
Color c = new Color(histDepth, histDepth, histDepth, 0.9f);
switch (userMap % 4)
{
case 0:
usersMapColors[flipIndex] = Color.red * c;
break;
case 1:
usersMapColors[flipIndex] = Color.green * c;
break;
case 2:
usersMapColors[flipIndex] = Color.blue * c;
break;
case 3:
usersMapColors[flipIndex] = Color.magenta * c;
break;
}
}
}
}
}
// Draw it!
usersLblTex.SetPixels32(usersMapColors);
usersLblTex.Apply();
}