private async void StreamSkeleton()
{
try
{
var reader = new DataReader( Client.InputStream );
reader.InputStreamOptions = InputStreamOptions.Partial;
while ( IsConnected ) {
await reader.LoadAsync( 4 );
var size = reader.ReadUInt32();
await reader.LoadAsync( size );
byte[] bytes = new byte[size];
reader.ReadBytes( bytes );
MemoryStream ms = new MemoryStream( bytes );
BinaryReader br = new BinaryReader(ms);
SkeletonFrameData frame = br.ReadSkeletonFrame();
SkeletonFrameReadyEventArgs args = new SkeletonFrameReadyEventArgs { SkeletonFrame = frame };
SkeletonFrame = frame;
Context.Send(delegate
{
if(SkeletonFrameReady != null)
SkeletonFrameReady(this, args);
}, null);
}
}
catch(IOException)
{
Disconnect();
}
}
private void StreamSkeleton()
{
try
{
NetworkStream ns = Client.GetStream();
BinaryReader reader = new BinaryReader(ns);
while(Client.Connected)
{
int size = reader.ReadInt32();
byte[] data = reader.ReadBytes(size);
MemoryStream ms = new MemoryStream(data);
BinaryReader br = new BinaryReader(ms);
SkeletonFrameData frame = br.ReadSkeletonFrame();
SkeletonFrameReadyEventArgs args = new SkeletonFrameReadyEventArgs { SkeletonFrame = frame };
SkeletonFrame = frame;
Context.Send(delegate
{
if(SkeletonFrameReady != null)
SkeletonFrameReady(this, args);
}, null);
}
}
catch(IOException)
{
Client.Close();
}
}
public static SkeletonFrameData ReadSkeletonFrame(this BinaryReader br)
{
SkeletonFrameData frame = new SkeletonFrameData();
frame.FloorClipPlane = new Tuple<float,float,float,float>(br.ReadSingle(), br.ReadSingle(), br.ReadSingle(), br.ReadSingle());
frame.FrameNumber = br.ReadInt32();
frame.SkeletonArrayLength = br.ReadInt32();
frame.Timestamp = br.ReadInt64();
frame.Skeletons = new Skeleton[frame.SkeletonArrayLength];
for(int i = 0; i < frame.Skeletons.Length; i++)
{
frame.Skeletons[i] = new Skeleton();
frame.Skeletons[i].ClippedEdges = (FrameEdges)br.ReadInt32();
int jointCount = br.ReadInt32();
frame.Skeletons[i].Joints = new Joint[jointCount];
for(int jx = 0; jx < jointCount; jx++)
{
frame.Skeletons[i].Joints[jx].JointType = (JointType)br.ReadInt32();
frame.Skeletons[i].Joints[jx].Position = new SkeletonPoint { X = br.ReadSingle(), Y = br.ReadSingle(), Z = br.ReadSingle() };
frame.Skeletons[i].Joints[jx].TrackingState = (JointTrackingState)br.ReadInt32();
}
frame.Skeletons[i].Position = new SkeletonPoint { X = br.ReadSingle(), Y = br.ReadSingle(), Z = br.ReadSingle() };
frame.Skeletons[i].TrackingId = br.ReadInt32();
frame.Skeletons[i].TrackingState = (SkeletonTrackingState)br.ReadInt32();
}
return frame;
}
void SkeletonClient_FrameReady(object sender, FrameReadyEventArgs e)
{
MemoryStream ms = new MemoryStream(e.Data);
BinaryReader br = new BinaryReader(ms);
SkeletonFrameData frame = br.ReadSkeletonFrame();
SkeletonFrameReadyEventArgs args = new SkeletonFrameReadyEventArgs { SkeletonFrame = frame };
SkeletonFrame = frame;
if(SkeletonFrameReady != null)
SkeletonFrameReady(this, args);
}
public void UpdateSkeleton(SkeletonFrameData skeletonFrameData, InputSkeletonType inputSkeletonType)
{
if (lineRenderer == null)
{
Debug.Log("LineRenderer STILL not found!");
}
NUIJointType[] currentOrder = new NUIJointType[0];
if (inputSkeletonType != skeletonType)
{
switch (inputSkeletonType)
{
case InputSkeletonType.Kinect1_20Joint:
#if UNITY_5_5_OR_NEWER
lineRenderer.positionCount = 29;
#else
lineRenderer.SetVertexCount(29);
#endif
currentOrder = Skeleton20JointOrder;
break;
case InputSkeletonType.Kinect2_25Joint:
#if UNITY_5_5_OR_NEWER
lineRenderer.positionCount = 38;
#else
lineRenderer.SetVertexCount(38);
#endif
currentOrder = Skeleton25JointOrder;
break;
}
}
Vector3 pos;
int index = 0;
// don't care about below variables, but they're needed
Quaternion q;
TrackingState ts;
foreach (NUIJointType njt in currentOrder)
{
pos = Vector3.zero;
skeletonFrameData.GetJointData(njt, out pos, out q, out ts);
lineRenderer.SetPosition(index, pos);
index++;
}
}
public override void Update()
{
if (bodyReader != null)
{
getMainUser();
}
foreach (var viewer in viewers)
{
viewer.Update(bodyData, 0);
}
// Get the pose.
if (currentBody != null && currentBody.IsTracked)
{
// Encapsulate the important frame data
SkeletonFrameData frameData = new SkeletonFrameData();
frameData.TrackingId = currentBody.TrackingId;
frameData.IsTracked = currentBody.IsTracked;
// Build the skeleton
for (JointType jt = JointType.SpineBase; jt <= JointType.ThumbRight; jt++)
{
NUIJointType jointType = NUICaptureHelper.JointTypeToNUIJointTypeMapping(jt);
Vector3 position = new Vector3(currentBody.Joints[jt].Position.X, currentBody.Joints[jt].Position.Y, currentBody.Joints[jt].Position.Z);
position.z *= -1; // Should probably be done with meta data/mapper to avoid disturbing raw data.
Quaternion orientation = new Quaternion(currentBody.JointOrientations[jt].Orientation.X, currentBody.JointOrientations[jt].Orientation.Y, currentBody.JointOrientations[jt].Orientation.Z, currentBody.JointOrientations[jt].Orientation.W);
frameData.AddJoint(jointType, position, orientation, (CinemaSuite.CinemaMocap.System.Core.TrackingState)currentBody.Joints[jt].TrackingState);
}
// Hand info
frameData.LeftHandConfidence = (CinemaSuite.CinemaMocap.System.Core.TrackingConfidence)currentBody.HandLeftConfidence;
frameData.LeftHandState = (CinemaSuite.CinemaMocap.System.Core.HandState)currentBody.HandLeftState;
frameData.RightHandConfidence = (CinemaSuite.CinemaMocap.System.Core.TrackingConfidence)currentBody.HandRightConfidence;
frameData.RightHandState = (CinemaSuite.CinemaMocap.System.Core.HandState)currentBody.HandRightState;
// Frame info
frameData.ClippedEdges = (CinemaSuite.CinemaMocap.System.Core.FrameEdges)currentBody.ClippedEdges;
FrameDataEventArgs args = new FrameDataEventArgs(frameData);
OnFrameCaptured(args);
}
}
public override void Update()
{
if (ZigEditorInput.Instance.ReaderInited)
{
// Update Device
ZigEditorInput.Instance.Update();
// Get the tracked user
ZigTrackedUser user = null;
int userId = 0;
foreach (KeyValuePair <int, ZigTrackedUser> trackedUser in ZigEditorInput.Instance.TrackedUsers)
{
user = trackedUser.Value;
userId = trackedUser.Key;
}
// Update viewers
foreach (Kinect1EditorViewer viewer in viewers)
{
viewer.Update(ZigEditorInput.Instance, userId);
}
if (user != null && user.SkeletonTracked)
{
// Encapsulate the important frame data
SkeletonFrameData frameData = new SkeletonFrameData();
frameData.TrackingId = (ulong)user.Id;
frameData.IsTracked = user.SkeletonTracked;
foreach (ZigInputJoint inputJoint in user.Skeleton)
{
NUIJointType jointType = NUICaptureHelper.ZigToNUIJointMapping(inputJoint.Id);
// Convert position from mm to meters
Vector3 position = inputJoint.Position / 1000f;
Quaternion orientation = inputJoint.Rotation;
frameData.AddJoint(jointType, position, orientation, inputJoint.Inferred ? TrackingState.Inferred : TrackingState.Tracked);
}
FrameDataEventArgs args = new FrameDataEventArgs(frameData);
OnFrameCaptured(args);
}
}
}
public static NUISkeleton GetNUISkeleton(SkeletonFrameData skeleton)
{
var nuiSkeleton = new NUISkeleton();
for (NUIJointType jt = NUIJointType.SpineBase; jt <= NUIJointType.ThumbRight; jt++)
{
Vector3 position = new Vector3();
Quaternion orientation = new Quaternion();
var trackingState = CinemaSuite.CinemaMocap.System.Core.TrackingState.NotTracked;
skeleton.GetJointData(jt, out position, out orientation, out trackingState);
NUIJoint joint = new NUIJoint(jt, position, orientation, trackingState != CinemaSuite.CinemaMocap.System.Core.TrackingState.Tracked);
if (!nuiSkeleton.Joints.ContainsKey(jt))
{
nuiSkeleton.Joints.Add(jt, joint);
}
}
return(nuiSkeleton);
}
void client_SkeletonFrameReady(object sender, SkeletonFrameData e)
{
Skeleton skeleton = (from s in e.Skeletons
where s.TrackingState == SkeletonTrackingState.Tracked
select s).FirstOrDefault();
if(skeleton == null)
return;
SetEllipsePosition(headEllipse, skeleton.Joints[(int)JointType.Head]);
SetEllipsePosition(leftEllipse, skeleton.Joints[(int)JointType.HandLeft]);
SetEllipsePosition(rightEllipse, skeleton.Joints[(int)JointType.HandRight]);
}
public FrameDataEventArgs(SkeletonFrameData frameData)
{
this.SkeletonFrameData = frameData;
}