public KinectInterop.SensorData OpenDefaultSensor(KinectInterop.FrameSource dwFlags, float sensorAngle, bool bUseMultiSource)
{
KinectInterop.SensorData sensorData = new KinectInterop.SensorData();
sensorFlags = dwFlags;
kinectSensor = KinectSensor.GetDefault();
if(kinectSensor == null)
return null;
coordMapper = kinectSensor.CoordinateMapper;
this.bodyCount = kinectSensor.BodyFrameSource.BodyCount;
sensorData.bodyCount = this.bodyCount;
sensorData.jointCount = 25;
sensorData.depthCameraFOV = 60f;
sensorData.colorCameraFOV = 53.8f;
sensorData.depthCameraOffset = -0.05f;
sensorData.faceOverlayOffset = -0.04f;
if((dwFlags & KinectInterop.FrameSource.TypeBody) != 0)
{
if(!bUseMultiSource)
bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
bodyData = new Body[sensorData.bodyCount];
}
var frameDesc = kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
sensorData.colorImageWidth = frameDesc.Width;
sensorData.colorImageHeight = frameDesc.Height;
if((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
if(!bUseMultiSource)
colorFrameReader = kinectSensor.ColorFrameSource.OpenReader();
sensorData.colorImage = new byte[frameDesc.BytesPerPixel * frameDesc.LengthInPixels];
}
sensorData.depthImageWidth = kinectSensor.DepthFrameSource.FrameDescription.Width;
sensorData.depthImageHeight = kinectSensor.DepthFrameSource.FrameDescription.Height;
if((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
if(!bUseMultiSource)
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
sensorData.depthImage = new ushort[kinectSensor.DepthFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
{
if(!bUseMultiSource)
bodyIndexFrameReader = kinectSensor.BodyIndexFrameSource.OpenReader();
sensorData.bodyIndexImage = new byte[kinectSensor.BodyIndexFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
{
if(!bUseMultiSource)
infraredFrameReader = kinectSensor.InfraredFrameSource.OpenReader();
sensorData.infraredImage = new ushort[kinectSensor.InfraredFrameSource.FrameDescription.LengthInPixels];
}
//if(!kinectSensor.IsOpen)
{
//Debug.Log("Opening sensor, available: " + kinectSensor.IsAvailable);
kinectSensor.Open();
}
float fWaitTime = Time.realtimeSinceStartup + 3f;
while(!kinectSensor.IsAvailable && Time.realtimeSinceStartup < fWaitTime)
{
// wait for sensor to open
}
Debug.Log("K2-sensor " + (kinectSensor.IsOpen ? "opened" : "closed") +
", available: " + kinectSensor.IsAvailable);
if(bUseMultiSource && dwFlags != KinectInterop.FrameSource.TypeNone && kinectSensor.IsOpen)
{
multiSourceFrameReader = kinectSensor.OpenMultiSourceFrameReader((FrameSourceTypes)((int)dwFlags & 0x3F));
}
return sensorData;
}
// Use this for initialization
void Start () {
mySensor = KinectSensor.GetDefault();
if (mySensor != null)
{
// Total array of data representing a single rendered frame
colorFrameData = new byte[colorWidth * colorHeight * bytes_per_pixel];
backgroundTex = new Texture2D(colorWidth, colorHeight, TextureFormat.BGRA32, false);
if (!mySensor.IsOpen)
{
mySensor.Open();
}
msFrameReader = mySensor.OpenMultiSourceFrameReader(FrameSourceTypes.Color);
//Rendering user as part of the Unity Scene background via Main Camera
Rect cameraRect = Camera.main.pixelRect;
float rectHeight = cameraRect.height;
float rectWidth = cameraRect.width;
if (rectWidth > rectHeight)
rectWidth = rectHeight * colorWidth / colorHeight;
else
rectHeight = rectWidth * colorHeight / colorWidth;
float foregroundOfsX = (cameraRect.width - rectWidth) / 2;
float foregroundOfsY = (cameraRect.height - rectHeight) / 2;
foregroundImgRect = new Rect(foregroundOfsX, foregroundOfsY, rectWidth, rectHeight);
foregroundGuiRect = new Rect(foregroundOfsX, cameraRect.height - foregroundOfsY, rectWidth, -rectHeight);
}
} //End of Start()
public KinectManager()
{
_Sensor = Kinect.KinectSensor.GetDefault();
if (_Sensor == null)
{
ExitWithLog("Kinect Sensor not avalibalbe");
}
_Reader = _Sensor.OpenMultiSourceFrameReader(
Kinect.FrameSourceTypes.Depth |
Kinect.FrameSourceTypes.Body
);
if (_Reader == null)
{
ExitWithLog("Fail to load multiframe source reader.");
}
DepthFrameDesc = _Sensor.DepthFrameSource.FrameDescription;
Mapper = _Sensor.CoordinateMapper;
DepthData = new ushort[DepthFrameDesc.LengthInPixels];
_BodyData = new Kinect.Body[_Sensor.BodyFrameSource.BodyCount];
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
void Start ()
{
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Reader = _Sensor.OpenMultiSourceFrameReader(FrameSourceTypes.Color | FrameSourceTypes.Depth);
var colorFrameDesc = _Sensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
ColorWidth = colorFrameDesc.Width;
ColorHeight = colorFrameDesc.Height;
_ColorTexture = new Texture2D(colorFrameDesc.Width, colorFrameDesc.Height, TextureFormat.RGBA32, false);
_ColorData = new byte[colorFrameDesc.BytesPerPixel * colorFrameDesc.LengthInPixels];
var depthFrameDesc = _Sensor.DepthFrameSource.FrameDescription;
_DepthData = new ushort[depthFrameDesc.LengthInPixels];
_DepthTexture = new Texture2D( depthFrameDesc.Width, depthFrameDesc.Height, TextureFormat.ARGB32, false );
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
}
public void CloseSensor(KinectInterop.SensorData sensorData)
{
if(coordMapper != null)
{
coordMapper = null;
}
if(bodyFrameReader != null)
{
bodyFrameReader.Dispose();
bodyFrameReader = null;
}
if(bodyIndexFrameReader != null)
{
bodyIndexFrameReader.Dispose();
bodyIndexFrameReader = null;
}
if(colorFrameReader != null)
{
colorFrameReader.Dispose();
colorFrameReader = null;
}
if(depthFrameReader != null)
{
depthFrameReader.Dispose();
depthFrameReader = null;
}
if(infraredFrameReader != null)
{
infraredFrameReader.Dispose();
infraredFrameReader = null;
}
if(multiSourceFrameReader != null)
{
multiSourceFrameReader.Dispose();
multiSourceFrameReader = null;
}
if(kinectSensor != null)
{
if (kinectSensor.IsOpen)
{
kinectSensor.Close();
}
kinectSensor = null;
}
}
void Awake ()
{
_Sensor = KinectSensor.GetDefault();
isNewFrame = false;
if (_Sensor != null)
{
_Reader = _Sensor.OpenMultiSourceFrameReader(FrameSourceTypes.Body | FrameSourceTypes.BodyIndex | FrameSourceTypes.Depth);
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
}
void OnApplicationQuit()
{
if (_Reader != null)
{
_Reader.Dispose();
_Reader = null;
}
if (_Sensor != null)
{
if (_Sensor.IsOpen)
{
_Sensor.Close();
}
_Sensor = null;
}
}
void OnApplicationQuit()
{
if (reader != null)
{
reader.Dispose();
reader = null;
}
if (sensor != null)
{
if (sensor.IsOpen)
{
sensor.Close();
}
sensor = null;
}
}
// Use this for initialization
void Start()
{
mySensor = KinectSensor.GetDefault();
if (mySensor != null)
{
depthFrameData = new ushort[depthWidth * depthHeight];
bodyIndexFrameData = new byte[depthWidth * depthHeight];
colorFrameData = new byte[colorWidth * colorHeight * bytes_per_pixel];
displayPixels = new byte[depthWidth * depthHeight * bytes_per_pixel];
colorPoints = new ColorSpacePoint[depthWidth * depthHeight];
ninjaTex = new Texture2D(depthWidth, depthHeight, TextureFormat.BGRA32, false);
if (!mySensor.IsOpen)
{
mySensor.Open();
}
myCoordinateMapper = mySensor.CoordinateMapper;
msFrameReader = mySensor.OpenMultiSourceFrameReader(FrameSourceTypes.BodyIndex |
FrameSourceTypes.Color | FrameSourceTypes.Depth);
//Rendering user as part of the Unity Scene background via Main Camera
Rect cameraRect = Camera.main.pixelRect;
float rectHeight = cameraRect.height;
float rectWidth = cameraRect.width;
if (rectWidth > rectHeight)
rectWidth = rectHeight * depthWidth / depthHeight;
else
rectHeight = rectWidth * depthHeight / depthWidth;
float foregroundOfsX = (cameraRect.width - rectWidth) / 2;
float foregroundOfsY = (cameraRect.height - rectHeight) / 2;
foregroundImgRect = new Rect(foregroundOfsX, foregroundOfsY, rectWidth, rectHeight);
foregroundGuiRect = new Rect(foregroundOfsX, cameraRect.height - foregroundOfsY, rectWidth, -rectHeight);
}
}
void Start()
{
if (instance == null)
{
instance = this;
}
sensor = Kinect.KinectSensor.GetDefault();
if (sensor != null)
{
sensor.Open();
}
reader = sensor.OpenMultiSourceFrameReader(Kinect.FrameSourceTypes.Body | Kinect.FrameSourceTypes.Color | Kinect.FrameSourceTypes.Depth | Kinect.FrameSourceTypes.Infrared);
reader.MultiSourceFrameArrived += Reader_MultiSourceFrameArrived;
playersIdBreak = new List <ulong>();
playersIdBreak.Clear();
players = new bool[6];
countBodies = 0;
}
void InitializeDefaultSensor()
{
m_pKinectSensor = KinectSensor.GetDefault();
if (m_pKinectSensor != null)
{
// Initialize the Kinect and get coordinate mapper and the frame reader
m_pCoordinateMapper = m_pKinectSensor.CoordinateMapper;
m_pKinectSensor.Open();
if (m_pKinectSensor.IsOpen)
{
m_pMultiSourceFrameReader = m_pKinectSensor.OpenMultiSourceFrameReader(
FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.BodyIndex);
}
}
if (m_pKinectSensor == null)
{
UnityEngine.Debug.LogError("No ready Kinect found!");
}
}
// Use this for initialization
void Start () {
mySensor = KinectSensor.GetDefault();
if (mySensor != null)
{
if (!mySensor.IsOpen)
{
mySensor.Open();
}
//Writing data to an output file for graphing analysis
sw_cm_x = new StreamWriter("PLAYER_CM_X");
sw_cm_y = new StreamWriter("PLAYER_CM_Y");
sw_t = new StreamWriter("PLAYER_T");
ninjaTex = new Texture2D(colorWidth, colorHeight, TextureFormat.BGRA32, false);
msFrameReader = mySensor.OpenMultiSourceFrameReader(FrameSourceTypes.Body | FrameSourceTypes.Depth |
FrameSourceTypes.BodyIndex);
//Rendering user as part of the Unity Scene background via Main Camera
Rect cameraRect = Camera.main.pixelRect;
float rectHeight = cameraRect.height;
float rectWidth = cameraRect.width;
if (rectWidth > rectHeight)
rectWidth = rectHeight * colorWidth / colorHeight;
else
rectHeight = rectWidth * colorHeight / colorWidth;
float foregroundOfsX = (cameraRect.width - rectWidth) / 2;
float foregroundOfsY = (cameraRect.height - rectHeight) / 2;
foregroundImgRect = new Rect(foregroundOfsX, foregroundOfsY, rectWidth, rectHeight);
foregroundGuiRect = new Rect(foregroundOfsX, cameraRect.height - foregroundOfsY, rectWidth, -rectHeight);
//UNNECESSARY?
}
}
private Vector3 _chestRight; //right vectory of the chest
// Use this for initialization
void Start () {
if (sFBXExporterForUnity != null)
{
sFBXExporterForUnity.bOutAnimation = false;
sFBXExporterForUnity.bOutAnimationCustomFrame = true;
}
_Sensor = Kinect2.KinectSensor.GetDefault();
if (_Sensor != null)
{
if (!_Sensor.IsOpen)
{
if (bDebugLog) Debug.Log("[Kinect2] KinectSensor Open");
_Sensor.Open();
_Reader = _Sensor.OpenMultiSourceFrameReader(/*Kinect2.FrameSourceTypes.Color |
Kinect2.FrameSourceTypes.Depth |
Kinect2.FrameSourceTypes.Infrared |
*/
Kinect2.FrameSourceTypes.Body);
_Reader.MultiSourceFrameArrived += Reader_MultiSourceFrameArrived;
}
else
{
if (bDebugLog) Debug.Log("[Kinect2] KinectSensor Opened");
_Reader = _Sensor.OpenMultiSourceFrameReader(/*Kinect2.FrameSourceTypes.Color |
Kinect2.FrameSourceTypes.Depth |
Kinect2.FrameSourceTypes.Infrared |
*/
Kinect2.FrameSourceTypes.Body);
_Reader.MultiSourceFrameArrived += Reader_MultiSourceFrameArrived;
}
}
//store bones in a list for easier access, everything except Hip_Center will be one
//higher than the corresponding Kinect2.NuiSkeletonPositionIndex (because of the hip_override)
_bones = new GameObject[(int)Kinect2.JointType.ThumbRight + 1] {
null, SpineMid, SpineShoulder, Neck,
CollarLeft, ShoulderLeft, ElbowLeft, WristLeft,
CollarRight, ShoulderRight, ElbowRight, WristRight,
HipOverride, HipLeft, KneeLeft, AnkleLeft,
null, HipRight, KneeRight, AnkleRight,
Head, HandLeft, HandRight, FootLeft, FootRight};
//SpineShoulder, HandTipLeft, ThumbLeft, HandTipRight, ThumbRight, FootLeft, FootRight};
_vecbones = new Vector3[(int)Kinect2.JointType.ThumbRight + 1];
_vecbones2 = new Vector3[(int)Kinect2.JointType.ThumbRight + 1];
_qbones = new Quaternion[(int)Kinect2.JointType.ThumbRight + 1];
_qbones2 = new Quaternion[(int)Kinect2.JointType.ThumbRight + 1];
//determine which bones are not available
for(int ii = 0; ii < _bones.Length; ii++)
{
if(_bones[ii] == null)
{
_nullMask |= (uint)(1 << ii);
}
}
//store the base rotations and bone directions (in bone-local space)
_baseRotation = new Quaternion[(int)Kinect2.JointType.ThumbRight + 1];
_boneDir = new Vector3[(int)Kinect2.JointType.ThumbRight + 1];
//first save the special rotations for the hip and spine
_hipRight = HipRight.transform.position - HipLeft.transform.position;
_hipRight = HipOverride.transform.InverseTransformDirection(_hipRight);
_chestRight = ShoulderRight.transform.position - ShoulderLeft.transform.position;
_chestRight = SpineMid.transform.InverseTransformDirection(_chestRight);
//get direction of all other bones
for( int ii = 0; ii < (int)Kinect2.JointType.ThumbRight- 4; ii++)
{
if((_nullMask & (uint)(1 << ii)) <= 0)
{
//if the bone is the end of a limb, get direction from this bone to one of the extras (hand or foot).
if(ii % 4 == 3 && ((_nullMask & (uint)(1 << (ii/4) + (int)Kinect2.JointType.ThumbRight - 4)) <= 0))
{
_boneDir[ii] = _bones[(ii/4) + (int)Kinect2.JointType.ThumbRight - 4].transform.position - _bones[ii].transform.position;
}
//if the bone is the hip_override (at boneindex Hip_Left, get direction from average of left and right hips
else if(ii == (int)Kinect2.JointType.HipLeft && HipLeft != null && HipRight != null)
{
_boneDir[ii] = ((HipRight.transform.position + HipLeft.transform.position) / 2.0f) - HipOverride.transform.position;
}
//otherwise, get the vector from this bone to the next.
else if((_nullMask & (uint)(1 << ii+1)) <= 0)
{
_boneDir[ii] = _bones[ii+1].transform.position - _bones[ii].transform.position;
}
else
{
continue;
}
//Since the spine of the kinect data is ~40 degrees back from the hip,
//check what angle the spine is at and rotate the saved direction back to match the data
if(ii == (int)Kinect2.JointType.SpineMid)
{
float angle = Vector3.Angle(transform.up,_boneDir[ii]);
_boneDir[ii] = Quaternion.AngleAxis(angle,transform.right) * _boneDir[ii];
}
//transform the direction into local space.
_boneDir[ii] = _bones[ii].transform.InverseTransformDirection(_boneDir[ii]);
}
}
//make _chestRight orthogonal to the direction of the spine.
_chestRight -= Vector3.Project(_chestRight, _boneDir[(int)Kinect2.JointType.SpineMid]);
//make _hipRight orthogonal to the direction of the hip override
Vector3.OrthoNormalize(ref _boneDir[(int)Kinect2.JointType.HipLeft],ref _hipRight);
// Root
Root.transform.localRotation = Quaternion.Euler(fRotRootX, 0.0f, 0.0f);
}
void Start()
{
sensor = KinectSensor.GetDefault();
if ( sensor != null )
{
reader = sensor.OpenMultiSourceFrameReader(
FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.BodyIndex);
coordinateMapper = sensor.CoordinateMapper;
FrameDescription depthFrameDesc = sensor.DepthFrameSource.FrameDescription;
depthData = new ushort[depthFrameDesc.LengthInPixels];
depthWidth = depthFrameDesc.Width;
depthHeight = depthFrameDesc.Height;
FrameDescription colorFrameDesc = sensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
colorLengthInBytes = colorFrameDesc.LengthInPixels * colorFrameDesc.BytesPerPixel;
colorData = new byte[colorLengthInBytes];
colorWidth = colorFrameDesc.Width;
colorBytesPerPixel = colorFrameDesc.BytesPerPixel;
FrameDescription bodyIndexDesc = sensor.BodyIndexFrameSource.FrameDescription;
bodyIndexData = new byte[bodyIndexDesc.LengthInPixels * bodyIndexDesc.BytesPerPixel];
// PREPARE THE COLOR TO DEPTH MAPPED BYTE ARRAY FOR CREATING OUR DYNAMIC TEXTURE
// ---------------------------------------------------------------------------------------
// STEP 1. ALLOCATE SPACE FOR THE RESULT OF MAPPING COLORSPACEPOINTS FOR EACH DEPTH FRAME POINT
colorSpacePoints = new ColorSpacePoint[depthFrameDesc.LengthInPixels];
cameraSpacePoints = new CameraSpacePoint[depthFrameDesc.LengthInPixels];
// STEP 2. PREPARE THE BYTE ARRAY THAT WILL HOLD A CALCULATED COLOR PIXEL FOR EACH DEPTH PIXEL
// THIS BYTE ARRAY WILL BE FED TO THE MATERIAL AND USED AS THE MESH TEXTURE
mappedColorData = new byte[depthFrameDesc.LengthInPixels * colorFrameDesc.BytesPerPixel];
// STEP 3. CREATE A TEXTURE THAT HAS THE SIZE OF THE DEPTH FRAME BUT CAN HOLD RGBA VALUES FROM THE COLOR FRAME
texture = new Texture2D(depthFrameDesc.Width, depthFrameDesc.Height, TextureFormat.RGBA32, false);
// STEP 4. BIND THE MAIN TEXTURE TO THE LOCAL VARIABLE FOR FUTURE PROCESSING
gameObject.GetComponent<Renderer>().material.mainTexture = texture;
if (!sensor.IsOpen) sensor.Open();
BuildSimpleMesh();
//BuildVariableMesh();
} else
{
Debug.LogError("Couldn't find Kinect Sensor!");
}
}
public void CloseSensor(KinectInterop.SensorData sensorData)
{
if(coordMapper != null)
{
coordMapper = null;
}
if(bodyFrameReader != null)
{
bodyFrameReader.Dispose();
bodyFrameReader = null;
}
if(bodyIndexFrameReader != null)
{
bodyIndexFrameReader.Dispose();
bodyIndexFrameReader = null;
}
if(colorFrameReader != null)
{
colorFrameReader.Dispose();
colorFrameReader = null;
}
if(depthFrameReader != null)
{
depthFrameReader.Dispose();
depthFrameReader = null;
}
if(infraredFrameReader != null)
{
infraredFrameReader.Dispose();
infraredFrameReader = null;
}
if(multiSourceFrameReader != null)
{
multiSourceFrameReader.Dispose();
multiSourceFrameReader = null;
}
if(kinectSensor != null)
{
//if (kinectSensor.IsOpen)
{
//Debug.Log("Closing sensor, available: " + kinectSensor.IsAvailable);
kinectSensor.Close();
}
float fWaitTime = Time.realtimeSinceStartup + 3f;
while(kinectSensor.IsOpen && Time.realtimeSinceStartup < fWaitTime)
{
// wait for sensor to close
}
Debug.Log("K2-sensor " + (kinectSensor.IsOpen ? "opened" : "closed") +
", available: " + kinectSensor.IsAvailable);
kinectSensor = null;
}
}
//
private void OnApplicationQuit()
{
if (m_Reader != null)
{
m_Reader.Dispose();
m_Reader = null;
}
if (m_Sensor != null)
{
if (m_Sensor.IsOpen)
{
m_Sensor.Close();
}
m_Sensor = null;
}
}
public KinectInterop.SensorData OpenDefaultSensor(KinectInterop.FrameSource dwFlags, float sensorAngle, bool bUseMultiSource)
{
KinectInterop.SensorData sensorData = new KinectInterop.SensorData();
//sensorFlags = dwFlags;
kinectSensor = KinectSensor.GetDefault();
if(kinectSensor == null)
return null;
coordMapper = kinectSensor.CoordinateMapper;
this.bodyCount = kinectSensor.BodyFrameSource.BodyCount;
sensorData.bodyCount = this.bodyCount;
sensorData.jointCount = 25;
sensorData.depthCameraFOV = 60f;
sensorData.colorCameraFOV = 53.8f;
sensorData.depthCameraOffset = -0.03f;
if((dwFlags & KinectInterop.FrameSource.TypeBody) != 0)
{
if(!bUseMultiSource)
bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
bodyData = new Body[sensorData.bodyCount];
}
var frameDesc = kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
sensorData.colorImageWidth = frameDesc.Width;
sensorData.colorImageHeight = frameDesc.Height;
if((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
if(!bUseMultiSource)
colorFrameReader = kinectSensor.ColorFrameSource.OpenReader();
sensorData.colorImage = new byte[frameDesc.BytesPerPixel * frameDesc.LengthInPixels];
}
sensorData.depthImageWidth = kinectSensor.DepthFrameSource.FrameDescription.Width;
sensorData.depthImageHeight = kinectSensor.DepthFrameSource.FrameDescription.Height;
if((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
if(!bUseMultiSource)
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
sensorData.depthImage = new ushort[kinectSensor.DepthFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
{
if(!bUseMultiSource)
bodyIndexFrameReader = kinectSensor.BodyIndexFrameSource.OpenReader();
sensorData.bodyIndexImage = new byte[kinectSensor.BodyIndexFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
{
if(!bUseMultiSource)
infraredFrameReader = kinectSensor.InfraredFrameSource.OpenReader();
sensorData.infraredImage = new ushort[kinectSensor.InfraredFrameSource.FrameDescription.LengthInPixels];
}
if(!kinectSensor.IsOpen)
{
kinectSensor.Open();
}
if(bUseMultiSource && dwFlags != KinectInterop.FrameSource.TypeNone && kinectSensor.IsOpen)
{
multiSourceFrameReader = kinectSensor.OpenMultiSourceFrameReader((FrameSourceTypes)dwFlags);
}
return sensorData;
}
//
private void Start()
{
m_Sensor = KinectSensor.GetDefault();
if (m_Sensor != null)
{
//
m_CoordinateMapper = m_Sensor.CoordinateMapper;
//
m_Reader = m_Sensor.OpenMultiSourceFrameReader(FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.Body | FrameSourceTypes.BodyIndex);
var colorFrameDesc = m_Sensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
ColorWidth = colorFrameDesc.Width;
ColorHeight = colorFrameDesc.Height;
m_ColorTexture = new Texture2D(colorFrameDesc.Width, colorFrameDesc.Height, TextureFormat.RGBA32, false);
m_ColorData = new byte[colorFrameDesc.BytesPerPixel * colorFrameDesc.LengthInPixels];
m_ColorMappedToDepthPoints = new DepthSpacePoint[ColorWidth * ColorHeight];
//
var depthFrameDesc = m_Sensor.DepthFrameSource.FrameDescription;
DepthWidth = depthFrameDesc.Width;
DepthHeight = depthFrameDesc.Height;
m_DepthData = new ushort[depthFrameDesc.Width * depthFrameDesc.Height];
m_DepthCoordinates = new DepthSpacePoint[colorFrameDesc.Width * colorFrameDesc.Height];
//
m_BodyData = new Body[m_Sensor.BodyFrameSource.BodyCount];
//
var bodyIndexFrameDesc = m_Sensor.BodyIndexFrameSource.FrameDescription;
BodyIndexWidth = bodyIndexFrameDesc.Width;
BodyIndexHeight = bodyIndexFrameDesc.Height;
m_BodyIndexData = new byte[ bodyIndexFrameDesc.Width * bodyIndexFrameDesc.Height ];
//
if (!m_Sensor.IsOpen)
{
m_Sensor.Open();
}
}
}
// Use this for initialization
void Start()
{
mySensor = KinectSensor.GetDefault();
if (mySensor != null)
{
if (!mySensor.IsOpen)
{
mySensor.Open();
}
ninjaTex = new Texture2D(colorWidth, colorHeight, TextureFormat.BGRA32, false);
msFrameReader = mySensor.OpenMultiSourceFrameReader(FrameSourceTypes.Body | FrameSourceTypes.Depth |
FrameSourceTypes.BodyIndex);
// There has to be a more efficient way of tracking these (i.e. using OOP)
rightHandQueue_X = new Queue<float>();
rightHandQueue_Y = new Queue<float>();
rightHandQueue_T = new Queue<float>();
leftHandQueue_X = new Queue<float>();
leftHandQueue_Y = new Queue<float>();
leftHandQueue_T = new Queue<float>();
rightFootQueue_X = new Queue<float>();
rightFootQueue_Y = new Queue<float>();
rightFootQueue_T = new Queue<float>();
leftFootQueue_X = new Queue<float>();
leftFootQueue_Y = new Queue<float>();
leftFootQueue_T = new Queue<float>();
/** Construct StreamWriter object for collecting user data **/
sw_v = new StreamWriter("EMILY_V.txt");
sw_t = new StreamWriter("EMILY_T.txt");
sw_x = new StreamWriter("EMILY_X.txt");
sw_y = new StreamWriter("EMILY_Y.txt");
InitializeSlashRenderer();
//Rendering user as part of the Unity Scene background via Main Camera
Rect cameraRect = Camera.main.pixelRect;
float rectHeight = cameraRect.height;
float rectWidth = cameraRect.width;
if (rectWidth > rectHeight)
rectWidth = rectHeight * colorWidth / colorHeight;
else
rectHeight = rectWidth * colorHeight / colorWidth;
float foregroundOfsX = (cameraRect.width - rectWidth) / 2;
float foregroundOfsY = (cameraRect.height - rectHeight) / 2;
foregroundImgRect = new Rect(foregroundOfsX, foregroundOfsY, rectWidth, rectHeight);
foregroundGuiRect = new Rect(foregroundOfsX, cameraRect.height - foregroundOfsY, rectWidth, -rectHeight);
}
}
void OnApplicationQuit()
{
pDepthBuffer = null;
pColorBuffer = null;
pBodyIndexBuffer = null;
if (m_pDepthCoordinates != null)
{
m_pDepthCoordinates = null;
}
if (m_pMultiSourceFrameReader != null)
{
m_pMultiSourceFrameReader.Dispose();
m_pMultiSourceFrameReader = null;
}
if (m_pKinectSensor != null)
{
m_pKinectSensor.Close();
m_pKinectSensor = null;
}
}
// Token: 0x06002DAC RID: 11692 RVA: 0x000E0C11 File Offset: 0x000DF011
internal MultiSourceFrameReader(IntPtr pNative)
{
this._pNative = pNative;
MultiSourceFrameReader.Windows_Kinect_MultiSourceFrameReader_AddRefObject(ref this._pNative);
}
void OnApplicationQuit()
{
if (msFrameReader != null)
{
msFrameReader.Dispose();
msFrameReader = null;
}
if (mySensor != null)
{
if (mySensor.IsOpen)
mySensor.Close();
mySensor = null;
}
}
private Vector3 _chestRight; //right vectory of the chest
// Use this for initialization
void Start()
{
/*
* if (sFBXExporterForUnity != null)
* {
* sFBXExporterForUnity.bOutAnimation = false;
* sFBXExporterForUnity.bOutAnimationCustomFrame = true;
* }
*/
_Sensor = Kinect2.KinectSensor.GetDefault();
if (_Sensor != null)
{
if (!_Sensor.IsOpen)
{
if (bDebugLog)
{
Debug.Log("[Kinect2] KinectSensor Open");
}
_Sensor.Open();
_Reader = _Sensor.OpenMultiSourceFrameReader(/*Kinect2.FrameSourceTypes.Color |
* Kinect2.FrameSourceTypes.Depth |
* Kinect2.FrameSourceTypes.Infrared |
*/
Kinect2.FrameSourceTypes.Body);
_Reader.MultiSourceFrameArrived += Reader_MultiSourceFrameArrived;
}
else
{
if (bDebugLog)
{
Debug.Log("[Kinect2] KinectSensor Opened");
}
_Reader = _Sensor.OpenMultiSourceFrameReader(/*Kinect2.FrameSourceTypes.Color |
* Kinect2.FrameSourceTypes.Depth |
* Kinect2.FrameSourceTypes.Infrared |
*/
Kinect2.FrameSourceTypes.Body);
_Reader.MultiSourceFrameArrived += Reader_MultiSourceFrameArrived;
}
}
//store bones in a list for easier access, everything except Hip_Center will be one
//higher than the corresponding Kinect2.NuiSkeletonPositionIndex (because of the hip_override)
/*削除 _bones = new GameObject[(int)Kinect2.JointType.ThumbRight + 1] {
* null, SpineMid, SpineShoulder, Neck,
* CollarLeft, ShoulderLeft, ElbowLeft, WristLeft,
* CollarRight, ShoulderRight, ElbowRight, WristRight,
* HipOverride, HipLeft, KneeLeft, AnkleLeft,
* null, HipRight, KneeRight, AnkleRight,
* Head, HandLeft, HandRight, FootLeft, FootRight};*/
//SpineShoulder, HandTipLeft, ThumbLeft, HandTipRight, ThumbRight, FootLeft, FootRight};
_bones = new GameObject[5] {
Head, HandLeft, HandRight, KneeLeft, KneeRight
};
_vecbones = new Vector3[(int)Kinect2.JointType.ThumbRight + 1];
_vecbones2 = new Vector3[(int)Kinect2.JointType.ThumbRight + 1];
_qbones = new Quaternion[(int)Kinect2.JointType.ThumbRight + 1];
_qbones2 = new Quaternion[(int)Kinect2.JointType.ThumbRight + 1];
//determine which bones are not available
for (int ii = 0; ii < _bones.Length; ii++)
{
if (_bones[ii] == null)
{
_nullMask |= (uint)(1 << ii);
}
}
//store the base rotations and bone directions (in bone-local space)
_baseRotation = new Quaternion[(int)Kinect2.JointType.ThumbRight + 1];
_boneDir = new Vector3[(int)Kinect2.JointType.ThumbRight + 1];
//first save the special rotations for the hip and spine
/*_hipRight = HipRight.transform.position - HipLeft.transform.position;
* _hipRight = HipOverride.transform.InverseTransformDirection(_hipRight);
*
* _chestRight = ShoulderRight.transform.position - ShoulderLeft.transform.position;
* _chestRight = SpineMid.transform.InverseTransformDirection(_chestRight);*/
//get direction of all other bones
/*for (int ii = 0; ii < (int)Kinect2.JointType.ThumbRight - 4; ii++)
* {
* if ((_nullMask & (uint)(1 << ii)) <= 0)
* {
* //if the bone is the end of a limb, get direction from this bone to one of the extras (hand or foot).
* if (ii % 4 == 3 && ((_nullMask & (uint)(1 << (ii / 4) + (int)Kinect2.JointType.ThumbRight - 4)) <= 0))
* {
* _boneDir[ii] = _bones[(ii / 4) + (int)Kinect2.JointType.ThumbRight - 4].transform.position - _bones[ii].transform.position;
* }
* //if the bone is the hip_override (at boneindex Hip_Left, get direction from average of left and right hips
* else if (ii == (int)Kinect2.JointType.HipLeft && HipLeft != null && HipRight != null)
* {
* _boneDir[ii] = ((HipRight.transform.position + HipLeft.transform.position) / 2.0f) - HipOverride.transform.position;
* }
* //otherwise, get the vector from this bone to the next.
* else if ((_nullMask & (uint)(1 << ii + 1)) <= 0)
* {
* _boneDir[ii] = _bones[ii + 1].transform.position - _bones[ii].transform.position;
* }
* else
* {
* continue;
* }
* //Since the spine of the kinect data is ~40 degrees back from the hip,
* //check what angle the spine is at and rotate the saved direction back to match the data
* if (ii == (int)Kinect2.JointType.SpineMid)
* {
* float angle = Vector3.Angle(transform.up, _boneDir[ii]);
* _boneDir[ii] = Quaternion.AngleAxis(angle, transform.right) * _boneDir[ii];
* }
* //transform the direction into local space.
* _boneDir[ii] = _bones[ii].transform.InverseTransformDirection(_boneDir[ii]);
* }
* }
* //make _chestRight orthogonal to the direction of the spine.
* _chestRight -= Vector3.Project(_chestRight, _boneDir[(int)Kinect2.JointType.SpineMid]);
* //make _hipRight orthogonal to the direction of the hip override
* Vector3.OrthoNormalize(ref _boneDir[(int)Kinect2.JointType.HipLeft], ref _hipRight);
* // Root
* Root.transform.localRotation = Quaternion.Euler(fRotRootX, 0.0f, 0.0f);*/
}
void Start ()
{
sensor = KinectSensor.GetDefault ();
if (sensor != null) {
coordinateMapper = sensor.CoordinateMapper;
reader = sensor.OpenMultiSourceFrameReader (FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.BodyIndex);
FrameDescription colorFrameDesc = sensor.ColorFrameSource.CreateFrameDescription (ColorImageFormat.Rgba);
texture = new Texture2D (colorFrameDesc.Width, colorFrameDesc.Height, TextureFormat.RGBA32, false);
colorData = new byte[colorFrameDesc.BytesPerPixel * colorFrameDesc.LengthInPixels];
FrameDescription depthFrameDesc = sensor.DepthFrameSource.FrameDescription;
depthData = new ushort[depthFrameDesc.LengthInPixels];
depthSpacePoints = new DepthSpacePoint[colorFrameDesc.LengthInPixels];
FrameDescription bodyIndexFrameDesc = sensor.BodyIndexFrameSource.FrameDescription;
bodyIndexData = new byte[bodyIndexFrameDesc.BytesPerPixel * bodyIndexFrameDesc.LengthInPixels];
if (!sensor.IsOpen) {
sensor.Open ();
}
rgbaMat = new Mat (colorFrameDesc.Height, colorFrameDesc.Width, CvType.CV_8UC4);
Debug.Log ("rgbaMat " + rgbaMat.ToString ());
maskMat = new Mat (rgbaMat.rows (), rgbaMat.cols (), CvType.CV_8UC1);
outputMat = new Mat (rgbaMat.rows (), rgbaMat.cols (), CvType.CV_8UC4);
maskData = new byte[rgbaMat.rows () * rgbaMat.cols ()];
gameObject.transform.localScale = new Vector3 (texture.width, texture.height, 1);
gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
Camera.main.orthographicSize = texture.height / 2;
// sepia
sepiaKernel = new Mat (4, 4, CvType.CV_32F);
sepiaKernel.put (0, 0, /* R */0.189f, 0.769f, 0.393f, 0f);
sepiaKernel.put (1, 0, /* G */0.168f, 0.686f, 0.349f, 0f);
sepiaKernel.put (2, 0, /* B */0.131f, 0.534f, 0.272f, 0f);
sepiaKernel.put (3, 0, /* A */0.000f, 0.000f, 0.000f, 1f);
// pixelize
pixelizeIntermediateMat = new Mat ();
pixelizeSize0 = new Size ();
//comic
comicGrayMat = new Mat (texture.height, texture.width, CvType.CV_8UC1);
comicLineMat = new Mat (texture.height, texture.width, CvType.CV_8UC1);
comicMaskMat = new Mat (texture.height, texture.width, CvType.CV_8UC1);
//create a striped background.
comicBgMat = new Mat (texture.height, texture.width, CvType.CV_8UC1, new Scalar (255));
for (int i = 0; i < comicBgMat.rows ()*2.5f; i=i+4) {
Core.line (comicBgMat, new Point (0, 0 + i), new Point (comicBgMat.cols (), -comicBgMat.cols () + i), new Scalar (0), 1);
}
comicDstMat = new Mat (texture.height, texture.width, CvType.CV_8UC1);
comicGrayPixels = new byte[comicGrayMat.cols () * comicGrayMat.rows () * comicGrayMat.channels ()];
comicMaskPixels = new byte[comicMaskMat.cols () * comicMaskMat.rows () * comicMaskMat.channels ()];
} else {
UnityEngine.Debug.LogError ("No ready Kinect found!");
}
}
