/// <summary>
/// Merges the user bodies, detected by the multiple sensors.
/// </summary>
public List <KinectInterop.BodyData> MergeUserBodies(ref ulong lastBodyFrameTime, BoneOrientationConstraints boneConstraints)
{
// get list of all bodies
List <KinectInterop.BodyData> alAllBodies = GetAllBodiesList(ref lastBodyFrameTime, boneConstraints);
// build mergeable body sets
List <List <KinectInterop.BodyData> > mergeableBodySets = new List <List <KinectInterop.BodyData> >();
while (alAllBodies.Count > 0)
{
List <KinectInterop.BodyData> alCloseBodies = new List <KinectInterop.BodyData>();
alCloseBodies.Add(alAllBodies[0]);
alAllBodies.RemoveAt(0);
FindOverlappingBodies(ref alCloseBodies, ref alAllBodies, MAX_DISTANCE_TO_CLOSE_BODY, mergeableBodySets.Count);
mergeableBodySets.Add(alCloseBodies);
}
// merge the bodies
List <KinectInterop.BodyData> alMergedBodies = new List <KinectInterop.BodyData>();
for (int i = 0; i < adUserIdToSensorTrackingId.Length; i++)
{
adUserIdToSensorTrackingId[i].Clear();
}
List <string> lostUsers = new List <string>();
lostUsers.AddRange(dictSensorUserIdToUserId.Keys);
for (int i = 0; i < mergeableBodySets.Count; i++)
{
KinectInterop.BodyData mergedBody = GetMergedBody(mergeableBodySets[i], i, ref lostUsers);
alMergedBodies.Add(mergedBody);
}
// clean up
mergeableBodySets.Clear();
mergeableBodySets = null;
alAllBodies = null;
if (lostUsers.Count > 0)
{
foreach (string sensorUserId in lostUsers)
{
if (dictSensorUserIdToUserId.ContainsKey(sensorUserId) && (Time.time - dictSensorUserIdToLastUsed[sensorUserId]) >= WAIT_TIME_BEFORE_REMOVAL)
{
dictSensorUserIdToUserId.Remove(sensorUserId);
dictSensorUserIdToFirstUsed.Remove(sensorUserId);
dictSensorUserIdToLastUsed.Remove(sensorUserId);
//Debug.Log("Removed lost sensor-user-id from dict: " + sensorUserId);
}
}
lostUsers.Clear();
lostUsers = null;
}
return(alMergedBodies);
}
// returns list of all bodies, tracked by all sensors
private List <KinectInterop.BodyData> GetAllBodiesList(ref ulong lastBodyFrameTime, BoneOrientationConstraints boneConstraints)
{
List <KinectInterop.BodyData> alAllBodies = new List <KinectInterop.BodyData>();
for (int s = 0; s < sensorDatas.Count; s++)
{
if (SINGLE_SENSOR_INDEX >= 0 && s != SINGLE_SENSOR_INDEX)
{
continue;
}
KinectInterop.SensorData sensorData = sensorDatas[s];
uint sensorBodyCount = sensorData.trackedBodiesCount;
if (sensorBodyCount > 0 && sensorData.lastBodyFrameTime > lastBodyFrameTime)
{
lastBodyFrameTime = sensorData.lastBodyFrameTime;
}
for (uint b = 0; b < sensorBodyCount; b++)
{
KinectInterop.BodyData bodyData = new KinectInterop.BodyData((int)KinectInterop.JointType.Count);
sensorData.alTrackedBodies[b].CopyTo(ref bodyData);
bodyData.sensorIndex = s;
// filter orientation constraints
if (boneConstraints != null)
{
boneConstraints.Constrain(ref bodyData);
}
alAllBodies.Add(bodyData);
}
//break;
}
if (alAllBodies.Count > 0)
{
//Debug.Log("Found " + alAllBodies.Count + " total bodies.");
}
return(alAllBodies);
}