private void OnEnable()
{
this.device = Device.Open(0);
var config = new DeviceConfiguration
{
ColorResolution = ColorResolution.r720p,
ColorFormat = ImageFormat.ColorBGRA32,
DepthMode = DepthMode.NFOV_Unbinned
};
device.StartCameras(config);
var calibration = device.GetCalibration(config.DepthMode, config.ColorResolution);
this.tracker = BodyTracker.Create(calibration);
debugObjects = new GameObject[(int)JointId.Count];
for (var i = 0; i < (int)JointId.Count; i++)
{
var cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.name = Enum.GetName(typeof(JointId), i);
cube.transform.localScale = Vector3.one * 0.4f;
debugObjects[i] = cube;
}
handler.CreateNewModel();
streamer.Start();
//streamer.ListenForIncommingRequests();
print("Created new handler model");
}
//public Renderer renderer;
private void OnEnable()
{
this.device = Device.Open(0);
var config = new DeviceConfiguration
{
ColorResolution = ColorResolution.r720p,
ColorFormat = ImageFormat.ColorBGRA32,
DepthMode = DepthMode.NFOV_Unbinned
};
device.StartCameras(config);
var calibration = device.GetCalibration(config.DepthMode, config.ColorResolution);
var trackerConfiguration = new TrackerConfiguration {
SensorOrientation = SensorOrientation.OrientationDefault,
CpuOnlyMode = false
};
this.tracker = BodyTracker.Create(calibration, trackerConfiguration);
debugObjects = new GameObject[(int)JointType.Count];
for (var i = 0; i < (int)JointType.Count; i++)
{
var cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.name = Enum.GetName(typeof(JointType), i);
cube.transform.localScale = Vector3.one * 0.4f;
debugObjects[i] = cube;
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
kinectManager = KinectManager.GetInstance;
if (kinectManager.Sensor != null && kinectManager.Sensor.IsOpen == false)
{
kinectManager.Open();
wsClient = new WebSocketClient();
wsClient.InitializeConnection();
bodyTracker = new CVision.Tracking.BodyTracker();
frameProc = new FrameProcessor(kinectManager.Sensor);
colorFrameReader = kinectManager.Sensor.ColorFrameSource.OpenReader();
colorFrameReader.FrameArrived += ColorFrameReader_FrameArrived;
infraredFrameReader = kinectManager.Sensor.InfraredFrameSource.OpenReader();
infraredFrameReader.FrameArrived += InfraredFrameReader_FrameArrived;
depthFrameReader = kinectManager.Sensor.DepthFrameSource.OpenReader();
depthFrameReader.FrameArrived += DepthFrameReader_FrameArrived;
bodyFrameReader = kinectManager.Sensor.BodyFrameSource.OpenReader();
bodyFrameReader.FrameArrived += BodyFrameReader_FramedArrived;
}
}
// TODO: unused now. Remove?
public void GetContactVelocityChanges(
Vector2 worldPoint, BodyTracker otherTracker,
out Vector2 velocityChange1, out Vector2 velocityChange2
)
{
var prevVelocity1 = GetPrevPointVelocity(worldPoint);
var curVelocity1 = rigidbody2D.GetPointVelocity(worldPoint);
velocityChange1 = curVelocity1 - prevVelocity1;
var prevVelocity2 = otherTracker.GetPrevPointVelocity(worldPoint);
var curVelocity2 = otherTracker.rigidbody2D.GetPointVelocity(worldPoint);
velocityChange2 = curVelocity2 - prevVelocity2;
}
void InitCamera()
{
this.device = Device.Open(0);
var config = new DeviceConfiguration
{
ColorResolution = ColorResolution.r720p,
ColorFormat = ImageFormat.ColorBGRA32,
DepthMode = DepthMode.NFOV_Unbinned
};
device.StartCameras(config);
var calibration = device.GetCalibration(config.DepthMode, config.ColorResolution);
this.tracker = BodyTracker.Create(calibration);
GameObject cameraFeed = GameObject.FindWithTag("CameraFeed");
renderer = cameraFeed.GetComponent <Renderer>();
}
private void InitCamera()
{
this.device = Device.Open(0);
var config = new DeviceConfiguration
{
ColorResolution = ColorResolution.r720p,
ColorFormat = ImageFormat.ColorBGRA32,
DepthMode = DepthMode.NFOV_Unbinned
};
device.StartCameras(config);
//declare and initialize a calibration for the camera
var calibration = device.GetCalibration(config.DepthMode, config.ColorResolution);
//initialize a tracker with the calibration we just made
this.tracker = BodyTracker.Create(calibration);
renderer = GetComponent <Renderer>();
canUpdate = true;
}
private void ProcessCollisions()
{
if (Time.fixedTime == lastDispatchTimestamp)
{
return;
}
lastDispatchTimestamp = Time.fixedTime;
var contacts = collisionTracker.Contacts;
if (contacts.Count != 0)
{
var contactsByBodies = contacts
.Where(contact => contact.Collider != null) // Avoid destroyed contacts.
.GroupBy(contact => contact.Collider.attachedRigidbody);
// TODO: implement case when this.rigidbody2D is null.
var thisTracker = BodyTracker.GetTracker(this.gameObject);
foreach (var contactsOfBody in contactsByBodies)
{
var body = contactsOfBody.Key;
SurfaceContact collisionContact;
float otherImpulse;
if (body != null) // Dynamic obstacle.
{
var otherTracker = BodyTracker.GetTracker(body.gameObject);
var otherVelChanges = contactsOfBody.Select(contact => new {
VelocityChange = otherTracker.GetVelocityChange(contact.Point),
Contact = contact
});
var otherMaxVelChange = otherVelChanges.WithMax(velChange => velChange.VelocityChange.sqrMagnitude);
var otherVelChange = otherMaxVelChange.VelocityChange;
otherImpulse = otherVelChange.magnitude;
if (IncomingImpulseNormalization == ImpulseNormalizationType.MultiplyByCoefficient)
{
otherImpulse *= body.mass * IncomingImpulseMultiplier;
}
collisionContact = otherMaxVelChange.Contact;
}
else // Static obstacle.
{
otherImpulse = 0;
collisionContact = contactsOfBody.First();
}
var thisVelChange = thisTracker.GetVelocityChange(collisionContact.Point);
float thisImpulse = thisVelChange.magnitude;
if (SelfImpulseNormalization == ImpulseNormalizationType.MultiplyByCoefficient)
{
thisImpulse *= rigidbody2D.mass * IncomingImpulseMultiplier;
}
var messageData = new CollisionMessageData(
thisImpulse, otherImpulse,
collisionContact,
contactsOfBody.ToList()
);
SendMessage(CollisionMessageData.MessageName, messageData, SendMessageOptions.DontRequireReceiver);
}
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
using (Device device = Device.Open(0))
{
device.StartCameras(new DeviceConfiguration
{
ColorFormat = ImageFormat.ColorBGRA32,
ColorResolution = ColorResolution.R720p,
DepthMode = DepthMode.WFOV_2x2Binned,
SynchronizedImagesOnly = true,
CameraFPS = FPS.FPS30,
});
int colorWidth = device.GetCalibration().ColorCameraCalibration.ResolutionWidth;
int colorHeight = device.GetCalibration().ColorCameraCalibration.ResolutionHeight;
Stopwatch sw = new Stopwatch();
int frameCount = 0;
sw.Start();
// Allocate image buffers for us to manipulate
using (Image transformedDepth = new Image(ImageFormat.Depth16, colorWidth, colorHeight))
using (Image outputColorImage = new Image(ImageFormat.ColorBGRA32, colorWidth, colorHeight))
using (Transformation transform = device.GetCalibration().CreateTransformation())
using (BodyTracker tracker = new BodyTracker(device.GetCalibration()))
{
tracker.SetTemporalSmoothing(0);
while (this.running)
{
//if (!Environment.Is64BitProcess)
{
// In 32-bit the BitmapSource memory runs out quickly and we can hit OutOfMemoryException.
// Force garbage collection in each loop iteration to keep memory in check.
GC.Collect();
}
// Wait for a capture on a thread pool thread
using (Capture capture = await Task.Run(() => { return(device.GetCapture()); }).ConfigureAwait(true))
{
// Create a BitmapSource for the unmodified color image.
// Creating the BitmapSource is slow, so do it asynchronously on another thread
Task <BitmapSource> createInputColorBitmapTask = Task.Run(() =>
{
BitmapSource source = capture.Color.CreateBitmapSource();
// Allow the bitmap to move threads
source.Freeze();
return(source);
});
// Compute the colorized output bitmap on a thread pool thread
Task <BitmapSource> createOutputColorBitmapTask = Task.Run(() =>
{
// Transform the depth image to the perspective of the color camera
transform.DepthImageToColorCamera(capture, transformedDepth);
// Get Span<T> references to the pixel buffers for fast pixel access.
Span <ushort> depthBuffer = transformedDepth.GetPixels <ushort>().Span;
Span <BGRA> colorBuffer = capture.Color.GetPixels <BGRA>().Span;
Span <BGRA> outputColorBuffer = outputColorImage.GetPixels <BGRA>().Span;
// Create an output color image with data from the depth image
for (int i = 0; i < colorBuffer.Length; i++)
{
// The output image will be the same as the input color image,
// but colorized with Red where there is no depth data, and Green
// where there is depth data at more than 1.5 meters
outputColorBuffer[i] = colorBuffer[i];
if (depthBuffer[i] == 0)
{
outputColorBuffer[i].R = 255;
}
else if (depthBuffer[i] > 1500)
{
outputColorBuffer[i].G = 255;
}
}
BitmapSource source = outputColorImage.CreateBitmapSource();
// Allow the bitmap to move threads
source.Freeze();
return(source);
});
// Wait for both bitmaps to be ready and assign them.
BitmapSource inputColorBitmap = await createInputColorBitmapTask.ConfigureAwait(true);
BitmapSource outputColorBitmap = await createOutputColorBitmapTask.ConfigureAwait(true);
this.inputColorImageViewPane.Source = inputColorBitmap;
this.outputColorImageViewPane.Source = outputColorBitmap;
++frameCount;
if (sw.Elapsed > TimeSpan.FromSeconds(2))
{
double framesPerSecond = (double)frameCount / sw.Elapsed.TotalSeconds;
this.fps.Content = $"{framesPerSecond:F2} FPS";
frameCount = 0;
sw.Restart();
}
tracker.EnqueueCapture(capture);
using (BodyFrame frame = tracker.PopFrame())
{
for (uint i = 0; i < frame.GetNumBodies(); ++i)
{
Body body = new Body()
{
id = frame.GetBodyID(i), skeleton = frame.GetBodySkeleton(i)
};
Joint chest = body.skeleton.joints[(int)Joints.SPINE_CHEST];
Console.WriteLine($"User {body.id}: ({chest.position.X}, {chest.position.Y}, {chest.position.Z})");
Vector2?convertedPos = device.GetCalibration().TransformTo2D(chest.position, CalibrationDeviceType.Depth, CalibrationDeviceType.Color);
if (convertedPos.HasValue)
{
Console.WriteLine($"Converted: ({convertedPos.Value.X}, {convertedPos.Value.Y})");
}
}
frame.GetCapture().Dispose();
}
}
}
}
}
}
void Start()
{
tracker = GetComponentInParent <BodyTracker>();
}
