soundvision/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthImageViewer.cs

using UnityEngine;
using System.Collections;
using com.rfilkov.kinect;


namespace com.rfilkov.components
{
    public class DepthImageViewer : MonoBehaviour
    {
        [Tooltip("Index of the player, tracked by this component. 0 means the 1st player, 1 - the 2nd one, 2 - the 3rd one, etc.")]
        public int playerIndex = 0;

        [Tooltip("Camera used to estimate the overlay positions of 3D-objects over the background. By default it is the main camera.")]
        public Camera foregroundCamera;

        // radius of the created capsule colliders
        private const float colliderRadius = 0.3f;

        // the KinectManager instance
        private KinectManager kinectManager;

        // sensor index used for body tracking
        private int sensorIndex;
        private KinectInterop.SensorData sensorData = null;

        // the foreground texture
        private Texture foregroundTex;

        // rectangle taken by the foreground texture (in pixels)
        private Rect foregroundGuiRect;
        private Rect foregroundImgRect;

        // game objects to contain the joint colliders
        private GameObject[] jointColliders = null;
        private int numColliders = 0;

        private int depthImageWidth;
        private int depthImageHeight;


        void Start()
        {
            if (foregroundCamera == null)
            {
                // by default use the main camera
                foregroundCamera = Camera.main;
            }

            kinectManager = KinectManager.Instance;
        }

        void Update()
        {
            // setup joint colliders, if needed
            if(jointColliders == null)
            {
                SetupJointColliders();
            }

            // get the users texture
            if (kinectManager && kinectManager.IsInitialized())
            {
                foregroundTex = kinectManager.GetUsersImageTex();
            }

            // update joint colliders
            if (kinectManager && kinectManager.IsUserDetected(playerIndex) && foregroundCamera)
            {
                ulong userId = kinectManager.GetUserIdByIndex(playerIndex);  // manager.GetPrimaryUserID();

                for (int i = 0; i < numColliders; i++)
                {
                    bool bActive = false;

                    if (kinectManager.IsJointTracked(userId, i))
                    {
                        Vector3 posJoint = kinectManager.GetJointPosDepthOverlay(userId, i, sensorIndex, foregroundCamera, foregroundImgRect);

                        if (i == 0)
                        {
                            // sphere collider for body center
                            jointColliders[i].transform.position = posJoint;

                            Quaternion rotCollider = kinectManager.GetJointOrientation(userId, i, true);
                            jointColliders[i].transform.rotation = rotCollider;

                            bActive = true;
                        }
                        else
                        {
                            int p = (int)kinectManager.GetParentJoint((KinectInterop.JointType)i);

                            if (kinectManager.IsJointTracked(userId, p))
                            {
                                // capsule collider for bones
                                Vector3 posParent = kinectManager.GetJointPosDepthOverlay(userId, p, sensorIndex, foregroundCamera, foregroundImgRect);

                                Vector3 posCollider = (posJoint + posParent) / 2f;
                                jointColliders[i].transform.position = posCollider;

                                Quaternion rotCollider = Quaternion.FromToRotation(Vector3.up, (posJoint - posParent).normalized);
                                jointColliders[i].transform.rotation = rotCollider;

                                CapsuleCollider collider = jointColliders[i].GetComponent<CapsuleCollider>();
                                collider.height = (posJoint - posParent).magnitude;

                                bActive = true;
                            }
                        }
                    }

                    if (jointColliders[i].activeSelf != bActive)
                    {
                        // change collider activity
                        jointColliders[i].SetActive(bActive);
                    }
                }
            }

        }

        void OnGUI()
        {
            if (foregroundTex)
            {
                GUI.DrawTexture(foregroundGuiRect, foregroundTex);
            }
        }

        // sets up the image rectangle and body colliders
        private void SetupJointColliders()
        {
            if (kinectManager && kinectManager.IsInitialized())
            {
                sensorIndex = kinectManager.GetPrimaryBodySensorIndex();
                sensorData = kinectManager.GetSensorData(sensorIndex);

                if (sensorData != null && foregroundCamera != null)
                {
                    // get depth image size
                    depthImageWidth = sensorData.depthImageWidth;
                    depthImageHeight = sensorData.depthImageHeight;

                    // calculate the foreground rectangles
                    Rect cameraRect = foregroundCamera.pixelRect;
                    float rectHeight = cameraRect.height;
                    float rectWidth = cameraRect.width;

                    if (rectWidth > rectHeight)
                        rectWidth = rectHeight * depthImageWidth / depthImageHeight;
                    else
                        rectHeight = rectWidth * depthImageHeight / depthImageWidth;

                    float foregroundOfsX = (cameraRect.width - rectWidth) / 2;
                    float foregroundOfsY = (cameraRect.height - rectHeight) / 2;

                    foregroundImgRect = new Rect(foregroundOfsX, foregroundOfsY, rectWidth, rectHeight);

                    foregroundGuiRect = new Rect(
                        sensorData.depthImageScale.x > 0 ? foregroundOfsX : cameraRect.width - foregroundOfsX,
                        sensorData.depthImageScale.y > 0 ? foregroundOfsY : cameraRect.height - foregroundOfsY, 
                        rectWidth * sensorData.depthImageScale.x,
                        rectHeight * sensorData.depthImageScale.y);

                    // create joint colliders
                    numColliders = kinectManager.GetJointCount();
                    jointColliders = new GameObject[numColliders];

                    for (int i = 0; i < numColliders; i++)
                    {
                        string sColObjectName = ((KinectInterop.JointType)i).ToString() + "Collider";
                        jointColliders[i] = new GameObject(sColObjectName);
                        jointColliders[i].transform.parent = transform;

                        if (i == 0)
                        {
                            // sphere collider for body center
                            SphereCollider collider = jointColliders[i].AddComponent<SphereCollider>();
                            collider.radius = colliderRadius;
                        }
                        else
                        {
                            // capsule collider for bones
                            CapsuleCollider collider = jointColliders[i].AddComponent<CapsuleCollider>();
                            collider.radius = colliderRadius;
                        }
                    }
                }
            }
        }

    }
}