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b/UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/CameraPitchCorrector.cs @@ -0,0 +1,22 @@ +using UnityEngine; +using System.Collections; + + +namespace com.rfilkov.components +{ + public class CameraPitchCorrector : MonoBehaviour + { + [Tooltip("Smooth factor used for the camera re-orientation.")] + public float smoothFactor = 10f; + + void LateUpdate() + { + Vector3 jointDir = transform.rotation * Vector3.up; + Vector3 projectedDir = Vector3.ProjectOnPlane(jointDir, Vector3.forward); + + Quaternion invPitchRot = Quaternion.FromToRotation(projectedDir, Vector3.up); + transform.rotation = Quaternion.Slerp(transform.rotation, transform.rotation * invPitchRot, smoothFactor * Time.deltaTime); + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/CameraPitchCorrector.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/CameraPitchCorrector.cs.meta new file mode 100644 index 0000000..1ebafe9 --- 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moveSpeed = 1f; + + [Tooltip("Smooth factor used for offset node movements.")] + public float smoothFactor = 1f; + + + void Update() + { + float h = Input.GetAxis("Horizontal"); + float v = Input.GetAxis("Vertical"); + + if (h != 0f || v != 0f) + { + Vector3 vMoveStep = new Vector3(h * moveSpeed, 0f, v * moveSpeed); + Vector3 vMoveTo = transform.position + vMoveStep; + + transform.position = Vector3.Lerp(transform.position, vMoveTo, Time.deltaTime * smoothFactor); + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/OffsetNodeMover.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/OffsetNodeMover.cs.meta new file mode 100644 index 0000000..a8936aa --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/OffsetNodeMover.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: b78978781d650c940a1f7ca9b1e91223 +timeCreated: 1464530026 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/UserAvatarMatcher.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/UserAvatarMatcher.cs new file mode 100644 index 0000000..37271ef --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/UserAvatarMatcher.cs @@ -0,0 +1,165 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + public class UserAvatarMatcher : MonoBehaviour + { + + [Tooltip("Humanoid model used for avatar instatiation.")] + public GameObject avatarModel; + + [Tooltip("Smooth factor used by the avatar controller.")] + public float smoothFactor = 10f; + + [Tooltip("If enabled, makes the avatar position relative to this camera to be the same as the player's position to the sensor.")] + public Camera posRelativeToCamera; + + [Tooltip("Whether the avatar is facing the player or not.")] + public bool mirroredMovement = true; + + [Tooltip("Whether the avatar is allowed to move vertically or not.")] + public bool verticalMovement = true; + + [Tooltip("Whether the avatar's feet must stick to the ground.")] + public bool groundedFeet = false; + + [Tooltip("Whether to apply the humanoid model's muscle limits or not.")] + public bool applyMuscleLimits = false; + + + private KinectManager kinectManager; + private int maxUserCount = 0; + + private ulong userChecksum = 0; + private Dictionary alUserAvatars = new Dictionary(); + + + void Start() + { + kinectManager = KinectManager.Instance; + } + + void Update() + { + ulong checksum = GetUserChecksum(out maxUserCount); + + if (userChecksum != checksum) + { + userChecksum = checksum; + List alAvatarToRemove = new List(alUserAvatars.Keys); + + for (int i = 0; i < maxUserCount; i++) + { + ulong userId = kinectManager.GetUserIdByIndex(i); + if (userId == 0) + continue; + + if (alAvatarToRemove.Contains(userId)) + alAvatarToRemove.Remove(userId); + + if (!alUserAvatars.ContainsKey(userId)) + { + Debug.Log("Creating avatar for userId: " + userId + ", Time: " + Time.realtimeSinceStartup); + + // create avatar for the user + int userIndex = kinectManager.GetUserIndexById(userId); + GameObject avatarObj = CreateUserAvatar(userId, userIndex); + + alUserAvatars[userId] = avatarObj; + } + } + + // remove the missing users from the list + foreach (ulong userId in alAvatarToRemove) + { + if (alUserAvatars.ContainsKey(userId)) + { + Debug.Log("Destroying avatar for userId: " + userId + ", Time: " + Time.realtimeSinceStartup); + + GameObject avatarObj = alUserAvatars[userId]; + alUserAvatars.Remove(userId); + + // destroy the user's avatar + DestroyUserAvatar(avatarObj); + } + } + + } + } + + // returns the checksum of current users + private ulong GetUserChecksum(out int maxUserCount) + { + maxUserCount = 0; + ulong checksum = 0; + + if (kinectManager && kinectManager.IsInitialized()) + { + maxUserCount = kinectManager.GetMaxBodyCount(); + //ulong csMask = 0xFFFFFFFFFFFFFFF; + + for (int i = 0; i < maxUserCount; i++) + { + ulong userId = kinectManager.GetUserIdByIndex(i); + //userId &= csMask; + + if (userId != 0) + { + checksum += userId; + //checksum &= csMask; + } + } + } + + return checksum; + } + + + // creates avatar for the given user + private GameObject CreateUserAvatar(ulong userId, int userIndex) + { + GameObject avatarObj = null; + + if (avatarModel) + { + Vector3 userPos = new Vector3(userIndex, 0, 0); + Quaternion userRot = Quaternion.Euler(!mirroredMovement ? Vector3.zero : new Vector3(0, 180, 0)); + + avatarObj = Instantiate(avatarModel, userPos, userRot); + avatarObj.name = "User-" + userId; + + AvatarController ac = avatarObj.GetComponent(); + if (ac == null) + { + ac = avatarObj.AddComponent(); + ac.playerIndex = userIndex; + + ac.smoothFactor = smoothFactor; + ac.posRelativeToCamera = posRelativeToCamera; + + ac.mirroredMovement = mirroredMovement; + ac.verticalMovement = verticalMovement; + + ac.groundedFeet = groundedFeet; + ac.applyMuscleLimits = applyMuscleLimits; + } + } + + return avatarObj; + } + + // destroys the avatar and refreshes the list of avatar controllers + private void DestroyUserAvatar(GameObject avatarObj) + { + if (avatarObj) + { + Destroy(avatarObj); + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/UserAvatarMatcher.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/UserAvatarMatcher.cs.meta new file mode 100644 index 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10c2a7184936d3043b84bc80e2aeef89 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/BackgroundRemovalDemo/Scripts/ColorImageJointOverlayer.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BackgroundRemovalDemo/Scripts/ColorImageJointOverlayer.cs new file mode 100644 index 0000000..ca0cd7f --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BackgroundRemovalDemo/Scripts/ColorImageJointOverlayer.cs @@ -0,0 +1,100 @@ +using UnityEngine; +using System.Collections; +using System; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// ColorImageJointOverlayer overlays the given user's joint with virtual object over the user's BR image. + /// + public class ColorImageJointOverlayer : MonoBehaviour + { + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [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("Kinect joint that is going to be overlayed.")] + public KinectInterop.JointType trackedJoint = KinectInterop.JointType.HandRight; + + [Tooltip("Plane game-object rendering the color camera image.")] + public Transform planeObject; + + [Tooltip("Game object used to overlay the joint over the plane.")] + public Transform overlayObject; + + //[Tooltip("Smoothing factor used for joint rotation.")] + //public float smoothFactor = 10f; + + private KinectManager kinectManager = null; + private Rect planeRect = new Rect(); + private bool planeRectSet = false; + + + public void Start() + { + kinectManager = KinectManager.Instance; + + if(overlayObject == null) + { + overlayObject = transform; + } + + if (overlayObject != null) + { + overlayObject.rotation = Quaternion.identity; + } + } + + void Update() + { + if (kinectManager && kinectManager.IsInitialized()) + { + // get the plane rectangle to be used for object overlay + if (!planeRectSet && planeObject) + { + planeRectSet = true; + + planeRect.width = 10f * Mathf.Abs(planeObject.localScale.x); + planeRect.height = 10f * Mathf.Abs(planeObject.localScale.z); + planeRect.x = planeObject.position.x - planeRect.width / 2f; + planeRect.y = planeObject.position.y - planeRect.height / 2f; + } + + // overlay the object + ulong userId = kinectManager.GetUserIdByIndex(playerIndex); + + int iJointIndex = (int)trackedJoint; + if (planeObject && kinectManager.IsJointTracked(userId, iJointIndex)) + { + //Vector3 posJoint = manager.GetJointPosColorOverlay(userId, iJointIndex, foregroundCamera, backgroundRect); + Vector3 posJoint = kinectManager.GetJointPosColorOverlay(userId, iJointIndex, sensorIndex, planeRect); + posJoint.z = planeObject.position.z; + + if (posJoint != Vector3.zero) + { + if (overlayObject) + { + overlayObject.position = posJoint; + } + } + } + else + { + // make the overlay object invisible + if (overlayObject && overlayObject.position.z > 0f) + { + Vector3 posJoint = overlayObject.position; + posJoint.z = -10f; + overlayObject.position = posJoint; + } + } + + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/BackgroundRemovalDemo/Scripts/ColorImageJointOverlayer.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BackgroundRemovalDemo/Scripts/ColorImageJointOverlayer.cs.meta new file mode 100644 index 0000000..55a7a0b --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BackgroundRemovalDemo/Scripts/ColorImageJointOverlayer.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 0e1a1f54b62e8804a9538f890a3c8b90 +timeCreated: 1503810252 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/BackgroundRemovalDemo/Scripts/UserImageMover.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BackgroundRemovalDemo/Scripts/UserImageMover.cs new file mode 100644 index 0000000..2cdbf0e --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BackgroundRemovalDemo/Scripts/UserImageMover.cs @@ -0,0 +1,65 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// UserImageMover moves the BR image, according to the distance to the user. + /// + public class UserImageMover : MonoBehaviour + { + [Tooltip("Index of the player, tracked by this component. 0 - the 1st player, 1 - the 2nd player, etc.")] + public int playerIndex = 0; + + [Tooltip("Smooth factor used for the transform movement.")] + public float smoothFactor = 20f; + + + private KinectManager kinectManager = null; + private ulong lastUserId = 0; + + private ulong userId = 0; + private Vector3 initialPlanePos = Vector3.zero; + private Vector3 currentUserPos = Vector3.zero; + + + void Start() + { + kinectManager = KinectManager.Instance; + initialPlanePos = transform.position; + } + + void Update() + { + if (kinectManager == null || !kinectManager.IsInitialized()) + return; + + userId = kinectManager.GetUserIdByIndex(playerIndex); + currentUserPos = kinectManager.GetUserPosition(userId); + + if (userId != 0 && userId != lastUserId) + { + lastUserId = userId; + } + + if (userId != 0) + { + Vector3 deltaUserPos = currentUserPos; // relToInitialPos ? 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difXY) && pixX <= (maxx + difXY) && pixY >= (miny - difXY) && pixY <= (maxy + difXY)) + { + if(pixZ >= (minz - difZ) && pixZ <= (maxz + difZ)) + { + return true; + } + } + + return false; + } + + /// + /// Adds a pixel to the blob. + /// + /// X + /// Y + /// Z + public void AddDepthPixel(int pixX, int pixY, int pixZ) + { + pixels++; + + minx = Mathf.Min(minx, pixX); + miny = Mathf.Min(miny, pixY); + minz = Mathf.Min(minz, pixZ); + + maxx = Mathf.Max(maxx, pixX); + maxy = Mathf.Max(maxy, pixY); + maxz = Mathf.Max(maxz, pixZ); + + //sumx += pixX; + //sumy += pixY; + //sumz += pixZ; + } + + /// + /// Gets the blob width. + /// + /// Blob width + public float GetWidth() + { + return maxx - minx; + } + + /// + /// Gets the blob height. + /// + /// Blob height + public float GetHeight() + { + return maxy - miny; + } + + /// + /// Gets the blob center. + /// + /// Blob center + public Vector3 GetBlobCenter() + { + return new Vector3((minx + maxx) / 2, (miny + maxy) / 2, (minz + maxz) / 2); + } + + } + +} \ No newline at end of file diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/Blob.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/Blob.cs.meta new file mode 100644 index 0000000..2701f2e --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/Blob.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 643d6bd5ba0212c44b0aacd7137030c0 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/BlobDetector.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/BlobDetector.cs new file mode 100644 index 0000000..1b714f4 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/BlobDetector.cs @@ -0,0 +1,395 @@ +using System.Collections.Generic; +using System.Linq; +using UnityEngine; +using UnityEngine.UI; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + public class BlobDetector : MonoBehaviour + { + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 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; + + [Tooltip("Blob prefab, used to represent the blob in the 3D space.")] + public GameObject blobPrefab; + + [Tooltip("The blobs root object.")] + public GameObject blobsRootObj; + + [Range(0, 500)] + [Tooltip("Max X and Y distance to blob, in pixels, to consider a pixel part of it.")] + public int xyDistanceToBlob = 10; + + [Range(0, 500)] + [Tooltip("Max Z-distance to blob, in mm, to consider a pixel part of it.")] + public int zDistanceToBlob = 50; + + [Range(0, 500)] + [Tooltip("Minimum amount of pixels in a blob.")] + public int minPixelsInBlob = 50; + + [Range(1, 10)] + [Tooltip("Increment in X & Y directions, when analyzing the raw depth image.")] + public int xyIncrement = 3; + + [Range(0, 5)] + [Tooltip("Time between the checks for blobs, in seconds.")] + public float timeBetweenChecks = 0.1f; + + [Tooltip("UI-Text to display info messages.")] + public UnityEngine.UI.Text infoText; + + + // reference to KM + private KinectManager kinectManager = null; + + // depth image resolution + private int depthImageWidth; + private int depthImageHeight; + + // depth scale + private Vector3 depthScale = Vector3.one; + + // min & max distance tracked by the sensor + private float minDistance = 0f; + private float maxDistance = 0f; + + // screen rectangle taken by the foreground image (in pixels) + private Rect foregroundImgRect; + + // last depth frame time + private ulong lastDepthFrameTime = 0; + private float lastCheckTime = 0; + + // list of blobs + private List blobs = new List(); + // list of cubes + private List blobObjects = new List(); + + + + /// + /// Gets the number of detected blobs. + /// + /// Number of blobs. + public int GetBlobsCount() + { + return blobs.Count; + } + + + /// + /// Gets the blob with the given index. + /// + /// Blob index. + /// The blob. + public Blob GetBlob(int i) + { + if(i >= 0 && i < blobs.Count) + { + return blobs[i]; + } + + return null; + } + + + /// + /// Gets distance to the blob with the given index. + /// + /// Blob index. + /// Distance to the blob. + public float GetBlobDistance(int i) + { + if (i >= 0 && i < blobs.Count) + { + Vector3 blobCenter = blobs[i].GetBlobCenter(); + return blobCenter.z / 1000f; + + } + + return 0f; + } + + + /// + /// Gets position on the depth image of the given blob. + /// + /// Blob index. + /// Depth image position of the blob. + public Vector2 GetBlobImagePos(int i) + { + if (i >= 0 && i < blobs.Count) + { + Vector3 blobCenter = blobs[i].GetBlobCenter(); + return (Vector2)blobCenter; + + } + + return Vector2.zero; + } + + + /// + /// Gets position in the 3d space of the given blob. + /// + /// Blob index. + /// Space position of the blob. + public Vector3 GetBlobSpacePos(int i) + { + if (i >= 0 && i < blobs.Count) + { + Vector3 blobCenter = blobs[i].GetBlobCenter(); + Vector3 spacePos = kinectManager.MapDepthPointToSpaceCoords(sensorIndex, (Vector2)blobCenter, (ushort)blobCenter.z, true); + + return spacePos; + + } + + return Vector3.zero; + } + + + // internal methods + + void Start() + { + kinectManager = KinectManager.Instance; + + if(kinectManager) + { + depthImageWidth = kinectManager.GetDepthImageWidth(sensorIndex); + depthImageHeight = kinectManager.GetDepthImageHeight(sensorIndex); + + depthScale = kinectManager.GetDepthImageScale(sensorIndex); + } + + if(blobsRootObj == null) + { + blobsRootObj = new GameObject("BlobsRoot"); + } + + if (foregroundCamera == null) + { + // by default use the main camera + foregroundCamera = Camera.main; + } + + // calculate the foreground rectangle + foregroundImgRect = kinectManager.GetForegroundRectDepth(sensorIndex, foregroundCamera); + } + + void Update() + { + if (kinectManager == null || !kinectManager.IsInitialized()) + return; + + if (lastDepthFrameTime != kinectManager.GetDepthFrameTime(sensorIndex)) + { + lastDepthFrameTime = kinectManager.GetDepthFrameTime(sensorIndex); + + if ((Time.time - lastCheckTime) >= timeBetweenChecks) + { + lastCheckTime = Time.time; + + // detect blobs of pixel in the raw depth image + DetectBlobsInRawDepth(); + } + } + + if(blobPrefab) + { + // instantiates representative blob objects for each blog + InstantiateBlobObjects(); + } + } + + + // detects blobs of pixel in the raw depth image + private void DetectBlobsInRawDepth() + { + ushort[] rawDepth = kinectManager ? kinectManager.GetRawDepthMap(sensorIndex) : null; + blobs.Clear(); + + if (rawDepth == null) + return; + + minDistance = kinectManager.GetSensorMinDistance(sensorIndex); + maxDistance = kinectManager.GetSensorMaxDistance(sensorIndex); + + ushort minDistanceMm = (ushort)(minDistance * 1000f); + ushort maxDistanceMm = (ushort)(maxDistance * 1000f); + + for (int y = 0, di = 0; y < depthImageHeight; y += xyIncrement) + { + di = y * depthImageWidth; + + for (int x = 0; x < depthImageWidth; x += xyIncrement, di += xyIncrement) + { + ushort depth = rawDepth[di]; + depth = (depth >= minDistanceMm && depth <= maxDistanceMm) ? depth : (ushort)0; + + if (depth != 0) + { + bool blobFound = false; + foreach (var b in blobs) + { + if (b.IsNearOrInside(x, y, depth, xyDistanceToBlob, zDistanceToBlob)) + { + b.AddDepthPixel(x, y, depth); + blobFound = true; + break; + } + } + + if (!blobFound) + { + Blob b = new Blob(x, y, depth); + blobs.Add(b); + } + } + } + } + + // remove inside blobs + var insideblobs = new List(); + foreach (var b in blobs) + foreach (var b2 in blobs) + if (b.IsInside(b2) && !insideblobs.Contains(b) && b != b2) + insideblobs.Add(b); + + for (int i = 0; i < insideblobs.Count; i++) + if (blobs.Contains(insideblobs[i])) + blobs.Remove(insideblobs[i]); + + // remove small blobs + var smallBlobs = blobs.Where(x => x.pixels < minPixelsInBlob).ToList(); + for (int i = 0; i < smallBlobs.Count; i++) + if (blobs.Contains(smallBlobs[i])) + blobs.Remove(smallBlobs[i]); + + if (infoText) + { + string sMessage = blobs.Count + " blobs detected.\n"; + + for (int i = 0; i < blobs.Count; i++) + { + Blob b = blobs[i]; + //sMessage += string.Format("x1: {0}, y1: {1}, x2: {2}, y2: {3}\n", b.minx, b.miny, b.maxx, b.maxy); + sMessage += string.Format("Blob {0} at {1}\n", i, GetBlobSpacePos(i)); + } + + //Debug.Log(sMessage); + infoText.text = sMessage; + } + } + + + // instantiates representative blob objects for each blob + private void InstantiateBlobObjects() + { + int bi = 0; + foreach (var b in blobs) + { + while (bi >= blobObjects.Count) + { + var cub = Instantiate(blobPrefab, new Vector3(0, 0, -10), Quaternion.identity); + //cub.transform.localScale = new Vector3(0.2f, 0.2f, 0.2f); // to match the dimensions of a ball + + blobObjects.Add(cub); + cub.transform.parent = blobsRootObj.transform; + } + + Vector3 blobCenter = b.GetBlobCenter(); + Vector3 blobSpacePos = kinectManager.GetPosDepthOverlay((int)blobCenter.x, (int)blobCenter.y, (ushort)blobCenter.z, sensorIndex, foregroundCamera, foregroundImgRect); + + blobObjects[bi].transform.position = blobSpacePos; + blobObjects[bi].name = "Blob" + bi; + + bi++; + } + + // remove the extra cubes + for (int i = blobObjects.Count - 1; i >= bi; i--) + { + Destroy(blobObjects[i]); + blobObjects.RemoveAt(i); + } + } + + + void OnRenderObject() + { + int rectX = (int)foregroundImgRect.xMin; + //int rectY = (int)foregroundImgRect.yMax; + int rectY = (int)foregroundImgRect.yMin; + + float scaleX = foregroundImgRect.width / depthImageWidth; + float scaleY = foregroundImgRect.height / depthImageHeight; + + // draw grid + //DrawGrid(); + + // display blob rectangles + int bi = 0; + + foreach (var b in blobs) + { + float x = (depthScale.x >= 0f ? b.minx : depthImageWidth - b.maxx) * scaleX; // b.minx * scaleX; + float y = (depthScale.y >= 0f ? b.miny : depthImageHeight - b.maxy) * scaleY; // b.maxy * scaleY; + + Rect rectBlob = new Rect(rectX + x, rectY + y, (b.maxx - b.minx) * scaleX, (b.maxy - b.miny) * scaleY); + KinectInterop.DrawRect(rectBlob, 2, Color.white); + + Vector3 blobCenter = b.GetBlobCenter(); + x = (depthScale.x >= 0f ? blobCenter.x : depthImageWidth - blobCenter.x) * scaleX; // blobCenter.x * scaleX; + y = (depthScale.y >= 0f ? blobCenter.y : depthImageHeight - blobCenter.y) * scaleY; // blobCenter.y* scaleY; // + + Vector3 blobPos = new Vector3(rectX + x, rectY + y, 0); + KinectInterop.DrawPoint(blobPos, 3, Color.green); + + bi++; + } + } + + + // draws coordinate grid on screen + private void DrawGrid() + { + int rectX = (int)foregroundImgRect.xMin; + int rectY = (int)foregroundImgRect.yMin; + + float scaleX = foregroundImgRect.width / depthImageWidth; + float scaleY = foregroundImgRect.height / depthImageHeight; + + // draw grid + float c = 0.3f; + for (int x = 0; x < depthImageWidth; x += 100) + { + int sX = (int)(x * scaleX); + int sMaxY = (int)((depthImageHeight - 1) * scaleY); + + Color clrLine = new Color(c, 0, 0, 1); + KinectInterop.DrawLine(rectX + sX, rectY, rectX + sX, rectY + sMaxY, 1, clrLine); + c += 0.1f; + } + + c = 0.3f; + for (int y = 0; y < depthImageHeight; y += 100) + { + 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a/UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/CollisionLogger.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/CollisionLogger.cs new file mode 100644 index 0000000..91dc6f7 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/CollisionLogger.cs @@ -0,0 +1,18 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace com.rfilkov.components +{ + public class CollisionLogger : MonoBehaviour + { + + private void OnTriggerEnter(Collider other) + { + if (other.GetComponent()) + return; + + Debug.Log("Detected collision of " + gameObject.name + " with " + other.gameObject.name); + } + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/CollisionLogger.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/CollisionLogger.cs.meta new file mode 100644 index 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100644 index 0000000..9fda658 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallMover.cs @@ -0,0 +1,17 @@ +using UnityEngine; +using System.Collections; + + +namespace com.rfilkov.components +{ + public class BallMover : MonoBehaviour + { + void Update() + { + if (transform.position.y < -2f) + { + Destroy(gameObject); + } + } + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallMover.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallMover.cs.meta new file mode 100644 index 0000000..99ad26c --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallMover.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: a49ecdf14466abb4e88c995f9349d142 +timeCreated: 1457362486 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallSpawner.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallSpawner.cs new file mode 100644 index 0000000..89276c3 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallSpawner.cs @@ -0,0 +1,66 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + public class BallSpawner : 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("Prefab used to instantiate balls in the scene.")] + public Transform ballPrefab; + + [Tooltip("Prefab used to instantiate cubes in the scene.")] + public Transform cubePrefab; + + [Tooltip("How many objects do we want to spawn.")] + public int numberOfObjects = 20; + + private float nextSpawnTime = 0.0f; + private float spawnRate = 1.5f; + private int ballsCount = 0; + + + void Update() + { + if (nextSpawnTime < Time.time) + { + SpawnBalls(); + nextSpawnTime = Time.time + spawnRate; + + spawnRate = Random.Range(0f, 1f); + //numberOfBalls = Mathf.RoundToInt(Random.Range(1f, 10f)); + } + } + + void SpawnBalls() + { + KinectManager kinectManager = KinectManager.Instance; + + if (ballPrefab && cubePrefab && ballsCount < numberOfObjects && + kinectManager && kinectManager.IsInitialized() && kinectManager.IsUserDetected(playerIndex)) + { + ulong userId = kinectManager.GetUserIdByIndex(playerIndex); + Vector3 posUser = kinectManager.GetUserPosition(userId); + + float xOfs = Random.Range(-1.5f, 1.5f); + float zOfs = Random.Range(-2.0f, 1.0f); + float yOfs = Random.Range(1.0f, 4.0f); + Vector3 spawnPos = new Vector3(posUser.x + xOfs, posUser.y + yOfs, posUser.z + zOfs); + + int ballOrCube = Mathf.RoundToInt(Random.Range(0f, 1f)); + + Transform ballTransform = Instantiate(ballOrCube > 0 ? ballPrefab : cubePrefab, spawnPos, Quaternion.identity) as Transform; + ballTransform.GetComponent().material.color = new Color(Random.Range(0.5f, 1f), Random.Range(0.5f, 1f), Random.Range(0.5f, 1f), 1f); + ballTransform.GetComponent().drag = Random.Range(1f, 100f); + ballTransform.parent = transform; + + ballsCount++; + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallSpawner.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallSpawner.cs.meta new file mode 100644 index 0000000..2be3f2d --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallSpawner.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 588ad441d57181740a59b92f56b88b44 +timeCreated: 1457362486 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthImageViewer.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthImageViewer.cs new file mode 100644 index 0000000..e61e3f7 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthImageViewer.cs @@ -0,0 +1,193 @@ +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(); + 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(); + collider.radius = colliderRadius; + } + else + { + // capsule collider for bones + CapsuleCollider collider = jointColliders[i].AddComponent(); + collider.radius = colliderRadius; + } + } + } + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthImageViewer.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthImageViewer.cs.meta new file mode 100644 index 0000000..554cd00 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthImageViewer.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 7d75611742e570a4b8fd4c3f78c4c103 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthSpriteViewer.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthSpriteViewer.cs new file mode 100644 index 0000000..39823f9 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthSpriteViewer.cs @@ -0,0 +1,217 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + public class DepthSpriteViewer : 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; + + [Tooltip("Depth image renderer.")] + public SpriteRenderer depthImage; + + // width of the created box colliders + private const float colliderWidth = 0.3f; + + // the KinectManager instance + private KinectManager kinectManager; + + // sensor index used for body tracking + private int sensorIndex; + private KinectInterop.SensorData sensorData = null; + + // texture-2d of the depth texture + private Texture2D texDepth2D = null; + + // screen rectangle taken by the foreground image (in pixels) + private Rect foregroundImgRect; + + // game objects to contain the joint colliders + private GameObject[] jointColliders = null; + private int numColliders = 0; + + // depth image resolution + private int depthImageWidth; + private int depthImageHeight; + + // depth sensor platform + private KinectInterop.DepthSensorPlatform sensorPlatform = KinectInterop.DepthSensorPlatform.None; + + + 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() && depthImage /**&& depthImage.sprite == null*/) + { + Texture texDepth = kinectManager.GetUsersImageTex(); + + if (texDepth != null) + { + Rect rectDepth = new Rect(0, 0, texDepth.width, texDepth.height); + Vector2 pivotSprite = new Vector2(0.5f, 0.5f); + + if (texDepth2D == null && texDepth != null && sensorData != null) + { + texDepth2D = new Texture2D(texDepth.width, texDepth.height, TextureFormat.ARGB32, false); + + depthImage.sprite = Sprite.Create(texDepth2D, rectDepth, pivotSprite); + depthImage.flipX = sensorData.depthImageScale.x < 0; + depthImage.flipY = sensorData.depthImageScale.y < 0; + } + + if (texDepth2D != null) + { + Graphics.CopyTexture(texDepth, texDepth2D); + } + + float worldScreenHeight = foregroundCamera.orthographicSize * 2f; + float spriteHeight = depthImage.sprite.bounds.size.y; + + float scale = worldScreenHeight / spriteHeight; + depthImage.transform.localScale = new Vector3(scale, scale, 1f); + } + } + + // 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); + posJoint.z = depthImage ? depthImage.transform.position.z : 0f; + + if (i == 0) + { + // circle 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)) + { + // box colliders for bones + Vector3 posParent = kinectManager.GetJointPosDepthOverlay(userId, p, sensorIndex, foregroundCamera, foregroundImgRect); + posParent.z = depthImage ? depthImage.transform.position.z : 0f; + + Vector3 posCollider = (posJoint + posParent) / 2f; + jointColliders[i].transform.position = posCollider; + + Quaternion rotCollider = Quaternion.FromToRotation(Vector3.up, (posJoint - posParent).normalized); + jointColliders[i].transform.rotation = rotCollider; + + BoxCollider2D collider = jointColliders[i].GetComponent(); + collider.size = new Vector2(collider.size.x, (posJoint - posParent).magnitude); + + bActive = true; + } + } + } + + if (jointColliders[i].activeSelf != bActive) + { + // change collider activity + jointColliders[i].SetActive(bActive); + } + } + } + + } + + + // 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) + { + // sensor platform + sensorPlatform = sensorData.sensorIntPlatform; + + // 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); + foregroundImgRect = kinectManager.GetForegroundRectDepth(sensorIndex, foregroundCamera); + + // 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) + { + // circle collider for body center + CircleCollider2D collider = jointColliders[i].AddComponent(); + collider.radius = colliderWidth; + } + else + { + // box colliders for bones + BoxCollider2D collider = jointColliders[i].AddComponent(); + collider.size = new Vector2(colliderWidth, colliderWidth); + } + } + } + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthSpriteViewer.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthSpriteViewer.cs.meta new file mode 100644 index 0000000..57c4fb1 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/DepthSpriteViewer.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 79ae617a72f263e42b4e84fb12a02aa0 +timeCreated: 1483537098 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggMover.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggMover.cs new file mode 100644 index 0000000..35b93c5 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggMover.cs @@ -0,0 +1,23 @@ +using UnityEngine; +using System.Collections; + + +namespace com.rfilkov.components +{ + public class EggMover : MonoBehaviour + { + void Awake() + { + //GetComponent().AddForce(new Vector3(0, -10f, 0), ForceMode.Force); + } + + void Update() + { + if (transform.position.y < -10) + { + Destroy(gameObject); + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggMover.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggMover.cs.meta new file mode 100644 index 0000000..f362cd7 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggMover.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: d2c38534cc91bc34facb9f5ccccc4d11 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggSpawner.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggSpawner.cs new file mode 100644 index 0000000..500f2e5 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggSpawner.cs @@ -0,0 +1,48 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + public class EggSpawner : 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("Prefab (model and components) used to instantiate eggs in the scene.")] + public Transform eggPrefab; + + private float nextEggTime = 0.0f; + private float spawnRate = 1.5f; + + void Update() + { + if (nextEggTime < Time.time) + { + SpawnEgg(); + nextEggTime = Time.time + spawnRate; + + spawnRate = Mathf.Clamp(spawnRate, 0.3f, 99f); + } + } + + void SpawnEgg() + { + KinectManager kinectManager = KinectManager.Instance; + + if (eggPrefab && kinectManager && kinectManager.IsInitialized() && kinectManager.IsUserDetected(playerIndex)) + { + ulong userId = kinectManager.GetUserIdByIndex(playerIndex); + Vector3 posUser = kinectManager.GetUserPosition(userId); + + float addXPos = Random.Range(-2f, 2f); + Vector3 spawnPos = new Vector3(addXPos, 5f, posUser.z - 0.1f); + + Transform eggTransform = Instantiate(eggPrefab, spawnPos, Quaternion.identity) as Transform; + eggTransform.parent = transform; + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggSpawner.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggSpawner.cs.meta new file mode 100644 index 0000000..f151e15 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/EggSpawner.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: ca3a15c4ea4180f4a8550bb68c1489fd +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/HandColorOverlayer.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/HandColorOverlayer.cs new file mode 100644 index 0000000..52f3391 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/HandColorOverlayer.cs @@ -0,0 +1,109 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + public class HandColorOverlayer : MonoBehaviour + { + [Tooltip("Camera used to estimate the overlay positions of 3D-objects over the background. By default it is the main camera.")] + public Camera foregroundCamera; + + [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("Game object used to overlay the left hand.")] + public Transform leftHandOverlay; + + [Tooltip("Game object used to overlay the right hand.")] + public Transform rightHandOverlay; + + //public float smoothFactor = 10f; + + // reference to KinectManager + private KinectManager kinectManager; + + + void Update() + { + if (foregroundCamera == null) + { + // by default use the main camera + foregroundCamera = Camera.main; + } + + if (kinectManager == null) + { + kinectManager = KinectManager.Instance; + } + + if (kinectManager && kinectManager.IsInitialized() && foregroundCamera) + { + // get the background rectangle (use the portrait background, if available) + Rect backgroundRect = foregroundCamera.pixelRect; + PortraitBackground portraitBack = PortraitBackground.Instance; + + if (portraitBack && portraitBack.enabled) + { + backgroundRect = portraitBack.GetBackgroundRect(); + } + + // overlay the joints + if (kinectManager.IsUserDetected(playerIndex)) + { + ulong userId = kinectManager.GetUserIdByIndex(playerIndex); + + OverlayJoint(userId, (int)KinectInterop.JointType.HandLeft, leftHandOverlay, backgroundRect); + OverlayJoint(userId, (int)KinectInterop.JointType.HandRight, rightHandOverlay, backgroundRect); + } + + } + } + + + // overlays the given object over the given user joint + private void OverlayJoint(ulong userId, int jointIndex, Transform overlayObj, Rect imageRect) + { + if (kinectManager.IsJointTracked(userId, jointIndex)) + { + Vector3 posJoint = kinectManager.GetJointKinectPosition(userId, jointIndex, false); + + if (posJoint != Vector3.zero) + { + int sensorIndex = kinectManager.GetPrimaryBodySensorIndex(); + KinectInterop.SensorData sensorData = kinectManager.GetSensorData(sensorIndex); + + // 3d position to depth + Vector2 posDepth = kinectManager.MapSpacePointToDepthCoords(sensorIndex, posJoint); + ushort depthValue = kinectManager.GetDepthForPixel(sensorIndex, (int)posDepth.x, (int)posDepth.y); + + if (posDepth != Vector2.zero && depthValue > 0 && sensorData != null) + { + // depth pos to color pos + Vector2 posColor = kinectManager.MapDepthPointToColorCoords(sensorIndex, posDepth, depthValue); + + if (!float.IsInfinity(posColor.x) && !float.IsInfinity(posColor.y)) + { + float xScaled = (float)posColor.x * imageRect.width / sensorData.colorImageWidth; + float yScaled = (float)posColor.y * imageRect.height / sensorData.colorImageHeight; + + float xScreen = imageRect.x + (sensorData.colorImageScale.x > 0 ? xScaled : imageRect.width - xScaled); + float yScreen = imageRect.y + (sensorData.colorImageScale.y > 0 ? yScaled : imageRect.height - yScaled); + + if (overlayObj && foregroundCamera) + { + float distanceToCamera = overlayObj.position.z - foregroundCamera.transform.position.z; + posJoint = foregroundCamera.ScreenToWorldPoint(new Vector3(xScreen, yScreen, distanceToCamera)); + + overlayObj.position = posJoint; + } + } + } + } + + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/HandColorOverlayer.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/HandColorOverlayer.cs.meta new file mode 100644 index 0000000..29cfe24 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/HandColorOverlayer.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 53aeb3e2056f3d44f9ab8e01b9d221e8 +timeCreated: 1441465677 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/JumpTrigger.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/JumpTrigger.cs new file mode 100644 index 0000000..4ab5f7e --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/JumpTrigger.cs @@ -0,0 +1,29 @@ +using UnityEngine; +using System.Collections; + + +namespace com.rfilkov.components +{ + public class JumpTrigger : MonoBehaviour + { + void OnTriggerEnter() + { + //Debug.Log("Jump trigger entered."); + + // start the animation clip + Animation animation = gameObject.GetComponent(); + if (animation != null && !animation.isPlaying) + { + animation.Play(); + } + + // play the audio clip + AudioSource audioSrc = gameObject.GetComponent(); + if (audioSrc != null && !audioSrc.isPlaying) + { + audioSrc.Play(); + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/JumpTrigger.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/JumpTrigger.cs.meta new file mode 100644 index 0000000..9c4f104 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/JumpTrigger.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: e54c4e63856110c438bec719f0bf6771 +timeCreated: 1441468695 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/SkeletonCollider.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/SkeletonCollider.cs new file mode 100644 index 0000000..e819aac --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/SkeletonCollider.cs @@ -0,0 +1,171 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + public class SkeletonCollider : 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("Game object used to represent the body joints.")] + public GameObject jointPrefab; + + [Tooltip("Line object used to represent the bones between joints.")] + //public LineRenderer linePrefab; + public GameObject linePrefab; + + [Tooltip("Camera that will be used to represent the Kinect-sensor's point of view in the scene.")] + public Camera kinectCamera; + + [Tooltip("Body scale factors in X,Y,Z directions.")] + public Vector3 scaleFactors = Vector3.one; + + + //public UnityEngine.UI.Text debugText; + + private GameObject[] joints = null; + //private LineRenderer[] lines = null; + private GameObject[] lines = null; + + //private Quaternion initialRotation = Quaternion.identity; + + + void Start() + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager && kinectManager.IsInitialized()) + { + int jointsCount = kinectManager.GetJointCount(); + + if (jointPrefab) + { + // array holding the skeleton joints + joints = new GameObject[jointsCount]; + + for (int i = 0; i < joints.Length; i++) + { + joints[i] = Instantiate(jointPrefab) as GameObject; + joints[i].transform.parent = transform; + joints[i].name = ((KinectInterop.JointType)i).ToString(); + joints[i].SetActive(false); + } + } + + // array holding the skeleton lines + //lines = new LineRenderer[jointsCount]; + lines = new GameObject[jointsCount]; + } + + // always mirrored + //initialRotation = Quaternion.Euler(new Vector3(0f, 180f, 0f)); + } + + void Update() + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager && kinectManager.IsInitialized()) + { + // overlay all joints in the skeleton + if (kinectManager.IsUserDetected(playerIndex)) + { + ulong userId = kinectManager.GetUserIdByIndex(playerIndex); + int jointsCount = kinectManager.GetJointCount(); + + for (int i = 0; i < jointsCount; i++) + { + int joint = i; + + if (kinectManager.IsJointTracked(userId, joint)) + { + Vector3 posJoint = !kinectCamera ? kinectManager.GetJointPosition(userId, joint) : kinectManager.GetJointKinectPosition(userId, joint, true); + posJoint = new Vector3(posJoint.x * scaleFactors.x, posJoint.y * scaleFactors.y, posJoint.z * scaleFactors.z); + + if (kinectCamera) + { + posJoint = kinectCamera.transform.TransformPoint(posJoint); + } + + if (joints != null) + { + // overlay the joint + if (posJoint != Vector3.zero) + { + joints[i].SetActive(true); + joints[i].transform.position = posJoint; + } + else + { + joints[i].SetActive(false); + } + } + + if (lines[i] == null && linePrefab != null) + { + lines[i] = Instantiate(linePrefab); // as LineRenderer; + lines[i].transform.parent = transform; + lines[i].name = ((KinectInterop.JointType)i).ToString() + "_Line"; + lines[i].gameObject.SetActive(false); + } + + if (lines[i] != null) + { + // overlay the line to the parent joint + int jointParent = (int)kinectManager.GetParentJoint((KinectInterop.JointType)joint); + Vector3 posParent = Vector3.zero; + + if (kinectManager.IsJointTracked(userId, jointParent)) + { + posParent = !kinectCamera ? kinectManager.GetJointPosition(userId, jointParent) : kinectManager.GetJointKinectPosition(userId, jointParent, true); + posJoint = new Vector3(posJoint.x * scaleFactors.x, posJoint.y * scaleFactors.y, posJoint.z * scaleFactors.z); + + if (kinectCamera) + { + posParent = kinectCamera.transform.TransformPoint(posParent); + } + } + + if (posJoint != Vector3.zero && posParent != Vector3.zero) + { + lines[i].gameObject.SetActive(true); + + Vector3 dirFromParent = posJoint - posParent; + + lines[i].transform.localPosition = posParent + dirFromParent / 2f; + lines[i].transform.up = transform.rotation * dirFromParent.normalized; + + Vector3 lineScale = lines[i].transform.localScale; + lines[i].transform.localScale = new Vector3(lineScale.x, dirFromParent.magnitude / 2f, lineScale.z); + } + else + { + 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legStretch: .0500000007 + feetSpacing: 0 + rootMotionBoneName: + lastHumanDescriptionAvatarSource: {instanceID: 0} + animationType: 3 + additionalBone: 0 + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Resources/nopreview.jpg.bytes b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Resources/nopreview.jpg.bytes new file mode 100644 index 0000000..d7a0e54 Binary files /dev/null and b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Resources/nopreview.jpg.bytes differ diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Resources/nopreview.jpg.bytes.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Resources/nopreview.jpg.bytes.meta new file mode 100644 index 0000000..34a70e0 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Resources/nopreview.jpg.bytes.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: a4eb4755a11d3774d8b6b4684d8cf124 +timeCreated: 1469825834 +licenseType: Store +TextScriptImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts.meta new file mode 100644 index 0000000..90705ac --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 5d67d2bbab9ab1a4f8d520fa8ae986fa +folderAsset: yes +timeCreated: 1426088651 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/CategorySelector.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/CategorySelector.cs new file mode 100644 index 0000000..037a1ed --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/CategorySelector.cs @@ -0,0 +1,294 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + public class CategorySelector : MonoBehaviour, GestureListenerInterface + { + [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("Whether to use swipe-left and swipe-right gestures to change the clothing model in the active category.")] + public bool swipeToChangeModel = true; + + [Tooltip("Whether to use left and right hand-raise gestures to change the model category.")] + public bool raiseHandToChangeCategory = true; + + [Tooltip("GUI-Text used to display information messages.")] + public UnityEngine.UI.Text infoText; + + + // available model selectors + private ModelSelector[] allModelSelectors; + private int iCurSelector = -1; + + // current model selector + private ModelSelector modelSelector; + + // last detected userId; + private ulong lastUserId = 0; + + + /// + /// Gets the active model selector. + /// + /// The active model selector. + public ModelSelector GetActiveModelSelector() + { + return modelSelector; + } + + + /// + /// Activate the next model selector. + /// + public void ActivateNextModelSelector() + { + if (allModelSelectors.Length > 0) + { + if (modelSelector) + modelSelector.SetActiveSelector(false); + + iCurSelector++; + if (iCurSelector >= allModelSelectors.Length) + iCurSelector = 0; + + modelSelector = allModelSelectors[iCurSelector]; + modelSelector.SetActiveSelector(true); + + Debug.Log("Category: " + modelSelector.modelCategory); + } + } + + + /// + /// Activates the previous model selector. + /// + public void ActivatePrevModelSelector() + { + if (allModelSelectors.Length > 0) + { + if (modelSelector) + modelSelector.SetActiveSelector(false); + + iCurSelector--; + if (iCurSelector < 0) + iCurSelector = allModelSelectors.Length - 1; + + modelSelector = allModelSelectors[iCurSelector]; + modelSelector.SetActiveSelector(true); + + Debug.Log("Category: " + modelSelector.modelCategory); + } + } + + + /// + /// Refreshes the list of available model selectors. + /// + public void RefreshModelSelectorsList(ModelSelector.UserGender gender, float age, bool bSelectFirst) + { + if (allModelSelectors != null && allModelSelectors.Length > 0) + { + if (modelSelector) + modelSelector.SetActiveSelector(false); + } + + // find mono scripts containing model selectors + ModelSelector[] monoScripts = GetComponents(); + + int countEnabled = 0; + if (monoScripts != null && monoScripts.Length > 0) + { + foreach (ModelSelector monoScript in monoScripts) + { + ModelSelector modelSel = (ModelSelector)monoScript; + + bool genderMatch = gender == ModelSelector.UserGender.Unisex || modelSel.modelGender == ModelSelector.UserGender.Unisex || modelSel.modelGender == gender; + bool ageMatch = age < 0 || (age >= modelSel.minimumAge && age <= modelSel.maximumAge); + + if (modelSel.playerIndex == playerIndex && genderMatch && ageMatch) + countEnabled++; + } + } + + allModelSelectors = new ModelSelector[countEnabled]; + + if (countEnabled > 0) + { + int j = 0; + + foreach (ModelSelector monoScript in monoScripts) + { + ModelSelector modelSel = (ModelSelector)monoScript; + + bool genderMatch = gender == ModelSelector.UserGender.Unisex || modelSel.modelGender == ModelSelector.UserGender.Unisex || modelSel.modelGender == gender; + bool ageMatch = age < 0 || (age >= modelSel.minimumAge && age <= modelSel.maximumAge); + + if (modelSel.playerIndex == playerIndex && genderMatch && ageMatch) + { + allModelSelectors[j] = modelSel; + modelSel.SetActiveSelector(false); + + j++; + } + } + } + + if (allModelSelectors.Length > 0 && bSelectFirst) + { + iCurSelector = 0; + + modelSelector = allModelSelectors[iCurSelector]; + modelSelector.SetActiveSelector(true); + + Debug.Log("Category: " + modelSelector.modelCategory); + } + + } + + + ///////////////////////////////////////////////////////////////////////////////// + + + void Start() + { + // create the initial model selectors list + RefreshModelSelectorsList(ModelSelector.UserGender.Unisex, -1f, true); + + // check for KM and hint for calibration pose + KinectManager manager = KinectManager.Instance; + if (manager && manager.IsInitialized()) + { + if (infoText != null && manager.playerCalibrationPose == GestureType.Tpose) + { + infoText.text = "Please stand in T-pose for calibration."; + } + } + else + { + string sMessage = "KinectManager is missing or not initialized"; + Debug.LogError(sMessage); + + if (infoText != null) + { + infoText.text = sMessage; + } + } + } + + + void Update() + { + KinectManager manager = KinectManager.Instance; + + if (manager && manager.IsInitialized()) + { + ulong userId = manager.GetUserIdByIndex(playerIndex); + + if (userId != 0 && lastUserId != userId) + { + if (infoText != null) + { + string sMessage = swipeToChangeModel && modelSelector ? "Swipe left or right to change clothing." : string.Empty; + if (raiseHandToChangeCategory && allModelSelectors.Length > 1) + sMessage += " Raise hand to change category."; + + infoText.text = sMessage; + } + + lastUserId = userId; + } + + if (userId == 0 && userId != lastUserId) + { + lastUserId = userId; + + // destroy currently loaded models + foreach (ModelSelector modSelector in allModelSelectors) + { + modSelector.DestroySelectedModel(); + } + + if (infoText != null && manager.playerCalibrationPose == GestureType.Tpose) + { + infoText.text = "Please stand in T-pose for calibration."; + } + } + } + } + + + public void UserDetected(ulong userId, int userIndex) + { + KinectManager kinectManager = KinectManager.Instance; + KinectGestureManager gestureManager = kinectManager ? kinectManager.gestureManager : null; + if (!gestureManager || (userIndex != playerIndex)) + return; + + if (raiseHandToChangeCategory) + { + gestureManager.DetectGesture(userId, GestureType.RaiseRightHand); + gestureManager.DetectGesture(userId, GestureType.RaiseLeftHand); + } + + if (swipeToChangeModel) + { + gestureManager.DetectGesture(userId, GestureType.SwipeLeft); + gestureManager.DetectGesture(userId, GestureType.SwipeRight); + } + } + + public void UserLost(ulong userId, int userIndex) + { + if (userIndex != playerIndex) + return; + } + + public void GestureInProgress(ulong userId, int userIndex, GestureType gesture, float progress, KinectInterop.JointType joint, Vector3 screenPos) + { + // nothing to do here + } + + public bool GestureCompleted(ulong userId, int userIndex, GestureType gesture, KinectInterop.JointType joint, Vector3 screenPos) + { + if (userIndex != playerIndex) + return false; + + switch (gesture) + { + case GestureType.RaiseRightHand: + ActivateNextModelSelector(); + break; + case GestureType.RaiseLeftHand: + ActivatePrevModelSelector(); + break; + case GestureType.SwipeLeft: + if (modelSelector) + { + modelSelector.SelectNextModel(); + } + break; + case GestureType.SwipeRight: + if (modelSelector) + { + modelSelector.SelectPrevModel(); + } + break; + } + + return true; + } + + public bool GestureCancelled(ulong userId, int userIndex, GestureType gesture, KinectInterop.JointType joint) + { + if (userIndex != playerIndex) + return false; + + return true; + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/CategorySelector.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/CategorySelector.cs.meta new file mode 100644 index 0000000..6e6ce4a --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/CategorySelector.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 936b19ce8f29e4e41b0fc361dc9339ab +timeCreated: 1469204260 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/ModelSelector.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/ModelSelector.cs new file mode 100644 index 0000000..24b408c --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/ModelSelector.cs @@ -0,0 +1,440 @@ +using UnityEngine; +using UnityEngine.UI; +using UnityEngine.EventSystems; +using System.Collections; +using System.Collections.Generic; +using System.IO; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// ModelSelector controls the virtual model selection, as well as instantiates and sets up the selected model to overlay the user. + /// + public class ModelSelector : 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("The model category. Used for model discovery and title of the category menu.")] + public string modelCategory = "Clothing"; + + [Tooltip("Total number of the available clothing models.")] + public int numberOfModels = 3; + + // [Tooltip("Screen x-position of the model selection window. Negative values are considered relative to the screen width.")] + // public int windowScreenX = -160; + + [Tooltip("Reference to the dresing menu.")] + public RectTransform dressingMenu; + + [Tooltip("Reference to the dresing menu-item prefab.")] + public GameObject dressingItemPrefab; + + [Tooltip("Makes the initial model position relative to this camera, to be equal to the player's position, relative to the sensor.")] + public Camera modelRelativeToCamera = null; + + [Tooltip("Camera used to estimate the overlay position of the model over the background.")] + public Camera foregroundCamera; + + [Tooltip("Whether to keep the selected model, when the model category gets changed.")] + public bool keepSelectedModel = true; + + [Tooltip("Whether the scale is updated continuously or just once, after the calibration pose.")] + public bool continuousScaling = true; + + [Tooltip("Full body scale factor (incl. height, arms and legs) that might be used for fine tuning of body-scale.")] + [Range(0.0f, 2.0f)] + public float bodyScaleFactor = 1.0f; + + [Tooltip("Body width scale factor that might be used for fine tuning of the width scale. If set to 0, the body-scale factor will be used for the width, too.")] + [Range(0.0f, 2.0f)] + public float bodyWidthFactor = 1.0f; + + [Tooltip("Additional scale factor for arms that might be used for fine tuning of arm-scale.")] + [Range(0.0f, 2.0f)] + public float armScaleFactor = 1.0f; + + [Tooltip("Additional scale factor for legs that might be used for fine tuning of leg-scale.")] + [Range(0.0f, 2.0f)] + public float legScaleFactor = 1.0f; + + [Tooltip("Horizontal offset of the avatar with respect to the position of user's spine-base.")] + [Range(-0.5f, 0.5f)] + public float horizontalOffset = 0f; + + [Tooltip("Vertical offset of the avatar with respect to the position of user's spine-base.")] + [Range(-0.5f, 0.5f)] + public float verticalOffset = 0f; + + [Tooltip("Forward (Z) offset of the avatar with respect to the position of user's spine-base.")] + [Range(-0.5f, 0.5f)] + public float forwardOffset = 0f; + + [Tooltip("Whether to apply the humanoid model's muscle limits to the avatar, or not.")] + private bool applyMuscleLimits = false; + + [Tooltip("Gender filter of this model selector.")] + [HideInInspector] // not currently supported + public UserGender modelGender = UserGender.Unisex; + public enum UserGender : int { Unisex = 0, Male = 1, Female = 2 }; + + [Tooltip("Minimum age filter of this model selector.")] + [HideInInspector] // not currently supported + public float minimumAge = 0; + + [Tooltip("Maximum age filter of this model selector.")] + [HideInInspector] // not currently supported + public float maximumAge = 1000; + + + [HideInInspector] + public bool activeSelector = false; + + + // Reference to the dresing menu list title + private Text dressingMenuTitle; + + // Reference to the dresing menu list content + private RectTransform dressingMenuContent; + + // list of instantiated dressing panels + private List dressingPanels = new List(); + + //private Rect menuWindowRectangle; + private string[] modelNames; + private Texture2D[] modelThumbs; + + private Vector2 scroll; + private int selected = -1; + private int prevSelected = -1; + + private GameObject selModel; + + private float curScaleFactor = 0f; + private float curModelOffset = 0f; + + + /// + /// Sets the model selector to be active or inactive. + /// + /// If set to true b active. + public void SetActiveSelector(bool bActive) + { + activeSelector = bActive; + + if (dressingMenu) + { + dressingMenu.gameObject.SetActive(activeSelector); + + if (activeSelector) + { + // update menu items + UpdateDressingMenu(); + } + } + + if (!activeSelector && !keepSelectedModel) + { + // destroy currently selected model + DestroySelectedModel(); + } + } + + + /// + /// Gets the selected model. + /// + /// The selected model. + public GameObject GetSelectedModel() + { + return selModel; + } + + + /// + /// Destroys the currently selected model. + /// + public void DestroySelectedModel() + { + if (selModel) + { + AvatarController ac = selModel.GetComponent(); + GameObject.Destroy(selModel); + + selModel = null; + prevSelected = -1; + } + } + + + /// + /// Selects the next model. + /// + public void SelectNextModel() + { + selected++; + if (selected >= numberOfModels) + selected = 0; + + //LoadModel(modelNames[selected]); + OnDressingItemSelected(selected); + } + + + /// + /// Selects the previous model. + /// + public void SelectPrevModel() + { + selected--; + if (selected < 0) + selected = numberOfModels - 1; + + //LoadModel(modelNames[selected]); + OnDressingItemSelected(selected); + } + + + /// + /// Updates the dressing menu title & items. + /// + public void UpdateDressingMenu() + { + // get references to menu title and content + if (!dressingMenuContent && dressingMenu) + { + Transform dressingHeaderText = dressingMenu.transform.Find("Header/Text"); + if (dressingHeaderText) + { + dressingMenuTitle = dressingHeaderText.gameObject.GetComponent(); + } + + Transform dressingViewportContent = dressingMenu.transform.Find("Scroll View/Viewport/Content"); + if (dressingViewportContent) + { + dressingMenuContent = dressingViewportContent.gameObject.GetComponent(); + } + } + + // create model names and thumbs + modelNames = new string[numberOfModels]; + modelThumbs = new Texture2D[numberOfModels]; + dressingPanels.Clear(); + + // remove current menu items + dressingMenuContent.transform.DetachChildren(); + + // instantiate menu items + for (int i = 0; i < numberOfModels; i++) + { + modelNames[i] = string.Format("{0:0000}", i); + + string previewPath = modelCategory + "/" + modelNames[i] + "/preview.jpg"; + TextAsset resPreview = Resources.Load(previewPath, typeof(TextAsset)) as TextAsset; + + if (resPreview == null) + { + resPreview = Resources.Load("nopreview.jpg", typeof(TextAsset)) as TextAsset; + } + + //if(resPreview != null) + { + modelThumbs[i] = CreatePreviewTexture(resPreview != null ? resPreview.bytes : null); + } + + InstantiateDressingItem(i); + } + + // select the 1st item + if (numberOfModels > 0) + { + selected = 0; + } + + // set the panel title + if (dressingMenuTitle) + { + dressingMenuTitle.text = modelCategory; + } + } + + + void Start() + { + // save current scale factors and model offsets + curScaleFactor = bodyScaleFactor + bodyWidthFactor + armScaleFactor + legScaleFactor; + curModelOffset = horizontalOffset + verticalOffset + forwardOffset + (applyMuscleLimits ? 1f : 0f); + } + + void Update() + { + // check for selection change + if (activeSelector && selected >= 0 && selected < modelNames.Length && prevSelected != selected) + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager && kinectManager.IsInitialized() && kinectManager.IsUserDetected(playerIndex)) + { + OnDressingItemSelected(selected); + } + } + + if (selModel != null) + { + // update model settings as needed + float curMuscleLimits = applyMuscleLimits ? 1f : 0f; + float updModelOffset = horizontalOffset + verticalOffset + forwardOffset + curMuscleLimits; + + if (Mathf.Abs(curModelOffset - updModelOffset) >= 0.001f) + { + // update model offsets + curModelOffset = updModelOffset; + + AvatarController ac = selModel.GetComponent(); + if (ac != null) + { + ac.horizontalOffset = horizontalOffset; + ac.verticalOffset = verticalOffset; + ac.forwardOffset = forwardOffset; + ac.applyMuscleLimits = applyMuscleLimits; + } + } + + if (Mathf.Abs(curScaleFactor - (bodyScaleFactor + bodyWidthFactor + armScaleFactor + legScaleFactor)) >= 0.001f) + { + // update scale factors + curScaleFactor = bodyScaleFactor + bodyWidthFactor + armScaleFactor + legScaleFactor; + + AvatarScaler scaler = selModel.GetComponent(); + if (scaler != null) + { + scaler.continuousScaling = continuousScaling; + scaler.bodyScaleFactor = bodyScaleFactor; + scaler.bodyWidthFactor = bodyWidthFactor; + scaler.armScaleFactor = armScaleFactor; + scaler.legScaleFactor = legScaleFactor; + } + } + } + } + + // creates preview texture + private Texture2D CreatePreviewTexture(byte[] btImage) + { + Texture2D tex = new Texture2D(4, 4); + //Texture2D tex = new Texture2D(100, 143); + + if (btImage != null) + { + tex.LoadImage(btImage); + } + + return tex; + } + + // instantiates dressing menu item + private void InstantiateDressingItem(int i) + { + if (!dressingItemPrefab && i >= 0 && i < numberOfModels) + return; + if (!dressingMenuContent) + return; + + GameObject dressingItemInstance = Instantiate(dressingItemPrefab); + + GameObject dressingImageObj = dressingItemInstance.transform.Find("DressingImagePanel").gameObject; + dressingImageObj.GetComponentInChildren().texture = modelThumbs[i]; + + if (!string.IsNullOrEmpty(modelNames[i])) + { + EventTrigger trigger = dressingItemInstance.GetComponent(); + EventTrigger.Entry entry = new EventTrigger.Entry(); + + entry.eventID = EventTriggerType.Select; + entry.callback.AddListener((eventData) => { OnDressingItemSelected(i); }); + + trigger.triggers.Add(entry); + } + + //if (dressingMenuContent) + { + dressingItemInstance.transform.SetParent(dressingMenuContent, false); + } + + dressingPanels.Add(dressingItemInstance); + } + + // invoked when dressing menu-item was clicked + private void OnDressingItemSelected(int i) + { + if (i >= 0 && i < modelNames.Length && prevSelected != i) + { + prevSelected = selected = i; + LoadDressingModel(modelNames[selected]); + } + } + + // sets the selected dressing model as user avatar + private void LoadDressingModel(string modelDir) + { + string modelPath = modelCategory + "/" + modelDir + "/model"; + UnityEngine.Object modelPrefab = Resources.Load(modelPath, typeof(GameObject)); + if (modelPrefab == null) + return; + + Debug.Log("Model: " + modelPath); + + if (selModel != null) + { + GameObject.Destroy(selModel); + } + + selModel = (GameObject)GameObject.Instantiate(modelPrefab, Vector3.zero, Quaternion.Euler(0, 180f, 0)); + selModel.name = "Model" + modelDir; + + AvatarController ac = selModel.GetComponent(); + if (ac == null) + { + ac = selModel.AddComponent(); + ac.playerIndex = playerIndex; + + ac.mirroredMovement = true; + ac.verticalMovement = true; + ac.applyMuscleLimits = applyMuscleLimits; + + ac.horizontalOffset = horizontalOffset; + ac.verticalOffset = verticalOffset; + ac.forwardOffset = forwardOffset; + ac.smoothFactor = 0f; + } + + ac.posRelativeToCamera = modelRelativeToCamera; + ac.posRelOverlayColor = (foregroundCamera != null); + ac.Update(); + + KinectManager km = KinectManager.Instance; + AvatarScaler scaler = selModel.GetComponent(); + + if (scaler == null) + { + scaler = selModel.AddComponent(); + scaler.playerIndex = playerIndex; + scaler.mirroredAvatar = true; + scaler.minUserDistance = km.minUserDistance; + + scaler.continuousScaling = continuousScaling; + scaler.bodyScaleFactor = bodyScaleFactor; + scaler.bodyWidthFactor = bodyWidthFactor; + scaler.armScaleFactor = armScaleFactor; + scaler.legScaleFactor = legScaleFactor; + } + + scaler.foregroundCamera = foregroundCamera; + //scaler.debugText = debugText; + scaler.Update(); + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/ModelSelector.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/ModelSelector.cs.meta new file mode 100644 index 0000000..ef9f58b --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/ModelSelector.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 0d2a9658f122d0a4a9bb2b19c08e47c5 +timeCreated: 1427043108 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/UserBodyBlender.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/UserBodyBlender.cs new file mode 100644 index 0000000..b96796f --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/UserBodyBlender.cs @@ -0,0 +1,165 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// UserBodyBlender allows visibility of the user's body parts that stand in front of the virtual clothing. + /// + public class UserBodyBlender : MonoBehaviour + { + [Tooltip("Allowed depth distance between the user and the clothing model, in meters.")] + [Range(-0.5f, 0.5f)] + public float depthThreshold = 0.1f; + + [Tooltip("RawImage used to display the scene background.")] + public UnityEngine.UI.RawImage backgroundImage; + + [Tooltip("Index of the depth sensor that generates the color camera background. 0 is the 1st one, 1 - the 2nd one, etc.")] + private int sensorIndex = 0; + + private Material userBlendMat = null; + private KinectManager kinectManager = null; + //private BackgroundRemovalManager backManager = null; + private KinectInterop.SensorData sensorData = null; + //private ulong lastColorDepthBufferTime = 0; + + private Rect shaderUvRect = new Rect(0, 0, 1, 1); + private bool shaderRectInited = false; + + //private float depthFactor = 1f; + + private RenderTexture copyToTex; + + + // sets texture to copy to + /// + /// Sets the texture to copy the camera image to. + /// + /// The target texture + public void SetCopyToTexture(RenderTexture tex) + { + copyToTex = tex; + } + + + void OnEnable() + { + // set camera to clear the background + Camera thisCamera = gameObject.GetComponent(); + if (thisCamera) + { + thisCamera.depthTextureMode = DepthTextureMode.Depth; + } + } + + + void OnDisable() + { + // set camera to clear the depth buffser only + Camera thisCamera = gameObject.GetComponent(); + if (thisCamera) + { + thisCamera.depthTextureMode = DepthTextureMode.None; + } + } + + + void Start() + { + kinectManager = KinectManager.Instance; + //backManager = BackgroundRemovalManager.Instance; + + if (kinectManager && kinectManager.IsInitialized()) + { + Shader userBlendShader = Shader.Find("Kinect/UserBlendShader"); + sensorData = kinectManager.GetSensorData(sensorIndex); + + if (userBlendShader != null && sensorData != null) + { + userBlendMat = new Material(userBlendShader); + + if (sensorData.colorDepthBuffer == null && sensorData.colorImageWidth > 0 && sensorData.colorImageHeight > 0) + { + int bufferLength = sensorData.colorImageWidth * sensorData.colorImageHeight / 2; + sensorData.colorDepthBuffer = new ComputeBuffer(bufferLength, sizeof(uint)); + } + } + } + else + { + // disable the component + gameObject.GetComponent().enabled = false; + } + } + + void OnDestroy() + { + if (sensorData != null && sensorData.colorDepthBuffer != null) + { + sensorData.colorDepthBuffer.Dispose(); + sensorData.colorDepthBuffer = null; + } + } + + void Update() + { + if (!shaderRectInited) + { + PortraitBackground portraitBack = PortraitBackground.Instance; + if (portraitBack && portraitBack.IsInitialized()) + { + shaderUvRect = portraitBack.GetShaderUvRect(); + } + + shaderRectInited = true; + } + + if (kinectManager && kinectManager.IsInitialized() && userBlendMat != null) + { + if (sensorData != null && sensorData.colorDepthBuffer != null && sensorData.colorImageTexture && + sensorData.usedColorDepthBufferTime != sensorData.lastColorDepthBufferTime) + { + sensorData.usedColorDepthBufferTime = sensorData.lastColorDepthBufferTime; + + userBlendMat.SetFloat("_ColorResX", (float)sensorData.colorImageWidth); + userBlendMat.SetFloat("_ColorResY", (float)sensorData.colorImageHeight); + userBlendMat.SetFloat("_ColorScaleX", (float)sensorData.colorImageScale.x); + + userBlendMat.SetFloat("_ColorOfsX", shaderUvRect.x); + userBlendMat.SetFloat("_ColorMulX", shaderUvRect.width); + userBlendMat.SetFloat("_ColorOfsY", shaderUvRect.y); + userBlendMat.SetFloat("_ColorMulY", shaderUvRect.height); + + if (backgroundImage) + { + userBlendMat.SetTexture("_BackTex", backgroundImage.texture); + } + + // color camera texture + //Texture colorTex = backManager && sensorData.color2DepthTexture ? (Texture)sensorData.color2DepthTexture : sensorData.colorImageTexture; + //userBlendMat.SetTexture("_ColorTex", colorTex); + userBlendMat.SetTexture("_ColorTex", sensorData.colorImageTexture); // sensorData.colorDepthTexture + + userBlendMat.SetBuffer("_DepthMap", sensorData.colorDepthBuffer); + } + } + } + + void OnRenderImage(RenderTexture source, RenderTexture destination) + { + if (userBlendMat != null) + { + userBlendMat.SetFloat("_Threshold", depthThreshold); + Graphics.Blit(source, destination, userBlendMat); + + if (copyToTex != null) + { + Graphics.Blit(destination, copyToTex); + } + } + } + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/UserBodyBlender.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/UserBodyBlender.cs.meta new file mode 100644 index 0000000..3524fed --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/FittingRoomDemo/Scripts/UserBodyBlender.cs.meta @@ -0,0 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+timeCreated: 1447278170 +licenseType: Store +NativeFormatImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts.meta new file mode 100644 index 0000000..69f060d --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts.meta @@ -0,0 +1,5 @@ +fileFormatVersion: 2 +guid: a539090cdd8a2194699e8a8ad7d1e737 +folderAsset: yes +DefaultImporter: + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubeGestureListener.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubeGestureListener.cs new file mode 100644 index 0000000..edc0fdc --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubeGestureListener.cs @@ -0,0 +1,195 @@ +using UnityEngine; +using System.Collections; +using System; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// This gesture listener detects discrete gestures - hand swipes (left, right and up). + /// + public class CubeGestureListener : MonoBehaviour, GestureListenerInterface + { + [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("UI-Text to display gesture-listener messages and gesture information.")] + public UnityEngine.UI.Text gestureInfo; + + // singleton instance of the class + private static CubeGestureListener instance = null; + + // whether the needed gesture has been detected or not + private bool swipeLeft = false; + private bool swipeRight = false; + private bool swipeUp = false; + + + /// + /// Gets the singleton CubeGestureListener instance. + /// + /// The CubeGestureListener instance. + public static CubeGestureListener Instance + { + get + { + return instance; + } + } + + /// + /// Determines whether swipe left is detected. + /// + /// true if swipe left is detected; otherwise, false. + public bool IsSwipeLeft() + { + if (swipeLeft) + { + swipeLeft = false; + return true; + } + + return false; + } + + /// + /// Determines whether swipe right is detected. + /// + /// true if swipe right is detected; otherwise, false. + public bool IsSwipeRight() + { + if (swipeRight) + { + swipeRight = false; + return true; + } + + return false; + } + + /// + /// Determines whether swipe up is detected. + /// + /// true if swipe up is detected; otherwise, false. + public bool IsSwipeUp() + { + if (swipeUp) + { + swipeUp = false; + return true; + } + + return false; + } + + + /// + /// Invoked when a new user is detected. Here you can start gesture tracking by invoking KinectGestureManager.DetectGesture()-function. + /// + /// User ID + /// User index + public void UserDetected(ulong userId, int userIndex) + { + // the gestures are allowed for the selected user only + KinectGestureManager gestureManager = KinectManager.Instance.gestureManager; + if (!gestureManager || (userIndex != playerIndex)) + return; + + // set the gestures to detect + gestureManager.DetectGesture(userId, GestureType.SwipeLeft); + gestureManager.DetectGesture(userId, GestureType.SwipeRight); + gestureManager.DetectGesture(userId, GestureType.SwipeUp); + + if (gestureInfo != null) + { + gestureInfo.text = "Swipe left, right or up to change the slides."; + } + } + + /// + /// Invoked when a user gets lost. All tracked gestures for this user are cleared automatically. + /// + /// User ID + /// User index + public void UserLost(ulong userId, int userIndex) + { + // the gestures are allowed for the selected user only + if (userIndex != playerIndex) + return; + + if (gestureInfo != null) + { + gestureInfo.text = string.Empty; + } + } + + /// + /// Invoked when a gesture is in progress. + /// + /// User ID + /// User index + /// Gesture type + /// Gesture progress [0..1] + /// Joint type + /// Normalized viewport position + public void GestureInProgress(ulong userId, int userIndex, GestureType gesture, float progress, KinectInterop.JointType joint, Vector3 screenPos) + { + // not needed for this demo + } + + /// + /// Invoked if a gesture is completed. + /// + /// true + /// false + /// User ID + /// User index + /// Gesture type + /// Joint type + /// Normalized viewport position + public bool GestureCompleted(ulong userId, int userIndex, GestureType gesture, KinectInterop.JointType joint, Vector3 screenPos) + { + // the gestures are allowed for the selected user only + if (userIndex != playerIndex) + return false; + + if (gestureInfo != null) + { + string sGestureText = gesture + " detected"; + gestureInfo.text = sGestureText; + } + + if (gesture == GestureType.SwipeLeft) + swipeLeft = true; + else if (gesture == GestureType.SwipeRight) + swipeRight = true; + else if (gesture == GestureType.SwipeUp) + swipeUp = true; + + return true; + } + + /// + /// Invoked if a gesture is cancelled. + /// + /// true + /// false + /// User ID + /// User index + /// Gesture type + /// Joint type + public bool GestureCancelled(ulong userId, int userIndex, GestureType gesture, KinectInterop.JointType joint) + { + // not needed for this demo + return true; + } + + + void Awake() + { + instance = this; + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubeGestureListener.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubeGestureListener.cs.meta new file mode 100644 index 0000000..b28610e --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubeGestureListener.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 7b1b10ec54ed18a4a9fd436da22030b6 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubePresentationScript.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubePresentationScript.cs new file mode 100644 index 0000000..ae4ce4a --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubePresentationScript.cs @@ -0,0 +1,239 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; + + +namespace com.rfilkov.components +{ + /// + /// CubePresentationScript processes the swipe gestures to control (turn) the presentation cube. + /// + public class CubePresentationScript : MonoBehaviour + { + [Tooltip("Camera used for screen-to-world calculations. This is usually the main camera.")] + public Camera screenCamera; + + [Tooltip("Whether the presentation slides may be changed with gestures (SwipeLeft, SwipeRight & SwipeUp).")] + public bool slideChangeWithGestures = true; + [Tooltip("Whether the presentation slides may be changed with keys (PgDown & PgUp).")] + public bool slideChangeWithKeys = true; + [Tooltip("Speed of rotation, when the presentation cube spins.")] + public int spinSpeed = 5; + + [Tooltip("List of the presentation slides.")] + public List slideTextures; + [Tooltip("List of the side planes, comprising the presentation cube.")] + public List cubeSides; + + + //private int maxSides = 0; + private int maxTextures = 0; + private int side = 0; + private int tex = 0; + private bool isSpinning = false; + + private int[] hsides = { 0, 1, 2, 3 }; // left, front, right, back + private int[] vsides = { 4, 1, 5, 3 }; // up, front, down, back + + private CubeGestureListener gestureListener; + private Quaternion initialRotation; + private int stepsToGo = 0; + + private float rotationStep; + private Vector3 rotationAxis; + + + void Start() + { + // hide mouse cursor + //Cursor.visible = false; + + // by default set the main-camera to be screen-camera + if (screenCamera == null) + { + screenCamera = Camera.main; + } + + // calculate max slides and textures + //maxSides = cubeSides.Count; + maxTextures = slideTextures.Count; + + initialRotation = screenCamera ? Quaternion.Inverse(screenCamera.transform.rotation) * transform.rotation : transform.rotation; + isSpinning = false; + + tex = 0; + side = hsides[1]; + + if (side < cubeSides.Count && cubeSides[side] && cubeSides[side].GetComponent()) + { + cubeSides[side].GetComponent().material.mainTexture = slideTextures[tex]; + } + + // get the gestures listener + gestureListener = CubeGestureListener.Instance; + } + + void Update() + { + // dont run Update() if there is no gesture listener + if (!gestureListener) + return; + + if (!isSpinning) + { + if (slideChangeWithKeys) + { + if (Input.GetKeyDown(KeyCode.PageDown)) + RotateLeft(); + else if (Input.GetKeyDown(KeyCode.PageUp)) + RotateRight(); + } + + if (slideChangeWithGestures && gestureListener) + { + if (gestureListener.IsSwipeLeft()) + RotateLeft(); + else if (gestureListener.IsSwipeRight()) + RotateRight(); + else if (gestureListener.IsSwipeUp()) + RotateUp(); + } + } + else + { + // spin the presentation + if (stepsToGo > 0) + { + //if(Time.realtimeSinceStartup >= nextStepTime) + { + if (screenCamera) + transform.RotateAround(transform.position, screenCamera.transform.TransformDirection(rotationAxis), rotationStep); + else + transform.Rotate(rotationAxis * rotationStep, Space.World); + + stepsToGo--; + //nextStepTime = Time.realtimeSinceStartup + Time.deltaTime; + } + } + else + { + Quaternion cubeRotation = Quaternion.Euler(rotationAxis * rotationStep * 90f / spinSpeed) * initialRotation; + transform.rotation = screenCamera ? screenCamera.transform.rotation * cubeRotation : cubeRotation; + isSpinning = false; + } + } + } + + // rotates cube left + private void RotateLeft() + { + // set the next texture slide + tex = (tex + 1) % maxTextures; + + // rotate hsides left + SetSides(ref hsides, hsides[1], hsides[2], hsides[3], hsides[0]); + SetSides(ref vsides, -1, hsides[1], -1, hsides[3]); + side = hsides[1]; + + // set the slide on the selected side + if (side < cubeSides.Count && cubeSides[side] && cubeSides[side].GetComponent()) + { + cubeSides[side].GetComponent().material.mainTexture = slideTextures[tex]; + } + + // rotate the presentation + isSpinning = true; + initialRotation = screenCamera ? Quaternion.Inverse(screenCamera.transform.rotation) * transform.rotation : transform.rotation; + + rotationStep = spinSpeed; // new Vector3(0, spinSpeed, 0); + rotationAxis = Vector3.up; + + stepsToGo = 90 / spinSpeed; + //nextStepTime = 0f; + } + + // rotates cube right + private void RotateRight() + { + // set the previous texture slide + if (tex <= 0) + tex = maxTextures - 1; + else + tex -= 1; + + // rotate hsides right + SetSides(ref hsides, hsides[3], hsides[0], hsides[1], hsides[2]); + SetSides(ref vsides, -1, hsides[1], -1, hsides[3]); + side = hsides[1]; + + // set the slide on the selected side + if (side < cubeSides.Count && cubeSides[side] && cubeSides[side].GetComponent()) + { + cubeSides[side].GetComponent().material.mainTexture = slideTextures[tex]; + } + + // rotate the presentation + isSpinning = true; + initialRotation = screenCamera ? Quaternion.Inverse(screenCamera.transform.rotation) * transform.rotation : transform.rotation; + + rotationStep = -spinSpeed; // new Vector3(0, -spinSpeed, 0); + rotationAxis = Vector3.up; + + stepsToGo = 90 / spinSpeed; + //nextStepTime = 0f; + } + + // rotates cube up + private void RotateUp() + { + // set the next texture slide + tex = (tex + 1) % maxTextures; + + // rotate vsides up + SetSides(ref vsides, vsides[1], vsides[2], vsides[3], vsides[0]); + SetSides(ref hsides, -1, vsides[1], -1, vsides[3]); + side = hsides[1]; + + // set the slide on the selected side + if (side < cubeSides.Count && cubeSides[side] && cubeSides[side].GetComponent()) + { + cubeSides[side].GetComponent().material.mainTexture = slideTextures[tex]; + } + + // rotate the presentation + isSpinning = true; + initialRotation = screenCamera ? Quaternion.Inverse(screenCamera.transform.rotation) * transform.rotation : transform.rotation; + + rotationStep = spinSpeed; // new Vector3(spinSpeed, 0, 0); + rotationAxis = Vector3.right; + + stepsToGo = 90 / spinSpeed; + //nextStepTime = 0f; + } + + // sets values of sides' array + private void SetSides(ref int[] sides, int v0, int v1, int v2, int v3) + { + if (v0 >= 0) + { + sides[0] = v0; + } + + if (v1 >= 0) + { + sides[1] = v1; + } + + if (v2 >= 0) + { + sides[2] = v2; + } + + if (v3 >= 0) + { + sides[3] = v3; + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubePresentationScript.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubePresentationScript.cs.meta new file mode 100644 index 0000000..92879ae --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/CubePresentationScript.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 6a9625ba6015282449cb8d2a9f59b945 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelGestureListener.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelGestureListener.cs new file mode 100644 index 0000000..841b6a3 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelGestureListener.cs @@ -0,0 +1,313 @@ +using UnityEngine; +using System.Collections; +using System; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// This gesture listener detects continuous gestures - zoom out/in and wheel, as well as hand raise poses. + /// + public class ModelGestureListener : MonoBehaviour, GestureListenerInterface + { + [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("UI-Text to display gesture-listener messages and gesture information.")] + public UnityEngine.UI.Text gestureInfo; + + // singleton instance of the class + private static ModelGestureListener instance = null; + + // internal variables to track if progress message has been displayed for too long + private bool progressDisplayed; + private float progressGestureTime; + + // whether the needed gesture has been detected or not + private bool zoomOut; + private bool zoomIn; + private float zoomFactor = 1f; + + private bool wheel; + private float wheelAngle = 0f; + + private bool raiseHand = false; + + + /// + /// Gets the singleton ModelGestureListener instance. + /// + /// The ModelGestureListener instance. + public static ModelGestureListener Instance + { + get + { + return instance; + } + } + + /// + /// Determines whether the user is zooming out. + /// + /// true if the user is zooming out; otherwise, false. + public bool IsZoomingOut() + { + return zoomOut; + } + + /// + /// Determines whether the user is zooming in. + /// + /// true if the user is zooming in; otherwise, false. + public bool IsZoomingIn() + { + return zoomIn; + } + + /// + /// Gets the zoom factor. + /// + /// The zoom factor. + public float GetZoomFactor() + { + return zoomFactor; + } + + /// + /// Determines whether the user is turning wheel. + /// + /// true if the user is turning wheel; otherwise, false. + public bool IsTurningWheel() + { + return wheel; + } + + /// + /// Gets the wheel angle. + /// + /// The wheel angle. + public float GetWheelAngle() + { + return wheelAngle; + } + + /// + /// Determines whether the user has raised his left or right hand. + /// + /// true if the user has raised his left or right hand; otherwise, false. + public bool IsRaiseHand() + { + if (raiseHand) + { + raiseHand = false; + return true; + } + + return false; + } + + + /// + /// Invoked when a new user is detected. Here you can start gesture tracking by invoking KinectManager.DetectGesture()-function. + /// + /// User ID + /// User index + public void UserDetected(ulong userId, int userIndex) + { + // the gestures are allowed for the selected user only + KinectGestureManager gestureManager = KinectManager.Instance.gestureManager; + if (!gestureManager || (userIndex != playerIndex)) + return; + + // set the gestures to detect + gestureManager.DetectGesture(userId, GestureType.ZoomOut); + gestureManager.DetectGesture(userId, GestureType.ZoomIn); + gestureManager.DetectGesture(userId, GestureType.Wheel); + + gestureManager.DetectGesture(userId, GestureType.RaiseLeftHand); + gestureManager.DetectGesture(userId, GestureType.RaiseRightHand); + + if (gestureInfo != null) + { + gestureInfo.text = "Zoom-in or wheel to rotate the model.\nRaise hand to reset it."; + } + } + + /// + /// Invoked when a user gets lost. All tracked gestures for this user are cleared automatically. + /// + /// User ID + /// User index + public void UserLost(ulong userId, int userIndex) + { + // the gestures are allowed for the primary user only + if (userIndex != playerIndex) + return; + + if (gestureInfo != null) + { + gestureInfo.text = string.Empty; + } + } + + /// + /// Invoked when a gesture is in progress. + /// + /// User ID + /// User index + /// Gesture type + /// Gesture progress [0..1] + /// Joint type + /// Normalized viewport position + public void GestureInProgress(ulong userId, int userIndex, GestureType gesture, float progress, KinectInterop.JointType joint, Vector3 screenPos) + { + // the gestures are allowed for the primary user only + if (userIndex != playerIndex) + return; + + if (gesture == GestureType.ZoomOut) + { + if (progress > 0.5f) + { + zoomOut = true; + zoomFactor = screenPos.z; + + if (gestureInfo != null) + { + string sGestureText = string.Format("{0} factor: {1:F0}%", gesture, screenPos.z * 100f); + gestureInfo.text = sGestureText; + + progressDisplayed = true; + progressGestureTime = Time.realtimeSinceStartup; + } + } + else + { + zoomOut = false; + } + } + else if (gesture == GestureType.ZoomIn) + { + if (progress > 0.5f) + { + zoomIn = true; + zoomFactor = screenPos.z; + + if (gestureInfo != null) + { + string sGestureText = string.Format("{0} factor: {1:F0}%", gesture, screenPos.z * 100f); + gestureInfo.text = sGestureText; + + progressDisplayed = true; + progressGestureTime = Time.realtimeSinceStartup; + } + } + else + { + zoomIn = false; + } + } + else if (gesture == GestureType.Wheel) + { + if (progress > 0.5f) + { + wheel = true; + wheelAngle = screenPos.z; + + if (gestureInfo != null) + { + string sGestureText = string.Format("Wheel angle: {0:F0} deg.", screenPos.z); + gestureInfo.text = sGestureText; + + progressDisplayed = true; + progressGestureTime = Time.realtimeSinceStartup; + } + } + else + { + wheel = false; + } + } + } + + /// + /// Invoked if a gesture is completed. + /// + /// true + /// false + /// User ID + /// User index + /// Gesture type + /// Joint type + /// Normalized viewport position + public bool GestureCompleted(ulong userId, int userIndex, GestureType gesture, KinectInterop.JointType joint, Vector3 screenPos) + { + // the gestures are allowed for the primary user only + if (userIndex != playerIndex) + return false; + + if (gesture == GestureType.RaiseLeftHand) + raiseHand = true; + else if (gesture == GestureType.RaiseRightHand) + raiseHand = true; + + return true; + } + + /// + /// Invoked if a gesture is cancelled. + /// + /// true + /// false + /// User ID + /// User index + /// Gesture type + /// Joint type + public bool GestureCancelled(ulong userId, int userIndex, GestureType gesture, KinectInterop.JointType joint) + { + // the gestures are allowed for the primary user only + if (userIndex != playerIndex) + return false; + + if (gesture == GestureType.ZoomOut) + { + zoomOut = false; + } + else if (gesture == GestureType.ZoomIn) + { + zoomIn = false; + } + else if (gesture == GestureType.Wheel) + { + wheel = false; + } + + if (gestureInfo != null && progressDisplayed) + { + progressDisplayed = false; + gestureInfo.text = "Zoom-in or wheel to rotate the model.\nRaise hand to reset it."; ; + } + + return true; + } + + + void Awake() + { + instance = this; + } + + void Update() + { + if (progressDisplayed && ((Time.realtimeSinceStartup - progressGestureTime) > 2f)) + { + progressDisplayed = false; + gestureInfo.text = string.Empty; + + Debug.Log("Forced progress to end."); + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelGestureListener.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelGestureListener.cs.meta new file mode 100644 index 0000000..8774ab6 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelGestureListener.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 138e168f434c461469ef800a7405fc7c +timeCreated: 1441550521 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelPresentationScript.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelPresentationScript.cs new file mode 100644 index 0000000..015c513 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelPresentationScript.cs @@ -0,0 +1,83 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; + + +namespace com.rfilkov.components +{ + /// + /// ModelPresentationScript processes the zoom out/in & wheel gestures to zoom and rotate the model, as well as hand raise pose to reset it. + /// + public class ModelPresentationScript : MonoBehaviour + { + [Tooltip("Camera used for screen-to-world calculations. This is usually the main camera.")] + public Camera screenCamera; + + [Tooltip("Speed of rotation, when the presentation model spins.")] + public float spinSpeed = 10; + + // reference to the gesture listener + private ModelGestureListener gestureListener; + + // model's initial rotation + private Quaternion initialRotation; + + + void Start() + { + // hide mouse cursor + //Cursor.visible = false; + + // by default set the main-camera to be screen-camera + if (screenCamera == null) + { + screenCamera = Camera.main; + } + + // get model initial rotation + initialRotation = screenCamera ? Quaternion.Inverse(screenCamera.transform.rotation) * transform.rotation : transform.rotation; + + // get the gestures listener + gestureListener = ModelGestureListener.Instance; + } + + void Update() + { + // dont run Update() if there is no gesture listener + if (!gestureListener) + return; + + if (gestureListener.IsZoomingIn() || gestureListener.IsZoomingOut()) + { + // zoom the model + float zoomFactor = gestureListener.GetZoomFactor(); + + Vector3 newLocalScale = new Vector3(zoomFactor, zoomFactor, zoomFactor); + transform.localScale = Vector3.Lerp(transform.localScale, newLocalScale, spinSpeed * Time.deltaTime); + } + + if (gestureListener.IsTurningWheel()) + { + // rotate the model + float turnAngle = Mathf.Clamp(gestureListener.GetWheelAngle(), -30f, 30f); + float updateAngle = Mathf.Lerp(0, turnAngle, spinSpeed * Time.deltaTime); + + if (screenCamera) + transform.RotateAround(transform.position, screenCamera.transform.TransformDirection(Vector3.up), updateAngle); + else + transform.Rotate(Vector3.up * turnAngle, Space.World); + } + + if (gestureListener.IsRaiseHand()) + { + // reset the model + Vector3 newLocalScale = Vector3.one; + transform.localScale = newLocalScale; + + transform.rotation = screenCamera ? screenCamera.transform.rotation * initialRotation : initialRotation; + } + + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelPresentationScript.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelPresentationScript.cs.meta new file mode 100644 index 0000000..bb4811d --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/GestureDemo/Scripts/ModelPresentationScript.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 964bae657c45a7749a8f2e6eccba3c59 +timeCreated: 1441550635 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + 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b/UnityProject/Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Scripts.meta new file mode 100644 index 0000000..375e024 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Scripts.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 0b5ad3fb526d257469885e59f4dd3ae5 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Scripts/MocapPlayer.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Scripts/MocapPlayer.cs new file mode 100644 index 0000000..28ca337 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Scripts/MocapPlayer.cs @@ -0,0 +1,88 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + + +namespace com.rfilkov.components +{ + /// + /// MocapPlayer plays the recorded animation on the model it is attached to. + /// + public class MocapPlayer : MonoBehaviour + { + // reference to the Animator-component + private Animator playerAnimator = null; + + // initial position & rotation of the model + private Vector3 initialPos = Vector3.zero; + private Quaternion initialRot = Quaternion.identity; + + + void Start() + { + // get reference to the animator component + playerAnimator = GetComponent(); + + // get initial position & rotation + initialPos = transform.position; + initialRot = transform.rotation; + } + + + /// + /// Sets the animation clip as default animator state and plays it. + /// + /// Animation clip to play + /// true on success, false otherwise + public bool PlayAnimationClip(AnimationClip animClip) + { + string animClipName = animClip != null ? animClip.name : string.Empty; + + if (playerAnimator && animClip) + { +#if UNITY_EDITOR + RuntimeAnimatorController animatorCtrlRT = playerAnimator.runtimeAnimatorController; + + UnityEditor.Animations.AnimatorController animatorCtrl = animatorCtrlRT as UnityEditor.Animations.AnimatorController; + UnityEditor.Animations.ChildAnimatorState[] animStates = animatorCtrl.layers.Length > 0 ? + animatorCtrl.layers[0].stateMachine.states : new UnityEditor.Animations.ChildAnimatorState[0]; + bool bStateFound = false; + + for (int i = 0; i < animStates.Length; i++) + { + UnityEditor.Animations.ChildAnimatorState animState = animStates[i]; + + if (animState.state.name == animClipName) + { + animatorCtrl.layers[0].stateMachine.states[i].state.motion = animClip; + animatorCtrl.layers[0].stateMachine.defaultState = animatorCtrl.layers[0].stateMachine.states[i].state; + + bStateFound = true; + break; + } + } + + if (!bStateFound && animatorCtrl.layers.Length > 0) + { + UnityEditor.Animations.AnimatorState animState = animatorCtrl.layers[0].stateMachine.AddState(animClipName); + animState.motion = animClip; + + animatorCtrl.layers[0].stateMachine.defaultState = animState; + } +#endif + } + + if (playerAnimator && animClipName != string.Empty) + { + transform.position = initialPos; + transform.rotation = initialRot; + + playerAnimator.Play(animClipName); + return true; + } + + return false; + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Scripts/MocapPlayer.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Scripts/MocapPlayer.cs.meta new file mode 100644 index 0000000..d9c540b --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Scripts/MocapPlayer.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 05142010d3adb1044971f4b42f76ba72 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Scripts/MocapRecorder.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Scripts/MocapRecorder.cs new file mode 100644 index 0000000..a71f0d5 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Scripts/MocapRecorder.cs @@ -0,0 +1,323 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +//using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// MocapRecorder records the avatar motion into the given animation clip. + /// + public class MocapRecorder : MonoBehaviour + { + [Tooltip("The avatar, whose motion will be captured in the animation clip.")] + public AvatarController avatarModel; + + [Tooltip("Full path to the file, where the animation clip will be saved at the end of animation recording.")] + public string animSaveToFile = "Assets/AzureKinectExamples/KinectDemos/MocapAnimatorDemo/Animations/Recorded.anim"; + + [Tooltip("Whether to capture the root motion as well.")] + public bool captureRootMotion = true; + + [Tooltip("The model used to play the recorded animation clip.")] + public MocapPlayer mocapPlayer; + + [Tooltip("Array of sprite transforms that will be used for displaying the countdown recording starts.")] + public Transform[] countdown; + + [Tooltip("Sprite transform that displays recording-in-progress.")] + public Transform recIcon; + + [Tooltip("UI Text to display information messages.")] + public UnityEngine.UI.Text infoText; + + + // reference to the avatar's animator component + private Animator modelAnimator = null; + + // recording parameters + private bool isRecording = false; + private bool isCountingDown = false; + private float animTime = 0; + + // human pose parameters + private HumanPose humanPose = new HumanPose(); + private HumanPoseHandler humanPoseHandler = null; + + // animation curves to hold the recorded animation + private Dictionary muscleCurves = new Dictionary(); + private Dictionary rootPoseCurves = new Dictionary(); + + // initial model's root position + private Vector3 initialRootPos = Vector3.zero; + + + + void Start() + { + if(avatarModel) + { + modelAnimator = avatarModel.gameObject.GetComponent(); + + if (modelAnimator) + { + initialRootPos = avatarModel.transform.position; + humanPoseHandler = new HumanPoseHandler(modelAnimator.avatar, avatarModel.transform); + } + else + { + ShowMessage("The AvatarModel has no Animator-component!"); + } + } + else + { + ShowMessage("The AvatarModel is not set!"); + } + } + + + void Update() + { + // check for Space-key + if(Input.GetButtonDown("Jump")) + { + if(!isRecording) + { + if(!isCountingDown && avatarModel && avatarModel.playerId != 0) + { + InitAnimationCurves(); + isCountingDown = true; + StartCoroutine(CountdownAndStartRecording()); + } + } + else + { + StopRecording(); + } + } + + if (isRecording && avatarModel && avatarModel.playerId != 0) + { + // record the current pose + animTime += Time.deltaTime; + RecordAvatarPose(); + + if (infoText & ((int)(animTime * 10f) % 10) == 0) + { + infoText.text = string.Format("Recording... {0:F0}s", animTime); + } + } + + // stop recording, if the user is lost + if (avatarModel && avatarModel.playerId == 0) + { + StopRecording(); + } + } + + + //void LateUpdate() + //{ + //} + + + // displays the given message on screen and logs it to console + private void ShowMessage(string sMessage) + { + if (infoText) + { + infoText.text = sMessage; + } + + Debug.Log(sMessage); + } + + + // counts down (from 3 for instance), then starts the animation recording + private IEnumerator CountdownAndStartRecording() + { + if (countdown != null && countdown.Length > 0) + { + for (int i = 0; i < countdown.Length; i++) + { + if (countdown[i]) + countdown[i].gameObject.SetActive(true); + + yield return new WaitForSeconds(1f); + + if (countdown[i]) + countdown[i].gameObject.SetActive(false); + } + } + + isCountingDown = false; + isRecording = true; + ShowMessage("Recording started."); + + if (recIcon) + { + recIcon.gameObject.SetActive(true); + } + } + + + // clears the animation curves before the recording starts + private void InitAnimationCurves() + { + if (avatarModel == null) + return; + + animTime = 0f; + muscleCurves.Clear(); + rootPoseCurves.Clear(); + + List mecanimBones = avatarModel.GetMecanimBones(); + foreach (HumanBodyBones boneType in mecanimBones) + { + for (int i = 0; i < 3; i++) + { + int muscle = HumanTrait.MuscleFromBone((int)boneType, i); + + if (muscle != -1) + { + muscleCurves.Add(muscle, new AnimationCurve()); + } + } + } + + rootPoseCurves.Add("RootT.x", new AnimationCurve()); + rootPoseCurves.Add("RootT.y", new AnimationCurve()); + rootPoseCurves.Add("RootT.z", new AnimationCurve()); + + rootPoseCurves.Add("RootQ.x", new AnimationCurve()); + rootPoseCurves.Add("RootQ.y", new AnimationCurve()); + rootPoseCurves.Add("RootQ.z", new AnimationCurve()); + rootPoseCurves.Add("RootQ.w", new AnimationCurve()); + } + + + // stops the recording and saves the animation clip + private void StopRecording() + { + if(isRecording) + { + isRecording = false; + ShowMessage(string.Format("Recording stopped - saved {0:F3}s animation.", animTime)); + + if (recIcon) + { + recIcon.gameObject.SetActive(false); + } + + bool isAnythingRecorded = (muscleCurves.Count > 0 && muscleCurves[0].length > 0) || + (rootPoseCurves.Count > 0 && rootPoseCurves["RootT.x"].length > 0); + + if (isAnythingRecorded) + { + AnimationClip animClip = CreateAnimationClip(); + SaveAnimationClip(animClip); + + if (mocapPlayer) + { + mocapPlayer.PlayAnimationClip(animClip); + } + } + else + { + ShowMessage("Recording stopped - nothing to save."); + } + } + } + + + // records the current avatar pose to the animation curves + private void RecordAvatarPose() + { + humanPoseHandler.GetHumanPose(ref humanPose); + + foreach (KeyValuePair data in muscleCurves) + { + Keyframe key = new Keyframe(animTime, humanPose.muscles[data.Key]); + data.Value.AddKey(key); + } + + if(captureRootMotion) + { + Vector3 rootPosition = humanPose.bodyPosition - initialRootPos; + AddRootPosKeyFrame("RootT.x", rootPosition.x); + AddRootPosKeyFrame("RootT.y", rootPosition.y); + AddRootPosKeyFrame("RootT.z", rootPosition.z); + + Quaternion rootRotation = humanPose.bodyRotation; + AddRootPosKeyFrame("RootQ.x", rootRotation.x); + AddRootPosKeyFrame("RootQ.y", rootRotation.y); + AddRootPosKeyFrame("RootQ.z", rootRotation.z); + AddRootPosKeyFrame("RootQ.w", rootRotation.w); + } + } + + + // adds a key frame for the given root position coordinate + private void AddRootPosKeyFrame(string property, float value) + { + Keyframe key = new Keyframe(animTime, value); + rootPoseCurves[property].AddKey(key); + } + + + // creates animation clip out of the recorded animation curves + private AnimationClip CreateAnimationClip() + { + AnimationClip animClip = new AnimationClip(); + + foreach (KeyValuePair data in muscleCurves) + { + animClip.SetCurve(string.Empty, typeof(Animator), HumanTrait.MuscleName[data.Key], data.Value); + } + + if(captureRootMotion) + { + foreach (KeyValuePair data in rootPoseCurves) + { + animClip.SetCurve(string.Empty, typeof(Animator), data.Key, data.Value); + } + + } + + return animClip; + } + + + // saves the animation clip to the specified save-file + private void SaveAnimationClip(AnimationClip animClip) + { + if(string.IsNullOrEmpty(animSaveToFile)) + { + ShowMessage("Animation save path not set!"); + return; + } + + // save the clip + int iP = animSaveToFile.LastIndexOf('/'); + string animName = (iP >= 0 ? animSaveToFile.Substring(iP + 1) : animSaveToFile).Trim(); + + if (animName.EndsWith(".anim")) + animName = animName.Substring(0, animName.Length - 5); + + animClip.name = animName; + +#if UNITY_EDITOR + UnityEditor.AssetDatabase.CreateAsset(animClip, animSaveToFile); + Debug.Log("Animation clip saved: " + animSaveToFile); +#else + ShowMessage("The animation clip can be saved only in Unity editor."); +#endif + + // clear the animation curves + 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+using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// JointOverlayer overlays the given body joint with the given virtual object. + /// + public class JointOverlayer : 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("Kinect joint that is going to be overlayed.")] + public KinectInterop.JointType trackedJoint = KinectInterop.JointType.HandRight; + + [Tooltip("Game object used to overlay the joint.")] + public Transform overlayObject; + + [Tooltip("Whether to rotate the overlay object, according to the joint rotation.")] + public bool rotateObject = true; + + [Tooltip("Smooth factor used for joint rotation.")] + [Range(0f, 10f)] + public float rotationSmoothFactor = 10f; + + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("Camera that will be used to overlay the 3D-objects over the background.")] + public Camera foregroundCamera; + + [Tooltip("Horizontal offset in the object's position with respect to the object's x-axis.")] + [Range(-0.5f, 0.5f)] + public float horizontalOffset = 0f; + + [Tooltip("Vertical offset in the object's position with respect to the object's y-axis.")] + [Range(-0.5f, 0.5f)] + public float verticalOffset = 0f; + + [Tooltip("Forward offset in the object's position with respect to the object's z-axis.")] + [Range(-0.5f, 0.5f)] + public float forwardOffset = 0f; + + //public UnityEngine.UI.Text debugText; + + [NonSerialized] + public Quaternion initialRotation = Quaternion.identity; + private bool objMirrored = false; + + // reference to KM + private KinectManager kinectManager = null; + + + public void Start() + { + // get reference to KM + kinectManager = KinectManager.Instance; + + if (!foregroundCamera) + { + // by default - the main camera + foregroundCamera = Camera.main; + } + + if(overlayObject == null) + { + // by default - the current object + overlayObject = transform; + } + + if (rotateObject && overlayObject) + { + // always mirrored + initialRotation = overlayObject.rotation; // Quaternion.Euler(new Vector3(0f, 180f, 0f)); + + Vector3 vForward = foregroundCamera ? foregroundCamera.transform.forward : Vector3.forward; + objMirrored = (Vector3.Dot(overlayObject.forward, vForward) < 0); + + overlayObject.rotation = Quaternion.identity; + } + } + + void Update() + { + if (kinectManager && kinectManager.IsInitialized() && foregroundCamera) + { + // get the background rectangle (use the portrait background, if available) + Rect backgroundRect = foregroundCamera.pixelRect; + PortraitBackground portraitBack = PortraitBackground.Instance; + + if (portraitBack && portraitBack.enabled) + { + backgroundRect = portraitBack.GetBackgroundRect(); + } + + // overlay the joint + ulong userId = kinectManager.GetUserIdByIndex(playerIndex); + + int iJointIndex = (int)trackedJoint; + if (kinectManager.IsJointTracked(userId, iJointIndex)) + { + Vector3 posJoint = kinectManager.GetJointPosColorOverlay(userId, iJointIndex, sensorIndex, foregroundCamera, backgroundRect); + + if (posJoint != Vector3.zero && overlayObject) + { + if (horizontalOffset != 0f) + { + // add the horizontal offset + Vector3 dirHorizOfs = overlayObject.InverseTransformDirection(new Vector3(horizontalOffset, 0, 0)); + posJoint += dirHorizOfs; + } + + if (verticalOffset != 0f) + { + // add the vertical offset + Vector3 dirVertOfs = overlayObject.InverseTransformDirection(new Vector3(0, verticalOffset, 0)); + posJoint += dirVertOfs; + } + + if (forwardOffset != 0f) + { + // add the forward offset + Vector3 dirFwdOfs = overlayObject.InverseTransformDirection(new Vector3(0, 0, forwardOffset)); + posJoint += dirFwdOfs; + } + + overlayObject.position = posJoint; + + if(rotateObject) + { + Quaternion rotJoint = kinectManager.GetJointOrientation(userId, iJointIndex, !objMirrored); + rotJoint = initialRotation * rotJoint; + + overlayObject.rotation = rotationSmoothFactor > 0f ? + Quaternion.Slerp(overlayObject.rotation, rotJoint, rotationSmoothFactor * Time.deltaTime) : rotJoint; + } + } + } + else + { + // make the overlay object invisible + if (overlayObject && overlayObject.position.z > 0f) + { + Vector3 posJoint = overlayObject.position; + posJoint.z = -10f; + overlayObject.position = posJoint; + } + } + + } + } + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/OverlayDemo/Scripts/JointOverlayer.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/OverlayDemo/Scripts/JointOverlayer.cs.meta new file mode 100644 index 0000000..e7a570c --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/OverlayDemo/Scripts/JointOverlayer.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: b214f137e3db1904cb260afce1e0b463 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/OverlayDemo/Scripts/SkeletonOverlayer.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/OverlayDemo/Scripts/SkeletonOverlayer.cs new file mode 100644 index 0000000..2948fd3 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/OverlayDemo/Scripts/SkeletonOverlayer.cs @@ -0,0 +1,189 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// SkeletonOverlayer overlays the the user's body joints and bones with spheres and lines. + /// + public class SkeletonOverlayer : 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("Game object used to overlay the joints.")] + public GameObject jointPrefab; + + [Tooltip("Line object used to overlay the bones.")] + public LineRenderer linePrefab; + //public float smoothFactor = 10f; + + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("Camera that will be used to overlay the 3D-objects over the background.")] + public Camera foregroundCamera; + + //public UnityEngine.UI.Text debugText; + + private GameObject[] joints = null; + private LineRenderer[] lines = null; + + private Quaternion initialRotation = Quaternion.identity; + + // reference to KM + private KinectManager kinectManager = null; + + + void Start() + { + kinectManager = KinectManager.Instance; + + if (kinectManager && kinectManager.IsInitialized()) + { + int jointsCount = kinectManager.GetJointCount(); + + if (jointPrefab) + { + // array holding the skeleton joints + joints = new GameObject[jointsCount]; + + for (int i = 0; i < joints.Length; i++) + { + joints[i] = Instantiate(jointPrefab) as GameObject; + joints[i].transform.parent = transform; + joints[i].name = ((KinectInterop.JointType)i).ToString(); + joints[i].SetActive(false); + } + } + + // array holding the skeleton lines + lines = new LineRenderer[jointsCount]; + } + + // always mirrored + initialRotation = Quaternion.Euler(new Vector3(0f, 180f, 0f)); + + if (!foregroundCamera) + { + // by default - the main camera + foregroundCamera = Camera.main; + } + } + + void Update() + { + if (kinectManager && kinectManager.IsInitialized() && foregroundCamera) + { + // get the background rectangle (use the portrait background, if available) + Rect backgroundRect = foregroundCamera.pixelRect; + PortraitBackground portraitBack = PortraitBackground.Instance; + + if (portraitBack && portraitBack.enabled) + { + backgroundRect = portraitBack.GetBackgroundRect(); + } + + // overlay all joints in the skeleton + if (kinectManager.IsUserDetected(playerIndex)) + { + ulong userId = kinectManager.GetUserIdByIndex(playerIndex); + int jointsCount = kinectManager.GetJointCount(); + + //Debug.Log("Displaying user " + playerIndex + ", ID: " + userId + + // ", body: " + kinectManager.GetBodyIndexByUserId(userId) + ", pos: " + kinectManager.GetJointKinectPosition(userId, 0)); + + for (int i = 0; i < jointsCount; i++) + { + int joint = i; + + if (kinectManager.IsJointTracked(userId, joint)) + { + Vector3 posJoint = kinectManager.GetJointPosColorOverlay(userId, joint, sensorIndex, foregroundCamera, backgroundRect); + //Vector3 posJoint = manager.GetJointPosition(userId, joint); + + if (joints != null) + { + // overlay the joint + if (posJoint != Vector3.zero) + { + joints[i].SetActive(true); + joints[i].transform.position = posJoint; + + Quaternion rotJoint = kinectManager.GetJointOrientation(userId, joint, false); + rotJoint = initialRotation * rotJoint; + joints[i].transform.rotation = rotJoint; + } + else + { + joints[i].SetActive(false); + } + } + + if (lines[i] == null && linePrefab != null) + { + lines[i] = Instantiate(linePrefab) as LineRenderer; + lines[i].transform.parent = transform; + lines[i].gameObject.SetActive(false); + } + + if (lines[i] != null) + { + // overlay the line to the parent joint + int jointParent = (int)kinectManager.GetParentJoint((KinectInterop.JointType)joint); + Vector3 posParent = kinectManager.GetJointPosColorOverlay(userId, jointParent, sensorIndex, foregroundCamera, backgroundRect); + + if (posJoint != Vector3.zero && posParent != Vector3.zero) + { + lines[i].gameObject.SetActive(true); + + //lines[i].SetVertexCount(2); + lines[i].SetPosition(0, posParent); + lines[i].SetPosition(1, posJoint); + } + else + { + lines[i].gameObject.SetActive(false); + } + } + } + else + { + if (joints[i] != null) + { + joints[i].SetActive(false); + } + + if (lines[i] != null) + { + lines[i].gameObject.SetActive(false); + } + } + } + + } + else + { + // disable the skeleton + int jointsCount = kinectManager.GetJointCount(); + + for (int i = 0; i < jointsCount; i++) + { + if (joints[i] != null) + { + joints[i].SetActive(false); + } + + if (lines[i] != null) + { + lines[i].gameObject.SetActive(false); + } + } + } + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/OverlayDemo/Scripts/SkeletonOverlayer.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/OverlayDemo/Scripts/SkeletonOverlayer.cs.meta new file mode 100644 index 0000000..2e99d44 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/OverlayDemo/Scripts/SkeletonOverlayer.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 981d8b4b42176494bb7f5d513fc35469 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/PointCloudDemo.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/PointCloudDemo.meta new file mode 100644 index 0000000..4f2c0d7 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/PointCloudDemo.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 0c4a4f0396bc02a4aba95e353519739a +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/PointCloudDemo/Attribution.txt b/UnityProject/Assets/AzureKinectExamples/KinectDemos/PointCloudDemo/Attribution.txt new file mode 100644 index 0000000..d9be586 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/PointCloudDemo/Attribution.txt @@ -0,0 +1,2 @@ +The point cloud demo scene(s) were inspired by the Rsvfx project of Keijiro Takahashi (https://github.com/keijiro/Rsvfx), as well as by the Kinect-VFX-Graph project of Roel Kok (https://github.com/roelkok/Kinect-VFX-Graph). 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attributeBuffer;\n\n#if VFX_USE_ALIVE_CURRENT\nRWStructuredBuffer deadListOut;\n#endif\n\n#if + VFX_HAS_INDIRECT_DRAW\nRWStructuredBuffer indirectBuffer;\n#endif\n\nCBUFFER_START(updateParams)\n + \ uint nbMax;\n\tuint dispatchWidth;\n\tuint systemSeed;\nCBUFFER_END\n\nvoid + SetAttribute_CAC29747(inout float3 position, float3 Position) /*attribute:position + Composition:Overwrite Source:Slot Random:Off channels:XYZ */\n{\n position + = Position;\n}\nvoid SetAttribute_FDD06EC7(inout float3 color, float3 Color) + /*attribute:color Composition:Overwrite Source:Slot Random:Off channels:XYZ + */\n{\n color = Color;\n}\nvoid SetAttribute_CEEAF35C(inout float alpha, + float Alpha) /*attribute:alpha Composition:Overwrite Source:Slot Random:Off + channels:XYZ */\n{\n alpha = Alpha;\n}\n\n\n\n[numthreads(NB_THREADS_PER_GROUP,1,1)]\nvoid + CSMain(uint3 groupId : SV_GroupID,\n uint3 groupThreadId + \ : SV_GroupThreadID)\n{\n\tuint id = groupThreadId.x + groupId.x * NB_THREADS_PER_GROUP + + groupId.y * dispatchWidth * NB_THREADS_PER_GROUP;\n\tuint index = id;\n\tif + (id < nbMax)\n\t{\n#if VFX_USE_ALIVE_CURRENT\n\t\t\n\t\tif (alive)\n\t\t{\n\t\t\tfloat2 + UV = asfloat(attributeBuffer.Load2((index * 0x2 + 0x0) << 2));\n\t\t\tfloat3 + position = asfloat(attributeBuffer.Load3((index * 0x8 + 0xF4280) << 2));\n\t\t\tfloat3 + color = asfloat(attributeBuffer.Load3((index * 0x8 + 0xF4284) << 2));\n\t\t\tfloat + alpha = asfloat(attributeBuffer.Load((index * 0x8 + 0xF4283) << 2));\n\t\t\t\n\n\t\t\t\n#if + VFX_USE_OLDPOSITION_CURRENT\n\t\t\toldPosition = position;\n#endif\n\t\t\t\n\t\t\t{\n\t\t\t + \ float4 tmp_w = SampleTexture(VFX_SAMPLER(texture_b),UV,(float)0);\n\t\t\t + \ float tmp_x = tmp_w[0];\n\t\t\t float tmp_y = tmp_w[1];\n\t\t\t float + tmp_z = tmp_w[2];\n\t\t\t float3 tmp_ba = float3(tmp_x, tmp_y, tmp_z);\n\t\t\t + \ SetAttribute_CAC29747( /*inout */position, tmp_ba);\n\t\t\t}\n\t\t\t{\n\t\t\t + \ float4 tmp_w = SampleTexture(VFX_SAMPLER(texture_c),UV,(float)0);\n\t\t\t + \ float tmp_x = tmp_w[0];\n\t\t\t float tmp_y = tmp_w[1];\n\t\t\t float + tmp_z = tmp_w[2];\n\t\t\t float3 tmp_ba = float3(tmp_x, tmp_y, tmp_z);\n\t\t\t + \ SetAttribute_FDD06EC7( /*inout */color, tmp_ba);\n\t\t\t}\n\t\t\t{\n\t\t\t + \ float4 tmp_w = SampleTexture(VFX_SAMPLER(texture_c),UV,(float)0);\n\t\t\t + \ float tmp_x = tmp_w[3];\n\t\t\t float tmp_z = tmp_x - (float)0.99;\n\t\t\t + \ float tmp_ba = ceil(tmp_z);\n\t\t\t float tmp_bb = saturate(tmp_ba);\n\t\t\t + \ SetAttribute_CEEAF35C( /*inout */alpha, tmp_bb);\n\t\t\t}\n\t\t\t\n\n\t\t\tif + (alive)\n\t\t\t{\n\t\t\t\tattributeBuffer.Store3((index * 0x8 + 0xF4280) << + 2,asuint(position));\n\t\t\t\tattributeBuffer.Store3((index * 0x8 + 0xF4284) + << 2,asuint(color));\n\t\t\t\tattributeBuffer.Store((index * 0x8 + 0xF4283) + << 2,asuint(alpha));\n\t\t\t\t\n\n#if VFX_HAS_INDIRECT_DRAW\n uint + indirectIndex = indirectBuffer.IncrementCounter();\n\t\t\t\tindirectBuffer[indirectIndex] + = index;\n#endif\n\t\t\t}\n\t\t\telse\n\t\t\t{\n\t\t\t\t\n\t\t\t\tuint deadIndex + = deadListOut.IncrementCounter();\n\t\t\t\tdeadListOut[deadIndex] = index;\n\t\t\t}\n\t\t}\n#else\n\t\tfloat2 + UV = asfloat(attributeBuffer.Load2((index * 0x2 + 0x0) << 2));\n\t\tfloat3 position + = asfloat(attributeBuffer.Load3((index * 0x8 + 0xF4280) << 2));\n\t\tfloat3 + color = asfloat(attributeBuffer.Load3((index * 0x8 + 0xF4284) << 2));\n\t\tfloat + alpha = asfloat(attributeBuffer.Load((index * 0x8 + 0xF4283) << 2));\n\t\t\n\n\t\t\n#if + VFX_USE_OLDPOSITION_CURRENT\n\t\toldPosition = position;\n#endif\n\t\t\n\t\t{\n\t\t + \ float4 tmp_w = SampleTexture(VFX_SAMPLER(texture_b),UV,(float)0);\n\t\t + \ float tmp_x = tmp_w[0];\n\t\t float tmp_y = tmp_w[1];\n\t\t float + tmp_z = tmp_w[2];\n\t\t float3 tmp_ba = float3(tmp_x, tmp_y, tmp_z);\n\t\t + \ SetAttribute_CAC29747( /*inout */position, tmp_ba);\n\t\t}\n\t\t{\n\t\t + \ float4 tmp_w = SampleTexture(VFX_SAMPLER(texture_c),UV,(float)0);\n\t\t + \ float tmp_x = tmp_w[0];\n\t\t float tmp_y = tmp_w[1];\n\t\t float + tmp_z = tmp_w[2];\n\t\t float3 tmp_ba = float3(tmp_x, tmp_y, tmp_z);\n\t\t + \ SetAttribute_FDD06EC7( /*inout */color, tmp_ba);\n\t\t}\n\t\t{\n\t\t float4 + tmp_w = SampleTexture(VFX_SAMPLER(texture_c),UV,(float)0);\n\t\t float tmp_x + = tmp_w[3];\n\t\t float tmp_z = tmp_x - (float)0.99;\n\t\t float tmp_ba + = ceil(tmp_z);\n\t\t float tmp_bb = saturate(tmp_ba);\n\t\t SetAttribute_CEEAF35C( + /*inout */alpha, tmp_bb);\n\t\t}\n\t\t\n\n\t\tattributeBuffer.Store3((index + * 0x8 + 0xF4280) << 2,asuint(position));\n\t\tattributeBuffer.Store3((index + * 0x8 + 0xF4284) << 2,asuint(color));\n\t\tattributeBuffer.Store((index * 0x8 + + 0xF4283) << 2,asuint(alpha));\n\t\t\n\n#if VFX_HAS_INDIRECT_DRAW\n uint + indirectIndex = indirectBuffer.IncrementCounter();\n\t\tindirectBuffer[indirectIndex] + = index;\n#endif\n#endif\n\t}\n}\n" + - compute: 0 + name: '[System 1]Quad Output' + source: "Shader \"Hidden/VFX/System 1/Quad Output\"\n{\n\tSubShader\n\t{\t\n\t\tCull + Off\n\t\t\n\t\tTags { \"Queue\"=\"AlphaTest\" \"IgnoreProjector\"=\"False\" + \"RenderType\"=\"Opaque\" }\n\t\t\n\t\t\n\t\t\n\t\t\n\t\t\n\t\t\n\t\t\n\t\t\n\t\t\n\t\t\n\t\t\n\t\t\n\t\tZTest + LEqual\n\t\tZWrite On\n\t\tCull Off\n\t\t\n\t\n\t\t\t\n\t\tHLSLINCLUDE\n\t\t#if + !defined(VFX_WORLD_SPACE) && !defined(VFX_LOCAL_SPACE)\n\t\t#define VFX_LOCAL_SPACE + 1\n\t\t#endif\n\t\t\n\t\t#define NB_THREADS_PER_GROUP 64\n\t\t#define VFX_USE_POSITION_CURRENT + 1\n\t\t#define VFX_USE_COLOR_CURRENT 1\n\t\t#define VFX_USE_ALPHA_CURRENT 1\n\t\t#define + VFX_USE_ALIVE_CURRENT 1\n\t\t#define VFX_USE_AXISX_CURRENT 1\n\t\t#define VFX_USE_AXISY_CURRENT + 1\n\t\t#define VFX_USE_AXISZ_CURRENT 1\n\t\t#define VFX_USE_ANGLEX_CURRENT 1\n\t\t#define + VFX_USE_ANGLEY_CURRENT 1\n\t\t#define VFX_USE_ANGLEZ_CURRENT 1\n\t\t#define + VFX_USE_PIVOTX_CURRENT 1\n\t\t#define VFX_USE_PIVOTY_CURRENT 1\n\t\t#define + VFX_USE_PIVOTZ_CURRENT 1\n\t\t#define VFX_USE_SIZE_CURRENT 1\n\t\t#define VFX_USE_SCALEX_CURRENT + 1\n\t\t#define VFX_USE_SCALEY_CURRENT 1\n\t\t#define VFX_USE_SCALEZ_CURRENT + 1\n\t\t#define IS_OPAQUE_PARTICLE 1\n\t\t#define USE_ALPHA_TEST 1\n\t\t\n\t\t\n\t\t\n\t\t#define + VFX_LOCAL_SPACE 1\n\t\t#include \"Packages/com.unity.visualeffectgraph/Shaders/RenderPipeline/HDRP/VFXDefines.hlsl\"\n\t\t\n\n\t\tTexture2D + mainTexture;\n\t\tSamplerState samplermainTexture;\n\t\t\n\n\t\t\n\t\t#define + VFX_NEEDS_COLOR_INTERPOLATOR (VFX_USE_COLOR_CURRENT || VFX_USE_ALPHA_CURRENT)\n\t\t\n\t\tByteAddressBuffer + attributeBuffer;\t\n\t\t\n\t\t#if VFX_HAS_INDIRECT_DRAW\n\t\tStructuredBuffer + indirectBuffer;\t\n\t\t#endif\t\n\t\t\n\t\t#if USE_DEAD_LIST_COUNT\n\t\tByteAddressBuffer + deadListCount;\n\t\t#endif\n\t\t\n\t\tCBUFFER_START(outputParams)\n\t\t\tfloat + nbMax;\n\t\t\tfloat systemSeed;\n\t\tCBUFFER_END\n\t\t\n\t\tENDHLSL\n\t\t\n\n\t\t// + Depth pass\n\t\tPass\n\t\t{\t\t\n\t\t\tTags { \"LightMode\"=\"DepthForwardOnly\" + }\n\t\t\n\t\t\tZWrite On\n\t\t\tBlend Off\n\t\t\t\n\t\t\tHLSLPROGRAM\n\t\t\t#pragma + target 4.5\n\t\t\t\n\t\t\tstruct ps_input\n\t\t\t{\n\t\t\t\tfloat4 pos : SV_POSITION;\n\t\t\t\t#if + USE_FLIPBOOK_INTERPOLATION\n\t\t\t\tfloat4 uv : TEXCOORD0;\n\t\t\t\t#else\n\t\t\t\tfloat2 + uv : TEXCOORD0;\t\n\t\t\t\t#endif\n\t\t\t\t#if USE_ALPHA_TEST || USE_FLIPBOOK_INTERPOLATION + || VFX_USE_ALPHA_CURRENT\n\t\t\t\t// x: alpha threshold\n\t\t\t\t// y: frame + blending factor\n\t\t\t\t// z: alpha\n\t\t\t\tnointerpolation float3 builtInInterpolants + : TEXCOORD1;\n\t\t\t\t#endif\n\t\t\t};\n\t\t\n\t\t#define VFX_VARYING_PS_INPUTS + ps_input\n\t\t#define VFX_VARYING_POSCS pos\n\t\t#define VFX_VARYING_ALPHA builtInInterpolants.z\n\t\t#define + VFX_VARYING_ALPHATHRESHOLD builtInInterpolants.x\n\t\t#define VFX_VARYING_FRAMEBLEND + builtInInterpolants.y\n\t\t#define VFX_VARYING_UV uv\n\t\t\t\t\t\t\n\t\t\t#if + !(defined(VFX_VARYING_PS_INPUTS) && defined(VFX_VARYING_POSCS))\n\t\t\t#error + VFX_VARYING_PS_INPUTS, VFX_VARYING_POSCS and VFX_VARYING_UV must be defined.\n\t\t\t#endif\n\t\t\t\n\t\t\t#include + \"Packages/com.unity.visualeffectgraph/Shaders/RenderPipeline/HDRP/VFXCommon.cginc\"\n\t\t\t#include + \"Packages/com.unity.visualeffectgraph/Shaders/VFXCommon.cginc\"\n\t\t\t\n\n\t\t\tvoid + SetAttribute_3278B22F(inout float size, float Size) /*attribute:size Composition:Overwrite + Source:Slot Random:Off channels:XYZ */\n\t\t\t{\n\t\t\t size = Size;\n\t\t\t}\n\t\t\t\n\n\t\t\t\n\t\t\t#pragma + vertex vert\n\t\t\tVFX_VARYING_PS_INPUTS vert(uint id : SV_VertexID, uint instanceID + : SV_InstanceID)\n\t\t\t{\n\t\t\t\tuint index = (id >> 2) + instanceID * 2048;\n\t\t\t\tVFX_VARYING_PS_INPUTS + o = (VFX_VARYING_PS_INPUTS)0;\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\tuint deadCount + = 0;\n\t\t\t\t\t\t#if USE_DEAD_LIST_COUNT\n\t\t\t\t\t\tdeadCount = deadListCount.Load(0);\n\t\t\t\t\t\t#endif\t\n\t\t\t\t\t\tif + (index >= asuint(nbMax) - deadCount)\n\t\t\t\t\t\t\treturn o; // cull\n\t\t\t\t\t\t\n\t\t\t\t\t\t#if + VFX_HAS_INDIRECT_DRAW\n\t\t\t\t\t\tindex = indirectBuffer[index];\n\t\t\t\t\t\tfloat3 + position = asfloat(attributeBuffer.Load3((index * 0x8 + 0xF4280) << 2));\n\t\t\t\t\t\tfloat3 + color = asfloat(attributeBuffer.Load3((index * 0x8 + 0xF4284) << 2));\n\t\t\t\t\t\tfloat + alpha = asfloat(attributeBuffer.Load((index * 0x8 + 0xF4283) << 2));\n\t\t\t\t\t\tbool + alive = (bool)true;\n\t\t\t\t\t\tfloat3 axisX = float3(1,0,0);\n\t\t\t\t\t\tfloat3 + axisY = float3(0,1,0);\n\t\t\t\t\t\tfloat3 axisZ = float3(0,0,1);\n\t\t\t\t\t\tfloat + angleX = (float)0;\n\t\t\t\t\t\tfloat angleY = (float)0;\n\t\t\t\t\t\tfloat + angleZ = (float)0;\n\t\t\t\t\t\tfloat pivotX = (float)0;\n\t\t\t\t\t\tfloat + pivotY = (float)0;\n\t\t\t\t\t\tfloat pivotZ = (float)0;\n\t\t\t\t\t\tfloat + size = (float)0.1;\n\t\t\t\t\t\tfloat scaleX = (float)1;\n\t\t\t\t\t\tfloat + scaleY = (float)1;\n\t\t\t\t\t\tfloat scaleZ = (float)1;\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\t#else\n\t\t\t\t\t\tbool + alive = (bool)true;\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\tif (!alive)\n\t\t\t\t\t\t\treturn + o;\n\t\t\t\t\t\t\t\n\t\t\t\t\t\tfloat3 position = asfloat(attributeBuffer.Load3((index + * 0x8 + 0xF4280) << 2));\n\t\t\t\t\t\tfloat3 color = asfloat(attributeBuffer.Load3((index + * 0x8 + 0xF4284) << 2));\n\t\t\t\t\t\tfloat alpha = asfloat(attributeBuffer.Load((index + * 0x8 + 0xF4283) << 2));\n\t\t\t\t\t\tfloat3 axisX = float3(1,0,0);\n\t\t\t\t\t\tfloat3 + axisY = float3(0,1,0);\n\t\t\t\t\t\tfloat3 axisZ = float3(0,0,1);\n\t\t\t\t\t\tfloat + angleX = (float)0;\n\t\t\t\t\t\tfloat angleY = (float)0;\n\t\t\t\t\t\tfloat + angleZ = (float)0;\n\t\t\t\t\t\tfloat pivotX = (float)0;\n\t\t\t\t\t\tfloat + pivotY = (float)0;\n\t\t\t\t\t\tfloat pivotZ = (float)0;\n\t\t\t\t\t\tfloat + size = (float)0.1;\n\t\t\t\t\t\tfloat scaleX = (float)1;\n\t\t\t\t\t\tfloat + scaleY = (float)1;\n\t\t\t\t\t\tfloat scaleZ = (float)1;\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t{\n\t\t\t\t + \ SetAttribute_3278B22F( /*inout */size, (float)0.003);\n\t\t\t\t}\n\t\t\t\t\n\n\t\t\t\t\n\t\t\t\tif + (!alive)\n\t\t\t\t\treturn o;\n\t\t\t\t\n\t\t\t\to.VFX_VARYING_UV.x = float(id + & 1);\n\t\t\t\to.VFX_VARYING_UV.y = float((id & 2) >> 1);\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\tfloat3 + size3 = float3(size,size,size);\n\t\t\t\t\t\t#if VFX_USE_SCALEX_CURRENT\n\t\t\t\t\t\tsize3.x + *= scaleX;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t#if VFX_USE_SCALEY_CURRENT\n\t\t\t\t\t\tsize3.y + *= scaleY;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t#if VFX_USE_SCALEZ_CURRENT\n\t\t\t\t\t\tsize3.z + *= scaleZ;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\tconst float2 + vOffsets = o.VFX_VARYING_UV.xy - 0.5f;\n\t\t\t\tconst float4x4 elementToVFX + = GetElementToVFXMatrix(axisX,axisY,axisZ,float3(angleX,angleY,angleZ),float3(pivotX,pivotY,pivotZ),size3,position);\n\t\t\t\t\t + \ float3 vPos = mul(elementToVFX,float4(vOffsets,0.0f,1.0f)).xyz;\n\t\t\t\n\t\t\t\to.VFX_VARYING_POSCS + = TransformPositionVFXToClip(vPos);\n\t\t\t\n\t\t\t\tfloat3 normalWS = normalize(TransformDirectionVFXToWorld(normalize(-transpose(elementToVFX)[2].xyz)));\n\t\t\t\t#ifdef + VFX_VARYING_NORMAL\n\t\t\t\tfloat normalFlip = (size3.x * size3.y * size3.z) + < 0 ? -1 : 1;\n\t\t\t\to.VFX_VARYING_NORMAL = normalFlip * normalWS;\n\t\t\t\t#endif\n\t\t\t\t#ifdef + VFX_VARYING_TANGENT\n\t\t\t\to.VFX_VARYING_TANGENT = normalize(TransformDirectionVFXToWorld(normalize(transpose(elementToVFX)[0].xyz)));\n\t\t\t\t#endif\n\t\t\t\t#ifdef + VFX_VARYING_BENTFACTORS\n\t\t\t\t\n\t\t\t\to.VFX_VARYING_BENTFACTORS = vOffsets + * bentNormalFactor;\n\t\t\t\t#endif\n\t\t\t\n\t\t\t\t\n\t\t\t\t\t\t#if VFX_USE_COLOR_CURRENT + && defined(VFX_VARYING_COLOR)\n\t\t\t\t\t\to.VFX_VARYING_COLOR = color;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t#if + VFX_USE_ALPHA_CURRENT && defined(VFX_VARYING_ALPHA) \n\t\t\t\t\t\to.VFX_VARYING_ALPHA + = alpha;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t#if USE_SOFT_PARTICLE + && defined(VFX_VARYING_INVSOFTPARTICLEFADEDISTANCE)\n\t\t\t\t\t\t\n\t\t\t\t\t\to.VFX_VARYING_INVSOFTPARTICLEFADEDISTANCE + = invSoftParticlesFadeDistance;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\t\t#if + USE_ALPHA_TEST && defined(VFX_VARYING_ALPHATHRESHOLD)\n\t\t\t\t\t\tfloat alphaThreshold + = (float)0;\n\t\t\t\t\t\t{\n\t\t\t\t\t\t \n\t\t\t\t\t\t alphaThreshold + = (float)0.2;\n\t\t\t\t\t\t}\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\to.VFX_VARYING_ALPHATHRESHOLD + = alphaThreshold;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\t\t#if USE_UV_SCALE_BIAS\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\to.VFX_VARYING_UV.xy + = o.VFX_VARYING_UV.xy * uvScale + uvBias;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\t\t#if + defined(VFX_VARYING_POSWS)\n\t\t\t\t\t\to.VFX_VARYING_POSWS = TransformPositionVFXToWorld(vPos);\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\t#if + USE_FLIPBOOK\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\tVFXUVData uvData = GetUVData(flipBookSize, + invFlipBookSize, o.VFX_VARYING_UV.xy, texIndex);\n\t\t\t\t\t\to.VFX_VARYING_UV.xy + = uvData.uvs.xy;\n\t\t\t\t\t\t#if USE_FLIPBOOK_INTERPOLATION\n\t\t\t\t\t\to.VFX_VARYING_UV.zw + = uvData.uvs.zw;\n\t\t\t\t\t\to.VFX_VARYING_FRAMEBLEND = uvData.blend;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\n\t\t\t\t\n\t\t\t\n\t\t\t\treturn + o;\n\t\t\t}\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t#include + \"Packages/com.unity.visualeffectgraph/Shaders/VFXCommonOutput.cginc\"\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\t\n\t\t\t#pragma + fragment frag\n\t\t\tfloat4 frag(ps_input i) : SV_TARGET\n\t\t\t{\n\t\t\t\tfloat + alpha = VFXGetFragmentColor(i).a;\n\t\t\t\talpha *= VFXGetTextureColor(VFX_SAMPLER(mainTexture),i).a;\t\t\n\t\t\t\tVFXClipFragmentColor(alpha,i);\n\t\t\t\treturn + (float4)0;\n\t\t\t}\n\t\t\tENDHLSL\n\t\t}\n\t\t\n\n\t\t// Forward pass\n\t\tPass\n\t\t{\t\t\n\t\t\tTags + { \"LightMode\"=\"ForwardOnly\" }\n\t\t\t\n\t\t\tHLSLPROGRAM\n\t\t\t#pragma + target 4.5\n\t\t\t\n\t\t\n\t\t\tstruct ps_input\n\t\t\t{\n\t\t\t\tfloat4 pos + : SV_POSITION;\n\t\t\t\t#if USE_FLIPBOOK_INTERPOLATION\n\t\t\t\tfloat4 uv : + TEXCOORD0;\n\t\t\t\t#else\n\t\t\t\tfloat2 uv : TEXCOORD0;\t\n\t\t\t\t#endif\n\t\t\t\t#if + VFX_NEEDS_COLOR_INTERPOLATOR\n\t\t\t\tnointerpolation float4 color : COLOR0;\n\t\t\t\t#endif\n\t\t\t\t#if + USE_SOFT_PARTICLE || USE_ALPHA_TEST || USE_FLIPBOOK_INTERPOLATION\n\t\t\t\t// + x: inverse soft particles fade distance\n\t\t\t\t// y: alpha threshold\n\t\t\t\t// + z: frame blending factor\n\t\t\t\tnointerpolation float3 builtInInterpolants + : TEXCOORD1;\n\t\t\t\t#endif\n\t\t\t\t#if VFX_NEEDS_POSWS_INTERPOLATOR\n\t\t\t\tfloat3 + posWS : TEXCOORD2;\n\t\t\t\t#endif\n\t\t\t};\n\t\t\t\n\t\t\tstruct ps_output\n\t\t\t{\n\t\t\t\tfloat4 + color : SV_Target0;\n\t\t\t};\n\t\t\n\t\t#define VFX_VARYING_PS_INPUTS ps_input\n\t\t#define + VFX_VARYING_POSCS pos\n\t\t#define VFX_VARYING_COLOR color.rgb\n\t\t#define + VFX_VARYING_ALPHA color.a\n\t\t#define VFX_VARYING_INVSOFTPARTICLEFADEDISTANCE + builtInInterpolants.x\n\t\t#define VFX_VARYING_ALPHATHRESHOLD builtInInterpolants.y\n\t\t#define + VFX_VARYING_FRAMEBLEND builtInInterpolants.z\n\t\t#define VFX_VARYING_UV uv\n\t\t#if + VFX_NEEDS_POSWS_INTERPOLATOR\n\t\t#define VFX_VARYING_POSWS posWS\n\t\t#endif\n\t\t\t\t\n\t\t\t#if + !(defined(VFX_VARYING_PS_INPUTS) && defined(VFX_VARYING_POSCS))\n\t\t\t#error + VFX_VARYING_PS_INPUTS, VFX_VARYING_POSCS and VFX_VARYING_UV must be defined.\n\t\t\t#endif\n\t\t\t\n\t\t\t#include + \"Packages/com.unity.visualeffectgraph/Shaders/RenderPipeline/HDRP/VFXCommon.cginc\"\n\t\t\t#include + \"Packages/com.unity.visualeffectgraph/Shaders/VFXCommon.cginc\"\n\t\t\t\n\n\t\t\tvoid + SetAttribute_3278B22F(inout float size, float Size) /*attribute:size Composition:Overwrite + Source:Slot Random:Off channels:XYZ */\n\t\t\t{\n\t\t\t size = Size;\n\t\t\t}\n\t\t\t\n\n\t\t\t\n\t\t\t#pragma + vertex vert\n\t\t\tVFX_VARYING_PS_INPUTS vert(uint id : SV_VertexID, uint instanceID + : SV_InstanceID)\n\t\t\t{\n\t\t\t\tuint index = (id >> 2) + instanceID * 2048;\n\t\t\t\tVFX_VARYING_PS_INPUTS + o = (VFX_VARYING_PS_INPUTS)0;\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\tuint deadCount + = 0;\n\t\t\t\t\t\t#if USE_DEAD_LIST_COUNT\n\t\t\t\t\t\tdeadCount = deadListCount.Load(0);\n\t\t\t\t\t\t#endif\t\n\t\t\t\t\t\tif + (index >= asuint(nbMax) - deadCount)\n\t\t\t\t\t\t\treturn o; // cull\n\t\t\t\t\t\t\n\t\t\t\t\t\t#if + VFX_HAS_INDIRECT_DRAW\n\t\t\t\t\t\tindex = indirectBuffer[index];\n\t\t\t\t\t\tfloat3 + position = asfloat(attributeBuffer.Load3((index * 0x8 + 0xF4280) << 2));\n\t\t\t\t\t\tfloat3 + color = asfloat(attributeBuffer.Load3((index * 0x8 + 0xF4284) << 2));\n\t\t\t\t\t\tfloat + alpha = asfloat(attributeBuffer.Load((index * 0x8 + 0xF4283) << 2));\n\t\t\t\t\t\tbool + alive = (bool)true;\n\t\t\t\t\t\tfloat3 axisX = float3(1,0,0);\n\t\t\t\t\t\tfloat3 + axisY = float3(0,1,0);\n\t\t\t\t\t\tfloat3 axisZ = float3(0,0,1);\n\t\t\t\t\t\tfloat + angleX = (float)0;\n\t\t\t\t\t\tfloat angleY = (float)0;\n\t\t\t\t\t\tfloat + angleZ = (float)0;\n\t\t\t\t\t\tfloat pivotX = (float)0;\n\t\t\t\t\t\tfloat + pivotY = (float)0;\n\t\t\t\t\t\tfloat pivotZ = (float)0;\n\t\t\t\t\t\tfloat + size = (float)0.1;\n\t\t\t\t\t\tfloat scaleX = (float)1;\n\t\t\t\t\t\tfloat + scaleY = (float)1;\n\t\t\t\t\t\tfloat scaleZ = (float)1;\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\t#else\n\t\t\t\t\t\tbool + alive = (bool)true;\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\tif (!alive)\n\t\t\t\t\t\t\treturn + o;\n\t\t\t\t\t\t\t\n\t\t\t\t\t\tfloat3 position = asfloat(attributeBuffer.Load3((index + * 0x8 + 0xF4280) << 2));\n\t\t\t\t\t\tfloat3 color = asfloat(attributeBuffer.Load3((index + * 0x8 + 0xF4284) << 2));\n\t\t\t\t\t\tfloat alpha = asfloat(attributeBuffer.Load((index + * 0x8 + 0xF4283) << 2));\n\t\t\t\t\t\tfloat3 axisX = float3(1,0,0);\n\t\t\t\t\t\tfloat3 + axisY = float3(0,1,0);\n\t\t\t\t\t\tfloat3 axisZ = float3(0,0,1);\n\t\t\t\t\t\tfloat + angleX = (float)0;\n\t\t\t\t\t\tfloat angleY = (float)0;\n\t\t\t\t\t\tfloat + angleZ = (float)0;\n\t\t\t\t\t\tfloat pivotX = (float)0;\n\t\t\t\t\t\tfloat + pivotY = (float)0;\n\t\t\t\t\t\tfloat pivotZ = (float)0;\n\t\t\t\t\t\tfloat + size = (float)0.1;\n\t\t\t\t\t\tfloat scaleX = (float)1;\n\t\t\t\t\t\tfloat + scaleY = (float)1;\n\t\t\t\t\t\tfloat scaleZ = (float)1;\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t{\n\t\t\t\t + \ SetAttribute_3278B22F( /*inout */size, (float)0.003);\n\t\t\t\t}\n\t\t\t\t\n\n\t\t\t\t\n\t\t\t\tif + (!alive)\n\t\t\t\t\treturn o;\n\t\t\t\t\n\t\t\t\to.VFX_VARYING_UV.x = float(id + & 1);\n\t\t\t\to.VFX_VARYING_UV.y = float((id & 2) >> 1);\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\tfloat3 + size3 = float3(size,size,size);\n\t\t\t\t\t\t#if VFX_USE_SCALEX_CURRENT\n\t\t\t\t\t\tsize3.x + *= scaleX;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t#if VFX_USE_SCALEY_CURRENT\n\t\t\t\t\t\tsize3.y + *= scaleY;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t#if VFX_USE_SCALEZ_CURRENT\n\t\t\t\t\t\tsize3.z + *= scaleZ;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\tconst float2 + vOffsets = o.VFX_VARYING_UV.xy - 0.5f;\n\t\t\t\tconst float4x4 elementToVFX + = GetElementToVFXMatrix(axisX,axisY,axisZ,float3(angleX,angleY,angleZ),float3(pivotX,pivotY,pivotZ),size3,position);\n\t\t\t\t\t + \ float3 vPos = mul(elementToVFX,float4(vOffsets,0.0f,1.0f)).xyz;\n\t\t\t\n\t\t\t\to.VFX_VARYING_POSCS + = TransformPositionVFXToClip(vPos);\n\t\t\t\n\t\t\t\tfloat3 normalWS = normalize(TransformDirectionVFXToWorld(normalize(-transpose(elementToVFX)[2].xyz)));\n\t\t\t\t#ifdef + VFX_VARYING_NORMAL\n\t\t\t\tfloat normalFlip = (size3.x * size3.y * size3.z) + < 0 ? -1 : 1;\n\t\t\t\to.VFX_VARYING_NORMAL = normalFlip * normalWS;\n\t\t\t\t#endif\n\t\t\t\t#ifdef + VFX_VARYING_TANGENT\n\t\t\t\to.VFX_VARYING_TANGENT = normalize(TransformDirectionVFXToWorld(normalize(transpose(elementToVFX)[0].xyz)));\n\t\t\t\t#endif\n\t\t\t\t#ifdef + VFX_VARYING_BENTFACTORS\n\t\t\t\t\n\t\t\t\to.VFX_VARYING_BENTFACTORS = vOffsets + * bentNormalFactor;\n\t\t\t\t#endif\n\t\t\t\n\t\t\t\t\n\t\t\t\t\t\t#if VFX_USE_COLOR_CURRENT + && defined(VFX_VARYING_COLOR)\n\t\t\t\t\t\to.VFX_VARYING_COLOR = color;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t#if + VFX_USE_ALPHA_CURRENT && defined(VFX_VARYING_ALPHA) \n\t\t\t\t\t\to.VFX_VARYING_ALPHA + = alpha;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t#if USE_SOFT_PARTICLE + && defined(VFX_VARYING_INVSOFTPARTICLEFADEDISTANCE)\n\t\t\t\t\t\t\n\t\t\t\t\t\to.VFX_VARYING_INVSOFTPARTICLEFADEDISTANCE + = invSoftParticlesFadeDistance;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\t\t#if + USE_ALPHA_TEST && defined(VFX_VARYING_ALPHATHRESHOLD)\n\t\t\t\t\t\tfloat alphaThreshold + = (float)0;\n\t\t\t\t\t\t{\n\t\t\t\t\t\t \n\t\t\t\t\t\t alphaThreshold + = (float)0.2;\n\t\t\t\t\t\t}\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\to.VFX_VARYING_ALPHATHRESHOLD + = alphaThreshold;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\t\t#if USE_UV_SCALE_BIAS\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\to.VFX_VARYING_UV.xy + = o.VFX_VARYING_UV.xy * uvScale + uvBias;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\t\t#if + defined(VFX_VARYING_POSWS)\n\t\t\t\t\t\to.VFX_VARYING_POSWS = TransformPositionVFXToWorld(vPos);\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\t#if + USE_FLIPBOOK\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\tVFXUVData uvData = GetUVData(flipBookSize, + invFlipBookSize, o.VFX_VARYING_UV.xy, texIndex);\n\t\t\t\t\t\to.VFX_VARYING_UV.xy + = uvData.uvs.xy;\n\t\t\t\t\t\t#if USE_FLIPBOOK_INTERPOLATION\n\t\t\t\t\t\to.VFX_VARYING_UV.zw + = uvData.uvs.zw;\n\t\t\t\t\t\to.VFX_VARYING_FRAMEBLEND = uvData.blend;\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\n\t\t\t\t\n\t\t\t\n\t\t\t\treturn + o;\n\t\t\t}\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t#include + \"Packages/com.unity.visualeffectgraph/Shaders/VFXCommonOutput.cginc\"\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\t\n\t\t\t#pragma + fragment frag\n\t\t\tps_output frag(ps_input i)\n\t\t\t{\n\t\t\t\tps_output + o = (ps_output)0;\n\t\t\t\to.color = VFXGetFragmentColor(i);\n\t\t\t\to.color + *= VFXGetTextureColor(VFX_SAMPLER(mainTexture),i);\n\t\t o.color = VFXApplyPreExposure(o.color);\n\t\t\t\to.color + = VFXApplyFog(o.color,i);\n\t\t\t\tVFXClipFragmentColor(o.color.a,i);\n\t\t\t\to.color.a + = saturate(o.color.a);\n\t\t\t\treturn o;\n\t\t\t}\n\t\t\tENDHLSL\n\t\t}\n\t\t\n\n\t\t\n\t}\n}\n" + m_Infos: + m_Expressions: + m_Expressions: + - op: 1 + valueIndex: 0 + data[0]: -1 + data[1]: -1 + data[2]: -1 + data[3]: 1 + - op: 1 + valueIndex: 1 + data[0]: -1 + data[1]: -1 + data[2]: -1 + data[3]: 7 + - op: 1 + valueIndex: 3 + data[0]: -1 + data[1]: -1 + data[2]: -1 + data[3]: 7 + - op: 1 + valueIndex: 5 + data[0]: -1 + 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+DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/PoseDetectionDemo/Scripts/StaticPoseDetector.cs b/UnityProject/Assets/AzureKinectExamples/KinectDemos/PoseDetectionDemo/Scripts/StaticPoseDetector.cs new file mode 100644 index 0000000..0a0ad2f --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/PoseDetectionDemo/Scripts/StaticPoseDetector.cs @@ -0,0 +1,340 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; +using System.Text; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// Static pose detector check whether the user's pose matches a predefined, static model's pose. + /// + public class StaticPoseDetector : MonoBehaviour + { + [Tooltip("User avatar model, who needs to reach the target pose.")] + public PoseModelHelper avatarModel; + + [Tooltip("Model in pose that need to be reached by the user.")] + public PoseModelHelper poseModel; + + [Tooltip("List of joints to compare.")] + public List poseJoints = new List(); + + [Tooltip("Allowed delay in pose match, in seconds. 0 means no delay allowed.")] + [Range(0f, 10f)] + public float delayAllowed = 2f; + + [Tooltip("Time between pose-match checks, in seconds. 0 means check each frame.")] + [Range(0f, 1f)] + public float timeBetweenChecks = 0.1f; + + [Tooltip("Threshold, above which we consider the pose is matched.")] + [Range(0.5f, 1f)] + public float matchThreshold = 0.7f; + + [Tooltip("GUI-Text to display information messages.")] + public UnityEngine.UI.Text infoText; + + // whether the pose is matched or not + private bool bPoseMatched = false; + // match percent (between 0 and 1) + private float fMatchPercent = 0f; + // pose-time with best matching + private float fMatchPoseTime = 0f; + + // initial rotation + private Quaternion initialAvatarRotation = Quaternion.identity; + private Quaternion initialPoseRotation = Quaternion.identity; + + // reference to the avatar controller + private AvatarController avatarController = null; + + // uncomment to get debug info + private StringBuilder sbDebug = null; // new StringBuilder(); + + + + // data for each saved pose + public class PoseModelData + { + public float fTime; + public Vector3[] avBoneDirs; + } + + // list of saved pose data + private List alSavedPoses = new List(); + + // current avatar pose + private PoseModelData poseAvatar = new PoseModelData(); + + // last time the model pose was saved + private float lastPoseSavedTime = 0f; + + + /// + /// Determines whether the target pose is matched or not. + /// + /// true if the target pose is matched; otherwise, false. + public bool IsPoseMatched() + { + return bPoseMatched; + } + + + /// + /// Gets the pose match percent. + /// + /// The match percent (value between 0 and 1). + public float GetMatchPercent() + { + return fMatchPercent; + } + + + /// + /// Gets the time of the best matching pose. + /// + /// Time of the best matching pose. + public float GetMatchPoseTime() + { + return fMatchPoseTime; + } + + + /// + /// Gets the last check time. + /// + /// The last check time. + public float GetPoseCheckTime() + { + return lastPoseSavedTime; + } + + + private void Awake() + { + if(avatarModel) + { + initialAvatarRotation = avatarModel.transform.rotation; + avatarController = avatarModel.gameObject.GetComponent(); + } + + if(poseModel) + { + initialPoseRotation = poseModel.transform.rotation; + } + } + + + void Update() + { + KinectManager kinectManager = KinectManager.Instance; + + // get mirrored state + bool isMirrored = avatarController ? avatarController.mirroredMovement : true; // true by default + + // current time + float fCurrentTime = Time.realtimeSinceStartup; + + // save model pose, if needed + if ((fCurrentTime - lastPoseSavedTime) >= timeBetweenChecks) + { + lastPoseSavedTime = fCurrentTime; + + // remove old poses and save current one + RemoveOldSavedPoses(fCurrentTime); + AddCurrentPoseToSaved(fCurrentTime, isMirrored); + } + + if(kinectManager != null && kinectManager.IsInitialized()) + { + if (avatarModel != null && avatarController && kinectManager.IsUserTracked(avatarController.playerId)) + { + // get current avatar pose + GetAvatarPose(fCurrentTime, isMirrored); + + // get the difference + GetPoseDifference(isMirrored); + + if (infoText != null) + { + //string sPoseMessage = string.Format("Pose match: {0:F0}% {1:F1}s ago {2}", fMatchPercent * 100f, Time.realtimeSinceStartup - fMatchPoseTime, + // (bPoseMatched ? "- Matched" : "")); + string sPoseMessage = string.Format("Pose match: {0:F0}% {1}", fMatchPercent * 100f, (bPoseMatched ? "- Matched" : "")); + if (sbDebug != null) + sPoseMessage += sbDebug.ToString(); + infoText.text = sPoseMessage; + } + } + else + { + // no user found + fMatchPercent = 0f; + fMatchPoseTime = 0f; + bPoseMatched = false; + + if (infoText != null) + { + infoText.text = "Try to follow the model pose."; + } + } + } + } + + + // removes saved poses older than delayAllowed from the list + private void RemoveOldSavedPoses(float fCurrentTime) + { + for (int i = alSavedPoses.Count - 1; i >= 0; i--) + { + if ((fCurrentTime - alSavedPoses[i].fTime) >= delayAllowed) + { + alSavedPoses.RemoveAt(i); + } + } + } + + + // adds current pose of poseModel to the saved poses list + private void AddCurrentPoseToSaved(float fCurrentTime, bool isMirrored) + { + KinectManager kinectManager = KinectManager.Instance; + if (kinectManager == null || poseModel == null || poseJoints == null) + return; + + PoseModelData pose = new PoseModelData(); + pose.fTime = fCurrentTime; + pose.avBoneDirs = new Vector3[poseJoints.Count]; + + // save model rotation + Quaternion poseModelRotation = poseModel.transform.rotation; + + if(avatarController) + { + ulong avatarUserId = avatarController.playerId; + bool isAvatarMirrored = avatarController.mirroredMovement; + + Quaternion userRotation = kinectManager.GetUserOrientation(avatarUserId, !isAvatarMirrored); + poseModel.transform.rotation = initialPoseRotation * userRotation; + + } + + int jointCount = kinectManager.GetJointCount(); + for (int i = 0; i < poseJoints.Count; i++) + { + KinectInterop.JointType joint = poseJoints[i]; + KinectInterop.JointType nextJoint = kinectManager.GetNextJoint(joint); + + if (nextJoint != joint && (int)nextJoint >= 0 && (int)nextJoint < jointCount) + { + Transform poseTransform1 = poseModel.GetBoneTransform(poseModel.GetBoneIndexByJoint(joint, isMirrored)); + Transform poseTransform2 = poseModel.GetBoneTransform(poseModel.GetBoneIndexByJoint(nextJoint, isMirrored)); + + if (poseTransform1 != null && poseTransform2 != null) + { + pose.avBoneDirs[i] = (poseTransform2.position - poseTransform1.position).normalized; + } + } + } + + // add pose to the list + alSavedPoses.Add(pose); + + // restore model rotation + poseModel.transform.rotation = poseModelRotation; + } + + + // gets the current avatar pose + private void GetAvatarPose(float fCurrentTime, bool isMirrored) + { + KinectManager kinectManager = KinectManager.Instance; + if (kinectManager == null || avatarModel == null || poseJoints == null) + return; + + poseAvatar.fTime = fCurrentTime; + if (poseAvatar.avBoneDirs == null) + { + poseAvatar.avBoneDirs = new Vector3[poseJoints.Count]; + } + + for (int i = 0; i < poseJoints.Count; i++) + { + KinectInterop.JointType joint = poseJoints[i]; + KinectInterop.JointType nextJoint = kinectManager.GetNextJoint(joint); + + int jointCount = kinectManager.GetJointCount(); + if (nextJoint != joint && (int)nextJoint >= 0 && (int)nextJoint < jointCount) + { + Transform avatarTransform1 = avatarModel.GetBoneTransform(avatarModel.GetBoneIndexByJoint(joint, isMirrored)); + Transform avatarTransform2 = avatarModel.GetBoneTransform(avatarModel.GetBoneIndexByJoint(nextJoint, isMirrored)); + + if (avatarTransform1 != null && avatarTransform2 != null) + { + poseAvatar.avBoneDirs[i] = (avatarTransform2.position - avatarTransform1.position).normalized; + } + } + } + } + + + // gets the difference between the avatar pose and the list of saved poses + private void GetPoseDifference(bool isMirrored) + { + // by-default values + bPoseMatched = false; + fMatchPercent = 0f; + fMatchPoseTime = 0f; + + KinectManager kinectManager = KinectManager.Instance; + if (poseJoints == null || poseAvatar.avBoneDirs == null) + return; + + if (sbDebug != null) + { + sbDebug.Clear(); + sbDebug.AppendLine(); + } + + // check the difference with saved poses, starting from the last one + for (int p = alSavedPoses.Count - 1; p >= 0; p--) + { + float fAngleDiff = 0f; + float fMaxDiff = 0f; + + PoseModelData poseModel = alSavedPoses[p]; + for (int i = 0; i < poseJoints.Count; i++) + { + Vector3 vPoseBone = poseModel.avBoneDirs[i]; + Vector3 vAvatarBone = poseAvatar.avBoneDirs[i]; + + if (vPoseBone == Vector3.zero || vAvatarBone == Vector3.zero) + continue; + + float fDiff = Vector3.Angle(vPoseBone, vAvatarBone); + if (fDiff > 90f) + fDiff = 90f; + + fAngleDiff += fDiff; + fMaxDiff += 90f; // we assume the max diff could be 90 degrees + + if (sbDebug != null) + { + sbDebug.AppendFormat("SP: {0}, {1} - angle: {2:F0}, match: {3:F0}%", p, poseJoints[i], fDiff, (1f - fDiff / 90f) * 100f); + sbDebug.AppendLine(); + } + } + + float fPoseMatch = fMaxDiff > 0f ? 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} + + void Update() + { + // alternatively, use the keyboard + if (Input.GetButtonDown("Jump") && !saverPlayer.IsPlaying()) // start or stop recording + { + if (saverPlayer) + { + if (!saverPlayer.IsRecording()) + { + saverPlayer.StartRecording(); + } + else + { + saverPlayer.StopRecordingOrPlaying(); + } + } + } + + if (Input.GetButtonDown("Fire1") && !saverPlayer.IsRecording()) // start or stop playing + { + if (saverPlayer) + { + if (!saverPlayer.IsPlaying()) + { + saverPlayer.StartPlaying(); + } + else + { + saverPlayer.StopRecordingOrPlaying(); + } + } + } + + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectDemos/RecorderDemo/Scripts/BodyDataPlayerController.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectDemos/RecorderDemo/Scripts/BodyDataPlayerController.cs.meta new file mode 100644 index 0000000..3edddd7 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectDemos/RecorderDemo/Scripts/BodyDataPlayerController.cs.meta @@ -0,0 +1,12 @@ 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1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("Delay in seconds when the replay starts, after no more users have been detected.")] + public float userLostMaxTime = 5f; + + private KinectManager kinectManager = null; + private BodyDataRecorderPlayer saverPlayer = null; + private KinectInterop.SensorData sensorData = null; + + private float lastUserTime = 0f; + + + void Start() + { + kinectManager = KinectManager.Instance; + saverPlayer = BodyDataRecorderPlayer.Instance; + + sensorData = kinectManager != null ? kinectManager.GetSensorData(sensorIndex) : null; + } + + void Update() + { + if (!kinectManager || !saverPlayer) + return; + + // check if the body-data is playing + bool bPlayerActive = saverPlayer.IsPlaying(); + + if (sensorData != null) + { + // check for users while playing + if (sensorData.trackedBodiesCount > 0) + { + lastUserTime = Time.realtimeSinceStartup; + } + } + + bool bUserFound = (Time.realtimeSinceStartup - lastUserTime) < 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Right_Forearm_Joint_01 + humanName: RightLowerArm + limit: + min: {x: -90, y: 0, z: -80} + max: {x: 90, y: 0, z: 80} + value: {x: .246206626, y: 0, z: .123103313} + length: .307758361 + modified: 1 + - boneName: Left_Wrist_Joint_01 + humanName: LeftHand + limit: + min: {x: 0, y: -40, z: -80} + max: {x: 0, y: 40, z: 80} + value: {x: .123103231, y: 0, z: .0615516156} + length: .153879076 + modified: 1 + - boneName: Right_Wrist_Joint_01 + humanName: RightHand + limit: + min: {x: 0, y: -40, z: -80} + max: {x: 0, y: 40, z: 80} + value: {x: .123103313, y: 0, z: .0615516566} + length: .153879181 + modified: 1 + - boneName: Left_Toe_Joint_01 + humanName: LeftToes + limit: + min: {x: 0, y: 0, z: -50} + max: {x: 0, y: 0, z: 50} + value: {x: .0551487468, y: 0, z: .0275743734} + length: .0689359531 + modified: 1 + - boneName: Right_Toe_Joint_01 + humanName: RightToes + limit: + min: {x: 0, y: 0, z: -50} + max: {x: 0, y: 0, z: 50} + value: {x: .0551487841, y: 0, z: .027574392} + length: .0689359978 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Left_Pinky_Finger_Joint_01c + humanName: Left Little Distal + limit: + min: {x: 0, y: 0, z: -45} + max: {x: 0, y: 0, z: 45} + value: {x: .0103702275, y: 0, z: .00518511375} + length: .0129627883 + modified: 1 + - boneName: Right_Thumb_Joint_01a + humanName: Right Thumb Proximal + limit: + min: {x: 0, y: -25, z: -20} + max: {x: 0, y: 25, z: 20} + value: {x: .0231404882, y: 0, z: .0115702441} + length: .0289256182 + modified: 1 + - boneName: Right_Thumb_Joint_01b + humanName: Right Thumb Intermediate + limit: + min: {x: 0, y: 0, z: -40} + max: {x: 0, y: 0, z: 35} + value: {x: .0173553638, y: 0, z: .00867768191} + length: .0216942132 + modified: 1 + - boneName: Right_Index_Finger_Joint_01a + humanName: Right Index Proximal + limit: + min: {x: 0, y: -20, z: -50} + max: {x: 0, y: 20, z: 50} + value: {x: .0324273743, y: 0, z: .0162136871} + length: .0405342355 + modified: 1 + - boneName: Right_Index_Finger_Joint_01b + humanName: Right Index Intermediate + limit: + min: {x: 0, y: 0, z: -45} + 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joint_RingBLT + position: {x: -2.842171e-16, y: 0.018736096, z: -8.881784e-18} + rotation: {x: 0.010815306, y: 0.007817986, z: -0.1474245, w: 0.98898333} + scale: {x: 1, y: 1, z: 1} + - name: joint_ThumbALT + parentName: joint_HandLT + position: {x: -0.021969557, y: 0.029900543, z: -0.0027506538} + rotation: {x: -0.24711628, y: 0.4095895, z: 0.33499223, w: 0.8117575} + scale: {x: 1, y: 1, z: 1} + - name: joint_ThumbBLT + parentName: joint_ThumbALT + position: {x: -7.105427e-17, y: 0.031011702, z: -1.1368684e-15} + rotation: {x: -0.0026100106, y: 0.0014288157, z: -0.037336458, w: 0.9992984} + scale: {x: 1, y: 1, z: 1} + - name: joint_ThumbCLT + parentName: joint_ThumbBLT + position: {x: -7.105427e-17, y: 0.033555813, z: 2.842171e-16} + rotation: {x: -0.0019168009, y: -6.939108e-13, z: -0.14090975, w: 0.99002063} + scale: {x: 1, y: 1, z: 1} + - name: joint_ClavicleRT + parentName: joint_TorsoC + position: {x: -0.02557371, y: 0.112838455, z: -0.036533024} + rotation: {x: 0.708495, y: -0.005900718, z: -0.027291263, w: 0.70516324} + scale: {x: 1, y: 1, z: 1} + - name: joint_ShoulderRT + parentName: joint_ClavicleRT + position: {x: 1.3322676e-17, y: -0.09353118, z: 5.684342e-16} + rotation: {x: -0.016957358, y: -0.0001882892, z: 0.014529762, w: 0.9997507} + scale: {x: 1, y: 1, z: 1} + - name: joint_ElbowRT + parentName: joint_ShoulderRT + position: {x: -8.437695e-17, y: -0.22699605, z: -3.524292e-14} + rotation: {x: 0.0000025518964, y: -0.002890455, z: 0.0008893413, w: 0.99999547} + scale: {x: 1, y: 1, z: 1} + - name: joint_HandRT + parentName: joint_ElbowRT + position: {x: -8.8817837e-17, y: -0.23313999, z: -8.5265126e-16} + rotation: {x: -0.0000000010213567, y: 6.749419e-11, z: 0.0000000032573064, w: 1} + scale: {x: 1, y: 1, z: 1} + - name: joint_CapitateRT + parentName: joint_HandRT + position: {x: 0.021424117, y: -0.069790326, z: 0.0024782456} + rotation: {x: -0.116362065, y: 0.69436795, z: 0.0935399, w: 0.70396256} + scale: {x: 1, y: 1, z: 1} + - name: joint_FingersART + parentName: joint_CapitateRT + position: {x: -0.007069473, y: -0.042376056, z: -0.021982742} + rotation: {x: 0.10683008, y: 0.034618903, z: -0.100003384, w: 0.98862946} + scale: {x: 1, y: 1, z: 1} + - name: joint_FingersBRT + parentName: joint_FingersART + position: {x: -0, y: -0.031887036, z: -9.436895e-17} + rotation: {x: -0.00014777474, y: -0.00019812575, z: -0.032867018, w: 0.9994597} + scale: {x: 1, y: 1, z: 1} + - name: joint_FingersCRT + parentName: joint_FingersBRT + position: {x: -0, y: -0.024387605, z: -7.5495166e-17} + rotation: {x: -0.00094749697, y: -0.00000014838454, z: -0.07122952, w: 0.99745953} + scale: {x: 1, y: 1, z: 1} + - name: joint_IndexART + parentName: joint_CapitateRT + position: {x: -0.0070247054, y: -0.04624521, z: 0.0023835532} + rotation: {x: 0.15599507, y: 0.036411144, z: -0.07972543, w: 0.98386157} + scale: {x: 1, y: 1, z: 1} + - name: joint_IndexBRT + parentName: joint_IndexART + position: {x: -2.842171e-16, y: -0.030683631, z: -5.9952044e-16} + rotation: {x: -0.000060437207, y: -0.0000059234776, z: -0.03486358, w: 0.99939215} + scale: {x: 1, y: 1, z: 1} + - name: joint_IndexCRT + parentName: joint_IndexBRT + position: {x: 2.842171e-16, y: -0.021124093, z: -5.551115e-17} + rotation: {x: -0.0002049929, y: 0.000002991265, z: -0.11821999, w: 0.9929874} + scale: {x: 1, y: 1, z: 1} + - name: joint_PisiformRT + parentName: joint_HandRT + position: {x: -0.011852939, y: -0.06356116, z: 0.0028258937} + rotation: {x: -0.021496302, y: 0.004695787, z: -0.0920875, w: 0.9955078} + scale: {x: 1, y: 1, z: 1} + - name: joint_PinkyART + parentName: joint_PisiformRT + position: {x: -0.008162671, y: -0.049396653, z: 0.005832635} + rotation: {x: -0.11342001, y: 0.70325553, z: 0.0027332224, w: 0.7018262} + scale: {x: 1, y: 1, z: 1} + - name: joint_PinkyBRT + parentName: joint_PinkyART + position: {x: -2.842171e-16, y: -0.028839132, z: 2.9309886e-16} + rotation: {x: -0.00069739326, y: 0.0022816986, z: -0.037640125, w: 0.99928856} + scale: {x: 1, y: 1, z: 1} + - name: joint_PinkyCRT + parentName: joint_PinkyBRT + position: {x: 5.684342e-16, y: -0.01792091, z: -3.5527136e-17} + rotation: {x: 0.0078076455, y: 0.004906698, z: -0.14258586, w: 0.9897395} + scale: {x: 1, y: 1, z: 1} + - name: joint_RingART + parentName: joint_PisiformRT + position: {x: 0.011868383, y: -0.050572023, z: 0.005752319} + rotation: {x: -0.11324192, y: 0.705373, z: 0.0022331232, w: 0.6997286} + scale: {x: 1, y: 1, z: 1} + - name: joint_RingBRT + parentName: joint_RingART + position: {x: -2.842171e-16, y: -0.0330195, z: -5.062617e-16} + rotation: {x: -0.0030575215, y: 0.00091907865, z: -0.03737, w: 0.9992964} + scale: {x: 1, y: 1, z: 1} + - name: joint_RingCRT + parentName: joint_RingBRT + position: {x: -2.842171e-16, y: -0.018736098, z: 4.4408918e-17} + rotation: {x: 0.010815305, y: 0.0078179855, z: -0.14742452, w: 0.98898333} + scale: {x: 1, y: 1, z: 1} + - name: joint_ThumbART + parentName: joint_HandRT + position: {x: 0.021969564, y: -0.029900536, z: 0.0027506629} + rotation: {x: -0.2471147, y: 0.4095901, z: 0.33499184, w: 0.81175786} + scale: {x: 1, y: 1, z: 1} + - name: joint_ThumbBRT + parentName: joint_ThumbART + position: {x: -7.105427e-17, y: -0.03101184, z: 5.684342e-16} + rotation: {x: -0.0026105857, y: 0.0014287829, z: -0.037333526, w: 0.9992985} + scale: {x: 1, y: 1, z: 1} + - name: joint_ThumbCRT + parentName: joint_ThumbBRT + position: {x: -0, y: -0.033555735, z: -2.842171e-16} + rotation: {x: -0.0019168011, y: 3.4880345e-12, z: -0.14090976, w: 0.99002063} + scale: {x: 1, y: 1, z: 1} + - name: joint_Neck + parentName: joint_TorsoC + position: {x: -0.030508418, y: 0.16579065, z: -4.3114498e-16} + rotation: {x: -0.00003687589, y: 0.000004050208, z: -0.10917696, w: 0.99402237} + scale: {x: 1, y: 1, z: 1} + - name: joint_Head + parentName: joint_Neck + position: {x: 3.5527136e-17, y: 0.11096524, z: 6.5399076e-17} + rotation: {x: 0.00007200721, y: -0.00000019133023, z: 0.16983414, w: 0.9854727} + scale: {x: 1, y: 1, z: 1} + - name: joint_CheekLT + parentName: joint_Head + position: {x: 0.08620723, y: 0.016572693, z: 0.0404238} + rotation: {x: -0.000035931065, y: 0.0000016958423, z: 0.04714463, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_CheekRT + parentName: joint_Head + position: {x: 0.08620712, y: 0.016566973, z: -0.04040974} + rotation: {x: -0.000035931065, y: 0.0000016958423, z: 0.04714463, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_DimpleLT + parentName: joint_Head + position: {x: 0.077869825, y: -0.01672987, z: 0.040882334} + rotation: {x: -0.000035952125, y: 0.0000017219473, z: 0.047144618, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_DimpleRT + parentName: joint_Head + position: {x: 0.07786978, y: -0.016735878, z: -0.040863328} + rotation: {x: -0.000035939145, y: 0.0000016385092, z: 0.047144618, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_EyebrowInnerLT + parentName: joint_Head + position: {x: 0.10109493, y: 0.049296916, z: 0.01578462} + rotation: {x: -0.000035889392, y: 0.0000016842349, z: 0.04714465, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_EyebrowInnerRT + parentName: joint_Head + position: {x: 0.10109479, y: 0.04929467, z: -0.015775235} + rotation: {x: -0.00003597274, y: 0.0000017074483, z: 0.04714465, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_EyebrowOuterLT + parentName: joint_Head + position: {x: 0.097099856, y: 0.060182307, z: 0.035207912} + rotation: {x: -0.000035931065, y: 0.0000016958423, z: 0.04714463, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_EyebrowOuterRT + parentName: joint_Head + position: {x: 0.09709985, y: 0.060177144, z: -0.03520019} + rotation: {x: -0.000035931065, y: 0.0000016958423, z: 0.04714463, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_EyelidsDownLT + parentName: joint_Head + position: {x: 0.07517924, y: 0.044309095, z: 0.03051075} + rotation: {x: -0.000035931065, y: 0.0000016958423, z: 0.04714463, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_EyelidsDownRT + parentName: joint_Head + position: {x: 0.0751791, y: 0.044304647, z: -0.030500557} + rotation: {x: -0.000035931065, y: 0.0000016958423, z: 0.04714463, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_EyelidUpLT + parentName: joint_Head + position: {x: 0.07534785, y: 0.045294777, z: 0.030510677} + rotation: {x: -0.000035931065, y: 0.0000016958423, z: 0.04714463, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_EyelidUpRT + parentName: joint_Head + position: {x: 0.07534773, y: 0.045290373, z: -0.030500628} + rotation: {x: -0.000035931065, y: 0.0000016958423, z: 0.04714463, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_EyeLT + parentName: joint_Head + position: {x: 0.06858908, y: 0.04614756, z: 0.030372534} + rotation: {x: -0.000050135728, y: 0.000045479428, z: 0.138001, w: 0.9904321} + scale: {x: 1, y: 1, z: 1} + - name: joint_EyeRT + parentName: joint_Head + position: {x: 0.06858917, y: 0.046143163, z: -0.030362705} + rotation: {x: -0.000021118272, y: -0.000035551373, z: 0.138001, w: 0.9904321} + scale: {x: 1, y: 1, z: 1} + - name: joint_Jaw + parentName: joint_Head + position: {x: 0.027292715, y: 0.0030089696, z: 0.000005300144} + rotation: {x: 0.6817181, y: 0.18772855, z: -0.6816796, w: 0.18796624} + scale: {x: 1, y: 1, z: 1} + - name: joint_LipCornerLT + parentName: joint_Head + position: {x: 0.08436283, y: -0.024852712, z: 0.02838105} + rotation: {x: -0.000035965935, y: 0.0000016845576, z: 0.047144618, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_LipCornerRT + parentName: joint_Head + position: {x: 0.084362954, y: -0.024856826, z: -0.028361006} + rotation: {x: -0.000035921963, y: 0.0000016749699, z: 0.047144618, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_LowerLip + parentName: joint_Head + position: {x: 0.09679368, y: -0.029298112, z: 0.0000327566} + rotation: {x: -0.0022607963, y: -0.0000031059378, z: 0.047639623, w: 0.998862} + scale: {x: 1, y: 1, z: 1} + - name: joint_LowerLipLT + parentName: joint_Head + position: {x: 0.092631176, y: -0.02872264, z: 0.0118472325} + rotation: {x: -0.000035880286, y: 0.0000016673145, z: 0.04714462, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_LowerLipRT + parentName: joint_Head + position: {x: 0.092631035, y: -0.028724331, z: -0.011826639} + rotation: {x: -0.000036009904, y: 0.0000016951572, z: 0.047144618, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_NoseMain + parentName: joint_Head + position: {x: 0.10065738, y: 0.003892789, z: 0.000023254803} + rotation: {x: -0.000035948997, y: 0.0000016889632, z: 0.047144674, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_NoseSideLT + parentName: joint_Head + position: {x: 0.09888673, y: -0.0036886358, z: 0.010685859} + rotation: {x: -0.00003593789, y: 0.0000016648976, z: 0.04714463, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_NoseSideRT + parentName: joint_Head + position: {x: 0.09888659, y: -0.003690285, z: -0.010668858} + rotation: {x: -0.00003592424, y: 0.0000017267839, z: 0.04714463, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_UpperLip + parentName: joint_Head + position: {x: 0.098340765, y: -0.02507382, z: 0.00003111151} + rotation: {x: -0.000035950612, y: 0.0000016740169, z: 0.04714463, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_UpperLipLT + parentName: joint_Head + position: {x: 0.09353665, y: -0.023451425, z: 0.014450802} + rotation: {x: -0.000035947156, y: 0.0000016732223, z: 0.047144618, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: joint_UpperLipRT + parentName: joint_Head + position: {x: 0.093536735, y: -0.023453439, z: -0.014430954} + rotation: {x: -0.00003593678, y: 0.0000016943364, z: 0.047144614, w: 0.9988881} + scale: {x: 1, y: 1, z: 1} + - name: U_Char + parentName: U_Character_REF(Clone) + position: {x: 0, y: 0, z: 0} + rotation: {x: 0, y: 0, z: 0, w: 1} + scale: {x: 1, y: 1, z: 1} + - name: U_Char_Eye_L + parentName: U_Character_REF(Clone) + position: {x: 0, y: 0, z: 0} + rotation: {x: 0, y: 0, z: 0, w: 1} + scale: {x: 1, y: 1, z: 1} + - name: U_Char_Eye_R + parentName: U_Character_REF(Clone) + position: {x: 0, y: 0, z: 0} + rotation: {x: 0, y: 0, z: 0, w: 1} + scale: {x: 1, y: 1, z: 1} + armTwist: 0.5 + foreArmTwist: 0.5 + upperLegTwist: 0.5 + legTwist: 0.5 + armStretch: 0.05 + legStretch: 0.05 + feetSpacing: 0 + globalScale: 0.01 + rootMotionBoneName: + hasTranslationDoF: 0 + hasExtraRoot: 0 + skeletonHasParents: 0 + lastHumanDescriptionAvatarSource: {instanceID: 0} + animationType: 3 + humanoidOversampling: 1 + additionalBone: 1 + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts.meta new file mode 100644 index 0000000..485e284 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 5a85012640094184b9a055de55b8416c +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarController.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarController.cs new file mode 100644 index 0000000..aaa6b0e --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarController.cs @@ -0,0 +1,1208 @@ +using UnityEngine; +//using Windows.Kinect; + +using System; +using System.Collections; +using System.Collections.Generic; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// Avatar controller is the component that transfers the captured user motion to a humanoid model (avatar). + /// + [RequireComponent(typeof(Animator))] + public class AvatarController : 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("Whether the avatar is facing the player or not.")] + public bool mirroredMovement = false; + + [Tooltip("Whether the avatar is allowed to move vertically or not.")] + public bool verticalMovement = false; + + [Tooltip("Whether the avatar's root motion is applied by other component or script.")] + public bool externalRootMotion = false; + + [Tooltip("Whether the head rotation is controlled externally (e.g. by VR-headset).")] + public bool externalHeadRotation = false; + + [Tooltip("Whether the hand and finger rotations are controlled externally (e.g. by LeapMotion controller)")] + public bool externalHandRotations = false; + + //[Tooltip("Whether the finger orientations are allowed or not.")] + //public bool fingerOrientations = false; + + [Tooltip("Rate at which the avatar will move through the scene.")] + public float moveRate = 1f; + + [Tooltip("Smooth factor used for avatar movements and joint rotations.")] + public float smoothFactor = 10f; + + [Tooltip("Whether to update the avatar in LateUpdate(), instead of in Update(). Needed for Mecanim animation blending.")] + public bool lateUpdateAvatar = false; + + [Tooltip("Game object this transform is relative to (optional).")] + public GameObject offsetNode; + + [Tooltip("If enabled, makes the avatar position relative to this camera to be the same as the player's position to the sensor.")] + public Camera posRelativeToCamera; + + [Tooltip("Whether the avatar's position should match the color image (in Pos-rel-to-camera mode only).")] + public bool posRelOverlayColor = false; + + [Tooltip("Plane used to render the color camera background to overlay.")] + public Transform backgroundPlane; + + [Tooltip("Whether z-axis movement needs to be inverted (Pos-Relative mode only).")] + public bool posRelInvertedZ = false; + + [Tooltip("Whether the avatar's feet must stick to the ground.")] + public bool groundedFeet = false; + + [Tooltip("Whether to apply the humanoid model's muscle limits or not.")] + public bool applyMuscleLimits = false; + + [Tooltip("Whether to flip left and right, relative to the sensor.")] + public bool flipLeftRight = false; + + + [Tooltip("Horizontal offset of the avatar with respect to the position of user's spine-base.")] + [Range(-0.5f, 0.5f)] + public float horizontalOffset = 0f; + + [Tooltip("Vertical offset of the avatar with respect to the position of user's spine-base.")] + [Range(-0.5f, 0.5f)] + public float verticalOffset = 0f; + + [Tooltip("Forward offset of the avatar with respect to the position of user's spine-base.")] + [Range(-0.5f, 0.5f)] + public float forwardOffset = 0f; + + // userId of the player + [NonSerialized] + public ulong playerId = 0; + + + // The body root node + protected Transform bodyRoot; + + // Variable to hold all them bones. It will initialize the same size as initialRotations. + protected Transform[] bones; + //protected Transform[] fingerBones; + + // Rotations of the bones when the Kinect tracking starts. + protected Quaternion[] initialRotations; + protected Quaternion[] localRotations; + protected bool[] isBoneDisabled; + + // Local rotations of finger bones + protected Dictionary fingerBoneLocalRotations = new Dictionary(); + protected Dictionary fingerBoneLocalAxes = new Dictionary(); + + // Initial position and rotation of the transform + protected Vector3 initialPosition; + protected Quaternion initialRotation; + protected Vector3 initialHipsPosition; + protected Quaternion initialHipsRotation; + + protected Vector3 offsetNodePos; + protected Quaternion offsetNodeRot; + protected Vector3 bodyRootPosition; + + // Calibration Offset Variables for Character Position. + [NonSerialized] + public bool offsetCalibrated = false; + protected Vector3 offsetPos = Vector3.zero; + //protected float xOffset, yOffset, zOffset; + //private Quaternion originalRotation; + + private Animator animatorComponent = null; + private HumanPoseHandler humanPoseHandler = null; + private HumanPose humanPose = new HumanPose(); + + // whether the parent transform obeys physics + protected bool isRigidBody = false; + + // private instance of the KinectManager + protected KinectManager kinectManager; + + //// last hand events + //private InteractionManager.HandEventType lastLeftHandEvent = InteractionManager.HandEventType.Release; + //private InteractionManager.HandEventType lastRightHandEvent = InteractionManager.HandEventType.Release; + + //// fist states + //private bool bLeftFistDone = false; + //private bool bRightFistDone = false; + + // grounder constants and variables + private const int raycastLayers = ~2; // Ignore Raycast + private const float maxFootDistanceGround = 0.02f; // maximum distance from lower foot to the ground + private const float maxFootDistanceTime = 0.2f; // 1.0f; // maximum allowed time, the lower foot to be distant from the ground + private Transform leftFoot, rightFoot; + + private float fFootDistanceInitial = 0f; + private float fFootDistance = 0f; + private float fFootDistanceTime = 0f; + + // background plane rectangle + private Rect planeRect = new Rect(); + private bool planeRectSet = false; + + + /// + /// Gets the number of bone transforms (array length). + /// + /// The number of bone transforms. + public int GetBoneTransformCount() + { + return bones != null ? bones.Length : 0; + } + + /// + /// Gets the bone transform by index. + /// + /// The bone transform. + /// Index + public Transform GetBoneTransform(int index) + { + if (index >= 0 && bones != null && index < bones.Length) + { + return bones[index]; + } + + return null; + } + + /// + /// Disables the bone and optionally resets its orientation. + /// + /// Bone index. + /// If set to true resets bone orientation. + public void DisableBone(int index, bool resetBone) + { + if (index >= 0 && index < bones.Length) + { + isBoneDisabled[index] = true; + + if (resetBone && bones[index] != null) + { + bones[index].rotation = localRotations[index]; + } + } + } + + /// + /// Enables the bone, so AvatarController could update its orientation. + /// + /// Bone index. + public void EnableBone(int index) + { + if (index >= 0 && index < bones.Length) + { + isBoneDisabled[index] = false; + } + } + + /// + /// Determines whether the bone orientation update is enabled or not. + /// + /// true if the bone update is enabled; otherwise, false. + /// Bone index. + public bool IsBoneEnabled(int index) + { + if (index >= 0 && index < bones.Length) + { + return !isBoneDisabled[index]; + } + + return false; + } + + /// + /// Gets the bone index by joint type. + /// + /// The bone index. + /// Joint type + /// If set to true gets the mirrored joint index. + public int GetBoneIndexByJoint(KinectInterop.JointType joint, bool bMirrored) + { + int boneIndex = -1; + + if (jointMap2boneIndex.ContainsKey(joint)) + { + boneIndex = !bMirrored ? jointMap2boneIndex[joint] : mirrorJointMap2boneIndex[joint]; + } + + return boneIndex; + } + + /// + /// Gets the list of AC-controlled mecanim bones. + /// + /// List of AC-controlled mecanim bones + public List GetMecanimBones() + { + List alMecanimBones = new List(); + + for (int boneIndex = 0; boneIndex < bones.Length; boneIndex++) + { + if (!boneIndex2MecanimMap.ContainsKey(boneIndex)) + continue; + + alMecanimBones.Add(boneIndex2MecanimMap[boneIndex]); + } + + return alMecanimBones; + } + + + // transform caching gives performance boost since Unity calls GetComponent() each time you call transform + private Transform _transformCache; + public new Transform transform + { + get + { + if (!_transformCache) + { + _transformCache = base.transform; + } + + return _transformCache; + } + } + + + public void Awake() + { + // check for double start + if (bones != null) + return; + if (!gameObject.activeInHierarchy) + return; + + // inits the bones array + bones = new Transform[21]; + + // get the animator reference + animatorComponent = GetComponent(); + + // Map bones to the points the Kinect tracks + MapBones(); + + // Set model's arms to be in T-pose, if needed + SetModelArmsInTpose(); + + // Initial rotations and directions of the bones. + initialRotations = new Quaternion[bones.Length]; + localRotations = new Quaternion[bones.Length]; + isBoneDisabled = new bool[bones.Length]; + + // Get initial bone rotations + GetInitialRotations(); + + // enable all bones + for (int i = 0; i < bones.Length; i++) + { + isBoneDisabled[i] = false; + } + + // get initial distance to ground + fFootDistanceInitial = GetDistanceToGround(); + fFootDistance = 0f; + fFootDistanceTime = 0f; + + // if parent transform uses physics + isRigidBody = (gameObject.GetComponent() != null); + + // get the pose handler reference + if (animatorComponent && animatorComponent.avatar && animatorComponent.avatar.isHuman) + { + //Transform hipsTransform = animator.GetBoneTransform(HumanBodyBones.Hips); + //Transform rootTransform = hipsTransform.parent; + Transform rootTransform = transform; + + humanPoseHandler = new HumanPoseHandler(animatorComponent.avatar, rootTransform); + humanPoseHandler.GetHumanPose(ref humanPose); + + initialHipsPosition = (humanPose.bodyPosition - rootTransform.position); // hipsTransform.position + initialHipsRotation = humanPose.bodyRotation; + } + } + + + public void Update() + { + if(kinectManager == null) + { + kinectManager = KinectManager.Instance; + } + + ulong userId = kinectManager ? kinectManager.GetUserIdByIndex(playerIndex) : 0; + if (playerId != userId) + { + if (/**playerId == 0 &&*/ userId != 0) + SuccessfulCalibration(userId, false); + else if (/**playerId != 0 &&*/ userId == 0) + ResetToInitialPosition(); + } + + if (!lateUpdateAvatar && playerId != 0) + { + UpdateAvatar(playerId); + } + } + + + void LateUpdate() + { + if (lateUpdateAvatar && playerId != 0) + { + UpdateAvatar(playerId); + } + } + + + // applies the muscle limits for humanoid avatar + private void CheckMuscleLimits() + { + if (humanPoseHandler == null) + return; + + humanPoseHandler.GetHumanPose(ref humanPose); + + //Debug.Log(playerId + " - Trans: " + transform.position + ", body: " + humanPose.bodyPosition); + + bool isPoseChanged = false; + + float muscleMin = -1f; + float muscleMax = 1f; + + for (int i = 0; i < humanPose.muscles.Length; i++) + { + if (float.IsNaN(humanPose.muscles[i])) + { + //humanPose.muscles[i] = 0f; + continue; + } + + if (humanPose.muscles[i] < muscleMin) + { + humanPose.muscles[i] = muscleMin; + isPoseChanged = true; + } + else if (humanPose.muscles[i] > muscleMax) + { + humanPose.muscles[i] = muscleMax; + isPoseChanged = true; + } + } + + if (isPoseChanged) + { + //Quaternion localBodyRot = Quaternion.Inverse(transform.rotation) * humanPose.bodyRotation; + Quaternion localBodyRot = Quaternion.Inverse(initialHipsRotation) * humanPose.bodyRotation; + + // recover the body position & orientation + //humanPose.bodyPosition = Vector3.zero; + //humanPose.bodyPosition.y = initialHipsPosition.y; + humanPose.bodyPosition = initialHipsPosition; + humanPose.bodyRotation = localBodyRot; // Quaternion.identity; + + humanPoseHandler.SetHumanPose(ref humanPose); + //Debug.Log(" Human pose updated."); + } + + } + + + /// + /// Updates the avatar each frame. + /// + /// User ID + public void UpdateAvatar(ulong UserID) + { + if (!gameObject.activeInHierarchy) + return; + + // Get the KinectManager instance + if (kinectManager == null) + { + kinectManager = KinectManager.Instance; + } + + // get the background plane rectangle if needed + if (backgroundPlane && !planeRectSet && kinectManager && kinectManager.IsInitialized()) + { + planeRectSet = true; + + planeRect.width = 10f * Mathf.Abs(backgroundPlane.localScale.x); + planeRect.height = 10f * Mathf.Abs(backgroundPlane.localScale.z); + planeRect.x = backgroundPlane.position.x - planeRect.width / 2f; + planeRect.y = backgroundPlane.position.y - planeRect.height / 2f; + } + + // move the avatar to its Kinect position + if (!externalRootMotion) + { + MoveAvatar(UserID); + } + + //// get the left hand state and event + //if (kinectManager && kinectManager.GetJointTrackingState(UserID, (int)KinectInterop.JointType.HandLeft) != KinectInterop.TrackingState.NotTracked) + //{ + // KinectInterop.HandState leftHandState = kinectManager.GetLeftHandState(UserID); + // InteractionManager.HandEventType leftHandEvent = InteractionManager.HandStateToEvent(leftHandState, lastLeftHandEvent); + + // if (leftHandEvent != InteractionManager.HandEventType.None) + // { + // lastLeftHandEvent = leftHandEvent; + // } + //} + + //// get the right hand state and event + //if (kinectManager && kinectManager.GetJointTrackingState(UserID, (int)KinectInterop.JointType.HandRight) != KinectInterop.TrackingState.NotTracked) + //{ + // KinectInterop.HandState rightHandState = kinectManager.GetRightHandState(UserID); + // InteractionManager.HandEventType rightHandEvent = InteractionManager.HandStateToEvent(rightHandState, lastRightHandEvent); + + // if (rightHandEvent != InteractionManager.HandEventType.None) + // { + // lastRightHandEvent = rightHandEvent; + // } + //} + + // rotate the avatar bones + for (var boneIndex = 0; boneIndex < bones.Length; boneIndex++) + { + if (!bones[boneIndex] || isBoneDisabled[boneIndex]) + continue; + + if (boneIndex2JointMap.ContainsKey(boneIndex)) + { + KinectInterop.JointType joint = !(mirroredMovement ^ flipLeftRight) ? + boneIndex2JointMap[boneIndex] : boneIndex2MirrorJointMap[boneIndex]; + + if (externalHeadRotation && joint == KinectInterop.JointType.Head) // skip head if moved externally + { + continue; + } + + if (externalHandRotations && // skip hands if moved externally + (joint == KinectInterop.JointType.WristLeft || joint == KinectInterop.JointType.WristRight || + joint == KinectInterop.JointType.HandLeft || joint == KinectInterop.JointType.HandRight)) + { + continue; + } + + TransformBone(UserID, joint, boneIndex, !(mirroredMovement ^ flipLeftRight)); + } + } + + if (applyMuscleLimits && kinectManager && kinectManager.IsUserTracked(UserID)) + { + // check for limits + CheckMuscleLimits(); + } + } + + /// + /// Resets bones to their initial positions and rotations. This also releases avatar control from KM, by settings playerId to 0 + /// + public virtual void ResetToInitialPosition() + { + playerId = 0; + //Debug.Log("ResetToInitialPosition. UserId: " + playerId); + + if (bones == null) + return; + + // For each bone that was defined, reset to initial position. + transform.rotation = Quaternion.identity; + + for (int pass = 0; pass < 2; pass++) // 2 passes because clavicles are at the end + { + for (int i = 0; i < bones.Length; i++) + { + if (bones[i] != null) + { + bones[i].rotation = initialRotations[i]; + } + } + } + + // reset finger bones to initial position + //Animator animatorComponent = GetComponent(); + foreach (HumanBodyBones bone in fingerBoneLocalRotations.Keys) + { + Transform boneTransform = animatorComponent ? animatorComponent.GetBoneTransform(bone) : null; + + if (boneTransform) + { + boneTransform.localRotation = fingerBoneLocalRotations[bone]; + } + } + + // Restore the offset's position and rotation + if (offsetNode != null) + { + offsetNode.transform.position = offsetNodePos; + offsetNode.transform.rotation = offsetNodeRot; + } + + transform.position = initialPosition; + transform.rotation = initialRotation; + } + + /// + /// Invoked on the successful calibration of the player. + /// + /// User identifier. + public virtual void SuccessfulCalibration(ulong userId, bool resetInitialTransform) + { + playerId = userId; + //Debug.Log("SuccessfulCalibration. UserId: " + playerId); + + // reset the models position + if (offsetNode != null) + { + offsetNode.transform.position = offsetNodePos; + offsetNode.transform.rotation = offsetNodeRot; + } + + // reset initial position / rotation if needed + if (resetInitialTransform) + { + bodyRootPosition = transform.position; + initialPosition = transform.position; + initialRotation = transform.rotation; + } + + transform.position = initialPosition; + transform.rotation = initialRotation; + + // re-calibrate the position offset + offsetCalibrated = false; + } + + /// + /// Moves the avatar to its initial/base position + /// + /// world position + /// rotation offset + public void resetInitialTransform(Vector3 position, Vector3 rotation) + { + bodyRootPosition = position; + initialPosition = position; + initialRotation = Quaternion.Euler(rotation); + + transform.position = initialPosition; + transform.rotation = initialRotation; + + offsetCalibrated = false; // this cause also calibrating kinect offset in moveAvatar function + } + + // Checks if the given joint is part of the legs + protected bool IsLegJoint(KinectInterop.JointType joint) + { + return ((joint == KinectInterop.JointType.HipLeft) || (joint == KinectInterop.JointType.HipRight) || + (joint == KinectInterop.JointType.KneeLeft) || (joint == KinectInterop.JointType.KneeRight) || + (joint == KinectInterop.JointType.AnkleLeft) || (joint == KinectInterop.JointType.AnkleRight)); + } + + // Apply the rotations tracked by kinect to the joints. + protected void TransformBone(ulong userId, KinectInterop.JointType joint, int boneIndex, bool flip) + { + Transform boneTransform = bones[boneIndex]; + if (boneTransform == null || kinectManager == null) + return; + + int iJoint = (int)joint; + if (iJoint < 0 || !kinectManager.IsJointTracked(userId, iJoint)) + return; + + // Get Kinect joint orientation + Quaternion jointRotation = kinectManager.GetJointOrientation(userId, iJoint, flip); + if (jointRotation == Quaternion.identity && !IsLegJoint(joint)) + return; + + // calculate the new orientation + Quaternion newRotation = Kinect2AvatarRot(jointRotation, boneIndex); + + if (externalRootMotion) + { + newRotation = transform.rotation * newRotation; + } + + // Smoothly transition to the new rotation + if (smoothFactor != 0f) + boneTransform.rotation = Quaternion.Slerp(boneTransform.rotation, newRotation, smoothFactor * Time.deltaTime); + else + boneTransform.rotation = newRotation; + } + + // Moves the avatar - gets the tracked position of the user and applies it to avatar. + protected void MoveAvatar(ulong UserID) + { + if ((moveRate == 0f) || !kinectManager || + !kinectManager.IsJointTracked(UserID, (int)KinectInterop.JointType.Pelvis)) + { + return; + } + + // get the position of user's spine base + Vector3 trans = kinectManager.GetUserPosition(UserID); + if (flipLeftRight) + trans.x = -trans.x; + + // use the color overlay position if needed + if (posRelativeToCamera && posRelOverlayColor) + { + int sensorIndex = kinectManager.GetPrimaryBodySensorIndex(); + + if (backgroundPlane && planeRectSet) + { + // get the plane overlay position + trans = kinectManager.GetJointPosColorOverlay(UserID, (int)KinectInterop.JointType.Pelvis, sensorIndex, planeRect); + trans.z = backgroundPlane.position.z - posRelativeToCamera.transform.position.z - 0.1f; // 10cm offset + } + else + { + Rect backgroundRect = posRelativeToCamera.pixelRect; + PortraitBackground portraitBack = PortraitBackground.Instance; + + if (portraitBack && portraitBack.enabled) + { + backgroundRect = portraitBack.GetBackgroundRect(); + } + + trans = kinectManager.GetJointPosColorOverlay(UserID, (int)KinectInterop.JointType.Pelvis, sensorIndex, posRelativeToCamera, backgroundRect); + } + + if (flipLeftRight) + trans.x = -trans.x; + } + + // invert the z-coordinate, if needed + if (posRelativeToCamera && posRelInvertedZ) + { + trans.z = -trans.z; + } + + if (!offsetCalibrated) + { + offsetCalibrated = true; + + offsetPos.x = trans.x; // !mirroredMovement ? trans.x * moveRate : -trans.x * moveRate; + offsetPos.y = trans.y; // trans.y * moveRate; + offsetPos.z = !mirroredMovement && !posRelativeToCamera ? -trans.z : trans.z; // -trans.z * moveRate; + + if (posRelativeToCamera) + { + Vector3 cameraPos = posRelativeToCamera.transform.position; + Vector3 bodyRootPos = bodyRoot != null ? bodyRoot.position : transform.position; + Vector3 hipCenterPos = bodyRoot != null ? bodyRoot.position : (bones != null && bones.Length > 0 && bones[0] != null ? bones[0].position : Vector3.zero); + + float yRelToAvatar = 0f; + if (verticalMovement) + { + yRelToAvatar = (trans.y - cameraPos.y) - (hipCenterPos - bodyRootPos).magnitude; + } + else + { + yRelToAvatar = bodyRootPos.y - cameraPos.y; + } + + Vector3 relativePos = new Vector3(trans.x, yRelToAvatar, trans.z); + Vector3 newBodyRootPos = cameraPos + relativePos; + + // if(offsetNode != null) + // { + // newBodyRootPos += offsetNode.transform.position; + // } + + if (bodyRoot != null) + { + bodyRoot.position = newBodyRootPos; + } + else + { + transform.position = newBodyRootPos; + } + + bodyRootPosition = newBodyRootPos; + } + } + + // transition to the new position + Vector3 targetPos = bodyRootPosition + Kinect2AvatarPos(trans, verticalMovement); + + if (isRigidBody && !verticalMovement) + { + // workaround for obeying the physics (e.g. gravity falling) + targetPos.y = bodyRoot != null ? bodyRoot.position.y : transform.position.y; + } + + // added by r618 + if (horizontalOffset != 0f && + bones[5] != null && bones[11] != null) + { + // { 5, HumanBodyBones.LeftUpperArm}, + // { 11, HumanBodyBones.RightUpperArm}, + //Vector3 dirSpine = bones[5].position - bones[11].position; + Vector3 dirShoulders = bones[11].position - bones[5].position; + targetPos += dirShoulders.normalized * horizontalOffset; + } + + if (verticalMovement && verticalOffset != 0f && + bones[0] != null && bones[3] != null) + { + Vector3 dirSpine = bones[3].position - bones[0].position; + targetPos += dirSpine.normalized * verticalOffset; + } + + if (forwardOffset != 0f && + bones[0] != null && bones[3] != null && bones[5] != null && bones[11] != null) + { + Vector3 dirSpine = (bones[3].position - bones[0].position).normalized; + Vector3 dirShoulders = (bones[11].position - bones[5].position).normalized; + Vector3 dirForward = Vector3.Cross(dirShoulders, dirSpine).normalized; + + targetPos += dirForward * forwardOffset; + } + + if (groundedFeet) + { + // keep the current correction + float fLastTgtY = targetPos.y; + targetPos.y += fFootDistance; + + float fNewDistance = GetDistanceToGround(); + float fNewDistanceTime = Time.time; + + // Debug.Log(string.Format("PosY: {0:F2}, LastY: {1:F2}, TgrY: {2:F2}, NewDist: {3:F2}, Corr: {4:F2}, Time: {5:F2}", bodyRoot != null ? bodyRoot.position.y : transform.position.y, + // fLastTgtY, targetPos.y, fNewDistance, fFootDistance, fNewDistanceTime)); + + if (Mathf.Abs(fNewDistance) >= 0.01f && Mathf.Abs(fNewDistance - fFootDistanceInitial) >= maxFootDistanceGround) + { + if ((fNewDistanceTime - fFootDistanceTime) >= maxFootDistanceTime) + { + fFootDistance += (fNewDistance - fFootDistanceInitial); + fFootDistanceTime = fNewDistanceTime; + + targetPos.y = fLastTgtY + fFootDistance; + + // Debug.Log(string.Format(" >> change({0:F2})! - Corr: {1:F2}, LastY: {2:F2}, TgrY: {3:F2} at time {4:F2}", + // (fNewDistance - fFootDistanceInitial), fFootDistance, fLastTgtY, targetPos.y, fFootDistanceTime)); + } + } + else + { + fFootDistanceTime = fNewDistanceTime; + } + } + + if (bodyRoot != null) + { + bodyRoot.position = smoothFactor != 0f ? + Vector3.Lerp(bodyRoot.position, targetPos, smoothFactor * Time.deltaTime) : targetPos; + } + else + { + transform.position = smoothFactor != 0f ? + Vector3.Lerp(transform.position, targetPos, smoothFactor * Time.deltaTime) : targetPos; + } + } + + // Set model's arms to be in T-pose + protected void SetModelArmsInTpose() + { + Vector3 vTposeLeftDir = transform.TransformDirection(Vector3.left); + Vector3 vTposeRightDir = transform.TransformDirection(Vector3.right); + + Transform transLeftUarm = GetBoneTransform(GetBoneIndexByJoint(KinectInterop.JointType.ShoulderLeft, false)); // animator.GetBoneTransform(HumanBodyBones.LeftUpperArm); + Transform transLeftLarm = GetBoneTransform(GetBoneIndexByJoint(KinectInterop.JointType.ElbowLeft, false)); // animator.GetBoneTransform(HumanBodyBones.LeftLowerArm); + Transform transLeftHand = GetBoneTransform(GetBoneIndexByJoint(KinectInterop.JointType.WristLeft, false)); // animator.GetBoneTransform(HumanBodyBones.LeftHand); + + if (transLeftUarm != null && transLeftLarm != null) + { + Vector3 vUarmLeftDir = transLeftLarm.position - transLeftUarm.position; + float fUarmLeftAngle = Vector3.Angle(vUarmLeftDir, vTposeLeftDir); + + if (Mathf.Abs(fUarmLeftAngle) >= 5f) + { + Quaternion vFixRotation = Quaternion.FromToRotation(vUarmLeftDir, vTposeLeftDir); + transLeftUarm.rotation = vFixRotation * transLeftUarm.rotation; + } + + if (transLeftHand != null) + { + Vector3 vLarmLeftDir = transLeftHand.position - transLeftLarm.position; + float fLarmLeftAngle = Vector3.Angle(vLarmLeftDir, vTposeLeftDir); + + if (Mathf.Abs(fLarmLeftAngle) >= 5f) + { + Quaternion vFixRotation = Quaternion.FromToRotation(vLarmLeftDir, vTposeLeftDir); + transLeftLarm.rotation = vFixRotation * transLeftLarm.rotation; + } + } + } + + Transform transRightUarm = GetBoneTransform(GetBoneIndexByJoint(KinectInterop.JointType.ShoulderRight, false)); // animator.GetBoneTransform(HumanBodyBones.RightUpperArm); + Transform transRightLarm = GetBoneTransform(GetBoneIndexByJoint(KinectInterop.JointType.ElbowRight, false)); // animator.GetBoneTransform(HumanBodyBones.RightLowerArm); + Transform transRightHand = GetBoneTransform(GetBoneIndexByJoint(KinectInterop.JointType.WristRight, false)); // animator.GetBoneTransform(HumanBodyBones.RightHand); + + if (transRightUarm != null && transRightLarm != null) + { + Vector3 vUarmRightDir = transRightLarm.position - transRightUarm.position; + float fUarmRightAngle = Vector3.Angle(vUarmRightDir, vTposeRightDir); + + if (Mathf.Abs(fUarmRightAngle) >= 5f) + { + Quaternion vFixRotation = Quaternion.FromToRotation(vUarmRightDir, vTposeRightDir); + transRightUarm.rotation = vFixRotation * transRightUarm.rotation; + } + + if (transRightHand != null) + { + Vector3 vLarmRightDir = transRightHand.position - transRightLarm.position; + float fLarmRightAngle = Vector3.Angle(vLarmRightDir, vTposeRightDir); + + if (Mathf.Abs(fLarmRightAngle) >= 5f) + { + Quaternion vFixRotation = Quaternion.FromToRotation(vLarmRightDir, vTposeRightDir); + transRightLarm.rotation = vFixRotation * transRightLarm.rotation; + } + } + } + + } + + // If the bones to be mapped have been declared, map that bone to the model. + protected virtual void MapBones() + { + for (int boneIndex = 0; boneIndex < bones.Length; boneIndex++) + { + if (!boneIndex2MecanimMap.ContainsKey(boneIndex)) + continue; + + bones[boneIndex] = animatorComponent ? animatorComponent.GetBoneTransform(boneIndex2MecanimMap[boneIndex]) : null; + } + + //// map finger bones, too + //fingerBones = new Transform[fingerIndex2MecanimMap.Count]; + + //for (int boneIndex = 0; boneIndex < fingerBones.Length; boneIndex++) + //{ + // if (!fingerIndex2MecanimMap.ContainsKey(boneIndex)) + // continue; + + // fingerBones[boneIndex] = animatorComponent ? animatorComponent.GetBoneTransform(fingerIndex2MecanimMap[boneIndex]) : null; + //} + } + + // Capture the initial rotations of the bones + protected void GetInitialRotations() + { + // save the initial rotation + if (offsetNode != null) + { + offsetNodePos = offsetNode.transform.position; + offsetNodeRot = offsetNode.transform.rotation; + } + + initialPosition = transform.position; + initialRotation = transform.rotation; + + transform.rotation = Quaternion.identity; + + // save the body root initial position + if (bodyRoot != null) + { + bodyRootPosition = bodyRoot.position; + } + else + { + bodyRootPosition = transform.position; + } + + if (offsetNode != null) + { + bodyRootPosition = bodyRootPosition - offsetNodePos; + } + + // save the initial bone rotations + for (int i = 0; i < bones.Length; i++) + { + if (bones[i] != null) + { + initialRotations[i] = bones[i].rotation; + localRotations[i] = bones[i].localRotation; + } + } + + // Restore the initial rotation + transform.rotation = initialRotation; + } + + // Converts kinect joint rotation to avatar joint rotation, depending on joint initial rotation and offset rotation + protected Quaternion Kinect2AvatarRot(Quaternion jointRotation, int boneIndex) + { + Quaternion newRotation = jointRotation * initialRotations[boneIndex]; + //newRotation = initialRotation * newRotation; + + // if(offsetNode != null) + // { + // newRotation = offsetNode.transform.rotation * newRotation; + // } + // else + if (!externalRootMotion) // fix by Mathias Parger + { + newRotation = initialRotation * newRotation; + } + + return newRotation; + } + + // Converts Kinect position to avatar skeleton position, depending on initial position, mirroring and move rate + protected Vector3 Kinect2AvatarPos(Vector3 jointPosition, bool bMoveVertically) + { + float xPos = (jointPosition.x - offsetPos.x) * moveRate; + float yPos = (jointPosition.y - offsetPos.y) * moveRate; + float zPos = !mirroredMovement && !posRelativeToCamera ? (-jointPosition.z - offsetPos.z) * moveRate : (jointPosition.z - offsetPos.z) * moveRate; + + Vector3 newPosition = new Vector3(xPos, bMoveVertically ? yPos : 0f, zPos); + + Quaternion posRotation = mirroredMovement ? Quaternion.Euler(0f, 180f, 0f) * initialRotation : initialRotation; + newPosition = posRotation * newPosition; + + if (offsetNode != null) + { + //newPosition += offsetNode.transform.position; + newPosition = offsetNode.transform.position; + } + + return newPosition; + } + + // returns distance from the given transform to the underlying object. The player must be in IgnoreRaycast layer. + protected virtual float GetTransformDistanceToGround(Transform trans) + { + if (!trans) + return 0f; + + // RaycastHit hit; + // if(Physics.Raycast(trans.position, Vector3.down, out hit, 2f, raycastLayers)) + // { + // return -hit.distance; + // } + // else if(Physics.Raycast(trans.position, Vector3.up, out hit, 2f, raycastLayers)) + // { + // return hit.distance; + // } + // else + // { + // if (trans.position.y < 0) + // return -trans.position.y; + // else + // return 1000f; + // } + + return -trans.position.y; + } + + // returns the lower distance distance from left or right foot to the ground, or 1000f if no LF/RF transforms are found + protected virtual float GetDistanceToGround() + { + if (leftFoot == null && rightFoot == null) + { + leftFoot = GetBoneTransform(GetBoneIndexByJoint(KinectInterop.JointType.FootLeft, false)); + rightFoot = GetBoneTransform(GetBoneIndexByJoint(KinectInterop.JointType.FootRight, false)); + + if (leftFoot == null || rightFoot == null) + { + leftFoot = GetBoneTransform(GetBoneIndexByJoint(KinectInterop.JointType.AnkleLeft, false)); + rightFoot = GetBoneTransform(GetBoneIndexByJoint(KinectInterop.JointType.AnkleRight, false)); + } + } + + float fDistMin = 1000f; + float fDistLeft = leftFoot ? GetTransformDistanceToGround(leftFoot) : fDistMin; + float fDistRight = rightFoot ? GetTransformDistanceToGround(rightFoot) : fDistMin; + fDistMin = Mathf.Abs(fDistLeft) < Mathf.Abs(fDistRight) ? fDistLeft : fDistRight; + + if (fDistMin == 1000f) + { + fDistMin = 0f; // fFootDistanceInitial; + } + +// Debug.Log (string.Format ("LFootY: {0:F2}, Dist: {1:F2}, RFootY: {2:F2}, Dist: {3:F2}, Min: {4:F2}", leftFoot ? leftFoot.position.y : 0f, fDistLeft, +// rightFoot ? rightFoot.position.y : 0f, fDistRight, fDistMin)); + + return fDistMin; + } + + // protected void OnCollisionEnter(Collision col) + // { + // Debug.Log("Collision entered"); + // } + // + // protected void OnCollisionExit(Collision col) + // { + // Debug.Log("Collision exited"); + // } + + + + // dictionaries to speed up bone processing + protected static readonly Dictionary boneIndex2MecanimMap = new Dictionary + { + {0, HumanBodyBones.Hips}, + {1, HumanBodyBones.Spine}, + {2, HumanBodyBones.Chest}, + {3, HumanBodyBones.Neck}, + {4, HumanBodyBones.Head}, + + {5, HumanBodyBones.LeftShoulder}, + {6, HumanBodyBones.LeftUpperArm}, + {7, HumanBodyBones.LeftLowerArm}, + {8, HumanBodyBones.LeftHand}, + + {9, HumanBodyBones.RightShoulder}, + {10, HumanBodyBones.RightUpperArm}, + {11, HumanBodyBones.RightLowerArm}, + {12, HumanBodyBones.RightHand}, + + {13, HumanBodyBones.LeftUpperLeg}, + {14, HumanBodyBones.LeftLowerLeg}, + {15, HumanBodyBones.LeftFoot}, +// {16, HumanBodyBones.LeftToes}, + + {17, HumanBodyBones.RightUpperLeg}, + {18, HumanBodyBones.RightLowerLeg}, + {19, HumanBodyBones.RightFoot}, +// {20, HumanBodyBones.RightToes}, + }; + + protected static readonly Dictionary boneIndex2JointMap = new Dictionary + { + {0, KinectInterop.JointType.Pelvis}, + {1, KinectInterop.JointType.SpineNaval}, + {2, KinectInterop.JointType.SpineChest}, + {3, KinectInterop.JointType.Neck}, + {4, KinectInterop.JointType.Head}, + + {5, KinectInterop.JointType.ClavicleLeft}, + {6, KinectInterop.JointType.ShoulderLeft}, + {7, KinectInterop.JointType.ElbowLeft}, + {8, KinectInterop.JointType.WristLeft}, + + {9, KinectInterop.JointType.ClavicleRight}, + {10, KinectInterop.JointType.ShoulderRight}, + {11, KinectInterop.JointType.ElbowRight}, + {12, KinectInterop.JointType.WristRight}, + + {13, KinectInterop.JointType.HipLeft}, + {14, KinectInterop.JointType.KneeLeft}, + {15, KinectInterop.JointType.AnkleLeft}, + {16, KinectInterop.JointType.FootLeft}, + + {17, KinectInterop.JointType.HipRight}, + {18, KinectInterop.JointType.KneeRight}, + {19, KinectInterop.JointType.AnkleRight}, + {20, KinectInterop.JointType.FootRight}, + }; + + protected static readonly Dictionary boneIndex2MirrorJointMap = new Dictionary + { + {0, KinectInterop.JointType.Pelvis}, + {1, KinectInterop.JointType.SpineNaval}, + {2, KinectInterop.JointType.SpineChest}, + {3, KinectInterop.JointType.Neck}, + {4, KinectInterop.JointType.Head}, + + {5, KinectInterop.JointType.ClavicleRight}, + {6, KinectInterop.JointType.ShoulderRight}, + {7, KinectInterop.JointType.ElbowRight}, + {8, KinectInterop.JointType.WristRight}, + + {9, KinectInterop.JointType.ClavicleLeft}, + {10, KinectInterop.JointType.ShoulderLeft}, + {11, KinectInterop.JointType.ElbowLeft}, + {12, KinectInterop.JointType.WristLeft}, + + {13, KinectInterop.JointType.HipRight}, + {14, KinectInterop.JointType.KneeRight}, + {15, KinectInterop.JointType.AnkleRight}, + {16, KinectInterop.JointType.FootRight}, + + {17, KinectInterop.JointType.HipLeft}, + {18, KinectInterop.JointType.KneeLeft}, + {19, KinectInterop.JointType.AnkleLeft}, + {20, KinectInterop.JointType.FootLeft}, + }; + + protected static readonly Dictionary jointMap2boneIndex = new Dictionary + { + {KinectInterop.JointType.Pelvis, 0}, + {KinectInterop.JointType.SpineNaval, 1}, + {KinectInterop.JointType.SpineChest, 2}, + {KinectInterop.JointType.Neck, 3}, + {KinectInterop.JointType.Head, 4}, + + {KinectInterop.JointType.ClavicleLeft, 5}, + {KinectInterop.JointType.ShoulderLeft, 6}, + {KinectInterop.JointType.ElbowLeft, 7}, + {KinectInterop.JointType.WristLeft, 8}, + + {KinectInterop.JointType.ClavicleRight, 9}, + {KinectInterop.JointType.ShoulderRight, 10}, + {KinectInterop.JointType.ElbowRight, 11}, + {KinectInterop.JointType.WristRight, 12}, + + {KinectInterop.JointType.HipLeft, 13}, + {KinectInterop.JointType.KneeLeft, 14}, + {KinectInterop.JointType.AnkleLeft, 15}, + {KinectInterop.JointType.FootLeft, 16}, + + {KinectInterop.JointType.HipRight, 17}, + {KinectInterop.JointType.KneeRight, 18}, + {KinectInterop.JointType.AnkleRight, 19}, + {KinectInterop.JointType.FootRight, 20}, + }; + + protected static readonly Dictionary mirrorJointMap2boneIndex = new Dictionary + { + {KinectInterop.JointType.Pelvis, 0}, + {KinectInterop.JointType.SpineNaval, 1}, + {KinectInterop.JointType.SpineChest, 2}, + {KinectInterop.JointType.Neck, 3}, + {KinectInterop.JointType.Head, 4}, + + {KinectInterop.JointType.ClavicleRight, 5}, + {KinectInterop.JointType.ShoulderRight, 6}, + {KinectInterop.JointType.ElbowRight, 7}, + {KinectInterop.JointType.WristRight, 8}, + + {KinectInterop.JointType.ClavicleLeft, 9}, + {KinectInterop.JointType.ShoulderLeft, 10}, + {KinectInterop.JointType.ElbowLeft, 11}, + {KinectInterop.JointType.WristLeft, 12}, + + {KinectInterop.JointType.HipRight, 13}, + {KinectInterop.JointType.KneeRight, 14}, + {KinectInterop.JointType.AnkleRight, 15}, + {KinectInterop.JointType.FootRight, 16}, + + {KinectInterop.JointType.HipLeft, 17}, + {KinectInterop.JointType.KneeLeft, 18}, + {KinectInterop.JointType.AnkleLeft, 19}, + {KinectInterop.JointType.FootLeft, 20}, + }; + + } + +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarController.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarController.cs.meta new file mode 100644 index 0000000..95ad4d9 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarController.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 06c52c07402f7274cab64e484b1bddc9 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarControllerClassic.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarControllerClassic.cs new file mode 100644 index 0000000..a5ed870 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarControllerClassic.cs @@ -0,0 +1,85 @@ +using UnityEngine; +//using Windows.Kinect; + +using System; +using System.Collections; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.IO; +using System.Text; + + +namespace com.rfilkov.components +{ + /// + /// Avatar controller is the component that transfers the captured user motion to a humanoid model (avatar). Avatar controller classic allows manual assignment of model's rigged bones to the tracked body joints. + /// + public class AvatarControllerClassic : AvatarController + { + // Public variables that will get matched to bones. If empty, the Kinect will simply not track it. + public Transform Pelvis; + public Transform SpineNaval; + public Transform SpineChest; + public Transform Neck; + //public Transform Head; + + public Transform ClavicleLeft; + public Transform ShoulderLeft; + public Transform ElbowLeft; + public Transform WristLeft; + + public Transform ClavicleRight; + public Transform ShoulderRight; + public Transform ElbowRight; + public Transform WristRight; + + public Transform HipLeft; + public Transform KneeLeft; + public Transform AnkleLeft; + //private Transform FootLeft = null; + + public Transform HipRight; + public Transform KneeRight; + public Transform AnkleRight; + //private Transform FootRight = null; + + [Tooltip("The body root node (optional).")] + public Transform BodyRoot; + + + // map the bones to the model. + protected override void MapBones() + { + bones[0] = Pelvis; + bones[1] = SpineNaval; + bones[2] = SpineChest; + bones[3] = Neck; + //bones[4] = Head; + + bones[5] = ClavicleLeft; + bones[6] = ShoulderLeft; + bones[7] = ElbowLeft; + bones[8] = WristLeft; + + bones[9] = ClavicleRight; + bones[10] = ShoulderRight; + bones[11] = ElbowRight; + bones[12] = WristRight; + + bones[13] = HipLeft; + bones[14] = KneeLeft; + bones[15] = AnkleLeft; + //bones[16] = FootLeft; + + bones[17] = HipRight; + bones[18] = KneeRight; + bones[19] = AnkleRight; + //bones[20] = FootRight; + + // body root + bodyRoot = BodyRoot; + } + + } +} + diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarControllerClassic.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarControllerClassic.cs.meta new file mode 100644 index 0000000..5feece5 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarControllerClassic.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 7b38f8c0e60334143a1b54003b3a0ae5 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarScaler.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarScaler.cs new file mode 100644 index 0000000..6072d40 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarScaler.cs @@ -0,0 +1,725 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// Avatar scaler is the component that scales avatar's body, according to the user's body and bone sizes. + /// + [RequireComponent(typeof(Animator))] + public class AvatarScaler : 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("Whether the avatar is facing the player or not.")] + public bool mirroredAvatar = false; + + [Tooltip("Minimum distance to the user.")] + public float minUserDistance = 1.0f; + + [Tooltip("Body scale factor (incl. arms and legs) that may be used for fine tuning of model-scale.")] + [Range(0.0f, 2.0f)] + public float bodyScaleFactor = 1f; + + [Tooltip("Body width scale factor that may be used for fine tuning of model-width scale.")] + [Range(0.0f, 2.0f)] + public float bodyWidthFactor = 0f; + + [Tooltip("Additional scale factor for arms that may be used for fine tuning of model arm-scale.")] + [Range(0.0f, 2.0f)] + public float armScaleFactor = 0f; + + [Tooltip("Additional scale factor for legs that may be used for fine tuning of model leg-scale.")] + [Range(0.0f, 2.0f)] + public float legScaleFactor = 0f; + + [Tooltip("Whether the scale is updated continuously or just after the calibration pose.")] + public bool continuousScaling = true; + + [Tooltip("Scale smoothing factor used in case of continuous scaling.")] + public float smoothFactor = 5f; + + [Tooltip("Camera used to overlay the model over the background.")] + public Camera foregroundCamera; + + [Tooltip("Plane used to render the color camera background.")] + private Transform backgroundPlane = null; + + [Tooltip("Index of the depth sensor that generates the color camera background. 0 is the 1st one, 1 - the 2nd one, etc.")] + private int sensorIndex = 0; + + // [Tooltip("Whether to put the clothing model hip and shoulder joints where the user joints are.")] + // public bool fixModelHipsAndShoulders = false; + + [Tooltip("UI-Text to display the avatar-scaler debug messages.")] + public UnityEngine.UI.Text debugText; + + // used by category selector + [System.NonSerialized] + public ulong currentUserId = 0; + + // used by category selector + [System.NonSerialized] + public bool scalerInited = false; + + // class references + private KinectManager kinectManager = null; + private AvatarController avtController = null; + + // model transforms for scaling + private Transform bodyScaleTransform; + //private Transform bodyHipsTransform; + + private Transform leftShoulderScaleTransform; + private Transform leftElbowScaleTransform; + private Transform rightShoulderScaleTransform; + private Transform rightElbowScaleTransform; + private Transform leftHipScaleTransform; + private Transform leftKneeScaleTransform; + private Transform rightHipScaleTransform; + private Transform rightKneeScaleTransform; + + private Vector3 modelBodyScale = Vector3.one; + private Vector3 modelLeftShoulderScale = Vector3.one; + private Vector3 modelLeftElbowScale = Vector3.one; + private Vector3 modelRightShoulderScale = Vector3.one; + private Vector3 modelRightElbowScale = Vector3.one; + private Vector3 modelLeftHipScale = Vector3.one; + private Vector3 modelLeftKneeScale = Vector3.one; + private Vector3 modelRightHipScale = Vector3.one; + private Vector3 modelRightKneeScale = Vector3.one; + + // model bone sizes and original scales + private float modelBodyHeight = 0f; + private float modelBodyWidth = 0f; + private float modelLeftUpperArmLength = 0f; + private float modelLeftLowerArmLength = 0f; + private float modelRightUpperArmLength = 0f; + private float modelRightLowerArmLength = 0f; + private float modelLeftUpperLegLength = 0f; + private float modelLeftLowerLegLength = 0f; + private float modelRightUpperLegLength = 0f; + private float modelRightLowerLegLength = 0f; + + // user bone sizes + private float userBodyHeight = 0f; + private float userBodyWidth = 0f; + private float leftUpperArmLength = 0f; + private float leftLowerArmLength = 0f; + private float rightUpperArmLength = 0f; + private float rightLowerArmLength = 0f; + private float leftUpperLegLength = 0f; + private float leftLowerLegLength = 0f; + private float rightUpperLegLength = 0f; + private float rightLowerLegLength = 0f; + + // user bone scale factors + private float fScaleBodyHeight = 0f; + private float fScaleBodyWidth = 0f; + private float fScaleLeftUpperArm = 0f; + private float fScaleLeftLowerArm = 0f; + private float fScaleRightUpperArm = 0f; + private float fScaleRightLowerArm = 0f; + private float fScaleLeftUpperLeg = 0f; + private float fScaleLeftLowerLeg = 0f; + private float fScaleRightUpperLeg = 0f; + private float fScaleRightLowerLeg = 0f; + + // background plane rectangle + private Rect planeRect = new Rect(); + private bool planeRectSet = false; + + + public void Start() + { + // get references to other components + kinectManager = KinectManager.Instance; + avtController = gameObject.GetComponent(); + + // get model transforms + Animator animatorComponent = GetComponent(); + AvatarController avatarController = GetComponent(); + + // use the root transform for body scale + bodyScaleTransform = transform; + + if (animatorComponent && animatorComponent.GetBoneTransform(HumanBodyBones.Hips)) + { + //bodyHipsTransform = animatorComponent.GetBoneTransform (HumanBodyBones.Hips); + + leftShoulderScaleTransform = animatorComponent.GetBoneTransform(HumanBodyBones.LeftUpperArm); + leftElbowScaleTransform = animatorComponent.GetBoneTransform(HumanBodyBones.LeftLowerArm); + rightShoulderScaleTransform = animatorComponent.GetBoneTransform(HumanBodyBones.RightUpperArm); + rightElbowScaleTransform = animatorComponent.GetBoneTransform(HumanBodyBones.RightLowerArm); + + leftHipScaleTransform = animatorComponent.GetBoneTransform(HumanBodyBones.LeftUpperLeg); + leftKneeScaleTransform = animatorComponent.GetBoneTransform(HumanBodyBones.LeftLowerLeg); + rightHipScaleTransform = animatorComponent.GetBoneTransform(HumanBodyBones.RightUpperLeg); + rightKneeScaleTransform = animatorComponent.GetBoneTransform(HumanBodyBones.RightLowerLeg); + } + else if (avatarController) + { + //bodyHipsTransform = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.SpineBase, false)); + + leftShoulderScaleTransform = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.ShoulderLeft, false)); + leftElbowScaleTransform = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.ElbowLeft, false)); + rightShoulderScaleTransform = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.ShoulderRight, false)); + rightElbowScaleTransform = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.ElbowRight, false)); + + leftHipScaleTransform = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.HipLeft, false)); + leftKneeScaleTransform = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.KneeLeft, false)); + rightHipScaleTransform = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.HipRight, false)); + rightKneeScaleTransform = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.KneeRight, false)); + } + else + { + // needed transforms could not be found + return; + } + + // get model bone scales + modelBodyScale = bodyScaleTransform ? bodyScaleTransform.localScale : Vector3.one; + + modelLeftShoulderScale = leftShoulderScaleTransform ? leftShoulderScaleTransform.localScale : Vector3.one; + modelLeftElbowScale = leftElbowScaleTransform ? leftElbowScaleTransform.localScale : Vector3.one; + modelRightShoulderScale = rightShoulderScaleTransform ? rightShoulderScaleTransform.localScale : Vector3.one; + modelRightElbowScale = rightElbowScaleTransform ? rightElbowScaleTransform.localScale : Vector3.one; + + modelLeftHipScale = leftHipScaleTransform ? leftHipScaleTransform.localScale : Vector3.one; + modelLeftKneeScale = leftKneeScaleTransform ? leftKneeScaleTransform.localScale : Vector3.one; + modelRightHipScale = rightHipScaleTransform ? rightHipScaleTransform.localScale : Vector3.one; + modelRightKneeScale = rightKneeScaleTransform ? rightKneeScaleTransform.localScale : Vector3.one; + + if (animatorComponent && animatorComponent.GetBoneTransform(HumanBodyBones.Hips)) + { + GetModelBodyHeight(animatorComponent, ref modelBodyHeight, ref modelBodyWidth); + //Debug.Log (string.Format("MW: {0:F3}, MH: {1:F3}", modelBodyWidth, modelBodyHeight)); + + GetModelBoneLength(animatorComponent, HumanBodyBones.LeftUpperArm, HumanBodyBones.LeftLowerArm, ref modelLeftUpperArmLength); + GetModelBoneLength(animatorComponent, HumanBodyBones.LeftLowerArm, HumanBodyBones.LeftHand, ref modelLeftLowerArmLength); + GetModelBoneLength(animatorComponent, HumanBodyBones.RightUpperArm, HumanBodyBones.RightLowerArm, ref modelRightUpperArmLength); + GetModelBoneLength(animatorComponent, HumanBodyBones.RightLowerArm, HumanBodyBones.RightHand, ref modelRightLowerArmLength); + + GetModelBoneLength(animatorComponent, HumanBodyBones.LeftUpperLeg, HumanBodyBones.LeftLowerLeg, ref modelLeftUpperLegLength); + GetModelBoneLength(animatorComponent, HumanBodyBones.LeftLowerLeg, HumanBodyBones.LeftFoot, ref modelLeftLowerLegLength); + GetModelBoneLength(animatorComponent, HumanBodyBones.RightUpperLeg, HumanBodyBones.RightLowerLeg, ref modelRightUpperLegLength); + GetModelBoneLength(animatorComponent, HumanBodyBones.RightLowerLeg, HumanBodyBones.RightFoot, ref modelRightLowerLegLength); + + scalerInited = true; + } + else if (avatarController) + { + GetModelBodyHeight(avatarController, ref modelBodyHeight, ref modelBodyWidth); + //Debug.Log (string.Format("MW: {0:F3}, MH: {1:F3}", modelBodyWidth, modelBodyHeight)); + + GetModelBoneLength(avatarController, KinectInterop.JointType.ShoulderLeft, KinectInterop.JointType.ElbowLeft, ref modelLeftUpperArmLength); + GetModelBoneLength(avatarController, KinectInterop.JointType.ElbowLeft, KinectInterop.JointType.WristLeft, ref modelLeftLowerArmLength); + GetModelBoneLength(avatarController, KinectInterop.JointType.ShoulderRight, KinectInterop.JointType.ElbowRight, ref modelRightUpperArmLength); + GetModelBoneLength(avatarController, KinectInterop.JointType.ElbowRight, KinectInterop.JointType.WristRight, ref modelRightLowerArmLength); + + GetModelBoneLength(avatarController, KinectInterop.JointType.HipLeft, KinectInterop.JointType.KneeLeft, ref modelLeftUpperLegLength); + GetModelBoneLength(avatarController, KinectInterop.JointType.KneeLeft, KinectInterop.JointType.AnkleLeft, ref modelLeftLowerLegLength); + GetModelBoneLength(avatarController, KinectInterop.JointType.HipRight, KinectInterop.JointType.KneeRight, ref modelRightUpperLegLength); + GetModelBoneLength(avatarController, KinectInterop.JointType.KneeRight, KinectInterop.JointType.AnkleRight, ref modelRightLowerLegLength); + + scalerInited = true; + } + } + + public void Update() + { + if (scalerInited && kinectManager && kinectManager.IsInitialized()) + { + // get the plane rectangle to be used for object overlay + if (backgroundPlane && !planeRectSet) + { + planeRectSet = true; + + planeRect.width = 10f * Mathf.Abs(backgroundPlane.localScale.x); + planeRect.height = 10f * Mathf.Abs(backgroundPlane.localScale.z); + planeRect.x = backgroundPlane.position.x - planeRect.width / 2f; + planeRect.y = backgroundPlane.position.y - planeRect.height / 2f; + } + + ulong userId = kinectManager.GetUserIdByIndex(playerIndex); + + // check user distance and hand positions + if (userId != 0 && minUserDistance > 0f) + { + Vector3 userPos = kinectManager.GetUserPosition(userId); + + bool lHandTracked = kinectManager.IsJointTracked(userId, (int)KinectInterop.JointType.WristLeft); + Vector3 lHandPos = lHandTracked ? kinectManager.GetJointPosition(userId, (int)KinectInterop.JointType.WristLeft) : Vector3.zero; + + bool rHandTracked = kinectManager.IsJointTracked(userId, (int)KinectInterop.JointType.WristRight); + Vector3 rHandPos = rHandTracked ? kinectManager.GetJointPosition(userId, (int)KinectInterop.JointType.WristRight) : Vector3.zero; + + if (userPos.z < minUserDistance || + !lHandTracked || (lHandPos.z - userPos.z) <= -0.3f || + !rHandTracked || (rHandPos.z - userPos.z) <= -0.3f) + { + // don't scale the model + userId = 0; + //Debug.Log ("Avatar scaling skipped."); + } + + } + + if (userId != currentUserId) + { + currentUserId = userId; + + if (userId != 0) + { + GetUserBodySize(true, true, true); + ScaleAvatar(0f, true); + } + } + } + + if (currentUserId != 0 && continuousScaling) + { + GetUserBodySize(true, true, true); + ScaleAvatar(smoothFactor, false); + } + } + + // gets the the actual sizes of the user bones + public void GetUserBodySize(bool bBody, bool bArms, bool bLegs) + { + //KinectManager kinectManager = KinectManager.Instance; + if (kinectManager == null) + return; + + if (bBody) + { + GetUserBodyHeight(kinectManager, bodyScaleFactor, bodyWidthFactor, ref userBodyHeight, ref userBodyWidth); + } + + if (bArms) + { + GetUserBoneLength(kinectManager, KinectInterop.JointType.ShoulderLeft, KinectInterop.JointType.ElbowLeft, armScaleFactor, ref leftUpperArmLength); + GetUserBoneLength(kinectManager, KinectInterop.JointType.ElbowLeft, KinectInterop.JointType.WristLeft, armScaleFactor, ref leftLowerArmLength); + GetUserBoneLength(kinectManager, KinectInterop.JointType.ShoulderRight, KinectInterop.JointType.ElbowRight, armScaleFactor, ref rightUpperArmLength); + GetUserBoneLength(kinectManager, KinectInterop.JointType.ElbowRight, KinectInterop.JointType.WristRight, armScaleFactor, ref rightLowerArmLength); + + EqualizeBoneLength(ref leftUpperArmLength, ref rightUpperArmLength); + EqualizeBoneLength(ref leftLowerArmLength, ref rightLowerArmLength); + } + + if (bLegs) + { + GetUserBoneLength(kinectManager, KinectInterop.JointType.HipLeft, KinectInterop.JointType.KneeLeft, legScaleFactor, ref leftUpperLegLength); + GetUserBoneLength(kinectManager, KinectInterop.JointType.KneeLeft, KinectInterop.JointType.AnkleLeft, legScaleFactor, ref leftLowerLegLength); + GetUserBoneLength(kinectManager, KinectInterop.JointType.HipRight, KinectInterop.JointType.KneeRight, legScaleFactor, ref rightUpperLegLength); + GetUserBoneLength(kinectManager, KinectInterop.JointType.KneeRight, KinectInterop.JointType.AnkleRight, legScaleFactor, ref rightLowerLegLength); + + EqualizeBoneLength(ref leftUpperLegLength, ref rightUpperLegLength); + EqualizeBoneLength(ref leftLowerLegLength, ref rightLowerLegLength); + } + } + + // scales the avatar as needed + public void ScaleAvatar(float fSmooth, bool bInitialScale) + { + // scale body + if (bodyScaleFactor > 0f) + { + SetupBodyScale(bodyScaleTransform, modelBodyScale, modelBodyHeight, modelBodyWidth, userBodyHeight, userBodyWidth, + fSmooth, ref fScaleBodyHeight, ref fScaleBodyWidth); + + if (avtController) + { + // recalibrate avatar position due to transform scale change + avtController.offsetCalibrated = false; + + // set AC smooth-factor to 0 to prevent flickering (r618-issue) + if (avtController.smoothFactor != 0f) + { + avtController.smoothFactor = 0f; + } + } + } + + // scale arms + if (/**bInitialScale &&*/ armScaleFactor > 0f) + { + float fLeftUpperArmLength = !mirroredAvatar ? leftUpperArmLength : rightUpperArmLength; + SetupBoneScale(leftShoulderScaleTransform, modelLeftShoulderScale, modelLeftUpperArmLength, + fLeftUpperArmLength, fScaleBodyHeight, fSmooth, ref fScaleLeftUpperArm); + + float fLeftLowerArmLength = !mirroredAvatar ? leftLowerArmLength : rightLowerArmLength; + SetupBoneScale(leftElbowScaleTransform, modelLeftElbowScale, modelLeftLowerArmLength, + fLeftLowerArmLength, fScaleLeftUpperArm, fSmooth, ref fScaleLeftLowerArm); + + float fRightUpperArmLength = !mirroredAvatar ? rightUpperArmLength : leftUpperArmLength; + SetupBoneScale(rightShoulderScaleTransform, modelRightShoulderScale, modelRightUpperArmLength, + fRightUpperArmLength, fScaleBodyHeight, fSmooth, ref fScaleRightUpperArm); + + float fRightLowerArmLength = !mirroredAvatar ? rightLowerArmLength : leftLowerArmLength; + SetupBoneScale(rightElbowScaleTransform, modelRightElbowScale, modelLeftLowerArmLength, + fRightLowerArmLength, fScaleRightUpperArm, fSmooth, ref fScaleRightLowerArm); + } + + // scale legs + if (/**bInitialScale &&*/ legScaleFactor > 0) + { + float fLeftUpperLegLength = !mirroredAvatar ? leftUpperLegLength : rightUpperLegLength; + SetupBoneScale(leftHipScaleTransform, modelLeftHipScale, modelLeftUpperLegLength, + fLeftUpperLegLength, fScaleBodyHeight, fSmooth, ref fScaleLeftUpperLeg); + + float fLeftLowerLegLength = !mirroredAvatar ? leftLowerLegLength : rightLowerLegLength; + SetupBoneScale(leftKneeScaleTransform, modelLeftKneeScale, modelLeftLowerLegLength, + fLeftLowerLegLength, fScaleLeftUpperLeg, fSmooth, ref fScaleLeftLowerLeg); + + float fRightUpperLegLength = !mirroredAvatar ? rightUpperLegLength : leftUpperLegLength; + SetupBoneScale(rightHipScaleTransform, modelRightHipScale, modelRightUpperLegLength, + fRightUpperLegLength, fScaleBodyHeight, fSmooth, ref fScaleRightUpperLeg); + + float fRightLowerLegLength = !mirroredAvatar ? rightLowerLegLength : leftLowerLegLength; + SetupBoneScale(rightKneeScaleTransform, modelRightKneeScale, modelRightLowerLegLength, + fRightLowerLegLength, fScaleRightUpperLeg, fSmooth, ref fScaleRightLowerLeg); + } + + if (debugText != null) + { + string sDebug = string.Format("BW: {0:F2}/{1:F3}, BH: {2:F2}/{3:F3}\nLUA: {4:F3}, LLA: {5:F3}; RUA: {6:F3}, RLA: {7:F3}\nLUL: {8:F3}, LLL: {9:F3}; RUL: {10:F3}, RLL: {11:F3}", + userBodyWidth, fScaleBodyWidth, userBodyHeight, fScaleBodyHeight, + fScaleLeftUpperArm, fScaleLeftLowerArm, + fScaleRightUpperArm, fScaleRightLowerArm, + fScaleLeftUpperLeg, fScaleLeftLowerLeg, + fScaleRightUpperLeg, fScaleRightLowerLeg); + debugText.text = sDebug; + } + + } + + private bool GetModelBodyHeight(Animator animatorComponent, ref float height, ref float width) + { + height = 0f; + + if (animatorComponent) + { + //Transform hipCenter = animatorComponent.GetBoneTransform(HumanBodyBones.Hips); + + Transform leftUpperArm = animatorComponent.GetBoneTransform(HumanBodyBones.LeftUpperArm); + Transform rightUpperArm = animatorComponent.GetBoneTransform(HumanBodyBones.RightUpperArm); + + Transform leftUpperLeg = animatorComponent.GetBoneTransform(HumanBodyBones.LeftUpperLeg); + Transform rightUpperLeg = animatorComponent.GetBoneTransform(HumanBodyBones.RightUpperLeg); + + if (leftUpperArm && rightUpperArm && leftUpperLeg && rightUpperLeg) + { + Vector3 posShoulderCenter = (leftUpperArm.position + rightUpperArm.position) / 2f; + Vector3 posHipCenter = (leftUpperLeg.position + rightUpperLeg.position) / 2f; // hipCenter.position + + //height = (posShoulderCenter.y - posHipCenter.y); + height = (posShoulderCenter - posHipCenter).magnitude; + width = (rightUpperArm.position - leftUpperArm.position).magnitude; + + return true; + } + } + + return false; + } + + private bool GetModelBodyHeight(AvatarController avatarController, ref float height, ref float width) + { + height = 0f; + + if (avatarController) + { + Transform leftUpperArm = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.ShoulderLeft, false)); + Transform rightUpperArm = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.ShoulderRight, false)); + + Transform leftUpperLeg = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.HipLeft, false)); + Transform rightUpperLeg = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(KinectInterop.JointType.HipRight, false)); + + if (leftUpperArm && rightUpperArm && leftUpperLeg && rightUpperLeg) + { + Vector3 posShoulderCenter = (leftUpperArm.position + rightUpperArm.position) / 2f; + Vector3 posHipCenter = (leftUpperLeg.position + rightUpperLeg.position) / 2f; // hipCenter.position + + //height = (posShoulderCenter.y - posHipCenter.y); + height = (posShoulderCenter - posHipCenter).magnitude; + width = (rightUpperArm.position - leftUpperArm.position).magnitude; + + return true; + } + } + + return false; + } + + private bool GetModelBoneLength(Animator animatorComponent, HumanBodyBones baseJoint, HumanBodyBones endJoint, ref float length) + { + length = 0f; + + if (animatorComponent) + { + Transform joint1 = animatorComponent.GetBoneTransform(baseJoint); + Transform joint2 = animatorComponent.GetBoneTransform(endJoint); + + if (joint1 && joint2) + { + length = (joint2.position - joint1.position).magnitude; + return true; + } + } + + return false; + } + + private bool GetModelBoneLength(AvatarController avatarController, KinectInterop.JointType baseJoint, KinectInterop.JointType endJoint, ref float length) + { + length = 0f; + + if (avatarController) + { + Transform joint1 = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(baseJoint, false)); + Transform joint2 = avatarController.GetBoneTransform(avatarController.GetBoneIndexByJoint(endJoint, false)); + + if (joint1 && joint2) + { + length = (joint2.position - joint1.position).magnitude; + return true; + } + } + + return false; + } + + private bool GetUserBodyHeight(KinectManager manager, float scaleFactor, float widthFactor, ref float height, ref float width) + { + height = 0f; + width = 0f; + + Vector3 posHipLeft = GetJointPosition(manager, (int)KinectInterop.JointType.HipLeft); + Vector3 posHipRight = GetJointPosition(manager, (int)KinectInterop.JointType.HipRight); + Vector3 posShoulderLeft = GetJointPosition(manager, (int)KinectInterop.JointType.ShoulderLeft); + Vector3 posShoulderRight = GetJointPosition(manager, (int)KinectInterop.JointType.ShoulderRight); + + if (posHipLeft != Vector3.zero && posHipRight != Vector3.zero && + posShoulderLeft != Vector3.zero && posShoulderRight != Vector3.zero) + { + Vector3 posHipCenter = (posHipLeft + posHipRight) / 2f; + Vector3 posShoulderCenter = (posShoulderLeft + posShoulderRight) / 2f; + //height = (posShoulderCenter.y - posHipCenter.y) * scaleFactor; + + height = (posShoulderCenter - posHipCenter).magnitude * scaleFactor; + width = (posShoulderRight - posShoulderLeft).magnitude * widthFactor; + + return true; + } + + return false; + } + + private bool GetUserBoneLength(KinectManager manager, KinectInterop.JointType baseJoint, KinectInterop.JointType endJoint, float scaleFactor, ref float length) + { + length = 0f; + + Vector3 vPos1 = GetJointPosition(manager, (int)baseJoint); + Vector3 vPos2 = GetJointPosition(manager, (int)endJoint); + + if (vPos1 != Vector3.zero && vPos2 != Vector3.zero) + { + length = (vPos2 - vPos1).magnitude * scaleFactor; + return true; + } + + return false; + } + + private void EqualizeBoneLength(ref float boneLen1, ref float boneLen2) + { + if (boneLen1 < boneLen2) + { + boneLen1 = boneLen2; + } + else + { + boneLen2 = boneLen1; + } + } + + private bool SetupBodyScale(Transform scaleTrans, Vector3 modelBodyScale, float modelHeight, float modelWidth, float userHeight, float userWidth, + float fSmooth, ref float heightScale, ref float widthScale) + { + if (modelHeight > 0f && userHeight > 0f) + { + heightScale = userHeight / modelHeight; + } + + if (modelWidth > 0f && userWidth > 0f) + { + widthScale = userWidth / modelWidth; + } + else + { + widthScale = heightScale; + } + + if (scaleTrans && heightScale > 0f && widthScale > 0f) + { + float depthScale = heightScale; // (heightScale + widthScale) / 2f; + Vector3 newLocalScale = new Vector3(modelBodyScale.x * widthScale, modelBodyScale.y * heightScale, modelBodyScale.z * depthScale); + + if (fSmooth != 0f) + scaleTrans.localScale = Vector3.Lerp(scaleTrans.localScale, newLocalScale, fSmooth * Time.deltaTime); + else + scaleTrans.localScale = newLocalScale; + + return true; + } + + return false; + } + + + private bool SetupBoneScale(Transform scaleTrans, Vector3 modelBoneScale, float modelBoneLen, float userBoneLen, float parentScale, float fSmooth, ref float boneScale) + { + if (modelBoneLen > 0f && userBoneLen > 0f) + { + boneScale = userBoneLen / modelBoneLen; + } + + float localScale = boneScale; + if (boneScale > 0f && parentScale > 0f) + { + localScale = boneScale / parentScale; + } + + if (scaleTrans && localScale > 0f) + { + if (fSmooth != 0f) + scaleTrans.localScale = Vector3.Lerp(scaleTrans.localScale, modelBoneScale * localScale, fSmooth * Time.deltaTime); + else + scaleTrans.localScale = modelBoneScale * localScale; + + return true; + } + + return false; + } + + + public bool FixJointsBeforeScale() + { + Animator animatorComponent = GetComponent(); + KinectManager manager = KinectManager.Instance; + + if (animatorComponent && modelBodyHeight > 0f && userBodyHeight > 0f) + { + Transform hipCenter = animatorComponent.GetBoneTransform(HumanBodyBones.Hips); + if ((hipCenter.localScale - Vector3.one).magnitude > 0.01f) + return false; + + Transform leftUpperLeg = animatorComponent.GetBoneTransform(HumanBodyBones.LeftUpperLeg); + Transform rightUpperLeg = animatorComponent.GetBoneTransform(HumanBodyBones.RightUpperLeg); + + Transform leftUpperArm = animatorComponent.GetBoneTransform(HumanBodyBones.LeftUpperArm); + Transform rightUpperArm = animatorComponent.GetBoneTransform(HumanBodyBones.RightUpperArm); + + if (leftUpperArm && rightUpperArm && leftUpperLeg && rightUpperLeg) + { + Vector3 posHipCenter = GetJointPosition(manager, (int)KinectInterop.JointType.Pelvis); + + Vector3 posHipLeft = GetJointPosition(manager, (int)KinectInterop.JointType.HipLeft); + Vector3 posHipRight = GetJointPosition(manager, (int)KinectInterop.JointType.HipRight); + + Vector3 posShoulderLeft = GetJointPosition(manager, (int)KinectInterop.JointType.ShoulderLeft); + Vector3 posShoulderRight = GetJointPosition(manager, (int)KinectInterop.JointType.ShoulderRight); + + if (posHipCenter != Vector3.zero && posHipLeft != Vector3.zero && posHipRight != Vector3.zero && + posShoulderLeft != Vector3.zero && posShoulderRight != Vector3.zero) + { + SetupUnscaledJoint(hipCenter, leftUpperLeg, posHipCenter, (!mirroredAvatar ? posHipLeft : posHipRight), modelBodyHeight, userBodyHeight); + SetupUnscaledJoint(hipCenter, rightUpperLeg, posHipCenter, (!mirroredAvatar ? posHipRight : posHipLeft), modelBodyHeight, userBodyHeight); + + SetupUnscaledJoint(hipCenter, leftUpperArm, posHipCenter, (!mirroredAvatar ? posShoulderLeft : posShoulderRight), modelBodyHeight, userBodyHeight); + SetupUnscaledJoint(hipCenter, rightUpperArm, posHipCenter, (!mirroredAvatar ? posShoulderRight : posShoulderLeft), modelBodyHeight, userBodyHeight); + + // recalculate model joints + Start(); + + return true; + } + } + } + + return false; + } + + + // gets the joint position in space + private Vector3 GetJointPosition(KinectManager manager, int joint) + { + Vector3 vPosJoint = Vector3.zero; + + if (manager.IsJointTracked(currentUserId, joint)) + { + if (backgroundPlane && planeRectSet) + { + // get the plane overlay position + vPosJoint = manager.GetJointPosColorOverlay(currentUserId, joint, sensorIndex, planeRect); + vPosJoint.z = backgroundPlane.position.z; + } + else if (foregroundCamera) + { + // get the background rectangle (use the portrait background, if available) + Rect backgroundRect = foregroundCamera.pixelRect; + PortraitBackground portraitBack = PortraitBackground.Instance; + + if (portraitBack && portraitBack.enabled) + { + backgroundRect = portraitBack.GetBackgroundRect(); + } + + // get the color overlay position + vPosJoint = manager.GetJointPosColorOverlay(currentUserId, joint, sensorIndex, foregroundCamera, backgroundRect); + } + + // else + if (vPosJoint == Vector3.zero) + { + vPosJoint = manager.GetJointPosition(currentUserId, joint); + } + } + + return vPosJoint; + } + + + // sets the joint position before scaling + private bool SetupUnscaledJoint(Transform hipCenter, Transform joint, Vector3 posHipCenter, Vector3 posJoint, float modelBoneLen, float userBoneLen) + { + float boneScale = 0f; + + if (modelBoneLen > 0f && userBoneLen > 0f) + { + boneScale = userBoneLen / modelBoneLen; + //boneScale = 1f; + } + + if (boneScale > 0f) + { + Vector3 posDiff = (posJoint - posHipCenter) / boneScale; + if (foregroundCamera == null && backgroundPlane == null) + posDiff.z = 0f; // ignore difference in z (non-overlay mode) + + Vector3 posJointNew = hipCenter.position + posDiff; + joint.position = posJointNew; + + return true; + } + + return false; + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarScaler.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarScaler.cs.meta new file mode 100644 index 0000000..04e03e8 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/AvatarScaler.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: de8f786bc13e05e4ebcbf32c68cf3515 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundColorImage.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundColorImage.cs new file mode 100644 index 0000000..f1fbe1a --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundColorImage.cs @@ -0,0 +1,89 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// Background color image is component that displays the color camera feed on RawImage texture, usually the scene background. + /// + public class BackgroundColorImage : MonoBehaviour + { + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("RawImage used to display the color camera feed.")] + public UnityEngine.UI.RawImage backgroundImage; + + [Tooltip("Camera used to display the background image. Set it, if you'd like to allow background image to resize, to match the color image's aspect ratio.")] + public Camera backgroundCamera; + + + void Start() + { + if (backgroundImage == null) + { + backgroundImage = GetComponent(); + } + } + + + void Update() + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager && kinectManager.IsInitialized()) + { + if (backgroundImage && (backgroundImage.texture == null)) + { + backgroundImage.texture = kinectManager.GetColorImageTex(sensorIndex); + backgroundImage.rectTransform.localScale = kinectManager.GetColorImageScale(sensorIndex); + backgroundImage.color = Color.white; + + //Debug.Log("aPos: " + backgroundImage.rectTransform.anchoredPosition + ", aMin: " + backgroundImage.rectTransform.anchorMin + + // ", aMax:" + backgroundImage.rectTransform.anchorMax + ", pivot: " + backgroundImage.rectTransform.pivot + + // ", size: " + backgroundImage.rectTransform.sizeDelta); + + if (backgroundCamera != null) + { + // adjust image's size and position to match the stream aspect ratio + int depthImageWidth = kinectManager.GetColorImageWidth(sensorIndex); + int depthImageHeight = kinectManager.GetColorImageHeight(sensorIndex); + + float cameraWidth = backgroundCamera.pixelRect.width; + float cameraHeight = backgroundCamera.pixelRect.height; + + RectTransform rectImage = backgroundImage.rectTransform; + float rectWidth = (rectImage.anchorMin.x != rectImage.anchorMax.x) ? cameraWidth * (rectImage.anchorMax.x - rectImage.anchorMin.x) : rectImage.sizeDelta.x; + float rectHeight = (rectImage.anchorMin.y != rectImage.anchorMax.y) ? cameraHeight * (rectImage.anchorMax.y - rectImage.anchorMin.y) : rectImage.sizeDelta.y; + + if (rectWidth > rectHeight) + rectWidth = rectHeight * depthImageWidth / depthImageHeight; + else + rectHeight = rectWidth * depthImageHeight / depthImageWidth; + + Vector2 pivotOffset = (rectImage.pivot - new Vector2(0.5f, 0.5f)) * 2f; + Vector2 imageScale = (Vector2)kinectManager.GetColorImageScale(sensorIndex); + Vector2 anchorPos = rectImage.anchoredPosition + pivotOffset * imageScale * new Vector2(rectWidth, rectHeight); + + if (rectImage.anchorMin.x != rectImage.anchorMax.x) + { + rectWidth = -(cameraWidth - rectWidth); + } + + if (rectImage.anchorMin.y != rectImage.anchorMax.y) + { + rectHeight = -(cameraHeight - rectHeight); + } + + rectImage.sizeDelta = new Vector2(rectWidth, rectHeight); + rectImage.anchoredPosition = anchorPos; + } + } + } + } + + } +} + diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundColorImage.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundColorImage.cs.meta new file mode 100644 index 0000000..fd7ff6c --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundColorImage.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 4c68913127bedcd4bbd001b610521305 +timeCreated: 1481733120 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundDepthImage.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundDepthImage.cs new file mode 100644 index 0000000..1d54d3e --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundDepthImage.cs @@ -0,0 +1,86 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// Background depth image is component that displays the depth camera image on RawImage texture, usually the scene background. + /// + public class BackgroundDepthImage : MonoBehaviour + { + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("RawImage used to display the depth image.")] + public UnityEngine.UI.RawImage backgroundImage; + + [Tooltip("Camera used to display the background image. Set it, if you'd like to allow background image to resize, to match the depth image's aspect ratio.")] + public Camera backgroundCamera; + + + void Start() + { + if (backgroundImage == null) + { + backgroundImage = GetComponent(); + } + } + + + void Update() + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager && kinectManager.IsInitialized()) + { + if (backgroundImage && (backgroundImage.texture == null)) + { + // set texture and scale + backgroundImage.texture = kinectManager.GetDepthImageTex(sensorIndex); + backgroundImage.rectTransform.localScale = kinectManager.GetDepthImageScale(sensorIndex); + backgroundImage.color = Color.white; + + if (backgroundCamera != null) + { + // adjust image's size and position to match the stream aspect ratio + int depthImageWidth = kinectManager.GetDepthImageWidth(sensorIndex); + int depthImageHeight = kinectManager.GetDepthImageHeight(sensorIndex); + + float cameraWidth = backgroundCamera.pixelRect.width; + float cameraHeight = backgroundCamera.pixelRect.height; + + RectTransform rectImage = backgroundImage.rectTransform; + float rectWidth = (rectImage.anchorMin.x != rectImage.anchorMax.x) ? cameraWidth * (rectImage.anchorMax.x - rectImage.anchorMin.x) : rectImage.sizeDelta.x; + float rectHeight = (rectImage.anchorMin.y != rectImage.anchorMax.y) ? cameraHeight * (rectImage.anchorMax.y - rectImage.anchorMin.y) : rectImage.sizeDelta.y; + + if (rectWidth > rectHeight) + rectWidth = rectHeight * depthImageWidth / depthImageHeight; + else + rectHeight = rectWidth * depthImageHeight / depthImageWidth; + + Vector2 pivotOffset = (rectImage.pivot - new Vector2(0.5f, 0.5f)) * 2f; + Vector2 imageScale = (Vector2)kinectManager.GetDepthImageScale(sensorIndex); + Vector2 anchorPos = rectImage.anchoredPosition + pivotOffset * imageScale * new Vector2(rectWidth, rectHeight); + + if (rectImage.anchorMin.x != rectImage.anchorMax.x) + { + rectWidth = -(cameraWidth - rectWidth); + } + + if (rectImage.anchorMin.y != rectImage.anchorMax.y) + { + rectHeight = -(cameraHeight - rectHeight); + } + + rectImage.sizeDelta = new Vector2(rectWidth, rectHeight); + rectImage.anchoredPosition = anchorPos; + } + } + } + } + + } +} + diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundDepthImage.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundDepthImage.cs.meta new file mode 100644 index 0000000..56b6a8a --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundDepthImage.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 65268b386677b334bbfd2f6ec3e726fb +timeCreated: 1483707326 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundInfraredImage.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundInfraredImage.cs new file mode 100644 index 0000000..926c58f --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundInfraredImage.cs @@ -0,0 +1,86 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// Background infrared image is component that displays the infrared camera image on RawImage texture, usually the scene background. + /// + public class BackgroundInfraredImage : MonoBehaviour + { + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("RawImage used to display the depth image.")] + public UnityEngine.UI.RawImage backgroundImage; + + [Tooltip("Camera used to display the background image. Set it, if you'd like to allow background image to resize, to match the depth image's aspect ratio.")] + public Camera backgroundCamera; + + + void Start() + { + if (backgroundImage == null) + { + backgroundImage = GetComponent(); + } + } + + + void Update() + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager && kinectManager.IsInitialized()) + { + if (backgroundImage && (backgroundImage.texture == null)) + { + // set texture and scale + backgroundImage.texture = kinectManager.GetInfraredImageTex(sensorIndex); + backgroundImage.rectTransform.localScale = kinectManager.GetInfraredImageScale(sensorIndex); + backgroundImage.color = Color.white; + + if (backgroundCamera != null) + { + // adjust image's size and position to match the stream aspect ratio + int depthImageWidth = kinectManager.GetDepthImageWidth(sensorIndex); + int depthImageHeight = kinectManager.GetDepthImageHeight(sensorIndex); + + float cameraWidth = backgroundCamera.pixelRect.width; + float cameraHeight = backgroundCamera.pixelRect.height; + + RectTransform rectImage = backgroundImage.rectTransform; + float rectWidth = (rectImage.anchorMin.x != rectImage.anchorMax.x) ? cameraWidth * (rectImage.anchorMax.x - rectImage.anchorMin.x) : rectImage.sizeDelta.x; + float rectHeight = (rectImage.anchorMin.y != rectImage.anchorMax.y) ? cameraHeight * (rectImage.anchorMax.y - rectImage.anchorMin.y) : rectImage.sizeDelta.y; + + if (rectWidth > rectHeight) + rectWidth = rectHeight * depthImageWidth / depthImageHeight; + else + rectHeight = rectWidth * depthImageHeight / depthImageWidth; + + Vector2 pivotOffset = (rectImage.pivot - new Vector2(0.5f, 0.5f)) * 2f; + Vector2 imageScale = (Vector2)kinectManager.GetDepthImageScale(sensorIndex); + Vector2 anchorPos = rectImage.anchoredPosition + pivotOffset * imageScale * new Vector2(rectWidth, rectHeight); + + if (rectImage.anchorMin.x != rectImage.anchorMax.x) + { + rectWidth = -(cameraWidth - rectWidth); + } + + if (rectImage.anchorMin.y != rectImage.anchorMax.y) + { + rectHeight = -(cameraHeight - rectHeight); + } + + rectImage.sizeDelta = new Vector2(rectWidth, rectHeight); + rectImage.anchoredPosition = anchorPos; + } + } + } + } + + } +} + diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundInfraredImage.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundInfraredImage.cs.meta new file mode 100644 index 0000000..a0d3370 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundInfraredImage.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: fd43548cc180bc7498e01c3b7606c18e +timeCreated: 1483707326 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalByDist.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalByDist.cs new file mode 100644 index 0000000..78017e9 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalByDist.cs @@ -0,0 +1,75 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + + +namespace com.rfilkov.kinect +{ + /// + /// BackgroundRemovalByDist filters part of the real environment, according to the given spatial limits. + /// + public class BackgroundRemovalByDist : MonoBehaviour + { + [Tooltip("Horizontal limit - minimum, in meters.")] + [Range(-5f, 5f)] + public float xMin = -1f; + + [Tooltip("Horizontal limit - maximum, in meters.")] + [Range(-5f, 5f)] + public float xMax = 1f; + + [Tooltip("Vertical limit - minimum, in meters.")] + [Range(-1f, 5f)] + public float yMin = 0f; + + [Tooltip("Vertical limit - maximum, in meters.")] + [Range(-1f, 5f)] + public float yMax = 2f; + + [Tooltip("Distance limit - minimum, in meters.")] + [Range(0.5f, 10f)] + public float zMin = 1f; + + [Tooltip("Distance limit - maximum, in meters.")] + [Range(0.5f, 10f)] + public float zMax = 3f; + + // foreground filter shader + private ComputeShader foregroundFilterShader = null; + private int foregroundFilterKernel = -1; + + + void Start() + { + foregroundFilterShader = Resources.Load("ForegroundFiltDistShader") as ComputeShader; + foregroundFilterKernel = foregroundFilterShader != null ? foregroundFilterShader.FindKernel("FgFiltDist") : -1; + } + + + /// + /// Applies vertex filter by distance. + /// + /// The vertex texture + public void ApplyVertexFilter(RenderTexture vertexTexture, Matrix4x4 sensorWorldMatrix) + { + //foregroundFilterShader.SetMatrix("Transform", sensorWorldMatrix); + Matrix4x4 matWorldKinect = sensorWorldMatrix.inverse; + + Vector3 posMin = matWorldKinect.MultiplyPoint3x4(new Vector3(xMin, yMin, zMin)); + Vector3 posMaxX = matWorldKinect.MultiplyPoint3x4(new Vector3(xMax, yMin, zMin)) - posMin; + Vector3 posMaxY = matWorldKinect.MultiplyPoint3x4(new Vector3(xMin, yMax, zMin)) - posMin; + Vector3 posMaxZ = matWorldKinect.MultiplyPoint3x4(new Vector3(xMin, yMin, zMax)) - posMin; + Vector3 posDot = new Vector3(Vector3.Dot(posMaxX, posMaxX), Vector3.Dot(posMaxY, posMaxY), Vector3.Dot(posMaxZ, posMaxZ)); + + foregroundFilterShader.SetVector("_PosMin", posMin); + foregroundFilterShader.SetVector("_PosMaxX", posMaxX); + foregroundFilterShader.SetVector("_PosMaxY", posMaxY); + foregroundFilterShader.SetVector("_PosMaxZ", posMaxZ); + foregroundFilterShader.SetVector("_PosDot", posDot); + + foregroundFilterShader.SetTexture(foregroundFilterKernel, "VertexTex", vertexTexture); + foregroundFilterShader.Dispatch(foregroundFilterKernel, vertexTexture.width / 8, vertexTexture.height / 8, 1); + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalByDist.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalByDist.cs.meta new file mode 100644 index 0000000..c0b765b --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalByDist.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 3fa7b39e46e63a24c9a12a224406a1f4 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalManager.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalManager.cs new file mode 100644 index 0000000..7d15045 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalManager.cs @@ -0,0 +1,639 @@ +using UnityEngine; +using System; +using System.Collections; +using System.Collections.Generic; +using System.IO; +using com.rfilkov.components; + + +namespace com.rfilkov.kinect +{ + /// + /// Background removal manager is the component that filters and renders user body silhouettes. + /// + public class BackgroundRemovalManager : MonoBehaviour + { + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("Index of the player, tracked by this component. -1 means all players, 0 - the 1st player only, 1 - the 2nd player only, etc.")] + public int playerIndex = -1; + + [Tooltip("RawImage used for displaying the foreground image.")] + public UnityEngine.UI.RawImage foregroundImage; + + [Tooltip("Camera used for alignment of bodies to color camera image.")] + public Camera foregroundCamera; + + [Tooltip("Resolution of the generated foreground textures.")] + private DepthSensorBase.PointCloudResolution foregroundImageResolution = DepthSensorBase.PointCloudResolution.ColorCameraResolution; + + [Tooltip("Offset from the lowest body joint to the floor.")] + [Range(0f, 0.1f)] + public float offsetToFloor = 0.05f; + + [Tooltip("Whether only the alpha texture is needed.")] + public bool computeAlphaMaskOnly = false; + + [Tooltip("Whether the alpha texture will be inverted or not..")] + public bool invertAlphaMask = false; + + [Tooltip("(Advanced) Whether to apply the median filter before the other filters.")] + public bool applyMedianFilter = false; + + [Tooltip("(Advanced) Number of iterations used by the alpha texture's erode filter 0.")] + [Range(0, 9)] + public int erodeIterations0 = 0; // 1 + + [Tooltip("(Advanced) Number of iterations used by the alpha texture's dilate filter 1.")] + [Range(0, 9)] + public int dilateIterations = 0; // 3; + + [Tooltip("(Advanced) Whether to apply the gradient filter.")] + private bool applyGradientFilter = true; + + [Tooltip("(Advanced) Number of iterations used by the alpha texture's erode filter 2.")] + [Range(0, 9)] + public int erodeIterations = 0; // 4; + + [Tooltip("(Advanced) Whether to apply the blur filter after at the end.")] + public bool applyBlurFilter = true; + + [Tooltip("(Advanced) Color applied to the body contour after the filters.")] + public Color bodyContourColor = Color.black; + + [Tooltip("UI-Text to display the BR-Manager debug messages.")] + public UnityEngine.UI.Text debugText; + + + // max number of bodies to track + private const int MAX_BODY_COUNT = 10; + + // primary sensor data structure + private KinectInterop.SensorData sensorData = null; + private KinectManager kinectManager = null; + + // sensor interface + private DepthSensorBase sensorInt = null; + + // render texture resolution + private Vector2Int textureRes; + + // Bool to keep track whether Kinect and BR library have been initialized + private bool bBackgroundRemovalInited = false; + + // The single instance of BackgroundRemovalManager + //private static BackgroundRemovalManager instance; + + // last point cloud frame time + private ulong lastDepth2SpaceFrameTime = 0; + + // render textures used by the shaders + private RenderTexture colorTexture = null; + private RenderTexture vertexTexture = null; + private RenderTexture alphaTexture = null; + private RenderTexture foregroundTexture = null; + + // Materials used to apply the shaders + private Material medianFilterMat = null; + private Material erodeFilterMat = null; + private Material dilateFilterMat = null; + private Material gradientFilterMat = null; + private Material blurFilterMat = null; + private Material invertAlphaMat = null; + private Material foregroundMat = null; + + // foreground filter shader + private ComputeShader foregroundFilterShader = null; + private int foregroundFilterKernel = -1; + + //private Vector4[] foregroundFilterPos = null; + private Vector4[] bodyPosMin = null; + private Vector4[] bodyPosMaxX = null; + private Vector4[] bodyPosMaxY = null; + private Vector4[] bodyPosMaxZ = null; + private Vector4[] bodyPosDot = null; + + // reference to filter-by-distance component + private BackgroundRemovalByDist filterByDist = null; + + + ///// + ///// Gets the single BackgroundRemovalManager instance. + ///// + ///// The BackgroundRemovalManager instance. + //public static BackgroundRemovalManager Instance + //{ + // get + // { + // return instance; + // } + //} + + /// + /// Determines whether the BackgroundRemovalManager was successfully initialized. + /// + /// true if the BackgroundRemovalManager was successfully initialized; otherwise, false. + public bool IsBackgroundRemovalInited() + { + return bBackgroundRemovalInited; + } + + /// + /// Gets the foreground image texture. + /// + /// The foreground image texture. + public Texture GetForegroundTex() + { + return foregroundTexture; + } + + /// + /// Gets the alpha texture. + /// + /// The alpha texture. + public Texture GetAlphaTex() + { + return alphaTexture; + } + + /// + /// Gets the color texture. + /// + /// The color texture. + public Texture GetColorTex() + { + return colorTexture; + } + + /// + /// Gets the last background removal frame time. + /// + /// The last background removal time. + public ulong GetLastBackgroundRemovalTime() + { + return lastDepth2SpaceFrameTime; + } + + //----------------------------------- end of public functions --------------------------------------// + + //void Awake() + //{ + // instance = this; + //} + + public void Start() + { + try + { + // get sensor data + kinectManager = KinectManager.Instance; + if (kinectManager && kinectManager.IsInitialized()) + { + sensorData = kinectManager.GetSensorData(sensorIndex); + } + + if (sensorData == null || sensorData.sensorInterface == null) + { + throw new Exception("Background removal cannot be started, because KinectManager is missing or not initialized."); + } + + if(foregroundImage == null) + { + // look for a foreground image + foregroundImage = GetComponent(); + } + + if (!foregroundCamera) + { + // by default - the main camera + foregroundCamera = Camera.main; + } + + // try to get reference to filter-by-dist component + filterByDist = GetComponent(); + + // Initialize the background removal + bool bSuccess = InitBackgroundRemoval(sensorData); + + if (bSuccess) + { + if (debugText != null) + debugText.text = string.Empty; + } + else + { + throw new Exception("Background removal could not be initialized."); + } + + bBackgroundRemovalInited = bSuccess; + } + catch (DllNotFoundException ex) + { + Debug.LogError(ex.ToString()); + if (debugText != null) + debugText.text = "Please check the SDK installations."; + } + catch (Exception ex) + { + Debug.LogException(ex); + if (debugText != null) + debugText.text = ex.Message; + } + } + + void OnDestroy() + { + if (bBackgroundRemovalInited) + { + // finish background removal + FinishBackgroundRemoval(sensorData); + } + + bBackgroundRemovalInited = false; + //instance = null; + } + + void Update() + { + if (bBackgroundRemovalInited) + { + // update the background removal + UpdateBackgroundRemoval(sensorData); + + // check for valid foreground image texture + if(foregroundImage != null && foregroundImage.texture == null) + { + foregroundImage.texture = foregroundTexture; + foregroundImage.rectTransform.localScale = kinectManager.GetColorImageScale(sensorIndex); + foregroundImage.color = Color.white; + } + } + } + + + // initializes background removal with shaders + private bool InitBackgroundRemoval(KinectInterop.SensorData sensorData) + { + if (sensorData != null && sensorData.sensorInterface != null && KinectInterop.IsDirectX11Available()) + { + sensorInt = (DepthSensorBase)sensorData.sensorInterface; + if (sensorInt.pointCloudColorTexture != null || sensorInt.pointCloudVertexTexture != null) + { + Debug.LogError("The sensor-interface's point cloud textures are already in use!"); + return false; + } + + // set the texture resolution + sensorInt.pointCloudResolution = foregroundImageResolution; + textureRes = sensorInt.GetPointCloudTexResolution(sensorData); + + colorTexture = KinectInterop.CreateRenderTexture(colorTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGB32); + vertexTexture = KinectInterop.CreateRenderTexture(vertexTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGBHalf); + alphaTexture = KinectInterop.CreateRenderTexture(alphaTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGB32); + foregroundTexture = KinectInterop.CreateRenderTexture(foregroundTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGB32); + + sensorInt.pointCloudColorTexture = colorTexture; + sensorInt.pointCloudVertexTexture = vertexTexture; + + Shader erodeShader = Shader.Find("Kinect/ErodeShader"); + erodeFilterMat = new Material(erodeShader); + erodeFilterMat.SetFloat("_TexResX", (float)textureRes.x); + erodeFilterMat.SetFloat("_TexResY", (float)textureRes.y); + //sensorData.erodeBodyMaterial.SetTexture("_MainTex", sensorData.bodyIndexTexture); + + Shader dilateShader = Shader.Find("Kinect/DilateShader"); + dilateFilterMat = new Material(dilateShader); + dilateFilterMat.SetFloat("_TexResX", (float)textureRes.x); + dilateFilterMat.SetFloat("_TexResY", (float)textureRes.y); + //sensorData.dilateBodyMaterial.SetTexture("_MainTex", sensorData.bodyIndexTexture); + + Shader gradientShader = Shader.Find("Kinect/GradientShader"); + gradientFilterMat = new Material(gradientShader); + + Shader medianShader = Shader.Find("Kinect/MedianShader"); + medianFilterMat = new Material(medianShader); + //sensorData.medianBodyMaterial.SetFloat("_Amount", 1.0f); + + Shader blurShader = Shader.Find("Kinect/BlurShader"); + blurFilterMat = new Material(blurShader); + + Shader invertShader = Shader.Find("Kinect/InvertShader"); + invertAlphaMat = new Material(invertShader); + + Shader foregroundShader = Shader.Find("Kinect/ForegroundShader"); + foregroundMat = new Material(foregroundShader); + + if(filterByDist == null) + { + foregroundFilterShader = Resources.Load("ForegroundFiltBodyShader") as ComputeShader; + foregroundFilterKernel = foregroundFilterShader != null ? foregroundFilterShader.FindKernel("FgFiltBody") : -1; + + //foregroundFilterPos = new Vector4[KinectInterop.Constants.MaxBodyCount]; + bodyPosMin = new Vector4[MAX_BODY_COUNT]; + bodyPosMaxX = new Vector4[MAX_BODY_COUNT]; + bodyPosMaxY = new Vector4[MAX_BODY_COUNT]; + bodyPosMaxZ = new Vector4[MAX_BODY_COUNT]; + bodyPosDot = new Vector4[MAX_BODY_COUNT]; + } + + return true; + } + + return false; + } + + + // releases background removal shader resources + private void FinishBackgroundRemoval(KinectInterop.SensorData sensorData) + { + if(sensorInt) + { + sensorInt.pointCloudColorTexture = null; + sensorInt.pointCloudVertexTexture = null; + } + + if (colorTexture) + { + colorTexture.Release(); + colorTexture = null; + } + + if (vertexTexture) + { + vertexTexture.Release(); + vertexTexture = null; + } + + if (alphaTexture) + { + alphaTexture.Release(); + alphaTexture = null; + } + + if(foregroundTexture) + { + foregroundTexture.Release(); + foregroundTexture = null; + } + + erodeFilterMat = null; + dilateFilterMat = null; + medianFilterMat = null; + blurFilterMat = null; + invertAlphaMat = null; + foregroundMat = null; + + if(foregroundFilterShader != null) + { + foregroundFilterShader = null; + } + + //foregroundFilterPos = null; + bodyPosMin = null; + bodyPosMaxX = null; + bodyPosMaxY = null; + bodyPosMaxZ = null; + bodyPosDot = null; + } + + + // computes current background removal texture + private bool UpdateBackgroundRemoval(KinectInterop.SensorData sensorData) + { + if (bBackgroundRemovalInited && lastDepth2SpaceFrameTime != sensorData.lastDepth2SpaceFrameTime) + { + lastDepth2SpaceFrameTime = sensorData.lastDepth2SpaceFrameTime; + + RenderTexture[] tempTextures = new RenderTexture[2]; + tempTextures[0] = RenderTexture.GetTemporary(textureRes.x, textureRes.y, 0); + tempTextures[1] = RenderTexture.GetTemporary(textureRes.x, textureRes.y, 0); + + RenderTexture[] tempGradTextures = null; + if (applyGradientFilter) + { + tempGradTextures = new RenderTexture[2]; + tempGradTextures[0] = RenderTexture.GetTemporary(textureRes.x, textureRes.y, 0); + tempGradTextures[1] = RenderTexture.GetTemporary(textureRes.x, textureRes.y, 0); + } + + // filter + if(filterByDist != null && sensorInt != null) + { + // filter by distance + filterByDist.ApplyVertexFilter(vertexTexture, sensorInt.GetSensorToWorldMatrix()); + } + else if (foregroundFilterShader != null && sensorInt != null) + { + // filter by bodies + ApplyForegroundFilterByBody(); + } + + Graphics.Blit(vertexTexture, alphaTexture); + + // median + if (applyMedianFilter) + { + ApplySimpleFilter(vertexTexture, alphaTexture, medianFilterMat, tempTextures); + } + else + { + Graphics.Blit(vertexTexture, alphaTexture); + } + + // erode0 + ApplyIterableFilter(alphaTexture, alphaTexture, erodeFilterMat, erodeIterations0, tempTextures); + if(applyGradientFilter) + { + Graphics.CopyTexture(alphaTexture, tempGradTextures[0]); + } + + // dilate + ApplyIterableFilter(alphaTexture, alphaTexture, dilateFilterMat, dilateIterations, tempTextures); + if (applyGradientFilter) + { + //Graphics.Blit(alphaTexture, tempGradTextures[1]); + gradientFilterMat.SetTexture("_ErodeTex", tempGradTextures[0]); + ApplySimpleFilter(alphaTexture, tempGradTextures[1], gradientFilterMat, tempTextures); + } + + // erode + ApplyIterableFilter(alphaTexture, alphaTexture, erodeFilterMat, erodeIterations, tempTextures); + if (tempGradTextures != null) + { + Graphics.Blit(alphaTexture, tempGradTextures[0]); + } + + // blur + if(applyBlurFilter) + { + ApplySimpleFilter(alphaTexture, alphaTexture, blurFilterMat, tempTextures); + } + + if(invertAlphaMask) + { + ApplySimpleFilter(alphaTexture, alphaTexture, invertAlphaMat, tempTextures); + } + + if(!computeAlphaMaskOnly) + { + foregroundMat.SetTexture("_ColorTex", colorTexture); + foregroundMat.SetTexture("_GradientTex", tempGradTextures[1]); + + Color gradientColor = (erodeIterations0 != 0 || dilateIterations != 0 || erodeIterations != 0) ? bodyContourColor : Color.clear; + foregroundMat.SetColor("_GradientColor", gradientColor); + + ApplySimpleFilter(alphaTexture, foregroundTexture, foregroundMat, tempTextures); + } + else + { + Graphics.CopyTexture(alphaTexture, foregroundTexture); + } + + // cleanup + if (tempGradTextures != null) + { + RenderTexture.ReleaseTemporary(tempGradTextures[0]); + RenderTexture.ReleaseTemporary(tempGradTextures[1]); + } + + RenderTexture.ReleaseTemporary(tempTextures[0]); + RenderTexture.ReleaseTemporary(tempTextures[1]); + } + + return true; + } + + // applies foreground filter by body + private void ApplyForegroundFilterByBody() + { + Matrix4x4 matKinectWorld = sensorInt.GetSensorToWorldMatrix(); + //foregroundFilterShader.SetMatrix("_Transform", matKinectWorld); + //foregroundFilterShader.SetFloat("Distance", 1f); + + Matrix4x4 matWorldKinect = matKinectWorld.inverse; + if (kinectManager != null && kinectManager.userManager != null) + { + List alUserIds = null; + + if (playerIndex < 0) + { + alUserIds = kinectManager.userManager.alUserIds; + } + else + { + alUserIds = new List(); + + ulong userId = kinectManager.GetUserIdByIndex(playerIndex); + if (userId != 0) + alUserIds.Add(userId); + } + + int uCount = Mathf.Min(alUserIds.Count, MAX_BODY_COUNT); + foregroundFilterShader.SetInt("_NumBodies", uCount); + + // get the background rectangle (use the portrait background, if available) + Rect backgroundRect = foregroundCamera.pixelRect; + PortraitBackground portraitBack = PortraitBackground.Instance; + + if (portraitBack && portraitBack.enabled) + { + backgroundRect = portraitBack.GetBackgroundRect(); + } + + int jCount = kinectManager.GetJointCount(); + for (int i = 0; i < uCount; i++) + { + ulong userId = alUserIds[i]; + //foregroundFilterPos[i] = kinectManager.GetUserPosition(userId); + + //float xMin = float.MaxValue, xMax = float.MinValue; + //float yMin = float.MaxValue, yMax = float.MinValue; + //float zMin = float.MaxValue, zMax = float.MinValue; + + //for (int j = 0; j < jCount; j++) + //{ + // if(kinectManager.IsJointTracked(userId, j)) + // { + // Vector3 jPos = kinectManager.GetJointPosColorOverlay(userId, j, sensorIndex, foregroundCamera, backgroundRect); + + // if (jPos.x < xMin) xMin = jPos.x; + // if (jPos.y < yMin) yMin = jPos.y; + // if (jPos.z < zMin) zMin = jPos.z; + + // if (jPos.x > xMax) xMax = jPos.x; + // if (jPos.y > yMax) yMax = jPos.y; + // if (jPos.z > zMax) zMax = jPos.z; + // } + //} + + bool bSuccess = kinectManager.GetUserBoundingBox(userId, foregroundCamera, sensorIndex, backgroundRect, + out Vector3 pMin, out Vector3 pMax); + + if (bSuccess) + { + Vector3 posMin = new Vector3(pMin.x - 0.1f, pMin.y - offsetToFloor, pMin.z - 0.1f); + Vector3 posMaxX = new Vector3(pMax.x + 0.1f, posMin.y, posMin.z); + Vector3 posMaxY = new Vector3(posMin.x, pMax.y + 0.2f, posMin.z); + Vector3 posMaxZ = new Vector3(posMin.x, posMin.y, pMax.z + 0.1f); + + //foregroundFilterDistXY[i] = new Vector4(xMin - 0.1f, xMax + 0.1f, yMin - offsetToFloor, yMax + 0.1f); + //foregroundFilterDistZ[i] = new Vector4(zMin - 0.2f, zMax + 0.0f, 0f, 0f); + bodyPosMin[i] = matWorldKinect.MultiplyPoint3x4(posMin); + bodyPosMaxX[i] = matWorldKinect.MultiplyPoint3x4(posMaxX) - (Vector3)bodyPosMin[i]; + bodyPosMaxY[i] = matWorldKinect.MultiplyPoint3x4(posMaxY) - (Vector3)bodyPosMin[i]; + bodyPosMaxZ[i] = matWorldKinect.MultiplyPoint3x4(posMaxZ) - (Vector3)bodyPosMin[i]; + bodyPosDot[i] = new Vector3(Vector3.Dot(bodyPosMaxX[i], bodyPosMaxX[i]), Vector3.Dot(bodyPosMaxY[i], bodyPosMaxY[i]), Vector3.Dot(bodyPosMaxZ[i], bodyPosMaxZ[i])); + } + + //string sMessage2 = string.Format("Xmin: {0:F1}; Xmax: {1:F1}", bodyPosMin[i].x, bodyPosMaxX[i].x); + //Debug.Log(sMessage2); + } + } + + //foregroundFilterShader.SetVectorArray("BodyPos", foregroundFilterPos); + foregroundFilterShader.SetVectorArray("_BodyPosMin", bodyPosMin); + foregroundFilterShader.SetVectorArray("_BodyPosMaxX", bodyPosMaxX); + foregroundFilterShader.SetVectorArray("_BodyPosMaxY", bodyPosMaxY); + foregroundFilterShader.SetVectorArray("_BodyPosMaxZ", bodyPosMaxZ); + foregroundFilterShader.SetVectorArray("_BodyPosDot", bodyPosDot); + + foregroundFilterShader.SetTexture(foregroundFilterKernel, "_VertexTex", vertexTexture); + foregroundFilterShader.Dispatch(foregroundFilterKernel, textureRes.x / 8, textureRes.y / 8, 1); + } + + // applies iterable filter to the source texture + private void ApplyIterableFilter(RenderTexture source, RenderTexture destination, Material filterMat, int numIterations, RenderTexture[] tempTextures) + { + if (!source || !destination || !filterMat || numIterations == 0) + return; + + Graphics.Blit(source, tempTextures[0]); + + for (int i = 0; i < numIterations; i++) + { + Graphics.Blit(tempTextures[i % 2], tempTextures[(i + 1) % 2], filterMat); + } + + if ((numIterations % 2) == 0) + { + Graphics.Blit(tempTextures[0], destination); + } + else + { + Graphics.Blit(tempTextures[1], destination); + } + } + + // applies simple filter to the source texture + private void ApplySimpleFilter(RenderTexture source, RenderTexture destination, Material filterMat, RenderTexture[] tempTextures) + { + if (!source || !destination || !filterMat) + return; + + Graphics.Blit(source, tempTextures[0], filterMat); + Graphics.Blit(tempTextures[0], destination); + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalManager.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalManager.cs.meta new file mode 100644 index 0000000..5bf334a --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundRemovalManager.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: a559e12c3f373eb4c8d0e1096fec8a67 +timeCreated: 1426178739 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundUserBodyImage.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundUserBodyImage.cs new file mode 100644 index 0000000..4fb7268 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundUserBodyImage.cs @@ -0,0 +1,86 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// Background user-body image is component that displays the user-body image on RawImage texture, usually the scene background. + /// + public class BackgroundUserBodyImage : MonoBehaviour + { + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("RawImage used to display the user-body image.")] + public UnityEngine.UI.RawImage backgroundImage; + + [Tooltip("Camera used to display the background image. Set it, if you'd like to allow background image to resize, to match the depth image's aspect ratio.")] + public Camera backgroundCamera; + + + void Start() + { + if (backgroundImage == null) + { + backgroundImage = GetComponent(); + } + } + + + void Update() + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager && kinectManager.IsInitialized()) + { + if (backgroundImage && (backgroundImage.texture == null)) + { + // set texture and scale + backgroundImage.texture = kinectManager.GetUsersImageTex(sensorIndex); + backgroundImage.rectTransform.localScale = kinectManager.GetDepthImageScale(sensorIndex); + backgroundImage.color = Color.white; + + if (backgroundCamera != null) + { + // adjust image's size and position to match the stream aspect ratio + int depthImageWidth = kinectManager.GetDepthImageWidth(sensorIndex); + int depthImageHeight = kinectManager.GetDepthImageHeight(sensorIndex); + + float cameraWidth = backgroundCamera.pixelRect.width; + float cameraHeight = backgroundCamera.pixelRect.height; + + RectTransform rectImage = backgroundImage.rectTransform; + float rectWidth = (rectImage.anchorMin.x != rectImage.anchorMax.x) ? cameraWidth * (rectImage.anchorMax.x - rectImage.anchorMin.x) : rectImage.sizeDelta.x; + float rectHeight = (rectImage.anchorMin.y != rectImage.anchorMax.y) ? cameraHeight * (rectImage.anchorMax.y - rectImage.anchorMin.y) : rectImage.sizeDelta.y; + + if (rectWidth > rectHeight) + rectWidth = rectHeight * depthImageWidth / depthImageHeight; + else + rectHeight = rectWidth * depthImageHeight / depthImageWidth; + + Vector2 pivotOffset = (rectImage.pivot - new Vector2(0.5f, 0.5f)) * 2f; + Vector2 imageScale = (Vector2)kinectManager.GetDepthImageScale(sensorIndex); + Vector2 anchorPos = rectImage.anchoredPosition + pivotOffset * imageScale * new Vector2(rectWidth, rectHeight); + + if (rectImage.anchorMin.x != rectImage.anchorMax.x) + { + rectWidth = -(cameraWidth - rectWidth); + } + + if (rectImage.anchorMin.y != rectImage.anchorMax.y) + { + rectHeight = -(cameraHeight - rectHeight); + } + + rectImage.sizeDelta = new Vector2(rectWidth, rectHeight); + rectImage.anchoredPosition = anchorPos; + } + } + } + } + + } +} + diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundUserBodyImage.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundUserBodyImage.cs.meta new file mode 100644 index 0000000..10f2f6d --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BackgroundUserBodyImage.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: df3491a43e1ff0f4d84b03fdfd277aad +timeCreated: 1483707326 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BodyDataRecorderPlayer.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BodyDataRecorderPlayer.cs new file mode 100644 index 0000000..70af73a --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BodyDataRecorderPlayer.cs @@ -0,0 +1,371 @@ +using UnityEngine; +using System.Collections; +using System.IO; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// BodyDataRecorderPlayer is the component that can be used for recording and replaying of body-data files. + /// + public class BodyDataRecorderPlayer : MonoBehaviour + { + [Tooltip("Path to the file used to record or replay the recorded data.")] + public string filePath = "BodyRecording.txt"; + + [Tooltip("UI-Text to display information messages.")] + public UnityEngine.UI.Text infoText; + + [Tooltip("Whether to start playing the recorded data, right after the scene start.")] + public bool playAtStart = false; + + + // singleton instance of the class + private static BodyDataRecorderPlayer instance = null; + + // whether it is recording or playing saved data at the moment + private bool isRecording = false; + private bool isPlaying = false; + + // reference to the KM + private KinectManager kinectManager = null; + + // time variables used for recording and playing + private ulong liRelTime = 0; + private float fStartTime = 0f; + private float fCurrentTime = 0f; + private int fCurrentFrame = 0; + + // player variables + private StreamReader fileReader = null; + private float fPlayTime = 0f; + private string sPlayLine = string.Empty; + + + /// + /// Gets the singleton BodyDataRecorderPlayer instance. + /// + /// The KinectRecorderPlayer instance. + public static BodyDataRecorderPlayer Instance + { + get + { + return instance; + } + } + + + // starts recording + public bool StartRecording() + { + if (isRecording) + return false; + + isRecording = true; + + // avoid recording an playing at the same time + if (isPlaying && isRecording) + { + CloseFile(); + isPlaying = false; + + Debug.Log("Playing stopped."); + } + + // stop recording if there is no file name specified + if (filePath.Length == 0) + { + isRecording = false; + + Debug.LogError("No file to save."); + if (infoText != null) + { + infoText.text = "No file to save."; + } + } + + if (isRecording) + { + Debug.Log("Recording started."); + if (infoText != null) + { + infoText.text = "Recording..."; + } + + // delete the old csv file + if (filePath.Length > 0 && File.Exists(filePath)) + { + File.Delete(filePath); + } + + // initialize times + fStartTime = fCurrentTime = Time.time; + fCurrentFrame = 0; + } + + return isRecording; + } + + + // starts playing + public bool StartPlaying() + { + if (isPlaying) + return false; + + isPlaying = true; + + // avoid recording an playing at the same time + if (isRecording && isPlaying) + { + isRecording = false; + Debug.Log("Recording stopped."); + } + + // stop playing if there is no file name specified + if (filePath.Length == 0 || !File.Exists(filePath)) + { + isPlaying = false; + Debug.LogError("File not found: " + filePath); + + if (infoText != null) + { + infoText.text = "File not found: " + filePath; + } + } + + if (isPlaying) + { + Debug.Log("Playing started."); + if (infoText != null) + { + infoText.text = "Playing..."; + } + + // initialize times + fStartTime = fCurrentTime = Time.time; + fCurrentFrame = -1; + + // open the file and read a line +#if !UNITY_WSA + fileReader = new StreamReader(filePath); +#endif + ReadLineFromFile(); + + // enable the play mode + if (kinectManager) + { + kinectManager.EnablePlayMode(true); + } + } + + return isPlaying; + } + + + // stops recording or playing + public void StopRecordingOrPlaying() + { + if (isRecording) + { + isRecording = false; + + string sSavedTimeAndFrames = string.Format("{0:F3}s., {1} frames.", (fCurrentTime - fStartTime), fCurrentFrame); + Debug.Log("Recording stopped @ " + sSavedTimeAndFrames); + + if (infoText != null) + { + infoText.text = "Recording stopped @ " + sSavedTimeAndFrames; + } + } + + if (isPlaying) + { + // close the file, if it is playing + CloseFile(); + isPlaying = false; + + Debug.Log("Playing stopped."); + if (infoText != null) + { + infoText.text = "Playing stopped."; + } + } + + //if (infoText != null) + //{ + // infoText.text = "Say: 'Record' to start the recorder, or 'Play' to start the player."; + //} + } + + // returns if file recording is in progress at the moment + public bool IsRecording() + { + return isRecording; + } + + // returns if file-play is in progress at the moment + public bool IsPlaying() + { + return isPlaying; + } + + + // ----- end of public functions ----- + + + void Awake() + { + instance = this; + } + + void Start() + { + //if (infoText != null) + //{ + // infoText.text = "Say: 'Record' to start the recorder, or 'Play' to start the player."; + //} + + if (!kinectManager) + { + kinectManager = KinectManager.Instance; + } + else + { + Debug.Log("KinectManager not found, probably not initialized."); + + if (infoText != null) + { + infoText.text = "KinectManager not found, probably not initialized."; + } + } + + if (playAtStart) + { + StartPlaying(); + } + } + + void Update() + { + if (isRecording) + { + // save the body frame, if any + if (kinectManager && kinectManager.IsInitialized() && liRelTime != kinectManager.GetBodyFrameTimestamp()) + { + liRelTime = kinectManager.GetBodyFrameTimestamp(); + string sBodyFrame = kinectManager.GetBodyFrameData(ref fCurrentTime, ';'); + + System.Globalization.CultureInfo invCulture = System.Globalization.CultureInfo.InvariantCulture; + + if (sBodyFrame.Length > 0) + { +#if !UNITY_WSA + using (StreamWriter writer = File.AppendText(filePath)) + { + string sRelTime = string.Format(invCulture, "{0:F3}", (fCurrentTime - fStartTime)); + writer.WriteLine(sRelTime + "|" + sBodyFrame); + + if (infoText != null) + { + infoText.text = string.Format("Recording @ {0}s., frame {1}.", sRelTime, fCurrentFrame); + } + + fCurrentFrame++; + } +#else + string sRelTime = string.Format(invCulture, "{0:F3}", (fCurrentTime - fStartTime)); + Debug.Log(sRelTime + "|" + sBodyFrame); +#endif + } + } + } + + if (isPlaying) + { + // wait for the right time + fCurrentTime = Time.time; + float fRelTime = fCurrentTime - fStartTime; + + if (sPlayLine != null && fRelTime >= fPlayTime) + { + // then play the line + if (kinectManager && sPlayLine.Length > 0) + { + kinectManager.SetBodyFrameData(sPlayLine); + } + + // and read the next line + ReadLineFromFile(); + } + + if (sPlayLine == null) + { + // finish playing, if we reached the EOF + StopRecordingOrPlaying(); + } + } + } + + void OnDestroy() + { + // don't forget to release the resources + CloseFile(); + isRecording = isPlaying = false; + } + + // reads a line from the file + private bool ReadLineFromFile() + { + if (fileReader == null) + return false; + + // read a line + sPlayLine = fileReader.ReadLine(); + if (sPlayLine == null) + return false; + + System.Globalization.CultureInfo invCulture = System.Globalization.CultureInfo.InvariantCulture; + System.Globalization.NumberStyles numFloat = System.Globalization.NumberStyles.Float; + + // extract the unity time and the body frame + char[] delimiters = { '|' }; + string[] sLineParts = sPlayLine.Split(delimiters); + + if (sLineParts.Length >= 2) + { + float.TryParse(sLineParts[0], numFloat, invCulture, out fPlayTime); + sPlayLine = sLineParts[1]; + fCurrentFrame++; + + if (infoText != null) + { + infoText.text = string.Format("Playing @ {0:F3}s., frame {1}.", fPlayTime, fCurrentFrame); + } + + return true; + } + + return false; + } + + // close the file and disable the play mode + private void CloseFile() + { + // close the file + if (fileReader != null) + { + fileReader.Dispose(); + fileReader = null; + } + + // disable the play mode + if (kinectManager) + { + kinectManager.EnablePlayMode(false); + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/BodyDataRecorderPlayer.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BodyDataRecorderPlayer.cs.meta new file mode 100644 index 0000000..314e079 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/BodyDataRecorderPlayer.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: d8a2276ae0c75c9439e36365c3e7554d +timeCreated: 1438963698 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/CubemanController.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/CubemanController.cs new file mode 100644 index 0000000..659218e --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/CubemanController.cs @@ -0,0 +1,266 @@ +using UnityEngine; +using System; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// Cubeman controller transfers the captured user motion to a cubeman model. + /// + public class CubemanController : 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("Whether the cubeman is allowed to move vertically or not.")] + public bool verticalMovement = true; + + [Tooltip("Whether the cubeman is facing the player or not.")] + public bool mirroredMovement = false; + + [Tooltip("Rate at which the cubeman will move through the scene.")] + public float moveRate = 1f; + + public GameObject Pelvis; + public GameObject SpineNaval; + public GameObject SpineChest; + public GameObject Neck; + public GameObject Head; + + public GameObject ClavicleLeft; + public GameObject ShoulderLeft; + public GameObject ElbowLeft; + public GameObject WristLeft; + public GameObject HandLeft; + + public GameObject ClavicleRight; + public GameObject ShoulderRight; + public GameObject ElbowRight; + public GameObject WristRight; + public GameObject HandRight; + + public GameObject HipLeft; + public GameObject KneeLeft; + public GameObject AnkleLeft; + public GameObject FootLeft; + + public GameObject HipRight; + public GameObject KneeRight; + public GameObject AnkleRight; + public GameObject FootRight; + + public GameObject Nose; + public GameObject EyeLeft; + public GameObject EarLeft; + public GameObject EyeRight; + public GameObject EarRight; + + public GameObject HandtipLeft; + public GameObject ThumbLeft; + public GameObject HandtipRight; + public GameObject ThumbRight; + + public LineRenderer skeletonLine; + //public LineRenderer debugLine; + + private GameObject[] bones; + private LineRenderer[] lines; + + private LineRenderer lineTLeft; + private LineRenderer lineTRight; + private LineRenderer lineFLeft; + private LineRenderer lineFRight; + + private Vector3 initialPosition; + private Quaternion initialRotation; + + private Vector3 initialPosUser = Vector3.zero; + private Vector3 initialPosOffset = Vector3.zero; + private ulong initialPosUserID = 0; + + + void Start() + { + //store bones in a list for easier access + bones = new GameObject[] + { + Pelvis, + SpineNaval, + SpineChest, + Neck, + Head, + + ClavicleLeft, + ShoulderLeft, + ElbowLeft, + WristLeft, + HandLeft, + + ClavicleRight, + ShoulderRight, + ElbowRight, + WristRight, + HandRight, + + HipLeft, + KneeLeft, + AnkleLeft, + FootLeft, + + HipRight, + KneeRight, + AnkleRight, + FootRight, + + Nose, + EyeLeft, + EarLeft, + EyeRight, + EarRight, + + HandtipLeft, + ThumbLeft, + HandtipRight, + ThumbRight + }; + + // array holding the skeleton lines + lines = new LineRenderer[bones.Length]; + + initialPosition = transform.position; + initialRotation = transform.rotation; + } + + + void Update() + { + KinectManager kinectManager = KinectManager.Instance; + + // get 1st player + ulong userID = kinectManager ? kinectManager.GetUserIdByIndex(playerIndex) : 0; + + if (userID == 0) + { + initialPosUserID = 0; + initialPosOffset = Vector3.zero; + initialPosUser = Vector3.zero; + + // reset the pointman position and rotation + if (transform.position != initialPosition) + { + transform.position = initialPosition; + } + + if (transform.rotation != initialRotation) + { + transform.rotation = initialRotation; + } + + for (int i = 0; i < bones.Length; i++) + { + bones[i].gameObject.SetActive(true); + + bones[i].transform.localPosition = Vector3.zero; + bones[i].transform.localRotation = Quaternion.identity; + + if (lines[i] != null) + { + lines[i].gameObject.SetActive(false); + } + } + + return; + } + + // set the position in space + Vector3 posPointMan = kinectManager.GetUserPosition(userID); + Vector3 posPointManMP = new Vector3(posPointMan.x, posPointMan.y, !mirroredMovement ? -posPointMan.z : posPointMan.z); + + // store the initial position + if (initialPosUserID != userID) + { + initialPosUserID = userID; + //initialPosOffset = transform.position - (verticalMovement ? posPointMan * moveRate : new Vector3(posPointMan.x, 0, posPointMan.z) * moveRate); + initialPosOffset = posPointMan; + + initialPosUser = initialPosition; + if (verticalMovement) + initialPosUser.y = 0f; // posPointManMP.y provides the vertical position in this case + } + + Vector3 relPosUser = (posPointMan - initialPosOffset); + relPosUser.z = !mirroredMovement ? -relPosUser.z : relPosUser.z; + + transform.position = verticalMovement ? initialPosUser + posPointManMP * moveRate : + initialPosUser + new Vector3(posPointManMP.x, 0, posPointManMP.z) * moveRate; + + //Debug.Log (userID + ", pos: " + posPointMan + ", ipos: " + initialPosUser + ", rpos: " + posPointManMP + ", tpos: " + transform.position); + + // update the local positions of the bones + for (int i = 0; i < bones.Length; i++) + { + if (bones[i] != null) + { + int joint = !mirroredMovement ? i : (int)KinectInterop.GetMirrorJoint((KinectInterop.JointType)i); + if (joint < 0) + continue; + + if (kinectManager.IsJointTracked(userID, joint)) + { + bones[i].gameObject.SetActive(true); + + Vector3 posJoint = kinectManager.GetJointPosition(userID, joint); + posJoint.z = !mirroredMovement ? -posJoint.z : posJoint.z; + + Quaternion rotJoint = kinectManager.GetJointOrientation(userID, joint, !mirroredMovement); + rotJoint = initialRotation * rotJoint; + + posJoint -= posPointManMP; + + if (mirroredMovement) + { + posJoint.x = -posJoint.x; + posJoint.z = -posJoint.z; + } + + bones[i].transform.localPosition = posJoint; + bones[i].transform.rotation = rotJoint; + + if (lines[i] == null && skeletonLine != null) + { + lines[i] = Instantiate(skeletonLine) as LineRenderer; + lines[i].transform.parent = transform; + } + + if (lines[i] != null) + { + lines[i].gameObject.SetActive(true); + Vector3 posJoint2 = bones[i].transform.position; + + Vector3 dirFromParent = kinectManager.GetJointDirection(userID, joint, false, false); + dirFromParent.z = !mirroredMovement ? -dirFromParent.z : dirFromParent.z; + Vector3 posParent = posJoint2 - dirFromParent; + + //lines[i].SetVertexCount(2); + lines[i].SetPosition(0, posParent); + lines[i].SetPosition(1, posJoint2); + } + + } + else + { + bones[i].gameObject.SetActive(false); + + if (lines[i] != null) + { + lines[i].gameObject.SetActive(false); + } + } + } + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/CubemanController.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/CubemanController.cs.meta new file mode 100644 index 0000000..d8d5ec5 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/CubemanController.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 9f828727d4cfb7a4b8984b4e0310ae67 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters.meta new file mode 100644 index 0000000..16dc12a --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 50bc3aae16556ef4da4f40d878f1e934 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/BoneOrientationConstraints.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/BoneOrientationConstraints.cs new file mode 100644 index 0000000..ab18a0d --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/BoneOrientationConstraints.cs @@ -0,0 +1,331 @@ +using UnityEngine; +using System; +using System.Collections; +using System.Collections.Generic; + + +namespace com.rfilkov.kinect +{ + /// + /// Filter to correct the joint orientations to constraint to the range of plausible human motion. + /// + public class BoneOrientationConstraints + { + // constraint types + public enum CT { None = 0, LimA = 1, LimST = 2, LimH = 3 } + + // list of joint constraints + private readonly List jointConstraints = new List(); + + private UnityEngine.UI.Text debugText; + + private long frameNum = 0; + //private float currentTime = 0f; + + + // Initializes a new instance of the BoneOrientationConstraints class. + public BoneOrientationConstraints() + { + } + + public void SetDebugText(UnityEngine.UI.Text debugText) + { + this.debugText = debugText; + } + + // AddDefaultConstraints - Adds a set of default joint constraints for normal human poses. + // This is a reasonable set of constraints for plausible human bio-mechanics. + public void AddDefaultConstraints() + { + // SpineNaval + AddBoneOrientationConstraint((int)KinectInterop.JointType.SpineNaval, CT.LimST, Vector3.up, 5f, 0f); + + // SpineChest + AddBoneOrientationConstraint((int)KinectInterop.JointType.SpineChest, CT.LimST, Vector3.up, 5f, 0f); + + // Neck + AddBoneOrientationConstraint((int)KinectInterop.JointType.Neck, CT.LimST, Vector3.up, 50f, 80f); + + // ShoulderLeft, ShoulderRight + AddBoneOrientationConstraint((int)KinectInterop.JointType.ShoulderLeft, CT.LimST, Vector3.left, 180f, 180f); + AddBoneOrientationConstraint((int)KinectInterop.JointType.ShoulderRight, CT.LimST, Vector3.right, 180f, 180f); + + // ElbowLeft, ElbowRight + AddBoneOrientationConstraint((int)KinectInterop.JointType.ElbowLeft, CT.LimST, Vector3.left, 180f, 180f); + AddBoneOrientationConstraint((int)KinectInterop.JointType.ElbowRight, CT.LimST, Vector3.right, 180f, 180f); + + // WristLeft, WristRight + AddBoneOrientationConstraint((int)KinectInterop.JointType.WristLeft, CT.LimST, Vector3.left, 60f, 40f); + AddBoneOrientationConstraint((int)KinectInterop.JointType.WristRight, CT.LimST, Vector3.right, 60f, 40f); + + // HandLeft, HandRight + AddBoneOrientationConstraint((int)KinectInterop.JointType.HandLeft, CT.LimH, Vector3.forward, -5f, -80f); + AddBoneOrientationConstraint((int)KinectInterop.JointType.HandRight, CT.LimH, Vector3.forward, 5f, 80f); + + // HipLeft, HipRight + AddBoneOrientationConstraint((int)KinectInterop.JointType.HipLeft, CT.LimST, Vector3.down, 120f, 0f); + AddBoneOrientationConstraint((int)KinectInterop.JointType.HipRight, CT.LimST, Vector3.down, 120f, 0f); + + // KneeLeft, KneeRight + AddBoneOrientationConstraint((int)KinectInterop.JointType.KneeLeft, CT.LimH, Vector3.right, 0f, 150f); + AddBoneOrientationConstraint((int)KinectInterop.JointType.KneeRight, CT.LimH, Vector3.right, 0f, 150f); + + //// AnkleLeft, AnkleRight + ////AddBoneOrientationConstraint((int)KinectInterop.JointType.AnkleLeft, CT.LimST, Vector3.forward, 30f, 0f); + ////AddBoneOrientationConstraint((int)KinectInterop.JointType.AnkleRight, CT.LimST, Vector3.forward, 30f, 0f); + //AddBoneOrientationConstraint((int)KinectInterop.JointType.AnkleLeft, CT.LimA, Vector3.forward, -5f, 5f); // lat + //AddBoneOrientationConstraint((int)KinectInterop.JointType.AnkleLeft, CT.LimA, Vector3.right, -10f, 10f); // sag + //AddBoneOrientationConstraint((int)KinectInterop.JointType.AnkleLeft, CT.LimA, Vector3.up, -30f, 30f); // rot + //AddBoneOrientationConstraint((int)KinectInterop.JointType.AnkleRight, CT.LimA, Vector3.forward, -5f, 5f); // lat + //AddBoneOrientationConstraint((int)KinectInterop.JointType.AnkleRight, CT.LimA, Vector3.right, -10f, 10f); // sag + //AddBoneOrientationConstraint((int)KinectInterop.JointType.AnkleRight, CT.LimA, Vector3.up, -30f, 30f); // rot + } + + // Apply the orientation constraints + public void Constrain(ref KinectInterop.BodyData bodyData) + { + KinectManager kinectManager = KinectManager.Instance; + frameNum++; + + for (int i = 0; i < jointConstraints.Count; i++) + { + BoneOrientationConstraint jc = this.jointConstraints[i]; + + if (jc.thisJoint == (int)KinectInterop.JointType.Pelvis || bodyData.joint[jc.thisJoint].normalRotation == Quaternion.identity) + continue; + if (bodyData.joint[jc.thisJoint].trackingState == KinectInterop.TrackingState.NotTracked) + continue; + + int prevJoint = (int)KinectInterop.GetParentJoint((KinectInterop.JointType)jc.thisJoint); + if (bodyData.joint[prevJoint].trackingState == KinectInterop.TrackingState.NotTracked) + continue; + + Quaternion rotParentN = bodyData.joint[prevJoint].normalRotation; + //Quaternion rotDefaultN = Quaternion.identity; // Quaternion.FromToRotation(KinectInterop.JointBaseDir[prevJoint], KinectInterop.JointBaseDir[jc.thisJoint]); + //rotParentN = rotParentN * rotDefaultN; + + Quaternion rotJointN = bodyData.joint[jc.thisJoint].normalRotation; + Quaternion rotLocalN = Quaternion.Inverse(rotParentN) * rotJointN; + Vector3 eulerAnglesN = rotLocalN.eulerAngles; + + bool isConstrained = false; + //string sDebug = string.Empty; + + for (int a = 0; a < jc.axisConstrainrs.Count; a++) + { + AxisOrientationConstraint ac = jc.axisConstrainrs[a]; + Quaternion rotLimited = rotLocalN; + + switch (ac.consType) + { + case 0: + break; + + case CT.LimA: + eulerAnglesN = LimitAngles(eulerAnglesN, ac.axis, ac.angleMin, ac.angleMax); + rotLimited = Quaternion.Euler(eulerAnglesN); + break; + + case CT.LimST: + rotLimited = LimitSwing(rotLocalN, ac.axis, ac.angleMin); + rotLimited = LimitTwist(rotLimited, ac.axis, ac.angleMax); + break; + + case CT.LimH: + float lastAngle = bodyData.joint[jc.thisJoint].lastAngle; + rotLimited = LimitHinge(rotLocalN, ac.axis, ac.angleMin, ac.angleMax, ref lastAngle); + bodyData.joint[jc.thisJoint].lastAngle = lastAngle; + break; + + default: + throw new Exception("Undefined constraint type found: " + (int)ac.consType); + } + + if (rotLimited != rotLocalN) + { + rotLocalN = rotLimited; + isConstrained = true; + } + } + + //if (sDebug.Length > 0) + //{ + // if (debugText != null && jc.thisJoint == (int)KinectInterop.JointType.ElbowLeft) + // { + // // debugText.text = sDebug; + // } + + // Debug.Log(sDebug); + //} + + if (isConstrained) + { + rotJointN = rotParentN * rotLocalN; + + Vector3 eulerJoint = rotJointN.eulerAngles; + Vector3 eulerJointM = new Vector3(eulerJoint.x, -eulerJoint.y, -eulerJoint.z); + Quaternion rotJointM = Quaternion.Euler(eulerJointM); + + // put it back into the bone orientations + bodyData.joint[jc.thisJoint].normalRotation = rotJointN; + bodyData.joint[jc.thisJoint].mirroredRotation = rotJointM; + } + + } + } + + // find the bone constraint structure for given joint + // returns the structure index in the list, or -1 if the bone structure is not found + private int FindBoneOrientationConstraint(int thisJoint) + { + for (int i = 0; i < jointConstraints.Count; i++) + { + if (jointConstraints[i].thisJoint == thisJoint) + return i; + } + + return -1; + } + + // AddJointConstraint - Adds a joint constraint to the system. + private void AddBoneOrientationConstraint(int thisJoint, CT consType, Vector3 axis, float angleMin, float angleMax) + { + int index = FindBoneOrientationConstraint(thisJoint); + + BoneOrientationConstraint jc = index >= 0 ? jointConstraints[index] : new BoneOrientationConstraint(thisJoint); + + if (index < 0) + { + index = jointConstraints.Count; + jointConstraints.Add(jc); + } + + AxisOrientationConstraint constraint = new AxisOrientationConstraint(consType, axis, angleMin, angleMax); + jc.axisConstrainrs.Add(constraint); + + jointConstraints[index] = jc; + } + + private Vector3 LimitAngles(Vector3 eulerAngles, Vector3 axis, float limitMin, float limitMax) + { + int iAxis = (axis.x != 0f) ? 0 : (axis.y != 0f) ? 1 : (axis.z != 0f) ? 2 : -1; + + if (iAxis >= 0) + { + float angle = eulerAngles[iAxis]; + if (angle > 180f) + { + angle = angle - 360f; + } + + float newAngle = Mathf.Clamp(angle, limitMin, limitMax); + if (newAngle < 0f) + { + newAngle += 360f; + } + + eulerAngles[iAxis] = newAngle; + } + + return eulerAngles; + } + + private Quaternion LimitSwing(Quaternion rotation, Vector3 axis, float limit) + { + if (rotation == Quaternion.identity) + return rotation; + if (limit >= 180f) + return rotation; + + Vector3 swingAxis = rotation * axis; + + Quaternion swingRot = Quaternion.FromToRotation(axis, swingAxis); + Quaternion limSwingRot = Quaternion.RotateTowards(Quaternion.identity, swingRot, limit); + Quaternion backRot = Quaternion.FromToRotation(swingAxis, limSwingRot * axis); + + return backRot * rotation; + } + + private Quaternion LimitTwist(Quaternion rotation, Vector3 axis, float limit) + { + limit = Mathf.Clamp(limit, 0f, 180f); + if (limit >= 180f) + return rotation; + + Vector3 orthoAxis = new Vector3(axis.y, axis.z, axis.x); + Vector3 orthoTangent = orthoAxis; + + Vector3 normal = rotation * axis; + Vector3.OrthoNormalize(ref normal, ref orthoTangent); + + Vector3 rotOrthoTangent = rotation * orthoAxis; + Vector3.OrthoNormalize(ref normal, ref rotOrthoTangent); + + Quaternion fixedRot = Quaternion.FromToRotation(rotOrthoTangent, orthoTangent) * rotation; + + if (limit <= 0f) + return fixedRot; + + return Quaternion.RotateTowards(fixedRot, rotation, limit); + } + + private Quaternion LimitHinge(Quaternion rotation, Vector3 axis, float limitMin, float limitMax, ref float lastAngle) + { + if (limitMin == 0f && limitMax == 0f) + return Quaternion.AngleAxis(0, axis); + + Quaternion rotOnAxis = Quaternion.FromToRotation(rotation * axis, axis) * rotation; // limit-1 + Quaternion lastRotation = Quaternion.AngleAxis(lastAngle, axis); + + Quaternion rotAdded = rotOnAxis * Quaternion.Inverse(lastRotation); + float rotAngle = Quaternion.Angle(Quaternion.identity, rotAdded); + + Vector3 secAxis = new Vector3(axis.z, axis.x, axis.y); + Vector3 cross = Vector3.Cross(secAxis, axis); + + if (Vector3.Dot(rotAdded * secAxis, cross) > 0f) + { + rotAngle = -rotAngle; + } + + rotAngle = Mathf.Clamp(lastAngle + rotAngle, limitMin, limitMax); + + return Quaternion.AngleAxis(rotAngle, axis); + } + + private struct BoneOrientationConstraint + { + public int thisJoint; + public List axisConstrainrs; + + + public BoneOrientationConstraint(int thisJoint) + { + this.thisJoint = thisJoint; + axisConstrainrs = new List(); + } + } + + + private struct AxisOrientationConstraint + { + public CT consType; + public Vector3 axis; + + public float angleMin; + public float angleMax; + + + public AxisOrientationConstraint(CT consType, Vector3 axis, float angleMin, float angleMax) + { + this.consType = consType; + this.axis = axis; + + // Set the min and max rotations in degrees + this.angleMin = angleMin; + this.angleMax = angleMax; + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/BoneOrientationConstraints.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/BoneOrientationConstraints.cs.meta new file mode 100644 index 0000000..7a62034 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/BoneOrientationConstraints.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 24a68b3ab03e9e24d8fb673f4f8d107a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/MahonyAHRS.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/MahonyAHRS.cs new file mode 100644 index 0000000..20bcdba --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/MahonyAHRS.cs @@ -0,0 +1,302 @@ +using System; + +namespace AHRS +{ + /// + /// MahonyAHRS class. Madgwick's implementation of Mayhony's AHRS algorithm. + /// + /// + /// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms + /// + public class MahonyAHRS + { + /// + /// Gets or sets the sample period. + /// + public float SamplePeriod { get; set; } + + /// + /// Gets or sets the algorithm proportional gain. + /// + public float Kp { get; set; } + + /// + /// Gets or sets the algorithm integral gain. + /// + public float Ki { get; set; } + + /// + /// Gets or sets the Quaternion output. + /// + public float[] Quaternion { get; set; } + + /// + /// Error squared. + /// + public float E2 { get; set; } + + /// + /// Gets or sets the integral error. + /// + private float[] eInt { get; set; } + + /// + /// Initializes a new instance of the class. + /// + /// + /// Sample period. + /// + public MahonyAHRS(float samplePeriod) + : this(samplePeriod, 1f, 0f) + { + } + + /// + /// Initializes a new instance of the class. + /// + /// + /// Sample period. + /// + /// + /// Algorithm proportional gain. + /// + public MahonyAHRS(float samplePeriod, float kp) + : this(samplePeriod, kp, 0f) + { + } + + /// + /// Initializes a new instance of the class. + /// + /// + /// Sample period. + /// + /// + /// Algorithm proportional gain. + /// + /// + /// Algorithm integral gain. + /// + public MahonyAHRS(float samplePeriod, float kp, float ki) + { + SamplePeriod = samplePeriod; + Kp = kp; + Ki = ki; + Quaternion = new float[] { 1f, 0f, 0f, 0f }; + eInt = new float[] { 0f, 0f, 0f }; + } + + /// + /// Algorithm AHRS update method. Requires only gyroscope and accelerometer data. + /// + /// + /// Gyroscope x axis measurement in radians/s. + /// + /// + /// Gyroscope y axis measurement in radians/s. + /// + /// + /// Gyroscope z axis measurement in radians/s. + /// + /// + /// Accelerometer x axis measurement in any calibrated units. + /// + /// + /// Accelerometer y axis measurement in any calibrated units. + /// + /// + /// Accelerometer z axis measurement in any calibrated units. + /// + /// + /// Magnetometer x axis measurement in any calibrated units. + /// + /// + /// Magnetometer y axis measurement in any calibrated units. + /// + /// + /// Magnetometer z axis measurement in any calibrated units. + /// + /// + /// Optimised for minimal arithmetic. + /// + public void Update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) + { + float q1 = Quaternion[0], q2 = Quaternion[1], q3 = Quaternion[2], q4 = Quaternion[3]; // short name local variable for readability + float norm; + float hx, hy, bx, bz; + float vx, vy, vz, wx, wy, wz; + float ex, ey, ez; + float pa, pb, pc; + + // Auxiliary variables to avoid repeated arithmetic + float q1q1 = q1 * q1; + float q1q2 = q1 * q2; + float q1q3 = q1 * q3; + float q1q4 = q1 * q4; + float q2q2 = q2 * q2; + float q2q3 = q2 * q3; + float q2q4 = q2 * q4; + float q3q3 = q3 * q3; + float q3q4 = q3 * q4; + float q4q4 = q4 * q4; + + // Normalise accelerometer measurement + norm = (float)Math.Sqrt(ax * ax + ay * ay + az * az); + if (norm == 0f) return; // handle NaN + norm = 1 / norm; // use reciprocal for division + ax *= norm; + ay *= norm; + az *= norm; + + // Normalise magnetometer measurement + norm = (float)Math.Sqrt(mx * mx + my * my + mz * mz); + if (norm == 0f) return; // handle NaN + norm = 1 / norm; // use reciprocal for division + mx *= norm; + my *= norm; + mz *= norm; + + // Reference direction of Earth's magnetic field + hx = 2f * mx * (0.5f - q3q3 - q4q4) + 2f * my * (q2q3 - q1q4) + 2f * mz * (q2q4 + q1q3); + hy = 2f * mx * (q2q3 + q1q4) + 2f * my * (0.5f - q2q2 - q4q4) + 2f * mz * (q3q4 - q1q2); + bx = (float)Math.Sqrt((hx * hx) + (hy * hy)); + bz = 2f * mx * (q2q4 - q1q3) + 2f * my * (q3q4 + q1q2) + 2f * mz * (0.5f - q2q2 - q3q3); + + // Estimated direction of gravity and magnetic field + vx = 2f * (q2q4 - q1q3); + vy = 2f * (q1q2 + q3q4); + vz = q1q1 - q2q2 - q3q3 + q4q4; + wx = 2f * bx * (0.5f - q3q3 - q4q4) + 2f * bz * (q2q4 - q1q3); + wy = 2f * bx * (q2q3 - q1q4) + 2f * bz * (q1q2 + q3q4); + wz = 2f * bx * (q1q3 + q2q4) + 2f * bz * (0.5f - q2q2 - q3q3); + + // Error is cross product between estimated direction and measured direction of gravity + ex = (ay * vz - az * vy) + (my * wz - mz * wy); + ey = (az * vx - ax * vz) + (mz * wx - mx * wz); + ez = (ax * vy - ay * vx) + (mx * wy - my * wx); + if (Ki > 0f) + { + eInt[0] += ex; // accumulate integral error + eInt[1] += ey; + eInt[2] += ez; + } + else + { + eInt[0] = 0.0f; // prevent integral wind up + eInt[1] = 0.0f; + eInt[2] = 0.0f; + } + + // error squared + E2 = ex * ex + ey * ey + ez * ez; + + // Apply feedback terms + gx = gx + Kp * ex + Ki * eInt[0]; + gy = gy + Kp * ey + Ki * eInt[1]; + gz = gz + Kp * ez + Ki * eInt[2]; + + // Integrate rate of change of quaternion + pa = q2; + pb = q3; + pc = q4; + q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * SamplePeriod); + q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * SamplePeriod); + q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * SamplePeriod); + q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * SamplePeriod); + + // Normalise quaternion + norm = (float)Math.Sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); + norm = 1.0f / norm; + Quaternion[0] = q1 * norm; + Quaternion[1] = q2 * norm; + Quaternion[2] = q3 * norm; + Quaternion[3] = q4 * norm; + } + + /// + /// Algorithm IMU update method. Requires only gyroscope and accelerometer data. + /// + /// + /// Gyroscope x axis measurement in radians/s. + /// + /// + /// Gyroscope y axis measurement in radians/s. + /// + /// + /// Gyroscope z axis measurement in radians/s. + /// + /// + /// Accelerometer x axis measurement in any calibrated units. + /// + /// + /// Accelerometer y axis measurement in any calibrated units. + /// + /// + /// Accelerometer z axis measurement in any calibrated units. + /// + public void Update(float gx, float gy, float gz, float ax, float ay, float az) + { + float q1 = Quaternion[0], q2 = Quaternion[1], q3 = Quaternion[2], q4 = Quaternion[3]; // short name local variable for readability + float norm; + float vx, vy, vz; + float ex, ey, ez; + float pa, pb, pc; + + // Normalise accelerometer measurement + norm = (float)Math.Sqrt(ax * ax + ay * ay + az * az); + if (norm == 0f) return; // handle NaN + norm = 1 / norm; // use reciprocal for division + ax *= norm; + ay *= norm; + az *= norm; + + // Estimated direction of gravity + vx = 2.0f * (q2 * q4 - q1 * q3); + vy = 2.0f * (q1 * q2 + q3 * q4); + vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4; + + // Error is cross product between estimated direction and measured direction of gravity + ex = (ay * vz - az * vy); + ey = (az * vx - ax * vz); + ez = (ax * vy - ay * vx); + if (Ki > 0f) + { + eInt[0] += ex; // accumulate integral error + eInt[1] += ey; + eInt[2] += ez; + } + else + { + eInt[0] = 0.0f; // prevent integral wind up + eInt[1] = 0.0f; + eInt[2] = 0.0f; + } + + // error squared + E2 = ex * ex + ey * ey + ez * ez; + + // Apply feedback terms + gx = gx + Kp * ex + Ki * eInt[0]; + gy = gy + Kp * ey + Ki * eInt[1]; + gz = gz + Kp * ez + Ki * eInt[2]; + + // Integrate rate of change of quaternion + pa = q2; + pb = q3; + pc = q4; + q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * SamplePeriod); + q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * SamplePeriod); + q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * SamplePeriod); + q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * SamplePeriod); + + // Normalise quaternion + norm = (float)Math.Sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); + norm = 1.0f / norm; + Quaternion[0] = q1 * norm; + Quaternion[1] = q2 * norm; + Quaternion[2] = q3 * norm; + Quaternion[3] = q4 * norm; + } + } +} + diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/MahonyAHRS.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/MahonyAHRS.cs.meta new file mode 100644 index 0000000..cc58dec --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Filters/MahonyAHRS.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 75a75a12bb874514596c7fc355cd0c3f +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/FollowSensorTransform.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/FollowSensorTransform.cs new file mode 100644 index 0000000..1ac1163 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/FollowSensorTransform.cs @@ -0,0 +1,53 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// This component makes the game object follow the position and rotation of the sensor. + /// + public class FollowSensorTransform : MonoBehaviour + { + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("Smooth factor used for the game object movement and rotation.")] + public float smoothFactor = 0f; + + + // reference to the KinectManager + private KinectManager kinectManager = null; + + + void Start() + { + // get reference to KinectManager + kinectManager = KinectManager.Instance; + } + + void Update() + { + if(kinectManager && kinectManager.IsInitialized()) + { + Transform sensorTrans = kinectManager.GetSensorTransform(sensorIndex); + + if(sensorTrans) + { + if(smoothFactor != 0f) + { + transform.position = Vector3.Lerp(transform.position, sensorTrans.position, smoothFactor * Time.deltaTime); + transform.rotation = Quaternion.Slerp(transform.rotation, sensorTrans.rotation, smoothFactor * Time.deltaTime); + } + else + { + transform.position = sensorTrans.position; + transform.rotation = sensorTrans.rotation; + } + } + } + } + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/FollowSensorTransform.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/FollowSensorTransform.cs.meta new file mode 100644 index 0000000..b050024 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/FollowSensorTransform.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 9a17e9eb7ba629243bfc955c820d04a1 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRawImage.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRawImage.cs new file mode 100644 index 0000000..e619773 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRawImage.cs @@ -0,0 +1,62 @@ +using UnityEngine; +using System.Collections; +using UnityEngine.UI; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// ForegroundToRawImage sets the texture of the RawImage-component to be the BRM's foreground texture. + /// + public class ForegroundToRawImage : MonoBehaviour + { + private RawImage rawImage; + private KinectManager kinectManager = null; + private BackgroundRemovalManager backManager = null; + + + void Start() + { + rawImage = GetComponent(); + + kinectManager = KinectManager.Instance; + backManager = FindObjectOfType(); + } + + + void Update() + { + if (rawImage && rawImage.texture == null) + { + if (kinectManager && backManager && backManager.enabled /**&& backManager.IsBackgroundRemovalInitialized()*/) + { + rawImage.texture = backManager.GetForegroundTex(); // user's foreground texture + rawImage.rectTransform.localScale = kinectManager.GetColorImageScale(backManager.sensorIndex); + rawImage.color = Color.white; + + } + } + //else if (rawImage && rawImage.texture != null) + //{ + // if (KinectManager.Instance == null) + // { + // rawImage.texture = null; + // rawImage.color = Color.clear; + // } + //} + } + + + void OnApplicationPause(bool isPaused) + { + // fix for app pause & restore (UWP) + if (isPaused && rawImage && rawImage.texture != null) + { + rawImage.texture = null; + rawImage.color = Color.clear; + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRawImage.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRawImage.cs.meta new file mode 100644 index 0000000..90f4bde --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRawImage.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 0ca948b232bd1ce48b254bb84048cbab +timeCreated: 1505645515 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRenderer.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRenderer.cs new file mode 100644 index 0000000..ad09bb9 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRenderer.cs @@ -0,0 +1,71 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// ForegroundToRenderer sets the texture of the Renderer-component to be the BRM's foreground texture. + /// + public class ForegroundToRenderer : MonoBehaviour + { + private Renderer thisRenderer = null; + private KinectManager kinectManager = null; + private BackgroundRemovalManager backManager = null; + + void Start() + { + thisRenderer = GetComponent(); + + kinectManager = KinectManager.Instance; + backManager = FindObjectOfType(); + + if (kinectManager && kinectManager.IsInitialized() && backManager && backManager.enabled) + { + Vector3 localScale = transform.localScale; + localScale.z = localScale.x * kinectManager.GetColorImageHeight(backManager.sensorIndex) / kinectManager.GetColorImageWidth(backManager.sensorIndex); + //localScale.x = -localScale.x; + + //// apply color image scale + //Vector3 colorImageScale = kinectManager.GetColorImageScale(backManager.sensorIndex); + //if (colorImageScale.x < 0f) + // localScale.x = -localScale.x; + //if (colorImageScale.y < 0f) + // localScale.z = -localScale.z; + + transform.localScale = localScale; + } + } + + + void Update() + { + if (thisRenderer && thisRenderer.sharedMaterial.mainTexture == null) + { + if (kinectManager && backManager && backManager.enabled /**&& backManager.IsBackgroundRemovalInitialized()*/) + { + thisRenderer.sharedMaterial.mainTexture = backManager.GetForegroundTex(); + } + } + //else if (thisRenderer && thisRenderer.sharedMaterial.mainTexture != null) + //{ + // if (KinectManager.Instance == null) + // { + // thisRenderer.sharedMaterial.mainTexture = null; + // } + //} + } + + + void OnApplicationPause(bool isPaused) + { + // fix for app pause & restore (UWP) + if (isPaused && thisRenderer && thisRenderer.sharedMaterial.mainTexture != null) + { + thisRenderer.sharedMaterial.mainTexture = null; + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRenderer.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRenderer.cs.meta new file mode 100644 index 0000000..27dfe59 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/ForegroundToRenderer.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 1516a5d945302e546a218c0c7a3f048c +timeCreated: 1478884175 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces.meta new file mode 100644 index 0000000..832910f --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 9170a0cec4179764c9b1bf2a9a9c38f6 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorBase.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorBase.cs new file mode 100644 index 0000000..ccf3866 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorBase.cs @@ -0,0 +1,2370 @@ +using Microsoft.Azure.Kinect.Sensor; +using System; +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace com.rfilkov.kinect +{ + public abstract class DepthSensorBase : MonoBehaviour, DepthSensorInterface + { + // max depth distance in mm, used for initializing data arrays and compute buffers + public const int MAX_DEPTH_DISTANCE_MM = 10000; + + [Tooltip("Device streaming mode, in means of connected sensor, recording or disabled.")] + public KinectInterop.DeviceStreamingMode deviceStreamingMode = KinectInterop.DeviceStreamingMode.ConnectedSensor; + + [Tooltip("Index of the depth sensor in the list of currently connected sensors.")] + public int deviceIndex = 0; + + [Tooltip("Path to the recording file, if the streaming mode is PlayRecording.")] + public string recordingFile = string.Empty; + + //[Tooltip("Sensor position in space.")] + //public Vector3 devicePosition = new Vector3(0f, 1f, 0f); + + //[Tooltip("Sensor rotation in space.")] + //public Vector3 deviceRotation = new Vector3(0f, 0f, 0f); + + //[Tooltip("Whether the body tracking for this sensor is enabled or not.")] + //internal bool bodyTrackingEnabled = false; + + [Tooltip("Minimum distance in meters, used for creating the depth-related images.")] + [Range(0f, 10f)] + public float minDistance = 0.5f; + + [Tooltip("Maximum distance in meters, used for creating the depth-related images.")] + [Range(0f, 10f)] + public float maxDistance = 10f; + + [Tooltip("Resolution of the generated point-cloud textures.")] + public PointCloudResolution pointCloudResolution = PointCloudResolution.DepthCameraResolution; + public enum PointCloudResolution : int { DepthCameraResolution = 0, ColorCameraResolution = 1 } + + [Tooltip("Render texture, used for point-cloud vertex mapping. The texture resolution should match the depth or color image resolution.")] + public RenderTexture pointCloudVertexTexture = null; + + [Tooltip("Render texture, used for point-cloud color mapping. The texture resolution should match the depth or color image resolution.")] + public RenderTexture pointCloudColorTexture = null; + + + // initial parameters + protected KinectInterop.FrameSource frameSourceFlags; + protected bool isSyncDepthAndColor = false; + protected bool isSyncBodyAndDepth = false; + + // initial pose parameters + protected Vector3 initialPosePosition = Vector3.zero; + protected Quaternion initialPoseRotation = Quaternion.identity; + protected Matrix4x4 matTransformPose = Matrix4x4.identity; + protected Matrix4x4 matLocalPose = Matrix4x4.identity; + + // frame numbers + //protected ulong colorFrameNumber = 0; + //protected ulong depthFrameNumber = 0; + //protected ulong infraredFrameNumber = 0; + //protected ulong poseFrameNumber = 0; + + // raw color data + protected byte[] rawColorImage = null; + protected ulong rawColorTimestamp = 0; + protected ulong currentColorTimestamp = 0; + protected object colorFrameLock = new object(); + + // raw depth data + protected ushort[] rawDepthImage = null; + protected ulong rawDepthTimestamp = 0; + protected ulong currentDepthTimestamp = 0; + protected object depthFrameLock = new object(); + + // raw infrared data + protected ushort[] rawInfraredImage = null; + protected ulong rawInfraredTimestamp = 0; + protected ulong currentInfraredTimestamp = 0; + protected object infraredFrameLock = new object(); + + // raw pose data + protected Vector3 rawPosePosition = Vector3.zero; + protected Quaternion rawPoseRotation = Quaternion.identity; + protected ulong rawPoseTimestamp = 0; + protected ulong currentPoseTimestamp = 0; + protected object poseFrameLock = new object(); + + // sensor pose data + protected Vector3 sensorPosePosition; + protected Quaternion sensorPoseRotation; + + protected Vector3 sensorRotOffset = Vector3.zero; + protected bool sensorRotFlipZ = false; + protected bool sensorRotIgnoreY = false; + [HideInInspector] + public float sensorRotValueY = 0f; + + // body tracker + protected BodyTracking bodyTracker = null; + protected k4abt_skeleton_t bodySkeletonData; + protected bool bIgnoreZCoordinates = false; + protected bool bIgnoreInferredJoints = false; + protected int btQueueCount = 0; + protected int btQueueWaitTime = 0; + protected ulong btQueueTime = 0; + + protected System.Threading.Thread bodyTrackerThread = null; + protected System.Threading.AutoResetEvent bodyTrackerStopEvent = null; + //private Capture bodyInputCapture = null; + private Capture bodyOutputCapture = null; + private object bodyCaptureLock = new object(); + + // raw body data + protected byte[] rawBodyIndexImage = null; + protected uint trackedBodiesCount = 0; + protected List alTrackedBodies = null; + protected ulong rawBodyTimestamp = 0; + protected ulong currentBodyTimestamp = 0; + protected object bodyTrackerLock = new object(); + + + // depth image data + protected int[] depthHistBufferData = null; + protected int[] equalHistBufferData = null; + protected int histDataTotalPoints = 0; + protected ulong lastDepthImageTimestamp = 0; + protected object depthImageDataLock = new object(); + + // infrared image data + protected float minInfraredValue = 0f; + protected float maxInfraredValue = 0f; + + // body image data + protected int[] depthBodyBufferData = null; + protected int[] equalBodyBufferData = null; + protected int histBodyTotalPoints = 0; + protected ulong lastBodyImageTimestamp = 0; + protected object bodyImageDataLock = new object(); + + // last updated depth coord-frame time + protected ulong lastDepthCoordFrameTime = 0; + + // point cloud vertex shader + protected ComputeShader pointCloudVertexShader = null; + protected int pointCloudVertexKernel = -1; + protected Vector2Int pointCloudVertexRes = Vector2Int.zero; + protected RenderTexture pointCloudVertexRT = null; + protected ComputeBuffer pointCloudSpaceBuffer = null; + protected ComputeBuffer pointCloudDepthBuffer = null; + + // point cloud color shader + protected ComputeShader pointCloudColorShader = null; + protected int pointCloudColorKernel = -1; + protected Vector2Int pointCloudColorRes = Vector2Int.zero; + protected RenderTexture pointCloudColorRT = null; + protected ComputeBuffer pointCloudCoordBuffer = null; + protected Texture2D pointCloudAlignedColorTex = null; + + //// depth2space coords frame + //protected Vector3[] depth2SpaceCoordFrame = null; + //protected ulong lastDepth2SpaceFrameTime = 0; + //protected object depth2SpaceFrameLock = new object(); + + // space tables + protected Vector3[] depth2SpaceTable = null; + protected Vector3[] color2SpaceTable = null; + //protected ushort[] lastDepthDataBuf = null; + + // depth2color coords frame + protected byte[] depth2ColorDataFrame = null; + protected Vector2[] depth2ColorCoordFrame = null; + protected ulong lastDepth2ColorFrameTime = 0; + protected object depth2ColorFrameLock = new object(); + + // color2depth coords frame + protected ushort[] color2DepthDataFrame = null; + protected Vector2[] color2DepthCoordFrame = null; + protected ulong lastColor2DepthFrameTime = 0; + protected object color2DepthFrameLock = new object(); + + // color2depth shader + protected ComputeShader colorDepthShader = null; + protected int colorDepthKernel = -1; + protected bool colorDepthShaderInited = false; + + + protected virtual void Awake() + { + // init raw sensor pose + rawPosePosition = Vector3.zero; + rawPoseRotation = Quaternion.identity; + rawPoseTimestamp = (ulong)DateTime.Now.Ticks; + + sensorPosePosition = transform.position; + sensorPoseRotation = transform.rotation; + + // initial pose params + initialPosePosition = transform.position; + initialPoseRotation = transform.rotation; + + matTransformPose.SetTRS(initialPosePosition, initialPoseRotation, Vector3.one); + } + + + + public abstract KinectInterop.DepthSensorPlatform GetSensorPlatform(); + + //public virtual bool InitSensorInterface(bool bCopyLibs, ref bool bNeedRestart) + //{ + // bNeedRestart = false; + // return true; + //} + + //public virtual void FreeSensorInterface(bool bDeleteLibs) + //{ + //} + + public abstract List GetAvailableSensors(); + + public virtual KinectInterop.SensorData OpenSensor(KinectInterop.FrameSource dwFlags, bool bSyncDepthAndColor, bool bSyncBodyAndDepth) + { + // save the parameters for later + frameSourceFlags = dwFlags; + isSyncDepthAndColor = bSyncDepthAndColor && ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0) && ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0); + isSyncBodyAndDepth = bSyncBodyAndDepth && ((dwFlags & KinectInterop.FrameSource.TypeBody) != 0) && ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0); + + return null; + } + + + public virtual void CloseSensor(KinectInterop.SensorData sensorData) + { + // stop body tracking, if needed + StopBodyTracking(sensorData); + + // dispose coord mapping shaders + DisposePointCloudVertexShader(sensorData); + DisposePointCloudColorShader(sensorData); + DisposeColorDepthShader(sensorData); + DisposeDepthTexShader(sensorData); + DisposeInfraredTexShader(sensorData); + } + + + public virtual void InitSensorData(KinectInterop.SensorData sensorData, KinectManager kinectManager) + { + //if (sensorData.depthImage != null) + //{ + // depthImageBufferData = new int[sensorData.depthImage.Length]; + //} + + // depth image data + if (kinectManager.getDepthFrames == KinectManager.DepthTextureType.DepthTexture) + { + depthHistBufferData = new int[MAX_DEPTH_DISTANCE_MM + 1]; + equalHistBufferData = new int[MAX_DEPTH_DISTANCE_MM + 1]; + sensorData.depthHistBufferData = new int[equalHistBufferData.Length]; + } + else + { + depthHistBufferData = null; + equalHistBufferData = null; + sensorData.depthHistBufferData = null; + } + + // body image data + if (kinectManager.getBodyFrames == KinectManager.BodyTextureType.UserTexture) + { + depthBodyBufferData = new int[MAX_DEPTH_DISTANCE_MM + 1]; + equalBodyBufferData = new int[MAX_DEPTH_DISTANCE_MM + 1]; + sensorData.bodyHistBufferData = new int[equalBodyBufferData.Length]; + } + else + { + depthBodyBufferData = null; + equalBodyBufferData = null; + sensorData.bodyHistBufferData = null; + } + + lock (bodyTrackerLock) + { + // save the needed KM settings + bIgnoreZCoordinates = kinectManager.ignoreZCoordinates; + bIgnoreInferredJoints = kinectManager.ignoreInferredJoints; + } + } + + public virtual void PollSensorFrames(KinectInterop.SensorData sensorData) + { + } + + + public virtual void PollCoordTransformFrames(KinectInterop.SensorData sensorData) + { + } + + + public virtual void ProcessSensorDataInThread(KinectInterop.SensorData sensorData) + { + // depth-image data + if (lastDepthImageTimestamp != rawDepthTimestamp && rawDepthImage != null && depthHistBufferData != null) + { + lock (depthImageDataLock) + { + Array.Clear(depthHistBufferData, 0, depthHistBufferData.Length); + Array.Clear(equalHistBufferData, 0, equalHistBufferData.Length); + histDataTotalPoints = 0; + + int depthMinDistance = (int)(minDistance * 1000f); + int depthMaxDistance = (int)(maxDistance * 1000f); + + for (int i = 0; i < rawDepthImage.Length; i++) + { + int depth = rawDepthImage[i]; + int limDepth = (depth <= MAX_DEPTH_DISTANCE_MM) ? depth : 0; + + if (limDepth > 0) + { + depthHistBufferData[limDepth]++; + histDataTotalPoints++; + } + } + + equalHistBufferData[0] = depthHistBufferData[0]; + for (int i = 1; i < depthHistBufferData.Length; i++) + { + equalHistBufferData[i] = equalHistBufferData[i - 1] + depthHistBufferData[i]; + } + + // make depth 0 equal to the max-depth + equalHistBufferData[0] = equalHistBufferData[equalHistBufferData.Length - 1]; + + lastDepthImageTimestamp = rawDepthTimestamp; + //Debug.Log("lastDepthImageTimestamp: " + lastDepthImageTimestamp); + } + } + + // body-image data + if (lastBodyImageTimestamp != rawBodyTimestamp && rawDepthImage != null && rawBodyIndexImage != null && depthBodyBufferData != null) + { + lock (bodyImageDataLock) + { + Array.Clear(depthBodyBufferData, 0, depthBodyBufferData.Length); + Array.Clear(equalBodyBufferData, 0, equalBodyBufferData.Length); + histBodyTotalPoints = 0; + + int depthMinDistance = (int)(minDistance * 1000f); + int depthMaxDistance = (int)(maxDistance * 1000f); + + for (int i = 0; i < rawDepthImage.Length; i++) + { + int depth = rawDepthImage[i]; + int limDepth = (depth <= MAX_DEPTH_DISTANCE_MM) ? depth : 0; + + if (rawBodyIndexImage[i] != 255 && limDepth > 0) + { + depthBodyBufferData[limDepth]++; + histBodyTotalPoints++; + } + } + + if(histBodyTotalPoints > 0) + { + for (int i = 1; i < depthBodyBufferData.Length; i++) + { + equalBodyBufferData[i] = equalBodyBufferData[i - 1] + depthBodyBufferData[i]; + } + } + + lastBodyImageTimestamp = rawBodyTimestamp; + //Debug.Log("lastBodyImageTimestamp: " + lastBodyImageTimestamp); + } + } + + // ... + + + // set the frame timestamps + if (currentColorTimestamp != rawColorTimestamp) + { + // new color frame + currentColorTimestamp = rawColorTimestamp; + } + + if (currentDepthTimestamp != rawDepthTimestamp) + { + // new depth frame + currentDepthTimestamp = rawDepthTimestamp; + } + + if (currentInfraredTimestamp != rawInfraredTimestamp) + { + // new depth frame + currentInfraredTimestamp = rawInfraredTimestamp; + } + + if (currentPoseTimestamp != rawPoseTimestamp) + { + // new pose frame + currentPoseTimestamp = rawPoseTimestamp; + } + + if (currentBodyTimestamp != rawBodyTimestamp) + { + // new body frame + currentBodyTimestamp = rawBodyTimestamp; + } + } + + + public virtual bool UpdateSensorData(KinectInterop.SensorData sensorData, KinectManager kinectManager, bool isPlayMode) + { + // color frame + lock (colorFrameLock) + { + if (rawColorImage != null && sensorData.lastColorFrameTime != currentColorTimestamp && !isPlayMode) + { + Texture2D colorImageTex2D = sensorData.colorImageTexture as Texture2D; + if (colorImageTex2D != null) + { + colorImageTex2D.LoadRawTextureData(rawColorImage); + colorImageTex2D.Apply(); + } + + sensorData.lastColorFrameTime = currentColorTimestamp; + //Debug.Log("UpdateColorTimestamp: " + currentColorTimestamp); + } + } + + // depth frame + lock (depthFrameLock) + { + if (rawDepthImage != null && sensorData.lastDepthFrameTime != currentDepthTimestamp && !isPlayMode) + { + // depth image + if (sensorData.depthImage != null) + { + //Buffer.BlockCopy(rawDepthImage, 0, sensorData.depthImage, 0, rawDepthImage.Length * sizeof(ushort)); + KinectInterop.CopyBytes(rawDepthImage, sizeof(ushort), sensorData.depthImage, sizeof(ushort)); + } + + sensorData.lastDepthFrameTime = currentDepthTimestamp; + //Debug.Log("UpdateDepthTimestamp: " + currentDepthTimestamp); + } + } + + // depth hist frame + lock(depthImageDataLock) + { + if (equalHistBufferData != null && sensorData.lastDepthHistTime != lastDepthImageTimestamp && !isPlayMode) + { + if (sensorData.depthHistBufferData != null) + { + KinectInterop.CopyBytes(equalHistBufferData, sizeof(int), sensorData.depthHistBufferData, sizeof(int)); + } + + sensorData.depthHistTotalPoints = histDataTotalPoints; + sensorData.lastDepthHistTime = lastDepthImageTimestamp; + //Debug.Log("UpdateDepthHistTimestamp: " + lastDepthImageTimestamp); + } + } + + // infrared frame + lock (infraredFrameLock) + { + if (rawInfraredImage != null && sensorData.lastInfraredFrameTime != currentInfraredTimestamp && !isPlayMode) + { + if (sensorData.infraredImage != null) + { + //Buffer.BlockCopy(rawInfraredImage, 0, sensorData.infraredImage, 0, rawInfraredImage.Length * sizeof(ushort)); + KinectInterop.CopyBytes(rawInfraredImage, sizeof(ushort), sensorData.infraredImage, sizeof(ushort)); + } + + sensorData.lastInfraredFrameTime = currentInfraredTimestamp; + //Debug.Log("UpdateInfraredTimestamp: " + currentDepthTimestamp); + } + } + + // save the current pose frame time + ulong lastSensorPoseFrameTime = sensorData.lastSensorPoseFrameTime; + + // pose frame + lock (poseFrameLock) + { + if (sensorData.lastSensorPoseFrameTime != currentPoseTimestamp && !isPlayMode) + { + Quaternion localPoseRot = rawPoseRotation; + if (sensorRotIgnoreY) + { + Vector3 localPoseRotEuler = localPoseRot.eulerAngles; + localPoseRotEuler.y = sensorRotValueY; + localPoseRot = Quaternion.Euler(localPoseRotEuler); + } + + Quaternion corrPoseRotation = Quaternion.Euler(sensorRotOffset) * localPoseRot; + if(sensorRotFlipZ) + { + Vector3 corrPoseRotEuler = corrPoseRotation.eulerAngles; + corrPoseRotEuler.z = -corrPoseRotEuler.z; + corrPoseRotation = Quaternion.Euler(corrPoseRotEuler); + } + + matLocalPose.SetTRS(rawPosePosition, corrPoseRotation, Vector3.one); + Matrix4x4 matTransform = matTransformPose * matLocalPose; + + sensorPosePosition = matTransform.GetColumn(3); + sensorPoseRotation = matTransform.rotation; + + sensorData.sensorPosePosition = sensorPosePosition; + sensorData.sensorPoseRotation = sensorPoseRotation; + + sensorData.lastSensorPoseFrameTime = currentPoseTimestamp; + //Debug.Log("UpdatePoseTimestamp: " + currentPoseTimestamp); + } + } + + // check if the pose data has changed + if (lastSensorPoseFrameTime != sensorData.lastSensorPoseFrameTime) + { + if (kinectManager.getPoseFrames != KinectManager.PoseUsageType.RawPoseData) + { + switch (kinectManager.getPoseFrames) + { + case KinectManager.PoseUsageType.DisplayInfo: + if(kinectManager.statusInfoText != null) + { + kinectManager.statusInfoText.text = string.Format("Sensor position: ({0:F2}, {1:F2}, {2:F2}), rotation: {3}", + sensorPosePosition.x, sensorPosePosition.y, sensorPosePosition.z, sensorPoseRotation.eulerAngles); + } + break; + + case KinectManager.PoseUsageType.UpdateTransform: + transform.position = sensorPosePosition; // sensorData.sensorPosePosition; + transform.rotation = sensorPoseRotation; // sensorData.sensorPoseRotation; + //sensorData.sensorTransformUpdated = true; + break; + } + } + } + + // body frame + lock (bodyTrackerLock) + { + if (sensorData.lastBodyFrameTime != currentBodyTimestamp) + { + // body index image + if (rawBodyIndexImage != null && sensorData.bodyIndexImage != null) + { + sensorData.lastBodyIndexFrameTime = currentBodyTimestamp; + KinectInterop.CopyBytes(rawBodyIndexImage, sizeof(byte), sensorData.bodyIndexImage, sizeof(byte)); + } + + // number of bodies + sensorData.trackedBodiesCount = trackedBodiesCount; + + // create the needed slots + if (sensorData.alTrackedBodies.Length < trackedBodiesCount) + { + //sensorData.alTrackedBodies.Add(new KinectInterop.BodyData((int)KinectInterop.JointType.Count)); + Array.Resize(ref sensorData.alTrackedBodies, (int)trackedBodiesCount); + + for(int i = 0; i < trackedBodiesCount; i++) + { + sensorData.alTrackedBodies[i] = new KinectInterop.BodyData((int)KinectInterop.JointType.Count); + } + } + + //alTrackedBodies.CopyTo(sensorData.alTrackedBodies); + for (int i = 0; i < trackedBodiesCount; i++) + { + //sensorData.alTrackedBodies[i] = alTrackedBodies[i]; + //KinectInterop.CopyBytes(alTrackedBodies[i], ref sensorData.alTrackedBodies[i]); + alTrackedBodies[i].CopyTo(ref sensorData.alTrackedBodies[i]); + + //KinectInterop.BodyData bodyData = sensorData.alTrackedBodies[i]; + //Debug.Log(" (U)User ID: " + bodyData.liTrackingID + ", body: " + i + ", pos: " + bodyData.kinectPos); + } + + sensorData.lastBodyFrameTime = currentBodyTimestamp; + //Debug.Log("UpdateBodyTimestamp: " + currentBodyTimestamp); + } + } + + // body hist frame + lock (bodyImageDataLock) + { + if (equalBodyBufferData != null && sensorData.lastBodyHistTime != lastBodyImageTimestamp && !isPlayMode) + { + if (sensorData.bodyHistBufferData != null) + { + KinectInterop.CopyBytes(equalBodyBufferData, sizeof(int), sensorData.bodyHistBufferData, sizeof(int)); + } + + sensorData.bodyHistTotalPoints = histBodyTotalPoints; + sensorData.lastBodyHistTime = lastBodyImageTimestamp; + //Debug.Log("UpdateBodyHistTimestamp: " + lastBodyImageTimestamp); + } + } + + return true; + } + + + // returns the point cloud texture resolution + public Vector2Int GetPointCloudTexResolution(KinectInterop.SensorData sensorData) + { + Vector2Int texRes = Vector2Int.zero; + + switch (pointCloudResolution) + { + case PointCloudResolution.DepthCameraResolution: + texRes = new Vector2Int(sensorData.depthImageWidth, sensorData.depthImageHeight); + break; + + case PointCloudResolution.ColorCameraResolution: + texRes = new Vector2Int(sensorData.colorImageWidth, sensorData.colorImageHeight); + break; + } + + if(texRes == Vector2Int.zero) + { + throw new Exception("Unsupported point cloud resolution: " + pointCloudResolution + " or the respective image is not available."); + } + + return texRes; + } + + + // creates the point-cloud vertex shader and its respective buffers, as needed + protected virtual bool CreatePointCloudVertexShader(KinectInterop.SensorData sensorData) + { + if (sensorData.depthCamIntr == null || sensorData.depthCamIntr.distType == KinectInterop.DistortionType.None) + return false; + + pointCloudVertexRes = GetPointCloudTexResolution(sensorData); + + if (pointCloudVertexRT == null) + { + pointCloudVertexRT = new RenderTexture(pointCloudVertexRes.x, pointCloudVertexRes.y, 0, RenderTextureFormat.ARGBHalf); + pointCloudVertexRT.enableRandomWrite = true; + pointCloudVertexRT.Create(); + } + + if (pointCloudVertexShader == null) + { + pointCloudVertexShader = Resources.Load("PointCloudVertexShaderAll") as ComputeShader; + pointCloudVertexKernel = pointCloudVertexShader != null ? pointCloudVertexShader.FindKernel("BakeVertexTex") : -1; + } + + if (pointCloudSpaceBuffer == null) + { + int spaceBufferLength = pointCloudVertexRes.x * pointCloudVertexRes.y * 3; + pointCloudSpaceBuffer = new ComputeBuffer(spaceBufferLength, sizeof(float)); + + // depth2space table + //Debug.Log("Started creating space tables..."); + //float fTimeStart = Time.realtimeSinceStartup; + + //int depthImageLength = pointCloudVertexRes.x * pointCloudVertexRes.y; + //Vector3[] depth2SpaceTable = new Vector3[depthImageLength]; + + //for (int dy = 0, di = 0; dy < pointCloudVertexRes.y; dy++) + //{ + // for (int dx = 0; dx < pointCloudVertexRes.x; dx++, di++) + // { + // Vector2 depthPos = new Vector2(dx, dy); + // depth2SpaceTable[di] = pointCloudResolution == PointCloudResolution.ColorCameraResolution ? + // MapColorPointToSpaceCoords(sensorData, depthPos, 1000) : MapDepthPointToSpaceCoords(sensorData, depthPos, 1000); + // } + //} + + depth2SpaceTable = pointCloudResolution == PointCloudResolution.ColorCameraResolution ? + GetColorCameraSpaceTable(sensorData) : GetDepthCameraSpaceTable(sensorData); + + //// parallelize for gaining time + //System.Threading.Tasks.Parallel.For(0, pointCloudVertexRes.y, dy => + //{ + // int di = dy * pointCloudVertexRes.x; + + // for (var dx = 0; dx < pointCloudVertexRes.x; dx++, di++) + // { + // Vector2 depthPos = new Vector2(dx, dy); + // depth2SpaceTable[di] = pointCloudResolution == PointCloudResolution.ColorCameraResolution ? + // MapColorPointToSpaceCoords(sensorData, depthPos, 1000) : MapDepthPointToSpaceCoords(sensorData, depthPos, 1000); + // } + //}); + + //Debug.Log("depth2SpaceTable: " + depth2SpaceTable); + pointCloudSpaceBuffer.SetData(depth2SpaceTable); + depth2SpaceTable = null; + //Debug.Log("Finished creating space tables in " + (Time.realtimeSinceStartup - fTimeStart) + "s"); + } + + if (pointCloudDepthBuffer == null) + { + int depthBufferLength = pointCloudVertexRes.x * pointCloudVertexRes.y / 2; + pointCloudDepthBuffer = new ComputeBuffer(depthBufferLength, sizeof(uint)); + } + + if (pointCloudResolution == PointCloudResolution.ColorCameraResolution && color2DepthDataFrame == null) + { + color2DepthDataFrame = new ushort[sensorData.colorImageWidth * sensorData.colorImageHeight]; + } + + return true; + } + + + // disposes the point-cloud vertex shader and its respective buffers + protected virtual void DisposePointCloudVertexShader(KinectInterop.SensorData sensorData) + { + if (pointCloudSpaceBuffer != null) + { + pointCloudSpaceBuffer.Dispose(); + pointCloudSpaceBuffer = null; + } + + if (pointCloudDepthBuffer != null) + { + pointCloudDepthBuffer.Dispose(); + pointCloudDepthBuffer = null; + } + + if (pointCloudCoordBuffer != null) + { + // K2 color camera resolution + pointCloudCoordBuffer.Dispose(); + pointCloudCoordBuffer = null; + } + + if (pointCloudVertexRT != null) + { + pointCloudVertexRT.Release(); + pointCloudVertexRT = null; + } + + if (color2DepthDataFrame != null) + { + color2DepthDataFrame = null; + } + + if (color2DepthCoordFrame != null) + { + color2DepthDataFrame = null; + } + + if (pointCloudVertexShader != null) + { + pointCloudVertexShader = null; + } + } + + + // updates the point-cloud vertex shader with the actual data + protected virtual bool UpdatePointCloudVertexShader(KinectInterop.SensorData sensorData) + { + if (pointCloudVertexShader != null && sensorData.depthImage != null && pointCloudVertexRT != null && + sensorData.lastDepth2SpaceFrameTime != sensorData.lastDepthFrameTime) + { + sensorData.lastDepth2SpaceFrameTime = sensorData.lastDepthFrameTime; + + if (pointCloudResolution == PointCloudResolution.ColorCameraResolution) + { + lock(color2DepthFrameLock) + { + KinectInterop.SetComputeBufferData(pointCloudDepthBuffer, color2DepthDataFrame, color2DepthDataFrame.Length >> 1, sizeof(uint)); + } + } + else + { + KinectInterop.SetComputeBufferData(pointCloudDepthBuffer, sensorData.depthImage, sensorData.depthImage.Length >> 1, sizeof(uint)); + } + + KinectInterop.SetComputeShaderInt2(pointCloudVertexShader, "PointCloudRes", pointCloudVertexRes.x, pointCloudVertexRes.y); + KinectInterop.SetComputeShaderFloat2(pointCloudVertexShader, "SpaceScale", sensorData.sensorSpaceScale.x, sensorData.sensorSpaceScale.y); + pointCloudVertexShader.SetInt("MinDepth", (int)(minDistance * 1000f)); + pointCloudVertexShader.SetInt("MaxDepth", (int)(maxDistance * 1000f)); + pointCloudVertexShader.SetBuffer(pointCloudVertexKernel, "SpaceTable", pointCloudSpaceBuffer); + pointCloudVertexShader.SetBuffer(pointCloudVertexKernel, "DepthMap", pointCloudDepthBuffer); + pointCloudVertexShader.SetTexture(pointCloudVertexKernel, "PointCloudVertexTex", pointCloudVertexRT); + pointCloudVertexShader.Dispatch(pointCloudVertexKernel, pointCloudVertexRes.x / 8, pointCloudVertexRes.y / 8, 1); + + if (pointCloudVertexTexture != null) + { + Graphics.Blit(pointCloudVertexRT, pointCloudVertexTexture); + } + + return true; + } + + return false; + } + + + // creates the point-cloud color shader and its respective buffers, as needed + protected virtual bool CreatePointCloudColorShader(KinectInterop.SensorData sensorData) + { + //renderDepthAlignedColorTexture.enableRandomWrite = true; + + //if (pointCloudColorRT == null) + //{ + // pointCloudColorRT = new RenderTexture(sensorData.depthImageWidth, sensorData.depthImageHeight, 0, RenderTextureFormat.ARGB32); + // pointCloudColorRT.enableRandomWrite = true; + // pointCloudColorRT.Create(); + //} + + pointCloudColorRes = GetPointCloudTexResolution(sensorData); + + if(pointCloudResolution == PointCloudResolution.DepthCameraResolution) + { + if (pointCloudAlignedColorTex == null) + { + pointCloudAlignedColorTex = new Texture2D(sensorData.depthImageWidth, sensorData.depthImageHeight, sensorData.colorImageFormat, false); + } + + if (depth2ColorDataFrame == null) + { + depth2ColorDataFrame = new byte[sensorData.depthImageWidth * sensorData.depthImageHeight * sensorData.colorImageStride]; + } + } + + return true; + } + + + // disposes the point-cloud color shader and its respective buffers + protected virtual void DisposePointCloudColorShader(KinectInterop.SensorData sensorData) + { + if (pointCloudCoordBuffer != null) + { + // K2 depth camera resolution + pointCloudCoordBuffer.Dispose(); + pointCloudCoordBuffer = null; + } + + if (pointCloudColorRT) + { + pointCloudColorRT.Release(); + pointCloudColorRT = null; + } + + if (pointCloudAlignedColorTex != null) + { + Destroy(pointCloudAlignedColorTex); + pointCloudAlignedColorTex = null; + } + + if (depth2ColorDataFrame != null) + { + depth2ColorDataFrame = null; + } + + if (depth2ColorCoordFrame != null) + { + depth2ColorCoordFrame = null; + } + + if (pointCloudColorShader != null) + { + pointCloudColorShader = null; + } + } + + + // updates the point-cloud color shader with the actual data + protected virtual bool UpdatePointCloudColorShader(KinectInterop.SensorData sensorData) + { + Texture texColor = null; + + if (pointCloudResolution == PointCloudResolution.DepthCameraResolution) + { + if (pointCloudAlignedColorTex != null && depth2ColorDataFrame != null && sensorData.lastDepth2ColorFrameTime != lastDepth2ColorFrameTime) + { + lock (depth2ColorFrameLock) + { + sensorData.lastDepth2ColorFrameTime = lastDepth2ColorFrameTime; + + pointCloudAlignedColorTex.LoadRawTextureData(depth2ColorDataFrame); + pointCloudAlignedColorTex.Apply(); + } + + if (pointCloudColorRT != null) + { + Graphics.CopyTexture(pointCloudAlignedColorTex, pointCloudColorRT); + } + + texColor = pointCloudAlignedColorTex; + } + } + else + { + texColor = sensorData.colorImageTexture; + } + + if(texColor != null) + { + Graphics.Blit(texColor, pointCloudColorTexture); + return true; + } + + return false; + } + + + // creates the color-depth shader and its respective buffers, as needed + protected virtual bool CreateColorDepthShader(KinectInterop.SensorData sensorData) + { + if (color2DepthDataFrame == null) + { + color2DepthDataFrame = new ushort[sensorData.colorImageWidth * sensorData.colorImageHeight]; + } + + if (sensorData.colorDepthTexture == null) + { + sensorData.colorDepthTexture = new RenderTexture(sensorData.colorImageWidth, sensorData.colorImageHeight, 0, RenderTextureFormat.ARGB32); + //sensorData.colorDepthTexture.enableRandomWrite = true; + sensorData.colorDepthTexture.Create(); + } + + colorDepthShaderInited = true; + + return true; + } + + + // disposes the color-depth shader and its respective buffers + protected virtual void DisposeColorDepthShader(KinectInterop.SensorData sensorData) + { + if (color2DepthDataFrame != null) + { + color2DepthDataFrame = null; + } + + if (sensorData.colorDepthTexture != null) + { + sensorData.colorDepthTexture.Release(); + sensorData.colorDepthTexture = null; + } + + if (pointCloudDepthBuffer != null) + { + pointCloudDepthBuffer.Dispose(); + pointCloudDepthBuffer = null; + } + + if (pointCloudCoordBuffer != null) + { + pointCloudCoordBuffer.Dispose(); + pointCloudCoordBuffer = null; + } + + if (color2DepthCoordFrame != null) + { + color2DepthCoordFrame = null; + } + + if (colorDepthShader != null) + { + colorDepthShader = null; + } + + colorDepthShaderInited = false; + } + + + // updates the color-depth shader with the actual data + protected virtual bool UpdateColorDepthShader(KinectInterop.SensorData sensorData) + { + if (color2DepthDataFrame != null) + { + if(sensorData.usedColorDepthBufferTime == sensorData.lastColorDepthBufferTime && sensorData.lastColorDepthBufferTime != lastColor2DepthFrameTime) + { + lock(color2DepthFrameLock) + { + if (sensorData.colorImageTexture != null) + { + Graphics.Blit(sensorData.colorImageTexture, sensorData.colorDepthTexture); + } + + int bufferLength = sensorData.colorImageWidth * sensorData.colorImageHeight / 2; + KinectInterop.SetComputeBufferData(sensorData.colorDepthBuffer, color2DepthDataFrame, bufferLength, sizeof(uint)); + sensorData.lastColorDepthBufferTime = lastColor2DepthFrameTime; + } + } + + return true; + } + + return false; + } + + + // creates the depth-tex shader and its respective buffers, as needed + protected virtual bool CreateDepthTexShader(KinectInterop.SensorData sensorData) + { + Shader depthTexShader = Shader.Find("Kinect/DepthTexShader"); + if (depthTexShader != null) + { + sensorData.depthTexMaterial = new Material(depthTexShader); + + if (sensorData.depthImageBuffer == null) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + sensorData.depthImageBuffer = KinectInterop.CreateComputeBuffer(sensorData.depthImageBuffer, depthBufferLength, sizeof(uint)); + } + } + + return true; + } + + + // disposes the depth-tex shader and its respective buffers + protected virtual void DisposeDepthTexShader(KinectInterop.SensorData sensorData) + { + if (sensorData.depthTexTexture != null) + { + sensorData.depthTexTexture.Release(); + sensorData.depthTexTexture = null; + } + + if (sensorData.depthImageBuffer != null) + { + sensorData.depthImageBuffer.Dispose(); + sensorData.depthImageBuffer = null; + } + + sensorData.depthTexMaterial = null; + } + + + // creates the infrared-tex shader and its respective buffers, as needed + protected virtual bool CreateInfraredTexShader(KinectInterop.SensorData sensorData) + { + Shader infraredTexShader = Shader.Find("Kinect/DepthTexShader"); + if (infraredTexShader != null) + { + sensorData.infraredTexMaterial = new Material(infraredTexShader); + + if (sensorData.infraredImageBuffer == null) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + sensorData.infraredImageBuffer = KinectInterop.CreateComputeBuffer(sensorData.infraredImageBuffer, depthBufferLength, sizeof(uint)); + } + } + + return true; + } + + + // disposes the infrared-tex shader and its respective buffers + protected virtual void DisposeInfraredTexShader(KinectInterop.SensorData sensorData) + { + if (sensorData.infraredTexTexture != null) + { + sensorData.infraredTexTexture.Release(); + sensorData.infraredTexTexture = null; + } + + if (sensorData.infraredImageBuffer != null) + { + sensorData.infraredImageBuffer.Dispose(); + sensorData.infraredImageBuffer = null; + } + + sensorData.infraredTexMaterial = null; + } + + + // updates transformed frame textures, if needed + public virtual bool UpdateTransformedFrameTextures(KinectInterop.SensorData sensorData, KinectManager kinectManager) + { + // depth2space frame + if (pointCloudVertexTexture != null) + { + if (pointCloudVertexShader != null || CreatePointCloudVertexShader(sensorData)) + { + UpdatePointCloudVertexShader(sensorData); + } + } + else + { + if (pointCloudVertexShader != null) + { + DisposePointCloudVertexShader(sensorData); + } + } + + // depth2color frame + if (pointCloudColorTexture != null) + { + if (pointCloudColorShader != null || pointCloudAlignedColorTex != null || CreatePointCloudColorShader(sensorData)) + { + UpdatePointCloudColorShader(sensorData); + } + } + else + { + if (pointCloudColorShader != null || pointCloudAlignedColorTex != null) + { + DisposePointCloudColorShader(sensorData); + } + } + + // color2depth + if (sensorData.colorDepthBuffer != null) + { + if(colorDepthShaderInited || CreateColorDepthShader(sensorData)) + { + UpdateColorDepthShader(sensorData); + } + } + else + { + if(colorDepthShaderInited) + { + DisposeColorDepthShader(sensorData); + } + } + + // depth-tex + if (sensorData.depthTexTexture != null) + { + if (sensorData.depthTexMaterial != null || CreateDepthTexShader(sensorData)) + { + //UpdateDepthTexShader(sensorData); // code moved to UpdateSensorTextures() + } + } + else + { + if (sensorData.depthTexMaterial != null) + { + DisposeDepthTexShader(sensorData); + } + } + + // infrared-tex + if (sensorData.infraredTexTexture != null) + { + if (sensorData.infraredTexMaterial != null || CreateInfraredTexShader(sensorData)) + { + //UpdateInfraredTexShader(sensorData); // code moved to UpdateSensorTextures() + } + } + else + { + if (sensorData.infraredTexMaterial != null) + { + DisposeInfraredTexShader(sensorData); + } + } + + return true; + } + + + public virtual bool UpdateSensorTextures(KinectInterop.SensorData sensorData, KinectManager kinectManager, ulong prevDepthFrameTime) + { + // check if the depth data has changed + if (prevDepthFrameTime != sensorData.lastDepthFrameTime) + { + // depth texture + if (sensorData.depthImageTexture != null && sensorData.depthImageMaterial != null && + sensorData.lastDepthImageTime != sensorData.lastDepthFrameTime) + { + if (sensorData.depthImageBuffer != null && sensorData.depthImage != null) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + KinectInterop.SetComputeBufferData(sensorData.depthImageBuffer, sensorData.depthImage, depthBufferLength, sizeof(uint)); + } + + if (sensorData.depthHistBuffer != null && sensorData.depthHistBufferData != null) + { + //sensorData.depthHistBuffer.SetData(equalHistBufferData); + KinectInterop.SetComputeBufferData(sensorData.depthHistBuffer, sensorData.depthHistBufferData, sensorData.depthHistBufferData.Length, sizeof(int)); + } + + sensorData.depthImageMaterial.SetInt("_TexResX", sensorData.depthImageWidth); + sensorData.depthImageMaterial.SetInt("_TexResY", sensorData.depthImageHeight); + sensorData.depthImageMaterial.SetInt("_MinDepth", (int)(minDistance * 1000f)); + sensorData.depthImageMaterial.SetInt("_MaxDepth", (int)(maxDistance * 1000f)); + sensorData.depthImageMaterial.SetInt("_TotalPoints", sensorData.depthHistTotalPoints); + sensorData.depthImageMaterial.SetBuffer("_DepthMap", sensorData.depthImageBuffer); + sensorData.depthImageMaterial.SetBuffer("_HistMap", sensorData.depthHistBuffer); + + Graphics.Blit(null, sensorData.depthImageTexture, sensorData.depthImageMaterial); + + sensorData.lastDepthImageTime = sensorData.lastDepthFrameTime; + //Debug.Log("DepthTextureTimestamp: " + sensorData.lastDepthImageTime); + } + + // infrared texture + if (sensorData.infraredImageTexture != null && sensorData.infraredImageMaterial != null && + sensorData.lastInfraredImageTime != sensorData.lastInfraredFrameTime) + { + if (sensorData.infraredImageBuffer != null && sensorData.infraredImage != null) + { + int infraredBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + KinectInterop.SetComputeBufferData(sensorData.infraredImageBuffer, sensorData.infraredImage, infraredBufferLength, sizeof(uint)); + } + + sensorData.infraredImageMaterial.SetInt("_TexResX", sensorData.depthImageWidth); + sensorData.infraredImageMaterial.SetInt("_TexResY", sensorData.depthImageHeight); + sensorData.infraredImageMaterial.SetFloat("_MinValue", minInfraredValue); + sensorData.infraredImageMaterial.SetFloat("_MaxValue", maxInfraredValue); + sensorData.infraredImageMaterial.SetBuffer("_InfraredMap", sensorData.infraredImageBuffer); + + Graphics.Blit(null, sensorData.infraredImageTexture, sensorData.infraredImageMaterial); + + sensorData.lastInfraredImageTime = sensorData.lastInfraredFrameTime; + //Debug.Log("InfraredTextureTimestamp: " + sensorData.lastInfraredImageTime); + } + + // user texture & body texture + if (sensorData.bodyImageTexture != null && sensorData.bodyImageMaterial != null && + sensorData.lastBodyImageTime != sensorData.lastBodyIndexFrameTime) + { + if (sensorData.bodyIndexBuffer != null && rawBodyIndexImage != null) + { + int bodyIndexBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 4; + KinectInterop.SetComputeBufferData(sensorData.bodyIndexBuffer, rawBodyIndexImage, bodyIndexBufferLength, sizeof(uint)); + } + + if (sensorData.bodyHistBuffer != null && sensorData.bodyHistBufferData != null) + { + //sensorData.depthHistBuffer.SetData(equalBodyBufferData); + KinectInterop.SetComputeBufferData(sensorData.bodyHistBuffer, sensorData.bodyHistBufferData, sensorData.bodyHistBufferData.Length, sizeof(int)); + } + + float minDist = kinectManager.minUserDistance != 0f ? kinectManager.minUserDistance : minDistance; + float maxDist = kinectManager.maxUserDistance != 0f ? kinectManager.maxUserDistance : maxDistance; + + sensorData.bodyImageMaterial.SetInt("_TexResX", sensorData.depthImageWidth); + sensorData.bodyImageMaterial.SetInt("_TexResY", sensorData.depthImageHeight); + sensorData.bodyImageMaterial.SetInt("_MinDepth", (int)(minDist * 1000f)); + sensorData.bodyImageMaterial.SetInt("_MaxDepth", (int)(maxDist * 1000f)); + + sensorData.bodyImageMaterial.SetBuffer("_BodyIndexMap", sensorData.bodyIndexBuffer); + + if(kinectManager.getBodyFrames == KinectManager.BodyTextureType.UserTexture) + { + if (sensorData.depthImageBuffer != null && sensorData.depthImage != null) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + KinectInterop.SetComputeBufferData(sensorData.depthImageBuffer, sensorData.depthImage, depthBufferLength, sizeof(uint)); + } + + sensorData.bodyImageMaterial.SetBuffer("_DepthMap", sensorData.depthImageBuffer); + sensorData.bodyImageMaterial.SetBuffer("_HistMap", sensorData.bodyHistBuffer); + sensorData.bodyImageMaterial.SetInt("_TotalPoints", sensorData.bodyHistTotalPoints); + //sensorData.bodyImageMaterial.SetInt("_FirstUserIndex", sensorData.firstUserIndex); + + Color[] bodyIndexColors = kinectManager.GetBodyIndexColors(); + sensorData.bodyImageMaterial.SetColorArray("_BodyIndexColors", bodyIndexColors); + } + + Graphics.Blit(null, sensorData.bodyImageTexture, sensorData.bodyImageMaterial); + + sensorData.lastBodyImageTime = sensorData.lastBodyIndexFrameTime; + //Debug.Log("BodyTextureTimestamp: " + sensorData.lastBodyImageTime); + } + + // depth-tex + if (sensorData.depthTexMaterial != null && + sensorData.lastDepthTexTime != sensorData.lastDepthFrameTime) + { + if (sensorData.depthImageBuffer != null && sensorData.depthImage != null) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + KinectInterop.SetComputeBufferData(sensorData.depthImageBuffer, sensorData.depthImage, depthBufferLength, sizeof(uint)); + } + + sensorData.depthTexMaterial.SetBuffer("_DepthMap", sensorData.depthImageBuffer); + sensorData.depthTexMaterial.SetInt("_TexResX", sensorData.depthImageWidth); + sensorData.depthTexMaterial.SetInt("_TexResY", sensorData.depthImageHeight); + sensorData.depthTexMaterial.SetInt("_MinDepth", (int)(minDistance * 1000f)); + sensorData.depthTexMaterial.SetInt("_MaxDepth", (int)(maxDistance * 1000f)); + + Graphics.Blit(null, sensorData.depthTexTexture, sensorData.depthTexMaterial); + sensorData.lastDepthTexTime = sensorData.lastDepthFrameTime; + //Debug.Log("DepthTexTimestamp: " + sensorData.lastDepthTexTime); + } + + // infrared-tex + if (sensorData.infraredTexMaterial != null && + sensorData.lastInfraredTexTime != sensorData.lastInfraredFrameTime) + { + if (sensorData.infraredImageBuffer != null && sensorData.infraredImage != null) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + KinectInterop.SetComputeBufferData(sensorData.infraredImageBuffer, sensorData.infraredImage, depthBufferLength, sizeof(uint)); + } + + sensorData.infraredTexMaterial.SetBuffer("_DepthMap", sensorData.infraredImageBuffer); + sensorData.infraredTexMaterial.SetInt("_TexResX", sensorData.depthImageWidth); + sensorData.infraredTexMaterial.SetInt("_TexResY", sensorData.depthImageHeight); + sensorData.infraredTexMaterial.SetInt("_MinDepth", (int)(minDistance * 1000f)); + sensorData.infraredTexMaterial.SetInt("_MaxDepth", (int)(maxDistance * 1000f)); + + Graphics.Blit(null, sensorData.infraredTexTexture, sensorData.infraredTexMaterial); + sensorData.lastInfraredTexTime = sensorData.lastInfraredFrameTime; + //Debug.Log("InfraredTexTimestamp: " + sensorData.lastInfraredTexTime); + } + + } + + return true; + } + + + // returns sensor-to-world matrix + public virtual Matrix4x4 GetSensorToWorldMatrix() + { + Matrix4x4 mSensor = Matrix4x4.identity; + mSensor.SetTRS(sensorPosePosition, sensorPoseRotation, Vector3.one); + + return mSensor; + } + + + // returns sensor rotation, properly adjusted for body tracking + protected Quaternion GetSensorRotationNotZFlipped(bool bInverted) + { + Vector3 sensorRotEuler = sensorPoseRotation.eulerAngles; + + if (sensorRotFlipZ) + { + sensorRotEuler.z = -sensorRotEuler.z; + } + + Quaternion sensorRot = Quaternion.Euler(sensorRotEuler); + return bInverted ? Quaternion.Inverse(sensorRot) : sensorRot; + } + + + // returns sensor transform. Please note transform updates depend on the getPoseFrames-KM setting. + public virtual Transform GetSensorTransform() + { + return transform; + } + + + // unprojects plane point into the space + protected virtual Vector3 UnprojectPoint(KinectInterop.CameraIntrinsics intr, Vector2 pixel, float depth) + { + return Vector3.zero; + } + + + // projects space point onto a plane + protected virtual Vector2 ProjectPoint(KinectInterop.CameraIntrinsics intr, Vector3 point) + { + return Vector2.zero; + } + + + // transforms a point from one space to another + protected virtual Vector3 TransformPoint(KinectInterop.CameraExtrinsics extr, Vector3 point) + { + return Vector3.zero; + } + + + public virtual Vector3[] GetDepthCameraSpaceTable(KinectInterop.SensorData sensorData) + { + if (sensorData == null) + return null; + + // depth2space table + int depthImageLength = sensorData.depthImageWidth * sensorData.depthImageHeight; + if (depth2SpaceTable == null || depth2SpaceTable.Length != depthImageLength) + { + depth2SpaceTable = new Vector3[depthImageLength]; + + for (int dy = 0, di = 0; dy < sensorData.depthImageHeight; dy++) + { + for (int dx = 0; dx < sensorData.depthImageWidth; dx++, di++) + { + Vector2 depthPos = new Vector2(dx, dy); + depth2SpaceTable[di] = MapDepthPointToSpaceCoords(sensorData, depthPos, 1000); + } + } + } + + return depth2SpaceTable; + } + + + public virtual Vector3[] GetColorCameraSpaceTable(KinectInterop.SensorData sensorData) + { + if (sensorData == null) + return null; + + // color2space + int colorImageLength = sensorData.colorImageWidth * sensorData.colorImageHeight; + if (color2SpaceTable == null || color2SpaceTable.Length != colorImageLength) + { + color2SpaceTable = new Vector3[colorImageLength]; + + for (int cy = 0, ci = 0; cy < sensorData.colorImageHeight; cy++) + { + for (int cx = 0; cx < sensorData.colorImageWidth; cx++, ci++) + { + Vector2 colorPos = new Vector2(cx, cy); + color2SpaceTable[ci] = MapColorPointToSpaceCoords(sensorData, colorPos, 1000); + } + } + } + + return color2SpaceTable; + } + + + public virtual Vector3 MapDepthPointToSpaceCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal) + { + if (sensorData.depthCamIntr != null) + { + return UnprojectPoint(sensorData.depthCamIntr, depthPos, (float)depthVal / 1000f); + } + + return Vector3.zero; + } + + + public virtual Vector2 MapSpacePointToDepthCoords(KinectInterop.SensorData sensorData, Vector3 spacePos) + { + if (sensorData.depthCamIntr != null) + { + return ProjectPoint(sensorData.depthCamIntr, spacePos); + } + + return Vector2.zero; + } + + + public virtual Vector3 MapColorPointToSpaceCoords(KinectInterop.SensorData sensorData, Vector2 colorPos, ushort depthVal) + { + if (sensorData.colorCamIntr != null) + { + return UnprojectPoint(sensorData.colorCamIntr, colorPos, (float)depthVal / 1000f); + } + + return Vector3.zero; + } + + + public virtual Vector2 MapSpacePointToColorCoords(KinectInterop.SensorData sensorData, Vector3 spacePos) + { + if (sensorData.colorCamIntr != null) + { + return ProjectPoint(sensorData.colorCamIntr, spacePos); + } + + return Vector2.zero; + } + + + public virtual Vector2 MapDepthPointToColorCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal) + { + if (sensorData.depthCamIntr != null && sensorData.colorCamIntr != null && sensorData.depth2ColorExtr != null) + { + Vector3 depthSpacePos = UnprojectPoint(sensorData.depthCamIntr, depthPos, (float)depthVal / 1000f); + Vector3 colorSpacePos = TransformPoint(sensorData.depth2ColorExtr, depthSpacePos); + Vector2 colorPos = ProjectPoint(sensorData.colorCamIntr, colorSpacePos); + + return colorPos; + } + + return Vector2.zero; + } + + + public virtual Vector2 MapColorPointToDepthCoords(KinectInterop.SensorData sensorData, Vector2 colorPos) + { + if (sensorData.depthCamIntr != null && sensorData.colorCamIntr != null && sensorData.color2DepthExtr != null && sensorData.depthImage != null) + { + Vector3 colorSpacePos1 = UnprojectPoint(sensorData.colorCamIntr, colorPos, 1f); + + int minDist = (int)(minDistance * 1000f); + int maxDist = (int)(maxDistance * 1000f); + + int depthImageW = sensorData.depthImageWidth; + int depthImageL = sensorData.depthImage.Length; + + Vector2 depthPos = Vector2.zero; + bool bFound = false; + + for (int d = minDist; d < maxDist; d++) + { + Vector3 colorSpacePos = colorSpacePos1 * (d * 0.001f); + Vector3 depthSpacePos = TransformPoint(sensorData.color2DepthExtr, colorSpacePos); + depthPos = ProjectPoint(sensorData.depthCamIntr, depthSpacePos); + + int di = (int)(depthPos.y + 0.5f) * depthImageW + (int)(depthPos.x + 0.5f); + + if (di >= 0 && di < depthImageL) + { + int z = sensorData.depthImage[di]; + if ((z != 0) && (z <= d)) + { + bFound = true; + break; + } + } + } + + return bFound ? depthPos : Vector2.zero; + } + + return Vector2.zero; + } + + + //public virtual bool MapDepthFrameToSpaceCoords(KinectInterop.SensorData sensorData, ref Vector3[] vSpaceCoords) + //{ + // if (vSpaceCoords == null) + // { + // vSpaceCoords = new Vector3[sensorData.depthImageWidth * sensorData.depthImageHeight]; + // } + + // if (InitCoordMapperSpaceTables(sensorData, true, false)) + // { + // for (int dy = 0, di = 0; dy < sensorData.depthImageHeight; dy++) + // { + // for (int dx = 0; dx < sensorData.depthImageWidth; dx++, di++) + // { + // if (sensorData.depthImage[di] != 0) + // { + // float depthVal = (float)sensorData.depthImage[di] / 1000f; + // vSpaceCoords[di] = depth2SpaceTable[di] * depthVal; + // } + // else + // { + // vSpaceCoords[di] = Vector3.zero; + // } + // } + // } + + // return true; + // } + + // return false; + //} + + + //public virtual bool MapDepthFrameToColorData(KinectInterop.SensorData sensorData, ref byte[] vColorFrameData) + //{ + // return false; + //} + + + //public virtual bool MapColorFrameToDepthData(KinectInterop.SensorData sensorData, ref ushort[] vDepthFrameData) + //{ + // return false; + //} + + + //public virtual bool MapDepthFrameToColorCoords(KinectInterop.SensorData sensorData, ref Vector2[] vColorCoords) + //{ + // if (sensorData.depthCamIntr != null && sensorData.colorCamIntr != null && sensorData.depth2ColorExtr != null) + // { + // int depthImageW = sensorData.depthImageWidth; + // int depthImageH = sensorData.depthImageHeight; + + // int mapImageLen = depthImageW * depthImageH; + // if (vColorCoords == null || vColorCoords.Length != mapImageLen) + // { + // vColorCoords = new Vector2[mapImageLen]; + // } + + // for (int dy = 0, dIndex = 0; dy < depthImageH; dy++) + // { + // for (int dx = 0; dx < depthImageW; dx++, dIndex++) + // { + // ushort depthVal = sensorData.depthImage[dIndex]; + + // if (depthVal != 0) + // { + // Vector2 depthPos = new Vector2(dx, dy); + + // Vector3 depthSpacePos = UnprojectPoint(sensorData.depthCamIntr, depthPos, (float)depthVal / 1000f); + // Vector3 colorSpacePos = TransformPoint(sensorData.depth2ColorExtr, depthSpacePos); + // vColorCoords[dIndex] = ProjectPoint(sensorData.colorCamIntr, colorSpacePos); + // } + // else + // { + // vColorCoords[dIndex] = new Vector2(float.NegativeInfinity, float.NegativeInfinity); + // } + // } + // } + + // return true; + // } + + // return false; + //} + + //public virtual bool MapColorFrameToDepthCoords(KinectInterop.SensorData sensorData, ref Vector2[] vDepthCoords) + //{ + // if (sensorData.depthCamIntr != null && sensorData.colorCamIntr != null && sensorData.depth2ColorExtr != null) + // { + // int depthImageW = sensorData.depthImageWidth; + // int depthImageH = sensorData.depthImageHeight; + + // int mapImageLen = sensorData.colorImageWidth * sensorData.colorImageHeight; + // if (vDepthCoords == null || vDepthCoords.Length != mapImageLen) + // { + // vDepthCoords = new Vector2[mapImageLen]; + // } + + // int colorWidth = sensorData.colorCamIntr.width; + // int colorHeight = sensorData.colorCamIntr.height; + + // for (int dy = 0, dIndex = 0; dy < depthImageH; dy++) + // { + // for (int dx = 0; dx < depthImageW; dx++, dIndex++) + // { + // ushort depthVal = sensorData.depthImage[dIndex]; + + // if (depthVal != 0) + // { + // float depth = (float)depthVal / 1000f; + + // Vector2 depthPos1 = new Vector2(dx - 0.5f, dy - 0.5f); + // Vector3 depthSpacePos1 = UnprojectPoint(sensorData.depthCamIntr, depthPos1, depth); + // Vector3 colorSpacePos1 = TransformPoint(sensorData.depth2ColorExtr, depthSpacePos1); + // Vector2 colorPos1 = ProjectPoint(sensorData.colorCamIntr, colorSpacePos1); + + // int colorPos1X = Mathf.RoundToInt(colorPos1.x); + // int colorPos1Y = Mathf.RoundToInt(colorPos1.y); + + // Vector2 depthPos2 = new Vector2(dx + 0.5f, dy + 0.5f); + // Vector3 depthSpacePos2 = UnprojectPoint(sensorData.depthCamIntr, depthPos2, depth); + // Vector3 colorSpacePos2 = TransformPoint(sensorData.depth2ColorExtr, depthSpacePos2); + // Vector2 colorPos2 = ProjectPoint(sensorData.colorCamIntr, colorSpacePos2); + + // int colorPos2X = (int)(colorPos2.x + 0.5f); + // int colorPos2Y = (int)(colorPos2.y + 0.5f); + + // if (colorPos1X < 0 || colorPos1Y < 0 || colorPos2X >= colorWidth || colorPos2Y >= colorHeight) + // continue; + + // // Transfer between the depth pixels and the pixels inside the rectangle on the other image + // for (int y = colorPos1Y; y <= colorPos2Y; y++) + // { + // int cIndex = y * colorWidth + colorPos1X; + + // for (int x = colorPos1X; x <= colorPos2X; x++, cIndex++) + // { + // vDepthCoords[cIndex] = new Vector2(dx, dy); + // } + // } + // } + // else + // { + // //vDepthCoords[cIndex] = new Vector2(float.NegativeInfinity, float.NegativeInfinity); + // } + // } + // } + + // return true; + // } + + // return false; + //} + + + // estimates horizontal and vertical FOV + protected void EstimateFOV(KinectInterop.CameraIntrinsics intr) + { + //intr.hFOV = (Mathf.Atan2(intr.ppx + 0.5f, intr.fx) + Mathf.Atan2(intr.width - (intr.ppx + 0.5f), intr.fx)) * 57.2957795f; + //intr.vFOV = (Mathf.Atan2(intr.ppy + 0.5f, intr.fy) + Mathf.Atan2(intr.height - (intr.ppy + 0.5f), intr.fy)) * 57.2957795f; + intr.hFOV = 2f * Mathf.Atan2((float)intr.width * 0.5f, intr.fx) * Mathf.Rad2Deg; + intr.vFOV = 2f * Mathf.Atan2((float)intr.height * 0.5f, intr.fy) * Mathf.Rad2Deg; + } + + // initializes the body-data structures and start the body tracking + protected virtual bool InitBodyTracking(KinectInterop.FrameSource dwFlags, KinectInterop.SensorData sensorData, Calibration calibration, bool bCreateTracker) + { + try + { + if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0) // check for depth stream + { + string bodyTrackingPath = KinectInterop.BODY_TRACKING_TOOLS_FOLDER; + if (!string.IsNullOrEmpty(bodyTrackingPath) && bodyTrackingPath[bodyTrackingPath.Length - 1] != '/' && bodyTrackingPath[bodyTrackingPath.Length - 1] != '\\') + { + bodyTrackingPath += "/"; + } + + if (!string.IsNullOrEmpty(bodyTrackingPath) && !bodyTrackingPath.EndsWith("/tools/") && !bodyTrackingPath.EndsWith("\\tools\\") && !bodyTrackingPath.EndsWith("\\tools/")) + { + bodyTrackingPath += "tools/"; + } + + if(!KinectInterop.IsFolderExist(bodyTrackingPath)) + { + Debug.LogWarning("BT-Folder not found: " + bodyTrackingPath); + } + + // copy the needed libraries + KinectInterop.CopyFolderFile(bodyTrackingPath, "cublas64_100.dll", "."); + KinectInterop.CopyFolderFile(bodyTrackingPath, "cudart64_100.dll", "."); + KinectInterop.CopyFolderFile(bodyTrackingPath, "cudnn64_7.dll", "."); + + //KinectInterop.CopyFolderFile(bodyTrackingPath, "k4abt.dll", "."); + KinectInterop.CopyFolderFile(bodyTrackingPath, "onnxruntime.dll", "."); + KinectInterop.CopyFolderFile(bodyTrackingPath, "vcomp140.dll", "."); + + if(KinectInterop.IsFileExist(bodyTrackingPath + "dnn_model_2_0.onnx")) + KinectInterop.CopyFolderFile(bodyTrackingPath, "dnn_model_2_0.onnx", "."); + else + KinectInterop.CopyFolderFile(bodyTrackingPath, "dnn_model.onnx", "."); + + if ((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0) + { + rawBodyIndexImage = new byte[sensorData.depthImageWidth * sensorData.depthImageHeight]; + sensorData.bodyIndexImage = new byte[sensorData.depthImageWidth * sensorData.depthImageHeight]; + } + + alTrackedBodies = new List(); + sensorData.alTrackedBodies = new KinectInterop.BodyData[0]; // new List(); + + trackedBodiesCount = 0; + sensorData.trackedBodiesCount = 0; + + btQueueCount = 0; + btQueueWaitTime = MAX_BODY_QUEUE_LENGTH <= 1 ? 0 : -1; + //Debug.Log("MaxQueueLen: " + MAX_BODY_QUEUE_LENGTH + ", WaitTime: " + btQueueWaitTime); + + if (bCreateTracker) + { + bodyTracker = new BodyTracking(calibration, k4abt_sensor_orientation_t.K4ABT_SENSOR_ORIENTATION_DEFAULT, false); + bodyTracker.SetTemporalSmoothing(0f); + bodySkeletonData = bodyTracker.CreateBodySkeleton(); + //Debug.Log("Body tracker successfully created."); + + // start body-tracker thread + bodyTrackerStopEvent = new System.Threading.AutoResetEvent(false); + bodyTrackerThread = new System.Threading.Thread(() => BodyTrackerThread(sensorData)); + bodyTrackerThread.Name = "BT-" + GetType().Name + deviceIndex; + bodyTrackerThread.IsBackground = true; + bodyTrackerThread.Start(); + } + } + else + { + Debug.LogWarning("Body tracked not started! Please enable the depth stream, to allow tracking the users."); + } + } + catch (System.Exception ex) + { + Debug.LogError("Can't create body tracker for " + GetType().Name + deviceIndex + "!"); + Debug.LogException(ex); + } + + return (bodyTracker != null); + } + + + // stops the body tracker and releases its data + protected virtual void StopBodyTracking(KinectInterop.SensorData sensorData) + { + if (bodyTrackerThread != null) + { + //Debug.Log("Stopping BT thread: " + bodyTrackerThread.Name); + + // stop the frame-polling thread + bodyTrackerStopEvent.Set(); + bodyTrackerThread.Join(); + + bodyTrackerThread = null; + bodyTrackerStopEvent.Dispose(); + bodyTrackerStopEvent = null; + + //Debug.Log("BT thread stopped."); + } + + if (bodyTracker != null) + { + // wait for all enqueued frames to pop + int maxWaitTime = 5000; + + while (btQueueCount > 0 && maxWaitTime > 0) + { + IntPtr bodyFrameHandle = bodyTracker.PollBodyFrame(1000); + + if(bodyFrameHandle != IntPtr.Zero) + { + Image bodyIndexImage = bodyTracker.GetBodyIndexMap(bodyFrameHandle); + bodyIndexImage.Dispose(); + + Capture btCapture = bodyTracker.GetCapture(bodyFrameHandle); + btCapture.Dispose(); + + bodyTracker.ReleaseBodyFrame(bodyFrameHandle); + bodyFrameHandle = IntPtr.Zero; + + lock (bodyCaptureLock) + { + btQueueCount--; + } + } + + maxWaitTime -= 1000; + } + + if(btQueueCount > 0 && maxWaitTime <= 0) + { + Debug.LogWarning("Timed out waiting to pop all BT-frames. QueueCount: " + btQueueCount); + } + + bodyTracker.ShutdownBodyTracker(); + bodyTracker.Dispose(); + bodyTracker = null; + + lock (bodyCaptureLock) + { + btQueueCount = 0; + btQueueWaitTime = 0; + } + + //Debug.Log("Body tracker disposed."); + } + } + + + // polls for new body frame + protected virtual Capture PollBodyFrame(KinectInterop.SensorData sensorData, Capture capture) + { + Capture bodyCapture = null; + + if(bodyOutputCapture != null) + { + lock (bodyCaptureLock) + { + bodyCapture = bodyOutputCapture; + bodyOutputCapture = null; + } + } + + // push the new capture + PushBodyFrameInternal(capture); + + return bodyCapture; + } + + + // polls the body tracker for frames and updates the body-related data in a thread + private void BodyTrackerThread(KinectInterop.SensorData sensorData) + { + if (sensorData == null) + return; + + while (!bodyTrackerStopEvent.WaitOne(0)) + { + try + { + //Capture sensorCapture = null; + + bool bGetBodyData = bodyOutputCapture == null; + Capture bodyCapture = PollBodyFrameInternal(sensorData, bGetBodyData/**, sensorCapture*/); + + if (bodyOutputCapture == null) + { + lock (bodyCaptureLock) + { + bodyOutputCapture = bodyCapture; + } + } + } + catch (Exception ex) + { + Debug.LogException(ex); + } + } + } + + + // maximum queue length + private const int MAX_BODY_QUEUE_LENGTH = 1; + + + // pushes new body frame into bt-processing queue, if possible + private bool PushBodyFrameInternal(Capture capture) + { + bool bEnqueued = false; + + if (capture != null && capture.Depth != null && (btQueueCount < MAX_BODY_QUEUE_LENGTH /**|| rawBodyTimestamp == sensorData.lastBodyFrameTime*/)) + { + bEnqueued = bodyTracker.EnqueueCapture(capture, btQueueWaitTime); + + if (bEnqueued) + { + //Debug.Log("QueuedBodyTimestamp: " + capture.Depth.DeviceTimestamp.Ticks + ", QueueLen: " + (btQueueCount + 1)); + + lock (bodyCaptureLock) + { + // queued + btQueueCount++; + btQueueTime = (ulong)DateTime.Now.Ticks; + //Debug.Log("Push btQueueCount: " + btQueueCount); + + //if (btQueueWaitTime > 0) + // btQueueWaitTime--; + } + } + else + { + //Debug.LogWarning("Adding capture to BT queue failed! QueueCount: " + btQueueCount); + //btQueueWaitTime++; + } + } + + return bEnqueued; + } + + // internal body-tracking polling method (used by the BT-thread) + private Capture PollBodyFrameInternal(KinectInterop.SensorData sensorData, bool bGetBodyData/**, Capture capture*/) + { + Capture btCapture = null; + + if (bodyTracker != null && btQueueCount > 0) + { + // check for body frame + //bool bCheckBodyFrame = (rawColorImage != null && rawColorTimestamp == sensorData.lastColorFrameTime) || + // (rawDepthImage != null && rawDepthTimestamp == sensorData.lastDepthFrameTime) || + // (rawInfraredImage != null && rawInfraredTimestamp == sensorData.lastInfraredFrameTime); + //IntPtr bodyFrameHandle = bCheckBodyFrame ? bodyTracker.PollBodyFrame(0) : IntPtr.Zero; + + IntPtr bodyFrameHandle = bodyTracker.PollBodyFrame(0); + + if (bodyFrameHandle != IntPtr.Zero) + { + lock (bodyCaptureLock) + { + if (btQueueCount > 0) + btQueueCount--; + //Debug.Log("Poll btQueueCount: " + btQueueCount); + } + + lock (bodyTrackerLock) + { + if(rawBodyIndexImage != null) + { + Image bodyIndexImage = bodyTracker.GetBodyIndexMap(bodyFrameHandle); + if(bGetBodyData) + bodyIndexImage.CopyBytesTo(rawBodyIndexImage, 0, 0, rawBodyIndexImage.Length); + bodyIndexImage.Dispose(); + } + + if(bGetBodyData) + { + rawBodyTimestamp = bodyTracker.GetBodyFrameTimestampUsec(bodyFrameHandle); + trackedBodiesCount = bodyTracker.GetNumberOfBodies(bodyFrameHandle); + //Debug.Log("RawBodyTimestamp: " + rawBodyTimestamp + ", QueueLen: " + btQueueCount); + + // get body tracking capture + btCapture = bodyTracker.GetCapture(bodyFrameHandle); + + // create the needed slots + while (alTrackedBodies.Count < trackedBodiesCount) + { + alTrackedBodies.Add(new KinectInterop.BodyData((int)KinectInterop.JointType.Count)); + } + + // get sensor-to-world matrix + Matrix4x4 sensorToWorld = GetSensorToWorldMatrix(); + Quaternion sensorRotInv = GetSensorRotationNotZFlipped(true); + float scaleX = sensorData.sensorSpaceScale.x * 0.001f; + float scaleY = sensorData.sensorSpaceScale.y * 0.001f; + + for (int i = 0; i < trackedBodiesCount; i++) + { + KinectInterop.BodyData bodyData = alTrackedBodies[i]; + + bodyData.liTrackingID = bodyTracker.GetBodyId(bodyFrameHandle, (uint)i); + bodyData.iBodyIndex = i; + bodyData.bIsTracked = true; + + bodyTracker.GetBodySkeleton(bodyFrameHandle, (uint)i, ref bodySkeletonData); + for (int jBT = 0; jBT < (int)k4abt_joint_type.K4ABT_JOINT_COUNT; jBT++) + { + k4abt_joint_t jointBT = bodySkeletonData.joints[jBT]; + int j = BtJoint2JointType[jBT]; + + if (j >= 0) + { + KinectInterop.JointData jointData = bodyData.joint[j]; + + jointData.trackingState = (KinectInterop.TrackingState)jointBT.confidence_level; // KinectInterop.TrackingState.Tracked; // always tracked? + + float jPosZ = (bIgnoreZCoordinates && j > 0) ? bodyData.joint[0].kinectPos.z : jointBT.position.Z * 0.001f; + jointData.kinectPos = new Vector3(jointBT.position.X * 0.001f, jointBT.position.Y * 0.001f, jointBT.position.Z * 0.001f); + jointData.position = sensorToWorld.MultiplyPoint3x4(new Vector3(jointBT.position.X * scaleX, jointBT.position.Y * scaleY, jPosZ)); + + jointData.orientation = new Quaternion(jointBT.orientation.X, jointBT.orientation.Y, jointBT.orientation.Z, jointBT.orientation.W); + jointData.orientation = sensorRotInv * jointData.orientation; + + if (j == 0) + { + bodyData.kinectPos = jointData.kinectPos; + bodyData.position = jointData.position; + bodyData.orientation = jointData.orientation; + } + + bodyData.joint[j] = jointData; + } + } + + // estimate additional joints + CalcBodySpecialJoints(ref bodyData); + + // calculate bone dirs + KinectInterop.CalcBodyJointDirs(ref bodyData); + + // calculate joint orientations + CalcBodyJointOrients(ref bodyData); + + // body orientation + bodyData.normalRotation = bodyData.joint[0].normalRotation; + bodyData.mirroredRotation = bodyData.joint[0].mirroredRotation; + + alTrackedBodies[i] = bodyData; + + //Debug.Log(" (T)User ID: " + bodyData.liTrackingID + ", body: " + i + ", pos: " + bodyData.kinectPos); + } + } + + bodyTracker.ReleaseBodyFrame(bodyFrameHandle); + bodyFrameHandle = IntPtr.Zero; + } + } + + //// check for timeout + //ulong currentTime = (ulong)DateTime.Now.Ticks; + //if (btQueueCount > 0 && (currentTime - btQueueTime) >= 10000000) // 1 sec. + //{ + // // timeout + // //Debug.LogWarning("Timed out waiting for bt-frame to pop! QueueCount: " + btQueueCount); + // btQueueTime = currentTime; + // //btQueueCount--; + //} + + //// enqueue capture + //if (capture != null && capture.Depth != null && (btQueueCount < MAX_BODY_QUEUE_LENGTH /**|| rawBodyTimestamp == sensorData.lastBodyFrameTime*/)) + //{ + // if (bodyTracker.EnqueueCapture(capture, btQueueWaitTime)) + // { + // //Debug.Log("QueuedBodyTimestamp: " + capture.Depth.DeviceTimestamp.Ticks + ", QueueLen: " + (btQueueCount + 1)); + + // // queued + // btQueueCount++; + // btQueueTime = currentTime; + + // //if (btQueueWaitTime > 0) + // // btQueueWaitTime--; + // } + // else + // { + // Debug.LogWarning("Adding capture to BT queue failed! QueueCount: " + btQueueCount); + // //btQueueWaitTime++; + // } + //} + } + + return btCapture; + } + + + private static readonly int[] BtJoint2JointType = + { + (int)KinectInterop.JointType.Pelvis, + (int)KinectInterop.JointType.SpineNaval, + (int)KinectInterop.JointType.SpineChest, + (int)KinectInterop.JointType.Neck, + + (int)KinectInterop.JointType.ClavicleLeft, + (int)KinectInterop.JointType.ShoulderLeft, + (int)KinectInterop.JointType.ElbowLeft, + (int)KinectInterop.JointType.WristLeft, + + (int)KinectInterop.JointType.HandLeft, + (int)KinectInterop.JointType.HandtipLeft, + (int)KinectInterop.JointType.ThumbLeft, + + (int)KinectInterop.JointType.ClavicleRight, + (int)KinectInterop.JointType.ShoulderRight, + (int)KinectInterop.JointType.ElbowRight, + (int)KinectInterop.JointType.WristRight, + + (int)KinectInterop.JointType.HandRight, + (int)KinectInterop.JointType.HandtipRight, + (int)KinectInterop.JointType.ThumbRight, + + (int)KinectInterop.JointType.HipLeft, + (int)KinectInterop.JointType.KneeLeft, + (int)KinectInterop.JointType.AnkleLeft, + (int)KinectInterop.JointType.FootLeft, + + (int)KinectInterop.JointType.HipRight, + (int)KinectInterop.JointType.KneeRight, + (int)KinectInterop.JointType.AnkleRight, + (int)KinectInterop.JointType.FootRight, + + (int)KinectInterop.JointType.Head, + + (int)KinectInterop.JointType.Nose, + (int)KinectInterop.JointType.EyeLeft, + (int)KinectInterop.JointType.EarLeft, + (int)KinectInterop.JointType.EyeRight, + (int)KinectInterop.JointType.EarRight + }; + + + // estimates additional joints for the given body + protected virtual void CalcBodySpecialJoints(ref KinectInterop.BodyData bodyData) + { + //// hand left + //{ + // int e = (int)KinectInterop.JointType.ElbowLeft; + // int w = (int)KinectInterop.JointType.WristLeft; + // int h = (int)KinectInterop.JointType.HandLeft; + + // KinectInterop.JointData jointData = bodyData.joint[h]; + // jointData.trackingState = bodyData.joint[w].trackingState; + // jointData.orientation = bodyData.joint[w].orientation; + + // Vector3 posWrist = bodyData.joint[w].kinectPos; + // Vector3 posElbow = bodyData.joint[e].kinectPos; + // jointData.kinectPos = posWrist + (posWrist - posElbow) * 0.25f; + + // posWrist = bodyData.joint[w].position; + // posElbow = bodyData.joint[e].position; + // jointData.position = posWrist + (posWrist - posElbow) * 0.25f; + + // bodyData.joint[h] = jointData; + //} + + //// hand right + //{ + // int e = (int)KinectInterop.JointType.ElbowRight; + // int w = (int)KinectInterop.JointType.WristRight; + // int h = (int)KinectInterop.JointType.HandRight; + + // KinectInterop.JointData jointData = bodyData.joint[h]; + // jointData.trackingState = bodyData.joint[w].trackingState; + // jointData.orientation = bodyData.joint[w].orientation; + + // Vector3 posWrist = bodyData.joint[w].kinectPos; + // Vector3 posElbow = bodyData.joint[e].kinectPos; + // jointData.kinectPos = posWrist + (posWrist - posElbow) * 0.25f; + + // posWrist = bodyData.joint[w].position; + // posElbow = bodyData.joint[e].position; + // jointData.position = posWrist + (posWrist - posElbow) * 0.25f; + + // bodyData.joint[h] = jointData; + //} + + } + + + //// calculates all bone directions for the given body + //protected virtual void CalcBodyJointDirs(ref KinectInterop.BodyData bodyData) + //{ + // if (bodyData.bIsTracked) + // { + // for (int j = 0; j < (int)KinectInterop.JointType.Count; j++) + // { + // if (j == 0) + // { + // bodyData.joint[j].direction = Vector3.zero; + // } + // else + // { + // int jParent = (int)KinectInterop.GetParentJoint((KinectInterop.JointType)j); + + // if (bodyData.joint[j].trackingState != KinectInterop.TrackingState.NotTracked && + // bodyData.joint[jParent].trackingState != KinectInterop.TrackingState.NotTracked) + // { + // bodyData.joint[j].direction = (bodyData.joint[j].position - bodyData.joint[jParent].position); //.normalized; + // } + // } + // } + // } + //} + + // calculates all joint orientations for the given body + protected virtual void CalcBodyJointOrients(ref KinectInterop.BodyData bodyData) + { + if (bodyData.bIsTracked) + { + for (int j = 0; j < (int)KinectInterop.JointType.Count; j++) + { + if(bodyData.joint[j].trackingState != KinectInterop.TrackingState.NotTracked) + { + Quaternion jointOrient = bodyData.joint[j].orientation; + Quaternion jointOrientNormal = jointOrient * _JointTurnCS[j] * _JointBaseOrient[j]; + bodyData.joint[j].normalRotation = jointOrientNormal; + + Vector3 mirroredAngles = jointOrientNormal.eulerAngles; + mirroredAngles.y = -mirroredAngles.y; + mirroredAngles.z = -mirroredAngles.z; + bodyData.joint[j].mirroredRotation = Quaternion.Euler(mirroredAngles); + } + } + } + } + + // base orientations + private static readonly Quaternion[] _JointBaseOrient = + { + Quaternion.LookRotation(Vector3.left, Vector3.back), // Pelvis + Quaternion.LookRotation(Vector3.left, Vector3.back), + Quaternion.LookRotation(Vector3.left, Vector3.back), + Quaternion.LookRotation(Vector3.left, Vector3.back), + Quaternion.LookRotation(Vector3.left, Vector3.back), + + Quaternion.LookRotation(Vector3.down, Vector3.back), // ClavicleL + Quaternion.LookRotation(Vector3.down, Vector3.back), + Quaternion.LookRotation(Vector3.down, Vector3.back), + Quaternion.LookRotation(Vector3.down, Vector3.back), + Quaternion.LookRotation(Vector3.down, Vector3.back), + + Quaternion.LookRotation(Vector3.up, Vector3.forward), // ClavicleR + Quaternion.LookRotation(Vector3.up, Vector3.forward), + Quaternion.LookRotation(Vector3.up, Vector3.forward), + Quaternion.LookRotation(Vector3.up, Vector3.forward), + Quaternion.LookRotation(Vector3.up, Vector3.forward), + + Quaternion.LookRotation(Vector3.left, Vector3.back), // HipL + Quaternion.LookRotation(Vector3.left, Vector3.back), + Quaternion.LookRotation(Vector3.left, Vector3.back), + Quaternion.LookRotation(Vector3.left, Vector3.back), + + Quaternion.LookRotation(Vector3.left, Vector3.forward), // HipR + Quaternion.LookRotation(Vector3.left, Vector3.forward), + Quaternion.LookRotation(Vector3.left, Vector3.forward), + Quaternion.LookRotation(Vector3.left, Vector3.forward), + + Quaternion.LookRotation(Vector3.left, Vector3.back), // Nose + Quaternion.LookRotation(Vector3.left, Vector3.back), + Quaternion.LookRotation(Vector3.left, Vector3.back), + Quaternion.LookRotation(Vector3.left, Vector3.back), + Quaternion.LookRotation(Vector3.left, Vector3.back), + + Quaternion.LookRotation(Vector3.down, Vector3.back), // FingersL + Quaternion.LookRotation(Vector3.down, Vector3.back), + Quaternion.LookRotation(Vector3.up, Vector3.forward), // FingersR + Quaternion.LookRotation(Vector3.up, Vector3.forward) + }; + + // turn cs rotations + private static readonly Quaternion[] _JointTurnCS = + { + Quaternion.Euler(0f, 90f, 90f), // Pelvis + Quaternion.Euler(0f, 90f, 90f), + Quaternion.Euler(0f, 90f, 90f), + Quaternion.Euler(0f, 90f, 90f), + Quaternion.Euler(0f, 90f, 90f), + + Quaternion.Euler(180f, 0f, 180f), // ClavicleL + Quaternion.Euler(180f, 0f, 180f), + Quaternion.Euler(180f, 0f, 180f), + Quaternion.Euler(-90f, 0f, 180f), + Quaternion.Euler(-90f, 0f, 180f), + + Quaternion.Euler(0f, 180f, 0f), // ClavicleR + Quaternion.Euler(0f, 180f, 0f), + Quaternion.Euler(0f, 180f, 0f), + Quaternion.Euler(-90f, 0f, 180f), + Quaternion.Euler(-90f, 0f, 180f), + + Quaternion.Euler(0f, 90f, 90f), // HipL + Quaternion.Euler(0f, 90f, 90f), + Quaternion.Euler(0f, 90f, 90f), + Quaternion.Euler(90f, 0f, 0f), + + Quaternion.Euler(0f, 90f, -90f), // HipR + Quaternion.Euler(0f, 90f, -90f), + Quaternion.Euler(0f, 90f, -90f), + Quaternion.Euler(90f, 0f, 180f), + + Quaternion.Euler(0f, 90f, 90f), // Nose + Quaternion.Euler(90f, 0f, 0f), + Quaternion.Euler(0f, -90f, -90f), + Quaternion.Euler(90f, 0f, 0f), + Quaternion.Euler(0f, 90f, 90f), + + Quaternion.Euler(-90f, 0f, 180f), // FingersL + Quaternion.Euler(-90f, 0f, 180f), + Quaternion.Euler(-90f, 0f, 180f), // FingersR + Quaternion.Euler(-90f, 0f, 180f) + }; + + + // converts camera intrinsics to calibration-structure + protected Calibration GetBodyTrackerCalibration(KinectInterop.CameraIntrinsics intr) + { + Calibration cal = new Calibration(); + + cal.ColorResolution = ColorResolution.Off; + cal.DepthMode = DepthMode.NFOV_Unbinned; + + CameraCalibration camParams = new CameraCalibration(); + Intrinsics camIntr = new Intrinsics(); + + camIntr.ParameterCount = 15; + camIntr.Parameters = new float[camIntr.ParameterCount]; + + camParams.ResolutionWidth = intr.width; // 640; // + camParams.ResolutionHeight = intr.height; // 576; // + + // 0 float cx; + // 1 float cy; + camIntr.Parameters[0] = intr.ppx; + camIntr.Parameters[1] = intr.ppy; + + // 2 float fx; /**< Focal length x */ + // 3 float fy; /**< Focal length y */ + camIntr.Parameters[2] = intr.fx; + camIntr.Parameters[3] = intr.fy; + + // 4 float k1; + // 5 float k2; + // 6 float k3; + // 7 float k4; + // 8 float k5; + // 9 float k6; + camIntr.Parameters[4] = intr.distCoeffs.Length >= 1 ? intr.distCoeffs[0] : 0f; + camIntr.Parameters[5] = intr.distCoeffs.Length >= 2 ? intr.distCoeffs[1] : 0f; + camIntr.Parameters[6] = intr.distCoeffs.Length >= 3 ? intr.distCoeffs[2] : 0f; + camIntr.Parameters[7] = intr.distCoeffs.Length >= 4 ? intr.distCoeffs[3] : 0f; + camIntr.Parameters[8] = intr.distCoeffs.Length >= 5 ? intr.distCoeffs[4] : 0f; + camIntr.Parameters[9] = intr.distCoeffs.Length >= 6 ? intr.distCoeffs[5] : 0f; + + if (intr.distType == KinectInterop.DistortionType.Theta) + camIntr.Type = CalibrationModelType.Theta; + else if (intr.distType == KinectInterop.DistortionType.Polynomial3K) + camIntr.Type = CalibrationModelType.Polynomial3K; + else if (intr.distType == KinectInterop.DistortionType.Rational6KT) + camIntr.Type = CalibrationModelType.Rational6KT; + else + camIntr.Type = (CalibrationModelType)intr.distType; + + // 10 float codx; + // 11 float cody; + camIntr.Parameters[10] = intr.codx; + camIntr.Parameters[11] = intr.cody; + + // 12 float p2; + // 13 float p1; + camIntr.Parameters[12] = intr.p2; + camIntr.Parameters[13] = intr.p1; + + // 14 float metric_radius; + camIntr.Parameters[14] = intr.maxRadius; + + camParams.Intrinsics = camIntr; + cal.DepthCameraCalibration = camParams; + + return cal; + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorBase.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorBase.cs.meta new file mode 100644 index 0000000..517b4a6 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorBase.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 73b91e3d1fd43b147958460a9f767c75 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorInterface.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorInterface.cs new file mode 100644 index 0000000..8191059 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorInterface.cs @@ -0,0 +1,78 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; + +namespace com.rfilkov.kinect +{ + public interface DepthSensorInterface + { + // returns the depth sensor platform + KinectInterop.DepthSensorPlatform GetSensorPlatform(); + + // returns the list of available sensors, controlled by this sensor interface + List GetAvailableSensors(); + + // opens the given sensor and inits needed resources. returns new sensor-data object + KinectInterop.SensorData OpenSensor(KinectInterop.FrameSource dwFlags, bool bSyncDepthAndColor, bool bSyncBodyAndDepth); + + // initializes the secondary sensor data, after sensor initialization + void InitSensorData(KinectInterop.SensorData sensorData, KinectManager kinectManager); + + // closes the sensor and frees used resources + void CloseSensor(KinectInterop.SensorData sensorData); + + // polls data frames in the sensor-specific thread + void PollSensorFrames(KinectInterop.SensorData sensorData); + + // polls coordinate transformation frames and data in the sensor-specific thread + void PollCoordTransformFrames(KinectInterop.SensorData sensorData); + + // post-processes the sensor data after polling + void ProcessSensorDataInThread(KinectInterop.SensorData sensorData); + + // updates sensor data, if needed + // returns true if update is successful, false otherwise + bool UpdateSensorData(KinectInterop.SensorData sensorData, KinectManager kinectManager, bool isPlayMode); + + // updates transformed frame textures, if needed + // returns true if update is successful, false otherwise + bool UpdateTransformedFrameTextures(KinectInterop.SensorData sensorData, KinectManager kinectManager); + + // updates the selected sensor textures, if needed + // returns true if update is successful, false otherwise + bool UpdateSensorTextures(KinectInterop.SensorData sensorData, KinectManager kinectManager, ulong prevDepthFrameTime); + + // returns sensor-to-world matrix + Matrix4x4 GetSensorToWorldMatrix(); + + // returns sensor transform. Please note transform updates depend on the getPoseFrames-KM setting. + Transform GetSensorTransform(); + + // returns the depth camera space table + Vector3[] GetDepthCameraSpaceTable(KinectInterop.SensorData sensorData); + + // returns the color camera space table + Vector3[] GetColorCameraSpaceTable(KinectInterop.SensorData sensorData); + + // returns depth camera space coordinates for the given depth image point + Vector3 MapDepthPointToSpaceCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal); + + // returns depth image coordinates for the given depth camera space point + Vector2 MapSpacePointToDepthCoords(KinectInterop.SensorData sensorData, Vector3 spacePos); + + // returns color camera space coordinates for the given color image point + Vector3 MapColorPointToSpaceCoords(KinectInterop.SensorData sensorData, Vector2 colorPos, ushort depthVal); + + // returns color image coordinates for the given color camera space point + Vector2 MapSpacePointToColorCoords(KinectInterop.SensorData sensorData, Vector3 spacePos); + + // returns color image coordinates for the given depth image point + Vector2 MapDepthPointToColorCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal); + + // returns depth image coordinates for the given color image point + Vector2 MapColorPointToDepthCoords(KinectInterop.SensorData sensorData, Vector2 colorPos); + + // returns the resolution in pixels of the point-cloud textures + Vector2Int GetPointCloudTexResolution(KinectInterop.SensorData sensorData); + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorInterface.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorInterface.cs.meta new file mode 100644 index 0000000..fbef9f0 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorInterface.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 87d17d44f68821041bda50d9aa091b2a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DummyK2Interface.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DummyK2Interface.cs new file mode 100644 index 0000000..c3a143e --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DummyK2Interface.cs @@ -0,0 +1,81 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; + +namespace com.rfilkov.kinect +{ + public class DummyK2Interface : DepthSensorBase + { + + public override KinectInterop.DepthSensorPlatform GetSensorPlatform() + { + return KinectInterop.DepthSensorPlatform.DummyK2; + } + + //public override bool InitSensorInterface(bool bCopyLibs, ref bool bNeedRestart) + //{ + // bool bOnceRestarted = bNeedRestart; + // bNeedRestart = false; + + // if (!bCopyLibs) + // { + // // skip this interface on the 1st pass + // return bOnceRestarted; + // } + + // return true; + //} + + //public override void FreeSensorInterface(bool bDeleteLibs) + //{ + //} + + public override List GetAvailableSensors() + { + List alSensorInfo = new List(); + + KinectInterop.SensorDeviceInfo sensorInfo = new KinectInterop.SensorDeviceInfo(); + sensorInfo.sensorId = "DummyK2"; + sensorInfo.sensorName = "Dummy Kinect-v2"; + sensorInfo.sensorCaps = KinectInterop.FrameSource.TypeAll & ~KinectInterop.FrameSource.TypePose; + + alSensorInfo.Add(sensorInfo); + + return alSensorInfo; + } + + public override KinectInterop.SensorData OpenSensor(KinectInterop.FrameSource dwFlags, bool bSyncDepthAndColor, bool bSyncBodyAndDepth) + { + // save initial parameters + base.OpenSensor(dwFlags, bSyncDepthAndColor, bSyncBodyAndDepth); + + List alSensors = GetAvailableSensors(); + if (deviceIndex < 0 || deviceIndex >= alSensors.Count) + return null; + + KinectInterop.SensorData sensorData = new KinectInterop.SensorData(); + + sensorData.colorImageWidth = 1920; + sensorData.colorImageHeight = 1080; + + // flip color & depth images vertically + sensorData.colorImageScale = new Vector3(1f, -1f, 1f); + sensorData.depthImageScale = new Vector3(1f, -1f, 1f); + sensorData.infraredImageScale = new Vector3(1f, -1f, 1f); + sensorData.sensorSpaceScale = new Vector3(1f, 1f, 1f); + + sensorData.depthImageWidth = 512; + sensorData.depthImageHeight = 424; + + Debug.Log("DummyK2-sensor opened"); + + return sensorData; + } + + public override void CloseSensor(KinectInterop.SensorData sensorData) + { + Debug.Log("DummyK2-sensor closed"); + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DummyK2Interface.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DummyK2Interface.cs.meta new file mode 100644 index 0000000..518fb98 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/DummyK2Interface.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 1047dacc1529b354c87e26263c4d9c74 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect2Interface.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect2Interface.cs new file mode 100644 index 0000000..1c8f216 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect2Interface.cs @@ -0,0 +1,1662 @@ +#if (UNITY_STANDALONE_WIN) +using UnityEngine; +using System.Collections; +using Windows.Kinect; +using System.Runtime.InteropServices; +//using Microsoft.Kinect.Face; +using System.Collections.Generic; +using System; + +namespace com.rfilkov.kinect +{ + public class Kinect2Interface : DepthSensorBase + { + // change this to false, if you aren't using Kinect-v2 only and want KM to check for available sensors + public static bool sensorAlwaysAvailable = true; + + public KinectSensor kinectSensor; + public CoordinateMapper coordMapper; + + private BodyFrameReader bodyFrameReader; + private BodyIndexFrameReader bodyIndexFrameReader; + private ColorFrameReader colorFrameReader; + private DepthFrameReader depthFrameReader; + private InfraredFrameReader infraredFrameReader; + + private MultiSourceFrameReader multiSourceFrameReader; + private MultiSourceFrame multiSourceFrame; + + private ColorFrame msColorFrame = null; + private DepthFrame msDepthFrame = null; + private InfraredFrame msInfraredFrame = null; + private BodyFrame msBodyFrame = null; + private BodyIndexFrame msBodyIndexFrame = null; + + + private int kinectBodyCount = 0; + private int kinectJointCount = 0; + private Body[] kinectBodyData; + + private bool floorPlaneDetected = false; + private Windows.Kinect.Vector4 vFloorPlane; + + + public override KinectInterop.DepthSensorPlatform GetSensorPlatform() + { + return KinectInterop.DepthSensorPlatform.KinectV2; + } + + public override List GetAvailableSensors() + { + List alSensorInfo = new List(); + KinectInterop.SensorDeviceInfo sensorInfo = new KinectInterop.SensorDeviceInfo(); + + KinectSensor sensor = KinectSensor.GetDefault(); + if (sensor != null) + { + if (sensorAlwaysAvailable) + { + sensorInfo.sensorId = "KinectV2"; + sensorInfo.sensorName = "Kinect-v2 Sensor"; + sensorInfo.sensorCaps = KinectInterop.FrameSource.TypeAll & ~KinectInterop.FrameSource.TypePose; + Debug.Log(string.Format(" D{0}: {1}, id: {2}", 0, sensorInfo.sensorName, sensorInfo.sensorId)); + + alSensorInfo.Add(sensorInfo); + + return alSensorInfo; + } + else + { + // check for available sensor + if (!sensor.IsOpen) + { + sensor.Open(); + } + + float fWaitTime = Time.realtimeSinceStartup + 3f; + while (!sensor.IsAvailable && Time.realtimeSinceStartup < fWaitTime) + { + // wait for availability + } + + if (sensor.IsAvailable) + { + sensorInfo.sensorId = "KinectV2"; + sensorInfo.sensorName = "Kinect-v2 Sensor"; + sensorInfo.sensorCaps = KinectInterop.FrameSource.TypeAll & ~KinectInterop.FrameSource.TypePose; + Debug.Log(string.Format(" D{0}: {1}, id: {2}", 0, sensorInfo.sensorName, sensorInfo.sensorId)); + + alSensorInfo.Add(sensorInfo); + } + + if (sensor.IsOpen) + { + sensor.Close(); + } + + fWaitTime = Time.realtimeSinceStartup + 3f; + while (sensor.IsOpen && Time.realtimeSinceStartup < fWaitTime) + { + // wait for sensor to close + } + } + + sensor = null; + } + + //if(alSensorInfo.Count == 0) + //{ + // Debug.Log(" No sensor devices found."); + //} + + return alSensorInfo; + } + + public override KinectInterop.SensorData OpenSensor(KinectInterop.FrameSource dwFlags, bool bSyncDepthAndColor, bool bSyncBodyAndDepth) + { + // save initial parameters + base.OpenSensor(dwFlags, bSyncDepthAndColor, bSyncBodyAndDepth); + + if (deviceStreamingMode == KinectInterop.DeviceStreamingMode.PlayRecording) + { + Debug.LogError("Please use Kinect Studio v2.0 to play the sensor data recording!"); + return null; + } + + List alSensors = GetAvailableSensors(); + if (deviceIndex >= alSensors.Count) + { + Debug.Log(" D" + deviceIndex + " is not available. You can set the device index to -1, to disable it."); + return null; + } + + // try to get reference to the default sensor + kinectSensor = KinectSensor.GetDefault(); + if (kinectSensor == null) + { + Debug.Log("Kinect-v2 sensor not found!"); + return null; + } + + KinectInterop.SensorData sensorData = new KinectInterop.SensorData(); + + // get reference to the coordinate mapper + coordMapper = kinectSensor.CoordinateMapper; + + // flip color & depth image vertically + sensorData.colorImageScale = new Vector3(1f, -1f, 1f); + sensorData.depthImageScale = new Vector3(1f, -1f, 1f); + sensorData.infraredImageScale = new Vector3(1f, -1f, 1f); + sensorData.sensorSpaceScale = new Vector3(1f, 1f, 1f); + + // depth camera offset & matrix z-flip + sensorRotOffset = Vector3.zero; // if for instance the depth camera is tilted downwards + sensorRotFlipZ = false; + sensorRotIgnoreY = false; + + // color + var frameDesc = kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba); + sensorData.colorImageWidth = frameDesc.Width; + sensorData.colorImageHeight = frameDesc.Height; + + sensorData.colorImageFormat = TextureFormat.RGBA32; + sensorData.colorImageStride = 4; // 4 bytes per pixel + + if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0) + { + if (!isSyncDepthAndColor) + colorFrameReader = kinectSensor.ColorFrameSource.OpenReader(); + + rawColorImage = new byte[frameDesc.LengthInPixels * frameDesc.BytesPerPixel]; + + sensorData.colorImageTexture = new Texture2D(sensorData.colorImageWidth, sensorData.colorImageHeight, TextureFormat.RGBA32, false); + sensorData.colorImageTexture.wrapMode = TextureWrapMode.Clamp; + sensorData.colorImageTexture.filterMode = FilterMode.Point; + } + + // depth + sensorData.depthImageWidth = kinectSensor.DepthFrameSource.FrameDescription.Width; + sensorData.depthImageHeight = kinectSensor.DepthFrameSource.FrameDescription.Height; + + if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0) + { + if (!isSyncDepthAndColor) + depthFrameReader = kinectSensor.DepthFrameSource.OpenReader(); + + rawDepthImage = new ushort[kinectSensor.DepthFrameSource.FrameDescription.LengthInPixels]; + sensorData.depthImage = new ushort[kinectSensor.DepthFrameSource.FrameDescription.LengthInPixels]; + } + + // infrared + if ((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0) + { + if (!isSyncDepthAndColor) + infraredFrameReader = kinectSensor.InfraredFrameSource.OpenReader(); + + rawInfraredImage = new ushort[kinectSensor.InfraredFrameSource.FrameDescription.LengthInPixels]; + sensorData.infraredImage = new ushort[kinectSensor.InfraredFrameSource.FrameDescription.LengthInPixels]; + + minInfraredValue = 0f; + maxInfraredValue = 10000f; + } + + if ((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0) + { + if (!(isSyncDepthAndColor && isSyncBodyAndDepth)) + bodyIndexFrameReader = kinectSensor.BodyIndexFrameSource.OpenReader(); + + //rawBodyIndexImage = new byte[kinectSensor.BodyIndexFrameSource.FrameDescription.LengthInPixels]; // created by InitBodyTracking() + } + + if ((dwFlags & KinectInterop.FrameSource.TypeBody) != 0) + { + if (!(isSyncDepthAndColor && isSyncBodyAndDepth)) + bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader(); + + kinectBodyCount = 6; + kinectJointCount = 25; + kinectBodyData = new Body[kinectBodyCount]; + + // init body tracking data + InitBodyTracking(dwFlags, sensorData, new Microsoft.Azure.Kinect.Sensor.Calibration(), false); + } + + //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 be available + } + + //fWaitTime = Time.realtimeSinceStartup + 3f; + while (!kinectSensor.IsOpen && Time.realtimeSinceStartup < fWaitTime) + { + // wait for sensor to open + } + + Debug.Log("K2-sensor " + (kinectSensor.IsOpen ? "opened" : "closed") + + ", available: " + kinectSensor.IsAvailable); + + if (isSyncDepthAndColor && dwFlags != KinectInterop.FrameSource.TypeNone && kinectSensor.IsOpen) + { + multiSourceFrameReader = kinectSensor.OpenMultiSourceFrameReader((FrameSourceTypes)((int)dwFlags & 0x3F)); + } + + //if (deviceMode == KinectInterop.DepthSensorMode.CreateRecording) + //{ + // Debug.LogWarning("Please use Kinect Studio v2.0 to save sensor data recordings."); + //} + + return sensorData; + } + + public override void CloseSensor(KinectInterop.SensorData sensorData) + { + base.CloseSensor(sensorData); + + if (coordMapper != null) + { + coordMapper = null; + } + + if (colorFrameReader != null) + { + colorFrameReader.Dispose(); + colorFrameReader = null; + } + + if (depthFrameReader != null) + { + depthFrameReader.Dispose(); + depthFrameReader = null; + } + + if (infraredFrameReader != null) + { + infraredFrameReader.Dispose(); + infraredFrameReader = null; + } + + if (bodyFrameReader != null) + { + bodyFrameReader.Dispose(); + bodyFrameReader = null; + } + + if (bodyIndexFrameReader != null) + { + bodyIndexFrameReader.Dispose(); + bodyIndexFrameReader = 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; + } + } + + public override void PollSensorFrames(KinectInterop.SensorData sensorData) + { + // check for single-source or multi-source frames + if (multiSourceFrameReader == null) + { + // single source - check for color frame + if (colorFrameReader != null) + { + msColorFrame = colorFrameReader.AcquireLatestFrame(); + } + + // check for depth frame + if (depthFrameReader != null) + { + msDepthFrame = depthFrameReader.AcquireLatestFrame(); + } + + // check for IR frame + if (infraredFrameReader != null) + { + msInfraredFrame = infraredFrameReader.AcquireLatestFrame(); + } + + // check for body index frame + if (bodyIndexFrameReader != null) + { + msBodyIndexFrame = bodyIndexFrameReader.AcquireLatestFrame(); + } + + // check for body frame + if (bodyFrameReader != null) + { + msBodyFrame = bodyFrameReader.AcquireLatestFrame(); + } + + // process currently read sensor frames + ProcessSensorFrames(sensorData); + } + else + { + // multi-source frames + multiSourceFrame = multiSourceFrameReader.AcquireLatestFrame(); + + if (multiSourceFrame != null) + { + // try to get all frames at once + msColorFrame = (frameSourceFlags & KinectInterop.FrameSource.TypeColor) != 0 ? multiSourceFrame.ColorFrameReference.AcquireFrame() : null; + msDepthFrame = (frameSourceFlags & KinectInterop.FrameSource.TypeDepth) != 0 ? multiSourceFrame.DepthFrameReference.AcquireFrame() : null; + msInfraredFrame = (frameSourceFlags & KinectInterop.FrameSource.TypeInfrared) != 0 ? multiSourceFrame.InfraredFrameReference.AcquireFrame() : null; + msBodyFrame = (frameSourceFlags & KinectInterop.FrameSource.TypeBody) != 0 ? multiSourceFrame.BodyFrameReference.AcquireFrame() : null; + msBodyIndexFrame = (frameSourceFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0 ? multiSourceFrame.BodyIndexFrameReference.AcquireFrame() : null; + + bool bAllSet = + ((frameSourceFlags & KinectInterop.FrameSource.TypeColor) == 0 || msColorFrame != null) && + ((frameSourceFlags & KinectInterop.FrameSource.TypeDepth) == 0 || msDepthFrame != null) && + ((frameSourceFlags & KinectInterop.FrameSource.TypeInfrared) == 0 || msInfraredFrame != null); + + if(isSyncBodyAndDepth) + { + bAllSet &= ((frameSourceFlags & KinectInterop.FrameSource.TypeBody) == 0 || msBodyFrame != null) && + ((frameSourceFlags & KinectInterop.FrameSource.TypeBodyIndex) == 0 || msBodyIndexFrame != null); + } + + if (bAllSet) + { + // process currently read sensor frames + ProcessSensorFrames(sensorData); + } + + //release all frames + if (msColorFrame != null) + { + msColorFrame.Dispose(); + msColorFrame = null; + } + + if (msDepthFrame != null) + { + msDepthFrame.Dispose(); + msDepthFrame = null; + } + + if (msInfraredFrame != null) + { + msInfraredFrame.Dispose(); + msInfraredFrame = null; + } + + if (msBodyFrame != null) + { + msBodyFrame.Dispose(); + msBodyFrame = null; + } + + if (msBodyIndexFrame != null) + { + msBodyIndexFrame.Dispose(); + msBodyIndexFrame = null; + } + + if (multiSourceFrame != null) + { + multiSourceFrame = null; + } + } + } + } + + // processes the currently read sensor frames + // todo: provide thread sync + private void ProcessSensorFrames(KinectInterop.SensorData sensorData) + { + // color frame + if (msColorFrame != null) + { + if(rawColorTimestamp == sensorData.lastColorFrameTime) + { + lock (colorFrameLock) + { + var pColorData = GCHandle.Alloc(rawColorImage, GCHandleType.Pinned); + msColorFrame.CopyConvertedFrameDataToIntPtr(pColorData.AddrOfPinnedObject(), (uint)rawColorImage.Length, ColorImageFormat.Rgba); + pColorData.Free(); + + rawColorTimestamp = (ulong)msColorFrame.RelativeTime.Ticks; + //Debug.Log("RawColorTimestamp: " + rawColorTimestamp); + } + } + + msColorFrame.Dispose(); + msColorFrame = null; + } + + // depth frame + if (msDepthFrame != null) + { + if(rawDepthTimestamp == sensorData.lastDepthFrameTime) + { + lock (depthFrameLock) + { + var pDepthData = GCHandle.Alloc(rawDepthImage, GCHandleType.Pinned); + msDepthFrame.CopyFrameDataToIntPtr(pDepthData.AddrOfPinnedObject(), (uint)rawDepthImage.Length * sizeof(ushort)); + pDepthData.Free(); + + rawDepthTimestamp = (ulong)msDepthFrame.RelativeTime.Ticks; + //Debug.Log("RawDepthTimestamp: " + rawDepthTimestamp); + } + } + + msDepthFrame.Dispose(); + msDepthFrame = null; + } + + // infrared frame + if (msInfraredFrame != null) + { + if(rawInfraredTimestamp == sensorData.lastInfraredFrameTime) + { + lock (infraredFrameLock) + { + var pInfraredData = GCHandle.Alloc(rawInfraredImage, GCHandleType.Pinned); + msInfraredFrame.CopyFrameDataToIntPtr(pInfraredData.AddrOfPinnedObject(), (uint)rawInfraredImage.Length * sizeof(ushort)); + pInfraredData.Free(); + + rawInfraredTimestamp = (ulong)msInfraredFrame.RelativeTime.Ticks; + //Debug.Log("RawInfraredTimestamp: " + rawInfraredTimestamp); + } + } + + msInfraredFrame.Dispose(); + msInfraredFrame = null; + } + + // body index frame + bool bProcessBodyFrame = rawBodyTimestamp == sensorData.lastBodyFrameTime; + + if (msBodyIndexFrame != null) + { + if(bProcessBodyFrame) + { + lock (bodyTrackerLock) + { + var pBodyIndexData = GCHandle.Alloc(rawBodyIndexImage, GCHandleType.Pinned); + msBodyIndexFrame.CopyFrameDataToIntPtr(pBodyIndexData.AddrOfPinnedObject(), (uint)rawBodyIndexImage.Length); + pBodyIndexData.Free(); + + //rawBodyTimestamp = (ulong)msBodyIndexFrame.RelativeTime.Ticks; + //Debug.Log("RawBodyIndexTimestamp: " + rawBodyTimestamp); + } + } + + msBodyIndexFrame.Dispose(); + msBodyIndexFrame = null; + } + + // body frame + if (msBodyFrame != null) + { + if (bProcessBodyFrame) + { + lock (bodyTrackerLock) + { + ProcessBodyFrame(msBodyFrame, sensorData); + } + + if (floorPlaneDetected) + { + lock (poseFrameLock) + { + // update the sensor pose + if(vFloorPlane.X != 0f || vFloorPlane.Y != 0f || vFloorPlane.Z != 0f) + { + Vector3 vFloorNormal = new Vector3(vFloorPlane.X, vFloorPlane.Y, vFloorPlane.Z); + rawPoseRotation = Quaternion.FromToRotation(vFloorNormal, Vector3.up); + + if (vFloorPlane.W != 0f) + { + rawPosePosition = new Vector3(0f, vFloorPlane.W, 0f) - initialPosePosition; + } + + rawPoseTimestamp = rawBodyTimestamp; + } + } + } + } + + msBodyFrame.Dispose(); + msBodyFrame = null; + } + } + + + // processes the acquired body frame + private void ProcessBodyFrame(BodyFrame frame, KinectInterop.SensorData sensorData) + { + frame.GetAndRefreshBodyData(kinectBodyData); + rawBodyTimestamp = (ulong)frame.RelativeTime.Ticks; + //Debug.Log("RawBodyTimestamp: " + rawBodyTimestamp); + + // get the floor plane + vFloorPlane = frame.FloorClipPlane; + floorPlaneDetected = true; + + frame.Dispose(); + frame = null; + + //Debug.Log("rawBodyTimestamp: " + rawBodyTimestamp); + + // get sensor-to-world matrix + Matrix4x4 sensorToWorld = GetSensorToWorldMatrix(); + float scaleX = sensorData.depthImageScale.x; + //float scaleY = sensorData.depthImageScale.y; + + // create the needed slots + while (alTrackedBodies.Count < kinectBodyCount) + { + alTrackedBodies.Add(new KinectInterop.BodyData((int)KinectInterop.JointType.Count)); + } + + trackedBodiesCount = 0; + + for (int i = 0; i < kinectBodyCount; i++) + { + Body body = kinectBodyData[i]; + + if (body == null) + continue; + + KinectInterop.BodyData bodyData = alTrackedBodies[i]; + + bodyData.liTrackingID = body.TrackingId; + bodyData.iBodyIndex = i; + bodyData.bIsTracked = body.IsTracked; + + if (!bodyData.bIsTracked) + continue; + + // cache the body joints (following the advice of Brian Chasalow) + Dictionary bodyJoints = body.Joints; + + for (int jKJ = 0; jKJ < kinectJointCount; jKJ++) + { + Windows.Kinect.Joint joint = bodyJoints[(Windows.Kinect.JointType)jKJ]; + + int j = KinectJoint2JointType[jKJ]; + + if (j >= 0) + { + KinectInterop.JointData jointData = bodyData.joint[j]; + + jointData.trackingState = (KinectInterop.TrackingState)joint.TrackingState; + + float jPosZ = (bIgnoreZCoordinates && j > 0) ? bodyData.joint[0].kinectPos.z : joint.Position.Z; + jointData.kinectPos = new Vector3(joint.Position.X, joint.Position.Y, joint.Position.Z); + jointData.position = sensorToWorld.MultiplyPoint3x4(new Vector3(joint.Position.X * scaleX, joint.Position.Y, jPosZ)); + + jointData.orientation = Quaternion.identity; + + if (j == 0) + { + bodyData.kinectPos = jointData.kinectPos; + bodyData.position = jointData.position; + bodyData.orientation = jointData.orientation; + //floorPlaneDetected = true; + } + + bodyData.joint[j] = jointData; + } + } + + bodyJoints.Clear(); + + // estimate additional joints + CalcBodySpecialJoints(ref bodyData); + + // calculate bone dirs + KinectInterop.CalcBodyJointDirs(ref bodyData); + + // calculate joint orientations + CalcBodyJointOrients(ref bodyData); + + // body orientation + bodyData.normalRotation = bodyData.joint[0].normalRotation; + bodyData.mirroredRotation = bodyData.joint[0].mirroredRotation; + + alTrackedBodies[(int)trackedBodiesCount] = bodyData; + trackedBodiesCount++; + + //Debug.Log(" (T)User ID: " + bodyData.liTrackingID + ", body: " + (trackedBodiesCount - 1) + ", pos: " + bodyData.kinectPos); + } + } + + // estimates additional joints for the given body + protected override void CalcBodySpecialJoints(ref KinectInterop.BodyData bodyData) + { + // clavicle right + { + int l = (int)KinectInterop.JointType.ClavicleLeft; + int r = (int)KinectInterop.JointType.ClavicleRight; + + KinectInterop.JointData jointData = bodyData.joint[r]; + jointData.trackingState = bodyData.joint[l].trackingState; + jointData.orientation = bodyData.joint[l].orientation; + + jointData.kinectPos = bodyData.joint[l].kinectPos; + jointData.position = bodyData.joint[l].position; + + bodyData.joint[r] = jointData; + } + + // spine naval + { + int p = (int)KinectInterop.JointType.Pelvis; + int sc = (int)KinectInterop.JointType.SpineChest; + int sn = (int)KinectInterop.JointType.SpineNaval; + + KinectInterop.JointData jointData = bodyData.joint[sn]; + jointData.trackingState = bodyData.joint[sc].trackingState; + jointData.orientation = bodyData.joint[sc].orientation; + + Vector3 posChest = bodyData.joint[sc].kinectPos; + Vector3 posPelvis = bodyData.joint[p].kinectPos; + jointData.kinectPos = (posPelvis + posChest) * 0.5f; + + posChest = bodyData.joint[sc].position; + posPelvis = bodyData.joint[p].position; + jointData.position = (posPelvis + posChest) * 0.5f; + + bodyData.joint[sn] = jointData; + } + } + + // calculates all joint orientations for the given body + protected override void CalcBodyJointOrients(ref KinectInterop.BodyData bodyData) + { + int jointCount = bodyData.joint.Length; + + Vector3 posRShoulder = bodyData.joint[(int)KinectInterop.JointType.ShoulderRight].position; + Vector3 posLShoulder = bodyData.joint[(int)KinectInterop.JointType.ShoulderLeft].position; + Vector3 shouldersDirection = posRShoulder - posLShoulder; + shouldersDirection -= Vector3.Project(shouldersDirection, Vector3.up); + + for (int j = 0; j < jointCount; j++) + { + int joint = j; + + KinectInterop.JointData jointData = bodyData.joint[joint]; + bool bJointValid = bIgnoreInferredJoints ? jointData.trackingState == KinectInterop.TrackingState.Tracked : jointData.trackingState != KinectInterop.TrackingState.NotTracked; + + if (bJointValid) + { + int nextJoint = (int)KinectInterop.GetNextJoint((KinectInterop.JointType)joint); + if (nextJoint != joint && nextJoint >= 0 && nextJoint < jointCount) + { + KinectInterop.JointData nextJointData = bodyData.joint[nextJoint]; + bool bNextJointValid = bIgnoreInferredJoints ? nextJointData.trackingState == KinectInterop.TrackingState.Tracked : nextJointData.trackingState != KinectInterop.TrackingState.NotTracked; + + Vector3 baseDir = KinectJointBaseDir[nextJoint]; + Vector3 jointDir = nextJointData.direction.normalized; + jointDir = new Vector3(jointDir.x, jointDir.y, -jointDir.z).normalized; + + Quaternion jointOrientNormal = jointData.normalRotation; + if (bNextJointValid) + { + jointOrientNormal = Quaternion.FromToRotation(baseDir, jointDir); + } + + if ((joint == (int)KinectInterop.JointType.ShoulderLeft) || + (joint == (int)KinectInterop.JointType.ElbowLeft) || + (joint == (int)KinectInterop.JointType.WristLeft) || + (joint == (int)KinectInterop.JointType.HandLeft)) + { + if (bNextJointValid && jointData.direction != Vector3.zero && jointDir != Vector3.zero) + { + Vector3 parJointDir = jointData.direction.normalized; + parJointDir = new Vector3(parJointDir.x, parJointDir.y, -parJointDir.z).normalized; + + if (joint == (int)KinectInterop.JointType.WristLeft) + { + // for wrist, take the finger direction into account, too + int fingerJoint = (int)KinectInterop.GetNextJoint((KinectInterop.JointType)nextJoint); + + if (fingerJoint != joint && fingerJoint >= 0 && fingerJoint < jointCount) + { + KinectInterop.JointData fingerData = bodyData.joint[fingerJoint]; + if (fingerData.trackingState != KinectInterop.TrackingState.NotTracked) + { + jointDir = (nextJointData.direction + fingerData.direction).normalized; + jointDir = new Vector3(jointDir.x, jointDir.y, -jointDir.z).normalized; + } + } + } + + float parDotJoint = Vector3.Dot(parJointDir, jointDir); + //Debug.Log (joint + ": " + parDotJoint); + + if ((parDotJoint >= 0.01f && parDotJoint <= 0.99f) || (parDotJoint >= -0.99f && parDotJoint <= -0.01f)) + { + if (joint != (int)KinectInterop.JointType.ShoulderLeft && parJointDir != Vector3.zero) + { + Vector3 upDir = -Vector3.Cross(-parJointDir, jointDir).normalized; + Vector3 fwdDir = Vector3.Cross(-jointDir, upDir).normalized; + jointOrientNormal = Quaternion.LookRotation(fwdDir, upDir); + } + else + { + KinectInterop.JointData shCenterData = bodyData.joint[(int)KinectInterop.JointType.ClavicleLeft]; + + Vector3 spineDir = shCenterData.direction.normalized; + spineDir = new Vector3(spineDir.x, spineDir.y, -spineDir.z).normalized; + + Vector3 fwdDir = Vector3.Cross(-jointDir, spineDir).normalized; + Vector3 upDir = Vector3.Cross(fwdDir, -jointDir).normalized; + jointOrientNormal = Quaternion.LookRotation(fwdDir, upDir); + } + + jointData.normalRotation = jointOrientNormal; + } + } + + // allowedHandRotations = All (left wrist/hand) + if (joint == (int)KinectInterop.JointType.WristLeft || joint == (int)KinectInterop.JointType.HandLeft) + { + KinectInterop.JointData thumbData = bodyData.joint[(int)KinectInterop.JointType.ThumbLeft]; + + int prevJoint = (int)KinectInterop.GetParentJoint((KinectInterop.JointType)joint); + KinectInterop.JointData prevJointData = bodyData.joint[prevJoint]; + + if (thumbData.trackingState != KinectInterop.TrackingState.NotTracked && + prevJointData.trackingState != KinectInterop.TrackingState.NotTracked) + { + Vector3 rightDir = -jointDir; + Vector3 fwdDir = thumbData.direction.normalized; + fwdDir = new Vector3(fwdDir.x, fwdDir.y, -fwdDir.z).normalized; + + if (joint == (int)KinectInterop.JointType.HandLeft) + { + Vector3 prevBaseDir = -Vector3.left; // - KinectInterop.JointBaseDir[prevJoint]; + Vector3 prevOrthoDir = new Vector3(prevBaseDir.y, prevBaseDir.z, prevBaseDir.x); + fwdDir = prevJointData.normalRotation * prevOrthoDir; + //rightDir -= Vector3.Project(rightDir, fwdDir); + } + + if (rightDir != Vector3.zero && fwdDir != Vector3.zero) + { + Vector3 upDir = Vector3.Cross(fwdDir, rightDir).normalized; + fwdDir = Vector3.Cross(rightDir, upDir).normalized; + + //jointData.normalRotation = Quaternion.LookRotation(fwdDir, upDir); + Quaternion jointOrientThumb = Quaternion.LookRotation(fwdDir, upDir); + jointOrientNormal = (joint == (int)KinectInterop.JointType.WristLeft) ? + Quaternion.RotateTowards(prevJointData.normalRotation, jointOrientThumb, 80f) : jointOrientThumb; + + jointData.normalRotation = jointOrientNormal; + } + } + + //bRotated = true; + } + + if (joint == (int)KinectInterop.JointType.WristLeft || joint == (int)KinectInterop.JointType.HandLeft) + { + // limit wrist and hand twist + int prevJoint = (int)KinectInterop.GetParentJoint((KinectInterop.JointType)joint); + KinectInterop.JointData prevJointData = bodyData.joint[prevJoint]; + + if (prevJointData.trackingState != KinectInterop.TrackingState.NotTracked) + { + jointData.normalRotation = Quaternion.RotateTowards(prevJointData.normalRotation, jointData.normalRotation, 70f); + } + } + + } + else if ((joint == (int)KinectInterop.JointType.ShoulderRight) || + (joint == (int)KinectInterop.JointType.ElbowRight) || + (joint == (int)KinectInterop.JointType.WristRight) || + (joint == (int)KinectInterop.JointType.HandRight)) + { + if (bNextJointValid && jointData.direction != Vector3.zero && jointDir != Vector3.zero) + { + Vector3 parJointDir = jointData.direction.normalized; + parJointDir = new Vector3(parJointDir.x, parJointDir.y, -parJointDir.z).normalized; + + if (joint == (int)KinectInterop.JointType.WristRight) + { + // for wrist, take the finger direction into account, too + int fingerJoint = (int)KinectInterop.GetNextJoint((KinectInterop.JointType)nextJoint); + + if (fingerJoint != joint && fingerJoint >= 0 && fingerJoint < jointCount) + { + KinectInterop.JointData fingerData = bodyData.joint[fingerJoint]; + if (fingerData.trackingState != KinectInterop.TrackingState.NotTracked) + { + jointDir = (nextJointData.direction + fingerData.direction).normalized; + jointDir = new Vector3(jointDir.x, jointDir.y, -jointDir.z).normalized; + } + } + } + + float parDotJoint = Vector3.Dot(parJointDir, jointDir); + //Debug.Log (joint + ": " + parDotJoint); + + if ((parDotJoint >= 0.01f && parDotJoint <= 0.99f) || (parDotJoint >= -0.99f && parDotJoint <= -0.01f)) + { + if (joint != (int)KinectInterop.JointType.ShoulderRight && parJointDir != Vector3.zero) + { + Vector3 upDir = -Vector3.Cross(parJointDir, jointDir).normalized; + Vector3 fwdDir = Vector3.Cross(jointDir, upDir).normalized; + jointOrientNormal = Quaternion.LookRotation(fwdDir, upDir); + } + else + { + KinectInterop.JointData shCenterData = bodyData.joint[(int)KinectInterop.JointType.ClavicleLeft]; + + Vector3 spineDir = shCenterData.direction.normalized; + spineDir = new Vector3(spineDir.x, spineDir.y, -spineDir.z).normalized; + + Vector3 fwdDir = Vector3.Cross(jointDir, spineDir).normalized; + Vector3 upDir = Vector3.Cross(fwdDir, jointDir).normalized; + jointOrientNormal = Quaternion.LookRotation(fwdDir, upDir); + } + + jointData.normalRotation = jointOrientNormal; + } + } + + // allowedHandRotations = All (right wrist/hand) + if (joint == (int)KinectInterop.JointType.WristRight || joint == (int)KinectInterop.JointType.HandRight) + { + KinectInterop.JointData thumbData = bodyData.joint[(int)KinectInterop.JointType.ThumbRight]; + + int prevJoint = (int)KinectInterop.GetParentJoint((KinectInterop.JointType)joint); + KinectInterop.JointData prevJointData = bodyData.joint[prevJoint]; + + if (thumbData.trackingState != KinectInterop.TrackingState.NotTracked && + prevJointData.trackingState != KinectInterop.TrackingState.NotTracked) + { + Vector3 rightDir = jointDir; + Vector3 fwdDir = thumbData.direction.normalized; + fwdDir = new Vector3(fwdDir.x, fwdDir.y, -fwdDir.z).normalized; + + if (joint == (int)KinectInterop.JointType.HandRight) + { + Vector3 prevBaseDir = Vector3.right; // KinectInterop.JointBaseDir[prevJoint]; + Vector3 prevOrthoDir = new Vector3(prevBaseDir.y, prevBaseDir.z, prevBaseDir.x); + fwdDir = prevJointData.normalRotation * prevOrthoDir; + //rightDir -= Vector3.Project(rightDir, fwdDir); + } + + if (rightDir != Vector3.zero && fwdDir != Vector3.zero) + { + Vector3 upDir = Vector3.Cross(fwdDir, rightDir).normalized; + fwdDir = Vector3.Cross(rightDir, upDir).normalized; + + Quaternion jointOrientThumb = Quaternion.LookRotation(fwdDir, upDir); + jointOrientNormal = (joint == (int)KinectInterop.JointType.WristRight) ? + Quaternion.RotateTowards(prevJointData.normalRotation, jointOrientThumb, 80f) : jointOrientThumb; + + jointData.normalRotation = jointOrientNormal; + } + } + + //bRotated = true; + } + + if (joint == (int)KinectInterop.JointType.WristRight || joint == (int)KinectInterop.JointType.HandRight) + { + // limit wrist and hand twist + int prevJoint = (int)KinectInterop.GetParentJoint((KinectInterop.JointType)joint); + KinectInterop.JointData prevJointData = bodyData.joint[prevJoint]; + + if (prevJointData.trackingState != KinectInterop.TrackingState.NotTracked) + { + jointData.normalRotation = Quaternion.RotateTowards(prevJointData.normalRotation, jointData.normalRotation, 70f); + } + } + + } + else + { + jointData.normalRotation = jointOrientNormal; + } + + if ((joint == (int)KinectInterop.JointType.Pelvis) || + (joint == (int)KinectInterop.JointType.SpineNaval) || + (joint == (int)KinectInterop.JointType.SpineChest) || + (joint == (int)KinectInterop.JointType.ClavicleLeft) || + (joint == (int)KinectInterop.JointType.ClavicleRight) || + (joint == (int)KinectInterop.JointType.Neck)) + { + Vector3 baseDir2 = Vector3.right; + Vector3 jointDir2 = shouldersDirection; + jointDir2.z = -jointDir2.z; + + jointData.normalRotation *= Quaternion.FromToRotation(baseDir2, jointDir2); + } + else if ((joint == (int)KinectInterop.JointType.HipLeft) || (joint == (int)KinectInterop.JointType.HipRight) || + (joint == (int)KinectInterop.JointType.KneeLeft) || (joint == (int)KinectInterop.JointType.KneeRight) || + (joint == (int)KinectInterop.JointType.AnkleLeft) || (joint == (int)KinectInterop.JointType.AnkleRight)) + { + Vector3 baseDir2 = Vector3.right; + Vector3 jointDir2 = shouldersDirection; + jointDir2.z = -jointDir2.z; + + jointData.normalRotation *= Quaternion.FromToRotation(baseDir2, jointDir2); + } + + Vector3 mirroredAngles = jointData.normalRotation.eulerAngles; + mirroredAngles.y = -mirroredAngles.y; + mirroredAngles.z = -mirroredAngles.z; + + jointData.mirroredRotation = Quaternion.Euler(mirroredAngles); + } + else + { + // get the orientation of the parent joint + int prevJoint = (int)KinectInterop.GetParentJoint((KinectInterop.JointType)joint); + if (prevJoint != joint && prevJoint >= 0 && prevJoint < jointCount) + { + jointData.normalRotation = bodyData.joint[prevJoint].normalRotation; + jointData.mirroredRotation = bodyData.joint[prevJoint].mirroredRotation; + } + else + { + jointData.normalRotation = Quaternion.identity; + jointData.mirroredRotation = Quaternion.identity; + } + } + + bodyData.joint[joint] = jointData; + } + else + { + // joint is not tracked + } + + if (joint == (int)KinectInterop.JointType.Pelvis) + { + bodyData.normalRotation = jointData.normalRotation; + bodyData.mirroredRotation = jointData.mirroredRotation; + } + } + } + + + protected static readonly int[] KinectJoint2JointType = + { + (int)KinectInterop.JointType.Pelvis, + (int)KinectInterop.JointType.SpineChest, + (int)KinectInterop.JointType.Neck, + (int)KinectInterop.JointType.Head, + + (int)KinectInterop.JointType.ShoulderLeft, + (int)KinectInterop.JointType.ElbowLeft, + (int)KinectInterop.JointType.WristLeft, + (int)KinectInterop.JointType.HandLeft, + + (int)KinectInterop.JointType.ShoulderRight, + (int)KinectInterop.JointType.ElbowRight, + (int)KinectInterop.JointType.WristRight, + (int)KinectInterop.JointType.HandRight, + + (int)KinectInterop.JointType.HipLeft, + (int)KinectInterop.JointType.KneeLeft, + (int)KinectInterop.JointType.AnkleLeft, + (int)KinectInterop.JointType.FootLeft, + + (int)KinectInterop.JointType.HipRight, + (int)KinectInterop.JointType.KneeRight, + (int)KinectInterop.JointType.AnkleRight, + (int)KinectInterop.JointType.FootRight, + + (int)KinectInterop.JointType.ClavicleLeft, + + (int)KinectInterop.JointType.HandtipLeft, + (int)KinectInterop.JointType.ThumbLeft, + (int)KinectInterop.JointType.HandtipRight, + (int)KinectInterop.JointType.ThumbRight + }; + + public static readonly Vector3[] KinectJointBaseDir = + { + Vector3.zero, + Vector3.up, + Vector3.up, + Vector3.up, + Vector3.up, + + Vector3.left, + Vector3.left, + Vector3.left, + Vector3.left, + Vector3.left, + + Vector3.right, + Vector3.right, + Vector3.right, + Vector3.right, + Vector3.right, + + Vector3.down, + Vector3.down, + Vector3.down, + Vector3.forward, + + Vector3.down, + Vector3.down, + Vector3.down, + Vector3.forward, + + Vector3.forward, + Vector3.left, + Vector3.left, + Vector3.right, + Vector3.right, + + Vector3.left, + Vector3.forward, + Vector3.right, + Vector3.forward, + }; + + + public override bool UpdateSensorData(KinectInterop.SensorData sensorData, KinectManager kinectManager, bool isPlayMode) + { + base.UpdateSensorData(sensorData, kinectManager, isPlayMode); + + if (sensorData.depthCamIntr == null && coordMapper != null) + { + lock (depthFrameLock) + { + // get depth camera intrinsics + CameraIntrinsics depthCamIntr = coordMapper.GetDepthCameraIntrinsics(); + + if (depthCamIntr.PrincipalPointX != 0f && depthCamIntr.PrincipalPointY != 0f) + { + GetDepthCameraIntrinsics(depthCamIntr, ref sensorData.depthCamIntr, sensorData.depthImageWidth, sensorData.depthImageHeight); + } + } + } + + if (sensorData.colorCamIntr == null && coordMapper != null) + { + lock (colorFrameLock) + { + GetColorCameraIntrinsics(ref sensorData.colorCamIntr, sensorData.colorImageWidth, sensorData.colorImageHeight); + } + } + + return true; + } + + + // gets the depth camera intrinsics + private void GetDepthCameraIntrinsics(CameraIntrinsics camIntr, ref KinectInterop.CameraIntrinsics intr, int camWidth, int camHeight) + { + intr = new KinectInterop.CameraIntrinsics(); + + intr.width = camWidth; + intr.height = camHeight; + + intr.ppx = camIntr.PrincipalPointX; + intr.ppy = camIntr.PrincipalPointY; + + intr.fx = camIntr.FocalLengthX; + intr.fy = camIntr.FocalLengthY; + + intr.distCoeffs = new float[3]; + intr.distCoeffs[0] = camIntr.RadialDistortionSecondOrder; + intr.distCoeffs[1] = camIntr.RadialDistortionFourthOrder; + intr.distCoeffs[2] = camIntr.RadialDistortionSixthOrder; + + intr.distType = KinectInterop.DistortionType.BrownConrady; + + EstimateFOV(intr); + } + + + // gets the color camera intrinsics + private void GetColorCameraIntrinsics(ref KinectInterop.CameraIntrinsics intr, int camWidth, int camHeight) + { + intr = new KinectInterop.CameraIntrinsics(); + + intr.width = camWidth; + intr.height = camHeight; + + intr.ppx = 946.0374f; + intr.ppy = 537.392f; + + intr.fx = 1065.267f; + intr.fy = 1065.409f; + + intr.distCoeffs = new float[3]; + intr.distCoeffs[0] = 0.014655f; + intr.distCoeffs[1] = -0.000476f; + intr.distCoeffs[2] = 0f; + + intr.distType = KinectInterop.DistortionType.BrownConrady; + + EstimateFOV(intr); + } + + + public override void PollCoordTransformFrames(KinectInterop.SensorData sensorData) + { + if (lastDepthCoordFrameTime != rawDepthTimestamp) + { + lastDepthCoordFrameTime = rawDepthTimestamp; + + //// depth2space frame + //if (depth2SpaceCoordFrame != null) + //{ + // lock (depth2SpaceFrameLock) + // { + // MapDepthFrameToSpaceCoords(sensorData, ref depth2SpaceCoordFrame); + // lastDepth2SpaceFrameTime = lastDepthCoordFrameTime; + // } + //} + + // depth2color frame + if (depth2ColorCoordFrame != null && rawDepthImage != null) + { + lock (depth2ColorFrameLock) + { + var pDepthData = GCHandle.Alloc(rawDepthImage, GCHandleType.Pinned); + var pColorCoordsData = GCHandle.Alloc(depth2ColorCoordFrame, GCHandleType.Pinned); + + coordMapper.MapDepthFrameToColorSpaceUsingIntPtr( + pDepthData.AddrOfPinnedObject(), + rawDepthImage.Length * sizeof(ushort), + pColorCoordsData.AddrOfPinnedObject(), + (uint)depth2ColorCoordFrame.Length); + + pColorCoordsData.Free(); + pDepthData.Free(); + + //int di = (sensorData.depthImageHeight / 2) * sensorData.depthImageWidth + (sensorData.depthImageWidth / 2); + //Debug.Log("d2cCoordData: " + depth2ColorCoordFrame[di]); + + lastDepth2ColorFrameTime = lastDepthCoordFrameTime; + //Debug.Log("Depth2ColorFrameTime: " + lastDepth2ColorFrameTime); + } + } + + // color2depth frame + if (color2DepthCoordFrame != null) + { + lock (color2DepthFrameLock) + { + var pDepthData = GCHandle.Alloc(rawDepthImage, GCHandleType.Pinned); + var pDepthCoordsData = GCHandle.Alloc(color2DepthCoordFrame, GCHandleType.Pinned); + + coordMapper.MapColorFrameToDepthSpaceUsingIntPtr( + pDepthData.AddrOfPinnedObject(), + (uint)rawDepthImage.Length * sizeof(ushort), + pDepthCoordsData.AddrOfPinnedObject(), + (uint)color2DepthCoordFrame.Length); + + //int ci = (sensorData.colorImageHeight / 2) * sensorData.colorImageWidth + (sensorData.colorImageWidth / 2); + //Debug.Log("c2dCoordData: " + color2DepthCoordFrame[ci]); + + pDepthCoordsData.Free(); + pDepthData.Free(); + + lastColor2DepthFrameTime = lastDepthCoordFrameTime; + //Debug.Log("Color2DepthFrameTime: " + lastColor2DepthFrameTime); + } + } + } + } + + + //public override bool UpdateSensorData(KinectInterop.SensorData sensorData) + //{ + // base.UpdateSensorData(sensorData); + // return true; + //} + + + // creates the point-cloud vertex shader and its respective buffers, as needed + protected override bool CreatePointCloudVertexShader(KinectInterop.SensorData sensorData) + { + if (pointCloudResolution != PointCloudResolution.ColorCameraResolution) + { + return base.CreatePointCloudVertexShader(sensorData); + } + + // for K2 color camera resolution only + pointCloudVertexRes = GetPointCloudTexResolution(sensorData); + + if (pointCloudVertexRT == null) + { + pointCloudVertexRT = new RenderTexture(pointCloudVertexRes.x, pointCloudVertexRes.y, 0, RenderTextureFormat.ARGBHalf); + pointCloudVertexRT.enableRandomWrite = true; + pointCloudVertexRT.Create(); + } + + if (pointCloudVertexShader == null) + { + pointCloudVertexShader = Resources.Load("PointCloudVertexShaderCRK2") as ComputeShader; + pointCloudVertexKernel = pointCloudVertexShader != null ? pointCloudVertexShader.FindKernel("BakeVertexTexColorResK2") : -1; + } + + if (pointCloudSpaceBuffer == null) + { + int spaceBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight * 3; + pointCloudSpaceBuffer = new ComputeBuffer(spaceBufferLength, sizeof(float)); + + // depth2space table + //int depthImageLength = sensorData.depthImageWidth * sensorData.depthImageHeight; + //Vector3[] depth2SpaceTable = new Vector3[depthImageLength]; + + //for (int dy = 0, di = 0; dy < sensorData.depthImageHeight; dy++) + //{ + // for (int dx = 0; dx < sensorData.depthImageWidth; dx++, di++) + // { + // Vector2 depthPos = new Vector2(dx, dy); + // depth2SpaceTable[di] = MapDepthPointToSpaceCoords(sensorData, depthPos, 1000); + // } + //} + + Vector3[] depth2SpaceTable = GetDepthCameraSpaceTable(sensorData); + pointCloudSpaceBuffer.SetData(depth2SpaceTable); + depth2SpaceTable = null; + } + + if (pointCloudDepthBuffer == null) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + pointCloudDepthBuffer = new ComputeBuffer(depthBufferLength, sizeof(uint)); + } + + if (pointCloudCoordBuffer == null) + { + int coordBufferLength = sensorData.colorImageWidth * sensorData.colorImageHeight * 2; // Vector2 = 2 x float + pointCloudCoordBuffer = new ComputeBuffer(coordBufferLength, sizeof(float)); + } + + if (color2DepthCoordFrame == null) + { + color2DepthCoordFrame = new Vector2[sensorData.colorImageWidth * sensorData.colorImageHeight]; + } + + return true; + } + + + // updates the point-cloud vertex shader with the actual data + protected override bool UpdatePointCloudVertexShader(KinectInterop.SensorData sensorData) + { + if (pointCloudResolution != PointCloudResolution.ColorCameraResolution) + { + return base.UpdatePointCloudVertexShader(sensorData); + } + + // for K2 color camera resolution only + if (pointCloudVertexShader != null && sensorData.depthImage != null && pointCloudVertexRT != null && + sensorData.lastDepth2SpaceFrameTime != sensorData.lastDepthFrameTime) + { + sensorData.lastDepth2SpaceFrameTime = sensorData.lastDepthFrameTime; + + KinectInterop.SetComputeBufferData(pointCloudDepthBuffer, sensorData.depthImage, sensorData.depthImage.Length >> 1, sizeof(uint)); + + lock (color2DepthFrameLock) + { + int coordBufferLength = sensorData.colorImageWidth * sensorData.colorImageHeight * 2; + KinectInterop.SetComputeBufferData(pointCloudCoordBuffer, color2DepthCoordFrame, coordBufferLength, sizeof(float)); + } + + KinectInterop.SetComputeShaderInt2(pointCloudVertexShader, "PointCloudRes", pointCloudVertexRes.x, pointCloudVertexRes.y); + KinectInterop.SetComputeShaderInt2(pointCloudVertexShader, "DepthRes", sensorData.depthImageWidth, sensorData.depthImageHeight); + KinectInterop.SetComputeShaderFloat2(pointCloudVertexShader, "SpaceScale", sensorData.sensorSpaceScale.x, sensorData.sensorSpaceScale.y); + pointCloudVertexShader.SetInt("MinDepth", (int)(minDistance * 1000f)); + pointCloudVertexShader.SetInt("MaxDepth", (int)(maxDistance * 1000f)); + pointCloudVertexShader.SetBuffer(pointCloudVertexKernel, "SpaceTable", pointCloudSpaceBuffer); + pointCloudVertexShader.SetBuffer(pointCloudVertexKernel, "DepthMap", pointCloudDepthBuffer); + pointCloudVertexShader.SetBuffer(pointCloudVertexKernel, "ColorToDepthMap", pointCloudCoordBuffer); + pointCloudVertexShader.SetTexture(pointCloudVertexKernel, "PointCloudVertexTex", pointCloudVertexRT); + pointCloudVertexShader.Dispatch(pointCloudVertexKernel, pointCloudVertexRes.x / 8, pointCloudVertexRes.y / 8, 1); + + if (pointCloudVertexTexture != null) + { + Graphics.Blit(pointCloudVertexRT, pointCloudVertexTexture); + } + + return true; + } + + return false; + } + + + // creates the point-cloud color shader and its respective buffers, as needed + protected override bool CreatePointCloudColorShader(KinectInterop.SensorData sensorData) + { + if (pointCloudResolution != PointCloudResolution.DepthCameraResolution) + { + return base.CreatePointCloudColorShader(sensorData); + } + + // for K2 depth camera resolution only + if (pointCloudColorRT == null) + { + pointCloudColorRT = new RenderTexture(sensorData.depthImageWidth, sensorData.depthImageHeight, 0, RenderTextureFormat.ARGB32); + pointCloudColorRT.enableRandomWrite = true; + pointCloudColorRT.Create(); + } + + if (pointCloudColorShader == null) + { + pointCloudColorShader = Resources.Load("PointCloudColorShaderK2") as ComputeShader; + pointCloudColorKernel = pointCloudColorShader != null ? pointCloudColorShader.FindKernel("BakeColorTex") : -1; + } + + if (pointCloudCoordBuffer == null) + { + int coordBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight * 2; // Vector2 = 2 x float + pointCloudCoordBuffer = new ComputeBuffer(coordBufferLength, sizeof(float)); + } + + if (depth2ColorCoordFrame == null) + { + depth2ColorCoordFrame = new Vector2[sensorData.depthImageWidth * sensorData.depthImageHeight]; + } + + return true; + } + + + // updates the point-cloud color shader with the actual data + protected override bool UpdatePointCloudColorShader(KinectInterop.SensorData sensorData) + { + if (pointCloudResolution != PointCloudResolution.DepthCameraResolution) + { + return base.UpdatePointCloudColorShader(sensorData); + } + + // for K2 depth camera resolution only + if (pointCloudColorShader != null && pointCloudCoordBuffer != null && sensorData.colorImageTexture != null && pointCloudColorRT != null && + sensorData.lastDepth2ColorFrameTime != lastDepth2ColorFrameTime) + { + sensorData.lastDepth2ColorFrameTime = lastDepth2ColorFrameTime; + + lock (depth2ColorFrameLock) + { + int coordBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight * 2; + KinectInterop.SetComputeBufferData(pointCloudCoordBuffer, depth2ColorCoordFrame, coordBufferLength, sizeof(float)); + } + + KinectInterop.SetComputeShaderInt2(pointCloudColorShader, "DepthRes", sensorData.depthImageWidth, sensorData.depthImageHeight); + pointCloudColorShader.SetBuffer(pointCloudColorKernel, "DepthToColorMap", pointCloudCoordBuffer); + pointCloudColorShader.SetTexture(pointCloudColorKernel, "ColorTex", sensorData.colorImageTexture); + pointCloudColorShader.SetTexture(pointCloudColorKernel, "PointCloudColorTex", pointCloudColorRT); + pointCloudColorShader.Dispatch(pointCloudColorKernel, sensorData.depthImageWidth / 8, sensorData.depthImageHeight / 8, 1); + + if(pointCloudColorTexture != null) + { + Graphics.Blit(pointCloudColorRT, pointCloudColorTexture); + } + + return true; + } + + return false; + } + + + // creates the color-depth shader and its respective buffers, as needed + protected override bool CreateColorDepthShader(KinectInterop.SensorData sensorData) + { + if (colorDepthShader == null) + { + colorDepthShader = Resources.Load("ColorDepthShaderK2") as ComputeShader; + colorDepthKernel = colorDepthShader != null ? colorDepthShader.FindKernel("BakeColorDepth") : -1; + } + + if (pointCloudDepthBuffer == null) + { + int bufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + pointCloudDepthBuffer = new ComputeBuffer(bufferLength, sizeof(uint)); + } + + if (pointCloudCoordBuffer == null) + { + int bufferLength = sensorData.colorImageWidth * sensorData.colorImageHeight * 2; // Vector2 = 2 x float + pointCloudCoordBuffer = new ComputeBuffer(bufferLength, sizeof(float)); + } + + if (color2DepthCoordFrame == null) + { + color2DepthCoordFrame = new Vector2[sensorData.colorImageWidth * sensorData.colorImageHeight]; + } + + if (sensorData.colorDepthTexture == null) + { + sensorData.colorDepthTexture = new RenderTexture(sensorData.colorImageWidth, sensorData.colorImageHeight, 0, RenderTextureFormat.ARGB32); + //sensorData.colorDepthTexture.enableRandomWrite = true; + sensorData.colorDepthTexture.Create(); + } + + colorDepthShaderInited = true; + + return true; + } + + + // updates the color shader with the actual data + protected override bool UpdateColorDepthShader(KinectInterop.SensorData sensorData) + { + // for K2 depth camera resolution only + if (colorDepthShader != null && pointCloudDepthBuffer != null && pointCloudCoordBuffer != null && color2DepthCoordFrame != null) + { + if (sensorData.usedColorDepthBufferTime == sensorData.lastColorDepthBufferTime && sensorData.lastColorDepthBufferTime != lastColor2DepthFrameTime) + { + if (sensorData.colorImageTexture != null) + { + Graphics.Blit(sensorData.colorImageTexture, sensorData.colorDepthTexture); + } + + KinectInterop.SetComputeBufferData(pointCloudDepthBuffer, sensorData.depthImage, sensorData.depthImage.Length >> 1, sizeof(uint)); + + lock (color2DepthFrameLock) + { + int bufferLength = sensorData.colorImageWidth * sensorData.colorImageHeight * 2; + KinectInterop.SetComputeBufferData(pointCloudCoordBuffer, color2DepthCoordFrame, bufferLength, sizeof(float)); + } + + KinectInterop.SetComputeShaderInt2(colorDepthShader, "_ColorRes", sensorData.colorImageWidth, sensorData.colorImageHeight); + KinectInterop.SetComputeShaderInt2(colorDepthShader, "_DepthRes", sensorData.depthImageWidth, sensorData.depthImageHeight); + + colorDepthShader.SetBuffer(colorDepthKernel, "_DepthMap", pointCloudDepthBuffer); + colorDepthShader.SetBuffer(colorDepthKernel, "_Color2DepthMap", pointCloudCoordBuffer); + colorDepthShader.SetTexture(colorDepthKernel, "_ColorTex", sensorData.colorImageTexture); + colorDepthShader.SetBuffer(colorDepthKernel, "_ColorDepthMap", sensorData.colorDepthBuffer); + colorDepthShader.Dispatch(colorDepthKernel, sensorData.colorImageWidth / 8, sensorData.colorImageHeight / 8, 1); + sensorData.lastColorDepthBufferTime = lastColor2DepthFrameTime; + } + + return true; + } + + return false; + } + + + public override Vector3 MapDepthPointToSpaceCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal) + { + Vector3 vPoint = Vector3.zero; + + if (coordMapper != null && depthPos != Vector2.zero) + { + DepthSpacePoint depthPoint = new DepthSpacePoint(); + depthPoint.X = depthPos.x; + depthPoint.Y = depthPos.y; + + DepthSpacePoint[] depthPoints = new DepthSpacePoint[1]; + depthPoints[0] = depthPoint; + + ushort[] depthVals = new ushort[1]; + depthVals[0] = depthVal; + + CameraSpacePoint[] camPoints = new CameraSpacePoint[1]; + coordMapper.MapDepthPointsToCameraSpace(depthPoints, depthVals, camPoints); + + CameraSpacePoint camPoint = camPoints[0]; + vPoint.x = camPoint.X; + vPoint.y = camPoint.Y; + vPoint.z = camPoint.Z; + } + + return vPoint; + } + + public override Vector2 MapSpacePointToDepthCoords(KinectInterop.SensorData sensorData, Vector3 spacePos) + { + Vector2 vPoint = Vector2.zero; + + if (coordMapper != null) + { + CameraSpacePoint camPoint = new CameraSpacePoint(); + camPoint.X = spacePos.x; + camPoint.Y = spacePos.y; + camPoint.Z = spacePos.z; + + CameraSpacePoint[] camPoints = new CameraSpacePoint[1]; + camPoints[0] = camPoint; + + DepthSpacePoint[] depthPoints = new DepthSpacePoint[1]; + coordMapper.MapCameraPointsToDepthSpace(camPoints, depthPoints); + + DepthSpacePoint depthPoint = depthPoints[0]; + + if (depthPoint.X >= 0 && depthPoint.X < sensorData.depthImageWidth && + depthPoint.Y >= 0 && depthPoint.Y < sensorData.depthImageHeight) + { + vPoint.x = depthPoint.X; + vPoint.y = depthPoint.Y; + } + } + + return vPoint; + } + + public override Vector2 MapDepthPointToColorCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal) + { + Vector2 vPoint = Vector2.zero; + + if (coordMapper != null && depthPos != Vector2.zero) + { + DepthSpacePoint depthPoint = new DepthSpacePoint(); + depthPoint.X = depthPos.x; + depthPoint.Y = depthPos.y; + + DepthSpacePoint[] depthPoints = new DepthSpacePoint[1]; + depthPoints[0] = depthPoint; + + ushort[] depthVals = new ushort[1]; + depthVals[0] = depthVal; + + ColorSpacePoint[] colPoints = new ColorSpacePoint[1]; + coordMapper.MapDepthPointsToColorSpace(depthPoints, depthVals, colPoints); + + ColorSpacePoint colPoint = colPoints[0]; + vPoint.x = colPoint.X; + vPoint.y = colPoint.Y; + } + + return vPoint; + } + + //public override bool MapDepthFrameToSpaceCoords(KinectInterop.SensorData sensorData, ref Vector3[] vSpaceCoords) + //{ + // if (coordMapper != null && sensorData.depthImage != null) + // { + // var pDepthData = GCHandle.Alloc(sensorData.depthImage, GCHandleType.Pinned); + // var pSpaceCoordsData = GCHandle.Alloc(vSpaceCoords, GCHandleType.Pinned); + + // coordMapper.MapDepthFrameToCameraSpaceUsingIntPtr( + // pDepthData.AddrOfPinnedObject(), + // sensorData.depthImage.Length * sizeof(ushort), + // pSpaceCoordsData.AddrOfPinnedObject(), + // (uint)vSpaceCoords.Length); + + // pSpaceCoordsData.Free(); + // pDepthData.Free(); + + // return true; + // } + + // return false; + //} + + //public override bool MapDepthFrameToColorCoords(KinectInterop.SensorData sensorData, ref Vector2[] vColorCoords) + //{ + // if (coordMapper != null && sensorData.colorImageTexture != null && sensorData.depthImage != null) + // { + // var pDepthData = GCHandle.Alloc(sensorData.depthImage, GCHandleType.Pinned); + // var pColorCoordsData = GCHandle.Alloc(vColorCoords, GCHandleType.Pinned); + + // coordMapper.MapDepthFrameToColorSpaceUsingIntPtr( + // pDepthData.AddrOfPinnedObject(), + // sensorData.depthImage.Length * sizeof(ushort), + // pColorCoordsData.AddrOfPinnedObject(), + // (uint)vColorCoords.Length); + + // pColorCoordsData.Free(); + // pDepthData.Free(); + + // return true; + // } + + // return false; + //} + + //public override bool MapColorFrameToDepthCoords(KinectInterop.SensorData sensorData, ref Vector2[] vDepthCoords) + //{ + // if (coordMapper != null && sensorData.colorImageTexture != null && sensorData.depthImage != null) + // { + // var pDepthData = GCHandle.Alloc(sensorData.depthImage, GCHandleType.Pinned); + // var pDepthCoordsData = GCHandle.Alloc(vDepthCoords, GCHandleType.Pinned); + + // coordMapper.MapColorFrameToDepthSpaceUsingIntPtr( + // pDepthData.AddrOfPinnedObject(), + // (uint)sensorData.depthImage.Length * sizeof(ushort), + // pDepthCoordsData.AddrOfPinnedObject(), + // (uint)vDepthCoords.Length); + + // pDepthCoordsData.Free(); + // pDepthData.Free(); + + // return true; + // } + + // return false; + //} + + } +} + +#endif \ No newline at end of file diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect2Interface.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect2Interface.cs.meta new file mode 100644 index 0000000..d3ef2d0 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect2Interface.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 3187c833c6106e54facb6071b57475a2 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect4AzureInterface.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect4AzureInterface.cs new file mode 100644 index 0000000..0596e7d --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect4AzureInterface.cs @@ -0,0 +1,833 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using Microsoft.Azure.Kinect.Sensor; +using System; + +namespace com.rfilkov.kinect +{ + public class Kinect4AzureInterface : DepthSensorBase + { + [Tooltip("Color camera resolution.")] + public ColorCameraMode colorCameraMode = ColorCameraMode._1920_x_1080_30Fps; + public enum ColorCameraMode : int { _1280_x_720_30Fps = 1, _1920_x_1080_30Fps = 2, _2560_x_1440_30Fps = 3, _2048_x_1536_30Fps = 4, _3840_x_2160_30Fps = 5, _4096_x_3072_15Fps = 6 } + + [Tooltip("Depth camera mode.")] + public DepthCameraMode depthCameraMode = DepthCameraMode._640_x_576_30Fps_3_86mNfov; + public enum DepthCameraMode : int { _320_x_288_30Fps_5_46mNfov = 1, _640_x_576_30Fps_3_86mNfov = 2, _512_x_512_30Fps_2_88mWfov = 3, _1024x1024_15Fps_2_21mWfov = 4, PassiveIR_30Fps = 5 } + + [Tooltip("Device sync mode, in case of multiple wired sensors.")] + public WiredSyncMode deviceSyncMode = WiredSyncMode.Standalone; + + [Tooltip("Subordinate device delay off master (in usec), in case of multiple wired sensors.")] + public int subDeviceDelayUsec = 0; + + [Tooltip("Whether to flip the IMU rotation.")] + public bool flipImuRotation = false; + + + // references to the sensor + public Device kinectSensor = null; + public Calibration coordMapper; + public Transformation coordMapperTransform = null; + private Image d2cColorData = null; + private Image c2dDepthData = null; + + // playback and record + public Playback kinectPlayback = null; + private long playbackStartTime = 0; + + // status of the cameras + private bool isCamerasStarted = false; + private bool isImuStarted = false; + + // current frame number + private ulong currentFrameNumber = 0; + private TimeSpan timeToWait = TimeSpan.FromMilliseconds(0); + + // imu + private ImuSample lastImuSample = null; + private ImuSample curImuSample = null; + + private AHRS.MahonyAHRS imuAhrs = null; + private Quaternion imuTurnRot1 = Quaternion.identity; + private Quaternion imuTurnRot2 = Quaternion.identity; + //private bool lastFlipImuRot = false; + + private Quaternion imuRotation = Quaternion.identity; + private float prevRotZ = 0f; + private float[] prevQuat = new float[4]; + + private Vector3 imuYawAtStart = Vector3.zero; + private Quaternion imuFixAtStart = Quaternion.identity; + private bool imuYawAtStartSet = false; + + // TODO: to be removed later + //public event Action OnImuSample; + + + + public override KinectInterop.DepthSensorPlatform GetSensorPlatform() + { + return KinectInterop.DepthSensorPlatform.Kinect4Azure; + } + + public override List GetAvailableSensors() + { + List alSensorInfo = new List(); + + int deviceCount = Device.GetInstalledCount(); + for (int i = 0; i < deviceCount; i++) + { + KinectInterop.SensorDeviceInfo sensorInfo = new KinectInterop.SensorDeviceInfo(); + sensorInfo.sensorId = i.ToString(); + sensorInfo.sensorName = "Kinect4Azure"; + + sensorInfo.sensorCaps = KinectInterop.FrameSource.TypeAll; + + Debug.Log(string.Format(" D{0}: {1}, id: {2}", i, sensorInfo.sensorName, sensorInfo.sensorId)); + + alSensorInfo.Add(sensorInfo); + } + + //if (alSensorInfo.Count == 0) + //{ + // Debug.Log(" No sensor devices found."); + //} + + return alSensorInfo; + } + + public override KinectInterop.SensorData OpenSensor(KinectInterop.FrameSource dwFlags, bool bSyncDepthAndColor, bool bSyncBodyAndDepth) + { + // save initial parameters + base.OpenSensor(dwFlags, bSyncDepthAndColor, bSyncBodyAndDepth); + + // try to open the sensor or play back the recording + KinectInterop.SensorData sensorData = new KinectInterop.SensorData(); + + if (deviceStreamingMode == KinectInterop.DeviceStreamingMode.PlayRecording) + { + if (string.IsNullOrEmpty(recordingFile)) + { + Debug.LogError("Playback selected, but the path to recording file is missing."); + return null; + } + + if (!System.IO.File.Exists(recordingFile)) + { + Debug.LogError("PlayRecording selected, but the recording file cannot be found: " + recordingFile); + return null; + } + + Debug.Log("Playing back: " + recordingFile); + kinectPlayback = new Playback(recordingFile); + + colorCameraMode = (ColorCameraMode)kinectPlayback.playback_config.color_resolution; + depthCameraMode = (DepthCameraMode)kinectPlayback.playback_config.depth_mode; + deviceSyncMode = kinectPlayback.playback_config.wired_sync_mode; + + coordMapper = kinectPlayback.playback_calibration; + playbackStartTime = 0; + + Debug.Log(string.Format("color_track_enabled: {0}, depth_track_enabled: {1}, ir_track_enabled: {2}, imu_track_enabled: {3}, depth_delay_off_color_usec: {4}", + kinectPlayback.playback_config.color_track_enabled, kinectPlayback.playback_config.depth_track_enabled, + kinectPlayback.playback_config.ir_track_enabled, kinectPlayback.playback_config.imu_track_enabled, + kinectPlayback.playback_config.depth_delay_off_color_usec)); + } + else + { + List alSensors = GetAvailableSensors(); + if (deviceIndex >= alSensors.Count) + { + Debug.Log(" D" + deviceIndex + " is not available. You can set the device index to -1, to disable it."); + return null; + } + + // try to open the sensor + kinectSensor = Device.Open(deviceIndex); + if (kinectSensor == null) + { + Debug.LogError(" D" + recordingFile + " cannot be opened."); + return null; + } + + if(deviceSyncMode == WiredSyncMode.Master && (dwFlags & KinectInterop.FrameSource.TypeColor) == 0) + { + // fix by Andreas Pedroni - master requires color camera on + dwFlags |= KinectInterop.FrameSource.TypeColor; + } + + DeviceConfiguration kinectConfig = new DeviceConfiguration(); + kinectConfig.SynchronizedImagesOnly = isSyncDepthAndColor; + kinectConfig.WiredSyncMode = deviceSyncMode; + kinectConfig.SuboridinateDelayOffMaster = new TimeSpan(subDeviceDelayUsec * 10); + + // color + kinectConfig.ColorFormat = ImageFormat.ColorBGRA32; + if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0) + { + kinectConfig.ColorResolution = (ColorResolution)colorCameraMode; + } + else + { + kinectConfig.ColorResolution = ColorResolution.Off; + } + + // depth + if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0) + { + kinectConfig.DepthMode = (DepthMode)depthCameraMode; + } + else + { + kinectConfig.DepthMode = DepthMode.Off; + } + + // fps + if(colorCameraMode != ColorCameraMode._4096_x_3072_15Fps && depthCameraMode != DepthCameraMode._1024x1024_15Fps_2_21mWfov) + { + kinectConfig.CameraFPS = FPS.FPS30; + } + else + { + kinectConfig.CameraFPS = FPS.FPS15; + } + + // infrared + if ((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0) + { + // ?? + } + + // start the cameras + kinectSensor.StartCameras(kinectConfig); + isCamerasStarted = true; + + if ((dwFlags & KinectInterop.FrameSource.TypePose) != 0) + { + // start the IMU + kinectSensor.StartImu(); + isImuStarted = true; + } + + // get reference to the coordinate mapper + coordMapper = kinectSensor.GetCalibration(); + } + + // reset the frame number + currentFrameNumber = 0; + + // flip color & depth image vertically + sensorData.colorImageScale = new Vector3(-1f, -1f, 1f); + sensorData.depthImageScale = new Vector3(-1f, -1f, 1f); + sensorData.infraredImageScale = new Vector3(-1f, -1f, 1f); + sensorData.sensorSpaceScale = new Vector3(-1f, -1f, 1f); + + // depth camera offset & matrix z-flip + sensorRotOffset = new Vector3(6f, 0f, 0f); // the depth camera is tilted 6 degrees downwards + sensorRotFlipZ = true; + sensorRotIgnoreY = true; + + // color camera data & intrinsics + sensorData.colorImageFormat = TextureFormat.BGRA32; + sensorData.colorImageStride = 4; // 4 bytes per pixel + + if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0) + { + CameraCalibration colorCamera = coordMapper.ColorCameraCalibration; + sensorData.colorImageWidth = colorCamera.ResolutionWidth; + sensorData.colorImageHeight = colorCamera.ResolutionHeight; + + rawColorImage = new byte[sensorData.colorImageWidth * sensorData.colorImageHeight * 4]; + + sensorData.colorImageTexture = new Texture2D(sensorData.colorImageWidth, sensorData.colorImageHeight, TextureFormat.BGRA32, false); + sensorData.colorImageTexture.wrapMode = TextureWrapMode.Clamp; + sensorData.colorImageTexture.filterMode = FilterMode.Point; + } + + // depth camera data & intrinsics + if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0) + { + CameraCalibration depthCamera = coordMapper.DepthCameraCalibration; + sensorData.depthImageWidth = depthCamera.ResolutionWidth; + sensorData.depthImageHeight = depthCamera.ResolutionHeight; + + rawDepthImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight]; + sensorData.depthImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight]; + } + + // infrared data + if ((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0) + { + if (sensorData.depthImageWidth == 0 || sensorData.depthImageHeight == 0) + { + CameraCalibration depthCamera = coordMapper.DepthCameraCalibration; + sensorData.depthImageWidth = depthCamera.ResolutionWidth; + sensorData.depthImageHeight = depthCamera.ResolutionHeight; + } + + rawInfraredImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight]; + sensorData.infraredImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight]; + + minInfraredValue = 0f; + maxInfraredValue = 1000f; + } + + // imu data + if (kinectPlayback != null || (dwFlags & KinectInterop.FrameSource.TypePose) != 0) + { + imuAhrs = new AHRS.MahonyAHRS(0.0006f, 5f); // 600us + + imuTurnRot1 = Quaternion.Euler(0f, 90f, 90f); + imuTurnRot2 = Quaternion.Euler(90f, !flipImuRotation ? 90f : -90f, 0f); + //lastFlipImuRot = flipImuRotation; + } + + // calibration data + GetCameraIntrinsics(CalibrationDeviceType.Color, coordMapper.ColorCameraCalibration, ref sensorData.colorCamIntr); + GetCameraIntrinsics(CalibrationDeviceType.Depth, coordMapper.DepthCameraCalibration, ref sensorData.depthCamIntr); + GetCameraExtrinsics(coordMapper.ColorCameraCalibration.Extrinsics, ref sensorData.depth2ColorExtr); + GetCameraExtrinsics(coordMapper.DepthCameraCalibration.Extrinsics, ref sensorData.color2DepthExtr); + + // body & body-index data + if ((dwFlags & KinectInterop.FrameSource.TypeBody) != 0) + { + InitBodyTracking(dwFlags, sensorData, coordMapper, true); + } + + Debug.Log("Kinect4Azure-sensor opened."); + + return sensorData; + } + + + public override void CloseSensor(KinectInterop.SensorData sensorData) + { + base.CloseSensor(sensorData); + + if(d2cColorData != null) + { + d2cColorData.Dispose(); + d2cColorData = null; + } + + if (c2dDepthData != null) + { + c2dDepthData.Dispose(); + c2dDepthData = null; + } + + if (coordMapperTransform != null) + { + // dispose coord-mapper transform + coordMapperTransform.Dispose(); + coordMapperTransform = null; + } + + if(kinectPlayback != null) + { + // close the playback file + kinectPlayback.Dispose(); + kinectPlayback = null; + } + + if (kinectSensor != null) + { + // stop cameras, if needed + if(isCamerasStarted) + { + isCamerasStarted = false; + kinectSensor.StopCameras(); + } + + // stop IMU, if needed + if(isImuStarted) + { + isImuStarted = false; + kinectSensor.StopImu(); + } + + // close the sensor + kinectSensor.Dispose(); + kinectSensor = null; + } + + Debug.Log("Kinect4Azure-sensor closed."); + + } + + + public override void PollSensorFrames(KinectInterop.SensorData sensorData) + { + try + { + if (kinectPlayback != null) + { + if (kinectPlayback.IsEndOfStream()) + return; + + if(playbackStartTime == 0) + { + // start time + playbackStartTime = DateTime.Now.Ticks; + } + + long currentPlayTime = DateTime.Now.Ticks - playbackStartTime; + + if ((frameSourceFlags & (KinectInterop.FrameSource)0x7F) != 0) + { + kinectPlayback.SeekTimestamp((ulong)(currentPlayTime / 10)); + Capture capture = kinectPlayback.GetNextCapture(); + + if (capture != null) + { + ProcessCameraFrames(sensorData, capture); + capture.Dispose(); + + currentFrameNumber++; + } + else + { + Debug.Log("End of recording detected."); + } + } + + if ((frameSourceFlags & KinectInterop.FrameSource.TypePose) != 0) + { + ImuSample imuSample = kinectPlayback.GetNextImuSample(); + + while (imuSample != null) + { + ProcessImuFrame(imuSample); + + ulong imuTimestamp = (ulong)imuSample.AccelerometerTimestamp.Ticks; + if (kinectPlayback.IsEndOfStream() || imuTimestamp >= rawDepthTimestamp) + break; + + imuSample = kinectPlayback.GetNextImuSample(); + } + } + } + else + { + if (isCamerasStarted) + { + Capture capture = kinectSensor.GetCapture(timeToWait); + ProcessCameraFrames(sensorData, capture); + capture.Dispose(); + + currentFrameNumber++; + } + + if (isImuStarted) + { + ImuSample imuSample = kinectSensor.GetImuSample(timeToWait); + + while(imuSample != null) + { + ProcessImuFrame(imuSample); + imuSample = kinectSensor.GetImuSample(timeToWait); + } + } + } + } + catch (System.TimeoutException) + { + // do nothing + } + catch (System.Exception ex) + { + Debug.LogException(ex); + } + } + + + // processes the camera frames + private void ProcessCameraFrames(KinectInterop.SensorData sensorData, Capture capture) + { + //// check for color & depth sync + //if (isSyncDepthAndColor && (capture.Color == null || capture.Depth == null)) + // return; + + Capture btCapture = null; + + try + { + if (bodyTracker != null) + { + // check for available body frame + btCapture = PollBodyFrame(sensorData, capture); + + if(isSyncBodyAndDepth) + { + // process the body tracking capture + capture = btCapture; + //if(capture != null) + // Debug.Log("BtDepthTimestamp: " + capture.Depth.DeviceTimestamp.Ticks); + } + } + + // check for body & depth sync + if (!isSyncBodyAndDepth || btCapture != null /**&& (btQueueCount == 0 && sensorData.lastBodyFrameTime == rawDepthTimestamp)*/) // currentBodyTimestamp + { + // color frame + if (capture.Color != null && rawColorImage != null && rawColorTimestamp == sensorData.lastColorFrameTime) + { + if (kinectPlayback != null) + WaitForPlaybackTimestamp("color", capture.Color.DeviceTimestamp.Ticks); + + lock (colorFrameLock) + { + //capture.Color.CopyBytesTo(rawColorImage, 0, 0, rawColorImage.Length); + KinectInterop.CopyBytes(capture.Color.GetBuffer(), (int)capture.Color.Size, rawColorImage, rawColorImage.Length, sizeof(byte)); + rawColorTimestamp = (ulong)capture.Color.DeviceTimestamp.Ticks; + //Debug.Log("RawColorTimestamp: " + rawColorTimestamp); + } + } + + // depth frame + if (capture.Depth != null && rawDepthImage != null && rawDepthTimestamp == sensorData.lastDepthFrameTime) + { + if (kinectPlayback != null) + WaitForPlaybackTimestamp("depth", capture.Depth.DeviceTimestamp.Ticks); + + lock (depthFrameLock) + { + //capture.Depth.CopyTo(rawDepthImage, 0, 0, rawDepthImage.Length); + KinectInterop.CopyBytes(capture.Depth.GetBuffer(), (int)capture.Depth.Size, rawDepthImage, rawDepthImage.Length, sizeof(ushort)); + rawDepthTimestamp = (ulong)capture.Depth.DeviceTimestamp.Ticks; + //Debug.Log("RawDepthTimestamp: " + rawDepthTimestamp); + } + } + + // infrared frame + if (capture.IR != null && rawInfraredImage != null && rawInfraredTimestamp == sensorData.lastInfraredFrameTime) + { + if (kinectPlayback != null) + WaitForPlaybackTimestamp("ir", capture.IR.DeviceTimestamp.Ticks); + + lock (infraredFrameLock) + { + //capture.IR.CopyTo(rawInfraredImage, 0, 0, rawInfraredImage.Length); + KinectInterop.CopyBytes(capture.IR.GetBuffer(), (int)capture.IR.Size, rawInfraredImage, rawInfraredImage.Length, sizeof(ushort)); + rawInfraredTimestamp = (ulong)capture.IR.DeviceTimestamp.Ticks; + //Debug.Log("RawInfraredTimestamp: " + rawInfraredTimestamp); + } + } + + // transformation data frames + if ((depth2ColorDataFrame != null || color2DepthDataFrame != null) && capture.Color != null && capture.Depth != null && + (rawColorTimestamp != sensorData.lastColorFrameTime || rawDepthTimestamp != sensorData.lastDepthFrameTime)) + { + if (coordMapperTransform == null) + { + coordMapperTransform = coordMapper.CreateTransformation(); + } + + if (depth2ColorDataFrame != null) + { + if(d2cColorData == null) + { + d2cColorData = new Image(ImageFormat.ColorBGRA32, sensorData.depthImageWidth, sensorData.depthImageHeight, sensorData.depthImageWidth * sensorData.colorImageStride); + } + + lock (depth2ColorFrameLock) + { + coordMapperTransform.ColorImageToDepthCamera(capture.Depth, capture.Color, d2cColorData); + d2cColorData.CopyTo(depth2ColorDataFrame, 0, 0, depth2ColorDataFrame.Length); + lastDepth2ColorFrameTime = (ulong)capture.Depth.DeviceTimestamp.Ticks; + } + } + + if (color2DepthDataFrame != null) + { + if (c2dDepthData == null) + { + c2dDepthData = new Image(ImageFormat.Depth16, sensorData.colorImageWidth, sensorData.colorImageHeight, sensorData.colorImageWidth * sizeof(ushort)); + } + + lock (color2DepthFrameLock) + { + coordMapperTransform.DepthImageToColorCamera(capture.Depth, c2dDepthData); + c2dDepthData.CopyTo(color2DepthDataFrame, 0, 0, color2DepthDataFrame.Length); + lastColor2DepthFrameTime = (ulong)capture.Color.DeviceTimestamp.Ticks; + } + } + } + + } + else + { + // ignore the capture + capture = null; + } + + if (btCapture != null) + { + // dispose body capture + btCapture.Dispose(); + } + } + catch (System.Exception ex) + { + Debug.LogException(ex); + } + } + + + // in playback mode - waits until the given time stamp + private void WaitForPlaybackTimestamp(string frameSource, long frameTimestamp) + { + //Debug.Log(string.Format("{0} ts: {1}, sys: {2}", frameSource, frameTimestamp, (DateTime.Now.Ticks - playbackStartTime))); + + long currentPlayTime = DateTime.Now.Ticks - playbackStartTime; + + while (currentPlayTime < frameTimestamp) + { + currentPlayTime = DateTime.Now.Ticks - playbackStartTime; + } + } + + // processes the IMU frame + private void ProcessImuFrame(ImuSample imuSample) + { + if (kinectPlayback != null) + { + //WaitForPlaybackTimestamp("acc", imuSample.AccelerometerTimestampInUsec); + //WaitForPlaybackTimestamp("gyro", imuSample.GyroTimestampInUsec); + } + + lastImuSample = curImuSample; + curImuSample = imuSample; + + if (!flipImuRotation && lastImuSample == null && Mathf.Abs(imuSample.AccelerometerSample.Y) >= 1f) + { + // check for rolled imu + flipImuRotation = true; + imuTurnRot2 = Quaternion.Euler(90f, -90f, 0f); + } + + if (lastImuSample != null && imuAhrs != null && imuSample.AccelerometerTimestamp.Ticks != lastImuSample.AccelerometerTimestamp.Ticks) + { + prevRotZ = imuRotation.eulerAngles.z; + Array.Copy(imuAhrs.Quaternion, prevQuat, prevQuat.Length); + + imuAhrs.SamplePeriod = ((imuSample.AccelerometerTimestamp.Ticks - lastImuSample.AccelerometerTimestamp.Ticks) / 10) * 0.000001f; + imuAhrs.Update(imuSample.GyroSample.X, imuSample.GyroSample.Y, imuSample.GyroSample.Z, imuSample.AccelerometerSample.X, imuSample.AccelerometerSample.Y, imuSample.AccelerometerSample.Z); + + float[] ahrsQuat = imuAhrs.Quaternion; + imuRotation = new Quaternion(ahrsQuat[1], ahrsQuat[2], ahrsQuat[3], ahrsQuat[0]); + Quaternion transRotation = imuTurnRot2 * imuRotation * imuTurnRot1; + + if (imuAhrs.E2 < 0.0001f && Mathf.Abs(imuRotation.eulerAngles.z - prevRotZ) <= 0.1f) + { + // correct the continuous yaw, when imu doesn't move + Array.Copy(prevQuat, imuAhrs.Quaternion, prevQuat.Length); + + ahrsQuat = prevQuat; + imuRotation = new Quaternion(ahrsQuat[1], ahrsQuat[2], ahrsQuat[3], ahrsQuat[0]); + transRotation = imuTurnRot2 * imuRotation * imuTurnRot1; + + if (!imuYawAtStartSet) + { + // initial yaw + imuYawAtStartSet = true; + imuYawAtStart = new Vector3(0f, transRotation.eulerAngles.y, 0f); + imuFixAtStart = Quaternion.Inverse(Quaternion.Euler(imuYawAtStart)); + } + } + + if (imuYawAtStartSet) + { + // fix the initial yaw + transRotation = imuFixAtStart * transRotation; + } + + lock (poseFrameLock) + { + // rawPosePosition + rawPoseRotation = transRotation; + + rawPoseTimestamp = (ulong)imuSample.AccelerometerTimestamp.Ticks; + //poseFrameNumber = currentFrameNumber; + } + } + + //var onImuSample = OnImuSample; + //if(onImuSample != null) + //{ + // onImuSample.Invoke(imuSample, rawDepthTimestamp, rawColorTimestamp); + //} + } + + + //public override bool UpdateSensorData(KinectInterop.SensorData sensorData, KinectManager kinectManager) + //{ + // bool bSuccess = base.UpdateSensorData(sensorData, kinectManager); + + // if (lastFlipImuRot != flipImuRotation) + // { + // Vector3 imuRot2 = imuTurnRot2.eulerAngles; + // imuRot2.y = -imuRot2.y; + // imuTurnRot2 = Quaternion.Euler(imuRot2); + // } + + // return bSuccess; + //} + + + // gets the given camera intrinsics + private void GetCameraIntrinsics(CalibrationDeviceType camType, CameraCalibration camParams, ref KinectInterop.CameraIntrinsics intr) + { + Intrinsics camIntr = camParams.Intrinsics; + if (camIntr.Parameters.Length < 15) + throw new System.Exception("Intrinsics length is less than expected: " + camIntr.ParameterCount); + + intr = new KinectInterop.CameraIntrinsics(); + + intr.cameraType = (int)camType; + intr.width = camParams.ResolutionWidth; + intr.height = camParams.ResolutionHeight; + + // 0 float cx; + // 1 float cy; + intr.ppx = camIntr.Parameters[0]; + intr.ppy = camIntr.Parameters[1]; + + // 2 float fx; /**< Focal length x */ + // 3 float fy; /**< Focal length y */ + intr.fx = camIntr.Parameters[2]; + intr.fy = camIntr.Parameters[3]; + + // 4 float k1; + // 5 float k2; + // 6 float k3; + // 7 float k4; + // 8 float k5; + // 9 float k6; + intr.distCoeffs = new float[6]; + intr.distCoeffs[0] = camIntr.Parameters[4]; + intr.distCoeffs[1] = camIntr.Parameters[5]; + intr.distCoeffs[2] = camIntr.Parameters[6]; + intr.distCoeffs[3] = camIntr.Parameters[7]; + intr.distCoeffs[4] = camIntr.Parameters[8]; + intr.distCoeffs[5] = camIntr.Parameters[9]; + + if (camIntr.Type == CalibrationModelType.Theta) + intr.distType = KinectInterop.DistortionType.Theta; + else if (camIntr.Type == CalibrationModelType.Polynomial3K) + intr.distType = KinectInterop.DistortionType.Polynomial3K; + else if (camIntr.Type == CalibrationModelType.Rational6KT) + intr.distType = KinectInterop.DistortionType.Rational6KT; + else + intr.distType = (KinectInterop.DistortionType)camIntr.Type; + + // 10 float codx; + // 11 float cody; + intr.codx = camIntr.Parameters[10]; + intr.cody = camIntr.Parameters[11]; + + // 12 float p2; + // 13 float p1; + intr.p2 = camIntr.Parameters[12]; + intr.p1 = camIntr.Parameters[13]; + + // 14 float metric_radius; + intr.maxRadius = camIntr.Parameters[14]; + + EstimateFOV(intr); + } + + + // gets the given camera extrinsics + private void GetCameraExtrinsics(Extrinsics camExtr, ref KinectInterop.CameraExtrinsics extr) + { + extr = new KinectInterop.CameraExtrinsics(); + + extr.rotation = new float[camExtr.Rotation.Length]; + camExtr.Rotation.CopyTo(extr.rotation, 0); + + extr.translation = new float[camExtr.Translation.Length]; + camExtr.Translation.CopyTo(extr.translation, 0); + } + + + public override Vector2 MapDepthPointToColorCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal) + { + if (sensorData.depthCamIntr != null && sensorData.colorCamIntr != null && sensorData.depth2ColorExtr != null) + { + Vector3 depthSpacePos = UnprojectPoint(sensorData.depthCamIntr, depthPos, (float)depthVal); + Vector3 colorSpacePos = TransformPoint(sensorData.depth2ColorExtr, depthSpacePos); + Vector2 colorPos = ProjectPoint(sensorData.colorCamIntr, colorSpacePos); + + return colorPos; + } + + return Vector2.zero; + } + + + // unprojects plane point into the space + protected override Vector3 UnprojectPoint(KinectInterop.CameraIntrinsics intr, Vector2 pixel, float depth) + { + if (depth <= 0f) + return Vector3.zero; + + System.Numerics.Vector2 fPixel = new System.Numerics.Vector2(pixel.x, pixel.y); + System.Numerics.Vector3? fPoint = coordMapper.TransformTo3D(fPixel, depth, (CalibrationDeviceType)intr.cameraType, (CalibrationDeviceType)intr.cameraType); + Vector3 point = fPoint.HasValue ? new Vector3(fPoint.Value.X, fPoint.Value.Y, fPoint.Value.Z) : Vector3.zero; + + return point; + } + + + // projects space point onto a plane + protected override Vector2 ProjectPoint(KinectInterop.CameraIntrinsics intr, Vector3 point) + { + if (point == Vector3.zero) + return Vector2.zero; + + System.Numerics.Vector3 fPoint = new System.Numerics.Vector3(point.x, point.y, point.z); + System.Numerics.Vector2? fPixel = coordMapper.TransformTo2D(fPoint, (CalibrationDeviceType)intr.cameraType, (CalibrationDeviceType)intr.cameraType); + Vector2 pixel = fPixel.HasValue ? new Vector2(fPixel.Value.X, fPixel.Value.Y) : Vector2.zero; + + return pixel; + } + + + // transforms a point from one space to another + protected override Vector3 TransformPoint(KinectInterop.CameraExtrinsics extr, Vector3 point) + { + float toPointX = extr.rotation[0] * point.x + extr.rotation[1] * point.y + extr.rotation[2] * point.z + extr.translation[0]; + float toPointY = extr.rotation[3] * point.x + extr.rotation[4] * point.y + extr.rotation[5] * point.z + extr.translation[1]; + float toPointZ = extr.rotation[6] * point.x + extr.rotation[7] * point.y + extr.rotation[8] * point.z + extr.translation[2]; + + return new Vector3(toPointX, toPointY, toPointZ); + } + + + //public override bool MapDepthFrameToColorData(KinectInterop.SensorData sensorData, ref byte[] vColorFrameData) + //{ + // if(coordMapperTransform == null) + // { + // coordMapperTransform = coordMapper.CreateTransformation(); + // } + + // if(vColorFrameData == null) + // { + // vColorFrameData = new byte[sensorData.colorImageWidth * sensorData.colorImageHeight * sensorData.colorImageStride]; + // } + + // return false; + //} + + + //public override bool MapColorFrameToDepthData(KinectInterop.SensorData sensorData, ref ushort[] vDepthFrameData) + //{ + // return false; + //} + + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect4AzureInterface.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect4AzureInterface.cs.meta new file mode 100644 index 0000000..493e0b2 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect4AzureInterface.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: e8f864d895d4d9c4cb2a9b96bb86c08b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/RealSenseInterface.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/RealSenseInterface.cs new file mode 100644 index 0000000..1a7612d --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/RealSenseInterface.cs @@ -0,0 +1,903 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; +using Intel.RealSense; +using System.Threading; +using System; +using System.Linq; +using System.Runtime.InteropServices; +using Microsoft.Azure.Kinect.Sensor; + +namespace com.rfilkov.kinect +{ + public class RealSenseInterface : DepthSensorBase + { + [Tooltip("Color camera resolution.")] + public ColorCameraMode colorCameraMode = ColorCameraMode._640_x_480_30Fps; + public enum ColorCameraMode : int { _320_x_180_30Fps = 10, _320_x_240_30Fps = 15, _424_x_240_30Fps = 20, _640_x_360_30Fps = 30, _640_x_480_30Fps = 35, _848_x_480_30Fps = 40, _960_x_540_30Fps = 50, _1280_x_720_30Fps = 60, _1920_x_1080_30Fps = 70 } + + [Tooltip("Depth camera resolution.")] + public DepthCameraMode depthCameraMode = DepthCameraMode._640_x_480_30Fps; + public enum DepthCameraMode : int { _424_x_240_30Fps = 20, _480_x_270_30Fps = 25, _640_x_360_30Fps = 30, _640_x_480_30Fps = 35, _848_x_480_30Fps = 40, _1280_x_720_30Fps = 60 } + + + // realsense pipeline + private Pipeline m_pipeline = null; + + //public bool Streaming { get; protected set; } + private PipelineProfile activeProfile = null; + + // current frame number + //private ulong currentFrameNumber = 0; + //private ulong currentFrameTimestamp = 0; + + // stream profiles + private VideoStreamProfile depthStreamProfile = null; + private VideoStreamProfile colorStreamProfile = null; + + // raw infrared data + protected byte[] rawInfraredImage1 = null; + protected byte[] rawInfraredImage2 = null; // used by BT + protected ushort[] rawInfraredImageBT = null; + + // raw IMU data + private RealSensePoseData rsPoseData; + + // rs frame holder + protected RealSenseFrames rsFrames = new RealSenseFrames(); + + + [StructLayout(LayoutKind.Sequential)] + struct RealSensePoseData + { + public Vector3 translation; + public Vector3 velocity; + public Vector3 acceleration; + public Quaternion rotation; + public Vector3 angular_velocity; + public Vector3 angular_acceleration; + public int tracker_confidence; + public int mapper_confidence; + } + + // rs frame set + public class RealSenseFrames + { + public VideoFrame colorFrame = null; + public VideoFrame depthFrame = null; + public VideoFrame infraredFrame = null; + public PoseFrame poseFrame = null; + public ulong deviceTimestamp = 0; + + public void DisposeFrames() + { + if (colorFrame != null) + { + colorFrame.Dispose(); + colorFrame = null; + } + + if (depthFrame != null) + { + depthFrame.Dispose(); + depthFrame = null; + } + + if (infraredFrame != null) + { + infraredFrame.Dispose(); + infraredFrame = null; + } + + if (poseFrame != null) + { + poseFrame.Dispose(); + poseFrame = null; + } + } + } + + + public override KinectInterop.DepthSensorPlatform GetSensorPlatform() + { + return KinectInterop.DepthSensorPlatform.RealSense; + } + + + public override List GetAvailableSensors() + { + List alSensorInfo = new List(); + + using (var ctx = new Context()) + { + DeviceList devices = ctx.QueryDevices(); + + for(int i = 0; i < devices.Count; i++) + { + using (Intel.RealSense.Device device = devices[i]) + { + KinectInterop.SensorDeviceInfo sensorInfo = new KinectInterop.SensorDeviceInfo(); + sensorInfo.sensorId = device.Info[CameraInfo.SerialNumber]; + sensorInfo.sensorName = device.Info[CameraInfo.Name]; + + if (sensorInfo.sensorName.StartsWith("Intel RealSense D")) + sensorInfo.sensorCaps = KinectInterop.FrameSource.TypeColor | KinectInterop.FrameSource.TypeDepth | KinectInterop.FrameSource.TypeInfrared; + else if (sensorInfo.sensorName.StartsWith("Intel RealSense T")) + sensorInfo.sensorCaps = KinectInterop.FrameSource.TypePose; + else + sensorInfo.sensorCaps = KinectInterop.FrameSource.TypeNone; + + Debug.Log(string.Format(" D{0}: {1}, id: {2}", i, sensorInfo.sensorName, sensorInfo.sensorId)); + + alSensorInfo.Add(sensorInfo); + } + } + } + + //if (alSensorInfo.Count == 0) + //{ + // Debug.Log(" No sensor devices found."); + //} + + return alSensorInfo; + } + + + public override KinectInterop.SensorData OpenSensor(KinectInterop.FrameSource dwFlags, bool bSyncDepthAndColor, bool bSyncBodyAndDepth) + { + // save initial parameters + base.OpenSensor(dwFlags, bSyncDepthAndColor, bSyncBodyAndDepth); + + // color settings + int colorWidth = 0, colorHeight = 0, colorFps = 0; + ParseCameraMode(colorCameraMode.ToString(), out colorWidth, out colorHeight, out colorFps); + + // depth settings + int depthWidth = 0, depthHeight = 0, depthFps = 0; + ParseCameraMode(colorCameraMode.ToString(), out depthWidth, out depthHeight, out depthFps); + + try + { + m_pipeline = new Pipeline(); + + using (Config config = new Config()) + { + if(deviceStreamingMode == KinectInterop.DeviceStreamingMode.PlayRecording) + { + if (string.IsNullOrEmpty(recordingFile)) + { + Debug.LogError("PlayRecording selected, but the path to recording file is missing."); + return null; + } + + if(!System.IO.File.Exists(recordingFile)) + { + Debug.LogError("PlayRecording selected, but the recording file cannot be found: " + recordingFile); + return null; + } + + // playback from file + Debug.Log("Playing back: " + recordingFile); + config.EnableDeviceFromFile(recordingFile, false); + } + else + { + // get the list of available sensors + List alSensors = GetAvailableSensors(); + if (deviceIndex >= alSensors.Count) + { + Debug.Log(" D" + deviceIndex + " is not available. You can set the device index to -1, to disable it."); + return null; + } + + // sensor serial number + string sensorId = alSensors[deviceIndex].sensorId; + config.EnableDevice(sensorId); + + // color + if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0) + { + config.EnableStream(Stream.Color, -1, colorWidth, colorHeight, Format.Rgb8, colorFps); + } + + // depth + if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0) + { + config.EnableStream(Stream.Depth, -1, depthWidth, depthHeight, Format.Z16, depthFps); + } + + // infrared + if ((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0 || (dwFlags & KinectInterop.FrameSource.TypeBody) != 0) + { + config.EnableStream(Stream.Infrared, 1, depthWidth, depthHeight, Format.Y8, depthFps); + //config.EnableStream(Stream.Infrared, 2, depthWidth, depthHeight, Format.Y8, depthFps); + } + + // pose + if ((dwFlags & KinectInterop.FrameSource.TypePose) != 0) + { + config.EnableStream(Stream.Pose, Format.SixDOF); + } + + //// record to file + //if(deviceMode == KinectInterop.DepthSensorMode.CreateRecording && !string.IsNullOrEmpty(deviceFilePath)) + //{ + // if (!string.IsNullOrEmpty(deviceFilePath)) + // { + // config.EnableRecordToFile(deviceFilePath); + // } + // else + // { + // Debug.LogError("Record selected, but the path to recording file is missing."); + // } + //} + } + + activeProfile = m_pipeline.Start(config); + } + } + catch (Exception ex) + { + Debug.LogError("RealSenseInterface: " + ex.Message); + } + + // check if the profile was successfully created + if(activeProfile == null) + return null; + + KinectInterop.SensorData sensorData = new KinectInterop.SensorData(); + + // flip color & depth images vertically + sensorData.colorImageScale = new Vector3(-1f, -1f, 1f); + sensorData.depthImageScale = new Vector3(-1f, -1f, 1f); + sensorData.infraredImageScale = new Vector3(-1f, -1f, 1f); + sensorData.sensorSpaceScale = new Vector3(-1f, -1f, 1f); + + // depth camera offset & matrix z-flip + sensorRotOffset = Vector3.zero; // if for instance the depth camera is tilted downwards + sensorRotFlipZ = true; + sensorRotIgnoreY = false; + + // color + sensorData.colorImageWidth = colorWidth; + sensorData.colorImageHeight = colorHeight; + + sensorData.colorImageFormat = TextureFormat.RGB24; + sensorData.colorImageStride = 3; // 3 bytes per pixel + + if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0) + { + rawColorImage = new byte[sensorData.colorImageWidth * sensorData.colorImageHeight * 3]; + + sensorData.colorImageTexture = new Texture2D(sensorData.colorImageWidth, sensorData.colorImageHeight, TextureFormat.RGB24, false); + sensorData.colorImageTexture.wrapMode = TextureWrapMode.Clamp; + sensorData.colorImageTexture.filterMode = FilterMode.Point; + } + + // depth + sensorData.depthImageWidth = depthWidth; + sensorData.depthImageHeight = depthHeight; + + if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0) + { + rawDepthImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight]; + sensorData.depthImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight]; + } + + // infrared + if ((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0 || (dwFlags & KinectInterop.FrameSource.TypeBody) != 0) + { + rawInfraredImage1 = new byte[sensorData.depthImageWidth * sensorData.depthImageHeight]; + rawInfraredImage2 = new byte[sensorData.depthImageWidth * sensorData.depthImageHeight]; + rawInfraredImageBT = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight]; + + rawInfraredImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight]; + sensorData.infraredImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight]; + + minInfraredValue = 0f; + maxInfraredValue = 1000f; + } + + Debug.Log("RealSense-sensor opened"); + + return sensorData; + } + + + // parses the given camera mode and returns width, height and fps + private void ParseCameraMode(string sCameraMode, out int camWidth, out int camHeight, out int camFps) + { + camWidth = camHeight = camFps = 0; + + if (string.IsNullOrEmpty(sCameraMode)) + throw new Exception("Invalid camera mode" + sCameraMode); + + // _640_x_360_30Fps + string[] asModeParts = sCameraMode.Split("_".ToCharArray()); + if(asModeParts.Length != 5) + throw new Exception("Invalid camera mode" + sCameraMode); + + camWidth = int.Parse(asModeParts[1]); + camHeight = int.Parse(asModeParts[3]); + + int iF = asModeParts[4].IndexOf('F'); + if (iF >= 0) + asModeParts[4] = asModeParts[4].Substring(0, iF); + + camFps = int.Parse(asModeParts[4]); + } + + + public override void CloseSensor(KinectInterop.SensorData sensorData) + { + base.CloseSensor(sensorData); + + if (activeProfile != null) + { + activeProfile.Dispose(); + activeProfile = null; + } + + if (m_pipeline != null) + { + m_pipeline.Dispose(); + m_pipeline = null; + } + + Debug.Log("RealSense-sensor closed"); + } + + + public override void PollSensorFrames(KinectInterop.SensorData sensorData) + { + FrameSet frames; + if (m_pipeline.PollForFrames(out frames)) + { + //using (frames) + // RaiseSampleEvent(frames); + + using (frames) + { + try + { + rsFrames.colorFrame = frames.ColorFrame; + rsFrames.depthFrame = frames.DepthFrame; + rsFrames.infraredFrame = frames.InfraredFrame; + rsFrames.poseFrame = frames.PoseFrame; + rsFrames.deviceTimestamp = (ulong)(frames.Timestamp * 1000.0); + + //currentFrameNumber = frames.Number; + //currentFrameTimestamp = (ulong)(frames.Timestamp * 1000.0); + + // check for color-depth sync + if(!isSyncDepthAndColor || (rsFrames.colorFrame != null && rsFrames.depthFrame != null)) + { + ProcessCameraFrames(sensorData, rsFrames); + } + + rsFrames.DisposeFrames(); + //pipelineFrameNumber++; + } + catch (Exception e) + { + Debug.LogException(e); + } + } + } + } + + private void ProcessCameraFrames(KinectInterop.SensorData sensorData, RealSenseFrames frames) + { + Capture btCapture = null; + if (bodyTracker != null) + { + // body frame + if (frames.depthFrame != null && frames.infraredFrame != null) + { + Capture capture = GetBodyTrackerCapture(sensorData, frames); + btCapture = PollBodyFrame(sensorData, capture); + capture?.Dispose(); + } + } + + // check for body & depth sync + if (!isSyncBodyAndDepth || btCapture != null || bodyTracker == null) + { + if(isSyncBodyAndDepth && btCapture != null) + { + // body-tracker frame + if (btCapture.Color != null && rawColorImage != null && rawColorTimestamp == sensorData.lastColorFrameTime) + { + lock (colorFrameLock) + { + //btCapture.Color.CopyBytesTo(rawColorImage, 0, 0, rawColorImage.Length); + KinectInterop.CopyBytes(btCapture.Color.GetBuffer(), (int)btCapture.Color.Size, rawColorImage, rawColorImage.Length, sizeof(byte)); + rawColorTimestamp = (ulong)btCapture.Color.DeviceTimestamp.Ticks; + //Debug.Log("RawColorTimestamp: " + rawColorTimestamp); + } + } + + if (btCapture.Depth != null && rawDepthImage != null && rawDepthTimestamp == sensorData.lastDepthFrameTime) + { + lock (depthFrameLock) + { + //btCapture.Depth.CopyTo(rawDepthImage, 0, 0, rawDepthImage.Length); + KinectInterop.CopyBytes(btCapture.Depth.GetBuffer(), (int)btCapture.Depth.Size, rawDepthImage, rawDepthImage.Length, sizeof(ushort)); + rawDepthTimestamp = (ulong)btCapture.Depth.DeviceTimestamp.Ticks; + //Debug.Log("RawDepthTimestamp: " + rawDepthTimestamp); + } + } + + if (btCapture.IR != null && rawInfraredImage != null && rawInfraredTimestamp == sensorData.lastInfraredFrameTime) + { + lock (infraredFrameLock) + { + //btCapture.IR.CopyTo(rawInfraredImage, 0, 0, rawInfraredImage.Length); + KinectInterop.CopyBytes(btCapture.IR.GetBuffer(), (int)btCapture.IR.Size, rawInfraredImage, rawInfraredImage.Length, sizeof(ushort)); + rawInfraredTimestamp = (ulong)btCapture.IR.DeviceTimestamp.Ticks; + //Debug.Log("RawInfraredTimestamp: " + rawInfraredTimestamp); + } + } + } + else + { + // sensor frame + if (frames.colorFrame != null && rawColorImage != null && rawColorTimestamp == sensorData.lastColorFrameTime) + { + lock (colorFrameLock) + { + KinectInterop.CopyBytes(frames.colorFrame.Data, rawColorImage.Length, rawColorImage, rawColorImage.Length, sizeof(byte)); + rawColorTimestamp = frames.deviceTimestamp; + //Debug.Log("RawColorTimestamp: " + rawColorTimestamp); + } + } + + if (frames.depthFrame != null && rawDepthImage != null && rawDepthTimestamp == sensorData.lastDepthFrameTime) + { + lock (depthFrameLock) + { + frames.depthFrame.CopyTo(rawDepthImage); + rawDepthTimestamp = frames.deviceTimestamp; + //Debug.Log("RawDepthTimestamp: " + rawDepthTimestamp); + } + } + + if (frames.infraredFrame != null && rawInfraredImage != null && rawInfraredTimestamp == sensorData.lastInfraredFrameTime) + { + lock (infraredFrameLock) + { + frames.infraredFrame.CopyTo(rawInfraredImage1); + for (int i = 0; i < rawInfraredImage1.Length; i++) + { + rawInfraredImage[i] = (ushort)(rawInfraredImage1[i] << 4); + } + + rawInfraredTimestamp = frames.deviceTimestamp; + //Debug.Log("RawInfraredTimestamp: " + rawInfraredTimestamp); + } + } + } + } + + // color & depth stream profiles + if(frames.colorFrame != null) + { + colorStreamProfile = frames.colorFrame.Profile.As(); + } + + if(frames.depthFrame != null) + { + depthStreamProfile = frames.depthFrame.Profile.As(); + } + + // dispose body capture + if (btCapture != null) + { + btCapture.Dispose(); + } + + // check for pose frame + if (frames.poseFrame != null) + { + frames.poseFrame.CopyTo(out rsPoseData); + + lock (poseFrameLock) + { + rawPosePosition = new Vector3(rsPoseData.translation.x, rsPoseData.translation.y, -rsPoseData.translation.z); // (1, 1, -1) + rawPoseRotation = new Quaternion(-rsPoseData.rotation.x, -rsPoseData.rotation.y, rsPoseData.rotation.z, rsPoseData.rotation.w); // (-1, -1, 1, 1); + + rawPoseTimestamp = frames.deviceTimestamp; + //Debug.Log("RawPoseTimestamp: " + rawPoseTimestamp); + } + } + } + + + // converts the raw image data to capture + protected Capture GetBodyTrackerCapture(KinectInterop.SensorData sensorData, RealSenseFrames rsFrames) + { + Capture capture = new Capture(); + + int depthW = sensorData.depthImageWidth; + int depthH = sensorData.depthImageHeight; + + if (rsFrames.colorFrame != null && rawColorImage != null) + { + Image colorImage = new Image(ImageFormat.ColorBGRA32, sensorData.colorImageWidth, sensorData.colorImageHeight, sensorData.colorImageWidth * 4); + KinectInterop.CopyBytes(rsFrames.colorFrame.Data, colorImage.GetBuffer(), rawColorImage.Length); + colorImage.DeviceTimestamp = TimeSpan.FromTicks((long)rsFrames.deviceTimestamp); + capture.Color = colorImage; + } + + if (rsFrames.depthFrame != null && rawDepthImage != null) + { + Image depthImage = new Image(ImageFormat.Depth16, depthW, depthH, depthW * sizeof(ushort)); + KinectInterop.CopyBytes(rsFrames.depthFrame.Data, depthImage.GetBuffer(), rawDepthImage.Length * sizeof(ushort)); + depthImage.DeviceTimestamp = TimeSpan.FromTicks((long)rsFrames.deviceTimestamp); + capture.Depth = depthImage; + } + + if (rsFrames.infraredFrame != null && rawInfraredImage2 != null && rawInfraredImageBT != null) + { + Image infraredFrame = new Image(ImageFormat.IR16, depthW, depthH, depthW * sizeof(ushort)); + rsFrames.infraredFrame.CopyTo(rawInfraredImage2); + + for (int i = 0; i < rawInfraredImage2.Length; i++) + { + rawInfraredImageBT[i] = (ushort)(rawInfraredImage2[i] << 4); + } + + KinectInterop.CopyBytes(rawInfraredImageBT, rawInfraredImageBT.Length, sizeof(ushort), infraredFrame.GetBuffer(), (int)infraredFrame.Size); + infraredFrame.DeviceTimestamp = TimeSpan.FromTicks((long)rsFrames.deviceTimestamp); + capture.IR = infraredFrame; + } + + return capture; + } + + + public override bool UpdateSensorData(KinectInterop.SensorData sensorData, KinectManager kinectManager, bool isPlayMode) + { + base.UpdateSensorData(sensorData, kinectManager, isPlayMode); + + if(sensorData.colorCamIntr == null && colorStreamProfile != null) + { + lock (colorFrameLock) + { + Intel.RealSense.Intrinsics colorCamIntr = colorStreamProfile.GetIntrinsics(); + + if (colorCamIntr.model != Distortion.None) + { + GetCameraIntrinsics(colorCamIntr, ref sensorData.colorCamIntr); + } + } + } + + if (sensorData.depthCamIntr == null && depthStreamProfile != null) + { + lock (depthFrameLock) + { + Intel.RealSense.Intrinsics depthCamIntr = depthStreamProfile.GetIntrinsics(); + //Debug.Log("RS distType: " + depthCamIntr.model); + + if (depthCamIntr.model != Distortion.None || deviceStreamingMode == KinectInterop.DeviceStreamingMode.PlayRecording) + { + GetCameraIntrinsics(depthCamIntr, ref sensorData.depthCamIntr); + + if (depthCamIntr.model == Distortion.None && deviceStreamingMode == KinectInterop.DeviceStreamingMode.PlayRecording) + { + // workaround for playback mode (model & coeffs are missing there) + sensorData.depthCamIntr.distType = KinectInterop.DistortionType.BrownConrady; + } + + // body & body-index data + if ((frameSourceFlags & KinectInterop.FrameSource.TypeBody) != 0 && depthCamIntr.width == 640 && depthCamIntr.height == 480) + { + Calibration cal = GetBodyTrackerCalibration(sensorData.depthCamIntr); + InitBodyTracking(frameSourceFlags, sensorData, cal, true); + } + } + } + } + + if(sensorData.depth2ColorExtr == null && depthStreamProfile != null && colorStreamProfile != null) + { + lock (depthFrameLock) + { + lock (colorFrameLock) + { + Intel.RealSense.Extrinsics depth2ColorExtr = depthStreamProfile.GetExtrinsicsTo(colorStreamProfile); + GetCameraExtrinsics(depth2ColorExtr, ref sensorData.depth2ColorExtr); + } + } + } + + if (sensorData.color2DepthExtr == null && colorStreamProfile != null && depthStreamProfile != null) + { + lock (colorFrameLock) + { + lock (depthFrameLock) + { + Intel.RealSense.Extrinsics color2DepthExtr = colorStreamProfile.GetExtrinsicsTo(depthStreamProfile); + GetCameraExtrinsics(color2DepthExtr, ref sensorData.color2DepthExtr); + } + } + } + + return true; + } + + + // gets the given camera intrinsics + private void GetCameraIntrinsics(Intel.RealSense.Intrinsics camIntr, ref KinectInterop.CameraIntrinsics intr) + { + intr = new KinectInterop.CameraIntrinsics(); + + intr.width = camIntr.width; + intr.height = camIntr.height; + + intr.ppx = camIntr.ppx; + intr.ppy = camIntr.ppy; + + intr.fx = camIntr.fx; + intr.fy = camIntr.fy; + + intr.distCoeffs = new float[camIntr.coeffs.Length]; + camIntr.coeffs.CopyTo(intr.distCoeffs, 0); + + intr.distType = (KinectInterop.DistortionType)camIntr.model; + + EstimateFOV(intr); + } + + + // gets the given camera extrinsics + private void GetCameraExtrinsics(Intel.RealSense.Extrinsics camExtr, ref KinectInterop.CameraExtrinsics extr) + { + extr = new KinectInterop.CameraExtrinsics(); + + extr.rotation = new float[camExtr.rotation.Length]; + camExtr.rotation.CopyTo(extr.rotation, 0); + + extr.translation = new float[camExtr.translation.Length]; + camExtr.translation.CopyTo(extr.translation, 0); + } + + + // unprojects plane point into the space + protected override Vector3 UnprojectPoint(KinectInterop.CameraIntrinsics intr, Vector2 pixel, float depth) + { + float x = (pixel.x - intr.ppx) / intr.fx; + float y = (pixel.y - intr.ppy) / intr.fy; + + if (intr.distType == KinectInterop.DistortionType.InverseBrownConrady) + { + float r2 = x * x + y * y; + float f = 1 + intr.distCoeffs[0] * r2 + intr.distCoeffs[1] * r2 * r2 + intr.distCoeffs[4] * r2 * r2 * r2; + + float ux = x * f + 2 * intr.distCoeffs[2] * x * y + intr.distCoeffs[3] * (r2 + 2 * x * x); + float uy = y * f + 2 * intr.distCoeffs[3] * x * y + intr.distCoeffs[2] * (r2 + 2 * y * y); + + x = ux; + y = uy; + } + + Vector3 point = new Vector3(depth * x, depth * y, depth); + + return point; + } + + + // projects space point onto a plane + protected override Vector2 ProjectPoint(KinectInterop.CameraIntrinsics intr, Vector3 point) + { + float x = point.x / point.z; + float y = point.y / point.z; + + if (intr.distType == KinectInterop.DistortionType.ModifiedBrownConrady) + { + float r2 = x * x + y * y; + float f = 1f + intr.distCoeffs[0] * r2 + intr.distCoeffs[1] * r2 * r2 + intr.distCoeffs[4] * r2 * r2 * r2; + + x *= f; + y *= f; + + float dx = x + 2f * intr.distCoeffs[2] * x * y + intr.distCoeffs[3] * (r2 + 2 * x * x); + float dy = y + 2f * intr.distCoeffs[3] * x * y + intr.distCoeffs[2] * (r2 + 2 * y * y); + + x = dx; + y = dy; + } + + if (intr.distType == KinectInterop.DistortionType.Theta) + { + float r = (float)Math.Sqrt(x * x + y * y); + float rd = (1f / intr.distCoeffs[0] * (float)Math.Atan(2f * r * (float)Math.Tan(intr.distCoeffs[0] / 2f))); + + x *= rd / r; + y *= rd / r; + } + + Vector2 pixel = new Vector2(x * intr.fx + intr.ppx, y * intr.fy + intr.ppy); + + return pixel; + } + + + // transforms a point from one space to another + protected override Vector3 TransformPoint(KinectInterop.CameraExtrinsics extr, Vector3 point) + { + float toPointX = extr.rotation[0] * point.x + extr.rotation[3] * point.y + extr.rotation[6] * point.z + extr.translation[0]; + float toPointY = extr.rotation[1] * point.x + extr.rotation[4] * point.y + extr.rotation[7] * point.z + extr.translation[1]; + float toPointZ = extr.rotation[2] * point.x + extr.rotation[5] * point.y + extr.rotation[8] * point.z + extr.translation[2]; + + return new Vector3(toPointX, toPointY, toPointZ); + } + + + public override void PollCoordTransformFrames(KinectInterop.SensorData sensorData) + { + if (lastDepthCoordFrameTime != rawDepthTimestamp) + { + lastDepthCoordFrameTime = rawDepthTimestamp; + + // depth2color frame + if (depth2ColorDataFrame != null) + { + lock (depth2ColorFrameLock) + { + TransformDepthFrameToColorFrame(sensorData, depth2ColorDataFrame); + + lastDepth2ColorFrameTime = lastDepthCoordFrameTime; + //Debug.Log("Depth2ColorFrameTime: " + lastDepth2ColorFrameTime); + } + } + + // color2depth frame + if (color2DepthDataFrame != null) + { + lock (color2DepthFrameLock) + { + TransformColorFrameToDepthFrame(sensorData, color2DepthDataFrame); + + lastColor2DepthFrameTime = lastDepthCoordFrameTime; + //Debug.Log("Color2DepthFrameTime: " + lastColor2DepthFrameTime); + } + } + } + } + + + // transforms the depth frame to depth-aligned color frame + protected bool TransformDepthFrameToColorFrame(KinectInterop.SensorData sensorData, byte[] d2cColorFrame) + { + if (rawDepthImage != null && rawColorImage != null && sensorData.depthCamIntr != null && sensorData.colorCamIntr != null && sensorData.depth2ColorExtr != null) + { + int depthImageW = sensorData.depthImageWidth; + int depthImageH = sensorData.depthImageHeight; + + int colorImageW = sensorData.colorImageWidth; + int colorImageS = sensorData.colorImageStride; + + int mapImageLen = depthImageW * depthImageH * colorImageS; + if (d2cColorFrame == null || d2cColorFrame.Length != mapImageLen) + { + throw new Exception("d2cColorFrame is not big enough. Should be " + mapImageLen + " bytes."); + } + + for (int dy = 0, dIndex = 0, d2cIndex = 0; dy < depthImageH; dy++) + { + for (int dx = 0; dx < depthImageW; dx++, dIndex++, d2cIndex += colorImageS) + { + ushort depthVal = rawDepthImage[dIndex]; + + if (depthVal != 0) + { + Vector2 depthPos = new Vector2(dx, dy); + + Vector3 depthSpacePos = UnprojectPoint(sensorData.depthCamIntr, depthPos, (float)depthVal / 1000f); + Vector3 colorSpacePos = TransformPoint(sensorData.depth2ColorExtr, depthSpacePos); + Vector2 colorFramePos = ProjectPoint(sensorData.colorCamIntr, colorSpacePos); + + int cIndex = ((int)colorFramePos.x + (int)colorFramePos.y * colorImageW) * colorImageS; + + if (cIndex >= 0 && (cIndex + colorImageS - 1) < rawColorImage.Length) + { + d2cColorFrame[d2cIndex] = rawColorImage[cIndex]; + d2cColorFrame[d2cIndex + 1] = rawColorImage[cIndex + 1]; + d2cColorFrame[d2cIndex + 2] = rawColorImage[cIndex + 2]; + //d2cColorFrame[d2cIndex + 3] = 255; + } + } + else + { + d2cColorFrame[d2cIndex] = 0; + d2cColorFrame[d2cIndex + 1] = 0; + d2cColorFrame[d2cIndex + 2] = 0; + //d2cColorFrame[d2cIndex + 3] = 0; + } + } + } + + return true; + } + + return false; + } + + + // transforms the color frame to color-aligned depth frame + protected bool TransformColorFrameToDepthFrame(KinectInterop.SensorData sensorData, ushort[] c2dDepthFrame) + { + if (rawDepthImage != null && rawColorImage != null && sensorData.depthCamIntr != null && sensorData.colorCamIntr != null && sensorData.depth2ColorExtr != null) + { + int depthImageW = sensorData.depthImageWidth; + int depthImageH = sensorData.depthImageHeight; + + int colorImageW = sensorData.colorImageWidth; + int colorImageH = sensorData.colorImageHeight; + + int mapImageLen = sensorData.colorImageWidth * sensorData.colorImageHeight; + if (c2dDepthFrame == null || c2dDepthFrame.Length != mapImageLen) + { + throw new Exception("c2dDepthFrame is not big enough. Should be " + mapImageLen + " ushorts."); + } + + //Intrinsics depthIntr = depthStreamProfile.GetIntrinsics(); + //Intrinsics colorIntr = colorStreamProfile.GetIntrinsics(); + //Extrinsics d2cExtr = depthStreamProfile.GetExtrinsicsTo(colorStreamProfile); + + for (int dy = 0, dIndex = 0; dy < depthImageH; dy++) + { + for (int dx = 0; dx < depthImageW; dx++, dIndex++) + { + ushort depthVal = sensorData.depthImage[dIndex]; + + if (depthVal != 0) + { + float depth = (float)depthVal / 1000f; + + Vector2 depthPos1 = new Vector2(dx - 0.5f, dy - 0.5f); + Vector3 depthSpacePos1 = UnprojectPoint(sensorData.depthCamIntr, depthPos1, depth); + Vector3 colorSpacePos1 = TransformPoint(sensorData.depth2ColorExtr, depthSpacePos1); + Vector2 colorPos1 = ProjectPoint(sensorData.colorCamIntr, colorSpacePos1); + + int colorPos1X = Mathf.RoundToInt(colorPos1.x); + int colorPos1Y = Mathf.RoundToInt(colorPos1.y); + + Vector2 depthPos2 = new Vector2(dx + 0.5f, dy + 0.5f); + Vector3 depthSpacePos2 = UnprojectPoint(sensorData.depthCamIntr, depthPos2, depth); + Vector3 colorSpacePos2 = TransformPoint(sensorData.depth2ColorExtr, depthSpacePos2); + Vector2 colorPos2 = ProjectPoint(sensorData.colorCamIntr, colorSpacePos2); + + int colorPos2X = Mathf.RoundToInt(colorPos2.x); + int colorPos2Y = Mathf.RoundToInt(colorPos2.y); + + if (colorPos1X < 0 || colorPos1Y < 0 || colorPos2X >= colorImageW || colorPos2Y >= colorImageH) + continue; + + for (int y = colorPos1Y; y <= colorPos2Y; y++) + { + int cIndex = y * colorImageW + colorPos1X; + + for (int x = colorPos1X; x <= colorPos2X; x++, cIndex++) + { + c2dDepthFrame[cIndex] = depthVal; + } + } + } + else + { + //c2dDepthFrame[cIndex] = 0; + } + } + } + + return true; + } + + return false; + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/RealSenseInterface.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/RealSenseInterface.cs.meta new file mode 100644 index 0000000..a57b125 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Interfaces/RealSenseInterface.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 3c9bb53fec8f7ee47a021adfdc0ec203 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectGestureManager.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectGestureManager.cs new file mode 100644 index 0000000..5ee1845 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectGestureManager.cs @@ -0,0 +1,2100 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace com.rfilkov.kinect +{ + /// + /// This interface needs to be implemented by all Kinect gesture listeners + /// + public interface GestureListenerInterface + { + /// + /// Invoked when a new user is detected. Here you can start gesture tracking by invoking KinectManager.DetectGesture()-function. + /// + /// User ID + /// User index + void UserDetected(ulong userId, int userIndex); + + /// + /// Invoked when a user gets lost. All tracked gestures for this user are cleared automatically. + /// + /// User ID + /// User index + void UserLost(ulong userId, int userIndex); + + /// + /// Invoked when a gesture is in progress. + /// + /// User ID + /// User index + /// Gesture type + /// Gesture progress [0..1] + /// Joint type + /// Normalized viewport position + void GestureInProgress(ulong userId, int userIndex, GestureType gesture, float progress, + KinectInterop.JointType joint, Vector3 screenPos); + + /// + /// Invoked if a gesture is completed. + /// + /// true, if the gesture detection must be restarted, false otherwise. + /// User ID + /// User index + /// Gesture type + /// Joint type + /// Normalized viewport position + bool GestureCompleted(ulong userId, int userIndex, GestureType gesture, + KinectInterop.JointType joint, Vector3 screenPos); + + /// + /// Invoked if a gesture is cancelled. + /// + /// true, if the gesture detection must be retarted, false otherwise. + /// User ID + /// User index + /// Gesture type + /// Joint type + bool GestureCancelled(ulong userId, int userIndex, GestureType gesture, + KinectInterop.JointType joint); + } + + + /// + /// Kinect gesture types. + /// + public enum GestureType + { + None = 0, + RaiseRightHand, + RaiseLeftHand, + Psi, + Tpose, + Stop, + Wave, + SwipeLeft, + SwipeRight, + SwipeUp, + SwipeDown, + ZoomIn, + ZoomOut, + Wheel, + Jump, + Squat, + Push, + Pull, + ShoulderLeftFront, + ShoulderRightFront, + LeanLeft, + LeanRight, + LeanForward, + LeanBack, + KickLeft, + KickRight, + Run, + + RaisedRightHorizontalLeftHand, // by Andrzej W + RaisedLeftHorizontalRightHand, + + TouchRightElbow, // suggested by Nayden N. + TouchLeftElbow, + + UserGesture1 = 101, + UserGesture2 = 102, + UserGesture3 = 103, + UserGesture4 = 104, + UserGesture5 = 105, + UserGesture6 = 106, + UserGesture7 = 107, + UserGesture8 = 108, + UserGesture9 = 109, + UserGesture10 = 110, + } + + + /// + /// Kinect gesture manager is the component that tracks and processes the user gestures. + /// + public class KinectGestureManager : MonoBehaviour + { + + /// + /// Programmatic gesture data container. + /// + public struct GestureData + { + public ulong userId; + public GestureType gesture; + public int state; + public float timestamp; + public int joint; + public Vector3 jointPos; + public Vector3 screenPos; + public float tagFloat; + public Vector3 tagVector; + public Vector3 tagVector2; + public float progress; + public bool complete; + public bool cancelled; + public List checkForGestures; + public float startTrackingAtTime; + } + + + [Tooltip("Minimum time between gesture detections (in seconds).")] + public float minTimeBetweenGestures = 0.7f; + + [Tooltip("List of the gesture listeners in the scene. If the list is empty, the available gesture listeners will be detected at the scene start up.")] + public List gestureListeners = new List(); + + [Tooltip("UI-Text to display the status of the currently tracked gestures.")] + public UnityEngine.UI.Text gestureDebugText; + + + // Gesture related constants, variables and functions + protected int leftHandIndex; + protected int rightHandIndex; + + protected int leftFingerIndex; + protected int rightFingerIndex; + + protected int leftElbowIndex; + protected int rightElbowIndex; + + protected int leftShoulderIndex; + protected int rightShoulderIndex; + + protected int leftClavicleIndex; + protected int rightClavicleIndex; + + protected int hipCenterIndex; + protected int neckIndex; + + protected int leftHipIndex; + protected int rightHipIndex; + + protected int leftKneeIndex; + protected int rightKneeIndex; + + protected int leftAnkleIndex; + protected int rightAnkleIndex; + + // gestures data and parameters + protected Dictionary> playerGesturesData = new Dictionary>(); + protected Dictionary gesturesTrackingAtTime = new Dictionary(); + + + /// + /// Adds a gesture to the list of detected gestures for the specified user. + /// + /// User ID + /// Gesture type + public void DetectGesture(ulong UserId, GestureType gesture) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : new List(); + int index = GetGestureIndex(gesture, ref gesturesData); + + if (index >= 0) + { + DeleteGesture(UserId, gesture); + } + + GestureData gestureData = new GestureData(); + + gestureData.userId = UserId; + gestureData.gesture = gesture; + gestureData.state = 0; + gestureData.joint = 0; + gestureData.progress = 0f; + gestureData.complete = false; + gestureData.cancelled = false; + + gestureData.checkForGestures = new List(); + switch (gesture) + { + case GestureType.ZoomIn: + gestureData.checkForGestures.Add(GestureType.ZoomOut); + gestureData.checkForGestures.Add(GestureType.Wheel); + break; + + case GestureType.ZoomOut: + gestureData.checkForGestures.Add(GestureType.ZoomIn); + gestureData.checkForGestures.Add(GestureType.Wheel); + break; + + case GestureType.Wheel: + gestureData.checkForGestures.Add(GestureType.ZoomIn); + gestureData.checkForGestures.Add(GestureType.ZoomOut); + break; + } + + gesturesData.Add(gestureData); + playerGesturesData[UserId] = gesturesData; + + if (!gesturesTrackingAtTime.ContainsKey(UserId)) + { + gesturesTrackingAtTime[UserId] = 0f; + } + } + + /// + /// Resets the gesture state for the given gesture of the specified user. + /// + /// true, if gesture was reset, false otherwise. + /// User ID + /// Gesture type + public bool ResetGesture(ulong UserId, GestureType gesture) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1; + if (index < 0) + return false; + + GestureData gestureData = gesturesData[index]; + + gestureData.state = 0; + gestureData.joint = 0; + gestureData.progress = 0f; + gestureData.complete = false; + gestureData.cancelled = false; + gestureData.startTrackingAtTime = Time.realtimeSinceStartup + KinectInterop.Constants.MinTimeBetweenSameGestures; + + gesturesData[index] = gestureData; + playerGesturesData[UserId] = gesturesData; + + return true; + } + + /// + /// Resets the gesture states for all gestures of the specified user. + /// + /// User ID + public void ResetPlayerGestures(ulong UserId) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + + if (gesturesData != null) + { + int listSize = gesturesData.Count; + + for (int i = 0; i < listSize; i++) + { + ResetGesture(UserId, gesturesData[i].gesture); + } + } + } + + /// + /// Deletes the gesture for the specified user. + /// + /// true, if gesture was deleted, false otherwise. + /// User ID + /// Gesture type + public bool DeleteGesture(ulong UserId, GestureType gesture) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1; + if (index < 0) + return false; + + gesturesData.RemoveAt(index); + playerGesturesData[UserId] = gesturesData; + + return true; + } + + /// + /// Deletes all gestures for the specified user. + /// + /// User ID + public void ClearUserGestures(ulong UserId) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + + if (gesturesData != null) + { + gesturesData.Clear(); + playerGesturesData[UserId] = gesturesData; + } + } + + /// + /// Gets the list of gestures for the specified user. + /// + /// The gestures list. + /// User ID + public List GetGesturesList(ulong UserId) + { + List list = new List(); + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + + if (gesturesData != null) + { + foreach (GestureData data in gesturesData) + list.Add(data.gesture); + } + + return list; + } + + /// + /// Gets the gestures count for the specified user. + /// + /// The gestures count. + /// User ID + public int GetGesturesCount(ulong UserId) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + + if (gesturesData != null) + { + return gesturesData.Count; + } + + return 0; + } + + /// + /// Gets the gesture at the specified index for the given user. + /// + /// The gesture at specified index. + /// User ID + /// Index + public GestureType GetGestureAtIndex(ulong UserId, int i) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + + if (gesturesData != null) + { + if (i >= 0 && i < gesturesData.Count) + { + return gesturesData[i].gesture; + } + } + + return GestureType.None; + } + + /// + /// Determines whether the given gesture is in the list of gestures for the specified user. + /// + /// true if the gesture is in the list of gestures for the specified user; otherwise, false. + /// User ID + /// Gesture type + public bool IsTrackingGesture(ulong UserId, GestureType gesture) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1; + + return index >= 0; + } + + /// + /// Determines whether the given gesture for the specified user is complete. + /// + /// true if the gesture is complete; otherwise, false. + /// User ID + /// Gesture type + /// If set to true, resets the gesture state. + public bool IsGestureComplete(ulong UserId, GestureType gesture, bool bResetOnComplete) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1; + + if (index >= 0) + { + GestureData gestureData = gesturesData[index]; + + if (bResetOnComplete && gestureData.complete) + { + ResetPlayerGestures(UserId); + return true; + } + + return gestureData.complete; + } + + return false; + } + + /// + /// Determines whether the given gesture for the specified user is canceled. + /// + /// true if the gesture is canceled; otherwise, false. + /// User ID + /// Gesture type + public bool IsGestureCancelled(ulong UserId, GestureType gesture) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1; + + if (index >= 0) + { + GestureData gestureData = gesturesData[index]; + return gestureData.cancelled; + } + + return false; + } + + /// + /// Gets the progress (in range [0, 1]) of the given gesture for the specified user. + /// + /// The gesture progress. + /// User ID + /// Gesture type + public float GetGestureProgress(ulong UserId, GestureType gesture) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1; + + if (index >= 0) + { + GestureData gestureData = gesturesData[index]; + return gestureData.progress; + } + + return 0f; + } + + /// + /// Gets the normalized screen position of the given gesture for the specified user. + /// + /// The normalized screen position. + /// User ID + /// Gesture type + public Vector3 GetGestureScreenPos(ulong UserId, GestureType gesture) + { + List gesturesData = playerGesturesData.ContainsKey(UserId) ? playerGesturesData[UserId] : null; + int index = gesturesData != null ? GetGestureIndex(gesture, ref gesturesData) : -1; + + if (index >= 0) + { + GestureData gestureData = gesturesData[index]; + return gestureData.screenPos; + } + + return Vector3.zero; + } + + + /// + /// Locate the available gesture listeners. + /// + public void RefreshGestureListeners() + { + gestureListeners.Clear(); + + MonoBehaviour[] monoScripts = FindObjectsOfType() as MonoBehaviour[]; + foreach (MonoBehaviour monoScript in monoScripts) + { + if ((monoScript is GestureListenerInterface) && monoScript.enabled) + { + //GestureListenerInterface gl = (GestureListenerInterface)monoScript; + gestureListeners.Add(monoScript); + } + } + } + + + /// + /// Invoked when a new user gets detected. + /// + /// User ID + /// User index + public void UserWasAdded(ulong userId, int userIndex) + { + //Debug.Log("GM - UserAdded: " + userId); + + //// add the gestures to be detected by all users, if any + //foreach (GestureType gesture in playerCommonGestures) + //{ + // DetectGesture(userId, gesture); + //} + + // notify all gesture listeners of the newly detected user + foreach (GestureListenerInterface listener in gestureListeners) + { + if (listener != null) + { + listener.UserDetected(userId, userIndex); + } + } + } + + + /// + /// Invoked when user was removed. + /// + /// User ID + /// User index + public void UserWasRemoved(ulong userId, int userIndex) + { + //Debug.Log("GM - UserRemoved: " + userId); + + // notify all gesture listeners for losing this user + foreach (GestureListenerInterface listener in gestureListeners) + { + if (listener != null) + { + listener.UserLost(userId, userIndex); + } + } + + // clear the user gestures + ClearUserGestures(userId); + } + + + /// + /// Updates the progress of the given user's gestures. + /// + /// User ID + /// Reference to the KinectManager + public void UpdateUserGestures(ulong userId, KinectManager kinectManager) + { + if (!playerGesturesData.ContainsKey(userId)) + return; + + //Debug.Log("GM - UpdateGestures for user: " + userId); + + // Check for player's gestures + CheckForGestures(userId, kinectManager); + + // Check for complete gestures + List gesturesData = playerGesturesData[userId]; + int userIndex = kinectManager.GetUserIndexById(userId); + + for (int g = 0; g < gesturesData.Count; g++) + { + GestureData gestureData = gesturesData[g]; + + if (gestureData.complete) + { + foreach (GestureListenerInterface listener in gestureListeners) + { + if (listener != null && listener.GestureCompleted(userId, userIndex, gestureData.gesture, (KinectInterop.JointType)gestureData.joint, gestureData.screenPos)) + { + ResetPlayerGestures(userId); + } + } + } + else if (gestureData.cancelled) + { + foreach (GestureListenerInterface listener in gestureListeners) + { + if (listener != null && listener.GestureCancelled(userId, userIndex, gestureData.gesture, (KinectInterop.JointType)gestureData.joint)) + { + ResetGesture(userId, gestureData.gesture); + } + } + } + else if (gestureData.progress >= 0.1f) + { + foreach (GestureListenerInterface listener in gestureListeners) + { + if (listener != null) + { + listener.GestureInProgress(userId, userIndex, gestureData.gesture, gestureData.progress, + (KinectInterop.JointType)gestureData.joint, gestureData.screenPos); + } + } + } + + //gesturesData[g] = gestureData; + } + } + + + protected void Start() + { + // locate the available gesture listeners + RefreshGestureListeners(); + } + + + // Estimates the current state of the defined gestures + protected void CheckForGestures(ulong UserId, KinectManager kinectManager) + { + if (!playerGesturesData.ContainsKey(UserId) || !gesturesTrackingAtTime.ContainsKey(UserId)) + return; + + // check for gestures + if (Time.realtimeSinceStartup >= gesturesTrackingAtTime[UserId]) + { + // get joint positions and tracking + int iAllJointsCount = (int)KinectInterop.JointType.Count; + bool[] playerJointsTracked = new bool[iAllJointsCount]; + Vector3[] playerJointsPos = new Vector3[iAllJointsCount]; + + int[] aiNeededJointIndexes = GetNeededJointIndexes(); + int iNeededJointsCount = aiNeededJointIndexes.Length; + + for (int i = 0; i < iNeededJointsCount; i++) + { + int joint = aiNeededJointIndexes[i]; + + if (joint >= 0) + { + playerJointsTracked[joint] = kinectManager.IsJointTracked(UserId, joint); + playerJointsPos[joint] = kinectManager.GetJointPosition(UserId, joint); + } + } + + // check for gestures + List gesturesData = playerGesturesData[UserId]; + + int listGestureSize = gesturesData.Count; + float timestampNow = Time.realtimeSinceStartup; + string sDebugGestures = string.Empty; // "Tracked Gestures:\n"; + + for (int g = 0; g < listGestureSize; g++) + { + GestureData gestureData = gesturesData[g]; + + if ((timestampNow >= gestureData.startTrackingAtTime) && + !IsConflictingGestureInProgress(gestureData, ref gesturesData)) + { + CheckForGesture(UserId, ref gestureData, Time.realtimeSinceStartup, ref playerJointsPos, ref playerJointsTracked); + gesturesData[g] = gestureData; + + if (gestureData.complete) + { + gesturesTrackingAtTime[UserId] = timestampNow + minTimeBetweenGestures; + } + + if (UserId == kinectManager.GetPrimaryUserID()) + { + sDebugGestures += string.Format("{0} - state: {1}, time: {2:F1}, progress: {3}%\n", + gestureData.gesture, gestureData.state, + gestureData.timestamp, + (int)(gestureData.progress * 100 + 0.5f)); + } + } + } + + playerGesturesData[UserId] = gesturesData; + + if (gestureDebugText && (UserId == kinectManager.GetPrimaryUserID())) + { + for (int i = 0; i < iNeededJointsCount; i++) + { + int joint = aiNeededJointIndexes[i]; + + sDebugGestures += string.Format("\n {0}: {1}", (KinectInterop.JointType)joint, + playerJointsTracked[joint] ? playerJointsPos[joint].ToString() : ""); + } + + gestureDebugText.text = sDebugGestures; + } + } + } + + + private bool IsConflictingGestureInProgress(GestureData gestureData, ref List gesturesData) + { + foreach (GestureType gesture in gestureData.checkForGestures) + { + int index = GetGestureIndex(gesture, ref gesturesData); + + if (index >= 0) + { + if (gesturesData[index].progress > 0f) + return true; + } + } + + return false; + } + + + // return the index of gesture in the list, or -1 if not found + private int GetGestureIndex(GestureType gesture, ref List gesturesData) + { + int listSize = gesturesData.Count; + + for (int i = 0; i < listSize; i++) + { + if (gesturesData[i].gesture == gesture) + return i; + } + + return -1; + } + + + /// + /// Gets the list of gesture joint indexes. + /// + /// The needed joint indexes. + public virtual int[] GetNeededJointIndexes() + { + leftHandIndex = (int)KinectInterop.JointType.HandLeft; + rightHandIndex = (int)KinectInterop.JointType.HandRight; + + leftFingerIndex = (int)KinectInterop.JointType.HandLeft; + rightFingerIndex = (int)KinectInterop.JointType.HandRight; + + leftElbowIndex = (int)KinectInterop.JointType.ElbowLeft; + rightElbowIndex = (int)KinectInterop.JointType.ElbowRight; + + leftShoulderIndex = (int)KinectInterop.JointType.ShoulderLeft; + rightShoulderIndex = (int)KinectInterop.JointType.ShoulderRight; + + leftClavicleIndex = (int)KinectInterop.JointType.ClavicleLeft; + rightClavicleIndex = (int)KinectInterop.JointType.ClavicleRight; + + hipCenterIndex = (int)KinectInterop.JointType.Pelvis; + neckIndex = (int)KinectInterop.JointType.Neck; + + leftHipIndex = (int)KinectInterop.JointType.HipLeft; + rightHipIndex = (int)KinectInterop.JointType.HipRight; + + leftKneeIndex = (int)KinectInterop.JointType.KneeLeft; + rightKneeIndex = (int)KinectInterop.JointType.KneeRight; + + leftAnkleIndex = (int)KinectInterop.JointType.AnkleLeft; + rightAnkleIndex = (int)KinectInterop.JointType.AnkleRight; + + int[] neededJointIndexes = { + leftHandIndex, rightHandIndex, leftFingerIndex, rightFingerIndex, leftElbowIndex, rightElbowIndex, leftShoulderIndex, rightShoulderIndex, + leftClavicleIndex, rightClavicleIndex, hipCenterIndex, neckIndex, + leftHipIndex, rightHipIndex, leftKneeIndex, rightKneeIndex, leftAnkleIndex, rightAnkleIndex + }; + + return neededJointIndexes; + } + + + // sets basic parameters of the gesture data + protected void SetGestureJoint(ref GestureData gestureData, float timestamp, int joint, Vector3 jointPos) + { + gestureData.joint = joint; + gestureData.jointPos = jointPos; + gestureData.timestamp = timestamp; + gestureData.state++; + } + + + // marks the gesture data as cancelled gesture + protected void SetGestureCancelled(ref GestureData gestureData) + { + gestureData.state = 0; + gestureData.progress = 0f; + gestureData.cancelled = true; + } + + + // checks if the pose persists for the whole duration set + protected void CheckPoseComplete(ref GestureData gestureData, float timestamp, Vector3 jointPos, bool isInPose, float durationToComplete) + { + if (isInPose) + { + float timeLeft = timestamp - gestureData.timestamp; + gestureData.progress = durationToComplete > 0f ? Mathf.Clamp01(timeLeft / durationToComplete) : 1.0f; + + if (timeLeft >= durationToComplete) + { + gestureData.timestamp = timestamp; + gestureData.jointPos = jointPos; + gestureData.state++; + gestureData.complete = true; + } + } + else + { + SetGestureCancelled(ref gestureData); + } + } + + + // sets gesture data current screen coords (useful for many gestures) + protected void SetScreenPos(ulong userId, ref GestureData gestureData, ref Vector3[] jointsPos, ref bool[] jointsTracked) + { + Vector3 handPos = jointsPos[rightHandIndex]; + bool calculateCoords = false; + + if (gestureData.joint == rightHandIndex) + { + if (jointsTracked[rightHandIndex] /**&& jointsTracked[rightElbowIndex] && jointsTracked[rightShoulderIndex]*/) + { + calculateCoords = true; + } + } + else if (gestureData.joint == leftHandIndex) + { + if (jointsTracked[leftHandIndex] /**&& jointsTracked[leftElbowIndex] && jointsTracked[leftShoulderIndex]*/) + { + handPos = jointsPos[leftHandIndex]; + calculateCoords = true; + } + } + + if (calculateCoords) + { + if (jointsTracked[hipCenterIndex] && jointsTracked[leftClavicleIndex] && jointsTracked[rightClavicleIndex] && + jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex]) + { + Vector3 shoulderCenterPos = (jointsPos[leftClavicleIndex] + jointsPos[rightClavicleIndex]) / 2f; + Vector3 shoulderToHips = shoulderCenterPos - jointsPos[hipCenterIndex]; + Vector3 rightToLeft = jointsPos[rightShoulderIndex] - jointsPos[leftShoulderIndex]; + + gestureData.tagVector2.x = rightToLeft.x; // * 1.2f; + gestureData.tagVector2.y = shoulderToHips.y; // * 1.2f; + + if (gestureData.joint == rightHandIndex) + { + gestureData.tagVector.x = jointsPos[rightShoulderIndex].x - gestureData.tagVector2.x / 2f; + gestureData.tagVector.y = jointsPos[hipCenterIndex].y; + } + else + { + gestureData.tagVector.x = jointsPos[leftShoulderIndex].x - gestureData.tagVector2.x / 2f; + gestureData.tagVector.y = jointsPos[hipCenterIndex].y; + } + } + + if (gestureData.tagVector2.x != 0 && gestureData.tagVector2.y != 0) + { + Vector3 relHandPos = handPos - gestureData.tagVector; + gestureData.screenPos.x = Mathf.Clamp01(relHandPos.x / gestureData.tagVector2.x); + gestureData.screenPos.y = Mathf.Clamp01(relHandPos.y / gestureData.tagVector2.y); + } + + } + } + + + // sets the zoom factor value as screenPos.z (for zoom-in and zoom-out gestures) + protected void SetZoomFactor(ulong userId, ref GestureData gestureData, float initialZoom, ref Vector3[] jointsPos, ref bool[] jointsTracked) + { + Vector3 vectorZooming = jointsPos[rightHandIndex] - jointsPos[leftHandIndex]; + + if (gestureData.tagFloat == 0f || gestureData.userId != userId) + { + gestureData.tagFloat = 0.5f; // this is 100% + } + + float distZooming = vectorZooming.magnitude; + gestureData.screenPos.z = initialZoom + (distZooming / gestureData.tagFloat); + } + + + // sets the wheel rotation value as screenPos.z (for wheel-gesture) + protected void SetWheelRotation(ulong userId, ref GestureData gestureData, Vector3 initialPos, Vector3 currentPos) + { + float angle = Vector3.Angle(initialPos, currentPos) * Mathf.Sign(currentPos.y - initialPos.y); + gestureData.screenPos.z = angle; + } + + + /// + /// Estimate the state and progress of the given gesture. + /// + /// User ID + /// Gesture-data structure + /// Current time + /// Joints-position array + /// Joints-tracked array + public virtual void CheckForGesture(ulong userId, ref GestureData gestureData, float timestamp, ref Vector3[] jointsPos, ref bool[] jointsTracked) + { + if (gestureData.complete) + return; + + float bandTopY = jointsPos[rightShoulderIndex].y > jointsPos[leftShoulderIndex].y ? jointsPos[rightShoulderIndex].y : jointsPos[leftShoulderIndex].y; + float bandBotY = jointsPos[rightHipIndex].y < jointsPos[leftHipIndex].y ? jointsPos[rightHipIndex].y : jointsPos[leftHipIndex].y; + + float bandCenter = (bandTopY + bandBotY) / 2f; + float bandSize = (bandTopY - bandBotY); + + float gestureTop = bandCenter + bandSize * 1.2f / 2f; + float gestureBottom = bandCenter - bandSize * 1.3f / 4f; + float gestureRight = jointsPos[rightHipIndex].x; + float gestureLeft = jointsPos[leftHipIndex].x; + + switch (gestureData.gesture) + { + // check for RaiseRightHand + case GestureType.RaiseRightHand: + switch (gestureData.state) + { + case 0: // gesture detection + if (jointsTracked[rightHandIndex] && jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftShoulderIndex].y) > 0.1f && + (jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) < 0f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + } + break; + + case 1: // gesture complete + bool isInPose = jointsTracked[rightHandIndex] && jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftShoulderIndex].y) > 0.1f && + (jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) < 0f; + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectInterop.Constants.PoseCompleteDuration); + break; + } + break; + + // check for RaiseLeftHand + case GestureType.RaiseLeftHand: + switch (gestureData.state) + { + case 0: // gesture detection + if (jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightShoulderIndex].y) > 0.1f && + (jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) < 0f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + } + break; + + case 1: // gesture complete + bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightShoulderIndex].y) > 0.1f && + (jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) < 0f; + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectInterop.Constants.PoseCompleteDuration); + break; + } + break; + + // check for Psi + case GestureType.Psi: + switch (gestureData.state) + { + case 0: // gesture detection + if (jointsTracked[rightHandIndex] && jointsTracked[leftHandIndex] && jointsTracked[leftClavicleIndex] && jointsTracked[rightClavicleIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightClavicleIndex].y) > 0.1f && + (jointsPos[leftHandIndex].y - jointsPos[leftClavicleIndex].y) > 0.1f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + } + break; + + case 1: // gesture complete + bool isInPose = jointsTracked[rightHandIndex] && jointsTracked[leftHandIndex] && jointsTracked[leftClavicleIndex] && jointsTracked[rightClavicleIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightClavicleIndex].y) > 0.1f && + (jointsPos[leftHandIndex].y - jointsPos[leftClavicleIndex].y) > 0.1f; + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectInterop.Constants.PoseCompleteDuration); + break; + } + break; + + // check for Tpose + case GestureType.Tpose: + switch (gestureData.state) + { + case 0: // gesture detection + if (jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[rightShoulderIndex] && + Mathf.Abs(jointsPos[rightElbowIndex].y - jointsPos[rightShoulderIndex].y) < 0.1f && // 0.07f + Mathf.Abs(jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) < 0.1f && // 0.7f + jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[leftShoulderIndex] && + Mathf.Abs(jointsPos[leftElbowIndex].y - jointsPos[leftShoulderIndex].y) < 0.1f && + Mathf.Abs(jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) < 0.1f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + } + break; + + case 1: // gesture complete + bool isInPose = jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[rightShoulderIndex] && + Mathf.Abs(jointsPos[rightElbowIndex].y - jointsPos[rightShoulderIndex].y) < 0.1f && // 0.7f + Mathf.Abs(jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) < 0.1f && // 0.7f + jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[leftShoulderIndex] && + Mathf.Abs(jointsPos[leftElbowIndex].y - jointsPos[leftShoulderIndex].y) < 0.1f && + Mathf.Abs(jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) < 0.1f; + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectInterop.Constants.PoseCompleteDuration); + break; + } + break; + + // check for Stop + case GestureType.Stop: + switch (gestureData.state) + { + case 0: // gesture detection + if (jointsTracked[rightHandIndex] && jointsTracked[rightHipIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightHipIndex].y) < 0.2f && + (jointsPos[rightHandIndex].x - jointsPos[rightHipIndex].x) >= 0.4f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + } + else if (jointsTracked[leftHandIndex] && jointsTracked[leftHipIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftHipIndex].y) < 0.2f && + (jointsPos[leftHandIndex].x - jointsPos[leftHipIndex].x) <= -0.4f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + } + break; + + case 1: // gesture complete + bool isInPose = (gestureData.joint == rightHandIndex) ? + (jointsTracked[rightHandIndex] && jointsTracked[rightHipIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightHipIndex].y) < 0.2f && + (jointsPos[rightHandIndex].x - jointsPos[rightHipIndex].x) >= 0.4f) : + (jointsTracked[leftHandIndex] && jointsTracked[leftHipIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftHipIndex].y) < 0.2f && + (jointsPos[leftHandIndex].x - jointsPos[leftHipIndex].x) <= -0.4f); + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectInterop.Constants.PoseCompleteDuration); + break; + } + break; + + // check for raised right hand & horizontal left hand + case GestureType.RaisedRightHorizontalLeftHand: + switch (gestureData.state) + { + case 0: // gesture detection + if (jointsTracked[rightHandIndex] && jointsTracked[rightShoulderIndex] && // check right hand is straight up + (jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) > 0.5f && // ensure right hand is higher than shoulder + Mathf.Abs(jointsPos[rightHandIndex].z - jointsPos[rightShoulderIndex].z) < 0.35f && // ensue hand is vertical straight enough + Mathf.Abs(jointsPos[rightHandIndex].x - jointsPos[rightShoulderIndex].x) < 0.35f && // ensue hand is vertical straight enough + jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && // check left hand is straight flat + Mathf.Abs(jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) < 0.25f && // ensure hand and shoulder are on close height + (jointsPos[leftHandIndex] - jointsPos[leftShoulderIndex]).sqrMagnitude > 0.25f) // ensure hand and shoulder are horizontal straight enough + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + } + break; + + + case 1: // gesture complete + bool isInPose = jointsTracked[rightHandIndex] && jointsTracked[rightShoulderIndex] && // check right hand is straight up + (jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) > 0.5f && // ensure right hand is higher than shoulder + Mathf.Abs(jointsPos[rightHandIndex].z - jointsPos[rightShoulderIndex].z) < 0.35f && // ensue hand is vertical straight enough + Mathf.Abs(jointsPos[rightHandIndex].x - jointsPos[rightShoulderIndex].x) < 0.35f && // ensue hand is vertical straight enough + jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && // check left hand is straight flat + Mathf.Abs(jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) < 0.25f && // ensure hand and shoulder are on close height + (jointsPos[leftHandIndex] - jointsPos[leftShoulderIndex]).sqrMagnitude > 0.25f; // ensure hand and shoulder are horizontal straight enough + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectInterop.Constants.PoseCompleteDuration); + break; + } + break; + + // check for raised left hand & horizontal right hand + case GestureType.RaisedLeftHorizontalRightHand: + switch (gestureData.state) + { + case 0: // gesture detection + if (jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && // check left hand is straight up + (jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) > 0.5f && // ensure left hand is higher than shoulder + Mathf.Abs(jointsPos[leftHandIndex].z - jointsPos[leftShoulderIndex].z) < 0.35f && // ensue hand is vertical straight enough + Mathf.Abs(jointsPos[leftHandIndex].x - jointsPos[leftShoulderIndex].x) < 0.35f && // ensue hand is vertical straight enough + jointsTracked[rightHandIndex] && jointsTracked[rightShoulderIndex] && // check right hand is straight flat + Mathf.Abs(jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) < 0.25f && // ensure hand and shoulder are on close height + (jointsPos[rightHandIndex] - jointsPos[rightShoulderIndex]).sqrMagnitude > 0.25f) // ensure hand and shoulder are horizontal straight enough + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + } + break; + + case 1: // gesture complete + bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && // check left hand is straight up + (jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) > 0.5f && // ensure left hand is higher than shoulder + Mathf.Abs(jointsPos[leftHandIndex].z - jointsPos[leftShoulderIndex].z) < 0.35f && // ensue hand is vertical straight enough + Mathf.Abs(jointsPos[leftHandIndex].x - jointsPos[leftShoulderIndex].x) < 0.35f && // ensue hand is vertical straight enough + jointsTracked[rightHandIndex] && jointsTracked[rightShoulderIndex] && // check right hand is straight flat + Mathf.Abs(jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) < 0.25f && // ensure hand and shoulder are on close height + (jointsPos[rightHandIndex] - jointsPos[rightShoulderIndex]).sqrMagnitude > 0.25f; // ensure hand and shoulder are horizontal straight enough + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectInterop.Constants.PoseCompleteDuration); + break; + } + break; + + // check for TouchedRightElbow + case GestureType.TouchRightElbow: + switch (gestureData.state) + { + case 0: // gesture detection + if (jointsTracked[leftFingerIndex] && jointsTracked[rightElbowIndex] && + Vector3.Distance(jointsPos[leftFingerIndex], jointsPos[rightElbowIndex]) <= 0.12f) + { + SetGestureJoint(ref gestureData, timestamp, leftFingerIndex, jointsPos[leftFingerIndex]); + } + + //Debug.Log ("TRE0 - Distance: " + Vector3.Distance(jointsPos[leftFingerIndex], jointsPos[rightElbowIndex])); + break; + + case 1: // gesture complete + bool isInPose = jointsTracked[leftFingerIndex] && jointsTracked[rightElbowIndex] && + Vector3.Distance(jointsPos[leftFingerIndex], jointsPos[rightElbowIndex]) <= 0.12f; + + //Debug.Log ("TRE1 - Distance: " + Vector3.Distance(jointsPos[leftFingerIndex], jointsPos[rightElbowIndex]) + ", progress: " + gestureData.progress); + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 1.5f /**KinectInterop.Constants.PoseCompleteDuration*/); + break; + } + break; + + // check for TouchedLeftElbow + case GestureType.TouchLeftElbow: + switch (gestureData.state) + { + case 0: // gesture detection + if (jointsTracked[rightFingerIndex] && jointsTracked[leftElbowIndex] && + Vector3.Distance(jointsPos[rightFingerIndex], jointsPos[leftElbowIndex]) <= 0.12f) + { + SetGestureJoint(ref gestureData, timestamp, rightFingerIndex, jointsPos[rightFingerIndex]); + } + + //Debug.Log ("TLE0 - Distance: " + Vector3.Distance(jointsPos[rightFingerIndex], jointsPos[leftElbowIndex])); + break; + + case 1: // gesture complete + bool isInPose = jointsTracked[rightFingerIndex] && jointsTracked[leftElbowIndex] && + Vector3.Distance(jointsPos[rightFingerIndex], jointsPos[leftElbowIndex]) <= 0.12f; + + //Debug.Log ("TLE1- Distance: " + Vector3.Distance(jointsPos[rightFingerIndex], jointsPos[leftElbowIndex])); + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 1.5f /**KinectInterop.Constants.PoseCompleteDuration*/); + break; + } + break; + + // check for Wave + case GestureType.Wave: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) > 0.1f && + (jointsPos[rightHandIndex].x - jointsPos[rightElbowIndex].x) > 0.05f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.3f; + } + else if (jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) > 0.1f && + (jointsPos[leftHandIndex].x - jointsPos[leftElbowIndex].x) < -0.05f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture - phase 2 + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) > 0.1f && + (jointsPos[rightHandIndex].x - jointsPos[rightElbowIndex].x) < -0.05f : + jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) > 0.1f && + (jointsPos[leftHandIndex].x - jointsPos[leftElbowIndex].x) > 0.05f; + + if (isInPose) + { + gestureData.timestamp = timestamp; + gestureData.state++; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + + case 2: // gesture phase 3 = complete + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) > 0.1f && + (jointsPos[rightHandIndex].x - jointsPos[rightElbowIndex].x) > 0.05f : + jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) > 0.1f && + (jointsPos[leftHandIndex].x - jointsPos[leftElbowIndex].x) < -0.05f; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for SwipeLeft + case GestureType.SwipeLeft: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && + jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].x >= gestureRight /**&& jointsPos[rightHandIndex].x > gestureLeft*/) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.1f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) <= 1.0f) + { + bool isInPose = jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && + jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].x <= gestureLeft; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + else if (jointsPos[rightHandIndex].x <= gestureRight) + { + float gestureSize = gestureRight - gestureLeft; + gestureData.progress = gestureSize > 0.01f ? (gestureRight - jointsPos[rightHandIndex].x) / gestureSize : 0f; + } + + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for SwipeRight + case GestureType.SwipeRight: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && + jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[leftHandIndex].x <= gestureLeft /**&& jointsPos[leftHandIndex].x < gestureRight*/) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.1f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) <= 1.0f) + { + bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && + jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[leftHandIndex].x >= gestureRight; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + else if (jointsPos[leftHandIndex].x >= gestureLeft) + { + float gestureSize = gestureRight - gestureLeft; + gestureData.progress = gestureSize > 0.01f ? (jointsPos[leftHandIndex].x - gestureLeft) / gestureSize : 0f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for SwipeUp + case GestureType.SwipeUp: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) < 0f && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) > -0.15f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.5f; + } + else if (jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) < 0f && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) > -0.15f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftShoulderIndex].y) > -0.05f && + Mathf.Abs(jointsPos[rightHandIndex].x - gestureData.jointPos.x) <= 0.15f : + jointsTracked[leftHandIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightShoulderIndex].y) > -0.05f && + Mathf.Abs(jointsPos[leftHandIndex].x - gestureData.jointPos.x) <= 0.15f; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for SwipeDown + case GestureType.SwipeDown: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftShoulderIndex].y) >= 0.05f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.5f; + } + else if (jointsTracked[leftHandIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightShoulderIndex].y) >= 0.05f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) < -0.15f && + Mathf.Abs(jointsPos[rightHandIndex].x - gestureData.jointPos.x) <= 0.15f : + jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) < -0.15f && + Mathf.Abs(jointsPos[leftHandIndex].x - gestureData.jointPos.x) <= 0.15f; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for ZoomIn + case GestureType.ZoomIn: + Vector3 vectorZoomOut = (Vector3)jointsPos[rightHandIndex] - jointsPos[leftHandIndex]; + float distZoomOut = vectorZoomOut.magnitude; + + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && + jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distZoomOut < 0.3f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.tagVector = Vector3.right; + gestureData.tagFloat = 0f; + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture phase 2 = zooming + if ((timestamp - gestureData.timestamp) < 1.0f) + { + float angleZoomOut = Vector3.Angle(gestureData.tagVector, vectorZoomOut) * Mathf.Sign(vectorZoomOut.y - gestureData.tagVector.y); + bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && + jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distZoomOut < 1.5f && Mathf.Abs(angleZoomOut) < 20f; + + if (isInPose) + { + SetZoomFactor(userId, ref gestureData, 1.0f, ref jointsPos, ref jointsTracked); + gestureData.timestamp = timestamp; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for ZoomOut + case GestureType.ZoomOut: + Vector3 vectorZoomIn = (Vector3)jointsPos[rightHandIndex] - jointsPos[leftHandIndex]; + float distZoomIn = vectorZoomIn.magnitude; + + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && + jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distZoomIn >= 0.7f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.tagVector = Vector3.right; + gestureData.tagFloat = distZoomIn; + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture phase 2 = zooming + if ((timestamp - gestureData.timestamp) < 1.0f) + { + float angleZoomIn = Vector3.Angle(gestureData.tagVector, vectorZoomIn) * Mathf.Sign(vectorZoomIn.y - gestureData.tagVector.y); + bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && + jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distZoomIn >= 0.2f && Mathf.Abs(angleZoomIn) < 20f; + + if (isInPose) + { + SetZoomFactor(userId, ref gestureData, 0.0f, ref jointsPos, ref jointsTracked); + gestureData.timestamp = timestamp; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for Wheel + case GestureType.Wheel: + Vector3 vectorWheel = (Vector3)jointsPos[rightHandIndex] - jointsPos[leftHandIndex]; + float distWheel = vectorWheel.magnitude; + + // Debug.Log(string.Format("{0}. Dist: {1:F1}, Tag: {2:F1}, Diff: {3:F1}", gestureData.state, + // distWheel, gestureData.tagFloat, Mathf.Abs(distWheel - gestureData.tagFloat))); + + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && + jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distWheel >= 0.3f && distWheel < 0.7f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.tagVector = Vector3.right; + gestureData.tagFloat = distWheel; + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture phase 2 = rotating + if ((timestamp - gestureData.timestamp) < 0.5f) + { + float angle = Vector3.Angle(gestureData.tagVector, vectorWheel) * Mathf.Sign(vectorWheel.y - gestureData.tagVector.y); + bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && + jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distWheel >= 0.3f && distWheel < 0.7f && + Mathf.Abs(distWheel - gestureData.tagFloat) < 0.1f; + + if (isInPose) + { + //SetWheelRotation(userId, ref gestureData, gestureData.tagVector, vectorWheel); + gestureData.screenPos.z = angle; // wheel angle + gestureData.timestamp = timestamp; + gestureData.tagFloat = distWheel; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for Jump + case GestureType.Jump: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[hipCenterIndex] && + (jointsPos[hipCenterIndex].y > 0.6f) && (jointsPos[hipCenterIndex].y < 1.2f)) + { + SetGestureJoint(ref gestureData, timestamp, hipCenterIndex, jointsPos[hipCenterIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = jointsTracked[hipCenterIndex] && + (jointsPos[hipCenterIndex].y - gestureData.jointPos.y) > 0.15f && + Mathf.Abs(jointsPos[hipCenterIndex].x - gestureData.jointPos.x) < 0.2f; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for Squat + case GestureType.Squat: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[hipCenterIndex] && + (jointsPos[hipCenterIndex].y <= 0.7f)) + { + SetGestureJoint(ref gestureData, timestamp, hipCenterIndex, jointsPos[hipCenterIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = jointsTracked[hipCenterIndex] && + (jointsPos[hipCenterIndex].y - gestureData.jointPos.y) < -0.15f && + Mathf.Abs(jointsPos[hipCenterIndex].x - gestureData.jointPos.x) < 0.2f; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for Push + case GestureType.Push: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[rightHandIndex].x - jointsPos[rightShoulderIndex].x) < 0.2f && + (jointsPos[rightHandIndex].z - jointsPos[leftElbowIndex].z) < -0.2f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.5f; + } + else if (jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[leftHandIndex].x - jointsPos[leftShoulderIndex].x) < 0.2f && + (jointsPos[leftHandIndex].z - jointsPos[rightElbowIndex].z) < -0.2f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[rightHandIndex].x - gestureData.jointPos.x) < 0.2f && + (jointsPos[rightHandIndex].z - gestureData.jointPos.z) < -0.2f : + jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[leftHandIndex].x - gestureData.jointPos.x) < 0.2f && + (jointsPos[leftHandIndex].z - gestureData.jointPos.z) < -0.2f; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for Pull + case GestureType.Pull: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[rightHandIndex].x - jointsPos[rightShoulderIndex].x) < 0.2f && + (jointsPos[rightHandIndex].z - jointsPos[leftElbowIndex].z) < -0.3f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.5f; + } + else if (jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[leftHandIndex].x - jointsPos[leftShoulderIndex].x) < 0.2f && + (jointsPos[leftHandIndex].z - jointsPos[rightElbowIndex].z) < -0.3f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[rightHandIndex].x - gestureData.jointPos.x) < 0.2f && + (jointsPos[rightHandIndex].z - gestureData.jointPos.z) > 0.25f : + jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[leftHandIndex].x - gestureData.jointPos.x) < 0.2f && + (jointsPos[leftHandIndex].z - gestureData.jointPos.z) > 0.25f; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for ShoulderLeftFron + case GestureType.ShoulderLeftFront: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && jointsTracked[leftHipIndex] && + (jointsPos[rightShoulderIndex].z - jointsPos[leftHipIndex].z) < 0f && + (jointsPos[rightShoulderIndex].z - jointsPos[leftShoulderIndex].z) > -0.15f) + { + SetGestureJoint(ref gestureData, timestamp, rightShoulderIndex, jointsPos[rightShoulderIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && jointsTracked[leftHipIndex] && + (jointsPos[rightShoulderIndex].z - jointsPos[leftShoulderIndex].z) < -0.2f; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for ShoulderRightFront + case GestureType.ShoulderRightFront: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && jointsTracked[rightHipIndex] && + (jointsPos[leftShoulderIndex].z - jointsPos[rightHipIndex].z) < 0f && + (jointsPos[leftShoulderIndex].z - jointsPos[rightShoulderIndex].z) > -0.15f) + { + SetGestureJoint(ref gestureData, timestamp, leftShoulderIndex, jointsPos[leftShoulderIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex] && jointsTracked[rightHipIndex] && + (jointsPos[leftShoulderIndex].z - jointsPos[rightShoulderIndex].z) < -0.2f; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for LeanLeft + case GestureType.LeanLeft: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 (right shoulder is left of the right hip, means leaning left) + if (jointsTracked[rightShoulderIndex] && jointsTracked[rightHipIndex] && jointsTracked[neckIndex] && + (jointsPos[rightShoulderIndex].x - jointsPos[rightHipIndex].x) < 0f) + { + SetGestureJoint(ref gestureData, timestamp, rightShoulderIndex, jointsPos[rightShoulderIndex]); + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 0.5f) + { + // check if right shoulder is still left of the right hip (leaning left) + bool isInPose = jointsTracked[rightShoulderIndex] && jointsTracked[rightHipIndex] && jointsTracked[neckIndex] && + (jointsPos[rightShoulderIndex].x - jointsPos[rightHipIndex].x) < 0f; + + if (isInPose) + { + // calculate lean angle + Vector3 vSpineLL = jointsPos[neckIndex] - jointsPos[hipCenterIndex]; + gestureData.screenPos.z = Vector3.Angle(Vector3.up, vSpineLL); + + gestureData.timestamp = timestamp; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for LeanRight + case GestureType.LeanRight: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 (left shoulder is right of the left hip, means leaning right) + if (jointsTracked[leftShoulderIndex] && jointsTracked[leftHipIndex] && jointsTracked[neckIndex] && + (jointsPos[leftShoulderIndex].x - jointsPos[leftHipIndex].x) > 0f) + { + SetGestureJoint(ref gestureData, timestamp, leftShoulderIndex, jointsPos[leftShoulderIndex]); + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 0.5f) + { + // check if left shoulder is still right of the left hip (leaning right) + bool isInPose = jointsTracked[leftShoulderIndex] && jointsTracked[leftHipIndex] && jointsTracked[neckIndex] && + (jointsPos[leftShoulderIndex].x - jointsPos[leftHipIndex].x) > 0f; + + if (isInPose) + { + // calculate lean angle + Vector3 vSpineLR = jointsPos[neckIndex] - jointsPos[hipCenterIndex]; + gestureData.screenPos.z = Vector3.Angle(Vector3.up, vSpineLR); + + gestureData.timestamp = timestamp; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for LeanForward + case GestureType.LeanForward: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 (shoulder center in front of hip center, means leaning forward) + if (jointsTracked[neckIndex] && jointsTracked[hipCenterIndex] && + (jointsPos[neckIndex].z - jointsPos[hipCenterIndex].z) < -0.1f) + { + SetGestureJoint(ref gestureData, timestamp, neckIndex, jointsPos[neckIndex]); + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 0.5f) + { + // check if shoulder center is still in front of the hip center (leaning forward) + bool isInPose = jointsTracked[neckIndex] && jointsTracked[hipCenterIndex] && + (jointsPos[neckIndex].z - jointsPos[leftHipIndex].z) < -0.1f; + + if (isInPose) + { + // calculate lean angle + Vector3 vSpineLL = jointsPos[neckIndex] - jointsPos[hipCenterIndex]; + gestureData.screenPos.z = Vector3.Angle(Vector3.up, vSpineLL); + + gestureData.timestamp = timestamp; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for LeanBack + case GestureType.LeanBack: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 (shoulder center behind hip center, means leaning back) + if (jointsTracked[neckIndex] && jointsTracked[hipCenterIndex] && + (jointsPos[neckIndex].z - jointsPos[hipCenterIndex].z) > 0.1f) + { + SetGestureJoint(ref gestureData, timestamp, neckIndex, jointsPos[neckIndex]); + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 0.5f) + { + // check if shoulder center is still behind of the hip center (leaning back) + bool isInPose = jointsTracked[neckIndex] && jointsTracked[hipCenterIndex] && + (jointsPos[neckIndex].z - jointsPos[leftHipIndex].z) > 0.1f; + + if (isInPose) + { + // calculate lean angle + Vector3 vSpineLR = jointsPos[neckIndex] - jointsPos[hipCenterIndex]; + gestureData.screenPos.z = Vector3.Angle(Vector3.up, vSpineLR); + + gestureData.timestamp = timestamp; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for KickLeft + case GestureType.KickLeft: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[leftAnkleIndex] && jointsTracked[rightAnkleIndex] && jointsTracked[leftHipIndex] && + (jointsPos[leftAnkleIndex].z - jointsPos[leftHipIndex].z) < 0f && + (jointsPos[leftAnkleIndex].z - jointsPos[rightAnkleIndex].z) > -0.2f) + { + SetGestureJoint(ref gestureData, timestamp, leftAnkleIndex, jointsPos[leftAnkleIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = jointsTracked[leftAnkleIndex] && jointsTracked[rightAnkleIndex] && jointsTracked[leftHipIndex] && + (jointsPos[leftAnkleIndex].z - jointsPos[rightAnkleIndex].z) < -0.4f; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for KickRight + case GestureType.KickRight: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + if (jointsTracked[leftAnkleIndex] && jointsTracked[rightAnkleIndex] && jointsTracked[rightHipIndex] && + (jointsPos[rightAnkleIndex].z - jointsPos[rightHipIndex].z) < 0f && + (jointsPos[rightAnkleIndex].z - jointsPos[leftAnkleIndex].z) > -0.2f) + { + SetGestureJoint(ref gestureData, timestamp, rightAnkleIndex, jointsPos[rightAnkleIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if ((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = jointsTracked[leftAnkleIndex] && jointsTracked[rightAnkleIndex] && jointsTracked[rightHipIndex] && + (jointsPos[rightAnkleIndex].z - jointsPos[leftAnkleIndex].z) < -0.4f; + + if (isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + case GestureType.Run: + switch (gestureData.state) + { + case 0: // gesture detection - phase 1 + // check if the left knee is up + if (jointsTracked[leftKneeIndex] && jointsTracked[rightKneeIndex] && + (jointsPos[leftKneeIndex].y - jointsPos[rightKneeIndex].y) > 0.1f) + { + SetGestureJoint(ref gestureData, timestamp, leftKneeIndex, jointsPos[leftKneeIndex]); + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture complete + if ((timestamp - gestureData.timestamp) < 1.0f) + { + // check if the right knee is up + bool isInPose = jointsTracked[rightKneeIndex] && jointsTracked[leftKneeIndex] && + (jointsPos[rightKneeIndex].y - jointsPos[leftKneeIndex].y) > 0.1f; + + if (isInPose) + { + // go to state 2 + gestureData.timestamp = timestamp; + gestureData.progress = 0.7f; + gestureData.state = 2; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + + case 2: // gesture complete + if ((timestamp - gestureData.timestamp) < 1.0f) + { + // check if the left knee is up again + bool isInPose = jointsTracked[leftKneeIndex] && jointsTracked[rightKneeIndex] && + (jointsPos[leftKneeIndex].y - jointsPos[rightKneeIndex].y) > 0.1f; + + if (isInPose) + { + // go back to state 1 + gestureData.timestamp = timestamp; + gestureData.progress = 0.8f; + gestureData.state = 1; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // here come more gesture-cases + } + } + + } +} \ No newline at end of file diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectGestureManager.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectGestureManager.cs.meta new file mode 100644 index 0000000..246dbb5 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectGestureManager.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 4cbe8e7dfe7e4404185af4bb28494314 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectInterop.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectInterop.cs new file mode 100644 index 0000000..3362b12 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectInterop.cs @@ -0,0 +1,1948 @@ +using System; +using System.Collections; +using System.Collections.Generic; +using System.IO; +using System.Reflection; +using System.Runtime.InteropServices; +using System.Threading; +using UnityEngine; + +namespace com.rfilkov.kinect +{ + /// + /// KinectInterop is a class containing utility and interop functions, to call the proper sensor interface. + /// + public class KinectInterop + { + // body tracking sdk's tools folder - used to copy the needed libraries and files. + // TODO - change it for other OS's or install folders. + internal const string BODY_TRACKING_TOOLS_FOLDER = "C:/Program Files/Azure Kinect Body Tracking SDK/tools"; + + + /// + /// Constants used by this class and other K2-components + /// + public static class Constants + { + public const int MaxBodyCount = 100; + + public const float MinTimeBetweenSameGestures = 0.0f; + public const float PoseCompleteDuration = 1.0f; + public const float ClickMaxDistance = 0.05f; + public const float ClickStayDuration = 2.0f; + } + + + /// + /// Depth sensor platforms. + /// + public enum DepthSensorPlatform : int + { + None = 0, + KinectV1 = 1, + KinectV2 = 2, + RealSense = 3, + Kinect4Azure = 4, + + DummyK2 = 102 + } + + /// + /// Device streaming modes. + /// + public enum DeviceStreamingMode + { + Disabled = 0, + ConnectedSensor = 1, + PlayRecording = 2, + // CreateRecording = 3 + } + + // Data structures for interfacing C# with the native wrappers + + /// + /// Frame-source flags. + /// + [Flags] + public enum FrameSource : uint + { + TypeNone = 0x0, + TypeColor = 0x1, + TypeInfrared = 0x2, + TypeDepth = 0x8, + TypeBodyIndex = 0x10, + TypeBody = 0x20, + TypeAudio = 0x40, + TypePose = 0x80, + + TypeAll = 0xFF + } + + /// + /// Body joint types (with new joints added) + /// + public enum JointType : int + { + Pelvis = 0, + SpineNaval = 1, + SpineChest = 2, + Neck = 3, + Head = 4, + + ClavicleLeft = 5, + ShoulderLeft = 6, + ElbowLeft = 7, + WristLeft = 8, + HandLeft = 9, + + ClavicleRight = 10, + ShoulderRight = 11, + ElbowRight = 12, + WristRight = 13, + HandRight = 14, + + HipLeft = 15, + KneeLeft = 16, + AnkleLeft = 17, + FootLeft = 18, + + HipRight = 19, + KneeRight = 20, + AnkleRight = 21, + FootRight = 22, + + Nose = 23, + EyeLeft = 24, + EarLeft = 25, + EyeRight = 26, + EarRight = 27, + + HandtipLeft = 28, + ThumbLeft = 29, + HandtipRight = 30, + ThumbRight = 31, + + Count = 32 + } + + ///// + ///// Body joint types (with new joints mixed) + ///// + //public enum JointType : int + //{ + // Pelvis = 0, + // SpineNaval = 1, + // SpineChest = 2, + // Neck = 3, + // Head = 4, + + // ClavicleLeft = 5, + // ShoulderLeft = 6, + // ElbowLeft = 7, + // WristLeft = 8, + + // HandLeft = 9, + // HandtipLeft = 10, + // ThumbLeft = 11, + + // ClavicleRight = 12, + // ShoulderRight = 13, + // ElbowRight = 14, + // WristRight = 15, + + // HandRight = 16, + // HandtipRight = 17, + // ThumbRight = 18, + + // HipLeft = 19, + // KneeLeft = 20, + // AnkleLeft = 21, + // FootLeft = 22, + + // HipRight = 23, + // KneeRight = 24, + // AnkleRight = 25, + // FootRight = 26, + + // Nose = 27, + // EyeLeft = 28, + // EarLeft = 29, + // EyeRight = 30, + // EarRight = 31, + + // Count = 32 + //} + + /// + /// Joint tracking state. + /// + public enum TrackingState + { + NotTracked = 0, + Inferred = 1, + Tracked = 2, + HighConf = 3 // reserved for future use + } + + ///// + ///// Background-removal blur type + ///// + //public enum BrBlurType : int + //{ + // None = 0, + // Blur = 1, + // Median = 2, + //} + + /// + /// Container for the body-joint data. + /// + [StructLayout(LayoutKind.Sequential)] + public struct JointData + { + // parameters filled in by the sensor interface + public JointType jointType; + public TrackingState trackingState; + + public Vector3 kinectPos; + public Vector3 position; + public Quaternion orientation; + + //public Vector3 posPrev; + //public Vector3 posRel; + //public Vector3 posVel; + + // KM calculated parameters + public Vector3 direction; + public Quaternion normalRotation; + public Quaternion mirroredRotation; + + public float lastAngle; // used by the constraints filter + + + public override string ToString() + { + return jointType.ToString(); + } + + public void CopyTo(ref JointData toJoint) + { + toJoint.jointType = jointType; + toJoint.trackingState = trackingState; + + toJoint.kinectPos = kinectPos; + toJoint.position = position; + toJoint.orientation = orientation; + + //toJoint.posPrev = posPrev; + //toJoint.posRel = posRel; + //toJoint.posVel = posVel; + + toJoint.direction = direction; + toJoint.normalRotation = normalRotation; + toJoint.mirroredRotation = mirroredRotation; + } + } + + /// + /// Container for the body data. + /// + [StructLayout(LayoutKind.Sequential)] + public struct BodyData + { + // parameters filled in by the sensor interface + public ulong liTrackingID; + public int iBodyIndex; + public bool bIsTracked; + + public Vector3 kinectPos; + public Vector3 position; + public Quaternion orientation; + + [MarshalAsAttribute(UnmanagedType.ByValArray, SizeConst = (int)JointType.Count, ArraySubType = UnmanagedType.Struct)] + public JointData[] joint; + + // KM calculated parameters + public Quaternion normalRotation; + public Quaternion mirroredRotation; + + //public HandState leftHandState; + //public TrackingConfidence leftHandConfidence; + //public HandState rightHandState; + //public TrackingConfidence rightHandConfidence; + + + public BodyData(int jointCount) + { + liTrackingID = 0; + iBodyIndex = 0; + bIsTracked = false; + + kinectPos = Vector3.zero; + position = Vector3.zero; + orientation = Quaternion.identity; + + normalRotation = Quaternion.identity; + mirroredRotation = Quaternion.identity; + + joint = new JointData[jointCount]; + for(int j = 0; j < jointCount; j++) + { + joint[j].jointType = (JointType)j; + joint[j].trackingState = TrackingState.NotTracked; + joint[j].kinectPos = Vector3.zero; + joint[j].position = Vector3.zero; + + joint[j].orientation = Quaternion.identity; + joint[j].normalRotation = Quaternion.identity; + joint[j].mirroredRotation = Quaternion.identity; + } + } + + public override string ToString() + { + return "Body" + iBodyIndex + ": " + liTrackingID; + } + + public void CopyTo(ref BodyData toBody) + { + toBody.liTrackingID = liTrackingID; + toBody.iBodyIndex = iBodyIndex; + toBody.bIsTracked = bIsTracked; + + toBody.kinectPos = kinectPos; + toBody.position = position; + toBody.orientation = orientation; + + if (toBody.joint == null || toBody.joint.Length != joint.Length) + { + toBody.joint = new JointData[joint.Length]; + } + + for (int j = 0; j < joint.Length; j++) + { + joint[j].CopyTo(ref toBody.joint[j]); + } + + toBody.normalRotation = normalRotation; + toBody.mirroredRotation = mirroredRotation; + } + } + + /// + /// Sensor device info. + /// + public class SensorDeviceInfo + { + public string sensorId; + public string sensorName; + + public FrameSource sensorCaps; + } + + /// + /// Camera distortion type + /// + public enum DistortionType + { + None = 0, + ModifiedBrownConrady = 1, + InverseBrownConrady = 2, + Theta = 3, + BrownConrady = 4, + Polynomial3K = 5, + Rational6KT = 6 + } + + /// + /// Camera intrinsics + /// + public class CameraIntrinsics + { + public int cameraType; // camera type (specific for the sensor interface) + public int width; // Camera image width + public int height; // Camera image height + public float ppx; // Principal point in image, x + public float ppy; // Principal point in image, y + public float fx; // Focal length x + public float fy; // Focal length y + public DistortionType distType; // distortion type + public float[] distCoeffs; // radial distortion coefficient + public float codx; // Center of distortion in Z=1 plane, x (only used for Rational6KT) + public float cody; // Center of distortion in Z=1 plane, y (only used for Rational6KT) + public float p2; // Tangential distortion coefficient 2 + public float p1; // Tangential distortion coefficient 1 + public float maxRadius; // Metric radius + + public float hFOV, vFOV; + } + + /// + /// Camera extrinsics. + /// + public class CameraExtrinsics + { + public float[] rotation; + public float[] translation; + } + + /// + /// Container for the sensor data, including color, depth, ir and body frames. + /// + public class SensorData + { + public DepthSensorInterface sensorInterface; + public DepthSensorPlatform sensorIntPlatform; + + public Thread pollFramesThread = null; + public AutoResetEvent threadStopEvent = null; + + public CameraIntrinsics depthCamIntr = null; + public CameraIntrinsics colorCamIntr = null; + public CameraExtrinsics depth2ColorExtr = null; + public CameraExtrinsics color2DepthExtr = null; + + public Vector3 colorImageScale = Vector3.one; + public Vector3 depthImageScale = Vector3.one; + public Vector3 infraredImageScale = Vector3.one; + public Vector3 sensorSpaceScale = Vector3.one; + + public int colorImageWidth; + public int colorImageHeight; + + public TextureFormat colorImageFormat = TextureFormat.RGBA32; + public int colorImageStride = 4; + + //public byte[] colorImage; + public Texture colorImageTexture = null; + public ulong lastColorFrameTime = 0; + public ulong prevColorFrameTime = 0; + + public int depthImageWidth; + public int depthImageHeight; + + public ushort[] depthImage; + public ulong lastDepthFrameTime = 0; + public ulong prevDepthFrameTime = 0; + + public ushort[] infraredImage; + public ulong lastInfraredFrameTime = 0; + + public Vector3 sensorPosePosition; + public Quaternion sensorPoseRotation; + public ulong lastSensorPoseFrameTime = 0; + //public bool sensorTransformUpdated = false; + + public byte[] bodyIndexImage; + public ulong lastBodyIndexFrameTime = 0; + + public uint trackedBodiesCount = 0; + public BodyData[] alTrackedBodies; + public ulong lastBodyFrameTime = 0; + //public int firstUserIndex = 255; + + public int[] depthHistBufferData; + public int depthHistTotalPoints; + public ulong lastDepthHistTime = 0; + + public RenderTexture depthImageTexture; + public Material depthImageMaterial; + public ComputeBuffer depthImageBuffer; + public ComputeBuffer depthHistBuffer; + public ulong lastDepthImageTime = 0; + + public RenderTexture infraredImageTexture; + public Material infraredImageMaterial; + public ComputeBuffer infraredImageBuffer; + public ulong lastInfraredImageTime = 0; + + public int[] bodyHistBufferData; + public int bodyHistTotalPoints; + public ulong lastBodyHistTime = 0; + + public RenderTexture bodyImageTexture; + public Material bodyImageMaterial; + public ComputeBuffer bodyIndexBuffer; + public ComputeBuffer bodyHistBuffer; + public ulong lastBodyImageTime = 0; + +// public Vector3[] depth2SpaceFrame = null; + public ulong lastDepth2SpaceFrameTime = 0; + +// public Vector2[] depth2ColorFrame = null; + public ulong lastDepth2ColorFrameTime = 0; + +// public Vector2[] color2DepthFrame = null; + public ulong lastColor2DepthFrameTime = 0; + + public ComputeBuffer colorDepthBuffer; + public RenderTexture colorDepthTexture; + public ulong lastColorDepthBufferTime = 0; + public ulong usedColorDepthBufferTime = 0; + + public RenderTexture depthTexTexture; + public Material depthTexMaterial; + public ulong lastDepthTexTime = 0; + + public RenderTexture infraredTexTexture; + public Material infraredTexMaterial; + public ulong lastInfraredTexTime = 0; + } + + + + // graphics shader level + private static int graphicsShaderLevel = 0; + + + // sets the graphics shader level + public static void SetGraphicsShaderLevel(int shaderLevel) + { + graphicsShaderLevel = shaderLevel; + } + + + // checks if DirectX11/Direct3D-11 is turned on or not + public static bool IsDirectX11Available() + { + return (graphicsShaderLevel >= 50); + } + + + // returns true if the project is running on 64-bit architecture, false if 32-bit + public static bool Is64bitArchitecture() + { + int sizeOfPtr = Marshal.SizeOf(typeof(IntPtr)); + return (sizeOfPtr > 4); + } + + + // copy resource asset to the target file + public static bool CopyResourceFile(string resFileName, string targetFilePath) + { + TextAsset textRes = Resources.Load(resFileName, typeof(TextAsset)) as TextAsset; + if (textRes == null) + { + Debug.LogWarning("Resource not found: " + resFileName); + return false; + } + + FileInfo targetFile = new FileInfo(targetFilePath); + if (!targetFile.Directory.Exists) + { + targetFile.Directory.Create(); + } + + if (!targetFile.Exists || targetFile.Length != textRes.bytes.Length) + { + Debug.Log("Copying '" + resFileName + "' to: " + targetFilePath); + + using (Stream resStream = new MemoryStream(textRes.bytes)) + { + BinaryReader resReader = new BinaryReader(resStream); + byte[] buffer = new byte[32768]; //set the size of your buffer (chunk) + + using (FileStream fileStream = new FileStream(targetFilePath, FileMode.Create, FileAccess.Write, FileShare.Read)) + { + while (true) //loop to the end of the file + { + int read = resReader.Read(buffer, 0, buffer.Length); + if (read <= 0) //check for end of file + break; + + fileStream.Write(buffer, 0, read); + } + } + } + + bool bFileCopied = File.Exists(targetFilePath); + + return bFileCopied; + } + + return true; + } + + + // checks if the file exists + public static bool IsFolderExist(string folderPath) + { + return Directory.Exists(folderPath); + } + + + // checks if the file exists + public static bool IsFileExist(string filePath) + { + return File.Exists(filePath); + } + + + // copy file from the source folder to the target folder + public static bool CopyFolderFile(string sourceFolderPath, string fileName, string targetFolderPath) + { + //if(!Directory.Exists(sourceFolderPath)) + //{ + // //Debug.Log("Folder not found: " + folderPath); + // return false; + //} + + if(!string.IsNullOrEmpty(sourceFolderPath) && sourceFolderPath[sourceFolderPath.Length - 1] != '/' && sourceFolderPath[sourceFolderPath.Length - 1] != '\\') + { + sourceFolderPath += "/"; + } + + string sourceFilePath = sourceFolderPath + fileName; + FileInfo sourceFile = new FileInfo(sourceFilePath); + + if (!sourceFile.Exists) + { + Debug.LogWarning("File not found: " + sourceFilePath + ". Trying to find it in resources..."); + return false; + } + + if (!string.IsNullOrEmpty(targetFolderPath) && sourceFolderPath[targetFolderPath.Length - 1] != '/' && sourceFolderPath[targetFolderPath.Length - 1] != '\\') + { + targetFolderPath += "/"; + } + + string targetFilePath = targetFolderPath + fileName; + FileInfo targetFile = new FileInfo(targetFilePath); + + if (!Directory.Exists(targetFolderPath)) + { + Directory.CreateDirectory(targetFolderPath); + } + + if (!targetFile.Exists || targetFile.Length != sourceFile.Length || targetFile.LastWriteTime != sourceFile.LastWriteTime) + { + Debug.Log("Copying '" + fileName + "' from " + sourceFolderPath + " to '" + targetFolderPath + "'"); + File.Copy(sourceFilePath, targetFilePath, true); + + bool bFileCopied = File.Exists(targetFilePath); + + return bFileCopied; + } + + return true; + } + + + // creates new render texture with the given dimensions and format + public static RenderTexture CreateRenderTexture(RenderTexture currentTex, int width, int height, RenderTextureFormat texFormat = RenderTextureFormat.Default) + { + if(currentTex != null) + { + currentTex.Release(); + //UnityEngine.Object.Destroy(currentTex); + } + + RenderTexture renderTex = new RenderTexture(width, height, 0, texFormat); + renderTex.wrapMode = TextureWrapMode.Clamp; + renderTex.filterMode = FilterMode.Point; + renderTex.enableRandomWrite = true; + + return renderTex; + } + + + // creates new compute buffer with the given length and stride + public static ComputeBuffer CreateComputeBuffer(ComputeBuffer currentBuf, int bufLen, int bufStride) + { + if(currentBuf != null) + { + currentBuf.Release(); + currentBuf.Dispose(); + } + + ComputeBuffer computeBuf = new ComputeBuffer(bufLen, bufStride); + return computeBuf; + } + + + // initializes the secondary sensor data, after sensor initialization + public static void InitSensorData(SensorData sensorData, KinectManager kinectManager) + { + // init depth texture + if (IsDirectX11Available() && sensorData.depthImage != null && + kinectManager.getDepthFrames == KinectManager.DepthTextureType.DepthTexture) + { + Shader depthImageShader = Shader.Find("Kinect/DepthHistImageShader"); + if (depthImageShader != null) + { + if (sensorData.depthImageTexture == null || sensorData.depthImageTexture.width != sensorData.depthImageWidth || sensorData.depthImageTexture.height != sensorData.depthImageHeight) + { + sensorData.depthImageTexture = CreateRenderTexture(sensorData.depthImageTexture, sensorData.depthImageWidth, sensorData.depthImageHeight); + } + + sensorData.depthImageMaterial = new Material(depthImageShader); + + if(sensorData.depthImageBuffer == null) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + sensorData.depthImageBuffer = CreateComputeBuffer(sensorData.depthImageBuffer, depthBufferLength, sizeof(uint)); + } + + if(sensorData.depthHistBuffer == null) + { + sensorData.depthHistBuffer = CreateComputeBuffer(sensorData.depthHistBuffer, DepthSensorBase.MAX_DEPTH_DISTANCE_MM + 1, sizeof(int)); + } + } + } + + // init infrared texture + if (IsDirectX11Available() && sensorData.infraredImage != null && + kinectManager.getInfraredFrames == KinectManager.InfraredTextureType.InfraredTexture) + { + Shader infraredImageShader = Shader.Find("Kinect/InfraredImageShader"); + if (infraredImageShader != null) + { + if (sensorData.infraredImageTexture == null || sensorData.infraredImageTexture.width != sensorData.depthImageWidth || sensorData.infraredImageTexture.height != sensorData.depthImageHeight) + { + sensorData.infraredImageTexture = CreateRenderTexture(sensorData.infraredImageTexture, sensorData.depthImageWidth, sensorData.depthImageHeight); + } + + sensorData.infraredImageMaterial = new Material(infraredImageShader); + + if (sensorData.infraredImageBuffer == null) + { + int infraredBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + sensorData.infraredImageBuffer = CreateComputeBuffer(sensorData.infraredImageBuffer, infraredBufferLength, sizeof(uint)); + } + } + } + + // init body texture + if (IsDirectX11Available() && sensorData.bodyIndexImage != null && + (kinectManager.getBodyFrames == KinectManager.BodyTextureType.BodyTexture || + kinectManager.getBodyFrames == KinectManager.BodyTextureType.UserTexture)) + { + Shader bodyImageShader = null; + + switch(kinectManager.getBodyFrames) + { + case KinectManager.BodyTextureType.BodyTexture: + bodyImageShader = Shader.Find("Kinect/UserBodyImageShader"); + break; + + case KinectManager.BodyTextureType.UserTexture: + bodyImageShader = Shader.Find("Kinect/UserHistImageShader"); + break; + } + + if (bodyImageShader != null) + { + if (sensorData.bodyImageTexture == null || sensorData.bodyImageTexture.width != sensorData.depthImageWidth || sensorData.bodyImageTexture.height != sensorData.depthImageHeight) + { + sensorData.bodyImageTexture = CreateRenderTexture(sensorData.bodyImageTexture, sensorData.depthImageWidth, sensorData.depthImageHeight); + } + + sensorData.bodyImageMaterial = new Material(bodyImageShader); + + if (sensorData.bodyIndexBuffer == null) + { + int bodyIndexBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 4; + sensorData.bodyIndexBuffer = CreateComputeBuffer(sensorData.bodyIndexBuffer, bodyIndexBufferLength, sizeof(uint)); + } + + if (sensorData.depthImageBuffer == null) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + sensorData.depthImageBuffer = CreateComputeBuffer(sensorData.depthImageBuffer, depthBufferLength, sizeof(uint)); + } + + if (sensorData.bodyHistBuffer == null) + { + sensorData.bodyHistBuffer = CreateComputeBuffer(sensorData.bodyHistBuffer, DepthSensorBase.MAX_DEPTH_DISTANCE_MM + 1, sizeof(int)); + } + } + } + + // invoke the sensor interface to init its proprietary data + if (sensorData.sensorInterface != null) + { + sensorData.sensorInterface.InitSensorData(sensorData, kinectManager); + } + } + + + // closes the sensor and releases the related buffers + public static void CloseSensor(SensorData sensorData) + { + if (sensorData == null) + return; + + //FinishBackgroundRemoval(sensorData); + + if (sensorData.sensorInterface != null) + { + sensorData.sensorInterface.CloseSensor(sensorData); + } + + if (sensorData.depthImageTexture) + { + sensorData.depthImageTexture.Release(); + sensorData.depthImageTexture = null; + } + + if (sensorData.depthImageBuffer != null) + { + sensorData.depthImageBuffer.Release(); + sensorData.depthImageBuffer.Dispose(); + sensorData.depthImageBuffer = null; + } + + if (sensorData.depthHistBuffer != null) + { + sensorData.depthHistBuffer.Release(); + sensorData.depthHistBuffer.Dispose(); + sensorData.depthHistBuffer = null; + } + + if (sensorData.infraredImageTexture) + { + sensorData.infraredImageTexture.Release(); + sensorData.infraredImageTexture = null; + } + + if (sensorData.infraredImageBuffer != null) + { + sensorData.infraredImageBuffer.Release(); + sensorData.infraredImageBuffer.Dispose(); + sensorData.infraredImageBuffer = null; + } + + if (sensorData.bodyImageTexture) + { + sensorData.bodyImageTexture.Release(); + sensorData.bodyImageTexture = null; + } + + if (sensorData.bodyIndexBuffer != null) + { + sensorData.bodyIndexBuffer.Release(); + sensorData.bodyIndexBuffer.Dispose(); + sensorData.bodyIndexBuffer = null; + } + + if (sensorData.bodyHistBuffer != null) + { + sensorData.bodyHistBuffer.Release(); + sensorData.bodyHistBuffer.Dispose(); + sensorData.bodyHistBuffer = null; + } + } + + + // infoked by the sensor thread to poll for frames + public static void PollSensorFrames(SensorData sensorData) + { + if (sensorData != null && sensorData.sensorInterface != null) + { + sensorData.sensorInterface.PollSensorFrames(sensorData); + sensorData.sensorInterface.PollCoordTransformFrames(sensorData); + sensorData.sensorInterface.ProcessSensorDataInThread(sensorData); + } + } + + + // invoked periodically to update sensor data, if needed + public static bool UpdateSensorData(SensorData sensorData, KinectManager kinectManager, bool isPlayMode) + { + bool bResult = false; + + if (sensorData != null && sensorData.sensorInterface != null) + { + sensorData.prevDepthFrameTime = sensorData.lastDepthFrameTime; + sensorData.prevColorFrameTime = sensorData.lastColorFrameTime; + + bResult = sensorData.sensorInterface.UpdateSensorData(sensorData, kinectManager, isPlayMode); + + if(sensorData.lastDepthFrameTime != sensorData.prevDepthFrameTime && + sensorData.lastColorFrameTime != sensorData.prevColorFrameTime && !isPlayMode) + { + sensorData.sensorInterface.UpdateTransformedFrameTextures(sensorData, kinectManager); + } + } + + return bResult; + } + + + // invoked periodically to update sensor textures, as needed + public static bool UpdateSensorTextures(SensorData sensorData, KinectManager kinectManager) + { + bool bResult = false; + + if (sensorData != null && sensorData.sensorInterface != null) + { + bResult = sensorData.sensorInterface.UpdateSensorTextures(sensorData, kinectManager, sensorData.prevDepthFrameTime); + } + + return bResult; + } + + + // displays the given texture on the screen + public static void DisplayGuiTexture(int displayIndex, float screenWidthPercent, Vector2 imageScale, Texture imageTex) + { + if (imageTex == null || imageTex.width == 0 || imageTex.height == 0) + return; + + // get the screen width & height + float screenW = (float)Screen.width; + float screenH = (float)Screen.height; + + float rectWidthPercent = screenWidthPercent; + float rectHeightPercent = rectWidthPercent * (float)imageTex.height / (float)imageTex.width; + + float rectWidth = screenW * rectWidthPercent; + float rectHeight = screenW * rectHeightPercent; + + float rectX = screenW - (displayIndex + 1) * rectWidth; + float rectY = screenH - rectHeight; + + if (rectX < 0 || rectY < 0) + return; + + if (imageScale.x < 0) + { + rectX = screenW - displayIndex * rectWidth; + rectWidth = -rectWidth; + } + if (imageScale.y < 0) + { + rectY = screenH; + rectHeight = -rectHeight; + } + + Rect imageRect = new Rect(rectX, rectY, rectWidth, rectHeight); + + if (imageTex != null) + { + GUI.DrawTexture(imageRect, imageTex); + } + } + + + // returns the respective sensor-to-world matrix + public static Matrix4x4 GetSensorToWorldMatrix(SensorData sensorData) + { + if (sensorData.sensorInterface != null) + { + return sensorData.sensorInterface.GetSensorToWorldMatrix(); + } + + return Matrix4x4.identity; + } + + + // returns sensor transform. Please note transform updates depend on the getPoseFrames-KM setting. + public static Transform GetSensorTransform(SensorData sensorData) + { + if (sensorData.sensorInterface != null) + { + return sensorData.sensorInterface.GetSensorTransform(); + } + + return null; + } + + + // returns depth camera space coordinates for the given depth-image point + public static Vector3 MapDepthPointToSpaceCoords(SensorData sensorData, Vector2 depthPos, ushort depthVal) + { + Vector3 vPoint = Vector3.zero; + + if (sensorData.sensorInterface != null) + { + vPoint = sensorData.sensorInterface.MapDepthPointToSpaceCoords(sensorData, depthPos, depthVal); + } + + return vPoint; + } + + + // returns depth image coordinates for the given depth camera space point + public static Vector2 MapSpacePointToDepthCoords(SensorData sensorData, Vector3 spacePos) + { + Vector2 vPoint = Vector2.zero; + + if (sensorData.sensorInterface != null) + { + vPoint = sensorData.sensorInterface.MapSpacePointToDepthCoords(sensorData, spacePos); + } + + return vPoint; + } + + + // returns color camera space coordinates for the given color-image point + public static Vector3 MapColorPointToSpaceCoords(SensorData sensorData, Vector2 colorPos, ushort distance) + { + Vector3 vPoint = Vector3.zero; + + if (sensorData.sensorInterface != null) + { + vPoint = sensorData.sensorInterface.MapColorPointToSpaceCoords(sensorData, colorPos, distance); + } + + return vPoint; + } + + + // returns color image coordinates for the given color camera space point + public static Vector2 MapSpacePointToColorCoords(SensorData sensorData, Vector3 spacePos) + { + Vector2 vPoint = Vector2.zero; + + if (sensorData.sensorInterface != null) + { + vPoint = sensorData.sensorInterface.MapSpacePointToColorCoords(sensorData, spacePos); + } + + return vPoint; + } + + + // returns color-image coordinates for the given depth-image point + public static Vector2 MapDepthPointToColorCoords(SensorData sensorData, Vector2 depthPos, ushort depthVal) + { + Vector2 vPoint = Vector2.zero; + + if (sensorData.sensorInterface != null) + { + vPoint = sensorData.sensorInterface.MapDepthPointToColorCoords(sensorData, depthPos, depthVal); + } + + return vPoint; + } + + + // returns depth-image coordinates for the given color-image point + public static Vector2 MapColorPointToDepthCoords(SensorData sensorData, Vector2 colorPos) + { + Vector2 vPoint = Vector2.zero; + + if (sensorData.sensorInterface != null) + { + vPoint = sensorData.sensorInterface.MapColorPointToDepthCoords(sensorData, colorPos); + } + + return vPoint; + } + + + //// estimates depth-map coordinates for the given color coords + //public static Vector2 MapColorPointToDepthCoords(SensorData sensorData, Vector2 colorPos, bool bReadDepthCoordsIfNeeded) + //{ + // Vector2 vPoint = Vector2.zero; + + // if (sensorData.sensorInterface != null && !float.IsInfinity(colorPos.x) && !float.IsInfinity(colorPos.y)) + // { + // int cIndex = (int)colorPos.y * sensorData.colorImageWidth + (int)colorPos.x; + + // //if (sensorData.color2DepthFrame != null) + // //{ + // // if (cIndex >= 0 && cIndex < sensorData.color2DepthFrame.Length) + // // { + // // vPoint = sensorData.color2DepthFrame[cIndex]; + // // } + // //} + // //else + // if (bReadDepthCoordsIfNeeded) + // { + // Vector2[] vDepthCoords = new Vector2[sensorData.colorImageWidth * sensorData.colorImageHeight]; + + // if (MapColorFrameToDepthCoords(sensorData, ref vDepthCoords)) + // { + // if (cIndex >= 0 && cIndex < vDepthCoords.Length) + // { + // vPoint = vDepthCoords[cIndex]; + // } + // } + + // vDepthCoords = null; + // } + // } + + // return vPoint; + //} + + + //// estimates space coordinates for the current depth frame + //public static bool MapDepthFrameToSpaceCoords(SensorData sensorData, ref Vector3[] vSpaceCoords) + //{ + // bool bResult = false; + + // if (sensorData.sensorInterface != null) + // { + // bResult = sensorData.sensorInterface.MapDepthFrameToSpaceCoords(sensorData, ref vSpaceCoords); + // } + + // return bResult; + //} + + //// estimates color-map coordinates for the current depth frame + //public static bool MapDepthFrameToColorCoords(SensorData sensorData, ref Vector2[] vColorCoords) + //{ + // bool bResult = false; + + // if (sensorData.sensorInterface != null) + // { + // bResult = sensorData.sensorInterface.MapDepthFrameToColorCoords(sensorData, ref vColorCoords); + // } + + // return bResult; + //} + + //// estimates depth-map coordinates for the current color frame + //public static bool MapColorFrameToDepthCoords(SensorData sensorData, ref Vector2[] vDepthCoords) + //{ + // bool bResult = false; + + // if (sensorData.sensorInterface != null) + // { + // bResult = sensorData.sensorInterface.MapColorFrameToDepthCoords(sensorData, ref vDepthCoords); + // } + + // return bResult; + //} + + + private static readonly Dictionary dictParentJoint = new Dictionary + { + {JointType.Pelvis, JointType.Pelvis}, + {JointType.SpineNaval, JointType.Pelvis}, + {JointType.SpineChest, JointType.SpineNaval}, + {JointType.Neck, JointType.SpineChest}, + {JointType.Head, JointType.Neck}, + + {JointType.ClavicleLeft, JointType.SpineChest}, + {JointType.ShoulderLeft, JointType.ClavicleLeft}, + {JointType.ElbowLeft, JointType.ShoulderLeft}, + {JointType.WristLeft, JointType.ElbowLeft}, + + {JointType.HandLeft, JointType.WristLeft}, + {JointType.HandtipLeft, JointType.HandLeft}, + {JointType.ThumbLeft, JointType.WristLeft}, + + {JointType.ClavicleRight, JointType.SpineChest}, + {JointType.ShoulderRight, JointType.ClavicleRight}, + {JointType.ElbowRight, JointType.ShoulderRight}, + {JointType.WristRight, JointType.ElbowRight}, + + {JointType.HandRight, JointType.WristRight}, + {JointType.HandtipRight, JointType.HandRight}, + {JointType.ThumbRight, JointType.WristRight}, + + {JointType.HipLeft, JointType.Pelvis}, + {JointType.KneeLeft, JointType.HipLeft}, + {JointType.AnkleLeft, JointType.KneeLeft}, + {JointType.FootLeft, JointType.AnkleLeft}, + + {JointType.HipRight, JointType.Pelvis}, + {JointType.KneeRight, JointType.HipRight}, + {JointType.AnkleRight, JointType.KneeRight}, + {JointType.FootRight, JointType.AnkleRight}, + + {JointType.Nose, JointType.Head}, + {JointType.EyeLeft, JointType.Nose}, + {JointType.EarLeft, JointType.EyeLeft}, + {JointType.EyeRight, JointType.Nose}, + {JointType.EarRight, JointType.EyeRight}, + }; + + + // returns the parent joint of the given joint + public static JointType GetParentJoint(JointType joint) + { + return dictParentJoint[joint]; + } + + private static readonly Dictionary dictNextJoint = new Dictionary + { + {JointType.Pelvis, JointType.SpineNaval}, + {JointType.SpineNaval, JointType.SpineChest}, + {JointType.SpineChest, JointType.Neck}, + {JointType.Neck, JointType.Head}, + {JointType.Head, JointType.Head}, + + {JointType.ClavicleLeft, JointType.ShoulderLeft}, + {JointType.ShoulderLeft, JointType.ElbowLeft}, + {JointType.ElbowLeft, JointType.WristLeft}, + {JointType.WristLeft, JointType.HandLeft}, + + {JointType.HandLeft, JointType.HandtipLeft}, + {JointType.HandtipLeft, JointType.HandtipLeft}, + {JointType.ThumbLeft, JointType.ThumbLeft}, + + {JointType.ClavicleRight, JointType.ShoulderRight}, + {JointType.ShoulderRight, JointType.ElbowRight}, + {JointType.ElbowRight, JointType.WristRight}, + {JointType.WristRight, JointType.HandRight}, + + {JointType.HandRight, JointType.HandtipRight}, + {JointType.HandtipRight, JointType.HandtipRight}, + {JointType.ThumbRight, JointType.ThumbRight}, + + {JointType.HipLeft, JointType.KneeLeft}, + {JointType.KneeLeft, JointType.AnkleLeft}, + {JointType.AnkleLeft, JointType.FootLeft}, + {JointType.FootLeft, JointType.FootLeft}, + + {JointType.HipRight, JointType.KneeRight}, + {JointType.KneeRight, JointType.AnkleRight}, + {JointType.AnkleRight, JointType.FootRight}, + {JointType.FootRight, JointType.FootRight}, + + {JointType.Nose, JointType.Nose}, + {JointType.EyeLeft, JointType.EarLeft}, + {JointType.EarLeft, JointType.EarLeft}, + {JointType.EyeRight, JointType.EarRight}, + {JointType.EarRight, JointType.EarRight}, + }; + + + // returns the next joint in the hierarchy, as to the given joint + public static JointType GetNextJoint(JointType joint) + { + return dictNextJoint[joint]; + } + + private static readonly Dictionary dictMirrorJoint = new Dictionary + { + {JointType.Pelvis, JointType.Pelvis}, + {JointType.SpineNaval, JointType.SpineNaval}, + {JointType.SpineChest, JointType.SpineChest}, + {JointType.Neck, JointType.Neck}, + {JointType.Head, JointType.Head}, + + {JointType.ClavicleLeft, JointType.ClavicleRight}, + {JointType.ShoulderLeft, JointType.ShoulderRight}, + {JointType.ElbowLeft, JointType.ElbowRight}, + {JointType.WristLeft, JointType.WristRight}, + + {JointType.HandLeft, JointType.HandRight}, + {JointType.HandtipLeft, JointType.HandtipRight}, + {JointType.ThumbLeft, JointType.ThumbRight}, + + {JointType.ClavicleRight, JointType.ClavicleLeft}, + {JointType.ShoulderRight, JointType.ShoulderLeft}, + {JointType.ElbowRight, JointType.ElbowLeft}, + {JointType.WristRight, JointType.WristLeft}, + + {JointType.HandRight, JointType.HandLeft}, + {JointType.HandtipRight, JointType.HandtipLeft}, + {JointType.ThumbRight, JointType.ThumbLeft}, + + {JointType.HipLeft, JointType.HipRight}, + {JointType.KneeLeft, JointType.KneeRight}, + {JointType.AnkleLeft, JointType.AnkleRight}, + {JointType.FootLeft, JointType.FootRight}, + + {JointType.HipRight, JointType.HipLeft}, + {JointType.KneeRight, JointType.KneeLeft}, + {JointType.AnkleRight, JointType.AnkleLeft}, + {JointType.FootRight, JointType.FootLeft}, + + {JointType.Nose, JointType.Nose}, + {JointType.EyeLeft, JointType.EyeRight}, + {JointType.EarLeft, JointType.EarRight}, + {JointType.EyeRight, JointType.EyeLeft}, + {JointType.EarRight, JointType.EarLeft}, + }; + + + // returns the mirror joint of the given joint + public static JointType GetMirrorJoint(JointType joint) + { + return dictMirrorJoint[joint]; + } + + + // memcpy declaration + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate IntPtr MemCpyDelegate(IntPtr dest, IntPtr src, int count); + + internal static readonly MemCpyDelegate Memcpy = MemCpy.GetMethod(); + + [DllImport("libc", EntryPoint = "memcpy", CallingConvention = CallingConvention.Cdecl, SetLastError = false)] + internal static extern IntPtr unix_memcpy(IntPtr dest, IntPtr src, int count); + + [DllImport("msvcrt.dll", EntryPoint = "memcpy", CallingConvention = CallingConvention.Cdecl, SetLastError = false)] + internal static extern IntPtr win_memcpy(IntPtr dest, IntPtr src, int count); + + [System.Security.SuppressUnmanagedCodeSecurity] + internal static class MemCpy + { + internal static MemCpyDelegate GetMethod() + { + switch (System.Environment.OSVersion.Platform) + { + case PlatformID.Win32NT: + return win_memcpy; + case PlatformID.Unix: + case PlatformID.MacOSX: + return unix_memcpy; + default: + throw new PlatformNotSupportedException(System.Environment.OSVersion.ToString()); + } + } + } + + + // copies the given number of bytes from source to destination + public static void CopyBytes(IntPtr srcPtr, IntPtr dstPtr, int byteCount) + { + if (srcPtr == IntPtr.Zero) + throw new Exception("srcPtr should not be null."); + if (dstPtr == IntPtr.Zero) + throw new Exception("dstPtr should not be null."); + if (byteCount == 0) + throw new Exception("byteCount (" + byteCount + ") should be a positive number."); + + Memcpy(dstPtr, srcPtr, byteCount); + } + + + // copies the source array to the destination array + public static void CopyBytes(Array srcArray, int copyElemCount, int srcElemSize, IntPtr dstPtr, int dstBlockSize) + { + if (srcArray == null) + throw new Exception("srcArray should not be null."); + if (dstPtr == IntPtr.Zero) + throw new Exception("dstPtr should not be null."); + + int copyBytesCount = copyElemCount * srcElemSize; + if (copyBytesCount > dstBlockSize) + throw new Exception("Copied " + copyBytesCount + " bytes will overflow the destination memory. MemBlock size: " + dstBlockSize + " bytes"); + + if (copyBytesCount > 0) + { + var pSrcData = GCHandle.Alloc(srcArray, GCHandleType.Pinned); + Memcpy(dstPtr, pSrcData.AddrOfPinnedObject(), copyBytesCount); + pSrcData.Free(); + } + } + + + // copies the source array to the destination array + public static void CopyBytes(IntPtr srcPtr, int srcBlockSize, Array dstArray, int copyElemCount, int dstElemSize) + { + if (srcPtr == IntPtr.Zero) + throw new Exception("srcPtr should not be null."); + if (dstArray == null) + throw new Exception("dstArray should not be null."); + + int copyBytesCount = copyElemCount * dstElemSize; + if (srcBlockSize < copyBytesCount) + throw new Exception("Copied " + copyBytesCount + " bytes are not available in the source memory. MemBlock size: " + srcBlockSize + " bytes"); + + if (copyBytesCount > 0) + { + var pDstData = GCHandle.Alloc(dstArray, GCHandleType.Pinned); + Memcpy(pDstData.AddrOfPinnedObject(), srcPtr, copyBytesCount); + pDstData.Free(); + } + } + + + // copies the source array to the destination array + public static void CopyBytes(Array srcArray, int srcElemSize, Array dstArray, int dstElemSize) + { + if (srcArray == null) + throw new Exception("srcArray should not be null."); + if (dstArray == null) + throw new Exception("dstArray should not be null."); + if ((srcArray.Length * srcElemSize) != (dstArray.Length * dstElemSize)) + throw new Exception("srcArray and dstArray should have the same byte length."); + + int copyBytesCount = dstArray.Length * dstElemSize; + if (copyBytesCount > 0) + { + var pSrcData = GCHandle.Alloc(srcArray, GCHandleType.Pinned); + var pDstData = GCHandle.Alloc(dstArray, GCHandleType.Pinned); + Memcpy(pDstData.AddrOfPinnedObject(), pSrcData.AddrOfPinnedObject(), copyBytesCount); + pDstData.Free(); + pSrcData.Free(); + } + } + + + //// copies the source array to the destination array + //public static void CopyBytes(T srcStruct, ref T dstStruct) + //{ + // if (srcStruct == null) + // throw new Exception("srcStruct should not be null."); + // if (dstStruct == null) + // throw new Exception("dstStruct should not be null."); + + // int copyBytesCount = Marshal.SizeOf(typeof(T)); + // Debug.Log("Copy " + copyBytesCount + " bytes"); + + // if (copyBytesCount > 0) + // { + // var pSrcData = GCHandle.Alloc(srcStruct, GCHandleType.Pinned); + // var pDstData = GCHandle.Alloc(dstStruct, GCHandleType.Pinned); + // CopyBytes(pSrcData.AddrOfPinnedObject(), pDstData.AddrOfPinnedObject(), copyBytesCount); + // pDstData.Free(); + // pSrcData.Free(); + // } + //} + + + // borrowed from @keijiro + private static MethodInfo _setNativeDataMethod; + private static object[] _setNativeDataArgs = new object[5]; + + // sets compute buffer data + public static void SetComputeBufferData(ComputeBuffer computeBuffer, IntPtr dataPointer, int elemCount, int elemSize) + { + if (_setNativeDataMethod == null) + { + _setNativeDataMethod = typeof(ComputeBuffer).GetMethod("InternalSetNativeData", + BindingFlags.InvokeMethod | BindingFlags.NonPublic | BindingFlags.Instance); + } + + _setNativeDataArgs[0] = dataPointer; + _setNativeDataArgs[1] = 0; // source offset + _setNativeDataArgs[2] = 0; // buffer offset + _setNativeDataArgs[3] = elemCount; + _setNativeDataArgs[4] = elemSize; + + _setNativeDataMethod.Invoke(computeBuffer, _setNativeDataArgs); + } + + + // sets compute buffer data + public static void SetComputeBufferData(ComputeBuffer computeBuffer, Array data, int elemCount, int elemSize) + { + var pData = GCHandle.Alloc(data, GCHandleType.Pinned); + SetComputeBufferData(computeBuffer, pData.AddrOfPinnedObject(), elemCount, elemSize); + pData.Free(); + } + + + private static int[] _csIntArgs2 = new int[2]; + + // sets compute shader int2 params + public static void SetComputeShaderInt2(ComputeShader computeShader, string name, int x, int y) + { + _csIntArgs2[0] = x; + _csIntArgs2[1] = y; + computeShader.SetInts(name, _csIntArgs2); + } + + + private static float[] _shFloatArgs2 = new float[2]; + + // sets compute shader float2 params + public static void SetComputeShaderFloat2(ComputeShader computeShader, string name, float x, float y) + { + _shFloatArgs2[0] = x; + _shFloatArgs2[1] = y; + computeShader.SetFloats(name, _shFloatArgs2); + } + + + // sets compute shader float2 params + public static void SetMatShaderFloat2(Material mat, string name, Vector2 vFloat2) + { + mat.SetVector(name, vFloat2); + } + + + // sets compute shader float2 params + public static void SetMatShaderFloat2(Material mat, string name, float x, float y) + { + Vector2 vFloat2 = new Vector2(x, y); + mat.SetVector(name, vFloat2); + } + + + // reads render texture contents into tex2d (it must have the same width and height). + public static bool RenderTex2Tex2D(RenderTexture rt, ref Texture2D tex) + { + if (!rt || !tex || rt.width != tex.width || rt.height != tex.height) + return false; + + RenderTexture currentActiveRT = RenderTexture.active; + RenderTexture.active = rt; + + tex.ReadPixels(new Rect(0, 0, tex.width, tex.height), 0, 0); + tex.Apply(); + + RenderTexture.active = currentActiveRT; + + return true; + } + + + // reads render texture contents into tex2d (it must have the same width and height). + public static bool RenderTex2Tex2D(RenderTexture rt, int rtX, int rtY, int rtW, int rtH, ref Texture2D tex) + { + if (!rt || !tex || rtW != tex.width || rtH != tex.height) + return false; + + RenderTexture currentActiveRT = RenderTexture.active; + RenderTexture.active = rt; + + tex.ReadPixels(new Rect(rtX, rtY, rtW, rtH), 0, 0); + tex.Apply(); + + RenderTexture.active = currentActiveRT; + + return true; + } + + + private static Material matRender = null; + + // sets up the render material, if needed + private static void SetRenderMat() + { + if (!matRender) + { + Shader shader = Shader.Find("Hidden/Internal-Colored"); + matRender = new Material(shader); + + matRender.hideFlags = HideFlags.HideAndDontSave; + matRender.SetInt("_SrcBlend", (int)UnityEngine.Rendering.BlendMode.SrcAlpha); + matRender.SetInt("_DstBlend", (int)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha); + matRender.SetInt("_Cull", (int)UnityEngine.Rendering.CullMode.Off); + matRender.SetInt("_ZWrite", 0); + } + } + + + // draws point with the given size and color + public static void DrawPoint(int x, int y, float size, Color color) + { + Vector3 vPoint = new Vector3(x, y, 0); + DrawPoint(vPoint, size, color); + } + + // draws point with the given size and color + public static void DrawPoint(Vector3 vPoint, float quadSize, Color color) + { + if (!matRender) + { + SetRenderMat(); + } + + GL.PushMatrix(); + matRender.SetPass(0); + + GL.LoadPixelMatrix(); + GL.Begin(GL.QUADS); + GL.Color(color); + + _DrawPoint(vPoint, quadSize); + + GL.End(); + GL.PopMatrix(); + } + + // draws list of points with the given size and color + public static void DrawPoints(List alPoints, float quadSize, Color color) + { + if (alPoints == null) + return; + + if (!matRender) + { + SetRenderMat(); + } + + GL.PushMatrix(); + matRender.SetPass(0); + + GL.LoadPixelMatrix(); + GL.Begin(GL.QUADS); + GL.Color(color); + + foreach (Vector3 v in alPoints) + { + _DrawPoint(v, quadSize); + } + + GL.End(); + GL.PopMatrix(); + } + + // draws point with given size + private static void _DrawPoint(Vector3 v, float quadSize) + { + float q2 = quadSize / 2f; + GL.Vertex3(v.x - q2, v.y - q2, 0f); + GL.Vertex3(v.x - q2, v.y + q2, 0f); + GL.Vertex3(v.x + q2, v.y + q2, 0f); + GL.Vertex3(v.x + q2, v.y - q2, 0f); + } + + // draws a line with the given width and color + public static void DrawLine(int x0, int y0, int x1, int y1, float width, Color color) + { + Vector3 v0 = new Vector3(x0, y0, 0); + Vector3 v1 = new Vector3(x1, y1, 0); + DrawLine(v0, v1, width, color); + } + + // draws a line with the given width and color + public static void DrawLine(Vector3 v0, Vector3 v1, float lineWidth, Color color) + { + if (!matRender) + { + SetRenderMat(); + } + + GL.PushMatrix(); + matRender.SetPass(0); + + GL.LoadPixelMatrix(); + GL.Begin(GL.QUADS); + GL.Color(color); + + _DrawLine(v0, v1, lineWidth); + + GL.End(); + GL.PopMatrix(); + } + + // draws list of lines with the given width and color + public static void DrawLines(List alLinePoints, float lineWidth, Color color) + { + if (alLinePoints == null) + return; + + if (!matRender) + { + SetRenderMat(); + } + + GL.PushMatrix(); + matRender.SetPass(0); + + GL.LoadPixelMatrix(); + GL.Begin(GL.QUADS); + GL.Color(color); + + for (int i = 0; i < alLinePoints.Count; i += 2) + { + Vector3 v0 = alLinePoints[i]; + Vector3 v1 = alLinePoints[i + 1]; + + _DrawLine(v0, v1, lineWidth); + } + + GL.End(); + GL.PopMatrix(); + } + + // draws rectangle with the given width and color + public static void DrawRect(Rect rect, float width, Color color) + { + Vector3 topLeft = new Vector3(rect.xMin, rect.yMin, 0); + Vector3 bottomRight = new Vector3(rect.xMax, rect.yMax, 0); + DrawRect(topLeft, bottomRight, width, color); + } + + // draws rectangle with the given width and color + public static void DrawRect(Vector3 topLeft, Vector3 bottomRight, float lineWidth, Color color) + { + if (!matRender) + { + SetRenderMat(); + } + + GL.PushMatrix(); + matRender.SetPass(0); + + GL.LoadPixelMatrix(); + GL.Begin(GL.QUADS); + GL.Color(color); + + // top + Vector3 v0 = topLeft; + Vector3 v1 = topLeft; v1.x = bottomRight.x; + _DrawLine(v0, v1, lineWidth); + + // right + v0 = v1; + v1 = bottomRight; + _DrawLine(v0, v1, lineWidth); + + // bottom + v0 = v1; + v1 = topLeft; v1.y = bottomRight.y; + _DrawLine(v0, v1, lineWidth); + + // left + v0 = v1; + v1 = topLeft; + _DrawLine(v0, v1, lineWidth); + + GL.End(); + GL.PopMatrix(); + } + + // draws line from v0 to v1 with the given width + private static void _DrawLine(Vector3 v0, Vector3 v1, float lineWidth) + { + Vector3 n = ((new Vector3(v1.y, v0.x, 0f)) - (new Vector3(v0.y, v1.x, 0f))).normalized * lineWidth; + GL.Vertex3(v0.x - n.x, v0.y - n.y, 0f); + GL.Vertex3(v0.x + n.x, v0.y + n.y, 0f); + GL.Vertex3(v1.x + n.x, v1.y + n.y, 0f); + GL.Vertex3(v1.x - n.x, v1.y - n.y, 0f); + } + + // converts current body frame to a single csv line. returns empty string if there is no body data + public static string GetBodyFrameAsCsv(ref BodyData[] bodyData, uint bodyCount, ulong liRelTime, Vector3 spaceScale, ref float fUnityTime, char delimiter) + { + // check for invalid sensor data and if the frame is still the same + if (bodyData == null) + return string.Empty; + + // create the output string + System.Text.StringBuilder sbBuf = new System.Text.StringBuilder(); + System.Globalization.CultureInfo invCulture = System.Globalization.CultureInfo.InvariantCulture; + + sbBuf.Append("k4b").Append(delimiter); + sbBuf.Append(liRelTime).Append(delimiter); + + fUnityTime = Time.time; + int jointCount = (int)JointType.Count; + sbBuf.Append(bodyCount).Append(delimiter); + sbBuf.Append(jointCount).Append(delimiter); + + sbBuf.Append((int)spaceScale.x).Append(delimiter); + sbBuf.Append((int)spaceScale.y).Append(delimiter); + sbBuf.Append((int)spaceScale.z).Append(delimiter); + + // add information for all bodies + for (int i = 0; i < bodyCount; i++) + { + sbBuf.Append(bodyData[i].bIsTracked ? "1" : "0").Append(delimiter); + + if (bodyData[i].bIsTracked) + { + // add information for the tracked body - body-id and joints + sbBuf.Append(bodyData[i].liTrackingID).Append(delimiter); + + for (int j = 0; j < jointCount; j++) + { + JointData jointData = bodyData[i].joint[j]; + + sbBuf.Append((int)jointData.trackingState).Append(delimiter); + + if (jointData.trackingState != TrackingState.NotTracked) + { + Vector3 jointPos = jointData.kinectPos; + Vector3 jointRot = jointData.normalRotation.eulerAngles; + + sbBuf.AppendFormat(invCulture, "{0:F3}", jointPos.x).Append(delimiter); + sbBuf.AppendFormat(invCulture, "{0:F3}", jointPos.y).Append(delimiter); + sbBuf.AppendFormat(invCulture, "{0:F3}", jointPos.z).Append(delimiter); + + sbBuf.AppendFormat(invCulture, "{0:F3}", jointRot.x).Append(delimiter); + sbBuf.AppendFormat(invCulture, "{0:F3}", jointRot.y).Append(delimiter); + sbBuf.AppendFormat(invCulture, "{0:F3}", jointRot.z).Append(delimiter); + } + } + } + } + + // remove the last delimiter + if (sbBuf.Length > 0 && sbBuf[sbBuf.Length - 1] == delimiter) + { + sbBuf.Remove(sbBuf.Length - 1, 1); + } + + return sbBuf.ToString(); + } + + // sets current body frame from the given csv line. returns the number of bodies + public static uint SetBodyFrameFromCsv(string sCsvLine, string sDelim, ref BodyData[] bodyData, + ref Matrix4x4 sensorToWorld, bool bIgnoreZCoords, out ulong liRelTime) + { + liRelTime = 0; + + // check for invalid sensor data and for same frame time + if (sCsvLine.Length == 0) + return 0; + + // split the csv line in parts + char[] delimiters = sDelim.ToCharArray(); + if (delimiters == null || delimiters.Length == 0) + return 0; + + string[] alCsvParts = sCsvLine.Split(delimiters); + if (alCsvParts.Length < 7) + return 0; + + System.Globalization.CultureInfo invCulture = System.Globalization.CultureInfo.InvariantCulture; + System.Globalization.NumberStyles numFloat = System.Globalization.NumberStyles.Float; + + // body count & joint count + int.TryParse(alCsvParts[2], out int bodyCount); + int.TryParse(alCsvParts[3], out int jointCount); + + // space scale + int.TryParse(alCsvParts[4], out int iSX); + int.TryParse(alCsvParts[5], out int iSY); + int.TryParse(alCsvParts[6], out int iSZ); + Vector3 sensorSpaceScale = new Vector3(iSX, iSY, iSZ); + + ulong.TryParse(alCsvParts[1], out liRelTime); + + if (alCsvParts[0] != "k4b" || bodyCount == 0 || jointCount == 0 || liRelTime == 0) + return 0; + //if (bodyCount != sensorData.bodyCount || jointCount != sensorData.jointCount) + // return 0; + + //// update body frame data + //bodyFrame.liPreviousTime = bodyFrame.liRelativeTime; + //bodyFrame.liRelativeTime = liRelTime; + + if (bodyData.Length < bodyCount) + { + Array.Resize(ref bodyData, bodyCount); + for (int i = 0; i < bodyCount; i++) + { + bodyData[i] = new BodyData((int)JointType.Count); + } + } + + int iIndex = 7; + for (int i = 0; i < bodyCount; i++) + { + if (alCsvParts.Length < (iIndex + 1)) + return 0; + + // update the tracked-flag and body id + short bIsTracked = 0; + ulong liTrackingID = 0; + + short.TryParse(alCsvParts[iIndex], out bIsTracked); + iIndex++; + + if (bIsTracked != 0 && alCsvParts.Length >= (iIndex + 1)) + { + ulong.TryParse(alCsvParts[iIndex], out liTrackingID); + iIndex++; + + if (liTrackingID == 0) + { + bIsTracked = 0; + } + } + + bodyData[i].bIsTracked = (bIsTracked != 0); + bodyData[i].liTrackingID = liTrackingID; + + if (bIsTracked != 0) + { + if (jointCount != (int)JointType.Count) + { + // set the other joints as not tracked + for (int j = jointCount; j < (int)JointType.Count; j++) + { + bodyData[i].joint[j].trackingState = TrackingState.NotTracked; + } + } + + // update joints' data + for (int j = 0; j < jointCount; j++) + { + JointData jointData = bodyData[i].joint[j]; + int iTrackingState = 0; + + if (alCsvParts.Length >= (iIndex + 1)) + { + int.TryParse(alCsvParts[iIndex], out iTrackingState); + iIndex++; + + jointData.trackingState = (KinectInterop.TrackingState)iTrackingState; + + if (iTrackingState != (int)TrackingState.NotTracked && alCsvParts.Length >= (iIndex + 6)) + { + float.TryParse(alCsvParts[iIndex], numFloat, invCulture, out float x); + float.TryParse(alCsvParts[iIndex + 1], numFloat, invCulture, out float y); + float.TryParse(alCsvParts[iIndex + 2], numFloat, invCulture, out float z); + iIndex += 3; + + jointData.kinectPos = new Vector3(x, y, z); + + float.TryParse(alCsvParts[iIndex], numFloat, invCulture, out x); + float.TryParse(alCsvParts[iIndex + 1], numFloat, invCulture, out y); + float.TryParse(alCsvParts[iIndex + 2], numFloat, invCulture, out z); + iIndex += 3; + + jointData.normalRotation = Quaternion.Euler(x, y, z); + } + else + { + jointData.kinectPos = Vector3.zero; + } + + float jPosZ = (bIgnoreZCoords && j > 0) ? bodyData[i].joint[0].kinectPos.z : jointData.kinectPos.z; + jointData.position = sensorToWorld.MultiplyPoint3x4(new Vector3(jointData.kinectPos.x * sensorSpaceScale.x, jointData.kinectPos.y * sensorSpaceScale.y, jPosZ)); + jointData.orientation = Quaternion.identity; + + Vector3 mirroredAngles = jointData.normalRotation.eulerAngles; + mirroredAngles.y = -mirroredAngles.y; + mirroredAngles.z = -mirroredAngles.z; + jointData.mirroredRotation = Quaternion.Euler(mirroredAngles); + + if (j == 0) + { + // set body position + bodyData[i].position = jointData.position; + bodyData[i].orientation = jointData.orientation; + + bodyData[i].normalRotation = jointData.normalRotation; + bodyData[i].mirroredRotation = jointData.mirroredRotation; + } + } + + bodyData[i].joint[j] = jointData; + } + + // calculate bone directions + CalcBodyJointDirs(ref bodyData[i]); + + } + } + + return (uint)bodyCount; + } + + + // calculates all bone directions for the given body + public static void CalcBodyJointDirs(ref BodyData bodyData) + { + if (bodyData.bIsTracked) + { + for (int j = 0; j < (int)JointType.Count; j++) + { + if (j == 0) + { + bodyData.joint[j].direction = Vector3.zero; + } + else + { + int jParent = (int)GetParentJoint((JointType)j); + + if (bodyData.joint[j].trackingState != TrackingState.NotTracked && + bodyData.joint[jParent].trackingState != TrackingState.NotTracked) + { + bodyData.joint[j].direction = (bodyData.joint[j].position - bodyData.joint[jParent].position); //.normalized; + } + } + } + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectInterop.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectInterop.cs.meta new file mode 100644 index 0000000..132c045 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectInterop.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ebd602dc5968e0743b5c5fa9cd5268ee +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectManager.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectManager.cs new file mode 100644 index 0000000..f397411 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectManager.cs @@ -0,0 +1,2469 @@ +using System; +using System.Collections; +using System.Collections.Generic; +using System.Threading; +using UnityEngine; + +namespace com.rfilkov.kinect +{ + /// + /// KinectManager is the the main and most basic depth-sensor related component. It controls the sensors and manages the data streams. + /// + public class KinectManager : MonoBehaviour + { + + [Header("Sensor Data")] + + [Tooltip("Whether to get depth frames from the sensor(s).")] + public DepthTextureType getDepthFrames = DepthTextureType.RawDepthData; + public enum DepthTextureType : int { None = 0, RawDepthData = 1, DepthTexture = 2 } + + [Tooltip("Whether to get color frames from the sensor(s).")] + public ColorTextureType getColorFrames = ColorTextureType.None; + public enum ColorTextureType : int { None = 0, ColorTexture = 2 } + + [Tooltip("Whether to get infrared frames from the sensor(s).")] + public InfraredTextureType getInfraredFrames = InfraredTextureType.None; + public enum InfraredTextureType : int { None = 0, RawInfraredData = 1, InfraredTexture = 2 } + + [Tooltip("Whether to get pose frames from the sensor(s).")] + public PoseUsageType getPoseFrames = PoseUsageType.None; + public enum PoseUsageType : int { None = 0, RawPoseData = 1, DisplayInfo = 10, UpdateTransform = 20 } + + [Tooltip("Whether to get body frames from the body tracker.")] + public BodyTextureType getBodyFrames = BodyTextureType.RawBodyData; + public enum BodyTextureType : int { None = 0, RawBodyData = 1, BodyTexture = 2, UserTexture = 3 /**, BodyTexture, UserTexture, CutOutTexture */ } + + [Tooltip("Whether to poll the sensor frames in separate threads or in the Update-method.")] + private bool pollFramesInThread = true; + + [Tooltip("Whether to synchronize depth and color frames.")] + public bool syncDepthAndColor = false; + + [Tooltip("Whether to synchronize body and depth frames.")] + public bool syncBodyAndDepth = false; + + //[Tooltip("List of additional data frames to be computed from the latest depth and color frames. Please note, these data frames require getting both depth & color frames, as well as sync between them.")] + //public List additionalFrames = new List(); + //public enum AdditionalFrameType : int { Depth2ColorCoordinatesFrame, Color2DepthCoordinatesFrame, AlignedDepth2ColorFrame, AlignedColor2DepthFrame, PointCloudMeshFrame, PointCloudVerticesFrame, PointCloudUvFrame, PointCloudColorFrame } + + [Header("User Detection")] + + [Tooltip("Minimum distance to user, in order to be considered for body processing. Value of 0 means no minimum distance limitation.")] + [Range(0f, 10f)] + public float minUserDistance = 0f; + + [Tooltip("Maximum distance to user, in order to be considered for body processing. Value of 0 means no maximum distance limitation.")] + [Range(0f, 10f)] + public float maxUserDistance = 0f; + + [Tooltip("Maximum left or right distance to user, in order to be considered for body processing. Value of 0 means no left/right distance limitation.")] + [Range(0f, 5f)] + public float maxLeftRightDistance = 0f; + + [Tooltip("Maximum number of users, who may be tracked simultaneously. Value of 0 means no limitation.")] + public int maxTrackedUsers = 0; + + [Tooltip("Whether to display only the users within the allowed distances, or all users.")] + public bool showAllowedUsersOnly = false; + + public enum UserDetectionOrder : int { Appearance = 0, Distance = 1, LeftToRight = 2 } + [Tooltip("How to assign users to player indices - by order of appearance, distance or left-to-right.")] + public UserDetectionOrder userDetectionOrder = UserDetectionOrder.Appearance; + + [Tooltip("Whether to ignore the inferred joints, or consider them as tracked joints.")] + public bool ignoreInferredJoints = false; + + [Tooltip("Whether to ignore the Z-coordinates of the joints (for 2D-scenes) or not.")] + public bool ignoreZCoordinates = false; + + [Tooltip("Whether to apply the bone orientation constraints.")] + public bool boneOrientationConstraints = true; + + [Tooltip("Wait time in seconds, before a lost user gets removed. This is to prevent sporadical user switches.")] + protected float waitTimeBeforeRemove = 0.1f; + + [Tooltip("Calibration pose required, to start tracking the respective user.")] + public GestureType playerCalibrationPose = GestureType.None; + + [Tooltip("User manager, used to track the users. KM creates one, if not set.")] + public KinectUserManager userManager; + + //[Tooltip("List of the avatar controllers in the scene. If the list is empty, the available avatar controllers are detected at the scene start up.")] + //public List avatarControllers = new List(); + + [Header("Gesture Detection")] + + //[Tooltip("List of common gestures, to be detected for each player.")] + //public List playerCommonGestures = new List(); + + //[Tooltip("Minimum time between gesture detections (in seconds).")] + //public float minTimeBetweenGestures = 0.7f; + + [Tooltip("Gesture manager, used to detect user gestures. KM creates one, if not set.")] + public KinectGestureManager gestureManager; + + //[Tooltip("List of the gesture listeners in the scene. If the list is empty, the available gesture listeners will be detected at the scene start up.")] + //public List gestureListeners = new List(); + + [Header("On-Screen Info")] + + [Tooltip("List of images to display on the screen.")] + public List displayImages = new List(); + public enum DisplayImageType : int + { + None = 0, + Sensor0ColorImage = 0x01, Sensor0DepthImage = 0x02, Sensor0InfraredImage = 0x03, + Sensor1ColorImage = 0x11, Sensor1DepthImage = 0x12, Sensor1InfraredImage = 0x13, + Sensor2ColorImage = 0x21, Sensor2DepthImage = 0x22, Sensor2InfraredImage = 0x23, + UserBodyImage = 0x101 + } + + [Tooltip("Single image width, as percent of the screen width. The height is estimated according to the image's aspect ratio.")] + [Range(0.1f, 0.5f)] + public float displayImageWidthPercent = 0.2f; + + [Tooltip("UI-Text to display status messages.")] + public UnityEngine.UI.Text statusInfoText; + + + + // Bool to keep track of whether Kinect has been initialized + protected bool kinectInitialized = false; + + // The singleton instance of KinectManager + protected static KinectManager instance = null; + + // available sensor interfaces + protected List sensorInterfaces = new List(); + // the respective SensorData structures + protected List sensorDatas = new List(); + + // body frame data + protected ulong lastBodyFrameTime = 0; + protected uint trackedBodiesCount = 0; + protected KinectInterop.BodyData[] alTrackedBodies = new KinectInterop.BodyData[0]; // new List(); + + protected int btSensorIndex = -1; + protected int selectedBodyIndex = 255; + protected bool bLimitedUsers = false; + + protected BoneOrientationConstraints boneConstraints = null; + + // play mode + protected bool isPlayModeEnabled = false; + protected string playModeData = string.Empty; + + + /// + /// Gets the single KinectManager instance. + /// + /// The KinectManager instance. + public static KinectManager Instance + { + get + { + return instance; + } + } + + /// + /// Determines if the KinectManager-component is initialized and ready to use. + /// + /// true if KinectManager is initialized; otherwise, false. + public bool IsInitialized() + { + return kinectInitialized; + } + + /// + /// Returns the number of utilized depth sensors. + /// + /// The number of depth sensors. + public int GetSensorCount() + { + return sensorDatas.Count; + } + + ///// + ///// Gets the sensor-data structure of the 1st sensor (this structure should not be modified, because it is used internally). + ///// + ///// The sensor data. + //internal KinectInterop.SensorData GetSensorData() + //{ + // return GetSensorData(0); + //} + + /// + /// Gets the sensor-data structure of the given sensor (this structure should not be modified, because it is used internally). + /// + /// The sensor index. + /// The sensor data. + internal KinectInterop.SensorData GetSensorData(int sensorIndex) + { + if(sensorIndex >= 0 && sensorIndex < sensorDatas.Count) + { + return sensorDatas[sensorIndex]; + } + + return null; + } + + /// + /// Gets the minimum distance tracked by the sensor, in meters. + /// + /// The sensor index. + /// Minimum distance tracked by the sensor, in meters. + public float GetSensorMinDistance(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if(sensorData != null && sensorData.sensorInterface != null) + { + return ((DepthSensorBase)sensorData.sensorInterface).minDistance; + } + + return 0f; + } + + /// + /// Gets the maximum distance tracked by the sensor, in meters. + /// + /// The sensor index. + /// Maximum distance tracked by the sensor, in meters. + public float GetSensorMaxDistance(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if (sensorData != null && sensorData.sensorInterface != null) + { + return ((DepthSensorBase)sensorData.sensorInterface).maxDistance; + } + + return 0f; + } + + /// + /// Gets the last color frame time, as returned by the sensor. + /// + /// The sensor index. + /// The color frame time. + public ulong GetColorFrameTime(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.lastColorFrameTime : 0; + } + + /// + /// Gets the width of the color image, returned by the sensor. + /// + /// The sensor index. + /// The color image width. + public int GetColorImageWidth(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.colorImageWidth : 0; + } + + /// + /// Gets the height of the color image, returned by the sensor. + /// + /// The sensor index. + /// The color image height. + public int GetColorImageHeight(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.colorImageHeight : 0; + } + + /// + /// Gets the color image scale. + /// + /// The sensor index. + /// The color image scale. + public Vector3 GetColorImageScale(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.colorImageScale : Vector3.one; + } + + /// + /// Gets the color image texture. + /// + /// The sensor index. + /// The color image texture. + public Texture GetColorImageTex(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.colorImageTexture : null; + } + + /// + /// Gets the last depth frame time, as returned by the sensor. + /// + /// The sensor index. + /// The depth frame time. + public ulong GetDepthFrameTime(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.lastDepthFrameTime : 0; + } + + /// + /// Gets the last IR frame time, as returned by the sensor. + /// + /// The sensor index. + /// The IR frame time. + public ulong GetInfraredFrameTime(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.lastInfraredFrameTime : 0; + } + + /// + /// Gets the width of the depth image, returned by the sensor. + /// + /// The sensor index. + /// The depth image width. + public int GetDepthImageWidth(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.depthImageWidth : 0; + } + + /// + /// Gets the height of the depth image, returned by the sensor. + /// + /// The sensor index. + /// The depth image height. + public int GetDepthImageHeight(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.depthImageHeight : 0; + } + + /// + /// Gets the raw depth data, if ComputeUserMap is true. + /// + /// The sensor index. + /// The raw depth map. + public ushort[] GetRawDepthMap(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.depthImage : null; + } + + /// + /// Gets the raw infrared data, if ComputeInfraredMap is true. + /// + /// The sensor index. + /// The raw infrared map. + public ushort[] GetRawInfraredMap(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.infraredImage : null; + } + + /// + /// Gets the depth image scale. + /// + /// The sensor index. + /// The depth image scale. + public Vector3 GetDepthImageScale(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.depthImageScale : Vector3.one; + } + + /// + /// Gets the infrared image scale. + /// + /// The sensor index. + /// The infrared image scale. + public Vector3 GetInfraredImageScale(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.infraredImageScale : Vector3.one; + } + + /// + /// Gets the sensor space scale. + /// + /// The sensor index. + /// The sensor space scale. + public Vector3 GetSensorSpaceScale(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.sensorSpaceScale : Vector3.one; + } + + /// + /// Gets the depth image texture. + /// + /// The sensor index. + /// The depth texture. + public Texture GetDepthImageTex(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.depthImageTexture : null; + } + + /// + /// Gets the infrared image texture. + /// + /// The sensor index. + /// The infrared texture. + public Texture GetInfraredImageTex(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.infraredImageTexture : null; + } + + /// + /// Gets the depth value for the specified pixel, if ComputeUserMap is true. + /// + /// The depth value. + /// The sensor index. + /// The X coordinate of the pixel. + /// The Y coordinate of the pixel. + public ushort GetDepthForPixel(int sensorIndex, int x, int y) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if (sensorData != null && sensorData.depthImage != null) + { + int index = y * sensorData.depthImageWidth + x; + + if (index >= 0 && index < sensorData.depthImage.Length) + { + return sensorData.depthImage[index]; + } + } + + return 0; + } + + /// + /// Gets the depth value for the specified pixel, if ComputeUserMap is true. + /// + /// The depth value. + /// The sensor index. + /// Depth index. + public ushort GetDepthForIndex(int sensorIndex, int index) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if (sensorData != null && sensorData.depthImage != null) + { + if (index >= 0 && index < sensorData.depthImage.Length) + { + return sensorData.depthImage[index]; + } + } + + return 0; + } + + + /// + /// Returns the respective sensor-to-world matrix. + /// + /// The sensor index. + /// Sensor-to-world matrix. + public Matrix4x4 GetSensorToWorldMatrix(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return KinectInterop.GetSensorToWorldMatrix(sensorData); + } + + + /// + /// Returns the sensor transform reference. Please note transform updates depend on the getPoseFrames-KM setting. + /// + /// The sensor index. + /// Sensor transorm or null, if sensorIndex is invalid. + public Transform GetSensorTransform(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return KinectInterop.GetSensorTransform(sensorData); + } + + + /// + /// Returns the depth camera space coordinates of a depth-image point, or Vector3.zero if the sensor is not initialized. + /// + /// The space coordinates. + /// The sensor index. + /// Depth image coordinates + /// Depth value + /// If set to true, applies the sensor height and angle to the space coordinates. + public Vector3 MapDepthPointToSpaceCoords(int sensorIndex, Vector2 posPoint, ushort depthValue, bool bWorldCoords) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if (sensorData != null) + { + Vector3 posSpace = KinectInterop.MapDepthPointToSpaceCoords(sensorData, posPoint, depthValue); + + if (bWorldCoords) + { + Vector3 spaceScale = sensorData.sensorSpaceScale; + posSpace = new Vector3(posSpace.x * spaceScale.x, posSpace.y * spaceScale.y, posSpace.z * spaceScale.z); + + Matrix4x4 sensorToWorld = KinectInterop.GetSensorToWorldMatrix(sensorData); + posSpace = sensorToWorld.MultiplyPoint3x4(posSpace); + } + + return posSpace; + } + + return Vector3.zero; + } + + + /// + /// Returns the depth-image coordinates of a depth camera space point, or Vector2.zero if the sensor is not initialized. + /// + /// The depth-image coordinates. + /// The sensor index. + /// Space point coordinates + public Vector2 MapSpacePointToDepthCoords(int sensorIndex, Vector3 posPoint) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if (sensorData != null) + { + return KinectInterop.MapSpacePointToDepthCoords(sensorData, posPoint); + } + + return Vector2.zero; + } + + + /// + /// Returns the color camera space coordinates of a color-image point, or Vector3.zero if the sensor is not initialized. + /// + /// The space coordinates. + /// The sensor index. + /// Color image coordinates + /// Distance in mm + public Vector3 MapColorPointToSpaceCoords(int sensorIndex, Vector2 posPoint, ushort distance) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if (sensorData != null) + { + return KinectInterop.MapColorPointToSpaceCoords(sensorData, posPoint, distance); + } + + return Vector3.zero; + } + + + /// + /// Returns the color-image coordinates of a color camera space point, or Vector2.zero if the sensor is not initialized. + /// + /// The color-image coordinates. + /// The sensor index. + /// Space point coordinates + public Vector2 MapSpacePointToColorCoords(int sensorIndex, Vector3 posPoint) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if (sensorData != null) + { + return KinectInterop.MapSpacePointToColorCoords(sensorData, posPoint); + } + + return Vector2.zero; + } + + + /// + /// Returns the color-image coordinates of a depth-image point. + /// + /// The color-image coordinates. + /// The sensor index. + /// Depth image coordinates + /// Depth value + public Vector2 MapDepthPointToColorCoords(int sensorIndex, Vector2 posDepth, ushort depthValue) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if (sensorData != null) + { + return KinectInterop.MapDepthPointToColorCoords(sensorData, posDepth, depthValue); + } + + return Vector2.zero; + } + + + /// + /// Returns the depth-image coordinates of a color-image point. + /// + /// The depth-image coordinates. + /// The sensor index. + /// Color image coordinates + public Vector2 MapColorPointToDepthCoords(int sensorIndex, Vector2 posColor) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if (sensorData != null) + { + return KinectInterop.MapColorPointToDepthCoords(sensorData, posColor); + } + + return Vector2.zero; + } + + + ///// + ///// Maps the depth frame to space coordinates. + ///// + ///// true on success, false otherwise. + ///// The sensor index. + ///// Buffer for the depth-to-space coordinates. + //public bool MapDepthFrameToSpaceCoords(int sensorIndex, ref Vector3[] avSpaceCoords) + //{ + // bool bResult = false; + + // KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + // if (sensorData != null && sensorData.depthImage != null) + // { + // if (avSpaceCoords == null || avSpaceCoords.Length == 0) + // { + // avSpaceCoords = new Vector3[sensorData.depthImageWidth * sensorData.depthImageHeight]; + // } + + // bResult = KinectInterop.MapDepthFrameToSpaceCoords(sensorData, ref avSpaceCoords); + // } + + // return bResult; + //} + + + ///// + ///// Returns the depth-map coordinates of a color point. + ///// + ///// The depth coords. + ///// The sensor index. + ///// Color position. + ///// If set to true allows reading of depth coords, if needed. + //public Vector2 MapColorPointToDepthCoords(int sensorIndex, Vector2 colorPos, bool bReadDepthCoordsIfNeeded) + //{ + // KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + // if (sensorData != null && sensorData.colorImageTexture != null && sensorData.depthImage != null) + // { + // return KinectInterop.MapColorPointToDepthCoords(sensorData, colorPos, bReadDepthCoordsIfNeeded); + // } + + // return Vector2.zero; + //} + + + ///// + ///// Maps the depth frame to color coordinates. + ///// + ///// true on success, false otherwise. + ///// The sensor index. + ///// Buffer for depth-to-color coordinates. + //public bool MapDepthFrameToColorCoords(int sensorIndex, ref Vector2[] avColorCoords) + //{ + // bool bResult = false; + + // KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + // if (sensorData != null && sensorData.depthImage != null && sensorData.colorImageTexture != null) + // { + // if (avColorCoords == null || avColorCoords.Length == 0) + // { + // avColorCoords = new Vector2[sensorData.depthImageWidth * sensorData.depthImageHeight]; + // } + + // bResult = KinectInterop.MapDepthFrameToColorCoords(sensorData, ref avColorCoords); + // } + + // return bResult; + //} + + + ///// + ///// Maps the color frame to depth coordinates. + ///// + ///// true on success, false otherwise. + ///// The sensor index. + ///// Buffer for color-to-depth coordinates. + //public bool MapColorFrameToDepthCoords(int sensorIndex, ref Vector2[] avDepthCoords) + //{ + // bool bResult = false; + + // KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + // if (sensorData != null && sensorData.colorImageTexture != null && sensorData.depthImage != null) + // { + // if (avDepthCoords == null || avDepthCoords.Length == 0) + // { + // avDepthCoords = new Vector2[sensorData.colorImageWidth * sensorData.colorImageWidth]; + // } + + // bResult = KinectInterop.MapColorFrameToDepthCoords(sensorData, ref avDepthCoords); + // } + + // return bResult; + //} + + + /// + /// Gets the last body frame time, as returned by the sensor. + /// + /// The sensor index. + /// The body frame time. + public ulong GetBodyFrameTime(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.lastBodyFrameTime : 0; + } + + /// + /// Gets the last body index frame time, as returned by the sensor. + /// + /// The sensor index. + /// The body index frame time. + public ulong GetBodyIndexFrameTime(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.lastBodyIndexFrameTime : 0; + } + + /// + /// Gets the users' image texture. + /// + /// The user bodies texture. + public Texture GetUsersImageTex() + { + return GetUsersImageTex(btSensorIndex); + } + + /// + /// Gets the users' image texture. + /// + /// The sensor index. + /// The user bodies texture. + public Texture GetUsersImageTex(int sensorIndex) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + return sensorData != null ? sensorData.bodyImageTexture : null; + } + + /// + /// Determines whether the user with the specified index is currently detected by the sensor + /// + /// true if the user is detected; otherwise, false. + /// The user index. + public bool IsUserDetected(int i) + { + if (i >= 0 && i < KinectInterop.Constants.MaxBodyCount) + { + return (userManager.aUserIndexIds[i] != 0); + } + + return false; + } + + /// + /// Determines whether the user with the specified userId is in the list of tracked users or not. + /// + /// true if the user with the specified userId is tracked; otherwise, false. + /// User identifier. + public bool IsUserTracked(ulong userId) + { + return userManager.dictUserIdToIndex.ContainsKey(userId); + } + + /// + /// Gets the number of currently tracked users. + /// + /// The users count. + public int GetUsersCount() + { + return userManager.alUserIds.Count; + } + + /// + /// Gets the IDs of all currently tracked users. + /// + /// The list of all currently tracked users. + public List GetAllUserIds() + { + return new List(userManager.alUserIds); + } + + /// + /// Gets the max player-index of the currently tracked users. + /// + /// The max player-index of the tracked users. + public int GetMaxUserIndex() + { + int maxIndex = -1; + + for (int i = KinectInterop.Constants.MaxBodyCount - 1; i >= 0; i--) + { + if (userManager.aUserIndexIds[i] != 0) + { + maxIndex = i; + break; + } + } + + return maxIndex; + } + + /// + /// Gets the player indices of all currently tracked users. + /// + /// The list of player-indices of all tracked users. + public List GetAllUserIndices() + { + List alIndices = new List(); + + for (int i = 0; i < KinectInterop.Constants.MaxBodyCount; i++) + { + if (userManager.aUserIndexIds[i] != 0) + { + alIndices.Add(i); + } + } + + return alIndices; + } + + /// + /// Gets the user ID by the specified user index. + /// + /// The user ID by index. + /// The user index. + public ulong GetUserIdByIndex(int i) + { + if (i >= 0 && i < KinectInterop.Constants.MaxBodyCount) + { + return userManager.aUserIndexIds[i]; + } + + return 0; + } + + /// + /// Gets the user index by the specified user ID. + /// + /// The user index by user ID. + /// User ID + public int GetUserIndexById(ulong userId) + { + if (userId == 0) + return -1; + + for (int i = 0; i < userManager.aUserIndexIds.Length; i++) + { + if (userManager.aUserIndexIds[i] == userId) + { + return i; + } + } + + return -1; + } + + /// + /// Gets the body index by the specified user ID, or -1 if the user ID does not exist. + /// + /// The body index by user ID. + /// User ID + public int GetBodyIndexByUserId(ulong userId) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + int bodyIndex = alTrackedBodies[index].iBodyIndex; + return bodyIndex; + } + } + + return -1; + } + + /// + /// Gets the list of tracked body indices. + /// + /// The list of body indices. + public List GetTrackedBodyIndices() + { + List alBodyIndices = new List(userManager.dictUserIdToIndex.Values); + return alBodyIndices; + } + + /// + /// Determines whether the tracked users are limited by their number or distance or not. + /// + /// true if the users are limited by number or distance; otherwise, false. + public bool IsTrackedUsersLimited() + { + return bLimitedUsers; + } + + /// + /// Gets the UserID of the primary user (the first or the closest one), or 0 if no user is detected. + /// + /// The primary user ID. + public ulong GetPrimaryUserID() + { + return userManager.liPrimaryUserId; + } + + /// + /// Sets the primary user ID, in order to change the active user. + /// + /// true, if primary user ID was set, false otherwise. + /// User ID + public bool SetPrimaryUserID(ulong userId) + { + bool bResult = false; + + if (userManager.alUserIds.Contains(userId) || (userId == 0)) + { + userManager.liPrimaryUserId = userId; + bResult = true; + } + + return bResult; + } + + /// + /// Gets the body index, if there is single body selected to be displayed on the user map, or -1 if all bodies are displayed. + /// + /// The displayed body index, or -1 if all bodies are displayed. + public int GetDisplayedBodyIndex() + { + return selectedBodyIndex != 255 ? selectedBodyIndex : -1; + } + + /// + /// Sets the body index, if a single body must be displayed on the user map, or -1 if all bodies must be displayed. + /// + /// true, if the change was successful, false otherwise. + /// The single body index, or -1 if all bodies must be displayed. + public void SetDisplayedBodyIndex(int iBodyIndex) + { + selectedBodyIndex = (byte)(iBodyIndex >= 0 ? iBodyIndex : 255); + } + + /// + /// Gets the last body frame timestamp. + /// + /// The last body frame timestamp. + public ulong GetBodyFrameTimestamp() + { + return lastBodyFrameTime; + } + + // do not change the data in the structure directly + /// + /// Gets the user body data (for internal purposes only). + /// + /// The user body data. + /// User ID + internal KinectInterop.BodyData GetUserBodyData(ulong userId) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount) + { + return alTrackedBodies[index]; + } + } + + return new KinectInterop.BodyData((int)KinectInterop.JointType.Count); + } + + /// + /// Gets the user position in Kinect coordinate system, in meters. + /// + /// The user kinect position. + /// User ID + /// Whether to apply the sensor space scale or not + public Vector3 GetUserKinectPosition(ulong userId, bool applySpaceScale) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + Vector3 userKinectPos = alTrackedBodies[index].kinectPos; + + if (applySpaceScale && btSensorIndex >= 0 && btSensorIndex < sensorDatas.Count) + { + Vector3 spaceScale = sensorDatas[btSensorIndex].sensorSpaceScale; + return new Vector3(userKinectPos.x * spaceScale.x, userKinectPos.y * spaceScale.y, userKinectPos.z); + } + else + { + return userKinectPos; + } + } + } + + return Vector3.zero; + } + + /// + /// Gets the user position, relative to the sensor, in meters. + /// + /// The user position. + /// User ID + public Vector3 GetUserPosition(ulong userId) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + return alTrackedBodies[index].position; + } + } + + return Vector3.zero; + } + + /// + /// Gets the user orientation. + /// + /// The user rotation. + /// User ID + /// If set to true, this means non-mirrored rotation. + public Quaternion GetUserOrientation(ulong userId, bool flip) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + if (flip) + return alTrackedBodies[index].normalRotation; + else + return alTrackedBodies[index].mirroredRotation; + } + } + + return Quaternion.identity; + } + + /// + /// Gets the index of the sensor, used for the primary body tracking. + /// + /// + public int GetPrimaryBodySensorIndex() + { + return btSensorIndex; + } + + /// + /// Gets the number of bodies, tracked by the sensor. + /// + /// The body count. + public int GetBodyCount() + { + return (int)trackedBodiesCount; + } + + /// + /// Gets the maximum possible number of bodies, tracked by the sensor. + /// + /// The maximum body count. + public int GetMaxBodyCount() + { + return KinectInterop.Constants.MaxBodyCount; + } + + /// + /// Gets the the number of body joints, tracked by the sensor. + /// + /// The count of joints. + public int GetJointCount() + { + return (int)KinectInterop.JointType.Count; + } + + /// + /// Gets the parent joint of the given joint. + /// + /// The parent joint. + /// Joint. + public KinectInterop.JointType GetParentJoint(KinectInterop.JointType joint) + { + return KinectInterop.GetParentJoint(joint); + } + + /// + /// Gets the next joint of the given joint. + /// + /// The next joint. + /// Joint. + public KinectInterop.JointType GetNextJoint(KinectInterop.JointType joint) + { + return KinectInterop.GetNextJoint(joint); + } + + /// + /// Gets the tracking state of the joint. + /// + /// The joint tracking state. + /// User ID + /// Joint index + public KinectInterop.TrackingState GetJointTrackingState(ulong userId, int joint) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + if (joint >= 0 && joint < (int)KinectInterop.JointType.Count) + { + return alTrackedBodies[index].joint[joint].trackingState; + } + } + } + + return KinectInterop.TrackingState.NotTracked; + } + + /// + /// Determines whether the given joint of the specified user is being tracked. + /// + /// true if this instance is joint tracked the specified userId joint; otherwise, false. + /// User ID + /// Joint index + public bool IsJointTracked(ulong userId, int joint) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + if (joint >= 0 && joint < (int)KinectInterop.JointType.Count) + { + KinectInterop.JointData jointData = alTrackedBodies[index].joint[joint]; + + return ignoreInferredJoints ? ((int)jointData.trackingState >= (int)KinectInterop.TrackingState.Tracked) : + (jointData.trackingState != KinectInterop.TrackingState.NotTracked); + } + } + } + + return false; + } + + /// + /// Gets the joint position of the specified user, in Kinect coordinate system, in meters. + /// + /// The joint kinect position. + /// User ID + /// Joint index + /// Whether to apply the sensor space scale or not + public Vector3 GetJointKinectPosition(ulong userId, int joint, bool applySpaceScale) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + if (joint >= 0 && joint < (int)KinectInterop.JointType.Count) + { + KinectInterop.JointData jointData = alTrackedBodies[index].joint[joint]; + Vector3 jointKinectPos = jointData.kinectPos; + + if (applySpaceScale && btSensorIndex >= 0 && btSensorIndex < sensorDatas.Count) + { + Vector3 spaceScale = sensorDatas[btSensorIndex].sensorSpaceScale; + return new Vector3(jointKinectPos.x * spaceScale.x, jointKinectPos.y * spaceScale.y, jointKinectPos.z); + } + else + { + return jointKinectPos; + } + } + } + } + + return Vector3.zero; + } + + /// + /// Gets the joint position of the specified user, in meters. + /// + /// The joint position. + /// User ID + /// Joint index + public Vector3 GetJointPosition(ulong userId, int joint) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + if (joint >= 0 && joint < (int)KinectInterop.JointType.Count) + { + KinectInterop.JointData jointData = alTrackedBodies[index].joint[joint]; + return jointData.position; + } + } + } + + return Vector3.zero; + } + + ///// + ///// Gets the joint velocity for the specified user and joint, in meters/s. + ///// + ///// The joint velocity. + ///// User ID. + ///// Joint index. + //public Vector3 GetJointVelocity(ulong userId, int joint) + //{ + // if (userManager.dictUserIdToIndex.ContainsKey(userId)) + // { + // int index = userManager.dictUserIdToIndex[userId]; + + // if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + // { + // if (joint >= 0 && joint < (int)KinectInterop.JointType.Count) + // { + // return alTrackedBodies[index].joint[joint].posVel; + // } + // } + // } + + // return Vector3.zero; + //} + + /// + /// Gets the joint direction of the specified user, relative to its parent joint. + /// + /// The joint direction. + /// User ID + /// Joint index + /// If set to true flips the X-coordinate + /// If set to true flips the Z-coordinate + public Vector3 GetJointDirection(ulong userId, int joint, bool flipX, bool flipZ) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + if (joint >= 0 && joint < (int)KinectInterop.JointType.Count) + { + KinectInterop.JointData jointData = alTrackedBodies[index].joint[joint]; + Vector3 jointDir = jointData.direction; + + if (flipX) + jointDir.x = -jointDir.x; + + if (flipZ) + jointDir.z = -jointDir.z; + + return jointDir; + } + } + } + + return Vector3.zero; + } + + /// + /// Gets the direction between the given joints of the specified user. + /// + /// The direction between joints. + /// User ID + /// First joint index + /// Second joint index + /// If set to true flips the X-coordinate + /// If set to true flips the Z-coordinate + public Vector3 GetDirectionBetweenJoints(ulong userId, int firstJoint, int secondJoint, bool flipX, bool flipZ) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + KinectInterop.BodyData bodyData = alTrackedBodies[index]; + + if (firstJoint >= 0 && firstJoint < (int)KinectInterop.JointType.Count && + secondJoint >= 0 && secondJoint < (int)KinectInterop.JointType.Count) + { + Vector3 firstJointPos = bodyData.joint[firstJoint].position; + Vector3 secondJointPos = bodyData.joint[secondJoint].position; + Vector3 jointDir = secondJointPos - firstJointPos; + + if (flipX) + jointDir.x = -jointDir.x; + + if (flipZ) + jointDir.z = -jointDir.z; + + return jointDir; + } + } + } + + return Vector3.zero; + } + + /// + /// Gets the joint orientation of the specified user. + /// + /// The joint rotation. + /// User ID + /// Joint index + /// If set to true, this means non-mirrored rotation + public Quaternion GetJointOrientation(ulong userId, int joint, bool flip) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + if (flip) + return alTrackedBodies[index].joint[joint].normalRotation; + else + return alTrackedBodies[index].joint[joint].mirroredRotation; + } + } + + return Quaternion.identity; + } + + /// + /// Gets the angle between bones at the given joint. + /// + /// The angle at joint. + /// User ID + /// Joint index + public float GetAngleAtJoint(ulong userId, int joint) + { + int pjoint = (int)KinectInterop.GetParentJoint((KinectInterop.JointType)joint); + int njoint = (int)KinectInterop.GetNextJoint((KinectInterop.JointType)joint); + + if (pjoint != joint && njoint != joint) + { + Vector3 pos1 = GetJointPosition(userId, pjoint); + Vector3 pos2 = GetJointPosition(userId, joint); + Vector3 pos3 = GetJointPosition(userId, njoint); + + if (pos1 != Vector3.zero && pos2 != Vector3.zero && pos3 != Vector3.zero) + { + Vector3 dirP = pos1 - pos2; + Vector3 dirN = pos3 - pos2; + float fAngle = Vector3.Angle(dirP, dirN); + + return fAngle; + } + } + + return 0f; + } + + /// + /// Gets the user bounding box as min & max points, in space coordinates. + /// + /// User ID + /// Foreground camera, in case of image overlay + /// Sensor index, in case of image overlay + /// Background rectangle, in case of image overlay + /// Returned min point + /// Returned max point + /// true on success, false otherwise + public bool GetUserBoundingBox(ulong userId, Camera foregroundCamera, int sensorIndex, Rect backgroundRect, + out Vector3 posMin, out Vector3 posMax) + { + if(userId == 0 || !IsUserTracked(userId)) + { + posMin = Vector3.zero; + posMax = Vector3.zero; + return false; + } + + float xMin = float.MaxValue, xMax = float.MinValue; + float yMin = float.MaxValue, yMax = float.MinValue; + float zMin = float.MaxValue, zMax = float.MinValue; + + int jCount = GetJointCount(); + for (int j = 0; j < jCount; j++) + { + if (IsJointTracked(userId, j)) + { + Vector3 jPos = foregroundCamera != null ? + GetJointPosColorOverlay(userId, j, sensorIndex, foregroundCamera, backgroundRect) : + GetJointPosition(userId, j); + + if (jPos.x < xMin) xMin = jPos.x; + if (jPos.y < yMin) yMin = jPos.y; + if (jPos.z < zMin) zMin = jPos.z; + + if (jPos.x > xMax) xMax = jPos.x; + if (jPos.y > yMax) yMax = jPos.y; + if (jPos.z > zMax) zMax = jPos.z; + } + } + + posMin = new Vector3(xMin, yMin, zMin); + posMax = new Vector3(xMax, yMax, zMax); + + bool bSuccess = xMin != float.MaxValue && xMax != float.MinValue && + yMin != float.MaxValue && yMax != float.MinValue && + zMin != float.MaxValue && zMax != float.MinValue; + + return bSuccess; + } + + /// + /// Gets the foreground rectangle of the depth image. + /// + /// Sensor index. + /// The foreground camera, or null if there is no foreground camera. + /// The foreground rectangle. + public Rect GetForegroundRectDepth(int sensorIndex, Camera foregroundCamera) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if (sensorData == null) + return new Rect(); + + Rect cameraRect = foregroundCamera ? foregroundCamera.pixelRect : new Rect(0, 0, Screen.width, Screen.height); + float rectHeight = cameraRect.height; + float rectWidth = cameraRect.width; + + if (rectWidth > rectHeight) + rectWidth = rectHeight * sensorData.depthImageWidth / sensorData.depthImageHeight; + else + rectHeight = rectWidth * sensorData.depthImageHeight / sensorData.depthImageWidth; + + float foregroundOfsX = (cameraRect.width - rectWidth) / 2; + float foregroundOfsY = (cameraRect.height - rectHeight) / 2; + + Rect foregroundImgRect = new Rect(foregroundOfsX, foregroundOfsY, rectWidth, rectHeight); + + return foregroundImgRect; + } + + /// + /// Gets the foreground rectangle of the color image.. + /// + /// Sensor index. + /// The foreground camera, or null if there is no foreground camera. + /// The foreground rectangle. + public Rect GetForegroundRectColor(int sensorIndex, Camera foregroundCamera) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + if (sensorData == null) + return new Rect(); + + Rect cameraRect = foregroundCamera ? foregroundCamera.pixelRect : new Rect(0, 0, Screen.width, Screen.height); + float rectHeight = cameraRect.height; + float rectWidth = cameraRect.width; + + if (rectWidth > rectHeight) + rectWidth = rectHeight * sensorData.colorImageWidth / sensorData.colorImageHeight; + else + rectHeight = rectWidth * sensorData.colorImageHeight / sensorData.colorImageWidth; + + float foregroundOfsX = (cameraRect.width - rectWidth) / 2; + float foregroundOfsY = (cameraRect.height - rectHeight) / 2; + + Rect foregroundImgRect = new Rect(foregroundOfsX, foregroundOfsY, rectWidth, rectHeight); + + return foregroundImgRect; + } + + /// + /// Gets the 3d overlay position of a point over the depth-image. + /// + /// The 3d position for depth overlay. + /// Depth image X + /// Depth image X + /// Distance in mm. If it is 0, the function will try to read the current depth value. + /// Camera used to visualize the 3d overlay position + /// Depth image rectangle on the screen + public Vector3 GetPosDepthOverlay(int dx, int dy, ushort depth, int sensorIndex, Camera camera, Rect imageRect) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + + float xScaled = (float)dx * imageRect.width / sensorData.depthImageWidth; + float yScaled = (float)dy * imageRect.height / sensorData.depthImageHeight; + + float xScreen = imageRect.x + (sensorData.depthImageScale.x > 0f ? xScaled : imageRect.width - xScaled); + float yScreen = imageRect.y + (sensorData.depthImageScale.y > 0f ? yScaled : imageRect.height - yScaled); + + if(depth == 0) + { + depth = sensorData.depthImage[dx + dy * sensorData.depthImageWidth]; + } + + if (depth != 0) + { + float zDistance = (float)depth / 1000f; + Vector3 vPosJoint = camera.ScreenToWorldPoint(new Vector3(xScreen, yScreen, zDistance)); + + return vPosJoint; + } + + return Vector3.zero; + } + + /// + /// Gets the 3d overlay position of the given joint over the depth-image. + /// + /// The joint position for depth overlay. + /// User ID + /// Joint index + /// Camera used to visualize the 3d overlay position + /// Depth image rectangle on the screen + public Vector3 GetJointPosDepthOverlay(ulong userId, int joint, int sensorIndex, Camera camera, Rect imageRect) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId) && camera != null) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + if (joint >= 0 && joint < (int)KinectInterop.JointType.Count) + { + KinectInterop.JointData jointData = alTrackedBodies[index].joint[joint]; + Vector3 posJointRaw = jointData.kinectPos; + + if (posJointRaw != Vector3.zero) + { + // 3d position to depth + Vector2 posDepth = MapSpacePointToDepthCoords(sensorIndex, posJointRaw); + + if (posDepth != Vector2.zero) + { + if (!float.IsInfinity(posDepth.x) && !float.IsInfinity(posDepth.y)) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + + float xScaled = (float)posDepth.x * imageRect.width / sensorData.depthImageWidth; + float yScaled = (float)posDepth.y * imageRect.height / sensorData.depthImageHeight; + + float xScreen = imageRect.x + (sensorData.depthImageScale.x > 0f ? xScaled : imageRect.width - xScaled); + //float yScreen = camera.pixelHeight - (imageRect.y + yScaled); + float yScreen = imageRect.y + (sensorData.depthImageScale.y > 0f ? yScaled : imageRect.height - yScaled); + + Plane cameraPlane = new Plane(camera.transform.forward, camera.transform.position); + float zDistance = cameraPlane.GetDistanceToPoint(posJointRaw); + + Vector3 vPosJoint = camera.ScreenToWorldPoint(new Vector3(xScreen, yScreen, zDistance)); + + return vPosJoint; + } + } + } + } + } + } + + return Vector3.zero; + } + + /// + /// Gets the 3d overlay position of the given joint over the color-image. + /// + /// The joint position for color overlay. + /// User ID + /// Joint index + /// Camera used to visualize the 3d overlay position + /// Color image rectangle on the screen + public Vector3 GetJointPosColorOverlay(ulong userId, int joint, int sensorIndex, Camera camera, Rect imageRect) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId) && camera != null) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + if (joint >= 0 && joint < (int)KinectInterop.JointType.Count) + { + KinectInterop.JointData jointData = alTrackedBodies[index].joint[joint]; + Vector3 posJointRaw = jointData.kinectPos; + + if (posJointRaw != Vector3.zero) + { + // 3d position to depth + Vector2 posDepth = MapSpacePointToDepthCoords(sensorIndex, posJointRaw); + ushort depthValue = GetDepthForPixel(sensorIndex, (int)posDepth.x, (int)posDepth.y); + + if (posDepth != Vector2.zero && depthValue > 0) + { + // depth pos to color pos + Vector2 posColor = MapDepthPointToColorCoords(sensorIndex, posDepth, depthValue); + //Vector2 posDepth2 = MapColorPointToDepthCoords(sensorIndex, posColor); + + if (posColor.x != 0f && !float.IsInfinity(posColor.x)) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + + float xScaled = (float)posColor.x * imageRect.width / sensorData.colorImageWidth; + float yScaled = (float)posColor.y * imageRect.height / sensorData.colorImageHeight; + + float xScreen = imageRect.x + (sensorData.colorImageScale.x > 0f ? xScaled : imageRect.width - xScaled); + //float yScreen = camera.pixelHeight - (imageRect.y + yScaled); + float yScreen = imageRect.y + (sensorData.colorImageScale.y > 0f ? yScaled : imageRect.height - yScaled); + + //Plane cameraPlane = new Plane(camera.transform.forward, camera.transform.position); + //float zDistance = cameraPlane.GetDistanceToPoint(posJointRaw); + ////float zDistance = (posJointRaw - camera.transform.position).magnitude; + float zDistance = posJointRaw.z; + + //Vector3 vPosJoint = camera.ViewportToWorldPoint(new Vector3(xNorm, yNorm, zDistance)); + Vector3 vPosJoint = camera.ScreenToWorldPoint(new Vector3(xScreen, yScreen, zDistance)); + + return vPosJoint; + } + } + } + } + } + } + + return Vector3.zero; + } + + /// + /// Gets the 2d overlay position of the given joint over the given image. + /// + /// The 2d joint position for color overlay. + /// User ID + /// Joint index + /// Color image rectangle on the screen + public Vector2 GetJointPosColorOverlay(ulong userId, int joint, int sensorIndex, Rect imageRect) + { + if (userManager.dictUserIdToIndex.ContainsKey(userId)) + { + int index = userManager.dictUserIdToIndex[userId]; + + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + if (joint >= 0 && joint < (int)KinectInterop.JointType.Count) + { + KinectInterop.JointData jointData = alTrackedBodies[index].joint[joint]; + Vector3 posJointRaw = jointData.kinectPos; + + if (posJointRaw != Vector3.zero) + { + // 3d position to depth + Vector2 posDepth = MapSpacePointToDepthCoords(sensorIndex, posJointRaw); + ushort depthValue = GetDepthForPixel(sensorIndex, (int)posDepth.x, (int)posDepth.y); + + if (posDepth != Vector2.zero && depthValue > 0) + { + // depth pos to color pos + Vector2 posColor = MapDepthPointToColorCoords(sensorIndex, posDepth, depthValue); + + if (posColor.x != 0f && !float.IsInfinity(posColor.x)) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + + float xScaled = (float)posColor.x * imageRect.width / sensorData.colorImageWidth; + float yScaled = (float)posColor.y * imageRect.height / sensorData.colorImageHeight; + + float xImage = imageRect.x + (sensorData.colorImageScale.x > 0f ? xScaled : imageRect.width - xScaled); + float yImage = imageRect.y + (sensorData.colorImageScale.y > 0f ? yScaled : imageRect.height - yScaled); + + return new Vector2(xImage, yImage); + } + } + } + } + } + } + + return Vector2.zero; + } + + /// + /// Gets the joint position on the depth map texture. + /// + /// The joint position in texture coordinates. + /// User ID + /// Joint index + public Vector2 GetJointDepthMapPos(ulong userId, int joint, int sensorIndex) + { + Vector2 posDepth = Vector2.zero; + + Vector3 posJointRaw = GetJointKinectPosition(userId, joint, false); + if (posJointRaw != Vector3.zero) + { + posDepth = MapSpacePointToDepthCoords(sensorIndex, posJointRaw); + + if (posDepth != Vector2.zero) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + + float xScaled = (float)posDepth.x / sensorData.depthImageWidth; + float yScaled = (float)posDepth.y / sensorData.depthImageHeight; + + float xImage = sensorData.depthImageScale.x > 0f ? xScaled : 1f - xScaled; + float yImage = sensorData.depthImageScale.y > 0f ? yScaled : 1f - yScaled; + + posDepth = new Vector2(xImage, yImage); + } + } + + return posDepth; + } + + /// + /// Gets the joint position on the color map texture. + /// + /// The joint position in texture coordinates. + /// User ID + /// Joint index + public Vector2 GetJointColorMapPos(ulong userId, int joint, int sensorIndex) + { + Vector2 posColor = Vector2.zero; + + Vector3 posJointRaw = GetJointKinectPosition(userId, joint, false); + if (posJointRaw != Vector3.zero) + { + // 3d position to depth + Vector2 posDepth = MapSpacePointToDepthCoords(sensorIndex, posJointRaw); + ushort depthValue = GetDepthForPixel(sensorIndex, (int)posDepth.x, (int)posDepth.y); + + if (posDepth != Vector2.zero && depthValue > 0) + { + // depth pos to color pos + posColor = MapDepthPointToColorCoords(sensorIndex, posDepth, depthValue); + + if (posColor.x != 0f && !float.IsInfinity(posColor.x)) + { + KinectInterop.SensorData sensorData = GetSensorData(sensorIndex); + + float xScaled = (float)posColor.x / sensorData.colorImageWidth; + float yScaled = (float)posColor.y / sensorData.colorImageHeight; + + float xImage = sensorData.colorImageScale.x > 0f ? xScaled : 1f - xScaled; + float yImage = sensorData.colorImageScale.y > 0f ? yScaled : 1f - yScaled; + + posColor = new Vector2(xScaled, 1f - yScaled); + } + else + { + posColor = Vector2.zero; + } + } + } + + return posColor; + } + + + /// + /// Returns array of colors, one for each body index. + /// + /// Array of body index colors. + public Color[] GetBodyIndexColors() + { + int numUserIndices = userManager.aUserIndexIds.Length; + + for (int i = 0; i < numUserIndices; i++) + { + ulong userId = userManager.aUserIndexIds[i]; + + if (userId != 0) + { + //Debug.Log("BI-Colors - UserId: " + userId); + int index = userManager.dictUserIdToIndex[userId]; + if (index >= 0 && index < trackedBodiesCount && alTrackedBodies[index].bIsTracked) + { + int bi = alTrackedBodies[index].iBodyIndex; + clrUsers[bi] = (i == 0) ? Color.yellow : _bodyIndexColors[i % _bodyIndexColors.Length]; + //Debug.Log(string.Format("{0} - id: {1}, bi: {2}, clr: {3}", i, userId, bi, clrUsers[bi])); + } + } + } + + return clrUsers; + } + + // user colors + private static readonly Color[] _bodyIndexColors = { Color.red, Color.green, Color.blue, Color.magenta }; + private Color[] clrUsers = new Color[KinectInterop.Constants.MaxBodyCount]; + + + /// + /// Resets the joint data filters. + /// + public void ResetJointFilters() + { + //if (jointPositionFilter != null) + //{ + // jointPositionFilter.Reset(); + //} + + //if (jointVelocityFilter != null) + //{ + // jointVelocityFilter.Reset(); + //} + } + + + /// + /// Removes all currently detected users, allowing new user-detection process to start. + /// + public void ClearKinectUsers() + { + if (!kinectInitialized) + return; + + // remove current users + for (int i = userManager.alUserIds.Count - 1; i >= 0; i--) + { + ulong userId = userManager.alUserIds[i]; + RemoveUser(userId); + } + + ResetJointFilters(); + } + + + /// + /// Gets the body frame as one csv line, or returns empty string if there is no new body frame. + /// + /// The body frame as a csv line. + /// Reference to variable, used to compare frame times. + /// Reference to variable, used to save the current Unity time. + public string GetBodyFrameData(ref float fUnityTime, char delimiter) + { + Vector3 spaceScale = GetSensorSpaceScale(btSensorIndex); + return KinectInterop.GetBodyFrameAsCsv(ref alTrackedBodies, trackedBodiesCount, lastBodyFrameTime, spaceScale, ref fUnityTime, delimiter); + } + + + /// + /// Determines whether the play mode is enabled or not. + /// + /// true if the play mode is enabled; otherwise, false. + public bool IsPlayModeEnabled() + { + return isPlayModeEnabled; + } + + + /// + /// Enables or displables the play mode. + /// + /// If set to true enables the play mode. + public void EnablePlayMode(bool bEnabled) + { + isPlayModeEnabled = bEnabled; + playModeData = string.Empty; + } + + /// + /// Sets the body frame from the given csv line. + /// + /// true on success, false otherwise. + /// The body frame as csv line. + public bool SetBodyFrameData(string sLine) + { + if (isPlayModeEnabled) + { + playModeData = sLine; + return true; + } + + return false; + } + + // internal methods + + void Awake() + { + // initializes the singleton instance of KinectManager + if (instance == null) + { + instance = this; + DontDestroyOnLoad(this); + } + else if (instance != this) + { + DestroyImmediate(gameObject); + return; + } + + // set graphics shader level + KinectInterop.SetGraphicsShaderLevel(SystemInfo.graphicsShaderLevel); + + // user manager by default + if (userManager == null) + { + userManager = gameObject.GetComponent(); + + if(userManager == null) + { + userManager = gameObject.AddComponent(); + } + } + + // gesture manager by default + if (gestureManager == null) + { + gestureManager = gameObject.GetComponent(); + + if(gestureManager == null) + { + gestureManager = gameObject.AddComponent(); + } + } + + // bone orientation constraints + if (boneOrientationConstraints) + { + boneConstraints = new BoneOrientationConstraints(); + boneConstraints.AddDefaultConstraints(); + boneConstraints.SetDebugText(statusInfoText); + } + + // locate and start the available depth-sensors + StartDepthSensors(); + } + + + // gets the frame-source flags + private KinectInterop.FrameSource GetFrameSourceFlags() + { + KinectInterop.FrameSource dwFlags = KinectInterop.FrameSource.TypeNone; + + if (getDepthFrames != DepthTextureType.None) + dwFlags |= KinectInterop.FrameSource.TypeDepth; + if (getColorFrames != ColorTextureType.None) + dwFlags |= KinectInterop.FrameSource.TypeColor; + if (getInfraredFrames != InfraredTextureType.None) + dwFlags |= KinectInterop.FrameSource.TypeInfrared; + if (getPoseFrames != PoseUsageType.None) + dwFlags |= KinectInterop.FrameSource.TypePose; + if (getBodyFrames != BodyTextureType.None) + dwFlags |= (KinectInterop.FrameSource.TypeBody | KinectInterop.FrameSource.TypeBodyIndex); + + return dwFlags; + } + + + // locates and starts the available depth-sensors and their interfaces + private void StartDepthSensors() + { + try + { + // try to initialize the available sensors + KinectInterop.FrameSource dwFlags = GetFrameSourceFlags(); + + // locate the available depth-sensor interfaces in the scene + List sensorInts = new List(); + sensorInts.AddRange(gameObject.GetComponents()); // FindObjectsOfType(); + sensorInts.AddRange(gameObject.GetComponentsInChildren()); + + if (sensorInts.Count == 0) + { + // by-default add K4A interface + transform.position = new Vector3(0f, 1f, 0f); + transform.rotation = Quaternion.identity; + + DepthSensorBase sensorInt = gameObject.AddComponent(); + sensorInts.Add(sensorInt); + } + + for (int i = 0; i < sensorInts.Count; i++) + { + if (sensorInts[i] is DepthSensorBase) + { + DepthSensorBase sensorInt = (DepthSensorBase)sensorInts[i]; + if(!sensorInt.enabled || sensorInt.deviceStreamingMode == KinectInterop.DeviceStreamingMode.Disabled || sensorInt.deviceIndex < 0) + { + Debug.Log(string.Format("S{0}: {1} disabled.", i, sensorInt.GetType().Name)); + continue; + } + + try + { + Debug.Log(string.Format("Opening S{0}: {1}, device-index: {2}", i, sensorInt.GetType().Name, sensorInt.deviceIndex)); + KinectInterop.SensorData sensorData = sensorInt.OpenSensor(dwFlags, syncDepthAndColor, syncBodyAndDepth); + + if(sensorData != null) + { + //Debug.Log("Succeeded opening " + sensorInt.GetType().Name); + + sensorData.sensorInterface = sensorInt; + KinectInterop.InitSensorData(sensorData, this); + + sensorInterfaces.Add(sensorInt); + sensorDatas.Add(sensorData); + + if(pollFramesInThread) + { + sensorData.threadStopEvent = new AutoResetEvent(false); + sensorData.pollFramesThread = new Thread(() => PollFramesThread(sensorData)); + sensorData.pollFramesThread.Name = sensorInt.GetType().Name + sensorInt.deviceIndex; + sensorData.pollFramesThread.IsBackground = true; + sensorData.pollFramesThread.Start(); + } + } + } + catch(Exception ex) + { + Debug.LogException(ex); + Debug.LogError("Failed opening " + sensorInt.GetType().Name + ", device-index: " + sensorInt.deviceIndex); + } + } + } + + Debug.Log(string.Format("{0} sensor(s) opened.", sensorDatas.Count)); + + // set initialization status + if (sensorInterfaces.Count > 0) + { + kinectInitialized = true; + } + else + { + kinectInitialized = false; + + string sErrorMessage = "No suitable depth-sensor found. Please check the connected devices and installed SDKs."; + Debug.LogError(sErrorMessage); + + if (statusInfoText != null) + { + statusInfoText.text = sErrorMessage; + } + } + } + //catch (DllNotFoundException ex) + //{ + // string message = ex.Message + " cannot be loaded. Please check the respective SDK installation."; + + // Debug.LogError(message); + // Debug.LogException(ex); + + // if (calibrationText != null) + // { + // calibrationText.text = message; + // } + + // return; + //} + catch (Exception ex) + { + string message = ex.Message; + + Debug.LogError(message); + Debug.LogException(ex); + + if (statusInfoText != null) + { + statusInfoText.text = message; + } + + return; + } + } + + + // polls for frames and updates the depth-sensor data in a thread + private void PollFramesThread(KinectInterop.SensorData sensorData) + { + if (sensorData == null) + return; + + while (!sensorData.threadStopEvent.WaitOne(0)) + { + if (kinectInitialized) + { + KinectInterop.PollSensorFrames(sensorData); + } + } + } + + + void OnApplicationQuit() + { + OnDestroy(); + } + + + void OnDestroy() + { + if (instance == null || instance != this) + return; + + //Debug.Log("KM was destroyed"); + + // shut down the polling threads and stop the sensors + if (kinectInitialized) + { + // close the opened sensors and release respective data + for(int i = sensorDatas.Count - 1; i >= 0; i--) + { + KinectInterop.SensorData sensorData = sensorDatas[i]; + DepthSensorInterface sensorInt = sensorData.sensorInterface; + Debug.Log(string.Format("Closing S{0}: {1}", i, sensorInt.GetType().Name)); + + if (sensorData.pollFramesThread != null) + { + //Debug.Log("Stopping thread: " + sensorData.pollFramesThread.Name); + + // stop the frame-polling thread + sensorData.threadStopEvent.Set(); + sensorData.pollFramesThread.Join(); + + sensorData.pollFramesThread = null; + sensorData.threadStopEvent.Dispose(); + sensorData.threadStopEvent = null; + + //Debug.Log("Thread stopped."); + } + + // close the sensor + KinectInterop.CloseSensor(sensorData); + //Debug.Log("Sensor closed."); + + sensorDatas.RemoveAt(i); + sensorInterfaces.RemoveAt(i); + } + + kinectInitialized = false; + } + + instance = null; + } + + + void Update() + { + if (!kinectInitialized) + return; + + if (!pollFramesInThread) + { + for (int i = 0; i < sensorDatas.Count; i++) + { + KinectInterop.SensorData sensorData = sensorDatas[i]; + KinectInterop.PollSensorFrames(sensorData); + } + } + + // update the sensor data, as needed + for (int i = 0; i < sensorDatas.Count; i++) + { + KinectInterop.SensorData sensorData = sensorDatas[i]; + if(KinectInterop.UpdateSensorData(sensorData, this, isPlayModeEnabled)) + { + UpdateTrackedBodies(i, sensorData); + } + } + + if(!isPlayModeEnabled) + { + // update the sensor textures, if needed + for (int i = 0; i < sensorDatas.Count; i++) + { + KinectInterop.UpdateSensorTextures(sensorDatas[i], this); + } + } + } + + + void OnGUI() + { + if (!kinectInitialized) + return; + + // display the selected images on screen + for (int i = 0; i < displayImages.Count; i++) + { + Vector2 imageScale = Vector3.one; + Texture imageTex = null; + + DisplayImageType imageType = displayImages[i]; + switch (imageType) + { + case DisplayImageType.None: + break; + + case DisplayImageType.Sensor0ColorImage: + case DisplayImageType.Sensor1ColorImage: + case DisplayImageType.Sensor2ColorImage: + int si = imageType == DisplayImageType.Sensor0ColorImage ? 0 : imageType == DisplayImageType.Sensor1ColorImage ? 1 : imageType == DisplayImageType.Sensor2ColorImage ? 2 : -1; + if (si >= 0 && si < sensorDatas.Count) + { + KinectInterop.SensorData sensorData = sensorDatas[si]; + imageScale = sensorData.colorImageScale; + imageTex = sensorData.colorImageTexture; + } + break; + + case DisplayImageType.Sensor0DepthImage: + case DisplayImageType.Sensor1DepthImage: + case DisplayImageType.Sensor2DepthImage: + si = imageType == DisplayImageType.Sensor0DepthImage ? 0 : imageType == DisplayImageType.Sensor1DepthImage ? 1 : imageType == DisplayImageType.Sensor2DepthImage ? 2 : -1; + if (si >= 0 && si < sensorDatas.Count) + { + KinectInterop.SensorData sensorData = sensorDatas[si]; + imageScale = sensorData.depthImageScale; + imageTex = sensorData.depthImageTexture; + } + break; + + case DisplayImageType.Sensor0InfraredImage: + case DisplayImageType.Sensor1InfraredImage: + case DisplayImageType.Sensor2InfraredImage: + si = imageType == DisplayImageType.Sensor0InfraredImage ? 0 : imageType == DisplayImageType.Sensor1InfraredImage ? 1 : imageType == DisplayImageType.Sensor2InfraredImage ? 2 : -1; + if (si >= 0 && si < sensorDatas.Count) + { + KinectInterop.SensorData sensorData = sensorDatas[si]; + imageScale = sensorData.infraredImageScale; + imageTex = sensorData.infraredImageTexture; + } + break; + + case DisplayImageType.UserBodyImage: + si = 0; // sensor 0 + if (si >= 0 && si < sensorDatas.Count) + { + KinectInterop.SensorData sensorData = sensorDatas[si]; + imageScale = sensorData.depthImageScale; + imageTex = sensorData.bodyImageTexture; + } + break; + } + + // display the image on screen + if(imageTex != null) + { + KinectInterop.DisplayGuiTexture(i, displayImageWidthPercent, imageScale, imageTex); + } + } + } + + + // updates the global list of tracked bodies + protected void UpdateTrackedBodies(int sensorIndex, KinectInterop.SensorData sensorData) + { + if(isPlayModeEnabled) + { + if(!string.IsNullOrEmpty(playModeData)) + { + // use the 1st sensor + Matrix4x4 sensorToWorld = GetSensorToWorldMatrix(0); + + trackedBodiesCount = KinectInterop.SetBodyFrameFromCsv(playModeData, ";", ref alTrackedBodies, ref sensorToWorld, + ignoreZCoordinates, out lastBodyFrameTime); + playModeData = string.Empty; + } + } + else if(sensorIndex == 0 && lastBodyFrameTime != sensorData.lastBodyFrameTime) + { + btSensorIndex = sensorIndex; + lastBodyFrameTime = sensorData.lastBodyFrameTime; + + // take the tracked bodies from sensor 0 + trackedBodiesCount = sensorData.trackedBodiesCount; + + if (alTrackedBodies.Length < trackedBodiesCount) + { + //alTrackedBodies.Add(new KinectInterop.BodyData((int)KinectInterop.JointType.Count)); + Array.Resize(ref alTrackedBodies, (int)trackedBodiesCount); + + for (int i = 0; i < trackedBodiesCount; i++) + { + alTrackedBodies[i] = new KinectInterop.BodyData((int)KinectInterop.JointType.Count); + } + } + + for (int i = 0; i < trackedBodiesCount; i++) + { + //alTrackedBodies[i] = sensorData.alTrackedBodies[i]; + sensorData.alTrackedBodies[i].CopyTo(ref alTrackedBodies[i]); + + // filter orientation constraints + if (boneOrientationConstraints && boneConstraints != null) + { + boneConstraints.Constrain(ref alTrackedBodies[i]); + } + } + } + else + { + return; + } + + // process the tracked bodies + ProcessTrackedBodies(); + + //// set first user index + //sensorData.firstUserIndex = (userManager.liPrimaryUserId != 0 && userManager.dictUserIdToIndex.ContainsKey(userManager.liPrimaryUserId) ? + // userManager.dictUserIdToIndex[userManager.liPrimaryUserId] : 255); + + //if (userManager.liPrimaryUserId != 0) + // Debug.Log("liPrimaryUserId: " + userManager.liPrimaryUserId + ", index: " + sensorData.firstUserIndex); + + // update user gestures + foreach (ulong userId in userManager.alUserIds) + { + gestureManager.UpdateUserGestures(userId, this); + } + } + + + // processes the tracked bodies + private void ProcessTrackedBodies() + { + List addedUsers = new List(); + List addedIndexes = new List(); + + List lostUsers = new List(); + lostUsers.AddRange(userManager.alUserIds); + + bLimitedUsers = showAllowedUsersOnly && + (maxTrackedUsers > 0 || minUserDistance >= 0.01f || maxUserDistance >= 0.01f || maxLeftRightDistance >= 0.01f); + + for (int i = 0; i < trackedBodiesCount; i++) + { + KinectInterop.BodyData bodyData = alTrackedBodies[i]; + ulong userId = bodyData.liTrackingID; + + //Debug.Log(" (M)User ID: " + userId + ", body: " + i + ", pos: " + bodyData.kinectPos); + + if (bodyData.bIsTracked && userId != 0 && Mathf.Abs(bodyData.position.z) >= minUserDistance && + (maxUserDistance < 0.01f || Mathf.Abs(bodyData.position.z) <= maxUserDistance) && + (maxLeftRightDistance < 0.01f || Mathf.Abs(bodyData.position.x) <= maxLeftRightDistance)) + { + // add userId to the list of new users + if (!addedUsers.Contains(userId)) + { + addedUsers.Add(userId); + addedIndexes.Add(i); + } + + lostUsers.Remove(userId); + userManager.dictUserIdToTime[userId] = Time.time; + } + else + { + // consider body as not tracked + bodyData.bIsTracked = false; + alTrackedBodies[i] = bodyData; + } + } + + // remove the lost users, if any + if (lostUsers.Count > 0) + { + foreach (ulong userId in lostUsers) + { + // prevent user removal upon sporadical tracking failures + if ((Time.time - userManager.dictUserIdToTime[userId]) >= waitTimeBeforeRemove) + { + RemoveUser(userId); + } + } + + lostUsers.Clear(); + } + + if (addedUsers.Count > 0) + { + // calibrate the newly detected users + for (int i = 0; i < addedUsers.Count; i++) + { + ulong userId = addedUsers[i]; + int userIndex = addedIndexes[i]; + + if (!userManager.alUserIds.Contains(userId)) + { + if (maxTrackedUsers == 0 || userManager.alUserIds.Count < maxTrackedUsers) + { + CalibrateUser(userId, userIndex); + } + } + } + + // update body indices, as needed + for (int i = 0; i < addedUsers.Count; i++) + { + ulong userId = addedUsers[i]; + int userIndex = addedIndexes[i]; + + int bi = userManager.dictUserIdToIndex.ContainsKey(userId) ? userManager.dictUserIdToIndex[userId] : -1; + if (bi >= 0 && bi != userIndex) + { + // update body index if needed + userManager.dictUserIdToIndex[userId] = userIndex; + + int uidIndex = Array.IndexOf(userManager.aUserIndexIds, userId); + Debug.Log("Updating user " + uidIndex + ", ID: " + userId + ", Body: " + userIndex + ", Time: " + Time.time); + } + } + + addedUsers.Clear(); + addedIndexes.Clear(); + } + } + + + // Adds UserId to the list of users + private void CalibrateUser(ulong userId, int bodyIndex) + { + int uidIndex = userManager.CalibrateUser(userId, bodyIndex, ref alTrackedBodies, userDetectionOrder, playerCalibrationPose, gestureManager); + + if (uidIndex >= 0) + { + Debug.Log("Adding user " + uidIndex + ", ID: " + userId + ", Body: " + bodyIndex + ", Time: " + userManager.dictUserIdToTime[userId]); + + // update userIds of the avatar controllers + //RefreshAvatarUserIds(); + + // notify the gesture manager for the newly detected user + gestureManager.UserWasAdded(userId, uidIndex); + + // reset filters + ResetJointFilters(); + + // fire event + userManager.FireOnUserAdded(userId, uidIndex); + } + } + + + // Remove a lost UserId + private void RemoveUser(ulong userId) + { + int bodyIndex = userManager.dictUserIdToIndex[userId]; + int uidIndex = userManager.RemoveUser(userId, userDetectionOrder); + + if(uidIndex >= 0) + { + Debug.Log("Removing user " + uidIndex + ", ID: " + userId + ", Body: " + bodyIndex + ", Time: " + Time.time); + + // clear gestures list for this user + gestureManager.UserWasRemoved(userId, uidIndex); + + // update userIds of the avatar controllers + //RefreshAvatarUserIds(); + + // fire event + userManager.FireOnUserRemoved(userId, uidIndex); + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectManager.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectManager.cs.meta new file mode 100644 index 0000000..9801920 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectManager.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 6b531f336dfee5f438f94ed501caefc7 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectUserManager.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectUserManager.cs new file mode 100644 index 0000000..cc80050 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectUserManager.cs @@ -0,0 +1,421 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEngine.Events; + +namespace com.rfilkov.kinect +{ + /// + /// Kinect user manager is the component that tracks the users in front of the sensor. + /// + public class KinectUserManager : MonoBehaviour + { + + [System.Serializable] + public class KinectUserEvent : UnityEvent { } + + + /// + /// Fired when new user gets detected. + /// + //public event System.Action OnUserAdded; + public KinectUserEvent OnUserAdded; + + /// + /// Fired when user gets removed. + /// + //public event System.Action OnUserRemoved; + public KinectUserEvent OnUserRemoved; + + + // List of all users + internal List alUserIds = new List(); + internal Dictionary dictUserIdToIndex = new Dictionary(); + internal ulong[] aUserIndexIds = new ulong[KinectInterop.Constants.MaxBodyCount]; + internal Dictionary dictUserIdToTime = new Dictionary(); + + // Primary (first or closest) user ID + internal ulong liPrimaryUserId = 0; + + // Calibration gesture data for each player + internal Dictionary playerCalibrationData = new Dictionary(); + + // reference to KM + private KinectManager kinectManager = null; + + + protected virtual void Start() + { + kinectManager = KinectManager.Instance; + } + + + /// + /// Rearranges the user indices, according to the current criteria + /// + public virtual void RearrangeUserIndices(KinectManager.UserDetectionOrder userDetectionOrder) + { + + if (userDetectionOrder != KinectManager.UserDetectionOrder.Appearance) + { + // get current user positions + Vector3[] userPos = new Vector3[aUserIndexIds.Length]; + for (int i = 0; i < aUserIndexIds.Length; i++) + { + ulong userId = aUserIndexIds[i]; + userPos[i] = userId != 0 ? kinectManager.GetUserPosition(userId) : Vector3.zero; + } + + // bubble sort + bool reorderDone = false; + for (int i = aUserIndexIds.Length - 1; i >= 1; i--) + { + bool switchDone = false; + + for (int j = 0; j < i; j++) + { + float userDist1 = 0f; + if (userDetectionOrder == KinectManager.UserDetectionOrder.Distance) + userDist1 = Mathf.Abs(userPos[j].x) + Mathf.Abs(userPos[j].z); + else if (userDetectionOrder == KinectManager.UserDetectionOrder.LeftToRight) + userDist1 = userPos[j].x; + + if (Mathf.Abs(userDist1) < 0.01f) + userDist1 = 1000f; // far away + + float userDist2 = 0f; + if (userDetectionOrder == KinectManager.UserDetectionOrder.Distance) + userDist2 = Mathf.Abs(userPos[j + 1].x) + Mathf.Abs(userPos[j + 1].z); + else if (userDetectionOrder == KinectManager.UserDetectionOrder.LeftToRight) + userDist2 = userPos[j + 1].x; + + if (Mathf.Abs(userDist2) < 0.01f) + userDist2 = 1000f; // far away + + if (userDist1 > userDist2) + { + // switch them + ulong tmpUserId = aUserIndexIds[j]; + aUserIndexIds[j] = aUserIndexIds[j + 1]; + aUserIndexIds[j + 1] = tmpUserId; + + reorderDone = switchDone = true; + } + } + + if (!switchDone) // check for sorted array + break; + } + + if (reorderDone) + { + System.Text.StringBuilder sbUsersOrder = new System.Text.StringBuilder(); + sbUsersOrder.Append("Users reindexed: "); + + for (int i = 0; i < aUserIndexIds.Length; i++) + { + if (aUserIndexIds[i] != 0) + { + sbUsersOrder.Append(i).Append(":").Append(aUserIndexIds[i]).Append(" "); + } + } + + Debug.Log(sbUsersOrder.ToString()); + } + } + + } + + + // Returns empty user slot for the given user Id + protected virtual int GetEmptyUserSlot(ulong userId, int bodyIndex, ref KinectInterop.BodyData[] alTrackedBodies, KinectManager.UserDetectionOrder userDetectionOrder) + { + // rearrange current users + RearrangeUserIndices(userDetectionOrder); + int uidIndex = -1; + + if (userDetectionOrder != KinectManager.UserDetectionOrder.Appearance) + { + // add the new user, depending on the distance + Vector3 userPos = alTrackedBodies[bodyIndex].position; + + float userDist = 0f; + if (userDetectionOrder == KinectManager.UserDetectionOrder.Distance) + userDist = Mathf.Abs(userPos.x) + Mathf.Abs(userPos.z); + else if (userDetectionOrder == KinectManager.UserDetectionOrder.LeftToRight) + userDist = userPos.x; + + for (int i = 0; i < aUserIndexIds.Length; i++) + { + if (aUserIndexIds[i] == 0) + { + // free user slot + uidIndex = i; + break; + } + else + { + ulong uidUserId = aUserIndexIds[i]; + Vector3 uidUserPos = kinectManager.GetUserPosition(uidUserId); + + float uidUserDist = 0; + if (userDetectionOrder == KinectManager.UserDetectionOrder.Distance) + uidUserDist = Mathf.Abs(uidUserPos.x) + Mathf.Abs(uidUserPos.z); + else if (userDetectionOrder == KinectManager.UserDetectionOrder.LeftToRight) + uidUserDist = uidUserPos.x; + + if (userDist <= uidUserDist) + { + // current user is left to the compared one + for (int u = (aUserIndexIds.Length - 2); u >= i; u--) + { + aUserIndexIds[u + 1] = aUserIndexIds[u]; + + if (aUserIndexIds[u] != 0) + { + Debug.Log(string.Format("Reindexing user {0} to {1}, ID: {2}.", u, u + 1, aUserIndexIds[u])); + } + } + + aUserIndexIds[i] = 0; // cleanup current index + uidIndex = i; + break; + } + } + } + + } + else + { + // look for the 1st available slot + for (int i = 0; i < aUserIndexIds.Length; i++) + { + if (aUserIndexIds[i] == 0) + { + uidIndex = i; + break; + } + } + } + + return uidIndex; + } + + + // releases the user slot. rearranges the remaining users. + protected virtual void FreeEmptyUserSlot(int uidIndex, KinectManager.UserDetectionOrder userDetectionOrder) + { + aUserIndexIds[uidIndex] = 0; + + if (userDetectionOrder != KinectManager.UserDetectionOrder.Appearance) + { + // rearrange the remaining users + for (int u = uidIndex; u < (aUserIndexIds.Length - 1); u++) + { + aUserIndexIds[u] = aUserIndexIds[u + 1]; + + if (aUserIndexIds[u + 1] != 0) + { + Debug.Log(string.Format("Reindexing user {0} to {1}, ID: {2}.", u + 1, u, aUserIndexIds[u + 1])); + } + } + + // make sure the last slot is free + aUserIndexIds[aUserIndexIds.Length - 1] = 0; + } + + // rearrange the remaining users + RearrangeUserIndices(userDetectionOrder); + } + + + // Adds UserId to the list of users + public virtual int CalibrateUser(ulong userId, int bodyIndex, ref KinectInterop.BodyData[] alTrackedBodies, + KinectManager.UserDetectionOrder userDetectionOrder, GestureType playerCalibrationPose, KinectGestureManager gestureManager) + { + if (!alUserIds.Contains(userId)) + { + if (CheckForCalibrationPose(userId, bodyIndex, playerCalibrationPose, gestureManager, ref alTrackedBodies)) + { + //int uidIndex = alUserIds.Count; + int uidIndex = GetEmptyUserSlot(userId, bodyIndex, ref alTrackedBodies, userDetectionOrder); + + if (uidIndex >= 0) + { + aUserIndexIds[uidIndex] = userId; + } + else + { + // no empty user-index slot + return -1; + } + + dictUserIdToIndex[userId] = bodyIndex; + dictUserIdToTime[userId] = Time.time; + alUserIds.Add(userId); + + // set primary user-id, if there is none + if (liPrimaryUserId == 0 && aUserIndexIds.Length > 0) + { + liPrimaryUserId = aUserIndexIds[0]; // userId + } + + return uidIndex; + } + } + + return -1; + } + + + // fires the OnUserAdded-event + internal void FireOnUserAdded(ulong userId, int userIndex) + { + OnUserAdded?.Invoke(userId, userIndex); + } + + + // Remove a lost UserId + public virtual int RemoveUser(ulong userId, KinectManager.UserDetectionOrder userDetectionOrder) + { + //int uidIndex = alUserIds.IndexOf(userId); + int uidIndex = System.Array.IndexOf(aUserIndexIds, userId); + + // clear calibration data for this user + if (playerCalibrationData.ContainsKey(userId)) + { + playerCalibrationData.Remove(userId); + } + + // clean up the outdated calibration data in the data dictionary + List alCalDataKeys = new List(playerCalibrationData.Keys); + + foreach (ulong calUserID in alCalDataKeys) + { + KinectGestureManager.GestureData gestureData = playerCalibrationData[calUserID]; + + if ((gestureData.timestamp + 60f) < Time.realtimeSinceStartup) + { + playerCalibrationData.Remove(calUserID); + } + } + + alCalDataKeys.Clear(); + + // remove user-id from the global users lists + dictUserIdToIndex.Remove(userId); + dictUserIdToTime.Remove(userId); + alUserIds.Remove(userId); + + if (uidIndex >= 0) + { + FreeEmptyUserSlot(uidIndex, userDetectionOrder); + } + + // if this was the primary user, update the primary user-id + if (liPrimaryUserId == userId) + { + if (aUserIndexIds.Length > 0) + { + liPrimaryUserId = aUserIndexIds[0]; + } + else + { + liPrimaryUserId = 0; + } + } + + if (alUserIds.Count == 0) + { + //Debug.Log("Waiting for users."); + } + + return uidIndex; + } + + + // fires the OnUserRemoved-event + internal void FireOnUserRemoved(ulong userId, int userIndex) + { + OnUserRemoved?.Invoke(userId, userIndex); + } + + + // check if the calibration pose is complete for given user + protected virtual bool CheckForCalibrationPose(ulong UserId, int bodyIndex, GestureType calibrationGesture, + KinectGestureManager gestureManager, ref KinectInterop.BodyData[] alTrackedBodies) + { + if (calibrationGesture == GestureType.None) + return true; + if (!gestureManager) + return false; + + KinectGestureManager.GestureData gestureData = playerCalibrationData.ContainsKey(UserId) ? + playerCalibrationData[UserId] : new KinectGestureManager.GestureData(); + + // init gesture data if needed + if (gestureData.userId != UserId) + { + gestureData.userId = UserId; + gestureData.gesture = calibrationGesture; + gestureData.state = 0; + gestureData.timestamp = Time.realtimeSinceStartup; + gestureData.joint = 0; + gestureData.progress = 0f; + gestureData.complete = false; + gestureData.cancelled = false; + } + + // get joint positions and tracking + int iAllJointsCount = (int)KinectInterop.JointType.Count; + bool[] playerJointsTracked = new bool[iAllJointsCount]; + Vector3[] playerJointsPos = new Vector3[iAllJointsCount]; + + int[] aiNeededJointIndexes = gestureManager.GetNeededJointIndexes(); + int iNeededJointsCount = aiNeededJointIndexes.Length; + + for (int i = 0; i < iNeededJointsCount; i++) + { + int joint = aiNeededJointIndexes[i]; + + if (joint >= 0) + { + KinectInterop.JointData jointData = alTrackedBodies[bodyIndex].joint[joint]; + + playerJointsTracked[joint] = jointData.trackingState != KinectInterop.TrackingState.NotTracked; + playerJointsPos[joint] = jointData.kinectPos; + + if (!playerJointsTracked[joint] && (joint == (int)KinectInterop.JointType.Neck)) + { + KinectInterop.JointData lShoulderData = alTrackedBodies[bodyIndex].joint[(int)KinectInterop.JointType.ShoulderLeft]; + KinectInterop.JointData rShoulderData = alTrackedBodies[bodyIndex].joint[(int)KinectInterop.JointType.ShoulderRight]; + + if (lShoulderData.trackingState != KinectInterop.TrackingState.NotTracked && rShoulderData.trackingState != KinectInterop.TrackingState.NotTracked) + { + playerJointsTracked[joint] = true; + playerJointsPos[joint] = (lShoulderData.kinectPos + rShoulderData.kinectPos) / 2f; + } + } + } + } + + // estimate the gesture progess + gestureManager.CheckForGesture(UserId, ref gestureData, Time.realtimeSinceStartup, + ref playerJointsPos, ref playerJointsTracked); + playerCalibrationData[UserId] = gestureData; + + // check if gesture is complete + if (gestureData.complete) + { + gestureData.userId = 0; + playerCalibrationData[UserId] = gestureData; + + return true; + } + + return false; + } + + } +} + diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectUserManager.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectUserManager.cs.meta new file mode 100644 index 0000000..45b9ea1 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/KinectUserManager.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 0abb1e31e28600f428649c5ac1d12702 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene.meta new file mode 100644 index 0000000..d227558 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 25b1c999a0736924eae0dfb6ff32bb90 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadFirstLevel.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadFirstLevel.cs new file mode 100644 index 0000000..7d83da4 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadFirstLevel.cs @@ -0,0 +1,29 @@ +using UnityEngine; +using System.Collections; +using UnityEngine.SceneManagement; +using com.rfilkov.kinect; + +namespace com.rfilkov.components +{ + /// + /// This component loads the first real scene of the game, after the startup scene. + /// + public class LoadFirstLevel : MonoBehaviour + { + // prevents multiple loads + private bool levelLoaded = false; + + + void Update() + { + KinectManager kinectManager = KinectManager.Instance; + + if (!levelLoaded && kinectManager && kinectManager.IsInitialized()) + { + levelLoaded = true; + SceneManager.LoadScene(1); + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadFirstLevel.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadFirstLevel.cs.meta new file mode 100644 index 0000000..f5835c7 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadFirstLevel.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 2d2f2bc9ba7308f46af72d41646ded12 +timeCreated: 1425907070 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadLevelWithDelay.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadLevelWithDelay.cs new file mode 100644 index 0000000..5d30da4 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadLevelWithDelay.cs @@ -0,0 +1,69 @@ +using UnityEngine; +using System.Collections; +using UnityEngine.SceneManagement; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// This component loads the next level after the given delay in seconds. + /// + public class LoadLevelWithDelay : MonoBehaviour + { + [Tooltip("Seconds to wait before loading next level.")] + public float waitSeconds = 0f; + + [Tooltip("Next level number. No level is loaded, if the number is negative.")] + public int nextLevel = -1; + + [Tooltip("Whether to check for initialized KinectManager or not.")] + public bool validateKinectManager = true; + + [Tooltip("UI-Text used to display the debug messages.")] + public UnityEngine.UI.Text debugText; + + private float timeToLoadLevel = 0f; + private bool levelLoaded = false; + + + void Start() + { + timeToLoadLevel = Time.realtimeSinceStartup + waitSeconds; + + if (validateKinectManager && debugText != null) + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager == null || !kinectManager.IsInitialized()) + { + debugText.text = "KinectManager is not initialized!"; + levelLoaded = true; + } + } + } + + + void Update() + { + if (!levelLoaded && nextLevel >= 0) + { + if (Time.realtimeSinceStartup >= timeToLoadLevel) + { + levelLoaded = true; + SceneManager.LoadScene(nextLevel); + } + else + { + float timeRest = timeToLoadLevel - Time.realtimeSinceStartup; + + if (debugText != null) + { + debugText.text = string.Format("Time to the next level: {0:F0} s.", timeRest); + } + } + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadLevelWithDelay.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadLevelWithDelay.cs.meta new file mode 100644 index 0000000..9fb0de5 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/LoadLevelWithDelay.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 75b9f3e8a6366ae45a0a3a4e85dcee57 +timeCreated: 1425907070 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/RefreshGestureListeners.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/RefreshGestureListeners.cs new file mode 100644 index 0000000..9f76a74 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/RefreshGestureListeners.cs @@ -0,0 +1,30 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + public class RefreshGestureListeners : MonoBehaviour + { + + void Start() + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager) + { + // remove all users & filters + kinectManager.ClearKinectUsers(); + + // refresh gesture listeners + KinectGestureManager gestureManager = kinectManager.gestureManager; + if(gestureManager) + { + gestureManager.RefreshGestureListeners(); + } + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/RefreshGestureListeners.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/RefreshGestureListeners.cs.meta new file mode 100644 index 0000000..19747f1 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/MultiScene/RefreshGestureListeners.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 10c5832264d4548429d5e2827ab79d0d +timeCreated: 1425907070 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/PhotoShooter.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PhotoShooter.cs new file mode 100644 index 0000000..233e4d9 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PhotoShooter.cs @@ -0,0 +1,133 @@ +using UnityEngine; +using System.Collections; +using System.IO; +using System; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// PhotoShooter provides public functions to take pictures of the currently rendered scene. + /// + public class PhotoShooter : MonoBehaviour + { + [Tooltip("Camera used to render the scene. If not set, the main camera will be used.")] + public Camera foregroundCamera; + + [Tooltip("Array of sprite transforms that will be used for displaying the countdown until image shot.")] + public Transform[] countdown; + + [Tooltip("UI-Text used to display information messages.")] + public UnityEngine.UI.Text infoText; + + + /// + /// Counts down (from 3 for instance), then takes a picture and opens it + /// + public void CountdownAndMakePhoto() + { + StartCoroutine(CoCountdownAndMakePhoto()); + } + + + // counts down (from 3 for instance), then makes a photo and opens it + private IEnumerator CoCountdownAndMakePhoto() + { + if (countdown != null && countdown.Length > 0) + { + for (int i = 0; i < countdown.Length; i++) + { + if (countdown[i]) + countdown[i].gameObject.SetActive(true); + + yield return new WaitForSeconds(1f); + + if (countdown[i]) + countdown[i].gameObject.SetActive(false); + } + } + + MakePhoto(); + yield return null; + } + + + /// + /// Saves the screen image as png picture, and then opens the saved file. + /// + public void MakePhoto() + { + MakePhoto(true); + } + + /// + /// Saves the screen image as png picture, and optionally opens the saved file. + /// + /// The file name. + /// If set to true opens the saved file. + public string MakePhoto(bool openIt) + { + int resWidth = Screen.width; + int resHeight = Screen.height; + + Texture2D screenShot = new Texture2D(resWidth, resHeight, TextureFormat.RGB24, false); //Create new texture + RenderTexture rt = new RenderTexture(resWidth, resHeight, 24); + + // hide the info-text, if any + if (infoText) + { + infoText.text = string.Empty; + } + + if(!foregroundCamera) + { + foregroundCamera = Camera.main; + } + + // render the camera + if (foregroundCamera && foregroundCamera.enabled) + { + foregroundCamera.targetTexture = rt; + foregroundCamera.Render(); + foregroundCamera.targetTexture = null; + } + + // get the screenshot + RenderTexture prevActiveTex = RenderTexture.active; + RenderTexture.active = rt; + + screenShot.ReadPixels(new Rect(0, 0, resWidth, resHeight), 0, 0); + + // clean-up + RenderTexture.active = prevActiveTex; + Destroy(rt); + + byte[] btScreenShot = screenShot.EncodeToJPG(); + Destroy(screenShot); + + // save the screenshot as jpeg file + string sDirName = Application.persistentDataPath + "/Screenshots"; + if (!Directory.Exists(sDirName)) + Directory.CreateDirectory(sDirName); + + string sFileName = sDirName + "/" + string.Format("{0:F0}", Time.realtimeSinceStartup * 10f) + ".jpg"; + File.WriteAllBytes(sFileName, btScreenShot); + + Debug.Log("Photo saved to: " + sFileName); + if (infoText) + { + infoText.text = "Saved to: " + sFileName; + } + + // open file + if (openIt) + { + System.Diagnostics.Process.Start(sFileName); + } + + return sFileName; + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/PhotoShooter.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PhotoShooter.cs.meta new file mode 100644 index 0000000..0170927 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PhotoShooter.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: a273e35c2904bb442bc367cf2ad1b8cb +timeCreated: 1484259322 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/PortraitBackground.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PortraitBackground.cs new file mode 100644 index 0000000..f2a1f30 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PortraitBackground.cs @@ -0,0 +1,130 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// Portrait background is the component that sets the background image in the required screen resolution. + /// + public class PortraitBackground : MonoBehaviour + { + [Tooltip("Index of the sensor, whose color image will be used as background image.")] + public int sensorIndex = 0; + + [Tooltip("Target aspect ratio. If left at 0:0, it will determine the aspect ratio from the current screen resolution.")] + public Vector2 targetAspectRatio = Vector2.zero; // new Vector2 (9f, 16f); + + private bool isInitialized = false; + private Rect pixelInsetRect; + private Rect backgroundRect; + private Rect inScreenRect; + private Rect shaderUvRect; + + private static PortraitBackground instance = null; + + + /// + /// Gets the singleton PortraitBackground instance. + /// + /// The PortraitBackground instance. + public static PortraitBackground Instance + { + get + { + return instance; + } + } + + /// + /// Determines whether the instance is initialized or not. + /// + /// true if the instance is initialized; otherwise, false. + public bool IsInitialized() + { + return isInitialized; + } + + /// + /// Gets the background rectangle in pixels. This rectangle can be provided as an argument to the GetJointPosColorOverlay()-KM function. + /// + /// The background rectangle, in pixels + public Rect GetBackgroundRect() + { + return backgroundRect; + } + + /// + /// Gets the in-screen rectangle in pixels. + /// + /// The in-screen rectangle, in pixels. + public Rect GetInScreenRect() + { + return inScreenRect; + } + + /// + /// Gets the shader uv rectangle. Can be used by custom shaders that need the portrait image uv-offsets and sizes. + /// + /// The shader uv rectangle. + public Rect GetShaderUvRect() + { + return shaderUvRect; + } + + + //////////////////////////////////////////////////////////////////////// + + + void Awake() + { + instance = this; + } + + void Start() + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager && kinectManager.IsInitialized()) + { + // determine the target screen aspect ratio + float screenAspectRatio = targetAspectRatio != Vector2.zero ? (targetAspectRatio.x / targetAspectRatio.y) : + ((float)Screen.width / (float)Screen.height); + + float fFactorDW = (float)kinectManager.GetColorImageWidth(sensorIndex) / (float)kinectManager.GetColorImageHeight(sensorIndex) - + //(float)kinectManager.GetColorImageHeight() / (float)kinectManager.GetColorImageWidth(); + screenAspectRatio; + + float fDeltaWidth = (float)Screen.height * fFactorDW; + float dOffsetX = -fDeltaWidth / 2f; + + float fFactorSW = (float)kinectManager.GetColorImageWidth(sensorIndex) / (float)kinectManager.GetColorImageHeight(sensorIndex); + + float fScreenWidth = (float)Screen.height * fFactorSW; + float fAbsOffsetX = fDeltaWidth / 2f; + + pixelInsetRect = new Rect(dOffsetX, 0, fDeltaWidth, 0); + backgroundRect = new Rect(dOffsetX, 0, fScreenWidth, Screen.height); + + inScreenRect = new Rect(fAbsOffsetX, 0, fScreenWidth - fDeltaWidth, Screen.height); + shaderUvRect = new Rect(fAbsOffsetX / fScreenWidth, 0, (fScreenWidth - fDeltaWidth) / fScreenWidth, 1); + + //GUITexture guiTexture = GetComponent(); + //if(guiTexture) + //{ + // guiTexture.pixelInset = pixelInsetRect; + //} + + UnityEngine.UI.RawImage rawImage = GetComponent(); + if (rawImage) + { + rawImage.uvRect = shaderUvRect; + } + + isInitialized = true; + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/PortraitBackground.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PortraitBackground.cs.meta new file mode 100644 index 0000000..14ef1ed --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PortraitBackground.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 78b5cd09b2fe6a74b822705cd59951f1 +timeCreated: 1441012328 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelper.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelper.cs new file mode 100644 index 0000000..6e5f8c0 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelper.cs @@ -0,0 +1,201 @@ +using UnityEngine; + +using System; +using System.Collections; +using System.Collections.Generic; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// Pose model helper matches the sensor-tracked joints to model transforms. + /// + [RequireComponent(typeof(Animator))] + public class PoseModelHelper : MonoBehaviour + { + // Variable to hold all them bones. It will initialize the same size as initialRotations. + protected Transform[] bones; + + + /// + /// Gets the number of bone transforms (array length). + /// + /// The number of bone transforms. + public int GetBoneTransformCount() + { + return bones != null ? bones.Length : 0; + } + + /// + /// Gets the bone transform by index. + /// + /// The bone transform. + /// Index + public Transform GetBoneTransform(int index) + { + if (index >= 0 && index < bones.Length) + { + return bones[index]; + } + + return null; + } + + /// + /// Gets the bone index by joint type. + /// + /// The bone index. + /// Joint type + /// If set to true gets the mirrored joint index. + public int GetBoneIndexByJoint(KinectInterop.JointType joint, bool bMirrored) + { + int boneIndex = -1; + + if (jointMap2boneIndex.ContainsKey(joint)) + { + boneIndex = !bMirrored ? jointMap2boneIndex[joint] : mirrorJointMap2boneIndex[joint]; + } + + return boneIndex; + } + + + // transform caching gives performance boost since Unity calls GetComponent() each time you call transform + protected Transform _transformCache; + public new Transform transform + { + get + { + if (!_transformCache) + { + _transformCache = base.transform; + } + + return _transformCache; + } + } + + + public void Awake() + { + // check for double start + if (bones != null) + return; + if (!gameObject.activeInHierarchy) + return; + + // inits the bones array + bones = new Transform[21]; + + // Map bones to the points the Kinect tracks + MapBones(); + } + + + // If the bones to be mapped have been declared, map that bone to the model. + protected virtual void MapBones() + { + // get bone transforms from the animator component + Animator animatorComponent = GetComponent(); + + for (int boneIndex = 0; boneIndex < bones.Length; boneIndex++) + { + if (!boneIndex2MecanimMap.ContainsKey(boneIndex)) + continue; + + bones[boneIndex] = animatorComponent ? animatorComponent.GetBoneTransform(boneIndex2MecanimMap[boneIndex]) : null; + } + } + + + // dictionaries to speed up bone processing + protected static readonly Dictionary boneIndex2MecanimMap = new Dictionary + { + {0, HumanBodyBones.Hips}, + {1, HumanBodyBones.Spine}, + {2, HumanBodyBones.Chest}, + {3, HumanBodyBones.Neck}, +// {4, HumanBodyBones.Head}, + + {5, HumanBodyBones.LeftShoulder}, + {6, HumanBodyBones.LeftUpperArm}, + {7, HumanBodyBones.LeftLowerArm}, + {8, HumanBodyBones.LeftHand}, + + {9, HumanBodyBones.RightShoulder}, + {10, HumanBodyBones.RightUpperArm}, + {11, HumanBodyBones.RightLowerArm}, + {12, HumanBodyBones.RightHand}, + + {13, HumanBodyBones.LeftUpperLeg}, + {14, HumanBodyBones.LeftLowerLeg}, + {15, HumanBodyBones.LeftFoot}, +// {16, HumanBodyBones.LeftToes}, + + {17, HumanBodyBones.RightUpperLeg}, + {18, HumanBodyBones.RightLowerLeg}, + {19, HumanBodyBones.RightFoot}, +// {20, HumanBodyBones.RightToes}, + }; + + protected static readonly Dictionary jointMap2boneIndex = new Dictionary + { + {KinectInterop.JointType.Pelvis, 0}, + {KinectInterop.JointType.SpineNaval, 1}, + {KinectInterop.JointType.SpineChest, 2}, + {KinectInterop.JointType.Neck, 3}, + {KinectInterop.JointType.Head, 4}, + + {KinectInterop.JointType.ClavicleLeft, 5}, + {KinectInterop.JointType.ShoulderLeft, 6}, + {KinectInterop.JointType.ElbowLeft, 7}, + {KinectInterop.JointType.WristLeft, 8}, + + {KinectInterop.JointType.ClavicleRight, 9}, + {KinectInterop.JointType.ShoulderRight, 10}, + {KinectInterop.JointType.ElbowRight, 11}, + {KinectInterop.JointType.WristRight, 12}, + + {KinectInterop.JointType.HipLeft, 13}, + {KinectInterop.JointType.KneeLeft, 14}, + {KinectInterop.JointType.AnkleLeft, 15}, + {KinectInterop.JointType.FootLeft, 16}, + + {KinectInterop.JointType.HipRight, 17}, + {KinectInterop.JointType.KneeRight, 18}, + {KinectInterop.JointType.AnkleRight, 19}, + {KinectInterop.JointType.FootRight, 20}, + }; + + protected static readonly Dictionary mirrorJointMap2boneIndex = new Dictionary + { + {KinectInterop.JointType.Pelvis, 0}, + {KinectInterop.JointType.SpineNaval, 1}, + {KinectInterop.JointType.SpineChest, 2}, + {KinectInterop.JointType.Neck, 3}, + {KinectInterop.JointType.Head, 4}, + + {KinectInterop.JointType.ClavicleRight, 5}, + {KinectInterop.JointType.ShoulderRight, 6}, + {KinectInterop.JointType.ElbowRight, 7}, + {KinectInterop.JointType.WristRight, 8}, + + {KinectInterop.JointType.ClavicleLeft, 9}, + {KinectInterop.JointType.ShoulderLeft, 10}, + {KinectInterop.JointType.ElbowLeft, 11}, + {KinectInterop.JointType.WristLeft, 12}, + + {KinectInterop.JointType.HipRight, 13}, + {KinectInterop.JointType.KneeRight, 14}, + {KinectInterop.JointType.AnkleRight, 15}, + {KinectInterop.JointType.FootRight, 16}, + + {KinectInterop.JointType.HipLeft, 17}, + {KinectInterop.JointType.KneeLeft, 18}, + {KinectInterop.JointType.AnkleLeft, 19}, + {KinectInterop.JointType.FootLeft, 20}, + }; + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelper.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelper.cs.meta new file mode 100644 index 0000000..dcc3dbf --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelper.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 01b562c99f7410c408567281ef62ff02 +timeCreated: 1455291066 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelperClassic.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelperClassic.cs new file mode 100644 index 0000000..7626917 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelperClassic.cs @@ -0,0 +1,72 @@ +using UnityEngine; + + +namespace com.rfilkov.components +{ + /// + /// Pose model helper matches the sensor-tracked joints to model transforms (with manual assignment). + /// + [RequireComponent(typeof(Animator))] + public class PoseModelHelperClassic : PoseModelHelper + { + + // Public variables that will get matched to bones. If empty, the Kinect will simply not track it. + public Transform Pelvis; + public Transform SpineNaval; + public Transform SpineChest; + public Transform Neck; + //public Transform Head; + + public Transform ClavicleLeft; + public Transform ShoulderLeft; + public Transform ElbowLeft; + public Transform WristLeft; + + public Transform ClavicleRight; + public Transform ShoulderRight; + public Transform ElbowRight; + public Transform WristRight; + + public Transform HipLeft; + public Transform KneeLeft; + public Transform AnkleLeft; + //private Transform FootLeft = null; + + public Transform HipRight; + public Transform KneeRight; + public Transform AnkleRight; + //private Transform FootRight = null; + + + // map the bones to the model. + protected override void MapBones() + { + bones[0] = Pelvis; + bones[1] = SpineNaval; + bones[2] = SpineChest; + bones[3] = Neck; + //bones[4] = Head; + + bones[5] = ClavicleLeft; + bones[6] = ShoulderLeft; + bones[7] = ElbowLeft; + bones[8] = WristLeft; + + bones[9] = ClavicleRight; + bones[10] = ShoulderRight; + bones[11] = ElbowRight; + bones[12] = WristRight; + + bones[13] = HipLeft; + bones[14] = KneeLeft; + bones[15] = AnkleLeft; + //bones[16] = FootLeft; + + bones[17] = HipRight; + bones[18] = KneeRight; + bones[19] = AnkleRight; + //bones[20] = FootRight; + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelperClassic.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelperClassic.cs.meta new file mode 100644 index 0000000..b70665a --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/PoseModelHelperClassic.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 15783b176ee38fe4d92aeb0c91178cf3 +timeCreated: 1558538987 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples.meta new file mode 100644 index 0000000..f04c798 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: d8c6d84acb2a2b94689eef34b270069e +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointOrientationView.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointOrientationView.cs new file mode 100644 index 0000000..cc45b4e --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointOrientationView.cs @@ -0,0 +1,70 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + public class JointOrientationView : 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("The Kinect joint we want to track.")] + public KinectInterop.JointType trackedJoint = KinectInterop.JointType.Pelvis; + + [Tooltip("Whether the joint view is mirrored or not.")] + public bool mirroredView = false; + + [Tooltip("Smooth factor used for the joint orientation smoothing.")] + public float smoothFactor = 5f; + + [Tooltip("UI-Text to display the current joint rotation.")] + public UnityEngine.UI.Text debugText; + + private Quaternion initialRotation = Quaternion.identity; + + + void Start() + { + initialRotation = transform.rotation; + //transform.rotation = Quaternion.identity; + } + + void Update() + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager && kinectManager.IsInitialized()) + { + int iJointIndex = (int)trackedJoint; + + if (kinectManager.IsUserDetected(playerIndex)) + { + ulong userId = kinectManager.GetUserIdByIndex(playerIndex); + + if (kinectManager.IsJointTracked(userId, iJointIndex)) + { + Quaternion qRotObject = kinectManager.GetJointOrientation(userId, iJointIndex, !mirroredView); + qRotObject = initialRotation * qRotObject; + + if (debugText) + { + Vector3 vRotAngles = qRotObject.eulerAngles; + debugText.text = string.Format("{0} - R({1:000}, {2:000}, {3:000})", trackedJoint, + vRotAngles.x, vRotAngles.y, vRotAngles.z); + } + + if (smoothFactor != 0f) + transform.rotation = Quaternion.Slerp(transform.rotation, qRotObject, smoothFactor * Time.deltaTime); + else + transform.rotation = qRotObject; + } + + } + + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointOrientationView.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointOrientationView.cs.meta new file mode 100644 index 0000000..0953855 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointOrientationView.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 9a3c4d032774761408f8f6565235782d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointPositionView.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointPositionView.cs new file mode 100644 index 0000000..9eeafdd --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointPositionView.cs @@ -0,0 +1,100 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + public class JointPositionView : 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("The Kinect joint we want to track.")] + public KinectInterop.JointType trackedJoint = KinectInterop.JointType.Pelvis; + + [Tooltip("Whether the movement is relative to transform's initial position, or is in absolute coordinates.")] + public bool relToInitialPos = false; + + [Tooltip("Whether the z-movement is inverted or not.")] + public bool invertedZMovement = false; + + [Tooltip("Transform offset to the Kinect-reported position.")] + public Vector3 transformOffset = Vector3.zero; + + [Tooltip("Whether the displayed position is in Kinect coordinates, or in world coordinates.")] + public bool useKinectSpace = false; + + //public bool moveTransform = true; + + [Tooltip("Smooth factor used for the joint position smoothing.")] + public float smoothFactor = 5f; + + [Tooltip("UI-Text to display the current joint position.")] + public UnityEngine.UI.Text debugText; + + + private Vector3 initialPosition = Vector3.zero; + private ulong currentUserId = 0; + private Vector3 initialUserOffset = Vector3.zero; + + private Vector3 vPosJoint = Vector3.zero; + + + void Start() + { + initialPosition = transform.position; + } + + void Update() + { + KinectManager kinectManager = KinectManager.Instance; + + if (kinectManager && kinectManager.IsInitialized()) + { + int iJointIndex = (int)trackedJoint; + + if (kinectManager.IsUserDetected(playerIndex)) + { + ulong userId = kinectManager.GetUserIdByIndex(playerIndex); + + if (kinectManager.IsJointTracked(userId, iJointIndex)) + { + if (useKinectSpace) + vPosJoint = kinectManager.GetJointKinectPosition(userId, iJointIndex, true); + else + vPosJoint = kinectManager.GetJointPosition(userId, iJointIndex); + + vPosJoint.z = invertedZMovement ? -vPosJoint.z : vPosJoint.z; + vPosJoint += transformOffset; + + if (userId != currentUserId) + { + currentUserId = userId; + initialUserOffset = vPosJoint; + } + + Vector3 vPosObject = relToInitialPos ? initialPosition + (vPosJoint - initialUserOffset) : vPosJoint; + + if (debugText) + { + debugText.text = string.Format("{0} - ({1:F3}, {2:F3}, {3:F3})", trackedJoint, + vPosObject.x, vPosObject.y, vPosObject.z); + } + + //if(moveTransform) + { + if (smoothFactor != 0f) + transform.position = Vector3.Lerp(transform.position, vPosObject, smoothFactor * Time.deltaTime); + else + transform.position = vPosObject; + } + } + + } + + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointPositionView.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointPositionView.cs.meta new file mode 100644 index 0000000..36d2ebe --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/JointPositionView.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 16256177fe75ff240a01e30c192f3c7e +timeCreated: 1426428468 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/SimpleGestureListener.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/SimpleGestureListener.cs new file mode 100644 index 0000000..eb443d6 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/SimpleGestureListener.cs @@ -0,0 +1,172 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; +using System; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// Simple gesture listener that only displays the status and progress of the given gestures. + /// + public class SimpleGestureListener : MonoBehaviour, GestureListenerInterface + { + [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("List of the gestures to detect.")] + public List detectGestures = new List(); + + [Tooltip("UI-Text to display the gesture-listener output.")] + public UnityEngine.UI.Text gestureInfo; + + // private bool to track if progress message has been displayed + private bool progressDisplayed; + private float progressGestureTime; + + + // invoked when a new user is detected + public void UserDetected(ulong userId, int userIndex) + { + if (userIndex == playerIndex) + { + // as an example - detect these user specific gestures + KinectGestureManager gestureManager = KinectManager.Instance.gestureManager; + + foreach(GestureType gesture in detectGestures) + { + gestureManager.DetectGesture(userId, gesture); + } + } + + if (gestureInfo != null) + { + //gestureInfo.text = "Please do the gestures and look for the gesture detection state."; + } + } + + + // invoked when the user is lost + public void UserLost(ulong userId, int userIndex) + { + if (userIndex != playerIndex) + return; + + if (gestureInfo != null) + { + gestureInfo.text = string.Empty; + } + } + + + // invoked to report gesture progress. important for the continuous gestures, because they never complete. + public void GestureInProgress(ulong userId, int userIndex, GestureType gesture, + float progress, KinectInterop.JointType joint, Vector3 screenPos) + { + if (userIndex != playerIndex) + return; + + // check for continuous gestures + switch(gesture) + { + case GestureType.ZoomOut: + case GestureType.ZoomIn: + if (progress > 0.5f && gestureInfo != null) + { + string sGestureText = string.Format("{0} - {1:F0}%", gesture, screenPos.z * 100f); + gestureInfo.text = sGestureText; + + progressDisplayed = true; + progressGestureTime = Time.realtimeSinceStartup; + } + break; + + case GestureType.Wheel: + case GestureType.LeanLeft: + case GestureType.LeanRight: + case GestureType.LeanForward: + case GestureType.LeanBack: + if (progress > 0.5f && gestureInfo != null) + { + string sGestureText = string.Format("{0} - {1:F0} degrees", gesture, screenPos.z); + gestureInfo.text = sGestureText; + + progressDisplayed = true; + progressGestureTime = Time.realtimeSinceStartup; + } + break; + + case GestureType.Run: + if (progress > 0.5f && gestureInfo != null) + { + string sGestureText = string.Format("{0} - progress: {1:F0}%", gesture, progress * 100); + gestureInfo.text = sGestureText; + + progressDisplayed = true; + progressGestureTime = Time.realtimeSinceStartup; + } + break; + } + } + + + // invoked when a (discrete) gesture is complete. + public bool GestureCompleted(ulong userId, int userIndex, GestureType gesture, + KinectInterop.JointType joint, Vector3 screenPos) + { + if (userIndex != playerIndex) + return false; + + if (progressDisplayed) + return true; + + string sGestureText = gesture + " detected"; + if (gestureInfo != null) + { + gestureInfo.text = sGestureText; + } + + return true; + } + + + // invoked when a gesture gets cancelled by the user + public bool GestureCancelled(ulong userId, int userIndex, GestureType gesture, + KinectInterop.JointType joint) + { + if (userIndex != playerIndex) + return false; + + if (progressDisplayed) + { + progressDisplayed = false; + + if (gestureInfo != null) + { + gestureInfo.text = String.Empty; + } + } + + return true; + } + + + public void Update() + { + // checks for timed out progress message + if (progressDisplayed && ((Time.realtimeSinceStartup - progressGestureTime) > 2f)) + { + progressDisplayed = false; + + if (gestureInfo != null) + { + gestureInfo.text = String.Empty; + } + + Debug.Log("Forced progress to end."); + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/SimpleGestureListener.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/SimpleGestureListener.cs.meta new file mode 100644 index 0000000..d8c0e22 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/Samples/SimpleGestureListener.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 71efa4381866a5a4a8e2eb39849873bc +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRenderer.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRenderer.cs new file mode 100644 index 0000000..95817e0 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRenderer.cs @@ -0,0 +1,403 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// SceneMeshRenderer renders virtual mesh of the environment in the scene, as detected by the given sensor. + /// + public class SceneMeshRenderer : MonoBehaviour + { + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("Resolution of the images used to generate the scene.")] + private DepthSensorBase.PointCloudResolution sourceImageResolution = DepthSensorBase.PointCloudResolution.DepthCameraResolution; + + [Tooltip("Whether to show the mesh as point cloud, or as solid mesh.")] + public bool showAsPointCloud = true; + + [Tooltip("Horizontal limit - minimum, in meters.")] + [Range(-5f, 5f)] + public float xMin = -2f; + + [Tooltip("Horizontal limit - maximum, in meters.")] + [Range(-5f, 5f)] + public float xMax = 2f; + + [Tooltip("Vertical limit - minimum, in meters.")] + [Range(-5f, 5f)] + public float yMin = -2f; + + [Tooltip("Vertical limit - maximum, in meters.")] + [Range(-5f, 5f)] + public float yMax = 2f; + + [Tooltip("Distance limit - minimum, in meters.")] + [Range(0.5f, 10f)] + public float zMin = 1f; + + [Tooltip("Distance limit - maximum, in meters.")] + [Range(0.5f, 10f)] + public float zMax = 3f; + + [Tooltip("Time interval between scene mesh updates, in seconds. 0 means no wait.")] + public float updateMeshInterval = 0f; + + [Tooltip("Whether to include the detected players to the scene mesh or not.")] + private bool includePlayers = true; + + [Tooltip("Whether to update the mesh, only when there are no players detected.")] + private bool updateWhenNoPlayers = false; + + //[Tooltip("Whether to update the mesh collider as well, when the user mesh changes.")] + //public bool updateMeshCollider = false; + + [Tooltip("Time interval between mesh-collider updates, in seconds. 0 means no mesh-collider updates.")] + public float updateColliderInterval = 0f; + + + // reference to object's mesh + private Mesh mesh = null; + + // references to KM and data + private KinectManager kinectManager = null; + private KinectInterop.SensorData sensorData = null; + private DepthSensorBase sensorInt = null; + private Vector3 spaceScale = Vector3.zero; + + // render textures + private RenderTexture colorTexture = null; + private RenderTexture colorTextureCopy = null; + private bool colorTextureCreated = false; + + // times + private ulong lastSpaceCoordsTime = 0; + private float lastMeshUpdateTime = 0f; + private float lastColliderUpdateTime = 0f; + + private int minDepth = 0; + private int maxDepth = 0; + + // image parameters + private int imageWidth = 0; + private int imageHeight = 0; + + // mesh parameters + private Vector3[] spaceTable = null; + private Vector3[] meshVertices = null; + private int[] meshIndices = null; + private byte[] meshVertUsed = null; + private bool bMeshInited = false; + + + void Start() + { + // get sensor data + kinectManager = KinectManager.Instance; + sensorData = (kinectManager != null && kinectManager.IsInitialized()) ? kinectManager.GetSensorData(sensorIndex) : null; + } + + + void OnDestroy() + { + if(bMeshInited) + { + // release the mesh-related resources + FinishMesh(); + } + } + + + void LateUpdate() + { + if(mesh == null && sensorData != null && sensorData.depthCamIntr != null) + { + // init mesh and its related data + InitMesh(); + } + + if (bMeshInited) + { + // min & max depth + minDepth = Mathf.RoundToInt(zMin * 1000f); + maxDepth = Mathf.RoundToInt(zMax * 1000f); + + // update the mesh + UpdateMesh(); + } + } + + + // inits the mesh and related data + private void InitMesh() + { + // create mesh + mesh = new Mesh + { + name = "SceneMesh-Sensor" + sensorIndex, + indexFormat = UnityEngine.Rendering.IndexFormat.UInt32 + }; + + MeshFilter meshFilter = GetComponent(); + if(meshFilter != null) + { + meshFilter.mesh = mesh; + } + else + { + Debug.LogWarning("MeshFilter not found! You may not see the mesh on screen"); + } + + if (sensorData != null && sensorData.sensorInterface != null) + { + sensorInt = (DepthSensorBase)sensorData.sensorInterface; + + Vector2Int imageRes = Vector2Int.zero; + if (sensorInt.pointCloudColorTexture == null) + { + sensorInt.pointCloudResolution = sourceImageResolution; + imageRes = sensorInt.GetPointCloudTexResolution(sensorData); + + colorTexture = KinectInterop.CreateRenderTexture(colorTexture, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32); + sensorInt.pointCloudColorTexture = colorTexture; + colorTextureCreated = true; + } + else + { + imageRes = sensorInt.GetPointCloudTexResolution(sensorData); + colorTexture = sensorInt.pointCloudColorTexture; + colorTextureCreated = false; + } + + // create copy texture + colorTextureCopy = KinectInterop.CreateRenderTexture(colorTextureCopy, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32); + + // set the color texture + Renderer meshRenderer = GetComponent(); + if (meshRenderer && meshRenderer.material && meshRenderer.material.mainTexture == null) + { + meshRenderer.material.mainTexture = colorTextureCopy; // sensorInt.pointCloudColorTexture; + //meshRenderer.material.SetTextureScale("_MainTex", kinectManager.GetColorImageScale(sensorIndex)); + } + + // image width & height + imageWidth = imageRes.x; + imageHeight = imageRes.y; + int pointCount = imageWidth * imageHeight; + + // mesh arrays + meshVertices = new Vector3[pointCount]; + meshIndices = new int[6 * pointCount]; // 2 triangles per vertex, last row and column excluded + meshVertUsed = new byte[pointCount]; + spaceScale = kinectManager.GetSensorSpaceScale(sensorIndex); + + // create space table + spaceTable = sensorInt.pointCloudResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution ? + sensorInt.GetDepthCameraSpaceTable(sensorData) : sensorInt.GetColorCameraSpaceTable(sensorData); + + // init mesh uv array + //spaceTable = new Vector3[pointCount]; + Vector2[] meshUv = new Vector2[pointCount]; + + for (int y = 0, i = 0; y < imageHeight; y++) + { + for (int x = 0; x < imageWidth; x++, i++) + { + Vector2 imagePos = new Vector2(x, y); + + //spaceTable[i] = sensorInt.MapDepthPointToSpaceCoords(sensorData, imagePos, 1000); + //sourceImageResolution == DepthSensorBase.PointCloudResolution.ColorCameraResolution ? + //sensorInt.MapColorPointToSpaceCoords(sensorData, imagePos, 1000) : + //sensorInt.MapDepthPointToSpaceCoords(sensorData, imagePos, 1000); + + meshUv[i] = new Vector2(imagePos.x / imageWidth, imagePos.y / imageHeight); + } + } + + mesh.vertices = meshVertices; + mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0); + mesh.uv = meshUv; + + if(showAsPointCloud) + { + meshIndices = new int[pointCount]; + for (int i = 0; i < pointCount; i++) + meshIndices[i] = i; + mesh.SetIndices(meshIndices, MeshTopology.Points, 0); + } + + bMeshInited = true; + } + } + + + // releases mesh-related resources + private void FinishMesh() + { + if (sensorInt) + { + sensorInt.pointCloudColorTexture = null; + } + + if (colorTexture && colorTextureCreated) + { + colorTexture.Release(); + colorTexture = null; + } + + if (colorTextureCopy) + { + colorTextureCopy.Release(); + colorTextureCopy = null; + } + + spaceTable = null; + meshVertices = null; + meshIndices = null; + meshVertUsed = null; + + bMeshInited = false; + } + + + // updates the mesh according to current depth frame + private void UpdateMesh() + { + if (bMeshInited && sensorData.depthImage != null && lastSpaceCoordsTime != sensorData.lastDepthFrameTime) + { + // check for players + bool bHavePlayers = kinectManager.GetUsersCount() != 0; + + if ((Time.time - lastMeshUpdateTime) >= updateMeshInterval && (!updateWhenNoPlayers || !bHavePlayers)) + { + lastSpaceCoordsTime = sensorData.lastDepthFrameTime; + lastMeshUpdateTime = Time.time; + + int imageWidth1 = imageWidth - 1, imageHeight1 = imageHeight - 1; + const int maxDistMm = 200; // max distance between vertices in a triangle, in mm + + // copy the texture + Graphics.CopyTexture(colorTexture, colorTextureCopy); + + for (int y = 0, di = 0, ti = 0; y < imageHeight; y++) + { + for (int x = 0; x < imageWidth; x++, di++, ti += 6) + { + ushort depth = sensorData.depthImage[di]; + bool isValidBodyPixel = !includePlayers && bHavePlayers ? sensorData.bodyIndexImage[di] == 255 : true; + + bool bVertexSet = false; + if (depth >= minDepth && depth <= maxDepth && isValidBodyPixel) + { + float fDepth = (float)depth * 0.001f; + Vector3 vVertex = new Vector3(spaceTable[di].x * fDepth * spaceScale.x, spaceTable[di].y * fDepth * spaceScale.y, fDepth); + + bool bUsedVertex = !showAsPointCloud && meshVertUsed[di] != 0; + if (bUsedVertex || (vVertex.x >= xMin && vVertex.x <= xMax && vVertex.y >= yMin && vVertex.y <= yMax)) + { + meshVertices[di] = vVertex; + + if (!showAsPointCloud) + { + meshVertUsed[di] = 1; + + if (x < imageWidth1 && y < imageHeight1) + { + int tl = di; ushort tld = depth; + int tr = tl + 1; ushort trd = sensorData.depthImage[tr]; + int bl = tl + imageWidth; ushort bld = sensorData.depthImage[bl]; + int br = bl + 1; ushort brd = sensorData.depthImage[br]; + + float fBrDepth = (float)brd * 0.001f; + Vector3 vVertex2 = new Vector3(spaceTable[br].x * fBrDepth * spaceScale.x, spaceTable[di].y * fBrDepth * spaceScale.y, fBrDepth); + + // 1st triangle + if (tld >= minDepth && tld <= maxDepth && + trd >= minDepth && trd <= maxDepth && + bld >= minDepth && bld <= maxDepth && + vVertex2.x >= xMin && vVertex2.x <= xMax && vVertex2.y >= yMin && vVertex2.y <= yMax && + Mathf.Abs(trd - tld) < maxDistMm && Mathf.Abs(bld - tld) < maxDistMm) + { + meshIndices[ti] = bl; + meshIndices[ti + 1] = tr; + meshIndices[ti + 2] = tl; + meshVertUsed[trd] = meshVertUsed[bld] = 1; + } + else + { + meshIndices[ti] = meshIndices[ti + 1] = meshIndices[ti + 2] = 0; + meshVertUsed[trd] = meshVertUsed[bld] = 0; + } + + // 2nd triangle + if (bld >= minDepth && bld <= maxDepth && + trd >= minDepth && trd <= maxDepth && + brd >= minDepth && brd <= maxDepth && + vVertex2.x >= xMin && vVertex2.x <= xMax && vVertex2.y >= yMin && vVertex2.y <= yMax && + Mathf.Abs(trd - bld) < maxDistMm && Mathf.Abs(brd - bld) < maxDistMm) + { + meshIndices[ti + 3] = br; + meshIndices[ti + 4] = tr; + meshIndices[ti + 5] = bl; + meshVertUsed[bld] = meshVertUsed[trd] = meshVertUsed[brd] = 1; + } + else + { + meshIndices[ti + 3] = meshIndices[ti + 4] = meshIndices[ti + 5] = 0; + meshVertUsed[bld] = meshVertUsed[trd] = meshVertUsed[brd] = 0; + } + } + else + { + meshIndices[ti] = meshIndices[ti + 1] = meshIndices[ti + 2] = 0; + meshIndices[ti + 3] = meshIndices[ti + 4] = meshIndices[ti + 5] = 0; + } + } + + bVertexSet = true; + } + } + + if (!bVertexSet) + { + meshVertices[di] = Vector3.zero; + + if (!showAsPointCloud) + { + meshIndices[ti] = meshIndices[ti + 1] = meshIndices[ti + 2] = 0; + meshIndices[ti + 3] = meshIndices[ti + 4] = meshIndices[ti + 5] = 0; + } + } + } + } + + mesh.vertices = meshVertices; + + if(!showAsPointCloud) + { + mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0); + } + + mesh.RecalculateBounds(); + + if (updateColliderInterval > 0 && (Time.time - lastColliderUpdateTime) >= updateColliderInterval) + { + lastColliderUpdateTime = Time.time; + MeshCollider meshCollider = GetComponent(); + + if (meshCollider) + { + meshCollider.sharedMesh = null; + meshCollider.sharedMesh = mesh; + } + } + + } + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRenderer.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRenderer.cs.meta new file mode 100644 index 0000000..4c821c8 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRenderer.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: ba22de1f902061c4993867ead15098dc +timeCreated: 1457126405 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRendererGpu.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRendererGpu.cs new file mode 100644 index 0000000..f4eea13 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRendererGpu.cs @@ -0,0 +1,375 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// SceneMeshRendererGpu renders virtual mesh of the environment in the scene, as detected by the given sensor. This component uses GPU for mesh processing rather than CPU. + /// + public class SceneMeshRendererGpu : MonoBehaviour + { + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("Resolution of the images used to generate the scene.")] + private DepthSensorBase.PointCloudResolution sourceImageResolution = DepthSensorBase.PointCloudResolution.DepthCameraResolution; + + [Tooltip("Whether to show the mesh as point cloud, or as solid mesh.")] + public bool showAsPointCloud = true; + + [Tooltip("Mesh coarse factor.")] + [Range(1, 4)] + public int coarseFactor = 1; + + [Tooltip("Horizontal limit - minimum, in meters.")] + [Range(-5f, 5f)] + public float xMin = -2f; + + [Tooltip("Horizontal limit - maximum, in meters.")] + [Range(-5f, 5f)] + public float xMax = 2f; + + [Tooltip("Vertical limit - minimum, in meters.")] + [Range(-5f, 5f)] + public float yMin = 0f; + + [Tooltip("Vertical limit - maximum, in meters.")] + [Range(-5f, 5f)] + public float yMax = 2.5f; + + [Tooltip("Distance limit - minimum, in meters.")] + [Range(0.5f, 10f)] + public float zMin = 1f; + + [Tooltip("Distance limit - maximum, in meters.")] + [Range(0.5f, 10f)] + public float zMax = 3f; + + [Tooltip("Time interval between scene mesh updates, in seconds. 0 means no wait.")] + private float updateMeshInterval = 0f; + + [Tooltip("Time interval between mesh-collider updates, in seconds. 0 means no mesh-collider updates.")] + private float updateColliderInterval = 0f; + + + // reference to object's mesh + private Mesh mesh = null; + private Transform trans = null; + + // references to KM and data + private KinectManager kinectManager = null; + private KinectInterop.SensorData sensorData = null; + private DepthSensorBase sensorInt = null; + //private Vector3 spaceScale = Vector3.zero; + private Material meshShaderMat = null; + + // space table + private Vector3[] spaceTable = null; + private ComputeBuffer spaceTableBuffer = null; + + // render textures + private RenderTexture colorTexture = null; + private RenderTexture colorTextureCopy = null; + private bool colorTextureCreated = false; + private bool depthBufferCreated = false; + + // times + private ulong lastDepthFrameTime = 0; + private float lastMeshUpdateTime = 0f; + private float lastColliderUpdateTime = 0f; + + // image parameters + private int imageWidth = 0; + private int imageHeight = 0; + + // mesh parameters + private bool bMeshInited = false; + private int meshParamsCache = 0; + + + void Start() + { + // get sensor data + kinectManager = KinectManager.Instance; + sensorData = (kinectManager != null && kinectManager.IsInitialized()) ? kinectManager.GetSensorData(sensorIndex) : null; + + Shader meshShader = Shader.Find("Kinect/SceneMeshShader"); + if(meshShader != null) + { + //meshShaderMat = new Material(meshShader); + } + } + + + void OnDestroy() + { + if (bMeshInited) + { + // release the mesh-related resources + FinishMesh(); + } + } + + + void Update() + { + if (mesh == null && sensorData != null && sensorData.depthCamIntr != null) + { + // init mesh and its related data + InitMesh(); + } + + if (bMeshInited) + { + // update the mesh + UpdateMesh(); + } + } + + + // inits the mesh and related data + private void InitMesh() + { + // create mesh + mesh = new Mesh + { + name = "SceneMesh-Sensor" + sensorIndex, + indexFormat = UnityEngine.Rendering.IndexFormat.UInt32 + }; + + MeshFilter meshFilter = GetComponent(); + if (meshFilter != null) + { + meshFilter.mesh = mesh; + } + else + { + Debug.LogWarning("MeshFilter not found! You may not see the mesh on screen"); + } + + // create depth image buffer + if (sensorData.depthImageBuffer == null) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + sensorData.depthImageBuffer = KinectInterop.CreateComputeBuffer(sensorData.depthImageBuffer, depthBufferLength, sizeof(uint)); + depthBufferCreated = true; + } + + // create point cloud color texture + if (sensorData != null && sensorData.sensorInterface != null) + { + sensorInt = (DepthSensorBase)sensorData.sensorInterface; + + Vector2Int imageRes = Vector2Int.zero; + if (sensorInt.pointCloudColorTexture == null) + { + sensorInt.pointCloudResolution = sourceImageResolution; + imageRes = sensorInt.GetPointCloudTexResolution(sensorData); + + colorTexture = KinectInterop.CreateRenderTexture(colorTexture, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32); + sensorInt.pointCloudColorTexture = colorTexture; + colorTextureCreated = true; + } + else + { + imageRes = sensorInt.GetPointCloudTexResolution(sensorData); + colorTexture = sensorInt.pointCloudColorTexture; + colorTextureCreated = false; + } + + // create space table + spaceTable = sensorInt.pointCloudResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution ? + sensorInt.GetDepthCameraSpaceTable(sensorData) : sensorInt.GetColorCameraSpaceTable(sensorData); + + int spaceBufferLength = imageRes.x * imageRes.y * 3; + spaceTableBuffer = new ComputeBuffer(spaceBufferLength, sizeof(float)); + spaceTableBuffer.SetData(spaceTable); + spaceTable = null; + + // create copy texture + colorTextureCopy = KinectInterop.CreateRenderTexture(colorTextureCopy, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32); + + // set the color texture + Renderer meshRenderer = GetComponent(); + if (meshRenderer && meshRenderer.material /**&& meshRenderer.material.mainTexture == null*/) + { + meshShaderMat = meshRenderer.material; + } + + // get reference to the transform + trans = GetComponent(); + + // image width & height + imageWidth = imageRes.x; + imageHeight = imageRes.y; + + // create mesh vertices & indices + CreateMeshVertInd(); + bMeshInited = true; + } + } + + + // creates the mesh vertices and indices + private void CreateMeshVertInd() + { + int xVerts = (imageWidth / coarseFactor); // + 1; + int yVerts = (imageHeight / coarseFactor); // + 1; + int vCount = xVerts * yVerts; + + // mesh vertices + mesh.Clear(); + mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32; + + Vector3[] meshVertices = new Vector3[xVerts * yVerts]; + Vector3[] meshNormals = new Vector3[xVerts * yVerts]; + + float vsx = (float)coarseFactor / (float)imageWidth; + float vsy = (float)coarseFactor / (float)imageHeight; + + for (int y = 0, vi = 0; y < yVerts; y++) + { + for (int x = 0; x < xVerts; x++, vi++) + { + meshVertices[vi] = new Vector3(x * vsx, y * vsy, 0f); + meshNormals[vi] = new Vector3(0f, 1f, 0f); // 0f, 0f, -1f + } + } + + mesh.vertices = meshVertices; + mesh.normals = meshNormals; + + // mesh indices + if (showAsPointCloud) + { + int[] meshIndices = new int[vCount]; + for (int i = 0; i < vCount; i++) + meshIndices[i] = i; + + mesh.SetIndices(meshIndices, MeshTopology.Points, 0); + } + else + { + int[] meshIndices = new int[(xVerts - 1) * (yVerts - 1) * 6]; + for (int y = 0, ii = 0; y < (yVerts - 1); y++) + { + for (int x = 0; x < (xVerts - 1); x++) + { + meshIndices[ii++] = (y + 1) * xVerts + x; + meshIndices[ii++] = y * xVerts + x + 1; + meshIndices[ii++] = y * xVerts + x; + + meshIndices[ii++] = (y + 1) * xVerts + x + 1; + meshIndices[ii++] = y * xVerts + x + 1; + meshIndices[ii++] = (y + 1) * xVerts + x; + } + } + + mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0); + } + + meshParamsCache = coarseFactor + (showAsPointCloud ? 10 : 0); + } + + + // releases mesh-related resources + private void FinishMesh() + { + if (sensorInt) + { + sensorInt.pointCloudColorTexture = null; + } + + if(sensorData.depthImageBuffer != null && depthBufferCreated) + { + sensorData.depthImageBuffer.Release(); + sensorData.depthImageBuffer.Dispose(); + sensorData.depthImageBuffer = null; + } + + if (colorTexture && colorTextureCreated) + { + colorTexture.Release(); + colorTexture = null; + } + + if (colorTextureCopy) + { + colorTextureCopy.Release(); + colorTextureCopy = null; + } + + if (spaceTableBuffer != null) + { + spaceTableBuffer.Dispose(); + spaceTableBuffer = null; + } + + bMeshInited = false; + } + + + // updates the mesh according to current depth frame + private void UpdateMesh() + { + if (bMeshInited && colorTexture != null && sensorData.depthImage != null && sensorData.depthCamIntr != null && meshShaderMat != null && + lastDepthFrameTime != sensorData.lastDepthFrameTime && (Time.time - lastMeshUpdateTime) >= updateMeshInterval) + { + lastDepthFrameTime = sensorData.lastDepthFrameTime; + lastMeshUpdateTime = Time.time; + + int paramsCache = coarseFactor + (showAsPointCloud ? 10 : 0); + if(meshParamsCache != paramsCache) + { + //Debug.Log("Mesh params changed. Recreating..."); + CreateMeshVertInd(); + } + + if (sensorData.depthImageBuffer != null && sensorData.depthImage != null && depthBufferCreated) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + KinectInterop.SetComputeBufferData(sensorData.depthImageBuffer, sensorData.depthImage, depthBufferLength, sizeof(uint)); + } + + Graphics.CopyTexture(colorTexture, colorTextureCopy); + + meshShaderMat.SetBuffer("_DepthMap", sensorData.depthImageBuffer); + meshShaderMat.SetInt("_CoarseFactor", coarseFactor); + + meshShaderMat.SetMatrix("_Transform", sensorInt.GetSensorToWorldMatrix()); + meshShaderMat.SetVector("_PosMin", new Vector3(xMin, yMin, zMin)); + meshShaderMat.SetVector("_PosMax", new Vector3(xMax, yMax, zMax)); + + meshShaderMat.SetVector("_TexRes", new Vector2(imageWidth, imageHeight)); + meshShaderMat.SetVector("_Cxy", new Vector2(sensorData.depthCamIntr.ppx, sensorData.depthCamIntr.ppy)); + meshShaderMat.SetVector("_Fxy", new Vector2(sensorData.depthCamIntr.fx, sensorData.depthCamIntr.fy)); + + meshShaderMat.SetTexture("_ColorTex", colorTextureCopy); + meshShaderMat.SetVector("_SpaceScale", kinectManager.GetSensorSpaceScale(sensorIndex)); // kinectManager.GetDepthImageScale(sensorIndex) + meshShaderMat.SetBuffer("_SpaceTable", spaceTableBuffer); + + // mesh bounds + Vector3 boundsCenter = new Vector3((xMax - xMin) / 2f, (yMax - yMin) / 2f, (zMax - zMin) / 2f); + Vector3 boundsSize = new Vector3((xMax - xMin), (yMax - yMin), (zMax - zMin)); + mesh.bounds = new Bounds(boundsCenter, boundsSize); + + if (updateColliderInterval > 0 && (Time.time - lastColliderUpdateTime) >= updateColliderInterval) + { + lastColliderUpdateTime = Time.time; + MeshCollider meshCollider = GetComponent(); + + if (meshCollider) + { + meshCollider.sharedMesh = null; + meshCollider.sharedMesh = mesh; + } + } + + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRendererGpu.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRendererGpu.cs.meta new file mode 100644 index 0000000..afb3e56 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/SceneMeshRendererGpu.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: c30c3ab4691c98a4d8e4ae95a31321cb +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRenderer.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRenderer.cs new file mode 100644 index 0000000..c0d9d16 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRenderer.cs @@ -0,0 +1,384 @@ +using UnityEngine; +using System.Collections; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// UserMeshRenderer renders virtual mesh of a user in the scene, as detected by the given sensor. + /// + public class UserMeshRenderer : MonoBehaviour + { + [Tooltip("Index of the player, tracked by this component. 0 - the 1st player only, 1 - the 2nd player only, etc.")] + public int playerIndex = 0; + + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("Resolution of the images used to generate the scene.")] + private DepthSensorBase.PointCloudResolution sourceImageResolution = DepthSensorBase.PointCloudResolution.DepthCameraResolution; + + [Tooltip("Whether to show the mesh as point cloud, or as solid mesh.")] + public bool showAsPointCloud = true; + + [Tooltip("Time interval between scene mesh updates, in seconds. 0 means no wait.")] + private float updateMeshInterval = 0f; + + //[Tooltip("Whether to update the mesh collider as well, when the user mesh changes.")] + //public bool updateMeshCollider = false; + + [Tooltip("Time interval between mesh-collider updates, in seconds. 0 means no mesh-collider updates.")] + private float updateColliderInterval = 0f; + + + // reference to object's mesh + private Mesh mesh = null; + + // references to KM and data + private KinectManager kinectManager = null; + private KinectInterop.SensorData sensorData = null; + private DepthSensorBase sensorInt = null; + private Vector3 spaceScale = Vector3.zero; + + // render textures + private RenderTexture colorTexture = null; + private RenderTexture colorTextureCopy = null; + private bool colorTextureCreated = false; + + // times + private ulong lastSpaceCoordsTime = 0; + private float lastMeshUpdateTime = 0f; + private float lastColliderUpdateTime = 0f; + + // user parameters + //private ulong prevUserId = 0; + private ulong userId = 0; + private byte userBodyIndex = 255; + private Vector3 userBodyPos = Vector3.zero; + + // image parameters + private int imageWidth = 0; + private int imageHeight = 0; + + // mesh parameters + private Vector3[] spaceTable = null; + private Vector3[] meshVertices = null; + private int[] meshIndices = null; + private byte[] meshVertUsed = null; + private bool bMeshInited = false; + + + void Start() + { + // get sensor data + kinectManager = KinectManager.Instance; + sensorData = (kinectManager != null && kinectManager.IsInitialized()) ? kinectManager.GetSensorData(sensorIndex) : null; + } + + + void OnDestroy() + { + if (bMeshInited) + { + // release the mesh-related resources + FinishMesh(); + } + } + + + void LateUpdate() + { + if (mesh == null && sensorData != null && sensorData.depthCamIntr != null) + { + // init mesh and its related data + InitMesh(); + } + + if (bMeshInited) + { + // user params + userId = kinectManager.GetUserIdByIndex(playerIndex); + userBodyIndex = (byte)(userId != 0 ? kinectManager.GetBodyIndexByUserId(userId) : 255); + userBodyPos = userId != 0 ? kinectManager.GetUserKinectPosition(userId, true) : Vector3.zero; + + // update the mesh + UpdateMesh(); + } + } + + + // inits the mesh and related data + private void InitMesh() + { + // create mesh + mesh = new Mesh + { + name = "User" + playerIndex + "Mesh-S" + sensorIndex, + indexFormat = UnityEngine.Rendering.IndexFormat.UInt32 + }; + + MeshFilter meshFilter = GetComponent(); + if (meshFilter != null) + { + meshFilter.mesh = mesh; + } + else + { + Debug.LogWarning("MeshFilter not found! You may not see the mesh on screen"); + } + + if (sensorData != null && sensorData.sensorInterface != null) + { + sensorInt = (DepthSensorBase)sensorData.sensorInterface; + + Vector2Int imageRes = Vector2Int.zero; + if (sensorInt.pointCloudColorTexture == null) + { + sensorInt.pointCloudResolution = sourceImageResolution; + imageRes = sensorInt.GetPointCloudTexResolution(sensorData); + + colorTexture = KinectInterop.CreateRenderTexture(colorTexture, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32); + sensorInt.pointCloudColorTexture = colorTexture; + colorTextureCreated = true; + } + else + { + imageRes = sensorInt.GetPointCloudTexResolution(sensorData); + colorTexture = sensorInt.pointCloudColorTexture; + colorTextureCreated = false; + } + + // create copy texture + colorTextureCopy = KinectInterop.CreateRenderTexture(colorTextureCopy, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32); + + // set the color texture + Renderer meshRenderer = GetComponent(); + if (meshRenderer && meshRenderer.material && meshRenderer.material.mainTexture == null) + { + meshRenderer.material.mainTexture = colorTextureCopy; // sensorInt.pointCloudColorTexture; + //meshRenderer.material.SetTextureScale("_MainTex", kinectManager.GetColorImageScale(sensorIndex)); + } + + // image width & height + imageWidth = imageRes.x; + imageHeight = imageRes.y; + int pointCount = imageWidth * imageHeight; + + // mesh arrays + meshVertices = new Vector3[pointCount]; + meshIndices = new int[6 * pointCount]; // 2 triangles per vertex, last row and column excluded + meshVertUsed = new byte[pointCount]; + spaceScale = kinectManager.GetSensorSpaceScale(sensorIndex); + + // create space table + spaceTable = sensorInt.pointCloudResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution ? + sensorInt.GetDepthCameraSpaceTable(sensorData) : sensorInt.GetColorCameraSpaceTable(sensorData); + + // init mesh uv array + //spaceTable = new Vector3[pointCount]; + Vector2[] meshUv = new Vector2[pointCount]; + + for (int y = 0, i = 0; y < imageHeight; y++) + { + for (int x = 0; x < imageWidth; x++, i++) + { + Vector2 imagePos = new Vector2(x, y); + + //spaceTable[i] = sensorInt.MapDepthPointToSpaceCoords(sensorData, imagePos, 1000); + meshUv[i] = new Vector2(imagePos.x / imageWidth, imagePos.y / imageHeight); + } + } + + mesh.vertices = meshVertices; + mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0); + mesh.uv = meshUv; + + if (showAsPointCloud) + { + meshIndices = new int[pointCount]; + for (int i = 0; i < pointCount; i++) + meshIndices[i] = i; + mesh.SetIndices(meshIndices, MeshTopology.Points, 0); + } + + bMeshInited = true; + } + } + + + // releases mesh-related resources + private void FinishMesh() + { + if (sensorInt) + { + sensorInt.pointCloudColorTexture = null; + } + + if (colorTexture && colorTextureCreated) + { + colorTexture.Release(); + colorTexture = null; + } + + if (colorTextureCopy) + { + colorTextureCopy.Release(); + colorTextureCopy = null; + } + + spaceTable = null; + meshVertices = null; + meshIndices = null; + meshVertUsed = null; + + bMeshInited = false; + } + + + // updates the mesh according to current depth frame + private void UpdateMesh() + { + if (bMeshInited && sensorData.depthImage != null && lastSpaceCoordsTime != sensorData.lastDepthFrameTime) + { + if ((Time.time - lastMeshUpdateTime) >= updateMeshInterval) + { + lastSpaceCoordsTime = sensorData.lastDepthFrameTime; + lastMeshUpdateTime = Time.time; + + int imageWidth1 = imageWidth - 1, imageHeight1 = imageHeight - 1; + int userPosDepth = (int)(userBodyPos.z * 1000f); + + const int maxDistMm = 200; // max distance between vertices in a triangle, in mm + const int maxPosDistMm = 1000; + + // copy the texture + Graphics.CopyTexture(colorTexture, colorTextureCopy); + + for (int y = 0, di = 0, ti = 0; y < imageHeight; y++) + { + for (int x = 0; x < imageWidth; x++, di++, ti += 6) + { + ushort depth = sensorData.depthImage[di]; + bool isValidBodyPixel = userId != 0 && sensorData.bodyIndexImage[di] == userBodyIndex && + Mathf.Abs(depth - userPosDepth) <= maxPosDistMm; + + bool bVertexSet = false; + if (isValidBodyPixel) + { + float fDepth = (float)depth * 0.001f; + Vector3 vVertex = new Vector3(spaceTable[di].x * fDepth * spaceScale.x, spaceTable[di].y * fDepth * spaceScale.y, fDepth); + + bool bUsedVertex = !showAsPointCloud && meshVertUsed[di] != 0; + if (bUsedVertex || isValidBodyPixel) + { + meshVertices[di] = vVertex; + + if (!showAsPointCloud) + { + meshVertUsed[di] = 1; + + if (isValidBodyPixel && x < imageWidth1 && y < imageHeight1) + { + int tl = di; ushort tld = depth; + int tr = tl + 1; ushort trd = sensorData.depthImage[tr]; + int bl = tl + imageWidth; ushort bld = sensorData.depthImage[bl]; + int br = bl + 1; ushort brd = sensorData.depthImage[br]; + + //float fBrDepth = (float)brd * 0.001f; + //Vector3 vVertex2 = new Vector3(spaceTable[br].x * fBrDepth * spaceScale.x, spaceTable[di].y * fBrDepth * spaceScale.y, fBrDepth); + + // 1st triangle + bool isValidBodyQuad = + sensorData.bodyIndexImage[tr] == userBodyIndex && Mathf.Abs(trd - userPosDepth) <= maxPosDistMm && + sensorData.bodyIndexImage[bl] == userBodyIndex && Mathf.Abs(bld - userPosDepth) <= maxPosDistMm && + sensorData.bodyIndexImage[br] == userBodyIndex && Mathf.Abs(brd - userPosDepth) <= maxPosDistMm; + + if (isValidBodyQuad && + Mathf.Abs(trd - tld) < maxDistMm && Mathf.Abs(bld - tld) < maxDistMm) + { + meshIndices[ti] = bl; + meshIndices[ti + 1] = tr; + meshIndices[ti + 2] = tl; + meshVertUsed[trd] = meshVertUsed[bld] = 1; + } + else + { + meshIndices[ti] = meshIndices[ti + 1] = meshIndices[ti + 2] = 0; + meshVertUsed[trd] = meshVertUsed[bld] = 0; + } + + // 2nd triangle + if (isValidBodyQuad && + Mathf.Abs(trd - bld) < maxDistMm && Mathf.Abs(brd - bld) < maxDistMm) + { + meshIndices[ti + 3] = br; + meshIndices[ti + 4] = tr; + meshIndices[ti + 5] = bl; + meshVertUsed[bld] = meshVertUsed[trd] = meshVertUsed[brd] = 1; + } + else + { + meshIndices[ti + 3] = meshIndices[ti + 4] = meshIndices[ti + 5] = 0; + meshVertUsed[bld] = meshVertUsed[trd] = meshVertUsed[brd] = 0; + } + } + else + { + meshIndices[ti] = meshIndices[ti + 1] = meshIndices[ti + 2] = 0; + meshIndices[ti + 3] = meshIndices[ti + 4] = meshIndices[ti + 5] = 0; + } + } + + bVertexSet = true; + } + } + + if (!bVertexSet) + { + meshVertices[di] = Vector3.zero; + + if (!showAsPointCloud) + { + if (meshVertUsed[di] != 0) + { + float fDepth = (float)depth * 0.001f; + Vector3 vVertex = new Vector3(spaceTable[di].x * fDepth * spaceScale.x, spaceTable[di].y * fDepth * spaceScale.y, fDepth); + meshVertices[di] = vVertex; + } + + meshIndices[ti] = meshIndices[ti + 1] = meshIndices[ti + 2] = 0; + meshIndices[ti + 3] = meshIndices[ti + 4] = meshIndices[ti + 5] = 0; + } + } + } + } + + mesh.vertices = meshVertices; + + if (!showAsPointCloud) + { + mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0); + } + + mesh.RecalculateBounds(); + //prevUserId = userId; + + if (updateColliderInterval > 0 && (Time.time - lastColliderUpdateTime) >= updateColliderInterval) + { + lastColliderUpdateTime = Time.time; + MeshCollider meshCollider = GetComponent(); + + if (meshCollider) + { + meshCollider.sharedMesh = null; + meshCollider.sharedMesh = mesh; + } + } + + } + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRenderer.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRenderer.cs.meta new file mode 100644 index 0000000..97f3669 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRenderer.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 685251aedf217d146b64bafb7ebe78d6 +timeCreated: 1455813668 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRendererGpu.cs b/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRendererGpu.cs new file mode 100644 index 0000000..a9cab84 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRendererGpu.cs @@ -0,0 +1,383 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using com.rfilkov.kinect; + + +namespace com.rfilkov.components +{ + /// + /// UserMeshRendererGpu renders virtual mesh of a user in the scene, as detected by the given sensor. This component uses GPU for mesh processing rather than CPU. + /// + public class UserMeshRendererGpu : MonoBehaviour + { + [Tooltip("Index of the player, tracked by this component. 0 - the 1st player only, 1 - the 2nd player only, etc.")] + public int playerIndex = 0; + + [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")] + public int sensorIndex = 0; + + [Tooltip("Resolution of the images used to generate the scene.")] + private DepthSensorBase.PointCloudResolution sourceImageResolution = DepthSensorBase.PointCloudResolution.DepthCameraResolution; + + [Tooltip("Whether to show the mesh as point cloud, or as solid mesh.")] + public bool showAsPointCloud = true; + + [Tooltip("Mesh coarse factor.")] + [Range(1, 4)] + public int coarseFactor = 1; + + [Tooltip("Time interval between scene mesh updates, in seconds. 0 means no wait.")] + private float updateMeshInterval = 0f; + + [Tooltip("Time interval between mesh-collider updates, in seconds. 0 means no mesh-collider updates.")] + private float updateColliderInterval = 0f; + + + // reference to object's mesh + private Mesh mesh = null; + private Transform trans = null; + + // references to KM and data + private KinectManager kinectManager = null; + private KinectInterop.SensorData sensorData = null; + private DepthSensorBase sensorInt = null; + //private Vector3 spaceScale = Vector3.zero; + private Material meshShaderMat = null; + + // space table + private Vector3[] spaceTable = null; + private ComputeBuffer spaceTableBuffer = null; + + // render textures + private RenderTexture colorTexture = null; + private RenderTexture colorTextureCopy = null; + private bool colorTextureCreated = false; + private bool depthBufferCreated = false; + private bool bodyIndexBufferCreated = false; + + // times + private ulong lastDepthFrameTime = 0; + private float lastMeshUpdateTime = 0f; + private float lastColliderUpdateTime = 0f; + + // user parameters + private ulong userId = 0; + private int userBodyIndex = 255; + private Vector3 userBodyPos = Vector3.zero; + + // image parameters + private int imageWidth = 0; + private int imageHeight = 0; + + // mesh parameters + private bool bMeshInited = false; + private int meshParamsCache = 0; + + void Start() + { + // get sensor data + kinectManager = KinectManager.Instance; + sensorData = (kinectManager != null && kinectManager.IsInitialized()) ? kinectManager.GetSensorData(sensorIndex) : null; + } + + + void OnDestroy() + { + if (bMeshInited) + { + // release the mesh-related resources + FinishMesh(); + } + } + + + void Update() + { + if (mesh == null && sensorData != null && sensorData.depthCamIntr != null) + { + // init mesh and its related data + InitMesh(); + } + + if (bMeshInited) + { + // user params + userId = kinectManager.GetUserIdByIndex(playerIndex); + userBodyIndex = userId != 0 ? kinectManager.GetBodyIndexByUserId(userId) : 255; + userBodyPos = userId != 0 ? kinectManager.GetUserKinectPosition(userId, true) : Vector3.zero; + + // update the mesh + UpdateMesh(); + } + } + + + // inits the mesh and related data + private void InitMesh() + { + // create mesh + mesh = new Mesh + { + name = "User" + playerIndex + "Mesh-S" + sensorIndex, + indexFormat = UnityEngine.Rendering.IndexFormat.UInt32 + }; + + MeshFilter meshFilter = GetComponent(); + if (meshFilter != null) + { + meshFilter.mesh = mesh; + } + else + { + Debug.LogWarning("MeshFilter not found! You may not see the mesh on screen"); + } + + // create depth image buffer + if (sensorData.depthImageBuffer == null) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + sensorData.depthImageBuffer = KinectInterop.CreateComputeBuffer(sensorData.depthImageBuffer, depthBufferLength, sizeof(uint)); + depthBufferCreated = true; + } + + // create body index buffer + if (sensorData.bodyIndexBuffer == null) + { + int bodyIndexBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 4; + sensorData.bodyIndexBuffer = KinectInterop.CreateComputeBuffer(sensorData.bodyIndexBuffer, bodyIndexBufferLength, sizeof(uint)); + bodyIndexBufferCreated = true; + } + + // create point cloud color texture + if (sensorData != null && sensorData.sensorInterface != null) + { + sensorInt = (DepthSensorBase)sensorData.sensorInterface; + + Vector2Int imageRes = Vector2Int.zero; + if (sensorInt.pointCloudColorTexture == null) + { + sensorInt.pointCloudResolution = sourceImageResolution; + imageRes = sensorInt.GetPointCloudTexResolution(sensorData); + + colorTexture = KinectInterop.CreateRenderTexture(colorTexture, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32); + sensorInt.pointCloudColorTexture = colorTexture; + colorTextureCreated = true; + } + else + { + imageRes = sensorInt.GetPointCloudTexResolution(sensorData); + colorTexture = sensorInt.pointCloudColorTexture; + colorTextureCreated = false; + } + + // create space table + spaceTable = sensorInt.pointCloudResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution ? + sensorInt.GetDepthCameraSpaceTable(sensorData) : sensorInt.GetColorCameraSpaceTable(sensorData); + + int spaceBufferLength = imageRes.x * imageRes.y * 3; + spaceTableBuffer = new ComputeBuffer(spaceBufferLength, sizeof(float)); + spaceTableBuffer.SetData(spaceTable); + spaceTable = null; + + // create copy texture + colorTextureCopy = KinectInterop.CreateRenderTexture(colorTextureCopy, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32); + + // set the color texture + Renderer meshRenderer = GetComponent(); + if (meshRenderer && meshRenderer.material /**&& meshRenderer.material.mainTexture == null*/) + { + meshShaderMat = meshRenderer.material; + } + + // get reference to the transform + trans = GetComponent(); + + // image width & height + imageWidth = imageRes.x; + imageHeight = imageRes.y; + + // create mesh vertices & indices + CreateMeshVertInd(); + bMeshInited = true; + } + } + + + // creates the mesh vertices and indices + private void CreateMeshVertInd() + { + int xVerts = (imageWidth / coarseFactor); // + 1; + int yVerts = (imageHeight / coarseFactor); // + 1; + int vCount = xVerts * yVerts; + + // mesh vertices + mesh.Clear(); + mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32; + + Vector3[] meshVertices = new Vector3[xVerts * yVerts]; + Vector3[] meshNormals = new Vector3[xVerts * yVerts]; + + float vsx = (float)coarseFactor / (float)imageWidth; + float vsy = (float)coarseFactor / (float)imageHeight; + + for (int y = 0, vi = 0; y < yVerts; y++) + { + for (int x = 0; x < xVerts; x++, vi++) + { + meshVertices[vi] = new Vector3(x * vsx, y * vsy, 0f); + meshNormals[vi] = new Vector3(0f, 1f, 0f); // 0f, 0f, -1f + } + } + + mesh.vertices = meshVertices; + mesh.normals = meshNormals; + + // mesh indices + if (showAsPointCloud) + { + int[] meshIndices = new int[vCount]; + for (int i = 0; i < vCount; i++) + meshIndices[i] = i; + + mesh.SetIndices(meshIndices, MeshTopology.Points, 0); + } + else + { + int[] meshIndices = new int[(xVerts - 1) * (yVerts - 1) * 6]; + for (int y = 0, ii = 0; y < (yVerts - 1); y++) + { + for (int x = 0; x < (xVerts - 1); x++) + { + meshIndices[ii++] = (y + 1) * xVerts + x; + meshIndices[ii++] = y * xVerts + x + 1; + meshIndices[ii++] = y * xVerts + x; + + meshIndices[ii++] = (y + 1) * xVerts + x + 1; + meshIndices[ii++] = y * xVerts + x + 1; + meshIndices[ii++] = (y + 1) * xVerts + x; + } + } + + mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0); + } + + meshParamsCache = coarseFactor + (showAsPointCloud ? 10 : 0); + } + + + // releases mesh-related resources + private void FinishMesh() + { + if (sensorInt) + { + sensorInt.pointCloudColorTexture = null; + } + + if(sensorData.depthImageBuffer != null && depthBufferCreated) + { + sensorData.depthImageBuffer.Release(); + sensorData.depthImageBuffer.Dispose(); + sensorData.depthImageBuffer = null; + } + + if (sensorData.bodyIndexBuffer != null && bodyIndexBufferCreated) + { + sensorData.bodyIndexBuffer.Release(); + sensorData.bodyIndexBuffer.Dispose(); + sensorData.bodyIndexBuffer = null; + } + + if (colorTexture && colorTextureCreated) + { + colorTexture.Release(); + colorTexture = null; + } + + if (colorTextureCopy) + { + colorTextureCopy.Release(); + colorTextureCopy = null; + } + + if (spaceTableBuffer != null) + { + spaceTableBuffer.Dispose(); + spaceTableBuffer = null; + } + + bMeshInited = false; + } + + + // updates the mesh according to current depth frame + private void UpdateMesh() + { + if (bMeshInited && colorTexture != null && sensorData.depthImage != null && sensorData.depthCamIntr != null && meshShaderMat != null && + lastDepthFrameTime != sensorData.lastDepthFrameTime && (Time.time - lastMeshUpdateTime) >= updateMeshInterval) + { + lastDepthFrameTime = sensorData.lastDepthFrameTime; + lastMeshUpdateTime = Time.time; + + int paramsCache = coarseFactor + (showAsPointCloud ? 10 : 0); + if(meshParamsCache != paramsCache) + { + //Debug.Log("Mesh params changed. Recreating..."); + CreateMeshVertInd(); + } + + if (sensorData.depthImageBuffer != null && sensorData.depthImage != null && depthBufferCreated) + { + int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2; + KinectInterop.SetComputeBufferData(sensorData.depthImageBuffer, sensorData.depthImage, depthBufferLength, sizeof(uint)); + } + + if (sensorData.bodyIndexBuffer != null && sensorData.bodyIndexImage != null && bodyIndexBufferCreated) + { + int bodyIndexBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 4; + KinectInterop.SetComputeBufferData(sensorData.bodyIndexBuffer, sensorData.bodyIndexImage, bodyIndexBufferLength, sizeof(uint)); + } + + Graphics.CopyTexture(colorTexture, colorTextureCopy); + + meshShaderMat.SetBuffer("_DepthMap", sensorData.depthImageBuffer); + meshShaderMat.SetBuffer("_BodyIndexMap", sensorData.bodyIndexBuffer); + meshShaderMat.SetInt("_CoarseFactor", coarseFactor); + + meshShaderMat.SetInt("_UserBodyIndex", userBodyIndex); + meshShaderMat.SetVector("_UserBodyPos", userBodyPos); + meshShaderMat.SetMatrix("_Transform", sensorInt.GetSensorToWorldMatrix()); + + meshShaderMat.SetVector("_TexRes", new Vector2(imageWidth, imageHeight)); + meshShaderMat.SetVector("_Cxy", new Vector2(sensorData.depthCamIntr.ppx, sensorData.depthCamIntr.ppy)); + meshShaderMat.SetVector("_Fxy", new Vector2(sensorData.depthCamIntr.fx, sensorData.depthCamIntr.fy)); + + meshShaderMat.SetTexture("_ColorTex", colorTextureCopy); + meshShaderMat.SetVector("_SpaceScale", kinectManager.GetSensorSpaceScale(sensorIndex)); // kinectManager.GetDepthImageScale(sensorIndex) + meshShaderMat.SetBuffer("_SpaceTable", spaceTableBuffer); + + // mesh bounds + if (kinectManager.GetUserBoundingBox(userId, null, sensorIndex, Rect.zero, out Vector3 posMin, out Vector3 posMax)) + { + Vector3 boundsCenter = new Vector3((posMax.x - posMin.x) / 2f, (posMax.y - posMin.y) / 2f, (posMax.z - posMin.z) / 2f); + Vector3 boundsSize = new Vector3((posMax.x - posMin.x), (posMax.y - posMin.y), (posMax.z - posMin.z)); + mesh.bounds = new Bounds(boundsCenter, boundsSize); + } + + if (updateColliderInterval > 0 && (Time.time - lastColliderUpdateTime) >= updateColliderInterval) + { + lastColliderUpdateTime = Time.time; + MeshCollider meshCollider = GetComponent(); + + if (meshCollider) + { + meshCollider.sharedMesh = null; + meshCollider.sharedMesh = mesh; + } + } + + } + } + + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRendererGpu.cs.meta b/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRendererGpu.cs.meta new file mode 100644 index 0000000..a5e4c00 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/KinectScripts/UserMeshRendererGpu.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: e27aa16e02fb25e4abcd05bb2e505de7 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources.meta b/UnityProject/Assets/AzureKinectExamples/Resources.meta new file mode 100644 index 0000000..d2180b9 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c6b60aafbf5f28d4192d2aa7b756df3c +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/BackgroundRenderShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/BackgroundRenderShader.shader new file mode 100644 index 0000000..f7230e9 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/BackgroundRenderShader.shader @@ -0,0 +1,41 @@ +Shader "Kinect/BackgroundRenderShader" { + + Properties{ + _Color ("Main Color", Color) = (1,1,1,1) + _MainTex("Color (RGB)", 2D) = "white" {} + _AlphaTex("Alpha (RGB)", 2D) = "white" {} + + } + + SubShader{ + Tags{ "Queue" = "Transparent" "RenderType" = "Transparent" } + + CGPROGRAM + #pragma surface surf NoLighting alpha + fixed4 _Color; + + fixed4 LightingNoLighting(SurfaceOutput s, fixed3 lightDir, fixed atten) { + fixed4 c; + //c.rgb = s.Albedo; + c.rgb = s.Albedo*0.5f; + c.a = s.Alpha; + return c; + } + + struct Input { + float2 uv_MainTex; + float2 uv_AlphaTex; + }; + + sampler2D _MainTex; + sampler2D _AlphaTex; + + void surf(Input IN, inout SurfaceOutput o) { + o.Albedo = tex2D(_MainTex, IN.uv_MainTex).rgb * _Color; + o.Alpha = tex2D(_AlphaTex, IN.uv_AlphaTex).a; + } + + ENDCG + } + +} \ No newline at end of file diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/BackgroundRenderShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/BackgroundRenderShader.shader.meta new file mode 100644 index 0000000..951d018 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/BackgroundRenderShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 81c8678d683e46e46b0c7653a2f9f307 +ShaderImporter: + externalObjects: {} + defaultTextures: [] + nonModifiableTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/BlurShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/BlurShader.shader new file mode 100644 index 0000000..23d91d5 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/BlurShader.shader @@ -0,0 +1,77 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/BlurShader" { + Properties { + _MainTex ("Base (RGB)", 2D) = "white" {} + _PixOffset ("Pixel Offset", Range(0, 10)) = 3 + _PixStep ("Pixel Step", Range(1, 5)) = 2 + } + + CGINCLUDE + #pragma target 5.0 + + #include "UnityCG.cginc" + + sampler2D _MainTex; + half4 _MainTex_TexelSize; + + int _PixOffset; + int _PixStep; + + struct v2f_off { + float4 pos : POSITION; + half2 uvc : TEXCOORD0; + }; + + v2f_off vertOff (appdata_img v) + { + v2f_off o; + + o.pos = UnityObjectToClipPos (v.vertex); + //o.uvc = TRANSFORM_TEX(v.texcoord.xy, _MainTex); + o.uvc = v.texcoord.xy; + + return o; + } + + half4 fragOff (v2f_off i) : COLOR + { + //int rcCount = 2 * _PixOffset + 1; + half2 texUv = i.uvc + half2(_MainTex_TexelSize.x * -_PixOffset, _MainTex_TexelSize.y * -_PixOffset); + + half4 newCol = 0; + int pixCount = 0; + + for (int iY = -_PixOffset; iY <= _PixOffset; iY += _PixStep) + { + for (int iX = -_PixOffset; iX <= _PixOffset; iX += _PixStep) + { + half4 texCol = tex2D(_MainTex, texUv); + newCol += texCol * 2.0 * texCol.a; + pixCount += 1 + (int)texCol.a; + + texUv.x += _MainTex_TexelSize.x * _PixStep; + } + + texUv.x = i.uvc.x + (_MainTex_TexelSize.x * -_PixOffset); + texUv.y += _MainTex_TexelSize.y * _PixStep; + } + + newCol = newCol / pixCount; + + return newCol; + } + + ENDCG + + SubShader { + ZTest Always Cull Off ZWrite Off + pass { + CGPROGRAM + #pragma vertex vertOff + #pragma fragment fragOff +// #pragma target 3.0 + ENDCG + } + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/BlurShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/BlurShader.shader.meta new file mode 100644 index 0000000..25e5f18 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/BlurShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 36f1cedf05b658845bdf246db06caded +timeCreated: 1430777022 +licenseType: Store +ShaderImporter: + defaultTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/ColorDepthShaderK2.compute b/UnityProject/Assets/AzureKinectExamples/Resources/ColorDepthShaderK2.compute new file mode 100644 index 0000000..22f5d34 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/ColorDepthShaderK2.compute @@ -0,0 +1,39 @@ +#pragma kernel BakeColorDepth + +uint2 _ColorRes; +uint2 _DepthRes; + +StructuredBuffer _DepthMap; +StructuredBuffer _Color2DepthMap; +Texture2D _ColorTex; + +RWStructuredBuffer _ColorDepthMap; + + +[numthreads(8, 8, 1)] +void BakeColorDepth(uint3 id : SV_DispatchThreadID) +{ + //if (id.x & 1 == 0) + { + uint ci = id.x + id.y * _ColorRes.x; + int dx = _Color2DepthMap[ci << 1]; + int dy = _Color2DepthMap[(ci << 1) + 1]; + + uint di = dx + dy * _DepthRes.x; + uint depth2 = _DepthMap[di >> 1]; + uint depth = di & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff; + uint cdepth1 = depth; + + uint ci1 = ci + 1; + dx = _Color2DepthMap[ci1 << 1]; + dy = _Color2DepthMap[(ci1 << 1) + 1]; + + di = dx + dy * _DepthRes.x; + depth2 = _DepthMap[di >> 1]; + depth = di & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff; + uint cdepth2 = depth << 16; + + _ColorDepthMap[ci >> 1] = cdepth1 | cdepth2; + } +} + diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/ColorDepthShaderK2.compute.meta b/UnityProject/Assets/AzureKinectExamples/Resources/ColorDepthShaderK2.compute.meta new file mode 100644 index 0000000..4e64bbe --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/ColorDepthShaderK2.compute.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 2c67d59386b9ed5488e27990f858ca77 +ComputeShaderImporter: + externalObjects: {} + currentAPIMask: 2097152 + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/DepthHistImageShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/DepthHistImageShader.shader new file mode 100644 index 0000000..706102f --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/DepthHistImageShader.shader @@ -0,0 +1,78 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/DepthHistImageShader" { + Properties { + //_MainTex ("Base (RGB)", 2D) = "white" {} + _FrontColor("Front color", Color) = (1, 1, 0, 1) + _BackColor("Back color", Color) = (0, 0, 1, 1) + _InvalidColor("Invalid color", Color) = (0, 0, 0, 0) + } + + SubShader { + Pass { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + #pragma target 5.0 + //#pragma enable_d3d11_debug_symbols + + #pragma vertex vert + #pragma fragment frag + + #include "UnityCG.cginc" + + //uniform sampler2D _MainTex; + uniform uint _TexResX; + uniform uint _TexResY; + uniform uint _MinDepth; + uniform uint _MaxDepth; + uniform uint _TotalPoints; + + uniform float4 _FrontColor; + uniform float4 _BackColor; + uniform float4 _InvalidColor; + + StructuredBuffer _DepthMap; + StructuredBuffer _HistMap; + + struct v2f { + float4 pos : SV_POSITION; + float2 uv : TEXCOORD0; + }; + + v2f vert (appdata_base v) + { + v2f o; + + o.pos = UnityObjectToClipPos (v.vertex); + o.uv = v.texcoord; + + return o; + } + + float4 frag (v2f i) : COLOR + { + uint dx = (uint)(i.uv.x * _TexResX); + uint dy = (uint)(i.uv.y * _TexResY); + uint di = (dx + dy * _TexResX); + + //return float4((float)dx / (float)_TexResX, (float)dy / (float)_TexResY, 0, 1); + + uint depth2 = _DepthMap[di >> 1]; + uint depth = di & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff; + depth = (depth >= _MinDepth && depth <= _MaxDepth) * depth; + + float hist = 1.0 - ((float)_HistMap[depth] / (float)_TotalPoints); + float4 clr = lerp(_BackColor, _FrontColor, hist); + + //return float4(hist, hist, 0, 1); // yellow + return depth > 0 ? clr : _InvalidColor; + } + + ENDCG + } + } + + Fallback Off +} \ No newline at end of file diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/DepthHistImageShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/DepthHistImageShader.shader.meta new file mode 100644 index 0000000..8c097d8 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/DepthHistImageShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: c8db7527c3decf049a16d8a55fe4d1a4 +ShaderImporter: + externalObjects: {} + defaultTextures: [] + nonModifiableTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/DepthTexShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/DepthTexShader.shader new file mode 100644 index 0000000..dc955ae --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/DepthTexShader.shader @@ -0,0 +1,68 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/DepthTexShader" { + Properties { + //_MainTex ("Base (RGB)", 2D) = "white" {} + } + + SubShader { + Pass { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + #pragma target 5.0 + //#pragma enable_d3d11_debug_symbols + + #pragma vertex vert + #pragma fragment frag + + #include "UnityCG.cginc" + + //uniform sampler2D _MainTex; + StructuredBuffer _DepthMap; + + uint _TexResX; + uint _TexResY; + uint _MinDepth; + uint _MaxDepth; + + struct v2f { + float4 pos : SV_POSITION; + float2 uv : TEXCOORD0; + }; + + v2f vert (appdata_base v) + { + v2f o; + + o.pos = UnityObjectToClipPos (v.vertex); + o.uv = v.texcoord; + + return o; + } + + float4 frag (v2f i) : COLOR + { + uint dx = (uint)(i.uv.x * _TexResX); + uint dy = (uint)(i.uv.y * _TexResY); + uint di = (dx + dy * _TexResX); + + //return float4((float)dx / (float)_TexResX, (float)dy / (float)_TexResY, 0, 1); + + uint depth2 = _DepthMap[di >> 1]; + uint depth = di & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff; + depth = (depth >= _MinDepth && depth <= _MaxDepth) * (depth << 2); + + float r = (float)(depth & 0xff) / 255.0; + float g = (float)(depth >> 8) / 255.0; + + return float4(r, g, 0.0, 1.0); + } + + ENDCG + } + } + + Fallback Off +} \ No newline at end of file diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/DepthTexShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/DepthTexShader.shader.meta new file mode 100644 index 0000000..bded5bc --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/DepthTexShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 9e7d26869be7adf4790dcc60ad937836 +ShaderImporter: + externalObjects: {} + defaultTextures: [] + nonModifiableTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/DilateShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/DilateShader.shader new file mode 100644 index 0000000..c15d0e3 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/DilateShader.shader @@ -0,0 +1,61 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/DilateShader" { + Properties + { + _MainTex ("_MainTex", 2D) = "white" {} + } + + SubShader { + Pass { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + + #pragma vertex vert + #pragma fragment frag + #include "UnityCG.cginc" + + uniform sampler2D _MainTex; + uniform float _TexResX; + uniform float _TexResY; + + struct v2f { + float4 pos : SV_POSITION; + float2 uv : TEXCOORD0; + }; + + float4 _MainTex_ST; + + v2f vert (appdata_base v) + { + v2f o; + o.pos = UnityObjectToClipPos (v.vertex); + o.uv = TRANSFORM_TEX (v.texcoord, _MainTex); + return o; + } + + fixed4 frag (v2f i) : SV_Target + { + fixed4 texColor = tex2D(_MainTex, i.uv); + float maxValue = 0.0; + + for(int y = -1; y < 2; y++) + { + for(int x = -1; x < 2; x++) + { + float val = tex2D(_MainTex, float2(i.uv.x + (float)x/_TexResX, i.uv.y + (float)y/_TexResY)).w; + if(val > 0.0) + maxValue = 1.0; + } + } + + //return fixed4(texColor.r, texColor.g, texColor.b, maxValue); + return fixed4(1.0, 1.0, 1.0, maxValue); + } + ENDCG + + } + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/DilateShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/DilateShader.shader.meta new file mode 100644 index 0000000..d039b95 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/DilateShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: f2f9becbb63b4e64c8ab9824b00d67a4 +timeCreated: 1429710051 +licenseType: Store +ShaderImporter: + defaultTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/ErodeShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/ErodeShader.shader new file mode 100644 index 0000000..6a28477 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/ErodeShader.shader @@ -0,0 +1,61 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/ErodeShader" { + Properties + { + _MainTex ("_MainTex", 2D) = "white" {} + } + + SubShader { + Pass { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + + #pragma vertex vert + #pragma fragment frag + #include "UnityCG.cginc" + + uniform sampler2D _MainTex; + uniform float _TexResX; + uniform float _TexResY; + + struct v2f { + float4 pos : SV_POSITION; + float2 uv : TEXCOORD0; + }; + + float4 _MainTex_ST; + + v2f vert (appdata_base v) + { + v2f o; + o.pos = UnityObjectToClipPos (v.vertex); + o.uv = TRANSFORM_TEX (v.texcoord, _MainTex); + return o; + } + + fixed4 frag (v2f i) : SV_Target + { + fixed4 texColor = tex2D(_MainTex, i.uv); + float minValue = 1.0; + + for(int y = -1; y < 2; y++) + { + for(int x = -1; x < 2; x++) + { + float val = tex2D(_MainTex, float2(i.uv.x + (float)x/_TexResX, i.uv.y + (float)y/_TexResY)).w; + if(val == 0.0) + minValue = 0.0; + } + } + + //return fixed4(texColor.r, texColor.b, texColor.b, minValue); + return fixed4(1.0, 1.0, 1.0, minValue); + } + ENDCG + + } + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/ErodeShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/ErodeShader.shader.meta new file mode 100644 index 0000000..e84d4b6 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/ErodeShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 8f56c7aaead7ed348811c5a17b3b428e +timeCreated: 1429710051 +licenseType: Store +ShaderImporter: + defaultTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltBodyShader.compute b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltBodyShader.compute new file mode 100644 index 0000000..35196e3 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltBodyShader.compute @@ -0,0 +1,56 @@ +#pragma kernel FgFiltBody + +//float4x4 _Transform; +uint _NumBodies; + +//float4 BodyPos[10]; +//float4 BodyDistXY[10]; +//float4 BodyDistZ[10]; +float4 _BodyPosMin[10]; +float4 _BodyPosMaxX[10]; +float4 _BodyPosMaxY[10]; +float4 _BodyPosMaxZ[10]; +float4 _BodyPosDot[10]; + +RWTexture2D _VertexTex; + + +[numthreads(8, 8, 1)] +void FgFiltBody(uint3 id : SV_DispatchThreadID) +{ + float4 vertex = _VertexTex[id.xy]; + float3 vpos = (float3)vertex; // mul(_Transform, vertex).xyz; + bool mask = (vertex.a != 0) && (_NumBodies != 0); // && (vpos.y >= 0); + + for (uint i = 0; mask && i < _NumBodies; i++) + { + //if (distance(vpos, BodyPos[i].xyz) <= 0.2) + // mask = 0; + + //float4 distXY = BodyDistXY[i]; + //float4 distZ = BodyDistZ[i]; + //bool isInside = vpos.x >= distXY.x && vpos.x <= distXY.y && vpos.y >= distXY.z && vpos.y <= distXY.w && vpos.z >= distZ.x && vpos.z <= distZ.y; + //mask = mask && isInside; + + float3 pmin = (float3)_BodyPosMin[i]; + float3 pv = vpos - pmin; + + float3 px = (float3)_BodyPosMaxX[i]; + float3 py = (float3)_BodyPosMaxY[i]; + float3 pz = (float3)_BodyPosMaxZ[i]; + float3 pdot = (float3)_BodyPosDot[i]; + + float dx = dot(pv, px); + bool bx = dx >= 0.0 && dx <= pdot.x; + + float dy = dot(pv, py); + bool by = dy >= 0.0 && dy <= pdot.y; + + float dz = dot(pv, pz); + bool bz = dz >= 0.0 && dz <= pdot.z; + + mask = mask && bx && by && bz; + } + + _VertexTex[id.xy] = float4(mask, mask, mask, mask); +} diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltBodyShader.compute.meta b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltBodyShader.compute.meta new file mode 100644 index 0000000..cb22930 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltBodyShader.compute.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 18e65293f9bd4744e8ae7b2fb0b4c6d1 +ComputeShaderImporter: + externalObjects: {} + currentAPIMask: 2097152 + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltDistShader.compute b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltDistShader.compute new file mode 100644 index 0000000..45579fa --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltDistShader.compute @@ -0,0 +1,49 @@ +#pragma kernel FgFiltDist + +//float4x4 Transform; + +//float Xmin; +//float Xmax; +//float Ymin; +//float Ymax; +//float Zmin; +//float Zmax; +float4 _PosMin; +float4 _PosMaxX; +float4 _PosMaxY; +float4 _PosMaxZ; +float4 _PosDot; + +RWTexture2D VertexTex; + + +[numthreads(8, 8, 1)] +void FgFiltDist(uint3 id : SV_DispatchThreadID) +{ + float4 vertex = VertexTex[id.xy]; + float3 vpos = (float3)vertex; // mul(Transform, vertex).xyz; + bool mask = (vertex.a != 0); // && (vpos.y >= 0); + + //bool isInside = vpos.x >= Xmin && vpos.x <= Xmax && vpos.y >= Ymin && vpos.y <= Ymax && vpos.z >= Zmin && vpos.z <= Zmax; + //mask = mask && isInside; + + float3 pmin = (float3)_PosMin; + float3 pv = vpos - pmin; + + float3 px = (float3)_PosMaxX; + float3 py = (float3)_PosMaxY; + float3 pz = (float3)_PosMaxZ; + float3 pdot = (float3)_PosDot; + + float dx = dot(pv, px); + bool bx = dx >= 0.0 && dx <= pdot.x; + + float dy = dot(pv, py); + bool by = dy >= 0.0 && dy <= pdot.y; + + float dz = dot(pv, pz); + bool bz = dz >= 0.0 && dz <= pdot.z; + + mask = mask && bx && by && bz; + VertexTex[id.xy] = float4(mask, mask, mask, mask); +} diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltDistShader.compute.meta b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltDistShader.compute.meta new file mode 100644 index 0000000..e9e54a4 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundFiltDistShader.compute.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: bdc5d9483855cdc44ae1c916dcac44d2 +ComputeShaderImporter: + externalObjects: {} + currentAPIMask: 2097152 + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundShader.shader new file mode 100644 index 0000000..523a726 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundShader.shader @@ -0,0 +1,68 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/ForegroundShader" +{ + Properties + { + _MainTex ("_MainTex", 2D) = "white" {} + _ColorTex ("_ColorTex", 2D) = "white" {} + _GradientTex("GradientTex (RGB)", 2D) = "white" {} + _GradientColor("GradientColor", Color) = (1, 1, 1, 1) + } + + SubShader + { + Pass + { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + + #pragma vertex vert + #pragma fragment frag + #include "UnityCG.cginc" + + uniform sampler2D _MainTex; + uniform sampler2D _ColorTex; + uniform sampler2D _GradientTex; + uniform half4 _GradientColor; + + float4 _MainTex_ST; + float4 _ColorTex_ST; + float4 _GradientTex_ST; + + + struct v2f + { + float4 pos : SV_POSITION; + float2 uv : TEXCOORD0; + }; + + v2f vert (appdata_base v) + { + v2f o; + o.pos = UnityObjectToClipPos (v.vertex); + o.uv = TRANSFORM_TEX (v.texcoord, _MainTex); + return o; + } + + half4 frag (v2f i) : COLOR + { + half4 texMain = tex2D(_MainTex, i.uv); + half4 texColor = tex2D(_ColorTex, i.uv); + + half gradA = tex2D(_GradientTex, i.uv).a; + bool gradMask = gradA > 0.5 && _GradientColor.a > 0.0; + half4 fgColor = texColor * (1.0 - gradMask) + _GradientColor * gradMask; + + half4 texForeground = half4(fgColor.rgb, texMain.a); + + return texForeground; + } + ENDCG + + } + } + +} diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundShader.shader.meta new file mode 100644 index 0000000..59f9f1d --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/ForegroundShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: eaceef7b0a7e69947be1991717442c1c +timeCreated: 1498321181 +licenseType: Store +ShaderImporter: + defaultTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/GradientShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/GradientShader.shader new file mode 100644 index 0000000..8f815d6 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/GradientShader.shader @@ -0,0 +1,59 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/GradientShader" +{ + Properties + { + _MainTex ("_MainTex", 2D) = "white" {} + _ErodeTex ("_ErodeTex", 2D) = "white" {} + } + + SubShader + { + + Pass + { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + + #pragma vertex vert + #pragma fragment frag + #include "UnityCG.cginc" + + uniform sampler2D _MainTex; + uniform sampler2D _ErodeTex; + + float4 _MainTex_ST; + + + struct v2f + { + float4 pos : SV_POSITION; + float2 uv : TEXCOORD0; + }; + + v2f vert (appdata_base v) + { + v2f o; + o.pos = UnityObjectToClipPos (v.vertex); + o.uv = TRANSFORM_TEX (v.texcoord, _MainTex); + return o; + } + + fixed4 frag (v2f i) : COLOR + { + fixed4 texMain = tex2D(_MainTex, i.uv); + fixed4 texErode = tex2D(_ErodeTex, i.uv); + + fixed4 texGradient = fixed4(texMain.rgb, max(texMain.a - texErode.a, 0.0)); + //if(texGradient.a < 0.2) texGradient.a = 0.0; + + return texGradient; + } + ENDCG + + } + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/GradientShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/GradientShader.shader.meta new file mode 100644 index 0000000..270cbbf --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/GradientShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: bf10c391a662b0547932914f6fff494f +timeCreated: 1498321181 +licenseType: Store +ShaderImporter: + defaultTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/InfraredImageShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/InfraredImageShader.shader new file mode 100644 index 0000000..97955a5 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/InfraredImageShader.shader @@ -0,0 +1,59 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/InfraredImageShader" { + SubShader { + Pass { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + #pragma target 5.0 + //#pragma enable_d3d11_debug_symbols + + #pragma vertex vert + #pragma fragment frag + + #include "UnityCG.cginc" + + //uniform sampler2D _MainTex; + uniform uint _TexResX; + uniform uint _TexResY; + uniform float _MinValue; + uniform float _MaxValue; + + StructuredBuffer _InfraredMap; + + struct v2f { + float4 pos : SV_POSITION; + float2 uv : TEXCOORD0; + }; + + v2f vert (appdata_base v) + { + v2f o; + + o.pos = UnityObjectToClipPos (v.vertex); + o.uv = v.texcoord; + + return o; + } + + half4 frag (v2f i) : COLOR + { + uint dx = (uint)(i.uv.x * _TexResX); + uint dy = (uint)(i.uv.y * _TexResY); + uint di = (dx + dy * _TexResX); + + uint ir2 = _InfraredMap[di >> 1]; + uint ir = di & 1 != 0 ? ir2 >> 16 : ir2 & 0xffff; + half clr = saturate(((float)ir - _MinValue) / (_MaxValue - _MinValue)); + + return half4(clr, clr, clr, clr != 0); + } + + ENDCG + } + } + + Fallback Off +} \ No newline at end of file diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/InfraredImageShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/InfraredImageShader.shader.meta new file mode 100644 index 0000000..89810e3 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/InfraredImageShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 0696e5b76765a1a49af854258a2d4ff5 +ShaderImporter: + externalObjects: {} + defaultTextures: [] + nonModifiableTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/InvertShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/InvertShader.shader new file mode 100644 index 0000000..e3733ea --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/InvertShader.shader @@ -0,0 +1,48 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/InvertShader" { + Properties + { + _MainTex ("_MainTex", 2D) = "white" {} + } + + SubShader { + Pass { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + + #pragma vertex vert + #pragma fragment frag + #include "UnityCG.cginc" + + uniform sampler2D _MainTex; + uniform float _TexResX; + uniform float _TexResY; + + struct v2f { + float4 pos : SV_POSITION; + float2 uv : TEXCOORD0; + }; + + float4 _MainTex_ST; + + v2f vert (appdata_base v) + { + v2f o; + o.pos = UnityObjectToClipPos (v.vertex); + o.uv = TRANSFORM_TEX (v.texcoord, _MainTex); + return o; + } + + fixed4 frag (v2f i) : SV_Target + { + fixed4 texColor = tex2D(_MainTex, i.uv); + return fixed4(texColor.rgb, 1.0 - texColor.a); + } + ENDCG + + } + } +} diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/InvertShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/InvertShader.shader.meta new file mode 100644 index 0000000..284eaf1 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/InvertShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 26e9d1e02bce91143b5158d5de60da95 +timeCreated: 1429710051 +licenseType: Store +ShaderImporter: + defaultTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/MedianShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/MedianShader.shader new file mode 100644 index 0000000..0183fc3 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/MedianShader.shader @@ -0,0 +1,139 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +/* +5x5 Median + +GLSL 1.0 +Morgan McGuire and Kyle Whitson, 2006 +Williams College +http://graphics.cs.williams.edu + +Copyright (c) Morgan McGuire and Williams College, 2006 +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are +met: + +Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. + +Redistributions in binary form must reproduce the above copyright +notice, this list of conditions and the following disclaimer in the +documentation and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +Shader "Kinect/MedianShader" +{ + Properties + { + _MainTex ("Base (RGB)", 2D) = "white" {} + _Amount ("_Amount", Float) = 1.0 + } + + SubShader + { + //Tags { "Queue"="Transparent" "RenderType" = "Opaque" } + + //Cull Off + //Blend SrcAlpha OneMinusSrcAlpha + + Pass + { + ZTest Off Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + #pragma target 3.0 + #pragma vertex vert + #pragma fragment frag + #pragma fragmentoption ARB_precision_hint_fastest + //#pragma Lambert alpha + + #include "UnityCG.cginc" + + #define s2(a, b) temp = a; a = min(a, b); b = max(temp, b); + #define t2(a, b) s2(v[a], v[b]); + #define t24(a, b, c, d, e, f, g, h) t2(a, b); t2(c, d); t2(e, f); t2(g, h); + #define t25(a, b, c, d, e, f, g, h, i, j) t24(a, b, c, d, e, f, g, h); t2(i, j); + + uniform sampler2D _MainTex; + uniform float4 _MainTex_ST; + uniform float _Amount; + + struct v2f + { + float4 pos : POSITION; + float2 uv : TEXCOORD0; + }; + + + v2f vert (appdata_img v) + { + v2f o; + o.pos = UnityObjectToClipPos(v.vertex); + o.uv = TRANSFORM_TEX(v.texcoord.xy, _MainTex); //MultiplyUV (UNITY_MATRIX_TEXTURE0, uv); + return o; + } + + + float4 frag (v2f i) : COLOR + { + float2 Tinvsize = float2 (_Amount / _ScreenParams.x, _Amount / _ScreenParams.y); + float4 v[25]; + + // Add the pixels which make up our window to the pixel array. + for(int dX = -2; dX <= 2; ++dX) + { + for(int dY = -2; dY <= 2; ++dY) + { + float2 offset = float2(float(dX), float(dY)); + + // If a pixel in the window is located at (x+dX, y+dY), put it at index (dX + R)(2R + 1) + (dY + R) of the pixel array. + // This will fill the pixel array, with the top left pixel of the window at pixel[0] and the bottom right pixel of the window at pixel[N-1]. + v[(dX + 2) + (dY + 2) * 5] = tex2D(_MainTex, i.uv + offset * Tinvsize); + } + } + + float4 temp; + + t25(0, 1, 3, 4, 2, 4, 2, 3, 6, 7); + t25(5, 7, 5, 6, 9, 7, 1, 7, 1, 4); + t25(12, 13, 11, 13, 11, 12, 15, 16, 14, 16); + t25(14, 15, 18, 19, 17, 19, 17, 18, 21, 22); + t25(20, 22, 20, 21, 23, 24, 2, 5, 3, 6); + t25(0, 6, 0, 3, 4, 7, 1, 7, 1, 4); + t25(11, 14, 8, 14, 8, 11, 12, 15, 9, 15); + t25(9, 12, 13, 16, 10, 16, 10, 13, 20, 23); + t25(17, 23, 17, 20, 21, 24, 18, 24, 18, 21); + t25(19, 22, 8, 17, 9, 18, 0, 18, 0, 9); + t25(10, 19, 1, 19, 1, 10, 11, 20, 2, 20); + t25(2, 11, 12, 21, 3, 21, 3, 12, 13, 22); + t25(4, 22, 4, 13, 14, 23, 5, 23, 5, 14); + t25(15, 24, 6, 24, 6, 15, 7, 16, 7, 19); + t25(3, 11, 5, 17, 11, 17, 9, 17, 4, 10); + t25(6, 12, 7, 14, 4, 6, 4, 7, 12, 14); + t25(10, 14, 6, 7, 10, 12, 6, 10, 6, 17); + t25(12, 17, 7, 17, 7, 10, 12, 18, 7, 12); + t24(10, 18, 12, 20, 10, 20, 10, 12); + + return v[12]; + } + ENDCG + } + } + + FallBack "Diffuse" +} \ No newline at end of file diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/MedianShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/MedianShader.shader.meta new file mode 100644 index 0000000..65f35f1 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/MedianShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: ffb111704c8d0ae49b97d60e5419fe35 +timeCreated: 1495833444 +licenseType: Store +ShaderImporter: + defaultTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudColorShaderK2.compute b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudColorShaderK2.compute new file mode 100644 index 0000000..b1b9b07 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudColorShaderK2.compute @@ -0,0 +1,22 @@ +#pragma kernel BakeColorTex + +uint2 DepthRes; + +StructuredBuffer DepthToColorMap; +Texture2D ColorTex; + +RWTexture2D PointCloudColorTex; + + +[numthreads(8, 8, 1)] +void BakeColorTex(uint3 id : SV_DispatchThreadID) +{ + uint i = id.x + id.y * DepthRes.x; + + int cx = DepthToColorMap[i << 1]; + int cy = DepthToColorMap[(i << 1) + 1]; + float4 color = ColorTex.Load(int3(cx, cy, 0)); + + PointCloudColorTex[id.xy] = color; +} + diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudColorShaderK2.compute.meta b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudColorShaderK2.compute.meta new file mode 100644 index 0000000..23e0548 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudColorShaderK2.compute.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 8a009ea1276e72142aef5e18896a7819 +ComputeShaderImporter: + externalObjects: {} + currentAPIMask: 2097152 + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderAll.compute b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderAll.compute new file mode 100644 index 0000000..e5d3611 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderAll.compute @@ -0,0 +1,34 @@ +#pragma kernel BakeVertexTex + +uint2 PointCloudRes; +float2 SpaceScale; + +uint MinDepth; +uint MaxDepth; + +StructuredBuffer SpaceTable; +StructuredBuffer DepthMap; + +RWTexture2D PointCloudVertexTex; + + +[numthreads(8, 8, 1)] +void BakeVertexTex(uint3 id : SV_DispatchThreadID) +{ + uint i = id.x + id.y * PointCloudRes.x; + + uint depth2 = DepthMap[i >> 1]; + uint depth = (i % 2 == 0 ? depth2 <<= 16 : depth2) >> 16; + depth = (depth >= MinDepth && depth <= MaxDepth) * depth; + + float fDepth = (float)depth / 1000.0; + bool mask = depth != 0; + + float3 pos = float3( + SpaceTable[i * 3] * fDepth * SpaceScale.x, + SpaceTable[i * 3 + 1] * fDepth * SpaceScale.y, + mask ? fDepth : 1000 + ); + + PointCloudVertexTex[id.xy] = float4(pos, mask); +} diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderAll.compute.meta b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderAll.compute.meta new file mode 100644 index 0000000..c26963d --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderAll.compute.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 5e9f29dc01a48bcb59ee66eaddc9d7d2 +ComputeShaderImporter: + externalObjects: {} + currentAPIMask: 2097152 + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderCRK2.compute b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderCRK2.compute new file mode 100644 index 0000000..990f65b --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderCRK2.compute @@ -0,0 +1,40 @@ +#pragma kernel BakeVertexTexColorResK2 + +uint2 PointCloudRes; +uint2 DepthRes; +float2 SpaceScale; + +uint MinDepth; +uint MaxDepth; + +StructuredBuffer SpaceTable; +StructuredBuffer DepthMap; +StructuredBuffer ColorToDepthMap; + +RWTexture2D PointCloudVertexTex; + + +[numthreads(8, 8, 1)] +void BakeVertexTexColorResK2(uint3 id : SV_DispatchThreadID) +{ + uint i = id.x + id.y * PointCloudRes.x; + + int dx = ColorToDepthMap[i << 1]; + int dy = ColorToDepthMap[(i << 1) + 1]; + uint di = dx + dy * DepthRes.x; + + uint depth2 = DepthMap[di >> 1]; + uint depth = (di % 2 == 0 ? depth2 <<= 16 : depth2) >> 16; + depth = (depth >= MinDepth && depth <= MaxDepth) * depth; + + float fDepth = (float)depth / 1000.0; + bool mask = depth != 0; + + float3 pos = float3( + SpaceTable[di * 3] * fDepth * SpaceScale.x, + SpaceTable[di * 3 + 1] * fDepth * SpaceScale.y, + mask ? fDepth : 1000 + ); + + PointCloudVertexTex[id.xy] = float4(pos, mask); +} diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderCRK2.compute.meta b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderCRK2.compute.meta new file mode 100644 index 0000000..0d7ffe3 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/PointCloudVertexShaderCRK2.compute.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 588451d4696f4774ebdf90d17c60319b +ComputeShaderImporter: + externalObjects: {} + currentAPIMask: 2097152 + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/SceneMeshShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/SceneMeshShader.shader new file mode 100644 index 0000000..e4010de --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/SceneMeshShader.shader @@ -0,0 +1,195 @@ +Shader "Kinect/SceneMeshShader" +{ + Properties + { + _Color ("Color", Color) = (1,1,1,1) + _ColorTex ("Albedo (RGB)", 2D) = "white" {} + } + SubShader + { + Tags { "Queue" = "Transparent" "RenderType" = "Opaque" "IgnoreProjector" = "True" } + //LOD 200 + + Cull Off + Blend Off + + CGPROGRAM + + //#include "UnityCG.cginc" + #pragma target 5.0 + + #pragma surface surf Lambert vertex:vert addshadow + #pragma exclude_renderers d3d11_9x + + sampler2D _ColorTex; + float4 _ColorTex_TexelSize; + //float4 _ColorTex_ST; + +#ifdef SHADER_API_D3D11 + StructuredBuffer _DepthMap; + StructuredBuffer _SpaceTable; +#endif + + int _CoarseFactor; + float2 _SpaceScale; + + float2 _TexRes; + float2 _Cxy; + float2 _Fxy; + + float4x4 _Transform; + float3 _PosMin; + float3 _PosMax; + + + struct Input + { + float2 uv_ColorTex : TEXCOORD0; + float4 vertexPos : TEXCOORD2; + }; + + //half _Glossiness; + //half _Metallic; + fixed4 _Color; + + // Add instancing support for this shader. You need to check 'Enable Instancing' on materials that use the shader. + // See https://docs.unity3d.com/Manual/GPUInstancing.html for more information about instancing. + // #pragma instancing_options assumeuniformscaling + UNITY_INSTANCING_BUFFER_START(Props) + // put more per-instance properties here + UNITY_INSTANCING_BUFFER_END(Props) + + + uint getDepthAt(float2 ui) + { + uint dx = (uint)(ui.x * _TexRes.x); + uint dy = (uint)(ui.y * _TexRes.y); + uint di = (dx + dy * _TexRes.x); + + uint depth2 = 0; +#ifdef SHADER_API_D3D11 + depth2 = _DepthMap[di >> 1]; +#endif + uint depth = di & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff; + + return depth; + } + + + float4 getSpacePos(float2 ui, float fDepth, float fAplha) + { + uint dx = (uint)(ui.x * _TexRes.x); + uint dy = (uint)(ui.y * _TexRes.y); + uint di = (dx + dy * _TexRes.x) * 3; + +#ifdef SHADER_API_D3D11 + float4 spacePos = float4(_SpaceTable[di] * fDepth * _SpaceScale.x, _SpaceTable[di + 1] * fDepth * _SpaceScale.y, fDepth, fAplha); +#else + float4 spacePos = float4(0, 0, 0, fAplha); +#endif + + return spacePos; + } + + + void vert(inout appdata_full v, out Input o) + { + UNITY_INITIALIZE_OUTPUT(Input, o); + + float2 posDepth = (float2)v.vertex; + uint depth = getDepthAt(posDepth); + + float dTexX = _ColorTex_TexelSize.x * _CoarseFactor; + float dTexY = _ColorTex_TexelSize.y * _CoarseFactor; + + const float2 ofsToCheck[8] = { + float2(-dTexX, -dTexY), float2(0, -dTexY), float2(dTexX, -dTexY), + float2(-dTexX, 0), float2(dTexX, 0), + float2(-dTexX, dTexY), float2(0, dTexY), float2(dTexX, dTexY) + }; + + if (depth == 0) + { + uint maxDepth = 0; + uint numValid = 0; + + for (int i = 0; i < 8; i++) + { + uint depth2 = getDepthAt(posDepth + ofsToCheck[i]); + maxDepth = max(maxDepth, depth2); + numValid += (depth2 != 0); + } + + depth = numValid > 0 ? maxDepth : 0; + } + + float fDepth = (float)depth * 0.001; + //float2 oPos = posDepth * _TexRes - _Cxy; // float2(posDepth.x * _TexRes.x - _Cxy.x, posDepth.y * _TexRes.y - _Cxy.y); + + //float2 pPos = float2(oPos.x * fDepth * _SpaceScale.x / _Fxy.x, oPos.y * fDepth * _SpaceScale.y / _Fxy.y); + //float4 vPos = float4(pPos.x, pPos.y, fDepth, v.vertex.w); + float4 vPos = getSpacePos(posDepth, fDepth, v.vertex.w); + + float4 wPos = mul(_Transform, vPos); + bool mask = wPos.x >= _PosMin.x && wPos.x <= _PosMax.x && wPos.y >= _PosMin.y && wPos.y <= _PosMax.y && wPos.z >= _PosMin.z && wPos.z <= _PosMax.z; + + if (mask) + { + for (int i = 0; i < 8; i++) + { + float2 posDepth2 = posDepth + ofsToCheck[i]; + uint depth2 = getDepthAt(posDepth2); + + float fDepth2 = (float)depth2 * 0.001; + //float2 oPos2 = posDepth2 * _TexRes - _Cxy; + + //float2 pPos2 = float2(oPos2.x * fDepth2 * _SpaceScale.x / _Fxy.x, oPos2.y * fDepth2 * _SpaceScale.y / _Fxy.y); + //float4 vPos2 = float4(pPos2.x, pPos2.y, fDepth2, v.vertex.w); + float4 vPos2 = getSpacePos(posDepth2, fDepth2, v.vertex.w); + + float4 wPos2 = mul(_Transform, vPos2); + bool mask2 = abs(wPos2.z - wPos.z) < 0.1 && + wPos2.x >= _PosMin.x && wPos2.x <= _PosMax.x && wPos2.y >= _PosMin.y && wPos2.y <= _PosMax.y && wPos2.z >= _PosMin.z && wPos2.z <= _PosMax.z; + mask = mask && mask2; + } + } + + float4 vertexPos = vPos; + + v.vertex = vertexPos; + v.texcoord.xy = posDepth; + + o.vertexPos = float4(vertexPos.xyz, mask); // vertexPos * mask; // + } + + + void surf(Input IN, inout SurfaceOutput o) + { + float4 col = tex2D(_ColorTex, IN.uv_ColorTex); + //float4 col = float3(1, 0, 0); + + if (IN.vertexPos.w == 0) + { + discard; + } + + //o.Emission = col * _Color; + o.Albedo = col * _Color; + o.Alpha = col.a; + + //float3 nPos = IN.vertexPos.xyz; + //nPos.xy = nPos.xy / nPos.z; + + //float3 dx = ddx(nPos); + //float3 dy = ddy(nPos); + + //float3 n = normalize(cross(dx, dy)); + //o.Normal = n; + } + + ENDCG + } + + FallBack "Diffuse" +} + diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/SceneMeshShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/SceneMeshShader.shader.meta new file mode 100644 index 0000000..5dd96d9 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/SceneMeshShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 3845f5d465d45ce4faa43a0804287e66 +ShaderImporter: + externalObjects: {} + defaultTextures: [] + nonModifiableTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/UserBlendShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/UserBlendShader.shader new file mode 100644 index 0000000..ff0ffbf --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/UserBlendShader.shader @@ -0,0 +1,169 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/UserBlendShader" +{ + Properties + { + _MainTex ("MainTex", 2D) = "white" {} + _BackTex ("BackTex", 2D) = "white" {} + _ColorTex ("ColorTex", 2D) = "white" {} + _Threshold ("Depth Threshold", Range(0, 0.5)) = 0.1 + _BlurOffset("Blur Offset", Range(0, 10)) = 2 + } + + SubShader + { + Tags { "Queue"="Transparent" "RenderType"="Transparent" } + + Pass + { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + #pragma target 5.0 + //#pragma enable_d3d11_debug_symbols + + #pragma vertex vert + #pragma fragment frag + #include "UnityCG.cginc" + + sampler2D _MainTex; + //float4 _MainTex_ST; + uniform float4 _MainTex_TexelSize; + sampler2D _CameraDepthTexture; + + uniform sampler2D _BackTex; + uniform sampler2D _ColorTex; + uniform float _Threshold; + uniform int _BlurOffset; + + uniform float _ColorResX; + uniform float _ColorResY; + uniform float _ColorScaleX; + + uniform float _ColorOfsX; + uniform float _ColorMulX; + uniform float _ColorOfsY; + uniform float _ColorMulY; + + StructuredBuffer _DepthMap; + + + struct v2f + { + float4 pos : SV_POSITION; + float2 uv : TEXCOORD0; + float2 uv2 : TEXCOORD1; + float4 scrPos : TEXCOORD2; + }; + + v2f vert (appdata_base v) + { + v2f o; + + o.pos = UnityObjectToClipPos (v.vertex); + o.uv = v.texcoord; + + o.uv2.x = o.uv.x; + o.uv2.y = 1 - o.uv.y; + + o.scrPos = ComputeScreenPos(o.pos); + + return o; + } + + half getKinectAlpha(int2 cxy, float camDepth) + { + int rcCount = 2 * _BlurOffset + 1; + int maxCount = rcCount * rcCount; + + int ci0 = (int)((cxy.x - _BlurOffset) + (cxy.y - _BlurOffset) * _ColorResX); + int pixCount = 0; + + for (int iY = -_BlurOffset; iY <= _BlurOffset; iY++) + { + uint ci = ci0; + + for (int iX = -_BlurOffset; iX <= _BlurOffset; iX++, ci++) + { + uint depth2 = _DepthMap[ci >> 1]; + //uint depth = (ci % 2 == 0 ? depth2 <<= 16 : depth2) >> 16; + uint depth = ci & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff; + + if (depth != 0) + { + float kinDepth = depth / 1000.0; + if ((camDepth < 0.1 || camDepth >= 10.0) || (kinDepth >= 0.1 && camDepth > (kinDepth + _Threshold))) + { + pixCount++; + } + } + else + { + if (camDepth < 0.1 || camDepth >= 10.0) + { + pixCount++; + } + } + } + + ci0 += _ColorResX; + } + + half alpha = (half)pixCount / (half)maxCount; + + return alpha; + } + + half4 frag (v2f i) : COLOR + { + float camDepth = LinearEyeDepth (tex2Dproj(_CameraDepthTexture, UNITY_PROJ_COORD(i.scrPos)).r); + //float camDepth01 = Linear01Depth (tex2Dproj(_CameraDepthTexture, UNITY_PROJ_COORD(i.scrPos)).r); + + float2 ctUv = float2(_ColorOfsX + i.uv.x * _ColorMulX, 1.0 - i.uv.y /**_ColorOfsY + i.uv.y * _ColorMulY*/); +#if UNITY_UV_STARTS_AT_TOP + if (_MainTex_TexelSize.y < 0.0) + { + ctUv.y = 1.0 - ctUv.y; + } +#endif + // for non-flipped textures + float2 ctUv2 = float2(ctUv.x, 1.0 - ctUv.y); + + if (_ColorScaleX < 0.0) + { + ctUv.x = 1.0 - ctUv.x; + } + + uint cx = (int)(ctUv.x * _ColorResX); + uint cy = (int)(ctUv.y * _ColorResY); + + half4 clrBack = tex2D(_BackTex, ctUv2); + half4 clrFront = tex2D(_ColorTex, ctUv); + half3 clrBlend = clrBack.rgb * (1.0 - clrFront.a) + clrFront.rgb * clrFront.a; + + half4 clrMain = tex2D(_MainTex, i.uv); + half kinAlpha = getKinectAlpha(int2(cx, cy), camDepth); + //clrBlend = lerp(clrMain.rgb, clrBlend.rgb, kinAlpha); + clrBlend = clrMain.rgb * (1.0 - kinAlpha) + clrBlend * kinAlpha; + + //uint ci = cx + cy * _ColorResX; + //uint depth2 = _DepthMap[ci >> 1]; + //uint depth = ci & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff; + //float kinDepth = (float)depth / 4000.0; + + //return half4(kinDepth, kinDepth, kinDepth, 1.0); + //bool mask = depth <= 1000; + //clrBlend = half4(kinDepth, kinDepth, kinDepth, 1.0); + //clrBlend = clrMain.rgb * (1 - mask) + clrBlend * mask; + + return half4(clrBlend, 1.0); + } + + ENDCG + } + } + + FallBack "Diffuse" +} diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/UserBlendShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/UserBlendShader.shader.meta new file mode 100644 index 0000000..43766b2 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/UserBlendShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 492579dd15c959649a26f6e772db6aff +timeCreated: 1460648058 +licenseType: Store +ShaderImporter: + defaultTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/UserBodyImageShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/UserBodyImageShader.shader new file mode 100644 index 0000000..29b40c4 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/UserBodyImageShader.shader @@ -0,0 +1,89 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/UserBodyImageShader" { +// Properties { +// _MainTex ("Base (RGB)", 2D) = "black" {} +// } + + SubShader { + Pass { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + #pragma target 5.0 + //#pragma enable_d3d11_debug_symbols + + #pragma vertex vert + #pragma fragment frag + + #include "UnityCG.cginc" + + //uniform sampler2D _MainTex; + uniform uint _TexResX; + uniform uint _TexResY; + uniform uint _MinDepth; + uniform uint _MaxDepth; + + StructuredBuffer _BodyIndexMap; + //StructuredBuffer _DepthMap; + + //uniform float _TotalPoints; // dummy + //uniform uint _FirstUserIndex; // dummy + //StructuredBuffer _HistMap; // dummy + + struct v2f { + float4 pos : SV_POSITION; + float2 uv : TEXCOORD0; + }; + + v2f vert (appdata_base v) + { + v2f o; + + o.pos = UnityObjectToClipPos (v.vertex); + o.uv = v.texcoord; + + return o; + } + + float4 frag (v2f i) : COLOR + { + uint dx = (uint)(i.uv.x * _TexResX); + uint dy = (uint)(i.uv.y * _TexResY); + uint di = (dx + dy * _TexResX); + + //uint depth2 = _DepthMap[di >> 1]; + //uint depth = di & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff; + //depth = (depth >= _MinDepth && depth <= _MaxDepth) * depth; + + uint bi4 = _BodyIndexMap[di >> 2]; + uint bi = 255; + + switch (di & 3) + { + case 0: + bi = bi4 & 255; + break; + case 1: + bi = (bi4 >> 8) & 255; + break; + case 2: + bi = (bi4 >> 16) & 255; + break; + case 3: + bi = (bi4 >> 24) & 255; + break; + } + + float clrPlayer = /**depth != 0 &&*/ bi != 255 ? 1.0 : 0.0; + + return float4(clrPlayer, clrPlayer, clrPlayer, clrPlayer); + } + + ENDCG + } + } + + Fallback Off +} \ No newline at end of file diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/UserBodyImageShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/UserBodyImageShader.shader.meta new file mode 100644 index 0000000..cb5493e --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/UserBodyImageShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 1c4f00d5c925e73448c38d2bc8ecb520 +ShaderImporter: + externalObjects: {} + defaultTextures: [] + nonModifiableTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/UserHistImageShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/UserHistImageShader.shader new file mode 100644 index 0000000..dc23eb9 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/UserHistImageShader.shader @@ -0,0 +1,96 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +Shader "Kinect/UserHistImageShader" { + //Properties { + // _MainTex ("Base (RGB)", 2D) = "black" {} + //} + + SubShader { + Pass { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + #pragma target 5.0 + //#pragma enable_d3d11_debug_symbols + + #pragma vertex vert + #pragma fragment frag + + #include "UnityCG.cginc" + + //uniform sampler2D _MainTex; + uniform uint _TexResX; + uniform uint _TexResY; + uniform uint _MinDepth; + uniform uint _MaxDepth; + uniform float _TotalPoints; + + //uniform uint _FirstUserIndex; + uniform float4 _BodyIndexColors[100]; + + StructuredBuffer _BodyIndexMap; + StructuredBuffer _DepthMap; + StructuredBuffer _HistMap; + + struct v2f { + float4 pos : SV_POSITION; + float2 uv : TEXCOORD0; + }; + + v2f vert (appdata_base v) + { + v2f o; + + o.pos = UnityObjectToClipPos (v.vertex); + o.uv = v.texcoord; + + return o; + } + + float4 frag (v2f i) : COLOR + { + uint dx = (uint)(i.uv.x * _TexResX); + uint dy = (uint)(i.uv.y * _TexResY); + uint di = (dx + dy * _TexResX); + + uint bi4 = _BodyIndexMap[di >> 2]; + uint bi = 255; + + switch (di & 3) + { + case 0: + bi = bi4 & 255; + break; + case 1: + bi = (bi4 >> 8) & 255; + break; + case 2: + bi = (bi4 >> 16) & 255; + break; + case 3: + bi = (bi4 >> 24) & 255; + break; + } + + if (bi != 255) + { + uint depth2 = _DepthMap[di >> 1]; + uint depth = di & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff; + depth = (depth >= _MinDepth && depth <= _MaxDepth) * depth; + + float hist = 1.0 - ((float)_HistMap[depth] / (float)_TotalPoints); + + float4 clrBody = _BodyIndexColors[bi] * hist; + return float4(clrBody.rgb, depth != 0); + } + + return float4(0, 0, 0, 0); // invisible + } + + ENDCG + } + } + + Fallback Off +} \ No newline at end of file diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/UserHistImageShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/UserHistImageShader.shader.meta new file mode 100644 index 0000000..5bf3c21 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/UserHistImageShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 209180e0626f9f7418182aa36198cc53 +ShaderImporter: + externalObjects: {} + defaultTextures: [] + nonModifiableTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/UserMeshShader.shader b/UnityProject/Assets/AzureKinectExamples/Resources/UserMeshShader.shader new file mode 100644 index 0000000..b675d99 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/UserMeshShader.shader @@ -0,0 +1,215 @@ +Shader "Kinect/UserMeshShader" +{ + Properties + { + _Color ("Color", Color) = (1,1,1,1) + _ColorTex ("Albedo (RGB)", 2D) = "white" {} + } + SubShader + { + Tags { "Queue" = "Transparent" "RenderType" = "Opaque" "IgnoreProjector" = "True" } + //LOD 200 + + Cull Off + Blend Off + + CGPROGRAM + + //#include "UnityCG.cginc" + #pragma target 5.0 + + #pragma surface surf Lambert vertex:vert addshadow + #pragma exclude_renderers d3d11_9x + + sampler2D _ColorTex; + float4 _ColorTex_TexelSize; + //float4 _ColorTex_ST; + +#ifdef SHADER_API_D3D11 + StructuredBuffer _DepthMap; + StructuredBuffer _BodyIndexMap; + StructuredBuffer _SpaceTable; +#endif + + int _CoarseFactor; + float2 _SpaceScale; + + float2 _TexRes; + float2 _Cxy; + float2 _Fxy; + + uint _UserBodyIndex; + float3 _UserBodyPos; + float4x4 _Transform; + + + struct Input + { + float2 uv_ColorTex : TEXCOORD0; + float4 vertexPos : TEXCOORD2; + }; + + //half _Glossiness; + //half _Metallic; + fixed4 _Color; + + // Add instancing support for this shader. You need to check 'Enable Instancing' on materials that use the shader. + // See https://docs.unity3d.com/Manual/GPUInstancing.html for more information about instancing. + // #pragma instancing_options assumeuniformscaling + UNITY_INSTANCING_BUFFER_START(Props) + // put more per-instance properties here + UNITY_INSTANCING_BUFFER_END(Props) + + + uint getDepthAt(float2 ui, out uint bi) + { + uint dx = (uint)(ui.x * _TexRes.x); + uint dy = (uint)(ui.y * _TexRes.y); + uint di = (dx + dy * _TexRes.x); + + uint depth2 = 0; + uint bi4 = 0; + bi = 255; +#ifdef SHADER_API_D3D11 + depth2 = _DepthMap[di >> 1]; + bi4 = _BodyIndexMap[di >> 2]; +#endif + uint depth = di & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff; + + switch (di & 3) + { + case 0: + bi = bi4 & 255; + break; + case 1: + bi = (bi4 >> 8) & 255; + break; + case 2: + bi = (bi4 >> 16) & 255; + break; + case 3: + bi = (bi4 >> 24) & 255; + break; + } + + return depth; + } + + + float4 getSpacePos(float2 ui, float fDepth, float fAplha) + { + uint dx = (uint)(ui.x * _TexRes.x); + uint dy = (uint)(ui.y * _TexRes.y); + uint di = (dx + dy * _TexRes.x) * 3; + +#ifdef SHADER_API_D3D11 + float4 spacePos = float4(_SpaceTable[di] * fDepth * _SpaceScale.x, _SpaceTable[di + 1] * fDepth * _SpaceScale.y, fDepth, fAplha); +#else + float4 spacePos = float4(0, 0, 0, fAplha); +#endif + + return spacePos; + } + + + void vert(inout appdata_full v, out Input o) + { + UNITY_INITIALIZE_OUTPUT(Input, o); + + float2 posDepth = (float2)v.vertex; + uint bi = 255; + uint depth = getDepthAt(posDepth, bi); + + float dTexX = _ColorTex_TexelSize.x * _CoarseFactor; + float dTexY = _ColorTex_TexelSize.y * _CoarseFactor; + + const float2 ofsToCheck[8] = { + float2(-dTexX, -dTexY), float2(0, -dTexY), float2(dTexX, -dTexY), + float2(-dTexX, 0), float2(dTexX, 0), + float2(-dTexX, dTexY), float2(0, dTexY), float2(dTexX, dTexY) + }; + + if (depth == 0) + { + uint maxDepth = 0; + uint minBI = 255; + uint numValid = 0; + + for (int i = 0; i < 8; i++) + { + uint bi2 = 255; + uint depth2 = getDepthAt(posDepth + ofsToCheck[i], bi2); + + maxDepth = max(maxDepth, depth2); + minBI = min(minBI, bi2); + numValid += (depth2 != 0); + } + + if (numValid > 0) + { + depth = maxDepth; + bi = minBI; + } + } + + float fDepth = (float)depth * 0.001; + //float2 oPos = posDepth * _TexRes - _Cxy; // float2(posDepth.x * _TexRes.x - _Cxy.x, posDepth.y * _TexRes.y - _Cxy.y); + + //float2 pPos = float2(oPos.x * fDepth * _SpaceScale.x / _Fxy.x, oPos.y * fDepth * _SpaceScale.y / _Fxy.y); + //float4 vPos = float4(pPos.x, pPos.y, fDepth, v.vertex.w); + float4 vPos = getSpacePos(posDepth, fDepth, v.vertex.w); + + //float4 wPos = mul(_Transform, vPos); + bool mask = (bi == _UserBodyIndex && _UserBodyIndex != 255); + + if (mask) + { + for (int i = 0; i < 8; i++) + { + float2 posDepth2 = posDepth + ofsToCheck[i]; + uint bi2 = 255; + uint depth2 = getDepthAt(posDepth2, bi2); + + //float fDepth2 = (float)depth2 * 0.001; + //float2 oPos2 = posDepth2 * _TexRes - _Cxy; + + //float2 pPos2 = float2(oPos2.x * fDepth2 * _SpaceScale.x / _Fxy.x, oPos2.y * fDepth2 * _SpaceScale.y / _Fxy.y); + //float4 vPos2 = float4(pPos2.x, pPos2.y, fDepth2, v.vertex.w); + //float4 vPos2 = getSpacePos(posDepth2, fDepth2, v.vertex.w); + + //float4 wPos2 = mul(_Transform, vPos2); + bool mask2 = (bi2 == _UserBodyIndex && _UserBodyIndex != 255); + mask = mask && mask2; + } + } + + float4 vertexPos = vPos; + + v.vertex = vertexPos; + v.texcoord.xy = posDepth; + + o.vertexPos = float4(vertexPos.xyz, mask); // vertexPos * mask; // + } + + + void surf(Input IN, inout SurfaceOutput o) + { + float4 col = tex2D(_ColorTex, IN.uv_ColorTex); + //float4 col = float3(1, 0, 0); + + if (IN.vertexPos.w == 0) + { + discard; + } + + //o.Emission = col * _Color; + o.Albedo = col * _Color; + o.Alpha = col.a; + } + + ENDCG + } + + FallBack "Diffuse" +} + diff --git a/UnityProject/Assets/AzureKinectExamples/Resources/UserMeshShader.shader.meta b/UnityProject/Assets/AzureKinectExamples/Resources/UserMeshShader.shader.meta new file mode 100644 index 0000000..091cf44 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/Resources/UserMeshShader.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 03e477b3d86b90649ac508e7cad0b09d +ShaderImporter: + externalObjects: {} + defaultTextures: [] + nonModifiableTextures: [] + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/SDK.meta b/UnityProject/Assets/AzureKinectExamples/SDK.meta new file mode 100644 index 0000000..9eaf218 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/SDK.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 147a6a25d5249e043a2199775f2d7608 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/SDK/Kinect4AzureSDK.meta b/UnityProject/Assets/AzureKinectExamples/SDK/Kinect4AzureSDK.meta new file mode 100644 index 0000000..3ac3160 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/SDK/Kinect4AzureSDK.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 4dbdb3c4b91975c4c9f3f35cb1b26b53 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/SDK/Kinect4AzureSDK/AzureKinectSDK_License.txt b/UnityProject/Assets/AzureKinectExamples/SDK/Kinect4AzureSDK/AzureKinectSDK_License.txt new file mode 100644 index 0000000..a9cfd10 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/SDK/Kinect4AzureSDK/AzureKinectSDK_License.txt @@ -0,0 +1,22 @@ +Copyright (c) Microsoft Corporation. All rights reserved. + +MIT License + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED *AS IS*, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + diff --git a/UnityProject/Assets/AzureKinectExamples/SDK/Kinect4AzureSDK/AzureKinectSDK_License.txt.meta b/UnityProject/Assets/AzureKinectExamples/SDK/Kinect4AzureSDK/AzureKinectSDK_License.txt.meta new file mode 100644 index 0000000..42aa881 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/SDK/Kinect4AzureSDK/AzureKinectSDK_License.txt.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: f48accf486521be4ebadf798d2ccad76 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/AzureKinectExamples/SDK/Kinect4AzureSDK/Plugins.meta b/UnityProject/Assets/AzureKinectExamples/SDK/Kinect4AzureSDK/Plugins.meta new file mode 100644 index 0000000..a084753 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\hich\af1\dbch\af31505\loch\f1 1. }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 INSTALLATION AND USE RIGHTS. +\par {\pntext\pard\plain\ltrpar \rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\f39\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 a.\tab}}\pard \ltrpar\ql \fi-270\li450\ri0\sa100\nowidctlpar\tx540\wrapdefault{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pnlcltr\pnb1 +\pnf39\pnstart1 {\pntxta .}}\faauto\ls1\rin0\lin450\itap0\pararsid6816407 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Installation and Use.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 You may (i) install and use any number of copies of the software (only when installed using the accompanying software installer package) on your computer to design, develop, and \hich\af39\dbch\af31505\loch\f39 +test your programs that run specifically on a Microsoft Windows operating system, and that are intended for use solely in connection with }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid11871500 \hich\af39\dbch\af31505\loch\f39 the }{\rtlch\fcs1 +\af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Microsoft Kinect for Windows}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid3882049 \hich\af39\dbch\af31505\loch\f39 v}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 2}{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 }{ +\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 sensor}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 \hich\f39 (\'93\loch\f39 Kinect }{\rtlch\fcs1 \af39\afs20 +\ltrch\fcs0 \fs20\insrsid3882049 \hich\af39\dbch\af31505\loch\f39 v}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid7679777 \hich\af39\dbch\af31505\loch\f39 + Sensor}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \loch\af39\dbch\af31505\hich\f39 \'94\loch\f39 )}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 +, and its associated drivers and runtime software, and no other sensor }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid73750 \hich\af39\dbch\af31505\loch\f39 unless such sensor is supported by Microsoft }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 (}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid6969745 \hich\af39\dbch\af31505\loch\f39 collectively, the }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\loch\af39\dbch\af31505\hich\f39 \'93\loch\f39 Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 V2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 \hich\f39 + Applications\'94\loch\f39 ), and (ii) distribute your Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3882049 \hich\af39\dbch\af31505\loch\f39 v}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 2 }{ +\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Applications, subject to the terms in this agreement. +\par {\pntext\pard\plain\ltrpar \rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \b\f39\fs20\insrsid7695099 \hich\af39\dbch\af31505\loch\f39 b.\tab}}\pard \ltrpar\ql \fi-270\li450\ri0\sa100\nowidctlpar\tx540\wrapdefault{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pnlcltr\pnb1 +\pnf39\pnstart1 {\pntxta .}}\faauto\ls1\rin0\lin450\itap0 {\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \b\fs20\insrsid7695099 \hich\af39\dbch\af31505\loch\f39 Tele\hich\af39\dbch\af31505\loch\f39 metry Data Collection. }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid7695099 \hich\af39\dbch\af31505\loch\f39 When in use by you, the software will provide Microsoft with telemetry data }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\lang9\langfe1033\langnp9\insrsid7695099 \hich\af39\dbch\af31505\loch\f39 +(e.g. operating system, number of processors, graphic chipset, memory, device type, locale, time) regarding your installation and use. }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\lang9\langfe1033\langnp9\insrsid14225958 \hich\af39\dbch\af31505\loch\f39 +The data will not be u\hich\af39\dbch\af31505\loch\f39 sed to identify specific individuals. }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\lang9\langfe1033\langnp9\insrsid7695099 \hich\af39\dbch\af31505\loch\f39 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\lang9\langfe1033\langnp9\insrsid8222967 \hich\af39\dbch\af31505\loch\f39 Microsoft will}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\lang9\langfe1033\langnp9\insrsid7695099 \hich\af39\dbch\af31505\loch\f39 use the Telemetry Data for product and }{ +\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\lang9\langfe1033\langnp9\insrsid91414 \hich\af39\dbch\af31505\loch\f39 service}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\lang9\langfe1033\langnp9\insrsid7695099 \hich\af39\dbch\af31505\loch\f39 improvements. +}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid7695099\charrsid7695099 +\par {\pntext\pard\plain\ltrpar \rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\f39\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 c.\tab}}\pard \ltrpar\ql \fi-270\li450\ri0\sa100\nowidctlpar\tx540\wrapdefault{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pnlcltr\pnb1 +\pnf39\pnstart1 {\pntxta .}}\faauto\ls1\rin0\lin450\itap0\pararsid6816407 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Included Microsoft Programs.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 The software includes other Microsoft programs. The license terms with those programs apply to your use o\hich\af39\dbch\af31505\loch\f39 f them. +\par {\pntext\pard\plain\ltrpar \rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\f39\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 d.\tab}}\pard \ltrpar\ql \fi-270\li450\ri0\sa100\nowidctlpar\tx540\wrapdefault{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pnlcltr\pnb1 +\pnf39\pnstart1 {\pntxta .}}\faauto\ls1\rin0\lin450\itap0\pararsid6816407 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 No High Risk Use. WARNING:}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 The Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 2 }{ +\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid7679777 \hich\af39\dbch\af31505\loch\f39 S}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 ensor and the software are not fault-tolerant. The Kinect }{\rtlch\fcs1 +\af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid7679777 +\hich\af39\dbch\af31505\loch\f39 Sensor }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 and the software are not designed or intended for use with any program where failure or fault of any kind of the Kinect }{ +\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid7679777 +\hich\af39\dbch\af31505\loch\f39 Sensor}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 or soft +\hich\af39\dbch\af31505\loch\f39 \hich\f39 ware could lead to death or serious bodily injury of any person, or to severe physical or environmental damage (\'93\loch\f39 \hich\f39 High Risk Use\'94\loch\f39 +). You are not licensed to, and you agree not to, use, distribute or sublicense the use of the Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid11871500 \hich\af39\dbch\af31505\loch\f39 v2 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Sensor and/or software in, or in conjunction with, High Risk Use. High Risk Use is STRICTLY PROHIBITED. }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 High Risk Use includes, for example, the following: aircraft navigation and control of other modes of human mass transportation, nuclear or chemical f\hich\af39\dbch\af31505\loch\f39 acilities. }{\rtlch\fcs1 \ab\af1\afs20 +\ltrch\fcs0 \b\f1\fs20\insrsid8745415 +\par }\pard \ltrpar\ql \li0\ri0\sb200\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \ab\af1\afs20 \ltrch\fcs0 \b\f1\fs20\insrsid8745415 \hich\af1\dbch\af31505\loch\f1 2}{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 . ADDITIONAL LICENSING REQUIREMENTS AND/OR USE RIGHTS +\par }\pard \ltrpar\ql \fi-183\li363\ri0\sa100\nowidctlpar\tx363\wrapdefault\faauto\rin0\lin363\itap0 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 a.\tab Distributable Code}{\rtlch\fcs1 \af39\afs20 +\ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 . The software contains code that you are permitted to distribute solely in Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v}{ +\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Applications if you comply with the terms below. +\par }\pard\plain \ltrpar\s3\ql \fi-357\li1077\ri0\sb120\sa120\nowidctlpar\tx1080\wrapdefault\faauto\outlinelevel2\rin0\lin1077\itap0 \rtlch\fcs1 \af39\afs24\alang1025 \ltrch\fcs0 +\fs24\lang1033\langfe1033\loch\af39\hich\af39\dbch\af31505\cgrid\langnp1033\langfenp1033 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 i.\tab Right to Use and \hich\af39\dbch\af31505\loch\f39 \hich\f39 +Distribute. The code and text files listed below are \'93\loch\f39 \hich\f39 Distributable Code.\'94 +\par }\pard\plain \ltrpar\ql \fi-358\li1435\ri0\sb120\sa120\nowidctlpar\tx1437\wrapdefault\faauto\rin0\lin1435\itap0 \rtlch\fcs1 \af39\afs24\alang1025 \ltrch\fcs0 \fs24\lang1033\langfe1033\loch\af39\hich\af39\dbch\af31505\cgrid\langnp1033\langfenp1033 { +\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\ul\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 REDIST.TXT Files}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 . You may copy and distribute the object code form of code listed in REDIST.TXT files}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid11871500 \hich\af39\dbch\af31505\loch\f39 + as part of your Kinect v2 Application}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 . +\par }\pard \ltrpar\ql \fi-358\li1435\ri0\sb120\sa120\nowidctlpar\wrapdefault\faauto\rin0\lin1435\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\ul\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Sample Code}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 . You may modify, copy \hich\af39\dbch\af31505\loch\f39 +and distribute the source and object code form of code in the Samples subdirectory}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid11871500 \hich\af39\dbch\af31505\loch\f39 as part of your Kinect v2 Application}{\rtlch\fcs1 \af1\afs20 \ltrch\fcs0 +\f1\fs20\insrsid8745415 .}{\rtlch\fcs1 \af0\afs20 \ltrch\fcs0 \f0\fs20\insrsid8745415 +\par }{\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\ul\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Third Party Distribution}{\rtlch\fcs1 \af39\afs20 +\ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 . You may permit distributors of your Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Applications to copy and distribute the Distributable Code a\hich\af39\dbch\af31505\loch\f39 s part of those Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 +\hich\af39\dbch\af31505\loch\f39 v}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid4929922 \hich\af39\dbch\af31505\loch\f39 2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Applications. +\par {\listtext\pard\plain\ltrpar \s29 \rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \f3\fs20\insrsid5338358\charrsid11829074 \loch\af3\dbch\af31505\hich\f3 \'b7\tab}}\pard\plain \ltrpar\s29\ql \fi-360\li1440\ri0\nowidctlpar +\tx900\wrapdefault\faauto\ls7\rin0\lin1440\itap0\pararsid11829074\contextualspace \rtlch\fcs1 \af39\afs24\alang1025 \ltrch\fcs0 \fs24\lang1033\langfe1033\loch\af39\hich\af39\dbch\af31505\cgrid\langnp1033\langfenp1033 {\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\ul\insrsid5338358\charrsid11829074 \hich\af39\dbch\af31505\loch\f39 Third Party Programs}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid5338358\charrsid11829074 \hich\af39\dbch\af31505\loch\f39 +. This software may contain certain third-party programs. You agree that your use of them is governed by the license terms provided with those programs. +\par }\pard\plain \ltrpar\ql \li0\ri0\sa100\nowidctlpar\tx1512\wrapdefault\faauto\rin0\lin0\itap0\pararsid11829074 \rtlch\fcs1 \af39\afs24\alang1025 \ltrch\fcs0 \fs24\lang1033\langfe1033\loch\af39\hich\af39\dbch\af31505\cgrid\langnp1033\langfenp1033 { +\rtlch\fcs1 \af1\afs20 \ltrch\fcs0 \f1\fs20\insrsid8745415 +\par }\pard \ltrpar\ql \li720\ri0\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin720\itap0 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 ii. Distribution Requirements.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 For any D\hich\af39\dbch\af31505\loch\f39 istributable Code you distribute, you must: }{\rtlch\fcs1 +\af1\afs20 \ltrch\fcs0 \f1\fs20\insrsid8745415 +\par }\pard \ltrpar\ql \fi-360\li1440\ri0\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin1440\itap0 {\rtlch\fcs1 \af10\afs20 \ltrch\fcs0 \f10\fs20\insrsid8745415 \loch\af10\dbch\af31505\hich\f10 \'a7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 add significant primary functionality to it in your Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid11871500 \hich\af39\dbch\af31505\loch\f39 v2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Applications; +\par }\pard \ltrpar\ql \fi-360\li1440\ri0\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin1440\itap0\pararsid11829074 {\rtlch\fcs1 \af10\afs20 \ltrch\fcs0 \f10\fs20\insrsid8745415 \loch\af10\dbch\af31505\hich\f10 \'a7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 distribute Distributable Code included in a setup program only as part of that setup program without modification}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid10234499 +\hich\af39\dbch\af31505\loch\f39 ;}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid11808396 +\par {\listtext\pard\plain\ltrpar \rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \f10\fs20\insrsid14225958 \loch\af10\dbch\af31505\hich\f10 \'a7\tab}}\pard \ltrpar\ql \fi-360\li1440\ri0\sa100\nowidctlpar\wrapdefault\faauto\ls6\rin0\lin1440\itap0\pararsid11829074 { +\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid14225958 \hich\af39\dbch\af31505\loch\f39 c}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid13329978 \hich\af39\dbch\af31505\loch\f39 learly state in your Kinect V2 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 A}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid13329978 \hich\af39\dbch\af31505\loch\f39 pplication (as well as require your licensees to do so) }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid15495172 \hich\af39\dbch\af31505\loch\f39 a privacy statement}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid13329978 \hich\af39\dbch\af31505\loch\f39 + regarding the collection and use of customer data as well as the following statement regarding Microsoft\hich\f39 \rquote \loch\f39 s }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid91414 \hich\af39\dbch\af31505\loch\f39 collection and }{\rtlch\fcs1 +\af39\afs20 \ltrch\fcs0 \fs20\insrsid13329978 \hich\af39\dbch\af31505\loch\f39 use of customer data}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid10234499 \hich\af39\dbch\af31505\loch\f39 \hich\f39 : \'93}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\ul\insrsid10234499\charrsid11829074 \hich\af39\dbch\af31505\loch\f39 No\hich\af39\dbch\af31505\loch\f39 te}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid10234499 \hich\af39\dbch\af31505\loch\f39 : When using }{\rtlch\fcs1 \af39\afs20 +\ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 the _________________(insert name of Your}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid10234499 \hich\af39\dbch\af31505\loch\f39 Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid10234499 \hich\af39\dbch\af31505\loch\f39 2 Application}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 )} +{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid11871500 \hich\af39\dbch\af31505\loch\f39 with a Kinect for Windows v2 Sensor}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid14225958 ,}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid10234499 +\hich\af39\dbch\af31505\loch\f39 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\lang9\langfe1033\langnp9\insrsid10234499 \hich\af39\dbch\af31505\loch\f39 +Microsoft will collect telemetry data (e.g. operating system, number of processors, graphic chipset, memory, device type, locale, time) in\hich\af39\dbch\af31505\loch\f39 order to improve }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\lang9\langfe1033\langnp9\insrsid91414 \hich\af39\dbch\af31505\loch\f39 Microsoft products and services}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\lang9\langfe1033\langnp9\insrsid10234499 \hich\af39\dbch\af31505\loch\f39 \hich\f39 +. The data will not be used to identify specific individuals.\'94\loch\f39 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid13329978\charrsid11871500 \hich\af39\dbch\af31505\loch\f39 +\par }\pard \ltrpar\ql \fi-360\li1440\ri0\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin1440\itap0 {\rtlch\fcs1 \af10\afs20 \ltrch\fcs0 \f10\fs20\insrsid8745415 \loch\af10\dbch\af31505\hich\f10 \'a7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 clearly state in marketing materials, documentation and other materials related to the Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v}{\rtlch\fcs1 +\af39\afs20 \ltrch\fcs0 \fs20\insrsid13329978 \hich\af39\dbch\af31505\loch\f39 2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Application (e.g. on the webpages on whi\hich\af39\dbch\af31505\loch\f39 +ch the Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid13329978 \hich\af39\dbch\af31505\loch\f39 V2 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Application is described or from which the Kinect }{ +\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid13329978 \hich\af39\dbch\af31505\loch\f39 V2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 + Application may be downloaded or otherwise obtained), that it is intended for use only with the Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid13329978 \hich\af39\dbch\af31505\loch\f39 V2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid16457108 \hich\af39\dbch\af31505\loch\f39 S}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 ensor; +\par }\pard \ltrpar\ql \fi-360\li1440\ri0\sb120\sa120\nowidctlpar\wrapdefault\faauto\rin0\lin1440\itap0 {\rtlch\fcs1 \af10\afs20 \ltrch\fcs0 \f10\fs20\insrsid8745415 \loch\af10\dbch\af31505\hich\f10 \'a7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 require }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 licensees, }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 distributors and external end users to agree to }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 license }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 terms that}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 are as protective of Microsoft\hich\f39 \rquote \loch\f39 +s rights and interests in the Distributable Code as stated in this agreement; and }{\rtlch\fcs1 \af0\afs20 \ltrch\fcs0 \f0\fs20\insrsid8745415 +\par }\pard \ltrpar\ql \fi-360\li1440\ri0\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin1440\itap0 {\rtlch\fcs1 \af10\afs20 \ltrch\fcs0 \f10\fs20\insrsid8745415 \loch\af10\dbch\af31505\hich\f10 \'a7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 display your valid copyright notice on your Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid13329978 \hich\af39\dbch\af31505\loch\f39 2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Applications}{\rtlch\fcs1 \af1\afs20 \ltrch\fcs0 \f1\fs20\insrsid8745415 . +\par }\pard\plain \ltrpar\s3\ql \fi-357\li1077\ri0\sb120\sa120\nowidctlpar\tx1077\tx1440\wrapdefault\faauto\outlinelevel2\rin0\lin1077\itap0 \rtlch\fcs1 \af39\afs24\alang1025 \ltrch\fcs0 +\fs24\lang1033\langfe1033\loch\af39\hich\af39\dbch\af31505\cgrid\langnp1033\langfenp1033 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 iii.\tab Distribution Restrictions. You may not: +\par }\pard\plain \ltrpar\ql \fi-358\li1435\ri0\sb120\sa120\nowidctlpar\tx1437\wrapdefault\faauto\rin0\lin1435\itap0 \rtlch\fcs1 \af39\afs24\alang1025 \ltrch\fcs0 \fs24\lang1033\langfe1033\loch\af39\hich\af39\dbch\af31505\cgrid\langnp1033\langfenp1033 { +\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 alter\hich\af39\dbch\af31505\loch\f39 + any copyright, trademark or patent notice in the Distributable Code; +\par {\listtext\pard\plain\ltrpar \rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \f10\fs20\insrsid13329978 \loch\af10\dbch\af31505\hich\f10 \'a7\tab}}\pard \ltrpar\ql \fi-360\li1440\ri0\sb120\sa120\nowidctlpar +\tx1437\wrapdefault\faauto\ls2\rin0\lin1440\itap0\pararsid11829074 {\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid13329978 \hich\af39\dbch\af31505\loch\f39 +License the Microsoft Distributable Code in a manner inconsistent with the terms of this License. +\par }\pard \ltrpar\ql \fi-358\li1435\ri0\sb120\sa120\nowidctlpar\tx1437\wrapdefault\faauto\rin0\lin1435\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 use Microsoft\hich\f39 \rquote \loch\f39 s trademarks, including but not limited to Microsoft, Kinect and Window\hich\af39\dbch\af31505\loch\f39 s, in your Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Applications\hich\f39 \rquote \loch\f39 names or in a way that suggests your Kinect for }{\rtlch\fcs1 +\af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v2 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Applications come from or are endorsed by Microsoft; +\par }\pard \ltrpar\ql \fi-358\li1435\ri0\sb120\sa120\nowidctlpar\wrapdefault\faauto\rin0\lin1435\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 distribute Distributable Code to run on a platform other than a Microsoft Windows operating system; +\par }\pard \ltrpar\ql \fi-360\li1437\ri0\sb120\sa120\nowidctlpar\wrapdefault\faauto\rin0\lin1437\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 include Distr\hich\af39\dbch\af31505\loch\f39 ibutable Code in malicious, obscene, deceptive or unlawful programs; +\par }\pard \ltrpar\ql \fi-358\li1435\ri0\sb120\sa120\nowidctlpar\tx1437\wrapdefault\faauto\rin0\lin1435\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 include Distributable Code for any programs designed or intended for High Risk Use; or}{\rtlch\fcs1 \af0\afs20 \ltrch\fcs0 \f0\fs20\insrsid8745415 +\par }{\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 +modify or distribute the source code of any Distributable Code so that any part of it becomes su\hich\af39\dbch\af31505\loch\f39 +bject to an Excluded License. An Excluded License is one that requires, as a condition of use, modification or distribution, that}{\rtlch\fcs1 \af1\afs20 \ltrch\fcs0 \f1\fs20\insrsid8745415 +\par }\pard \ltrpar\ql \fi-357\li1792\ri0\sb120\sa120\nowidctlpar\tx1795\wrapdefault\faauto\rin0\lin1792\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 the code be disclosed or distributed in source code form; or +\par }\pard \ltrpar\ql \fi-357\li1792\ri0\sb120\sa120\nowidctlpar\wrapdefault\faauto\rin0\lin1792\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 others have the right to modify it. +\par }\pard \ltrpar\ql \li0\ri0\sb200\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \ab\af1\afs20 \ltrch\fcs0 \b\f1\fs20\insrsid8745415 \hich\af1\dbch\af31505\loch\f1 3. }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 SCOPE OF LICENSE.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 + The software is licensed, not sold. This agreement only gives you some rights to use the software. Microsoft reserves all other rights. Unless applicable law gives you more rights despite this limitation, you may use the software only as expressly permit +\hich\af39\dbch\af31505\loch\f39 t\hich\af39\dbch\af31505\loch\f39 ed in this agreement. In doing so, you must comply with any technical limitations in the software that only allow you to use it in certain ways. You may not:}{\rtlch\fcs1 \af1\afs20 +\ltrch\fcs0 \f1\fs20\insrsid8745415 +\par }\pard \ltrpar\ql \fi-360\li720\ri0\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin720\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\cf1\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 access or use, or attempt to access or use, features of the Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v2 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 Sensor that are not \hich\af39\dbch\af31505\loch\f39 exposed or enabled by the software; +\par }{\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\cf1\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415\charrsid1909739 \hich\af39\dbch\af31505\loch\f39 distribute Kinect }{\rtlch\fcs1 +\af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644\charrsid1909739 \hich\af39\dbch\af31505\loch\f39 v2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415\charrsid1909739 \hich\af39\dbch\af31505\loch\f39 Applications for use with any sensor other than }{ +\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid11871500\charrsid1909739 \hich\af39\dbch\af31505\loch\f39 the }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415\charrsid1909739 \hich\af39\dbch\af31505\loch\f39 Kinect }{\rtlch\fcs1 \af39\afs20 +\ltrch\fcs0 \fs20\insrsid3949644\charrsid1909739 \hich\af39\dbch\af31505\loch\f39 v2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid16457108\charrsid1909739 \hich\af39\dbch\af31505\loch\f39 Sensor}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid14225958 \hich\af39\dbch\af31505\loch\f39 or }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415\charrsid1909739 \hich\af39\dbch\af31505\loch\f39 its associated drivers and runtime software;}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 }{\rtlch\fcs1 \af1\afs20 \ltrch\fcs0 \f1\fs20\insrsid8745415 +\par }\pard \ltrpar\ql \fi-360\li720\ri0\sb200\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin720\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\cf1\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 use the software or any Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 \hich\af39\dbch\af31505\loch\f39 v2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 Applications in any High Risk Use; }{\rtlch\fcs1 \af1\afs20 \ltrch\fcs0 \f1\fs20\insrsid8745415 +\par }\pard \ltrpar\ql \fi-360\li720\ri0\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin720\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\cf1\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 work \hich\af39\dbch\af31505\loch\f39 around any technical limitations in the software; +\par }{\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\cf1\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 +reverse engineer, decompile, or disassemble any part of the software not provided in source code form, except and only to the extent that applicable law expressly permits, despite this limitation; +\par }\pard \ltrpar\ql \fi-360\li720\ri0\sb200\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin720\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\cf1\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 publi\hich\af39\dbch\af31505\loch\f39 sh the software for others to copy; +\par }\pard \ltrpar\ql \fi-360\li720\ri0\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin720\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\cf1\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 rent, lease, or lend the software; +\par }\pard \ltrpar\ql \fi-360\li720\ri0\sb200\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin720\itap0 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\cf1\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 transfer the software or this agreement to any third party; or +\par }\pard \ltrpar\ql \fi-360\li720\ri0\sb200\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin720\itap0\pararsid11829074 {\rtlch\fcs1 \af3\afs20 \ltrch\fcs0 \f3\fs20\cf1\insrsid8745415 \loch\af3\dbch\af31505\hich\f3 \'b7\tab }{\rtlch\fcs1 \af39\afs20 +\ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 use the software for commercial software hosting services.}{\rtlch\fcs1 \af1\afs20 \ltrch\fcs0 \f1\fs20\insrsid8745415 +\par }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 4. REGULATORY COMPLIANCE. }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 You agree that your developmen\hich\af39\dbch\af31505\loch\f39 t, marketing, sales, and distribution of Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid3949644 +\hich\af39\dbch\af31505\loch\f39 v2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 + Applications shall be in compliance with all applicable legal requirements, including compliance with the medical device regulatory requirements of the U.S. Federal Food, Drug, and Cosmetic Act and any ass\hich\af39\dbch\af31505\loch\f39 +ociated requirements, or similar laws, regulations, or policies in other countries or territories.\~ + To the extent required by law, you are solely responsible for obtaining or filing any approval, clearance, registration, permit, or other regulatory author\hich\af39\dbch\af31505\loch\f39 i\hich\af39\dbch\af31505\loch\f39 +zation and shall comply with the requirements of such authorization. +\par }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\cf19\insrsid8745415 +\par }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 5. ACKNOWLEDGEMENT AND WAIVER. }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 +You acknowledge the software may allow you to control the Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid16457108 \hich\af39\dbch\af31505\loch\f39 v2 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 +Sensor, which are mechanical hardware devices that include motors to move the device, \hich\af39\dbch\af31505\loch\f39 +a fan to cool it, and other mechanical components. Depending on how you elect to use the software, you could harm persons or damage or destroy the Kinect}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid2042763 \hich\af39\dbch\af31505\loch\f39 v2}{ +\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Sensor, products incorporating the Kinect}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid2042763 \hich\af39\dbch\af31505\loch\f39 v2}{\rtlch\fcs1 \af39\afs20 +\ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Sensor, or other property. In using the software, you must take steps to design and test your Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid2042763 +\hich\af39\dbch\af31505\loch\f39 v2 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 +Applications to ensure that your applications do not present unreasonable risks of personal injury or death, property damage, or other losses. Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid2042763 \hich\af39\dbch\af31505\loch\f39 v +\hich\af39\dbch\af31505\loch\f39 2 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 +Sensors utilize complex hardware and software technology that may not always function as intended. You must design your application so that any failure of a Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid2042763 +\hich\af39\dbch\af31505\loch\f39 v2 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Sensor and/or the software does not cause personal injury or death, property damage, or\hich\af39\dbch\af31505\loch\f39 + other losses. If you choose to use the software, you assume all risk that your use of the Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid2042763 \hich\af39\dbch\af31505\loch\f39 v2 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 Sensors and/or the software causes any harm or loss, including to the end users of your Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid2042763 \hich\af39\dbch\af31505\loch\f39 v2}{\rtlch\fcs1 \af39\afs20 +\ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Applications, and you agree to waive all claims against M\hich\af39\dbch\af31505\loch\f39 +icrosoft and its affiliates related to such use (including but not limited to any claim that a Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid2042763 \hich\af39\dbch\af31505\loch\f39 v2 }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Sensor or the software is defective) and to hold Microsoft and its affiliates harmless from such claims. +\par }\pard \ltrpar\ql \li0\ri0\sb200\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 6. INDEMNIFICATION. }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 You agree to indemnify, \hich\af39\dbch\af31505\loch\f39 defend, and hold harmless Microsoft and its affiliates from any claims, including attorneys\hich\f39 \rquote \loch\f39 + fees, related to the distribution or use of your Kinect }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid2042763 \hich\af39\dbch\af31505\loch\f39 v2}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 + Applications. +\par }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 7. BACKUP COPY.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 + You may make one backup copy of the software. You may use it only to reins\hich\af39\dbch\af31505\loch\f39 tall the software. +\par }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 8. DOCUMENTATION.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 Any person }{\rtlch\fcs1 \af39\afs20 +\ltrch\fcs0 \fs20\insrsid1909739 \hich\af39\dbch\af31505\loch\f39 who }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 +has valid access to your computer or internal network may copy and use the documentation for your internal, reference purposes. +\par }\pard \ltrpar\ql \fi-360\li360\ri0\sb200\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin360\itap0 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 9. SUPPORT SERVICES.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 \hich\f39 Because this software is \'93\loch\f39 \hich\f39 as is,\'94\loch\f39 we may not provide\hich\af39\dbch\af31505\loch\f39 support services for it. +\par }\pard \ltrpar\ql \fi-360\li360\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin360\itap0 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 10.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\hich\af39\dbch\af31505\loch\f39 }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 EXPORT RESTRICTIONS.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 + The software is subject to United States export laws and regulations. You must comply with all domestic and international export laws and regulations that apply to the software. These laws include restrict\hich\af39\dbch\af31505\loch\f39 +ions on destinations, end users, and end use. For additional information, see }{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\ul\cf2\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 www.microsoft.com/exporting}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 .}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\ul\insrsid8745415 +\par }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 11. ENTIRE AGREEMENT.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 + This agreement, and the terms for supplements, updates, Internet-based services and support services that you use, are the enti\hich\af39\dbch\af31505\loch\f39 re agreement for the software and support services. +\par }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 12. APPLICABLE LAW. +\par }\pard \ltrpar\ql \li360\ri0\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin360\itap0 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 a. United States.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 + If you acquired the software in the United States, Washington state law governs the interpretation of this agreement and applies to claims for breach of it, regardless of conflict of laws principles. The laws of the state where you live govern all other +\hich\af39\dbch\af31505\loch\f39 c\hich\af39\dbch\af31505\loch\f39 laims, including claims under state consumer protection laws, unfair competition laws, and in tort. +\par }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 b. Outside the United States.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 + If you acquired the software in any other country, the laws of that country apply. +\par }\pard \ltrpar\ql \fi-360\li360\ri0\sb200\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin360\itap0 {\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 13. LEGAL EFFECT.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 +\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 This agreement describes \hich\af39\dbch\af31505\loch\f39 +certain legal rights. You may have other rights under the laws of your state, province or country. This agreement does not change your rights under the laws of your state, province or country if the laws of your state, province or country do not permit it +\hich\af39\dbch\af31505\loch\f39 \hich\af39\dbch\af31505\loch\f39 to do so. +\par }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 \hich\f39 14. DISCLAIMER OF WARRANTY. The software is licensed \'93\loch\f39 \hich\f39 as-is.\'94\loch\f39 + You bear all risk of using it. Microsoft gives no express warranties, guarantees or conditions. You may have additional consumer rights under your local laws that this agreement cannot\hich\af39\dbch\af31505\loch\f39 + change. To the extent permitted under your local laws, Microsoft excludes the implied warranties of merchantability, fitness for a particular purpose, and non-infringement.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\par }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 15. LIMITATION ON AND EXCLUSION OF REMEDIES AND DAMAGES. You can recover from Micr\hich\af39\dbch\af31505\loch\f39 +osoft and its suppliers only direct damages up to U.S. $5.00. You cannot recover any other damages, including consequential, lost profits, special, indirect or incidental damages.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 +\par }\pard \ltrpar\ql \li360\ri0\sa100\nowidctlpar\wrapdefault\faauto\rin0\lin360\itap0 {\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 This limitation applies to +\par }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 a.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 anything related to the software, services, co +\hich\af39\dbch\af31505\loch\f39 ntent (including code) on third party Internet sites, or third party programs; and +\par }{\rtlch\fcs1 \ab\af39\afs20 \ltrch\fcs0 \b\fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 b.}{\rtlch\fcs1 \af39\afs20 \ltrch\fcs0 \fs20\insrsid8745415 \hich\af39\dbch\af31505\loch\f39 + claims for breach of contract; breach of warranty, guarantee, or condition; strict liability, negligence, or other tort, to the extent permitted by applicable law. +\par \hich\af39\dbch\af31505\loch\f39 It als\hich\af39\dbch\af31505\loch\f39 +o applies even if Microsoft knew or should have known about the possibility of the damages. 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Thank you. + +https://www.assetstore.unity3d.com/en/#!/content/149700 + diff --git a/UnityProject/Assets/AzureKinectExamples/_Readme/致盗版使用者-ToPiracyUsers.txt.meta b/UnityProject/Assets/AzureKinectExamples/_Readme/致盗版使用者-ToPiracyUsers.txt.meta new file mode 100644 index 0000000..b827994 --- /dev/null +++ b/UnityProject/Assets/AzureKinectExamples/_Readme/致盗版使用者-ToPiracyUsers.txt.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: f38dfa7611b8e154c925924bad75a4d0 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/Demo.playable b/UnityProject/Assets/Demo.playable new file mode 100644 index 0000000..e23d325 --- /dev/null +++ b/UnityProject/Assets/Demo.playable @@ -0,0 +1,63 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!114 &11400000 +MonoBehaviour: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 0} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: bfda56da833e2384a9677cd3c976a436, type: 3} + m_Name: Demo + m_EditorClassIdentifier: + m_Version: 0 + m_Tracks: + - {fileID: 5334197047970054119} + m_FixedDuration: 0 + m_EditorSettings: + m_Framerate: 60 + m_DurationMode: 0 + m_MarkerTrack: {fileID: 0} +--- !u!114 &5334197047970054119 +MonoBehaviour: + m_ObjectHideFlags: 1 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 0} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: d21dcc2386d650c4597f3633c75a1f98, type: 3} + m_Name: Animation Track + m_EditorClassIdentifier: + m_Version: 3 + m_AnimClip: {fileID: 0} + m_Locked: 0 + m_Muted: 0 + m_CustomPlayableFullTypename: + m_Curves: {fileID: 0} + m_Parent: {fileID: 11400000} + m_Children: [] + m_Clips: [] + m_Markers: + m_Objects: [] + m_InfiniteClipPreExtrapolation: 0 + m_InfiniteClipPostExtrapolation: 0 + m_InfiniteClipOffsetPosition: {x: 0, y: 0, z: 0} + m_InfiniteClipOffsetEulerAngles: {x: 0, y: 0, z: 0} + m_InfiniteClipTimeOffset: 0 + m_InfiniteClipRemoveOffset: 0 + m_InfiniteClipApplyFootIK: 1 + mInfiniteClipLoop: 0 + m_MatchTargetFields: 63 + m_Position: {x: 0, y: 0, z: 0} + m_EulerAngles: {x: 0, y: 0, z: 0} + m_AvatarMask: {fileID: 0} + m_ApplyAvatarMask: 1 + m_TrackOffset: 0 + m_InfiniteClip: {fileID: 0} + m_OpenClipOffsetRotation: {x: 0, y: 0, z: 0, w: 1} + m_Rotation: {x: 0, y: 0, z: 0, w: 1} + m_ApplyOffsets: 0 diff --git a/UnityProject/Assets/Demo.playable.meta b/UnityProject/Assets/Demo.playable.meta new file mode 100644 index 0000000..791f054 --- /dev/null +++ b/UnityProject/Assets/Demo.playable.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 75088a9233f7a9843b528e0858d213d5 +NativeFormatImporter: + externalObjects: {} + mainObjectFileID: 11400000 + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/HDRP/Flare.vfx b/UnityProject/Assets/HDRP/Flare.vfx index 7f2b3a3..ee22509 100644 --- a/UnityProject/Assets/HDRP/Flare.vfx +++ b/UnityProject/Assets/HDRP/Flare.vfx @@ -21,7 +21,7 @@ MonoBehaviour: x: 671 y: -480 width: 731 - height: 1763 + height: 1762 --- !u!114 &114350483966674976 MonoBehaviour: m_ObjectHideFlags: 1 @@ -41,6 +41,8 @@ MonoBehaviour: - {fileID: 8926484042661614611} - {fileID: 8926484042661614634} - {fileID: 8926484042661614653} + - {fileID: 8926484042661614691} + - {fileID: 8926484042661614694} m_UIPosition: {x: 0, y: 0} m_UICollapsed: 1 m_UISuperCollapsed: 0 @@ -55,9 +57,9 @@ MonoBehaviour: m_Type: m_SerializableType: System.Single, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 - m_SerializableObject: 50.04166 - min: 1 - max: 100 + m_SerializableObject: 45.1 + min: 0 + max: 0 descendantCount: 0 m_GraphVersion: 2 m_saved: 1 @@ -77,7 +79,8 @@ VisualEffectResource: source: "#pragma kernel CSMain\n#define NB_THREADS_PER_GROUP 64\n#define VFX_USE_POSITION_CURRENT 1\n#define VFX_USE_SEED_CURRENT 1\n#define VFX_USE_DIRECTION_CURRENT 1\n#define VFX_USE_LIFETIME_CURRENT 1\n#define VFX_USE_VELOCITY_CURRENT 1\n#define VFX_USE_ALIVE_CURRENT - 1\n#define VFX_USE_AGE_CURRENT 1\n#define VFX_LOCAL_SPACE 1\n#include \"Packages/com.unity.visualeffectgraph/Shaders/RenderPipeline/HDRP/VFXDefines.hlsl\"\n\n\n\n#include + 1\n#define VFX_USE_AGE_CURRENT 1\n#define VFX_LOCAL_SPACE 1\n#include \"Packages/com.unity.visualeffectgraph/Shaders/RenderPipeline/HDRP/VFXDefines.hlsl\"\n\n\nCBUFFER_START(parameters)\n + \ float3 ArcSphere_sphere_center_a;\n uint PADDING_0;\nCBUFFER_END\n\n\n#include \"Packages/com.unity.visualeffectgraph/Shaders/Common/VFXCommonCompute.cginc\"\n#include \"Packages/com.unity.visualeffectgraph/Shaders/VFXCommon.cginc\"\n\n\n\nRWByteAddressBuffer attributeBuffer;\nByteAddressBuffer sourceAttributeBuffer;\n\nCBUFFER_START(initParams)\n#if @@ -123,16 +126,16 @@ VisualEffectResource: VFX_USE_PARTICLEID_CURRENT\n particleId = particleIndex;\n#endif\n#if VFX_USE_SEED_CURRENT\n seed = WangHash(particleIndex ^ systemSeed);\n#endif\n \ \n {\n PositionSphere_0( /*inout */position, /*inout - */seed, /*inout */direction, float3(0,0,0), (float)1, (float)6.283185, (float)1);\n - \ }\n {\n SetAttribute_F01429A3( /*inout */lifetime, - \ /*inout */seed, (float)1, (float)3);\n }\n \n\n\n#if VFX_USE_ALIVE_CURRENT\n - \ if (alive)\n {\n\t\t\tuint deadIndex = deadListIn.DecrementCounter();\n - \ uint index = deadListIn[deadIndex];\n attributeBuffer.Store3((index - * 0x8 + 0x0) << 2,asuint(position));\n attributeBuffer.Store((index - * 0x1 + 0x80000) << 2,asuint(lifetime));\n attributeBuffer.Store3((index - * 0x8 + 0x4) << 2,asuint(velocity));\n attributeBuffer.Store((index - * 0x8 + 0x3) << 2,uint(alive));\n attributeBuffer.Store((index * - 0x8 + 0x7) << 2,asuint(age));\n \n\n }\n#else\n uint + */seed, /*inout */direction, ArcSphere_sphere_center_a, (float)0.72, (float)6.283185, + (float)1);\n }\n {\n SetAttribute_F01429A3( /*inout + */lifetime, /*inout */seed, (float)1, (float)3);\n }\n \n\n\n#if + VFX_USE_ALIVE_CURRENT\n if (alive)\n {\n\t\t\tuint deadIndex = + deadListIn.DecrementCounter();\n uint index = deadListIn[deadIndex];\n + \ attributeBuffer.Store3((index * 0x8 + 0x0) << 2,asuint(position));\n + \ attributeBuffer.Store((index * 0x1 + 0x80000) << 2,asuint(lifetime));\n + \ attributeBuffer.Store3((index * 0x8 + 0x4) << 2,asuint(velocity));\n + \ attributeBuffer.Store((index * 0x8 + 0x3) << 2,uint(alive));\n attributeBuffer.Store((index + * 0x8 + 0x7) << 2,asuint(age));\n \n\n }\n#else\n uint index = particleIndex;\n attributeBuffer.Store3((index * 0x8 + 0x0) << 2,asuint(position));\n attributeBuffer.Store((index * 0x1 + 0x80000) << 2,asuint(lifetime));\n attributeBuffer.Store3((index * 0x8 + 0x4) @@ -151,14 +154,13 @@ VisualEffectResource: attributeBuffer;\n\n#if VFX_USE_ALIVE_CURRENT\nRWStructuredBuffer deadListOut;\n#endif\n\n#if VFX_HAS_INDIRECT_DRAW\nRWStructuredBuffer indirectBuffer;\n#endif\n\nCBUFFER_START(updateParams)\n \ uint nbMax;\n\tuint dispatchWidth;\n\tuint systemSeed;\nCBUFFER_END\n\nvoid - VectorFieldForce_267A9(inout float3 velocity, float mass, float3 position, VFXSampler3D + VectorFieldForce_0(inout float3 velocity, float mass, float3 position, VFXSampler3D VectorField, float4x4 InvFieldTransform, float4x4 FieldTransform, float Intensity, - float Drag, float deltaTime) /*DataEncoding:UnsignedNormalized Mode:Relative - ClosedField:False ConserveMagnitude:False */\n{\n float3 vectorFieldCoord - = mul(InvFieldTransform, float4(position,1.0f)).xyz;\n \n float3 value - = SampleTexture(VectorField, vectorFieldCoord + 0.5f).xyz * 2.0f - 1.0f;\n value - = mul(FieldTransform,float4(value,0.0f)).xyz;\n \n velocity += ((value - * Intensity) - velocity) * min(1.0f,Drag * deltaTime / mass);\n}\nvoid EulerIntegration(inout + float deltaTime) /*DataEncoding:UnsignedNormalized Mode:Absolute ClosedField:False + ConserveMagnitude:False */\n{\n float3 vectorFieldCoord = mul(InvFieldTransform, + float4(position,1.0f)).xyz;\n \n float3 value = SampleTexture(VectorField, + vectorFieldCoord + 0.5f).xyz * 2.0f - 1.0f;\n value = mul(FieldTransform,float4(value,0.0f)).xyz;\n + \ \n velocity += ((value * Intensity) / mass) * deltaTime;\n}\nvoid EulerIntegration(inout float3 position, float3 velocity, float deltaTime)\n{\n position += velocity * deltaTime;\n}\nvoid Age(inout float age, float deltaTime)\n{\n age += deltaTime;\n}\nvoid Reap(float age, float lifetime, inout bool alive)\n{\n if(age > lifetime) @@ -172,11 +174,11 @@ VisualEffectResource: velocity = asfloat(attributeBuffer.Load3((index * 0x8 + 0x4) << 2));\n\t\t\tfloat mass = (float)1;\n\t\t\tfloat age = asfloat(attributeBuffer.Load((index * 0x8 + 0x7) << 2));\n\t\t\t\n\n\t\t\t\n#if VFX_USE_OLDPOSITION_CURRENT\n\t\t\toldPosition - = position;\n#endif\n\t\t\t\n\t\t\t{\n\t\t\t VectorFieldForce_267A9( /*inout + = position;\n#endif\n\t\t\t\n\t\t\t{\n\t\t\t VectorFieldForce_0( /*inout */velocity, mass, position, GetVFXSampler(VectorField_a, samplerVectorField_a), float4x4(0.5,0,0,0,0,0.5,0,0,0,0,0.5,0,0,0,0,1), float4x4(2,0,0,0,0,2,0,0,0,0,2,0,0,0,0,1), - Intensity_a, (float)1, deltaTime_a);\n\t\t\t}\n\t\t\tEulerIntegration( /*inout - */position, velocity, deltaTime_a);\n\t\t\tAge( /*inout */age, deltaTime_a);\n\t\t\tReap(age, + Intensity_a, deltaTime_a);\n\t\t\t}\n\t\t\tEulerIntegration( /*inout */position, + velocity, deltaTime_a);\n\t\t\tAge( /*inout */age, deltaTime_a);\n\t\t\tReap(age, lifetime, /*inout */alive);\n\t\t\t\n\n\t\t\tif (alive)\n\t\t\t{\n\t\t\t\tattributeBuffer.Store3((index * 0x8 + 0x0) << 2,asuint(position));\n\t\t\t\tattributeBuffer.Store3((index * 0x8 + 0x4) << 2,asuint(velocity));\n\t\t\t\tattributeBuffer.Store((index * @@ -190,9 +192,9 @@ VisualEffectResource: * 0x8 + 0x4) << 2));\n\t\tfloat mass = (float)1;\n\t\tbool alive = (attributeBuffer.Load((index * 0x8 + 0x3) << 2));\n\t\tfloat age = asfloat(attributeBuffer.Load((index * 0x8 + 0x7) << 2));\n\t\t\n\n\t\t\n#if VFX_USE_OLDPOSITION_CURRENT\n\t\toldPosition - = position;\n#endif\n\t\t\n\t\t{\n\t\t VectorFieldForce_267A9( /*inout */velocity, + = position;\n#endif\n\t\t\n\t\t{\n\t\t VectorFieldForce_0( /*inout */velocity, mass, position, GetVFXSampler(VectorField_a, samplerVectorField_a), float4x4(0.5,0,0,0,0,0.5,0,0,0,0,0.5,0,0,0,0,1), - float4x4(2,0,0,0,0,2,0,0,0,0,2,0,0,0,0,1), Intensity_a, (float)1, deltaTime_a);\n\t\t}\n\t\tEulerIntegration( + float4x4(2,0,0,0,0,2,0,0,0,0,2,0,0,0,0,1), Intensity_a, deltaTime_a);\n\t\t}\n\t\tEulerIntegration( /*inout */position, velocity, deltaTime_a);\n\t\tAge( /*inout */age, deltaTime_a);\n\t\tReap(age, lifetime, /*inout */alive);\n\t\t\n\n\t\tattributeBuffer.Store3((index * 0x8 + 0x0) << 2,asuint(position));\n\t\tattributeBuffer.Store3((index * 0x8 + 0x4) @@ -219,9 +221,10 @@ VisualEffectResource: 1\n\t\t#define VFX_USE_AGE_CURRENT 1\n\t\t#define VFX_COLORMAPPING_DEFAULT 1\n\t\t#define IS_TRANSPARENT_PARTICLE 1\n\t\t#define VFX_BLENDMODE_ADD 1\n\t\t#define VFX_PRIMITIVE_QUAD 1\n\t\t\n\t\t\n\t\t\n\t\t#define VFX_LOCAL_SPACE 1\n\t\t#include \"Packages/com.unity.visualeffectgraph/Shaders/RenderPipeline/HDRP/VFXDefines.hlsl\"\n\t\t\n\n\t\tCBUFFER_START(parameters)\n\t\t - \ float4 Scale_d;\n\t\t float gradient_e;\n\t\t uint3 PADDING_0;\n\t\tCBUFFER_END\n\t\tTexture2D - mainTexture;\n\t\tSamplerState samplermainTexture;\n\t\t\n\n\t\t\n\t\t#define - VFX_NEEDS_COLOR_INTERPOLATOR (VFX_USE_COLOR_CURRENT || VFX_USE_ALPHA_CURRENT)\n\t\t\n\t\tByteAddressBuffer + \ float4 Scale_d;\n\t\t float Scale_c;\n\t\t float gradient_e;\n\t\t + \ uint2 PADDING_0;\n\t\tCBUFFER_END\n\t\tTexture2D mainTexture;\n\t\tSamplerState + samplermainTexture;\n\t\t\n\n\t\t\n\t\t#define VFX_NEEDS_COLOR_INTERPOLATOR + (VFX_USE_COLOR_CURRENT || VFX_USE_ALPHA_CURRENT)\n\t\t\n\t\tByteAddressBuffer attributeBuffer;\t\n\t\t\n\t\t#if VFX_HAS_INDIRECT_DRAW\n\t\tStructuredBuffer indirectBuffer;\t\n\t\t#endif\t\n\t\t\n\t\t#if USE_DEAD_LIST_COUNT\n\t\tByteAddressBuffer deadListCount;\n\t\t#endif\n\t\t\n\t\tCBUFFER_START(outputParams)\n\t\t\tfloat @@ -258,16 +261,16 @@ VisualEffectResource: /*attribute:size Composition:Overwrite Source:Slot Random:Off channels:XYZ */\n\t\t\t{\n\t\t\t \ size = Size;\n\t\t\t}\n\t\t\tvoid SetAttribute_D5151644(inout float scaleX, float Scale) /*attribute:scale Composition:Overwrite Source:Slot Random:Off - channels:X */\n\t\t\t{\n\t\t\t scaleX = Scale.x;\n\t\t\t}\n\t\t\tvoid AttributeFromCurve_5369138A(inout - float scaleY, float age, float lifetime, float4 Scale) /*attribute:scale Composition:Overwrite - AlphaComposition:Overwrite SampleMode:OverLife Mode:Uniform ColorMode:ColorAndAlpha - channels:Y */\n\t\t\t{\n\t\t\t float t = age / lifetime;\n\t\t\t float - value = 0.0f;\n\t\t\t value = SampleCurve(Scale, t);\n\t\t\t scaleY = - value.x;\n\t\t\t}\n\t\t\tvoid ColorOverLife_733E3(float age, float lifetime, - inout float3 color, inout float alpha, float gradient) /*mode:ColorAndAlpha - ColorComposition:Multiply AlphaComposition:Multiply */\n\t\t\t{\n\t\t\t \n\t\t\t - \ float4 sampledColor = SampleGradient(gradient, age/lifetime);\n\t\t\t color - *= sampledColor.rgb;\n\t\t\t alpha *= sampledColor.a;\n\t\t\t \n\t\t\t}\n\t\t\t\n\n\t\t\t\n\t\t\t#pragma + channels:X */\n\t\t\t{\n\t\t\t scaleX = Scale.x;\n\t\t\t}\n\t\t\tvoid AttributeFromCurve_53691388(inout + float scaleX, inout float scaleY, float age, float lifetime, float4 Scale) /*attribute:scale + Composition:Overwrite AlphaComposition:Overwrite SampleMode:OverLife Mode:Uniform + ColorMode:ColorAndAlpha channels:XY */\n\t\t\t{\n\t\t\t float t = age / lifetime;\n\t\t\t + \ float2 value = 0.0f;\n\t\t\t value = SampleCurve(Scale, t);\n\t\t\t scaleX + = value.x;\n\t\t\t scaleY = value.y;\n\t\t\t}\n\t\t\tvoid ColorOverLife_733E3(float + age, float lifetime, inout float3 color, inout float alpha, float gradient) + /*mode:ColorAndAlpha ColorComposition:Multiply AlphaComposition:Multiply */\n\t\t\t{\n\t\t\t + \ \n\t\t\t float4 sampledColor = SampleGradient(gradient, age/lifetime);\n\t\t\t + \ color *= sampledColor.rgb;\n\t\t\t alpha *= sampledColor.a;\n\t\t\t \n\t\t\t}\n\t\t\t\n\n\t\t\t\n\t\t\t#pragma vertex vert\n\t\t\tVFX_VARYING_PS_INPUTS vert(uint id : SV_VertexID, uint instanceID : SV_InstanceID)\n\t\t\t{\n\t\t\t#if VFX_PRIMITIVE_TRIANGLE\n\t\t\t\tuint index = id / 3;\n\t\t\t#elif VFX_PRIMITIVE_QUAD\n\t\t\t\tuint index = (id >> 2) + @@ -306,9 +309,9 @@ VisualEffectResource: scaleZ = (float)1;\n\t\t\t\t\t\tfloat age = asfloat(attributeBuffer.Load((index * 0x8 + 0x7) << 2));\n\t\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\t#endif\n\t\t\t\t\t\t\n\t\t\t\tOrient_6( /*inout */axisX, /*inout */axisY, /*inout */axisZ, position, velocity);\n\t\t\t\t{\n\t\t\t\t - \ SetAttribute_3278B22F( /*inout */size, (float)1);\n\t\t\t\t}\n\t\t\t\t{\n\t\t\t\t - \ SetAttribute_D5151644( /*inout */scaleX, (float)0.03);\n\t\t\t\t}\n\t\t\t\tAttributeFromCurve_5369138A( - /*inout */scaleY, age, lifetime, Scale_d);\n\t\t\t\tColorOverLife_733E3(age, + \ SetAttribute_3278B22F( /*inout */size, (float)0.35);\n\t\t\t\t}\n\t\t\t\tSetAttribute_D5151644( + /*inout */scaleX, Scale_c);\n\t\t\t\tAttributeFromCurve_53691388( /*inout */scaleX, + \ /*inout */scaleY, age, lifetime, Scale_d);\n\t\t\t\tColorOverLife_733E3(age, lifetime, /*inout */color, /*inout */alpha, gradient_e);\n\t\t\t\t\n\n\t\t\t\t\n\t\t\t\tif (!alive)\n\t\t\t\t\treturn o;\n\t\t\t\t\n\t\t\t#if VFX_PRIMITIVE_QUAD\n\t\t\t\n\t\t\t\to.VFX_VARYING_UV.x = float(id & 1);\n\t\t\t\to.VFX_VARYING_UV.y = float((id & 2) >> 1);\n\t\t\t\tconst @@ -371,129 +374,163 @@ VisualEffectResource: data[0]: -1 data[1]: -1 data[2]: -1 - data[3]: 13 + data[3]: 3 - op: 1 - valueIndex: 1 - data[0]: -1 - data[1]: -1 - data[2]: -1 - data[3]: 14 - 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file mode 100644 index 0000000..6dc49c6 --- /dev/null +++ b/UnityProject/Assets/MaxP/Shaders/Scripts.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 972910560abb7be42b88c0026a284bba +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/MaxP/Shaders/Scripts/DirtyLensFlare.cs b/UnityProject/Assets/MaxP/Shaders/Scripts/DirtyLensFlare.cs new file mode 100644 index 0000000..0952369 --- /dev/null +++ b/UnityProject/Assets/MaxP/Shaders/Scripts/DirtyLensFlare.cs @@ -0,0 +1,219 @@ +using UnityEngine; +using System.Collections; + +public enum LensFlareTypes { + BloomAndFlare = 0, + Flare = 2, + Bloom = 1 +} + +[RequireComponent (typeof(Camera))] +[ExecuteInEditMode] +[AddComponentMenu("Image Effects/Max P/Dirty Lens Flare")] +public class DirtyLensFlare : MonoBehaviour { + + // Flare Settings + public LensFlareTypes lensFlareType; + public float saturation = 0.9f; + public float threshold = 0.5f; + public float flareIntensity = 2.5f; + public float bloomIntensity = 2.0f; + + // Blur + public int iterations = 10; + public float blurSpread = 0.6f; + + // Downsample + public int downsample = 6; + + // Textures + public bool useDirt = true; + public Texture2D screenDirt; + + // Shaders and Materials + private Shader blurShader; + private Material blurMaterial; + + // ------------------------------------------------------------------------------ + // Image Effect Base (Default Unity Image Effect Script: Standard Assets/Image Effects (Pro Only)/ImageEffectBase.cs) + // ------------------------------------------------------------------------------ + #region Image Effect Base + private Shader shader; + private Material m_Material; + + // (Modified) + protected virtual void Start () + { + // Check Resources First + CheckResources(); + + // Disable if we don't support image effects + if (!SystemInfo.supportsImageEffects) { + enabled = false; + return; + } + + // Disable the image effect if the shader can't + // run on the users graphics card + if (!shader || !shader.isSupported) + enabled = false; + } + + protected Material material { + get { + if (m_Material == null) { + m_Material = new Material (shader); + m_Material.hideFlags = HideFlags.HideAndDontSave; + } + return m_Material; + } + } + + protected virtual void OnDisable() { + if( m_Material ) { + DestroyImmediate( m_Material ); + } + } + #endregion + + + // ------------------------------------------------------------------------------ + // Blur (Default Unity Blur Shader Script: Standard Assets/Image Effects (Pro Only)/BlurEffect.cs) + // ------------------------------------------------------------------------------ + #region Blur Shader Script + // Performs one blur iteration. + public void FourTapCone (RenderTexture source, RenderTexture dest, int iteration, Material blurMtl) + { + float off = 0.5f + iteration*blurSpread; + Graphics.BlitMultiTap (source, dest, blurMtl, + new Vector2(-off, -off), + new Vector2(-off, off), + new Vector2( off, off), + new Vector2( off, -off) + ); + } + + // Applies a blur effect (Modified from default script) + void ApplyBlurPass(RenderTexture source, RenderTexture destination, Material blurMtl) + { + + downsample = Mathf.Clamp(downsample, 1, 12); + + RenderTexture buffer = RenderTexture.GetTemporary(source.width / downsample, source.height / downsample, 0); + RenderTexture buffer2 = RenderTexture.GetTemporary(source.width / downsample, source.height / downsample, 0); + + // Copy source into buffer + Graphics.Blit(source, buffer); + + // Blur the small texture + bool oddEven = true; + for(int i = 0; i < iterations; i++) + { + if( oddEven ) + FourTapCone (buffer, buffer2, i, blurMtl); + else + FourTapCone (buffer2, buffer, i, blurMtl); + oddEven = !oddEven; + } + if( oddEven ) + Graphics.Blit(buffer, destination); + else + Graphics.Blit(buffer2, destination); + + // Release the buffers + RenderTexture.ReleaseTemporary(buffer); + RenderTexture.ReleaseTemporary(buffer2); + } + #endregion + + // ------------------------------------------------------------------------------ + // Dirty Lens Flare MAIN + // ------------------------------------------------------------------------------ + #region Dirty Lens Flare + + bool CheckResources() + { + // Check blur shader + if(!blurShader) + { + blurShader = Shader.Find("Hidden/Dirty Lens Flare Blur"); + if(!blurShader) + return false; + } + + // Check blur material + if(!blurMaterial) + { + blurMaterial = new Material(blurShader); + blurMaterial.hideFlags = HideFlags.HideAndDontSave; + if(!blurMaterial) + return false; + } + + // Check dirty lens flare shader + if(!shader) + { + shader = Shader.Find("Hidden/Dirty Lens Flare"); + if(!shader) + return false; + } + + return true; + } + + // Called by camera to apply image effect + void OnRenderImage (RenderTexture source, RenderTexture destination) { + + if( CheckResources() ) + { + + material.SetFloat("_Threshold", threshold); + material.SetFloat("_Scale", flareIntensity); + material.SetFloat("_BloomScale", bloomIntensity); + + // Create downsampled image + RenderTexture downSampled = RenderTexture.GetTemporary (source.width / 4, source.height / 4, 0, RenderTextureFormat.Default); + + // Apply threshold + material.SetFloat("_desaturate", 1.0f-saturation); + switch(lensFlareType) + { + case LensFlareTypes.Bloom: + Graphics.Blit(source, downSampled, material, 2); // Bloom only + break; + case LensFlareTypes.Flare: + Graphics.Blit(source, downSampled, material, 0); // Flare only + break; + case LensFlareTypes.BloomAndFlare: + Graphics.Blit(source, downSampled, material, 1); // Flare + Bloom + break; + } + + // Create blur buffer + RenderTexture blurred = RenderTexture.GetTemporary (downSampled.width, downSampled.height, 0, RenderTextureFormat.Default); + + // Apply blur + ApplyBlurPass(downSampled, blurred, blurMaterial); + + // Apply blending + material.SetTexture("_Flare", blurred); + if( useDirt ) + { + material.SetTexture("_Dirt", screenDirt); + Graphics.Blit (source, destination, material, 3); + } + else + { + Graphics.Blit (source, destination, material, 4); + } + + // Release downsampled images + RenderTexture.ReleaseTemporary (downSampled); + RenderTexture.ReleaseTemporary (blurred); + + } + + } + #endregion + +} diff --git a/UnityProject/Assets/MaxP/Shaders/Scripts/DirtyLensFlare.cs.meta b/UnityProject/Assets/MaxP/Shaders/Scripts/DirtyLensFlare.cs.meta new file mode 100644 index 0000000..a9b900b --- /dev/null +++ b/UnityProject/Assets/MaxP/Shaders/Scripts/DirtyLensFlare.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 8f524cac4f2747b4fb11c694dd9b39b0 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/MaxP/Shaders/Scripts/Editor.meta b/UnityProject/Assets/MaxP/Shaders/Scripts/Editor.meta new file mode 100644 index 0000000..7f42f35 --- /dev/null +++ b/UnityProject/Assets/MaxP/Shaders/Scripts/Editor.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 201ef1b29efe4204b83218febcd811a5 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/MaxP/Shaders/Scripts/Editor/DirtyLensFlareEditor.cs b/UnityProject/Assets/MaxP/Shaders/Scripts/Editor/DirtyLensFlareEditor.cs new file mode 100644 index 0000000..544ce00 --- /dev/null +++ b/UnityProject/Assets/MaxP/Shaders/Scripts/Editor/DirtyLensFlareEditor.cs @@ -0,0 +1,82 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + + +[CustomEditor(typeof(DirtyLensFlare))] +public class DirtyLensFlareEditor : Editor { + + SerializedObject serObj; + SerializedProperty lensFlareType; + SerializedProperty useDirt; + SerializedProperty saturation; + SerializedProperty flareIntensity; + SerializedProperty bloomIntensity; + SerializedProperty threshold; + SerializedProperty blurSpread; + SerializedProperty blurIterations; + SerializedProperty dirtTexture; + SerializedProperty downsample; + + GUIStyle style; + + void OnEnable() + { + serObj = new SerializedObject (target); + lensFlareType = serObj.FindProperty("lensFlareType"); + useDirt = serObj.FindProperty("useDirt"); + saturation = serObj.FindProperty("saturation"); + flareIntensity = serObj.FindProperty("flareIntensity"); + bloomIntensity = serObj.FindProperty("bloomIntensity"); + threshold = serObj.FindProperty("threshold"); + + blurIterations = serObj.FindProperty("iterations"); + blurSpread = serObj.FindProperty("blurSpread"); + + downsample = serObj.FindProperty("downsample"); + + dirtTexture = serObj.FindProperty("screenDirt"); + + } + + public override void OnInspectorGUI () { + + serObj.Update(); + + EditorGUILayout.PropertyField (lensFlareType, new GUIContent("Lens flare type")); + + + threshold.floatValue = EditorGUILayout.Slider ("Threshold", threshold.floatValue, 0.0f, 1.0f); + + if( lensFlareType.enumValueIndex == 0 || lensFlareType.enumValueIndex == 2 ) + { + saturation.floatValue = EditorGUILayout.Slider ("Flare saturation", saturation.floatValue, -2.0f, 2.0f); + flareIntensity.floatValue = EditorGUILayout.Slider ("Flare intensity", flareIntensity.floatValue, 0.0f, 10.0f); + if( lensFlareType.enumValueIndex == 0 ) + bloomIntensity.floatValue = EditorGUILayout.Slider ("Bloom intensity", bloomIntensity.floatValue, 0.0f, 10.0f); + } + else + { + bloomIntensity.floatValue = EditorGUILayout.Slider ("Bloom intensity", bloomIntensity.floatValue, 0.0f, 10.0f); + } + + EditorGUILayout.Separator (); + + blurSpread.floatValue = EditorGUILayout.Slider ("Blur spread", blurSpread.floatValue, 0.0f, 2.0f); + blurIterations.intValue = EditorGUILayout.IntSlider ("Blur iterations", blurIterations.intValue, 0, 64); + + EditorGUILayout.Separator (); + + downsample.intValue = EditorGUILayout.IntField("Downsample", downsample.intValue); + downsample.intValue = Mathf.Clamp(downsample.intValue, 1, 12); + + EditorGUILayout.Separator (); + + EditorGUILayout.PropertyField (useDirt, new GUIContent("Use dirt")); + EditorGUILayout.PropertyField (dirtTexture, new GUIContent("Screen dirt texture")); + + serObj.ApplyModifiedProperties(); + + } + +} diff --git a/UnityProject/Assets/MaxP/Shaders/Scripts/Editor/DirtyLensFlareEditor.cs.meta b/UnityProject/Assets/MaxP/Shaders/Scripts/Editor/DirtyLensFlareEditor.cs.meta new file mode 100644 index 0000000..acbb3e2 --- /dev/null +++ b/UnityProject/Assets/MaxP/Shaders/Scripts/Editor/DirtyLensFlareEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 43e2854d46a86fb48a5bb310bc3ee91b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/MaxP/Shaders/_Source.meta b/UnityProject/Assets/MaxP/Shaders/_Source.meta new file mode 100644 index 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+fileFormatVersion: 2 +guid: 8362abac220b4fd4d812b8e9b99cc523 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProject/Assets/MaxP/Shaders/_Source/Shaders/Resources/Blur.shader b/UnityProject/Assets/MaxP/Shaders/_Source/Shaders/Resources/Blur.shader new file mode 100644 index 0000000..1bf633e --- /dev/null +++ b/UnityProject/Assets/MaxP/Shaders/_Source/Shaders/Resources/Blur.shader @@ -0,0 +1,59 @@ +// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)' + +// ------------------------------------------------------------------------------------------------------ +// Default Unity Blur Shader [Image Effects(Pro Only)/_Sources/Shaders/BlurEffectConeTaps.shader] +// ------------------------------------------------------------------------------------------------------ + +Shader "Hidden/Dirty Lens Flare Blur" { + Properties { _MainTex ("", 2D) = "" {} } + SubShader { + Pass { + ZTest Always Cull Off ZWrite Off Fog { Mode Off } + SetTexture [_MainTex] {constantColor (0,0,0,0.25) combine texture * constant alpha} + SetTexture [_MainTex] {constantColor (0,0,0,0.25) combine texture * constant + previous} + SetTexture [_MainTex] {constantColor (0,0,0,0.25) combine texture * constant + previous} + SetTexture [_MainTex] {constantColor (0,0,0,0.25) combine texture * constant + previous} + } + } + CGINCLUDE + #include "UnityCG.cginc" + struct v2f { + float4 pos : POSITION; + half2 uv : TEXCOORD0; + half2 taps[4] : TEXCOORD1; + }; + sampler2D _MainTex; + half4 _MainTex_TexelSize; + half4 _BlurOffsets; + v2f vert( appdata_img v ) { + v2f o; + o.pos = UnityObjectToClipPos(v.vertex); + o.uv = v.texcoord - _BlurOffsets.xy * _MainTex_TexelSize.xy; // hack, see BlurEffect.cs for the reason for this. let's make a new blur effect soon + o.taps[0] = o.uv + _MainTex_TexelSize * _BlurOffsets.xy; + o.taps[1] = o.uv - _MainTex_TexelSize * _BlurOffsets.xy; + o.taps[2] = o.uv + _MainTex_TexelSize * _BlurOffsets.xy * half2(1,-1); + o.taps[3] = o.uv - _MainTex_TexelSize * _BlurOffsets.xy * half2(1,-1); + return o; + } + half4 frag(v2f i) : COLOR { + half4 color = tex2D(_MainTex, i.taps[0]); + color += tex2D(_MainTex, i.taps[1]); + color += tex2D(_MainTex, i.taps[2]); + color += tex2D(_MainTex, i.taps[3]); + return color * 0.25; + } + ENDCG + SubShader { + Pass { + ZTest Always Cull Off ZWrite Off + Fog { Mode off } + + CGPROGRAM + #pragma fragmentoption ARB_precision_hint_fastest + #pragma vertex vert + #pragma fragment frag + ENDCG + } + } + Fallback off +} \ No newline at end of file diff --git a/UnityProject/Assets/MaxP/Shaders/_Source/Shaders/Resources/Blur.shader.meta b/UnityProject/Assets/MaxP/Shaders/_Source/Shaders/Resources/Blur.shader.meta new file mode 100644 index 0000000..6b6b402 --- /dev/null +++ b/UnityProject/Assets/MaxP/Shaders/_Source/Shaders/Resources/Blur.shader.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 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float _Threshold; + uniform float _Scale; + uniform float _BloomScale; + uniform float _desaturate; + + // Threshold + fixed4 frag_threshold (v2f_img IN) : COLOR + { + // Get original color + fixed4 original = tex2D(_MainTex, IN.uv); + + // Flip uv + fixed2 uv = float2(1,1) - IN.uv; + + // Apply threshold + fixed4 output = max( float4(0,0,0,0), tex2D(_MainTex, uv) - _Threshold ) * _Scale; + + // Desaturate + output = Luminance(output.rgb) * _desaturate + output * (float4(1,1,1,1)-_desaturate); + + return output; + } + + // Threshold + Bloom + fixed4 frag_thresholdBloom (v2f_img IN) : COLOR + { + // Get original color + fixed4 original = tex2D(_MainTex, IN.uv); + + // Get bloom + fixed4 bloom = max( float4(0,0,0,0), original - _Threshold ) * _BloomScale; + + // Flip uv + fixed2 uv = float2(1,1) - IN.uv; + + // Apply threshold + fixed4 output = max( float4(0,0,0,0), tex2D(_MainTex, uv) - _Threshold ) * _Scale; + + // Desaturate + output = Luminance(output.rgb) * _desaturate + output * 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