Azure Kinect Demos

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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);
+        }
+
+    }
+}

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UnityProject/Assets/AzureKinectExamples/KinectDemos/AvatarDemo/Scripts/OffsetNodeMover.cs

@@ -0,0 +1,31 @@
+using UnityEngine;
+using System.Collections;
+
+
+namespace com.rfilkov.components
+{
+    public class OffsetNodeMover : MonoBehaviour
+    {
+        [Tooltip("Speed at which the offset node will move through the scene.")]
+        public float 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);
+            }
+        }
+
+    }
+}

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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<ulong, GameObject> alUserAvatars = new Dictionary<ulong, GameObject>();
+
+
+        void Start()
+        {
+            kinectManager = KinectManager.Instance;
+        }
+
+        void Update()
+        {
+            ulong checksum = GetUserChecksum(out maxUserCount);
+
+            if (userChecksum != checksum)
+            {
+                userChecksum = checksum;
+                List<ulong> alAvatarToRemove = new List<ulong>(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<AvatarController>();
+                if (ac == null)
+                {
+                    ac = avatarObj.AddComponent<AvatarController>();
+                    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);
+            }
+        }
+
+    }
+}

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UnityProject/Assets/AzureKinectExamples/KinectDemos/BackgroundRemovalDemo/Scripts/ColorImageJointOverlayer.cs

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+using UnityEngine;
+using System.Collections;
+using System;
+using com.rfilkov.kinect;
+
+
+namespace com.rfilkov.components
+{
+    /// <summary>
+    /// ColorImageJointOverlayer overlays the given user's joint with virtual object over the user's BR image.
+    /// </summary>
+    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;
+                    }
+                }
+
+            }
+        }
+
+    }
+}

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UnityProject/Assets/AzureKinectExamples/KinectDemos/BackgroundRemovalDemo/Scripts/UserImageMover.cs

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+using UnityEngine;
+using System.Collections;
+using com.rfilkov.kinect;
+
+
+namespace com.rfilkov.components
+{
+    /// <summary>
+    /// UserImageMover moves the BR image, according to the distance to the user.
+    /// </summary>
+    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 ? (currentUserPos - initialUserPos) : currentUserPos;
+                Vector3 newPlanePos = initialPlanePos + new Vector3(0f, 0f, deltaUserPos.z);
+
+                transform.position = Vector3.Lerp(transform.position, newPlanePos, smoothFactor * Time.deltaTime);
+            }
+            else
+            {
+                lastUserId = 0;
+
+                //gameObject.SetActive(false);
+                transform.position = initialPlanePos;
+                //gameObject.SetActive(true);
+            }
+        }
+
+    }
+}

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UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/Blob.cs

@@ -0,0 +1,128 @@
+    using UnityEngine;
+    using System.Collections;
+    using System.Collections.Generic;
+    using System.Linq;
+
+namespace com.rfilkov.components
+{
+    [System.Serializable]
+    public class Blob
+    {
+        [Tooltip("Number of pixels in the blob.")]
+        public int pixels;
+
+        [Tooltip("Blob limits in X (pixels), Y (pixels) & Z (mm).")]
+        public int minx, miny, minz, maxx, maxy, maxz;
+        //public long sumx, sumy, sumz;
+
+
+        /// <summary>
+        /// Blob constructor.
+        /// </summary>
+        /// <param name="x"></param>
+        /// <param name="y"></param>
+        /// <param name="z"></param>
+        public Blob(int x, int y, int z)
+        {
+            minx = maxx = x;
+            //sumx = x;
+
+            miny = maxy = y;
+            //sumy = y;
+
+            minz = maxz = z;
+            //sumz = z;
+
+            pixels++;
+        }
+
+        /// <summary>
+        /// Checks if the current blob is inside the given one.
+        /// </summary>
+        /// <param name="b">Blob</param>
+        /// <returns></returns>
+        public bool IsInside(Blob b)
+        {
+            if (minx >= b.minx && maxx <= b.maxx && miny >= b.miny && maxy <= b.maxy && minz >= b.minz && maxz <= b.maxz)
+            {
+                return true;
+            }
+
+            return false;
+        }
+
+        /// <summary>
+        /// Checks if a pixel is near or inside this blob.
+        /// </summary>
+        /// <param name="pixX">X</param>
+        /// <param name="pixY">Y</param>
+        /// <param name="pixZ">Z</param>
+        /// <param name="difXY">Tolerance in X- & Y-directions (pixels)</param>
+        /// <param name="difZ">Tolerance in Z-direction (mm)</param>
+        /// <returns></returns>
+        public bool IsNearOrInside(int pixX, int pixY, int pixZ, int difXY, int difZ)
+        {
+            if (pixX >= (minx - difXY) && pixX <= (maxx + difXY) && pixY >= (miny - difXY) && pixY <= (maxy + difXY))
+            {
+                if(pixZ >= (minz - difZ) && pixZ <= (maxz + difZ))
+                {
+                    return true;
+                }
+            }
+
+            return false;
+        }
+
+        /// <summary>
+        /// Adds a pixel to the blob.
+        /// </summary>
+        /// <param name="pixX">X</param>
+        /// <param name="pixY">Y</param>
+        /// <param name="pixZ">Z</param>
+        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;
+        }
+
+        /// <summary>
+        /// Gets the blob width.
+        /// </summary>
+        /// <returns>Blob width</returns>
+        public float GetWidth()
+        {
+            return maxx - minx;
+        }
+
+        /// <summary>
+        /// Gets the blob height.
+        /// </summary>
+        /// <returns>Blob height</returns>
+        public float GetHeight()
+        {
+            return maxy - miny;
+        }
+
+        /// <summary>
+        /// Gets the blob center.
+        /// </summary>
+        /// <returns>Blob center</returns>
+        public Vector3 GetBlobCenter()
+        {
+            return new Vector3((minx + maxx) / 2, (miny + maxy) / 2, (minz + maxz) / 2);
+        }
+
+    }
+
+}

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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<Blob> blobs = new List<Blob>();
+        // list of cubes
+        private List<GameObject> blobObjects = new List<GameObject>();
+
+
+
+        /// <summary>
+        /// Gets the number of detected blobs.
+        /// </summary>
+        /// <returns>Number of blobs.</returns>
+        public int GetBlobsCount()
+        {
+            return blobs.Count;
+        }
+
+
+        /// <summary>
+        /// Gets the blob with the given index.
+        /// </summary>
+        /// <param name="i">Blob index.</param>
+        /// <returns>The blob.</returns>
+        public Blob GetBlob(int i)
+        {
+            if(i >= 0 && i < blobs.Count)
+            {
+                return blobs[i];
+            }
+
+            return null;
+        }
+
+
+        /// <summary>
+        /// Gets distance to the blob with the given index.
+        /// </summary>
+        /// <param name="i">Blob index.</param>
+        /// <returns>Distance to the blob.</returns>
+        public float GetBlobDistance(int i)
+        {
+            if (i >= 0 && i < blobs.Count)
+            {
+                Vector3 blobCenter = blobs[i].GetBlobCenter();
+                return blobCenter.z / 1000f;
+
+            }
+
+            return 0f;
+        }
+
+
+        /// <summary>
+        /// Gets position on the depth image of the given blob. 
+        /// </summary>
+        /// <param name="i">Blob index.</param>
+        /// <returns>Depth image position of the blob.</returns>
+        public Vector2 GetBlobImagePos(int i)
+        {
+            if (i >= 0 && i < blobs.Count)
+            {
+                Vector3 blobCenter = blobs[i].GetBlobCenter();
+                return (Vector2)blobCenter;
+
+            }
+
+            return Vector2.zero;
+        }
+
+
+        /// <summary>
+        /// Gets position in the 3d space of the given blob.
+        /// </summary>
+        /// <param name="i">Blob index.</param>
+        /// <returns>Space position of the blob.</returns>
+        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<Blob>();
+            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)
+            {
+                int sY = (int)((depthImageHeight - y) * scaleY);
+                int sMaxX = (int)((depthImageWidth - 1) * scaleX);
+
+                Color clrLine = new Color(0, c, 0, 1);
+                KinectInterop.DrawLine(rectX, rectY + sY, rectX + sMaxX, rectY + sY, 1, clrLine);
+                c += 0.1f;
+            }
+        }
+
+    }
+}

UnityProject/Assets/AzureKinectExamples/KinectDemos/BlobDetectionDemo/Scripts/BlobDetector.cs.meta

@@ -0,0 +1,11 @@
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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<CollisionLogger>())
+                return;
+
+            Debug.Log("Detected collision of " + gameObject.name + " with " + other.gameObject.name);
+        }
+    }
+}

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UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallMover.cs

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+using UnityEngine;
+using System.Collections;
+
+
+namespace com.rfilkov.components
+{
+    public class BallMover : MonoBehaviour
+    {
+        void Update()
+        {
+            if (transform.position.y < -2f)
+            {
+                Destroy(gameObject);
+            }
+        }
+    }
+}

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UnityProject/Assets/AzureKinectExamples/KinectDemos/ColliderDemo/Scripts/BallSpawner.cs

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+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<Renderer>().material.color = new Color(Random.Range(0.5f, 1f), Random.Range(0.5f, 1f), Random.Range(0.5f, 1f), 1f);
+                ballTransform.GetComponent<Rigidbody>().drag = Random.Range(1f, 100f);
+                ballTransform.parent = transform;
+
+                ballsCount++;
+            }
+        }
+
+    }
+}

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