Azure Kinect Demos
Bought the asset to test with
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@ -0,0 +1,22 @@
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|||
using UnityEngine;
|
||||
using System.Collections;
|
||||
|
||||
|
||||
namespace com.rfilkov.components
|
||||
{
|
||||
public class CameraPitchCorrector : MonoBehaviour
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{
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[Tooltip("Smooth factor used for the camera re-orientation.")]
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public float smoothFactor = 10f;
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void LateUpdate()
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{
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Vector3 projectedDir = Vector3.ProjectOnPlane(jointDir, Vector3.forward);
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transform.rotation = Quaternion.Slerp(transform.rotation, transform.rotation * invPitchRot, smoothFactor * Time.deltaTime);
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}
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}
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}
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@ -0,0 +1,31 @@
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|||
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.")]
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public float moveSpeed = 1f;
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[Tooltip("Smooth factor used for offset node movements.")]
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public float smoothFactor = 1f;
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void Update()
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{
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float h = Input.GetAxis("Horizontal");
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float v = Input.GetAxis("Vertical");
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if (h != 0f || v != 0f)
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{
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Vector3 vMoveStep = new Vector3(h * moveSpeed, 0f, v * moveSpeed);
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Vector3 vMoveTo = transform.position + vMoveStep;
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transform.position = Vector3.Lerp(transform.position, vMoveTo, Time.deltaTime * smoothFactor);
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}
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}
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}
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}
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@ -0,0 +1,165 @@
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|||
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.")]
|
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public GameObject avatarModel;
|
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|
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[Tooltip("Smooth factor used by the avatar controller.")]
|
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public float smoothFactor = 10f;
|
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|
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[Tooltip("If enabled, makes the avatar position relative to this camera to be the same as the player's position to the sensor.")]
|
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public Camera posRelativeToCamera;
|
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|
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[Tooltip("Whether the avatar is facing the player or not.")]
|
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public bool mirroredMovement = true;
|
||||
|
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[Tooltip("Whether the avatar is allowed to move vertically or not.")]
|
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public bool verticalMovement = true;
|
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|
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[Tooltip("Whether the avatar's feet must stick to the ground.")]
|
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public bool groundedFeet = false;
|
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|
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[Tooltip("Whether to apply the humanoid model's muscle limits or not.")]
|
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public bool applyMuscleLimits = false;
|
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|
||||
|
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private KinectManager kinectManager;
|
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private int maxUserCount = 0;
|
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|
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private ulong userChecksum = 0;
|
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private Dictionary<ulong, GameObject> alUserAvatars = new Dictionary<ulong, GameObject>();
|
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|
||||
|
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void Start()
|
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{
|
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kinectManager = KinectManager.Instance;
|
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}
|
||||
|
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void Update()
|
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{
|
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ulong checksum = GetUserChecksum(out maxUserCount);
|
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|
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if (userChecksum != checksum)
|
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{
|
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userChecksum = checksum;
|
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List<ulong> alAvatarToRemove = new List<ulong>(alUserAvatars.Keys);
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for (int i = 0; i < maxUserCount; i++)
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{
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ulong userId = kinectManager.GetUserIdByIndex(i);
|
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if (userId == 0)
|
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continue;
|
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|
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if (alAvatarToRemove.Contains(userId))
|
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alAvatarToRemove.Remove(userId);
|
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|
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if (!alUserAvatars.ContainsKey(userId))
|
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{
|
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Debug.Log("Creating avatar for userId: " + userId + ", Time: " + Time.realtimeSinceStartup);
|
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|
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// create avatar for the user
|
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int userIndex = kinectManager.GetUserIndexById(userId);
|
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GameObject avatarObj = CreateUserAvatar(userId, userIndex);
|
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alUserAvatars[userId] = avatarObj;
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}
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}
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// remove the missing users from the list
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foreach (ulong userId in alAvatarToRemove)
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{
|
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if (alUserAvatars.ContainsKey(userId))
|
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{
|
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Debug.Log("Destroying avatar for userId: " + userId + ", Time: " + Time.realtimeSinceStartup);
|
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|
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GameObject avatarObj = alUserAvatars[userId];
|
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alUserAvatars.Remove(userId);
|
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|
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// destroy the user's avatar
|
||||
DestroyUserAvatar(avatarObj);
|
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}
|
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}
|
||||
|
||||
}
|
||||
}
|
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|
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// returns the checksum of current users
|
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private ulong GetUserChecksum(out int maxUserCount)
|
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{
|
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maxUserCount = 0;
|
||||
ulong checksum = 0;
|
||||
|
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if (kinectManager && kinectManager.IsInitialized())
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{
|
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maxUserCount = kinectManager.GetMaxBodyCount();
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//ulong csMask = 0xFFFFFFFFFFFFFFF;
|
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for (int i = 0; i < maxUserCount; i++)
|
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{
|
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ulong userId = kinectManager.GetUserIdByIndex(i);
|
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//userId &= csMask;
|
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|
||||
if (userId != 0)
|
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{
|
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checksum += userId;
|
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//checksum &= csMask;
|
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}
|
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}
|
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}
|
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|
||||
return checksum;
|
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}
|
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|
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|
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// creates avatar for the given user
|
||||
private GameObject CreateUserAvatar(ulong userId, int userIndex)
|
||||
{
|
||||
GameObject avatarObj = null;
|
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|
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if (avatarModel)
|
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{
|
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Vector3 userPos = new Vector3(userIndex, 0, 0);
|
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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>();
|
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ac.playerIndex = userIndex;
|
||||
|
||||
ac.smoothFactor = smoothFactor;
|
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ac.posRelativeToCamera = posRelativeToCamera;
|
||||
|
||||
ac.mirroredMovement = mirroredMovement;
|
||||
ac.verticalMovement = verticalMovement;
|
||||
|
||||
ac.groundedFeet = groundedFeet;
|
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ac.applyMuscleLimits = applyMuscleLimits;
|
||||
}
|
||||
}
|
||||
|
||||
return avatarObj;
|
||||
}
|
||||
|
||||
// destroys the avatar and refreshes the list of avatar controllers
|
||||
private void DestroyUserAvatar(GameObject avatarObj)
|
||||
{
|
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if (avatarObj)
|
||||
{
|
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Destroy(avatarObj);
|
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|
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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.")]
|
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public int sensorIndex = 0;
|
||||
|
||||
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|
||||
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;
|
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|
||||
//[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)
|
||||
{
|
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overlayObject = transform;
|
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}
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{
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|
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}
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}
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void Update()
|
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{
|
||||
if (kinectManager && kinectManager.IsInitialized())
|
||||
{
|
||||
// get the plane rectangle to be used for object overlay
|
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{
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|
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|
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planeRect.x = planeObject.position.x - planeRect.width / 2f;
|
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planeRect.y = planeObject.position.y - planeRect.height / 2f;
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}
|
||||
|
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// overlay the object
|
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ulong userId = kinectManager.GetUserIdByIndex(playerIndex);
|
||||
|
||||
int iJointIndex = (int)trackedJoint;
|
||||
if (planeObject && kinectManager.IsJointTracked(userId, iJointIndex))
|
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{
|
||||
//Vector3 posJoint = manager.GetJointPosColorOverlay(userId, iJointIndex, foregroundCamera, backgroundRect);
|
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Vector3 posJoint = kinectManager.GetJointPosColorOverlay(userId, iJointIndex, sensorIndex, planeRect);
|
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posJoint.z = planeObject.position.z;
|
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|
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if (posJoint != Vector3.zero)
|
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{
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if (overlayObject)
|
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{
|
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overlayObject.position = posJoint;
|
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}
|
||||
}
|
||||
}
|
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else
|
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{
|
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// make the overlay object invisible
|
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if (overlayObject && overlayObject.position.z > 0f)
|
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{
|
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Vector3 posJoint = overlayObject.position;
|
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posJoint.z = -10f;
|
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overlayObject.position = posJoint;
|
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}
|
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}
|
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|
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}
|
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|||
using UnityEngine;
|
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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
|
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{
|
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[Tooltip("Index of the player, tracked by this component. 0 - the 1st player, 1 - the 2nd player, etc.")]
|
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public int playerIndex = 0;
|
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|
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[Tooltip("Smooth factor used for the transform movement.")]
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public float smoothFactor = 20f;
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|
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private KinectManager kinectManager = null;
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private ulong lastUserId = 0;
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private ulong userId = 0;
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private Vector3 initialPlanePos = Vector3.zero;
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private Vector3 currentUserPos = Vector3.zero;
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|
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void Start()
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{
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kinectManager = KinectManager.Instance;
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initialPlanePos = transform.position;
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}
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void Update()
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{
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if (kinectManager == null || !kinectManager.IsInitialized())
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return;
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userId = kinectManager.GetUserIdByIndex(playerIndex);
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{
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Vector3 newPlanePos = initialPlanePos + new Vector3(0f, 0f, deltaUserPos.z);
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transform.position = Vector3.Lerp(transform.position, newPlanePos, smoothFactor * Time.deltaTime);
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}
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else
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{
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lastUserId = 0;
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//gameObject.SetActive(false);
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transform.position = initialPlanePos;
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//gameObject.SetActive(true);
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@ -0,0 +1,128 @@
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|||
using UnityEngine;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
|
||||
namespace com.rfilkov.components
|
||||
{
|
||||
[System.Serializable]
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||||
public class Blob
|
||||
{
|
||||
[Tooltip("Number of pixels in the blob.")]
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||||
public int pixels;
|
||||
|
||||
[Tooltip("Blob limits in X (pixels), Y (pixels) & Z (mm).")]
|
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public int minx, miny, minz, maxx, maxy, maxz;
|
||||
//public long sumx, sumy, sumz;
|
||||
|
||||
|
||||
/// <summary>
|
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/// Blob constructor.
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/// </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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}
|
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|
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}
|
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|
|
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serializedVersion: 2
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defaultReferences: []
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userData:
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assetBundleName:
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@ -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;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
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using System.Collections;
|
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using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
namespace com.rfilkov.components
|
||||
{
|
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public class CollisionLogger : MonoBehaviour
|
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if (other.GetComponent<CollisionLogger>())
|
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return;
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using UnityEngine;
|
||||
using System.Collections;
|
||||
|
||||
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namespace com.rfilkov.components
|
||||
{
|
||||
public class BallMover : MonoBehaviour
|
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{
|
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void Update()
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{
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if (transform.position.y < -2f)
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{
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Destroy(gameObject);
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@ -0,0 +1,66 @@
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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.")]
|
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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.")]
|
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public Transform cubePrefab;
|
||||
|
||||
[Tooltip("How many objects do we want to spawn.")]
|
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public int numberOfObjects = 20;
|
||||
|
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private float nextSpawnTime = 0.0f;
|
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private float spawnRate = 1.5f;
|
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private int ballsCount = 0;
|
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|
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|
||||
void Update()
|
||||
{
|
||||
if (nextSpawnTime < Time.time)
|
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{
|
||||
SpawnBalls();
|
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nextSpawnTime = Time.time + spawnRate;
|
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|
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spawnRate = Random.Range(0f, 1f);
|
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//numberOfBalls = Mathf.RoundToInt(Random.Range(1f, 10f));
|
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}
|
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}
|
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|
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void SpawnBalls()
|
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{
|
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KinectManager kinectManager = KinectManager.Instance;
|
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|
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if (ballPrefab && cubePrefab && ballsCount < numberOfObjects &&
|
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kinectManager && kinectManager.IsInitialized() && kinectManager.IsUserDetected(playerIndex))
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{
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ulong userId = kinectManager.GetUserIdByIndex(playerIndex);
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Vector3 posUser = kinectManager.GetUserPosition(userId);
|
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|
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float xOfs = Random.Range(-1.5f, 1.5f);
|
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float zOfs = Random.Range(-2.0f, 1.0f);
|
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float yOfs = Random.Range(1.0f, 4.0f);
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Vector3 spawnPos = new Vector3(posUser.x + xOfs, posUser.y + yOfs, posUser.z + zOfs);
|
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|
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int ballOrCube = Mathf.RoundToInt(Random.Range(0f, 1f));
|
||||
|
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Transform ballTransform = Instantiate(ballOrCube > 0 ? ballPrefab : cubePrefab, spawnPos, Quaternion.identity) as Transform;
|
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ballTransform.GetComponent<Renderer>().material.color = new Color(Random.Range(0.5f, 1f), Random.Range(0.5f, 1f), Random.Range(0.5f, 1f), 1f);
|
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ballTransform.GetComponent<Rigidbody>().drag = Random.Range(1f, 100f);
|
||||
ballTransform.parent = transform;
|
||||
|
||||
ballsCount++;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 588ad441d57181740a59b92f56b88b44
|
||||
timeCreated: 1457362486
|
||||
licenseType: Store
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
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Reference in a new issue