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add Kinect Manager

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This commit is contained in:
Chikashi Miyama 2019-07-07 09:39:46 +02:00
parent 1b4866e74e
commit 82ab0c5e75
14 changed files with 394 additions and 318 deletions
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3
UnityProject/.idea/.idea.UnityProject/.idea/contentModel.xml
View file

@ -20,10 +20,11 @@
</e> </e>
</e> </e>
<e p="InfraredCamera.cs" t="Include" /> <e p="InfraredCamera.cs" t="Include" />
<e p="KinectManager.cs" t="Include" />
<e p="KinectSensor.cs" t="Include" /> <e p="KinectSensor.cs" t="Include" />
<e p="PointCloud.cs" t="Include" />
</e> </e>
<e p="Visualizer" t="Include"> <e p="Visualizer" t="Include">
<e p="PointCloud.cs" t="Include" />
<e p="WaveformVisualizer.cs" t="Include" /> <e p="WaveformVisualizer.cs" t="Include" />
</e> </e>
</e> </e>

575
UnityProject/.idea/.idea.UnityProject/.idea/workspace.xml
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@ -2,34 +2,17 @@
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m_ObjectHideFlags: 0 m_ObjectHideFlags: 0

8
UnityProject/Assets/Scripts/VideoInput/ComponentFactory.cs
View file

@ -1,12 +1,6 @@
namespace VideoInput namespace VideoInput
{ {
public interface IComponentFactory public class ComponentFactory
{
IKinectSensor CreateKinectSensor();
IInfraredCamera CreateInfraredCamera();
}
public class ComponentFactory : IComponentFactory
{ {
public IKinectSensor CreateKinectSensor() public IKinectSensor CreateKinectSensor()
{ {

2
UnityProject/Assets/Scripts/VideoInput/Editor/UnitTest/ComponentFactoryTestCase.cs
View file

@ -2,7 +2,7 @@
namespace VideoInput.Editor.UnitTest namespace VideoInput.Editor.UnitTest
{ {
public class UnitTest_ComponentFactory public class UnitTestComponentFactory
{ {
[Test] [Test]
public void CreateKinectSensor() public void CreateKinectSensor()

11
UnityProject/Assets/Scripts/VideoInput/Editor/UnitTest/KinectSensorTestCase.cs
View file

@ -4,7 +4,7 @@ using NSubstitute;
namespace VideoInput.Editor.UnitTest namespace VideoInput.Editor.UnitTest
{ {
[TestFixture] [TestFixture]
public class UnitTest_KinectSensor public class UnitTestKinectSensor
{ {
private IInfraredCamera infraredCameraMock_; private IInfraredCamera infraredCameraMock_;
@ -20,5 +20,14 @@ namespace VideoInput.Editor.UnitTest
var kinectSensor = new KinectSensor(infraredCameraMock_); var kinectSensor = new KinectSensor(infraredCameraMock_);
Assert.AreSame(infraredCameraMock_, kinectSensor.InfraredCamera); Assert.AreSame(infraredCameraMock_, kinectSensor.InfraredCamera);
} }
[Test]
public void Update()
{
var kinectSensor = new KinectSensor(infraredCameraMock_);
kinectSensor.Update();
infraredCameraMock_.Received(1).Update();
}
} }
} }

27
UnityProject/Assets/Scripts/VideoInput/InfraredCamera.cs
View file

@ -7,6 +7,8 @@ namespace VideoInput
public interface IInfraredCamera public interface IInfraredCamera
{ {
Texture2D Data { get; } Texture2D Data { get; }
void Update();
} }
public class InfraredCamera : IInfraredCamera public class InfraredCamera : IInfraredCamera
@ -16,7 +18,6 @@ namespace VideoInput
private Windows.Kinect.KinectSensor sensor_; private Windows.Kinect.KinectSensor sensor_;
private readonly InfraredFrameReader reader_; private readonly InfraredFrameReader reader_;
private readonly ushort [] irData_; private readonly ushort [] irData_;
private readonly byte[] rawData_;
public InfraredCamera() public InfraredCamera()
{ {
@ -30,37 +31,27 @@ namespace VideoInput
var frameDesc = sensor_.InfraredFrameSource.FrameDescription; var frameDesc = sensor_.InfraredFrameSource.FrameDescription;
irData_ = new ushort[frameDesc.LengthInPixels]; irData_ = new ushort[frameDesc.LengthInPixels];
rawData_ = new byte[frameDesc.LengthInPixels * 4];
Data = new Texture2D(frameDesc.Width, frameDesc.Height, TextureFormat.BGRA32, false); Data = new Texture2D(frameDesc.Width, frameDesc.Height, TextureFormat.R8, false);
if (!sensor_.IsOpen) if (!sensor_.IsOpen)
sensor_.Open(); sensor_.Open();
} }
void Update() public void Update()
{ {
if (reader_ == null) if (reader_ == null)
throw new IOException("Kinect reader not opened"); throw new IOException("Kinect reader not opened");
var frame = reader_.AcquireLatestFrame(); var frame = reader_.AcquireLatestFrame();
if (frame == null) if (frame == null) return;
return;
frame.CopyFrameDataToArray(irData_); frame.CopyFrameDataToArray(irData_);
var rawTextureData = Data.GetRawTextureData();
for (var i = 0; i < irData_.Length; i++)
rawTextureData[i] = (byte)(irData_[i] >> 8);
var index = 0;
foreach(var ir in irData_)
{
var intensity = (byte)(ir >> 8);
rawData_[index++] = intensity;
rawData_[index++] = intensity;
rawData_[index++] = intensity;
rawData_[index++] = 255; // Alpha
}
Data.LoadRawTextureData(rawData_);
Data.Apply(); Data.Apply();
frame.Dispose(); frame.Dispose();
} }
} }

22
UnityProject/Assets/Scripts/VideoInput/KinectManager.cs Normal file
View file

@ -0,0 +1,22 @@
using UnityEngine;
namespace VideoInput
{
public class KinectManager : MonoBehaviour
{
public IKinectSensor KinectSensor { get; private set; }
private void Start()
{
var componentFactory = new ComponentFactory();
KinectSensor = componentFactory.CreateKinectSensor();
}
private void Update()
{
KinectSensor.Update();
}
}
}

5
UnityProject/Assets/Scripts/VideoInput/KinectSensor.cs
View file

@ -3,6 +3,7 @@ namespace VideoInput
public interface IKinectSensor public interface IKinectSensor
{ {
IInfraredCamera InfraredCamera { get; } IInfraredCamera InfraredCamera { get; }
void Update();
} }
public class KinectSensor : IKinectSensor public class KinectSensor : IKinectSensor
@ -14,5 +15,9 @@ namespace VideoInput
InfraredCamera = infraredCamera; InfraredCamera = infraredCamera;
} }
public void Update()
{
InfraredCamera.Update();
}
} }
} }

0
UnityProject/Assets/Scripts/VideoInput/PointCloud.cs → UnityProject/Assets/Scripts/Visualizer/PointCloud.cs
View file

0
UnityProject/Assets/Scripts/VideoInput/PointCloud.cs.meta → UnityProject/Assets/Scripts/Visualizer/PointCloud.cs.meta
View file

5
UnityProject/Assets/ThridParty/KinectView/Scripts/BodySourceView.cs
View file

@ -3,6 +3,9 @@ using System.Collections;
using System.Collections.Generic; using System.Collections.Generic;
using Kinect = Windows.Kinect; using Kinect = Windows.Kinect;
#pragma warning disable 618
public class BodySourceView : MonoBehaviour public class BodySourceView : MonoBehaviour
{ {
public Material BoneMaterial; public Material BoneMaterial;
@ -177,3 +180,5 @@ public class BodySourceView : MonoBehaviour
return new Vector3(joint.Position.X * 10, joint.Position.Y * 10, joint.Position.Z * 10); return new Vector3(joint.Position.X * 10, joint.Position.Y * 10, joint.Position.Z * 10);
} }
} }
#pragma warning restore 618