146 lines
5.2 KiB
C#
146 lines
5.2 KiB
C#
using System;
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using System.IO;
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using System.Linq;
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using Windows.Kinect;
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using UnityEngine;
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using UnityEngine.Events;
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namespace cylvester
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{
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[Serializable] public class UnityInfraredCameraEvent : UnityEvent<Texture2D>{ }
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[Serializable] public class UnitySkeletonEvent : UnityEvent<Body, int>{ }
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public class KinectManagerBehaviour : MonoBehaviour
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{
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[SerializeField] private bool infrared;
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[SerializeField] public UnityInfraredCameraEvent infraredFrameReceived;
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[SerializeField] private bool skeleton;
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[SerializeField] public UnitySkeletonEvent skeletonDataReceived;
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[SerializeField, Range(1, 6)] private int numberOfBodiesTobeTracked = 2;
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private KinectSensor sensor_;
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private InfraredFrameReader infraredFrameReader_;
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private BodyFrameReader bodyFrameReader_;
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private BodyIndexFrameReader bodyIndexFrameReader_;
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private ushort [] irData_;
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private Texture2D infraredTexture_;
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private Body[] bodies_;
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private EventHandler<InfraredFrameArrivedEventArgs> onInfraredFrameArrived_;
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private EventHandler<BodyFrameArrivedEventArgs> onBodyFrameArrived_;
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private EventHandler<BodyIndexFrameArrivedEventArgs> onBodyIndexFrameArrived_;
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private BodyHolder trackedBodies_;
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private void Start()
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{
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sensor_ = KinectSensor.GetDefault();
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if (sensor_ == null)
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throw new IOException("cannot find Kinect Sensor ");
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InitInfraredCamera();
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InitSkeletonTracking();
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if (!sensor_.IsOpen)
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{
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sensor_.Open();
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}
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}
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private void InitInfraredCamera()
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{
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infraredFrameReader_ = sensor_.InfraredFrameSource.OpenReader();
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var frameDesc = sensor_.InfraredFrameSource.FrameDescription;
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irData_ = new ushort[frameDesc.LengthInPixels];
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infraredTexture_ = new Texture2D(frameDesc.Width, frameDesc.Height, TextureFormat.R16, false);
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onInfraredFrameArrived_ = (frameReader, eventArgs) =>
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{
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if(!infrared)
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return;
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using (var infraredFrame = eventArgs.FrameReference.AcquireFrame())
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{
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if (infraredFrame == null)
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return;
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infraredFrame.CopyFrameDataToArray(irData_);
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unsafe
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{
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fixed (ushort* irDataPtr = irData_)
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{
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infraredTexture_.LoadRawTextureData((IntPtr) irDataPtr, sizeof(ushort) * irData_.Length);
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}
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}
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infraredTexture_.Apply();
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}
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infraredFrameReceived.Invoke(infraredTexture_);
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};
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infraredFrameReader_.FrameArrived += onInfraredFrameArrived_;
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}
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private void InitSkeletonTracking()
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{
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bodies_ = new Body[6];
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trackedBodies_ = new BodyHolder(numberOfBodiesTobeTracked);
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InitBodyFrameReader();
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}
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private void InitBodyFrameReader()
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{
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bodyFrameReader_ = sensor_.BodyFrameSource.OpenReader();
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onBodyFrameArrived_ = (frameReader, eventArgs) =>
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{
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if(!skeleton)
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return;
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using (var bodyFrame = eventArgs.FrameReference.AcquireFrame())
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{
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if (bodyFrame == null)
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return;
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bodyFrame.GetAndRefreshBodyData(bodies_);
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foreach (var body in bodies_.Where(t => t.IsTracked))
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{
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if (body.IsTracked)
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{
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if (trackedBodies_.Exist(body))
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{
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var idNumber = trackedBodies_.IndexOf(body);
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if (idNumber.HasValue)
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skeletonDataReceived.Invoke(body, idNumber.Value);
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}
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else
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{
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if (trackedBodies_.Add(body))
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{
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var idNumber = trackedBodies_.IndexOf(body);
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if (idNumber.HasValue)
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skeletonDataReceived.Invoke(body, idNumber.Value);
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}
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}
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}
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}
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foreach (var body in bodies_.Where(t => !t.IsTracked && trackedBodies_.Exist(t)))
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{
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trackedBodies_.Remove(body);
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}
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}
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};
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bodyFrameReader_.FrameArrived += onBodyFrameArrived_;
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}
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private void OnDestroy()
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{
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infraredFrameReader_.FrameArrived -= onInfraredFrameArrived_;
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bodyFrameReader_.FrameArrived -= onBodyFrameArrived_;
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}
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}
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}
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