102 lines
3.3 KiB
C#
102 lines
3.3 KiB
C#
using System;
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using System.Collections.Generic;
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using System.IO;
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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<IList<Body>>{ }
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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 skeletonDataReveived;
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private Texture2D InfraredTexture { get; set;}
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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 ushort [] irData_;
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private EventHandler<InfraredFrameArrivedEventArgs> onInfraredFrameArrived_;
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private EventHandler<BodyFrameArrivedEventArgs> onSkeletonFrameArrived_;
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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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sensor_.Open();
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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 = infraredFrameReader_.AcquireLatestFrame())
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{
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if (infraredFrame == null) 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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bodyFrameReader_ = sensor_.BodyFrameSource.OpenReader();
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onSkeletonFrameArrived_ = (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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}
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};
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bodyFrameReader_.FrameArrived += onSkeletonFrameArrived_;
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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 -= onSkeletonFrameArrived_;
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}
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}
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}
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