From c0a9f51a416e933a8afe20512bcff57583db7bbd Mon Sep 17 00:00:00 2001 From: yotam Date: Tue, 18 Jul 2017 18:07:58 +0300 Subject: [PATCH] Basic body recognization with Unity in Windows --- Assembly-CSharp.csproj | 103 + Assets/AvatarsDemo.meta | 9 + Assets/AvatarsDemo/KinectAvatarsDemo.unity | Bin 0 -> 21240 bytes .../AvatarsDemo/KinectAvatarsDemo.unity.meta | 8 + Assets/Cubeman.meta | 9 + Assets/Cubeman/ColorCube.fbm.meta | 9 + Assets/Cubeman/ColorCube.fbm/CubeMap.png | Bin 0 -> 631 bytes Assets/Cubeman/ColorCube.fbm/CubeMap.png.meta | 68 + Assets/Cubeman/ColorCube.fbx | Bin 0 -> 21232 bytes Assets/Cubeman/ColorCube.fbx.meta | 81 + Assets/Cubeman/ColorMaterial.mat | Bin 0 -> 4224 bytes Assets/Cubeman/ColorMaterial.mat.meta | 7 + Assets/Cubeman/CubeMan.prefab | Bin 0 -> 19384 bytes Assets/Cubeman/CubeMan.prefab.meta | 7 + Assets/Cubeman/CubeManYellow.prefab | Bin 0 -> 24440 bytes Assets/Cubeman/CubeManYellow.prefab.meta | 7 + Assets/Cubeman/CubeMap.png | Bin 0 -> 1440 bytes 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404069 bytes ...ectManager-Across-Multiple-Scenes.pdf.meta | 6 + Assets/KinectScripts.meta | 9 + Assets/KinectScripts/AvatarController.cs | 506 ++++ Assets/KinectScripts/AvatarController.cs.meta | 10 + .../KinectScripts/AvatarControllerClassic.cs | 98 + .../AvatarControllerClassic.cs.meta | 10 + Assets/KinectScripts/Cubeman.meta | 9 + .../Cubeman/CubemanController.cs | 203 ++ .../Cubeman/CubemanController.cs.meta | 10 + Assets/KinectScripts/Filters.meta | 9 + .../Filters/BoneOrientationsConstraint.cs | 308 +++ .../BoneOrientationsConstraint.cs.meta | 10 + .../Filters/BoneOrientationsFilter.cs | 244 ++ .../Filters/BoneOrientationsFilter.cs.meta | 10 + .../Filters/ClippedLegsFilter.cs | 235 ++ .../Filters/ClippedLegsFilter.cs.meta | 10 + .../Filters/JointPositionsFilter.cs | 235 ++ .../Filters/JointPositionsFilter.cs.meta | 10 + Assets/KinectScripts/Filters/KinectHelper.cs | 178 ++ .../Filters/KinectHelper.cs.meta | 10 + .../Filters/SelfIntersectionConstraint.cs | 93 + 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boneIndex2JointMap[boneIndex] : boneIndex2MirrorJointMap[boneIndex]; + TransformBone(UserID, joint, boneIndex, !mirroredMovement); + } + else if(specIndex2JointMap.ContainsKey(boneIndex)) + { + // special bones (clavicles) + List alJoints = !mirroredMovement ? specIndex2JointMap[boneIndex] : specIndex2MirrorJointMap[boneIndex]; + + if(alJoints.Count >= 2) + { + //Vector3 baseDir = alJoints[0].ToString().EndsWith("Left") ? Vector3.left : Vector3.right; + //TransformSpecialBone(UserID, alJoints[0], alJoints[1], boneIndex, baseDir, !mirroredMovement); + } + } + } + } + + // Set bones to their initial positions and rotations + public void ResetToInitialPosition() + { + if(bones == null) + return; + + if(offsetNode != null) + { + offsetNode.transform.rotation = Quaternion.identity; + } + else + { + transform.rotation = Quaternion.identity; + } + + // For each bone that was defined, reset to initial position. + for (int i = 0; i < bones.Length; i++) + { + if (bones[i] != null) + { + bones[i].rotation = initialRotations[i]; + } + } + + if(bodyRoot != null) + { + bodyRoot.localPosition = Vector3.zero; + bodyRoot.localRotation = Quaternion.identity; + } + + // Restore the offset's position and rotation + if(offsetNode != null) + { + offsetNode.transform.position = initialPosition; + offsetNode.transform.rotation = initialRotation; + } + else + { + transform.position = initialPosition; + transform.rotation = initialRotation; + } + } + + // Invoked on the successful calibration of a player. + public void SuccessfulCalibration(uint userId) + { + // reset the models position + if(offsetNode != null) + { + offsetNode.transform.rotation = initialRotation; + } + + // re-calibrate the position offset + offsetCalibrated = false; + } + + // Apply the rotations tracked by kinect to the joints. + protected void TransformBone(uint userId, KinectWrapper.NuiSkeletonPositionIndex joint, int boneIndex, bool flip) + { + Transform boneTransform = bones[boneIndex]; + if(boneTransform == null || kinectManager == null) + return; + + int iJoint = (int)joint; + if(iJoint < 0) + return; + + // Get Kinect joint orientation + Quaternion jointRotation = kinectManager.GetJointOrientation(userId, iJoint, flip); + if(jointRotation == Quaternion.identity) + return; + + // Smoothly transition to the new rotation + Quaternion newRotation = Kinect2AvatarRot(jointRotation, boneIndex); + + if(smoothFactor != 0f) + boneTransform.rotation = Quaternion.Slerp(boneTransform.rotation, newRotation, smoothFactor * Time.deltaTime); + else + boneTransform.rotation = newRotation; + } + + // Apply the rotations tracked by kinect to a special joint + protected void TransformSpecialBone(uint userId, KinectWrapper.NuiSkeletonPositionIndex joint, KinectWrapper.NuiSkeletonPositionIndex jointParent, int boneIndex, Vector3 baseDir, bool flip) + { + Transform boneTransform = bones[boneIndex]; + if(boneTransform == null || kinectManager == null) + return; + + if(!kinectManager.IsJointTracked(userId, (int)joint) || + !kinectManager.IsJointTracked(userId, (int)jointParent)) + { + return; + } + + Vector3 jointDir = kinectManager.GetDirectionBetweenJoints(userId, (int)jointParent, (int)joint, false, true); + Quaternion jointRotation = jointDir != Vector3.zero ? Quaternion.FromToRotation(baseDir, jointDir) : Quaternion.identity; + +// if(!flip) +// { +// Vector3 mirroredAngles = jointRotation.eulerAngles; +// mirroredAngles.y = -mirroredAngles.y; +// mirroredAngles.z = -mirroredAngles.z; +// +// jointRotation = Quaternion.Euler(mirroredAngles); +// } + + if(jointRotation != Quaternion.identity) + { + // Smoothly transition to the new rotation + Quaternion newRotation = Kinect2AvatarRot(jointRotation, boneIndex); + + if(smoothFactor != 0f) + boneTransform.rotation = Quaternion.Slerp(boneTransform.rotation, newRotation, smoothFactor * Time.deltaTime); + else + boneTransform.rotation = newRotation; + } + + } + + // Moves the avatar in 3D space - pulls the tracked position of the spine and applies it to root. + // Only pulls positional, not rotational. + protected void MoveAvatar(uint UserID) + { + if(bodyRoot == null || kinectManager == null) + return; + if(!kinectManager.IsJointTracked(UserID, (int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter)) + return; + + // Get the position of the body and store it. + Vector3 trans = kinectManager.GetUserPosition(UserID); + + // If this is the first time we're moving the avatar, set the offset. Otherwise ignore it. + if (!offsetCalibrated) + { + offsetCalibrated = true; + + xOffset = !mirroredMovement ? trans.x * moveRate : -trans.x * moveRate; + yOffset = trans.y * moveRate; + zOffset = -trans.z * moveRate; + + if(offsetRelativeToSensor) + { + Vector3 cameraPos = Camera.main.transform.position; + + float yRelToAvatar = (offsetNode != null ? offsetNode.transform.position.y : transform.position.y) - cameraPos.y; + Vector3 relativePos = new Vector3(trans.x * moveRate, yRelToAvatar, trans.z * moveRate); + Vector3 offsetPos = cameraPos + relativePos; + + if(offsetNode != null) + { + offsetNode.transform.position = offsetPos; + } + else + { + transform.position = offsetPos; + } + } + } + + // Smoothly transition to the new position + Vector3 targetPos = Kinect2AvatarPos(trans, verticalMovement); + + if(smoothFactor != 0f) + bodyRoot.localPosition = Vector3.Lerp(bodyRoot.localPosition, targetPos, smoothFactor * Time.deltaTime); + else + bodyRoot.localPosition = targetPos; + } + + // If the bones to be mapped have been declared, map that bone to the model. + protected virtual void MapBones() + { + // make OffsetNode as a parent of model transform. + offsetNode = new GameObject(name + "Ctrl") { layer = transform.gameObject.layer, tag = transform.gameObject.tag }; + offsetNode.transform.position = transform.position; + offsetNode.transform.rotation = transform.rotation; + offsetNode.transform.parent = transform.parent; + + transform.parent = offsetNode.transform; + transform.localPosition = Vector3.zero; + transform.localRotation = Quaternion.identity; + + // take model transform as body root + bodyRoot = transform; + + // get bone transforms from the animator component + var animatorComponent = GetComponent(); + + for (int boneIndex = 0; boneIndex < bones.Length; boneIndex++) + { + if (!boneIndex2MecanimMap.ContainsKey(boneIndex)) + continue; + + bones[boneIndex] = animatorComponent.GetBoneTransform(boneIndex2MecanimMap[boneIndex]); + } + } + + // Capture the initial rotations of the bones + protected void GetInitialRotations() + { + // save the initial rotation + if(offsetNode != null) + { + initialPosition = offsetNode.transform.position; + initialRotation = offsetNode.transform.rotation; + + offsetNode.transform.rotation = Quaternion.identity; + } + else + { + initialPosition = transform.position; + initialRotation = transform.rotation; + + transform.rotation = Quaternion.identity; + } + + for (int i = 0; i < bones.Length; i++) + { + if (bones[i] != null) + { + initialRotations[i] = bones[i].rotation; // * Quaternion.Inverse(initialRotation); + initialLocalRotations[i] = bones[i].localRotation; + } + } + + // Restore the initial rotation + if(offsetNode != null) + { + offsetNode.transform.rotation = initialRotation; + } + else + { + transform.rotation = initialRotation; + } + } + + // Converts kinect joint rotation to avatar joint rotation, depending on joint initial rotation and offset rotation + protected Quaternion Kinect2AvatarRot(Quaternion jointRotation, int boneIndex) + { + // Apply the new rotation. + Quaternion newRotation = jointRotation * initialRotations[boneIndex]; + + //If an offset node is specified, combine the transform with its + //orientation to essentially make the skeleton relative to the node + if (offsetNode != null) + { + // Grab the total rotation by adding the Euler and offset's Euler. + Vector3 totalRotation = newRotation.eulerAngles + offsetNode.transform.rotation.eulerAngles; + // Grab our new rotation. + newRotation = Quaternion.Euler(totalRotation); + } + + return newRotation; + } + + // Converts Kinect position to avatar skeleton position, depending on initial position, mirroring and move rate + protected Vector3 Kinect2AvatarPos(Vector3 jointPosition, bool bMoveVertically) + { + float xPos; + float yPos; + float zPos; + + // If movement is mirrored, reverse it. + if(!mirroredMovement) + xPos = jointPosition.x * moveRate - xOffset; + else + xPos = -jointPosition.x * moveRate - xOffset; + + yPos = jointPosition.y * moveRate - yOffset; + zPos = -jointPosition.z * moveRate - zOffset; + + // If we are tracking vertical movement, update the y. Otherwise leave it alone. + Vector3 avatarJointPos = new Vector3(xPos, bMoveVertically ? yPos : 0f, zPos); + + return avatarJointPos; + } + + // dictionaries to speed up bones' processing + // the author of the terrific idea for kinect-joints to mecanim-bones mapping + // along with its initial implementation, including following dictionary is + // Mikhail Korchun (korchoon@gmail.com). Big thanks to this guy! + private readonly Dictionary boneIndex2MecanimMap = new Dictionary + { + {0, HumanBodyBones.Hips}, + {1, HumanBodyBones.Spine}, + {2, HumanBodyBones.Neck}, + {3, HumanBodyBones.Head}, + + {4, HumanBodyBones.LeftShoulder}, + {5, HumanBodyBones.LeftUpperArm}, + {6, HumanBodyBones.LeftLowerArm}, + {7, HumanBodyBones.LeftHand}, + {8, HumanBodyBones.LeftIndexProximal}, + + {9, HumanBodyBones.RightShoulder}, + {10, HumanBodyBones.RightUpperArm}, + {11, HumanBodyBones.RightLowerArm}, + {12, HumanBodyBones.RightHand}, + {13, HumanBodyBones.RightIndexProximal}, + + {14, HumanBodyBones.LeftUpperLeg}, + {15, HumanBodyBones.LeftLowerLeg}, + {16, HumanBodyBones.LeftFoot}, + {17, HumanBodyBones.LeftToes}, + + {18, HumanBodyBones.RightUpperLeg}, + {19, HumanBodyBones.RightLowerLeg}, + {20, HumanBodyBones.RightFoot}, + {21, HumanBodyBones.RightToes}, + }; + + protected readonly Dictionary boneIndex2JointMap = new Dictionary + { + {0, KinectWrapper.NuiSkeletonPositionIndex.HipCenter}, + {1, KinectWrapper.NuiSkeletonPositionIndex.Spine}, + {2, KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter}, + {3, KinectWrapper.NuiSkeletonPositionIndex.Head}, + + {5, KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft}, + {6, KinectWrapper.NuiSkeletonPositionIndex.ElbowLeft}, + {7, KinectWrapper.NuiSkeletonPositionIndex.WristLeft}, + {8, KinectWrapper.NuiSkeletonPositionIndex.HandLeft}, + + {10, KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight}, + {11, KinectWrapper.NuiSkeletonPositionIndex.ElbowRight}, + {12, KinectWrapper.NuiSkeletonPositionIndex.WristRight}, + {13, KinectWrapper.NuiSkeletonPositionIndex.HandRight}, + + {14, KinectWrapper.NuiSkeletonPositionIndex.HipLeft}, + {15, KinectWrapper.NuiSkeletonPositionIndex.KneeLeft}, + {16, KinectWrapper.NuiSkeletonPositionIndex.AnkleLeft}, + {17, KinectWrapper.NuiSkeletonPositionIndex.FootLeft}, + + {18, KinectWrapper.NuiSkeletonPositionIndex.HipRight}, + {19, KinectWrapper.NuiSkeletonPositionIndex.KneeRight}, + {20, KinectWrapper.NuiSkeletonPositionIndex.AnkleRight}, + {21, KinectWrapper.NuiSkeletonPositionIndex.FootRight}, + }; + + protected readonly Dictionary> specIndex2JointMap = new Dictionary> + { + {4, new List {KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft, KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter} }, + {9, new List {KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight, KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter} }, + }; + + protected readonly Dictionary boneIndex2MirrorJointMap = new Dictionary + { + {0, KinectWrapper.NuiSkeletonPositionIndex.HipCenter}, + {1, KinectWrapper.NuiSkeletonPositionIndex.Spine}, + {2, KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter}, + {3, KinectWrapper.NuiSkeletonPositionIndex.Head}, + + {5, KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight}, + {6, KinectWrapper.NuiSkeletonPositionIndex.ElbowRight}, + {7, KinectWrapper.NuiSkeletonPositionIndex.WristRight}, + {8, KinectWrapper.NuiSkeletonPositionIndex.HandRight}, + + {10, KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft}, + {11, KinectWrapper.NuiSkeletonPositionIndex.ElbowLeft}, + {12, KinectWrapper.NuiSkeletonPositionIndex.WristLeft}, + {13, KinectWrapper.NuiSkeletonPositionIndex.HandLeft}, + + {14, KinectWrapper.NuiSkeletonPositionIndex.HipRight}, + {15, KinectWrapper.NuiSkeletonPositionIndex.KneeRight}, + {16, KinectWrapper.NuiSkeletonPositionIndex.AnkleRight}, + {17, KinectWrapper.NuiSkeletonPositionIndex.FootRight}, + + {18, KinectWrapper.NuiSkeletonPositionIndex.HipLeft}, + {19, KinectWrapper.NuiSkeletonPositionIndex.KneeLeft}, + {20, KinectWrapper.NuiSkeletonPositionIndex.AnkleLeft}, + {21, KinectWrapper.NuiSkeletonPositionIndex.FootLeft}, + }; + + protected readonly Dictionary> specIndex2MirrorJointMap = new Dictionary> + { + {4, new List {KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight, KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter} }, + {9, new List {KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft, KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter} }, + }; + +} + diff --git a/Assets/KinectScripts/AvatarController.cs.meta b/Assets/KinectScripts/AvatarController.cs.meta new file mode 100644 index 0000000..2d5177e --- /dev/null +++ b/Assets/KinectScripts/AvatarController.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 21d009565a343ca46888bb2b74c7ef3d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/AvatarControllerClassic.cs b/Assets/KinectScripts/AvatarControllerClassic.cs new file mode 100644 index 0000000..c9c60b7 --- /dev/null +++ b/Assets/KinectScripts/AvatarControllerClassic.cs @@ -0,0 +1,98 @@ +using UnityEngine; +//using Windows.Kinect; + +using System; +using System.Collections; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.IO; +using System.Text; + +public class AvatarControllerClassic : AvatarController +{ + // Public variables that will get matched to bones. If empty, the Kinect will simply not track it. + public Transform HipCenter; + public Transform Spine; + public Transform Neck; + public Transform Head; + + public Transform LeftClavicle; + public Transform LeftUpperArm; + public Transform LeftElbow; + public Transform LeftHand; + private Transform LeftFingers = null; + + public Transform RightClavicle; + public Transform RightUpperArm; + public Transform RightElbow; + public Transform RightHand; + private Transform RightFingers = null; + + public Transform LeftThigh; + public Transform LeftKnee; + public Transform LeftFoot; + private Transform LeftToes = null; + + public Transform RightThigh; + public Transform RightKnee; + public Transform RightFoot; + private Transform RightToes = null; + + public Transform BodyRoot; + public GameObject OffsetNode; + + + // If the bones to be mapped have been declared, map that bone to the model. + protected override void MapBones() + { + bones[0] = HipCenter; + bones[1] = Spine; + bones[2] = Neck; + bones[3] = Head; + + bones[4] = LeftClavicle; + bones[5] = LeftUpperArm; + bones[6] = LeftElbow; + bones[7] = LeftHand; + bones[8] = LeftFingers; + + bones[9] = RightClavicle; + bones[10] = RightUpperArm; + bones[11] = RightElbow; + bones[12] = RightHand; + bones[13] = RightFingers; + + bones[14] = LeftThigh; + bones[15] = LeftKnee; + bones[16] = LeftFoot; + bones[17] = LeftToes; + + bones[18] = RightThigh; + bones[19] = RightKnee; + bones[20] = RightFoot; + bones[21] = RightToes; + + // body root and offset + bodyRoot = BodyRoot; + offsetNode = OffsetNode; + + if(offsetNode == null) + { + offsetNode = new GameObject(name + "Ctrl") { layer = transform.gameObject.layer, tag = transform.gameObject.tag }; + offsetNode.transform.position = transform.position; + offsetNode.transform.rotation = transform.rotation; + offsetNode.transform.parent = transform.parent; + + transform.parent = offsetNode.transform; + transform.localPosition = Vector3.zero; + transform.localRotation = Quaternion.identity; + } + +// if(bodyRoot == null) +// { +// bodyRoot = transform; +// } + } + +} + diff --git a/Assets/KinectScripts/AvatarControllerClassic.cs.meta b/Assets/KinectScripts/AvatarControllerClassic.cs.meta new file mode 100644 index 0000000..2630116 --- /dev/null +++ b/Assets/KinectScripts/AvatarControllerClassic.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: d90cf61d110c46d49b8b382c1a375647 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Cubeman.meta b/Assets/KinectScripts/Cubeman.meta new file mode 100644 index 0000000..4c0507b --- /dev/null +++ b/Assets/KinectScripts/Cubeman.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 9a3ab963e659c4440ba956e428097338 +folderAsset: yes +timeCreated: 1500385908 +licenseType: Free +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Cubeman/CubemanController.cs b/Assets/KinectScripts/Cubeman/CubemanController.cs new file mode 100644 index 0000000..ef9706b --- /dev/null +++ b/Assets/KinectScripts/Cubeman/CubemanController.cs @@ -0,0 +1,203 @@ +using UnityEngine; +using System; +using System.Collections; + +public class CubemanController : MonoBehaviour +{ + public bool MoveVertically = false; + public bool MirroredMovement = false; + + //public GameObject debugText; + + public GameObject Hip_Center; + public GameObject Spine; + public GameObject Shoulder_Center; + public GameObject Head; + public GameObject Shoulder_Left; + public GameObject Elbow_Left; + public GameObject Wrist_Left; + public GameObject Hand_Left; + public GameObject Shoulder_Right; + public GameObject Elbow_Right; + public GameObject Wrist_Right; + public GameObject Hand_Right; + public GameObject Hip_Left; + public GameObject Knee_Left; + public GameObject Ankle_Left; + public GameObject Foot_Left; + public GameObject Hip_Right; + public GameObject Knee_Right; + public GameObject Ankle_Right; + public GameObject Foot_Right; + + public LineRenderer SkeletonLine; + + private GameObject[] bones; + private LineRenderer[] lines; + private int[] parIdxs; + + private Vector3 initialPosition; + private Quaternion initialRotation; + private Vector3 initialPosOffset = Vector3.zero; + private uint initialPosUserID = 0; + + + void Start () + { + //store bones in a list for easier access + bones = new GameObject[] { + Hip_Center, Spine, Shoulder_Center, Head, // 0 - 3 + Shoulder_Left, Elbow_Left, Wrist_Left, Hand_Left, // 4 - 7 + Shoulder_Right, Elbow_Right, Wrist_Right, Hand_Right, // 8 - 11 + Hip_Left, Knee_Left, Ankle_Left, Foot_Left, // 12 - 15 + Hip_Right, Knee_Right, Ankle_Right, Foot_Right // 16 - 19 + }; + + parIdxs = new int[] { + 0, 0, 1, 2, + 2, 4, 5, 6, + 2, 8, 9, 10, + 0, 12, 13, 14, + 0, 16, 17, 18 + }; + + // array holding the skeleton lines + lines = new LineRenderer[bones.Length]; + + if(SkeletonLine) + { + for(int i = 0; i < lines.Length; i++) + { + lines[i] = Instantiate(SkeletonLine) as LineRenderer; + lines[i].transform.parent = transform; + } + } + + initialPosition = transform.position; + initialRotation = transform.rotation; + //transform.rotation = Quaternion.identity; + } + + // Update is called once per frame + void Update () + { + KinectManager manager = KinectManager.Instance; + + // get 1st player + uint playerID = manager != null ? manager.GetPlayer1ID() : 0; + + if(playerID <= 0) + { + // reset the pointman position and rotation + if(transform.position != initialPosition) + { + transform.position = initialPosition; + } + + if(transform.rotation != initialRotation) + { + transform.rotation = initialRotation; + } + + for(int i = 0; i < bones.Length; i++) + { + bones[i].gameObject.SetActive(true); + + bones[i].transform.localPosition = Vector3.zero; + bones[i].transform.localRotation = Quaternion.identity; + + if(SkeletonLine) + { + lines[i].gameObject.SetActive(false); + } + } + + return; + } + + // set the user position in space + Vector3 posPointMan = manager.GetUserPosition(playerID); + posPointMan.z = !MirroredMovement ? -posPointMan.z : posPointMan.z; + + // store the initial position + if(initialPosUserID != playerID) + { + initialPosUserID = playerID; + initialPosOffset = transform.position - (MoveVertically ? posPointMan : new Vector3(posPointMan.x, 0, posPointMan.z)); + } + + transform.position = initialPosOffset + (MoveVertically ? posPointMan : new Vector3(posPointMan.x, 0, posPointMan.z)); + + // update the local positions of the bones + for(int i = 0; i < bones.Length; i++) + { + if(bones[i] != null) + { + int joint = MirroredMovement ? KinectWrapper.GetSkeletonMirroredJoint(i): i; + + if(manager.IsJointTracked(playerID, joint)) + { + bones[i].gameObject.SetActive(true); + + Vector3 posJoint = manager.GetJointPosition(playerID, joint); + posJoint.z = !MirroredMovement ? -posJoint.z : posJoint.z; + + Quaternion rotJoint = manager.GetJointOrientation(playerID, joint, !MirroredMovement); + rotJoint = initialRotation * rotJoint; + + posJoint -= posPointMan; + + if(MirroredMovement) + { + posJoint.x = -posJoint.x; + posJoint.z = -posJoint.z; + } + + bones[i].transform.localPosition = posJoint; + bones[i].transform.rotation = rotJoint; + } + else + { + bones[i].gameObject.SetActive(false); + } + } + } + + if(SkeletonLine) + { + for(int i = 0; i < bones.Length; i++) + { + bool bLineDrawn = false; + + if(bones[i] != null) + { + if(bones[i].gameObject.activeSelf) + { + Vector3 posJoint = bones[i].transform.position; + + int parI = parIdxs[i]; + Vector3 posParent = bones[parI].transform.position; + + if(bones[parI].gameObject.activeSelf) + { + lines[i].gameObject.SetActive(true); + + //lines[i].SetVertexCount(2); + lines[i].SetPosition(0, posParent); + lines[i].SetPosition(1, posJoint); + + bLineDrawn = true; + } + } + } + + if(!bLineDrawn) + { + lines[i].gameObject.SetActive(false); + } + } + } + + } + +} diff --git a/Assets/KinectScripts/Cubeman/CubemanController.cs.meta b/Assets/KinectScripts/Cubeman/CubemanController.cs.meta new file mode 100644 index 0000000..d5d025b --- /dev/null +++ b/Assets/KinectScripts/Cubeman/CubemanController.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 9f828727d4cfb7a4b8984b4e0310ae67 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Filters.meta b/Assets/KinectScripts/Filters.meta new file mode 100644 index 0000000..26dec5e --- /dev/null +++ b/Assets/KinectScripts/Filters.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: c0bf014c84c0e7b41bf9225f341cc676 +folderAsset: yes +timeCreated: 1500385908 +licenseType: Free +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Filters/BoneOrientationsConstraint.cs b/Assets/KinectScripts/Filters/BoneOrientationsConstraint.cs new file mode 100644 index 0000000..ee81687 --- /dev/null +++ b/Assets/KinectScripts/Filters/BoneOrientationsConstraint.cs @@ -0,0 +1,308 @@ +using UnityEngine; + +using System; +using System.Collections; +using System.Collections.Generic; + + +///

+/// Filter to correct the joint locations and joint orientations to constraint to range of viable human motion. +/// +public class BoneOrientationsConstraint +{ + public enum ConstraintAxis { X = 0, Y = 1, Z = 2 } + + // The Joint Constraints. + private readonly List jointConstraints = new List(); + + //private GameObject debugText; + + + /// Initializes a new instance of the BoneOrientationConstraints class. + public BoneOrientationsConstraint() + { + //debugText = GameObject.Find("CalibrationText"); + } + + // find the bone constraint structure for given joint + // returns the structure index in the list, or -1 if the bone structure is not found + private int FindBoneOrientationConstraint(int joint) + { + for(int i = 0; i < jointConstraints.Count; i++) + { + if(jointConstraints[i].joint == joint) + return i; + } + + // not found + return -1; + } + + // AddJointConstraint - Adds a joint constraint to the system. + public void AddBoneOrientationConstraint(int joint, ConstraintAxis axis, float angleMin, float angleMax) + { + int index = FindBoneOrientationConstraint(joint); + + BoneOrientationConstraint jc = index >= 0 ? jointConstraints[index] : new BoneOrientationConstraint(joint); + + if(index < 0) + { + index = jointConstraints.Count; + jointConstraints.Add(jc); + } + + AxisOrientationConstraint constraint = new AxisOrientationConstraint(axis, angleMin, angleMax); + jc.axisConstrainrs.Add(constraint); + + jointConstraints[index] = jc; + } + + // AddDefaultConstraints - Adds a set of default joint constraints for normal human poses. + // This is a reasonable set of constraints for plausible human bio-mechanics. + public void AddDefaultConstraints() + { +// // Spine +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.Spine, ConstraintAxis.X, -10f, 45f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.Spine, ConstraintAxis.Y, -10f, 30f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.Spine, ConstraintAxis.Z, -10f, 30f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.Spine, ConstraintAxis.X, -90f, 95f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.Spine, ConstraintAxis.Y, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.Spine, ConstraintAxis.Z, -90f, 90f); + + // ShoulderCenter + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter, ConstraintAxis.X, -30f, 10f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter, ConstraintAxis.Y, -20f, 20f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter, ConstraintAxis.Z, -20f, 20f); + + // ShoulderLeft, ShoulderRight + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft, ConstraintAxis.X, 0f, 30f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight, ConstraintAxis.X, 0f, 30f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft, ConstraintAxis.Y, -60f, 60f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight, ConstraintAxis.Y, -30f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft, ConstraintAxis.Z, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight, ConstraintAxis.Z, -90f, 90f); + +// // ElbowLeft, ElbowRight +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowLeft, ConstraintAxis.X, 300f, 360f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowRight, ConstraintAxis.X, 300f, 360f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowLeft, ConstraintAxis.Y, 210f, 340f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowRight, ConstraintAxis.Y, 0f, 120f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowLeft, ConstraintAxis.Z, -90f, 30f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowRight, ConstraintAxis.Z, 0f, 120f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowLeft, ConstraintAxis.X, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowRight, ConstraintAxis.X, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowLeft, ConstraintAxis.Y, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowRight, ConstraintAxis.Y, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowLeft, ConstraintAxis.Z, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.ElbowRight, ConstraintAxis.Z, -90f, 90f); + + // WristLeft, WristRight + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.WristLeft, ConstraintAxis.X, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.WristRight, ConstraintAxis.X, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.WristLeft, ConstraintAxis.Y, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.WristRight, ConstraintAxis.Y, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.WristLeft, ConstraintAxis.Z, -90f, 90f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.WristRight, ConstraintAxis.Z, -90f, 90f); + +// // HipLeft, HipRight +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.HipLeft, ConstraintAxis.X, 0f, 90f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.HipRight, ConstraintAxis.X, 0f, 90f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.HipLeft, ConstraintAxis.Y, 0f, 0f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.HipRight, ConstraintAxis.Y, 0f, 0f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.HipLeft, ConstraintAxis.Z, 270f, 360f); +// AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.HipRight, ConstraintAxis.Z, 0f, 90f); + + // KneeLeft, KneeRight + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.KneeLeft, ConstraintAxis.X, 270f, 360f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.KneeRight, ConstraintAxis.X, 270f, 360f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.KneeLeft, ConstraintAxis.Y, 0f, 0f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.KneeRight, ConstraintAxis.Y, 0f, 0f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.KneeLeft, ConstraintAxis.Z, 0f, 0f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.KneeRight, ConstraintAxis.Z, 0f, 0f); + + // AnkleLeft, AnkleRight + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.AnkleLeft, ConstraintAxis.X, 0f, 0f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.AnkleRight, ConstraintAxis.X, 0f, 0f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.AnkleLeft, ConstraintAxis.Y, -40f, 40f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.AnkleRight, ConstraintAxis.Y, -40f, 40f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.AnkleLeft, ConstraintAxis.Z, 0f, 0f); + AddBoneOrientationConstraint((int)KinectWrapper.NuiSkeletonPositionIndex.AnkleRight, ConstraintAxis.Z, 0f, 0f); + + } + + // ApplyBoneOrientationConstraints and constrain rotations. + public void Constrain(ref Matrix4x4[] jointOrientations, ref bool[] jointTracked) + { + // Constraints are defined as a vector with respect to the parent bone vector, and a constraint angle, + // which is the maximum angle with respect to the constraint axis that the bone can move through. + + // Calculate constraint values. 0.0-1.0 means the bone is within the constraint cone. Greater than 1.0 means + // it lies outside the constraint cone. + for (int i = 0; i < this.jointConstraints.Count; i++) + { + BoneOrientationConstraint jc = this.jointConstraints[i]; + + if (!jointTracked[i] || jc.joint == (int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter) + { + // End joint is not tracked or Hip Center has no parent to perform this calculation with. + continue; + } + + // If the joint has a parent, constrain the bone direction to be within the constraint cone + int parentIdx = KinectWrapper.GetSkeletonJointParent(jc.joint); + + // Local bone orientation relative to parent + Matrix4x4 localOrientationMatrix = jointOrientations[parentIdx].inverse * jointOrientations[jc.joint]; + + Vector3 localOrientationZ = (Vector3)localOrientationMatrix.GetColumn(2); + Vector3 localOrientationY = (Vector3)localOrientationMatrix.GetColumn(1); + if(localOrientationZ == Vector3.zero || localOrientationY == Vector3.zero) + continue; + + Quaternion localRotation = Quaternion.LookRotation(localOrientationZ, localOrientationY); + Vector3 eulerAngles = localRotation.eulerAngles; + bool isConstrained = false; + + //Matrix4x4 globalOrientationMatrix = jointOrientations[jc.joint]; + //Quaternion globalRotation = Quaternion.LookRotation(globalOrientationMatrix.GetColumn(2), globalOrientationMatrix.GetColumn(1)); + + for(int a = 0; a < jc.axisConstrainrs.Count; a++) + { + AxisOrientationConstraint ac = jc.axisConstrainrs[a]; + + Quaternion axisRotation = Quaternion.AngleAxis(localRotation.eulerAngles[ac.axis], ac.rotateAround); + //Quaternion axisRotation = Quaternion.AngleAxis(globalRotation.eulerAngles[ac.axis], ac.rotateAround); + float angleFromMin = Quaternion.Angle(axisRotation, ac.minQuaternion); + float angleFromMax = Quaternion.Angle(axisRotation, ac.maxQuaternion); + + if(!(angleFromMin <= ac.angleRange && angleFromMax <= ac.angleRange)) + { + // Keep the current rotations around other axes and only + // correct the axis that has fallen out of range. + //Vector3 euler = globalRotation.eulerAngles; + + if(angleFromMin > angleFromMax) + { + eulerAngles[ac.axis] = ac.angleMax; + } + else + { + eulerAngles[ac.axis] = ac.angleMin; + } + + isConstrained = true; + } + } + + if(isConstrained) + { + Quaternion constrainedRotation = Quaternion.Euler(eulerAngles); + + // Put it back into the bone orientations + localOrientationMatrix.SetTRS(Vector3.zero, constrainedRotation, Vector3.one); + jointOrientations[jc.joint] = jointOrientations[parentIdx] * localOrientationMatrix; + //globalOrientationMatrix.SetTRS(Vector3.zero, constrainedRotation, Vector3.one); + //jointOrientations[jc.joint] = globalOrientationMatrix; + + switch(jc.joint) + { + case (int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter: + jointOrientations[(int)KinectWrapper.NuiSkeletonPositionIndex.Head] = jointOrientations[jc.joint]; + break; + case (int)KinectWrapper.NuiSkeletonPositionIndex.WristLeft: + jointOrientations[(int)KinectWrapper.NuiSkeletonPositionIndex.HandLeft] = jointOrientations[jc.joint]; + break; + case (int)KinectWrapper.NuiSkeletonPositionIndex.WristRight: + jointOrientations[(int)KinectWrapper.NuiSkeletonPositionIndex.HandRight] = jointOrientations[jc.joint]; + break; + case (int)KinectWrapper.NuiSkeletonPositionIndex.AnkleLeft: + jointOrientations[(int)KinectWrapper.NuiSkeletonPositionIndex.FootLeft] = jointOrientations[jc.joint]; + break; + case (int)KinectWrapper.NuiSkeletonPositionIndex.AnkleRight: + jointOrientations[(int)KinectWrapper.NuiSkeletonPositionIndex.FootRight] = jointOrientations[jc.joint]; + break; + } + } + +// globalRotation = Quaternion.LookRotation(globalOrientationMatrix.GetColumn(2), globalOrientationMatrix.GetColumn(1)); +// string stringToDebug = string.Format("{0}, {2}", (KinectWrapper.NuiSkeletonPositionIndex)jc.joint, +// globalRotation.eulerAngles, localRotation.eulerAngles); +// Debug.Log(stringToDebug); +// +// if(debugText != null) +// debugText.guiText.text = stringToDebug; + + } + } + + + // Joint Constraint structure to hold the constraint axis, angle and cone direction and associated joint. + private struct BoneOrientationConstraint + { + // skeleton joint + public int joint; + + // the list of axis constraints for this bone + public List axisConstrainrs; + + + public BoneOrientationConstraint(int joint) + { + this.joint = joint; + axisConstrainrs = new List(); + } + } + + + private struct AxisOrientationConstraint + { + // the axis to rotate around + public int axis; + public Vector3 rotateAround; + + // min, max and range of allowed angle + public float angleMin; + public float angleMax; + + public Quaternion minQuaternion; + public Quaternion maxQuaternion; + public float angleRange; + + + public AxisOrientationConstraint(ConstraintAxis axis, float angleMin, float angleMax) + { + // Set the axis that we will rotate around + this.axis = (int)axis; + + switch(axis) + { + case ConstraintAxis.X: + this.rotateAround = Vector3.right; + break; + + case ConstraintAxis.Y: + this.rotateAround = Vector3.up; + break; + + case ConstraintAxis.Z: + this.rotateAround = Vector3.forward; + break; + + default: + this.rotateAround = Vector3.zero; + break; + } + + // Set the min and max rotations in degrees + this.angleMin = angleMin; + this.angleMax = angleMax; + + + // Set the min and max rotations in quaternion space + this.minQuaternion = Quaternion.AngleAxis(angleMin, this.rotateAround); + this.maxQuaternion = Quaternion.AngleAxis(angleMax, this.rotateAround); + this.angleRange = angleMax - angleMin; + } + } + +} \ No newline at end of file diff --git a/Assets/KinectScripts/Filters/BoneOrientationsConstraint.cs.meta b/Assets/KinectScripts/Filters/BoneOrientationsConstraint.cs.meta new file mode 100644 index 0000000..5254913 --- /dev/null +++ b/Assets/KinectScripts/Filters/BoneOrientationsConstraint.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 3b92dcdaec9f01740aaef9ce5eb191dc +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Filters/BoneOrientationsFilter.cs b/Assets/KinectScripts/Filters/BoneOrientationsFilter.cs new file mode 100644 index 0000000..e52b5bb --- /dev/null +++ b/Assets/KinectScripts/Filters/BoneOrientationsFilter.cs @@ -0,0 +1,244 @@ +//------------------------------------------------------------------------------ +// +// Copyright (c) Microsoft Corporation. All rights reserved. +// +//------------------------------------------------------------------------------ + +using UnityEngine; + +using System; +using System.Collections; +using System.Collections.Generic; + + +/// +/// Implementation of a Holt Double Exponential Smoothing filter for orientation. The double +/// exponential smooths the curve and predicts. There is also noise jitter removal. And maximum +/// prediction bounds. The parameters are commented in the Init function. +/// +public class BoneOrientationsFilter +{ + // The previous filtered orientation data. + private FilterDoubleExponentialData[] history; + + // The transform smoothing parameters for this filter. + private KinectWrapper.NuiTransformSmoothParameters smoothParameters; + + // True when the filter parameters are initialized. + private bool init; + + // Initializes a new instance of the class. + public BoneOrientationsFilter() + { + this.init = false; + } + + // Initialize the filter with a default set of TransformSmoothParameters. + public void Init() + { + // Set some reasonable defaults + this.Init(0.5f, 0.8f, 0.75f, 0.1f, 0.1f); + } + + /// + /// Initialize the filter with a set of manually specified TransformSmoothParameters. + /// + /// Smoothing = [0..1], lower values is closer to the raw data and more noisy. + /// Correction = [0..1], higher values correct faster and feel more responsive. + /// Prediction = [0..n], how many frames into the future we want to predict. + /// JitterRadius = The deviation angle in radians that defines jitter. + /// MaxDeviation = The maximum angle in radians that filtered positions are allowed to deviate from raw data. + public void Init(float smoothingValue, float correctionValue, float predictionValue, float jitterRadiusValue, float maxDeviationRadiusValue) + { + this.smoothParameters = new KinectWrapper.NuiTransformSmoothParameters(); + + this.smoothParameters.fMaxDeviationRadius = maxDeviationRadiusValue; // Size of the max prediction radius Can snap back to noisy data when too high + this.smoothParameters.fSmoothing = smoothingValue; // How much soothing will occur. Will lag when too high + this.smoothParameters.fCorrection = correctionValue; // How much to correct back from prediction. Can make things springy + this.smoothParameters.fPrediction = predictionValue; // Amount of prediction into the future to use. Can over shoot when too high + this.smoothParameters.fJitterRadius = jitterRadiusValue; // Size of the radius where jitter is removed. Can do too much smoothing when too high + + this.Reset(); + this.init = true; + } + + // Initialize the filter with a set of TransformSmoothParameters. + public void Init(KinectWrapper.NuiTransformSmoothParameters smoothingParameters) + { + this.smoothParameters = smoothingParameters; + + this.Reset(); + this.init = true; + } + + /// Resets the filter to default values. + public void Reset() + { + this.history = new FilterDoubleExponentialData[(int)KinectWrapper.NuiSkeletonPositionIndex.Count]; + } + + // Implements a double exponential smoothing filter on the skeleton bone orientation quaternions. + public void UpdateFilter(ref KinectWrapper.NuiSkeletonData skeleton, ref Matrix4x4[] jointOrientations) + { +// if (null == skeleton) +// { +// return; +// } + +// if (skeleton.eTrackingState != KinectWrapper.NuiSkeletonTrackingState.SkeletonTracked) +// { +// return; +// } + + if (this.init == false) + { + this.Init(); // initialize with default parameters + } + + KinectWrapper.NuiTransformSmoothParameters tempSmoothingParams = new KinectWrapper.NuiTransformSmoothParameters(); + + // Check for divide by zero. Use an epsilon of a 10th of a millimeter + this.smoothParameters.fJitterRadius = Math.Max(0.0001f, this.smoothParameters.fJitterRadius); + + tempSmoothingParams.fSmoothing = smoothParameters.fSmoothing; + tempSmoothingParams.fCorrection = smoothParameters.fCorrection; + tempSmoothingParams.fPrediction = smoothParameters.fPrediction; + + int jointsCount = (int)KinectWrapper.NuiSkeletonPositionIndex.Count; + for(int jointIndex = 0; jointIndex < jointsCount; jointIndex++) + { + //KinectWrapper.NuiSkeletonPositionIndex jt = (KinectWrapper.NuiSkeletonPositionIndex)jointIndex; + + // If not tracked, we smooth a bit more by using a bigger jitter radius + // Always filter feet highly as they are so noisy + if (skeleton.eSkeletonPositionTrackingState[jointIndex] != KinectWrapper.NuiSkeletonPositionTrackingState.Tracked || + jointIndex == (int)KinectWrapper.NuiSkeletonPositionIndex.FootLeft || jointIndex == (int)KinectWrapper.NuiSkeletonPositionIndex.FootRight) + { + tempSmoothingParams.fJitterRadius = smoothParameters.fJitterRadius * 2.0f; + tempSmoothingParams.fMaxDeviationRadius = smoothParameters.fMaxDeviationRadius * 2.0f; + } + else + { + tempSmoothingParams.fJitterRadius = smoothParameters.fJitterRadius; + tempSmoothingParams.fMaxDeviationRadius = smoothParameters.fMaxDeviationRadius; + } + + FilterJoint(ref skeleton, jointIndex, ref tempSmoothingParams, ref jointOrientations); + } + } + + // Update the filter for one joint. + protected void FilterJoint(ref KinectWrapper.NuiSkeletonData skeleton, int jointIndex, ref KinectWrapper.NuiTransformSmoothParameters smoothingParameters, ref Matrix4x4[] jointOrientations) + { +// if (null == skeleton) +// { +// return; +// } + +// int jointIndex = (int)jt; + + Quaternion filteredOrientation; + Quaternion trend; + + Vector3 fwdVector = (Vector3)jointOrientations[jointIndex].GetColumn(2); + if(fwdVector == Vector3.zero) + return; + + Quaternion rawOrientation = Quaternion.LookRotation(fwdVector, jointOrientations[jointIndex].GetColumn(1)); + Quaternion prevFilteredOrientation = this.history[jointIndex].FilteredBoneOrientation; + Quaternion prevTrend = this.history[jointIndex].Trend; + Vector3 rawPosition = (Vector3)skeleton.SkeletonPositions[jointIndex]; + bool orientationIsValid = KinectHelper.JointPositionIsValid(rawPosition) && KinectHelper.IsTrackedOrInferred(skeleton, jointIndex) && KinectHelper.BoneOrientationIsValid(rawOrientation); + + if (!orientationIsValid) + { + if (this.history[jointIndex].FrameCount > 0) + { + rawOrientation = history[jointIndex].FilteredBoneOrientation; + history[jointIndex].FrameCount = 0; + } + } + + // Initial start values or reset values + if (this.history[jointIndex].FrameCount == 0) + { + // Use raw position and zero trend for first value + filteredOrientation = rawOrientation; + trend = Quaternion.identity; + } + else if (this.history[jointIndex].FrameCount == 1) + { + // Use average of two positions and calculate proper trend for end value + Quaternion prevRawOrientation = this.history[jointIndex].RawBoneOrientation; + filteredOrientation = KinectHelper.EnhancedQuaternionSlerp(prevRawOrientation, rawOrientation, 0.5f); + + Quaternion diffStarted = KinectHelper.RotationBetweenQuaternions(filteredOrientation, prevFilteredOrientation); + trend = KinectHelper.EnhancedQuaternionSlerp(prevTrend, diffStarted, smoothingParameters.fCorrection); + } + else + { + // First apply a jitter filter + Quaternion diffJitter = KinectHelper.RotationBetweenQuaternions(rawOrientation, prevFilteredOrientation); + float diffValJitter = (float)Math.Abs(KinectHelper.QuaternionAngle(diffJitter)); + + if (diffValJitter <= smoothingParameters.fJitterRadius) + { + filteredOrientation = KinectHelper.EnhancedQuaternionSlerp(prevFilteredOrientation, rawOrientation, diffValJitter / smoothingParameters.fJitterRadius); + } + else + { + filteredOrientation = rawOrientation; + } + + // Now the double exponential smoothing filter + filteredOrientation = KinectHelper.EnhancedQuaternionSlerp(filteredOrientation, prevFilteredOrientation * prevTrend, smoothingParameters.fSmoothing); + + diffJitter = KinectHelper.RotationBetweenQuaternions(filteredOrientation, prevFilteredOrientation); + trend = KinectHelper.EnhancedQuaternionSlerp(prevTrend, diffJitter, smoothingParameters.fCorrection); + } + + // Use the trend and predict into the future to reduce latency + Quaternion predictedOrientation = filteredOrientation * KinectHelper.EnhancedQuaternionSlerp(Quaternion.identity, trend, smoothingParameters.fPrediction); + + // Check that we are not too far away from raw data + Quaternion diff = KinectHelper.RotationBetweenQuaternions(predictedOrientation, filteredOrientation); + float diffVal = (float)Math.Abs(KinectHelper.QuaternionAngle(diff)); + + if (diffVal > smoothingParameters.fMaxDeviationRadius) + { + predictedOrientation = KinectHelper.EnhancedQuaternionSlerp(filteredOrientation, predictedOrientation, smoothingParameters.fMaxDeviationRadius / diffVal); + } + +// predictedOrientation.Normalize(); +// filteredOrientation.Normalize(); +// trend.Normalize(); + + // Save the data from this frame + history[jointIndex].RawBoneOrientation = rawOrientation; + history[jointIndex].FilteredBoneOrientation = filteredOrientation; + history[jointIndex].Trend = trend; + history[jointIndex].FrameCount++; + + // Set the filtered and predicted data back into the bone orientation + if(KinectHelper.BoneOrientationIsValid(predictedOrientation)) + { + jointOrientations[jointIndex].SetTRS(Vector3.zero, predictedOrientation, Vector3.one); + } + } + + // Historical Filter Data. + private struct FilterDoubleExponentialData + { + // Gets or sets Historical Position. + public Quaternion RawBoneOrientation; + + // Gets or sets Historical Filtered Position. + public Quaternion FilteredBoneOrientation; + + // Gets or sets Historical Trend. + public Quaternion Trend; + + // Gets or sets Historical FrameCount. + public uint FrameCount; + } +} diff --git a/Assets/KinectScripts/Filters/BoneOrientationsFilter.cs.meta b/Assets/KinectScripts/Filters/BoneOrientationsFilter.cs.meta new file mode 100644 index 0000000..283cea2 --- /dev/null +++ b/Assets/KinectScripts/Filters/BoneOrientationsFilter.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 432b661514787e8459e07093c3289116 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Filters/ClippedLegsFilter.cs b/Assets/KinectScripts/Filters/ClippedLegsFilter.cs new file mode 100644 index 0000000..cdc29fe --- /dev/null +++ b/Assets/KinectScripts/Filters/ClippedLegsFilter.cs @@ -0,0 +1,235 @@ +//------------------------------------------------------------------------------ +// +// Copyright (c) Microsoft Corporation. All rights reserved. +// +//------------------------------------------------------------------------------ + +using UnityEngine; + +using System; +using System.Collections; +using System.Collections.Generic; + + +/// +/// FilterClippedLegs smooths out leg joint positions when the skeleton is clipped +/// by the bottom of the camera FOV. Inferred joint positions from the skeletal tracker +/// can occasionally be noisy or erroneous, based on limited depth image pixels from the +/// parts of the legs in view. This filter applies a lot of smoothing using a double +/// exponential filter, letting through just enough leg movement to show a kick or high step. +/// Based on the amount of leg that is clipped/inferred, the smoothed data is feathered into the +/// skeleton output data. +/// +public class ClippedLegsFilter +{ + // The blend weights when all leg joints are tracked. + private readonly Vector3 allTracked; + + // The blend weights when the foot is inferred or not tracked. + private readonly Vector3 footInferred; + + // The blend weights when ankle and below are inferred or not tracked. + private readonly Vector3 ankleInferred; + + // The blend weights when knee and below are inferred or not tracked. + private readonly Vector3 kneeInferred; + + // The joint position filter. + private JointPositionsFilter filterJoints; + + // The timed lerp for the left knee. + private TimedLerp lerpLeftKnee; + + // The timed lerp for the left ankle. + private TimedLerp lerpLeftAnkle; + + // The timed lerp for the left foot. + private TimedLerp lerpLeftFoot; + + /// The timed lerp for the right knee. + private TimedLerp lerpRightKnee; + + // The timed lerp for the right ankle. + private TimedLerp lerpRightAnkle; + + // The timed lerp for the right foot. + private TimedLerp lerpRightFoot; + + // The local skeleton with leg filtering applied. + private KinectWrapper.NuiSkeletonData filteredSkeleton; + + + // Initializes a new instance of the class. + public ClippedLegsFilter() + { + this.lerpLeftKnee = new TimedLerp(); + this.lerpLeftAnkle = new TimedLerp(); + this.lerpLeftFoot = new TimedLerp(); + this.lerpRightKnee = new TimedLerp(); + this.lerpRightAnkle = new TimedLerp(); + this.lerpRightFoot = new TimedLerp(); + + this.filterJoints = new JointPositionsFilter(); + this.filteredSkeleton = new KinectWrapper.NuiSkeletonData(); + + // knee, ankle, foot blend amounts + this.allTracked = new Vector3(0.0f, 0.0f, 0.0f); // All joints are tracked + this.footInferred = new Vector3(0.0f, 0.0f, 1.0f); // foot is inferred + this.ankleInferred = new Vector3(0.5f, 1.0f, 1.0f); // ankle is inferred + this.kneeInferred = new Vector3(1.0f, 1.0f, 1.0f); // knee is inferred + + Reset(); + } + + // Resets filter state to defaults. + public void Reset() + { + // set up a really floaty double exponential filter - we want maximum smoothness + this.filterJoints.Init(0.5f, 0.3f, 1.0f, 1.0f, 1.0f); + + this.lerpLeftKnee.Reset(); + this.lerpLeftAnkle.Reset(); + this.lerpLeftFoot.Reset(); + this.lerpRightKnee.Reset(); + this.lerpRightAnkle.Reset(); + this.lerpRightFoot.Reset(); + } + + // Implements the per-frame filter logic for the arms up patch. + public bool FilterSkeleton(ref KinectWrapper.NuiSkeletonData skeleton, float deltaNuiTime) + { +// if (null == skeleton) +// { +// return false; +// } + + // exit early if we lose tracking on the entire skeleton + if (skeleton.eTrackingState != KinectWrapper.NuiSkeletonTrackingState.SkeletonTracked) + { + filterJoints.Reset(); + } + + KinectHelper.CopySkeleton(ref skeleton, ref filteredSkeleton); + filterJoints.UpdateFilter(ref filteredSkeleton); + + // Update lerp state with the current delta NUI time. + this.lerpLeftKnee.Tick(deltaNuiTime); + this.lerpLeftAnkle.Tick(deltaNuiTime); + this.lerpLeftFoot.Tick(deltaNuiTime); + this.lerpRightKnee.Tick(deltaNuiTime); + this.lerpRightAnkle.Tick(deltaNuiTime); + this.lerpRightFoot.Tick(deltaNuiTime); + + // Exit early if we do not have a valid body basis - too much of the skeleton is invalid. + if ((!KinectHelper.IsTracked(skeleton, (int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter)) || + (!KinectHelper.IsTrackedOrInferred(skeleton, (int)KinectWrapper.NuiSkeletonPositionIndex.HipLeft)) || + (!KinectHelper.IsTrackedOrInferred(skeleton, (int)KinectWrapper.NuiSkeletonPositionIndex.HipRight))) + { + return false; + } + + // Determine if the skeleton is clipped by the bottom of the FOV. + bool clippedBottom = (skeleton.dwQualityFlags & (int)KinectWrapper.FrameEdges.Bottom) != 0; + + // Select a mask for the left leg depending on which joints are not tracked. + // These masks define how much of the filtered joint positions should be blended + // with the raw positions. Based on the tracking state of the leg joints, we apply + // more filtered data as more joints lose tracking. + Vector3 leftLegMask = this.allTracked; + + if (!KinectHelper.IsTracked(skeleton, (int)KinectWrapper.NuiSkeletonPositionIndex.KneeLeft)) + { + leftLegMask = this.kneeInferred; + } + else if (!KinectHelper.IsTracked(skeleton, (int)KinectWrapper.NuiSkeletonPositionIndex.AnkleLeft)) + { + leftLegMask = this.ankleInferred; + } + else if (!KinectHelper.IsTracked(skeleton, (int)KinectWrapper.NuiSkeletonPositionIndex.FootLeft)) + { + leftLegMask = this.footInferred; + } + + // Select a mask for the right leg depending on which joints are not tracked. + Vector3 rightLegMask = this.allTracked; + + if (!KinectHelper.IsTracked(skeleton, (int)KinectWrapper.NuiSkeletonPositionIndex.KneeRight)) + { + rightLegMask = this.kneeInferred; + } + else if (!KinectHelper.IsTracked(skeleton, (int)KinectWrapper.NuiSkeletonPositionIndex.AnkleRight)) + { + rightLegMask = this.ankleInferred; + } + else if (!KinectHelper.IsTracked(skeleton, (int)KinectWrapper.NuiSkeletonPositionIndex.FootRight)) + { + rightLegMask = this.footInferred; + } + + // If the skeleton is not clipped by the bottom of the FOV, cut the filtered data + // blend in half. + float clipMask = clippedBottom ? 1.0f : 0.5f; + + // Apply the mask values to the joints of each leg, by placing the mask values into the lerp targets. + this.lerpLeftKnee.SetEnabled(leftLegMask.x * clipMask); + this.lerpLeftAnkle.SetEnabled(leftLegMask.y * clipMask); + this.lerpLeftFoot.SetEnabled(leftLegMask.z * clipMask); + this.lerpRightKnee.SetEnabled(rightLegMask.x * clipMask); + this.lerpRightAnkle.SetEnabled(rightLegMask.y * clipMask); + this.lerpRightFoot.SetEnabled(rightLegMask.z * clipMask); + + // The bSkeletonUpdated flag tracks whether we have modified the output skeleton or not. + bool skeletonUpdated = false; + + // Apply lerp to the left knee, which will blend the raw joint position with the filtered joint position based on the current lerp value. + if (this.lerpLeftKnee.IsLerpEnabled()) + { + int jointIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.KneeLeft; + KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpLeftKnee.SmoothValue, KinectWrapper.NuiSkeletonPositionTrackingState.Tracked); + skeletonUpdated = true; + } + + // Apply lerp to the left ankle. + if (this.lerpLeftAnkle.IsLerpEnabled()) + { + int jointIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.AnkleLeft; + KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpLeftAnkle.SmoothValue, KinectWrapper.NuiSkeletonPositionTrackingState.Tracked); + skeletonUpdated = true; + } + + // Apply lerp to the left foot. + if (this.lerpLeftFoot.IsLerpEnabled()) + { + int jointIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.FootLeft; + KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpLeftFoot.SmoothValue, KinectWrapper.NuiSkeletonPositionTrackingState.Inferred); + skeletonUpdated = true; + } + + // Apply lerp to the right knee. + if (this.lerpRightKnee.IsLerpEnabled()) + { + int jointIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.KneeRight; + KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpRightKnee.SmoothValue, KinectWrapper.NuiSkeletonPositionTrackingState.Tracked); + skeletonUpdated = true; + } + + // Apply lerp to the right ankle. + if (this.lerpRightAnkle.IsLerpEnabled()) + { + int jointIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.AnkleRight; + KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpRightAnkle.SmoothValue, KinectWrapper.NuiSkeletonPositionTrackingState.Tracked); + skeletonUpdated = true; + } + + // Apply lerp to the right foot. + if (this.lerpRightFoot.IsLerpEnabled()) + { + int jointIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.FootRight; + KinectHelper.LerpAndApply(ref skeleton, jointIndex, (Vector3)filteredSkeleton.SkeletonPositions[jointIndex], lerpRightFoot.SmoothValue, KinectWrapper.NuiSkeletonPositionTrackingState.Inferred); + skeletonUpdated = true; + } + + return skeletonUpdated; + } +} + diff --git a/Assets/KinectScripts/Filters/ClippedLegsFilter.cs.meta b/Assets/KinectScripts/Filters/ClippedLegsFilter.cs.meta new file mode 100644 index 0000000..bc70e7a --- /dev/null +++ b/Assets/KinectScripts/Filters/ClippedLegsFilter.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: e8baa142b9bc65b4897e8dd0b071329f +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Filters/JointPositionsFilter.cs b/Assets/KinectScripts/Filters/JointPositionsFilter.cs new file mode 100644 index 0000000..07a89c7 --- /dev/null +++ b/Assets/KinectScripts/Filters/JointPositionsFilter.cs @@ -0,0 +1,235 @@ +//------------------------------------------------------------------------------ +// +// Copyright (c) Microsoft Corporation. All rights reserved. +// +//------------------------------------------------------------------------------ + +using UnityEngine; + +using System; +using System.Collections; +using System.Collections.Generic; + + +/// +/// Implementation of a Holt Double Exponential Smoothing filter. The double exponential +/// smooths the curve and predicts. There is also noise jitter removal. And maximum +/// prediction bounds. The parameters are commented in the Init function. +/// +public class JointPositionsFilter +{ + // The history data. + private FilterDoubleExponentialData[] history; + + // The transform smoothing parameters for this filter. + private KinectWrapper.NuiTransformSmoothParameters smoothParameters; + + // True when the filter parameters are initialized. + private bool init; + + + /// Initializes a new instance of the class. + public JointPositionsFilter() + { + this.init = false; + } + + // Initialize the filter with a default set of TransformSmoothParameters. + public void Init() + { + // Specify some defaults + //this.Init(0.25f, 0.25f, 0.25f, 0.03f, 0.05f); + this.Init(0.5f, 0.5f, 0.5f, 0.05f, 0.04f); + } + + /// + /// Initialize the filter with a set of manually specified TransformSmoothParameters. + /// + /// Smoothing = [0..1], lower values is closer to the raw data and more noisy. + /// Correction = [0..1], higher values correct faster and feel more responsive. + /// Prediction = [0..n], how many frames into the future we want to predict. + /// JitterRadius = The deviation distance in m that defines jitter. + /// MaxDeviation = The maximum distance in m that filtered positions are allowed to deviate from raw data. + public void Init(float smoothingValue, float correctionValue, float predictionValue, float jitterRadiusValue, float maxDeviationRadiusValue) + { + this.smoothParameters = new KinectWrapper.NuiTransformSmoothParameters(); + + this.smoothParameters.fSmoothing = smoothingValue; // How much soothing will occur. Will lag when too high + this.smoothParameters.fCorrection = correctionValue; // How much to correct back from prediction. Can make things springy + this.smoothParameters.fPrediction = predictionValue; // Amount of prediction into the future to use. Can over shoot when too high + this.smoothParameters.fJitterRadius = jitterRadiusValue; // Size of the radius where jitter is removed. Can do too much smoothing when too high + this.smoothParameters.fMaxDeviationRadius = maxDeviationRadiusValue; // Size of the max prediction radius Can snap back to noisy data when too high + + this.Reset(); + this.init = true; + } + + // Initialize the filter with a set of TransformSmoothParameters. + public void Init(KinectWrapper.NuiTransformSmoothParameters smoothingParameters) + { + this.smoothParameters = smoothingParameters; + + this.Reset(); + this.init = true; + } + + // Resets the filter to default values. + public void Reset() + { + this.history = new FilterDoubleExponentialData[(int)KinectWrapper.NuiSkeletonPositionIndex.Count]; + } + + // Update the filter with a new frame of data and smooth. + public void UpdateFilter(ref KinectWrapper.NuiSkeletonData skeleton) + { +// if (null == skeleton) +// { +// return; +// } + + if (skeleton.eTrackingState != KinectWrapper.NuiSkeletonTrackingState.SkeletonTracked) + { + return; + } + + if (this.init == false) + { + this.Init(); // initialize with default parameters + } + + //Array jointTypeValues = Enum.GetValues(typeof(KinectWrapper.NuiSkeletonPositionIndex)); + + KinectWrapper.NuiTransformSmoothParameters tempSmoothingParams = new KinectWrapper.NuiTransformSmoothParameters(); + + // Check for divide by zero. Use an epsilon of a 10th of a millimeter + this.smoothParameters.fJitterRadius = Math.Max(0.0001f, this.smoothParameters.fJitterRadius); + + tempSmoothingParams.fSmoothing = smoothParameters.fSmoothing; + tempSmoothingParams.fCorrection = smoothParameters.fCorrection; + tempSmoothingParams.fPrediction = smoothParameters.fPrediction; + + int jointsCount = (int)KinectWrapper.NuiSkeletonPositionIndex.Count; + for(int jointIndex = 0; jointIndex < jointsCount; jointIndex++) + { + //KinectWrapper.NuiSkeletonPositionIndex jt = (KinectWrapper.NuiSkeletonPositionIndex)jointTypeValues.GetValue(jointIndex); + + // If not tracked, we smooth a bit more by using a bigger jitter radius + // Always filter feet highly as they are so noisy + if (skeleton.eSkeletonPositionTrackingState[jointIndex] != KinectWrapper.NuiSkeletonPositionTrackingState.Tracked) + { + tempSmoothingParams.fJitterRadius = smoothParameters.fJitterRadius * 2.0f; + tempSmoothingParams.fMaxDeviationRadius = smoothParameters.fMaxDeviationRadius * 2.0f; + } + else + { + tempSmoothingParams.fJitterRadius = smoothParameters.fJitterRadius; + tempSmoothingParams.fMaxDeviationRadius = smoothParameters.fMaxDeviationRadius; + } + + FilterJoint(ref skeleton, jointIndex, ref tempSmoothingParams); + } + } + + // Update the filter for one joint. + protected void FilterJoint(ref KinectWrapper.NuiSkeletonData skeleton, int jointIndex, ref KinectWrapper.NuiTransformSmoothParameters smoothingParameters) + { +// if (null == skeleton) +// { +// return; +// } + + //int jointIndex = (int)jt; + + Vector3 filteredPosition; + Vector3 diffvec; + Vector3 trend; + float diffVal; + + Vector3 rawPosition = (Vector3)skeleton.SkeletonPositions[jointIndex]; + Vector3 prevFilteredPosition = this.history[jointIndex].FilteredPosition; + Vector3 prevTrend = this.history[jointIndex].Trend; + Vector3 prevRawPosition = this.history[jointIndex].RawPosition; + bool jointIsValid = KinectHelper.JointPositionIsValid(rawPosition); + + // If joint is invalid, reset the filter + if (!jointIsValid) + { + history[jointIndex].FrameCount = 0; + } + + // Initial start values + if (this.history[jointIndex].FrameCount == 0) + { + filteredPosition = rawPosition; + trend = Vector3.zero; + } + else if (this.history[jointIndex].FrameCount == 1) + { + filteredPosition = (rawPosition + prevRawPosition) * 0.5f; + diffvec = filteredPosition - prevFilteredPosition; + trend = (diffvec * smoothingParameters.fCorrection) + (prevTrend * (1.0f - smoothingParameters.fCorrection)); + } + else + { + // First apply jitter filter + diffvec = rawPosition - prevFilteredPosition; + diffVal = Math.Abs(diffvec.magnitude); + + if (diffVal <= smoothingParameters.fJitterRadius) + { + filteredPosition = (rawPosition * (diffVal / smoothingParameters.fJitterRadius)) + (prevFilteredPosition * (1.0f - (diffVal / smoothingParameters.fJitterRadius))); + } + else + { + filteredPosition = rawPosition; + } + + // Now the double exponential smoothing filter + filteredPosition = (filteredPosition * (1.0f - smoothingParameters.fSmoothing)) + ((prevFilteredPosition + prevTrend) * smoothingParameters.fSmoothing); + + diffvec = filteredPosition - prevFilteredPosition; + trend = (diffvec * smoothingParameters.fCorrection) + (prevTrend * (1.0f - smoothingParameters.fCorrection)); + } + + // Predict into the future to reduce latency + Vector3 predictedPosition = filteredPosition + (trend * smoothingParameters.fPrediction); + + // Check that we are not too far away from raw data + diffvec = predictedPosition - rawPosition; + diffVal = Mathf.Abs(diffvec.magnitude); + + if (diffVal > smoothingParameters.fMaxDeviationRadius) + { + predictedPosition = (predictedPosition * (smoothingParameters.fMaxDeviationRadius / diffVal)) + (rawPosition * (1.0f - (smoothingParameters.fMaxDeviationRadius / diffVal))); + } + + // Save the data from this frame + history[jointIndex].RawPosition = rawPosition; + history[jointIndex].FilteredPosition = filteredPosition; + history[jointIndex].Trend = trend; + history[jointIndex].FrameCount++; + + // Set the filtered data back into the joint +// Joint j = skeleton.Joints[jt]; +// j.Position = KinectHelper.Vector3ToSkeletonPoint(predictedPosition); +// skeleton.Joints[jt] = j; + skeleton.SkeletonPositions[jointIndex] = (Vector4)predictedPosition; + } + + + // Historical Filter Data. + private struct FilterDoubleExponentialData + { + // Gets or sets Historical Position. + public Vector3 RawPosition; + + // Gets or sets Historical Filtered Position. + public Vector3 FilteredPosition; + + // Gets or sets Historical Trend. + public Vector3 Trend; + + // Gets or sets Historical FrameCount. + public uint FrameCount; + } +} diff --git a/Assets/KinectScripts/Filters/JointPositionsFilter.cs.meta b/Assets/KinectScripts/Filters/JointPositionsFilter.cs.meta new file mode 100644 index 0000000..40c948a --- /dev/null +++ b/Assets/KinectScripts/Filters/JointPositionsFilter.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 7f049802ff05bda4e8f68160c3b11dcf +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Filters/KinectHelper.cs b/Assets/KinectScripts/Filters/KinectHelper.cs new file mode 100644 index 0000000..c1106be --- /dev/null +++ b/Assets/KinectScripts/Filters/KinectHelper.cs @@ -0,0 +1,178 @@ +using UnityEngine; +using System.Collections; + +public class KinectHelper +{ + + // JointPositionIsValid checks whether a skeleton joint is all 0's which can indicate not valid. + public static bool JointPositionIsValid(Vector3 jointPosition) + { + return jointPosition.x != 0.0f || jointPosition.y != 0.0f || jointPosition.z != 0.0f; + } + + // BoneOrientationIsValid checks whether a skeleton bone rotation is NaN which can indicate an invalid rotation. + public static bool BoneOrientationIsValid(Quaternion boneOrientation) + { + return !(float.IsNaN(boneOrientation.x) || float.IsNaN(boneOrientation.y) || float.IsNaN(boneOrientation.z) || float.IsNaN(boneOrientation.w)); + } + + // IsTracked checks whether the skeleton joint is tracked. + public static bool IsTracked(KinectWrapper.NuiSkeletonData skeleton, int jointIndex) + { +// if (null == skeleton) +// { +// return false; +// } + + return skeleton.eSkeletonPositionTrackingState[jointIndex] == KinectWrapper.NuiSkeletonPositionTrackingState.Tracked; + } + + // IsTrackedOrInferred checks whether the skeleton joint is tracked or inferred. + public static bool IsTrackedOrInferred(KinectWrapper.NuiSkeletonData skeleton, int jointIndex) + { +// if (null == skeleton) +// { +// return false; +// } + + return skeleton.eSkeletonPositionTrackingState[jointIndex] != KinectWrapper.NuiSkeletonPositionTrackingState.NotTracked; + } + + // RotationBetweenQuaternions returns a quaternion that represents a rotation qR such that qA * qR = quaternionB. + public static Quaternion RotationBetweenQuaternions(Quaternion quaternionA, Quaternion quaternionB) + { + Quaternion modifiedB = EnsureQuaternionNeighborhood(quaternionA, quaternionB); + return Quaternion.Inverse(quaternionA) * modifiedB; + } + + // EnhancedQuaternionSlerp performs a quaternion Slerp, after placing both input quaternions in the same 3D sphere. + public static Quaternion EnhancedQuaternionSlerp(Quaternion quaternionA, Quaternion quaternionB, float amount) + { + Quaternion modifiedB = EnsureQuaternionNeighborhood(quaternionA, quaternionB); + return Quaternion.Slerp(quaternionA, modifiedB, amount); + } + + // EnsureQuaternionNeighborhood ensures that quaternions qA and quaternionB are in the same 3D sphere in 4D space. + public static Quaternion EnsureQuaternionNeighborhood(Quaternion quaternionA, Quaternion quaternionB) + { + if (Quaternion.Dot(quaternionA, quaternionB) < 0) + { + // Negate the second quaternion, to place it in the opposite 3D sphere. + //return -quaternionB; + return new Quaternion(-quaternionB.x, -quaternionB.y, -quaternionB.z, -quaternionB.w); + } + + return quaternionB; + } + + // QuaternionAngle returns the amount of rotation in the given quaternion, in radians. + public static float QuaternionAngle(Quaternion rotation) + { + //rotation.Normalize(); + float angle = 2.0f * (float)Mathf.Acos(rotation.w); + return angle; + } + + // LerpAndApply performs a Lerp and applies the Lerped vector to the skeleton joint. + public static void LerpAndApply(ref KinectWrapper.NuiSkeletonData skeleton, int jointIndex, Vector3 newJointPos, float lerpValue, KinectWrapper.NuiSkeletonPositionTrackingState finalTrackingState) + { +// if (null == skeleton) +// { +// return; +// } + + Vector3 jointPos = (Vector3)skeleton.SkeletonPositions[jointIndex]; + jointPos = Vector3.Lerp(jointPos, newJointPos, lerpValue); + + skeleton.SkeletonPositions[jointIndex] = (Vector4)jointPos; + skeleton.eSkeletonPositionTrackingState[jointIndex] = finalTrackingState; + } + + // CopySkeleton copies the data from another skeleton. + public static void CopySkeleton(ref KinectWrapper.NuiSkeletonData source, ref KinectWrapper.NuiSkeletonData destination) + { +// if (null == source) +// { +// return; +// } +// +// if (null == destination) +// { +// destination = new Skeleton(); +// } + + destination.eTrackingState = source.eTrackingState; + destination.dwTrackingID = source.dwTrackingID; + destination.Position = source.Position; + destination.dwQualityFlags = source.dwQualityFlags; + + int jointsCount = (int)KinectWrapper.NuiSkeletonPositionIndex.Count; + + if(destination.SkeletonPositions == null) + destination.SkeletonPositions = new Vector4[jointsCount]; + if(destination.eSkeletonPositionTrackingState == null) + destination.eSkeletonPositionTrackingState = new KinectWrapper.NuiSkeletonPositionTrackingState[jointsCount]; + + for(int jointIndex = 0; jointIndex < jointsCount; jointIndex++) + { + destination.SkeletonPositions[jointIndex] = source.SkeletonPositions[jointIndex]; + destination.eSkeletonPositionTrackingState[jointIndex] = source.eSkeletonPositionTrackingState[jointIndex]; + } + } + + /// VectorBetween calculates the Vector3 from start to end == subtract start from end + public static Vector3 VectorBetween(ref KinectWrapper.NuiSkeletonData skeleton, int startJoint, int endJoint) + { +// if (null == skeleton) +// { +// return Vector3.Zero; +// } + + Vector3 startPosition = (Vector3)skeleton.SkeletonPositions[startJoint]; + Vector3 endPosition = (Vector3)skeleton.SkeletonPositions[endJoint]; + + return endPosition - startPosition; + } + + // DistanceToLineSegment finds the distance from a point to a line. + public static Vector4 DistanceToLineSegment(Vector3 linePoint0, Vector3 linePoint1, Vector3 point) + { + // find the vector from x0 to x1 + Vector3 lineVec = linePoint1 - linePoint0; + float lineLength = lineVec.magnitude; + Vector3 lineToPoint = point - linePoint0; + + const float Epsilon = 0.0001f; + + // if the line is too short skip + if (lineLength > Epsilon) + { + float t = Vector3.Dot(lineVec, lineToPoint) / lineLength; + + // projection is longer than the line itself so find distance to end point of line + if (t > lineLength) + { + lineToPoint = point - linePoint1; + } + else if (t >= 0.0f) + { + // find distance to line + Vector3 normalPoint = lineVec; + + // Perform the float->vector conversion once by combining t/fLineLength + normalPoint *= t / lineLength; + normalPoint += linePoint0; + lineToPoint = point - normalPoint; + } + } + + // The distance is the size of the final computed line + float distance = lineToPoint.magnitude; + + // The normal is the final line normalized + Vector3 normal = lineToPoint / distance; + + return new Vector4(normal.x, normal.y, normal.z, distance); + } + +} diff --git a/Assets/KinectScripts/Filters/KinectHelper.cs.meta b/Assets/KinectScripts/Filters/KinectHelper.cs.meta new file mode 100644 index 0000000..368498e --- /dev/null +++ b/Assets/KinectScripts/Filters/KinectHelper.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 1923229cb3357da45b53b3787baca4d8 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Filters/SelfIntersectionConstraint.cs b/Assets/KinectScripts/Filters/SelfIntersectionConstraint.cs new file mode 100644 index 0000000..5a1a14b --- /dev/null +++ b/Assets/KinectScripts/Filters/SelfIntersectionConstraint.cs @@ -0,0 +1,93 @@ +//------------------------------------------------------------------------------ +// +// Copyright (c) Microsoft Corporation. All rights reserved. +// +//------------------------------------------------------------------------------ + +using UnityEngine; + +using System; +using System.Collections; +using System.Collections.Generic; + + +/// +/// Filter to prevent skeleton arm joints from intersecting the "body". +/// +public class SelfIntersectionConstraint +{ + // cylinder creation parameters + public float ShoulderExtend = 0.5f; + public float HipExtend = 6.0f; + public float CollisionTolerance = 1.01f; + public float RadiusMultiplier = 1.3f; // increase for bulky avatars + + + // Initializes a new instance of the class. + public SelfIntersectionConstraint() + { + } + + // ConstrainSelfIntersection collides joints with the skeleton to keep the skeleton's hands and wrists from puncturing its body + // A cylinder is created to represent the torso. Intersecting joints have their positions changed to push them outside the torso. + public void Constrain(ref KinectWrapper.NuiSkeletonData skeleton) + { +// if (null == skeleton) +// { +// return; +// } + + int shoulderCenterIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter; + int hipCenterIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter; + + if (skeleton.eSkeletonPositionTrackingState[shoulderCenterIndex] != KinectWrapper.NuiSkeletonPositionTrackingState.NotTracked && + skeleton.eSkeletonPositionTrackingState[hipCenterIndex] != KinectWrapper.NuiSkeletonPositionTrackingState.NotTracked) + { + Vector3 shoulderDiffLeft = KinectHelper.VectorBetween(ref skeleton, shoulderCenterIndex, (int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft); + Vector3 shoulderDiffRight = KinectHelper.VectorBetween(ref skeleton, shoulderCenterIndex, (int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight); + float shoulderLengthLeft = shoulderDiffLeft.magnitude; + float shoulderLengthRight = shoulderDiffRight.magnitude; + + // The distance between shoulders is averaged for the radius + float cylinderRadius = (shoulderLengthLeft + shoulderLengthRight) * 0.5f; + + // Calculate the shoulder center and the hip center. Extend them up and down respectively. + Vector3 shoulderCenter = (Vector3)skeleton.SkeletonPositions[shoulderCenterIndex]; + Vector3 hipCenter = (Vector3)skeleton.SkeletonPositions[hipCenterIndex]; + Vector3 hipShoulder = hipCenter - shoulderCenter; + hipShoulder.Normalize(); + + shoulderCenter = shoulderCenter - (hipShoulder * (ShoulderExtend * cylinderRadius)); + hipCenter = hipCenter + (hipShoulder * (HipExtend * cylinderRadius)); + + // Optionally increase radius to account for bulky avatars + cylinderRadius *= RadiusMultiplier; + + // joints to collide + int[] collisionIndices = + { + (int)KinectWrapper.NuiSkeletonPositionIndex.WristLeft, + (int)KinectWrapper.NuiSkeletonPositionIndex.HandLeft, + (int)KinectWrapper.NuiSkeletonPositionIndex.WristRight, + (int)KinectWrapper.NuiSkeletonPositionIndex.HandRight + }; + + foreach (int j in collisionIndices) + { + Vector3 collisionJoint = (Vector3)skeleton.SkeletonPositions[j]; + + Vector4 distanceNormal = KinectHelper.DistanceToLineSegment(shoulderCenter, hipCenter, collisionJoint); + + Vector3 normal = new Vector3(distanceNormal.x, distanceNormal.y, distanceNormal.z); + + // if distance is within the cylinder then push the joint out and away from the cylinder + if (distanceNormal.w < cylinderRadius) + { + collisionJoint += normal * ((cylinderRadius - distanceNormal.w) * CollisionTolerance); + + skeleton.SkeletonPositions[j] = (Vector4)collisionJoint; + } + } + } + } +} diff --git a/Assets/KinectScripts/Filters/SelfIntersectionConstraint.cs.meta b/Assets/KinectScripts/Filters/SelfIntersectionConstraint.cs.meta new file mode 100644 index 0000000..2476f77 --- /dev/null +++ b/Assets/KinectScripts/Filters/SelfIntersectionConstraint.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 037d43656eadaf14ca1435be74c1683c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Filters/TimedLerp.cs b/Assets/KinectScripts/Filters/TimedLerp.cs new file mode 100644 index 0000000..a1ceb44 --- /dev/null +++ b/Assets/KinectScripts/Filters/TimedLerp.cs @@ -0,0 +1,131 @@ +//------------------------------------------------------------------------------ +// +// Copyright (c) Microsoft Corporation. All rights reserved. +// +//------------------------------------------------------------------------------ + +using UnityEngine; +using System; + +/// +/// TimedLerp - Maintains a time-based lerp between 0 and a upper limit between 0 and 1. +/// The lerp speed parameter is in units of inverse time - therefore, a speed of 2.0 +/// means that the lerp completes a full transition (0 to 1) in 0.5 seconds. +/// +public class TimedLerp +{ + // Enabled value. + protected float Enabled; + + // The Value. + protected float Value; + + // Ease in speed. + protected float EaseInSpeed; + + // Ease out speed. + protected float EaseOutSpeed; + + + // Initializes a new instance of the class. + public TimedLerp() + { + this.Enabled = 0.0f; + this.Value = 0.0f; + this.EaseInSpeed = 1.0f; + this.EaseOutSpeed = 1.0f; + } + + // Gets LinearValue. Returns a raw, linearly interpolated value between 0 and the Math.Maximum value. + public float LinearValue + { + get + { + return this.Value; + } + } + + // Gets SmoothValue. Returns the value between 0 and the Math.Maximum value, but applies a cosine-shaped smoothing function. + public float SmoothValue + { + get + { + return 0.5f - (0.5f * (float)Mathf.Cos(this.Value * Mathf.PI)); + } + } + + // Set default in/out speeds. + public void SetSpeed() + { + this.SetSpeed(0.5f, 0.0f); + } + + /// Set in/out speeds. + public void SetSpeed(float easeInSpeed, float easeOutSpeed) + { + this.EaseInSpeed = easeInSpeed; + + if (easeOutSpeed <= 0.0f) + { + this.EaseOutSpeed = easeInSpeed; + } + else + { + this.EaseOutSpeed = easeOutSpeed; + } + } + + // Set whether the Lerp is enabled. + public void SetEnabled(bool isEnabled) + { + this.Enabled = isEnabled ? 1.0f : 0.0f; + } + + // Set the Lerp enable value. + public void SetEnabled(float enabled) + { + this.Enabled = Math.Max(0.0f, Math.Min(1.0f, enabled)); + } + + // ReSet the Lerp. + public void Reset() + { + this.Enabled = 0.0f; + this.Value = 0.0f; + } + + // IsEnabled reflects whether the target value is 0 or not. + public bool IsEnabled() + { + return this.Enabled > 0.0f; + } + + /// IsLerpEnabled reflects whether the current value is 0 or not. + public bool IsLerpEnabled() + { + return this.IsEnabled() || (this.Value > 0.0f); + } + + /// Tick needs to be called once per frame. + public void Tick(float deltaTime) + { + float speed = this.EaseInSpeed; + + if (this.Value > this.Enabled) + { + speed = this.EaseOutSpeed; + } + + float delta = speed * deltaTime; + + if (this.Enabled > 0.0f) + { + this.Value = Math.Min(this.Enabled, this.Value + delta); + } + else + { + this.Value = Math.Max(0.0f, this.Value - delta); + } + } +} + diff --git a/Assets/KinectScripts/Filters/TimedLerp.cs.meta b/Assets/KinectScripts/Filters/TimedLerp.cs.meta new file mode 100644 index 0000000..b361208 --- /dev/null +++ b/Assets/KinectScripts/Filters/TimedLerp.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: af38a019ba0f45341989e36542381c20 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Filters/TrackingStateFilter.cs b/Assets/KinectScripts/Filters/TrackingStateFilter.cs new file mode 100644 index 0000000..c504a10 --- /dev/null +++ b/Assets/KinectScripts/Filters/TrackingStateFilter.cs @@ -0,0 +1,188 @@ +using UnityEngine; + +using System; +using System.Collections; +using System.Collections.Generic; + + +/// +/// Implementation of a Holt Double Exponential Smoothing filter. The double exponential +/// smooths the curve and predicts. There is also noise jitter removal. +/// +public class TrackingStateFilter +{ + // The history data. + private FilterDoubleExponentialData[] history; + + // The transform smoothing parameters for this filter. + private KinectWrapper.NuiTransformSmoothParameters smoothParameters; + + // True when the filter parameters are initialized. + private bool init; + + + /// Initializes a new instance of the class. + public TrackingStateFilter() + { + this.init = false; + } + + // Initialize the filter with a default set of TransformSmoothParameters. + public void Init() + { + // Specify some defaults + //this.Init(0.25f, 0.25f, 0.25f, 0.03f, 0.05f); + this.Init(0.5f, 0.5f, 0.5f, 0.05f, 0.04f); + } + + /// + /// Initialize the filter with a set of manually specified TransformSmoothParameters. + /// + /// Smoothing = [0..1], lower values is closer to the raw data and more noisy. + /// Correction = [0..1], higher values correct faster and feel more responsive. + /// Prediction = [0..n], how many frames into the future we want to predict. + /// JitterRadius = The deviation distance in m that defines jitter. + /// MaxDeviation = The maximum distance in m that filtered positions are allowed to deviate from raw data. + public void Init(float smoothingValue, float correctionValue, float predictionValue, float jitterRadiusValue, float maxDeviationRadiusValue) + { + this.smoothParameters = new KinectWrapper.NuiTransformSmoothParameters(); + + this.smoothParameters.fSmoothing = smoothingValue; // How much soothing will occur. Will lag when too high + this.smoothParameters.fCorrection = correctionValue; // How much to correct back from prediction. Can make things springy + this.smoothParameters.fPrediction = predictionValue; // Amount of prediction into the future to use. Can over shoot when too high + this.smoothParameters.fJitterRadius = jitterRadiusValue; // Size of the radius where jitter is removed. Can do too much smoothing when too high + this.smoothParameters.fMaxDeviationRadius = maxDeviationRadiusValue; // Size of the max prediction radius Can snap back to noisy data when too high + + this.Reset(); + this.init = true; + } + + // Initialize the filter with a set of TransformSmoothParameters. + public void Init(KinectWrapper.NuiTransformSmoothParameters smoothingParameters) + { + this.smoothParameters = smoothingParameters; + + this.Reset(); + this.init = true; + } + + // Resets the filter to default values. + public void Reset() + { + this.history = new FilterDoubleExponentialData[(int)KinectWrapper.NuiSkeletonPositionIndex.Count]; + } + + // Update the filter with a new frame of data and smooth. + public void UpdateFilter(ref KinectWrapper.NuiSkeletonData skeleton) + { + if (skeleton.eTrackingState != KinectWrapper.NuiSkeletonTrackingState.SkeletonTracked) + { + return; + } + + if (this.init == false) + { + this.Init(); // initialize with default parameters + } + + // Check for divide by zero. Use an epsilon of a 10th of a millimeter + smoothParameters.fJitterRadius = Math.Max(0.0001f, smoothParameters.fJitterRadius); + + int jointsCount = (int)KinectWrapper.NuiSkeletonPositionIndex.Count; + for(int jointIndex = 0; jointIndex < jointsCount; jointIndex++) + { + FilterJoint(ref skeleton, jointIndex, ref smoothParameters); + } + } + + // Update the filter for one joint. + protected void FilterJoint(ref KinectWrapper.NuiSkeletonData skeleton, int jointIndex, ref KinectWrapper.NuiTransformSmoothParameters smoothingParameters) + { + float filteredState; + float trend; + float diffVal; + + float rawState = (float)skeleton.eSkeletonPositionTrackingState[jointIndex]; + float prevFilteredState = history[jointIndex].FilteredState; + float prevTrend = history[jointIndex].Trend; + float prevRawState = history[jointIndex].RawState; + + // If joint is invalid, reset the filter + if (rawState == 0f) + { + history[jointIndex].FrameCount = 0; + } + + // Initial start values + if (history[jointIndex].FrameCount == 0) + { + filteredState = rawState; + trend = 0f; + } + else if (this.history[jointIndex].FrameCount == 1) + { + filteredState = (rawState + prevRawState) * 0.5f; + diffVal = filteredState - prevFilteredState; + trend = (diffVal * smoothingParameters.fCorrection) + (prevTrend * (1.0f - smoothingParameters.fCorrection)); + } + else + { +// // First apply jitter filter +// diffVal = rawState - prevFilteredState; +// +// if (diffVal <= smoothingParameters.fJitterRadius) +// { +// filteredState = (rawState * (diffVal / smoothingParameters.fJitterRadius)) + (prevFilteredState * (1.0f - (diffVal / smoothingParameters.fJitterRadius))); +// } +// else +// { +// filteredState = rawState; +// } + + filteredState = rawState; + + // Now the double exponential smoothing filter + filteredState = (filteredState * (1.0f - smoothingParameters.fSmoothing)) + ((prevFilteredState + prevTrend) * smoothingParameters.fSmoothing); + + diffVal = filteredState - prevFilteredState; + trend = (diffVal * smoothingParameters.fCorrection) + (prevTrend * (1.0f - smoothingParameters.fCorrection)); + } + + // Predict into the future to reduce latency + float predictedState = filteredState + (trend * smoothingParameters.fPrediction); + + // Check that we are not too far away from raw data + diffVal = predictedState - rawState; + + if (diffVal > smoothingParameters.fMaxDeviationRadius) + { + predictedState = (predictedState * (smoothingParameters.fMaxDeviationRadius / diffVal)) + (rawState * (1.0f - (smoothingParameters.fMaxDeviationRadius / diffVal))); + } + + // Save the data from this frame + history[jointIndex].RawState = rawState; + history[jointIndex].FilteredState = filteredState; + history[jointIndex].Trend = trend; + history[jointIndex].FrameCount++; + + // Set the filtered data back into the joint + skeleton.eSkeletonPositionTrackingState[jointIndex] = (KinectWrapper.NuiSkeletonPositionTrackingState)(predictedState + 0.5f); + } + + + // Historical Filter Data. + private struct FilterDoubleExponentialData + { + // Gets or sets Historical Tracking State. + public float RawState; + + // Gets or sets Historical Filtered Tracking State. + public float FilteredState; + + // Gets or sets Historical Trend. + public float Trend; + + // Gets or sets Historical FrameCount. + public uint FrameCount; + } +} diff --git a/Assets/KinectScripts/Filters/TrackingStateFilter.cs.meta b/Assets/KinectScripts/Filters/TrackingStateFilter.cs.meta new file mode 100644 index 0000000..5d4b900 --- /dev/null +++ b/Assets/KinectScripts/Filters/TrackingStateFilter.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 56c62ff16130f6446beffc16f9fd2411 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/KinectGestures.cs b/Assets/KinectScripts/KinectGestures.cs new file mode 100644 index 0000000..8bd1d96 --- /dev/null +++ b/Assets/KinectScripts/KinectGestures.cs @@ -0,0 +1,1110 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; + +public class KinectGestures +{ + + public interface GestureListenerInterface + { + // Invoked when a new user is detected and tracking starts + // Here you can start gesture detection with KinectManager.DetectGesture() + void UserDetected(uint userId, int userIndex); + + // Invoked when a user is lost + // Gestures for this user are cleared automatically, but you can free the used resources + void UserLost(uint userId, int userIndex); + + // Invoked when a gesture is in progress + void GestureInProgress(uint userId, int userIndex, Gestures gesture, float progress, + KinectWrapper.NuiSkeletonPositionIndex joint, Vector3 screenPos); + + // Invoked if a gesture is completed. + // Returns true, if the gesture detection must be restarted, false otherwise + bool GestureCompleted(uint userId, int userIndex, Gestures gesture, + KinectWrapper.NuiSkeletonPositionIndex joint, Vector3 screenPos); + + // Invoked if a gesture is cancelled. + // Returns true, if the gesture detection must be retarted, false otherwise + bool GestureCancelled(uint userId, int userIndex, Gestures gesture, + KinectWrapper.NuiSkeletonPositionIndex joint); + } + + + public enum Gestures + { + None = 0, + RaiseRightHand, + RaiseLeftHand, + Psi, + Tpose, + Stop, + Wave, + Click, + SwipeLeft, + SwipeRight, + SwipeUp, + SwipeDown, + RightHandCursor, + LeftHandCursor, + ZoomOut, + ZoomIn, + Wheel, + Jump, + Squat, + Push, + Pull + } + + + public struct GestureData + { + public uint userId; + public Gestures gesture; + public int state; + public float timestamp; + public int joint; + public Vector3 jointPos; + public Vector3 screenPos; + public float tagFloat; + public Vector3 tagVector; + public Vector3 tagVector2; + public float progress; + public bool complete; + public bool cancelled; + public List checkForGestures; + public float startTrackingAtTime; + } + + + + // Gesture related constants, variables and functions + private const int leftHandIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.HandLeft; + private const int rightHandIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.HandRight; + + private const int leftElbowIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.ElbowLeft; + private const int rightElbowIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.ElbowRight; + + private const int leftShoulderIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft; + private const int rightShoulderIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight; + + private const int hipCenterIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter; + private const int shoulderCenterIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter; + private const int leftHipIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.HipLeft; + private const int rightHipIndex = (int)KinectWrapper.NuiSkeletonPositionIndex.HipRight; + + + private static void SetGestureJoint(ref GestureData gestureData, float timestamp, int joint, Vector3 jointPos) + { + gestureData.joint = joint; + gestureData.jointPos = jointPos; + gestureData.timestamp = timestamp; + gestureData.state++; + } + + private static void SetGestureCancelled(ref GestureData gestureData) + { + gestureData.state = 0; + gestureData.progress = 0f; + gestureData.cancelled = true; + } + + private static void CheckPoseComplete(ref GestureData gestureData, float timestamp, Vector3 jointPos, bool isInPose, float durationToComplete) + { + if(isInPose) + { + float timeLeft = timestamp - gestureData.timestamp; + gestureData.progress = durationToComplete > 0f ? Mathf.Clamp01(timeLeft / durationToComplete) : 1.0f; + + if(timeLeft >= durationToComplete) + { + gestureData.timestamp = timestamp; + gestureData.jointPos = jointPos; + gestureData.state++; + gestureData.complete = true; + } + } + else + { + SetGestureCancelled(ref gestureData); + } + } + + private static void SetScreenPos(uint userId, ref GestureData gestureData, ref Vector3[] jointsPos, ref bool[] jointsTracked) + { + Vector3 handPos = jointsPos[rightHandIndex]; +// Vector3 elbowPos = jointsPos[rightElbowIndex]; +// Vector3 shoulderPos = jointsPos[rightShoulderIndex]; + bool calculateCoords = false; + + if(gestureData.joint == rightHandIndex) + { + if(jointsTracked[rightHandIndex] /**&& jointsTracked[rightElbowIndex] && jointsTracked[rightShoulderIndex]*/) + { + calculateCoords = true; + } + } + else if(gestureData.joint == leftHandIndex) + { + if(jointsTracked[leftHandIndex] /**&& jointsTracked[leftElbowIndex] && jointsTracked[leftShoulderIndex]*/) + { + handPos = jointsPos[leftHandIndex]; +// elbowPos = jointsPos[leftElbowIndex]; +// shoulderPos = jointsPos[leftShoulderIndex]; + + calculateCoords = true; + } + } + + if(calculateCoords) + { +// if(gestureData.tagFloat == 0f || gestureData.userId != userId) +// { +// // get length from shoulder to hand (screen range) +// Vector3 shoulderToElbow = elbowPos - shoulderPos; +// Vector3 elbowToHand = handPos - elbowPos; +// gestureData.tagFloat = (shoulderToElbow.magnitude + elbowToHand.magnitude); +// } + + if(jointsTracked[hipCenterIndex] && jointsTracked[shoulderCenterIndex] && + jointsTracked[leftShoulderIndex] && jointsTracked[rightShoulderIndex]) + { + Vector3 neckToHips = jointsPos[shoulderCenterIndex] - jointsPos[hipCenterIndex]; + Vector3 rightToLeft = jointsPos[rightShoulderIndex] - jointsPos[leftShoulderIndex]; + + gestureData.tagVector2.x = rightToLeft.x; // * 1.2f; + gestureData.tagVector2.y = neckToHips.y; // * 1.2f; + + if(gestureData.joint == rightHandIndex) + { + gestureData.tagVector.x = jointsPos[rightShoulderIndex].x - gestureData.tagVector2.x / 2; + gestureData.tagVector.y = jointsPos[hipCenterIndex].y; + } + else + { + gestureData.tagVector.x = jointsPos[leftShoulderIndex].x - gestureData.tagVector2.x / 2; + gestureData.tagVector.y = jointsPos[hipCenterIndex].y; + } + } + +// Vector3 shoulderToHand = handPos - shoulderPos; +// gestureData.screenPos.x = Mathf.Clamp01((gestureData.tagFloat / 2 + shoulderToHand.x) / gestureData.tagFloat); +// gestureData.screenPos.y = Mathf.Clamp01((gestureData.tagFloat / 2 + shoulderToHand.y) / gestureData.tagFloat); + + if(gestureData.tagVector2.x != 0 && gestureData.tagVector2.y != 0) + { + Vector3 relHandPos = handPos - gestureData.tagVector; + gestureData.screenPos.x = Mathf.Clamp01(relHandPos.x / gestureData.tagVector2.x); + gestureData.screenPos.y = Mathf.Clamp01(relHandPos.y / gestureData.tagVector2.y); + } + + //Debug.Log(string.Format("{0} - S: {1}, H: {2}, SH: {3}, L : {4}", gestureData.gesture, shoulderPos, handPos, shoulderToHand, gestureData.tagFloat)); + } + } + + private static void SetZoomFactor(uint userId, ref GestureData gestureData, float initialZoom, ref Vector3[] jointsPos, ref bool[] jointsTracked) + { + Vector3 vectorZooming = jointsPos[rightHandIndex] - jointsPos[leftHandIndex]; + + if(gestureData.tagFloat == 0f || gestureData.userId != userId) + { + gestureData.tagFloat = 0.5f; // this is 100% + } + + float distZooming = vectorZooming.magnitude; + gestureData.screenPos.z = initialZoom + (distZooming / gestureData.tagFloat); + } + +// private static void SetWheelRotation(uint userId, ref GestureData gestureData, Vector3 initialPos, Vector3 currentPos) +// { +// float angle = Vector3.Angle(initialPos, currentPos) * Mathf.Sign(currentPos.y - initialPos.y); +// gestureData.screenPos.z = angle; +// } + + // estimate the next state and completeness of the gesture + public static void CheckForGesture(uint userId, ref GestureData gestureData, float timestamp, ref Vector3[] jointsPos, ref bool[] jointsTracked) + { + if(gestureData.complete) + return; + + float bandSize = (jointsPos[shoulderCenterIndex].y - jointsPos[hipCenterIndex].y); + float gestureTop = jointsPos[shoulderCenterIndex].y + bandSize / 2; + float gestureBottom = jointsPos[shoulderCenterIndex].y - bandSize; + float gestureRight = jointsPos[rightHipIndex].x; + float gestureLeft = jointsPos[leftHipIndex].x; + + switch(gestureData.gesture) + { + // check for RaiseRightHand + case Gestures.RaiseRightHand: + switch(gestureData.state) + { + case 0: // gesture detection + if(jointsTracked[rightHandIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) > 0.1f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + } + break; + + case 1: // gesture complete + bool isInPose = jointsTracked[rightHandIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) > 0.1f; + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectWrapper.Constants.PoseCompleteDuration); + break; + } + break; + + // check for RaiseLeftHand + case Gestures.RaiseLeftHand: + switch(gestureData.state) + { + case 0: // gesture detection + if(jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) > 0.1f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + } + break; + + case 1: // gesture complete + bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) > 0.1f; + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectWrapper.Constants.PoseCompleteDuration); + break; + } + break; + + // check for Psi + case Gestures.Psi: + switch(gestureData.state) + { + case 0: // gesture detection + if(jointsTracked[rightHandIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) > 0.1f && + jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) > 0.1f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + } + break; + + case 1: // gesture complete + bool isInPose = jointsTracked[rightHandIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) > 0.1f && + jointsTracked[leftHandIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) > 0.1f; + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectWrapper.Constants.PoseCompleteDuration); + break; + } + break; + + // check for Tpose + case Gestures.Tpose: + switch(gestureData.state) + { + case 0: // gesture detection + if(jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[rightShoulderIndex] && + Mathf.Abs(jointsPos[rightElbowIndex].y - jointsPos[rightShoulderIndex].y) < 0.1f && // 0.07f + Mathf.Abs(jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) < 0.1f && // 0.7f + jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[leftShoulderIndex] && + Mathf.Abs(jointsPos[leftElbowIndex].y - jointsPos[leftShoulderIndex].y) < 0.1f && + Mathf.Abs(jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) < 0.1f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + } + break; + + case 1: // gesture complete + bool isInPose = jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[rightShoulderIndex] && + Mathf.Abs(jointsPos[rightElbowIndex].y - jointsPos[rightShoulderIndex].y) < 0.1f && // 0.7f + Mathf.Abs(jointsPos[rightHandIndex].y - jointsPos[rightShoulderIndex].y) < 0.1f && // 0.7f + jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[leftShoulderIndex] && + Mathf.Abs(jointsPos[leftElbowIndex].y - jointsPos[leftShoulderIndex].y) < 0.1f && + Mathf.Abs(jointsPos[leftHandIndex].y - jointsPos[leftShoulderIndex].y) < 0.1f; + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectWrapper.Constants.PoseCompleteDuration); + break; + } + break; + + // check for Stop + case Gestures.Stop: + switch(gestureData.state) + { + case 0: // gesture detection + if(jointsTracked[rightHandIndex] && jointsTracked[rightHipIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightHipIndex].y) < 0.1f && + (jointsPos[rightHandIndex].x - jointsPos[rightHipIndex].x) >= 0.4f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + } + else if(jointsTracked[leftHandIndex] && jointsTracked[leftHipIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftHipIndex].y) < 0.1f && + (jointsPos[leftHandIndex].x - jointsPos[leftHipIndex].x) <= -0.4f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + } + break; + + case 1: // gesture complete + bool isInPose = (gestureData.joint == rightHandIndex) ? + (jointsTracked[rightHandIndex] && jointsTracked[rightHipIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightHipIndex].y) < 0.1f && + (jointsPos[rightHandIndex].x - jointsPos[rightHipIndex].x) >= 0.4f) : + (jointsTracked[leftHandIndex] && jointsTracked[leftHipIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftHipIndex].y) < 0.1f && + (jointsPos[leftHandIndex].x - jointsPos[leftHipIndex].x) <= -0.4f); + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectWrapper.Constants.PoseCompleteDuration); + break; + + } + break; + + // check for Wave + case Gestures.Wave: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 + if(jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) > 0.1f && + (jointsPos[rightHandIndex].x - jointsPos[rightElbowIndex].x) > 0.05f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.3f; + } + else if(jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) > 0.1f && + (jointsPos[leftHandIndex].x - jointsPos[leftElbowIndex].x) < -0.05f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture - phase 2 + if((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) > 0.1f && + (jointsPos[rightHandIndex].x - jointsPos[rightElbowIndex].x) < -0.05f : + jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) > 0.1f && + (jointsPos[leftHandIndex].x - jointsPos[leftElbowIndex].x) > 0.05f; + + if(isInPose) + { + gestureData.timestamp = timestamp; + gestureData.state++; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + + case 2: // gesture phase 3 = complete + if((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) > 0.1f && + (jointsPos[rightHandIndex].x - jointsPos[rightElbowIndex].x) > 0.05f : + jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) > 0.1f && + (jointsPos[leftHandIndex].x - jointsPos[leftElbowIndex].x) < -0.05f; + + if(isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for Click + case Gestures.Click: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 + if(jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) > -0.1f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.3f; + + // set screen position at the start, because this is the most accurate click position + SetScreenPos(userId, ref gestureData, ref jointsPos, ref jointsTracked); + } + else if(jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) > -0.1f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.3f; + + // set screen position at the start, because this is the most accurate click position + SetScreenPos(userId, ref gestureData, ref jointsPos, ref jointsTracked); + } + break; + + case 1: // gesture - phase 2 +// if((timestamp - gestureData.timestamp) < 1.0f) +// { +// bool isInPose = gestureData.joint == rightHandIndex ? +// jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && +// //(jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) > -0.1f && +// Mathf.Abs(jointsPos[rightHandIndex].x - gestureData.jointPos.x) < 0.08f && +// (jointsPos[rightHandIndex].z - gestureData.jointPos.z) < -0.05f : +// jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && +// //(jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) > -0.1f && +// Mathf.Abs(jointsPos[leftHandIndex].x - gestureData.jointPos.x) < 0.08f && +// (jointsPos[leftHandIndex].z - gestureData.jointPos.z) < -0.05f; +// +// if(isInPose) +// { +// gestureData.timestamp = timestamp; +// gestureData.jointPos = jointsPos[gestureData.joint]; +// gestureData.state++; +// gestureData.progress = 0.7f; +// } +// else +// { +// // check for stay-in-place +// Vector3 distVector = jointsPos[gestureData.joint] - gestureData.jointPos; +// isInPose = distVector.magnitude < 0.05f; +// +// Vector3 jointPos = jointsPos[gestureData.joint]; +// CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, Constants.ClickStayDuration); +// } +// } +// else + { + // check for stay-in-place + Vector3 distVector = jointsPos[gestureData.joint] - gestureData.jointPos; + bool isInPose = distVector.magnitude < 0.05f; + + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, KinectWrapper.Constants.ClickStayDuration); +// SetGestureCancelled(gestureData); + } + break; + +// case 2: // gesture phase 3 = complete +// if((timestamp - gestureData.timestamp) < 1.0f) +// { +// bool isInPose = gestureData.joint == rightHandIndex ? +// jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && +// //(jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) > -0.1f && +// Mathf.Abs(jointsPos[rightHandIndex].x - gestureData.jointPos.x) < 0.08f && +// (jointsPos[rightHandIndex].z - gestureData.jointPos.z) > 0.05f : +// jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && +// //(jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) > -0.1f && +// Mathf.Abs(jointsPos[leftHandIndex].x - gestureData.jointPos.x) < 0.08f && +// (jointsPos[leftHandIndex].z - gestureData.jointPos.z) > 0.05f; +// +// if(isInPose) +// { +// Vector3 jointPos = jointsPos[gestureData.joint]; +// CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); +// } +// } +// else +// { +// // cancel the gesture +// SetGestureCancelled(ref gestureData); +// } +// break; + } + break; + + // check for SwipeLeft + case Gestures.SwipeLeft: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 +// if(jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && +// (jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) > -0.05f && +// (jointsPos[rightHandIndex].x - jointsPos[rightElbowIndex].x) > 0f) +// { +// SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); +// gestureData.progress = 0.5f; +// } + + if(jointsTracked[rightHandIndex] && jointsTracked[hipCenterIndex] && jointsTracked[shoulderCenterIndex] && jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].x <= gestureRight && jointsPos[rightHandIndex].x > gestureLeft) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.1f; + } + break; + + case 1: // gesture phase 2 = complete + if((timestamp - gestureData.timestamp) < 1.5f) + { +// bool isInPose = jointsTracked[rightHandIndex] && jointsTracked[rightElbowIndex] && +// Mathf.Abs(jointsPos[rightHandIndex].y - jointsPos[rightElbowIndex].y) < 0.1f && +// Mathf.Abs(jointsPos[rightHandIndex].y - gestureData.jointPos.y) < 0.08f && +// (jointsPos[rightHandIndex].x - gestureData.jointPos.x) < -0.15f; + + bool isInPose = jointsTracked[rightHandIndex] && jointsTracked[hipCenterIndex] && jointsTracked[shoulderCenterIndex] && jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].x < gestureLeft; + + if(isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + else if(jointsPos[rightHandIndex].x <= gestureRight) + { + float gestureSize = gestureRight - gestureLeft; + gestureData.progress = gestureSize > 0.01f ? (gestureRight - jointsPos[rightHandIndex].x) / gestureSize : 0f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for SwipeRight + case Gestures.SwipeRight: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 +// if(jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && +// (jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) > -0.05f && +// (jointsPos[leftHandIndex].x - jointsPos[leftElbowIndex].x) < 0f) +// { +// SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); +// gestureData.progress = 0.5f; +// } + + if(jointsTracked[leftHandIndex] && jointsTracked[hipCenterIndex] && jointsTracked[shoulderCenterIndex] && jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[leftHandIndex].x >= gestureLeft && jointsPos[leftHandIndex].x < gestureRight) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.1f; + } + break; + + case 1: // gesture phase 2 = complete + if((timestamp - gestureData.timestamp) < 1.5f) + { +// bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[leftElbowIndex] && +// Mathf.Abs(jointsPos[leftHandIndex].y - jointsPos[leftElbowIndex].y) < 0.1f && +// Mathf.Abs(jointsPos[leftHandIndex].y - gestureData.jointPos.y) < 0.08f && +// (jointsPos[leftHandIndex].x - gestureData.jointPos.x) > 0.15f; + + bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[hipCenterIndex] && jointsTracked[shoulderCenterIndex] && jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[leftHandIndex].x > gestureRight; + + if(isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + else if(jointsPos[leftHandIndex].x >= gestureLeft) + { + float gestureSize = gestureRight - gestureLeft; + gestureData.progress = gestureSize > 0.01f ? (jointsPos[leftHandIndex].x - gestureLeft) / gestureSize : 0f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for SwipeUp + case Gestures.SwipeUp: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 + if(jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) < 0.0f && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) > -0.15f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.5f; + } + else if(jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) < 0.0f && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) > -0.15f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftShoulderIndex].y) > 0.05f && + Mathf.Abs(jointsPos[rightHandIndex].x - gestureData.jointPos.x) <= 0.1f : + jointsTracked[leftHandIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightShoulderIndex].y) > 0.05f && + Mathf.Abs(jointsPos[leftHandIndex].x - gestureData.jointPos.x) <= 0.1f; + + if(isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for SwipeDown + case Gestures.SwipeDown: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 + if(jointsTracked[rightHandIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftShoulderIndex].y) > 0.05f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.5f; + } + else if(jointsTracked[leftHandIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightShoulderIndex].y) > 0.05f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) < -0.15f && + Mathf.Abs(jointsPos[rightHandIndex].x - gestureData.jointPos.x) <= 0.1f : + jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) < -0.15f && + Mathf.Abs(jointsPos[leftHandIndex].x - gestureData.jointPos.x) <= 0.1f; + + if(isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for RightHandCursor + case Gestures.RightHandCursor: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 (perpetual) + if(jointsTracked[rightHandIndex] && jointsTracked[rightHipIndex] && + (jointsPos[rightHandIndex].y - jointsPos[rightHipIndex].y) > -0.1f) + { + gestureData.joint = rightHandIndex; + gestureData.timestamp = timestamp; + //gestureData.jointPos = jointsPos[rightHandIndex]; + SetScreenPos(userId, ref gestureData, ref jointsPos, ref jointsTracked); + gestureData.progress = 0.7f; + } + else + { + // cancel the gesture + //SetGestureCancelled(ref gestureData); + gestureData.progress = 0f; + } + break; + + } + break; + + // check for LeftHandCursor + case Gestures.LeftHandCursor: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 (perpetual) + if(jointsTracked[leftHandIndex] && jointsTracked[leftHipIndex] && + (jointsPos[leftHandIndex].y - jointsPos[leftHipIndex].y) > -0.1f) + { + gestureData.joint = leftHandIndex; + gestureData.timestamp = timestamp; + //gestureData.jointPos = jointsPos[leftHandIndex]; + SetScreenPos(userId, ref gestureData, ref jointsPos, ref jointsTracked); + gestureData.progress = 0.7f; + } + else + { + // cancel the gesture + //SetGestureCancelled(ref gestureData); + gestureData.progress = 0f; + } + break; + + } + break; + + // check for ZoomOut + case Gestures.ZoomOut: + Vector3 vectorZoomOut = (Vector3)jointsPos[rightHandIndex] - jointsPos[leftHandIndex]; + float distZoomOut = vectorZoomOut.magnitude; + + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 + if(jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[hipCenterIndex] && jointsTracked[shoulderCenterIndex] && jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distZoomOut < 0.3f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.tagVector = Vector3.right; + gestureData.tagFloat = 0f; + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture phase 2 = zooming + if((timestamp - gestureData.timestamp) < 1.5f) + { + float angleZoomOut = Vector3.Angle(gestureData.tagVector, vectorZoomOut) * Mathf.Sign(vectorZoomOut.y - gestureData.tagVector.y); + bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[hipCenterIndex] && jointsTracked[shoulderCenterIndex] && jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distZoomOut < 1.5f && Mathf.Abs(angleZoomOut) < 20f; + + if(isInPose) + { + SetZoomFactor(userId, ref gestureData, 1.0f, ref jointsPos, ref jointsTracked); + gestureData.timestamp = timestamp; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + + } + break; + + // check for ZoomIn + case Gestures.ZoomIn: + Vector3 vectorZoomIn = (Vector3)jointsPos[rightHandIndex] - jointsPos[leftHandIndex]; + float distZoomIn = vectorZoomIn.magnitude; + + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 + if(jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[hipCenterIndex] && jointsTracked[shoulderCenterIndex] && jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distZoomIn >= 0.7f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.tagVector = Vector3.right; + gestureData.tagFloat = distZoomIn; + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture phase 2 = zooming + if((timestamp - gestureData.timestamp) < 1.5f) + { + float angleZoomIn = Vector3.Angle(gestureData.tagVector, vectorZoomIn) * Mathf.Sign(vectorZoomIn.y - gestureData.tagVector.y); + bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[hipCenterIndex] && jointsTracked[shoulderCenterIndex] && jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distZoomIn >= 0.2f && Mathf.Abs(angleZoomIn) < 20f; + + if(isInPose) + { + SetZoomFactor(userId, ref gestureData, 0.0f, ref jointsPos, ref jointsTracked); + gestureData.timestamp = timestamp; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + + } + break; + + // check for Wheel + case Gestures.Wheel: + Vector3 vectorWheel = (Vector3)jointsPos[rightHandIndex] - jointsPos[leftHandIndex]; + float distWheel = vectorWheel.magnitude; + +// Debug.Log(string.Format("{0}. Dist: {1:F1}, Tag: {2:F1}, Diff: {3:F1}", gestureData.state, +// distWheel, gestureData.tagFloat, Mathf.Abs(distWheel - gestureData.tagFloat))); + + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 + if(jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[hipCenterIndex] && jointsTracked[shoulderCenterIndex] && jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distWheel >= 0.3f && distWheel < 0.7f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.tagVector = Vector3.right; + gestureData.tagFloat = distWheel; + gestureData.progress = 0.3f; + } + break; + + case 1: // gesture phase 2 = turning wheel + if((timestamp - gestureData.timestamp) < 1.5f) + { + float angle = Vector3.Angle(gestureData.tagVector, vectorWheel) * Mathf.Sign(vectorWheel.y - gestureData.tagVector.y); + bool isInPose = jointsTracked[leftHandIndex] && jointsTracked[rightHandIndex] && jointsTracked[hipCenterIndex] && jointsTracked[shoulderCenterIndex] && jointsTracked[leftHipIndex] && jointsTracked[rightHipIndex] && + jointsPos[leftHandIndex].y >= gestureBottom && jointsPos[leftHandIndex].y <= gestureTop && + jointsPos[rightHandIndex].y >= gestureBottom && jointsPos[rightHandIndex].y <= gestureTop && + distWheel >= 0.3f && distWheel < 0.7f && + Mathf.Abs(distWheel - gestureData.tagFloat) < 0.1f; + + if(isInPose) + { + //SetWheelRotation(userId, ref gestureData, gestureData.tagVector, vectorWheel); + gestureData.screenPos.z = angle; // wheel angle + gestureData.timestamp = timestamp; + gestureData.tagFloat = distWheel; + gestureData.progress = 0.7f; + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + + } + break; + + // check for Jump + case Gestures.Jump: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 + if(jointsTracked[hipCenterIndex] && + (jointsPos[hipCenterIndex].y > 0.9f) && (jointsPos[hipCenterIndex].y < 1.3f)) + { + SetGestureJoint(ref gestureData, timestamp, hipCenterIndex, jointsPos[hipCenterIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = jointsTracked[hipCenterIndex] && + (jointsPos[hipCenterIndex].y - gestureData.jointPos.y) > 0.15f && + Mathf.Abs(jointsPos[hipCenterIndex].x - gestureData.jointPos.x) < 0.2f; + + if(isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for Squat + case Gestures.Squat: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 + if(jointsTracked[hipCenterIndex] && + (jointsPos[hipCenterIndex].y <= 0.9f)) + { + SetGestureJoint(ref gestureData, timestamp, hipCenterIndex, jointsPos[hipCenterIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = jointsTracked[hipCenterIndex] && + (jointsPos[hipCenterIndex].y - gestureData.jointPos.y) < -0.15f && + Mathf.Abs(jointsPos[hipCenterIndex].x - gestureData.jointPos.x) < 0.2f; + + if(isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for Push + case Gestures.Push: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 + if(jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[rightHandIndex].x - jointsPos[rightShoulderIndex].x) < 0.2f && + (jointsPos[rightHandIndex].z - jointsPos[leftElbowIndex].z) < -0.2f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.5f; + } + else if(jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[leftHandIndex].x - jointsPos[leftShoulderIndex].x) < 0.2f && + (jointsPos[leftHandIndex].z - jointsPos[rightElbowIndex].z) < -0.2f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[rightHandIndex].x - gestureData.jointPos.x) < 0.2f && + (jointsPos[rightHandIndex].z - gestureData.jointPos.z) < -0.1f : + jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[leftHandIndex].x - gestureData.jointPos.x) < 0.2f && + (jointsPos[leftHandIndex].z - gestureData.jointPos.z) < -0.1f; + + if(isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // check for Pull + case Gestures.Pull: + switch(gestureData.state) + { + case 0: // gesture detection - phase 1 + if(jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[rightHandIndex].x - jointsPos[rightShoulderIndex].x) < 0.2f && + (jointsPos[rightHandIndex].z - jointsPos[leftElbowIndex].z) < -0.3f) + { + SetGestureJoint(ref gestureData, timestamp, rightHandIndex, jointsPos[rightHandIndex]); + gestureData.progress = 0.5f; + } + else if(jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[leftHandIndex].x - jointsPos[leftShoulderIndex].x) < 0.2f && + (jointsPos[leftHandIndex].z - jointsPos[rightElbowIndex].z) < -0.3f) + { + SetGestureJoint(ref gestureData, timestamp, leftHandIndex, jointsPos[leftHandIndex]); + gestureData.progress = 0.5f; + } + break; + + case 1: // gesture phase 2 = complete + if((timestamp - gestureData.timestamp) < 1.5f) + { + bool isInPose = gestureData.joint == rightHandIndex ? + jointsTracked[rightHandIndex] && jointsTracked[leftElbowIndex] && jointsTracked[rightShoulderIndex] && + (jointsPos[rightHandIndex].y - jointsPos[leftElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[rightHandIndex].x - gestureData.jointPos.x) < 0.2f && + (jointsPos[rightHandIndex].z - gestureData.jointPos.z) > 0.1f : + jointsTracked[leftHandIndex] && jointsTracked[rightElbowIndex] && jointsTracked[leftShoulderIndex] && + (jointsPos[leftHandIndex].y - jointsPos[rightElbowIndex].y) > -0.1f && + Mathf.Abs(jointsPos[leftHandIndex].x - gestureData.jointPos.x) < 0.2f && + (jointsPos[leftHandIndex].z - gestureData.jointPos.z) > 0.1f; + + if(isInPose) + { + Vector3 jointPos = jointsPos[gestureData.joint]; + CheckPoseComplete(ref gestureData, timestamp, jointPos, isInPose, 0f); + } + } + else + { + // cancel the gesture + SetGestureCancelled(ref gestureData); + } + break; + } + break; + + // here come more gesture-cases + } + } + +} diff --git a/Assets/KinectScripts/KinectGestures.cs.meta b/Assets/KinectScripts/KinectGestures.cs.meta new file mode 100644 index 0000000..6f13181 --- /dev/null +++ b/Assets/KinectScripts/KinectGestures.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 52669392d72ecb7439910fbdfe301f76 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/KinectManager.cs b/Assets/KinectScripts/KinectManager.cs new file mode 100644 index 0000000..c458ccf --- /dev/null +++ b/Assets/KinectScripts/KinectManager.cs @@ -0,0 +1,2215 @@ +using UnityEngine; + +using System; +using System.Collections; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.IO; +using System.Text; + + +public class KinectManager : MonoBehaviour +{ + public enum Smoothing : int { None, Default, Medium, Aggressive } + + + // Public Bool to determine how many players there are. Default of one user. + public bool TwoUsers = false; + +// // Public Bool to determine if the sensor is used in near mode. +// public bool NearMode = false; + + // Public Bool to determine whether to receive and compute the user map + public bool ComputeUserMap = false; + + // Public Bool to determine whether to receive and compute the color map + public bool ComputeColorMap = false; + + // Public Bool to determine whether to display user map on the GUI + public bool DisplayUserMap = false; + + // Public Bool to determine whether to display color map on the GUI + public bool DisplayColorMap = false; + + // Public Bool to determine whether to display the skeleton lines on user map + public bool DisplaySkeletonLines = false; + + // Public Float to specify the image width used by depth and color maps, as % of the camera width. the height is calculated depending on the width. + // if percent is zero, it is calculated internally to match the selected width and height of the depth image + public float DisplayMapsWidthPercent = 20f; + + // How high off the ground is the sensor (in meters). + public float SensorHeight = 1.0f; + + // Kinect elevation angle (in degrees) + public int SensorAngle = 0; + + // Minimum user distance in order to process skeleton data + public float MinUserDistance = 1.0f; + + // Maximum user distance, if any. 0 means no max-distance limitation + public float MaxUserDistance = 0f; + + // Public Bool to determine whether to detect only the closest user or not + public bool DetectClosestUser = true; + + // Public Bool to determine whether to use only the tracked joints (and ignore the inferred ones) + public bool IgnoreInferredJoints = true; + + // Selection of smoothing parameters + public Smoothing smoothing = Smoothing.Default; + + // Public Bool to determine the use of additional filters + public bool UseBoneOrientationsFilter = false; + public bool UseClippedLegsFilter = false; + public bool UseBoneOrientationsConstraint = true; + public bool UseSelfIntersectionConstraint = false; + + // Lists of GameObjects that will be controlled by which player. + public List Player1Avatars; + public List Player2Avatars; + + // Calibration poses for each player, if needed + public KinectGestures.Gestures Player1CalibrationPose; + public KinectGestures.Gestures Player2CalibrationPose; + + // List of Gestures to detect for each player + public List Player1Gestures; + public List Player2Gestures; + + // Minimum time between gesture detections + public float MinTimeBetweenGestures = 0.7f; + + // List of Gesture Listeners. They must implement KinectGestures.GestureListenerInterface + public List GestureListeners; + + // GUI Text to show messages. + public GUIText CalibrationText; + + // GUI Texture to display the hand cursor for Player1 + public GameObject HandCursor1; + + // GUI Texture to display the hand cursor for Player1 + public GameObject HandCursor2; + + // Bool to specify whether Left/Right-hand-cursor and the Click-gesture control the mouse cursor and click + public bool ControlMouseCursor = false; + + // GUI Text to show gesture debug message. + public GUIText GesturesDebugText; + + + // Bool to keep track of whether Kinect has been initialized + private bool KinectInitialized = false; + + // Bools to keep track of who is currently calibrated. + private bool Player1Calibrated = false; + private bool Player2Calibrated = false; + + private bool AllPlayersCalibrated = false; + + // Values to track which ID (assigned by the Kinect) is player 1 and player 2. + private uint Player1ID; + private uint Player2ID; + + private int Player1Index; + private int Player2Index; + + // Lists of AvatarControllers that will let the models get updated. + private List Player1Controllers; + private List Player2Controllers; + + // User Map vars. + private Texture2D usersLblTex; + private Color32[] usersMapColors; + private ushort[] usersPrevState; + private Rect usersMapRect; + private int usersMapSize; + + private Texture2D usersClrTex; + //Color[] usersClrColors; + private Rect usersClrRect; + + //short[] usersLabelMap; + private ushort[] usersDepthMap; + private float[] usersHistogramMap; + + // List of all users + private List allUsers; + + // Image stream handles for the kinect + private IntPtr colorStreamHandle; + private IntPtr depthStreamHandle; + + // Color image data, if used + private Color32[] colorImage; + private byte[] usersColorMap; + + // Skeleton related structures + private KinectWrapper.NuiSkeletonFrame skeletonFrame; + private KinectWrapper.NuiTransformSmoothParameters smoothParameters; + private int player1Index, player2Index; + + // Skeleton tracking states, positions and joints' orientations + private Vector3 player1Pos, player2Pos; + private Matrix4x4 player1Ori, player2Ori; + private bool[] player1JointsTracked, player2JointsTracked; + private bool[] player1PrevTracked, player2PrevTracked; + private Vector3[] player1JointsPos, player2JointsPos; + private Matrix4x4[] player1JointsOri, player2JointsOri; + private KinectWrapper.NuiSkeletonBoneOrientation[] jointOrientations; + + // Calibration gesture data for each player + private KinectGestures.GestureData player1CalibrationData; + private KinectGestures.GestureData player2CalibrationData; + + // Lists of gesture data, for each player + private List player1Gestures = new List(); + private List player2Gestures = new List(); + + // general gesture tracking time start + private float[] gestureTrackingAtTime; + + // List of Gesture Listeners. They must implement KinectGestures.GestureListenerInterface + public List gestureListeners; + + private Matrix4x4 kinectToWorld, flipMatrix; + private static KinectManager instance; + + // Timer for controlling Filter Lerp blends. + private float lastNuiTime; + + // Filters + private TrackingStateFilter[] trackingStateFilter; + private BoneOrientationsFilter[] boneOrientationFilter; + private ClippedLegsFilter[] clippedLegsFilter; + private BoneOrientationsConstraint boneConstraintsFilter; + private SelfIntersectionConstraint selfIntersectionConstraint; + + + // returns the single KinectManager instance + public static KinectManager Instance + { + get + { + return instance; + } + } + + // checks if Kinect is initialized and ready to use. If not, there was an error during Kinect-sensor initialization + public static bool IsKinectInitialized() + { + return instance != null ? instance.KinectInitialized : false; + } + + // checks if Kinect is initialized and ready to use. If not, there was an error during Kinect-sensor initialization + public bool IsInitialized() + { + return KinectInitialized; + } + + // this function is used internally by AvatarController + public static bool IsCalibrationNeeded() + { + return false; + } + + // returns the raw depth/user data, if ComputeUserMap is true + public ushort[] GetRawDepthMap() + { + return usersDepthMap; + } + + // returns the depth data for a specific pixel, if ComputeUserMap is true + public ushort GetDepthForPixel(int x, int y) + { + int index = y * KinectWrapper.Constants.DepthImageWidth + x; + + if(index >= 0 && index < usersDepthMap.Length) + return usersDepthMap[index]; + else + return 0; + } + + // returns the depth map position for a 3d joint position + public Vector2 GetDepthMapPosForJointPos(Vector3 posJoint) + { + Vector3 vDepthPos = KinectWrapper.MapSkeletonPointToDepthPoint(posJoint); + Vector2 vMapPos = new Vector2(vDepthPos.x, vDepthPos.y); + + return vMapPos; + } + + // returns the color map position for a depth 2d position + public Vector2 GetColorMapPosForDepthPos(Vector2 posDepth) + { + int cx, cy; + + KinectWrapper.NuiImageViewArea pcViewArea = new KinectWrapper.NuiImageViewArea + { + eDigitalZoom = 0, + lCenterX = 0, + lCenterY = 0 + }; + + KinectWrapper.NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution( + KinectWrapper.Constants.ColorImageResolution, + KinectWrapper.Constants.DepthImageResolution, + ref pcViewArea, + (int)posDepth.x, (int)posDepth.y, GetDepthForPixel((int)posDepth.x, (int)posDepth.y), + out cx, out cy); + + return new Vector2(cx, cy); + } + + // returns the depth image/users histogram texture,if ComputeUserMap is true + public Texture2D GetUsersLblTex() + { + return usersLblTex; + } + + // returns the color image texture,if ComputeColorMap is true + public Texture2D GetUsersClrTex() + { + return usersClrTex; + } + + // returns true if at least one user is currently detected by the sensor + public bool IsUserDetected() + { + return KinectInitialized && (allUsers.Count > 0); + } + + // returns the UserID of Player1, or 0 if no Player1 is detected + public uint GetPlayer1ID() + { + return Player1ID; + } + + // returns the UserID of Player2, or 0 if no Player2 is detected + public uint GetPlayer2ID() + { + return Player2ID; + } + + // returns the index of Player1, or 0 if no Player2 is detected + public int GetPlayer1Index() + { + return Player1Index; + } + + // returns the index of Player2, or 0 if no Player2 is detected + public int GetPlayer2Index() + { + return Player2Index; + } + + // returns true if the User is calibrated and ready to use + public bool IsPlayerCalibrated(uint UserId) + { + if(UserId == Player1ID) + return Player1Calibrated; + else if(UserId == Player2ID) + return Player2Calibrated; + + return false; + } + + // returns the raw unmodified joint position, as returned by the Kinect sensor + public Vector3 GetRawSkeletonJointPos(uint UserId, int joint) + { + if(UserId == Player1ID) + return joint >= 0 && joint < player1JointsPos.Length ? (Vector3)skeletonFrame.SkeletonData[player1Index].SkeletonPositions[joint] : Vector3.zero; + else if(UserId == Player2ID) + return joint >= 0 && joint < player2JointsPos.Length ? (Vector3)skeletonFrame.SkeletonData[player2Index].SkeletonPositions[joint] : Vector3.zero; + + return Vector3.zero; + } + + // returns the User position, relative to the Kinect-sensor, in meters + public Vector3 GetUserPosition(uint UserId) + { + if(UserId == Player1ID) + return player1Pos; + else if(UserId == Player2ID) + return player2Pos; + + return Vector3.zero; + } + + // returns the User rotation, relative to the Kinect-sensor + public Quaternion GetUserOrientation(uint UserId, bool flip) + { + if(UserId == Player1ID && player1JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter]) + return ConvertMatrixToQuat(player1Ori, (int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter, flip); + else if(UserId == Player2ID && player2JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter]) + return ConvertMatrixToQuat(player2Ori, (int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter, flip); + + return Quaternion.identity; + } + + // returns true if the given joint of the specified user is being tracked + public bool IsJointTracked(uint UserId, int joint) + { + if(UserId == Player1ID) + return joint >= 0 && joint < player1JointsTracked.Length ? player1JointsTracked[joint] : false; + else if(UserId == Player2ID) + return joint >= 0 && joint < player2JointsTracked.Length ? player2JointsTracked[joint] : false; + + return false; + } + + // returns the joint position of the specified user, relative to the Kinect-sensor, in meters + public Vector3 GetJointPosition(uint UserId, int joint) + { + if(UserId == Player1ID) + return joint >= 0 && joint < player1JointsPos.Length ? player1JointsPos[joint] : Vector3.zero; + else if(UserId == Player2ID) + return joint >= 0 && joint < player2JointsPos.Length ? player2JointsPos[joint] : Vector3.zero; + + return Vector3.zero; + } + + // returns the local joint position of the specified user, relative to the parent joint, in meters + public Vector3 GetJointLocalPosition(uint UserId, int joint) + { + int parent = KinectWrapper.GetSkeletonJointParent(joint); + + if(UserId == Player1ID) + return joint >= 0 && joint < player1JointsPos.Length ? + (player1JointsPos[joint] - player1JointsPos[parent]) : Vector3.zero; + else if(UserId == Player2ID) + return joint >= 0 && joint < player2JointsPos.Length ? + (player2JointsPos[joint] - player2JointsPos[parent]) : Vector3.zero; + + return Vector3.zero; + } + + // returns the joint rotation of the specified user, relative to the Kinect-sensor + public Quaternion GetJointOrientation(uint UserId, int joint, bool flip) + { + if(UserId == Player1ID) + { + if(joint >= 0 && joint < player1JointsOri.Length && player1JointsTracked[joint]) + return ConvertMatrixToQuat(player1JointsOri[joint], joint, flip); + } + else if(UserId == Player2ID) + { + if(joint >= 0 && joint < player2JointsOri.Length && player2JointsTracked[joint]) + return ConvertMatrixToQuat(player2JointsOri[joint], joint, flip); + } + + return Quaternion.identity; + } + + // returns the joint rotation of the specified user, relative to the parent joint + public Quaternion GetJointLocalOrientation(uint UserId, int joint, bool flip) + { + int parent = KinectWrapper.GetSkeletonJointParent(joint); + + if(UserId == Player1ID) + { + if(joint >= 0 && joint < player1JointsOri.Length && player1JointsTracked[joint]) + { + Matrix4x4 localMat = (player1JointsOri[parent].inverse * player1JointsOri[joint]); + return Quaternion.LookRotation(localMat.GetColumn(2), localMat.GetColumn(1)); + } + } + else if(UserId == Player2ID) + { + if(joint >= 0 && joint < player2JointsOri.Length && player2JointsTracked[joint]) + { + Matrix4x4 localMat = (player2JointsOri[parent].inverse * player2JointsOri[joint]); + return Quaternion.LookRotation(localMat.GetColumn(2), localMat.GetColumn(1)); + } + } + + return Quaternion.identity; + } + + // returns the direction between baseJoint and nextJoint, for the specified user + public Vector3 GetDirectionBetweenJoints(uint UserId, int baseJoint, int nextJoint, bool flipX, bool flipZ) + { + Vector3 jointDir = Vector3.zero; + + if(UserId == Player1ID) + { + if(baseJoint >= 0 && baseJoint < player1JointsPos.Length && player1JointsTracked[baseJoint] && + nextJoint >= 0 && nextJoint < player1JointsPos.Length && player1JointsTracked[nextJoint]) + { + jointDir = player1JointsPos[nextJoint] - player1JointsPos[baseJoint]; + } + } + else if(UserId == Player2ID) + { + if(baseJoint >= 0 && baseJoint < player2JointsPos.Length && player2JointsTracked[baseJoint] && + nextJoint >= 0 && nextJoint < player2JointsPos.Length && player2JointsTracked[nextJoint]) + { + jointDir = player2JointsPos[nextJoint] - player2JointsPos[baseJoint]; + } + } + + if(jointDir != Vector3.zero) + { + if(flipX) + jointDir.x = -jointDir.x; + + if(flipZ) + jointDir.z = -jointDir.z; + } + + return jointDir; + } + + // adds a gesture to the list of detected gestures for the specified user + public void DetectGesture(uint UserId, KinectGestures.Gestures gesture) + { + int index = GetGestureIndex(UserId, gesture); + if(index >= 0) + DeleteGesture(UserId, gesture); + + KinectGestures.GestureData gestureData = new KinectGestures.GestureData(); + + gestureData.userId = UserId; + gestureData.gesture = gesture; + gestureData.state = 0; + gestureData.joint = 0; + gestureData.progress = 0f; + gestureData.complete = false; + gestureData.cancelled = false; + + gestureData.checkForGestures = new List(); + switch(gesture) + { + case KinectGestures.Gestures.ZoomIn: + gestureData.checkForGestures.Add(KinectGestures.Gestures.ZoomOut); + gestureData.checkForGestures.Add(KinectGestures.Gestures.Wheel); + break; + + case KinectGestures.Gestures.ZoomOut: + gestureData.checkForGestures.Add(KinectGestures.Gestures.ZoomIn); + gestureData.checkForGestures.Add(KinectGestures.Gestures.Wheel); + break; + + case KinectGestures.Gestures.Wheel: + gestureData.checkForGestures.Add(KinectGestures.Gestures.ZoomIn); + gestureData.checkForGestures.Add(KinectGestures.Gestures.ZoomOut); + break; + +// case KinectGestures.Gestures.Jump: +// gestureData.checkForGestures.Add(KinectGestures.Gestures.Squat); +// break; +// +// case KinectGestures.Gestures.Squat: +// gestureData.checkForGestures.Add(KinectGestures.Gestures.Jump); +// break; +// +// case KinectGestures.Gestures.Push: +// gestureData.checkForGestures.Add(KinectGestures.Gestures.Pull); +// break; +// +// case KinectGestures.Gestures.Pull: +// gestureData.checkForGestures.Add(KinectGestures.Gestures.Push); +// break; + } + + if(UserId == Player1ID) + player1Gestures.Add(gestureData); + else if(UserId == Player2ID) + player2Gestures.Add(gestureData); + } + + // resets the gesture-data state for the given gesture of the specified user + public bool ResetGesture(uint UserId, KinectGestures.Gestures gesture) + { + int index = GetGestureIndex(UserId, gesture); + if(index < 0) + return false; + + KinectGestures.GestureData gestureData = (UserId == Player1ID) ? player1Gestures[index] : player2Gestures[index]; + + gestureData.state = 0; + gestureData.joint = 0; + gestureData.progress = 0f; + gestureData.complete = false; + gestureData.cancelled = false; + gestureData.startTrackingAtTime = Time.realtimeSinceStartup + KinectWrapper.Constants.MinTimeBetweenSameGestures; + + if(UserId == Player1ID) + player1Gestures[index] = gestureData; + else if(UserId == Player2ID) + player2Gestures[index] = gestureData; + + return true; + } + + // resets the gesture-data states for all detected gestures of the specified user + public void ResetPlayerGestures(uint UserId) + { + if(UserId == Player1ID) + { + int listSize = player1Gestures.Count; + + for(int i = 0; i < listSize; i++) + { + ResetGesture(UserId, player1Gestures[i].gesture); + } + } + else if(UserId == Player2ID) + { + int listSize = player2Gestures.Count; + + for(int i = 0; i < listSize; i++) + { + ResetGesture(UserId, player2Gestures[i].gesture); + } + } + } + + // deletes the given gesture from the list of detected gestures for the specified user + public bool DeleteGesture(uint UserId, KinectGestures.Gestures gesture) + { + int index = GetGestureIndex(UserId, gesture); + if(index < 0) + return false; + + if(UserId == Player1ID) + player1Gestures.RemoveAt(index); + else if(UserId == Player2ID) + player2Gestures.RemoveAt(index); + + return true; + } + + // clears detected gestures list for the specified user + public void ClearGestures(uint UserId) + { + if(UserId == Player1ID) + { + player1Gestures.Clear(); + } + else if(UserId == Player2ID) + { + player2Gestures.Clear(); + } + } + + // returns the count of detected gestures in the list of detected gestures for the specified user + public int GetGesturesCount(uint UserId) + { + if(UserId == Player1ID) + return player1Gestures.Count; + else if(UserId == Player2ID) + return player2Gestures.Count; + + return 0; + } + + // returns the list of detected gestures for the specified user + public List GetGesturesList(uint UserId) + { + List list = new List(); + + if(UserId == Player1ID) + { + foreach(KinectGestures.GestureData data in player1Gestures) + list.Add(data.gesture); + } + else if(UserId == Player2ID) + { + foreach(KinectGestures.GestureData data in player1Gestures) + list.Add(data.gesture); + } + + return list; + } + + // returns true, if the given gesture is in the list of detected gestures for the specified user + public bool IsGestureDetected(uint UserId, KinectGestures.Gestures gesture) + { + int index = GetGestureIndex(UserId, gesture); + return index >= 0; + } + + // returns true, if the given gesture for the specified user is complete + public bool IsGestureComplete(uint UserId, KinectGestures.Gestures gesture, bool bResetOnComplete) + { + int index = GetGestureIndex(UserId, gesture); + + if(index >= 0) + { + if(UserId == Player1ID) + { + KinectGestures.GestureData gestureData = player1Gestures[index]; + + if(bResetOnComplete && gestureData.complete) + { + ResetPlayerGestures(UserId); + return true; + } + + return gestureData.complete; + } + else if(UserId == Player2ID) + { + KinectGestures.GestureData gestureData = player2Gestures[index]; + + if(bResetOnComplete && gestureData.complete) + { + ResetPlayerGestures(UserId); + return true; + } + + return gestureData.complete; + } + } + + return false; + } + + // returns true, if the given gesture for the specified user is cancelled + public bool IsGestureCancelled(uint UserId, KinectGestures.Gestures gesture) + { + int index = GetGestureIndex(UserId, gesture); + + if(index >= 0) + { + if(UserId == Player1ID) + { + KinectGestures.GestureData gestureData = player1Gestures[index]; + return gestureData.cancelled; + } + else if(UserId == Player2ID) + { + KinectGestures.GestureData gestureData = player2Gestures[index]; + return gestureData.cancelled; + } + } + + return false; + } + + // returns the progress in range [0, 1] of the given gesture for the specified user + public float GetGestureProgress(uint UserId, KinectGestures.Gestures gesture) + { + int index = GetGestureIndex(UserId, gesture); + + if(index >= 0) + { + if(UserId == Player1ID) + { + KinectGestures.GestureData gestureData = player1Gestures[index]; + return gestureData.progress; + } + else if(UserId == Player2ID) + { + KinectGestures.GestureData gestureData = player2Gestures[index]; + return gestureData.progress; + } + } + + return 0f; + } + + // returns the current "screen position" of the given gesture for the specified user + public Vector3 GetGestureScreenPos(uint UserId, KinectGestures.Gestures gesture) + { + int index = GetGestureIndex(UserId, gesture); + + if(index >= 0) + { + if(UserId == Player1ID) + { + KinectGestures.GestureData gestureData = player1Gestures[index]; + return gestureData.screenPos; + } + else if(UserId == Player2ID) + { + KinectGestures.GestureData gestureData = player2Gestures[index]; + return gestureData.screenPos; + } + } + + return Vector3.zero; + } + + // recreates and reinitializes the internal list of gesture listeners + public void ResetGestureListeners() + { + // create the list of gesture listeners + gestureListeners.Clear(); + + foreach(MonoBehaviour script in GestureListeners) + { + if(script && (script is KinectGestures.GestureListenerInterface)) + { + KinectGestures.GestureListenerInterface listener = (KinectGestures.GestureListenerInterface)script; + gestureListeners.Add(listener); + } + } + + } + + // recreates and reinitializes the lists of avatar controllers, after the list of avatars for player 1/2 was changed + public void ResetAvatarControllers() + { + if(Player1Avatars.Count == 0 && Player2Avatars.Count == 0) + { + AvatarController[] avatars = FindObjectsOfType(typeof(AvatarController)) as AvatarController[]; + + foreach(AvatarController avatar in avatars) + { + Player1Avatars.Add(avatar.gameObject); + } + } + + if(Player1Controllers != null) + { + Player1Controllers.Clear(); + + foreach(GameObject avatar in Player1Avatars) + { + if(avatar != null && avatar.activeInHierarchy) + { + AvatarController controller = avatar.GetComponent(); + controller.ResetToInitialPosition(); + controller.Awake(); + + Player1Controllers.Add(controller); + } + } + } + + if(Player2Controllers != null) + { + Player2Controllers.Clear(); + + foreach(GameObject avatar in Player2Avatars) + { + if(avatar != null && avatar.activeInHierarchy) + { + AvatarController controller = avatar.GetComponent(); + controller.ResetToInitialPosition(); + controller.Awake(); + + Player2Controllers.Add(controller); + } + } + } + } + + // removes the currently detected kinect users, allowing a new detection/calibration process to start + public void ClearKinectUsers() + { + if(!KinectInitialized) + return; + + // remove current users + for(int i = allUsers.Count - 1; i >= 0; i--) + { + uint userId = allUsers[i]; + RemoveUser(userId); + } + + ResetFilters(); + } + + // clears Kinect buffers and resets the filters + public void ResetFilters() + { + if(!KinectInitialized) + return; + + // clear kinect vars + player1Pos = Vector3.zero; player2Pos = Vector3.zero; + player1Ori = Matrix4x4.identity; player2Ori = Matrix4x4.identity; + + int skeletonJointsCount = (int)KinectWrapper.NuiSkeletonPositionIndex.Count; + for(int i = 0; i < skeletonJointsCount; i++) + { + player1JointsTracked[i] = false; player2JointsTracked[i] = false; + player1PrevTracked[i] = false; player2PrevTracked[i] = false; + player1JointsPos[i] = Vector3.zero; player2JointsPos[i] = Vector3.zero; + player1JointsOri[i] = Matrix4x4.identity; player2JointsOri[i] = Matrix4x4.identity; + } + + if(trackingStateFilter != null) + { + for(int i = 0; i < trackingStateFilter.Length; i++) + if(trackingStateFilter[i] != null) + trackingStateFilter[i].Reset(); + } + + if(boneOrientationFilter != null) + { + for(int i = 0; i < boneOrientationFilter.Length; i++) + if(boneOrientationFilter[i] != null) + boneOrientationFilter[i].Reset(); + } + + if(clippedLegsFilter != null) + { + for(int i = 0; i < clippedLegsFilter.Length; i++) + if(clippedLegsFilter[i] != null) + clippedLegsFilter[i].Reset(); + } + } + + + //----------------------------------- end of public functions --------------------------------------// + + void Awake() + { + //CalibrationText = GameObject.Find("CalibrationText"); + int hr = 0; + + try + { + hr = KinectWrapper.NuiInitialize(KinectWrapper.NuiInitializeFlags.UsesSkeleton | + KinectWrapper.NuiInitializeFlags.UsesDepthAndPlayerIndex | + (ComputeColorMap ? KinectWrapper.NuiInitializeFlags.UsesColor : 0)); + if (hr != 0) + { + throw new Exception("NuiInitialize Failed"); + } + + hr = KinectWrapper.NuiSkeletonTrackingEnable(IntPtr.Zero, 8); // 0, 12,8 + if (hr != 0) + { + throw new Exception("Cannot initialize Skeleton Data"); + } + + depthStreamHandle = IntPtr.Zero; + if(ComputeUserMap) + { + hr = KinectWrapper.NuiImageStreamOpen(KinectWrapper.NuiImageType.DepthAndPlayerIndex, + KinectWrapper.Constants.DepthImageResolution, 0, 2, IntPtr.Zero, ref depthStreamHandle); + if (hr != 0) + { + throw new Exception("Cannot open depth stream"); + } + } + + colorStreamHandle = IntPtr.Zero; + if(ComputeColorMap) + { + hr = KinectWrapper.NuiImageStreamOpen(KinectWrapper.NuiImageType.Color, + KinectWrapper.Constants.ColorImageResolution, 0, 2, IntPtr.Zero, ref colorStreamHandle); + if (hr != 0) + { + throw new Exception("Cannot open color stream"); + } + } + + // set kinect elevation angle + KinectWrapper.NuiCameraElevationSetAngle(SensorAngle); + + // init skeleton structures + skeletonFrame = new KinectWrapper.NuiSkeletonFrame() + { + SkeletonData = new KinectWrapper.NuiSkeletonData[KinectWrapper.Constants.NuiSkeletonCount] + }; + + // values used to pass to smoothing function + smoothParameters = new KinectWrapper.NuiTransformSmoothParameters(); + + switch(smoothing) + { + case Smoothing.Default: + smoothParameters.fSmoothing = 0.5f; + smoothParameters.fCorrection = 0.5f; + smoothParameters.fPrediction = 0.5f; + smoothParameters.fJitterRadius = 0.05f; + smoothParameters.fMaxDeviationRadius = 0.04f; + break; + case Smoothing.Medium: + smoothParameters.fSmoothing = 0.5f; + smoothParameters.fCorrection = 0.1f; + smoothParameters.fPrediction = 0.5f; + smoothParameters.fJitterRadius = 0.1f; + smoothParameters.fMaxDeviationRadius = 0.1f; + break; + case Smoothing.Aggressive: + smoothParameters.fSmoothing = 0.7f; + smoothParameters.fCorrection = 0.3f; + smoothParameters.fPrediction = 1.0f; + smoothParameters.fJitterRadius = 1.0f; + smoothParameters.fMaxDeviationRadius = 1.0f; + break; + } + + // init the tracking state filter + trackingStateFilter = new TrackingStateFilter[KinectWrapper.Constants.NuiSkeletonMaxTracked]; + for(int i = 0; i < trackingStateFilter.Length; i++) + { + trackingStateFilter[i] = new TrackingStateFilter(); + trackingStateFilter[i].Init(); + } + + // init the bone orientation filter + boneOrientationFilter = new BoneOrientationsFilter[KinectWrapper.Constants.NuiSkeletonMaxTracked]; + for(int i = 0; i < boneOrientationFilter.Length; i++) + { + boneOrientationFilter[i] = new BoneOrientationsFilter(); + boneOrientationFilter[i].Init(); + } + + // init the clipped legs filter + clippedLegsFilter = new ClippedLegsFilter[KinectWrapper.Constants.NuiSkeletonMaxTracked]; + for(int i = 0; i < clippedLegsFilter.Length; i++) + { + clippedLegsFilter[i] = new ClippedLegsFilter(); + } + + // init the bone orientation constraints + boneConstraintsFilter = new BoneOrientationsConstraint(); + boneConstraintsFilter.AddDefaultConstraints(); + // init the self intersection constraints + selfIntersectionConstraint = new SelfIntersectionConstraint(); + + // create arrays for joint positions and joint orientations + int skeletonJointsCount = (int)KinectWrapper.NuiSkeletonPositionIndex.Count; + + player1JointsTracked = new bool[skeletonJointsCount]; + player2JointsTracked = new bool[skeletonJointsCount]; + player1PrevTracked = new bool[skeletonJointsCount]; + player2PrevTracked = new bool[skeletonJointsCount]; + + player1JointsPos = new Vector3[skeletonJointsCount]; + player2JointsPos = new Vector3[skeletonJointsCount]; + + player1JointsOri = new Matrix4x4[skeletonJointsCount]; + player2JointsOri = new Matrix4x4[skeletonJointsCount]; + + gestureTrackingAtTime = new float[KinectWrapper.Constants.NuiSkeletonMaxTracked]; + + //create the transform matrix that converts from kinect-space to world-space + Quaternion quatTiltAngle = new Quaternion(); + quatTiltAngle.eulerAngles = new Vector3(-SensorAngle, 0.0f, 0.0f); + + //float heightAboveHips = SensorHeight - 1.0f; + + // transform matrix - kinect to world + //kinectToWorld.SetTRS(new Vector3(0.0f, heightAboveHips, 0.0f), quatTiltAngle, Vector3.one); + kinectToWorld.SetTRS(new Vector3(0.0f, SensorHeight, 0.0f), quatTiltAngle, Vector3.one); + flipMatrix = Matrix4x4.identity; + flipMatrix[2, 2] = -1; + + instance = this; + DontDestroyOnLoad(gameObject); + } + catch(DllNotFoundException e) + { + string message = "Please check the Kinect SDK installation."; + Debug.LogError(message); + Debug.LogError(e.ToString()); + if(CalibrationText != null) + CalibrationText.GetComponent().text = message; + + return; + } + catch (Exception e) + { + string message = e.Message + " - " + KinectWrapper.GetNuiErrorString(hr); + Debug.LogError(message); + Debug.LogError(e.ToString()); + if(CalibrationText != null) + CalibrationText.GetComponent().text = message; + + return; + } + + if(ComputeUserMap) + { + // Initialize depth & label map related stuff + usersMapSize = KinectWrapper.GetDepthWidth() * KinectWrapper.GetDepthHeight(); + usersLblTex = new Texture2D(KinectWrapper.GetDepthWidth(), KinectWrapper.GetDepthHeight()); + usersMapColors = new Color32[usersMapSize]; + usersPrevState = new ushort[usersMapSize]; + + usersDepthMap = new ushort[usersMapSize]; + usersHistogramMap = new float[8192]; + } + + if(ComputeColorMap) + { + // Initialize color map related stuff + usersClrTex = new Texture2D(KinectWrapper.GetColorWidth(), KinectWrapper.GetColorHeight()); + + colorImage = new Color32[KinectWrapper.GetColorWidth() * KinectWrapper.GetColorHeight()]; + usersColorMap = new byte[colorImage.Length << 2]; + } + + // try to automatically find the available avatar controllers in the scene + if(Player1Avatars.Count == 0 && Player2Avatars.Count == 0) + { + AvatarController[] avatars = FindObjectsOfType(typeof(AvatarController)) as AvatarController[]; + + foreach(AvatarController avatar in avatars) + { + Player1Avatars.Add(avatar.gameObject); + } + } + + // Initialize user list to contain ALL users. + allUsers = new List(); + + // Pull the AvatarController from each of the players Avatars. + Player1Controllers = new List(); + Player2Controllers = new List(); + + // Add each of the avatars' controllers into a list for each player. + foreach(GameObject avatar in Player1Avatars) + { + if(avatar != null && avatar.activeInHierarchy) + { + Player1Controllers.Add(avatar.GetComponent()); + } + } + + foreach(GameObject avatar in Player2Avatars) + { + if(avatar != null && avatar.activeInHierarchy) + { + Player2Controllers.Add(avatar.GetComponent()); + } + } + + // create the list of gesture listeners + gestureListeners = new List(); + + foreach(MonoBehaviour script in GestureListeners) + { + if(script && (script is KinectGestures.GestureListenerInterface)) + { + KinectGestures.GestureListenerInterface listener = (KinectGestures.GestureListenerInterface)script; + gestureListeners.Add(listener); + } + } + + // GUI Text. + if(CalibrationText != null) + { + CalibrationText.GetComponent().text = "WAITING FOR USERS"; + } + + Debug.Log("Waiting for users."); + + KinectInitialized = true; + } + + void Update() + { + if(KinectInitialized) + { + // needed by the KinectExtras' native wrapper to check for next frames + // uncomment the line below, if you use the Extras' wrapper, but none of the Extras' managers + //KinectWrapper.UpdateKinectSensor(); + + // If the players aren't all calibrated yet, draw the user map. + if(ComputeUserMap) + { + if(depthStreamHandle != IntPtr.Zero && + KinectWrapper.PollDepth(depthStreamHandle, KinectWrapper.Constants.IsNearMode, ref usersDepthMap)) + { + UpdateUserMap(); + } + } + + if(ComputeColorMap) + { + if(colorStreamHandle != IntPtr.Zero && + KinectWrapper.PollColor(colorStreamHandle, ref usersColorMap, ref colorImage)) + { + UpdateColorMap(); + } + } + + if(KinectWrapper.PollSkeleton(ref smoothParameters, ref skeletonFrame)) + { + ProcessSkeleton(); + } + + // Update player 1's models if he/she is calibrated and the model is active. + if(Player1Calibrated) + { + foreach (AvatarController controller in Player1Controllers) + { + //if(controller.Active) + { + controller.UpdateAvatar(Player1ID); + } + } + + // Check for complete gestures + foreach(KinectGestures.GestureData gestureData in player1Gestures) + { + if(gestureData.complete) + { + if(gestureData.gesture == KinectGestures.Gestures.Click) + { + if(ControlMouseCursor) + { + MouseControl.MouseClick(); + } + } + + foreach(KinectGestures.GestureListenerInterface listener in gestureListeners) + { + if(listener.GestureCompleted(Player1ID, 0, gestureData.gesture, + (KinectWrapper.NuiSkeletonPositionIndex)gestureData.joint, gestureData.screenPos)) + { + ResetPlayerGestures(Player1ID); + } + } + } + else if(gestureData.cancelled) + { + foreach(KinectGestures.GestureListenerInterface listener in gestureListeners) + { + if(listener.GestureCancelled(Player1ID, 0, gestureData.gesture, + (KinectWrapper.NuiSkeletonPositionIndex)gestureData.joint)) + { + ResetGesture(Player1ID, gestureData.gesture); + } + } + } + else if(gestureData.progress >= 0.1f) + { + if((gestureData.gesture == KinectGestures.Gestures.RightHandCursor || + gestureData.gesture == KinectGestures.Gestures.LeftHandCursor) && + gestureData.progress >= 0.5f) + { + if(GetGestureProgress(gestureData.userId, KinectGestures.Gestures.Click) < 0.3f) + { + if(HandCursor1 != null) + { + Vector3 vCursorPos = gestureData.screenPos; + + if(HandCursor1.GetComponent() == null) + { + float zDist = HandCursor1.transform.position.z - Camera.main.transform.position.z; + vCursorPos.z = zDist; + + vCursorPos = Camera.main.ViewportToWorldPoint(vCursorPos); + } + + HandCursor1.transform.position = Vector3.Lerp(HandCursor1.transform.position, vCursorPos, 3 * Time.deltaTime); + } + + if(ControlMouseCursor) + { + Vector3 vCursorPos = HandCursor1.GetComponent() != null ? HandCursor1.transform.position : + Camera.main.WorldToViewportPoint(HandCursor1.transform.position); + MouseControl.MouseMove(vCursorPos, CalibrationText); + } + } + } + + foreach(KinectGestures.GestureListenerInterface listener in gestureListeners) + { + listener.GestureInProgress(Player1ID, 0, gestureData.gesture, gestureData.progress, + (KinectWrapper.NuiSkeletonPositionIndex)gestureData.joint, gestureData.screenPos); + } + } + } + } + + // Update player 2's models if he/she is calibrated and the model is active. + if(Player2Calibrated) + { + foreach (AvatarController controller in Player2Controllers) + { + //if(controller.Active) + { + controller.UpdateAvatar(Player2ID); + } + } + + // Check for complete gestures + foreach(KinectGestures.GestureData gestureData in player2Gestures) + { + if(gestureData.complete) + { + if(gestureData.gesture == KinectGestures.Gestures.Click) + { + if(ControlMouseCursor) + { + MouseControl.MouseClick(); + } + } + + foreach(KinectGestures.GestureListenerInterface listener in gestureListeners) + { + if(listener.GestureCompleted(Player2ID, 1, gestureData.gesture, + (KinectWrapper.NuiSkeletonPositionIndex)gestureData.joint, gestureData.screenPos)) + { + ResetPlayerGestures(Player2ID); + } + } + } + else if(gestureData.cancelled) + { + foreach(KinectGestures.GestureListenerInterface listener in gestureListeners) + { + if(listener.GestureCancelled(Player2ID, 1, gestureData.gesture, + (KinectWrapper.NuiSkeletonPositionIndex)gestureData.joint)) + { + ResetGesture(Player2ID, gestureData.gesture); + } + } + } + else if(gestureData.progress >= 0.1f) + { + if((gestureData.gesture == KinectGestures.Gestures.RightHandCursor || + gestureData.gesture == KinectGestures.Gestures.LeftHandCursor) && + gestureData.progress >= 0.5f) + { + if(GetGestureProgress(gestureData.userId, KinectGestures.Gestures.Click) < 0.3f) + { + if(HandCursor2 != null) + { + Vector3 vCursorPos = gestureData.screenPos; + + if(HandCursor2.GetComponent() == null) + { + float zDist = HandCursor2.transform.position.z - Camera.main.transform.position.z; + vCursorPos.z = zDist; + + vCursorPos = Camera.main.ViewportToWorldPoint(vCursorPos); + } + + HandCursor2.transform.position = Vector3.Lerp(HandCursor2.transform.position, vCursorPos, 3 * Time.deltaTime); + } + + if(ControlMouseCursor) + { + Vector3 vCursorPos = HandCursor2.GetComponent() != null ? HandCursor2.transform.position : + Camera.main.WorldToViewportPoint(HandCursor2.transform.position); + MouseControl.MouseMove(vCursorPos, CalibrationText); + } + } + } + + foreach(KinectGestures.GestureListenerInterface listener in gestureListeners) + { + listener.GestureInProgress(Player2ID, 1, gestureData.gesture, gestureData.progress, + (KinectWrapper.NuiSkeletonPositionIndex)gestureData.joint, gestureData.screenPos); + } + } + } + } + } + + // Kill the program with ESC. + if(Input.GetKeyDown(KeyCode.Escape)) + { + Application.Quit(); + } + } + + // Make sure to kill the Kinect on quitting. + void OnApplicationQuit() + { + if(KinectInitialized) + { + // Shutdown OpenNI + KinectWrapper.NuiShutdown(); + instance = null; + } + } + + // Draw the Histogram Map on the GUI. + void OnGUI() + { + if(KinectInitialized) + { + if(ComputeUserMap && (/**(allUsers.Count == 0) ||*/ DisplayUserMap)) + { + if(usersMapRect.width == 0 || usersMapRect.height == 0) + { + // get the main camera rectangle + Rect cameraRect = Camera.main.pixelRect; + + // calculate map width and height in percent, if needed + if(DisplayMapsWidthPercent == 0f) + { + DisplayMapsWidthPercent = (KinectWrapper.GetDepthWidth() / 2) * 100 / cameraRect.width; + } + + float displayMapsWidthPercent = DisplayMapsWidthPercent / 100f; + float displayMapsHeightPercent = displayMapsWidthPercent * KinectWrapper.GetDepthHeight() / KinectWrapper.GetDepthWidth(); + + float displayWidth = cameraRect.width * displayMapsWidthPercent; + float displayHeight = cameraRect.width * displayMapsHeightPercent; + + usersMapRect = new Rect(cameraRect.width - displayWidth, cameraRect.height, displayWidth, -displayHeight); + } + + GUI.DrawTexture(usersMapRect, usersLblTex); + } + + else if(ComputeColorMap && (/**(allUsers.Count == 0) ||*/ DisplayColorMap)) + { + if(usersClrRect.width == 0 || usersClrTex.height == 0) + { + // get the main camera rectangle + Rect cameraRect = Camera.main.pixelRect; + + // calculate map width and height in percent, if needed + if(DisplayMapsWidthPercent == 0f) + { + DisplayMapsWidthPercent = (KinectWrapper.GetDepthWidth() / 2) * 100 / cameraRect.width; + } + + float displayMapsWidthPercent = DisplayMapsWidthPercent / 100f; + float displayMapsHeightPercent = displayMapsWidthPercent * KinectWrapper.GetColorHeight() / KinectWrapper.GetColorWidth(); + + float displayWidth = cameraRect.width * displayMapsWidthPercent; + float displayHeight = cameraRect.width * displayMapsHeightPercent; + + usersClrRect = new Rect(cameraRect.width - displayWidth, cameraRect.height, displayWidth, -displayHeight); + +// if(ComputeUserMap) +// { +// usersMapRect.x -= cameraRect.width * DisplayMapsWidthPercent; //usersClrTex.width / 2; +// } + } + + GUI.DrawTexture(usersClrRect, usersClrTex); + } + } + } + + // Update the User Map + void UpdateUserMap() + { + int numOfPoints = 0; + Array.Clear(usersHistogramMap, 0, usersHistogramMap.Length); + + // Calculate cumulative histogram for depth + for (int i = 0; i < usersMapSize; i++) + { + // Only calculate for depth that contains users + if ((usersDepthMap[i] & 7) != 0) + { + ushort userDepth = (ushort)(usersDepthMap[i] >> 3); + usersHistogramMap[userDepth]++; + numOfPoints++; + } + } + + if (numOfPoints > 0) + { + for (int i = 1; i < usersHistogramMap.Length; i++) + { + usersHistogramMap[i] += usersHistogramMap[i - 1]; + } + + for (int i = 0; i < usersHistogramMap.Length; i++) + { + usersHistogramMap[i] = 1.0f - (usersHistogramMap[i] / numOfPoints); + } + } + + // dummy structure needed by the coordinate mapper + KinectWrapper.NuiImageViewArea pcViewArea = new KinectWrapper.NuiImageViewArea + { + eDigitalZoom = 0, + lCenterX = 0, + lCenterY = 0 + }; + + // Create the actual users texture based on label map and depth histogram + Color32 clrClear = Color.clear; + for (int i = 0; i < usersMapSize; i++) + { + // Flip the texture as we convert label map to color array + int flipIndex = i; // usersMapSize - i - 1; + + ushort userMap = (ushort)(usersDepthMap[i] & 7); + ushort userDepth = (ushort)(usersDepthMap[i] >> 3); + + ushort nowUserPixel = userMap != 0 ? (ushort)((userMap << 13) | userDepth) : userDepth; + ushort wasUserPixel = usersPrevState[flipIndex]; + + // draw only the changed pixels + if(nowUserPixel != wasUserPixel) + { + usersPrevState[flipIndex] = nowUserPixel; + + if (userMap == 0) + { + usersMapColors[flipIndex] = clrClear; + } + else + { + if(colorImage != null) + { + int x = i % KinectWrapper.Constants.DepthImageWidth; + int y = i / KinectWrapper.Constants.DepthImageWidth; + + int cx, cy; + int hr = KinectWrapper.NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution( + KinectWrapper.Constants.ColorImageResolution, + KinectWrapper.Constants.DepthImageResolution, + ref pcViewArea, + x, y, usersDepthMap[i], + out cx, out cy); + + if(hr == 0) + { + int colorIndex = cx + cy * KinectWrapper.Constants.ColorImageWidth; + //colorIndex = usersMapSize - colorIndex - 1; + if(colorIndex >= 0 && colorIndex < usersMapSize) + { + Color32 colorPixel = colorImage[colorIndex]; + usersMapColors[flipIndex] = colorPixel; // new Color(colorPixel.r / 256f, colorPixel.g / 256f, colorPixel.b / 256f, 0.9f); + usersMapColors[flipIndex].a = 230; // 0.9f + } + } + } + else + { + // Create a blending color based on the depth histogram + float histDepth = usersHistogramMap[userDepth]; + Color c = new Color(histDepth, histDepth, histDepth, 0.9f); + + switch(userMap % 4) + { + case 0: + usersMapColors[flipIndex] = Color.red * c; + break; + case 1: + usersMapColors[flipIndex] = Color.green * c; + break; + case 2: + usersMapColors[flipIndex] = Color.blue * c; + break; + case 3: + usersMapColors[flipIndex] = Color.magenta * c; + break; + } + } + } + + } + } + + // Draw it! + usersLblTex.SetPixels32(usersMapColors); + + if(!DisplaySkeletonLines) + { + usersLblTex.Apply(); + } + } + + // Update the Color Map + void UpdateColorMap() + { + usersClrTex.SetPixels32(colorImage); + usersClrTex.Apply(); + } + + // Assign UserId to player 1 or 2. + void CalibrateUser(uint UserId, int UserIndex, ref KinectWrapper.NuiSkeletonData skeletonData) + { + // If player 1 hasn't been calibrated, assign that UserID to it. + if(!Player1Calibrated) + { + // Check to make sure we don't accidentally assign player 2 to player 1. + if (!allUsers.Contains(UserId)) + { + if(CheckForCalibrationPose(UserId, ref Player1CalibrationPose, ref player1CalibrationData, ref skeletonData)) + { + Player1Calibrated = true; + Player1ID = UserId; + Player1Index = UserIndex; + + allUsers.Add(UserId); + + foreach(AvatarController controller in Player1Controllers) + { + controller.SuccessfulCalibration(UserId); + } + + // add the gestures to detect, if any + foreach(KinectGestures.Gestures gesture in Player1Gestures) + { + DetectGesture(UserId, gesture); + } + + // notify the gesture listeners about the new user + foreach(KinectGestures.GestureListenerInterface listener in gestureListeners) + { + listener.UserDetected(UserId, 0); + } + + // reset skeleton filters + ResetFilters(); + + // If we're not using 2 users, we're all calibrated. + //if(!TwoUsers) + { + AllPlayersCalibrated = !TwoUsers ? allUsers.Count >= 1 : allUsers.Count >= 2; // true; + } + } + } + } + // Otherwise, assign to player 2. + else if(TwoUsers && !Player2Calibrated) + { + if (!allUsers.Contains(UserId)) + { + if(CheckForCalibrationPose(UserId, ref Player2CalibrationPose, ref player2CalibrationData, ref skeletonData)) + { + Player2Calibrated = true; + Player2ID = UserId; + Player2Index = UserIndex; + + allUsers.Add(UserId); + + foreach(AvatarController controller in Player2Controllers) + { + controller.SuccessfulCalibration(UserId); + } + + // add the gestures to detect, if any + foreach(KinectGestures.Gestures gesture in Player2Gestures) + { + DetectGesture(UserId, gesture); + } + + // notify the gesture listeners about the new user + foreach(KinectGestures.GestureListenerInterface listener in gestureListeners) + { + listener.UserDetected(UserId, 1); + } + + // reset skeleton filters + ResetFilters(); + + // All users are calibrated! + AllPlayersCalibrated = !TwoUsers ? allUsers.Count >= 1 : allUsers.Count >= 2; // true; + } + } + } + + // If all users are calibrated, stop trying to find them. + if(AllPlayersCalibrated) + { + Debug.Log("All players calibrated."); + + if(CalibrationText != null) + { + CalibrationText.GetComponent().text = ""; + } + } + } + + // Remove a lost UserId + void RemoveUser(uint UserId) + { + // If we lose player 1... + if(UserId == Player1ID) + { + // Null out the ID and reset all the models associated with that ID. + Player1ID = 0; + Player1Index = 0; + Player1Calibrated = false; + + foreach(AvatarController controller in Player1Controllers) + { + controller.ResetToInitialPosition(); + } + + foreach(KinectGestures.GestureListenerInterface listener in gestureListeners) + { + listener.UserLost(UserId, 0); + } + + player1CalibrationData.userId = 0; + } + + // If we lose player 2... + if(UserId == Player2ID) + { + // Null out the ID and reset all the models associated with that ID. + Player2ID = 0; + Player2Index = 0; + Player2Calibrated = false; + + foreach(AvatarController controller in Player2Controllers) + { + controller.ResetToInitialPosition(); + } + + foreach(KinectGestures.GestureListenerInterface listener in gestureListeners) + { + listener.UserLost(UserId, 1); + } + + player2CalibrationData.userId = 0; + } + + // clear gestures list for this user + ClearGestures(UserId); + + // remove from global users list + allUsers.Remove(UserId); + AllPlayersCalibrated = !TwoUsers ? allUsers.Count >= 1 : allUsers.Count >= 2; // false; + + // Try to replace that user! + Debug.Log("Waiting for users."); + + if(CalibrationText != null) + { + CalibrationText.GetComponent().text = "WAITING FOR USERS"; + } + } + + // Some internal constants + private const int stateTracked = (int)KinectWrapper.NuiSkeletonPositionTrackingState.Tracked; + private const int stateNotTracked = (int)KinectWrapper.NuiSkeletonPositionTrackingState.NotTracked; + + private int [] mustBeTrackedJoints = { + (int)KinectWrapper.NuiSkeletonPositionIndex.AnkleLeft, + (int)KinectWrapper.NuiSkeletonPositionIndex.FootLeft, + (int)KinectWrapper.NuiSkeletonPositionIndex.AnkleRight, + (int)KinectWrapper.NuiSkeletonPositionIndex.FootRight, + }; + + // Process the skeleton data + void ProcessSkeleton() + { + List lostUsers = new List(); + lostUsers.AddRange(allUsers); + + // calculate the time since last update + float currentNuiTime = Time.realtimeSinceStartup; + float deltaNuiTime = currentNuiTime - lastNuiTime; + + for(int i = 0; i < KinectWrapper.Constants.NuiSkeletonCount; i++) + { + KinectWrapper.NuiSkeletonData skeletonData = skeletonFrame.SkeletonData[i]; + uint userId = skeletonData.dwTrackingID; + + if(skeletonData.eTrackingState == KinectWrapper.NuiSkeletonTrackingState.SkeletonTracked) + { + // get the skeleton position + Vector3 skeletonPos = kinectToWorld.MultiplyPoint3x4(skeletonData.Position); + + if(!AllPlayersCalibrated) + { + // check if this is the closest user + bool bClosestUser = true; + + if(DetectClosestUser) + { + for(int j = 0; j < KinectWrapper.Constants.NuiSkeletonCount; j++) + { + if(j != i) + { + KinectWrapper.NuiSkeletonData skeletonDataOther = skeletonFrame.SkeletonData[j]; + + if((skeletonDataOther.eTrackingState == KinectWrapper.NuiSkeletonTrackingState.SkeletonTracked) && + (Mathf.Abs(kinectToWorld.MultiplyPoint3x4(skeletonDataOther.Position).z) < Mathf.Abs(skeletonPos.z))) + { + bClosestUser = false; + break; + } + } + } + } + + if(bClosestUser) + { + CalibrateUser(userId, i + 1, ref skeletonData); + } + } + + //// get joints orientations + //KinectWrapper.NuiSkeletonBoneOrientation[] jointOrients = new KinectWrapper.NuiSkeletonBoneOrientation[(int)KinectWrapper.NuiSkeletonPositionIndex.Count]; + //KinectWrapper.NuiSkeletonCalculateBoneOrientations(ref skeletonData, jointOrients); + + if(userId == Player1ID && Mathf.Abs(skeletonPos.z) >= MinUserDistance && + (MaxUserDistance <= 0f || Mathf.Abs(skeletonPos.z) <= MaxUserDistance)) + { + player1Index = i; + + // get player position + player1Pos = skeletonPos; + + // apply tracking state filter first + trackingStateFilter[0].UpdateFilter(ref skeletonData); + + // fixup skeleton to improve avatar appearance. + if(UseClippedLegsFilter && clippedLegsFilter[0] != null) + { + clippedLegsFilter[0].FilterSkeleton(ref skeletonData, deltaNuiTime); + } + + if(UseSelfIntersectionConstraint && selfIntersectionConstraint != null) + { + selfIntersectionConstraint.Constrain(ref skeletonData); + } + + // get joints' position and rotation + for (int j = 0; j < (int)KinectWrapper.NuiSkeletonPositionIndex.Count; j++) + { + bool playerTracked = IgnoreInferredJoints ? (int)skeletonData.eSkeletonPositionTrackingState[j] == stateTracked : + (Array.BinarySearch(mustBeTrackedJoints, j) >= 0 ? (int)skeletonData.eSkeletonPositionTrackingState[j] == stateTracked : + (int)skeletonData.eSkeletonPositionTrackingState[j] != stateNotTracked); + player1JointsTracked[j] = player1PrevTracked[j] && playerTracked; + player1PrevTracked[j] = playerTracked; + + if(player1JointsTracked[j]) + { + player1JointsPos[j] = kinectToWorld.MultiplyPoint3x4(skeletonData.SkeletonPositions[j]); + //player1JointsOri[j] = jointOrients[j].absoluteRotation.rotationMatrix * flipMatrix; + } + +// if(j == (int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter) +// { +// string debugText = String.Format("{0} {1}", /**(int)skeletonData.eSkeletonPositionTrackingState[j], */ +// player1JointsTracked[j] ? "T" : "F", player1JointsPos[j]/**, skeletonData.SkeletonPositions[j]*/); +// +// if(CalibrationText) +// CalibrationText.guiText.text = debugText; +// } + } + + // draw the skeleton on top of texture + if(DisplaySkeletonLines && ComputeUserMap) + { + DrawSkeleton(usersLblTex, ref skeletonData, ref player1JointsTracked); + usersLblTex.Apply(); + } + + // calculate joint orientations + KinectWrapper.GetSkeletonJointOrientation(ref player1JointsPos, ref player1JointsTracked, ref player1JointsOri); + + // filter orientation constraints + if(UseBoneOrientationsConstraint && boneConstraintsFilter != null) + { + boneConstraintsFilter.Constrain(ref player1JointsOri, ref player1JointsTracked); + } + + // filter joint orientations. + // it should be performed after all joint position modifications. + if(UseBoneOrientationsFilter && boneOrientationFilter[0] != null) + { + boneOrientationFilter[0].UpdateFilter(ref skeletonData, ref player1JointsOri); + } + + // get player rotation + player1Ori = player1JointsOri[(int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter]; + + // check for gestures + if(Time.realtimeSinceStartup >= gestureTrackingAtTime[0]) + { + int listGestureSize = player1Gestures.Count; + float timestampNow = Time.realtimeSinceStartup; + string sDebugGestures = string.Empty; // "Tracked Gestures:\n"; + + for(int g = 0; g < listGestureSize; g++) + { + KinectGestures.GestureData gestureData = player1Gestures[g]; + + if((timestampNow >= gestureData.startTrackingAtTime) && + !IsConflictingGestureInProgress(gestureData)) + { + KinectGestures.CheckForGesture(userId, ref gestureData, Time.realtimeSinceStartup, + ref player1JointsPos, ref player1JointsTracked); + player1Gestures[g] = gestureData; + + if(gestureData.complete) + { + gestureTrackingAtTime[0] = timestampNow + MinTimeBetweenGestures; + } + + //if(gestureData.state > 0) + { + sDebugGestures += string.Format("{0} - state: {1}, time: {2:F1}, progress: {3}%\n", + gestureData.gesture, gestureData.state, + gestureData.timestamp, + (int)(gestureData.progress * 100 + 0.5f)); + } + } + } + + if(GesturesDebugText) + { + sDebugGestures += string.Format("\n HandLeft: {0}", player1JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.HandLeft] ? + player1JointsPos[(int)KinectWrapper.NuiSkeletonPositionIndex.HandLeft].ToString() : ""); + sDebugGestures += string.Format("\n HandRight: {0}", player1JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.HandRight] ? + player1JointsPos[(int)KinectWrapper.NuiSkeletonPositionIndex.HandRight].ToString() : ""); + sDebugGestures += string.Format("\n ElbowLeft: {0}", player1JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.ElbowLeft] ? + player1JointsPos[(int)KinectWrapper.NuiSkeletonPositionIndex.ElbowLeft].ToString() : ""); + sDebugGestures += string.Format("\n ElbowRight: {0}", player1JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.ElbowRight] ? + player1JointsPos[(int)KinectWrapper.NuiSkeletonPositionIndex.ElbowRight].ToString() : ""); + + sDebugGestures += string.Format("\n ShoulderLeft: {0}", player1JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft] ? + player1JointsPos[(int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft].ToString() : ""); + sDebugGestures += string.Format("\n ShoulderRight: {0}", player1JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight] ? + player1JointsPos[(int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight].ToString() : ""); + + sDebugGestures += string.Format("\n Neck: {0}", player1JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter] ? + player1JointsPos[(int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderCenter].ToString() : ""); + sDebugGestures += string.Format("\n Hips: {0}", player1JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter] ? + player1JointsPos[(int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter].ToString() : ""); + sDebugGestures += string.Format("\n HipLeft: {0}", player1JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.HipLeft] ? + player1JointsPos[(int)KinectWrapper.NuiSkeletonPositionIndex.HipLeft].ToString() : ""); + sDebugGestures += string.Format("\n HipRight: {0}", player1JointsTracked[(int)KinectWrapper.NuiSkeletonPositionIndex.HipRight] ? + player1JointsPos[(int)KinectWrapper.NuiSkeletonPositionIndex.HipRight].ToString() : ""); + + GesturesDebugText.GetComponent().text = sDebugGestures; + } + } + } + else if(userId == Player2ID && Mathf.Abs(skeletonPos.z) >= MinUserDistance && + (MaxUserDistance <= 0f || Mathf.Abs(skeletonPos.z) <= MaxUserDistance)) + { + player2Index = i; + + // get player position + player2Pos = skeletonPos; + + // apply tracking state filter first + trackingStateFilter[1].UpdateFilter(ref skeletonData); + + // fixup skeleton to improve avatar appearance. + if(UseClippedLegsFilter && clippedLegsFilter[1] != null) + { + clippedLegsFilter[1].FilterSkeleton(ref skeletonData, deltaNuiTime); + } + + if(UseSelfIntersectionConstraint && selfIntersectionConstraint != null) + { + selfIntersectionConstraint.Constrain(ref skeletonData); + } + + // get joints' position and rotation + for (int j = 0; j < (int)KinectWrapper.NuiSkeletonPositionIndex.Count; j++) + { + bool playerTracked = IgnoreInferredJoints ? (int)skeletonData.eSkeletonPositionTrackingState[j] == stateTracked : + (Array.BinarySearch(mustBeTrackedJoints, j) >= 0 ? (int)skeletonData.eSkeletonPositionTrackingState[j] == stateTracked : + (int)skeletonData.eSkeletonPositionTrackingState[j] != stateNotTracked); + player2JointsTracked[j] = player2PrevTracked[j] && playerTracked; + player2PrevTracked[j] = playerTracked; + + if(player2JointsTracked[j]) + { + player2JointsPos[j] = kinectToWorld.MultiplyPoint3x4(skeletonData.SkeletonPositions[j]); + } + } + + // draw the skeleton on top of texture + if(DisplaySkeletonLines && ComputeUserMap) + { + DrawSkeleton(usersLblTex, ref skeletonData, ref player2JointsTracked); + usersLblTex.Apply(); + } + + // calculate joint orientations + KinectWrapper.GetSkeletonJointOrientation(ref player2JointsPos, ref player2JointsTracked, ref player2JointsOri); + + // filter orientation constraints + if(UseBoneOrientationsConstraint && boneConstraintsFilter != null) + { + boneConstraintsFilter.Constrain(ref player2JointsOri, ref player2JointsTracked); + } + + // filter joint orientations. + // it should be performed after all joint position modifications. + if(UseBoneOrientationsFilter && boneOrientationFilter[1] != null) + { + boneOrientationFilter[1].UpdateFilter(ref skeletonData, ref player2JointsOri); + } + + // get player rotation + player2Ori = player2JointsOri[(int)KinectWrapper.NuiSkeletonPositionIndex.HipCenter]; + + // check for gestures + if(Time.realtimeSinceStartup >= gestureTrackingAtTime[1]) + { + int listGestureSize = player2Gestures.Count; + float timestampNow = Time.realtimeSinceStartup; + + for(int g = 0; g < listGestureSize; g++) + { + KinectGestures.GestureData gestureData = player2Gestures[g]; + + if((timestampNow >= gestureData.startTrackingAtTime) && + !IsConflictingGestureInProgress(gestureData)) + { + KinectGestures.CheckForGesture(userId, ref gestureData, Time.realtimeSinceStartup, + ref player2JointsPos, ref player2JointsTracked); + player2Gestures[g] = gestureData; + + if(gestureData.complete) + { + gestureTrackingAtTime[1] = timestampNow + MinTimeBetweenGestures; + } + } + } + } + } + + lostUsers.Remove(userId); + } + } + + // update the nui-timer + lastNuiTime = currentNuiTime; + + // remove the lost users if any + if(lostUsers.Count > 0) + { + foreach(uint userId in lostUsers) + { + RemoveUser(userId); + } + + lostUsers.Clear(); + } + } + + // draws the skeleton in the given texture + private void DrawSkeleton(Texture2D aTexture, ref KinectWrapper.NuiSkeletonData skeletonData, ref bool[] playerJointsTracked) + { + int jointsCount = (int)KinectWrapper.NuiSkeletonPositionIndex.Count; + + for(int i = 0; i < jointsCount; i++) + { + int parent = KinectWrapper.GetSkeletonJointParent(i); + + if(playerJointsTracked[i] && playerJointsTracked[parent]) + { + Vector3 posParent = KinectWrapper.MapSkeletonPointToDepthPoint(skeletonData.SkeletonPositions[parent]); + Vector3 posJoint = KinectWrapper.MapSkeletonPointToDepthPoint(skeletonData.SkeletonPositions[i]); + +// posParent.y = KinectWrapper.Constants.ImageHeight - posParent.y - 1; +// posJoint.y = KinectWrapper.Constants.ImageHeight - posJoint.y - 1; +// posParent.x = KinectWrapper.Constants.ImageWidth - posParent.x - 1; +// posJoint.x = KinectWrapper.Constants.ImageWidth - posJoint.x - 1; + + //Color lineColor = playerJointsTracked[i] && playerJointsTracked[parent] ? Color.red : Color.yellow; + DrawLine(aTexture, (int)posParent.x, (int)posParent.y, (int)posJoint.x, (int)posJoint.y, Color.yellow); + } + } + } + + // draws a line in a texture + private void DrawLine(Texture2D a_Texture, int x1, int y1, int x2, int y2, Color a_Color) + { + int width = a_Texture.width; // KinectWrapper.Constants.DepthImageWidth; + int height = a_Texture.height; // KinectWrapper.Constants.DepthImageHeight; + + int dy = y2 - y1; + int dx = x2 - x1; + + int stepy = 1; + if (dy < 0) + { + dy = -dy; + stepy = -1; + } + + int stepx = 1; + if (dx < 0) + { + dx = -dx; + stepx = -1; + } + + dy <<= 1; + dx <<= 1; + + if(x1 >= 0 && x1 < width && y1 >= 0 && y1 < height) + for(int x = -1; x <= 1; x++) + for(int y = -1; y <= 1; y++) + a_Texture.SetPixel(x1 + x, y1 + y, a_Color); + + if (dx > dy) + { + int fraction = dy - (dx >> 1); + + while (x1 != x2) + { + if (fraction >= 0) + { + y1 += stepy; + fraction -= dx; + } + + x1 += stepx; + fraction += dy; + + if(x1 >= 0 && x1 < width && y1 >= 0 && y1 < height) + for(int x = -1; x <= 1; x++) + for(int y = -1; y <= 1; y++) + a_Texture.SetPixel(x1 + x, y1 + y, a_Color); + } + } + else + { + int fraction = dx - (dy >> 1); + + while (y1 != y2) + { + if (fraction >= 0) + { + x1 += stepx; + fraction -= dy; + } + + y1 += stepy; + fraction += dx; + + if(x1 >= 0 && x1 < width && y1 >= 0 && y1 < height) + for(int x = -1; x <= 1; x++) + for(int y = -1; y <= 1; y++) + a_Texture.SetPixel(x1 + x, y1 + y, a_Color); + } + } + + } + + // convert the matrix to quaternion, taking care of the mirroring + private Quaternion ConvertMatrixToQuat(Matrix4x4 mOrient, int joint, bool flip) + { + Vector4 vZ = mOrient.GetColumn(2); + Vector4 vY = mOrient.GetColumn(1); + + if(!flip) + { + vZ.y = -vZ.y; + vY.x = -vY.x; + vY.z = -vY.z; + } + else + { + vZ.x = -vZ.x; + vZ.y = -vZ.y; + vY.z = -vY.z; + } + + if(vZ.x != 0.0f || vZ.y != 0.0f || vZ.z != 0.0f) + return Quaternion.LookRotation(vZ, vY); + else + return Quaternion.identity; + } + + // return the index of gesture in the list, or -1 if not found + private int GetGestureIndex(uint UserId, KinectGestures.Gestures gesture) + { + if(UserId == Player1ID) + { + int listSize = player1Gestures.Count; + for(int i = 0; i < listSize; i++) + { + if(player1Gestures[i].gesture == gesture) + return i; + } + } + else if(UserId == Player2ID) + { + int listSize = player2Gestures.Count; + for(int i = 0; i < listSize; i++) + { + if(player2Gestures[i].gesture == gesture) + return i; + } + } + + return -1; + } + + private bool IsConflictingGestureInProgress(KinectGestures.GestureData gestureData) + { + foreach(KinectGestures.Gestures gesture in gestureData.checkForGestures) + { + int index = GetGestureIndex(gestureData.userId, gesture); + + if(index >= 0) + { + if(gestureData.userId == Player1ID) + { + if(player1Gestures[index].progress > 0f) + return true; + } + else if(gestureData.userId == Player2ID) + { + if(player2Gestures[index].progress > 0f) + return true; + } + } + } + + return false; + } + + // check if the calibration pose is complete for given user + private bool CheckForCalibrationPose(uint userId, ref KinectGestures.Gestures calibrationGesture, + ref KinectGestures.GestureData gestureData, ref KinectWrapper.NuiSkeletonData skeletonData) + { + if(calibrationGesture == KinectGestures.Gestures.None) + return true; + + // init gesture data if needed + if(gestureData.userId != userId) + { + gestureData.userId = userId; + gestureData.gesture = calibrationGesture; + gestureData.state = 0; + gestureData.joint = 0; + gestureData.progress = 0f; + gestureData.complete = false; + gestureData.cancelled = false; + } + + // get temporary joints' position + int skeletonJointsCount = (int)KinectWrapper.NuiSkeletonPositionIndex.Count; + bool[] jointsTracked = new bool[skeletonJointsCount]; + Vector3[] jointsPos = new Vector3[skeletonJointsCount]; + + int stateTracked = (int)KinectWrapper.NuiSkeletonPositionTrackingState.Tracked; + int stateNotTracked = (int)KinectWrapper.NuiSkeletonPositionTrackingState.NotTracked; + + int [] mustBeTrackedJoints = { + (int)KinectWrapper.NuiSkeletonPositionIndex.AnkleLeft, + (int)KinectWrapper.NuiSkeletonPositionIndex.FootLeft, + (int)KinectWrapper.NuiSkeletonPositionIndex.AnkleRight, + (int)KinectWrapper.NuiSkeletonPositionIndex.FootRight, + }; + + for (int j = 0; j < skeletonJointsCount; j++) + { + jointsTracked[j] = Array.BinarySearch(mustBeTrackedJoints, j) >= 0 ? (int)skeletonData.eSkeletonPositionTrackingState[j] == stateTracked : + (int)skeletonData.eSkeletonPositionTrackingState[j] != stateNotTracked; + + if(jointsTracked[j]) + { + jointsPos[j] = kinectToWorld.MultiplyPoint3x4(skeletonData.SkeletonPositions[j]); + } + } + + // estimate the gesture progess + KinectGestures.CheckForGesture(userId, ref gestureData, Time.realtimeSinceStartup, + ref jointsPos, ref jointsTracked); + + // check if gesture is complete + if(gestureData.complete) + { + gestureData.userId = 0; + return true; + } + + return false; + } + +} + + diff --git a/Assets/KinectScripts/KinectManager.cs.meta b/Assets/KinectScripts/KinectManager.cs.meta new file mode 100644 index 0000000..e966f0f --- /dev/null +++ b/Assets/KinectScripts/KinectManager.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 00db858c1f8ff90478dad0aa1bac9a2c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/KinectWrapper.cs b/Assets/KinectScripts/KinectWrapper.cs new file mode 100644 index 0000000..a54839c --- /dev/null +++ b/Assets/KinectScripts/KinectWrapper.cs @@ -0,0 +1,1220 @@ +// comment or uncomment the following #define directives +// depending on whether you use KinectExtras together with KinectManager + +//#define USE_KINECT_INTERACTION_OR_FACETRACKING +//#define USE_SPEECH_RECOGNITION + +using UnityEngine; + +using System; +using System.Collections; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.Runtime.CompilerServices; +using System.IO; +using System.Text; + +// Wrapper class that holds the various structs and dll imports +// needed to set up a model with the Kinect. +public class KinectWrapper +{ + public static class Constants + { + public const int NuiSkeletonCount = 6; + public const int NuiSkeletonMaxTracked = 2; + public const int NuiSkeletonInvalidTrackingID = 0; + + public const float NuiDepthHorizontalFOV = 58.5f; + public const float NuiDepthVerticalFOV = 45.6f; + + public const int ColorImageWidth = 640; + public const int ColorImageHeight = 480; + public const NuiImageResolution ColorImageResolution = NuiImageResolution.resolution640x480; + + public const int DepthImageWidth = 640; + public const int DepthImageHeight = 480; + public const NuiImageResolution DepthImageResolution = NuiImageResolution.resolution640x480; + + public const bool IsNearMode = false; + + public const float MinTimeBetweenSameGestures = 0.0f; + public const float PoseCompleteDuration = 1.0f; + public const float ClickStayDuration = 2.5f; + } + + /// + ///Structs and constants for interfacing C# with the Kinect.dll + /// + + [Flags] + public enum NuiInitializeFlags : uint + { + UsesAudio = 0x10000000, + UsesDepthAndPlayerIndex = 0x00000001, + UsesColor = 0x00000002, + UsesSkeleton = 0x00000008, + UsesDepth = 0x00000020, + UsesHighQualityColor = 0x00000040 + } + + public enum NuiErrorCodes : uint + { + FrameNoData = 0x83010001, + StreamNotEnabled = 0x83010002, + ImageStreamInUse = 0x83010003, + FrameLimitExceeded = 0x83010004, + FeatureNotInitialized = 0x83010005, + DeviceNotGenuine = 0x83010006, + InsufficientBandwidth = 0x83010007, + DeviceNotSupported = 0x83010008, + DeviceInUse = 0x83010009, + + DatabaseNotFound = 0x8301000D, + DatabaseVersionMismatch = 0x8301000E, + HardwareFeatureUnavailable = 0x8301000F, + + DeviceNotConnected = 0x83010014, + DeviceNotReady = 0x83010015, + SkeletalEngineBusy = 0x830100AA, + DeviceNotPowered = 0x8301027F, + } + + public enum NuiSkeletonPositionIndex : int + { + HipCenter = 0, + Spine = 1, + ShoulderCenter = 2, + Head = 3, + ShoulderLeft = 4, + ElbowLeft = 5, + WristLeft = 6, + HandLeft = 7, + ShoulderRight = 8, + ElbowRight = 9, + WristRight = 10, + HandRight = 11, + HipLeft = 12, + KneeLeft = 13, + AnkleLeft = 14, + FootLeft = 15, + HipRight = 16, + KneeRight = 17, + AnkleRight = 18, + FootRight = 19, + Count = 20 + } + + public enum NuiSkeletonPositionTrackingState + { + NotTracked = 0, + Inferred, + Tracked + } + + public enum NuiSkeletonTrackingState + { + NotTracked = 0, + PositionOnly, + SkeletonTracked + } + + public enum NuiImageType + { + DepthAndPlayerIndex = 0, // USHORT + Color, // RGB32 data + ColorYUV, // YUY2 stream from camera h/w, but converted to RGB32 before user getting it. + ColorRawYUV, // YUY2 stream from camera h/w. + Depth // USHORT + } + + public enum NuiImageResolution + { + resolutionInvalid = -1, + resolution80x60 = 0, + resolution320x240 = 1, + resolution640x480 = 2, + resolution1280x960 = 3 // for hires color only + } + + public enum NuiImageStreamFlags + { + None = 0x00000000, + SupressNoFrameData = 0x0001000, + EnableNearMode = 0x00020000, + TooFarIsNonZero = 0x0004000 + } + + [Flags] + public enum FrameEdges + { + None = 0, + Right = 1, + Left = 2, + Top = 4, + Bottom = 8 + } + + public struct NuiSkeletonData + { + public NuiSkeletonTrackingState eTrackingState; + public uint dwTrackingID; + public uint dwEnrollmentIndex_NotUsed; + public uint dwUserIndex; + public Vector4 Position; + [MarshalAsAttribute(UnmanagedType.ByValArray, SizeConst = 20, ArraySubType = UnmanagedType.Struct)] + public Vector4[] SkeletonPositions; + [MarshalAsAttribute(UnmanagedType.ByValArray, SizeConst = 20, ArraySubType = UnmanagedType.Struct)] + public NuiSkeletonPositionTrackingState[] eSkeletonPositionTrackingState; + public uint dwQualityFlags; + } + + public struct NuiSkeletonFrame + { + public Int64 liTimeStamp; + public uint dwFrameNumber; + public uint dwFlags; + public Vector4 vFloorClipPlane; + public Vector4 vNormalToGravity; + [MarshalAsAttribute(UnmanagedType.ByValArray, SizeConst = 6, ArraySubType = UnmanagedType.Struct)] + public NuiSkeletonData[] SkeletonData; + } + + public struct NuiTransformSmoothParameters + { + public float fSmoothing; + public float fCorrection; + public float fPrediction; + public float fJitterRadius; + public float fMaxDeviationRadius; + } + + public struct NuiSkeletonBoneRotation + { + public Matrix4x4 rotationMatrix; + public Quaternion rotationQuaternion; + } + + public struct NuiSkeletonBoneOrientation + { + public NuiSkeletonPositionIndex endJoint; + public NuiSkeletonPositionIndex startJoint; + public NuiSkeletonBoneRotation hierarchicalRotation; + public NuiSkeletonBoneRotation absoluteRotation; + } + + public struct NuiImageViewArea + { + public int eDigitalZoom; + public int lCenterX; + public int lCenterY; + } + + public class NuiImageBuffer + { + public int m_Width; + public int m_Height; + public int m_BytesPerPixel; + public IntPtr m_pBuffer; + } + + public struct NuiImageFrame + { + public Int64 liTimeStamp; + public uint dwFrameNumber; + public NuiImageType eImageType; + public NuiImageResolution eResolution; + //[MarshalAsAttribute(UnmanagedType.Interface)] + public IntPtr pFrameTexture; + public uint dwFrameFlags_NotUsed; + public NuiImageViewArea ViewArea_NotUsed; + } + + public struct NuiLockedRect + { + public int pitch; + public int size; + //[MarshalAsAttribute(UnmanagedType.U8)] + public IntPtr pBits; + + } + + public struct ColorCust + { + public byte b; + public byte g; + public byte r; + public byte a; + } + + public struct ColorBuffer + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 640 * 480, ArraySubType = UnmanagedType.Struct)] + public ColorCust[] pixels; + } + + public struct DepthBuffer + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 640 * 480, ArraySubType = UnmanagedType.U2)] + public ushort[] pixels; + } + + public struct NuiSurfaceDesc + { + uint width; + uint height; + } + + [Guid("13ea17f5-ff2e-4670-9ee5-1297a6e880d1")] + [InterfaceType(ComInterfaceType.InterfaceIsIUnknown)] + [ComImport()] + public interface INuiFrameTexture + { + [MethodImpl (MethodImplOptions.InternalCall, MethodCodeType=MethodCodeType.Runtime)] + [PreserveSig] + int BufferLen(); + [MethodImpl (MethodImplOptions.InternalCall, MethodCodeType=MethodCodeType.Runtime)] + [PreserveSig] + int Pitch(); + [MethodImpl (MethodImplOptions.InternalCall, MethodCodeType=MethodCodeType.Runtime)] + [PreserveSig] + int LockRect(uint Level,ref NuiLockedRect pLockedRect,IntPtr pRect, uint Flags); + [MethodImpl (MethodImplOptions.InternalCall, MethodCodeType=MethodCodeType.Runtime)] + [PreserveSig] + int GetLevelDesc(uint Level, ref NuiSurfaceDesc pDesc); + [MethodImpl (MethodImplOptions.InternalCall, MethodCodeType=MethodCodeType.Runtime)] + [PreserveSig] + int UnlockRect(uint Level); + } + + /* + * kinect NUI (general) functions + */ +#if USE_KINECT_INTERACTION_OR_FACETRACKING || USE_SPEECH_RECOGNITION + [DllImportAttribute(@"KinectUnityWrapper.dll", EntryPoint = "InitKinectSensor")] + public static extern int InitKinectSensor(NuiInitializeFlags dwFlags, bool bEnableEvents, int iColorResolution, int iDepthResolution, bool bNearMode); + + [DllImportAttribute(@"KinectUnityWrapper.dll", EntryPoint = "EnableKinectManager")] + public static extern void EnableKinectManager(bool bEnable); + + [DllImportAttribute(@"KinectUnityWrapper.dll", EntryPoint = "UpdateKinectSensor")] + public static extern int UpdateKinectSensor(); +#else + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiInitialize")] + public static extern int NuiInitialize(NuiInitializeFlags dwFlags); +#endif + +#if USE_KINECT_INTERACTION_OR_FACETRACKING && USE_SPEECH_RECOGNITION + public static int NuiInitialize(NuiInitializeFlags dwFlags) + { + EnableKinectManager(true); + return InitKinectSensor(dwFlags|NuiInitializeFlags.UsesAudio, true, (int)Constants.ColorImageResolution, (int)Constants.DepthImageResolution, Constants.IsNearMode); + } +#elif USE_KINECT_INTERACTION_OR_FACETRACKING + public static int NuiInitialize(NuiInitializeFlags dwFlags) + { + EnableKinectManager(true); + return InitKinectSensor(dwFlags, true, (int)Constants.ColorImageResolution, (int)Constants.DepthImageResolution, Constants.IsNearMode); + } +#elif USE_SPEECH_RECOGNITION + public static int NuiInitialize(NuiInitializeFlags dwFlags) + { + EnableKinectManager(true); + return InitKinectSensor(dwFlags|NuiInitializeFlags.UsesAudio, true, (int)Constants.ColorImageResolution, (int)Constants.DepthImageResolution, Constants.IsNearMode); + } +#endif + +#if USE_KINECT_INTERACTION_OR_FACETRACKING || USE_SPEECH_RECOGNITION + [DllImportAttribute(@"KinectUnityWrapper.dll", EntryPoint = "ShutdownKinectSensor")] + public static extern void ShutdownKinectSensor(); + + [DllImportAttribute(@"KinectUnityWrapper.dll", EntryPoint = "SetKinectElevationAngle")] + public static extern int SetKinectElevationAngle(int sensorAngle); + + [DllImportAttribute(@"KinectUnityWrapper.dll", EntryPoint = "GetKinectElevationAngle")] + public static extern int GetKinectElevationAngle(); + + public static void NuiShutdown() + { + ShutdownKinectSensor(); + } + + public static int NuiCameraElevationSetAngle(int angle) + { + return SetKinectElevationAngle(angle); + } + + public static int NuiCameraElevationGetAngle(out int plAngleDegrees) + { + plAngleDegrees = GetKinectElevationAngle(); + return 0; + } +#else + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiShutdown")] + public static extern void NuiShutdown(); + + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiCameraElevationSetAngle")] + public static extern int NuiCameraElevationSetAngle(int angle); + + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiCameraElevationGetAngle")] + public static extern int NuiCameraElevationGetAngle(out int plAngleDegrees); +#endif + + [DllImport(@"Kinect10.dll", EntryPoint = "NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution")] + public static extern int NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution(NuiImageResolution eColorResolution, NuiImageResolution eDepthResolution, ref NuiImageViewArea pcViewArea, int lDepthX, int lDepthY, ushort sDepthValue, out int plColorX, out int plColorY); + + [DllImport(@"Kinect10.dll", EntryPoint = "NuiGetSensorCount")] + public static extern int NuiGetSensorCount(out int pCount); + + /* + * kinect skeleton functions + */ +#if USE_KINECT_INTERACTION_OR_FACETRACKING || USE_SPEECH_RECOGNITION + public static int NuiSkeletonTrackingEnable(IntPtr hNextFrameEvent, uint dwFlags) + { + // already enabled on init + return 0; + } +#else + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiSkeletonTrackingEnable")] + public static extern int NuiSkeletonTrackingEnable(IntPtr hNextFrameEvent, uint dwFlags); +#endif + +#if USE_KINECT_INTERACTION_OR_FACETRACKING || USE_SPEECH_RECOGNITION + [DllImport(@"KinectUnityWrapper.dll", EntryPoint = "GetSkeletonFrameLength")] + public static extern int GetSkeletonFrameLength(); + + [DllImport(@"KinectUnityWrapper.dll", EntryPoint = "GetSkeletonFrameData")] + public static extern bool GetSkeletonFrameData(ref NuiSkeletonFrame pSkeletonData, ref uint iDataBufLen, bool bNewFrame); + + [DllImport(@"KinectUnityWrapper.dll", EntryPoint = "GetNextSkeletonFrame")] + public static extern int GetNextSkeletonFrame(uint dwWaitMs); +#else + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiSkeletonGetNextFrame")] + public static extern int NuiSkeletonGetNextFrame(uint dwMillisecondsToWait, ref NuiSkeletonFrame pSkeletonFrame); +#endif + +#if USE_KINECT_INTERACTION_OR_FACETRACKING + public static int NuiSkeletonGetNextFrame(uint dwMillisecondsToWait, ref NuiSkeletonFrame pSkeletonFrame) + { + uint iFrameLength = (uint)GetSkeletonFrameLength(); + bool bSuccess = GetSkeletonFrameData(ref pSkeletonFrame, ref iFrameLength, true); + return bSuccess ? 0 : -1; + } +#elif USE_SPEECH_RECOGNITION + public static int NuiSkeletonGetNextFrame(uint dwMillisecondsToWait, ref NuiSkeletonFrame pSkeletonFrame) + { + int hr = GetNextSkeletonFrame(dwMillisecondsToWait); + if(hr == 0) + { + uint iFrameLength = (uint)GetSkeletonFrameLength(); + bool bSuccess = GetSkeletonFrameData(ref pSkeletonFrame, ref iFrameLength, true); + + return bSuccess ? 0 : -1; + } + + return hr; + } +#endif + + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiTransformSmooth")] + public static extern int NuiTransformSmooth(ref NuiSkeletonFrame pSkeletonFrame, ref NuiTransformSmoothParameters pSmoothingParams); + + [DllImport(@"Kinect10.dll", EntryPoint = "NuiSkeletonCalculateBoneOrientations")] + public static extern int NuiSkeletonCalculateBoneOrientations(ref NuiSkeletonData pSkeletonData, NuiSkeletonBoneOrientation[] pBoneOrientations); + + /* + * kinect video functions + */ +#if USE_KINECT_INTERACTION_OR_FACETRACKING || USE_SPEECH_RECOGNITION + [DllImport(@"KinectUnityWrapper.dll", EntryPoint = "GetColorStreamHandle")] + public static extern IntPtr GetColorStreamHandle(); + + [DllImport(@"KinectUnityWrapper.dll", EntryPoint = "GetDepthStreamHandle")] + public static extern IntPtr GetDepthStreamHandle(); + + [DllImport(@"KinectUnityWrapper.dll", EntryPoint = "GetColorFrameData")] + public static extern bool GetColorFrameData(IntPtr btVideoBuf, ref uint iVideoBufLen, bool bGetNewFrame); + + [DllImport(@"KinectUnityWrapper.dll", EntryPoint = "GetDepthFrameData")] + public static extern bool GetDepthFrameData(IntPtr shDepthBuf, ref uint iDepthBufLen, bool bGetNewFrame); + + public static int NuiImageStreamOpen(NuiImageType eImageType, NuiImageResolution eResolution, uint dwImageFrameFlags_NotUsed, uint dwFrameLimit, IntPtr hNextFrameEvent, ref IntPtr phStreamHandle) + { + if(eImageType == NuiImageType.DepthAndPlayerIndex) + phStreamHandle = GetDepthStreamHandle(); + else if(eImageType == NuiImageType.Color) + phStreamHandle = GetColorStreamHandle(); + else + throw new Exception("Unsupported image type: " + eImageType); + + return 0; + } +#else + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiImageStreamOpen")] + public static extern int NuiImageStreamOpen(NuiImageType eImageType, NuiImageResolution eResolution, uint dwImageFrameFlags_NotUsed, uint dwFrameLimit, IntPtr hNextFrameEvent, ref IntPtr phStreamHandle); +#endif + + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiImageStreamGetNextFrame")] + public static extern int NuiImageStreamGetNextFrame(IntPtr phStreamHandle, uint dwMillisecondsToWait, ref IntPtr ppcImageFrame); + + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiImageStreamReleaseFrame")] + public static extern int NuiImageStreamReleaseFrame(IntPtr phStreamHandle, IntPtr ppcImageFrame); + + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiImageStreamSetImageFrameFlags")] + public static extern int NuiImageStreamSetImageFrameFlags (IntPtr phStreamHandle, NuiImageStreamFlags dvImageFrameFlags); + + [DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiImageResolutionToSize")] + public static extern int NuiImageResolutionToSize(NuiImageResolution eResolution,out uint frameWidth,out uint frameHeight); + + + public static string GetNuiErrorString(int hr) + { + string message = string.Empty; + uint uhr = (uint)hr; + + switch(uhr) + { + case (uint)NuiErrorCodes.FrameNoData: + message = "Frame contains no data."; + break; + case (uint)NuiErrorCodes.StreamNotEnabled: + message = "Stream is not enabled."; + break; + case (uint)NuiErrorCodes.ImageStreamInUse: + message = "Image stream is already in use."; + break; + case (uint)NuiErrorCodes.FrameLimitExceeded: + message = "Frame limit is exceeded."; + break; + case (uint)NuiErrorCodes.FeatureNotInitialized: + message = "Feature is not initialized."; + break; + case (uint)NuiErrorCodes.DeviceNotGenuine: + message = "Device is not genuine."; + break; + case (uint)NuiErrorCodes.InsufficientBandwidth: + message = "Bandwidth is not sufficient."; + break; + case (uint)NuiErrorCodes.DeviceNotSupported: + message = "Device is not supported (e.g. Kinect for XBox 360)."; + break; + case (uint)NuiErrorCodes.DeviceInUse: + message = "Device is already in use."; + break; + case (uint)NuiErrorCodes.DatabaseNotFound: + message = "Database not found."; + break; + case (uint)NuiErrorCodes.DatabaseVersionMismatch: + message = "Database version mismatch."; + break; + case (uint)NuiErrorCodes.HardwareFeatureUnavailable: + message = "Hardware feature is not available."; + break; + case (uint)NuiErrorCodes.DeviceNotConnected: + message = "Device is not connected."; + break; + case (uint)NuiErrorCodes.DeviceNotReady: + message = "Device is not ready."; + break; + case (uint)NuiErrorCodes.SkeletalEngineBusy: + message = "Skeletal engine is busy."; + break; + case (uint)NuiErrorCodes.DeviceNotPowered: + message = "Device is not powered."; + break; + + default: + message = "hr=0x" + uhr.ToString("X"); + break; + } + + return message; + } + + public static int GetDepthWidth() + { + return Constants.DepthImageWidth; + } + + public static int GetDepthHeight() + { + return Constants.DepthImageHeight; + } + + public static int GetColorWidth() + { + return Constants.ColorImageWidth; + } + + public static int GetColorHeight() + { + return Constants.ColorImageHeight; + } + + public static Vector3 MapSkeletonPointToDepthPoint(Vector3 skeletonPoint) + { + float fDepthX; + float fDepthY; + float fDepthZ; + + NuiTransformSkeletonToDepthImage(skeletonPoint, out fDepthX, out fDepthY, out fDepthZ); + + Vector3 point = new Vector3(); + point.x = (int) ((fDepthX * Constants.DepthImageWidth) + 0.5f); + point.y = (int) ((fDepthY * Constants.DepthImageHeight) + 0.5f); + point.z = (int) (fDepthZ + 0.5f); + + return point; + } + +// public static Vector3 MapSkeletonPointToColorPoint(Vector3 skeletonPoint) +// { +// float fDepthX; +// float fDepthY; +// float fDepthZ; +// +// NuiTransformSkeletonToDepthImage(skeletonPoint, out fDepthX, out fDepthY, out fDepthZ); +// +// Vector3 point = new Vector3(); +// point.x = (int) ((fDepthX * Constants.ImageWidth) + 0.5f); +// point.y = (int) ((fDepthY * Constants.ImageHeight) + 0.5f); +// point.z = (int) (fDepthZ + 0.5f); +// +// return point; +// } + + private static void NuiTransformSkeletonToDepthImage(Vector3 vPoint, out float pfDepthX, out float pfDepthY, out float pfDepthZ) + { + if (vPoint.z > float.Epsilon) + { + pfDepthX = 0.5f + ((vPoint.x * 285.63f) / (vPoint.z * 320f)); + pfDepthY = 0.5f - ((vPoint.y * 285.63f) / (vPoint.z * 240f)); + pfDepthZ = vPoint.z * 1000f; + } + else + { + pfDepthX = 0f; + pfDepthY = 0f; + pfDepthZ = 0f; + } + } + + public static int GetSkeletonJointParent(int jointIndex) + { + switch(jointIndex) + { + case (int)NuiSkeletonPositionIndex.HipCenter: + return (int)NuiSkeletonPositionIndex.HipCenter; + case (int)NuiSkeletonPositionIndex.Spine: + return (int)NuiSkeletonPositionIndex.HipCenter; + case (int)NuiSkeletonPositionIndex.ShoulderCenter: + return (int)NuiSkeletonPositionIndex.Spine; + case (int)NuiSkeletonPositionIndex.Head: + return (int)NuiSkeletonPositionIndex.ShoulderCenter; + case (int)NuiSkeletonPositionIndex.ShoulderLeft: + return (int)NuiSkeletonPositionIndex.ShoulderCenter; + case (int)NuiSkeletonPositionIndex.ElbowLeft: + return (int)NuiSkeletonPositionIndex.ShoulderLeft; + case (int)NuiSkeletonPositionIndex.WristLeft: + return (int)NuiSkeletonPositionIndex.ElbowLeft; + case (int)NuiSkeletonPositionIndex.HandLeft: + return (int)NuiSkeletonPositionIndex.WristLeft; + case (int)NuiSkeletonPositionIndex.ShoulderRight: + return (int)NuiSkeletonPositionIndex.ShoulderCenter; + case (int)NuiSkeletonPositionIndex.ElbowRight: + return (int)NuiSkeletonPositionIndex.ShoulderRight; + case (int)NuiSkeletonPositionIndex.WristRight: + return (int)NuiSkeletonPositionIndex.ElbowRight; + case (int)NuiSkeletonPositionIndex.HandRight: + return (int)NuiSkeletonPositionIndex.WristRight; + case (int)NuiSkeletonPositionIndex.HipLeft: + return (int)NuiSkeletonPositionIndex.HipCenter; + case (int)NuiSkeletonPositionIndex.KneeLeft: + return (int)NuiSkeletonPositionIndex.HipLeft; + case (int)NuiSkeletonPositionIndex.AnkleLeft: + return (int)NuiSkeletonPositionIndex.KneeLeft; + case (int)NuiSkeletonPositionIndex.FootLeft: + return (int)NuiSkeletonPositionIndex.AnkleLeft; + case (int)NuiSkeletonPositionIndex.HipRight: + return (int)NuiSkeletonPositionIndex.HipCenter; + case (int)NuiSkeletonPositionIndex.KneeRight: + return (int)NuiSkeletonPositionIndex.HipRight; + case (int)NuiSkeletonPositionIndex.AnkleRight: + return (int)NuiSkeletonPositionIndex.KneeRight; + case (int)NuiSkeletonPositionIndex.FootRight: + return (int)NuiSkeletonPositionIndex.AnkleRight; + } + + return (int)NuiSkeletonPositionIndex.HipCenter; + } + + public static int GetSkeletonMirroredJoint(int jointIndex) + { + switch(jointIndex) + { + case (int)NuiSkeletonPositionIndex.ShoulderLeft: + return (int)NuiSkeletonPositionIndex.ShoulderRight; + case (int)NuiSkeletonPositionIndex.ElbowLeft: + return (int)NuiSkeletonPositionIndex.ElbowRight; + case (int)NuiSkeletonPositionIndex.WristLeft: + return (int)NuiSkeletonPositionIndex.WristRight; + case (int)NuiSkeletonPositionIndex.HandLeft: + return (int)NuiSkeletonPositionIndex.HandRight; + case (int)NuiSkeletonPositionIndex.ShoulderRight: + return (int)NuiSkeletonPositionIndex.ShoulderLeft; + case (int)NuiSkeletonPositionIndex.ElbowRight: + return (int)NuiSkeletonPositionIndex.ElbowLeft; + case (int)NuiSkeletonPositionIndex.WristRight: + return (int)NuiSkeletonPositionIndex.WristLeft; + case (int)NuiSkeletonPositionIndex.HandRight: + return (int)NuiSkeletonPositionIndex.HandLeft; + case (int)NuiSkeletonPositionIndex.HipLeft: + return (int)NuiSkeletonPositionIndex.HipRight; + case (int)NuiSkeletonPositionIndex.KneeLeft: + return (int)NuiSkeletonPositionIndex.KneeRight; + case (int)NuiSkeletonPositionIndex.AnkleLeft: + return (int)NuiSkeletonPositionIndex.AnkleRight; + case (int)NuiSkeletonPositionIndex.FootLeft: + return (int)NuiSkeletonPositionIndex.FootRight; + case (int)NuiSkeletonPositionIndex.HipRight: + return (int)NuiSkeletonPositionIndex.HipLeft; + case (int)NuiSkeletonPositionIndex.KneeRight: + return (int)NuiSkeletonPositionIndex.KneeLeft; + case (int)NuiSkeletonPositionIndex.AnkleRight: + return (int)NuiSkeletonPositionIndex.AnkleLeft; + case (int)NuiSkeletonPositionIndex.FootRight: + return (int)NuiSkeletonPositionIndex.FootLeft; + } + + return jointIndex; + } + + public static bool PollSkeleton(ref NuiTransformSmoothParameters smoothParameters, ref NuiSkeletonFrame skeletonFrame) + { + bool newSkeleton = false; + + int hr = KinectWrapper.NuiSkeletonGetNextFrame(0, ref skeletonFrame); + if(hr == 0) + { + newSkeleton = true; + } + + if(newSkeleton) + { + hr = KinectWrapper.NuiTransformSmooth(ref skeletonFrame, ref smoothParameters); + if(hr != 0) + { + Debug.Log("Skeleton Data Smoothing failed"); + } + } + + return newSkeleton; + } + + public static bool PollColor(IntPtr colorStreamHandle, ref byte[] videoBuffer, ref Color32[] colorImage) + { +#if USE_KINECT_INTERACTION_OR_FACETRACKING + uint videoBufLen = (uint)videoBuffer.Length; + + var pColorData = GCHandle.Alloc(videoBuffer, GCHandleType.Pinned); + bool newColor = GetColorFrameData(pColorData.AddrOfPinnedObject(), ref videoBufLen, true); + pColorData.Free(); + + if (newColor) + { + int totalPixels = colorImage.Length; + + for (int pix = 0; pix < totalPixels; pix++) + { + int ind = pix; // totalPixels - pix - 1; + int src = pix << 2; + + colorImage[ind].r = videoBuffer[src + 2]; // pixels[pix].r; + colorImage[ind].g = videoBuffer[src + 1]; // pixels[pix].g; + colorImage[ind].b = videoBuffer[src]; // pixels[pix].b; + colorImage[ind].a = 255; + } + } +#else + IntPtr imageFramePtr = IntPtr.Zero; + bool newColor = false; + + int hr = KinectWrapper.NuiImageStreamGetNextFrame(colorStreamHandle, 0, ref imageFramePtr); + if (hr == 0) + { + newColor = true; + + NuiImageFrame imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageFramePtr, typeof(NuiImageFrame)); + INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture); + + NuiLockedRect lockedRectPtr = new NuiLockedRect(); + IntPtr r = IntPtr.Zero; + + frameTexture.LockRect(0, ref lockedRectPtr, r, 0); + //ExtractColorImage(lockedRectPtr, ref colorImage); + + ColorBuffer cb = (ColorBuffer)Marshal.PtrToStructure(lockedRectPtr.pBits, typeof(ColorBuffer)); + int totalPixels = Constants.ColorImageWidth * Constants.ColorImageHeight; + + for (int pix = 0; pix < totalPixels; pix++) + { + int ind = pix; // totalPixels - pix - 1; + + colorImage[ind].r = cb.pixels[pix].r; + colorImage[ind].g = cb.pixels[pix].g; + colorImage[ind].b = cb.pixels[pix].b; + colorImage[ind].a = 255; + } + + frameTexture.UnlockRect(0); + hr = KinectWrapper.NuiImageStreamReleaseFrame(colorStreamHandle, imageFramePtr); + } +#endif + + return newColor; + } + + public static bool PollDepth(IntPtr depthStreamHandle, bool isNearMode, ref ushort[] depthPlayerData) + { +#if USE_KINECT_INTERACTION_OR_FACETRACKING + uint depthBufLen = (uint)(depthPlayerData.Length << 1); + + var pDepthData = GCHandle.Alloc(depthPlayerData, GCHandleType.Pinned); + bool newDepth = GetDepthFrameData(pDepthData.AddrOfPinnedObject(), ref depthBufLen, true); + pDepthData.Free(); +#else + IntPtr imageFramePtr = IntPtr.Zero; + bool newDepth = false; + + if (isNearMode) + { + KinectWrapper.NuiImageStreamSetImageFrameFlags(depthStreamHandle, NuiImageStreamFlags.EnableNearMode); + } + else + { + KinectWrapper.NuiImageStreamSetImageFrameFlags(depthStreamHandle, NuiImageStreamFlags.None); + } + + int hr = KinectWrapper.NuiImageStreamGetNextFrame(depthStreamHandle, 0, ref imageFramePtr); + if (hr == 0) + { + newDepth = true; + + NuiImageFrame imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageFramePtr, typeof(NuiImageFrame)); + INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture); + + NuiLockedRect lockedRectPtr = new NuiLockedRect(); + IntPtr r = IntPtr.Zero; + + frameTexture.LockRect(0, ref lockedRectPtr,r,0); + //depthPlayerData = ExtractDepthImage(lockedRectPtr); + + DepthBuffer db = (DepthBuffer)Marshal.PtrToStructure(lockedRectPtr.pBits, typeof(DepthBuffer)); + depthPlayerData = db.pixels; + + frameTexture.UnlockRect(0); + hr = KinectWrapper.NuiImageStreamReleaseFrame(depthStreamHandle, imageFramePtr); + } +#endif + + return newDepth; + } + +// private static void ExtractColorImage(NuiLockedRect buf, ref Color32[] colorImage) +// { +// ColorBuffer cb = (ColorBuffer)Marshal.PtrToStructure(buf.pBits, typeof(ColorBuffer)); +// int totalPixels = Constants.ImageWidth * Constants.ImageHeight; +// +// for (int pix = 0; pix < totalPixels; pix++) +// { +// int ind = totalPixels - pix - 1; +// +// colorImage[ind].r = cb.pixels[pix].r; +// colorImage[ind].g = cb.pixels[pix].g; +// colorImage[ind].b = cb.pixels[pix].b; +// colorImage[ind].a = 255; +// } +// } +// +// private static short[] ExtractDepthImage(NuiLockedRect lockedRect) +// { +// DepthBuffer db = (DepthBuffer)Marshal.PtrToStructure(lockedRect.pBits, typeof(DepthBuffer)); +// return db.pixels; +// } + + private static Vector3 GetPositionBetweenIndices(ref Vector3[] jointsPos, NuiSkeletonPositionIndex p1, NuiSkeletonPositionIndex p2) + { + Vector3 pVec1 = jointsPos[(int)p1]; + Vector3 pVec2 = jointsPos[(int)p2]; + + return pVec2 - pVec1; + } + + //populate matrix using the columns + private static void PopulateMatrix(ref Matrix4x4 jointOrientation, Vector3 xCol, Vector3 yCol, Vector3 zCol) + { + jointOrientation.SetColumn(0, xCol); + jointOrientation.SetColumn(1, yCol); + jointOrientation.SetColumn(2, zCol); + } + + //constructs an orientation from a vector that specifies the x axis + private static void MakeMatrixFromX(Vector3 v1, ref Matrix4x4 jointOrientation, bool flip) + { + //matrix columns + Vector3 xCol; + Vector3 yCol; + Vector3 zCol; + + //set first column to the vector between the previous joint and the current one, this sets the two degrees of freedom + xCol = v1.normalized; + + //set second column to an arbitrary vector perpendicular to the first column + yCol.x = 0.0f; + yCol.y = !flip ? xCol.z : -xCol.z; + yCol.z = !flip ? -xCol.y : xCol.y; + yCol.Normalize(); + + //third column is fully determined by the first two, and it must be their cross product + zCol = Vector3.Cross(xCol, yCol); + + //copy values into matrix + PopulateMatrix(ref jointOrientation, xCol, yCol, zCol); + } + + //constructs an orientation from a vector that specifies the y axis + private static void MakeMatrixFromY(Vector3 v1, ref Matrix4x4 jointOrientation) + { + //matrix columns + Vector3 xCol; + Vector3 yCol; + Vector3 zCol; + + //set first column to the vector between the previous joint and the current one, this sets the two degrees of freedom + yCol = v1.normalized; + + //set second column to an arbitrary vector perpendicular to the first column + xCol.x = yCol.y; + xCol.y = -yCol.x; + xCol.z = 0.0f; + xCol.Normalize(); + + //third column is fully determined by the first two, and it must be their cross product + zCol = Vector3.Cross(xCol, yCol); + + //copy values into matrix + PopulateMatrix(ref jointOrientation, xCol, yCol, zCol); + } + + //constructs an orientation from a vector that specifies the x axis + private static void MakeMatrixFromZ(Vector3 v1, ref Matrix4x4 jointOrientation) + { + //matrix columns + Vector3 xCol; + Vector3 yCol; + Vector3 zCol; + + //set first column to the vector between the previous joint and the current one, this sets the two degrees of freedom + zCol = v1.normalized; + + //set second column to an arbitrary vector perpendicular to the first column + xCol.x = zCol.y; + xCol.y = -zCol.x; + xCol.z = 0.0f; + xCol.Normalize(); + + //third column is fully determined by the first two, and it must be their cross product + yCol = Vector3.Cross(zCol, xCol); + + //copy values into matrix + PopulateMatrix(ref jointOrientation, xCol, yCol, zCol); + } + + //constructs an orientation from 2 vectors: the first specifies the x axis, and the next specifies the y axis + //uses the first vector as x axis, then constructs the other axes using cross products + private static void MakeMatrixFromXY(Vector3 xUnnormalized, Vector3 yUnnormalized, ref Matrix4x4 jointOrientation) + { + //matrix columns + Vector3 xCol; + Vector3 yCol; + Vector3 zCol; + + //set up the three different columns to be rearranged and flipped + xCol = xUnnormalized.normalized; + zCol = Vector3.Cross(xCol, yUnnormalized.normalized).normalized; + yCol = Vector3.Cross(zCol, xCol).normalized; + //yCol = yUnnormalized.normalized; + //zCol = Vector3.Cross(xCol, yCol).normalized; + + //copy values into matrix + PopulateMatrix(ref jointOrientation, xCol, yCol, zCol); + } + + //constructs an orientation from 2 vectors: the first specifies the x axis, and the next specifies the y axis + //uses the second vector as y axis, then constructs the other axes using cross products + private static void MakeMatrixFromYX(Vector3 xUnnormalized, Vector3 yUnnormalized, ref Matrix4x4 jointOrientation) + { + //matrix columns + Vector3 xCol; + Vector3 yCol; + Vector3 zCol; + + //set up the three different columns to be rearranged and flipped + yCol = yUnnormalized.normalized; + zCol = Vector3.Cross(xUnnormalized.normalized, yCol).normalized; + xCol = Vector3.Cross(yCol, zCol).normalized; + //xCol = xUnnormalized.normalized; + //zCol = Vector3.Cross(xCol, yCol).normalized; + + //copy values into matrix + PopulateMatrix(ref jointOrientation, xCol, yCol, zCol); + } + + //constructs an orientation from 2 vectors: the first specifies the x axis, and the next specifies the y axis + //uses the second vector as y axis, then constructs the other axes using cross products + private static void MakeMatrixFromYZ(Vector3 yUnnormalized, Vector3 zUnnormalized, ref Matrix4x4 jointOrientation) + { + //matrix columns + Vector3 xCol; + Vector3 yCol; + Vector3 zCol; + + //set up the three different columns to be rearranged and flipped + yCol = yUnnormalized.normalized; + xCol = Vector3.Cross(yCol, zUnnormalized.normalized).normalized; + zCol = Vector3.Cross(xCol, yCol).normalized; + //zCol = zUnnormalized.normalized; + //xCol = Vector3.Cross(yCol, zCol).normalized; + + //copy values into matrix + PopulateMatrix(ref jointOrientation, xCol, yCol, zCol); + } + + // calculate the joint orientations, based on joint positions and their tracked state + public static void GetSkeletonJointOrientation(ref Vector3[] jointsPos, ref bool[] jointsTracked, ref Matrix4x4 [] jointOrients) + { + Vector3 vx; + Vector3 vy; + Vector3 vz; + + // NUI_SKELETON_POSITION_HIP_CENTER + if(jointsTracked[(int)NuiSkeletonPositionIndex.HipCenter] && jointsTracked[(int)NuiSkeletonPositionIndex.Spine] && + jointsTracked[(int)NuiSkeletonPositionIndex.HipLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.HipRight]) + { + vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.HipCenter, NuiSkeletonPositionIndex.Spine); + vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.HipLeft, NuiSkeletonPositionIndex.HipRight); + MakeMatrixFromYX(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.HipCenter]); + + // make a correction of about 40 degrees back to the front + Matrix4x4 mat = jointOrients[(int)NuiSkeletonPositionIndex.HipCenter]; + Quaternion quat = Quaternion.LookRotation(mat.GetColumn(2), mat.GetColumn(1)); + quat *= Quaternion.Euler(-40, 0, 0); + jointOrients[(int)NuiSkeletonPositionIndex.HipCenter].SetTRS(Vector3.zero, quat, Vector3.one); + } + + if(jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderRight]) + { + // NUI_SKELETON_POSITION_SPINE + if(jointsTracked[(int)NuiSkeletonPositionIndex.Spine] && jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderCenter]) + { + vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.Spine, NuiSkeletonPositionIndex.ShoulderCenter); + vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ShoulderLeft, NuiSkeletonPositionIndex.ShoulderRight); + MakeMatrixFromYX(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.Spine]); + } + + if(jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderCenter] && jointsTracked[(int)NuiSkeletonPositionIndex.Head]) + { + // NUI_SKELETON_POSITION_SHOULDER_CENTER + //if(jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderCenter] && jointsTracked[(int)NuiSkeletonPositionIndex.Head]) + //{ + vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ShoulderCenter, NuiSkeletonPositionIndex.Head); + vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ShoulderLeft, NuiSkeletonPositionIndex.ShoulderRight); + MakeMatrixFromYX(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.ShoulderCenter]); + //} + + // NUI_SKELETON_POSITION_HEAD + //if(jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderCenter] && jointsTracked[(int)NuiSkeletonPositionIndex.Head]) + //{ +// vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ShoulderCenter, NuiSkeletonPositionIndex.Head); +// vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ShoulderLeft, NuiSkeletonPositionIndex.ShoulderRight); + MakeMatrixFromYX(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.Head]); + //MakeMatrixFromY(vy, ref jointOrients[(int)NuiSkeletonPositionIndex.Head]); + //} + } + } + + if(jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.ElbowLeft] && + //jointsTracked[(int)NuiSkeletonPositionIndex.WristLeft]) + jointsTracked[(int)NuiSkeletonPositionIndex.Spine] && jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderCenter]) + { + // NUI_SKELETON_POSITION_SHOULDER_LEFT + //if(jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.ElbowLeft]) + { + vx = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ShoulderLeft, NuiSkeletonPositionIndex.ElbowLeft); + //vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ElbowLeft, NuiSkeletonPositionIndex.WristLeft); + vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.Spine, NuiSkeletonPositionIndex.ShoulderCenter); + MakeMatrixFromXY(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.ShoulderLeft]); + } + + // NUI_SKELETON_POSITION_ELBOW_LEFT + //if(jointsTracked[(int)NuiSkeletonPositionIndex.ElbowLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.WristLeft]) + { + vx = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ElbowLeft, NuiSkeletonPositionIndex.WristLeft); + //vy = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ShoulderLeft, NuiSkeletonPositionIndex.ElbowLeft); + vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.Spine, NuiSkeletonPositionIndex.ShoulderCenter); + MakeMatrixFromXY(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.ElbowLeft]); + } + } + + if(jointsTracked[(int)NuiSkeletonPositionIndex.WristLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.HandLeft] && + jointsTracked[(int)NuiSkeletonPositionIndex.Spine] && jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderCenter]) + { + // NUI_SKELETON_POSITION_WRIST_LEFT + //if(jointsTracked[(int)NuiSkeletonPositionIndex.WristLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.HandLeft]) + //{ + vx = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.WristLeft, NuiSkeletonPositionIndex.HandLeft); + //MakeMatrixFromX(vx, ref jointOrients[(int)NuiSkeletonPositionIndex.WristLeft], false); + vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.Spine, NuiSkeletonPositionIndex.ShoulderCenter); + MakeMatrixFromXY(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.WristLeft]); + //} + + // NUI_SKELETON_POSITION_HAND_LEFT: + //if(jointsTracked[(int)NuiSkeletonPositionIndex.WristLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.HandLeft]) + //{ +// vx = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.WristLeft, NuiSkeletonPositionIndex.HandLeft); +// //MakeMatrixFromX(vx, ref jointOrients[(int)NuiSkeletonPositionIndex.HandLeft], false); +// vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.Spine, NuiSkeletonPositionIndex.ShoulderCenter); + MakeMatrixFromXY(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.HandLeft]); + //} + } + + if(jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderRight] && jointsTracked[(int)NuiSkeletonPositionIndex.ElbowRight] && + //jointsTracked[(int)NuiSkeletonPositionIndex.WristRight]) + jointsTracked[(int)NuiSkeletonPositionIndex.Spine] && jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderCenter]) + { + // NUI_SKELETON_POSITION_SHOULDER_RIGHT + //if(jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderRight] && jointsTracked[(int)NuiSkeletonPositionIndex.ElbowRight]) + { + vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ShoulderRight, NuiSkeletonPositionIndex.ElbowRight); + //vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ElbowRight, NuiSkeletonPositionIndex.WristRight); + vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.Spine, NuiSkeletonPositionIndex.ShoulderCenter); + MakeMatrixFromXY(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.ShoulderRight]); + } + + // NUI_SKELETON_POSITION_ELBOW_RIGHT + //if(jointsTracked[(int)NuiSkeletonPositionIndex.ElbowRight] && jointsTracked[(int)NuiSkeletonPositionIndex.WristRight]) + { + vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ElbowRight, NuiSkeletonPositionIndex.WristRight); + //vy = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.ShoulderRight, NuiSkeletonPositionIndex.ElbowRight); + vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.Spine, NuiSkeletonPositionIndex.ShoulderCenter); + MakeMatrixFromXY(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.ElbowRight]); + } + } + + if(jointsTracked[(int)NuiSkeletonPositionIndex.WristRight] && jointsTracked[(int)NuiSkeletonPositionIndex.HandRight] && + jointsTracked[(int)NuiSkeletonPositionIndex.Spine] && jointsTracked[(int)NuiSkeletonPositionIndex.ShoulderCenter]) + { + // NUI_SKELETON_POSITION_WRIST_RIGHT + //if(jointsTracked[(int)NuiSkeletonPositionIndex.WristRight] && jointsTracked[(int)NuiSkeletonPositionIndex.HandRight]) + //{ + vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.WristRight, NuiSkeletonPositionIndex.HandRight); + //MakeMatrixFromX(vx, ref jointOrients[(int)NuiSkeletonPositionIndex.WristRight], true); + vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.Spine, NuiSkeletonPositionIndex.ShoulderCenter); + MakeMatrixFromXY(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.WristRight]); + //} + + // NUI_SKELETON_POSITION_HAND_RIGHT + //if(jointsTracked[(int)NuiSkeletonPositionIndex.WristRight] && jointsTracked[(int)NuiSkeletonPositionIndex.HandRight]) + //{ +// vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.WristRight, NuiSkeletonPositionIndex.HandRight); +// //MakeMatrixFromX(vx, ref jointOrients[(int)NuiSkeletonPositionIndex.HandRight], true); +// vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.Spine, NuiSkeletonPositionIndex.ShoulderCenter); + MakeMatrixFromXY(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.HandRight]); + //} + } + + // NUI_SKELETON_POSITION_HIP_LEFT + if(jointsTracked[(int)NuiSkeletonPositionIndex.HipLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.KneeLeft] && + jointsTracked[(int)NuiSkeletonPositionIndex.HipRight]) + { + vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.KneeLeft, NuiSkeletonPositionIndex.HipLeft); + vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.HipLeft, NuiSkeletonPositionIndex.HipRight); + MakeMatrixFromYX(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.HipLeft]); + + // NUI_SKELETON_POSITION_KNEE_LEFT + if(jointsTracked[(int)NuiSkeletonPositionIndex.AnkleLeft]) + { + vy = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.KneeLeft, NuiSkeletonPositionIndex.AnkleLeft); + //vz = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.AnkleLeft, NuiSkeletonPositionIndex.FootLeft); + //MakeMatrixFromYZ(vy, vz, ref jointOrients[(int)NuiSkeletonPositionIndex.KneeLeft]); + vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.HipLeft, NuiSkeletonPositionIndex.HipRight); + MakeMatrixFromYX(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.KneeLeft]); + } + } + + if(jointsTracked[(int)NuiSkeletonPositionIndex.KneeLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.AnkleLeft] && + jointsTracked[(int)NuiSkeletonPositionIndex.FootLeft]) + { + // NUI_SKELETON_POSITION_ANKLE_LEFT + //if(jointsTracked[(int)NuiSkeletonPositionIndex.AnkleLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.FootLeft]) + //{ + vy = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.KneeLeft, NuiSkeletonPositionIndex.AnkleLeft); + vz = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.FootLeft, NuiSkeletonPositionIndex.AnkleLeft); + MakeMatrixFromYZ(vy, vz, ref jointOrients[(int)NuiSkeletonPositionIndex.AnkleLeft]); + //MakeMatrixFromZ(vz, ref jointOrients[(int)NuiSkeletonPositionIndex.AnkleLeft]); + //} + + // NUI_SKELETON_POSITION_FOOT_LEFT + //if(jointsTracked[(int)NuiSkeletonPositionIndex.AnkleLeft] && jointsTracked[(int)NuiSkeletonPositionIndex.FootLeft]) + //{ +// vy = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.KneeLeft, NuiSkeletonPositionIndex.AnkleLeft); +// vz = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.FootLeft, NuiSkeletonPositionIndex.AnkleLeft); + MakeMatrixFromYZ(vy, vz, ref jointOrients[(int)NuiSkeletonPositionIndex.FootLeft]); + //MakeMatrixFromZ(vz, ref jointOrients[(int)NuiSkeletonPositionIndex.FootLeft]); + //} + } + + // NUI_SKELETON_POSITION_HIP_RIGHT + if(jointsTracked[(int)NuiSkeletonPositionIndex.HipRight] && jointsTracked[(int)NuiSkeletonPositionIndex.KneeRight] && + jointsTracked[(int)NuiSkeletonPositionIndex.HipLeft]) + { + vy = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.KneeRight, NuiSkeletonPositionIndex.HipRight); + vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.HipLeft, NuiSkeletonPositionIndex.HipRight); + MakeMatrixFromYX(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.HipRight]); + + // NUI_SKELETON_POSITION_KNEE_RIGHT + if(jointsTracked[(int)NuiSkeletonPositionIndex.AnkleRight]) + { + vy = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.KneeRight, NuiSkeletonPositionIndex.AnkleRight); + //vz = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.AnkleRight, NuiSkeletonPositionIndex.FootRight); + //MakeMatrixFromYZ(vy, vz, ref jointOrients[(int)NuiSkeletonPositionIndex.KneeRight]); + vx = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.HipLeft, NuiSkeletonPositionIndex.HipRight); + MakeMatrixFromYX(vx, vy, ref jointOrients[(int)NuiSkeletonPositionIndex.KneeRight]); + } + } + + if(jointsTracked[(int)NuiSkeletonPositionIndex.KneeRight] && jointsTracked[(int)NuiSkeletonPositionIndex.AnkleRight] && + jointsTracked[(int)NuiSkeletonPositionIndex.FootRight]) + { + // NUI_SKELETON_POSITION_ANKLE_RIGHT + //if(jointsTracked[(int)NuiSkeletonPositionIndex.AnkleRight] && jointsTracked[(int)NuiSkeletonPositionIndex.FootRight]) + //{ + vy = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.KneeRight, NuiSkeletonPositionIndex.AnkleRight); + vz = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.FootRight, NuiSkeletonPositionIndex.AnkleRight); + MakeMatrixFromYZ(vy, vz, ref jointOrients[(int)NuiSkeletonPositionIndex.AnkleRight]); + //MakeMatrixFromZ(vz, ref jointOrients[(int)NuiSkeletonPositionIndex.AnkleRight]); + //} + + // NUI_SKELETON_POSITION_FOOT_RIGHT + //if(jointsTracked[(int)NuiSkeletonPositionIndex.AnkleRight] && jointsTracked[(int)NuiSkeletonPositionIndex.FootRight]) + //{ +// vy = -GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.KneeRight, NuiSkeletonPositionIndex.AnkleRight); +// vz = GetPositionBetweenIndices(ref jointsPos, NuiSkeletonPositionIndex.FootRight, NuiSkeletonPositionIndex.AnkleRight); + MakeMatrixFromYZ(vy, vz, ref jointOrients[(int)NuiSkeletonPositionIndex.FootRight]); + //MakeMatrixFromZ(vz, ref jointOrients[(int)NuiSkeletonPositionIndex.FootRight]); + //} + } + } + + +} \ No newline at end of file diff --git a/Assets/KinectScripts/KinectWrapper.cs.meta b/Assets/KinectScripts/KinectWrapper.cs.meta new file mode 100644 index 0000000..4f73d4c --- /dev/null +++ b/Assets/KinectScripts/KinectWrapper.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c5b1f5e3e689774458a9508ccf01f818 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Samples.meta b/Assets/KinectScripts/Samples.meta new file mode 100644 index 0000000..f75db19 --- /dev/null +++ b/Assets/KinectScripts/Samples.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: e825fdc23ae8dec459d5498864fcf216 +folderAsset: yes +timeCreated: 1500388427 +licenseType: Free +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Samples/FollowUserRotation.cs b/Assets/KinectScripts/Samples/FollowUserRotation.cs new file mode 100644 index 0000000..b576e50 --- /dev/null +++ b/Assets/KinectScripts/Samples/FollowUserRotation.cs @@ -0,0 +1,35 @@ +using UnityEngine; +using System.Collections; + +public class FollowUserRotation : MonoBehaviour +{ + void Update () + { + KinectManager manager = KinectManager.Instance; + + if(manager && manager.IsInitialized()) + { + if(manager.IsUserDetected()) + { + uint userId = manager.GetPlayer1ID(); + + if(manager.IsJointTracked(userId, (int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft) && + manager.IsJointTracked(userId, (int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight)) + { + Vector3 posLeftShoulder = manager.GetJointPosition(userId, (int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderLeft); + Vector3 posRightShoulder = manager.GetJointPosition(userId, (int)KinectWrapper.NuiSkeletonPositionIndex.ShoulderRight); + + posLeftShoulder.z = -posLeftShoulder.z; + posRightShoulder.z = -posRightShoulder.z; + + Vector3 dirLeftRight = posRightShoulder - posLeftShoulder; + dirLeftRight -= Vector3.Project(dirLeftRight, Vector3.up); + + Quaternion rotationShoulders = Quaternion.FromToRotation(Vector3.right, dirLeftRight); + + transform.rotation = rotationShoulders; + } + } + } + } +} diff --git a/Assets/KinectScripts/Samples/FollowUserRotation.cs.meta b/Assets/KinectScripts/Samples/FollowUserRotation.cs.meta new file mode 100644 index 0000000..a5e11b0 --- /dev/null +++ b/Assets/KinectScripts/Samples/FollowUserRotation.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: e6cdd05f7f10f8d4d83ce3dea195a453 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Samples/GetJointPositionDemo.cs b/Assets/KinectScripts/Samples/GetJointPositionDemo.cs new file mode 100644 index 0000000..35f0391 --- /dev/null +++ b/Assets/KinectScripts/Samples/GetJointPositionDemo.cs @@ -0,0 +1,81 @@ +using UnityEngine; +using System.Collections; +using System.IO; + +public class GetJointPositionDemo : MonoBehaviour +{ + // the joint we want to track + public KinectWrapper.NuiSkeletonPositionIndex joint = KinectWrapper.NuiSkeletonPositionIndex.HandRight; + + // joint position at the moment, in Kinect coordinates + public Vector3 outputPosition; + + // if it is saving data to a csv file or not + public bool isSaving = false; + + // how many seconds to save data into the csv file, or 0 to save non-stop + public float secondsToSave = 0f; + + // path to the csv file (;-limited) + public string saveFilePath = "joint_pos.csv"; + + + // start time of data saving to csv file + private float saveStartTime = -1f; + + + void Update () + { + if(isSaving) + { + // create the file, if needed + if(!File.Exists(saveFilePath)) + { + using(StreamWriter writer = File.CreateText(saveFilePath)) + { + // csv file header + string sLine = "time;joint;pos_x;pos_y;poz_z"; + writer.WriteLine(sLine); + } + } + + // check the start time + if(saveStartTime < 0f) + { + saveStartTime = Time.time; + } + } + + // get the joint position + KinectManager manager = KinectManager.Instance; + + if(manager && manager.IsInitialized()) + { + if(manager.IsUserDetected()) + { + uint userId = manager.GetPlayer1ID(); + + if(manager.IsJointTracked(userId, (int)joint)) + { + // output the joint position for easy tracking + Vector3 jointPos = manager.GetJointPosition(userId, (int)joint); + outputPosition = jointPos; + + if(isSaving) + { + if((secondsToSave == 0f) || ((Time.time - saveStartTime) <= secondsToSave)) + { + using(StreamWriter writer = File.AppendText(saveFilePath)) + { + string sLine = string.Format("{0:F3};{1};{2:F3};{3:F3};{4:F3}", Time.time, (int)joint, jointPos.x, jointPos.y, jointPos.z); + writer.WriteLine(sLine); + } + } + } + } + } + } + + } + +} diff --git a/Assets/KinectScripts/Samples/GetJointPositionDemo.cs.meta b/Assets/KinectScripts/Samples/GetJointPositionDemo.cs.meta new file mode 100644 index 0000000..6f38950 --- /dev/null +++ b/Assets/KinectScripts/Samples/GetJointPositionDemo.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 1e6453debfbda5d43944c24e251a6999 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Samples/LoadMainLevel.cs b/Assets/KinectScripts/Samples/LoadMainLevel.cs new file mode 100644 index 0000000..a2c60a7 --- /dev/null +++ b/Assets/KinectScripts/Samples/LoadMainLevel.cs @@ -0,0 +1,20 @@ +using UnityEngine; +using System.Collections; + +public class LoadMainLevel : MonoBehaviour +{ + private bool levelLoaded = false; + + + void Update() + { + KinectManager manager = KinectManager.Instance; + + if(!levelLoaded && manager && KinectManager.IsKinectInitialized()) + { + levelLoaded = true; + Application.LoadLevel(1); + } + } + +} diff --git a/Assets/KinectScripts/Samples/LoadMainLevel.cs.meta b/Assets/KinectScripts/Samples/LoadMainLevel.cs.meta new file mode 100644 index 0000000..09e03f1 --- /dev/null +++ b/Assets/KinectScripts/Samples/LoadMainLevel.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 6950004ad0f1be149b42e33dd75b59f6 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Samples/MouseControl.cs b/Assets/KinectScripts/Samples/MouseControl.cs new file mode 100644 index 0000000..be65508 --- /dev/null +++ b/Assets/KinectScripts/Samples/MouseControl.cs @@ -0,0 +1,207 @@ +// This script can be used to control the system mouse - position of the mouse cursor and clicks +// Author: Akhmad Makhsadov +// + +using UnityEngine; +using System.Collections; +using System.Runtime.InteropServices; +using System; + +public class MouseControl +{ + // Import function mouse_event() from WinApi + [DllImport("User32.dll")] + private static extern void mouse_event(MouseFlags dwFlags, int dx, int dy, int dwData, System.UIntPtr dwExtraInfo); + + // Flags needed to specify the mouse action + [System.Flags] + private enum MouseFlags + { + Move = 0x0001, + LeftDown = 0x0002, + LeftUp = 0x0004, + RightDown = 0x0008, + RightUp = 0x0010, + Absolute = 0x8000, + } + +// public static int MouseXSpeedCoef = 45000; // Cursor rate in Х direction +// public static int MouseYSpeedCoef = 45000; // Cursor rate in Y direction + + [StructLayout(LayoutKind.Sequential)] + public struct RECT + { + public int Left; // x position of upper-left corner + public int Top; // y position of upper-left corner + public int Right; // x position of lower-right corner + public int Bottom; // y position of lower-right corner + } + + [DllImport("user32.dll")] + //[return: MarshalAs(UnmanagedType.Bool)] + static extern bool GetWindowRect(IntPtr hWnd, out RECT lpRect); + + [DllImport("user32.dll")] + static extern IntPtr GetActiveWindow(); + + enum GetWindow_Cmd : uint + { + GW_HWNDFIRST = 0, + GW_HWNDLAST = 1, + GW_HWNDNEXT = 2, + GW_HWNDPREV = 3, + GW_OWNER = 4, + GW_CHILD = 5, + GW_ENABLEDPOPUP = 6 + } + + [DllImport("user32.dll", SetLastError = true)] + static extern IntPtr GetWindow(IntPtr hWnd, GetWindow_Cmd uCmd); + +// private static int windowX = 0; +// private static int windowY = 0; +// private static int winSizeX = 0; +// private static int winSizeY = 0; + + private static bool winRectPrinted = false; + + + // Public function to move the mouse cursor to the specified position + public static void MouseMove(Vector3 screenCoordinates, GUIText debugText) + { + int windowX = 0; + int windowY = 0; + int winSizeX = 0; + int winSizeY = 0; + + bool isConvertToFullScreen = Screen.fullScreen; + + IntPtr hWnd = GetActiveWindow(); + hWnd = GetClosestWindow(hWnd, Screen.width, Screen.height); + + if(hWnd != IntPtr.Zero) + { + RECT winRect; + + if(GetWindowRect(hWnd, out winRect)) + { + winSizeX = winRect.Right - winRect.Left; + winSizeY = winRect.Bottom - winRect.Top; + + windowX = winRect.Left + (winSizeX - (int)Screen.width) / 2; + + if(!isConvertToFullScreen) + { + windowY = winRect.Top + (winSizeY - (int)Screen.height + 36) / 2; + } + else + { + windowY = winRect.Top + (winSizeY - (int)Screen.height) / 2; + } + + if(!winRectPrinted) + { +// Debug.Log(string.Format("scrRes: ({0}, {1})", Screen.currentResolution.width, Screen.currentResolution.height)); +// Debug.Log(string.Format("winRect: ({0}, {1}, {2}, {3})", winRect.Left, winRect.Top, winRect.Right, winRect.Bottom)); + winRectPrinted = true; + } + } + } + + int mouseX = 0; + int mouseY = 0; + + if(!isConvertToFullScreen) + { + float screenX = windowX + screenCoordinates.x * Screen.width; + float screenY = windowY + (1f - screenCoordinates.y) * Screen.height; + + float screenRelX = screenX / Screen.currentResolution.width; + float screenRelY = screenY / Screen.currentResolution.height; + +// if(debugText) +// { +// if(!debugText.guiText.text.Contains("ScrPos")) +// { +// debugText.guiText.text += string.Format(", ScrSize: ({0}, {1}), WinSize: ({2}, {3}), WinPos: ({4}, {5}), ScrPos: ({6:F0}, {7:F0})", +// Screen.width, Screen.height, +// winSizeX, winSizeY, +// windowX, windowY, +// screenX, screenY); +// } +// } + + mouseX = (int)(screenRelX * 65535); + mouseY = (int)(screenRelY * 65535); + } + else + { + mouseX = (int)(screenCoordinates.x * 65535); + mouseY = (int)((1f - screenCoordinates.y) * 65535); + } + + mouse_event(MouseFlags.Absolute | MouseFlags.Move, mouseX, mouseY, 0, System.UIntPtr.Zero); + } + + // find the closest matching child window to the screen size + private static IntPtr GetClosestWindow(IntPtr hWndMain, int scrWidth, int scrHeight) + { + if(hWndMain == IntPtr.Zero) + return hWndMain; + + IntPtr hWnd = hWndMain; + RECT winRect; + + if(GetWindowRect(hWndMain, out winRect)) + { + int winSizeX = winRect.Right - winRect.Left; + int winSizeY = winRect.Bottom - winRect.Top; + int winDiff = Math.Abs(winSizeX - scrWidth) + Math.Abs(winSizeY - scrHeight); + + IntPtr hWndChild = GetWindow(hWndMain, GetWindow_Cmd.GW_CHILD); + int winDiffMin = winDiff; + + while(hWndChild != IntPtr.Zero) + { + if(GetWindowRect(hWndChild, out winRect)) + { + winSizeX = winRect.Right - winRect.Left; + winSizeY = winRect.Bottom - winRect.Top; + winDiff = Math.Abs(winSizeX - scrWidth) + Math.Abs(winSizeY - scrHeight - 36); + + if(scrWidth <= winSizeX && scrHeight <= winSizeY && winDiff <= winDiffMin) + { + hWnd = hWndChild; + winDiffMin = winDiff; + } + } + + hWndChild = GetWindow(hWndChild, GetWindow_Cmd.GW_HWNDNEXT); + } + } + + return hWnd; + } + + // Public function to emulate a mouse button click (left button) + public static void MouseClick() + { + mouse_event(MouseFlags.LeftDown, 0, 0, 0, System.UIntPtr.Zero); + mouse_event(MouseFlags.LeftUp, 0, 0, 0, System.UIntPtr.Zero); + } + + // Public function to emulate a mouse drag event (left button) + public static void MouseDrag() + { + mouse_event(MouseFlags.LeftDown, 0, 0, 0, System.UIntPtr.Zero); + } + + // Public function to emulate a mouse release event (left button) + public static void MouseRelease() + { + mouse_event(MouseFlags.LeftUp, 0, 0, 0, System.UIntPtr.Zero); + } + +} + + diff --git a/Assets/KinectScripts/Samples/MouseControl.cs.meta b/Assets/KinectScripts/Samples/MouseControl.cs.meta new file mode 100644 index 0000000..e613344 --- /dev/null +++ b/Assets/KinectScripts/Samples/MouseControl.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 7c2fba1c1171f4e4d91a35585ff84453 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Samples/SetSceneAvatars.cs b/Assets/KinectScripts/Samples/SetSceneAvatars.cs new file mode 100644 index 0000000..ed55f1c --- /dev/null +++ b/Assets/KinectScripts/Samples/SetSceneAvatars.cs @@ -0,0 +1,42 @@ +using UnityEngine; +using System.Collections; + +public class SetSceneAvatars : MonoBehaviour +{ + + void Start () + { + KinectManager manager = KinectManager.Instance; + + if(manager) + { + manager.ClearKinectUsers(); + manager.Player1Avatars.Clear(); + + AvatarController[] avatars = FindObjectsOfType(typeof(AvatarController)) as AvatarController[]; + + foreach(AvatarController avatar in avatars) + { + manager.Player1Avatars.Add(avatar.gameObject); + } + + manager.ResetAvatarControllers(); + + // add available gesture listeners + manager.gestureListeners.Clear(); + + MonoBehaviour[] listeners = FindObjectsOfType(typeof(MonoBehaviour)) as MonoBehaviour[]; + + foreach(MonoBehaviour listener in listeners) + { + if(typeof(KinectGestures.GestureListenerInterface).IsAssignableFrom(listener.GetType())) + { + KinectGestures.GestureListenerInterface gl = (KinectGestures.GestureListenerInterface)listener; + manager.gestureListeners.Add(gl); + } + } + + } + } + +} diff --git a/Assets/KinectScripts/Samples/SetSceneAvatars.cs.meta b/Assets/KinectScripts/Samples/SetSceneAvatars.cs.meta new file mode 100644 index 0000000..01be0b0 --- /dev/null +++ b/Assets/KinectScripts/Samples/SetSceneAvatars.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: a43dfd7de1a488041a2365d39cc6d7a2 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/KinectScripts/Samples/SimpleGestureListener.cs b/Assets/KinectScripts/Samples/SimpleGestureListener.cs new file mode 100644 index 0000000..74e1eb1 --- /dev/null +++ b/Assets/KinectScripts/Samples/SimpleGestureListener.cs @@ -0,0 +1,102 @@ +using UnityEngine; +using System.Collections; +using System; + +public class SimpleGestureListener : MonoBehaviour, KinectGestures.GestureListenerInterface +{ + // GUI Text to display the gesture messages. + public GUIText GestureInfo; + + // private bool to track if progress message has been displayed + private bool progressDisplayed; + + + public void UserDetected(uint userId, int userIndex) + { + // as an example - detect these user specific gestures + KinectManager manager = KinectManager.Instance; + + manager.DetectGesture(userId, KinectGestures.Gestures.Jump); + manager.DetectGesture(userId, KinectGestures.Gestures.Squat); + +// manager.DetectGesture(userId, KinectGestures.Gestures.Push); +// manager.DetectGesture(userId, KinectGestures.Gestures.Pull); + +// manager.DetectGesture(userId, KinectWrapper.Gestures.SwipeUp); +// manager.DetectGesture(userId, KinectWrapper.Gestures.SwipeDown); + + if(GestureInfo != null) + { + GestureInfo.GetComponent().text = "SwipeLeft, SwipeRight, Jump or Squat."; + } + } + + public void UserLost(uint userId, int userIndex) + { + if(GestureInfo != null) + { + GestureInfo.GetComponent().text = string.Empty; + } + } + + public void GestureInProgress(uint userId, int userIndex, KinectGestures.Gestures gesture, + float progress, KinectWrapper.NuiSkeletonPositionIndex joint, Vector3 screenPos) + { + //GestureInfo.guiText.text = string.Format("{0} Progress: {1:F1}%", gesture, (progress * 100)); + if(gesture == KinectGestures.Gestures.Click && progress > 0.3f) + { + string sGestureText = string.Format ("{0} {1:F1}% complete", gesture, progress * 100); + if(GestureInfo != null) + GestureInfo.GetComponent().text = sGestureText; + + progressDisplayed = true; + } + else if((gesture == KinectGestures.Gestures.ZoomOut || gesture == KinectGestures.Gestures.ZoomIn) && progress > 0.5f) + { + string sGestureText = string.Format ("{0} detected, zoom={1:F1}%", gesture, screenPos.z * 100); + if(GestureInfo != null) + GestureInfo.GetComponent().text = sGestureText; + + progressDisplayed = true; + } + else if(gesture == KinectGestures.Gestures.Wheel && progress > 0.5f) + { + string sGestureText = string.Format ("{0} detected, angle={1:F1} deg", gesture, screenPos.z); + if(GestureInfo != null) + GestureInfo.GetComponent().text = sGestureText; + + progressDisplayed = true; + } + } + + public bool GestureCompleted (uint userId, int userIndex, KinectGestures.Gestures gesture, + KinectWrapper.NuiSkeletonPositionIndex joint, Vector3 screenPos) + { + string sGestureText = gesture + " detected"; + if(gesture == KinectGestures.Gestures.Click) + sGestureText += string.Format(" at ({0:F1}, {1:F1})", screenPos.x, screenPos.y); + + if(GestureInfo != null) + GestureInfo.GetComponent().text = sGestureText; + + progressDisplayed = false; + + return true; + } + + public bool GestureCancelled (uint userId, int userIndex, KinectGestures.Gestures gesture, + KinectWrapper.NuiSkeletonPositionIndex joint) + { + if(progressDisplayed) + { + // clear the progress info + if(GestureInfo != null) + GestureInfo.GetComponent().text = String.Empty; + + progressDisplayed = false; + } + + return true; + } + +} diff --git a/Assets/KinectScripts/Samples/SimpleGestureListener.cs.meta b/Assets/KinectScripts/Samples/SimpleGestureListener.cs.meta new file mode 100644 index 0000000..efcc0d4 --- /dev/null +++ b/Assets/KinectScripts/Samples/SimpleGestureListener.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 54b9637035d55784cbbe08ec594f34d0 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Readme-Kinect-MsSdk.pdf 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Interpretation of Sections 15 and 16. - - If the disclaimer of warranty and limitation of liability provided -above cannot be given local legal effect according to their terms, -reviewing courts shall apply local law that most closely approximates -an absolute waiver of all civil liability in connection with the -Program, unless a warranty or assumption of liability accompanies a -copy of the Program in return for a fee. - - END OF TERMS AND CONDITIONS - - How to Apply These Terms to Your New Programs - - If you develop a new program, and you want it to be of the greatest -possible use to the public, the best way to achieve this is to make it -free software which everyone can redistribute and change under these terms. - - To do so, attach the following notices to the program. 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If not, see . - -Also add information on how to contact you by electronic and paper mail. - - If the program does terminal interaction, make it output a short -notice like this when it starts in an interactive mode: - - {project} Copyright (C) {year} {fullname} - This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, your program's commands -might be different; for a GUI interface, you would use an "about box". - - You should also get your employer (if you work as a programmer) or school, -if any, to sign a "copyright disclaimer" for the program, if necessary. -For more information on this, and how to apply and follow the GNU GPL, see -. - - The GNU General Public License does not permit incorporating your program -into proprietary programs. If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. 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