t1 / TFDContents / Assets / KinectScripts / Interfaces / Kinect2Interface.cs @ 3
이력 | 보기 | 이력해설 | 다운로드 (52.8 KB)
| 1 | 3 | KTH | #if !(UNITY_WSA_10_0 && NETFX_CORE) |
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| 2 | using UnityEngine; |
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| 3 | using System.Collections; |
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| 4 | using Windows.Kinect; |
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| 5 | using System.Runtime.InteropServices; |
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| 6 | using Microsoft.Kinect.Face; |
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| 7 | using System.Collections.Generic; |
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| 8 | using System; |
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| 9 | |||
| 10 | public class Kinect2Interface : DepthSensorInterface |
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| 11 | {
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| 12 | // change this to false, if you aren't using Kinect-v2 only and want KM to check for available sensors |
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| 13 | public static bool sensorAlwaysAvailable = true; |
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| 14 | |||
| 15 | private KinectInterop.FrameSource sensorFlags; |
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| 16 | public KinectSensor kinectSensor; |
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| 17 | public CoordinateMapper coordMapper; |
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| 18 | |||
| 19 | private BodyFrameReader bodyFrameReader; |
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| 20 | private BodyIndexFrameReader bodyIndexFrameReader; |
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| 21 | private ColorFrameReader colorFrameReader; |
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| 22 | private DepthFrameReader depthFrameReader; |
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| 23 | private InfraredFrameReader infraredFrameReader; |
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| 24 | |||
| 25 | private MultiSourceFrameReader multiSourceFrameReader; |
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| 26 | private MultiSourceFrame multiSourceFrame; |
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| 27 | |||
| 28 | private BodyFrame msBodyFrame = null; |
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| 29 | private BodyIndexFrame msBodyIndexFrame = null; |
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| 30 | private ColorFrame msColorFrame = null; |
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| 31 | private DepthFrame msDepthFrame = null; |
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| 32 | private InfraredFrame msInfraredFrame = null; |
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| 33 | |||
| 34 | private int bodyCount; |
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| 35 | private Body[] bodyData; |
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| 36 | |||
| 37 | private bool bFaceTrackingInited = false; |
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| 38 | public FaceFrameSource[] faceFrameSources = null; |
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| 39 | public FaceFrameReader[] faceFrameReaders = null; |
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| 40 | public FaceFrameResult[] faceFrameResults = null; |
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| 41 | |||
| 42 | // private int faceDisplayWidth; |
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| 43 | // private int faceDisplayHeight; |
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| 44 | |||
| 45 | private bool isDrawFaceRect = false; |
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| 46 | public HighDefinitionFaceFrameSource[] hdFaceFrameSources = null; |
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| 47 | public HighDefinitionFaceFrameReader[] hdFaceFrameReaders = null; |
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| 48 | public FaceAlignment[] hdFaceAlignments = null; |
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| 49 | public FaceModel[] hdFaceModels = null; |
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| 50 | |||
| 51 | private bool bBackgroundRemovalInited = false; |
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| 52 | |||
| 53 | |||
| 54 | // DLL Imports for speech wrapper functions |
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| 55 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "InitSpeechRecognizer")]
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| 56 | private static extern int InitSpeechRecognizerNative([MarshalAs(UnmanagedType.LPWStr)]string sRecoCriteria, bool bUseKinect, bool bAdaptationOff); |
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| 57 | |||
| 58 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "FinishSpeechRecognizer")]
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| 59 | private static extern void FinishSpeechRecognizerNative(); |
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| 60 | |||
| 61 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "UpdateSpeechRecognizer")]
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| 62 | private static extern int UpdateSpeechRecognizerNative(); |
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| 63 | |||
| 64 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "LoadSpeechGrammar")]
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| 65 | private static extern int LoadSpeechGrammarNative([MarshalAs(UnmanagedType.LPWStr)]string sFileName, short iNewLangCode, bool bDynamic); |
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| 66 | |||
| 67 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "AddGrammarPhrase")]
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| 68 | private static extern int AddGrammarPhraseNative([MarshalAs(UnmanagedType.LPWStr)]string sFromRule, [MarshalAs(UnmanagedType.LPWStr)]string sToRule, [MarshalAs(UnmanagedType.LPWStr)]string sPhrase, bool bClearRule, bool bCommitGrammar); |
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| 69 | |||
| 70 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "AddSpeechGrammar")]
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| 71 | private static extern int AddSpeechGrammarNative([MarshalAs(UnmanagedType.LPWStr)]string sFileName, short iNewLangCode, bool bDynamic); |
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| 72 | |||
| 73 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "AddPhraseToGrammar")]
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| 74 | private static extern int AddPhraseToGrammarNative([MarshalAs(UnmanagedType.LPWStr)]string sGrammarName, [MarshalAs(UnmanagedType.LPWStr)]string sFromRule, [MarshalAs(UnmanagedType.LPWStr)]string sToRule, [MarshalAs(UnmanagedType.LPWStr)]string sPhrase, bool bClearRule, bool bCommitGrammar); |
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| 75 | |||
| 76 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "SetGrammarState")]
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| 77 | private static extern int SetGrammarStateNative([MarshalAs(UnmanagedType.LPWStr)]string sGrammarName, bool bEnableGrammar); |
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| 78 | |||
| 79 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "SetRequiredConfidence")]
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| 80 | private static extern void SetSpeechConfidenceNative(float fConfidence); |
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| 81 | |||
| 82 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "IsSoundStarted")]
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| 83 | private static extern bool IsSpeechStartedNative(); |
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| 84 | |||
| 85 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "IsSoundEnded")]
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| 86 | private static extern bool IsSpeechEndedNative(); |
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| 87 | |||
| 88 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "IsPhraseRecognized")]
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| 89 | private static extern bool IsPhraseRecognizedNative(); |
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| 90 | |||
| 91 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "GetPhraseConfidence")]
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| 92 | private static extern float GetPhraseConfidenceNative(); |
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| 93 | |||
| 94 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "GetRecognizedTag")]
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| 95 | private static extern IntPtr GetRecognizedPhraseTagNative(); |
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| 96 | |||
| 97 | [DllImport("Kinect2SpeechWrapper", EntryPoint = "ClearPhraseRecognized")]
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| 98 | private static extern void ClearRecognizedPhraseNative(); |
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| 99 | |||
| 100 | |||
| 101 | public KinectInterop.DepthSensorPlatform GetSensorPlatform() |
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| 102 | {
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| 103 | return KinectInterop.DepthSensorPlatform.KinectSDKv2; |
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| 104 | } |
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| 105 | |||
| 106 | public bool InitSensorInterface (bool bCopyLibs, ref bool bNeedRestart) |
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| 107 | {
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| 108 | bool bOneCopied = false, bAllCopied = true; |
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| 109 | string sTargetPath = KinectInterop.GetTargetDllPath(".", KinectInterop.Is64bitArchitecture()) + "/";
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| 110 | |||
| 111 | if(!bCopyLibs) |
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| 112 | {
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| 113 | // check if the native library is there |
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| 114 | string sTargetLib = sTargetPath + "KinectUnityAddin.dll"; |
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| 115 | bNeedRestart = false; |
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| 116 | |||
| 117 | string sZipFileName = !KinectInterop.Is64bitArchitecture() ? "KinectV2UnityAddin.x86.zip" : "KinectV2UnityAddin.x64.zip"; |
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| 118 | long iTargetSize = KinectInterop.GetUnzippedEntrySize(sZipFileName, "KinectUnityAddin.dll"); |
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| 119 | |||
| 120 | // System.IO.FileInfo targetFile = new System.IO.FileInfo(sTargetLib); |
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| 121 | // return targetFile.Exists && targetFile.Length == iTargetSize; |
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| 122 | return KinectInterop.IsFileExists(sTargetLib, iTargetSize); |
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| 123 | } |
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| 124 | |||
| 125 | if(!KinectInterop.Is64bitArchitecture()) |
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| 126 | {
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| 127 | Debug.Log("x32-architecture detected.");
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| 128 | |||
| 129 | //KinectInterop.CopyResourceFile(sTargetPath + "KinectUnityAddin.dll", "KinectUnityAddin.dll", ref bOneCopied, ref bAllCopied); |
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| 130 | |||
| 131 | Dictionary<string, string> dictFilesToUnzip = new Dictionary<string, string>(); |
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| 132 | dictFilesToUnzip["KinectUnityAddin.dll"] = sTargetPath + "KinectUnityAddin.dll"; |
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| 133 | dictFilesToUnzip["Kinect20.Face.dll"] = sTargetPath + "Kinect20.Face.dll"; |
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| 134 | dictFilesToUnzip["KinectFaceUnityAddin.dll"] = sTargetPath + "KinectFaceUnityAddin.dll"; |
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| 135 | dictFilesToUnzip["Kinect2SpeechWrapper.dll"] = sTargetPath + "Kinect2SpeechWrapper.dll"; |
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| 136 | dictFilesToUnzip["Kinect20.VisualGestureBuilder.dll"] = sTargetPath + "Kinect20.VisualGestureBuilder.dll"; |
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| 137 | dictFilesToUnzip["KinectVisualGestureBuilderUnityAddin.dll"] = sTargetPath + "KinectVisualGestureBuilderUnityAddin.dll"; |
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| 138 | dictFilesToUnzip["vgbtechs/AdaBoostTech.dll"] = sTargetPath + "vgbtechs/AdaBoostTech.dll"; |
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| 139 | dictFilesToUnzip["vgbtechs/RFRProgressTech.dll"] = sTargetPath + "vgbtechs/RFRProgressTech.dll"; |
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| 140 | dictFilesToUnzip["msvcp110.dll"] = sTargetPath + "msvcp110.dll"; |
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| 141 | dictFilesToUnzip["msvcr110.dll"] = sTargetPath + "msvcr110.dll"; |
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| 142 | |||
| 143 | KinectInterop.UnzipResourceFiles(dictFilesToUnzip, "KinectV2UnityAddin.x86.zip", ref bOneCopied, ref bAllCopied); |
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| 144 | } |
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| 145 | else |
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| 146 | {
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| 147 | Debug.Log("x64-architecture detected.");
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| 148 | |||
| 149 | //KinectInterop.CopyResourceFile(sTargetPath + "KinectUnityAddin.dll", "KinectUnityAddin.dll.x64", ref bOneCopied, ref bAllCopied); |
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| 150 | |||
| 151 | Dictionary<string, string> dictFilesToUnzip = new Dictionary<string, string>(); |
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| 152 | dictFilesToUnzip["KinectUnityAddin.dll"] = sTargetPath + "KinectUnityAddin.dll"; |
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| 153 | dictFilesToUnzip["Kinect20.Face.dll"] = sTargetPath + "Kinect20.Face.dll"; |
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| 154 | dictFilesToUnzip["KinectFaceUnityAddin.dll"] = sTargetPath + "KinectFaceUnityAddin.dll"; |
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| 155 | dictFilesToUnzip["Kinect2SpeechWrapper.dll"] = sTargetPath + "Kinect2SpeechWrapper.dll"; |
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| 156 | dictFilesToUnzip["Kinect20.VisualGestureBuilder.dll"] = sTargetPath + "Kinect20.VisualGestureBuilder.dll"; |
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| 157 | dictFilesToUnzip["KinectVisualGestureBuilderUnityAddin.dll"] = sTargetPath + "KinectVisualGestureBuilderUnityAddin.dll"; |
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| 158 | dictFilesToUnzip["vgbtechs/AdaBoostTech.dll"] = sTargetPath + "vgbtechs/AdaBoostTech.dll"; |
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| 159 | dictFilesToUnzip["vgbtechs/RFRProgressTech.dll"] = sTargetPath + "vgbtechs/RFRProgressTech.dll"; |
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| 160 | dictFilesToUnzip["msvcp110.dll"] = sTargetPath + "msvcp110.dll"; |
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| 161 | dictFilesToUnzip["msvcr110.dll"] = sTargetPath + "msvcr110.dll"; |
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| 162 | |||
| 163 | KinectInterop.UnzipResourceFiles(dictFilesToUnzip, "KinectV2UnityAddin.x64.zip", ref bOneCopied, ref bAllCopied); |
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| 164 | } |
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| 165 | |||
| 166 | KinectInterop.UnzipResourceDirectory(sTargetPath, "NuiDatabase.zip", sTargetPath + "NuiDatabase"); |
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| 167 | |||
| 168 | bNeedRestart = (bOneCopied && bAllCopied); |
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| 169 | |||
| 170 | return true; |
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| 171 | } |
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| 172 | |||
| 173 | public void FreeSensorInterface (bool bDeleteLibs) |
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| 174 | {
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| 175 | if(bDeleteLibs) |
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| 176 | {
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| 177 | KinectInterop.DeleteNativeLib("KinectUnityAddin.dll", true);
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| 178 | KinectInterop.DeleteNativeLib("msvcp110.dll", false);
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| 179 | KinectInterop.DeleteNativeLib("msvcr110.dll", false);
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| 180 | } |
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| 181 | } |
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| 182 | |||
| 183 | public bool IsSensorAvailable() |
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| 184 | {
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| 185 | KinectSensor sensor = KinectSensor.GetDefault(); |
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| 186 | |||
| 187 | if(sensor != null) |
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| 188 | {
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| 189 | if(sensorAlwaysAvailable) |
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| 190 | {
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| 191 | sensor = null; |
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| 192 | return true; |
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| 193 | } |
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| 194 | |||
| 195 | if(!sensor.IsOpen) |
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| 196 | {
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| 197 | sensor.Open(); |
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| 198 | } |
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| 199 | |||
| 200 | float fWaitTime = Time.realtimeSinceStartup + 3f; |
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| 201 | while(!sensor.IsAvailable && Time.realtimeSinceStartup < fWaitTime) |
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| 202 | {
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| 203 | // wait for availability |
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| 204 | } |
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| 205 | |||
| 206 | bool bAvailable = sensor.IsAvailable; |
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| 207 | |||
| 208 | if(sensor.IsOpen) |
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| 209 | {
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| 210 | sensor.Close(); |
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| 211 | } |
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| 212 | |||
| 213 | fWaitTime = Time.realtimeSinceStartup + 3f; |
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| 214 | while(sensor.IsOpen && Time.realtimeSinceStartup < fWaitTime) |
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| 215 | {
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| 216 | // wait for sensor to close |
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| 217 | } |
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| 218 | |||
| 219 | sensor = null; |
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| 220 | return bAvailable; |
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| 221 | } |
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| 222 | |||
| 223 | return false; |
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| 224 | } |
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| 225 | |||
| 226 | public int GetSensorsCount() |
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| 227 | {
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| 228 | int numSensors = 0; |
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| 229 | |||
| 230 | KinectSensor sensor = KinectSensor.GetDefault(); |
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| 231 | if(sensor != null) |
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| 232 | {
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| 233 | if(!sensor.IsOpen) |
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| 234 | {
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| 235 | sensor.Open(); |
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| 236 | } |
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| 237 | |||
| 238 | float fWaitTime = Time.realtimeSinceStartup + 3f; |
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| 239 | while(!sensor.IsAvailable && Time.realtimeSinceStartup < fWaitTime) |
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| 240 | {
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| 241 | // wait for availability |
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| 242 | } |
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| 243 | |||
| 244 | numSensors = sensor.IsAvailable ? 1 : 0; |
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| 245 | |||
| 246 | if(sensor.IsOpen) |
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| 247 | {
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| 248 | sensor.Close(); |
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| 249 | } |
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| 250 | |||
| 251 | fWaitTime = Time.realtimeSinceStartup + 3f; |
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| 252 | while(sensor.IsOpen && Time.realtimeSinceStartup < fWaitTime) |
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| 253 | {
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| 254 | // wait for sensor to close |
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| 255 | } |
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| 256 | } |
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| 257 | |||
| 258 | return numSensors; |
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| 259 | } |
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| 260 | |||
| 261 | public KinectInterop.SensorData OpenDefaultSensor (KinectInterop.FrameSource dwFlags, float sensorAngle, bool bUseMultiSource) |
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| 262 | {
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| 263 | KinectInterop.SensorData sensorData = new KinectInterop.SensorData(); |
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| 264 | sensorFlags = dwFlags; |
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| 265 | |||
| 266 | kinectSensor = KinectSensor.GetDefault(); |
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| 267 | if(kinectSensor == null) |
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| 268 | return null; |
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| 269 | |||
| 270 | coordMapper = kinectSensor.CoordinateMapper; |
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| 271 | |||
| 272 | this.bodyCount = kinectSensor.BodyFrameSource.BodyCount; |
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| 273 | sensorData.bodyCount = this.bodyCount; |
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| 274 | sensorData.jointCount = 25; |
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| 275 | |||
| 276 | sensorData.depthCameraFOV = 60f; |
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| 277 | sensorData.colorCameraFOV = 53.8f; |
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| 278 | sensorData.depthCameraOffset = -0.05f; |
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| 279 | sensorData.faceOverlayOffset = -0.04f; |
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| 280 | |||
| 281 | if((dwFlags & KinectInterop.FrameSource.TypeBody) != 0) |
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| 282 | {
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| 283 | if(!bUseMultiSource) |
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| 284 | bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader(); |
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| 285 | |||
| 286 | bodyData = new Body[sensorData.bodyCount]; |
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| 287 | } |
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| 288 | |||
| 289 | var frameDesc = kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba); |
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| 290 | sensorData.colorImageWidth = frameDesc.Width; |
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| 291 | sensorData.colorImageHeight = frameDesc.Height; |
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| 292 | |||
| 293 | if((dwFlags & KinectInterop.FrameSource.TypeColor) != 0) |
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| 294 | {
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| 295 | if(!bUseMultiSource) |
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| 296 | colorFrameReader = kinectSensor.ColorFrameSource.OpenReader(); |
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| 297 | |||
| 298 | sensorData.colorImage = new byte[frameDesc.BytesPerPixel * frameDesc.LengthInPixels]; |
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| 299 | } |
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| 300 | |||
| 301 | sensorData.depthImageWidth = kinectSensor.DepthFrameSource.FrameDescription.Width; |
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| 302 | sensorData.depthImageHeight = kinectSensor.DepthFrameSource.FrameDescription.Height; |
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| 303 | |||
| 304 | if((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0) |
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| 305 | {
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| 306 | if(!bUseMultiSource) |
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| 307 | depthFrameReader = kinectSensor.DepthFrameSource.OpenReader(); |
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| 308 | |||
| 309 | sensorData.depthImage = new ushort[kinectSensor.DepthFrameSource.FrameDescription.LengthInPixels]; |
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| 310 | } |
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| 311 | |||
| 312 | if((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0) |
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| 313 | {
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| 314 | if(!bUseMultiSource) |
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| 315 | bodyIndexFrameReader = kinectSensor.BodyIndexFrameSource.OpenReader(); |
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| 316 | |||
| 317 | sensorData.bodyIndexImage = new byte[kinectSensor.BodyIndexFrameSource.FrameDescription.LengthInPixels]; |
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| 318 | } |
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| 319 | |||
| 320 | if((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0) |
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| 321 | {
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| 322 | if(!bUseMultiSource) |
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| 323 | infraredFrameReader = kinectSensor.InfraredFrameSource.OpenReader(); |
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| 324 | |||
| 325 | sensorData.infraredImage = new ushort[kinectSensor.InfraredFrameSource.FrameDescription.LengthInPixels]; |
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| 326 | } |
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| 327 | |||
| 328 | //if(!kinectSensor.IsOpen) |
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| 329 | {
|
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| 330 | //Debug.Log("Opening sensor, available: " + kinectSensor.IsAvailable);
|
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| 331 | kinectSensor.Open(); |
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| 332 | } |
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| 333 | |||
| 334 | float fWaitTime = Time.realtimeSinceStartup + 3f; |
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| 335 | while(!kinectSensor.IsAvailable && Time.realtimeSinceStartup < fWaitTime) |
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| 336 | {
|
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| 337 | // wait for sensor to open |
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| 338 | } |
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| 339 | |||
| 340 | Debug.Log("K2-sensor " + (kinectSensor.IsOpen ? "opened" : "closed") +
|
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| 341 | ", available: " + kinectSensor.IsAvailable); |
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| 342 | |||
| 343 | if(bUseMultiSource && dwFlags != KinectInterop.FrameSource.TypeNone && kinectSensor.IsOpen) |
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| 344 | {
|
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| 345 | multiSourceFrameReader = kinectSensor.OpenMultiSourceFrameReader((FrameSourceTypes)((int)dwFlags & 0x3F)); |
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| 346 | } |
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| 347 | |||
| 348 | return sensorData; |
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| 349 | } |
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| 350 | |||
| 351 | public void CloseSensor (KinectInterop.SensorData sensorData) |
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| 352 | {
|
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| 353 | if(coordMapper != null) |
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| 354 | {
|
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| 355 | coordMapper = null; |
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| 356 | } |
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| 357 | |||
| 358 | if(bodyFrameReader != null) |
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| 359 | {
|
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| 360 | bodyFrameReader.Dispose(); |
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| 361 | bodyFrameReader = null; |
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| 362 | } |
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| 363 | |||
| 364 | if(bodyIndexFrameReader != null) |
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| 365 | {
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| 366 | bodyIndexFrameReader.Dispose(); |
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| 367 | bodyIndexFrameReader = null; |
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| 368 | } |
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| 369 | |||
| 370 | if(colorFrameReader != null) |
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| 371 | {
|
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| 372 | colorFrameReader.Dispose(); |
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| 373 | colorFrameReader = null; |
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| 374 | } |
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| 375 | |||
| 376 | if(depthFrameReader != null) |
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| 377 | {
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| 378 | depthFrameReader.Dispose(); |
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| 379 | depthFrameReader = null; |
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| 380 | } |
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| 381 | |||
| 382 | if(infraredFrameReader != null) |
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| 383 | {
|
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| 384 | infraredFrameReader.Dispose(); |
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| 385 | infraredFrameReader = null; |
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| 386 | } |
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| 387 | |||
| 388 | if(multiSourceFrameReader != null) |
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| 389 | {
|
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| 390 | multiSourceFrameReader.Dispose(); |
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| 391 | multiSourceFrameReader = null; |
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| 392 | } |
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| 393 | |||
| 394 | if(kinectSensor != null) |
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| 395 | {
|
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| 396 | //if (kinectSensor.IsOpen) |
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| 397 | {
|
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| 398 | //Debug.Log("Closing sensor, available: " + kinectSensor.IsAvailable);
|
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| 399 | kinectSensor.Close(); |
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| 400 | } |
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| 401 | |||
| 402 | float fWaitTime = Time.realtimeSinceStartup + 3f; |
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| 403 | while(kinectSensor.IsOpen && Time.realtimeSinceStartup < fWaitTime) |
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| 404 | {
|
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| 405 | // wait for sensor to close |
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| 406 | } |
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| 407 | |||
| 408 | Debug.Log("K2-sensor " + (kinectSensor.IsOpen ? "opened" : "closed") +
|
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| 409 | ", available: " + kinectSensor.IsAvailable); |
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| 410 | |||
| 411 | kinectSensor = null; |
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| 412 | } |
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| 413 | } |
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| 414 | |||
| 415 | public bool UpdateSensorData (KinectInterop.SensorData sensorData) |
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| 416 | {
|
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| 417 | return true; |
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| 418 | } |
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| 419 | |||
| 420 | public bool GetMultiSourceFrame (KinectInterop.SensorData sensorData) |
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| 421 | {
|
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| 422 | if(multiSourceFrameReader != null) |
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| 423 | {
|
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| 424 | multiSourceFrame = multiSourceFrameReader.AcquireLatestFrame(); |
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| 425 | |||
| 426 | if(multiSourceFrame != null) |
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| 427 | {
|
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| 428 | // try to get all frames at once |
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| 429 | msBodyFrame = (sensorFlags & KinectInterop.FrameSource.TypeBody) != 0 ? multiSourceFrame.BodyFrameReference.AcquireFrame() : null; |
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| 430 | msBodyIndexFrame = (sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0 ? multiSourceFrame.BodyIndexFrameReference.AcquireFrame() : null; |
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| 431 | msColorFrame = (sensorFlags & KinectInterop.FrameSource.TypeColor) != 0 ? multiSourceFrame.ColorFrameReference.AcquireFrame() : null; |
||
| 432 | msDepthFrame = (sensorFlags & KinectInterop.FrameSource.TypeDepth) != 0 ? multiSourceFrame.DepthFrameReference.AcquireFrame() : null; |
||
| 433 | msInfraredFrame = (sensorFlags & KinectInterop.FrameSource.TypeInfrared) != 0 ? multiSourceFrame.InfraredFrameReference.AcquireFrame() : null; |
||
| 434 | |||
| 435 | bool bAllSet = |
||
| 436 | ((sensorFlags & KinectInterop.FrameSource.TypeBody) == 0 || msBodyFrame != null) && |
||
| 437 | ((sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) == 0 || msBodyIndexFrame != null) && |
||
| 438 | ((sensorFlags & KinectInterop.FrameSource.TypeColor) == 0 || msColorFrame != null) && |
||
| 439 | ((sensorFlags & KinectInterop.FrameSource.TypeDepth) == 0 || msDepthFrame != null) && |
||
| 440 | ((sensorFlags & KinectInterop.FrameSource.TypeInfrared) == 0 || msInfraredFrame != null); |
||
| 441 | |||
| 442 | if(!bAllSet) |
||
| 443 | {
|
||
| 444 | // release all frames |
||
| 445 | if(msBodyFrame != null) |
||
| 446 | {
|
||
| 447 | msBodyFrame.Dispose(); |
||
| 448 | msBodyFrame = null; |
||
| 449 | } |
||
| 450 | |||
| 451 | if(msBodyIndexFrame != null) |
||
| 452 | {
|
||
| 453 | msBodyIndexFrame.Dispose(); |
||
| 454 | msBodyIndexFrame = null; |
||
| 455 | } |
||
| 456 | |||
| 457 | if(msColorFrame != null) |
||
| 458 | {
|
||
| 459 | msColorFrame.Dispose(); |
||
| 460 | msColorFrame = null; |
||
| 461 | } |
||
| 462 | |||
| 463 | if(msDepthFrame != null) |
||
| 464 | {
|
||
| 465 | msDepthFrame.Dispose(); |
||
| 466 | msDepthFrame = null; |
||
| 467 | } |
||
| 468 | |||
| 469 | if(msInfraredFrame != null) |
||
| 470 | {
|
||
| 471 | msInfraredFrame.Dispose(); |
||
| 472 | msInfraredFrame = null; |
||
| 473 | } |
||
| 474 | } |
||
| 475 | // else |
||
| 476 | // {
|
||
| 477 | // bool bNeedBody = (sensorFlags & KinectInterop.FrameSource.TypeBody) != 0; |
||
| 478 | // bool bNeedBodyIndex = (sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0; |
||
| 479 | // bool bNeedColor = (sensorFlags & KinectInterop.FrameSource.TypeColor) != 0; |
||
| 480 | // bool bNeedDepth = (sensorFlags & KinectInterop.FrameSource.TypeDepth) != 0; |
||
| 481 | // bool bNeedInfrared = (sensorFlags & KinectInterop.FrameSource.TypeInfrared) != 0; |
||
| 482 | // |
||
| 483 | // bAllSet = true; |
||
| 484 | // } |
||
| 485 | } |
||
| 486 | |||
| 487 | return (multiSourceFrame != null); |
||
| 488 | } |
||
| 489 | |||
| 490 | return false; |
||
| 491 | } |
||
| 492 | |||
| 493 | public void FreeMultiSourceFrame (KinectInterop.SensorData sensorData) |
||
| 494 | {
|
||
| 495 | // release all frames |
||
| 496 | if(msBodyFrame != null) |
||
| 497 | {
|
||
| 498 | msBodyFrame.Dispose(); |
||
| 499 | msBodyFrame = null; |
||
| 500 | } |
||
| 501 | |||
| 502 | if(msBodyIndexFrame != null) |
||
| 503 | {
|
||
| 504 | msBodyIndexFrame.Dispose(); |
||
| 505 | msBodyIndexFrame = null; |
||
| 506 | } |
||
| 507 | |||
| 508 | if(msColorFrame != null) |
||
| 509 | {
|
||
| 510 | msColorFrame.Dispose(); |
||
| 511 | msColorFrame = null; |
||
| 512 | } |
||
| 513 | |||
| 514 | if(msDepthFrame != null) |
||
| 515 | {
|
||
| 516 | msDepthFrame.Dispose(); |
||
| 517 | msDepthFrame = null; |
||
| 518 | } |
||
| 519 | |||
| 520 | if(msInfraredFrame != null) |
||
| 521 | {
|
||
| 522 | msInfraredFrame.Dispose(); |
||
| 523 | msInfraredFrame = null; |
||
| 524 | } |
||
| 525 | |||
| 526 | if(multiSourceFrame != null) |
||
| 527 | {
|
||
| 528 | multiSourceFrame = null; |
||
| 529 | } |
||
| 530 | } |
||
| 531 | |||
| 532 | public bool PollBodyFrame (KinectInterop.SensorData sensorData, ref KinectInterop.BodyFrameData bodyFrame, |
||
| 533 | ref Matrix4x4 kinectToWorld, bool bIgnoreJointZ) |
||
| 534 | {
|
||
| 535 | bool bNewFrame = false; |
||
| 536 | |||
| 537 | if((multiSourceFrameReader != null && multiSourceFrame != null) || |
||
| 538 | bodyFrameReader != null) |
||
| 539 | {
|
||
| 540 | BodyFrame frame = multiSourceFrame != null ? msBodyFrame : |
||
| 541 | bodyFrameReader.AcquireLatestFrame(); |
||
| 542 | |||
| 543 | if(frame != null) |
||
| 544 | {
|
||
| 545 | frame.GetAndRefreshBodyData(bodyData); |
||
| 546 | |||
| 547 | bodyFrame.liPreviousTime = bodyFrame.liRelativeTime; |
||
| 548 | bodyFrame.liRelativeTime = frame.RelativeTime.Ticks; |
||
| 549 | |||
| 550 | if(sensorData.hintHeightAngle) |
||
| 551 | {
|
||
| 552 | // get the floor plane |
||
| 553 | Windows.Kinect.Vector4 vFloorPlane = frame.FloorClipPlane; |
||
| 554 | Vector3 floorPlane = new Vector3(vFloorPlane.X, vFloorPlane.Y, vFloorPlane.Z); |
||
| 555 | |||
| 556 | sensorData.sensorRotDetected = Quaternion.FromToRotation(floorPlane, Vector3.up); |
||
| 557 | sensorData.sensorHgtDetected = vFloorPlane.W; |
||
| 558 | } |
||
| 559 | |||
| 560 | frame.Dispose(); |
||
| 561 | frame = null; |
||
| 562 | |||
| 563 | for(int i = 0; i < sensorData.bodyCount; i++) |
||
| 564 | {
|
||
| 565 | Body body = bodyData[i]; |
||
| 566 | |||
| 567 | if (body == null) |
||
| 568 | {
|
||
| 569 | bodyFrame.bodyData[i].bIsTracked = 0; |
||
| 570 | continue; |
||
| 571 | } |
||
| 572 | |||
| 573 | bodyFrame.bodyData[i].bIsTracked = (short)(body.IsTracked ? 1 : 0); |
||
| 574 | |||
| 575 | if(body.IsTracked) |
||
| 576 | {
|
||
| 577 | // transfer body and joints data |
||
| 578 | bodyFrame.bodyData[i].liTrackingID = (long)body.TrackingId; |
||
| 579 | |||
| 580 | // cache the body joints (following the advice of Brian Chasalow) |
||
| 581 | Dictionary<Windows.Kinect.JointType, Windows.Kinect.Joint> bodyJoints = body.Joints; |
||
| 582 | |||
| 583 | for(int j = 0; j < sensorData.jointCount; j++) |
||
| 584 | {
|
||
| 585 | Windows.Kinect.Joint joint = bodyJoints[(Windows.Kinect.JointType)j]; |
||
| 586 | KinectInterop.JointData jointData = bodyFrame.bodyData[i].joint[j]; |
||
| 587 | |||
| 588 | //jointData.jointType = (KinectInterop.JointType)j; |
||
| 589 | jointData.trackingState = (KinectInterop.TrackingState)joint.TrackingState; |
||
| 590 | |||
| 591 | if((int)joint.TrackingState != (int)TrackingState.NotTracked) |
||
| 592 | {
|
||
| 593 | float jPosZ = (bIgnoreJointZ && j > 0) ? bodyFrame.bodyData[i].joint[0].kinectPos.z : joint.Position.Z; |
||
| 594 | jointData.kinectPos = new Vector3(joint.Position.X, joint.Position.Y, joint.Position.Z); |
||
| 595 | jointData.position = kinectToWorld.MultiplyPoint3x4(new Vector3(joint.Position.X, joint.Position.Y, jPosZ)); |
||
| 596 | } |
||
| 597 | |||
| 598 | jointData.orientation = Quaternion.identity; |
||
| 599 | // Windows.Kinect.Vector4 vQ = body.JointOrientations[jointData.jointType].Orientation; |
||
| 600 | // jointData.orientation = new Quaternion(vQ.X, vQ.Y, vQ.Z, vQ.W); |
||
| 601 | |||
| 602 | if(j == 0) |
||
| 603 | {
|
||
| 604 | bodyFrame.bodyData[i].position = jointData.position; |
||
| 605 | bodyFrame.bodyData[i].orientation = jointData.orientation; |
||
| 606 | } |
||
| 607 | |||
| 608 | bodyFrame.bodyData[i].joint[j] = jointData; |
||
| 609 | } |
||
| 610 | |||
| 611 | // tranfer hand states |
||
| 612 | bodyFrame.bodyData[i].leftHandState = (KinectInterop.HandState)body.HandLeftState; |
||
| 613 | bodyFrame.bodyData[i].leftHandConfidence = (KinectInterop.TrackingConfidence)body.HandLeftConfidence; |
||
| 614 | |||
| 615 | bodyFrame.bodyData[i].rightHandState = (KinectInterop.HandState)body.HandRightState; |
||
| 616 | bodyFrame.bodyData[i].rightHandConfidence = (KinectInterop.TrackingConfidence)body.HandRightConfidence; |
||
| 617 | } |
||
| 618 | } |
||
| 619 | |||
| 620 | bNewFrame = true; |
||
| 621 | } |
||
| 622 | } |
||
| 623 | |||
| 624 | return bNewFrame; |
||
| 625 | } |
||
| 626 | |||
| 627 | public bool PollColorFrame (KinectInterop.SensorData sensorData) |
||
| 628 | {
|
||
| 629 | bool bNewFrame = false; |
||
| 630 | |||
| 631 | if((multiSourceFrameReader != null && multiSourceFrame != null) || |
||
| 632 | colorFrameReader != null) |
||
| 633 | {
|
||
| 634 | ColorFrame colorFrame = multiSourceFrame != null ? msColorFrame : |
||
| 635 | colorFrameReader.AcquireLatestFrame(); |
||
| 636 | |||
| 637 | if(colorFrame != null) |
||
| 638 | {
|
||
| 639 | var pColorData = GCHandle.Alloc(sensorData.colorImage, GCHandleType.Pinned); |
||
| 640 | colorFrame.CopyConvertedFrameDataToIntPtr(pColorData.AddrOfPinnedObject(), (uint)sensorData.colorImage.Length, ColorImageFormat.Rgba); |
||
| 641 | pColorData.Free(); |
||
| 642 | |||
| 643 | sensorData.lastColorFrameTime = colorFrame.RelativeTime.Ticks; |
||
| 644 | |||
| 645 | colorFrame.Dispose(); |
||
| 646 | colorFrame = null; |
||
| 647 | |||
| 648 | bNewFrame = true; |
||
| 649 | } |
||
| 650 | } |
||
| 651 | |||
| 652 | return bNewFrame; |
||
| 653 | } |
||
| 654 | |||
| 655 | public bool PollDepthFrame (KinectInterop.SensorData sensorData) |
||
| 656 | {
|
||
| 657 | bool bNewFrame = false; |
||
| 658 | |||
| 659 | if((multiSourceFrameReader != null && multiSourceFrame != null) || |
||
| 660 | depthFrameReader != null) |
||
| 661 | {
|
||
| 662 | DepthFrame depthFrame = multiSourceFrame != null ? msDepthFrame : |
||
| 663 | depthFrameReader.AcquireLatestFrame(); |
||
| 664 | |||
| 665 | if(depthFrame != null) |
||
| 666 | {
|
||
| 667 | var pDepthData = GCHandle.Alloc(sensorData.depthImage, GCHandleType.Pinned); |
||
| 668 | depthFrame.CopyFrameDataToIntPtr(pDepthData.AddrOfPinnedObject(), (uint)sensorData.depthImage.Length * sizeof(ushort)); |
||
| 669 | pDepthData.Free(); |
||
| 670 | |||
| 671 | sensorData.lastDepthFrameTime = depthFrame.RelativeTime.Ticks; |
||
| 672 | |||
| 673 | depthFrame.Dispose(); |
||
| 674 | depthFrame = null; |
||
| 675 | |||
| 676 | bNewFrame = true; |
||
| 677 | } |
||
| 678 | |||
| 679 | if((multiSourceFrameReader != null && multiSourceFrame != null) || |
||
| 680 | bodyIndexFrameReader != null) |
||
| 681 | {
|
||
| 682 | BodyIndexFrame bodyIndexFrame = multiSourceFrame != null ? msBodyIndexFrame : |
||
| 683 | bodyIndexFrameReader.AcquireLatestFrame(); |
||
| 684 | |||
| 685 | if(bodyIndexFrame != null) |
||
| 686 | {
|
||
| 687 | var pBodyIndexData = GCHandle.Alloc(sensorData.bodyIndexImage, GCHandleType.Pinned); |
||
| 688 | bodyIndexFrame.CopyFrameDataToIntPtr(pBodyIndexData.AddrOfPinnedObject(), (uint)sensorData.bodyIndexImage.Length); |
||
| 689 | pBodyIndexData.Free(); |
||
| 690 | |||
| 691 | sensorData.lastBodyIndexFrameTime = bodyIndexFrame.RelativeTime.Ticks; |
||
| 692 | |||
| 693 | bodyIndexFrame.Dispose(); |
||
| 694 | bodyIndexFrame = null; |
||
| 695 | |||
| 696 | bNewFrame = true; |
||
| 697 | } |
||
| 698 | } |
||
| 699 | } |
||
| 700 | |||
| 701 | return bNewFrame; |
||
| 702 | } |
||
| 703 | |||
| 704 | public bool PollInfraredFrame (KinectInterop.SensorData sensorData) |
||
| 705 | {
|
||
| 706 | bool bNewFrame = false; |
||
| 707 | |||
| 708 | if((multiSourceFrameReader != null && multiSourceFrame != null) || |
||
| 709 | infraredFrameReader != null) |
||
| 710 | {
|
||
| 711 | InfraredFrame infraredFrame = multiSourceFrame != null ? msInfraredFrame : |
||
| 712 | infraredFrameReader.AcquireLatestFrame(); |
||
| 713 | |||
| 714 | if(infraredFrame != null) |
||
| 715 | {
|
||
| 716 | var pInfraredData = GCHandle.Alloc(sensorData.infraredImage, GCHandleType.Pinned); |
||
| 717 | infraredFrame.CopyFrameDataToIntPtr(pInfraredData.AddrOfPinnedObject(), (uint)sensorData.infraredImage.Length * sizeof(ushort)); |
||
| 718 | pInfraredData.Free(); |
||
| 719 | |||
| 720 | sensorData.lastInfraredFrameTime = infraredFrame.RelativeTime.Ticks; |
||
| 721 | |||
| 722 | infraredFrame.Dispose(); |
||
| 723 | infraredFrame = null; |
||
| 724 | |||
| 725 | bNewFrame = true; |
||
| 726 | } |
||
| 727 | } |
||
| 728 | |||
| 729 | return bNewFrame; |
||
| 730 | } |
||
| 731 | |||
| 732 | public void FixJointOrientations(KinectInterop.SensorData sensorData, ref KinectInterop.BodyData bodyData) |
||
| 733 | {
|
||
| 734 | // no fixes are needed |
||
| 735 | } |
||
| 736 | |||
| 737 | public bool IsBodyTurned(ref KinectInterop.BodyData bodyData) |
||
| 738 | {
|
||
| 739 | //face = On: Face (357.0/1.0) |
||
| 740 | //face = Off |
||
| 741 | //| Head_px <= -0.02 |
||
| 742 | //| | Neck_dx <= 0.08: Face (46.0/1.0) |
||
| 743 | //| | Neck_dx > 0.08: Back (3.0) |
||
| 744 | //| Head_px > -0.02 |
||
| 745 | //| | SpineShoulder_px <= -0.02: Face (4.0) |
||
| 746 | //| | SpineShoulder_px > -0.02: Back (64.0/1.0) |
||
| 747 | |||
| 748 | bool bBodyTurned = false; |
||
| 749 | |||
| 750 | if(bFaceTrackingInited) |
||
| 751 | {
|
||
| 752 | bool bFaceOn = IsFaceTracked(bodyData.liTrackingID); |
||
| 753 | |||
| 754 | if(bFaceOn) |
||
| 755 | {
|
||
| 756 | bBodyTurned = false; |
||
| 757 | } |
||
| 758 | else |
||
| 759 | {
|
||
| 760 | // face = Off |
||
| 761 | if(bodyData.joint[(int)KinectInterop.JointType.Head].posRel.x <= -0.02f) |
||
| 762 | {
|
||
| 763 | bBodyTurned = (bodyData.joint[(int)KinectInterop.JointType.Neck].posVel.x > 0.08f); |
||
| 764 | } |
||
| 765 | else |
||
| 766 | {
|
||
| 767 | // Head_px > -0.02 |
||
| 768 | bBodyTurned = (bodyData.joint[(int)KinectInterop.JointType.SpineShoulder].posRel.x > -0.02f); |
||
| 769 | } |
||
| 770 | } |
||
| 771 | } |
||
| 772 | |||
| 773 | return bBodyTurned; |
||
| 774 | } |
||
| 775 | |||
| 776 | public Vector2 MapSpacePointToDepthCoords (KinectInterop.SensorData sensorData, Vector3 spacePos) |
||
| 777 | {
|
||
| 778 | Vector2 vPoint = Vector2.zero; |
||
| 779 | |||
| 780 | if(coordMapper != null) |
||
| 781 | {
|
||
| 782 | CameraSpacePoint camPoint = new CameraSpacePoint(); |
||
| 783 | camPoint.X = spacePos.x; |
||
| 784 | camPoint.Y = spacePos.y; |
||
| 785 | camPoint.Z = spacePos.z; |
||
| 786 | |||
| 787 | CameraSpacePoint[] camPoints = new CameraSpacePoint[1]; |
||
| 788 | camPoints[0] = camPoint; |
||
| 789 | |||
| 790 | DepthSpacePoint[] depthPoints = new DepthSpacePoint[1]; |
||
| 791 | coordMapper.MapCameraPointsToDepthSpace(camPoints, depthPoints); |
||
| 792 | |||
| 793 | DepthSpacePoint depthPoint = depthPoints[0]; |
||
| 794 | |||
| 795 | if(depthPoint.X >= 0 && depthPoint.X < sensorData.depthImageWidth && |
||
| 796 | depthPoint.Y >= 0 && depthPoint.Y < sensorData.depthImageHeight) |
||
| 797 | {
|
||
| 798 | vPoint.x = depthPoint.X; |
||
| 799 | vPoint.y = depthPoint.Y; |
||
| 800 | } |
||
| 801 | } |
||
| 802 | |||
| 803 | return vPoint; |
||
| 804 | } |
||
| 805 | |||
| 806 | public Vector3 MapDepthPointToSpaceCoords (KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal) |
||
| 807 | {
|
||
| 808 | Vector3 vPoint = Vector3.zero; |
||
| 809 | |||
| 810 | if(coordMapper != null && depthPos != Vector2.zero) |
||
| 811 | {
|
||
| 812 | DepthSpacePoint depthPoint = new DepthSpacePoint(); |
||
| 813 | depthPoint.X = depthPos.x; |
||
| 814 | depthPoint.Y = depthPos.y; |
||
| 815 | |||
| 816 | DepthSpacePoint[] depthPoints = new DepthSpacePoint[1]; |
||
| 817 | depthPoints[0] = depthPoint; |
||
| 818 | |||
| 819 | ushort[] depthVals = new ushort[1]; |
||
| 820 | depthVals[0] = depthVal; |
||
| 821 | |||
| 822 | CameraSpacePoint[] camPoints = new CameraSpacePoint[1]; |
||
| 823 | coordMapper.MapDepthPointsToCameraSpace(depthPoints, depthVals, camPoints); |
||
| 824 | |||
| 825 | CameraSpacePoint camPoint = camPoints[0]; |
||
| 826 | vPoint.x = camPoint.X; |
||
| 827 | vPoint.y = camPoint.Y; |
||
| 828 | vPoint.z = camPoint.Z; |
||
| 829 | } |
||
| 830 | |||
| 831 | return vPoint; |
||
| 832 | } |
||
| 833 | |||
| 834 | public bool MapDepthFrameToSpaceCoords (KinectInterop.SensorData sensorData, ref Vector3[] vSpaceCoords) |
||
| 835 | {
|
||
| 836 | if(coordMapper != null && sensorData.depthImage != null) |
||
| 837 | {
|
||
| 838 | var pDepthData = GCHandle.Alloc(sensorData.depthImage, GCHandleType.Pinned); |
||
| 839 | var pSpaceCoordsData = GCHandle.Alloc(vSpaceCoords, GCHandleType.Pinned); |
||
| 840 | |||
| 841 | coordMapper.MapDepthFrameToCameraSpaceUsingIntPtr( |
||
| 842 | pDepthData.AddrOfPinnedObject(), |
||
| 843 | sensorData.depthImage.Length * sizeof(ushort), |
||
| 844 | pSpaceCoordsData.AddrOfPinnedObject(), |
||
| 845 | (uint)vSpaceCoords.Length); |
||
| 846 | |||
| 847 | pSpaceCoordsData.Free(); |
||
| 848 | pDepthData.Free(); |
||
| 849 | |||
| 850 | return true; |
||
| 851 | } |
||
| 852 | |||
| 853 | return false; |
||
| 854 | } |
||
| 855 | |||
| 856 | public Vector2 MapDepthPointToColorCoords (KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal) |
||
| 857 | {
|
||
| 858 | Vector2 vPoint = Vector2.zero; |
||
| 859 | |||
| 860 | if(coordMapper != null && depthPos != Vector2.zero) |
||
| 861 | {
|
||
| 862 | DepthSpacePoint depthPoint = new DepthSpacePoint(); |
||
| 863 | depthPoint.X = depthPos.x; |
||
| 864 | depthPoint.Y = depthPos.y; |
||
| 865 | |||
| 866 | DepthSpacePoint[] depthPoints = new DepthSpacePoint[1]; |
||
| 867 | depthPoints[0] = depthPoint; |
||
| 868 | |||
| 869 | ushort[] depthVals = new ushort[1]; |
||
| 870 | depthVals[0] = depthVal; |
||
| 871 | |||
| 872 | ColorSpacePoint[] colPoints = new ColorSpacePoint[1]; |
||
| 873 | coordMapper.MapDepthPointsToColorSpace(depthPoints, depthVals, colPoints); |
||
| 874 | |||
| 875 | ColorSpacePoint colPoint = colPoints[0]; |
||
| 876 | vPoint.x = colPoint.X; |
||
| 877 | vPoint.y = colPoint.Y; |
||
| 878 | } |
||
| 879 | |||
| 880 | return vPoint; |
||
| 881 | } |
||
| 882 | |||
| 883 | public bool MapDepthFrameToColorCoords (KinectInterop.SensorData sensorData, ref Vector2[] vColorCoords) |
||
| 884 | {
|
||
| 885 | if(coordMapper != null && sensorData.colorImage != null && sensorData.depthImage != null) |
||
| 886 | {
|
||
| 887 | var pDepthData = GCHandle.Alloc(sensorData.depthImage, GCHandleType.Pinned); |
||
| 888 | var pColorCoordsData = GCHandle.Alloc(vColorCoords, GCHandleType.Pinned); |
||
| 889 | |||
| 890 | coordMapper.MapDepthFrameToColorSpaceUsingIntPtr( |
||
| 891 | pDepthData.AddrOfPinnedObject(), |
||
| 892 | sensorData.depthImage.Length * sizeof(ushort), |
||
| 893 | pColorCoordsData.AddrOfPinnedObject(), |
||
| 894 | (uint)vColorCoords.Length); |
||
| 895 | |||
| 896 | pColorCoordsData.Free(); |
||
| 897 | pDepthData.Free(); |
||
| 898 | |||
| 899 | return true; |
||
| 900 | } |
||
| 901 | |||
| 902 | return false; |
||
| 903 | } |
||
| 904 | |||
| 905 | public bool MapColorFrameToDepthCoords (KinectInterop.SensorData sensorData, ref Vector2[] vDepthCoords) |
||
| 906 | {
|
||
| 907 | if(coordMapper != null && sensorData.colorImage != null && sensorData.depthImage != null) |
||
| 908 | {
|
||
| 909 | var pDepthData = GCHandle.Alloc(sensorData.depthImage, GCHandleType.Pinned); |
||
| 910 | var pDepthCoordsData = GCHandle.Alloc(vDepthCoords, GCHandleType.Pinned); |
||
| 911 | |||
| 912 | coordMapper.MapColorFrameToDepthSpaceUsingIntPtr( |
||
| 913 | pDepthData.AddrOfPinnedObject(), |
||
| 914 | (uint)sensorData.depthImage.Length * sizeof(ushort), |
||
| 915 | pDepthCoordsData.AddrOfPinnedObject(), |
||
| 916 | (uint)vDepthCoords.Length); |
||
| 917 | |||
| 918 | pDepthCoordsData.Free(); |
||
| 919 | pDepthData.Free(); |
||
| 920 | |||
| 921 | return true; |
||
| 922 | } |
||
| 923 | |||
| 924 | return false; |
||
| 925 | } |
||
| 926 | |||
| 927 | // returns the index of the given joint in joint's array or -1 if joint is not applicable |
||
| 928 | public int GetJointIndex(KinectInterop.JointType joint) |
||
| 929 | {
|
||
| 930 | return (int)joint; |
||
| 931 | } |
||
| 932 | |||
| 933 | // // returns the joint at given index |
||
| 934 | // public KinectInterop.JointType GetJointAtIndex(int index) |
||
| 935 | // {
|
||
| 936 | // return (KinectInterop.JointType)(index); |
||
| 937 | // } |
||
| 938 | |||
| 939 | // returns the parent joint of the given joint |
||
| 940 | public KinectInterop.JointType GetParentJoint(KinectInterop.JointType joint) |
||
| 941 | {
|
||
| 942 | switch(joint) |
||
| 943 | {
|
||
| 944 | case KinectInterop.JointType.SpineBase: |
||
| 945 | return KinectInterop.JointType.SpineBase; |
||
| 946 | |||
| 947 | case KinectInterop.JointType.Neck: |
||
| 948 | return KinectInterop.JointType.SpineShoulder; |
||
| 949 | |||
| 950 | case KinectInterop.JointType.SpineShoulder: |
||
| 951 | return KinectInterop.JointType.SpineMid; |
||
| 952 | |||
| 953 | case KinectInterop.JointType.ShoulderLeft: |
||
| 954 | case KinectInterop.JointType.ShoulderRight: |
||
| 955 | return KinectInterop.JointType.SpineShoulder; |
||
| 956 | |||
| 957 | case KinectInterop.JointType.HipLeft: |
||
| 958 | case KinectInterop.JointType.HipRight: |
||
| 959 | return KinectInterop.JointType.SpineBase; |
||
| 960 | |||
| 961 | case KinectInterop.JointType.HandTipLeft: |
||
| 962 | return KinectInterop.JointType.HandLeft; |
||
| 963 | |||
| 964 | case KinectInterop.JointType.ThumbLeft: |
||
| 965 | return KinectInterop.JointType.WristLeft; |
||
| 966 | |||
| 967 | case KinectInterop.JointType.HandTipRight: |
||
| 968 | return KinectInterop.JointType.HandRight; |
||
| 969 | |||
| 970 | case KinectInterop.JointType.ThumbRight: |
||
| 971 | return KinectInterop.JointType.WristRight; |
||
| 972 | } |
||
| 973 | |||
| 974 | return (KinectInterop.JointType)((int)joint - 1); |
||
| 975 | } |
||
| 976 | |||
| 977 | // returns the next joint in the hierarchy, as to the given joint |
||
| 978 | public KinectInterop.JointType GetNextJoint(KinectInterop.JointType joint) |
||
| 979 | {
|
||
| 980 | switch(joint) |
||
| 981 | {
|
||
| 982 | case KinectInterop.JointType.SpineBase: |
||
| 983 | return KinectInterop.JointType.SpineMid; |
||
| 984 | case KinectInterop.JointType.SpineMid: |
||
| 985 | return KinectInterop.JointType.SpineShoulder; |
||
| 986 | case KinectInterop.JointType.SpineShoulder: |
||
| 987 | return KinectInterop.JointType.Neck; |
||
| 988 | case KinectInterop.JointType.Neck: |
||
| 989 | return KinectInterop.JointType.Head; |
||
| 990 | |||
| 991 | case KinectInterop.JointType.ShoulderLeft: |
||
| 992 | return KinectInterop.JointType.ElbowLeft; |
||
| 993 | case KinectInterop.JointType.ElbowLeft: |
||
| 994 | return KinectInterop.JointType.WristLeft; |
||
| 995 | case KinectInterop.JointType.WristLeft: |
||
| 996 | return KinectInterop.JointType.HandLeft; |
||
| 997 | case KinectInterop.JointType.HandLeft: |
||
| 998 | return KinectInterop.JointType.HandTipLeft; |
||
| 999 | |||
| 1000 | case KinectInterop.JointType.ShoulderRight: |
||
| 1001 | return KinectInterop.JointType.ElbowRight; |
||
| 1002 | case KinectInterop.JointType.ElbowRight: |
||
| 1003 | return KinectInterop.JointType.WristRight; |
||
| 1004 | case KinectInterop.JointType.WristRight: |
||
| 1005 | return KinectInterop.JointType.HandRight; |
||
| 1006 | case KinectInterop.JointType.HandRight: |
||
| 1007 | return KinectInterop.JointType.HandTipRight; |
||
| 1008 | |||
| 1009 | case KinectInterop.JointType.HipLeft: |
||
| 1010 | return KinectInterop.JointType.KneeLeft; |
||
| 1011 | case KinectInterop.JointType.KneeLeft: |
||
| 1012 | return KinectInterop.JointType.AnkleLeft; |
||
| 1013 | case KinectInterop.JointType.AnkleLeft: |
||
| 1014 | return KinectInterop.JointType.FootLeft; |
||
| 1015 | |||
| 1016 | case KinectInterop.JointType.HipRight: |
||
| 1017 | return KinectInterop.JointType.KneeRight; |
||
| 1018 | case KinectInterop.JointType.KneeRight: |
||
| 1019 | return KinectInterop.JointType.AnkleRight; |
||
| 1020 | case KinectInterop.JointType.AnkleRight: |
||
| 1021 | return KinectInterop.JointType.FootRight; |
||
| 1022 | } |
||
| 1023 | |||
| 1024 | return joint; // in case of end joint - Head, HandTipLeft, HandTipRight, FootLeft, FootRight |
||
| 1025 | } |
||
| 1026 | |||
| 1027 | public bool IsFaceTrackingAvailable(ref bool bNeedRestart) |
||
| 1028 | {
|
||
| 1029 | bool bOneCopied = false, bAllCopied = true; |
||
| 1030 | string sTargetPath = "."; |
||
| 1031 | |||
| 1032 | if(!KinectInterop.Is64bitArchitecture()) |
||
| 1033 | {
|
||
| 1034 | // 32 bit |
||
| 1035 | sTargetPath = KinectInterop.GetTargetDllPath(".", false) + "/";
|
||
| 1036 | |||
| 1037 | Dictionary<string, string> dictFilesToUnzip = new Dictionary<string, string>(); |
||
| 1038 | dictFilesToUnzip["Kinect20.Face.dll"] = sTargetPath + "Kinect20.Face.dll"; |
||
| 1039 | dictFilesToUnzip["KinectFaceUnityAddin.dll"] = sTargetPath + "KinectFaceUnityAddin.dll"; |
||
| 1040 | dictFilesToUnzip["msvcp110.dll"] = sTargetPath + "msvcp110.dll"; |
||
| 1041 | dictFilesToUnzip["msvcr110.dll"] = sTargetPath + "msvcr110.dll"; |
||
| 1042 | |||
| 1043 | KinectInterop.UnzipResourceFiles(dictFilesToUnzip, "KinectV2UnityAddin.x86.zip", ref bOneCopied, ref bAllCopied); |
||
| 1044 | } |
||
| 1045 | else |
||
| 1046 | {
|
||
| 1047 | //Debug.Log("Face - x64-architecture.");
|
||
| 1048 | sTargetPath = KinectInterop.GetTargetDllPath(".", true) + "/";
|
||
| 1049 | |||
| 1050 | Dictionary<string, string> dictFilesToUnzip = new Dictionary<string, string>(); |
||
| 1051 | dictFilesToUnzip["Kinect20.Face.dll"] = sTargetPath + "Kinect20.Face.dll"; |
||
| 1052 | dictFilesToUnzip["KinectFaceUnityAddin.dll"] = sTargetPath + "KinectFaceUnityAddin.dll"; |
||
| 1053 | dictFilesToUnzip["msvcp110.dll"] = sTargetPath + "msvcp110.dll"; |
||
| 1054 | dictFilesToUnzip["msvcr110.dll"] = sTargetPath + "msvcr110.dll"; |
||
| 1055 | |||
| 1056 | KinectInterop.UnzipResourceFiles(dictFilesToUnzip, "KinectV2UnityAddin.x64.zip", ref bOneCopied, ref bAllCopied); |
||
| 1057 | } |
||
| 1058 | |||
| 1059 | KinectInterop.UnzipResourceDirectory(sTargetPath, "NuiDatabase.zip", sTargetPath + "NuiDatabase"); |
||
| 1060 | |||
| 1061 | bNeedRestart = (bOneCopied && bAllCopied); |
||
| 1062 | |||
| 1063 | return true; |
||
| 1064 | } |
||
| 1065 | |||
| 1066 | public bool InitFaceTracking(bool bUseFaceModel, bool bDrawFaceRect) |
||
| 1067 | {
|
||
| 1068 | isDrawFaceRect = bDrawFaceRect; |
||
| 1069 | |||
| 1070 | // // load the native dlls to make sure libraries are loaded (after previous finish-unload) |
||
| 1071 | // KinectInterop.LoadNativeLib("Kinect20.Face.dll");
|
||
| 1072 | // KinectInterop.LoadNativeLib("KinectFaceUnityAddin.dll");
|
||
| 1073 | |||
| 1074 | // specify the required face frame results |
||
| 1075 | FaceFrameFeatures faceFrameFeatures = |
||
| 1076 | FaceFrameFeatures.BoundingBoxInColorSpace |
||
| 1077 | //| FaceFrameFeatures.BoundingBoxInInfraredSpace |
||
| 1078 | | FaceFrameFeatures.PointsInColorSpace |
||
| 1079 | //| FaceFrameFeatures.PointsInInfraredSpace |
||
| 1080 | | FaceFrameFeatures.RotationOrientation |
||
| 1081 | | FaceFrameFeatures.FaceEngagement |
||
| 1082 | | FaceFrameFeatures.Glasses |
||
| 1083 | | FaceFrameFeatures.Happy |
||
| 1084 | | FaceFrameFeatures.LeftEyeClosed |
||
| 1085 | | FaceFrameFeatures.RightEyeClosed |
||
| 1086 | | FaceFrameFeatures.LookingAway |
||
| 1087 | | FaceFrameFeatures.MouthMoved |
||
| 1088 | | FaceFrameFeatures.MouthOpen |
||
| 1089 | ; |
||
| 1090 | |||
| 1091 | // create a face frame source + reader to track each face in the FOV |
||
| 1092 | faceFrameSources = new FaceFrameSource[this.bodyCount]; |
||
| 1093 | faceFrameReaders = new FaceFrameReader[this.bodyCount]; |
||
| 1094 | |||
| 1095 | if(bUseFaceModel) |
||
| 1096 | {
|
||
| 1097 | hdFaceFrameSources = new HighDefinitionFaceFrameSource[this.bodyCount]; |
||
| 1098 | hdFaceFrameReaders = new HighDefinitionFaceFrameReader[this.bodyCount]; |
||
| 1099 | |||
| 1100 | hdFaceModels = new FaceModel[this.bodyCount]; |
||
| 1101 | hdFaceAlignments = new FaceAlignment[this.bodyCount]; |
||
| 1102 | } |
||
| 1103 | |||
| 1104 | for (int i = 0; i < bodyCount; i++) |
||
| 1105 | {
|
||
| 1106 | // create the face frame source with the required face frame features and an initial tracking Id of 0 |
||
| 1107 | faceFrameSources[i] = FaceFrameSource.Create(this.kinectSensor, 0, faceFrameFeatures); |
||
| 1108 | |||
| 1109 | // open the corresponding reader |
||
| 1110 | faceFrameReaders[i] = faceFrameSources[i].OpenReader(); |
||
| 1111 | |||
| 1112 | if(bUseFaceModel) |
||
| 1113 | {
|
||
| 1114 | ///////// HD Face |
||
| 1115 | hdFaceFrameSources[i] = HighDefinitionFaceFrameSource.Create(this.kinectSensor); |
||
| 1116 | hdFaceFrameReaders[i] = hdFaceFrameSources[i].OpenReader(); |
||
| 1117 | |||
| 1118 | hdFaceModels[i] = FaceModel.Create(); |
||
| 1119 | hdFaceAlignments[i] = FaceAlignment.Create(); |
||
| 1120 | } |
||
| 1121 | } |
||
| 1122 | |||
| 1123 | // allocate storage to store face frame results for each face in the FOV |
||
| 1124 | faceFrameResults = new FaceFrameResult[this.bodyCount]; |
||
| 1125 | |||
| 1126 | // FrameDescription frameDescription = this.kinectSensor.ColorFrameSource.FrameDescription; |
||
| 1127 | // faceDisplayWidth = frameDescription.Width; |
||
| 1128 | // faceDisplayHeight = frameDescription.Height; |
||
| 1129 | |||
| 1130 | bFaceTrackingInited = true; |
||
| 1131 | |||
| 1132 | return bFaceTrackingInited; |
||
| 1133 | } |
||
| 1134 | |||
| 1135 | public void FinishFaceTracking() |
||
| 1136 | {
|
||
| 1137 | if(faceFrameReaders != null) |
||
| 1138 | {
|
||
| 1139 | for (int i = 0; i < faceFrameReaders.Length; i++) |
||
| 1140 | {
|
||
| 1141 | if (faceFrameReaders[i] != null) |
||
| 1142 | {
|
||
| 1143 | faceFrameReaders[i].Dispose(); |
||
| 1144 | faceFrameReaders[i] = null; |
||
| 1145 | } |
||
| 1146 | } |
||
| 1147 | } |
||
| 1148 | |||
| 1149 | if(faceFrameSources != null) |
||
| 1150 | {
|
||
| 1151 | for (int i = 0; i < faceFrameSources.Length; i++) |
||
| 1152 | {
|
||
| 1153 | faceFrameSources[i] = null; |
||
| 1154 | } |
||
| 1155 | } |
||
| 1156 | |||
| 1157 | ///////// HD Face |
||
| 1158 | if(hdFaceFrameSources != null) |
||
| 1159 | {
|
||
| 1160 | for (int i = 0; i < hdFaceAlignments.Length; i++) |
||
| 1161 | {
|
||
| 1162 | hdFaceAlignments[i] = null; |
||
| 1163 | } |
||
| 1164 | |||
| 1165 | for (int i = 0; i < hdFaceModels.Length; i++) |
||
| 1166 | {
|
||
| 1167 | if (hdFaceModels[i] != null) |
||
| 1168 | {
|
||
| 1169 | hdFaceModels[i].Dispose(); |
||
| 1170 | hdFaceModels[i] = null; |
||
| 1171 | } |
||
| 1172 | } |
||
| 1173 | |||
| 1174 | for (int i = 0; i < hdFaceFrameReaders.Length; i++) |
||
| 1175 | {
|
||
| 1176 | if (hdFaceFrameReaders[i] != null) |
||
| 1177 | {
|
||
| 1178 | hdFaceFrameReaders[i].Dispose(); |
||
| 1179 | hdFaceFrameReaders[i] = null; |
||
| 1180 | } |
||
| 1181 | } |
||
| 1182 | |||
| 1183 | for (int i = 0; i < hdFaceFrameSources.Length; i++) |
||
| 1184 | {
|
||
| 1185 | //hdFaceFrameSources[i].Dispose(true); |
||
| 1186 | hdFaceFrameSources[i] = null; |
||
| 1187 | } |
||
| 1188 | } |
||
| 1189 | |||
| 1190 | bFaceTrackingInited = false; |
||
| 1191 | |||
| 1192 | // // unload the native dlls to prevent hd-face-wrapper's memory leaks |
||
| 1193 | // KinectInterop.DeleteNativeLib("KinectFaceUnityAddin.dll", true);
|
||
| 1194 | // KinectInterop.DeleteNativeLib("Kinect20.Face.dll", true);
|
||
| 1195 | |||
| 1196 | } |
||
| 1197 | |||
| 1198 | public bool UpdateFaceTracking() |
||
| 1199 | {
|
||
| 1200 | if(bodyData == null || faceFrameSources == null || faceFrameReaders == null) |
||
| 1201 | return false; |
||
| 1202 | |||
| 1203 | for(int i = 0; i < this.bodyCount; i++) |
||
| 1204 | {
|
||
| 1205 | if(faceFrameSources[i] != null) |
||
| 1206 | {
|
||
| 1207 | if(!faceFrameSources[i].IsTrackingIdValid) |
||
| 1208 | {
|
||
| 1209 | faceFrameSources[i].TrackingId = 0; |
||
| 1210 | } |
||
| 1211 | |||
| 1212 | if(bodyData[i] != null && bodyData[i].IsTracked) |
||
| 1213 | {
|
||
| 1214 | faceFrameSources[i].TrackingId = bodyData[i].TrackingId; |
||
| 1215 | } |
||
| 1216 | } |
||
| 1217 | |||
| 1218 | if (faceFrameReaders[i] != null) |
||
| 1219 | {
|
||
| 1220 | FaceFrame faceFrame = faceFrameReaders[i].AcquireLatestFrame(); |
||
| 1221 | |||
| 1222 | if (faceFrame != null) |
||
| 1223 | {
|
||
| 1224 | int index = GetFaceSourceIndex(faceFrame.FaceFrameSource); |
||
| 1225 | |||
| 1226 | if(ValidateFaceBox(faceFrame.FaceFrameResult)) |
||
| 1227 | {
|
||
| 1228 | faceFrameResults[index] = faceFrame.FaceFrameResult; |
||
| 1229 | } |
||
| 1230 | else |
||
| 1231 | {
|
||
| 1232 | faceFrameResults[index] = null; |
||
| 1233 | } |
||
| 1234 | |||
| 1235 | faceFrame.Dispose(); |
||
| 1236 | faceFrame = null; |
||
| 1237 | } |
||
| 1238 | } |
||
| 1239 | |||
| 1240 | ///////// HD Face |
||
| 1241 | if(hdFaceFrameSources != null && hdFaceFrameSources[i] != null) |
||
| 1242 | {
|
||
| 1243 | if(!hdFaceFrameSources[i].IsTrackingIdValid) |
||
| 1244 | {
|
||
| 1245 | hdFaceFrameSources[i].TrackingId = 0; |
||
| 1246 | } |
||
| 1247 | |||
| 1248 | if(bodyData[i] != null && bodyData[i].IsTracked) |
||
| 1249 | {
|
||
| 1250 | hdFaceFrameSources[i].TrackingId = bodyData[i].TrackingId; |
||
| 1251 | } |
||
| 1252 | } |
||
| 1253 | |||
| 1254 | if(hdFaceFrameReaders != null && hdFaceFrameReaders[i] != null) |
||
| 1255 | {
|
||
| 1256 | HighDefinitionFaceFrame hdFaceFrame = hdFaceFrameReaders[i].AcquireLatestFrame(); |
||
| 1257 | |||
| 1258 | if(hdFaceFrame != null) |
||
| 1259 | {
|
||
| 1260 | if(hdFaceFrame.IsFaceTracked && (hdFaceAlignments[i] != null)) |
||
| 1261 | {
|
||
| 1262 | hdFaceFrame.GetAndRefreshFaceAlignmentResult(hdFaceAlignments[i]); |
||
| 1263 | } |
||
| 1264 | |||
| 1265 | hdFaceFrame.Dispose(); |
||
| 1266 | hdFaceFrame = null; |
||
| 1267 | } |
||
| 1268 | } |
||
| 1269 | |||
| 1270 | } |
||
| 1271 | |||
| 1272 | return true; |
||
| 1273 | } |
||
| 1274 | |||
| 1275 | private int GetFaceSourceIndex(FaceFrameSource faceFrameSource) |
||
| 1276 | {
|
||
| 1277 | int index = -1; |
||
| 1278 | |||
| 1279 | for (int i = 0; i < this.bodyCount; i++) |
||
| 1280 | {
|
||
| 1281 | if (this.faceFrameSources[i] == faceFrameSource) |
||
| 1282 | {
|
||
| 1283 | index = i; |
||
| 1284 | break; |
||
| 1285 | } |
||
| 1286 | } |
||
| 1287 | |||
| 1288 | return index; |
||
| 1289 | } |
||
| 1290 | |||
| 1291 | private bool ValidateFaceBox(FaceFrameResult faceResult) |
||
| 1292 | {
|
||
| 1293 | bool isFaceValid = faceResult != null; |
||
| 1294 | |||
| 1295 | if (isFaceValid) |
||
| 1296 | {
|
||
| 1297 | var faceBox = faceResult.FaceBoundingBoxInColorSpace; |
||
| 1298 | //if (faceBox != null) |
||
| 1299 | {
|
||
| 1300 | // check if we have a valid rectangle within the bounds of the screen space |
||
| 1301 | isFaceValid = (faceBox.Right - faceBox.Left) > 0 && |
||
| 1302 | (faceBox.Bottom - faceBox.Top) > 0; // && |
||
| 1303 | //faceBox.Right <= this.faceDisplayWidth && |
||
| 1304 | //faceBox.Bottom <= this.faceDisplayHeight; |
||
| 1305 | } |
||
| 1306 | } |
||
| 1307 | |||
| 1308 | return isFaceValid; |
||
| 1309 | } |
||
| 1310 | |||
| 1311 | public bool IsFaceTrackingActive() |
||
| 1312 | {
|
||
| 1313 | return bFaceTrackingInited; |
||
| 1314 | } |
||
| 1315 | |||
| 1316 | public bool IsDrawFaceRect() |
||
| 1317 | {
|
||
| 1318 | return isDrawFaceRect; |
||
| 1319 | } |
||
| 1320 | |||
| 1321 | public bool IsFaceTracked(long userId) |
||
| 1322 | {
|
||
| 1323 | for (int i = 0; i < this.bodyCount; i++) |
||
| 1324 | {
|
||
| 1325 | if(faceFrameSources != null && faceFrameSources[i] != null && faceFrameSources[i].TrackingId == (ulong)userId) |
||
| 1326 | {
|
||
| 1327 | if(faceFrameResults != null && faceFrameResults[i] != null) |
||
| 1328 | {
|
||
| 1329 | return true; |
||
| 1330 | } |
||
| 1331 | } |
||
| 1332 | } |
||
| 1333 | |||
| 1334 | return false; |
||
| 1335 | } |
||
| 1336 | |||
| 1337 | public bool GetFaceRect(long userId, ref Rect faceRect) |
||
| 1338 | {
|
||
| 1339 | for (int i = 0; i < this.bodyCount; i++) |
||
| 1340 | {
|
||
| 1341 | if(faceFrameSources != null && faceFrameSources[i] != null && faceFrameSources[i].TrackingId == (ulong)userId) |
||
| 1342 | {
|
||
| 1343 | if(faceFrameResults != null && faceFrameResults[i] != null) |
||
| 1344 | {
|
||
| 1345 | var faceBox = faceFrameResults[i].FaceBoundingBoxInColorSpace; |
||
| 1346 | |||
| 1347 | //if (faceBox != null) |
||
| 1348 | {
|
||
| 1349 | faceRect.x = faceBox.Left; |
||
| 1350 | faceRect.y = faceBox.Top; |
||
| 1351 | faceRect.width = faceBox.Right - faceBox.Left; |
||
| 1352 | faceRect.height = faceBox.Bottom - faceBox.Top; |
||
| 1353 | |||
| 1354 | return true; |
||
| 1355 | } |
||
| 1356 | } |
||
| 1357 | } |
||
| 1358 | } |
||
| 1359 | |||
| 1360 | return false; |
||
| 1361 | } |
||
| 1362 | |||
| 1363 | public void VisualizeFaceTrackerOnColorTex(Texture2D texColor) |
||
| 1364 | {
|
||
| 1365 | if(bFaceTrackingInited) |
||
| 1366 | {
|
||
| 1367 | for (int i = 0; i < this.bodyCount; i++) |
||
| 1368 | {
|
||
| 1369 | if(faceFrameSources != null && faceFrameSources[i] != null && faceFrameSources[i].IsTrackingIdValid) |
||
| 1370 | {
|
||
| 1371 | if(faceFrameResults != null && faceFrameResults[i] != null) |
||
| 1372 | {
|
||
| 1373 | var faceBox = faceFrameResults[i].FaceBoundingBoxInColorSpace; |
||
| 1374 | |||
| 1375 | //if (faceBox != null) |
||
| 1376 | {
|
||
| 1377 | UnityEngine.Color color = UnityEngine.Color.magenta; |
||
| 1378 | Vector2 pt1, pt2; |
||
| 1379 | |||
| 1380 | // bottom |
||
| 1381 | pt1.x = faceBox.Left; pt1.y = faceBox.Top; |
||
| 1382 | pt2.x = faceBox.Right; pt2.y = pt1.y; |
||
| 1383 | DrawLine(texColor, pt1, pt2, color); |
||
| 1384 | |||
| 1385 | // right |
||
| 1386 | pt1.x = pt2.x; pt1.y = pt2.y; |
||
| 1387 | pt2.x = pt1.x; pt2.y = faceBox.Bottom; |
||
| 1388 | DrawLine(texColor, pt1, pt2, color); |
||
| 1389 | |||
| 1390 | // top |
||
| 1391 | pt1.x = pt2.x; pt1.y = pt2.y; |
||
| 1392 | pt2.x = faceBox.Left; pt2.y = pt1.y; |
||
| 1393 | DrawLine(texColor, pt1, pt2, color); |
||
| 1394 | |||
| 1395 | // left |
||
| 1396 | pt1.x = pt2.x; pt1.y = pt2.y; |
||
| 1397 | pt2.x = pt1.x; pt2.y = faceBox.Top; |
||
| 1398 | DrawLine(texColor, pt1, pt2, color); |
||
| 1399 | } |
||
| 1400 | } |
||
| 1401 | } |
||
| 1402 | } |
||
| 1403 | } |
||
| 1404 | } |
||
| 1405 | |||
| 1406 | private void DrawLine(Texture2D a_Texture, Vector2 ptStart, Vector2 ptEnd, UnityEngine.Color a_Color) |
||
| 1407 | {
|
||
| 1408 | KinectInterop.DrawLine(a_Texture, (int)ptStart.x, (int)ptStart.y, (int)ptEnd.x, (int)ptEnd.y, a_Color); |
||
| 1409 | } |
||
| 1410 | |||
| 1411 | public bool GetHeadPosition(long userId, ref Vector3 headPos) |
||
| 1412 | {
|
||
| 1413 | for (int i = 0; i < this.bodyCount; i++) |
||
| 1414 | {
|
||
| 1415 | if(bodyData[i].TrackingId == (ulong)userId && bodyData[i].IsTracked) |
||
| 1416 | {
|
||
| 1417 | CameraSpacePoint vHeadPos = bodyData[i].Joints[Windows.Kinect.JointType.Head].Position; |
||
| 1418 | |||
| 1419 | if(vHeadPos.Z > 0f) |
||
| 1420 | {
|
||
| 1421 | headPos.x = vHeadPos.X; |
||
| 1422 | headPos.y = vHeadPos.Y; |
||
| 1423 | headPos.z = vHeadPos.Z; |
||
| 1424 | |||
| 1425 | return true; |
||
| 1426 | } |
||
| 1427 | } |
||
| 1428 | } |
||
| 1429 | |||
| 1430 | return false; |
||
| 1431 | } |
||
| 1432 | |||
| 1433 | public bool GetHeadRotation(long userId, ref Quaternion headRot) |
||
| 1434 | {
|
||
| 1435 | for (int i = 0; i < this.bodyCount; i++) |
||
| 1436 | {
|
||
| 1437 | if(faceFrameSources != null && faceFrameSources[i] != null && faceFrameSources[i].TrackingId == (ulong)userId) |
||
| 1438 | {
|
||
| 1439 | if(faceFrameResults != null && faceFrameResults[i] != null) |
||
| 1440 | {
|
||
| 1441 | Windows.Kinect.Vector4 vHeadRot = faceFrameResults[i].FaceRotationQuaternion; |
||
| 1442 | |||
| 1443 | if(vHeadRot.W > 0f) |
||
| 1444 | {
|
||
| 1445 | headRot = new Quaternion(vHeadRot.X, vHeadRot.Y, vHeadRot.Z, vHeadRot.W); |
||
| 1446 | return true; |
||
| 1447 | } |
||
| 1448 | // else |
||
| 1449 | // {
|
||
| 1450 | // Debug.Log(string.Format("Bad rotation: ({0:F2}, {1:F2}, {2:F2}, {3:F2}})", vHeadRot.X, vHeadRot.Y, vHeadRot.Z, vHeadRot.W));
|
||
| 1451 | // return false; |
||
| 1452 | // } |
||
| 1453 | |||
| 1454 | } |
||
| 1455 | } |
||
| 1456 | } |
||
| 1457 | |||
| 1458 | return false; |
||
| 1459 | } |
||
| 1460 | |||
| 1461 | public bool GetAnimUnits(long userId, ref Dictionary<KinectInterop.FaceShapeAnimations, float> dictAU) |
||
| 1462 | {
|
||
| 1463 | for (int i = 0; i < this.bodyCount; i++) |
||
| 1464 | {
|
||
| 1465 | if(hdFaceFrameSources != null && hdFaceFrameSources[i] != null && hdFaceFrameSources[i].TrackingId == (ulong)userId) |
||
| 1466 | {
|
||
| 1467 | if(hdFaceAlignments != null && hdFaceAlignments[i] != null) |
||
| 1468 | {
|
||
| 1469 | foreach(Microsoft.Kinect.Face.FaceShapeAnimations akey in hdFaceAlignments[i].AnimationUnits.Keys) |
||
| 1470 | {
|
||
| 1471 | dictAU[(KinectInterop.FaceShapeAnimations)akey] = hdFaceAlignments[i].AnimationUnits[akey]; |
||
| 1472 | } |
||
| 1473 | |||
| 1474 | return true; |
||
| 1475 | } |
||
| 1476 | } |
||
| 1477 | } |
||
| 1478 | |||
| 1479 | return false; |
||
| 1480 | } |
||
| 1481 | |||
| 1482 | public bool GetShapeUnits(long userId, ref Dictionary<KinectInterop.FaceShapeDeformations, float> dictSU) |
||
| 1483 | {
|
||
| 1484 | for (int i = 0; i < this.bodyCount; i++) |
||
| 1485 | {
|
||
| 1486 | if(hdFaceFrameSources != null && hdFaceFrameSources[i] != null && hdFaceFrameSources[i].TrackingId == (ulong)userId) |
||
| 1487 | {
|
||
| 1488 | if(hdFaceModels != null && hdFaceModels[i] != null) |
||
| 1489 | {
|
||
| 1490 | foreach(Microsoft.Kinect.Face.FaceShapeDeformations skey in hdFaceModels[i].FaceShapeDeformations.Keys) |
||
| 1491 | {
|
||
| 1492 | dictSU[(KinectInterop.FaceShapeDeformations)skey] = hdFaceModels[i].FaceShapeDeformations[skey]; |
||
| 1493 | } |
||
| 1494 | |||
| 1495 | return true; |
||
| 1496 | } |
||
| 1497 | } |
||
| 1498 | } |
||
| 1499 | |||
| 1500 | return false; |
||
| 1501 | } |
||
| 1502 | |||
| 1503 | public int GetFaceModelVerticesCount(long userId) |
||
| 1504 | {
|
||
| 1505 | for (int i = 0; i < this.bodyCount; i++) |
||
| 1506 | {
|
||
| 1507 | if(hdFaceFrameSources != null && hdFaceFrameSources[i] != null && (hdFaceFrameSources[i].TrackingId == (ulong)userId || userId == 0)) |
||
| 1508 | {
|
||
| 1509 | if(hdFaceModels != null && hdFaceModels[i] != null) |
||
| 1510 | {
|
||
| 1511 | var vertices = hdFaceModels[i].CalculateVerticesForAlignment(hdFaceAlignments[i]); |
||
| 1512 | int verticesCount = vertices.Count; |
||
| 1513 | |||
| 1514 | return verticesCount; |
||
| 1515 | } |
||
| 1516 | } |
||
| 1517 | } |
||
| 1518 | |||
| 1519 | return 0; |
||
| 1520 | } |
||
| 1521 | |||
| 1522 | public bool GetFaceModelVertices(long userId, ref Vector3[] avVertices) |
||
| 1523 | {
|
||
| 1524 | for (int i = 0; i < this.bodyCount; i++) |
||
| 1525 | {
|
||
| 1526 | if(hdFaceFrameSources != null && hdFaceFrameSources[i] != null && (hdFaceFrameSources[i].TrackingId == (ulong)userId || userId == 0)) |
||
| 1527 | {
|
||
| 1528 | if(hdFaceModels != null && hdFaceModels[i] != null) |
||
| 1529 | {
|
||
| 1530 | var vertices = hdFaceModels[i].CalculateVerticesForAlignment(hdFaceAlignments[i]); |
||
| 1531 | int verticesCount = vertices.Count; |
||
| 1532 | |||
| 1533 | if(avVertices.Length == verticesCount) |
||
| 1534 | {
|
||
| 1535 | for(int v = 0; v < verticesCount; v++) |
||
| 1536 | {
|
||
| 1537 | avVertices[v].x = vertices[v].X; |
||
| 1538 | avVertices[v].y = vertices[v].Y; |
||
| 1539 | avVertices[v].z = vertices[v].Z; // -vertices[v].Z; |
||
| 1540 | } |
||
| 1541 | } |
||
| 1542 | |||
| 1543 | return true; |
||
| 1544 | } |
||
| 1545 | } |
||
| 1546 | } |
||
| 1547 | |||
| 1548 | return false; |
||
| 1549 | } |
||
| 1550 | |||
| 1551 | public int GetFaceModelTrianglesCount() |
||
| 1552 | {
|
||
| 1553 | var triangleIndices = FaceModel.TriangleIndices; |
||
| 1554 | int triangleLength = triangleIndices.Count; |
||
| 1555 | |||
| 1556 | return triangleLength; |
||
| 1557 | } |
||
| 1558 | |||
| 1559 | public bool GetFaceModelTriangles(bool bMirrored, ref int[] avTriangles) |
||
| 1560 | {
|
||
| 1561 | var triangleIndices = FaceModel.TriangleIndices; |
||
| 1562 | int triangleLength = triangleIndices.Count; |
||
| 1563 | |||
| 1564 | if(avTriangles.Length >= triangleLength) |
||
| 1565 | {
|
||
| 1566 | for(int i = 0; i < triangleLength; i += 3) |
||
| 1567 | {
|
||
| 1568 | //avTriangles[i] = (int)triangleIndices[i]; |
||
| 1569 | avTriangles[i] = (int)triangleIndices[i + 2]; |
||
| 1570 | avTriangles[i + 1] = (int)triangleIndices[i + 1]; |
||
| 1571 | avTriangles[i + 2] = (int)triangleIndices[i]; |
||
| 1572 | } |
||
| 1573 | |||
| 1574 | if(bMirrored) |
||
| 1575 | {
|
||
| 1576 | Array.Reverse(avTriangles); |
||
| 1577 | } |
||
| 1578 | |||
| 1579 | return true; |
||
| 1580 | } |
||
| 1581 | |||
| 1582 | return false; |
||
| 1583 | } |
||
| 1584 | |||
| 1585 | public bool IsSpeechRecognitionAvailable(ref bool bNeedRestart) |
||
| 1586 | {
|
||
| 1587 | bool bOneCopied = false, bAllCopied = true; |
||
| 1588 | |||
| 1589 | if(!KinectInterop.Is64bitArchitecture()) |
||
| 1590 | {
|
||
| 1591 | //Debug.Log("Speech - x32-architecture.");
|
||
| 1592 | string sTargetPath = KinectInterop.GetTargetDllPath(".", false) + "/";
|
||
| 1593 | |||
| 1594 | Dictionary<string, string> dictFilesToUnzip = new Dictionary<string, string>(); |
||
| 1595 | dictFilesToUnzip["Kinect2SpeechWrapper.dll"] = sTargetPath + "Kinect2SpeechWrapper.dll"; |
||
| 1596 | dictFilesToUnzip["msvcp110.dll"] = sTargetPath + "msvcp110.dll"; |
||
| 1597 | dictFilesToUnzip["msvcr110.dll"] = sTargetPath + "msvcr110.dll"; |
||
| 1598 | |||
| 1599 | KinectInterop.UnzipResourceFiles(dictFilesToUnzip, "KinectV2UnityAddin.x86.zip", ref bOneCopied, ref bAllCopied); |
||
| 1600 | } |
||
| 1601 | else |
||
| 1602 | {
|
||
| 1603 | //Debug.Log("Face - x64-architecture.");
|
||
| 1604 | string sTargetPath = KinectInterop.GetTargetDllPath(".", true) + "/";
|
||
| 1605 | |||
| 1606 | Dictionary<string, string> dictFilesToUnzip = new Dictionary<string, string>(); |
||
| 1607 | dictFilesToUnzip["Kinect2SpeechWrapper.dll"] = sTargetPath + "Kinect2SpeechWrapper.dll"; |
||
| 1608 | dictFilesToUnzip["msvcp110.dll"] = sTargetPath + "msvcp110.dll"; |
||
| 1609 | dictFilesToUnzip["msvcr110.dll"] = sTargetPath + "msvcr110.dll"; |
||
| 1610 | |||
| 1611 | KinectInterop.UnzipResourceFiles(dictFilesToUnzip, "KinectV2UnityAddin.x64.zip", ref bOneCopied, ref bAllCopied); |
||
| 1612 | } |
||
| 1613 | |||
| 1614 | bNeedRestart = (bOneCopied && bAllCopied); |
||
| 1615 | |||
| 1616 | return true; |
||
| 1617 | } |
||
| 1618 | |||
| 1619 | public int InitSpeechRecognition(string sRecoCriteria, bool bUseKinect, bool bAdaptationOff) |
||
| 1620 | {
|
||
| 1621 | // if(kinectSensor != null) |
||
| 1622 | // {
|
||
| 1623 | // float fWaitTime = Time.realtimeSinceStartup + 5f; |
||
| 1624 | // |
||
| 1625 | // while(!kinectSensor.IsAvailable && Time.realtimeSinceStartup < fWaitTime) |
||
| 1626 | // {
|
||
| 1627 | // // wait |
||
| 1628 | // } |
||
| 1629 | // } |
||
| 1630 | |||
| 1631 | return InitSpeechRecognizerNative(sRecoCriteria, bUseKinect, bAdaptationOff); |
||
| 1632 | } |
||
| 1633 | |||
| 1634 | public void FinishSpeechRecognition() |
||
| 1635 | {
|
||
| 1636 | FinishSpeechRecognizerNative(); |
||
| 1637 | } |
||
| 1638 | |||
| 1639 | public int UpdateSpeechRecognition() |
||
| 1640 | {
|
||
| 1641 | return UpdateSpeechRecognizerNative(); |
||
| 1642 | } |
||
| 1643 | |||
| 1644 | public int LoadSpeechGrammar(string sFileName, short iLangCode, bool bDynamic) |
||
| 1645 | {
|
||
| 1646 | return LoadSpeechGrammarNative(sFileName, iLangCode, bDynamic); |
||
| 1647 | |||
| 1648 | // int hr = AddSpeechGrammarNative(sFileName, iLangCode, bDynamic); |
||
| 1649 | // if(hr >= 0) |
||
| 1650 | // {
|
||
| 1651 | // hr = SetGrammarStateNative(sFileName, true); |
||
| 1652 | // } |
||
| 1653 | // |
||
| 1654 | // return hr; |
||
| 1655 | } |
||
| 1656 | |||
| 1657 | public int AddGrammarPhrase(string sFromRule, string sToRule, string sPhrase, bool bClearRulePhrases, bool bCommitGrammar) |
||
| 1658 | {
|
||
| 1659 | return AddGrammarPhraseNative(sFromRule, sToRule, sPhrase, bClearRulePhrases, bCommitGrammar); |
||
| 1660 | } |
||
| 1661 | |||
| 1662 | public void SetSpeechConfidence(float fConfidence) |
||
| 1663 | {
|
||
| 1664 | SetSpeechConfidenceNative(fConfidence); |
||
| 1665 | } |
||
| 1666 | |||
| 1667 | public bool IsSpeechStarted() |
||
| 1668 | {
|
||
| 1669 | return IsSpeechStartedNative(); |
||
| 1670 | } |
||
| 1671 | |||
| 1672 | public bool IsSpeechEnded() |
||
| 1673 | {
|
||
| 1674 | return IsSpeechEndedNative(); |
||
| 1675 | } |
||
| 1676 | |||
| 1677 | public bool IsPhraseRecognized() |
||
| 1678 | {
|
||
| 1679 | return IsPhraseRecognizedNative(); |
||
| 1680 | } |
||
| 1681 | |||
| 1682 | public float GetPhraseConfidence() |
||
| 1683 | {
|
||
| 1684 | return GetPhraseConfidenceNative(); |
||
| 1685 | } |
||
| 1686 | |||
| 1687 | public string GetRecognizedPhraseTag() |
||
| 1688 | {
|
||
| 1689 | IntPtr pPhraseTag = GetRecognizedPhraseTagNative(); |
||
| 1690 | string sPhraseTag = Marshal.PtrToStringUni(pPhraseTag); |
||
| 1691 | |||
| 1692 | return sPhraseTag; |
||
| 1693 | } |
||
| 1694 | |||
| 1695 | public void ClearRecognizedPhrase() |
||
| 1696 | {
|
||
| 1697 | ClearRecognizedPhraseNative(); |
||
| 1698 | } |
||
| 1699 | |||
| 1700 | public bool IsBackgroundRemovalAvailable(ref bool bNeedRestart) |
||
| 1701 | {
|
||
| 1702 | bBackgroundRemovalInited = KinectInterop.IsOpenCvAvailable(ref bNeedRestart); |
||
| 1703 | return bBackgroundRemovalInited; |
||
| 1704 | } |
||
| 1705 | |||
| 1706 | public bool InitBackgroundRemoval(KinectInterop.SensorData sensorData, bool isHiResPrefered) |
||
| 1707 | {
|
||
| 1708 | return KinectInterop.InitBackgroundRemoval(sensorData, isHiResPrefered); |
||
| 1709 | } |
||
| 1710 | |||
| 1711 | public void FinishBackgroundRemoval(KinectInterop.SensorData sensorData) |
||
| 1712 | {
|
||
| 1713 | KinectInterop.FinishBackgroundRemoval(sensorData); |
||
| 1714 | bBackgroundRemovalInited = false; |
||
| 1715 | } |
||
| 1716 | |||
| 1717 | public bool UpdateBackgroundRemoval(KinectInterop.SensorData sensorData, bool isHiResPrefered, Color32 defaultColor, bool bAlphaTexOnly) |
||
| 1718 | {
|
||
| 1719 | return KinectInterop.UpdateBackgroundRemoval(sensorData, isHiResPrefered, defaultColor, bAlphaTexOnly); |
||
| 1720 | } |
||
| 1721 | |||
| 1722 | public bool IsBackgroundRemovalActive() |
||
| 1723 | {
|
||
| 1724 | return bBackgroundRemovalInited; |
||
| 1725 | } |
||
| 1726 | |||
| 1727 | public bool IsBRHiResSupported() |
||
| 1728 | {
|
||
| 1729 | return true; |
||
| 1730 | } |
||
| 1731 | |||
| 1732 | public Rect GetForegroundFrameRect(KinectInterop.SensorData sensorData, bool isHiResPrefered) |
||
| 1733 | {
|
||
| 1734 | return KinectInterop.GetForegroundFrameRect(sensorData, isHiResPrefered); |
||
| 1735 | } |
||
| 1736 | |||
| 1737 | public int GetForegroundFrameLength(KinectInterop.SensorData sensorData, bool isHiResPrefered) |
||
| 1738 | {
|
||
| 1739 | return KinectInterop.GetForegroundFrameLength(sensorData, isHiResPrefered); |
||
| 1740 | } |
||
| 1741 | |||
| 1742 | public bool PollForegroundFrame(KinectInterop.SensorData sensorData, bool isHiResPrefered, Color32 defaultColor, bool bLimitedUsers, ICollection<int> alTrackedIndexes, ref byte[] foregroundImage) |
||
| 1743 | {
|
||
| 1744 | return KinectInterop.PollForegroundFrame(sensorData, isHiResPrefered, defaultColor, bLimitedUsers, alTrackedIndexes, ref foregroundImage); |
||
| 1745 | } |
||
| 1746 | |||
| 1747 | } |
||
| 1748 | #endif |