|
@@ -1,50 +1,49 @@
|
|
|
-using UnityEngine;
|
|
|
-using System.Collections;
|
|
|
-using System.Collections.Generic;
|
|
|
+using System.Collections.Generic;
|
|
|
+using UnityEngine;
|
|
|
using Kinect = Windows.Kinect;
|
|
|
|
|
|
-public class BodySourceView : MonoBehaviour
|
|
|
+public class BodySourceView : MonoBehaviour
|
|
|
{
|
|
|
public Transform[] joints;
|
|
|
public Material BoneMaterial;
|
|
|
public GameObject BodySourceManager;
|
|
|
-
|
|
|
+
|
|
|
private Dictionary<ulong, GameObject> _Bodies = new Dictionary<ulong, GameObject>();
|
|
|
private BodySourceManager _BodyManager;
|
|
|
-
|
|
|
+
|
|
|
private Dictionary<Kinect.JointType, Kinect.JointType> _BoneMap = new Dictionary<Kinect.JointType, Kinect.JointType>()
|
|
|
{
|
|
|
{ Kinect.JointType.FootLeft, Kinect.JointType.AnkleLeft },
|
|
|
{ Kinect.JointType.AnkleLeft, Kinect.JointType.KneeLeft },
|
|
|
{ Kinect.JointType.KneeLeft, Kinect.JointType.HipLeft },
|
|
|
{ Kinect.JointType.HipLeft, Kinect.JointType.SpineBase },
|
|
|
-
|
|
|
+
|
|
|
{ Kinect.JointType.FootRight, Kinect.JointType.AnkleRight },
|
|
|
{ Kinect.JointType.AnkleRight, Kinect.JointType.KneeRight },
|
|
|
{ Kinect.JointType.KneeRight, Kinect.JointType.HipRight },
|
|
|
{ Kinect.JointType.HipRight, Kinect.JointType.SpineBase },
|
|
|
-
|
|
|
+
|
|
|
{ Kinect.JointType.HandTipLeft, Kinect.JointType.HandLeft },
|
|
|
{ Kinect.JointType.ThumbLeft, Kinect.JointType.HandLeft },
|
|
|
{ Kinect.JointType.HandLeft, Kinect.JointType.WristLeft },
|
|
|
{ Kinect.JointType.WristLeft, Kinect.JointType.ElbowLeft },
|
|
|
{ Kinect.JointType.ElbowLeft, Kinect.JointType.ShoulderLeft },
|
|
|
{ Kinect.JointType.ShoulderLeft, Kinect.JointType.SpineShoulder },
|
|
|
-
|
|
|
+
|
|
|
{ Kinect.JointType.HandTipRight, Kinect.JointType.HandRight },
|
|
|
{ Kinect.JointType.ThumbRight, Kinect.JointType.HandRight },
|
|
|
{ Kinect.JointType.HandRight, Kinect.JointType.WristRight },
|
|
|
{ Kinect.JointType.WristRight, Kinect.JointType.ElbowRight },
|
|
|
{ Kinect.JointType.ElbowRight, Kinect.JointType.ShoulderRight },
|
|
|
{ Kinect.JointType.ShoulderRight, Kinect.JointType.SpineShoulder },
|
|
|
-
|
|
|
+
|
|
|
{ Kinect.JointType.SpineBase, Kinect.JointType.SpineMid },
|
|
|
{ Kinect.JointType.SpineMid, Kinect.JointType.SpineShoulder },
|
|
|
{ Kinect.JointType.SpineShoulder, Kinect.JointType.Neck },
|
|
|
{ Kinect.JointType.Neck, Kinect.JointType.Head },
|
|
|
};
|
|
|
|
|
|
- void Update ()
|
|
|
+ void Update()
|
|
|
{
|
|
|
if (BodySourceManager == null)
|
|
|
{
|
|
@@ -56,187 +55,158 @@ public class BodySourceView : MonoBehaviour
|
|
|
{
|
|
|
return;
|
|
|
}
|
|
|
-
|
|
|
+
|
|
|
Kinect.Body[] data = _BodyManager.GetData();
|
|
|
if (data == null)
|
|
|
{
|
|
|
return;
|
|
|
}
|
|
|
-
|
|
|
+
|
|
|
List<ulong> trackedIds = new List<ulong>();
|
|
|
- foreach(var body in data)
|
|
|
+ foreach (var body in data)
|
|
|
{
|
|
|
if (body == null)
|
|
|
{
|
|
|
continue;
|
|
|
- }
|
|
|
-
|
|
|
- if(body.IsTracked)
|
|
|
+ }
|
|
|
+
|
|
|
+ if (body.IsTracked)
|
|
|
{
|
|
|
- trackedIds.Add (body.TrackingId);
|
|
|
+ trackedIds.Add(body.TrackingId);
|
|
|
}
|
|
|
}
|
|
|
-
|
|
|
+
|
|
|
List<ulong> knownIds = new List<ulong>(_Bodies.Keys);
|
|
|
-
|
|
|
+
|
|
|
// First delete untracked bodies
|
|
|
- foreach(ulong trackingId in knownIds)
|
|
|
+ foreach (ulong trackingId in knownIds)
|
|
|
{
|
|
|
- if(!trackedIds.Contains(trackingId))
|
|
|
+ if (!trackedIds.Contains(trackingId))
|
|
|
{
|
|
|
Destroy(_Bodies[trackingId]);
|
|
|
_Bodies.Remove(trackingId);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
- foreach(var body in data)
|
|
|
+ foreach (var body in data)
|
|
|
{
|
|
|
if (body == null)
|
|
|
{
|
|
|
continue;
|
|
|
}
|
|
|
-
|
|
|
- if(body.IsTracked)
|
|
|
+
|
|
|
+ if (body.IsTracked)
|
|
|
{
|
|
|
- if(!_Bodies.ContainsKey(body.TrackingId))
|
|
|
+ if (!_Bodies.ContainsKey(body.TrackingId))
|
|
|
{
|
|
|
_Bodies[body.TrackingId] = CreateBodyObject(body.TrackingId);
|
|
|
}
|
|
|
-
|
|
|
+
|
|
|
RefreshBodyObject(body, _Bodies[body.TrackingId]);
|
|
|
}
|
|
|
}
|
|
|
-
|
|
|
- // Joint orientations
|
|
|
- Kinect.Vector4[] orientation = new Kinect.Vector4[22];
|
|
|
- //for(int i = 0; i < data.Length; i++)
|
|
|
- //{
|
|
|
- // orientation[0] = data[i].JointOrientations[Kinect.JointType.Head].Orientation;
|
|
|
- // orientation[1] = data[i].JointOrientations[Kinect.JointType.Neck].Orientation;
|
|
|
- // orientation[2] = data[i].JointOrientations[Kinect.JointType.SpineMid].Orientation;
|
|
|
- // orientation[3] = data[i].JointOrientations[Kinect.JointType.ShoulderLeft].Orientation;
|
|
|
- // orientation[4] = data[i].JointOrientations[Kinect.JointType.ShoulderRight].Orientation;
|
|
|
- // orientation[5] = data[i].JointOrientations[Kinect.JointType.ElbowLeft].Orientation;
|
|
|
- // orientation[6] = data[i].JointOrientations[Kinect.JointType.ElbowRight].Orientation;
|
|
|
- // orientation[7] = data[i].JointOrientations[Kinect.JointType.WristLeft].Orientation;
|
|
|
- // orientation[8] = data[i].JointOrientations[Kinect.JointType.WristRight].Orientation;
|
|
|
- // orientation[9] = data[i].JointOrientations[Kinect.JointType.HipLeft].Orientation;
|
|
|
- // orientation[10] = data[i].JointOrientations[Kinect.JointType.HipRight].Orientation;
|
|
|
- // orientation[11] = data[i].JointOrientations[Kinect.JointType.KneeLeft].Orientation;
|
|
|
- // orientation[12] = data[i].JointOrientations[Kinect.JointType.KneeRight].Orientation;
|
|
|
- // orientation[13] = data[i].JointOrientations[Kinect.JointType.SpineBase].Orientation;
|
|
|
- // orientation[14] = data[i].JointOrientations[Kinect.JointType.AnkleLeft].Orientation;
|
|
|
- // orientation[15] = data[i].JointOrientations[Kinect.JointType.AnkleRight].Orientation;
|
|
|
- // orientation[16] = data[i].JointOrientations[Kinect.JointType.FootLeft].Orientation;
|
|
|
- // orientation[17] = data[i].JointOrientations[Kinect.JointType.FootRight].Orientation;
|
|
|
- // orientation[18] = data[i].JointOrientations[Kinect.JointType.HandLeft].Orientation;
|
|
|
- // orientation[19] = data[i].JointOrientations[Kinect.JointType.HandRight].Orientation;
|
|
|
- // orientation[20] = data[i].JointOrientations[Kinect.JointType.ThumbLeft].Orientation;
|
|
|
- // orientation[21] = data[i].JointOrientations[Kinect.JointType.ThumbRight].Orientation;
|
|
|
-
|
|
|
- // for (int j = 0; j < 22; j++)
|
|
|
- // {
|
|
|
- // joints[j].rotation = ConvertKinectOrientationToUnity(orientation[j]);
|
|
|
- // }
|
|
|
- //}
|
|
|
-
|
|
|
- orientation[0] = data[0].JointOrientations[Kinect.JointType.Head].Orientation;
|
|
|
- orientation[1] = data[0].JointOrientations[Kinect.JointType.Neck].Orientation;
|
|
|
- orientation[2] = data[0].JointOrientations[Kinect.JointType.SpineMid].Orientation;
|
|
|
- orientation[3] = data[0].JointOrientations[Kinect.JointType.ShoulderLeft].Orientation;
|
|
|
- orientation[4] = data[0].JointOrientations[Kinect.JointType.ShoulderRight].Orientation;
|
|
|
- orientation[5] = data[0].JointOrientations[Kinect.JointType.ElbowLeft].Orientation;
|
|
|
- orientation[6] = data[0].JointOrientations[Kinect.JointType.ElbowRight].Orientation;
|
|
|
- orientation[7] = data[0].JointOrientations[Kinect.JointType.WristLeft].Orientation;
|
|
|
- orientation[8] = data[0].JointOrientations[Kinect.JointType.WristRight].Orientation;
|
|
|
- orientation[9] = data[0].JointOrientations[Kinect.JointType.HipLeft].Orientation;
|
|
|
- orientation[10] = data[0].JointOrientations[Kinect.JointType.HipRight].Orientation;
|
|
|
- orientation[11] = data[0].JointOrientations[Kinect.JointType.KneeLeft].Orientation;
|
|
|
- orientation[12] = data[0].JointOrientations[Kinect.JointType.KneeRight].Orientation;
|
|
|
- orientation[13] = data[0].JointOrientations[Kinect.JointType.SpineBase].Orientation;
|
|
|
- orientation[14] = data[0].JointOrientations[Kinect.JointType.AnkleLeft].Orientation;
|
|
|
- orientation[15] = data[0].JointOrientations[Kinect.JointType.AnkleRight].Orientation;
|
|
|
- orientation[16] = data[0].JointOrientations[Kinect.JointType.FootLeft].Orientation;
|
|
|
- orientation[17] = data[0].JointOrientations[Kinect.JointType.FootRight].Orientation;
|
|
|
- orientation[18] = data[0].JointOrientations[Kinect.JointType.HandLeft].Orientation;
|
|
|
- orientation[19] = data[0].JointOrientations[Kinect.JointType.HandRight].Orientation;
|
|
|
- orientation[20] = data[0].JointOrientations[Kinect.JointType.ThumbLeft].Orientation;
|
|
|
- orientation[21] = data[0].JointOrientations[Kinect.JointType.ThumbRight].Orientation;
|
|
|
-
|
|
|
- for (int j = 0; j < 22; j++)
|
|
|
- {
|
|
|
- joints[j].rotation = ConvertKinectOrientationToUnity(orientation[j]);
|
|
|
- }
|
|
|
-
|
|
|
- //print("wrist right: " + joints[8].rotation);
|
|
|
-
|
|
|
}
|
|
|
|
|
|
private GameObject CreateBodyObject(ulong id)
|
|
|
{
|
|
|
GameObject body = new GameObject("Body:" + id);
|
|
|
-
|
|
|
+
|
|
|
for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++)
|
|
|
{
|
|
|
GameObject jointObj = GameObject.CreatePrimitive(PrimitiveType.Cube);
|
|
|
-
|
|
|
+
|
|
|
LineRenderer lr = jointObj.AddComponent<LineRenderer>();
|
|
|
- lr.SetVertexCount(2);
|
|
|
+ //lr.SetVertexCount(2);
|
|
|
+ lr.positionCount = 2;
|
|
|
lr.material = BoneMaterial;
|
|
|
- lr.SetWidth(0.05f, 0.05f);
|
|
|
-
|
|
|
+ //lr.SetWidth(0.05f, 0.05f);
|
|
|
+ lr.startWidth = 0.05f;
|
|
|
+ lr.endWidth = 0.05f;
|
|
|
+
|
|
|
jointObj.transform.localScale = new Vector3(0.3f, 0.3f, 0.3f);
|
|
|
jointObj.name = jt.ToString();
|
|
|
jointObj.transform.parent = body.transform;
|
|
|
}
|
|
|
-
|
|
|
+
|
|
|
return body;
|
|
|
}
|
|
|
-
|
|
|
+
|
|
|
private void RefreshBodyObject(Kinect.Body body, GameObject bodyObject)
|
|
|
{
|
|
|
for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++)
|
|
|
{
|
|
|
Kinect.Joint sourceJoint = body.Joints[jt];
|
|
|
Kinect.Joint? targetJoint = null;
|
|
|
-
|
|
|
- if(_BoneMap.ContainsKey(jt))
|
|
|
+
|
|
|
+ if (_BoneMap.ContainsKey(jt))
|
|
|
{
|
|
|
targetJoint = body.Joints[_BoneMap[jt]];
|
|
|
}
|
|
|
-
|
|
|
+
|
|
|
Transform jointObj = bodyObject.transform.Find(jt.ToString());
|
|
|
jointObj.localPosition = GetVector3FromJoint(sourceJoint);
|
|
|
-
|
|
|
+
|
|
|
LineRenderer lr = jointObj.GetComponent<LineRenderer>();
|
|
|
- if(targetJoint.HasValue)
|
|
|
+ if (targetJoint.HasValue)
|
|
|
{
|
|
|
lr.SetPosition(0, jointObj.localPosition);
|
|
|
lr.SetPosition(1, GetVector3FromJoint(targetJoint.Value));
|
|
|
- lr.SetColors(GetColorForState (sourceJoint.TrackingState), GetColorForState(targetJoint.Value.TrackingState));
|
|
|
+ //lr.SetColors(GetColorForState(sourceJoint.TrackingState), GetColorForState(targetJoint.Value.TrackingState));
|
|
|
+ lr.startColor = GetColorForState(sourceJoint.TrackingState);
|
|
|
+ lr.endColor = GetColorForState(targetJoint.Value.TrackingState);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
lr.enabled = false;
|
|
|
}
|
|
|
}
|
|
|
+
|
|
|
+ // Joint orientations
|
|
|
+ Kinect.Vector4[] orientation = new Kinect.Vector4[22];
|
|
|
+ orientation[0] = body.JointOrientations[Kinect.JointType.Head].Orientation;
|
|
|
+ orientation[1] = body.JointOrientations[Kinect.JointType.Neck].Orientation;
|
|
|
+ orientation[2] = body.JointOrientations[Kinect.JointType.SpineMid].Orientation;
|
|
|
+ orientation[3] = body.JointOrientations[Kinect.JointType.ShoulderLeft].Orientation;
|
|
|
+ orientation[4] = body.JointOrientations[Kinect.JointType.ShoulderRight].Orientation;
|
|
|
+ orientation[5] = body.JointOrientations[Kinect.JointType.ElbowLeft].Orientation;
|
|
|
+ orientation[6] = body.JointOrientations[Kinect.JointType.ElbowRight].Orientation;
|
|
|
+ orientation[7] = body.JointOrientations[Kinect.JointType.WristLeft].Orientation;
|
|
|
+ orientation[8] = body.JointOrientations[Kinect.JointType.WristRight].Orientation;
|
|
|
+ orientation[9] = body.JointOrientations[Kinect.JointType.HipLeft].Orientation;
|
|
|
+ orientation[10] = body.JointOrientations[Kinect.JointType.HipRight].Orientation;
|
|
|
+ orientation[11] = body.JointOrientations[Kinect.JointType.KneeLeft].Orientation;
|
|
|
+ orientation[12] = body.JointOrientations[Kinect.JointType.KneeRight].Orientation;
|
|
|
+ orientation[13] = body.JointOrientations[Kinect.JointType.SpineBase].Orientation;
|
|
|
+ orientation[14] = body.JointOrientations[Kinect.JointType.AnkleLeft].Orientation;
|
|
|
+ orientation[15] = body.JointOrientations[Kinect.JointType.AnkleRight].Orientation;
|
|
|
+ orientation[16] = body.JointOrientations[Kinect.JointType.FootLeft].Orientation;
|
|
|
+ orientation[17] = body.JointOrientations[Kinect.JointType.FootRight].Orientation;
|
|
|
+ orientation[18] = body.JointOrientations[Kinect.JointType.HandLeft].Orientation;
|
|
|
+ orientation[19] = body.JointOrientations[Kinect.JointType.HandRight].Orientation;
|
|
|
+ orientation[20] = body.JointOrientations[Kinect.JointType.ThumbLeft].Orientation;
|
|
|
+ orientation[21] = body.JointOrientations[Kinect.JointType.ThumbRight].Orientation;
|
|
|
+
|
|
|
+ for (int j = 0; j < 22; j++)
|
|
|
+ {
|
|
|
+ joints[j].rotation = ConvertKinectOrientationToUnity(orientation[j]);
|
|
|
+ }
|
|
|
}
|
|
|
-
|
|
|
+
|
|
|
private static Color GetColorForState(Kinect.TrackingState state)
|
|
|
{
|
|
|
switch (state)
|
|
|
{
|
|
|
- case Kinect.TrackingState.Tracked:
|
|
|
- return Color.green;
|
|
|
+ case Kinect.TrackingState.Tracked:
|
|
|
+ return Color.green;
|
|
|
|
|
|
- case Kinect.TrackingState.Inferred:
|
|
|
- return Color.red;
|
|
|
+ case Kinect.TrackingState.Inferred:
|
|
|
+ return Color.red;
|
|
|
|
|
|
- default:
|
|
|
- return Color.black;
|
|
|
+ default:
|
|
|
+ return Color.black;
|
|
|
}
|
|
|
}
|
|
|
-
|
|
|
+
|
|
|
private static Vector3 GetVector3FromJoint(Kinect.Joint joint)
|
|
|
{
|
|
|
return new Vector3(joint.Position.X * 10, joint.Position.Y * 10, joint.Position.Z * 10);
|