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437 lines
19 KiB
437 lines
19 KiB
1 year ago
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using UnityEngine.Events;
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namespace com.rfilkov.kinect
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{
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/// <summary>
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/// KinectEventManager provides sensor-frame events to the registered Unity event listeners.
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/// </summary>
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public class KinectEventManager : MonoBehaviour
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{
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[Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")]
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public int sensorIndex = 0;
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[Tooltip("Consider the sensor as disconnected, if no frames are received within this time period, in seconds.")]
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public float sensorTimeoutAfter = 2f;
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[System.Serializable]
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public class SensorStateEvent : UnityEvent<ulong> { }
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[System.Serializable]
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public class ImageTextureEvent : UnityEvent<Texture, ulong> { }
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[System.Serializable]
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public class UshortFrameEvent : UnityEvent<ushort[], int, int, ulong> { }
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[System.Serializable]
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public class ByteFrameEvent : UnityEvent<byte[], int, int, ulong> { }
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[System.Serializable]
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public class BodyFrameEvent : UnityEvent<KinectInterop.BodyData[], uint, ulong> { }
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[Header("Sensor Events")]
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/// <summary>
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/// Fired when the sensor is considered as disconnected.
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/// </summary>
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public SensorStateEvent OnSensorDisconnect = new SensorStateEvent();
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///// <summary>
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///// Fired when the sensor is considered as reconnected.
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///// </summary>
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//public SensorStateEvent OnSensorReconnect = new SensorStateEvent();
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[Header("Sensor Data")]
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/// <summary>
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/// Fired when new color-camera frame is detected.
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/// </summary>
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public ImageTextureEvent OnNewColorImage = new ImageTextureEvent();
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/// <summary>
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/// Fired when new depth frame is detected.
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/// </summary>
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public UshortFrameEvent OnNewDepthFrame = new UshortFrameEvent();
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/// <summary>
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/// Fired when new infrared frame is detected.
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/// </summary>
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public UshortFrameEvent OnNewInfraredFrame = new UshortFrameEvent();
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[Header("Body Tracking")]
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/// <summary>
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/// Fired when new body frame frame is detected.
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/// </summary>
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public BodyFrameEvent OnNewBodyFrame = new BodyFrameEvent();
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/// <summary>
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/// Fired when new body-index frame is detected.
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/// </summary>
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public ByteFrameEvent OnNewBodyIndexFrame = new ByteFrameEvent();
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[Header("Sensor Images")]
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/// <summary>
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/// Fired when new depth image is detected.
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/// </summary>
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public ImageTextureEvent OnNewDepthImage = new ImageTextureEvent();
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/// <summary>
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/// Fired when new infrared image is detected.
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/// </summary>
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public ImageTextureEvent OnNewInfraredImage = new ImageTextureEvent();
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/// <summary>
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/// Fired when new user body image is detected.
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/// </summary>
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public ImageTextureEvent OnNewBodyIndexImage = new ImageTextureEvent();
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[Header("Transformed Frames")]
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/// <summary>
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/// Fired when new depth-camera transformed color image is detected.
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/// </summary>
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public ImageTextureEvent OnNewDepthCameraColorImage = new ImageTextureEvent();
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/// <summary>
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/// Fired when new color-camera transformed depth frame is detected.
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/// </summary>
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public UshortFrameEvent OnNewColorCameraDepthFrame = new UshortFrameEvent();
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/// <summary>
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/// Fired when new color-camera transformed infrared image is detected.
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/// </summary>
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public ImageTextureEvent OnNewColorCameraInfraredImage = new ImageTextureEvent();
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/// <summary>
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/// Fired when new color-camera transformed body-index frame is detected.
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/// </summary>
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public ByteFrameEvent OnNewColorCameraBodyIndexFrame = new ByteFrameEvent();
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// reference to KinectManager
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private KinectManager kinectManager = null;
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// reference to the respective sensor-data
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private KinectInterop.SensorData sensorData = null;
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// last frame times
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private ulong lastColorFrameTime = 0;
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private ulong lastDepthFrameTime = 0;
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private ulong lastInfraredFrameTime = 0;
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private ulong lastBodyFrameTime = 0;
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private ulong lastBodyIndexFrameTime = 0;
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private ulong lastDepthImageTime = 0;
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private ulong lastInfraredImageTime = 0;
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private ulong lastBodyIndexImageTime = 0;
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private ulong lastDepthCamColorFrameTime = 0;
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private ulong lastColorCamDepthFrameTime = 0;
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private ulong lastColorCamInfraredFrameTime = 0;
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private ulong lastColorCamBodyIndexFrameTime = 0;
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// transformed frames enabled-flags
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private bool isDepthCamColorFramesEnabled = false;
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private bool isColorCamDepthFramesEnabled = false;
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private bool isColorCamInfraredFramesEnabled = false;
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private bool isColorCamBodyIndexFramesEnabled = false;
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// transformed depth cam color texture
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private Texture2D depthCamColorTex2D = null;
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private ushort[] colorCamDepthFrame = null;
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private byte[] colorCamBodyIndexFrame = null;
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private Texture2D colorCamInfraredTex2D = null;
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// whether the sensor is currently disconnected
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private long lastFrameTime = 0;
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private bool isSensorDisconnected = false;
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void Start()
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{
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kinectManager = KinectManager.Instance;
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sensorData = kinectManager != null ? kinectManager.GetSensorData(sensorIndex) : null;
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}
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void OnDestroy()
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{
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if(isDepthCamColorFramesEnabled)
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{
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isDepthCamColorFramesEnabled = false;
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sensorData.sensorInterface.EnableDepthCameraColorFrame(sensorData, false);
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depthCamColorTex2D = null;
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Debug.Log("Disabled DepthCameraColorFrames.");
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}
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if (isColorCamDepthFramesEnabled)
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{
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isColorCamDepthFramesEnabled = false;
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sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, false);
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Debug.Log("Disabled ColorCameraDepthFrames.");
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}
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if (isColorCamBodyIndexFramesEnabled)
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{
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isColorCamBodyIndexFramesEnabled = false;
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sensorData.sensorInterface.EnableColorCameraBodyIndexFrame(sensorData, false);
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Debug.Log("Disabled ColorCameraBodyIndexFrames.");
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}
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}
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void Update()
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{
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if (sensorData != null)
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{
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// color frame
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if(lastColorFrameTime != sensorData.lastColorFrameTime)
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{
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lastFrameTime = System.DateTime.Now.Ticks;
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lastColorFrameTime = sensorData.lastColorFrameTime;
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OnNewColorImage?.Invoke(sensorData.colorImageTexture, sensorData.lastColorFrameTime);
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//Debug.Log("OnNewColorFrame invoked. Time: " + lastColorFrameTime);
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}
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// depth frame
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if (lastDepthFrameTime != sensorData.lastDepthFrameTime)
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{
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lastFrameTime = System.DateTime.Now.Ticks;
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lastDepthFrameTime = sensorData.lastDepthFrameTime;
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OnNewDepthFrame?.Invoke(sensorData.depthImage, sensorData.depthImageWidth, sensorData.depthImageHeight, sensorData.lastDepthFrameTime);
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//Debug.Log("OnNewDepthFrame invoked. Time: " + lastDepthFrameTime);
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}
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// infrared frame
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if (lastInfraredFrameTime != sensorData.lastInfraredFrameTime)
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{
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lastFrameTime = System.DateTime.Now.Ticks;
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lastInfraredFrameTime = sensorData.lastInfraredFrameTime;
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OnNewInfraredFrame?.Invoke(sensorData.infraredImage, sensorData.depthImageWidth, sensorData.depthImageHeight, sensorData.lastInfraredFrameTime);
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//Debug.Log("OnNewInfraredFrame invoked. Time: " + lastInfraredFrameTime);
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}
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// body frame
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if (lastBodyFrameTime != sensorData.lastBodyFrameTime)
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{
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lastFrameTime = System.DateTime.Now.Ticks;
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lastBodyFrameTime = sensorData.lastBodyFrameTime;
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OnNewBodyFrame?.Invoke(sensorData.alTrackedBodies, sensorData.trackedBodiesCount, sensorData.lastBodyFrameTime);
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//Debug.Log("OnNewBodyFrame invoked. Time: " + lastBodyFrameTime);
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}
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// body-index frame
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if (lastBodyIndexFrameTime != sensorData.lastBodyIndexFrameTime)
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{
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lastFrameTime = System.DateTime.Now.Ticks;
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lastBodyIndexFrameTime = sensorData.lastBodyIndexFrameTime;
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OnNewBodyIndexFrame?.Invoke(sensorData.bodyIndexImage, sensorData.depthImageWidth, sensorData.depthImageHeight, sensorData.lastBodyIndexFrameTime);
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//Debug.Log("OnNewBodyIndexFrame invoked. Time: " + lastBodyIndexFrameTime);
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}
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// depth image
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if (OnNewDepthImage != null && OnNewDepthImage.GetPersistentEventCount() > 0 && lastDepthImageTime != sensorData.lastDepthImageTime)
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{
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lastDepthImageTime = sensorData.lastDepthImageTime;
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OnNewDepthImage?.Invoke(sensorData.depthImageTexture, sensorData.lastDepthImageTime);
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//Debug.Log("OnNewDepthImage invoked. Time: " + lastDepthImageTime);
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}
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// infrared image
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if (OnNewInfraredImage != null && OnNewInfraredImage.GetPersistentEventCount() > 0 && lastInfraredImageTime != sensorData.lastInfraredImageTime)
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{
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lastInfraredImageTime = sensorData.lastInfraredImageTime;
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OnNewInfraredImage?.Invoke(sensorData.infraredImageTexture, sensorData.lastInfraredImageTime);
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//Debug.Log("OnNewInfraredImage invoked. Time: " + lastInfraredImageTime);
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}
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// body-index image
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if (OnNewBodyIndexImage != null && OnNewBodyIndexImage.GetPersistentEventCount() > 0 && lastBodyIndexImageTime != sensorData.lastBodyImageTime)
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{
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lastBodyIndexImageTime = sensorData.lastBodyImageTime;
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OnNewBodyIndexImage?.Invoke(sensorData.bodyImageTexture, sensorData.lastBodyImageTime);
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//Debug.Log("OnNewBodyIndexImage invoked. Time: " + lastBodyIndexImageTime);
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}
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// check for sensor events
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long currentTime = System.DateTime.Now.Ticks;
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long timeoutAfter = (long)(sensorTimeoutAfter * 10000000);
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if(!isSensorDisconnected && lastFrameTime != 0 && (currentTime - lastFrameTime) > timeoutAfter)
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{
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isSensorDisconnected = true;
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OnSensorDisconnect?.Invoke(GetLastFrameTime());
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Debug.Log("Sensor disconnected. Time: " + GetLastFrameTime());
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}
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//else if(isSensorDisconnected && (currentTime - lastFrameTime) <= timeoutAfter)
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//{
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// isSensorDisconnected = false;
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// OnSensorReconnect?.Invoke(GetLastFrameTime());
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// Debug.Log("Sensor reconnected. Time: " + GetLastFrameTime());
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//}
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// depth-cam color frame
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if (OnNewDepthCameraColorImage != null && OnNewDepthCameraColorImage.GetPersistentEventCount() > 0 && !isDepthCamColorFramesEnabled)
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{
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isDepthCamColorFramesEnabled = true;
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sensorData.sensorInterface.EnableDepthCameraColorFrame(sensorData, true);
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depthCamColorTex2D = new Texture2D(sensorData.depthImageWidth, sensorData.depthImageHeight, sensorData.colorImageFormat, false);
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Debug.Log("Enabled DepthCameraColorFrames.");
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}
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else if ((OnNewDepthCameraColorImage == null || OnNewDepthCameraColorImage.GetPersistentEventCount() == 0) && isDepthCamColorFramesEnabled)
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{
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isDepthCamColorFramesEnabled = false;
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sensorData.sensorInterface.EnableDepthCameraColorFrame(sensorData, false);
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depthCamColorTex2D = null;
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Debug.Log("Disabled DepthCameraColorFrames.");
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}
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if (isDepthCamColorFramesEnabled)
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{
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ulong oldFrameTime = lastDepthCamColorFrameTime;
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sensorData.sensorInterface.GetDepthCameraColorFrameTexture(sensorData, ref depthCamColorTex2D, ref lastDepthCamColorFrameTime);
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if(oldFrameTime != lastDepthCamColorFrameTime)
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{
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OnNewDepthCameraColorImage?.Invoke(depthCamColorTex2D, lastDepthCamColorFrameTime);
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//Debug.Log("OnNewDepthCameraColorImage invoked. Time: " + lastDepthCamColorFrameTime);
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}
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}
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// color-cam depth frame
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if (OnNewColorCameraDepthFrame != null && OnNewColorCameraDepthFrame.GetPersistentEventCount() > 0 && !isColorCamDepthFramesEnabled)
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{
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isColorCamDepthFramesEnabled = true;
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sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, true);
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colorCamDepthFrame = new ushort[sensorData.colorImageWidth * sensorData.colorImageHeight];
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Debug.Log("Enabled ColorCameraDepthFrames.");
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}
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else if ((OnNewColorCameraDepthFrame == null || OnNewColorCameraDepthFrame.GetPersistentEventCount() == 0) && isColorCamDepthFramesEnabled)
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{
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isColorCamDepthFramesEnabled = false;
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sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, false);
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colorCamDepthFrame = null;
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Debug.Log("Disabled ColorCameraDepthFrames.");
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}
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if (isColorCamDepthFramesEnabled)
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{
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ulong oldFrameTime = lastColorCamDepthFrameTime;
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sensorData.sensorInterface.GetColorCameraDepthFrame(sensorData, ref colorCamDepthFrame, ref lastColorCamDepthFrameTime);
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if (colorCamDepthFrame != null && oldFrameTime != lastColorCamDepthFrameTime)
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{
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OnNewColorCameraDepthFrame?.Invoke(colorCamDepthFrame, sensorData.colorImageWidth, sensorData.colorImageHeight, lastColorCamDepthFrameTime);
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//Debug.Log("OnNewColorCameraDepthFrame invoked. Time: " + lastColorCamDepthFrameTime);
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}
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}
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// color-cam infrared frame
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if (OnNewColorCameraInfraredImage != null && OnNewColorCameraInfraredImage.GetPersistentEventCount() > 0 && !isColorCamInfraredFramesEnabled)
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{
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isColorCamInfraredFramesEnabled = true;
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sensorData.sensorInterface.EnableColorCameraInfraredFrame(sensorData, false, true);
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Debug.Log("Enabled ColorCameraInfraredFrames.");
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}
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else if ((OnNewColorCameraInfraredImage == null || OnNewColorCameraInfraredImage.GetPersistentEventCount() == 0) && isColorCamInfraredFramesEnabled)
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{
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isColorCamInfraredFramesEnabled = false;
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sensorData.sensorInterface.EnableColorCameraInfraredFrame(sensorData, false, false);
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Debug.Log("Disabled ColorCameraInfraredFrames.");
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}
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if (isColorCamInfraredFramesEnabled)
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{
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|
|
//if (colorCamInfraredTex2D == null)
|
||
|
|
//{
|
||
|
|
// colorCamInfraredTex2D = new Texture2D(sensorData.colorImageWidth, sensorData.colorImageHeight, TextureFormat.ARGB32, false);
|
||
|
|
//}
|
||
|
|
|
||
|
|
ulong oldFrameTime = lastColorCamInfraredFrameTime;
|
||
|
|
Texture colorCamInfraredTex = sensorData.sensorInterface.GetColorCameraInfraredFrameTexture(sensorData, ref colorCamInfraredTex2D, ref lastColorCamInfraredFrameTime);
|
||
|
|
|
||
|
|
if (colorCamInfraredTex != null && oldFrameTime != lastColorCamInfraredFrameTime)
|
||
|
|
{
|
||
|
|
OnNewColorCameraInfraredImage?.Invoke(colorCamInfraredTex, lastColorCamInfraredFrameTime);
|
||
|
|
//Debug.Log("OnNewColorCameraInfraredImage invoked. Time: " + lastColorCamInfraredFrameTime);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// color-cam body-index frame
|
||
|
|
if (OnNewColorCameraBodyIndexFrame != null && OnNewColorCameraBodyIndexFrame.GetPersistentEventCount() > 0 && !isColorCamBodyIndexFramesEnabled)
|
||
|
|
{
|
||
|
|
isColorCamBodyIndexFramesEnabled = true;
|
||
|
|
sensorData.sensorInterface.EnableColorCameraBodyIndexFrame(sensorData, true);
|
||
|
|
colorCamBodyIndexFrame = new byte[sensorData.colorImageWidth * sensorData.colorImageHeight];
|
||
|
|
|
||
|
|
Debug.Log("Enabled ColorCameraBodyIndexFrames.");
|
||
|
|
}
|
||
|
|
else if ((OnNewColorCameraBodyIndexFrame == null || OnNewColorCameraBodyIndexFrame.GetPersistentEventCount() == 0) && isColorCamBodyIndexFramesEnabled)
|
||
|
|
{
|
||
|
|
isColorCamBodyIndexFramesEnabled = false;
|
||
|
|
sensorData.sensorInterface.EnableColorCameraBodyIndexFrame(sensorData, false);
|
||
|
|
colorCamBodyIndexFrame = null;
|
||
|
|
|
||
|
|
Debug.Log("Disabled ColorCameraBodyIndexFrames.");
|
||
|
|
}
|
||
|
|
|
||
|
|
if (isColorCamBodyIndexFramesEnabled)
|
||
|
|
{
|
||
|
|
ulong oldFrameTime = lastColorCamBodyIndexFrameTime;
|
||
|
|
sensorData.sensorInterface.GetColorCameraBodyIndexFrame(sensorData, ref colorCamBodyIndexFrame, ref lastColorCamBodyIndexFrameTime);
|
||
|
|
|
||
|
|
if (colorCamBodyIndexFrame != null && oldFrameTime != lastColorCamBodyIndexFrameTime)
|
||
|
|
{
|
||
|
|
OnNewColorCameraBodyIndexFrame?.Invoke(colorCamBodyIndexFrame, sensorData.colorImageWidth, sensorData.colorImageHeight, lastColorCamBodyIndexFrameTime);
|
||
|
|
//Debug.Log("OnNewColorCameraBodyIndexFrame invoked. Time: " + lastColorCamBodyIndexFrameTime);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// returns the last frame time
|
||
|
|
private ulong GetLastFrameTime()
|
||
|
|
{
|
||
|
|
ulong maxFrameTime = 0;
|
||
|
|
|
||
|
|
if (lastColorFrameTime != 0 && maxFrameTime < lastColorFrameTime)
|
||
|
|
maxFrameTime = lastColorFrameTime;
|
||
|
|
if (lastDepthFrameTime != 0 && maxFrameTime < lastDepthFrameTime)
|
||
|
|
maxFrameTime = lastDepthFrameTime;
|
||
|
|
if (lastInfraredFrameTime != 0 && maxFrameTime < lastInfraredFrameTime)
|
||
|
|
maxFrameTime = lastInfraredFrameTime;
|
||
|
|
if (lastBodyFrameTime != 0 && maxFrameTime < lastBodyFrameTime)
|
||
|
|
maxFrameTime = lastBodyFrameTime;
|
||
|
|
if (lastBodyIndexFrameTime != 0 && maxFrameTime < lastBodyIndexFrameTime)
|
||
|
|
maxFrameTime = lastBodyIndexFrameTime;
|
||
|
|
|
||
|
|
return maxFrameTime;
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|