鸟语天空

Kinect

作者：追风剑情 发布于：2019-9-19 13:11 分类：Unity3d

官方文档
Xbox NUI Camera Drivers Download
Microsoft WDF KinectSensor Interface Driver
Kinect-v2 Examples with MS-SDK（译文二）
Kinect-v2 Examples with MS-SDK Doc(Chinese documents)

Kinect驱动安装目录
C:\Program Files\Microsoft Kinect Drivers\Drivers

一、安装开发环境

1、官方下载 Kinect for Windows SDK 2.0，并安装。

2、测试Kinect设备是否正常工作。

绿勾代表正常工作

有时Kinect connected显示叉，尝试让kinect断开电源10秒以上，再插上。

Kinect V2必须插USB 3.0才能正常工作。USB 2.0、USB 3.1都不行。

设备管理器查看USB接口版本

确保麦克风阵列处于启用状态，否则 Kinect 可能出现工作不稳定。

3、下载示例并导入到Unity2017或更高版本中
百度网盘下载 (Kinect v2 Examples with_2.13.unitypackage) 提取码: 5yjs
百度网盘下载 (Kinect v2 Examples with MS-SDK 2.20.unitypackage) 提取码: aj05
注意： Kinect v2 Examples with MS-SDK 2.20.unitypackage 需要Unity2019.1.0或更高版本、Direct3D11。

=====================================================================================

»KinectManager接口功能

1.检查Kinect是否完成了初始化
if ( KinectManager.IsKinectInitialized() ) { }

2.获取摄像头画面(一般作为背景)
Texture2D background = manager.GetUsersClrTex();

3.判断指定用户的某关节是否正处于跟踪中
long userId = manager.GetUserIdByIndex(0);//0代表第1个用户
int joint = (int)KinectInterop.JointType.HandRight;//判断右手
if (manager.IsJointTracked (userId, joint)) {}

4.获取关节坐标及旋转角

//关节坐标
long userId = manager.GetUserIdByIndex(0);
int joint = (int)KinectInterop.JointType.HandRight;//右手
Rect backgroundRect = foregroundCamera.pixelRect;
Vector3 posJoint = manager.GetJointPosColorOverlay(userId, joint, foregroundCamera, backgroundRect);
//关节旋转角度
Vector3 vForward = foregroundCamera ? foregroundCamera.transform.forward : Vector3.forward;
bool objFlipped = (Vector3.Dot(overlayObject.forward, vForward) < 0);//夹角为锐角
Quaternion rotJoint = manager.GetJointOrientation(userId, joint, !objFlipped);

5.获取父关节
KinectInterop.JointType jointParent = manager.GetParentJoint(KinectInterop.JointType.HandRight);

6.是否至少有1个用户被跟踪
if (!manager.IsUserDetected()) {
//没用户时，可以暂停或停止游戏
}

7.判断指定用户ID是否在跟踪用户列表中
if (manager.IsUserTracked(userId)) {}

8.清除所有被跟踪的用户
manager.ClearKinectUsers();//通常在游戏结束时调用

9.骨骼枚举
Kinect中的定义：KinectInterop.JointType
Unity中的定义： HumanBodyBones
PS: 注意定义中的对应关系
例如：KinectInterop.JointType.ShoulderLeft对应的是HumanBodyBones.LeftUpperArm

10.获取骨骼
//获取KinectInterop.JointType.ShoulderLeft
animatorComponent.GetBoneTransform(HumanBodyBones.LeftUpperArm)

11.改变人类化身姿态

//确保对象不为null，且为人类
if (animatorComponent && animatorComponent.avatar && animatorComponent.avatar.isHuman)
{
	HumanPoseHandler humanPoseHandler = new HumanPoseHandler(animatorComponent.avatar, rootTransform);
	HumanPose humanPose = new HumanPose();
	humanPoseHandler.GetHumanPose(ref humanPose);
	humanPose.bodyPosition = 新值;
	humanPose.bodyRotation = 新值;
	humanPose.muscles = 新值;//当前姿势的肌肉值的数组
	humanPoseHandler.SetHumanPose(ref humanPose);
}

12.刷新姿态监听器列表(通常进入场景后调用一次)
找出场景中实现了KinectGestures.GestureListenerInterface的脚本，并加入到监听列表，同时找出场景中
KinectGestures脚本。
manager.refreshGestureListeners();

13.刷新化身控制器列表(通常进入场景后调用一次)
找出场景中的AvatarController脚本并加入avatarControllers列表
manager.refreshAvatarControllers()

14.获取主用户ID
获取主用户(第一个或最近的用户)的userid，如果没有检测到用户，则获取0
manager.GetPrimaryUserID();

15.获取前景图像(通常指用户)

backManager = BackgroundRemovalManager.Instance;
if (backManager && backManager.IsBackgroundRemovalInitialized()) {
	foregroundTex = (RenderTexture)backManager.GetForegroundTex ();
}

前景图像使用的渲染shader为Color2DepthShader.shader,修改此shader可以调整渲染效果。

在 BackgroundRemovalManager 类的 Start() 中替换 sensorData.color2DepthMaterial 可自定义前景渲染材质。

Compute User Map: 必须设置为Body Texture
Compute Color Map: 必须勾选

16.获取坐标点深度值

//获取头部关节坐标
Vector3 posHeadRaw = kinectManager.GetJointKinectPosition(userId, (int)KinectInterop.JointType.Head);
if(posHeadRaw != Vector3.zero)
{
	//转到深度坐标系
	Vector2 posDepthHead = kinectManager.MapSpacePointToDepthCoords(posHeadRaw);
	//得到深度值
	ushort depthHead = kinectManager.GetDepthForPixel((int)posDepthHead.x, (int)posDepthHead.y);
}

17.获取面部矩形区域

if (faceManager.IsFaceTrackingInitialized() && faceManager.IsTrackingFace(userId)) 
{
    Rect faceJointRect = faceManager.GetFaceColorRect(userId);
}

18.调整前景裁剪边缘

Erode Iterations: 缩小裁剪边缘
Dilate Iterations: 扩大裁剪边缘

19.获取面部模型数据

KinectInterop.SensorData sensorData = kinectManager.GetSensorData();
//获取面部模型顶点数
int iNumVertices = sensorData.sensorInterface.GetFaceModelVerticesCount(0);
if (iNumVertices <= 0)
	return;
Vector3[] avModelVertices = new Vector3[iNumVertices];
//获取面部模型顶点
bool bGotModelVertices = sensorData.sensorInterface.GetFaceModelVertices(0, ref avModelVertices);

//获取三角形数量
int iNumTriangles = sensorData.sensorInterface.GetFaceModelTrianglesCount();
if(iNumTriangles <= 0)
	return;
//获取三角形顶点索引
int[] avModelTriangles = new int[iNumTriangles];
bool bGotModelTriangles = sensorData.sensorInterface.GetFaceModelTriangles(mirroredModelMesh, ref avModelTriangles);

//获取头在kinect中的坐标
Vector3 headPos = Vector3.zero;
bGotHeadPos = sensorData.sensorInterface.GetHeadPosition(primaryUserID, ref headPos);
//从kinect坐标系转到Unity世界坐标系
Matrix4x4 kinectToWorld = kinectManager ? kinectManager.GetKinectToWorldMatrix() : Matrix4x4.identity;
Vector3 headPosWorld = kinectToWorld.MultiplyPoint3x4(headPos);

//将顶点坐标从kinect坐标系转到Unity世界坐标
Vector3[] vMeshVertices = new Vector3[avModelVertices.Length];
for(int i = 0; i < avModelVertices.Length; i++)
{
	//世界坐标转面部模型的本地坐标
	vMeshVertices[i] = kinectToWorld.MultiplyPoint3x4(avModelVertices[i]) - headPosWorld;
}

//创建Mesh
if (faceModelMesh) 
{
	Mesh mesh = new Mesh();
	mesh.name = "FaceMesh";
	faceModelMesh.GetComponent().mesh = mesh;
	mesh.vertices = vMeshVertices;
	mesh.triangles = avModelTriangles;
	mesh.RecalculateNormals();
}

//为面部Mesh设置贴图
Texture texColorMap = kinectManager ? kinectManager.GetUsersClrTex() : null;
RenderTexture faceMeshTexture = new RenderTexture(texColorMap.width, texColorMap.height, 0);
faceModelMesh.GetComponent().material.mainTexture = faceMeshTexture;
if (faceMeshTexture && texColorMap) 
{
	// update the color texture
	Graphics.Blit(texColorMap, faceMeshTexture);
}

20.获取采集图像尺寸

//摄像头采集的图像尺寸
kinectManager.GetColorImageWidth();
kinectManager.GetColorImageHeight();
//红外摄像头采集的深度图像尺寸
kinectManager.GetDepthImageWidth();
kinectManager.GetDepthImageHeight();

21.获取面部模型特征点在Unity中的世界坐标

FacetrackingManager faceManager = FacetrackingManager.Instance;
int iVertCount = faceManager.GetUserFaceVertexCount(userId);
Vector3[] faceVertices = new Vector3[iVertCount];
//这里的顶点坐标系是Kinect设备
if (faceManager.GetUserFaceVertices(userId, ref faceVertices))
{
	//Kinect坐标到Unity世界坐标系的转换矩阵
	Matrix4x4 kinectToWorld = kinectManager.GetKinectToWorldMatrix();
	//面部关键点枚举数组
	HighDetailFacePoints[] facePoints = (HighDetailFacePoints[])System.Enum.GetValues(typeof(HighDetailFacePoints));

	Dictionary dictFacePoints = new Dictionary();
	for (int i = 0; i < facePoints.Length; i++) 
	{
		HighDetailFacePoints point = facePoints[i];
		//转换到Unity世界坐标系
		dictFacePoints[point] = kinectToWorld.MultiplyPoint3x4(faceVertices[(int)point]);
	}
	
	//让面具模型坐标跟随鼻尖(即，实现面具跟随面部)
	//NoseTip: 鼻尖
	HighDetailFacePoints facePoint = HighDetailFacePoints.NoseTip;
	Vector3 facePointPos = faceVertices[(int)facePoint];
	facePointTransform.position = facePointPos;
}

22.调整背景画面显示大小及位置 
//显示摄像头画面
KinectManager manager = KinectManager.Instance;
mGUITexture.texture = manager.GetUsersClrTex();

23.设置前景像机(渲染3D物体)与Kinect摄像头的视场角相等 
KinectManager manager = KinectManager.Instance;
KinectInterop.SensorData sensorData = manager.GetSensorData();
foregroundCamera.fieldOfView = sensorData.colorCameraFOV;

24.获取关节在Camera坐标系中的坐标

Rect backgroundRect = foregroundCamera.pixelRect;
ortraitBackground portraitBack = PortraitBackground.Instance;
if(portraitBack && portraitBack.enabled)
{
	backgroundRect = portraitBack.GetBackgroundRect();
}
//返回关节在Unity中的世界坐标
Vector3 posColorOverlay = kinectManager.GetJointPosColorOverlay(
primaryUserID, (int)KinectInterop.JointType.Head, foregroundCamera, backgroundRect);
//让目标3D对象跟随关节
faceModelMesh.transform.position = posColorOverlay;

25.计算面部模型顶点对应的UV贴图坐标

//获取模型顶点坐标
KinectInterop.SensorData sensorData = kinectManager.GetSensorData();
int iNumVertices = sensorData.sensorInterface.GetFaceModelVerticesCount(primaryUserID);
Vector3[] avModelVertices = new Vector3[iNumVertices];
sensorData.sensorInterface.GetFaceModelVertices(primaryUserID, ref avModelVertices);
//Kinect摄像头采集的画面宽高
float colorWidth = (float)kinectManager.GetColorImageWidth();
float colorHeight = (float)kinectManager.GetColorImageHeight();
//计算模型顶点对应的UV坐标
for(int i = 0; i < avModelVertices.Length; i++)
{
	//顶点对应的深度图坐标
	Vector2 posDepth = kinectManager.MapSpacePointToDepthCoords(avModelVertices[i]);
	if(posDepth != Vector2.zero)
	{
		//得到深度值
		ushort depth = kinectManager.GetDepthForPixel((int)posDepth.x, (int)posDepth.y);
		//得到顶点在Color图像中的坐标
		Vector2 posColor = kinectManager.MapDepthPointToColorCoords(posDepth, depth);
		if(posColor != Vector2.zero && !float.IsInfinity(posColor.x) && !float.IsInfinity(posColor.y))
		{
			//转成[0,1]区间的UV坐标
			avModelUV[i] = new Vector2(posColor.x / colorWidth, posColor.y / colorHeight);
		}
	}
}
//设置uv
mesh.uv = avModelUV;
//如果顶点有变化，别忘了重新计算下
mesh.RecalculateNormals();
mesh.RecalculateBounds();

26.获取面部细节点坐标

int NoseTip = (int)Microsoft.Kinect.Face.HighDetailFacePoints.NoseTip;
Vector3 NoseTipPos = avModelVertices[NoseTip];//鼻尖坐标

27.表情动画

//获取动画单元(AU)权重值,Shape各动画表情权重值
//AU是中性形状的增量，您可以使用它来对动画化身模型上的目标进行变形，
//以使化身像被跟踪的用户一样起作用。例如，AU定义是否张口，抬起眉毛以及其他面部表情细节。
Dictionary dictAU = 
	new Dictionary();
sensorData.sensorInterface.GetAnimUnits(userId, ref dictAU);

//获取形状单位(SU)权重
//SU估计用户头部的特定形状：眉毛，鼻子，脸颊，嘴巴或下巴等特征的形状。
Dictionary dictSU =
	new Dictionary();
ensorData.sensorInterface.GetShapeUnits(userId, ref dictSU);

»需要开发人员自己实现的接口：

public class MyGestureListener : KinectGestures.GestureListenerInterface 
{
	//用户进入
	void UserDetected(long userId, int userIndex)
	{
		KinectManager manager = KinectManager.Instance;
		// 添加希望追踪的用户手势
		manager.DetectGesture(userId, KinectGestures.Gestures.SwipeLeft);
		manager.DetectGesture(userId, KinectGestures.Gestures.SwipeRight);
	}
	
	//用户离开
	void UserLost(long userId, int userIndex)
	{
	}
	
	//返回手势进度
	void GestureInProgress(long userId, int userIndex, Gestures gesture, float progress, 
		                       KinectInterop.JointType joint, Vector3 screenPos)
	{
	}
	
	//手势完成
	//return true(手势必须重新开始)
	bool GestureCompleted(long userId, int userIndex, Gestures gesture,
		                      KinectInterop.JointType joint, Vector3 screenPos)
	{
		// 判断手势类型并做出相应处理
		switch (gesture)
		{
			case KinectGestures.Gestures.SwipeLeft:
			
				break;
			case KinectGestures.Gestures.SwipeRight:
			
				break;
		}
		//返回true，KinectManager会调用ResetPlayerGestures()；意味着手势将重新开始
		return true;
	}
	
	//手势取消
	bool GestureCancelled(long userId, int userIndex, Gestures gesture, 
		                      KinectInterop.JointType joint)
	{
		//返回true，KinectManager会调用ResetGesture()；意味着手势将重新开始
		return true;
	}
}

public class MyInteractionListener : InteractionListenerInterface 
{
	//手握住
	void HandGripDetected(long userId, int userIndex, bool isRightHand, 
                              bool isHandInteracting, Vector3 handScreenPos)
	{
	
	}
	
	//手释放
	void HandReleaseDetected(long userId, int userIndex, bool isRightHand, 
                                 bool isHandInteracting, Vector3 handScreenPos)
	{
	
	}
	
	//左手或右手在适当的位置停留至少2.5秒
	//return true(手势必须重新开始)
	bool HandClickDetected(long userId, int userIndex, bool isRightHand, Vector3 handScreenPos)
	{
	
	}
}

»手势识别
Kinect手势类型定义在KinectGestures.cs中 KinectGestures.Gestures

public enum Gestures
{
	None = 0,
	RaiseRightHand,//右手举起过肩并保持至少一秒
	RaiseLeftHand,//左手举起过肩并保持至少一秒
	Psi,//双手举起过肩并保持至少一秒
	Tpose,//触摸
	Stop,//双手下垂
	Wave,//左手或右手举起来回摆动
	Click,//左手或右手在适当的位置停留至少2.5秒
	SwipeLeft,//右手向左挥
	SwipeRight,//左手向右挥
	SwipeUp,//左手或者右手向上挥
	SwipeDown,//左手或者右手向下挥
	RightHandCursor,//假手势，用来使光标随着手移动
	LeftHandCursor,//假手势，用来使光标随着手移动
	ZoomIn,//手肘向下，两手掌相聚至少0.7米，然后慢慢合在一起
	ZoomOut,//手肘向下，左右手掌合在一起（求佛的手势），然后慢慢分开
	Wheel,//想象一下你双手握着方向盘，然后左右转动
	Jump,//在1.5秒内髋关节中心至少上升10厘米 (跳)
	Squat,//在1.5秒内髋关节中心至少下降10厘米 (下蹲)
	Push,//在1.5秒内将左手或右手向外推
	Pull,//在1.5秒内将左手或右手向里拉
	ShoulderLeftFront,//左肩前倾
	ShoulderRightFront,//右肩前倾
	LeanLeft, //身体向左倾斜
	LeanRight, //身体向右倾斜
	LeanForward,//身体向前倾斜
	LeanBack,//身体向后倾斜
	KickLeft,//踢左脚
	KickRight,//踢右脚
	Run,//跑
	RaisedRightHorizontalLeftHand,//左手平举
	RaisedLeftHorizontalRightHand,//右手平举
	
	//自定义手势
	UserGesture1 = 101,
	UserGesture2 = 102,
	UserGesture3 = 103,
	UserGesture4 = 104,
	UserGesture5 = 105,
	UserGesture6 = 106,
	UserGesture7 = 107,
	UserGesture8 = 108,
	UserGesture9 = 109,
	UserGesture10 = 110,
}

每种手势的识别处理在KinectGestures.CheckForGesture()方法中,可以在这个方法中扩展自定义手势识别。

Gestures.Push
右手向前推的姿态定义:
1、右手.y - 左肘.y > -0.1米
2、Mathf.Abs(右手.x - 右肩.x) < 0.2米
3、右手.z - 左肘.z < -0.2米

»关节
每个姿态由手、肘、肩、脊柱、臀部、膝、踝关节共同组成,参见KinectGestures.GetNeededJointIndexes()方法：

/// <summary>
/// 获取组成姿态的关节索引列表
/// </summary>
public virtual int[] GetNeededJointIndexes(KinectManager manager)
{
	//手
	leftHandIndex = manager.GetJointIndex(KinectInterop.JointType.HandLeft);
	rightHandIndex = manager.GetJointIndex(KinectInterop.JointType.HandRight);
	//肘
	leftElbowIndex = manager.GetJointIndex(KinectInterop.JointType.ElbowLeft);
	rightElbowIndex = manager.GetJointIndex(KinectInterop.JointType.ElbowRight);
	//肩
	leftShoulderIndex = manager.GetJointIndex(KinectInterop.JointType.ShoulderLeft);
	rightShoulderIndex = manager.GetJointIndex(KinectInterop.JointType.ShoulderRight);
	//脊柱
	hipCenterIndex = manager.GetJointIndex(KinectInterop.JointType.SpineBase);
	shoulderCenterIndex = manager.GetJointIndex(KinectInterop.JointType.SpineShoulder);
	//臀部
	leftHipIndex = manager.GetJointIndex(KinectInterop.JointType.HipLeft);
	rightHipIndex = manager.GetJointIndex(KinectInterop.JointType.HipRight);
	//膝
	leftKneeIndex = manager.GetJointIndex(KinectInterop.JointType.KneeLeft);
	rightKneeIndex = manager.GetJointIndex(KinectInterop.JointType.KneeRight);
	//踝
	leftAnkleIndex = manager.GetJointIndex(KinectInterop.JointType.AnkleLeft);
	rightAnkleIndex = manager.GetJointIndex(KinectInterop.JointType.AnkleRight);
	
	int[] neededJointIndexes = {
		leftHandIndex, rightHandIndex, leftElbowIndex, rightElbowIndex, leftShoulderIndex, 
                rightShoulderIndex, hipCenterIndex, shoulderCenterIndex, leftHipIndex, rightHipIndex, 
                leftKneeIndex, rightKneeIndex, leftAnkleIndex, rightAnkleIndex
	};

	return neededJointIndexes;
}

»只跟踪指定关节
创建XXXAvatarController继承自AvatarController，并重写基类的MapBones()方法。
protected virtual void MapBones()

AvatarController中声明了Kinect关节与Mecanim关节之间的映射关系

//kinect-joints to mecanim-bones mapping
//Kinect关节到Mecanim动画系统中的关节映射
protected static readonly Dictionary<int, HumanBodyBones> boneIndex2MecanimMap = new Dictionary<int, HumanBodyBones>
{
	{0, HumanBodyBones.Hips},
	{1, HumanBodyBones.Spine},
	//{2, HumanBodyBones.Chest},
	{3, HumanBodyBones.Neck},
	//{4, HumanBodyBones.Head},
	
	{5, HumanBodyBones.LeftUpperArm},
	{6, HumanBodyBones.LeftLowerArm},
	{7, HumanBodyBones.LeftHand},
	//{8, HumanBodyBones.LeftIndexProximal},
	//{9, HumanBodyBones.LeftIndexIntermediate},
	//{10, HumanBodyBones.LeftThumbProximal},
	
	{11, HumanBodyBones.RightUpperArm},
	{12, HumanBodyBones.RightLowerArm},
	{13, HumanBodyBones.RightHand},
	//{14, HumanBodyBones.RightIndexProximal},
	//{15, HumanBodyBones.RightIndexIntermediate},
	//{16, HumanBodyBones.RightThumbProximal},
	
	{17, HumanBodyBones.LeftUpperLeg},
	{18, HumanBodyBones.LeftLowerLeg},
	{19, HumanBodyBones.LeftFoot},
	//{20, HumanBodyBones.LeftToes},
	
	{21, HumanBodyBones.RightUpperLeg},
	{22, HumanBodyBones.RightLowerLeg},
	{23, HumanBodyBones.RightFoot},
	//{24, HumanBodyBones.RightToes},
	
	{25, HumanBodyBones.LeftShoulder},
	{26, HumanBodyBones.RightShoulder},
	{27, HumanBodyBones.LeftIndexProximal},
	{28, HumanBodyBones.RightIndexProximal},
	{29, HumanBodyBones.LeftThumbProximal},
	{30, HumanBodyBones.RightThumbProximal},
};

//kinect手指关节到Mecanim动画系统中的关节映射
protected static readonly Dictionary<int, HumanBodyBones> fingerIndex2MecanimMap = new Dictionary<int, HumanBodyBones>
{
	{0, HumanBodyBones.LeftThumbProximal},
	{1, HumanBodyBones.LeftThumbIntermediate},
	{2, HumanBodyBones.LeftThumbDistal},

	{3, HumanBodyBones.LeftIndexProximal},
	{4, HumanBodyBones.LeftIndexIntermediate},
	{5, HumanBodyBones.LeftIndexDistal},

	{6, HumanBodyBones.LeftMiddleProximal},
	{7, HumanBodyBones.LeftMiddleIntermediate},
	{8, HumanBodyBones.LeftMiddleDistal},

	{9, HumanBodyBones.LeftRingProximal},
	{10, HumanBodyBones.LeftRingIntermediate},
	{11, HumanBodyBones.LeftRingDistal},

	{12, HumanBodyBones.LeftLittleProximal},
	{13, HumanBodyBones.LeftLittleIntermediate},
	{14, HumanBodyBones.LeftLittleDistal},

	{15, HumanBodyBones.RightThumbProximal},
	{16, HumanBodyBones.RightThumbIntermediate},
	{17, HumanBodyBones.RightThumbDistal},

	{18, HumanBodyBones.RightIndexProximal},
	{19, HumanBodyBones.RightIndexIntermediate},
	{20, HumanBodyBones.RightIndexDistal},

	{21, HumanBodyBones.RightMiddleProximal},
	{22, HumanBodyBones.RightMiddleIntermediate},
	{23, HumanBodyBones.RightMiddleDistal},

	{24, HumanBodyBones.RightRingProximal},
	{25, HumanBodyBones.RightRingIntermediate},
	{26, HumanBodyBones.RightRingDistal},

	{27, HumanBodyBones.RightLittleProximal},
	{28, HumanBodyBones.RightLittleIntermediate},
	{29, HumanBodyBones.RightLittleDistal}
};


// get bone transforms from the animator component
//Animator animatorComponent = GetComponent<Animator>();
Transform bone = animatorComponent.GetBoneTransform(boneIndex2MecanimMap[boneIndex]);
Transform fingerBone = animatorComponent.GetBoneTransform(fingerIndex2MecanimMap[boneIndex]);

示例：只跟踪上半身关节

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
/// <summary>
/// 只绑定上半身骨骼
/// </summary>
public class UpperAvatarController : AvatarController
{
	// Public variables that will get matched to bones. If empty, the Kinect will simply not track it.
	public Transform HipCenter;
	public Transform Spine;
	public Transform ShoulderCenter;
	public Transform Neck;
	//public Transform Head;

	public Transform ClavicleLeft;
	public Transform ShoulderLeft;
	public Transform ElbowLeft;
	public Transform HandLeft;
	public Transform FingersLeft;
	//private Transform FingerTipsLeft = null;
	public Transform ThumbLeft;

	public Transform ClavicleRight;
	public Transform ShoulderRight;
	public Transform ElbowRight;
	public Transform HandRight;
	public Transform FingersRight;
	//private Transform FingerTipsRight = null;
	public Transform ThumbRight;

	public Transform HipLeft;
	public Transform KneeLeft;
	public Transform FootLeft;
	//private Transform ToesLeft = null;

	public Transform HipRight;
	public Transform KneeRight;
	public Transform FootRight;
	//private Transform ToesRight = null;

	[Tooltip("The body root node (optional).")]
	public Transform BodyRoot;

	// Offset node this transform is relative to, if any (optional)
	//public GameObject OffsetNode;


	// If the bones to be mapped have been declared, map that bone to the model.
	protected override void MapBones()
	{
		bones[0] = HipCenter;
		bones[1] = Spine;
		bones[2] = ShoulderCenter;
		bones[3] = Neck;
		//bones[4] = Head;

		bones[5] = ShoulderLeft;
		bones[6] = ElbowLeft;
		bones[7] = HandLeft;
		//bones[8] = FingersLeft;
		//bones[9] = FingerTipsLeft;
		//bones[10] = ThumbLeft;

		bones[11] = ShoulderRight;
		bones[12] = ElbowRight;
		bones[13] = HandRight;
		//bones[14] = FingersRight;
		//bones[15] = FingerTipsRight;
		//bones[16] = ThumbRight;

		bones[17] = HipLeft;
		bones[18] = KneeLeft;
		bones[19] = FootLeft;
		//bones[20] = ToesLeft;

		bones[21] = HipRight;
		bones[22] = KneeRight;
		bones[23] = FootRight;
		//bones[24] = ToesRight;

		// special bones
		bones[25] = ClavicleLeft;
		bones[26] = ClavicleRight;

		bones[27] = FingersLeft;
		bones[28] = FingersRight;
		bones[29] = ThumbLeft;
		bones[30] = ThumbRight;

		// body root and offset
		bodyRoot = BodyRoot;
	}
}

»动态加载kinect配置参数
kinect.xml

<?xml version="1.0" encoding="UTF-8"?>
<root>
	<!-- 以下参数名与Kinect Manager(Script)属性面板中的参数对应 -->
	<SensorHeight>1</SensorHeight>
	<SensorAngle>0</SensorAngle>
	<!-- DontUse, ShowInfoOnly, AutoUpdate, AutoUpdateAndShowInfo -->
	<AutoHeightAngle>DontUse</AutoHeightAngle>
	<!-- None, RawUserDepth, BodyTexture, UserTexture, CutOutTexture -->
	<ComputeUserMap>RawUserDepth</ComputeUserMap>
	<ComputeColorMap>true</ComputeColorMap>
	<ComputeInfraredMap>false</ComputeInfraredMap>
	<DisplayUserMap>false</DisplayUserMap>
	<DisplayColorMap>false</DisplayColorMap>
	<DisplaySkeletonLines>false</DisplaySkeletonLines>
	<DisplayMapsWidthPercent>20</DisplayMapsWidthPercent>
	<UseMultiSourceReader>true</UseMultiSourceReader>
	<MinUserDistance>0.5</MinUserDistance>
	<MaxUserDistance>0</MaxUserDistance>
	<MaxLeftRightDistance>0</MaxLeftRightDistance>
	<MaxTrackedUsers>6</MaxTrackedUsers>
	<ShowTrackedUsersOnly>true</ShowTrackedUsersOnly>
	<!-- Appearance, Distance, LeftToRight -->
	<UserDetectionOrder>Appearance</UserDetectionOrder>
	<IgnoreInferredJoints>false</IgnoreInferredJoints>
	<IgnoreZCoordinates>false</IgnoreZCoordinates>
	<LateUpdateAvatars>false</LateUpdateAvatars>
	<SkipRemoteAvatars>false</SkipRemoteAvatars>
	<!-- None, Default, Light, Medium, Aggressive -->
	<Smoothing>Default</Smoothing>
	<UseBoneOrientationConstraints>false</UseBoneOrientationConstraints>
	<EstimateJointVelocities>false</EstimateJointVelocities>
	<!-- None, Default, Light, Medium, Aggressive -->
	<VelocitySmoothing>Light</VelocitySmoothing>
	<AllowTurnArounds>false</AllowTurnArounds>
	<!-- None, Default, All -->
	<AllowedHandRotations>Default</AllowedHandRotations>
	<WaitTimeBeforeRemove>1</WaitTimeBeforeRemove>
	<!-- None = 0,RaiseRightHand, RaiseLeftHand, Psi, Tpose,
		 Stop, Wave, Click, SwipeLeft, SwipeRight, SwipeUp,
		 SwipeDown, RightHandCursor, LeftHandCursor, ZoomIn, Wheel,
		 Jump, Squat, Push, Pull, ShoulderLeftFront, ShoulderRightFront,
		 LeanLeft, LeanRight, LeanForward, LeanBack, KickLeft, KickRight, Run,
         RaisedRightHorizontalLeftHand,   // by Andrzej W
         RaisedLeftHorizontalRightHand, 
		 UserGesture1 = 101,
		 UserGesture2 = 102,
		 UserGesture3 = 103,
		 UserGesture4 = 104,
		 UserGesture5 = 105,
		 UserGesture6 = 106,
		 UserGesture7 = 107,
		 UserGesture8 = 108,
		 UserGesture9 = 109,
		 UserGesture10 = 110,
	-->
	<PlayerCalibrationPose>None</PlayerCalibrationPose>
	<MinTimeBetweenGestures>0.7</MinTimeBetweenGestures>
</root>

KinectConfig.cs

// 与kinect.xml对应
public static class KinectConfig
{
    public static float SensorHeight { get; private set; }
    public static float SensorAngle { get; private set; }
    public static bool ComputeColorMap { get; private set; }
    public static bool ComputeInfraredMap { get; private set; }
    public static bool DisplayUserMap { get; private set; }
    public static bool DisplayColorMap { get; private set; }
    public static bool DisplaySkeletonLines { get; private set; }
    public static float DisplayMapsWidthPercent { get; private set; }
    public static bool UseMultiSourceReader { get; private set; }
    public static float MinUserDistance { get; private set; }
    public static float MaxUserDistance { get; private set; }
    public static float MaxLeftRightDistance { get; private set; }
    public static int MaxTrackedUsers { get; private set; }
    public static bool ShowTrackedUsersOnly { get; private set; }
    public static bool IgnoreInferredJoints { get; private set; }
    public static bool IgnoreZCoordinates { get; private set; }
    public static bool LateUpdateAvatars { get; private set; }
    public static bool SkipRemoteAvatars { get; private set; }
    public static bool UseBoneOrientationConstraints { get; private set; }
    public static bool EstimateJointVelocities { get; private set; }
    public static bool AllowTurnArounds { get; private set; }
    public static float WaitTimeBeforeRemove { get; private set; }
    public static float MinTimeBetweenGestures { get; private set; }

    public static KinectManager.AutoHeightAngle AutoHeightAngle = KinectManager.AutoHeightAngle.DontUse;
    public static KinectManager.UserMapType ComputeUserMap = KinectManager.UserMapType.RawUserDepth;
    public static KinectManager.UserDetectionOrder UserDetectionOrder = KinectManager.UserDetectionOrder.Appearance;
    public static KinectManager.Smoothing Smoothing = KinectManager.Smoothing.Default;
    public static KinectManager.Smoothing VelocitySmoothing = KinectManager.Smoothing.Light;
    public static KinectManager.AllowedRotations AllowedHandRotations = KinectManager.AllowedRotations.Default;
    public static KinectGestures.Gestures PlayerCalibrationPose;

    public static bool Done { get; private set; }

    // 加载配置
    public static void Load(string path)
    {
        if (!File.Exists(path))
        {
            Debug.LogErrorFormat("Not found: {0}", path);
            return;
        }
        XmlDocument xml = new XmlDocument();
        xml.Load(path);
        Parse(xml);
    }

    // 读入配置到kinect
    public static void Read(KinectManager kinect)
    {
        if (kinect == null)
        {
            Debug.Log("[KinectConfig] Read(null)");
            return;
        }

        if (!Done)
        {
            Debug.Log("[KinectConfig] Unparse completion");
            return;
        }

        kinect.sensorHeight = SensorHeight;
        kinect.sensorAngle = SensorAngle;
        kinect.computeColorMap = ComputeColorMap;
        kinect.computeInfraredMap = ComputeInfraredMap;
        kinect.displayUserMap = DisplayUserMap;
        kinect.displayColorMap = DisplayColorMap;
        kinect.displaySkeletonLines = DisplaySkeletonLines;
        kinect.DisplayMapsWidthPercent = DisplayMapsWidthPercent;
        kinect.useMultiSourceReader = UseMultiSourceReader;
        kinect.minUserDistance = MinUserDistance;
        kinect.maxUserDistance = MaxUserDistance;
        kinect.maxLeftRightDistance = MaxLeftRightDistance;
        kinect.maxTrackedUsers = MaxTrackedUsers;
        kinect.showTrackedUsersOnly = ShowTrackedUsersOnly;
        kinect.ignoreInferredJoints = IgnoreInferredJoints;
        kinect.ignoreZCoordinates = IgnoreZCoordinates;
        kinect.lateUpdateAvatars = LateUpdateAvatars;
        kinect.skipRemoteAvatars = SkipRemoteAvatars;
        kinect.useBoneOrientationConstraints = UseBoneOrientationConstraints;
        kinect.estimateJointVelocities = EstimateJointVelocities;
        kinect.allowTurnArounds = AllowTurnArounds;
        kinect.waitTimeBeforeRemove = WaitTimeBeforeRemove;
        kinect.minTimeBetweenGestures = MinTimeBetweenGestures;
        kinect.autoHeightAngle = AutoHeightAngle;
        kinect.computeUserMap = ComputeUserMap;
        kinect.userDetectionOrder = UserDetectionOrder;
        kinect.smoothing = Smoothing;
        kinect.velocitySmoothing = VelocitySmoothing;
        kinect.allowedHandRotations = AllowedHandRotations;
        kinect.playerCalibrationPose = PlayerCalibrationPose;
    }

    // 解析配置
    private static void Parse(XmlDocument xml)
    {
        Type type = Type.GetType("KinectConfig");

        XmlNode root = xml.SelectSingleNode("/root");
        XmlNodeList childList = root.ChildNodes;
        for (int i = 0; i < childList.Count; i++)
        {
            XmlNode node = childList.Item(i);
            if (node.NodeType == XmlNodeType.Comment) //跳过XML中的注释
                continue;

            string text = node.InnerText;
            PropertyInfo property = type.GetProperty(node.Name);
            FieldInfo field = type.GetField(node.Name);
            if (property == null && field == null)
            {
                Debug.LogErrorFormat("[KinectConfig] Parse Error, node.Name={0}, MemberType={1}", node.Name, type.MemberType);
                continue;
            }

            if (property != null)
            {
                bool IsInt = property.PropertyType == typeof(int);
                bool IsFloat = property.PropertyType == typeof(float);
                bool IsBool = property.PropertyType == typeof(bool);
                if (IsInt)
                    property.SetValue(null, int.Parse(text));
                else if (IsFloat)
                    property.SetValue(null, float.Parse(text));
                else if (IsBool)
                    property.SetValue(null, bool.Parse(text));
            }

            if (field != null)
            {
                if (field.FieldType.IsEnum)
                {
                    System.Object obj = Enum.Parse(field.FieldType, text);
                    field.SetValue(null, obj);
                }
            }
        }
        Done = true;
        Debug.Log(ToString());
    }

    public static string ToString()
    {
        StringBuilder sb = new StringBuilder();
        sb.Append("Kinect配置信息\n\n<color=blue>");

        Type type = Type.GetType("KinectConfig");
        PropertyInfo[] propertyInfos = type.GetProperties();
        for (int i=0; i< propertyInfos.Length; i++)
        {
            PropertyInfo p = propertyInfos[i];
            sb.AppendFormat("{0}={1}\n", p.Name, p.GetValue(null));
        }
        FieldInfo[] fieldInfos = type.GetFields();
        for (int i = 0; i < fieldInfos.Length; i++)
        {
            FieldInfo p = fieldInfos[i];
            sb.AppendFormat("{0}={1}\n", p.Name, p.GetValue(null));
        }

        sb.Append("</color>");
        return sb.ToString();
    }
}

»打包发布

注意：需要手动将kinect相关的dll从工程目录拷到发布目录下。

标签: Unity3d