public static Vector2 JointPostoDepthPos(Vector3 JointPos, DepthInfo depthInfo)
{
if (depthInfo.EnableCoordinate == false)
{
return(new Vector2(0, 0));
}
double depthX = (JointPos.x / JointPos.z - depthInfo.JointDepthXFix) * depthInfo.JointDepthXMult;
double depthY = (JointPos.y / JointPos.z - depthInfo.JointDepthYFix) * depthInfo.JointDepthYMult;
if (depthX > 1)
{
depthX = 1;
}
else if (depthX < -1)
{
depthX = -1;
}
if (depthY > 1)
{
depthY = 1;
}
else if (depthY < -1)
{
depthY = -1;
}
depthX += 1;
depthY += 1;
return(new Vector2((int)(depthX * depthInfo.Width / 2), (int)(depthInfo.Height - (depthY * depthInfo.Width / 2))));
}
internal DepthData(short[] data, DepthInfo info)
{
this.FrameData = new ushort[data.Length];
int index = 0;
foreach (short value in data)
{
this.FrameData[index] = (ushort)value;
index++;
}
this.Description = info;
}
internal NuiSensor(NuiApplication nuiApp, string name, string company, int id, SensorState state,
int colorFrameWidth, int colorFrameHeight, int colorbpp, int depthFrameWidth, int depthFrameHeight, int depthbpp, int maxTrackingbody)
{
this.ColorFrameAuthority = false;
this.DepthFrameAuthority = false;
this.BodyFrameAuthority = false;
this._app = nuiApp;
this.Name = name;
this.Vendor = company;
this.Id = id;
this.State = state;
bool EnableCoordinate = false;
double JointDepthXMult = 0;
double JointDepthXFix = 0;
double JointDepthYMult = 0;
double JointDepthYFix = 0;
double DepthToJointZMult = 0;
//나중엔 uID 로 처리하던가 해야함.
switch (name)
{
case "Kinect":
EnableCoordinate = true;
JointDepthXMult = 1.85;
JointDepthXFix = 0;
JointDepthYMult = 1.9;
JointDepthYFix = 0.13;
DepthToJointZMult = 0.00123;
break;
case "Kinect2":
EnableCoordinate = true;
JointDepthXMult = 1.5;
JointDepthXFix = 0;
JointDepthYMult = 1.45;
JointDepthYFix = 0.085;
DepthToJointZMult = 0.00107;
break;
}
ColorInfo = new ColorInfo(colorFrameWidth, colorFrameHeight, colorbpp);
if (EnableCoordinate)
{
DepthInfo = new DepthInfo(depthFrameWidth, depthFrameHeight, short.MinValue, short.MaxValue, depthbpp,
EnableCoordinate,
JointDepthXMult, JointDepthXFix, JointDepthYMult, JointDepthYFix,
DepthToJointZMult);
}
else
{
DepthInfo = new DepthInfo(depthFrameWidth, depthFrameHeight, short.MinValue, short.MaxValue, depthbpp);
}
BodyInfo = new BodyInfo(maxTrackingbody);
}
