// saves the adjusted camera pose to multi-cam config
public void SaveMultiCamAdjustedPose()
{
// adjust the sensor rotation
for (int i = 1; i < numSensors; i++)
{
Vector3 adjustedRot = sensorRotTransform[i] + sensorRotAdjust[i];
multiCamPose.camPose[i].rotation = Quaternion.Euler(adjustedRot).eulerAngles;
Vector3 adjustedPos = sensorPosTransform[i] + sensorPosAdjust[i];
multiCamPose.camPose[i].position = adjustedPos;
}
// save the multi-camera config
string multiCamJson = JsonUtility.ToJson(multiCamPose, true);
KinectInterop.SaveTextFile(KinectInterop.MULTI_CAM_CONFIG_FILE_NAME, multiCamJson);
if (camInfoText != null)
{
camInfoText.text = "Saved the adjusted multi-camera configuration.";
}
}
// periodically estimates the camera poses
private IEnumerator EstimateCameraPoses()
{
while (!bStopCoroutine)
{
bool bSingleUser = CheckForSingleUser();
int numSamples = 0;
if (kinectManager && kinectManager.IsInitialized() && numSensors > 1 && bSingleUser)
{
for (int i = 0; i < numSensors; i++)
{
KinectInterop.SensorData sensorData = kinectManager.GetSensorData(i);
if (i == 0)
{
// first camera
Transform sensorTrans = kinectManager.GetSensorTransform(0);
refCameraPos = sensorTrans.position;
refCameraRot = sensorTrans.rotation;
// src camera matrix
srcCameraMatrix = Matrix4x4.TRS(refCameraPos, refCameraRot, Vector3.one);
// src user pose
if (GetUserPose(sensorData, playerIndex, ref refUserPos, ref refUserRot))
{
// src user matrix
srcUserMatrix = Matrix4x4.TRS(refUserPos, refUserRot, Vector3.one);
// save current camera pose
SaveSensorPose(i, refCameraPos, refCameraRot);
}
}
else
{
// other camera
if (GetUserPose(sensorData, playerIndex, ref userBodyPos, ref userBodyRot))
{
// dst user matrix
Matrix4x4 dstUserMatrix = Matrix4x4.TRS(userBodyPos, userBodyRot, Vector3.one);
// dst camera matrix
Matrix4x4 dstCameraMatrix = srcCameraMatrix * srcUserMatrix * dstUserMatrix.inverse;
// est camera position & rotation
Vector3 estCameraPos = dstCameraMatrix.GetColumn(3);
Quaternion estCameraRot = dstCameraMatrix.rotation;
// save current camera pose
SaveSensorPose(i, estCameraPos, estCameraRot);
}
}
}
System.DateTime dtNow = System.DateTime.UtcNow;
multiCamPose.estimatedAtTime = dtNow.Ticks;
multiCamPose.estimatedDateTime = dtNow.ToShortDateString() + " " + dtNow.ToShortTimeString();
// show progress
numSamples = GetNumberOfSamples();
float fProgress = (float)numSamples / (float)MAX_SAVED_POSES;
if (progressBar != null)
{
progressBar.size = fProgress;
}
if (progressText != null)
{
progressText.text = string.Format("{0:F0}%", fProgress * 100f);
}
// show sensor info
ShowCamPosesInfo(fProgress);
}
if (numSensors > 1 && !bSingleUser)
{
if (camInfoText != null)
{
camInfoText.text = "Only one person should stay visible to all sensors until the calibration completes.";
}
}
if (numSamples < MAX_SAVED_POSES)
{
// wait between samples
yield return(new WaitForSeconds(TIME_BETWEEN_PROBES));
}
else
{
// save the multi-camera config
string multiCamJson = JsonUtility.ToJson(multiCamPose, true);
KinectInterop.SaveTextFile(KinectInterop.MULTI_CAM_CONFIG_FILE_NAME, multiCamJson);
if (camInfoText != null)
{
camInfoText.text = "Saved multi-camera configuration. Calibration finished!";
}
yield break;
}
}
}
// takes multiple samples and auto-calibrates the cameras
private IEnumerator AutoCalibrateCameras()
{
if (countdown != null && countdown.Length > 0)
{
for (int i = 0; i < countdown.Length; i++)
{
if (countdown[i])
{
countdown[i].gameObject.SetActive(true);
}
yield return(new WaitForSeconds(1f));
if (countdown[i])
{
countdown[i].gameObject.SetActive(false);
}
}
}
else
{
// wait for 3 seconds
yield return(new WaitForSeconds(3f));
}
while (!bStopCoroutine)
{
bool bSingleUser = CheckForSingleUser(false);
int numSamples = 0;
float lastUserTime = CheckForSameUserTime();
//Debug.Log("SingleUser: "******", LastUserTime: " + lastUserTime + ", ProcUserTime: " + lastProcUserTime);
if (kinectManager && kinectManager.IsInitialized() && numSensors > 1 && // bSingleUser &&
lastUserTime != 0f && lastUserTime != lastProcUserTime)
{
lastProcUserTime = lastUserTime;
for (int i = 0; i < numSensors; i++)
{
KinectInterop.SensorData sensorData = kinectManager.GetSensorData(i);
if (i == 0)
{
SaveSensorPose(i, refCameraPos, refCameraRot, ref userBodyPose[i]);
}
else
{
GetEstCameraPose(i, out Vector3 estCamPos, out Quaternion estCamRot);
SaveSensorPose(i, estCamPos, estCamRot, ref userBodyPose[i]);
}
}
System.DateTime dtNow = System.DateTime.UtcNow;
multiCamPose.estimatedAtTime = dtNow.Ticks;
multiCamPose.estimatedDateTime = dtNow.ToShortDateString() + " " + dtNow.ToShortTimeString();
// show progress
numSamples = GetNumberOfSamples();
float fProgress = (float)numSamples / (float)maxSavedSamples;
if (progressBar != null)
{
progressBar.size = fProgress;
}
if (progressText != null)
{
progressText.text = string.Format("{0:F0}%", fProgress * 100f);
}
// show sensor info
ShowCamPosesInfo(fProgress);
}
if (numSensors > 1 && !bSingleUser)
{
if (camInfoText != null)
{
camInfoText.text = "Only one person should stay visible to all sensors until the calibration completes.";
}
}
if (numSamples < maxSavedSamples)
{
// wait between samples
yield return(new WaitForSeconds(TIME_BETWEEN_PROBES));
}
else
{
// save the multi-camera config
string multiCamJson = JsonUtility.ToJson(multiCamPose, true);
KinectInterop.SaveTextFile(KinectInterop.MULTI_CAM_CONFIG_FILE_NAME, multiCamJson);
if (camInfoText != null)
{
camInfoText.text = "Saved multi-camera configuration. Calibration finished!\nFeel free to manually adjust the sensor poses, if needed.\nUse Alt+mouse drag to orbit around the subject.";
}
// show the manual adjustment panel
ShowUpdatePanel();
yield break;
}
}
}
