private void TakeSample()
{
OpenNI.SkeletonJointPosition jointPosition;
bool success = kinectSelection.GetPlayer(0).GetSkeletonJointPosition(OpenNI.SkeletonJoint.RightHand, out jointPosition);
timeSinceLastSample += Time.deltaTime;
//check if we should take sample
if (!success ||
!psMoveWrapper.sphereVisible[calibratingPSMoveControllerId] ||
psMoveWrapper.handleVelocity[calibratingPSMoveControllerId].magnitude >= 10.0f ||
jointPosition.Confidence <= 0.5 ||
timeSinceLastSample < timeBetweenSamples)
{
return;
}
rawPSMoveSamples.Add(psMoveWrapper.handlePosition[calibratingPSMoveControllerId]);
psMoveSamples.Add(coordinateSystem.ConvertMovePosition(psMoveWrapper.handlePosition[calibratingPSMoveControllerId]));
kinectSamples.Add(coordinateSystem.ConvertKinectPosition(jointPosition.Position));
numberOfSamplesTaken++;
timeSinceLastSample = 0;
calibrationSpheres.Add(Instantiate(calibrationSphere, coordinateSystem.ConvertKinectPosition(jointPosition.Position), Quaternion.identity) as GameObject);
}
private void updateKinectFloorData()
{
if (coordinateSystem)
{
coordinateSystem.ResetKinectFloorNormal();
coordinateSystem.ResetKinectDistanceFromFloor();
OpenNI.Plane3D floor = sceneAnalyzer.Floor;
Vector3 newFloorNormal = new Vector3(floor.Normal.X, floor.Normal.Y, floor.Normal.Z).normalized;
Vector3 newFloorPosition = coordinateSystem.ConvertKinectPosition(floor.Point);
//Project the position of the kinect camera onto the floor
//http://en.wikipedia.org/wiki/Point_on_plane_closest_to_origin
//http://en.wikipedia.org/wiki/Plane_(geometry)
float d = newFloorNormal.x * newFloorPosition.x + newFloorNormal.y * newFloorPosition.y + newFloorNormal.z * newFloorPosition.z;
Vector3 closestFloorPointToKinect = new Vector3(newFloorNormal.x, newFloorNormal.y, newFloorNormal.z);
closestFloorPointToKinect = (closestFloorPointToKinect * d) / closestFloorPointToKinect.sqrMagnitude;
//transform the point from Kinect's coordinate system rotation to Unity's rotation
closestFloorPointToKinect = Quaternion.FromToRotation(newFloorNormal, Vector3.up) * closestFloorPointToKinect;
//floorPlane.transform.position = closestFloorPointToKinect;
coordinateSystem.SetKinectFloorNormal(newFloorNormal);
//floorNormal = newFloorNormal.normalized;
coordinateSystem.SetKinectDistanceFromFloor(closestFloorPointToKinect.magnitude);
//if(!usingExistingSceneAnalyzer)
// sceneAnalyzer.StopGenerating();
}
}
private void UpdateRootData(int player)
{
OpenNI.SkeletonJointTransformation data;
if (!playerManager.GetPlayer(player).GetSkeletonJoint(OpenNI.SkeletonJoint.Torso, out data))
{
return;
}
Vector3 newRootPosition = coordinateSystem.ConvertKinectPosition(data.Position.Position);
newRootPosition = Vector3.Scale(newRootPosition, rootSpeedScaling);
skeletons[player].root.position = newRootPosition;
skeletons[player].root.positionConfidence = data.Position.Confidence;
skeletons[player].root.rotation = coordinateSystem.ConvertKinectRotation(data.Orientation);
skeletons[player].root.rotationConfidence = data.Orientation.Confidence;
}
