private void updateKinectFloorData()
{
if (coordinateSystem)
{
if (coordinateSystem.rootDevice == RUISDevice.Kinect_1)
{
coordinateSystem.ResetFloorNormal(RUISDevice.Kinect_1);
coordinateSystem.ResetDistanceFromFloor(RUISDevice.Kinect_1);
}
OpenNI.Plane3D floor;
try
{
floor = sceneAnalyzer.Floor;
}
catch (System.Exception e)
{
Debug.LogError(e.TargetSite + ": Failed to get OpenNI.SceneAnalyzer.Floor.");
return;
}
Vector3 newFloorNormal = new Vector3(floor.Normal.X, floor.Normal.Y, floor.Normal.Z).normalized;
Vector3 newFloorPosition = (new Vector3(floor.Point.X, floor.Point.Y, floor.Point.Z)) * RUISCoordinateSystem.kinectToUnityScale;
//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;
//floorPlane.transform.position = closestFloorPointToKinect;
Quaternion kinectFloorRotator = Quaternion.FromToRotation(newFloorNormal, Vector3.up);
//transform the point from Kinect's coordinate system rotation to Unity's rotation
closestFloorPointToKinect = kinectFloorRotator * closestFloorPointToKinect;
if (float.IsNaN(closestFloorPointToKinect.magnitude))
{
closestFloorPointToKinect = Vector3.zero;
}
if (newFloorNormal.sqrMagnitude < 0.1f)
{
newFloorNormal = Vector3.up;
}
if (coordinateSystem.rootDevice == RUISDevice.Kinect_1)
{
coordinateSystem.SetFloorNormal(newFloorNormal, RUISDevice.Kinect_1);
coordinateSystem.SetDistanceFromFloor(closestFloorPointToKinect.magnitude, RUISDevice.Kinect_1);
}
Debug.Log("Updated Kinect floor normal " + newFloorNormal + " and floor distance (" + closestFloorPointToKinect.magnitude + ")");
}
}
private void UpdateFloorNormalAndDistance()
{
coordinateSystem.ResetFloorNormal(RUISDevice.Kinect_2);
Windows.Kinect.Vector4 kinect2FloorPlane = kinect2SourceManager.GetFlootClipPlane();
kinect2FloorNormal = new Vector3(kinect2FloorPlane.X, kinect2FloorPlane.Y, kinect2FloorPlane.Z);
kinect2FloorNormal.Normalize();
if (kinect2FloorNormal.sqrMagnitude < 0.1f)
{
kinect2FloorNormal = Vector3.up;
}
kinect2DistanceFromFloor = kinect2FloorPlane.W / Mathf.Sqrt(kinect2FloorNormal.sqrMagnitude);
if (float.IsNaN(kinect2DistanceFromFloor))
{
kinect2DistanceFromFloor = 0;
}
Quaternion kinect2FloorRotator = Quaternion.FromToRotation(kinect2FloorNormal, Vector3.up);
kinect2PitchRotation = Quaternion.Inverse(kinect2FloorRotator);
coordinateSystem.SetDistanceFromFloor(kinect2DistanceFromFloor, RUISDevice.Kinect_2);
coordinateSystem.SetFloorNormal(kinect2FloorNormal, RUISDevice.Kinect_2);
}
private void UpdateFloorNormalAndDistance()
{
coordinateSystem.ResetFloorNormal(RUISDevice.Kinect_2);
Windows.Kinect.Vector4 kinect2FloorPlane = kinect2SourceManager.GetFlootClipPlane();
kinect2FloorNormal = new Vector3(kinect2FloorPlane.X, kinect2FloorPlane.Y, kinect2FloorPlane.Z);
kinect2FloorNormal.Normalize();
if (kinect2FloorNormal.sqrMagnitude < 0.1f)
{
kinect2FloorNormal = Vector3.up;
}
kinect2DistanceFromFloor = kinect2FloorPlane.W / Mathf.Sqrt(kinect2FloorNormal.sqrMagnitude);
if (float.IsNaN(kinect2DistanceFromFloor))
{
kinect2DistanceFromFloor = 0;
}
// Quaternion kinect2FloorRotator = Quaternion.FromToRotation(kinect2FloorNormal, Vector3.up);
// kinect2PitchRotation = Quaternion.Inverse (kinect2FloorRotator);
coordinateSystem.SetDistanceFromFloor(kinect2DistanceFromFloor, RUISDevice.Kinect_2);
coordinateSystem.SetFloorNormal(kinect2FloorNormal, RUISDevice.Kinect_2);
OpenNI.Plane3D floor;
try{
floor = sceneAnalyzer.Floor;
}
catch (System.Exception e)
{
Debug.LogError(e.TargetSite + ": Failed to get OpenNI.SceneAnalyzer.Floor.");
return;
//throw e;
}
Quaternion kinectFloorRotator = Quaternion.identity;
kinect1FloorNormal = new Vector3(floor.Normal.X, floor.Normal.Y, floor.Normal.Z);
if (kinect1FloorNormal.sqrMagnitude < 0.1f)
{
kinect1FloorNormal = Vector3.up;
}
Vector3 floorPoint = new Vector3(floor.Point.X, floor.Point.Y, floor.Point.Z);
kinectFloorRotator = Quaternion.FromToRotation(kinect1FloorNormal, Vector3.up);
kinect1DistanceFromFloor = closestDistanceFromFloor(kinect1FloorNormal, floorPoint, RUISCoordinateSystem.kinectToUnityScale);
kinect1PitchRotation = Quaternion.Inverse(kinectFloorRotator);
}
private void UpdateFloorNormalAndDistance()
{
coordinateSystem.ResetFloorNormal(RUISDevice.Kinect_1);
OpenNI.Plane3D floor;
try{
floor = sceneAnalyzer.Floor;
}
catch (System.Exception e)
{
Debug.LogError(e.TargetSite + ": Failed to get OpenNI.SceneAnalyzer.Floor.");
kinectError = true;
return;
//throw e;
}
// Quaternion kinectFloorRotator = Quaternion.identity;
normalVector = new Vector3(floor.Normal.X, floor.Normal.Y, floor.Normal.Z);
if (normalVector.sqrMagnitude < 0.1f)
{
normalVector = Vector3.up;
}
Vector3 floorPoint = new Vector3(floor.Point.X, floor.Point.Y, floor.Point.Z);
// kinectFloorRotator = Quaternion.FromToRotation(normalVector, Vector3.up);
kinect1DistanceFromFloor = closestDistanceFromFloor(normalVector, floorPoint, RUISCoordinateSystem.kinectToUnityScale);
// kinect1PitchRotation = Quaternion.Inverse (kinectFloorRotator);
if (float.IsNaN(kinect1DistanceFromFloor))
{
kinect1DistanceFromFloor = 0;
}
coordinateSystem.SetDistanceFromFloor(kinect1DistanceFromFloor, RUISDevice.Kinect_1);
coordinateSystem.SetFloorNormal(normalVector, RUISDevice.Kinect_1);
}