public void loadTranslationsToSensors(TrackingPositionsData data)
{
for (int i = 0; i < TrackingManager.instance.KinectSensors.Length; i++)
{
Vector3[] arr = data.getCalibratedParams(i);
if (arr == null)
{
Debug.LogError("Translations is not yet calculated, please press calculate Translations on TrackingManager GameObject.");
return;
}
TrackingManager.instance.KinectSensors[i].CalibratedRotation = arr[0];
TrackingManager.instance.KinectSensors[i].CalibratedDirection = arr[1];
TrackingManager.instance.KinectSensors[i].CalibratedKinectsMiddlePoint = arr[2];
TrackingManager.instance.KinectSensors[i].CalibratedCorrectMiddlePoint = arr[3];
}
}
private void readTrackingData()
{
// Debug.Log(Application.dataPath + "/trackingData.json");
if (!File.Exists(Application.dataPath + "/StreamingAssets/trackingData.json"))
{
trackingData = new TrackingPositionsData(TrackingManager.instance.KinectSensors.Length, recordsNeeded);
}
else
{
using (StreamReader reader = new StreamReader(Application.dataPath + "/StreamingAssets/trackingData.json"))
{
string data = reader.ReadToEnd();
trackingData = JsonUtility.FromJson <TrackingPositionsData>(data);
recordsNeeded = trackingData.recordsNeeded;
if (trackingData.getPositionsCount(0) == 0 && trackingData.getPositionsCount(1) == 0 && trackingData.getPositionsCount(2) == 0)
{
trackingData.resetData();
}
}
}
loadTranslationsToSensors(trackingData);
if (drawCalibratedData)
{
List <Vector3> correctPosi = new List <Vector3>();
List <Vector3> kinectPosi = new List <Vector3>();
List <Vector3> calibratedPos = new List <Vector3>();
for (int i = 0; i < trackingData.kinectDevices; i++)
{
if (i != 0)
{
continue;
}
for (int j = 0; j < recordsNeeded; j++)
{
Vector3 kinecti = trackingData.getKinectPos(i, j);
Vector3 correcti = trackingData.getCorrectPos(i, j);
correctPosi.Add(correcti);
kinectPosi.Add(kinecti);
calibratedPos.Add(trackingData.getPredictedKinectPos(i, kinecti));
}
}
List <Vector3> newKinectPosi = new List <Vector3>();
for (int i = 0; i < kinectPosi.Count; i++)
{
// newKinectPosi.Add(TrackingManager.instance.KinectSensors[0].localPosToGlobal(kinectPosi[i]));
}
drawPoints("kinectPointsUpdated", newKinectPosi, Color.yellow);
//drawpoints("kinectpoints", kinectposi, color.blue);
drawPoints("HTCPoints", correctPosi, Color.red);
drawPoints("HTCPoints", calibratedPos, Color.green);
float dist = 0;
for (int i = 0; i < correctPosi.Count; i++)
{
dist += Vector3.Distance(correctPosi[i], calibratedPos[i]);
}
dist /= correctPosi.Count;
Debug.Log("Aprox. diff: " + Math.Round(dist * 10, 2) + " cm.");
}
}
