private void UpdateFromBuffer()
{
// The buffer is full
FastPoseFrame receivedFrame = new FastPoseFrame(this.MessageBuffer);
OnSync?.Invoke(this, new OnSyncEventArgs(receivedFrame));
this.UpdateID = receivedFrame.ID;
if (this.UpdateID == STOP_CODE_ID)
{
// We won't be getting more!
Disconnect();
}
}
public void SyncFrom(FastPoseFrame pose)
{
for (int i = 0; i < AllJoints.Length; i++)
{
AllJoints[i].transform.position = this.Image2World(pose.GetPosition(i));
if (pose.GetConfidence(i) < ConfidenceThreshold)
{
AllJoints[i].SetActive(false);
}
else
{
AllJoints[i].SetActive(true);
}
}
}
private void UpdateCurrentPose(FastPoseFrame syncData)
{
Vector2[] prevPositions = new Vector2[NumBones];
// Save all the previous positions in local space
for (int i = 0; i < NumBones - 1; i++)
{
// parent + "local" position = "global" position
prevPositions[i] = currentRawPositions[i] - currentRawPositions[(int)jointParents[i]];
}
for (int i = 0; i < FastPoseFrame.NUM_KEYPOINTS; i++)
{
float score = syncData.GetConfidence(i);
if (score < ConfidenceThreshold)
{
// We probably can't see this joint. Use the same local position, with the parent's
// new global position
currentRawPositions[i] = currentRawPositions[(int)jointParents[i]] + prevPositions[i];
}
else
{
// We see this joint! Update with data from the frame
if (currentScores[i] > ConfidenceThreshold)
{
// We saw it before, smooth the two together
currentRawPositions[i] = Vector2.Lerp(currentRawPositions[i], syncData.GetWorldPosition(i), SmoothingFactor);
}
else
{
// We didn't see it before, use only new data
currentRawPositions[i] = syncData.GetWorldPosition(i);
}
}
currentScores[i] = score;
}
// Estimate the "root" position too as just the average of the hips/shoulders
currentRawPositions[(int)ESSDJointName.ROOT] = (
currentRawPositions[(int)ESSDJointName.RIGHT_SHOULDER] +
currentRawPositions[(int)ESSDJointName.LEFT_SHOULDER] +
currentRawPositions[(int)ESSDJointName.RIGHT_HIP] +
currentRawPositions[(int)ESSDJointName.LEFT_HIP]
) / 4.0f;
currentScores[(int)ESSDJointName.ROOT] = 1.0f;
}
public OnSyncEventArgs(FastPoseFrame SyncData)
{
this.SyncData = SyncData;
}
