// Unity apparently cannot deserialize arrays, so we had to do it manually
// TODO: Function only used once in Start, but maybe should be outside
public static RemoteJointList DeserializeRJL(string message)
{
string[] joints3D = message.Split(new string[] { "], [" }, StringSplitOptions.None);
joints3D[0] = joints3D[0].Substring(3);
joints3D[18] = joints3D[18].Split(']')[0];
List <List <double> > joints = new List <List <double> >();
for (int i = 0; i < 19; i++)
{
string[] joint = joints3D[i].Split(',');
List <double> dbl = new List <double> {
Convert.ToDouble(joint[0]), Convert.ToDouble(joint[1]), Convert.ToDouble(joint[2])
};
joints.Add(dbl);
}
RemoteJointList rjl = new RemoteJointList {
values = joints
};
return(rjl);
}
// Converts RemoteJointList pose to PoseData pose
public static PoseData Remote2PoseData(RemoteJointList rjl)
{
// format in lightweight-human-pose-estimation-3d-demo.pytorch
// Lightweight human pose estimation (https://github.com/Daniil-Osokin/lightweight-human-pose-estimation-3d-demo.pytorch) (Apache-2.0 License)
/*
* 0: Neck
* 1: Nose
* 2: BodyCenter(center of hips)
* 3: lShoulder
* 4: lElbow
* 5: lWrist,
* 6: lHip
* 7: lKnee
* 8: lAnkle
* 9: rShoulder
* 10: rElbow
* 11: rWrist
* 12: rHip
* 13: rKnee
* 14: rAnkle
* 15: rEye
* 16: lEye
* 17: rEar
* 18: lEar
*/
// format in Kinect Body Tracking SDK
// HipLeft 18 KneeLeft 19 AnkleLeft 20
// HipRight 22 KneeRight 23 AnkleRight 24
// ShoulderLeft 5
// ShoulderRight 12
// HipLeft 18 HipRight 22
// ElbowLeft 6 WristLeft 7
// ElbowRight 13 WristRight 14
// LeftEye 28
// RightEye 30
// Neck 3
// Nose 27
// Left Ear 29
// Right Ear 31
IDictionary <int, int> dict = new Dictionary <int, int>();
// map kinect keys to Pytorch keys
// in total 31 kinect and 18 Pytorch keys
dict.Add(18, 6);
dict.Add(19, 7);
dict.Add(20, 8);
dict.Add(22, 12);
dict.Add(23, 13);
dict.Add(24, 14);
dict.Add(5, 3);
dict.Add(12, 9);
dict.Add(6, 4);
dict.Add(7, 5);
dict.Add(13, 10);
dict.Add(14, 11);
dict.Add(28, 16);
dict.Add(30, 15);
dict.Add(3, 0);
dict.Add(27, 1);
dict.Add(29, 18);
dict.Add(31, 17);
JointData[] joint_data_received_array = new JointData[(int)JointId.Count];
Debug.Log(JsonUtility.ToJson(rjl));
List <List <double> > joint_data = rjl.values;
Debug.Log(joint_data);
float scaling = 10.0f;
for (JointId jt = 0; jt < JointId.Count; jt++)
{
if (dict.ContainsKey((int)jt))
{
int pytorch_index = dict[(int)jt];
List <double> jtd = joint_data[pytorch_index];
Debug.Log(jtd);
Vector3 v_rcv = new Vector3(scaling * (float)jtd[0], scaling * (float)jtd[1], scaling * (float)jtd[2]);
Quaternion r_rcv = new Quaternion(0, 0, 0, 0);
var joint_data_live = new JointData
{
Position = v_rcv,
Orientation = r_rcv
};
joint_data_received_array[(int)jt] = joint_data_live;
}
else
{ // just fill empty value as placeholder
Vector3 v_rcv = new Vector3(0, 0, 0);
Quaternion r_rcv = new Quaternion(0, 0, 0, 0);
var joint_data_live = new JointData
{
Position = v_rcv,
Orientation = r_rcv
};
joint_data_received_array[(int)jt] = joint_data_live;
}
}
PoseData received_data = new PoseData {
data = joint_data_received_array
};
return(received_data);
}
