/// <summary>
/// Build a skeleton according to the markers
/// </summary>
/// <param name="markerData">A list of markers </param>
/// <returns>A complete skeleton</returns>
public BipedSkeleton SolveSkeleton(List<Marker> markerData)
{
if ( skeleton == null
|| skeletonBuffer == null
|| mp == null
|| joints == null
|| ikApplier == null)
{
skeleton = new BipedSkeleton();
skeletonBuffer = new BipedSkeleton();
MarkersNames markersMap;
mp = new MarkersPreprocessor(markerData, out markersMap, bodyPrefix: MarkerPrefix); ;
joints = new JointLocalization(markersMap);
ikApplier = new IKApplier(skeleton);
}
Dictionary<string, OpenTK.Vector3> markers;
mp.ProcessMarkers(markerData, out markers, MarkerPrefix);
var temp = skeleton;
skeleton = skeletonBuffer;
skeletonBuffer = temp;
joints.GetJointLocation(markers, ref skeleton);
ikApplier.Interpolation = Interpolation;
if (SolveWithIK) ikApplier.ApplyIK(ref skeleton);
return skeleton;
}
/// <summary>
/// Build a skeleton according to the markers
/// </summary>
/// <param name="markerData">A list of markers </param>
/// <returns>A complete skeleton</returns>
public BipedSkeleton SolveSkeleton(List <LabeledMarker> markerData)
{
if (skeleton == null ||
skeletonBuffer == null ||
mp == null ||
joints == null ||
ikApplier == null)
{
skeleton = new BipedSkeleton();
skeletonBuffer = new BipedSkeleton();
MarkersNames markersMap;
mp = new MarkersPreprocessor(markerData, out markersMap, bodyPrefix: MarkerPrefix);;
joints = new JointLocalization(markersMap);
ikApplier = new IKApplier(skeleton);
}
Dictionary <string, OpenTK.Vector3> markers;
mp.ProcessMarkers(markerData, out markers, MarkerPrefix);
var temp = skeleton;
skeleton = skeletonBuffer;
skeletonBuffer = temp;
joints.GetJointLocation(markers, ref skeleton);
ikApplier.Interpolation = Interpolation;
if (SolveWithIK)
{
ikApplier.ApplyIK(ref skeleton);
}
return(skeleton);
}
/// <summary>
/// Build a skeleton according to the markers
/// </summary>
/// <param name="markerData">A list of markers </param>
/// <returns>A complete skeleton</returns>
public BipedSkeleton SolveSkeleton(List <Marker> markerData)
{
if (skeleton == null ||
skeletonBuffer == null ||
mp == null ||
joints == null ||
ikApplier == null)
{
skeleton = new BipedSkeleton();
skeletonBuffer = new BipedSkeleton();
MarkersNames markersMap;
mp = new MarkersPreprocessor(markerData, out markersMap, bodyPrefix: MarkerPrefix);
joints = new JointLocalization(markersMap);
ikApplier = new IKApplier(skeleton);
// Set segment tracking markers for virtual marker construction
st = new ŚegmentTracking(skeleton, markersMap, markerData);
}
var temp = skeleton;
skeleton = skeletonBuffer;
skeletonBuffer = temp;
Dictionary <string, OpenTK.Vector3> markers;
mp.UpdateMarkerList(markerData, out markers);
mp.ProcessMarkers(out markers);
joints.BodyData.Height = bodyHeight;
joints.BodyData.Mass = bodyMass;
joints.GetJointLocations(markers, ref skeleton);
// Try to reconstruct virtual markers
if (UseTrackingMarkers)
{
if (st.ProcessMarkers(skeleton, markerData, ref markers, MarkerPrefix))
{
mp.ProcessMarkers(out markers);
joints.GetJointLocations(markers, ref skeleton);
}
}
ikApplier.Interpolation = Interpolation;
if (SolveWithIK)
{
ikApplier.ApplyIK(ref skeleton);
}
return(skeleton);
}