public Quaternion ConvertRawKinectRotation(OpenNI.SkeletonJointOrientation rotation)
{
Vector3 up = new Vector3(rotation.Y1, rotation.Y2, rotation.Y3);
Vector3 forward = new Vector3(rotation.Z1, rotation.Z2, rotation.Z3);
if (up == Vector3.zero || forward == Vector3.zero)
{
return(Quaternion.identity);
}
Quaternion newRotation = Quaternion.LookRotation(forward, up);
newRotation.x = -newRotation.x;
newRotation.y = -newRotation.y;
return(newRotation);
}
public Quaternion ConvertKinectRotation(OpenNI.SkeletonJointOrientation rotation)
{
Vector3 up = new Vector3(rotation.Y1, rotation.Y2, rotation.Y3);
Vector3 forward = new Vector3(rotation.Z1, rotation.Z2, rotation.Z3);
if (up == Vector3.zero || forward == Vector3.zero)
{
return(Quaternion.identity);
}
Quaternion newRotation = Quaternion.LookRotation(forward, up);
newRotation.x = -newRotation.x;
newRotation.y = -newRotation.y;
newRotation = Quaternion.Euler(0, yawOffset, 0) * newRotation;
//if (applyKinectToRUIS) result *= kinectYaw;
return(newRotation);
}
