void Update() { if (_KinectSensor != null) { if (_KinectSensor.RawDepthImage != null) { short[] depthImage = _KinectSensor.RawDepthImage; System.Buffer.BlockCopy(depthImage, 0, _DepthRawData, 0, _DepthRawData.Length); // _PointCloudRenderer.UpdateColorTexture(_KinectSensor.TransformedColorImage); _PointCloudRenderer.UpdateDepthTexture(_DepthRawData); } System.Numerics.Vector3 accel = _KinectSensor.ImuSample.AccelerometerSample; if (LowPassFilter) { _Accel[0] = accel.X; _Accel[1] = accel.Y; _Accel[2] = accel.Z; _LowPassFilter.Apply(_Accel, ref _AccelOut); accel.X = _AccelOut[0]; accel.Y = _AccelOut[1]; accel.Z = _AccelOut[2]; } UnityEngine.Vector3 kinectOrientation = OrientationEstimator.EstimateForAzureKinect(accel); this.transform.eulerAngles = kinectOrientation; } }
void Update() { _KinectSensor = _AzureKinectManager.SensorList[_DeviceNumber]; if (_KinectSensor != null) { if (_KinectSensor.RawDepthImage != null) { short[] depthImage = _KinectSensor.RawDepthImage; System.Buffer.BlockCopy(depthImage, 0, _DepthRawData, 0, _DepthRawData.Length); _PointCloudRenderer.UpdateColorTexture(_KinectSensor.TransformedColorImage); _PointCloudRenderer.UpdateDepthTexture(_DepthRawData); } } }