// Update the skeleton pose using the data from Kinect.
private void UpdateKinectSkeletonPose(Body body, SkeletonPose skeletonPose)
{
if (body == null || !body.IsTracked)
{
return;
}
for (int i = 0; i < skeletonPose.Skeleton.NumberOfBones; i++)
{
var joint = Bones[i].JointType;
if (body.Joints[joint].TrackingState != TrackingState.NotTracked)
{
// The joint position in "Kinect space".
var kinectPosition = body.Joints[joint].Position;
// Convert Kinect joint position to a Vector3.
// z is negated because in XNA the camera forward vectors is -z, but the Kinect
// forward vector is +z.
Vector3 position = new Vector3(kinectPosition.X, kinectPosition.Y, -kinectPosition.Z);
// Apply scale and offset.
position = position * Scale + Offset;
var orientation = Quaternion.Identity; // TODO: Use orientations of body.JointOrientations.
skeletonPose.SetBonePoseAbsolute(i, new SrtTransform(orientation, position));
}
}
}
/// <summary>
/// Updates the bone transforms of the skeleton pose, so that the bones match the ragdoll
/// bodies.
/// </summary>
/// <param name="skeletonPose">The skeleton pose that is modified.</param>
/// <exception cref="ArgumentNullException">
/// <paramref name="skeletonPose" /> is <see langword="null"/>.
/// </exception>
public void UpdateSkeletonFromBodies(SkeletonPose skeletonPose)
{
if (skeletonPose == null)
{
throw new ArgumentNullException("skeletonPose");
}
var skeleton = skeletonPose.Skeleton;
for (int i = 0; i < Bodies.Count && i < skeleton.NumberOfBones; i++)
{
var body = Bodies[i];
if (body == null)
{
continue;
}
Pose offset = (i < BodyOffsets.Count) ? BodyOffsets[i] : Pose.Identity;
Pose bonePoseAbsolute = Pose.Inverse * body.Pose * offset.Inverse;
skeletonPose.SetBonePoseAbsolute(i, bonePoseAbsolute);
}
}
private void UpdateKinectSkeletonPose(KinectSkeleton skeletonData, SkeletonPose skeletonPose)
{
if (skeletonData == null)
{
return;
}
// Update the skeleton pose using the data from Kinect.
for (int i = 0; i < skeletonPose.Skeleton.NumberOfBones; i++)
{
var joint = (JointType)i;
if (skeletonData.Joints[joint].TrackingState != JointTrackingState.NotTracked)
{
// The joint position in "Kinect space".
SkeletonPoint kinectPosition = skeletonData.Joints[joint].Position;
// Convert Kinect joint position to a Vector3F.
// z is negated because in XNA the camera forward vectors is -z, but the Kinect
// forward vector is +z.
Vector3F position = new Vector3F(kinectPosition.X, kinectPosition.Y, -kinectPosition.Z);
// Apply scale and offset.
position = position * Scale + Offset;
var orientation = QuaternionF.Identity;
// Optional:
// The newer Kinect SDKs also compute bone orientations. We do not need these values
// because the current samples use only the joint positions to derive bone rotations.
//if (joint != JointType.HipCenter) // Motion retargeting seems to work better if the hip center bone is not rotated.
//{
// orientation = GetBoneOrientation(skeletonData, skeletonPose, i);
//}
skeletonPose.SetBonePoseAbsolute(i, new SrtTransform(orientation, position));
}
}
}
private void UpdateKinectSkeletonPose(KinectSkeleton skeletonData, SkeletonPose skeletonPose)
{
if (skeletonData == null)
return;
// Update the skeleton pose using the data from Kinect.
for (int i = 0; i < skeletonPose.Skeleton.NumberOfBones; i++)
{
var joint = (JointType)i;
if (skeletonData.Joints[joint].TrackingState != JointTrackingState.NotTracked)
{
// The joint position in "Kinect space".
SkeletonPoint kinectPosition = skeletonData.Joints[joint].Position;
// Convert Kinect joint position to a Vector3F.
// z is negated because in XNA the camera forward vectors is -z, but the Kinect
// forward vector is +z.
Vector3F position = new Vector3F(kinectPosition.X, kinectPosition.Y, -kinectPosition.Z);
// Apply scale and offset.
position = position * Scale + Offset;
skeletonPose.SetBonePoseAbsolute(i, new SrtTransform(QuaternionF.Identity, position));
}
}
}
// Update the skeleton pose using the data from Kinect.
private void UpdateKinectSkeletonPose(Body body, SkeletonPose skeletonPose)
{
if (body == null || !body.IsTracked)
return;
for (int i = 0; i < skeletonPose.Skeleton.NumberOfBones; i++)
{
var joint = Bones[i].JointType;
if (body.Joints[joint].TrackingState != TrackingState.NotTracked)
{
// The joint position in "Kinect space".
var kinectPosition = body.Joints[joint].Position;
// Convert Kinect joint position to a Vector3F.
// z is negated because in XNA the camera forward vectors is -z, but the Kinect
// forward vector is +z.
Vector3F position = new Vector3F(kinectPosition.X, kinectPosition.Y, -kinectPosition.Z);
// Apply scale and offset.
position = position * Scale + Offset;
var orientation = QuaternionF.Identity; // TODO: Use orientations of body.JointOrientations.
skeletonPose.SetBonePoseAbsolute(i, new SrtTransform(orientation, position));
}
}
}
/// <summary>
/// Updates the bone transforms of the skeleton pose, so that the bones match the ragdoll
/// bodies.
/// </summary>
/// <param name="skeletonPose">The skeleton pose that is modified.</param>
/// <exception cref="ArgumentNullException">
/// <paramref name="skeletonPose" /> is <see langword="null"/>.
/// </exception>
public void UpdateSkeletonFromBodies(SkeletonPose skeletonPose)
{
if (skeletonPose == null)
throw new ArgumentNullException("skeletonPose");
var skeleton = skeletonPose.Skeleton;
for (int i = 0; i < Bodies.Count && i < skeleton.NumberOfBones; i++)
{
var body = Bodies[i];
if (body == null)
continue;
Pose offset = (i < BodyOffsets.Count) ? BodyOffsets[i] : Pose.Identity;
Pose bonePoseAbsolute = Pose.Inverse * body.Pose * offset.Inverse;
skeletonPose.SetBonePoseAbsolute(i, bonePoseAbsolute);
}
}
