private static Quaternion ConvertKinectQ(K4AdotNet.Quaternion q)
{
// Kinect coordinate system for rotations seems to be
// left-handed Y+ up, Z+ towards camera
// So apply 180 rotation around Y to align with Unity coords (Z away from camera)
return(Quaternion.AngleAxis(180, Vector3.up) * new Quaternion(q.X, q.Y, q.Z, q.W));
}
private static Quaternion ConvertKinectQ(K4AdotNet.Quaternion q)
{
// Convert to Unity coordinates (right-handed Y down to left-handed Y up)
// https://docs.microsoft.com/en-us/azure/Kinect-dk/coordinate-systems
// https://gamedev.stackexchange.com/questions/157946/converting-a-quaternion-in-a-right-to-left-handed-coordinate-system
return(new Quaternion(-q.X, q.Y, -q.Z, q.W));
}
