protected void UpdateBones(HeadSensor sensor)
{
if (headTarget.head.target.confidence.position > KinectDevice.TrackingConfidence(KinectDevice.JointID.Head))
{
if (headTarget.humanoid.leftHandTarget.hand.target.confidence.position > KinectDevice.TrackingConfidence(KinectDevice.JointID.WristLeft) &&
headTarget.humanoid.rightHandTarget.hand.target.confidence.position > KinectDevice.TrackingConfidence(KinectDevice.JointID.WristRight))
{
CalibrateWithHeadAndHands();
}
else
{
CalibrateWithHead();
}
return;
}
//if (headTarget.head.target.confidence.rotation > 0) {
// headTarget.head.target.transform.rotation = Kinect2Tracker.SmoothRotation(headTarget.head.target.transform.rotation, sensor.head.rotation);
// headTarget.head.target.confidence.rotation = sensor.head.confidence.rotation;
// headTarget.head.target.transform.position = Kinect2Tracker.SmoothPosition(headTarget.head.target.transform.position, sensor.head.position);
// headTarget.head.target.confidence.position = sensor.head.confidence.position;
//}
//if (headTarget.neck.target.confidence.rotation > 0) {
// headTarget.neck.target.transform.rotation = Kinect2Tracker.SmoothRotation(headTarget.neck.target.transform.rotation, sensor.neck.rotation);
// headTarget.neck.target.confidence.rotation = sensor.neck.confidence.rotation;
// headTarget.neck.target.transform.position = Kinect2Tracker.SmoothPosition(headTarget.neck.target.transform.position, sensor.neck.position);
// headTarget.neck.target.confidence.position = sensor.neck.confidence.position;
//}
else
{
if (headTarget.neck.target.transform != null)
{
headTarget.neck.target.transform.position = Target.ToVector3(sensor.neck.position);
headTarget.neck.target.transform.rotation = Target.ToQuaternion(sensor.neck.rotation);
headTarget.neck.target.confidence = sensor.neck.confidence;
}
if (headTarget.head.target.transform != null)
{
headTarget.head.target.transform.position = Target.ToVector3(sensor.head.position);
headTarget.head.target.transform.rotation = Target.ToQuaternion(sensor.head.rotation);
headTarget.head.target.confidence = sensor.head.confidence;
}
if (rotationTrackingAxis == RotationTrackingAxis.XY)
{
headTarget.head.target.transform.rotation = Quaternion.LookRotation(headTarget.head.target.transform.rotation * Vector3.forward);
}
}
if (headTarget.virtual3d)
{
UpdateVirtual3D();
}
}
private void UpdateBones()
{
head.position = kinectDevice.GetTargetPosition(KinectDevice.JointID.Head);
head.confidence.position = KinectDevice.TrackingConfidence(KinectDevice.JointID.Head);
Rotation localRotation = KinectDevice.GetHeadOrientation();
head.rotation = device.ToWorldOrientation(localRotation);
head.confidence.rotation = 0.6F;
neck.position = kinectDevice.GetTargetPosition(KinectDevice.JointID.Neck);
neck.confidence.position = KinectDevice.TrackingConfidence(KinectDevice.JointID.Neck);
neck.rotation = head.rotation;
neck.confidence.rotation = 0.6F;
}
public override Status Update()
{
if (!KinectDevice.JointIsTracked(KinectDevice.JointID.HipCenter))
{
status = Status.Present;
return(status);
}
status = Status.Tracking;
hips.position = kinectDevice.GetTargetPosition(KinectDevice.JointID.HipCenter);
hips.confidence.position = KinectDevice.TrackingConfidence(KinectDevice.JointID.HipCenter);
chest.position = kinectDevice.GetTargetPosition(KinectDevice.JointID.SpineShoulder);
chest.confidence.position = KinectDevice.TrackingConfidence(KinectDevice.JointID.SpineShoulder);
Vector lHipPosition = kinectDevice.GetTargetPosition(KinectDevice.JointID.HipLeft);
Vector rHipPosition = kinectDevice.GetTargetPosition(KinectDevice.JointID.HipRight);
Vector lrDirection = rHipPosition - lHipPosition;
Vector lrDirection2 = Rotation.AngleAxis(90, Vector.forward) * lrDirection;
Vector direction = chest.position - hips.position;
hips.rotation = kinectDevice.ToWorldOrientation(Rotation_.FromToRotation(direction, lrDirection2) * Rotation.AngleAxis(180, Vector.up));
hips.confidence.rotation = 0.8F;
hips.length = Vector.Magnitude(hips.position - chest.position);
hips.confidence.length = 0.6F;
Vector neckPosition = kinectDevice.GetTargetPosition(KinectDevice.JointID.Neck);
chest.rotation = CalculateBoneRotation(neckPosition, chest.position, hips.rotation * Vector.forward) * Rotation.AngleAxis(90, Vector.right) * Rotation.AngleAxis(180, Vector.up);
chest.confidence.rotation = 0.8F;
chest.length = Vector.Magnitude(neckPosition - chest.position);
chest.confidence.length = 0.6F;
return(status);
}