public void UpdateAngle(Skeleton s)
{
Joint joint = s.GetJoint(JointType);
Quaternion jointOrientation = Quaternion.Inverse(CalibrationInfo.SensorOrientation) * joint.ToQuaternionMirrored() * BaseRotOffset;
Bone.rotation = jointOrientation;
}
void ProcessSkeleton(Skeleton skeleton)
{
print($"Frame Counter: {frameCtr}");
//Calculate the model position: take the Torso position and invert movement along the Z axis
UnityEngine.Vector3 torsoPos = Quaternion.Euler(0f, 180f, 0f) * (-0.001f * skeleton.GetJoint(JointType.Torso).ToVector3());
torsoPos[0] = torsoPos[0] * posModifier[0];
for (int i = 0; i < 3; i++)
{
torsoPos[i] = torsoPos[i] + posModifier[i];
}
torsoPos = torsoPos + posModifierPreview;
transform.position = torsoPos;
foreach (var riggedJoint in jointsRigged)
{
try {
//Get joint from the Nuitrack
nuitrack.Joint joint = skeleton.GetJoint(riggedJoint.Key);
ModelJoint modelJoint = riggedJoint.Value;
//Calculate the model bone rotation: take the mirrored joint orientation, add a basic rotation of the model bone, invert movement along the Z axis
Quaternion jointOrient = Quaternion.Inverse(CalibrationInfo.SensorOrientation) * (joint.ToQuaternion()) * modelJoint.baseRotOffset;
modelJoint.bone.rotation = jointOrient;
} catch {
// Ignore IndexOutOfRangeException (it occurs because model has more available joints than those provided by orbbec)
}
}
}
void OnSkeletonUpdate(SkeletonData skeletonData)
{
string json = Nuitrack.GetInstancesJson();
faceInfo = JsonUtility.FromJson <FaceInfo>(json.Replace("\"\"", "[]"));
if (faceInfo.Instances.Length == 0)
{
return;
}
for (int i = 0; i < faceAnimControllers.Count; i++)
{
if (i < skeletonData.Skeletons.Length)
{
Skeleton skeleton = skeletonData.GetSkeletonByID(faceInfo.Instances[i].id);
if (skeleton != null)
{
nuitrack.Joint headJoint = skeleton.GetJoint(JointType.Head);
faceAnimControllers[i].gameObject.SetActive(headJoint.Confidence > 0.5f);
faceAnimControllers[i].UpdateFace(faceInfo.Instances[i], headJoint);
}
}
else
{
faceAnimControllers[i].gameObject.SetActive(false);
}
}
}
nuitrack.Joint[] ProcessKafkaMessage(string value)
{
nuitrack.Joint[] skeletonJoints = new nuitrack.Joint[19];
print("1");
string[] partitions = Regex.Split(value, "\"orientations\"");
string[] pos = Regex.Split(partitions[0], "\"");
string[] ori = Regex.Split(partitions[1], "\"");
string[] vecStr;
int h = 2;
int i;
int j = 0;
int k;
for (i = 7; i < pos.Length; i += 2)
{
vecStr = Regex.Split(Regex.Split(Regex.Split(pos[i + 1], "\\[")[1], "\\]")[0], ",");
nuitrack.Vector3 vec = new nuitrack.Vector3(
float.Parse(vecStr[0], CultureInfo.InvariantCulture.NumberFormat),
float.Parse(vecStr[1], CultureInfo.InvariantCulture.NumberFormat),
float.Parse(vecStr[2], CultureInfo.InvariantCulture.NumberFormat)
);
//print(ori[h]);
string[] tmp1 = Regex.Split(ori[h], "\\[");
string[] tmp2 = Regex.Split(tmp1[1], "\\]");
vecStr = Regex.Split(tmp2[0], ","); h += 2;
nuitrack.Orientation mat = new nuitrack.Orientation();
mat.Matrix = new float[9];
for (k = 0; k < 9; k++)
{
mat.Matrix[k] = float.Parse(vecStr[k], CultureInfo.InvariantCulture.NumberFormat);
//print(mat.Matrix[k]);
}
nuitrack.Joint curJoint = new nuitrack.Joint();
curJoint.Type = jointMapping[pos[i]];
curJoint.Real = vec;
curJoint.Orient = mat;
skeletonJoints[j] = curJoint;
j++;
//if(j==19) {print(j)};
}
print("2");
return(skeletonJoints);
}
public override ComparisonFrameData Compare(Skeleton s1, Skeleton s2)
{
ComparisonFrameData comparisonData = new ComparisonFrameData();
Skeleton uniformSkeleton1 = UniformSkeleton(s1);
Skeleton uniformSkeleton2 = UniformSkeleton(s2);
Joint[] joints1 = uniformSkeleton1.Joints;
Joint[] joints2 = uniformSkeleton2.Joints;
for (int i = 0; i < joints1.Length; i++)
{
Joint j1 = joints1[i];
Joint j2 = joints2[i];
if (j1.Type != j2.Type)
{
throw new InvalidOperationException($"wrong type of joints being compared: {j1.Type} != {j2.Type}");
}
Vector3 v1 = j1.ToVector3();
Vector3 v2 = j2.ToVector3();
Vector3 diff = v2 - v1;
float preliminary = diff.magnitude;
#region Different preliminary implementations
//float preliminary = Mathf.Atan(v2.sqrMagnitude/v1.sqrMagnitude);
//float preliminary = Mathf.Clamp(diff.magnitude, 0, 1);
//float preliminary = v1 == v2 ? 1.0f : Vector3.Dot(v1, v2);
//float preliminary = v1 == v2 ? 1.0f : Vector3.Dot(v1, v2);
#endregion
//float score = curve.Evaluate(preliminary);
float score = curve.Evaluate(1 - preliminary);
if (preliminary > 1.0f)
{
Debug.Log($"{j1.Type} : {preliminary}");
}
comparisonData[j1.Type] = score;
}
return(comparisonData);
}
public void ProcessSkeleton(Skeleton skeleton)
{
if (skeleton == null)
{
return;
}
for (int i = 0; i < jointsInfo.Length; i++)
{
nuitrack.Joint j = skeleton.GetJoint(jointsInfo[i]);
if (j.Confidence > 0.5f)
{
joints[jointsInfo[i]].SetActive(true);
joints[jointsInfo[i]].transform.position = new Vector2(j.Proj.X * Screen.width, Screen.height - j.Proj.Y * 344f);
}
else
{
joints[jointsInfo[i]].SetActive(false);
}
}
for (int i = 0; i < connectionsInfo.GetLength(0); i++)
{
GameObject startJoint = joints[connectionsInfo[i, 0]];
GameObject endJoint = joints[connectionsInfo[i, 1]];
if (startJoint.activeSelf && endJoint.activeSelf)
{
connections[i].SetActive(true);
connections[i].transform.position = startJoint.transform.position;
connections[i].transform.right = endJoint.transform.position - startJoint.transform.position;
float distance = Vector3.Distance(endJoint.transform.position, startJoint.transform.position);
connections[i].transform.localScale = new Vector3(distance, 1f, 1f);
}
else
{
connections[i].SetActive(false);
}
}
this.waistRollingAvgY = (JointPosition(JointType.Waist).y + this.waistRollingAvgY) / 2;
this.gestureBarContainer.transform.position = JointPosition(JointType.Head) + new Vector3(50, 0, 0);
}
protected Skeleton UniformSkeleton(Skeleton s)
{
Vector3 originalTorsoPos = Vector3.zero;
Joint[] uniformJoints = new Joint[s.Joints.Length];
for (int i = 0; i < uniformJoints.Length; i++)
{
Joint joint = s.Joints[i];
Vector3 jointVector = joint.ToVector3();
Vector3 translatedJointVector = jointVector - originalTorsoPos;
Vector3 normalizedVector = translatedJointVector.normalized;
joint.Real = normalizedVector.ToNuitrackVector3();
uniformJoints[i] = joint;
}
return(new Skeleton(s.ID, uniformJoints));
}
void FixedUpdate()
{
Skeleton userSkeleton = SkeletonProvider.CurSkeleton;
if (userSkeleton == null || !Enabled)
{
meshRenderer.enabled = false;
}
else
{
try {
Joint joint = userSkeleton.GetJoint(JointType);
actualPosition = joint.ToVector3();
meshRenderer.enabled = joint.Confidence >= MINIMUM_CONFIDENCE;
Vector3 jointVector = joint.ToVector3();
Vector3 newPosition = 0.01f * jointVector;
if (Bound)
{
newPosition += Origin;
if (JointType == OffsetJointType)
{
OwnerNativeAvatar.JointTrackerOffsetDistance = newPosition;
newPosition = Origin;
}
else
{
newPosition += Origin - OwnerNativeAvatar.JointTrackerOffsetDistance;
}
}
meshRenderer.material.color = Color;
transform.position = newPosition;
} catch (IndexOutOfRangeException) {
meshRenderer.enabled = false;
}
}
}
