private void UpdateFloorNormalAndDistance()
{
coordinateSystem.ResetFloorNormal(RUISDevice.Kinect_2);
Windows.Kinect.Vector4 kinect2FloorPlane = kinect2SourceManager.GetFlootClipPlane();
kinect2FloorNormal = new Vector3(kinect2FloorPlane.X, kinect2FloorPlane.Y, kinect2FloorPlane.Z);
kinect2FloorNormal.Normalize();
if (kinect2FloorNormal.sqrMagnitude < 0.1f)
{
kinect2FloorNormal = Vector3.up;
}
kinect2DistanceFromFloor = kinect2FloorPlane.W / Mathf.Sqrt(kinect2FloorNormal.sqrMagnitude);
if (float.IsNaN(kinect2DistanceFromFloor))
{
kinect2DistanceFromFloor = 0;
}
Quaternion kinect2FloorRotator = Quaternion.FromToRotation(kinect2FloorNormal, Vector3.up);
kinect2PitchRotation = Quaternion.Inverse(kinect2FloorRotator);
coordinateSystem.SetDistanceFromFloor(kinect2DistanceFromFloor, RUISDevice.Kinect_2);
coordinateSystem.SetFloorNormal(kinect2FloorNormal, RUISDevice.Kinect_2);
}
private void UpdateFloorNormalAndDistance()
{
coordinateSystem.ResetFloorNormal(RUISDevice.Kinect_2);
Windows.Kinect.Vector4 kinect2FloorPlane = kinect2SourceManager.GetFlootClipPlane();
kinect2FloorNormal = new Vector3(kinect2FloorPlane.X, kinect2FloorPlane.Y, kinect2FloorPlane.Z);
kinect2FloorNormal.Normalize();
if (kinect2FloorNormal.sqrMagnitude < 0.1f)
{
kinect2FloorNormal = Vector3.up;
}
kinect2DistanceFromFloor = kinect2FloorPlane.W / Mathf.Sqrt(kinect2FloorNormal.sqrMagnitude);
if (float.IsNaN(kinect2DistanceFromFloor))
{
kinect2DistanceFromFloor = 0;
}
// Quaternion kinect2FloorRotator = Quaternion.FromToRotation(kinect2FloorNormal, Vector3.up);
// kinect2PitchRotation = Quaternion.Inverse (kinect2FloorRotator);
coordinateSystem.SetDistanceFromFloor(kinect2DistanceFromFloor, RUISDevice.Kinect_2);
coordinateSystem.SetFloorNormal(kinect2FloorNormal, RUISDevice.Kinect_2);
OpenNI.Plane3D floor;
try{
floor = sceneAnalyzer.Floor;
}
catch (System.Exception e)
{
Debug.LogError(e.TargetSite + ": Failed to get OpenNI.SceneAnalyzer.Floor.");
return;
//throw e;
}
Quaternion kinectFloorRotator = Quaternion.identity;
kinect1FloorNormal = new Vector3(floor.Normal.X, floor.Normal.Y, floor.Normal.Z);
if (kinect1FloorNormal.sqrMagnitude < 0.1f)
{
kinect1FloorNormal = Vector3.up;
}
Vector3 floorPoint = new Vector3(floor.Point.X, floor.Point.Y, floor.Point.Z);
kinectFloorRotator = Quaternion.FromToRotation(kinect1FloorNormal, Vector3.up);
kinect1DistanceFromFloor = closestDistanceFromFloor(kinect1FloorNormal, floorPoint, RUISCoordinateSystem.kinectToUnityScale);
kinect1PitchRotation = Quaternion.Inverse(kinectFloorRotator);
}
private void updateKinect2FloorData()
{
Kinect2SourceManager kinect2SourceManager = FindObjectOfType(typeof(Kinect2SourceManager)) as Kinect2SourceManager;
bool canAccessKinect2 = false;
try
{
if (coordinateSystem != null && kinect2SourceManager != null &&
kinect2SourceManager.GetSensor() != null && kinect2SourceManager.GetSensor().IsOpen&& kinect2SourceManager.GetSensor().IsAvailable)
{
canAccessKinect2 = true;
}
}
catch {}
if (canAccessKinect2)
{
if (coordinateSystem.rootDevice == RUISDevice.Kinect_2)
{
coordinateSystem.ResetFloorNormal(RUISDevice.Kinect_2);
coordinateSystem.ResetDistanceFromFloor(RUISDevice.Kinect_2);
}
Windows.Kinect.Vector4 kinect2FloorPlane = kinect2SourceManager.GetFlootClipPlane();
//print (kinect2FloorPlane.X + " " + kinect2FloorPlane.Y + " " + kinect2FloorPlane.Z + " " + kinect2FloorPlane.W);
Vector3 kinect2FloorNormal = new Vector3(kinect2FloorPlane.X, kinect2FloorPlane.Y, kinect2FloorPlane.Z);
kinect2FloorNormal.Normalize();
float kinect2DistanceFromFloor = kinect2FloorPlane.W / Mathf.Sqrt(kinect2FloorNormal.sqrMagnitude);
if (float.IsNaN(kinect2DistanceFromFloor))
{
kinect2DistanceFromFloor = 0;
}
if (float.IsNaN(kinect2FloorNormal.x) || kinect2FloorNormal.sqrMagnitude < 0.1f)
{
kinect2FloorNormal = Vector3.up;
}
if (coordinateSystem.rootDevice == RUISDevice.Kinect_2)
{
coordinateSystem.SetFloorNormal(kinect2FloorNormal, RUISDevice.Kinect_2);
coordinateSystem.SetDistanceFromFloor(kinect2DistanceFromFloor, RUISDevice.Kinect_2);
}
Debug.Log("Updated Kinect 2 floor normal " + kinect2FloorNormal + " and floor distance (" + kinect2DistanceFromFloor + ")");
}
}