private void updateKinectFloorData() { if (coordinateSystem) { if (coordinateSystem.rootDevice == RUISDevice.Kinect_1) { coordinateSystem.ResetFloorNormal(RUISDevice.Kinect_1); coordinateSystem.ResetDistanceFromFloor(RUISDevice.Kinect_1); } OpenNI.Plane3D floor; try { floor = sceneAnalyzer.Floor; } catch (System.Exception e) { Debug.LogError(e.TargetSite + ": Failed to get OpenNI.SceneAnalyzer.Floor."); return; } Vector3 newFloorNormal = new Vector3(floor.Normal.X, floor.Normal.Y, floor.Normal.Z).normalized; Vector3 newFloorPosition = (new Vector3(floor.Point.X, floor.Point.Y, floor.Point.Z)) * RUISCoordinateSystem.kinectToUnityScale; //Vector3 newFloorPosition = coordinateSystem.ConvertKinectPosition(floor.Point); //Project the position of the kinect camera onto the floor //http://en.wikipedia.org/wiki/Point_on_plane_closest_to_origin //http://en.wikipedia.org/wiki/Plane_(geometry) float d = newFloorNormal.x * newFloorPosition.x + newFloorNormal.y * newFloorPosition.y + newFloorNormal.z * newFloorPosition.z; Vector3 closestFloorPointToKinect = new Vector3(newFloorNormal.x, newFloorNormal.y, newFloorNormal.z); closestFloorPointToKinect = (closestFloorPointToKinect * d) / closestFloorPointToKinect.sqrMagnitude; //floorPlane.transform.position = closestFloorPointToKinect; Quaternion kinectFloorRotator = Quaternion.FromToRotation(newFloorNormal, Vector3.up); //transform the point from Kinect's coordinate system rotation to Unity's rotation closestFloorPointToKinect = kinectFloorRotator * closestFloorPointToKinect; if (float.IsNaN(closestFloorPointToKinect.magnitude)) { closestFloorPointToKinect = Vector3.zero; } if (newFloorNormal.sqrMagnitude < 0.1f) { newFloorNormal = Vector3.up; } if (coordinateSystem.rootDevice == RUISDevice.Kinect_1) { coordinateSystem.SetFloorNormal(newFloorNormal, RUISDevice.Kinect_1); coordinateSystem.SetDistanceFromFloor(closestFloorPointToKinect.magnitude, RUISDevice.Kinect_1); } Debug.Log("Updated Kinect floor normal " + newFloorNormal + " and floor distance (" + closestFloorPointToKinect.magnitude + ")"); } }
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 UpdateFloorNormalAndDistance() { coordinateSystem.ResetFloorNormal(RUISDevice.Kinect_1); OpenNI.Plane3D floor; try{ floor = sceneAnalyzer.Floor; } catch (System.Exception e) { Debug.LogError(e.TargetSite + ": Failed to get OpenNI.SceneAnalyzer.Floor."); kinectError = true; return; //throw e; } // Quaternion kinectFloorRotator = Quaternion.identity; normalVector = new Vector3(floor.Normal.X, floor.Normal.Y, floor.Normal.Z); if (normalVector.sqrMagnitude < 0.1f) { normalVector = Vector3.up; } Vector3 floorPoint = new Vector3(floor.Point.X, floor.Point.Y, floor.Point.Z); // kinectFloorRotator = Quaternion.FromToRotation(normalVector, Vector3.up); kinect1DistanceFromFloor = closestDistanceFromFloor(normalVector, floorPoint, RUISCoordinateSystem.kinectToUnityScale); // kinect1PitchRotation = Quaternion.Inverse (kinectFloorRotator); if (float.IsNaN(kinect1DistanceFromFloor)) { kinect1DistanceFromFloor = 0; } coordinateSystem.SetDistanceFromFloor(kinect1DistanceFromFloor, RUISDevice.Kinect_1); coordinateSystem.SetFloorNormal(normalVector, RUISDevice.Kinect_1); }