public DistanceMap GetDistanceMap(Frame frame, bool mirrored)
{
DistanceMap sensor = new DistanceMap(Resolution);
RootModule module = Data.GetModule <RootModule>();
if (module != null)
{
Vector3 position = module.GetRootPosition(frame.Timestamp, mirrored);
Quaternion rotation = module.GetRootRotation(frame.Timestamp, mirrored);
sensor.Sense(Matrix4x4.TRS(position + new Vector3(0f, 0.5f * Size.y, 0f), rotation, Vector3.one), Mask, Size);
}
else
{
sensor.Sense(frame.GetBoneTransformation(0, mirrored), Mask, Size);
}
return(sensor);
}
public CuboidMap GetCuboidMap(Frame frame, bool mirrored)
{
CuboidMap sensor = new CuboidMap(Resolution);
RootModule module = (RootModule)Data.GetModule(ID.Root);
if (module != null)
{
Vector3 position = module.GetRootPosition(frame, mirrored);
Quaternion rotation = module.GetRootRotation(frame, mirrored);
sensor.Sense(Matrix4x4.TRS(position + new Vector3(0f, 0.5f * Size.y, 0f), rotation, Vector3.one), Mask, Size);
}
else
{
sensor.Sense(frame.GetBoneTransformation(0, mirrored), Mask, Size);
}
return(sensor);
}
public CylinderMap GetCylinderMap(Frame frame, bool mirrored)
{
CylinderMap sensor = new CylinderMap(Size, Resolution, Layers, Overlap);
RootModule module = (RootModule)Data.GetModule(ID.Root);
if (module != null)
{
Vector3 position = module.GetRootPosition(frame, mirrored);
Quaternion rotation = module.GetRootRotation(frame, mirrored);
sensor.Sense(Matrix4x4.TRS(position + new Vector3(0f, 0f, 0f), rotation, Vector3.one), Mask);
}
else
{
sensor.Sense(frame.GetBoneTransformation(0, mirrored), Mask);
}
Samples = sensor.Points.Length;
return(sensor);
}