/// <summary>
/// Updates the skeleton data from ZEDCamera call and send it to Skeleton Handler script.
/// </summary>
private void updateSkeletonData(DetectionFrame dframe)
{
#if FAKEMODE
if (avatarControlList.ContainsKey(0))
{
SkeletonHandler handler = avatarControlList[0];
handler.setFakeTest(indexFakeTest);
}
else
{
SkeletonHandler handler = ScriptableObject.CreateInstance <SkeletonHandler>();
handler.Create(Avatar, Vector3.zero);
avatarControlList.Add(0, handler);
}
#else
List <int> remainingKeyList = new List <int>(avatarControlList.Keys);
List <DetectedObject> newobjects = dframe.GetFilteredObjectList(showON, showSEARCHING, showOFF);
/*if (dframe.rawObjectsFrame.detectionModel!= sl.DETECTION_MODEL.HUMAN_BODY_ACCURATE &&
* dframe.rawObjectsFrame.detectionModel!= sl.DETECTION_MODEL.HUMAN_BODY_FAST)
* {
* Debug.Log("Wrong model selected : " + dframe.rawObjectsFrame.detectionModel);
* return;
* }*/
foreach (DetectedObject dobj in newobjects)
{
int person_id = dobj.rawObjectData.id;
//Avatar controller already exist --> update position
if (avatarControlList.ContainsKey(person_id))
{
SkeletonHandler handler = avatarControlList[person_id];
UpdateAvatarControl(handler, dobj.rawObjectData, useAvatar);
// remove keys from list
remainingKeyList.Remove(person_id);
}
else
{
SkeletonHandler handler = ScriptableObject.CreateInstance <SkeletonHandler>();
Vector3 spawnPosition = zedManager.GetZedRootTansform().TransformPoint(dobj.rawObjectData.rootWorldPosition);
handler.Create(Avatar, spawnPosition);
handler.initSkeleton(person_id);
avatarControlList.Add(person_id, handler);
UpdateAvatarControl(handler, dobj.rawObjectData, useAvatar);
}
}
foreach (int index in remainingKeyList)
{
SkeletonHandler handler = avatarControlList[index];
handler.Destroy();
avatarControlList.Remove(index);
}
#endif
}
/// <summary>
/// Function to update avatar control with data from ZED SDK.
/// </summary>
/// <param name="handler">Handler.</param>
/// <param name="p">P.</param>
private void UpdateAvatarControl(SkeletonHandler handler, sl.ObjectDataSDK data, bool useAvatar)
{
Vector3 bodyCenter = data.rootWorldPosition;
if (bodyCenter == Vector3.zero)
{
return; // Object not detected
}
Vector3[] world_joints_pos = new Vector3[20];
for (int i = 0; i < 18; i++)
{
world_joints_pos[i] = zedManager.GetZedRootTansform().TransformPoint(data.skeletonJointPosition[i]);
}
//Create Joint with middle position :
world_joints_pos[0] = (world_joints_pos[16] + world_joints_pos[17]) / 2;
world_joints_pos[18] = (world_joints_pos[8] + world_joints_pos[11]) / 2;
world_joints_pos[19] = zedManager.GetZedRootTansform().TransformPoint(data.skeletonJointPosition[0]); // Add Nose Joint for skeleton vizualisation
/*
* for (int i=0;i<19;i++)
* Debug.Log(" jt "+i+" : "+world_joints_pos[i]);*/
Vector3 worldbodyRootPosition = zedManager.GetZedRootTansform().TransformPoint(bodyCenter);
if (float.IsNaN(world_joints_pos[18].y))
{
worldbodyRootPosition.y = 0;
}
else
{
worldbodyRootPosition.y = world_joints_pos[18].y - SpineHeight;
}
handler.setControlWithJointPosition(world_joints_pos, worldbodyRootPosition, useAvatar);
//handler.setJointSpherePoint(world_joints_pos);
handler.SetSmoothFactor(smoothFactor);
}
