// Converts JSON string to PoseData pose
public static PoseData JSONstring2PoseData(string frame_json)
{
JointData[] joint_data_recorded_array = new JointData[(int)JointId.Count];
PoseData recorded_data = new PoseData {
data = { }
};
//Debug.Log(frame_json);
PoseDataJSON saved_joint_data = JsonUtility.FromJson <PoseDataJSON>(frame_json);
for (JointId jt = 0; jt < JointId.Count; jt++)
{
// play recording
JointDataJSON jd = saved_joint_data.data[(int)jt];
Vector3 v_saved = JsonUtility.FromJson <Vector3>(jd.position);
Quaternion r_saved = JsonUtility.FromJson <Quaternion>(jd.rotation);
var joint_data_live = new JointData
{
Position = v_saved,
Orientation = r_saved
};
joint_data_recorded_array[(int)jt] = joint_data_live;
}
recorded_data = new PoseData {
data = joint_data_recorded_array
};
return(recorded_data);
}
// Converts Azure Kinect SDK BT Body to PoseDataJSON (serializable for JSON) pose
public static PoseDataJSON Body2PoseDataJSON(Body body)
{
JointDataJSON[] joint_data_array = new JointDataJSON[(int)JointId.Count];
for (JointId jt = 0; jt < JointId.Count; jt++)
{
// write recorded poses to file
Microsoft.Azure.Kinect.BodyTracking.Joint joint = body.Skeleton.GetJoint(jt);
var pos = joint.Position;
var orientation = joint.Quaternion;
// save raw data
var v = new Vector3(pos.X, pos.Y, pos.Z);
var r = new Quaternion(orientation.X, orientation.Y, orientation.Z, orientation.W);
var joint_data = new JointDataJSON {
position = JsonUtility.ToJson(v), rotation = JsonUtility.ToJson(r)
};
joint_data_array[(int)jt] = joint_data;
}
PoseDataJSON jdl = new PoseDataJSON {
data = joint_data_array
};
return(jdl);
}
public PoseData GetNextPose()
{
switch (CurrentPoseInputSource)
{
case PoseInputSource.WEBSOCKET:
#if !UNITY_WEBGL || UNITY_EDITOR
websocket.DispatchMessageQueue();
#endif
// poseLiveWS is non-null if alternative is sending pose data over websocket
if (poseLiveWS != null)
{
// Assign last pose from websocket
CurrentPose = poseLiveWS;
}
else
{
Debug.Log("No pose recieved from WebSocket!");
}
break;
case PoseInputSource.FILE:
if (SequenceEnum != null && SequenceEnum.MoveNext())
{
_CurrentFilePoseNumber++;
}
else
{
// Quick and dirty way to loop (by reloading file)
if (SequenceEnum != null && !loop)
{
break;
}
LoadData();
SequenceEnum.MoveNext();
_CurrentFilePoseNumber = 1;
}
string frame_json = SequenceEnum.Current;
PoseData fake_live_data = PoseDataUtils.JSONstring2PoseData(frame_json);
CurrentPose = fake_live_data;
if (recording) // recording
{
File.AppendAllText(WriteDataPath, frame_json + Environment.NewLine);
}
break;
case PoseInputSource.KINECT:
if (device != null)
{
using (Capture capture = device.GetCapture())
{
// Make tracker estimate body
tracker.EnqueueCapture(capture);
// Code for getting RGB image from camera
Microsoft.Azure.Kinect.Sensor.Image color = capture.Color;
if (color != null && color.WidthPixels > 0 && (streamCanvas != null || videoRenderer != null))
{
UnityEngine.Object.Destroy(tex); // required to not keep old images in memory
tex = new Texture2D(color.WidthPixels, color.HeightPixels, TextureFormat.BGRA32, false);
tex.LoadRawTextureData(color.Memory.ToArray());
tex.Apply();
//Fetch the RawImage component from the GameObject
if (tex != null)
{
if (streamCanvas != null)
{
m_RawImage = streamCanvas.GetComponent <RawImage>();
m_RawImage.texture = tex;
}
if (videoRenderer != null)
{
videoRenderer.material.mainTexture = tex;
}
}
}
}
// Get pose estimate from tracker
using (Frame frame = tracker.PopResult())
{
//Debug.LogFormat("{0} bodies found.", frame.NumberOfBodies);
// At least one body found by Body Tracking
if (frame.NumberOfBodies > 0)
{
// Use first estimated person, if mutiple are in the image
// !!! There are (probably) no guarantees on consisitent ordering between estimates
//var bodies = frame.Bodies;
var body = frame.GetBody(0);
// Apply pose to user avatar(s)
PoseData live_data = PoseDataUtils.Body2PoseData(body);
if (recording) // recording
{
PoseDataJSON jdl = PoseDataUtils.Body2PoseDataJSON(body);
AppendRecordedFrame(jdl);
}
CurrentPose = live_data;
}
}
}
else
{
Debug.Log("device is null!");
}
break;
}
return(CurrentPose);
}
// Appends the passed pose (PoseDataJSON format) to the file as JSON
void AppendRecordedFrame(PoseDataJSON jdl)
{
string json = JsonUtility.ToJson(jdl) + Environment.NewLine;
File.AppendAllText(WriteDataPath, json);
}
