public static Quaternion LocalRotation(ref MoCapBodyFrame frame, MoCapKinectBone bone,
bool withCalibration = true)
{
if (!IsValidKinectBone(bone))
{
throw new ArgumentException("Invalid Kinect bone!");
}
var node = GetBoneHierarchyNode(bone);
if (node.Parent == null)
{
return(frame.SkeletonTransforms[(int)bone].Rotation);
}
var parentBone = node.Parent.Current;
while (!IsValidMecanimBone(Kinect2Mecanim(parentBone)))
{
parentBone = GetBoneHierarchyNode(parentBone).Parent.Current;
}
return
(Quaternion.Inverse(frame.SkeletonTransforms[(int)parentBone].Rotation *
(withCalibration
? Calibration.Calibration[(int)parentBone].Unit
: Quaternion.Identity)) *
(frame.SkeletonTransforms[(int)bone].Rotation *
(withCalibration ? Calibration.Calibration[(int)bone].Unit : Quaternion.Identity)));
}
public static MoCapBodyFrame Average(params MoCapBodyFrame[] values)
{
if (values == null || values.Length == 0)
{
throw new Exception("Empty values list!");
}
var transforms = new TransformTime[(int)MoCapKinectBone.Count][];
for (var i = 0; i < (int)MoCapKinectBone.Count; i++)
{
transforms[i] = new TransformTime[values.Length];
for (var j = 0; j < values.Length; j++)
{
transforms[i][j] = values[j].SkeletonTransforms[i];
}
}
var ret = new MoCapBodyFrame
{
SkeletonTransforms = new TransformTime[(int)MoCapKinectBone.Count]
};
for (var i = 0; i < (int)MoCapKinectBone.Count; i++)
{
ret.SkeletonTransforms[i] = TransformTime.Average(transforms[i]);
}
return(ret);
}
public static void Average(ref MoCapData data, int smoothingFactor)
{
if (data.BodyFrames == null || data.BodyFrames.Length == 0 || data.FaceFrames == null ||
data.FaceFrames.Length == 0)
throw new Exception("Invalid data!");
if (smoothingFactor <= 0 || smoothingFactor > data.BodyFrames.Length ||
smoothingFactor > data.FaceFrames.Length)
throw new Exception("Invalid smoothing factor value!");
var bodyFrames = new MoCapBodyFrame[data.BodyFrames.Length/smoothingFactor];
var tempBodyFrames = new MoCapBodyFrame[smoothingFactor];
for (var i = 0; i < data.BodyFrames.Length/smoothingFactor; i++)
{
for (var j = 0; j < smoothingFactor; j++)
tempBodyFrames[j] = data.BodyFrames[i*smoothingFactor + j];
bodyFrames[i] = MoCapBodyFrame.Average(tempBodyFrames);
}
var faceFrames = new MoCapFaceFrame[data.FaceFrames.Length/smoothingFactor];
var tempFaceFrames = new MoCapFaceFrame[smoothingFactor];
for (var i = 0; i < data.FaceFrames.Length/smoothingFactor; i++)
{
for (var j = 0; j < smoothingFactor; j++)
tempFaceFrames[j] = data.FaceFrames[i*smoothingFactor + j];
faceFrames[i] = MoCapFaceFrame.Average(tempFaceFrames);
}
data.BodyFrames = bodyFrames;
data.FaceFrames = faceFrames;
}
public static void Average(ref MoCapData data, int smoothingFactor)
{
if (data.BodyFrames == null || data.BodyFrames.Length == 0 || data.FaceFrames == null ||
data.FaceFrames.Length == 0)
{
throw new Exception("Invalid data!");
}
if (smoothingFactor <= 0 || smoothingFactor > data.BodyFrames.Length ||
smoothingFactor > data.FaceFrames.Length)
{
throw new Exception("Invalid smoothing factor value!");
}
var bodyFrames = new MoCapBodyFrame[data.BodyFrames.Length / smoothingFactor];
var tempBodyFrames = new MoCapBodyFrame[smoothingFactor];
for (var i = 0; i < data.BodyFrames.Length / smoothingFactor; i++)
{
for (var j = 0; j < smoothingFactor; j++)
{
tempBodyFrames[j] = data.BodyFrames[i * smoothingFactor + j];
}
bodyFrames[i] = MoCapBodyFrame.Average(tempBodyFrames);
}
var faceFrames = new MoCapFaceFrame[data.FaceFrames.Length / smoothingFactor];
var tempFaceFrames = new MoCapFaceFrame[smoothingFactor];
for (var i = 0; i < data.FaceFrames.Length / smoothingFactor; i++)
{
for (var j = 0; j < smoothingFactor; j++)
{
tempFaceFrames[j] = data.FaceFrames[i * smoothingFactor + j];
}
faceFrames[i] = MoCapFaceFrame.Average(tempFaceFrames);
}
data.BodyFrames = bodyFrames;
data.FaceFrames = faceFrames;
}
public static MoCapBodyFrame Average(params MoCapBodyFrame[] values)
{
if (values == null || values.Length == 0)
throw new Exception("Empty values list!");
var transforms = new TransformTime[(int) MoCapKinectBone.Count][];
for (var i = 0; i < (int) MoCapKinectBone.Count; i++)
{
transforms[i] = new TransformTime[values.Length];
for (var j = 0; j < values.Length; j++)
transforms[i][j] = values[j].SkeletonTransforms[i];
}
var ret = new MoCapBodyFrame
{
SkeletonTransforms = new TransformTime[(int) MoCapKinectBone.Count]
};
for (var i = 0; i < (int) MoCapKinectBone.Count; i++)
ret.SkeletonTransforms[i] = TransformTime.Average(transforms[i]);
return ret;
}
public static Quaternion LocalRotation(ref MoCapBodyFrame frame, MoCapKinectBone bone,
bool withCalibration = true)
{
if (!IsValidKinectBone(bone))
throw new ArgumentException("Invalid Kinect bone!");
var node = GetBoneHierarchyNode(bone);
if (node.Parent == null)
return frame.SkeletonTransforms[(int) bone].Rotation;
var parentBone = node.Parent.Current;
while (!IsValidMecanimBone(Kinect2Mecanim(parentBone)))
parentBone = GetBoneHierarchyNode(parentBone).Parent.Current;
return
Quaternion.Inverse(frame.SkeletonTransforms[(int) parentBone].Rotation*
(withCalibration
? Calibration.Calibration[(int) parentBone].Unit
: Quaternion.Identity))*
(frame.SkeletonTransforms[(int) bone].Rotation*
(withCalibration ? Calibration.Calibration[(int) bone].Unit : Quaternion.Identity));
}