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KinectAvateering.cs
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| using UnityEngine; | |
| using System.Collections; | |
| using System.Collections.Generic; | |
| public class KinectAvateering : MonoBehaviour { | |
| Dictionary<Windows.Kinect.JointType, HumanBodyBones> kinectJointTypeToHumanBodyBone = new Dictionary<Windows.Kinect.JointType, HumanBodyBones>() | |
| { | |
| {Windows.Kinect.JointType.SpineBase, HumanBodyBones.Hips}, | |
| {Windows.Kinect.JointType.SpineMid, HumanBodyBones.Spine}, | |
| {Windows.Kinect.JointType.SpineShoulder, HumanBodyBones.Chest}, | |
| {Windows.Kinect.JointType.Neck, HumanBodyBones.Neck}, | |
| {Windows.Kinect.JointType.Head, HumanBodyBones.Head}, //TODO: Need facial tracking or Oculus for head orientation | |
| {Windows.Kinect.JointType.ShoulderRight, HumanBodyBones.RightShoulder}, | |
| {Windows.Kinect.JointType.ElbowRight, HumanBodyBones.RightUpperArm}, | |
| {Windows.Kinect.JointType.WristRight, HumanBodyBones.RightLowerArm}, | |
| {Windows.Kinect.JointType.HandRight, HumanBodyBones.RightHand}, | |
| //{Windows.Kinect.JointType.HandTipRight, HumanBodyBones.RightMiddleProximal}, | |
| {Windows.Kinect.JointType.ShoulderLeft, HumanBodyBones.LeftShoulder}, | |
| {Windows.Kinect.JointType.ElbowLeft, HumanBodyBones.LeftUpperArm}, | |
| {Windows.Kinect.JointType.WristLeft, HumanBodyBones.LeftLowerArm}, | |
| {Windows.Kinect.JointType.HandLeft, HumanBodyBones.LeftHand}, | |
| //{Windows.Kinect.JointType.HandTipLeft, HumanBodyBones.LeftMiddleProximal}, | |
| //{Windows.Kinect.JointType.HipRight, }, // No HumanBodyBones analog | |
| {Windows.Kinect.JointType.KneeRight, HumanBodyBones.RightUpperLeg}, | |
| {Windows.Kinect.JointType.AnkleRight, HumanBodyBones.RightLowerLeg}, | |
| {Windows.Kinect.JointType.FootRight, HumanBodyBones.RightFoot}, | |
| //{Windows.Kinect.JointType.HipLeft, }, // No HumanBodyBones analog | |
| {Windows.Kinect.JointType.KneeLeft, HumanBodyBones.LeftUpperLeg}, | |
| {Windows.Kinect.JointType.AnkleLeft, HumanBodyBones.LeftLowerLeg}, | |
| {Windows.Kinect.JointType.FootLeft, HumanBodyBones.LeftFoot}, | |
| }; | |
| // Assign in editor | |
| public BodySourceManager bodySourceManager; | |
| Windows.Kinect.Body[] bodies; | |
| Quaternion[] jointOrientations; | |
| Transform[] avatarBones; | |
| int numJointsTracked = 25; | |
| Animator animator; | |
| private Dictionary<Windows.Kinect.JointType, JointManipulation> jointManipulations; | |
| void Start () | |
| { | |
| jointOrientations = new Quaternion[numJointsTracked]; | |
| avatarBones = new Transform[numJointsTracked]; | |
| animator = GetComponent<Animator>(); | |
| foreach (var joint in kinectJointTypeToHumanBodyBone.Keys) | |
| { | |
| avatarBones[(int)joint] = animator.GetBoneTransform(kinectJointTypeToHumanBodyBone[joint]); | |
| } | |
| InitializeJointManipulationData(); | |
| } | |
| void Update () | |
| { | |
| if (!bodySourceManager) | |
| return; | |
| bodies = bodySourceManager.GetData(); | |
| if (bodies == null) | |
| return; | |
| // Look for a tracked body | |
| var i = 0; | |
| var bodyFound = false; | |
| while (i < bodies.Length && !bodyFound) | |
| { | |
| if (bodies[i].IsTracked) | |
| { | |
| // Save the orientation data of each joint | |
| foreach (var joint in kinectJointTypeToHumanBodyBone.Keys) | |
| { | |
| var x = bodies[i].JointOrientations[joint].Orientation.X; | |
| var y = bodies[i].JointOrientations[joint].Orientation.Y; | |
| var z = bodies[i].JointOrientations[joint].Orientation.Z; | |
| var w = bodies[i].JointOrientations[joint].Orientation.W; | |
| var rawJointOrientation = new Quaternion(x,y,z,w); | |
| jointOrientations[(int)joint] = ManipulateKinectJointOrientation(rawJointOrientation, joint); | |
| } | |
| bodyFound = true; | |
| } | |
| i++; | |
| } | |
| UpdateJoints(); | |
| } | |
| void UpdateJoints() | |
| { | |
| // For each Kinect Joint... | |
| foreach (var joint in kinectJointTypeToHumanBodyBone.Keys) | |
| { | |
| avatarBones[(int)joint].rotation = jointOrientations[(int)joint]; | |
| } | |
| } | |
| // Manipulate the kinect quaternions on a per-joint basis to unite the orientation data under a common coordinate system. | |
| private Quaternion ManipulateKinectJointOrientation(Quaternion kinectQuaternion, Windows.Kinect.JointType jointType) | |
| { | |
| var euler = kinectQuaternion.eulerAngles; | |
| if (jointManipulations.ContainsKey(jointType)) | |
| { | |
| var jointManipulation = jointManipulations[jointType]; | |
| euler = new Vector3(euler.x*jointManipulation.Sign.x + jointManipulation.Offset.x, | |
| euler.y*jointManipulation.Sign.y + jointManipulation.Offset.y, | |
| euler.z*jointManipulation.Sign.z + jointManipulation.Offset.z); | |
| if (jointManipulation.SwapXAndZ) | |
| { | |
| euler = new Vector3(euler.z, euler.y, euler.x); | |
| } | |
| } | |
| return Quaternion.Euler(euler); | |
| } | |
| // Find the pattern and you win a prize. | |
| private void InitializeJointManipulationData() | |
| { | |
| jointManipulations = new Dictionary<Windows.Kinect.JointType, JointManipulation>(); | |
| var jointManipulation = new JointManipulation(); | |
| jointManipulation.Offset = new Vector3(0, 180, 90); | |
| jointManipulation.Sign = new Vector3(1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.WristRight, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, 180, -90); | |
| jointManipulation.Sign = new Vector3(1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.WristLeft, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, 180, 90); | |
| jointManipulation.Sign = new Vector3(1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.HandRight, jointManipulation); | |
| jointManipulation.Offset = new Vector3(180, 0, 90); | |
| jointManipulation.Sign = new Vector3(-1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.HandLeft, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, 0, 90); | |
| jointManipulation.Sign = new Vector3(-1, -1, 1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.ElbowRight, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, 0, -90); | |
| jointManipulation.Sign = new Vector3(-1, -1, 1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.ElbowLeft, jointManipulation); | |
| jointManipulation.Offset = new Vector3(180, 0, -90); | |
| jointManipulation.Sign = new Vector3(-1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.ShoulderRight, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, 180, -90); | |
| jointManipulation.Sign = new Vector3(1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.ShoulderLeft, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, 180, 0); | |
| jointManipulation.Sign = new Vector3(1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.SpineShoulder, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, 180, 0); | |
| jointManipulation.Sign = new Vector3(1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.SpineMid, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, 180, 0); | |
| jointManipulation.Sign = new Vector3(1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.Neck, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, -180, 0); | |
| jointManipulation.Sign = new Vector3(1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.SpineBase, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, 180, 90); | |
| jointManipulation.Sign = new Vector3(1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.HipRight, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, 180, -90); | |
| jointManipulation.Sign = new Vector3(1, -1, -1); | |
| jointManipulation.SwapXAndZ = false; | |
| jointManipulations.Add(Windows.Kinect.JointType.HipLeft, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, 90, 180); | |
| jointManipulation.Sign = new Vector3(-1, -1, -1); | |
| jointManipulation.SwapXAndZ = true; | |
| jointManipulations.Add(Windows.Kinect.JointType.KneeRight, jointManipulation); | |
| jointManipulation.Offset = new Vector3(180, 90, 0); | |
| jointManipulation.Sign = new Vector3(1, -1, -1); | |
| jointManipulation.SwapXAndZ = true; | |
| jointManipulations.Add(Windows.Kinect.JointType.KneeLeft, jointManipulation); | |
| jointManipulation.Offset = new Vector3(180, -90, 0); | |
| jointManipulation.Sign = new Vector3(-1, -1, 1); | |
| jointManipulation.SwapXAndZ = true; | |
| jointManipulations.Add(Windows.Kinect.JointType.AnkleRight, jointManipulation); | |
| jointManipulation.Offset = new Vector3(0, -90, 180); | |
| jointManipulation.Sign = new Vector3(1, -1, 1); | |
| jointManipulation.SwapXAndZ = true; | |
| jointManipulations.Add(Windows.Kinect.JointType.AnkleLeft, jointManipulation); | |
| } | |
| // Used to unite the kinect joint orientations under a common coordinate system. | |
| private struct JointManipulation | |
| { | |
| public Vector3 Offset; | |
| public Vector3 Sign; | |
| public bool SwapXAndZ; | |
| }; | |
| } |
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| using UnityEngine; | |
| using System.Collections; | |
| using System.Collections.Generic; | |
| public class KinectAvateeringWithoutManipulations: MonoBehaviour { | |
| Dictionary<Windows.Kinect.JointType, HumanBodyBones> kinectJointTypeToHumanBodyBone = new Dictionary<Windows.Kinect.JointType, HumanBodyBones>() | |
| { | |
| {Windows.Kinect.JointType.SpineBase, HumanBodyBones.Hips}, | |
| {Windows.Kinect.JointType.SpineMid, HumanBodyBones.Spine}, | |
| {Windows.Kinect.JointType.SpineShoulder, HumanBodyBones.Chest}, | |
| {Windows.Kinect.JointType.Neck, HumanBodyBones.Neck}, | |
| {Windows.Kinect.JointType.Head, HumanBodyBones.Head}, //TODO: Need facial tracking or Oculus for head orientation | |
| {Windows.Kinect.JointType.ShoulderRight, HumanBodyBones.RightShoulder}, | |
| {Windows.Kinect.JointType.ElbowRight, HumanBodyBones.RightUpperArm}, | |
| {Windows.Kinect.JointType.WristRight, HumanBodyBones.RightLowerArm}, | |
| {Windows.Kinect.JointType.HandRight, HumanBodyBones.RightHand}, | |
| {Windows.Kinect.JointType.HandTipRight, HumanBodyBones.RightMiddleProximal}, | |
| {Windows.Kinect.JointType.ShoulderLeft, HumanBodyBones.LeftShoulder}, | |
| {Windows.Kinect.JointType.ElbowLeft, HumanBodyBones.LeftUpperArm}, | |
| {Windows.Kinect.JointType.WristLeft, HumanBodyBones.LeftLowerArm}, | |
| {Windows.Kinect.JointType.HandLeft, HumanBodyBones.LeftHand}, | |
| {Windows.Kinect.JointType.HandTipLeft, HumanBodyBones.LeftMiddleProximal}, | |
| //{Windows.Kinect.JointType.HipRight, }, // No HumanBodyBones analog | |
| {Windows.Kinect.JointType.KneeRight, HumanBodyBones.RightUpperLeg}, | |
| {Windows.Kinect.JointType.AnkleRight, HumanBodyBones.RightLowerLeg}, | |
| {Windows.Kinect.JointType.FootRight, HumanBodyBones.RightFoot}, | |
| //{Windows.Kinect.JointType.HipLeft, }, // No HumanBodyBones analog | |
| {Windows.Kinect.JointType.KneeLeft, HumanBodyBones.LeftUpperLeg}, | |
| {Windows.Kinect.JointType.AnkleLeft, HumanBodyBones.LeftLowerLeg}, | |
| {Windows.Kinect.JointType.FootLeft, HumanBodyBones.LeftFoot}, | |
| }; | |
| // Assign in editor | |
| public BodySourceManager bodySourceManager; | |
| Windows.Kinect.Body[] bodies; | |
| Quaternion[] jointOrientations; | |
| Transform[] avatarBones; | |
| int numJointsTracked = 25; | |
| Animator animator; | |
| void Start () | |
| { | |
| jointOrientations = new Quaternion[numJointsTracked]; | |
| avatarBones = new Transform[numJointsTracked]; | |
| animator = GetComponent<Animator>(); | |
| foreach (var joint in kinectJointTypeToHumanBodyBone.Keys) | |
| { | |
| avatarBones[(int)joint] = animator.GetBoneTransform(kinectJointTypeToHumanBodyBone[joint]); | |
| } | |
| } | |
| void Update () | |
| { | |
| if (!bodySourceManager) | |
| return; | |
| bodies = bodySourceManager.GetData(); | |
| if (bodies == null) | |
| return; | |
| // Look for a tracked body | |
| var i = 0; | |
| var bodyFound = false; | |
| while (i < bodies.Length && !bodyFound) | |
| { | |
| if (bodies[i].IsTracked) | |
| { | |
| // Save the orientation data of each joint | |
| foreach (var joint in kinectJointTypeToHumanBodyBone.Keys) | |
| { | |
| var x = bodies[i].JointOrientations[joint].Orientation.X; | |
| var y = bodies[i].JointOrientations[joint].Orientation.Y; | |
| var z = bodies[i].JointOrientations[joint].Orientation.Z; | |
| var w = bodies[i].JointOrientations[joint].Orientation.W; | |
| var rawJointOrientation = new Quaternion(x,y,z,w); | |
| jointOrientations[(int)joint] = rawJointOrientation; | |
| } | |
| bodyFound = true; | |
| } | |
| i++; | |
| } | |
| UpdateJoints(); | |
| } | |
| void UpdateJoints() | |
| { | |
| // For each Kinect Joint... | |
| foreach (var joint in kinectJointTypeToHumanBodyBone.Keys) | |
| { | |
| avatarBones[(int)joint].rotation = jointOrientations[(int)joint]; | |
| } | |
| } | |
| } |
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