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80 lines
2.9 KiB
80 lines
2.9 KiB
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using com.rfilkov.kinect;
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namespace com.rfilkov.components
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{
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/// <summary>
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/// This component makes the game object follow the position and rotation of the sensor.
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/// </summary>
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public class FollowSensorTransform : MonoBehaviour
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{
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[Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")]
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public int sensorIndex = 0;
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[Tooltip("Smooth factor used for the game object movement and rotation.")]
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public float smoothFactor = 0f;
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[Tooltip("Whether to follow the sensor's depth or color camera pose.")]
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public ReferencePose referencePose = ReferencePose.DepthCameraPose;
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public enum ReferencePose : int { DepthCameraPose = 0, ColorCameraPose = 1 };
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// reference to the KinectManager
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private KinectManager kinectManager = null;
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private KinectInterop.SensorData sensorData = null;
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// sensor position and rotation
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Vector3 sensorWorldPos = Vector3.zero;
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Quaternion sensorWorldRot = Quaternion.identity;
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void Start()
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{
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// get reference to KinectManager
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kinectManager = KinectManager.Instance;
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sensorData = kinectManager ? kinectManager.GetSensorData(sensorIndex) : null;
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}
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void Update()
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{
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if(kinectManager && kinectManager.IsInitialized())
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{
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Transform sensorTrans = kinectManager.GetSensorTransform(sensorIndex);
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if(sensorTrans != null)
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{
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sensorWorldPos = sensorTrans.position;
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sensorWorldRot = sensorTrans.rotation;
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if (referencePose != ReferencePose.DepthCameraPose && sensorData != null && sensorData.sensorInterface != null)
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{
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Matrix4x4 sensorTransMat = Matrix4x4.identity;
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sensorTransMat.SetTRS(sensorTrans.position, sensorTrans.rotation, Vector3.one);
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Matrix4x4 sensorToRefMat = sensorData.sensorInterface.GetDepthToColorCameraMatrix();
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sensorTransMat = sensorTransMat * sensorToRefMat;
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sensorWorldPos = sensorTransMat.GetColumn(3);
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sensorWorldRot = sensorTransMat.rotation;
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}
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}
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if (smoothFactor != 0f)
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{
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transform.position = Vector3.Lerp(transform.position, sensorWorldPos, smoothFactor * Time.deltaTime);
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transform.rotation = Quaternion.Slerp(transform.rotation, sensorWorldRot, smoothFactor * Time.deltaTime);
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}
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else
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{
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transform.position = sensorWorldPos;
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transform.rotation = sensorWorldRot;
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}
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}
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}
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}
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}
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