def depth_image_to_skeleton(fDepthX, fDepthY, usDepthValue):
"""returns Vector4"""
##
## Depth is in meters in skeleton space.
## The depth image pixel format has depth in millimeters shifted left by 3.
##
fSkeletonZ = (usDepthValue >> 3) / 1000.0
##
## Center of depth sensor is at (0,0,0) in skeleton space, and
## and (160,120) in depth image coordinates. Note that positive Y
## is up in skeleton space and down in image coordinates.
##
fSkeletonX = (fDepthX - 0.5) * (_NUI_CAMERA_DEPTH_IMAGE_TO_SKELETON_MULTIPLIER_320x240 * fSkeletonZ) * 320.0
fSkeletonY = (0.5 - fDepthY) * (_NUI_CAMERA_DEPTH_IMAGE_TO_SKELETON_MULTIPLIER_320x240 * fSkeletonZ) * 240.0
##
## Return the result as a vector.
##
v4 = Vector()
v4.x = fSkeletonX
v4.y = fSkeletonY
v4.z = fSkeletonZ
v4.w = 1.0
return v4
def test_skeleton_frame(self):
skel_data = ctypes.ARRAY(SkeletonData, NUI_SKELETON_COUNT)()
sd = SkeletonData()
sd.user_index = 5
skel_data[0] = sd
tests = [('timestamp', 'liTimeStamp', 1),
('frame_number', 'dwFrameNumber', 2),
('quality', 'Quality', SkeletonFrameQuality.camera_motion),
('floor_clip_plane', 'vFloorClipPlane', Vector(2,4,6,8)),
('normal_to_gravity', 'vNormalToGravity', Vector(1,2,3,4)),
('skeleton_data', 'SkeletonData', skel_data),
]
self.interop_prop_test(SkeletonFrame(), tests)
def test_skeleton_data(self):
pos_arr = ctypes.ARRAY(Vector, JointId.count.value)()
pos_arr[0] = Vector(2,4,6,8)
joint_arr = ctypes.ARRAY(JointTrackingState, JointId.count.value)()
joint_arr[0] = JointTrackingState.inferred
tests = [('tracking_state', 'eTrackingState', SkeletonTrackingState.tracked),
('tracking_id', 'dwTrackingID', 1),
('enrollment_index', 'dwEnrollmentIndex', 1),
('user_index', 'dwUserIndex', 1),
('position', 'Position', Vector(1, 2, 3, 4)),
('skeleton_positions', 'SkeletonPositions', pos_arr),
('skeleton_position_tracking_states', 'eSkeletonPositionTrackingState', joint_arr),
('skeleton_quality', 'Quality', SkeletonQuality.clipped_bottom),
]
self.interop_prop_test(SkeletonData(), tests)
def depth_image_to_skeleton(fDepthX, fDepthY, usDepthValue):
"""returns Vector4"""
##
## Depth is in meters in skeleton space.
## The depth image pixel format has depth in millimeters shifted left by 3.
##
fSkeletonZ = (usDepthValue >> 3) / 1000.0
##
## Center of depth sensor is at (0,0,0) in skeleton space, and
## and (160,120) in depth image coordinates. Note that positive Y
## is up in skeleton space and down in image coordinates.
##
fSkeletonX = (fDepthX - 0.5) * (_NUI_CAMERA_DEPTH_IMAGE_TO_SKELETON_MULTIPLIER_320x240 * fSkeletonZ) * 320.0
fSkeletonY = (0.5 - fDepthY) * (_NUI_CAMERA_DEPTH_IMAGE_TO_SKELETON_MULTIPLIER_320x240 * fSkeletonZ) * 240.0
##
## Return the result as a vector.
##
v4 = Vector()
v4.x = fSkeletonX
v4.y = fSkeletonY
v4.z = fSkeletonZ
v4.w = 1.0
return v4
def create_vector_midpoint(one, two):
mid = Vector()
mid.x = (one.x + two.x)/2
mid.y = (one.y + two.y)/2
mid.z = one.z
mid.w = one.w
return mid
