Animate a model with Kinect body tracking. (Kinect v2)

Hi all.

I am developing an app for unity with the official Kinect v2 SDK plugin for Unity. I have Unity Pro by the way.

I have a model rigged with the same joints that kinect generates by itself and I want to animate my model by moving each of the joints by the value that kinect gets.

The thing is that I am getting some troubles with this and I need some help.

I am able to pay whoever that help me to achieve my goal 150€. This can be negociated.

This is my actual code based in the official Kinect v2 SDK examples for unity.
I use public GameObjects that I asign manually to test. Actually I am just trying to animate the left arm for now.

Code (CSharp):

1. using UnityEngine;
2. using System.Collections;
3. using System.Collections.Generic;
4. using Kinect = Windows.Kinect;
5.  
6. public class BodySourceView : MonoBehaviour
7. {
8.     //TEST
9.     public GameObject shoulderLeft;
10.     public GameObject elbowLeft;
11.     public GameObject wristLeft;
12.     public GameObject handLeft;
13.     public GameObject thumbLeft;
14.     public GameObject handTipLeft;
15.  
16.     public Material BoneMaterial;
17.     public GameObject BodySourceManager;
18.  
19.     private Dictionary<ulong, GameObject> _Bodies = new Dictionary<ulong, GameObject>();
20.     private BodySourceManager _BodyManager;
21.  
22.     private Dictionary<Kinect.JointType, Kinect.JointType> _BoneMap = new Dictionary<Kinect.JointType, Kinect.JointType>()
23.     {
24.         { Kinect.JointType.FootLeft, Kinect.JointType.AnkleLeft },
25.         { Kinect.JointType.AnkleLeft, Kinect.JointType.KneeLeft },
26.         { Kinect.JointType.KneeLeft, Kinect.JointType.HipLeft },
27.         { Kinect.JointType.HipLeft, Kinect.JointType.SpineBase },
28.      
29.         { Kinect.JointType.FootRight, Kinect.JointType.AnkleRight },
30.         { Kinect.JointType.AnkleRight, Kinect.JointType.KneeRight },
31.         { Kinect.JointType.KneeRight, Kinect.JointType.HipRight },
32.         { Kinect.JointType.HipRight, Kinect.JointType.SpineBase },
33.      
34.         { Kinect.JointType.HandTipLeft, Kinect.JointType.HandLeft },
35.         { Kinect.JointType.ThumbLeft, Kinect.JointType.HandLeft },
36.         { Kinect.JointType.HandLeft, Kinect.JointType.WristLeft },
37.         { Kinect.JointType.WristLeft, Kinect.JointType.ElbowLeft },
38.         { Kinect.JointType.ElbowLeft, Kinect.JointType.ShoulderLeft },
39.         { Kinect.JointType.ShoulderLeft, Kinect.JointType.SpineShoulder },
40.      
41.         { Kinect.JointType.HandTipRight, Kinect.JointType.HandRight },
42.         { Kinect.JointType.ThumbRight, Kinect.JointType.HandRight },
43.         { Kinect.JointType.HandRight, Kinect.JointType.WristRight },
44.         { Kinect.JointType.WristRight, Kinect.JointType.ElbowRight },
45.         { Kinect.JointType.ElbowRight, Kinect.JointType.ShoulderRight },
46.         { Kinect.JointType.ShoulderRight, Kinect.JointType.SpineShoulder },
47.      
48.         { Kinect.JointType.SpineBase, Kinect.JointType.SpineMid },
49.         { Kinect.JointType.SpineMid, Kinect.JointType.SpineShoulder },
50.         { Kinect.JointType.SpineShoulder, Kinect.JointType.Neck },
51.         { Kinect.JointType.Neck, Kinect.JointType.Head },
52.     };
53.  
54.     void Update ()
55.     {
56.         if (BodySourceManager == null)
57.         {
58.             return;
59.         }
60.      
61.         _BodyManager = BodySourceManager.GetComponent<BodySourceManager>();
62.         if (_BodyManager == null)
63.         {
64.             return;
65.         }
66.      
67.         Kinect.Body[] data = _BodyManager.GetData();
68.         if (data == null)
69.         {
70.             return;
71.         }
72.      
73.         List<ulong> trackedIds = new List<ulong>();
74.         foreach(var body in data)
75.         {
76.             if (body == null)
77.             {
78.                 continue;
79.               }
80.              
81.             if(body.IsTracked)
82.             {
83.                 trackedIds.Add (body.TrackingId);
84.             }
85.         }
86.      
87.         List<ulong> knownIds = new List<ulong>(_Bodies.Keys);
88.      
89.         // First delete untracked bodies
90.         foreach(ulong trackingId in knownIds)
91.         {
92.             if(!trackedIds.Contains(trackingId))
93.             {
94.                 Destroy(_Bodies[trackingId]);
95.                 _Bodies.Remove(trackingId);
96.             }
97.         }
98.  
99.         // Processing just the first body.
100.         if (data[0] != null) {
101.             if (data[0].IsTracked) {
102.                 if(!_Bodies.ContainsKey(data[0].TrackingId))
103.                 {
104.                     _Bodies[data[0].TrackingId] = CreateBodyObject(data[0].TrackingId);
105.                 }
106.              
107.                 RefreshBodyObject(data[0], _Bodies[data[0].TrackingId]);
108.             }
109.         }
110.  
111.         /* Kinect SDK Example fragment
112.         foreach(var body in data)
113.         {
114.             if (body == null)
115.             {
116.                 continue;
117.             }
118.          
119.             if(body.IsTracked)
120.             {
121.                 if(!_Bodies.ContainsKey(body.TrackingId))
122.                 {
123.                     _Bodies[body.TrackingId] = CreateBodyObject(body.TrackingId);
124.                 }
125.              
126.                 RefreshBodyObject(body, _Bodies[body.TrackingId]);
127.             }
128.         }
129.         */
130.     }
131.  
132.     // Kinect SDK Example code method (Actually not called by any part of the code)
133.     private GameObject CreateBodyObject(ulong id)
134.     {
135.         GameObject body = new GameObject("Body:" + id);
136.      
137.         for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++)
138.         {
139.             GameObject jointObj = GameObject.CreatePrimitive(PrimitiveType.Cube);
140.          
141.             LineRenderer lr = jointObj.AddComponent<LineRenderer>();
142.             lr.SetVertexCount(2);
143.             lr.material = BoneMaterial;
144.             lr.SetWidth(0.05f, 0.05f);
145.          
146.             jointObj.transform.localScale = new Vector3(0.3f, 0.3f, 0.3f);
147.             jointObj.name = jt.ToString();
148.             jointObj.transform.parent = body.transform;
149.         }
150.      
151.         return body;
152.     }
153.  
154.     private void RefreshBodyObject(Kinect.Body body, GameObject bodyObject)
155.     {
156.         /* Kinect SDK Example code fragment.
157.         for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++)
158.         {
159.             Kinect.Joint sourceJoint = body.Joints[jt];
160.             Kinect.Joint? targetJoint = null;
161.          
162.             if(_BoneMap.ContainsKey(jt))
163.             {
164.                 targetJoint = body.Joints[_BoneMap[jt]];
165.             }
166.          
167.             Transform jointObj = bodyObject.transform.FindChild(jt.ToString());
168.             jointObj.localPosition = GetVector3FromJoint(sourceJoint);
169.          
170.             LineRenderer lr = jointObj.GetComponent<LineRenderer>();
171.             if(targetJoint.HasValue)
172.             {
173.                 lr.SetPosition(0, jointObj.localPosition);
174.                 lr.SetPosition(1, GetVector3FromJoint(targetJoint.Value));
175.                 lr.SetColors(GetColorForState (sourceJoint.TrackingState), GetColorForState(targetJoint.Value.TrackingState));
176.             }
177.             else
178.             {
179.                 lr.enabled = false;
180.             }
181.         }
182.         */
183.  
184.         // Here I am "hardcoding" the movement of the entire left arm.
185.         shoulderLeft.transform.localPosition = GetVector3FromJoint (body.Joints[Kinect.JointType.ShoulderLeft]);
186.         elbowLeft.transform.localPosition = GetVector3FromJoint (body.Joints[Kinect.JointType.ElbowLeft]);
187.         wristLeft.transform.localPosition = GetVector3FromJoint (body.Joints[Kinect.JointType.WristLeft]);
188.         handLeft.transform.localPosition = GetVector3FromJoint (body.Joints[Kinect.JointType.HandLeft]);
189.         thumbLeft.transform.localPosition = GetVector3FromJoint (body.Joints[Kinect.JointType.ThumbLeft]);
190.         handTipLeft.transform.localPosition = GetVector3FromJoint (body.Joints[Kinect.JointType.HandTipLeft]);
191.     }
192.  
193.     private static Color GetColorForState(Kinect.TrackingState state)
194.     {
195.         switch (state)
196.         {
197.         case Kinect.TrackingState.Tracked:
198.             return Color.green;
199.  
200.         case Kinect.TrackingState.Inferred:
201.             return Color.red;
202.  
203.         default:
204.             return Color.black;
205.         }
206.     }
207.  
208.     private static Vector3 GetVector3FromJoint(Kinect.Joint joint)
209.     {
210.         float mod = 10;
211.         // joint.Position.Z
212.         return new Vector3(joint.Position.X * mod, joint.Position.Y * mod, 0);
213.     }
214. }
215.  

I am running out of time. I need this asap!

If you have skype and want to speak directly with me, send me a PM.