Calibrate method

KinectReceiverCalibrate.cs

public void Calibrate()
{
    var headPos = localBody.Joints[Kinect.JointType.Head].Position;
    var rarmPos = localBody.Joints[Kinect.JointType.ElbowRight].Position;
    var larmPos = localBody.Joints[Kinect.JointType.ElbowLeft].Position;

    var cameraOffset = -0.15f * Camera.main.transform.forward;
    var cameraPos = Camera.main.transform.position + cameraOffset;
    var cameraRotation = Camera.main.transform.rotation;
    var cameraRotationY = Quaternion.AngleAxis(cameraRotation.eulerAngles.y, Vector3.up);

    var lToR = rarmPos - larmPos;
    var angle = -Mathf.Atan2(lToR.z, lToR.x) * Mathf.Rad2Deg;
    var headRotation = Quaternion.AngleAxis(angle, Vector3.up);

    var kinect2Head = Matrix4x4.TRS(headPos, headRotation, Vector3.one);
    var origin2Head = Matrix4x4.TRS(cameraPos, cameraRotationY, Vector3.one);

    var origin2Kinect = origin2Head * kinect2Head.inverse;
    Vector3 position = origin2Kinect.GetColumn(3);
    Quaternion rotation = Quaternion.LookRotation(
        origin2Kinect.GetColumn(2),
        origin2Kinect.GetColumn(1)
    );
    bodyObject.transform.position = position;
    bodyObject.transform.rotation = rotation;
}