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More work on joints.

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This commit is contained in:
Andrzej Kapolka 2013-07-03 10:13:10 -07:00
parent 1fdfca727d
commit ebab09e535
3 changed files with 29 additions and 24 deletions
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3
interface/src/Avatar.cpp
View file

@ -548,8 +548,7 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
}
if (derivedJointID != AVATAR_JOINT_NULL) {
if (secondJointID == AVATAR_JOINT_NULL) {
_skeleton.joint[derivedJointID].position = _skeleton.joint[it->jointID].position +
_skeleton.joint[it->jointID].absoluteRotation * JOINT_DIRECTION * _skeleton.joint[derivedJointID].length;
_skeleton.joint[derivedJointID].position = _skeleton.joint[it->jointID].position;
_skeleton.joint[derivedJointID].absoluteRotation = _skeleton.joint[it->jointID].absoluteRotation;
} else {

47
interface/src/Webcam.cpp
View file

@ -214,7 +214,8 @@ void Webcam::setFrame(const Mat& frame, int format, const Mat& depth, const Rota
}
const float JOINT_SMOOTHING = 0.95f;
_estimatedJoints[i].isValid = true;
_estimatedJoints[i].position = glm::mix(_joints[i].position, _estimatedJoints[i].position, JOINT_SMOOTHING);
_estimatedJoints[i].position = glm::mix(_joints[i].position - joints[AVATAR_JOINT_TORSO].position,
_estimatedJoints[i].position, JOINT_SMOOTHING);
_estimatedJoints[i].orientation = safeMix(_joints[i].orientation,
_estimatedJoints[i].orientation, JOINT_SMOOTHING);
}
@ -275,28 +276,28 @@ static AvatarJointID xnToAvatarJoint(XnSkeletonJoint joint) {
case XN_SKEL_NECK: return AVATAR_JOINT_NECK_BASE;
case XN_SKEL_TORSO: return AVATAR_JOINT_TORSO;
case XN_SKEL_LEFT_SHOULDER: return AVATAR_JOINT_LEFT_SHOULDER;
case XN_SKEL_LEFT_ELBOW: return AVATAR_JOINT_LEFT_ELBOW;
case XN_SKEL_LEFT_HAND: return AVATAR_JOINT_LEFT_WRIST;
case XN_SKEL_LEFT_SHOULDER: return AVATAR_JOINT_RIGHT_SHOULDER;
case XN_SKEL_LEFT_ELBOW: return AVATAR_JOINT_RIGHT_ELBOW;
case XN_SKEL_LEFT_HAND: return AVATAR_JOINT_RIGHT_WRIST;
case XN_SKEL_RIGHT_SHOULDER: return AVATAR_JOINT_RIGHT_SHOULDER;
case XN_SKEL_RIGHT_ELBOW: return AVATAR_JOINT_RIGHT_ELBOW;
case XN_SKEL_RIGHT_HAND: return AVATAR_JOINT_RIGHT_WRIST;
case XN_SKEL_RIGHT_SHOULDER: return AVATAR_JOINT_LEFT_SHOULDER;
case XN_SKEL_RIGHT_ELBOW: return AVATAR_JOINT_LEFT_ELBOW;
case XN_SKEL_RIGHT_HAND: return AVATAR_JOINT_LEFT_WRIST;
case XN_SKEL_LEFT_HIP: return AVATAR_JOINT_LEFT_HIP;
case XN_SKEL_LEFT_KNEE: return AVATAR_JOINT_LEFT_KNEE;
case XN_SKEL_LEFT_FOOT: return AVATAR_JOINT_LEFT_HEEL;
case XN_SKEL_LEFT_HIP: return AVATAR_JOINT_RIGHT_HIP;
case XN_SKEL_LEFT_KNEE: return AVATAR_JOINT_RIGHT_KNEE;
case XN_SKEL_LEFT_FOOT: return AVATAR_JOINT_RIGHT_HEEL;
case XN_SKEL_RIGHT_HIP: return AVATAR_JOINT_RIGHT_HIP;
case XN_SKEL_RIGHT_KNEE: return AVATAR_JOINT_RIGHT_KNEE;
case XN_SKEL_RIGHT_FOOT: return AVATAR_JOINT_RIGHT_HEEL;
case XN_SKEL_RIGHT_HIP: return AVATAR_JOINT_LEFT_HIP;
case XN_SKEL_RIGHT_KNEE: return AVATAR_JOINT_LEFT_KNEE;
case XN_SKEL_RIGHT_FOOT: return AVATAR_JOINT_LEFT_HEEL;
default: return AVATAR_JOINT_NULL;
}
}
static glm::vec3 xnToGLM(const XnVector3D& vector) {
return glm::vec3(vector.X, vector.Y, vector.Z);
static glm::vec3 xnToGLM(const XnVector3D& vector, bool flip = false) {
return glm::vec3(vector.X * (flip ? -1 : 1), vector.Y, vector.Z);
}
static glm::quat xnToGLM(const XnMatrix3X3& matrix) {
@ -365,9 +366,6 @@ void FrameGrabber::grabFrame() {
_userGenerator.GetUsers(&_userID, userCount);
if (userCount > 0 && _userGenerator.GetSkeletonCap().IsTracking(_userID)) {
joints.resize(NUM_AVATAR_JOINTS);
for (int i = 0; i < NUM_AVATAR_JOINTS; i++) {
joints[i].isValid = false;
}
const int MAX_ACTIVE_JOINTS = 16;
XnSkeletonJoint activeJoints[MAX_ACTIVE_JOINTS];
XnUInt16 activeJointCount = MAX_ACTIVE_JOINTS;
@ -382,10 +380,8 @@ void FrameGrabber::grabFrame() {
XnVector3D projected;
_depthGenerator.ConvertRealWorldToProjective(1, &transform.position.position, &projected);
const float METERS_PER_MM = 1.0f / 1000.0f;
Joint joint = { true, xnToGLM(transform.position.position) * METERS_PER_MM,
xnToGLM(transform.orientation.orientation),
xnToGLM(projected) };
joints[avatarJoint] = joint;
joints[avatarJoint] = Joint(xnToGLM(transform.position.position, true) * METERS_PER_MM,
xnToGLM(transform.orientation.orientation), xnToGLM(projected));
}
}
}
@ -502,3 +498,10 @@ void FrameGrabber::updateHSVFrame(const Mat& frame, int format) {
cvtColor(frame, _hsvFrame, format == GL_RGB ? CV_RGB2HSV : CV_BGR2HSV);
inRange(_hsvFrame, Scalar(0, 55, 65), Scalar(180, 256, 256), _mask);
}
Joint::Joint(const glm::vec3& position, const glm::quat& orientation, const glm::vec3& projected) :
isValid(true), position(position), orientation(orientation), projected(projected) {
}
Joint::Joint() : isValid(false) {
}

3
interface/src/Webcam.h
View file

@ -125,6 +125,9 @@ private:
class Joint {
public:
Joint(const glm::vec3& position, const glm::quat& orientation, const glm::vec3& projected);
Joint();
bool isValid;
glm::vec3 position;
glm::quat orientation;