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add orientation

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This commit is contained in:
Brad Hefta-Gaub 2016-12-09 08:29:21 -08:00
parent b6838c6ec4
commit 053b1bedc4
2 changed files with 29 additions and 23 deletions
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46
plugins/hifiKinect/src/KinectPlugin.cpp
View file

@ -400,23 +400,23 @@ void KinectPlugin::updateBody() {
/// <param name="nBodyCount">body data count</param>
/// <param name="ppBodies">body data in frame</param>
/// </summary>
void KinectPlugin::ProcessBody(INT64 nTime, int nBodyCount, IBody** ppBodies) {
void KinectPlugin::ProcessBody(INT64 time, int bodyCount, IBody** bodies) {
bool foundOneBody = false;
if (_coordinateMapper) {
for (int i = 0; i < nBodyCount; ++i) {
for (int i = 0; i < bodyCount; ++i) {
if (foundOneBody) {
break;
}
IBody* pBody = ppBodies[i];
if (pBody) {
IBody* body = bodies[i];
if (body) {
BOOLEAN tracked = false;
HRESULT hr = pBody->get_IsTracked(&tracked);
HRESULT hr = body->get_IsTracked(&tracked);
if (SUCCEEDED(hr) && tracked) {
foundOneBody = true;
if (_joints.size() != JointType_Count) {
_joints.resize(JointType_Count, { { 0.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 0.0f } });
_joints.resize(JointType_Count, { { 0.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 0.0f, 0.0f } });
}
Joint joints[JointType_Count];
@ -424,11 +424,11 @@ void KinectPlugin::ProcessBody(INT64 nTime, int nBodyCount, IBody** ppBodies) {
HandState leftHandState = HandState_Unknown;
HandState rightHandState = HandState_Unknown;
pBody->get_HandLeftState(&leftHandState);
pBody->get_HandRightState(&rightHandState);
body->get_HandLeftState(&leftHandState);
body->get_HandRightState(&rightHandState);
hr = pBody->GetJoints(_countof(joints), joints);
hr = pBody->GetJointOrientations(_countof(jointOrientations), jointOrientations);
hr = body->GetJoints(_countof(joints), joints);
hr = body->GetJointOrientations(_countof(jointOrientations), jointOrientations);
if (SUCCEEDED(hr)) {
auto jointCount = _countof(joints);
@ -438,11 +438,20 @@ void KinectPlugin::ProcessBody(INT64 nTime, int nBodyCount, IBody** ppBodies) {
glm::vec3 jointPosition { joints[j].Position.X,
joints[j].Position.Y,
joints[j].Position.Z };
-joints[j].Position.Z };
// Kinect Documentation is unclear on what these orientations are, are they absolute?
// or are the relative to the parent bones. It appears as if it has changed between the
// older 1.x SDK and the 2.0 sdk
glm::quat jointOrientation { jointOrientations[j].Orientation.x,
jointOrientations[j].Orientation.y,
jointOrientations[j].Orientation.z,
jointOrientations[j].Orientation.w };
// filling in the _joints data...
if (joints[j].TrackingState != TrackingState_NotTracked) {
_joints[j].pos = jointPosition;
_joints[j].position = jointPosition;
_joints[j].orientation = jointOrientation;
}
}
}
@ -546,23 +555,20 @@ void KinectPlugin::InputDevice::update(float deltaTime, const controller::InputC
for (size_t i = 0; i < joints.size(); i++) {
int poseIndex = KinectJointIndexToPoseIndex((KinectJointIndex)i);
glm::vec3 linearVel, angularVel;
const glm::vec3& pos = joints[i].pos;
const glm::vec3& pos = joints[i].position;
// FIXME - left over from neuron, needs to be turned into orientations from kinect SDK
const glm::vec3& rotEuler = joints[i].euler;
if (Vectors::ZERO == pos && Vectors::ZERO == rotEuler) {
if (Vectors::ZERO == pos) {
_poseStateMap[poseIndex] = controller::Pose();
continue;
}
// FIXME - left over from neuron, needs to be turned into orientations from kinect SDK
glm::quat rot = eulerToQuat(rotEuler);
glm::quat rot = joints[i].orientation;
if (i < prevJoints.size()) {
linearVel = (pos - (prevJoints[i].pos * METERS_PER_CENTIMETER)) / deltaTime; // m/s
linearVel = (pos - (prevJoints[i].position * METERS_PER_CENTIMETER)) / deltaTime; // m/s
// quat log imaginary part points along the axis of rotation, with length of one half the angle of rotation.
glm::quat d = glm::log(rot * glm::inverse(eulerToQuat(prevJoints[i].euler)));
glm::quat d = glm::log(rot * glm::inverse(prevJoints[i].orientation));
angularVel = glm::vec3(d.x, d.y, d.z) / (0.5f * deltaTime); // radians/s
}
_poseStateMap[poseIndex] = controller::Pose(pos, rot, linearVel, angularVel);

6
plugins/hifiKinect/src/KinectPlugin.h
View file

@ -63,8 +63,8 @@ public:
protected:
struct KinectJoint {
glm::vec3 pos;
glm::vec3 euler; // FIXME -- we don't get this...
glm::vec3 position;
glm::quat orientation;
};
class InputDevice : public controller::InputDevice {
@ -103,7 +103,7 @@ protected:
void updateBody();
#ifdef HAVE_KINECT
void ProcessBody(INT64 nTime, int nBodyCount, IBody** ppBodies);
void ProcessBody(INT64 time, int bodyCount, IBody** bodies);
// Current Kinect
IKinectSensor* _kinectSensor { nullptr };