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Smooth the joints, get the head position/orientation from there.

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This commit is contained in:
Andrzej Kapolka 2013-07-01 17:46:05 -07:00
parent f30d0b63f5
commit 095782af45
5 changed files with 55 additions and 39 deletions
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4
interface/src/Application.cpp
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@ -1803,8 +1803,8 @@ void Application::update(float deltaTime) {
void Application::updateAvatar(float deltaTime) {
// Update my avatar's head position from gyros and/or webcam
_myAvatar.updateHeadFromGyrosAndOrWebcam();
// Update my avatar's state position from gyros and/or webcam
_myAvatar.updateFromGyrosAndOrWebcam();
if (_serialHeadSensor.isActive()) {

8
interface/src/Avatar.cpp
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@ -285,10 +285,10 @@ void Avatar::reset() {
}
// Update avatar head rotation with sensor data
void Avatar::updateHeadFromGyrosAndOrWebcam() {
const float AMPLIFY_PITCH = 1.f;
const float AMPLIFY_YAW = 1.f;
const float AMPLIFY_ROLL = 1.f;
void Avatar::updateFromGyrosAndOrWebcam() {
const float AMPLIFY_PITCH = 2.f;
const float AMPLIFY_YAW = 2.f;
const float AMPLIFY_ROLL = 2.f;
SerialInterface* gyros = Application::getInstance()->getSerialHeadSensor();
Webcam* webcam = Application::getInstance()->getWebcam();

2
interface/src/Avatar.h
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@ -87,7 +87,7 @@ public:
void reset();
void simulate(float deltaTime, Transmitter* transmitter);
void updateThrust(float deltaTime, Transmitter * transmitter);
void updateHeadFromGyrosAndOrWebcam();
void updateFromGyrosAndOrWebcam();
void updateFromMouse(int mouseX, int mouseY, int screenWidth, int screenHeight);
void updateFromTouch(float touchAvgDistX, float touchAvgDistY);
void addBodyYaw(float y) {_bodyYaw += y;};

79
interface/src/Webcam.cpp
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@ -199,33 +199,46 @@ void Webcam::setFrame(const Mat& frame, int format, const Mat& depth, const Rota
}
_lastFrameTimestamp = now;
// roll is just the angle of the face rect (correcting for 180 degree rotations)
float roll = faceRect.angle;
if (roll < -90.0f) {
roll += 180.0f;
// see if we have joint data
if (!_joints.isEmpty()) {
for (int i = 0; i < NUM_AVATAR_JOINTS; i++) {
const float JOINT_SMOOTHING = 0.95f;
_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);
}
_estimatedRotation = safeEulerAngles(_estimatedJoints[AVATAR_JOINT_HEAD_BASE].orientation);
_estimatedPosition = _estimatedJoints[AVATAR_JOINT_HEAD_BASE].position;
} else if (roll > 90.0f) {
roll -= 180.0f;
}
const float ROTATION_SMOOTHING = 0.95f;
_estimatedRotation.z = glm::mix(roll, _estimatedRotation.z, ROTATION_SMOOTHING);
// determine position based on translation and scaling of the face rect
if (_initialFaceRect.size.area() == 0) {
_initialFaceRect = faceRect;
_estimatedPosition = glm::vec3();
} else {
float proportion = sqrtf(_initialFaceRect.size.area() / (float)faceRect.size.area());
const float DISTANCE_TO_CAMERA = 0.333f;
const float POSITION_SCALE = 0.5f;
float z = DISTANCE_TO_CAMERA * proportion - DISTANCE_TO_CAMERA;
glm::vec3 position = glm::vec3(
(faceRect.center.x - _initialFaceRect.center.x) * proportion * POSITION_SCALE / _frameWidth,
(faceRect.center.y - _initialFaceRect.center.y) * proportion * POSITION_SCALE / _frameWidth,
z);
const float POSITION_SMOOTHING = 0.95f;
_estimatedPosition = glm::mix(position, _estimatedPosition, POSITION_SMOOTHING);
// roll is just the angle of the face rect (correcting for 180 degree rotations)
float roll = faceRect.angle;
if (roll < -90.0f) {
roll += 180.0f;
} else if (roll > 90.0f) {
roll -= 180.0f;
}
const float ROTATION_SMOOTHING = 0.95f;
_estimatedRotation.z = glm::mix(roll, _estimatedRotation.z, ROTATION_SMOOTHING);
// determine position based on translation and scaling of the face rect
if (_initialFaceRect.size.area() == 0) {
_initialFaceRect = faceRect;
_estimatedPosition = glm::vec3();
} else {
float proportion = sqrtf(_initialFaceRect.size.area() / (float)faceRect.size.area());
const float DISTANCE_TO_CAMERA = 0.333f;
const float POSITION_SCALE = 0.5f;
float z = DISTANCE_TO_CAMERA * proportion - DISTANCE_TO_CAMERA;
glm::vec3 position = glm::vec3(
(faceRect.center.x - _initialFaceRect.center.x) * proportion * POSITION_SCALE / _frameWidth,
(faceRect.center.y - _initialFaceRect.center.y) * proportion * POSITION_SCALE / _frameWidth,
z);
const float POSITION_SMOOTHING = 0.95f;
_estimatedPosition = glm::mix(position, _estimatedPosition, POSITION_SMOOTHING);
}
}
// note that we have data
@ -279,14 +292,16 @@ static AvatarJointID xnToAvatarJoint(XnSkeletonJoint joint) {
}
static glm::vec3 xnToGLM(const XnVector3D& vector) {
return glm::vec3(vector.X, vector.Y, vector.Z);
const float METERS_PER_MM = 1.0f / 1000.0f;
return glm::vec3(vector.X, vector.Y, -vector.Z) * METERS_PER_MM;
}
static glm::mat3 xnToGLM(const XnMatrix3X3& matrix) {
return glm::mat3(
matrix.elements[0], matrix.elements[1], matrix.elements[2],
matrix.elements[3], matrix.elements[4], matrix.elements[5],
matrix.elements[6], matrix.elements[7], matrix.elements[8]);
static glm::quat xnToGLM(const XnMatrix3X3& matrix) {
glm::quat rotation = glm::quat_cast(glm::mat3(
matrix.elements[0], matrix.elements[3], matrix.elements[6],
matrix.elements[1], matrix.elements[4], matrix.elements[7],
matrix.elements[2], matrix.elements[5], matrix.elements[8]));
return glm::quat(rotation.w, rotation.x, rotation.y, -rotation.z);
}
static void XN_CALLBACK_TYPE newUser(UserGenerator& generator, XnUserID id, void* cookie) {
@ -351,7 +366,7 @@ void FrameGrabber::grabFrame() {
XnVector3D projected;
_depthGenerator.ConvertRealWorldToProjective(1, &transform.position.position, &projected);
Joint joint = { true, xnToGLM(transform.position.position),
glm::quat_cast(xnToGLM(transform.orientation.orientation)),
xnToGLM(transform.orientation.orientation),
xnToGLM(projected) };
joints[avatarJoint] = joint;
}

1
interface/src/Webcam.h
View file

@ -79,6 +79,7 @@ private:
glm::vec3 _estimatedPosition;
glm::vec3 _estimatedRotation;
JointVector _estimatedJoints;
};
class FrameGrabber : public QObject {