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add debug statment and fixed sorting order

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This commit is contained in:
Dante Ruiz 2017-05-11 23:00:41 +01:00
parent e4df4369ad
commit 539aaf8c59
2 changed files with 14 additions and 7 deletions
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19
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -66,7 +66,7 @@ static glm::mat4 computeOffset(glm::mat4 defaultToReferenceMat, glm::mat4 defaul
} }
static bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) { static bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) {
return (firstPuck.second.translation.y < firstPuck.second.translation.y); return (firstPuck.second.translation.y < secondPuck.second.translation.y);
} }
bool ViveControllerManager::isSupported() const { bool ViveControllerManager::isSupported() const {
@ -245,6 +245,7 @@ void ViveControllerManager::InputDevice::calibrateOrUncalibrate(const controller
} }
void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibrationData& inputCalibration) { void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibrationData& inputCalibration) {
qDebug() << "Puck Calibration: Starting...";
// convert the hmd head from sensor space to avatar space // convert the hmd head from sensor space to avatar space
glm::mat4 hmdSensorFlippedMat = inputCalibration.hmdSensorMat * Matrices::Y_180; glm::mat4 hmdSensorFlippedMat = inputCalibration.hmdSensorMat * Matrices::Y_180;
glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat; glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
@ -264,18 +265,24 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
glm::mat4 defaultToReferenceMat = currentHead * glm::inverse(inputCalibration.defaultHeadMat); glm::mat4 defaultToReferenceMat = currentHead * glm::inverse(inputCalibration.defaultHeadMat);
int puckCount = (int)_validTrackedObjects.size(); int puckCount = (int)_validTrackedObjects.size();
qDebug() << "Puck Calibration: " << puckCount << " pucks found for calibration";
_config = _preferedConfig; _config = _preferedConfig;
if (_config != Config::Auto && puckCount < MIN_PUCK_COUNT) { if (_config != Config::Auto && puckCount < MIN_PUCK_COUNT) {
qDebug() << "Puck Calibration: Failed: Could not meet the minimal # of pucks";
uncalibrate(); uncalibrate();
return; return;
} else if (_config == Config::Auto){ } else if (_config == Config::Auto){
if (puckCount == MIN_PUCK_COUNT) { if (puckCount == MIN_PUCK_COUNT) {
_config = Config::Feet; _config = Config::Feet;
qDebug() << "Puck Calibration: Auto Config: " << configToString(_config) << " configuration";
} else if (puckCount == MIN_FEET_AND_HIPS) { } else if (puckCount == MIN_FEET_AND_HIPS) {
_config = Config::FeetAndHips; _config = Config::FeetAndHips;
qDebug() << "Puck Calibration: Auto Config: " << configToString(_config) << " configuration";
} else if (puckCount >= MIN_FEET_HIPS_CHEST) { } else if (puckCount >= MIN_FEET_HIPS_CHEST) {
_config = Config::FeetHipsAndChest; _config = Config::FeetHipsAndChest;
qDebug() << "Puck Calibration: Auto Config: " << configToString(_config) << " configuration";
} else { } else {
qDebug() << "Puck Calibration: Auto Config Failed: Could not meet the minimal # of pucks";
uncalibrate(); uncalibrate();
return; return;
} }
@ -283,8 +290,6 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition); std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
auto& firstFoot = _validTrackedObjects[FIRST_FOOT]; auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
auto& secondFoot = _validTrackedObjects[SECOND_FOOT]; auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
controller::Pose& firstFootPose = firstFoot.second; controller::Pose& firstFootPose = firstFoot.second;
@ -314,10 +319,12 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first; _jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
_pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second); _pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
} else { } else {
qDebug() << "Puck Calibration: " << configToString(_config) << " Config Failed: Could not meet the minimal # of pucks";
uncalibrate(); uncalibrate();
return; return;
} }
_calibrated = true; _calibrated = true;
qDebug() << "PuckCalibration: " << configToString(_config) << " Configuration Successful";
} }
void ViveControllerManager::InputDevice::uncalibrate() { void ViveControllerManager::InputDevice::uncalibrate() {
@ -575,9 +582,9 @@ void ViveControllerManager::InputDevice::saveSettings() const {
settings.endGroup(); settings.endGroup();
} }
QString ViveControllerManager::InputDevice::configToString() { QString ViveControllerManager::InputDevice::configToString(Config config) {
QString currentConfig; QString currentConfig;
switch (_preferedConfig) { switch (config) {
case Config::Auto: case Config::Auto:
currentConfig = "Auto"; currentConfig = "Auto";
break; break;
@ -615,7 +622,7 @@ void ViveControllerManager::InputDevice::createPreferences() {
static const QString VIVE_PUCKS_CONFIG = "Vive Pucks Configuration"; static const QString VIVE_PUCKS_CONFIG = "Vive Pucks Configuration";
{ {
auto getter = [this]()->QString { return configToString(); }; auto getter = [this]()->QString { return configToString(_preferedConfig); };
auto setter = [this](const QString& value) { setConfigFromString(value); saveSettings(); }; auto setter = [this](const QString& value) { setConfigFromString(value); saveSettings(); };
auto preference = new ComboBoxPreference(VIVE_PUCKS_CONFIG, "Configuration", getter, setter); auto preference = new ComboBoxPreference(VIVE_PUCKS_CONFIG, "Configuration", getter, setter);
QStringList list = (QStringList() << "Auto" << "Feet" << "FeetAndHips" << "FeetHipsAndChest"); QStringList list = (QStringList() << "Auto" << "Feet" << "FeetAndHips" << "FeetHipsAndChest");

2
plugins/openvr/src/ViveControllerManager.h
View file

@ -126,7 +126,7 @@ private:
bool _timeTilCalibrationSet { false }; bool _timeTilCalibrationSet { false };
mutable std::recursive_mutex _lock; mutable std::recursive_mutex _lock;
QString configToString(); QString configToString(Config config);
void setConfigFromString(const QString& value); void setConfigFromString(const QString& value);
void loadSettings(); void loadSettings();
void saveSettings() const; void saveSettings() const;