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more work on hand tracking

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This commit is contained in:
Brad Hefta-Gaub 2016-12-12 08:46:21 -08:00
parent fdf9dc432d
commit d51b408c12
2 changed files with 19 additions and 9 deletions
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1
plugins/hifiKinect/CMakeLists.txt
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@ -7,6 +7,7 @@
#
if (WIN32)
find_package(KINECT)
if (KINECT_FOUND)
set(TARGET_NAME hifiKinect)
setup_hifi_plugin(Script Qml Widgets)

27
plugins/hifiKinect/src/KinectPlugin.cpp
View file

@ -438,7 +438,7 @@ void KinectPlugin::ProcessBody(INT64 time, int bodyCount, IBody** bodies) {
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
@ -451,7 +451,7 @@ void KinectPlugin::ProcessBody(INT64 time, int bodyCount, IBody** bodies) {
// filling in the _joints data...
if (joints[j].TrackingState != TrackingState_NotTracked) {
_joints[j].position = jointPosition;
_joints[j].orientation = jointOrientation;
//_joints[j].orientation = jointOrientation;
}
}
}
@ -552,30 +552,39 @@ QString KinectPlugin::InputDevice::getDefaultMappingConfig() const {
void KinectPlugin::InputDevice::update(float deltaTime, const controller::InputCalibrationData& inputCalibrationData,
const std::vector<KinectPlugin::KinectJoint>& joints, const std::vector<KinectPlugin::KinectJoint>& prevJoints) {
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
glm::quat controllerToAvatarRotation = glmExtractRotation(controllerToAvatar);
vec3 kinectHipPos;
if (joints.size() > JointType_SpineBase) {
kinectHipPos = joints[JointType_SpineBase].position;
}
auto hipOffset = -1.0f * kinectHipPos;
for (size_t i = 0; i < joints.size(); i++) {
int poseIndex = KinectJointIndexToPoseIndex((KinectJointIndex)i);
glm::vec3 linearVel, angularVel;
const glm::vec3& pos = joints[i].position;
// Adjust the position to be hip (avatar) relative, and rotated to match the avatar rotation
const glm::vec3& pos = controllerToAvatarRotation * (joints[i].position + hipOffset);
if (Vectors::ZERO == pos) {
_poseStateMap[poseIndex] = controller::Pose();
continue;
}
// FIXME - left over from neuron, needs to be turned into orientations from kinect SDK
// FIXME - determine the correct orientation transform
glm::quat rot = joints[i].orientation;
if (i < prevJoints.size()) {
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(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);
}
// FIXME - left over from neuron
_poseStateMap[controller::RIGHT_HAND_THUMB1] = controller::Pose(rightHandThumb1DefaultAbsTranslation, glm::quat(), glm::vec3(), glm::vec3());
_poseStateMap[controller::LEFT_HAND_THUMB1] = controller::Pose(leftHandThumb1DefaultAbsTranslation, glm::quat(), glm::vec3(), glm::vec3());
}