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Merge pull request #10147 from alhighfidelity/Kinect-Hand-Filter

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Kinect hand filter
This commit is contained in:
Andrew Meadows 2017-04-12 14:27:05 -07:00 committed by GitHub
commit e64e2614e3
3 changed files with 22 additions and 5 deletions
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2
libraries/shared/src/SimpleMovingAverage.h
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@ -71,7 +71,7 @@ public:
void addSample(T sample) { void addSample(T sample) {
if (numSamples > 0) { if (numSamples > 0) {
average = ((float)sample * WEIGHTING) + ((float)average * ONE_MINUS_WEIGHTING); average = (sample * WEIGHTING) + (average * ONE_MINUS_WEIGHTING);
} else { } else {
average = sample; average = sample;
} }

19
plugins/hifiKinect/src/KinectPlugin.cpp
View file

@ -24,7 +24,6 @@
Q_DECLARE_LOGGING_CATEGORY(inputplugins) Q_DECLARE_LOGGING_CATEGORY(inputplugins)
Q_LOGGING_CATEGORY(inputplugins, "hifi.inputplugins") Q_LOGGING_CATEGORY(inputplugins, "hifi.inputplugins")
const char* KinectPlugin::NAME = "Kinect"; const char* KinectPlugin::NAME = "Kinect";
const char* KinectPlugin::KINECT_ID_STRING = "Kinect"; const char* KinectPlugin::KINECT_ID_STRING = "Kinect";
@ -493,11 +492,23 @@ void KinectPlugin::ProcessBody(INT64 time, int bodyCount, IBody** bodies) {
//_joints[j].orientation = jointOrientation; //_joints[j].orientation = jointOrientation;
if (joints[j].JointType == JointType_HandRight) { if (joints[j].JointType == JointType_HandRight) {
static const quat kinectToHandRight = glm::angleAxis(-PI / 2.0f, Vectors::UNIT_Y); static const quat kinectToHandRight = glm::angleAxis(-PI / 2.0f, Vectors::UNIT_Y);
_joints[j].orientation = jointOrientation * kinectToHandRight; // add moving average of orientation quaternion
glm::quat jointSample = jointOrientation * kinectToHandRight;
if (glm::dot(jointSample, _RightHandOrientationAverage.getAverage()) < 0) {
jointSample = -jointSample;
}
_RightHandOrientationAverage.addSample(jointSample);
_joints[j].orientation = glm::normalize(_RightHandOrientationAverage.getAverage());
} else if (joints[j].JointType == JointType_HandLeft) { } else if (joints[j].JointType == JointType_HandLeft) {
// To transform from Kinect to our LEFT Hand.... Postive 90 deg around Y // To transform from Kinect to our LEFT Hand.... Postive 90 deg around Y
static const quat kinectToHandLeft = glm::angleAxis(PI / 2.0f, Vectors::UNIT_Y); static const quat kinectToHandLeft = glm::angleAxis(PI / 2.0f, Vectors::UNIT_Y);
_joints[j].orientation = jointOrientation * kinectToHandLeft; // add moving average of orientation quaternion
glm::quat jointSample = jointOrientation * kinectToHandLeft;
if (glm::dot(jointSample, _LeftHandOrientationAverage.getAverage()) < 0) {
jointSample = -jointSample;
}
_LeftHandOrientationAverage.addSample(jointSample);
_joints[j].orientation = glm::normalize(_LeftHandOrientationAverage.getAverage());
} else { } else {
_joints[j].orientation = jointOrientation; _joints[j].orientation = jointOrientation;
} }
@ -643,4 +654,4 @@ void KinectPlugin::InputDevice::clearState() {
int poseIndex = KinectJointIndexToPoseIndex((KinectJointIndex)i); int poseIndex = KinectJointIndexToPoseIndex((KinectJointIndex)i);
_poseStateMap[poseIndex] = controller::Pose(); _poseStateMap[poseIndex] = controller::Pose();
} }
} }

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

@ -23,6 +23,7 @@
// Kinect Header files // Kinect Header files
#include <Kinect.h> #include <Kinect.h>
#include <SimpleMovingAverage.h>
// Safe release for interfaces // Safe release for interfaces
template<class Interface> inline void SafeRelease(Interface *& pInterfaceToRelease) { template<class Interface> inline void SafeRelease(Interface *& pInterfaceToRelease) {
@ -58,6 +59,11 @@ public:
virtual void saveSettings() const override; virtual void saveSettings() const override;
virtual void loadSettings() override; virtual void loadSettings() override;
private:
// add variables for moving average
ThreadSafeMovingAverage<glm::quat, 2> _LeftHandOrientationAverage;
ThreadSafeMovingAverage<glm::quat, 2> _RightHandOrientationAverage;
protected: protected:
struct KinectJoint { struct KinectJoint {