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Better configuration, i.e. which puck is associated with which limb.

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Previously we where incorrectly sorting the pucks along the x axis.
This could cause the order to be wrong if you were not standing along the z axis w.r.t the vive tracked volume.
This commit is contained in:
Anthony Thibault 2018-10-01 18:43:19 -07:00
parent b6d7b9b544
commit b62ca2b75c
1 changed files with 12 additions and 6 deletions
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18
plugins/openvr/src/ViveControllerManager.cpp
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@ -77,14 +77,10 @@ static glm::mat4 computeOffset(glm::mat4 defaultToReferenceMat, glm::mat4 defaul
return glm::inverse(poseMat) * referenceJointMat;
}
static bool sortPucksYPosition(PuckPosePair firstPuck, PuckPosePair secondPuck) {
static bool sortPucksYPosition(const PuckPosePair& firstPuck, const PuckPosePair& secondPuck) {
return (firstPuck.second.translation.y < secondPuck.second.translation.y);
}
static bool sortPucksXPosition(PuckPosePair firstPuck, PuckPosePair secondPuck) {
return (firstPuck.second.translation.x < secondPuck.second.translation.x);
}
static bool determineLimbOrdering(const controller::Pose& poseA, const controller::Pose& poseB, glm::vec3 axis, glm::vec3 axisOrigin) {
glm::vec3 poseAPosition = poseA.getTranslation();
glm::vec3 poseBPosition = poseB.getTranslation();
@ -592,7 +588,17 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
}
bool ViveControllerManager::InputDevice::configureHands(const glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksXPosition);
// Sort valid tracked objects in the default frame by the x dimension (left to right).
// Because the sort is in the default frame we guarentee that poses are relative to the head facing.
// i.e. -x will always be to the left of the head, and +x will be to the right.
// This allows the user to be facing in any direction in sensor space while calibrating.
glm::mat4 referenceToDefaultMat = glm::inverse(defaultToReferenceMat);
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), [&referenceToDefaultMat](const PuckPosePair& a, const PuckPosePair& b) {
glm::vec3 aPos = transformPoint(referenceToDefaultMat, a.second.translation);
glm::vec3 bPos = transformPoint(referenceToDefaultMat, b.second.translation);
return (aPos.x < bPos.x);
});
int puckCount = (int)_validTrackedObjects.size();
if (_handConfig == HandConfig::Pucks && puckCount >= MIN_PUCK_COUNT) {
glm::vec3 headXAxis = getReferenceHeadXAxis(defaultToReferenceMat, inputCalibration.defaultHeadMat);