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This commit is contained in:
Brad Hefta-Gaub 2016-12-12 17:36:01 -08:00
parent 1b047d6901
commit 1d07711937
2 changed files with 18 additions and 78 deletions
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92
plugins/hifiKinect/src/KinectPlugin.cpp
View file

@ -58,9 +58,6 @@ QStringList kinectJointNames = {
const bool DEFAULT_ENABLED = false;
// indices of joints of the Kinect standard skeleton.
// This is 'almost' the same as the High Fidelity standard skeleton.
// It is missing a thumb joint.
enum KinectJointIndex {
SpineBase = 0,
SpineMid,
@ -98,11 +95,8 @@ enum KinectJointIndex {
Size
};
// -1 or 0???
#define UNKNOWN_JOINT (controller::StandardPoseChannel)0
// Almost a direct mapping except for LEFT_HAND_THUMB1 and RIGHT_HAND_THUMB1,
// which are not present in the Kinect standard skeleton.
static controller::StandardPoseChannel KinectJointIndexToPoseIndexMap[KinectJointIndex::Size] = {
controller::HIPS,
controller::SPINE,
@ -137,52 +131,6 @@ static controller::StandardPoseChannel KinectJointIndexToPoseIndexMap[KinectJoin
controller::RIGHT_HAND_INDEX4,
controller::RIGHT_HAND_THUMB4,
/**
controller::SPINE1,
controller::SPINE2,
controller::SPINE3,
controller::RIGHT_HAND_THUMB2,
controller::RIGHT_HAND_THUMB3,
controller::RIGHT_HAND_THUMB4,
controller::RIGHT_HAND_INDEX1,
controller::RIGHT_HAND_INDEX2,
controller::RIGHT_HAND_INDEX3,
controller::RIGHT_HAND_INDEX4,
controller::RIGHT_HAND_MIDDLE1,
controller::RIGHT_HAND_MIDDLE2,
controller::RIGHT_HAND_MIDDLE3,
controller::RIGHT_HAND_MIDDLE4,
controller::RIGHT_HAND_RING1,
controller::RIGHT_HAND_RING2,
controller::RIGHT_HAND_RING3,
controller::RIGHT_HAND_RING4,
controller::RIGHT_HAND_PINKY1,
controller::RIGHT_HAND_PINKY2,
controller::RIGHT_HAND_PINKY3,
controller::RIGHT_HAND_PINKY4,
controller::LEFT_HAND_THUMB2,
controller::LEFT_HAND_THUMB3,
controller::LEFT_HAND_THUMB4,
controller::LEFT_HAND_INDEX1,
controller::LEFT_HAND_INDEX2,
controller::LEFT_HAND_INDEX3,
controller::LEFT_HAND_INDEX4,
controller::LEFT_HAND_MIDDLE1,
controller::LEFT_HAND_MIDDLE2,
controller::LEFT_HAND_MIDDLE3,
controller::LEFT_HAND_MIDDLE4,
controller::LEFT_HAND_RING1,
controller::LEFT_HAND_RING2,
controller::LEFT_HAND_RING3,
controller::LEFT_HAND_RING4,
controller::LEFT_HAND_PINKY1,
controller::LEFT_HAND_PINKY2,
controller::LEFT_HAND_PINKY3,
controller::LEFT_HAND_PINKY4
**/
};
// in rig frame
@ -269,19 +217,9 @@ static const char* getControllerJointName(controller::StandardPoseChannel i) {
return "unknown";
}
// convert between YXZ Kinect euler angles in degrees to quaternion
// this is the default setting in the Axis Kinect server.
static quat eulerToQuat(const vec3& e) {
// euler.x and euler.y are swaped, WTF.
return (glm::angleAxis(e.x * RADIANS_PER_DEGREE, Vectors::UNIT_Y) *
glm::angleAxis(e.y * RADIANS_PER_DEGREE, Vectors::UNIT_X) *
glm::angleAxis(e.z * RADIANS_PER_DEGREE, Vectors::UNIT_Z));
}
//
// KinectPlugin
//
void KinectPlugin::init() {
loadSettings();
@ -375,17 +313,17 @@ void KinectPlugin::updateBody() {
if (SUCCEEDED(hr)) {
INT64 nTime = 0;
hr = pBodyFrame->get_RelativeTime(&nTime);
IBody* ppBodies[BODY_COUNT] = {0};
IBody* bodies[BODY_COUNT] = {0};
if (SUCCEEDED(hr)) {
hr = pBodyFrame->GetAndRefreshBodyData(_countof(ppBodies), ppBodies);
hr = pBodyFrame->GetAndRefreshBodyData(_countof(bodies), bodies);
}
if (SUCCEEDED(hr)) {
ProcessBody(nTime, BODY_COUNT, ppBodies);
ProcessBody(nTime, BODY_COUNT, bodies);
}
for (int i = 0; i < _countof(ppBodies); ++i) {
SafeRelease(ppBodies[i]);
for (int i = 0; i < _countof(bodies); ++i) {
SafeRelease(bodies[i]);
}
}
@ -394,12 +332,6 @@ void KinectPlugin::updateBody() {
}
#ifdef HAVE_KINECT
/// <summary>
/// Handle new body data
/// <param name="nTime">timestamp of frame</param>
/// <param name="nBodyCount">body data count</param>
/// <param name="ppBodies">body data in frame</param>
/// </summary>
void KinectPlugin::ProcessBody(INT64 time, int bodyCount, IBody** bodies) {
bool foundOneBody = false;
if (_coordinateMapper) {
@ -443,6 +375,17 @@ void KinectPlugin::ProcessBody(INT64 time, int bodyCount, IBody** bodies) {
// 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
// older 1.x SDK and the 2.0 sdk
//
// https://social.msdn.microsoft.com/Forums/en-US/31c9aff6-7dab-433d-9af9-59942dfd3d69/kinect-v20-preview-sdk-jointorientation-vs-boneorientation?forum=kinectv2sdk
// seems to suggest these are absolute...
// "These quaternions are absolute, so you can take a mesh in local space, transform it by the quaternion,
// and it will match the exact orientation of the bone. If you want relative orientation quaternion, you
// can multiply the absolute quaternion by the inverse of the parent joint's quaternion."
//
// - Bone direction(Y green) - always matches the skeleton.
// - Normal(Z blue) - joint roll, perpendicular to the bone
// - Binormal(X orange) - perpendicular to the bone and normal
glm::quat jointOrientation { jointOrientations[j].Orientation.x,
jointOrientations[j].Orientation.y,
jointOrientations[j].Orientation.z,
@ -560,14 +503,13 @@ void KinectPlugin::InputDevice::update(float deltaTime, const controller::InputC
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;
// Adjust the position to be hip (avatar) relative, and rotated to match the avatar rotation
const glm::vec3& pos = controllerToAvatarRotation * (joints[i].position + hipOffset);
const glm::vec3& pos = controllerToAvatarRotation * (joints[i].position - kinectHipPos);
if (Vectors::ZERO == pos) {
_poseStateMap[poseIndex] = controller::Pose();

4
plugins/hifiKinect/src/KinectPlugin.h
View file

@ -41,9 +41,7 @@ template<class Interface> inline void SafeRelease(Interface *& pInterfaceToRelea
class KinectPlugin : public InputPlugin {
Q_OBJECT
public:
//friend void FrameDataReceivedCallback(void* context, void* sender, _BvhDataHeaderEx* header, float* data);
bool isHandController() const override { return false; }
bool isHandController() const override { return true; }
// Plugin functions
virtual void init() override;