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Better shoulder/arm puck calibration.

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This commit is contained in:
Anthony J. Thibault 2017-07-13 10:39:48 -07:00
parent 4a35ad105b
commit 22d8adcb99
3 changed files with 71 additions and 34 deletions
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36
interface/resources/avatar/avatar-animation.json
View file

@ -61,6 +61,24 @@
"weight": 1.0,
"flexCoefficients": [1]
},
{
"jointName": "LeftArm",
"positionVar": "leftArmPosition",
"rotationVar": "leftArmRotation",
"typeVar": "leftArmType",
"weightVar": "leftArmWeight",
"weight": 0.75,
"flexCoefficients": [1.0, 0.35, 0.2, 0.1, 0.05, 0.0, 0.0, 0.0]
},
{
"jointName": "RightArm",
"positionVar": "rightArmPosition",
"rotationVar": "rightArmRotation",
"typeVar": "rightArmType",
"weightVar": "rightArmWeight",
"weight": 0.75,
"flexCoefficients": [1.0, 0.35, 0.2, 0.1, 0.05, 0.0, 0.0, 0.0]
},
{
"jointName": "RightHand",
"positionVar": "rightHandPosition",
@ -126,24 +144,6 @@
"weightVar": "headWeight",
"weight": 4.0,
"flexCoefficients": [1, 0.5, 0.25, 0.2, 0.1]
},
{
"jointName": "LeftArm",
"positionVar": "leftArmPosition",
"rotationVar": "leftArmRotation",
"typeVar": "leftArmType",
"weightVar": "leftArmWeight",
"weight": 0.75,
"flexCoefficients": [1.0, 0.35, 0.2, 0.1, 0.05, 0.0, 0.0, 0.0]
},
{
"jointName": "RightArm",
"positionVar": "rightArmPosition",
"rotationVar": "rightArmRotation",
"typeVar": "rightArmType",
"weightVar": "rightArmWeight",
"weight": 0.75,
"flexCoefficients": [1.0, 0.35, 0.2, 0.1, 0.05, 0.0, 0.0, 0.0]
}
]
},

66
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -624,7 +624,8 @@ bool ViveControllerManager::InputDevice::configureBody(glm::mat4& defaultToRefer
void ViveControllerManager::InputDevice::uncalibrate() {
_config = Config::None;
_pucksOffset.clear();
_pucksPostOffset.clear();
_pucksPreOffset.clear();
_jointToPuckMap.clear();
_calibrated = false;
_overrideHead = false;
@ -654,10 +655,17 @@ controller::Pose ViveControllerManager::InputDevice::addOffsetToPuckPose(int joi
if (puck != _jointToPuckMap.end()) {
uint32_t puckIndex = puck->second;
auto puckPose = _poseStateMap.find(puckIndex);
auto puckOffset = _pucksOffset.find(puckIndex);
auto puckPostOffset = _pucksPostOffset.find(puckIndex);
auto puckPreOffset = _pucksPreOffset.find(puckIndex);
if ((puckPose != _poseStateMap.end()) && (puckOffset != _pucksOffset.end())) {
return puckPose->second.postTransform(puckOffset->second);
if (puckPose != _poseStateMap.end()) {
if (puckPreOffset != _pucksPreOffset.end() && puckPostOffset != _pucksPostOffset.end()) {
return puckPose->second.postTransform(puckPostOffset->second).transform(puckPreOffset->second);
} else if (puckPostOffset != _pucksPostOffset.end()) {
return puckPose->second.postTransform(puckPostOffset->second);
} else if (puckPreOffset != _pucksPreOffset.end()) {
return puckPose->second.transform(puckPreOffset->second);
}
}
}
return controller::Pose();
@ -970,7 +978,7 @@ void ViveControllerManager::InputDevice::calibrateLeftHand(glm::mat4& defaultToR
glm::mat4 offsetMat = createMatFromQuatAndPos(rotationOffset, translationOffset);
_jointToPuckMap[controller::LEFT_HAND] = handPair.first;
_pucksOffset[handPair.first] = offsetMat;
_pucksPostOffset[handPair.first] = offsetMat;
}
void ViveControllerManager::InputDevice::calibrateRightHand(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, PuckPosePair& handPair) {
@ -1001,7 +1009,7 @@ void ViveControllerManager::InputDevice::calibrateRightHand(glm::mat4& defaultTo
glm::mat4 offsetMat = createMatFromQuatAndPos(rotationOffset, translationOffset);
_jointToPuckMap[controller::RIGHT_HAND] = handPair.first;
_pucksOffset[handPair.first] = offsetMat;
_pucksPostOffset[handPair.first] = offsetMat;
}
@ -1037,21 +1045,21 @@ void ViveControllerManager::InputDevice::calibrateFoot(glm::mat4& defaultToRefer
if (isLeftFoot) {
_jointToPuckMap[controller::LEFT_FOOT] = footPair.first;
_pucksOffset[footPair.first] = finalOffset;
_pucksPostOffset[footPair.first] = finalOffset;
} else {
_jointToPuckMap[controller::RIGHT_FOOT] = footPair.first;
_pucksOffset[footPair.first] = finalOffset;
_pucksPostOffset[footPair.first] = finalOffset;
}
}
void ViveControllerManager::InputDevice::calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
_pucksPostOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
}
void ViveControllerManager::InputDevice::calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
_pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
_pucksPostOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
}
void ViveControllerManager::InputDevice::calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
@ -1061,16 +1069,44 @@ void ViveControllerManager::InputDevice::calibrateShoulders(glm::mat4& defaultTo
const controller::Pose& firstShoulderPose = firstShoulder.second;
const controller::Pose& secondShoulderPose = secondShoulder.second;
glm::mat4 refLeftArm = defaultToReferenceMat * inputCalibration.defaultLeftArm;
glm::mat4 refRightArm = defaultToReferenceMat * inputCalibration.defaultRightArm;
glm::mat4 userRefLeftArm = refLeftArm;
glm::mat4 userRefRightArm = refRightArm;
const float PUCK_TO_USER_REF_ARM_Y_OFFSET = -0.06;
if (firstShoulderPose.translation.x < secondShoulderPose.translation.x) {
_jointToPuckMap[controller::LEFT_ARM] = firstShoulder.first;
_pucksOffset[firstShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftArm, firstShoulder.second);
_jointToPuckMap[controller::RIGHT_ARM] = secondShoulder.first;
_pucksOffset[secondShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightArm, secondShoulder.second);
// move the userRefArm to the same height as the puck.
userRefLeftArm[3][1] = firstShoulderPose.translation.y + PUCK_TO_USER_REF_ARM_Y_OFFSET;
userRefRightArm[3][1] = secondShoulderPose.translation.y + PUCK_TO_USER_REF_ARM_Y_OFFSET;
// compute the post offset from the userRefArm
_pucksPostOffset[firstShoulder.first] = computeOffset(Matrices::IDENTITY, userRefLeftArm, firstShoulderPose);
_pucksPostOffset[secondShoulder.first] = computeOffset(Matrices::IDENTITY, userRefRightArm, secondShoulderPose);
// compute the pre offset from the diff between userRefArm and refArm transforms.
// as an optimization we don't do a full inverse, but subtract the translations.
_pucksPreOffset[firstShoulder.first] = createMatFromQuatAndPos(glm::quat(), extractTranslation(userRefLeftArm) - extractTranslation(refLeftArm));
_pucksPreOffset[secondShoulder.first] = createMatFromQuatAndPos(glm::quat(), extractTranslation(userRefRightArm) - extractTranslation(refRightArm));
} else {
_jointToPuckMap[controller::LEFT_ARM] = secondShoulder.first;
_pucksOffset[secondShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftArm, secondShoulder.second);
_jointToPuckMap[controller::RIGHT_ARM] = firstShoulder.first;
_pucksOffset[firstShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightArm, firstShoulder.second);
// move the userRefArm to the same height as the puck
userRefLeftArm[3][1] = secondShoulderPose.translation.y + PUCK_TO_USER_REF_ARM_Y_OFFSET;
userRefRightArm[3][1] = firstShoulderPose.translation.y + PUCK_TO_USER_REF_ARM_Y_OFFSET;
// compute the post offset from the userRefArm
_pucksPostOffset[secondShoulder.first] = computeOffset(Matrices::IDENTITY, userRefLeftArm, secondShoulderPose);
_pucksPostOffset[firstShoulder.first] = computeOffset(Matrices::IDENTITY, userRefRightArm, firstShoulderPose);
// compute the pre offset from the diff between userRefArm and refArm transforms.
// as an optimization we don't do a full inverse, but subtract the translations.
_pucksPreOffset[secondShoulder.first] = createMatFromQuatAndPos(glm::quat(), extractTranslation(userRefLeftArm) - extractTranslation(refLeftArm));
_pucksPreOffset[firstShoulder.first] = createMatFromQuatAndPos(glm::quat(), extractTranslation(userRefRightArm) - extractTranslation(refRightArm));
}
}
@ -1078,7 +1114,7 @@ void ViveControllerManager::InputDevice::calibrateHead(glm::mat4& defaultToRefer
size_t headIndex = _validTrackedObjects.size() - 1;
const PuckPosePair& head = _validTrackedObjects[headIndex];
_jointToPuckMap[controller::HEAD] = head.first;
_pucksOffset[head.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHeadMat, head.second);
_pucksPostOffset[head.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHeadMat, head.second);
}
QString ViveControllerManager::InputDevice::configToString(Config config) {

3
plugins/openvr/src/ViveControllerManager.h
View file

@ -161,7 +161,8 @@ private:
FilteredStick _filteredRightStick;
std::vector<PuckPosePair> _validTrackedObjects;
std::map<uint32_t, glm::mat4> _pucksOffset;
std::map<uint32_t, glm::mat4> _pucksPostOffset;
std::map<uint32_t, glm::mat4> _pucksPreOffset;
std::map<int, uint32_t> _jointToPuckMap;
std::map<Config, QString> _configStringMap;
PoseData _lastSimPoseData;