mirror of
https://github.com/overte-org/overte.git
synced 2025-04-06 22:32:57 +02:00
more debugging
This commit is contained in:
Brad Hefta-Gaub
parent
4959a88581
commit
b6838c6ec4
2 changed files with 85 additions and 130 deletions
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@ -3977,11 +3977,17 @@ void Application::update(float deltaTime) {
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controller::Pose leftHandPose = userInputMapper->getPoseState(controller::Action::LEFT_HAND);
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controller::Pose rightHandPose = userInputMapper->getPoseState(controller::Action::RIGHT_HAND);
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qDebug() << __FUNCTION__ << "...............leftHandPose:" << leftHandPose.translation;
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auto myAvatarMatrix = createMatFromQuatAndPos(myAvatar->getOrientation(), myAvatar->getPosition());
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auto worldToSensorMatrix = glm::inverse(myAvatar->getSensorToWorldMatrix());
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auto avatarToSensorMatrix = worldToSensorMatrix * myAvatarMatrix;
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myAvatar->setHandControllerPosesInSensorFrame(leftHandPose.transform(avatarToSensorMatrix), rightHandPose.transform(avatarToSensorMatrix));
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qDebug() << __FUNCTION__ << "POST transform leftHandPose:" << leftHandPose.translation;
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updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...
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updateDialogs(deltaTime); // update various stats dialogs if present
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@ -28,7 +28,7 @@ Q_LOGGING_CATEGORY(inputplugins, "hifi.inputplugins")
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const char* KinectPlugin::NAME = "Kinect";
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const char* KinectPlugin::KINECT_ID_STRING = "Kinect";
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QStringList jointNames = {
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QStringList kinectJointNames = {
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"SpineBase",
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"SpineMid",
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"Neck",
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@ -198,71 +198,75 @@ static controller::StandardPoseChannel KinectJointIndexToPoseIndex(KinectJointIn
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}
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}
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static const char* controllerJointName(controller::StandardPoseChannel i) {
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switch (i) {
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case controller::HIPS: return "Hips";
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case controller::RIGHT_UP_LEG: return "RightUpLeg";
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case controller::RIGHT_LEG: return "RightLeg";
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case controller::RIGHT_FOOT: return "RightFoot";
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case controller::LEFT_UP_LEG: return "LeftUpLeg";
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case controller::LEFT_LEG: return "LeftLeg";
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case controller::LEFT_FOOT: return "LeftFoot";
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case controller::SPINE: return "Spine";
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case controller::SPINE1: return "Spine1";
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case controller::SPINE2: return "Spine2";
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case controller::SPINE3: return "Spine3";
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case controller::NECK: return "Neck";
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case controller::HEAD: return "Head";
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case controller::RIGHT_SHOULDER: return "RightShoulder";
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case controller::RIGHT_ARM: return "RightArm";
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case controller::RIGHT_FORE_ARM: return "RightForeArm";
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case controller::RIGHT_HAND: return "RightHand";
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case controller::RIGHT_HAND_THUMB1: return "RightHandThumb1";
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case controller::RIGHT_HAND_THUMB2: return "RightHandThumb2";
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case controller::RIGHT_HAND_THUMB3: return "RightHandThumb3";
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case controller::RIGHT_HAND_THUMB4: return "RightHandThumb4";
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case controller::RIGHT_HAND_INDEX1: return "RightHandIndex1";
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case controller::RIGHT_HAND_INDEX2: return "RightHandIndex2";
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case controller::RIGHT_HAND_INDEX3: return "RightHandIndex3";
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case controller::RIGHT_HAND_INDEX4: return "RightHandIndex4";
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case controller::RIGHT_HAND_MIDDLE1: return "RightHandMiddle1";
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case controller::RIGHT_HAND_MIDDLE2: return "RightHandMiddle2";
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case controller::RIGHT_HAND_MIDDLE3: return "RightHandMiddle3";
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case controller::RIGHT_HAND_MIDDLE4: return "RightHandMiddle4";
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case controller::RIGHT_HAND_RING1: return "RightHandRing1";
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case controller::RIGHT_HAND_RING2: return "RightHandRing2";
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case controller::RIGHT_HAND_RING3: return "RightHandRing3";
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case controller::RIGHT_HAND_RING4: return "RightHandRing4";
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case controller::RIGHT_HAND_PINKY1: return "RightHandPinky1";
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case controller::RIGHT_HAND_PINKY2: return "RightHandPinky2";
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case controller::RIGHT_HAND_PINKY3: return "RightHandPinky3";
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case controller::RIGHT_HAND_PINKY4: return "RightHandPinky4";
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case controller::LEFT_SHOULDER: return "LeftShoulder";
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case controller::LEFT_ARM: return "LeftArm";
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case controller::LEFT_FORE_ARM: return "LeftForeArm";
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case controller::LEFT_HAND: return "LeftHand";
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case controller::LEFT_HAND_THUMB1: return "LeftHandThumb1";
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case controller::LEFT_HAND_THUMB2: return "LeftHandThumb2";
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case controller::LEFT_HAND_THUMB3: return "LeftHandThumb3";
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case controller::LEFT_HAND_THUMB4: return "LeftHandThumb4";
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case controller::LEFT_HAND_INDEX1: return "LeftHandIndex1";
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case controller::LEFT_HAND_INDEX2: return "LeftHandIndex2";
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case controller::LEFT_HAND_INDEX3: return "LeftHandIndex3";
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case controller::LEFT_HAND_INDEX4: return "LeftHandIndex4";
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case controller::LEFT_HAND_MIDDLE1: return "LeftHandMiddle1";
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case controller::LEFT_HAND_MIDDLE2: return "LeftHandMiddle2";
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case controller::LEFT_HAND_MIDDLE3: return "LeftHandMiddle3";
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case controller::LEFT_HAND_MIDDLE4: return "LeftHandMiddle4";
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case controller::LEFT_HAND_RING1: return "LeftHandRing1";
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case controller::LEFT_HAND_RING2: return "LeftHandRing2";
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case controller::LEFT_HAND_RING3: return "LeftHandRing3";
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case controller::LEFT_HAND_RING4: return "LeftHandRing4";
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case controller::LEFT_HAND_PINKY1: return "LeftHandPinky1";
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case controller::LEFT_HAND_PINKY2: return "LeftHandPinky2";
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case controller::LEFT_HAND_PINKY3: return "LeftHandPinky3";
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case controller::LEFT_HAND_PINKY4: return "LeftHandPinky4";
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default: return "???";
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QStringList controllerJointNames = {
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"Hips",
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"RightUpLeg",
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"RightLeg",
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"RightFoot",
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"LeftUpLeg",
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"LeftLeg",
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"LeftFoot",
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"Spine",
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"Spine1",
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"Spine2",
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"Spine3",
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"Neck",
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"Head",
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"RightShoulder",
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"RightArm",
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"RightForeArm",
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"RightHand",
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"RightHandThumb1",
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"RightHandThumb2",
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"RightHandThumb3",
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"RightHandThumb4",
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"RightHandIndex1",
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"RightHandIndex2",
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"RightHandIndex3",
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"RightHandIndex4",
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"RightHandMiddle1",
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"RightHandMiddle2",
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"RightHandMiddle3",
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"RightHandMiddle4",
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"RightHandRing1",
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"RightHandRing2",
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"RightHandRing3",
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"RightHandRing4",
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"RightHandPinky1",
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"RightHandPinky2",
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"RightHandPinky3",
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"RightHandPinky4",
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"LeftShoulder",
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"LeftArm",
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"LeftForeArm",
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"LeftHand",
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"LeftHandThumb1",
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"LeftHandThumb2",
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"LeftHandThumb3",
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"LeftHandThumb4",
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"LeftHandIndex1",
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"LeftHandIndex2",
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"LeftHandIndex3",
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"LeftHandIndex4",
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"LeftHandMiddle1",
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"LeftHandMiddle2",
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"LeftHandMiddle3",
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"LeftHandMiddle4",
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"LeftHandRing1",
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"LeftHandRing2",
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"LeftHandRing3",
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"LeftHandRing4",
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"LeftHandPinky1",
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"LeftHandPinky2",
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"LeftHandPinky3",
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"LeftHandPinky4"
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};
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static const char* getControllerJointName(controller::StandardPoseChannel i) {
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if (i >= 0 && i < controller::NUM_STANDARD_POSES) {
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return qPrintable(controllerJointNames[i]);
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}
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return "unknown";
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}
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// convert between YXZ Kinect euler angles in degrees to quaternion
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@ -356,26 +360,6 @@ bool KinectPlugin::initializeDefaultSensor() {
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#endif
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}
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/// <summary>
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/// Converts a body point to screen space
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/// </summary>
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/// <param name="bodyPoint">body point to tranform</param>
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/// <param name="width">width (in pixels) of output buffer</param>
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/// <param name="height">height (in pixels) of output buffer</param>
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/// <returns>point in screen-space</returns>
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#if 0
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D2D1_POINT_2F KinectPlugin::BodyToScreen(const CameraSpacePoint& bodyPoint, int width, int height) {
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// Calculate the body's position on the screen
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DepthSpacePoint depthPoint = { 0 };
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_coordinateMapper->MapCameraPointToDepthSpace(bodyPoint, &depthPoint);
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float screenPointX = static_cast<float>(depthPoint.X * width) / cDepthWidth;
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float screenPointY = static_cast<float>(depthPoint.Y * height) / cDepthHeight;
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return D2D1::Point2F(screenPointX, screenPointY);
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}
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#endif
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void KinectPlugin::updateBody() {
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#ifndef HAVE_KINECT
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return;
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@ -389,15 +373,9 @@ void KinectPlugin::updateBody() {
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HRESULT hr = _bodyFrameReader->AcquireLatestFrame(&pBodyFrame);
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if (SUCCEEDED(hr)) {
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//qDebug() << __FUNCTION__ << "line:" << __LINE__;
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INT64 nTime = 0;
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hr = pBodyFrame->get_RelativeTime(&nTime);
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IBody* ppBodies[BODY_COUNT] = {0};
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if (SUCCEEDED(hr)) {
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hr = pBodyFrame->GetAndRefreshBodyData(_countof(ppBodies), ppBodies);
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}
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@ -441,7 +419,6 @@ void KinectPlugin::ProcessBody(INT64 nTime, int nBodyCount, IBody** ppBodies) {
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_joints.resize(JointType_Count, { { 0.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 0.0f } });
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}
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Joint joints[JointType_Count];
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JointOrientation jointOrientations[JointType_Count];
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HandState leftHandState = HandState_Unknown;
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@ -456,38 +433,17 @@ void KinectPlugin::ProcessBody(INT64 nTime, int nBodyCount, IBody** ppBodies) {
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if (SUCCEEDED(hr)) {
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auto jointCount = _countof(joints);
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//qDebug() << __FUNCTION__ << "nBodyCount:" << nBodyCount << "body:" << i << "jointCount:" << jointCount;
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QString state;
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for (int j = 0; j < jointCount; ++j) {
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QString jointName = jointNames[joints[j].JointType];
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//QString jointName = kinectJointNames[joints[j].JointType];
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switch(joints[j].TrackingState) {
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case TrackingState_NotTracked:
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state = "Not Tracked";
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break;
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case TrackingState_Inferred:
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state = "Inferred";
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break;
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case TrackingState_Tracked:
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state = "Tracked";
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break;
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}
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glm::vec3 jointPosition { joints[j].Position.X,
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joints[j].Position.Y,
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joints[j].Position.Z };
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// filling in the _joints data...
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if (joints[j].TrackingState != TrackingState_NotTracked) {
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_joints[j].pos = jointPosition;
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if (joints[j].JointType == JointType_HandLeft ||
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joints[j].JointType == JointType_HandRight) {
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//qDebug() << __FUNCTION__ << jointName << ":" << state << "pos:" << jointPosition;
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}
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}
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// FIXME - do something interesting with the joints...
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//jointPoints[j] = BodyToScreen(joints[j].Position, width, height);
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}
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}
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}
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@ -516,8 +472,7 @@ void KinectPlugin::deactivate() {
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SafeRelease(_coordinateMapper);
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// close the Kinect Sensor
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if (_kinectSensor)
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{
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if (_kinectSensor) {
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_kinectSensor->Close();
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}
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@ -532,8 +487,6 @@ void KinectPlugin::pluginUpdate(float deltaTime, const controller::InputCalibrat
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return;
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}
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//qDebug() << __FUNCTION__ << "deltaTime:" << deltaTime;
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updateBody(); // updates _joints
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std::vector<KinectJoint> joints = _joints;
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@ -554,7 +507,6 @@ void KinectPlugin::saveSettings() const {
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settings.setValue(QString("enabled"), _enabled);
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}
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settings.endGroup();
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qDebug() << __FUNCTION__ << "_enabled:" << _enabled;
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}
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void KinectPlugin::loadSettings() {
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@ -566,7 +518,6 @@ void KinectPlugin::loadSettings() {
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_enabled = settings.value("enabled", QVariant(DEFAULT_ENABLED)).toBool();
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}
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settings.endGroup();
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qDebug() << __FUNCTION__ << "_enabled:" << _enabled;
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}
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//
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@ -577,9 +528,9 @@ void KinectPlugin::loadSettings() {
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controller::Input::NamedVector KinectPlugin::InputDevice::getAvailableInputs() const {
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static controller::Input::NamedVector availableInputs;
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if (availableInputs.size() == 0) {
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for (int i = 0; i < controller::NUM_STANDARD_POSES; i++) {
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auto channel = static_cast<controller::StandardPoseChannel>(i);
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availableInputs.push_back(makePair(channel, controllerJointName(channel)));
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for (int i = 0; i < KinectJointIndex::Size; i++) {
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auto channel = KinectJointIndexToPoseIndex(static_cast<KinectJointIndex>(i));
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availableInputs.push_back(makePair(channel, getControllerJointName(channel)));
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}
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};
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return availableInputs;
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@ -596,6 +547,8 @@ void KinectPlugin::InputDevice::update(float deltaTime, const controller::InputC
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int poseIndex = KinectJointIndexToPoseIndex((KinectJointIndex)i);
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glm::vec3 linearVel, angularVel;
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const glm::vec3& pos = joints[i].pos;
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// FIXME - left over from neuron, needs to be turned into orientations from kinect SDK
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const glm::vec3& rotEuler = joints[i].euler;
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if (Vectors::ZERO == pos && Vectors::ZERO == rotEuler) {
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@ -604,6 +557,7 @@ void KinectPlugin::InputDevice::update(float deltaTime, const controller::InputC
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}
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// FIXME - left over from neuron, needs to be turned into orientations from kinect SDK
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glm::quat rot = eulerToQuat(rotEuler);
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if (i < prevJoints.size()) {
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linearVel = (pos - (prevJoints[i].pos * METERS_PER_CENTIMETER)) / deltaTime; // m/s
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@ -612,14 +566,9 @@ void KinectPlugin::InputDevice::update(float deltaTime, const controller::InputC
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angularVel = glm::vec3(d.x, d.y, d.z) / (0.5f * deltaTime); // radians/s
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}
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_poseStateMap[poseIndex] = controller::Pose(pos, rot, linearVel, angularVel);
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if (poseIndex == controller::LEFT_HAND ||
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poseIndex == controller::RIGHT_HAND) {
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//qDebug() << __FUNCTION__ << "_poseStateMap[]=" << _poseStateMap[poseIndex].translation;
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}
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}
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// FIXME - left over from neuron
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_poseStateMap[controller::RIGHT_HAND_THUMB1] = controller::Pose(rightHandThumb1DefaultAbsTranslation, glm::quat(), glm::vec3(), glm::vec3());
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_poseStateMap[controller::LEFT_HAND_THUMB1] = controller::Pose(leftHandThumb1DefaultAbsTranslation, glm::quat(), glm::vec3(), glm::vec3());
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}
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