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add support for hand rotations to the kinect plugin, add notes on mapping from kinect orientations to our frame orientations

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ZappoMan 2017-03-28 15:09:03 -07:00
parent 82114ae6ab
commit bdfbc13185
1 changed files with 82 additions and 19 deletions
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101
plugins/hifiKinect/src/KinectPlugin.cpp
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@ -397,29 +397,92 @@ void KinectPlugin::ProcessBody(INT64 time, int bodyCount, IBody** bodies) {
joints[j].Position.Y,
joints[j].Position.Z };
// 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,
// This is the rotation in the kinect camera/sensor frame... we adjust that in update...
// NOTE: glm::quat(W!!!, x, y, z)... not (x,y,z,w)!!!
glm::quat jointOrientation { jointOrientations[j].Orientation.w,
jointOrientations[j].Orientation.x,
jointOrientations[j].Orientation.y,
jointOrientations[j].Orientation.z,
jointOrientations[j].Orientation.w };
jointOrientations[j].Orientation.z };
// filling in the _joints data...
if (joints[j].TrackingState != TrackingState_NotTracked) {
_joints[j].position = jointPosition;
// Kinect Documentation...
//
// 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."
//
// This is consistent with our findings, but does not include "enough information"
// - 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
// NOTE: Common notation of vectors on paper...
// (+) is the back of the arrow - this vector is pointing into the page
// (o) is the point of the arrow - this vector is pointing out of the page
//
// From ABOVE the kinect coordinate frame looks like this:
//
// Assuming standing facing the kinect camera
// Right Hand with fingers pointing up (green/y)
// thumb pointing behind body (blue/z)
// palm facing the head (point out back of my hand, red/x)
//
// The identity rotation relative to the cameras frame... (the joint data from SDK)
//
// y | | | |
// | | | | |
// | | |
// z----(o) \ |right|
// x \_ |
// | |
// | |
//
// Expected... identity rotation for left hand..... [to be verified]
// Left Hand with fingers pointing up (green/y)
// thumb pointing forward (blue/z)
// palm facing outward away from head (point out back of my hand, red/x)
//
// Our desired coordinate system...
// "the local coordinate of the palm in our system"...
//
// From ABOVE the hand canonical axes look like this:
//
//
// | | | | y | | | |
// | | | | | | | | |
// | | | | |
// |left | / x----(+) \ |right|
// | _/ z \_ |
// | | | |
// | | | |
//
// Right hand rule... make the hitch hiking sign...
// thumb points in direction of the axis you want to rotate around
// fisted fingers curl in positive rotation direction....
//
// To transform from Kinect to our RIGHT Hand.... Negative 90 deg around Y
//
// FIXME -- Double check if JointType_HandRight vs JointType_WristRight is actually
// the joint we want to be using!!
//
//_joints[j].orientation = jointOrientation;
if (joints[j].JointType == JointType_HandRight) {
static const quat kinectToHandRight = glm::angleAxis(-PI / 2.0f, Vectors::UNIT_Y);
_joints[j].orientation = jointOrientation * kinectToHandRight;
} else if (joints[j].JointType == JointType_HandLeft) {
// 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);
_joints[j].orientation = jointOrientation * kinectToHandLeft;
} else {
_joints[j].orientation = jointOrientation;
}
}
}
}
@ -541,8 +604,8 @@ void KinectPlugin::InputDevice::update(float deltaTime, const controller::InputC
continue;
}
// FIXME - determine the correct orientation transform
glm::quat rot = joints[i].orientation;
// Note: we want our rotations presenting in the AVATAR frame, so we need to adjust that here.
glm::quat rot = controllerToAvatarRotation * joints[i].orientation;
if (i < prevJoints.size()) {
linearVel = (pos - (prevJoints[i].position * METERS_PER_CENTIMETER)) / deltaTime; // m/s