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Orientation -> rotation.

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This commit is contained in:
Andrzej Kapolka 2013-07-08 12:54:27 -07:00
parent 4a22154737
commit c43994fe03
3 changed files with 11 additions and 11 deletions
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2
interface/src/Avatar.cpp
View file

@ -304,7 +304,7 @@ void Avatar::updateFromGyrosAndOrWebcam(bool gyroLook, const glm::vec3& amplifyA
_joints.clear(); _joints.clear();
for (int i = 0; i < NUM_AVATAR_JOINTS; i++) { for (int i = 0; i < NUM_AVATAR_JOINTS; i++) {
if (joints.size() > i && joints[i].isValid) { if (joints.size() > i && joints[i].isValid) {
JointData data = { i, joints[i].orientation }; JointData data = { i, joints[i].rotation };
_joints.push_back(data); _joints.push_back(data);
if (i == AVATAR_JOINT_CHEST) { if (i == AVATAR_JOINT_CHEST) {

16
interface/src/Webcam.cpp
View file

@ -208,20 +208,21 @@ void Webcam::setFrame(const Mat& frame, int format, const Mat& depth, const Rota
origin = glm::mix(_joints[AVATAR_JOINT_LEFT_HIP].position, _joints[AVATAR_JOINT_RIGHT_HIP].position, 0.5f); origin = glm::mix(_joints[AVATAR_JOINT_LEFT_HIP].position, _joints[AVATAR_JOINT_RIGHT_HIP].position, 0.5f);
} else if (_joints[AVATAR_JOINT_TORSO].isValid) { } else if (_joints[AVATAR_JOINT_TORSO].isValid) {
origin = _joints[AVATAR_JOINT_TORSO].position + glm::vec3(0.0f, -0.09f, -0.01f); const glm::vec3 TORSO_TO_PELVIS = glm::vec3(0.0f, -0.09f, -0.01f);
origin = _joints[AVATAR_JOINT_TORSO].position + TORSO_TO_PELVIS;
} }
for (int i = 0; i < NUM_AVATAR_JOINTS; i++) { for (int i = 0; i < NUM_AVATAR_JOINTS; i++) {
if (!_joints[i].isValid) { if (!_joints[i].isValid) {
continue; continue;
} }
const float JOINT_SMOOTHING = 0.95f; const float JOINT_SMOOTHING = 0.9f;
_estimatedJoints[i].isValid = true; _estimatedJoints[i].isValid = true;
_estimatedJoints[i].position = glm::mix(_joints[i].position - origin, _estimatedJoints[i].position = glm::mix(_joints[i].position - origin,
_estimatedJoints[i].position, JOINT_SMOOTHING); _estimatedJoints[i].position, JOINT_SMOOTHING);
_estimatedJoints[i].orientation = safeMix(_joints[i].orientation, _estimatedJoints[i].rotation = safeMix(_joints[i].rotation,
_estimatedJoints[i].orientation, JOINT_SMOOTHING); _estimatedJoints[i].rotation, JOINT_SMOOTHING);
} }
_estimatedRotation = safeEulerAngles(_estimatedJoints[AVATAR_JOINT_HEAD_BASE].orientation); _estimatedRotation = safeEulerAngles(_estimatedJoints[AVATAR_JOINT_HEAD_BASE].rotation);
_estimatedPosition = _estimatedJoints[AVATAR_JOINT_HEAD_BASE].position; _estimatedPosition = _estimatedJoints[AVATAR_JOINT_HEAD_BASE].position;
} else { } else {
@ -495,7 +496,6 @@ bool FrameGrabber::init() {
_userGenerator.GetSkeletonCap().RegisterToCalibrationComplete(calibrationCompleted, 0, calibrationCompleteCallback); _userGenerator.GetSkeletonCap().RegisterToCalibrationComplete(calibrationCompleted, 0, calibrationCompleteCallback);
_userGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_UPPER); _userGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_UPPER);
//_userGenerator.GetSkeletonCap().SetSmoothing(0.9f);
_xnContext.StartGeneratingAll(); _xnContext.StartGeneratingAll();
return true; return true;
@ -531,8 +531,8 @@ void FrameGrabber::updateHSVFrame(const Mat& frame, int format) {
inRange(_hsvFrame, Scalar(0, 55, 65), Scalar(180, 256, 256), _mask); inRange(_hsvFrame, Scalar(0, 55, 65), Scalar(180, 256, 256), _mask);
} }
Joint::Joint(const glm::vec3& position, const glm::quat& orientation, const glm::vec3& projected) : Joint::Joint(const glm::vec3& position, const glm::quat& rotation, const glm::vec3& projected) :
isValid(true), position(position), orientation(orientation), projected(projected) { isValid(true), position(position), rotation(rotation), projected(projected) {
} }
Joint::Joint() : isValid(false) { Joint::Joint() : isValid(false) {

4
interface/src/Webcam.h
View file

@ -125,12 +125,12 @@ private:
class Joint { class Joint {
public: public:
Joint(const glm::vec3& position, const glm::quat& orientation, const glm::vec3& projected); Joint(const glm::vec3& position, const glm::quat& rotation, const glm::vec3& projected);
Joint(); Joint();
bool isValid; bool isValid;
glm::vec3 position; glm::vec3 position;
glm::quat orientation; glm::quat rotation;
glm::vec3 projected; glm::vec3 projected;
}; };