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Code Issues Projects Releases Packages Wiki Activity Actions 2

better "auto" configuration

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This commit is contained in:
Anthony J. Thibault 2017-04-10 15:08:03 -07:00
parent 0ebaba7cf8
commit d3b4a2c08d
3 changed files with 77 additions and 18 deletions
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7
libraries/script-engine/src/Quat.cpp
View file

@ -122,3 +122,10 @@ bool Quat::equal(const glm::quat& q1, const glm::quat& q2) {
return q1 == q2;
}
glm::quat Quat::cancelOutRollAndPitch(const glm::quat& q) {
return ::cancelOutRollAndPitch(q);
}
glm::quat Quat::cancelOutRoll(const glm::quat& q) {
return ::cancelOutRoll(q);
}

2
libraries/script-engine/src/Quat.h
View file

@ -60,6 +60,8 @@ public slots:
float dot(const glm::quat& q1, const glm::quat& q2);
void print(const QString& label, const glm::quat& q);
bool equal(const glm::quat& q1, const glm::quat& q2);
glm::quat cancelOutRollAndPitch(const glm::quat& q);
glm::quat cancelOutRoll(const glm::quat& q);
};
#endif // hifi_Quat_h

86
scripts/developer/tests/viveMotionCapture.js
View file

@ -33,12 +33,14 @@ var FEET_ONLY = 0;
var FEET_AND_HIPS = 1;
var FEET_AND_CHEST = 2;
var FEET_HIPS_AND_CHEST = 3;
var AUTO = 4;
var SENSOR_CONFIG_NAMES = [
"FeetOnly",
"FeetAndHips",
"FeetAndChest",
"FeetHipsAndChest"
"FeetHipsAndChest",
"Auto"
];
var ANIM_VARS = [
@ -56,30 +58,47 @@ var ANIM_VARS = [
"spine2Rotation"
];
var sensorConfig = FEET_HIPS_AND_CHEST;
var sensorConfig = AUTO;
var Y_180 = {x: 0, y: 1, z: 0, w: 0};
var Y_180_XFORM = new Xform(Y_180, {x: 0, y: 0, z: 0});
function computeOffsetXform(pose, jointIndex) {
function computeOffsetXform(defaultToReferenceXform, pose, jointIndex) {
var poseXform = new Xform(pose.rotation, pose.translation);
// TODO: we can do better here...
// one idea, hang default pose skeleton from HMD head.
var referenceXform = new Xform(MyAvatar.getAbsoluteDefaultJointRotationInObjectFrame(jointIndex),
MyAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(jointIndex));
var defaultJointXform = new Xform(MyAvatar.getAbsoluteDefaultJointRotationInObjectFrame(jointIndex),
MyAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(jointIndex));
return Xform.mul(poseXform.inv(), referenceXform);
var referenceJointXform = Xform.mul(defaultToReferenceXform, defaultJointXform);
return Xform.mul(poseXform.inv(), referenceJointXform);
}
function computeDefaultToReferenceXform() {
var headIndex = MyAvatar.getJointIndex("Head");
if (headIndex >= 0) {
var defaultHeadXform = new Xform(MyAvatar.getAbsoluteDefaultJointRotationInObjectFrame(headIndex),
MyAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(headIndex));
var currentHeadXform = new Xform(Quat.cancelOutRollAndPitch(MyAvatar.getAbsoluteJointRotationInObjectFrame(headIndex)),
MyAvatar.getAbsoluteJointTranslationInObjectFrame(headIndex));
var defaultToReferenceXform = Xform.mul(currentHeadXform, defaultHeadXform.inv());
return defaultToReferenceXform;
} else {
return new Xform.ident();
}
}
function calibrate() {
print("AJT: calibrating...");
leftFoot = undefined;
rightFoot = undefined;
hips = undefined;
spine2 = undefined;
var defaultToReferenceXform = computeDefaultToReferenceXform();
var poses = [];
if (Controller.Hardware.Vive) {
TRACKED_OBJECT_POSES.forEach(function (key) {
@ -94,6 +113,23 @@ function calibrate() {
});
}
print("AJT: calibrating, num tracked poses = " + poses.length + ", sensorConfig = " + SENSOR_CONFIG_NAMES[sensorConfig]);
var config = sensorConfig;
if (config === AUTO) {
if (poses.length === 2) {
config = FEET_ONLY;
} else if (poses.length === 3) {
config = FEET_AND_HIPS;
} else if (poses.length >= 4) {
config = FEET_HIPS_AND_CHEST;
} else {
print("AJT: auto config failed: poses.length = " + poses.length);
config = FEET_ONLY;
}
}
if (poses.length >= 2) {
// sort by y
poses.sort(function(a, b) {
@ -111,33 +147,33 @@ function calibrate() {
}
// compute offsets
rightFoot.offsetXform = computeOffsetXform(rightFoot.pose, MyAvatar.getJointIndex("RightFoot"));
leftFoot.offsetXform = computeOffsetXform(leftFoot.pose, MyAvatar.getJointIndex("LeftFoot"));
rightFoot.offsetXform = computeOffsetXform(defaultToReferenceXform, rightFoot.pose, MyAvatar.getJointIndex("RightFoot"));
leftFoot.offsetXform = computeOffsetXform(defaultToReferenceXform, leftFoot.pose, MyAvatar.getJointIndex("LeftFoot"));
print("AJT: rightFoot = " + JSON.stringify(rightFoot));
print("AJT: leftFoot = " + JSON.stringify(leftFoot));
if (sensorConfig === FEET_ONLY) {
if (config === FEET_ONLY) {
// we're done!
} else if (sensorConfig === FEET_AND_HIPS && poses.length >= 3) {
} else if (config === FEET_AND_HIPS && poses.length >= 3) {
hips = poses[2];
} else if (sensorConfig === FEET_AND_CHEST && poses.length >= 3) {
} else if (config === FEET_AND_CHEST && poses.length >= 3) {
spine2 = poses[2];
} else if (sensorConfig === FEET_HIPS_AND_CHEST && poses.length >= 4) {
} else if (config === FEET_HIPS_AND_CHEST && poses.length >= 4) {
hips = poses[2];
spine2 = poses[3];
} else {
// TODO: better error messages
print("AJT: could not calibrate for sensor config " + SENSOR_CONFIG_NAMES[sensorConfig] + ", please try again!");
print("AJT: could not calibrate for sensor config " + SENSOR_CONFIG_NAMES[config] + ", please try again!");
}
if (hips) {
hips.offsetXform = computeOffsetXform(hips.pose, MyAvatar.getJointIndex("Hips"));
hips.offsetXform = computeOffsetXform(defaultToReferenceXform, hips.pose, MyAvatar.getJointIndex("Hips"));
print("AJT: hips = " + JSON.stringify(hips));
}
if (spine2) {
spine2.offsetXform = computeOffsetXform(spine2.pose, MyAvatar.getJointIndex("Spine2"));
spine2.offsetXform = computeOffsetXform(defaultToReferenceXform, spine2.pose, MyAvatar.getJointIndex("Spine2"));
print("AJT: spine2 = " + JSON.stringify(spine2));
}
@ -246,6 +282,20 @@ function update(dt) {
DebugDraw.addMyAvatarMarker("hipsTracker", hipsPose.rotation, hipsPose.translation, GREEN);
}
}
var drawReferencePose = false;
if (drawReferencePose) {
var GREEN = {x: 0, y: 1, z: 0, w: 1};
var defaultToReferenceXform = computeDefaultToReferenceXform();
var leftFootIndex = MyAvatar.getJointIndex("LeftFoot");
if (leftFootIndex > 0) {
var defaultLeftFootXform = new Xform(MyAvatar.getAbsoluteDefaultJointRotationInObjectFrame(leftFootIndex),
MyAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(leftFootIndex));
var referenceLeftFootXform = Xform.mul(defaultToReferenceXform, defaultLeftFootXform);
DebugDraw.addMyAvatarMarker("leftFootTracker", referenceLeftFootXform.rot, referenceLeftFootXform.pos, GREEN);
}
}
}
Script.update.connect(update);