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Merge pull request #3981 from thoys/20216
CR for Job #20216 - Integrate the Intel Realsense camera SDK
This commit is contained in:
Brad Hefta-Gaub
commit
e8114794bc
9 changed files with 895 additions and 1 deletions
33
cmake/modules/FindRSSDK.cmake
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33
cmake/modules/FindRSSDK.cmake
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# Try to find the RSSDK library
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#
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# You must provide a RSSDK_ROOT_DIR which contains lib and include directories
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#
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# Once done this will define
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#
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# RSSDK_FOUND - system found RSSDK
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# RSSDK_INCLUDE_DIRS - the RSSDK include directory
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# RSSDK_LIBRARIES - Link this to use RSSDK
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#
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# Created on 12/7/2014 by Thijs Wenker
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# Copyright (c) 2014 High Fidelity
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#
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include("${MACRO_DIR}/HifiLibrarySearchHints.cmake")
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hifi_library_search_hints("rssdk")
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find_path(RSSDK_INCLUDE_DIRS pxcbase.h PATH_SUFFIXES include HINTS ${RSSDK_SEARCH_DIRS})
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if (WIN32)
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find_library(RSSDK_LIBRARY_DEBUG libpxc_d PATH_SUFFIXES lib/Win32 HINTS ${RSSDK_SEARCH_DIRS})
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find_library(RSSDK_LIBRARY_RELEASE libpxc PATH_SUFFIXES lib/Win32 HINTS ${RSSDK_SEARCH_DIRS})
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endif ()
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include(SelectLibraryConfigurations)
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select_library_configurations(RSSDK)
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set(RSSDK_LIBRARIES "${RSSDK_LIBRARY}")
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(RSSDK DEFAULT_MSG RSSDK_INCLUDE_DIRS RSSDK_LIBRARIES)
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mark_as_advanced(RSSDK_INCLUDE_DIRS RSSDK_LIBRARIES RSSDK_SEARCH_DIRS)
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525
examples/realsenseHands.js
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525
examples/realsenseHands.js
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//
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// realsenseHands.js
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// examples
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//
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// Created by Thijs Wenker on 18 Dec 2014.
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// Copyright 2014 High Fidelity, Inc.
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//
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// This is an example script that uses the Intel RealSense to make the avatar's hands replicate the user's hand actions.
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// Most of this script is copied from leapHands.js
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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var leapHands = (function () {
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var isOnHMD,
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MotionTracker = "RealSense",
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LEAP_ON_HMD_MENU_ITEM = "Leap Motion on HMD",
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LEAP_OFFSET = 0.019, // Thickness of Leap Motion plus HMD clip
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HMD_OFFSET = 0.070, // Eyeballs to front surface of Oculus DK2 TODO: Confirm and make depend on device and eye relief
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hasHandAndWristJoints,
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handToWristOffset = [], // For avatars without a wrist joint we control an estimate of a proper hand joint position
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HAND_OFFSET = 0.4, // Relative distance of wrist to hand versus wrist to index finger knuckle
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hands,
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wrists,
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NUM_HANDS = 2, // 0 = left; 1 = right
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fingers,
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NUM_FINGERS = 5, // 0 = thumb; ...; 4 = pinky
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THUMB = 0,
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MIDDLE_FINGER = 2,
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NUM_FINGER_JOINTS = 3, // 0 = metacarpal(hand)-proximal(finger) joint; ...; 2 = intermediate-distal joint
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MAX_HAND_INACTIVE_COUNT = 20,
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calibrationStatus,
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UNCALIBRATED = 0,
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CALIBRATING = 1,
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CALIBRATED = 2,
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CALIBRATION_TIME = 1000, // milliseconds
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avatarScale,
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avatarFaceModelURL,
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avatarSkeletonModelURL,
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settingsTimer;
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function printSkeletonJointNames() {
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var jointNames,
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i;
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print(MyAvatar.skeletonModelURL);
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print("Skeleton joint names ...");
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jointNames = MyAvatar.getJointNames();
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for (i = 0; i < jointNames.length; i += 1) {
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print(i + ": " + jointNames[i]);
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}
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print("... skeleton joint names");
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/*
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http://public.highfidelity.io/models/skeletons/ron_standing.fst
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Skeleton joint names ...
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0: Hips
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1: RightUpLeg
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2: RightLeg
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3: RightFoot
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4: RightToeBase
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5: RightToe_End
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6: LeftUpLeg
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7: LeftLeg
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8: LeftFoot
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9: LeftToeBase
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10: LeftToe_End
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11: Spine
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12: Spine1
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13: Spine2
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14: RightShoulder
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15: RightArm
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16: RightForeArm
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17: RightHand
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18: RightHandPinky1
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19: RightHandPinky2
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20: RightHandPinky3
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21: RightHandPinky4
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22: RightHandRing1
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23: RightHandRing2
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24: RightHandRing3
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25: RightHandRing4
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26: RightHandMiddle1
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27: RightHandMiddle2
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28: RightHandMiddle3
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29: RightHandMiddle4
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30: RightHandIndex1
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31: RightHandIndex2
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32: RightHandIndex3
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33: RightHandIndex4
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34: RightHandThumb1
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35: RightHandThumb2
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36: RightHandThumb3
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37: RightHandThumb4
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38: LeftShoulder
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39: LeftArm
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40: LeftForeArm
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41: LeftHand
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42: LeftHandPinky1
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43: LeftHandPinky2
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44: LeftHandPinky3
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45: LeftHandPinky4
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46: LeftHandRing1
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47: LeftHandRing2
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48: LeftHandRing3
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49: LeftHandRing4
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50: LeftHandMiddle1
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51: LeftHandMiddle2
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52: LeftHandMiddle3
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53: LeftHandMiddle4
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54: LeftHandIndex1
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55: LeftHandIndex2
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56: LeftHandIndex3
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57: LeftHandIndex4
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58: LeftHandThumb1
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59: LeftHandThumb2
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60: LeftHandThumb3
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61: LeftHandThumb4
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62: Neck
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63: Head
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64: HeadTop_End
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65: body
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... skeleton joint names
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*/
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}
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function finishCalibration() {
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var avatarPosition,
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handPosition,
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middleFingerPosition,
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leapHandHeight,
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h;
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if (!isOnHMD) {
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if (hands[0].controller.isActive() && hands[1].controller.isActive()) {
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leapHandHeight = (hands[0].controller.getAbsTranslation().y + hands[1].controller.getAbsTranslation().y) / 2.0;
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} else {
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calibrationStatus = UNCALIBRATED;
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return;
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}
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}
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avatarPosition = MyAvatar.position;
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for (h = 0; h < NUM_HANDS; h += 1) {
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handPosition = MyAvatar.getJointPosition(hands[h].jointName);
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if (!hasHandAndWristJoints) {
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middleFingerPosition = MyAvatar.getJointPosition(fingers[h][MIDDLE_FINGER][0].jointName);
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handToWristOffset[h] = Vec3.multiply(Vec3.subtract(handPosition, middleFingerPosition), 1.0 - HAND_OFFSET);
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}
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if (isOnHMD) {
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// Offset of Leap Motion origin from physical eye position
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hands[h].zeroPosition = { x: 0.0, y: 0.0, z: HMD_OFFSET + LEAP_OFFSET };
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} else {
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hands[h].zeroPosition = {
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x: handPosition.x - avatarPosition.x,
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y: handPosition.y - avatarPosition.y,
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z: avatarPosition.z - handPosition.z
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};
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hands[h].zeroPosition = Vec3.multiplyQbyV(MyAvatar.orientation, hands[h].zeroPosition);
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hands[h].zeroPosition.y = hands[h].zeroPosition.y - leapHandHeight;
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}
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}
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MyAvatar.clearJointData("LeftHand");
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MyAvatar.clearJointData("LeftForeArm");
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MyAvatar.clearJointData("LeftArm");
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MyAvatar.clearJointData("RightHand");
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MyAvatar.clearJointData("RightForeArm");
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MyAvatar.clearJointData("RightArm");
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calibrationStatus = CALIBRATED;
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print("Leap Motion: Calibrated");
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}
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function calibrate() {
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var jointNames,
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i;
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calibrationStatus = CALIBRATING;
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avatarScale = MyAvatar.scale;
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avatarFaceModelURL = MyAvatar.faceModelURL;
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avatarSkeletonModelURL = MyAvatar.skeletonModelURL;
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// Does this skeleton have both wrist and hand joints?
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hasHandAndWristJoints = false;
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jointNames = MyAvatar.getJointNames();
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for (i = 0; i < jointNames.length; i += 1) {
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hasHandAndWristJoints = hasHandAndWristJoints || jointNames[i].toLowerCase() === "leftwrist";
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}
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// Set avatar arms vertical, forearms horizontal, as "zero" position for calibration
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MyAvatar.setJointData("LeftArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, -90.0));
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MyAvatar.setJointData("LeftForeArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, 180.0));
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MyAvatar.setJointData("LeftHand", Quat.fromPitchYawRollRadians(0.0, 0.0, 0.0));
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MyAvatar.setJointData("RightArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, 90.0));
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MyAvatar.setJointData("RightForeArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, 180.0));
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MyAvatar.setJointData("RightHand", Quat.fromPitchYawRollRadians(0.0, 0.0, 0.0));
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// Wait for arms to assume their positions before calculating
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Script.setTimeout(finishCalibration, CALIBRATION_TIME);
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}
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function checkCalibration() {
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if (calibrationStatus === CALIBRATED) {
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return true;
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}
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if (calibrationStatus !== CALIBRATING) {
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calibrate();
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}
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return false;
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}
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function setIsOnHMD() {
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isOnHMD = Menu.isOptionChecked(LEAP_ON_HMD_MENU_ITEM);
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print("Leap Motion: " + (isOnHMD ? "Is on HMD" : "Is on desk"));
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}
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function checkSettings() {
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if (calibrationStatus > UNCALIBRATED && (MyAvatar.scale !== avatarScale
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|| MyAvatar.faceModelURL !== avatarFaceModelURL
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|| MyAvatar.skeletonModelURL !== avatarSkeletonModelURL
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|| Menu.isOptionChecked(LEAP_ON_HMD_MENU_ITEM) !== isOnHMD)) {
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print("Leap Motion: Recalibrate...");
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calibrationStatus = UNCALIBRATED;
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setIsOnHMD();
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}
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}
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function setUp() {
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wrists = [
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{
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jointName: "LeftWrist",
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controller: Controller.createInputController(MotionTracker, "joint_L_wrist")
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},
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{
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jointName: "RightWrist",
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controller: Controller.createInputController(MotionTracker, "joint_R_wrist")
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}
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];
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hands = [
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{
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jointName: "LeftHand",
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controller: Controller.createInputController(MotionTracker, "joint_L_hand"),
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inactiveCount: 0
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},
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{
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jointName: "RightHand",
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controller: Controller.createInputController(MotionTracker, "joint_R_hand"),
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inactiveCount: 0
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}
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];
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// The Leap controller's first joint is the hand-metacarpal joint but this joint's data is not used because it's too
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// dependent on the model skeleton exactly matching the Leap skeleton; using just the second and subsequent joints
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// seems to work better over all.
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fingers = [{}, {}];
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fingers[0] = [
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[
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{ jointName: "LeftHandThumb1", controller: Controller.createInputController(MotionTracker, "joint_L_thumb2") },
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{ jointName: "LeftHandThumb2", controller: Controller.createInputController(MotionTracker, "joint_L_thumb3") },
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{ jointName: "LeftHandThumb3", controller: Controller.createInputController(MotionTracker, "joint_L_thumb4") }
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],
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[
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{ jointName: "LeftHandIndex1", controller: Controller.createInputController(MotionTracker, "joint_L_index2") },
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{ jointName: "LeftHandIndex2", controller: Controller.createInputController(MotionTracker, "joint_L_index3") },
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{ jointName: "LeftHandIndex3", controller: Controller.createInputController(MotionTracker, "joint_L_index4") }
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],
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[
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{ jointName: "LeftHandMiddle1", controller: Controller.createInputController(MotionTracker, "joint_L_middle2") },
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{ jointName: "LeftHandMiddle2", controller: Controller.createInputController(MotionTracker, "joint_L_middle3") },
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{ jointName: "LeftHandMiddle3", controller: Controller.createInputController(MotionTracker, "joint_L_middle4") }
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],
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[
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{ jointName: "LeftHandRing1", controller: Controller.createInputController(MotionTracker, "joint_L_ring2") },
|
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{ jointName: "LeftHandRing2", controller: Controller.createInputController(MotionTracker, "joint_L_ring3") },
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{ jointName: "LeftHandRing3", controller: Controller.createInputController(MotionTracker, "joint_L_ring4") }
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],
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[
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{ jointName: "LeftHandPinky1", controller: Controller.createInputController(MotionTracker, "joint_L_pinky2") },
|
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{ jointName: "LeftHandPinky2", controller: Controller.createInputController(MotionTracker, "joint_L_pinky3") },
|
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{ jointName: "LeftHandPinky3", controller: Controller.createInputController(MotionTracker, "joint_L_pinky4") }
|
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]
|
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];
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fingers[1] = [
|
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[
|
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{ jointName: "RightHandThumb1", controller: Controller.createInputController(MotionTracker, "joint_R_thumb2") },
|
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{ jointName: "RightHandThumb2", controller: Controller.createInputController(MotionTracker, "joint_R_thumb3") },
|
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{ jointName: "RightHandThumb3", controller: Controller.createInputController(MotionTracker, "joint_R_thumb4") }
|
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],
|
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[
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{ jointName: "RightHandIndex1", controller: Controller.createInputController(MotionTracker, "joint_R_index2") },
|
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{ jointName: "RightHandIndex2", controller: Controller.createInputController(MotionTracker, "joint_R_index3") },
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{ jointName: "RightHandIndex3", controller: Controller.createInputController(MotionTracker, "joint_R_index4") }
|
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],
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[
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{ jointName: "RightHandMiddle1", controller: Controller.createInputController(MotionTracker, "joint_R_middle2") },
|
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{ jointName: "RightHandMiddle2", controller: Controller.createInputController(MotionTracker, "joint_R_middle3") },
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{ jointName: "RightHandMiddle3", controller: Controller.createInputController(MotionTracker, "joint_R_middle4") }
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],
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[
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{ jointName: "RightHandRing1", controller: Controller.createInputController(MotionTracker, "joint_R_ring2") },
|
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{ jointName: "RightHandRing2", controller: Controller.createInputController(MotionTracker, "joint_R_ring3") },
|
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{ jointName: "RightHandRing3", controller: Controller.createInputController(MotionTracker, "joint_R_ring4") }
|
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],
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[
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{ jointName: "RightHandPinky1", controller: Controller.createInputController(MotionTracker, "joint_R_pinky2") },
|
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{ jointName: "RightHandPinky2", controller: Controller.createInputController(MotionTracker, "joint_R_pinky3") },
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{ jointName: "RightHandPinky3", controller: Controller.createInputController(MotionTracker, "joint_R_pinky4") }
|
||||
]
|
||||
];
|
||||
|
||||
setIsOnHMD();
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settingsTimer = Script.setInterval(checkSettings, 2000);
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||||
|
||||
calibrationStatus = UNCALIBRATED;
|
||||
}
|
||||
|
||||
function moveHands() {
|
||||
var h,
|
||||
i,
|
||||
j,
|
||||
side,
|
||||
handOffset,
|
||||
wristOffset,
|
||||
handRotation,
|
||||
locRotation,
|
||||
cameraOrientation,
|
||||
inverseAvatarOrientation;
|
||||
|
||||
for (h = 0; h < NUM_HANDS; h += 1) {
|
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side = h === 0 ? -1.0 : 1.0;
|
||||
|
||||
if (hands[h].controller.isActive()) {
|
||||
|
||||
// Calibrate if necessary.
|
||||
if (!checkCalibration()) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Hand position ...
|
||||
handOffset = hands[h].controller.getAbsTranslation();
|
||||
handRotation = hands[h].controller.getAbsRotation();
|
||||
|
||||
if (isOnHMD) {
|
||||
|
||||
// Adjust to control wrist position if "hand" joint is at wrist ...
|
||||
if (!hasHandAndWristJoints) {
|
||||
wristOffset = Vec3.multiplyQbyV(handRotation, handToWristOffset[h]);
|
||||
handOffset = Vec3.sum(handOffset, wristOffset);
|
||||
}
|
||||
|
||||
// Hand offset in camera coordinates ...
|
||||
handOffset = {
|
||||
x: hands[h].zeroPosition.x - handOffset.x,
|
||||
y: hands[h].zeroPosition.y - handOffset.z,
|
||||
z: hands[h].zeroPosition.z + handOffset.y
|
||||
};
|
||||
handOffset.z = -handOffset.z;
|
||||
|
||||
// Hand offset in world coordinates ...
|
||||
cameraOrientation = Camera.getOrientation();
|
||||
handOffset = Vec3.sum(Camera.getPosition(), Vec3.multiplyQbyV(cameraOrientation, handOffset));
|
||||
|
||||
// Hand offset in avatar coordinates ...
|
||||
inverseAvatarOrientation = Quat.inverse(MyAvatar.orientation);
|
||||
handOffset = Vec3.subtract(handOffset, MyAvatar.position);
|
||||
handOffset = Vec3.multiplyQbyV(inverseAvatarOrientation, handOffset);
|
||||
handOffset.z = -handOffset.z;
|
||||
handOffset.x = -handOffset.x;
|
||||
|
||||
// Hand rotation in camera coordinates ...
|
||||
handRotation = {
|
||||
x: handRotation.z,
|
||||
y: handRotation.y,
|
||||
z: handRotation.x,
|
||||
w: handRotation.w
|
||||
};
|
||||
|
||||
// Hand rotation in avatar coordinates ...
|
||||
if (h === 0) {
|
||||
handRotation.x = -handRotation.x;
|
||||
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 1, y: 0, z: 0 }), handRotation);
|
||||
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 0, z: 1 }), handRotation);
|
||||
} else {
|
||||
handRotation.z = -handRotation.z;
|
||||
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 1, y: 0, z: 0 }), handRotation);
|
||||
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 0, z: 1 }), handRotation);
|
||||
}
|
||||
|
||||
cameraOrientation.x = -cameraOrientation.x;
|
||||
cameraOrientation.z = -cameraOrientation.z;
|
||||
handRotation = Quat.multiply(cameraOrientation, handRotation);
|
||||
handRotation = Quat.multiply(inverseAvatarOrientation, handRotation);
|
||||
|
||||
} else {
|
||||
|
||||
// Hand offset in camera coordinates ...
|
||||
handOffset = {
|
||||
x: -handOffset.x,
|
||||
y: hands[h].zeroPosition.y + handOffset.y,
|
||||
z: hands[h].zeroPosition.z - handOffset.z
|
||||
};
|
||||
|
||||
// Hand rotation in camera coordinates ...
|
||||
handRotation = {
|
||||
x: handRotation.y,
|
||||
y: handRotation.z,
|
||||
z: -handRotation.x,
|
||||
w: handRotation.w
|
||||
};
|
||||
|
||||
// Hand rotation in avatar coordinates ...
|
||||
if (h === 0) {
|
||||
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 1, z: 0 }),
|
||||
handRotation);
|
||||
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 1, y: 0, z: 0 }),
|
||||
handRotation);
|
||||
} else {
|
||||
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
|
||||
handRotation);
|
||||
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 1, y: 0, z: 0 }),
|
||||
handRotation);
|
||||
}
|
||||
}
|
||||
|
||||
// Set hand position and orientation ...
|
||||
MyAvatar.setJointModelPositionAndOrientation(hands[h].jointName, handOffset, handRotation, true);
|
||||
|
||||
// Set finger joints ...
|
||||
for (i = 0; i < NUM_FINGERS; i += 1) {
|
||||
for (j = 0; j < NUM_FINGER_JOINTS; j += 1) {
|
||||
if (fingers[h][i][j].controller !== null) {
|
||||
locRotation = fingers[h][i][j].controller.getLocRotation();
|
||||
if (i === THUMB) {
|
||||
locRotation = {
|
||||
x: side * locRotation.y,
|
||||
y: side * -locRotation.z,
|
||||
z: side * -locRotation.x,
|
||||
w: locRotation.w
|
||||
};
|
||||
} else {
|
||||
locRotation = {
|
||||
x: -locRotation.x,
|
||||
y: -locRotation.z,
|
||||
z: -locRotation.y,
|
||||
w: locRotation.w
|
||||
};
|
||||
}
|
||||
MyAvatar.setJointData(fingers[h][i][j].jointName, locRotation);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
hands[h].inactiveCount = 0;
|
||||
|
||||
} else {
|
||||
|
||||
if (hands[h].inactiveCount < MAX_HAND_INACTIVE_COUNT) {
|
||||
|
||||
hands[h].inactiveCount += 1;
|
||||
|
||||
if (hands[h].inactiveCount === MAX_HAND_INACTIVE_COUNT) {
|
||||
if (h === 0) {
|
||||
MyAvatar.clearJointData("LeftHand");
|
||||
MyAvatar.clearJointData("LeftForeArm");
|
||||
MyAvatar.clearJointData("LeftArm");
|
||||
} else {
|
||||
MyAvatar.clearJointData("RightHand");
|
||||
MyAvatar.clearJointData("RightForeArm");
|
||||
MyAvatar.clearJointData("RightArm");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
function tearDown() {
|
||||
var h,
|
||||
i,
|
||||
j;
|
||||
|
||||
Script.clearInterval(settingsTimer);
|
||||
|
||||
for (h = 0; h < NUM_HANDS; h += 1) {
|
||||
Controller.releaseInputController(hands[h].controller);
|
||||
Controller.releaseInputController(wrists[h].controller);
|
||||
for (i = 0; i < NUM_FINGERS; i += 1) {
|
||||
for (j = 0; j < NUM_FINGER_JOINTS; j += 1) {
|
||||
if (fingers[h][i][j].controller !== null) {
|
||||
Controller.releaseInputController(fingers[h][i][j].controller);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return {
|
||||
printSkeletonJointNames: printSkeletonJointNames,
|
||||
setUp : setUp,
|
||||
moveHands : moveHands,
|
||||
tearDown : tearDown
|
||||
};
|
||||
}());
|
||||
|
||||
|
||||
//leapHands.printSkeletonJointNames();
|
||||
|
||||
leapHands.setUp();
|
||||
Script.update.connect(leapHands.moveHands);
|
||||
Script.scriptEnding.connect(leapHands.tearDown);
|
||||
|
|
@ -2,7 +2,7 @@ set(TARGET_NAME interface)
|
|||
project(${TARGET_NAME})
|
||||
|
||||
# set a default root dir for each of our optional externals if it was not passed
|
||||
set(OPTIONAL_EXTERNALS "Faceshift" "LibOVR" "PrioVR" "Sixense" "LeapMotion" "RtMidi" "Qxmpp" "SDL2" "Gverb")
|
||||
set(OPTIONAL_EXTERNALS "Faceshift" "LibOVR" "PrioVR" "Sixense" "LeapMotion" "RtMidi" "Qxmpp" "SDL2" "Gverb" "RSSDK")
|
||||
foreach(EXTERNAL ${OPTIONAL_EXTERNALS})
|
||||
string(TOUPPER ${EXTERNAL} ${EXTERNAL}_UPPERCASE)
|
||||
if (NOT ${${EXTERNAL}_UPPERCASE}_ROOT_DIR)
|
||||
|
|
|
|||
9
interface/external/rssdk/readme.txt
vendored
Normal file
9
interface/external/rssdk/readme.txt
vendored
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
|
||||
Instructions for adding the Intel Realsense (RSSDK) to Interface
|
||||
Thijs Wenker, December 19, 2014
|
||||
|
||||
This is Windows only for now.
|
||||
|
||||
1. Download the SDK at https://software.intel.com/en-us/intel-realsense-sdk/download
|
||||
|
||||
2. Copy the `lib` and `include` folder inside this directory
|
||||
|
|
@ -91,6 +91,7 @@
|
|||
#include "devices/DdeFaceTracker.h"
|
||||
#include "devices/Faceshift.h"
|
||||
#include "devices/Leapmotion.h"
|
||||
#include "devices/RealSense.h"
|
||||
#include "devices/MIDIManager.h"
|
||||
#include "devices/OculusManager.h"
|
||||
#include "devices/TV3DManager.h"
|
||||
|
|
@ -1685,6 +1686,7 @@ void Application::init() {
|
|||
DependencyManager::get<Visage>()->init();
|
||||
|
||||
Leapmotion::init();
|
||||
RealSense::init();
|
||||
|
||||
// fire off an immediate domain-server check in now that settings are loaded
|
||||
DependencyManager::get<NodeList>()->sendDomainServerCheckIn();
|
||||
|
|
|
|||
|
|
@ -43,6 +43,7 @@
|
|||
#include "Audio.h"
|
||||
#include "audio/AudioIOStatsRenderer.h"
|
||||
#include "audio/AudioScope.h"
|
||||
#include "devices/RealSense.h"
|
||||
#include "devices/Visage.h"
|
||||
#include "Menu.h"
|
||||
#include "scripting/LocationScriptingInterface.h"
|
||||
|
|
@ -439,6 +440,11 @@ Menu::Menu() :
|
|||
QMenu* leapOptionsMenu = handOptionsMenu->addMenu("Leap Motion");
|
||||
addCheckableActionToQMenuAndActionHash(leapOptionsMenu, MenuOption::LeapMotionOnHMD, 0, false);
|
||||
|
||||
#ifdef HAVE_RSSDK
|
||||
QMenu* realSenseOptionsMenu = handOptionsMenu->addMenu("RealSense");
|
||||
addActionToQMenuAndActionHash(realSenseOptionsMenu, MenuOption::LoadRSSDKFile, 0, this, SLOT(loadRSSDKFile()));
|
||||
#endif
|
||||
|
||||
QMenu* networkMenu = developerMenu->addMenu("Network");
|
||||
addCheckableActionToQMenuAndActionHash(networkMenu, MenuOption::DisableNackPackets, 0, false);
|
||||
addCheckableActionToQMenuAndActionHash(networkMenu,
|
||||
|
|
@ -1150,6 +1156,10 @@ void Menu::showChat() {
|
|||
}
|
||||
}
|
||||
|
||||
void Menu::loadRSSDKFile() {
|
||||
RealSense::getInstance()->loadRSSDKFile();
|
||||
}
|
||||
|
||||
void Menu::toggleChat() {
|
||||
#ifdef HAVE_QXMPP
|
||||
_chatAction->setEnabled(XmppClient::getInstance().getXMPPClient().isConnected());
|
||||
|
|
|
|||
|
|
@ -214,6 +214,7 @@ private slots:
|
|||
void audioMuteToggled();
|
||||
void displayNameLocationResponse(const QString& errorString);
|
||||
void changeVSync();
|
||||
void loadRSSDKFile();
|
||||
|
||||
private:
|
||||
static Menu* _instance;
|
||||
|
|
@ -387,6 +388,7 @@ namespace MenuOption {
|
|||
const QString LeapMotionOnHMD = "Leap Motion on HMD";
|
||||
const QString LoadScript = "Open and Run Script File...";
|
||||
const QString LoadScriptURL = "Open and Run Script from URL...";
|
||||
const QString LoadRSSDKFile = "Load .rssdk file";
|
||||
const QString LodTools = "LOD Tools";
|
||||
const QString Login = "Login";
|
||||
const QString Log = "Log";
|
||||
|
|
|
|||
250
interface/src/devices/RealSense.cpp
Normal file
250
interface/src/devices/RealSense.cpp
Normal file
|
|
@ -0,0 +1,250 @@
|
|||
//
|
||||
// RealSense.cpp
|
||||
// interface/src/devices
|
||||
//
|
||||
// Created by Thijs Wenker on 12/10/14
|
||||
// Copyright 2014 High Fidelity, Inc.
|
||||
//
|
||||
// Distributed under the Apache License, Version 2.0.
|
||||
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
|
||||
//
|
||||
#include "RealSense.h"
|
||||
#include "MainWindow.h"
|
||||
#include "Menu.h"
|
||||
#include "SharedUtil.h"
|
||||
|
||||
const int PALMROOT_NUM_JOINTS = 2;
|
||||
const int FINGER_NUM_JOINTS = 4;
|
||||
|
||||
const DeviceTracker::Name RealSense::NAME = "RealSense";
|
||||
|
||||
// find the index of a joint from
|
||||
// the side: true = right
|
||||
// the finger & the bone:
|
||||
// finger in [0..4] : bone in [0..3] a finger phalange
|
||||
// [-1] up the hand branch : bone in [0..1] <=> [ hand, forearm]
|
||||
MotionTracker::Index evalRealSenseJointIndex(bool isRightSide, int finger, int bone) {
|
||||
#ifdef HAVE_RSSDK
|
||||
MotionTracker::Index offset = 1 // start after root
|
||||
+ (int(isRightSide) * PXCHandData::NUMBER_OF_JOINTS) // then offset for side
|
||||
+ PALMROOT_NUM_JOINTS; // then add the arm/forearm/hand chain
|
||||
if (finger >= 0) {
|
||||
// from there go down in the correct finger and bone
|
||||
return offset + (finger * FINGER_NUM_JOINTS) + bone;
|
||||
} else {
|
||||
// or go back up for the correct root bone
|
||||
return offset - 1 - bone;
|
||||
}
|
||||
#else
|
||||
return -1;
|
||||
#endif // HAVE_RSSDK
|
||||
}
|
||||
|
||||
// static
|
||||
void RealSense::init() {
|
||||
DeviceTracker* device = DeviceTracker::getDevice(NAME);
|
||||
if (!device) {
|
||||
// create a new RealSense and register it
|
||||
RealSense* realSense = new RealSense();
|
||||
DeviceTracker::registerDevice(NAME, realSense);
|
||||
}
|
||||
}
|
||||
|
||||
// static
|
||||
RealSense* RealSense::getInstance() {
|
||||
DeviceTracker* device = DeviceTracker::getDevice(NAME);
|
||||
if (!device) {
|
||||
// create a new RealSense and register it
|
||||
RealSense* realSense = new RealSense();
|
||||
DeviceTracker::registerDevice(NAME, realSense);
|
||||
}
|
||||
return dynamic_cast< RealSense* > (device);
|
||||
}
|
||||
|
||||
RealSense::RealSense() :
|
||||
MotionTracker(),
|
||||
_active(false)
|
||||
{
|
||||
#ifdef HAVE_RSSDK
|
||||
_handData = NULL;
|
||||
_session = PXCSession_Create();
|
||||
initSession(false, NULL);
|
||||
|
||||
// Create the RealSense joint hierarchy
|
||||
std::vector< Semantic > sides;
|
||||
sides.push_back("joint_L_");
|
||||
sides.push_back("joint_R_");
|
||||
|
||||
std::vector< Semantic > rootBones;
|
||||
rootBones.push_back("wrist");
|
||||
rootBones.push_back("hand");
|
||||
|
||||
std::vector< Semantic > fingers;
|
||||
fingers.push_back("thumb");
|
||||
fingers.push_back("index");
|
||||
fingers.push_back("middle");
|
||||
fingers.push_back("ring");
|
||||
fingers.push_back("pinky");
|
||||
|
||||
std::vector< Semantic > fingerBones;
|
||||
fingerBones.push_back("1");
|
||||
fingerBones.push_back("2");
|
||||
fingerBones.push_back("3");
|
||||
fingerBones.push_back("4");
|
||||
|
||||
std::vector< Index > palms;
|
||||
for (unsigned int s = 0; s < sides.size(); s++) {
|
||||
Index rootJoint = 0;
|
||||
for (unsigned int rb = 0; rb < rootBones.size(); rb++) {
|
||||
rootJoint = addJoint(sides[s] + rootBones[rb], rootJoint);
|
||||
}
|
||||
|
||||
// capture the hand index for debug
|
||||
palms.push_back(rootJoint);
|
||||
|
||||
for (unsigned int f = 0; f < fingers.size(); f++) {
|
||||
for (unsigned int b = 0; b < fingerBones.size(); b++) {
|
||||
rootJoint = addJoint(sides[s] + fingers[f] + fingerBones[b], rootJoint);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif // HAVE_RSSDK
|
||||
}
|
||||
|
||||
RealSense::~RealSense() {
|
||||
#ifdef HAVE_RSSDK
|
||||
_manager->Release();
|
||||
#endif // HAVE_RSSDK
|
||||
}
|
||||
|
||||
void RealSense::initSession(bool playback, QString filename) {
|
||||
#ifdef HAVE_RSSDK
|
||||
_active = false;
|
||||
_properlyInitialized = false;
|
||||
if (_handData != NULL) {
|
||||
_handData->Release();
|
||||
_handController->Release();
|
||||
_session->Release();
|
||||
_config->Release();
|
||||
}
|
||||
_manager = _session->CreateSenseManager();
|
||||
if (playback) {
|
||||
_manager->QueryCaptureManager()->SetFileName(filename.toStdWString().c_str(), false);
|
||||
}
|
||||
_manager->QueryCaptureManager()->SetRealtime(!playback);
|
||||
_manager->EnableHand(0);
|
||||
_handController = _manager->QueryHand();
|
||||
|
||||
if (_manager->Init() == PXC_STATUS_NO_ERROR) {
|
||||
_handData = _handController->CreateOutput();
|
||||
|
||||
PXCCapture::Device *device = _manager->QueryCaptureManager()->QueryDevice();
|
||||
PXCCapture::DeviceInfo dinfo;
|
||||
_manager->QueryCaptureManager()->QueryDevice()->QueryDeviceInfo(&dinfo);
|
||||
if (dinfo.model == PXCCapture::DEVICE_MODEL_IVCAM)
|
||||
{
|
||||
device->SetDepthConfidenceThreshold(1);
|
||||
device->SetMirrorMode(PXCCapture::Device::MIRROR_MODE_DISABLED);
|
||||
device->SetIVCAMFilterOption(6);
|
||||
}
|
||||
_properlyInitialized = true;
|
||||
}
|
||||
|
||||
_config = _handController->CreateActiveConfiguration();
|
||||
_config->EnableStabilizer(true);
|
||||
_config->SetTrackingMode(PXCHandData::TRACKING_MODE_FULL_HAND);
|
||||
_config->ApplyChanges();
|
||||
#endif // HAVE_RSSDK
|
||||
}
|
||||
|
||||
#ifdef HAVE_RSSDK
|
||||
glm::quat quatFromPXCPoint4DF32(const PXCPoint4DF32& basis) {
|
||||
return glm::normalize(glm::quat(basis.w, basis.x, basis.y, basis.z) * glm::quat(glm::vec3(0, M_PI, 0)));
|
||||
}
|
||||
|
||||
glm::vec3 vec3FromPXCPoint3DF32(const PXCPoint3DF32& vec) {
|
||||
return glm::vec3(-vec.x, vec.y, -vec.z);
|
||||
}
|
||||
#endif // HAVE_RSSDK
|
||||
|
||||
void RealSense::update() {
|
||||
#ifdef HAVE_RSSDK
|
||||
bool wasActive = _active;
|
||||
_active = _manager->IsConnected() && _properlyInitialized;
|
||||
if (_active || wasActive) {
|
||||
// Go through all the joints and increment their counter since last update.
|
||||
// Increment all counters once after controller first becomes inactive so that each joint reports itself as inactive.
|
||||
// TODO C++11 for (auto jointIt = _jointsArray.begin(); jointIt != _jointsArray.end(); jointIt++) {
|
||||
for (JointTracker::Vector::iterator jointIt = _jointsArray.begin(); jointIt != _jointsArray.end(); jointIt++) {
|
||||
(*jointIt).tickNewFrame();
|
||||
}
|
||||
}
|
||||
|
||||
if (!_active) {
|
||||
return;
|
||||
}
|
||||
|
||||
pxcStatus sts = _manager->AcquireFrame(true);
|
||||
_handData->Update();
|
||||
PXCHandData::JointData nodes[2][PXCHandData::NUMBER_OF_JOINTS] = {};
|
||||
PXCHandData::ExtremityData extremitiesPointsNodes[2][PXCHandData::NUMBER_OF_EXTREMITIES] = {};
|
||||
for (pxcI32 i = 0; i < _handData->QueryNumberOfHands(); i++) {
|
||||
PXCHandData::IHand* handData;
|
||||
if (_handData->QueryHandData(PXCHandData::ACCESS_ORDER_BY_TIME, i, handData) == PXC_STATUS_NO_ERROR) {
|
||||
int rightSide = handData->QueryBodySide() == PXCHandData::BODY_SIDE_RIGHT;
|
||||
PXCHandData::JointData jointData;
|
||||
JointTracker* parentJointTracker = _jointsArray.data();
|
||||
//Iterate Joints
|
||||
int rootBranchIndex = -1;
|
||||
JointTracker* palmJoint = NULL;
|
||||
for (int j = 0; j < PXCHandData::NUMBER_OF_JOINTS; j++) {
|
||||
handData->QueryTrackedJoint((PXCHandData::JointType)j, jointData);
|
||||
nodes[i][j] = jointData;
|
||||
if (j == PXCHandData::JOINT_WRIST) {
|
||||
JointTracker* wrist = editJointTracker(evalRealSenseJointIndex(rightSide, rootBranchIndex, 1)); // 1 is the index of the wrist joint
|
||||
wrist->editAbsFrame().setTranslation(vec3FromPXCPoint3DF32(jointData.positionWorld));
|
||||
wrist->editAbsFrame().setRotation(quatFromPXCPoint4DF32(jointData.globalOrientation));
|
||||
wrist->updateLocFromAbsTransform(parentJointTracker);
|
||||
wrist->activeFrame();
|
||||
parentJointTracker = wrist;
|
||||
continue;
|
||||
} else if (j == PXCHandData::JOINT_CENTER) {
|
||||
palmJoint = editJointTracker(evalRealSenseJointIndex(rightSide, rootBranchIndex, 0)); // 0 is the index of the palm joint
|
||||
palmJoint->editAbsFrame().setTranslation(vec3FromPXCPoint3DF32(jointData.positionWorld));
|
||||
palmJoint->editAbsFrame().setRotation(quatFromPXCPoint4DF32(jointData.globalOrientation));
|
||||
palmJoint->updateLocFromAbsTransform(parentJointTracker);
|
||||
palmJoint->activeFrame();
|
||||
parentJointTracker = palmJoint;
|
||||
continue;
|
||||
}
|
||||
int finger_index = j - PALMROOT_NUM_JOINTS;
|
||||
int finger = finger_index / FINGER_NUM_JOINTS;
|
||||
int finger_bone = finger_index % FINGER_NUM_JOINTS;
|
||||
JointTracker* ljointTracker = editJointTracker(evalRealSenseJointIndex(rightSide, finger, finger_bone));
|
||||
if (jointData.confidence > 0) {
|
||||
ljointTracker->editAbsFrame().setTranslation(vec3FromPXCPoint3DF32(jointData.positionWorld));
|
||||
ljointTracker->editAbsFrame().setRotation(quatFromPXCPoint4DF32(jointData.globalOrientation));
|
||||
ljointTracker->updateLocFromAbsTransform(parentJointTracker);
|
||||
ljointTracker->activeFrame();
|
||||
}
|
||||
if (finger_bone == (FINGER_NUM_JOINTS - 1)) {
|
||||
parentJointTracker = palmJoint;
|
||||
continue;
|
||||
}
|
||||
parentJointTracker = ljointTracker;
|
||||
}
|
||||
}
|
||||
}
|
||||
_manager->ReleaseFrame();
|
||||
#endif // HAVE_RSSDK
|
||||
}
|
||||
|
||||
void RealSense::loadRSSDKFile() {
|
||||
QString locationDir(QStandardPaths::displayName(QStandardPaths::DesktopLocation));
|
||||
QString fileNameString = QFileDialog::getOpenFileName(Application::getInstance()->getWindow(), tr("Open RSSDK clip"),
|
||||
locationDir,
|
||||
tr("RSSDK Recordings (*.rssdk)"));
|
||||
if (!fileNameString.isEmpty()) {
|
||||
initSession(true, fileNameString);
|
||||
}
|
||||
}
|
||||
63
interface/src/devices/RealSense.h
Normal file
63
interface/src/devices/RealSense.h
Normal file
|
|
@ -0,0 +1,63 @@
|
|||
//
|
||||
// RealSense.h
|
||||
// interface/src/devices
|
||||
//
|
||||
// Created by Thijs Wenker on 12/10/14
|
||||
// Copyright 2014 High Fidelity, Inc.
|
||||
//
|
||||
// Distributed under the Apache License, Version 2.0.
|
||||
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
|
||||
//
|
||||
|
||||
#ifndef hifi_RealSense_h
|
||||
#define hifi_RealSense_h
|
||||
|
||||
#include <QFileDialog>
|
||||
|
||||
#include "MotionTracker.h"
|
||||
|
||||
#ifdef HAVE_RSSDK
|
||||
#include <pxcsession.h>
|
||||
#include <pxchandmodule.h>
|
||||
#include <pxchandconfiguration.h>
|
||||
#include <pxcsensemanager.h>
|
||||
#include <pxchanddata.h>
|
||||
#endif
|
||||
|
||||
/// Handles interaction with the RealSense skeleton tracking suit.
|
||||
class RealSense : public QObject, public MotionTracker {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
static const Name NAME;
|
||||
|
||||
static void init();
|
||||
|
||||
/// RealSense MotionTracker factory
|
||||
static RealSense* getInstance();
|
||||
|
||||
bool isActive() const { return _active; }
|
||||
|
||||
virtual void update();
|
||||
|
||||
void loadRSSDKFile();
|
||||
|
||||
protected:
|
||||
RealSense();
|
||||
virtual ~RealSense();
|
||||
|
||||
void initSession(bool playback, QString filename);
|
||||
|
||||
private:
|
||||
#ifdef HAVE_RSSDK
|
||||
PXCSession* _session;
|
||||
PXCSenseManager* _manager;
|
||||
PXCHandModule* _handController;
|
||||
PXCHandData* _handData;
|
||||
PXCHandConfiguration* _config;
|
||||
#endif
|
||||
bool _properlyInitialized;
|
||||
bool _active;
|
||||
};
|
||||
|
||||
#endif // hifi_RealSense_h
|
||||
Loading…
Reference in a new issue