vr anbindung

3_PointCloud/KinectTutorial3.vcxproj

@@ -54,7 +54,7 @@
       <WarningLevel>Level3</WarningLevel>
       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
       <Optimization>Disabled</Optimization>
-      <AdditionalIncludeDirectories>H:\Repositories\MasterArbeit\3_PointCloud\glm;D:\Dropbox\Studium\MasterArbeit\3_PointCloud\glm;..\openvr\headers;glew-2.0.0-win32\glew-2.0.0\include;freeglut-MSVC-3.0.0-2.mp\freeglut\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>glm;..\openvr\headers;glew-2.0.0-win32\glew-2.0.0\include;freeglut-MSVC-3.0.0-2.mp\freeglut\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <TargetMachine>MachineX86</TargetMachine>

3_PointCloud/SteamTracking.cpp

@@ -17,11 +17,18 @@ std::string SteamTracking::getDeviceTypeAsString(vr::ETrackedDeviceClass device_
 	return type;
 }
 
-glm::mat3x4* SteamTracking::convertMatrix(vr::HmdMatrix34_t in)
+glm::mat4x4* SteamTracking::convertMatrix(vr::HmdMatrix34_t in)
 {
-	return new glm::mat3x4(in.m[0][0], in.m[0][1], in.m[0][2], in.m[0][3],
-		in.m[1][0], in.m[1][1], in.m[1][2], in.m[1][3],
-		in.m[2][0], in.m[2][1], in.m[2][2], in.m[2][3]	);
+	/*
+	return new glm::mat4x4(	in.m[0][0], in.m[0][1], in.m[0][2], in.m[0][3],
+							in.m[1][0], in.m[1][1], in.m[1][2], in.m[1][3],
+							in.m[2][0], in.m[2][1], in.m[2][2], in.m[2][3],
+							0.0F,		0.0F,		 0.0F,		 1.0F);
+	*/	
+	return new glm::mat4x4(	in.m[0][0], in.m[1][0], in.m[2][0], 0.0F,
+							in.m[0][1], in.m[1][1], in.m[2][1], 0.0F,
+							in.m[0][2], in.m[1][2], in.m[2][2], 0.0F,
+							in.m[0][3], in.m[1][3], in.m[2][3], 1.0F );
 }
 
 
@@ -77,6 +84,15 @@ void SteamTracking::printVRDevices() {
 	}
 }
 
+void SteamTracking::processEvents()
+{
+		vr::VREvent_t event;
+		while (vr_system_->PollNextEvent(&event, sizeof(event)))
+		{
+			processEvent(event);
+		}
+}
+
 
 void SteamTracking::printMatrix(const vr::HmdMatrix34_t &htm)
 {
@@ -93,18 +109,52 @@ void SteamTracking::printMatrix(const vr::HmdMatrix34_t &htm)
 	}
 }
 
-glm::mat3x4* SteamTracking::getTransformationForDevice(int nDevice)
+void SteamTracking::processEvent(vr::VREvent_t event)
+{
+	switch (event.eventType)
+	{
+	case vr::VREvent_TrackedDeviceActivated:
+		if (debugEvents) printf("Device %u attached.\n", event.trackedDeviceIndex);
+		break;
+	case vr::VREvent_TrackedDeviceDeactivated:
+		if (debugEvents) printf("Device %u detached.\n", event.trackedDeviceIndex);
+		break;
+	case vr::VREvent_TrackedDeviceUpdated:
+		if (debugEvents) printf("Device %u updated.\n", event.trackedDeviceIndex);
+		break;
+	case vr::VREvent_ButtonPress:
+		if (onButtonPress) onButtonPress(event);
+		if (debugEvents) printf("Device %u Button pressed %u.\n", event.trackedDeviceIndex, event.data.controller.button);
+		break;
+	case vr::VREvent_ButtonUnpress:
+		if (debugEvents) printf("Device %u Button unpressed %u.\n", event.trackedDeviceIndex, event.data.controller.button);
+		break;
+	case vr::VREvent_ButtonTouch:
+		if (debugEvents) printf("Device %u Button touched %u.\n", event.trackedDeviceIndex, event.data.controller.button);
+		break;
+	case vr::VREvent_ButtonUntouch:
+		if (debugEvents) printf("Device %u Button untouched %u.\n", event.trackedDeviceIndex, event.data.controller.button);
+		break;
+	default:
+		if (debugEvents) printf("Event: %u\n", event.eventType);
+		break;
+	}
+
+}
+
+glm::mat4x4* SteamTracking::getTransformationForDevice(int nDevice)
 {
 	if (!vr_system_) {
-		return new glm::mat3x4();
+		if (debug) std::cout << " NO VR System ";
+		return new glm::mat4x4();
 	}
 
 	vr_system_->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseRawAndUncalibrated, 0, tracked_device_poses_, vr::k_unMaxTrackedDeviceCount);
 
 	if (!tracked_device_poses_[nDevice].bPoseIsValid)
 	{
-		if (debug) std::cout << " Device " << nDevice << "Pois is Invalid";
-		return new glm::mat3x4();
+		if (debug) std::cout << " Device " << nDevice << "Pos is Invalid";
+		return new glm::mat4x4();
 	}
 
 	vr::ETrackedDeviceClass device_class = vr_system_->GetTrackedDeviceClass(nDevice);
@@ -112,7 +162,7 @@ glm::mat3x4* SteamTracking::getTransformationForDevice(int nDevice)
 	if (device_class == vr::TrackedDeviceClass_Invalid)
 	{
 		if (debug) std::cout << " Device " << nDevice << "ist Invalid";
-		return new glm::mat3x4();
+		return new glm::mat4x4();
 	}
 
 	vr::HmdMatrix34_t htm = tracked_device_poses_[nDevice].mDeviceToAbsoluteTracking;

3_PointCloud/SteamTracking.h

@@ -3,7 +3,7 @@
 #include <sstream>
 
 #include <openvr.h>
-#include <glm/mat3x4.hpp>
+#include <glm/mat4x4.hpp>
 
 
 class SteamTracking
@@ -15,18 +15,28 @@ private:
 
 	std::string getDeviceTypeAsString(vr::ETrackedDeviceClass device_class);
 
-	glm::mat3x4* convertMatrix(vr::HmdMatrix34_t in);
+	glm::mat4x4* convertMatrix(vr::HmdMatrix34_t in);
 
 	void printMatrix(const vr::HmdMatrix34_t &htm);
 
+	void processEvent(vr::VREvent_t evnt);
+
+
+
+
 public:
 	bool debug = false;
+	bool debugEvents = false;
+
 	SteamTracking();
 	~SteamTracking();
 
 	void printVRDevices();
+	void processEvents();
+
+	glm::mat4x4* getTransformationForDevice(int nDevice);
 
-	glm::mat3x4* getTransformationForDevice(int nDevice);
+	void (*onButtonPress)(vr::VREvent_t) = nullptr;
 
 };
 

3_PointCloud/main.cpp

@@ -12,9 +12,10 @@
 #include <vector>
 #include <iostream>
 #include <fstream>
-
 #include <sstream>
+
 #include <glm/vec3.hpp>
+#include <glm/gtc/type_ptr.hpp>
 
 #include <Kinect.h>
 
@@ -22,8 +23,8 @@
 GLuint vboId;
 GLuint cboId;
 
-GLuint vboIdArrow;
-GLuint cboIdArrow;
+GLuint vboIdExport;
+GLuint cboIdExport;
 
 float arrowPoints[] = { 1, 0 , 0, 0, 1, 0, 0, 0, 1
 };
@@ -47,7 +48,7 @@ IMultiSourceFrameReader* reader;   // Kinect data source
 ICoordinateMapper* mapper;         // Converts between depth, color, and 3d coordinates
 
 SteamTracking* steamTracking = nullptr;
-glm::mat3x4* currentControlerPos = nullptr;
+glm::mat4x4* currentControlerPos = nullptr;
 
 static bool writeFile = false;
 static bool captureFrame = false;
@@ -182,7 +183,7 @@ void getKinectData(bool writeFrameInVector) {
 	IMultiSourceFrame* frame = NULL;
 	if (SUCCEEDED(reader->AcquireLatestFrame(&frame))) {
 		delete currentControlerPos;
-		currentControlerPos = steamTracking->getTransformationForDevice(0);
+		currentControlerPos = steamTracking->getTransformationForDevice(1);
 
 		getDepthData(frame);
 		getRgbData(frame, writeFrameInVector);
@@ -233,16 +234,20 @@ void writePointCloud() {
 
 void rotateCamera() {
 	static double angle = 0.;
-	static double radius = 4.;
+	static double radius = 20.;
 	double x = radius*sin(angle);
 	double z = radius*(1-cos(angle)) - radius/2;
 	
+	//gluLookAt(0, 0, 0,		0, 5, 0, 	0, 1, 0);
+
 	gluLookAt(x,0,z,0,0,radius/2,0,1,0);
 	//angle += 0.002;
 }
 
 void drawKinectData() {
-
+	if (steamTracking)
+		steamTracking->processEvents();
+	
 	getKinectData(captureFrame);
 
 	//add points to point cloud
@@ -253,12 +258,23 @@ void drawKinectData() {
 		points.reserve(points.size() + width*height);
 		colors.reserve(colors.size() + width*height * 3);
 
-		for (int i = 0; i < snapshotPoints.size(); i++) {
-			points.push_back(/*currentControlerPos */ snapshotPoints[i]);
+		for (unsigned int i = 0; i < snapshotPoints.size(); i++) {
+			points.push_back(*currentControlerPos * glm::vec4(snapshotPoints[i], 1.0f));
 			colors.push_back(snapshotColors[i * 3]);
 			colors.push_back(snapshotColors[i * 3 + 1]);
 			colors.push_back(snapshotColors[i * 3 + 2]);
 		}
+		/*
+		glBindBuffer(GL_ARRAY_BUFFER, vboIdExport);
+		glBufferData(GL_ARRAY_BUFFER, points.size() * sizeof(glm::vec3), &points[0], GL_DYNAMIC_DRAW);
+		glUnmapBuffer(GL_ARRAY_BUFFER);
+
+		glBindBuffer(GL_ARRAY_BUFFER, cboIdExport);
+		glBufferData(GL_ARRAY_BUFFER, colors.size() * sizeof(GLfloat), &colors[0], GL_DYNAMIC_DRAW);
+
+		glUnmapBuffer(GL_ARRAY_BUFFER);*/
+
+
 	}
 	captureFrame = false;
 
@@ -269,9 +285,9 @@ void drawKinectData() {
 
 	glMatrixMode(GL_MODELVIEW);
 	glLoadIdentity();
-
-
 	rotateCamera();
+	if(currentControlerPos)
+		glMultMatrixf(glm::value_ptr(*currentControlerPos));
 
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 	glEnableClientState(GL_VERTEX_ARRAY);
@@ -287,7 +303,7 @@ void drawKinectData() {
 	glDrawArrays(GL_POINTS, 0, width*height);
 
 	glPushMatrix();
-	float scale = 1.0 / 10;
+	float scale = 1.0f / 10;
 	glScalef(scale, scale, scale);
 	
 	//drawArrow();
@@ -304,11 +320,11 @@ void keyPressed(unsigned char key, int x, int y)
 {
 	switch (key) {
 	case 'a':
-		std::cout << "Caturing Frame"<< std::endl;
+		std::cout << "Caturing Frame Keyboard"<< std::endl;
 		captureFrame = true;
 		break;
 	case 's':
-		std::cout << "writing File"<< std::endl;
+		std::cout << "writing File" << std::endl;
 		writeFile = true;
 		break;
 	default:
@@ -319,20 +335,31 @@ void keyPressed(unsigned char key, int x, int y)
 						 instantly */
 }
 
+void captureNextFrame(vr::VREvent_t event)
+{
+	if (event.trackedDeviceIndex == 1 && event.data.controller.button == 33) {
+		std::cout << "Caturing Frame controler Button" << std::endl;
+		captureFrame = true;
+	}
+}
+
+
+
+
 
 int main(int argc, char* argv[]) {
 	std::cout << "Starting Kinect VR Point Cloud creator";
     if (!init(argc, argv)) return 1;
     if (!initKinect()) return 1;
 
-
-
 	if (!initVR())
 	{
 		shutdownVR();
 	}
 
 	steamTracking = new SteamTracking();
+	steamTracking->printVRDevices();
+	steamTracking->onButtonPress = captureNextFrame;
 
 
     // OpenGL setup
@@ -347,18 +374,17 @@ int main(int argc, char* argv[]) {
 	float* fdest2 = (float*)framePositions;
 	for (int j = 0; j < height; j++) {
 		for (int i = 0; i < width; i++) {
-			*fdest++ = 1.0 * i / width;
-			*fdest++ = 1.0 *j / height;
+			*fdest++ = 1.0f * i / width;
+			*fdest++ = 1.0f *j / height;
 			*fdest++ = 1;
 
 			snapshotPoints.push_back(glm::vec3(1.0 * i / width, 1.0 *j / height, 0));
-			snapshotColors.push_back(1.0 *i / width*255);
-			snapshotColors.push_back(1.0 *j / height*255);
+			snapshotColors.push_back((unsigned char) 1.0 *i / width * 255);
+			snapshotColors.push_back((unsigned char) 1.0 *j / height*255);
 			snapshotColors.push_back(0);
 
-
-			*fdest2++ = 1.0 *i / width;
-			*fdest2++ = 1.0 *j / height;;
+			*fdest2++ = 1.0f *i / width;
+			*fdest2++ = 1.0f *j / height;;
 			*fdest2++ = 0;
 
 		}
@@ -388,7 +414,6 @@ int main(int argc, char* argv[]) {
     // Main loop
 	atexit(close);
     execute();
-	//drawKinectData();
 
 	
 
@@ -399,3 +424,7 @@ int main(int argc, char* argv[]) {
 void close() {
 	delete steamTracking;
 }
+
+void drawGround()
+{
+}

3_PointCloud/main.h

 #pragma once
+#include <openvr.h>
 const int width = 512;
 const int height = 424;
 const int colorwidth = 1920;
@@ -6,8 +7,10 @@ const int colorheight = 1080;
 
 void drawKinectData();
 void keyPressed(unsigned char key, int x, int y);
+void captureNextFrame(vr::VREvent_t event);
 void writePointCloud();
 void close();
+void drawGround();
 
 
 struct pntsHeader {