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masterarbeit-kai
Commit c1d0a7ec by wester
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halterung steam trakcing fixed to conroller

parent 3a9ab9bd
Showing with 77 additions and 19 deletions
3_PointCloud/SteamTracking.cpp
......@@ -99,6 +99,31 @@ void SteamTracking::processEvents()
}
}
int SteamTracking::getDeviceIDForSerial(char* Serial)
{
if (!vr_system_) {
return 1;
}
for (int nDevice = 0; nDevice < vr::k_unMaxTrackedDeviceCount; ++nDevice)
{
vr::ETrackedDeviceClass device_class = vr_system_->GetTrackedDeviceClass(nDevice);
if (device_class == vr::TrackedDeviceClass_Invalid)
{
continue;
}
const uint32_t size = 1024;
char serial[size];
vr_system_->GetStringTrackedDeviceProperty(nDevice, vr::ETrackedDeviceProperty::Prop_SerialNumber_String, serial, size);
if (strcmp(Serial, serial) == 0) {
std::cout << "Device " << Serial <<" has ID " << nDevice << std::endl;
return nDevice;
}
}
return 1;
}
void SteamTracking::printMatrix(const vr::HmdMatrix34_t &htm)
{
......@@ -148,14 +173,14 @@ void SteamTracking::processEvent(vr::VREvent_t event)
}
glm::mat4x4* SteamTracking::getTransformationForDevice(int nDevice)
glm::mat4x4* SteamTracking::getTransformationForDevice(int nDevice, float timeoffset)
{
if (!vr_system_) {
if (debug) std::cout << " NO VR System ";
return new glm::mat4x4();
}
//TrackingUniverseStanding TrackingUniverseRawAndUncalibrated
vr_system_->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseStanding , 0, tracked_device_poses_, vr::k_unMaxTrackedDeviceCount);
vr_system_->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseStanding , timeoffset, tracked_device_poses_, vr::k_unMaxTrackedDeviceCount);
if (!tracked_device_poses_[nDevice].bPoseIsValid)
{
......
3_PointCloud/SteamTracking.h
......@@ -20,7 +20,7 @@ private:
void printMatrix(const vr::HmdMatrix34_t &htm);
void processEvent(vr::VREvent_t evnt);
......@@ -34,7 +34,9 @@ public:
void printVRDevices();
void processEvents();
glm::mat4x4* getTransformationForDevice(int nDevice);
int getDeviceIDForSerial(char* Serial);
glm::mat4x4* getTransformationForDevice(int nDevice, float timeoffset);
void (*onButtonPress)(vr::VREvent_t) = nullptr;
......
3_PointCloud/main.cpp
#include "main.h"
#include "glut.h"
#include "SteamTracking.h"
#include <ctime>
#include <cmath>
#include <cstdio>
......@@ -59,6 +60,7 @@ std::vector<unsigned char> colors;
IKinectSensor* sensor; // Kinect sensor
IMultiSourceFrameReader* reader; // Kinect data source
ICoordinateMapper* mapper; // Converts between depth, color, and 3d coordinates
TIMESPAN colorFrameTime = -1;
float KinectOriginOffsetX = ((92 + 73) / 2.0f) / 1000.0f;
float KinectOriginOffsetY = 21 / 1000.0f;
float KinectSizeX = 0.249;
......@@ -66,16 +68,20 @@ float KinectSizeY = 0.042; // 42 mm, 66mm ist die gesammthhe
float KinectSizeZ = 0.067;
float minTrackingKinect = 0.8f;
float maxTrackingKinect = 3.5f;
float maxTrackingKinect = 2.5f;
//Vive Tracking
SteamTracking* steamTracking = nullptr;
char* controllerSerial = "LHR-FFFDBD41";
int controllerID = 1;
glm::mat4x4* currentControlerPos = nullptr;
glm::vec3 lastClicketControlelrPos;
glm::mat4x4 controlerToKinect;
std::vector<glm::vec3> controllerPositions;
Camera mainCam;
static bool trackControllerPos = true;
......@@ -195,6 +201,15 @@ void getRgbData(IMultiSourceFrame* frame) {
IColorFrameReference* frameref = NULL;
frame->get_ColorFrameReference(&frameref);
frameref->AcquireFrame(&colorframe);
TIMESPAN time;
if (SUCCEEDED(frameref->get_RelativeTime(&time))) {
colorFrameTime = time;
}
else {
colorFrameTime = -1;
}
if (frameref) frameref->Release();
if (!colorframe) return;
......@@ -241,10 +256,12 @@ void getRgbData(IMultiSourceFrame* frame) {
void getKinectData() {
IMultiSourceFrame* frame = NULL;
if (SUCCEEDED(reader->AcquireLatestFrame(&frame))) {
getDepthData(frame);
getRgbData(frame);
glBindBuffer(GL_ARRAY_BUFFER, framePoints.vboID);
glBufferData(GL_ARRAY_BUFFER, width*height * 3 * sizeof(GLfloat), framePositions, GL_DYNAMIC_DRAW);
glUnmapBuffer(GL_ARRAY_BUFFER);
......@@ -255,6 +272,7 @@ void getKinectData() {
glUnmapBuffer(GL_ARRAY_BUFFER);
}
if (frame) frame->Release();
}
void processCurrentFrameForExport() {
......@@ -275,7 +293,7 @@ void processCurrentFrameForExport() {
glBindBuffer(GL_ARRAY_BUFFER, exportData.vboID);
glBufferData(GL_ARRAY_BUFFER, points.size() * sizeof(glm::vec3), &points[0], GL_DYNAMIC_DRAW);
glUnmapBuffer(GL_ARRAY_BUFFER);
glBindBuffer(GL_ARRAY_BUFFER, exportData.cboID);
glBufferData(GL_ARRAY_BUFFER, colors.size() * sizeof(unsigned char), &colors[0], GL_DYNAMIC_DRAW);
exportData.size = points.size();
......@@ -343,14 +361,21 @@ void mainRenderLoop() {
mainCam.tick();
getKinectData();
time_t currentTime;
time(&currentTime);
//std::cout << "Relative Time " << colorFrameTime << " current "<< currentTime << " dif: " << (currentTime - colorFrameTime/10) << std::endl;
//get controler pos
delete currentControlerPos;
currentControlerPos = steamTracking->getTransformationForDevice(controllerID);
currentControlerPos = steamTracking->getTransformationForDevice(controllerID, 0.0f);
if (trackControllerPos) {
controllerPositions.push_back(glm::vec3(*currentControlerPos*glm::vec4(0,0,0,1)));
glm::vec3 tempPos = glm::vec3(*currentControlerPos*glm::vec4(0, 0, 0, 1));
controllerPositions.push_back(tempPos);
if (controllerPositions.size() > 2) {
glBindBuffer(GL_ARRAY_BUFFER, controllerPosData.vboID);
......@@ -362,11 +387,14 @@ void mainRenderLoop() {
getKinectData();
//add points to point cloud
if (captureFrame) {
processCurrentFrameForExport();
glm::vec3 current = controllerPositions.back();
std::cout << "Current Position [" << current.x << "/" << current.y << "/" << current.z << "] distance " << distance(lastClicketControlelrPos, current) << std::endl ;
lastClicketControlelrPos = controllerPositions.back();
captureFrame = false;
}
......@@ -452,7 +480,7 @@ void keyPressed(unsigned char key, int x, int y)
mainCam.keyPressed(key, x, y);
switch (key) {
case 'y':
std::cout << "Capturing Frame Keyboard"<< std::endl;
std::cout << "Capturing Frame Keyboard ";
captureFrame = true;
break;
case 'x':
......@@ -489,8 +517,8 @@ void mouseMove(int x, int y) {
void captureNextFrame(vr::VREvent_t event)
{
if (event.trackedDeviceIndex == 1 && event.data.controller.button == 33) {
std::cout << "Capturing Frame Controler Button" << std::endl;
if (event.trackedDeviceIndex == controllerID && event.data.controller.button == 33) {
std::cout << "Capturing Frame Controler Button ";
captureFrame = true;
}
}
......@@ -507,7 +535,7 @@ int main(int argc, char* argv[]) {
steamTracking = new SteamTracking();
steamTracking->printVRDevices();
steamTracking->onButtonPress = captureNextFrame;
controllerID = steamTracking->getDeviceIDForSerial(controllerSerial);
// OpenGL setup
......@@ -558,6 +586,9 @@ int main(int argc, char* argv[]) {
controlerToKinect = glm::rotate(controlerToKinect, degreeToRadioan(180.0f), glm::vec3(0.0f, 0.0f, 1.0f));
controlerToKinect = glm::translate(controlerToKinect, (glm::vec3(dx, -dy, dz)));
glm::vec3 tempPos = glm::vec3(controlerToKinect*glm::vec4(0, 0, 0, 1));
std::cout << "Controller Kinect Transformation [" << tempPos.x << "/" << tempPos.y << "/" << tempPos.z << "]" << std::endl;
std::cout << "Kinect to center: " << dx <<" "<< dy << " " << dz<<std::endl;
......
Halterungen/vive 2.0.scad
......@@ -7,13 +7,13 @@ module base(){
}
}
module HohlZylinder(size=10, thickness = 5){
module HohlZylinder(size=20, thickness = 5){
difference() {
cylinder(30,size,size,false);
cylinder(30,size-thickness,size-thickness,false);
cylinder(30,d = size);
cylinder(30,d= size - 2*thickness);
}
}
base();
translate([35,4,33]) rotate([-90,0,0]) HohlZylinder(20,5);
\ No newline at end of file
translate([35,4,33]) rotate([-90,0,0]) HohlZylinder(37,5);
\ No newline at end of file
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