From c5a652e9ad60f1ab0ee586d578daa0be79359b28 Mon Sep 17 00:00:00 2001 From: GO63-samara Date: Sat, 31 Jul 2021 02:38:25 +0400 Subject: Adding a choice of centering method --- gui/lang/nl_NL.ts | 16 ++++++++++ gui/lang/ru_RU.ts | 16 ++++++++++ gui/lang/stub.ts | 16 ++++++++++ gui/lang/zh_CN.ts | 16 ++++++++++ gui/settings-dialog.ui | 85 +++++++++++++++++++++++++++++++++++++++++++------ gui/settings.cpp | 10 ++++++ logic/main-settings.hpp | 10 +++++- logic/pipeline.cpp | 72 +++++++++++++++++++++++++++++++---------- logic/pipeline.hpp | 10 +++--- 9 files changed, 220 insertions(+), 31 deletions(-) diff --git a/gui/lang/nl_NL.ts b/gui/lang/nl_NL.ts index 60b84189..59d46b82 100644 --- a/gui/lang/nl_NL.ts +++ b/gui/lang/nl_NL.ts @@ -360,6 +360,22 @@ Press "clear calibration" to remove any calibration data pertaining to None Geen + + Centering method + + + + Point + + + + Wireless VR 360 + + + + Roll compensated VR 360 + + process_detector diff --git a/gui/lang/ru_RU.ts b/gui/lang/ru_RU.ts index d40b4775..8f3c360a 100644 --- a/gui/lang/ru_RU.ts +++ b/gui/lang/ru_RU.ts @@ -363,6 +363,22 @@ Press "clear calibration" to remove any calibration data pertaining to None Не назначена + + Centering method + + + + Point + + + + Wireless VR 360 + + + + Roll compensated VR 360 + + process_detector diff --git a/gui/lang/stub.ts b/gui/lang/stub.ts index b383a0d8..9dd07851 100644 --- a/gui/lang/stub.ts +++ b/gui/lang/stub.ts @@ -360,6 +360,22 @@ Press "clear calibration" to remove any calibration data pertaining to None + + Centering method + + + + Point + + + + Wireless VR 360 + + + + Roll compensated VR 360 + + process_detector diff --git a/gui/lang/zh_CN.ts b/gui/lang/zh_CN.ts index fa2d512c..a88251ce 100644 --- a/gui/lang/zh_CN.ts +++ b/gui/lang/zh_CN.ts @@ -361,6 +361,22 @@ Press "clear calibration" to remove any calibration data pertaining to None 空 + + Centering method + + + + Point + + + + Wireless VR 360 + + + + Roll compensated VR 360 + + process_detector diff --git a/gui/settings-dialog.ui b/gui/settings-dialog.ui index 6333692a..93374b06 100644 --- a/gui/settings-dialog.ui +++ b/gui/settings-dialog.ui @@ -7,7 +7,7 @@ 0 0 548 - 599 + 600 @@ -812,29 +812,39 @@ QFrame::Sunken - - + + - + 0 0 - Center at startup + Never translate the application interface - - + + + + Centering method + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + - + 0 0 - Never translate the application interface + Center at startup @@ -848,6 +858,39 @@ + + + + + 4 + 0 + + + + 3 + + + + Disabled + + + + + Point + + + + + Wireless VR 360 + + + + + Roll compensated VR 360 + + + + @@ -1569,9 +1612,15 @@ + + Qt::LeftToRight + X + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + @@ -1601,6 +1650,9 @@ Pitch + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + @@ -1608,6 +1660,9 @@ Y + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + @@ -1637,6 +1692,9 @@ Z + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + @@ -1644,6 +1702,9 @@ Roll + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + @@ -1673,6 +1734,9 @@ Yaw + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + @@ -1808,6 +1872,9 @@ 0 + + 0 + Disabled diff --git a/gui/settings.cpp b/gui/settings.cpp index 3851f0c2..cef93d19 100644 --- a/gui/settings.cpp +++ b/gui/settings.cpp @@ -59,6 +59,16 @@ options_dialog::options_dialog(std::function pause_keybindings) : tie_setting(main.center_at_startup, ui.center_at_startup); + const centering_state centering_modes[] = { + center_disabled, + center_point, + center_vr360, + center_roll_compensated, + }; + for (unsigned k = 0; k < 4; k++) + ui.cbox_centering->setItemData(k, int(centering_modes[k])); + tie_setting(main.centering_mode, ui.cbox_centering); + const reltrans_state reltrans_modes[] = { reltrans_disabled, reltrans_enabled, diff --git a/logic/main-settings.hpp b/logic/main-settings.hpp index 8fef7ea7..0795bca4 100644 --- a/logic/main-settings.hpp +++ b/logic/main-settings.hpp @@ -22,6 +22,14 @@ enum reltrans_state reltrans_non_center = 2, }; +enum centering_state +{ + center_disabled = 0, + center_point = 1, + center_vr360 = 2, + center_roll_compensated = 3, +}; + namespace main_settings_impl { using namespace options; @@ -65,7 +73,7 @@ struct OTR_LOGIC_EXPORT main_settings final value tray_start { b, "start-in-tray", false }; value center_at_startup { b, "center-at-startup", true }; - //value center_method; + value centering_mode { b, "centering-mode", center_roll_compensated };; value neck_z { b, "neck-depth", 0 }; value neck_enable { b, "neck-enable", false }; diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp index 39c75e99..f8827b7e 100644 --- a/logic/pipeline.cpp +++ b/logic/pipeline.cpp @@ -272,7 +272,7 @@ bool pipeline::maybe_enable_center_on_tracking_started() return false; } -void pipeline::maybe_set_center_pose(const Pose& value, bool own_center_logic) +void pipeline::maybe_set_center_pose(const centering_state mode, const Pose& value, bool own_center_logic) { if (b.get(f_center | f_held_center)) { @@ -283,28 +283,66 @@ void pipeline::maybe_set_center_pose(const Pose& value, bool own_center_logic) if (own_center_logic) { - center.inv_R = rmat::eye(); - center.T = {}; + center.P = {}; + center.QC = QQuaternion(1,0,0,0); + center.QR = QQuaternion(1,0,0,0); } else { - center.inv_R = euler_to_rmat(Pose_(&value[Yaw]) * (M_PI / 180)).t(); - center.T = Pose_(&value[TX]); + if (mode) + { + center.P = value; + center.QC = QQuaternion::fromEulerAngles(value[Pitch], value[Yaw], -value[Roll]).conjugated(); + center.QR = QQuaternion::fromEulerAngles(value[Pitch], value[Yaw], 0).conjugated(); + } + else + { + // To reset the centering coordinates + // just select "Centering method [Disabled]" and then press [Center] button + center.P = {}; + center.QC = QQuaternion(1,0,0,0); + center.QR = QQuaternion(1,0,0,0); + } } } } -Pose pipeline::apply_center(Pose value) const +Pose pipeline::apply_center(const centering_state mode, Pose value) const { - { - for (unsigned k = 0; k < 3; k++) - value(k) -= center.T(k); - - Pose_ rot = rmat_to_euler( - euler_to_rmat(Pose_(&value[Yaw]) * (M_PI / 180)) * center.inv_R - ); - for (unsigned k = 0; k < 3; k++) - value(k+3) = rot(k) * 180 / M_PI; + if (mode != center_disabled) + { + for (unsigned k = TX; k <= TZ; k++) + value(k) -= center.P(k); + + QQuaternion q; + QVector3D v; + + switch (mode) + { + case center_point: + for (unsigned k = Yaw; k <= Roll; k++) + { + value(k) -= center.P(k); + if (fabs(value[k]) > 180) value[k] -= copysign(360, value[k]); + } + break; + case center_vr360: + q = QQuaternion::fromEulerAngles(value[Pitch], value[Yaw], -value[Roll]); + q = center.QC * q; + v = q.toEulerAngles(); + value[Pitch] = v.x(); + value[Yaw] = v.y(); + value[Roll] = -v.z(); + break; + case center_roll_compensated: + q = QQuaternion::fromEulerAngles(value[Pitch], value[Yaw], center.P[Roll] - value[Roll]); + q = center.QR * q; + v = q.toEulerAngles(); + value[Pitch] = v.x(); + value[Yaw] = v.y(); + value[Roll] = -v.z(); + break; + } } for (int i = 0; i < 6; i++) @@ -407,8 +445,8 @@ void pipeline::logic() { maybe_enable_center_on_tracking_started(); - maybe_set_center_pose(value, own_center_logic); - value = apply_center(value); + maybe_set_center_pose(s.centering_mode, value, own_center_logic); + value = apply_center(s.centering_mode, value); // "corrected" - after various transformations to account for camera position logger.write_pose(value); diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp index fc1f2060..80d4d8a7 100644 --- a/logic/pipeline.hpp +++ b/logic/pipeline.hpp @@ -20,6 +20,7 @@ #include #include +#include #include "export.hpp" @@ -99,8 +100,9 @@ class OTR_LOGIC_EXPORT pipeline : private QThread reltrans rel; struct { - rmat inv_R = rmat::eye(); - Pose_ T; + Pose P; + QQuaternion QC = QQuaternion(1,0,0,0); + QQuaternion QR = QQuaternion(1,0,0,0); } center; time_units::ms backlog_time {}; @@ -111,8 +113,8 @@ class OTR_LOGIC_EXPORT pipeline : private QThread void logic(); void run() override; bool maybe_enable_center_on_tracking_started(); - void maybe_set_center_pose(const Pose& value, bool own_center_logic); - Pose apply_center(Pose value) const; + void maybe_set_center_pose(const centering_state mode, const Pose& value, bool own_center_logic); + Pose apply_center(const centering_state mode, Pose value) const; std::tuple get_selected_axis_values(const Pose& newpose) const; Pose maybe_apply_filter(const Pose& value) const; Pose apply_reltrans(Pose value, vec6_bool disabled, bool centerp); -- cgit v1.2.3