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Code Issues 159 Packages Projects Releases Wiki Activity

Better hips tracking, added batter level support, fix configuration fetchin

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Update readme
This commit is contained in:
Eiren Rain
2021-03-07 05:55:57 +03:00
parent 20f450f496
commit dd8f3d86ee
7 changed files with 100 additions and 35 deletions
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6
README.md
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@@ -4,8 +4,8 @@ Server app for SlimeVR ecosystem
Server orchestrates communication between VR driver running in SteamVR and multiple sensors.
Sensors implementations:
* [owoTrack Mobile App](https://github.com/abb128/owoTrackVRSyncMobile) - use phone as a tracker
* [SlimeVR Tracker for ESP](https://github.com/Eirenliel/SlimeVR-Tracker-ESP) - use EPS8266 and MPU9250 as tracker (supports multiple trackers)
* [SlimeVR Tracker for ESP](https://github.com/SlimeVR/SlimeVR-Tracker-ESP) - EPS8266 microcontroller and multiple IMUs are supported. Future
* [owoTrack Mobile App](https://github.com/abb128/owoTrackVRSyncMobile) - use phone as a tracker (might not work with most recent version due to changes in protocol)
Driver implementation:
* Uses [AptrilTags FBT driver](https://github.com/Eirenliel/Simple-OpenVR-Driver-Tutorial) as a driver
* Uses [AptrilTags FBT driver](https://github.com/SlimeVR/Simple-OpenVR-Driver-Tutorial) as a driver (will be replaced soon)

11
src/main/java/io/eiren/gui/TrackersList.java
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@@ -25,6 +25,7 @@ import io.eiren.vr.trackers.HMDTracker;
import io.eiren.vr.trackers.IMUTracker;
import io.eiren.vr.trackers.Tracker;
import io.eiren.vr.trackers.TrackerConfig;
import io.eiren.vr.trackers.TrackerWithBattery;
import io.eiren.vr.trackers.TrackerWithTPS;
public class TrackersList extends EJBag {
@@ -63,7 +64,8 @@ public class TrackersList extends EJBag {
add(new JLabel("Roll"), c(7, 0, 2));
add(new JLabel("Status"), c(8, 0, 2));
add(new JLabel("TPS"), c(9, 0, 2));
add(new JLabel("Conf"), c(10, 0, 2));
add(new JLabel("Bat"), c(10, 0, 2));
trackers.sort((tr1, tr2) -> getTrackerSort(tr1.t) - getTrackerSort(tr2.t));
@@ -130,7 +132,7 @@ public class TrackersList extends EJBag {
JLabel a3;
JLabel status;
JLabel tps;
JLabel conf;
JLabel bat;
@AWTThread
public TrackerRow(Tracker t) {
@@ -152,7 +154,7 @@ public class TrackersList extends EJBag {
} else {
add(new JLabel(""), c(9, n, 2, GridBagConstraints.FIRST_LINE_START));
}
add(conf = new JLabel("0"), c(10, n, 2, GridBagConstraints.FIRST_LINE_START));
add(bat = new JLabel("0"), c(10, n, 2, GridBagConstraints.FIRST_LINE_START));
return this;
}
@@ -175,7 +177,8 @@ public class TrackersList extends EJBag {
if(t instanceof TrackerWithTPS) {
tps.setText(StringUtils.prettyNumber(((TrackerWithTPS) t).getTPS(), 1));
}
conf.setText(StringUtils.prettyNumber(t.getConfidenceLevel(), 1));
if(t instanceof TrackerWithBattery)
bat.setText(StringUtils.prettyNumber(((TrackerWithBattery) t).getBatteryVoltage(), 1));
}
public int getSize() {

14
src/main/java/io/eiren/vr/processor/HumanSekeletonWithLegs.java
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@@ -142,6 +142,8 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
rightHipNode.localTransform.setRotation(hipBuf);
rightKneeNode.localTransform.setRotation(kneeBuf);
rightAnkleNode.localTransform.setRotation(kneeBuf);
// TODO Calculate waist node as some function between waist and hip rotations
}
// Knee basically has only 1 DoF (pitch), average yaw between knee and hip
@@ -149,17 +151,11 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
hipBuf.toAngles(hipAngles);
kneeBuf.toAngles(kneeAngles);
// TODO
hipConfidense = Math.abs(1 - hipConfidense);
kneeConfidense = Math.abs(1 - kneeConfidense);
float confidenseDiff = hipConfidense < kneeConfidense ? 1 : 0;//FloatMath.equalsToZero(hipConfidense) ? 1.0f : FastMath.clamp(0.5f * (kneeConfidense / hipConfidense), 0f, 1f);
hipAngles[1] = kneeAngles[1] = interpolateRadians(0.5f, kneeAngles[1], hipAngles[1]);
hipAngles[1] = kneeAngles[1] = interpolateRadians(kneeLerpFactor, kneeAngles[1], hipAngles[1]);
//hipAngles[2] = kneeAngles[2] = interpolateRadians(kneeLerpFactor, kneeAngles[2], hipAngles[2]);
hipBuf.fromAngles(hipAngles[0], hipAngles[1], hipAngles[2]);
kneeBuf.fromAngles(kneeAngles[0], kneeAngles[1], kneeAngles[2]);
hipBuf.fromAngles(hipAngles);
kneeBuf.fromAngles(kneeAngles);
}
public static float normalizeRad(float angle) {

15
src/main/java/io/eiren/vr/processor/HumanSkeleonWithWaist.java
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@@ -17,7 +17,8 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
protected final Map<String, Float> configMap = new HashMap<>();
protected final VRServer server;
protected final float[] waistAngles = new float[3];
protected final Quaternion qBuf = new Quaternion();
protected final Vector3f vBuf = new Vector3f();
@@ -43,11 +44,11 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
/**
* Distacne from eyes to the base of the neck
*/
protected float neckLength = 0.2f;
protected float neckLength = 0.1f;
/**
* Distance from eyes to ear
*/
protected float headShift = 0.05f;
protected float headShift = 0.1f;
public HumanSkeleonWithWaist(VRServer server, Tracker waistTracker, List<ComputedHumanPoseTracker> computedTrackers) {
this.wasitTracker = waistTracker;
@@ -144,10 +145,10 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
// Pelvic bone doesn't tilt when humans tilt, unless they really try.
// Can't calculate tilt without additional sensors, so just remove it
// completely.
//vBuf.set(0, 0, 1);
//qBuf.multLocal(vBuf);
//vBuf.multLocal(1, 0, 1); // Keep only yaw / Don't normalize, it's done by lookAt()
//qBuf.lookAt(vBuf, Vector3f.UNIT_Y);
qBuf.toAngles(waistAngles);
waistAngles[0] = 0;
waistAngles[2] *= 0.2f; // Keep some roll
qBuf.fromAngles(waistAngles);
waistNode.localTransform.setRotation(qBuf);
}

34
src/main/java/io/eiren/vr/trackers/IMUTracker.java
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@@ -6,9 +6,10 @@ import java.util.function.Consumer;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import io.eiren.math.FloatMath;
import io.eiren.util.BufferedTimer;
public class IMUTracker implements Tracker, CalibratingTracker, TrackerWithTPS {
public class IMUTracker implements Tracker, CalibratingTracker, TrackerWithTPS, TrackerWithBattery {
public final Vector3f gyroVector = new Vector3f();
public final Vector3f accelVector = new Vector3f();
@@ -19,9 +20,13 @@ public class IMUTracker implements Tracker, CalibratingTracker, TrackerWithTPS {
protected final String name;
protected final TrackersUDPServer server;
protected float confidence = 0;
protected float batteryVoltage = 0;
protected BufferedTimer timer = new BufferedTimer(1f);
public CalibrationData newCalibrationData;
public ConfigurationData newCalibrationData;
public StringBuilder serialBuffer = new StringBuilder();
long lastSerialUpdate = 0;
public IMUTracker(String name, TrackersUDPServer server) {
this.name = name;
@@ -96,7 +101,21 @@ public class IMUTracker implements Tracker, CalibratingTracker, TrackerWithTPS {
this.confidence = newConf;
}
public static class CalibrationData {
@Override
public float getBatteryLevel() {
return FloatMath.mapValue(getBatteryVoltage(), 3.6f, 4.2f, 0f, 1f);
}
@Override
public float getBatteryVoltage() {
return batteryVoltage;
}
public void setBatteryVoltage(float voltage) {
this.batteryVoltage = voltage;
}
public static class ConfigurationData {
//acel offsets and correction matrix
float[] A_B = new float[3];
@@ -106,8 +125,10 @@ public class IMUTracker implements Tracker, CalibratingTracker, TrackerWithTPS {
float[][] M_Ainv = new float[3][3];
//raw offsets, determined for gyro at rest
float[] G_off = new float[3];
int deviceId = -1;
int deviceMode = -1;
public CalibrationData(double[] accelBasis, double[] accelAInv, double[] magBasis, double[] magAInv, double[] gyroOffset) {
public ConfigurationData(double[] accelBasis, double[] accelAInv, double[] magBasis, double[] magAInv, double[] gyroOffset) {
A_B[0] = (float) accelBasis[0];
A_B[1] = (float) accelBasis[1];
A_B[2] = (float) accelBasis[2];
@@ -141,8 +162,9 @@ public class IMUTracker implements Tracker, CalibratingTracker, TrackerWithTPS {
G_off[2] = (float) gyroOffset[2];
}
public CalibrationData(ByteBuffer buffer) {
buffer.getFloat(); // TODO : WHY???
public ConfigurationData(ByteBuffer buffer) {
deviceMode = buffer.getInt();
deviceId = buffer.getInt();
// Data is read in reverse, because it was reversed when sending
G_off[2] = buffer.getFloat();
G_off[1] = buffer.getFloat();

8
src/main/java/io/eiren/vr/trackers/TrackerWithBattery.java Normal file
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@@ -0,0 +1,8 @@
package io.eiren.vr.trackers;
public interface TrackerWithBattery {
public float getBatteryLevel();
public float getBatteryVoltage();
}

47
src/main/java/io/eiren/vr/trackers/TrackersUDPServer.java
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@@ -20,7 +20,7 @@ import com.jme3.math.Vector3f;
import io.eiren.hardware.magentometer.Magneto;
import io.eiren.util.Util;
import io.eiren.util.collections.FastList;
import io.eiren.vr.trackers.IMUTracker.CalibrationData;
import io.eiren.vr.trackers.IMUTracker.ConfigurationData;
/**
* Recieves trackers data by UDP using extended owoTrack protocol.
@@ -105,7 +105,7 @@ public class TrackersUDPServer extends Thread {
}
}
public void uploadNewCalibrationData(Tracker tracker, CalibrationData data) {
public void uploadNewCalibrationData(Tracker tracker, ConfigurationData data) {
TrackerConnection connection = null;
synchronized(trackers) {
for(int i = 0; i < trackers.size(); ++i) {
@@ -197,7 +197,7 @@ public class TrackersUDPServer extends Thread {
System.out.println(String.format("Mag agv {%8.2f, %8.2f, %8.2f},", (magMaxX + magMinX) / 2, (magMaxY + magMinY) / 2, (magMaxZ + magMinZ) / 2));
IMUTracker.CalibrationData data = new IMUTracker.CalibrationData(accelBasis, accelAInv, magBasis, magAInv, gyroOffset);
IMUTracker.ConfigurationData data = new IMUTracker.ConfigurationData(accelBasis, accelAInv, magBasis, magAInv, gyroOffset);
sensor.tracker.newCalibrationData = data;
Consumer<String> consumer = newCalibrationDataRequests.remove(sensor.tracker);
@@ -233,6 +233,7 @@ public class TrackersUDPServer extends Thread {
public void run() {
byte[] rcvBuffer = new byte[512];
ByteBuffer bb = ByteBuffer.wrap(rcvBuffer).order(ByteOrder.BIG_ENDIAN);
StringBuilder serialBuffer2 = new StringBuilder();
try {
socket = new DatagramSocket(port);
socket.setSoTimeout(250);
@@ -306,7 +307,7 @@ public class TrackersUDPServer extends Thread {
if(sensor == null)
break;
bb.getLong();
IMUTracker.CalibrationData data = new IMUTracker.CalibrationData(bb);
IMUTracker.ConfigurationData data = new IMUTracker.ConfigurationData(bb);
Consumer<String> dataConsumer = calibrationDataRequests.remove(sensor.tracker);
if(dataConsumer != null) {
dataConsumer.accept(data.toTextMatrix());
@@ -321,6 +322,31 @@ public class TrackersUDPServer extends Thread {
float mz = bb.getFloat();
sensor.tracker.confidence = (float) Math.sqrt(mx * mx + my * my + mz * mz);
break;
case 11: // PACKET_SERIAL
if(sensor == null)
break;
IMUTracker tracker = sensor.tracker;
bb.getLong();
int length = bb.getInt();
for(int i = 0; i < length; ++i) {
char ch = (char) bb.get();
if(ch == '\n') {
serialBuffer2.append('[').append(tracker.getName()).append("] ").append(tracker.serialBuffer);
System.out.println(serialBuffer2.toString());
serialBuffer2.setLength(0);
tracker.serialBuffer.setLength(0);
} else {
tracker.serialBuffer.append(ch);
}
}
break;
case 12: // PACKET_BATTERY_VOLTAGE
if(sensor == null)
break;
tracker = sensor.tracker;
bb.getLong();
tracker.setBatteryVoltage(bb.getFloat());
break;
default:
System.out.println("[TrackerServer] Unknown data received: " + packetId + " from " + recieve.getSocketAddress());
break;
@@ -334,11 +360,20 @@ public class TrackersUDPServer extends Thread {
synchronized(trackers) {
for(int i = 0; i < trackers.size(); ++i) {
TrackerConnection conn = trackers.get(i);
IMUTracker tracker = conn.tracker;
socket.send(new DatagramPacket(KEEPUP_BUFFER, KEEPUP_BUFFER.length, conn.address));
if(conn.lastPacket + 1000 < System.currentTimeMillis())
conn.tracker.setStatus(TrackerStatus.DISCONNECTED);
tracker.setStatus(TrackerStatus.DISCONNECTED);
else
conn.tracker.setStatus(TrackerStatus.OK);
tracker.setStatus(TrackerStatus.OK);
if(tracker.serialBuffer.length() > 0) {
if(tracker.lastSerialUpdate + 500L < System.currentTimeMillis()) {
serialBuffer2.append('[').append(tracker.getName()).append("] ").append(tracker.serialBuffer);
System.out.println(serialBuffer2.toString());
serialBuffer2.setLength(0);
tracker.serialBuffer.setLength(0);
}
}
}
}
}