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je_nourish_psmoveapi.cpp
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je_nourish_psmoveapi.cpp
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/** @file
@brief Comprehensive example: Implementation of a dummy Hardware Detect
Callback that creates a dummy device when it is "detected"
@date 2014
@author
Sensics, Inc.
<http://sensics.com/osvr>
*/
// Copyright 2014 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// Internal Includes
#include <osvr/PluginKit/PluginKit.h>
#include <osvr/PluginKit/AnalogInterfaceC.h>
#include <osvr/PluginKit/ButtonInterfaceC.h>
#include <osvr/PluginKit/TrackerInterfaceC.h>
#include <osvr/Util/EigenInterop.h>
#include <osvr/Util/Pose3C.h>
// Generated JSON header file
#include "je_nourish_psmovecamera_json.h"
#include "je_nourish_psmovecontroller_json.h"
// Library/third-party includes
//
#include "psmove.h"
#include "psmove_tracker.h"
#include "psmove_fusion.h"
#include "psmove_vector.h"
#include "opencv2/core/core_c.h"
#include "opencv2/highgui/highgui_c.h"
// Standard includes
#include <iostream>
#include <string>
#include <cstring>
#include <cmath>
#include <vector>
#define STABILIZE_WAIT_TIME_MS 500
#define NUM_BUTTONS 9
// Anonymous namespace to avoid symbol collision
namespace {
typedef Eigen::Transform<float, 3, Eigen::Affine> Transform;
template<class Vector3>
std::pair<Vector3, Vector3> best_plane_from_points(const std::vector<Vector3> & c)
{
size_t num_atoms = c.size();
Eigen::Matrix< typename Vector3:: Scalar, Eigen::Dynamic, Eigen::Dynamic > coord(3, num_atoms);
for (size_t i = 0; i < num_atoms; ++i) coord.col(i) = c[i];
Vector3 centroid(coord.row(0).mean(), coord.row(1).mean(), coord.row(2).mean());
coord.row(0).array() -= centroid(0); coord.row(1).array() -= centroid(1); coord.row(2).array() -= centroid(2);
auto svd = coord.jacobiSvd(Eigen::ComputeThinU | Eigen::ComputeThinV);
Vector3 plane_normal = svd.matrixU().rightCols(1);
return std::make_pair(centroid, plane_normal);
}
bool is_move_stable_and_aligned_with_gravity(PSMove *move) {
const float k_cosine_10_degrees = 0.984808f;
PSMove_3AxisVector k_identity_gravity_vector;
PSMove_3AxisVector acceleration_direction;
float acceleration_magnitude;
bool isOk;
// Get the direction the gravity vector should be pointing
// while the controller is in cradle pose.
psmove_get_identity_gravity_calibration_direction(move, &k_identity_gravity_vector);
psmove_get_accelerometer_frame(move, Frame_SecondHalf,
&acceleration_direction.x, &acceleration_direction.y, &acceleration_direction.z);
acceleration_magnitude = psmove_3axisvector_normalize_with_default(&acceleration_direction, k_psmove_vector_zero);
isOk =
is_nearly_equal(1.f, acceleration_magnitude, 0.1f) &&
psmove_3axisvector_dot(&k_identity_gravity_vector, &acceleration_direction) >= k_cosine_10_degrees;
return isOk;
}
class PSMoveController {
public:
PSMoveController(
OSVR_PluginRegContext ctx,
PSMoveFusion *fusion,
PSMoveTracker *tracker,
int i,
Transform calibration
)
: m_fusion(fusion)
, m_calibration(calibration)
{
m_move = psmove_connect_by_id(i);
psmove_enable_orientation(m_move, PSMove_True);
assert(psmove_has_orientation(m_move));
while (psmove_tracker_enable(tracker, m_move) != Tracker_CALIBRATED) {};
std::string controllerName = "PSMoveController";
std::string controllerID = std::to_string(i);
std::string deviceName = controllerName + controllerID;
OSVR_DeviceInitOptions opts = osvrDeviceCreateInitOptions(ctx);
osvrDeviceTrackerConfigure(opts, &m_tracker);
osvrDeviceAnalogConfigure(opts, &m_analog, 1);
osvrDeviceButtonConfigure(opts, &m_button, NUM_BUTTONS);
m_device.initSync(ctx, deviceName, opts);
m_device.sendJsonDescriptor(je_nourish_psmovecontroller_json);
m_device.registerUpdateCallback(this);
}
~PSMoveController() {
psmove_disconnect(m_move);
}
OSVR_ReturnCode update() {
while (psmove_poll(m_move));
// Tracker
OSVR_PoseState pose;
float x, y, z;
psmove_fusion_get_position(m_fusion, m_move, &x, &y, &z);
float* modelView = psmove_fusion_get_modelview_matrix(m_fusion, m_move);
// Orientation
Eigen::Matrix4f rotation;
rotation << modelView[0], modelView[1], modelView[2], modelView[3],
modelView[4], modelView[5], modelView[6], modelView[7],
modelView[8], modelView[9], modelView[10], modelView[11],
0, 0, 0, modelView[15]; // zero out position
rotation.transposeInPlace();
Transform translation = m_calibration * Eigen::Translation3f(x, y, z);
Eigen::Matrix4f transform = translation * Eigen::AngleAxisf(0.75 * M_PI, Eigen::Vector3f::UnitX()) * rotation;
osvr::util::toPose(transform.cast<double>(), pose);
osvrDeviceTrackerSendPose(m_device, m_tracker, &pose, 0);
// Buttons
int pressed = psmove_get_buttons(m_move);
OSVR_ButtonState buttons[NUM_BUTTONS];
buttons[0] = !!(Btn_CROSS & pressed);
buttons[1] = !!(Btn_CIRCLE & pressed);
buttons[2] = !!(Btn_SQUARE & pressed);
buttons[3] = !!(Btn_TRIANGLE & pressed);
buttons[4] = !!(Btn_SELECT & pressed);
buttons[5] = !!(Btn_START & pressed);
buttons[6] = !!(Btn_PS & pressed);
buttons[7] = !!(Btn_MOVE & pressed);
buttons[8] = !!(Btn_T & pressed);
osvrDeviceButtonSetValues(m_device, m_button, buttons, NUM_BUTTONS);
// Trigger
OSVR_AnalogState trigger = (double) psmove_get_trigger(m_move);
osvrDeviceAnalogSetValue(m_device, m_analog, trigger, 0);
return OSVR_RETURN_SUCCESS;
}
private:
Transform m_calibration;
PSMove *m_move;
PSMoveFusion *m_fusion;
OSVR_Vec3 m_offset;
osvr::pluginkit::DeviceToken m_device;
OSVR_TrackerDeviceInterface m_tracker;
OSVR_AnalogDeviceInterface m_analog;
OSVR_ButtonDeviceInterface m_button;
};
class PSMoveHandler {
public:
PSMoveHandler()
: m_initialised(false)
, m_sent_pose(false)
, m_connected(psmove_count_connected())
, m_tracker(psmove_tracker_new())
, m_fusion(psmove_fusion_new(m_tracker, 1., 1000.))
{
psmove_tracker_set_exposure(m_tracker, Exposure_LOW);
PSMove *move = psmove_connect_by_id(0);
while (psmove_tracker_enable(m_tracker, move) != Tracker_CALIBRATED);
int step = 5;
std::vector<Eigen::Vector3f> points;
while (step > 0) {
std::cout << "Place controller at position " << (6 - step) << " and press the Move button" << std::endl;
bool step_complete = false;
while (!step_complete) {
psmove_tracker_update_image(m_tracker);
psmove_tracker_update(m_tracker, NULL);
psmove_tracker_annotate(m_tracker);
frame = psmove_tracker_get_frame(m_tracker);
if (frame) {
cvShowImage("Calibration", frame);
cvWaitKey(1);
}
while (psmove_poll(move));
unsigned int pressed, released;
psmove_get_button_events(move, &pressed, &released);
if (pressed & Btn_MOVE) {
/*
bool stable = false;
int stable_start_time = psmove_util_get_ticks();
while (!stable) {
if (psmove_poll(move)) {
if (is_move_stable_and_aligned_with_gravity(move)) {
int current_time = psmove_util_get_ticks();
int stable_duration = (current_time - stable_start_time);
if ((current_time - stable_start_time) >= STABILIZE_WAIT_TIME_MS) {
stable = true;
} else {
printf("\rStable for: %dms/%dms ", stable_duration, STABILIZE_WAIT_TIME_MS);
}
} else {
stable_start_time = psmove_util_get_ticks();
printf("\rMove Destabilized! Waiting for stabilization.");
}
}
}
printf("\n");
*/
psmove_tracker_update_image(m_tracker);
psmove_tracker_update(m_tracker, NULL);
psmove_tracker_annotate(m_tracker);
frame = psmove_tracker_get_frame(m_tracker);
if (frame) {
cvShowImage("Calibration", frame);
cvWaitKey(1);
}
while (psmove_poll(move));
float x, y, z;
psmove_fusion_get_position(m_fusion, move, &x, &y, &z);
points.emplace_back(x, y, z);
step_complete = true;
}
}
step -= 1;
}
// Scale
Eigen::Vector3f oneToTwo = points.at(1) - points.at(0);
Eigen::Vector3f twoToFour = points.at(3) - points.at(1);
Eigen::Vector3f fourToFive = points.at(4) - points.at(3);
Eigen::Vector3f fiveToOne = points.at(0) - points.at(4);
float usLegal[2] = { 0.2159, 0.2794 };
Eigen::Vector4f scaleFactors;
scaleFactors <<
usLegal[1] / oneToTwo.norm(),
usLegal[0] / twoToFour.norm(),
usLegal[1] / fourToFive.norm(),
usLegal[0] / fiveToOne.norm();
Eigen::UniformScaling<float> scaling(scaleFactors.mean());
// Rotation
std::pair<Eigen::Vector3f, Eigen::Vector3f> plane = best_plane_from_points(points);
Eigen::Vector3f xzNormal = plane.second;
if (xzNormal(1) > 0) xzNormal = -xzNormal;
Eigen::Quaternionf xzRotation = Eigen::Quaternionf().setFromTwoVectors(
xzNormal,
Eigen::Vector3f(0,1,0)
);
Eigen::Quaternionf yRotation = Eigen::Quaternionf().setFromTwoVectors(
xzRotation * twoToFour,
Eigen::Vector3f(0,0,-1)
);
Eigen::Quaternionf rotation = yRotation * xzRotation;
// Translation
Eigen::Vector3f origin = points.at(2);
Eigen::Translation3f translation(-origin(0), -origin(1), -origin(2));
std::cout << "Calibration" << std::endl;
std::cout << origin(0) << "," << origin(1) << "," << origin(2) << std::endl;
std::cout << xzNormal(0) << "," << xzNormal(1) << "," << xzNormal(2) << std::endl;
std::cout << scaleFactors.mean() << std::endl;
m_calibration = scaling * rotation * translation;
psmove_tracker_disable(m_tracker, move);
psmove_disconnect(move);
}
~PSMoveHandler() {
psmove_fusion_free(m_fusion);
psmove_tracker_free(m_tracker);
}
// Hardware detection callback
OSVR_ReturnCode operator()(OSVR_PluginRegContext ctx) {
if (!m_initialised) {
// Detect self
OSVR_DeviceInitOptions opts = osvrDeviceCreateInitOptions(ctx);
osvrDeviceTrackerConfigure(opts, &m_camera_tracker);
m_camera_device.initSync(ctx, "PSMoveCamera", opts);
m_camera_device.sendJsonDescriptor(je_nourish_psmovecamera_json);
m_camera_device.registerUpdateCallback(this);
// Register controllers
for (int i=0; i<m_connected; i++) {
m_controllers[i] = new PSMoveController(ctx, m_fusion, m_tracker, i, m_calibration);
osvr::pluginkit::registerObjectForDeletion(ctx, m_controllers[i]);
}
m_initialised = true;
}
return OSVR_RETURN_SUCCESS;
}
// Update OSVR
OSVR_ReturnCode update() {
if (!m_sent_pose) {
OSVR_PoseState pose;
osvrPose3SetIdentity(&pose);
osvrDeviceTrackerSendPose(m_camera_device, m_camera_tracker, &pose, 0);
m_sent_pose = true;
}
psmove_tracker_update_image(m_tracker);
psmove_tracker_update(m_tracker, NULL);
psmove_tracker_annotate(m_tracker);
frame = psmove_tracker_get_frame(m_tracker);
if (frame) {
cvShowImage("Calibration", frame);
cvWaitKey(1);
}
return OSVR_RETURN_SUCCESS;
}
private:
void *frame;
int m_connected;
PSMoveTracker *m_tracker;
PSMoveFusion *m_fusion;
Transform m_calibration;
PSMoveController *m_controllers[PSMOVE_TRACKER_MAX_CONTROLLERS];
bool m_initialised;
bool m_sent_pose;
osvr::pluginkit::DeviceToken m_camera_device;
OSVR_TrackerDeviceInterface m_camera_tracker;
};
} // namespace
OSVR_PLUGIN(com_osvr_example_selfcontained) {
osvr::pluginkit::PluginContext context(ctx);
PSMoveHandler *handler = new PSMoveHandler();
context.registerHardwareDetectCallback(handler);
return OSVR_RETURN_SUCCESS;
}