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OpenSeeIKTarget is now more robust against tracking errors that occur while the camera is still starting up.

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This commit is contained in:
Emiliana 2020-06-21 13:11:53 +02:00
parent 80081bed1f
commit 5480966ef0
1 changed files with 55 additions and 1 deletions
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56
Unity/OpenSeeIKTarget.cs
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@ -7,6 +7,8 @@ public class OpenSeeIKTarget : MonoBehaviour
[Header("Settings")]
[Tooltip("This is the source of face tracking data.")]
public OpenSee openSee;
[Tooltip("This can be used to skip the first few tracking frames.")]
public int skipFirst = 5;
[Tooltip("When set to true, the next rotation and translation values will be set as zero rotation and zero translation.")]
public bool calibrate = true;
[Tooltip("This sets which face id to look for in the OpenSee data.")]
@ -29,9 +31,15 @@ public class OpenSeeIKTarget : MonoBehaviour
[Tooltip("This sets the minimum angle difference between two poses after which the pose will be considered an outlier.")]
[Range(0, 360)]
public float outlierThresholdAngle = 35f;
[Tooltip("This sets the number of seconds for which outliers are ignored before being accepted. Setting this to zero will disable outlier skipping")]
[Tooltip("This sets the number of seconds for which angle outliers are ignored before being accepted. Setting this to zero will disable outlier skipping.")]
public float outlierSkipPeriod = 0.4f;
[Tooltip("This sets the minimum distance difference between two poses after which the pose will be considered an outlier.")]
public float outlierThresholdDistance = 2f;
[Tooltip("This sets the number of seconds for which distance outliers are ignored before being accepted. Once this period elapses, automatic recalibration is triggered. Setting this to zero will disable outlier skipping.")]
public float outlierSkipPeriodDistance = 0.4f;
[Header("Information")]
[Tooltip("This is the number of received tracking frames.")]
public int trackingFrames = 0;
[Tooltip("This is the current rotation calibration value as euler angles.")]
public Vector3 rotationOffset = new Vector3(0f, 0f, -90f);
[Tooltip("This is the current translation calibration.")]
@ -40,6 +48,10 @@ public class OpenSeeIKTarget : MonoBehaviour
public float averageInterpolations = 0f;
[Tooltip("This is the number of outlier skipped tracking data frames so far.")]
public int outlierSkips = 0;
[Tooltip("This is the number of distance outlier skipped tracking data frames so far.")]
public int outlierSkipsDistance = 0;
[Tooltip("This is the number of times a recalibration was triggered due to positional outliers.")]
public int outlierCalibrations = 0;
private double updated = 0.0f;
private Quaternion dR = Quaternion.Euler(0f, 0f, -90f);
@ -59,6 +71,11 @@ public class OpenSeeIKTarget : MonoBehaviour
private bool skipped = false;
private float skipStartTime = -1f;
private bool gotAcceptedPosition = false;
private Vector3 lastAcceptedPosition;
private bool skippedPosition = false;
private float skipStartTimePosition = -1f;
public void Calibrate() {
calibrate = true;
}
@ -86,6 +103,9 @@ public class OpenSeeIKTarget : MonoBehaviour
return;
if (openSeeData.time > updated) {
updated = openSeeData.time;
trackingFrames++;
if (trackingFrames < skipFirst)
return;
} else {
Interpolate();
return;
@ -97,6 +117,7 @@ public class OpenSeeIKTarget : MonoBehaviour
t.z = -t.z;
Vector3 convertedTranslation = new Vector3(t.x, t.y, t.z);
// Check for angular outliers
if (gotAccepted) {
float angularDifference = Quaternion.Angle(lastAccepted, convertedQuaternion);
if (angularDifference >= outlierThresholdAngle) {
@ -124,6 +145,37 @@ public class OpenSeeIKTarget : MonoBehaviour
outlierSkips += 1;
return;
}
// Check for positional outliers
if (gotAcceptedPosition) {
float distance = Vector3.Distance(t, lastAcceptedPosition);
if (distance > outlierThresholdDistance) {
if (!skippedPosition) {
if (outlierSkipPeriodDistance >= 0.0000001f) {
skipStartTimePosition = Time.time;
skippedPosition = true;
}
} else {
if (Time.time > skipStartTimePosition + outlierSkipPeriodDistance) {
lastAcceptedPosition = t;
skippedPosition = false;
calibrate = true;
outlierCalibrations += 1;
}
}
} else {
skippedPosition = false;
lastAcceptedPosition = t;
}
} else {
skippedPosition = false;
lastAcceptedPosition = t;
}
gotAcceptedPosition = true;
if (skippedPosition) {
outlierSkipsDistance += 1;
return;
}
if (calibrate) {
dR = convertedQuaternion;
@ -131,6 +183,8 @@ public class OpenSeeIKTarget : MonoBehaviour
dT = t;
rotationOffset = new Vector3(dR.eulerAngles.x, dR.eulerAngles.y, dR.eulerAngles.z);
translationOffset = new Vector3(dT.x, dT.y, dT.z);
lastAcceptedPosition = translationOffset;
skippedPosition = false;
}
if (mirrorMotion != lastMirror || (mirrorMotion && calibrate)) {