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The OpenSeeIKTarget can now skip tracking frames with sudden rotation changes.

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This commit is contained in:
Emiliana 2020-05-20 17:28:00 +02:00
parent 0756568df1
commit d3d461bc3e
1 changed files with 40 additions and 0 deletions
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40
Unity/OpenSeeIKTarget.cs
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@ -26,6 +26,11 @@ public class OpenSeeIKTarget : MonoBehaviour
public bool driftBack = false;
[Tooltip("This sets the strength of the drifting effect. At 0 there is now drifting, while the IK target will be static at 1.")]
public float driftFactor = 0.005f;
[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")]
public float outlierSkipPeriod = 0.4f;
[Header("Information")]
[Tooltip("This is the current rotation calibration value as euler angles.")]
public Vector3 rotationOffset = new Vector3(0f, 0f, -90f);
@ -33,6 +38,8 @@ public class OpenSeeIKTarget : MonoBehaviour
public Vector3 translationOffset = new Vector3(0f, 0f, 0f);
[Tooltip("This is the average number of interpolated frames per received tracking data.")]
public float averageInterpolations = 0f;
[Tooltip("This is the number of outlier skipped tracking data frames so far.")]
public int outlierSkips = 0;
private double updated = 0.0f;
private Quaternion dR = Quaternion.Euler(0f, 0f, -90f);
@ -47,6 +54,11 @@ public class OpenSeeIKTarget : MonoBehaviour
private Vector3 currentT;
private bool lastMirror = false;
private bool gotAccepted = false;
private Quaternion lastAccepted;
private bool skipped = false;
private float skipStartTime = -1f;
public void Calibrate() {
calibrate = true;
}
@ -85,6 +97,34 @@ public class OpenSeeIKTarget : MonoBehaviour
t.z = -t.z;
Vector3 convertedTranslation = new Vector3(t.x, t.y, t.z);
if (gotAccepted) {
float angularDifference = Quaternion.Angle(lastAccepted, convertedQuaternion);
if (angularDifference >= outlierThresholdAngle) {
if (!skipped) {
if (outlierSkipPeriod >= 0.0000001f) {
skipStartTime = Time.time;
skipped = true;
}
} else {
if (Time.time > skipStartTime + outlierSkipPeriod) {
lastAccepted = convertedQuaternion;
skipped = false;
}
}
} else {
skipped = false;
lastAccepted = convertedQuaternion;
}
} else {
lastAccepted = convertedQuaternion;
skipped = false;
}
gotAccepted = true;
if (skipped) {
outlierSkips += 1;
return;
}
if (calibrate) {
dR = convertedQuaternion;
dR = Quaternion.Inverse(dR);