Merge calibration branch

model-calibration.processor.py

@@ -0,0 +1,294 @@
+import blendervr
+
+VRPN_DEBUG = False
+
+if blendervr.is_virtual_environment():
+    import bge
+    from mathutils import Vector, Matrix
+    from blendervr.player import device
+    from math import radians
+
+    from bge import logic, events
+
+    class Processor(blendervr.processor.getProcessor()):
+
+        def __init__(self, parent):
+            super(Processor, self).__init__(parent)
+
+            if self.BlenderVR.isMaster():
+                self.BlenderVR.getSceneSynchronizer().getItem(bge.logic).activate(True, True)
+
+            self._all_loaded = False
+            self._matrix = Matrix.Identity(4)
+
+        def _checkScenes(self):
+            """
+            check if all the objects required are in the loaded scenes
+            """
+            if self._all_loaded:
+                return True
+
+            if not self.BlenderVR.isMaster():
+                return False
+
+            if not hasattr(logic, 'scenes'):
+                return False
+
+            scene_vr = logic.scenes.get('Scene.VR')
+            scene_projection = logic.scenes.get('Scene.Projection')
+
+            if not scene_vr or not scene_projection:
+                return False
+
+            objects = scene_vr.objects
+            self._headtrack_vr_origin = objects.get('HEADTRACK.VR.ORIGIN')
+            self._headtrack_vr_head = objects.get('HEADTRACK.VR.HEAD')
+
+            objects = scene_projection.objects
+            self._headtrack_projection_origin = objects.get('HEADTRACK.PROJECTION.ORIGIN')
+            self._headtrack_projection_head = objects.get('HEADTRACK.PROJECTION.HEAD')
+
+            if \
+               self._headtrack_vr_origin and \
+               self._headtrack_vr_head and \
+               self._headtrack_projection_origin and \
+               self._headtrack_projection_head \
+               :
+                   self._all_loaded = True
+                   self._vrpn_proxy_init()
+                   return True
+            else:
+                return False
+
+        def run(self):
+            """
+            run every frame
+            """
+
+            self._keyboard_calibration()
+            self._keyboard_vrpn_proxy()
+
+            if not self._checkScenes():
+                return
+
+            self._keyboard()
+
+        def _keyboard_calibration(self):
+            """handle keyboard events"""
+
+            """
+            Keyboard controls the camera representing the projector in the scene
+            (logic.scenes['Scene.Projection'].objects['Camera.Projector'])
+            with UJ/IK/OL (y,x,z) + Shift to switch from translation to rotation
+            and P/M to incr./decr. camera.lens
+            """
+            _events = logic.keyboard.events
+
+            x = y = z = 0
+            SPEED = 0.005
+            zoom = 0
+            SPEED_ZOOM = 0.05
+            log = False
+
+            if _events[events.UKEY]:
+                y -= SPEED
+
+            elif _events[events.JKEY]:
+                y += SPEED
+
+            if _events[events.IKEY]:
+                x += SPEED
+
+            elif _events[events.KKEY]:
+                x -= SPEED
+
+            if _events[events.OKEY]:
+                z += SPEED
+
+            elif _events[events.LKEY]:
+                z -= SPEED
+
+            if _events[events.PKEY]:
+                zoom += SPEED_ZOOM
+
+
+            elif _events[events.MKEY]:
+                zoom -= SPEED_ZOOM
+
+            if _events[events.SPACEKEY]:
+                log = True
+
+            if x or y or z or zoom or log:
+                try:
+                    if hasattr(logic, 'scenes'):
+                        scene = logic.getCurrentScene()
+                        camera_projector = scene.objects['Camera.Projector']
+
+                        if _events[events.LEFTSHIFTKEY]: # camera rotation
+                            gain = 1.0
+                            camera_projector.applyRotation([gain*x, gain*y, gain*z], 0)
+
+                        else: # camera translation / lens
+                            gain = 1.0
+                            camera_projector.applyMovement([gain*x, gain*y, gain*z], 0)
+                            camera_projector.lens += zoom
+
+                        if log:
+                            from math import degrees as d
+
+                            pos = camera_projector.position
+                            ori = camera_projector.localOrientation.to_euler()
+
+                            self.logger.info('\n Current Camera.Projector parameters:')
+                            self.logger.info('Pos >> x: {0:.2f}, y: {1:.2f}, z: {2:.2f}'.format(pos.x, pos.y, pos.z))
+                            self.logger.info('Ori >> x: {0:.2f}, y: {1:.2f}, z: {2:.2f}'.format(d(ori.x), d(ori.y), d(ori.z)))
+                            self.logger.info('FoV >> {0:.2f} \n'.format(camera_projector.lens))
+
+                except Exception as E:
+                    self.logger.log_traceback(E)
+
+
+
+        def _keyboard(self):
+            """handle keyboard events"""
+
+            """
+            arrow controls the navigation of the main camera
+            (logic.scenes['Scene.VR'].objects['Camera.Parent'])
+
+            but at the moment this is set in the file itself
+            the function here is for those without a real head-tracking
+            system to try with WASD
+            """
+
+            _events = logic.keyboard.events
+
+            x = y = z = 0
+            SPEED = 0.005
+
+            if _events[events.WKEY]:
+                x += SPEED
+
+            elif _events[events.SKEY]:
+                x -= SPEED
+
+            if _events[events.AKEY]:
+                y += SPEED
+
+            elif _events[events.DKEY]:
+                y -= SPEED
+
+            if _events[events.QKEY]:
+                z -= SPEED
+
+            elif _events[events.EKEY]:
+                z += SPEED
+
+            if x or y or z:
+                try:
+                    self._matrix = Matrix.Translation((y, z, x)) * self._matrix
+                    info = {}
+                    info['matrix'] = self._matrix
+                    self.user_position(info)
+
+                except Exception as E:
+                    self.logger.log_traceback(E)
+
+        def _vrpn_proxy_init(self):
+            """
+            initialize fake vrpn inputs based on initial proxy positions
+            """
+            if not VRPN_DEBUG:
+                return
+
+            position = self._headtrack_projection_head.worldPosition - self._headtrack_projection_origin.worldPosition
+            x,y,z = position.xyz
+
+            self._matrix = Matrix.Translation((-x, z, -y))
+            self._headtrack_vr_head.worldPosition = position + self._headtrack_vr_origin.worldPosition
+
+
+        def _keyboard_vrpn_proxy(self):
+
+            """
+            Keyboard controls the player (hacking VRPN messages)
+            with XCV (x,y,z) and Shift+XCV (-x,-y,-z)
+            """
+            if not VRPN_DEBUG:
+                return
+
+            _events = logic.keyboard.events
+
+            x = y = z = 0
+            SPEED = 0.01
+
+            if _events[events.XKEY]:
+                x += SPEED
+
+            if _events[events.CKEY]:
+                y += SPEED
+
+            if _events[events.VKEY]:
+                z += SPEED
+
+
+            if x or y or z:
+                try:
+                    if _events[events.LEFTSHIFTKEY]: # camera rotation
+                        x = -x
+                        y = -y
+                        z = -z
+
+                    self._matrix = Matrix.Translation((-x, z, -y)) * self._matrix
+                    info = {}
+                    info['matrix'] = self._matrix
+                    self.user_position(info)
+
+                except Exception as E:
+                    self.logger.log_traceback(E)
+
+        def user_position(self, info):
+            """
+            Callback defined in the XML config file to one of the VRPN Tracker devices
+            """
+            if not self._checkScenes():
+                return
+
+            try:
+                #highjack regular head-tracking function
+                # do not call: super(Processor, self).user_position(info)
+
+                x, y, z = info['matrix'].translation
+
+                if abs(x)>=0.01 or abs(y)>=0.01 or abs(z)>=0.01:
+                # to remove: mockup as VRPN sever kept sending me (0,0,0) packets in between real (x,y,z) (DPQ)
+
+                    # leaving here for debugging, I need to refresh myself on what is the swizzle needed in BlenderVR
+                    #self.logger.info('Raw Data >> x: {0:.2f}, y: {1:.2f}, z: {2:.2f}'.format(x, y, z))
+
+                    position = Matrix.Translation((-z, -x, y)).translation
+
+                    self._headtrack_vr_head.worldPosition = position + self._headtrack_vr_origin.worldPosition
+                    self.logger.info(self._headtrack_vr_head.worldPosition)
+                    self._headtrack_projection_head.worldPosition = position + self._headtrack_projection_origin.worldPosition
+
+            except Exception as E:
+                self.logger.log_traceback(E)
+
+
+elif blendervr.is_creating_loader():
+    import bpy
+
+    class Processor(blendervr.processor.getProcessor()):
+        def __init__(self, creator):
+            super(Processor, self).__init__(creator)
+
+
+elif blendervr.is_console():
+    class Processor(blendervr.processor.getProcessor()):
+        def __init__(self, console):
+            super(Processor, self).__init__(console)
+
+        def useLoader(self):
+            return True
+

model.processor.py

@@ -73,7 +73,6 @@ def _keyboard(self):
             """
             arrow controls the navigation of the main camera
             (logic.scenes['Scene.VR'].objects['Camera.Parent'])
-
             but at the moment this is set in the file itself
             the function here is for those without a real head-tracking
             system to try with WASD
@@ -148,4 +147,3 @@ def __init__(self, console):
 
         def useLoader(self):
             return True
-