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👍️[Update] Model : overlay 左手周りの処理を追加

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- HMD,左手の初期値を追加
- 初期値からの変化量をUIから調整できるように変更
- quaternionは不要なため、削除
This commit is contained in:
misyaguziya
2024-05-15 12:58:58 +09:00
parent 212a3e62d1
commit 095eaac420
5 changed files with 183 additions and 51 deletions
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4
config.py
View File

@@ -1072,8 +1072,8 @@ class Config:
self._ENABLE_OVERLAY_SMALL_LOG = False
self._OVERLAY_SMALL_LOG_SETTINGS = {
"x_pos": 0.0,
"y_pos": -0.41,
"depth": 1.0,
"y_pos": 0.0,
"depth": 0.0,
"x_rotation": 0.0,
"y_rotation": 0.0,
"z_rotation": 0.0,

114
models/overlay/overlay.py
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@@ -1,19 +1,56 @@
import os
import ctypes
from psutil import process_iter
import time
import openvr
from PIL import Image
from psutil import process_iter
from threading import Thread
import openvr
import numpy as np
import quaternion
from PIL import Image
try:
from . import overlay_utils as utils
except ImportError:
import overlay_utils as utils
def mat34Id():
def mat34Id(array):
arr = openvr.HmdMatrix34_t()
# arr[0][0] = 1
# arr[1][1] = 1
# arr[2][2] = 1
# print(arr)
for i in range(3):
for j in range(4):
arr[i][j] = array[i][j]
return arr
def getBaseMatrix(x_pos, y_pos, depth, x_rotation, y_rotation, z_rotation):
arr = np.zeros((3, 4))
rot = utils.euler_to_rotation_matrix((x_rotation, y_rotation, z_rotation))
for i in range(3):
for j in range(3):
arr[i][j] = rot[i][j]
arr[0][3] = x_pos * depth
arr[1][3] = y_pos * depth
arr[2][3] = - depth
return arr
def getHMDBaseMatrix():
x_pos = 0.0
y_pos = -0.4
depth = 1.0
x_rotation = 0.0
y_rotation = 0.0
z_rotation = 0.0
arr = getBaseMatrix(x_pos, y_pos, depth, x_rotation, y_rotation, z_rotation)
return arr
def getLeftHandBaseMatrix():
x_pos = 0.0
y_pos = -0.06
depth = -0.14
x_rotation = -62.0
y_rotation = 154.0
z_rotation = 71.0
arr = getBaseMatrix(x_pos, y_pos, depth, x_rotation, y_rotation, z_rotation)
return arr
class Overlay:
@@ -108,6 +145,7 @@ class Overlay:
depth is a float representing the depth of the icon plane
x_rotation, y_rotation, z_rotation are floats representing the rotation of the icon plane
"""
self.settings["x_pos"] = pos[0]
self.settings["y_pos"] = pos[1]
self.settings["depth"] = depth
@@ -115,26 +153,20 @@ class Overlay:
self.settings["y_rotation"] = y_rotation
self.settings["z_rotation"] = z_rotation
self.transform = mat34Id() # no rotation required for HMD attachment
base_matrix = getHMDBaseMatrix()
# base_matrix = getLeftHandBaseMatrix()
translation = (self.settings["x_pos"], self.settings["y_pos"], - self.settings['depth'])
rotation = (self.settings["x_rotation"], self.settings["y_rotation"], self.settings["z_rotation"])
transform = utils.transform_matrix(base_matrix, translation, rotation)
self.transform = mat34Id(transform)
# assign rotation
rot = np.quaternion(1, self.settings["x_rotation"], self.settings["y_rotation"], self.settings["z_rotation"])
rot = quaternion.as_rotation_matrix(rot)
# self.transform[:3, :3] = rot
for i in range(3):
for j in range(3):
self.transform[i][j] = rot[i][j]
# assign position
self.transform[0][3] = self.settings["x_pos"] * self.settings['depth']
self.transform[1][3] = self.settings["y_pos"] * self.settings['depth']
self.transform[2][3] = - self.settings['depth']
leftControllerIndex = self.overlay_system.getTrackedDeviceIndexForControllerRole(openvr.TrackedControllerRole_LeftHand)
hmdIndex = openvr.k_unTrackedDeviceIndex_Hmd
# leftControllerIndex = self.overlay_system.getTrackedDeviceIndexForControllerRole(openvr.TrackedControllerRole_LeftHand)
# rightControllerIndex = self.overlay_system.getTrackedDeviceIndexForControllerRole(openvr.TrackedControllerRole_RightHand)
if self.initialized is True:
self.overlay.setOverlayTransformTrackedDeviceRelative(
self.handle,
leftControllerIndex, #openvr.k_unTrackedDeviceIndex_Hmd,
hmdIndex,
self.transform
)
@@ -210,17 +242,17 @@ class Overlay:
return _proc_name in (p.name() for p in process_iter())
if __name__ == '__main__':
from overlay_image import OverlayImage
overlay_image = OverlayImage()
# from overlay_image import OverlayImage
# overlay_image = OverlayImage()
overlay = Overlay(0, 0, 1, 1, 0, 1, 1)
overlay.startOverlay()
time.sleep(1)
# overlay = Overlay(0, 0, 1, 1, 0, 1, 1)
# overlay.startOverlay()
# time.sleep(1)
# Example usage
img = overlay_image.createOverlayImageShort("こんにちは、世界！さようなら", "Japanese", "Hello,World!Goodbye", "Japanese")
overlay.updateImage(img)
time.sleep(100000)
# # Example usage
# img = overlay_image.createOverlayImageShort("こんにちは、世界！さようなら", "Japanese", "Hello,World!Goodbye", "Japanese")
# overlay.updateImage(img)
# time.sleep(100000)
# for i in range(100):
# print(i)
@@ -238,3 +270,17 @@ if __name__ == '__main__':
# time.sleep(0.5)
# overlay.shutdownOverlay()
x_pos = 0
y_pos = 0
depth = 0
x_rotation = 0
y_rotation = 0
z_rotation = 0
base_matrix = getLeftHandBaseMatrix()
translation = (x_pos * depth, y_pos * depth, depth)
rotation = (x_rotation, y_rotation, z_rotation)
transform = utils.transform_matrix(base_matrix, translation, rotation)
transform = mat34Id(transform)
print(transform)

87
models/overlay/overlay_utils.py Normal file
View File

@@ -0,0 +1,87 @@
import numpy as np
def toHomogeneous(matrix):
homogeneous_matrix = np.vstack([matrix, [0, 0, 0, 1]])
return homogeneous_matrix
# 移動行列を生成する関数
def calcTranslationMatrix(translation):
tx, ty, tz = translation
return np.array([
[1, 0, 0, tx],
[0, 1, 0, ty],
[0, 0, 1, tz],
[0, 0, 0, 1]
])
# X軸周りの回転行列を生成する関数
def calcRotationMatrixX(angle):
c = np.cos(np.pi/180*angle)
s = np.sin(np.pi/180*angle)
return np.array([
[1, 0, 0, 0],
[0, c, -s, 0],
[0, s, c, 0],
[0, 0, 0, 1]
])
# Y軸周りの回転行列を生成する関数
def calcRotationMatrixY(angle):
c = np.cos(np.pi/180*angle)
s = np.sin(np.pi/180*angle)
return np.array([
[c, 0, s, 0],
[0, 1, 0, 0],
[-s, 0, c, 0],
[0, 0, 0, 1]
])
# Z軸周りの回転行列を生成する関数
def calcRotationMatrixZ(angle):
c = np.cos(np.pi/180*angle)
s = np.sin(np.pi/180*angle)
return np.array([
[c, -s, 0, 0],
[s, c, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]
])
# 3x4行列の座標を基準として回転や移動を行う関数
def transform_matrix(base_matrix, translation, rotation):
homogeneous_base_matrix = toHomogeneous(base_matrix)
translation_matrix = calcTranslationMatrix(translation)
rotation_matrix_x = calcRotationMatrixX(rotation[0])
rotation_matrix_y = calcRotationMatrixY(rotation[1])
rotation_matrix_z = calcRotationMatrixZ(rotation[2])
rotation_matrix = np.dot(rotation_matrix_z, np.dot(rotation_matrix_y, rotation_matrix_x))
transformation_matrix = translation_matrix.copy()
transformation_matrix[:3, :3] = rotation_matrix[:3, :3]
result_matrix = np.dot(homogeneous_base_matrix, transformation_matrix)
return result_matrix[:3, :]
def euler_to_rotation_matrix(angles):
phi = angles[0] * np.pi / 180
theta = angles[1] * np.pi / 180
psi = angles[2]* np.pi / 180
R_x = np.array([[1, 0, 0],
[0, np.cos(phi), -np.sin(phi)],
[0, np.sin(phi), np.cos(phi)]])
R_y = np.array([[np.cos(theta), 0, np.sin(theta)],
[0, 1, 0],
[-np.sin(theta), 0, np.cos(theta)]])
R_z = np.array([[np.cos(psi), -np.sin(psi), 0],
[np.sin(psi), np.cos(psi), 0],
[0, 0, 1]])
return np.dot(R_z, np.dot(R_y, R_x))
if __name__ == "__main__":
base_matrix = np.array([
[1, 0, 0, 1],
[0, 1, 0, 1],
[0, 0, 1, 1]
])
translation = [1, 2, 3]
rotation = [0, 0, 90]
result_matrix = transform_matrix(base_matrix, translation, rotation)
print(result_matrix)

1
requirements.txt
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@@ -13,7 +13,6 @@ sentencepiece==0.1.99
ctranslate2==4.1.0
faster-whisper==1.0.1
openvr==1.26.701
numpy-quaternion==2023.0.3
translators @ git+https://github.com/misyaguziya/translators@5.8.9
SpeechRecognition @ git+https://github.com/misyaguziya/custom_speech_recognition@3.10.4
tinyoscquery @ git+https://github.com/cyberkitsune/tinyoscquery@0.1.2

28
view.py
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@@ -169,38 +169,38 @@ class View():
CALLBACK_SET_OVERLAY_SMALL_LOG_SETTINGS=None,
VAR_LABEL_OVERLAY_SMALL_LOG_X_POS=StringVar(value=i18n.t("overlay_settings.x_position")),
SLIDER_RANGE_OVERLAY_SMALL_LOG_X_POS=(-2, 2),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_X_POS=100,
SLIDER_RANGE_OVERLAY_SMALL_LOG_X_POS=(-5, 5),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_X_POS=1000,
VAR_OVERLAY_SMALL_LOG_X_POS=DoubleVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["x_pos"]),
VAR_CURRENT_VALUE_OVERLAY_SMALL_LOG_X_POS=StringVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["x_pos"]),
VAR_LABEL_OVERLAY_SMALL_LOG_Y_POS=StringVar(value=i18n.t("overlay_settings.y_position")),
SLIDER_RANGE_OVERLAY_SMALL_LOG_Y_POS=(-2, 2),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_Y_POS=160,
SLIDER_RANGE_OVERLAY_SMALL_LOG_Y_POS=(-5, 5),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_Y_POS=1000,
VAR_OVERLAY_SMALL_LOG_Y_POS=DoubleVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["y_pos"]),
VAR_CURRENT_VALUE_OVERLAY_SMALL_LOG_Y_POS=StringVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["y_pos"]),
VAR_LABEL_OVERLAY_SMALL_LOG_DEPTH=StringVar(value=i18n.t("overlay_settings.depth")),
SLIDER_RANGE_OVERLAY_SMALL_LOG_DEPTH=(0, 2),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_DEPTH=100,
SLIDER_RANGE_OVERLAY_SMALL_LOG_DEPTH=(-5, 5),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_DEPTH=1000,
VAR_OVERLAY_SMALL_LOG_DEPTH=DoubleVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["depth"]),
VAR_CURRENT_VALUE_OVERLAY_SMALL_LOG_DEPTH=StringVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["depth"]),
VAR_LABEL_OVERLAY_SMALL_LOG_X_ROTATION=StringVar(value="x_rotation"),
SLIDER_RANGE_OVERLAY_SMALL_LOG_X_ROTATION=(-1, 1),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_X_ROTATION=200,
SLIDER_RANGE_OVERLAY_SMALL_LOG_X_ROTATION=(-180, 180),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_X_ROTATION=360,
VAR_OVERLAY_SMALL_LOG_X_ROTATION=DoubleVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["x_rotation"]),
VAR_CURRENT_VALUE_OVERLAY_SMALL_LOG_X_ROTATION=StringVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["x_rotation"]),
VAR_LABEL_OVERLAY_SMALL_LOG_Y_ROTATION=StringVar(value="y_rotation"),
SLIDER_RANGE_OVERLAY_SMALL_LOG_Y_ROTATION=(-1, 1),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_Y_ROTATION=200,
SLIDER_RANGE_OVERLAY_SMALL_LOG_Y_ROTATION=(-180, 180),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_Y_ROTATION=360,
VAR_OVERLAY_SMALL_LOG_Y_ROTATION=DoubleVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["y_rotation"]),
VAR_CURRENT_VALUE_OVERLAY_SMALL_LOG_Y_ROTATION=StringVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["y_rotation"]),
VAR_LABEL_OVERLAY_SMALL_LOG_Z_ROTATION=StringVar(value="z_rotation"),
SLIDER_RANGE_OVERLAY_SMALL_LOG_Z_ROTATION=(-1, 1),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_Z_ROTATION=200,
SLIDER_RANGE_OVERLAY_SMALL_LOG_Z_ROTATION=(-180, 180),
NUMBER_OF_STEPS_OVERLAY_SMALL_LOG_Z_ROTATION=360,
VAR_OVERLAY_SMALL_LOG_Z_ROTATION=DoubleVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["z_rotation"]),
VAR_CURRENT_VALUE_OVERLAY_SMALL_LOG_Z_ROTATION=StringVar(value=config.OVERLAY_SMALL_LOG_SETTINGS["z_rotation"]),
@@ -1165,8 +1165,8 @@ class View():
}
INIT_OVERLAY_SMALL_LOG_SETTINGS = {
"x_pos": 0.0,
"y_pos": -0.41,
"depth": 1.0,
"y_pos": 0.0,
"depth": 0.0,
"display_duration": 5,
"fadeout_duration": 2,
}