From 095eaac4203395fbc983571fcdc1d3b67585af25 Mon Sep 17 00:00:00 2001 From: misyaguziya Date: Wed, 15 May 2024 12:58:58 +0900 Subject: [PATCH] =?UTF-8?q?=F0=9F=91=8D=EF=B8=8F[Update]=20Model=20:=20ove?= =?UTF-8?q?rlay=20=E5=B7=A6=E6=89=8B=E5=91=A8=E3=82=8A=E3=81=AE=E5=87=A6?= =?UTF-8?q?=E7=90=86=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 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 --- config.py | 4 +- models/overlay/overlay.py | 114 ++++++++++++++++++++++---------- models/overlay/overlay_utils.py | 87 ++++++++++++++++++++++++ requirements.txt | 1 - view.py | 28 ++++---- 5 files changed, 183 insertions(+), 51 deletions(-) create mode 100644 models/overlay/overlay_utils.py diff --git a/config.py b/config.py index b29882bd..61f77746 100644 --- a/config.py +++ b/config.py @@ -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, diff --git a/models/overlay/overlay.py b/models/overlay/overlay.py index 51b5fea0..2e9cb9c7 100644 --- a/models/overlay/overlay.py +++ b/models/overlay/overlay.py @@ -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) \ No newline at end of file diff --git a/models/overlay/overlay_utils.py b/models/overlay/overlay_utils.py new file mode 100644 index 00000000..0a379dd0 --- /dev/null +++ b/models/overlay/overlay_utils.py @@ -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) \ No newline at end of file diff --git a/requirements.txt b/requirements.txt index 0d979429..3e4c175b 100644 --- a/requirements.txt +++ b/requirements.txt @@ -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 \ No newline at end of file diff --git a/view.py b/view.py index 28150c55..11c250f8 100644 --- a/view.py +++ b/view.py @@ -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, }