👍️[Update] Model : overlay 左手周りの処理を追加

- 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

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)