Merge pull request #28 from ami-iit/additional_frames

Add the possibility to have user defined frames

CMakeLists.txt

@@ -36,6 +36,10 @@ set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 # installation directories.
 if(MSVC)
     set(CMAKE_DEBUG_POSTFIX "d")
+    #_USE_MATH_DEFINES is to have constants like M_PI defined also on Windows
+    add_definitions(-D_USE_MATH_DEFINES)
+    #NOMINMAX is to avoid windows.h defining its own versions of min and max
+    add_definitions(-DNOMINMAX)
 endif()
 
 # Build position independent code.

src/devices/openxrheadset/CMakeLists.txt

@@ -30,6 +30,7 @@ set(yarp_openxrheadset_SRCS
   impl/OpenXrInterfaceImpl.cpp
   LabelPortToQuadLayer.cpp
   SlideManager.cpp
+  EulerAngles.cpp
 )
 
 set(yarp_openxrheadset_HDRS
@@ -43,26 +44,29 @@ set(yarp_openxrheadset_HDRS
   impl/OpenXrQuadLayer.h
   impl/OpenXrInterfaceImpl.h
   SlideManager.h
+  EulerAngles.h
   )
 
 set(yarp_openxrheadset_driver_SRCS
     OpenXrHeadset.cpp
     OpenXrYarpUtilities.cpp
     SingleEyePort.cpp
     EyesManager.cpp
-    AdditionalPosesPublisher.cpp
-    FramePorts.cpp
+    PosesManager.cpp
     PosePublisher.cpp
+    CustomPosePublisher.cpp
+    FilteredPosePublisher.cpp
 )
 
 set(yarp_openxrheadset_driver_HDRS
     OpenXrHeadset.h
     OpenXrYarpUtilities.h
     SingleEyePort.h
     EyesManager.h
-    AdditionalPosesPublisher.h
-    FramePorts.h
+    PosesManager.h
     PosePublisher.h
+    CustomPosePublisher.h
+    FilteredPosePublisher.h
 )
 
 set (THRIFTS thrifts/OpenXrHeadsetCommands.thrift)

src/devices/openxrheadset/CustomPosePublisher.cpp

@@ -0,0 +1,239 @@
+/*
+ * Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-2-Clause license. See the accompanying LICENSE file for details.
+ */
+
+#include <CustomPosePublisher.h>
+#include <OpenXrHeadsetLogComponent.h>
+#include <yarp/os/LogStream.h>
+#include <cctype>
+
+void CustomPosePublisher::configure(std::shared_ptr<CustomPosePublisherSettings> settings)
+{
+    if (settings)
+    {
+        m_settings = settings;
+        m_parentFrame = settings->parentFrame;
+        m_name = settings->name;
+        PosePublisher::configurePublisher(settings);
+    }
+}
+
+const std::string &CustomPosePublisher::name() const
+{
+    return m_name;
+}
+
+const std::string &CustomPosePublisher::relativeFrame() const
+{
+    return m_parentFrame;
+}
+
+void CustomPosePublisher::setRelativePosition(const Eigen::Vector3f relativePosition)
+{
+    if (!configured())
+    {
+        return;
+    }
+
+    m_settings->relativePosition = relativePosition;
+}
+
+void CustomPosePublisher::setRelativeOrientation(const Eigen::Quaternionf &relativeOrientation)
+{
+    if (!configured())
+    {
+        return;
+    }
+
+    m_settings->relativeRotation = eulerAngles(m_settings->anglesOrder, relativeOrientation);
+}
+
+void CustomPosePublisher::setRelativeOrientation(const Eigen::Vector3f &relativeOrientationEulerAngles)
+{
+    if (!configured())
+    {
+        return;
+    }
+
+    m_settings->relativeRotation = relativeOrientationEulerAngles;
+}
+
+bool CustomPosePublisher::configured() const
+{
+    return m_settings != nullptr && !m_settings->name.empty() && PosePublisher::configured();
+}
+
+void CustomPosePublisher::updateInputPose(const OpenXrInterface::NamedPoseVelocity &input)
+{
+    if (!configured())
+    {
+        return;
+    }
+
+    bool inputValid = input.pose.positionValid && input.pose.rotationValid;
+
+    if (!inputValid)
+    {
+        return;
+    }
+
+    OpenXrInterface::NamedPoseVelocity output;
+    output.name = m_settings->name;
+    output.pose.positionValid = true;
+    output.pose.rotationValid = true;
+    output.velocity.linearValid = false;
+    output.velocity.angularValid = false;
+
+    Eigen::Vector3f relativePosition = input.pose.position + input.pose.rotation * m_settings->relativePosition;
+
+    for (size_t i = 0; i < 3; ++i)
+    {
+        if (m_settings->positionMask[i])
+        {
+            output.pose.position[i] = relativePosition[i];
+        }
+        else
+        {
+            output.pose.position[i] = 0.0;
+        }
+    }
+
+
+    Eigen::Vector3f inverseParentFrameEulerAngles = eulerAngles(m_settings->anglesOrder, input.pose.rotation.inverse());
+
+    Eigen::Quaternionf relativeRotation;
+    relativeRotation.setIdentity();
+    for (size_t i = 0; i < 3; ++i)
+    {
+        float angle = inverseParentFrameEulerAngles[i];
+        if (m_settings->rotationMask[i])
+        {
+            angle = m_settings->relativeRotation[i];
+
+        }
+        relativeRotation = relativeRotation * Eigen::AngleAxisf(angle,
+                                                                Eigen::Vector3f::Unit(static_cast<Eigen::Index>(m_settings->anglesOrder[i])));
+    }
+    output.pose.rotation = input.pose.rotation * relativeRotation;
+
+    PosePublisher::updateInputPose(output);
+}
+
+
+bool CustomPosePublisherSettings::parseFromConfigurationFile(const yarp::os::Bottle &inputGroup)
+{
+    if (inputGroup.isNull())
+    {
+        yCError(OPENXRHEADSET) << "The input group is not found in the configuration file.";
+        return false;
+    }
+
+    name = inputGroup.check("name", yarp::os::Value("")).toString();
+    if (name == "")
+    {
+        yCError(OPENXRHEADSET) << "Failed to find name parameter";
+        return false;
+    }
+
+    parentFrame = inputGroup.check("parent_frame", yarp::os::Value("")).toString();
+    if (parentFrame == "")
+    {
+        yCError(OPENXRHEADSET) << "Failed to find parent_frame parameter";
+        return false;
+    }
+
+    std::string parametrization = inputGroup.check("euler_angles", yarp::os::Value("")).toString();
+
+    if (parametrization.size() != 3)
+    {
+        yCError(OPENXRHEADSET) << "Failed to parse euler_angles parameter. It is either not present, or it is not a string of three values.";
+        return false;
+    }
+
+    if (!EulerAngles::isParametrizationAvailable(parametrization))
+    {
+        yCError(OPENXRHEADSET) << "Failed to parse euler_angles parameter. The parametrization" << parametrization << "is not available.";
+        return false;
+    }
+
+    for (size_t i = 0; i < 3; ++i)
+    {
+        switch (std::tolower(parametrization[i]))
+        {
+        case 'x':
+            anglesOrder[i] = RotationAxis::X;
+            break;
+
+        case 'y':
+            anglesOrder[i] = RotationAxis::Y;
+            break;
+
+        case 'z':
+            anglesOrder[i] = RotationAxis::Z;
+            break;
+
+        default:
+            yCError(OPENXRHEADSET) << "Failed to parse euler_angles parameter."
+                                   << "The element at position" << i << "is not in the set (x, y, z)";
+            return false;
+        }
+    }
+
+    auto parseMask = [](const yarp::os::Bottle& inputGroup, const std::string& maskName,
+            std::array<bool, 3> &outputMask, Eigen::Vector3f &outputOffset) -> bool
+    {
+        yarp::os::Value maskValue = inputGroup.find(maskName);
+        if (!maskValue.isList())
+        {
+            yCError(OPENXRHEADSET) << "Failed to parse" << maskName <<", it is not present, or not a list.";
+            return false;
+        }
+
+        yarp::os::Bottle* positionMaskList = maskValue.asList();
+        if (positionMaskList->size() != 3)
+        {
+            yCError(OPENXRHEADSET) << "Failed to parse" << maskName <<", the list has dimension different from 3.";
+            return false;
+        }
+
+        for (size_t i = 0; i < 3; ++i)
+        {
+            yarp::os::Value& value = positionMaskList->get(i);
+            if (value.isFloat32() || value.isFloat64())
+            {
+                outputOffset[i] = value.asFloat32();
+                outputMask[i] = true;
+            }
+            else if (value.isString() && value.asString() == "*")
+            {
+                outputOffset[i] = 0;
+                outputMask[i] = false;
+            }
+            else
+            {
+                yCError(OPENXRHEADSET) << "Failed to parse" << maskName
+                                       << "at element" << i
+                                       << ". Only float numbers and the special carachter \"*\" are allowed";
+                return false;
+            }
+        }
+
+        return true;
+    };
+
+    if (!parseMask(inputGroup, "relative_position", positionMask, relativePosition))
+    {
+        return false;
+    }
+
+    if (!parseMask(inputGroup, "relative_rotation", rotationMask, relativeRotation))
+    {
+        return false;
+    }
+
+    return true;
+}