Dashboard application

SDraw · May 3, 2021 · 9ed7f75 · 9ed7f75
1 parent c2d23a6
commit 9ed7f75
Show file tree

Hide file tree

Showing 202 changed files with 27,533 additions and 733 deletions.
diff --git a/.github/img_01.png b/.github/img_01.png
diff --git a/.github/img_02.png b/.github/img_02.png
diff --git a/.gitmodules b/.gitmodules
@@ -7,3 +7,9 @@
 [submodule "vendor/pugixml"]
 	path = vendor/pugixml
 	url = https://github.com/zeux/pugixml.git
+[submodule "vendor/imgui"]
+	path = vendor/imgui
+	url = https://github.com/ocornut/imgui.git
+[submodule "vendor/imgui-sfml"]
+	path = vendor/imgui-sfml
+	url = https://github.com/eliasdaler/imgui-sfml.git
diff --git a/README.md b/README.md
@@ -2,31 +2,36 @@
 
 SteamVR driver for Kinect for XBox 360.
 
-## Usage benefits
-* No additional dependencies for SteamVR ([OpenVR InputEmulator](https://github.com/matzman666/OpenVR-InputEmulator) and others).
-* Linear smoothing of movement.
+![](./.github/img_02.png)
+
+## Features
+* No additional dependencies for SteamVR.
+* Configurable motion smoothing.
 * Configurable amount of trackers assigned to bones.
+* Works on Windows 7, 8/8.1 and 10.
 
 ## Installation
-* Install [Kinect for Windows Runtime 1.8](https://www.microsoft.com/en-us/download/details.aspx?id=40277).
+* Install [Kinect for Windows Runtime 1.8](https://www.microsoft.com/en-us/download/details.aspx?id=40277) or [Kinect for Windows SDK 1.8 (recommended)](https://www.microsoft.com/en-us/download/details.aspx?id=40278).
 * Extract [latest release archive](../../releases/latest) to `<SteamVR_folder>/drivers`.
 * Add line in section `steamvr` of `<Steam_folder>/config/steamvr.vrsettings` file:
   ```JSON
   "activateMultipleDrivers": true,
   ```
 
-## Calibration
-* Launch `kinect_calibrator` from `<SteamVR_folder>/drivers/kinectV1/bin/win##` directory.
-* Allign base position using controllers to match virtual trackers with your hip and legs:
-  * Left controller's touchpad/thumbstick: rotate left, rotate right, rotate up, rotate down. Press grip to reset rotation.
-  * Right controller's touchpad/thumbstick: move right, move left, move up, move down. Press grip to reset position.
-    * If trigger is pressed: move forward, move backward.
-* Press application menu button or quit from SteamVR to save alligned base transformation.
-
-## Usage
-* Press **Ctrl-T** to disable/enable tracking.
-  * Alternative way: send debug message `switch` to fake base station device.
-* By default only `HipCenter`, `AnkleLeft` and `AnkleRight` bones are interpreted as trackers. You can add/remove specific bones for/from tracking by editing [`resources/settings.xml`](../master/resources/settings.xml).
+## Usage with dashboard
+![](./.github/img_01.png)
+Open `KinectV1 Dashboard` from SteamVR dashboard to gain access to available settings for users:
+* **Trackers toggle:** Allows you to toggle trackers for specific bones.
+* **Calibration info:** Shows transformation of root point of trackers.
+* **Settings:**
+  * **Calibration:** Enables changing transformation of root point. After click close SteamVR dashboard and use your controllers to change rotation and position to allign trackers with your assigned body parts:
+    * **Left controller's touchpad/thumbstick:** Rotate left, rotate right, rotate up, rotate down. Press grip to reset rotation.
+    * **Right controller's touchpad/thumbstick:** Move right, move left, move up, move down. Press grip to reset position.
+      * If trigger is pressed: move forward, move backward.
+    * **Application menu button on any controller:** End calibration and save alligned base transformation.
+  * **Toggle tracking:** Disable or enable tracking entirely.
+  * **Interpolation type:** Sets specific interpolation between Kinect frames. More info is available at [Wikipedia's article](https://en.wikipedia.org/wiki/Interpolation).
+  * **Kinect relay device state:** Shows if specific virtual base station is present.
 
 ## Building
 * Install [Kinect for Windows SDK 1.8](https://www.microsoft.com/en-us/download/details.aspx?id=40278).

diff --git a/driver_kinectV1.sln b/driver_kinectV1.sln
@@ -5,7 +5,7 @@ VisualStudioVersion = 12.0.40629.0
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "driver_kinectV1", "driver_kinectV1\driver_kinectV1.vcxproj", "{219CF32C-0CD5-471A-8075-108B62BB61E3}"
 EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "kinect_calibrator", "kinect_calibrator\kinect_calibrator.vcxproj", "{F5640AB4-F049-41C4-923A-7EF267C49E13}"
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "kinect_dash", "kinect_dash\kinect_dash.vcxproj", "{1931F8CB-44F8-4D6E-A40D-C5AC57332CB0}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -23,14 +23,14 @@ Global
 		{219CF32C-0CD5-471A-8075-108B62BB61E3}.Release|x64.Build.0 = Release|x64
 		{219CF32C-0CD5-471A-8075-108B62BB61E3}.Release|x86.ActiveCfg = Release|Win32
 		{219CF32C-0CD5-471A-8075-108B62BB61E3}.Release|x86.Build.0 = Release|Win32
-		{F5640AB4-F049-41C4-923A-7EF267C49E13}.Debug|x64.ActiveCfg = Debug|x64
-		{F5640AB4-F049-41C4-923A-7EF267C49E13}.Debug|x64.Build.0 = Debug|x64
-		{F5640AB4-F049-41C4-923A-7EF267C49E13}.Debug|x86.ActiveCfg = Debug|Win32
-		{F5640AB4-F049-41C4-923A-7EF267C49E13}.Debug|x86.Build.0 = Debug|Win32
-		{F5640AB4-F049-41C4-923A-7EF267C49E13}.Release|x64.ActiveCfg = Release|x64
-		{F5640AB4-F049-41C4-923A-7EF267C49E13}.Release|x64.Build.0 = Release|x64
-		{F5640AB4-F049-41C4-923A-7EF267C49E13}.Release|x86.ActiveCfg = Release|Win32
-		{F5640AB4-F049-41C4-923A-7EF267C49E13}.Release|x86.Build.0 = Release|Win32
+		{1931F8CB-44F8-4D6E-A40D-C5AC57332CB0}.Debug|x64.ActiveCfg = Debug|x64
+		{1931F8CB-44F8-4D6E-A40D-C5AC57332CB0}.Debug|x64.Build.0 = Debug|x64
+		{1931F8CB-44F8-4D6E-A40D-C5AC57332CB0}.Debug|x86.ActiveCfg = Debug|Win32
+		{1931F8CB-44F8-4D6E-A40D-C5AC57332CB0}.Debug|x86.Build.0 = Debug|Win32
+		{1931F8CB-44F8-4D6E-A40D-C5AC57332CB0}.Release|x64.ActiveCfg = Release|x64
+		{1931F8CB-44F8-4D6E-A40D-C5AC57332CB0}.Release|x64.Build.0 = Release|x64
+		{1931F8CB-44F8-4D6E-A40D-C5AC57332CB0}.Release|x86.ActiveCfg = Release|Win32
+		{1931F8CB-44F8-4D6E-A40D-C5AC57332CB0}.Release|x86.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

diff --git a/driver_kinectV1/CDriverConfig.cpp b/driver_kinectV1/CDriverConfig.cpp
@@ -36,6 +36,7 @@ const std::vector<std::string> g_boneNames
 glm::vec3 CDriverConfig::ms_basePosition(0.f);
 glm::quat CDriverConfig::ms_baseRotation(1.f, 0.f, 0.f, 0.f);
 unsigned char CDriverConfig::ms_interpolation = CDriverConfig::FI_Linear;
+bool CDriverConfig::ms_tracking = true;
 std::vector<size_t> CDriverConfig::ms_boneIndexes;
 
 void CDriverConfig::Load()
@@ -78,6 +79,7 @@ void CDriverConfig::Load()
 
                         case SettingIndex::SI_Trackers:
                         {
+                            ms_tracking = l_attribValue.as_bool(true);
                             for(pugi::xml_node l_trackerNode = l_node.child("tracker"); l_trackerNode; l_trackerNode = l_trackerNode.next_sibling("tracker"))
                             {
                                 const pugi::xml_attribute l_attribBone = l_trackerNode.attribute("name");
@@ -120,6 +122,11 @@ unsigned char CDriverConfig::GetInterpolation()
     return ms_interpolation;
 }
 
+bool CDriverConfig::GetTrackingState()
+{
+    return ms_tracking;
+}
+
 const std::vector<size_t>& CDriverConfig::GetBoneIndexes()
 {
     return ms_boneIndexes;

diff --git a/driver_kinectV1/CDriverConfig.h b/driver_kinectV1/CDriverConfig.h
@@ -5,6 +5,7 @@ class CDriverConfig final
     static glm::vec3 ms_basePosition;
     static glm::quat ms_baseRotation;
     static unsigned char ms_interpolation;
+    static bool ms_tracking;
     static std::vector<size_t> ms_boneIndexes;
 public:
     enum FrameInterpolation : unsigned char
@@ -24,5 +25,6 @@ class CDriverConfig final
     static const glm::vec3& GetBasePosition();
     static const glm::quat& GetBaseRotation();
     static unsigned char GetInterpolation();
+    static bool GetTrackingState();
     static const std::vector<size_t>& GetBoneIndexes();
 };
diff --git a/driver_kinectV1/CEmulatedDevice.cpp b/driver_kinectV1/CEmulatedDevice.cpp
@@ -4,6 +4,9 @@
 
 CEmulatedDevice::CEmulatedDevice()
 {
+    m_connected = false;
+    m_forcedConnected = true;
+
     m_pose = { 0 };
     m_pose.poseTimeOffset = -0.011;
     m_pose.qWorldFromDriverRotation.w = 1.0;
@@ -25,8 +28,6 @@ CEmulatedDevice::CEmulatedDevice()
 
     m_propertyHandle = vr::k_ulInvalidPropertyContainer;
     m_trackedDevice = vr::k_unTrackedDeviceIndexInvalid;
-
-    m_index = std::numeric_limits<size_t>::max();
 }
 
 CEmulatedDevice::~CEmulatedDevice()
@@ -45,7 +46,8 @@ vr::EVRInitError CEmulatedDevice::Activate(uint32_t unObjectId)
 
         SetupProperties();
 
-        m_pose.deviceIsConnected = true;
+        m_connected = true;
+        m_pose.deviceIsConnected = (m_connected && m_forcedConnected);
         m_pose.poseIsValid = true;
         m_pose.result = vr::TrackingResult_Running_OK;
 
@@ -86,20 +88,21 @@ const std::string& CEmulatedDevice::GetSerial() const
     return m_serial;
 }
 
-const size_t CEmulatedDevice::GetIndex() const
+bool CEmulatedDevice::IsConnected() const
 {
-    return m_index;
+    return m_connected;
 }
 
-
-bool CEmulatedDevice::IsConnected() const
+void CEmulatedDevice::SetConnected(bool f_state)
 {
-    return m_pose.deviceIsConnected;
+    m_connected = f_state;
+    m_pose.deviceIsConnected = (m_connected && m_forcedConnected);
 }
 
-void CEmulatedDevice::SetConnected(bool f_state)
+void CEmulatedDevice::SetForcedConnected(bool f_state)
 {
-    m_pose.deviceIsConnected = f_state;
+    m_forcedConnected = f_state;
+    m_pose.deviceIsConnected = (m_connected && m_forcedConnected);
 }
 
 void CEmulatedDevice::SetPosition(float f_x, float f_y, float f_z)

diff --git a/driver_kinectV1/CEmulatedDevice.h b/driver_kinectV1/CEmulatedDevice.h
@@ -3,6 +3,8 @@
 class CEmulatedDevice : public vr::ITrackedDeviceServerDriver
 {
     vr::DriverPose_t m_pose;
+    bool m_connected;
+    bool m_forcedConnected;
 
     CEmulatedDevice(const CEmulatedDevice &that) = delete;
     CEmulatedDevice& operator=(const CEmulatedDevice &that) = delete;
@@ -23,6 +25,7 @@ class CEmulatedDevice : public vr::ITrackedDeviceServerDriver
 
     bool IsConnected() const;
     void SetConnected(bool f_state);
+    void SetForcedConnected(bool f_state);
 
     void SetPosition(float f_x, float f_y, float f_z);
     void SetRotation(float f_x, float f_y, float f_z, float f_w);
@@ -36,7 +39,6 @@ class CEmulatedDevice : public vr::ITrackedDeviceServerDriver
     uint32_t m_trackedDevice;
 
     std::string m_serial;
-    size_t m_index;
 
     virtual void SetupProperties();
 };
diff --git a/driver_kinectV1/CKinectHandler.cpp b/driver_kinectV1/CKinectHandler.cpp
@@ -3,16 +3,11 @@
 #include "CKinectHandler.h"
 #include "CJointFilter.h"
 
-CKinectHandler::CKinectHandler(const std::vector<size_t> &f_indexes)
+CKinectHandler::CKinectHandler()
 {
     m_kinectSensor = nullptr;
 
-    for(size_t i = 0U; i < NUI_SKELETON_POSITION_COUNT; i++) m_jointFilters[i] = nullptr;
-    for(auto l_index : f_indexes)
-    {
-        if(l_index >= NUI_SKELETON_POSITION_COUNT) continue;
-        if(!m_jointFilters[l_index]) m_jointFilters[l_index] = new CJointFilter();
-    }
+    for(auto &l_filter : m_jointFilters) l_filter = new CJointFilter();
 
     m_frameData = new FrameData();
     m_frameData->m_frameTime = 0;
@@ -78,10 +73,10 @@ void CKinectHandler::Cleanup()
         m_kinectSensor = nullptr;
     }
 
-    for(size_t i = 0U; i < NUI_SKELETON_POSITION_COUNT; i++)
+    for(auto &l_filter : m_jointFilters)
     {
-        delete m_jointFilters[i];
-        m_jointFilters[i] = nullptr;
+        delete l_filter;
+        l_filter = nullptr;
     }
 
     m_paused = false;
@@ -119,28 +114,24 @@ void CKinectHandler::Update()
 
                     for(size_t j = 0U; j < NUI_SKELETON_POSITION_COUNT; j++)
                     {
-                        if(m_jointFilters[j])
+                        m_jointFilters[j]->Update(l_skeleton.SkeletonPositions[j], l_skeleton.eSkeletonPositionTrackingState[j]);
+                        const glm::vec3 &l_filtered = m_jointFilters[j]->GetFiltered();
+                        JointData &l_jointData = m_frameData->m_joints[j];
+                        l_jointData.x = l_filtered.x;
+                        l_jointData.y = l_filtered.y;
+                        l_jointData.z = l_filtered.z;
+
+                        NUI_SKELETON_BONE_ORIENTATION l_orientations[NUI_SKELETON_POSITION_COUNT];
+                        if(NuiSkeletonCalculateBoneOrientations(&l_frame.SkeletonData[i], l_orientations) >= S_OK)
                         {
-                            m_jointFilters[j]->Update(l_skeleton.SkeletonPositions[j], l_skeleton.eSkeletonPositionTrackingState[j]);
-                            const glm::vec3 &l_filtered = m_jointFilters[j]->GetFiltered();
-                            JointData &l_jointData = m_frameData->m_joints[j];
-                            l_jointData.x = l_filtered.x;
-                            l_jointData.y = l_filtered.y;
-                            l_jointData.z = l_filtered.z;
-
-                            NUI_SKELETON_BONE_ORIENTATION l_orientations[NUI_SKELETON_POSITION_COUNT];
-                            if(NuiSkeletonCalculateBoneOrientations(&l_frame.SkeletonData[i], l_orientations) >= S_OK)
-                            {
-                                const Vector4 &l_kinectRotation = l_orientations[j].absoluteRotation.rotationQuaternion;
-                                const glm::quat l_newRotation(l_kinectRotation.w, l_kinectRotation.x, l_kinectRotation.y, l_kinectRotation.z);
-                                const glm::quat l_oldRotation(l_jointData.rw, l_jointData.rx, l_jointData.ry, l_jointData.rz);
-                                const glm::quat l_smoothedRotation = glm::slerp(l_oldRotation, l_newRotation, 0.75f);
-                                l_jointData.rx = l_smoothedRotation.x;
-                                l_jointData.ry = l_smoothedRotation.y;
-                                l_jointData.rz = l_smoothedRotation.z;
-                                l_jointData.rw = l_smoothedRotation.w;
-                            }
-
+                            const Vector4 &l_kinectRotation = l_orientations[j].absoluteRotation.rotationQuaternion;
+                            const glm::quat l_newRotation(l_kinectRotation.w, l_kinectRotation.x, l_kinectRotation.y, l_kinectRotation.z);
+                            const glm::quat l_oldRotation(l_jointData.rw, l_jointData.rx, l_jointData.ry, l_jointData.rz);
+                            const glm::quat l_smoothedRotation = glm::slerp(l_oldRotation, l_newRotation, 0.75f);
+                            l_jointData.rx = l_smoothedRotation.x;
+                            l_jointData.ry = l_smoothedRotation.y;
+                            l_jointData.rz = l_smoothedRotation.z;
+                            l_jointData.rw = l_smoothedRotation.w;
                         }
                     }
 

diff --git a/driver_kinectV1/CKinectHandler.h b/driver_kinectV1/CKinectHandler.h
@@ -26,7 +26,7 @@ class CKinectHandler final
 
     void Cleanup();
 public:
-    explicit CKinectHandler(const std::vector<size_t> &f_indexes);
+    explicit CKinectHandler();
     ~CKinectHandler();
 
     bool Initialize();