def init(qHaveSimultaneous):
if qHaveSimultaneous:
vizconnect.go('vizconnectSetups/vive_ppt_intersense.py')
else:
vizconnect.go('vizconnectSetups/viveLighthouse.py')
piazza = viz.add('piazza.osgb')
piazza2 = viz.add('piazza_animations.osgb')
vive = vizconnect.getRawTracker('head_tracker')
if qHaveSimultaneous:
optHead = vizconnect.getRawTracker('optical_heading')
PPT1 = vizconnect.getRawTracker('ppt_1')
PPT2 = vizconnect.getRawTracker('ppt_2')
PPT3 = vizconnect.getRawTracker('ppt_3')
PPT4 = vizconnect.getRawTracker('ppt_4')
inertiacube = vizconnect.getRawTracker('inertiacube')
# check controller is on
steamvr.getControllerList()[0].isButtonDown(2)
def getTrackInfo():
if 1:
if qHaveSimultaneous:
return {
'vive': vive.getPosition() + vive.getEuler(),
'optical_heading':
optHead.getPosition() + optHead.getEuler(),
'PPT1': PPT1.getPosition(),
'PPT2': PPT2.getPosition(),
'PPT3': PPT3.getPosition(),
'PPT4': PPT4.getPosition(),
'inertiacube': inertiacube.getEuler()
}
else:
return {'vive': vive.getPosition() + vive.getEuler()}
else:
return {
'viveController':
steamvr.getControllerList()[0].getPosition() +
steamvr.getControllerList()[0].getEuler()
}
trialStartSound = viz.addAudio('sounds/quack.wav', play=0, volume=2.)
trialCompletedSound = viz.addAudio('sounds/pop.wav', play=0, volume=2.)
alarmSound = viz.addAudio('alarm.wav', play=0, volume=2.)
# make return values
Sounds = namedtuple('Sounds', 'trialStart trialCompleted alarm')
InitReturn = namedtuple('initReturn', 'visuals sounds trackerDataFun')
return InitReturn(visuals=[piazza, piazza2],
sounds=Sounds(trialStart=trialStartSound,
trialCompleted=trialCompletedSound,
alarm=alarmSound),
trackerDataFun=getTrackInfo)
def steamvr_setup_vm2(self, right_hand_object, head_object):
hmd = steamvr.HMD()
if not hmd.getSensor():
sys.exit('SteamVR HMD not detected')
viz.link(hmd.getSensor(), viz.MainView)
# create LSL stream for MoBIlab pos and ori analysis --> ori should be in quaternions
hmd_stream = self.create_non_phasespace_rigid_body_stream(
'headRigid', 0)
# stream 6dof of HMD as pos (x,y,z) and ori(x,y,z,w) --> quaternion
vizact.onupdate(18, self.update_and_push_rigid_body, viz.MainView,
head_object, hmd_stream)
# connecting present controllers
trackers = steamvr.getTrackerList()
self.controller = steamvr.getControllerList()[0]
tracker_names = ['handRigid', 'torsoRigid']
for i in range(len(trackers)):
# create LSL stream for MoBIlab pos and ori analysis --> ori should be in quaternions
tracker_stream = self.create_non_phasespace_rigid_body_stream(
tracker_names[i], 0)
# stream 6dof as pos (x,y,z) and ori(x,y,z,w) --> quaternion
print(trackers[i].getData())
print(trackers[i].getPosition())
if i == 0:
vizact.onupdate(19, self.update_and_push_rigid_body,
trackers[i], right_hand_object, tracker_stream)
else:
vizact.onupdate(19, self.update_and_push_rigid_body,
trackers[i], None, tracker_stream)
def start_vr(self):
hmd = steamvr.HMD()
if not hmd.getSensor():
sys.exit('SteamVR HMD not detected')
viz.link(hmd.getSensor(), viz.MainView)
# create LSL stream for MoBIlab pos and ori analysis --> ori should be in quaternions
hmd_stream = self.subject.create_non_phasespace_rigid_body_stream('headRigid', 0)
# stream 6dof of HMD as pos (x,y,z) and ori(x,y,z,w) --> quaternion
vizact.onupdate(0, self.subject.update_and_push_rigid_body, viz.MainView, self.subject.head_sphere, hmd_stream)
# connecting present controllers
trackers = steamvr.getTrackerList()
self.controller = steamvr.getControllerList()[0]
print self.controller
tracker_names = ['handRigid', 'armRigid', 'torsoRigid']
find_out_tracker = vizact.onupdate(0, self.assign_trackers, trackers)
yield viztask.waitTime(5) # wait two seconds to figure out which tracker is more to the front in z direction = hand tracker
find_out_tracker.remove()
# create LSL stream for MoBIlab pos and ori analysis --> ori should be in quaternions
# stream 6dof as pos (x,y,z) and ori(x,y,z,w) --> quaternion
hand_stream = self.subject.create_non_phasespace_rigid_body_stream(tracker_names[self.hand_tracker_id], 0)
vizact.onupdate(0, self.subject.update_and_push_rigid_body, trackers[self.hand_tracker_id], self.subject.right_hand_sphere, hand_stream)
# create LSL stream for MoBIlab pos and ori analysis --> ori should be in quaternions
arm_stream = self.subject.create_non_phasespace_rigid_body_stream(tracker_names[self.arm_tracker_id], 0)
vizact.onupdate(0, self.subject.update_and_push_rigid_body, trackers[self.arm_tracker_id], None, arm_stream)
# create LSL stream for MoBIlab pos and ori analysis --> ori should be in quaternions
torso_stream = self.subject.create_non_phasespace_rigid_body_stream(tracker_names[self.torso_tracker_id], 0)
vizact.onupdate(0, self.subject.update_and_push_rigid_body, trackers[self.torso_tracker_id], None, torso_stream)
def CheckForMarkers():
global Tracking, Controllers
Trackers = steamvr.getTrackerList()
ControllerLocal = steamvr.getControllerList()
Tracking = []
Controllers = []
print("Trackers: ")
print(Tracking)
print("Controllers: ")
print(Controllers)
i = 0
for x in Trackers:
Tracking.append(x)
if DebugFlag == True:
viz.link(Tracking[i], Tracking[i].addModel())
i += 1
i = 0
for x in ControllerLocal:
Controllers.append(x)
if DebugFlag == True:
viz.link(Controllers[i], Controllers[i].addModel())
i += 1
print("Trackers: ")
print(Tracking)
print("Controllers: ")
print(Controllers)
def getTrackInfo():
if 1:
if qHaveSimultaneous:
return {
'vive': vive.getPosition() + vive.getEuler(),
'optical_heading':
optHead.getPosition() + optHead.getEuler(),
'PPT1': PPT1.getPosition(),
'PPT2': PPT2.getPosition(),
'PPT3': PPT3.getPosition(),
'PPT4': PPT4.getPosition(),
'inertiacube': inertiacube.getEuler()
}
else:
return {'vive': vive.getPosition() + vive.getEuler()}
else:
return {
'viveController':
steamvr.getControllerList()[0].getPosition() +
steamvr.getControllerList()[0].getEuler()
}
def setControl(selectedControlSchema, isLeftHanded = 0):
global isCube1, isCube2
# EXTENSION: Add rotational tracking of the two hands via intersense cube
isense = viz.add('intersense.dle')
if isLeftHanded == 0:
#user right-handed; in unimanual setting, moves right hand
# isCube1 = isense.addTracker(port=6)
isCube1 = steamvr.getControllerList()[1] #pptextensionDK2.lhPPTmarker #isense.addTracker(port=some_global_variables.isensePort1)
# isCube2 = isense.addTracker(port=7)
isCube2 = steamvr.getControllerList()[0] #pptextensionDK2.rhPPTmarker #isense.addTracker(port=some_global_variables.isensePort2)
else:
#user left-handed; in unimanual setting, moves left hand
isCube1 = steamvr.getControllerList()[0] #pptextensionDK2.lhPPTmarker #isense.addTracker(port=some_global_variables.isensePort1)
# isCube2 = isense.addTracker(port=7)
isCube2 = steamvr.getControllerList()[1] #pptextensionDK2.rhPPTmarker #isense.addTracker(port=some_global_variables.isensePort2)
# isCube1 = isense.addTracker(port=7)
#isCube1 = pptextensionDK2.rhPPTmarker #isense.addTracker(port=some_global_variables.isensePort2)
# isCube2 = isense.addTracker(port=6)
#isCube2 = pptextensionDK2.lhPPTmarker #isense.addTracker(port=some_global_variables.isensePort1)
# Link
pptextensionDK2.isCube1 = isCube1
pptextensionDK2.isCube2 = isCube2
global functionPointerForBimanualControl, functionPointerForUnimanualControl, functionPointerForHeadControl
#Control schema switch
# if (selectedControlSchema == 0):
# functionPointerForBimanualControl = vizact.onupdate(0, controlWithBimanualWristRotation)
# elif (selectedControlSchema == 1):
# functionPointerForUnimanualControl = vizact.onupdate(0, controlWithUnimanualWristRotation)
# elif (selectedControlSchema == 2):
# functionPointerForHeadControl = vizact.onupdate(0, controlWithHeadRotation)
functionPointerForBimanualControl = vizact.onupdate(0, controlWithBimanualWristRotation)
functionPointerForUnimanualControl = vizact.onupdate(0, controlWithUnimanualWristRotation)
functionPointerForHeadControl = vizact.onupdate(0, controlWithHeadRotation)
global controlSchemaCounter
controlSchemaCounter = selectedControlSchema
setControlSchema()
def setUpHMD():
global lhTracker, rhTracker, flyingLink, headTracker
viz.window.setSize(1520,1205)
viz.go(viz.TRACKER)
view = viz.MainView
# isense = viz.add('intersense.dle')
# headTracker = isense.addTracker(port=1)
# vizact.onkeydown('r',headTracker.resetHeading)
#vrpn = viz.add('vrpn7.dle')
#Tracker_HOSTNAME = '171.64.33.43'
from vizconnect.util.virtual_trackers import OpticalHeading
import steamvr
# vive view will take the Main View (viz.MainView)
hmd = steamvr.HMD()
### Trackers ###
ORI_TRACKER = hmd.getSensor()
offsetMarkerNode = viz.addGroup()
headTracker = viz.link(ORI_TRACKER, offsetMarkerNode)
lhTracker = steamvr.getControllerList()[0]
rhTracker = steamvr.getControllerList()[1]
viveViewLink = viz.link(headTracker, viz.MainView)
if FLYING_F:
flyingLink = viveViewLink
flyingLink.postTrans(START_POSITION_BASE)
def main():
# Initialize window
viz.setMultiSample(8)
viz.go()
# Setup SteamVR HMD
hmd = steamvr.HMD()
if not hmd.getSensor():
sys.exit('SteamVR HMD not detected')
# Setup navigation node and link to main view
navigationNode = viz.addGroup()
viewLink = viz.link(navigationNode, viz.MainView)
viewLink.preMultLinkable(hmd.getSensor())
# Load environment
gallery = vizfx.addChild('gallery.osgb')
gallery.hint(viz.OPTIMIZE_INTERSECT_HINT)
gallery.disable(viz.SHADOW_CASTING)
#Create skylight
viz.MainView.getHeadLight().disable()
sky_light = viz.addDirectionalLight(euler=(0,90,0), color=viz.WHITE)
sky_light.setShadowMode(viz.SHADOW_DEPTH_MAP)
#Start the Leap Motion!
handGenerator = LeapListener()
handGenerator.startLeap(hmd.getSensor())
# Add controllers
for controller in steamvr.getControllerList():
# Create model for controller
controller.model = controller.addModel(parent=navigationNode)
controller.model.disable(viz.INTERSECTION)
viz.link(controller, controller.model)
def initInputs(initFlag=vizconnect.INIT_INDEPENDENT, initList=None):
#VC: place any general initialization code here
rawInput = vizconnect.getRawInputDict()
#VC: initialize a new input
_name = 'keyboard'
if vizconnect.isPendingInit('input', _name, initFlag, initList):
#VC: init the raw object
if initFlag & vizconnect.INIT_RAW:
#VC: set some parameters
index = 0
#VC: create the raw object
d = viz.add('directinput.dle')
device = d.getKeyboardDevices()[index]
rawInput[_name] = d.addKeyboard(device)
#VC: init the wrapper (DO NOT EDIT)
if initFlag & vizconnect.INIT_WRAPPERS:
vizconnect.addInput(rawInput[_name],
_name,
make='Generic',
model='Keyboard')
#VC: initialize a new input
_name = 'r_hand_input'
if vizconnect.isPendingInit('input', _name, initFlag, initList):
#VC: init the raw object
if initFlag & vizconnect.INIT_RAW:
#VC: set some parameters
index = 0
#VC: create the raw object
import steamvr
try:
input = steamvr.getControllerList()[index]
input._isValid = True
except IndexError:
viz.logWarn(
"** WARNING: Not able to connect to a controller at index {0}. It's likely that not enough controllers are connected."
.format(index))
input = viz.VizExtensionSensor(-1)
input.isButtonDown = lambda e: False
input.getTrackpad = lambda: [0, 0]
input._isValid = False
rawInput[_name] = input
#VC: init the wrapper (DO NOT EDIT)
if initFlag & vizconnect.INIT_WRAPPERS:
vizconnect.addInput(rawInput[_name],
_name,
make='HTC',
model='Vive Controller')
#VC: init the mappings for the wrapper
if initFlag & vizconnect.INIT_WRAPPER_MAPPINGS:
#VC: per frame mappings
if initFlag & vizconnect.INIT_MAPPINGS_PER_FRAME:
#VC: get the raw input dict so we have access to signals
import vizact
rawInput = vizconnect.getConfiguration().getRawDict('input')
#VC: set the update function which checks for input signals
def update(input):
if rawInput['r_hand_input'].isButtonDown(
2
): # make=HTC, model=Vive Controller, name=r_hand_input, signal=Button Trigger
input.setQuasimode()
vizconnect.getInput(_name).setUpdateFunction(update)
#VC: initialize a new input
_name = 'l_hand_input'
if vizconnect.isPendingInit('input', _name, initFlag, initList):
#VC: init the raw object
if initFlag & vizconnect.INIT_RAW:
#VC: set some parameters
index = 1
#VC: create the raw object
import steamvr
try:
input = steamvr.getControllerList()[index]
input._isValid = True
except IndexError:
viz.logWarn(
"** WARNING: Not able to connect to a controller at index {0}. It's likely that not enough controllers are connected."
.format(index))
input = viz.VizExtensionSensor(-1)
input.isButtonDown = lambda e: False
input.getTrackpad = lambda: [0, 0]
input._isValid = False
rawInput[_name] = input
#VC: init the wrapper (DO NOT EDIT)
if initFlag & vizconnect.INIT_WRAPPERS:
vizconnect.addInput(rawInput[_name],
_name,
make='HTC',
model='Vive Controller')
#VC: set the name of the default
vizconnect.setDefault('input', 'r_hand_input')
#VC: return values can be modified here
return None
def initTrackers(initFlag=vizconnect.INIT_INDEPENDENT, initList=None):
#VC: place any general initialization code here
rawTracker = vizconnect.getRawTrackerDict()
#VC: initialize a new tracker
_name = 'head_tracker'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag & vizconnect.INIT_RAW:
#VC: set some parameters
index = 0
#VC: create the raw object
import steamvr
try:
tracker = steamvr.getExtension().getHMDList()[index]
except IndexError:
viz.logWarn(
"** WARNING: Not able to connect to tracker at index {0}. It's likely that not enough trackers are connected."
.format(index))
tracker = viz.addGroup()
tracker.invalidTracker = True
rawTracker[_name] = tracker
#VC: init the wrapper (DO NOT EDIT)
if initFlag & vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name],
_name,
make='Valve',
model='SteamVR HMD Tracker')
#VC: initialize a new tracker
_name = 'r_hand_tracker'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag & vizconnect.INIT_RAW:
#VC: set some parameters
index = 0
#VC: create the raw object
import steamvr
try:
tracker = steamvr.getControllerList()[index]
except IndexError:
viz.logWarn(
"** WARNING: Not able to connect to tracker at index {0}. It's likely that not enough trackers are connected."
.format(index))
tracker = viz.addGroup()
tracker.invalidTracker = True
rawTracker[_name] = tracker
#VC: init the wrapper (DO NOT EDIT)
if initFlag & vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name],
_name,
make='Valve',
model='SteamVR Controller Tracker')
#VC: initialize a new tracker
_name = 'l_hand_tracker'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag & vizconnect.INIT_RAW:
#VC: set some parameters
index = 1
#VC: create the raw object
import steamvr
try:
tracker = steamvr.getControllerList()[index]
except IndexError:
viz.logWarn(
"** WARNING: Not able to connect to tracker at index {0}. It's likely that not enough trackers are connected."
.format(index))
tracker = viz.addGroup()
tracker.invalidTracker = True
rawTracker[_name] = tracker
#VC: init the wrapper (DO NOT EDIT)
if initFlag & vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name],
_name,
make='Valve',
model='SteamVR Controller Tracker')
#VC: set the name of the default
vizconnect.setDefault('tracker', 'head_tracker')
#VC: return values can be modified here
return None
PHYSICS_ENABLED = True #if false, then you can pick up snails; if true can pick up soccerball w/ physics
viz.setMultiSample(4)
viz.fov(60)
viz.go()
if PHYSICS_ENABLED:
viz.phys.enable()
viz.phys.setGravity(0,-1,0)
if VIVE:
hmd = steamvr.HMD()
if not hmd.getSensor():
print "ERROR: HTC Vive not detected"
viz.link(hmd.getSensor(), viz.MainView)
viveHandControllerList = steamvr.getControllerList()
if viveHandControllerList:
hand = viveHandControllerList[0]
handModel = hand.addModel()
link = viz.link(hand, handModel)
else:
print "ERROR: No controllers detected"
else:
keyCam = vizcam.KeyboardCamera()
# keyboard navigation, see vizcam documentation for keypresses
#set up collision with ocean floor
zone1 = vizfx.addChild(FILE_PATH_TO_ZONE1)
zone1.setPosition(0,1.5,0)
terrain = zone1.getChild('Terrain_Zone01')
def findDevices(self):
""" Enumerate SteamVR devices and set up models """
# HMD
hmd = steamvr.HMD()
self.hmd['sensor'] = hmd.getSensor()
hmd_ui = viz.addText('N/A')
self._ui.addItem(viz.addText('Headset'))
self._ui.addLabelItem('0', hmd_ui)
self._ui.addSeparator()
self.hmd['ui'] = hmd_ui
hud = viz.addText3D('X: 0.00 (123.0°)', scale=(self.VALUE_SCALE * 2.5,) * 3, color=viz.GRAY)
hud_link = viz.link(viz.MainView, hud)
hud_link.preTrans(self.HUD_POS, viz.REL_LOCAL)
self.hmd['hud'] = hud
self._obj.append(hud)
# Lighthouses
for lidx, lighthouse in enumerate(steamvr.getCameraList()):
lighthouse.model = lighthouse.addModel(parent=self._root)
if not lighthouse.model:
lighthouse.model = viz.addGroup()
lighthouse.model.setCompositeAlpha(self.DEBUG_ALPHA)
lighthouse.model.disable(viz.INTERSECTION)
viz.link(lighthouse, lighthouse.model)
l_text = viz.addText3D(str(lidx), scale=(self.LABEL_SCALE,) * 3, color=viz.YELLOW,
parent=lighthouse.model, pos=(0.1, 0, 0))
l_text.setEuler(180, 0, 0)
# Lighthouse normal vector
l_normal = addRayPrimitive(origin=[0,0,0], direction=[0,0,1], color=viz.YELLOW, parent=lighthouse.model)
l_normal.visible(False)
self.lighthouses[lidx] = {'model': lighthouse.model,
'normal': l_normal,
'text': l_text}
self._obj.append(lighthouse.model)
print('* Found Lighthouse: {:d}'.format(lidx))
# Controllers
if steamvr.getControllerList():
self._ui.addItem(viz.addText('Controllers'))
for cidx, controller in enumerate(steamvr.getControllerList()):
controller.model = controller.addModel(parent=self._root)
if not controller.model:
controller.model = viz.addGroup(parent=self._root)
controller.model.setCompositeAlpha(self.DEBUG_ALPHA)
controller.model.disable(viz.INTERSECTION)
viz.link(controller, controller.model)
c_axes = vizshape.addAxes(scale=(0.1, 0.1, 0.1))
viz.link(controller, c_axes)
markers = {'axes': c_axes}
for m in self._markers:
markers[m] = self._markers[m].copy()
markers[m].visible(False)
viz.link(controller, markers[m])
c_text = viz.addText3D(str(cidx), scale=(self.LABEL_SCALE,) * 3,
parent=controller.model, pos=(-0.05, 0, 0))
val_x = viz.addText3D('X: 0.00 (123.0°)', scale=(self.VALUE_SCALE,) * 3,
parent=controller.model, pos=(-0.18, 0.04, 0), color=viz.RED)
val_y = viz.addText3D('Y: 0.00 (123.0°)', scale=(self.VALUE_SCALE,) * 3,
parent=controller.model, pos=(-0.18, 0.02, 0), color=viz.GREEN)
val_z = viz.addText3D('Z: 0.00 (123.0°)', scale=(self.VALUE_SCALE,) * 3,
parent=controller.model, pos=(-0.18, 0, 0), color=viz.BLUE)
self.controllers[cidx] = {'model': controller.model,
'axes': c_axes,
'text': c_text,
'values': [val_x, val_y, val_z],
'ui': viz.addText('N/A'),
'markers': markers,
'active_marker': 'axes'}
self._ui.addLabelItem(str(cidx), self.controllers[cidx]['ui'])
self._obj.extend([controller.model, c_axes, val_x, val_y, val_z])
print('* Found Controller: {:d}'.format(cidx))
self._callbacks.append(vizact.onsensordown(controller, steamvr.BUTTON_TRIGGER, self._storePoint, controller, cidx))
self._callbacks.append(vizact.onsensordown(controller, steamvr.BUTTON_TRACKPAD, self._switchMarker, cidx))
self._callbacks.append(vizact.onsensordown(controller, 1, self.savePoints))
self._callbacks.append(vizact.onsensordown(controller, 0, self.saveScreenshot))
else:
print('* No controllers detected.')
# Trackers
if steamvr.getTrackerList():
self._ui.addSeparator()
self._ui.addItem(viz.addText('Trackers'))
for tidx, tracker in enumerate(steamvr.getTrackerList()):
tracker.model = tracker.addModel(parent=self._root)
if not tracker.model:
tracker.model = viz.addGroup(parent=self._root)
tracker.model.setCompositeAlpha(self.DEBUG_ALPHA)
tracker.model.disable(viz.INTERSECTION)
viz.link(tracker, tracker.model)
t_axes = vizshape.addAxes(scale=(0.1, 0.1, 0.1))
viz.link(tracker, t_axes)
t_text = viz.addText3D(str(tidx), scale=(0.05, 0.05, 0.05), color=viz.BLUE,
parent=tracker.model, pos=(-0.1, 0, 0))
val_x = viz.addText3D('X: 0.00 (123.0°)', scale=(self.VALUE_SCALE,) * 3,
parent=tracker.model, pos=(0.18, 0.04, 0), color=viz.RED)
val_x.setEuler([180, 0, 0], mode=viz.REL_LOCAL)
val_y = viz.addText3D('Y: 0.00 (123.0°)', scale=(self.VALUE_SCALE,) * 3,
parent=tracker.model, pos=(0.18, 0.02, 0), color=viz.GREEN)
val_y.setEuler([180, 0, 0], mode=viz.REL_LOCAL)
val_z = viz.addText3D('Z: 0.00 (123.0°)', scale=(self.VALUE_SCALE,) * 3,
parent=tracker.model, pos=(0.18, 0, 0), color=viz.BLUE)
val_z.setEuler([180, 0, 0], mode=viz.REL_LOCAL)
self.trackers[tidx] = {'model': tracker.model,
'axes': t_axes,
'text': t_text,
'values': [val_x, val_y, val_z],
'ui': viz.addText('N/A')}
self._ui.addLabelItem(str(tidx), self.trackers[tidx]['ui'])
self._obj.extend([tracker.model, t_axes, val_x, val_y, val_z])
print('* Found Vive tracker: {:d}'.format(tidx))
else:
print('* No trackers detected.')
background2.visible(viz.OFF) if info.name == "basketball": if(test_num == 2): consent = True; canvas.visible(False) background.visible(viz.OFF) background2.visible(viz.OFF) else: test_num = test_num + 1 panel.setText(test_text[test_num]) if(test_num == 2): background2.visible(viz.ON) # Add controllers for controller in steamvr.getControllerList(): # Create model for controller controller.model = controller.addModel(parent=navigationNode) controller.model.disable(viz.INTERSECTION) viz.link(controller, controller.model) # Create pointer line for controller viz.startLayer(viz.LINES) viz.vertexColor(viz.WHITE) viz.vertex([0,0,0]) viz.vertex([0,0,100]) controller.line = viz.endLayer(parent=controller.model) controller.line.disable([viz.INTERSECTION, viz.SHADOW_CASTING]) controller.line.visible(True)
def TrackTask():
prevPos = None
tracking = False
allData = []
tCount = -1
# run until number of trials finished, or forever
while True:
# wait for trigger press
while not (steamvr.getControllerList()[0].isButtonDown(2)
or viz.key.isDown('c', immediate=True)):
pos = setup.trackerDataFun()
if prevPos is not None and pos['vive'] == prevPos['vive']:
# position didn't change at all, not tracking
if tracking:
print 'track lost'
setup.sounds.trialStart.play()
tracking = False
else:
if not tracking:
print 'track regained'
tracking = True
prevPos = pos
# store data upon keypress, or upon requested number of trials reached
if (viz.key.isDown(viz.KEY_CONTROL_L, immediate=True)
and viz.key.isDown('s', immediate=True)
and len(allData) > 0) or (nTrial is not None
and tCount == nTrial):
# make filename
time = datetime.datetime.now()
fname = ''.join(
(str(time.year) + str(time.month).zfill(2) +
str(time.day).zfill(2) + str(time.hour).zfill(2) +
str(time.minute).zfill(2) + str(time.second).zfill(2)))
saveData = {}
saveData['data'] = allData
scio.savemat('data/' + fname,
saveData,
long_field_names=True,
do_compression=True,
oned_as='column')
# done, either quit or notify and clear data store
if nTrial is not None:
viz.quit()
else:
setup.sounds.trialStart.play()
allData = []
# limit to update rate
d = yield viztask.waitDraw()
# report position
print 'capturing track data'
tCount += 1
count = 0
data = []
while count < trackRate * nSec:
ti = setup.trackerDataFun()
ti['timeStamp'] = d.time
data.append(ti)
count += 1
d = yield viztask.waitDraw()
# store for later
allData.append(data)
setup.sounds.trialCompleted.play()
# Wait for trigger to release if still down
if steamvr.getControllerList()[0].isButtonDown(2):
yield viztask.waitSensorUp(steamvr.getControllerList()[0],
steamvr.BUTTON_TRIGGER)
def setup(isLeftHanded):
global lhPPT, rhPPT, lfPPT, rfPPT, headPPT, headLink, headPPTmarker, rhPPTlink, lhPPTlink, offsetTimerEvent
global lhSphere, rhSphere
global riftLink
#nvis.nvisorSX111();
#nvis.nvisorSX60();
viz.mouse.setVisible(False)
#viz.cursor(viz.OFF);
view = viz.MainView
#isense = viz.add('intersense.dle')
#headTracker = isense.addTracker(port=1)
vrpn = viz.add('vrpn7.dle');
PPT_HOSTNAME = '171.64.33.43';
#ading the headPPT marker
# headPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 0);
headPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.headPPTmarkerVirtualID - 1);
headMarkerNode = viz.addGroup()
headMarker = viz.link(headPPTmarker, headMarkerNode)
# headMarker.preTrans(list(EYE_VECTOR))
# headMarker.setOffset(some_global_variables.pptMarkerWeirdOffset)
#now add the PPT hands tracker
if isLeftHanded == 0:
#user right-handed
# rhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 1)
# rhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.rhPPTmarkerVirtualID - 1)
lhPPTmarker = steamvr.getControllerList()[1]
rhPPTmarker = steamvr.getControllerList()[0]
#Replacing this line of code for vive version
# rhPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.rhPPTmarkerVirtualID - 1)
# lhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 2)
# lhPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.lhPPTmarkerVirtualID - 1)
else:
#user left-handed
rhPPTmarker = steamvr.getControllerList()[0]
lhPPTmarker = steamvr.getControllerList()[1]
# rhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 2)
#Replacing this line of code for vive version
# rhPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.rhPPTmarkerVirtualID)
# lhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 1)
# lhPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.lhPPTmarkerVirtualID)
if USE_LEG:
rfPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 3)
lfPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 4)
headPPT = None
headTracker = None
#loading rift
# rift = oculus.Rift()
# headTracker = rift.getSensor()
if headTracker is None:
#DK2 not found, trying the vive now
hmd = steamvr.HMD()
headTracker = hmd.getSensor()
headPPT = headTracker
#activating a timer to adjust the PPT-Vive offset at runtime
if some_global_variables.ADJUST_PPT_VIVE_OFFSET_AT_RUNTIME:
offsetTimerEvent = vizact.ontimer(0, offsetTimer)
else:
vizact.onkeydown('r',headTracker.reset)
headPPT = viz.mergeLinkable(headMarker,headTracker)
#if rift is not available
#Merge two links together
#headPPT = viz.mergeLinkable(headPPTmarker,headTracker)
headLink = viz.link(headPPT, viz.MainView);
#headLink.postTrans([EYE_VECTOR[0], EYE_VECTOR[1], EYE_VECTOR[2]]);
riftLink = headLink
#riftLink.preTrans(EYE_VECTOR)
#view.preTrans(EYE_VECTOR)
#headPPT.preTrans([0,10,0]);
rhPPT = viz.addGroup()
rhPPTlink = viz.link(rhPPTmarker, rhPPT)
# rhPPTlink.setOffset(some_global_variables.pptMarkerWeirdOffset)
lhPPT = viz.addGroup()
lhPPTlink = viz.link(lhPPTmarker, lhPPT)
# lhPPTlink.setOffset(some_global_variables.pptMarkerWeirdOffset)
grid = vizshape.addGrid();
grid.color([0.5] * 3);
viz.callback(viz.KEYDOWN_EVENT, onKeyDown);
if(DEBUG_MODE):
print "adding spheres";
rhSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
lhSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
rfSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
lfSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
return;
def setup():
global leftWristPPT, rightWristPPT, lfPPT, rfPPT, headPPT, viewLink, navigationNode
global lhSphere, rhSphere
global hmdLink
#add more trackers for trying things out
global rightFingersPPT, leftFingersPPT, leftForeArmPPT, rightForeArmPPT, rightHandViveController, leftHandViveController
#nvis.nvisorSX111();
#nvis.nvisorSX60();
#try the oculus rift
hmd = None
headOriTracker = None
if some_global_variables.PPT1:
vrpn = viz.add('vrpn7.dle')
#trying to connect the vive now
if not some_global_variables.DONT_USE_VIVE:
hmd = steamvr.HMD()
headOriTracker = hmd.getSensor()
headPosTracker = None
headPosLink = None
if headOriTracker is None:
print "HTC Vive is not connected. Trying Oculus Rift now"
hmd = oculus.Rift()
headOriTracker = hmd.getSensor()
if headOriTracker is None:
print "Rift is also not connected!"
else:
print "Connected to Rift!"
vizact.onkeydown('r',headOriTracker.reset)
if some_global_variables.PPT1:
headPosTracker = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_HEAD_VIRTUAL_ID - 1)
headPosTrackerNode = viz.addGroup()
headPosLink = viz.link(headPosTracker, headPosTrackerNode)
headPosLink.preTrans(list(EYE_VECTOR))
else:
print "Connected to Vive!"
#Merge position and orientation links for the head tracker, if needed
if headPosLink is not None:
#using DK2 in PPT1 with a PPT marker for head tracking
headPPT = viz.mergeLinkable(headPosLink,headOriTracker)
else:
#like using vive, or DK2 outside PPT1
headPPT = headOriTracker
if headOriTracker is not None:
some_global_variables.headTrackingActive = True
viz.mouse.setVisible(False)
#viz.cursor(viz.OFF);
view = viz.MainView
viewLink = None
navigationNode = viz.addGroup()
viewLink = viz.link(navigationNode, viz.MainView)
if headPPT is not None:
viewLink.preMultLinkable(headPPT)
if not some_global_variables.PPT1:
viewLink.setOffset([0,1.4,0])
# viewLink = viz.link(headPPT, viz.MainView)
#viewLink.postTrans([EYE_VECTOR[0], EYE_VECTOR[1], EYE_VECTOR[2]])
#hmdLink.preTrans(EYE_VECTOR)
#view.preTrans(EYE_VECTOR)
#headPPT.preTrans([0,10,0]);
#now add the PPT hands tracker
if some_global_variables.PPT1:
rightForeArmPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_RIGHT_FOREARM_VIRTUAL_ID-1)
if rightForeArmPPT is not None: print "right forearm tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_RIGHT_FOREARM_VIRTUAL_ID)
leftForeArmPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_LEFT_FOREARM_VIRTUAL_ID-1)
if leftForeArmPPT is not None: print "left forearm tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_LEFT_FOREARM_VIRTUAL_ID)
appendageControlWithVive = vizinput.choose('Using Vive controllers or a bunch of PPT markers?', ['Vive','4 extra PPT marker!'])
if appendageControlWithVive == 0: #using vive hand controllers
some_global_variables.usingViveHandControllers = True
viveHandControllerList = steamvr.getControllerList()
controllerCount = 0
for controller in steamvr.getControllerList():
controllerCount += 1
#Right Hand Controller Setup
if controllerCount == 1:
rightHandViveController = viveHandControllerList[0]
#Left Hand Controller Setup
elif controllerCount == 2:
leftHandViveController = viveHandControllerList[1]
else: #using four extra PPT markers - could be noisy due to interference
rightFingersPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_RIGHT_FINGERS_VIRTUAL_ID-1)
if rightFingersPPT is not None: print "right fingers tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_RIGHT_FINGERS_VIRTUAL_ID)
leftFingersPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_LEFT_FINGERS_VIRTUAL_ID-1)
if leftFingersPPT is not None: print "left fingers tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_LEFT_FINGERS_VIRTUAL_ID)
rightWristPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_RIGHT_WRIST_VIRTUAL_ID-1)
if rightWristPPT is not None: print "right wrist tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_RIGHT_WRIST_VIRTUAL_ID)
leftWristPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_LEFT_WRIST_VIRTUAL_ID-1)
if leftWristPPT is not None: print "left wrist tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_LEFT_WRIST_VIRTUAL_ID)
grid = vizshape.addGrid()
grid.color([0.5] * 3)
viz.callback(viz.KEYDOWN_EVENT, onKeyDown)
if(DEBUG_MODE):
print "adding spheres";
rhSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
lhSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
rfSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
lfSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
return
def TrackTask():
prevPos = None
allData = []
tRegained = 0
stage = 0 # 0: wait for track loss, 1: wait for track regained, 2: wait for trigger pull, 3: trigger pulled. check optical heading position ok, 4: trigger released, ready for next trigger pull that will start actual data collection
t = 0.
opticalHeadScrewed = False
tCount = -1
while True:
# wait for track regained
stage = 0
while True:
pos = setup.trackerDataFun()
if prevPos is not None and pos['vive'] == prevPos['vive']:
# position didn't change at all, not tracking
if stage is not 1:
setup.sounds.trialStart.play()
print 'track lost'
stage = 1
else:
# get here only once vive position/orientation starts changing again
if stage == 1:
setup.sounds.trialCompleted.play()
print 'track regained'
tRegained = t
stage = 2 if qCheckOptHeading else 4 # if not qCheckOptHeading, skip the check
if stage == 2 and t - tRegained > nSecWait and (
steamvr.getControllerList()[0].isButtonDown(2)
or viz.key.isDown('c', immediate=True)):
# first press, check if optical heading position is ok
stage = 3
if stage == 3 and not (
steamvr.getControllerList()[0].isButtonDown(2)
or viz.key.isDown('c', immediate=True)):
# button/trigger released
stage = 4
if stage == 4 and (
steamvr.getControllerList()[0].isButtonDown(2)
or viz.key.isDown('c', immediate=True)):
# second press: time to record some data
tCount += 1
break
prevPos = pos
# check position of optical heading markers is within expected range. Otherwise markers probably switched
if qCheckOptHeading and stage in [3, 4] and any([
abs(p - m) > l for p, m, l in zip(
pos['optical_heading'][:3], optHeadingPos, optHeadLims)
]):
# optical markers screwed, notify
if not opticalHeadScrewed:
print 'optical heading error. current pose: ' + str(
pos['optical_heading'])
setup.sounds.alarm.play()
opticalHeadScrewed = True
else:
opticalHeadScrewed = False
# limit to update rate
d = yield viztask.waitDraw()
t = d.time
# report position
print 'capturing track data'
setup.sounds.trialStart.play()
count = 0
data = []
while count < trackRate * nSec:
ti = setup.trackerDataFun()
ti['timeStamp'] = d.time
data.append(ti)
count += 1
d = yield viztask.waitDraw()
# store for later
allData.append(data)
setup.sounds.trialCompleted.play()
# make filename
if tCount + 1 == nTrial:
time = datetime.datetime.now()
fname = ''.join(
(str(time.year) + str(time.month).zfill(2) +
str(time.day).zfill(2) + str(time.hour).zfill(2) +
str(time.minute).zfill(2) + str(time.second).zfill(2)))
saveData = {}
saveData['data'] = allData
scio.savemat('data/' + fname,
saveData,
long_field_names=True,
do_compression=True,
oned_as='column')
# done
viz.quit()
def initTrackers(initFlag=vizconnect.INIT_INDEPENDENT, initList=None):
#VC: place any general initialization code here
rawTracker = vizconnect.getRawTrackerDict()
#VC: initialize a new tracker
_name = 'steamvr_controller_tracker'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag&vizconnect.INIT_RAW:
#VC: set some parameters
index = 1
#VC: create the raw object
import steamvr
try:
tracker = steamvr.getControllerList()[index]
except IndexError:
viz.logWarn("** WARNING: Not able to connect to tracker at index {0}. It's likely that not enough trackers are connected.".format(index))
tracker = viz.addGroup()
tracker.invalidTracker = True
rawTracker[_name] = tracker
#VC: init the wrapper (DO NOT EDIT)
if initFlag&vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name], _name, make='Valve', model='SteamVR Controller Tracker')
#VC: initialize a new tracker
_name = 'steamvr_controller_tracker2'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag&vizconnect.INIT_RAW:
#VC: set some parameters
index = 0
#VC: create the raw object
import steamvr
try:
tracker = steamvr.getControllerList()[index]
except IndexError:
viz.logWarn("** WARNING: Not able to connect to tracker at index {0}. It's likely that not enough trackers are connected.".format(index))
tracker = viz.addGroup()
tracker.invalidTracker = True
rawTracker[_name] = tracker
#VC: init the wrapper (DO NOT EDIT)
if initFlag&vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name], _name, make='Valve', model='SteamVR Controller Tracker')
#VC: initialize a new tracker
_name = 'steamvr_hmd_tracker'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag&vizconnect.INIT_RAW:
#VC: set some parameters
index = 0
#VC: create the raw object
import steamvr
try:
tracker = steamvr.getExtension().getHMDList()[index]
except IndexError:
viz.logWarn("** WARNING: Not able to connect to tracker at index {0}. It's likely that not enough trackers are connected.".format(index))
tracker = viz.addGroup()
tracker.invalidTracker = True
rawTracker[_name] = tracker
#VC: init the wrapper (DO NOT EDIT)
if initFlag&vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name], _name, make='Valve', model='SteamVR HMD Tracker')
#VC: init the offsets
if initFlag&vizconnect.INIT_OFFSETS:
_link = vizconnect.getTracker(_name).getLink()
#VC: clear link offsets
_link.reset(viz.RESET_OPERATORS)
#VC: return values can be modified here
return None
def TrackTask():
prevPos = None
tracking = True
allData = []
tRegained = 0.
waitingForTrack = True
t = 0.
while True:
# wait for trigger press
while not (steamvr.getControllerList()[0].isButtonDown(2)
or viz.key.isDown('c', immediate=True)):
# limit to update rate
d = yield viztask.waitDraw()
# record n seconds of data
tRegained = d.time
while True:
pos = setup.trackerDataFun()
if prevPos is not None and pos['vive'] == prevPos['vive']:
# position didn't change at all, not tracking
if tracking:
print 'track lost'
allData = []
waitingForTrack = True
tracking = False
else:
# get here only once vive position/orientation starts changing again
if not tracking:
print 'track regained'
tRegained = t
tracking = True
if waitingForTrack and t - tRegained > nSecWait:
# time to record some data
waitingForTrack = False
break
pos['timeStamp'] = d.time
prevPos = pos
allData.append(pos)
# limit to update rate
d = yield viztask.waitDraw()
t = d.time
# calculate mean and SD for each variable of Vive
means = [0.] * 6
SDs = [0.] * 6
for dat in allData:
for i, e in enumerate(dat['vive']):
means[i] += e
N = len(allData)
means = [x / N for x in means]
# now SD
for dat in allData:
for i, e in enumerate(dat['vive']):
SDs[i] += (e - means[i])**2
SDs = [math.sqrt(x) / (N - 1) for x in SDs]
# NB: for analysis of simulataneous data, can just do it qualitative. plot position/orientation over time for both vive and
# other source. see offset in time between curves, that gives you differential latency.
# wait for threshold exceeded, until controller trigger pulled that stops things
setup.sounds.trialStart.play()
exceeded = []
d = yield viztask.waitDraw()
visible = True
while not (steamvr.getControllerList()[0].isButtonDown(2)
or viz.key.isDown('c', immediate=True)):
pos = setup.trackerDataFun()
pos['timeStamp'] = d.time
allData.append(pos)
# check threshold
qThresh = [
abs(x - m) > s * multiplier
for x, m, s in zip(pos['vive'], means, SDs)
]
if any(qThresh) and visible:
for v in setup.visuals:
v.visible(viz.OFF)
visible = False
exceeded.append(
len(allData)) # store at which sample this happened
# limit to screen update rate
d = yield viztask.waitDraw()
# save data and exit
setup.sounds.trialCompleted.play()
time = datetime.datetime.now()
fname = ''.join(
(str(time.year) + str(time.month).zfill(2) +
str(time.day).zfill(2) + str(time.hour).zfill(2) +
str(time.minute).zfill(2) + str(time.second).zfill(2)))
saveData = {}
saveData['data'] = allData
saveData['means'] = means
saveData['SDs'] = SDs
saveData['multiplier'] = multiplier
saveData['exceeded'] = exceeded
scio.savemat('data/' + fname,
saveData,
long_field_names=True,
do_compression=True,
oned_as='column')
# done
viz.quit()