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Merge pull request #1 from qualisys/dev/v1.21-fix
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Refactored segment handling to work with v1.21
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@mlveggo
mlveggo authored Jun 24, 2020
2 parents 35bffab + ed0eb99 commit aa015a2
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Showing 2 changed files with 73 additions and 58 deletions.
2 changes: 1 addition & 1 deletion qqtmrt.py
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,7 @@ def _handshake(self):
if response is not None and response != 'QTM RT Interface connected':
return False

self.requested_version = '1.19'
self.requested_version = '1.21'
version = self.set_version(version=self.requested_version)

return version == 'Version set to {}'.format(self.requested_version)
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129 changes: 72 additions & 57 deletions skeletonstreamer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ def __init__(self, qtmrt, listWidget):
self._saved_poses = {}
self._in_t_pose = []
self._skeletons = []
self._modifier = None

self._qtm.connectedChanged.connect(self._connected_changed)
self._connected_changed(self._qtm.connected)
Expand All @@ -35,10 +36,8 @@ def _connected_changed(self, connected):
def _packet_received(self, packet):
_, skeletons = packet.get_skeletons()

for skeleton in skeletons:
for skeleton_index, skeleton in enumerate(skeletons):
for segment_id, segment_position, segment_rotation in skeleton:
transformFn = self._segments[segment_id]["transformFn"]

if self._up_axis == "y":
translation = om.MVector(
-segment_position.x * self._unit_conversion,
Expand Down Expand Up @@ -66,7 +65,7 @@ def _packet_received(self, packet):
segment_rotation.w,
)

transformFn = self._segments[segment_id]["transformFn"]
transformFn = self._segments[skeleton_index][segment_id]["transformFn"]
transformFn.setTranslation(translation, om.MSpace.kTransform)
transformFn.setRotation(
rotation.asEulerRotation(), om.MSpace.kTransform
Expand Down Expand Up @@ -99,48 +98,54 @@ def _update_ui(self):

self._listWidget.addItem(item)

def _assume_t_pose(self, segment):
transformFn = self._segments[int(segment["@ID"])]["transformFn"]
def _assume_t_pose(self, skeleton_index, segment):
transformFn = self._segments[skeleton_index][int(segment["@ID"])]["transformFn"]

if self._up_axis == "y":
translation = om.MVector(
-float(segment["Position"]["@X"]) * self._unit_conversion,
float(segment["Position"]["@Z"]) * self._unit_conversion,
float(segment["Position"]["@Y"]) * self._unit_conversion,
-float(segment["DefaultTransform"]["Position"]["@X"]) * self._unit_conversion,
float(segment["DefaultTransform"]["Position"]["@Z"]) * self._unit_conversion,
float(segment["DefaultTransform"]["Position"]["@Y"]) * self._unit_conversion,
)
rotation = om.MQuaternion(
-float(segment["Rotation"]["@X"]),
float(segment["Rotation"]["@Z"]),
float(segment["Rotation"]["@Y"]),
float(segment["Rotation"]["@W"]),
-float(segment["DefaultTransform"]["Rotation"]["@X"]),
float(segment["DefaultTransform"]["Rotation"]["@Z"]),
float(segment["DefaultTransform"]["Rotation"]["@Y"]),
float(segment["DefaultTransform"]["Rotation"]["@W"]),
)
else:
translation = om.MVector(
float(segment["Position"]["@X"]) * self._unit_conversion,
float(segment["Position"]["@Y"]) * self._unit_conversion,
float(segment["Position"]["@Z"]) * self._unit_conversion,
float(segment["DefaultTransform"]["Position"]["@X"]) * self._unit_conversion,
float(segment["DefaultTransform"]["Position"]["@Y"]) * self._unit_conversion,
float(segment["DefaultTransform"]["Position"]["@Z"]) * self._unit_conversion,
)
rotation = om.MQuaternion(
float(segment["Rotation"]["@X"]),
float(segment["Rotation"]["@Y"]),
float(segment["Rotation"]["@Z"]),
float(segment["Rotation"]["@W"]),
float(segment["DefaultTransform"]["Rotation"]["@X"]),
float(segment["DefaultTransform"]["Rotation"]["@Y"]),
float(segment["DefaultTransform"]["Rotation"]["@Z"]),
float(segment["DefaultTransform"]["Rotation"]["@W"]),
)

transformFn.setTranslation(translation, om.MSpace.kTransform)
transformFn.setRotation(rotation.asEulerRotation(), om.MSpace.kTransform)

def _save_pose(self, segment):
transformFn = self._segments[int(segment["@ID"])]["transformFn"]
def _save_pose(self, skeleton_index, segment):
transformFn = self._segments[skeleton_index][int(segment["@ID"])]["transformFn"]
segment_id = int(segment["@ID"])

if skeleton_index not in self._saved_poses:
self._saved_poses[skeleton_index] = {}

self._saved_poses[int(segment["@ID"])] = {
self._saved_poses[skeleton_index][segment_id] = {
"translation": transformFn.translation(om.MSpace.kTransform),
"rotation": transformFn.rotation(om.MSpace.kTransform),
}

def create(self):
modifier = om.MDagModifier()
self._segments = {}
self._segments = []

if self._modifier is None:
self._modifier = om.MDagModifier()

if self._qtm_settings is None and self._qtm.connected:
self._qtm_settings = self._qtm.get_settings("skeleton")
Expand All @@ -154,61 +159,71 @@ def create(self):
if type(self._skeletons) != type([]):
self._skeletons = [self._skeletons]

for skeleton in self._skeletons:
for skeleton_index, skeleton in enumerate(self._skeletons):
if not cmds.namespace( exists=skeleton["@Name"] ):
cmds.namespace( add=skeleton["@Name"] )
create = True
self._segments.append({})

self.add_segment(skeleton_index, skeleton["Segments"]["Segment"], None)

for segment in skeleton["Segment"]:
segment_name = skeleton["@Name"] + ":" + segment["@Name"]
j = MayaUtil.get_node_by_name(segment_name)
self._modifier.doIt()

if j is None:
j = modifier.createNode("joint")
def add_segment(self, skeleton_index, segment, parent_id):
segment_name = self._skeletons[skeleton_index]["@Name"] + ":" + segment["@Name"]
create = True
j = MayaUtil.get_node_by_name(segment_name)

modifier.renameNode(j, segment_name)
else:
create = False
if j is None:
j = self._modifier.createNode("joint")

transformFn = om.MFnTransform(j)
self._modifier.renameNode(j, segment_name)
else:
create = False

self._segments[int(segment["@ID"])] = {
"MObject": j,
"transformFn": transformFn,
}
transformFn = om.MFnTransform(j)

if "@Parent_ID" in segment:
modifier.reparentNode(
j, self._segments[int(segment["@Parent_ID"])]["MObject"]
)
self._segments[skeleton_index][int(segment["@ID"])] = segment
self._segments[skeleton_index][int(segment["@ID"])]["MObject"] = j
self._segments[skeleton_index][int(segment["@ID"])]["transformFn"] = transformFn

if parent_id is not None:
self._modifier.reparentNode(
j, self._segments[skeleton_index][int(parent_id)]["MObject"]
)

if create:
self._assume_t_pose(segment)
if create:
self._assume_t_pose(skeleton_index, segment)

modifier.doIt()
# Add child segments.
if "Segment" in segment:
if type(segment["Segment"]) is list:
for s in segment["Segment"]:
self.add_segment(skeleton_index, s, segment["@ID"])
else:
self.add_segment(skeleton_index, segment["Segment"], segment["@ID"])

def t_pose(self, skeleton_name):
for skeleton_definition in self._skeletons:
for skeleton_index, skeleton_definition in enumerate(self._skeletons):
if skeleton_definition["@Name"] == skeleton_name:
for segment in skeleton_definition["Segment"]:
self._save_pose(segment)
self._assume_t_pose(segment)
for segment_id, segment in self._segments[skeleton_index].iteritems():
self._save_pose(skeleton_index, segment)
self._assume_t_pose(skeleton_index, segment)

self._in_t_pose.append(skeleton_name)

def resume_pose(self, skeleton_name):
for skeleton_definition in self._skeletons:
for skeleton_index, skeleton_definition in enumerate(self._skeletons):
if skeleton_definition["@Name"] == skeleton_name:
for segment in skeleton_definition["Segment"]:
if int(segment["@ID"]) in self._saved_poses:
transformFn = self._segments[int(segment["@ID"])]["transformFn"]
for segment_id, segment in self._segments[skeleton_index].iteritems():
if skeleton_index in self._saved_poses and int(segment_id) in self._saved_poses[skeleton_index]:
transformFn = self._segments[skeleton_index][int(segment_id)]["transformFn"]

transformFn.setTranslation(
self._saved_poses[int(segment["@ID"])]["translation"],
self._saved_poses[skeleton_index][int(segment_id)]["translation"],
om.MSpace.kTransform,
)
transformFn.setRotation(
self._saved_poses[int(segment["@ID"])]["rotation"],
self._saved_poses[skeleton_index][int(segment_id)]["rotation"],
om.MSpace.kTransform,
)

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