Version 1.4 : added root bone configuration and denoising configuration

CHANGELOG.md

@@ -1,5 +1,7 @@
 Version 1.4:
 - changed recording method for Blender 2.80. No checkbox to activate recording anymore, use of standard Blender auto keying method instead.
+- added root bone selection for position tracking
+- added denoising (Kalman filter) strength configuration
 
 Version 1.3:
 - added position tracking, and ability to lock position an each axis

kinectMocap.cpp

@@ -33,11 +33,13 @@ inline void SafeRelease(Interface *& pInterfaceToRelease)
 }
 
 // start kinect sensor
-int initSensor(double inDt) {
+int initSensor(double inDt, double inSensorNoise, double inUNoise) {
 	HRESULT hr;
 	int res = 0;
 	tilt = -100;
 	dt = inDt;
+	sensorNoise = inSensorNoise;
+	uNoise = inUNoise;
 
 	hr = GetDefaultKinectSensor(&m_pKinectSensor);
 	if (FAILED(hr)) {
@@ -109,7 +111,7 @@ int applyKalman(int jointNumber) {
 	}
 	else {
 		// init filter
-		kalman[jointNumber] = new SimpleKalman(dt);
+		kalman[jointNumber] = new SimpleKalman(dt, sensorNoise, 0, uNoise);
 		kalman[jointNumber]->init(joints[jointNumber].Position.X, joints[jointNumber].Position.Y, joints[jointNumber].Position.Z);
 	}
 	return 0;
@@ -184,7 +186,7 @@ int updateFrame() {
 
 struct Sensor {
 	tuple getJoint(int jointNumber) { return make_tuple(joints[jointNumber].Position.X, joints[jointNumber].Position.Y, joints[jointNumber].Position.Z, static_cast<int>(joints[jointNumber].TrackingState)); }
-	int init(double dt) { return initSensor(dt); }
+	int init(double dt, double sNoise, double uNois) { return initSensor(dt, sNoise, uNois); }
 	int close() { return closeSensor(); }
 	int update() { return updateFrame(); }
 };

kinectMocap.h

@@ -40,6 +40,7 @@ IBodyFrameReader*       m_pBodyFrameReader;
 
 // Kalman filters data
 SimpleKalman*			kalman[25];
+double					sensorNoise, uNoise;
 
 // store framerate
-double dt;
+double					dt;

scripts/2.79/kinect_mocap.py

@@ -23,9 +23,8 @@
     "name": "Kinect Motion Capture plugin",
     "description": "Motion capture using MS Kinect v2",
     "author": "Morgane Dufresne",
-    "version": (1, 3),
+    "version": (1, 4),
     "blender": (2, 79, 0),
-    "warning": "You need a MS Kinect v2 sensor (XBox One)",
     "support": "COMMUNITY",
     "category": "Animation"
 }
@@ -57,6 +56,32 @@ def validateTarget(self, context):
             self.value = ""
     return None
 
+KBonesEnum = [("Head", "Head", "Head"),
+    ("Neck", "Neck", "Neck"),
+    ("Spine1", "Spine1", "Spine1"),
+    ("Spine0", "Spine0", "Spine0"),
+    ("LeftShoulder", "LeftShoulder", "LeftShoulder"),
+    ("LeftUpperArm", "LeftUpperArm", "LeftUpperArm"),
+    ("LeftLowerArm", "LeftLowerArm", "LeftLowerArm"),
+    ("LeftHand", "LeftHand", "LeftHand"),
+    ("RightShoulder", "RightShoulder", "RightShoulder"),
+    ("RightUpperArm", "RightUpperArm", "RightUpperArm"),
+    ("RightLowerArm", "RightLowerArm", "RightLowerArm"),
+    ("RightHand", "RightHand", "RightHand"),
+    ("LeftUpperLeg", "LeftUpperLeg", "LeftUpperLeg"),
+    ("LeftLowerLeg", "LeftLowerLeg", "LeftLowerLeg"),
+    ("LeftFoot", "LeftFoot", "LeftFoot"),
+    ("RightUpperLeg", "RightUpperLeg", "RightUpperLeg"),
+    ("RightLowerLeg", "RightLowerLeg", "RightLowerLeg"),
+    ("RightFoot", "RightFoot", "RightFoot")
+]
+
+KalmanStrengthEnum = [("Strong", "Strong", "Strong denoising (ideal for slow movement)"),
+    ("Normal", "Normal", "Normal denoising (good balance between speed and precision)"),
+    ("Low", "Low", "Low denoising (for fast movement, less precise)"),
+    ("VeryLow", "Very low", "Very low denoising (only for very fast movement, almost no noise reduction")
+]
+
 class KmcTarget(bpy.types.PropertyGroup):
     name = bpy.props.StringProperty(name="KBone")
     value = bpy.props.StringProperty(name="TBone", update=validateTarget)
@@ -72,7 +97,8 @@ class KmcProperties(bpy.types.PropertyGroup):
     lockHeight = bpy.props.BoolProperty(name="height", description="ignore vertical movement", default=True)
     lockwidth = bpy.props.BoolProperty(name="width", description="ignore lateral movement", default=True)
     lockDepth = bpy.props.BoolProperty(name="depth", description="ignore depth movement", default=True)
-
+    rootBone = bpy.props.EnumProperty(name="root bone", items=KBonesEnum, default="Spine0", description="Kinect identifier of the bone that is used as root of the skeleton")
+    kalmanStrength = bpy.props.EnumProperty(name="Denoising", items=KalmanStrengthEnum, default="Normal")
 
 jointType = {
     "SpineBase":0,
@@ -176,14 +202,13 @@ def initialize(context):
     context.scene.kmc_props.firstFramePosition = (-1,-1,-1)
     context.scene.kmc_props.initialOffset = (0,0,0)
 
-
     for target in context.scene.kmc_props.targetBones:
         if target.value is not None and target.value != "" :
             bone = bpy.data.objects[context.scene.kmc_props.arma_list].pose.bones[target.value]
             bone.rotation_mode = 'QUATERNION'
 
             # Store initial position of spine0 bone
-            if target.name == "Spine0":
+            if target.name == context.scene.kmc_props.rootBone:
                 context.scene.kmc_props.initialOffset = bpy.data.objects[context.scene.kmc_props.arma_list].pose.bones[target.value].matrix.translation
 
             # Store rest pose angles for column, head and feet bones
@@ -211,7 +236,7 @@ def updatePose(context, bone):
                 boneV = Vector((head[X] - tail[X], tail[Y] - head[Y], tail[Z] - head[Z]))
 
                 # if first bone, update position (only for configured axes)
-                if target.name == "Spine0":
+                if target.name == context.scene.kmc_props.rootBone:
                     # initialize firstFramePosition if fit isn't
                     if context.scene.kmc_props.firstFramePosition[1] == -1:
                         context.scene.kmc_props.firstFramePosition = (-1.0*head[X], head[Y], head[Z])
@@ -245,7 +270,7 @@ def updatePose(context, bone):
                     context.scene.kmc_props.currentFrame += 1
                 if context.scene.kmc_props.record :
                     bone.keyframe_insert(data_path="rotation_quaternion", frame=context.scene.kmc_props.currentFrame)
-                    if target.name == "Spine0":
+                    if target.name == context.scene.kmc_props.rootBone:
                         bone.keyframe_insert(data_path="location", frame=context.scene.kmc_props.currentFrame)
 
     # update child bones
@@ -290,6 +315,7 @@ def draw(self, context):
                     if target.name == strBone :
                         box.prop(target, "value", text=target.name)
                         break
+            layout.prop(context.scene.kmc_props, "rootBone")
 
             # configure movement tracking
             layout.separator()
@@ -300,6 +326,10 @@ def draw(self, context):
             col.prop(context.scene.kmc_props, "lockHeight")
             col.prop(context.scene.kmc_props, "lockwidth")
 
+            # denoising strength
+            layout.separator()
+            layout.prop(context.scene.kmc_props, "kalmanStrength")
+
             # activate
             layout.separator()
             layout.operator("kmc.start")
@@ -335,7 +365,16 @@ class KmcStartTrackingOperator(bpy.types.Operator):
 
     def modal(self, context, event):
         wm = context.window_manager
-        context.scene.k_sensor.init(1.0 / context.scene.kmc_props.fps)
+        uNoise = 5.0
+        if context.scene.kmc_props.kalmanStrength == "VeryLow" :
+            uNoise=50.0
+        elif context.scene.kmc_props.kalmanStrength == "Low" :
+            uNoise=20.0
+        elif context.scene.kmc_props.kalmanStrength == "Normal" :
+            uNoise=5.0
+        elif context.scene.kmc_props.kalmanStrength == "Strong" :
+            uNoise=1.0
+        context.scene.k_sensor.init(1.0 / context.scene.kmc_props.fps, 0.0005, uNoise)
         if event.type == 'TIMER':
             if(context.scene.k_sensor.update() == 1):
                 # update pose

scripts/2.80/kinect_mocap.py

@@ -25,7 +25,6 @@
     "author": "Morgane Dufresne",
     "version": (1, 4),
     "blender": (2, 80, 0),
-    "warning": "You need a MS Kinect v2 sensor (XBox One)",
     "support": "COMMUNITY",
     "category": "Animation"
 }
@@ -58,6 +57,32 @@ def validateTarget(self, context):
             self.value = ""
     return None
 
+KBonesEnum = [("Head", "Head", "Head"),
+    ("Neck", "Neck", "Neck"),
+    ("Spine1", "Spine1", "Spine1"),
+    ("Spine0", "Spine0", "Spine0"),
+    ("LeftShoulder", "LeftShoulder", "LeftShoulder"),
+    ("LeftUpperArm", "LeftUpperArm", "LeftUpperArm"),
+    ("LeftLowerArm", "LeftLowerArm", "LeftLowerArm"),
+    ("LeftHand", "LeftHand", "LeftHand"),
+    ("RightShoulder", "RightShoulder", "RightShoulder"),
+    ("RightUpperArm", "RightUpperArm", "RightUpperArm"),
+    ("RightLowerArm", "RightLowerArm", "RightLowerArm"),
+    ("RightHand", "RightHand", "RightHand"),
+    ("LeftUpperLeg", "LeftUpperLeg", "LeftUpperLeg"),
+    ("LeftLowerLeg", "LeftLowerLeg", "LeftLowerLeg"),
+    ("LeftFoot", "LeftFoot", "LeftFoot"),
+    ("RightUpperLeg", "RightUpperLeg", "RightUpperLeg"),
+    ("RightLowerLeg", "RightLowerLeg", "RightLowerLeg"),
+    ("RightFoot", "RightFoot", "RightFoot")
+]
+
+KalmanStrengthEnum = [("Strong", "Strong", "Strong denoising (ideal for slow movement)"),
+    ("Normal", "Normal", "Normal denoising (good balance between speed and precision)"),
+    ("Low", "Low", "Low denoising (for fast movement, less precise)"),
+    ("VeryLow", "Very low", "Very low denoising (only for very fast movement, almost no noise reduction")
+]
+
 class KMC_PG_KmcTarget(bpy.types.PropertyGroup):
     name : bpy.props.StringProperty(name="KBone")
     value : bpy.props.StringProperty(name="TBone", update=validateTarget)
@@ -73,6 +98,8 @@ class KMC_PG_KmcProperties(bpy.types.PropertyGroup):
     lockHeight : bpy.props.BoolProperty(name="height", description="ignore vertical movement", default=True)
     lockwidth : bpy.props.BoolProperty(name="width", description="ignore lateral movement", default=True)
     lockDepth : bpy.props.BoolProperty(name="depth", description="ignore depth movement", default=True)
+    rootBone : bpy.props.EnumProperty(name="root bone", items=KBonesEnum, default="Spine0", description="Kinect identifier of the bone that is used as root of the skeleton")
+    kalmanStrength : bpy.props.EnumProperty(name="Denoising", items=KalmanStrengthEnum, default="Normal")
 
 jointType = {
     "SpineBase":0,
@@ -181,8 +208,8 @@ def initialize(context):
             bone = bpy.data.objects[context.scene.kmc_props.arma_list].pose.bones[target.value]
             bone.rotation_mode = 'QUATERNION'
 
-            # Store initial position of spine0 bone
-            if target.name == "Spine0":
+            # Store initial position of root bone
+            if target.name == context.scene.kmc_props.rootBone:
                 context.scene.kmc_props.initialOffset = bpy.data.objects[context.scene.kmc_props.arma_list].pose.bones[target.value].matrix.translation
 
             # Store rest pose angles for column, head and feet bones
@@ -210,7 +237,7 @@ def updatePose(context, bone):
                 boneV = Vector((head[X] - tail[X], tail[Y] - head[Y], tail[Z] - head[Z]))
 
                 # if first bone, update position (only for configured axes)
-                if target.name == "Spine0":
+                if target.name == context.scene.kmc_props.rootBone:
                     # initialize firstFramePosition if fit isn't
                     if context.scene.kmc_props.firstFramePosition[1] == -1:
                         context.scene.kmc_props.firstFramePosition = (-1.0*head[X], head[Y], head[Z])
@@ -242,7 +269,7 @@ def updatePose(context, bone):
 
                 if context.scene.tool_settings.use_keyframe_insert_auto:
                     bone.keyframe_insert(data_path="rotation_quaternion")
-                    if target.name == "Spine0":
+                    if target.name == context.scene.kmc_props.rootBone:
                         bone.keyframe_insert(data_path="location")
 
     # update child bones
@@ -288,6 +315,7 @@ def draw(self, context):
                     if target.name == strBone :
                         box.prop(target, "value", text=target.name)
                         break
+            layout.prop(context.scene.kmc_props, "rootBone")
 
             # configure movement tracking
             layout.separator()
@@ -298,6 +326,10 @@ def draw(self, context):
             col.prop(context.scene.kmc_props, "lockHeight")
             col.prop(context.scene.kmc_props, "lockwidth")
 
+            # denoising strength
+            layout.separator()
+            layout.prop(context.scene.kmc_props, "kalmanStrength")
+
             # activate
             layout.separator()
             layout.operator("kmc.start")
@@ -359,7 +391,16 @@ def execute(self, context):
             # init system
             initialize(context)
 
-            context.scene.k_sensor.init(1.0 / context.scene.kmc_props.fps)
+            uNoise = 5.0
+            if context.scene.kmc_props.kalmanStrength == "VeryLow" :
+                uNoise=50.0
+            elif context.scene.kmc_props.kalmanStrength == "Low" :
+                uNoise=20.0
+            elif context.scene.kmc_props.kalmanStrength == "Normal" :
+                uNoise=5.0
+            elif context.scene.kmc_props.kalmanStrength == "Strong" :
+                uNoise=1.0
+            context.scene.k_sensor.init(1.0 / context.scene.kmc_props.fps, 0.0005, uNoise)
             bpy.app.timers.register(functools.partial(captureFrame, context))
             context.scene.kmc_props.isTracking = True