Description

A tracker wich can be used for custom tracking solutions.

This tracking option supports custom trackers and sensors for a humanoid. We support two types of tracking

using a BodySkeleton
using SensorComponent

BodySkeleton

This option is most suited for full body tracking hardware. An example implementation is the PerceptionNeuron extension found in the Humanoid Control Pro edition.

For this, you need to implement a class derived from the Passer::Tracking::BodySkeleton class. For the Perception Neuron extension, this new class is Passer::Tracking::PerceptionNeuron. This class should be used for the to the CustomTracker::bodySkeleton parameter:

In the new class, you should override the Passer::Tracking::BodySkeleton::Start and Passer::Tracking::BodySkeleton::Update functions and implement the functionality to correctly start the tracking and retrieving the new body pose. This will ensure that the tracking is started and updated at the right moment. In the update function, you can asssign the tracking result to the correct tracking bones of Humanoid Control. You can retrieve the Humanoid Control TrackedBone using the BodySkeleton::GetBone function. Then you can update the position and/or the rotation of the bone.

Important: a confidence value between 0 and 1 should also be set for the bone's position and/or rotation. The default confidence is 0 and in that case, the tracking information will not be used. Next to that, the Passer::Tracking::BodySkeleton::status should reflect the current tracking status of the device.

Example of updating one bone:

protected void UpdateBone(Bone boneId) {
    TrackedBone bone = GetBone(boneId);
        if (bone == null)
            return;
 
    // Get Perception Neuron tracking information
    SensorBone neuronBone = device.GetBone(0, boneId);
 
    // Assign the tracking position
    bone.transform.position = neuronBone.position;
    // Set the position Confidence
    bone.positionConfidence = neuronBone.positionConfidence;
    
    // Assign the tracking rotation
    bone.transform.rotation = neuronBone.rotation;;
    // Set the rotation Confidence
    bone.rotationConfidence = neuronBone.rotationConfidence;
}

SensorComponents

This option is most suited for tracking devices which can be mounted on the body. An example implementation is the ViveTracker imnplementation found in the Humanoid Control Pro edition.

For this, you need to implement a class derived from the SensorComponent class. For the ViveTracker, this is the Passer::Tracking::ViveTrackerComponent. This class should be used on the Head, Hand, Hips and/or Foot Targets in the Sensor::sensorComponent parameter. Where applicable, selecting the bone in the dropdown determine to which bone the device is attached.

In the new class, you should override the SensorComponent::StartComponent and SensorComponent::UpdateComponent functions and implement the functionality to correctly start the tracking and retrieve the actual pose of the device. This will ensure that the tracking is started and updated at the right moment.

In the overridden SensorUpdate function, you should update the Transform of the SensorComponent.

Important: a confidence value between 0 and 1 should also be set for the device. The default confidence is 0 and in that case, the tracking information will not be used. Next to that, the SensorComponent::status should reflect the current tracking status of the device. Example of updating the device rotation and position:

public override void UpdateComponent() {
    if (actionPose.poseIsValid) {
        transform.localPosition = actionPose.localPosition;
        transform.localRotation = actionPose.localRotation;
    
        status = Tracker.Status.Tracking;
        positionConfidence = 0.99F;
        rotationConfidence = 0.99F;
    }
    else {
        status = Tracker.Status.Present;
        positionConfidence = 0F;
        rotationConfidence = 0F;
    }
}

Inheritance diagram for Passer.Humanoid.CustomTracker:

Public Types
enum	Status { Unavailable , Present , Tracking }
	The tracking status. More...

Public Member Functions
override void	UpdateTracker ()
	Update the tracker state.

virtual void	CheckTracker (HumanoidControl humanoid)
	Check the status of the tracker.

void	CheckTracker (HumanoidControl humanoid, TrackerGetter getTracker)
	Function to check the status of a specific tracker.

void	CheckTracker (HumanoidControl humanoid, TrackerGetter getTracker, Vector3 localPosition, Quaternion localRotation)
	Function to check the status of a specific tracker.

delegate TrackerComponent	TrackerGetter (Transform transform, Vector3 localPosition, Quaternion localRotation)
	Function delegate for retrieving the tracker.

virtual Vector3	GetBonePosition (uint actorId, FacialBone boneId)

virtual Quaternion	GetBoneRotation (uint actorId, FacialBone boneId)

virtual float	GetBoneConfidence (uint actorId, FacialBone boneId)

virtual void	StartTracker (HumanoidControl _humanoid)
	Start the tracker.

virtual void	StartTracker ()
	Optional list of SubTrackers.

virtual void	StopTracker ()
	Stop the tracker.

virtual void	ShowTracker (bool shown)
	Show or hide the Tracker renderers.

virtual void	Calibrate ()
	Calibrate the tracker.

virtual void	AdjustTracking (Vector3 positionalDelta, Quaternion rotationalDelta)
	Adjust the position of the tracker by the given delat.

Public Attributes
BodySkeleton	bodySkeleton
	A skeleton for the body.

HumanoidControl	humanoid
	The humanoid for this tracker.

bool	enabled
	Is this tracker enabled?

Status	status
	The tracking Status of the tracker.

TrackerComponent	trackerComponent
	The tracking device.

Protected Member Functions
void	UpdateBodyFromSkeleton ()

virtual void	UpdateTorso ()

virtual void	UpdateLeftArm ()

virtual void	UpdateRightArm ()

virtual void	UpdateLeftLeg ()

virtual void	UpdateRightLeg ()

Properties
override string	name `[get]`

virtual HeadSensor	headSensor `[get]`
	Get the sensor for the head.

virtual ArmSensor	leftHandSensor `[get]`
	Get the sensor for the left hand.

virtual ArmSensor	rightHandSensor `[get]`
	Get the sensor for the right hand.

virtual TorsoSensor	hipsSensor `[get]`
	Get the sensor for the hips.

virtual LegSensor	leftFootSensor `[get]`
	Get the sensor for the left foot.

virtual LegSensor	rightFootSensor `[get]`
	Get the sensor for the right foot.

virtual HumanoidSensor[]	sensors `[get]`
	The sensors for this tracker.

Member Enumeration Documentation

◆ Status

enum Passer.Tracking.Tracker.Status

inherited

The tracking status.

Enumerator
Unavailable	The tracking device is not available.
Present	The tracking device is available but not tracking.
Tracking	The tracking device is actively tracking.

Member Function Documentation

◆ UpdateTracker()

override void Passer.Humanoid.CustomTracker.UpdateTracker ( )

virtual

Update the tracker state.

Reimplemented from Passer.Tracking.Tracker.

◆ CheckTracker() [1/3]

virtual void Passer.Humanoid.HumanoidTracker.CheckTracker ( HumanoidControl humanoid )

virtualinherited

Check the status of the tracker.

Parameters

humanoid The humanoid for which the tracker needs to be checked

Reimplemented in Passer.Humanoid.LeapTracker, and Passer.Humanoid.UnityXRTracker.

◆ CheckTracker() [2/3]

void Passer.Humanoid.HumanoidTracker.CheckTracker	(	HumanoidControl	humanoid,
		TrackerGetter	getTracker
	)

inherited

Function to check the status of a specific tracker.

Parameters

humanoid	The humanoid for which the tracker needs to be checked
getTracker	Function delegate to retrieve the tracker

The default position/rotation for the tracker when created will be zero

◆ CheckTracker() [3/3]

void Passer.Humanoid.HumanoidTracker.CheckTracker	(	HumanoidControl	humanoid,
		TrackerGetter	getTracker,
		Vector3	localPosition,
		Quaternion	localRotation
	)

inherited

Function to check the status of a specific tracker.

Parameters

humanoid	The humanoid for which the tracker needs to be checked
getTracker	Function delegate to retrieve the tracker
localPosition	The default local position of the tracker
localRotation	The default local rotation of the tracker

◆ TrackerGetter()

delegate TrackerComponent Passer.Humanoid.HumanoidTracker.TrackerGetter	(	Transform	transform,
		Vector3	localPosition,
		Quaternion	localRotation
	)

inherited

Function delegate for retrieving the tracker.

Parameters

transform	The root transform to start the searching of the tracker
localPosition	The default local position of the tracker
localRotation	The default local rotation of the tracker

Returns: The tracker component found or created

The default position/rotation is relative to the humanoid's real world.

◆ StartTracker() [1/2]

virtual void Passer.Humanoid.HumanoidTracker.StartTracker ( HumanoidControl _humanoid )

virtualinherited

Start the tracker.

Reimplemented in Passer.Humanoid.LeapTracker, and Passer.Humanoid.UnityXRTracker.

◆ StartTracker() [2/2]

virtual void Passer.Tracking.Tracker.StartTracker ( )

virtualinherited

Optional list of SubTrackers.

Start the tracker

◆ StopTracker()

virtual void Passer.Tracking.Tracker.StopTracker ( )

virtualinherited

Stop the tracker.

Reimplemented in Passer.Humanoid.LeapTracker.

◆ ShowTracker()

virtual void Passer.Tracking.Tracker.ShowTracker ( bool shown )

virtualinherited

Show or hide the Tracker renderers.

Parameters

shown Renderers are enabled when shown == true

◆ Calibrate()

virtual void Passer.Tracking.Tracker.Calibrate ( )

virtualinherited

Calibrate the tracker.

Reimplemented in Passer.Humanoid.UnityXRTracker.

◆ AdjustTracking()

virtual void Passer.Tracking.Tracker.AdjustTracking	(	Vector3	positionalDelta,
		Quaternion	rotationalDelta
	)

virtualinherited

Adjust the position of the tracker by the given delat.

Parameters

positionalDelta	The positional delta to apply
rotationalDelta	The rotational delta to apply

Member Data Documentation

◆ bodySkeleton

BodySkeleton Passer.Humanoid.CustomTracker.bodySkeleton

A skeleton for the body.

When this is set, the tracking will be taken from this skeleton

Property Documentation

◆ name

override string Passer.Humanoid.CustomTracker.name

get