Differences

This shows you the differences between two versions of the page.

--- visual3d:documentation:third-party:xsens:xsens_prop [2024/07/17 15:43] – removed sgranger
+++ visual3d:documentation:third-party:xsens:xsens_prop [2024/07/17 15:46] (current) – created sgranger
@@ Line 1: / Line 1: @@
+====== XSens Prop ======
+===== Introduction =====
+\\
+Visual3Dv2020.## supports reading MVNX files with one prop sensor. The sensor will be loaded automatically as a segment (ex. PR1). If more props are required to process your data, please contact C-Motion. **When using an Xsens prop in Visual3D, all information is loaded automatically and no further steps are required.**\\
+\\
+You can however choose to load a graphics object or adjust the location of the prop segment. **This wiki page will explain the steps in the pipeline so that you can modify the script for your own data.**\\
+==== Sample Data ====
+**[[https://www.has-motion.com/download/examples/Xsens/Xsens_Prop_Example.zip|Sample data can be downloaded here]].**
+  - Save the sword.obj file in your [[Visual3D:Tutorials:Modeling:Fun_With_Graphics#Finding_your_Graphics_Folder|Models folder]]
+  - Open the MVNX file:
+    - File -> Open
+    - Browse for MVNX file
+      - Notice all the information for the prop signal is loaded and the segment coordinate system is displayed in the 3D viewer
+  - Run the pipeline:
+    - Pipeline -> Workshop
+    - Open Pipeline
+    - Browse for Sword.v3s
+    - Execute Pipeline
+**The pipeline will:**
+  * Adjust the position of the prop so that it is fixed to the center of mass of the hand
+  * Load the sword graphic object
+  * Color the sword red
+==== Segment Properties ====
+The graphics object and kinetic segment properties can be defined using the Segment Properties command. In this example, the sword graphic object is being associated with the prop:
+<code>
+Set_Segment_Properties
+/CALIBRATION_FILE=
+/SEGMENT_NAME=PR1
+! /KINEMATIC_ONLY=
+! /MASS=
+! /CG_FROM_PROX_AXIAL=
+! /CG_FROM_PROX_ML=
+! /CG_FROM_PROX_AP=
+! /INERTIA_XX=
+! /INERTIA_YY=
+! /INERTIA_ZZ=
+! /AP_DIRECTION=
+! /AXIAL_DIRECTION=
+/MODEL_FILE=sword.obj
+! /MATERIAL_FILE=
+! /GRAPHICS_ROT_X=
+! /GRAPHICS_ROT_Y=
+! /GRAPHICS_ROT_Z=
+/GRAPHICS_SCALE_X=2.5
+/GRAPHICS_SCALE_Y=2.5
+/GRAPHICS_SCALE_Z=2.5
+! /GRAPHICS_TRANSLATE_X=
+! /GRAPHICS_TRANSLATE_Y=
+! /GRAPHICS_TRANSLATE_Z=
+;
+</code>
+=== Graphics Object ===
+In Visual3D graphics objects are just for visual affect and can be adjusted as needed. [[Visual3D:Tutorials:Modeling:Fun_With_Graphics|Graphics objects are described here, which will also explain how to store the graphics object in the correct location on your computer]].
+=== Kinetic Properties ===
+Set the segment to kinetic (/KINMEATIC_ONLY=FALSE), set the segment mass, and inertial properties. These settings will be specific to whatever your prop segment represents.
+==== Adjusted Position ====
+**A.** By default, Visual3D uses the position data from the MVNX file. In this example, you will notice that the hand and the sword are close at Frame 1.\\
+**B.** However, at the end of the file there is an offset between the the sword and the hand segment.\\
+**C.** By overwriting the sword position with the hand center of gravity signal, the sword position is then moved to the hand, which may be a more realistic location since the prop is in the person's hand.\\
+|  __**A. Frame 1:**__\\ \\ {{:Xsens_PropPos_Frame1.png}}  |  __**B. Last Frame:**__\\ \\ {{:Xsens_PropPos_FrameLast.png}}  |  __**C. Last Frame Adjusted:**__\\ \\ {{:Xsens_PropPos_FrameLastAdjusted.png}}  |
+The position data for the prop is stored in BODY::ORIGINAL::PR1_POS. By storing data in BODY::PROCESSED::PR1_POS, the processed signal will be used instead. An example of using the hand center of gravity instead of the data original signal would be:
+<code>
+Evaluate_Expression
+/EXPRESSION=KINETIC_KINEMATIC::RHA::CGPOS
+! /SIGNAL_TYPES=
+! /SIGNAL_FOLDER=ORIGINAL
+! /SIGNAL_NAMES=
+/RESULT_TYPES=BODY
+ /RESULT_FOLDERS=PROCESSED
+ /RESULT_NAME=PR1_POS
+! /APPLY_AS_SUFFIX_TO_SIGNAL_NAME=FALSE
+;
+</code>
+==== Adjust Graphics Object Color within Visual3D ====
+This step would be done just for graphics. Typically an OBJ file has a corresponding MTL file which contains the color information. However, you can also add color to a segment graphic in Visual3D using the [[Visual3D:Documentation:Pipeline:Other_Commands:Map_Object_Color_to_Signal_Value|Map_Object_Color_to_Signal_Value]] command. The example below colors the sword graphic red:
+<code>
+Map_Object_Color_to_Signal_Value
+/OBJECT_NAME=PR1
+/SIGNAL_TYPES=KINETIC_KINEMATIC
+/SIGNAL_FOLDER=PR1
+/SIGNAL_NAMES=CGPOS
+! /COMPONENT_SEQUENCE=X
+/MIN_COLORS=RED
+/INNER_COLORS=RED
+/MAX_COLORS=RED
+! /INNER_COLOR_INDEX=127
+/MAX_COLOR_INDEX=256
+/MIN_VALUES=0
+/MAX_VALUES=200
+! /REMOVE_EXISTING_COLORIZATIONS=FALSE
+! /COLOR_MAP_FILE_NAMES=
+! /COLOR_MAP_FILES=
+;
+</code>