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--- visual3d:documentation:partners:xsens:xsens_prop [2024/06/19 12:49] – sgranger
+++ visual3d:documentation:partners:xsens:xsens_prop [2024/07/12 13:29] (current) – removed sgranger
@@ Line 1: / Line 1: @@
-{{{{{{====== 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>
-}}}}}}