Spine Yaw Compensation to keep spine trackers from drifting #1243

jabberrock · 2024-11-16T20:15:06Z

Prevents the spine trackers from drifting, by nudging them to stay aligned to the headset.

Players are usually standing facing forwards or walking forwards, where the spine trackers are aligned to the yaw of the headset. However due to yaw drift, the spine trackers will eventually rotate to the side, requiring a reset. This feature adds a small centering rotation to compensate for the yaw drift. (For now, this compensation only activates when your trackers are pointing "up", e.g. when you're standing or sitting straight up.)

The correction amount should be approximately the maximum yaw drift of your gyroscope (0.3 degrees/sec is a good default).

Eirenliel · 2024-11-16T21:03:21Z

Please rebase SolarXR, it was merged.

Eirenliel · 2024-11-16T21:06:55Z

I think this can be enabled for legs too since it only works when standing up! Ideally, the setting would be part of Drift compensation setting that's now with 3 selectors: Off, Static/Simple (Old one), Dynamic/Advanced (this one). Then for this to have a setting of compensation speed, maybe a slider in 0.05deg/min intervals, and a selector for which parts to apply it: Upper body, Legs, Arms, Feet. There also needs to be an infomation that Dynamic only works with HMD and Static can work without it.

But this can be merged after review already, and settings can be added in the future. Very excited to RC this!

jabberrock · 2024-11-16T21:39:33Z

@Eirenliel thanks taking a look! Definitely can look into putting this into the drift compensation setting later. (Or do you think I should just update it now?)

If this works well, I was going to add alignment between upper leg and lower leg. Maybe even foot?

But I'm not sure if upper leg can be aligned to the spine. For example, when I stand straight, I notice that my legs are twisted slightly away from my body. I was thinking maybe "balancing" the left and right legs so that they're at the same angle away from the spine...

Eirenliel · 2024-11-16T22:27:15Z

If this works well, I was going to add alignment between upper leg and lower leg. Maybe even foot?

Upper and lower leg should have the same yaw, so they're already averaged.

But I'm not sure if upper leg can be aligned to the spine. For example, when I stand straight, I notice that my legs are twisted slightly away from my body. I was thinking maybe "balancing" the left and right legs so that they're at the same angle away from the spine...

It shouldn't matter if you reset the same way too. Also since it's a setting people can turn it off if it doesn't work for them and we can improve it in the future.

(Or do you think I should just update it now?)

If you want, we're not merging util Monday anyway.

Also pelase fix build errors (lint)

Eirenliel · 2024-11-17T01:23:23Z

This needs to be Beta'd before it can be merged.

jabberrock · 2024-11-18T23:27:48Z

@Eirenliel How do I get the build system to rebuild, and how does the beta process work? Sorry, it's my first PR. Thanks!

Erimelowo · 2024-11-18T23:32:50Z

Since you're a first-time contributor, someone else needs to add their approval for the CI to run.

jabberrock · 2024-11-18T23:33:56Z

Sigh oops I didn't realize there was a Java linter too

Eirenliel · 2024-11-18T23:36:38Z

For Beta you need to create a post in beta-testing-forum on Discord! If you can't, ask some contributors

server/core/src/main/java/dev/slimevr/config/YawCorrectionConfig.kt

server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/HumanSkeleton.kt

server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt

jabberrock · 2024-11-25T22:06:12Z

@ButterscotchV , I remember you said I should move the Tracker.yawCorrectionInRad into TrackerResetHandler right?

ButterscotchV · 2024-11-25T22:16:07Z

@ButterscotchV , I remember you said I should move the Tracker.yawCorrectionInRad into TrackerResetHandler right?

Probably should go there, yeah. The definitions of these things are kinda mangle together, but most of the drift corrective type stuff is around there.
Also maybe some of the code from this PR could be moved out of the HumanSkeleton class, as it's largely unrelated besides using the trackers from there?

jabberrock · 2024-11-25T22:46:59Z

I realized in SolarXR I named it yawCorrection, so I'm going to rename this whole feature "Spine Yaw Correction" for consistency. I updated the names to match.

jabberrock · 2024-11-25T23:14:51Z

Additional changes:

Extracted algorithm into SpineYawCorrection class
Moved applying the yaw correction rotation into TrackerResetsHandler
Renamed all references of "compensation" to "correction"

jabberrock · 2024-11-25T23:17:45Z

Freshly tested:

When not enabled, no yaw correction happens
When enabled, and chest & hip trackers are pointing forward, yaw correction happens
When chest tracker is pointing forward, but hip tracker is pointing up, no yaw correction happens

server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/SpineYawCorrection.kt

…rs aligned

jabberrock · 2024-11-26T00:50:55Z

@Erimelowo , could you take another look? Thanks!

@Eirenliel, it looks like the general sentiment of the beta is positive. Most people have been testing v2 and v3, which is a more sophisticated version of this change. Would it be reasonable to merge this?

…ensation

ButterscotchV

I've tested with the recommended changes and it seems to work as intended. I had weird results from AutoBone, but I still don't really know whether it's this PR causing it.

ButterscotchV · 2024-11-30T07:58:54Z

server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/SpineYawCorrection.kt

+	}
+
+	private fun updateTrackers(trackers: List<Tracker>) {
+		for ((parentTracker, tracker) in trackers.zipWithNext()) {


zipWithNext() initializes a list every time it's called, this should probably just be moved into the initialization of upperBodyTrackers.

ButterscotchV · 2024-11-30T07:59:06Z

server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/SpineYawCorrection.kt

+	}
+
+	companion object {
+		private fun filterImuTrackers(vararg trackers: Tracker?): List<Tracker> = trackers.filterNotNull().filter { it.isImu() }.toList()


Non-IMU trackers should not be filtered, they should be used for reference but not adjusted.

Actually, this probably shouldn't filter null trackers either? I'm not sure you would want to correct a hip tracker with the head tracker when every other tracker is missing. If this is intended behaviour then that is fine.

ButterscotchV · 2024-11-30T08:02:45Z

gui/src/components/settings/pages/GeneralSettings.tsx

+  const degreeFormat = new Intl.NumberFormat(currentLocales, {
+    style: 'unit',
+    unit: 'degree',
+  });


We should maybe use our translation framework? Idk about this

@ImUrX Can I get your feedback on this 🐱

its fine, i discovered a better integrated way on Fluent recently but for now this is how we been doing it, and if its per second you can do degree-per-second for the unit

ButterscotchV · 2024-11-30T08:03:08Z

gui/src/components/settings/pages/GeneralSettings.tsx

+                <NumberSelector
+                  control={control}
+                  name="yawCorrectionSettings.amountInDegPerSec"
+                  valueLabelFormat={(value) => degreeFormat.format(value)}


This label should say in degrees per second, not just degrees. It is confusing as it is.

See #1243 (comment)

jabberrock requested review from ButterscotchV, Eirenliel, Erimelowo, ImUrX and loucass003 as code owners November 16, 2024 20:15

jabberrock force-pushed the jabber-spine-yaw-compensation branch from 8cb2d68 to 99c15ec Compare November 16, 2024 20:17

jabberrock force-pushed the jabber-spine-yaw-compensation branch from 99c15ec to 4d632d3 Compare November 16, 2024 21:35

Erimelowo requested changes Nov 18, 2024

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jabberrock mentioned this pull request Nov 19, 2024

[Spine Yaw Compensation] Add enabled field to settings SlimeVR/SolarXR-Protocol#155

Merged

ImUrX added the Type: Enhancement Adds or improves a feature label Nov 19, 2024

jabberrock requested a review from Erimelowo November 19, 2024 20:55

ButterscotchV requested changes Nov 25, 2024

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jabberrock force-pushed the jabber-spine-yaw-compensation branch from ec55b86 to 7f7da7e Compare November 25, 2024 23:10

github-actions bot added the Area: GUI Related to the GUI label Nov 25, 2024

jabberrock requested a review from ButterscotchV November 25, 2024 23:17

ButterscotchV requested changes Nov 25, 2024

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server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/SpineYawCorrection.kt Outdated Show resolved Hide resolved

jabberrock requested a review from ButterscotchV November 26, 2024 00:10

ButterscotchV approved these changes Nov 26, 2024

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jabberrock added 4 commits November 25, 2024 16:39

[Spine Yaw Compensation] Add small yaw rotations to keep spine tracke…

2d7bcc9

…rs aligned

Remove unused variable

aff2ede

Update solarxr-protocol

7021be5

Update SpineYawCorrection trackers when trackers change

69ac737

jabberrock force-pushed the jabber-spine-yaw-compensation branch from c4d131b to 69ac737 Compare November 26, 2024 00:39

Merge remote-tracking branch 'origin/main' into jabber-spine-yaw-comp…

9405f5d

…ensation

ButterscotchV requested changes Nov 30, 2024

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Erimelowo mentioned this pull request Nov 30, 2024

Add a simple but very useful feature #1252

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ButterscotchV mentioned this pull request Dec 8, 2024

Release v0.14.0 #1258

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Spine Yaw Compensation to keep spine trackers from drifting #1243

Spine Yaw Compensation to keep spine trackers from drifting #1243

jabberrock commented Nov 16, 2024 •

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Spine Yaw Compensation to keep spine trackers from drifting #1243

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Spine Yaw Compensation to keep spine trackers from drifting #1243

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jabberrock commented Nov 16, 2024 •

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