To display IK i've been trying to decide between Java3D(old and no longer supported or developed), JavaFX (new engine from Oracle), & WebGL + Three.js - Looking around I found this ! (wow - very nice !)
More interesting WebGL IK Information - http://www.kadrmasconcepts.com/blog/tag/webgl/
Another one from the same author - http://www.akjava.com/demo/poseeditor/
Step 2: Get the data
We need detailed information regarding InMoov so we can use it in Inverse Kinematics & Forward Kinematics.
Hopefully Gael will be able to provide us with information too. First this will be driving a mathmatical model of the InMoov - then we will be able to choose a point in space and have InMoov grab at that location.
After we find the mathmatical model working and behaving correctly, we can continue to add software to visualize the model. This will be InMoov image of himself ;) It would be a very big leap to be able to have simulations and emulations with or without hardware.
In trying to solve the problem - the first step is defining the problem.
Step 1: The Problem
Sketchup Fixed: - now to find the "CORRECT ANSWER" and work backwards :)
|The image to the left looks like the values could be "correct"|
|But once the arms travel past the 90 degree yz point - i think the omoplates go to 180|
Had to do a lot of refactoring. OpenNI service and SimpleOpenNI had a lot of problems, and the data it created was not very easy to extend. Now it operates very similarly to the OpenCV service in that an OpenNIData object is created for each frame and reference to the rgb, depth, and ir images are all in there. This will make it easier to pass data from OpenNI into OpenCV.
Now we can save out a single frame too with the calculated angles, xyz positions too. This frame I said "save frame" - and the small script we have will save it without the need of using a keyboard. As it looks now XY is omoplate - left is currently at 9 and right is 4.. InMoov shoulders are tied to YZ - now 81 for left and 94 for right.
Wayne and I are trying to get the math & joints working correctly and accurately.
To that end we are starting a diagnostic script which we will develop to analyze math and verify angles and measurements.
Link to script :
Input from anyone is welcome ! Remember Math can be FUN !!!