Minor Cleanup

Assets/Scripts/ViconNexusUnityStream/CustomHandScript.cs

@@ -1,4 +1,5 @@
-using System.Collections.Generic;
+using System;
+using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
 using UnityEngine.XR.Hands;
@@ -96,7 +97,6 @@ public class CustomHandScript : CustomSubjectScript
 
         protected Dictionary<string, string> segmentChild;
         protected Dictionary<string, string> segmentParents;
-        protected Dictionary<string, List<string>> fingerSegments;
 
         protected Dictionary<string, XRHandJointID> segmentToJointMapping;
         protected Dictionary<XRHandJointID, Pose> xrJointPoses;
@@ -242,7 +242,7 @@ protected override void Start()
                 {    segment_5D4, new List<string>(){marker_PF3}}
             };
 
-            fingerSegments = new Dictionary<string, List<string>>()
+            new Dictionary<string, List<string>>()
             {
                 {finger_1, new List<string>{segment_1D1, segment_1D2, segment_1D3, segment_1D4}},
                 {finger_2, new List<string>{segment_2D1, segment_2D2, segment_2D3, segment_2D4}},
@@ -373,21 +373,21 @@ protected override Dictionary<string, Vector3> ProcessSegments(Dictionary<string
             {
                 var p1 = data.position[marker_TH3P];
                 var p2 = data.position[marker_TH3];
-                Vector3 p1Position = new Vector3(p1[0], p1[2], p1[1]);
-                Vector3 p2Position = new Vector3(p2[0], p2[2], p2[1]);
+                Vector3 p1Position = new(p1[0], p1[2], p1[1]);
+                Vector3 p2Position = new(p2[0], p2[2], p2[1]);
 
                 /// If one of the datapoints is missing, use the previous values, do this by not modifying the baseVectors
                 if (p1[0] != 0 || p2[0] != 0)
                 {
                     /// Ensure p1 and p2 are not switched, as it can happen when accuracy is low
                     /// PalmBase's Transform.up should be pointing into the palm.
                     /// This is based on the assumption that the RTH3P->RTH3 vector, relative to
-                    /// PlamBase.up will be negative (pointing up from palm)
+                    /// PalmBase.up will be negative (pointing up from palm)
 
                     Vector3 p1p2Vector = p2Position - p1Position;
-                    float dotPrduct = Vector3.Dot(p1p2Vector, isRightHand() ? normal : -normal);
+                    float dotProduct = Vector3.Dot(p1p2Vector, isRightHand() ? normal : -normal);
 
-                    if (dotPrduct < 0)
+                    if (dotProduct < 0)
                     {
                         p1p2Vector = -p1p2Vector;
                     }
@@ -433,14 +433,14 @@ private Vector3 FillWithRelativeAdjacent(string boneName, Dictionary<string, Vec
 
             string fingerId = boneName.Substring(0, 2);
 
-            string childName, parentName; // Thisrd wheel being the other segment of the 4 segments in the finger
+            string childName, parentName; // Third wheel being the other segment of the 4 segments in the finger
             Vector3 childPos, parentPos, childPosPrevious, parentPosPrevious, segmentPosPrevious;
             segmentChild.TryGetValue(boneName, out childName);
             segmentParents.TryGetValue(boneName, out parentName);
 
-            if (previousSegments.ContainsKey(boneName))
+            if (previousSegments.TryGetValue(boneName, out Vector3 segment))
             {
-                segmentPosPrevious = previousSegments[boneName];
+                segmentPosPrevious = segment;
                 if (segmentPosPrevious == Vector3.zero)
                 {
                     return Vector3.zero;
@@ -591,6 +591,8 @@ protected override void ApplyBoneTransform(Transform Bone)
             if (Bone.name == segment_Hand)
                 handWorldToLocalMatrix = Bone.worldToLocalMatrix;
         }
+
+
 
         /// <inheritdoc />
         protected override void FindAndTransform(Transform iTransform, string BoneName)
@@ -602,7 +604,7 @@ protected override void FindAndTransform(Transform iTransform, string BoneName)
             xrJointPoses.Clear();
             base.FindAndTransform(iTransform, BoneName);
 
-            ViconXRLoader.TrySetHandSbsystemData(handedness, xrJointPoses);
+            ViconXRLoader.TrySetHandSubsystemData(handedness, xrJointPoses);
         }
 
         protected override bool TestSegmentsQuality(Dictionary<string, Vector3> segments)

Assets/Scripts/ViconNexusUnityStream/CustomSubjectScript.cs

@@ -213,7 +213,9 @@ protected virtual string ConstructFinalWriterString()
                 "}";
         }
         #endregion
-
+
+
+        //TO DO: Removed the rawData parameter. It might break things in future
         void ProcessData(Data data)
         {
             //rawData = text;

Assets/Scripts/ViconNexusUnityStream/SubjectDataManager.cs

@@ -40,7 +40,6 @@ public bool UseDefaultData
     /// </summary>
     public bool EnableWriteData { get => enableWriteData; set => enableWriteData = value; }
     public Dictionary<string, Data> StreamedData => streamedData;
-    public Dictionary<string, string> StreamedRawData => rawData;
     public IViconClient ViconClient => viconClient;
 
     [SerializeField] private ClientConfigArgs clientConfig;
@@ -98,8 +97,6 @@ private void Update()
             {
                 streamedData[subject] = viconPositionData;
             }
-            //Debug.Log(streamedData[subject].position["base1"][0]);
-
         }
     }
 
@@ -168,7 +165,6 @@ private void ConnectClient()
             viconClient.ConnectClient(baseURI);
             Thread.Sleep(200);
         }
-        print($"Connected. Retiming Client:{clientConfig.useLightweightData}");
 
         if (clientConfig.useLightweightData)
         {
@@ -179,7 +175,6 @@ private void ConnectClient()
         viconClient.SetAxisMapping(Direction.Forward, Direction.Left, Direction.Up);
         ConnectionHandler( true);
         viconClient.EnableMarkerData();
-        //Debug.Log("Marker Data Status: " + viconClient.IsMarkerDataEnabled().Enabled);
         isConnectionThreadRunning = false;
     }
 
@@ -189,53 +184,17 @@ private Dictionary<string, List<float>> ProcessData(string subject, uint markerC
         for(uint i = 0; i < markerCount; i++)
         {
             string markerName = viconClient.GetMarkerName(subject, i).MarkerName;
-             var globalTranslation = viconClient.GetMarkerGlobalTranslation(subject, markerName);
-             // if (globalTranslation.Result != Result.Success)
-             // {
-             //     Debug.LogWarning("Failed");
-             // }
+            Output_GetMarkerGlobalTranslation globalTranslation = viconClient.GetMarkerGlobalTranslation(subject, markerName);
             markerPositionsDict[markerName] = new List<float>()
             {
                 (float)globalTranslation.Translation[0],
                 (float)globalTranslation.Translation[1],
                 (float)globalTranslation.Translation[2]
             };
-            //Debug.Log($"{markerName}: {globalTranslation.Translation[0]}");
         }
-
         return markerPositionsDict;
     }
 
-    private void ProcessData(string subject, string segmentName)
-    {
-        double[] translationData = viconClient.GetSegmentLocalTranslation(subject, segmentName).Translation;
-        double[] orientationData = viconClient.GetSegmentLocalRotationQuaternion(subject, segmentName).Rotation;
-        FusionService.Quat viconOrientation = new(orientationData[0], orientationData[1], orientationData[2], orientationData[3]);
-        FusionService.Vec viconTranslation = new(translationData[0], translationData[1], translationData[2]);
-        FusionService.Pose posData = FusionService.GetMappedVicon(viconOrientation, viconTranslation);
-        List<float> positionData = new()
-            {(float)posData.Position.X, (float)posData.Position.Y, (float)posData.Position.Z};
-        Output_GetSegmentChildCount childCount = viconClient.GetSegmentChildCount(subject, segmentName);
-        streamedData[subject].position[segmentName] = positionData;
-        if(childCount.SegmentCount <= 0) return;
-        for (uint i = 0; i < childCount.SegmentCount; i++)
-        {
-            Output_GetSegmentChildName childSegment = viconClient.GetSegmentChildName(subject, segmentName, i);
-            ProcessData(subject, childSegment.SegmentName);
-        }
-    }
-
-    private void ProcessChildData(string subject, string segmentName)
-    {
-
-
-        coordinateUtils.Create();
-        //HMDUtils.FusionService.Pose ViconInHMD = FusionService.GetMappedVicon(ViconOrientation, translationData);
-
-
-
-    }
-
     /// <summary>
     /// Disable connection 
     /// </summary>

Assets/Scripts/ViconNexusUnityStream/XRSubsystem/ViconHandProvider.cs

@@ -175,6 +175,7 @@ protected bool UpdateJointData(Handedness handedness, NativeArray<XRHandJoint> h
 
                 if (handPoseCache.TryGetValue(jointID, out Pose pose))
                 {
+
                     if (recompute)
                     {
                         pose.rotation = Quaternion.LookRotation(pose.up, -pose.forward);  // Accounting for the different coordinate system used.

Assets/Scripts/ViconNexusUnityStream/XRSubsystem/ViconXRLoader.cs

@@ -125,7 +125,7 @@ internal static void Initialize()
         /// <summary>
         /// Set hand subsystem data.
         /// </summary>
-        public static void TrySetHandSbsystemData(Handedness handedness, Dictionary<XRHandJointID, Pose> poses)
+        public static void TrySetHandSubsystemData(Handedness handedness, Dictionary<XRHandJointID, Pose> poses)
         {
             if (loader != null)
             {