monado/src/xrt/drivers/wmr/wmr_config.h

/* Copyright 2021 Jan Schmidt
 * SPDX-License-Identifier: BSL-1.0
 */
/*!
 * @file
 * @brief	WMR and MS HoloLens configuration structures
 * @author Jan Schmidt <jan@centricular.com>
 * @ingroup drv_wmr
 */

#pragma once

#include "math/m_vec2.h"
#include "util/u_logging.h"

/* Increase this number if anyone releases a headset with
 * more cameras */
#define WMR_MAX_CAMERAS 4

#ifdef __cplusplus
extern "C" {
#endif

enum wmr_distortion_model
{
	WMR_DISTORTION_MODEL_UNKNOWN = 0,
	WMR_DISTORTION_MODEL_POLYNOMIAL_3K,
	WMR_DISTORTION_MODEL_POLYNOMIAL_6KT,
};

/* Location is used as camera_id for setting gain */
enum wmr_camera_location
{
	WMR_CAMERA_LOCATION_HT0 = 0,
	WMR_CAMERA_LOCATION_HT1 = 1,
	WMR_CAMERA_LOCATION_DO0 = 2,
	WMR_CAMERA_LOCATION_DO1 = 3,
	WMR_CAMERA_LOCATION_HT2 = 4,
	WMR_CAMERA_LOCATION_HT3 = 5,
};

enum wmr_camera_purpose
{
	WMR_CAMERA_PURPOSE_HEAD_TRACKING,
	WMR_CAMERA_PURPOSE_DISPLAY_OBSERVER,
};

struct wmr_distortion_3K
{
	enum wmr_distortion_model model;

	/* X/Y center of the distortion (pixels) */
	struct xrt_vec2 eye_center;
	/* k1,k2,k3 params for radial distortion as
	 * per the radial distortion model in
	 * https://docs.opencv.org/master/d9/d0c/group__calib3d.html */
	double k[3];
};

struct wmr_distortion_6KT
{
	enum wmr_distortion_model model;

	/* The config provides 15 float values: */
	union {
		struct
		{
			float cx, cy;         /* Principal point */
			float fx, fy;         /* Focal length */
			float k[6];           /* Radial distortion coefficients */
			float dist_x, dist_y; /* Center of distortion */
			float p2, p1;         /* Tangential distortion parameters */
			float metric_radius;  /* Metric radius */
		} params;
		float v[15];
	};
};

struct wmr_distortion_eye_config
{
	/* 3x3 camera matrix that moves from normalised camera coords (X/Z & Y/Z) to undistorted pixels */
	struct xrt_matrix_3x3 affine_xform;
	/* Eye pose in world space */
	struct xrt_pose pose;
	/* Radius of the (undistorted) visible area from the center (pixels) (I think) */
	double visible_radius;

	/* Width, Height (pixels) of the full display */
	struct xrt_vec2 display_size;
	/* Center for the eye viewport visibility (pixels) */
	struct xrt_vec2 visible_center;

	/* RGB distortion params */
	struct wmr_distortion_3K distortion3K[3];
};

struct wmr_camera_config
{
	enum wmr_camera_location location;
	enum wmr_camera_purpose purpose;

	int sensor_width, sensor_height;
	struct xrt_pose pose;

	struct wmr_distortion_6KT distortion6KT;
};

struct wmr_hmd_config
{
	/* Left and Right eye mapping and distortion params */
	struct wmr_distortion_eye_config eye_params[2];

	struct xrt_pose accel_pose;
	struct xrt_pose gyro_pose;
	struct xrt_pose mag_pose;

	int n_cameras;
	struct wmr_camera_config cameras[WMR_MAX_CAMERAS];
};

bool
wmr_hmd_config_parse(struct wmr_hmd_config *c, char *json_string, enum u_logging_level log_level);


struct wmr_bt_controller_config
{
	/* Todo: still work in progress */
	struct xrt_pose accel_pose;
	struct xrt_pose gyro_pose;
	struct xrt_pose mag_pose;
};

/* Todo: Extract and parse motion controller config. */



#ifdef __cplusplus
}
#endif