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d/psvr: Use the simple 3dof imu filter

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This commit is contained in:
Jakob Bornecrantz 2020-04-17 19:28:03 +01:00
parent d81b3797ba
commit 01c479468c
2 changed files with 12 additions and 20 deletions
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1
doc/changes/drivers/mr.282.md Normal file
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@ -0,0 +1 @@
psvr: Use a better 3dof fusion for the PSVR when no tracking is available.

31
src/xrt/drivers/psvr/psvr_device.c
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@ -24,7 +24,7 @@
#include "util/u_device.h"
#include "util/u_distortion_mesh.h"
#include "tracking/t_imu.h"
#include "math/m_imu_3dof.h"
#include <math.h>
#include <stdio.h>
@ -128,8 +128,8 @@ struct psvr_device
bool control;
} gui;
#if 0
struct imu_fusion *fusion;
#if 1
struct m_imu_3dof fusion;
#else
struct
{
@ -320,14 +320,9 @@ update_fusion(struct psvr_device *psvr,
} else {
float delta_secs = tick_delta / PSVR_TICKS_PER_SECOND;
#if 0
struct xrt_vec3 ident = {0.0f, 1.0f, 0.0f};
struct xrt_vec3 var1 = {0};
struct xrt_vec3 var2 = {0};
imu_fusion_incorporate_gyros_and_accelerometer(
psvr->fusion, delta_secs, &psvr->read.gyro, &var1,
&psvr->read.accel, 0.0f, &ident, &var2);
#if 1
m_imu_3dof_update(&psvr->fusion, delta_secs, &psvr->read.accel,
&psvr->read.gyro);
#else
math_quat_integrate_velocity(&psvr->fusion.rot,
&psvr->read.gyro, delta_secs,
@ -892,6 +887,9 @@ teardown(struct psvr_device *psvr)
hid_close(psvr->hmd_handle);
psvr->hmd_handle = NULL;
}
// Destroy the fusion.
m_imu_3dof_close(&psvr->fusion);
}
@ -933,14 +931,7 @@ psvr_device_get_tracked_pose(struct xrt_device *xdev,
// We have no tracking, don't return a position.
if (psvr->tracker == NULL) {
#if 0
struct xrt_vec3 ang_vel = {0};
imu_fusion_get_prediction(psvr->fusion, 0.0f,
&out_relation->pose.orientation,
&ang_vel);
#else
out_relation->pose.orientation = psvr->fusion.rot;
#endif
out_relation->relation_flags = (enum xrt_space_relation_flags)(
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
@ -1039,8 +1030,8 @@ psvr_device_create(struct hid_device_info *hmd_handle_info,
u_distortion_mesh_from_panotools(&vals, &vals, psvr->base.hmd);
}
#if 0
psvr->fusion = imu_fusion_create();
#if 1
m_imu_3dof_init(&psvr->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
#else
psvr->fusion.rot.w = 1.0f;
#endif