mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2025-01-29 18:08:29 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

d/ns: Add version 2 config support

Browse source
This commit is contained in:
Moses Turner 2020-09-07 10:14:17 +00:00 committed by Jakob Bornecrantz
parent ea6374d296
commit 0ff1865c2e
6 changed files with 495 additions and 54 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

6
src/xrt/drivers/north_star/distortion/deformation_northstar.cpp
View file

@ -20,7 +20,7 @@ OpticalSystem::OpticalSystem(const OpticalSystem &_in)
}
void
OpticalSystem::LoadOpticalData(struct ns_eye *eye)
OpticalSystem::LoadOpticalData(struct ns_v1_eye *eye)
{
ellipseMinorAxis = eye->ellipse_minor_axis;
@ -294,7 +294,7 @@ OpticalSystem::DisplayUVToRenderUVPreviousSeed(Vector2 inputUV)
extern "C" struct ns_optical_system *
ns_create_optical_system(struct ns_eye *eye)
ns_create_optical_system(struct ns_v1_eye *eye)
{
OpticalSystem *opticalSystem = new OpticalSystem();
opticalSystem->LoadOpticalData(eye);
@ -306,7 +306,7 @@ ns_create_optical_system(struct ns_eye *eye)
extern "C" void
ns_display_uv_to_render_uv(struct ns_uv in,
struct ns_uv *out,
struct ns_eye *eye)
struct ns_v1_eye *eye)
{
OpticalSystem *opticalSystem = (OpticalSystem *)eye->optical_system;
Vector2 inUV = Vector2(in.u, 1.f - in.v);

2
src/xrt/drivers/north_star/distortion/deformation_northstar.h
View file

@ -17,7 +17,7 @@ public:
OpticalSystem(const OpticalSystem &_in);
void
LoadOpticalData(struct ns_eye *eye);
LoadOpticalData(struct ns_v1_eye *eye);
Vector3
GetEyePosition()

346
src/xrt/drivers/north_star/ns_hmd.c
View file

@ -1,11 +1,13 @@
// Copyright 2020, Collabora, Ltd.
// Copyright 2020, Nova King.
// Copyright 2020, Moses Turner.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief North Star HMD code.
* @author Nova King <technobaboo@gmail.com>
* @author Jakob Bornecrantz <jakob@collabora.com>
* @author Moses Turner <mosesturner@protonmail.com>
* @ingroup drv_ns
*/
@ -35,7 +37,7 @@
/*
*
* Functions
* Common functions
*
*/
@ -60,6 +62,12 @@ ns_hmd_update_inputs(struct xrt_device *xdev)
}
}
/*
*
* V1 functions
*
*/
static void
ns_hmd_get_tracked_pose(struct xrt_device *xdev,
enum xrt_input_name name,
@ -99,13 +107,13 @@ ns_hmd_get_view_pose(struct xrt_device *xdev,
struct xrt_pose *out_pose)
{
struct ns_hmd *ns = ns_hmd(xdev);
*out_pose = ns->eye_configs[view_index].eye_pose;
*out_pose = ns->eye_configs_v1[view_index].eye_pose;
}
/*
*
* Mesh functions.
* V1 Mesh functions.
*
*/
@ -121,7 +129,7 @@ ns_mesh_calc(struct u_uv_generator *gen,
struct ns_uv uv = {u, v};
struct ns_uv warped_uv = {0.0f, 0.0f};
ns_display_uv_to_render_uv(uv, &warped_uv,
&mesh->ns->eye_configs[view]);
&mesh->ns->eye_configs_v1[view]);
result->r.x = warped_uv.u;
result->r.y = warped_uv.v;
@ -138,6 +146,12 @@ ns_mesh_destroy(struct u_uv_generator *gen)
(void)mesh; // Noop
}
/*
*
* Parse function.
*
*/
static void
ns_leap_parse(struct ns_leap *leap, struct cJSON *leap_data)
{
@ -164,7 +178,7 @@ ns_leap_parse(struct ns_leap *leap, struct cJSON *leap_data)
}
static void
ns_eye_parse(struct ns_eye *eye, struct cJSON *eye_data)
ns_eye_parse(struct ns_v1_eye *eye, struct cJSON *eye_data)
{
u_json_get_float(
cJSON_GetObjectItemCaseSensitive(eye_data, "ellipseMinorAxis"),
@ -209,15 +223,11 @@ ns_eye_parse(struct ns_eye *eye, struct cJSON *eye_data)
}
/*
*
* Parse function.
*
*/
static void
ns_fov_calculate(struct xrt_fov *fov, struct xrt_quat projection)
{
{ // All of these are wrong - gets "hidden" by the simple_fov making it look
// okay. Needs to be fixed.
fov->angle_up = projection.x; // atanf(fabsf(projection.x) /
// near_plane);
fov->angle_down =
@ -228,6 +238,116 @@ ns_fov_calculate(struct xrt_fov *fov, struct xrt_quat projection)
projection.w; // atanf(fabsf(projection.w) / near_plane);
}
/*
*
* V2 optics.
*
*/
static void
ns_v2_hmd_get_view_pose(struct xrt_device *xdev,
struct xrt_vec3 *eye_relation,
uint32_t view_index,
struct xrt_pose *out_pose)
{
// Copied from dummy driver
struct xrt_pose pose = {{0.0f, 0.0f, 0.0f, 1.0f}, {0.0f, 0.0f, 0.0f}};
bool adjust = view_index == 0;
pose.position.x = eye_relation->x / 2.0f;
pose.position.y = eye_relation->y / 2.0f;
pose.position.z = eye_relation->z / 2.0f;
// Adjust for left/right while also making sure there aren't any -0.f.
if (pose.position.x > 0.0f && adjust) {
pose.position.x = -pose.position.x;
}
if (pose.position.y > 0.0f && adjust) {
pose.position.y = -pose.position.y;
}
if (pose.position.z > 0.0f && adjust) {
pose.position.z = -pose.position.z;
}
*out_pose = pose;
}
static float
ns_v2_polyval2d(float X, float Y, float C[16])
{
float X2 = X * X;
float X3 = X2 * X;
float Y2 = Y * Y;
float Y3 = Y2 * Y;
return (
((C[0]) + (C[1] * Y) + (C[2] * Y2) + (C[3] * Y3)) +
((C[4] * X) + (C[5] * X * Y) + (C[6] * X * Y2) + (C[7] * X * Y3)) +
((C[8] * X2) + (C[9] * X2 * Y) + (C[10] * X2 * Y2) +
(C[11] * X2 * Y3)) +
((C[12] * X3) + (C[13] * X3 * Y) + (C[14] * X3 * Y2) +
(C[15] * X3 * Y3)));
}
static void
ns_v2_fov_calculate(struct ns_hmd *ns, int eye_index)
{
ns->base.hmd->views[eye_index].fov.angle_down =
ns->eye_configs_v2[eye_index].fov.angle_down;
ns->base.hmd->views[eye_index].fov.angle_up =
ns->eye_configs_v2[eye_index].fov.angle_up;
ns->base.hmd->views[eye_index].fov.angle_left =
ns->eye_configs_v2[eye_index].fov.angle_left;
ns->base.hmd->views[eye_index].fov.angle_right =
ns->eye_configs_v2[eye_index].fov.angle_right;
}
static void
ns_v2_mesh_calc(struct u_uv_generator *gen,
int view,
float u,
float v,
struct u_uv_triplet *result)
{
float x = 0.0f;
float y = 0.0f;
u = 1.0 - u;
v = 1.0 - v;
struct ns_mesh *mesh = ns_mesh(gen);
float L = mesh->ns->eye_configs_v2[view].fov.angle_left;
float R = mesh->ns->eye_configs_v2[view].fov.angle_right;
float T = mesh->ns->eye_configs_v2[view].fov.angle_up;
float B = mesh->ns->eye_configs_v2[view].fov.angle_down;
float x_ray = ns_v2_polyval2d(
u, v, mesh->ns->eye_configs_v2[view].x_coefficients);
float y_ray = ns_v2_polyval2d(
u, v, mesh->ns->eye_configs_v2[view].y_coefficients);
x_ray = x_ray;
y_ray = y_ray;
x = (x_ray + L) / (L - R);
y = (y_ray + T) / (T - B);
result->r.x = x;
result->r.y = y;
result->g.x = x;
result->g.y = y;
result->b.x = x;
result->b.y = y;
}
static bool
ns_config_load(struct ns_hmd *ns)
{
@ -272,13 +392,111 @@ ns_config_load(struct ns_hmd *ns)
}
return false;
}
if (cJSON_GetObjectItemCaseSensitive(config_json, "leftEye") == NULL &&
cJSON_GetObjectItemCaseSensitive(config_json,
"left_uv_to_rect_x") != NULL) {
// Bad hack to tell that we're v2. Error checking is not good
// enough for public consumption - many cases where a malformed
// config json results in cryptic errors. Should get fixed
// whenever we have more than 5 people using this.
u_json_get_float_array(cJSON_GetObjectItemCaseSensitive(
config_json, "left_uv_to_rect_x"),
ns->eye_configs_v2[0].y_coefficients,
16);
u_json_get_float_array(cJSON_GetObjectItemCaseSensitive(
config_json, "left_uv_to_rect_y"),
ns->eye_configs_v2[0].x_coefficients,
16);
u_json_get_float_array(cJSON_GetObjectItemCaseSensitive(
config_json, "right_uv_to_rect_x"),
ns->eye_configs_v2[1].y_coefficients,
16);
u_json_get_float_array(cJSON_GetObjectItemCaseSensitive(
config_json, "right_uv_to_rect_y"),
ns->eye_configs_v2[1].x_coefficients,
16);
if (!u_json_get_float(
cJSON_GetObjectItemCaseSensitive(config_json,
"leftEyeAngleLeft"),
&ns->eye_configs_v2[0]
.fov
.angle_left)) { // not putting this directly in
// (&ns->base.hmd->views[eye_index].fov
// because i smell a rat there -
// that value seems to unexpectedly
// change during init process.
printf(
"Just so you know, you can add tunable FoV "
"parameters to your v2 json file. There's an "
"example in "
"src/xrt/drivers/north_star/"
"v2_example_config.json.\n");
ns->eye_configs_v2[0].fov.angle_left = -0.6;
ns->eye_configs_v2[0].fov.angle_right = 0.6;
ns->eye_configs_v2[0].fov.angle_up = 0.6;
ns->eye_configs_v2[0].fov.angle_down = -0.6;
ns->eye_configs_v2[0].fov.angle_left = -0.6;
ns->eye_configs_v2[0].fov.angle_right = 0.6;
ns->eye_configs_v2[0].fov.angle_up = 0.6;
ns->eye_configs_v2[0].fov.angle_down = -0.6;
} else {
u_json_get_float(
cJSON_GetObjectItemCaseSensitive(
config_json, "leftEyeAngleRight"),
&ns->eye_configs_v2[0].fov.angle_right);
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
config_json, "leftEyeAngleUp"),
&ns->eye_configs_v2[0].fov.angle_up);
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
config_json, "leftEyeAngleDown"),
&ns->eye_configs_v2[0].fov.angle_down);
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
config_json, "rightEyeAngleLeft"),
&ns->eye_configs_v2[1].fov.angle_left);
u_json_get_float(
cJSON_GetObjectItemCaseSensitive(
config_json, "rightEyeAngleRight"),
&ns->eye_configs_v2[1].fov.angle_right);
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
config_json, "rightEyeAngleUp"),
&ns->eye_configs_v2[1].fov.angle_up);
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
config_json, "rightEyeAngleDown"),
&ns->eye_configs_v2[1].fov.angle_down);
}
ns->is_v2 = true;
} else if (cJSON_GetObjectItemCaseSensitive(config_json, "leftEye") !=
NULL &&
cJSON_GetObjectItemCaseSensitive(
config_json, "left_uv_to_rect_x") == NULL) {
ns_eye_parse(
&ns->eye_configs_v1[0],
cJSON_GetObjectItemCaseSensitive(config_json, "leftEye"));
ns_eye_parse(
&ns->eye_configs_v1[1],
cJSON_GetObjectItemCaseSensitive(config_json, "rightEye"));
ns_leap_parse(&ns->leap_config,
cJSON_GetObjectItemCaseSensitive(config_json,
"leapTracker"));
ns->is_v2 = false;
} else {
printf(
"Bad config file. There are examples of v1 and v2 files in "
"src/xrt/drivers/north_star - if those don't work, "
"something's really wrong.\n");
}
ns_eye_parse(&ns->eye_configs[0],
cJSON_GetObjectItemCaseSensitive(config_json, "leftEye"));
ns_eye_parse(&ns->eye_configs[1],
cJSON_GetObjectItemCaseSensitive(config_json, "rightEye"));
ns_leap_parse(&ns->leap_config, cJSON_GetObjectItemCaseSensitive(
config_json, "leapTracker"));
cJSON_Delete(config_json);
return true;
}
@ -295,10 +513,12 @@ ns_hmd_create(const char *config_path, bool print_spew, bool print_debug)
{
enum u_device_alloc_flags flags = (enum u_device_alloc_flags)(
U_DEVICE_ALLOC_HMD | U_DEVICE_ALLOC_TRACKING_NONE);
struct ns_hmd *ns = U_DEVICE_ALLOCATE(struct ns_hmd, flags, 1, 0);
ns->base.update_inputs = ns_hmd_update_inputs;
ns->base.get_tracked_pose = ns_hmd_get_tracked_pose;
ns->base.get_view_pose = ns_hmd_get_view_pose;
// NOT HERE ns->base.get_view_pose = ns_hmd_get_view_pose;
ns->base.destroy = ns_hmd_destroy;
ns->base.name = XRT_DEVICE_GENERIC_HMD;
ns->pose.orientation.w = 1.0f; // All other values set to zero.
@ -308,7 +528,6 @@ ns_hmd_create(const char *config_path, bool print_spew, bool print_debug)
// Print name.
snprintf(ns->base.str, XRT_DEVICE_NAME_LEN, "North Star");
// Setup input.
ns->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE;
@ -323,45 +542,82 @@ ns_hmd_create(const char *config_path, bool print_spew, bool print_debug)
info.views[0].fov = 70.0f * (M_PI / 180.0f);
info.views[1].fov = 70.0f * (M_PI / 180.0f);
if (!ns_config_load(ns))
goto cleanup;
ns_fov_calculate(&ns->base.hmd->views[0].fov,
ns->eye_configs[0].camera_projection);
ns_fov_calculate(&ns->base.hmd->views[1].fov,
ns->eye_configs[1].camera_projection);
if (ns->is_v2) { // ns_config_load() sets ns->is_v2
ns->base.get_view_pose = ns_v2_hmd_get_view_pose;
ns_v2_fov_calculate(ns, 0);
ns_v2_fov_calculate(ns, 1);
// Setup the north star basic info
if (!u_device_setup_split_side_by_side(&ns->base, &info)) {
NS_ERROR(ns, "Failed to setup basic device info");
goto cleanup;
}
ns_v2_fov_calculate(ns, 0);
ns_v2_fov_calculate(ns, 1);
// Create the optical systems
ns->eye_configs[0].optical_system =
ns_create_optical_system(&ns->eye_configs[0]);
ns->eye_configs[1].optical_system =
ns_create_optical_system(&ns->eye_configs[1]);
// Setup the north star basic info
if (!u_device_setup_split_side_by_side(&ns->base, &info)) {
NS_ERROR(ns, "Failed to setup basic device info");
goto cleanup;
// Setup the distortion mesh.
struct ns_mesh mesh;
U_ZERO(&mesh);
mesh.ns = ns;
mesh.base.calc = ns_v2_mesh_calc;
mesh.base.destroy = ns_mesh_destroy;
// Do the mesh generation.
u_distortion_mesh_from_gen(&mesh.base, 2, ns->base.hmd);
// u_distortion_mesh_none(ns->base.hmd);
} else {
// V1
ns->base.get_view_pose = ns_hmd_get_view_pose;
ns_fov_calculate(&ns->base.hmd->views[0].fov,
ns->eye_configs_v1[0].camera_projection);
ns_fov_calculate(&ns->base.hmd->views[1].fov,
ns->eye_configs_v1[1].camera_projection);
// Create the optical systems
ns->eye_configs_v1[0].optical_system =
ns_create_optical_system(&ns->eye_configs_v1[0]);
ns->eye_configs_v1[1].optical_system =
ns_create_optical_system(&ns->eye_configs_v1[1]);
// Setup the north star basic info
if (!u_device_setup_split_side_by_side(&ns->base, &info)) {
NS_ERROR(ns, "Failed to setup basic device info");
goto cleanup;
}
// If built, try to load the realsense tracker.
#ifdef XRT_BUILD_DRIVER_RS
ns->tracker = rs_6dof_create();
#endif
// Setup the distortion mesh.
struct ns_mesh mesh;
U_ZERO(&mesh);
mesh.ns = ns;
mesh.base.calc = ns_mesh_calc;
mesh.base.destroy = ns_mesh_destroy;
// Do the mesh generation.
u_distortion_mesh_from_gen(&mesh.base, 2, ns->base.hmd);
}
// If built, try to load the realsense tracker.
#ifdef XRT_BUILD_DRIVER_RS
ns->tracker = rs_6dof_create();
#endif
// Setup variable tracker.
u_var_add_root(ns, "North Star", true);
u_var_add_pose(ns, &ns->pose, "pose");
// Setup the distortion mesh.
struct ns_mesh mesh;
U_ZERO(&mesh);
mesh.ns = ns;
mesh.base.calc = ns_mesh_calc;
mesh.base.destroy = ns_mesh_destroy;
// Do the mesh generation.
u_distortion_mesh_from_gen(&mesh.base, 2, ns->base.hmd);
ns->base.orientation_tracking_supported = true;
ns->base.position_tracking_supported = ns->tracker != NULL;
if (ns->tracker) {

25
src/xrt/drivers/north_star/ns_hmd.h
View file

@ -96,7 +96,7 @@ struct ns_leap
*
* @ingroup drv_ns
*/
struct ns_eye
struct ns_v1_eye
{
float ellipse_minor_axis;
float ellipse_major_axis;
@ -114,28 +114,43 @@ struct ns_eye
struct ns_optical_system *optical_system;
};
struct ns_v2_eye
{
float x_coefficients[16];
float y_coefficients[16];
struct xrt_pose eye_pose;
struct xrt_fov fov;
};
/*!
* Information about the whole North Star headset.
*
* @ingroup drv_ns
* @implements xrt_device
*/
struct ns_hmd
{
struct xrt_device base;
struct xrt_pose pose;
const char *config_path;
struct ns_eye eye_configs[2];
struct ns_leap leap_config;
struct ns_v1_eye eye_configs_v1[2]; // will be NULL if is_v2.
struct ns_v2_eye eye_configs_v2[2]; // will be NULL if !is_v2
struct ns_leap leap_config; // will be NULL if is_v2
struct xrt_device *tracker;
bool print_spew;
bool print_debug;
bool is_v2; // True if V2, false if V1. If we ever get a v3 this should
// be an enum or something
};
/*!
* The mesh generator for the North Star distortion.
*
@ -185,10 +200,10 @@ ns_mesh(struct u_uv_generator *gen)
void
ns_display_uv_to_render_uv(struct ns_uv in,
struct ns_uv *out,
struct ns_eye *eye);
struct ns_v1_eye *eye);
struct ns_optical_system *
ns_create_optical_system(struct ns_eye *eye);
ns_create_optical_system(struct ns_v1_eye *eye);
#ifdef __cplusplus

153
src/xrt/drivers/north_star/v1_example_config.json Normal file
View file

@ -0,0 +1,153 @@
{
"leftEye": {
"ellipseMinorAxis": 0.24494899809360505,
"ellipseMajorAxis": 0.3099985122680664,
"screenForward": {
"x": 0.2824554741382599,
"y": -0.20611988008022309,
"z": 0.9368743300437927
},
"screenPosition": {
"x": -0.07859157025814057,
"y": -0.005049339961260557,
"z": 0.012514465488493443
},
"eyePosition": {
"x": -0.03200000151991844,
"y": 0.001083331648260355,
"z": -0.012499995529651642
},
"eyeRotation": {
"x": 7.395533370627759e-32,
"y": 1.7763568394002506e-15,
"z": 1.1241009818395605e-14,
"w": 1.0
},
"cameraProjection": {
"x": -0.699999988079071,
"y": 0.699999988079071,
"z": 0.30000001192092898,
"w": -1.399999976158142
},
"sphereToWorldSpace": {
"e00": 0.05101080238819122,
"e01": 0.06071346998214722,
"e02": 0.29330453276634219,
"e03": -0.11532726138830185,
"e10": 0.0,
"e11": 0.23695310950279237,
"e12": -0.07855913043022156,
"e13": 0.026422245427966119,
"e20": -0.23957861959934236,
"e21": 0.012927045114338398,
"e22": 0.062450066208839419,
"e23": -0.05475877597928047,
"e30": 0.0,
"e31": 0.0,
"e32": 0.0,
"e33": 1.0
},
"worldToScreenSpace": {
"e00": 1.3777992725372315,
"e01": 14.81815242767334,
"e02": 2.8447227478027345,
"e03": 0.14750510454177857,
"e10": -16.076780319213868,
"e11": 0.5414643883705139,
"e12": 4.966066360473633,
"e13": -1.3229130506515504,
"e20": 0.2824554145336151,
"e21": -0.2061198651790619,
"e22": 0.9368743300437927,
"e23": 0.009433363564312458,
"e30": 0.0,
"e31": 0.0,
"e32": 0.0,
"e33": 1.0
}
},
"rightEye": {
"ellipseMinorAxis": 0.24494899809360505,
"ellipseMajorAxis": 0.3099985122680664,
"screenForward": {
"x": -0.2919599413871765,
"y": -0.20477625727653504,
"z": 0.934251606464386
},
"screenPosition": {
"x": 0.07982077449560166,
"y": -0.005731542594730854,
"z": 0.01401037909090519
},
"eyePosition": {
"x": 0.03200000151991844,
"y": 0.001083331648260355,
"z": -0.012499995529651642
},
"eyeRotation": {
"x": 7.395533370627759e-32,
"y": 1.7763568394002506e-15,
"z": 1.1241009818395605e-14,
"w": 1.0
},
"cameraProjection": {
"x": -0.699999988079071,
"y": 0.699999988079071,
"z": 0.30000001192092898,
"w": -1.399999976158142
},
"sphereToWorldSpace": {
"e00": 0.05101081356406212,
"e01": -0.060713451355695727,
"e02": -0.29330453276634219,
"e03": 0.11689796298742295,
"e10": 0.0,
"e11": 0.23695312440395356,
"e12": -0.07855910062789917,
"e13": 0.026351751759648324,
"e20": 0.23957861959934236,
"e21": 0.0129270413890481,
"e22": 0.062450066208839419,
"e23": -0.052946362644433978,
"e30": 0.0,
"e31": 0.0,
"e32": 0.0,
"e33": 1.0
},
"worldToScreenSpace": {
"e00": -1.4188950061798096,
"e01": 14.821781158447266,
"e02": 2.805335283279419,
"e03": 0.15890516340732575,
"e10": -16.02415657043457,
"e11": -0.5628440976142883,
"e12": -5.131026744842529,
"e13": 1.3477222919464112,
"e20": -0.2919600307941437,
"e21": -0.2047763168811798,
"e22": 0.9342517256736755,
"e23": 0.00904157105833292,
"e30": 0.0,
"e31": 0.0,
"e32": 0.0,
"e33": 1.0
}
},
"leapTracker": {
"name": "Leap Odometry Origin",
"serial": "",
"localPose": {
"position": {
"x": 0.0,
"y": 0.039777886122465137,
"z": 0.0804821103811264
},
"rotation": {
"x": 0.3123600482940674,
"y": 0.0,
"z": 0.0,
"w": 0.9499638080596924
}
}
}
}

17
src/xrt/drivers/north_star/v2_example_config.json Normal file
View file

@ -0,0 +1,17 @@
{"baseline": 64.0,
"left_uv_to_rect_x": [-0.6496146862315304, 1.522223227078294, -0.4813404618897057, 0.35702657717980785, -0.07956037872995925, 1.1454020997970913, -3.2505199559593336, 1.6279076622052455, 0.38831554051443307, -3.5783949261594095, 7.668716710704405, -4.166750433790205, -0.2855168004377634, 2.304654520623994, -4.773857525576798, 2.6771905826607756],
"left_uv_to_rect_y": [0.5735680823264238, -0.07201032485360503, -0.3760147865913098, 0.12237851205003134, -1.1789607449622186, -0.3639051399896993, 1.9433544351592553, -1.428768695251512, 0.43448180786102064, 1.4198893425729027, -4.061494083054925, 2.5833812097228908, -0.20318807476847794, -0.8824999019236596, 2.2256952824902, -1.3778198332457088],
"right_uv_to_rect_x": [-0.6265143917747795, 1.2911622275040877, -0.5517955125123675, 0.34277683878971815, -0.008660007647723567, 0.5057868616188462, -0.7608772693869136, 0.441561492954449, 0.01102824175518119, -0.32306477445426557, 0.7580684800480195, -0.4808991141180218, -0.0517219007106306, 0.2799238117904546, -0.4494394376437649, 0.3706889336770174],
"right_uv_to_rect_y": [0.5259106471825626, -0.1663727700922601, 0.28233333974385694, 0.1745576324081204, -1.0358003574621981, 0.13565673296823005, 0.03669780270514961, -0.28419296928833887, 0.4258466087687195, -0.03876248767088333, -0.37766287840406676, 0.43848943099165466, -0.34808893357030296, 0.22156250909608152, 0.13817451999521518, -0.2468046426038312],
"leftEyeAngleLeft": -0.6,
"leftEyeAngleRight": 0.6,
"leftEyeAngleUp": 0.6,
"leftEyeAngleDown": -0.6,
"rightEyeAngleLeft": -0.6,
"rightEyeAngleRight": 0.6,
"rightEyeAngleUp": 0.6,
"rightEyeAngleDown": -0.6
}