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d/vive: Implement 3DoF/SLAM switching button and pose offset

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Mateo de Mayo 2022-07-20 15:25:38 -03:00 committed by Moses Turner
parent f0ceb40f6a
commit 13d90bff77
2 changed files with 45 additions and 1 deletions
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38
src/xrt/drivers/vive/vive_device.c
View file

@ -117,7 +117,12 @@ vive_device_get_3dof_tracked_pose(struct xrt_device *xdev,
m_relation_history_get(d->fusion.relation_hist, at_timestamp_ns, &relation);
os_mutex_unlock(&d->fusion.mutex);
relation.relation_flags = XRT_SPACE_RELATION_BITMASK_ALL; // Needed after history_get
relation.pose.position = d->pose.position;
relation.linear_velocity = (struct xrt_vec3){0, 0, 0};
*out_relation = relation;
d->pose = out_relation->pose;
}
//! Specific pose corrections for Basalt and a Valve Index headset
@ -174,6 +179,7 @@ vive_device_get_tracked_pose(struct xrt_device *xdev,
} else {
vive_device_get_3dof_tracked_pose(xdev, name, at_timestamp_ns, out_relation);
}
math_pose_transform(&d->offset, &out_relation->pose, &out_relation->pose);
}
static void
@ -757,11 +763,40 @@ vive_sensors_run_thread(void *ptr)
return NULL;
}
static void
vive_device_switch_hmd_tracker(void *d_ptr)
{
DRV_TRACE_MARKER();
struct vive_device *d = (struct vive_device *)d_ptr;
d->slam_over_3dof = !d->slam_over_3dof;
struct u_var_button *btn = &d->gui.switch_tracker_btn;
if (d->slam_over_3dof) { // Use SLAM
snprintf(btn->label, sizeof(btn->label), "Switch to 3DoF Tracking");
} else { // Use 3DoF
snprintf(btn->label, sizeof(btn->label), "Switch to SLAM Tracking");
os_mutex_lock(&d->fusion.mutex);
m_imu_3dof_reset(&d->fusion.i3dof);
d->fusion.i3dof.rot = d->pose.orientation;
os_mutex_unlock(&d->fusion.mutex);
}
}
static void
vive_device_setup_ui(struct vive_device *d)
{
u_var_add_root(d, "Vive Device", true);
u_var_add_gui_header(d, NULL, "Tracking");
if (d->tracking.slam_enabled) {
d->gui.switch_tracker_btn.cb = vive_device_switch_hmd_tracker;
d->gui.switch_tracker_btn.ptr = d;
u_var_add_button(d, &d->gui.switch_tracker_btn, "Switch to 3DoF Tracking");
}
u_var_add_pose(d, &d->pose, "Tracked Pose");
u_var_add_pose(d, &d->offset, "Pose Offset");
u_var_add_gui_header(d, &d->gui.fusion, "3DoF Tracking");
m_imu_3dof_add_vars(&d->fusion.i3dof, d, "");
u_var_add_gui_header(d, &d->gui.calibration, "Calibration");
@ -965,6 +1000,9 @@ vive_device_create(struct os_hid_device *mainboard_dev,
os_thread_helper_init(&d->sensors_thread);
os_thread_helper_init(&d->watchman_thread);
d->pose = (struct xrt_pose)XRT_POSE_IDENTITY;
d->offset = (struct xrt_pose)XRT_POSE_IDENTITY;
int ret;
if (watchman_dev != NULL) {

8
src/xrt/drivers/vive/vive_device.h
View file

@ -12,7 +12,8 @@
#include "xrt/xrt_device.h"
#include "os/os_threading.h"
#include "util/u_logging.h"
#include "util/u_distortion_mesh.h"
#include "util/u_time.h"
#include "util/u_var.h"
#include "math/m_imu_3dof.h"
#include "math/m_relation_history.h"
@ -63,6 +64,7 @@ struct vive_device
{
bool calibration;
bool fusion;
struct u_var_button switch_tracker_btn;
char hand_status[128];
char slam_status[128];
} gui;
@ -98,7 +100,11 @@ struct vive_device
//! Whether to track the HMD with 6dof SLAM or fallback to the 3dof tracker
bool slam_over_3dof;
//! Last tracked pose
struct xrt_pose pose;
//! Additional offset to apply to `pose`
struct xrt_pose offset;
};