mirror of
https://gitlab.freedesktop.org/monado/monado.git
synced 2024-12-29 11:06:18 +00:00
xrt: Remove all but mesh distortion values from xrt_hmd_parts::distortion
Move vive values to struct u_vive_values in u_distortion_mesh. Move openhmd values to private struct inside ohmd driver.
This commit is contained in:
Christoph Haag
parent
c5209c5ed4
commit
29188d681c
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@ -51,6 +51,26 @@ struct u_panotools_values
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struct xrt_vec2 viewport_size;
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};
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/*!
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* Values to create a distortion mesh from Vive configuration values.
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*
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* @ingroup aux_util
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*/
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struct u_vive_values
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{
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float aspect_x_over_y;
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float grow_for_undistort;
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//! Left/right
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float undistort_r2_cutoff[2];
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//! Left/right, x/y
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float center[2][2];
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//! left/right, r/g/b, a/b/c
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float coefficients[2][3][3];
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};
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/*!
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* Distortion correction implementation for Panotools distortion values.
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*
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@ -31,7 +31,6 @@
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#include "util/u_debug.h"
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#include "util/u_device.h"
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#include "util/u_time.h"
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#include "util/u_distortion_mesh.h"
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#include "oh_device.h"
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@ -431,6 +430,8 @@ compute_distortion_openhmd(struct xrt_device *xdev,
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float v,
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struct xrt_vec2_triplet *result)
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{
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struct oh_device *ohd = oh_device(xdev);
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struct xrt_hmd_parts *hmd = xdev->hmd;
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struct xrt_vec2 lens_center = {
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.x = hmd->views[view].lens_center.x_meters,
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@ -442,9 +443,9 @@ compute_distortion_openhmd(struct xrt_device *xdev,
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//! @todo: support distortion per view
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return u_compute_distortion_openhmd(
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hmd->distortion.openhmd.distortion_k,
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hmd->distortion.openhmd.aberration_k,
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hmd->distortion.openhmd.warp_scale, lens_center, viewport_size, u,
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ohd->distortion.openhmd.distortion_k,
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ohd->distortion.openhmd.aberration_k,
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ohd->distortion.openhmd.warp_scale, lens_center, viewport_size, u,
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v, result);
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}
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@ -455,13 +456,13 @@ compute_distortion_vive(struct xrt_device *xdev,
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float v,
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struct xrt_vec2_triplet *result)
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{
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struct xrt_hmd_parts *hmd = xdev->hmd;
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struct oh_device *ohd = oh_device(xdev);
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return u_compute_distortion_vive(
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hmd->distortion.vive.aspect_x_over_y,
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hmd->distortion.vive.grow_for_undistort,
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hmd->distortion.vive.undistort_r2_cutoff[view],
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hmd->distortion.vive.center[view],
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hmd->distortion.vive.coefficients[view], u, v, result);
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ohd->distortion.vive.aspect_x_over_y,
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ohd->distortion.vive.grow_for_undistort,
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ohd->distortion.vive.undistort_r2_cutoff[view],
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ohd->distortion.vive.center[view],
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ohd->distortion.vive.coefficients[view], u, v, result);
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}
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struct oh_device *
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@ -524,14 +525,14 @@ oh_device_create(ohmd_context *ctx,
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ohd->base.hmd->screens[0].w_pixels = info.display.w_pixels;
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ohd->base.hmd->screens[0].h_pixels = info.display.h_pixels;
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ohd->base.hmd->screens[0].nominal_frame_interval_ns = info.display.nominal_frame_interval_ns;
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ohd->base.hmd->distortion.openhmd.distortion_k[0] = info.pano_distortion_k[0];
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ohd->base.hmd->distortion.openhmd.distortion_k[1] = info.pano_distortion_k[1];
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ohd->base.hmd->distortion.openhmd.distortion_k[2] = info.pano_distortion_k[2];
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ohd->base.hmd->distortion.openhmd.distortion_k[3] = info.pano_distortion_k[3];
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ohd->base.hmd->distortion.openhmd.aberration_k[0] = info.pano_aberration_k[0];
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ohd->base.hmd->distortion.openhmd.aberration_k[1] = info.pano_aberration_k[1];
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ohd->base.hmd->distortion.openhmd.aberration_k[2] = info.pano_aberration_k[2];
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ohd->base.hmd->distortion.openhmd.warp_scale = info.pano_warp_scale;
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ohd->distortion.openhmd.distortion_k[0] = info.pano_distortion_k[0];
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ohd->distortion.openhmd.distortion_k[1] = info.pano_distortion_k[1];
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ohd->distortion.openhmd.distortion_k[2] = info.pano_distortion_k[2];
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ohd->distortion.openhmd.distortion_k[3] = info.pano_distortion_k[3];
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ohd->distortion.openhmd.aberration_k[0] = info.pano_aberration_k[0];
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ohd->distortion.openhmd.aberration_k[1] = info.pano_aberration_k[1];
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ohd->distortion.openhmd.aberration_k[2] = info.pano_aberration_k[2];
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ohd->distortion.openhmd.warp_scale = info.pano_warp_scale;
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// Left
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ohd->base.hmd->views[0].display.w_meters = info.views[0].display.w_meters;
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@ -574,46 +575,46 @@ oh_device_create(ohmd_context *ctx,
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if (info.quirks.video_distortion_vive) {
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// clang-format off
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// These need to be acquired from the vive config
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ohd->base.hmd->distortion.vive.aspect_x_over_y = 0.8999999761581421f;
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ohd->base.hmd->distortion.vive.grow_for_undistort = 0.6000000238418579f;
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ohd->base.hmd->distortion.vive.undistort_r2_cutoff[0] = 1.11622154712677f;
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ohd->base.hmd->distortion.vive.undistort_r2_cutoff[1] = 1.101870775222778f;
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ohd->base.hmd->distortion.vive.center[0][0] = 0.08946027017045266f;
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ohd->base.hmd->distortion.vive.center[0][1] = -0.009002181016260827f;
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ohd->base.hmd->distortion.vive.center[1][0] = -0.08933516629552526f;
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ohd->base.hmd->distortion.vive.center[1][1] = -0.006014565287238661f;
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ohd->distortion.vive.aspect_x_over_y = 0.8999999761581421f;
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ohd->distortion.vive.grow_for_undistort = 0.6000000238418579f;
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ohd->distortion.vive.undistort_r2_cutoff[0] = 1.11622154712677f;
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ohd->distortion.vive.undistort_r2_cutoff[1] = 1.101870775222778f;
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ohd->distortion.vive.center[0][0] = 0.08946027017045266f;
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ohd->distortion.vive.center[0][1] = -0.009002181016260827f;
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ohd->distortion.vive.center[1][0] = -0.08933516629552526f;
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ohd->distortion.vive.center[1][1] = -0.006014565287238661f;
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// left
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// green
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ohd->base.hmd->distortion.vive.coefficients[0][0][0] = -0.188236068524731f;
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ohd->base.hmd->distortion.vive.coefficients[0][0][1] = -0.221086205321053f;
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ohd->base.hmd->distortion.vive.coefficients[0][0][2] = -0.2537849057915209f;
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ohd->distortion.vive.coefficients[0][0][0] = -0.188236068524731f;
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ohd->distortion.vive.coefficients[0][0][1] = -0.221086205321053f;
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ohd->distortion.vive.coefficients[0][0][2] = -0.2537849057915209f;
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// blue
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ohd->base.hmd->distortion.vive.coefficients[0][1][0] = -0.07316590815739493f;
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ohd->base.hmd->distortion.vive.coefficients[0][1][1] = -0.02332400789561968f;
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ohd->base.hmd->distortion.vive.coefficients[0][1][2] = 0.02469959434698275f;
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ohd->distortion.vive.coefficients[0][1][0] = -0.07316590815739493f;
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ohd->distortion.vive.coefficients[0][1][1] = -0.02332400789561968f;
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ohd->distortion.vive.coefficients[0][1][2] = 0.02469959434698275f;
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// red
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ohd->base.hmd->distortion.vive.coefficients[0][2][0] = -0.02223805567703767f;
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ohd->base.hmd->distortion.vive.coefficients[0][2][1] = -0.04931309279533211f;
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ohd->base.hmd->distortion.vive.coefficients[0][2][2] = -0.07862881939243466f;
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ohd->distortion.vive.coefficients[0][2][0] = -0.02223805567703767f;
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ohd->distortion.vive.coefficients[0][2][1] = -0.04931309279533211f;
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ohd->distortion.vive.coefficients[0][2][2] = -0.07862881939243466f;
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// right
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// green
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ohd->base.hmd->distortion.vive.coefficients[1][0][0] = -0.1906209981894497f;
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ohd->base.hmd->distortion.vive.coefficients[1][0][1] = -0.2248896677207884f;
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ohd->base.hmd->distortion.vive.coefficients[1][0][2] = -0.2721364516782803f;
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ohd->distortion.vive.coefficients[1][0][0] = -0.1906209981894497f;
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ohd->distortion.vive.coefficients[1][0][1] = -0.2248896677207884f;
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ohd->distortion.vive.coefficients[1][0][2] = -0.2721364516782803f;
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// blue
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ohd->base.hmd->distortion.vive.coefficients[1][1][0] = -0.07346071902951497f;
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ohd->base.hmd->distortion.vive.coefficients[1][1][1] = -0.02189527566250131f;
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ohd->base.hmd->distortion.vive.coefficients[1][1][2] = 0.0581378652359256f;
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ohd->distortion.vive.coefficients[1][1][0] = -0.07346071902951497f;
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ohd->distortion.vive.coefficients[1][1][1] = -0.02189527566250131f;
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ohd->distortion.vive.coefficients[1][1][2] = 0.0581378652359256f;
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// red
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ohd->base.hmd->distortion.vive.coefficients[1][2][0] = -0.01755850332081247f;
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ohd->base.hmd->distortion.vive.coefficients[1][2][1] = -0.04517245633373419f;
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ohd->base.hmd->distortion.vive.coefficients[1][2][2] = -0.0928909347763f;
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ohd->distortion.vive.coefficients[1][2][0] = -0.01755850332081247f;
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ohd->distortion.vive.coefficients[1][2][1] = -0.04517245633373419f;
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ohd->distortion.vive.coefficients[1][2][2] = -0.0928909347763f;
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// clang-format on
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ohd->base.compute_distortion = compute_distortion_vive;
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@ -626,7 +627,7 @@ oh_device_create(ohmd_context *ctx,
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}
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if (info.quirks.left_center_pano_scale) {
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ohd->base.hmd->distortion.openhmd.warp_scale =
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ohd->distortion.openhmd.warp_scale =
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info.views[0].lens_center_x_meters;
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}
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@ -12,6 +12,8 @@
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#include "math/m_api.h"
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#include "xrt/xrt_device.h"
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#include "util/u_distortion_mesh.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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@ -36,6 +38,20 @@ struct oh_device
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bool print_spew;
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bool print_debug;
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bool enable_finite_difference;
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struct
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{
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struct
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{
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//! Panotools universal distortion k.
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float distortion_k[4];
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//! Panotools post distortion scale, <r, g, b, _>.
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float aberration_k[4];
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//! Panotools warp scale.
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float warp_scale;
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} openhmd;
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struct u_vive_values vive;
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} distortion;
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};
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static inline struct oh_device *
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@ -163,6 +163,7 @@ struct survive_device
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uint64_t curl_ts[FINGER_LAST];
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} ctrl;
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};
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struct u_vive_values distortion;
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};
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//! @todo support more devices (trackers, ...)
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@ -817,7 +818,7 @@ _json_get_int(const cJSON *json, const char *name)
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}
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static void
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_get_color_coeffs(struct xrt_hmd_parts *hmd,
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_get_color_coeffs(struct u_vive_values *values,
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const cJSON *coeffs,
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uint8_t eye,
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uint8_t channel)
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@ -829,7 +830,7 @@ _get_color_coeffs(struct xrt_hmd_parts *hmd,
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size_t i = 0;
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cJSON_ArrayForEach(item, coeffs)
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{
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hmd->distortion.vive.coefficients[eye][i][channel] =
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values->coefficients[eye][i][channel] =
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(float)item->valuedouble;
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++i;
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if (i == 3) {
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@ -839,7 +840,7 @@ _get_color_coeffs(struct xrt_hmd_parts *hmd,
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}
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static void
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_get_color_coeffs_lookup(struct xrt_hmd_parts *hmd,
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_get_color_coeffs_lookup(struct u_vive_values *values,
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const cJSON *eye_json,
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const char *name,
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uint8_t eye,
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@ -857,7 +858,7 @@ _get_color_coeffs_lookup(struct xrt_hmd_parts *hmd,
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return;
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}
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_get_color_coeffs(hmd, coeffs, eye, channel);
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_get_color_coeffs(values, coeffs, eye, channel);
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}
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static void
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@ -865,8 +866,6 @@ get_distortion_properties(struct survive_device *d,
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const cJSON *eye_transform_json,
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uint8_t eye)
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{
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struct xrt_hmd_parts *hmd = d->base.hmd;
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const cJSON *eye_json = cJSON_GetArrayItem(eye_transform_json, eye);
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if (eye_json == NULL) {
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return;
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@ -879,8 +878,8 @@ get_distortion_properties(struct survive_device *d,
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// TODO: store grow_for_undistort per eye
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// clang-format off
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hmd->distortion.vive.grow_for_undistort = _json_get_float(eye_json, "grow_for_undistort");
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hmd->distortion.vive.undistort_r2_cutoff[eye] = _json_get_float(eye_json, "undistort_r2_cutoff");
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d->distortion.grow_for_undistort = _json_get_float(eye_json, "grow_for_undistort");
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d->distortion.undistort_r2_cutoff[eye] = _json_get_float(eye_json, "undistort_r2_cutoff");
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// clang-format on
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const cJSON *distortion =
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@ -888,20 +887,22 @@ get_distortion_properties(struct survive_device *d,
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if (distortion != NULL) {
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// TODO: store center per color
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// clang-format off
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hmd->distortion.vive.center[eye][0] = _json_get_float(distortion, "center_x");
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hmd->distortion.vive.center[eye][1] = _json_get_float(distortion, "center_y");
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d->distortion.center[eye][0] = _json_get_float(distortion, "center_x");
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d->distortion.center[eye][1] = _json_get_float(distortion, "center_y");
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// clang-format on
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// green
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const cJSON *coeffs =
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cJSON_GetObjectItemCaseSensitive(distortion, "coeffs");
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if (coeffs != NULL) {
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_get_color_coeffs(hmd, coeffs, eye, 1);
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_get_color_coeffs(&d->distortion, coeffs, eye, 1);
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}
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}
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_get_color_coeffs_lookup(hmd, eye_json, "distortion_red", eye, 0);
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_get_color_coeffs_lookup(hmd, eye_json, "distortion_blue", eye, 2);
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_get_color_coeffs_lookup(&d->distortion, eye_json, "distortion_red",
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eye, 0);
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_get_color_coeffs_lookup(&d->distortion, eye_json, "distortion_blue",
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eye, 2);
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}
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static bool
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@ -911,13 +912,11 @@ compute_distortion(struct xrt_device *xdev,
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float v,
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struct xrt_vec2_triplet *result)
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{
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struct xrt_hmd_parts *hmd = xdev->hmd;
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struct survive_device *d = (struct survive_device *)xdev;
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return u_compute_distortion_vive(
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hmd->distortion.vive.aspect_x_over_y,
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hmd->distortion.vive.grow_for_undistort,
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hmd->distortion.vive.undistort_r2_cutoff[view],
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hmd->distortion.vive.center[view],
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hmd->distortion.vive.coefficients[view], u, v, result);
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d->distortion.aspect_x_over_y, d->distortion.grow_for_undistort,
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d->distortion.undistort_r2_cutoff[view], d->distortion.center[view],
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d->distortion.coefficients[view], u, v, result);
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}
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static bool
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@ -998,11 +997,10 @@ _create_hmd_device(struct survive_system *sys, enum VIVE_VARIANT variant)
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double fov = 2 * atan2(w_meters - lens_horizontal_separation / 2.0,
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eye_to_screen_distance);
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survive->base.hmd->distortion.vive.aspect_x_over_y =
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0.89999997615814209f;
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survive->base.hmd->distortion.vive.grow_for_undistort = 0.5f;
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survive->base.hmd->distortion.vive.undistort_r2_cutoff[0] = 1.0f;
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survive->base.hmd->distortion.vive.undistort_r2_cutoff[1] = 1.0f;
|
||||
survive->distortion.aspect_x_over_y = 0.89999997615814209f;
|
||||
survive->distortion.grow_for_undistort = 0.5f;
|
||||
survive->distortion.undistort_r2_cutoff[0] = 1.0f;
|
||||
survive->distortion.undistort_r2_cutoff[1] = 1.0f;
|
||||
|
||||
survive->hmd.rot[0].w = 1.0f;
|
||||
survive->hmd.rot[1].w = 1.0f;
|
||||
|
|
@ -1017,9 +1015,8 @@ _create_hmd_device(struct survive_system *sys, enum VIVE_VARIANT variant)
|
|||
cJSON_GetObjectItemCaseSensitive(json, "device");
|
||||
if (device_json) {
|
||||
if (survive->variant != VIVE_VARIANT_VALVE_INDEX) {
|
||||
survive->base.hmd->distortion.vive.aspect_x_over_y =
|
||||
_json_get_float(device_json,
|
||||
"physical_aspect_x_over_y");
|
||||
survive->distortion.aspect_x_over_y = _json_get_float(
|
||||
device_json, "physical_aspect_x_over_y");
|
||||
|
||||
//! @todo: fov calculation needs to be fixed, only works
|
||||
//! with hardcoded value
|
||||
|
|
|
|||
|
|
@ -12,6 +12,8 @@
|
|||
#include "vive_config.h"
|
||||
|
||||
#include "util/u_json.h"
|
||||
#include "util/u_distortion_mesh.h"
|
||||
|
||||
#include "math/m_api.h"
|
||||
|
||||
#include "vive.h"
|
||||
|
|
@ -27,7 +29,7 @@
|
|||
u_json_get_string_into_array(u_json_get(a, b), c, sizeof(c))
|
||||
|
||||
static void
|
||||
_get_color_coeffs(struct xrt_hmd_parts *hmd,
|
||||
_get_color_coeffs(struct u_vive_values *values,
|
||||
const cJSON *coeffs,
|
||||
uint8_t eye,
|
||||
uint8_t channel)
|
||||
|
|
@ -39,7 +41,7 @@ _get_color_coeffs(struct xrt_hmd_parts *hmd,
|
|||
size_t i = 0;
|
||||
cJSON_ArrayForEach(item, coeffs)
|
||||
{
|
||||
hmd->distortion.vive.coefficients[eye][i][channel] =
|
||||
values->coefficients[eye][i][channel] =
|
||||
(float)item->valuedouble;
|
||||
++i;
|
||||
if (i == 3) {
|
||||
|
|
@ -49,7 +51,7 @@ _get_color_coeffs(struct xrt_hmd_parts *hmd,
|
|||
}
|
||||
|
||||
static void
|
||||
_get_color_coeffs_lookup(struct xrt_hmd_parts *hmd,
|
||||
_get_color_coeffs_lookup(struct u_vive_values *values,
|
||||
const cJSON *eye_json,
|
||||
const char *name,
|
||||
uint8_t eye,
|
||||
|
|
@ -67,7 +69,7 @@ _get_color_coeffs_lookup(struct xrt_hmd_parts *hmd,
|
|||
return;
|
||||
}
|
||||
|
||||
_get_color_coeffs(hmd, coeffs, eye, channel);
|
||||
_get_color_coeffs(values, coeffs, eye, channel);
|
||||
}
|
||||
|
||||
static void
|
||||
|
|
@ -86,8 +88,6 @@ _get_distortion_properties(struct vive_device *d,
|
|||
const cJSON *eye_transform_json,
|
||||
uint8_t eye)
|
||||
{
|
||||
struct xrt_hmd_parts *hmd = d->base.hmd;
|
||||
|
||||
const cJSON *eye_json = cJSON_GetArrayItem(eye_transform_json, eye);
|
||||
if (eye_json == NULL) {
|
||||
return;
|
||||
|
|
@ -100,8 +100,8 @@ _get_distortion_properties(struct vive_device *d,
|
|||
|
||||
// TODO: store grow_for_undistort per eye
|
||||
// clang-format off
|
||||
JSON_FLOAT(eye_json, "grow_for_undistort", &hmd->distortion.vive.grow_for_undistort);
|
||||
JSON_FLOAT(eye_json, "undistort_r2_cutoff", &hmd->distortion.vive.undistort_r2_cutoff[eye]);
|
||||
JSON_FLOAT(eye_json, "grow_for_undistort", &d->distortion.grow_for_undistort);
|
||||
JSON_FLOAT(eye_json, "undistort_r2_cutoff", &d->distortion.undistort_r2_cutoff[eye]);
|
||||
// clang-format on
|
||||
|
||||
const cJSON *distortion =
|
||||
|
|
@ -109,20 +109,22 @@ _get_distortion_properties(struct vive_device *d,
|
|||
if (distortion != NULL) {
|
||||
// TODO: store center per color
|
||||
// clang-format off
|
||||
JSON_FLOAT(eye_json, "center_x", &hmd->distortion.vive.center[eye][0]);
|
||||
JSON_FLOAT(eye_json, "center_y", &hmd->distortion.vive.center[eye][1]);
|
||||
JSON_FLOAT(eye_json, "center_x", &d->distortion.center[eye][0]);
|
||||
JSON_FLOAT(eye_json, "center_y", &d->distortion.center[eye][1]);
|
||||
// clang-format on
|
||||
|
||||
// green
|
||||
const cJSON *coeffs =
|
||||
cJSON_GetObjectItemCaseSensitive(distortion, "coeffs");
|
||||
if (coeffs != NULL) {
|
||||
_get_color_coeffs(hmd, coeffs, eye, 1);
|
||||
_get_color_coeffs(&d->distortion, coeffs, eye, 1);
|
||||
}
|
||||
}
|
||||
|
||||
_get_color_coeffs_lookup(hmd, eye_json, "distortion_red", eye, 0);
|
||||
_get_color_coeffs_lookup(hmd, eye_json, "distortion_blue", eye, 2);
|
||||
_get_color_coeffs_lookup(&d->distortion, eye_json, "distortion_red",
|
||||
eye, 0);
|
||||
_get_color_coeffs_lookup(&d->distortion, eye_json, "distortion_blue",
|
||||
eye, 2);
|
||||
}
|
||||
|
||||
static void
|
||||
|
|
@ -286,9 +288,8 @@ vive_config_parse(struct vive_device *d, char *json_string)
|
|||
if (d->variant != VIVE_VARIANT_INDEX) {
|
||||
JSON_DOUBLE(device_json, "persistence",
|
||||
&d->display.persistence);
|
||||
JSON_FLOAT(
|
||||
device_json, "physical_aspect_x_over_y",
|
||||
&d->base.hmd->distortion.vive.aspect_x_over_y);
|
||||
JSON_FLOAT(device_json, "physical_aspect_x_over_y",
|
||||
&d->distortion.aspect_x_over_y);
|
||||
}
|
||||
JSON_INT(device_json, "eye_target_height_in_pixels",
|
||||
&d->display.eye_target_height_in_pixels);
|
||||
|
|
@ -310,7 +311,7 @@ vive_config_parse(struct vive_device *d, char *json_string)
|
|||
VIVE_DEBUG(d, "= Vive configuration =");
|
||||
VIVE_DEBUG(d, "lens_separation: %f", d->display.lens_separation);
|
||||
VIVE_DEBUG(d, "persistence: %f", d->display.persistence);
|
||||
VIVE_DEBUG(d, "physical_aspect_x_over_y: %f", (double)d->base.hmd->distortion.vive.aspect_x_over_y);
|
||||
VIVE_DEBUG(d, "physical_aspect_x_over_y: %f", (double)d->distortion.aspect_x_over_y);
|
||||
|
||||
VIVE_DEBUG(d, "model_number: %s", d->firmware.model_number);
|
||||
VIVE_DEBUG(d, "mb_serial_number: %s", d->firmware.mb_serial_number);
|
||||
|
|
@ -326,10 +327,10 @@ vive_config_parse(struct vive_device *d, char *json_string)
|
|||
_print_vec3("gyro_scale", &d->imu.gyro_scale);
|
||||
}
|
||||
|
||||
VIVE_DEBUG(d, "grow_for_undistort: %f", (double)d->base.hmd->distortion.vive.grow_for_undistort);
|
||||
VIVE_DEBUG(d, "grow_for_undistort: %f", (double)d->distortion.grow_for_undistort);
|
||||
|
||||
VIVE_DEBUG(d, "undistort_r2_cutoff 0: %f", (double)d->base.hmd->distortion.vive.undistort_r2_cutoff[0]);
|
||||
VIVE_DEBUG(d, "undistort_r2_cutoff 1: %f", (double)d->base.hmd->distortion.vive.undistort_r2_cutoff[1]);
|
||||
VIVE_DEBUG(d, "undistort_r2_cutoff 0: %f", (double)d->distortion.undistort_r2_cutoff[0]);
|
||||
VIVE_DEBUG(d, "undistort_r2_cutoff 1: %f", (double)d->distortion.undistort_r2_cutoff[1]);
|
||||
// clang-format on
|
||||
|
||||
return true;
|
||||
|
|
|
|||
|
|
@ -17,7 +17,6 @@
|
|||
#include "util/u_debug.h"
|
||||
#include "util/u_var.h"
|
||||
#include "util/u_time.h"
|
||||
#include "util/u_distortion_mesh.h"
|
||||
|
||||
#include "math/m_api.h"
|
||||
|
||||
|
|
@ -788,11 +787,10 @@ vive_init_defaults(struct vive_device *d)
|
|||
|
||||
d->rot_filtered.w = 1.0f;
|
||||
|
||||
struct xrt_hmd_parts *hmd = d->base.hmd;
|
||||
hmd->distortion.vive.aspect_x_over_y = 0.89999997615814209f;
|
||||
hmd->distortion.vive.grow_for_undistort = 0.5f;
|
||||
hmd->distortion.vive.undistort_r2_cutoff[0] = 1.0f;
|
||||
hmd->distortion.vive.undistort_r2_cutoff[1] = 1.0f;
|
||||
d->distortion.aspect_x_over_y = 0.89999997615814209f;
|
||||
d->distortion.grow_for_undistort = 0.5f;
|
||||
d->distortion.undistort_r2_cutoff[0] = 1.0f;
|
||||
d->distortion.undistort_r2_cutoff[1] = 1.0f;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -803,13 +801,11 @@ compute_distortion(struct xrt_device *xdev,
|
|||
float v,
|
||||
struct xrt_vec2_triplet *result)
|
||||
{
|
||||
struct xrt_hmd_parts *hmd = xdev->hmd;
|
||||
struct vive_device *d = vive_device(xdev);
|
||||
return u_compute_distortion_vive(
|
||||
hmd->distortion.vive.aspect_x_over_y,
|
||||
hmd->distortion.vive.grow_for_undistort,
|
||||
hmd->distortion.vive.undistort_r2_cutoff[view],
|
||||
hmd->distortion.vive.center[view],
|
||||
hmd->distortion.vive.coefficients[view], u, v, result);
|
||||
d->distortion.aspect_x_over_y, d->distortion.grow_for_undistort,
|
||||
d->distortion.undistort_r2_cutoff[view], d->distortion.center[view],
|
||||
d->distortion.coefficients[view], u, v, result);
|
||||
}
|
||||
|
||||
struct vive_device *
|
||||
|
|
|
|||
|
|
@ -13,6 +13,7 @@
|
|||
#include "math/m_imu_3dof.h"
|
||||
#include "os/os_threading.h"
|
||||
#include "util/u_logging.h"
|
||||
#include "util/u_distortion_mesh.h"
|
||||
|
||||
#include "vive_lighthouse.h"
|
||||
|
||||
|
|
@ -141,6 +142,8 @@ struct vive_device
|
|||
bool calibration;
|
||||
bool last;
|
||||
} gui;
|
||||
|
||||
struct u_vive_values distortion;
|
||||
};
|
||||
|
||||
struct vive_device *
|
||||
|
|
|
|||
|
|
@ -127,31 +127,6 @@ struct xrt_hmd_parts
|
|||
//! Preferred disortion model, single value.
|
||||
enum xrt_distortion_model preferred;
|
||||
|
||||
struct
|
||||
{
|
||||
//! Panotools universal distortion k.
|
||||
float distortion_k[4];
|
||||
//! Panotools post distortion scale, <r, g, b, _>.
|
||||
float aberration_k[4];
|
||||
//! Panotools warp scale.
|
||||
float warp_scale;
|
||||
} openhmd;
|
||||
|
||||
struct
|
||||
{
|
||||
float aspect_x_over_y;
|
||||
float grow_for_undistort;
|
||||
|
||||
//! Left/right
|
||||
float undistort_r2_cutoff[2];
|
||||
|
||||
//! Left/right, x/y
|
||||
float center[2][2];
|
||||
|
||||
//! left/right, r/g/b, a/b/c
|
||||
float coefficients[2][3][3];
|
||||
} vive;
|
||||
|
||||
struct
|
||||
{
|
||||
//! Data.
|
||||
|
|
|
|||
Loading…
Reference in a new issue