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d/vive: Tidy and refactor config parsing
This commit is contained in:
Jakob Bornecrantz
Jakob Bornecrantz
parent
bc20d84171
commit
4895ab704c
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@ -621,54 +621,59 @@ _get_color_coeffs(struct xrt_hmd_parts *hmd,
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}
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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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const nx_json *eye_json,
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const char *name,
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uint8_t eye,
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uint8_t channel)
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{
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const nx_json *distortion = nx_json_get(eye_json, name);
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if (distortion == NULL) {
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return;
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}
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const nx_json *coeffs = nx_json_get(distortion, "coeffs");
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if (coeffs == NULL) {
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return;
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}
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_get_color_coeffs(hmd, coeffs, eye, channel);
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}
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static void
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get_distortion_properties(struct xrt_hmd_parts *hmd,
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const nx_json *eye_transform_json,
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uint8_t eye)
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{
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const nx_json *eye_json = nx_json_item(eye_transform_json, eye);
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if (eye_json) {
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// TODO: store grow_for_undistort per eye
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hmd->distortion.vive.grow_for_undistort =
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_json_get_float(eye_json, "grow_for_undistort");
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hmd->distortion.vive.undistort_r2_cutoff[eye] =
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_json_get_float(eye_json, "undistort_r2_cutoff");
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if (eye_json == NULL) {
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return;
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}
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const nx_json *distortion = nx_json_get(eye_json, "distortion");
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if (distortion) {
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// TODO: store center per color
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hmd->distortion.vive.center[eye][0] =
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_json_get_float(eye_json, "center_x");
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hmd->distortion.vive.center[eye][1] =
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_json_get_float(eye_json, "center_y");
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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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// clang-format on
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// green
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const nx_json *coeffs =
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nx_json_get(distortion, "coeffs");
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if (coeffs)
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_get_color_coeffs(hmd, coeffs, eye, 1);
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}
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const nx_json *distortion = nx_json_get(eye_json, "distortion");
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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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// clang-format on
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const nx_json *distortion_blue =
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nx_json_get(eye_json, "distortion_blue");
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if (distortion_blue) {
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const nx_json *coeffs =
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nx_json_get(distortion_blue, "coeffs");
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// blue
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if (coeffs)
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_get_color_coeffs(hmd, coeffs, eye, 2);
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}
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const nx_json *distortion_red =
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nx_json_get(eye_json, "distortion_red");
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if (distortion_red) {
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const nx_json *coeffs =
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nx_json_get(distortion_red, "coeffs");
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// red
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if (coeffs)
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_get_color_coeffs(hmd, coeffs, eye, 0);
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// green
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const nx_json *coeffs = nx_json_get(distortion, "coeffs");
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if (coeffs != NULL) {
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_get_color_coeffs(hmd, 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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}
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void
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@ -703,110 +708,97 @@ vive_parse_config(struct vive_device *d, char *json_string)
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VIVE_SPEW(d, "JSON config:\n%s\n", json_string);
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const nx_json *json = nx_json_parse(json_string, 0);
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if (json) {
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switch (d->variant) {
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case VIVE_VARIANT_VIVE:
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_json_get_vec3(json, "acc_bias", &d->imu.acc_bias);
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_json_get_vec3(json, "acc_scale", &d->imu.acc_scale);
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_json_get_vec3(json, "gyro_bias", &d->imu.gyro_bias);
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_json_get_vec3(json, "gyro_scale", &d->imu.gyro_scale);
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break;
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case VIVE_VARIANT_PRO: {
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const nx_json *imu = nx_json_get(json, "imu");
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_json_get_vec3(imu, "acc_bias", &d->imu.acc_bias);
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_json_get_vec3(imu, "acc_scale", &d->imu.acc_scale);
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_json_get_vec3(imu, "gyro_bias", &d->imu.gyro_bias);
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_json_get_vec3(imu, "gyro_scale", &d->imu.gyro_scale);
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} break;
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case VIVE_VARIANT_INDEX: {
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const nx_json *imu = nx_json_get(json, "imu");
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_json_get_vec3(imu, "acc_bias", &d->imu.acc_bias);
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_json_get_vec3(imu, "acc_scale", &d->imu.acc_scale);
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_json_get_vec3(imu, "gyro_bias", &d->imu.gyro_bias);
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} break;
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default: VIVE_ERROR("Unknown Vive variant.\n"); return false;
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}
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d->firmware.model_number =
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_json_get_string(json, "model_number");
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if (d->variant != VIVE_VARIANT_INDEX) {
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d->firmware.mb_serial_number =
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_json_get_string(json, "mb_serial_number");
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d->display.lens_separation =
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_json_get_double(json, "lens_separation");
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}
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d->firmware.device_serial_number =
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_json_get_string(json, "device_serial_number");
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const nx_json *device_json = nx_json_get(json, "device");
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if (device_json) {
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if (d->variant != VIVE_VARIANT_INDEX) {
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d->display.persistence = _json_get_double(
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device_json, "persistence");
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d->base.hmd->distortion.vive.aspect_x_over_y =
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_json_get_float(device_json,
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"physical_aspect_x_over_y");
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}
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d->display.eye_target_height_in_pixels =
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(uint16_t)_json_get_int(
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device_json, "eye_target_height_in_pixels");
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d->display.eye_target_width_in_pixels =
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(uint16_t)_json_get_int(
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device_json, "eye_target_width_in_pixels");
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}
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const nx_json *eye_transform_json =
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nx_json_get(json, "tracking_to_eye_transform");
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if (eye_transform_json) {
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for (uint8_t eye = 0; eye < 2; eye++)
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get_distortion_properties(
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d->base.hmd, eye_transform_json, eye);
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}
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nx_json_free(json);
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VIVE_DEBUG(d, "= Vive configuration =");
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VIVE_DEBUG(d, "lens_separation: %f",
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d->display.lens_separation);
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VIVE_DEBUG(d, "persistence: %f", d->display.persistence);
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VIVE_DEBUG(
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d, "physical_aspect_x_over_y: %f",
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(double)d->base.hmd->distortion.vive.aspect_x_over_y);
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VIVE_DEBUG(d, "model_number: %s", d->firmware.model_number);
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VIVE_DEBUG(d, "mb_serial_number: %s",
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d->firmware.mb_serial_number);
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VIVE_DEBUG(d, "device_serial_number: %s",
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d->firmware.device_serial_number);
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VIVE_DEBUG(d, "eye_target_height_in_pixels: %d",
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d->display.eye_target_height_in_pixels);
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VIVE_DEBUG(d, "eye_target_width_in_pixels: %d",
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d->display.eye_target_width_in_pixels);
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if (d->print_debug) {
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print_vec3("acc_bias", &d->imu.acc_bias);
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print_vec3("acc_scale", &d->imu.acc_scale);
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print_vec3("gyro_bias", &d->imu.gyro_bias);
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print_vec3("gyro_scale", &d->imu.gyro_scale);
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}
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VIVE_DEBUG(
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d, "grow_for_undistort: %f",
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(double)d->base.hmd->distortion.vive.grow_for_undistort);
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VIVE_DEBUG(d, "undistort_r2_cutoff 0: %f",
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(double)d->base.hmd->distortion.vive
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.undistort_r2_cutoff[0]);
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VIVE_DEBUG(d, "undistort_r2_cutoff 1: %f",
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(double)d->base.hmd->distortion.vive
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.undistort_r2_cutoff[1]);
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} else {
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if (json == NULL) {
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VIVE_ERROR("Could not parse JSON data.");
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return false;
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}
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switch (d->variant) {
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case VIVE_VARIANT_VIVE:
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_json_get_vec3(json, "acc_bias", &d->imu.acc_bias);
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_json_get_vec3(json, "acc_scale", &d->imu.acc_scale);
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_json_get_vec3(json, "gyro_bias", &d->imu.gyro_bias);
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_json_get_vec3(json, "gyro_scale", &d->imu.gyro_scale);
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break;
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case VIVE_VARIANT_PRO: {
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const nx_json *imu = nx_json_get(json, "imu");
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_json_get_vec3(imu, "acc_bias", &d->imu.acc_bias);
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_json_get_vec3(imu, "acc_scale", &d->imu.acc_scale);
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_json_get_vec3(imu, "gyro_bias", &d->imu.gyro_bias);
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_json_get_vec3(imu, "gyro_scale", &d->imu.gyro_scale);
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} break;
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case VIVE_VARIANT_INDEX: {
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const nx_json *imu = nx_json_get(json, "imu");
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_json_get_vec3(imu, "acc_bias", &d->imu.acc_bias);
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_json_get_vec3(imu, "acc_scale", &d->imu.acc_scale);
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_json_get_vec3(imu, "gyro_bias", &d->imu.gyro_bias);
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} break;
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default: VIVE_ERROR("Unknown Vive variant.\n"); return false;
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}
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d->firmware.model_number = _json_get_string(json, "model_number");
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if (d->variant != VIVE_VARIANT_INDEX) {
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// clang-format off
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d->firmware.mb_serial_number = _json_get_string(json, "mb_serial_number");
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d->display.lens_separation = _json_get_double(json, "lens_separation");
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// clang-format on
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}
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d->firmware.device_serial_number =
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_json_get_string(json, "device_serial_number");
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const nx_json *device_json = nx_json_get(json, "device");
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if (device_json) {
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if (d->variant != VIVE_VARIANT_INDEX) {
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d->display.persistence =
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_json_get_double(device_json, "persistence");
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d->base.hmd->distortion.vive.aspect_x_over_y =
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_json_get_float(device_json,
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"physical_aspect_x_over_y");
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}
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d->display.eye_target_height_in_pixels =
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(uint16_t)_json_get_int(device_json,
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"eye_target_height_in_pixels");
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d->display.eye_target_width_in_pixels = (uint16_t)_json_get_int(
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device_json, "eye_target_width_in_pixels");
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}
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const nx_json *eye_transform_json =
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nx_json_get(json, "tracking_to_eye_transform");
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if (eye_transform_json) {
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for (uint8_t eye = 0; eye < 2; eye++) {
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get_distortion_properties(d->base.hmd,
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eye_transform_json, eye);
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}
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}
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nx_json_free(json);
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// clang-format off
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VIVE_DEBUG(d, "= Vive configuration =");
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VIVE_DEBUG(d, "lens_separation: %f", d->display.lens_separation);
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VIVE_DEBUG(d, "persistence: %f", d->display.persistence);
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VIVE_DEBUG(d, "physical_aspect_x_over_y: %f", (double)d->base.hmd->distortion.vive.aspect_x_over_y);
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VIVE_DEBUG(d, "model_number: %s", d->firmware.model_number);
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VIVE_DEBUG(d, "mb_serial_number: %s", d->firmware.mb_serial_number);
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VIVE_DEBUG(d, "device_serial_number: %s", d->firmware.device_serial_number);
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VIVE_DEBUG(d, "eye_target_height_in_pixels: %d", d->display.eye_target_height_in_pixels);
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VIVE_DEBUG(d, "eye_target_width_in_pixels: %d", d->display.eye_target_width_in_pixels);
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if (d->print_debug) {
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print_vec3("acc_bias", &d->imu.acc_bias);
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print_vec3("acc_scale", &d->imu.acc_scale);
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print_vec3("gyro_bias", &d->imu.gyro_bias);
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print_vec3("gyro_scale", &d->imu.gyro_scale);
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}
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VIVE_DEBUG(d, "grow_for_undistort: %f", (double)d->base.hmd->distortion.vive.grow_for_undistort);
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VIVE_DEBUG(d, "undistort_r2_cutoff 0: %f", (double)d->base.hmd->distortion.vive.undistort_r2_cutoff[0]);
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VIVE_DEBUG(d, "undistort_r2_cutoff 1: %f", (double)d->base.hmd->distortion.vive.undistort_r2_cutoff[1]);
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// clang-format on
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return true;
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}
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