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xrt: rename offset → initial_offset on xrt_tracking_origin

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Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2286>
This commit is contained in:
galister 2024-07-17 03:25:33 +09:00
parent eae4472f50
commit 6f8c0d9154
24 changed files with 57 additions and 57 deletions
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24
src/xrt/auxiliary/util/u_builders.c
View file

@ -113,33 +113,33 @@ u_builder_setup_tracking_origins(struct xrt_device *head,
struct xrt_tracking_origin *right_origin = right ? right->tracking_origin : NULL;
if (left_origin != NULL && left_origin->type == XRT_TRACKING_TYPE_NONE) {
left_origin->offset.position.x = -0.2f;
left_origin->offset.position.y = 1.3f;
left_origin->offset.position.z = -0.5f;
left_origin->initial_offset.position.x = -0.2f;
left_origin->initial_offset.position.y = 1.3f;
left_origin->initial_offset.position.z = -0.5f;
}
if (right_origin != NULL && right_origin->type == XRT_TRACKING_TYPE_NONE) {
right_origin->offset.position.x = 0.2f;
right_origin->offset.position.y = 1.3f;
right_origin->offset.position.z = -0.5f;
right_origin->initial_offset.position.x = 0.2f;
right_origin->initial_offset.position.y = 1.3f;
right_origin->initial_offset.position.z = -0.5f;
}
// Head comes last, because left and right may share tracking origin.
if (head_origin != NULL && head_origin->type == XRT_TRACKING_TYPE_NONE) {
// "nominal height" 1.6m
head_origin->offset.position.x = 0.0f;
head_origin->offset.position.y = 1.6f;
head_origin->offset.position.z = 0.0f;
head_origin->initial_offset.position.x = 0.0f;
head_origin->initial_offset.position.y = 1.6f;
head_origin->initial_offset.position.z = 0.0f;
}
if (head_origin) {
apply_offset(&head_origin->offset.position, global_tracking_origin_offset);
apply_offset(&head_origin->initial_offset.position, global_tracking_origin_offset);
}
if (left_origin && left_origin != head_origin) {
apply_offset(&left->tracking_origin->offset.position, global_tracking_origin_offset);
apply_offset(&left->tracking_origin->initial_offset.position, global_tracking_origin_offset);
}
if (right_origin && right_origin != head_origin && right_origin != left_origin) {
apply_offset(&right->tracking_origin->offset.position, global_tracking_origin_offset);
apply_offset(&right->tracking_origin->initial_offset.position, global_tracking_origin_offset);
}
}

2
src/xrt/auxiliary/util/u_device.c
View file

@ -316,7 +316,7 @@ u_device_allocate(enum u_device_alloc_flags flags, size_t size, size_t input_cou
if (alloc_tracking) {
xdev->tracking_origin = (struct xrt_tracking_origin *)(ptr + offset_tracking);
xdev->tracking_origin->type = XRT_TRACKING_TYPE_NONE;
xdev->tracking_origin->offset.orientation.w = 1.0f;
xdev->tracking_origin->initial_offset.orientation.w = 1.0f;
snprintf(xdev->tracking_origin->name, XRT_TRACKING_NAME_LEN, "%s", "No tracking");
}

2
src/xrt/auxiliary/util/u_space_overseer.c
View file

@ -914,7 +914,7 @@ u_space_overseer_legacy_setup(struct u_space_overseer *uso,
if (ptr != NULL) {
xs = (struct xrt_space *)ptr;
} else {
u_space_overseer_create_offset_space(uso, root, &torig->offset, &xs);
u_space_overseer_create_offset_space(uso, root, &torig->initial_offset, &xs);
u_hashmap_int_insert(torig_map, key, xs);
}

4
src/xrt/drivers/euroc/euroc_device.c
View file

@ -196,7 +196,7 @@ euroc_device_create(struct xrt_prober *xp)
xd->tracking_origin = &ed->tracking_origin;
xd->tracking_origin->type = XRT_TRACKING_TYPE_EXTERNAL_SLAM;
xd->tracking_origin->offset.orientation.w = 1.0f;
xd->tracking_origin->initial_offset.orientation.w = 1.0f;
snprintf(xd->tracking_origin->name, XRT_TRACKING_NAME_LEN, "%s %s", dev_name, "SLAM Tracker");
if (is_hmd) {
@ -217,7 +217,7 @@ euroc_device_create(struct xrt_prober *xp)
u_var_add_root(ed, dev_name, false);
u_var_add_pose(ed, &ed->pose, "pose");
u_var_add_pose(ed, &ed->offset, "offset");
u_var_add_pose(ed, &ed->tracking_origin.offset, "tracking offset");
u_var_add_pose(ed, &ed->tracking_origin.initial_offset, "tracking offset");
bool tracked = xp->tracking->create_tracked_slam(xp->tracking, &ed->slam) >= 0;
if (!tracked) {

8
src/xrt/drivers/ht/ht_driver.c
View file

@ -203,10 +203,10 @@ ht_device_create_common(struct t_stereo_camera_calibration *calib,
}
htd->base.tracking_origin->type = XRT_TRACKING_TYPE_RGB;
htd->base.tracking_origin->offset.position.x = 0.0f;
htd->base.tracking_origin->offset.position.y = 0.0f;
htd->base.tracking_origin->offset.position.z = 0.0f;
htd->base.tracking_origin->offset.orientation.w = 1.0f;
htd->base.tracking_origin->initial_offset.position.x = 0.0f;
htd->base.tracking_origin->initial_offset.position.y = 0.0f;
htd->base.tracking_origin->initial_offset.position.z = 0.0f;
htd->base.tracking_origin->initial_offset.orientation.w = 1.0f;
htd->base.update_inputs = u_device_noop_update_inputs;
htd->base.get_hand_tracking = ht_device_get_hand_tracking;

6
src/xrt/drivers/hydra/hydra_driver.c
View file

@ -595,9 +595,9 @@ hydra_found(struct xrt_prober *xp,
hs->base.type = XRT_TRACKING_TYPE_HYDRA;
snprintf(hs->base.name, XRT_TRACKING_NAME_LEN, "%s", "Razer Hydra magnetic tracking");
// Arbitrary static transform from local space to base.
hs->base.offset.position.y = 1.0f;
hs->base.offset.position.z = -0.25f;
hs->base.offset.orientation.w = 1.0f;
hs->base.initial_offset.position.y = 1.0f;
hs->base.initial_offset.position.z = -0.25f;
hs->base.initial_offset.orientation.w = 1.0f;
hs->data_hid = data_hid;
hs->command_hid = command_hid;

8
src/xrt/drivers/multi_wrapper/multi.c
View file

@ -109,8 +109,8 @@ get_tracked_pose(struct xrt_device *xdev,
m_space_relation_ident(&in_target_space);
in_target_space.relation_flags = tracker_relation.relation_flags;
struct xrt_pose *target_offset = &d->tracking_override.target->tracking_origin->offset;
struct xrt_pose *tracker_offset = &d->tracking_override.tracker->tracking_origin->offset;
struct xrt_pose *target_offset = &d->tracking_override.target->tracking_origin->initial_offset;
struct xrt_pose *tracker_offset = &d->tracking_override.tracker->tracking_origin->initial_offset;
attached_override(d, &target_relation, target_offset, &tracker_relation, tracker_offset,
&in_target_space, out_relation);
@ -163,8 +163,8 @@ get_hand_tracking(struct xrt_device *xdev,
m_space_relation_ident(&in_target_space);
in_target_space.relation_flags = tracker_relation.relation_flags;
struct xrt_pose *target_offset = &d->tracking_override.target->tracking_origin->offset;
struct xrt_pose *tracker_offset = &d->tracking_override.tracker->tracking_origin->offset;
struct xrt_pose *target_offset = &d->tracking_override.target->tracking_origin->initial_offset;
struct xrt_pose *tracker_offset = &d->tracking_override.tracker->tracking_origin->initial_offset;
attached_override(d, &out_value->hand_pose, target_offset, &tracker_relation, tracker_offset,
&in_target_space, &out_value->hand_pose);

2
src/xrt/drivers/ohmd/oh_device.c
View file

@ -1233,7 +1233,7 @@ oh_device_create(ohmd_context *ctx, bool no_hmds, struct xrt_device **out_xdevs)
//! @todo: support mix of 3dof and 6dof OpenHMD devices
struct oh_system *sys = U_TYPED_CALLOC(struct oh_system);
sys->base.type = XRT_TRACKING_TYPE_NONE;
sys->base.offset.orientation.w = 1.0f;
sys->base.initial_offset.orientation.w = 1.0f;
u_var_add_root(sys, "OpenHMD Wrapper", false);

2
src/xrt/drivers/realsense/rs_ddev.c
View file

@ -466,7 +466,7 @@ rs_ddev_create(int device_idx)
rs->base.destroy = rs_ddev_destroy;
rs->base.name = XRT_DEVICE_REALSENSE;
rs->base.tracking_origin->type = XRT_TRACKING_TYPE_EXTERNAL_SLAM;
rs->base.tracking_origin->offset = (struct xrt_pose)XRT_POSE_IDENTITY;
rs->base.tracking_origin->initial_offset = (struct xrt_pose)XRT_POSE_IDENTITY;
// Print name.
snprintf(rs->base.str, XRT_DEVICE_NAME_LEN, "Intel RealSense Device-SLAM");

4
src/xrt/drivers/remote/r_hub.c
View file

@ -415,7 +415,7 @@ r_create_devices(uint16_t port,
r->base.destroy = r_hub_system_devices_destroy;
r->base.get_roles = r_hub_system_devices_get_roles;
r->origin.type = XRT_TRACKING_TYPE_RGB;
r->origin.offset = (struct xrt_pose)XRT_POSE_IDENTITY;
r->origin.initial_offset = (struct xrt_pose)XRT_POSE_IDENTITY;
r->reset.head.center = (struct xrt_pose)XRT_POSE_IDENTITY;
r->reset.head.center.position.y = 1.6f;
r->reset.left.active = true;
@ -487,7 +487,7 @@ r_create_devices(uint16_t port,
struct xrt_space *root = xso->semantic.root; // Convenience
struct xrt_space *offset = NULL;
u_space_overseer_create_offset_space(uso, root, &r->origin.offset, &offset);
u_space_overseer_create_offset_space(uso, root, &r->origin.initial_offset, &offset);
for (uint32_t i = 0; i < r->base.xdev_count; i++) {
u_space_overseer_link_space_to_device(uso, offset, r->base.xdevs[i]);

2
src/xrt/drivers/rift_s/rift_s.c
View file

@ -158,7 +158,7 @@ rift_s_system_create(struct xrt_prober *xp,
struct rift_s_system *sys = U_TYPED_CALLOC(struct rift_s_system);
sys->base.type = XRT_TRACKING_TYPE_NONE;
sys->base.offset.orientation.w = 1.0f;
sys->base.initial_offset.orientation.w = 1.0f;
/* Init refcount */
sys->ref.count = 1;

2
src/xrt/drivers/steamvr_lh/steamvr_lh.cpp
View file

@ -115,7 +115,7 @@ Context::create(const std::string &steam_install,
c->providers = std::move(providers);
std::strncpy(c->name, "SteamVR Lighthouse Tracking", XRT_TRACKING_NAME_LEN);
c->type = XRT_TRACKING_TYPE_LIGHTHOUSE;
c->offset = XRT_POSE_IDENTITY;
c->initial_offset = XRT_POSE_IDENTITY;
for (vr::IServerTrackedDeviceProvider *const &driver : c->providers) {
vr::EVRInitError err = driver->Init(c.get());
if (err != vr::VRInitError_None) {

8
src/xrt/drivers/survive/survive_driver.c
View file

@ -1336,10 +1336,10 @@ survive_get_devices(struct xrt_device **out_xdevs, struct vive_config **out_vive
ss->ctx = actx;
ss->base.type = XRT_TRACKING_TYPE_LIGHTHOUSE;
snprintf(ss->base.name, XRT_TRACKING_NAME_LEN, "%s", "Libsurvive Tracking");
ss->base.offset.position.x = 0.0f;
ss->base.offset.position.y = 0.0f;
ss->base.offset.position.z = 0.0f;
ss->base.offset.orientation.w = 1.0f;
ss->base.initial_offset.position.x = 0.0f;
ss->base.initial_offset.position.y = 0.0f;
ss->base.initial_offset.position.z = 0.0f;
ss->base.initial_offset.orientation.w = 1.0f;
ss->timecode_offset_ms = (struct u_var_draggable_f32){
.val = debug_get_float_option_survive_timecode_offset_ms(),
.min = -20.0,

2
src/xrt/drivers/twrap/twrap_slam.c
View file

@ -176,7 +176,7 @@ twrap_slam_create_device(struct xrt_frame_context *xfctx,
dx->base.destroy = twrap_slam_destroy;
dx->base.name = name;
dx->base.tracking_origin->type = XRT_TRACKING_TYPE_OTHER;
dx->base.tracking_origin->offset = (struct xrt_pose)XRT_POSE_IDENTITY;
dx->base.tracking_origin->initial_offset = (struct xrt_pose)XRT_POSE_IDENTITY;
dx->base.inputs[0].name = XRT_INPUT_GENERIC_TRACKER_POSE;
dx->base.orientation_tracking_supported = true;
dx->base.position_tracking_supported = true;

2
src/xrt/drivers/ultraleap_v2/ulv2_driver.cpp
View file

@ -387,7 +387,7 @@ ulv2_create_device(struct xrt_device **out_xdev)
ulv2d->base.tracking_origin = &ulv2d->tracking_origin;
ulv2d->base.tracking_origin->type = XRT_TRACKING_TYPE_OTHER;
math_pose_identity(&ulv2d->base.tracking_origin->offset);
math_pose_identity(&ulv2d->base.tracking_origin->initial_offset);
ulv2d->log_level = debug_get_log_option_ulv2_log();

2
src/xrt/drivers/ultraleap_v5/ulv5_driver.cpp
View file

@ -310,7 +310,7 @@ ulv5_create_device(struct xrt_device **out_xdev)
ulv5d->base.tracking_origin = &ulv5d->tracking_origin;
ulv5d->base.tracking_origin->type = XRT_TRACKING_TYPE_OTHER;
math_pose_identity(&ulv5d->base.tracking_origin->offset);
math_pose_identity(&ulv5d->base.tracking_origin->initial_offset);
ulv5d->log_level = debug_get_log_option_ulv5_log();

6
src/xrt/include/xrt/xrt_tracking.h
View file

@ -76,10 +76,10 @@ struct xrt_tracking_origin
enum xrt_tracking_type type;
/*!
* Read and written to by the state-tracker using the device(s)
* this tracking system is tracking.
* Read-only. Set once by the builder, or in some cases, the driver.
* With some systems, the offset may be changed at runtime using the space overseer.
*/
struct xrt_pose offset;
struct xrt_pose initial_offset;
};
/*!

4
src/xrt/ipc/client/ipc_client_instance.c
View file

@ -283,12 +283,12 @@ ipc_instance_create(struct xrt_instance_info *i_info, struct xrt_instance **out_
memcpy(xtrack->name, ism->itracks[i].name, sizeof(xtrack->name));
xtrack->type = ism->itracks[i].type;
xtrack->offset = ism->itracks[i].offset;
xtrack->initial_offset = ism->itracks[i].offset;
ii->xtracks[count++] = xtrack;
u_var_add_root(xtrack, "Tracking origin", true);
u_var_add_ro_text(xtrack, xtrack->name, "name");
u_var_add_pose(xtrack, &xtrack->offset, "offset");
u_var_add_pose(xtrack, &xtrack->initial_offset, "offset");
}
ii->xtrack_count = count;

2
src/xrt/ipc/server/ipc_server_process.c
View file

@ -322,7 +322,7 @@ init_shm(struct ipc_server *s)
struct ipc_shared_tracking_origin *itrack = &ism->itracks[count++];
memcpy(itrack->name, xtrack->name, sizeof(itrack->name));
itrack->type = xtrack->type;
itrack->offset = xtrack->offset;
itrack->offset = xtrack->initial_offset;
}
ism->itrack_count = count;

2
src/xrt/state_trackers/oxr/oxr_session_frame_end.c
View file

@ -1789,7 +1789,7 @@ oxr_session_frame_end(struct oxr_logger *log, struct oxr_session *sess, const Xr
do_synchronize_state_change(log, sess);
struct xrt_pose inv_offset = {0};
math_pose_invert(&xdev->tracking_origin->offset, &inv_offset);
math_pose_invert(&xdev->tracking_origin->initial_offset, &inv_offset);
struct xrt_layer_frame_data data = {
.frame_id = sess->frame_id.begun,

8
src/xrt/state_trackers/prober/p_tracking.c
View file

@ -421,15 +421,15 @@ p_tracking_init(struct prober *p)
fact->base.create_tracked_psvr = p_factory_create_tracked_psvr;
fact->base.create_tracked_slam = p_factory_create_tracked_slam;
fact->origin.type = XRT_TRACKING_TYPE_RGB;
fact->origin.offset.orientation.y = 1.0f;
fact->origin.offset.position.z = -2.0f;
fact->origin.offset.position.y = 1.0f;
fact->origin.initial_offset.orientation.y = 1.0f;
fact->origin.initial_offset.position.z = -2.0f;
fact->origin.initial_offset.position.y = 1.0f;
fact->p = p;
snprintf(fact->origin.name, sizeof(fact->origin.name), "PSVR & PSMV tracking");
u_var_add_root(fact, "Tracking Factory", false);
u_var_add_pose(fact, &fact->origin.offset, "offset");
u_var_add_pose(fact, &fact->origin.initial_offset, "offset");
// Finally set us as the tracking factory.
p->base.tracking = &fact->base;

4
src/xrt/state_trackers/steamvr_drv/ovrd_driver.cpp
View file

@ -881,7 +881,7 @@ public:
struct xrt_space_relation rel;
xrt_device_get_tracked_pose(m_xdev, grip_name, now_ns, &rel);
struct xrt_pose *offset = &m_xdev->tracking_origin->offset;
struct xrt_pose *offset = &m_xdev->tracking_origin->initial_offset;
struct xrt_relation_chain chain = {};
m_relation_chain_push_relation(&chain, &rel);
@ -1268,7 +1268,7 @@ CDeviceDriver_Monado::GetPose()
struct xrt_space_relation rel;
xrt_device_get_tracked_pose(m_xdev, XRT_INPUT_GENERIC_HEAD_POSE, now_ns, &rel);
struct xrt_pose *offset = &m_xdev->tracking_origin->offset;
struct xrt_pose *offset = &m_xdev->tracking_origin->initial_offset;
struct xrt_relation_chain chain = {};
m_relation_chain_push_relation(&chain, &rel);

6
src/xrt/targets/common/target_builder_rgb_tracking.c
View file

@ -301,9 +301,9 @@ rgb_open_system_impl(struct xrt_builder *xb,
build.xfctx = xfctx;
build.origin = origin;
build.origin->type = XRT_TRACKING_TYPE_RGB;
build.origin->offset.orientation.y = 1.0f;
build.origin->offset.position.z = -2.0f;
build.origin->offset.position.y = 1.0f;
build.origin->initial_offset.orientation.y = 1.0f;
build.origin->initial_offset.position.z = -2.0f;
build.origin->initial_offset.position.y = 1.0f;
setup_pipeline(xp, &build);
#else

2
src/xrt/targets/sdl_test/sdl_device.c
View file

@ -120,7 +120,7 @@ sdl_device_init(struct sdl_program *sp)
u_distortion_mesh_set_none(xdev);
// Tracking origin.
xdev->tracking_origin->offset = (struct xrt_pose)XRT_POSE_IDENTITY;
xdev->tracking_origin->initial_offset = (struct xrt_pose)XRT_POSE_IDENTITY;
xdev->tracking_origin->type = XRT_TRACKING_TYPE_OTHER;
snprintf(xdev->tracking_origin->name, XRT_TRACKING_NAME_LEN, "SDL Tracking");
}