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d/wmr: Compute visible region for render rectangle.

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Use the distortion function to calculate the visible limits of the
display and then configure the rendered FoV angles accordingly.
This commit is contained in:
Jan Schmidt 2021-06-24 23:05:06 +10:00
parent dfe932ffd7
commit 8192e74f76
1 changed files with 107 additions and 10 deletions
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117
src/xrt/drivers/wmr/wmr_hmd.c
View file

@ -689,6 +689,89 @@ compute_distortion_wmr(struct xrt_device *xdev, int view, float u, float v, stru
return true;
}
/*
* Compute the visible area bounds by calculating the X/Y limits of a
* crosshair through the distortion center, and back-project to the render FoV,
*/
static void
compute_distortion_bounds(struct wmr_hmd *wh,
int view,
float *out_angle_left,
float *out_angle_right,
float *out_angle_down,
float *out_angle_up)
{
assert(view == 0 || view == 1);
float tanangle_left = 0.0, tanangle_right = 0.0, tanangle_up = 0.0, tanangle_down = 0.0;
const struct wmr_distortion_eye_config *ec = wh->config.eye_params + view;
struct wmr_hmd_distortion_params *distortion_params = wh->distortion_params + view;
for (int i = 0; i < 3; i++) {
const struct wmr_distortion_3K *distortion3K = ec->distortion3K + i;
/* The X coords start at 0 for the left eye, and display_size.x / 2.0 for the right */
const struct xrt_vec2 pix_coords[4] = {
/* -eye_center_x, 0 */
{(1.0 * view) * (ec->display_size.x / 2.0) - distortion3K->eye_center.x, 0.0},
/* 0, -eye_center_y */
{0.0, -distortion3K->eye_center.y},
/* width-eye_center_x, 0 */
{(1.0 + 1.0 * view) * (ec->display_size.x / 2.0) - distortion3K->eye_center.x, 0.0},
/* 0, height-eye_center_y */
{0.0, ec->display_size.y - distortion3K->eye_center.y},
};
for (int c = 0; c < 4; c++) {
const struct xrt_vec2 pix_coord = pix_coords[c];
float k1 = distortion3K->k[0];
float k2 = distortion3K->k[1];
float k3 = distortion3K->k[2];
float r2 = m_vec2_dot(pix_coord, pix_coord);
/* distort the pixel */
float d = 1.0 + r2 * (k1 + r2 * (k2 + r2 * k3));
/* Map the distorted pixel coordinate back to normalised view plane coords using the inverse
* affine xform */
struct xrt_vec3 p = {(pix_coord.x * d + distortion3K->eye_center.x),
(pix_coord.y * d + distortion3K->eye_center.y), 1.0};
struct xrt_vec3 vp;
math_matrix_3x3_transform_vec3(&distortion_params->inv_affine_xform, &p, &vp);
vp.x /= vp.z;
vp.y /= vp.z;
if (pix_coord.x < 0.0) {
if (vp.x < tanangle_left)
tanangle_left = vp.x;
} else {
if (vp.x > tanangle_right)
tanangle_right = vp.x;
}
if (pix_coord.y < 0.0) {
if (vp.y < tanangle_up)
tanangle_up = vp.y;
} else {
if (vp.y > tanangle_down)
tanangle_down = vp.y;
}
WMR_DEBUG(wh, "channel %d delta coord %f, %f d pixel %f %f, %f -> %f, %f", i, pix_coord.x,
pix_coord.y, d, p.x, p.y, vp.x, vp.y);
}
}
*out_angle_left = atan(tanangle_left);
*out_angle_right = atan(tanangle_right);
*out_angle_down = -atan(tanangle_down);
*out_angle_up = -atan(tanangle_up);
}
struct xrt_device *
wmr_hmd_create(enum wmr_headset_type hmd_type,
struct os_hid_device *hid_holo,
@ -772,6 +855,15 @@ wmr_hmd_create(enum wmr_headset_type hmd_type,
WMR_INFO(wh, "Found WMR headset type: %s", wh->hmd_desc->debug_name);
m_imu_3dof_init(&wh->fusion.i3dof, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
// Setup variable tracker.
u_var_add_root(wh, "WMR HMD", true);
u_var_add_gui_header(wh, &wh->gui.fusion, "3DoF Fusion");
m_imu_3dof_add_vars(&wh->fusion.i3dof, wh, "");
u_var_add_gui_header(wh, &wh->gui.misc, "Misc");
u_var_add_log_level(wh, &wh->log_level, "log_level");
// Compute centerline in the HMD's calibration coordinate space as the average of the two display poses
math_quat_slerp(&wh->config.eye_params[0].pose.orientation, &wh->config.eye_params[1].pose.orientation, 0.5f,
&wh->centerline.orientation);
@ -802,7 +894,8 @@ wmr_hmd_create(enum wmr_headset_type hmd_type,
info.lens_horizontal_separation_meters =
fabs(wh->display_to_centerline[1].position.x - wh->display_to_centerline[0].position.x);
// TODO placeholder values below here
/* We set up a dummy side-by-side config, then adjust the actual FoV bounds
* in compute_distortion_bounds() below */
info.display.w_meters = 0.13f;
info.display.h_meters = 0.07f;
info.lens_vertical_position_meters = 0.07f / 2.0f;
@ -816,23 +909,27 @@ wmr_hmd_create(enum wmr_headset_type hmd_type,
return NULL;
}
m_imu_3dof_init(&wh->fusion.i3dof, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
// Setup variable tracker.
u_var_add_root(wh, "WMR HMD", true);
u_var_add_gui_header(wh, &wh->gui.fusion, "3DoF Fusion");
m_imu_3dof_add_vars(&wh->fusion.i3dof, wh, "");
u_var_add_gui_header(wh, &wh->gui.misc, "Misc");
u_var_add_log_level(wh, &wh->log_level, "log_level");
// Distortion information, fills in xdev->compute_distortion().
for (eye = 0; eye < 2; eye++) {
math_matrix_3x3_inverse(&wh->config.eye_params[eye].affine_xform,
&wh->distortion_params[eye].inv_affine_xform);
compute_distortion_bounds(
wh, eye, &wh->base.hmd->views[eye].fov.angle_left, &wh->base.hmd->views[eye].fov.angle_right,
&wh->base.hmd->views[eye].fov.angle_down, &wh->base.hmd->views[eye].fov.angle_up);
WMR_INFO(wh, "FoV eye %d angles left %f right %f down %f up %f", eye,
wh->base.hmd->views[eye].fov.angle_left, wh->base.hmd->views[eye].fov.angle_right,
wh->base.hmd->views[eye].fov.angle_down, wh->base.hmd->views[eye].fov.angle_up);
wh->distortion_params[eye].tex_x_range.x = tan(wh->base.hmd->views[eye].fov.angle_left);
wh->distortion_params[eye].tex_x_range.y = tan(wh->base.hmd->views[eye].fov.angle_right);
wh->distortion_params[eye].tex_y_range.x = tan(wh->base.hmd->views[eye].fov.angle_down);
wh->distortion_params[eye].tex_y_range.y = tan(wh->base.hmd->views[eye].fov.angle_up);
WMR_INFO(wh, "Render texture range %f, %f to %f, %f", wh->distortion_params[eye].tex_x_range.x,
wh->distortion_params[eye].tex_y_range.x, wh->distortion_params[eye].tex_x_range.y,
wh->distortion_params[eye].tex_y_range.y);
}
wh->base.hmd->distortion.models = XRT_DISTORTION_MODEL_COMPUTE;