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st/oxr: Optionally perform dynamic prediction.

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Ryan Pavlik 2019-03-22 11:07:02 -05:00 committed by Jakob Bornecrantz
parent f78509ba9b
commit 82f5a974e3
1 changed files with 20 additions and 10 deletions
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30
src/xrt/state_trackers/oxr/oxr_session.c
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@ -26,6 +26,7 @@
DEBUG_GET_ONCE_BOOL_OPTION(views, "OXR_DEBUG_VIEWS", false)
DEBUG_GET_ONCE_BOOL_OPTION(dynamic_prediction, "OXR_DYNAMIC_PREDICTION", false)
DEBUG_GET_ONCE_NUM_OPTION(ipd, "OXR_DEBUG_IPD_MM", 63)
DEBUG_GET_ONCE_NUM_OPTION(prediction_ms, "OXR_DEBUG_PREDICTION_MS", 11)
@ -161,19 +162,28 @@ oxr_session_get_view_pose_at(struct oxr_logger *log,
XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT) != 0) {
//! @todo Forcing a fixed amount of prediction for now since
//! devices don't tell us timestamps yet.
int64_t ns_diff = at_time - timestamp;
float interval;
if (debug_get_bool_option_dynamic_prediction()) {
interval =
time_ns_to_s(ns_diff) + sess->static_prediction_s;
} else {
interval = sess->static_prediction_s;
}
struct xrt_quat predicted;
math_quat_integrate_velocity(
&pose->orientation, &relation.angular_velocity,
sess->static_prediction_s, &predicted);
math_quat_integrate_velocity(&pose->orientation,
&relation.angular_velocity,
interval, &predicted);
if (debug_get_bool_option_views()) {
fprintf(
stderr,
"\toriginal quat = {%f, %f, %f, %f} predicted = "
"{%f, %f, %f, %f}\n",
pose->orientation.x, pose->orientation.y,
pose->orientation.z, pose->orientation.w,
predicted.x, predicted.y, predicted.z, predicted.w);
fprintf(stderr,
"\toriginal quat = {%f, %f, %f, %f} "
"(time requested: %li, Interval %li nsec, with "
"static interval %f s)\n",
pose->orientation.x, pose->orientation.y,
pose->orientation.z, pose->orientation.w,
at_time, ns_diff, interval);
}
pose->orientation = predicted;
}