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u/vive: Add more camera fields

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This commit is contained in:
Jakob Bornecrantz 2021-09-19 18:43:13 +01:00 committed by Moses Turner
parent 6f20b6d88f
commit a15e37587b
2 changed files with 84 additions and 39 deletions
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107
src/xrt/auxiliary/vive/vive_config.c
View file

@ -189,7 +189,6 @@ _print_vec3(const char *title, struct xrt_vec3 *vec)
U_LOG_D("%s = %f %f %f", title, (double)vec->x, (double)vec->y, (double)vec->z);
}
static bool
_get_camera(struct index_camera *cam, const cJSON *cam_json)
{
@ -198,6 +197,7 @@ _get_camera(struct index_camera *cam, const cJSON *cam_json)
succeeded = succeeded && JSON_VEC3(extrinsics, "plus_x", &cam->extrinsics.plus_x);
succeeded = succeeded && JSON_VEC3(extrinsics, "plus_z", &cam->extrinsics.plus_z);
succeeded = succeeded && JSON_VEC3(extrinsics, "position", &cam->extrinsics.position);
_get_pose_from_pos_x_z(extrinsics, &cam->trackref);
const cJSON *intrinsics = u_json_get(cam_json, "intrinsics");
@ -219,6 +219,71 @@ _get_camera(struct index_camera *cam, const cJSON *cam_json)
return true;
}
static bool
_get_cameras(struct vive_config *d, const cJSON *cameras_json)
{
const cJSON *cmr = NULL;
bool found_camera_json = false;
bool succeeded_parsing_json = false;
cJSON_ArrayForEach(cmr, cameras_json)
{
found_camera_json = true;
const cJSON *name_json = u_json_get(cmr, "name");
const char *name = name_json->valuestring;
bool is_left = !strcmp("left", name);
bool is_right = !strcmp("right", name);
if (!is_left && !is_right) {
continue;
}
if (!_get_camera(&d->cameras.view[is_right], cmr)) {
succeeded_parsing_json = false;
break;
}
succeeded_parsing_json = true;
}
if (!found_camera_json) {
U_LOG_W("HMD is Index, but no cameras in json file!");
return false;
} else if (!succeeded_parsing_json) {
U_LOG_E("Failed to parse Index camera calibration!");
return false;
}
struct xrt_pose trackref_to_head;
struct xrt_pose camera_to_head;
math_pose_invert(&d->display.trackref, &trackref_to_head);
math_pose_transform(&trackref_to_head, &d->cameras.view[0].trackref, &camera_to_head);
d->cameras.view[0].headref = camera_to_head;
math_pose_transform(&trackref_to_head, &d->cameras.view[1].trackref, &camera_to_head);
d->cameras.view[1].headref = camera_to_head;
// Calculate where in the right camera space the left camera is.
struct xrt_pose invert, left_in_right;
math_pose_invert(&d->cameras.view[1].headref, &invert);
math_pose_transform(&d->cameras.view[0].headref, &invert, &left_in_right);
d->cameras.left_in_right = left_in_right;
// To turn it into OpenCV cameras coordinate system.
struct xrt_pose opencv = left_in_right;
opencv.orientation.x = -left_in_right.orientation.x;
opencv.position.y = -left_in_right.position.y;
opencv.position.z = -left_in_right.position.z;
d->cameras.opencv = opencv;
d->cameras.valid = true;
return true;
}
bool
vive_get_stereo_camera_calibration(struct vive_config *d,
struct t_stereo_camera_calibration **out_calibration,
@ -455,44 +520,8 @@ vive_config_parse(struct vive_config *d, char *json_string, enum u_logging_level
d->display.imuref = imu_to_head;
// Hey! Moses wrote this part in a pretty big hurry; you will definitely see some suspect things here.
// If you're bored, please fix them!
const cJSON *cms = u_json_get(json, "tracked_cameras");
const cJSON *cmr;
bool found_camera_json = false;
bool succeeded_parsing_json = false;
cJSON_ArrayForEach(cmr, cms)
{
found_camera_json = true;
const cJSON *name_json = u_json_get(cmr, "name");
const char *name = name_json->valuestring;
bool is_left = !strcmp("left", name);
bool is_right = !strcmp("right", name);
if (!is_left && !is_right) {
continue;
}
if (!_get_camera(&d->cameras.view[is_right], cmr)) {
succeeded_parsing_json = false;
break;
}
succeeded_parsing_json = true;
}
if (!found_camera_json) {
U_LOG_W("HMD is Index, but no cameras in json file!");
} else if (!succeeded_parsing_json) {
U_LOG_E("Failed to parse Index camera calibration!");
} else {
d->cameras.valid = true;
}
const cJSON *cameras_json = u_json_get(json, "tracked_cameras");
_get_cameras(d, cameras_json);
} break;
default:
VIVE_ERROR(d, "Unknown Vive variant.");

16
src/xrt/auxiliary/vive/vive_config.h
View file

@ -61,6 +61,13 @@ struct index_camera
struct xrt_vec3 plus_z;
struct xrt_vec3 position; // looks like from head pose
} extrinsics;
//! Pose in tracking space.
struct xrt_pose trackref;
//! Pose in head space.
struct xrt_pose headref;
struct
{
double distortion[4]; // Kannala-Brandt
@ -147,7 +154,16 @@ struct vive_config
struct
{
//! The two cameras.
struct index_camera view[2];
//! Left view in right camera space.
struct xrt_pose left_in_right;
//! The same but in OpenCV camera space.
struct xrt_pose opencv;
//! Have we loaded the config.
bool valid;
} cameras;