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d/twrap: Correct axis assignments for poses provided by basalt slam.

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Testing with a Luxonis Oak-D Pro with basalt slam tracking on a simulated
Northstar suggests the returned axis from basalt vit are wrong wrt. to
the OpenXR reference frame.

Invert assigned y and z axis, similar to what is done for poses returned
by basalt slam for other HMD drivers, e.g., the drivers for Rift-S, Valve
Index / Vive, WMR and Realsense, in various *_correct_pose_from_basalt()
functions.

While we are at it, also make sure the dx->pre_rotate enable flag and
debug UI checkbox actually has an effect on operation.

Signed-off-by: Mario Kleiner <mario.kleiner.de@gmail.com>
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2228>
This commit is contained in:
Mario Kleiner 2024-05-31 03:51:25 +01:00 committed by Marge Bot
parent 09273292c2
commit be55dec119
1 changed files with 17 additions and 3 deletions
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20
src/xrt/drivers/twrap/twrap_slam.c
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@ -72,6 +72,16 @@ slam_device(struct xrt_device *xdev)
return (struct slam_device *)xdev;
}
static struct xrt_pose
twrap_hmd_correct_pose_from_basalt(struct xrt_pose pose)
{
pose.position.y = -pose.position.y;
pose.position.z = -pose.position.z;
pose.orientation.y = -pose.orientation.y;
pose.orientation.z = -pose.orientation.z;
return pose;
}
static void
twrap_slam_get_tracked_pose(struct xrt_device *xdev,
enum xrt_input_name name,
@ -100,15 +110,19 @@ twrap_slam_get_tracked_pose(struct xrt_device *xdev,
return;
}
basalt_rel.pose = twrap_hmd_correct_pose_from_basalt(basalt_rel.pose);
struct xrt_relation_chain xrc = {0};
m_relation_chain_push_relation(&xrc, &basalt_rel);
struct xrt_pose pre = {0};
math_quat_from_plus_x_z(&dx->pre_rotate_x, &dx->pre_rotate_z, &pre.orientation);
m_relation_chain_push_pose(&xrc, &pre);
if (dx->pre_rotate) {
struct xrt_pose pre = {0};
math_quat_from_plus_x_z(&dx->pre_rotate_x, &dx->pre_rotate_z, &pre.orientation);
m_relation_chain_push_pose(&xrc, &pre);
}
m_relation_chain_resolve(&xrc, out_relation);
return;