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d/psvr: Super simple sensor "fusion"

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This commit is contained in:
Jakob Bornecrantz 2019-09-11 16:42:59 +01:00
parent 750b8bb755
commit e179349644
1 changed files with 12 additions and 1 deletions
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13
src/xrt/drivers/psvr/psvr_device.c
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@ -12,6 +12,8 @@
#include "xrt/xrt_compiler.h" #include "xrt/xrt_compiler.h"
#include "math/m_api.h"
#include "util/u_var.h" #include "util/u_var.h"
#include "util/u_misc.h" #include "util/u_misc.h"
#include "util/u_time.h" #include "util/u_time.h"
@ -80,6 +82,11 @@ struct psvr_device
bool last_frame; bool last_frame;
bool control; bool control;
} gui; } gui;
struct
{
struct xrt_quat rot;
} fusion;
}; };
@ -202,6 +209,9 @@ update_fusion(struct psvr_device *psvr,
accel_from_psvr_vec(&sample->accel, &psvr->read.accel); accel_from_psvr_vec(&sample->accel, &psvr->read.accel);
gyro_from_psvr_vec(&sample->gyro, &psvr->read.gyro); gyro_from_psvr_vec(&sample->gyro, &psvr->read.gyro);
math_quat_integrate_velocity(&psvr->fusion.rot, &psvr->read.gyro, dt,
&psvr->fusion.rot);
//! @todo This is where we do the sensor fusion. //! @todo This is where we do the sensor fusion.
// ofusion_update(&psvr->sensor_fusion, dt, &psvr->raw.gyro, // ofusion_update(&psvr->sensor_fusion, dt, &psvr->raw.gyro,
// &psvr->raw.accel, &mag); // &psvr->raw.accel, &mag);
@ -655,7 +665,7 @@ psvr_device_get_tracked_pose(struct xrt_device *xdev,
//! @todo adjust for latency here //! @todo adjust for latency here
*out_timestamp = now; *out_timestamp = now;
out_relation->pose.orientation.w = 1.0f; out_relation->pose.orientation = psvr->fusion.rot;
//! @todo assuming that orientation is actually currently tracked. //! @todo assuming that orientation is actually currently tracked.
out_relation->relation_flags = (enum xrt_space_relation_flags)( out_relation->relation_flags = (enum xrt_space_relation_flags)(
@ -729,6 +739,7 @@ psvr_device_create(struct hid_device_info *hmd_handle_info,
psvr->base.destroy = psvr_device_destroy; psvr->base.destroy = psvr_device_destroy;
psvr->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_RELATION; psvr->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_RELATION;
psvr->base.name = XRT_DEVICE_GENERIC_HMD; psvr->base.name = XRT_DEVICE_GENERIC_HMD;
psvr->fusion.rot.w = 1.0f;
snprintf(psvr->base.str, XRT_DEVICE_NAME_LEN, "PS VR Headset"); snprintf(psvr->base.str, XRT_DEVICE_NAME_LEN, "PS VR Headset");