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d/wmr: Guess camera orientation for Reverb G2 based on HT0 twist value

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This commit is contained in:
Moses Turner 2022-11-08 13:43:15 -06:00
parent 352fda971c
commit f580271291
1 changed files with 47 additions and 4 deletions
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51
src/xrt/drivers/wmr/wmr_hmd.c
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@ -1480,6 +1480,42 @@ wmr_hmd_slam_track(struct wmr_hmd *wh,
return sinks;
}
#ifdef XRT_BUILD_DRIVER_HANDTRACKING
static enum t_camera_orientation
wmr_hmd_guess_camera_orientation(struct wmr_hmd *wh)
{
struct xrt_quat Q_ht0_me = wh->P_ht0_me.orientation;
struct xrt_vec2 swing = {0};
float twist = 0;
math_quat_to_swing_twist(&Q_ht0_me, &swing, &twist);
WMR_DEBUG(wh, "HT0 twist value is %f", twist);
float abstwist = fabsf(twist);
// Bottom quadrant
if (abstwist < M_PI / 4) {
WMR_DEBUG(wh, "I think this headset has CAMERA_ORIENTATION_0 front cameras!");
return CAMERA_ORIENTATION_0;
}
// Top quadrant
if (abstwist > 3 * M_PI / 4) {
WMR_DEBUG(wh, "I think this headset has CAMERA_ORIENTATION_180 front cameras!");
return CAMERA_ORIENTATION_180;
}
// Right quadrant
if (twist < 0) {
WMR_DEBUG(wh, "I think this headset has CAMERA_ORIENTATION_90 front cameras!");
return CAMERA_ORIENTATION_90;
}
// Left quadrant
WMR_DEBUG(wh, "I think this headset has CAMERA_ORIENTATION_270 front cameras!");
return CAMERA_ORIENTATION_270;
}
#endif
static int
wmr_hmd_hand_track(struct wmr_hmd *wh,
struct t_stereo_camera_calibration *stereo_calib,
@ -1492,13 +1528,20 @@ wmr_hmd_hand_track(struct wmr_hmd *wh,
struct xrt_device *device = NULL;
#ifdef XRT_BUILD_DRIVER_HANDTRACKING
//!@todo Turning it off is okay for now, but we should plug metric_radius (or whatever it's called) in, at some
//! point.
struct t_camera_extra_info extra_camera_info = {0};
extra_camera_info.views[0].camera_orientation = CAMERA_ORIENTATION_0;
extra_camera_info.views[1].camera_orientation = CAMERA_ORIENTATION_0;
enum t_camera_orientation ori_guess = CAMERA_ORIENTATION_0;
if (wh->hmd_desc->hmd_type == WMR_HEADSET_GENERIC || //
wh->hmd_desc->hmd_type == WMR_HEADSET_REVERB_G2) {
ori_guess = wmr_hmd_guess_camera_orientation(wh);
}
extra_camera_info.views[0].camera_orientation = ori_guess;
extra_camera_info.views[1].camera_orientation = ori_guess;
//!@todo Turning it off is okay for now, but we should plug metric_radius (or whatever it's called) in, at some
//! point.
extra_camera_info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE;
extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;