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d/wmr: Correct hand tracking pose

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Now the tracked hand appears roughly in the same spot as your real hand and
the tracking works a bit better.
This commit is contained in:
Mateo de Mayo 2022-06-13 18:01:10 -03:00
parent f390214f66
commit f98b71243c
3 changed files with 15 additions and 9 deletions
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18
src/xrt/drivers/wmr/wmr_hmd.c
View file

@ -53,6 +53,7 @@
#endif
#ifdef XRT_BUILD_DRIVER_HANDTRACKING
#include "../multi_wrapper/multi.h"
#include "../drivers/ht/ht_interface.h"
#endif
@ -1429,16 +1430,19 @@ wmr_hmd_hand_track(struct wmr_hmd *wh,
#ifdef XRT_BUILD_DRIVER_HANDTRACKING
int create_status = ht_device_create(&wh->tracking.xfctx, //
stereo_calib, //
HT_OUTPUT_SPACE_CENTER_OF_STEREO_CAMERA, //
HT_ALGORITHM_MERCURY, //
&sinks, //
int create_status = ht_device_create(&wh->tracking.xfctx, //
stereo_calib, //
HT_OUTPUT_SPACE_LEFT_CAMERA, //
HT_ALGORITHM_MERCURY, //
&sinks, //
&device);
if (create_status != 0) {
return create_status;
}
device = multi_create_tracking_override(XRT_TRACKING_OVERRIDE_ATTACHED, device, &wh->base,
XRT_INPUT_GENERIC_HEAD_POSE, &wh->P_ht0_me);
WMR_DEBUG(wh, "WMR HMD hand tracker successfully created");
#endif
@ -1638,6 +1642,7 @@ precompute_sensor_transforms(struct wmr_hmd *wh)
struct xrt_pose P_me_gyr = {0};
struct xrt_pose P_ht0_me = {0};
struct xrt_pose P_acc_me = {0};
struct xrt_pose P_oxr_ht0_me = {0}; // P_ht0_me in OpenXR coordinates
struct xrt_pose P_oxr_acc_me = {0}; // P_acc_me in OpenXR coordinates
// All of the observed headsets have reported a zero translation for its gyro
@ -1658,10 +1663,13 @@ precompute_sensor_transforms(struct wmr_hmd *wh)
// Express P_*_me pose in OpenXR coordinates through sandwich products.
math_pose_transform(&P_acc_me, &P_wmr_oxr, &P_oxr_acc_me);
math_pose_transform(&P_oxr_wmr, &P_oxr_acc_me, &P_oxr_acc_me);
math_pose_transform(&P_ht0_me, &P_wmr_oxr, &P_oxr_ht0_me);
math_pose_transform(&P_oxr_wmr, &P_oxr_ht0_me, &P_oxr_ht0_me);
// Save transforms
math_pose_transform(&P_oxr_wmr, &P_me_acc, &wh->P_oxr_acc);
math_pose_transform(&P_oxr_wmr, &P_me_gyr, &wh->P_oxr_gyr);
wh->P_ht0_me = P_oxr_ht0_me;
wh->P_imu_me = P_oxr_acc_me; // Assume accel pose is IMU pose
}

1
src/xrt/drivers/wmr/wmr_hmd.h
View file

@ -119,6 +119,7 @@ struct wmr_hmd
//! Precomputed transforms, @see precompute_sensor_transforms.
struct xrt_pose P_oxr_acc; //!< Converts accel samples into OpenXR coordinates
struct xrt_pose P_oxr_gyr; //!< Converts gyro samples into OpenXR coordinates
struct xrt_pose P_ht0_me; //!< ME="middle of the eyes". HT0-to-ME transform but in OpenXR coordinates
struct xrt_pose P_imu_me; //!< IMU=accel. IMU-to-ME transform but in OpenXR coordinates
struct hololens_sensors_packet packet;

5
src/xrt/drivers/wmr/wmr_prober.c
View file

@ -216,11 +216,8 @@ wmr_found(struct xrt_prober *xp,
#ifdef XRT_BUILD_DRIVER_HANDTRACKING
if (ht != NULL) { // Create hand-tracked controllers
struct xrt_pose pose = XRT_POSE_IDENTITY;
struct xrt_device *wrap = multi_create_tracking_override(XRT_TRACKING_OVERRIDE_ATTACHED, ht, hmd,
XRT_INPUT_GENERIC_HEAD_POSE, &pose);
struct xrt_device *two_hands[2];
cemu_devices_create(hmd, wrap, two_hands);
cemu_devices_create(hmd, ht, two_hands);
out_xdev[out_idx++] = two_hands[0];
out_xdev[out_idx++] = two_hands[1];