mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2025-01-10 08:55:27 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity
5021 commits 12 branches 7 tags 40 MiB
Commit graph

997 commits

Author SHA1 Message Date
danwillm 76f96686d1 xrt/drivers: Convert hand tracking drivers to use hand simulation 
Co-authored-by: Moses Turner <moses@collabora.com>
 2022-08-01 17:33:40 +00:00
Moses Turner 2868348e8c t/common: Make controllers work again with the Lighthouse builder 
!1418 briefly broke controller setup.
 2022-07-27 10:49:29 +00:00
Moses Turner c0eed827c5 xrt: Remove t_hand_tracking_output_space 
LEFT_CAMERA is the only one that remained useful
 2022-07-27 10:49:29 +00:00
Jakob Bornecrantz 86ae6a5bb1 d/wmr: Fix warning 2022-07-26 18:15:04 +00:00
danwillm fd61dd08b2 drivers: add all of opengloves driver 2022-07-25 23:57:45 +01:00
danwillm 0943ce10be a/util, xrt: u_hand_tracking interface change 2022-07-25 23:57:45 +01:00
Mateo de Mayo 36ca9260cf d/vive: Update tracking status to fix segfault 
Co-authored-by: Moses Turner <moses@collabora.com>
 2022-07-25 19:08:46 +00:00
Mateo de Mayo 6e16959098 d/vive: Add vive_source to convert v4l2 timestamps into monotonic clock 
Use a sink in the middle of the stream to correct for v4l2 timestamps with
hardware timestamps to monotonic clock.

This sink, together with other utilities related to data streaming, lives in a
new vive_source entity, with similar functionality to wmr_source or rs_source.

The vive_source lifetime is managed by the builder xfctx, which prevents
deallocation dependencies between vive_device and the v4l2_fs to cause segfaults.
 2022-07-25 19:08:46 +00:00
Mateo de Mayo 13d90bff77 d/vive: Implement 3DoF/SLAM switching button and pose offset 2022-07-25 19:08:46 +00:00
Mateo de Mayo f0ceb40f6a d/vive: Prepare data streaming and SLAM tracker 2022-07-25 19:08:46 +00:00
Mateo de Mayo 3cbb7f6b9f d/vive: Pass status of visual tracking into the driver 2022-07-25 19:08:46 +00:00
Mateo de Mayo 8d929fe2fa d/v4l2: Split some definitions into a new header 2022-07-25 19:08:46 +00:00
danwillm de53e431ed d/multi: fix untested codepath 2022-07-25 15:23:49 +01:00
Nova 0954bd0dd8 d/wmr: Clean up check_and_get_interface in wmr_prober.c 2022-07-25 12:19:48 +01:00
Nova e141aa2d55 d/wmr: Add initial support for original Odyssey HMD 2022-07-25 12:19:48 +01:00
Christoph Haag ffb0346ba4 d/survive: Fix compilation on clang 
Fixes error

/home/haagch-collabora/monado/src/xrt/drivers/survive/survive_driver.c:384:53: error: passing 'const union xrt_output_value *' to parameter of type 'union xrt_output_value *' discards qualifiers [-Werror,-Wincompatible-pointer-types-discards-qualifiers]
        int ret = survive_controller_haptic_pulse(survive, value);
                                                           ^~~~~
/home/haagch-collabora/monado/src/xrt/drivers/survive/survive_driver.c:340:89: note: passing argument to parameter 'value' here
survive_controller_haptic_pulse(struct survive_device *survive, union xrt_output_value *value)
 2022-07-24 23:48:57 +02:00
Mateo de Mayo aaf5fe1b7b d/vive: Improve ticks-to-nanoseconds conversion 2022-07-22 16:19:49 +00:00
Mateo de Mayo aa617a9d8b d/vive: Group 3dof IMU fusion fields and add a mutex 2022-07-22 16:19:49 +00:00
Moses Turner f6ef1d8f28 d/dai: Add code to control IR floodlight and exposure behind ifdef 2022-07-21 00:23:32 +01:00
Moses Turner 4d0e46a5ac d/dai: Remove depthai::opencv dependency 2022-07-21 00:23:32 +01:00
bjorn 919936991c ipc: make all IPC input aggregates const; 2022-07-14 20:31:38 +00:00
Mateo de Mayo 49cd45b24e d/euroc: Fix typo 2022-07-12 12:47:05 +00:00
Moses Turner 567304374d d/v4l2: Factor out format setup so we can catch errors in stream_start 2022-06-30 15:19:51 +01:00
Moses Turner bd421e683c d/vive: Handle not-found devices correctly 2022-06-24 01:58:51 +01:00
Moses Turner 29cd525a3b d/vive: Prepare for lighthouse builder 2022-06-24 01:54:45 +01:00
Moses Turner 766f1b94e9 d/survive: Remove lots of cruft and prepare for Lighthouse builder 2022-06-24 01:54:45 +01:00
Moses Turner 19958b4d77 d/ht: Remove cruft for Index 2022-06-24 01:54:45 +01:00
Moses Turner 00b6dd35ec d/survive: Don't create hand-tracker ourselves 2022-06-24 01:54:45 +01:00
Moses Turner a853022a66 d/vive: Don't create the hand-tracker ourselves 2022-06-24 01:54:45 +01:00
Moses Turner 0e50364be6 d/ht: Don't drop algorithm_choice on the floor 2022-06-24 01:54:45 +01:00
Moses Turner 6f21741c51 xrt: Fixup - rename *all* of the relevant hand-tracking structs 2022-06-21 21:18:41 +01:00
Moses Turner 1718d01fb1 xrt: Rename some hand-tracking structs and document them better 2022-06-21 20:37:08 +01:00
Moses Turner 8040224b39 xrt: add hand_tracking_image_boundary_info 2022-06-20 16:33:48 +01:00
Mateo de Mayo 329b5c05bc d/wmr: Wait 3 seconds for Odyssey+ display 2022-06-18 14:19:01 -03:00
Mateo de Mayo ed7c148a00 d/wmr: Optionally average IMU samples for 3DoF tracker 
Similar to how this was being done for SLAM.
It's significantly less jittery and still has a good response.
Smarter filters might benefit from raw measurements so the functionality can
be enabled again with a checkbox.
 2022-06-18 14:19:01 -03:00
Mateo de Mayo 10e39d79b8 d/wmr: Use poses instead of isometries for T_imu_cam poses 
Now that sensor poses are in WMR space, this is a bit tidier
than creating the 4x4 matrices.
 2022-06-18 14:19:01 -03:00
Mateo de Mayo f98b71243c d/wmr: Correct hand tracking pose 
Now the tracked hand appears roughly in the same spot as your real hand and
the tracking works a bit better.
 2022-06-18 14:19:01 -03:00
Mateo de Mayo f390214f66 d/wmr: Correct SLAM-tracked IMU pose to middle of the eyes 2022-06-18 14:19:01 -03:00
Mateo de Mayo 008ba2433b d/wmr: Refactor how precomputed transforms work 
Hopefully this is an improvement and not just a rewrite. Some ideas were:
1. Keep poses in WMR space as much as possible.
2. Add an explicit function that precomputes a handful of transforms that allow
   converting between WMR and OpenXR coordinates.
3. Make naming of variables in line with a relatively common T_A_B notation.
4. I wasn't able to figure out why `wmr_config_compute_pose` worked before,
   in any case, hopefully the new notation convention helps understanding
   why P_oxr_{acc,gyr} work.
 2022-06-18 14:19:01 -03:00
Moses Turner afec083047 d/ht: Don't depend directly on any external libraries; t/hand does that for us now 2022-06-16 15:51:55 +01:00
Mateo de Mayo 604815cb51 d/wmr: Fix pose correction from Basalt 
There was a confusion about whether this was needed for some apps. It was.
 2022-06-02 15:47:57 +00:00
Christoph Haag 77ee72d4eb d/remote: Rename r_hub_system_devices_destroy 
r_hub_destroy() taking a parameter of type struct xrt_system_devices* was weird.
 2022-06-02 15:29:10 +02:00
Jakob Bornecrantz 9932e75db6 d/remote: Tidy and comment 2022-06-01 16:50:19 +01:00
Jakob Bornecrantz 7990ca9208 d/remote: Print out name values on wrong input name 2022-06-01 16:50:19 +01:00
Jakob Bornecrantz 93d92ec6a7 d/remote: Use vive_bindings helper library 2022-06-01 16:50:19 +01:00
Jakob Bornecrantz 7f73a58045 d/remote: Expose a Index controller instead of simple controller 2022-06-01 16:50:19 +01:00
Jakob Bornecrantz 46305b77db d/remote: Properly shut down the run_thread 2022-06-01 16:50:19 +01:00
Jakob Bornecrantz 2b35699d85 d/remote: Use better logging helpers 2022-06-01 16:50:19 +01:00
Jakob Bornecrantz d0cc7e4082 d/remote: Use xrt_system_devices directly in the driver 
And also make shutdown properly work.
 2022-06-01 16:50:19 +01:00
Campbell Suter bb414f7d39 d/qwerty: Fix the aim pose not being HMD-relative 
Commit e41cc1eec3 added support for the XRT_INPUT_SIMPLE_AIM_POSE pose
input in the QWERTY driver. Unfortunately it didn't change the code that
identifies whether the pose for a controller or HMD is being read.

In the QWERTY driver, the hands are positioned relative to the HMD, so
if you move or rotate the HMD the hands stay in the same place
on-screen. Whether a pose lookup is multiplied by the HMD transform
depends on whether the pose being looked up is that of a controller.

Thus the aim pose would not be positioned relative to the HMD.
 2022-06-01 12:52:17 +00:00
Campbell Suter 45703f0952 d/remote: Mark pose as invalid when deactivated 
Previously the pose on the remote driver controllers would always have
the set pose and the valid-tracking flags set. Leaving the pose set
makes sense (you might want to track how your game behaves when a
controller looses tracking but still has a pose set, for example
tracking issues caused by occlusion) but it wasn't possible to test with
the pose marked as not being tracked.

Therefore this patch deactivates the tracking flags when the controller
is not marked as active.
 2022-06-01 17:36:49 +12:00
Ryan Pavlik bbda2bac48 d/wmr: Add TODO at suspicious code. 2022-05-31 13:38:56 +00:00
Mateo de Mayo 2785c6bcfa d/wmr: Wait until first IMU sample to send frames 
In an Odyssey+, it seems that before the first IMU sample the frame timestamps
do not make sense and thus can make the SLAM system crash.

Also, this commit enables SLAM submission from start unless specified.
SLAM for WMR headsets now works "out of the box" :)
 2022-05-26 18:35:39 +00:00
Mateo de Mayo 24be4b0a98 d/wmr: Send calibration to SLAM tracker 
This makes it possible to use Basalt without having to create a calibration file
for the headset anymore.
 2022-05-26 18:35:39 +00:00
Mateo de Mayo 3bf07a2711 d/wmr: Load IMU calibration 2022-05-26 18:35:39 +00:00
Aidan Thornton 2fdd01afdd d/android: initialize our thread and mutex 2022-05-25 12:30:21 +01:00
Moses Turner 6ef55d1f73 d/survive: Initialize threading primitive 2022-05-23 14:27:42 +00:00
Jakob Bornecrantz 38eac9dddc xrt: Do not depend on util 2022-05-23 09:12:54 -05:00
Jakob Bornecrantz a75e00d25e d/qwerty: Include u_time.h in device file 2022-05-23 09:12:54 -05:00
Jakob Bornecrantz 08d100d7b0 d/hydra: Depend on util 2022-05-23 09:12:54 -05:00
Jakob Bornecrantz 0d055bb740 d/vive: Fix threading primitive initialization 2022-05-23 13:54:42 +00:00
Jakob Bornecrantz 4fa406610f a/os: Fix fallout from name change 2022-05-20 23:07:33 +01:00
Ryan Pavlik ea4c14c3aa a/os: Rename os_thread_helper_stop to os_thread_helper_stop_and_wait 2022-05-20 18:46:37 +01:00
Mateo de Mayo 85bdbc1817 u/aeg: Implement state machine to correct overshooting and avoid oscillations 2022-05-19 14:03:17 +00:00
Mateo de Mayo 63b477d250 a/math: Add MIN, MAX and CLAMP macros 2022-05-19 14:03:17 +00:00
Mateo de Mayo df5b5f40a9 d/wmr: Add auto exposure 2022-05-19 14:03:17 +00:00
Mateo de Mayo 84422acd74 d/wmr: Centralize exposure and gain update logic 
Also use the new draggable_u16 UI input for exposure.
 2022-05-19 14:03:17 +00:00
Ryan Pavlik 6706180cd8 drivers: Improve word choice/clarity 2022-05-17 17:40:58 -05:00
Ryan Pavlik 56a1c25378 d/simulated: Rename the simulated device driver. 2022-05-17 17:39:52 -05:00
Ryan Pavlik df413a3809 d/ht: Fix doxygen warnings 2022-05-17 14:42:02 -05:00
Ryan Pavlik 0e4f40c980 d/wmr: Fix doxygen warning 2022-05-17 14:42:02 -05:00
Moses Turner 8ac95a5177 d/ht: Add some things to the WMR creation interface, and make it the default interface. 2022-05-16 19:15:33 +01:00
Jakob Bornecrantz 85d4a72d0f d/psmv: Fix NULL check 2022-05-15 21:40:26 +01:00
Jakob Bornecrantz 6a2426c0a2 d/psmv: Refactor device creation in preperation of builders 2022-05-15 14:45:01 +01:00
Jakob Bornecrantz ddb142564f d/psvr: Refactor device creation in preperation of builders 2022-05-15 14:45:01 +01:00
Jakob Bornecrantz 23ed0a6632 xrt: Remove unused xdev argument to trackers 2022-05-14 22:40:36 +01:00
Moses Turner 5122ecd0b0 d/dai: Fisheye calibration was upstreamed, actually use it now 2022-05-12 20:01:15 +00:00
Jakob Bornecrantz 116d1a9bf8 xrt: Typedefs have a _t suffix 2022-05-12 11:59:12 +00:00
Jakob Bornecrantz a38ea4231c d/vive: Use prober helper code 2022-05-12 11:59:12 +00:00
Jakob Bornecrantz b9d88f4eab d/wmr: Use prober helper code 2022-05-12 11:59:12 +00:00
Moses Turner e8776fd705 d/dai: Add little xrt_device implementation for head tracking 2022-05-10 23:47:30 +01:00
Moses Turner 5ba7ae3c53 d/dai: Add initial IMU support 2022-05-10 23:47:30 +01:00
Moses Turner af5516f4b6 d/dai: We didn't need this calibration struct for anything 2022-05-10 23:47:30 +01:00
Jakob Bornecrantz 6b19eedf9c d/survive: Use shared bindings 2022-05-09 10:46:44 +00:00
Jakob Bornecrantz 456f9c7f09 d/vive: Use shared bindings 2022-05-09 10:46:44 +00:00
Mateo de Mayo 1a687cdee4 d/wmr: Add initial hand tracking for WMR devices 
Co-authored-by: Moses Turner <moses@collabora.com>
 2022-05-07 15:53:56 +00:00
Mateo de Mayo 7e1f9a7964 t/hand: Add option for allowing xfctx to be managed externally 
Other trackers (e.g., psmv, slam, etc) work as sinks and the xfctx that manages
them is handled by the device providing the data streams. This change helps
the hand tracker have a more similar interface to other trackers.
 2022-05-07 15:53:56 +00:00
Mateo de Mayo 44dac0eb5d d/wmr: Refactor UI and tracker initialization into their own methods (NFC) 2022-05-07 15:53:56 +00:00
Mateo de Mayo e3fadb5364 doc: Fix some doxygen warnings 2022-05-07 15:53:56 +00:00
Ryan Pavlik 3287c984aa cmake: Reorganize options, renaming some. 
Rename XRT_HAVE_SLAM to XRT_FEATURE_SLAM,
moving it from xrt_config_have.h to xrt_config_build.h
accordingly.
 2022-05-04 11:24:02 -05:00
Moses Turner a5024060eb d/dai: Autodetect OAK-D vs OAK-D Lite 
Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
 2022-05-04 13:43:43 +00:00
Jakob Bornecrantz e791f3ea2f d/android: Fix various bugs 2022-05-03 14:22:34 +00:00
Jakob Bornecrantz 243c2e5326 d/psvr: Fix conversion warnings 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz 175ff58f10 build: Remove meson files 2022-04-28 21:36:25 +00:00
Jakob Bornecrantz 3b6b45b762 d/wmr: Prettier xfer status printing 2022-04-17 16:06:11 +01:00
Ryan Pavlik 3e6ec47296 monado: Apply clang-tidy fixes to most of the codebase. 
All at least visually inspected, some revised from the auto-fixit
 2022-04-13 09:34:54 -05:00
Nima01 f705683957 d/wmr: Partial decoding of device status message. Notifies when screen is fully powered up Reverb G1. 2022-04-13 00:19:50 +00:00
Ryan Pavlik 0ae0316400 cmake: Format build files 2022-04-13 01:11:13 +01:00
Alexander Koenig 5d76c83c37 Fix typo in rotate_lenses_right quirk, helps with #166 2022-04-12 23:14:32 +00:00
Ryan Pavlik ef9b15ee67 d/dummy: Silence some warnings 2022-04-12 23:06:11 +00:00