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1082 commits

Author SHA1 Message Date
Jakob Bornecrantz 1410afc330 d/wmr: Reject timestamps that are older then the last sample received 2023-04-05 16:53:24 +01:00
Mateo de Mayo 3a11afa846 d/wmr: Fix null dereference 2023-04-03 17:55:08 -03:00
Mateo de Mayo 3ecee6d0ca d/wmr: Support head tracking with more than two cameras 2023-04-03 12:17:11 -03:00
Mateo de Mayo 24de185b6c t/openvr: Add openvr tracker for recording lighthouse groundtruth 
With the SLAM_OPENVR_GROUNDTRUTH_DEVICE we can select a device (HMD, right/left
controller, vive tracker) to use as the groundtruth provider for a SLAM tracker.
This is useful to record euroc datasets with lighthouse groundtruth.
 2023-04-01 14:56:39 +00:00
Jakob Bornecrantz 3000028512 d/pssense: Link with aux_util 
Fixes build with tracing, and should be linked since utilities are used.
 2023-03-22 15:07:04 +00:00
Jarett Millard b975545764 d/pssense: Add PlayStation Sense controller driver 
The driver probes the Sense controller devices and interprets the button presses from HID packets
 2023-03-20 23:20:34 -04:00
Jakob Bornecrantz 531b10fa4c xrt: Tidy various header includes 2023-03-16 14:19:38 +00:00
Jakob Bornecrantz 0c83cd350b xrt: Do not include util headers in xrt headers 
This lead to some files getting u_misc for free, and also
other things being pulled in when they shouldn't have been.
 2023-03-16 14:19:38 +00:00
Jakob Bornecrantz 7ce5a729b1 d/survive: Add SURVIVE_TIMECODE_OFFSET_MS to set timecode offset at launch 2023-03-16 13:07:22 +00:00
Jakob Bornecrantz ea7fbd4444 d/survive: Use u_var_draggable_f32 for timecode offset 2023-03-16 13:07:22 +00:00
Moshi Turner 749d034a14 d/vive, d/survive, aux/vive: Fix hand offsets 2023-03-15 23:57:27 +00:00
Moshi Turner 570a5513be d/opengloves: Remove left-over code 2023-03-15 23:42:46 +00:00
Jakob Bornecrantz 6b45e22164 d/survive: Make it possible to add offset to timecode calculation 2023-03-13 23:55:00 +00:00
Mateo de Mayo 5503d75c43 d/vive: Fallback to v4l2 camera timestamps when lighthouse is on 
The pulse 0xFD of the report 0x25 comes at 54hz and thus we are assuming its
timestamp are the camera frame timestamps. However, it seems that this report
stops coming when the lighthouses are enabled and instead we get a 0x28 report.
This commit silently handles the 0x28 instead of throwing errors and fallbacks
to using v4l2 timestamps instead of the previous timestamps from pulse 0xFD.
 2023-03-13 17:58:24 +00:00
Christoph Haag 9dbfdf97ce d/ohmd,svr: Fix build 
fixes d601f893da
 2023-03-13 01:32:34 +00:00
Jakob Bornecrantz d601f893da xrt: Tidy compute_distortion function 2023-03-09 15:51:12 +00:00
Christoph Haag b0e164db19 d/survive: Fix warning 2023-03-08 22:12:18 +01:00
Christoph Haag 8cc5db3a6c d/survive: Add some debug gui entries 2023-03-08 21:46:42 +01:00
Christoph Haag 24b53c0f1a d/survive: Apply device IPD to view poses 2023-03-08 21:46:19 +01:00
Jakob Bornecrantz 05de788168 d/multi: Remove all uses of tracking_origin offsets 2023-03-03 21:38:54 +00:00
Moshi Turner c750d714a9 d/ht_ctrl_emu: Fix pinch detection 2023-03-03 15:07:45 -06:00
Ryan Pavlik f43ac4841b d/wmr: Fix warnings/issues, mostly related to 32-bit builds 2023-03-03 01:05:14 +00:00
Ryan Pavlik 43ac5d44cf d/euroc: Fix printf formatting on 32bit 2023-03-03 01:05:14 +00:00
Moshi Turner e26a272c17 d/dai, st/gui, t/common: Make DepthAI frameserver work with multicam sinks 2023-03-01 14:37:26 -06:00
Mateo de Mayo 59c3c911e6 d/rift_s: Add initial multicamera support 
Tested-by: Nova <technobaboo@gmail.com>
 2023-03-01 19:47:10 +00:00
Mateo de Mayo c39dc977c4 d/euroc: Support datasets with more than two cameras 2023-03-01 19:43:06 +00:00
Mateo de Mayo 186ca8258e t/slam: Adapt camera calibration data for multiple cameras 2023-03-01 19:43:06 +00:00
Mateo de Mayo d8e1b7d921 t/slam: Handle multiple camera sinks 2023-03-01 19:43:06 +00:00
Mateo de Mayo 52cac31d3a xrt: Support more than two cameras in a SLAM sink 2023-03-01 19:43:06 +00:00
Jan Schmidt 699a92d9f8 rift_s: Ignore the first 100 samples for the clock 
After turning on the display, the Rift S
sends a burst of stale data and it can lead to
wildly incorrect clock estimates that then
recover really slowly and cause SLAM tracking to
lag horribly.

Throw away the first 100 samples, which seems to be
enough (only the first 20 or so seem to be bad).

Also reduce the clock a2b cutoff frequency, for
faster adaptation to changes.

Tested-By: Nova <technobaboo@gmail.com>
 2023-03-01 17:08:09 +00:00
Simon Zeni fdec80cd99 d/survive: add hand tracking pose offsets to controller 2023-02-22 23:51:50 +00:00
Mateo de Mayo 5ba9efd522 t/euroc: Implement trajectory recording 2023-02-17 21:03:08 +00:00
Moses Turner 8621acd899 d/ht, h/mercury: Use u_file_get_hand_tracking_models_dir 
Needed for Windows SteamVR driver
 2023-02-16 17:03:17 -06:00
Ryan Pavlik a51c2bcb1a d/rift_s: Fix typo 2023-02-08 17:35:22 -06:00
Daniel Willmott 795de613c1 d/survive: Add aim pose offset to index controllers 2023-02-05 20:19:52 +00:00
Jakob Bornecrantz 0938a1a02b xrt: Fix missing function declaration without a prototype warnings 
Found by clang-15.

src/xrt/auxiliary/math/m_permutation.c:133:15: warning: a function declaration without a prototype is deprecated in all versions of C [-Wstrict-prototypes]
m_do_the_thing()
              ^
               void
 2023-02-02 13:03:08 +00:00
Moses Turner 86e31f54f3 xrt: Refactor t_camera_calibration to use a tagged union instead of a bare array 
Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
 2023-01-30 17:09:27 -06:00
Jakob Bornecrantz d1b7e3e557 d/simulated: Add controllers 
Supports simulating Simple, WinMR and ML2 controllers
 2023-01-30 13:20:57 +00:00
Jakob Bornecrantz c562930cdc d/simulated: Export logging level 2023-01-30 13:20:57 +00:00
Jakob Bornecrantz 0494777d1a d/simulated: Make hmd center be pose and make it possible to pass it in at start 2023-01-30 13:20:57 +00:00
Jakob Bornecrantz 121bcf028a d/simulated: Make it possible to pass in movement mode 
And a little bit of tidy.
 2023-01-30 13:20:57 +00:00
Jakob Bornecrantz 9bd63cb37d d/dai: It's using aux_util so depend on it 2023-01-27 20:17:27 +00:00
Moses Turner 1bba34e944 xrt: Remove old_rgb hand tracking 2023-01-27 12:37:33 -06:00
Moses Turner 2c73485ecd d/ht: Tidy header 2023-01-26 19:10:57 -06:00
Mateo de Mayo da50a2499f d/wmr: Adjust exposure and gain individually for each camera 2023-01-26 18:07:10 +00:00
Mateo de Mayo 60b996239c u/aeg: Add optional prefix for having multiple aeg UIs 2023-01-26 18:07:10 +00:00
Christoph Haag e7fff3e435 d/hdk: handle 0 bytes read 2023-01-26 00:23:18 +01:00
Christoph Haag bc1d355e26 d/hdk: Zero initialize buffer 2023-01-26 00:17:37 +01:00
Christoph Haag 4030b474ad d/hdk: Use 100 ms hid read timeout 
Avoids burning cpu cycles with busy looping
 2023-01-26 00:17:37 +01:00
Moses Turner 4709ab85ca d/wmr: Fix grammar 2023-01-23 14:24:28 -06:00