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1148 commits

Author SHA1 Message Date
Jakob Bornecrantz 5197b4a42f d/vive: Add a slider to adjust all tracked pose timestamps 2023-04-26 22:17:36 +01:00
Jakob Bornecrantz ce3c5d59fb d/wmr: Add a slider to adjust all tracked pose timestamps 2023-04-26 22:17:36 +01:00
Jakob Bornecrantz 9d8668a0a6 cmake: Remove _SLAM suffixes on KIMERA and BASALT have defines 2023-04-26 21:39:16 +01:00
Mario Kleiner 9e647f9a46 d/vive: Parse/Recognize HTC Vive Pro Eye HMD headphone audio buttons. 
Does not do anything yet within Monado, but documents how to parse
button state of left headphone volume up/down buttons and right
headphone microphone mute button.

Signed-off-by: Mario Kleiner <mario.kleiner.de@gmail.com>
 2023-04-14 10:48:39 +00:00
Moshi Turner 53e738a093 d/dai: Add manual exposure controls 2023-04-12 12:11:06 +00:00
Moshi Turner f2bea2c7c6 d/ns; a/util: Remove old name from Moshi's distortion correction method 
I don't hate my old name that much, but this is my last chance to change it before there's some "moshi-style" North Stars floating around.
 2023-04-11 23:45:23 -05:00
Christoph Haag c248670f2f d/survive: Add vive ipd range 2023-04-11 11:42:21 +00:00
Jakob Bornecrantz bab4a126ae xrt: Remove product_name from xrt_prober_device struct 
And move it to an internal struct instead. Better to keep it internal to the
prober as it was only used for the bluetooth probing. And there was a function
that applications should use to get strings from xrt_prober_device.
 2023-04-07 15:37:22 +01:00
Jakob Bornecrantz 8e087ac5ac d/vive: Use vive_poses helpers for offsets of poses 2023-04-07 13:37:05 +00:00
Jakob Bornecrantz ea97960b9e d/vive: Change how the pose GUI variable is updated 2023-04-07 13:37:05 +00:00
Mateo de Mayo c0f7a5ed01 d/vive: Improve handling of controller pose 2023-04-06 16:46:11 +00:00
Jakob Bornecrantz e9c43a7ca6 d/wmr: Remove legacy found functions 2023-04-05 16:53:24 +01:00
Jakob Bornecrantz 2ddf868735 d/wmr: Do device creation via builder interface 2023-04-05 16:53:24 +01:00
Jakob Bornecrantz 05b83d5102 d/wmr: Move wmr_headset_type to wmr_common.h 2023-04-05 16:53:24 +01:00
Jakob Bornecrantz 3819a21e44 d/wmr: Tidy interface and common headers 2023-04-05 16:53:24 +01:00
Jakob Bornecrantz 6ee235ac3b d/wmr: Tidy camera destroy function 2023-04-05 16:53:24 +01:00
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
Christoph Haag 87680c69d4 d/ohmd: Get rid of enum alias 
The last enum index was used to determine the size of the inputs array.
The "clever" solution of aliasing enum values saved a minor amount of space
when allocating the xrt_device, while still allowing to dynamically assign
any input profile.

It also has drawbacks of being confusing and making it impossible to
validate that inputs from the correct xrt_input_name is requested.
Therefore just get rid of it, the minor space savings is not worth it.

fixes 2be4cbf4c3
 2023-01-23 17:46:33 +01:00
Mario Kleiner 50f7b5ba5f d/ohmd: Fix input from controls_mapping[0]. 
Use INPUT_INDICES_LAST instead of 0 for checking if control_mapping[i]
is unassigned for index i, ie. for skipping input.

As 0 is a valid mapping assignment defined in "enum input_indices", this
lead to dead input for SIMPLE_SELECT_CLICK and OCULUS_TOUCH_X_CLICK, both
assigned to 0.

This commit makes the Oculus Rift CV-1 left touch controllers X-Button
work in Monado OpenXR native and SteamVR via. Monado driver plugin.

Signed-off-by: Mario Kleiner <mario.kleiner.de@gmail.com>
 2023-01-23 16:30:27 +00:00
Christoph Haag 694baebd07 d/ohmd: Fix build 
fixes 2be4cbf4c3
 2023-01-22 22:04:47 +01:00
Christoph Haag 2be4cbf4c3 d/ohmd: Support generic trackers and clean up 2023-01-21 19:21:59 +00:00
Moses Turner 1ef49b92f2 d/dai: Control floodlight brightness with an env var 
Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
 2023-01-15 09:54:54 -05:00
Christoph Haag 01dd02dc83 d/hdk: initialized thread helper 
Fixes assert in debug mode.
 2023-01-08 23:42:31 +01:00
Mateo de Mayo 6bd921b390 d/wmr: Fix unused corrected IMU timestamp 2023-01-02 16:21:08 -03:00
Jakob Bornecrantz b87239e7d8 d/wmr: Increase display init sleep and also add debug variable to control it 2022-12-14 12:20:10 +00:00
Jakob Bornecrantz ebb7c3cac2 d/wmr: Tidy prober code 2022-12-05 15:21:20 +00:00
Moses Turner 8c0735feec d/rift_s: Link to hand tracking driver if necessary 2022-12-04 18:05:02 +00:00
Mateo de Mayo dad7957fb2 a/math: Add clock_offset.h 
For now it only has our simple exponential smoothing clock offset estimator.
But more advanced ones can go here too.
 2022-12-02 16:10:09 +00:00
Moses Turner f580271291 d/wmr: Guess camera orientation for Reverb G2 based on HT0 twist value 2022-11-23 13:02:35 -06:00
Jakob Bornecrantz 8efb55403c d/psvr: Switch to reading sensors from its own thread 
Tested-by: number-g <g@imagination.eu.org>
 2022-11-22 17:58:07 +00:00
Jakob Bornecrantz b1b63a9397 d/vive: Do more tracing during packet handling 2022-11-21 13:47:58 +00:00
Jakob Bornecrantz c9bbeac70a d/v4l2: Use U_TRACE_SET_THREAD_NAME 2022-11-20 14:36:37 +00:00
Jakob Bornecrantz 36d1734377 d/vive: Use U_TRACE_SET_THREAD_NAME 2022-11-20 14:36:37 +00:00
Jakob Bornecrantz 5142fa7e88 d/psmv: Use U_TRACE_SET_THREAD_NAME 2022-11-20 14:36:37 +00:00
Jakob Bornecrantz 0691ed9b89 d/wmr: Use U_TRACE_SET_THREAD_NAME 2022-11-20 14:36:37 +00:00
Jakob Bornecrantz 89aee1892b d/remote: Update protocol to allow per view data 2022-11-14 16:07:15 +00:00
Ryan Pavlik 11bdba7e64 drivers: can not -> cannot 2022-11-09 14:52:03 -06:00
Mateo de Mayo 0ebc7e042f d/vive: Improve readability of precompute_sensor_transforms (NFC) 2022-11-08 17:41:43 +00:00
Mateo de Mayo 9d6c29397f misc: Fix multiple compile warnings in gcc and clang 2022-11-03 20:08:52 +00:00
Mateo de Mayo 8f14c572ee d/vive: Apply IMU pose correction for SLAM tracking 
The offset between IMU and middle-of-eyes for the Index is quite noticeable and
tracking felt very off before this.
 2022-11-03 13:08:02 +00:00
Jakob Bornecrantz ede2292690 d/psvr: Paranoia 2022-11-02 17:55:58 +00:00
Jakob Bornecrantz 200bbc9da0 d/psvr: Protect sensore reads with device_mutex 
Fixes asserts by the fusion code where samples where pushed in the wrong
order to the fusion code.
 2022-11-02 17:55:58 +00:00
Jakob Bornecrantz fdac0b5137 d/psvr: Make sure to init the device_mutex before teardown can be called 2022-11-02 17:55:58 +00:00
Jakob Bornecrantz 637c49c1ea a/os: Refactor out BLE functions into own library 2022-10-27 17:19:57 +00:00
Jakob Bornecrantz 8ca60f4304 a/util: Split out sink functions into own library 2022-10-27 17:19:57 +00:00
Christoph Haag 9054dc01ca d/ht_ctrl_emu: Stub set_output 2022-10-24 17:20:59 +00:00
Jakob Bornecrantz 9077261ada d/dai: Set fields after nullptr check 2022-10-10 22:39:38 +00:00
Jakob Bornecrantz 00c3cc4c2f d/dai: With the latest depthai-core we can support color OV9782 sensors 2022-10-10 22:39:38 +00:00
Jakob Bornecrantz 4814f627c6 d/dai: Fix conversion warnings 2022-10-10 22:39:38 +00:00
Jakob Bornecrantz 504a2a288e d/dai: Fix typo 2022-10-10 22:39:38 +00:00
Christoph Haag 74d82ff37f d/ht_ctrl_emu: Set xdev serial 2022-10-03 19:23:24 +02:00