Implement support for SteamVR's Lighthouse driver (on Linux).
Only tested/works with the OG Vive and Vive wands, but adding new
device support should be simple.
This is due to the use of `${SDL2_LIBRARIES}` over `SDL2::SDL2`.
On some 'old' OSes such as Ubuntu 20.04, the SDL2 CMake config does
not set an SDL2:SDL2 target but rather defines SDL2_LIBRARIES and
SDL2_INCLUDE_DIRS variables.
This patch creates an SDL2::SDL2 target, if not already set, based on
those 2 variables.
Find and capture input from cameras, and split according to
frame type. Send long exposure tracking frames through
the AEG module, and SLAM and hand tracking trackers.
Add controller emulated hand devices.
The native "fisheye62" camera distortion model is
dynamically converted to OpenCV Kannala-Brandt
parameters using a TinyCeres solver.
Port across the Oculus Rift S driver from OpenHMD as a native
Monado driver.
This is mostly the same as the OpenHMD 3DOF driver, with
slightly better HMD distortion correction, various small
fixes, some capsense touch detection support.
Controller poses are rotated 40° to match grip pose.
* Removed depthai_tracked_device - now you create a "SLAM" device, plug any frameserver into it and you're done
* Consolidated the grayscale frameservers into just one that gives you SLAM sinks
* Allows for different framerates and half-size for ov9282s
* Added debug frame sinks
* Added the ability to wait at startup for a number of frames for the streams to stabilize before submitting them to SLAM
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.
