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122 commits

Author SHA1 Message Date
Jakob Bornecrantz 5142fa7e88 d/psmv: Use U_TRACE_SET_THREAD_NAME 2022-11-20 14:36:37 +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
Jan Schmidt 32cc6e05da d/rift_s: Move builder to targets/common 
Move the builder into the common area.
 2022-09-26 00:32:28 +10:00
Jan Schmidt 495eecb65f d/rift_s: Add 6DOF SLAM tracking and hand tracking 
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.
 2022-09-26 00:32:28 +10:00
Jan Schmidt 9fbe81e494 d/rift_s: Port OpenHMD Oculus Rift S driver 
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.
 2022-09-25 02:17:44 +10:00
Moses Turner 45e52dee8f d/ns: Switch NS driver to builders 2022-09-21 07:57:03 -05:00
Moses Turner 6fdd790da0 d/dai: Update DepthAI driver 
* 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
 2022-09-21 07:57:03 -05:00
Moses Turner 201708dee5 d/ht: Remove DepthAI hand tracking device 
This was super crufty. Instead now you use a builder to create SLAM sinks with the DepthAI builder and plug them into a regular HT device
 2022-09-21 07:57:03 -05:00
Moses Turner 074e18cac9 d/twrap: Add tracking wrapper driver 2022-09-21 07:57:03 -05:00
Moses Turner ef767af2ad cmake: Always build ht_ctrl_emu driver 2022-09-21 07:57:03 -05:00
Moses Turner 16dffc8d3b cmake: Link drv_ht and drv_cemu in t/common instead of vive/survive 2022-09-21 07:57:03 -05:00
Moses Turner d2e2c3a988 cmake: Run cmake-format.sh 2022-09-19 21:57:37 +01:00
Moses Turner 9d6ca80af3 xrt: Add SimulaVR driver 2022-09-12 12:20:51 +00:00
danwillm fd61dd08b2 drivers: add all of opengloves driver 2022-07-25 23:57:45 +01:00
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 8d929fe2fa d/v4l2: Split some definitions into a new header 2022-07-25 19:08:46 +00:00
Moses Turner 4d0e46a5ac d/dai: Remove depthai::opencv dependency 2022-07-21 00:23:32 +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 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
Jakob Bornecrantz 93d92ec6a7 d/remote: Use vive_bindings helper library 2022-06-01 16:50:19 +01:00
Jakob Bornecrantz 08d100d7b0 d/hydra: Depend on util 2022-05-23 09:12:54 -05:00
Ryan Pavlik 56a1c25378 d/simulated: Rename the simulated device driver. 2022-05-17 17:39:52 -05:00
Moses Turner e8776fd705 d/dai: Add little xrt_device implementation for head tracking 2022-05-10 23:47:30 +01:00
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
Ryan Pavlik 0ae0316400 cmake: Format build files 2022-04-13 01:11:13 +01:00
Mateo de Mayo 310248546d d/euroc: Add euroc runner 2022-04-06 11:50:17 -03:00
Moses Turner 870a2ce704 d/ht: support DepthAI cameras and Mercury hand tracking 2022-03-23 18:30:02 -05:00
Moses Turner 30b779e515 t/hand: Add ht_sync 2022-03-08 20:44:25 +00:00
Mateo de Mayo 41f42e0b3a d/wmr: Add wmr_source with camera streams support 2021-12-13 10:41:55 +00:00
Jakob Bornecrantz 3e38ada9a5 build: s/rs/realsense/g 2021-12-07 11:26:20 +00:00
Moses Turner 8af3a47f5a cmake: make DepthAI driver link to aux_tracking 2021-12-03 19:22:57 +00:00
Simon Zeni ba7f9d9578 d/ht_cemu: enable build if XRT_BUILD_DRIVER_HANDTRACKING is enabled 2021-12-01 05:36:05 +00:00
Moses Turner f5bc81756e d/survive: use controller emulation for hand-tracking 2021-11-30 05:56:57 -06:00
Moses Turner 0214937aa0 d/vive: use controller emulation for hand-tracking 2021-11-30 05:56:57 -06:00
Moses Turner 03359e2bfb d/ht_ctrl_emu: Create the driver 2021-11-30 05:56:57 -06:00
Simon Zeni a090655e16 d/ht: remove old ht_models API 2021-11-24 16:42:56 -05:00
Simon Zeni 0e53b3b87f d/ht: introduce ht_model 2021-11-24 16:42:56 -05:00
Jan Schmidt 5fe935a5b0 d/wmr: Add camera reading loop 
Calculate and configure USB transfers to read the
cameras on a WMR headset. Needs more work to
make use of the received frames.
 2021-11-20 12:52:45 +00:00
Nima01 e536a02b33 d/wmr: Factor out parsing of controller messages and minor cleanup. 2021-11-18 17:19:07 +00:00
Nima01 c4db3dfccc d/wmr: Add basic Reverb (G1, Bluetooth) motion controller support. 2021-11-18 17:19:07 +00:00
Ryan Pavlik cc4007a69e cmake: Substantial cleanups and simplifications 
We now have a cmake-format config file.
We no longer use list variables for sources, instead using
target_sources when we need to add, in accordance with current
best practice. (This makes it a lot easier to edit too.) There's no more
include_directories(), add_definitions(), or other gently-deprecated
directory-scoped commands, nor any CMake scripts that include
a parent directory reference (named targets instead)
 2021-11-12 09:48:37 -06:00
Simon Zeni 49d2d81940 d/ht: split ht_algorithm into source and header 2021-11-08 13:56:37 +00:00
Simon Zeni 39bc129564 d/ht: split ht_models into source and header 2021-11-08 13:56:37 +00:00
Simon Zeni 7618a7e34d d/ht: split ht_nms into source and header 2021-11-08 13:56:37 +00:00
Simon Zeni 83630efc3d d/ht: split ht_image_math into source and header 2021-11-08 13:56:37 +00:00
Simon Zeni 44b46a28bf d/ht: split ht_hand_math into source and header 2021-11-08 13:56:37 +00:00
Jakob Bornecrantz 2a536f17d1 cmake: Remove missed source array 2021-11-05 15:56:14 +00:00
Ryan Pavlik ebde5344a1 cmake: Make compilation of the sample driver optional. 2021-11-03 17:04:05 -05:00
Ryan Pavlik 33e367ee42 drivers: Add a sample driver intended for use as a template. 2021-11-03 17:00:28 -05:00