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
Add a way to pass in extra information about camera views, this new
struct is merged with the old image boundary information struct.
Co-authored-by: Moses Turner <moses@collabora.com>
Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
Make sure to stop the USB thread before destroying the debug sink
as cancelling the transfers is not sufficient to guarantee
there will be no final callback (or one in progress)
This solves a problem where OpenXR timestamps could become invalid
(negative) in certain circumstances:
The timestamps that the OpenXR state tracker returned were offset such
that they appeared to start at OpenXR application startup time.
However monado-service is a long running service using system timestamps.
Because of this, if monado-service started work using a system timestamp
acquired before an OpenXR application started, then this system timestamp
could not be converted into an OpenXR without becoming invalid.
With this change, the OpenXR timestamps for OpenXR applications are offset
such that they appear to start at monado-service startup time instead.
As a side effect, all OpenXR applications connected to the same
monado-service instance will receive timestamps from the same domain.
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.
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)
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.
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.
