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1559 commits

Author SHA1 Message Date
Jakob Bornecrantz 4150028cb1 a/vk: Add a lot more formats vk_format_string 2022-06-12 11:09:36 +01:00
Moses Turner 18678786b7 a/gst: Complain if the image size is not divisible by two 2022-06-12 00:45:00 +01:00
Julian Petrov 1debb2e015 u/time: Implement QPC related functions 2022-06-09 14:48:27 -04:00
Julian Petrov 3b1e34ee20 a/os: Add QPC helper for getting win32 ticks 2022-06-09 14:48:27 -04:00
zhibinw 1972fd3758 a/android: Add a flag to enable AHardwareBuffer GPU sampled usage. 2022-06-08 13:02:52 +00:00
Mateo de Mayo e7c3376612 a/math: Add disabled test to show problem with current quat_exp implementation 2022-06-02 15:47:57 +00:00
Mateo de Mayo 6bc551d004 t/slam: Prioritize SLAM_CONFIG over driver calibration if set 2022-06-02 15:47:57 +00:00
Jakob Bornecrantz 93d92ec6a7 d/remote: Use vive_bindings helper library 2022-06-01 16:50:19 +01:00
Campbell Suter 0f8da1900b a/math: Fix math_pose_invert breaking on rotated poses, and add a test 
Previously, math_pose_invert would apply a multiplication in the wrong
order. This lead to the position of the 'original' pose being rotated.

This patch fixes that, and adds a unit test to check this case.
 2022-06-01 16:44:03 +01:00
Jakob Bornecrantz fc469e7d5f a/tracking: Document and fix cond var loop in psvr 2022-05-31 13:38:56 +00:00
Jakob Bornecrantz d2a2005212 a/tracking: Document and fix cond var loop in psmv 2022-05-31 13:38:56 +00:00
Charlton Rodda 803d679e11 st/oxr: Add dpad bindings 2022-05-31 13:25:48 +00:00
Jakob Bornecrantz 9b27fb1a2e WIP: aux/binding: Add dpad_emulation support 2022-05-31 13:25:48 +00:00
Jakob Bornecrantz 2715b0e144 aux/bindings: Fix a few pep8 errors 2022-05-31 13:25:48 +00:00
Jakob Bornecrantz a8c254a8cf aux/bindings: Refactor path verify function generation 2022-05-31 13:25:48 +00:00
Jakob Bornecrantz 037c49ce30 aux/bindings: Update generated file copyright 2022-05-31 13:25:48 +00:00
Mateo de Mayo 29aefe2ba8 misc: Use pretty printers and remove stale matrix print functions 
Use u_pp_matrix_* instead.
 2022-05-26 18:35:39 +00:00
Mateo de Mayo 7d80729358 u/pp: Add array and array2d f64 pretty printers 2022-05-26 18:35:39 +00:00
Mateo de Mayo 8adbdc27e5 t/slam: Allow drivers to send calibration info to SLAM tracker 
There were a couple of properties that didn't fit well in our current
calibration structs and so I created t_slam_calib_extras struct to store them.
 2022-05-26 18:35:39 +00:00
Mateo de Mayo 02abc49313 t/calib: Add IMU intrinsics struct 2022-05-26 18:35:39 +00:00
Mateo de Mayo 05b8e320a5 a/math: Add multiple isometry-related matrix functions 
An isometry is a rigid body transform. In this context I'm using the term to
refer to 4x4 homogeneous matrices in SE(3). I.e., matrices comprised of a
3x3 rotation, a 3x1 translation, and a [0,0,0,1] last row.
This matrix represent both rigid body transforms.
 2022-05-26 18:35:39 +00:00
Mateo de Mayo 8b2fa955b9 a/math: Fix matrix identities and use isometry 
Isometry3f is a 4x4 matrix transform that performs only rotation and translation
(an SE(3) matrix). Its inverse can be computed trivially by Eigen compared to a
regular 4x4 transform.
 2022-05-26 18:35:39 +00:00
Mateo de Mayo 2212cf95cf a/math: Add missing extern C 2022-05-26 18:35:39 +00:00
Jakob Bornecrantz 433915b0bf u/pp: Add math object printers 2022-05-26 14:10:06 +01:00
Moses Turner 5652ddd718 a/util: Fix function signature for u_builder_find_prober_device 
Was this ever working?
 2022-05-25 20:53:46 +00:00
bjorn d523001b6e aux/vk: Use correct image type for 3D images; 2022-05-25 20:24:17 +00:00
Ryan Pavlik 2da547ce66 a/util: Update pretty printing of results 2022-05-25 18:12:22 +00:00
Ryan Pavlik 596d15a50c a/d3d: Further namespace the d3d11-specific functions 2022-05-25 18:12:22 +00:00
Ryan Pavlik 903fd01272 a/d3d: Add a fence waiting helper 2022-05-24 16:55:45 -05:00
Ryan Pavlik 3f777350e1 a/d3d: Fix docs for fence helper 2022-05-24 16:11:36 -05:00
Ryan Pavlik bb94363f94 a/d3d: Turn off some swapchain formats that we can't roundtrip properly 2022-05-24 16:11:36 -05:00
Mateo de Mayo 2cf07dedf2 t/euroc: Fix crash when recording euroc dataset by providing UI button 
Previously, a crash occurred in some situations when the second sample was
written before the first sample was able to create the necessary CSV files.
 2022-05-23 17:51:11 -03:00
Jakob Bornecrantz a4983fa5b1 auxiliary: Break apart CMakeLists.txt file 2022-05-23 09:12:54 -05:00
Jakob Bornecrantz 935de808c0 a/bindings: Do not depend on util 2022-05-23 09:12:54 -05:00
Jakob Bornecrantz b64660d458 a/util: Include u_time.h in hand tracking helper 2022-05-23 09:12:54 -05:00
Ryan Pavlik 5656de8b72 a/d3d: Fence helpers 2022-05-23 14:11:43 +00:00
Jakob Bornecrantz 658a21a177 a/d3d: Tidy headers 2022-05-23 14:11:43 +00:00
Moses Turner 9386e56c3d a/util: Paranoia for u_frame_times_widget 2022-05-23 13:19:58 +00:00
Jakob Bornecrantz 490e90b493 a/vk: Also check for d3d12 fence semaphores 2022-05-21 13:37:28 +01:00
Ryan Pavlik 9337ea375c auxiliary: Add new d3d helper library 2022-05-20 22:37:15 +01:00
Ryan Pavlik 907edf10a3 a/os: Add more docs for correct use of condition variables 2022-05-20 21:30:41 +00:00
Ryan Pavlik 588b4831a2 a/util: Improve docs structure 2022-05-20 15:48:19 -05:00
Ryan Pavlik fd25fc75bc a/os: Rearrange time header to get the docs outside of the ifdefs. 
Easier to read, easure to be sure we don't accidentally miss something
for doxygen.
 2022-05-20 15:48:02 -05:00
Ryan Pavlik ea4c14c3aa a/os: Rename os_thread_helper_stop to os_thread_helper_stop_and_wait 2022-05-20 18:46:37 +01:00
Ryan Pavlik 14aed90183 a/os: Add "initialized" flags to threading primitives (in debug builds) 
Failling to init these (other than zero-init) works fine on Linux, but fails on Windows.
So now we at least have an assert on Linux.
 2022-05-20 18:40:18 +01:00
Ryan Pavlik 1aba4348dc a/os: Fix naming convention for function pointer 2022-05-20 18:40:16 +01:00
Jakob Bornecrantz 6de4e4afaa u/worker: Init mutex and cond var 2022-05-19 23:13:48 +01:00
Mateo de Mayo 3e6fd9ba73 u/aeg: Fix clang warnings 2022-05-19 18:21:36 -03:00
Mateo de Mayo 85bdbc1817 u/aeg: Implement state machine to correct overshooting and avoid oscillations 2022-05-19 14:03:17 +00:00
Mateo de Mayo bf311f3c2e u/aeg: Add log functions 2022-05-19 14:03:17 +00:00
Mateo de Mayo 63b477d250 a/math: Add MIN, MAX and CLAMP macros 2022-05-19 14:03:17 +00:00
Mateo de Mayo 77139b02a1 u/aeg: Add utility for automatic exposure and gain computation 2022-05-19 14:03:17 +00:00
Mateo de Mayo 7ea7cce930 u/var: Add u_var_histogram_f32 2022-05-19 14:03:17 +00:00
Mateo de Mayo 7d266c76b5 u/var: Add u_var_draggable_u16 2022-05-19 14:03:17 +00:00
Arkadiusz Drohomirecki d444412221 a/math: Add a clear() method to RelationHistory/m_relation_history 2022-05-18 14:45:12 +00:00
Ryan Pavlik 3b54152563 auxiliary: Improve word choice/clarity 2022-05-17 17:40:56 -05:00
Ryan Pavlik 6e78ec1127 a/util: Improve word choice/clarity 2022-05-17 17:39:52 -05:00
Ryan Pavlik 276f24c9ad a/tracking: Improve word choice/clarity 2022-05-17 17:39:52 -05:00
Ryan Pavlik 2a54dcdb19 a/math: Improve word choice/clarity 2022-05-17 17:39:52 -05:00
Ryan Pavlik 9edc6dd0bf a/util: Doc improvements 2022-05-17 14:42:02 -05:00
Ryan Pavlik cc8c034556 a/vk: Improve comment 2022-05-17 14:42:02 -05:00
Jakob Bornecrantz 61323c32d2 xrt: Use error messages in various instance and prober functions 2022-05-17 20:10:40 +01:00
Jakob Bornecrantz 58438db241 xrt: Add some error messages 2022-05-17 20:10:40 +01:00
Jakob Bornecrantz cf9c5b9dc7 u/var: Put in a namespace and add some documentation 2022-05-17 20:09:19 +01:00
Ryan Pavlik 8bd7d199cb a/os: Improve docs in the threading header. 2022-05-17 12:39:44 -05:00
Ryan Pavlik 1e307e8e9f a/os: Add a function to set thread name. 2022-05-17 12:39:44 -05:00
Ryan Pavlik 147624348f a/vk: Add an internal check to ensure graphics buffer ref worked. 2022-05-17 17:38:07 +00:00
Jakob Bornecrantz 9285bee210 u/system_helpers: Use new xrt_prober_create_system function 2022-05-17 11:20:40 +01:00
Jakob Bornecrantz f91db16dac u/builders: Add xrt_builder_helpers 2022-05-17 11:20:40 +01:00
Frederic Plourde 2e42373d21 aux/os: Fix os_semaphore_get_realtime_clock() 
Function was previously using output param 'ts' as
input for computing 'now' internally.
 2022-05-16 20:56:53 +00:00
Ryan Pavlik 213f4b6003 a/util: Add a COM guard object. 
Need COM initialized to do some things (like d3d11) on Windows,
don't know if the app already initialized it, don't have a big preference
for "how" we initialize it.
 2022-05-16 11:00:27 -05:00
Jakob Bornecrantz f4ab51f78b u/pp: Add xrt_result_t printing 2022-05-15 15:02:08 +01:00
Jakob Bornecrantz 535cb839fa u/pp: Add stack only sink for printing messages 2022-05-15 14:54:00 +01:00
Moses Turner bcfd50c839 u/sink: Make sure gen-locked frames have the same timestamp 2022-05-13 14:18:02 +01:00
Jakob Bornecrantz faca646193 u/logging: Change suffix to _func_t 2022-05-12 11:59:12 +00:00
Jakob Bornecrantz ceed09d9b5 u/prober: Add helper file for prober functions 2022-05-12 11:59:12 +00:00
Jakob Bornecrantz 1a358d3a92 u/sink: Remove unused downstream2 2022-05-12 12:53:14 +01:00
Jakob Bornecrantz fc093e2c7b u/sink: Assert on downstream being null 2022-05-12 12:53:12 +01:00
Jakob Bornecrantz d84819eee7 u/system_helpers: Add helper code for system devices 2022-05-11 10:14:00 +01:00
Moses Turner e25ee4058d xrt: Remove xrt_tracked_hand 2022-05-10 18:53:58 +01:00
Jakob Bornecrantz e140cfad5c u/pacing: Add vblank timing function for display control 2022-05-10 11:22:04 +01:00
Jakob Bornecrantz 57070ad620 u/pacing: Make the comp time be at least 2ms in fake pacer 2022-05-10 11:18:52 +01:00
Jakob Bornecrantz b9b9ced43d u/pacing: Predict present time and then calculate display time in fake pacer 2022-05-10 11:18:52 +01:00
Jakob Bornecrantz 6c9c1e9249 u/pacing: Make present_to_display_offset_ns more clear 2022-05-10 11:18:51 +01:00
Jakob Bornecrantz 2b042d48ff a/vk: Add function to print opened device info 2022-05-09 14:01:20 +00:00
Jakob Bornecrantz 6c61965790 a/vk: Tidy vk_print_device_info 2022-05-09 14:01:20 +00:00
Jakob Bornecrantz e092a3687b a/vk: Pass external_[fence|samaphore]_fd status to vk_init_from_given 2022-05-09 14:01:20 +00:00
Jakob Bornecrantz 6a8e679f87 a/vk: Check for VK_KHR_external_fence_fd and VK_KHR_external_semaphore_fd 2022-05-09 14:01:20 +00:00
Jakob Bornecrantz 308aeb8e21 a/vk: Sort checked extensions 2022-05-09 14:01:20 +00:00
Jakob Bornecrantz 56b77248c9 a/vive: Add bindings to touch controller 2022-05-09 10:46:44 +00:00
Jakob Bornecrantz 7d4b19766c a/vive: Add bindings 2022-05-09 10:46:44 +00:00
Mateo de Mayo e3fadb5364 doc: Fix some doxygen warnings 2022-05-07 15:53:56 +00:00
Ryan Pavlik e79a13f0ac a/util: Fix log corruption on Windows. 2022-05-06 00:26:39 +01:00
Ryan Pavlik 3287c984aa cmake: Reorganize options, renaming some. 
Rename XRT_HAVE_SLAM to XRT_FEATURE_SLAM,
moving it from xrt_config_have.h to xrt_config_build.h
accordingly.
 2022-05-04 11:24:02 -05:00
Jakob Bornecrantz 4ba23faa6b auxiliary: Deal with clang-format-14 fallout (NFC) 2022-05-04 15:58:01 +01:00
Ryan Pavlik f9b4af04e4 a/tracking: Fix conversion warnings 2022-05-03 22:44:37 +01:00
Ryan Pavlik d8970f25f9 a/math: Fix conversion warnings 2022-05-03 22:44:28 +01:00
Jakob Bornecrantz d1d58c4bce u/distortion: Fix conversion warning 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz d8003b4c8f u/pacing: Fix conversion warning 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz fa988a7f74 u/time: Fix conversion warning 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz 5981a508d2 u/sink: Fix conversion warnings 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz 1afc18108e m/3dof: Fix conversion warning 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz 0a0d4a49d5 m/space: Fix function call warning 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz d1512f0005 m/lowpass: Fix no define parameter warning 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz 6d2011abfd u/file: Avoid using fopen 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz 42ba279050 u/file: Avoid using getenv 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz fbc51366e6 u/config: Avoid using strncpy 2022-05-02 17:16:04 +01:00
Antonio Ospite bd06961188 a/util: Silence percetto warnings also when building with g++ 
Percetto is using designated struct initializers, but those are not
supported in standard C++ before C++20, resulting in some compilation
warnings.

The previous fix for that was using a diagnostic valid for clang but not
for g++ resulting in another warning when building with g++:

-----------------------------------------------------------------------
In file included from ../monado/src/xrt/auxiliary/math/m_relation_history.cpp:19:
../monado/src/xrt/auxiliary/util/u_trace_marker.h:21:32: warning: unknown option after ‘#pragma GCC diagnostic’ kind [-Wpragmas]
   21 | #pragma GCC diagnostic ignored "-Wc99-designator"
      |                                ^~~~~~~~~~~~~~~~~~
-----------------------------------------------------------------------

For GCC the diagnostics to disable is actually "-Wpedantic", as shown
below:

-----------------------------------------------------------------------
In file included from ../monado/src/xrt/auxiliary/util/u_trace_marker.h:25,
                 from ../monado/src/xrt/auxiliary/math/m_relation_history.cpp:19:
../external/percetto/src/percetto.h: In function ‘void percetto_event_with_args(percetto_category*, uint32_t, const char*, int32_t, const percetto_track*, int64_t, uint64_t)’:
../external/percetto/src/percetto.h:424:5: warning: C++ designated initializers only available with ‘-std=c++2a’ or ‘-std=gnu++2a’ [-Wpedantic]
  424 |     .track = track,
      |     ^
-----------------------------------------------------------------------

And for clang "-Wc++20-designator" should be slightly more accurate:

-----------------------------------------------------------------------
In file included from ../monado/src/xrt/auxiliary/util/u_trace_marker.h:29:
../external/percetto/src/percetto.h:424:5: warning: designated initializers are a C++20 extension [-Wc++20-designator]
    .track = track,
    ^
-----------------------------------------------------------------------

Fix all the warnings by ignoring the right diagnostics depending on the
compiler, taking care of differentiating clang++ from g++ as they both
define __GNUC__.
 2022-05-02 17:31:11 +02:00
Jakob Bornecrantz 175ff58f10 build: Remove meson files 2022-04-28 21:36:25 +00:00
Jakob Bornecrantz 0dbe9857c3 a/vk: Add function to check timeline semaphore import/export cap 2022-04-28 10:55:55 +01:00
Ryan Pavlik a10206dce6 a/vk: Fix MSVC build. 
Apparently static initializers referring to other statics are not enjoyed
by Microsoft's compiler
 2022-04-27 15:23:24 +00:00
Ryan Pavlik 7db9131aab a/util: Add pop_back to HistoryBuffer 2022-04-27 09:51:12 -05:00
nima01 232b3bade5 aux/math: More double-precision matrix and vector support 2022-04-25 19:14:46 +00:00
Jakob Bornecrantz 27e4577acb a/vk: Tidy calls to vk_get_memory_type 2022-04-24 22:47:51 +01:00
Jakob Bornecrantz 045fc9c33f a/vk: Add caller_name argument to vk_alloc_and_bind_image_memory for better debugging 2022-04-24 22:47:51 +01:00
Jakob Bornecrantz 917265d1b2 a/vk: Add vk_convert_timestamps_to_host_ns function 2022-04-24 22:47:51 +01:00
Jakob Bornecrantz f217046810 a/vk: Get the timestamp valid bits 2022-04-24 11:10:03 +01:00
Jakob Bornecrantz 599527fe01 a/vk: Fill in timestamp feature information 2022-04-24 11:10:03 +01:00
Jakob Bornecrantz 3aa4fdb096 a/vk: Add function to print device features 2022-04-24 11:10:03 +01:00
Jakob Bornecrantz f65a8b1eda a/vk: Add VK_EXT_calibrated_timestamps 2022-04-24 00:29:41 +01:00
Jakob Bornecrantz 9e58ab69e0 a/vk: Add VkQueryPool functions 2022-04-24 00:29:41 +01:00
Jakob Bornecrantz 3d35890206 u/pacing: Trace a little bit more to show when the app is late 2022-04-18 23:26:52 +00:00
Jakob Bornecrantz 4f5bcc5c22 u/pacing: Use the correct term for when the GPU work is done 2022-04-18 23:26:52 +00:00
Jakob Bornecrantz 93091157b8 u/pacing: Correct account for the apps full time when predicting 2022-04-18 23:26:52 +00:00
Jakob Bornecrantz c5fe86ccf9 u/trace_marker: Add env varible to enable/disable tracing 
Should a application load and unload the OpenXR runtime driver multiple times
the Perfetto code becomes unstable and eventually crashes. This unfortunately
happens with the CTS, to avoid having to recompile Monado and a env variable
to control if tracing should be used.
 2022-04-18 22:41:17 +00:00
Jakob Bornecrantz 7ba7f43e83 a/vk: Add specialization_info argument to vk_create_compute_pipeline 2022-04-18 18:48:54 +01:00
Ryan Pavlik a55a5a54b3 a/math: Normalize argument order of one euro filter initializing functions. 2022-04-13 09:40:40 -05:00
Ryan Pavlik 3e6ec47296 monado: Apply clang-tidy fixes to most of the codebase. 
All at least visually inspected, some revised from the auto-fixit
 2022-04-13 09:34:54 -05:00
Ryan Pavlik 029fa2496e a/math: Tell clang-tidy to leave our MSVC-mandated define alone. 
Also try to avoid redefinition warnings from MSVC.
 2022-04-13 01:11:17 +01:00
Ryan Pavlik 4939bc2f59 a/util: Manual fixes to clang-tidy issues. 2022-04-13 01:10:54 +01:00
Ryan Pavlik ad1961fce7 auxiliary: Fix or disable a number of warnings 
Both MSVC and doxygen warnings.
 2022-04-12 23:06:11 +00:00
Ryan Pavlik 2b5f07c8e4 a/util: Silence warnings if using percetto in C++ 2022-04-12 14:38:58 -05:00
Jakob Bornecrantz e8fb10bd82 u/pretty: Add pretty print helpers 2022-04-11 18:27:39 +01:00
Jakob Bornecrantz 0ee1127431 aux/vk: Rename barrier functions and introduce new variant 2022-04-08 19:17:41 +01:00
Jakob Bornecrantz 9d74e7a8c5 aux/vk: Tidy command buffer related functions 2022-04-08 17:34:30 +00:00
James Hogan 7440e14fb4 aux/ogl: Add GLX API wrapper 
Add a wrapper for the GLX API around the GLAD header.

Co-authored-by: Christoph Haag <christoph.haag@collabora.com>
 2022-04-07 02:21:34 +02:00
Mateo de Mayo 4c85e3fbb3 t/slam: Refactor tracker to accept a config struct on creation 2022-04-06 11:50:17 -03:00
Mateo de Mayo a80f88eb00 d/euroc: Refactor player to accept a config struct on creation 2022-04-06 11:50:17 -03:00
Mateo de Mayo 2a4a9aa210 t/slam: Add configuration options to tracker 
Specifically:
- SLAM_PREDICTION_TYPE
- SLAM_CSV_PATH
 2022-04-06 11:50:17 -03:00
Mateo de Mayo b6cd12a860 misc: Add gui nullcheck and initialize thread running field 2022-04-06 11:50:17 -03:00
Jakob Bornecrantz 716ba4db60 tracking: Predeclare struct instead of including cJSON in header 2022-04-06 15:38:44 +01:00
Jakob Bornecrantz 1a00709186 aux/vk: Add vkEnumerateDeviceLayerProperties to instance functions 2022-04-06 11:45:24 +01:00
Ryan Pavlik 8af498aa20 a/vk: Fix typo 2022-04-05 22:48:24 +00:00
Ryan Pavlik 7952773908 a/vk: Expose get_device_memory_handle as vk_get_native_handle_from_device_memory 2022-04-05 22:48:24 +00:00
Jakob Bornecrantz 0595070132 u/pacing: Split draw into draw and wait, improve pipelining 2022-04-05 22:01:17 +00:00
Jakob Bornecrantz 47649f56b6 u/pacing: Track when the app wants the frame to be displayed 2022-04-05 22:01:17 +00:00
Jakob Bornecrantz 8e8a0b38c6 u/pacing: Add gpu done time tracking to app pacer 2022-04-05 22:01:17 +00:00
Jakob Bornecrantz 04b9602dd1 u/pacing: Allow more then two frames to be alive at the same time 2022-04-05 22:01:17 +00:00
Jakob Bornecrantz f4b75b3561 u/trace_marker: Add wait pacing track 2022-04-05 22:01:17 +00:00
Jakob Bornecrantz c317a27a1d aux/vk: Remove setting of format on out struct 2022-04-04 16:12:08 +00:00
Jakob Bornecrantz 1c67113e20 aux/vk: Tidy vk_image_allocator 2022-04-04 16:12:08 +00:00
Jakob Bornecrantz 15da4636f8 aux/vk: Use VK_CSCI_FORMATS helper for swapchain image flags 2022-04-01 19:53:02 +01:00
Jakob Bornecrantz aaa2d4e8e6 aux/vk: Move compositor image format list here 2022-04-01 19:44:07 +01:00
Jakob Bornecrantz d31232c794 aux/vk: Move vk_insert_image_memory_barrier declaration (NFC) 2022-04-01 18:54:18 +01:00
Jakob Bornecrantz 4f1dfa7ae4 aux/vk: Refactor out some printing functions 2022-03-30 20:14:38 +01:00
Jakob Bornecrantz 2f73c7569a aux/vk: Refactor out init functions 2022-03-30 20:08:35 +01:00
Jakob Bornecrantz f54894ee0d aux/vk: Refactor out external handle type for compositor swapchain image 2022-03-29 16:26:34 +01:00
Jakob Bornecrantz 65ced47143 aux/vk: Add more formats to vk_format_string 2022-03-29 16:26:34 +01:00
Jakob Bornecrantz 8cfe941c01 aux/vk: Rename vk_[color_]format_string 2022-03-29 16:26:34 +01:00
Christoph Haag 5d50be0164 aux/vk: Always use dedicated allocation on desktop 
Fixes CTS on nvidia.

Example code given by the driver devs in the nvidia forums was
VkBool32 dedicatedAllocation = (memDedicatedReq.requiresDedicatedAllocation != VK_FALSE) ||
                               (memDedicatedReq.prefersDedicatedAllocation != VK_FALSE);

However on GTX 1080, nvidia 470.103 with

    ./conformance_cli "Timed Pipelined Frame Submission" -G Vulkan2

we are to create a VkImage with

  DEBUG [create_image] create_image: Use dedicated allocation: 0 (preferred: 0, required: 0)

doing so causes the VkFence wait in vk_submit_cmd_buffer to fail randomly with
either VK_TIMEOUT or VK_ERROR_DEVICE_LOST.

On AMD radv we are told to use dedicated allocation:

  DEBUG [create_image] create_image: Use dedicated allocation: 1 (preferred: 1, required: 1)
 2022-03-28 23:16:05 +02:00
Moses Turner 9417fe8d7f a/tracking: Support different numbers of calib parameters 2022-03-23 20:56:15 +00:00
Jakob Bornecrantz 83c8b1da86 u/sink: Make u_sink_create_format_converter support L8 
Co-authored-by: Moses Turner <moses@collabora.com>
 2022-03-23 20:56:15 +00:00
Moses Turner e817a18cfd u/worker: Add #pragma once 2022-03-23 20:56:15 +00:00
Ryan Pavlik 8bfb4b3d09 cmake: Update to handle newer Percetto cmake build details 2022-03-23 11:22:10 -05:00
Christoph Haag 6fdd8ab93a aux/config_json: Only check version for camera tracking config 
Only the camera tracking config writes and uses the version field.

Unfortunately the tracking override config is written into the same json
object while not making use of the version field.
 2022-03-22 12:35:01 +00:00
korejan d43c7ffa71 android: Support for using device's set display refresh rate 
* Adds support for querying the device's currently set display refresh rate to
  be used for android driver on creation. Allowing for devices which support
  selecting other refresh rate modes beyond 60hz.
* Changes hardcoded sensor polling rate to now match refresh queried from the
  device.
 2022-03-22 12:33:30 +00:00
Jakob Bornecrantz e2e65aa241 u/logging: Fix va_copy usage 2022-03-21 22:19:30 +00:00
Moses Turner 09da6e09dc u/sink: Add u_sink_simple_queue 2022-03-19 14:28:09 +00:00
Moses Turner 662b72e2f6 u/sink: Tiny refactor for queue 2022-03-19 14:28:09 +00:00
Connor Smith 703baa94fe Make app pacing more robust to variable composition->display times. 
If the last returned display time shifts backwards slightly with respect to the
last sampled display time from the compositor, the next predicted display time
will not move forward by one frame. Adding half the display period to the
comparison makes the pacing robust to this case.
 2022-03-19 00:57:41 +00:00
Jakob Bornecrantz 170fe0e5d9 aux/vk: Refactor out semaphore and native creation into a helper 2022-03-19 00:41:29 +00:00
Moses Turner b6e5c296f5 comp: Factor frame-timing helper out of comp_compositor 
So that we can use it for readback and anything else
 2022-03-18 19:00:28 -05:00
Jakob Bornecrantz 29acdba23f aux/vk: Tidy get/import functions for native handles (NFC) 2022-03-18 23:20:20 +00:00
Jakob Bornecrantz 77ba132452 u/logging: Add u_log_set_sink implementation 2022-03-17 15:37:09 +00:00
Ryan Pavlik 81eaf5c28c gradle: update NDK and build tools versions to be consistent. 2022-03-16 20:29:50 +00:00
Jakob Bornecrantz e89e3d5276 aux/vk: Add XRT_CHECK_RETURN to sync functions 2022-03-15 00:16:17 +00:00
Mateo de Mayo 2bb0c5cda5 t/slam: Implement CSV writers for trajectories and timing info 
This CSV files can be used for offline analysis.
 2022-03-14 23:42:13 +00:00
Mateo de Mayo c9f7184d64 t/slam: Implement timing and trajectory error UI graphs 2022-03-14 23:42:13 +00:00
Mateo de Mayo af2dde11c3 misc: Fix some release build warnings and minor changes 
- Add CMakeUserPresets.json to .gitignore
- Fix DASSERTs warning for release builds
- Do not use one euro filter with invalid poses
- Other NFC style changes
 2022-03-14 23:42:13 +00:00
Mateo de Mayo 1dbda3d8c8 t/euroc: Tie CSV file opening to recorder lifecycle 
This is a better way of handling writing small but high frequency data
like IMU samples so as to avoid continuous opening and closing of a file.
 2022-03-14 23:42:13 +00:00
Jakob Bornecrantz 37354b953c aux/vk: Add more timeline semaphore functions 2022-03-14 18:58:35 +00:00
Jakob Bornecrantz d0f6ea10bc u/worker: Fix some late feedback 2022-03-14 18:57:35 +00:00
Jakob Bornecrantz 84069cc4f0 u/logging: Add logging sink to intercept log messages 2022-03-14 17:21:20 +00:00
Antonio Ospite 37852ffa65 xrt: fix -Wreturn-type warnings 
Add some missing returns pointed out by -Wreturn-type:

-----------------------------------------------------------------------
[75/1571] Building C object src/xrt/auxiliary/CMakeFiles/aux_util.dir/util/u_config_json.c.o
.../src/xrt/auxiliary/util/u_config_json.c: In function ‘u_gui_state_scene_to_string’:
.../src/xrt/auxiliary/util/u_config_json.c:524:1: warning: control reaches end of non-void function [-Wreturn-type]
  524 | }
      | ^
-----------------------------------------------------------------------
 2022-03-14 14:06:02 +00:00
Jakob Bornecrantz 771aeda784 u/worker: Add task worker helper 2022-03-11 15:29:16 +00:00
Jakob Bornecrantz 76d8944765 os/threading: Add os_cond wrapper 2022-03-11 15:29:16 +00:00
Antonio Ospite e8c9d8f575 xrt: fix -Wunused-variable warnings 
Some variables are only used in asserts, so they may be unused
depending on the build type:

-----------------------------------------------------------------------
[68/315] Building C object src/xrt/auxiliary/CMakeFiles/aux_util.dir/util/u_sink_combiner.c.o
.../src/xrt/auxiliary/util/u_sink_combiner.c:188:11: warning: unused variable 'diff_ns' [-Wunused-variable]
                int64_t diff_ns = frames[0]->timestamp - frames[1]->timestamp;
                        ^
1 warning generated.
[205/315] Building C object src/xrt/compositor/CMakeFiles/comp_main.dir/main/comp_renderer.c.o
.../src/xrt/compositor/main/comp_renderer.c:872:17: warning: unused variable 'layer_count' [-Wunused-variable]
        const uint32_t layer_count = c->base.slot.layer_count;
                       ^
1 warning generated.
-----------------------------------------------------------------------

Mark them as XRT_MAYBE_UNUSED to fix the build warnings.
 2022-03-09 14:53:06 +01:00
Antonio Ospite 14a1ced0e4 xrt: fix -Wreturn-type warnings 
Add some missing returns pointed out by -Wreturn-type:

-----------------------------------------------------------------------
[32/315] Building C object src/xrt/auxiliary/CMakeFiles/aux_gstreamer.dir/gstreamer/gst_sink.c.o
.../src/xrt/auxiliary/gstreamer/gst_sink.c:53:1: warning: non-void function does not return a value in all control paths [-Wreturn-type]
}
^
1 warning generated.
[84/315] Building C object src/xrt/auxiliary/CMakeFiles/aux_vk.dir/vk/vk_compositor_flags.c.o
.../src/xrt/auxiliary/vk/vk_compositor_flags.c:117:1: warning: non-void function does not return a value in all control paths [-Wreturn-type]
}
^
.../src/xrt/auxiliary/vk/vk_compositor_flags.c:146:1: warning: non-void function does not return a value in all control paths [-Wreturn-type]
}
^
2 warnings generated.
-----------------------------------------------------------------------

For the function returning VkImageAspectFlags return a literal 0 because
the enum values VK_IMAGE_ASPECT_NONE or VK_IMAGE_ASPECT_NONE_KHR may not
always be defined.
 2022-03-09 14:52:29 +01:00
Jakob Bornecrantz 17e9e06de7 aux/vk: Detect external semaphore support 2022-03-08 21:04:56 +00:00
Jakob Bornecrantz c0bd8ce3ba aux/vk: Let vk_init_from_given enable timeline semaphores 2022-03-08 21:04:56 +00:00
Jakob Bornecrantz 3c8378631f aux/vk: Properly set log_level in given vk_bundles 2022-03-08 21:04:56 +00:00
Jakob Bornecrantz 3044794f93 aux/vk: Rename timeline_semaphores to features.timeline_semaphore 2022-03-08 21:04:56 +00:00
Moses Turner 7235b6a45a u/sink: Add some comments 2022-03-08 20:38:58 +00:00
Moses Turner 37f0c901d2 u/sink: Add sink to convert from stereo to two SLAM frames 2022-03-08 20:38:58 +00:00
Jakob Bornecrantz 7b0cee5a85 u/trace_marker: Add new tracking category 2022-03-08 10:46:48 +00:00
Jakob Bornecrantz d06bb04357 u/trace_marker: Tidy 2022-03-08 10:46:47 +00:00
Jakob Bornecrantz 0ebb1c3be9 t/psmv: Make TrackerPSMV be standard layout 2022-03-07 16:48:28 +00:00
Moses Turner ffee6c360b u/sink: Don't sleep when combining frames; we're not testing 
Where's the dunce cap?
 2022-03-01 01:14:57 -06:00
Jakob Bornecrantz f5c77dfb32 aux/vk: Add vk_create_and_submit_fence_native 2022-02-24 20:54:47 +00:00
Jakob Bornecrantz 78f3340bf5 aux/vk: Check which fence types support import and export 2022-02-24 20:54:47 +00:00
Jakob Bornecrantz ebe895bdb8 aux/vk: Add vkGetPhysicalDeviceExternal[Buffer|Fence|Semaphore]PropertiesKHR (NFC) 2022-02-24 17:51:59 +00:00
Jakob Bornecrantz 543f28abf9 aux/vk: Add vkGetFenceWin32HandleKHR (NFC) 2022-02-24 17:51:59 +00:00
Jakob Bornecrantz 36025886ee aux/vk: Refactor our sync primitives (NFC) 2022-02-24 17:51:59 +00:00
Jakob Bornecrantz d6e0c45855 aux/vk: Order files in build scripts (NFC) 2022-02-24 17:51:59 +00:00
Connor Smith e1c180240e Create VkQueue with queueIndex from XrGraphicsBindingVulkanKHR. 
Per XR_KHR_vulkan_enable: "the OpenXR runtime must interpret the image
as being owned by the VkQueue specified in XrGraphicsBindingVulkanKHR."
(https://www.khronos.org/registry/OpenXR/specs/1.0/html/xrspec.html#XR_KHR_vulkan_enable)
 2022-02-23 17:45:46 -05:00
Mateo de Mayo a0021dc7d0 t/euroc: Fix memory leak in euroc recorder 
This was the reason the recorder was eating so much RAM.
SSD write speeds should be enough for common use cases to keep RAM stable.
 2022-02-22 22:56:07 +00:00
Ryan Pavlik 7b3a2e7c1a a/math: C wrapper for the float low-pass filter too. 2022-02-22 16:44:44 -06:00
Ryan Pavlik cf07791e93 a/math: Add a C wrapper for the integer low-pass filter. 2022-02-22 16:42:53 -06:00
Ryan Pavlik a0e2df4cf0 tracking/math: Move the generic low pass filters to a/math 2022-02-22 16:42:53 -06:00
Ryan Pavlik 4156cabedf a/tracking: Add an integer version of the low-pass filter. 2022-02-22 09:58:19 -06:00
Ryan Pavlik 928254ffed a/math: Add a rational number struct template. 2022-02-22 09:58:19 -06:00
Mateo de Mayo 4b94d83c11 a/math: Fix one euro implementations not dividing by dt 
The dy name was kept. It can now be thought of as "[d]erivative of [y]"
instead of the previous "change of y". Also, the beta parameters of the
one-euro users were adjusted by approximately multiplying them by 0.016
to compensate.
 2022-02-22 13:34:45 +00:00
Mateo de Mayo 17dee2bb68 t/slam: Cache tracked pose timestamp 
This is mainly to avoid problems with filters that calculate
their dt from previous calls. In particular the one euro filter fix
that gets implemented in the next commit would crash because of dt=0.
 2022-02-22 13:34:45 +00:00
Mateo de Mayo b04c26e522 a/math: Expose quat_{exp, ln} and test them 2022-02-22 13:34:45 +00:00
Moses Turner 8972778e00 a/vk: Remove superfluous format assignment in the readback pool 
This also caused a segfault when the readback pool filled up.
 2022-02-20 00:51:26 -06:00
Christoph Haag 49b81e219f aux/util: Move fov from u_device_simple_info::views to top level 2022-02-19 13:04:32 +00:00
Christoph Haag 996a5d3e9a xrt: Move fov from xrt_view to xrt_hmd_parts::distortion 2022-02-19 13:04:32 +00:00
Moses Turner 2e8f572a4d aux/vk: Add util to read VkImages back to a pool of xrt_frames 
Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
 2022-02-18 20:26:27 -06:00
Moses Turner 8f792c9165 u/sink: Add u_sink_create_to_r8g8b8_r8g8b8a8_r8g8b8x8_or_l8 2022-02-18 20:06:20 -06:00
Moses Turner 433ae0d9c6 aux/gst: Support RGBA and images with unusual row strides 2022-02-18 20:06:20 -06:00
Moses Turner 727c087366 aux/vk: Add helper for adding image memory barriers 2022-02-18 20:06:20 -06:00
Moses Turner 5a2088ee3e aux/vk: Add vkCmdBlitImage to vk_helpers 2022-02-18 20:06:20 -06:00
Moses Turner 3a7569a7b0 u/trace_marker: Add COMP_TRACE_IDENT 2022-02-18 20:06:20 -06:00
Moses Turner 00984aa021 aux/vk: Add advanced create image function 2022-02-18 20:06:20 -06:00
Jakob Bornecrantz ba0f7cba8b aux/vk: More comments 2022-02-19 00:34:01 +00:00
Jakob Bornecrantz 5222dfd728 aux/vk: Refactor and document various compositor swapchain image flags 
This also fixes two errors:
* VK_IMAGE_USAGE_SAMPLED_BIT was not always added to depth formats.
* VK_IMAGE_ASPECT_DEPTH_BIT and VK_IMAGE_ASPECT_STENCIL_BIT was added to image
  views for sampling, where the spec only allows one of them.
 2022-02-18 21:32:05 +00:00
Jakob Bornecrantz 05771e7b9e aux/vk: Rename compositor swapchain image helper functions (NFC) 2022-02-18 21:32:05 +00:00
Jakob Bornecrantz ad5a057737 aux/vk: Refactor out swapchain functions to own file (NFC) 2022-02-18 21:32:05 +00:00
Jakob Bornecrantz 4539b74e56 aux/vk: Re-org one function (NFC) 2022-02-18 21:32:05 +00:00
Jakob Bornecrantz 20c7e30304 aux/vk: Remove unnecessary breaks 2022-02-18 18:29:28 +00:00
Jakob Bornecrantz 0126819f21 aux/vk: Use aspect mask that covers both depth and stencil for mixed formats 2022-02-18 18:29:28 +00:00
Jakob Bornecrantz 9a884931bb c/client: Use correct VkImageAspectFlags in barriers 2022-02-17 19:29:57 +00:00
Jakob Bornecrantz 223aa515fd u/device: Add u_device_get_view_poses helper 2022-02-16 23:15:07 +00:00
Jakob Bornecrantz 47ae7c19c3 u/trace_marker: Add driver category 2022-02-16 22:25:55 +00:00
Jakob Bornecrantz 91a2a5d29d c/client: Set correct optimal layout for client swapchains 2022-02-16 18:20:44 +00:00
Mateo de Mayo 83fceec521 t/slam: Add filtering methods to the tracker 
Adds three toggleable filters:
- Moving average
- Exponential smoothing
- One euro filter
 2022-02-14 10:22:05 -03:00
Mateo de Mayo b90d60a9ce t/slam: Add prediction types that integrate gyro and accel samples 2022-02-14 10:22:05 -03:00
Mateo de Mayo 8820a3e99c a/math: Add m_filter_euro_quat 2022-02-14 10:22:05 -03:00
Mateo de Mayo 06597a0655 a/math: Add math_quat_{len, unrotate} 2022-02-14 10:22:05 -03:00
Mateo de Mayo cf5574a4e9 m/space: Add m_space_relation_interpolate 2022-02-14 10:22:05 -03:00
Moses Turner e553d1993b u/sink: refactor u_sink_combiner 
So you can use the enforcing-genlock bit elsewhere
 2022-02-10 10:55:06 -06:00
Ryan Pavlik acc9683e0f a/util: Fix copy/move assign of history buf 2022-02-08 17:08:00 -06:00
Ryan Pavlik a904914e6e a/util: Wrap "just enough" of the ring buffer stuff for generic use from C. 2022-02-08 13:18:15 -06:00
Ryan Pavlik 3b0252bda8 a/util: Don't make the RingBufferHelper compile-depend on max size. 2022-02-08 13:18:05 -06:00
Ryan Pavlik c079eabfdf a/util: iterator cleanups to reduce diffs, using a self typedef. 2022-02-08 17:00:11 +00:00
Ryan Pavlik 6908486022 a/util: Add age clamping to history buffer. 2022-02-08 17:00:11 +00:00
Ryan Pavlik 603117a1d1 a/util: Split history buf file up, factor out more generic iterator base 2022-02-08 17:00:11 +00:00
Ryan Pavlik 94e053d0d4 a/math: More relation history cleanup 2022-02-08 17:00:11 +00:00
Ryan Pavlik 1c183a9eeb a/math: Simplify m_history_relation using standard algorithms 2022-02-08 17:00:11 +00:00
Ryan Pavlik 90c74578d1 a/util: Refactor HistoryBuffer to be more like a standard container. 2022-02-08 17:00:11 +00:00
Ryan Pavlik 8030468f95 os: Add a c++ wrapper for our mutex types 2022-02-08 17:00:11 +00:00
Ryan Pavlik 9b6d117970 a/util: Some reorg and renaming in upa to be closer to upc 2022-02-08 10:51:40 -06:00
Ryan Pavlik 78e9acc6c4 a/util: Remove unused member in upc 2022-02-08 10:51:39 -06:00
Ryan Pavlik 0f8565ec71 a/util: Some further internal renames for pacing 2022-02-08 10:51:39 -06:00
Ryan Pavlik 6345962d66 a/util: Rename app_time_* in u_pc to comp_time_* 2022-02-08 10:51:39 -06:00
Ryan Pavlik d176b18598 a/util: Allow upc present offset to be variable. 2022-02-08 10:51:39 -06:00
Ryan Pavlik 2238aff403 a/util: Catch frame_id mismatch in u_pacing_compositor 2022-02-08 10:51:39 -06:00
Ryan Pavlik a2e1eb7e75 a/util: Have all timestamps be injected into pacing. 
No more calling os_monotonic_get_ns() inside the pacing helpers.
Much better testability.
 2022-02-08 10:51:39 -06:00
Ryan Pavlik d969bc334f a/util: More pacing documentation 2022-02-07 13:11:00 -06:00
Jakob Bornecrantz 309c45f4c4 aux/bindings: Tidy 2022-01-31 22:43:09 +00:00
Jakob Bornecrantz 037b161fb4 aux/binding: Rename function 2022-01-31 22:43:09 +00:00
Jakob Bornecrantz f0a5f1977c aux/bindings: Add OpenXR Identifier 2022-01-31 22:43:09 +00:00
Ryan Pavlik 9b9e23be62 a/util: Add a new constructor and a new method to u_string_list 2022-01-24 16:34:45 -06:00
Ryan Pavlik d057f00b54 doc: Fix broken link 2022-01-24 14:08:06 -06:00
Ryan Pavlik c9889f776f xrt: Rename xrt_space_graph to xrt_relation_chain. 
Rename all functions and instances accordingly as well,
and add documentation for all methods.
 2022-01-21 19:54:30 +00:00
Moses Turner 7b3378b28a aux/tracking; st/gui: save/load calibration gui state to file 2022-01-18 17:18:43 +00:00
Moses Turner 254c233c76 util/u_config_json: add functions to save/load gui state to file 2022-01-18 17:18:43 +00:00
Ryan Pavlik 6677d42642 a/util: Frame pacing docs and some error handling 2022-01-15 01:06:48 +00:00
Ryan Pavlik a7c22fd185 a/util: Rename u_render_timing to u_pacing_app and u_frame_timing to u_pacing_compositor. 
They both control pacing, but for different uses. Neither actually performs any timing.
 2022-01-15 01:06:48 +00:00
Ryan Pavlik 365b3ca8d4 a/util: Make display timing helper more configurable. 
Also comment some display timing interfaces better.
 2022-01-15 01:06:48 +00:00
Christoph Haag f978f2691d aux/vk: Don't leak VkExtensionProperties 2022-01-13 23:48:44 +01:00
Christoph Haag 147851ffdc aux/ft: Add some documentation comments 2022-01-13 23:07:57 +01:00
Christoph Haag 3eecb0f991 aux/vk: Add vkGetPhysicalDeviceSurfaceCapabilities2EXT function 2022-01-13 23:07:16 +01:00
Christoph Haag 693aceb755 aux/vk: Add VK_EXT_display_control functions 2022-01-13 23:07:16 +01:00
Christoph Haag ec64a856b4 aux/vk: Use VK_DEBUG instead of U_LOG for vk device ext selection 2022-01-13 23:07:01 +01:00
Christoph Haag 8e020fac2d c/main: Add and enable VK_EXT_display_control optional device ext 2022-01-13 23:06:40 +01:00
Christoph Haag b7d179b1b3 c/main: Add display surface counter optional vk instance ext 2022-01-13 23:06:15 +01:00
Christoph Haag ce6339e237 c/main: Make more use of string list for device ext 2022-01-13 23:05:06 +01:00
Christoph Haag 171a3830b9 u/string_list: Add constructor from existing list 2022-01-13 23:04:17 +01:00
Christoph Haag 13e3db6128 aux/vk: Add vkEnumerateInstanceExtensionProperties 2022-01-13 23:03:38 +01:00
Christoph Haag 7174545ee8 aux/vk: remove duplication of vk_get_loader_functions functionality 2022-01-13 23:03:38 +01:00
Christoph Haag 20f265d9ae u/string_list: Add contains function 2022-01-13 22:37:25 +01:00
Christoph Haag 07ddac523c build: Build u_string_list with meson too 2022-01-13 22:37:25 +01:00
Christoph Haag 77f19161fb aux/binding: extract monado_binding earlier from list 2022-01-13 14:16:20 +01:00
Jakob Bornecrantz d8cce715da u/bindings: Remove duplicate paths in by_length 2022-01-13 14:01:44 +01:00
Christoph Haag 435503f2c4 aux/bindings: Further cleanup, use object members for Component 
instead of passing json data around
 2022-01-13 14:01:44 +01:00
Christoph Haag 450eb182d0 aux/bindings: Minor refactor of generator scripts 2022-01-13 14:01:44 +01:00
Christoph Haag 7917110e1c aux/bindings: Remove unnecessary pathgroup parameter 2022-01-12 23:03:30 +01:00
Christoph Haag 595ca11c68 aux/bindings: Don't generate invalid code for missing monado_binding 
The closing } for a binding template was not written.
 2022-01-12 23:03:30 +01:00
Christoph Haag 47801859e7 aux/bindings: Replace "feature" with "component" 2022-01-12 23:02:53 +01:00
Christoph Haag a3cd52ae8f aux/bindings: Actually generate code to convert xrt_input_name enum 2022-01-12 23:02:53 +01:00
Christoph Haag 153280607f aux/bindings: Split function to convert input/output enums into two 
xrt_input_name and xrt_output_name are actual different types.
 2022-01-12 23:02:53 +01:00
Jarvis Huang 97100821d2 ipc/android: Add shutdown mechanism back 2022-01-05 14:59:39 +00:00
Jarvis Huang 6a61ed5695 ipc/android: Stop runtime service when no clients connected 2022-01-05 14:59:39 +00:00
Moses Turner 683dc4ea56 gui: add SLAM Stereo option to calibrate gui 2022-01-04 18:19:17 +00:00
Moses Turner 17034f0283 aux/tracking: assert on fisheye mat size for fisheye path 2022-01-04 18:19:17 +00:00
Mateo de Mayo 7e0d93e3fb tests: Add tests for quatexpmap interface functions and minor changes in their docs 2021-12-22 12:16:27 -03:00
Mateo de Mayo 70576c2f02 t/slam: Implement basic prediction from last tracked poses 2021-12-21 11:43:17 +00:00
Mateo de Mayo 090e465dda external: Add semver to slam_tracker (1.0.0) and pose timestamps 2021-12-21 11:43:17 +00:00
Mateo de Mayo 74e149159b t/slam: Add SLAM_SUBMIT_FROM_START envvar 
Useful for setups that need some tuning to their sensors before sending
data to a SLAM system.
Removes the submit_frames property from wmr_camera as this replaces it.
 2021-12-21 11:43:17 +00:00
Mateo de Mayo 76d7729e4d m/vec3: Add operator/ for scalar division 2021-12-21 11:43:17 +00:00
Mateo de Mayo bcb4cd82cd aux/math: Use dt in calculation of ang vel between quat diference 2021-12-21 11:43:17 +00:00
Mateo de Mayo 3e8a070e93 u/var: Add u_var_combo 2021-12-21 11:43:17 +00:00
Christoph Haag 8bbaf2a05b a/tracking: Use #pragma message instead of #warning 
Avoids warning
../src/xrt/auxiliary/tracking/t_tracker_slam.cpp:66:2: warning: #warning is a GCC extension
 2021-12-14 13:51:16 +01:00
Mateo de Mayo fe4f6c6eb0 misc: Improve wmr and euroc docs, fix ht memory leak, stride for cv::Mats 2021-12-12 13:13:18 -03:00
Mateo de Mayo cd0342c8dc aux/util: Add u_frame_create_roi 2021-12-12 13:12:42 -03:00
Mateo de Mayo fa88ce5f3f u/var: Add u16 var kind 2021-12-12 13:06:04 -03:00
Mateo de Mayo 471ca9530b m/3dof: Add reset functionality 2021-12-12 13:06:04 -03:00
Moses Turner 749723f0ba xrt: Remove xrt_view::display::{w|h}_meters 
It is not used anywhere.
 2021-12-10 21:27:15 -06:00
Ryan Pavlik 26e5f6eee7 a/math: Bring the C++ wrapper for relation_history up to parity. 
Also add tests for it too.
 2021-12-10 21:06:04 +00:00
Ryan Pavlik ef4550c268 a/math: Add a "get latest" to relation history as well. 2021-12-10 21:06:04 +00:00
Ryan Pavlik aff7079dca a/math: Let relation history report its size 2021-12-10 21:06:04 +00:00
timongentzsch ba353e276d Bugfix in solving quadratic equation for FoV calculation 2021-12-10 18:08:50 +00:00
Ryan Pavlik e5e8451a81 a/math: Update relation history to return something from push. 2021-12-09 13:44:12 -06:00
Mateo de Mayo b29c4ee78f u/json: Update macro signatures to fix MSVC builds 2021-12-08 15:35:54 +00:00
Ryan Pavlik 0b11ce3a27 a/vk: Add timeline semaphore to the list of optional features. 2021-12-08 00:54:12 +00:00
Ryan Pavlik 2af3798e44 a/vk: Fix typo in physical device feature chain 2021-12-08 00:54:12 +00:00
Jakob Bornecrantz 98982bd25b a/math: Fix warning in math_matrix_2x2_multiply 2021-12-07 13:30:45 +00:00
Jakob Bornecrantz 6598217a01 u/vive: Correct Vive Pro model_name 
Fixes #106
 2021-12-06 19:43:49 +00:00
Jakob Bornecrantz b621955873 a/vk: Put vendor extensions last 2021-12-06 17:25:09 +00:00
Jakob Bornecrantz 5289b081c5 a/vk: Check for VK_KHR_timeline_semaphore 2021-12-06 17:25:09 +00:00
Jakob Bornecrantz 0eca48ec2b a/vk: Add all functions for VK_KHR_timeline_semaphore 2021-12-06 17:25:09 +00:00
Jakob Bornecrantz 7d529a3dfc a/vk: Change script to make it clang-format friendly 2021-12-06 17:25:09 +00:00
Jakob Bornecrantz 94ad966e4d a/vive: Also correctly error on unknown controller warnings 2021-12-06 11:44:33 +00:00
Jakob Bornecrantz aace8ff62d a/vive: Look for model_name correctly 2021-12-06 11:44:33 +00:00
Jakob Bornecrantz a6b4e6a830 m/3dof: Show more in the variable tracker 2021-12-05 15:30:14 +00:00
Jan Schmidt bb5aa35c00 a/math: Add math_matrix_3x3_identity() 
Add an initialisation function to set a 3x3 matrix
to the identity matrix.
 2021-12-05 00:06:05 +11:00
Jakob Bornecrantz e21e28c455 u/vive: Be more verbose if we fail to parse model_[name|number] 2021-12-03 21:13:57 +00:00
Moses Turner 31f155acbd cmake: make xrt-external-json public for aux_tracking 2021-12-03 19:22:57 +00:00
Jakob Bornecrantz 8c04bf1274 a/math: Add C++ RelationHistory interface class 2021-12-03 14:00:37 +00:00
Jakob Bornecrantz efde7f185c a/math: Put m_relation_history_get out argument last 2021-12-03 14:00:32 +00:00
Jakob Bornecrantz ed48e6d47d a/math: Constify in argument 2021-12-03 13:53:46 +00:00
Ryan Pavlik 2b64e5b965 a/math: Extend m_relation_history to pass the tests. 2021-12-03 13:53:46 +00:00
Ryan Pavlik 217dee2ce3 a/math: Add m_relation_history_result return from m_relation_history_get 2021-12-03 13:45:43 +00:00
Ryan Pavlik 01e3d9871c a/math: Replace RH_DEBUG for relation history with better use of logging macros 2021-12-03 13:45:43 +00:00
Jarvis Huang 27550ffa39 aux/android: Looper trick for NativeActivity with app-glue 2021-12-02 09:40:36 -06:00
Mateo de Mayo 07bd614930 t/file: Extend calibration save/load interfaces with new v2 format 2021-12-02 11:27:42 -03:00
Mateo de Mayo 1483ec32c5 t/file: Implement json save/load for v2 calibration 2021-12-02 11:26:11 -03:00
Mateo de Mayo 31f71251e0 t/util: Add dump function for single camera calibration struct 2021-12-01 18:32:16 +00:00
Mateo de Mayo 1cc80f5476 t/slam: Use euroc recorder in slam tracker 2021-12-01 13:45:18 +00:00
Mateo de Mayo 91ecbdb7fb t/euroc: Add euroc dataset recorder 2021-12-01 13:45:18 +00:00
Mateo de Mayo e245f4e5a9 u/sink: Allow u_sink_queue to queue more than one frame 
Passing max_size=1 gives a similar behaviour as before, although instead
of discarding the last enqueued frame, it just ignores the new frame.
 2021-12-01 13:45:18 +00:00
Mateo de Mayo 33d360083f external/slam: Update slam_tracker interface to support dynamic features 2021-11-30 10:01:33 -03:00
Moses Turner 8cde257817 aux/math: add vec3 overloads for scalar multiplication 2021-11-29 23:23:57 -06:00
Jakob Bornecrantz 3f98ea5595 xrt: Tidy s/ll/log_level/g 
Also make sure all variable logging uses the right type for logging variables.
 2021-11-22 14:29:10 -06:00
Ryan Pavlik 27a8ec675b a/util: Add utility for lists of strings, like extension lists. 2021-11-20 17:21:02 +00:00
Jan Schmidt 760e8dd3ad meson: Add GStreamer recording support 2021-11-19 04:05:40 +11:00
Ryan Pavlik 2e323add6f drivers: Migrate num_ to _count 2021-11-13 12:04:38 +00:00
Ryan Pavlik dfa0aba496 aux: Migrate num_ to _count 2021-11-13 12:04:38 +00:00
Ryan Pavlik 469b9d907d st/oxr: Rename all num_ in the state tracker, too. 2021-11-13 12:04:38 +00:00
Ryan Pavlik 33c0287f8b xrt: Rename all "num" parameters and fields to "count" (or "capacity" as appropriate) 
This matches the OpenXR usage: the array is the plural of the element type,
and the count is the singular element type plus "count" (usually CountOutput
because of the two-call idiom)

Includes fixes to other code to match API changes.
 2021-11-13 12:04:38 +00:00
Mateo de Mayo b94b7d1f52 u/json: Implement C++ wrapper for cJSON 2021-11-12 15:33:06 -03:00
Mateo de Mayo 87a1198b0a misc: Address compilation warnings and fix u_json_get_bool 2021-11-12 15:33:06 -03:00
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
Jakob Bornecrantz 62ca16c70e a/math: Make sure it's safe to pass in the result as either left or right 2021-11-12 10:27:54 +00:00
Jakob Bornecrantz e8b0ab3b35 aux/vk: Add many more helper functions 2021-11-10 14:22:28 +00:00
Ryan Pavlik 35d7e85266 a/vk: Return of the justification and function rename 2021-11-09 15:36:24 -06:00
Ryan Pavlik b816c08141 a/vk: Add to the file comments mentioning the script. 2021-11-09 11:05:15 -06:00
Ryan Pavlik 8a56046c1d a/vk: Also generate the extension list/checking 2021-11-09 11:05:15 -06:00
Ryan Pavlik 9fc992d540 a/vk: Normalize member names in extensions 2021-11-09 11:05:15 -06:00
Ryan Pavlik 01c02897dc a/vk: Update vulkan files: generate from script 2021-11-09 11:05:15 -06:00
Jakob Bornecrantz a081bacc5d aux/vk: Guard vkSignalSemaphore with VK_KHR_timeline_semaphore 2021-11-08 17:36:58 +00:00
Jakob Bornecrantz 4c4e30d875 aux/vk: Add more functions 2021-11-08 17:21:31 +00:00
Ryan Pavlik 15c8414155 cmake: Un-nest a conditional 2021-11-04 15:36:58 +00:00
Ryan Pavlik 85dab57936 a/util: Fix some it's vs its 2021-11-03 17:28:41 -05:00
Ryan Pavlik 334bd83619 a/tracking: Fix some it's vs its and other minor doc tweaks 2021-11-03 17:27:36 -05:00
Ryan Pavlik f4b61d9e41 a/os: Fix some it's vs its. 2021-11-03 17:24:17 -05:00
Ryan Pavlik a6ae6eb095 a/math: Fix some it's vs its. 2021-11-03 17:23:51 -05:00
Ryan Pavlik 86c7a27156 a/tracking: Fix doxygen warnings about invalid link requests 2021-11-03 17:13:38 -05:00
Mateo de Mayo 773eccad6c docs: Move some driver entities into @addtogroup and other NFC 2021-10-28 11:40:49 +00:00
Mateo de Mayo 891842cb51 os: Change os_nanosleep parameter to int64_t 2021-10-28 11:40:49 +00:00
Jarvis Huang c635375dc7 aux/android: Remove unused header file 2021-10-27 13:44:20 +00:00
Jarvis Huang 210a6908cd ipc/android: Avoid deadlock on Android 2021-10-27 13:44:20 +00:00
Moses Turner 0dee9094b3 aux/math: encourage people to use normalized inputs to math_quat_from_plus_x_z 2021-10-26 10:56:41 +00:00
Ryan Pavlik 4ae1a1753c util: Fix typo 2021-10-19 16:11:34 -05:00
Ryan Pavlik d4d6a1a73f util: Fix some truncation warnings, mostly by explicitly casting 2021-10-19 16:11:34 -05:00
Ryan Pavlik 5f8cb4e227 a/math: Fix some truncation warnings. 2021-10-19 15:31:29 -05:00
Ryan Pavlik c47463b4eb aux/util: Fix log message formatting on Windows. 2021-10-15 15:05:34 -05:00
Ryan Pavlik c40553580d util: Fix copyright typo. 2021-10-15 14:55:12 -05:00
Ryan Pavlik d6177777e5 os: Fix os_nanosleep on Windows. 2021-10-15 13:05:18 -05:00
Ryan Pavlik 3351ef5396 os: Add new thread helper methods 2021-10-15 13:05:18 -05:00
Ryan Pavlik 793a7d659d os: Improve docs for thread helper. 2021-10-15 11:57:44 -05:00
Jakob Bornecrantz 580a2f6fff u/sink: Add u_sink_combiner helper to combine frames to stereo frames 2021-10-09 22:28:11 +01:00
Jakob Bornecrantz e8f7f2de0a t/util: Add function to dump a stereo camera calibration 2021-10-09 22:28:11 +01:00
Mateo de Mayo 9b21b7d36c t/slam: Use debug assertions and ensure timestamps come in order 2021-10-06 16:41:18 -03:00
Mateo de Mayo 67a5946778 xrt: Add units to xrt_imu_sample fields 
After using the structure a bit more, and realizing that while different components
sometimes use different units, it is easier to force them to send the imu_samples
in a standardized unit.
 2021-10-06 16:41:18 -03:00
Mateo de Mayo 5845155229 xrt: Use doubles in xrt_vec3_f64 2021-10-06 15:23:28 -03:00
Moses Turner e134b24f8f u/var: Add u_var_draggable_f32 2021-10-02 23:05:35 +01:00
Moses Turner 5efdea78da aux/gst: Expose function to get offset from global time to video timestamp 2021-10-02 23:05:26 +01:00
Ryan Pavlik 37c5eee02a a/math: Refactor one euro filter code 2021-10-02 23:05:22 +01:00
Moses Turner 52f1ce14ca aux/math: Add m_vec2_lerp 2021-10-02 23:05:19 +01:00
Jakob Bornecrantz 73d631c775 cmake: Make math depend on util 
This fixes the build when tracing is enabled.
 2021-09-29 21:38:33 +00:00
Jakob Bornecrantz 6f66ada6d9 u/vive: Remove old code and tidy camera calibration extraction 2021-09-29 20:48:54 +00:00
Jakob Bornecrantz 08721858dc u/vive: Compare calibration solutions 2021-09-29 20:48:54 +00:00
Jakob Bornecrantz 4430dbe5d5 u/vive: Rework how calibration is extracted 2021-09-29 20:48:54 +00:00
Jakob Bornecrantz a15e37587b u/vive: Add more camera fields 2021-09-29 20:48:54 +00:00
Mateo de Mayo f88befbdbc t/slam: Replace assertion with return -1 if SLAM_CONFIG is not provided 2021-09-28 16:06:52 -03:00
Mateo de Mayo debdb11e02 t/slam: Miscelaneous NFC changes 
- Use @todo instead of TODO for doxygen
- Improve the slam_tracker interface documentation
- Move euroc functions declared by macros into extern C
 2021-09-28 12:49:36 +00:00
Mateo de Mayo 1a5af03111 t/slam: Move pose corrections into the tracked devices 
This discards the pose correction logic used that was for the D455 not for
an euroc dataset. It will be reintroduced in a later commit with an
appropriate device.
 2021-09-28 12:49:36 +00:00
Moses Turner 1c99e8edb5 meson: add option for tracing; align messages 2021-09-28 12:41:01 +00:00
Mateo de Mayo d61a695f13 meson: Allow percetto to be used with meson 
You may need to specify --libdir=$installdir/lib when installing percetto,
otherwise it gets installed on $installdir/lib/x86_64-linux-gnu by default and
meson might not look for the appropriate pkgconfig in there.
 2021-09-28 12:41:01 +00:00
quic_zhibinw f9d0bfb80a aux/vk: Apply the protected content flag if app pass it when create swapchain 2021-09-28 15:33:15 +08:00
Ryan Pavlik 995866a576 cmake: Improve use of percetto 2021-09-27 09:26:15 -05:00
Jakob Bornecrantz de283a8b0c t/calibration: Add support for findChessboardCornersSB 2021-09-20 15:54:00 +00:00
Jakob Bornecrantz d86adce39d u/historybuf: Tidy code and work around clang-format CI troubles 2021-09-20 15:54:00 +00:00
Ryan Pavlik a10a4ab123 a/math: Fix truncation warning due to double literal in float parameter. 2021-09-20 10:06:33 -05:00
Ryan Pavlik 967efb4a12 a/os: SetWaitableTimer wants durations in hundreds of ns. 2021-09-20 09:25:31 -05:00
Jakob Bornecrantz b4ce66a5dc u/var: Remove sink variable tracking 2021-09-17 15:27:23 +01:00
Jakob Bornecrantz 0157b2d4b0 t/debug: Update HelperDebugSink to use new u_debug_sink 2021-09-17 13:39:50 +01:00
Jakob Bornecrantz 2404257077 t/hsv: Switch to u_sink_debug 2021-09-17 13:39:50 +01:00
Jakob Bornecrantz b8055eba6a u/var: Add u_sink_debug 2021-09-17 13:01:02 +01:00
Jakob Bornecrantz da628514d8 u/sink: Add u_sink_debug struct helper 2021-09-17 13:01:02 +01:00
Christoph Haag a3b453dae7 t/slam: Print an error when SLAM_CONFIG is not set 
Fixes crash

terminate called after throwing an instance of 'std::logic_error'
  what():  basic_string::_M_construct null not valid
 2021-09-16 23:33:05 +02:00
Christoph Haag ec5b5f9e1d t/slam: Only warn for incompatible OpenCV 2021-09-16 23:33:05 +02:00
Mateo de Mayo 549c59a493 t/slam: Add SLAM tracking module 2021-09-15 19:03:55 +00:00
Simon Zeni 26c684d42f aux/vk: Add VK_EXT_acquire_drm_display functions 2021-09-15 18:44:18 +00:00
Moses Turner 947bac9e54 aux/math: Implement m_relation_history 
to keep track of past poses of HMDs, controllers, etc.
 2021-09-15 12:13:14 -05:00
Moses Turner 7f69dc795f d/ht; aux/util: Move ringbuffer implementation into aux/util 2021-09-15 12:13:00 -05:00
Moses Turner 9960f0ab22 aux/math: Add tracing for m_predict 2021-09-15 12:13:00 -05:00
Jakob Bornecrantz cb7563ecd6 m/predict: Add C++ extern guards 2021-09-14 13:42:20 +01:00
Jakob Bornecrantz 608bb987d9 u/[rt|ft]: Adjust margins 
This commit adds more margins to both the app and the compositor, with the
compute work this yeilds basically no frame misses for the compositor.
 2021-09-13 21:50:20 +01:00
Jakob Bornecrantz dda80836c6 u/ft: Rename min_margin_ns to margin_ns 2021-09-13 21:49:31 +01:00
Mateo de Mayo d9482d0b76 u/var: Add f64 kind 2021-09-13 18:59:03 +01:00
Jakob Bornecrantz 129902750d u/sink: Add conversion from L8 to R8G8B8 2021-09-03 22:16:21 +01:00
Moses Turner cef922946a aux/vive: Parse camera calibration 2021-09-03 21:06:18 +00:00
Moses Turner a1b683385f aux/util: Add u_frame_clone 2021-09-03 21:06:18 +00:00
Christoph Haag 2609502150 aux/vk: Add and document tegra specific dedicated allocation workaround 2021-09-03 15:32:35 +00:00
Christoph Haag 4982a14541 aux/vk: Add Tegra detection 2021-09-03 15:32:35 +00:00
Christoph Haag e7d047f956 aux/vk: debug print preferred/required dedicated allocation 2021-09-03 15:32:35 +00:00
Christoph Haag 7dcd420df8 aux/vk: Add VK_FORMAT_R16G16B16A16_UNORM to vk_color_format_string 2021-09-03 15:32:35 +00:00
Jakob Bornecrantz 3bab14fa3b t/psmv: Fix misconception with disparity transform 2021-09-01 22:00:46 +01:00
Mateo de Mayo de3bfc193d u/var: Add button and u64 var kinds 
Also: fix on_ff_vec3_var
 2021-08-27 13:02:18 +00:00
Jakob Bornecrantz 8b8891f60f u/sink: Make sure to add deinterleaver sink to context 2021-08-23 20:25:52 +01:00
Jakob Bornecrantz c83dc7b323 u/sink: Make sure to add split sink to context 2021-08-23 20:25:08 +01:00
Jakob Bornecrantz a8251815af t/framemat: Update confusing comments, sorry. 2021-08-23 19:42:45 +01:00
Christoph Haag 602ce70a0a aux/vk: Only use dedicated allocation when it is required 
On tegra, when VK_IMAGE_USAGE_COLOR_ATTACHMENT_BIT is set for color image usage
with VK_FORMAT_R16G16B16A16_SFLOAT, dedicated allocation is preferred, but not required.

When using dedicated allocation in this case, we get only a black texture,
and when blitting from that texture, we get a kernel driver error:
gk20a_fifo_handle_mmu_fault_locked:1721 [ERR]  fake mmu fault on engine 0, engine subid 1 (hub), client 1 (ce0), addr 0x46cd8aa000, type 15 (poisoned), access_type 0x00000000,inst_ptr 0x212ef3000

Only using dedicated allocation when it is required works around this issue.
 2021-08-23 13:01:05 +00:00
Jakob Bornecrantz 49e6514a3d u/sink: Make sure to free frame when we fail to decode 2021-08-20 18:55:21 +01:00
Jakob Bornecrantz 022bf18200 u/sink: Make sure to add quirk sink to context 2021-08-20 17:14:43 +01:00
Jakob Bornecrantz a89c8309c7 u/vive: Pass in logging level to parse function 2021-08-20 13:42:11 +01:00
Jakob Bornecrantz 00aca14832 u/vive: Add vive_config_teardown function to free any pointers that needs freeing. 2021-08-20 13:42:11 +01:00
Moses Turner 6e5efc850e aux/math: Add euro filtering 2021-08-18 18:56:10 +00:00
Jakob Bornecrantz 05c61511ab m/vec2: Add a few more scalar functions 2021-08-17 12:04:49 +01:00
Jakob Bornecrantz 70ceabb56e m/mat4: Add Matrix 4x4 f64 functions 2021-08-17 12:04:49 +01:00
Moses Turner 13f2b3b7c4 aux/util: Add get_vec3_f64_array 2021-08-16 21:02:27 +01:00
Moses Turner 0b2dd35b60 aux/os: Add os_mutex_trylock 2021-08-16 21:02:27 +01:00
Moses Turner 7356100696 aux/math: Add m_vec3_project, m_vec3_orthonormalize, m_vec3_lerp, m_vec2_normalize, math_lerp 2021-08-16 21:02:27 +01:00
Christoph Haag 32d09aadc3 aux/vk: Add vkGetFenceStatus function 2021-08-16 15:37:29 +02:00
Christoph Haag 1b179306dc comp: Only use dedicated allocation when supported/preferred 
Fixes OpenGL depth formats on Tegra
 2021-08-09 15:17:25 +02:00
Christoph Haag b4145a1543 aux/vk: Print all used device extensions in XRT_LOG=trace 2021-08-09 15:15:57 +02:00
Moses Turner e8e977faa2 inc/xrt, aux/bindings: fix typo XRT_OUTPUT_NAME_XBOX_HAPTIC_RIGHTT -> XRT_OUTPUT_NAME_XBOX_HAPTIC_RIGHT 2021-07-29 20:45:05 +00:00