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684 commits

Author SHA1 Message Date
Lubosz Sarnecki bd68c0e5f5 aux/math: Implement math_matrix_2x2_multiply. 2020-11-27 16:50:55 +01:00
Christoph Haag f7cbe37c2d u/hand_tracking: Tweak hand model parameters 
* shortened way too long bones
* tweaked offset positions
 2020-11-23 20:42:54 +00:00
Christoph Haag 006971ae7a u/hand_tracking: Calculate joint velocities 
And return them in the state tracker
 2020-11-23 20:42:54 +00:00
Christoph Haag aa6e5f7fdf u_hand_tracking: Fix typo in u_hand_tracking_model 2020-11-23 20:42:54 +00:00
Christoph Haag f5ef3985ba xrt: Add support for locating hand joints in action spaces 2020-11-23 20:42:54 +00:00
Christoph Haag 95af586654 aux: Add m_space_graph_add_inverted_relation 2020-11-23 20:42:54 +00:00
Christoph Haag d6b072805a aux: Add m_space_relation_invert 2020-11-23 20:42:54 +00:00
Ryan Pavlik 66811b436a xrt: Have the vk_helper vk_create_device take in a list of device extensions, and fix usages. 2020-11-23 14:27:21 -06:00
Jakob Bornecrantz ef6c8430d2 m/space: Make sure to not drop positions 2020-11-18 18:05:07 +00:00
Christoph Haag 9e788df463 xrt: Remove lens center from xrt_view 
It's only used internally in drivers now.
 2020-11-12 16:04:00 +01:00
Ryan Pavlik 86a19e6697 gradle: Remove unused dependencies. 2020-11-10 18:44:03 +00:00
Ryan Pavlik 5115124bb3 aux/android: Factor out a "native counterpart" class. 2020-11-10 18:44:03 +00:00
Ryan Pavlik a792b08ed7 aux/vk: Minimal, untested implementations of these for Windows - fixes build 2020-11-10 03:09:07 +00:00
Ryan Pavlik cc15bfa7ed a/util: FIx ambiguity of directories for docs. 2020-11-10 03:09:07 +00:00
Ryan Pavlik 8f10d9c2b8 u_hand_tracking: Fix usage of M_PI 2020-11-10 03:09:07 +00:00
Ryan Pavlik d2955a3967 aux/util: Adjust conditional log macros to handle msvc correctly 2020-11-10 03:09:07 +00:00
Jakob Bornecrantz aa7f922e35 os/time: Add a Linux specific way to get the realtime clock (for RealSense) 2020-11-09 23:42:13 +00:00
Jakob Bornecrantz 4bbe25148b os/time: Make timespec argument const 2020-11-09 23:42:11 +00:00
Ryan Pavlik 7cebdb4763 aux/os: More defines to calm clang-tidy. 2020-11-09 16:18:00 -06:00
Ryan Pavlik b855fd1ae2 a/util: Appease clang-tidy with a define for ns per second 2020-11-09 16:18:00 -06:00
Ryan Pavlik ab82c5b8e2 u_debug: Remove duplicate declaration 2020-11-09 16:18:00 -06:00
Christoph Haag 9d894ab5ff xrt: Move tracking origin setup code to u_device 2020-11-09 00:32:33 +01:00
Christoph Haag c60b7412e5 xrt: Move device assignment code to u_device 2020-11-09 00:32:33 +01:00
Christoph Haag 803e9531ec aux: Use time since time_state creation for time_state timestamps 
Easy to read timestamps and somewhat meaningful.
 2020-11-05 23:11:03 +00:00
Ryan Pavlik ce3750bfe1 a/android: Store a native pointer in the MonadoView. 2020-10-30 18:20:35 -05:00
Ryan Pavlik 3bc84cca9e a/android: Migrate to using the MonadoView generated wrapper. 2020-10-30 18:20:35 -05:00
Ryan Pavlik b6a12f8522 a/android: Add some partially-generated wrappers for our own Java code. 2020-10-30 18:20:35 -05:00
Ryan Pavlik fc78b5de86 a/android: Use android_custom_surface constructor/destructor 2020-10-30 18:20:34 -05:00
Ryan Pavlik 66d6281a7f a/android: Monitor whether MonadoView is still being used by native code. 2020-10-30 18:20:34 -05:00
Ryan Pavlik 26cd22b232 a/android: Move class name to a constant. 2020-10-28 12:12:31 -05:00
Ryan Pavlik da3959e642 a/android: C++ headers use .hpp as the extension 2020-10-28 12:12:31 -05:00
Ryan Pavlik 8301c9d1b4 a/android: Fix some file comments. 2020-10-28 12:12:31 -05:00
Ryan Pavlik 1acadb8a18 a/android: Make MonadoView fullscreen. 2020-10-28 12:12:31 -05:00
Lubosz Sarnecki d61faff421 aux/android/ahardwarebuffer_allocator: Use Vulkan enums in format switch. 2020-10-28 12:12:31 -05:00
Lubosz Sarnecki 633b7839c2 aux/vk+comp/sc: Initialize extra structs for hardware buffer extension. 
Fix sRGB format for Android hardware buffers.
 2020-10-28 12:12:31 -05:00
Lubosz Sarnecki 3cc8793d7d aux+comp: Add Android hardware buffer device extension. 2020-10-28 12:12:31 -05:00
Lubosz Sarnecki 2cc8252c05 aux/vk: Add vkGetAndroidHardwareBufferPropertiesANDROID. 2020-10-28 12:12:31 -05:00
Lubosz Sarnecki 2df2daa00c aux/android/ahardwarebuffer_allocator: Add function to allocate a single buffer. 2020-10-28 12:12:31 -05:00
Ryan Pavlik 436886852d a/android: Improve monadoview, including fixing deleted ref problem. 2020-10-28 12:12:31 -05:00
Ryan Pavlik dfd771f768 aux/android: Enhance custom surface 
Includes fixes to my mistakes by Lubosz.

Co-authored-by: Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
 2020-10-28 09:41:03 -05:00
Lubosz Sarnecki e78ad12634 aux/android/custom_surface: Make JNI happy. 
Keep android_load_class methods in C++, since
casting the class handle to void results in:

```
JNI DETECTED ERROR IN APPLICATION: use of deleted global reference.
```

Co-authored-by: Ryan Pavlik <ryan.pavlik@collabora.com>
 2020-10-28 09:33:47 -05:00
Lubosz Sarnecki 2a8db3d780 aux/android/load_class: Use pkgClassLoader.loadClass to load MonadoView class. 2020-10-28 09:33:46 -05:00
Lubosz Sarnecki dbe0338956 android/MonadoView: Register surface callback and fix imports. 
Run UI things on UI thread.
 2020-10-28 09:33:46 -05:00
Ryan Pavlik 43d724b6bf aux/vk: Fix a place where we were missing an android ifdef 2020-10-28 09:33:46 -05:00
Ryan Pavlik d4b19f3d47 aux/android: Add custom surface code. 2020-10-28 09:33:46 -05:00
Ryan Pavlik 9b67c0a09f aux/android: Add code to load Java from a package 2020-10-28 09:33:46 -05:00
Ryan Pavlik d0187cee9a aux/android: Add Java code 2020-10-28 09:33:26 -05:00
Ryan Pavlik 06f75e03b4 a/android: Fix typo in comment 2020-10-28 09:32:49 -05:00
Ryan Pavlik 59d2285c8e aux/util: Port logging for Android. 
Now if u_logging is used, it goes to logcat.
 2020-10-28 09:32:49 -05:00
Jakob Bornecrantz 463330d5d5 u/distortion: Set blend mode incase it is zero 2020-10-27 21:34:29 +00:00
Jakob Bornecrantz ecbde55752 m/space: Normalize orientation when returning result 2020-10-27 16:20:12 +00:00
Jakob Bornecrantz bd6ea43de5 m/headers: Fix doxygen warnings 2020-10-26 22:55:22 +00:00
Jakob Bornecrantz 8730ff479a u/hand_tracking: Tidy header 2020-10-26 22:50:54 +00:00
Jakob Bornecrantz 75153a7066 u/distortion: Add simple cardboard distortion code 2020-10-26 21:53:55 +00:00
Jakob Bornecrantz ed2040a571 u/mesh: Tidy header 2020-10-26 20:36:30 +00:00
Lubosz Sarnecki 7035490ed7 aux/math: Implement math_matrix_4x4_inverse_view_projection. 2020-10-26 01:34:10 +00:00
Jakob Bornecrantz 2528583c55 xrt: Add git tag/description 2020-10-20 17:43:11 +01:00
Jakob Bornecrantz 438a8e71f9 aux/vk: Add vkFreeDescriptorSets 2020-10-13 18:59:28 +01:00
Christoph Haag ca5cbaaa6f aux: Add hand_tracking util 2020-10-12 22:55:33 +02:00
Christoph Haag 256e2c68d8 xrt: Implement & hook up hand joint tracking infrastructure 
Include <inttypes.h> to satisfy older compilers
 2020-10-12 22:13:47 +02:00
Ryan Pavlik 835beedcca u_handles: Add Win32 handle utilities 2020-10-08 17:26:22 -05:00
Ryan Pavlik 39ede92287 build: Link aux_util against threads explicitly 2020-10-08 17:26:22 -05:00
Ryan Pavlik 3f83b1da92 u_json: Properly silence secure CRT warnings. 2020-10-08 17:26:22 -05:00
Ryan Pavlik 48eb00f1c8 u_bitwise: Switch from static const int to defines. 
Sadly MSVC didn't believe those were constant,
and this is a C file so no constexpr.
 2020-10-08 17:26:22 -05:00
Jakob Bornecrantz 51c8575323 u/mesh: Add back none distortion generation 2020-10-07 23:45:39 +01:00
Christoph Haag 5bea856f20 build/meson: Add XRT_HAVE_DBUS when dbus is found 2020-10-05 16:05:02 +00:00
Jakob Bornecrantz 0804dc20d1 os/ble: Use logging 2020-10-05 16:22:02 +01:00
Jakob Bornecrantz 40c764a290 os/ble: Large refactor of code 2020-10-05 14:19:52 +01:00
Jakob Bornecrantz 5af976a510 os/ble: Add os_ble_broadcast_write_value function 2020-10-05 14:19:52 +01:00
Jakob Bornecrantz 5b4d45ffcc os/ble: Correct documentation on os_ble_notify_open function 2020-10-05 14:19:52 +01:00
Jakob Bornecrantz 9a675cc7f3 xrt: Rename xrt_uv_triplet 2020-09-30 15:35:57 +01:00
Christoph Haag f6c3998d29 xrt: Use struct vive_values for u_compute_distortion_vive 2020-09-30 02:05:05 +02:00
Christoph Haag 29188d681c xrt: Remove all but mesh distortion values from xrt_hmd_parts::distortion 
Move vive values to struct u_vive_values in u_distortion_mesh.
Move openhmd values to private struct inside ohmd driver.
 2020-09-30 02:05:05 +02:00
Christoph Haag c5209c5ed4 comp: Move mesh generation to comp_renderer init 
Use none shader when XRT_DISTORTION_MODEL_NONE is set.
Fall back to none distortion if mesh generation fails or unsupported
distortion model is set.

comp_render init updates comp_settings::distortion_model.

u_compute_distortion_mesh: Don't touch xdev::distortion::preferred,
just add XRT_DISTORTION_MODEL_MESHUV mesh to xdev::distortion::models.
 2020-09-30 02:05:05 +02:00
Christoph Haag fb71c71a8c xrt: Replace mesh generator with xdev->compute_distortion() 
Each HMD driver now has to implement compute_distortion() which will be called
by the compositor implementation to generate a mesh (usually).

u_distortion_mesh contains implementations for the defaults (panotools, OpenHMD, vive).

Also adds compute_distortion function for Vive distortion

There are differences between OpenHMD and Panotools values, main differences for now:
* psvr has 5 pano coefficients, ohmd has 3
* psvr uses viewport size and lens center in pixels for distortion calculation, ohmd in meter
* psvr uses different distortion scaling than ohmd
 2020-09-28 17:04:15 +01:00
Ryan Pavlik 6af00ed8db u/file: Stub out Linux path manip code. 2020-09-18 18:27:46 +01:00
Ryan Pavlik 6ad46cb1b2 build: Be able to build against pthreads4w 2020-09-18 18:25:27 +01:00
Milan Jaros 3f4bcb412e u/threading: Cast result of realloc. 2020-09-18 17:15:33 +01:00
Ryan Pavlik 695a2c1151 u/debug: Silence warnings on MSVC 2020-09-18 17:15:33 +01:00
Ryan Pavlik f7a132e635 u/time: Fix overflow. 2020-09-18 17:15:33 +01:00
Ryan Pavlik 1dffe58952 u/json: Silence warnings on MSVC 2020-09-18 17:15:33 +01:00
Milan Jaros 7685f49adb os/threading: Fix includes on Windows 2020-09-18 17:15:33 +01:00
Milan Jaros 367c01f354 os/time: Provide time functions for Windows 2020-09-18 17:15:33 +01:00
Ryan Pavlik 7c47293c52 os/time: Implement os_nanosleep for Windows 2020-09-18 13:56:34 +01:00
Jakob Bornecrantz 6a94b1cf80 m/ff: Improve interface 2020-09-16 17:27:16 +01:00
Jakob Bornecrantz b624d290d0 m/3dof: Add filter fifos to variable tracking code 2020-09-15 16:41:07 +00:00
Jakob Bornecrantz 3ffa40c628 u/var: Refactor how variables info is passed 2020-09-15 16:41:07 +00:00
Jakob Bornecrantz d5c62f8ccb u/var: Add tracking for filter fifos 2020-09-15 16:41:07 +00:00
Christoph Haag a884e24b9a aux: Support waiting more than 0.999... seconds in os_nanosleep 2020-09-11 18:52:01 +02:00
Christoph Haag 1429d678a0 aux/space: Propagate orientation valid bit through space graph resolve 
Invalid poses may be handled more gracefully in the future. For now poses
are not transformed if orientation is not valid, because transforming with
an invalid quaternion will have bad results in any way.

v2: Upgrade poses with valid position but invalid orientation to valid poses
 2020-09-11 18:51:58 +02:00
Christoph Haag 6cce04f8d3 aux/space: fix typo: propagate tracked orientation bit properly 2020-09-09 14:51:06 +02:00
Jakob Bornecrantz eaffa05a37 xrt: Remove acceleration components from xrt_space_relation 2020-09-07 23:36:34 +01:00
Jakob Bornecrantz 5a4d45bbaa m/base: Remove old space relation functions 2020-09-07 23:33:28 +01:00
Jakob Bornecrantz fe94dec5ea m/space: Space graph functions 2020-09-07 23:33:25 +01:00
Jakob Bornecrantz ca91695722 m/quat: Add math_quat_rotate_derivative 2020-09-07 16:14:46 +01:00
Jakob Bornecrantz 4f94ee0c91 u/render_timing: Improve debug printing 2020-09-04 13:48:40 +01:00
Jakob Bornecrantz 328f5d5315 m/base: Add math_quat_invert 2020-09-02 22:07:35 +01:00
Jakob Bornecrantz 511a51b283 m/3dof: Rename to timestamp 2020-09-02 22:07:35 +01:00
Jakob Bornecrantz 8cdfe0e694 m/fifo: Add f64 filter fifo 2020-09-02 22:07:35 +01:00
Jakob Bornecrantz 991c9029c7 m/3dof: Tweak values 2020-09-02 22:07:35 +01:00
Jakob Bornecrantz 736fa81349 m/3dof: Add vars tracking helper function 2020-09-02 22:07:35 +01:00
Jakob Bornecrantz 33f05c7bea m/vec3: Add C++ operators 2020-09-02 22:07:35 +01:00
Jakob Bornecrantz d396117a39 m/vec2: Add C++ operators 2020-09-02 22:07:35 +01:00
Pete Black 3f197eeffd t/psmv: Use the same filtering as in PSVR tracker 2020-08-28 11:38:03 +00:00
Pete Black 76a439bd59 t/psvr: Add a functional PSVR tracker 2020-08-28 11:38:03 +00:00
Jakob Bornecrantz b3c5bf1517 math: Add a permutation library 2020-08-28 11:38:03 +00:00
Jakob Bornecrantz d3b224275c u/logging: Fix return of debug_get_log_option_SUFFIX 2020-08-28 11:38:03 +00:00
Pete Black 751fdb2884 u/render_timing: Paranoia 2020-08-28 11:38:03 +00:00
Ryan Pavlik 9d19ab2755 u/misc: Improve docs of calloc macros. 2020-08-26 11:26:46 -05:00
Ryan Pavlik 581f59a2eb vk: Add an Android function to the vk_bundle 2020-08-26 16:31:38 +01:00
Jakob Bornecrantz 62fd80ff8d aux/vk: Print a little bit more when failing on usage 2020-08-26 14:28:10 +00:00
Christoph Haag 6dc4a1f237 aux/vk: Report appropriate errors on unsupported image usage flags 2020-08-24 10:18:12 +02:00
Christoph Haag 370f6820aa m: Generalize math_matrix_4x4_quad_model, making scaling a vec3 2020-08-21 02:11:03 +02:00
Christoph Haag fbe390813c vk: Add update_buffer helper function 2020-08-21 02:11:03 +02:00
Christoph Haag cf5596adba comp: Use CLAMP_TO_EDGE for swapchains 
Avoids sampling black at the edges of layers.
 2020-08-21 02:09:20 +02:00
Ryan Pavlik 3b8c8ddc1a xrt: Move the android globals functionality to the new android aux lib. 2020-08-19 16:07:00 -05:00
Ryan Pavlik a57507518d aux/android: New aux library, add image allocator for Android 2020-08-19 16:06:30 -05:00
Ryan Pavlik fa34c65ed3 xrt: Make xrt_image_native::size optional. 
Not all allocators can supply it.
 2020-08-19 16:06:30 -05:00
Ryan Pavlik e48f68deb6 aux/ogl: Add helper header for OpenGL. 2020-08-19 16:06:30 -05:00
Ryan Pavlik 430f79a7ca aux/util: Add u_android for global state. 2020-08-19 11:01:10 -05:00
Ryan Pavlik e092345292 aux/vk: Port to using u_handles 2020-08-13 17:34:05 -05:00
Ryan Pavlik 129c1a9ac4 a/util: Add u_handles module. 2020-08-13 17:34:05 -05:00
Ryan Pavlik e52539d1a3 aux/vk: Fix compile time conditionals 2020-08-13 17:34:05 -05:00
Ryan Pavlik 9087d1c7a9 xrt: Use our generic graphics buffer typedefs all over. 
This adds some Android support in composition clients,
and fixes the breakage from 2 commits ago.

Thanks to Jakob for finding my error in an earlier version.
 2020-08-13 17:34:05 -05:00
Ryan Pavlik 475192ec73 xrt: Rename "fd" references to "handle" 
This breaks some Android pieces, which will be fixed shortly.
 2020-08-12 17:11:42 -05:00
Ryan Pavlik 146218b346 xrt: Some clang tidy fixes. 
A few suppressions as well where clang-tidy did the wrong thing.
 2020-08-12 17:11:42 -05:00
Jakob Bornecrantz cd9da1c1e1 aux/vk: Make xrt_swapchain_create_info const 2020-08-07 17:00:10 +01:00
Christoph Haag e48c748a57 xrt: suggest correct GPU in xrGetVulkanGraphicsDevice() 
As before, on the service side the GPU index the compositor runs on can be selected with
* XRT_COMPOSITOR_FORCE_GPU_INDEX=INDEX1

By default xrGetVulkanGraphicsDevice() will suggest the same GPU the compositor runs on.

It is also possible to override the GPU index suggested to applications with
* XRT_COMPOSITOR_FORCE_CLIENT_GPU_INDEX=INDEX2

The reason this is both done on the service side is that if compositor and client run
on different GPUs, the swapchains use linear tiling instead of optimal tiling.

To make chosen GPUs comparable across the compositor's and the client's vulkan instance,
VkPhysicalDeviceIDProperties.deviceUUID is used.
 2020-08-07 17:01:13 +02:00
Jakob Bornecrantz 3a7a86aafc vk: Refactor VkImageUsageFlags code into helper function 2020-08-06 14:28:23 +00:00
Jakob Bornecrantz ce7da3941c vk: Add support for XRT_SWAPCHAIN_USAGE_INPUT_ATTACHMENT 2020-08-06 14:28:23 +00:00
Ryan Pavlik 07f2e62e76 aux/vk: vk_create_semaphore_from_fd -> vk_create_semaphore_from_native 2020-08-05 20:50:00 +00:00
Ryan Pavlik d8ad620bd2 xrt: Update GLAD again, to a "merged" distribution. 
This merges the OpenGL and OpenGL-ES code.
 2020-08-05 20:50:00 +00:00
Lubosz Sarnecki 87a5c425cf a/math: Add math_vec3_normalize. 2020-07-31 12:45:47 +02:00
Lubosz Sarnecki 7c8febd03d u/logging: Add U_LOG_IFL. 2020-07-31 12:45:47 +02:00
Jakob Bornecrantz 727e3bc2a6 vk: Add image allocator helper 2020-07-20 13:50:01 +00:00
Jakob Bornecrantz a8a4e80746 vk: Use xrt_swapchain_create_info in vk_create_image_from_native 2020-07-20 13:50:01 +00:00
Jakob Bornecrantz 5a9fa0a7e6 vk: Remove unused vk_image 2020-07-20 13:50:01 +00:00
Ryan Pavlik 47a66e1bdf build: Use OpenGLES CMake module to gate OpenGL|ES support 2020-07-17 15:17:42 -05:00
Ryan Pavlik 6f56d91c05 xrt: Add separate build config for OpenGL ES 2020-07-17 15:17:42 -05:00
Ryan Pavlik 910a3aae75 external: Update GLAD and add missing header 2020-07-17 13:53:39 -05:00
Ryan Pavlik 4220638afd xrt: use _USE_MATH_DEFINES to make sure M_PI gets defined. 2020-07-17 13:53:39 -05:00
Ryan Pavlik 8b954e12c1 build: Add missing jpeg include dir 2020-07-17 13:53:39 -05:00
Ryan Pavlik cb69223532 aux: Move responsibility for clearing image FD to the helper. 2020-07-17 11:46:22 -05:00
Ryan Pavlik 1aa2cdb89a build: Move determination of Vulkan usage to build system. 
Vulkan is still required for most actual uses of Monado, but this
makes the coupling weaker.
 2020-07-16 10:17:30 +00:00
Ryan Pavlik 54f56716fd xrt: Rename references to compositor/swapchain/image_fd to ..._native. 
Reflecting that the native buffer isn't an FD on all platforms.
 2020-07-15 09:11:58 -05:00
Lubosz Sarnecki 261facd9f1 u/json: Fix a -Wmaybe-uninitialized on GCC 10.1.0. 2020-07-10 17:18:41 +02:00
Lubosz Sarnecki 8e682fdd1b u_logging: Format logging output. 
To be in line with other log prints, put the log level first.
For better readability, put the function in [braces].
Remove ":" as separator between level and function.
 2020-07-09 13:38:07 +02:00
Ryan Pavlik b2b2b0f4af u_logging: Fix comments/doxygen 2020-07-08 09:15:51 -05:00
Jakob Bornecrantz 9848f8b4b8 u/var: Add log level tracker 2020-07-03 19:01:55 +01:00
Jakob Bornecrantz be0430a38c u/debug: Add function to get logging level 2020-07-03 18:58:34 +01:00
Jakob Bornecrantz b26c8135ae u/*: Use new logging functions 2020-07-03 14:55:44 +01:00
Jakob Bornecrantz 38685eba38 u/log: Add logging helpers 2020-07-03 14:33:54 +01:00
Lubosz Sarnecki 166346ad6e u/json: Add u_json_get_matrix_3x3. 
As seen in Vive driver.
 2020-07-02 18:42:37 +02:00
Lubosz Sarnecki a9db6fbd40 u/json: Add fprintf error messages. 2020-07-02 18:42:37 +02:00
Lubosz Sarnecki 0bdd1133e4 u/json: Add u_json_get_vec3_array. 
As seen in Vive driver.
 2020-07-02 18:42:30 +02:00
Jakob Bornecrantz 5bad87690f ipc: Avoid deadlocks due to render timing helper not getting data in time 2020-07-01 13:22:03 +01:00
Jakob Bornecrantz 83081f9cc1 u/render_timing: Add helper code for frame timing 2020-06-24 00:56:45 +01:00
Jakob Bornecrantz f5359b655e os/threading: Add semaphore 2020-06-23 21:31:03 +01:00
Jakob Bornecrantz ef282c7df2 os/time: Add function to convert to a timespec struct 2020-06-23 21:31:03 +01:00
Jakob Bornecrantz e8d62d948f aux/vk: Add helper to create image view with component swizzles 2020-06-18 13:48:10 +01:00
Christoph Haag 7a1dbbe8a1 st/oxr: Ensure quaternion is normalized in xrLocateViews() 
In rare cases the state tracker's pose transformations resulted in a quaternion
that accumulated float precision errors such that the norm of the quaternion was
not within float precision of 1.0 anymore.

Introduce a function math_quat_ensure_normalized() that can be used after multiple
operations have been performed on a quaternion.
 2020-06-17 13:03:34 +02:00
Benjamin Saunders f81f568931 aux/vk: Add helper to translate usage bits to Vulkan bits 2020-06-16 00:01:48 +00:00
Benjamin Saunders fe734bb6e2 aux/vk: Add functions to create semaphores from FDs 2020-06-16 00:01:48 +00:00
Benjamin Saunders 3f744331e1 aux/vk: Declare consistent usage for xr swapchain images 2020-06-16 00:01:48 +00:00
Benjamin Saunders 27d2163f37 aux/vk: Delete nonsensical image usage case 2020-06-16 00:01:48 +00:00
Benjamin Saunders f45f482d5e aux/vk: Store Vulkan queue handle directly 2020-06-16 00:01:48 +00:00
Ryan Pavlik 821706e0e4 u/hashmap: Add "empty" function. 
Used for cleanup assertions to start with: i.e. at some known point,
the hash map should be empty.
 2020-06-15 17:04:00 -05:00
Ryan Pavlik bc6cc85e7d xrt: Improve doxygen documentation. 2020-06-03 16:28:18 -05:00
Lubosz Sarnecki 435d5a9b9e c/comp: Remove internal Vulkan validation init. 
Instead of maintaining this chunk of code and build options, the Vulkan
loader can be used to load up validation. This has the advantage that no
layer name needs to be hard coded inside Monado, which was subject of
change recently.

Instead of using our own environment variable we can easily set the one
from the loader, e.g. `VK_INSTANCE_LAYERS=VK_LAYER_KHRONOS_validation`.
 2020-06-03 11:17:51 +00:00
Jakob Bornecrantz ebd5773fb8 util: Add function for u_hashset to allocate a item 2020-06-02 13:02:04 +01:00
Jakob Bornecrantz 0d2a24b9a0 util: Add a index fifo 2020-06-02 13:02:04 +01:00
Jakob Bornecrantz ace4d0e825 os/threading: Incude xrt_compiler.h 2020-05-29 23:36:23 +01:00
Lubosz Sarnecki fc271ad5da aux/math: Add function to calculate quad model matrix. 2020-05-28 22:16:57 +00:00
Lubosz Sarnecki 68c5eecb96 aux/vk: Add image helper struct and functions. 2020-05-28 22:16:56 +00:00
Lubosz Sarnecki 589c7e4fef aux/vk: Add buffer helper structs and functions. 2020-05-28 22:16:56 +00:00
Lubosz Sarnecki 905040319a aux/vk: Use optimal tiling in vk_create_image_simple. 
Fixes an validation issue on NVIDIA and should bring more performance.
 2020-05-28 22:16:56 +00:00
Jakob Bornecrantz 9d791cdfd3 math: Use non-squared 'length' of quat in validation 
Correctly validate quaternion using non-squard "length" instead of squard
"length", certain combinations of elements would produce valid regular "length"
but not valid squard ones.
 2020-05-28 15:50:47 +01:00
Jakob Bornecrantz ef41cf2088 u/time: Use a very large hammer to "fix" time_state 2020-05-27 17:50:06 +01:00
Jakob Bornecrantz ac38679641 r/debug: Fix ODR rule violation 
Closes #79
 2020-05-12 22:06:10 +01:00
Ryan Pavlik 4638b0af7b build: Switch all CMake options to XRT_... to match what's used in source. 
Also revise other small related parts of the build to make them more clear and consistent.
 2020-05-12 11:52:51 -05:00
Lubosz Sarnecki e8d273bc41 aux/vk: Add vkFlushMappedMemoryRanges. 2020-05-11 20:22:51 +01:00
Lubosz Sarnecki 54985b110a aux/vk: Add descriptor set functions. 2020-05-11 20:22:50 +01:00
Lubosz Sarnecki f131739c00 aux/vk: Take VkExtent2D and VkImageUsageFlags in vk_create_image_simple. 2020-05-11 20:21:58 +01:00
Lubosz Sarnecki c09beb9efb aux/vk: Add vk_get_access_flags. 2020-05-11 20:21:58 +01:00
Lubosz Sarnecki 06ce79272d aux/vk: Add vk_check_error macro. 2020-05-11 20:21:58 +01:00
Lubosz Sarnecki 6aa1b4e571 aux/math: Add function to calculate view matrix from pose. 2020-05-11 20:21:58 +01:00
Lubosz Sarnecki 0b6d97ec8f aux/math: Add matrix_4x4 identity and matrix_4x4_muliply. 2020-05-11 20:21:58 +01:00
Jakob Bornecrantz 1744715a5d u/file: Do not print errors 2020-05-07 22:25:44 +00:00
Christoph Haag 344846b3e2 aux/vk: Print available GPUs with XRT_COMPOSITOR_PRINT_DEBUG 
Useful for finding out a gpu index to use for XRT_COMPOSITOR_FORCE_GPU_INDEX.
 2020-05-05 15:12:08 +02:00
Ryan Pavlik 974c68dead xrt: Re-arrange build to avoid unnecessary includes. 
Avoid unintentionally including cJSON from the source tree when using system,
etc. This adds granularity to the usage of "external" sources.
 2020-04-28 21:36:46 +00:00
Jakob Bornecrantz c7903e2d5e u/sink: Add support for XRT_FORMAT_UYVY422 2020-04-28 11:46:31 +00:00
Jakob Bornecrantz 1de7eb7cc9 t/calibration: Add support for XRT_FORMAT_UYVY422 2020-04-28 11:46:31 +00:00
Jakob Bornecrantz 7602e555b0 xrt: Add the format XRT_FORMAT_UYVY422 2020-04-28 11:46:31 +00:00
Jakob Bornecrantz 59b7794172 xrt: Rename XRT_FORMAT_YUV422 to XRT_FORMAT_YUYV422 2020-04-28 11:46:31 +00:00
Christoph Haag 74a328e909 u/json: Add json getter 
u_json_get() is much, much shorter than cJSON_GetObjectItemCaseSensitive().
 2020-04-28 10:22:42 +00:00
Ryan Pavlik 75d5e5b9f2 t/psmv: Fix FTBFS on PPC. 
Apparently EIGEN_PI isn't a double by default.
 2020-04-27 20:18:31 +00:00
Ryan Pavlik 7fab448cf0 build: Support building with system cJSON. 
Fixes #62.
 2020-04-24 20:34:53 +00:00
Jakob Bornecrantz 0ad9a7406c os/threading: Add #pragma once 2020-04-22 21:59:20 +01:00
Jakob Bornecrantz e37d8f4cf5 xrt: Remove timestate from xrt_device interface 2020-04-16 17:29:34 +01:00
Jakob Bornecrantz 48957b97c2 os/time: Fix warnings on C++ 2020-04-16 14:51:08 +01:00
Jakob Bornecrantz 76f83364e3 os/ble_dbus: Check if bluetooth is available 
Closes #65
 2020-04-16 13:48:34 +00:00
Jakob Bornecrantz 530cbf0d6c os/ble: Detect errors better 2020-04-16 13:48:34 +00:00
Jakob Bornecrantz ded6a8a4b9 os/ble_dbus: Fix return check 2020-04-16 13:48:34 +00:00
Jakob Bornecrantz 061dbefbd0 u/threading: Add a new higher level threading helpers 2020-04-15 17:33:35 +00:00
Lubosz Sarnecki 8d3a0938fa aux/vk: Add vkResetFences. 2020-04-15 16:43:57 +02:00
Jakob Bornecrantz 231d39185e t/file: Remove hacky file handling functions 2020-04-10 12:29:21 +00:00
Jakob Bornecrantz 7b049a9d65 t/file: Expose non-hack version of the calibration data save function 2020-04-10 12:29:21 +00:00
Jakob Bornecrantz f47c384b79 u/json: Add bool getter function 2020-04-10 12:29:21 +00:00
Jakob Bornecrantz b5dd07f2fa u/file: Add file helpers 2020-04-10 12:29:21 +00:00
Jakob Bornecrantz 817ec2f2bc u/hashset: Fix ISO C++ warning 2020-04-07 16:19:55 +01:00
Jakob Bornecrantz 46f51e8139 os/ble: Fix memory leak if we fail to find a device 2020-04-03 17:21:55 +01:00
Lubosz Sarnecki 1b7b8c163f comp: Further remove unused struct field initializers. 2020-04-01 12:50:10 +00:00
Lubosz Sarnecki b6d8d4b458 comp: Don't initialize unused fields in Vulkan structs. 
In order to save redundancy with initializing empty fields with NULL / 0
values and improve readability of the Vulkan code.

This patch also uses struct initializers where possible.

This essentially reverts 1eae45212e.
 2020-04-01 12:50:10 +00:00
Ryan Pavlik bc53be8562 t/imu_fusion: Clean up and improve comments 2020-03-26 12:00:26 +00:00
Ryan Pavlik 86b3d9f587 t/calibration: Provide read-only access to size as cv::Size in calibration wrapper 2020-03-26 12:00:26 +00:00
Ryan Pavlik 4f5e2aea4e aux/tracking: Fix the API that led to the error I hit. 2020-03-26 12:00:26 +00:00
Ryan Pavlik c6a574191d aux/tracking: Add image undistort/normalize cache mechanism 2020-03-26 12:00:26 +00:00
Ryan Pavlik cf883817c2 t/psmv: Retrieve more data from camera calib. 2020-03-26 12:00:26 +00:00
Ryan Pavlik d198e93fcb external: Update flexkalman 2020-03-26 12:00:26 +00:00
Jakob Bornecrantz 622c848fa2 t/calib: Silence missing reference warning 2020-03-25 16:32:16 +00:00
Jakob Bornecrantz 3e5da414f7 aux/math: Add 3DOF imu fusion 2020-03-25 13:58:51 +00:00
Jakob Bornecrantz f2ebe74748 aux/math: Add a simple imu pre-filter 2020-03-25 13:58:51 +00:00
Jakob Bornecrantz 23a66eb031 aux/math: Add math_matrix_3x3_rotate_vec3 function 2020-03-25 13:58:51 +00:00
Jakob Bornecrantz 18373730a8 aux/math: Expand the vec3 functions 2020-03-25 13:58:51 +00:00
Jakob Bornecrantz 21e77b85d7 aux/math: Add quat from angle vector function 2020-03-25 13:58:51 +00:00
Jakob Bornecrantz e3516061bb u/var: Add expand RO values 2020-03-25 13:58:51 +00:00
Jakob Bornecrantz f8847912a7 os/ble: Fix error on not finding any device 2020-03-13 11:07:32 +00:00
Jakob Bornecrantz 6ecc1e30f3 xrt: Make stereo_camera_calibration refcounted 
This allows the data to be safely shared and passed around, even allowing us
to tag frames with the data and passed around that way instead.

Since it now can be passed around more safely make the prober call the save
function instead of the calibration code. This then forms a basis for further
work where we can hook this up into a more proper configuration file.
 2020-03-11 22:00:54 +00:00
Pete Black 6b4ec70d14 aux/os: Add D-Bus based BLE code 2020-03-11 21:36:49 +00:00
Pete Black 8597ad5ee8 u/bitwise: Add bitwise manipulator functions 2020-03-11 21:36:49 +00:00
Jakob Bornecrantz 0b63cb2da3 aux/math: Add vec2 squared length function 2020-03-11 20:37:20 +00:00
Jakob Bornecrantz 119dc283af u/mesh: Fix file brief 2020-03-11 20:37:20 +00:00
Jakob Bornecrantz 622320904a xrt: Misc tidy of u_var_timing 2020-03-09 20:01:38 +00:00
Christoph Haag e8ccb07db7 st/gui: Add compositor frame timing graph to debug ui 2020-03-09 12:59:12 +01:00
Jakob Bornecrantz 59f0d0ff0a u/time: Use smaller xrt_config_os.h instead of xrt_config.h 2020-03-05 11:25:50 +00:00
Ryan Pavlik 46c9fa7c2b build: aux_util depends on aux_math. 2020-03-04 17:25:27 -06:00
Ryan Pavlik 92205ab5be build: Refactor CMake build to use static libraries instead of object bundles. 
This allows transitive dependencies to work easier and improves compatibility.
It takes a little bit more storage at build time, and possibly a little extra time.
 2020-03-04 11:15:35 +00:00
Ryan Pavlik f3eac87504 xrt: Correct usage of XRT_MAYBE_UNUSED on functions. 
It shouldn't be used on a function marked "static inline" - that's
sufficient to avoid the warning. So, it should almost never be in
a header.
 2020-03-04 11:15:35 +00:00
Ryan Pavlik 5a633905de t/psvr: Add missing include 2020-03-04 11:15:35 +00:00
Ryan Pavlik 2aa3b27695 aux/vk: Fix 32-bit warning 2020-03-03 10:50:41 +00:00
Ryan Pavlik 4d7a8d819c util/hashset: Add missing include. 2020-03-03 10:33:14 +00:00
Jakob Bornecrantz 0619190d2b build: Refactor how config defines are handled 
With loads of changes from Ryan.
 2020-03-03 10:33:14 +00:00
Ryan Pavlik 807438bb69 os/time: Remove XRT_MAYBE_UNUSED usages. 
static inline is sufficient to avoid warnings about unused functions.
 2020-03-02 14:01:18 -06:00
Ryan Pavlik 31ee6a1966 os/time: Documentation. 2020-03-02 13:59:06 -06:00
Ryan Pavlik fca21e83b0 aux/util: Provide a conversion function from CLOCK_MONOTONIC nanoseconds to adjusted time. 2020-03-02 12:34:19 -06:00
Ryan Pavlik 227e53d030 os/time: Clean up comments and ifdefs. 2020-03-02 12:24:49 -06:00
Jakob Bornecrantz 09aa8794b2 aux/vk: Refactor out helper code into own library 2020-03-02 11:58:40 +00:00
Jakob Bornecrantz 63ca028b83 t/hsv: Improve latency when debugging by pushing debug frame after all other frames 2020-02-29 16:20:41 +00:00
Jakob Bornecrantz d375843b65 os/time: Add time getting and conversion functions 
For Linux it is based on CLOCK_MONOTONIC.
 2020-02-27 13:55:57 +00:00
Jakob Bornecrantz 039e29e7ad u/time: Tidy 2020-02-27 13:55:48 +00:00