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342 commits

Author SHA1 Message Date
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
Jakob Bornecrantz 7207c50992 math: Add filter fifo helper 2020-02-18 13:33:22 +00:00
Nova d48022d55d u/json: Add a lot more helper functions 2020-02-09 21:06:47 +00:00
Nova 4cfd4c4657 math: Added vec3 math functions 2020-02-09 21:06:47 +00:00
Ryan Pavlik f3803f7365 t/imu: Update docs to specify units for gyro. 2020-01-31 17:19:54 +01:00
Ryan Pavlik afd5328bd6 t/imu: Add optional debug prints to simple IMU fusion. 
By request of @pblack.
 2020-01-31 17:19:48 +01:00
Ryan Pavlik a11ba04b96 aux/tracking: handle loading into empty mat 2020-01-31 17:19:48 +01:00
Ryan Pavlik 85761db12c aux/math: Update comment 2020-01-31 17:19:48 +01:00
Ryan Pavlik eaf834249b t/calib: Verify that storage location doesn't move for wrappers. 2020-01-31 10:47:52 +01:00
Jakob Bornecrantz 8aee77401b t/calib: Tweak printing and move assert to after printing 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz be75fe823a t/calib: Fix default asymmetrical circles rows values 2020-01-26 19:37:37 +00:00
Pete Black a80ef43339 t/calib: Also accept L8 frames 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz c14d709a85 u/sink: Better error printing in converters 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz 405f68c98a u/sink: Convert handle YUV888 to RGB888 as well 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz 50b3794816 u/sink: Add quirk support for Leap Motion Conrtoller 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz 16eb05e089 u/sink: Make quirk sink creation parameters into a struct. 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz f16230a2d5 u/sink: Add a converter sink that accepts yuv, yuyv or l8 2020-01-26 19:37:36 +00:00
Pete Black f45f69c9f2 u/sink: Add a deinterleaver sink 2020-01-26 19:37:36 +00:00
Jakob Bornecrantz 1bcf13ba7e u/mesh: Refactor and document 2020-01-26 16:00:14 +00:00
Jakob Bornecrantz ef4798ab1c u/var: Add pose tracking 2020-01-25 16:37:46 +00:00
Jakob Bornecrantz 38fbb1d7ad u/var: Use a macro to only write list once 2020-01-25 14:54:44 +00:00
Ryan Pavlik 798fa623ea u_json: Add array helper. 2020-01-24 21:42:43 +00:00
Jakob Bornecrantz c2560ae6d2 xrt: Switch to new quirking sink 
This is done in one commit as split out they would leave the code
in a fairly broken state.
 2020-01-17 14:31:50 +00:00
Jakob Bornecrantz 6603882a2d u/sink: Add new quirking sink 2020-01-17 14:31:45 +00:00
Jakob Bornecrantz 30e9338aba t/calib: Don't lose any pixels in stereo rectification 2020-01-17 14:01:52 +00:00
Jakob Bornecrantz 1085db150b t/calib: Fix rectify for stereo fisheye camera 2020-01-17 14:00:22 +00:00
Jakob Bornecrantz ba10152765 t/calib: Print out rectify matricies 2020-01-17 14:00:22 +00:00
Jakob Bornecrantz 67d33550cf t/calib: Change how default arguments are applied 2020-01-17 12:09:08 +00:00
Jakob Bornecrantz d1af0b7f15 t/calib: Play around with mono calibration a bit 2020-01-16 22:34:04 +00:00
Jakob Bornecrantz 62013c142b t/helper: Introduce a small debug frame helper 2020-01-16 18:15:21 +00:00
Jakob Bornecrantz 50eda5a262 t/hsv: Copy stereo format to result frame 2020-01-16 17:47:08 +00:00
Jakob Bornecrantz 5d6ed6973c u/sink: Copy stereo format to result frame 2020-01-16 17:47:08 +00:00
Ryan Pavlik c957072dfc t/calib: Remove references to left and right from new structs 2020-01-16 09:14:07 -06:00
Ryan Pavlik 81acc290cb t/calib: Clean up emplace_back calls. 2020-01-16 09:14:07 -06:00
Ryan Pavlik 2d20f2066a t/psmv: Update existing blob tracker to work with simpler input 2020-01-16 09:12:50 -06:00
Ryan Pavlik 91fdfd0c94 t/file: Have matrix reader be more careful about loading, and optionally transpose 
The, actually consistently use result of matrix read and built-in transpose to simplify code
 2020-01-16 09:08:32 -06:00
Ryan Pavlik bc49fd4803 t/calib: Use cv::Mat_<> for wrappers since the element type is known 2020-01-16 09:08:32 -06:00
Ryan Pavlik fcdebc6e9d aux/tracking: Re-organize structs related to camera calibration. 
Removes the "raw" data structures for camera calibration, not needed.
The only thing they contained beyond the revised regular structures
was derived data that the consumer might parameterize differently.

Renames t_settings_stereo to t_stereo_camera_calibration.
The calibration info is data (that could be stored on the device, etc),
not settings.
 2020-01-16 09:07:52 -06:00
Jakob Bornecrantz 771006f97b t/calib: Fix OpenCV type-related assertions and some perf enhancments 
Pre-reserve, use emplace to avoid copies.
This is a combination of Ryan's patches and mine.

t/calib: performance improvements
t/calib: Fix doxygen warning
t/calib: Fix asserts and some perf enhancments
 2020-01-16 00:02:56 +00:00
Ryan Pavlik 9790ca7602 t/calib: Add interface for getting some status info on calib process. 2020-01-14 15:55:50 -06:00
Ryan Pavlik 47f704277a xrt: Let BUILD_TRACKING mean you need more than just the IMU fusion. 
This is required to build anything that uses the IMU fusion module
without OpenCV.
 2020-01-14 11:51:12 -06:00
Jakob Bornecrantz 5bf65b41fa math: Add some more functions 2020-01-14 15:59:41 +00:00
Jakob Bornecrantz 796d9c49ec t/calib: Support stereo fisheye in the config file 2020-01-14 15:42:31 +00:00