After turning on the display, the Rift S
sends a burst of stale data and it can lead to
wildly incorrect clock estimates that then
recover really slowly and cause SLAM tracking to
lag horribly.
Throw away the first 100 samples, which seems to be
enough (only the first 20 or so seem to be bad).
Also reduce the clock a2b cutoff frequency, for
faster adaptation to changes.
Tested-By: Nova <technobaboo@gmail.com>
Found by clang-15.
src/xrt/auxiliary/math/m_permutation.c:133:15: warning: a function declaration without a prototype is deprecated in all versions of C [-Wstrict-prototypes]
m_do_the_thing()
^
void
Find and capture input from cameras, and split according to
frame type. Send long exposure tracking frames through
the AEG module, and SLAM and hand tracking trackers.
Add controller emulated hand devices.
The native "fisheye62" camera distortion model is
dynamically converted to OpenCV Kannala-Brandt
parameters using a TinyCeres solver.
Port across the Oculus Rift S driver from OpenHMD as a native
Monado driver.
This is mostly the same as the OpenHMD 3DOF driver, with
slightly better HMD distortion correction, various small
fixes, some capsense touch detection support.
Controller poses are rotated 40° to match grip pose.
