// Copyright 2020, Collabora, Ltd. // Copyright 2020, Nova King. // SPDX-License-Identifier: BSL-1.0 /*! * @file * @brief RealSense helper driver for 6DOF tracking. * @author Nova King * @author Jakob Bornecrantz * @ingroup drv_rs */ #include "xrt/xrt_defines.h" #include "xrt/xrt_device.h" #include "os/os_time.h" #include "os/os_threading.h" #include "util/u_time.h" #include "util/u_device.h" #include "util/u_logging.h" #include #include #include #include #include #include #include #include /*! * @implements xrt_device */ struct rs_6dof { struct xrt_device base; uint64_t relation_timestamp_ns; struct xrt_space_relation relation; struct os_thread_helper oth; rs2_context *ctx; rs2_pipeline *pipe; rs2_pipeline_profile *profile; rs2_config *config; }; /*! * Helper to convert a xdev to a @ref rs_6dof. */ static inline struct rs_6dof * rs_6dof(struct xrt_device *xdev) { return (struct rs_6dof *)xdev; } /*! * Simple helper to check and print error messages. */ static int check_error(struct rs_6dof *rs, rs2_error *e) { if (e == NULL) { return 0; } U_LOG_E("rs_error was raised when calling %s(%s):", rs2_get_failed_function(e), rs2_get_failed_args(e)); U_LOG_E("%s", rs2_get_error_message(e)); return 1; } /*! * Frees all RealSense resources. */ static void close_6dof(struct rs_6dof *rs) { if (rs->config) { rs2_delete_config(rs->config); rs->config = NULL; } if (rs->profile) { rs2_delete_pipeline_profile(rs->profile); rs->profile = NULL; } if (rs->pipe) { rs2_pipeline_stop(rs->pipe, NULL); rs2_delete_pipeline(rs->pipe); rs->pipe = NULL; } if (rs->ctx) { rs2_delete_context(rs->ctx); rs->ctx = NULL; } } /*! * Create all RealSense resources needed for 6DOF tracking. */ static int create_6dof(struct rs_6dof *rs) { assert(rs != NULL); rs2_error *e = NULL; rs->ctx = rs2_create_context(RS2_API_VERSION, &e); if (check_error(rs, e) != 0) { close_6dof(rs); return 1; } rs->pipe = rs2_create_pipeline(rs->ctx, &e); if (check_error(rs, e) != 0) { close_6dof(rs); return 1; } rs->config = rs2_create_config(&e); if (check_error(rs, e) != 0) { close_6dof(rs); return 1; } rs2_config_enable_stream(rs->config, // RS2_STREAM_POSE, // Type 0, // Index 0, // Width 0, // Height RS2_FORMAT_6DOF, // Format 200, // FPS &e); if (check_error(rs, e) != 0) { close_6dof(rs); return 1; } rs->profile = rs2_pipeline_start_with_config(rs->pipe, rs->config, &e); if (check_error(rs, e) != 0) { close_6dof(rs); return 1; } return 0; } /*! * Process a frame as 6DOF data, does not assume ownership of the frame. */ static void process_frame(struct rs_6dof *rs, rs2_frame *frame) { rs2_error *e = NULL; int ret = 0; ret = rs2_is_frame_extendable_to(frame, RS2_EXTENSION_POSE_FRAME, &e); if (check_error(rs, e) != 0 || ret == 0) { return; } rs2_pose camera_pose; rs2_pose_frame_get_pose_data(frame, &camera_pose, &e); if (check_error(rs, e) != 0) { return; } #if 0 rs2_timestamp_domain domain = rs2_get_frame_timestamp_domain(frame, &e); if (check_error(rs, e) != 0) { return; } #endif double timestamp_miliseconds = rs2_get_frame_timestamp(frame, &e); if (check_error(rs, e) != 0) { return; } // Close enough uint64_t now_real_ns = os_realtime_get_ns(); uint64_t now_monotonic_ns = os_monotonic_get_ns(); uint64_t timestamp_ns = (uint64_t)(timestamp_miliseconds * 1000.0 * 1000.0); // How far in the past is it? uint64_t diff_ns = now_real_ns - timestamp_ns; // Adjust the timestamp to monotonic time. timestamp_ns = now_monotonic_ns - diff_ns; /* * Transfer the data to the struct. */ // Re-use the thread lock for the data. os_thread_helper_lock(&rs->oth); // clang-format off // Timestamp rs->relation_timestamp_ns = timestamp_ns; // Rotation/angular rs->relation.pose.orientation.x = camera_pose.rotation.x; rs->relation.pose.orientation.y = camera_pose.rotation.y; rs->relation.pose.orientation.z = camera_pose.rotation.z; rs->relation.pose.orientation.w = camera_pose.rotation.w; rs->relation.angular_velocity.x = camera_pose.angular_velocity.x; rs->relation.angular_velocity.y = camera_pose.angular_velocity.y; rs->relation.angular_velocity.z = camera_pose.angular_velocity.z; // Position/linear rs->relation.pose.position.x = camera_pose.translation.x; rs->relation.pose.position.y = camera_pose.translation.y; rs->relation.pose.position.z = camera_pose.translation.z; rs->relation.linear_velocity.x = camera_pose.velocity.x; rs->relation.linear_velocity.y = camera_pose.velocity.y; rs->relation.linear_velocity.z = camera_pose.velocity.z; rs->relation.relation_flags = XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | XRT_SPACE_RELATION_POSITION_VALID_BIT | XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT | XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT | XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT; // clang-format on // Re-use the thread lock for the data. os_thread_helper_unlock(&rs->oth); } static int update(struct rs_6dof *rs) { rs2_frame *frames; rs2_error *e = NULL; frames = rs2_pipeline_wait_for_frames(rs->pipe, RS2_DEFAULT_TIMEOUT, &e); if (check_error(rs, e) != 0) { return 1; } int num_frames = rs2_embedded_frames_count(frames, &e); if (check_error(rs, e) != 0) { return 1; } for (int i = 0; i < num_frames; i++) { rs2_frame *frame = rs2_extract_frame(frames, i, &e); if (check_error(rs, e) != 0) { rs2_release_frame(frames); return 1; } // Does not assume ownership of the frame. process_frame(rs, frame); rs2_release_frame(frame); rs2_release_frame(frames); } return 0; } static void * rs_run_thread(void *ptr) { struct rs_6dof *rs = (struct rs_6dof *)ptr; os_thread_helper_lock(&rs->oth); while (os_thread_helper_is_running_locked(&rs->oth)) { os_thread_helper_unlock(&rs->oth); int ret = update(rs); if (ret < 0) { return NULL; } } return NULL; } static void rs_6dof_update_inputs(struct xrt_device *xdev) { // Empty } static void rs_6dof_get_tracked_pose(struct xrt_device *xdev, enum xrt_input_name name, uint64_t at_timestamp_ns, struct xrt_space_relation *out_relation) { struct rs_6dof *rs = rs_6dof(xdev); if (name != XRT_INPUT_GENERIC_HEAD_POSE) { U_LOG_E("unknown input name"); return; } os_thread_helper_lock(&rs->oth); struct xrt_space_relation relation = rs->relation; os_thread_helper_unlock(&rs->oth); *out_relation = relation; } static void rs_6dof_get_view_pose(struct xrt_device *xdev, struct xrt_vec3 *eye_relation, uint32_t view_index, struct xrt_pose *out_pose) { assert(false); } static void rs_6dof_destroy(struct xrt_device *xdev) { struct rs_6dof *rs = rs_6dof(xdev); // Destroy the thread object. os_thread_helper_destroy(&rs->oth); close_6dof(rs); free(rs); } struct xrt_device * rs_6dof_create(void) { struct rs_6dof *rs = U_DEVICE_ALLOCATE( struct rs_6dof, U_DEVICE_ALLOC_TRACKING_NONE, 1, 0); int ret = 0; rs->base.update_inputs = rs_6dof_update_inputs; rs->base.get_tracked_pose = rs_6dof_get_tracked_pose; rs->base.get_view_pose = rs_6dof_get_view_pose; rs->base.destroy = rs_6dof_destroy; rs->base.name = XRT_DEVICE_GENERIC_HMD; // This is a lie. rs->relation.pose.orientation.w = 1.0f; // All other values set to zero. rs->base.tracking_origin->type = XRT_TRACKING_TYPE_EXTERNAL_SLAM; // Print name. snprintf(rs->base.str, XRT_DEVICE_NAME_LEN, "Intel RealSense 6-DOF"); // Setup input, this is a lie. rs->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE; // Thread and other state. ret = os_thread_helper_init(&rs->oth); if (ret != 0) { U_LOG_E("Failed to init threading!"); rs_6dof_destroy(&rs->base); return NULL; } ret = create_6dof(rs); if (ret != 0) { rs_6dof_destroy(&rs->base); return NULL; } ret = os_thread_helper_start(&rs->oth, rs_run_thread, rs); if (ret != 0) { U_LOG_E("Failed to start thread!"); rs_6dof_destroy(&rs->base); return NULL; } rs->base.orientation_tracking_supported = true; rs->base.position_tracking_supported = true; rs->base.device_type = XRT_DEVICE_TYPE_GENERIC_TRACKER; return &rs->base; }