The open source OpenXR runtime
d/wmr: Wait until first IMU sample to send frames
In an Odyssey+, it seems that before the first IMU sample the frame timestamps
do not make sense and thus can make the SLAM system crash.
Also, this commit enables SLAM submission from start unless specified.
SLAM for WMR headsets now works "out of the box" :)
+10
-2
+6
src/xrt/drivers/wmr/wmr_hmd.c
+6
src/xrt/drivers/wmr/wmr_hmd.c
···
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//! Specifies whether the user wants to use the hand tracker.
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DEBUG_GET_ONCE_BOOL_OPTION(wmr_handtracking, "WMR_HANDTRACKING", true)
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+
//! Whether to submit samples to the SLAM tracker from the start.
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+
DEBUG_GET_ONCE_OPTION(slam_submit_from_start, "SLAM_SUBMIT_FROM_START", NULL)
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+
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static int
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wmr_hmd_activate_reverb(struct wmr_hmd *wh);
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static void
···
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config.stereo_calib = stereo_calib; // No need to do refcount here
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config.imu_calib = imu_calib;
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config.extra_calib = extra_calib;
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+
if (debug_get_option_slam_submit_from_start() == NULL) {
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config.submit_from_start = true;
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}
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int create_status = t_slam_create(&wh->tracking.xfctx, &config, &wh->tracking.slam, &sinks);
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if (create_status != 0) {
+4
-2
src/xrt/drivers/wmr/wmr_source.c
+4
-2
src/xrt/drivers/wmr/wmr_source.c
···
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struct m_ff_vec3_f32 *accel_ff; //!< Queue of accelerometer data to display in UI
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bool is_running; //!< Whether the device is streaming
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bool first_imu_received; //!< Don't send frames until first IMU sample
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bool average_imus; //!< Average 4 IMU samples before sending them to the sinks
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time_duration_ns hw2mono; //!< Estimated offset from IMU to monotonic clock
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time_duration_ns cam_hw2mono; //!< Cache for hw2mono used in last left frame
···
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clock_cam_hw2mono(ws, xf, true);
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WMR_TRACE(ws, "left img t=%ld source_t=%ld", xf->timestamp, xf->source_timestamp);
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u_sink_debug_push_frame(&ws->ui_left_sink, xf);
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-
if (ws->out_sinks.left) {
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+
if (ws->out_sinks.left && ws->first_imu_received) {
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xrt_sink_push_frame(ws->out_sinks.left, xf);
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}
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}
···
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clock_cam_hw2mono(ws, xf, false);
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WMR_TRACE(ws, "right img t=%ld source_t=%ld", xf->timestamp, xf->source_timestamp);
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u_sink_debug_push_frame(&ws->ui_right_sink, xf);
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-
if (ws->out_sinks.right) {
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+
if (ws->out_sinks.right && ws->first_imu_received) {
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xrt_sink_push_frame(ws->out_sinks.right, xf);
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}
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}
···
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if (ws->out_sinks.imu) {
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xrt_sink_push_imu(ws->out_sinks.imu, s);
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}
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+
ws->first_imu_received = true;
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}
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