The open source OpenXR runtime
d/hydra: apply one-euro filter before estimating motion from relation history
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2495>
+12
-3
+12
-3
src/xrt/drivers/hydra/hydra_driver.c
+12
-3
src/xrt/drivers/hydra/hydra_driver.c
···
25
25
#include "xrt/xrt_byte_order.h"
26
26
27
27
#include "math/m_api.h"
28
+
#include "math/m_filter_one_euro.h"
28
29
#include "math/m_relation_history.h"
29
30
#include "math/m_space.h"
30
31
···
110
111
111
112
struct hydra_controller_state
112
113
{
113
-
struct m_relation_history_filters motion_vector_filters;
114
114
struct m_relation_history *relation_history;
115
+
struct
116
+
{
117
+
struct m_filter_euro_vec3 position;
118
+
struct m_filter_euro_quat orientation;
119
+
} motion_vector_filters;
115
120
116
121
struct xrt_vec2 js;
117
122
float trigger;
···
331
336
pose.orientation = fixed;
332
337
333
338
struct xrt_space_relation space_relation = {0};
334
-
space_relation.pose = pose;
339
+
m_filter_euro_vec3_run(&state->motion_vector_filters.position, now, &pose.position,
340
+
&space_relation.pose.position);
341
+
m_filter_euro_quat_run(&state->motion_vector_filters.orientation, now, &pose.orientation,
342
+
&space_relation.pose.orientation);
343
+
335
344
space_relation.relation_flags =
336
345
(XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) |
337
346
(XRT_SPACE_RELATION_POSITION_TRACKED_BIT | XRT_SPACE_RELATION_POSITION_VALID_BIT);
···
818
827
m_filter_euro_vec3_init(&hd->state.motion_vector_filters.position, fc_min, fc_min_d, beta);
819
828
m_filter_euro_quat_init(&hd->state.motion_vector_filters.orientation, fc_min, fc_min_d, beta);
820
829
821
-
m_relation_history_create(&hd->state.relation_history, &hd->state.motion_vector_filters);
830
+
m_relation_history_create(&hd->state.relation_history);
822
831
823
832
hd->base.binding_profiles = binding_profiles;
824
833
hd->base.binding_profile_count = ARRAY_SIZE(binding_profiles);