The open source OpenXR runtime
d/rs: Rename 6dof to ddev
This commit introduces the term `ddev` for a "Device-SLAM tracked device",
it will be useful to differentiate itself from the `hdev`
("Host-SLAM tracked device") that will be introduced in next commits.
Note that "config_realsense" json field was renamed to "config_realsense_device"
and the device's serial (used for tracking overrides) changed from
"Intel RealSense 6-DOF" to "Intel RealSense Device-SLAM".
+53
-48
+2
-2
doc/example_configs/config_v0.northstar_lonestar.json
+2
-2
doc/example_configs/config_v0.northstar_lonestar.json
···
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"tracking_overrides": [
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{
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"target_device_serial": "North Star",
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"tracker_device_serial": "Intel RealSense 6-DOF",
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"tracker_device_serial": "Intel RealSense Device-SLAM",
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"type": "direct",
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"offset": {
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"orientation": {
···
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},
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{
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"target_device_serial": "Leap Motion v2 driver",
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-
"tracker_device_serial": "Intel RealSense 6-DOF",
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"tracker_device_serial": "Intel RealSense Device-SLAM",
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"type": "attached",
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"offset": {
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"orientation": {
+2
-1
src/xrt/drivers/CMakeLists.txt
+2
-1
src/xrt/drivers/CMakeLists.txt
+1
-1
src/xrt/drivers/meson.build
+1
-1
src/xrt/drivers/meson.build
+45
-41
src/xrt/drivers/realsense/rs_6dof.c
src/xrt/drivers/realsense/rs_ddev.c
+45
-41
src/xrt/drivers/realsense/rs_6dof.c
src/xrt/drivers/realsense/rs_ddev.c
···
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief RealSense helper driver for 6DOF tracking.
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* @brief RealSense helper driver for in-device SLAM 6DOF tracking.
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* @author Moses Turner <mosesturner@protonmail.com>
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* @author Nova King <technobaboo@gmail.com>
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* @author Jakob Bornecrantz <jakob@collabora.com>
···
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#include "math/m_api.h"
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#include "math/m_space.h"
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#include "math/m_predict.h"
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#include "math/m_relation_history.h"
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#include "os/os_time.h"
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#include "os/os_threading.h"
···
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#include "util/u_json.h"
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#include "util/u_config_json.h"
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-
#include "math/m_relation_history.h"
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-
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#include <librealsense2/rs.h>
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#include <librealsense2/h/rs_pipeline.h>
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#include <librealsense2/h/rs_option.h>
···
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pose.orientation.y, pose.orientation.z, pose.orientation.w)
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/*!
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* Device-SLAM tracked RealSense device (T26X series).
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*
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* @implements xrt_device
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*/
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struct rs_6dof
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struct rs_ddev
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{
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struct xrt_device base;
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···
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bool enable_pose_jumping;
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bool enable_relocalization;
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bool enable_pose_prediction;
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bool enable_pose_filtering; // Forward compatibility for when that 1-euro filter is working
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bool enable_pose_filtering; //!< Forward compatibility for when that 1-euro filter is working
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rs2_context *ctx;
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rs2_pipeline *pipe;
···
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/*!
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* Helper to convert a xdev to a @ref rs_6dof.
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* Helper to convert a xdev to a @ref rs_ddev.
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*/
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static inline struct rs_6dof *
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rs_6dof(struct xrt_device *xdev)
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static inline struct rs_ddev *
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rs_ddev(struct xrt_device *xdev)
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{
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return (struct rs_6dof *)xdev;
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return (struct rs_ddev *)xdev;
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}
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/*!
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* Simple helper to check and print error messages.
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*/
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static int
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check_error(struct rs_6dof *rs, rs2_error *e)
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+
check_error(struct rs_ddev *rs, rs2_error *e)
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{
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if (e == NULL) {
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return 0;
···
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* Frees all RealSense resources.
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*/
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static void
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close_6dof(struct rs_6dof *rs)
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+
close_ddev(struct rs_ddev *rs)
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{
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if (rs->config) {
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rs2_delete_config(rs->config);
···
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#define CHECK_RS2() \
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do { \
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if (check_error(rs, e) != 0) { \
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close_6dof(rs); \
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close_ddev(rs); \
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return 1; \
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} \
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} while (0)
···
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* Create all RealSense resources needed for 6DOF tracking.
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*/
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static int
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create_6dof(struct rs_6dof *rs)
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create_ddev(struct rs_ddev *rs)
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{
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assert(rs != NULL);
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rs2_error *e = NULL;
···
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U_LOG_D("There are %d connected RealSense devices.", dev_count);
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if (0 == dev_count) {
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close_6dof(rs);
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close_ddev(rs);
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return 1;
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}
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···
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rs2_sensor_list *sensors = rs2_query_sensors(cameras, &e);
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CHECK_RS2();
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//! @todo 0 index hardcoded, check device with RS2_EXTENSION_POSE_SENSOR or similar instead
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rs2_sensor *sensor = rs2_create_sensor(sensors, 0, &e);
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CHECK_RS2();
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···
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CHECK_RS2();
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if (rs->enable_mapping) {
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// Neither of these options mean anything if mapping is off; in fact it errors out
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// if we mess with these
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// with mapping off
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// Neither of these options mean anything if mapping is off; in fact it
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// errors out if we mess with these with mapping off
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rs2_set_option((rs2_options *)sensor, RS2_OPTION_ENABLE_RELOCALIZATION,
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rs->enable_relocalization ? 1.0f : 0.0f, &e);
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CHECK_RS2();
···
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rs->profile = rs2_pipeline_start_with_config(rs->pipe, rs->config, &e);
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CHECK_RS2();
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rs2_delete_sensor(sensor);
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rs2_delete_sensor_list(sensors);
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return 0;
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}
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···
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* Process a frame as 6DOF data, does not assume ownership of the frame.
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*/
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static void
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process_frame(struct rs_6dof *rs, rs2_frame *frame)
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process_frame(struct rs_ddev *rs, rs2_frame *frame)
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{
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rs2_error *e = NULL;
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int ret = 0;
···
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}
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static int
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update(struct rs_6dof *rs)
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+
update(struct rs_ddev *rs)
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{
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rs2_frame *frames;
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rs2_error *e = NULL;
···
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static void *
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rs_run_thread(void *ptr)
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{
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struct rs_6dof *rs = (struct rs_6dof *)ptr;
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struct rs_ddev *rs = (struct rs_ddev *)ptr;
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os_thread_helper_lock(&rs->oth);
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···
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}
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static bool
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load_config(struct rs_6dof *rs)
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+
load_config(struct rs_ddev *rs)
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{
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struct u_config_json config_json = {0};
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···
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return false;
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}
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-
const cJSON *realsense_config_json = u_json_get(config_json.root, "config_realsense");
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const cJSON *realsense_config_json = u_json_get(config_json.root, "config_realsense_ddev");
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if (realsense_config_json == NULL) {
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return false;
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}
···
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*/
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static void
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rs_6dof_update_inputs(struct xrt_device *xdev)
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+
rs_ddev_update_inputs(struct xrt_device *xdev)
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{
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// Empty
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}
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static void
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rs_6dof_get_tracked_pose(struct xrt_device *xdev,
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+
rs_ddev_get_tracked_pose(struct xrt_device *xdev,
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enum xrt_input_name name,
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uint64_t at_timestamp_ns,
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struct xrt_space_relation *out_relation)
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{
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struct rs_6dof *rs = rs_6dof(xdev);
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+
struct rs_ddev *rs = rs_ddev(xdev);
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if (name != XRT_INPUT_GENERIC_TRACKER_POSE) {
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U_LOG_E("unknown input name");
···
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}
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static void
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rs_6dof_get_view_pose(struct xrt_device *xdev,
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rs_ddev_get_view_pose(struct xrt_device *xdev,
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const struct xrt_vec3 *eye_relation,
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uint32_t view_index,
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struct xrt_pose *out_pose)
···
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}
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static void
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rs_6dof_destroy(struct xrt_device *xdev)
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+
rs_ddev_destroy(struct xrt_device *xdev)
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{
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struct rs_6dof *rs = rs_6dof(xdev);
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struct rs_ddev *rs = rs_ddev(xdev);
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// Destroy the thread object.
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os_thread_helper_destroy(&rs->oth);
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close_6dof(rs);
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close_ddev(rs);
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free(rs);
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}
···
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*/
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struct xrt_device *
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rs_6dof_create(void)
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+
rs_ddev_create(void)
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{
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struct rs_6dof *rs = U_DEVICE_ALLOCATE(struct rs_6dof, U_DEVICE_ALLOC_TRACKING_NONE, 1, 0);
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struct rs_ddev *rs = U_DEVICE_ALLOCATE(struct rs_ddev, U_DEVICE_ALLOC_TRACKING_NONE, 1, 0);
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m_relation_history_create(&rs->relation_hist);
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···
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U_LOG_D("Realsense opts are %i %i %i %i %i\n", rs->enable_mapping, rs->enable_pose_jumping,
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rs->enable_relocalization, rs->enable_pose_prediction, rs->enable_pose_filtering);
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rs->base.update_inputs = rs_6dof_update_inputs;
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rs->base.get_tracked_pose = rs_6dof_get_tracked_pose;
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rs->base.get_view_pose = rs_6dof_get_view_pose;
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rs->base.destroy = rs_6dof_destroy;
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rs->base.update_inputs = rs_ddev_update_inputs;
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rs->base.get_tracked_pose = rs_ddev_get_tracked_pose;
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rs->base.get_view_pose = rs_ddev_get_view_pose;
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rs->base.destroy = rs_ddev_destroy;
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rs->base.name = XRT_DEVICE_REALSENSE;
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rs->base.tracking_origin->type = XRT_TRACKING_TYPE_EXTERNAL_SLAM;
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// Print name.
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snprintf(rs->base.str, XRT_DEVICE_NAME_LEN, "Intel RealSense 6-DOF");
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snprintf(rs->base.serial, XRT_DEVICE_NAME_LEN, "Intel RealSense 6-DOF");
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snprintf(rs->base.str, XRT_DEVICE_NAME_LEN, "Intel RealSense Device-SLAM");
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snprintf(rs->base.serial, XRT_DEVICE_NAME_LEN, "Intel RealSense Device-SLAM");
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rs->base.inputs[0].name = XRT_INPUT_GENERIC_TRACKER_POSE;
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···
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ret = os_thread_helper_init(&rs->oth);
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if (ret != 0) {
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U_LOG_E("Failed to init threading!");
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rs_6dof_destroy(&rs->base);
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rs_ddev_destroy(&rs->base);
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return NULL;
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}
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-
ret = create_6dof(rs);
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ret = create_ddev(rs);
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if (ret != 0) {
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rs_6dof_destroy(&rs->base);
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rs_ddev_destroy(&rs->base);
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return NULL;
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}
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ret = os_thread_helper_start(&rs->oth, rs_run_thread, rs);
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if (ret != 0) {
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U_LOG_E("Failed to start thread!");
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rs_6dof_destroy(&rs->base);
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+
rs_ddev_destroy(&rs->base);
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return NULL;
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}
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+2
-2
src/xrt/drivers/realsense/rs_interface.h
+2
-2
src/xrt/drivers/realsense/rs_interface.h
···
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*/
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/*!
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* Create a RelaseSense 6DOF tracker device.
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* Create a RealSense device tracked with device-SLAM (T26x).
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*
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* @ingroup drv_rs
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*/
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struct xrt_device *
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rs_6dof_create(void);
30
+
rs_ddev_create(void);
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/*!
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* Create a auto prober for rs devices.