The open source OpenXR runtime
d/*: pose correction for VIT system
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src/xrt/drivers/euroc/euroc_device.c
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src/xrt/drivers/euroc/euroc_device.c
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#include "xrt/xrt_prober.h"
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#include "xrt/xrt_tracking.h"
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#include "xrt/xrt_config_have.h"
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#include "xrt/xrt_config_build.h"
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#include "euroc_driver.h"
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···
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return (struct euroc_device *)xdev;
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}
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//! Corrections specific for original euroc datasets and Kimera.
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//! If your datasets comes from a different camera you should probably
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//! use a different pose correction function.
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XRT_MAYBE_UNUSED static inline struct xrt_pose
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euroc_device_correct_pose_from_kimera(struct xrt_pose pose)
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{
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//! @todo Implement proper pose corrections for the original euroc datasets
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//! @todo Allow to use different pose corrections depending on the device used to record
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return pose;
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}
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//! Similar to `euroc_device_correct_pose_from_kimera` but for Basalt.
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XRT_MAYBE_UNUSED static inline struct xrt_pose
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euroc_device_correct_pose_from_basalt(struct xrt_pose pose)
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{
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//! @todo Implement proper pose corrections for the original euroc datasets
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//! @todo Allow to use different pose corrections depending on the device used to record
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return pose;
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}
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static void
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euroc_device_get_tracked_pose(struct xrt_device *xdev,
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enum xrt_input_name name,
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int pose_bits = XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT;
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bool pose_tracked = out_relation->relation_flags & pose_bits;
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if (pose_tracked) {
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#if defined(XRT_HAVE_KIMERA)
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ed->pose = euroc_device_correct_pose_from_kimera(out_relation->pose);
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#elif defined(XRT_HAVE_BASALT)
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ed->pose = euroc_device_correct_pose_from_basalt(out_relation->pose);
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#else
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ed->pose = out_relation->pose;
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#endif
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}
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}
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src/xrt/drivers/realsense/rs_hdev.c
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src/xrt/drivers/realsense/rs_hdev.c
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#include "xrt/xrt_frame.h"
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#include "xrt/xrt_prober.h"
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#include "xrt/xrt_config_have.h"
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#include "xrt/xrt_config_build.h"
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#include "math/m_filter_fifo.h"
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#include "math/m_space.h"
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bool pose_tracked = out_relation->relation_flags & pose_bits;
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if (pose_tracked) {
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#if defined(XRT_HAVE_KIMERA)
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rh->pose = rs_hdev_correct_pose_from_kimera(out_relation->pose);
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#elif defined(XRT_HAVE_BASALT)
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#ifdef XRT_FEATURE_SLAM
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// !todo Correct pose depending on the VIT system in use, this should be done in the system itself.
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// For now, assume that we are using Basalt.
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rh->pose = rs_hdev_correct_pose_from_basalt(out_relation->pose);
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#else
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rh->pose = out_relation->pose;
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src/xrt/drivers/rift_s/rift_s_tracker.c
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src/xrt/drivers/rift_s/rift_s_tracker.c
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#include "util/u_trace_marker.h"
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#include "util/u_var.h"
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#include "xrt/xrt_config_build.h"
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#include "xrt/xrt_config_drivers.h"
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#include "xrt/xrt_device.h"
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···
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// Get the IMU pose from the SLAM tracker
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xrt_tracked_slam_get_tracked_pose(t->tracking.slam, at_timestamp_ns, &imu_relation);
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#if defined(XRT_HAVE_BASALT)
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#ifdef XRT_FEATURE_SLAM
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// !todo Correct pose depending on the VIT system in use, this should be done in the system itself.
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// For now, assume that we are using Basalt.
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rift_s_tracker_correct_pose_from_basalt(&imu_relation.pose);
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#endif
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imu_relation.relation_flags = (enum xrt_space_relation_flags)(
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XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | XRT_SPACE_RELATION_POSITION_VALID_BIT |
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XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT);
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src/xrt/drivers/twrap/twrap_slam.c
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src/xrt/drivers/twrap/twrap_slam.c
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#include "xrt/xrt_frameserver.h"
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#include "xrt/xrt_results.h"
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#include "xrt/xrt_tracking.h"
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#include "xrt/xrt_config_have.h"
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#include "xrt/xrt_config_build.h"
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#include "util/u_var.h"
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#include "util/u_misc.h"
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snprintf(dx->base.serial, XRT_DEVICE_NAME_LEN, "Generic Inside-Out Head Tracker");
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#ifdef XRT_FEATURE_SLAM
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#ifdef XRT_HAVE_BASALT
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// !todo Correct pose depending on the VIT system in use, this should be done in the system itself.
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// Arrived at mostly by trial and error; seeminly does a 90-degree rotation about the X axis.
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dx->pre_rotate_x = (struct xrt_vec3){1.0f, 0.0f, 0.0f};
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dx->pre_rotate_z = (struct xrt_vec3){0.0f, 1.0f, 0.0f};
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dx->pre_rotate = true;
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#else
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#pragma message "World space conversion not implemented for this SLAM system"
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#endif
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#endif
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// note: we can't put this at the very end; we need u_tracked_imu_3dof, and that needs to be put on the debug
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src/xrt/drivers/vive/vive_device.c
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src/xrt/drivers/vive/vive_device.c
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#include "vive_protocol.h"
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#include "vive_source.h"
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#include "xrt/xrt_tracking.h"
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#include "xrt/xrt_config_have.h"
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#include "xrt/xrt_config_build.h"
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// Used to scale the IMU range from config.
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#define VIVE_IMU_RANGE_CONVERSION_VALUE (32768.0)
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bool pose_tracked = out_relation->relation_flags & pose_bits;
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if (pose_tracked) {
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#if defined(XRT_HAVE_BASALT)
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#ifdef XRT_FEATURE_SLAM
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// !todo Correct pose depending on the VIT system in use, this should be done in the system itself.
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// For now, assume that we are using Basalt.
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d->pose = vive_device_correct_pose_from_basalt(out_relation->pose);
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#else
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d->pose = out_relation->pose;
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src/xrt/drivers/wmr/wmr_hmd.c
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src/xrt/drivers/wmr/wmr_hmd.c
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bool pose_tracked = out_relation->relation_flags & pose_bits;
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if (pose_tracked) {
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#if defined(XRT_HAVE_BASALT)
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#ifdef XRT_FEATURE_SLAM
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// !todo Correct pose depending on the VIT system in use, this should be done in the system itself.
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// For now, assume that we are using Basalt.
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wh->pose = wmr_hmd_correct_pose_from_basalt(out_relation->pose);
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#else
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wh->pose = out_relation->pose;