The open source OpenXR runtime
d/wmr: Make WMR to OpenXR coordinate transform explicit
Instead of negating Y and Z readings from the IMU when
parsing, parse the native values, then apply the rotation
using the centerline transform before fusion.
+14
-5
+10
-1
src/xrt/drivers/wmr/wmr_hmd.c
+10
-1
src/xrt/drivers/wmr/wmr_hmd.c
···
984
984
u_var_add_gui_header(wh, &wh->gui.misc, "Misc");
985
985
u_var_add_log_level(wh, &wh->log_level, "log_level");
986
986
987
-
// Compute centerline in the HMD's calibration coordinate space as the average of the two display poses
987
+
// Compute centerline in the HMD's calibration coordinate space as the average of the two display poses,
988
+
// then rotate around the X axis to convert coordinate system from WMR (X right, Y down, Z away)
989
+
// to OpenXR (X right, Y up, Z towards)
988
990
math_quat_slerp(&wh->config.eye_params[0].pose.orientation, &wh->config.eye_params[1].pose.orientation, 0.5f,
989
991
&wh->centerline.orientation);
990
992
wh->centerline.position.x =
···
993
995
(wh->config.eye_params[0].pose.position.y + wh->config.eye_params[1].pose.position.y) * 0.5f;
994
996
wh->centerline.position.z =
995
997
(wh->config.eye_params[0].pose.position.z + wh->config.eye_params[1].pose.position.z) * 0.5f;
998
+
999
+
struct xrt_pose wmr_to_openxr_xform = {
1000
+
.position = {0.0, 0.0, 0.0},
1001
+
.orientation = {.x = 1.0, .y = 0.0, .z = 0.0, .w = 0.0},
1002
+
};
1003
+
1004
+
math_pose_transform(&wmr_to_openxr_xform, &wh->centerline, &wh->centerline);
996
1005
997
1006
// Compute display and sensor offsets relative to the centerline
998
1007
for (int dIdx = 0; dIdx < 2; ++dIdx) {
+4
-4
src/xrt/drivers/wmr/wmr_protocol.c
+4
-4
src/xrt/drivers/wmr/wmr_protocol.c
···
23
23
vec3_from_hololens_accel(int32_t sample[3][4], int i, struct xrt_vec3 *out_vec)
24
24
{
25
25
out_vec->x = (float)sample[0][i] * 0.001f * 1.0f;
26
-
out_vec->y = (float)sample[1][i] * 0.001f * -1.0f;
27
-
out_vec->z = (float)sample[2][i] * 0.001f * -1.0f;
26
+
out_vec->y = (float)sample[1][i] * 0.001f * 1.0f;
27
+
out_vec->z = (float)sample[2][i] * 0.001f * 1.0f;
28
28
}
29
29
30
30
void
···
47
47
sample[1][8 * i + 5] + //
48
48
sample[1][8 * i + 6] + //
49
49
sample[1][8 * i + 7]) *
50
-
0.001f * -0.125f;
50
+
0.001f * 0.125f;
51
51
out_vec->z = (float)(sample[2][8 * i + 0] + //
52
52
sample[2][8 * i + 1] + //
53
53
sample[2][8 * i + 2] + //
···
56
56
sample[2][8 * i + 5] + //
57
57
sample[2][8 * i + 6] + //
58
58
sample[2][8 * i + 7]) *
59
-
0.001f * -0.125f;
59
+
0.001f * 0.125f;
60
60
}