The open source OpenXR runtime
d/wmr: Add a slider to adjust all tracked pose timestamps
+18
-1
+10
src/xrt/drivers/wmr/wmr_hmd.c
+10
src/xrt/drivers/wmr/wmr_hmd.c
···
1091
1091
DRV_TRACE_MARKER();
1092
1092
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1093
struct wmr_hmd *wh = wmr_hmd(xdev);
1094
+
1095
+
at_timestamp_ns += (uint64_t)(wh->tracked_offset_ms.val * (double)U_TIME_1MS_IN_NS);
1096
+
1094
1097
if (wh->tracking.slam_enabled && wh->slam_over_3dof) {
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wmr_hmd_get_slam_tracked_pose(xdev, name, at_timestamp_ns, out_relation);
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} else {
···
1617
1620
u_var_add_pose(wh, &wh->pose, "Tracked Pose");
1618
1621
u_var_add_pose(wh, &wh->offset, "Pose Offset");
1619
1622
u_var_add_bool(wh, &wh->average_imus, "Average IMU samples");
1623
+
u_var_add_draggable_f32(wh, &wh->tracked_offset_ms, "Timecode offset(ms)");
1620
1624
1621
1625
u_var_add_gui_header(wh, NULL, "3DoF Tracking");
1622
1626
m_imu_3dof_add_vars(&wh->fusion.i3dof, wh, "");
···
1887
1891
wh->pose = (struct xrt_pose)XRT_POSE_IDENTITY;
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wh->offset = (struct xrt_pose)XRT_POSE_IDENTITY;
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wh->average_imus = true;
1894
+
wh->tracked_offset_ms = (struct u_var_draggable_f32){
1895
+
.val = 0.0,
1896
+
.min = -40.0,
1897
+
.step = 0.1,
1898
+
.max = +120.0,
1899
+
};
1890
1900
1891
1901
/* Now that we have the config loaded, iterate the map of known headsets and see if we have
1892
1902
* an entry for this specific headset (otherwise the generic entry will be used)
+8
-1
src/xrt/drivers/wmr/wmr_hmd.h
+8
-1
src/xrt/drivers/wmr/wmr_hmd.h
···
1
1
// Copyright 2018, Philipp Zabel.
2
2
// Copyright 2020-2021, N Madsen.
3
-
// Copyright 2020-2021, Collabora, Ltd.
3
+
// Copyright 2020-2023, Collabora, Ltd.
4
4
// SPDX-License-Identifier: BSL-1.0
5
5
/*!
6
6
* @file
···
173
173
174
174
//! Average 4 IMU samples before sending them to the trackers
175
175
bool average_imus;
176
+
177
+
/*!
178
+
* Offset for tracked pose offsets (applies to both fusion and SLAM).
179
+
* Applied when getting the tracked poses, so is effectivily a offset
180
+
* to increase or decrease prediction.
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+
*/
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+
struct u_var_draggable_f32 tracked_offset_ms;
176
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struct
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{