The open source OpenXR runtime
d/wmr: Guess camera orientation for Reverb G2 based on HT0 twist value
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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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return sinks;
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}
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#ifdef XRT_BUILD_DRIVER_HANDTRACKING
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static enum t_camera_orientation
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wmr_hmd_guess_camera_orientation(struct wmr_hmd *wh)
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{
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struct xrt_quat Q_ht0_me = wh->P_ht0_me.orientation;
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struct xrt_vec2 swing = {0};
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float twist = 0;
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math_quat_to_swing_twist(&Q_ht0_me, &swing, &twist);
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WMR_DEBUG(wh, "HT0 twist value is %f", twist);
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float abstwist = fabsf(twist);
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// Bottom quadrant
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if (abstwist < M_PI / 4) {
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WMR_DEBUG(wh, "I think this headset has CAMERA_ORIENTATION_0 front cameras!");
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return CAMERA_ORIENTATION_0;
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}
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// Top quadrant
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if (abstwist > 3 * M_PI / 4) {
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WMR_DEBUG(wh, "I think this headset has CAMERA_ORIENTATION_180 front cameras!");
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return CAMERA_ORIENTATION_180;
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}
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// Right quadrant
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if (twist < 0) {
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WMR_DEBUG(wh, "I think this headset has CAMERA_ORIENTATION_90 front cameras!");
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return CAMERA_ORIENTATION_90;
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}
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// Left quadrant
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WMR_DEBUG(wh, "I think this headset has CAMERA_ORIENTATION_270 front cameras!");
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return CAMERA_ORIENTATION_270;
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}
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#endif
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static int
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wmr_hmd_hand_track(struct wmr_hmd *wh,
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struct t_stereo_camera_calibration *stereo_calib,
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struct xrt_device *device = NULL;
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#ifdef XRT_BUILD_DRIVER_HANDTRACKING
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//!@todo Turning it off is okay for now, but we should plug metric_radius (or whatever it's called) in, at some
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//! point.
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struct t_camera_extra_info extra_camera_info = {0};
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extra_camera_info.views[0].camera_orientation = CAMERA_ORIENTATION_0;
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extra_camera_info.views[1].camera_orientation = CAMERA_ORIENTATION_0;
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enum t_camera_orientation ori_guess = CAMERA_ORIENTATION_0;
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if (wh->hmd_desc->hmd_type == WMR_HEADSET_GENERIC || //
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wh->hmd_desc->hmd_type == WMR_HEADSET_REVERB_G2) {
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ori_guess = wmr_hmd_guess_camera_orientation(wh);
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}
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extra_camera_info.views[0].camera_orientation = ori_guess;
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extra_camera_info.views[1].camera_orientation = ori_guess;
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//!@todo Turning it off is okay for now, but we should plug metric_radius (or whatever it's called) in, at some
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//! point.
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extra_camera_info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE;
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extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;
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