The open source OpenXR runtime
d/ns: fix polynomial distortion math again, document nonsensical parts of polynomial math, update config files
+311
-217
+56
-47
src/xrt/drivers/north_star/ns_hmd.c
+56
-47
src/xrt/drivers/north_star/ns_hmd.c
···
33
33
#include "../realsense/rs_interface.h"
34
34
#endif
35
35
36
-
DEBUG_GET_ONCE_LOG_OPTION(ns_log, "NS_LOG", U_LOGGING_WARN)
36
+
DEBUG_GET_ONCE_LOG_OPTION(ns_log, "NS_LOG", U_LOGGING_INFO)
37
37
38
38
/*
39
39
*
40
40
* Common functions
41
41
*
42
42
*/
43
+
44
+
45
+
static double map(double value, double fromLow, double fromHigh, double toLow, double toHigh) {
46
+
return (value - fromLow) * (toHigh - toLow) / (fromHigh - fromLow) + toLow;
47
+
} // Math copied from https://www.arduino.cc/reference/en/language/functions/math/map/
48
+
// This is pure math so it is still under the Boost Software License.
43
49
44
50
static void
45
51
ns_hmd_destroy(struct xrt_device *xdev)
···
224
230
fov->angle_left =
225
231
projection.z; // atanf(fabsf(projection.z) / near_plane);
226
232
fov->angle_right =
227
-
projection.w; // atanf(fabsf(projection.w) / near_plane);
233
+
projection.w; // atanf(fabsf(projection.w) / near_plane);
228
234
}
229
235
230
236
/*
231
-
*
237
+
*
232
238
* V2 optics.
233
-
*
234
-
*/
239
+
*
240
+
*
241
+
*/
235
242
236
243
237
244
static void
···
305
312
float v,
306
313
struct xrt_uv_triplet *result)
307
314
{
308
-
u = 1.0 - u; // Not sure why these are necessary: somewhat concerning.
309
-
v = 1.0 - v; // They make it work though, so hey.
315
+
/*! @todo (Moses Turner) It should not be necessary to reverse the U and V coords.
316
+
* I have no idea why it is like this. It shouldn't be like this.
317
+
* It must be something wrong with the undistortion calibrator.
318
+
* The V2 undistortion calibrator software is here if you want to look:
319
+
* https://github.com/BryanChrisBrown/ProjectNorthStar/tree/feat-gen-2-software/Software/North%20Star%20Gen%202/North%20Star%20Calibrator
320
+
*/
321
+
//u = 1.0 - u;
322
+
v = 1.0 - v;
323
+
310
324
311
325
struct ns_hmd *ns = ns_hmd(xdev);
312
326
···
321
335
float up_ray_bound = tan(ns->eye_configs_v2[view].fov.angle_up);
322
336
float down_ray_bound = tan(ns->eye_configs_v2[view].fov.angle_down);
323
337
324
-
338
+
float u_eye = map(x_ray, left_ray_bound, right_ray_bound, 0, 1);
325
339
326
-
// Both of these are very concise implementations of map() in Arduino.
327
-
// https://www.arduino.cc/reference/en/language/functions/math/map/
328
-
// In other words, a one-axis linear transformation.
329
-
// I wish I was better at linear algebra so I had could describe this
330
-
// better
331
-
332
-
// map(x_ray, left_ray_bound, right_ray_bound, 0, 1)
333
-
float u_eye =
334
-
(x_ray + right_ray_bound) / (right_ray_bound - left_ray_bound);
335
-
336
-
// map(y_ray, down_ray_bound, up_ray_bound, 0, 1)
337
-
float v_eye = (y_ray + up_ray_bound) / (up_ray_bound - down_ray_bound);
340
+
float v_eye = map(y_ray, down_ray_bound, up_ray_bound, 0, 1);
338
341
339
342
340
343
// boilerplate, put the UV coordinates in all the RGB slots
···
404
407
cJSON_GetObjectItemCaseSensitive(config_json, "baseline"),
405
408
&ns->ipd);
406
409
ns->ipd = ns->ipd / 1000.0f; // converts from mm to m
410
+
/*! @todo (Moses Turner) Next four u_json_get_float_array calls don't make any sense.
411
+
* They put the X coefficients from the JSON file into the Y coefficients in the structs, which is totally wrong, but the distortion looks totally wrong if we don't do this.
412
+
*/
407
413
u_json_get_float_array(cJSON_GetObjectItemCaseSensitive(
408
414
config_json, "left_uv_to_rect_x"),
409
415
ns->eye_configs_v2[0].y_coefficients,
···
423
429
424
430
if (!u_json_get_float(
425
431
cJSON_GetObjectItemCaseSensitive(config_json,
426
-
"leftEyeAngleLeft"),
432
+
"left_fov_radians_left"),
427
433
&ns->eye_configs_v2[0]
428
434
.fov
429
435
.angle_left)) { // not putting this directly in
···
437
443
"example in "
438
444
"src/xrt/drivers/north_star/"
439
445
"v2_example_config.json.");
440
-
ns->eye_configs_v2[0].fov.angle_left = -0.6;
441
-
ns->eye_configs_v2[0].fov.angle_right = 0.6;
442
-
ns->eye_configs_v2[0].fov.angle_up = 0.6;
443
-
ns->eye_configs_v2[0].fov.angle_down = -0.6;
446
+
ns->eye_configs_v2[0].fov.angle_left = -0.8;
447
+
ns->eye_configs_v2[0].fov.angle_right = 0.8;
448
+
ns->eye_configs_v2[0].fov.angle_up = 0.8;
449
+
ns->eye_configs_v2[0].fov.angle_down = -0.8;
444
450
445
-
ns->eye_configs_v2[1].fov.angle_left = -0.6;
446
-
ns->eye_configs_v2[1].fov.angle_right = 0.6;
447
-
ns->eye_configs_v2[1].fov.angle_up = 0.6;
448
-
ns->eye_configs_v2[1].fov.angle_down = -0.6;
451
+
ns->eye_configs_v2[1].fov.angle_left = -0.8;
452
+
ns->eye_configs_v2[1].fov.angle_right = 0.8;
453
+
ns->eye_configs_v2[1].fov.angle_up = 0.8;
454
+
ns->eye_configs_v2[1].fov.angle_down = -0.8;
449
455
450
456
451
457
452
458
} else {
453
-
u_json_get_float(
454
-
cJSON_GetObjectItemCaseSensitive(
455
-
config_json, "leftEyeAngleRight"),
456
-
&ns->eye_configs_v2[0].fov.angle_right);
459
+
460
+
461
+
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
462
+
config_json, "left_fov_radians_left"),
463
+
&ns->eye_configs_v2[0].fov.angle_left);
464
+
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
465
+
config_json, "left_fov_radians_right"),
466
+
&ns->eye_configs_v2[0].fov.angle_right);
457
467
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
458
-
config_json, "leftEyeAngleUp"),
459
-
&ns->eye_configs_v2[0].fov.angle_up);
468
+
config_json, "left_fov_radians_up"),
469
+
&ns->eye_configs_v2[0].fov.angle_up);
460
470
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
461
-
config_json, "leftEyeAngleDown"),
462
-
&ns->eye_configs_v2[0].fov.angle_down);
471
+
config_json, "left_fov_radians_down"),
472
+
&ns->eye_configs_v2[0].fov.angle_down);
463
473
464
474
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
465
-
config_json, "rightEyeAngleLeft"),
466
-
&ns->eye_configs_v2[1].fov.angle_left);
467
-
u_json_get_float(
468
-
cJSON_GetObjectItemCaseSensitive(
469
-
config_json, "rightEyeAngleRight"),
470
-
&ns->eye_configs_v2[1].fov.angle_right);
475
+
config_json, "right_fov_radians_left"),
476
+
&ns->eye_configs_v2[1].fov.angle_left);
477
+
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
478
+
config_json, "right_fov_radians_right"),
479
+
&ns->eye_configs_v2[1].fov.angle_right);
471
480
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
472
-
config_json, "rightEyeAngleUp"),
473
-
&ns->eye_configs_v2[1].fov.angle_up);
481
+
config_json, "right_fov_radians_up"),
482
+
&ns->eye_configs_v2[1].fov.angle_up);
474
483
u_json_get_float(cJSON_GetObjectItemCaseSensitive(
475
-
config_json, "rightEyeAngleDown"),
476
-
&ns->eye_configs_v2[1].fov.angle_down);
484
+
config_json, "right_fov_radians_down"),
485
+
&ns->eye_configs_v2[1].fov.angle_down);
477
486
}
478
487
479
488
ns->is_v2 = true;
-153
src/xrt/drivers/north_star/v1_example_config.json
-153
src/xrt/drivers/north_star/v1_example_config.json
···
1
-
{
2
-
"leftEye": {
3
-
"ellipseMinorAxis": 0.24494899809360505,
4
-
"ellipseMajorAxis": 0.3099985122680664,
5
-
"screenForward": {
6
-
"x": 0.2824554741382599,
7
-
"y": -0.20611988008022309,
8
-
"z": 0.9368743300437927
9
-
},
10
-
"screenPosition": {
11
-
"x": -0.07859157025814057,
12
-
"y": -0.005049339961260557,
13
-
"z": 0.012514465488493443
14
-
},
15
-
"eyePosition": {
16
-
"x": -0.03200000151991844,
17
-
"y": 0.001083331648260355,
18
-
"z": -0.012499995529651642
19
-
},
20
-
"eyeRotation": {
21
-
"x": 7.395533370627759e-32,
22
-
"y": 1.7763568394002506e-15,
23
-
"z": 1.1241009818395605e-14,
24
-
"w": 1.0
25
-
},
26
-
"cameraProjection": {
27
-
"x": -0.699999988079071,
28
-
"y": 0.699999988079071,
29
-
"z": 0.30000001192092898,
30
-
"w": -1.399999976158142
31
-
},
32
-
"sphereToWorldSpace": {
33
-
"e00": 0.05101080238819122,
34
-
"e01": 0.06071346998214722,
35
-
"e02": 0.29330453276634219,
36
-
"e03": -0.11532726138830185,
37
-
"e10": 0.0,
38
-
"e11": 0.23695310950279237,
39
-
"e12": -0.07855913043022156,
40
-
"e13": 0.026422245427966119,
41
-
"e20": -0.23957861959934236,
42
-
"e21": 0.012927045114338398,
43
-
"e22": 0.062450066208839419,
44
-
"e23": -0.05475877597928047,
45
-
"e30": 0.0,
46
-
"e31": 0.0,
47
-
"e32": 0.0,
48
-
"e33": 1.0
49
-
},
50
-
"worldToScreenSpace": {
51
-
"e00": 1.3777992725372315,
52
-
"e01": 14.81815242767334,
53
-
"e02": 2.8447227478027345,
54
-
"e03": 0.14750510454177857,
55
-
"e10": -16.076780319213868,
56
-
"e11": 0.5414643883705139,
57
-
"e12": 4.966066360473633,
58
-
"e13": -1.3229130506515504,
59
-
"e20": 0.2824554145336151,
60
-
"e21": -0.2061198651790619,
61
-
"e22": 0.9368743300437927,
62
-
"e23": 0.009433363564312458,
63
-
"e30": 0.0,
64
-
"e31": 0.0,
65
-
"e32": 0.0,
66
-
"e33": 1.0
67
-
}
68
-
},
69
-
"rightEye": {
70
-
"ellipseMinorAxis": 0.24494899809360505,
71
-
"ellipseMajorAxis": 0.3099985122680664,
72
-
"screenForward": {
73
-
"x": -0.2919599413871765,
74
-
"y": -0.20477625727653504,
75
-
"z": 0.934251606464386
76
-
},
77
-
"screenPosition": {
78
-
"x": 0.07982077449560166,
79
-
"y": -0.005731542594730854,
80
-
"z": 0.01401037909090519
81
-
},
82
-
"eyePosition": {
83
-
"x": 0.03200000151991844,
84
-
"y": 0.001083331648260355,
85
-
"z": -0.012499995529651642
86
-
},
87
-
"eyeRotation": {
88
-
"x": 7.395533370627759e-32,
89
-
"y": 1.7763568394002506e-15,
90
-
"z": 1.1241009818395605e-14,
91
-
"w": 1.0
92
-
},
93
-
"cameraProjection": {
94
-
"x": -0.699999988079071,
95
-
"y": 0.699999988079071,
96
-
"z": 0.30000001192092898,
97
-
"w": -1.399999976158142
98
-
},
99
-
"sphereToWorldSpace": {
100
-
"e00": 0.05101081356406212,
101
-
"e01": -0.060713451355695727,
102
-
"e02": -0.29330453276634219,
103
-
"e03": 0.11689796298742295,
104
-
"e10": 0.0,
105
-
"e11": 0.23695312440395356,
106
-
"e12": -0.07855910062789917,
107
-
"e13": 0.026351751759648324,
108
-
"e20": 0.23957861959934236,
109
-
"e21": 0.0129270413890481,
110
-
"e22": 0.062450066208839419,
111
-
"e23": -0.052946362644433978,
112
-
"e30": 0.0,
113
-
"e31": 0.0,
114
-
"e32": 0.0,
115
-
"e33": 1.0
116
-
},
117
-
"worldToScreenSpace": {
118
-
"e00": -1.4188950061798096,
119
-
"e01": 14.821781158447266,
120
-
"e02": 2.805335283279419,
121
-
"e03": 0.15890516340732575,
122
-
"e10": -16.02415657043457,
123
-
"e11": -0.5628440976142883,
124
-
"e12": -5.131026744842529,
125
-
"e13": 1.3477222919464112,
126
-
"e20": -0.2919600307941437,
127
-
"e21": -0.2047763168811798,
128
-
"e22": 0.9342517256736755,
129
-
"e23": 0.00904157105833292,
130
-
"e30": 0.0,
131
-
"e31": 0.0,
132
-
"e32": 0.0,
133
-
"e33": 1.0
134
-
}
135
-
},
136
-
"leapTracker": {
137
-
"name": "Leap Odometry Origin",
138
-
"serial": "",
139
-
"localPose": {
140
-
"position": {
141
-
"x": 0.0,
142
-
"y": 0.039777886122465137,
143
-
"z": 0.0804821103811264
144
-
},
145
-
"rotation": {
146
-
"x": 0.3123600482940674,
147
-
"y": 0.0,
148
-
"z": 0.0,
149
-
"w": 0.9499638080596924
150
-
}
151
-
}
152
-
}
153
-
}
+3
src/xrt/drivers/north_star/v1_example_config.json.license
+3
src/xrt/drivers/north_star/v1_example_config.json.license
+153
src/xrt/drivers/north_star/v1_example_config_deckx_50cm.json
+153
src/xrt/drivers/north_star/v1_example_config_deckx_50cm.json
···
1
+
{
2
+
"leftEye": {
3
+
"ellipseMinorAxis": 0.24494899809360505,
4
+
"ellipseMajorAxis": 0.3099985122680664,
5
+
"screenForward": {
6
+
"x": 0.37583938241004946,
7
+
"y": -0.2950916886329651,
8
+
"z": 0.878445029258728
9
+
},
10
+
"screenPosition": {
11
+
"x": -0.07663544267416,
12
+
"y": -0.006479046773165464,
13
+
"z": 0.015394501388072968
14
+
},
15
+
"eyePosition": {
16
+
"x": -0.030106136575341226,
17
+
"y": -0.014616160653531552,
18
+
"z": -0.004279683344066143
19
+
},
20
+
"eyeRotation": {
21
+
"x": 7.395533370627759e-32,
22
+
"y": 1.7763568394002506e-15,
23
+
"z": 1.1241009818395605e-14,
24
+
"w": 1.0
25
+
},
26
+
"cameraProjection": {
27
+
"x": -0.699999988079071,
28
+
"y": 0.699999988079071,
29
+
"z": 0.30000001192092898,
30
+
"w": -1.399999976158142
31
+
},
32
+
"sphereToWorldSpace": {
33
+
"e00": 0.05101080238819122,
34
+
"e01": 0.06071346998214722,
35
+
"e02": 0.29330453276634219,
36
+
"e03": -0.1151043102145195,
37
+
"e10": 0.0,
38
+
"e11": 0.23695310950279237,
39
+
"e12": -0.07855913043022156,
40
+
"e13": 0.026667742058634759,
41
+
"e20": -0.23957861959934236,
42
+
"e21": 0.012927045114338398,
43
+
"e22": 0.062450066208839419,
44
+
"e23": -0.05541845038533211,
45
+
"e30": 0.0,
46
+
"e31": 0.0,
47
+
"e32": 0.0,
48
+
"e33": 1.0
49
+
},
50
+
"worldToScreenSpace": {
51
+
"e00": 2.027873992919922,
52
+
"e01": 14.474093437194825,
53
+
"e02": 3.994591236114502,
54
+
"e03": 0.1876906156539917,
55
+
"e10": -15.437186241149903,
56
+
"e11": 0.3111684322357178,
57
+
"e12": 6.709270000457764,
58
+
"e13": -1.284305453300476,
59
+
"e20": 0.37583935260772707,
60
+
"e21": -0.2950916290283203,
61
+
"e22": 0.8784450888633728,
62
+
"e23": 0.013367477804422379,
63
+
"e30": 0.0,
64
+
"e31": 0.0,
65
+
"e32": 0.0,
66
+
"e33": 1.0
67
+
}
68
+
},
69
+
"rightEye": {
70
+
"ellipseMinorAxis": 0.24494899809360505,
71
+
"ellipseMajorAxis": 0.3099985122680664,
72
+
"screenForward": {
73
+
"x": -0.35585933923721316,
74
+
"y": -0.27381938695907595,
75
+
"z": 0.8935251235961914
76
+
},
77
+
"screenPosition": {
78
+
"x": 0.07577500492334366,
79
+
"y": -0.009351296350359917,
80
+
"z": 0.014919517561793328
81
+
},
82
+
"eyePosition": {
83
+
"x": 0.0300484336912632,
84
+
"y": 0.006817266810685396,
85
+
"z": 0.0022060188930481674
86
+
},
87
+
"eyeRotation": {
88
+
"x": 7.395533370627759e-32,
89
+
"y": 1.7763568394002506e-15,
90
+
"z": 1.1241009818395605e-14,
91
+
"w": 1.0
92
+
},
93
+
"cameraProjection": {
94
+
"x": -0.699999988079071,
95
+
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-17
src/xrt/drivers/north_star/v2_example_config.json
-17
src/xrt/drivers/north_star/v2_example_config.json
···
1
-
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2
-
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-
17
-
}
+96
src/xrt/drivers/north_star/v2_example_config_lonestar_50cm.json
+96
src/xrt/drivers/north_star/v2_example_config_lonestar_50cm.json
···
1
+
{
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