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The open source OpenXR runtime
d/blubur_s1: Wire up Poly3k distortion
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2590>
authored by
Beyley Cardellio
and committed by
Marge Bot
384b347e
b2ffa637
+159
-32
+155
-32
src/xrt/drivers/blubur_s1/blubur_s1_hmd.c
+155
-32
src/xrt/drivers/blubur_s1/blubur_s1_hmd.c
···
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#include "util/u_distortion_mesh.h"
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#include "util/u_misc.h"
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#include "util/u_time.h"
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#include "util/u_debug.h"
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#include "blubur_s1_interface.h"
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#include "blubur_s1_internal.h"
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DEBUG_GET_ONCE_BOOL_OPTION(blubur_s1_test_distortion, "BLUBUR_S1_TEST_DISTORTION", false)
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#define VIEW_SIZE (1440)
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#define PANEL_WIDTH (VIEW_SIZE * 2)
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static struct blubur_s1_hmd *
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blubur_s1_hmd(struct xrt_device *xdev)
···
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}
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static xrt_result_t
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blubur_s1_hmd_compute_distortion(
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blubur_s1_hmd_compute_poly_3k_distortion(
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struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *out_result)
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{
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struct blubur_s1_hmd *hmd = blubur_s1_hmd(xdev);
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struct u_poly_3k_eye_values *values = &hmd->poly_3k_values[view];
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u_compute_distortion_poly_3k(values, view, u, v, out_result);
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return XRT_SUCCESS;
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}
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static xrt_result_t
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blubur_s1_hmd_compute_test_distortion(
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struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *out_result)
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{
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float x = u * 2.0f - 1.0f;
···
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// TODO: track pose
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*out_relation = (struct xrt_space_relation){
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.relation_flags = 0,
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.relation_flags = XRT_SPACE_RELATION_ORIENTATION_VALID_BIT,
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.pose =
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{
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.orientation = XRT_QUAT_IDENTITY,
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},
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};
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return XRT_SUCCESS;
···
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}
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static xrt_result_t
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blubur_s1_get_view_poses(struct xrt_device *xdev,
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const struct xrt_vec3 *default_eye_relation,
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int64_t at_timestamp_ns,
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uint32_t view_count,
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struct xrt_space_relation *out_head_relation,
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struct xrt_fov *out_fovs,
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struct xrt_pose *out_poses)
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blubur_s1_hmd_get_view_poses(struct xrt_device *xdev,
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const struct xrt_vec3 *default_eye_relation,
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int64_t at_timestamp_ns,
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uint32_t view_count,
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struct xrt_space_relation *out_head_relation,
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struct xrt_fov *out_fovs,
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struct xrt_pose *out_poses)
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{
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return u_device_get_view_poses(xdev, default_eye_relation, at_timestamp_ns, view_count, out_head_relation,
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out_fovs, out_poses);
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}
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static void
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blubur_s1_hmd_fill_in_poly_3k(struct blubur_s1_hmd *hmd)
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{
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hmd->poly_3k_values[0] = (struct u_poly_3k_eye_values){
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.channels =
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{
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{
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.display_size = {PANEL_WIDTH, VIEW_SIZE},
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.eye_center = {711.37015431841485f, 702.64004980572099f},
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.k =
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{
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2.4622190410034843e-007f,
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1.0691119647014047e-012f,
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6.9872433537257567e-019f,
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},
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},
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{
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.display_size = {PANEL_WIDTH, VIEW_SIZE},
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.eye_center = {710.34756994635097f, 702.30352808724865f},
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.k =
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{
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3.3081468849915169e-007f,
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6.6872723393907828e-013f,
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1.5518253834715642e-018f,
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},
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},
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{
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.display_size = {PANEL_WIDTH, VIEW_SIZE},
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.eye_center = {709.19922270098721f, 702.42895617576141f},
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.k =
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{
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4.6306924021839207e-007f,
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1.5032174824131911e-013f,
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2.6240474534705725e-018f,
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},
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},
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},
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};
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// NOTE: these distortion values appear to exhibit the Y offset bug that some WMR headsets do, worked around it
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// by copying eye center Y to the other eye
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hmd->poly_3k_values[1] = (struct u_poly_3k_eye_values){
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.channels =
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{
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{
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.display_size = {PANEL_WIDTH, VIEW_SIZE},
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.eye_center = {2166.0195141711984f,
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hmd->poly_3k_values->channels[0].eye_center.y /* 693.80762487779759f */},
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.k =
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{
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1.6848296693566205e-007f,
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1.1446999540490656e-012f,
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1.8794325973106313e-019f,
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},
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},
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{
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.display_size = {PANEL_WIDTH, VIEW_SIZE},
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.eye_center = {2164.9567320272263f,
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hmd->poly_3k_values->channels[1].eye_center.y /* 693.8666328641682f */},
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.k =
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{
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2.2979021408214227e-007f,
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9.2094643470416607e-013f,
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6.8614927296300735e-019f,
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},
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},
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{
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.display_size = {PANEL_WIDTH, VIEW_SIZE},
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.eye_center = {2164.0315727658904f,
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hmd->poly_3k_values->channels[2].eye_center.y /* 693.45351818980896f */},
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.k =
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{
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3.1993667496208384e-007f,
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6.1930456677642785e-013f,
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1.2848584929803272e-018f,
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},
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},
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},
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};
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struct xrt_matrix_3x3 affine_xform[2] = {
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{
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.v =
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{
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886.745f, 0.205964f, 710.326f, //
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0, 886.899f, 706.657f, //
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0, 0, 1, //
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},
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},
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{
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.v =
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{
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880.317f, 0.277553f, 2163.58f, //
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0, 879.669f, 698.35f, //
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0, 0, 1, //
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},
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},
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};
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for (int i = 0; i < 2; i++) {
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math_matrix_3x3_inverse(&affine_xform[i], &hmd->poly_3k_values[i].inv_affine_xform);
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u_compute_distortion_bounds_poly_3k(
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&hmd->poly_3k_values[i].inv_affine_xform, hmd->poly_3k_values[i].channels, i,
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&hmd->base.hmd->distortion.fov[i], &hmd->poly_3k_values[i].tex_x_range,
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&hmd->poly_3k_values[i].tex_y_range);
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}
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}
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struct blubur_s1_hmd *
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blubur_s1_hmd_create(struct os_hid_device *dev, const char *serial)
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{
···
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hmd->base.name = XRT_DEVICE_GENERIC_HMD;
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hmd->base.device_type = XRT_DEVICE_TYPE_HMD;
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const int view_size = 1440;
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hmd->base.hmd->screens[0].w_pixels = view_size * 2;
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hmd->base.hmd->screens[0].h_pixels = view_size;
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hmd->base.hmd->screens[0].w_pixels = PANEL_WIDTH;
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hmd->base.hmd->screens[0].h_pixels = VIEW_SIZE;
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hmd->base.hmd->screens[0].nominal_frame_interval_ns = 1000000000LLU / 120; // 120hz
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hmd->base.hmd->view_count = 2;
···
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{
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.x_pixels = 0,
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.y_pixels = 0,
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.w_pixels = view_size,
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.h_pixels = view_size,
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.w_pixels = VIEW_SIZE,
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.h_pixels = VIEW_SIZE,
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},
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.display =
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{
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.w_pixels = view_size,
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.h_pixels = view_size,
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.w_pixels = VIEW_SIZE,
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.h_pixels = VIEW_SIZE,
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},
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.rot = u_device_rotation_ident,
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};
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hmd->base.hmd->views[1] = (struct xrt_view){
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.viewport =
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{
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.x_pixels = view_size,
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.x_pixels = VIEW_SIZE,
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.y_pixels = 0,
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.w_pixels = view_size,
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.h_pixels = view_size,
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.w_pixels = VIEW_SIZE,
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.h_pixels = VIEW_SIZE,
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},
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.display =
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{
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.w_pixels = view_size,
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.h_pixels = view_size,
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.w_pixels = VIEW_SIZE,
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.h_pixels = VIEW_SIZE,
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},
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.rot = u_device_rotation_ident,
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};
···
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hmd->base.hmd->blend_modes[0] = XRT_BLEND_MODE_OPAQUE;
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hmd->base.hmd->blend_mode_count = 1;
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// TODO: what's the real FOV?
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hmd->base.hmd->distortion.fov[0] = (struct xrt_fov){
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.angle_left = 45.0f * (M_PI / 180.0f),
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.angle_right = 45.0f * (M_PI / 180.0f),
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.angle_up = 45.0f * (M_PI / 180.0f),
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.angle_down = 45.0f * (M_PI / 180.0f),
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};
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hmd->base.hmd->distortion.fov[1] = hmd->base.hmd->distortion.fov[0];
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blubur_s1_hmd_fill_in_poly_3k(hmd);
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hmd->base.hmd->distortion.models = XRT_DISTORTION_MODEL_COMPUTE;
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hmd->base.hmd->distortion.preferred = XRT_DISTORTION_MODEL_COMPUTE;
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hmd->base.compute_distortion = blubur_s1_hmd_compute_distortion;
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hmd->base.compute_distortion = debug_get_bool_option_blubur_s1_test_distortion()
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? blubur_s1_hmd_compute_test_distortion
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: blubur_s1_hmd_compute_poly_3k_distortion;
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u_distortion_mesh_fill_in_compute(&hmd->base);
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snprintf(hmd->base.str, XRT_DEVICE_NAME_LEN, "Blubur S1");
···
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hmd->base.update_inputs = blubur_s1_hmd_update_inputs;
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hmd->base.get_tracked_pose = blubur_s1_hmd_get_tracked_pose;
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hmd->base.get_presence = blubur_s1_hmd_get_presence;
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hmd->base.get_view_poses = blubur_s1_get_view_poses;
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hmd->base.get_view_poses = blubur_s1_hmd_get_view_poses;
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return hmd;
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}
+4
src/xrt/drivers/blubur_s1/blubur_s1_internal.h
+4
src/xrt/drivers/blubur_s1/blubur_s1_internal.h