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m/space: Restore upgrading of 3dof relations with valid positions
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2239>
authored by
Christoph Haag
and committed by
Marge Bot
6d71c083
9da09d4d
+30
-9
src/xrt/auxiliary/math/m_space.cpp
+30
-9
src/xrt/auxiliary/math/m_space.cpp
···
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flags af = get_flags(a);
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flags bf = get_flags(b);
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// If either of the relations does not have a valid or tracked flag, the entire chain loses that flag.
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flags nf = {};
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nf.has_orientation = af.has_orientation && bf.has_orientation;
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nf.has_position = af.has_position && bf.has_position;
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nf.has_tracked_orientation = af.has_tracked_orientation && bf.has_tracked_orientation;
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nf.has_tracked_position = af.has_tracked_position && bf.has_tracked_position;
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nf.has_linear_velocity = af.has_linear_velocity && bf.has_linear_velocity;
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nf.has_angular_velocity = af.has_angular_velocity && bf.has_angular_velocity;
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struct xrt_pose pose = XRT_POSE_IDENTITY;
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struct xrt_vec3 linear_velocity = XRT_VEC3_ZERO;
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struct xrt_vec3 angular_velocity = XRT_VEC3_ZERO;
···
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// work. The flags of the result are determined in nf and not taken from the result of the transform.
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make_valid_pose(af, &a->pose, &body_pose);
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make_valid_pose(bf, &b->pose, &base_pose);
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// This is a band aid to make 3dof devices work until we have a real solution.
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// A 3dof device may return a relation with only orientation valid/tracked and no position.
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//
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// Monado wants to apply a predefined offset to 3dof devices, giving them a position.
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//
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// But per the comment below "If either of the relations does not have a valid or tracked flag, the entire chain
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// loses that flag".
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//
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// For now we upgrade every relation that only has an orientation, to also have a position. Note that
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// make_valid_pose zeroed the position if has_position was not set originally, ensuring there are no garbage
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// values propagated.
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if (af.has_orientation && !af.has_position) {
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af.has_position = true;
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}
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if (bf.has_orientation && !bf.has_position) {
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bf.has_position = true;
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}
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// If either of the relations does not have a valid or tracked flag, the entire chain loses that flag.
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flags nf = {};
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nf.has_orientation = af.has_orientation && bf.has_orientation;
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nf.has_position = af.has_position && bf.has_position;
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nf.has_tracked_orientation = af.has_tracked_orientation && bf.has_tracked_orientation;
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nf.has_tracked_position = af.has_tracked_position && bf.has_tracked_position;
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nf.has_linear_velocity = af.has_linear_velocity && bf.has_linear_velocity;
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nf.has_angular_velocity = af.has_angular_velocity && bf.has_angular_velocity;
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// Not already valid poses needed to be made valid because the transoformed pose would be undefined otherwise
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// and we still want e.g. valid positions.
+23
-14
tests/tests_relation_chain.cpp
+23
-14
tests/tests_relation_chain.cpp
···
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enum Functions
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{
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NV, // (Non-Identity) (Space Relation) Not Valid Not Tracked
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VT, // (Non-Identity) (Space Relation) Valid Tracked
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VNT, // (Non-Identity) (Space Relation) Valid Not Tracked
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NV, // (Non-Identity) (Space Relation) Neither Position/Orientation Valid, Not Tracked
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VT, // (Non-Identity) (Space Relation) Position/Orientation Valid, Tracked
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VNT, // (Non-Identity) (Space Relation) Position/Orientation Valid, Not Tracked
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P, // (Non-Identity) Pose
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IP, // Identity Pose
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ONLY_ORIENTATION, // (Non-Identity) (Space Relation) Only orientation
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ONLY_POSITION, // (Non-Identity) (Space Relation) Only position
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ONLY_ORIENTATION, // (Non-Identity) (Space Relation) Only orientation Valid, Not Tracked
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ONLY_POSITION, // (Non-Identity) (Space Relation) Only position Valid, Not Tracked
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};
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static void
···
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TEST_FLAGS(kFlagsValid, VT, VT, VNT, VT);
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TEST_FLAGS(kFlagsValid, IP, VT, P, VNT, P, VT);
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TEST_FLAGS(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT, VT, ONLY_ORIENTATION);
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// ONLY_ORIENTATION relation is upgraded to position valid
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TEST_FLAGS(kFlagsValid, VT, ONLY_ORIENTATION);
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TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, VT, ONLY_POSITION);
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TEST_FLAGS(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT, ONLY_ORIENTATION, VT);
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// ONLY_ORIENTATION relation is upgraded to position valid
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TEST_FLAGS(kFlagsValid, ONLY_ORIENTATION, VT);
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TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, ONLY_POSITION, VT);
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TEST_FLAGS(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT, P, VT, ONLY_ORIENTATION, P);
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// ONLY_ORIENTATION relation is upgraded to position valid
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TEST_FLAGS(kFlagsValid, P, VT, ONLY_ORIENTATION, P);
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TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, P, VT, ONLY_POSITION, P);
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TEST_FLAGS(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT, P, ONLY_ORIENTATION, VT, P);
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// ONLY_ORIENTATION relation is upgraded to position valid
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TEST_FLAGS(kFlagsValid, P, ONLY_ORIENTATION, VT, P);
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TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, P, ONLY_POSITION, VT, P);
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}
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···
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TEST_FLAGS(kFlagsValid, P, VNT, IP, P);
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TEST_FLAGS(kFlagsValid, P, IP, VNT, P);
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TEST_FLAGS(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT, P, ONLY_ORIENTATION, IP, P);
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// ONLY_ORIENTATION relation is upgraded to position valid
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TEST_FLAGS(kFlagsValid, P, ONLY_ORIENTATION, IP, P);
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TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, P, ONLY_POSITION, IP, P);
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TEST_FLAGS(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT, ONLY_ORIENTATION, VNT);
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// ONLY_ORIENTATION relation is upgraded to position valid
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TEST_FLAGS(kFlagsValid, ONLY_ORIENTATION, VNT);
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TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, ONLY_POSITION, VNT);
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TEST_FLAGS(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT, VNT, ONLY_ORIENTATION);
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// ONLY_ORIENTATION relation is upgraded to position valid
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TEST_FLAGS(kFlagsValid, VNT, ONLY_ORIENTATION);
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TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, VNT, ONLY_POSITION);
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TEST_FLAGS(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT, ONLY_ORIENTATION, P, VNT);
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// ONLY_ORIENTATION relation is upgraded to position valid
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TEST_FLAGS(kFlagsValid, ONLY_ORIENTATION, P, VNT);
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TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, ONLY_POSITION, P, VNT);
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TEST_FLAGS(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT, VNT, ONLY_ORIENTATION, P);
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// ONLY_ORIENTATION relation is upgraded to position valid
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TEST_FLAGS(kFlagsValid, VNT, ONLY_ORIENTATION, P);
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TEST_FLAGS(XRT_SPACE_RELATION_POSITION_VALID_BIT, VNT, ONLY_POSITION, P);
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}
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}