matrixfurry.com
The open source OpenXR runtime
xrt: rename offset → initial_offset on xrt_tracking_origin
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2286>
+12
-12
src/xrt/auxiliary/util/u_builders.c
+12
-12
src/xrt/auxiliary/util/u_builders.c
···
113
struct xrt_tracking_origin *right_origin = right ? right->tracking_origin : NULL;
114
115
if (left_origin != NULL && left_origin->type == XRT_TRACKING_TYPE_NONE) {
116
-
left_origin->offset.position.x = -0.2f;
117
-
left_origin->offset.position.y = 1.3f;
118
-
left_origin->offset.position.z = -0.5f;
119
}
120
121
if (right_origin != NULL && right_origin->type == XRT_TRACKING_TYPE_NONE) {
122
-
right_origin->offset.position.x = 0.2f;
123
-
right_origin->offset.position.y = 1.3f;
124
-
right_origin->offset.position.z = -0.5f;
125
}
126
127
// Head comes last, because left and right may share tracking origin.
128
if (head_origin != NULL && head_origin->type == XRT_TRACKING_TYPE_NONE) {
129
// "nominal height" 1.6m
130
-
head_origin->offset.position.x = 0.0f;
131
-
head_origin->offset.position.y = 1.6f;
132
-
head_origin->offset.position.z = 0.0f;
133
}
134
135
if (head_origin) {
136
-
apply_offset(&head_origin->offset.position, global_tracking_origin_offset);
137
}
138
if (left_origin && left_origin != head_origin) {
139
-
apply_offset(&left->tracking_origin->offset.position, global_tracking_origin_offset);
140
}
141
if (right_origin && right_origin != head_origin && right_origin != left_origin) {
142
-
apply_offset(&right->tracking_origin->offset.position, global_tracking_origin_offset);
143
}
144
}
145
···
113
struct xrt_tracking_origin *right_origin = right ? right->tracking_origin : NULL;
114
115
if (left_origin != NULL && left_origin->type == XRT_TRACKING_TYPE_NONE) {
116
+
left_origin->initial_offset.position.x = -0.2f;
117
+
left_origin->initial_offset.position.y = 1.3f;
118
+
left_origin->initial_offset.position.z = -0.5f;
119
}
120
121
if (right_origin != NULL && right_origin->type == XRT_TRACKING_TYPE_NONE) {
122
+
right_origin->initial_offset.position.x = 0.2f;
123
+
right_origin->initial_offset.position.y = 1.3f;
124
+
right_origin->initial_offset.position.z = -0.5f;
125
}
126
127
// Head comes last, because left and right may share tracking origin.
128
if (head_origin != NULL && head_origin->type == XRT_TRACKING_TYPE_NONE) {
129
// "nominal height" 1.6m
130
+
head_origin->initial_offset.position.x = 0.0f;
131
+
head_origin->initial_offset.position.y = 1.6f;
132
+
head_origin->initial_offset.position.z = 0.0f;
133
}
134
135
if (head_origin) {
136
+
apply_offset(&head_origin->initial_offset.position, global_tracking_origin_offset);
137
}
138
if (left_origin && left_origin != head_origin) {
139
+
apply_offset(&left->tracking_origin->initial_offset.position, global_tracking_origin_offset);
140
}
141
if (right_origin && right_origin != head_origin && right_origin != left_origin) {
142
+
apply_offset(&right->tracking_origin->initial_offset.position, global_tracking_origin_offset);
143
}
144
}
145
+1
-1
src/xrt/auxiliary/util/u_device.c
+1
-1
src/xrt/auxiliary/util/u_device.c
···
316
if (alloc_tracking) {
317
xdev->tracking_origin = (struct xrt_tracking_origin *)(ptr + offset_tracking);
318
xdev->tracking_origin->type = XRT_TRACKING_TYPE_NONE;
319
-
xdev->tracking_origin->offset.orientation.w = 1.0f;
320
snprintf(xdev->tracking_origin->name, XRT_TRACKING_NAME_LEN, "%s", "No tracking");
321
}
322
···
316
if (alloc_tracking) {
317
xdev->tracking_origin = (struct xrt_tracking_origin *)(ptr + offset_tracking);
318
xdev->tracking_origin->type = XRT_TRACKING_TYPE_NONE;
319
+
xdev->tracking_origin->initial_offset.orientation.w = 1.0f;
320
snprintf(xdev->tracking_origin->name, XRT_TRACKING_NAME_LEN, "%s", "No tracking");
321
}
322
+1
-1
src/xrt/auxiliary/util/u_space_overseer.c
+1
-1
src/xrt/auxiliary/util/u_space_overseer.c
+2
-2
src/xrt/drivers/euroc/euroc_device.c
+2
-2
src/xrt/drivers/euroc/euroc_device.c
···
196
197
xd->tracking_origin = &ed->tracking_origin;
198
xd->tracking_origin->type = XRT_TRACKING_TYPE_EXTERNAL_SLAM;
199
-
xd->tracking_origin->offset.orientation.w = 1.0f;
200
snprintf(xd->tracking_origin->name, XRT_TRACKING_NAME_LEN, "%s %s", dev_name, "SLAM Tracker");
201
202
if (is_hmd) {
···
217
u_var_add_root(ed, dev_name, false);
218
u_var_add_pose(ed, &ed->pose, "pose");
219
u_var_add_pose(ed, &ed->offset, "offset");
220
-
u_var_add_pose(ed, &ed->tracking_origin.offset, "tracking offset");
221
222
bool tracked = xp->tracking->create_tracked_slam(xp->tracking, &ed->slam) >= 0;
223
if (!tracked) {
···
196
197
xd->tracking_origin = &ed->tracking_origin;
198
xd->tracking_origin->type = XRT_TRACKING_TYPE_EXTERNAL_SLAM;
199
+
xd->tracking_origin->initial_offset.orientation.w = 1.0f;
200
snprintf(xd->tracking_origin->name, XRT_TRACKING_NAME_LEN, "%s %s", dev_name, "SLAM Tracker");
201
202
if (is_hmd) {
···
217
u_var_add_root(ed, dev_name, false);
218
u_var_add_pose(ed, &ed->pose, "pose");
219
u_var_add_pose(ed, &ed->offset, "offset");
220
+
u_var_add_pose(ed, &ed->tracking_origin.initial_offset, "tracking offset");
221
222
bool tracked = xp->tracking->create_tracked_slam(xp->tracking, &ed->slam) >= 0;
223
if (!tracked) {
+4
-4
src/xrt/drivers/ht/ht_driver.c
+4
-4
src/xrt/drivers/ht/ht_driver.c
···
203
}
204
205
htd->base.tracking_origin->type = XRT_TRACKING_TYPE_RGB;
206
-
htd->base.tracking_origin->offset.position.x = 0.0f;
207
-
htd->base.tracking_origin->offset.position.y = 0.0f;
208
-
htd->base.tracking_origin->offset.position.z = 0.0f;
209
-
htd->base.tracking_origin->offset.orientation.w = 1.0f;
210
211
htd->base.update_inputs = u_device_noop_update_inputs;
212
htd->base.get_hand_tracking = ht_device_get_hand_tracking;
···
203
}
204
205
htd->base.tracking_origin->type = XRT_TRACKING_TYPE_RGB;
206
+
htd->base.tracking_origin->initial_offset.position.x = 0.0f;
207
+
htd->base.tracking_origin->initial_offset.position.y = 0.0f;
208
+
htd->base.tracking_origin->initial_offset.position.z = 0.0f;
209
+
htd->base.tracking_origin->initial_offset.orientation.w = 1.0f;
210
211
htd->base.update_inputs = u_device_noop_update_inputs;
212
htd->base.get_hand_tracking = ht_device_get_hand_tracking;
+3
-3
src/xrt/drivers/hydra/hydra_driver.c
+3
-3
src/xrt/drivers/hydra/hydra_driver.c
···
595
hs->base.type = XRT_TRACKING_TYPE_HYDRA;
596
snprintf(hs->base.name, XRT_TRACKING_NAME_LEN, "%s", "Razer Hydra magnetic tracking");
597
// Arbitrary static transform from local space to base.
598
-
hs->base.offset.position.y = 1.0f;
599
-
hs->base.offset.position.z = -0.25f;
600
-
hs->base.offset.orientation.w = 1.0f;
601
602
hs->data_hid = data_hid;
603
hs->command_hid = command_hid;
···
595
hs->base.type = XRT_TRACKING_TYPE_HYDRA;
596
snprintf(hs->base.name, XRT_TRACKING_NAME_LEN, "%s", "Razer Hydra magnetic tracking");
597
// Arbitrary static transform from local space to base.
598
+
hs->base.initial_offset.position.y = 1.0f;
599
+
hs->base.initial_offset.position.z = -0.25f;
600
+
hs->base.initial_offset.orientation.w = 1.0f;
601
602
hs->data_hid = data_hid;
603
hs->command_hid = command_hid;
+4
-4
src/xrt/drivers/multi_wrapper/multi.c
+4
-4
src/xrt/drivers/multi_wrapper/multi.c
···
109
m_space_relation_ident(&in_target_space);
110
in_target_space.relation_flags = tracker_relation.relation_flags;
111
112
-
struct xrt_pose *target_offset = &d->tracking_override.target->tracking_origin->offset;
113
-
struct xrt_pose *tracker_offset = &d->tracking_override.tracker->tracking_origin->offset;
114
115
attached_override(d, &target_relation, target_offset, &tracker_relation, tracker_offset,
116
&in_target_space, out_relation);
···
163
m_space_relation_ident(&in_target_space);
164
in_target_space.relation_flags = tracker_relation.relation_flags;
165
166
-
struct xrt_pose *target_offset = &d->tracking_override.target->tracking_origin->offset;
167
-
struct xrt_pose *tracker_offset = &d->tracking_override.tracker->tracking_origin->offset;
168
169
attached_override(d, &out_value->hand_pose, target_offset, &tracker_relation, tracker_offset,
170
&in_target_space, &out_value->hand_pose);
···
109
m_space_relation_ident(&in_target_space);
110
in_target_space.relation_flags = tracker_relation.relation_flags;
111
112
+
struct xrt_pose *target_offset = &d->tracking_override.target->tracking_origin->initial_offset;
113
+
struct xrt_pose *tracker_offset = &d->tracking_override.tracker->tracking_origin->initial_offset;
114
115
attached_override(d, &target_relation, target_offset, &tracker_relation, tracker_offset,
116
&in_target_space, out_relation);
···
163
m_space_relation_ident(&in_target_space);
164
in_target_space.relation_flags = tracker_relation.relation_flags;
165
166
+
struct xrt_pose *target_offset = &d->tracking_override.target->tracking_origin->initial_offset;
167
+
struct xrt_pose *tracker_offset = &d->tracking_override.tracker->tracking_origin->initial_offset;
168
169
attached_override(d, &out_value->hand_pose, target_offset, &tracker_relation, tracker_offset,
170
&in_target_space, &out_value->hand_pose);
+1
-1
src/xrt/drivers/ohmd/oh_device.c
+1
-1
src/xrt/drivers/ohmd/oh_device.c
+1
-1
src/xrt/drivers/realsense/rs_ddev.c
+1
-1
src/xrt/drivers/realsense/rs_ddev.c
···
466
rs->base.destroy = rs_ddev_destroy;
467
rs->base.name = XRT_DEVICE_REALSENSE;
468
rs->base.tracking_origin->type = XRT_TRACKING_TYPE_EXTERNAL_SLAM;
469
-
rs->base.tracking_origin->offset = (struct xrt_pose)XRT_POSE_IDENTITY;
470
471
// Print name.
472
snprintf(rs->base.str, XRT_DEVICE_NAME_LEN, "Intel RealSense Device-SLAM");
···
466
rs->base.destroy = rs_ddev_destroy;
467
rs->base.name = XRT_DEVICE_REALSENSE;
468
rs->base.tracking_origin->type = XRT_TRACKING_TYPE_EXTERNAL_SLAM;
469
+
rs->base.tracking_origin->initial_offset = (struct xrt_pose)XRT_POSE_IDENTITY;
470
471
// Print name.
472
snprintf(rs->base.str, XRT_DEVICE_NAME_LEN, "Intel RealSense Device-SLAM");
+2
-2
src/xrt/drivers/remote/r_hub.c
+2
-2
src/xrt/drivers/remote/r_hub.c
···
415
r->base.destroy = r_hub_system_devices_destroy;
416
r->base.get_roles = r_hub_system_devices_get_roles;
417
r->origin.type = XRT_TRACKING_TYPE_RGB;
418
-
r->origin.offset = (struct xrt_pose)XRT_POSE_IDENTITY;
419
r->reset.head.center = (struct xrt_pose)XRT_POSE_IDENTITY;
420
r->reset.head.center.position.y = 1.6f;
421
r->reset.left.active = true;
···
487
488
struct xrt_space *root = xso->semantic.root; // Convenience
489
struct xrt_space *offset = NULL;
490
-
u_space_overseer_create_offset_space(uso, root, &r->origin.offset, &offset);
491
492
for (uint32_t i = 0; i < r->base.xdev_count; i++) {
493
u_space_overseer_link_space_to_device(uso, offset, r->base.xdevs[i]);
···
415
r->base.destroy = r_hub_system_devices_destroy;
416
r->base.get_roles = r_hub_system_devices_get_roles;
417
r->origin.type = XRT_TRACKING_TYPE_RGB;
418
+
r->origin.initial_offset = (struct xrt_pose)XRT_POSE_IDENTITY;
419
r->reset.head.center = (struct xrt_pose)XRT_POSE_IDENTITY;
420
r->reset.head.center.position.y = 1.6f;
421
r->reset.left.active = true;
···
487
488
struct xrt_space *root = xso->semantic.root; // Convenience
489
struct xrt_space *offset = NULL;
490
+
u_space_overseer_create_offset_space(uso, root, &r->origin.initial_offset, &offset);
491
492
for (uint32_t i = 0; i < r->base.xdev_count; i++) {
493
u_space_overseer_link_space_to_device(uso, offset, r->base.xdevs[i]);
+1
-1
src/xrt/drivers/rift_s/rift_s.c
+1
-1
src/xrt/drivers/rift_s/rift_s.c
+1
-1
src/xrt/drivers/steamvr_lh/steamvr_lh.cpp
+1
-1
src/xrt/drivers/steamvr_lh/steamvr_lh.cpp
···
115
c->providers = std::move(providers);
116
std::strncpy(c->name, "SteamVR Lighthouse Tracking", XRT_TRACKING_NAME_LEN);
117
c->type = XRT_TRACKING_TYPE_LIGHTHOUSE;
118
-
c->offset = XRT_POSE_IDENTITY;
119
for (vr::IServerTrackedDeviceProvider *const &driver : c->providers) {
120
vr::EVRInitError err = driver->Init(c.get());
121
if (err != vr::VRInitError_None) {
···
115
c->providers = std::move(providers);
116
std::strncpy(c->name, "SteamVR Lighthouse Tracking", XRT_TRACKING_NAME_LEN);
117
c->type = XRT_TRACKING_TYPE_LIGHTHOUSE;
118
+
c->initial_offset = XRT_POSE_IDENTITY;
119
for (vr::IServerTrackedDeviceProvider *const &driver : c->providers) {
120
vr::EVRInitError err = driver->Init(c.get());
121
if (err != vr::VRInitError_None) {
+4
-4
src/xrt/drivers/survive/survive_driver.c
+4
-4
src/xrt/drivers/survive/survive_driver.c
···
1336
ss->ctx = actx;
1337
ss->base.type = XRT_TRACKING_TYPE_LIGHTHOUSE;
1338
snprintf(ss->base.name, XRT_TRACKING_NAME_LEN, "%s", "Libsurvive Tracking");
1339
-
ss->base.offset.position.x = 0.0f;
1340
-
ss->base.offset.position.y = 0.0f;
1341
-
ss->base.offset.position.z = 0.0f;
1342
-
ss->base.offset.orientation.w = 1.0f;
1343
ss->timecode_offset_ms = (struct u_var_draggable_f32){
1344
.val = debug_get_float_option_survive_timecode_offset_ms(),
1345
.min = -20.0,
···
1336
ss->ctx = actx;
1337
ss->base.type = XRT_TRACKING_TYPE_LIGHTHOUSE;
1338
snprintf(ss->base.name, XRT_TRACKING_NAME_LEN, "%s", "Libsurvive Tracking");
1339
+
ss->base.initial_offset.position.x = 0.0f;
1340
+
ss->base.initial_offset.position.y = 0.0f;
1341
+
ss->base.initial_offset.position.z = 0.0f;
1342
+
ss->base.initial_offset.orientation.w = 1.0f;
1343
ss->timecode_offset_ms = (struct u_var_draggable_f32){
1344
.val = debug_get_float_option_survive_timecode_offset_ms(),
1345
.min = -20.0,
+1
-1
src/xrt/drivers/twrap/twrap_slam.c
+1
-1
src/xrt/drivers/twrap/twrap_slam.c
···
176
dx->base.destroy = twrap_slam_destroy;
177
dx->base.name = name;
178
dx->base.tracking_origin->type = XRT_TRACKING_TYPE_OTHER;
179
-
dx->base.tracking_origin->offset = (struct xrt_pose)XRT_POSE_IDENTITY;
180
dx->base.inputs[0].name = XRT_INPUT_GENERIC_TRACKER_POSE;
181
dx->base.orientation_tracking_supported = true;
182
dx->base.position_tracking_supported = true;
···
176
dx->base.destroy = twrap_slam_destroy;
177
dx->base.name = name;
178
dx->base.tracking_origin->type = XRT_TRACKING_TYPE_OTHER;
179
+
dx->base.tracking_origin->initial_offset = (struct xrt_pose)XRT_POSE_IDENTITY;
180
dx->base.inputs[0].name = XRT_INPUT_GENERIC_TRACKER_POSE;
181
dx->base.orientation_tracking_supported = true;
182
dx->base.position_tracking_supported = true;
+1
-1
src/xrt/drivers/ultraleap_v2/ulv2_driver.cpp
+1
-1
src/xrt/drivers/ultraleap_v2/ulv2_driver.cpp
+1
-1
src/xrt/drivers/ultraleap_v5/ulv5_driver.cpp
+1
-1
src/xrt/drivers/ultraleap_v5/ulv5_driver.cpp
+3
-3
src/xrt/include/xrt/xrt_tracking.h
+3
-3
src/xrt/include/xrt/xrt_tracking.h
+2
-2
src/xrt/ipc/client/ipc_client_instance.c
+2
-2
src/xrt/ipc/client/ipc_client_instance.c
···
283
memcpy(xtrack->name, ism->itracks[i].name, sizeof(xtrack->name));
284
285
xtrack->type = ism->itracks[i].type;
286
-
xtrack->offset = ism->itracks[i].offset;
287
ii->xtracks[count++] = xtrack;
288
289
u_var_add_root(xtrack, "Tracking origin", true);
290
u_var_add_ro_text(xtrack, xtrack->name, "name");
291
-
u_var_add_pose(xtrack, &xtrack->offset, "offset");
292
}
293
294
ii->xtrack_count = count;
···
283
memcpy(xtrack->name, ism->itracks[i].name, sizeof(xtrack->name));
284
285
xtrack->type = ism->itracks[i].type;
286
+
xtrack->initial_offset = ism->itracks[i].offset;
287
ii->xtracks[count++] = xtrack;
288
289
u_var_add_root(xtrack, "Tracking origin", true);
290
u_var_add_ro_text(xtrack, xtrack->name, "name");
291
+
u_var_add_pose(xtrack, &xtrack->initial_offset, "offset");
292
}
293
294
ii->xtrack_count = count;
+1
-1
src/xrt/ipc/server/ipc_server_process.c
+1
-1
src/xrt/ipc/server/ipc_server_process.c
+1
-1
src/xrt/state_trackers/oxr/oxr_session_frame_end.c
+1
-1
src/xrt/state_trackers/oxr/oxr_session_frame_end.c
+4
-4
src/xrt/state_trackers/prober/p_tracking.c
+4
-4
src/xrt/state_trackers/prober/p_tracking.c
···
421
fact->base.create_tracked_psvr = p_factory_create_tracked_psvr;
422
fact->base.create_tracked_slam = p_factory_create_tracked_slam;
423
fact->origin.type = XRT_TRACKING_TYPE_RGB;
424
-
fact->origin.offset.orientation.y = 1.0f;
425
-
fact->origin.offset.position.z = -2.0f;
426
-
fact->origin.offset.position.y = 1.0f;
427
fact->p = p;
428
429
snprintf(fact->origin.name, sizeof(fact->origin.name), "PSVR & PSMV tracking");
430
431
u_var_add_root(fact, "Tracking Factory", false);
432
-
u_var_add_pose(fact, &fact->origin.offset, "offset");
433
434
// Finally set us as the tracking factory.
435
p->base.tracking = &fact->base;
···
421
fact->base.create_tracked_psvr = p_factory_create_tracked_psvr;
422
fact->base.create_tracked_slam = p_factory_create_tracked_slam;
423
fact->origin.type = XRT_TRACKING_TYPE_RGB;
424
+
fact->origin.initial_offset.orientation.y = 1.0f;
425
+
fact->origin.initial_offset.position.z = -2.0f;
426
+
fact->origin.initial_offset.position.y = 1.0f;
427
fact->p = p;
428
429
snprintf(fact->origin.name, sizeof(fact->origin.name), "PSVR & PSMV tracking");
430
431
u_var_add_root(fact, "Tracking Factory", false);
432
+
u_var_add_pose(fact, &fact->origin.initial_offset, "offset");
433
434
// Finally set us as the tracking factory.
435
p->base.tracking = &fact->base;
+2
-2
src/xrt/state_trackers/steamvr_drv/ovrd_driver.cpp
+2
-2
src/xrt/state_trackers/steamvr_drv/ovrd_driver.cpp
···
881
struct xrt_space_relation rel;
882
xrt_device_get_tracked_pose(m_xdev, grip_name, now_ns, &rel);
883
884
-
struct xrt_pose *offset = &m_xdev->tracking_origin->offset;
885
886
struct xrt_relation_chain chain = {};
887
m_relation_chain_push_relation(&chain, &rel);
···
1268
struct xrt_space_relation rel;
1269
xrt_device_get_tracked_pose(m_xdev, XRT_INPUT_GENERIC_HEAD_POSE, now_ns, &rel);
1270
1271
-
struct xrt_pose *offset = &m_xdev->tracking_origin->offset;
1272
1273
struct xrt_relation_chain chain = {};
1274
m_relation_chain_push_relation(&chain, &rel);
···
881
struct xrt_space_relation rel;
882
xrt_device_get_tracked_pose(m_xdev, grip_name, now_ns, &rel);
883
884
+
struct xrt_pose *offset = &m_xdev->tracking_origin->initial_offset;
885
886
struct xrt_relation_chain chain = {};
887
m_relation_chain_push_relation(&chain, &rel);
···
1268
struct xrt_space_relation rel;
1269
xrt_device_get_tracked_pose(m_xdev, XRT_INPUT_GENERIC_HEAD_POSE, now_ns, &rel);
1270
1271
+
struct xrt_pose *offset = &m_xdev->tracking_origin->initial_offset;
1272
1273
struct xrt_relation_chain chain = {};
1274
m_relation_chain_push_relation(&chain, &rel);
+3
-3
src/xrt/targets/common/target_builder_rgb_tracking.c
+3
-3
src/xrt/targets/common/target_builder_rgb_tracking.c
···
301
build.xfctx = xfctx;
302
build.origin = origin;
303
build.origin->type = XRT_TRACKING_TYPE_RGB;
304
+
build.origin->initial_offset.orientation.y = 1.0f;
305
+
build.origin->initial_offset.position.z = -2.0f;
306
+
build.origin->initial_offset.position.y = 1.0f;
307
308
setup_pipeline(xp, &build);
309
#else
+1
-1
src/xrt/targets/sdl_test/sdl_device.c
+1
-1
src/xrt/targets/sdl_test/sdl_device.c