OpenVR support

OpenVR support for ftl-gui and ftl-reconstruct

Closes #121 (closed)

applications/gui/src/camera.cpp

@@ -335,7 +335,7 @@ bool ftl::gui::Camera::thumbnail(cv::Mat &thumb) {
 	cv::flip(thumb, thumb, 0);
 	return true;
 }
-
+#include <math.h>
 const GLTexture &ftl::gui::Camera::captureFrame() {
 	float now = (float)glfwGetTime();
 	delta_ = now - ftime_;
@@ -369,17 +369,23 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
 				Eigen::Matrix4d viewPose = t.matrix() * pose;
 
 				// flip rotation (different coordinate axis on OpenGL/ftl)
+				// NOTE: image also flipped!
+
 				Eigen::Vector3d ea = viewPose.block<3, 3>(0, 0).eulerAngles(0, 1, 2);
+				//double rd = 180.0 / M_PI;
+				//LOG(INFO) << "Camera X: " << ea[0] *rd << ", Y: " << ea[1] * rd << ", Z: " << ea[2] * rd;
+
+				// NOTE: If modified, should be verified with VR headset!
 				Eigen::Matrix3d R;
 				R =		Eigen::AngleAxisd(-ea[0], Eigen::Vector3d::UnitX()) *
 						Eigen::AngleAxisd(ea[1], Eigen::Vector3d::UnitY()) *
-						Eigen::AngleAxisd(-ea[2], Eigen::Vector3d::UnitZ()); 
+						Eigen::AngleAxisd(ea[2], Eigen::Vector3d::UnitZ()); 
 				viewPose.block<3, 3>(0, 0) = R;
 
 				if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
 				
 			} else {
-				LOG(ERROR) << "No VR Pose";
+				//LOG(ERROR) << "No VR Pose";
 			}
 			#endif
 		} else {