From 12282b681db0b3d6958cb645b5a89c8e468be174 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 1 Aug 2019 15:19:44 +0300
Subject: [PATCH] WIP More attempts at eye poses
---
applications/gui/src/camera.cpp | 12 ++++++-
applications/gui/src/screen.cpp | 3 +-
applications/reconstruct/src/splat_render.cpp | 33 ++++++++++++++-----
3 files changed, 37 insertions(+), 11 deletions(-)
diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index 9390df759..0f2d8c1fa 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -271,7 +271,17 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
{
auto pose = ConvertSteamVRMatrixToMatrix4( rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking );
pose.inverse();
- if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(pose);
+
+ // Lerp the Eye
+ eye_[0] += (neye_[0] - eye_[0]) * lerpSpeed_ * delta_;
+ eye_[1] += (neye_[1] - eye_[1]) * lerpSpeed_ * delta_;
+ eye_[2] += (neye_[2] - eye_[2]) * lerpSpeed_ * delta_;
+
+ Eigen::Translation3d trans(eye_);
+ Eigen::Affine3d t(trans);
+ Eigen::Matrix4d viewPose = t.matrix() * pose;
+
+ if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
} else {
LOG(ERROR) << "No VR Pose";
}
diff --git a/applications/gui/src/screen.cpp b/applications/gui/src/screen.cpp
index 4d53fbb93..6fcd4c124 100644
--- a/applications/gui/src/screen.cpp
+++ b/applications/gui/src/screen.cpp
@@ -37,7 +37,7 @@ namespace {
uv = vertex;
vec2 scaledVertex = (vertex * scaleFactor) + position;
gl_Position = vec4(2.0*scaledVertex.x - 1.0,
- 1.0 - 2.0*scaledVertex.y,
+ 2.0*scaledVertex.y - 1.0,
0.0, 1.0);
})";
@@ -365,6 +365,7 @@ void ftl::gui::Screen::draw(NVGcontext *ctx) {
if (hasVR() && imageSize[0] > 0 && camera_->getLeft().isValid() && camera_->getRight().isValid()) {
vr::Texture_t leftEyeTexture = {(void*)(uintptr_t)leftEye_, vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
vr::VRCompositor()->Submit(vr::Eye_Left, &leftEyeTexture );
+ glBindTexture(GL_TEXTURE_2D, rightEye_);
vr::Texture_t rightEyeTexture = {(void*)(uintptr_t)rightEye_, vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
vr::VRCompositor()->Submit(vr::Eye_Right, &rightEyeTexture );
}
diff --git a/applications/reconstruct/src/splat_render.cpp b/applications/reconstruct/src/splat_render.cpp
index 61a8fcb7c..b1c39f649 100644
--- a/applications/reconstruct/src/splat_render.cpp
+++ b/applications/reconstruct/src/splat_render.cpp
@@ -13,6 +13,21 @@ Splatter::~Splatter() {
}
+static Eigen::Matrix4f adjustPose(const Eigen::Matrix4f &pose, float baseline) {
+ Eigen::Affine3f transform(Eigen::Translation3f(baseline,0.0f,0.0f));
+ Eigen::Matrix4f matrix = pose;
+ Eigen::Matrix4f rmat = pose;
+ rmat(0,3) = 0.0f;
+ rmat(1,3) = 0.0f;
+ rmat(2,3) = 0.0f;
+ Eigen::Matrix4f tmat = transform.matrix();
+ tmat(0,0) = 0.0f;
+ tmat(1,1) = 0.0f;
+ tmat(2,2) = 0.0f;
+ tmat(3,3) = 0.0f;
+ return (tmat * pose) + pose;
+}
+
void Splatter::render(ftl::rgbd::Source *src, cudaStream_t stream) {
if (!src->isReady()) return;
@@ -37,8 +52,14 @@ void Splatter::render(ftl::rgbd::Source *src, cudaStream_t stream) {
// Parameters object to pass to CUDA describing the camera
SplatParams params;
params.m_flags = 0;
- params.m_viewMatrix = MatrixConversion::toCUDA(src->getPose().cast<float>().inverse());
- params.m_viewMatrixInverse = MatrixConversion::toCUDA(src->getPose().cast<float>());
+
+ // Adjust pose to left eye position
+ Eigen::Matrix4f matrix = adjustPose(src->getPose().cast<float>(), -camera.baseline/2.0f);
+ params.m_viewMatrix = MatrixConversion::toCUDA(matrix.inverse());
+ params.m_viewMatrixInverse = MatrixConversion::toCUDA(matrix);
+
+ //params.m_viewMatrix = MatrixConversion::toCUDA(src->getPose().cast<float>().inverse());
+ //params.m_viewMatrixInverse = MatrixConversion::toCUDA(src->getPose().cast<float>());
params.voxelSize = scene_->getHashParams().m_virtualVoxelSize;
params.camera.flags = 0;
params.camera.fx = camera.fx;
@@ -82,13 +103,7 @@ void Splatter::render(ftl::rgbd::Source *src, cudaStream_t stream) {
src->writeFrames(colour1_, depth2_, stream);
} else if (src->getChannel() == ftl::rgbd::kChanRight) {
// Adjust pose to right eye position
- Eigen::Affine3f transform(Eigen::Translation3f(camera.baseline,0.0f,0.0f));
- Eigen::Matrix4f tmat = transform.matrix();
- Eigen::Matrix4f rmat = src->getPose().cast<float>();
- rmat(3,0) = 0.0f;
- rmat(3,1) = 0.0f;
- rmat(3,2) = 0.0f;
- Eigen::Matrix4f matrix = (rmat * transform.matrix()) + src->getPose().cast<float>();
+ Eigen::Matrix4f matrix = adjustPose(src->getPose().cast<float>(), camera.baseline/2.0f);
params.m_viewMatrix = MatrixConversion::toCUDA(matrix.inverse());
params.m_viewMatrixInverse = MatrixConversion::toCUDA(matrix);
--
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