diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6cb60d3926d30ee89edf8b98d5480d1383ff950d..7082c8a8da8c0f696c1ec532f4e083303846914a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,6 +33,19 @@ if (LibArchive_FOUND)
set(HAVE_LIBARCHIVE true)
endif()
+## OpenVR API path
+find_library(OPENVR_LIBRARIES
+ NAMES
+ openvr_api
+)
+set(OPENVR_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../headers)
+
+if (OPENVR_LIBRARIES)
+ message(STATUS "Found OpenVR: ${OPENVR_LIBRARIES}")
+ set(HAVE_OPENVR true)
+endif()
+
+
if (WITH_FIXSTARS)
find_package( LibSGM )
if (LibSGM_FOUND)
diff --git a/applications/gui/CMakeLists.txt b/applications/gui/CMakeLists.txt
index baffb9bdd645c85cbfc593d81e14687965b9bf4c..b8970d7b91c47aa780c4ee9692b92779b1bc2fd6 100644
--- a/applications/gui/CMakeLists.txt
+++ b/applications/gui/CMakeLists.txt
@@ -27,6 +27,6 @@ target_include_directories(ftl-gui PUBLIC
#endif()
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-gui ftlcommon ftlctrl ftlrgbd Threads::Threads ${OpenCV_LIBS} glog::glog ftlnet ftlrender nanogui GL)
+target_link_libraries(ftl-gui ftlcommon ftlctrl ftlrgbd Threads::Threads ${OpenCV_LIBS} ${OPENVR_LIBRARIES} glog::glog ftlnet ftlrender nanogui GL)
diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index 4ee248dc306c47784b9284f3975d9caee8d267cc..8fdad63282a9a9f54020cb0268e366794104bf83 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -242,6 +242,17 @@ void ftl::gui::Camera::setChannel(ftl::rgbd::channel_t c) {
}
}
+static Eigen::Matrix4d ConvertSteamVRMatrixToMatrix4( const vr::HmdMatrix34_t &matPose )
+{
+ Eigen::Matrix4d matrixObj;
+ matrixObj <<
+ matPose.m[0][0], matPose.m[1][0], matPose.m[2][0], 0.0,
+ matPose.m[0][1], matPose.m[1][1], matPose.m[2][1], 0.0,
+ matPose.m[0][2], matPose.m[1][2], matPose.m[2][2], 0.0,
+ matPose.m[0][3], matPose.m[1][3], matPose.m[2][3], 1.0f;
+ return matrixObj;
+}
+
const GLTexture &ftl::gui::Camera::captureFrame() {
float now = (float)glfwGetTime();
delta_ = now - ftime_;
@@ -250,16 +261,32 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
if (src_ && src_->isReady()) {
cv::Mat rgb, depth;
- // 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() * rotmat_;
+ if (screen_->hasVR()) {
+ #ifdef HAVE_OPENVR
+ vr::VRCompositor()->WaitGetPoses(rTrackedDevicePose_, vr::k_unMaxTrackedDeviceCount, NULL, 0 );
+
+ if ( rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid )
+ {
+ auto pose = ConvertSteamVRMatrixToMatrix4( rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking );
+ pose.inverse();
+ if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(pose);
+ } else {
+ LOG(ERROR) << "No VR Pose";
+ }
+ #endif
+ } else {
+ // 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() * rotmat_;
+
+ if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
+ }
- if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
src_->grab();
src_->getFrames(rgb, depth);
diff --git a/applications/gui/src/camera.hpp b/applications/gui/src/camera.hpp
index 8d48e2c0648caa37ad3064f195db47329e0bf82c..162bad2f0e73879e31efacaa1d20f66c35184b15 100644
--- a/applications/gui/src/camera.hpp
+++ b/applications/gui/src/camera.hpp
@@ -6,6 +6,10 @@
#include <string>
+#ifdef HAVE_OPENVR
+#include <openvr/openvr.h>
+#endif
+
class StatisticsImage;
namespace ftl {
@@ -39,6 +43,7 @@ class Camera {
const std::vector<ftl::rgbd::channel_t> &availableChannels();
const GLTexture &captureFrame();
+ const GLTexture &getLeft() const { return texture_; }
nlohmann::json getMetaData();
@@ -62,6 +67,10 @@ class Camera {
bool pause_;
ftl::rgbd::channel_t channel_;
std::vector<ftl::rgbd::channel_t> channels_;
+
+ #ifdef HAVE_OPENVR
+ vr::TrackedDevicePose_t rTrackedDevicePose_[ vr::k_unMaxTrackedDeviceCount ];
+ #endif
};
}
diff --git a/applications/gui/src/screen.cpp b/applications/gui/src/screen.cpp
index 56624ce61d9524c43e6dffe00948e807528ae595..e944c76b1c5f9eed7200b370097d883675e5085a 100644
--- a/applications/gui/src/screen.cpp
+++ b/applications/gui/src/screen.cpp
@@ -244,10 +244,31 @@ ftl::gui::Screen::Screen(ftl::Configurable *proot, ftl::net::Universe *pnet, ftl
setVisible(true);
performLayout();
+
+
+ #ifdef HAVE_OPENVR
+ if (vr::VR_IsHmdPresent()) {
+ // Loading the SteamVR Runtime
+ vr::EVRInitError eError = vr::VRInitError_None;
+ HMD_ = vr::VR_Init( &eError, vr::VRApplication_Scene );
+
+ if ( eError != vr::VRInitError_None )
+ {
+ HMD_ = nullptr;
+ LOG(ERROR) << "Unable to init VR runtime: " << vr::VR_GetVRInitErrorAsEnglishDescription( eError );
+ }
+ } else {
+ HMD_ = nullptr;
+ }
+ #endif
}
ftl::gui::Screen::~Screen() {
mShader.free();
+
+ #ifdef HAVE_OPENVR
+ vr::VR_Shutdown();
+ #endif
}
void ftl::gui::Screen::setActiveCamera(ftl::gui::Camera *cam) {
@@ -337,6 +358,17 @@ void ftl::gui::Screen::draw(NVGcontext *ctx) {
imageSize = {camera_->width(), camera_->height()};
mImageID = camera_->captureFrame().texture();
+ leftEye_ = mImageID;
+ rightEye_ = mImageID;
+
+ #ifdef HAVE_OPENVR
+ if (hasVR() && (mImageID < std::numeric_limits<unsigned int>::max() && imageSize[0] > 0) && camera_->getLeft().isValid()) {
+ vr::Texture_t leftEyeTexture = {(void*)(uintptr_t)leftEye_, vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
+ vr::VRCompositor()->Submit(vr::Eye_Left, &leftEyeTexture );
+ vr::Texture_t rightEyeTexture = {(void*)(uintptr_t)rightEye_, vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
+ vr::VRCompositor()->Submit(vr::Eye_Right, &rightEyeTexture );
+ }
+ #endif
if (mImageID < std::numeric_limits<unsigned int>::max() && imageSize[0] > 0) {
auto mScale = (screenSize.cwiseQuotient(imageSize).minCoeff());
diff --git a/applications/gui/src/screen.hpp b/applications/gui/src/screen.hpp
index 8bfce830a034e024ec42037dbc43539a62d50101..d51cec2bf2c34afc7c589b7e6114f503379afe30 100644
--- a/applications/gui/src/screen.hpp
+++ b/applications/gui/src/screen.hpp
@@ -11,6 +11,10 @@
#include "src_window.hpp"
#include "gltexture.hpp"
+#ifdef HAVE_OPENVR
+#include <openvr/openvr.h>
+#endif
+
class StatisticsImageNSamples;
namespace ftl {
@@ -39,6 +43,12 @@ class Screen : public nanogui::Screen {
void setActiveCamera(ftl::gui::Camera*);
ftl::gui::Camera *activeCamera() { return camera_; }
+ #ifdef HAVE_OPENVR
+ bool hasVR() const { return HMD_ != nullptr; }
+ #else
+ bool hasVR() const { return false; }
+ #endif
+
nanogui::Theme *windowtheme;
nanogui::Theme *specialtheme;
nanogui::Theme *mediatheme;
@@ -68,6 +78,13 @@ class Screen : public nanogui::Screen {
ftl::Configurable *root_;
std::string status_;
ftl::gui::Camera *camera_;
+
+ GLuint leftEye_;
+ GLuint rightEye_;
+
+ #ifdef HAVE_OPENVR
+ vr::IVRSystem *HMD_;
+ #endif
};
}
diff --git a/components/common/cpp/include/ftl/config.h.in b/components/common/cpp/include/ftl/config.h.in
index 025ad576f9878019a41e0aa46269645c442780cd..ff965cbb011c5a52d9e7aed4b45c9e73774e847a 100644
--- a/components/common/cpp/include/ftl/config.h.in
+++ b/components/common/cpp/include/ftl/config.h.in
@@ -22,6 +22,7 @@
#cmakedefine HAVE_REALSENSE
#cmakedefine HAVE_NANOGUI
#cmakedefine HAVE_LIBARCHIVE
+#cmakedefine HAVE_OPENVR
extern const char *FTL_BRANCH;
extern const char *FTL_VERSION_LONG;