Merge branch 'feature/gui2' of gitlab.utu.fi:nicolas.pope/ftl into feature/gui2

components/streams/src/renderers/openvr_render.cpp

@@ -66,6 +66,11 @@ OpenVRRender::OpenVRRender(ftl::render::Source *host, ftl::stream::Feed *feed)
 
 	eye_ = Eigen::Vector3d::Zero();
 	rotmat_.setIdentity();
+	initial_pose_.setIdentity();
+
+	host_->on("reset_pose", [this]() {
+		pose_calibrated_.clear();
+	});
 }
 
 OpenVRRender::~OpenVRRender() {
@@ -305,7 +310,11 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
 			Eigen::Affine3d t(trans);
 			auto viewPose = t.matrix() * rotmat_;
 
-			rgbdframe.setPose() = viewPose;
+			if (!pose_calibrated_.test_and_set()) {
+				initial_pose_ = viewPose.inverse();
+			}
+
+			rgbdframe.setPose() = viewPose*initial_pose_;
 
 		} else {
 			LOG(ERROR) << "No VR Pose";

components/streams/src/renderers/openvr_render.hpp

@@ -42,7 +42,10 @@ class OpenVRRender : public ftl::render::BaseSourceImpl {
 
 	ftl::operators::Graph *post_pipe_;
 
+	std::atomic_flag pose_calibrated_;
+
 	float baseline_;
+	Eigen::Matrix4d initial_pose_;
 	Eigen::Matrix4d rotmat_;
 	Eigen::Vector3d eye_;
 	ftl::utility::GLTexture texture1_; // first channel (always left at the moment)