From e8fe5259db4abdc12536fbbe855282969a33d7db Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 1 Aug 2019 13:12:03 +0300
Subject: [PATCH] WIP adjust transform
---
applications/gui/src/camera.cpp | 12 ++++++++++++
applications/gui/src/camera.hpp | 2 ++
applications/gui/src/screen.cpp | 4 ++--
applications/reconstruct/src/splat_render.cpp | 7 ++++++-
4 files changed, 22 insertions(+), 3 deletions(-)
diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index 8fdad6328..9390df759 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -263,6 +263,8 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
if (screen_->hasVR()) {
#ifdef HAVE_OPENVR
+ src_->setChannel(ftl::rgbd::kChanRight);
+
vr::VRCompositor()->WaitGetPoses(rTrackedDevicePose_, vr::k_unMaxTrackedDeviceCount, NULL, 0 );
if ( rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid )
@@ -290,6 +292,9 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
src_->grab();
src_->getFrames(rgb, depth);
+ cv::flip(rgb,rgb,0);
+ cv::flip(depth,depth,0);
+
// When switching from right to depth, client may still receive
// right images from previous batch (depth.channels() == 1 check)
if (channel_ == ftl::rgbd::kChanDeviation &&
@@ -335,6 +340,13 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
if (rgb.rows == 0) { break; }
//imageSize = Vector2f(rgb.cols,rgb.rows);
texture_.update(rgb);
+
+ #ifdef HAVE_OPENVR
+ if (screen_->hasVR() && depth.channels() >= 3) {
+ LOG(INFO) << "DRAW RIGHT";
+ textureRight_.update(depth);
+ }
+ #endif
}
}
diff --git a/applications/gui/src/camera.hpp b/applications/gui/src/camera.hpp
index 162bad2f0..cdd243ab3 100644
--- a/applications/gui/src/camera.hpp
+++ b/applications/gui/src/camera.hpp
@@ -44,6 +44,7 @@ class Camera {
const GLTexture &captureFrame();
const GLTexture &getLeft() const { return texture_; }
+ const GLTexture &getRight() const { return textureRight_; }
nlohmann::json getMetaData();
@@ -54,6 +55,7 @@ class Camera {
ftl::rgbd::Source *src_;
GLTexture thumb_;
GLTexture texture_;
+ GLTexture textureRight_;
ftl::gui::PoseWindow *posewin_;
nlohmann::json meta_;
Eigen::Vector4d neye_;
diff --git a/applications/gui/src/screen.cpp b/applications/gui/src/screen.cpp
index e944c76b1..4d53fbb93 100644
--- a/applications/gui/src/screen.cpp
+++ b/applications/gui/src/screen.cpp
@@ -359,10 +359,10 @@ void ftl::gui::Screen::draw(NVGcontext *ctx) {
mImageID = camera_->captureFrame().texture();
leftEye_ = mImageID;
- rightEye_ = mImageID;
+ rightEye_ = camera_->getRight().texture();
#ifdef HAVE_OPENVR
- if (hasVR() && (mImageID < std::numeric_limits<unsigned int>::max() && imageSize[0] > 0) && camera_->getLeft().isValid()) {
+ 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 );
vr::Texture_t rightEyeTexture = {(void*)(uintptr_t)rightEye_, vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
diff --git a/applications/reconstruct/src/splat_render.cpp b/applications/reconstruct/src/splat_render.cpp
index 92d70a1c5..61a8fcb7c 100644
--- a/applications/reconstruct/src/splat_render.cpp
+++ b/applications/reconstruct/src/splat_render.cpp
@@ -83,7 +83,12 @@ void Splatter::render(ftl::rgbd::Source *src, cudaStream_t 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 matrix = src->getPose().cast<float>() * transform.matrix();
+ 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>();
params.m_viewMatrix = MatrixConversion::toCUDA(matrix.inverse());
params.m_viewMatrixInverse = MatrixConversion::toCUDA(matrix);
--
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