Feature/121/vr

Rendering code to another method

applications/gui/src/camera.cpp

@@ -151,6 +151,8 @@ ftl::gui::Camera::Camera(ftl::gui::Screen *screen, ftl::rgbd::Source *src) : scr
 		depth_.create(depth.size(), depth.type());
 		cv::swap(rgb_,rgb);
 		cv::swap(depth_, depth);
+		cv::flip(rgb_,rgb_,0);
+		cv::flip(depth_,depth_,0);
 	});
 }
 
@@ -253,6 +255,17 @@ void ftl::gui::Camera::setChannel(Channel 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;
+}
+
 static void visualizeDepthMap(	const cv::Mat &depth, cv::Mat &out,
 								const float max_depth)
 {
@@ -307,16 +320,44 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
 	if (src_ && src_->isReady()) {
 		UNIQUE_LOCK(mutex_, lk);
 
-		// 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_;
+		if (screen_->hasVR()) {
+			#ifdef HAVE_OPENVR
+			src_->setChannel(Channel::Right);
+
+			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();
 
-		Eigen::Translation3d trans(eye_);
-		Eigen::Affine3d t(trans);
-		Eigen::Matrix4d viewPose = t.matrix() * rotmat_;
+				// 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";
+			}
+			#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);
 
@@ -368,6 +409,13 @@ 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
 		}
 	}