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-rw-r--r--gui/lang/nl_NL.ts16
-rw-r--r--gui/lang/ru_RU.ts16
-rw-r--r--gui/lang/stub.ts16
-rw-r--r--gui/lang/zh_CN.ts16
-rw-r--r--gui/settings-dialog.ui85
-rw-r--r--gui/settings.cpp10
-rw-r--r--logic/main-settings.hpp10
-rw-r--r--logic/pipeline.cpp72
-rw-r--r--logic/pipeline.hpp10
9 files changed, 220 insertions, 31 deletions
diff --git a/gui/lang/nl_NL.ts b/gui/lang/nl_NL.ts
index 60b84189..59d46b82 100644
--- a/gui/lang/nl_NL.ts
+++ b/gui/lang/nl_NL.ts
@@ -360,6 +360,22 @@ Press "clear calibration" to remove any calibration data pertaining to
<source>None</source>
<translation type="unfinished">Geen</translation>
</message>
+ <message>
+ <source>Centering method</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Point</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Wireless VR 360</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Roll compensated VR 360</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
<context>
<name>process_detector</name>
diff --git a/gui/lang/ru_RU.ts b/gui/lang/ru_RU.ts
index d40b4775..8f3c360a 100644
--- a/gui/lang/ru_RU.ts
+++ b/gui/lang/ru_RU.ts
@@ -363,6 +363,22 @@ Press &quot;clear calibration&quot; to remove any calibration data pertaining to
<source>None</source>
<translation>Не назначена</translation>
</message>
+ <message>
+ <source>Centering method</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Point</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Wireless VR 360</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Roll compensated VR 360</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
<context>
<name>process_detector</name>
diff --git a/gui/lang/stub.ts b/gui/lang/stub.ts
index b383a0d8..9dd07851 100644
--- a/gui/lang/stub.ts
+++ b/gui/lang/stub.ts
@@ -360,6 +360,22 @@ Press &quot;clear calibration&quot; to remove any calibration data pertaining to
<source>None</source>
<translation type="unfinished"></translation>
</message>
+ <message>
+ <source>Centering method</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Point</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Wireless VR 360</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Roll compensated VR 360</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
<context>
<name>process_detector</name>
diff --git a/gui/lang/zh_CN.ts b/gui/lang/zh_CN.ts
index fa2d512c..a88251ce 100644
--- a/gui/lang/zh_CN.ts
+++ b/gui/lang/zh_CN.ts
@@ -361,6 +361,22 @@ Press &quot;clear calibration&quot; to remove any calibration data pertaining to
<source>None</source>
<translation>空</translation>
</message>
+ <message>
+ <source>Centering method</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Point</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Wireless VR 360</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Roll compensated VR 360</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
<context>
<name>process_detector</name>
diff --git a/gui/settings-dialog.ui b/gui/settings-dialog.ui
index 6333692a..93374b06 100644
--- a/gui/settings-dialog.ui
+++ b/gui/settings-dialog.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>548</width>
- <height>599</height>
+ <height>600</height>
</rect>
</property>
<property name="windowTitle">
@@ -812,29 +812,39 @@
<enum>QFrame::Sunken</enum>
</property>
<layout class="QGridLayout" name="gridLayout_2">
- <item row="0" column="0">
- <widget class="QCheckBox" name="center_at_startup">
+ <item row="1" column="0">
+ <widget class="QCheckBox" name="disable_translation">
<property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+ <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
- <string>Center at startup</string>
+ <string>Never translate the application interface</string>
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QCheckBox" name="disable_translation">
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_18">
+ <property name="text">
+ <string>Centering method</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QCheckBox" name="center_at_startup">
<property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+ <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
- <string>Never translate the application interface</string>
+ <string>Center at startup</string>
</property>
</widget>
</item>
@@ -848,6 +858,39 @@
</property>
</widget>
</item>
+ <item row="0" column="2">
+ <widget class="QComboBox" name="cbox_centering">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+ <horstretch>4</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="currentIndex">
+ <number>3</number>
+ </property>
+ <item>
+ <property name="text">
+ <string>Disabled</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>Point</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>Wireless VR 360</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>Roll compensated VR 360</string>
+ </property>
+ </item>
+ </widget>
+ </item>
</layout>
</widget>
</item>
@@ -1569,9 +1612,15 @@
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_4">
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
<property name="text">
<string>X</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="0" column="3">
@@ -1601,6 +1650,9 @@
<property name="text">
<string>Pitch</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="1" column="2">
@@ -1608,6 +1660,9 @@
<property name="text">
<string>Y</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="1" column="1">
@@ -1637,6 +1692,9 @@
<property name="text">
<string>Z</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="2" column="0">
@@ -1644,6 +1702,9 @@
<property name="text">
<string>Roll</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="1" column="3">
@@ -1673,6 +1734,9 @@
<property name="text">
<string>Yaw</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="0" column="1">
@@ -1808,6 +1872,9 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
+ <property name="currentIndex">
+ <number>0</number>
+ </property>
<item>
<property name="text">
<string>Disabled</string>
diff --git a/gui/settings.cpp b/gui/settings.cpp
index 3851f0c2..cef93d19 100644
--- a/gui/settings.cpp
+++ b/gui/settings.cpp
@@ -59,6 +59,16 @@ options_dialog::options_dialog(std::function<void(bool)> pause_keybindings) :
tie_setting(main.center_at_startup, ui.center_at_startup);
+ const centering_state centering_modes[] = {
+ center_disabled,
+ center_point,
+ center_vr360,
+ center_roll_compensated,
+ };
+ for (unsigned k = 0; k < 4; k++)
+ ui.cbox_centering->setItemData(k, int(centering_modes[k]));
+ tie_setting(main.centering_mode, ui.cbox_centering);
+
const reltrans_state reltrans_modes[] = {
reltrans_disabled,
reltrans_enabled,
diff --git a/logic/main-settings.hpp b/logic/main-settings.hpp
index 8fef7ea7..0795bca4 100644
--- a/logic/main-settings.hpp
+++ b/logic/main-settings.hpp
@@ -22,6 +22,14 @@ enum reltrans_state
reltrans_non_center = 2,
};
+enum centering_state
+{
+ center_disabled = 0,
+ center_point = 1,
+ center_vr360 = 2,
+ center_roll_compensated = 3,
+};
+
namespace main_settings_impl {
using namespace options;
@@ -65,7 +73,7 @@ struct OTR_LOGIC_EXPORT main_settings final
value<bool> tray_start { b, "start-in-tray", false };
value<bool> center_at_startup { b, "center-at-startup", true };
- //value<int> center_method;
+ value<centering_state> centering_mode { b, "centering-mode", center_roll_compensated };;
value<int> neck_z { b, "neck-depth", 0 };
value<bool> neck_enable { b, "neck-enable", false };
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp
index 39c75e99..f8827b7e 100644
--- a/logic/pipeline.cpp
+++ b/logic/pipeline.cpp
@@ -272,7 +272,7 @@ bool pipeline::maybe_enable_center_on_tracking_started()
return false;
}
-void pipeline::maybe_set_center_pose(const Pose& value, bool own_center_logic)
+void pipeline::maybe_set_center_pose(const centering_state mode, const Pose& value, bool own_center_logic)
{
if (b.get(f_center | f_held_center))
{
@@ -283,28 +283,66 @@ void pipeline::maybe_set_center_pose(const Pose& value, bool own_center_logic)
if (own_center_logic)
{
- center.inv_R = rmat::eye();
- center.T = {};
+ center.P = {};
+ center.QC = QQuaternion(1,0,0,0);
+ center.QR = QQuaternion(1,0,0,0);
}
else
{
- center.inv_R = euler_to_rmat(Pose_(&value[Yaw]) * (M_PI / 180)).t();
- center.T = Pose_(&value[TX]);
+ if (mode)
+ {
+ center.P = value;
+ center.QC = QQuaternion::fromEulerAngles(value[Pitch], value[Yaw], -value[Roll]).conjugated();
+ center.QR = QQuaternion::fromEulerAngles(value[Pitch], value[Yaw], 0).conjugated();
+ }
+ else
+ {
+ // To reset the centering coordinates
+ // just select "Centering method [Disabled]" and then press [Center] button
+ center.P = {};
+ center.QC = QQuaternion(1,0,0,0);
+ center.QR = QQuaternion(1,0,0,0);
+ }
}
}
}
-Pose pipeline::apply_center(Pose value) const
+Pose pipeline::apply_center(const centering_state mode, Pose value) const
{
- {
- for (unsigned k = 0; k < 3; k++)
- value(k) -= center.T(k);
-
- Pose_ rot = rmat_to_euler(
- euler_to_rmat(Pose_(&value[Yaw]) * (M_PI / 180)) * center.inv_R
- );
- for (unsigned k = 0; k < 3; k++)
- value(k+3) = rot(k) * 180 / M_PI;
+ if (mode != center_disabled)
+ {
+ for (unsigned k = TX; k <= TZ; k++)
+ value(k) -= center.P(k);
+
+ QQuaternion q;
+ QVector3D v;
+
+ switch (mode)
+ {
+ case center_point:
+ for (unsigned k = Yaw; k <= Roll; k++)
+ {
+ value(k) -= center.P(k);
+ if (fabs(value[k]) > 180) value[k] -= copysign(360, value[k]);
+ }
+ break;
+ case center_vr360:
+ q = QQuaternion::fromEulerAngles(value[Pitch], value[Yaw], -value[Roll]);
+ q = center.QC * q;
+ v = q.toEulerAngles();
+ value[Pitch] = v.x();
+ value[Yaw] = v.y();
+ value[Roll] = -v.z();
+ break;
+ case center_roll_compensated:
+ q = QQuaternion::fromEulerAngles(value[Pitch], value[Yaw], center.P[Roll] - value[Roll]);
+ q = center.QR * q;
+ v = q.toEulerAngles();
+ value[Pitch] = v.x();
+ value[Yaw] = v.y();
+ value[Roll] = -v.z();
+ break;
+ }
}
for (int i = 0; i < 6; i++)
@@ -407,8 +445,8 @@ void pipeline::logic()
{
maybe_enable_center_on_tracking_started();
- maybe_set_center_pose(value, own_center_logic);
- value = apply_center(value);
+ maybe_set_center_pose(s.centering_mode, value, own_center_logic);
+ value = apply_center(s.centering_mode, value);
// "corrected" - after various transformations to account for camera position
logger.write_pose(value);
diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp
index fc1f2060..80d4d8a7 100644
--- a/logic/pipeline.hpp
+++ b/logic/pipeline.hpp
@@ -20,6 +20,7 @@
#include <atomic>
#include <cmath>
+#include <QQuaternion>
#include "export.hpp"
@@ -99,8 +100,9 @@ class OTR_LOGIC_EXPORT pipeline : private QThread
reltrans rel;
struct {
- rmat inv_R = rmat::eye();
- Pose_ T;
+ Pose P;
+ QQuaternion QC = QQuaternion(1,0,0,0);
+ QQuaternion QR = QQuaternion(1,0,0,0);
} center;
time_units::ms backlog_time {};
@@ -111,8 +113,8 @@ class OTR_LOGIC_EXPORT pipeline : private QThread
void logic();
void run() override;
bool maybe_enable_center_on_tracking_started();
- void maybe_set_center_pose(const Pose& value, bool own_center_logic);
- Pose apply_center(Pose value) const;
+ void maybe_set_center_pose(const centering_state mode, const Pose& value, bool own_center_logic);
+ Pose apply_center(const centering_state mode, Pose value) const;
std::tuple<Pose, Pose, vec6_bool> get_selected_axis_values(const Pose& newpose) const;
Pose maybe_apply_filter(const Pose& value) const;
Pose apply_reltrans(Pose value, vec6_bool disabled, bool centerp);
generated by cgit v1.2.3 (git 2.39.1) at 2025-11-04 11:18:23 +0000