OSVR_ReturnCode osvrClientSetRoomRotationUsingHead(OSVR_ClientContext ctx) {
if (nullptr == ctx) {
/// Return failure if given a null context
return OSVR_RETURN_FAILURE;
}
auto xform = ctx->getRoomToWorldTransform();
auto iface = osvr::client::InternalInterfaceOwner{ctx, "/me/head"};
OSVR_OrientationState state;
OSVR_TimeValue t;
/// Give ourselves 200 milliseconds to get a head tracker report.
using std::chrono::system_clock;
const auto deadline = system_clock::now() + std::chrono::milliseconds(200);
do {
if (OSVR_RETURN_SUCCESS ==
osvrGetOrientationState(&(*iface), &t, &state)) {
// OK, we've gotten state successfully: extract yaw, update
// transform, and return success.
auto q = osvr::util::eigen_interop::map(state);
auto yaw = osvr::util::extractYaw(q);
Eigen::AngleAxisd correction(-yaw, Eigen::Vector3d::UnitY());
xform.concatPost(Eigen::Isometry3d(correction).matrix());
ctx->setRoomToWorldTransform(xform);
return OSVR_RETURN_SUCCESS;
}
ctx->update();
} while (system_clock::now() < deadline);
return OSVR_RETURN_FAILURE;
}
OSVR_ReturnCode osvrClientClearRoomToWorldTransform(OSVR_ClientContext ctx) {
if (nullptr == ctx) {
/// Return failure if given a null context
return OSVR_RETURN_FAILURE;
}
osvr::common::Transform nullTransform;
ctx->setRoomToWorldTransform(nullTransform);
return OSVR_RETURN_SUCCESS;
}
RenderManagerConfigPtr RenderManagerConfigFactory::createShared(OSVR_ClientContext ctx) {
try {
auto const configString = ctx->getStringParameter("/renderManagerConfig");
RenderManagerConfigPtr cfg(new RenderManagerConfig(configString));
return cfg;
}
catch (std::exception const &e) {
OSVR_DEV_VERBOSE(
"Couldn't create a render manager config internally! Exception: "
<< e.what());
return RenderManagerConfigPtr{};
}
catch (...) {
OSVR_DEV_VERBOSE("Couldn't create a render manager config internally! "
"Unknown exception!");
return RenderManagerConfigPtr{};
}
}
DisplayConfigPtr DisplayConfigFactory::create(OSVR_ClientContext ctx) {
DisplayConfigPtr cfg(new DisplayConfig);
try {
auto const descriptorString = ctx->getStringParameter("/display");
auto desc = display_schema_1::DisplayDescriptor(descriptorString);
cfg->m_viewers.container().emplace_back(Viewer(ctx, HEAD_PATH));
auto &viewer = cfg->m_viewers.container().front();
auto eyesDesc = desc.getEyes();
/// Set up stereo vs mono
std::vector<uint8_t> eyeIndices;
Eigen::Vector3d offset;
if (eyesDesc.size() == 2) {
// stereo
offset = desc.getIPDMeters() / 2. * Eigen::Vector3d::UnitX();
eyeIndices = {0, 1};
} else {
// if (eyesDesc.size() == 1)
// mono
offset = Eigen::Vector3d::Zero();
eyeIndices = {0};
}
/// Handle radial distortion parameters
boost::optional<OSVR_RadialDistortionParameters> distort;
auto k1 = desc.getDistortion();
if (k1.k1_red != 0 || k1.k1_green != 0 || k1.k1_blue != 0) {
OSVR_RadialDistortionParameters params;
params.k1.data[0] = k1.k1_red;
params.k1.data[1] = k1.k1_green;
params.k1.data[2] = k1.k1_blue;
distort = params;
}
/// Compute angular offset about Y of the optical (view) axis
util::Angle axisOffset = 0. * util::radians;
{
auto overlapPct = desc.getOverlapPercent();
if (overlapPct < 1.) {
const auto hfov = desc.getHorizontalFOV();
const auto angularOverlap = hfov * overlapPct;
axisOffset = (hfov - angularOverlap) / 2.;
}
}
/// Infer the number of display inputs and their association with
/// eyes (actually surfaces) based on the descriptor.
std::vector<OSVR_DisplayInputCount> displayInputIndices;
if (eyesDesc.size() == 2 &&
display_schema_1::DisplayDescriptor::FULL_SCREEN ==
desc.getDisplayMode()) {
// two eyes, full screen - that means two screens.
displayInputIndices = {0, 1};
cfg->m_displayInputs.push_back(DisplayInput(
desc.getDisplayWidth(), desc.getDisplayHeight()));
cfg->m_displayInputs.push_back(DisplayInput(
desc.getDisplayWidth(), desc.getDisplayHeight()));
} else {
// everything else, assume 1 screen.
// Note that it's OK that displayInputIndices.size() >=
// eyesDesc.size(), we'll just not end up using the second
// entry.
displayInputIndices = {0, 0};
cfg->m_displayInputs.push_back(DisplayInput(
desc.getDisplayWidth(), desc.getDisplayHeight()));
}
BOOST_ASSERT_MSG(displayInputIndices.size() >= eyesDesc.size(),
"Must have at least as many indices as eyes");
/// Create the actual eye (with implied surface) objects
for (auto eye : eyeIndices) {
// This little computation turns 0 into -1 and 1 into 1, used as
// a coefficient to make the two eyes do opposite things.
// Doesn't affect mono, which has a zero offset vector.
double offsetFactor = (2. * eye) - 1.;
// Set up per-eye distortion parameters, if needed
boost::optional<OSVR_RadialDistortionParameters> distortEye(
distort);
if (distortEye) {
distortEye->centerOfProjection.data[0] =
eyesDesc[eye].m_CenterProjX;
distortEye->centerOfProjection.data[1] =
eyesDesc[eye].m_CenterProjY;
}
// precompute translation offset for this eye
auto xlateOffset = (offsetFactor * offset).eval();
// precompute the optical axis rotation for this eye
// here, the left eye should get a positive offset since it's a
// positive rotation about y, hence the -1 factor.
auto eyeAxisOffset = axisOffset * -1. * offsetFactor;
// Look up the display index for this eye.
auto displayInputIdx = displayInputIndices[eye];
/// Create the ViewerEye[Surface] and add it to the container.
viewer.container().emplace_back(ViewerEye(
ctx, xlateOffset, HEAD_PATH, computeViewport(eye, desc),
computeRect(desc), eyesDesc[eye].m_rotate180,
desc.getPitchTilt().value(), distortEye, displayInputIdx,
eyeAxisOffset));
}
OSVR_DEV_VERBOSE("Display: " << desc.getHumanReadableDescription());
return cfg;
} catch (std::exception const &e) {
OSVR_DEV_VERBOSE(
"Couldn't create a display config internally! Exception: "
<< e.what());
return DisplayConfigPtr{};
} catch (...) {
OSVR_DEV_VERBOSE("Couldn't create a display config internally! "
"Unknown exception!");
return DisplayConfigPtr{};
}
}
OSVR_ReturnCode osvrClientFreeImage(OSVR_ClientContext ctx,
OSVR_ImageBufferElement *buf) {
auto ret = ctx->releaseObject(buf);
return (ret ? OSVR_RETURN_SUCCESS : OSVR_RETURN_FAILURE);
}