vive_config.h

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// Copyright 2020-2023, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  vive json header
 * @author Lubosz Sarnecki <lubosz.sarnecki@collabora.com>
 * @author Moshi Turner <moshiturner@protonmail.com>
 * @ingroup aux_vive
 */
 
#pragma once
 
#include "xrt/xrt_compiler.h"
#include "xrt/xrt_defines.h"
 
#include "util/u_logging.h"
#include "util/u_distortion_mesh.h"
#include "vive/vive_common.h"
 
 
// public documentation
#define INDEX_MIN_IPD 0.058
#define INDEX_MAX_IPD 0.07
 
// https://vr-compare.com/headset/htcvive
// #define VIVE_MIN_IPD 0.061
// #define VIVE_MAX_IPD 0.072
 
// steamvr goes from ~60 to 75
#define VIVE_MIN_IPD 0.060
#define VIVE_MAX_IPD 0.075
 
// arbitrary default values
#define DEFAULT_HAPTIC_FREQ 150.0f
#define MIN_HAPTIC_DURATION 0.05f
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
/*!
 * Controller variant.
 *
 * @ingroup aux_vive
 */
enum VIVE_CONTROLLER_VARIANT
{
        CONTROLLER_VIVE_WAND,
        CONTROLLER_INDEX_LEFT,
        CONTROLLER_INDEX_RIGHT,
        CONTROLLER_FLIPVR_LEFT,
        CONTROLLER_FLIPVR_RIGHT,
        CONTROLLER_TRACKER_GEN1,
        CONTROLLER_TRACKER_GEN2,
        CONTROLLER_TRACKER_GEN3,
        CONTROLLER_TRACKER_TUNDRA,
        CONTROLLER_UNKNOWN
};
 
/*!
 * A calibrated camera on an Index.
 *
 * @ingroup aux_vive
 */
struct index_camera
{
        // Note! All the values in this struct are directly pasted in from the JSON values.
        // As such, in my opinion, plus_x, plus_z and position are all "wrong" - all the code I've had to write that
        // uses this struct flips the signs of plus_x, plus_z, and the signs of the X- and Z-components of position.
        // I have no idea why those sign flips were necessary - I suppose Valve/HTC just made some weird decisions when
        // making the config file schemas. I figure it would be very confusing to try to "fix" these values as I'm
        // parsing them, so if you're writing code downstream of this, beware and expect the values in here to be
        // exactly the same as those in the compressed JSON. -Moshi
        struct
        {
                struct xrt_vec3 plus_x;
                struct xrt_vec3 plus_z;
                struct xrt_vec3 position; // looks like from head pose
        } extrinsics;
 
        //! Pose in tracking space.
        struct xrt_pose trackref;
 
        //! Pose in head space.
        struct xrt_pose headref;
 
        struct
        {
                double distortion[4]; // Kannala-Brandt
                double center_x;
                double center_y;
 
                double focal_x;
                double focal_y;
                struct xrt_size image_size_pixels;
        } intrinsics;
};
 
/*!
 * A single lighthouse senosor point and normal, in IMU space.
 *
 * @ingroup aux_vive
 */
struct lh_sensor
{
        uint8_t channel;
        struct xrt_vec3 pos;
        uint32_t _pad0;
        struct xrt_vec3 normal;
        uint32_t _pad1;
};
 
/*!
 * A lighthouse consisting of sensors.
 *
 * All sensors are placed in IMU space.
 *
 * @ingroup aux_vive
 */
struct lh_model
{
        struct lh_sensor *sensors;
        uint8_t sensor_count;
};
 
/*!
 * headset config.
 *
 * @ingroup aux_vive
 */
struct vive_config
{
        //! log level accessed by the config parser
        enum u_logging_level log_level;
 
        enum VIVE_VARIANT variant;
 
        struct
        {
                double acc_range;
                double gyro_range;
                struct xrt_vec3 acc_bias;
                struct xrt_vec3 acc_scale;
                struct xrt_vec3 gyro_bias;
                struct xrt_vec3 gyro_scale;
 
                //! IMU position in tracking space.
                struct xrt_pose trackref;
        } imu;
 
        struct
        {
                double lens_separation;
                double persistence;
                int eye_target_height_in_pixels;
                int eye_target_width_in_pixels;
 
                struct xrt_quat rot[2];
 
                //! Head position in tracking space.
                struct xrt_pose trackref;
                //! Head position in IMU space.
                struct xrt_pose imuref;
        } display;
 
        struct
        {
                uint32_t display_firmware_version;
                uint32_t firmware_version;
                uint8_t hardware_revision;
                uint8_t hardware_version_micro;
                uint8_t hardware_version_minor;
                uint8_t hardware_version_major;
                char mb_serial_number[32];
                char model_number[32];
                char device_serial_number[32];
        } firmware;
 
        struct
        {
                struct u_vive_values values[2];
                struct xrt_fov fov[2];
        } distortion;
 
        struct
        {
                //! The two cameras.
                struct index_camera view[2];
 
                //! Left view in right camera space.
                struct xrt_pose left_in_right;
 
                //! The same but in OpenCV camera space.
                struct xrt_pose opencv;
 
                //! Have we loaded the config.
                bool valid;
        } cameras;
 
        struct lh_model lh;
};
 
/*!
 * Controller config.
 *
 * @ingroup aux_vive
 */
struct vive_controller_config
{
        enum u_logging_level log_level;
 
        enum VIVE_CONTROLLER_VARIANT variant;
 
        struct
        {
                uint32_t firmware_version;
                uint8_t hardware_revision;
                uint8_t hardware_version_micro;
                uint8_t hardware_version_minor;
                uint8_t hardware_version_major;
                char mb_serial_number[32];
                char model_number[32];
                char device_serial_number[32];
        } firmware;
 
        struct
        {
                double acc_range;
                double gyro_range;
                struct xrt_vec3 acc_bias;
                struct xrt_vec3 acc_scale;
                struct xrt_vec3 gyro_bias;
                struct xrt_vec3 gyro_scale;
 
                //! IMU position in tracking space.
                struct xrt_pose trackref;
        } imu;
};
 
 
/*
 *
 * Functions.
 *
 */
 
/*!
 * Parse a headset config.
 *
 * @ingroup aux_vive
 */
bool
vive_config_parse(struct vive_config *d, char *json_string, enum u_logging_level log_level);
 
/*!
 * Free any allocated resources on this config.
 *
 * @ingroup aux_vive
 */
void
vive_config_teardown(struct vive_config *config);
 
/*!
 * Parse a controller config.
 *
 * @ingroup aux_vive
 */
bool
vive_config_parse_controller(struct vive_controller_config *d, char *json_string, enum u_logging_level log_level);
 
 
#ifdef __cplusplus
} // extern "C"
#endif