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Filter out bad openvr HMD poses that are below the floor

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When interface is launched and steam vr is NOT running, openvr can return bad HMD poses for a few frames.
To workaround this, filter out any hmd poses that are obviously bad, i.e. beneath the floor.
This commit is contained in:
Anthony J. Thibault 2016-07-19 18:12:20 -07:00
parent 837b19ed1b
commit 90beb30e8a
2 changed files with 31 additions and 0 deletions
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29
plugins/openvr/src/OpenVrDisplayPlugin.cpp
View file

@ -49,6 +49,19 @@ bool OpenVrDisplayPlugin::isSupported() const {
void OpenVrDisplayPlugin::init() {
Plugin::init();
_lastGoodHMDPose.m[0][0] = 1.0f;
_lastGoodHMDPose.m[0][1] = 0.0f;
_lastGoodHMDPose.m[0][2] = 0.0f;
_lastGoodHMDPose.m[0][3] = 0.0f;
_lastGoodHMDPose.m[1][0] = 0.0f;
_lastGoodHMDPose.m[1][1] = 1.0f;
_lastGoodHMDPose.m[1][2] = 0.0f;
_lastGoodHMDPose.m[1][3] = 1.8f;
_lastGoodHMDPose.m[2][0] = 0.0f;
_lastGoodHMDPose.m[2][1] = 0.0f;
_lastGoodHMDPose.m[2][2] = 1.0f;
_lastGoodHMDPose.m[2][3] = 0.0f;
emit deviceConnected(getName());
}
@ -139,6 +152,12 @@ void OpenVrDisplayPlugin::resetSensors() {
});
}
static bool isBadPose(vr::HmdMatrix34_t* mat) {
if (mat->m[1][3] < -0.2f) {
return true;
}
return false;
}
bool OpenVrDisplayPlugin::beginFrameRender(uint32_t frameIndex) {
handleOpenVrEvents();
@ -158,6 +177,16 @@ bool OpenVrDisplayPlugin::beginFrameRender(uint32_t frameIndex) {
_system->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseStanding, _currentRenderFrameInfo.predictedDisplayTime, _trackedDevicePose, vr::k_unMaxTrackedDeviceCount);
// HACK: when interface is launched and steam vr is NOT running, openvr will return bad HMD poses for a few frames
// To workaround this, filter out any hmd poses that are obviously bad, i.e. beneath the floor.
if (isBadPose(&_trackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking)) {
qDebug() << "WARNING: ignoring bad hmd pose from openvr";
// use the last known good HMD pose
_trackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking = _lastGoodHMDPose;
} else {
_lastGoodHMDPose = _trackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking;
}
vr::TrackedDeviceIndex_t handIndices[2] { vr::k_unTrackedDeviceIndexInvalid, vr::k_unTrackedDeviceIndexInvalid };
{

2
plugins/openvr/src/OpenVrDisplayPlugin.h
View file

@ -51,4 +51,6 @@ private:
std::atomic<vr::EDeviceActivityLevel> _hmdActivityLevel { vr::k_EDeviceActivityLevel_Unknown };
std::atomic<uint32_t> _keyboardSupressionCount{ 0 };
static const QString NAME;
vr::HmdMatrix34_t _lastGoodHMDPose;
};