Fixing the room setup yaw is no longer necessary

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2018 Justin Li
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

OpenVR-SpaceCalibrator/Calibration.cpp

@@ -104,6 +104,22 @@ struct DSample
 	Eigen::Vector3d ref, target;
 };
 
+bool StartsWith(const std::string &str, const std::string &prefix)
+{
+	if (str.length() < prefix.length())
+		return false;
+
+	return str.compare(0, prefix.length(), prefix) == 0;
+}
+
+bool EndsWith(const std::string &str, const std::string &suffix)
+{
+	if (str.length() < suffix.length())
+		return false;
+
+	return str.compare(str.length() - suffix.length(), suffix.length(), suffix) == 0;
+}
+
 Eigen::Vector3d AxisFromRotationMatrix3(Eigen::Matrix3d rot)
 {
 	return Eigen::Vector3d(rot(2,1) - rot(1,2), rot(0,2) - rot(2,0), rot(1,0) - rot(0,1));
@@ -136,22 +152,6 @@ DSample DeltaRotationSamples(Sample s1, Sample s2)
 	return ds;
 }
 
-bool StartsWith(const std::string &str, const std::string &prefix)
-{
-	if (str.length() < prefix.length())
-		return false;
-
-	return str.compare(0, prefix.length(), prefix) == 0;
-}
-
-bool EndsWith(const std::string &str, const std::string &suffix)
-{
-	if (str.length() < suffix.length())
-		return false;
-
-	return str.compare(str.length() - suffix.length(), suffix.length(), suffix) == 0;
-}
-
 Eigen::Vector3d CalibrateRotation(const std::vector<Sample> &samples)
 {
 	std::vector<DSample> deltas;
@@ -165,7 +165,7 @@ Eigen::Vector3d CalibrateRotation(const std::vector<Sample> &samples)
 				deltas.push_back(delta);
 		}
 	}
-	printf("\ngot %zd samples with %zd delta samples\n", samples.size(), deltas.size());
+	printf("got %zd samples with %zd delta samples\n", samples.size(), deltas.size());
 
 	// Kabsch algorithm
 
@@ -205,7 +205,6 @@ Eigen::Vector3d CalibrateRotation(const std::vector<Sample> &samples)
 	rot.transposeInPlace();
 
 	Eigen::Vector3d euler = rot.eulerAngles(2, 1, 0) * 180.0 / EIGEN_PI;
-	euler[2] *= -1;
 
 	printf("rotation yaw=%.2f pitch=%.2f roll=%.2f\n", euler[1], euler[2], euler[0]);
 	return euler;
@@ -246,10 +245,9 @@ Eigen::Vector3d CalibrateTranslation(const std::vector<Sample> &samples)
 	}
 
 	Eigen::Vector3d trans = coefficients.bdcSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(constants);
-	trans(0) *= -1.0;
 	auto transcm = trans * 100.0;
 
-	printf("\ntranslation x=%.2f y=%.2f z=%.2f\n", transcm[0], transcm[1], transcm[2]);
+	printf("translation x=%.2f y=%.2f z=%.2f\n", transcm[0], transcm[1], transcm[2]);
 	return transcm;
 }
 
@@ -259,7 +257,7 @@ Sample CollectSample(const CalibrationContext &ctx)
 	reference.bPoseIsValid = false;
 	target.bPoseIsValid = false;
 
-	vr::VRSystem()->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseStanding, 0.0f, devicePoses, vr::k_unMaxTrackedDeviceCount);
+	vr::VRSystem()->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseRawAndUncalibrated, 0.0f, devicePoses, vr::k_unMaxTrackedDeviceCount);
 
 	reference = devicePoses[ctx.referenceID];
 	target = devicePoses[ctx.targetID];
@@ -281,7 +279,7 @@ bool PickDevices(CalibrationContext &ctx)
 	char buffer[vr::k_unMaxPropertyStringSize];
 
 	vr::TrackedDevicePose_t devicePoses[vr::k_unMaxTrackedDeviceCount];
-	vr::VRSystem()->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseStanding, 0.0f, devicePoses, vr::k_unMaxTrackedDeviceCount);
+	vr::VRSystem()->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseRawAndUncalibrated, 0.0f, devicePoses, vr::k_unMaxTrackedDeviceCount);
 
 	for (uint32_t id = 0; id < vr::k_unMaxTrackedDeviceCount; ++id)
 	{
@@ -405,30 +403,50 @@ void ScanAndApplyProfile(const CalibrationContext &ctx)
 {
 	char buffer[vr::k_unMaxPropertyStringSize];
 
+	vr::TrackedDevicePose_t devicePoses[vr::k_unMaxTrackedDeviceCount];
+	vr::VRSystem()->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseRawAndUncalibrated, 0.0f, devicePoses, vr::k_unMaxTrackedDeviceCount);
+
 	for (uint32_t id = 0; id < vr::k_unMaxTrackedDeviceCount; ++id)
 	{
 		auto deviceClass = vr::VRSystem()->GetTrackedDeviceClass(id);
 		if (deviceClass == vr::TrackedDeviceClass_Invalid)
 			continue;
 
+		/*if (deviceClass == vr::TrackedDeviceClass_HMD) // for debugging unexpected universe switches
+		{
+			vr::ETrackedPropertyError err = vr::TrackedProp_Success;
+			auto universeId = vr::VRSystem()->GetUint64TrackedDeviceProperty(id, vr::Prop_CurrentUniverseId_Uint64, &err);
+			printf("uid %d err %d\n", universeId, err);
+			continue;
+		}*/
+
 		vr::ETrackedPropertyError err = vr::TrackedProp_Success;
 		vr::VRSystem()->GetStringTrackedDeviceProperty(id, vr::Prop_TrackingSystemName_String, buffer, vr::k_unMaxPropertyStringSize, &err);
 
-		if (err == vr::TrackedProp_Success)
+		if (err != vr::TrackedProp_Success)
+			continue;
+
+		std::string trackingSystem(buffer);
+
+		if (trackingSystem != ctx.calibratedTrackingSystem)
+			continue;
+
+		if (deviceClass == vr::TrackedDeviceClass_TrackingReference)
 		{
-			std::string trackingSystem(buffer);
+			// TODO(pushrax): detect zero reference switches and adjust calibration automatically
+			//auto p = devicePoses[id].mDeviceToAbsoluteTracking.m;
+			//printf("%d: %f %f %f\n", id, p[0][3], p[1][3], p[2][3]);
+		}
+		else
+		{
+			//printf("setting calibration for %d (%s)\n", id, buffer);
+			auto vrRotQuat = VRRotationQuat(ctx.calibratedRotation);
+			InputEmulator.setWorldFromDriverRotationOffset(id, vrRotQuat);
 
-			if (trackingSystem == ctx.calibratedTrackingSystem)
-			{
-				//printf("setting calibration for %d (%s)\n", id, buffer);
-				auto vrRotQuat = VRRotationQuat(ctx.calibratedRotation);
-				InputEmulator.setWorldFromDriverRotationOffset(id, vrRotQuat);
+			auto vrTransVec = VRTranslationVec(ctx.calibratedTranslation);
+			InputEmulator.setWorldFromDriverTranslationOffset(id, vrTransVec);
 
-				auto vrTransVec = VRTranslationVec(ctx.calibratedTranslation);
-				InputEmulator.setWorldFromDriverTranslationOffset(id, vrTransVec);
-
-				InputEmulator.enableDeviceOffsets(id, true);
-			}
+			InputEmulator.enableDeviceOffsets(id, true);
 		}
 	}
 }
@@ -498,6 +516,7 @@ void CalibrationTick()
 
 	if (samples.size() == totalSamples)
 	{
+		printf("\n");
 		if (ctx.state == Rotation)
 		{
 			ctx.calibratedRotation = CalibrateRotation(samples);

README.md

@@ -2,14 +2,17 @@
 
 Use VR devices from one company with any other.
 
-This is **beta software** and may not work for you. A quick video demo is available at https://www.youtube.com/watch?v=Khzta0hgvrA
+This is **beta software** and may not work for you. A quick video walkthrough of the calibration process is available at https://www.youtube.com/watch?v=W3TnQd9JMl4
 
 ## Usage
 
+### Calibration
+
+If you don't already run a setup with multiple device types, see [Setting up SteamVR](#setting-up-steamvr).
+
 0. Install [OpenVR-InputEmulator](https://github.com/matzman666/OpenVR-InputEmulator).
 1. Download and unzip the [latest release](https://github.com/pushrax/OpenVR-SpaceCalibrator/releases) of OpenVR-SpaceCalibrator.
 2. Run SteamVR, and turn on your Touch controllers and only one Vive device to use for calibration.
-    * Make sure your SteamVR and Oculus room setups are correct. If a lighthouse or sensor has moved since your last room setup, the calibration won't be calculated properly.
 3. Run OpenVR-SpaceCalibrator.
 4. Hold the left Touch controller and your Vive device in your left hand securely, like they're glued together.
 5. Click "Start Calibration"
@@ -18,17 +21,32 @@ This is **beta software** and may not work for you. A quick video demo is availa
 
 Next time you run SteamVR and OpenVR-InputEmulator it will load the calibration automatically and apply it to any Vive devices you turn on.
 
-## Manually editing the calibration
+### Setting up SteamVR
+
+Every hardware designer with their own tracking system needs to make a "driver"
+so SteamVR can see their tracking data. SteamVR by default will load only one driver at a time,
+but we can tell it to load all of them by editing the vrsettings config file.
+
+Open `Steam\steamapps\common\SteamVR\resources\settings\default.vrsettings` in a text editor,
+look for the line that has `"activateMultipleDrivers": false` and change the `false` to `true`.
+In some guides online you may also see references to `requireHmd`, this does _not_ need to be changed
+unless you truly want to be able to run without any kind of HMD.
+
+Sometimes when SteamVR updates this file seems to get wiped, if your setup stops working you might
+have to edit the config again.
+
+### Manually editing the calibration
 
 If you'd like to make a manual change to the calibration, the values are in `openvr_space_calibration.txt` in the same folder as the exe.
-The first 4 numbers are the rotation (yaw, pitch, roll) in degrees, and the next 3 numbers are the translation (x, y, z) in centimeters.
+The first 3 numbers are the rotation (yaw, pitch, roll) in degrees, and the next 3 numbers are the translation (x, y, z) in centimeters.
+
+### Compiling your own build
+
+1. Install boost 1.63 to `lib/boost_1_63_0` (required for IPC to OpenVR-InputEmulator). https://sourceforge.net/projects/boost/files/boost-binaries/1.63.0/
+2. Open `OpenVR-SpaceCalibrator.sln` in Visual Studio 2015 and build.
+
 
 ## The math
 
 See [math.pdf](https://github.com/pushrax/OpenVR-SpaceCalibrator/blob/master/math.pdf) for details.
 If you have some ideas for how to improve the calibration process, let me know!
-
-## Compiling your own build
-
-1. Install boost 1.63 to `lib/boost_1_63_0` (required for IPC to OpenVR-InputEmulator). https://sourceforge.net/projects/boost/files/boost-binaries/1.63.0/
-2. Open `OpenVR-SpaceCalibrator.sln` in Visual Studio 2015 and build.