Adding the ability to offset the reference from the target device pose.

OpenVR-SpaceCalibrator/Calibration.cpp

@@ -12,6 +12,9 @@
 
 static IPCClient Driver;
 CalibrationContext CalCtx;
+CalibrationState LastState = CalibrationState::None;
+Eigen::Vector3d ReferenceTranslation;
+Eigen::Vector3d ReferenceRotation;
 
 void InitCalibrator()
 {
@@ -36,6 +39,8 @@ struct Pose
 	Pose(double x, double y, double z) : trans(Eigen::Vector3d(x,y,z)) { }
 };
 
+Pose ReferencePose;
+
 struct Sample
 {
 	Pose ref, target;
@@ -364,6 +369,14 @@ void StartCalibration()
 	CalCtx.messages.clear();
 }
 
+void SetReferenceOffset() {
+	auto &ctx = CalCtx;
+	Pose pose(ctx.devicePoses[ctx.referenceID].mDeviceToAbsoluteTracking);
+	ReferencePose = pose;
+	ReferenceTranslation = ctx.calibratedTranslation;
+	ReferenceRotation = ctx.calibratedRotation;
+}
+
 void CalibrationTick(double time)
 {
 	if (!vr::VRSystem())
@@ -400,6 +413,49 @@ void CalibrationTick(double time)
 		return;
 	}
 
+	if (ctx.state == CalibrationState::Referencing)
+	{
+		Pose pose(ctx.devicePoses[ctx.referenceID].mDeviceToAbsoluteTracking);
+		Eigen::Vector3d deltaTrans = pose.trans - ReferencePose.trans;
+		ctx.calibratedTranslation = (ReferenceTranslation + (deltaTrans * 100));
+
+		// Attempt # 1, getting teh euler delta and adding it to the original reference rotation - does not work.
+		//auto rotation = pose.rot.eulerAngles(2, 1, 0) * 180.0 / EIGEN_PI;
+		/*ctx.calibratedRotation[0] = ReferenceRotation(0) + rotation(0);
+		ctx.calibratedRotation[1] = ReferenceRotation(1) + rotation(1);
+		ctx.calibratedRotation[2] = ReferenceRotation(2) + rotation(2);*/
+		//ctx.calibratedRotation[0] = rotation(0);
+		//ctx.calibratedRotation[1] = rotation(1);
+		//ctx.calibratedRotation[2] = rotation(2);
+
+
+		// Attempt #2, convert it all to quaternions ?? didnt get far with this one.
+		/*Eigen::Quaterniond currentQuat =
+			Eigen::AngleAxisd(ctx.calibratedRotation(0), Eigen::Vector3d::UnitZ()) *
+			Eigen::AngleAxisd(ctx.calibratedRotation(1), Eigen::Vector3d::UnitY()) *
+			Eigen::AngleAxisd(ctx.calibratedRotation(2), Eigen::Vector3d::UnitX());
+		Eigen::Matrix3d deltaRot = pose.rot - ReferencePose.rot;
+		Eigen::Quaternionf delta(deltaRot);
+		vr::HmdQuaternion_t deltaQuat;
+		deltaQuat.x = delta.coeffs()[0];
+		deltaQuat.y = delta.coeffs()[1];
+		deltaQuat.z = delta.coeffs()[2];
+		deltaQuat.w = delta.coeffs()[3];*/
+		//currentQuat.normalize();
+		// Eigen::Matrix3d updatedRot = currentQuat.toRotationMatrix() + deltaRot;
+
+
+		ctx.wantedUpdateInterval = 0.025;
+
+		if ((time - ctx.timeLastScan) >= 0.025)
+		{
+			ScanAndApplyProfile(ctx);
+			ctx.timeLastScan = time;
+		}
+		return;
+	}
+	LastState = ctx.state;
+
 	if (ctx.state == CalibrationState::Begin)
 	{
 		bool ok = true;

OpenVR-SpaceCalibrator/Calibration.h

@@ -11,6 +11,7 @@ enum class CalibrationState
 	Rotation,
 	Translation,
 	Editing,
+	Referencing
 };
 
 struct CalibrationContext
@@ -118,4 +119,5 @@ void InitCalibrator();
 void CalibrationTick(double time);
 void StartCalibration();
 void LoadChaperoneBounds();
-void ApplyChaperoneBounds();
+void ApplyChaperoneBounds();
+void SetReferenceOffset();

OpenVR-SpaceCalibrator/OpenVR-SpaceCalibrator.cpp

@@ -235,6 +235,26 @@ void RunLoop()
 				keyboardOpen = true;
 			}
 
+			vr::VREvent_t event;
+			while (vr::VRSystem()->PollNextEvent(&event, sizeof(event))) {
+				if (event.eventType == vr::VREvent_ButtonPress || event.eventType == vr::VREvent_ButtonUnpress) {
+					vr::VRControllerState_t state;
+					vr::VRSystem()->GetControllerState(CalCtx.referenceID, &state, sizeof(state));
+					bool pushed = (state.ulButtonPressed & vr::ButtonMaskFromId(vr::EVRButtonId::k_EButton_Grip)) != 0;
+
+					if (pushed) {
+						if (CalCtx.state == CalibrationState::Editing) {
+							SetReferenceOffset();
+							CalCtx.state = CalibrationState::Referencing;
+						}
+					}
+					else if (CalCtx.state == CalibrationState::Referencing) {
+						SaveProfile(CalCtx);
+						CalCtx.state = CalibrationState::Editing;
+					}
+				}
+			}
+
 			vr::VREvent_t vrEvent;
 			while (vr::VROverlay()->PollNextOverlayEvent(overlayMainHandle, &vrEvent, sizeof(vrEvent)))
 			{

OpenVR-SpaceCalibrator/UserInterface.cpp

@@ -156,7 +156,7 @@ void BuildMenu(bool runningInOverlay)
 
 		ImGui::Columns(1);
 	}
-	else if (CalCtx.state == CalibrationState::Editing)
+	else if (CalCtx.state == CalibrationState::Editing || CalCtx.state == CalibrationState::Referencing)
 	{
 		BuildProfileEditor();
 
@@ -165,6 +165,16 @@ void BuildMenu(bool runningInOverlay)
 			SaveProfile(CalCtx);
 			CalCtx.state = CalibrationState::None;
 		}
+
+		ImGui::Text("\n");
+		ImGui::Text("Close the steam menu to grab the target space and fine adjust with the reference grip button.\n");
+		ImGui::Text("When you let go it will save the profile.\n");
+		ImGui::Text("\n");
+
+		if (ImGui::Button("Back", ImVec2(ImGui::GetWindowContentRegionWidth(), ImGui::GetTextLineHeight() * 2)))
+		{
+			CalCtx.state = CalibrationState::None;
+		}
 	}
 	else
 	{