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d/wmr: Put last camera-relative pose into the controller tracking debug

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Jan Schmidt committed 2026-03-25 17:50:33 +11:00
1 parent 3423a226d6
commit ba3a2dea76
1 file changed
+4 -1
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src/xrt/drivers/wmr/wmr_controller_tracking.c
+4 -1
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@@ -79,6 +79,7 @@ struct wmr_controller_tracker_device
struct xrt_pose last_seen_pose; // global pose
int last_matched_blobs;
int last_matched_cam;
struct xrt_pose last_matched_cam_pose; // Camera-relative pose
};
struct wmr_controller_tracker_camera
@@ -349,6 +350,7 @@ submit_device_pose(struct wmr_controller_tracker *wct,
device->last_seen_pose = dev_state->final_pose;
device->last_matched_blobs = score->matched_blobs;
device->last_matched_cam = view_id;
device->last_matched_cam_pose = *obj_cam_pose;
/* Submit this pose observation to the fusion / real device */
wmr_controller_tracker_connection_notify_pose(device->connection, device->last_seen_pose_ts,
@@ -1031,10 +1033,11 @@ wmr_controller_tracker_add_controller(struct wmr_controller_tracker *wct, struct
sprintf(dev_name, "Controller %u - %s", wct->num_controllers,
wcb->base.device_type == XRT_DEVICE_TYPE_LEFT_HAND_CONTROLLER ? "Left" : "Right");
u_var_add_ro_text(wct, "Device", dev_name);
u_var_add_pose(wct, &device->last_seen_pose, "Last observed pose");
u_var_add_pose(wct, &device->last_seen_pose, "Last observed global pose");
u_var_add_u64(wct, &device->last_seen_pose_ts, "Last observed pose");
u_var_add_ro_i32(wct, &device->last_matched_blobs, "Last matched Blobs");
u_var_add_ro_i32(wct, &device->last_matched_cam, "Last observed camera #");
u_var_add_pose(wct, &device->last_matched_cam_pose, "Last observed camera pose");
}
os_mutex_unlock(&wct->tracked_controller_lock);