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a/htc: Implement 3 more distortion algorithms

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We *appear* to produce correct distortion for Vive Cosmos configs now.

Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2782>
This commit is contained in:
Beyley Cardellio committed 2026-03-17 15:17:43 -04:00
1 parent 2cd6fef734
commit da2d49aaae
1 file changed
+131 -17
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src/xrt/auxiliary/htc/htc_config.cpp
+131 -17
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@@ -539,17 +539,126 @@ htc_grow_remap(htc_eye_distortion &dist, int eye, xrt_vec2 *inout_uv)
0.5;
}
static void
apply_pre_warp(htc_eye_distortion &dist, float x, float y, float &out_x, float &out_y)
{
// Run the pre-warp to get the homogeneous coordinates
xrt_vec3 in_homogeneous = {x, y, 1.0f};
math_matrix_3x3_transform_vec3(&dist.warp.pre, &in_homogeneous, &in_homogeneous);
out_x = in_homogeneous.x / in_homogeneous.z;
out_y = in_homogeneous.y / in_homogeneous.z;
}
static void
apply_traditional(htc_eye_distortion &dist, int channel, int parameters, float x, float y, float &out_x, float &out_y)
{
double r2 = x * x + y * y;
double *k = dist.coeffecients[channel].k;
// double radial_distortion = ((r6 * k[3]) + (r4 * k[2]) + (r2 * k[1]) + k[0]);
double radial_distortion = k[0];
double ri = 1;
for (int i = 0; i < parameters; i++) {
ri *= r2;
radial_distortion += (ri * k[i + 1]);
}
out_x = x * radial_distortion;
out_y = y * radial_distortion;
}
static void
apply_tangential(htc_eye_distortion &dist, int channel, float &x, float &y)
{
double r2 = x * x + y * y;
double p1 = dist.coeffecients[channel].p[0];
double p2 = dist.coeffecients[channel].p[1];
x += (p2 * (2.0 * x * x + r2) + 2.0 * p1 * x * y);
y += (p1 * (2.0 * y * y + r2) + 2.0 * p2 * x * y);
}
static void
apply_prism(htc_eye_distortion &dist, int channel, float &x, float &y)
{
double r2 = x * x + y * y;
double s1 = dist.coeffecients[channel].s[0];
double s2 = dist.coeffecients[channel].s[1];
x += r2 * s1;
x += r2 * s2;
}
static void
apply_post_warp(htc_eye_distortion &dist, float x, float y, float &out_x, float &out_y)
{
xrt_vec3 in_homogeneous = {x, y, 1.0f};
math_matrix_3x3_transform_vec3(&dist.warp.post, &in_homogeneous, &in_homogeneous);
out_x = in_homogeneous.x / in_homogeneous.z;
out_y = in_homogeneous.y / in_homogeneous.z;
}
static void
htc_traditional(htc_eye_distortion &dist, int channel, xrt_vec2 *inout_pixels)
{
assert(channel < 3);
// Run the pre-warp to get the homogeneous coordinates
float x, y;
apply_pre_warp(dist, inout_pixels->x, inout_pixels->y, x, y);
float pre_warp_final_u, pre_warp_final_v;
apply_traditional(dist, channel, 3, x, y, pre_warp_final_u, pre_warp_final_v);
apply_post_warp(dist, pre_warp_final_u, pre_warp_final_v, inout_pixels->x, inout_pixels->y);
}
static void
htc_traditional_tangential(htc_eye_distortion &dist, int channel, xrt_vec2 *inout_pixels)
{
assert(channel < 3);
float x, y;
apply_pre_warp(dist, inout_pixels->x, inout_pixels->y, x, y);
float pre_warp_final_u, pre_warp_final_v;
apply_traditional(dist, channel, 3, x, y, pre_warp_final_u, pre_warp_final_v);
apply_tangential(dist, channel, pre_warp_final_u, pre_warp_final_v);
apply_post_warp(dist, pre_warp_final_u, pre_warp_final_v, inout_pixels->x, inout_pixels->y);
}
static void
htc_radial_tangential_prism(htc_eye_distortion &dist, int channel, xrt_vec2 *inout_pixels)
{
assert(channel < 3);
float x, y;
apply_pre_warp(dist, inout_pixels->x, inout_pixels->y, x, y);
float pre_warp_final_u, pre_warp_final_v;
apply_traditional(dist, channel, 5, x, y, pre_warp_final_u, pre_warp_final_v);
apply_tangential(dist, channel, pre_warp_final_u, pre_warp_final_v);
apply_prism(dist, channel, pre_warp_final_u, pre_warp_final_v);
apply_post_warp(dist, pre_warp_final_u, pre_warp_final_v, inout_pixels->x, inout_pixels->y);
}
static bool
htc_strengthen_high_order(htc_eye_distortion &dist, int channel, xrt_vec2 *inout_pixels)
{
assert(channel < 3);
// Run the pre-warp to get the homogeneous coordinates
xrt_vec3 in_homogeneous = {inout_pixels->x, inout_pixels->y, 1.0f};
math_matrix_3x3_transform_vec3(&dist.warp.pre, &in_homogeneous, &in_homogeneous);
float x, y;
apply_pre_warp(dist, inout_pixels->x, inout_pixels->y, x, y);
float x = in_homogeneous.x / in_homogeneous.z;
float y = in_homogeneous.y / in_homogeneous.z;
double r2 = x * x + y * y;
double r = sqrt(r2);
double r4 = r2 * r2;
@@ -582,6 +691,8 @@ htc_strengthen_high_order(htc_eye_distortion &dist, int channel, xrt_vec2 *inout
((r10 * r) * k[11])) +
((r10 * (r * r)) * k[12]);
// @todo add the "max radius" here and return "false"
double xsq3 = (x * 3.0) * x;
double xsq4_ysq = (((x * 4.0) * x) * y) * y;
double xsq2 = (x + x) * x;
@@ -604,11 +715,7 @@ htc_strengthen_high_order(htc_eye_distortion &dist, int channel, xrt_vec2 *inout
double pre_warp_final_u = (((radial_series * x) + x_tangential) + (r2 * s1)) + (r4 * s2);
double pre_warp_final_v = (((y * radial_series) + y_tangential) + (r2 * s3)) + (r4 * s4);
in_homogeneous = {(float)pre_warp_final_u, (float)pre_warp_final_v, 1.0f};
math_matrix_3x3_transform_vec3(&dist.warp.post, &in_homogeneous, &in_homogeneous);
inout_pixels->x = in_homogeneous.x / in_homogeneous.z;
inout_pixels->y = in_homogeneous.y / in_homogeneous.z;
apply_post_warp(dist, pre_warp_final_u, pre_warp_final_v, inout_pixels->x, inout_pixels->y);
return true;
}
@@ -625,17 +732,24 @@ htc_distort_internal(htc_config *config, int eye, int channel, const xrt_vec2 *i
float enlarge_ratio = dist.enlarge_ratio;
// We only support the strengthen_high_order model for now
if (dist.model != HTC_DISTORTION_MODEL_STRENGTHEN_HIGH_ORDER) {
return false;
}
xrt_vec2 distorted;
htc_to_lens_pixels(config, eye, in, &distorted);
if (!htc_strengthen_high_order(dist, channel, &distorted)) {
distorted.x = -10000;
distorted.y = -10000;
switch (dist.model) {
case HTC_DISTORTION_MODEL_TRADITIONAL_SIMPLE: htc_traditional(dist, channel, &distorted); break;
case HTC_DISTORTION_MODEL_TRADITIONAL_WITH_TANGENTIAL:
htc_traditional_tangential(dist, channel, &distorted);
break;
case HTC_DISTORTION_MODEL_RADIAL_TANGENTIAL_PRISM:
htc_radial_tangential_prism(dist, channel, &distorted);
break;
case HTC_DISTORTION_MODEL_STRENGTHEN_HIGH_ORDER:
if (!htc_strengthen_high_order(dist, channel, &distorted)) {
distorted.x = -10000;
distorted.y = -10000;
}
break;
default: return false;
}
xrt_vec2 normalized_centers = {