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https://github.com/lbgos/rift-s-linux.git
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lbgos
dff6cab92c
Squashed from the working branch. Adds the Basalt patches, constrained constellation pose solver, Rift S optics, world anchor and boundary persistence, SteamVR camera queue and room setup guard, and tests.
530 lines
18 KiB
C++
530 lines
18 KiB
C++
// Copyright 2026, lbgos
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// SPDX-License-Identifier: BSL-1.0
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#include "catch_amalgamated.hpp"
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#include "ovrd_camera.hpp"
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#include "ovrd_roomsetup_frame.hpp"
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#include "os/os_time.h"
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#include "util/u_frame.h"
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#include <cstring>
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#include <condition_variable>
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#include <limits>
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struct CameraFixture : xrt_camera
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{
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xrt_frame *frame = nullptr;
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std::mutex lock;
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CameraFixture() : xrt_camera{}
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{
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view_width = view_height = 4;
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focal_length = {2, 2};
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center = {1.5f, 1.5f};
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set_active = [](xrt_camera *, bool) {};
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get_frame = [](xrt_camera *base, xrt_frame **out) {
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auto &c = *static_cast<CameraFixture *>(base);
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std::lock_guard guard(c.lock);
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if (!c.frame)
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return false;
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xrt_frame_reference(out, c.frame);
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return true;
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};
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}
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~CameraFixture()
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{
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xrt_frame_reference(&frame, nullptr);
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}
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void
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publish(uint8_t value)
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{
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std::lock_guard guard(lock);
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xrt_frame *next = nullptr;
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u_frame_create_one_off(XRT_FORMAT_R8G8B8, 8, 4, &next);
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memset(next->data, value, next->size);
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next->timestamp = os_monotonic_get_ns();
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xrt_frame_reference(&frame, next);
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xrt_frame_reference(&next, nullptr);
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}
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};
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static const vr::CameraVideoStreamFrame_t *
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wait_frame(MonadoCamera &camera)
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{
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for (int i = 0; i < 100; ++i) {
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if (auto *f = camera.GetVideoStreamFrame())
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return f;
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std::this_thread::sleep_for(std::chrono::milliseconds(2));
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}
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return nullptr;
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}
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TEST_CASE("SteamVR camera buffers stay immutable until release and reject stale restart frames")
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{
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CameraFixture provider;
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xrt_tracking_origin origin{};
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origin.initial_offset = XRT_POSE_IDENTITY;
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xrt_device device{};
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device.camera = &provider;
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device.tracking_origin = &origin;
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device.get_tracked_pose = [](xrt_device *, xrt_input_name, int64_t, xrt_space_relation *out) {
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*out = XRT_SPACE_RELATION_ZERO;
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out->pose = XRT_POSE_IDENTITY;
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out->pose.position = {1, 2, 3};
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out->relation_flags = XRT_SPACE_RELATION_BITMASK_ALL;
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return XRT_SUCCESS;
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};
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MonadoCamera camera(&device);
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CHECK_FALSE(camera.SetCameraFrameBuffering(2, nullptr, 96));
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CHECK_FALSE(camera.SetCameraVideoStreamFormat(vr::CVS_FORMAT_NV12));
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REQUIRE(camera.StartVideoStream());
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provider.publish(70);
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auto *held = wait_frame(camera);
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REQUIRE(held);
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CHECK(held->m_nFrameSequence == 0);
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CHECK(held->m_nWidth == 8);
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CHECK(held->m_nImageDataSize == 128);
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CHECK(held->m_RawTrackedDevicePose.bPoseIsValid);
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CHECK(held->m_RawTrackedDevicePose.mDeviceToAbsoluteTracking.m[1][3] == 2);
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auto *data = reinterpret_cast<const uint8_t *>(held->m_pImageData);
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CHECK(data[0] == 70);
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provider.publish(180);
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auto *newer = wait_frame(camera);
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REQUIRE(newer);
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CHECK(newer != held);
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CHECK(data[0] == 70);
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CHECK(reinterpret_cast<const uint8_t *>(newer->m_pImageData)[0] == 180);
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camera.ReleaseVideoStreamFrame(newer);
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camera.StopVideoStream();
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CHECK(data[0] == 70);
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CHECK_FALSE(camera.StartVideoStream());
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camera.ReleaseVideoStreamFrame(held);
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REQUIRE(camera.StartVideoStream());
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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CHECK(camera.GetVideoStreamFrame() == nullptr);
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provider.publish(210);
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auto *restarted = wait_frame(camera);
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REQUIRE(restarted);
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CHECK(restarted->m_nFrameSequence == 0);
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camera.ReleaseVideoStreamFrame(restarted);
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camera.StopVideoStream();
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}
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#include <fcntl.h>
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#include <sys/mman.h>
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#include <unistd.h>
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TEST_CASE("MonadoCamera exports rectified frames to shared memory and tracks controller buttons")
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{
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CameraFixture provider;
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xrt_tracking_origin origin{};
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origin.initial_offset = XRT_POSE_IDENTITY;
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xrt_device device{};
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device.camera = &provider;
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device.tracking_origin = &origin;
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device.get_tracked_pose = [](xrt_device *, xrt_input_name, int64_t, xrt_space_relation *out) {
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*out = XRT_SPACE_RELATION_ZERO;
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out->pose = XRT_POSE_IDENTITY;
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out->relation_flags = XRT_SPACE_RELATION_BITMASK_ALL;
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return XRT_SUCCESS;
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};
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MonadoCamera camera(&device);
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int fd = open(RIFTS_PASSTHROUGH_SHM_PATH, O_RDWR);
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REQUIRE(fd >= 0);
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auto *shm = static_cast<struct rifts_passthrough_shm *>(
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mmap(nullptr, sizeof(struct rifts_passthrough_shm), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
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REQUIRE(shm != MAP_FAILED);
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CHECK(shm->magic == RIFTS_PASSTHROUGH_MAGIC);
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CHECK(shm->version == RIFTS_PASSTHROUGH_VERSION);
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CHECK(shm->width == 8);
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CHECK(shm->height == 4);
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uint64_t seq0 = shm->sequence;
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provider.publish(100);
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std::this_thread::sleep_for(std::chrono::milliseconds(20));
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CHECK(shm->sequence == seq0);
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shm->client_active = os_monotonic_get_ns() / U_TIME_1MS_IN_NS;
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provider.publish(123);
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for (int i = 0; i < 50 && (__atomic_load_n(&shm->sequence, __ATOMIC_ACQUIRE) <= seq0 ||
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(__atomic_load_n(&shm->sequence, __ATOMIC_ACQUIRE) & 1));
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++i)
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std::this_thread::sleep_for(std::chrono::milliseconds(2));
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CHECK(shm->sequence > seq0);
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CHECK(shm->pixels[0] == 123);
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CHECK(shm->pixels[1] == 123);
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CHECK(shm->pixels[2] == 123);
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CHECK(shm->pixels[3] == 255);
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uint32_t count0 = shm->toggle_count;
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MonadoCamera::NotifyButton(XRT_INPUT_TOUCH_SYSTEM_CLICK, true);
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CHECK(shm->toggle_count == count0 + 1);
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MonadoCamera::NotifyButton(XRT_INPUT_TOUCH_SYSTEM_CLICK, true);
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CHECK(shm->toggle_count == count0 + 1);
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MonadoCamera::NotifyButton(XRT_INPUT_TOUCH_SYSTEM_CLICK, false);
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MonadoCamera::NotifyButton(XRT_INPUT_TOUCH_B_CLICK, true);
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CHECK(shm->toggle_count == count0 + 1);
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MonadoCamera::NotifyButton(XRT_INPUT_TOUCH_Y_CLICK, true);
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CHECK(shm->toggle_count == count0 + 1);
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MonadoCamera::NotifyButton(XRT_INPUT_TOUCH_MENU_CLICK, true);
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CHECK(shm->toggle_count == count0 + 1);
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MonadoCamera::NotifyButton(XRT_INPUT_TOUCH_MENU_CLICK, false);
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MonadoCamera::NotifyButton(XRT_INPUT_TOUCH_MENU_CLICK, true);
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CHECK(shm->toggle_count == count0 + 2);
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shm->client_active = 0;
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munmap(shm, sizeof(struct rifts_passthrough_shm));
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close(fd);
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}
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#include <map>
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#include <string>
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struct NativeQueueFixture : vr::IVRBlockQueue, vr::IVRPaths
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{
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std::vector<uint8_t> pixels;
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std::map<std::string, vr::PathHandle_t> names;
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std::map<vr::PathHandle_t, std::vector<uint8_t>> values;
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std::mutex mutex;
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std::atomic<int> released{0};
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std::atomic<bool> busy{false};
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bool destroyed = false;
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uint32_t header_size = 0, block_count = 0;
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std::string queue_path;
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vr::EBlockQueueError
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Create(uint64_t *out, const char *path, uint32_t size, uint32_t header, uint32_t count, uint32_t) override
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{
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queue_path = path;
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header_size = header;
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block_count = count;
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pixels.resize(size);
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*out = 100;
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return vr::EBlockQueueError_BlockQueueError_None;
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}
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vr::EBlockQueueError
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Connect(uint64_t *, const char *) override
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{
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return vr::EBlockQueueError_BlockQueueError_InvalidParam;
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}
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vr::EBlockQueueError
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Destroy(uint64_t) override
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{
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destroyed = true;
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return vr::EBlockQueueError_BlockQueueError_None;
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}
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vr::EBlockQueueError
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AcquireWriteOnlyBlock(uint64_t, uint64_t *out, void **data) override
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{
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if (busy)
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return vr::EBlockQueueError_BlockQueueError_BlockNotAvailable;
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mutex.lock();
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*out = 101;
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*data = pixels.data();
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return vr::EBlockQueueError_BlockQueueError_None;
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}
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vr::EBlockQueueError
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ReleaseWriteOnlyBlock(uint64_t, uint64_t) override
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{
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mutex.unlock();
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++released;
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return vr::EBlockQueueError_BlockQueueError_None;
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}
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vr::EBlockQueueError
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WaitAndAcquireReadOnlyBlock(uint64_t, uint64_t *, void **, vr::EBlockQueueReadType, uint32_t) override
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{
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return vr::EBlockQueueError_BlockQueueError_InvalidParam;
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}
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vr::EBlockQueueError
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AcquireReadOnlyBlock(uint64_t, uint64_t *, void **, vr::EBlockQueueReadType) override
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{
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return vr::EBlockQueueError_BlockQueueError_InvalidParam;
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}
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vr::EBlockQueueError
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ReleaseReadOnlyBlock(uint64_t, uint64_t) override
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{
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return vr::EBlockQueueError_BlockQueueError_InvalidParam;
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}
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vr::EBlockQueueError
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QueueHasReader(uint64_t, bool *out) override
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{
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*out = true;
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return vr::EBlockQueueError_BlockQueueError_None;
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}
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vr::ETrackedPropertyError
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ReadPathBatch(uint64_t, vr::PathRead_t *, uint32_t) override
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{
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return vr::TrackedProp_InvalidOperation;
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}
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vr::ETrackedPropertyError
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WritePathBatch(uint64_t, vr::PathWrite_t *writes, uint32_t count) override
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{
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for (uint32_t i = 0; i < count; ++i) {
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auto *first = static_cast<uint8_t *>(writes[i].pvBuffer);
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values[writes[i].ulPath] = {first, first + writes[i].unBufferSize};
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writes[i].eError = vr::TrackedProp_Success;
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}
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return vr::TrackedProp_Success;
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}
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vr::ETrackedPropertyError
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StringToHandle(uint64_t *out, const char *path) override
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{
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*out = names.emplace(path, names.size() + 1).first->second;
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return vr::TrackedProp_Success;
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}
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vr::ETrackedPropertyError
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HandleToString(uint64_t, const char *, uint32_t, uint32_t *) override
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{
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return vr::TrackedProp_InvalidOperation;
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}
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template <typename T>
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T
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value(const char *path)
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{
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T out{};
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auto &data = values.at(names.at(path));
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REQUIRE(data.size() == sizeof(T));
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memcpy(&out, data.data(), sizeof(out));
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return out;
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}
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};
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TEST_CASE("Native camera queue publishes stable frames and recovers from a busy compositor")
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{
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CameraFixture provider;
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xrt_device device{};
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xrt_tracking_origin origin{};
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origin.initial_offset = XRT_POSE_IDENTITY;
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device.camera = &provider;
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device.tracking_origin = &origin;
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device.get_tracked_pose = [](xrt_device *, xrt_input_name, int64_t, xrt_space_relation *out) {
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*out = XRT_SPACE_RELATION_ZERO;
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out->pose = XRT_POSE_IDENTITY;
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return XRT_SUCCESS;
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};
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NativeQueueFixture queue;
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{
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MonadoCamera camera(&device, &queue, &queue);
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REQUIRE(camera.native_ready());
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CHECK(queue.queue_path == "/lighthouse/camera/raw_frames");
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CHECK(queue.header_size == 512);
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CHECK(queue.block_count == 4);
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CHECK(queue.value<int32_t>("/format") == vr::CVS_FORMAT_RGBX32);
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CHECK(queue.value<int32_t>("/width") == 8);
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CHECK(queue.value<int32_t>("/height") == 4);
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queue.busy = true;
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REQUIRE(camera.StartVideoStream());
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provider.publish(90);
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std::this_thread::sleep_for(std::chrono::milliseconds(20));
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CHECK(queue.released == 0);
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queue.busy = false;
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provider.publish(145);
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for (int i = 0; i < 100 && queue.released == 0; ++i)
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std::this_thread::sleep_for(std::chrono::milliseconds(2));
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REQUIRE(queue.released == 1);
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{
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std::lock_guard lock(queue.mutex);
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CHECK(queue.pixels[0] == 145);
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CHECK(queue.pixels[3] == 255);
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CHECK(queue.value<int32_t>("/frame_size") == 128);
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CHECK(queue.value<uint64_t>("/server_time_ticks") > 0);
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CHECK(queue.value<double>("/frame_time_monotonic") > 0);
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CHECK(queue.value<double>("/delivery_rate") > 0);
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}
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camera.StopVideoStream();
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}
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CHECK(queue.destroyed);
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}
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TEST_CASE("2D camera projection rays use the same local region for both eye textures")
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{
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CameraFixture provider;
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xrt_device device{};
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device.camera = &provider;
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MonadoCamera camera(&device);
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for (uint32_t eye = 0; eye < 2; ++eye) {
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for (int type = 0; type < vr::MAX_CAMERA_FRAME_TYPES; ++type) {
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vr::HmdMatrix44_t projection{};
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REQUIRE(camera.GetCameraProjection(eye, static_cast<vr::EVRTrackedCameraFrameType>(type),
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0.1f, 10.0f, &projection));
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// Camera-local center and a ray one pixel to the right.
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float center = (1 - projection.m[0][2]) * 0.5f;
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CHECK(center == Catch::Approx(provider.center.x / 8));
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float next = (projection.m[0][0] / provider.focal_length.x - projection.m[0][2] + 1) * 0.5f;
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CHECK(next - center == Catch::Approx(1.0f / 8));
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float near_depth = (-0.1f * projection.m[2][2] + projection.m[2][3]) / 0.1f;
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float far_depth = (-10.0f * projection.m[2][2] + projection.m[2][3]) / 10.0f;
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CHECK(near_depth == Catch::Approx(0).margin(1e-6));
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CHECK(far_depth == Catch::Approx(1));
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}
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}
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}
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TEST_CASE("Room View exported stereo rays stay at the correct pixels through downward pitch and yaw")
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{
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using namespace roomsetup;
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CameraFixture provider;
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provider.view_width = provider.view_height = 320;
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provider.focal_length = {112.033206f, 112.033206f};
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provider.center = {159.5f, 159.5f};
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xrt_device device{};
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device.camera = &provider;
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MonadoCamera camera(&device);
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auto rotation = [](float pitch, float yaw) {
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auto p = identity(), y = identity();
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p[5] = p[10] = std::cos(pitch); p[6] = -std::sin(pitch); p[9] = std::sin(pitch);
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y[0] = y[10] = std::cos(yaw); y[2] = std::sin(yaw); y[8] = -std::sin(yaw);
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return multiply(y, p);
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};
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auto apply = [](const Matrix &m, const std::array<float, 4> &p) {
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std::array<float, 4> out{};
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for (int i = 0; i < 4; ++i) for (int j = 0; j < 4; ++j) out[i] += m[4*i+j] * p[j];
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return out;
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};
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float worst_pixel_error = 0;
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for (float pitch_deg : {0.f, -45.f, -90.f}) for (float yaw_deg : {-40.f, 0.f, 40.f}) {
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auto head = rotation(pitch_deg * float(M_PI) / 180, yaw_deg * float(M_PI) / 180);
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auto capture = rotation((pitch_deg + 2) * float(M_PI) / 180, (yaw_deg - 4) * float(M_PI) / 180);
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capture[3] = .2f; capture[7] = 1.7f; capture[11] = .1f;
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for (uint32_t eye_index = 0; eye_index < 2; ++eye_index) {
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vr::HmdMatrix44_t exported{};
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REQUIRE(camera.GetCameraProjection(eye_index, vr::VRTrackedCameraFrameType_Undistorted,
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.05f, 15.f, &exported));
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Matrix projection{};
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memcpy(projection.data(), exported.m, sizeof(exported));
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for (float height : {.9f, 1.7f}) {
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auto eye = head; eye[3] = eye_index ? .032f : -.032f; eye[7] = height;
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auto view = inverse_rigid(eye), old = multiply(projection, inverse_rigid(capture));
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std::array<float, 100> uniform{};
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auto model = identity();
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memcpy(uniform.data(), model.data(), 64); memcpy(uniform.data()+16, view.data(), 64);
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memcpy(uniform.data()+32, projection.data(), 64); memcpy(uniform.data()+48, old.data(), 64);
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REQUIRE(correct_camera(uniform.data(), sizeof(uniform)));
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Matrix fixed{}; memcpy(fixed.data(), uniform.data()+48, 64);
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for (float x : {-.7f, 0.f, .7f}) for (float y : {-.7f, 0.f, .7f}) {
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// The depth-free reference is P * R_capture^-1 * R_eye * eye_ray.
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auto direction = apply(eye, {x, y, -1, 0});
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auto reference = apply(old, direction);
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for (float depth : {.25f, 1.f, 15.f}) {
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auto world = apply(eye, {x*depth, y*depth, -depth, 1});
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auto clip = apply(fixed, world);
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// Packed X normalization and eye-half selection together yield 320 local pixels.
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float error = std::max(std::abs(clip[0]/clip[3] - reference[0]/reference[3]) * 320,
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std::abs(clip[1]/clip[3] - reference[1]/reference[3]) * 160);
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worst_pixel_error = std::max(worst_pixel_error, error);
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CHECK(error < .002f);
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// Independently project the known point back into the current eye.
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auto eye_point = apply(view, world);
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CHECK(eye_point[0]/-eye_point[2] == Catch::Approx(x).margin(1e-5));
|
|
CHECK(eye_point[1]/-eye_point[2] == Catch::Approx(y).margin(1e-5));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
printf("Room View pitch/yaw/stereo worst pixel error: %.9g\n", worst_pixel_error);
|
|
}
|
|
|
|
struct BlockedCameraFixture : CameraFixture
|
|
{
|
|
std::condition_variable cv;
|
|
bool entered = false, release = false, consumed = false;
|
|
BlockedCameraFixture()
|
|
{
|
|
get_frame = [](xrt_camera *base, xrt_frame **out) {
|
|
auto &c = *static_cast<BlockedCameraFixture *>(base);
|
|
std::unique_lock guard(c.lock);
|
|
if (!c.frame)
|
|
return false;
|
|
if (!c.entered) {
|
|
c.entered = true;
|
|
c.cv.notify_all();
|
|
c.cv.wait_for(guard, std::chrono::milliseconds(500), [&] { return c.release; });
|
|
// A newly captured image from an old request still belongs to that generation.
|
|
c.frame->timestamp = os_monotonic_get_ns();
|
|
}
|
|
xrt_frame_reference(out, c.frame);
|
|
xrt_frame_reference(&c.frame, nullptr);
|
|
c.consumed = true;
|
|
c.cv.notify_all();
|
|
return true;
|
|
};
|
|
}
|
|
};
|
|
|
|
TEST_CASE("SteamVR camera stop and restart discard an in-flight provider request")
|
|
{
|
|
BlockedCameraFixture provider;
|
|
xrt_tracking_origin origin{};
|
|
origin.initial_offset = XRT_POSE_IDENTITY;
|
|
xrt_device device{};
|
|
device.camera = &provider;
|
|
device.tracking_origin = &origin;
|
|
device.get_tracked_pose = [](xrt_device *, xrt_input_name, int64_t, xrt_space_relation *out) {
|
|
*out = XRT_SPACE_RELATION_ZERO;
|
|
out->pose = XRT_POSE_IDENTITY;
|
|
return XRT_SUCCESS;
|
|
};
|
|
struct Callback : vr::ICameraVideoSinkCallback
|
|
{
|
|
std::atomic<int> count{0};
|
|
void
|
|
OnCameraVideoSinkCallback() override
|
|
{
|
|
++count;
|
|
}
|
|
} callback;
|
|
NativeQueueFixture queue;
|
|
MonadoCamera camera(&device, &queue, &queue);
|
|
camera.SetCameraVideoSinkCallback(&callback);
|
|
REQUIRE(camera.StartVideoStream());
|
|
provider.publish(80);
|
|
{
|
|
std::unique_lock lock(provider.lock);
|
|
REQUIRE(provider.cv.wait_for(lock, std::chrono::milliseconds(200), [&] { return provider.entered; }));
|
|
}
|
|
camera.StopVideoStream();
|
|
REQUIRE(camera.StartVideoStream());
|
|
{
|
|
std::unique_lock lock(provider.lock);
|
|
provider.release = true;
|
|
provider.cv.notify_all();
|
|
REQUIRE(provider.cv.wait_for(lock, std::chrono::milliseconds(200), [&] { return provider.consumed; }));
|
|
}
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(20));
|
|
CHECK(queue.released == 0);
|
|
CHECK(callback.count == 0);
|
|
CHECK(camera.GetVideoStreamFrame() == nullptr);
|
|
provider.publish(190);
|
|
auto *frame = wait_frame(camera);
|
|
REQUIRE(frame);
|
|
CHECK(frame->m_nFrameSequence == 0);
|
|
CHECK(reinterpret_cast<const uint8_t *>(frame->m_pImageData)[0] == 190);
|
|
camera.ReleaseVideoStreamFrame(frame);
|
|
camera.StopVideoStream();
|
|
CHECK(queue.released == 1);
|
|
CHECK(callback.count == 1);
|
|
{
|
|
std::lock_guard lock(queue.mutex);
|
|
CHECK(queue.value<uint64_t>("/frame_sequence") == 0);
|
|
}
|
|
camera.SetCameraVideoSinkCallback(nullptr);
|
|
}
|
|
|
|
TEST_CASE("SteamVR camera projection rejects nonfinite clipping planes")
|
|
{
|
|
CameraFixture provider;
|
|
xrt_device device{};
|
|
device.camera = &provider;
|
|
MonadoCamera camera(&device);
|
|
vr::HmdMatrix44_t projection{};
|
|
for (float invalid : {std::numeric_limits<float>::quiet_NaN(), std::numeric_limits<float>::infinity()}) {
|
|
CHECK_FALSE(
|
|
camera.GetCameraProjection(0, vr::VRTrackedCameraFrameType_Undistorted, invalid, 100, &projection));
|
|
CHECK_FALSE(
|
|
camera.GetCameraProjection(0, vr::VRTrackedCameraFrameType_Undistorted, .1f, invalid, &projection));
|
|
}
|
|
CHECK(camera.GetCameraProjection(0, vr::VRTrackedCameraFrameType_Undistorted, 1e30f, 2e30f, &projection));
|
|
CHECK(std::isfinite(projection.m[2][3]));
|
|
}
|