Merge pull request #32 from jdibenes/sm_test

sm patch
jdibenes · Apr 1, 2023 · 3478b84 · 3478b84
2 parents 36a7550 + ccf968f
commit 3478b84
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Showing 5 changed files with 17 additions and 6 deletions.
diff --git a/hl2ss/hl2ss/locator.cpp b/hl2ss/hl2ss/locator.cpp
@@ -57,11 +57,20 @@ float4x4 Locator_GetTransformTo(SpatialCoordinateSystem const& src, SpatialCoord
     return location ? location.Value() : float4x4(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
 }
 
+// OK
+SpatialCoordinateSystem Locator_GetWorldCoordinateSystemInternal(PerceptionTimestamp const& ts)
+{
+    return (g_locatability == SpatialLocatability::PositionalTrackingActive) ? g_referenceFrame.CoordinateSystem() : g_attachedReferenceFrame.GetStationaryCoordinateSystemAtTimestamp(ts);
+}
+
 // OK
 SpatialCoordinateSystem Locator_GetWorldCoordinateSystem(PerceptionTimestamp const& ts)
 {
+    {
     SRWLock srw(&g_lock, false);
-    return g_world_override ? g_world_override : ((g_locatability == SpatialLocatability::PositionalTrackingActive) ? g_referenceFrame.CoordinateSystem() : g_attachedReferenceFrame.GetStationaryCoordinateSystemAtTimestamp(ts));
+    if (g_world_override) { return g_world_override; }
+    }
+    return Locator_GetWorldCoordinateSystemInternal(ts);
 }
 
 // OK

diff --git a/hl2ss/hl2ss/locator.h b/hl2ss/hl2ss/locator.h
@@ -10,3 +10,4 @@ winrt::Windows::Foundation::Numerics::float4x4 Locator_Locate(winrt::Windows::Pe
 winrt::Windows::Foundation::Numerics::float4x4 Locator_GetTransformTo(winrt::Windows::Perception::Spatial::SpatialCoordinateSystem const& src, winrt::Windows::Perception::Spatial::SpatialCoordinateSystem const& dst);
 winrt::Windows::Perception::Spatial::SpatialCoordinateSystem Locator_GetWorldCoordinateSystem(winrt::Windows::Perception::PerceptionTimestamp const& ts);
 void Locator_OverrideWorldCoordinateSystem(winrt::Windows::Perception::Spatial::SpatialCoordinateSystem const& scs);
+winrt::Windows::Perception::Spatial::SpatialCoordinateSystem Locator_GetWorldCoordinateSystemInternal(winrt::Windows::Perception::PerceptionTimestamp const& ts);
diff --git a/hl2ss/hl2ss/main.cpp b/hl2ss/hl2ss/main.cpp
@@ -87,8 +87,6 @@ struct App : winrt::implements<App, IFrameworkViewSource, IFrameworkView>
 		SU_Initialize();
 		VI_Initialize();
 
-		PrintSystemInfo();
-
 		m_init = true;
 	}
 

diff --git a/hl2ss/hl2ss/spatial_mapping.cpp b/hl2ss/hl2ss/spatial_mapping.cpp
@@ -24,6 +24,9 @@ struct SSM
     SpatialSurfaceMesh mesh = nullptr;
 };
 
+// Notes
+// GetObservedSurfaces crashes when using OpenXR coordinate system (in Windows.Mirage.dll)
+
 //-----------------------------------------------------------------------------
 // Global Variables
 //-----------------------------------------------------------------------------
@@ -77,7 +80,7 @@ void SpatialMapping_SetVolumes(SpatialMapping_VolumeDescription const* vd, size_
 {
     std::vector<SpatialBoundingVolume> volumes;
 
-    g_world = Locator_GetWorldCoordinateSystem(QPCTimestampToPerceptionTimestamp(GetCurrentQPCTimestamp()));
+    g_world = Locator_GetWorldCoordinateSystemInternal(QPCTimestampToPerceptionTimestamp(GetCurrentQPCTimestamp()));
 
     for (int i = 0; i < size; ++i)
     {
@@ -158,7 +161,7 @@ static void SpatialMapping_ComputeMesh(SpatialMapping_MeshTask* task)
     g_observed_meshes_info[task->index].vpd    = vertex_positions.data();
     g_observed_meshes_info[task->index].tid    = triangle_indices.data();
     g_observed_meshes_info[task->index].vnd    = compute_normals ? vertex_normals.data() : NULL;
-    g_observed_meshes_info[task->index].pose   = Locator_GetTransformTo(ssm.CoordinateSystem(), g_world);
+    g_observed_meshes_info[task->index].pose   = Locator_GetTransformTo(ssm.CoordinateSystem(), g_world) * Locator_GetTransformTo(g_world, Locator_GetWorldCoordinateSystem(QPCTimestampToPerceptionTimestamp(GetCurrentQPCTimestamp())));
     g_observed_meshes_info[task->index].scale  = ssm.VertexPositionScale();
     g_observed_meshes_info[task->index].bsz    = compute_bounds ? sizeof(SpatialBoundingOrientedBox) : 0;
     if (compute_bounds)

diff --git a/unity/Hololens2SensorStreaming.cs b/unity/Hololens2SensorStreaming.cs
@@ -32,7 +32,7 @@ public class Hololens2SensorStreaming : MonoBehaviour
 
     void Start()
     {
-        if (!skipInitialization) { hl2ss.Initialize(enableRM, enablePV, enableMC, enableRC, enableSM, enableSU, enableVI); }
         hl2ss.UpdateCoordinateSystem();
+        if (!skipInitialization) { hl2ss.Initialize(enableRM, enablePV, enableMC, enableRC, enableSM, enableSU, enableVI); }
     }
 }