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Update ALVR to v20.7.1 (#321)
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* Update ALVR to v20.7.1

* lint fix

* alvr_get_frame GIVES viewParams

* fix eye positions properly
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@ShootingKing-AM
ShootingKing-AM authored Apr 12, 2024
1 parent 2b76c28 commit 6635eb7
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Showing 2 changed files with 89 additions and 59 deletions.
2 changes: 1 addition & 1 deletion code/mobile/android/PhoneVR/ALVR
Submodule ALVR updated 100 files
146 changes: 88 additions & 58 deletions code/mobile/android/PhoneVR/app/src/main/cpp/alvr_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
#include "cardboard.h"
#include <GLES3/gl3.h>
#include <algorithm>
#include <android/log.h>
#include <deque>
#include <jni.h>
#include <map>
Expand All @@ -14,6 +15,8 @@

using namespace nlohmann;

const char LOG_TAG[] = "ALVR_PVR_NATIVE";

void log(AlvrLogLevel level, const char *format, ...) {
va_list args;
va_start(args, format);
Expand All @@ -27,6 +30,21 @@ void log(AlvrLogLevel level, const char *format, ...) {

alvr_log(level, buf);

switch (level) {
case ALVR_LOG_LEVEL_DEBUG:
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "%s", buf);
break;
case ALVR_LOG_LEVEL_INFO:
__android_log_print(ANDROID_LOG_INFO, LOG_TAG, "%s", buf);
break;
case ALVR_LOG_LEVEL_ERROR:
__android_log_print(ANDROID_LOG_ERROR, LOG_TAG, "%s", buf);
break;
case ALVR_LOG_LEVEL_WARN:
__android_log_print(ANDROID_LOG_WARN, LOG_TAG, "%s", buf);
break;
}

va_end(args);
}

Expand All @@ -41,11 +59,6 @@ const uint64_t VSYNC_QUEUE_INTERVAL_NS = 50e6;
const float FLOOR_HEIGHT = 1.5;
const int MAXIMUM_TRACKING_FRAMES = 360;

struct Pose {
float position[3];
AlvrQuat orientation;
};

struct NativeContext {
JavaVM *javaVm = nullptr;
jobject javaContext = nullptr;
Expand All @@ -69,6 +82,9 @@ struct NativeContext {
GLuint streamTextures[2] = {};

float eyeOffsets[2] = {};
AlvrFov fovArr[2] = {};
AlvrViewParams viewParams[2] = {};
AlvrDeviceMotion deviceMotion = {};
};

NativeContext CTX = {};
Expand Down Expand Up @@ -98,6 +114,15 @@ void quatVecMultiply(AlvrQuat q, float v[3], float out[3]) {
}
}

void offsetPosWithQuat(AlvrQuat q, float offset[3], float outPos[3]) {
float rotatedOffset[3];
quatVecMultiply(q, offset, rotatedOffset);

outPos[0] += rotatedOffset[0];
outPos[1] += rotatedOffset[1] + FLOOR_HEIGHT;
outPos[2] += rotatedOffset[2];
}

AlvrFov getFov(CardboardEye eye) {
float f[4];
CardboardLensDistortion_getFieldOfView(CTX.lensDistortion, eye, f);
Expand All @@ -111,8 +136,8 @@ AlvrFov getFov(CardboardEye eye) {
return fov;
}

Pose getPose(uint64_t timestampNs) {
Pose pose = {};
AlvrPose getPose(uint64_t timestampNs) {
AlvrPose pose = {};

float pos[3];
float q[4];
Expand All @@ -121,44 +146,41 @@ Pose getPose(uint64_t timestampNs) {
auto inverseOrientation = AlvrQuat{q[0], q[1], q[2], q[3]};
pose.orientation = inverseQuat(inverseOrientation);

// FIXME: The position is calculated wrong. It behaves correctly when leaning side to side but
// the overall position is wrong when facing left, right or back. float positionBig[3] = {pos[0]
// * 5, pos[1] * 5, pos[2] * 5}; float headPos[3]; quatVecMultiply(pose.orientation,
// positionBig, headPos);

pose.position[0] = 0; //-headPos[0];
pose.position[1] = /*-headPos[1]*/ +FLOOR_HEIGHT;
pose.position[2] = 0; //-headPos[2];

debug("returning pos (%f,%f,%f) orient (%f, %f, %f, %f)",
pos[0],
pos[1],
pos[2],
q[0],
q[1],
q[2],
q[3]);
return pose;
}

void updateViewConfigs(uint64_t targetTimestampNs = 0) {
if (!targetTimestampNs)
targetTimestampNs = GetBootTimeNano() + alvr_get_head_prediction_offset_ns();

AlvrPose headPose = getPose(targetTimestampNs);

CTX.deviceMotion.device_id = HEAD_ID;
CTX.deviceMotion.pose = headPose;

float headToEye[3] = {CTX.eyeOffsets[kLeft], 0.0, 0.0};

CTX.viewParams[kLeft].pose = headPose;
offsetPosWithQuat(headPose.orientation, headToEye, CTX.viewParams[kLeft].pose.position);
CTX.viewParams[kLeft].fov = CTX.fovArr[kLeft];

headToEye[0] = CTX.eyeOffsets[kRight];
CTX.viewParams[kRight].pose = headPose;
offsetPosWithQuat(headPose.orientation, headToEye, CTX.viewParams[kRight].pose.position);
CTX.viewParams[kRight].fov = CTX.fovArr[kRight];
}

void inputThread() {
auto deadline = std::chrono::steady_clock::now();

info("inputThread: thread staring...");
while (CTX.streaming) {
debug("inputThread: streaming...");
uint64_t targetTimestampNs = GetBootTimeNano() + alvr_get_head_prediction_offset_ns();

Pose headPose = getPose(targetTimestampNs);
auto targetTimestampNs = GetBootTimeNano() + alvr_get_head_prediction_offset_ns();
updateViewConfigs(targetTimestampNs);

AlvrDeviceMotion headMotion = {};
headMotion.device_id = HEAD_ID;
headMotion.pose.position[0] = headPose.position[0];
headMotion.pose.position[1] = headPose.position[1];
headMotion.pose.position[2] = headPose.position[2];
headMotion.pose.orientation = headPose.orientation;

alvr_send_tracking(targetTimestampNs, &headMotion, 1, nullptr, nullptr);
alvr_send_tracking(
targetTimestampNs, CTX.viewParams, &CTX.deviceMotion, 1, nullptr, nullptr);

deadline += std::chrono::nanoseconds((uint64_t) (1e9 / 60.f / 3));
std::this_thread::sleep_until(deadline);
Expand All @@ -178,16 +200,23 @@ extern "C" JNIEXPORT void JNICALL Java_viritualisres_phonevr_ALVRActivity_initia
uint32_t viewWidth = std::max(screenWidth, screenHeight) / 2;
uint32_t viewHeight = std::min(screenWidth, screenHeight);

alvr_initialize_android_context((void *) CTX.javaVm, (void *) CTX.javaContext);

float refreshRatesBuffer[1] = {refreshRate};

alvr_initialize((void *) CTX.javaVm,
(void *) CTX.javaContext,
viewWidth,
viewHeight,
refreshRatesBuffer,
1,
false, // By default disable FFE (can be force-enabled by Server Settings
false);
AlvrClientCapabilities caps = {};
caps.default_view_height = viewHeight;
caps.default_view_width = viewWidth;
caps.external_decoder = false;
caps.refresh_rates = refreshRatesBuffer;
caps.refresh_rates_count = 1;
caps.foveated_encoding =
true; // By default disable FFE (can be force-enabled by Server Settings
caps.encoder_high_profile = true;
caps.encoder_10_bits = true;
caps.encoder_av1 = true;

alvr_initialize(caps);

Cardboard_initializeAndroid(CTX.javaVm, CTX.javaContext);
CTX.headTracker = CardboardHeadTracker_create();
Expand Down Expand Up @@ -300,9 +329,11 @@ extern "C" JNIEXPORT void JNICALL Java_viritualisres_phonevr_ALVRActivity_render
CTX.eyeOffsets[eye] = matrix[12];
}

AlvrFov fovArr[2] = {getFov((CardboardEye) 0), getFov((CardboardEye) 1)};
info("renderingParamsChanged, sending new view configs (FOV) to alvr");
alvr_send_views_config(fovArr, CTX.eyeOffsets[0] - CTX.eyeOffsets[1]);
CTX.fovArr[0] = getFov((CardboardEye) 0);
CTX.fovArr[1] = getFov((CardboardEye) 1);

info("renderingParamsChanged, updating new view configs (FOV) to alvr");
// alvr_send_views_config(fovArr, CTX.eyeOffsets[0] - CTX.eyeOffsets[1]);
}

// Note: if GL context is recreated, old resources are already freed.
Expand Down Expand Up @@ -337,7 +368,7 @@ extern "C" JNIEXPORT void JNICALL Java_viritualisres_phonevr_ALVRActivity_render

const uint32_t *targetViews[2] = {(uint32_t *) &CTX.lobbyTextures[0],
(uint32_t *) &CTX.lobbyTextures[1]};
alvr_resume_opengl(CTX.screenWidth / 2, CTX.screenHeight, targetViews, 1);
alvr_resume_opengl(CTX.screenWidth / 2, CTX.screenHeight, targetViews, 1, true);

CTX.renderingParamsChanged = false;
CTX.glContextRecreated = false;
Expand Down Expand Up @@ -386,10 +417,10 @@ extern "C" JNIEXPORT void JNICALL Java_viritualisres_phonevr_ALVRActivity_render
nullptr);
}

AlvrFov fovArr[2] = {getFov((CardboardEye) 0), getFov((CardboardEye) 1)};
alvr_send_views_config(fovArr, CTX.eyeOffsets[0] - CTX.eyeOffsets[1]);
CTX.fovArr[0] = getFov((CardboardEye) 0);
CTX.fovArr[1] = getFov((CardboardEye) 1);

info("ALVR Poll Event: ALVR_EVENT_STREAMING_STARTED, View configs sent...");
info("ALVR Poll Event: ALVR_EVENT_STREAMING_STARTED, View configs updated...");

auto leftIntHandle = (uint32_t) CTX.streamTextures[0];
auto rightIntHandle = (uint32_t) CTX.streamTextures[1];
Expand Down Expand Up @@ -480,7 +511,9 @@ extern "C" JNIEXPORT void JNICALL Java_viritualisres_phonevr_ALVRActivity_render

if (CTX.streaming) {
void *streamHardwareBuffer = nullptr;
auto timestampNs = alvr_get_frame(&streamHardwareBuffer);

AlvrViewParams dummyViewParams;
auto timestampNs = alvr_get_frame(&dummyViewParams, &streamHardwareBuffer);

if (timestampNs == -1) {
return;
Expand All @@ -494,18 +527,15 @@ extern "C" JNIEXPORT void JNICALL Java_viritualisres_phonevr_ALVRActivity_render
viewsDescs[0].texture = CTX.streamTextures[0];
viewsDescs[1].texture = CTX.streamTextures[1];
} else {
Pose pose = getPose(GetBootTimeNano() + VSYNC_QUEUE_INTERVAL_NS);
AlvrPose pose = getPose(GetBootTimeNano() + VSYNC_QUEUE_INTERVAL_NS);

AlvrViewInput viewInputs[2] = {};
for (int eye = 0; eye < 2; eye++) {
float headToEye[3] = {CTX.eyeOffsets[eye], 0.0, 0.0};
float rotatedHeadToEye[3];
quatVecMultiply(pose.orientation, headToEye, rotatedHeadToEye);
// offset head pos to Eye Position
offsetPosWithQuat(pose.orientation, headToEye, viewInputs[eye].pose.position);

viewInputs[eye].orientation = pose.orientation;
viewInputs[eye].position[0] = pose.position[0] - rotatedHeadToEye[0];
viewInputs[eye].position[1] = pose.position[1] - rotatedHeadToEye[1];
viewInputs[eye].position[2] = pose.position[2] - rotatedHeadToEye[2];
viewInputs[eye].pose.orientation = pose.orientation;
viewInputs[eye].fov = getFov((CardboardEye) eye);
viewInputs[eye].swapchain_index = 0;
}
Expand Down

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