Tracking rewrite

Cargo.toml

@@ -3,7 +3,7 @@ resolver = "2"
 members = ["alvr/*"]
 
 [workspace.package]
-version = "21.0.0-dev01"
+version = "21.0.0-dev02"
 edition = "2021"
 rust-version = "1.82"
 authors = ["alvr-org"]

alvr/client_core/src/connection.rs

@@ -12,7 +12,7 @@ use alvr_common::{
     dbg_connection, debug, error, info,
     parking_lot::{Condvar, Mutex, RwLock},
     wait_rwlock, warn, AnyhowToCon, ConResult, ConnectionError, ConnectionState, LifecycleState,
-    Pose, RelaxedAtomic, ALVR_VERSION,
+    RelaxedAtomic, ALVR_VERSION,
 };
 use alvr_packets::{
     ClientConnectionResult, ClientControlPacket, ClientStatistics, Haptics, ServerControlPacket,
@@ -65,9 +65,7 @@ pub struct ConnectionContext {
     pub statistics_sender: Mutex<Option<StreamSender<ClientStatistics>>>,
     pub statistics_manager: Mutex<Option<StatisticsManager>>,
     pub decoder_callback: Mutex<Option<Box<DecoderCallback>>>,
-    pub head_pose_queue: RwLock<VecDeque<(Duration, Pose)>>,
-    pub last_good_head_pose: RwLock<Pose>,
-    pub view_params: RwLock<[ViewParams; 2]>,
+    pub view_params_queue: RwLock<VecDeque<(Duration, [ViewParams; 2])>>,
     pub uses_multimodal_protocol: RelaxedAtomic,
 }
 
@@ -317,7 +315,14 @@ fn connection_pipeline(
                         .map(|callback| callback(header.timestamp, nal))
                         .unwrap_or(false);
 
-                    if !submitted {
+                    if submitted {
+                        let view_params_lock = &mut *ctx.view_params_queue.write();
+                        view_params_lock.push_back((header.timestamp, header.views_params));
+
+                        if view_params_lock.len() > 1024 {
+                            view_params_lock.pop_front();
+                        }
+                    } else {
                         stream_corrupted = true;
                         if let Some(sender) = &mut *ctx.control_sender.lock() {
                             sender.send(&ClientControlPacket::RequestIdr).ok();

alvr/client_core/src/lib.rs

@@ -23,11 +23,10 @@ use alvr_common::{
     glam::{Quat, UVec2, Vec2, Vec3},
     parking_lot::{Mutex, RwLock},
     warn, ConnectionState, DeviceMotion, LifecycleState, Pose, HAND_LEFT_ID, HAND_RIGHT_ID,
-    HEAD_ID,
 };
 use alvr_packets::{
     BatteryInfo, ButtonEntry, ClientControlPacket, FaceData, ReservedClientControlPacket,
-    StreamConfig, Tracking, ViewParams, ViewsConfig,
+    StreamConfig, Tracking, ViewParams,
 };
 use alvr_session::CodecType;
 use connection::{ConnectionContext, DecoderCallback};
@@ -213,15 +212,8 @@ impl ClientCoreContext {
     pub fn send_view_params(&self, views: [ViewParams; 2]) {
         dbg_client_core!("send_view_params");
 
-        *self.connection_context.view_params.write() = views;
-
         if let Some(sender) = &mut *self.connection_context.control_sender.lock() {
-            sender
-                .send(&ClientControlPacket::ViewsConfig(ViewsConfig {
-                    fov: [views[0].fov, views[1].fov],
-                    ipd_m: (views[0].pose.position - views[1].pose.position).length(),
-                }))
-                .ok();
+            sender.send(&ClientControlPacket::ViewsParams(views)).ok();
         }
     }
 
@@ -241,29 +233,6 @@ impl ClientCoreContext {
                 poll_timestamp
             };
 
-        for (id, motion) in &mut device_motions {
-            if *id == *HEAD_ID {
-                *motion = predict_motion(target_timestamp, poll_timestamp, *motion);
-
-                let mut head_pose_queue = self.connection_context.head_pose_queue.write();
-
-                head_pose_queue.push_back((target_timestamp, motion.pose));
-
-                while head_pose_queue.len() > 1024 {
-                    head_pose_queue.pop_front();
-                }
-
-                // This is done for backward compatibiity for the v20 protocol. Will be removed with the
-                // tracking rewrite protocol extension.
-                motion.linear_velocity = Vec3::ZERO;
-                motion.angular_velocity = Vec3::ZERO;
-            } else if let Some(stats) = &*self.connection_context.statistics_manager.lock() {
-                let tracker_timestamp = poll_timestamp + stats.tracker_prediction_offset();
-
-                *motion = predict_motion(tracker_timestamp, poll_timestamp, *motion);
-            }
-        }
-
         // send_tracking() expects hand data in the multimodal protocol. In case multimodal protocol
         // is not supported, convert back to legacy protocol.
         if !self.connection_context.uses_multimodal_protocol.value() {
@@ -339,25 +308,15 @@ impl ClientCoreContext {
             stats.report_compositor_start(timestamp);
         }
 
-        let mut head_pose = *self.connection_context.last_good_head_pose.read();
-        for (ts, pose) in &*self.connection_context.head_pose_queue.read() {
+        let mut view_params = [ViewParams::default(); 2];
+        for (ts, vp) in &*self.connection_context.view_params_queue.read() {
             if *ts == timestamp {
-                head_pose = *pose;
+                view_params = *vp;
                 break;
             }
         }
-        let view_params = self.connection_context.view_params.read();
-
-        [
-            ViewParams {
-                pose: head_pose * view_params[0].pose,
-                fov: view_params[0].fov,
-            },
-            ViewParams {
-                pose: head_pose * view_params[1].pose,
-                fov: view_params[1].fov,
-            },
-        ]
+
+        view_params
     }
 
     pub fn report_submit(&self, timestamp: Duration, vsync_queue: Duration) {

alvr/packets/src/lib.rs

@@ -210,13 +210,6 @@ pub enum ServerControlPacket {
     ReservedBuffer(Vec<u8>),
 }
 
-#[derive(Serialize, Deserialize, Clone)]
-pub struct ViewsConfig {
-    // Note: the head-to-eye transform is always a translation along the x axis
-    pub ipd_m: f32,
-    pub fov: [Fov; 2],
-}
-
 #[derive(Serialize, Deserialize, Clone)]
 pub struct BatteryInfo {
     pub device_id: u64,
@@ -257,7 +250,7 @@ pub enum ClientControlPacket {
     RequestIdr,
     KeepAlive,
     StreamReady, // This flag notifies the server the client streaming socket is ready listening
-    ViewsConfig(ViewsConfig),
+    ViewsParams([ViewParams; 2]), // Local frame of reference
     Battery(BatteryInfo),
     VideoErrorReport, // legacy
     Buttons(Vec<ButtonEntry>),
@@ -278,6 +271,8 @@ pub struct FaceData {
 #[derive(Serialize, Deserialize)]
 pub struct VideoPacketHeader {
     pub timestamp: Duration,
+    // These view params are in global reference frame
+    pub views_params: [ViewParams; 2],
     pub is_idr: bool,
 }