ros-visualization/oculus_rviz_plugins

Oculus plugins for RViz

oculus_rviz_plugins's Issues

Create Oculus SDK package

The license allows code redistributuion, so we should have a package for that.

librviz segmentation fault

Loading the Oculus Display in a custom Qt UI that uses librviz segfaults.

I posted a question yesterday with further explanation on answers.ros.org:

http://answers.ros.org/question/173445/oculus-rift-plugin-with-librviz-segfaults/

I can provide more information as requested, including log files and/or test code, but the issue seems to be with creation/startup of the OVR::DeviceManager thread.

Compilation fails with Ogre 1.9 on Arch Linux

.../oculus_rviz_plugins/src/oculus_display.cpp:222:27: error: no matching function for call to ‘Ogre::RenderWindow::swapBuffers(bool)’
   window->swapBuffers(true);
                           ^

It seems that swapBuffers(bool) in 1.8 became swapBuffers(void) in 1.9. There may be other Ogre 1.9 errors, I don't really have the time to check this right now.

Minimize rendering latency

Need to minimize rendering latency as much possible to enhance immersion and avoid motion sickness.

• Ability to change to 60 FPS
• Update camera in preRenderTargetUpdate callback
• Use motion prediction
• Flush OpenGL buffers after rendering

Support multiple Oculus Displays

Right now, the Ogre resource names in OgreOculus are not unique, resulting in a crash if you add more than one Oculus Display. There might be more issues preventing that as well, e.g. selecting the device if more than one Oculus is present.

Segmentation fault on camera reset in Hydro

When using a FixedFrame view, and then clicking Zero, I get a segmentation fault.

/opt/ros/hydro/lib/rviz/rviz: symbol lookup error: /opt/ros/hydro/lib//liboculus_rviz_plugins.so: undefined symbol: _ZN4rviz14ViewController5resetEv

If we demangle:

$ c++filt _ZN4rviz14ViewController5resetEv
rviz::ViewController::reset()

This was tested with rviz 1.10.11, oculus_rviz_plugins 0.0.8 on Arch Linux.

Error on catkin_make, can't find OculusSDK 0.3

I am trying to to put it to work with DK2 too, and I have OculusSDK 0.3 on my home folder, but I get the following error:

-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - oculus_rviz_plugins
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'oculus_rviz_plugins'
-- ==> add_subdirectory(oculus_rviz_plugins)
CMake Error at oculus_rviz_plugins/CMakeLists.txt:17 (FIND_PACKAGE):
  Could not find module FindOculusSDK.cmake or a configuration file for
  package OculusSDK.

  Adjust CMAKE_MODULE_PATH to find FindOculusSDK.cmake or set OculusSDK_DIR
  to the directory containing a CMake configuration file for OculusSDK.  The
  file will have one of the following names:

    OculusSDKConfig.cmake
    oculussdk-config.cmake



CMake Error at /opt/ros/groovy/share/catkin/cmake/catkin_package.cmake:156 (message):
  catkin_package() DEPENDS on 'OculusSDK' which must be find_package()-ed
  before.  If it is a catkin package it can be declared as CATKIN_DEPENDS
  instead without find_package()-ing it.
Call Stack (most recent call first):
  /opt/ros/groovy/share/catkin/cmake/catkin_package.cmake:98 (_catkin_package)
  oculus_rviz_plugins/CMakeLists.txt:23 (catkin_package)


-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

[Request] Ownership of package

Required for release into Indigo, as mentioned in other issue, Dgossow would like to relinquish ownership

More rendering options

Add options to customize stereo rendering:

• Disable chromatic abberation correction
• eye distance
• field of view

Oculus DK2 support

DK2 is not supported so far, but it certainly would be a welcome addition. If anybody is working on this, please report here.

(Stereo) Camera Display

Add a display to render a mono/stereo camera image to the Oculus.

Add screen selection

Right now, the display assumes that the second screen is the Oculus. Add an option to select the screen number to render to.

segfault on plugin load

I am getting an assertion as soon as I load the plugin.

tfoote@BigFoote:~$ rosrun rviz rviz
[ INFO] [1376453261.707260191]: rviz version 1.10.2
[ INFO] [1376453261.707312262]: compiled against OGRE version 1.7.4 (Cthugha)
[ INFO] [1376453262.268772864]: OpenGl version: 4.3 (GLSL 4.3).
OVR::DeviceManagerThread - running (ThreadId=0x7f86ac027700).
OVR::DeviceManager - initialized.
OVR::Linux::HIDDevice - Opened '/dev/hidraw4'
                    Manufacturer:'Oculus VR, Inc.'  Product:'Tracker DK'  Serial#:'KGGAI30GEN3B'
OVR::SensorDevice initialized.
rviz: /usr/include/OGRE/OgreSharedPtr.h:160: T* Ogre::SharedPtr<T>::operator->() const [with T = Ogre::Material]: Assertion `pRep' failed.
Aborted (core dumped)

I'm currently using the debs. I'll try to reproduce using source:

tfoote@BigFoote:~$ dpkg -l ros-hydro-oculus-rviz-plugins 
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name           Version        Description
+++-==============-==============-============================================
ii  ros-hydro-ocul 0.0.5-0precise RViz plugins for the Oculus Rift.

any chance of getting that for indigo ?

Thx !

Support Mouse / Keyboard in Fullscreen Mode

Capture mouse / keyboard in fullscreen mode, enable moving the camera & selecting things.

segfault when screen not plugged in

I get this when the usb but not the dvi cable is plugged in:

Program received signal SIGSEGV, Segmentation fault.
0x00007fffad2a0e0c in rviz_oculus::OculusDisplay::onFullScreenChanged (this=0xfe0ef0) at /wg/stor5/dgossow/wsoculus/src/rviz_oculus/src/oculus_display.cpp:200
200       oculus_->getHMDDevice()->GetDeviceInfo( &info );
(gdb) bt
#0  0x00007fffad2a0e0c in rviz_oculus::OculusDisplay::onFullScreenChanged (this=0xfe0ef0) at /wg/stor5/dgossow/wsoculus/src/rviz_oculus/src/oculus_display.cpp:200
#1  0x00007fffad2a06a6 in rviz_oculus::OculusDisplay::onInitialize (this=0xfe0ef0) at /wg/stor5/dgossow/wsoculus/src/rviz_oculus/src/oculus_display.cpp:139
#2  0x00007ffff7aa234a in rviz::Display::initialize (this=0xfe0ef0, context=<optimized out>) at /u/dgossow/wsrviz/src/rviz/src/rviz/display.cpp:94
#3  0x00007ffff7ab3107 in rviz::DisplayGroup::load (this=0xaad720, config=...) at /u/dgossow/wsrviz/src/rviz/src/rviz/display_group.cpp:106
#4  0x00007ffff7b581ee in rviz::VisualizationManager::load (this=0x945cf0, config=...) at /u/dgossow/wsrviz/src/rviz/src/rviz/visualization_manager.cpp:446
#5  0x00007ffff7b52341 in rviz::VisualizationFrame::load (this=0x84a7e0, config=...) at /u/dgossow/wsrviz/src/rviz/src/rviz/visualization_frame.cpp:729
#6  0x00007ffff7b53c0a in rviz::VisualizationFrame::loadDisplayConfig (this=0x84a7e0, qpath=...) at /u/dgossow/wsrviz/src/rviz/src/rviz/visualization_frame.cpp:650
#7  0x00007ffff7b55445 in rviz::VisualizationFrame::initialize (this=0x84a7e0, display_config_file=...) at /u/dgossow/wsrviz/src/rviz/src/rviz/visualization_frame.cpp:317
#8  0x00007ffff7b5db62 in rviz::VisualizerApp::init (this=0x7fffffffdfe0, argc=1, argv=<optimized out>) at /u/dgossow/wsrviz/src/rviz/src/rviz/visualizer_app.cpp:239
#9  0x0000000000400abe in main (argc=1, argv=0x7fffffffe118) at /u/dgossow/wsrviz/src/rviz/src/rviz/main.cpp:39

Segfault if usb for oculus not plugged in

In setPrediction, if the USB is not connected it segfaults trying to access m_sensorFusion, which is null.

It probably just needs a check if not null, else skip the method.

(gdb) l
292   return m_cameraNode;
293 }
294 
295 void Oculus::setPredictionDt(float dt)
296 {
297   m_sensorFusion->SetPrediction( dt, dt > 0.0f );
298 }
299 
300 Ogre::Quaternion Oculus::getOrientation() const
301 {
(gdb) p this
$6 = (rviz_oculus::Oculus * const) 0x12e4bc0
(gdb) p *this
$7 = {m_deviceManager = 0x13a6940, m_hmd = 0x7fb354005e70, m_stereoConfig = 0x13ad810, 
  m_sensor = 0x0, m_sensorFusion = 0x0, m_oculusReady = false, m_ogreReady = false, 
  m_sceneManager = 0x0, m_window = 0x0, m_cameraNode = 0x0, m_orientation = {
    static ms_fEpsilon = 0.00100000005, static ZERO = {static ms_fEpsilon = 0.00100000005, 
      static ZERO = <same as static member of an already seen type>, static IDENTITY = {
        static ms_fEpsilon = 0.00100000005, 
        static ZERO = <same as static member of an already seen type>, 
        static IDENTITY = <same as static member of an already seen type>, w = 1, x = 0, y = 0, 
        z = 0}, w = 0, x = 0, y = 0, z = 0}, 
    static IDENTITY = <same as static member of an already seen type>, w = 1, x = 0, y = 0, 
    z = 0}, m_centreOffset = 0.151976421, m_cameras = {0x0, 0x0}, m_viewports = {0x0, 0x0}, 
  m_compositors = {0x0, 0x0}}

Attach Oculus view to tf frame instead of main camera.

Would be nice to be able to attach the Oculus View to a tf frame instead of the main camera.