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ami-iit / yarp-device-openxrheadset

BSD 2-Clause "Simplified" License
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Add streaming of poses and buttons #5

Closed S-Dafarra closed 3 years ago

S-Dafarra commented 3 years ago

This incorporates #3. It seems pretty big, but actually, I moved the Implementation class of OpenXrInterface to a separate set of files since it was getting quite messy.

It enables the streaming of the buttons and it publishes the head and hands poses and velocities on ports and on the FrameTransformServer.

S-Dafarra commented 3 years ago

Hi @kouroshD @Yeshasvitvs do you agree if I merge this? I have already added some fixes in https://github.com/dic-iit/yarp-device-openxrheadset/tree/fixWindows after the first tests on Windows with the Vive

S-Dafarra commented 3 years ago

Seems ok, I just suggest to validate the XR -> Eigen -> YARP FrameTransformServer as in the past I obtained counterintuitive results by YARP's FrameTransformServer .

I just tested this with a small application I wrote using the iDynTree visualizer. See https://github.com/dic-iit/yarp-device-openxrheadset/tree/visualizeFrames

S-Dafarra commented 3 years ago

Sorry guys, I need to move on. Merging