psmove_tracker_new hangs if called more than once

[DrummerB]

Hi,

I'm trying to get psmove to work in Unity, including tracking. I've looked at UniMove and UniMoveX and was able to get it all up and running on a Mac with the included PSEye camera.

However, there seems to be an issue in psmove_tracker_new that causes a freeze, when called more than once. When I first start the game within the editor, everything works fine. If I then stop and restart the game, the entire editor hangs and crashes. I tracked the crash to the initial call of psmove_tracker_new.

It's easy to reproduce this issue without Unity or UniMoveX. For instance, you can modify the test_tracker program to just do the whole thing twice. It crashes on the second run:

https://gist.github.com/DrummerB/76bdfd7cc2a106f5a367

[rovarma]

Thanks for reminding me of this.

This is a bug I introduced with #200; it was fixed by @brendanwalker a while ago in inspirit/PS3EYEDriver@73c8651, but I completely forgot to update the PS3EYEDriver submodule reference for psmoveapi to point to that commit, so it still has the problem.

I'll open a PR to update the PS3EYEDriver reference tonight, but in the meantime, you can apply his patch locally to work around this (as you can see from the commit, it's a very small change).

[DrummerB]

Thank you so much!

I applied that change to psmoveapi (it's just one line in the PS3EYEDriver, right?) and rebuild to dylibs. The simple test case I included in the report above works fine now. The tracker seems to correctly initialize and destroy multiple times in a row.

In Unity and UniMoveX it still hangs on the second launch of the game inside the editor, eventhough I'm using the same dylibs. I'm trying to build a simple test case now to see if the issue is with UniMoveX or psmoveapi.

Thanks again 👍

[rovarma]

Yes, it's only that single line (setting the bool to false). I'm unfamiliar with UniMoveX, but if you can post some callstacks of when it's hanging, I could at least have a look to see if anything looks suspicious.

[cboulay]

Instead of UniMove, check out psmove-unity5

[DrummerB]

It looks like it's an issue with UniMoveX. I was able to recreate the test_tracker program within Unity and I'm able to restart the game multiple times without a crash and getting tracking info. I'm not sure whether I should try to fix UniMoveX or just roll my own. I'll update when I make any progress. Thanks!

[DrummerB]

@cboulay I've seen that project, but it seems to be Windows only. Since you seem to be an active participant on that project, do you have a guess how difficult it would be to use it on OS X? The DK2 coregistration and reduced drift certainly sound interesting.

[cboulay]

Actually I've never used Unity, UniMove or psmove-unity5. I was more involved in psmove-ue4, which psmove-unity5 is based on. The main thing they share in common is that they both use my fork of psmoveapi.

Looking at psmove-unity5, I don't see anything platform specific other than the wiki. It should work with the OSX binaries as well as the Windows binaries. But let's ping @HipsterSloth to see if he has any input.

The reduced drift is now in the upstream psmoveapi so there shouldn't be any difference there. See 4b37553

The DK2 coregistration is not, and some non-trivial changes are required to enable that (namely, how the 3D position is calculated and adding an additional transformation matrix into that process). So, if the DK2 coregistration is important to you, use my psmoveapi fork, for now.

[DrummerB]

I see, thanks for clarifying. I will take a deeper look at psmove-unity5.

[HipsterSloth]

Oh sorry, psmove-unity5 can definately be made to work on OS X. I've just been too lazy to get around to compiling my fork of psmoveapi that I use for psmove-unity5 on OS X. I can do that tonight and check in the binaries.

[DrummerB]

I would really appreciate an OSX build, thank you @HipsterSloth!

Wouldn't there be an issue with the out-of-date Oculus SDK for OS X? The latest SDK available is 0.5. I just tried compiling the master branch of @cboulay's fork and I get the following message when running cmake:

Could NOT find OCULUS_SDK (missing: OCULUS_SDK_LIBRARIES OCULUS_SDK_INCLUDE_DIRS)

I have 0.5 installed, which works ok with Unity, but maybe psmoveapi expects a more recent version? I see that there is at least one commit mentioning 0.8.

Upon running make I then get the following error, which is probably unrelated.

[ 92%] Building C object CMakeFiles/tracker_camera_calibration.dir/examples/c/tracker_camera_calibration.c.o
/Users/Bazsi/Coding/Libraries/psmoveapidk2/examples/c/tracker_camera_calibration.c:45:14: fatal error: 'opencv2/calib3d/calib3d_c.h' file not found
    #include "opencv2/calib3d/calib3d_c.h"
             ^
1 error generated.

In contrast to thp's fork, cboulay's fork doesn't seem to have an external/opencv folder. Is this intended?

I don't know if I'm looking at the right place, but in the file build/CMakeFiles/tracker_camera_calibration.dir/DependInfo.cmake the following paths are mentioned as search paths:

  "/usr/local/include/opencv"
  "/usr/local/include"

I've installed opencv previously with the packet manager Homebrew and I do have a /usr/local/include/opencv folder, but calib3d is indeed missing.

$ ls /usr/local/include/opencv
cv.h        cv.hpp      cvaux.h     cvaux.hpp   cvwimage.h  cxcore.h    cxcore.hpp
cxeigen.hpp cxmisc.h    highgui.h   ml.h

[cboulay]

I know I had the Oculus SDK working with the dk2_coreg in OS X at some point using the latest official OS X ovr library(I think that's 0.5). Is your Oculus SDK installed in one of these folders?

I don't have opencv in external. I use opencv from brew. I honestly can't remember if my last build was with opencv or opencv3. If an upgraded version of opencv(2) doesn't work for you then try opencv3.

Also, you can use the pre-compiled binaries found here. I think you'll have to fix the rpath following step 7 here. Those binaries are a little old by now.

[rovarma]

@DrummerB I've committed a change to update the PS3EYEDriver submodule to the latest commit as part of #217; once that's accepted the issue should be fixed.

[DrummerB]

@rovarma Cool, thanks a lot!

@cboulay The OculusSDK is installed in ~/Library/Frameworks/LibOVRRT_0.framework

And I also installed opencv with brew, which installed version 2 by default. I'll try the binaries, thanks!