Trackers, filters and associated helper code. More...

Collaboration diagram for Tracking:

Files
file	t_calibration.cpp
	Calibration code.

file	t_calibration_opencv.hpp
	OpenCV calibration helpers.

file	t_camera_models.h
	Simple, untemplated, C, float-only, camera (un)projection functions for various camera models.

file	t_convert.cpp
	Code to build conversion tables and convert images.

file	t_data_utils.c
	Small data helpers for calibration.

file	t_debug_hsv_filter.cpp
	HSV filter debug code.

file	t_debug_hsv_picker.cpp
	HSV Picker Debugging code.

file	t_debug_hsv_viewer.cpp
	HSV debug viewer code.

file	t_documentation.h
	Documentation-only header.

file	t_euroc_recorder.cpp
	EuRoC dataset recorder utility.

file	t_euroc_recorder.h
	EuRoC dataset recorder utility.

file	t_file.cpp
	Handling of files and calibration data.

file	t_frame_cv_mat_wrapper.cpp
	Simple xrt_frame wrapper around a cv::Mat.

file	t_frame_cv_mat_wrapper.hpp
	Simple xrt_frame wrapper around a cv::Mat.

file	t_fusion.hpp
	C++ sensor fusion/filtering code that uses flexkalman.

file	t_helper_debug_sink.hpp
	Small helper struct that for debugging views.

file	t_hsv_filter.c
	A simple HSV filter.

file	t_imu.cpp
	IMU fusion implementation - for inclusion into the single kalman-incuding translation unit.

file	t_imu.h
	C interface to basic IMU fusion.

file	t_imu_fusion.hpp
	C++ sensor fusion/filtering code that uses flexkalman.

file	t_kalman.cpp
	Single compiled file for all kalman filter using source.

file	t_openvr_tracker.cpp
	OpenVR tracking source.

file	t_openvr_tracker.h
	OpenVR tracking source.

file	t_tracker_psmv.cpp
	PS Move tracker code.

file	t_tracker_psmv_fusion.cpp
	PS Move tracker code that is expensive to compile.

file	t_tracker_psmv_fusion.hpp
	PS Move tracker code.

file	t_tracker_psvr.cpp
	PSVR tracker code.

file	t_tracker_slam.cpp
	SLAM tracking code.

file	t_tracking.h
	Tracking API interface.

file	t_vit_loader.c
	Visual-Inertial Tracking consumer helper.

file	t_vit_loader.h
	Visual-Inertial Tracking consumer helper.

file	u_hand_tracking.c
	Hand Tracking API interface.

file	hg_interface.h
	Public interface of Mercury hand tracking.

Data Structures
struct	t_camera_calibration_kb4_params_float
	Floating point parameters for T_DISTORTION_FISHEYE_KB4. More...

struct	t_camera_calibration_rt8_params_float
	Floating point parameters for T_DISTORTION_OPENCV_RT8, also including metric_radius. More...

struct	t_camera_model_params
	Floating point calibration data for a single calibrated camera. More...

struct	t_camera_calibration_rt5_params
	Parameters for T_DISTORTION_OPENCV_RADTAN_5. More...

struct	t_camera_calibration_rt8_params
	Parameters for T_DISTORTION_OPENCV_RADTAN_8. More...

struct	t_camera_calibration_rt14_params
	Parameters for T_DISTORTION_OPENCV_RADTAN_14. More...

struct	t_camera_calibration_kb4_params
	Parameters for T_DISTORTION_FISHEYE_KB4. More...

struct	t_camera_calibration_wmr_params
	Parameters for T_DISTORTION_WMR. More...

struct	t_camera_calibration
	Essential calibration data for a single camera, or single lens/sensor of a stereo camera. More...

struct	t_stereo_camera_calibration
	Stereo camera calibration data to be given to trackers. More...

struct	t_inertial_calibration
	Parameters for accelerometer and gyroscope calibration. More...

struct	t_imu_calibration
	Combined IMU calibration data. More...

struct	t_convert_table

struct	t_hsv_filter_color

struct	t_hsv_filter_params
	Parameters for constructing an HSV filter. More...

struct	t_hsv_filter_large_table

struct	t_hsv_filter_optimized_table

struct	t_slam_camera_calibration
	Extension to camera calibration for SLAM tracking. More...

struct	t_slam_imu_calibration
	Extension to IMU calibration for SLAM tracking. More...

struct	t_slam_calibration
	Calibration information necessary for SLAM tracking. More...

struct	t_slam_tracker_config
	SLAM tracker configuration. More...

struct	t_calibration_status

struct	t_calibration_params

struct	t_vit_bundle
	A bundle of VIT interface functions, used by the tracking interface loader. More...

struct	xrt::tracking::hand::mercury::HandTracking
	Main class of Mercury hand tracking. More...

Macros
#define	XRT_DISTORTION_MAX_DIM (14)
	Maximum size of rectilinear distortion coefficient array. More...

#define	T_HSV_SIZE 32

#define	T_HSV_STEP (256 / T_HSV_SIZE)

#define	T_HSV_DEFAULT_PARAMS()

Typedefs
typedef struct cJSON	cJSON

Enumerations
enum	t_camera_distortion_model { T_DISTORTION_OPENCV_RADTAN_5 , T_DISTORTION_OPENCV_RADTAN_8 , T_DISTORTION_OPENCV_RADTAN_14 , T_DISTORTION_FISHEYE_KB4 , T_DISTORTION_WMR }
	The distortion model this camera calibration falls under. More...

enum	t_slam_prediction_type { SLAM_PRED_NONE = 0 , SLAM_PRED_SP_SO_SA_SL , SLAM_PRED_SP_SO_IA_SL , SLAM_PRED_SP_SO_IA_IL , SLAM_PRED_IP_IO_IA_IL , SLAM_PRED_COUNT }
	SLAM prediction type. More...

enum	t_board_pattern { T_BOARD_CHECKERS , T_BOARD_SB_CHECKERS , T_BOARD_CIRCLES , T_BOARD_ASYMMETRIC_CIRCLES }
	Board pattern type. More...

Functions
struct xrt_slam_sinks *	euroc_recorder_create (struct xrt_frame_context xfctx, const char record_path, int cam_count, bool record_from_start)
	Create SLAM sinks to record samples in EuRoC format. More...

static const char *	t_stringify_camera_distortion_model (const enum t_camera_distortion_model model)
	Stringifies a t_camera_distortion_model. More...

static size_t	t_num_params_from_distortion_model (const enum t_camera_distortion_model model)
	Returns the number of parameters needed for this t_camera_distortion_model to be held by an OpenCV Mat and correctly interpreted by OpenCV's (un)projection functions. More...

void	t_convert_fill_table (struct t_convert_table *t)

void	t_convert_make_y8u8v8_to_r8g8b8 (struct t_convert_table *t)

void	t_convert_make_y8u8v8_to_h8s8v8 (struct t_convert_table *t)

void	t_convert_make_h8s8v8_to_r8g8b8 (struct t_convert_table *t)

void	t_convert_in_place_y8u8v8_to_r8g8b8 (uint32_t width, uint32_t height, size_t stride, void *data_ptr)

void	t_convert_in_place_y8u8v8_to_h8s8v8 (uint32_t width, uint32_t height, size_t stride, void *data_ptr)

void	t_convert_in_place_h8s8v8_to_r8g8b8 (uint32_t width, uint32_t height, size_t stride, void *data_ptr)

void	t_hsv_build_convert_table (struct t_hsv_filter_params params, struct t_convert_table t)

void	t_hsv_build_large_table (struct t_hsv_filter_params params, struct t_hsv_filter_large_table t)

void	t_hsv_build_optimized_table (struct t_hsv_filter_params params, struct t_hsv_filter_optimized_table t)

static uint8_t	t_hsv_filter_sample (struct t_hsv_filter_optimized_table *t, uint32_t y, uint32_t u, uint32_t v)

void	t_slam_fill_default_config (struct t_slam_tracker_config *config)
	Fills in a t_slam_tracker_config with default values. More...

void	t_calibration_gui_params_load_or_default (struct t_calibration_params *p)

void	t_calibration_gui_params_to_json (cJSON *out_json, struct t_calibration_params p)

void	t_calibration_gui_params_parse_from_json (const cJSON params, struct t_calibration_params p)

int	t_calibration_stereo_create (struct xrt_frame_context xfctx, const struct t_calibration_params params, struct t_calibration_status status, struct xrt_frame_sink gui, struct xrt_frame_sink **out_sink)
	Create the camera calibration frame sink. More...

int	t_convert_yuv_or_yuyv_create (struct xrt_frame_sink next, struct xrt_frame_sink *out_sink)

int	t_debug_hsv_picker_create (struct xrt_frame_context xfctx, struct xrt_frame_sink passthrough, struct xrt_frame_sink **out_sink)

int	t_debug_hsv_viewer_create (struct xrt_frame_context xfctx, struct xrt_frame_sink passthrough, struct xrt_frame_sink **out_sink)

int	t_debug_hsv_filter_create (struct xrt_frame_context xfctx, struct xrt_frame_sink passthrough, struct xrt_frame_sink **out_sink)

bool	t_vit_bundle_load (struct t_vit_bundle vit, const char path)
	Load the tracker. More...

void	t_vit_bundle_unload (struct t_vit_bundle *vit)
	Unload the tracker. More...

struct t_hand_tracking_sync *	t_hand_tracking_sync_mercury_create (struct t_stereo_camera_calibration calib, struct t_hand_tracking_create_info create_info, const char models_folder)
	Create a Mercury hand tracking pipeline. More...

struct imu_fusion *	imu_fusion::imu_fusion_create (void)
	Create a struct imu_fusion. More...

void	imu_fusion::imu_fusion_destroy (struct imu_fusion *fusion)
	Destroy a struct imu_fusion. More...

int	imu_fusion::imu_fusion_incorporate_gyros (struct imu_fusion fusion, uint64_t timestamp_ns, struct xrt_vec3 const ang_vel, struct xrt_vec3 const *ang_vel_variance)
	Predict and correct fusion with a gyroscope reading. More...

int	imu_fusion::imu_fusion_incorporate_accelerometer (struct imu_fusion fusion, uint64_t timestamp_ns, struct xrt_vec3 const accel, struct xrt_vec3 const accel_variance, struct xrt_vec3 out_world_accel)
	Predict and correct fusion with an accelerometer reading. More...

int	imu_fusion::imu_fusion_incorporate_gyros_and_accelerometer (struct imu_fusion fusion, uint64_t timestamp_ns, struct xrt_vec3 const ang_vel, struct xrt_vec3 const ang_vel_variance, struct xrt_vec3 const accel, struct xrt_vec3 const accel_variance, struct xrt_vec3 out_world_accel)
	Predict and correct fusion with a simultaneous accelerometer and gyroscope reading. More...

int	imu_fusion::imu_fusion_get_prediction (struct imu_fusion const fusion, uint64_t timestamp_ns, struct xrt_quat out_quat, struct xrt_vec3 *out_ang_vel)
	Get the predicted state. More...

int	imu_fusion::imu_fusion_get_prediction_rotation_vec (struct imu_fusion const fusion, uint64_t timestamp_ns, struct xrt_vec3 out_rotation_vec)
	Get the predicted state as a rotation vector. More...

void	t_stereo_camera_calibration::t_stereo_camera_calibration_alloc (struct t_stereo_camera_calibration **out_c, const enum t_camera_distortion_model distortion_model)
	Allocates a new stereo calibration data, unreferences the old data pointed to by `out_c`. More...

static void	t_stereo_camera_calibration_reference (struct t_stereo_camera_calibration *dst, struct t_stereo_camera_calibration src)
	Update the reference counts on a stereo calibration data(s). More...

void	t_camera_calibration_dump (struct t_camera_calibration *c)
	Small helper function that dumps one camera calibration data to logging. More...

void	t_stereo_camera_calibration_dump (struct t_stereo_camera_calibration *c)
	Small helper function that dumps the stereo calibration data to logging. More...

bool	t_stereo_camera_calibration_load_v1 (FILE calib_file, struct t_stereo_camera_calibration *out_data)
	Load stereo calibration data from a given file in v1 format (binary). More...

bool	t_stereo_camera_calibration_save_v1 (FILE calib_file, struct t_stereo_camera_calibration data)
	Save the given stereo calibration data to the given file in v1 format (binary). More...

bool	t_stereo_camera_calibration_from_json_v2 (cJSON json, struct t_stereo_camera_calibration *out_stereo)
	Parse the json object in v2 format into stereo calibration data. More...

bool	t_stereo_camera_calibration_to_json_v2 (cJSON *out_cjson, struct t_stereo_camera_calibration data)
	Convert the given stereo calibration data into a json object in v2 format. More...

bool	t_stereo_camera_calibration_load (const char calib_path, struct t_stereo_camera_calibration *out_data)
	Load stereo calibration data from a given file path. More...

bool	t_stereo_camera_calibration_save (const char calib_path, struct t_stereo_camera_calibration data)
	Save the given stereo calibration data to the given file path. More...

void	t_inertial_calibration_dump (struct t_inertial_calibration *c)
	Prints a t_inertial_calibration struct. More...

void	t_imu_calibration_dump (struct t_imu_calibration *c)
	Small helper function that dumps the imu calibration data to logging. More...

int	t_hsv_filter::t_hsv_filter_create (struct xrt_frame_context xfctx, struct t_hsv_filter_params params, struct xrt_frame_sink sinks[4], struct xrt_frame_sink *out_sink)
	Construct an HSV filter sink. More...

int	xrt_tracked_psmv::t_psmv_start (struct xrt_tracked_psmv *xtmv)

int	xrt_tracked_psmv::t_psmv_create (struct xrt_frame_context xfctx, struct xrt_colour_rgb_f32 rgb, struct t_stereo_camera_calibration data, struct xrt_tracked_psmv out_xtmv, struct xrt_frame_sink *out_sink)

int	xrt_tracked_psvr::t_psvr_start (struct xrt_tracked_psvr *xtvr)

int	xrt_tracked_psvr::t_psvr_create (struct xrt_frame_context xfctx, struct t_stereo_camera_calibration data, struct xrt_tracked_psvr out_xtvr, struct xrt_frame_sink out_sink)

int	xrt_tracked_slam::t_slam_create (struct xrt_frame_context xfctx, struct t_slam_tracker_config config, struct xrt_tracked_slam out_xts, struct xrt_slam_sinks out_sink)

int	xrt_tracked_slam::t_slam_start (struct xrt_tracked_slam *xts)

void	t_calibration_params::t_calibration_gui_params_default (struct t_calibration_params *p)
	Sets the calibration parameters to the their default values. More...

Detailed Description

Trackers, filters and associated helper code.

Coordinate system

Right now there is no specific convention on where a tracking systems coordinate system is centered, and is something we probably need to figure out. Right now the stereo based tracking system used by the PSVR and PSMV tracking system is centered on the camera that OpenCV decided is origin.

To go a bit further on the PSVR/PSMV case. Think about a idealized start up case, the user is wearing the HMD headset and holding two PSMV controllers. The HMD's coordinate system axis are perfectly parallel with the user coordinate with the user's coordinate system. Where -Z is forward. The user holds the controllers with the ball pointing up and the buttons on the back pointing forward. Which if you read the documentation of psmv_device will that the axis of the PSMV are also perfectly aligned with the users coordinate system. So everything "attached" to the user has its coordinate system parallel to the user's.

The camera on the other hand is looking directly at the user, its Z-axis and X-axis is flipped in relation to the user's. So to compare what is sees to what the user sees, everything is rotated 180° around the Y-axis.

Macro Definition Documentation

◆ T_HSV_DEFAULT_PARAMS

#define T_HSV_DEFAULT_PARAMS ( )

#include <auxiliary/tracking/t_tracking.h>

Value:

        {                                                                                                              \
                {                                                                                                      \
                    {165, 30, 160, 100},                                                                               \
                    {135, 30, 160, 100},                                                                               \
                    {95, 30, 160, 100},                                                                                \
                },                                                                                                     \
                    {128, 80},                                                                                         \
        }

◆ XRT_DISTORTION_MAX_DIM

#define XRT_DISTORTION_MAX_DIM (14)

#include <auxiliary/tracking/t_tracking.h>

Maximum size of rectilinear distortion coefficient array.

Enumeration Type Documentation

◆ t_board_pattern

enum t_board_pattern

#include <auxiliary/tracking/t_tracking.h>

Board pattern type.

Enumerator
T_BOARD_SB_CHECKERS	Sector based checker board, using `cv::findChessboardCornersSB`.

◆ t_camera_distortion_model

enum t_camera_distortion_model

#include <auxiliary/tracking/t_tracking.h>

The distortion model this camera calibration falls under.

Todo:

Add RiftS's Fisheye62 to this enumerator once we have native support for it in our hand tracking and SLAM.

Feel free to add support for T_DISTORTION_OPENCV_RADTAN_4 or T_DISTORTION_OPENCV_RADTAN_12 whenever you have a camera that uses those.

Enumerator
T_DISTORTION_OPENCV_RADTAN_5	OpenCV's radial-tangential distortion model. Exactly equivalent to the distortion model from OpenCV's calib3d module with just the first five parameters. This may be reinterpreted as RT8 with the last three parameters zeroed out, which is 100% valid and results in exactly equivalent (un)projections. Parameters: \[(k_1, k_2, p_1, p_2, k_3)\]
T_DISTORTION_OPENCV_RADTAN_8	OpenCV's radial-tangential distortion model. Exactly equivalent to the distortion model from OpenCV's calib3d module, with just the first 8 parameters. Parameters: \[(k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6)\]
T_DISTORTION_OPENCV_RADTAN_14	OpenCV's radial-tangential distortion model. Exactly equivalent to the distortion model from OpenCV's calib3d module, with all 14 parameters. In practice this is reinterpreted as RT8 because the last 6 parameters are almost always approximately 0. Todo: Feel free to implement RT14 (un)projection functions if you have a camera that actually has a tilted sensor. Parameters: \[(k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6, s_1, s_2, s_3, s_4, \tau_x, \tau_y)\] All known factory-calibrated Luxonis cameras use this distortion model, and in all known cases their last 6 parameters are approximately 0.
T_DISTORTION_FISHEYE_KB4	Juho Kannalla and Sami Sebastian Brandt's fisheye distortion model. Exactly equivalent to the distortion model from OpenCV's calib3d/fisheye module. Parameters: \[(k_1, k_2, k_3, k_4)\] Many cameras use this model. Here's a non-exhaustive list of cameras Monado knows about that fall under this model: Intel T265 Valve Index
T_DISTORTION_WMR	Windows Mixed Reality headsets' camera model. The model is listed as CALIBRATION_LensDistortionModelRational6KT in the WMR json files, which seems to be equivalent to Azure-Kinect-Sensor-SDK's K4A_CALIBRATION_LENS_DISTORTION_MODEL_RATIONAL_6KT. The only difference between this model and RT8 are codx, cody, and the way p1 and p2 are interpreted. In practice we reinterpret this as RT8 because those values are almost always approximately 0 for WMR headsets. Parameters: \[(k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6, cod_x, cod_y, rpmax)\]

◆ t_slam_prediction_type

enum t_slam_prediction_type

#include <auxiliary/tracking/t_tracking.h>

SLAM prediction type.

Naming scheme as follows: P: position, O: orientation, A: angular velocity, L: linear velocity S: From SLAM poses (slow, precise), I: From IMU data (fast, noisy)

See also: xrt_tracked_slam

Enumerator
SLAM_PRED_NONE	No prediction, always return the last SLAM tracked pose.
SLAM_PRED_SP_SO_SA_SL	Predicts from last two SLAM poses only.
SLAM_PRED_SP_SO_IA_SL	Predicts from last SLAM pose with angular velocity computed from IMU.
SLAM_PRED_SP_SO_IA_IL	Predicts from last SLAM pose with angular and linear velocity computed from IMU.
SLAM_PRED_IP_IO_IA_IL	Predicts from a pose that is the last SLAM pose with the IMU samples that came after it integrated on top; velocities from latest IMU sample.

Function Documentation

◆ euroc_recorder_create()

struct xrt_slam_sinks * euroc_recorder_create	(	struct xrt_frame_context *	xfctx,
		const char *	record_path,
		int	cam_count,
		bool	record_from_start
	)

#include <auxiliary/tracking/t_euroc_recorder.h>

Create SLAM sinks to record samples in EuRoC format.

Parameters

xfctx	Frame context for the sinks.
record_path	Directory name to save the dataset or NULL for a default based on the current datetime.
cam_count	Number of cameras to record
record_from_start	Whether to start recording immediately on creation.

Returns: struct xrt_slam_sinks* Sinks to push samples to for recording.

References xrt_frame_node::break_apart, euroc_recorder::path, and euroc_recorder::path_prefix.

◆ imu_fusion_create()

struct imu_fusion * imu_fusion_create ( void )

Create a struct imu_fusion.

◆ imu_fusion_destroy()

void imu_fusion_destroy ( struct imu_fusion * fusion )

Destroy a struct imu_fusion.

Should not be called simultaneously with any other imu_fusion function.

Parameters

fusion The IMU Fusion object

◆ imu_fusion_get_prediction()

int imu_fusion_get_prediction	(	struct imu_fusion const *	fusion,
		uint64_t	timestamp_ns,
		struct xrt_quat *	out_quat,
		struct xrt_vec3 *	out_ang_vel
	)

Get the predicted state.

Does not advance the internal state clock.

Non-zero return means error.

Parameters

fusion	The IMU Fusion object
timestamp_ns	The timestamp corresponding to the predicted state you want.
out_quat	The quaternion to populate with the predicted orientation.
out_ang_vel	The vector to poluate with the predicted angular velocity.

References xrt::auxiliary::tracking::SimpleIMUFusion::getAngVel(), xrt::auxiliary::tracking::SimpleIMUFusion::getPredictedQuat(), xrt::auxiliary::tracking::SimpleIMUFusion::getQuat(), xrt::auxiliary::math::map_quat(), xrt::auxiliary::math::map_vec3(), and xrt::auxiliary::tracking::SimpleIMUFusion::valid().

◆ imu_fusion_get_prediction_rotation_vec()

int imu_fusion_get_prediction_rotation_vec	(	struct imu_fusion const *	fusion,
		uint64_t	timestamp_ns,
		struct xrt_vec3 *	out_rotation_vec
	)

Get the predicted state as a rotation vector.

Does not advance the internal state clock.

This is mostly for debugging: a rotation vector can be easier to visualize or understand intuitively.

Non-zero return means error.

Parameters

fusion	The IMU Fusion object
timestamp_ns	The timestamp corresponding to the predicted state you want.
out_rotation_vec	The vector to poluate with the predicted orientation rotation vector.

References xrt::auxiliary::tracking::SimpleIMUFusion::getPredictedQuat(), xrt::auxiliary::tracking::SimpleIMUFusion::getRotationVec(), xrt::auxiliary::math::map_vec3(), and xrt::auxiliary::tracking::SimpleIMUFusion::valid().

◆ imu_fusion_incorporate_accelerometer()

int imu_fusion_incorporate_accelerometer	(	struct imu_fusion *	fusion,
		uint64_t	timestamp_ns,
		struct xrt_vec3 const *	accel,
		struct xrt_vec3 const *	accel_variance,
		struct xrt_vec3 *	out_world_accel
	)

Predict and correct fusion with an accelerometer reading.

If you're receiving accel and gyro data at the same time, call imu_fusion_incorporate_gyros_and_accelerometer() instead.

Should not be called simultaneously with any other imu_fusion function.

Non-zero return means error.

Parameters

fusion	The IMU Fusion object
timestamp_ns	The timestamp corresponding to the information being processed with this call.
accel	Accelerometer data (in m/s/s) including the effect of gravity - assumed to be +y when aligned with the world.
accel_variance	The variance of the accelerometer measurements: part of the characteristics of the IMU being used.
out_world_accel	Optional output parameter: will contain the non-gravity acceleration in the world frame.

References xrt::auxiliary::tracking::SimpleIMUFusion::getCorrectedWorldAccel(), xrt::auxiliary::tracking::SimpleIMUFusion::handleAccel(), and xrt::auxiliary::math::map_vec3().

◆ imu_fusion_incorporate_gyros()

int imu_fusion_incorporate_gyros	(	struct imu_fusion *	fusion,
		uint64_t	timestamp_ns,
		struct xrt_vec3 const *	ang_vel,
		struct xrt_vec3 const *	ang_vel_variance
	)

Predict and correct fusion with a gyroscope reading.

dt should not be zero: If you're receiving accel and gyro data at the same time, call imu_fusion_incorporate_gyros_and_accelerometer() instead.

Should not be called simultaneously with any other imu_fusion function.

Non-zero return means error.

Parameters

fusion	The IMU Fusion object
timestamp_ns	The timestamp corresponding to the information being processed with this call.
ang_vel	Angular velocity vector from gyroscope: in radians per second.
ang_vel_variance	The variance of the angular velocity measurements: part of the characteristics of the IMU being used.

References xrt::auxiliary::tracking::SimpleIMUFusion::handleGyro(), and xrt::auxiliary::math::map_vec3().

◆ imu_fusion_incorporate_gyros_and_accelerometer()

int imu_fusion_incorporate_gyros_and_accelerometer	(	struct imu_fusion *	fusion,
		uint64_t	timestamp_ns,
		struct xrt_vec3 const *	ang_vel,
		struct xrt_vec3 const *	ang_vel_variance,
		struct xrt_vec3 const *	accel,
		struct xrt_vec3 const *	accel_variance,
		struct xrt_vec3 *	out_world_accel
	)

Predict and correct fusion with a simultaneous accelerometer and gyroscope reading.

Should not be called simultaneously with any other imu_fusion function.

Non-zero return means error.

Parameters

fusion	The IMU Fusion object
timestamp_ns	The timestamp corresponding to the information being processed with this call.
ang_vel	Angular velocity vector from gyroscope: radians/s
ang_vel_variance	The variance of the angular velocity measurements: part of the characteristics of the IMU being used.
accel	Accelerometer data (in m/s/s) including the effect of gravity - assumed to be +y when aligned with the world.
accel_variance	The variance of the accelerometer measurements: part of the characteristics of the IMU being used.
out_world_accel	Optional output parameter: will contain the non-gravity acceleration in the world frame.

References xrt::auxiliary::tracking::SimpleIMUFusion::getCorrectedWorldAccel(), xrt::auxiliary::tracking::SimpleIMUFusion::handleAccel(), xrt::auxiliary::tracking::SimpleIMUFusion::handleGyro(), xrt::auxiliary::math::map_vec3(), and xrt::auxiliary::tracking::SimpleIMUFusion::postCorrect().

◆ t_calibration_gui_params_default()

void t_calibration_gui_params_default ( struct t_calibration_params * p )

Sets the calibration parameters to the their default values.

References t_calibration_params::pattern, t_calibration_params::stereo_sbs, and t_calibration_params::use_fisheye.

◆ t_calibration_stereo_create()

int t_calibration_stereo_create	(	struct xrt_frame_context *	xfctx,
		const struct t_calibration_params *	params,
		struct t_calibration_status *	status,
		struct xrt_frame_sink *	gui,
		struct xrt_frame_sink **	out_sink
	)

#include <auxiliary/tracking/t_tracking.h>

Create the camera calibration frame sink.

Parameters

xfctx	Context for frame transport.
params	Parameters to use during calibration. Values copied, pointer not retained.
status	Optional pointer to structure for status information. Pointer retained, and pointed-to struct modified.
gui	Frame sink
out_sink	Output: created frame sink.

See also: xrt_frame_context

◆ t_camera_calibration_dump()

void t_camera_calibration_dump ( struct t_camera_calibration * c )

References U_LOG_RAW.

Referenced by t_stereo_camera_calibration::t_stereo_camera_calibration_dump().

◆ t_convert_yuv_or_yuyv_create()

int t_convert_yuv_or_yuyv_create	(	struct xrt_frame_sink *	next,
		struct xrt_frame_sink **	out_sink
	)

#include <auxiliary/tracking/t_tracking.h>

See also: xrt_frame_context

◆ t_debug_hsv_filter_create()

int t_debug_hsv_filter_create	(	struct xrt_frame_context *	xfctx,
		struct xrt_frame_sink *	passthrough,
		struct xrt_frame_sink **	out_sink
	)

#include <auxiliary/tracking/t_tracking.h>

See also: xrt_frame_context

◆ t_debug_hsv_picker_create()

int t_debug_hsv_picker_create	(	struct xrt_frame_context *	xfctx,
		struct xrt_frame_sink *	passthrough,
		struct xrt_frame_sink **	out_sink
	)

#include <auxiliary/tracking/t_tracking.h>

See also: xrt_frame_context

◆ t_debug_hsv_viewer_create()

int t_debug_hsv_viewer_create	(	struct xrt_frame_context *	xfctx,
		struct xrt_frame_sink *	passthrough,
		struct xrt_frame_sink **	out_sink
	)

#include <auxiliary/tracking/t_tracking.h>

See also: xrt_frame_context

◆ t_hand_tracking_sync_mercury_create()

struct t_hand_tracking_sync * t_hand_tracking_sync_mercury_create	(	struct t_stereo_camera_calibration *	calib,
		struct t_hand_tracking_create_info	create_info,
		const char *	models_folder
	)

#include <tracking/hand/mercury/hg_interface.h>

Create a Mercury hand tracking pipeline.

◆ t_hsv_filter_create()

int t_hsv_filter_create	(	struct xrt_frame_context *	xfctx,
		struct t_hsv_filter_params *	params,
		struct xrt_frame_sink *	sinks[4],
		struct xrt_frame_sink **	out_sink
	)

Construct an HSV filter sink.

See also: xrt_frame_context

References xrt_frame_sink::push_frame, and U_TYPED_CALLOC.

◆ t_imu_calibration_dump()

void t_imu_calibration_dump ( struct t_imu_calibration * c )

◆ t_inertial_calibration_dump()

void t_inertial_calibration_dump ( struct t_inertial_calibration * c )

◆ t_num_params_from_distortion_model()

static size_t t_num_params_from_distortion_model ( const enum t_camera_distortion_model model )

inlinestatic

#include <auxiliary/tracking/t_tracking.h>

Returns the number of parameters needed for this t_camera_distortion_model to be held by an OpenCV Mat and correctly interpreted by OpenCV's (un)projection functions.

Parameters

model The distortion model in question

Returns: The number of distortion coefficients, or 0 if this model cannot be represented inside OpenCV.

References T_DISTORTION_FISHEYE_KB4, T_DISTORTION_OPENCV_RADTAN_14, T_DISTORTION_OPENCV_RADTAN_5, T_DISTORTION_OPENCV_RADTAN_8, T_DISTORTION_WMR, and U_LOG_E.

◆ t_slam_fill_default_config()

void t_slam_fill_default_config ( struct t_slam_tracker_config * config )

#include <auxiliary/tracking/t_tracking.h>

Fills in a t_slam_tracker_config with default values.

See also: xrt_tracked_Slam

References t_slam_tracker_config::cam_count, t_slam_tracker_config::csv_path, t_slam_tracker_config::features_stat, t_slam_tracker_config::log_level, t_slam_tracker_config::openvr_groundtruth_device, t_slam_tracker_config::prediction, t_slam_tracker_config::slam_config, t_slam_tracker_config::slam_ui, t_slam_tracker_config::submit_from_start, t_slam_tracker_config::timing_stat, t_slam_tracker_config::vit_system_library_path, and t_slam_tracker_config::write_csvs.

Referenced by p_factory_ensure_slam_frameserver().

◆ t_stereo_camera_calibration_alloc()

void t_stereo_camera_calibration_alloc	(	struct t_stereo_camera_calibration **	out_c,
		const enum t_camera_distortion_model	distortion_model
	)

Allocates a new stereo calibration data, unreferences the old data pointed to by out_c.

References t_camera_calibration::distortion_model, t_stereo_camera_calibration::t_stereo_camera_calibration_reference(), U_TYPED_CALLOC, and t_stereo_camera_calibration::view.

Referenced by rift_s_create_stereo_camera_calib_rotated(), and wmr_hmd_create_stereo_camera_calib().

◆ t_stereo_camera_calibration_dump()

void t_stereo_camera_calibration_dump ( struct t_stereo_camera_calibration * c )

References t_camera_calibration::t_camera_calibration_dump(), U_LOG_RAW, and t_stereo_camera_calibration::view.

◆ t_stereo_camera_calibration_from_json_v2()

bool t_stereo_camera_calibration_from_json_v2	(	cJSON *	json,
		struct t_stereo_camera_calibration **	out_stereo
	)

◆ t_stereo_camera_calibration_load()

bool t_stereo_camera_calibration_load	(	const char *	calib_path,
		struct t_stereo_camera_calibration **	out_data
	)

◆ t_stereo_camera_calibration_load_v1()

bool t_stereo_camera_calibration_load_v1	(	FILE *	calib_file,
		struct t_stereo_camera_calibration **	out_data
	)

◆ t_stereo_camera_calibration_reference()

static void t_stereo_camera_calibration_reference	(	struct t_stereo_camera_calibration **	dst,
		struct t_stereo_camera_calibration *	src
	)

Parameters

[in,out]	dst	Pointer to a object reference: if the object reference is non-null will decrement its counter. The reference that `dst` points to will be set to `src`.
[in]	src	New object for `dst` to refer to (may be null). If non-null, will have its refcount increased.

References t_stereo_camera_calibration::reference, xrt_reference::xrt_reference_dec_and_is_zero(), and xrt_reference::xrt_reference_inc().

Referenced by t_stereo_camera_calibration::t_stereo_camera_calibration_alloc().

◆ t_stereo_camera_calibration_save()

bool t_stereo_camera_calibration_save	(	const char *	calib_path,
		struct t_stereo_camera_calibration *	data
	)

◆ t_stereo_camera_calibration_save_v1()

bool t_stereo_camera_calibration_save_v1	(	FILE *	calib_file,
		struct t_stereo_camera_calibration *	data
	)

◆ t_stereo_camera_calibration_to_json_v2()

bool t_stereo_camera_calibration_to_json_v2	(	cJSON **	out_cjson,
		struct t_stereo_camera_calibration *	data
	)

◆ t_stringify_camera_distortion_model()

static const char * t_stringify_camera_distortion_model ( const enum t_camera_distortion_model model )

inlinestatic

#include <auxiliary/tracking/t_tracking.h>

Stringifies a t_camera_distortion_model.

Parameters

model The distortion model to be stringified

Returns: The distortion model as a string

References T_DISTORTION_FISHEYE_KB4, T_DISTORTION_OPENCV_RADTAN_14, T_DISTORTION_OPENCV_RADTAN_5, T_DISTORTION_OPENCV_RADTAN_8, T_DISTORTION_WMR, and U_LOG_E.

◆ t_vit_bundle_load()

bool t_vit_bundle_load	(	struct t_vit_bundle *	vit,
		const char *	path
	)

#include <auxiliary/tracking/t_vit_loader.h>

Load the tracker.

References U_LOG_E.

◆ t_vit_bundle_unload()

void t_vit_bundle_unload ( struct t_vit_bundle * vit )

#include <auxiliary/tracking/t_vit_loader.h>

Unload the tracker.

Files

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Coordinate system

Macro Definition Documentation

◆ T_HSV_DEFAULT_PARAMS

◆ XRT_DISTORTION_MAX_DIM

Enumeration Type Documentation

◆ t_board_pattern

◆ t_camera_distortion_model

◆ t_slam_prediction_type

Function Documentation

◆ euroc_recorder_create()

◆ imu_fusion_create()

◆ imu_fusion_destroy()

◆ imu_fusion_get_prediction()

◆ imu_fusion_get_prediction_rotation_vec()

◆ imu_fusion_incorporate_accelerometer()

◆ imu_fusion_incorporate_gyros()

◆ imu_fusion_incorporate_gyros_and_accelerometer()

◆ t_calibration_gui_params_default()

◆ t_calibration_stereo_create()

◆ t_camera_calibration_dump()

◆ t_convert_yuv_or_yuyv_create()

◆ t_debug_hsv_filter_create()

◆ t_debug_hsv_picker_create()

◆ t_debug_hsv_viewer_create()

◆ t_hand_tracking_sync_mercury_create()

◆ t_hsv_filter_create()

◆ t_imu_calibration_dump()

◆ t_inertial_calibration_dump()

◆ t_num_params_from_distortion_model()

◆ t_slam_fill_default_config()

◆ t_stereo_camera_calibration_alloc()

◆ t_stereo_camera_calibration_dump()

◆ t_stereo_camera_calibration_from_json_v2()

◆ t_stereo_camera_calibration_load()

◆ t_stereo_camera_calibration_load_v1()

◆ t_stereo_camera_calibration_reference()

◆ t_stereo_camera_calibration_save()

◆ t_stereo_camera_calibration_save_v1()

◆ t_stereo_camera_calibration_to_json_v2()

◆ t_stringify_camera_distortion_model()

◆ t_vit_bundle_load()

◆ t_vit_bundle_unload()