Shared code for @ref drv_vive and @ref drv_survive.

Shared functionality for HTC Vive and Valve Index driver and Lighthouse tracking using libsurvive drivers that supports the HTC Vive and Valve Index family of HMDs. More...

Collaboration diagram for Shared code for @ref drv_vive and @ref drv_survive.:

Files
file	vive_bindings.c
	Shared bindings structs for HTC Vive and Valve Index driver & Lighthouse tracking using libsurvive.
file	vive_bindings.h
	Shared bindings structs for HTC Vive and Valve Index driver & Lighthouse tracking using libsurvive.
file	vive_builder.c
	Builder helpers for Vive/Index devices.
file	vive_builder.h
	Builder helpers for Vive/Index devices.
file	vive_calibration.c
	Vive calibration getters.
file	vive_calibration.h
	Vive calibration getters.
file	vive_common.c
	Common things like defines for Vive and Index.
file	vive_common.h
	Common things like defines for Vive and Index.
file	vive_config.c
	Vive json implementation.
file	vive_config.h
	vive json header
file	vive_poses.c
	Vive poses implementation.
file	vive_poses.h
	vive poses header
file	vive_tweaks.c
	Tweaks for various bits on Vive and Index headsets.
file	vive_tweaks.h
	Tweaks for various bits on Vive and Index headsets.

Data Structures
struct	index_camera
	A calibrated camera on an Index. More...
struct	lh_sensor
	A single lighthouse senosor point and normal, in IMU space. More...
struct	lh_model
	A lighthouse consisting of sensors. More...
struct	vive_config
	headset config. More...
struct	vive_controller_config
	Controller config. More...

Enumerations
enum	VIVE_VARIANT {   VIVE_UNKNOWN = 0 , VIVE_VARIANT_VIVE , VIVE_VARIANT_PRO , VIVE_VARIANT_INDEX ,   VIVE_VARIANT_PRO2 , VIVE_VARIANT_BEYOND }
	Headset variant. More...
enum	VIVE_CONTROLLER_VARIANT {   CONTROLLER_VIVE_WAND , CONTROLLER_INDEX_LEFT , CONTROLLER_INDEX_RIGHT , CONTROLLER_TRACKER_GEN1 ,   CONTROLLER_TRACKER_GEN2 , CONTROLLER_TRACKER_GEN3 , CONTROLLER_TRACKER_TUNDRA , CONTROLLER_UNKNOWN }
	Controller variant. More...

Functions
xrt_result_t	vive_builder_estimate (struct xrt_prober *xp, bool have_6dof, bool have_hand_tracking, bool *out_valve_have_index, struct xrt_builder_estimate *out_estimate)
	Helper function to do an estimate of a system. More...
bool	vive_get_stereo_camera_calibration (const struct vive_config *d, struct t_stereo_camera_calibration **calibration_ptr_to_ref, struct xrt_pose *out_head_in_left_camera)
	Get a t_stereo_camera_calibration and xrt_pose from left camera to head translation. More...
void	vive_get_slam_cams_calib (const struct vive_config *d, struct t_slam_camera_calibration *out_calib0, struct t_slam_camera_calibration *out_calib1)
	Get a t_slam_camera_calibration one for each camera. More...
void	vive_get_imu_calibration (const struct vive_config *d, struct t_imu_calibration *out_calib)
	Get a t_imu_calibration for the IMU. More...
void	vive_get_slam_imu_calibration (const struct vive_config *d, struct t_slam_imu_calibration *out_calib)
	Get a t_slam_imu_calibration for the IMU. More...
bool	vive_config_parse (struct vive_config *d, char *json_string, enum u_logging_level log_level)
	Parse a headset config. More...
void	vive_config_teardown (struct vive_config *config)
	Free any allocated resources on this config. More...
bool	vive_config_parse_controller (struct vive_controller_config *d, char *json_string, enum u_logging_level log_level)
	Parse a controller config. More...
void	vive_tweak_fov (struct vive_config *config)
	Tweak the fov for the views on the given config, to make it better. More...

Detailed Description

Shared functionality for HTC Vive and Valve Index driver and Lighthouse tracking using libsurvive drivers that supports the HTC Vive and Valve Index family of HMDs.

Enumeration Type Documentation

VIVE_CONTROLLER_VARIANT

enum VIVE_CONTROLLER_VARIANT

#include <auxiliary/vive/vive_config.h>

Controller variant.

VIVE_VARIANT

enum VIVE_VARIANT

#include <auxiliary/vive/vive_common.h>

Headset variant.

Function Documentation

vive_builder_estimate()

xrt_result_t vive_builder_estimate	(	struct xrt_prober *	xp,
		bool	have_6dof,
		bool	have_hand_tracking,
		bool *	out_valve_have_index,
		struct xrt_builder_estimate *	out_estimate
	)

#include <auxiliary/vive/vive_builder.h>

Helper function to do an estimate of a system.

References U_LOG_E, xrt_prober::xrt_prober_lock_list(), XRT_STRUCT_INIT, and XRT_SUCCESS.

vive_config_parse()

bool vive_config_parse	(	struct vive_config *	d,
		char *	json_string,
		enum u_logging_level	log_level
	)

#include <auxiliary/vive/vive_config.h>

Parse a headset config.

vive_config_parse_controller()

bool vive_config_parse_controller	(	struct vive_controller_config *	d,
		char *	json_string,
		enum u_logging_level	log_level
	)

#include <auxiliary/vive/vive_config.h>

Parse a controller config.

vive_config_teardown()

void vive_config_teardown

(

struct vive_config *

config

)

#include <auxiliary/vive/vive_config.h>

Free any allocated resources on this config.

vive_get_imu_calibration()

void vive_get_imu_calibration	(	const struct vive_config *	d,
		struct t_imu_calibration *	out_calib
	)

#include <auxiliary/vive/vive_calibration.h>

Get a t_imu_calibration for the IMU.

References t_imu_calibration::accel, and t_inertial_calibration::transform.

Referenced by vive_get_slam_imu_calibration().

vive_get_slam_cams_calib()

void vive_get_slam_cams_calib	(	const struct vive_config *	d,
		struct t_slam_camera_calibration *	out_calib0,
		struct t_slam_camera_calibration *	out_calib1
	)

#include <auxiliary/vive/vive_calibration.h>

Get a t_slam_camera_calibration one for each camera.

Get a t_slam_camera_calibration one for each camera.

Todo:

: Index factory calibration is weird and doesn't seem to have the proper extrinsics. Let's overwrite them with some extrinsics I got from doing a calibration on my own headset. These seem to work better than native values. (mateosss)

Referenced by valve_index_setup_visual_trackers().

vive_get_slam_imu_calibration()

void vive_get_slam_imu_calibration	(	const struct vive_config *	d,
		struct t_slam_imu_calibration *	out_calib
	)

#include <auxiliary/vive/vive_calibration.h>

Get a t_slam_imu_calibration for the IMU.

References IMU_FREQUENCY, and vive_get_imu_calibration().

Referenced by valve_index_setup_visual_trackers().

vive_get_stereo_camera_calibration()

bool vive_get_stereo_camera_calibration	(	const struct vive_config *	d,
		struct t_stereo_camera_calibration **	calibration_ptr_to_ref,
		struct xrt_pose *	out_head_in_left_camera
	)

#include <auxiliary/vive/vive_calibration.h>

Get a t_stereo_camera_calibration and xrt_pose from left camera to head translation.

References vive_config::valid.

Referenced by valve_index_setup_visual_trackers().

vive_tweak_fov()

void vive_tweak_fov

(

struct vive_config *

config

)

#include <auxiliary/vive/vive_tweaks.h>

Tweak the fov for the views on the given config, to make it better.

References ARRAY_SIZE.