rift_s_tracker.c File Reference

Driver code for Oculus Rift S headsets. More...

#include <stdlib.h>
#include <string.h>
#include <stdio.h>
#include <time.h>
#include <assert.h>
#include "math/m_api.h"
#include "math/m_clock_tracking.h"
#include "math/m_space.h"
#include "math/m_vec3.h"
#include "os/os_time.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_sink.h"
#include "util/u_trace_marker.h"
#include "util/u_var.h"
#include "xrt/xrt_config_build.h"
#include "xrt/xrt_config_drivers.h"
#include "xrt/xrt_device.h"
#include "rift_s.h"
#include "rift_s_interface.h"
#include "rift_s_util.h"
#include "rift_s_tracker.h"

Include dependency graph for rift_s_tracker.c:

Macros
#define	UPPER_32BITS(x)   ((x)&0xffffffff00000000ULL)

Functions
static xrt_result_t	rift_s_tracker_get_tracked_pose_imu (struct xrt_device *xdev, enum xrt_input_name name, int64_t at_timestamp_ns, struct xrt_space_relation *out_relation)
	Specifies whether the user wants to use a SLAM tracker.
static void	rift_s_tracker_switch_method_cb (void *t_ptr)
XRT_MAYBE_UNUSED void	rift_s_fill_slam_imu_calibration (struct rift_s_tracker *t, struct rift_s_hmd_config *hmd_config)
static void	rift_s_fill_slam_cameras_calibration (struct rift_s_tracker *t, struct rift_s_hmd_config *hmd_config)
	Extended camera calibration for SLAM.
static void	rift_s_fill_slam_calibration (struct rift_s_tracker *t, struct rift_s_hmd_config *hmd_config)
static struct xrt_slam_sinks *	rift_s_create_slam_tracker (struct rift_s_tracker *t, struct xrt_frame_context *xfctx)
static int	rift_s_create_hand_tracker (struct rift_s_tracker *t, struct xrt_frame_context *xfctx, struct xrt_hand_masks_sink *masks_sink, struct xrt_slam_sinks **out_sinks, struct xrt_device **out_device)
void	rift_s_tracker_add_debug_ui (struct rift_s_tracker *t, void *root)
struct rift_s_tracker *	rift_s_tracker_create (struct xrt_tracking_origin *origin, struct xrt_frame_context *xfctx, struct rift_s_hmd_config *hmd_config)
	Procedure to setup trackers: 3dof, SLAM and hand tracking.
void	rift_s_tracker_destroy (struct rift_s_tracker *t)
struct xrt_slam_sinks *	rift_s_tracker_get_slam_sinks (struct rift_s_tracker *t)
struct xrt_device *	rift_s_tracker_get_hand_tracking_device (struct rift_s_tracker *t)
void	rift_s_tracker_clock_update (struct rift_s_tracker *t, uint64_t device_timestamp_ns, timepoint_ns local_timestamp_ns)
static void	clock_hw2mono_get (struct rift_s_tracker *t, uint64_t device_ts, timepoint_ns *out)
	Camera specific logic for clock conversion.
void	rift_s_tracker_imu_update (struct rift_s_tracker *t, uint64_t device_timestamp_ns, const struct xrt_vec3 *accel, const struct xrt_vec3 *gyro)
void	rift_s_tracker_push_slam_frames (struct rift_s_tracker *t, uint64_t frame_ts_ns, struct xrt_frame *frames[RIFT_S_CAMERA_COUNT])
static XRT_MAYBE_UNUSED void	rift_s_tracker_correct_pose_from_basalt (struct xrt_pose *pose)
	Specific pose correction for Basalt to OpenXR coordinates.
void	rift_s_tracker_get_tracked_pose (struct rift_s_tracker *t, enum rift_s_tracker_pose pose, uint64_t at_timestamp_ns, struct xrt_space_relation *out_relation)
void	rift_s_tracker_start (struct rift_s_tracker *t)

Variables
static const bool	slam_supported = false
static const bool	hand_supported = false

Detailed Description

Driver code for Oculus Rift S headsets.

Implementation for the HMD 3dof and 6dof tracking

Author

Jan Schmidt jan@c.nosp@m.entr.nosp@m.icula.nosp@m.r.co.nosp@m.m

Function Documentation

clock_hw2mono_get()

static void clock_hw2mono_get ( struct rift_s_tracker *  t, uint64_t  device_ts, timepoint_ns *  out  )

static

Camera specific logic for clock conversion.

rift_s_fill_slam_cameras_calibration()

static void rift_s_fill_slam_cameras_calibration ( struct rift_s_tracker *  t, struct rift_s_hmd_config *  hmd_config  )

static

Extended camera calibration for SLAM.

References t_slam_calibration::cam_count, CAM_IDX_TO_ID, t_slam_calibration::cams, xrt_matrix_4x4::math_matrix_4x4_isometry_from_pose(), xrt_pose::math_pose_from_isometry(), xrt_pose::math_pose_invert(), xrt_pose::math_pose_transform(), and t_slam_camera_calibration::T_imu_cam.

rift_s_tracker_correct_pose_from_basalt()

static XRT_MAYBE_UNUSED void rift_s_tracker_correct_pose_from_basalt ( struct xrt_pose *  pose )

inlinestatic

Specific pose correction for Basalt to OpenXR coordinates.

References xrt_quat::math_quat_rotate(), and xrt_quat::math_quat_rotate_vec3().

rift_s_tracker_create()

struct rift_s_tracker * rift_s_tracker_create	(	struct xrt_tracking_origin *	origin,
		struct xrt_frame_context *	xfctx,
		struct rift_s_hmd_config *	hmd_config
	)

Procedure to setup trackers: 3dof, SLAM and hand tracking.

Determines which trackers to initialize

Parameters

xfctx	the frame server that will own processing nodes
hmd_config	HMD configuration and firmware info

Returns

initialised tracker on success, NULL if creation fails

References xrt_device::get_tracked_pose, rift_s_tracker::hand_enabled, rift_s_tracker::i3dof, rift_s_tracker::left_cam_from_imu, xrt_pose::math_pose_invert(), xrt_pose::math_pose_transform(), rift_s_tracker::mutex, rift_s_tracker::pose, rift_s_create_stereo_camera_calib_rotated(), rift_s_tracker_get_tracked_pose_imu(), rift_s_tracker::slam_enabled, rift_s_tracker::slam_over_3dof, rift_s_tracker::tracking, xrt_device::tracking_origin, and xrt_frame_sink::u_sink_split_create().

rift_s_tracker_get_tracked_pose_imu()

static xrt_result_t rift_s_tracker_get_tracked_pose_imu ( struct xrt_device *  xdev, enum xrt_input_name  name, int64_t  at_timestamp_ns, struct xrt_space_relation *  out_relation  )

static

Specifies whether the user wants to use a SLAM tracker.

Specifies whether the user wants to use the hand tracker.

References XRT_ERROR_INPUT_UNSUPPORTED, and XRT_SUCCESS.

Referenced by rift_s_tracker_create().