HMD tracker handling. More...

#include "math/m_imu_3dof.h"
#include "os/os_threading.h"
#include "util/u_var.h"
#include "xrt/xrt_defines.h"
#include "xrt/xrt_device.h"
#include "tracking/t_tracking.h"
#include "rift_s_firmware.h"

Include dependency graph for rift_s_tracker.h:

Go to the source code of this file.

Data Structures
struct	rift_s_tracker

Enumerations
enum	rift_s_tracker_pose { RIFT_S_TRACKER_POSE_IMU , RIFT_S_TRACKER_POSE_LEFT_CAMERA , RIFT_S_TRACKER_POSE_DEVICE }

Functions
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. More...

void	rift_s_tracker_start (struct rift_s_tracker *t)

void	rift_s_tracker_destroy (struct rift_s_tracker *t)

void	rift_s_tracker_add_debug_ui (struct rift_s_tracker t, void root)

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)

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])

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)

Detailed Description

HMD tracker handling.

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

Function Documentation

◆ 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

Data Structures

Enumerations

Functions

Detailed Description

Function Documentation

◆ rift_s_tracker_create()