rs_ddev.c File Reference

RealSense helper driver for in-device SLAM 6DOF tracking. More...

#include "xrt/xrt_defines.h"
#include "xrt/xrt_device.h"
#include "math/m_api.h"
#include "math/m_space.h"
#include "math/m_predict.h"
#include "math/m_relation_history.h"
#include "os/os_time.h"
#include "os/os_threading.h"
#include "util/u_time.h"
#include "util/u_device.h"
#include "util/u_logging.h"
#include "util/u_json.h"
#include "util/u_config_json.h"
#include "rs_driver.h"
#include <librealsense2/rs.h>
#include <librealsense2/h/rs_pipeline.h>
#include <librealsense2/h/rs_option.h>
#include <librealsense2/h/rs_frame.h>
#include <stdio.h>
#include <assert.h>
#include <stdlib.h>

Include dependency graph for rs_ddev.c:

Data Structures
struct	rs_ddev
	Device-SLAM tracked RealSense device (T26X series). More...

Macros
#define	print_pose(msg, pose)
	Convenience macro to print out a pose, only used for debugging. More...
#define	CHECK_RS2()

Functions
static struct rs_ddev *	rs_ddev (struct xrt_device *xdev)
	Helper to convert a xdev to a rs_ddev. More...
static int	check_error (struct rs_ddev *rs, rs2_error *e)
	Simple helper to check and print error messages. More...
static void	close_ddev (struct rs_ddev *rs)
	Frees all RealSense resources. More...
static int	create_ddev (struct rs_ddev *rs, int device_idx)
	Create all RealSense resources needed for 6DOF tracking. More...
static void	process_frame (struct rs_ddev *rs, rs2_frame *frame)
	Process a frame as 6DOF data, does not assume ownership of the frame. More...
static int	update (struct rs_ddev *rs)
static void *	rs_run_thread (void *ptr)
static bool	load_config (struct rs_ddev *rs)
static xrt_result_t	rs_ddev_get_tracked_pose (struct xrt_device *xdev, enum xrt_input_name name, int64_t at_timestamp_ns, struct xrt_space_relation *out_relation)
static void	rs_ddev_get_view_poses (struct xrt_device *xdev, const struct xrt_vec3 *default_eye_relation, int64_t at_timestamp_ns, uint32_t view_count, struct xrt_space_relation *out_head_relation, struct xrt_fov *out_fovs, struct xrt_pose *out_poses)
static void	rs_ddev_destroy (struct xrt_device *xdev)
struct xrt_device *	rs_ddev_create (int device_idx)
	Create a RealSense device tracked with device-SLAM (T26x). More...

Detailed Description

RealSense helper driver for in-device SLAM 6DOF tracking.

Author

Moses Turner moses.nosp@m.turn.nosp@m.er@pr.nosp@m.oton.nosp@m.mail..nosp@m.com

Nova King techn.nosp@m.obab.nosp@m.oo@gm.nosp@m.ail..nosp@m.com

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Macro Definition Documentation

CHECK_RS2

#define CHECK_RS2

(

)

Value:

        do {                                                                                                           \
                if (check_error(rs, e) != 0) {                                                                         \
                        close_ddev(rs);                                                                                \
                        return 1;                                                                                      \
                }                                                                                                      \
        } while (0)

print_pose

#define print_pose	(		msg,
			pose
	)

Value:

        U_LOG_E(msg " %f %f %f  %f %f %f %f", pose.position.x, pose.position.y, pose.position.z, pose.orientation.x,   \
                pose.orientation.y, pose.orientation.z, pose.orientation.w)

Convenience macro to print out a pose, only used for debugging.

Function Documentation

check_error()

static int check_error ( struct rs_ddev *  rs, rs2_error *  e  )

static

Simple helper to check and print error messages.

References U_LOG_E.

Referenced by process_frame().

close_ddev()

static void close_ddev ( struct rs_ddev *  rs )

static

Frees all RealSense resources.

References rs_container::pipeline, rs_container_cleanup(), and rs_ddev::rsc.

create_ddev()

static int create_ddev ( struct rs_ddev *  rs, int  device_idx  )

static

Create all RealSense resources needed for 6DOF tracking.

Todo:

0 index hardcoded, check device with RS2_EXTENSION_POSE_SENSOR or similar instead

References rs_container::context, and rs_ddev::rsc.

process_frame()

static void process_frame ( struct rs_ddev *  rs, rs2_frame *  frame  )

static

Process a frame as 6DOF data, does not assume ownership of the frame.

References check_error(), os_monotonic_get_ns(), and os_realtime_get_ns().

rs_ddev()

static struct rs_ddev * rs_ddev ( struct xrt_device *  xdev )

inlinestatic

Helper to convert a xdev to a rs_ddev.