Collaboration diagram for rift_s_tracker:

[legend]

Data Fields
struct xrt_device	base

struct os_mutex	mutex
	Protects shared access to 3dof and pose storage. More...

bool	ready_for_data
	Don't process IMU / video until started. More...

struct {
struct m_imu_3dof i3dof
	Main fusion calculator. More...

struct xrt_vec3 last_angular_velocity
	The last angular velocity from the IMU, for prediction. More...

uint64_t last_imu_timestamp_ns
	When did we get the last IMU sample, device clock. More...

timepoint_ns last_imu_local_timestamp_ns
	Last IMU sample local system clock. More...

}	fusion

struct {
struct xrt_tracked_slam * slam
	SLAM tracker. More...

bool slam_enabled
	Set at start. Whether the SLAM tracker was initialized. More...

bool hand_enabled
	Set at start. Whether the hand tracker was initialized. More...

}	tracking
	Fields related to camera-based tracking (SLAM and hand tracking) More...

struct xrt_pose	device_from_imu

struct xrt_pose	left_cam_from_imu
	Estimated offset from HMD device timestamp to local monotonic clock. More...

uint64_t	seen_clock_observations

bool	have_hw2mono

time_duration_ns	hw2mono

timepoint_ns	last_frame_time

int64_t	camera_ts_offset
	Adjustment to apply to camera timestamps to bring them into the. More...

bool	slam_over_3dof
	Whether to track the HMD with 6dof SLAM or fallback to the `fusion` 3dof tracker. More...

struct xrt_pose	pose
	Last tracked pose. More...

struct t_stereo_camera_calibration *	stereo_calib

struct t_slam_calibration	slam_calib

struct xrt_slam_sinks	in_slam_sinks

struct xrt_slam_sinks	slam_sinks

struct xrt_device *	handtracker

struct {
struct u_var_button hmd_screen_enable_btn

struct u_var_button switch_tracker_btn

char hand_status [128]

char slam_status [128]

}	gui

Field Documentation

◆ camera_ts_offset

int64_t rift_s_tracker::camera_ts_offset

Adjustment to apply to camera timestamps to bring them into the.

◆ hand_enabled

bool rift_s_tracker::hand_enabled

Set at start. Whether the hand tracker was initialized.

◆ i3dof

struct m_imu_3dof rift_s_tracker::i3dof

Main fusion calculator.

◆ last_angular_velocity

struct xrt_vec3 rift_s_tracker::last_angular_velocity

The last angular velocity from the IMU, for prediction.

◆ last_imu_local_timestamp_ns

timepoint_ns rift_s_tracker::last_imu_local_timestamp_ns

Last IMU sample local system clock.

◆ last_imu_timestamp_ns

uint64_t rift_s_tracker::last_imu_timestamp_ns

When did we get the last IMU sample, device clock.

◆ left_cam_from_imu

struct xrt_pose rift_s_tracker::left_cam_from_imu

Estimated offset from HMD device timestamp to local monotonic clock.

◆ mutex

struct os_mutex rift_s_tracker::mutex

Protects shared access to 3dof and pose storage.

◆ pose

struct xrt_pose rift_s_tracker::pose

Last tracked pose.

◆ ready_for_data

bool rift_s_tracker::ready_for_data

Don't process IMU / video until started.

◆ slam

struct xrt_tracked_slam* rift_s_tracker::slam

SLAM tracker.

Todo:: Right now, we are not consistent in how we interface with trackers. In particular, we have a xrt_tracked_slam field but not an equivalent for hand tracking.

◆ slam_enabled

bool rift_s_tracker::slam_enabled

Set at start. Whether the SLAM tracker was initialized.

◆ slam_over_3dof

bool rift_s_tracker::slam_over_3dof

Whether to track the HMD with 6dof SLAM or fallback to the fusion 3dof tracker.

◆

struct { ... } rift_s_tracker::tracking

Fields related to camera-based tracking (SLAM and hand tracking)

The documentation for this struct was generated from the following file:

drivers/rift_s/rift_s_tracker.h

Data Fields