rift_s_tracker Struct Reference

Collaboration diagram for rift_s_tracker:

Data Fields
struct xrt_device	base
struct os_mutex	mutex
	Protects shared access to 3dof and pose storage.
bool	ready_for_data
	Don't process IMU / video until started.
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)
struct xrt_pose	device_from_imu
struct xrt_pose	left_cam_from_imu
	Estimated offset from HMD device timestamp to local monotonic clock.
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.
bool	slam_over_3dof
	Whether to track the HMD with 6dof SLAM or fallback to the fusion 3dof tracker.
struct xrt_pose	pose
	Last tracked pose.
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.

Referenced by rift_s_tracker_create().

i3dof

struct m_imu_3dof rift_s_tracker::i3dof

Main fusion calculator.

Referenced by rift_s_tracker_create().

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.

Referenced by rift_s_tracker_create().

mutex

struct os_mutex rift_s_tracker::mutex

Protects shared access to 3dof and pose storage.

Referenced by rift_s_tracker_create().

pose

struct xrt_pose rift_s_tracker::pose

Last tracked pose.

Referenced by rift_s_tracker_create().

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.

Referenced by rift_s_tracker_create().

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.

Referenced by rift_s_tracker_create().

[struct]

struct { ... } rift_s_tracker::tracking

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

Referenced by rift_s_tracker_create().

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

• drivers/rift_s/rift_s_tracker.h