The LED model is a series of points which define the real-world positions of all LEDs. More...

#include <tracking/t_constellation.h>

Collaboration diagram for t_constellation_tracker_led_model:

[legend]

Static Public Member Functions
static XRT_NONNULL_ALL bool	t_constellation_tracker_led_model_compute_led_visibility (struct t_constellation_tracker_led_model *led_model, size_t led, struct xrt_vec3 T_obj_cam)
	Helper function for t_constellation_tracker_led_model::compute_led_visibility.

Data Fields
struct t_constellation_tracker_led *	leds
	The LEDs in this model.

size_t	led_count
	The number of LEDs in this model.

bool(*	compute_led_visibility )(struct t_constellation_tracker_led_model *led_model, size_t led, struct xrt_vec3 T_obj_cam)
	A function to compute whether a given LED is visible from a given position.

Detailed Description

The LED model is a series of points which define the real-world positions of all LEDs.

Some LED models may have self-occluding areas, such as WMR, where inner LEDs can be blocked by the ring, such occlusions are modelled through the LED visibility computation function.

Member Function Documentation

◆ t_constellation_tracker_led_model_compute_led_visibility()

static XRT_NONNULL_ALL bool t_constellation_tracker_led_model_compute_led_visibility	(	struct t_constellation_tracker_led_model *	led_model,
		size_t	led,
		struct xrt_vec3	T_obj_cam
	)

inlinestatic

Helper function for t_constellation_tracker_led_model::compute_led_visibility.

A function to compute whether a given LED is visible from a given position.

This is used to allow devices to better model complex occlusion scenarios, like the inward facing LEDs on the WMR rings.

Parameters

led_model	The LED model containing the LED in question.
led	The index of the LED in question in the model.
T_obj_cam	The transform from the root of the LED model to the camera. Assume camera is facing the origin of the LED model.

Returns: Whether the LED is visible from the given position.

References compute_led_visibility.

Field Documentation

◆ compute_led_visibility

bool(* t_constellation_tracker_led_model::compute_led_visibility) (struct t_constellation_tracker_led_model *led_model, size_t led, struct xrt_vec3 T_obj_cam)

A function to compute whether a given LED is visible from a given position.

This is used to allow devices to better model complex occlusion scenarios, like the inward facing LEDs on the WMR rings.

Parameters

led_model	The LED model containing the LED in question.
led	The index of the LED in question in the model.
T_obj_cam	The transform from the root of the LED model to the camera. Assume camera is facing the origin of the LED model.

Returns: Whether the LED is visible from the given position.

Referenced by t_constellation_tracker_led_model_compute_led_visibility().

◆ led_count

size_t t_constellation_tracker_led_model::led_count

The number of LEDs in this model.

◆ leds

struct t_constellation_tracker_led* t_constellation_tracker_led_model::leds

The LEDs in this model.

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

tracking/t_constellation.h

Static Public Member Functions