Inheritance diagram for wmr_hmd:

Collaboration diagram for wmr_hmd:

[legend]

Data Fields
struct xrt_device	base

const struct wmr_headset_descriptor *	hmd_desc

struct wmr_config_header	config_hdr
	firmware configuration block, with device names etc More...

struct wmr_hmd_config	config
	Config data parsed from the firmware JSON. More...

struct os_thread_helper	oth
	Packet reading thread. More...

enum u_logging_level	log_level

int32_t	left_view_y_offset

int32_t	right_view_y_offset

struct os_hid_device *	hid_hololens_sensors_dev
	This is the Hololens Sensors device, this is where we get all of the IMU data and read the config from. More...

struct os_mutex	hid_lock

struct os_hid_device *	hid_control_dev
	This is the vendor specific companion device of the Hololens Sensors. More...

bool	hmd_screen_enable
	Current desired HMD screen state. More...

uint16_t	raw_ipd
	Latest raw IPD value read from the device. More...

uint8_t	proximity_sensor
	Latest proximity sensor value read from the device. More...

struct wmr_hmd_distortion_params	distortion_params [2]
	Distortion related parameters. More...

struct hololens_sensors_packet	packet

struct {
struct os_mutex mutex
	Protects all members of the `fusion` substruct. More...

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, in CPU time. More...

}	fusion

struct {
struct xrt_fs * source
	Source of video/IMU data for tracking. More...

struct xrt_frame_context xfctx
	Context for source. More...

struct xrt_tracked_slam * slam
	SLAM tracker. More...

struct t_slam_calibration slam_calib
	Calibration data for SLAM. 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...

bool imu2me
	SLAM systems track the IMU pose, enabling this corrects it to middle of the eyes. More...

}	tracking
	Fields related to camera-based tracking (SLAM and hand tracking) 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 xrt_pose	offset
	Additional offset to apply to `pose` More...

bool	average_imus
	Average 4 IMU samples before sending them to the trackers. More...

struct u_var_draggable_f32	tracked_offset_ms
	Offset for tracked pose offsets (applies to both fusion and SLAM). More...

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

struct os_mutex	controller_status_lock

struct os_cond	controller_status_cond

bool	have_left_controller_status

bool	have_right_controller_status

struct wmr_hmd_controller_connection *	controller [2]

Data Fields inherited from xrt_device
enum xrt_device_name	name
	Enum identifier of the device. More...

enum xrt_device_type	device_type

char	str [256]
	A string describing the device. More...

char	serial [256]
	A unique identifier. Persistent across configurations, if possible. More...

struct xrt_hmd_parts *	hmd
	Null if this device does not interface with the users head. More...

struct xrt_tracking_origin *	tracking_origin
	Always set, pointing to the tracking system for this device. More...

size_t	binding_profile_count
	Number of bindings in xrt_device::binding_profiles. More...

struct xrt_binding_profile *	binding_profiles

size_t	input_count
	Number of inputs. More...

struct xrt_input *	inputs
	Array of input structs. More...

size_t	output_count
	Number of outputs. More...

struct xrt_output *	outputs
	Array of output structs. More...

bool	orientation_tracking_supported

bool	position_tracking_supported

bool	hand_tracking_supported

bool	eye_gaze_supported

bool	force_feedback_supported

bool	ref_space_usage_supported

bool	form_factor_check_supported

bool	stage_supported

bool	face_tracking_supported

bool	body_tracking_supported

bool	battery_status_supported

xrt_result_t(*	update_inputs )(struct xrt_device *xdev)
	Update any attached inputs. More...

xrt_result_t(*	get_tracked_pose )(struct xrt_device xdev, enum xrt_input_name name, int64_t at_timestamp_ns, struct xrt_space_relation out_relation)
	Get relationship of a tracked device to the tracking origin space as the base space. More...

void(*	get_hand_tracking )(struct xrt_device xdev, enum xrt_input_name name, int64_t desired_timestamp_ns, struct xrt_hand_joint_set out_value, int64_t *out_timestamp_ns)
	Get relationship of hand joints to the tracking origin space as the base space. More...

xrt_result_t(*	get_face_tracking )(struct xrt_device xdev, enum xrt_input_name facial_expression_type, int64_t at_timestamp_ns, struct xrt_facial_expression_set out_value)
	Get the requested blend shape properties & weights for a face tracker. More...

xrt_result_t(*	get_body_skeleton )(struct xrt_device xdev, enum xrt_input_name body_tracking_type, struct xrt_body_skeleton out_value)
	Get the body skeleton in T-pose, used to query the skeleton hierarchy, scale, proportions etc. More...

xrt_result_t(*	get_body_joints )(struct xrt_device xdev, enum xrt_input_name body_tracking_type, int64_t desired_timestamp_ns, struct xrt_body_joint_set out_value)
	Get the joint locations for a body tracker. More...

void(*	set_output )(struct xrt_device xdev, enum xrt_output_name name, const union xrt_output_value value)
	Set a output value. More...

void(*	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)
	Get the per-view pose in relation to the view space. More...

bool(*	compute_distortion )(struct xrt_device xdev, uint32_t view, float u, float v, struct xrt_uv_triplet out_result)
	Compute the distortion at a single point. More...

xrt_result_t(*	get_visibility_mask )(struct xrt_device xdev, enum xrt_visibility_mask_type type, uint32_t view_index, struct xrt_visibility_mask *out_mask)
	Get the visibility mask for this device. More...

xrt_result_t(*	ref_space_usage )(struct xrt_device *xdev, enum xrt_reference_space_type type, enum xrt_input_name name, bool used)
	Called by the xrt_space_overseer when a reference space that is implemented by this device is first used, or when the last usage of the reference space stops. More...

bool(*	is_form_factor_available )(struct xrt_device *xdev, enum xrt_form_factor form_factor)
	Check if given form factor is available or not. More...

xrt_result_t(*	get_battery_status )(struct xrt_device xdev, bool out_present, bool out_charging, float out_charge)
	Get battery status information. More...

xrt_result_t(*	begin_feature )(struct xrt_device *xdev, enum xrt_device_feature_type type)
	Enable the feature for this device. More...

xrt_result_t(*	end_feature )(struct xrt_device *xdev, enum xrt_device_feature_type type)
	Disable the feature for this device. More...

void(*	destroy )(struct xrt_device *xdev)
	Destroy device. More...

Additional Inherited Members
Static Public Member Functions inherited from xrt_device
static xrt_result_t	xrt_device_update_inputs (struct xrt_device *xdev)
	Helper function for xrt_device::update_inputs. More...

static xrt_result_t	xrt_device_get_tracked_pose (struct xrt_device xdev, enum xrt_input_name name, int64_t at_timestamp_ns, struct xrt_space_relation out_relation)
	Helper function for xrt_device::get_tracked_pose. More...

static void	xrt_device_get_hand_tracking (struct xrt_device xdev, enum xrt_input_name name, int64_t desired_timestamp_ns, struct xrt_hand_joint_set out_value, int64_t *out_timestamp_ns)
	Helper function for xrt_device::get_hand_tracking. More...

static xrt_result_t	xrt_device_get_face_tracking (struct xrt_device xdev, enum xrt_input_name facial_expression_type, int64_t at_timestamp_ns, struct xrt_facial_expression_set out_value)
	Helper function for xrt_device::get_face_tracking. More...

static xrt_result_t	xrt_device_get_body_skeleton (struct xrt_device xdev, enum xrt_input_name body_tracking_type, struct xrt_body_skeleton out_value)
	Helper function for xrt_device::get_body_skeleton. More...

static xrt_result_t	xrt_device_get_body_joints (struct xrt_device xdev, enum xrt_input_name body_tracking_type, int64_t desired_timestamp_ns, struct xrt_body_joint_set out_value)
	Helper function for xrt_device::get_body_joints. More...

static void	xrt_device_set_output (struct xrt_device xdev, enum xrt_output_name name, const union xrt_output_value value)
	Helper function for xrt_device::set_output. More...

static void	xrt_device_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)
	Helper function for xrt_device::get_view_poses. More...

static bool	xrt_device_compute_distortion (struct xrt_device xdev, uint32_t view, float u, float v, struct xrt_uv_triplet out_result)
	Helper function for xrt_device::compute_distortion. More...

static xrt_result_t	xrt_device_get_visibility_mask (struct xrt_device xdev, enum xrt_visibility_mask_type type, uint32_t view_index, struct xrt_visibility_mask *out_mask)
	Helper function for xrt_device::get_visibility_mask. More...

static xrt_result_t	xrt_device_ref_space_usage (struct xrt_device *xdev, enum xrt_reference_space_type type, enum xrt_input_name name, bool used)
	Helper function for xrt_device::ref_space_usage. More...

static bool	xrt_device_is_form_factor_available (struct xrt_device *xdev, enum xrt_form_factor form_factor)
	Helper function for xrt_device::is_form_factor_available. More...

static xrt_result_t	xrt_device_get_battery_status (struct xrt_device xdev, bool out_present, bool out_charging, float out_charge)
	Helper function for xrt_device::get_battery_status. More...

static xrt_result_t	xrt_device_begin_feature (struct xrt_device *xdev, enum xrt_device_feature_type type)
	Helper function for xrt_device::begin_feature. More...

static xrt_result_t	xrt_device_end_feature (struct xrt_device *xdev, enum xrt_device_feature_type type)
	Helper function for xrt_device::end_feature. More...

static void	xrt_device_destroy (struct xrt_device **xdev_ptr)
	Helper function for xrt_device::destroy. More...

Related Functions inherited from xrt_device
void	u_distortion_mesh_fill_in_compute (struct xrt_device *xdev)
	Given a xrt_device generates meshes by calling xdev->compute_distortion(), populates `xdev->hmd_parts.distortion.mesh` & `xdev->hmd_parts.distortion.models`. More...

void	u_distortion_mesh_fill_in_none (struct xrt_device *xdev)
	Given a xrt_device generates a no distortion mesh, populates `xdev->hmd_parts.distortion.mesh` & `xdev->hmd_parts.distortion.models`. More...

void	u_distortion_mesh_set_none (struct xrt_device *xdev)
	Given a xrt_device generates a no distortion mesh, also sets `xdev->compute_distortion()` and populates `xdev->hmd_parts.distortion.mesh` & `xdev->hmd_parts.distortion.models`. More...

Field Documentation

◆ average_imus

bool wmr_hmd::average_imus

Average 4 IMU samples before sending them to the trackers.

Referenced by wmr_hmd_fill_slam_imu_calibration().

◆ config

struct wmr_hmd_config wmr_hmd::config

Config data parsed from the firmware JSON.

Referenced by wmr_hmd_fill_slam_cams_calibration().

◆ config_hdr

struct wmr_config_header wmr_hmd::config_hdr

firmware configuration block, with device names etc

◆ distortion_params

struct wmr_hmd_distortion_params wmr_hmd::distortion_params[2]

Distortion related parameters.

◆ hand_enabled

bool wmr_hmd::hand_enabled

Set at start. Whether the hand tracker was initialized.

◆ hid_control_dev

struct os_hid_device* wmr_hmd::hid_control_dev

This is the vendor specific companion device of the Hololens Sensors.

When activated, it will report the physical IPD adjustment and proximity sensor status of the headset. It also allows enabling/disabling the HMD screen on Reverb G1/G2.

◆ hid_hololens_sensors_dev

struct os_hid_device* wmr_hmd::hid_hololens_sensors_dev

This is the Hololens Sensors device, this is where we get all of the IMU data and read the config from.

During start it is owned by the thread creating the device, after init it is owned by the reading thread. Read/write access is protected by the hid_lock

◆ hmd_screen_enable

bool wmr_hmd::hmd_screen_enable

Current desired HMD screen state.

◆ i3dof

struct m_imu_3dof wmr_hmd::i3dof

Main fusion calculator.

◆ imu2me

bool wmr_hmd::imu2me

SLAM systems track the IMU pose, enabling this corrects it to middle of the eyes.

◆ last_angular_velocity

struct xrt_vec3 wmr_hmd::last_angular_velocity

The last angular velocity from the IMU, for prediction.

◆ last_imu_timestamp_ns

uint64_t wmr_hmd::last_imu_timestamp_ns

When did we get the last IMU sample, in CPU time.

◆ mutex

struct os_mutex wmr_hmd::mutex

Protects all members of the fusion substruct.

◆ offset

struct xrt_pose wmr_hmd::offset

Additional offset to apply to pose

◆ oth

struct os_thread_helper wmr_hmd::oth

Packet reading thread.

◆ pose

struct xrt_pose wmr_hmd::pose

Last tracked pose.

◆ proximity_sensor

uint8_t wmr_hmd::proximity_sensor

Latest proximity sensor value read from the device.

◆ raw_ipd

uint16_t wmr_hmd::raw_ipd

Latest raw IPD value read from the device.

◆ slam

struct xrt_tracked_slam* wmr_hmd::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_calib

struct t_slam_calibration wmr_hmd::slam_calib

Calibration data for SLAM.

Referenced by wmr_hmd_fill_slam_cams_calibration().

◆ slam_enabled

bool wmr_hmd::slam_enabled

Set at start. Whether the SLAM tracker was initialized.

◆ slam_over_3dof

bool wmr_hmd::slam_over_3dof

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

◆ source

struct xrt_fs* wmr_hmd::source

Source of video/IMU data for tracking.

◆ tracked_offset_ms

struct u_var_draggable_f32 wmr_hmd::tracked_offset_ms

Offset for tracked pose offsets (applies to both fusion and SLAM).

Applied when getting the tracked poses, so is effectively a offset to increase or decrease prediction.

◆

struct { ... } wmr_hmd::tracking

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

Referenced by wmr_hmd_fill_slam_cams_calibration().

◆ xfctx

struct xrt_frame_context wmr_hmd::xfctx

Context for source.

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

drivers/wmr/wmr_hmd.h

Data Fields

Additional Inherited Members

Field Documentation

◆ average_imus

◆ config

◆ config_hdr

◆ distortion_params

◆ hand_enabled

◆ hid_control_dev

◆ hid_hololens_sensors_dev

◆ hmd_screen_enable

◆ i3dof

◆ imu2me

◆ last_angular_velocity

◆ last_imu_timestamp_ns

◆ mutex

◆ offset

◆ oth

◆ pose

◆ proximity_sensor

◆ raw_ipd

◆ slam

◆ slam_calib

◆ slam_enabled

◆ slam_over_3dof

◆ source

◆ tracked_offset_ms

◆

◆ xfctx