A body tracker, owns the policy for selecting which device and body-tracking source back a single OpenXR body-tracker handle (XrBodyTrackerFB / XrBodyTrackerBD). More...

#include <xrt/xrt_body_tracker.h>

Collaboration diagram for xrt_body_tracker:

[legend]

Static Public Member Functions
static xrt_result_t	xrt_body_tracker_locate (struct xrt_body_tracker xbt, struct xrt_space_overseer xso, struct xrt_space base_space, const struct xrt_pose base_offset, int64_t at_timestamp_ns, struct xrt_body_tracker_location *out_location)
	Locate the tracked body joints.

static XRT_NONNULL_ALL xrt_result_t	xrt_body_tracker_get_skeleton (struct xrt_body_tracker xbt, struct xrt_body_skeleton out_skeleton)
	Get the body skeleton (the joint hierarchy and rest pose) for this tracker's body-tracking source.

static XRT_NONNULL_ALL xrt_result_t	xrt_body_tracker_reset_calibration_meta (struct xrt_body_tracker *xbt)
	Reset the body-tracking calibration, for XR_META_body_tracking_calibration.

static XRT_NONNULL_ALL xrt_result_t	xrt_body_tracker_set_calibration_override_meta (struct xrt_body_tracker *xbt, float body_height)
	Suggest a body-tracking calibration override, for XR_META_body_tracking_calibration.

static XRT_NONNULL_ALL xrt_result_t	xrt_body_tracker_set_fidelity_meta (struct xrt_body_tracker *xbt, enum xrt_body_tracking_fidelity_meta fidelity)
	Request a body-tracking fidelity level, for XR_META_body_tracking_fidelity.

static XRT_NONNULL_ALL void	xrt_body_tracker_destroy (struct xrt_body_tracker **xbt_ptr)
	Destroy an xrt_body_tracker - helper function.

Data Fields
struct xrt_body_tracker_supported	supported
	Capability flags for this tracker; see xrt_body_tracker_supported.

xrt_result_t(*	locate )(struct xrt_body_tracker xbt, struct xrt_space_overseer xso, struct xrt_space base_space, const struct xrt_pose base_offset, int64_t at_timestamp_ns, struct xrt_body_tracker_location *out_location)
	Locate the tracked body joints.

xrt_result_t(*	get_skeleton )(struct xrt_body_tracker xbt, struct xrt_body_skeleton out_skeleton)
	Get the body skeleton (the joint hierarchy and rest pose) for this tracker's body-tracking source.

xrt_result_t(*	reset_calibration_meta )(struct xrt_body_tracker *xbt)
	Reset the body-tracking calibration, for XR_META_body_tracking_calibration.

xrt_result_t(*	set_calibration_override_meta )(struct xrt_body_tracker *xbt, float body_height)
	Suggest a body-tracking calibration override, for XR_META_body_tracking_calibration.

xrt_result_t(*	set_fidelity_meta )(struct xrt_body_tracker *xbt, enum xrt_body_tracking_fidelity_meta fidelity)
	Request a body-tracking fidelity level, for XR_META_body_tracking_fidelity.

void(*	destroy )(struct xrt_body_tracker *xbt)
	Destroy this body tracker.

Detailed Description

A body tracker, owns the policy for selecting which device and body-tracking source back a single OpenXR body-tracker handle (XrBodyTrackerFB / XrBodyTrackerBD).

Created from an xrt_system_devices (see xrt_system_devices::create_body_tracker). The OpenXR state tracker holds one of these per body-tracker handle instead of reaching into an xrt_device directly, mirroring xrt_hand_tracker. This moves device/source selection and the base-space transform (in locate) to the service side of the IPC layer, and lets external runtimes provide different body-tracking behavior without changing the OpenXR code. Implementations may change which xrt_device backs a tracker over its lifetime (for example when the body-tracking role changes); the interface allows that, though not every implementation must support runtime switching. The FB, META full-body and BD (PICO) variants are selected via xrt_body_tracker_create_info::body_tracking_type.

Member Function Documentation

◆ xrt_body_tracker_destroy()

static XRT_NONNULL_ALL void xrt_body_tracker_destroy ( struct xrt_body_tracker ** xbt_ptr )

inlinestatic

Destroy an xrt_body_tracker - helper function.

Parameters

[in,out] xbt_ptr A pointer to the xrt_body_tracker struct pointer.

Will destroy the tracker if *xbt_ptr is not NULL. Will then set *xbt_ptr to NULL.

References destroy.

Referenced by ipc_server_objects_destroy_xbt().

◆ xrt_body_tracker_get_skeleton()

static XRT_NONNULL_ALL xrt_result_t xrt_body_tracker_get_skeleton	(	struct xrt_body_tracker *	xbt,
		struct xrt_body_skeleton *	out_skeleton
	)

inlinestatic

Get the body skeleton (the joint hierarchy and rest pose) for this tracker's body-tracking source.

Parameters

xbt	Pointer to self.
out_skeleton	Resulting skeleton.

References get_skeleton.

◆ xrt_body_tracker_locate()

static xrt_result_t xrt_body_tracker_locate	(	struct xrt_body_tracker *	xbt,
		struct xrt_space_overseer *	xso,
		struct xrt_space *	base_space,
		const struct xrt_pose *	base_offset,
		int64_t	at_timestamp_ns,
		struct xrt_body_tracker_location *	out_location
	)

inlinestatic

Locate the tracked body joints.

Parameters

xbt	Pointer to self.
xso	Space overseer used to resolve the base space.
base_space	Space to locate the body in.
base_offset	Offset applied on top of `base_space`.
at_timestamp_ns	Time to locate at.
out_location	Resulting raw joint set plus the body pose resolved into the base space, see xrt_body_tracker_location.

References locate.

◆ xrt_body_tracker_reset_calibration_meta()

static XRT_NONNULL_ALL xrt_result_t xrt_body_tracker_reset_calibration_meta ( struct xrt_body_tracker * xbt )

inlinestatic

Reset the body-tracking calibration, for XR_META_body_tracking_calibration.

Parameters

xbt	Pointer to self.

References reset_calibration_meta.

◆ xrt_body_tracker_set_calibration_override_meta()

static XRT_NONNULL_ALL xrt_result_t xrt_body_tracker_set_calibration_override_meta	(	struct xrt_body_tracker *	xbt,
		float	body_height
	)

inlinestatic

Suggest a body-tracking calibration override, for XR_META_body_tracking_calibration.

Parameters

xbt	Pointer to self.
body_height	Suggested body height, in meters.

References set_calibration_override_meta.

◆ xrt_body_tracker_set_fidelity_meta()

static XRT_NONNULL_ALL xrt_result_t xrt_body_tracker_set_fidelity_meta	(	struct xrt_body_tracker *	xbt,
		enum xrt_body_tracking_fidelity_meta	fidelity
	)

inlinestatic

Request a body-tracking fidelity level, for XR_META_body_tracking_fidelity.

Parameters

xbt	Pointer to self.
fidelity	Requested fidelity level.

References set_fidelity_meta.

Field Documentation

◆ destroy

void(* xrt_body_tracker::destroy) (struct xrt_body_tracker *xbt)

Destroy this body tracker.

Code consuming this interface should use xrt_body_tracker_destroy.

Parameters

xbt	Pointer to self.

Referenced by u_body_tracker_populate_function_pointers(), and xrt_body_tracker_destroy().

◆ get_skeleton

xrt_result_t(* xrt_body_tracker::get_skeleton) (struct xrt_body_tracker *xbt, struct xrt_body_skeleton *out_skeleton)

Get the body skeleton (the joint hierarchy and rest pose) for this tracker's body-tracking source.

Parameters

xbt	Pointer to self.
out_skeleton	Resulting skeleton.

Referenced by u_body_tracker_populate_function_pointers(), and xrt_body_tracker_get_skeleton().

◆ locate

xrt_result_t(* xrt_body_tracker::locate) (struct xrt_body_tracker *xbt, struct xrt_space_overseer *xso, struct xrt_space *base_space, const struct xrt_pose *base_offset, int64_t at_timestamp_ns, struct xrt_body_tracker_location *out_location)

Locate the tracked body joints.

Parameters

xbt	Pointer to self.
xso	Space overseer used to resolve the base space.
base_space	Space to locate the body in.
base_offset	Offset applied on top of `base_space`.
at_timestamp_ns	Time to locate at.
out_location	Resulting raw joint set plus the body pose resolved into the base space, see xrt_body_tracker_location.

Referenced by u_body_tracker_populate_function_pointers(), and xrt_body_tracker_locate().

◆ reset_calibration_meta

xrt_result_t(* xrt_body_tracker::reset_calibration_meta) (struct xrt_body_tracker *xbt)

Reset the body-tracking calibration, for XR_META_body_tracking_calibration.

Parameters

xbt	Pointer to self.

Referenced by u_body_tracker_populate_function_pointers(), and xrt_body_tracker_reset_calibration_meta().

◆ set_calibration_override_meta

xrt_result_t(* xrt_body_tracker::set_calibration_override_meta) (struct xrt_body_tracker *xbt, float body_height)

Suggest a body-tracking calibration override, for XR_META_body_tracking_calibration.

Parameters

xbt	Pointer to self.
body_height	Suggested body height, in meters.

Referenced by u_body_tracker_populate_function_pointers(), and xrt_body_tracker_set_calibration_override_meta().

◆ set_fidelity_meta

xrt_result_t(* xrt_body_tracker::set_fidelity_meta) (struct xrt_body_tracker *xbt, enum xrt_body_tracking_fidelity_meta fidelity)

Request a body-tracking fidelity level, for XR_META_body_tracking_fidelity.

Parameters

xbt	Pointer to self.
fidelity	Requested fidelity level.

Referenced by u_body_tracker_populate_function_pointers(), and xrt_body_tracker_set_fidelity_meta().

◆ supported

struct xrt_body_tracker_supported xrt_body_tracker::supported

Capability flags for this tracker; see xrt_body_tracker_supported.

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

xrt/xrt_body_tracker.h

Static Public Member Functions

Data Fields

Detailed Description

Member Function Documentation

◆ xrt_body_tracker_destroy()

◆ xrt_body_tracker_get_skeleton()

◆ xrt_body_tracker_locate()

◆ xrt_body_tracker_reset_calibration_meta()

◆ xrt_body_tracker_set_calibration_override_meta()

◆ xrt_body_tracker_set_fidelity_meta()

Field Documentation

◆ destroy

◆ get_skeleton

◆ locate

◆ reset_calibration_meta

◆ set_calibration_override_meta

◆ set_fidelity_meta

◆ supported