xrt_slam_sinks Struct Reference

Container of pointers to sinks that could be used for a SLAM system. More...

#include <xrt/xrt_tracking.h>

Collaboration diagram for xrt_slam_sinks:

Data Fields
int	cam_count
int	imu_count
struct xrt_frame_sink *	cams [8]
struct xrt_imu_sink *	imus [3]
struct xrt_pose_sink *	gt
	Can receive ground truth poses if available.
struct xrt_device_masks_sink *	masks [2]
	SLAM masks, one per optical tracker (so they can push masks asynchronously).

Detailed Description

Container of pointers to sinks that could be used for a SLAM system.

Sinks are considered disabled if they are null.

Field Documentation

gt

struct xrt_pose_sink* xrt_slam_sinks::gt

Can receive ground truth poses if available.

Referenced by euroc_recorder_create(), xrt::auxiliary::tracking::slam::flush_poses(), t_slam_gt_sink_push(), and valve_index_setup_visual_trackers().

masks

struct xrt_device_masks_sink* xrt_slam_sinks::masks[2]

SLAM masks, one per optical tracker (so they can push masks asynchronously).

Referenced by rift_s_tracker_create(), valve_index_setup_visual_trackers(), and wmr_hmd_setup_trackers().

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

• xrt/xrt_tracking.h