t_constellation.h File Reference

Header defining the tracking system integration in Monado. More...

#include "xrt/xrt_defines.h"

Include dependency graph for t_constellation.h:

Go to the source code of this file.

Data Structures
struct	t_blob
	A blob is a 2d position in a camera sensor's view that is being tracked. More...
struct	t_blob_observation
interface	t_blob_sink
	A generic interface to allow a tracking system to receive "snapshots" of seen t_blob in a frame. More...
struct	t_blobwatch
interface	t_constellation_tracker_tracking_source
	A constellation tracker tracking source is an arbitrary source of tracking data for the constellation tracker. More...
struct	t_constellation_tracker_led
struct	t_constellation_tracker_led_model_match_parameters
interface	t_constellation_tracker_led_model
	The LED model is a series of points which define the real-world positions of all LEDs. More...
struct	t_constellation_tracker_sample_metrics
struct	t_constellation_tracker_sample
interface	t_constellation_tracker_device
	A constellation tracker device is a device that the constellation tracker will attempt to track in 6dof. More...

Macros
#define	XRT_CONSTELLATION_MAX_BLOBS_PER_FRAME   250
#define	XRT_CONSTELLATION_MAX_DEVICES   4
	The maximum amount of devices the constellation tracker is able to track at once.
#define	XRT_CONSTELLATION_MAX_LEDS_PER_DEVICE   64
	The maximum number of LEDs that a single device can have.
#define	XRT_CONSTELLATION_INVALID_DEVICE_ID   -1
#define	XRT_CONSTELLATION_INVALID_LED_ID   -1

Typedefs
typedef int8_t	t_constellation_device_id_t
typedef int8_t	t_constellation_led_id_it

Detailed Description

Header defining the tracking system integration in Monado.

Author

Beyley Cardellio ep1cm.nosp@m.1n10.nosp@m.n123@.nosp@m.gmai.nosp@m.l.com

Macro Definition Documentation

XRT_CONSTELLATION_MAX_DEVICES

#define XRT_CONSTELLATION_MAX_DEVICES   4

The maximum amount of devices the constellation tracker is able to track at once.

Note

This value is dictated by the device bitmask in the sensor fusion, update that there when this is changed to another power of two.

XRT_CONSTELLATION_MAX_LEDS_PER_DEVICE

#define XRT_CONSTELLATION_MAX_LEDS_PER_DEVICE   64

The maximum number of LEDs that a single device can have.

This is a hard limit since we use some bitfields to track LEDs in the pose optimization. If this ever needs to be raised, you need to go update pose_optimize.cpp to use some other data type.