Builder for Lighthouse-tracked devices (vive, index, tundra trackers, etc.) More...

#include "tracking/t_hand_tracking.h"
#include "tracking/t_tracking.h"
#include "xrt/xrt_config_drivers.h"
#include "xrt/xrt_device.h"
#include "xrt/xrt_prober.h"
#include "util/u_builders.h"
#include "util/u_config_json.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_sink.h"
#include "util/u_system_helpers.h"
#include "target_builder_interface.h"
#include "vive/vive_common.h"
#include "vive/vive_config.h"
#include "vive/vive_calibration.h"
#include "vive/vive_builder.h"
#include "vive/vive_device.h"
#include "vive/vive_source.h"
#include "v4l2/v4l2_interface.h"
#include "xrt/xrt_frameserver.h"
#include "xrt/xrt_results.h"
#include "xrt/xrt_tracking.h"
#include <assert.h>

Include dependency graph for target_builder_lighthouse.c:

Data Structures
struct	lighthouse_system

Macros
#define	DEFAULT_DRIVER "vive"

#define	LH_TRACE(...) U_LOG_IFL_T(debug_get_log_option_lh_log(), __VA_ARGS__)

#define	LH_DEBUG(...) U_LOG_IFL_D(debug_get_log_option_lh_log(), __VA_ARGS__)

#define	LH_INFO(...) U_LOG_IFL_I(debug_get_log_option_lh_log(), __VA_ARGS__)

#define	LH_WARN(...) U_LOG_IFL_W(debug_get_log_option_lh_log(), __VA_ARGS__)

#define	LH_ERROR(...) U_LOG_IFL_E(debug_get_log_option_lh_log(), __VA_ARGS__)

#define	LH_ASSERT(predicate, ...)

#define	LH_ASSERT_(predicate) LH_ASSERT(predicate, "Assertion failed " #predicate)

Enumerations
enum	lighthouse_driver { DRIVER_VIVE , DRIVER_SURVIVE , DRIVER_STEAMVR }

Functions
static uint32_t	get_selected_mode (struct xrt_fs *xfs)

static void	on_video_device (struct xrt_prober xp, struct xrt_prober_device pdev, const char product, const char manufacturer, const char serial, void ptr)

static struct xrt_slam_sinks *	valve_index_slam_track (struct vive_device vive_head, struct xrt_frame_context xfctx, struct t_slam_calibration *slam_calib)

static bool	valve_index_hand_track (struct lighthouse_system lhs, struct xrt_device head, struct xrt_frame_context xfctx, struct xrt_pose head_in_left_cam, struct t_stereo_camera_calibration stereo_calib, struct xrt_hand_masks_sink masks_sink, struct xrt_slam_sinks out_sinks, struct xrt_device *out_devices)

static xrt_result_t	lighthouse_estimate_system (struct xrt_builder xb, cJSON config, struct xrt_prober xp, struct xrt_builder_estimate estimate)

static bool	valve_index_setup_visual_trackers (struct lighthouse_system lhs, struct xrt_device head, struct vive_device vive_head, struct xrt_frame_context xfctx, struct xrt_prober xp, struct xrt_slam_sinks out_sinks, struct xrt_device **out_devices)

static bool	stream_data_sources (struct lighthouse_system lhs, struct vive_device vive_head, struct xrt_prober *xp, struct xrt_slam_sinks sinks)

static void	try_add_opengloves (struct xrt_device left, struct xrt_device right, struct xrt_device out_left_ht, struct xrt_device out_right_ht)

static xrt_result_t	lighthouse_open_system_impl (struct xrt_builder xb, cJSON config, struct xrt_prober xp, struct xrt_tracking_origin origin, struct xrt_system_devices xsysd, struct xrt_frame_context xfctx, struct u_builder_roles_helper *ubrh)

static void	lighthouse_destroy (struct xrt_builder *xb)

struct xrt_builder *	t_builder_lighthouse_create (void)
	Builder for Lighthouse-tracked devices (vive, index, tundra trackers, etc.) More...

Variables
static const char *	driver_list []

Detailed Description

Builder for Lighthouse-tracked devices (vive, index, tundra trackers, etc.)

Author: Moses Turner moses.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m; Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Macro Definition Documentation

◆ LH_ASSERT

#define LH_ASSERT	(	predicate,
		...
	)

Value:

        do {                                                                                                           \
                bool p = predicate;                                                                                    \
                if (!p) {                                                                                              \
                        U_LOG(U_LOGGING_ERROR, __VA_ARGS__);                                                           \
                        assert(false && "LH_ASSERT failed: " #predicate);                                              \
                        exit(EXIT_FAILURE);                                                                            \
                }                                                                                                      \
        } while (false);

Function Documentation

◆ t_builder_lighthouse_create()

struct xrt_builder * t_builder_lighthouse_create ( void )

Builder for Lighthouse-tracked devices (vive, index, tundra trackers, etc.)

References u_builder::base, xrt_builder::estimate_system, and U_TYPED_CALLOC.

◆ valve_index_setup_visual_trackers()

static bool valve_index_setup_visual_trackers	(	struct lighthouse_system *	lhs,
		struct xrt_device *	head,
		struct vive_device *	vive_head,
		struct xrt_frame_context *	xfctx,
		struct xrt_prober *	xp,
		struct xrt_slam_sinks *	out_sinks,
		struct xrt_device **	out_devices
	)

static

Todo:: Using a single slot queue is wrong for SLAM

References t_slam_calibration::cam_count, t_slam_calibration::cams, vive_tracking_status::hand_enabled, t_slam_calibration::imu, lighthouse_system::slam_calib, vive_get_slam_cams_calib(), vive_get_slam_imu_calibration(), vive_get_stereo_camera_calibration(), and lighthouse_system::vive_tstatus.

Variable Documentation

◆ driver_list

const char* driver_list[]

static

Initial value:

= {
 
}

Data Structures

Macros

Enumerations

Functions

Variables