target_builder_north_star.c File Reference

System builder for North Star headsets. More...

#include "math/m_api.h"
#include "math/m_space.h"
#include "multi_wrapper/multi.h"
#include "realsense/rs_interface.h"
#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 "util/u_file.h"
#include "util/u_pretty_print.h"
#include "target_builder_interface.h"
#include "north_star/ns_interface.h"
#include "ht_ctrl_emu/ht_ctrl_emu_interface.h"
#include "xrt/xrt_frameserver.h"
#include "xrt/xrt_results.h"
#include "xrt/xrt_tracking.h"
#include <assert.h>
#include "math/m_mathinclude.h"

Include dependency graph for target_builder_north_star.c:

Data Structures
struct	ns_ultraleap_device
struct	ns_depthai_device
struct	ns_t265
struct	ns_builder

Macros
#define	NS_TRACE(...)   U_LOG_IFL_T(debug_get_log_option_ns_log(), __VA_ARGS__)
#define	NS_DEBUG(...)   U_LOG_IFL_D(debug_get_log_option_ns_log(), __VA_ARGS__)
#define	NS_INFO(...)   U_LOG_IFL_I(debug_get_log_option_ns_log(), __VA_ARGS__)
#define	NS_WARN(...)   U_LOG_IFL_W(debug_get_log_option_ns_log(), __VA_ARGS__)
#define	NS_ERROR(...)   U_LOG_IFL_E(debug_get_log_option_ns_log(), __VA_ARGS__)

Functions
static bool	ns_config_load (struct ns_builder *nsb)
static void	ns_tracking_config_parse_depthai (struct ns_builder *nsb, bool *out_config_valid)
static void	ns_tracking_config_parse_ultraleap (struct ns_builder *nsb, bool *out_config_valid)
static void	ns_tracking_config_parse_t265 (struct ns_builder *nsb, bool *out_config_valid)
void	ns_compute_depthai_ht_offset (struct xrt_pose *P_imu_to_left_camera_basalt, struct xrt_pose *out_pose)
static xrt_result_t	ns_estimate_system (struct xrt_builder *xb, cJSON *config, struct xrt_prober *xp, struct xrt_builder_estimate *estimate)
static xrt_result_t	ns_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	ns_destroy (struct xrt_builder *xb)
struct xrt_builder *	t_builder_north_star_create (void)
	Builder for NorthStar headsets. More...

Variables
static const char *	driver_list []

Detailed Description

System builder for North Star headsets.

Author

Nova King techn.nosp@m.obab.nosp@m.oo@gm.nosp@m.ail..nosp@m.com

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Moses Turner moses.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Function Documentation

t_builder_north_star_create()

struct xrt_builder* t_builder_north_star_create

(

void

)

Builder for NorthStar headsets.

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

Variable Documentation

driver_list

const char* driver_list[]

static

Initial value:

= {
    "north_star",
}