21#define WMR_MAX_CAMERAS 4
25#define WMR_MAX_LEDS 40
31enum wmr_distortion_model
33 WMR_DISTORTION_MODEL_UNKNOWN = 0,
34 WMR_DISTORTION_MODEL_POLYNOMIAL_3K,
35 WMR_DISTORTION_MODEL_POLYNOMIAL_6KT,
39enum wmr_camera_location
41 WMR_CAMERA_LOCATION_HT0 = 0,
42 WMR_CAMERA_LOCATION_HT1 = 1,
43 WMR_CAMERA_LOCATION_DO0 = 2,
44 WMR_CAMERA_LOCATION_DO1 = 3,
45 WMR_CAMERA_LOCATION_HT2 = 4,
46 WMR_CAMERA_LOCATION_HT3 = 5,
49enum wmr_camera_purpose
51 WMR_CAMERA_PURPOSE_HEAD_TRACKING,
52 WMR_CAMERA_PURPOSE_DISPLAY_OBSERVER,
57 enum wmr_distortion_model model;
81 double visible_radius;
93 enum wmr_camera_location location;
94 enum wmr_camera_purpose purpose;
u_logging_level
Logging level enum.
Definition: u_logging.h:44
Definition: u_distortion_mesh.h:180
Definition: wmr_config.h:92
struct xrt_vec3 translation
Raw translation (to HT0)
Definition: wmr_config.h:98
struct xrt_pose pose
Pose from translation and rotation
Definition: wmr_config.h:100
struct xrt_matrix_3x3 rotation
Raw rotation (to HT0), row major.
Definition: wmr_config.h:99
Definition: wmr_config.h:171
Definition: wmr_config.h:56
Definition: wmr_config.h:75
struct xrt_pose pose
Pose from translation and rotation
Definition: wmr_config.h:78
struct xrt_vec3 translation
Raw translation (to HT0)
Definition: wmr_config.h:76
struct xrt_matrix_3x3 rotation
Raw rotation (to HT0), row major.
Definition: wmr_config.h:77
struct u_poly_3k_eye_values poly_3k
Distortion parameters for each channel.
Definition: wmr_config.h:88
Definition: wmr_config.h:152
struct wmr_camera_config * tcams[4]
Pointers to tracking cameras in cameras
Definition: wmr_config.h:161
int slam_cam_count
Number of tracking cameras to use for SLAM.
Definition: wmr_config.h:163
int tcam_count
Number of tracking cameras.
Definition: wmr_config.h:162
Definition: wmr_config.h:107
struct xrt_vec3 noise_std
Measurement noise standard deviation.
Definition: wmr_config.h:123
struct xrt_vec3 bias_var
Bias random walk variance.
Definition: wmr_config.h:120
struct xrt_pose pose
Pose from translation and rotation
Definition: wmr_config.h:110
struct xrt_vec3 translation
Raw translation (to HT0).
Definition: wmr_config.h:108
struct xrt_matrix_3x3 rotation
Raw rotation (to HT0), row major.
Definition: wmr_config.h:109
Definition: wmr_config.h:137
Definition: wmr_config.h:146
A tightly packed 3x3 matrix of floats.
Definition: xrt_defines.h:531
A pose composed of a position and orientation.
Definition: xrt_defines.h:464
Image rectangle.
Definition: xrt_defines.h:429
A 2 element vector with single floats.
Definition: xrt_defines.h:253
A 3 element vector with single floats.
Definition: xrt_defines.h:274
Code to generate disortion meshes.
Basic logging functionality.
void wmr_config_precompute_transforms(struct wmr_inertial_sensors_config *sensors, struct wmr_distortion_eye_config *eye_params)
Precompute transforms to convert between OpenXR and WMR coordinate systems.
Definition: wmr_config.c:615