wmr_source.h

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// Copyright 2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Interface for WMR data sources
 * @author Mateo de Mayo <mateo.demayo@collabora.com>
 * @ingroup drv_wmr
 */
 
#pragma once
 
#include "wmr_config.h"
#include "xrt/xrt_frameserver.h"
#include "xrt/xrt_prober.h"
#include "xrt/xrt_tracking.h"
 
/*!
 * WMR video/IMU data sources
 *
 * The objective of this class is to aggregate all the data sources (frames, IMU,
 * etc.) of a WMR device into a single @ref xrt_fs.
 *
 * @addtogroup drv_wmr
 * @{
 */
 
 
#ifdef __cplusplus
extern "C" {
#endif
 
//! Create and return the data source as a @ref xrt_fs ready for data streaming.
struct xrt_fs *
wmr_source_create(struct xrt_frame_context *xfctx, struct xrt_prober_device *dev_holo, struct wmr_hmd_config cfg);
 
//! @todo Should this method receive raw or calibrated samples? Currently
//! receiving raw because Basalt can calibrate them, but other systems can't.
void
wmr_source_push_imu_packet(
    struct xrt_fs *xfs, uint32_t imu_id, timepoint_ns t, struct xrt_vec3 accel, struct xrt_vec3 gyro);
 
/*!
 * @}
 */
 
#ifdef __cplusplus
}
#endif