xrt_tracking.h

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// Copyright 2019, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Header defining the tracking system integration in Monado.
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @ingroup xrt_iface
 */
 
#pragma once
 
#define XRT_TRACKING_NAME_LEN 256
#define XRT_TRACKING_MAX_SLAM_CAMS 5
 
#include "xrt/xrt_defines.h"
 
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
struct time_state;
struct xrt_device;
struct xrt_tracking;
struct xrt_tracking_factory;
struct xrt_tracked_psmv;
struct xrt_tracked_psvr;
struct xrt_tracked_slam;
 
//! @todo This is from u_time, duplicated to avoid layer violation.
typedef int64_t timepoint_ns;
 
/*!
 * @addtogroup xrt_iface
 * @{
 */
 
/*!
 * What kind of tracking system is this.
 *
 * @todo Is none, Colour, IR, Magnetic the kind of type we need to know about?
 */
enum xrt_tracking_type
{
        // The device(s) are never tracked.
        XRT_TRACKING_TYPE_NONE,
 
        // The device(s) are tracked by RGB camera(s).
        XRT_TRACKING_TYPE_RGB,
 
        // The device(s) are tracked by Ligthhouse
        XRT_TRACKING_TYPE_LIGHTHOUSE,
 
        // The device(s) are tracked by Hydra
        XRT_TRACKING_TYPE_HYDRA,
 
        // The device(s) are tracked by external SLAM
        XRT_TRACKING_TYPE_EXTERNAL_SLAM,
 
        // The device(s) are tracked by other methods.
        XRT_TRACKING_TYPE_OTHER,
};
 
/*!
 * A tracking system or device origin.
 *
 * Tracking systems will typically extend this structure.
 */
struct xrt_tracking_origin
{
        //! For debugging.
        char name[XRT_TRACKING_NAME_LEN];
 
        //! What can the state tracker expect from this tracking system.
        enum xrt_tracking_type type;
 
        /*!
         * Read and written to by the state-tracker using the device(s)
         * this tracking system is tracking.
         */
        struct xrt_pose offset;
};
 
/*!
 * @interface xrt_tracking_factory
 * Tracking factory.
 */
struct xrt_tracking_factory
{
        //! Internal frame context, exposed for debugging purposes.
        struct xrt_frame_context *xfctx;
 
        /*!
         * Create a tracked PSMV ball.
         */
        int (*create_tracked_psmv)(struct xrt_tracking_factory *, struct xrt_tracked_psmv **out_psmv);
 
        /*!
         * Create a tracked PSVR HMD.
         */
        int (*create_tracked_psvr)(struct xrt_tracking_factory *, struct xrt_tracked_psvr **out_psvr);
 
 
 
        /*!
         * Create a SLAM tracker.
         */
        int (*create_tracked_slam)(struct xrt_tracking_factory *, struct xrt_tracked_slam **out_slam);
};
 
/*!
 * IMU Sample.
 * @todo Replace with @ref xrt_imu_sample
 */
struct xrt_tracking_sample
{
        struct xrt_vec3 accel_m_s2;
        struct xrt_vec3 gyro_rad_secs;
};
 
/*!
 * IMU Sample.
 * @todo Make @ref xrt_tracked_psmv and @ref xrt_tracked_psvr use this
 */
struct xrt_imu_sample
{
        timepoint_ns timestamp_ns;
        struct xrt_vec3_f64 accel_m_s2;
        struct xrt_vec3_f64 gyro_rad_secs;
};
 
/*!
 * Pose sample.
 */
struct xrt_pose_sample
{
        timepoint_ns timestamp_ns;
        struct xrt_pose pose;
};
 
/*!
 * Masks (bounding boxes) of different hands from current views
 */
struct xrt_hand_masks_sample
{
        struct xrt_hand_masks_sample_camera
        {
                bool enabled; //!< Whether any hand mask for this camera is being reported
                struct xrt_hand_masks_sample_hand
                {
                        bool enabled;             //!< Whether a mask for this hand is being reported
                        struct xrt_rect_f32 rect; //!< The mask itself in pixel coordinates
                } hands[2];
        } views[XRT_TRACKING_MAX_SLAM_CAMS];
};
 
/*!
 * @interface xrt_imu_sink
 *
 * An object to send IMU samples to.
 *
 * Similar to @ref xrt_frame_sink but the interface implementation must manage
 * its own resources, not through a context graph.
 *
 * @todo Make @ref xrt_tracked_psmv and @ref xrt_tracked_psvr implement this
 */
struct xrt_imu_sink
{
        /*!
         * Push an IMU sample into the sink
         */
        void (*push_imu)(struct xrt_imu_sink *, struct xrt_imu_sample *sample);
};
 
/*!
 * @interface xrt_pose_sink
 *
 * An object to send pairs of timestamps and poses to. @see xrt_imu_sink.
 */
struct xrt_pose_sink
{
        void (*push_pose)(struct xrt_pose_sink *, struct xrt_pose_sample *sample);
};
 
/*!
 * @interface xrt_hand_masks_sink
 *
 * An object to push @ref xrt_hand_masks_sample to.
 */
struct xrt_hand_masks_sink
{
        void (*push_hand_masks)(struct xrt_hand_masks_sink *, struct xrt_hand_masks_sample *hand_masks);
};
 
 
/*!
 * Container of pointers to sinks that could be used for a SLAM system. Sinks
 * are considered disabled if they are null.
 */
struct xrt_slam_sinks
{
        int cam_count;
        struct xrt_frame_sink *cams[XRT_TRACKING_MAX_SLAM_CAMS];
        struct xrt_imu_sink *imu;
        struct xrt_pose_sink *gt; //!< Can receive ground truth poses if available
        struct xrt_hand_masks_sink *hand_masks;
};
 
/*!
 * @interface xrt_tracked_psmv
 *
 * A single tracked PS Move controller, camera and ball are not synced.
 *
 * @todo How do we communicate ball colour change?
 */
struct xrt_tracked_psmv
{
        //! The tracking system origin for this ball.
        struct xrt_tracking_origin *origin;
 
        //! Device owning this ball.
        struct xrt_device *xdev;
 
        //! Colour of the ball.
        struct xrt_colour_rgb_f32 colour;
 
        /*!
         * Push a IMU sample into the tracking system.
         */
        void (*push_imu)(struct xrt_tracked_psmv *, timepoint_ns timestamp_ns, struct xrt_tracking_sample *sample);
 
        /*!
         * Called by the owning @ref xrt_device @ref xdev to get the pose of
         * the ball in the tracking space at the given time.
         *
         * @todo Should we add a out_time argument as a way to signal min and
         * maximum, and as such only do interpelation between different captured
         * frames.
         */
        void (*get_tracked_pose)(struct xrt_tracked_psmv *,
                                 enum xrt_input_name name,
                                 timepoint_ns when_ns,
                                 struct xrt_space_relation *out_relation);
 
        /*!
         * Destroy this tracked ball.
         */
        void (*destroy)(struct xrt_tracked_psmv *);
};
 
/*!
 * @interface xrt_tracked_psvr
 *
 * A tracked PSVR headset.
 *
 * @todo How do we communicate led lighting status?
 */
struct xrt_tracked_psvr
{
        //! The tracking system origin for this ball.
        struct xrt_tracking_origin *origin;
 
        //! Device owning this ball.
        struct xrt_device *xdev;
 
        /*!
         * Push a IMU sample into the tracking system.
         */
        void (*push_imu)(struct xrt_tracked_psvr *, timepoint_ns timestamp_ns, struct xrt_tracking_sample *sample);
 
        /*!
         * Called by the owning @ref xrt_device @ref xdev to get the pose of
         * the psvr in the tracking space at the given time.
         */
        void (*get_tracked_pose)(struct xrt_tracked_psvr *,
                                 timepoint_ns when_ns,
                                 struct xrt_space_relation *out_relation);
 
        /*!
         * Destroy this tracked psvr.
         */
        void (*destroy)(struct xrt_tracked_psvr *);
};
 
/*!
 * @interface xrt_tracked_slam
 *
 * An adapter that wraps an external SLAM tracker to provide SLAM tracking.
 * Devices that want to be tracked through SLAM should create and manage an
 * instance of this type.
 */
struct xrt_tracked_slam
{
        /*!
         * Called by the owning @ref xrt_device to get the last estimated pose
         * of the SLAM tracker.
         */
        void (*get_tracked_pose)(struct xrt_tracked_slam *,
                                 timepoint_ns when_ns,
                                 struct xrt_space_relation *out_relation);
};
 
/*
 *
 * Helper functions.
 *
 */
 
//! @public @memberof xrt_imu_sink
static inline void
xrt_sink_push_imu(struct xrt_imu_sink *sink, struct xrt_imu_sample *sample)
{
        sink->push_imu(sink, sample);
}
 
//! @public @memberof xrt_pose_sink
static inline void
xrt_sink_push_pose(struct xrt_pose_sink *sink, struct xrt_pose_sample *sample)
{
        sink->push_pose(sink, sample);
}
 
//! @public @memberof xrt_hand_masks_sink
static inline void
xrt_sink_push_hand_masks(struct xrt_hand_masks_sink *sink, struct xrt_hand_masks_sample *hand_masks)
{
        sink->push_hand_masks(sink, hand_masks);
}
 
//! @public @memberof xrt_tracked_psmv
static inline void
xrt_tracked_psmv_get_tracked_pose(struct xrt_tracked_psmv *psmv,
                                  enum xrt_input_name name,
                                  timepoint_ns when_ns,
                                  struct xrt_space_relation *out_relation)
{
        psmv->get_tracked_pose(psmv, name, when_ns, out_relation);
}
 
//! @public @memberof xrt_tracked_psmv
static inline void
xrt_tracked_psmv_push_imu(struct xrt_tracked_psmv *psmv, timepoint_ns timestamp_ns, struct xrt_tracking_sample *sample)
{
        psmv->push_imu(psmv, timestamp_ns, sample);
}
 
//! @public @memberof xrt_tracked_psmv
static inline void
xrt_tracked_psmv_destroy(struct xrt_tracked_psmv **xtmv_ptr)
{
        struct xrt_tracked_psmv *xtmv = *xtmv_ptr;
        if (xtmv == NULL) {
                return;
        }
 
        xtmv->destroy(xtmv);
        *xtmv_ptr = NULL;
}
 
//! @public @memberof xrt_tracked_psmv
static inline void
xrt_tracked_psvr_get_tracked_pose(struct xrt_tracked_psvr *psvr,
                                  timepoint_ns when_ns,
                                  struct xrt_space_relation *out_relation)
{
        psvr->get_tracked_pose(psvr, when_ns, out_relation);
}
 
//! @public @memberof xrt_tracked_psmv
static inline void
xrt_tracked_psvr_push_imu(struct xrt_tracked_psvr *psvr, timepoint_ns timestamp_ns, struct xrt_tracking_sample *sample)
{
        psvr->push_imu(psvr, timestamp_ns, sample);
}
 
//! @public @memberof xrt_tracked_psmv
static inline void
xrt_tracked_psvr_destroy(struct xrt_tracked_psvr **xtvr_ptr)
{
        struct xrt_tracked_psvr *xtvr = *xtvr_ptr;
        if (xtvr == NULL) {
                return;
        }
 
        xtvr->destroy(xtvr);
        *xtvr_ptr = NULL;
}
 
 
//! @public @memberof xrt_tracked_slam
static inline void
xrt_tracked_slam_get_tracked_pose(struct xrt_tracked_slam *slam,
                                  timepoint_ns when_ns,
                                  struct xrt_space_relation *out_relation)
{
        slam->get_tracked_pose(slam, when_ns, out_relation);
}
 
/*!
 * @}
 */
 
 
#ifdef __cplusplus
}
#endif