#include "OVR_SensorFusion.h"

Inheritance diagram for OVR::SensorFusion:

Collaboration diagram for OVR::SensorFusion:

Data Structures
class	BodyFrameHandler

struct	ExposureRecord

struct	LocklessState

struct	MagReferencePoint

Public Member Functions
	SensorFusion (SensorDevice *sensor=0)

	~SensorFusion ()

bool	AttachToSensor (SensorDevice *sensor)

bool	IsAttachedToSensor () const

void	SetUserHeadDimensions (Profile const &profile, HmdRenderInfo const &hmdRenderInfo)

Transformf	GetPoseAtTime (double absoluteTime) const

SensorState	GetSensorStateAtTime (double absoluteTime) const

unsigned int	GetStatus () const

void	Reset ()

void	EnableMotionTracking (bool enable=true)

bool	IsMotionTrackingEnabled () const

void	SetGravityEnabled (bool enableGravity)

bool	IsGravityEnabled () const

bool	IsVisionPositionEnabled () const

void	SetVisionPositionEnabled (bool enableVisionPosition)

void	SetCameraTiltCorrectionEnabled (bool enable)

bool	IsCameraTiltCorrectionEnabled () const

void	OnMessage (const MessageBodyFrame &msg)

virtual void	OnVisionSuccess (const Transform< double > &cameraFromImu, UInt32 exposureCounter)

virtual void	OnVisionPreviousFrame (const Transform< double > &cameraFromImu)

virtual void	OnVisionFailure ()

virtual Transform< double >	GetVisionPrediction (UInt32 exposureCounter)

double	GetTime () const

double	GetVisionLatency () const

Vector3f	GetHeadModel () const

void	SetHeadModel (const Vector3f &headModel, bool resetNeckPivot=true)

float	GetCenterPupilDepth () const

void	SetCenterPupilDepth (float centerPupilDepth)

void	SetYawCorrectionEnabled (bool enable)

bool	IsYawCorrectionEnabled () const

void	ClearMagReferences ()

void	SetFocusDirection ()

void	SetFocusDirection (Vector3d direction)

void	SetFocusFOV (double rads)

void	ClearFocus ()

Private Types
enum	{ MagMaxReferences = 1000 }

Private Member Functions
void	handleMessage (const MessageBodyFrame &msg)

void	handleExposure (const MessageExposureFrame &msg)

PoseStated	computeVisionError ()

void	applyMagYawCorrection (Vector3d mag, double deltaT)

void	applyTiltCorrection (double deltaT)

void	applyVisionYawCorrection (double deltaT)

void	applyPositionCorrection (double deltaT)

void	applyCameraTiltCorrection (Vector3d accel, double deltaT)

void	applyFocusCorrection (double deltaT)

void	setNeckPivotFromPose (Transformd const &pose)

Private Attributes
PoseState< double >	WorldFromImu

LocklessUpdater< LocklessState >	UpdatedState

PoseState< double >	CameraFromImu

PoseState< double >	VisionError

CircularBuffer< ExposureRecord >	ExposureRecordHistory

ExposureRecord	LastVisionExposureRecord

ExposureRecord	NextExposureRecord

MessageExposureFrame	LastMessageExposureFrame

double	LastVisionAbsoluteTime

unsigned int	Stage

BodyFrameHandler *	pHandler

Vector3d	FocusDirection

double	FocusFOV

SensorFilterBodyFrame	FAccelInImuFrame

SensorFilterBodyFrame	FAccelInCameraFrame

SensorFilterd	FAngV

Vector3d	AccelOffset

bool	EnableGravity

bool	EnableYawCorrection

bool	MagCalibrated

Array< MagReferencePoint >	MagRefs

int	MagRefIdx

Quatd	MagCorrectionIntegralTerm

bool	EnableCameraTiltCorrection

Transformd	WorldFromCamera

double	WorldFromCameraConfidence

bool	MotionTrackingEnabled

bool	VisionPositionEnabled

float	CenterPupilDepth

Transformd	ImuFromCpf

Transformd	ImuFromScreen

Transformd	CpfFromNeck

Transformd	WorldFromNeck

Friends
class	SensorFusionDebug

Detailed Description

Definition at line 189 of file OVR_SensorFusion.h.

Member Enumeration Documentation

anonymous enum

private

Enumerator
MagMaxReferences

Definition at line 193 of file OVR_SensorFusion.h.

Constructor & Destructor Documentation

OVR::SensorFusion::SensorFusion ( SensorDevice * sensor = 0 )

Definition at line 52 of file OVR_SensorFusion.cpp.

OVR::SensorFusion::~SensorFusion ( )

Definition at line 72 of file OVR_SensorFusion.cpp.

Member Function Documentation

void OVR::SensorFusion::applyCameraTiltCorrection	(	Vector3d	accel,
		double	deltaT
	)

private

Definition at line 608 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::applyFocusCorrection ( double deltaT )

private

Definition at line 684 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::applyMagYawCorrection	(	Vector3d	mag,
		double	deltaT
	)

private

Definition at line 510 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::applyPositionCorrection ( double deltaT )

private

Definition at line 439 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::applyTiltCorrection ( double deltaT )

private

Definition at line 584 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::applyVisionYawCorrection ( double deltaT )

private

Definition at line 485 of file OVR_SensorFusion.cpp.

bool OVR::SensorFusion::AttachToSensor ( SensorDevice * sensor )

Definition at line 77 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::ClearFocus ( )

Definition at line 742 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::ClearMagReferences ( )

PoseStated OVR::SensorFusion::computeVisionError ( )

private

Definition at line 224 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::EnableMotionTracking ( bool enable = true )

inline

Definition at line 235 of file OVR_SensorFusion.h.

float OVR::SensorFusion::GetCenterPupilDepth ( ) const

Definition at line 801 of file OVR_SensorFusion.cpp.

Vector3f OVR::SensorFusion::GetHeadModel ( ) const

Definition at line 781 of file OVR_SensorFusion.cpp.

Transformf OVR::SensorFusion::GetPoseAtTime ( double absoluteTime ) const

Definition at line 852 of file OVR_SensorFusion.cpp.

SensorState OVR::SensorFusion::GetSensorStateAtTime ( double absoluteTime ) const

Definition at line 859 of file OVR_SensorFusion.cpp.

unsigned OVR::SensorFusion::GetStatus ( ) const

Definition at line 880 of file OVR_SensorFusion.cpp.

double OVR::SensorFusion::GetTime ( ) const

inline

Definition at line 533 of file OVR_SensorFusion.h.

double OVR::SensorFusion::GetVisionLatency ( ) const

inline

Definition at line 528 of file OVR_SensorFusion.h.

Transform< double > OVR::SensorFusion::GetVisionPrediction ( UInt32 exposureCounter )

virtual

Implements OVR::VisionHandler.

Definition at line 240 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::handleExposure ( const MessageExposureFrame & msg )

private

Definition at line 398 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::handleMessage ( const MessageBodyFrame & msg )

private

Definition at line 285 of file OVR_SensorFusion.cpp.

bool OVR::SensorFusion::IsAttachedToSensor ( ) const

inline

Definition at line 483 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::IsCameraTiltCorrectionEnabled ( ) const

inline

Definition at line 523 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::IsGravityEnabled ( ) const

inline

Definition at line 493 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::IsMotionTrackingEnabled ( ) const

inline

Definition at line 236 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::IsVisionPositionEnabled ( ) const

inline

Definition at line 508 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::IsYawCorrectionEnabled ( ) const

inline

Definition at line 503 of file OVR_SensorFusion.h.

void OVR::SensorFusion::OnMessage ( const MessageBodyFrame & msg )

Definition at line 887 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::OnVisionFailure ( )

virtual

Implements OVR::VisionHandler.

Definition at line 158 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::OnVisionPreviousFrame ( const Transform< double > & cameraFromImu )

virtual

Implements OVR::VisionHandler.

Definition at line 164 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::OnVisionSuccess	(	const Transform< double > &	cameraFromImu,
		UInt32	exposureCounter
	)

virtual

Implements OVR::VisionHandler.

Definition at line 172 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::Reset ( )

Definition at line 125 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::SetCameraTiltCorrectionEnabled ( bool enable )

inline

Definition at line 518 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetCenterPupilDepth ( float centerPupilDepth )

Definition at line 806 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::SetFocusDirection ( )

Definition at line 726 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::SetFocusDirection ( Vector3d direction )

Definition at line 731 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::SetFocusFOV ( double rads )

Definition at line 736 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::SetGravityEnabled ( bool enableGravity )

inline

Definition at line 488 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetHeadModel	(	const Vector3f &	headModel,
		bool	resetNeckPivot = `true`
	)

Definition at line 786 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::setNeckPivotFromPose ( Transformd const & pose )

private

Definition at line 412 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::SetUserHeadDimensions	(	Profile const &	profile,
		HmdRenderInfo const &	hmdRenderInfo
	)

Definition at line 752 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::SetVisionPositionEnabled ( bool enableVisionPosition )

inline

Definition at line 513 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetYawCorrectionEnabled ( bool enable )

inline

Definition at line 498 of file OVR_SensorFusion.h.

Friends And Related Function Documentation

friend class SensorFusionDebug

friend

Definition at line 191 of file OVR_SensorFusion.h.

Field Documentation

Vector3d OVR::SensorFusion::AccelOffset

private

Definition at line 419 of file OVR_SensorFusion.h.

PoseState<double> OVR::SensorFusion::CameraFromImu

private

Definition at line 388 of file OVR_SensorFusion.h.

float OVR::SensorFusion::CenterPupilDepth

private

Definition at line 441 of file OVR_SensorFusion.h.

Transformd OVR::SensorFusion::CpfFromNeck

private

Definition at line 447 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::EnableCameraTiltCorrection

private

Definition at line 429 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::EnableGravity

private

Definition at line 421 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::EnableYawCorrection

private

Definition at line 423 of file OVR_SensorFusion.h.

CircularBuffer<ExposureRecord> OVR::SensorFusion::ExposureRecordHistory

private

Definition at line 399 of file OVR_SensorFusion.h.

SensorFilterBodyFrame OVR::SensorFusion::FAccelInCameraFrame

private

Definition at line 416 of file OVR_SensorFusion.h.

SensorFilterBodyFrame OVR::SensorFusion::FAccelInImuFrame

private

Definition at line 416 of file OVR_SensorFusion.h.

SensorFilterd OVR::SensorFusion::FAngV

private

Definition at line 417 of file OVR_SensorFusion.h.

Vector3d OVR::SensorFusion::FocusDirection

private

Definition at line 413 of file OVR_SensorFusion.h.

double OVR::SensorFusion::FocusFOV

private

Definition at line 414 of file OVR_SensorFusion.h.

Transformd OVR::SensorFusion::ImuFromCpf

private

Definition at line 443 of file OVR_SensorFusion.h.

Transformd OVR::SensorFusion::ImuFromScreen

private

Definition at line 445 of file OVR_SensorFusion.h.

MessageExposureFrame OVR::SensorFusion::LastMessageExposureFrame

private

Definition at line 406 of file OVR_SensorFusion.h.

double OVR::SensorFusion::LastVisionAbsoluteTime

private

Definition at line 408 of file OVR_SensorFusion.h.

ExposureRecord OVR::SensorFusion::LastVisionExposureRecord

private

Definition at line 401 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::MagCalibrated

private

Definition at line 424 of file OVR_SensorFusion.h.

Quatd OVR::SensorFusion::MagCorrectionIntegralTerm

private

Definition at line 427 of file OVR_SensorFusion.h.

int OVR::SensorFusion::MagRefIdx

private

Definition at line 426 of file OVR_SensorFusion.h.

Array<MagReferencePoint> OVR::SensorFusion::MagRefs

private

Definition at line 425 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::MotionTrackingEnabled

private

Definition at line 434 of file OVR_SensorFusion.h.

ExposureRecord OVR::SensorFusion::NextExposureRecord

private

Definition at line 404 of file OVR_SensorFusion.h.

BodyFrameHandler* OVR::SensorFusion::pHandler

private

Definition at line 411 of file OVR_SensorFusion.h.

unsigned int OVR::SensorFusion::Stage

private

Definition at line 410 of file OVR_SensorFusion.h.

LocklessUpdater<LocklessState> OVR::SensorFusion::UpdatedState

private

Definition at line 385 of file OVR_SensorFusion.h.

PoseState<double> OVR::SensorFusion::VisionError

private

Definition at line 396 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::VisionPositionEnabled

private

Definition at line 435 of file OVR_SensorFusion.h.

Transformd OVR::SensorFusion::WorldFromCamera

private

Definition at line 431 of file OVR_SensorFusion.h.

double OVR::SensorFusion::WorldFromCameraConfidence

private

Definition at line 432 of file OVR_SensorFusion.h.

PoseState<double> OVR::SensorFusion::WorldFromImu

private

Definition at line 381 of file OVR_SensorFusion.h.

Transformd OVR::SensorFusion::WorldFromNeck

private

Definition at line 449 of file OVR_SensorFusion.h.

The documentation for this class was generated from the following files:

ovr/sdk/src/OVR_SensorFusion.h
ovr/sdk/src/OVR_SensorFusion.cpp

Data Structures

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Field Documentation