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73 lines
2.1 KiB
C
73 lines
2.1 KiB
C
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// Copyright 2019-2022, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Wrapper for m_imu_3dof that can be placed inside (and freed along with!) an `xrt_imu_sink` pipeline.
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* @author Moses Turner <moses@collabora.com>
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* @ingroup aux_util
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*/
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#include "u_tracked_imu_3dof.h"
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static void
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u_tracked_imu_receive_imu_sample(struct xrt_imu_sink *imu_sink, struct xrt_imu_sample *imu_sample)
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{
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struct u_tracked_imu_3dof *dof3 = container_of(imu_sink, struct u_tracked_imu_3dof, sink);
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struct xrt_vec3 a;
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struct xrt_vec3 g;
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a.x = imu_sample->accel_m_s2.x;
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a.y = imu_sample->accel_m_s2.y;
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a.z = imu_sample->accel_m_s2.z;
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g.x = imu_sample->gyro_rad_secs.x;
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g.y = imu_sample->gyro_rad_secs.y;
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g.z = imu_sample->gyro_rad_secs.z;
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m_imu_3dof_update(&dof3->fusion, imu_sample->timestamp_ns, &a, &g);
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struct xrt_space_relation rel = {0};
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rel.relation_flags = (enum xrt_space_relation_flags)(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
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XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
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rel.pose.orientation = dof3->fusion.rot;
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m_relation_history_push(dof3->rh, &rel, imu_sample->timestamp_ns);
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}
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static void
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u_tracked_imu_node_break_apart(struct xrt_frame_node *imu_node)
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{}
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static void
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u_tracked_imu_node_destroy(struct xrt_frame_node *imu_node)
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{
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struct u_tracked_imu_3dof *dof3 = container_of(imu_node, struct u_tracked_imu_3dof, node);
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m_imu_3dof_close(&dof3->fusion);
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m_relation_history_destroy(&dof3->rh);
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free(dof3);
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}
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void
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u_tracked_imu_3dof_create(struct xrt_frame_context *xfctx, struct u_tracked_imu_3dof **out_3dof, void *debug_var_root)
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{
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struct u_tracked_imu_3dof *dof3 = U_TYPED_CALLOC(struct u_tracked_imu_3dof);
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m_relation_history_create(&dof3->rh);
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m_imu_3dof_init(&dof3->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_300MS);
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m_imu_3dof_add_vars(&dof3->fusion, debug_var_root, "");
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dof3->sink.push_imu = u_tracked_imu_receive_imu_sample;
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dof3->node.break_apart = u_tracked_imu_node_break_apart;
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dof3->node.destroy = u_tracked_imu_node_destroy;
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xrt_frame_context_add(xfctx, &dof3->node);
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*out_3dof = dof3;
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}
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