Commit 9ec1205f authored by Jakob Bornecrantz's avatar Jakob Bornecrantz

t/api: Add comments and put all files in tracking group

parent a435817a
Pipeline #70116 passed with stages
in 3 minutes and 4 seconds
......@@ -5,6 +5,7 @@
* @brief Calibration code.
* @author Pete Black <pblack@collabora.com>
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_tracking
*/
#include "util/u_sink.h"
......
......@@ -4,6 +4,7 @@
* @file
* @brief OpenCV calibration helpers.
* @author Pete Black <pblack@collabora.com>
* @ingroup aux_tracking
*/
#pragma once
......
......@@ -4,6 +4,7 @@
* @file
* @brief Code to build conversion tables and convert images.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_tracking
*/
#include "tracking/t_tracking.h"
......
......@@ -4,6 +4,7 @@
* @file
* @brief HSV filter debug code.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_tracking
*/
#include "util/u_misc.h"
......
......@@ -5,6 +5,7 @@
* @brief HSV Picker Debugging code.
* @author Pete Black <pblack@collabora.com>
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_tracking
*/
#include "util/u_misc.h"
......
......@@ -4,6 +4,7 @@
* @file
* @brief HSV debug viewer code.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_tracking
*/
#include "util/u_misc.h"
......
......@@ -5,6 +5,7 @@
* @brief Handling of files and calibration data.
* @author Pete Black <pblack@collabora.com>
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_tracking
*/
#include "t_calibration_opencv.h"
......
......@@ -4,7 +4,6 @@
* @file
* @brief C++ sensor fusion/filtering code that uses flexkalman
* @author Ryan Pavlik <ryan.pavlik@collabora.com>
*
* @ingroup aux_tracking
*/
#pragma once
......
......@@ -4,6 +4,7 @@
* @file
* @brief A simple HSV filter.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_tracking
*/
#include "util/u_var.h"
......
......@@ -4,7 +4,6 @@
* @file
* @brief C interface to basic IMU fusion.
* @author Ryan Pavlik <ryan.pavlik@collabora.com>
*
* @ingroup aux_tracking
*/
......
......@@ -4,7 +4,6 @@
* @file
* @brief C++ sensor fusion/filtering code that uses flexkalman
* @author Ryan Pavlik <ryan.pavlik@collabora.com>
*
* @ingroup aux_tracking
*/
#pragma once
......
......@@ -4,6 +4,7 @@
* @file
* @brief PSVR tracker code.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_tracking
*/
#include "xrt/xrt_tracking.h"
......
......@@ -5,6 +5,7 @@
* @brief Tracking API interface.
* @author Pete Black <pblack@collabora.com>
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup aux_tracking
*/
#pragma once
......@@ -18,6 +19,48 @@
extern "C" {
#endif
/*!
* @defgroup aux_tracking Tracking
* @ingroup aux
* @brief Trackers, filters and associated helper code.
*
*
* ### Cordinate system
*
* Right now there is no specific convention on where a tracking systems
* coordinate system is centered, and is something we probably need to figure
* out. Right now the stereo based tracking system used by the PSVR and PSMV
* tracking system is centered on the camera that OpenCV decided is origin.
*
* To go a bit further on the PSVR/PSMV case. Think about a idealized start up
* case, the user is wearing the HMD headset and holding two PSMV controllers.
* The HMD's cordinate system axis are perfectly parallel with the user
* cordinate with the user's cordinate system. Where -Z is forward. The user
* holds the controllers with the ball pointing up and the buttons on the back
* pointing forward. Which if you read the documentation of @ref psmv_device
* will that the axis of the PSMV are also perfectly aligned with the users
* coordinate system. So everything "attached" to the user have it's coordinate
* system parallel to the user's.
*
* The camera on the other hand is looking directly at the user, it's Z-axis and
* X-axis is flipped in relation to the user's. So to compare what is sees to
* what the user sees, everything is rotated 180° around the Y-axis.
*/
/*!
* @ingroup aux_tracking
* @{
*/
/*!
* @dir auxiliary/tracking
* @ingroup aux
*
* @brief Trackers, filters and associated helper code.
*/
/*
*
* Pre-declare
......@@ -264,6 +307,10 @@ t_debug_hsv_filter_create(struct xrt_frame_context *xfctx,
struct xrt_frame_sink *passthrough,
struct xrt_frame_sink **out_sink);
/*!
* @}
*/
#ifdef __cplusplus
}
......
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