HMDManager Programmer Notes

HMD Manager Programmer Notes

HMDManager
    Members
    Functions
        virtual bool startup() override;
        void updateStateAndPredict(TrackerManager* tracker_manager);
   
        

ServerHMDView
    Functions
        bool open(const class DeviceEnumerator *enumerator) override;

        // Recreate and initialize the pose filter for the HMD
        void resetPoseFilter();

        // Compute pose/prediction of tracking blob+IMU state
        void updateOpticalPoseEstimation(TrackerManager* tracker_manager);
        void updateStateAndPredict();

        IDeviceInterface* getDevice() const override { return m_device; }
        inline class IPoseFilter * getPoseFilterMutable() { return m_pose_filter; }
        inline const class IPoseFilter * getPoseFilter() const { return m_pose_filter; }

        // Estimate the given pose if the controller at some point into the future
        CommonDevicePose getFilteredPose(float time = 0.f) const;

        // Get the current physics from the filter position and orientation
        CommonDevicePhysics getFilteredPhysics() const;

        // Returns the full usb device path for the controller
        std::string getUSBDevicePath() const;

        // Returns the "controller_" + serial number for the controller
        std::string getConfigIdentifier() const;

        // Returns what type of HMD this HMD view represents
        CommonDeviceState::eDeviceType getHMDDeviceType() const;

        // Fetch the controller state at the given sample index.
        // A lookBack of 0 corresponds to the most recent data.
        const struct CommonHMDState * getState(int lookBack = 0) const;

        // Get the tracking is enabled on this controller
        inline bool getIsTrackingEnabled() const { return m_tracking_enabled && m_multicam_pose_estimation != nullptr; }

        // Increment the position tracking listener count
        // Starts position tracking this HMD if the count was zero
        void startTracking();

        // Decrements the position tracking listener count
        // Stop tracking this HMD if this count becomes zero
        void stopTracking();

        // Get the tracking shape for the controller
        bool getTrackingShape(CommonDeviceTrackingShape &outTrackingShape) const;

        // Get the currently assigned tracking color ID for the controller
        eCommonTrackingColorID getTrackingColorID() const;

        // Get if the region-of-interest optimization is disabled for this HMD
        inline bool getIsROIDisabled() const { return m_roi_disable_count > 0; }

        // Request the HMD to not use the ROI optimization
        inline void pushDisableROI() { ++m_roi_disable_count; }

        // Undo the request to not use the ROI optimization
        inline void popDisableROI() { assert(m_roi_disable_count > 0); --m_roi_disable_count; }

        // get the prediction time used for region of interest calculation
        float getROIPredictionTime() const;

        // Get the pose estimate relative to the given tracker id
        inline const HMDOpticalPoseEstimation *getTrackerPoseEstimate(int trackerId) const {
            return (m_tracker_pose_estimation != nullptr) ? &m_tracker_pose_estimation[trackerId] : nullptr;
        }

        // Get the pose estimate derived from multicam pose tracking
        inline const HMDOpticalPoseEstimation *getMulticamPoseEstimate() const {
            return m_multicam_pose_estimation;
        }

        // return true if one or more cameras saw this controller last update
        inline bool getIsCurrentlyTracking() const {
            return getIsTrackingEnabled() ? m_multicam_pose_estimation->bCurrentlyTracking : false;
            
    Members
        // Tracking color state
        int m_tracking_listener_count;
        bool m_tracking_enabled;

        // ROI state
        int m_roi_disable_count;

        // Device State
        IHMDInterface *m_device;

        // Filter state
        HMDOpticalPoseEstimation *m_tracker_pose_estimation; // array of size TrackerManager::k_max_devices
        HMDOpticalPoseEstimation *m_multicam_pose_estimation;
        class IPoseFilter *m_pose_filter;
        class PoseFilterSpace *m_pose_filter_space;
        int m_lastPollSeqNumProcessed;
        std::chrono::time_point<std::chrono::high_resolution_clock> m_last_filter_update_timestamp;
        bool m_last_filter_update_timestamp_valid;

IHMDInterface

MorpheusHMD