Commit b6f440fa authored by Ryan Pavlik's avatar Ryan Pavlik
Browse files

aux/tracking: Move general docs to a separate header.

parent 348b7dff
// Copyright 2019-2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Documentation-only header.
* @author Pete Black <pblack@collabora.com>
* @author Jakob Bornecrantz <jakob@collabora.com>
* @author Ryan Pavlik <ryan.pavlik@collabora.com>
* @ingroup aux_tracking
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/*!
* @defgroup aux_tracking Tracking
* @ingroup aux
* @brief Trackers, filters and associated helper code.
*
*
* ### Coordinate 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 coordinate system axis are perfectly parallel with the user
* coordinate with the user's coordinate 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.
*/
/*!
* @dir auxiliary/tracking
* @ingroup aux
*
* @brief Trackers, filters and associated helper code.
*/
#ifdef __cplusplus
namespace xrt::auxiliary {
/*!
* @brief Namespace used by C++ interfaces in the auxiliary tracking library code.
*/
namespace tracking {
} // namespace tracking
} // namespace xrt::auxiliary
#endif
#ifdef __cplusplus
}
#endif
......@@ -21,42 +21,6 @@
extern "C" {
#endif
/*!
* @defgroup aux_tracking Tracking
* @ingroup aux
* @brief Trackers, filters and associated helper code.
*
*
* ### Coordinate 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 coordinate system axis are perfectly parallel with the user
* coordinate with the user's coordinate 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.
*/
/*!
* @dir auxiliary/tracking
* @ingroup aux
*
* @brief Trackers, filters and associated helper code.
*/
/*!
* @addtogroup aux_tracking
* @{
......@@ -548,19 +512,6 @@ t_debug_hsv_filter_create(struct xrt_frame_context *xfctx,
struct xrt_frame_sink *passthrough,
struct xrt_frame_sink **out_sink);
#ifdef __cplusplus
namespace xrt::auxiliary {
/*!
* @brief Namespace used by C++ interfaces in the auxiliary tracking library code.
*/
namespace tracking {
} // namespace tracking
} // namespace xrt::auxiliary
#endif
/*!
* @}
*/
......
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