Struct ar_drivers::rokid::RokidAir

pub struct RokidAir { /* private fields */ }

The main structure representing a connected Rokid Air glasses

Implementations

impl RokidAir

pub const VID: u16 = 1_234u16

Vendor ID of the Rokid Air (Yes, it is 1234. Yes that’s probably not very legit)

pub const PID: u16 = 5_679u16

Product ID of the Rokid Air

pub fn new() -> Result<Self, Error>

Find a connected Rokid Air device and connect to it. (And claim the USB interface) Only one instance can be alive at a time

Trait Implementations

impl ARGlasses for RokidAir

fn serial(&mut self) -> Result<String, Error>

Get the serial number of the glasses

fn read_event(&mut self) -> Result<GlassesEvent, Error>

Get a single sensor event. Blocks.

fn get_display_mode(&mut self) -> Result<DisplayMode, Error>

Get the display mode of the glasses. See DisplayMode

fn set_display_mode(&mut self, display_mode: DisplayMode) -> Result<(), Error>

Set the display mode of the glasses. See DisplayMode

fn display_fov(&self) -> f32

Field of view of the display along the horizontal axis, in radians

fn imu_to_display_matrix(&self, side: Side, ipd: f32) -> Isometry3<f64>

Transformation from IMU frame to display frame, at the specified IPD (interpupillary distance). The ipd parameter is in meters. A typical value is 0.07.

fn name(&self) -> &'static str

Name of the device

fn display_delay(&self) -> u64

The additional delay (in usecs) of the glasses’ display from getting the data on DisplayPort. This is not really an absolute value, but more of a relative measure between different glasses. In the future this may depend on the current display mode.

fn cameras(&self) -> Result<Vec<CameraDescriptor>, Error>

Get built-in camera descriptors