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t/common: Refactor RGB builder [NFC]

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This commit is contained in:
Jakob Bornecrantz 2023-10-17 14:35:47 +01:00
parent 841fc7c644
commit 09c75b6aaf
1 changed files with 28 additions and 14 deletions

42
src/xrt/targets/common/target_builder_rgb_tracking.c
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@ -290,7 +290,16 @@ rgb_open_system(struct xrt_builder *xb,
assert(out_xsysd != NULL);
assert(*out_xsysd == NULL);
struct u_system_devices *usysd = u_system_devices_allocate();
struct xrt_tracking_origin *origin = NULL;
struct xrt_system_devices *xsysd = NULL;
struct xrt_frame_context *xfctx = NULL;
{
struct u_system_devices *usysd = u_system_devices_allocate();
xsysd = &usysd->base;
xfctx = &usysd->xfctx;
origin = &usysd->origin;
}
/*
@ -300,8 +309,8 @@ rgb_open_system(struct xrt_builder *xb,
struct build_state build = {0};
if (get_settings(config, &build.settings)) {
#ifdef XRT_HAVE_OPENCV
build.xfctx = &usysd->xfctx;
build.origin = &usysd->origin;
build.xfctx = xfctx;
build.origin = origin;
build.origin->type = XRT_TRACKING_TYPE_RGB;
build.origin->offset.orientation.y = 1.0f;
build.origin->offset.position.z = -2.0f;
@ -323,7 +332,7 @@ rgb_open_system(struct xrt_builder *xb,
// Lock the device list
xret = xrt_prober_lock_list(xp, &xpdevs, &xpdev_count);
if (xret != XRT_SUCCESS) {
u_system_devices_destroy(&usysd);
xrt_system_devices_destroy(&xsysd);
return xret;
}
@ -383,31 +392,36 @@ rgb_open_system(struct xrt_builder *xb,
// Unlock the device list
xret = xrt_prober_unlock_list(xp, &xpdevs);
if (xret != XRT_SUCCESS) {
u_system_devices_destroy(&usysd);
xrt_system_devices_destroy(&xsysd);
return xret;
}
// Add to devices.
xsysd->xdevs[xsysd->xdev_count++] = head;
usysd->base.xdevs[usysd->base.xdev_count++] = head;
usysd->base.roles.head = head;
struct xrt_device *left = NULL, *right = NULL;
if (psmv_red != NULL) {
usysd->base.xdevs[usysd->base.xdev_count++] = psmv_red;
usysd->base.roles.right = psmv_red;
xsysd->xdevs[xsysd->xdev_count++] = psmv_red;
right = psmv_red; // Notice right.
}
if (psmv_purple != NULL) {
usysd->base.xdevs[usysd->base.xdev_count++] = psmv_purple;
usysd->base.roles.left = psmv_purple;
xsysd->xdevs[xsysd->xdev_count++] = psmv_purple;
left = psmv_purple; // Notice left.
}
// Assign to role(s).
xsysd->roles.head = head;
xsysd->roles.left = left;
xsysd->roles.right = right;
/*
* Done.
*/
*out_xsysd = &usysd->base;
u_builder_create_space_overseer(&usysd->base, out_xso);
*out_xsysd = xsysd;
u_builder_create_space_overseer(xsysd, out_xso);
return XRT_SUCCESS;
}