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t/psmv: Make TrackerPSMV be standard layout

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This commit is contained in:
Jakob Bornecrantz 2022-03-05 17:25:07 +00:00
parent 41db1e5e12
commit 0ebb1c3be9
1 changed files with 10 additions and 1 deletions
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11
src/xrt/auxiliary/tracking/t_tracker_psmv.cpp
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@ -29,6 +29,8 @@
#include <stdio.h>
#include <assert.h>
#include <pthread.h>
#include <type_traits>
using namespace xrt::auxiliary::tracking;
@ -42,6 +44,7 @@ namespace xrt::auxiliary::tracking::psmv {
*/
struct View
{
public:
cv::Mat undistort_rectify_map_x;
cv::Mat undistort_rectify_map_y;
@ -68,6 +71,9 @@ struct View
}
};
// Has to be standard layout because is embedded in TrackerPSMV.
static_assert(std::is_standard_layout<View>::value);
/*!
* The core object of the PS Move tracking setup.
*
@ -77,6 +83,7 @@ struct View
*/
struct TrackerPSMV
{
public:
struct xrt_tracked_psmv base = {};
struct xrt_frame_sink sink = {};
struct xrt_frame_node node = {};
@ -110,11 +117,13 @@ struct TrackerPSMV
cv::Ptr<cv::SimpleBlobDetector> sbd;
std::unique_ptr<PSMVFusionInterface> filter;
std::shared_ptr<PSMVFusionInterface> filter;
xrt_vec3 tracked_object_position;
};
// Has to be standard layout because of first element casts we do.
static_assert(std::is_standard_layout<TrackerPSMV>::value);
/*!
* @brief Perform per-view (two in a stereo camera image) processing on an