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d/ns: Remove tracker logic in favor of tracking overrides

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This commit is contained in:
Christoph Haag 2021-02-22 01:25:50 +01:00
parent 44e375dd8a
commit 12ad9a6766
2 changed files with 1 additions and 29 deletions
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28
src/xrt/drivers/north_star/ns_hmd.c
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@ -64,13 +64,7 @@ ns_hmd_destroy(struct xrt_device *xdev)
static void static void
ns_hmd_update_inputs(struct xrt_device *xdev) ns_hmd_update_inputs(struct xrt_device *xdev)
{ {}
struct ns_hmd *ns = ns_hmd(xdev);
if (ns->tracker != NULL) {
xrt_device_update_inputs(ns->tracker);
}
}
/* /*
* *
@ -91,13 +85,6 @@ ns_hmd_get_tracked_pose(struct xrt_device *xdev,
return; return;
} }
// If the tracking device is created use it.
if (ns->tracker != NULL) {
enum xrt_input_name tracker_name = XRT_INPUT_GENERIC_TRACKER_POSE;
xrt_device_get_tracked_pose(ns->tracker, tracker_name, at_timestamp_ns, out_relation);
return;
}
out_relation->pose = ns->pose; out_relation->pose = ns->pose;
out_relation->relation_flags = (enum xrt_space_relation_flags)(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | out_relation->relation_flags = (enum xrt_space_relation_flags)(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_POSITION_VALID_BIT | XRT_SPACE_RELATION_POSITION_VALID_BIT |
@ -560,23 +547,10 @@ ns_hmd_create(const char *config_path)
ns->base.compute_distortion = ns_mesh_calc; ns->base.compute_distortion = ns_mesh_calc;
} }
// If built, try to load the realsense tracker.
#ifdef XRT_BUILD_DRIVER_RS
ns->tracker = rs_6dof_create();
if (ns->tracker == NULL) {
NS_ERROR(ns, "Couldn't create realsense device!");
} else {
rs_update_offset(t265_to_nose_bridge, ns->tracker);
}
#endif
// Setup variable tracker. // Setup variable tracker.
u_var_add_root(ns, "North Star", true); u_var_add_root(ns, "North Star", true);
u_var_add_pose(ns, &ns->pose, "pose"); u_var_add_pose(ns, &ns->pose, "pose");
ns->base.orientation_tracking_supported = true; ns->base.orientation_tracking_supported = true;
ns->base.position_tracking_supported = ns->tracker != NULL;
if (ns->tracker) {
ns->base.tracking_origin->type = ns->tracker->tracking_origin->type;
}
ns->base.device_type = XRT_DEVICE_TYPE_HMD; ns->base.device_type = XRT_DEVICE_TYPE_HMD;
return &ns->base; return &ns->base;

2
src/xrt/drivers/north_star/ns_hmd.h
View file

@ -121,8 +121,6 @@ struct ns_hmd
struct ns_leap leap_config; // will be NULL if is_v2 struct ns_leap leap_config; // will be NULL if is_v2
struct xrt_device *tracker;
enum u_logging_level ll; enum u_logging_level ll;
bool is_v2; // True if V2, false if V1. If we ever get a v3 this should bool is_v2; // True if V2, false if V1. If we ever get a v3 this should
// be an enum or something // be an enum or something