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d/rs: cleanup and initialize u_config_json with zero

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Moses Turner 2021-05-17 20:18:51 -05:00 committed by Jakob Bornecrantz
parent 36bc45b686
commit 5cb130cd08
1 changed files with 31 additions and 28 deletions
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59
src/xrt/drivers/realsense/rs_6dof.c
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@ -409,39 +409,42 @@ rs_6dof_create(void)
rs->enable_pose_prediction = true;
rs->enable_pose_filtering = true;
struct u_config_json config_json;
u_config_json_open_or_create_main_file(&config_json);
cJSON *realsense_config_json = cJSON_GetObjectItemCaseSensitive(config_json.root, "config_realsense");
if (realsense_config_json != NULL) {
cJSON *mapping = cJSON_GetObjectItemCaseSensitive(realsense_config_json, "enable_mapping");
cJSON *pose_jumping = cJSON_GetObjectItemCaseSensitive(realsense_config_json, "enable_pose_jumping");
cJSON *relocalization =
cJSON_GetObjectItemCaseSensitive(realsense_config_json, "enable_relocalization");
cJSON *pose_prediction =
cJSON_GetObjectItemCaseSensitive(realsense_config_json, "enable_pose_prediction");
cJSON *pose_filtering =
cJSON_GetObjectItemCaseSensitive(realsense_config_json, "enable_pose_filtering");
struct u_config_json config_json = {0};
// if json key isn't in the json, default to true. if it is in there, use json value
if (mapping != NULL) {
rs->enable_mapping = cJSON_IsTrue(mapping);
}
if (pose_jumping != NULL) {
rs->enable_pose_jumping = cJSON_IsTrue(pose_jumping);
}
if (relocalization != NULL) {
rs->enable_relocalization = cJSON_IsTrue(relocalization);
}
if (pose_prediction != NULL) {
rs->enable_pose_prediction = cJSON_IsTrue(pose_prediction);
}
if (pose_filtering != NULL) {
rs->enable_pose_filtering = cJSON_IsTrue(pose_filtering);
u_config_json_open_or_create_main_file(&config_json);
if (config_json.file_loaded) {
const cJSON *realsense_config_json = u_json_get(config_json.root, "config_realsense");
if (realsense_config_json != NULL) {
const cJSON *mapping = u_json_get(realsense_config_json, "enable_mapping");
const cJSON *pose_jumping = u_json_get(realsense_config_json, "enable_pose_jumping");
const cJSON *relocalization = u_json_get(realsense_config_json, "enable_relocalization");
const cJSON *pose_prediction = u_json_get(realsense_config_json, "enable_pose_prediction");
const cJSON *pose_filtering = u_json_get(realsense_config_json, "enable_pose_filtering");
// if json key isn't in the json, default to true. if it is in there, use json value
if (mapping != NULL) {
rs->enable_mapping = cJSON_IsTrue(mapping);
}
if (pose_jumping != NULL) {
rs->enable_pose_jumping = cJSON_IsTrue(pose_jumping);
}
if (relocalization != NULL) {
rs->enable_relocalization = cJSON_IsTrue(relocalization);
}
if (pose_prediction != NULL) {
rs->enable_pose_prediction = cJSON_IsTrue(pose_prediction);
}
if (pose_filtering != NULL) {
rs->enable_pose_filtering = cJSON_IsTrue(pose_filtering);
}
}
U_LOG_D("Used config file");
} else {
U_LOG_D("Did not use config file");
}
U_LOG_D("Realsense opts are %i %i %i %i %i\n", rs->enable_mapping, rs->enable_pose_jumping,
rs->enable_relocalization, rs->enable_pose_prediction, rs->enable_pose_filtering);
rs->base.update_inputs = rs_6dof_update_inputs;
rs->base.get_tracked_pose = rs_6dof_get_tracked_pose;
rs->base.get_view_pose = rs_6dof_get_view_pose;