From 8359dd3b33b6fb1f469f6d610a8cfe589d706dfa Mon Sep 17 00:00:00 2001 From: galister <3123227-galister@users.noreply.gitlab.com> Date: Thu, 18 Jul 2024 19:17:47 +0900 Subject: [PATCH] d: remote redundant assigments of initial_offset Part-of: --- src/xrt/drivers/euroc/euroc_device.c | 1 - src/xrt/drivers/ht/ht_driver.c | 4 ---- src/xrt/drivers/realsense/rs_ddev.c | 1 - src/xrt/drivers/twrap/twrap_slam.c | 1 - src/xrt/drivers/ultraleap_v5/ulv5_driver.cpp | 2 -- 5 files changed, 9 deletions(-) diff --git a/src/xrt/drivers/euroc/euroc_device.c b/src/xrt/drivers/euroc/euroc_device.c index da1bbc70e..5148ee17a 100644 --- a/src/xrt/drivers/euroc/euroc_device.c +++ b/src/xrt/drivers/euroc/euroc_device.c @@ -196,7 +196,6 @@ euroc_device_create(struct xrt_prober *xp) xd->tracking_origin = &ed->tracking_origin; xd->tracking_origin->type = XRT_TRACKING_TYPE_EXTERNAL_SLAM; - xd->tracking_origin->initial_offset.orientation.w = 1.0f; snprintf(xd->tracking_origin->name, XRT_TRACKING_NAME_LEN, "%s %s", dev_name, "SLAM Tracker"); if (is_hmd) { diff --git a/src/xrt/drivers/ht/ht_driver.c b/src/xrt/drivers/ht/ht_driver.c index b624f55a3..2a4fff959 100644 --- a/src/xrt/drivers/ht/ht_driver.c +++ b/src/xrt/drivers/ht/ht_driver.c @@ -203,10 +203,6 @@ ht_device_create_common(struct t_stereo_camera_calibration *calib, } htd->base.tracking_origin->type = XRT_TRACKING_TYPE_RGB; - htd->base.tracking_origin->initial_offset.position.x = 0.0f; - htd->base.tracking_origin->initial_offset.position.y = 0.0f; - htd->base.tracking_origin->initial_offset.position.z = 0.0f; - htd->base.tracking_origin->initial_offset.orientation.w = 1.0f; htd->base.update_inputs = u_device_noop_update_inputs; htd->base.get_hand_tracking = ht_device_get_hand_tracking; diff --git a/src/xrt/drivers/realsense/rs_ddev.c b/src/xrt/drivers/realsense/rs_ddev.c index 4d7e562bf..8248ba492 100644 --- a/src/xrt/drivers/realsense/rs_ddev.c +++ b/src/xrt/drivers/realsense/rs_ddev.c @@ -466,7 +466,6 @@ rs_ddev_create(int device_idx) rs->base.destroy = rs_ddev_destroy; rs->base.name = XRT_DEVICE_REALSENSE; rs->base.tracking_origin->type = XRT_TRACKING_TYPE_EXTERNAL_SLAM; - rs->base.tracking_origin->initial_offset = (struct xrt_pose)XRT_POSE_IDENTITY; // Print name. snprintf(rs->base.str, XRT_DEVICE_NAME_LEN, "Intel RealSense Device-SLAM"); diff --git a/src/xrt/drivers/twrap/twrap_slam.c b/src/xrt/drivers/twrap/twrap_slam.c index 55efbc02b..e528fb17f 100644 --- a/src/xrt/drivers/twrap/twrap_slam.c +++ b/src/xrt/drivers/twrap/twrap_slam.c @@ -176,7 +176,6 @@ twrap_slam_create_device(struct xrt_frame_context *xfctx, dx->base.destroy = twrap_slam_destroy; dx->base.name = name; dx->base.tracking_origin->type = XRT_TRACKING_TYPE_OTHER; - dx->base.tracking_origin->initial_offset = (struct xrt_pose)XRT_POSE_IDENTITY; dx->base.inputs[0].name = XRT_INPUT_GENERIC_TRACKER_POSE; dx->base.orientation_tracking_supported = true; dx->base.position_tracking_supported = true; diff --git a/src/xrt/drivers/ultraleap_v5/ulv5_driver.cpp b/src/xrt/drivers/ultraleap_v5/ulv5_driver.cpp index 8d2454a1c..6811486a4 100644 --- a/src/xrt/drivers/ultraleap_v5/ulv5_driver.cpp +++ b/src/xrt/drivers/ultraleap_v5/ulv5_driver.cpp @@ -310,8 +310,6 @@ ulv5_create_device(struct xrt_device **out_xdev) ulv5d->base.tracking_origin = &ulv5d->tracking_origin; ulv5d->base.tracking_origin->type = XRT_TRACKING_TYPE_OTHER; - math_pose_identity(&ulv5d->base.tracking_origin->initial_offset); - ulv5d->log_level = debug_get_log_option_ulv5_log(); ulv5d->base.update_inputs = ulv5_device_update_inputs;