+1 -1

src/xrt/drivers/euroc/euroc_device.c

reviewed

··· 259 259 u_var_add_pose(ed, &ed->offset, "offset"); 260 260 u_var_add_pose(ed, &ed->tracking_origin.offset, "tracking offset"); 261 261 262 262 - bool tracked = xp->tracking->create_tracked_slam(xp->tracking, xd, &ed->slam) >= 0; 262 262 + bool tracked = xp->tracking->create_tracked_slam(xp->tracking, &ed->slam) >= 0; 263 263 if (!tracked) { 264 264 EUROC_WARN(ed, "Unable to setup the SLAM tracker"); 265 265 euroc_device_destroy(xd);

+1 -1

src/xrt/drivers/psmv/psmv_driver.c

reviewed

··· 1121 1121 float diameter = PSMV_BALL_DIAMETER_M; 1122 1122 (void)diameter; 1123 1123 if (xp->tracking != NULL) { 1124 1124 - xp->tracking->create_tracked_psmv(xp->tracking, &psmv->base, &psmv->ball); 1124 1124 + xp->tracking->create_tracked_psmv(xp->tracking, &psmv->ball); 1125 1125 } 1126 1126 #endif 1127 1127

+1 -1

src/xrt/drivers/psvr/psvr_device.c

reviewed

··· 1103 1103 1104 1104 // If there is a tracking factory use it. 1105 1105 if (xp->tracking != NULL) { 1106 1106 - xp->tracking->create_tracked_psvr(xp->tracking, &psvr->base, &psvr->tracker); 1106 1106 + xp->tracking->create_tracked_psvr(xp->tracking, &psvr->tracker); 1107 1107 } 1108 1108 1109 1109 // Use the new origin if we got a tracking system.

+1 -1

src/xrt/drivers/realsense/rs_hdev.c

reviewed

··· 1023 1023 u_var_add_pose(rh, &rh->pose, "SLAM Pose"); 1024 1024 u_var_add_pose(rh, &rh->offset, "Offset Pose"); 1025 1025 1026 1026 - bool tracked = xp->tracking->create_tracked_slam(xp->tracking, xd, &rh->slam) >= 0; 1026 1026 + bool tracked = xp->tracking->create_tracked_slam(xp->tracking, &rh->slam) >= 0; 1027 1027 if (!tracked) { 1028 1028 RS_WARN(rh, "Unable to setup the SLAM tracker"); 1029 1029 rs_hdev_destroy(xd);

+3 -9

src/xrt/include/xrt/xrt_tracking.h

reviewed

··· 94 94 /*! 95 95 * Create a tracked PSMV ball. 96 96 */ 97 97 - int (*create_tracked_psmv)(struct xrt_tracking_factory *, 98 98 - struct xrt_device *xdev, 99 99 - struct xrt_tracked_psmv **out_psmv); 97 97 + int (*create_tracked_psmv)(struct xrt_tracking_factory *, struct xrt_tracked_psmv **out_psmv); 100 98 101 99 /*! 102 100 * Create a tracked PSVR HMD. 103 101 */ 104 104 - int (*create_tracked_psvr)(struct xrt_tracking_factory *, 105 105 - struct xrt_device *xdev, 106 106 - struct xrt_tracked_psvr **out_psvr); 102 102 + int (*create_tracked_psvr)(struct xrt_tracking_factory *, struct xrt_tracked_psvr **out_psvr); 107 103 108 104 109 105 110 106 /*! 111 107 * Create a SLAM tracker. 112 108 */ 113 113 - int (*create_tracked_slam)(struct xrt_tracking_factory *, 114 114 - struct xrt_device *xdev, 115 115 - struct xrt_tracked_slam **out_slam); 109 109 + int (*create_tracked_slam)(struct xrt_tracking_factory *, struct xrt_tracked_slam **out_slam); 116 110 }; 117 111 118 112 /*!

+3 -9

src/xrt/state_trackers/prober/p_tracking.c

reviewed

··· 308 308 */ 309 309 310 310 static int 311 311 - p_factory_create_tracked_psmv(struct xrt_tracking_factory *xfact, 312 312 - struct xrt_device *xdev, 313 313 - struct xrt_tracked_psmv **out_xtmv) 311 311 + p_factory_create_tracked_psmv(struct xrt_tracking_factory *xfact, struct xrt_tracked_psmv **out_xtmv) 314 312 { 315 313 #ifdef XRT_HAVE_OPENCV 316 314 struct p_factory *fact = p_factory(xfact); ··· 339 337 } 340 338 341 339 static int 342 342 - p_factory_create_tracked_psvr(struct xrt_tracking_factory *xfact, 343 343 - struct xrt_device *xdev, 344 344 - struct xrt_tracked_psvr **out_xtvr) 340 340 + p_factory_create_tracked_psvr(struct xrt_tracking_factory *xfact, struct xrt_tracked_psvr **out_xtvr) 345 341 { 346 342 #ifdef XRT_HAVE_OPENCV 347 343 struct p_factory *fact = p_factory(xfact); ··· 369 365 } 370 366 371 367 static int 372 372 - p_factory_create_tracked_slam(struct xrt_tracking_factory *xfact, 373 373 - struct xrt_device *xdev, 374 374 - struct xrt_tracked_slam **out_xts) 368 368 + p_factory_create_tracked_slam(struct xrt_tracking_factory *xfact, struct xrt_tracked_slam **out_xts) 375 369 { 376 370 #ifdef XRT_FEATURE_SLAM 377 371 struct p_factory *fact = p_factory(xfact);