The open source OpenXR runtime
misc: Use pretty printers and remove stale matrix print functions
Use u_pp_matrix_* instead.
+27
-54
-18
src/xrt/auxiliary/math/m_api.h
-18
src/xrt/auxiliary/math/m_api.h
···
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math_matrix_3x3_f64_identity(struct xrt_matrix_3x3_f64 *mat);
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/*!
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* Print a 3x3 (col-major) matrix to stdout
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*
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* @see xrt_matrix_3x3
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* @ingroup aux_math
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*/
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void
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math_matrix_3x3_print(const struct xrt_matrix_3x3 *mat);
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/*!
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* Transform a vec3 by a 3x3 matrix
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*
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* @see xrt_matrix_3x3
···
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*/
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void
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math_matrix_4x4_identity(struct xrt_matrix_4x4 *result);
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/*!
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* Prints a Matrix4x4 (col-major).
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*
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* @relates xrt_matrix_4x4
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* @ingroup aux_math
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*/
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void
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math_matrix_4x4_print(const struct xrt_matrix_4x4 *mat);
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/*!
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* Multiply Matrix4x4.
-24
src/xrt/auxiliary/math/m_base.cpp
-24
src/xrt/auxiliary/math/m_base.cpp
···
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#include "math/m_api.h"
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#include "math/m_eigen_interop.hpp"
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#include "util/u_logging.h"
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#include <Eigen/Core>
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#include <Eigen/Geometry>
···
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}
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extern "C" void
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math_matrix_3x3_print(const struct xrt_matrix_3x3 *mat)
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{
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const auto &m = mat->v;
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U_LOG_RAW("[\n");
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U_LOG_RAW("\t%f, %f, %f,\n", m[0], m[3], m[6]);
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U_LOG_RAW("\t%f, %f, %f,\n", m[1], m[4], m[7]);
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U_LOG_RAW("\t%f, %f, %f \n", m[2], m[5], m[8]);
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U_LOG_RAW("]\n");
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}
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extern "C" void
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math_matrix_3x3_f64_transform_vec3_f64(const struct xrt_matrix_3x3_f64 *left,
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const struct xrt_vec3_f64 *right,
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struct xrt_vec3_f64 *result_out)
···
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math_matrix_4x4_identity(struct xrt_matrix_4x4 *result)
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{
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map_matrix_4x4(*result) = Eigen::Matrix4f::Identity();
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}
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extern "C" void
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math_matrix_4x4_print(const struct xrt_matrix_4x4 *mat)
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{
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const auto &m = mat->v;
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U_LOG_RAW("[\n");
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U_LOG_RAW("\t%f, %f, %f, %f,\n", m[0], m[4], m[8], m[12]);
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U_LOG_RAW("\t%f, %f, %f, %f,\n", m[1], m[5], m[9], m[13]);
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U_LOG_RAW("\t%f, %f, %f, %f,\n", m[2], m[6], m[10], m[14]);
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U_LOG_RAW("\t%f, %f, %f, %f \n", m[3], m[7], m[11], m[15]);
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U_LOG_RAW("]\n");
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}
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extern "C" void
+27
-12
src/xrt/auxiliary/tracking/t_data_utils.c
+27
-12
src/xrt/auxiliary/tracking/t_data_utils.c
···
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#include "util/u_config_json.h"
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#include "util/u_misc.h"
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#include "util/u_logging.h"
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#include "util/u_pretty_print.h"
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#include <stdio.h>
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#include <assert.h>
···
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}
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}
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static void
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t_inertial_calibration_dump_pp(u_pp_delegate_t dg, struct t_inertial_calibration *c)
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{
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u_pp(dg, "t_inertial_calibration {");
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u_pp_array2d_f64(dg, &c->transform[0][0], 3, 3, "transform", "\t");
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u_pp_array_f64(dg, c->offset, 3, "offset", "\t");
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u_pp_array_f64(dg, c->bias_std, 3, "bias_std", "\t");
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u_pp_array_f64(dg, c->noise_std, 3, "noise_std", "\t");
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u_pp(dg, "}");
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}
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void
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t_inertial_calibration_dump(struct t_inertial_calibration *c)
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{
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U_LOG_RAW("t_inertial_calibration {");
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dump_mat("transform", c->transform);
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dump_vector("offset", c->offset);
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dump_vector("bias_std", c->bias_std);
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dump_vector("noise_std", c->noise_std);
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U_LOG_RAW("}");
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struct u_pp_sink_stack_only sink;
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u_pp_delegate_t dg = u_pp_sink_stack_only_init(&sink);
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t_inertial_calibration_dump_pp(dg, c);
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U_LOG(U_LOGGING_DEBUG, "%s", sink.buffer);
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}
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void
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t_imu_calibration_dump(struct t_imu_calibration *c)
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{
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U_LOG_RAW("t_imu_calibration {");
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U_LOG_RAW("accel = ");
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t_inertial_calibration_dump(&c->accel);
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U_LOG_RAW("gyro = ");
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t_inertial_calibration_dump(&c->gyro);
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U_LOG_RAW("}");
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struct u_pp_sink_stack_only sink;
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u_pp_delegate_t dg = u_pp_sink_stack_only_init(&sink);
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u_pp(dg, "t_imu_calibration {\n");
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u_pp(dg, "accel = ");
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t_inertial_calibration_dump_pp(dg, &c->accel);
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u_pp(dg, "gyro = ");
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t_inertial_calibration_dump_pp(dg, &c->gyro);
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u_pp(dg, "}");
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U_LOG(U_LOGGING_DEBUG, "%s", sink.buffer);
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}