The open source OpenXR runtime
d/wmr: Split out inertial sensor configuration
Inertial sensor configuration blocks are common to
both HMD and controller calibration. Factor out a
shared structure to receive them.
+16
-11
+5
-5
src/xrt/drivers/wmr/wmr_config.c
+5
-5
src/xrt/drivers/wmr/wmr_config.c
···
36
36
// initialize default sensor transforms
37
37
math_pose_identity(&c->eye_params[0].pose);
38
38
math_pose_identity(&c->eye_params[1].pose);
39
-
math_pose_identity(&c->accel_pose);
40
-
math_pose_identity(&c->gyro_pose);
41
-
math_pose_identity(&c->mag_pose);
39
+
math_pose_identity(&c->sensors.accel_pose);
40
+
math_pose_identity(&c->sensors.gyro_pose);
41
+
math_pose_identity(&c->sensors.mag_pose);
42
42
}
43
43
44
44
static void
···
170
170
}
171
171
172
172
static bool
173
-
wmr_config_parse_inertial_sensor(struct wmr_hmd_config *c, cJSON *sensor, enum u_logging_level log_level)
173
+
wmr_inertial_sensors_config_parse(struct wmr_inertial_sensors_config *c, cJSON *sensor, enum u_logging_level log_level)
174
174
{
175
175
struct xrt_pose *out_pose;
176
176
···
361
361
362
362
cJSON_ArrayForEach(item, sensors)
363
363
{
364
-
if (!wmr_config_parse_inertial_sensor(c, item, log_level)) {
364
+
if (!wmr_inertial_sensors_config_parse(&c->sensors, item, log_level)) {
365
365
WMR_WARN(log_level, "Error parsing InertialSensor entry");
366
366
}
367
367
}
+8
-3
src/xrt/drivers/wmr/wmr_config.h
+8
-3
src/xrt/drivers/wmr/wmr_config.h
···
105
105
struct wmr_distortion_6KT distortion6KT;
106
106
};
107
107
108
+
struct wmr_inertial_sensors_config
109
+
{
110
+
struct xrt_pose accel_pose;
111
+
struct xrt_pose gyro_pose;
112
+
struct xrt_pose mag_pose;
113
+
};
114
+
108
115
struct wmr_hmd_config
109
116
{
110
117
/* Left and Right eye mapping and distortion params */
111
118
struct wmr_distortion_eye_config eye_params[2];
112
119
113
-
struct xrt_pose accel_pose;
114
-
struct xrt_pose gyro_pose;
115
-
struct xrt_pose mag_pose;
120
+
struct wmr_inertial_sensors_config sensors;
116
121
117
122
int n_cameras;
118
123
struct wmr_camera_config cameras[WMR_MAX_CAMERAS];
+3
-3
src/xrt/drivers/wmr/wmr_hmd.c
+3
-3
src/xrt/drivers/wmr/wmr_hmd.c
···
996
996
math_pose_transform(&wh->centerline, &wh->display_to_centerline[dIdx],
997
997
&wh->display_to_centerline[dIdx]);
998
998
}
999
-
math_pose_invert(&wh->config.accel_pose, &wh->accel_to_centerline);
999
+
math_pose_invert(&wh->config.sensors.accel_pose, &wh->accel_to_centerline);
1000
1000
math_pose_transform(&wh->centerline, &wh->accel_to_centerline, &wh->accel_to_centerline);
1001
-
math_pose_invert(&wh->config.gyro_pose, &wh->gyro_to_centerline);
1001
+
math_pose_invert(&wh->config.sensors.gyro_pose, &wh->gyro_to_centerline);
1002
1002
math_pose_transform(&wh->centerline, &wh->gyro_to_centerline, &wh->gyro_to_centerline);
1003
-
math_pose_invert(&wh->config.mag_pose, &wh->mag_to_centerline);
1003
+
math_pose_invert(&wh->config.sensors.mag_pose, &wh->mag_to_centerline);
1004
1004
math_pose_transform(&wh->centerline, &wh->mag_to_centerline, &wh->mag_to_centerline);
1005
1005
1006
1006
struct u_device_simple_info info;