The open source OpenXR runtime
d/rs: cleanup and initialize u_config_json with zero
authored by
Moses Turner
and committed by
Jakob Bornecrantz
5cb130cd
36bc45b6
+30
-27
+30
-27
src/xrt/drivers/realsense/rs_6dof.c
+30
-27
src/xrt/drivers/realsense/rs_6dof.c
···
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rs->enable_pose_prediction = true;
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rs->enable_pose_filtering = true;
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-
struct u_config_json config_json;
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+
struct u_config_json config_json = {0};
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u_config_json_open_or_create_main_file(&config_json);
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cJSON *realsense_config_json = cJSON_GetObjectItemCaseSensitive(config_json.root, "config_realsense");
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if (realsense_config_json != NULL) {
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cJSON *mapping = cJSON_GetObjectItemCaseSensitive(realsense_config_json, "enable_mapping");
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cJSON *pose_jumping = cJSON_GetObjectItemCaseSensitive(realsense_config_json, "enable_pose_jumping");
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cJSON *relocalization =
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cJSON_GetObjectItemCaseSensitive(realsense_config_json, "enable_relocalization");
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cJSON *pose_prediction =
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cJSON_GetObjectItemCaseSensitive(realsense_config_json, "enable_pose_prediction");
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cJSON *pose_filtering =
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cJSON_GetObjectItemCaseSensitive(realsense_config_json, "enable_pose_filtering");
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if (config_json.file_loaded) {
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const cJSON *realsense_config_json = u_json_get(config_json.root, "config_realsense");
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if (realsense_config_json != NULL) {
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const cJSON *mapping = u_json_get(realsense_config_json, "enable_mapping");
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const cJSON *pose_jumping = u_json_get(realsense_config_json, "enable_pose_jumping");
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const cJSON *relocalization = u_json_get(realsense_config_json, "enable_relocalization");
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const cJSON *pose_prediction = u_json_get(realsense_config_json, "enable_pose_prediction");
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const cJSON *pose_filtering = u_json_get(realsense_config_json, "enable_pose_filtering");
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// if json key isn't in the json, default to true. if it is in there, use json value
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if (mapping != NULL) {
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rs->enable_mapping = cJSON_IsTrue(mapping);
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}
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if (pose_jumping != NULL) {
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rs->enable_pose_jumping = cJSON_IsTrue(pose_jumping);
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}
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if (relocalization != NULL) {
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rs->enable_relocalization = cJSON_IsTrue(relocalization);
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}
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if (pose_prediction != NULL) {
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rs->enable_pose_prediction = cJSON_IsTrue(pose_prediction);
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}
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if (pose_filtering != NULL) {
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rs->enable_pose_filtering = cJSON_IsTrue(pose_filtering);
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// if json key isn't in the json, default to true. if it is in there, use json value
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if (mapping != NULL) {
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rs->enable_mapping = cJSON_IsTrue(mapping);
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}
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if (pose_jumping != NULL) {
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rs->enable_pose_jumping = cJSON_IsTrue(pose_jumping);
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}
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if (relocalization != NULL) {
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rs->enable_relocalization = cJSON_IsTrue(relocalization);
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}
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if (pose_prediction != NULL) {
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rs->enable_pose_prediction = cJSON_IsTrue(pose_prediction);
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}
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if (pose_filtering != NULL) {
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rs->enable_pose_filtering = cJSON_IsTrue(pose_filtering);
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}
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}
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U_LOG_D("Used config file");
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} else {
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U_LOG_D("Did not use config file");
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}
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U_LOG_D("Realsense opts are %i %i %i %i %i\n", rs->enable_mapping, rs->enable_pose_jumping,
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rs->enable_relocalization, rs->enable_pose_prediction, rs->enable_pose_filtering);
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rs->base.update_inputs = rs_6dof_update_inputs;
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rs->base.get_tracked_pose = rs_6dof_get_tracked_pose;
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rs->base.get_view_pose = rs_6dof_get_view_pose;