The open source OpenXR runtime
d/rs: Tidy code (NFC)
+56
-29
+56
-29
src/xrt/drivers/realsense/rs_6dof.c
+56
-29
src/xrt/drivers/realsense/rs_6dof.c
···
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return NULL;
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}
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static bool
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load_config(struct rs_6dof *rs)
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{
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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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if (!config_json.file_loaded) {
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return false;
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}
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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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return false;
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}
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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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}
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return true;
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}
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/*
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*
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* Device functions.
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*
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*/
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static void
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rs_6dof_update_inputs(struct xrt_device *xdev)
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{
···
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free(rs);
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}
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/*
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*
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* 'Exported' functions.
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*
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*/
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struct xrt_device *
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rs_6dof_create(void)
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{
···
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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 = {0};
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u_config_json_open_or_create_main_file(&config_json);
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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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}
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}
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if (load_config(rs)) {
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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");