The open source OpenXR runtime
d/ns: Use RealSense 6DOF for tracking if available
+30
-2
+1
-1
src/xrt/drivers/meson.build
+1
-1
src/xrt/drivers/meson.build
+29
-1
src/xrt/drivers/north_star/ns_hmd.c
+29
-1
src/xrt/drivers/north_star/ns_hmd.c
···
26
26
#include "util/u_time.h"
27
27
#include "util/u_distortion_mesh.h"
28
28
29
+
#include "targets_enabled_drivers.h"
30
+
#include "../realsense/rs_interface.h"
31
+
32
+
29
33
/*
30
34
*
31
35
* Structs and defines.
···
35
39
struct ns_hmd
36
40
{
37
41
struct xrt_device base;
42
+
43
+
struct xrt_device *tracker;
38
44
39
45
struct xrt_pose pose;
40
46
···
90
96
{
91
97
struct ns_hmd *ns = ns_hmd(xdev);
92
98
99
+
if (ns->tracker != NULL) {
100
+
ns->tracker->destroy(ns->tracker);
101
+
ns->tracker = NULL;
102
+
}
103
+
93
104
// Remove the variable tracking.
94
105
u_var_remove_root(ns);
95
106
···
99
110
static void
100
111
ns_hmd_update_inputs(struct xrt_device *xdev, struct time_state *timekeeping)
101
112
{
102
-
// Empty
113
+
struct ns_hmd *ns = ns_hmd(xdev);
114
+
115
+
// Also update the tracking module if it is in use.
116
+
if (ns->tracker != NULL) {
117
+
ns->tracker->update_inputs(ns->tracker, timekeeping);
118
+
}
103
119
}
104
120
105
121
static void
···
110
126
struct xrt_space_relation *out_relation)
111
127
{
112
128
struct ns_hmd *ns = ns_hmd(xdev);
129
+
130
+
// If the tracking device is created use it.
131
+
if (ns->tracker != NULL) {
132
+
ns->tracker->get_tracked_pose(ns->tracker, name, timekeeping,
133
+
out_timestamp, out_relation);
134
+
return;
135
+
}
113
136
114
137
if (name != XRT_INPUT_GENERIC_HEAD_POSE) {
115
138
NS_ERROR(ns, "unknown input name");
···
228
251
ns_hmd_destroy(&ns->base);
229
252
return NULL;
230
253
}
254
+
255
+
// If built, try to load the realsense tracker.
256
+
#ifdef XRT_BUILD_DRIVER_RS
257
+
ns->tracker = rs_6dof_create();
258
+
#endif
231
259
232
260
// Setup variable tracker.
233
261
u_var_add_root(ns, "North Star", true);