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make stuff build without RealSense

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This commit is contained in:
Thijs Wenker 2014-12-18 00:16:51 +01:00
parent 99b0cca8f3
commit 151ddab118
1 changed files with 11 additions and 2 deletions
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13
interface/src/devices/RealSense.cpp
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@ -23,7 +23,7 @@ const DeviceTracker::Name RealSense::NAME = "RealSense";
// finger in [0..4] : bone in [0..3] a finger phalange // finger in [0..4] : bone in [0..3] a finger phalange
// [-1] up the hand branch : bone in [0..1] <=> [ hand, forearm] // [-1] up the hand branch : bone in [0..1] <=> [ hand, forearm]
MotionTracker::Index evalRealSenseJointIndex(bool isRightSide, int finger, int bone) { MotionTracker::Index evalRealSenseJointIndex(bool isRightSide, int finger, int bone) {
#ifdef HAVE_RSSDK
MotionTracker::Index offset = 1 // start after root MotionTracker::Index offset = 1 // start after root
+ (int(isRightSide) * PXCHandData::NUMBER_OF_JOINTS) // then offset for side + (int(isRightSide) * PXCHandData::NUMBER_OF_JOINTS) // then offset for side
+ PALMROOT_NUM_JOINTS; // then add the arm/forearm/hand chain + PALMROOT_NUM_JOINTS; // then add the arm/forearm/hand chain
@ -34,6 +34,9 @@ MotionTracker::Index evalRealSenseJointIndex(bool isRightSide, int finger, int b
// or go back up for the correct root bone // or go back up for the correct root bone
return offset - 1 - bone; return offset - 1 - bone;
} }
#else
return -1;
#endif // HAVE_RSSDK
} }
// static // static
@ -62,6 +65,7 @@ RealSense::RealSense() :
_active(false), _active(false),
_handData(NULL) _handData(NULL)
{ {
#ifdef HAVE_RSSDK
_session = PXCSession_Create(); _session = PXCSession_Create();
initSession(false, NULL); initSession(false, NULL);
@ -103,13 +107,17 @@ RealSense::RealSense() :
} }
} }
} }
#endif // HAVE_RSSDK
} }
RealSense::~RealSense() { RealSense::~RealSense() {
#ifdef HAVE_RSSDK
_manager->Release(); _manager->Release();
#endif // HAVE_RSSDK
} }
void RealSense::initSession(bool playback, QString filename) { void RealSense::initSession(bool playback, QString filename) {
#ifdef HAVE_RSSDK
_active = false; _active = false;
_properlyInitialized = false; _properlyInitialized = false;
if (_handData != NULL) { if (_handData != NULL) {
@ -145,6 +153,7 @@ void RealSense::initSession(bool playback, QString filename) {
_config->EnableStabilizer(true); _config->EnableStabilizer(true);
_config->SetTrackingMode(PXCHandData::TRACKING_MODE_FULL_HAND); _config->SetTrackingMode(PXCHandData::TRACKING_MODE_FULL_HAND);
_config->ApplyChanges(); _config->ApplyChanges();
#endif // HAVE_RSSDK
} }
#ifdef HAVE_RSSDK #ifdef HAVE_RSSDK
@ -155,7 +164,7 @@ glm::quat quatFromPXCPoint4DF32(const PXCPoint4DF32& basis) {
glm::vec3 vec3FromPXCPoint3DF32(const PXCPoint3DF32& vec) { glm::vec3 vec3FromPXCPoint3DF32(const PXCPoint3DF32& vec) {
return glm::vec3(-vec.x, vec.y, -vec.z); return glm::vec3(-vec.x, vec.y, -vec.z);
} }
#endif #endif // HAVE_RSSDK
void RealSense::update() { void RealSense::update() {
#ifdef HAVE_RSSDK #ifdef HAVE_RSSDK