The open source OpenXR runtime
cmake: Remove _SLAM suffixes on KIMERA and BASALT have defines
+24
-23
+5
-5
CMakeLists.txt
+5
-5
CMakeLists.txt
···
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# SLAM backends and deps (sorted)
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option_with_deps(XRT_HAVE_OPENCV "Enable OpenCV backend" DEPENDS OpenCV_FOUND)
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-
option_with_deps(XRT_HAVE_BASALT_SLAM "Enable Basalt support" DEPENDS basalt_FOUND)
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-
option_with_deps(XRT_HAVE_KIMERA_SLAM "Enable Kimera support" DEPENDS kimera_vio_FOUND)
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+
option_with_deps(XRT_HAVE_BASALT "Enable Basalt support" DEPENDS basalt_FOUND)
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+
option_with_deps(XRT_HAVE_KIMERA "Enable Kimera support" DEPENDS kimera_vio_FOUND)
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# Hand tracking deps
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option_with_deps(XRT_HAVE_ONNXRUNTIME "Enable ONNX runtime support" DEPENDS ONNXRUNTIME_FOUND)
···
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option_with_deps(XRT_FEATURE_RENDERDOC "Enable RenderDoc API" DEPENDS "RT_LIBRARY OR WIN32")
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option_with_deps(XRT_FEATURE_SERVICE "Enable separate service module for OpenXR runtime" DEPENDS XRT_MODULE_IPC XRT_FEATURE_OPENXR)
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option_with_deps(XRT_FEATURE_SERVICE_SYSTEMD "Enable systemd socket activation of the service" DEPENDS XRT_HAVE_SYSTEMD XRT_FEATURE_SERVICE)
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-
option_with_deps(XRT_FEATURE_SLAM "Enable SLAM tracking support" DEPENDS XRT_HAVE_OPENCV "XRT_HAVE_BASALT_SLAM OR XRT_HAVE_KIMERA_SLAM")
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+
option_with_deps(XRT_FEATURE_SLAM "Enable SLAM tracking support" DEPENDS XRT_HAVE_OPENCV "XRT_HAVE_BASALT OR XRT_HAVE_KIMERA")
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option(XRT_FEATURE_SSE2 "Build using SSE2 instructions, if building for 32-bit x86" ON)
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option_with_deps(XRT_FEATURE_STEAMVR_PLUGIN "Build SteamVR plugin" DEPENDS "NOT ANDROID")
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option_with_deps(XRT_FEATURE_TRACING "Enable debug tracing on supported platforms" DEFAULT OFF DEPENDS "XRT_HAVE_PERCETTO OR XRT_HAVE_TRACY")
···
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message(STATUS "#####----- Config -----#####")
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message(STATUS "# GIT_DESC: ${GIT_DESC}")
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message(STATUS "#")
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-
message(STATUS "# BASALT: ${XRT_HAVE_BASALT_SLAM}")
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+
message(STATUS "# BASALT: ${XRT_HAVE_BASALT}")
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message(STATUS "# BLUETOOTH: ${XRT_HAVE_BLUETOOTH}")
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message(STATUS "# D3D11: ${XRT_HAVE_D3D11}")
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message(STATUS "# D3D12: ${XRT_HAVE_D3D12}")
···
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message(STATUS "# GST (GStreamer): ${XRT_HAVE_GST}")
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message(STATUS "# HIDAPI: ${XRT_HAVE_HIDAPI}")
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message(STATUS "# JPEG: ${XRT_HAVE_JPEG}")
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-
message(STATUS "# KIMERA: ${XRT_HAVE_KIMERA_SLAM}")
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+
message(STATUS "# KIMERA: ${XRT_HAVE_KIMERA}")
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message(STATUS "# LIBBSD: ${XRT_HAVE_LIBBSD}")
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message(STATUS "# LIBUSB: ${XRT_HAVE_LIBUSB}")
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message(STATUS "# LIBUVC: ${XRT_HAVE_LIBUVC}")
+2
-2
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
+2
-2
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
···
1
-
// Copyright 2021, Collabora, Ltd.
1
+
// Copyright 2021-2023, Collabora, Ltd.
2
2
// SPDX-License-Identifier: BSL-1.0
3
3
/*!
4
4
* @file
···
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#define USING_OPENCV_3_3_1 (CV_VERSION_MAJOR == 3 && CV_VERSION_MINOR == 3 && CV_VERSION_REVISION == 1)
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-
#if defined(XRT_HAVE_KIMERA_SLAM) && !USING_OPENCV_3_3_1
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+
#if defined(XRT_HAVE_KIMERA) && !USING_OPENCV_3_3_1
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#pragma message "Kimera-VIO uses OpenCV 3.3.1, use that to prevent conflicts"
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#endif
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+3
-3
src/xrt/drivers/euroc/euroc_device.c
+3
-3
src/xrt/drivers/euroc/euroc_device.c
···
1
-
// Copyright 2021, Collabora, Ltd.
1
+
// Copyright 2021-2023, Collabora, Ltd.
2
2
// SPDX-License-Identifier: BSL-1.0
3
3
/*!
4
4
* @file
···
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int pose_bits = XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT;
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bool pose_tracked = out_relation->relation_flags & pose_bits;
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if (pose_tracked) {
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-
#if defined(XRT_HAVE_KIMERA_SLAM)
143
+
#if defined(XRT_HAVE_KIMERA)
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ed->pose = euroc_device_correct_pose_from_kimera(out_relation->pose);
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-
#elif defined(XRT_HAVE_BASALT_SLAM)
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+
#elif defined(XRT_HAVE_BASALT)
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ed->pose = euroc_device_correct_pose_from_basalt(out_relation->pose);
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#else
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ed->pose = out_relation->pose;
+3
-3
src/xrt/drivers/realsense/rs_hdev.c
+3
-3
src/xrt/drivers/realsense/rs_hdev.c
···
1
-
// Copyright 2021-2022, Collabora, Ltd.
1
+
// Copyright 2021-2023, Collabora, Ltd.
2
2
// SPDX-License-Identifier: BSL-1.0
3
3
/*!
4
4
* @file
···
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bool pose_tracked = out_relation->relation_flags & pose_bits;
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if (pose_tracked) {
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-
#if defined(XRT_HAVE_KIMERA_SLAM)
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+
#if defined(XRT_HAVE_KIMERA)
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rh->pose = rs_hdev_correct_pose_from_kimera(out_relation->pose);
299
-
#elif defined(XRT_HAVE_BASALT_SLAM)
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+
#elif defined(XRT_HAVE_BASALT)
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rh->pose = rs_hdev_correct_pose_from_basalt(out_relation->pose);
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#else
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rh->pose = out_relation->pose;
+2
-1
src/xrt/drivers/rift_s/rift_s_tracker.c
+2
-1
src/xrt/drivers/rift_s/rift_s_tracker.c
···
3
3
* Copyright 2013, Jakob Bornecrantz.
4
4
* Copyright 2016 Philipp Zabel
5
5
* Copyright 2019-2022 Jan Schmidt
6
+
* Copyright 2023, Collabora, Ltd.
6
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* SPDX-License-Identifier: BSL-1.0
7
8
*
8
9
*/
···
635
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// Get the IMU pose from the SLAM tracker
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xrt_tracked_slam_get_tracked_pose(t->tracking.slam, at_timestamp_ns, &imu_relation);
637
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638
-
#if defined(XRT_HAVE_BASALT_SLAM)
639
+
#if defined(XRT_HAVE_BASALT)
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rift_s_tracker_correct_pose_from_basalt(&imu_relation.pose);
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#endif
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+2
-2
src/xrt/drivers/twrap/twrap_slam.c
+2
-2
src/xrt/drivers/twrap/twrap_slam.c
···
1
-
// Copyright 2022, Collabora, Ltd.
1
+
// Copyright 2022-2023, Collabora, Ltd.
2
2
// SPDX-License-Identifier: BSL-1.0
3
3
/*!
4
4
* @file
···
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snprintf(dx->base.serial, XRT_DEVICE_NAME_LEN, "Generic Inside-Out Head Tracker");
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#ifdef XRT_FEATURE_SLAM
180
-
#ifdef XRT_HAVE_BASALT_SLAM
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+
#ifdef XRT_HAVE_BASALT
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// Arrived at mostly by trial and error; seeminly does a 90-degree rotation about the X axis.
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dx->pre_rotate_x = (struct xrt_vec3){1.0f, 0.0f, 0.0f};
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dx->pre_rotate_z = (struct xrt_vec3){0.0f, 1.0f, 0.0f};
+2
-2
src/xrt/drivers/vive/vive_device.c
+2
-2
src/xrt/drivers/vive/vive_device.c
···
1
1
// Copyright 2016-2019, Philipp Zabel
2
-
// Copyright 2019-2021, Collabora, Ltd.
2
+
// Copyright 2019-2023, Collabora, Ltd.
3
3
// SPDX-License-Identifier: BSL-1.0
4
4
/*!
5
5
* @file
···
152
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bool pose_tracked = out_relation->relation_flags & pose_bits;
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if (pose_tracked) {
155
-
#if defined(XRT_HAVE_BASALT_SLAM)
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+
#if defined(XRT_HAVE_BASALT)
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d->pose = vive_device_correct_pose_from_basalt(out_relation->pose);
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#else
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d->pose = out_relation->pose;
+2
-2
src/xrt/drivers/wmr/wmr_hmd.c
+2
-2
src/xrt/drivers/wmr/wmr_hmd.c
···
1
1
// Copyright 2018, Philipp Zabel.
2
2
// Copyright 2020-2021, N Madsen.
3
-
// Copyright 2020-2022, Collabora, Ltd.
3
+
// Copyright 2020-2023, Collabora, Ltd.
4
4
// SPDX-License-Identifier: BSL-1.0
5
5
/*!
6
6
* @file
···
1065
1065
bool pose_tracked = out_relation->relation_flags & pose_bits;
1066
1066
1067
1067
if (pose_tracked) {
1068
-
#if defined(XRT_HAVE_BASALT_SLAM)
1068
+
#if defined(XRT_HAVE_BASALT)
1069
1069
wh->pose = wmr_hmd_correct_pose_from_basalt(out_relation->pose);
1070
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#else
1071
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wh->pose = out_relation->pose;
+3
-3
src/xrt/include/xrt/xrt_config_have.h.cmake_in
+3
-3
src/xrt/include/xrt/xrt_config_have.h.cmake_in
···
1
-
// Copyright 2019-2022, Collabora, Ltd.
1
+
// Copyright 2019-2023, Collabora, Ltd.
2
2
// SPDX-License-Identifier: BSL-1.0
3
3
/*!
4
4
* @file
···
11
11
12
12
/* keep sorted */
13
13
14
-
#cmakedefine XRT_HAVE_BASALT_SLAM
14
+
#cmakedefine XRT_HAVE_BASALT
15
15
#cmakedefine XRT_HAVE_BLUETOOTH
16
16
#cmakedefine XRT_HAVE_D3D11
17
17
#cmakedefine XRT_HAVE_D3D12
···
22
22
#cmakedefine XRT_HAVE_GST
23
23
#cmakedefine XRT_HAVE_HIDAPI
24
24
#cmakedefine XRT_HAVE_JPEG
25
-
#cmakedefine XRT_HAVE_KIMERA_SLAM
25
+
#cmakedefine XRT_HAVE_KIMERA
26
26
#cmakedefine XRT_HAVE_LIBBSD
27
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#cmakedefine XRT_HAVE_LIBUDEV
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28
#cmakedefine XRT_HAVE_LIBUSB