The open source OpenXR runtime
st/prober: Handle SLAM tracker creation failure for the Euroc player
This also adds a do-nothing section to `p_factory_create_tracked_slam`
that could be replicated by new SLAM frame servers.
+16
-4
+16
-4
src/xrt/state_trackers/prober/p_tracking.c
+16
-4
src/xrt/state_trackers/prober/p_tracking.c
···
344
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struct xrt_tracked_slam *xts = NULL;
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347
+
#ifdef XRT_BUILD_DRIVER_EUROC
348
+
if (debug_get_option_euroc_path() != NULL) {
349
+
// The euroc slam tracker was already created on p_tracking_init because the
350
+
// euroc player is not a device so it needs to be started from somewhere
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+
goto end;
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+
}
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+
#endif
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+
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+
end:
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+
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if (!fact->started_xts) {
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xts = fact->xts;
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}
···
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404
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#ifdef XRT_BUILD_DRIVER_EUROC
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if (debug_get_option_euroc_path() != NULL) {
397
-
struct xrt_slam_sinks *sinks = NULL;
407
+
struct xrt_slam_sinks empty_sinks = {0};
408
+
struct xrt_slam_sinks *sinks = &empty_sinks;
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// fact->xfs *will* be an euroc frame server after open, because of prober open_video_device
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xrt_prober_open_video_device(&fact->p->base, NULL, &fact->xfctx, &fact->xfs);
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#ifdef XRT_HAVE_SLAM
403
-
t_slam_create(&fact->xfctx, &fact->xts, &sinks);
414
+
int ret = t_slam_create(&fact->xfctx, &fact->xts, &sinks);
415
+
if (ret != 0) {
416
+
U_LOG_W("Unable to initialize SLAM tracking, the Euroc driver will not be tracked");
417
+
}
404
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#else
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419
U_LOG_W("SLAM tracking support is disabled, the Euroc driver will not be tracked");
406
-
struct xrt_slam_sinks empty_sinks = {0};
407
-
sinks = &empty_sinks;
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420
#endif
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xrt_fs_slam_stream_start(fact->xfs, sinks);