The open source OpenXR runtime
t/slam: Replace assertion with return -1 if SLAM_CONFIG is not provided
+8
-4
+8
-4
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
+8
-4
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
···
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extern "C" int
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t_slam_create(struct xrt_frame_context *xfctx, struct xrt_tracked_slam **out_xts, struct xrt_slam_sinks **out_sink)
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{
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enum u_logging_level ll = debug_get_log_option_slam_log();
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const char *config_file = debug_get_option_slam_config();
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if (!config_file) {
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U_LOG_IFL_W(ll, "SLAM tracker requires a config file set with the SLAM_CONFIG environment variable");
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return -1;
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}
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auto &t = *(new TrackerSlam{});
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-
t.ll = debug_get_log_option_slam_log();
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t.ll = ll;
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t.cv_wrapper = new MatFrame();
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t.base.get_tracked_pose = t_slam_get_tracked_pose;
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const char *config_file = debug_get_option_slam_config();
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SLAM_ASSERT(config_file, "SLAM tracker requires a config file set with the SLAM_CONFIG environment variable");
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std::string config_file_string = std::string(config_file);
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t.slam = new slam_tracker{config_file_string};