diff --git a/CMakeLists.txt b/CMakeLists.txt index c16800cfd..5aebafb89 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -179,22 +179,6 @@ if(XRT_HAVE_LINUX OR MINGW) pkg_check_modules(SURVIVE IMPORTED_TARGET survive) endif() -# Find a external SLAM implementation -set(EXTERNAL_SLAM_SYSTEMS kimera_vio basalt) -foreach(slam_system IN LISTS EXTERNAL_SLAM_SYSTEMS) - if(PKGCONFIG_FOUND) - pkg_check_modules(${slam_system} ${slam_system}) - endif() - if(${slam_system}_FOUND) - set(SLAM_NAME ${slam_system}) - set(SLAM_LDFLAGS ${${slam_system}_LDFLAGS}) - set(SLAM_LIBRARIES ${${slam_system}_LIBRARIES}) - set(SLAM_INCLUDE_DIRS ${${slam_system}_INCLUDE_DIRS}) - # Exit after the first we find. - break() - endif() -endforeach() - # Find openvr library find_library(OPENVR_LIBRARIES NAMES openvr_api) if(OPENVR_LIBRARIES) @@ -249,6 +233,7 @@ option_with_deps(XRT_HAVE_XLIB "Enable xlib support" DEPENDS X11_FOUND) option_with_deps(XRT_HAVE_XRANDR "Enable xlib-xrandr support" DEPENDS XRANDR_FOUND) # System deps to use (sorted) +option_with_deps(XRT_HAVE_OPENCV "Enable OpenCV backend" DEPENDS OpenCV_FOUND) option_with_deps(XRT_HAVE_DBUS "Enable dbus support (for BLE support)" DEPENDS DBUS_FOUND) option_with_deps(XRT_HAVE_LIBBSD "Enable libbsd support" DEPENDS LIBBSD_FOUND) option_with_deps(XRT_HAVE_LIBUDEV "Enable libudev (used for device probing on Linux)" DEPENDS UDEV_FOUND) @@ -258,11 +243,6 @@ option_with_deps(XRT_HAVE_SYSTEMD "Enable systemd support" DEPENDS Systemd_FOUND # Only use system cJSON if it includes https://github.com/DaveGamble/cJSON/pull/377 option_with_deps(XRT_HAVE_SYSTEM_CJSON "Enable cJSON from system, instead of bundled source" DEPENDS CJSON_FOUND "cJSON_VERSION VERSION_GREATER_EQUAL 1.7.13") -# SLAM backends and deps (sorted) -option_with_deps(XRT_HAVE_OPENCV "Enable OpenCV backend" DEPENDS OpenCV_FOUND) -option_with_deps(XRT_HAVE_BASALT "Enable Basalt support" DEPENDS basalt_FOUND) -option_with_deps(XRT_HAVE_KIMERA "Enable Kimera support" DEPENDS kimera_vio_FOUND) - # Hand tracking deps option_with_deps(XRT_HAVE_ONNXRUNTIME "Enable ONNX runtime support" DEPENDS ONNXRUNTIME_FOUND) @@ -287,7 +267,7 @@ set(XRT_FEATURE_OPENXR_DEBUG_UTILS OFF) # Has never been enabled option_with_deps(XRT_FEATURE_RENDERDOC "Enable RenderDoc API" DEPENDS "RT_LIBRARY OR WIN32 OR ANDROID") option_with_deps(XRT_FEATURE_SERVICE "Enable separate service module for OpenXR runtime" DEPENDS XRT_MODULE_IPC XRT_FEATURE_OPENXR) option_with_deps(XRT_FEATURE_SERVICE_SYSTEMD "Enable systemd socket activation of the service" DEPENDS XRT_HAVE_SYSTEMD XRT_FEATURE_SERVICE) -option_with_deps(XRT_FEATURE_SLAM "Enable SLAM tracking support" DEPENDS XRT_HAVE_OPENCV "XRT_HAVE_BASALT OR XRT_HAVE_KIMERA") +option_with_deps(XRT_FEATURE_SLAM "Enable SLAM tracking support" DEPENDS XRT_HAVE_OPENCV) option(XRT_FEATURE_SSE2 "Build using SSE2 instructions, if building for 32-bit x86" ON) option_with_deps(XRT_FEATURE_STEAMVR_PLUGIN "Build SteamVR plugin" DEPENDS "NOT ANDROID") option_with_deps(XRT_FEATURE_TRACING "Enable debug tracing on supported platforms" DEFAULT OFF DEPENDS "XRT_HAVE_PERCETTO OR XRT_HAVE_TRACY") @@ -587,7 +567,6 @@ endif() message(STATUS "#####----- Config -----#####") message(STATUS "# GIT_DESC: ${GIT_DESC}") message(STATUS "#") -message(STATUS "# BASALT: ${XRT_HAVE_BASALT}") message(STATUS "# BLUETOOTH: ${XRT_HAVE_BLUETOOTH}") message(STATUS "# D3D11: ${XRT_HAVE_D3D11}") message(STATUS "# D3D12: ${XRT_HAVE_D3D12}") @@ -596,7 +575,6 @@ message(STATUS "# EGL: ${XRT_HAVE_EGL}") message(STATUS "# GST (GStreamer): ${XRT_HAVE_GST}") message(STATUS "# HIDAPI: ${XRT_HAVE_HIDAPI}") message(STATUS "# JPEG: ${XRT_HAVE_JPEG}") -message(STATUS "# KIMERA: ${XRT_HAVE_KIMERA}") message(STATUS "# LIBBSD: ${XRT_HAVE_LIBBSD}") message(STATUS "# LIBUSB: ${XRT_HAVE_LIBUSB}") message(STATUS "# LIBUVC: ${XRT_HAVE_LIBUVC}") diff --git a/scripts/mapping.imp b/scripts/mapping.imp index e808206b7..941f96302 100644 --- a/scripts/mapping.imp +++ b/scripts/mapping.imp @@ -62,7 +62,6 @@ { symbol: ["XRT_FEATURE_WINDOW_PEEK", "public", "\"xrt/xrt_config_build.h\"", "public"] }, { symbol: ["XRT_IPC_MSG_SOCK_FILENAME", "public", "\"xrt/xrt_config_build.h\"", "public"] }, { symbol: ["XRT_IPC_SERVICE_PID_FILENAME", "public", "\"xrt/xrt_config_build.h\"", "public"] }, -{ symbol: ["XRT_HAVE_BASALT", "public", "\"xrt/xrt_config_have.h\"", "public"] }, { symbol: ["XRT_HAVE_BLUETOOTH", "public", "\"xrt/xrt_config_have.h\"", "public"] }, { symbol: ["XRT_HAVE_D3D11", "public", "\"xrt/xrt_config_have.h\"", "public"] }, { symbol: ["XRT_HAVE_D3D12", "public", "\"xrt/xrt_config_have.h\"", "public"] }, @@ -72,7 +71,6 @@ { symbol: ["XRT_HAVE_GST", "public", "\"xrt/xrt_config_have.h\"", "public"] }, { symbol: ["XRT_HAVE_HIDAPI", "public", "\"xrt/xrt_config_have.h\"", "public"] }, { symbol: ["XRT_HAVE_JPEG", "public", "\"xrt/xrt_config_have.h\"", "public"] }, -{ symbol: ["XRT_HAVE_KIMERA", "public", "\"xrt/xrt_config_have.h\"", "public"] }, { symbol: ["XRT_HAVE_LIBBSD", "public", "\"xrt/xrt_config_have.h\"", "public"] }, { symbol: ["XRT_HAVE_LIBUDEV", "public", "\"xrt/xrt_config_have.h\"", "public"] }, { symbol: ["XRT_HAVE_LIBUSB", "public", "\"xrt/xrt_config_have.h\"", "public"] }, diff --git a/src/xrt/include/xrt/xrt_config_have.h.cmake_in b/src/xrt/include/xrt/xrt_config_have.h.cmake_in index 908f08217..b266b1a82 100644 --- a/src/xrt/include/xrt/xrt_config_have.h.cmake_in +++ b/src/xrt/include/xrt/xrt_config_have.h.cmake_in @@ -11,7 +11,6 @@ /* keep sorted */ -#cmakedefine XRT_HAVE_BASALT #cmakedefine XRT_HAVE_BLUETOOTH #cmakedefine XRT_HAVE_D3D11 #cmakedefine XRT_HAVE_D3D12 @@ -21,7 +20,6 @@ #cmakedefine XRT_HAVE_GST #cmakedefine XRT_HAVE_HIDAPI #cmakedefine XRT_HAVE_JPEG -#cmakedefine XRT_HAVE_KIMERA #cmakedefine XRT_HAVE_LIBBSD #cmakedefine XRT_HAVE_LIBUDEV #cmakedefine XRT_HAVE_LIBUSB