mirror of
https://gitlab.freedesktop.org/monado/monado.git
synced 2024-12-29 11:06:18 +00:00
cmake: Reorganize options, renaming some.
Rename XRT_HAVE_SLAM to XRT_FEATURE_SLAM, moving it from xrt_config_have.h to xrt_config_build.h accordingly.
This commit is contained in:
Ryan Pavlik
parent
097eeb4f29
commit
3287c984aa
131
CMakeLists.txt
131
CMakeLists.txt
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@ -170,10 +170,10 @@ foreach(slam_system IN LISTS EXTERNAL_SLAM_SYSTEMS)
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pkg_check_modules(${slam_system} ${slam_system})
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endif()
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if(${slam_system}_FOUND)
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set(SLAM ON)
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set(SLAM_NAME ${slam_system})
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set(SLAM_LIBRARIES ${${slam_system}_LIBRARIES})
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set(SLAM_INCLUDE_DIRS ${${slam_system}_INCLUDE_DIRS})
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# Exit after the first we find.
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break()
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endif()
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endforeach()
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@ -188,91 +188,102 @@ set(ILLIXR_PATH
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option(BUILD_TESTING "Enable building of the test suite?" ON)
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if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
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set(XRT_HAVE_LIBUDEV ON)
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set(XRT_HAVE_INTERNAL_HID ON)
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else()
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option_with_deps(
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XRT_HAVE_LIBUDEV
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"Enable libudev (used for device probing on Linux)"
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ON
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"UDEV_FOUND"
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OFF
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)
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endif()
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# cmake-format: off
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option(XRT_FEATURE_COLOR_LOG "Enable logging in color on supported platforms" ON)
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option_with_deps(CMAKE_INTERPROCEDURAL_OPTIMIZATION "Enable inter-procedural (link-time) optimization" DEFAULT OFF DEPENDS HAS_IPO)
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option_with_deps(XRT_HAVE_PERCETTO "Enable percetto support" DEPENDS PERCETTO_FOUND)
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option_with_deps(XRT_HAVE_WAYLAND "Enable Wayland support" DEPENDS WAYLAND_FOUND WAYLAND_SCANNER_FOUND WAYLAND_PROTOCOLS_FOUND LIBDRM_FOUND)
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option_with_deps(XRT_HAVE_WAYLAND_DIRECT "Enable Wayland direct support" DEPENDS XRT_HAVE_WAYLAND LIBDRM_FOUND "WAYLAND_PROTOCOLS_VERSION VERSION_GREATER_EQUAL 1.22")
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option_with_deps(XRT_HAVE_XLIB "Enable xlib support" DEPENDS X11_FOUND)
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option_with_deps(XRT_HAVE_XRANDR "Enable xlib-xrandr support" DEPENDS XRANDR_FOUND)
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option_with_deps(XRT_HAVE_XCB "Enable xcb support" DEPENDS XCB_FOUND)
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option_with_deps(XRT_HAVE_VULKAN "Enable Vulkan Graphics API support (also needed for compositor)" DEPENDS VULKAN_FOUND)
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# Graphics deps to use (sorted in each group, groups thematic and ordered to handle internal deps: e.g. EGL and SDL2 need OpenGL/GLES)
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option_with_deps(XRT_HAVE_OPENGL "Enable OpenGL Graphics API support" DEPENDS OPENGL_WITHOUT_GLX_FOUND)
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option_with_deps(XRT_HAVE_OPENGL_GLX "Enable OpenGL Graphics API support on X11 (GLX)" DEPENDS XRT_HAVE_OPENGL OpenGL_GLX_FOUND)
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option_with_deps(XRT_HAVE_OPENGLES "Enable OpenGL-ES Graphics API support" DEPENDS OpenGLES_FOUND)
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option_with_deps(XRT_HAVE_EGL "Enable OpenGL(-ES) on EGL Graphics API support" DEPENDS EGL_FOUND "XRT_HAVE_OPENGL OR XRT_HAVE_OPENGLES")
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option_with_deps(XRT_HAVE_SDL2 "Enable use of SDL2" DEPENDS SDL2_FOUND XRT_HAVE_OPENGL)
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option_with_deps(XRT_HAVE_VULKAN "Enable Vulkan Graphics API support (also needed for compositor)" DEPENDS VULKAN_FOUND)
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option_with_deps(XRT_HAVE_WAYLAND "Enable Wayland support" DEPENDS WAYLAND_FOUND WAYLAND_SCANNER_FOUND WAYLAND_PROTOCOLS_FOUND LIBDRM_FOUND)
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option_with_deps(XRT_HAVE_WAYLAND_DIRECT "Enable Wayland direct support" DEPENDS XRT_HAVE_WAYLAND LIBDRM_FOUND "WAYLAND_PROTOCOLS_VERSION VERSION_GREATER_EQUAL 1.22")
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option_with_deps(XRT_HAVE_XCB "Enable xcb support" DEPENDS XCB_FOUND)
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option_with_deps(XRT_HAVE_XLIB "Enable xlib support" DEPENDS X11_FOUND)
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option_with_deps(XRT_HAVE_XRANDR "Enable xlib-xrandr support" DEPENDS XRANDR_FOUND)
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# System deps to use (sorted)
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option_with_deps(XRT_HAVE_DBUS "Enable dbus support (for BLE support)" DEPENDS DBUS_FOUND)
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option_with_deps(XRT_HAVE_LIBBSD "Enable libbsd support" DEPENDS LIBBSD_FOUND)
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option_with_deps(XRT_FEATURE_TRACING "Enable debug tracing on supported platforms" DEFAULT OFF DEPENDS XRT_HAVE_PERCETTO)
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option_with_deps(XRT_FEATURE_COMPOSITOR_MAIN "Build main compositor host functionality" DEPENDS XRT_HAVE_VULKAN "XRT_HAVE_WAYLAND OR XRT_HAVE_XCB OR ANDROID OR WIN32")
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option_with_deps(XRT_FEATURE_OPENXR "Build OpenXR runtime target" DEPENDS XRT_FEATURE_COMPOSITOR_MAIN)
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option_with_deps(XRT_FEATURE_IPC "Enable the build of the IPC layer" DEPENDS "NOT WIN32")
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option_with_deps(XRT_FEATURE_SERVICE "Enable separate service module for OpenXR runtime" DEPENDS XRT_FEATURE_IPC XRT_FEATURE_OPENXR)
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option_with_deps(XRT_HAVE_LIBUDEV "Enable libudev (used for device probing on Linux)" DEPENDS UDEV_FOUND)
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option_with_deps(XRT_HAVE_PERCETTO "Enable percetto support" DEPENDS PERCETTO_FOUND)
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option_with_deps(XRT_HAVE_SYSTEMD "Enable systemd support" DEPENDS Systemd_FOUND)
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option_with_deps(XRT_HAVE_SYSTEM_CJSON "Enable cJSON from system, instead of bundled source" DEPENDS CJSON_FOUND)
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option_with_deps(XRT_HAVE_SYSTEMD "Enable systemd support (for socket activation of service)" DEPENDS Systemd_FOUND XRT_FEATURE_SERVICE)
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option_with_deps(XRT_INSTALL_SYSTEMD_UNIT_FILES "Install user unit files for systemd socket activation on installation" DEPENDS XRT_HAVE_SYSTEMD)
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# SLAM backends (sorted)
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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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if(XRT_HAVE_BASALT_SLAM OR XRT_HAVE_KIMERA_SLAM)
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set(SLAM_FOUND ON)
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endif()
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# Feature configuration (sorted)
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option(XRT_FEATURE_COLOR_LOG "Enable logging in color on supported platforms" ON)
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option_with_deps(XRT_FEATURE_COMPOSITOR_MAIN "Build main compositor host functionality" DEPENDS XRT_HAVE_VULKAN "XRT_HAVE_WAYLAND OR XRT_HAVE_XCB OR ANDROID OR WIN32")
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option_with_deps(XRT_FEATURE_IPC "Enable the build of the IPC layer" DEPENDS "NOT WIN32")
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option_with_deps(XRT_FEATURE_OPENXR "Build OpenXR runtime target" DEPENDS XRT_FEATURE_COMPOSITOR_MAIN)
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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_FEATURE_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 SLAM_FOUND)
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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)
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# systemd detailed config
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option_with_deps(XRT_INSTALL_SYSTEMD_UNIT_FILES "Install user unit files for systemd socket activation on installation" DEPENDS XRT_FEATURE_SERVICE_SYSTEMD)
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option_with_deps(XRT_INSTALL_ABSOLUTE_SYSTEMD_UNIT_FILES "Use an absolute path to monado-system in installed user unit files for systemd socket activation" DEPENDS XRT_INSTALL_SYSTEMD_UNIT_FILES)
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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_RENDERDOC "Enable RenderDoc API" DEPENDS "RT_LIBRARY OR WIN32")
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option_with_deps(XRT_HAVE_LIBUSB "Enable libusb (used for most drivers)" DEPENDS LIBUSB1_FOUND)
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# Driver deps to use (sorted, though there are some internal dependencies)
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option_with_deps(XRT_HAVE_FFMPEG "Enable ffmpeg testing video driver" DEPENDS FFMPEG_FOUND)
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option_with_deps(XRT_HAVE_GST "Enable gstreamer" DEPENDS GST_FOUND)
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option_with_deps(XRT_HAVE_HIDAPI "Enable libhidapi (used for PSVR)" DEPENDS HIDAPI_FOUND)
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option_with_deps(XRT_HAVE_JPEG "Enable jpeg code (used for some video drivers)" DEPENDS JPEG_FOUND)
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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_LIBUSB "Enable libusb (used for most drivers)" DEPENDS LIBUSB1_FOUND)
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option_with_deps(XRT_HAVE_LIBUVC "Enable libuvc video driver" DEPENDS LIBUVC_FOUND XRT_HAVE_LIBUSB)
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option_with_deps(XRT_HAVE_FFMPEG "Enable ffmpeg testing video driver" DEPENDS FFMPEG_FOUND)
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option_with_deps(XRT_HAVE_SDL2 "Enable use of SDL2" DEPENDS SDL2_FOUND XRT_HAVE_OPENGL)
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option_with_deps(XRT_HAVE_SYSTEM_CJSON "Enable cJSON from system, instead of bundled source" DEPENDS CJSON_FOUND)
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option_with_deps(XRT_HAVE_GST "Enable gstreamer" DEPENDS GST_FOUND)
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option_with_deps(XRT_HAVE_REALSENSE "Enable RealSense support" DEPENDS realsense2_FOUND)
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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_HAVE_KIMERA_SLAM "Enable Kimera support" DEPENDS kimera_vio_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_SLAM "Enable SLAM tracking support" DEPENDS SLAM XRT_HAVE_OPENCV)
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option_with_deps(XRT_BUILD_DRIVER_PSVR "Enable PSVR HMD driver" DEPENDS XRT_HAVE_HIDAPI)
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option_with_deps(XRT_BUILD_DRIVER_REALSENSE "Enable RealSense device driver" DEPENDS XRT_HAVE_REALSENSE)
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option_with_deps(XRT_BUILD_DRIVER_VIVE "Enable driver for HTC Vive, Vive Pro, Valve Index, and their controllers" DEPENDS ZLIB_FOUND XRT_HAVE_LINUX)
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option_with_deps(XRT_BUILD_DRIVER_OHMD "Enable OpenHMD driver" DEPENDS OPENHMD_FOUND)
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option_with_deps(XRT_BUILD_DRIVER_HANDTRACKING "Enable Camera Hand Tracking driver" DEPENDS XRT_HAVE_ONNXRUNTIME XRT_HAVE_OPENCV XRT_HAVE_V4L2)
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option_with_deps(XRT_BUILD_DRIVER_DAYDREAM "Enable the Google Daydream View controller driver (BLE, via D-Bus)" DEPENDS XRT_HAVE_DBUS)
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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_REALSENSE "Enable RealSense support" DEPENDS realsense2_FOUND)
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# Drivers to build (sorted)
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option_with_deps(XRT_BUILD_DRIVER_ANDROID "Enable Android sensors driver" DEPENDS ANDROID)
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option_with_deps(XRT_BUILD_DRIVER_ARDUINO "Enable Arduino input device with BLE via via D-Bus" DEPENDS XRT_HAVE_DBUS)
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option_with_deps(XRT_BUILD_DRIVER_DAYDREAM "Enable the Google Daydream View controller driver (BLE, via D-Bus)" DEPENDS XRT_HAVE_DBUS)
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option_with_deps(XRT_BUILD_DRIVER_DEPTHAI "DepthAI" DEPENDS depthai_FOUND)
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option_with_deps(XRT_BUILD_DRIVER_EUROC "Enable EuRoC dataset driver for SLAM evaluation" DEPENDS XRT_HAVE_OPENCV)
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option_with_deps(XRT_BUILD_DRIVER_HANDTRACKING "Enable Camera Hand Tracking driver" DEPENDS XRT_HAVE_ONNXRUNTIME XRT_HAVE_OPENCV XRT_HAVE_V4L2)
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option_with_deps(XRT_BUILD_DRIVER_HDK "Enable HDK driver" DEPENDS XRT_HAVE_INTERNAL_HID)
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option_with_deps(XRT_BUILD_DRIVER_HYDRA "Enable Hydra driver" DEPENDS XRT_HAVE_INTERNAL_HID)
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option_with_deps(XRT_BUILD_DRIVER_ILLIXR "Enable ILLIXR driver" DEPENDS ILLIXR_PATH)
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option(XRT_BUILD_DRIVER_DUMMY "Enable dummy driver" ON)
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option_with_deps(XRT_BUILD_DRIVER_ULV2 "Enable Ultraleap v2 driver" DEPENDS LeapV2_FOUND)
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option_with_deps(XRT_BUILD_DRIVER_NS "Enable North Star driver" DEPENDS XRT_HAVE_INTERNAL_HID)
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option_with_deps(XRT_BUILD_DRIVER_OHMD "Enable OpenHMD driver" DEPENDS OPENHMD_FOUND)
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option_with_deps(XRT_BUILD_DRIVER_PSMV "Enable Playstation Move driver" DEPENDS XRT_HAVE_INTERNAL_HID)
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option_with_deps(XRT_BUILD_DRIVER_PSVR "Enable PSVR HMD driver" DEPENDS XRT_HAVE_HIDAPI)
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option_with_deps(XRT_BUILD_DRIVER_QWERTY "Enable Qwerty driver" DEPENDS XRT_HAVE_SDL2)
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option_with_deps(XRT_BUILD_DRIVER_REALSENSE "Enable RealSense device driver" DEPENDS XRT_HAVE_REALSENSE)
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option_with_deps(XRT_BUILD_DRIVER_REMOTE "Enable remote debugging driver" DEPENDS "XRT_HAVE_LINUX OR ANDROID")
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option_with_deps(XRT_BUILD_DRIVER_SURVIVE "Enable libsurvive driver" DEPENDS SURVIVE_FOUND)
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option_with_deps(XRT_BUILD_DRIVER_ULV2 "Enable Ultraleap v2 driver" DEPENDS LeapV2_FOUND)
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option_with_deps(XRT_BUILD_DRIVER_VF "Build video frame driver (for video file support, uses gstreamer)" DEPENDS XRT_HAVE_GST)
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option_with_deps(XRT_BUILD_DRIVER_VIVE "Enable driver for HTC Vive, Vive Pro, Valve Index, and their controllers" DEPENDS ZLIB_FOUND XRT_HAVE_LINUX)
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option_with_deps(XRT_BUILD_DRIVER_WMR "Enable Windows Mixed Reality driver" DEPENDS "NOT WIN32")
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option(XRT_BUILD_DRIVER_DUMMY "Enable dummy driver" ON)
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option(XRT_BUILD_SAMPLES "Enable compiling sample code implementations that will not be linked into any final targets" ON)
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option_with_deps(XRT_BUILD_DRIVER_HDK "Enable HDK driver" DEPENDS XRT_HAVE_INTERNAL_HID)
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option_with_deps(XRT_BUILD_DRIVER_PSMV "Enable Playstation Move driver" DEPENDS XRT_HAVE_INTERNAL_HID)
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option_with_deps(XRT_BUILD_DRIVER_HYDRA "Enable Hydra driver" DEPENDS XRT_HAVE_INTERNAL_HID)
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option_with_deps(XRT_BUILD_DRIVER_NS "Enable North Star driver" DEPENDS XRT_HAVE_INTERNAL_HID)
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option_with_deps(XRT_BUILD_DRIVER_VF "Build video frame driver (for video file support, uses gstreamer)" DEPENDS XRT_HAVE_GST)
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option_with_deps(XRT_BUILD_DRIVER_DEPTHAI "DepthAI" DEPENDS depthai_FOUND)
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option_with_deps(XRT_BUILD_DRIVER_SURVIVE "Enable libsurvive driver" DEPENDS SURVIVE_FOUND)
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option_with_deps(XRT_BUILD_DRIVER_ANDROID "Enable Android sensors driver" DEPENDS ANDROID)
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option_with_deps(XRT_BUILD_DRIVER_QWERTY "Enable Qwerty driver" DEPENDS XRT_HAVE_SDL2)
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option_with_deps(XRT_BUILD_DRIVER_EUROC "Enable EuRoC dataset driver for SLAM evaluation" DEPENDS XRT_HAVE_OPENCV)
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# cmake-format: on
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# Most users won't touch these.
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mark_as_advanced(XRT_FEATURE_COMPOSITOR_MAIN XRT_FEATURE_OPENXR)
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# Defaults for OpenXR layer support
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if(NOT DEFINED XRT_FEATURE_OPENXR_LAYER_DEPTH)
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set(XRT_FEATURE_OPENXR_LAYER_DEPTH ON)
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endif()
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@ -289,8 +300,6 @@ if(NOT DEFINED XRT_FEATURE_OPENXR_LAYER_EQUIRECT1)
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set(XRT_FEATURE_OPENXR_LAYER_EQUIRECT1 ON)
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endif()
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# Most users won't touch these.
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mark_as_advanced(XRT_FEATURE_COMPOSITOR_MAIN XRT_FEATURE_OPENXR)
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# You can set this from a superproject to add a driver
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# All drivers must be listed in here to be included in the generated header!
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list(
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@ -439,7 +448,7 @@ message(STATUS "# ONNXRUNTIME: ${XRT_HAVE_ONNXRUNTIME}")
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message(STATUS "# SYSTEM_CJSON: ${XRT_HAVE_SYSTEM_CJSON}")
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message(STATUS "# KIMERA: ${XRT_HAVE_KIMERA_SLAM}")
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message(STATUS "# BASALT: ${XRT_HAVE_BASALT_SLAM}")
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message(STATUS "# SLAM: ${XRT_HAVE_SLAM}")
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message(STATUS "# SLAM: ${XRT_FEATURE_SLAM}")
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message(STATUS "#")
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message(STATUS "# FEATURE_IPC: ${XRT_FEATURE_IPC}")
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message(STATUS "# FEATURE_COMPOSITOR_MAIN: ${XRT_FEATURE_COMPOSITOR_MAIN}")
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2
doc/changes/misc_fixes/mr.1262.md
Normal file
2
doc/changes/misc_fixes/mr.1262.md
Normal file
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@ -0,0 +1,2 @@
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- Build system will now error out, rather than silently disable the option, if you specifically enable an option whose dependencies are unavailable.
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- Build system option: `XRT_HAVE_SLAM` has been renamed to `XRT_FEATURE_SLAM` to more accurately describe it, with corresponding move from `xrt_config_have.h` to `xrt_config_build.h`.
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2
src/external/CMakeLists.txt
vendored
2
src/external/CMakeLists.txt
vendored
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@ -50,7 +50,7 @@ target_include_directories(
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)
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# External SLAM tracking
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if(SLAM)
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if(XRT_FEATURE_SLAM)
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add_library(xrt-external-slam STATIC slam_tracker/slam_tracker.hpp)
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set_target_properties(xrt-external-slam PROPERTIES LINKER_LANGUAGE CXX)
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target_include_directories(
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@ -144,7 +144,7 @@ if(XRT_HAVE_OPENCV)
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target_include_directories(aux_tracking SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS})
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target_link_libraries(aux_tracking PUBLIC ${OpenCV_LIBRARIES})
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endif()
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if(XRT_HAVE_SLAM)
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if(XRT_FEATURE_SLAM)
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target_sources(aux_tracking PRIVATE tracking/t_tracker_slam.cpp)
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target_link_libraries(aux_tracking PRIVATE xrt-external-slam)
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endif()
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@ -13,13 +13,15 @@
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#include "tracking/t_tracking.h"
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#include "util/u_logging.h"
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#include "util/u_misc.h"
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#include "xrt/xrt_config_have.h"
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#include "xrt/xrt_config_build.h"
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#include "xrt/xrt_defines.h"
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#include "xrt/xrt_frame.h"
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#include "xrt/xrt_frameserver.h"
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#include "xrt/xrt_tracking.h"
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#if !defined(XRT_HAVE_SLAM)
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#if !defined(XRT_FEATURE_SLAM)
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void
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euroc_run_dataset(const char *euroc_path,
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@ -11,6 +11,7 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include "xrt/xrt_config_build.h"
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#include "xrt/xrt_config_have.h"
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#include "xrt/xrt_prober.h"
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@ -164,7 +165,7 @@ create_tracked_rs_device(struct xrt_prober *xp)
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rs2_error *e = NULL;
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struct rs_container rsc = {0};
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int expected_tracking = debug_get_num_option_rs_tracking();
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#ifdef XRT_HAVE_SLAM
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#ifdef XRT_FEATURE_SLAM
|
||||
bool external_slam_supported = true;
|
||||
#else
|
||||
bool external_slam_supported = false;
|
||||
|
|
|
|||
|
|
@ -12,6 +12,7 @@
|
|||
*/
|
||||
|
||||
#include "xrt/xrt_config_have.h"
|
||||
#include "xrt/xrt_config_build.h"
|
||||
#include "xrt/xrt_config_os.h"
|
||||
#include "xrt/xrt_device.h"
|
||||
|
||||
|
|
@ -1218,7 +1219,7 @@ wmr_hmd_slam_track(struct wmr_hmd *wh)
|
|||
|
||||
struct xrt_slam_sinks *sinks = NULL;
|
||||
|
||||
#ifdef XRT_HAVE_SLAM
|
||||
#ifdef XRT_FEATURE_SLAM
|
||||
int create_status = t_slam_create(&wh->slam.xfctx, NULL, &wh->slam.tracker, &sinks);
|
||||
if (create_status != 0) {
|
||||
return NULL;
|
||||
|
|
@ -1266,7 +1267,7 @@ wmr_hmd_create(enum wmr_headset_type hmd_type,
|
|||
|
||||
// Decide whether to initialize the SLAM tracker
|
||||
bool slam_wanted = debug_get_bool_option_wmr_slam();
|
||||
#ifdef XRT_HAVE_SLAM
|
||||
#ifdef XRT_FEATURE_SLAM
|
||||
bool slam_supported = true;
|
||||
#else
|
||||
bool slam_supported = false;
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
// Copyright 2020-2021, Collabora, Ltd.
|
||||
// Copyright 2020-2022, Collabora, Ltd.
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
|
|
@ -9,26 +9,18 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#cmakedefine XRT_FEATURE_IPC
|
||||
|
||||
#cmakedefine XRT_FEATURE_COMPOSITOR_MAIN
|
||||
|
||||
#cmakedefine XRT_FEATURE_SERVICE
|
||||
|
||||
#cmakedefine XRT_FEATURE_OPENXR
|
||||
|
||||
#cmakedefine XRT_FEATURE_OPENXR_LAYER_CUBE
|
||||
|
||||
#cmakedefine XRT_FEATURE_OPENXR_LAYER_CYLINDER
|
||||
|
||||
#cmakedefine XRT_FEATURE_OPENXR_LAYER_DEPTH
|
||||
|
||||
#cmakedefine XRT_FEATURE_OPENXR_LAYER_EQUIRECT2
|
||||
|
||||
#cmakedefine XRT_FEATURE_OPENXR_LAYER_EQUIRECT1
|
||||
/* keep sorted */
|
||||
|
||||
#cmakedefine XRT_FEATURE_COLOR_LOG
|
||||
|
||||
#cmakedefine XRT_FEATURE_TRACING
|
||||
|
||||
#cmakedefine XRT_FEATURE_COMPOSITOR_MAIN
|
||||
#cmakedefine XRT_FEATURE_IPC
|
||||
#cmakedefine XRT_FEATURE_OPENXR
|
||||
#cmakedefine XRT_FEATURE_OPENXR_LAYER_CUBE
|
||||
#cmakedefine XRT_FEATURE_OPENXR_LAYER_CYLINDER
|
||||
#cmakedefine XRT_FEATURE_OPENXR_LAYER_DEPTH
|
||||
#cmakedefine XRT_FEATURE_OPENXR_LAYER_EQUIRECT1
|
||||
#cmakedefine XRT_FEATURE_OPENXR_LAYER_EQUIRECT2
|
||||
#cmakedefine XRT_FEATURE_RENDERDOC
|
||||
#cmakedefine XRT_FEATURE_SERVICE
|
||||
#cmakedefine XRT_FEATURE_SLAM
|
||||
#cmakedefine XRT_FEATURE_TRACING
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
// Copyright 2019-2020, Collabora, Ltd.
|
||||
// Copyright 2019-2022, Collabora, Ltd.
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
|
|
@ -9,26 +9,27 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
/* keep sorted */
|
||||
|
||||
#cmakedefine XRT_HAVE_BASALT_SLAM
|
||||
#cmakedefine XRT_HAVE_DBUS
|
||||
#cmakedefine XRT_HAVE_LIBBSD
|
||||
#cmakedefine XRT_HAVE_EGL
|
||||
#cmakedefine XRT_HAVE_FFMPEG
|
||||
#cmakedefine XRT_HAVE_GST
|
||||
#cmakedefine XRT_HAVE_HIDAPI
|
||||
#cmakedefine XRT_HAVE_JPEG
|
||||
#cmakedefine XRT_HAVE_KIMERA_SLAM
|
||||
#cmakedefine XRT_HAVE_LIBBSD
|
||||
#cmakedefine XRT_HAVE_LIBUDEV
|
||||
#cmakedefine XRT_HAVE_LIBUSB
|
||||
#cmakedefine XRT_HAVE_HIDAPI
|
||||
#cmakedefine XRT_HAVE_LIBUVC
|
||||
#cmakedefine XRT_HAVE_OPENCV
|
||||
#cmakedefine XRT_HAVE_OPENGL
|
||||
#cmakedefine XRT_HAVE_OPENGLES
|
||||
#cmakedefine XRT_HAVE_PERCETTO
|
||||
#cmakedefine XRT_HAVE_SDL2
|
||||
#cmakedefine XRT_HAVE_SYSTEMD
|
||||
#cmakedefine XRT_HAVE_V4L2
|
||||
#cmakedefine XRT_HAVE_VULKAN
|
||||
#cmakedefine XRT_HAVE_PERCETTO
|
||||
#cmakedefine XRT_HAVE_KIMERA_SLAM
|
||||
#cmakedefine XRT_HAVE_BASALT_SLAM
|
||||
#cmakedefine XRT_HAVE_SLAM
|
||||
#cmakedefine XRT_HAVE_WAYLAND
|
||||
#cmakedefine XRT_HAVE_WAYLAND_DIRECT
|
||||
|
|
|
|||
|
|
@ -13,6 +13,8 @@
|
|||
|
||||
#include "xrt/xrt_config_have.h"
|
||||
#include "xrt/xrt_config_drivers.h"
|
||||
#include "xrt/xrt_config_build.h"
|
||||
|
||||
#ifdef XRT_HAVE_OPENCV
|
||||
#include "tracking/t_tracking.h"
|
||||
#endif
|
||||
|
|
@ -243,7 +245,7 @@ p_factory_ensure_frameserver(struct p_factory *fact)
|
|||
XRT_MAYBE_UNUSED static bool
|
||||
p_factory_ensure_slam_frameserver(struct p_factory *fact)
|
||||
{
|
||||
//! @todo The check for (XRT_HAVE_SLAM && XRT_BUILD_DRIVER_* &&
|
||||
//! @todo The check for (XRT_FEATURE_SLAM && XRT_BUILD_DRIVER_* &&
|
||||
//! debug_flag_is_correct) is getting duplicated in: p_open_video_device,
|
||||
//! p_list_video_devices, and p_factory_ensure_slam_frameserver (here) with
|
||||
//! small differences. Incorrectly modifying one will mess the others.
|
||||
|
|
@ -263,7 +265,7 @@ p_factory_ensure_slam_frameserver(struct p_factory *fact)
|
|||
xrt_prober_open_video_device(&fact->p->base, NULL, &fact->xfctx, &fact->xfs);
|
||||
assert(fact->xfs->source_id == 0xECD0FEED && "xfs is not Euroc, unsynced open_video_device?");
|
||||
|
||||
#ifdef XRT_HAVE_SLAM
|
||||
#ifdef XRT_FEATURE_SLAM
|
||||
int ret = t_slam_create(&fact->xfctx, NULL, &fact->xts, &sinks);
|
||||
if (ret != 0) {
|
||||
U_LOG_W("Unable to initialize SLAM tracking, the Euroc driver will not be tracked");
|
||||
|
|
@ -288,7 +290,7 @@ p_factory_ensure_slam_frameserver(struct p_factory *fact)
|
|||
xrt_prober_open_video_device(&fact->p->base, NULL, &fact->xfctx, &fact->xfs);
|
||||
assert(fact->xfs->source_id == 0x2EA15E115E && "xfs is not RealSense, unsynced open_video_device?");
|
||||
|
||||
#ifdef XRT_HAVE_SLAM
|
||||
#ifdef XRT_FEATURE_SLAM
|
||||
int ret = t_slam_create(&fact->xfctx, NULL, &fact->xts, &sinks);
|
||||
if (ret != 0) {
|
||||
U_LOG_W("Unable to initialize SLAM tracking, the RealSense driver will not be tracked");
|
||||
|
|
@ -412,7 +414,7 @@ p_factory_create_tracked_slam(struct xrt_tracking_factory *xfact,
|
|||
struct xrt_device *xdev,
|
||||
struct xrt_tracked_slam **out_xts)
|
||||
{
|
||||
#ifdef XRT_HAVE_SLAM
|
||||
#ifdef XRT_FEATURE_SLAM
|
||||
struct p_factory *fact = p_factory(xfact);
|
||||
|
||||
struct xrt_tracked_slam *xts = NULL;
|
||||
|
|
|
|||
|
|
@ -9,6 +9,7 @@
|
|||
#include "euroc/euroc_interface.h"
|
||||
#include "os/os_threading.h"
|
||||
#include "util/u_logging.h"
|
||||
#include "xrt/xrt_config_build.h"
|
||||
#include "xrt/xrt_config_have.h"
|
||||
#include "xrt/xrt_config_drivers.h"
|
||||
|
||||
|
|
@ -17,7 +18,7 @@
|
|||
#define P(...) fprintf(stderr, __VA_ARGS__)
|
||||
#define I(...) U_LOG(U_LOGGING_INFO, __VA_ARGS__)
|
||||
|
||||
#if defined(XRT_HAVE_SLAM) && defined(XRT_BUILD_DRIVER_EUROC)
|
||||
#if defined(XRT_FEATURE_SLAM) && defined(XRT_BUILD_DRIVER_EUROC)
|
||||
|
||||
static bool should_exit = false;
|
||||
|
||||
|
|
@ -34,7 +35,7 @@ int
|
|||
cli_cmd_slambatch(int argc, const char **argv)
|
||||
{
|
||||
|
||||
#if !defined(XRT_HAVE_SLAM)
|
||||
#if !defined(XRT_FEATURE_SLAM)
|
||||
P("No SLAM system built.\n");
|
||||
return EXIT_FAILURE;
|
||||
#elif !defined(XRT_BUILD_DRIVER_EUROC)
|
||||
|
|
|
|||
Loading…
Reference in a new issue