diff --git a/CMakeLists.txt b/CMakeLists.txt
index ece62d64b..1a6ec17b0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -134,7 +134,9 @@ endif()
 # Find a external SLAM implementation
 set(EXTERNAL_SLAM_SYSTEMS kimera_vio)
 foreach(slam_system IN LISTS EXTERNAL_SLAM_SYSTEMS)
-	find_package(${slam_system} CONFIG)
+	if(PKGCONFIG_FOUND)
+		pkg_check_modules(${slam_system} ${slam_system})
+	endif()
 	if(${slam_system}_FOUND)
 		set(SLAM ON)
 		set(SLAM_NAME ${slam_system})
@@ -209,8 +211,8 @@ cmake_dependent_option(XRT_HAVE_SDL2 "Enable use of SDL2" ON "SDL2_FOUND AND XRT
 cmake_dependent_option(XRT_HAVE_SYSTEM_CJSON "Enable cJSON from system, instead of bundled source" ON "CJSON_FOUND" OFF)
 cmake_dependent_option(XRT_HAVE_GST "Enable gstreamer" ON "GST_FOUND" OFF)
 cmake_dependent_option(XRT_HAVE_ONNXRUNTIME "Enable ONNX runtime support" ON "ONNXRUNTIME_FOUND" OFF)
-cmake_dependent_option(XRT_HAVE_SLAM "Enable SLAM tracking support" ON "SLAM;XRT_HAVE_OPENCV" OFF)
 cmake_dependent_option(XRT_HAVE_KIMERA_SLAM "Enable Kimera support" ON "kimera_vio_FOUND" OFF)
+cmake_dependent_option(XRT_HAVE_SLAM "Enable SLAM tracking support" ON "SLAM;XRT_HAVE_OPENCV" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_PSVR "Enable PSVR HMD driver" ON "HIDAPI_FOUND" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_RS "Enable RealSense device driver" ON "realsense2_FOUND" OFF)
 cmake_dependent_option(XRT_BUILD_DRIVER_VIVE "Enable driver for HTC Vive, Vive Pro, Valve Index, and their controllers" ON "ZLIB_FOUND AND XRT_HAVE_LINUX" OFF)
diff --git a/src/xrt/drivers/euroc/euroc_device.c b/src/xrt/drivers/euroc/euroc_device.c
index 4ca84342c..a2d9c5db3 100644
--- a/src/xrt/drivers/euroc/euroc_device.c
+++ b/src/xrt/drivers/euroc/euroc_device.c
@@ -131,8 +131,10 @@ euroc_device_get_tracked_pose(struct xrt_device *xdev,
 		int pose_bits = XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT;
 		bool pose_tracked = out_relation->relation_flags & pose_bits;
 		if (pose_tracked) {
-#ifdef XRT_HAVE_KIMERA_SLAM
+#if defined(XRT_HAVE_KIMERA_SLAM)
 			ed->pose = euroc_device_correct_pose_from_kimera(out_relation->pose);
+#else
+			ed->pose = out_relation->pose;
 #endif
 		}
 	}
diff --git a/src/xrt/drivers/realsense/rs_hdev.c b/src/xrt/drivers/realsense/rs_hdev.c
index aa71e59fe..78c069b02 100644
--- a/src/xrt/drivers/realsense/rs_hdev.c
+++ b/src/xrt/drivers/realsense/rs_hdev.c
@@ -209,9 +209,10 @@ rs_hdev_correct_pose_from_kimera(struct xrt_pose pose)
 	swapped.orientation.w = pose.orientation.w;
 
 	// Correct orientation
+	//! @todo Encode this transformation into constants
 	struct xrt_space_relation out_relation;
 	struct xrt_space_graph space_graph = {0};
-	struct xrt_pose pre_correction = (struct xrt_pose){{-0.5, -0.5, -0.5, 0.5}, {0, 0, 0}}; // euler(90, 90, 0)
+	struct xrt_pose pre_correction = {{-0.5, -0.5, -0.5, 0.5}, {0, 0, 0}}; // euler(90, 90, 0)
 	float sin45 = 0.7071067811865475;
 	struct xrt_pose pos_correction = {{sin45, 0, sin45, 0}, {0, 0, 0}}; // euler(180, 90, 0)
 	m_space_graph_add_pose(&space_graph, &pre_correction);
@@ -237,8 +238,10 @@ rs_hdev_get_tracked_pose(struct xrt_device *xdev,
 	bool pose_tracked = out_relation->relation_flags & pose_bits;
 
 	if (pose_tracked) {
-#ifdef XRT_HAVE_KIMERA_SLAM
+#if defined(XRT_HAVE_KIMERA_SLAM)
 		rs->pose = rs_hdev_correct_pose_from_kimera(out_relation->pose);
+#else
+		rs->pose = out_relation->pose;
 #endif
 	}
 
diff --git a/src/xrt/include/xrt/meson.build b/src/xrt/include/xrt/meson.build
index dba94e499..fdaa03180 100644
--- a/src/xrt/include/xrt/meson.build
+++ b/src/xrt/include/xrt/meson.build
@@ -106,9 +106,7 @@ endif
 
 if slam.found() and build_tracking
 	have_conf.set('XRT_HAVE_SLAM', true)
-	if slam.name() == 'kimera_vio'
-		have_conf.set('XRT_HAVE_KIMERA_SLAM', true)
-	endif
+	have_conf.set('XRT_HAVE_KIMERA_SLAM', slam.name() == 'kimera_vio')
 endif
 
 if build_wayland