diff --git a/CMakeLists.txt b/CMakeLists.txt index d848b0cfa..becc1851e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -250,8 +250,8 @@ option_with_deps(XRT_HAVE_SYSTEM_CJSON "Enable cJSON from system, instead of bun # SLAM backends and deps (sorted) option_with_deps(XRT_HAVE_OPENCV "Enable OpenCV backend" DEPENDS OpenCV_FOUND) -option_with_deps(XRT_HAVE_BASALT_SLAM "Enable Basalt support" DEPENDS basalt_FOUND) -option_with_deps(XRT_HAVE_KIMERA_SLAM "Enable Kimera support" DEPENDS kimera_vio_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) @@ -277,7 +277,7 @@ 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") 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_SLAM OR XRT_HAVE_KIMERA_SLAM") +option_with_deps(XRT_FEATURE_SLAM "Enable SLAM tracking support" DEPENDS XRT_HAVE_OPENCV "XRT_HAVE_BASALT OR XRT_HAVE_KIMERA") 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") @@ -498,7 +498,7 @@ endif() message(STATUS "#####----- Config -----#####") message(STATUS "# GIT_DESC: ${GIT_DESC}") message(STATUS "#") -message(STATUS "# BASALT: ${XRT_HAVE_BASALT_SLAM}") +message(STATUS "# BASALT: ${XRT_HAVE_BASALT}") message(STATUS "# BLUETOOTH: ${XRT_HAVE_BLUETOOTH}") message(STATUS "# D3D11: ${XRT_HAVE_D3D11}") message(STATUS "# D3D12: ${XRT_HAVE_D3D12}") @@ -508,7 +508,7 @@ message(STATUS "# FFMPEG: ${XRT_HAVE_FFMPEG}") 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_SLAM}") +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/src/xrt/auxiliary/tracking/t_tracker_slam.cpp b/src/xrt/auxiliary/tracking/t_tracker_slam.cpp index b25e7072c..c4a6c7cfe 100644 --- a/src/xrt/auxiliary/tracking/t_tracker_slam.cpp +++ b/src/xrt/auxiliary/tracking/t_tracker_slam.cpp @@ -1,4 +1,4 @@ -// Copyright 2021, Collabora, Ltd. +// Copyright 2021-2023, Collabora, Ltd. // SPDX-License-Identifier: BSL-1.0 /*! * @file @@ -106,7 +106,7 @@ using cv::UMatUsageFlags; #define USING_OPENCV_3_3_1 (CV_VERSION_MAJOR == 3 && CV_VERSION_MINOR == 3 && CV_VERSION_REVISION == 1) -#if defined(XRT_HAVE_KIMERA_SLAM) && !USING_OPENCV_3_3_1 +#if defined(XRT_HAVE_KIMERA) && !USING_OPENCV_3_3_1 #pragma message "Kimera-VIO uses OpenCV 3.3.1, use that to prevent conflicts" #endif diff --git a/src/xrt/drivers/euroc/euroc_device.c b/src/xrt/drivers/euroc/euroc_device.c index 8defa610d..58a83c0f7 100644 --- a/src/xrt/drivers/euroc/euroc_device.c +++ b/src/xrt/drivers/euroc/euroc_device.c @@ -1,4 +1,4 @@ -// Copyright 2021, Collabora, Ltd. +// Copyright 2021-2023, Collabora, Ltd. // SPDX-License-Identifier: BSL-1.0 /*! * @file @@ -140,9 +140,9 @@ 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) { -#if defined(XRT_HAVE_KIMERA_SLAM) +#if defined(XRT_HAVE_KIMERA) ed->pose = euroc_device_correct_pose_from_kimera(out_relation->pose); -#elif defined(XRT_HAVE_BASALT_SLAM) +#elif defined(XRT_HAVE_BASALT) ed->pose = euroc_device_correct_pose_from_basalt(out_relation->pose); #else ed->pose = out_relation->pose; diff --git a/src/xrt/drivers/realsense/rs_hdev.c b/src/xrt/drivers/realsense/rs_hdev.c index 9c9308ec2..d0980fbdc 100644 --- a/src/xrt/drivers/realsense/rs_hdev.c +++ b/src/xrt/drivers/realsense/rs_hdev.c @@ -1,4 +1,4 @@ -// Copyright 2021-2022, Collabora, Ltd. +// Copyright 2021-2023, Collabora, Ltd. // SPDX-License-Identifier: BSL-1.0 /*! * @file @@ -294,9 +294,9 @@ rs_hdev_get_tracked_pose(struct xrt_device *xdev, bool pose_tracked = out_relation->relation_flags & pose_bits; if (pose_tracked) { -#if defined(XRT_HAVE_KIMERA_SLAM) +#if defined(XRT_HAVE_KIMERA) rh->pose = rs_hdev_correct_pose_from_kimera(out_relation->pose); -#elif defined(XRT_HAVE_BASALT_SLAM) +#elif defined(XRT_HAVE_BASALT) rh->pose = rs_hdev_correct_pose_from_basalt(out_relation->pose); #else rh->pose = out_relation->pose; diff --git a/src/xrt/drivers/rift_s/rift_s_tracker.c b/src/xrt/drivers/rift_s/rift_s_tracker.c index 010b35d28..b40147f12 100644 --- a/src/xrt/drivers/rift_s/rift_s_tracker.c +++ b/src/xrt/drivers/rift_s/rift_s_tracker.c @@ -3,6 +3,7 @@ * Copyright 2013, Jakob Bornecrantz. * Copyright 2016 Philipp Zabel * Copyright 2019-2022 Jan Schmidt + * Copyright 2023, Collabora, Ltd. * SPDX-License-Identifier: BSL-1.0 * */ @@ -635,7 +636,7 @@ rift_s_tracker_get_tracked_pose(struct rift_s_tracker *t, // Get the IMU pose from the SLAM tracker xrt_tracked_slam_get_tracked_pose(t->tracking.slam, at_timestamp_ns, &imu_relation); -#if defined(XRT_HAVE_BASALT_SLAM) +#if defined(XRT_HAVE_BASALT) rift_s_tracker_correct_pose_from_basalt(&imu_relation.pose); #endif diff --git a/src/xrt/drivers/twrap/twrap_slam.c b/src/xrt/drivers/twrap/twrap_slam.c index deed14306..2d878595d 100644 --- a/src/xrt/drivers/twrap/twrap_slam.c +++ b/src/xrt/drivers/twrap/twrap_slam.c @@ -1,4 +1,4 @@ -// Copyright 2022, Collabora, Ltd. +// Copyright 2022-2023, Collabora, Ltd. // SPDX-License-Identifier: BSL-1.0 /*! * @file @@ -177,7 +177,7 @@ twrap_slam_create_device(struct xrt_frame_context *xfctx, snprintf(dx->base.serial, XRT_DEVICE_NAME_LEN, "Generic Inside-Out Head Tracker"); #ifdef XRT_FEATURE_SLAM -#ifdef XRT_HAVE_BASALT_SLAM +#ifdef XRT_HAVE_BASALT // Arrived at mostly by trial and error; seeminly does a 90-degree rotation about the X axis. dx->pre_rotate_x = (struct xrt_vec3){1.0f, 0.0f, 0.0f}; dx->pre_rotate_z = (struct xrt_vec3){0.0f, 1.0f, 0.0f}; diff --git a/src/xrt/drivers/vive/vive_device.c b/src/xrt/drivers/vive/vive_device.c index 8e5df1ee2..176e12146 100644 --- a/src/xrt/drivers/vive/vive_device.c +++ b/src/xrt/drivers/vive/vive_device.c @@ -1,5 +1,5 @@ // Copyright 2016-2019, Philipp Zabel -// Copyright 2019-2021, Collabora, Ltd. +// Copyright 2019-2023, Collabora, Ltd. // SPDX-License-Identifier: BSL-1.0 /*! * @file @@ -152,7 +152,7 @@ vive_device_get_slam_tracked_pose(struct xrt_device *xdev, bool pose_tracked = out_relation->relation_flags & pose_bits; if (pose_tracked) { -#if defined(XRT_HAVE_BASALT_SLAM) +#if defined(XRT_HAVE_BASALT) d->pose = vive_device_correct_pose_from_basalt(out_relation->pose); #else d->pose = out_relation->pose; diff --git a/src/xrt/drivers/wmr/wmr_hmd.c b/src/xrt/drivers/wmr/wmr_hmd.c index 488fe450c..c89d697f5 100644 --- a/src/xrt/drivers/wmr/wmr_hmd.c +++ b/src/xrt/drivers/wmr/wmr_hmd.c @@ -1,6 +1,6 @@ // Copyright 2018, Philipp Zabel. // Copyright 2020-2021, N Madsen. -// Copyright 2020-2022, Collabora, Ltd. +// Copyright 2020-2023, Collabora, Ltd. // SPDX-License-Identifier: BSL-1.0 /*! * @file @@ -1065,7 +1065,7 @@ wmr_hmd_get_slam_tracked_pose(struct xrt_device *xdev, bool pose_tracked = out_relation->relation_flags & pose_bits; if (pose_tracked) { -#if defined(XRT_HAVE_BASALT_SLAM) +#if defined(XRT_HAVE_BASALT) wh->pose = wmr_hmd_correct_pose_from_basalt(out_relation->pose); #else wh->pose = out_relation->pose; 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 155d89830..cd6ec6564 100644 --- a/src/xrt/include/xrt/xrt_config_have.h.cmake_in +++ b/src/xrt/include/xrt/xrt_config_have.h.cmake_in @@ -1,4 +1,4 @@ -// Copyright 2019-2022, Collabora, Ltd. +// Copyright 2019-2023, Collabora, Ltd. // SPDX-License-Identifier: BSL-1.0 /*! * @file @@ -11,7 +11,7 @@ /* keep sorted */ -#cmakedefine XRT_HAVE_BASALT_SLAM +#cmakedefine XRT_HAVE_BASALT #cmakedefine XRT_HAVE_BLUETOOTH #cmakedefine XRT_HAVE_D3D11 #cmakedefine XRT_HAVE_D3D12 @@ -22,7 +22,7 @@ #cmakedefine XRT_HAVE_GST #cmakedefine XRT_HAVE_HIDAPI #cmakedefine XRT_HAVE_JPEG -#cmakedefine XRT_HAVE_KIMERA_SLAM +#cmakedefine XRT_HAVE_KIMERA #cmakedefine XRT_HAVE_LIBBSD #cmakedefine XRT_HAVE_LIBUDEV #cmakedefine XRT_HAVE_LIBUSB