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d/rs: Fix build errors and warnings when compiling without a SLAM dependency

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This commit is contained in:
Mateo de Mayo 2021-10-01 21:29:51 -03:00
parent 140a39f9c4
commit a409ed6141
2 changed files with 6 additions and 3 deletions
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2
src/xrt/drivers/euroc/euroc_device.c
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@ -108,7 +108,7 @@ euroc_device_update_inputs(struct xrt_device *xdev)
//! Corrections specific for original euroc datasets and Kimera.
//! If your datasets comes from a different camera you should probably
//! use a different pose correction function.
static inline struct xrt_pose
XRT_MAYBE_UNUSED static inline struct xrt_pose
euroc_device_correct_pose_from_kimera(struct xrt_pose pose)
{
//! @todo Implement proper pose corrections for the original euroc datasets

7
src/xrt/drivers/realsense/rs_hdev.c
View file

@ -194,7 +194,7 @@ rs_hdev_update_inputs(struct xrt_device *xdev)
}
//! Specific pose corrections for Kimera and the D455 camera
static inline struct xrt_pose
XRT_MAYBE_UNUSED static inline struct xrt_pose
rs_hdev_correct_pose_from_kimera(struct xrt_pose pose)
{
// Correct swapped axes
@ -806,6 +806,7 @@ rs_hdev_fs_create(struct rs_hdev *rs, int device_idx)
static bool
rs_hdev_slam_track(struct rs_hdev *rs, struct xrt_prober *xp)
{
#ifdef XRT_HAVE_SLAM
struct xrt_slam_sinks *sinks = NULL;
int create_status = t_slam_create(&rs->xfctx, &rs->slam, &sinks);
@ -822,8 +823,10 @@ rs_hdev_slam_track(struct rs_hdev *rs, struct xrt_prober *xp)
if (start_status != 0) {
return false;
}
return true;
#else
return false;
#endif
}