From a409ed61412934c1c3cbff4fd923955103bca6a7 Mon Sep 17 00:00:00 2001 From: Mateo de Mayo <mateo.demayo@collabora.com> Date: Fri, 1 Oct 2021 21:29:51 -0300 Subject: [PATCH] d/rs: Fix build errors and warnings when compiling without a SLAM dependency --- src/xrt/drivers/euroc/euroc_device.c | 2 +- src/xrt/drivers/realsense/rs_hdev.c | 7 +++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/src/xrt/drivers/euroc/euroc_device.c b/src/xrt/drivers/euroc/euroc_device.c index 4c9ff74d3..4ca84342c 100644 --- a/src/xrt/drivers/euroc/euroc_device.c +++ b/src/xrt/drivers/euroc/euroc_device.c @@ -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 diff --git a/src/xrt/drivers/realsense/rs_hdev.c b/src/xrt/drivers/realsense/rs_hdev.c index ee28647cd..b0cd18fa8 100644 --- a/src/xrt/drivers/realsense/rs_hdev.c +++ b/src/xrt/drivers/realsense/rs_hdev.c @@ -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 }