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d/rs: Fix build errors and warnings when compiling without a SLAM dependency
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src/xrt/drivers
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@ -108,7 +108,7 @@ euroc_device_update_inputs(struct xrt_device *xdev)
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//! Corrections specific for original euroc datasets and Kimera.
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//! Corrections specific for original euroc datasets and Kimera.
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//! If your datasets comes from a different camera you should probably
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//! If your datasets comes from a different camera you should probably
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//! use a different pose correction function.
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//! use a different pose correction function.
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static inline struct xrt_pose
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XRT_MAYBE_UNUSED static inline struct xrt_pose
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euroc_device_correct_pose_from_kimera(struct xrt_pose pose)
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euroc_device_correct_pose_from_kimera(struct xrt_pose pose)
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{
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{
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//! @todo Implement proper pose corrections for the original euroc datasets
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//! @todo Implement proper pose corrections for the original euroc datasets
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@ -194,7 +194,7 @@ rs_hdev_update_inputs(struct xrt_device *xdev)
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}
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}
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//! Specific pose corrections for Kimera and the D455 camera
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//! Specific pose corrections for Kimera and the D455 camera
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static inline struct xrt_pose
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XRT_MAYBE_UNUSED static inline struct xrt_pose
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rs_hdev_correct_pose_from_kimera(struct xrt_pose pose)
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rs_hdev_correct_pose_from_kimera(struct xrt_pose pose)
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{
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{
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// Correct swapped axes
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// Correct swapped axes
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@ -806,6 +806,7 @@ rs_hdev_fs_create(struct rs_hdev *rs, int device_idx)
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static bool
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static bool
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rs_hdev_slam_track(struct rs_hdev *rs, struct xrt_prober *xp)
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rs_hdev_slam_track(struct rs_hdev *rs, struct xrt_prober *xp)
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{
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{
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#ifdef XRT_HAVE_SLAM
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struct xrt_slam_sinks *sinks = NULL;
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struct xrt_slam_sinks *sinks = NULL;
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int create_status = t_slam_create(&rs->xfctx, &rs->slam, &sinks);
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int create_status = t_slam_create(&rs->xfctx, &rs->slam, &sinks);
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@ -822,8 +823,10 @@ rs_hdev_slam_track(struct rs_hdev *rs, struct xrt_prober *xp)
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if (start_status != 0) {
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if (start_status != 0) {
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return false;
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return false;
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}
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}
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return true;
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return true;
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#else
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return false;
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#endif
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}
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}
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