From ab2da01631f63397a0304141f0b4031897524d66 Mon Sep 17 00:00:00 2001
From: Mateo de Mayo <mateo.demayo@collabora.com>
Date: Sat, 16 Oct 2021 17:02:27 -0300
Subject: [PATCH] build: Add Basalt as an external SLAM system

---
 CMakeLists.txt                                 | 4 +++-
 meson.build                                    | 2 +-
 src/xrt/include/xrt/meson.build                | 1 +
 src/xrt/include/xrt/xrt_config_have.h.cmake_in | 1 +
 4 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1a6ec17b0..cff5612da 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -132,7 +132,7 @@ if(ANDROID)
 endif()
 
 # Find a external SLAM implementation
-set(EXTERNAL_SLAM_SYSTEMS kimera_vio)
+set(EXTERNAL_SLAM_SYSTEMS kimera_vio basalt)
 foreach(slam_system IN LISTS EXTERNAL_SLAM_SYSTEMS)
 	if(PKGCONFIG_FOUND)
 		pkg_check_modules(${slam_system} ${slam_system})
@@ -212,6 +212,7 @@ cmake_dependent_option(XRT_HAVE_SYSTEM_CJSON "Enable cJSON from system, instead
 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_KIMERA_SLAM "Enable Kimera support" ON "kimera_vio_FOUND" OFF)
+cmake_dependent_option(XRT_HAVE_BASALT_SLAM "Enable Basalt support" ON "basalt_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)
@@ -389,6 +390,7 @@ message(STATUS "#    PERCETTO:        ${XRT_HAVE_PERCETTO}")
 message(STATUS "#    ONNXRUNTIME:     ${XRT_HAVE_ONNXRUNTIME}")
 message(STATUS "#    SYSTEM_CJSON:    ${XRT_HAVE_SYSTEM_CJSON}")
 message(STATUS "#    KIMERA:          ${XRT_HAVE_KIMERA_SLAM}")
+message(STATUS "#    BASALT:          ${XRT_HAVE_BASALT_SLAM}")
 message(STATUS "#    SLAM:            ${XRT_HAVE_SLAM}")
 message(STATUS "#")
 message(STATUS "#    FEATURE_COMPOSITOR_MAIN:              ${XRT_FEATURE_COMPOSITOR_MAIN}")
diff --git a/meson.build b/meson.build
index c1d34a64e..f700476cf 100644
--- a/meson.build
+++ b/meson.build
@@ -93,7 +93,7 @@ if not opencv.found()
 endif
 
 # Find an external SLAM implementation
-external_slam_systems = ['kimera_vio']
+external_slam_systems = ['kimera_vio', 'basalt']
 foreach slam_system : external_slam_systems
 	slam = dependency(slam_system, required: false)
 	if slam.found()
diff --git a/src/xrt/include/xrt/meson.build b/src/xrt/include/xrt/meson.build
index fdaa03180..6df4f816a 100644
--- a/src/xrt/include/xrt/meson.build
+++ b/src/xrt/include/xrt/meson.build
@@ -107,6 +107,7 @@ endif
 if slam.found() and build_tracking
 	have_conf.set('XRT_HAVE_SLAM', true)
 	have_conf.set('XRT_HAVE_KIMERA_SLAM', slam.name() == 'kimera_vio')
+	have_conf.set('XRT_HAVE_BASALT_SLAM', slam.name() == 'basalt')
 endif
 
 if build_wayland
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 06b7cd521..058bfdb96 100644
--- a/src/xrt/include/xrt/xrt_config_have.h.cmake_in
+++ b/src/xrt/include/xrt/xrt_config_have.h.cmake_in
@@ -27,6 +27,7 @@
 #cmakedefine XRT_HAVE_VULKAN
 #cmakedefine XRT_HAVE_PERCETTO
 #cmakedefine XRT_HAVE_KIMERA_SLAM
+#cmakedefine XRT_HAVE_BASALT_SLAM
 #cmakedefine XRT_HAVE_SLAM
 #cmakedefine XRT_HAVE_WAYLAND
 #cmakedefine XRT_HAVE_WAYLAND_DIRECT