d/*: pose correction for VIT system

src/xrt/drivers/euroc/euroc_device.c

@@ -17,6 +17,7 @@
 #include "xrt/xrt_prober.h"
 #include "xrt/xrt_tracking.h"
 #include "xrt/xrt_config_have.h"
+#include "xrt/xrt_config_build.h"
 
 #include "euroc_driver.h"
 
@@ -101,26 +102,6 @@ euroc_device(struct xrt_device *xdev)
 	return (struct euroc_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.
-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
-	//! @todo Allow to use different pose corrections depending on the device used to record
-	return pose;
-}
-
-//! Similar to `euroc_device_correct_pose_from_kimera` but for Basalt.
-XRT_MAYBE_UNUSED static inline struct xrt_pose
-euroc_device_correct_pose_from_basalt(struct xrt_pose pose)
-{
-	//! @todo Implement proper pose corrections for the original euroc datasets
-	//! @todo Allow to use different pose corrections depending on the device used to record
-	return pose;
-}
-
 static void
 euroc_device_get_tracked_pose(struct xrt_device *xdev,
                               enum xrt_input_name name,
@@ -136,13 +117,7 @@ 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)
-			ed->pose = euroc_device_correct_pose_from_kimera(out_relation->pose);
-#elif defined(XRT_HAVE_BASALT)
-			ed->pose = euroc_device_correct_pose_from_basalt(out_relation->pose);
-#else
 			ed->pose = out_relation->pose;
-#endif
 		}
 	}
 

src/xrt/drivers/realsense/rs_hdev.c

@@ -18,6 +18,7 @@
 #include "xrt/xrt_frame.h"
 #include "xrt/xrt_prober.h"
 #include "xrt/xrt_config_have.h"
+#include "xrt/xrt_config_build.h"
 
 #include "math/m_filter_fifo.h"
 #include "math/m_space.h"
@@ -288,9 +289,9 @@ 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)
-		rh->pose = rs_hdev_correct_pose_from_kimera(out_relation->pose);
-#elif defined(XRT_HAVE_BASALT)
+#ifdef XRT_FEATURE_SLAM
+		// !todo Correct pose depending on the VIT system in use, this should be done in the system itself.
+		// For now, assume that we are using Basalt.
 		rh->pose = rs_hdev_correct_pose_from_basalt(out_relation->pose);
 #else
 		rh->pose = out_relation->pose;

src/xrt/drivers/rift_s/rift_s_tracker.c

@@ -36,6 +36,7 @@
 #include "util/u_trace_marker.h"
 #include "util/u_var.h"
 
+#include "xrt/xrt_config_build.h"
 #include "xrt/xrt_config_drivers.h"
 #include "xrt/xrt_device.h"
 
@@ -635,11 +636,11 @@ 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)
+#ifdef XRT_FEATURE_SLAM
+		// !todo Correct pose depending on the VIT system in use, this should be done in the system itself.
+		// For now, assume that we are using Basalt.
 		rift_s_tracker_correct_pose_from_basalt(&imu_relation.pose);
 #endif
-
 		imu_relation.relation_flags = (enum xrt_space_relation_flags)(
 		    XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | XRT_SPACE_RELATION_POSITION_VALID_BIT |
 		    XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT);

src/xrt/drivers/twrap/twrap_slam.c

@@ -14,6 +14,8 @@
 #include "xrt/xrt_frameserver.h"
 #include "xrt/xrt_results.h"
 #include "xrt/xrt_tracking.h"
+#include "xrt/xrt_config_have.h"
+#include "xrt/xrt_config_build.h"
 
 #include "util/u_var.h"
 #include "util/u_misc.h"
@@ -171,14 +173,11 @@ 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
+	// !todo Correct pose depending on the VIT system in use, this should be done in the system itself.
 	// 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};
 	dx->pre_rotate = true;
-#else
-#pragma message "World space conversion not implemented for this SLAM system"
-#endif
 #endif
 
 	// note: we can't put this at the very end; we need u_tracked_imu_3dof, and that needs to be put on the debug

src/xrt/drivers/vive/vive_device.c

@@ -34,6 +34,8 @@
 #include "vive_protocol.h"
 #include "vive_source.h"
 #include "xrt/xrt_tracking.h"
+#include "xrt/xrt_config_have.h"
+#include "xrt/xrt_config_build.h"
 
 // Used to scale the IMU range from config.
 #define VIVE_IMU_RANGE_CONVERSION_VALUE (32768.0)
@@ -156,7 +158,9 @@ 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)
+#ifdef XRT_FEATURE_SLAM
+		// !todo Correct pose depending on the VIT system in use, this should be done in the system itself.
+		// For now, assume that we are using Basalt.
 		d->pose = vive_device_correct_pose_from_basalt(out_relation->pose);
 #else
 		d->pose = out_relation->pose;

src/xrt/drivers/wmr/wmr_hmd.c

@@ -1145,7 +1145,9 @@ 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)
+#ifdef XRT_FEATURE_SLAM
+		// !todo Correct pose depending on the VIT system in use, this should be done in the system itself.
+		// For now, assume that we are using Basalt.
 		wh->pose = wmr_hmd_correct_pose_from_basalt(out_relation->pose);
 #else
 		wh->pose = out_relation->pose;