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t/slam: Make default of VIT_SYSTEM_LIBRARY_PATH consistent with other envvar defaults
authored by
Mateo de Mayo
and committed by
Simon Zeni
db40cc2e
65531043
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src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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// Copyright 2021-2023, Collabora, Ltd.
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// Copyright 2021-2024, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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#include <string>
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#include <vector>
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//! @todo Get preferred system from systems found at build time
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#define PREFERRED_VIT_SYSTEM_LIBRARY "libbasalt.so"
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#define SLAM_TRACE(...) U_LOG_IFL_T(t.log_level, __VA_ARGS__)
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#define SLAM_DEBUG(...) U_LOG_IFL_D(t.log_level, __VA_ARGS__)
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#define SLAM_INFO(...) U_LOG_IFL_I(t.log_level, __VA_ARGS__)
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//! @see t_slam_tracker_config
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DEBUG_GET_ONCE_LOG_OPTION(slam_log, "SLAM_LOG", U_LOGGING_INFO)
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DEBUG_GET_ONCE_OPTION(vit_system_library_path, "VIT_SYSTEM_LIBRARY_PATH", NULL)
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DEBUG_GET_ONCE_OPTION(vit_system_library_path, "VIT_SYSTEM_LIBRARY_PATH", PREFERRED_VIT_SYSTEM_LIBRARY)
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DEBUG_GET_ONCE_OPTION(slam_config, "SLAM_CONFIG", nullptr)
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DEBUG_GET_ONCE_BOOL_OPTION(slam_ui, "SLAM_UI", false)
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DEBUG_GET_ONCE_BOOL_OPTION(slam_submit_from_start, "SLAM_SUBMIT_FROM_START", false)
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t.log_level = log_level;
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if (config->vit_system_library_path == NULL) {
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SLAM_WARN("No VIT system library set, use VIT_SYSTEM_LIBRARY_PATH to set a tracker");
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SLAM_WARN("Attempting to load 'libbasalt.so' from system");
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config->vit_system_library_path = "libbasalt.so";
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}
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SLAM_INFO("Loading VIT system library from '%s'", config->vit_system_library_path);
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SLAM_INFO("Loading VIT system library from VIT_SYSTEM_LIBRARY_PATH='%s'", config->vit_system_library_path);
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if (!t_vit_bundle_load(&t.vit, config->vit_system_library_path)) {
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SLAM_ERROR("Failed to load VIT system library from '%s'", config->vit_system_library_path);