#include <motion-transform.h>

Inheritance diagram for librealsense::motion_transform:

[legend]

Public Member Functions
	motion_transform (rs2_format target_format, rs2_stream target_stream, std::shared_ptr< mm_calib_handler > mm_calib=nullptr, std::shared_ptr< enable_motion_correction > mm_correct_opt=nullptr)

Public Member Functions inherited from librealsense::functional_processing_block
	functional_processing_block (const char *name, rs2_format target_format, rs2_stream target_stream=RS2_STREAM_ANY, rs2_extension extension_type=RS2_EXTENSION_VIDEO_FRAME)

Public Member Functions inherited from librealsense::stream_filter_processing_block
	stream_filter_processing_block (const char *name)

virtual	~stream_filter_processing_block ()

Public Member Functions inherited from librealsense::generic_processing_block
	generic_processing_block (const char *name)

virtual	~generic_processing_block ()

Public Member Functions inherited from librealsense::processing_block
synthetic_source_interface &	get_source () override

void	invoke (frame_holder frames) override

	processing_block (const char *name)

void	set_output_callback (frame_callback_ptr callback) override

void	set_processing_callback (frame_processor_callback_ptr callback) override

virtual	~processing_block ()

Public Member Functions inherited from librealsense::processing_block_interface
virtual	~processing_block_interface ()=default

Public Member Functions inherited from librealsense::options_interface
virtual	~options_interface ()=default

Public Member Functions inherited from librealsense::recordable< options_interface >
virtual	~recordable ()=default

Public Member Functions inherited from librealsense::info_interface
virtual	~info_interface ()=default

Public Member Functions inherited from librealsense::recordable< info_interface >
virtual	~recordable ()=default

Public Member Functions inherited from librealsense::options_container
void	create_snapshot (std::shared_ptr< options_interface > &snapshot) const override

void	enable_recording (std::function< void(const options_interface &)> record_action) override

option &	get_option (rs2_option id) override

const option &	get_option (rs2_option id) const override

std::shared_ptr< option >	get_option_handler (rs2_option id)

std::shared_ptr< option >	get_option_handler (rs2_option id) const

virtual const char *	get_option_name (rs2_option option) const override

std::vector< rs2_option >	get_supported_options () const override

void	register_option (rs2_option id, std::shared_ptr< option > option)

bool	supports_option (rs2_option id) const override

void	unregister_option (rs2_option id)

void	update (std::shared_ptr< extension_snapshot > ext) override

Public Member Functions inherited from librealsense::extension_snapshot
virtual	~extension_snapshot ()=default

Public Member Functions inherited from librealsense::info_container
void	create_snapshot (std::shared_ptr< info_interface > &snapshot) const override

void	enable_recording (std::function< void(const info_interface &)> record_action) override

const std::string &	get_info (rs2_camera_info info) const override

void	register_info (rs2_camera_info info, const std::string &val)

bool	supports_info (rs2_camera_info info) const override

void	update (std::shared_ptr< extension_snapshot > ext) override

void	update_info (rs2_camera_info info, const std::string &val)

Protected Member Functions
	motion_transform (const char *name, rs2_format target_format, rs2_stream target_stream, std::shared_ptr< mm_calib_handler > mm_calib, std::shared_ptr< enable_motion_correction > mm_correct_opt)

rs2::frame	process_frame (const rs2::frame_source &source, const rs2::frame &f) override

Protected Member Functions inherited from librealsense::functional_processing_block
virtual void	init_profiles_info (const rs2::frame *f)

virtual rs2::frame	prepare_frame (const rs2::frame_source &source, const rs2::frame &f)

rs2::frame	process_frame (const rs2::frame_source &source, const rs2::frame &f) override

virtual void	process_function (byte const dest[], const byte source, int width, int height, int actual_size, int input_size)=0

Protected Member Functions inherited from librealsense::stream_filter_processing_block
bool	should_process (const rs2::frame &frame) override

Protected Member Functions inherited from librealsense::generic_processing_block
virtual rs2::frame	prepare_output (const rs2::frame_source &source, rs2::frame input, std::vector< rs2::frame > results)

Private Member Functions
void	correct_motion (rs2::frame *f)

Private Attributes
float3	_accel_bias

float3x3	_accel_sensitivity

float3	_gyro_bias

float3x3	_gyro_sensitivity

float3x3	_imu2depth_cs_alignment_matrix

std::shared_ptr< enable_motion_correction >	_mm_correct_opt = nullptr

Additional Inherited Members
Protected Attributes inherited from librealsense::functional_processing_block
rs2_extension	_extension_type

rs2::stream_profile	_source_stream_profile

int	_target_bpp = 0

rs2_format	_target_format

rs2_stream	_target_stream

rs2::stream_profile	_target_stream_profile

Protected Attributes inherited from librealsense::stream_filter_processing_block
stream_filter	_stream_filter

Protected Attributes inherited from librealsense::processing_block
frame_processor_callback_ptr	_callback

std::mutex	_mutex

frame_source	_source

synthetic_source	_source_wrapper

Protected Attributes inherited from librealsense::options_container
std::map< rs2_option, std::shared_ptr< option > >	_options

std::function< void(const options_interface &)>	_recording_function = [](const options_interface&) {}

Detailed Description

Definition at line 12 of file motion-transform.h.

Constructor & Destructor Documentation

librealsense::motion_transform::motion_transform	(	rs2_format	target_format,
		rs2_stream	target_stream,
		std::shared_ptr< mm_calib_handler >	mm_calib = `nullptr`,
		std::shared_ptr< enable_motion_correction >	mm_correct_opt = `nullptr`
	)

Definition at line 40 of file motion-transform.cpp.

librealsense::motion_transform::motion_transform	(	const char *	name,
		rs2_format	target_format,
		rs2_stream	target_stream,
		std::shared_ptr< mm_calib_handler >	mm_calib,
		std::shared_ptr< enable_motion_correction >	mm_correct_opt
	)

protected

Definition at line 45 of file motion-transform.cpp.

Member Function Documentation

void librealsense::motion_transform::correct_motion ( rs2::frame * f )

private

Definition at line 77 of file motion-transform.cpp.

rs2::frame librealsense::motion_transform::process_frame	(	const rs2::frame_source &	source,
		const rs2::frame &	f
	)

overrideprotectedvirtual

Implements librealsense::generic_processing_block.

Definition at line 69 of file motion-transform.cpp.

Member Data Documentation

float3 librealsense::motion_transform::_accel_bias

private

Definition at line 30 of file motion-transform.h.

float3x3 librealsense::motion_transform::_accel_sensitivity

private

Definition at line 29 of file motion-transform.h.

float3 librealsense::motion_transform::_gyro_bias

private

Definition at line 32 of file motion-transform.h.

float3x3 librealsense::motion_transform::_gyro_sensitivity

private

Definition at line 31 of file motion-transform.h.

float3x3 librealsense::motion_transform::_imu2depth_cs_alignment_matrix

private

Definition at line 33 of file motion-transform.h.

std::shared_ptr<enable_motion_correction> librealsense::motion_transform::_mm_correct_opt = nullptr

private

Definition at line 28 of file motion-transform.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation