Public Member Functions | List of all members
rs2::pose_sensor Class Reference

#include <rs_sensor.hpp>

Inheritance diagram for rs2::pose_sensor:
Inheritance graph
[legend]

Public Member Functions

std::vector< uint8_texport_localization_map () const
 
bool get_static_node (const std::string &guid, rs2_vector &pos, rs2_quaternion &orient) const
 
bool import_localization_map (const std::vector< uint8_t > &lmap_buf) const
 
 operator bool () const
 
 pose_sensor (sensor s)
 
 pose_sensor (std::shared_ptr< rs2_sensor > dev)
 
bool remove_static_node (const std::string &guid) const
 
bool set_static_node (const std::string &guid, const rs2_vector &pos, const rs2_quaternion &orient) const
 
- Public Member Functions inherited from rs2::sensor
template<class T >
as () const
 
void close () const
 
const std::shared_ptr< rs2_sensor > & get () const
 
std::vector< stream_profileget_active_streams () const
 
const char * get_info (rs2_camera_info info) const
 
std::vector< filterget_recommended_filters () const
 
std::vector< stream_profileget_stream_profiles () const
 
template<class T >
bool is () const
 
void open (const stream_profile &profile) const
 
void open (const std::vector< stream_profile > &profiles) const
 
 operator bool () const
 
 operator std::shared_ptr< rs2_sensor > ()
 
sensoroperator= (const std::shared_ptr< rs2_sensor > other)
 
sensoroperator= (const sensor &other)
 
 sensor ()
 
 sensor (std::shared_ptr< rs2_sensor > dev)
 
template<class T >
void set_notifications_callback (T callback) const
 
template<class T >
void start (T callback) const
 
void stop () const
 
bool supports (rs2_camera_info info) const
 
- Public Member Functions inherited from rs2::options
float get_option (rs2_option option) const
 
const char * get_option_description (rs2_option option) const
 
const char * get_option_name (rs2_option option) const
 
option_range get_option_range (rs2_option option) const
 
const char * get_option_value_description (rs2_option option, float val) const
 
std::vector< rs2_optionget_supported_options ()
 
bool is_option_read_only (rs2_option option) const
 
optionsoperator= (const options &other)
 
 options (const options &other)
 
void set_option (rs2_option option, float value) const
 
bool supports (rs2_option option) const
 
virtual ~options ()=default
 

Additional Inherited Members

- Protected Member Functions inherited from rs2::options
template<class T >
optionsoperator= (const T &dev)
 
 options (rs2_options *o=nullptr)
 
- Protected Attributes inherited from rs2::sensor
std::shared_ptr< rs2_sensor_sensor
 
friend context
 
friend device
 
friend device_base
 
friend device_list
 
friend roi_sensor
 

Detailed Description

Definition at line 511 of file rs_sensor.hpp.

Constructor & Destructor Documentation

rs2::pose_sensor::pose_sensor ( sensor  s)
inline

Definition at line 514 of file rs_sensor.hpp.

rs2::pose_sensor::pose_sensor ( std::shared_ptr< rs2_sensor dev)
inlineexplicit

Definition at line 619 of file rs_sensor.hpp.

Member Function Documentation

std::vector<uint8_t> rs2::pose_sensor::export_localization_map ( ) const
inline

Get relocalization map that is currently on device, created and updated during most recent tracking session. Can be called before or after stop().

Returns
map data as a binary blob

Definition at line 547 of file rs_sensor.hpp.

bool rs2::pose_sensor::get_static_node ( const std::string guid,
rs2_vector pos,
rs2_quaternion orient 
) const
inline

Gets the current pose of a static node that was created in the current map or in an imported map. Static nodes of imported maps are available after relocalizing the imported map. The static node's pose is returned relative to the current origin of coordinates of device poses. Thus, poses of static nodes of an imported map are consistent with current device poses after relocalization. This function fails if the current tracker confidence is below 3 (high confidence).

Parameters
[in]guidunique name of the static node (limited to 127 chars).
[out]posposition of the static node in the 3D space.
[out]orient_quatorientation of the static node in the 3D space, represented by a unit quaternion.
Returns
true if success.

Definition at line 598 of file rs_sensor.hpp.

bool rs2::pose_sensor::import_localization_map ( const std::vector< uint8_t > &  lmap_buf) const
inline

Load relocalization map onto device. Only one relocalization map can be imported at a time; any previously existing map will be overwritten. The imported map exists simultaneously with the map created during the most recent tracking session after start(), and they are merged after the imported map is relocalized. This operation must be done before start().

Parameters
[in]lmap_bufmap data as a binary blob
Returns
true if success

Definition at line 534 of file rs_sensor.hpp.

rs2::pose_sensor::operator bool ( ) const
inline

Definition at line 618 of file rs_sensor.hpp.

bool rs2::pose_sensor::remove_static_node ( const std::string guid) const
inline

Removes a static node from the current map.

Parameters
[in]guidunique name of the static node (limited to 127 chars).

Definition at line 610 of file rs_sensor.hpp.

bool rs2::pose_sensor::set_static_node ( const std::string guid,
const rs2_vector pos,
const rs2_quaternion orient 
) const
inline

Creates a named virtual landmark in the current map, known as static node. The static node's pose is provided relative to the origin of current coordinate system of device poses. This function fails if the current tracker confidence is below 3 (high confidence).

Parameters
[in]guidunique name of the static node (limited to 127 chars). If a static node with the same name already exists in the current map or the imported map, the static node is overwritten.
[in]posposition of the static node in the 3D space.
[in]orient_quatorientation of the static node in the 3D space, represented by a unit quaternion.
Returns
true if success.

Definition at line 578 of file rs_sensor.hpp.


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


librealsense2
Author(s): Sergey Dorodnicov , Doron Hirshberg , Mark Horn , Reagan Lopez , Itay Carpis
autogenerated on Sat Apr 3 2021 02:51:29