#include <rs_device.hpp>

Inheritance diagram for rs2::tm2:

Public Member Functions
void	connect_controller (const std::array< uint8_t, 6 > &mac_addr)

void	disable_loopback ()

void	disconnect_controller (int id)

void	enable_loopback (const std::string &from_file)

bool	is_loopback_enabled () const

void	set_extrinsics (rs2_stream from_stream, int from_id, rs2_stream to_stream, int to_id, rs2_extrinsics &extrinsics)

void	set_intrinsics (int fisheye_sensor_id, const rs2_intrinsics &intrinsics)

void	set_motion_device_intrinsics (rs2_stream stream_type, const rs2_motion_device_intrinsic &motion_intriniscs)

	tm2 (device d)

Public Member Functions inherited from rs2::calibrated_device
	calibrated_device (device d)

void	reset_to_factory_calibration ()

void	write_calibration () const

Public Member Functions inherited from rs2::device
template<class T >
T	as () const

	device ()

	device (std::shared_ptr< rs2_device > dev)

template<class T >
T	first () const

const std::shared_ptr< rs2_device > &	get () const

const char *	get_info (rs2_camera_info info) const

void	hardware_reset ()

template<class T >
bool	is () const

	operator bool () const

	operator std::shared_ptr< rs2_device > ()

device &	operator= (const std::shared_ptr< rs2_device > dev)

device &	operator= (const device &dev)

std::vector< sensor >	query_sensors () const

bool	supports (rs2_camera_info info) const

virtual	~device ()

Private Member Functions
std::pair< sensor, stream_profile >	get_sensor_profile (rs2_stream stream_type, int stream_index)

Additional Inherited Members
Protected Attributes inherited from rs2::device
std::shared_ptr< rs2_device >	_dev

Detailed Description

The tm2 class is an interface for T2XX devices, such as T265.

For T265, it provides RS2_STREAM_FISHEYE (2), RS2_STREAM_GYRO, RS2_STREAM_ACCEL, and RS2_STREAM_POSE streams, and contains the following sensors:

pose_sensor: map and relocalization functions.
wheel_odometer: input for odometry data.

Definition at line 787 of file rs_device.hpp.

Constructor & Destructor Documentation

rs2::tm2::tm2 ( device d )

inline

Definition at line 790 of file rs_device.hpp.

Member Function Documentation

void rs2::tm2::connect_controller ( const std::array< uint8_t, 6 > & mac_addr )

inline

Connects to a given tm2 controller

Parameters

[in] mac_addr The MAC address of the desired controller

Definition at line 838 of file rs_device.hpp.

void rs2::tm2::disable_loopback ( )

inline

Restores the given device into normal operation mode

Definition at line 815 of file rs_device.hpp.

void rs2::tm2::disconnect_controller ( int id )

inline

Disconnects a given tm2 controller

Parameters

[in] id The ID of the desired controller

Definition at line 849 of file rs_device.hpp.

void rs2::tm2::enable_loopback ( const std::string & from_file )

inline

Enter the given device into loopback operation mode that uses the given file as input for raw data

Parameters

[in] from_file Path to bag file with raw data for loopback

Definition at line 805 of file rs_device.hpp.

std::pair<sensor, stream_profile> rs2::tm2::get_sensor_profile	(	rs2_stream	stream_type,
		int	stream_index
	)

inlineprivate

Definition at line 901 of file rs_device.hpp.

bool rs2::tm2::is_loopback_enabled ( ) const

inline

Checks if the device is in loopback mode or not

Returns: true if the device is in loopback operation mode

Definition at line 826 of file rs_device.hpp.

void rs2::tm2::set_extrinsics	(	rs2_stream	from_stream,
		int	from_id,
		rs2_stream	to_stream,
		int	to_id,
		rs2_extrinsics &	extrinsics
	)

inline

Set tm2 camera extrinsics

Parameters

[in]	from_stream	only support RS2_STREAM_FISHEYE
[in]	from_id	only support left fisheye = 1
[in]	to_stream	only support RS2_STREAM_FISHEYE
[in]	to_id	only support right fisheye = 2
[in]	extrinsics	extrinsics value to be written to the device

Definition at line 877 of file rs_device.hpp.

void rs2::tm2::set_intrinsics	(	int	fisheye_sensor_id,
		const rs2_intrinsics &	intrinsics
	)

inline

Set tm2 camera intrinsics

Parameters

[in]	fisheye_senor_id	The ID of the fisheye sensor
[in]	intrinsics	value to be written to the device

Definition at line 861 of file rs_device.hpp.

void rs2::tm2::set_motion_device_intrinsics	(	rs2_stream	stream_type,
		const rs2_motion_device_intrinsic &	motion_intriniscs
	)

inline

Set tm2 motion device intrinsics

Parameters

[in]	stream_type	stream type of the motion device
[in]	motion_intriniscs	intrinsics value to be written to the device

Definition at line 891 of file rs_device.hpp.

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

rs_device.hpp

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation