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Connected get_motion_intrinsics API to get parameters for T265 #3482

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merged 1 commit into from
Mar 17, 2019
Merged

Connected get_motion_intrinsics API to get parameters for T265 #3482

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18 changes: 11 additions & 7 deletions src/tm2/tm-device.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -631,8 +631,12 @@ namespace librealsense
rs2_motion_device_intrinsic tm2_sensor::get_motion_intrinsics(const motion_stream_profile_interface& profile) const
{
rs2_motion_device_intrinsic result;
const TrackingData::MotionIntrinsics tm_intrinsics{};
int stream_index = profile.get_stream_index() - 1;
TrackingData::MotionIntrinsics tm_intrinsics{};
int stream_index = profile.get_stream_index();
if (stream_index != 0) //firmware only accepts stream 0
{
return result;
}
SensorType type = SensorType::Max;
switch (profile.get_stream_type())
{
Expand All @@ -645,11 +649,11 @@ namespace librealsense
default:
throw invalid_value_exception("Invalid motion stream type");
}
//auto status = _tm_dev->GetMotionModuleIntrinsics(tm_intrinsics, SET_SENSOR_ID(type, stream_index));
// if (status != Status::SUCCESS)
// {
// throw io_exception("Failed to read TM2 intrinsics");
// }
auto status = _tm_dev->GetMotionModuleIntrinsics(SET_SENSOR_ID(type, stream_index), tm_intrinsics);
if (status != Status::SUCCESS)
{
throw io_exception("Failed to read TM2 intrinsics");
}
librealsense::copy_2darray(result.data, tm_intrinsics.data);
librealsense::copy_array(result.noise_variances, tm_intrinsics.noiseVariances);
librealsense::copy_array(result.bias_variances, tm_intrinsics.biasVariances);
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