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Pose as extrinsics reference #4507

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Aug 14, 2019
Merged

Pose as extrinsics reference #4507

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46afdc8
Pose as extrinsics reference
cchen6 Jul 25, 2019
90dad5d
fix playback extrinsics ref out of order issue
cchen6 Jul 30, 2019
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3 changes: 2 additions & 1 deletion src/device.h
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Original file line number Diff line number Diff line change
Expand Up @@ -88,8 +88,9 @@ namespace librealsense
const platform::backend_device_group group,
bool device_changed_notifications = false);

private:
std::map<int, std::pair<uint32_t, std::shared_ptr<const stream_interface>>> _extrinsics;

private:
std::vector<std::shared_ptr<sensor_interface>> _sensors;
std::shared_ptr<context> _context;
const platform::backend_device_group _group;
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16 changes: 16 additions & 0 deletions src/tm2/tm-device.cpp
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Expand Up @@ -1502,4 +1502,20 @@ namespace librealsense
{
_sensor->detach_controller(id);
}

void tm2_device::register_stream_to_extrinsic_group(const stream_interface& stream, uint32_t group_index)
{
//TM2 uses POSE sensor as reference sensor for extrinsics
auto tm2_profiles = _sensor->get_stream_profiles();
int ref_index = 0;
for (int i = 0; i < tm2_profiles.size(); i++)
if (tm2_profiles[i]->get_stream_type() == RS2_STREAM_POSE)
{
ref_index = i;
break;
}

_extrinsics[stream.get_unique_id()] = std::make_pair(group_index, tm2_profiles[ref_index]);
}

}
3 changes: 3 additions & 0 deletions src/tm2/tm-device.h
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Expand Up @@ -36,6 +36,9 @@ namespace librealsense
};
bool compress_while_record() const override { return false; }

protected:
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I can see the new function's definition but I actually cannot see where and it is applied in the code.
@cchen6 , can you elaborate?

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@ev-mp it is used on tm2-device.cpp line 1518. tm2-device as sub device to use it for reference to pose sensor, differ from ds5 device which use first sensor (infrared 1) as reference.

void register_stream_to_extrinsic_group(const stream_interface& stream, uint32_t group_index);

private:
static const char* tm2_device_name()
{
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