rs2::pose_sensor Class Reference

#include <rs_sensor.hpp>

Inheritance diagram for rs2::pose_sensor:

Public Member Functions
	pose_sensor (sensor s)
bool	import_localization_map (const std::vector< uint8_t > &lmap_buf) const
std::vector< uint8_t >	export_localization_map () const
bool	set_static_node (const std::string &guid, const rs2_vector &pos, const rs2_quaternion &orient) const
bool	get_static_node (const std::string &guid, rs2_vector &pos, rs2_quaternion &orient) const
bool	remove_static_node (const std::string &guid) const
	operator bool () const
	pose_sensor (std::shared_ptr< rs2_sensor > dev)
Public Member Functions inherited from rs2::sensor
void	open (const stream_profile &profile) const
bool	supports (rs2_camera_info info) const
const char *	get_info (rs2_camera_info info) const
void	open (const std::vector< stream_profile > &profiles) const
void	close () const
template<class T >
void	start (T callback) const
void	stop () const
template<class T >
void	set_notifications_callback (T callback) const
std::vector< stream_profile >	get_stream_profiles () const
std::vector< stream_profile >	get_active_streams () const
std::vector< filter >	get_recommended_filters () const
sensor &	operator= (const std::shared_ptr< rs2_sensor > other)
sensor &	operator= (const sensor &other)
	sensor ()
	operator bool () const
const std::shared_ptr< rs2_sensor > &	get () const
template<class T >
bool	is () const
template<class T >
T	as () const
	sensor (std::shared_ptr< rs2_sensor > dev)
	operator std::shared_ptr< rs2_sensor > ()
bool	supports (rs2_option option) const
Public Member Functions inherited from rs2::options
bool	supports (rs2_option option) const
const char *	get_option_description (rs2_option option) const
const char *	get_option_name (rs2_option option) const
const char *	get_option_value_description (rs2_option option, float val) const
float	get_option (rs2_option option) const
option_value	get_option_value (rs2_option option_id) const
option_range	get_option_range (rs2_option option) const
void	set_option (rs2_option option, float value) const
void	set_option_value (option_value const &value) const
bool	is_option_read_only (rs2_option option) const
void	on_options_changed (std::function< void(const options_list &) > callback) const
std::vector< rs2_option >	get_supported_options ()
options_list	get_supported_option_values ()
options &	operator= (const options &other)
	options (const options &other)
virtual	~options ()=default

Additional Inherited Members
Protected Member Functions inherited from rs2::options
	options (rs2_options *o=nullptr)
template<class T >
options &	operator= (const T &dev)
Protected Attributes inherited from rs2::sensor
friend	context
friend	device_list
friend	device
friend	device_base
friend	roi_sensor
std::shared_ptr< rs2_sensor >	_sensor

Constructor & Destructor Documentation

pose_sensor() [1/2]

rs2::pose_sensor::pose_sensor ( sensor  s )

inline

pose_sensor() [2/2]

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

inlineexplicit

Member Function Documentation

export_localization_map()

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

get_static_node()

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]	guid	unique name of the static node (limited to 127 chars).
[out]	pos	position of the static node in the 3D space.
[out]	orient_quat	orientation of the static node in the 3D space, represented by a unit quaternion.

Returns

true if success.

import_localization_map()

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_buf

map data as a binary blob

Returns

true if success

operator bool()

rs2::pose_sensor::operator bool ( ) const

inline

remove_static_node()

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

inline

Removes a static node from the current map.

Parameters

[in]

guid

unique name of the static node (limited to 127 chars).

set_static_node()

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]	guid	unique 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]	pos	position of the static node in the 3D space.
[in]	orient_quat	orientation of the static node in the 3D space, represented by a unit quaternion.

Returns

true if success.

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

• C:/jenkins_sys_rsbuild/workspace/LRS_doxygen_pipeline/source/include/librealsense2/hpp/rs_sensor.hpp