rs2::tm2 Class Reference

#include <rs_device.hpp>

Inheritance diagram for rs2::tm2:

Public Member Functions
	tm2 (device d)
void	enable_loopback (const std::string &from_file)
void	disable_loopback ()
bool	is_loopback_enabled () const
void	connect_controller (const std::array< uint8_t, 6 > &mac_addr)
void	disconnect_controller (int id)
void	set_intrinsics (int fisheye_sensor_id, const rs2_intrinsics &intrinsics)
void	set_extrinsics (rs2_stream from_stream, int from_id, rs2_stream to_stream, int to_id, rs2_extrinsics &extrinsics)
void	set_motion_device_intrinsics (rs2_stream stream_type, const rs2_motion_device_intrinsic &motion_intriniscs)
Public Member Functions inherited from rs2::calibrated_device
	calibrated_device (device d)
void	write_calibration () const
void	reset_to_factory_calibration ()
Public Member Functions inherited from rs2::device
std::vector< sensor >	query_sensors () const
template<class T >
T	first () const
bool	supports (rs2_camera_info info) const
const char *	get_info (rs2_camera_info info) const
void	hardware_reset ()
device &	operator= (const std::shared_ptr< rs2_device > dev)
device &	operator= (const device &dev)
	device ()
	operator bool () const
const std::shared_ptr< rs2_device > &	get () const
template<class T >
bool	is () const
template<class T >
T	as () const
virtual	~device ()
	operator std::shared_ptr< rs2_device > ()
	device (std::shared_ptr< rs2_device > dev)

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.

Constructor & Destructor Documentation

tm2()

rs2::tm2::tm2 ( device  d )

inline

Member Function Documentation

connect_controller()

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

disable_loopback()

void rs2::tm2::disable_loopback ( )

inline

Restores the given device into normal operation mode

disconnect_controller()

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

inline

Disconnects a given tm2 controller

Parameters

[in]

id

The ID of the desired controller

enable_loopback()

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

is_loopback_enabled()

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

set_extrinsics()

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

set_intrinsics()

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

set_motion_device_intrinsics()

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

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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_device.hpp