Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
Public Member Functions | List of all members
rs2::tm2 Class Reference

#include <rs_device.hpp>

Inheritance diagram for rs2::tm2:
rs2::calibrated_device rs2::device

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< sensorquery_sensors () const
template<class T >
first () const
bool supports (rs2_camera_info info) const
const char * get_info (rs2_camera_info info) const
void hardware_reset ()
deviceoperator= (const std::shared_ptr< rs2_device > dev)
deviceoperator= (const device &dev)
 device ()
 operator bool () const
const std::shared_ptr< rs2_device > & get () const
template<class T >
bool is () const
template<class 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:

Constructor & Destructor Documentation

◆ tm2()

rs2::tm2::tm2 ( device  d)

Member Function Documentation

◆ connect_controller()

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

Connects to a given tm2 controller

[in]mac_addrThe MAC address of the desired controller

◆ disable_loopback()

void rs2::tm2::disable_loopback ( )

Restores the given device into normal operation mode

◆ disconnect_controller()

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

Disconnects a given tm2 controller

[in]idThe ID of the desired controller

◆ enable_loopback()

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

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

[in]from_filePath to bag file with raw data for loopback

◆ is_loopback_enabled()

bool rs2::tm2::is_loopback_enabled ( ) const

Checks if the device is in loopback mode or not

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 

Set tm2 camera extrinsics

[in]from_streamonly support RS2_STREAM_FISHEYE
[in]from_idonly support left fisheye = 1
[in]to_streamonly support RS2_STREAM_FISHEYE
[in]to_idonly support right fisheye = 2
[in]extrinsicsextrinsics value to be written to the device

◆ set_intrinsics()

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

Set tm2 camera intrinsics

[in]fisheye_senor_idThe ID of the fisheye sensor
[in]intrinsicsvalue 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 

Set tm2 motion device intrinsics

[in]stream_typestream type of the motion device
[in]motion_intriniscsintrinsics value to be written to the device

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