rs_prober.c File Reference

Realsense prober code. More...

#include <stdio.h>
#include <stdlib.h>
#include "xrt/xrt_config_build.h"
#include "xrt/xrt_config_have.h"
#include "xrt/xrt_prober.h"
#include "util/u_misc.h"
#include "util/u_debug.h"
#include "rs_driver.h"
#include <librealsense2/rs.h>

Include dependency graph for rs_prober.c:

Data Structures
struct	rs_prober

Macros
#define	INFO(...)   U_LOG(U_LOGGING_INFO, __VA_ARGS__);
#define	WARN(...)   U_LOG(U_LOGGING_WARN, __VA_ARGS__);
#define	ERROR(...)   U_LOG(U_LOGGING_ERROR, __VA_ARGS__);
#define	DO(call, ...)
	Utility for realsense API calls that can produce errors. More...

Functions
static bool	check_error (rs2_error *e, const char *file, int line)
	Specifies which realsense tracking to use -1 for DISABLED, will not create any RealSense device 0 for UNSPECIFIED, will decide based on what's available 1 for DEVICE_SLAM, will only try to use in-device SLAM tracking 2 for HOST_SLAM, will only try to use external SLAM tracking. More...
static void	check_slam_capabilities (rs2_device_list *device_list, int dev_idx, bool *out_hslam, bool *out_dslam)
	Explores a realsense device to see what SLAM capabilities it supports. More...
static bool	supports_host_slam (rs2_device_list *device_list, int index)
static bool	supports_device_slam (rs2_device_list *device_list, int index)
static int	find_capable_device (int capability, rs2_device_list *device_list)
static struct xrt_device *	create_tracked_rs_device (struct xrt_prober *xp)
	Implements the conditional flow to decide on how to pick which tracking to use. More...
struct xrt_device *	rs_create_tracked_device_internal_slam (void)
	Basically just for T265. More...
struct xrt_auto_prober *	rs_create_auto_prober (void)
	Create a auto prober for rs devices. More...

Detailed Description

Realsense prober code.

Author

Christoph Haag chris.nosp@m.toph.nosp@m..haag.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Macro Definition Documentation

DO

#define DO	(		call,
			...
	)

Value:

        call(__VA_ARGS__, &e);                                                                                         \
        check_error(e, __FILE__, __LINE__);

Utility for realsense API calls that can produce errors.

Function Documentation

check_error()

static bool check_error ( rs2_error *  e, const char *  file, int  line  )

static

Specifies which realsense tracking to use -1 for DISABLED, will not create any RealSense device 0 for UNSPECIFIED, will decide based on what's available 1 for DEVICE_SLAM, will only try to use in-device SLAM tracking 2 for HOST_SLAM, will only try to use external SLAM tracking.

check_slam_capabilities()

static void check_slam_capabilities ( rs2_device_list *  device_list, int  dev_idx, bool *  out_hslam, bool *  out_dslam  )

static

Explores a realsense device to see what SLAM capabilities it supports.

Parameters

	device_list	List in which the device resides.
	dev_idx	Index of the device in device_list.
[out]	out_hslam	Whether it supports host-SLAM tracking (Has camera-imu streams)
[out]	out_dslam	Whether it supports device-SLAM tracking (T26x)

Todo:

Consider adding the sensors list to the rs_container

References DO.

create_tracked_rs_device()

static struct xrt_device * create_tracked_rs_device ( struct xrt_prober *  xp )

static

Implements the conditional flow to decide on how to pick which tracking to use.

References rs_container::context, rs_container::device_count, rs_container::device_list, and DO.

find_capable_device()

static int find_capable_device ( int  capability, rs2_device_list *  device_list  )

static

Returns

index of the first device in device_list that has the requested capability or -1 if none.

References DO.

Referenced by rs_create_tracked_device_internal_slam().

rs_create_tracked_device_internal_slam()

struct xrt_device * rs_create_tracked_device_internal_slam

(

void

)

Basically just for T265.

Creates an xrt_device that exposes the onboard tracking of a Realsense device (ie.

References rs_container::context, rs_container::device_count, rs_container::device_list, DO, and find_capable_device().