Intel® RealSense™ Developer Documentation

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In order to run this example, a device supporting pose stream (T265) is required.

Overview

This sample demonstrates how to obtain pose data from a T265 device.

Expected Output

The application should open a window in which it prints the current x, y, z values of the device position relative to the initial position.

Code Overview

First, we include the Intel® RealSense™ Cross-Platform API.
All but advanced functionality is provided through a single header:

#include  // Include RealSense Cross Platform API

We declare the pipeline and configure it with RS2_STREAM_POSE and RS2_FORMAT_6DOF. Then, we start the pipeline.

// Declare RealSense pipeline, encapsulating the actual device and sensors
rs2::pipeline pipe;
// Create a configuration for configuring the pipeline with a non default profile
rs2::config cfg;
// Add pose stream
cfg.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
// Start pipeline with chosen configuration
pipe.start(cfg);

In each iteration, while the application is alive, we wait for new frames from the camera. From the frameset that arrives we get the frame of RS2_STREAM_POSE type.

// Main loop
while (true)
{
    // Wait for the next set of frames from the camera
    auto frames = pipe.wait_for_frames();
    // Get a frame from the pose stream
    auto f = frames.first_or_default(RS2_STREAM_POSE);

We cast the frame that arrives to pose_frame in order to access its pose_data.

// Cast the frame to pose_frame and get its data
auto pose_data = f.as().get_pose_data();

Once we have pose_data, we can query information on the camera position and movement:

  • Translation (in meters, relative to initial position)
  • Velocity (in meter/sec)
  • Rotation (as represented in quaternion rotation, relative to initial position)
  • Angular velocity (in radians/sec)
  • Angular acceleration (in radians/sec^2)
  • Tracker confidence (pose data confidence 0x0 - Failed, 0x1 - Low, 0x2 - Medium, 0x3 - High)
  • Mapper confidence (pose data confidence 0x0 - Failed, 0x1 - Low, 0x2 - Medium, 0x3 - High)

In this example, we obtain the translation data and print it to the console.

// Print the x, y, z values of the translation, relative to initial position
std::cout << "\r" << "Device Position: " << std::setprecision(3) << std::fixed << pose_data.translation.x << " " <<
    pose_data.translation.y << " " << pose_data.translation.z << " (meters)";

rs-pose


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