T265 with fisheye camera #20
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randaz81
commented
Jun 11, 2021
randaz81
commented
- added IFrameGrabberImageRaw interface to stream one fisheye camera
- major refactor: a periodic thread is now used to sample the measurements from librealsense2 and store them in an internal buffer, accessed by the various get methods
- added usage example with yarprobotinterface: it instantiates the device plus multiple wrappers for yarp and ros. Just yarprobotinterface from folder app/devices/realsense2Tracking
* major refactor: a periodic thread is now used to sample the measurements from librealsense2 and store them in an internal buffer, accessed by the various get methods * added usage example with yarprobotinterface: it instantiates the device plus multiple wrappers for yarp and ros
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Hi @randaz81 ! Some comments:
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| xyz.resize(3); | ||
| xyz[0] = m_last_pose.translation.x; | ||
| xyz[1] = m_last_pose.translation.y; | ||
| xyz[2] = m_last_pose.translation.z; | ||
| return true; | ||
| } | ||
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| //------------------------------------------------------------------------------------------------------- | ||
| // IAnalogSensor methods. Beware! this is just a temporary test. | ||
| // This methods will be removed soon: realsesne2Tracking should NOT derive from IAnalogSensor! |
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Can you add a reference to the YARP release notes that deprecated IAnalogSensor so we can propagate the info to non-IIT devs? Perhaps @drdanz knows where they can be found.
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Regarding AnalogServer:
as mentioned in the last SW update meeting, with the upcoming yarp release, deprecated devices (such as AnalogServer) will display a warning in the startup phase even if not marked as deprecated (please note: marking a device as deprecated means that, by default, it will not start at all). We are also discussing moving these devices to a separate folder.
Regarding IAnalogSensor:
Besides the deprecation, as already mentioned, this interface should be simply not used on this device, for the same reason it is not used on a control board device for getting encoder data, even if technically feasible.
I am going to open a new PR to show which is the correct way to achieve the result you want.
waiting for some stuff to be merged on yarp master by @drdanz. Maybe some changes will done also here, later.
yes, of course |
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/rebase |
