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D555 imu record playback #13519

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merged 4 commits into from
Nov 19, 2024
Merged

D555 imu record playback #13519

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a5ab5ec
adding read and write data to bagfile
Nov 17, 2024
ddd994b
enabling record and playback
remibettan Nov 18, 2024
36336ff
semantic change
remibettan Nov 18, 2024
82b51b1
bug correction
remibettan Nov 19, 2024
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1 change: 1 addition & 0 deletions src/media/ros/ros_file_format.h
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Original file line number Diff line number Diff line change
Expand Up @@ -417,6 +417,7 @@ namespace librealsense

case RS2_STREAM_GYRO:
case RS2_STREAM_ACCEL:
case RS2_STREAM_MOTION:
return ros_imu_type_str();

case RS2_STREAM_POSE:
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22 changes: 21 additions & 1 deletion src/media/ros/ros_reader.cpp
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Expand Up @@ -486,9 +486,11 @@ namespace librealsense
get_frame_metadata(m_file, info_topic, stream_id, motion_data, additional_data);
}

size_t size_of_imu_data = (stream_id.stream_type == RS2_STREAM_MOTION) ? sizeof(rs2_combined_motion) : 3 * sizeof(float);

frame_interface * frame = m_frame_source->alloc_frame(
{ stream_id.stream_type, stream_id.stream_index, RS2_EXTENSION_MOTION_FRAME },
3 * sizeof( float ),
size_of_imu_data,
std::move( additional_data ),
true );
if (frame == nullptr)
Expand Down Expand Up @@ -518,6 +520,24 @@ namespace librealsense
data[2] = static_cast<float>(msg->angular_velocity.z);
LOG_DEBUG("RS2_STREAM_GYRO " << motion_frame);
}
else if (stream_id.stream_type == RS2_STREAM_MOTION)
{
auto data = reinterpret_cast<rs2_combined_motion*>(motion_frame->data.data());
// orientation part
data->orientation.x = msg->orientation.x;
data->orientation.y = msg->orientation.y;
data->orientation.z = msg->orientation.z;
data->orientation.w = msg->orientation.w;
// GYRO part
data->angular_velocity.x = msg->angular_velocity.x;
data->angular_velocity.y = msg->angular_velocity.y;
data->angular_velocity.z = msg->angular_velocity.z;
// ACCEL part
data->linear_acceleration.x = msg->linear_acceleration.x;
data->linear_acceleration.y = msg->linear_acceleration.y;
data->linear_acceleration.z = msg->linear_acceleration.z;
LOG_DEBUG("RS2_STREAM_MOTION " << motion_frame);
}
else
{
throw io_exception( rsutils::string::from() << "Unsupported stream type " << stream_id.stream_type );
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17 changes: 17 additions & 0 deletions src/media/ros/ros_writer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -227,6 +227,23 @@ namespace librealsense
imu_msg.angular_velocity.y = data_ptr[1];
imu_msg.angular_velocity.z = data_ptr[2];
}
else if (stream_id.stream_type == RS2_STREAM_MOTION)
{
auto data_imu = *reinterpret_cast<const rs2_combined_motion*>(frame.frame->get_frame_data());
// orientation part
imu_msg.orientation.x = data_imu.orientation.x;
imu_msg.orientation.y = data_imu.orientation.y;
imu_msg.orientation.z = data_imu.orientation.z;
imu_msg.orientation.w = data_imu.orientation.w;
// GYRO part
imu_msg.angular_velocity.x = data_imu.angular_velocity.x;
imu_msg.angular_velocity.y = data_imu.angular_velocity.y;
imu_msg.angular_velocity.z = data_imu.angular_velocity.z;
// ACCEL part
imu_msg.linear_acceleration.x = data_imu.linear_acceleration.x;
imu_msg.linear_acceleration.y = data_imu.linear_acceleration.y;
imu_msg.linear_acceleration.z = data_imu.linear_acceleration.z;
}
else
{
throw io_exception("Unsupported stream type for a motion frame");
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