Merge pull request #4936 from dorian3d/reloc-notification

Notification category for Relocalization
IntelRealSense · Oct 2, 2019 · 39415e7 · 39415e7
2 parents 3e745d9 + bd2a395
commit 39415e7
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Showing 5 changed files with 14 additions and 1 deletion.
diff --git a/include/librealsense2/h/rs_types.h b/include/librealsense2/h/rs_types.h
@@ -21,6 +21,7 @@ typedef enum rs2_notification_category{
     RS2_NOTIFICATION_CATEGORY_HARDWARE_EVENT,               /**< General Hardeware notification that is not an error */
     RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR,                /**< Received unknown error from the device */
     RS2_NOTIFICATION_CATEGORY_FIRMWARE_UPDATE_RECOMMENDED,  /**< Current firmware version installed is not the latest available */
+    RS2_NOTIFICATION_CATEGORY_POSE_RELOCALIZATION,          /**< A relocalization event has updated the pose provided by a pose sensor */
     RS2_NOTIFICATION_CATEGORY_COUNT                         /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
 } rs2_notification_category;
 const char* rs2_notification_category_to_string(rs2_notification_category category);

diff --git a/src/tm2/tm-device.cpp b/src/tm2/tm-device.cpp
@@ -1281,7 +1281,7 @@ namespace librealsense
     void tm2_sensor::onRelocalizationEvent(perc::TrackingData::RelocalizationEvent& evt)
     {
         std::string msg = to_string() << "T2xx: Relocalization occurred. id: " << evt.sessionId <<  ", timestamp: " << double(evt.timestamp*0.000000001) << " sec";
-        raise_hardware_event(msg, {}, evt.timestamp);
+        raise_relocalization_event(msg, evt.timestamp);
     }
 
     void tm2_sensor::enable_loopback(std::shared_ptr<playback_device> input)
@@ -1356,6 +1356,13 @@ namespace librealsense
         _source.invoke_callback(std::move(frame));
     }
 
+    void tm2_sensor::raise_relocalization_event(const std::string& msg, double timestamp)
+    {
+        notification event{ RS2_NOTIFICATION_CATEGORY_POSE_RELOCALIZATION, 0, RS2_LOG_SEVERITY_INFO, msg };
+        event.timestamp = timestamp;
+        get_notifications_processor()->raise_notification(event);
+    }
+
     void tm2_sensor::raise_hardware_event(const std::string& msg, const std::string& json_data, double timestamp)
     {
         notification controller_event{ RS2_NOTIFICATION_CATEGORY_HARDWARE_EVENT, 0, RS2_LOG_SEVERITY_INFO, msg };

diff --git a/src/tm2/tm-device.h b/src/tm2/tm-device.h
@@ -134,6 +134,7 @@ namespace librealsense
     private:
         void handle_imu_frame(perc::TrackingData::TimestampedData& tm_frame_ts, unsigned long long frame_number, rs2_stream stream_type, int index, float3 imu_data, float temperature);
         void pass_frames_to_fw(frame_holder fref);
+        void raise_relocalization_event(const std::string& msg, double timestamp);
         void raise_hardware_event(const std::string& msg, const std::string& serialized_data, double timestamp);
         void raise_error_notification(const std::string& msg);
 

diff --git a/src/types.cpp b/src/types.cpp
@@ -426,6 +426,7 @@ namespace librealsense
             CASE(HARDWARE_EVENT)
             CASE(UNKNOWN_ERROR)
             CASE(FIRMWARE_UPDATE_RECOMMENDED)
+            CASE(POSE_RELOCALIZATION)
         default: assert(!is_valid(value)); return UNKNOWN_VALUE;
         }
 #undef CASE

diff --git a/wrappers/csharp/Intel.RealSense/Types/Enums/NotificationCategory.cs b/wrappers/csharp/Intel.RealSense/Types/Enums/NotificationCategory.cs
@@ -29,5 +29,8 @@ public enum NotificationCategory
 
         /// <summary> Current firmware version installed is not the latest available</summary>
         FirmwareUpdateRecommended = 5,
+
+        /// <summary> A relocalization event has updated the pose provided by a pose sensor</summary>
+        PoseRelocalization = 6,
     }
 }