Merge pull request #7500 from krazycoder2k/master

Fix sporadic spinning bug in rs-motion.cpp

examples/motion/rs-motion.cpp

@@ -117,15 +117,17 @@ class rotation_estimator
     /* alpha indicates the part that gyro and accelerometer take in computation of theta; higher alpha gives more weight to gyro, but too high
     values cause drift; lower alpha gives more weight to accelerometer, which is more sensitive to disturbances */
     float alpha = 0.98;
-    bool first = true;
+    bool firstGyro = true;
+    bool firstAccel = true;
     // Keeps the arrival time of previous gyro frame
     double last_ts_gyro = 0;
 public:
     // Function to calculate the change in angle of motion based on data from gyro
     void process_gyro(rs2_vector gyro_data, double ts)
     {
-        if (first) // On the first iteration, use only data from accelerometer to set the camera's initial position
+        if (firstGyro) // On the first iteration, use only data from accelerometer to set the camera's initial position
         {
+            firstGyro = false;
             last_ts_gyro = ts;
             return;
         }
@@ -160,9 +162,9 @@ class rotation_estimator
 
         // If it is the first iteration, set initial pose of camera according to accelerometer data (note the different handling for Y axis)
         std::lock_guard<std::mutex> lock(theta_mtx);
-        if (first)
+        if (firstAccel)
         {
-            first = false;
+            firstAccel = false;
             theta = accel_angle;
             // Since we can't infer the angle around Y axis using accelerometer data, we'll use PI as a convetion for the initial pose
             theta.y = PI;