ar-advanced

rs-ar-advanced Sample

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

Overview

This sample demonstrates how to extend the rs-ar-basic Sample with rs2::pose_sensor API to:

• Import/export localization data file(s),
• Receive a relocalization event callback,
• Set/get static node to add/read landmark to/from the localization map.

Command Line Inputs

Users should specify the path(s) to the localization map data file(s) by using command line arguments. For example, to load a map file, users can run the application rs-ar-advanced followed by a command line option --load_map and file path src_map.raw which is located at the same directory as rs-ar-advanced:

>>rs-ar-advanced --load_map src_map.raw

To set both input map file src_map.raw and output map file dst_map.raw at same directory of the application:

>>rs-ar-advanced --load_map src_map.raw --save_map dst_map.raw`

Then, the application will import localization map data from src_map.raw file at the beginning of tracking and will export the modified map including a virtual object as a static node to dst_map.raw file.

Note: if neither input nor output path is given, this application will behave exactly the same as the rs-ar-basic example.

Expected Output

Same as the rs-ar-basic Sample, the application should open a window in which it shows one of the fisheye streams with a virtual object in the scene. The virtual object is 3 red, green and blue segments.

Code Overview

Please refer to code overview of the rs-ar-basic Sample.

Additions to the rs-ar-basic

Before start running the pipe, we import the localization map using the file path (if available) from command line input and a tm_sensor object from the pipeline:

// Get pose sensor
auto tm_sensor = cfg.resolve(pipe).get_device().first<rs2::pose_sensor>();

tm_sensor.import_localization_map(bytes_from_raw_file(in_map_filepath));
std::cout << "Map loaded from " << in_map_filepath << std::endl;

Then, we set a relocalization notification callback using the same tm_sensor object:

// Add relocalization callback
tm_sensor.set_notifications_callback([&](const rs2::notification& n) {
       if (n.get_category() == RS2_NOTIFICATION_CATEGORY_POSE_RELOCALIZATION) {
           std::cout << "Relocalization Event Detected." << std::endl;

Continue within the callback is that we load the virtual object which had been saved as a static node in the map file in previous run:

           // Get static node if available
           if (tm_sensor.get_static_node(virtual_object_guid, object_pose_in_world.translation, object_pose_in_world.rotation)) {
               std::cout << "Virtual object loaded:  " << object_pose_in_world.translation << std::endl;
               object_pose_in_world_initialized = true;
           }

The rest of the main body is similar to the rs-ar-basic Sample, except, at the end of the application, we save the modified virtual object as a static node:

// Exit if user presses escape
if (tm_sensor.set_static_node(virtual_object_guid, object_pose_in_world.translation, object_pose_in_world.rotation)) {
    std::cout << "Saved virtual object as static node. " << std::endl;
}

Finally, we also save the modified localization map to file path given by the command line inputs (if available):

// Export map to a raw file
if (!out_map_filepath.empty()) {
    pipe.stop();
    raw_file_from_bytes(out_map_filepath, tm_sensor.export_localization_map());
    std::cout << "Saved map to " << out_map_filepath << std::endl;
}