In my project , I need to get the pose information from the d435i; But I found that I could get that in default settings.I use the following code which from the librealsense-master to test why the pose information can not be exported.
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
#include <librealsense2/rs.hpp>
#include <iostream>
#include <iomanip>
int main(int argc, char * argv[]) try
{
// Declare RealSense pipeline, encapsulating the actual device and sensors
rs2::pipeline pipe;
// Create a configuration for configuring the pipeline with a non default profile
rs2::config cfg;
// Add pose stream
cfg.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
// Start pipeline with chosen configuration
pipe.start(cfg);
// Main loop
while (true)
{
// Wait for the next set of frames from the camera
auto frames = pipe.wait_for_frames();
// Get a frame from the pose stream
auto f = frames.first_or_default(RS2_STREAM_POSE);
// Cast the frame to pose_frame and get its data
auto pose_data = f.as<rs2::pose_frame>().get_pose_data();
// Print the x, y, z values of the translation, relative to initial position
std::cout << "\r" << "Device Position: " << std::setprecision(3) << std::fixed << pose_data.translation.x << " " <<
pose_data.translation.y << " " << pose_data.translation.z << " (meters)";
}
return EXIT_SUCCESS;
}
catch (const rs2::error & e)
{
std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception& e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}The result tells that the stream of pose can not be opened:
Could you give me a solution for this question.
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