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Option to preserve T265 maps in memory for subsequent starts #5208

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merged 2 commits into from Dec 5, 2019
Merged

Option to preserve T265 maps in memory for subsequent starts #5208

merged 2 commits into from Dec 5, 2019

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radfordi
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@radfordi radfordi commented Nov 7, 2019

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@radfordi radfordi changed the title Option to preserve T265 maps in memory for subsequence starts Option to preserve T265 maps in memory for subsequent starts Nov 7, 2019
bfulkers-i
bfulkers-i approved these changes Nov 8, 2019
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Looks good to me, but @ev-mp or @dorodnic might want to take a quick look since this also adds an L500 option RS2_OPTION_DEPTH_OFFSET in a few place it was missing so might conflict if they added that elsewhere.

ev-mp
ev-mp reviewed Dec 4, 2019
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Add it to C# wrapper
Documenting this feature would be useful:

  • Default value
  • When the option becomes available/disabled
  • What happens after n-start/stop operation the map reaches its max. Does it stop update?

include/librealsense2/h/rs_option.h Outdated
@@ -81,6 +81,7 @@ extern "C" {
RS2_OPTION_ENABLE_POSE_JUMPING, /**< Enable position jumping */
RS2_OPTION_ENABLE_DYNAMIC_CALIBRATION, /**< Enable dynamic calibration */
RS2_OPTION_DEPTH_OFFSET, /**< Offset from sensor to depth origin in millimetrers*/
RS2_OPTION_ENABLE_MAP_PRESERVATION, /**< Preserve previous map when starting */
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Pls keep the original order and append to end

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Thanks for pointing this out. This needs a rebase after 3f82376.

wrappers/matlab/option.m Outdated
@@ -59,9 +59,11 @@
enable_relocalization (56)
enable_pose_jumping (57)
enable_dynamic_calibration (58)
enable_depth_offset (59)
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Check for consistency with c++ declaration

wrappers/matlab/option.m
end
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👍

@radfordi
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radfordi commented Dec 4, 2019

@dorodnic, @ev-mp, I rebased to fix the ordering conflict due to new optioned being added on development, and I added missing support for C#.

@dorodnic dorodnic merged commit 94d4e5e into IntelRealSense:development Dec 5, 2019
This was referenced Dec 5, 2019
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@dorodnic dorodnic dorodnic approved these changes

@bfulkers-i bfulkers-i bfulkers-i approved these changes

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4 participants
@radfordi @dorodnic @ev-mp @bfulkers-i