Merge pull request #3444 from dorodnic/development

Bump version to 2.19.1

examples/pose-predict/readme.md

@@ -0,0 +1,51 @@
+# rs-pose-predict Sample
+
+> In order to run this example, a device supporting pose stream (T265) is required.
+
+## Overview
+This sample builds on the concepts presented in [`rs-pose` example](../pose/) and shows how pose data can be used asynchronously to implement simple pose prediction. 
+
+## Expected Output
+The application should open a window in which it prints the **predicted** x, y, z values of the device position relative to its initial position.
+
+## Code Overview
+
+We start by configuring the pipeline to pose stream, similar to previous example:
+```cpp
+// 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);
+```
+
+Next, we define new frame callback ([learn more about callback API](../callback)) that would execute for every new pose event from the sensor.
+```cpp
+// Define frame callback
+// The callback is executed on a sensor thread and can be called simultaneously from multiple sensors
+// Therefore any modification to common memory should be done under lock
+std::mutex mutex;
+auto callback = [&](const rs2::frame& frame)
+{
+    std::lock_guard<std::mutex> lock(mutex);
+    if (rs2::pose_frame fp = frame.as<rs2::pose_frame>()) {
+        rs2_pose pose_data = fp.get_pose_data();
+        rs2_pose predicted_pose = predict_pose(pose_data, dt_us);
+        std::cout << pose_data.tracker_confidence << " : " << std::setprecision(3) << std::fixed << 
+                predicted_pose.translation.x << " " <<
+                predicted_pose.translation.y << " " <<
+                predicted_pose.translation.z << " (meters)\r";
+    }
+};
+```
+
+Once pipeline is started with a callback, main thread can go to sleep until termination signal is received:
+```cpp
+// Start streaming through the callback with default recommended configuration
+rs2::pipeline_profile profiles = pipe.start(cfg, callback);
+std::cout << "started thread\n";
+while(true) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+}
+```

examples/readme.md

@@ -23,6 +23,7 @@ For a detailed explanations and API documentation see our [Documentation](../doc
 11. [Measure](./measure) - Lets the user measure the dimentions of 3D objects in a stream.
 #### Tracking Examples:
 12. [Pose](./pose) - Demonstarates how to obtain data from pose frames.
+12. [Pose Prediction](./pose-predict) - Demonstarates how to use tracking camera asynchroniously to implement simple pose prediction.
 
 ### C Examples:
 1. [Depth](./C/depth) - Demonstrates how to stream depth data and prints a simple text-based representation of the depth image.

include/librealsense2/rs.h

@@ -24,7 +24,7 @@ extern "C" {
 
 #define RS2_API_MAJOR_VERSION    2
 #define RS2_API_MINOR_VERSION    19
-#define RS2_API_PATCH_VERSION    0
+#define RS2_API_PATCH_VERSION    1
 #define RS2_API_BUILD_VERSION    0
 
 #ifndef STRINGIFY

package.xml

@@ -7,7 +7,7 @@
 <package format="2">
   <name>librealsense2</name>
   <!-- The version tag needs to be updated with each new release of librealsense -->
-  <version>2.19.0</version>
+  <version>2.19.1</version>
   <description>
   Library for capturing data from the Intel(R) RealSense(TM) SR300 and D400 cameras. This effort was initiated to better support researchers, creative coders, and app developers in domains such as robotics, virtual reality, and the internet of things. Several often-requested features of RealSense(TM); devices are implemented in this project, including multi-camera capture.
   </description>