T265: How to Set Exposure Mode Before Starting the Pipeline

[JBBee]

---

Required Info
Camera Model	T265
Firmware Version	0.2.0.857
Operating System & Version	Win10
Kernel Version (Linux Only)
Platform	PC
SDK Version	2.30.0
Language	C#
Segment	AR

Issue Description

I have a question about how to set an option on a sensor when using the pipeline interface prior to starting the pipeline. For example the following code throws the exception: To control exposure you must set sensor to manual exposure mode prior to streaming on the line ps2.Options[Option.Exposure].Value = 16000; How do I set the sensor to manual exposure mode before starting the pipeline?

   static void Main(string[] args)
    {
        using (var ctx = new Context())
        {
            var devices = ctx.QueryDevices();
            if (devices.Count == 0) return;
            var dev = devices[0]; //T265

            var poseSensor = dev.QuerySensors<Sensor>().First(s => s.Is(Extension.PoseSensor));
            var ps = PoseSensor.FromSensor(poseSensor);
            ps.Options[Option.EnableAutoExposure].Value = 0;

            var pipeline = new Pipeline(ctx);
            var pp = pipeline.Start(f => { using (f) { Console.WriteLine("Got Frame"); } });

            var poseSensor2 = pp.Device.QuerySensors<Sensor>().First(s => s.Is(Extension.PoseSensor));
            var ps2 = PoseSensor.FromSensor(poseSensor2);

            ps2.Options[Option.Exposure].Value = 16000;
            ps2.Options[Option.Gain].Value = 1.4f;

            AutoResetEvent stopEvent = new AutoResetEvent(false);
            Console.CancelKeyPress += (s, e) =>
            {
                e.Cancel = true;
                stopEvent.Set();
            };
            stopEvent.WaitOne();

            pipeline.Stop();
            Thread.Sleep(1000);
        }
        System.Console.WriteLine("Done");
    }

Thanks.

[MartyG-RealSense]

SDK version 2.230.0 in June 2019 added a manual exposure option for the T265's fisheye sensor. The instructions for how to configure it are in the link below.

#3992

[JBBee]

Thanks @MartyG-RealSense , that answers my question regarding how to use the manual exposure. But I'm still not clear on how to set an option on a sensor before the pipeline starts. For example, I added the enums to the C# wrapper for the newer T265 options, which are required to be set before the sensor is started. But the following code prints: Pose jumping enabled: 1 when I would like to disable pose jumping. How can I accomplish this while still using the pipeline interface?

    static void Main(string[] args)
    {
        using (var ctx = new Context())
        {
            var devices = ctx.QueryDevices();
            if (devices.Count == 0) return;
            var dev = devices[0]; //T265

            var poseSensor = dev.QuerySensors<Sensor>().First(s => s.Is(Extension.PoseSensor));
            var ps = PoseSensor.FromSensor(poseSensor);

            ps.Options[Option.EnablePoseJumping].Value = 0;

            var pipeline = new Pipeline(ctx);
            var pp = pipeline.Start(f => { using (f) { Console.WriteLine("Got Frame"); } });

            var poseSensor2 = pp.Device.QuerySensors<Sensor>().First(s => s.Is(Extension.PoseSensor));
            var ps2 = PoseSensor.FromSensor(poseSensor2);

            System.Console.WriteLine("Pose jumping enabled: " + ps2.Options[Option.EnablePoseJumping].Value);
            
            AutoResetEvent stopEvent = new AutoResetEvent(false);
            Console.CancelKeyPress += (s, e) =>
            {
                e.Cancel = true;
                stopEvent.Set();
            };
            stopEvent.WaitOne();

            pipeline.Stop();
            Thread.Sleep(1000);
        }
        System.Console.WriteLine("Done");
    }

Thanks.

[MartyG-RealSense]

Pose jumping can be turned off by setting RS2_OPTION_ENABLE_POSE_JUMPING to false.

de76d3a

[JBBee]

Thanks @MartyG-RealSense , I do disable it which is this line in the code segment above: ps.Options[Option.EnablePoseJumping].Value = 0; But once I start the pipeline it shows as re-enabled, if you take a look at the code above.

[MartyG-RealSense]

Reading through the code, it gives me the impression that it is setting the variable ps.Options[Option.EnablePoseJumping].Value to '0' and then printing out the value (0) stored in that variable, rather than printing the actual current status of the pose jumping function. If so, this would give an incorrect impression that pose jumping is disabled when it is actually still enabled. What do you think?

[JBBee]

@MartyG-RealSense , the code above is using the Intel.Realsense C# wrapper so ps.Options[Option.EnablePoseJumping].Value = 0; is setting the pose jumping function and ps2.Options[Option.EnablePoseJumping].Value is reading the current value after starting the pipeline. The code above sets it to zero before starting the pipeline, then once the pipeline is started it reads back a 1. So my question is how do I set it to zero and have it persist after starting the pipeline?

Thanks.

[MartyG-RealSense]

I will have to defer this question to one of the Intel team such as @dorodnic since my coding knowledge is insufficient to provide a solution to this particular question.

[dorodnic]

Hi @JBBee
Sorry, this may be a bit confusing. The way to solve this is by using Config object, something like this:

using (var ctx = new Context())
        {
            var config = new Config();
            var pipeline = new Pipeline();
            var profile = config.Resolve(pipeline);
            var dev = profile.Device;
            var poseSensor = dev.QuerySensors<Sensor>().First(s => s.Is(Extension.PoseSensor));
            var ps = PoseSensor.FromSensor(poseSensor);

            ps.Options[Option.EnablePoseJumping].Value = 0;

            var pp = pipeline.Start(config, f => { using (f) { Console.WriteLine("Got Frame"); } });

            var poseSensor2 = pp.Device.QuerySensors<Sensor>().First(s => s.Is(Extension.PoseSensor));
            var ps2 = PoseSensor.FromSensor(poseSensor2);

            System.Console.WriteLine("Pose jumping enabled: " + ps2.Options[Option.EnablePoseJumping].Value);
            
            AutoResetEvent stopEvent = new AutoResetEvent(false);
            Console.CancelKeyPress += (s, e) =>
            {
                e.Cancel = true;
                stopEvent.Set();
            };
            stopEvent.WaitOne();

            pipeline.Stop();
            Thread.Sleep(1000);
        }
        System.Console.WriteLine("Done");
    }

[JBBee]

Ahh, thank you. This worked great @dorodnic @MartyG-RealSense

[zainmehdi]

@dorodnic I am unable to set Relocalization and pose jumping option using C++ interface. If I use pipeline I get the error " Option is read-only while streaming" and If I try to access device using enumeration on raspberry pi 4 it doesnt return any device even when its connected. Can you please specify a way ? Thanks

[zainmehdi]

for anyone stuck at the same problem as I was here is the way to do it in C++ following @dorodnic approach for C#

rs2::config cfg;
rs2::pipeline pipe;
rs2::device dev;
rs2::sensor sensor;
auto profile = cfg.resolve(pipe);
dev=profile.get_device();
sensor=dev.query_sensors().front();
sensor.set_option(RS2_OPTION_ENABLE_POSE_JUMPING,0);