setting "RS2_OPTION_ENABLE_MOTION_CORRECTION" off after D435i imu calibration

[jaehwan-pi]

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Required Info
Camera Model	{ D435i }
Firmware Version	05.11.06.250)
Operating System & Version	Ubuntu 16.04
Kernel Version (Linux Only)	(e.g. 4.14.13)
Platform	PC
SDK Version	2.29.0
Language	{C }
Segment	AR

Issue Description

Hi, I'm trying to set an option "RS2_OPTION_ENABLE_MOTION_CORRECTION" OFF after D435i imu calibration.

In my code, I'm trying to do something like below.

std::vectorrs2::pipeline pipelines;
rs2::context ctx; // Create librealsense context for managing devices
cv::Mat intrinsic = cv::Mat::zeros(3,3, CV_64F);
cv::Mat distCoeffs = cv::Mat::zeros(1,4, CV_64F);
for (auto&& dev : ctx.query_devices())
{
rs2::pipeline pipe(ctx);
rs2::config cfg;
cfg.enable_device(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
std::string devName= dev.get_info(RS2_CAMERA_INFO_NAME);

    if(!devName.compare("Intel RealSense D435I"))
    {
        std::cout<<dev.get_info(RS2_CAMERA_INFO_NAME) << " detected." << std::endl;
        cfg.enable_stream(RS2_STREAM_COLOR, 848, 480, RS2_FORMAT_BGR8, 30);
        cfg.enable_stream(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F, 250);
        cfg.enable_stream(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F, 400);

        auto sensor = dev.query_sensors().front();
        sensor.set_option(RS2_OPTION_ENABLE_MOTION_CORRECTION, 0);

    }
    rs2::pipeline_profile profiles = pipe.start(cfg, callback);
    pipelines.emplace_back(pipe);

}

However the set_option function gives me the error message like below.

RealSense error calling rs2_set_option(options:0x27af010, option:Enable Motion Correction, value:0):
object doesn't support option #29

How can I set this option correctly?

[RealSenseCustomerSupport]

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Hi @jaehwan-pi,

You can refer to rs-sensor-control sample app to see how to configure the IMU option.
However, I can see another issue to control this. Will further check internally.

[RealSenseCustomerSupport]

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Hi @jaehwan-pi

I've had a look at the latest releases of our librealsense as well as latest FW for the D435i and am not coming across the issue that you presented. The "RS2_OPTION_ENABLE_MOTION_CORRECTION" is a SW setting. Can you outline any further specifics to your situation or let us know if you're still seeing the problem?

Thanks

[jaehwan-pi]

Thank you for the comment. Actually I raised this issue to deal the issue #5177. So if the issue #5177 is solved, this issue is no longer needed. I will close this issue, so please provide further information on #5177 if possible. Thank you.