query_motion_devices.h

/*
   DESCRIPTION:
   query_motion_devices() is returns a list of all devices that have motion sensors.
   
   HOWTOUSE:
   std::vector<rs2::device> motion_devices;
   query_motion_devices( motion_devices );
   if( motion_devices.empty ){
       throw std::runtime_error( "could not find devices that have motion sensors." );
       return -1;
   }
   
   rs2::config config;
   const std::string serial_number = devices.front().get_info( rs2_camera_info::RS2_CAMERA_INFO_SERIAL_NUMBER );
   config.enable_device( serial_number );

   rs2::pipeline pipeline;
   pipeline.start( config );
*/

#ifndef __QUERY_MOTION_DEVICES__
#define __QUERY_MOTION_DEVICES__

#include <librealsense2/rs.hpp>
#include <vector>

void query_motion_devices( std::vector<rs2::device>& motion_devices )
{
    rs2::context context;
    const rs2::device_list device_list = context.query_devices( RS2_PRODUCT_LINE_ANY_INTEL );
    for( const rs2::device& device : device_list ){
        const std::vector<rs2::sensor> sensors = device.query_sensors();
        for( const rs2::sensor& sensor : sensors ){
            const std::vector<rs2::stream_profile> profiles = sensor.get_stream_profiles();
            for( const rs2::stream_profile& profile : profiles ){
                if( profile.is<rs2::motion_stream_profile>() ){
                    motion_devices.push_back( device );
                }
            }
        }
    }
}

#endif // __QUERY_MOTION_DEVICES__