From 216a02752378354f9be1af371daa017274aee750 Mon Sep 17 00:00:00 2001 From: Aaron Brown Date: Thu, 17 Oct 2024 11:33:15 +1300 Subject: [PATCH 01/44] Remove excess foreach_uvc_device in v4l_uvc_device constructor --- src/linux/backend-v4l2.cpp | 18 ++++-------------- 1 file changed, 4 insertions(+), 14 deletions(-) diff --git a/src/linux/backend-v4l2.cpp b/src/linux/backend-v4l2.cpp index d4147a7d51..c293babdf2 100644 --- a/src/linux/backend-v4l2.cpp +++ b/src/linux/backend-v4l2.cpp @@ -1205,7 +1205,10 @@ namespace librealsense } v4l_uvc_device::v4l_uvc_device(const uvc_device_info& info, bool use_memory_map) - : _name(""), _info(), + : _name(info.id), + _device_path(info.device_path), + _device_usb_spec(info.conn_spec), + _info(info), _is_capturing(false), _is_alive(true), _is_started(false), @@ -1217,19 +1220,6 @@ namespace librealsense _buf_dispatch(use_memory_map), _frame_drop_monitor(DEFAULT_KPI_FRAME_DROPS_PERCENTAGE) { - foreach_uvc_device([&info, this](const uvc_device_info& i, const std::string& name) - { - if (i == info) - { - _name = name; - _info = i; - _device_path = i.device_path; - _device_usb_spec = i.conn_spec; - } - }); - if (_name == "") - throw linux_backend_exception("device is no longer connected!"); - _named_mtx = std::unique_ptr(new named_mutex(_name, 5000)); } From 1708e79c534e87dcf0f867cdc76ca43ae30e06ef Mon Sep 17 00:00:00 2001 From: Nir Azkiel Date: Thu, 31 Oct 2024 09:58:09 +0200 Subject: [PATCH 02/44] remove libusb leftovers --- third-party/libusb/CMakeLists-remove.txt | 96 ------------------------ 1 file changed, 96 deletions(-) delete mode 100644 third-party/libusb/CMakeLists-remove.txt diff --git a/third-party/libusb/CMakeLists-remove.txt b/third-party/libusb/CMakeLists-remove.txt deleted file mode 100644 index 69fb41c2cd..0000000000 --- a/third-party/libusb/CMakeLists-remove.txt +++ /dev/null @@ -1,96 +0,0 @@ -# our current cmake version is 3.8 -cmake_minimum_required(VERSION 3.8) - -project(usb) - - set(LIBUSB_C - libusb/core.c - libusb/descriptor.c - libusb/hotplug.c - libusb/io.c - libusb/strerror.c - libusb/sync.c - ) - -if(WIN32) - LIST(APPEND LIBUSB_C - libusb/os/threads_windows.c - libusb/os/poll_windows.c - libusb/os/windows_winusb.c - libusb/os/windows_nt_common.c - libusb/os/windows_usbdk.c - ) -elseif (APPLE) - LIST(APPEND LIBUSB_C - libusb/os/poll_posix.c - libusb/os/threads_posix.c - libusb/os/darwin_usb.c - ) -elseif(ANDROID) - LIST(APPEND LIBUSB_C - libusb/os/linux_usbfs.c - libusb/os/poll_posix.c - libusb/os/threads_posix.c - libusb/os/linux_netlink.c - ) -else() - LIST(APPEND LIBUSB_C - libusb/os/linux_usbfs.c - libusb/os/poll_posix.c - libusb/os/threads_posix.c - libusb/os/linux_udev.c - ) -endif() - -set(LIBUSB_H - libusb/libusb.h -) - -include_directories( - libusb - libusb/os -) - -add_library(usb STATIC ${LIBUSB_C} ${LIBUSB_H}) - -if(WIN32) - set_target_properties (usb PROPERTIES - FOLDER "3rd Party" - ) - include_directories(msvc) - foreach(flag_var - CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE - CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO - CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE - CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO) - if(${flag_var} MATCHES "/MD") - string(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}") - endif(${flag_var} MATCHES "/MD") - endforeach(flag_var) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /utf-8") - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /utf-8") -endif() - -if(ANDROID) - include_directories(android) -endif() - -if(APPLE) - find_library(corefoundation_lib CoreFoundation) - find_library(iokit_lib IOKit) - target_include_directories(usb PRIVATE XCode) - TARGET_LINK_LIBRARIES(usb objc ${corefoundation_lib} ${iokit_lib}) -endif() - -if((NOT APPLE) AND (NOT ANDROID) AND (NOT WIN32)) - TARGET_LINK_LIBRARIES(usb udev) -endif() - -#set_target_properties(usb PROPERTIES PREFIX "") - -install(TARGETS ${PROJECT_NAME} - EXPORT realsense2Targets - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin - ) From 576e4e465c128202a2b7ba303fd56bb5cc686d1f Mon Sep 17 00:00:00 2001 From: Nir Azkiel Date: Thu, 31 Oct 2024 12:29:04 +0200 Subject: [PATCH 03/44] bump version to 2.57.0.0 --- include/librealsense2/rs.h | 2 +- package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/include/librealsense2/rs.h b/include/librealsense2/rs.h index 8a5cd517a2..d6059c85c1 100644 --- a/include/librealsense2/rs.h +++ b/include/librealsense2/rs.h @@ -24,7 +24,7 @@ extern "C" { #include "h/rs_sensor.h" #define RS2_API_MAJOR_VERSION 2 -#define RS2_API_MINOR_VERSION 56 +#define RS2_API_MINOR_VERSION 57 #define RS2_API_PATCH_VERSION 0 #define RS2_API_BUILD_VERSION 0 diff --git a/package.xml b/package.xml index 1f5b5a93fe..6e69a69193 100644 --- a/package.xml +++ b/package.xml @@ -6,7 +6,7 @@ librealsense2 - 2.56.0 + 2.57.0 Library for controlling and capturing data from the Intel(R) RealSense(TM) D400 devices. From bac49efc8547422a4d4299cda4439b789cd506eb Mon Sep 17 00:00:00 2001 From: Avia Avraham <145359432+AviaAv@users.noreply.github.com> Date: Sun, 3 Nov 2024 09:44:10 +0200 Subject: [PATCH 04/44] update get_gvd --- src/ds/d500/d500-device.cpp | 20 ++++++++++++++++---- src/ds/d500/d500-device.h | 2 ++ src/hw-monitor.cpp | 31 +++++++++++++++++++++++++++++-- src/hw-monitor.h | 5 ++++- 4 files changed, 51 insertions(+), 7 deletions(-) diff --git a/src/ds/d500/d500-device.cpp b/src/ds/d500/d500-device.cpp index b88393d107..9778971fc5 100644 --- a/src/ds/d500/d500-device.cpp +++ b/src/ds/d500/d500-device.cpp @@ -382,7 +382,8 @@ namespace librealsense _depth_stream(new stream(RS2_STREAM_DEPTH)), _left_ir_stream(new stream(RS2_STREAM_INFRARED, 1)), _right_ir_stream(new stream(RS2_STREAM_INFRARED, 2)), - _color_stream(nullptr) + _color_stream(nullptr), + _hw_monitor_response(std::make_shared()) { _depth_device_idx = add_sensor( create_depth_device( dev_info->get_context(), dev_info->get_group().uvc_devices ) ); @@ -407,13 +408,13 @@ namespace librealsense _hw_monitor = std::make_shared( std::make_shared( std::make_shared( *raw_sensor, depth_xu, DS5_HWMONITOR ), - raw_sensor), std::make_shared()); + raw_sensor), _hw_monitor_response); } else { _hw_monitor = std::make_shared< hw_monitor_extended_buffers >( std::make_shared< locked_transfer >( get_backend()->create_usb_device( group.usb_devices.front() ), - raw_sensor ), std::make_shared()); + raw_sensor ), _hw_monitor_response); } _ds_device_common = std::make_shared(this, _hw_monitor); @@ -455,8 +456,19 @@ namespace librealsense bool advanced_mode = false; bool usb_modality = true; group_multiple_fw_calls(depth_sensor, [&]() { + + // D500 device can get enumerated before the whole HW in the camera is ready. + // Since GVD gather all information from all the HW, it might need some more time to finish all hand shakes. + // on this case it will return HW_NOT_READY error code. + // Note: D500 error codes list is different than D400. + + const std::set< int32_t > gvd_retry_errors{ _hw_monitor_response->HW_NOT_READY }; + + _hw_monitor->get_gvd( gvd_buff.size(), + gvd_buff.data(), + ds::fw_cmd::GVD, + &gvd_retry_errors ); - _hw_monitor->get_gvd(gvd_buff.size(), gvd_buff.data(), ds::fw_cmd::GVD); get_gvd_details(gvd_buff, &gvd_parsed_fields); _device_capabilities = ds_caps::CAP_ACTIVE_PROJECTOR | ds_caps::CAP_RGB_SENSOR | ds_caps::CAP_IMU_SENSOR | diff --git a/src/ds/d500/d500-device.h b/src/ds/d500/d500-device.h index a0c14ea43c..a3dba10e59 100644 --- a/src/ds/d500/d500-device.h +++ b/src/ds/d500/d500-device.h @@ -51,6 +51,8 @@ namespace librealsense d500_device( std::shared_ptr< const d500_info > const & ); + std::shared_ptr _hw_monitor_response; + std::vector send_receive_raw_data(const std::vector& input) override; std::vector build_command(uint32_t opcode, diff --git a/src/hw-monitor.cpp b/src/hw-monitor.cpp index aa6dce3681..6a01b540a2 100644 --- a/src/hw-monitor.cpp +++ b/src/hw-monitor.cpp @@ -2,6 +2,7 @@ // Copyright(c) 2015 Intel Corporation. All Rights Reserved. #include "hw-monitor.h" #include "types.h" +#include #include #include #include @@ -226,10 +227,36 @@ namespace librealsense } - void hw_monitor::get_gvd(size_t sz, unsigned char* gvd, uint8_t gvd_cmd) const + void hw_monitor::get_gvd( size_t sz, + unsigned char * gvd, + uint8_t gvd_cmd, + const std::set< int32_t > * retry_error_codes ) const { command command(gvd_cmd); - auto data = send(command); + hwmon_response_type response; + auto data = send( command, &response ); + // If we get an error code that match to the error code defined as require retry, + // we will retry the command until it succeed or we reach a timeout + bool should_retry = retry_error_codes && retry_error_codes->find( response ) != retry_error_codes->end(); + if( should_retry ) + { + constexpr size_t RETRIES = 50; + for( int i = 0; i < RETRIES; ++i ) + { + LOG_WARNING( "GVD not ready - retrying GET_GVD command" ); + std::this_thread::sleep_for( std::chrono::milliseconds( 100 ) ); + data = send( command, &response ); + if( response == _hwmon_response->success_value() ) + break; + // If we failed after 'RETRIES' retries or it is less `RETRIES` and the error + // code is not in the retry list than , raise an exception + if( i >= ( RETRIES - 1 ) || retry_error_codes->find( response ) == retry_error_codes->end() ) + throw io_exception( rsutils::string::from() + << "error in querying GVD, error:" + << _hwmon_response->hwmon_error2str( response ) ); + + } + } auto minSize = std::min(sz, data.size()); std::memcpy( gvd, data.data(), minSize ); } diff --git a/src/hw-monitor.h b/src/hw-monitor.h index 3f99198ba3..bc0b5221da 100644 --- a/src/hw-monitor.h +++ b/src/hw-monitor.h @@ -176,7 +176,10 @@ namespace librealsense uint8_t const * data = nullptr, size_t dataLength = 0); - void get_gvd(size_t sz, unsigned char* gvd, uint8_t gvd_cmd) const; + void get_gvd( size_t sz, + unsigned char * gvd, + uint8_t gvd_cmd, + const std::set< int32_t > * retry_error_codes = nullptr ) const; template std::string get_firmware_version_string( const std::vector< uint8_t > & buff, From 634410817e48a80437861780d37435c7fcdc3fed Mon Sep 17 00:00:00 2001 From: ohadmeir Date: Sun, 3 Nov 2024 12:19:31 +0200 Subject: [PATCH 05/44] Fix DDS stream tagging --- src/dds/rs-dds-device-proxy.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/dds/rs-dds-device-proxy.cpp b/src/dds/rs-dds-device-proxy.cpp index 10503106f5..94bd86e0ae 100644 --- a/src/dds/rs-dds-device-proxy.cpp +++ b/src/dds/rs-dds-device-proxy.cpp @@ -556,9 +556,9 @@ void dds_device_proxy::tag_default_profile_of_stream( // Superset = picked up in pipeline with enable_all_stream() config // We want color and depth to be default, and add infrared as superset int tag = PROFILE_TAG_SUPERSET; - if( stream->type_string() == "color" || stream->type_string() == "depth" ) + if( strcmp( stream->type_string(), "color" ) == 0 || strcmp( stream->type_string(), "depth" ) == 0 ) tag |= PROFILE_TAG_DEFAULT; - else if( stream->type_string() != "infrared" || profile->get_stream_index() >= 2 ) + else if( strcmp( stream->type_string(), "ir" ) != 0 || profile->get_stream_index() >= 2 ) return; // leave untagged profile->tag_profile( tag ); } From fb6299e6c22df32f5f49ec0c7c73795c95cb7dab Mon Sep 17 00:00:00 2001 From: Avia Avraham <145359432+AviaAv@users.noreply.github.com> Date: Tue, 5 Nov 2024 17:02:40 +0200 Subject: [PATCH 06/44] add get_opcode_string to sdk --- include/librealsense2/rs.h | 2 ++ src/core/debug.h | 2 ++ src/ds/d400/d400-device.cpp | 5 +++++ src/ds/d400/d400-device.h | 1 + src/ds/d500/d500-device.cpp | 5 +++++ src/ds/d500/d500-device.h | 1 + src/realsense.def | 1 + src/rs.cpp | 10 ++++++++++ 8 files changed, 27 insertions(+) diff --git a/include/librealsense2/rs.h b/include/librealsense2/rs.h index d6059c85c1..b767a2225d 100644 --- a/include/librealsense2/rs.h +++ b/include/librealsense2/rs.h @@ -136,6 +136,8 @@ float rs2_depth_frame_get_distance(const rs2_frame* frame_ref, int x, int y, rs2 */ rs2_time_t rs2_get_time( rs2_error** error); +void rs2_hw_monitor_get_opcode_string(int opcode, char* buffer, size_t buffer_size,rs2_device* device, rs2_error** error); + #ifdef __cplusplus } #endif diff --git a/src/core/debug.h b/src/core/debug.h index 1d5956e4aa..5d232b068d 100644 --- a/src/core/debug.h +++ b/src/core/debug.h @@ -4,6 +4,7 @@ #include "extension.h" #include +#include namespace librealsense { @@ -18,6 +19,7 @@ namespace librealsense uint32_t param4 = 0, uint8_t const * data = nullptr, size_t dataLength = 0) const = 0; + virtual std::string get_opcode_string(int opcode) const = 0; }; MAP_EXTENSION(RS2_EXTENSION_DEBUG, librealsense::debug_interface); diff --git a/src/ds/d400/d400-device.cpp b/src/ds/d400/d400-device.cpp index 5018b15992..d63f190bf4 100644 --- a/src/ds/d400/d400-device.cpp +++ b/src/ds/d400/d400-device.cpp @@ -148,6 +148,11 @@ namespace librealsense return result; } + std::string d400_device::get_opcode_string(int opcode) const + { + return ds::d400_hwmon_response().hwmon_error2str(opcode); + } + class d400_depth_sensor : public synthetic_sensor , public video_sensor_interface diff --git a/src/ds/d400/d400-device.h b/src/ds/d400/d400-device.h index 0816b54d03..03de43540e 100644 --- a/src/ds/d400/d400-device.h +++ b/src/ds/d400/d400-device.h @@ -66,6 +66,7 @@ namespace librealsense std::vector backup_flash( rs2_update_progress_callback_sptr callback) override; void update_flash(const std::vector& image, rs2_update_progress_callback_sptr callback, int update_mode) override; bool check_fw_compatibility(const std::vector& image) const override; + std::string get_opcode_string(int opcode) const override; protected: std::shared_ptr _ds_device_common; diff --git a/src/ds/d500/d500-device.cpp b/src/ds/d500/d500-device.cpp index 9778971fc5..d456ab0123 100644 --- a/src/ds/d500/d500-device.cpp +++ b/src/ds/d500/d500-device.cpp @@ -116,6 +116,11 @@ namespace librealsense throw not_implemented_exception("D500 device does not support unsigned FW update"); } + std::string d500_device::get_opcode_string(int opcode) const + { + return _hw_monitor_response->hwmon_error2str(opcode); + } + class d500_depth_sensor : public synthetic_sensor, public video_sensor_interface, public depth_stereo_sensor, public roi_sensor_base { public: diff --git a/src/ds/d500/d500-device.h b/src/ds/d500/d500-device.h index a3dba10e59..3679e16f5c 100644 --- a/src/ds/d500/d500-device.h +++ b/src/ds/d500/d500-device.h @@ -72,6 +72,7 @@ namespace librealsense std::vector backup_flash( rs2_update_progress_callback_sptr callback ) override; void update_flash(const std::vector& image, rs2_update_progress_callback_sptr callback, int update_mode) override; bool check_fw_compatibility( const std::vector& image ) const override { return true; }; + std::string get_opcode_string(int opcode) const override; protected: std::shared_ptr _ds_device_common; diff --git a/src/realsense.def b/src/realsense.def index 06f4507611..607307aaf6 100644 --- a/src/realsense.def +++ b/src/realsense.def @@ -438,3 +438,4 @@ EXPORTS rs2_project_color_pixel_to_depth_pixel rs2_get_calibration_config rs2_set_calibration_config + rs2_hw_monitor_get_opcode_string \ No newline at end of file diff --git a/src/rs.cpp b/src/rs.cpp index ba1dd7649c..514c2e0b2b 100644 --- a/src/rs.cpp +++ b/src/rs.cpp @@ -4452,3 +4452,13 @@ void rs2_set_calibration_config( auto_calib->set_calibration_config(calibration_config_json_str); } HANDLE_EXCEPTIONS_AND_RETURN(, device, calibration_config_json_str) +void rs2_hw_monitor_get_opcode_string(int opcode, char* buffer, size_t buffer_size, + rs2_device* device, + rs2_error** error) BEGIN_API_CALL +{ + VALIDATE_NOT_NULL(device); + auto device_interface = VALIDATE_INTERFACE(device->device, librealsense::debug_interface); + strncpy(buffer, device_interface->get_opcode_string(opcode).c_str(), buffer_size); + //return device_interface->get_opcode_string(opcode).c_str(); // TODO: ask Nir and implement this function on d400/d500 if needed +} +HANDLE_EXCEPTIONS_AND_RETURN(, device) \ No newline at end of file From 026f44bcfb477cc3c9e6c27568202bd5fdf10273 Mon Sep 17 00:00:00 2001 From: Avia Avraham <145359432+AviaAv@users.noreply.github.com> Date: Tue, 22 Oct 2024 17:16:19 +0300 Subject: [PATCH 07/44] python script to create html from lrs_options --- CMake/lrs_options.cmake | 6 ++ doc/build-flags.css | 91 +++++++++++++++++++++++ doc/build-flags.ico | Bin 0 -> 178298 bytes doc/lrs_options-to-html.py | 144 +++++++++++++++++++++++++++++++++++++ 4 files changed, 241 insertions(+) create mode 100644 doc/build-flags.css create mode 100644 doc/build-flags.ico create mode 100644 doc/lrs_options-to-html.py diff --git a/CMake/lrs_options.cmake b/CMake/lrs_options.cmake index cc2b21de13..07d3dae62b 100644 --- a/CMake/lrs_options.cmake +++ b/CMake/lrs_options.cmake @@ -48,3 +48,9 @@ option(BUILD_PC_STITCHING "Build pointcloud-stitching example" OFF) option(BUILD_WITH_DDS "Access camera devices through DDS topics (requires CMake 3.16.3)" OFF) option(BUILD_RS2_ALL "Build realsense2-all static bundle containing all realsense libraries (with BUILD_SHARED_LIBS=OFF)" ON) + +## This file is also being used to generate our build flags document at https://intelrealsense.github.io/librealsense/build-flags-docs/build-flags.html +## Formatting notes for this file: +## Options are listed as: | [comment] | +## regular comments should be ABOVE their relevent option +## use double # for comments that should not show in the options doc diff --git a/doc/build-flags.css b/doc/build-flags.css new file mode 100644 index 0000000000..57e78b2593 --- /dev/null +++ b/doc/build-flags.css @@ -0,0 +1,91 @@ +/* This file is used in lrs_options-to-html, creating the html build-flags.html file we use to keep + the flags updated */ +body { + font-family: 'Roboto', Arial, sans-serif; + background-color: #f5f5f5; + margin: 0; + padding: 0; +} + +.container { + width: 80%; + margin: 0 auto; + padding: 30px; +} + +h1 { + text-align: center; + margin-bottom: 20px; +} + +h2 { + text-align: center; + margin-bottom: 30px; +} + +table { + width: 100%; + border-collapse: collapse; + box-shadow: 0 0 20px rgba(0, 0, 0, 0.1); + border-radius: 8px; + overflow: visible; +} + +th, td { + padding: 16px; + text-align: left; + border: 1px solid #ddd; +} + +th { + background-color: #5873e0; + color: white; +} + +tr:hover { + background-color: #f0f0f0; +} + +code { + padding: 2px 4px; + border-radius: 4px; + font-family: 'Roboto Mono', monospace; +} +/* --- Tooltip --- */ +.tooltip { + position: relative; + display: block; +} + +.tooltip .tooltip-text { + visibility: hidden; + /*width: 120px;*/ + background-color: #555; + color: #fff; + text-align: center; + padding: 5%; + border-radius: 6px; + position: absolute; + z-index: 1; + bottom: 125%; + left: 50%; + margin-left: -60px; + opacity: 0; + transition: opacity 0.3s; +} + +.tooltip .tooltip-text::after { + content: ""; + position: absolute; + top: 100%; + left: 50%; + margin-left: -5px; + border-width: 5px; + border-style: solid; + border-color: #555 transparent transparent transparent; +} + +.tooltip:hover .tooltip-text { + visibility: visible; + opacity: 1; +} diff --git a/doc/build-flags.ico b/doc/build-flags.ico new file mode 100644 index 0000000000000000000000000000000000000000..a98c8ab74db02bb17001bf9593c22d4e2310ea44 GIT binary patch literal 178298 zcmeF41)N;f^~cw;GP|=b5kdk4hu~HqLKJro?oM(2pjd(8QlwDaf=g+kr7bO1 zpv5(0vztBt^Sv|Y<<8wVvJ!%1J{<0Qli8Vfe@E`Q=bn3RQBiSGRZ)F?k+#E&_ADzZ zy11yQXyCxq{pnRjMP2&d@ZqWZ8})Oi))o~lyKMS?;i96E!-|T=j7i-uwpLNmU&j{} zO`e?o`_1(4Pc16iamV!MFVw&PXHn7d$EQDESzI*oz~Ula{QihBMMYa2QBt&+-s?~4 zJE`}zDJs(ESZHL5+`ay9^ytxDW5$f>8asAu*SK-xy2g(m-!);vgszDbCw5JqJh^M_ zwb$-iXPtGr)?IhquJzYnziZN@NnImGjOZFZe0bLa3oOtzYSbvv?-2bCS!=DeM88Ay zJ4F9p^s}PhA^IJne=qB;x1M`{p@kNb`RAWs_>MK!Si^k>-?RGat2-Y<&{_N+GUqrl^opLpU4IqdKwWvjIl za`~~9vei0uvhL^xIrEp*@|TsoQe6}xuYX(#vhtE{q$KJQ>T;)o;U z(MKP3-_z7sCk>5_Qd8S3O-(Jb$%J}&>#j=Kefv=|dF^$(R#;($t{ryRK|cB96M6B) z7iHSCY4YBC@5#$Azbvb*wwlz`BxSiJYURjX5_0?574qjB2gvWvT0qucZz6o@T5h@J z+~5EG?|-L1veHT`xxc&i+H2*u+wYXsmaCWNt|^tf&Kn>HZ=aBfYqrYxaie8oinm?M zF1u{k_SO7jmeWo@sXP$YcoN>k(GG)pXsjsh>ii!$ZbA<{y>%akW z<#A>Kmqq?UH`KvrT57&;j^`eHu1wn6nAkImO*DbGELxzhU2xZQ}dW zzv1j)z*}eQ3hjgSgYQS?=9_OmXFt;YaD4aW2RXxzF1qNVve;sa$>NJI?sP!qNlYe@ zW0Ol{dAa45kL1&28X3g~Vu!Kc{04-5#+IT#wY9ZUS6Aosk+z{h?SR^8>{(+|tF*MX z$&ev!GT)Gas$YX-x#d@Kwurtczab~P=*|{fY#}$^c%y8!)mBblYierT_wyU{`J|Ih zl9Nw9S#cdMi!a@O*PK|Tw!1FDT?oC zkV%tM-w%)BIp5Fs+LJLHXSz!-qD>sFfPz z*gb0Ge}62Nf8CXotv4U5{=wQh4zA;L8oA{=XUv%4e&d^Oz7ZpP@1~n>64ggHt~E5& z$;8!@GWGCEdGXpZ`Rw6hnf_#vymm`c4&Qr49it|j|KY}2WPXo5_Hf^Q`Q?{8p8-Du z!aiJm_0_@)8KMvSZCxdwK2$7UJX$P|Usfh(A5y8l|?bQT1=> z3|oawRBRY)oec8*M<0E(`+l{zQ499(zyH2G@W4Z|{E~I@-}{T@#?y2htFD!rq<+8h zqPDid>G#BmZv2eKVa5z}eYf3qbNF0;{q@dY+i0VW1VZ0_|NGxN-8lH*L!`03LLR)h zR6c&7SoYbfQhkgX8M#=ktUW3zmmgm*C;oDztTk?e!xg)ZpTYOz7kvBex9&IKsZo1- zyL|fTr*htT=Q-Ojpu9p>U%pbFx}wDC7=3yF4<(KlpFA``es#>E`u*dbuZbU^*f@N! z%fI~PF9n}$(@i%O{5WWnO*V11tFp4v=>vX2c}0~B8CWG7tyL+9Y+oTq?OY){ZB!-e zPh40gjK}XB*Ue9W2lS(*r6t1M=K;Jn|AF7AsL~HEyo6` zPwe~@d=B5H`{PqE*5ZTk8u=DHLi!T(8(r%E%}V=Hh86s9 za)s=oALyWdza!tbVh-W^S33SVe?fl-p8>yQmh+3|;Q#Q$hAWLxVjk#TIsuIF!#a5$ z#dVg-ha;84St=urbnZ4w^~sUy?JP*`&n)%H9O;~47Nj9cH7PEw}k3{*L)P=DVfGa%Y#(3H^PiC(P>@Gn5=Z zu=ggv{rwF1Eclp==e`e_eul`8oRiNG{=SDphM(y_1Gd7m7iRY&Uhtg|<6U~pbMt!U z_8}h_OTil-7YqysI-W03mNgB0%tlvk77_-#6o_NCqL8`hg|zPX%# z{`or3KF;;cd|m$;_+4T;_>%`5aDd}$J^tMM&9d%T{JErDePTjxJ-bS-JvkvK?30vD zCJ&Ky)}BCo!_BR{XPA|?lWty%-^lCjx8HW-7xQm0FdTReWcSG@pLCzYCmB4rO}1J$ zDUV$~K)!jRSmebbkr#@j>$z0R{a25b$i0^gm2F*&#rdy>#jLcgc5~}P4mrg6Gyneg zznz@m8~7ODm(yqF1Nc>|ufB%*v9V#p|K6tYl{VRZi+Y)^*nIv-x$L>)n#750jysEa0>95( z;oyT0j{1+jGEV>l_y94F;`Num{KY*B{6J1ynj7@@8l7Kn@@V>kJg&4%i+p%rskBck zkt6n5+07x+Hewd@2z(4=-hLncGw0+x`5wL#-5`#Iugkm(JWL0825{i>jXHN}Y;2bL z2IemI6b6Syn{wV!lLw`RtR_HUh-v@hs|Db~olFrUf=Y#&~Pk)lWom3W; 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z!dbA3K~#J(RSZal5S4o-s*yivOkUd=xf*z(ui_7{BBp$7+}Np%EogjBZB-ufII-1o zHON;~{NYu^l#fk5cB*1ik^Di4pY;gzVh|O_h$_E~suN6QY$}pJ=%C`HyudC7QSnPQ z++O-1%NlMrUfBBK*KfPPE(Qsz^2HpG3W2R;cYB0u=B8&Jg`U&VkFG`5nB z|K$}M`Gs(B9)OBOD|SpJo8WEyEN`e&fmN!@{j38%!w(Fn(0JME;UZkmVIaT?Vqvdoxfm{P=$PR=Msan_$W-hPn)9o7ZL_6@Pry zdLt#9!q^n5JU_*cc5uBJNW~vtMNB1|;B5+3o}d2x!sTi+kcvOPikM0^!P^w7JU{*C zi)%1@Bi8~{`|(TT_mWMa%k$H}pX3M7O5`uu3vO1&|PakvH4-I%w`~!U&xZp!9o6mF?bk2 zg&&2N$X~JvQVKON') + val = val.replace('OFF', 'OFF') + + # if more complicated conditions are being used, this can be disabled - + # if we see an option more than once at add_row, just set its value to be 'Environment dependant' + # this should handle if/elseif/else structures of cmake + if in_cond: + # text will say Environment dependant, and if hovered will show the condition + val = f'Environment dependant{val}
' + elif in_elseif: + # append condition to tooltip + val = table_rows[option][2].replace("
", f',
{val}
') + + elif in_else: + # append otherwise to tooltip + val = table_rows[option][2].replace("
", f',
{val} otherwise') + + return val + + +def add_row(option, description, value): + if option in table_rows: + # update value if option exists + table_rows[option][2] = value + else: + # add to table new option + table_rows[option] = [option, description, value] + + +with open('CMake/lrs_options.cmake', 'r') as file: + lines = file.readlines() + +table_rows = {} +in_cond = False +in_elseif = False +in_else = False +current_condition = None +current_comment = "" + +for line in lines: + if line.strip().startswith(('option(', 'set(')): + line = ' '.join(line.split()) # remove consecutive spaces + parts = line.strip().split(' ') + if line.strip().startswith('option('): + option = parts[0].strip('option(') + value = parts[-1].strip(")") # the last word in line is the value (ON/OFF by default) + + # concatenate rest of the line - expected to be just the description in quotes + description = ' '.join(parts[1:-1]).strip('"') + else: + option = parts[0].strip('set(') + value = parts[1] + value = f'{value}' + # parts[2] is expected to be 'CACHE' + vartype = parts[3] # INT, STRING ... + + # concatenate rest of the line - expected to be just the description in quotes + description = ' '.join(parts[4:-1]).strip('"') + f" (type {vartype})" + + if current_comment: + description += " " + current_comment + "" + current_comment = "" + + if in_cond or in_elseif: + value = f'{value} if {current_condition}' + + value = add_style(option, value) + add_row(option, description, value) + elif line.startswith('if'): + parts = line.strip().split('(', 1) + condition = parts[1][:-1] # remove last ")" - part of the 'if' + current_condition = condition + in_cond = True + elif line.startswith('elseif'): + parts = line.strip().split('(', 1) + condition = parts[1][:-1] # remove last ")" - part of the 'if' + current_condition = condition + in_cond = False + in_elseif = True + elif line.startswith('else'): + in_cond = False + in_elseif = False + in_else = True + elif line.startswith('endif'): + current_condition = None + in_cond = False + in_else = False + elif line.startswith('##'): + continue # ignore internal comments + elif line.startswith('#'): + current_comment += line.strip('# \n') + + +def format_dict_values(): + return ''.join( + f'\n ' + f'\n\t\n\t {option}'f'\n\t' + f'\n\t\n\t {description}\n\t' + f'\n\t\n\t {value}\n\t' + f'\n ' + for option, description, value in table_rows.values()) + +def get_sdk_version(): + version_info = {} + with open('include/librealsense2/rs.h', 'r') as file: + lines = file.readlines() + + for line in lines: + if line.startswith('#define RS2_API_MAJOR_VERSION'): + version_info['major'] = line.split()[2] + elif line.startswith('#define RS2_API_MINOR_VERSION'): + version_info['minor'] = line.split()[2] + elif line.startswith('#define RS2_API_PATCH_VERSION'): + version_info['patch'] = line.split()[2] + return 'Version ' + '.'.join(version_info.values()) + +html = f''' + + + Build Customization Flags + + + + +

+

Intel RealSense™ SDK Build Customization Flags

+

{get_sdk_version()}

+ + + + + + {format_dict_values()} +
OptionDescriptionDefault
+
+ + +''' + +with open('doc/build-flags.html', 'w') as file: + file.write(html) + print("build-flags.html generated") From defc911aeda845499d4013e70dc34f73bba88396 Mon Sep 17 00:00:00 2001 From: Avia Avraham <145359432+AviaAv@users.noreply.github.com> Date: Thu, 7 Nov 2024 11:44:38 +0200 Subject: [PATCH 08/44] use get_opcode_string to show error string --- common/output-model.cpp | 12 ++++++++++-- include/librealsense2/hpp/rs_device.hpp | 8 ++++++++ src/dds/rs-dds-device-proxy.cpp | 17 +++++++++++++++++ src/dds/rs-dds-device-proxy.h | 1 + src/rs.cpp | 4 ++-- 5 files changed, 38 insertions(+), 4 deletions(-) diff --git a/common/output-model.cpp b/common/output-model.cpp index 937478a8b3..e1cd38e465 100644 --- a/common/output-model.cpp +++ b/common/output-model.cpp @@ -893,6 +893,7 @@ void output_model::add_log(rs2_log_severity severity, std::string filename, int void output_model::run_command(std::string command, device_models_list & device_models) { + std::string opcode_error_as_string = ""; try { if (to_lower(command) == "clear") @@ -990,7 +991,11 @@ void output_model::run_command(std::string command, device_models_list & device_ { found = true; auto res = dbg.send_and_receive_raw_data(buffer); - + if (res.data()) + { + int8_t opcode = *res.data(); + opcode_error_as_string = dbg.get_opcode_string(opcode); + } std::string response = rsutils::string::from() << "\n" << terminal_parser.parse_response(to_lower(command), res); add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, response); } @@ -1006,7 +1011,10 @@ void output_model::run_command(std::string command, device_models_list & device_ } catch(const std::exception& ex) { - add_log( RS2_LOG_SEVERITY_ERROR, __FILE__, __LINE__, ex.what() ); + std::string foo = rsutils::string::from() << ex.what(); + if (opcode_error_as_string != "") + foo = rsutils::string::from() << foo << " (" << opcode_error_as_string << ")"; + add_log( RS2_LOG_SEVERITY_ERROR, __FILE__, __LINE__, foo); } } diff --git a/include/librealsense2/hpp/rs_device.hpp b/include/librealsense2/hpp/rs_device.hpp index 4068dc5a53..bc7af22454 100644 --- a/include/librealsense2/hpp/rs_device.hpp +++ b/include/librealsense2/hpp/rs_device.hpp @@ -1042,6 +1042,14 @@ namespace rs2 return results; } + + std::string get_opcode_string(int opcode) + { + rs2_error* e = nullptr; + char buffer[1024]; + rs2_hw_monitor_get_opcode_string(opcode, buffer, sizeof(buffer), _dev.get(), &e); + return std::string(buffer); + } }; class device_list diff --git a/src/dds/rs-dds-device-proxy.cpp b/src/dds/rs-dds-device-proxy.cpp index 94bd86e0ae..bc01659712 100644 --- a/src/dds/rs-dds-device-proxy.cpp +++ b/src/dds/rs-dds-device-proxy.cpp @@ -28,6 +28,7 @@ #include #include +#include using rsutils::json; @@ -578,6 +579,22 @@ void dds_device_proxy::hardware_reset() _dds_dev->send_control( control, &reply ); } +std::string dds_device_proxy::get_opcode_string(int opcode) const +{ + std::string product_line = get_info(RS2_CAMERA_INFO_PRODUCT_LINE); + if (product_line.find("D400") != std::string::npos) + { + // d400 device + return ds::d400_hwmon_response().hwmon_error2str(opcode); + } + else if (product_line.find("D500") != std::string::npos) + { + // d500 device + return ds::d500_hwmon_response().hwmon_error2str(opcode); + } + return ""; +} + std::vector< uint8_t > dds_device_proxy::send_receive_raw_data( const std::vector< uint8_t > & input ) { diff --git a/src/dds/rs-dds-device-proxy.h b/src/dds/rs-dds-device-proxy.h index f442b1f5b4..797cbf4e9a 100644 --- a/src/dds/rs-dds-device-proxy.h +++ b/src/dds/rs-dds-device-proxy.h @@ -84,6 +84,7 @@ class dds_device_proxy uint32_t param4 = 0, uint8_t const * data = nullptr, size_t dataLength = 0 ) const override; + std::string get_opcode_string(int opcode) const override; // updatable: unsigned, non-recovery-mode private: diff --git a/src/rs.cpp b/src/rs.cpp index 514c2e0b2b..5078ece181 100644 --- a/src/rs.cpp +++ b/src/rs.cpp @@ -4452,6 +4452,7 @@ void rs2_set_calibration_config( auto_calib->set_calibration_config(calibration_config_json_str); } HANDLE_EXCEPTIONS_AND_RETURN(, device, calibration_config_json_str) + void rs2_hw_monitor_get_opcode_string(int opcode, char* buffer, size_t buffer_size, rs2_device* device, rs2_error** error) BEGIN_API_CALL @@ -4459,6 +4460,5 @@ void rs2_hw_monitor_get_opcode_string(int opcode, char* buffer, size_t buffer_si VALIDATE_NOT_NULL(device); auto device_interface = VALIDATE_INTERFACE(device->device, librealsense::debug_interface); strncpy(buffer, device_interface->get_opcode_string(opcode).c_str(), buffer_size); - //return device_interface->get_opcode_string(opcode).c_str(); // TODO: ask Nir and implement this function on d400/d500 if needed } -HANDLE_EXCEPTIONS_AND_RETURN(, device) \ No newline at end of file +HANDLE_EXCEPTIONS_AND_RETURN(, device) From 180a91b9e49b128a3e82d74c7e234cd902156d95 Mon Sep 17 00:00:00 2001 From: Avia Avraham <145359432+AviaAv@users.noreply.github.com> Date: Mon, 11 Nov 2024 09:55:14 +0200 Subject: [PATCH 09/44] renaming --- common/output-model.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/common/output-model.cpp b/common/output-model.cpp index e1cd38e465..9ebe9b473a 100644 --- a/common/output-model.cpp +++ b/common/output-model.cpp @@ -1011,10 +1011,10 @@ void output_model::run_command(std::string command, device_models_list & device_ } catch(const std::exception& ex) { - std::string foo = rsutils::string::from() << ex.what(); + std::string error_string = rsutils::string::from() << ex.what(); if (opcode_error_as_string != "") - foo = rsutils::string::from() << foo << " (" << opcode_error_as_string << ")"; - add_log( RS2_LOG_SEVERITY_ERROR, __FILE__, __LINE__, foo); + error_string = rsutils::string::from() << error_string << " (" << opcode_error_as_string << ")"; + add_log( RS2_LOG_SEVERITY_ERROR, __FILE__, __LINE__, error_string); } } From 1b2ef8a00f241d33581867fae787f12e9c4e9ebf Mon Sep 17 00:00:00 2001 From: Avia Avraham <145359432+AviaAv@users.noreply.github.com> Date: Mon, 11 Nov 2024 10:52:54 +0200 Subject: [PATCH 10/44] move script, add GHA check and exception throw --- .github/workflows/static_analysis.yaml | 12 ++++++++++++ CMake/lrs_options.cmake | 12 ++++++------ doc/build-flags.ico | Bin 178298 -> 4117 bytes {doc => scripts}/lrs_options-to-html.py | 4 +++- 4 files changed, 21 insertions(+), 7 deletions(-) rename {doc => scripts}/lrs_options-to-html.py (96%) diff --git a/.github/workflows/static_analysis.yaml b/.github/workflows/static_analysis.yaml index b5840c5ab4..a811f1a0a9 100644 --- a/.github/workflows/static_analysis.yaml +++ b/.github/workflows/static_analysis.yaml @@ -194,3 +194,15 @@ jobs: echo "Error - The minimal CMake version required for LibRS is ${EXPECTED_CMAKE_MAJOR_VER}.${EXPECTED_CMAKE_MINOR_VER} but on this build the minimal CMake version that works is $CURRENT_CMAKE_MAJOR_VER.$CURRENT_CMAKE_MINOR_VER" exit 1 fi + + build_flags_docs: + name: "Generate build-flags.html" + timeout-minutes: 10 + runs-on: ubuntu-22.04 + steps: + - name: Checkout + uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 #v3 + + - name: Build docs + run: | + python3 scripts/lrs_options-to-html.py diff --git a/CMake/lrs_options.cmake b/CMake/lrs_options.cmake index 07d3dae62b..316add802e 100644 --- a/CMake/lrs_options.cmake +++ b/CMake/lrs_options.cmake @@ -1,3 +1,9 @@ +## This file is also being used to generate our build flags document at https://intelrealsense.github.io/librealsense/build-flags-docs/build-flags.html +## Formatting notes for this file: +## Options are listed as: | [comment] | +## regular comments should be ABOVE their relevent option +## use double # for comments that should not show in the options doc + option(ENABLE_CCACHE "Build with ccache." ON) option(BUILD_WITH_CUDA "Enable CUDA" OFF) option(BUILD_GLSL_EXTENSIONS "Build GLSL extensions API" ON) @@ -48,9 +54,3 @@ option(BUILD_PC_STITCHING "Build pointcloud-stitching example" OFF) option(BUILD_WITH_DDS "Access camera devices through DDS topics (requires CMake 3.16.3)" OFF) option(BUILD_RS2_ALL "Build realsense2-all static bundle containing all realsense libraries (with BUILD_SHARED_LIBS=OFF)" ON) - -## This file is also being used to generate our build flags document at https://intelrealsense.github.io/librealsense/build-flags-docs/build-flags.html -## Formatting notes for this file: -## Options are listed as: | [comment] | -## regular comments should be ABOVE their relevent option -## use double # for comments that should not show in the options doc diff --git a/doc/build-flags.ico b/doc/build-flags.ico index a98c8ab74db02bb17001bf9593c22d4e2310ea44..ff97f560e56eea9c47bcd11610ddef91d55dd26f 100644 GIT binary patch literal 4117 zcmb7HcUV(N*PkR5qaxA-sZmgrNDEb@$_I*&AP8uvLMRF$Kq%6SxFQgWBJBl5ML?zZ zA|NaXND(kgl_mm$;L?kFfYd#s9_T{}Ll@?c52F!2*;;$dGd=SWXCYI_%>!bZoPamFf77hpPufU?eCvR`B3YE8D@qho+dxV=39OIZN0 z-~r(10^p$8o(?MhB{meK;)mjLfgT4y1a<%gbN~qufCPjvKnh3$dD>^72{@0iva_;q zvL9vV=HlcL#GDZ1=ND8tCn18-QP$k|Nl<3I>2^-KHCtmlK{>JL$JYUjerjlz!CI` z_;-RaGB7d25s*^-D1gHOf`Q>65`kdcGl0Pn42*0iq%{nftlb{6bDWfsGbBGM?B+a% zxn>j+_q?9V*yf_<7hw_Ey9*ElFT@P7|C63hz(jYAW`kVA5O4-2IN~qobau8A?9v#G ziw2AwoQBp9Plm`8F3<+SVFYB%hF}9~pbrTxi{QUAT>Y*(fT1){0K}qV0k{nI@)(mM zLohUPp*N_8tAl+F)E2-{0MKh70*n4j%F6;^&y@f|;~Bt(s-qr0>jI(>mgNNu)3Sgm zRGlG;DR{5d7~q+Rg?zy3*Vq+R>%><5oAQ%@+&@ZOehP0b5kUEgmAnQ@&VSVVbI1B! 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z!dbA3K~#J(RSZal5S4o-s*yivOkUd=xf*z(ui_7{BBp$7+}Np%EogjBZB-ufII-1o zHON;~{NYu^l#fk5cB*1ik^Di4pY;gzVh|O_h$_E~suN6QY$}pJ=%C`HyudC7QSnPQ z++O-1%NlMrUfBBK*KfPPE(Qsz^2HpG3W2R;cYB0u=B8&Jg`U&VkFG`5nB z|K$}M`Gs(B9)OBOD|SpJo8WEyEN`e&fmN!@{j38%!w(Fn(0JME;UZkmVIaT?Vqvdoxfm{P=$PR=Msan_$W-hPn)9o7ZL_6@Pry zdLt#9!q^n5JU_*cc5uBJNW~vtMNB1|;B5+3o}d2x!sTi+kcvOPikM0^!P^w7JU{*C zi)%1@Bi8~{`|(TT_mWMa%k$H}pX3M7O5`uu3vO1&|PakvH4-I%w`~!U&xZp!9o6mF?bk2 zg&&2N$X~JvQVK Date: Mon, 11 Nov 2024 11:59:38 +0200 Subject: [PATCH 11/44] update comment --- scripts/lrs_options-to-html.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/scripts/lrs_options-to-html.py b/scripts/lrs_options-to-html.py index 629ac99437..e203acc826 100644 --- a/scripts/lrs_options-to-html.py +++ b/scripts/lrs_options-to-html.py @@ -91,8 +91,9 @@ def add_row(option, description, value): continue # ignore internal comments elif line.startswith('#'): current_comment += line.strip('# \n') - elif line.strip(): # if we've reached a non-empty line, throw an error - raise Exception(f"{i, line} cannot be handled") + elif line.strip(): + # if we reach a line that doesn't match the pattern, throw an error as it's not handled (shouldn't happen) + raise Exception(f"{i, line} not handled") def format_dict_values(): From eba3fd808481a26b708ef8c4db3856b662bb80e4 Mon Sep 17 00:00:00 2001 From: Avia Avraham <145359432+AviaAv@users.noreply.github.com> Date: Mon, 11 Nov 2024 14:38:44 +0200 Subject: [PATCH 12/44] get version number as a param --- scripts/lrs_options-to-html.py | 23 +++++++++++------------ 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/scripts/lrs_options-to-html.py b/scripts/lrs_options-to-html.py index e203acc826..03ff168f59 100644 --- a/scripts/lrs_options-to-html.py +++ b/scripts/lrs_options-to-html.py @@ -1,3 +1,6 @@ +import sys + + def add_style(option, val): # colorize ON and OFF keywords val = val.replace('ON', 'ON') @@ -106,18 +109,14 @@ def format_dict_values(): for option, description, value in table_rows.values()) def get_sdk_version(): - version_info = {} - with open('include/librealsense2/rs.h', 'r') as file: - lines = file.readlines() - - for line in lines: - if line.startswith('#define RS2_API_MAJOR_VERSION'): - version_info['major'] = line.split()[2] - elif line.startswith('#define RS2_API_MINOR_VERSION'): - version_info['minor'] = line.split()[2] - elif line.startswith('#define RS2_API_PATCH_VERSION'): - version_info['patch'] = line.split()[2] - return 'Version ' + '.'.join(version_info.values()) + if len(sys.argv) > 1: + # the script can get the version number as a parameter + version = sys.argv[1] + return f'Version {version}' + else: + # if no parameter provided - no version number will be included + return "" + html = f''' From ea836e6358f218ce4875489e0a58de679437e882 Mon Sep 17 00:00:00 2001 From: Avia Avraham <145359432+AviaAv@users.noreply.github.com> Date: Tue, 12 Nov 2024 15:42:12 +0200 Subject: [PATCH 13/44] remove response size limitation --- src/rs.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/rs.cpp b/src/rs.cpp index 5078ece181..95cc32a915 100644 --- a/src/rs.cpp +++ b/src/rs.cpp @@ -4013,7 +4013,9 @@ rs2_raw_data_buffer* rs2_terminal_parse_response(rs2_terminal_parser* terminal_p VALIDATE_NOT_NULL(command); VALIDATE_NOT_NULL(response); VALIDATE_LE(size_of_command, 1000); //bufer shall be less than 1000 bytes or similar - VALIDATE_LE(size_of_response, 5000);//bufer shall be less than 5000 bytes or similar + + // some commands may return a longer length as a response + //VALIDATE_LE(size_of_response, 5000);//bufer shall be less than 5000 bytes or similar std::string command_string; From 87d431a56cb3c3134f570880def906139362e2da Mon Sep 17 00:00:00 2001 From: Avia Avraham <145359432+AviaAv@users.noreply.github.com> Date: Tue, 12 Nov 2024 16:43:42 +0200 Subject: [PATCH 14/44] remove log print for cmds with empty response --- common/output-model.cpp | 3 ++- src/terminal-parser.cpp | 5 +++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/common/output-model.cpp b/common/output-model.cpp index 9ebe9b473a..b8506e8307 100644 --- a/common/output-model.cpp +++ b/common/output-model.cpp @@ -997,7 +997,8 @@ void output_model::run_command(std::string command, device_models_list & device_ opcode_error_as_string = dbg.get_opcode_string(opcode); } std::string response = rsutils::string::from() << "\n" << terminal_parser.parse_response(to_lower(command), res); - add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, response); + if (response != "\n") + add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, response); } } diff --git a/src/terminal-parser.cpp b/src/terminal-parser.cpp index 63a55ec7ce..0e272457ea 100644 --- a/src/terminal-parser.cpp +++ b/src/terminal-parser.cpp @@ -61,10 +61,11 @@ namespace librealsense data_vec.insert(data_vec.begin(), data.begin(), data.end()); return data_vec; } - else + else if (std::all_of(response.begin() + 1, response.end(), [](int x) { return x == 0; })) // if the response contains only the opcode, the response is empty { - return response; + return {}; } + return response; } vector terminal_parser::build_raw_command_data(const command_from_xml& command, const vector& params) const From 40a90a83bd836e7c654f122c3a80a7572f12fbdd Mon Sep 17 00:00:00 2001 From: Nir Azkiel Date: Wed, 13 Nov 2024 15:06:02 +0200 Subject: [PATCH 15/44] support empty flash enumeration --- src/ds/d500/d500-device.cpp | 14 ++++++++++++-- src/ds/d500/d500-private.cpp | 32 +++++++++++++++++++++++--------- 2 files changed, 35 insertions(+), 11 deletions(-) diff --git a/src/ds/d500/d500-device.cpp b/src/ds/d500/d500-device.cpp index d456ab0123..85379bdb41 100644 --- a/src/ds/d500/d500-device.cpp +++ b/src/ds/d500/d500-device.cpp @@ -286,8 +286,18 @@ namespace librealsense float d500_device::get_stereo_baseline_mm() const // to be d500 adapted { using namespace ds; - auto table = check_calib(*_coefficients_table_raw); - return fabs(table->baseline); + float baseline = 100.0f; // so we will have a non zero value if cannot read from table + try + { + auto table = check_calib(*_coefficients_table_raw); + baseline = fabs(table->baseline); + } + catch( const std::exception &e ) + { + LOG_ERROR("Failed reading stereo baseline, using a default value --> " << e.what() ); + } + + return baseline; } std::vector d500_device::get_d500_raw_calibration_table(ds::d500_calibration_table_id table_id) const // to be d500 adapted diff --git a/src/ds/d500/d500-private.cpp b/src/ds/d500/d500-private.cpp index fb597f8d0e..dadaf447e4 100644 --- a/src/ds/d500/d500-private.cpp +++ b/src/ds/d500/d500-private.cpp @@ -43,18 +43,32 @@ namespace librealsense rs2_intrinsics get_d500_intrinsic_by_resolution(const vector& raw_data, d500_calibration_table_id table_id, uint32_t width, uint32_t height, bool is_symmetrization_enabled) { - switch (table_id) - { - case d500_calibration_table_id::depth_calibration_id: + + if (!raw_data.empty()) { - return get_d500_depth_intrinsic_by_resolution(raw_data, width, height, is_symmetrization_enabled); + switch (table_id) + { + case d500_calibration_table_id::depth_calibration_id: + { + return get_d500_depth_intrinsic_by_resolution(raw_data, width, height, is_symmetrization_enabled); + } + case d500_calibration_table_id::rgb_calibration_id: + { + return get_d500_color_intrinsic_by_resolution(raw_data, width, height); + } + default: + throw invalid_value_exception(rsutils::string::from() << "Parsing Calibration table type " << static_cast(table_id) << " is not supported"); + } } - case d500_calibration_table_id::rgb_calibration_id: + else // In case we got an empty table we will run with default values { - return get_d500_color_intrinsic_by_resolution(raw_data, width, height); - } - default: - throw invalid_value_exception(rsutils::string::from() << "Parsing Calibration table type " << static_cast(table_id) << " is not supported"); + LOG_ERROR("cannot read intrinsic values, setting defaults"); + rs2_intrinsics intrinsics = {0}; + intrinsics.height = height; + intrinsics.width = width; + intrinsics.ppx = intrinsics.fx = width / 2.f; + intrinsics.ppy = intrinsics.fy = height / 2.f; + return intrinsics; } } From ed7afed2891d5678166643692108473018101047 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Thu, 7 Nov 2024 17:23:58 +0200 Subject: [PATCH 16/44] rotate frames --- common/subdevice-model.cpp | 3 + include/librealsense2/h/rs_option.h | 1 + include/librealsense2/h/rs_processing.h | 6 + include/librealsense2/h/rs_types.h | 1 + include/librealsense2/hpp/rs_processing.hpp | 36 ++++ src/proc/CMakeLists.txt | 2 + src/proc/rotation-filter.cpp | 214 ++++++++++++++++++++ src/proc/rotation-filter.h | 41 ++++ src/realsense.def | 1 + src/rs.cpp | 10 + src/sensor.cpp | 2 + 11 files changed, 317 insertions(+) create mode 100644 src/proc/rotation-filter.cpp create mode 100644 src/proc/rotation-filter.h diff --git a/common/subdevice-model.cpp b/common/subdevice-model.cpp index 3a7914f6cb..734a1d65b9 100644 --- a/common/subdevice-model.cpp +++ b/common/subdevice-model.cpp @@ -215,6 +215,9 @@ namespace rs2 model->enable(false); } + if( shared_filter->is< rotation_filter >() ) + model->enable( false ); + if (shared_filter->is()) { if (s->supports(RS2_CAMERA_INFO_PRODUCT_ID)) diff --git a/include/librealsense2/h/rs_option.h b/include/librealsense2/h/rs_option.h index 10d03fe2e8..80c30bc853 100644 --- a/include/librealsense2/h/rs_option.h +++ b/include/librealsense2/h/rs_option.h @@ -125,6 +125,7 @@ extern "C" { RS2_OPTION_SOC_PVT_TEMPERATURE, /**< Temperature of PVT SOC */ RS2_OPTION_GYRO_SENSITIVITY,/**< Control of the gyro sensitivity level, see rs2_gyro_sensitivity for values */ RS2_OPTION_REGION_OF_INTEREST,/**< The rectangular area used from the streaming profile */ + RS2_OPTION_ROTATION,/**Rotates frames*/ RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */ } rs2_option; diff --git a/include/librealsense2/h/rs_processing.h b/include/librealsense2/h/rs_processing.h index 745b72c54d..e13e1484a8 100644 --- a/include/librealsense2/h/rs_processing.h +++ b/include/librealsense2/h/rs_processing.h @@ -224,6 +224,12 @@ rs2_processing_block* rs2_create_align(rs2_stream align_to, rs2_error** error); */ rs2_processing_block* rs2_create_decimation_filter_block(rs2_error** error); +/** + * Creates post-processing filter block. This block accepts frames and applies rotation filter + * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored + */ +rs2_processing_block * rs2_create_rotation_filter_block( rs2_error ** error ); + /** * Creates Depth post-processing filter block. This block accepts depth frames, applies temporal filter * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored diff --git a/include/librealsense2/h/rs_types.h b/include/librealsense2/h/rs_types.h index 775fb5dd83..5543fa00fe 100644 --- a/include/librealsense2/h/rs_types.h +++ b/include/librealsense2/h/rs_types.h @@ -161,6 +161,7 @@ typedef enum rs2_extension RS2_EXTENSION_SOFTWARE_DEVICE, RS2_EXTENSION_SOFTWARE_SENSOR, RS2_EXTENSION_DECIMATION_FILTER, + RS2_EXTENSION_ROTATION_FILTER, RS2_EXTENSION_THRESHOLD_FILTER, RS2_EXTENSION_DISPARITY_FILTER, RS2_EXTENSION_SPATIAL_FILTER, diff --git a/include/librealsense2/hpp/rs_processing.hpp b/include/librealsense2/hpp/rs_processing.hpp index 30a2181c50..be2cc812c1 100644 --- a/include/librealsense2/hpp/rs_processing.hpp +++ b/include/librealsense2/hpp/rs_processing.hpp @@ -851,6 +851,42 @@ namespace rs2 } }; + class rotation_filter : public filter + { + public: + /** + * Create rotation filter + * Rotation filter performs rotation of the frames + */ + rotation_filter() + : filter( init(), 1 ) + { + } + + rotation_filter( filter f ) + : filter( f ) + { + rs2_error * e = nullptr; + if( ! rs2_is_processing_block_extendable_to( f.get(), RS2_EXTENSION_ROTATION_FILTER, &e ) && ! e ) + { + _block.reset(); + } + error::handle( e ); + } + + private: + friend class context; + + std::shared_ptr< rs2_processing_block > init() + { + rs2_error * e = nullptr; + auto block = std::shared_ptr< rs2_processing_block >( rs2_create_rotation_filter_block( &e ), + rs2_delete_processing_block ); + error::handle( e ); + return block; + } + }; + class temporal_filter : public filter { public: diff --git a/src/proc/CMakeLists.txt b/src/proc/CMakeLists.txt index 1d37afe0af..35784d6991 100644 --- a/src/proc/CMakeLists.txt +++ b/src/proc/CMakeLists.txt @@ -20,6 +20,7 @@ target_sources(${LRS_TARGET} "${CMAKE_CURRENT_LIST_DIR}/synthetic-stream.cpp" "${CMAKE_CURRENT_LIST_DIR}/syncer-processing-block.cpp" "${CMAKE_CURRENT_LIST_DIR}/decimation-filter.cpp" + "${CMAKE_CURRENT_LIST_DIR}/rotation-filter.cpp" "${CMAKE_CURRENT_LIST_DIR}/spatial-filter.cpp" "${CMAKE_CURRENT_LIST_DIR}/temporal-filter.cpp" "${CMAKE_CURRENT_LIST_DIR}/hdr-merge.cpp" @@ -49,6 +50,7 @@ target_sources(${LRS_TARGET} "${CMAKE_CURRENT_LIST_DIR}/occlusion-filter.h" "${CMAKE_CURRENT_LIST_DIR}/synthetic-stream.h" "${CMAKE_CURRENT_LIST_DIR}/decimation-filter.h" + "${CMAKE_CURRENT_LIST_DIR}/rotation-filter.h" "${CMAKE_CURRENT_LIST_DIR}/spatial-filter.h" "${CMAKE_CURRENT_LIST_DIR}/temporal-filter.h" "${CMAKE_CURRENT_LIST_DIR}/hdr-merge.h" diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp new file mode 100644 index 0000000000..35a1dbb92c --- /dev/null +++ b/src/proc/rotation-filter.cpp @@ -0,0 +1,214 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. + +#include +#include "option.h" +#include "stream.h" +#include "core/video.h" +#include "proc/rotation-filter.h" + +namespace librealsense { + + const int rotation_min_val = -90; + const int rotation_max_val = 180; + const int rotation_default_val = 0; + const int rotation_step = 90; + + rotation_filter::rotation_filter() : + stream_filter_processing_block("Rotation Filter"), + _control_val(rotation_default_val), + _real_width(0), + _real_height(0), + _rotated_width(0), + _rotated_height(0) + { + auto rotation_control = std::make_shared< ptr_option< int > >( + rotation_min_val, + rotation_max_val, + rotation_step, + rotation_default_val, + &_control_val, "Rotation scale"); + + auto weak_rotation_control = std::weak_ptr< ptr_option< int > >( rotation_control ); + rotation_control->on_set( + [this, weak_rotation_control]( float val ) + { + auto strong_rotation_control = weak_rotation_control.lock(); + if(!strong_rotation_control) return; + + std::lock_guard lock(_mutex); + + if( ! strong_rotation_control->is_valid( val ) ) + throw invalid_value_exception( rsutils::string::from() + << "Unsupported rotation scale " << val << " is out of range." ); + + _value = val; + + }); + + register_option( RS2_OPTION_ROTATION, rotation_control ); + } + + rs2::frame rotation_filter::process_frame(const rs2::frame_source& source, const rs2::frame& f) + { + if( _value == rotation_default_val ) + return f; + + auto src = f.as(); + rs2::stream_profile profile = f.get_profile(); + _target_stream_profile = profile; + + if( _value == 90 || _value == -90 ) + { + _rotated_width = src.get_height(); + _rotated_height = src.get_width(); + } + else if( _value == 180 ) + { + _rotated_width = src.get_width(); + _rotated_height = src.get_height(); + } + auto bpp = src.get_bytes_per_pixel(); + update_output_profile( f ); + + rs2_stream type = profile.stream_type(); + rs2_extension tgt_type; + if (type == RS2_STREAM_COLOR || type == RS2_STREAM_INFRARED) + tgt_type = RS2_EXTENSION_VIDEO_FRAME; + else + tgt_type = f.is() ? RS2_EXTENSION_DISPARITY_FRAME : RS2_EXTENSION_DEPTH_FRAME; + + + if (auto tgt = prepare_target_frame(f, source, tgt_type)) + { + int rotated_width = ( _value == 90 || _value == -90 ) ? src.get_height() : src.get_width(); + int rotated_height = ( _value == 90 || _value == -90 ) ? src.get_width() : src.get_height(); + + switch( bpp ) + { + case 1: { + rotate_depth< 1 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ), + static_cast< const uint8_t * >( src.get_data() ), + rotated_height, + rotated_width ); + auto temp = static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ); + break; + } + + case 2: { + rotate_depth< 2 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ), + static_cast< const uint8_t * >( src.get_data() ), + rotated_height, + rotated_width ); + auto temp = static_cast< uint16_t * >( const_cast< void * >( tgt.get_data() ) ); + break; + } + + default: + LOG_ERROR( "Rotation transform does not support format: " + + std::string( rs2_format_to_string( tgt.get_profile().format() ) ) ); + } + return tgt; + } + return f; + } + + void rotation_filter::update_output_profile(const rs2::frame& f) + { + _source_stream_profile = f.get_profile(); + + _target_stream_profile = _source_stream_profile.clone( _source_stream_profile.stream_type(), + _source_stream_profile.stream_index(), + _source_stream_profile.format() ); + + + auto src_vspi = dynamic_cast< video_stream_profile_interface * >( _source_stream_profile.get()->profile ); + if( ! src_vspi ) + throw std::runtime_error( "Stream profile interface is not video stream profile interface" ); + + auto tgt_vspi = dynamic_cast< video_stream_profile_interface * >( _target_stream_profile.get()->profile ); + if( ! tgt_vspi ) + throw std::runtime_error( "Profile is not video stream profile" ); + + rs2_intrinsics src_intrin = src_vspi->get_intrinsics(); + rs2_intrinsics tgt_intrin = tgt_vspi->get_intrinsics(); + + // Adjust width and height based on the rotation angle + if( _value == 90 || _value == -90 ) // 90 or -90 degrees rotation + { + _rotated_width = src_intrin.height; + _rotated_height = src_intrin.width; + tgt_intrin.fx = src_intrin.fy; + tgt_intrin.fy = src_intrin.fx; + tgt_intrin.ppx = src_intrin.ppy; + tgt_intrin.ppy = src_intrin.ppx; + } + else if( _value == 180 ) // 180 degrees rotation + { + _rotated_width = src_intrin.width; + _rotated_height = src_intrin.height; + tgt_intrin = src_intrin; + } + else { throw std::invalid_argument( "Unsupported rotation angle" ); } + + tgt_intrin.width = _rotated_width; + tgt_intrin.height = _rotated_height; + + tgt_vspi->set_intrinsics( [tgt_intrin]() { return tgt_intrin; } ); + tgt_vspi->set_dims( _rotated_width, _rotated_height ); + } + + rs2::frame rotation_filter::prepare_target_frame(const rs2::frame& f, const rs2::frame_source& source, rs2_extension tgt_type) + { + auto vf = f.as(); + auto ret = source.allocate_video_frame(_target_stream_profile, f, + vf.get_bytes_per_pixel(), + _rotated_width, + _rotated_height, + _rotated_width * vf.get_bytes_per_pixel(), + tgt_type); + + return ret; + } + + template< size_t SIZE > + void rotation_filter::rotate_depth( uint8_t * const out, const uint8_t * source, + int width, int height) + { + auto width_out = ( _value == 90 || _value == -90 ) ? height : width; + auto height_out = ( _value == 90 || _value == -90 ) ? width : height; + + for( int i = 0; i < height; ++i ) + { + for( int j = 0; j < width; ++j ) + { + auto src_index = ( i * width + j ) * SIZE; + size_t out_index; + + if( _value == 90 ) + { + // 90-degree rotation + out_index = ( j * width_out + ( width_out - i - 1 ) ) * SIZE; + } + else if( _value == -90 ) + { + // -90-degree rotation + out_index = ( ( height_out - j - 1 ) * width_out + i ) * SIZE; + } + else if( _value == 180 ) + { + // 180-degree rotation + out_index = ( ( height_out - i - 1 ) * width_out + ( width_out - j - 1 ) ) * SIZE; + } + else + { + throw std::invalid_argument( "Unsupported rotation angle" ); + } + + std::memcpy( &out[out_index], &source[src_index], SIZE ); + } + } + } + +} + diff --git a/src/proc/rotation-filter.h b/src/proc/rotation-filter.h new file mode 100644 index 0000000000..4d96fed9b2 --- /dev/null +++ b/src/proc/rotation-filter.h @@ -0,0 +1,41 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "../include/librealsense2/hpp/rs_frame.hpp" +#include "../include/librealsense2/hpp/rs_processing.hpp" +#include "proc/synthetic-stream.h" + +namespace librealsense +{ + + class rotation_filter : public stream_filter_processing_block + { + public: + rotation_filter(); + + protected: + rs2::frame prepare_target_frame(const rs2::frame& f, const rs2::frame_source& source, rs2_extension tgt_type); + + template< size_t SIZE > + void rotate_depth( uint8_t * const out, const uint8_t * source, int width, int height ); + + rs2::frame process_frame(const rs2::frame_source& source, const rs2::frame& f) override; + + private: + void update_output_profile(const rs2::frame& f); + + + int _control_val; + rs2::stream_profile _source_stream_profile; + rs2::stream_profile _target_stream_profile; + uint16_t _real_width; + uint16_t _real_height; + uint16_t _rotated_width; + uint16_t _rotated_height; + + int _value; + }; + MAP_EXTENSION( RS2_EXTENSION_ROTATION_FILTER, librealsense::rotation_filter ); + } diff --git a/src/realsense.def b/src/realsense.def index 607307aaf6..e1e7a9b79d 100644 --- a/src/realsense.def +++ b/src/realsense.def @@ -211,6 +211,7 @@ EXPORTS rs2_create_threshold rs2_create_units_transform rs2_create_decimation_filter_block + rs2_create_rotation_filter_block rs2_create_temporal_filter_block rs2_create_spatial_filter_block rs2_create_hole_filling_filter_block diff --git a/src/rs.cpp b/src/rs.cpp index 5078ece181..07e88abdb4 100644 --- a/src/rs.cpp +++ b/src/rs.cpp @@ -30,6 +30,7 @@ #include "proc/disparity-transform.h" #include "proc/syncer-processing-block.h" #include "proc/decimation-filter.h" +#include "proc/rotation-filter.h" #include "proc/spatial-filter.h" #include "proc/hole-filling-filter.h" #include "proc/color-formats-converter.h" @@ -1944,6 +1945,7 @@ int rs2_is_processing_block_extendable_to(const rs2_processing_block* f, rs2_ext switch (extension_type) { case RS2_EXTENSION_DECIMATION_FILTER: return VALIDATE_INTERFACE_NO_THROW((processing_block_interface*)(f->block.get()), librealsense::decimation_filter) != nullptr; + case RS2_EXTENSION_ROTATION_FILTER: return VALIDATE_INTERFACE_NO_THROW((processing_block_interface*)(f->block.get()), librealsense::rotation_filter) != nullptr; case RS2_EXTENSION_THRESHOLD_FILTER: return VALIDATE_INTERFACE_NO_THROW((processing_block_interface*)(f->block.get()), librealsense::threshold) != nullptr; case RS2_EXTENSION_DISPARITY_FILTER: return VALIDATE_INTERFACE_NO_THROW((processing_block_interface*)(f->block.get()), librealsense::disparity_transform) != nullptr; case RS2_EXTENSION_SPATIAL_FILTER: return VALIDATE_INTERFACE_NO_THROW((processing_block_interface*)(f->block.get()), librealsense::spatial_filter) != nullptr; @@ -2779,6 +2781,14 @@ rs2_processing_block* rs2_create_decimation_filter_block(rs2_error** error) BEGI } NOARGS_HANDLE_EXCEPTIONS_AND_RETURN(nullptr) +rs2_processing_block * rs2_create_rotation_filter_block( rs2_error ** error ) BEGIN_API_CALL +{ + auto block = std::make_shared< librealsense::rotation_filter >(); + + return new rs2_processing_block{ block }; +} +NOARGS_HANDLE_EXCEPTIONS_AND_RETURN( nullptr ) + rs2_processing_block* rs2_create_temporal_filter_block(rs2_error** error) BEGIN_API_CALL { auto block = std::make_shared(); diff --git a/src/sensor.cpp b/src/sensor.cpp index f051cb2af4..2b18cd0985 100644 --- a/src/sensor.cpp +++ b/src/sensor.cpp @@ -10,6 +10,7 @@ #include "image.h" #include "proc/synthetic-stream.h" #include "proc/decimation-filter.h" +#include "proc/rotation-filter.h" #include "global_timestamp_reader.h" #include "device-calibration.h" #include "core/notification.h" @@ -262,6 +263,7 @@ void log_callback_end( uint32_t fps, dec->get_option(RS2_OPTION_STREAM_FORMAT_FILTER).set(RS2_FORMAT_Z16); res.push_back(dec); } + res.push_back( std::make_shared< rotation_filter >() ); return res; } From b9bf02dc5a55826e4af6aa4adad9ecd232cb8497 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Thu, 7 Nov 2024 17:55:20 +0200 Subject: [PATCH 17/44] convert _value to float --- src/proc/rotation-filter.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/proc/rotation-filter.h b/src/proc/rotation-filter.h index 4d96fed9b2..7b4083191a 100644 --- a/src/proc/rotation-filter.h +++ b/src/proc/rotation-filter.h @@ -35,7 +35,7 @@ namespace librealsense uint16_t _rotated_width; uint16_t _rotated_height; - int _value; + float _value; }; MAP_EXTENSION( RS2_EXTENSION_ROTATION_FILTER, librealsense::rotation_filter ); } From 0f673a35bf1735824ad666d96dbb003de3786ef1 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Thu, 7 Nov 2024 18:42:22 +0200 Subject: [PATCH 18/44] add case rotation_filter --- src/to-string.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/to-string.cpp b/src/to-string.cpp index 16f1dad3da..bd814bb91b 100644 --- a/src/to-string.cpp +++ b/src/to-string.cpp @@ -313,6 +313,7 @@ const char * get_string( rs2_extension value ) CASE( MAX_USABLE_RANGE_SENSOR ) CASE( DEBUG_STREAM_SENSOR ) CASE( CALIBRATION_CHANGE_DEVICE ) + CASE( ROTATION_FILTER ) default: assert( ! is_valid( value ) ); return UNKNOWN_VALUE; From e025cb79660502d4f50aaafb02149981306b6bad Mon Sep 17 00:00:00 2001 From: noacoohen Date: Sun, 10 Nov 2024 14:57:19 +0200 Subject: [PATCH 19/44] fix PR review comments --- src/proc/rotation-filter.cpp | 2 -- src/proc/rotation-filter.h | 8 +++----- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp index 35a1dbb92c..33eb8e2643 100644 --- a/src/proc/rotation-filter.cpp +++ b/src/proc/rotation-filter.cpp @@ -91,7 +91,6 @@ namespace librealsense { static_cast< const uint8_t * >( src.get_data() ), rotated_height, rotated_width ); - auto temp = static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ); break; } @@ -100,7 +99,6 @@ namespace librealsense { static_cast< const uint8_t * >( src.get_data() ), rotated_height, rotated_width ); - auto temp = static_cast< uint16_t * >( const_cast< void * >( tgt.get_data() ) ); break; } diff --git a/src/proc/rotation-filter.h b/src/proc/rotation-filter.h index 7b4083191a..2433bc463e 100644 --- a/src/proc/rotation-filter.h +++ b/src/proc/rotation-filter.h @@ -3,8 +3,8 @@ #pragma once -#include "../include/librealsense2/hpp/rs_frame.hpp" -#include "../include/librealsense2/hpp/rs_processing.hpp" +#include +#include #include "proc/synthetic-stream.h" namespace librealsense @@ -26,15 +26,13 @@ namespace librealsense private: void update_output_profile(const rs2::frame& f); - - int _control_val; + int _control_val; rs2::stream_profile _source_stream_profile; rs2::stream_profile _target_stream_profile; uint16_t _real_width; uint16_t _real_height; uint16_t _rotated_width; uint16_t _rotated_height; - float _value; }; MAP_EXTENSION( RS2_EXTENSION_ROTATION_FILTER, librealsense::rotation_filter ); From 195c58b3a933ee43e8d3c92138332e5d7003a4d4 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Mon, 11 Nov 2024 11:41:00 +0200 Subject: [PATCH 20/44] fix PR comments --- src/proc/rotation-filter.cpp | 48 +++++++++++++++++------------------- 1 file changed, 23 insertions(+), 25 deletions(-) diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp index 33eb8e2643..5849f572c7 100644 --- a/src/proc/rotation-filter.cpp +++ b/src/proc/rotation-filter.cpp @@ -173,36 +173,34 @@ namespace librealsense { void rotation_filter::rotate_depth( uint8_t * const out, const uint8_t * source, int width, int height) { - auto width_out = ( _value == 90 || _value == -90 ) ? height : width; - auto height_out = ( _value == 90 || _value == -90 ) ? width : height; + if( _value != 90 && _value != -90 && _value != 180 ) + { + throw std::invalid_argument( "Invalid rotation angle. Only 90, -90, and 180 degrees are supported." ); + } + + int width_out = ( _value == 90 || _value == -90 ) ? height : width; + int height_out = ( _value == 90 || _value == -90 ) ? width : height; + + auto compute_out_index = [&]( int i, int j ) + { + switch( static_cast< int >( _value ) ) + { + case 90: + return ( j * width_out + ( width_out - i - 1 ) ) * SIZE; + case -90: + return ( ( height_out - j - 1 ) * width_out + i ) * SIZE; + case 180: + return ( ( height_out - i - 1 ) * width_out + ( width_out - j - 1 ) ) * SIZE; + } + return size_t( 0 ); // Will not be reached due to angle validation + }; for( int i = 0; i < height; ++i ) { for( int j = 0; j < width; ++j ) { - auto src_index = ( i * width + j ) * SIZE; - size_t out_index; - - if( _value == 90 ) - { - // 90-degree rotation - out_index = ( j * width_out + ( width_out - i - 1 ) ) * SIZE; - } - else if( _value == -90 ) - { - // -90-degree rotation - out_index = ( ( height_out - j - 1 ) * width_out + i ) * SIZE; - } - else if( _value == 180 ) - { - // 180-degree rotation - out_index = ( ( height_out - i - 1 ) * width_out + ( width_out - j - 1 ) ) * SIZE; - } - else - { - throw std::invalid_argument( "Unsupported rotation angle" ); - } - + size_t src_index = ( i * width + j ) * SIZE; + size_t out_index = compute_out_index( i, j ); std::memcpy( &out[out_index], &source[src_index], SIZE ); } } From 5098156d57baf33d211fcfb4f2e29c3fc8c40305 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Mon, 11 Nov 2024 15:51:28 +0200 Subject: [PATCH 21/44] fix rotation only for depth frames --- src/proc/rotation-filter.cpp | 71 +++++++++++++++++++++--------------- src/to-string.cpp | 1 + 2 files changed, 42 insertions(+), 30 deletions(-) diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp index 5849f572c7..ba4f69120f 100644 --- a/src/proc/rotation-filter.cpp +++ b/src/proc/rotation-filter.cpp @@ -54,8 +54,27 @@ namespace librealsense { if( _value == rotation_default_val ) return f; - auto src = f.as(); rs2::stream_profile profile = f.get_profile(); + rs2_stream type = profile.stream_type(); + rs2_extension tgt_type; + if( type == RS2_STREAM_INFRARED ) + { + tgt_type = RS2_EXTENSION_VIDEO_FRAME; + } + else if( f.is< rs2::disparity_frame >() ) + { + tgt_type = RS2_EXTENSION_DISPARITY_FRAME; + } + else if( f.is< rs2::depth_frame >() ) + { + tgt_type = RS2_EXTENSION_DEPTH_FRAME; + } + else + { + return f; + } + + auto src = f.as< rs2::video_frame >(); _target_stream_profile = profile; if( _value == 90 || _value == -90 ) @@ -70,20 +89,11 @@ namespace librealsense { } auto bpp = src.get_bytes_per_pixel(); update_output_profile( f ); - - rs2_stream type = profile.stream_type(); - rs2_extension tgt_type; - if (type == RS2_STREAM_COLOR || type == RS2_STREAM_INFRARED) - tgt_type = RS2_EXTENSION_VIDEO_FRAME; - else - tgt_type = f.is() ? RS2_EXTENSION_DISPARITY_FRAME : RS2_EXTENSION_DEPTH_FRAME; - - if (auto tgt = prepare_target_frame(f, source, tgt_type)) { int rotated_width = ( _value == 90 || _value == -90 ) ? src.get_height() : src.get_width(); int rotated_height = ( _value == 90 || _value == -90 ) ? src.get_width() : src.get_height(); - + switch( bpp ) { case 1: { @@ -93,7 +103,7 @@ namespace librealsense { rotated_width ); break; } - + case 2: { rotate_depth< 2 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ), static_cast< const uint8_t * >( src.get_data() ), @@ -101,7 +111,7 @@ namespace librealsense { rotated_width ); break; } - + default: LOG_ERROR( "Rotation transform does not support format: " + std::string( rs2_format_to_string( tgt.get_profile().format() ) ) ); @@ -170,8 +180,7 @@ namespace librealsense { } template< size_t SIZE > - void rotation_filter::rotate_depth( uint8_t * const out, const uint8_t * source, - int width, int height) + void rotation_filter::rotate_depth( uint8_t * const out, const uint8_t * source, int width, int height ) { if( _value != 90 && _value != -90 && _value != 180 ) { @@ -181,30 +190,32 @@ namespace librealsense { int width_out = ( _value == 90 || _value == -90 ) ? height : width; int height_out = ( _value == 90 || _value == -90 ) ? width : height; - auto compute_out_index = [&]( int i, int j ) - { - switch( static_cast< int >( _value ) ) - { - case 90: - return ( j * width_out + ( width_out - i - 1 ) ) * SIZE; - case -90: - return ( ( height_out - j - 1 ) * width_out + i ) * SIZE; - case 180: - return ( ( height_out - i - 1 ) * width_out + ( width_out - j - 1 ) ) * SIZE; - } - return size_t( 0 ); // Will not be reached due to angle validation - }; - for( int i = 0; i < height; ++i ) { for( int j = 0; j < width; ++j ) { size_t src_index = ( i * width + j ) * SIZE; - size_t out_index = compute_out_index( i, j ); + size_t out_index; + + if( _value == 90 ) + { + out_index = ( j * width_out + ( width_out - i - 1 ) ) * SIZE; + } + else if( _value == -90 ) + { + out_index = ( ( height_out - j - 1 ) * width_out + i ) * SIZE; + } + else + { // 180 degrees + out_index = ( ( height_out - i - 1 ) * width_out + ( width_out - j - 1 ) ) * SIZE; + } + std::memcpy( &out[out_index], &source[src_index], SIZE ); } } + } + } diff --git a/src/to-string.cpp b/src/to-string.cpp index bd814bb91b..7bc1d95bf4 100644 --- a/src/to-string.cpp +++ b/src/to-string.cpp @@ -460,6 +460,7 @@ std::string const & get_string_( rs2_option value ) CASE( OHM_TEMPERATURE ) CASE( SOC_PVT_TEMPERATURE ) CASE( GYRO_SENSITIVITY ) + CASE( ROTATION ) arr[RS2_OPTION_REGION_OF_INTEREST] = "Region of Interest"; #undef CASE return arr; From d08520f497f04267d04d33597beb30e639cca1b0 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Wed, 13 Nov 2024 10:53:23 +0200 Subject: [PATCH 22/44] override should process to filter frames for rotate filter --- common/subdevice-model.cpp | 2 - include/librealsense2/hpp/rs_processing.hpp | 6 ++ src/proc/rotation-filter.cpp | 86 +++++++++++++++------ src/proc/rotation-filter.h | 19 +++-- src/sensor.cpp | 7 +- 5 files changed, 87 insertions(+), 33 deletions(-) diff --git a/common/subdevice-model.cpp b/common/subdevice-model.cpp index 734a1d65b9..b4dbf10ce5 100644 --- a/common/subdevice-model.cpp +++ b/common/subdevice-model.cpp @@ -194,8 +194,6 @@ namespace rs2 } catch (...) {} - auto filters = s->get_recommended_filters(); - for (auto&& f : s->get_recommended_filters()) { auto shared_filter = std::make_shared(f); diff --git a/include/librealsense2/hpp/rs_processing.hpp b/include/librealsense2/hpp/rs_processing.hpp index be2cc812c1..3344a54860 100644 --- a/include/librealsense2/hpp/rs_processing.hpp +++ b/include/librealsense2/hpp/rs_processing.hpp @@ -863,6 +863,12 @@ namespace rs2 { } + rotation_filter( float value ) + : filter( init(), 1 ) + { + set_option( RS2_OPTION_ROTATION, value ); + } + rotation_filter( filter f ) : filter( f ) { diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp index ba4f69120f..d8fbaf0b55 100644 --- a/src/proc/rotation-filter.cpp +++ b/src/proc/rotation-filter.cpp @@ -14,8 +14,46 @@ namespace librealsense { const int rotation_default_val = 0; const int rotation_step = 90; - rotation_filter::rotation_filter() : - stream_filter_processing_block("Rotation Filter"), + + rotation_filter::rotation_filter() + : stream_filter_processing_block( "Rotation Filter" ) + , _streams_to_rotate() + , _control_val( rotation_default_val ) + , _real_width( 0 ) + , _real_height( 0 ) + , _rotated_width( 0 ) + , _rotated_height( 0 ) + { + auto rotation_control = std::make_shared< ptr_option< int > >( rotation_min_val, + rotation_max_val, + rotation_step, + rotation_default_val, + &_control_val, + "Rotation angle" ); + + auto weak_rotation_control = std::weak_ptr< ptr_option< int > >( rotation_control ); + rotation_control->on_set( + [this, weak_rotation_control]( float val ) + { + auto strong_rotation_control = weak_rotation_control.lock(); + if( ! strong_rotation_control ) + return; + + std::lock_guard< std::mutex > lock( _mutex ); + + if( ! strong_rotation_control->is_valid( val ) ) + throw invalid_value_exception( rsutils::string::from() + << "Unsupported rotation scale " << val << " is out of range." ); + + _value = val; + } ); + + register_option( RS2_OPTION_ROTATION, rotation_control ); + } + + rotation_filter::rotation_filter( std::vector< stream_filter > streams_to_rotate ): + stream_filter_processing_block("Rotation Filter"), + _streams_to_rotate(streams_to_rotate), _control_val(rotation_default_val), _real_width(0), _real_height(0), @@ -27,7 +65,7 @@ namespace librealsense { rotation_max_val, rotation_step, rotation_default_val, - &_control_val, "Rotation scale"); + &_control_val, "Rotation angle"); auto weak_rotation_control = std::weak_ptr< ptr_option< int > >( rotation_control ); rotation_control->on_set( @@ -54,27 +92,8 @@ namespace librealsense { if( _value == rotation_default_val ) return f; - rs2::stream_profile profile = f.get_profile(); - rs2_stream type = profile.stream_type(); - rs2_extension tgt_type; - if( type == RS2_STREAM_INFRARED ) - { - tgt_type = RS2_EXTENSION_VIDEO_FRAME; - } - else if( f.is< rs2::disparity_frame >() ) - { - tgt_type = RS2_EXTENSION_DISPARITY_FRAME; - } - else if( f.is< rs2::depth_frame >() ) - { - tgt_type = RS2_EXTENSION_DEPTH_FRAME; - } - else - { - return f; - } - auto src = f.as< rs2::video_frame >(); + rs2::stream_profile profile = f.get_profile(); _target_stream_profile = profile; if( _value == 90 || _value == -90 ) @@ -89,6 +108,14 @@ namespace librealsense { } auto bpp = src.get_bytes_per_pixel(); update_output_profile( f ); + + rs2_stream type = profile.stream_type(); + rs2_extension tgt_type; + if( type == RS2_STREAM_COLOR || type == RS2_STREAM_INFRARED ) + tgt_type = RS2_EXTENSION_VIDEO_FRAME; + else + tgt_type = f.is< rs2::disparity_frame >() ? RS2_EXTENSION_DISPARITY_FRAME : RS2_EXTENSION_DEPTH_FRAME; + if (auto tgt = prepare_target_frame(f, source, tgt_type)) { int rotated_width = ( _value == 90 || _value == -90 ) ? src.get_height() : src.get_width(); @@ -215,6 +242,19 @@ namespace librealsense { } } + + bool rotation_filter::should_process( const rs2::frame & frame ) + { + if( ! frame || frame.is< rs2::frameset >() ) + return false; + auto profile = frame.get_profile(); + for( auto stream : _streams_to_rotate ) + { + if( stream.match( frame ) ) + return true; + } + return false; + } } diff --git a/src/proc/rotation-filter.h b/src/proc/rotation-filter.h index 2433bc463e..4e326920b9 100644 --- a/src/proc/rotation-filter.h +++ b/src/proc/rotation-filter.h @@ -15,6 +15,8 @@ namespace librealsense public: rotation_filter(); + rotation_filter( std::vector< stream_filter > streams_to_rotate ); + protected: rs2::frame prepare_target_frame(const rs2::frame& f, const rs2::frame_source& source, rs2_extension tgt_type); @@ -23,16 +25,19 @@ namespace librealsense rs2::frame process_frame(const rs2::frame_source& source, const rs2::frame& f) override; + bool should_process( const rs2::frame & frame ) override; + private: void update_output_profile(const rs2::frame& f); - int _control_val; - rs2::stream_profile _source_stream_profile; - rs2::stream_profile _target_stream_profile; - uint16_t _real_width; - uint16_t _real_height; - uint16_t _rotated_width; - uint16_t _rotated_height; + std::vector< stream_filter > _streams_to_rotate; + int _control_val; + rs2::stream_profile _source_stream_profile; + rs2::stream_profile _target_stream_profile; + uint16_t _real_width; + uint16_t _real_height; + uint16_t _rotated_width; + uint16_t _rotated_height; float _value; }; MAP_EXTENSION( RS2_EXTENSION_ROTATION_FILTER, librealsense::rotation_filter ); diff --git a/src/sensor.cpp b/src/sensor.cpp index 2b18cd0985..ef97f8d7da 100644 --- a/src/sensor.cpp +++ b/src/sensor.cpp @@ -263,7 +263,12 @@ void log_callback_end( uint32_t fps, dec->get_option(RS2_OPTION_STREAM_FORMAT_FILTER).set(RS2_FORMAT_Z16); res.push_back(dec); } - res.push_back( std::make_shared< rotation_filter >() ); + std::vector streams_to_rotate; + stream_filter depth_filter( RS2_STREAM_DEPTH, RS2_FORMAT_Z16, -1); + streams_to_rotate.push_back( depth_filter ); + stream_filter ir_filter( RS2_STREAM_INFRARED, RS2_FORMAT_Y8, -1 ); + streams_to_rotate.push_back( ir_filter ); + res.push_back( std::make_shared< rotation_filter >( streams_to_rotate ) ); return res; } From 2b3c978f803584866bfdf07077b953050e4fcb38 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Wed, 13 Nov 2024 16:08:37 +0200 Subject: [PATCH 23/44] add rotation filter to rs-post-processing example and remove override of should process --- .../post-processing/rs-post-processing.cpp | 33 ++++++-- src/proc/rotation-filter.cpp | 81 +++++-------------- src/proc/rotation-filter.h | 4 - src/sensor.cpp | 7 +- 4 files changed, 50 insertions(+), 75 deletions(-) diff --git a/examples/post-processing/rs-post-processing.cpp b/examples/post-processing/rs-post-processing.cpp index 96355e7ef1..da787dfa49 100644 --- a/examples/post-processing/rs-post-processing.cpp +++ b/examples/post-processing/rs-post-processing.cpp @@ -71,6 +71,7 @@ int main(int argc, char * argv[]) try // Declare filters rs2::decimation_filter dec_filter; // Decimation - reduces depth frame density + rs2::rotation_filter rot_filter; // Rotation - rotates frames rs2::threshold_filter thr_filter; // Threshold - removes values outside recommended range rs2::spatial_filter spat_filter; // Spatial - edge-preserving spatial smoothing rs2::temporal_filter temp_filter; // Temporal - reduces temporal noise @@ -85,6 +86,7 @@ int main(int argc, char * argv[]) try // The following order of emplacement will dictate the orders in which filters are applied filters.emplace_back("Decimate", dec_filter); + filters.emplace_back( "Rotate", rot_filter ); filters.emplace_back("Threshold", thr_filter); filters.emplace_back(disparity_filter_name, depth_to_disparity); filters.emplace_back("Spatial", spat_filter); @@ -115,11 +117,12 @@ int main(int argc, char * argv[]) try /* Apply filters. The implemented flow of the filters pipeline is in the following order: 1. apply decimation filter - 2. apply threshold filter - 3. transform the scene into disparity domain - 4. apply spatial filter - 5. apply temporal filter - 6. revert the results back (if step Disparity filter was applied + 2. apply rotation filter + 3. apply threshold filter + 4. transform the scene into disparity domain + 5. apply spatial filter + 6. apply temporal filter + 7. revert the results back (if step Disparity filter was applied to depth domain (each post processing block is optional and can be applied independantly). */ bool revert_disparity = false; @@ -269,11 +272,29 @@ void render_ui(float w, float h, std::vector& filters) ImGui::Checkbox(filter.filter_name.c_str(), &tmp_value); filter.is_enabled = tmp_value; ImGui::PopStyleColor(); + + + if( filter.filter_name == "Rotate" ) // Combo box specifically for the rotation filter + { + offset_y += elements_margin; + ImGui::PushItemWidth( w / 4 ); + ImGui::SetCursorPos( { offset_x, offset_y } ); + static const char * rotation_modes[] = { "0", "90", "180", "270" }; + static int current_rotation_mode = 0; + if( ImGui::Combo( "Rotation Angle", ¤t_rotation_mode, rotation_modes, 4 ) ) + { + float rotation_value = std::stof( rotation_modes[current_rotation_mode] ); + filter.supported_options[RS2_OPTION_ROTATION].value = rotation_value; - if (filter.supported_options.size() == 0) + // Set the filter's option using the new value + filter.filter.set_option( RS2_OPTION_ROTATION, rotation_value ); + } + } + if( filter.supported_options.size() == 0 ) { offset_y += elements_margin; } + // Draw a slider for each of the filter's options for (auto& option_slider_pair : filter.supported_options) { diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp index d8fbaf0b55..6fe28f6a97 100644 --- a/src/proc/rotation-filter.cpp +++ b/src/proc/rotation-filter.cpp @@ -23,6 +23,7 @@ namespace librealsense { , _real_height( 0 ) , _rotated_width( 0 ) , _rotated_height( 0 ) + , _value( 0 ) { auto rotation_control = std::make_shared< ptr_option< int > >( rotation_min_val, rotation_max_val, @@ -51,49 +52,32 @@ namespace librealsense { register_option( RS2_OPTION_ROTATION, rotation_control ); } - rotation_filter::rotation_filter( std::vector< stream_filter > streams_to_rotate ): - stream_filter_processing_block("Rotation Filter"), - _streams_to_rotate(streams_to_rotate), - _control_val(rotation_default_val), - _real_width(0), - _real_height(0), - _rotated_width(0), - _rotated_height(0) - { - auto rotation_control = std::make_shared< ptr_option< int > >( - rotation_min_val, - rotation_max_val, - rotation_step, - rotation_default_val, - &_control_val, "Rotation angle"); - - auto weak_rotation_control = std::weak_ptr< ptr_option< int > >( rotation_control ); - rotation_control->on_set( - [this, weak_rotation_control]( float val ) - { - auto strong_rotation_control = weak_rotation_control.lock(); - if(!strong_rotation_control) return; - - std::lock_guard lock(_mutex); - - if( ! strong_rotation_control->is_valid( val ) ) - throw invalid_value_exception( rsutils::string::from() - << "Unsupported rotation scale " << val << " is out of range." ); - - _value = val; - - }); - - register_option( RS2_OPTION_ROTATION, rotation_control ); - } - rs2::frame rotation_filter::process_frame(const rs2::frame_source& source, const rs2::frame& f) { if( _value == rotation_default_val ) return f; - auto src = f.as< rs2::video_frame >(); rs2::stream_profile profile = f.get_profile(); + rs2_stream type = profile.stream_type(); + rs2_extension tgt_type; + if( type == RS2_STREAM_INFRARED ) + { + tgt_type = RS2_EXTENSION_VIDEO_FRAME; + } + else if( f.is< rs2::disparity_frame >() ) + { + tgt_type = RS2_EXTENSION_DISPARITY_FRAME; + } + else if( f.is< rs2::depth_frame >() ) + { + tgt_type = RS2_EXTENSION_DEPTH_FRAME; + } + else + { + return f; + } + + auto src = f.as< rs2::video_frame >(); _target_stream_profile = profile; if( _value == 90 || _value == -90 ) @@ -109,13 +93,6 @@ namespace librealsense { auto bpp = src.get_bytes_per_pixel(); update_output_profile( f ); - rs2_stream type = profile.stream_type(); - rs2_extension tgt_type; - if( type == RS2_STREAM_COLOR || type == RS2_STREAM_INFRARED ) - tgt_type = RS2_EXTENSION_VIDEO_FRAME; - else - tgt_type = f.is< rs2::disparity_frame >() ? RS2_EXTENSION_DISPARITY_FRAME : RS2_EXTENSION_DEPTH_FRAME; - if (auto tgt = prepare_target_frame(f, source, tgt_type)) { int rotated_width = ( _value == 90 || _value == -90 ) ? src.get_height() : src.get_width(); @@ -242,20 +219,6 @@ namespace librealsense { } } - - bool rotation_filter::should_process( const rs2::frame & frame ) - { - if( ! frame || frame.is< rs2::frameset >() ) - return false; - auto profile = frame.get_profile(); - for( auto stream : _streams_to_rotate ) - { - if( stream.match( frame ) ) - return true; - } - return false; - } - - + } diff --git a/src/proc/rotation-filter.h b/src/proc/rotation-filter.h index 4e326920b9..fa841b2d58 100644 --- a/src/proc/rotation-filter.h +++ b/src/proc/rotation-filter.h @@ -15,8 +15,6 @@ namespace librealsense public: rotation_filter(); - rotation_filter( std::vector< stream_filter > streams_to_rotate ); - protected: rs2::frame prepare_target_frame(const rs2::frame& f, const rs2::frame_source& source, rs2_extension tgt_type); @@ -25,8 +23,6 @@ namespace librealsense rs2::frame process_frame(const rs2::frame_source& source, const rs2::frame& f) override; - bool should_process( const rs2::frame & frame ) override; - private: void update_output_profile(const rs2::frame& f); diff --git a/src/sensor.cpp b/src/sensor.cpp index ef97f8d7da..686a4dead6 100644 --- a/src/sensor.cpp +++ b/src/sensor.cpp @@ -263,12 +263,7 @@ void log_callback_end( uint32_t fps, dec->get_option(RS2_OPTION_STREAM_FORMAT_FILTER).set(RS2_FORMAT_Z16); res.push_back(dec); } - std::vector streams_to_rotate; - stream_filter depth_filter( RS2_STREAM_DEPTH, RS2_FORMAT_Z16, -1); - streams_to_rotate.push_back( depth_filter ); - stream_filter ir_filter( RS2_STREAM_INFRARED, RS2_FORMAT_Y8, -1 ); - streams_to_rotate.push_back( ir_filter ); - res.push_back( std::make_shared< rotation_filter >( streams_to_rotate ) ); + res.push_back( std::make_shared< rotation_filter >( )); return res; } From 524f519d548565362b9f6d6aaa3a1e15d16d38d7 Mon Sep 17 00:00:00 2001 From: Nir Azkiel Date: Wed, 13 Nov 2024 18:40:06 +0200 Subject: [PATCH 24/44] commets improvements --- src/ds/d500/d500-device.cpp | 2 +- src/ds/d500/d500-private.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/ds/d500/d500-device.cpp b/src/ds/d500/d500-device.cpp index 85379bdb41..843585f891 100644 --- a/src/ds/d500/d500-device.cpp +++ b/src/ds/d500/d500-device.cpp @@ -294,7 +294,7 @@ namespace librealsense } catch( const std::exception &e ) { - LOG_ERROR("Failed reading stereo baseline, using a default value --> " << e.what() ); + LOG_ERROR("Failed reading stereo baseline, using default value --> " << e.what() ); } return baseline; diff --git a/src/ds/d500/d500-private.cpp b/src/ds/d500/d500-private.cpp index dadaf447e4..bd23e70c4f 100644 --- a/src/ds/d500/d500-private.cpp +++ b/src/ds/d500/d500-private.cpp @@ -62,7 +62,7 @@ namespace librealsense } else // In case we got an empty table we will run with default values { - LOG_ERROR("cannot read intrinsic values, setting defaults"); + LOG_ERROR("cannot read intrinsic values, using default values"); rs2_intrinsics intrinsics = {0}; intrinsics.height = height; intrinsics.width = width; From c25e183f37554eaf4c38f0fa24445ce34616be2c Mon Sep 17 00:00:00 2001 From: Nir Azkiel Date: Thu, 14 Nov 2024 11:22:26 +0200 Subject: [PATCH 25/44] add depth table related sensor to the comments --- src/ds/d500/d500-private.cpp | 44 ++++++++++++++++++------------------ 1 file changed, 22 insertions(+), 22 deletions(-) diff --git a/src/ds/d500/d500-private.cpp b/src/ds/d500/d500-private.cpp index bd23e70c4f..0dfb39977d 100644 --- a/src/ds/d500/d500-private.cpp +++ b/src/ds/d500/d500-private.cpp @@ -43,33 +43,33 @@ namespace librealsense rs2_intrinsics get_d500_intrinsic_by_resolution(const vector& raw_data, d500_calibration_table_id table_id, uint32_t width, uint32_t height, bool is_symmetrization_enabled) { - - if (!raw_data.empty()) + switch (table_id) { - switch (table_id) - { - case d500_calibration_table_id::depth_calibration_id: - { + case d500_calibration_table_id::depth_calibration_id: + { + if ( !raw_data.empty() ) return get_d500_depth_intrinsic_by_resolution(raw_data, width, height, is_symmetrization_enabled); - } - case d500_calibration_table_id::rgb_calibration_id: - { - return get_d500_color_intrinsic_by_resolution(raw_data, width, height); - } - default: - throw invalid_value_exception(rsutils::string::from() << "Parsing Calibration table type " << static_cast(table_id) << " is not supported"); - } + else + LOG_ERROR("Cannot read depth table intrinsic values, using default values"); } - else // In case we got an empty table we will run with default values + case d500_calibration_table_id::rgb_calibration_id: { - LOG_ERROR("cannot read intrinsic values, using default values"); - rs2_intrinsics intrinsics = {0}; - intrinsics.height = height; - intrinsics.width = width; - intrinsics.ppx = intrinsics.fx = width / 2.f; - intrinsics.ppy = intrinsics.fy = height / 2.f; - return intrinsics; + if ( !raw_data.empty() ) + return get_d500_color_intrinsic_by_resolution(raw_data, width, height); + else + LOG_ERROR("Cannot read color table intrinsic values, using default values"); } + default: + throw invalid_value_exception(rsutils::string::from() << "Parsing Calibration table type " << static_cast(table_id) << " is not supported"); + } + + // If we got here, the table is empty so continue with default values + rs2_intrinsics intrinsics = {0}; + intrinsics.height = height; + intrinsics.width = width; + intrinsics.ppx = intrinsics.fx = width / 2.f; + intrinsics.ppy = intrinsics.fy = height / 2.f; + return intrinsics; } // Algorithm prepared by Oscar Pelc in matlab: From c0dc22ee816ec7036ad9c117550f906a2411e175 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Thu, 14 Nov 2024 12:01:43 +0200 Subject: [PATCH 26/44] add unit test --- .../post-processing/test-rotation-filter.py | 133 ++++++++++++++++++ wrappers/python/pyrs_processing.cpp | 3 + 2 files changed, 136 insertions(+) create mode 100644 unit-tests/post-processing/test-rotation-filter.py diff --git a/unit-tests/post-processing/test-rotation-filter.py b/unit-tests/post-processing/test-rotation-filter.py new file mode 100644 index 0000000000..47f405e8ad --- /dev/null +++ b/unit-tests/post-processing/test-rotation-filter.py @@ -0,0 +1,133 @@ +# License: Apache 2.0. See LICENSE file in root directory. +# Copyright(c) 2024 Intel Corporation. All Rights Reserved. + +#temporary fix to prevent the test from running on Win_SH_Py_DDS_CI +#test:donotrun:dds +#test:donotrun:!nightly + +from rspy import test, repo +import pyrealsense2 as rs +import numpy as np + +# Parameters for frame creation and depth intrinsics +input_res_x = 640 +input_res_y = 480 +focal_length = 600 +depth_units = 0.001 +stereo_baseline_mm = 50 +frames = 5 # Number of frames to process + + +# Function to create depth intrinsics directly +def create_depth_intrinsics(): + depth_intrinsics = rs.intrinsics() + depth_intrinsics.width = input_res_x + depth_intrinsics.height = input_res_y + depth_intrinsics.ppx = input_res_x / 2.0 + depth_intrinsics.ppy = input_res_y / 2.0 + depth_intrinsics.fx = focal_length + depth_intrinsics.fy = focal_length + depth_intrinsics.model = rs.distortion.brown_conrady + depth_intrinsics.coeffs = [0, 0, 0, 0, 0] + return depth_intrinsics + + +# Function to create a video stream with specified parameters +def create_video_stream(depth_intrinsics): + vs = rs.video_stream() + vs.type = rs.stream.depth + vs.index = 0 + vs.uid = 0 + vs.width = input_res_x + vs.height = input_res_y + vs.fps = 30 + vs.bpp = 2 + vs.fmt = rs.format.z16 + vs.intrinsics = depth_intrinsics + return vs + + +# Function to create a synthetic frame +def create_frame(depth_stream_profile, index): + frame = rs.software_video_frame() + data = np.arange(input_res_x * input_res_y, dtype=np.uint16).reshape((input_res_y, input_res_x)) + frame.pixels = data.tobytes() + frame.bpp = 2 + frame.stride = input_res_x * 2 + frame.timestamp = index * 33 + frame.domain = rs.timestamp_domain.system_time + frame.frame_number = index + frame.profile = depth_stream_profile.as_video_stream_profile() + frame.depth_units = depth_units + return frame + + +# Function to validate rotated results based on the angle +def validate_rotation_results(filtered_frame, angle): + rotated_height = filtered_frame.profile.as_video_stream_profile().height() + rotated_width = filtered_frame.profile.as_video_stream_profile().width() + + # Reshape the rotated data according to its actual dimensions + rotated_data = np.frombuffer(filtered_frame.get_data(), dtype=np.uint16).reshape((rotated_height, rotated_width)) + + # Original data for comparison + original_data = np.arange(input_res_x * input_res_y, dtype=np.uint16).reshape((input_res_y, input_res_x)) + + # Determine the expected rotated result based on the angle + if angle == 90: + expected_data = np.rot90(original_data, k=-1) # Clockwise + elif angle == 180: + expected_data = np.rot90(original_data, k=2) # 180 degrees + elif angle == -90: + expected_data = np.rot90(original_data, k=1) # Counterclockwise + + # Convert numpy arrays to lists before comparison + rotated_list = rotated_data.flatten().tolist() + expected_list = expected_data.flatten().tolist() + + # Compare the flattened lists + test.check_equal_lists(rotated_list, expected_list) + + +################################################################################################ +with test.closure("Test rotation filter"): + # Set up software device and depth sensor + sw_dev = rs.software_device() + depth_sensor = sw_dev.add_sensor("Depth") + + # Initialize intrinsics and video stream profile + depth_intrinsics = create_depth_intrinsics() + vs = create_video_stream(depth_intrinsics) + depth_stream_profile = depth_sensor.add_video_stream(vs) + + sync = rs.syncer() + + # Define rotation angles to test + rotation_angles = [90, 180, -90] + for angle in rotation_angles: + rotation_filter = rs.rotation_filter() + rotation_filter.set_option(rs.option.rotation, angle) + + # Start depth sensor + depth_sensor.open(depth_stream_profile) + depth_sensor.start(sync) + + for i in range(frames): + # Create and process each frame + frame = create_frame(depth_stream_profile, i) + depth_sensor.on_video_frame(frame) + + # Wait for frames and apply rotation filter + fset = sync.wait_for_frames() + depth = fset.first_or_default(rs.stream.depth) + filtered_depth = rotation_filter.process(depth) + + # Validate rotated frame results + validate_rotation_results(filtered_depth, angle) + + # Stop and close the sensor after each angle test + depth_sensor.stop() + depth_sensor.close() + +################################################################################################ +test.print_results_and_exit() \ No newline at end of file diff --git a/wrappers/python/pyrs_processing.cpp b/wrappers/python/pyrs_processing.cpp index 29dd9db7b4..29b6066c18 100644 --- a/wrappers/python/pyrs_processing.cpp +++ b/wrappers/python/pyrs_processing.cpp @@ -157,6 +157,9 @@ void init_processing(py::module &m) { decimation_filter.def(py::init<>()) .def(py::init(), "magnitude"_a); + py::class_< rs2::rotation_filter, rs2::filter > rotation_filter(m, "rotation_filter","Performs rotation of frames." ); + rotation_filter.def( py::init<>() ).def( py::init< float >(), "value"_a ); + py::class_ temporal_filter(m, "temporal_filter", "Temporal filter smooths the image by calculating multiple frames " "with alpha and delta settings. Alpha defines the weight of current frame, and delta defines the" "threshold for edge classification and preserving."); From 52de0e30b94e1427bf8e4216ce6636af25adb372 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Thu, 14 Nov 2024 15:20:34 +0200 Subject: [PATCH 27/44] add rotation filter to python --- src/media/ros/ros_writer.cpp | 2 ++ src/rscore-pp-block-factory.cpp | 3 +++ wrappers/python/pyrs_processing.cpp | 1 + 3 files changed, 6 insertions(+) diff --git a/src/media/ros/ros_writer.cpp b/src/media/ros/ros_writer.cpp index beb836715b..c55d38f7da 100644 --- a/src/media/ros/ros_writer.cpp +++ b/src/media/ros/ros_writer.cpp @@ -2,6 +2,7 @@ // Copyright(c) 2019 Intel Corporation. All Rights Reserved. #include "proc/decimation-filter.h" +#include "proc/rotation-filter.h" #include "proc/threshold.h" #include "proc/disparity-transform.h" #include "proc/spatial-filter.h" @@ -513,6 +514,7 @@ namespace librealsense RETURN_IF_EXTENSION(block, RS2_EXTENSION_HOLE_FILLING_FILTER); RETURN_IF_EXTENSION(block, RS2_EXTENSION_HDR_MERGE); RETURN_IF_EXTENSION(block, RS2_EXTENSION_SEQUENCE_ID_FILTER); + RETURN_IF_EXTENSION(block, RS2_EXTENSION_ROTATION_FILTER); #undef RETURN_IF_EXTENSION diff --git a/src/rscore-pp-block-factory.cpp b/src/rscore-pp-block-factory.cpp index 679bcf63e0..d09fd7978b 100644 --- a/src/rscore-pp-block-factory.cpp +++ b/src/rscore-pp-block-factory.cpp @@ -4,6 +4,7 @@ #include "rscore-pp-block-factory.h" #include "proc/decimation-filter.h" +#include "proc/rotation-filter.h" #include "proc/disparity-transform.h" #include "proc/hdr-merge.h" #include "proc/hole-filling-filter.h" @@ -27,6 +28,8 @@ rscore_pp_block_factory::create_pp_block( std::string const & name, rsutils::jso if( rsutils::string::nocase_equal( name, "Decimation Filter" ) ) return std::make_shared< decimation_filter >(); + if( rsutils::string::nocase_equal( name, "Rotation Filter" ) ) + return std::make_shared< rotation_filter >(); if( rsutils::string::nocase_equal( name, "HDR Merge" ) ) // and Hdr Merge return std::make_shared< hdr_merge >(); if( rsutils::string::nocase_equal( name, "Filter By Sequence id" ) // name diff --git a/wrappers/python/pyrs_processing.cpp b/wrappers/python/pyrs_processing.cpp index 29b6066c18..5dd80f2f0a 100644 --- a/wrappers/python/pyrs_processing.cpp +++ b/wrappers/python/pyrs_processing.cpp @@ -65,6 +65,7 @@ void init_processing(py::module &m) { return new rs2::filter(filter_function, queue_size); }), "filter_function"_a, "queue_size"_a = 1) .def(BIND_DOWNCAST(filter, decimation_filter)) + .def( BIND_DOWNCAST( filter, rotation_filter ) ) .def(BIND_DOWNCAST(filter, disparity_transform)) .def(BIND_DOWNCAST(filter, hole_filling_filter)) .def(BIND_DOWNCAST(filter, spatial_filter)) From 855774ee5741c3cb18581f73f9647b9b37cb609c Mon Sep 17 00:00:00 2001 From: Nir Azkiel Date: Sun, 17 Nov 2024 10:23:50 +0200 Subject: [PATCH 28/44] fix coverity issues --- src/ds/d500/d500-private.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/ds/d500/d500-private.cpp b/src/ds/d500/d500-private.cpp index 0dfb39977d..425b663877 100644 --- a/src/ds/d500/d500-private.cpp +++ b/src/ds/d500/d500-private.cpp @@ -51,6 +51,7 @@ namespace librealsense return get_d500_depth_intrinsic_by_resolution(raw_data, width, height, is_symmetrization_enabled); else LOG_ERROR("Cannot read depth table intrinsic values, using default values"); + break; } case d500_calibration_table_id::rgb_calibration_id: { @@ -58,6 +59,7 @@ namespace librealsense return get_d500_color_intrinsic_by_resolution(raw_data, width, height); else LOG_ERROR("Cannot read color table intrinsic values, using default values"); + break; } default: throw invalid_value_exception(rsutils::string::from() << "Parsing Calibration table type " << static_cast(table_id) << " is not supported"); From 7ac1dfaecb5efcdb0ed327425acfd8b05f35465e Mon Sep 17 00:00:00 2001 From: ohadmeir Date: Sun, 17 Nov 2024 11:15:40 +0200 Subject: [PATCH 29/44] rs-enumerate-devices returns failure if no device found (detect no device in scripts) --- tools/enumerate-devices/rs-enumerate-devices.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/enumerate-devices/rs-enumerate-devices.cpp b/tools/enumerate-devices/rs-enumerate-devices.cpp index ffcd152983..54dd737f24 100644 --- a/tools/enumerate-devices/rs-enumerate-devices.cpp +++ b/tools/enumerate-devices/rs-enumerate-devices.cpp @@ -393,7 +393,7 @@ int main(int argc, char** argv) try if( !device_count ) { cout << "No device detected. Is it plugged in?\n"; - return EXIT_SUCCESS; + return EXIT_FAILURE; } if (short_view || compact_view) From fec7a5dfdf2391b93b9487e007bedb83d170c558 Mon Sep 17 00:00:00 2001 From: ohadmeir Date: Sun, 17 Nov 2024 11:31:04 +0200 Subject: [PATCH 30/44] SDK should not throw if DDS devices are not ready in time --- src/dds/rsdds-device-factory.cpp | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/src/dds/rsdds-device-factory.cpp b/src/dds/rsdds-device-factory.cpp index 0338443dbb..a2fc144ab2 100644 --- a/src/dds/rsdds-device-factory.cpp +++ b/src/dds/rsdds-device-factory.cpp @@ -51,8 +51,15 @@ class rsdds_watcher_singleton _device_watcher->on_device_added( [this]( std::shared_ptr< realdds::dds_device > const & dev ) { - dev->wait_until_ready(); // make sure handshake is complete - _callbacks.raise( dev, true ); + try + { + dev->wait_until_ready(); // make sure handshake is complete, might throw + _callbacks.raise( dev, true ); + } + catch (std::runtime_error e) + { + LOG_ERROR( "Discovered DDS device failed to be ready within timeout" << e.what() ); + } } ); _device_watcher->on_device_removed( [this]( std::shared_ptr< realdds::dds_device > const & dev ) From 9da74c77882f416ca56f1738b315982353e887d9 Mon Sep 17 00:00:00 2001 From: ohadmeir Date: Thu, 7 Nov 2024 09:32:48 +0200 Subject: [PATCH 31/44] Identify D555 by name, not pid --- common/d500-on-chip-calib.cpp | 3 ++- common/device-model.cpp | 6 +++--- src/ds/d500/d500-auto-calibration.cpp | 4 ++-- 3 files changed, 7 insertions(+), 6 deletions(-) diff --git a/common/d500-on-chip-calib.cpp b/common/d500-on-chip-calib.cpp index 5f36a508c6..59b7c29b73 100644 --- a/common/d500-on-chip-calib.cpp +++ b/common/d500-on-chip-calib.cpp @@ -88,7 +88,8 @@ namespace rs2 auto depth_sensor = _sub->s->as (); // disabling the depth visual preset change for D555 - not needed - if (get_device_pid() != "0B56" && get_device_pid() != "DDS") + std::string dev_name = _dev.supports( RS2_CAMERA_INFO_NAME ) ? _dev.get_info( RS2_CAMERA_INFO_NAME ) : ""; + if( dev_name.find( "D555" ) == std::string::npos ) { // set depth preset as default preset set_option_if_needed(depth_sensor, RS2_OPTION_VISUAL_PRESET, 1); diff --git a/common/device-model.cpp b/common/device-model.cpp index 319425eda3..72d37d2bb6 100644 --- a/common/device-model.cpp +++ b/common/device-model.cpp @@ -3351,10 +3351,10 @@ namespace rs2 { bool is_d555 = false; - if( dev.supports( RS2_CAMERA_INFO_PRODUCT_ID ) ) + if( dev.supports( RS2_CAMERA_INFO_NAME ) ) { - auto pid_str = std::string( dev.get_info( RS2_CAMERA_INFO_PRODUCT_ID ) ); - if( pid_str == "0B56" || pid_str == "DDS" ) + auto dev_name = std::string( dev.get_info( RS2_CAMERA_INFO_NAME ) ); + if( dev_name.find( "D555" ) != std::string::npos ) is_d555 = true; } diff --git a/src/ds/d500/d500-auto-calibration.cpp b/src/ds/d500/d500-auto-calibration.cpp index d461d2be9b..d53d303752 100644 --- a/src/ds/d500/d500-auto-calibration.cpp +++ b/src/ds/d500/d500-auto-calibration.cpp @@ -95,8 +95,8 @@ namespace librealsense { bool is_d555 = false; auto dev = As< device >( _debug_dev ); - std::string pid_str = dev ? dev->get_info( RS2_CAMERA_INFO_PRODUCT_ID ) : ""; - if( pid_str == "0B56" || pid_str == "DDS" ) + std::string dev_name = dev ? dev->get_info( RS2_CAMERA_INFO_NAME ) : ""; + if( dev_name.find( "D555" ) != std::string::npos ) is_d555 = true; if( is_d555 ) From 85d26a6674d19d3c40e4ae79868ebf9963df2e6d Mon Sep 17 00:00:00 2001 From: noacoohen Date: Sun, 17 Nov 2024 15:19:49 +0200 Subject: [PATCH 32/44] add step to struct filter_slider_ui in rs-post-processing example --- .../post-processing/rs-post-processing.cpp | 36 +++++++++---------- 1 file changed, 16 insertions(+), 20 deletions(-) diff --git a/examples/post-processing/rs-post-processing.cpp b/examples/post-processing/rs-post-processing.cpp index da787dfa49..fac5ccb246 100644 --- a/examples/post-processing/rs-post-processing.cpp +++ b/examples/post-processing/rs-post-processing.cpp @@ -22,6 +22,7 @@ struct filter_slider_ui std::string description; bool is_int; float value; + float step; rs2::option_range range; bool render(const float3& location, bool enabled); @@ -86,7 +87,7 @@ int main(int argc, char * argv[]) try // The following order of emplacement will dictate the orders in which filters are applied filters.emplace_back("Decimate", dec_filter); - filters.emplace_back( "Rotate", rot_filter ); + filters.emplace_back("Rotate", rot_filter); filters.emplace_back("Threshold", thr_filter); filters.emplace_back(disparity_filter_name, depth_to_disparity); filters.emplace_back("Spatial", spat_filter); @@ -273,23 +274,6 @@ void render_ui(float w, float h, std::vector& filters) filter.is_enabled = tmp_value; ImGui::PopStyleColor(); - - if( filter.filter_name == "Rotate" ) // Combo box specifically for the rotation filter - { - offset_y += elements_margin; - ImGui::PushItemWidth( w / 4 ); - ImGui::SetCursorPos( { offset_x, offset_y } ); - static const char * rotation_modes[] = { "0", "90", "180", "270" }; - static int current_rotation_mode = 0; - if( ImGui::Combo( "Rotation Angle", ¤t_rotation_mode, rotation_modes, 4 ) ) - { - float rotation_value = std::stof( rotation_modes[current_rotation_mode] ); - filter.supported_options[RS2_OPTION_ROTATION].value = rotation_value; - - // Set the filter's option using the new value - filter.filter.set_option( RS2_OPTION_ROTATION, rotation_value ); - } - } if( filter.supported_options.size() == 0 ) { offset_y += elements_margin; @@ -337,11 +321,21 @@ bool filter_slider_ui::render(const float3& location, bool enabled) { int value_as_int = static_cast(value); value_changed = ImGui::SliderInt(("##" + name).c_str(), &value_as_int, static_cast(range.min), static_cast(range.max), "%.0f"); + if( step > 1 ) + { + value_as_int = static_cast< int >( range.min ) + + ( ( value_as_int - static_cast< int >( range.min ) ) / static_cast< int >( step ) ) + * static_cast< int >( step ); + } value = static_cast(value_as_int); } else { value_changed = ImGui::SliderFloat(("##" + name).c_str(), &value, range.min, range.max, "%.3f", 1.0f); + if( step > 0.0f ) + { + value = range.min + round( ( value - range.min ) / step ) * step; + } } ImGui::PopItemWidth(); @@ -377,12 +371,13 @@ filter_options::filter_options(const std::string name, rs2::filter& flt) : filter(flt), is_enabled(true) { - const std::array possible_filter_options = { + const std::array possible_filter_options = { RS2_OPTION_FILTER_MAGNITUDE, RS2_OPTION_FILTER_SMOOTH_ALPHA, RS2_OPTION_MIN_DISTANCE, RS2_OPTION_MAX_DISTANCE, - RS2_OPTION_FILTER_SMOOTH_DELTA + RS2_OPTION_FILTER_SMOOTH_DELTA, + RS2_OPTION_ROTATION }; //Go over each filter option and create a slider for it @@ -399,6 +394,7 @@ filter_options::filter_options(const std::string name, rs2::filter& flt) : supported_options[opt].name = name + "_" + opt_name; std::string prefix = "Filter "; supported_options[opt].label = opt_name; + supported_options[opt].step = range.step; } } } From 59c8039413d15169dc59d52119849c0dc6aed4af Mon Sep 17 00:00:00 2001 From: noacoohen Date: Sun, 17 Nov 2024 15:21:16 +0200 Subject: [PATCH 33/44] fix PR comments --- unit-tests/post-processing/test-rotation-filter.py | 1 - 1 file changed, 1 deletion(-) diff --git a/unit-tests/post-processing/test-rotation-filter.py b/unit-tests/post-processing/test-rotation-filter.py index 47f405e8ad..32582d953a 100644 --- a/unit-tests/post-processing/test-rotation-filter.py +++ b/unit-tests/post-processing/test-rotation-filter.py @@ -3,7 +3,6 @@ #temporary fix to prevent the test from running on Win_SH_Py_DDS_CI #test:donotrun:dds -#test:donotrun:!nightly from rspy import test, repo import pyrealsense2 as rs From 8b36e44c25b4de773568b42bcbf3312f1534d0fe Mon Sep 17 00:00:00 2001 From: Avia Avraham <145359432+AviaAv@users.noreply.github.com> Date: Sun, 17 Nov 2024 16:17:11 +0200 Subject: [PATCH 34/44] return success message for some commands --- common/output-model.cpp | 3 +-- src/terminal-parser.cpp | 6 ++++-- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/common/output-model.cpp b/common/output-model.cpp index b8506e8307..9ebe9b473a 100644 --- a/common/output-model.cpp +++ b/common/output-model.cpp @@ -997,8 +997,7 @@ void output_model::run_command(std::string command, device_models_list & device_ opcode_error_as_string = dbg.get_opcode_string(opcode); } std::string response = rsutils::string::from() << "\n" << terminal_parser.parse_response(to_lower(command), res); - if (response != "\n") - add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, response); + add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, response); } } diff --git a/src/terminal-parser.cpp b/src/terminal-parser.cpp index 0e272457ea..942a937ca3 100644 --- a/src/terminal-parser.cpp +++ b/src/terminal-parser.cpp @@ -61,9 +61,11 @@ namespace librealsense data_vec.insert(data_vec.begin(), data.begin(), data.end()); return data_vec; } - else if (std::all_of(response.begin() + 1, response.end(), [](int x) { return x == 0; })) // if the response contains only the opcode, the response is empty + else if (response.size() == 4) // if the response contains only the opcode, there's no response other than the opcode, return success message { - return {}; + unsigned opcode = response[0]; + auto str = (rsutils::string::from() << "Command succeeded, returned 0x" << hex << opcode).str(); + return std::vector(str.begin(), str.end()); } return response; } From 58db2aad416862f6b7fb6135a82d42cbca9aa75a Mon Sep 17 00:00:00 2001 From: noacoohen Date: Sun, 17 Nov 2024 17:28:36 +0200 Subject: [PATCH 35/44] replace syncder with frame_queue --- unit-tests/post-processing/test-rotation-filter.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/unit-tests/post-processing/test-rotation-filter.py b/unit-tests/post-processing/test-rotation-filter.py index 32582d953a..8b515c7f73 100644 --- a/unit-tests/post-processing/test-rotation-filter.py +++ b/unit-tests/post-processing/test-rotation-filter.py @@ -99,7 +99,7 @@ def validate_rotation_results(filtered_frame, angle): vs = create_video_stream(depth_intrinsics) depth_stream_profile = depth_sensor.add_video_stream(vs) - sync = rs.syncer() + frame_queue = rs.frame_queue(15) # Define rotation angles to test rotation_angles = [90, 180, -90] @@ -109,7 +109,7 @@ def validate_rotation_results(filtered_frame, angle): # Start depth sensor depth_sensor.open(depth_stream_profile) - depth_sensor.start(sync) + depth_sensor.start(frame_queue) for i in range(frames): # Create and process each frame @@ -117,9 +117,8 @@ def validate_rotation_results(filtered_frame, angle): depth_sensor.on_video_frame(frame) # Wait for frames and apply rotation filter - fset = sync.wait_for_frames() - depth = fset.first_or_default(rs.stream.depth) - filtered_depth = rotation_filter.process(depth) + depth_frame = frame_queue.wait_for_frame() + filtered_depth = rotation_filter.process(depth_frame) # Validate rotated frame results validate_rotation_results(filtered_depth, angle) From a5ab5ec2d03dbfc9b3131e9d0bbd3cd4f11cf3e4 Mon Sep 17 00:00:00 2001 From: unknown Date: Sun, 17 Nov 2024 15:45:49 +0200 Subject: [PATCH 36/44] adding read and write data to bagfile --- src/media/ros/ros_file_format.h | 1 + src/media/ros/ros_reader.cpp | 18 ++++++++++++++++++ src/media/ros/ros_writer.cpp | 17 +++++++++++++++++ 3 files changed, 36 insertions(+) diff --git a/src/media/ros/ros_file_format.h b/src/media/ros/ros_file_format.h index 11c9c64a07..24a7c3a6c2 100644 --- a/src/media/ros/ros_file_format.h +++ b/src/media/ros/ros_file_format.h @@ -417,6 +417,7 @@ namespace librealsense case RS2_STREAM_GYRO: case RS2_STREAM_ACCEL: + case RS2_STREAM_MOTION: return ros_imu_type_str(); case RS2_STREAM_POSE: diff --git a/src/media/ros/ros_reader.cpp b/src/media/ros/ros_reader.cpp index ce5df08463..99b4125bd6 100644 --- a/src/media/ros/ros_reader.cpp +++ b/src/media/ros/ros_reader.cpp @@ -518,6 +518,24 @@ namespace librealsense data[2] = static_cast(msg->angular_velocity.z); LOG_DEBUG("RS2_STREAM_GYRO " << motion_frame); } + if (stream_id.stream_type == RS2_STREAM_MOTION) + { + auto data = reinterpret_cast(motion_frame->data.data()); + // orientation part + data[0] = static_cast(msg->orientation.x); + data[1] = static_cast(msg->orientation.y); + data[2] = static_cast(msg->orientation.z); + data[3] = static_cast(msg->orientation.w); + // ACCEL part + data[4] = static_cast(msg->linear_acceleration.x); + data[5] = static_cast(msg->linear_acceleration.y); + data[6] = static_cast(msg->linear_acceleration.z); + // GYRO part + data[7] = static_cast(msg->angular_velocity.x); + data[8] = static_cast(msg->angular_velocity.y); + data[9] = static_cast(msg->angular_velocity.z); + LOG_DEBUG("RS2_STREAM_MOTION " << motion_frame); + } else { throw io_exception( rsutils::string::from() << "Unsupported stream type " << stream_id.stream_type ); diff --git a/src/media/ros/ros_writer.cpp b/src/media/ros/ros_writer.cpp index c55d38f7da..d07c887e54 100644 --- a/src/media/ros/ros_writer.cpp +++ b/src/media/ros/ros_writer.cpp @@ -227,6 +227,23 @@ namespace librealsense imu_msg.angular_velocity.y = data_ptr[1]; imu_msg.angular_velocity.z = data_ptr[2]; } + else if (stream_id.stream_type == RS2_STREAM_MOTION) + { + const double* data_double = reinterpret_cast(data_ptr); + // orientation part + imu_msg.orientation.x = data_double[0]; + imu_msg.orientation.y = data_double[1]; + imu_msg.orientation.z = data_double[2]; + imu_msg.orientation.w = data_double[3]; + // ACCEL part + imu_msg.linear_acceleration.x = data_double[4]; + imu_msg.linear_acceleration.y = data_double[5]; + imu_msg.linear_acceleration.z = data_double[6]; + // GYRO part + imu_msg.angular_velocity.x = data_double[7]; + imu_msg.angular_velocity.y = data_double[8]; + imu_msg.angular_velocity.z = data_double[9]; + } else { throw io_exception("Unsupported stream type for a motion frame"); From ddd994bc4b12a460382fde04be69367b1d8e5335 Mon Sep 17 00:00:00 2001 From: Remi Bettan Date: Mon, 18 Nov 2024 12:15:58 +0200 Subject: [PATCH 37/44] enabling record and playback --- src/media/ros/ros_reader.cpp | 26 ++++++++++++++------------ src/media/ros/ros_writer.cpp | 24 ++++++++++++------------ 2 files changed, 26 insertions(+), 24 deletions(-) diff --git a/src/media/ros/ros_reader.cpp b/src/media/ros/ros_reader.cpp index 99b4125bd6..6c6e6e0642 100644 --- a/src/media/ros/ros_reader.cpp +++ b/src/media/ros/ros_reader.cpp @@ -486,9 +486,11 @@ namespace librealsense get_frame_metadata(m_file, info_topic, stream_id, motion_data, additional_data); } + size_t size_of_imu_data = (stream_id.stream_type == RS2_STREAM_MOTION) ? sizeof(rs2_combined_motion) : 3 * sizeof(float); + frame_interface * frame = m_frame_source->alloc_frame( { stream_id.stream_type, stream_id.stream_index, RS2_EXTENSION_MOTION_FRAME }, - 3 * sizeof( float ), + size_of_imu_data, std::move( additional_data ), true ); if (frame == nullptr) @@ -522,18 +524,18 @@ namespace librealsense { auto data = reinterpret_cast(motion_frame->data.data()); // orientation part - data[0] = static_cast(msg->orientation.x); - data[1] = static_cast(msg->orientation.y); - data[2] = static_cast(msg->orientation.z); - data[3] = static_cast(msg->orientation.w); - // ACCEL part - data[4] = static_cast(msg->linear_acceleration.x); - data[5] = static_cast(msg->linear_acceleration.y); - data[6] = static_cast(msg->linear_acceleration.z); + data[0] = msg->orientation.x; + data[1] = msg->orientation.y; + data[2] = msg->orientation.z; + data[3] = msg->orientation.w; // GYRO part - data[7] = static_cast(msg->angular_velocity.x); - data[8] = static_cast(msg->angular_velocity.y); - data[9] = static_cast(msg->angular_velocity.z); + data[4] = msg->angular_velocity.x; + data[5] = msg->angular_velocity.y; + data[6] = msg->angular_velocity.z; + // ACCEL part + data[7] = msg->linear_acceleration.x; + data[8] = msg->linear_acceleration.y; + data[9] = msg->linear_acceleration.z; LOG_DEBUG("RS2_STREAM_MOTION " << motion_frame); } else diff --git a/src/media/ros/ros_writer.cpp b/src/media/ros/ros_writer.cpp index d07c887e54..1c31701eda 100644 --- a/src/media/ros/ros_writer.cpp +++ b/src/media/ros/ros_writer.cpp @@ -229,20 +229,20 @@ namespace librealsense } else if (stream_id.stream_type == RS2_STREAM_MOTION) { - const double* data_double = reinterpret_cast(data_ptr); + auto data_imu = *reinterpret_cast(frame.frame->get_frame_data()); // orientation part - imu_msg.orientation.x = data_double[0]; - imu_msg.orientation.y = data_double[1]; - imu_msg.orientation.z = data_double[2]; - imu_msg.orientation.w = data_double[3]; - // ACCEL part - imu_msg.linear_acceleration.x = data_double[4]; - imu_msg.linear_acceleration.y = data_double[5]; - imu_msg.linear_acceleration.z = data_double[6]; + imu_msg.orientation.x = data_imu.orientation.x; + imu_msg.orientation.y = data_imu.orientation.y; + imu_msg.orientation.z = data_imu.orientation.z; + imu_msg.orientation.w = data_imu.orientation.w; // GYRO part - imu_msg.angular_velocity.x = data_double[7]; - imu_msg.angular_velocity.y = data_double[8]; - imu_msg.angular_velocity.z = data_double[9]; + imu_msg.angular_velocity.x = data_imu.angular_velocity.x; + imu_msg.angular_velocity.y = data_imu.angular_velocity.y; + imu_msg.angular_velocity.z = data_imu.angular_velocity.z; + // ACCEL part + imu_msg.linear_acceleration.x = data_imu.linear_acceleration.x; + imu_msg.linear_acceleration.y = data_imu.linear_acceleration.y; + imu_msg.linear_acceleration.z = data_imu.linear_acceleration.z; } else { From 36336ff2ab1974b2de3790097616dfdcf20cd4b1 Mon Sep 17 00:00:00 2001 From: Remi Bettan Date: Mon, 18 Nov 2024 14:24:36 +0200 Subject: [PATCH 38/44] semantic change --- src/media/ros/ros_reader.cpp | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/src/media/ros/ros_reader.cpp b/src/media/ros/ros_reader.cpp index 6c6e6e0642..299b233f1f 100644 --- a/src/media/ros/ros_reader.cpp +++ b/src/media/ros/ros_reader.cpp @@ -522,20 +522,20 @@ namespace librealsense } if (stream_id.stream_type == RS2_STREAM_MOTION) { - auto data = reinterpret_cast(motion_frame->data.data()); + auto data = reinterpret_cast(motion_frame->data.data()); // orientation part - data[0] = msg->orientation.x; - data[1] = msg->orientation.y; - data[2] = msg->orientation.z; - data[3] = msg->orientation.w; + data->orientation.x = msg->orientation.x; + data->orientation.y = msg->orientation.y; + data->orientation.z = msg->orientation.z; + data->orientation.w = msg->orientation.w; // GYRO part - data[4] = msg->angular_velocity.x; - data[5] = msg->angular_velocity.y; - data[6] = msg->angular_velocity.z; + data->angular_velocity.x = msg->angular_velocity.x; + data->angular_velocity.y = msg->angular_velocity.y; + data->angular_velocity.z = msg->angular_velocity.z; // ACCEL part - data[7] = msg->linear_acceleration.x; - data[8] = msg->linear_acceleration.y; - data[9] = msg->linear_acceleration.z; + data->linear_acceleration.x = msg->linear_acceleration.x; + data->linear_acceleration.y = msg->linear_acceleration.y; + data->linear_acceleration.z = msg->linear_acceleration.z; LOG_DEBUG("RS2_STREAM_MOTION " << motion_frame); } else From 82b51b1ee591945aafa0d8fa06cfada7b7066366 Mon Sep 17 00:00:00 2001 From: Remi Bettan Date: Tue, 19 Nov 2024 09:56:55 +0200 Subject: [PATCH 39/44] bug correction --- src/media/ros/ros_reader.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/media/ros/ros_reader.cpp b/src/media/ros/ros_reader.cpp index 299b233f1f..b98d2ec5e8 100644 --- a/src/media/ros/ros_reader.cpp +++ b/src/media/ros/ros_reader.cpp @@ -520,7 +520,7 @@ namespace librealsense data[2] = static_cast(msg->angular_velocity.z); LOG_DEBUG("RS2_STREAM_GYRO " << motion_frame); } - if (stream_id.stream_type == RS2_STREAM_MOTION) + else if (stream_id.stream_type == RS2_STREAM_MOTION) { auto data = reinterpret_cast(motion_frame->data.data()); // orientation part From c424a87a14b3f72a4b49f45bc530c13259535408 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Tue, 19 Nov 2024 11:47:50 +0200 Subject: [PATCH 40/44] fix coverity issue --- src/proc/rotation-filter.cpp | 28 ++++++++++------------------ src/proc/rotation-filter.h | 2 +- 2 files changed, 11 insertions(+), 19 deletions(-) diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp index 6fe28f6a97..1f894b1a60 100644 --- a/src/proc/rotation-filter.cpp +++ b/src/proc/rotation-filter.cpp @@ -95,24 +95,17 @@ namespace librealsense { if (auto tgt = prepare_target_frame(f, source, tgt_type)) { - int rotated_width = ( _value == 90 || _value == -90 ) ? src.get_height() : src.get_width(); - int rotated_height = ( _value == 90 || _value == -90 ) ? src.get_width() : src.get_height(); - switch( bpp ) { case 1: { - rotate_depth< 1 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ), - static_cast< const uint8_t * >( src.get_data() ), - rotated_height, - rotated_width ); + rotate_frame< 1 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ), + static_cast< const uint8_t * >( src.get_data() )); break; } case 2: { - rotate_depth< 2 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ), - static_cast< const uint8_t * >( src.get_data() ), - rotated_height, - rotated_width ); + rotate_frame< 2 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ), + static_cast< const uint8_t * >( src.get_data() ) ); break; } @@ -184,21 +177,21 @@ namespace librealsense { } template< size_t SIZE > - void rotation_filter::rotate_depth( uint8_t * const out, const uint8_t * source, int width, int height ) + void rotation_filter::rotate_frame( uint8_t * const out, const uint8_t * source ) { if( _value != 90 && _value != -90 && _value != 180 ) { throw std::invalid_argument( "Invalid rotation angle. Only 90, -90, and 180 degrees are supported." ); } - int width_out = ( _value == 90 || _value == -90 ) ? height : width; - int height_out = ( _value == 90 || _value == -90 ) ? width : height; + int width_out = ( _value == 90 || _value == -90 ) ? _rotated_width : _rotated_height; + int height_out = ( _value == 90 || _value == -90 ) ? _rotated_height : _rotated_width; - for( int i = 0; i < height; ++i ) + for( int i = 0; i < _rotated_width; ++i ) { - for( int j = 0; j < width; ++j ) + for( int j = 0; j < _rotated_height; ++j ) { - size_t src_index = ( i * width + j ) * SIZE; + size_t src_index = ( i * _rotated_height + j ) * SIZE; size_t out_index; if( _value == 90 ) @@ -217,7 +210,6 @@ namespace librealsense { std::memcpy( &out[out_index], &source[src_index], SIZE ); } } - } } diff --git a/src/proc/rotation-filter.h b/src/proc/rotation-filter.h index fa841b2d58..3030fc314b 100644 --- a/src/proc/rotation-filter.h +++ b/src/proc/rotation-filter.h @@ -19,7 +19,7 @@ namespace librealsense rs2::frame prepare_target_frame(const rs2::frame& f, const rs2::frame_source& source, rs2_extension tgt_type); template< size_t SIZE > - void rotate_depth( uint8_t * const out, const uint8_t * source, int width, int height ); + void rotate_frame( uint8_t * const out, const uint8_t * source ); rs2::frame process_frame(const rs2::frame_source& source, const rs2::frame& f) override; From da07459665b0266b97feb064ae7e57526aa470bf Mon Sep 17 00:00:00 2001 From: noacoohen Date: Tue, 19 Nov 2024 15:56:39 +0200 Subject: [PATCH 41/44] fix PR comments --- src/proc/rotation-filter.cpp | 23 +++++++++++++++-------- src/proc/rotation-filter.h | 2 +- 2 files changed, 16 insertions(+), 9 deletions(-) diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp index 1f894b1a60..ead0e5d068 100644 --- a/src/proc/rotation-filter.cpp +++ b/src/proc/rotation-filter.cpp @@ -99,13 +99,17 @@ namespace librealsense { { case 1: { rotate_frame< 1 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ), - static_cast< const uint8_t * >( src.get_data() )); + static_cast< const uint8_t * >( src.get_data() ), + src.get_height(), + src.get_width() ); break; } case 2: { rotate_frame< 2 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ), - static_cast< const uint8_t * >( src.get_data() ) ); + static_cast< const uint8_t * >( src.get_data() ) , + src.get_height(), + src.get_width() ); break; } @@ -177,21 +181,24 @@ namespace librealsense { } template< size_t SIZE > - void rotation_filter::rotate_frame( uint8_t * const out, const uint8_t * source ) + void rotation_filter::rotate_frame( uint8_t * const out, const uint8_t * source, int height, int width ) { if( _value != 90 && _value != -90 && _value != 180 ) { throw std::invalid_argument( "Invalid rotation angle. Only 90, -90, and 180 degrees are supported." ); } - int width_out = ( _value == 90 || _value == -90 ) ? _rotated_width : _rotated_height; - int height_out = ( _value == 90 || _value == -90 ) ? _rotated_height : _rotated_width; + int width_in = ( _value == 90 || _value == -90 ) ? height : width; //else rotation angle is 180 + int height_in = ( _value == 90 || _value == -90 ) ? width : height; //else rotation angle is 180 - for( int i = 0; i < _rotated_width; ++i ) + int width_out = ( _value == 90 || _value == -90 ) ? _rotated_width : _rotated_height; //else rotation angle is 180 + int height_out = ( _value == 90 || _value == -90 ) ? _rotated_height : _rotated_width; //else rotation angle is 180 + + for( int i = 0; i < width_in; ++i ) { - for( int j = 0; j < _rotated_height; ++j ) + for( int j = 0; j < height_in; ++j ) { - size_t src_index = ( i * _rotated_height + j ) * SIZE; + size_t src_index = ( i * height_in + j ) * SIZE; size_t out_index; if( _value == 90 ) diff --git a/src/proc/rotation-filter.h b/src/proc/rotation-filter.h index 3030fc314b..31bf65c99d 100644 --- a/src/proc/rotation-filter.h +++ b/src/proc/rotation-filter.h @@ -19,7 +19,7 @@ namespace librealsense rs2::frame prepare_target_frame(const rs2::frame& f, const rs2::frame_source& source, rs2_extension tgt_type); template< size_t SIZE > - void rotate_frame( uint8_t * const out, const uint8_t * source ); + void rotate_frame( uint8_t * const out, const uint8_t * source, int height, int width ); rs2::frame process_frame(const rs2::frame_source& source, const rs2::frame& f) override; From 6354e60fd9fd18bfb9a6450a6d85fd36a8fb9a50 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Tue, 19 Nov 2024 17:00:29 +0200 Subject: [PATCH 42/44] fix PR comments --- src/proc/rotation-filter.cpp | 40 +++++++++++++++++++----------------- src/proc/rotation-filter.h | 2 +- 2 files changed, 22 insertions(+), 20 deletions(-) diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp index ead0e5d068..cb9e1976d2 100644 --- a/src/proc/rotation-filter.cpp +++ b/src/proc/rotation-filter.cpp @@ -100,16 +100,16 @@ namespace librealsense { case 1: { rotate_frame< 1 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ), static_cast< const uint8_t * >( src.get_data() ), - src.get_height(), - src.get_width() ); + src.get_width(), + src.get_height() ); break; } case 2: { rotate_frame< 2 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ), static_cast< const uint8_t * >( src.get_data() ) , - src.get_height(), - src.get_width() ); + src.get_width(), + src.get_height()); break; } @@ -181,39 +181,41 @@ namespace librealsense { } template< size_t SIZE > - void rotation_filter::rotate_frame( uint8_t * const out, const uint8_t * source, int height, int width ) + void rotation_filter::rotate_frame( uint8_t * const out, const uint8_t * source, int width, int height ) { if( _value != 90 && _value != -90 && _value != 180 ) { throw std::invalid_argument( "Invalid rotation angle. Only 90, -90, and 180 degrees are supported." ); } - int width_in = ( _value == 90 || _value == -90 ) ? height : width; //else rotation angle is 180 - int height_in = ( _value == 90 || _value == -90 ) ? width : height; //else rotation angle is 180 + // Define output dimensions + int width_out = ( _value == 180 ) ? width : height; + int height_out = ( _value == 180 ) ? height : width; - int width_out = ( _value == 90 || _value == -90 ) ? _rotated_width : _rotated_height; //else rotation angle is 180 - int height_out = ( _value == 90 || _value == -90 ) ? _rotated_height : _rotated_width; //else rotation angle is 180 - - for( int i = 0; i < width_in; ++i ) + // Perform rotation + for( int i = 0; i < height; ++i ) { - for( int j = 0; j < height_in; ++j ) + for( int j = 0; j < width; ++j ) { - size_t src_index = ( i * height_in + j ) * SIZE; - size_t out_index; + // Calculate source index + size_t src_index = ( i * width + j ) * SIZE; + // Determine output index based on rotation angle + size_t out_index; if( _value == 90 ) { - out_index = ( j * width_out + ( width_out - i - 1 ) ) * SIZE; + out_index = ( j * height + ( height - i - 1 ) ) * SIZE; } else if( _value == -90 ) { - out_index = ( ( height_out - j - 1 ) * width_out + i ) * SIZE; + out_index = ( ( width - j - 1 ) * height + i ) * SIZE; } - else - { // 180 degrees - out_index = ( ( height_out - i - 1 ) * width_out + ( width_out - j - 1 ) ) * SIZE; + else // 180 degrees + { + out_index = ( ( height - i - 1 ) * width + ( width - j - 1 ) ) * SIZE; } + // Copy pixel data from source to destination std::memcpy( &out[out_index], &source[src_index], SIZE ); } } diff --git a/src/proc/rotation-filter.h b/src/proc/rotation-filter.h index 31bf65c99d..f5a542e21d 100644 --- a/src/proc/rotation-filter.h +++ b/src/proc/rotation-filter.h @@ -19,7 +19,7 @@ namespace librealsense rs2::frame prepare_target_frame(const rs2::frame& f, const rs2::frame_source& source, rs2_extension tgt_type); template< size_t SIZE > - void rotate_frame( uint8_t * const out, const uint8_t * source, int height, int width ); + void rotate_frame( uint8_t * const out, const uint8_t * source, int width, int height ); rs2::frame process_frame(const rs2::frame_source& source, const rs2::frame& f) override; From 6174446659103aad5edb0f3fbf9167dae5c3d4aa Mon Sep 17 00:00:00 2001 From: noacoohen Date: Tue, 19 Nov 2024 17:05:30 +0200 Subject: [PATCH 43/44] add comment --- src/proc/rotation-filter.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp index cb9e1976d2..55782f47b5 100644 --- a/src/proc/rotation-filter.cpp +++ b/src/proc/rotation-filter.cpp @@ -189,8 +189,8 @@ namespace librealsense { } // Define output dimensions - int width_out = ( _value == 180 ) ? width : height; - int height_out = ( _value == 180 ) ? height : width; + int width_out = ( _value == 180 ) ? width : height; // else 90 or -90 degrees rotation + int height_out = ( _value == 180 ) ? height : width; // else 90 or -90 degrees rotation // Perform rotation for( int i = 0; i < height; ++i ) From 9e51a1a44f0a147ed6f9975250a405614b0e5a21 Mon Sep 17 00:00:00 2001 From: noacoohen Date: Tue, 19 Nov 2024 17:08:25 +0200 Subject: [PATCH 44/44] fix PR comments --- src/proc/rotation-filter.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp index 55782f47b5..c3654280ca 100644 --- a/src/proc/rotation-filter.cpp +++ b/src/proc/rotation-filter.cpp @@ -189,8 +189,8 @@ namespace librealsense { } // Define output dimensions - int width_out = ( _value == 180 ) ? width : height; // else 90 or -90 degrees rotation - int height_out = ( _value == 180 ) ? height : width; // else 90 or -90 degrees rotation + int width_out = ( _value == 90 || _value == -90 ) ? height : width; // rotate by 180 will keep the values as is + int height_out = ( _value == 90 || _value == -90 ) ? width : height; // rotate by 180 will keep the values as is // Perform rotation for( int i = 0; i < height; ++i )