Skip to content

L500 support for FG with debug_stream_sensor #7796

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 10 commits into from
Nov 19, 2020
Merged

L500 support for FG with debug_stream_sensor #7796

Show file tree
Hide file tree
Changes from 9 commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
8261c83
Added fg to fmt_to_value(python)
aangerma Nov 15, 2020
2f76102
Added new API debug_streaming_sensor for special formats like FG that…
aangerma Nov 17, 2020
53876f0
Add unitest for fg
aangerma Nov 17, 2020
557c209
CR fixes.
aangerma Nov 18, 2020
2733bac
Added RS2_EXTENSION_DEBUG_STREAM_SENSOR to nodejs
aangerma Nov 18, 2020
200552b
More fixes
aangerma Nov 18, 2020
3d444a4
Fix on print on test.py
aangerma Nov 19, 2020
fe75699
Register FG tag with -1 on width height and fps.
aangerma Nov 19, 2020
30fd2cd
Added finally to test-fg.py
aangerma Nov 19, 2020
d9ed85a
spaces! grrrrrrr
maloel Nov 19, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 8 additions & 0 deletions include/librealsense2/h/rs_sensor.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -325,6 +325,14 @@ const char* rs2_get_notification_serialized_data(rs2_notification* notification,
*/
rs2_stream_profile_list* rs2_get_stream_profiles(rs2_sensor* sensor, rs2_error** error);

/**
* retrieve list of debug stream profiles that given subdevice can provide
* \param[in] sensor input RealSense subdevice
* \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
* \return list of debug stream profiles that given subdevice can provide, should be released by rs2_delete_profiles_list
*/
rs2_stream_profile_list * rs2_get_debug_stream_profiles( rs2_sensor * sensor, rs2_error ** error );

/**
* check how subdevice is streaming
* \param[in] sensor input RealSense subdevice
Expand Down
1 change: 1 addition & 0 deletions include/librealsense2/h/rs_types.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -213,6 +213,7 @@ typedef enum rs2_extension
RS2_EXTENSION_HDR_MERGE,
RS2_EXTENSION_SEQUENCE_ID_FILTER,
RS2_EXTENSION_MAX_USABLE_RANGE_SENSOR,
RS2_EXTENSION_DEBUG_STREAM_SENSOR,
RS2_EXTENSION_COUNT
} rs2_extension;
const char* rs2_extension_type_to_string(rs2_extension type);
Expand Down
44 changes: 44 additions & 0 deletions include/librealsense2/hpp/rs_sensor.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -752,5 +752,49 @@ namespace rs2
return res;
}
};

class debug_stream_sensor : public sensor
{
public:
debug_stream_sensor( sensor s )
: sensor( s.get() )
{
rs2_error * e = nullptr;
if( rs2_is_sensor_extendable_to( _sensor.get(), RS2_EXTENSION_DEBUG_STREAM_SENSOR, &e ) == 0 && ! e )
{
_sensor.reset();
}
error::handle( e );
}

operator bool() const { return _sensor.get() != nullptr; }

/**
* Retrieves the list of debug stream profiles supported by the sensor.
* \return list of debug stream profiles that given sensor can provide
*/
std::vector< stream_profile > get_debug_stream_profiles() const
{
std::vector< stream_profile > results;

rs2_error * e = nullptr;
std::shared_ptr< rs2_stream_profile_list > list(
rs2_get_debug_stream_profiles( _sensor.get(), &e ),
rs2_delete_stream_profiles_list );
error::handle( e );

auto size = rs2_get_stream_profiles_count( list.get(), &e );
error::handle( e );

for( auto i = 0; i < size; i++ )
{
stream_profile profile( rs2_get_stream_profile( list.get(), i, &e ) );
error::handle( e );
results.push_back( profile );
}

return results;
}
};
}
#endif // LIBREALSENSE_RS2_SENSOR_HPP
1 change: 1 addition & 0 deletions src/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -133,4 +133,5 @@ target_sources(${LRS_TARGET}
"${CMAKE_CURRENT_LIST_DIR}/serializable-interface.h"
"${CMAKE_CURRENT_LIST_DIR}/depth-to-rgb-calibration.h"
"${CMAKE_CURRENT_LIST_DIR}/max-usable-range-sensor.h"
"${CMAKE_CURRENT_LIST_DIR}/debug-stream-sensor.h"
)
7 changes: 4 additions & 3 deletions src/core/streaming.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,18 +31,19 @@ namespace librealsense

typedef enum profile_tag
{
PROFILE_TAG_ANY = 0,
PROFILE_TAG_SUPERSET = 1, // to be included in enable_all
PROFILE_TAG_DEFAULT = 2, // to be included in default pipeline start
PROFILE_TAG_ANY = 4, // does not include PROFILE_TAG_DEBUG
PROFILE_TAG_DEBUG = 8, // tag for debug formats
} profile_tag;

struct tagged_profile
{
rs2_stream stream;
int stream_index;
uint32_t width, height;
int width, height;
rs2_format format;
uint32_t fps;
int fps;
int tag;
};

Expand Down
16 changes: 16 additions & 0 deletions src/debug-stream-sensor.h
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2020 Intel Corporation. All Rights Reserved.

#pragma once

#include "core/streaming.h"

namespace librealsense
{
class debug_stream_sensor
{
public:
virtual stream_profiles get_debug_stream_profiles() const= 0;
};
MAP_EXTENSION( RS2_EXTENSION_DEBUG_STREAM_SENSOR, debug_stream_sensor );
}
36 changes: 18 additions & 18 deletions src/ds5/ds5-factory.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -638,11 +638,11 @@ namespace librealsense
auto usb_spec = get_usb_spec();
bool usb3mode = (usb_spec >= platform::usb3_type || usb_spec == platform::usb_undefined);

uint32_t depth_width = usb3mode ? 848 : 640;
uint32_t depth_height = usb3mode ? 480 : 480;
uint32_t color_width = usb3mode ? 1280 : 640;
uint32_t color_height = usb3mode ? 720 : 480;
uint32_t fps = usb3mode ? 30 : 15;
int depth_width = usb3mode ? 848 : 640;
int depth_height = usb3mode ? 480 : 480;
int color_width = usb3mode ? 1280 : 640;
int color_height = usb3mode ? 720 : 480;
int fps = usb3mode ? 30 : 15;

tags.push_back({ RS2_STREAM_COLOR, -1, color_width, color_height, RS2_FORMAT_RGB8, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
tags.push_back({ RS2_STREAM_DEPTH, -1, depth_width, depth_height, RS2_FORMAT_Z16, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
Expand Down Expand Up @@ -855,9 +855,9 @@ namespace librealsense
auto usb_spec = get_usb_spec();
bool usb3mode = (usb_spec >= platform::usb3_type || usb_spec == platform::usb_undefined);

uint32_t width = usb3mode ? 1280 : 640;
uint32_t height = usb3mode ? 720 : 480;
uint32_t fps = usb3mode ? 30 : 15;
int width = usb3mode ? 1280 : 640;
int height = usb3mode ? 720 : 480;
int fps = usb3mode ? 30 : 15;

tags.push_back({ RS2_STREAM_COLOR, -1, width, height, RS2_FORMAT_RGB8, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
tags.push_back({ RS2_STREAM_DEPTH, -1, width, height, RS2_FORMAT_Z16, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
Expand Down Expand Up @@ -927,11 +927,11 @@ namespace librealsense
auto usb_spec = get_usb_spec();
bool usb3mode = (usb_spec >= platform::usb3_type || usb_spec == platform::usb_undefined);

uint32_t depth_width = usb3mode ? 848 : 640;
uint32_t depth_height = usb3mode ? 480 : 480;
uint32_t color_width = usb3mode ? 1280 : 640;
uint32_t color_height = usb3mode ? 720 : 480;
uint32_t fps = usb3mode ? 30 : 15;
int depth_width = usb3mode ? 848 : 640;
int depth_height = usb3mode ? 480 : 480;
int color_width = usb3mode ? 1280 : 640;
int color_height = usb3mode ? 720 : 480;
int fps = usb3mode ? 30 : 15;

tags.push_back({ RS2_STREAM_COLOR, -1, color_width, color_height, RS2_FORMAT_RGB8, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
tags.push_back({ RS2_STREAM_DEPTH, -1, depth_width, depth_height, RS2_FORMAT_Z16, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
Expand Down Expand Up @@ -976,11 +976,11 @@ namespace librealsense
auto usb_spec = get_usb_spec();
bool usb3mode = (usb_spec >= platform::usb3_type || usb_spec == platform::usb_undefined);

uint32_t depth_width = usb3mode ? 848 : 640;
uint32_t depth_height = usb3mode ? 480 : 480;
uint32_t color_width = usb3mode ? 1280 : 640;
uint32_t color_height = usb3mode ? 720 : 480;
uint32_t fps = usb3mode ? 30 : 15;
int depth_width = usb3mode ? 848 : 640;
int depth_height = usb3mode ? 480 : 480;
int color_width = usb3mode ? 1280 : 640;
int color_height = usb3mode ? 720 : 480;
int fps = usb3mode ? 30 : 15;

tags.push_back({ RS2_STREAM_COLOR, -1, color_width, color_height, RS2_FORMAT_RGB8, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
tags.push_back({ RS2_STREAM_DEPTH, -1, depth_width, depth_height, RS2_FORMAT_Z16, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
Expand Down
4 changes: 2 additions & 2 deletions src/l500/l500-color.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -714,8 +714,8 @@ namespace librealsense

bool usb3mode = (_usb_mode >= platform::usb3_type || _usb_mode == platform::usb_undefined);

uint32_t width = usb3mode ? 1280 : 960;
uint32_t height = usb3mode ? 720 : 540;
int width = usb3mode ? 1280 : 960;
int height = usb3mode ? 720 : 540;

tags.push_back({ RS2_STREAM_COLOR, -1, width, height, RS2_FORMAT_RGB8, 30, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });

Expand Down
11 changes: 8 additions & 3 deletions src/l500/l500-depth.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -168,13 +168,13 @@ namespace librealsense

bool usb3mode = (_usb_mode >= platform::usb3_type || _usb_mode == platform::usb_undefined);

uint32_t width = usb3mode ? 640 : 320;
uint32_t height = usb3mode ? 480 : 240;
int width = usb3mode ? 640 : 320;
int height = usb3mode ? 480 : 240;

tags.push_back({ RS2_STREAM_DEPTH, -1, width, height, RS2_FORMAT_Z16, 30, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
tags.push_back({ RS2_STREAM_INFRARED, -1, width, height, RS2_FORMAT_Y8, 30, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
tags.push_back({ RS2_STREAM_CONFIDENCE, -1, width, height, RS2_FORMAT_RAW8, 30, profile_tag::PROFILE_TAG_SUPERSET });

tags.push_back({ RS2_STREAM_DEPTH, -1, -1, -1, RS2_FORMAT_FG, -1, profile_tag::PROFILE_TAG_DEBUG } );
return tags;
}

Expand Down Expand Up @@ -379,6 +379,11 @@ namespace librealsense
return l500::max_usable_range(noise_estimation);
}

stream_profiles l500_depth_sensor::get_debug_stream_profiles() const
{
return get_stream_profiles( PROFILE_TAG_DEBUG );
}

// We want to disable max-usable-range when not in a particular preset:
bool l500_depth_sensor::is_max_range_preset() const
{
Expand Down
5 changes: 4 additions & 1 deletion src/l500/l500-depth.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#include "l500-options.h"
#include "calibrated-sensor.h"
#include "max-usable-range-sensor.h"
#include "debug-stream-sensor.h"

namespace librealsense
{
Expand Down Expand Up @@ -93,6 +94,7 @@ namespace librealsense
, public virtual l500_depth_sensor_interface
, public calibrated_sensor
, public max_usable_range_sensor
, public debug_stream_sensor
{
public:
explicit l500_depth_sensor(
Expand Down Expand Up @@ -221,6 +223,8 @@ namespace librealsense

float get_max_usable_depth_range() const override;

stream_profiles get_debug_stream_profiles() const override;

void create_snapshot(std::shared_ptr<depth_sensor>& snapshot) const override
{
snapshot = std::make_shared<depth_sensor_snapshot>(get_depth_scale());
Expand Down Expand Up @@ -260,7 +264,6 @@ namespace librealsense
bool is_max_range_preset() const;

private:

action_delayer _action_delayer;
l500_device * const _owner;
float _depth_units;
Expand Down
1 change: 1 addition & 0 deletions src/realsense.def
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -398,5 +398,6 @@ EXPORTS
rs2_terminal_parse_response

rs2_get_max_usable_depth_range
rs2_get_debug_stream_profiles


11 changes: 11 additions & 0 deletions src/rs.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -331,6 +331,16 @@ rs2_stream_profile_list* rs2_get_stream_profiles(rs2_sensor* sensor, rs2_error**
}
HANDLE_EXCEPTIONS_AND_RETURN(nullptr, sensor)

rs2_stream_profile_list * rs2_get_debug_stream_profiles( rs2_sensor * sensor,
rs2_error ** error ) BEGIN_API_CALL
{
VALIDATE_NOT_NULL( sensor );
auto debug_streaming
= VALIDATE_INTERFACE( sensor->sensor, librealsense::debug_stream_sensor );
return new rs2_stream_profile_list{ debug_streaming->get_debug_stream_profiles() };
}
HANDLE_EXCEPTIONS_AND_RETURN( nullptr, sensor )

rs2_stream_profile_list* rs2_get_active_streams(rs2_sensor* sensor, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(sensor);
Expand Down Expand Up @@ -1390,6 +1400,7 @@ int rs2_is_sensor_extendable_to(const rs2_sensor* sensor, rs2_extension extensio
case RS2_EXTENSION_FISHEYE_SENSOR : return VALIDATE_INTERFACE_NO_THROW(sensor->sensor, librealsense::fisheye_sensor) != nullptr;
case RS2_EXTENSION_CALIBRATED_SENSOR : return VALIDATE_INTERFACE_NO_THROW(sensor->sensor, librealsense::calibrated_sensor) != nullptr;
case RS2_EXTENSION_MAX_USABLE_RANGE_SENSOR : return VALIDATE_INTERFACE_NO_THROW(sensor->sensor, librealsense::max_usable_range_sensor) != nullptr;
case RS2_EXTENSION_DEBUG_STREAM_SENSOR : return VALIDATE_INTERFACE_NO_THROW( sensor->sensor, librealsense::debug_stream_sensor ) != nullptr;


default:
Expand Down
25 changes: 13 additions & 12 deletions src/sensor.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -190,17 +190,19 @@ namespace librealsense
_source_owner = owner;
}

stream_profiles sensor_base::get_stream_profiles(int tag) const
stream_profiles sensor_base::get_stream_profiles( int tag ) const
{
if (tag == profile_tag::PROFILE_TAG_ANY)
return *_profiles;

stream_profiles results;
for (auto p : *_profiles)

for( auto p : *_profiles )
{
auto curr_tag = p->get_tag();
if (curr_tag & tag)
results.push_back(p);
if( curr_tag & tag
|| tag == profile_tag::PROFILE_TAG_ANY
&& ! ( curr_tag & profile_tag::PROFILE_TAG_DEBUG ) )
{
results.push_back( p );
}
}

return results;
Expand Down Expand Up @@ -262,7 +264,7 @@ namespace librealsense
last_timestamp,
last_frame_number,
false,
fo.frame_size);
(uint32_t)fo.frame_size );
fr->additional_data = additional_data;

// update additional data
Expand Down Expand Up @@ -548,7 +550,6 @@ namespace librealsense
std::unordered_set<std::shared_ptr<video_stream_profile>> profiles;
power on(std::dynamic_pointer_cast<uvc_sensor>(shared_from_this()));

if (_uvc_profiles.empty()) {}
_uvc_profiles = _device->get_profiles();

for (auto&& p : _uvc_profiles)
Expand Down Expand Up @@ -1210,7 +1211,7 @@ namespace librealsense
stream_profiles synthetic_sensor::init_stream_profiles()
{
stream_profiles result_profiles;
auto profiles = _raw_sensor->get_stream_profiles();
auto profiles = _raw_sensor->get_stream_profiles( PROFILE_TAG_ANY | PROFILE_TAG_DEBUG );

for (auto&& pbf : _pb_factories)
{
Expand Down Expand Up @@ -1290,13 +1291,13 @@ namespace librealsense
for (auto&& pbf : _pb_factories)
{
auto satisfied_req = pbf->find_satisfied_requests(requests, _pbf_supported_profiles[pbf.get()]);
satisfied_count = satisfied_req.size();
satisfied_count = (int)satisfied_req.size();
if (satisfied_count > max_satisfied_req
|| (satisfied_count == max_satisfied_req
&& pbf->get_source_info().size() < best_source_size))
{
max_satisfied_req = satisfied_count;
best_source_size = pbf->get_source_info().size();
best_source_size = (int)pbf->get_source_info().size();
best_match_processing_block_factory = pbf;
best_match_requests = satisfied_req;
}
Expand Down
1 change: 1 addition & 0 deletions src/types.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -324,6 +324,7 @@ namespace librealsense
CASE(SEQUENCE_ID_FILTER)
CASE(HDR_MERGE)
CASE(MAX_USABLE_RANGE_SENSOR)
CASE(DEBUG_STREAM_SENSOR)
default: assert(!is_valid(value)); return UNKNOWN_VALUE;
}
#undef CASE
Expand Down
Loading