From f75ac41fc61e3930d4cff21716c036b1d594acf8 Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Sun, 21 Apr 2024 11:39:17 +0000 Subject: [PATCH] Imported upstream version '2.55.1' of 'upstream' --- .github/pull_request_template.md | 9 + .github/workflows/build-ROS2-package-CI.yaml | 22 +- .github/workflows/buildsCI.yaml | 149 +- .github/workflows/cppcheck-parse.py | 20 +- .github/workflows/cppcheck_run.log | 91 +- .../workflows/rs-all-client/CMakeLists.txt | 53 + .github/workflows/rs-all-client/main.cpp | 56 + .github/workflows/static_analysis.yaml | 104 +- .travis.yml | 172 - CMake/Findfoonathan_memory.cmake | 35 + CMake/catch2-download.cmake.in | 19 + CMake/connectivity_check.cmake | 2 +- CMake/external_catch2.cmake | 51 + CMake/external_fastdds.cmake | 67 + CMake/external_foonathan_memory.cmake | 44 + CMake/external_json.cmake | 50 + CMake/external_libusb.cmake | 2 + CMake/external_pybind11.cmake | 67 +- CMake/global_config.cmake | 7 +- CMake/json-download.cmake.in | 19 + 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--git a/.github/workflows/build-ROS2-package-CI.yaml b/.github/workflows/build-ROS2-package-CI.yaml index d78e7b58..10967c80 100644 --- a/.github/workflows/build-ROS2-package-CI.yaml +++ b/.github/workflows/build-ROS2-package-CI.yaml @@ -6,31 +6,29 @@ on: pull_request: branches: ['**'] +permissions: read-all + jobs: build_lrs_ros2_package: runs-on: ubuntu-latest + timeout-minutes: 30 strategy: matrix: ros_distribution: - - foxy - - galactic - humble + - iron - rolling include: - # Foxy Fitzroy - - docker_image: ubuntu:focal - ros_distribution: foxy - - # Galactic Geochelone - - docker_image: ubuntu:focal - ros_distribution: galactic - # Humble Hawksbill - docker_image: ubuntu:jammy ros_distribution: humble + # Iron Irwini + - docker_image: ubuntu:jammy + ros_distribution: iron + # Rolling Ridley - docker_image: ubuntu:jammy ros_distribution: rolling @@ -40,12 +38,12 @@ jobs: steps: - name: setup ROS environment - uses: ros-tooling/setup-ros@v0.4 + uses: ros-tooling/setup-ros@v0.7 with: required-ros-distributions: ${{ matrix.ros_distribution }} - name: build librealsense ROS 2 - uses: ros-tooling/action-ros-ci@v0.2 + uses: ros-tooling/action-ros-ci@v0.3 with: target-ros2-distro: ${{ matrix.ros_distribution }} skip-tests: true diff --git a/.github/workflows/buildsCI.yaml b/.github/workflows/buildsCI.yaml index 77c31d80..62c95f8c 100644 --- a/.github/workflows/buildsCI.yaml +++ b/.github/workflows/buildsCI.yaml @@ -5,6 +5,8 @@ on: branches: ['**'] pull_request: branches: ['**'] + +permissions: read-all env: # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.) @@ -60,9 +62,50 @@ jobs: shell: bash run: | cd ${{env.WIN_BUILD_DIR}} - cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -m + cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -m + + #-------------------------------------------------------------------------------- + Win_SH_EX_No_Logs: # Windows, shared, with Examples & Tools, no EasyLogging and no Check for Updates + runs-on: windows-2019 + timeout-minutes: 60 + steps: + - uses: actions/checkout@v3 + - name: Enable Long Paths + shell: powershell + run: | + New-ItemProperty -Path "HKLM:\SYSTEM\CurrentControlSet\Control\FileSystem" -Name "LongPathsEnabled" -Value 1 -PropertyType DWORD -Force + + - name: Check_API + shell: bash + run: | + cd scripts + ./api_check.sh + cd .. + + - name: PreBuild + shell: bash + run: | + mkdir ${{env.WIN_BUILD_DIR}} + + - name: Configure CMake + # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make. + # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type + shell: bash + run: | + LRS_SRC_DIR=$(pwd) + cd ${{env.WIN_BUILD_DIR}} + pwd + ls + cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=true -DBUILD_TOOLS=true -DCHECK_FOR_UPDATES=false -DBUILD_EASYLOGGINGPP=false + - name: Build + # Build your program with the given configuration + shell: bash + run: | + cd ${{env.WIN_BUILD_DIR}} + cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -m + #-------------------------------------------------------------------------------- Win_ST_Py_CI: # Windows, Static, Python, Tools, libCI with executables runs-on: windows-2019 @@ -89,15 +132,16 @@ jobs: shell: bash run: | mkdir ${{env.WIN_BUILD_DIR}} + python3 -m pip install numpy - name: Configure CMake # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make. # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type shell: bash run: | - LRS_SRC_DIR=$(pwd) + LRS_SRC_DIR=$(pwd) cd ${{env.WIN_BUILD_DIR}} - cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=true -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=false -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true + cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=true -DUNIT_TESTS_ARGS="--not-live --context=windows" -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=false -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true - name: Build # Build your program with the given configuration @@ -112,6 +156,15 @@ jobs: run: | python3 unit-tests/run-unit-tests.py --no-color --debug --stdout --not-live --context "windows" ${{env.WIN_BUILD_DIR}}/Release + - name: Client for realsense2-all + shell: bash + run: | + mkdir ${{env.WIN_BUILD_DIR}}/rs-all-client + cd ${{env.WIN_BUILD_DIR}}/rs-all-client + cmake $GITHUB_WORKSPACE/.github/workflows/rs-all-client -G "Visual Studio 16 2019" + cmake --build . --config Release -- -m + ./Release/rs-all-client + #-------------------------------------------------------------------------------- Win_SH_Py_DDS_CI: # Windows, Shared, Python, Tools, DDS, libCI without executables @@ -127,7 +180,7 @@ jobs: shell: powershell run: | New-ItemProperty -Path "HKLM:\SYSTEM\CurrentControlSet\Control\FileSystem" -Name "LongPathsEnabled" -Value 1 -PropertyType DWORD -Force - + - name: Check_API shell: bash run: | @@ -138,11 +191,10 @@ jobs: - name: PreBuild shell: bash run: | - mkdir ${{env.WIN_BUILD_DIR}} + mkdir ${{env.WIN_BUILD_DIR}} + python3 -m pip install numpy - name: Configure CMake - # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make. - # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type shell: bash run: | LRS_SRC_DIR=$(pwd) @@ -193,8 +245,6 @@ jobs: mkdir ${{env.WIN_BUILD_DIR}} - name: Configure CMake - # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make. - # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type shell: bash run: | LRS_SRC_DIR=$(pwd) @@ -210,8 +260,8 @@ jobs: #-------------------------------------------------------------------------------- - U20_ST_Py_EX_CfU_LiveTest: # Ubuntu 2020, Static, Python, Examples & Tools, Check for Updates, Legacy Live-Tests - runs-on: ubuntu-20.04 + U22_ST_Py_EX_CfU_LiveTest: # Ubuntu 2022, Static, Python, Examples & Tools, Check for Updates, Legacy Live-Tests + runs-on: ubuntu-22.04 timeout-minutes: 60 steps: - uses: actions/checkout@v3 @@ -222,22 +272,18 @@ jobs: cd scripts && ./api_check.sh && cd .. mkdir build && cd build export LRS_LOG_LEVEL="DEBUG"; - sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test; sudo apt-get update; sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev; sudo apt-get install -qq libusb-1.0-0-dev; sudo apt-get install -qq libgtk-3-dev; sudo apt-get install libglfw3-dev libglfw3; - # We force compiling with GCC 7 because the default installed GCC 9 compiled with LTO and gives an internal compiler error - sudo apt-get install gcc-7 g++-7; - sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 60 --slave /usr/bin/g++ g++ /usr/bin/g++-7; - name: Build shell: bash - run: | + run: | cd build - cmake .. -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=true -DBUILD_TOOLS=true -DCHECK_FOR_UPDATES=true -DBUILD_LEGACY_LIVE_TEST=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3) - cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -j4 + cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_RUN_CONFIG}} -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=true -DBUILD_TOOLS=true -DCHECK_FOR_UPDATES=true -DBUILD_LEGACY_LIVE_TEST=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3) + cmake --build . -- -j4 - name: Test shell: bash @@ -245,15 +291,15 @@ jobs: # We set continue-on-error: true as a workaround for not skipping the upload log step on failure, # The final step will check the return value from the test step and decide if to fail/pass the job continue-on-error: true - run: | + run: | export LRS_LOG_LEVEL="DEBUG"; - cd build - ./unit-tests/live-test -d yes -i [software-device] + cd build/${{env.LRS_RUN_CONFIG}}/ + ./live-test -d yes -i [software-device] - name: Upload RS log artifact uses: actions/upload-artifact@v3 with: - name: Log file - U20_ST_Py_EX_CfU_LiveTest + name: Log file - U22_ST_Py_EX_CfU_LiveTest path: build/*.log - name: Provide correct exit status for job @@ -277,7 +323,6 @@ jobs: - name: Prebuild shell: bash run: | - sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test; sudo apt-get update; sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev; sudo apt-get install -qq libusb-1.0-0-dev; @@ -286,6 +331,7 @@ jobs: # We force compiling with GCC 7 because the default installed GCC 9 compiled with LTO and gives an internal compiler error sudo apt-get install gcc-7 g++-7; sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 60 --slave /usr/bin/g++ g++ /usr/bin/g++-7; + python3 -m pip install numpy - name: Check_API shell: bash @@ -300,8 +346,8 @@ jobs: shell: bash run: | cd build - cmake .. -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=true -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=false -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3) - cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -j4 + cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_RUN_CONFIG}} -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=true -DUNIT_TESTS_ARGS="--not-live --context=linux" -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=false -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3) + cmake --build . -- -j4 - name: LibCI # Note: requires BUILD_UNIT_TESTS or the executable C++ unit-tests won't run (and it won't complain) @@ -311,7 +357,7 @@ jobs: #-------------------------------------------------------------------------------- - U20_ST_Py_DDS_CI: # Ubuntu 2020, Static, Python, DDS, LibCI without executables + U20_ST_Py_DDS_RSUSB_CI: # Ubuntu 2020, Static, Python, DDS, RSUSB, LibCI without executables runs-on: ubuntu-20.04 timeout-minutes: 60 steps: @@ -320,7 +366,6 @@ jobs: - name: Prebuild shell: bash run: | - sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test; sudo apt-get update; sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev; sudo apt-get install -qq libusb-1.0-0-dev; @@ -329,6 +374,7 @@ jobs: # We force compiling with GCC 7 because the default installed GCC 9 compiled with LTO and gives an internal compiler error sudo apt-get install gcc-7 g++-7; sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 60 --slave /usr/bin/g++ g++ /usr/bin/g++-7; + python3 -m pip install numpy - name: Check_API shell: bash @@ -340,28 +386,40 @@ jobs: mkdir build - name: Build + # Note: we force RSUSB because, on Linux, the context creation will fail on GHA: + # (backend-v4l2.cpp:555) Cannot access /sys/class/video4linux) + # And, well, we don't need any specific platform for DDS! shell: bash run: | cd build - cmake .. -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=false -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3) - cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -j4 + cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_RUN_CONFIG}} -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DBUILD_UNIT_TESTS=false -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3) -DFORCE_RSUSB_BACKEND=true + cmake --build . -- -j4 + + - name: Client for realsense2-all + shell: bash + run: | + mkdir build/rs-all-client + cd build/rs-all-client + cmake ../../.github/workflows/rs-all-client -DBUILD_WITH_DDS=ON -DFORCE_RSUSB_BACKEND=ON + cmake --build . -- -j4 + ./rs-all-client - name: LibCI # Note: we specifically disable BUILD_UNIT_TESTS so the executable C++ unit-tests won't run # This is to save time as DDS already lengthens the build... shell: bash run: | - python3 unit-tests/run-unit-tests.py --no-color --debug --stdout --not-live --context "dds linux" + python3 unit-tests/run-unit-tests.py --no-color --debug --stdout --not-live --context "dds linux" --tag dds #-------------------------------------------------------------------------------- - U20_SH_RSUSB_LiveTest: # Ubuntu 2020, Shared, Legacy live-tests - runs-on: ubuntu-20.04 + U22_SH_RSUSB_LiveTest: # Ubuntu 2022, Shared, Legacy live-tests + runs-on: ubuntu-22.04 timeout-minutes: 60 env: LRS_BUILD_NODEJS: true steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v3 - name: Check_API shell: bash @@ -376,22 +434,18 @@ jobs: set -x mkdir build - sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test; sudo apt-get update; sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev; sudo apt-get install -qq libusb-1.0-0-dev; sudo apt-get install -qq libgtk-3-dev; sudo apt-get install libglfw3-dev libglfw3; - # We force compiling with GCC 7 because the default installed GCC 9 compiled with LTO and gives an internal compiler error - sudo apt-get install gcc-7 g++-7; - sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 60 --slave /usr/bin/g++ g++ /usr/bin/g++-7; - name: Build shell: bash run: | cd build - cmake .. -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DCHECK_FOR_UPDATES=false -DFORCE_RSUSB_BACKEND=true -DBUILD_LEGACY_LIVE_TEST=true - cmake --build . --config $LRS_BUILD_CONFIG -- -j4 + cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_BUILD_CONFIG}} -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DCHECK_FOR_UPDATES=false -DFORCE_RSUSB_BACKEND=true -DBUILD_LEGACY_LIVE_TEST=true + cmake --build . -- -j4 - name: Test shell: bash @@ -401,13 +455,13 @@ jobs: continue-on-error: true run: | export LRS_LOG_LEVEL="DEBUG"; - cd build - ./unit-tests/live-test -d yes -i [software-device] + cd build/${{env.LRS_BUILD_CONFIG}}/ + ./live-test -d yes -i [software-device] - name: Upload RS log artifact uses: actions/upload-artifact@v3 - with: - name: Log file - U20_SH_RSUSB_LiveTest + with: + name: Log file - U22_SH_RSUSB_LiveTest path: build/*.log - name: Provide correct exit status for job @@ -451,8 +505,8 @@ jobs: # We use "greadlink -f" which is mac-os parallel command to "readlink -f" from Linux (-f to convert relative link to absolute link) export OPENSSL_ROOT_DIR=`greadlink -f /usr/local/opt/openssl@1.1` echo "OPENSSL_ROOT_DIR = ${OPENSSL_ROOT_DIR}" - cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DCHECK_FOR_UPDATES=true - cmake --build . --config ${{env.LRS_BUILD_CONFIG}} -- -j4 + cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_BUILD_CONFIG}} -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DCHECK_FOR_UPDATES=true + cmake --build . -- -j4 ls @@ -475,7 +529,6 @@ jobs: mkdir build wget https://dl.google.com/android/repository/android-ndk-r20b-linux-x86_64.zip; unzip -q android-ndk-r20b-linux-x86_64.zip -d ./; - sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test; sudo apt-get update; sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev; sudo apt-get install -qq libusb-1.0-0-dev; @@ -489,7 +542,7 @@ jobs: - name: Build run: | cd build - cmake .. -DCMAKE_TOOLCHAIN_FILE=../android-ndk-r20b/build/cmake/android.toolchain.cmake -DFORCE_RSUSB_BACKEND=true - cmake --build . --config ${{env.LRS_BUILD_CONFIG}} -- -j4 + cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_BUILD_CONFIG}} -DCMAKE_TOOLCHAIN_FILE=../android-ndk-r20b/build/cmake/android.toolchain.cmake -DFORCE_RSUSB_BACKEND=true + cmake --build . -- -j4 ls diff --git a/.github/workflows/cppcheck-parse.py b/.github/workflows/cppcheck-parse.py index d4d0e82d..2af40629 100644 --- a/.github/workflows/cppcheck-parse.py +++ b/.github/workflows/cppcheck-parse.py @@ -28,7 +28,7 @@ def __init__( self, message, line=None ): global line_number, logfile if line is None: line = line_number - super().__init__( f'{logile}+{line}: {message}' ) + super().__init__( f'{logfile}+{line}: {message}' ) handle = open( logfile, "r" ) @@ -54,32 +54,34 @@ def nextline(): if not line.startswith( ' + + + + @@ -59,10 +63,6 @@ - - - - @@ -97,18 +97,18 @@ - - - - - - + + + + + + @@ -227,6 +227,24 @@ + + + + + + + + + + + + + + + + + + @@ -245,12 +263,6 @@ - - - - - - @@ -271,18 +283,6 @@ - - - - - - - - - - - - @@ -290,9 +290,6 @@ - - - @@ -305,6 +302,9 @@ + + + @@ -430,9 +430,6 @@ - - - @@ -477,25 +474,25 @@ - + - + - + - + - + - + - + - + - + - + @@ -520,12 +517,12 @@ - + - - + + diff --git a/.github/workflows/rs-all-client/CMakeLists.txt b/.github/workflows/rs-all-client/CMakeLists.txt new file mode 100644 index 00000000..d874a41a --- /dev/null +++ b/.github/workflows/rs-all-client/CMakeLists.txt @@ -0,0 +1,53 @@ +# License: Apache 2.0. See LICENSE file in root directory. +# Copyright(c) 2023 Intel Corporation. All Rights Reserved. +cmake_minimum_required( VERSION 3.15 ) + +# +# This tests whether we can link with realsense2-all and not have any missing external symbols. +# Without realsense2-all, we'd need to link with: +# realsense2 realsense-file rsutils +# Or, if DDS was enabled: +# realsense2 realsense-file rsutils fastcdr fastrtps foonathan_memory realdds +# And the list gets longer if we add libraries. +# +# On Windows, no additional special libraries are needed. +# On Linux, we have other dependencies: +# libusb udev +# These are not part of realsense2-all, even though we depend on them! +# + +project( rs-all-client ) + +option( BUILD_SHARED_LIBS "Build using shared libraries" OFF ) + +if( WIN32 ) + # Take away the other configurations because they'd require we picked another link + # directory and target... keep it simple... + set( CMAKE_CONFIGURATION_TYPES "Release" ) +endif() + +add_executable( ${PROJECT_NAME} main.cpp ) +set_target_properties( ${PROJECT_NAME} PROPERTIES + CXX_STANDARD 14 + MSVC_RUNTIME_LIBRARY MultiThreaded$<$:Debug> # New in version 3.15; ignored in Linux + ) + +target_include_directories( ${PROJECT_NAME} PRIVATE + ../../../include + ../../../third-party/rsutils/include + ) +target_link_directories( ${PROJECT_NAME} PRIVATE ${CMAKE_BINARY_DIR}/../Release ) + +target_link_libraries( ${PROJECT_NAME} PRIVATE realsense2-all ) + +if( NOT WIN32 ) + find_library( LIBUSB NAMES usb-1.0 ) + target_link_libraries( ${PROJECT_NAME} PRIVATE pthread ${LIBUSB} ) + if( NOT FORCE_RSUSB_BACKEND ) + target_link_libraries( ${PROJECT_NAME} PRIVATE udev ) + endif() + if( BUILD_WITH_DDS ) + target_link_libraries( ${PROJECT_NAME} PRIVATE ssl crypto rt ) + endif() +endif() + diff --git a/.github/workflows/rs-all-client/main.cpp b/.github/workflows/rs-all-client/main.cpp new file mode 100644 index 00000000..6f0be73d --- /dev/null +++ b/.github/workflows/rs-all-client/main.cpp @@ -0,0 +1,56 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include // Include RealSense Cross Platform API + +#include +#include // for cout +#include +#include + +int main(int argc, char * argv[]) try +{ + rs2::log_to_console( RS2_LOG_SEVERITY_DEBUG ); + + rs2::context context; + auto devices = context.query_devices(); + if( devices.size() ) + { + // This can run under GHA, too -- so we don't always have devices + // Run for just a little bit, count the frames + size_t n_frames = 0; + { + rs2::pipeline p( context ); + auto profile = p.start(); + auto device = profile.get_device(); + std::cout << "Streaming on " << device.get_info( RS2_CAMERA_INFO_NAME ) << std::endl; + + rsutils::time::timer timer( std::chrono::seconds( 3 ) ); + while( ! timer.has_expired() ) + { + // Block program until frames arrive + rs2::frameset frames = p.wait_for_frames(); + ++n_frames; + } + } + + std::cout << "Got " << n_frames << " frames" << std::endl; + } + else + { + // Allow enough time for DDS enumeration + std::this_thread::sleep_for( std::chrono::seconds( 3 ) ); + } + + return EXIT_SUCCESS; +} +catch (const rs2::error & e) +{ + std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl; + return EXIT_FAILURE; +} +catch (const std::exception& e) +{ + std::cerr << e.what() << std::endl; + return EXIT_FAILURE; +} diff --git a/.github/workflows/static_analysis.yaml b/.github/workflows/static_analysis.yaml index 62df9ea6..fb299cd3 100644 --- a/.github/workflows/static_analysis.yaml +++ b/.github/workflows/static_analysis.yaml @@ -5,10 +5,13 @@ on: branches: ['**'] pull_request: branches: ['**'] + +permissions: read-all jobs: - cppcheck: - name: cppcheck + CppCheck: + name: CppCheck + timeout-minutes: 30 runs-on: ubuntu-22.04 steps: - uses: actions/checkout@v3 @@ -94,3 +97,100 @@ jobs: echo "see the diff step above, or the 'cppcheck_log' artifact (under Summary) for details" echo "commit all files in the artifact to .github/workflows/ if these are valid results" exit 1 +#---------------------------------------------------------------------------------------------------# + # We verify the minimal CMake version we support is preserved when building with default CMake flags + minimal_cmake_version: + name: "Minimal CMake version" + timeout-minutes: 30 + runs-on: ubuntu-22.04 + steps: + - name: Checkout + uses: actions/checkout@v3 + + - name: "Install Dependencies" + run: | + work_dir=$(pwd) + # Go back from RealSense directory to parent directory + cd .. + + git clone https://github.com/nlohmann/cmake_min_version.git + cd cmake_min_version + # We clone a specific commit which we tested the process as working + git checkout 687dc56e1cf52c865cebf6ac94ad67906d6e1369 + + echo "Install LibRealSense pre-installed packages requirements" + sudo apt-get update + sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at + + python3 -mvenv venv + venv/bin/pip3 install -r requirements.txt + + - name: "Get Current CMake version" + id: cmake_version + run: | + work_dir=$(pwd) + cd .. + + cd cmake_min_version + venv/bin/python3 cmake_downloader.py --first_minor + output=$(venv/bin/python3 cmake_min_version.py $work_dir) + + # Sample of Expected Output of cmake_min_version.py *** + # [ 0%] CMake 3.9.2 ✔ works + # [ 12%] CMake 3.2.2 ✘ error + # CMakeLists.txt:7 (cmake_minimum_required) + # [ 33%] CMake 3.8.0 ✔ works + # [ 50%] CMake 3.7.1 ✘ error + # CMakeLists.txt:16 (target_compile_features) + # [ 80%] CMake 3.7.2 ✘ error + # CMakeLists.txt:16 (target_compile_features) + # [100%] Minimal working version: CMake 3.8.0 + + # cmake_minimum_required(VERSION 3.8.0) + + echo "$output" + + # Retrieve CMake minimal version from the last line of the tool output. + current_cmake_version=$(echo ${output} | grep -oP "VERSION \d+\.\d+" || echo "VERSION NOT FOUND") + + if [ "$current_cmake_version" == "VERSION NOT FOUND" ] + then + echo "Error - CMake version not found." + exit 1 + fi + + current_cmake_major_ver=$(echo $current_cmake_version | grep -oP "\d+\.\d+" | cut -d'.' -f 1) + current_cmake_minor_ver=$(echo $current_cmake_version | grep -oP "\d+\.\d+" | cut -d'.' -f 2) + + # Saving cmake output in GitHub output + echo "current_cmake_major_ver=$current_cmake_major_ver" >> $GITHUB_OUTPUT + echo "current_cmake_minor_ver=$current_cmake_minor_ver" >> $GITHUB_OUTPUT + + - name: "Check minimal CMake version" + env: + EXPECTED_CMAKE_MAJOR_VER: 3 + EXPECTED_CMAKE_MINOR_VER: 8 + CURRENT_CMAKE_MAJOR_VER: ${{ steps.cmake_version.outputs.current_cmake_major_ver }} + CURRENT_CMAKE_MINOR_VER: ${{ steps.cmake_version.outputs.current_cmake_minor_ver }} + + run: | + if [ $CURRENT_CMAKE_MAJOR_VER -lt ${EXPECTED_CMAKE_MAJOR_VER} ] + then + STATUS="PASSED" + elif [ $CURRENT_CMAKE_MAJOR_VER -eq ${EXPECTED_CMAKE_MAJOR_VER} ] && [ $CURRENT_CMAKE_MINOR_VER -eq ${EXPECTED_CMAKE_MINOR_VER} ] + then + STATUS="PASSED" + elif [ $CURRENT_CMAKE_MAJOR_VER -eq ${EXPECTED_CMAKE_MAJOR_VER} ] && [ $CURRENT_CMAKE_MINOR_VER -lt ${EXPECTED_CMAKE_MINOR_VER} ] + then + STATUS="PASSED" + else + STATUS="FAILED" + fi + + if [ $STATUS == "PASSED" ] + then + echo "The test PASSED, current CMake version is $CURRENT_CMAKE_MAJOR_VER.$CURRENT_CMAKE_MINOR_VER and it is not higher than VERSION ${EXPECTED_CMAKE_MAJOR_VER}.${EXPECTED_CMAKE_MINOR_VER}" + else + 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 diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 3e450aff..00000000 --- a/.travis.yml +++ /dev/null @@ -1,172 +0,0 @@ -env: - global: - - LRS_BUILD_CONFIG=Debug - - LRS_RUN_CONFIG=Release -matrix: - include: - - name: "Windows Testing - cpp, Win USB (Win7)" - os: windows - language: cpp - env: VS15=false RS_CPP_TEST=true - script: - # map librealsense folder to overcome windows path too long issue - - pwd - - | - subst d: ../. - - cd d:/build - - cmake .. -G "Visual Studio 15 2017 Win64" -DPYTHON_EXECUTABLE="C:/Python38/python.exe" -DBUILD_PYTHON_BINDINGS=true -DPYBIND11_PYTHON_VERSION=3.8 -DBUILD_UNIT_TESTS=false -DBUILD_LEGACY_LIVE_TEST=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DBUILD_WITH_TM2=false -DFORCE_RSUSB_BACKEND=true - - cmake --build . --config $LRS_RUN_CONFIG -- -m - - cd $LRS_RUN_CONFIG - - ls - - ./live-test.exe -d yes -i [software-device] - - - name: "Windows - cpp" - os: windows - language: cpp - env: VS15=true - script: - # map librealsense folder to overcome windows path too long issue - - pwd - - | - subst d: ../. - - cd d:/build - # Currently build on VS2017, VS2015 is temporary unavailable (Microsoft issue) - #- cmake .. -G "Visual Studio 14 2015 Win64" -DBUILD_EXAMPLES=true -DBUILD_WITH_TM2=true -DCHECK_FOR_UPDATES=true - - cmake .. -G "Visual Studio 15 2017 Win64" -DBUILD_EXAMPLES=true -DBUILD_WITH_TM2=true -DCHECK_FOR_UPDATES=true - - cmake --build . --config $LRS_BUILD_CONFIG -- -m - - ls $LRS_BUILD_CONFIG - - - name: "Windows - C#" - os: windows - language: cpp - env: VS15=true - script: - # map librealsense folder to overcome windows path too long issue - - pwd - - | - subst d: ../. - - cd d:/build - # Currently build on VS2017, VS2015 is temporary unavailable (Microsoft issue) - #- cmake .. -G "Visual Studio 14 2015 Win64" -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DBUILD_CSHARP_BINDINGS=true -DDOTNET_VERSION_LIBRARY="4.5" -DDOTNET_VERSION_EXAMPLES="4.5" -DCHECK_FOR_UPDATES=true - - cmake .. -G "Visual Studio 15 2017 Win64" -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DBUILD_CSHARP_BINDINGS=true -DDOTNET_VERSION_LIBRARY="4.5" -DDOTNET_VERSION_EXAMPLES="4.5" -DCHECK_FOR_UPDATES=true - - cmake --build . --config $LRS_BUILD_CONFIG -- -m - - ls $LRS_BUILD_CONFIG - - - name: "Linux Testing - cpp" - os: linux - language: cpp - sudo: required - dist: xenial - env: RS_CPP_TEST=true - script: - - cmake .. -DBUILD_UNIT_TESTS=false -DBUILD_LEGACY_LIVE_TEST=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DBUILD_WITH_TM2=false -DCHECK_FOR_UPDATES=true - - cmake --build . --config $LRS_RUN_CONFIG -- -j4 - - ./unit-tests/live-test -d yes -i [software-device] - - for i in ./records/single_cam/*; do ./unit-tests/live-test -d yes -i ~[multicam] from "$i"; done - - for i in ./records/multi_cam/*; do ./unit-tests/live-test -d yes -i [multicam] from "$i"; done - - - name: "Linux - cpp - static" - os: linux - language: cpp - sudo: required - dist: xenial - script: - - cd ../scripts && ./pr_check.sh && cd ../build - - cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_TM2=true -DBUILD_SHARED_LIBS=false -DCHECK_FOR_UPDATES=true -DBUILD_PYTHON_BINDINGS=true -DPYBIND11_PYTHON_VERSION=3.5 - - cmake --build . --config $LRS_BUILD_CONFIG -- -j4 - # python3 ../unit-tests/run-unit-tests.py --verbose . - - - name: "Linux - python & nodejs" - os: linux - language: cpp - sudo: required - dist: xenial - python: "2.7" - node_js: "10" - env: LRS_BUILD_NODEJS=true - script: - - python ../wrappers/nodejs/tools/enums.py -i ../include/librealsense2 -a ../wrappers/nodejs/src -v - - cmake .. -DBUILD_PYTHON_BINDINGS=true -DBUILD_NODEJS_BINDINGS=true -DPYBIND11_PYTHON_VERSION=2.7 -DCHECK_FOR_UPDATES=true - - cmake --build . --config $LRS_BUILD_CONFIG -- -j4 - - cd ../wrappers/nodejs/ - - npm install - - cd test - - wget https://librealsense.intel.com/rs-tests/nodejs_records.rec - - - name: "Mac - cpp" - os: osx - language: cpp - sudo: required - osx_image: xcode12.2 - script: - - export OPENSSL_ROOT_DIR=`brew --prefix openssl` # Used by libcurl for 'CHECK_FOR_UPDATES' capability - - cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DCHECK_FOR_UPDATES=true - - cmake --build . --config $LRS_BUILD_CONFIG -- -j4 - - ls - - - name: "Android - cpp" - os: linux - language: cpp - sudo: required - dist: xenial - env: LRS_BUILD_ANDROID=true - script: - - cmake .. -DCMAKE_TOOLCHAIN_FILE=../android-ndk-r20b/build/cmake/android.toolchain.cmake - - cmake --build . --config $LRS_BUILD_CONFIG -- -j4 - - ls - -before_install: - - cd scripts && ./api_check.sh && cd .. - - if [[ "$LRS_BUILD_NODEJS" == "true" ]]; then - nvm install 10.15.3; - nvm use 10.15.3; - npm install -g node-gyp; - npm install -g mocha; - git clone https://chromium.googlesource.com/chromium/tools/depot_tools.git; - export OLDPATH=$PATH && export PATH=$PATH:$(pwd)/depot_tools; - cd wrappers/nodejs/tools && npm install && cd ..; - node ./tools/linter.js; - export PATH=$OLDPATH && unset OLDPATH && cd ../../; - fi - - if [[ "$LRS_BUILD_ANDROID" == "true" ]]; then - wget https://dl.google.com/android/repository/android-ndk-r20b-linux-x86_64.zip; - unzip -q android-ndk-r20b-linux-x86_64.zip -d ./; - fi - - mkdir build && cd build - - if [[ "$RS_CPP_TEST" == "true" ]]; then - export LRS_LOG_LEVEL="DEBUG"; - url_records_path="https://librealsense.intel.com/rs-tests/lrs_2.8.3/"; - records_name="records_test.txt"; - url_records_list=$url_records_path$records_name; - wget $url_records_path$records_name; - tests_list=`cat $records_name`; - for record in $tests_list; do echo $url_records_path$record; wget $url_records_path$record -P "records/"$(echo $record | cut -d '/' -f 1); done; - fi - -install: - - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then - sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test; - sudo apt-get update; - sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev; - sudo apt-get install -qq libusb-1.0-0-dev; - sudo apt-get install -qq libgtk-3-dev; - sudo apt-get install gcc-5 g++-5; - sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5; - sudo apt-get install libglfw3-dev libglfw3; - fi - -# Currently build on VS2017, VS2015 is temporary unavailable (Microsoft issue) -# This would go inside the following if: -# if [[ "$VS15" == "true" ]]; then -# choco install -y vcbuildtools --version 2015.4 --force; -# fi; - - if [[ "$TRAVIS_OS_NAME" == "windows" ]]; then - choco install -y python3 --version 3.8.1; - fi - - - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then - brew uninstall xctool; - brew install xctool --HEAD; - brew install homebrew/core/glfw3; - brew list libusb || brew install libusb; - fi diff --git a/CMake/Findfoonathan_memory.cmake b/CMake/Findfoonathan_memory.cmake new file mode 100644 index 00000000..0f1f49a8 --- /dev/null +++ b/CMake/Findfoonathan_memory.cmake @@ -0,0 +1,35 @@ + +# This is a dummy file, just so CMake does not complain: + +# CMake Error at build/third-party/fastdds/CMakeLists.txt:239 (find_package): +# By not providing "Findfoonathan_memory.cmake" in CMAKE_MODULE_PATH this +# project has asked CMake to find a package configuration file provided by +# "foonathan_memory", but CMake did not find one. +# +# Could not find a package configuration file provided by "foonathan_memory" +# with any of the following names: +# +# foonathan_memoryConfig.cmake +# foonathan_memory-config.cmake +# +# Add the installation prefix of "foonathan_memory" to CMAKE_PREFIX_PATH or +# set "foonathan_memory_DIR" to a directory containing one of the above +# files. If "foonathan_memory" provides a separate development package or +# SDK, be sure it has been installed. + +# FastDDS requires foonathan_memory and will not find it if we do not provide this +# file. +# +# Since all the variables should already be set by external_foonathan_memory.cmake, +# we don't really do anything. + +# This may not be the proper way to do this. But it works... + + +#message( "In Findfoonathan_memory.cmake" ) + + +#find_package( PkgConfig ) +#pkg_check_modules( foonathan_memory QUIET foonathan_memory ) + + diff --git a/CMake/catch2-download.cmake.in b/CMake/catch2-download.cmake.in new file mode 100644 index 00000000..b9dcc333 --- /dev/null +++ b/CMake/catch2-download.cmake.in @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.6) +project(catch2-download NONE) + +include(ExternalProject) +ExternalProject_Add( + catch2 + PREFIX . + GIT_REPOSITORY https://github.com/catchorg/Catch2.git + GIT_TAG v3.4.0 + GIT_CONFIG advice.detachedHead=false # otherwise we'll get "You are in 'detached HEAD' state..." + SOURCE_DIR "${CMAKE_BINARY_DIR}/third-party/catch2" + GIT_SHALLOW 1 # No history needed (requires cmake 3.6) + # Override default steps with no action, we just want the clone step. + CONFIGURE_COMMAND "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + ) + + diff --git a/CMake/connectivity_check.cmake b/CMake/connectivity_check.cmake index 98214bff..ed6ee177 100644 --- a/CMake/connectivity_check.cmake +++ b/CMake/connectivity_check.cmake @@ -1,7 +1,7 @@ # License: Apache 2.0. See LICENSE file in root directory. # Copyright(c) 2019 Intel Corporation. All Rights Reserved. message(STATUS "Checking internet connection...") -file(DOWNLOAD "https://librealsense.intel.com/Releases/connectivity_check" "${CMAKE_CURRENT_SOURCE_DIR}/connectivity_check" SHOW_PROGRESS TIMEOUT 5 STATUS status) +file(DOWNLOAD "https://librealsense.intel.com/Releases/connectivity_check" "${CMAKE_CURRENT_BINARY_DIR}/connectivity_check" SHOW_PROGRESS TIMEOUT 5 STATUS status) list (FIND status "\"No error\"" _index) if (${_index} EQUAL -1) message(STATUS "Failed to identify Internet connection") diff --git a/CMake/external_catch2.cmake b/CMake/external_catch2.cmake new file mode 100644 index 00000000..73e46ff9 --- /dev/null +++ b/CMake/external_catch2.cmake @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 3.10) +include(ExternalProject) + + +# We use a function to enforce a scoped variables creation only for the build +# (i.e turn off BUILD_SHARED_LIBS which is used on LRS build as well) +function(get_catch2) + + message( STATUS "Fetching Catch2..." ) + + # We want to clone the repo and build it here, during configuration, so we can use it. + # But ExternalProject_add is limited in that it only does its magic during build. + # This is possible in CMake 3.12+ with FetchContent and FetchContent_MakeAvailable in 3.14+ (meaning Ubuntu 20) + # but we need to adhere to CMake 3.10 (Ubuntu 18). + # So instead, we invoke a new CMake project just to download it: + configure_file( CMake/catch2-download.cmake.in + ${CMAKE_BINARY_DIR}/external-projects/catch2-download/CMakeLists.txt ) + execute_process( COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" . + -DCMAKE_MAKE_PROGRAM=${CMAKE_MAKE_PROGRAM} + -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE} + -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} + WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/catch2-download" + OUTPUT_QUIET + RESULT_VARIABLE configure_ret ) + execute_process( COMMAND "${CMAKE_COMMAND}" --build . + WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/catch2-download" + OUTPUT_QUIET + RESULT_VARIABLE build_ret ) + + if( configure_ret OR build_ret ) + message( FATAL_ERROR "Failed to download catchorg/catch2" ) + endif() + + # We use cached variables so the default parameter inside the sub directory will not override the required values + # We add "FORCE" so that is a previous cached value is set our assignment will override it. + set( CATCH_INSTALL_DOCS OFF CACHE INTERNAL "" FORCE ) + set( CATCH_INSTALL_EXTRAS OFF CACHE INTERNAL "" FORCE ) + + add_subdirectory( "${CMAKE_BINARY_DIR}/third-party/catch2" + "${CMAKE_BINARY_DIR}/third-party/catch2/build" ) + + # place libraries with other 3rd-party projects + set_target_properties( Catch2 Catch2WithMain PROPERTIES + FOLDER "3rd Party/catch2" ) + + message( STATUS "Fetching Catch2 - Done" ) + +endfunction() + + +get_catch2() diff --git a/CMake/external_fastdds.cmake b/CMake/external_fastdds.cmake new file mode 100644 index 00000000..49acaa2a --- /dev/null +++ b/CMake/external_fastdds.cmake @@ -0,0 +1,67 @@ +cmake_minimum_required(VERSION 3.16.3) # same as in FastDDS (U20) +include(FetchContent) + +# We use a function to enforce a scoped variables creation only for FastDDS build (i.e turn off BUILD_SHARED_LIBS which is used on LRS build as well) +function(get_fastdds) + + # Mark new options from FetchContent as advanced options + mark_as_advanced(FETCHCONTENT_QUIET) + mark_as_advanced(FETCHCONTENT_BASE_DIR) + mark_as_advanced(FETCHCONTENT_FULLY_DISCONNECTED) + mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED) + + message(CHECK_START "Fetching fastdds...") + list(APPEND CMAKE_MESSAGE_INDENT " ") # Indent outputs + + FetchContent_Declare( + fastdds + GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git + GIT_TAG v2.11.2 + GIT_SUBMODULES "" # Submodules will be cloned as part of the FastDDS cmake configure stage + GIT_SHALLOW ON # No history needed + SOURCE_DIR ${CMAKE_BINARY_DIR}/third-party/fastdds + ) + + # Set FastDDS internal variables + # We use cached variables so the default parameter inside the sub directory will not override the required values + # We add "FORCE" so that is a previous cached value is set our assignment will override it. + set(THIRDPARTY_Asio FORCE CACHE INTERNAL "" FORCE) + set(THIRDPARTY_fastcdr FORCE CACHE INTERNAL "" FORCE) + set(THIRDPARTY_TinyXML2 FORCE CACHE INTERNAL "" FORCE) + set(COMPILE_TOOLS OFF CACHE INTERNAL "" FORCE) + set(BUILD_TESTING OFF CACHE INTERNAL "" FORCE) + set(SQLITE3_SUPPORT OFF CACHE INTERNAL "" FORCE) + #set(ENABLE_OLD_LOG_MACROS OFF CACHE INTERNAL "" FORCE) doesn't work + set(FASTDDS_STATISTICS OFF CACHE INTERNAL "" FORCE) + + # Set special values for FastDDS sub directory + set(BUILD_SHARED_LIBS OFF) + set(CMAKE_INSTALL_PREFIX ${CMAKE_BINARY_DIR}/fastdds/fastdds_install) + set(CMAKE_PREFIX_PATH ${CMAKE_BINARY_DIR}/fastdds/fastdds_install) + + # Get fastdds + FetchContent_MakeAvailable(fastdds) + + # Mark new options from FetchContent as advanced options + mark_as_advanced(FETCHCONTENT_SOURCE_DIR_FASTDDS) + mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED_FASTDDS) + + # place FastDDS project with other 3rd-party projects + set_target_properties(fastcdr fastrtps foonathan_memory PROPERTIES + FOLDER "3rd Party/fastdds") + + list(POP_BACK CMAKE_MESSAGE_INDENT) # Unindent outputs + + add_library(dds INTERFACE) + target_link_libraries( dds INTERFACE fastcdr fastrtps ) + + add_definitions(-DBUILD_WITH_DDS) + + install(TARGETS dds EXPORT realsense2Targets) + message(CHECK_PASS "Done") +endfunction() + +# Trigger the FastDDS build +get_fastdds() + + diff --git a/CMake/external_foonathan_memory.cmake b/CMake/external_foonathan_memory.cmake new file mode 100644 index 00000000..f6c49382 --- /dev/null +++ b/CMake/external_foonathan_memory.cmake @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 3.11) +include(FetchContent) + +# We use a function to enforce a scoped variables creation only for FastDDS build (i.e turn off BUILD_SHARED_LIBS which is used on LRS build as well) +function(get_foonathan_memory) + + # Mark new options from FetchContent as advanced options + mark_as_advanced(FETCHCONTENT_QUIET) + mark_as_advanced(FETCHCONTENT_BASE_DIR) + mark_as_advanced(FETCHCONTENT_FULLY_DISCONNECTED) + mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED) + + message(CHECK_START "Fetching foonathan_memory...") + list(APPEND CMAKE_MESSAGE_INDENT " ") + + FetchContent_Declare( + foonathan_memory + GIT_REPOSITORY https://github.com/foonathan/memory.git + GIT_TAG "v0.7-3" + GIT_SHALLOW ON # No history needed + SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/third-party/foonathan_memory + ) + + # Always a static library + set( BUILD_SHARED_LIBS OFF ) + + # Set foonathan_memory variables + # These are exposed options; not internal + set( FOONATHAN_MEMORY_BUILD_EXAMPLES OFF ) + set( FOONATHAN_MEMORY_BUILD_TESTS OFF ) + set( FOONATHAN_MEMORY_BUILD_TOOLS OFF ) + + FetchContent_MakeAvailable( foonathan_memory ) + + # Mark new options from FetchContent as advanced options + mark_as_advanced(FETCHCONTENT_SOURCE_DIR_FOONATHAN_MEMORY) + mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED_FOONATHAN_MEMORY) + + list(POP_BACK CMAKE_MESSAGE_INDENT) + message(CHECK_PASS "Done") + +endfunction() + +get_foonathan_memory() diff --git a/CMake/external_json.cmake b/CMake/external_json.cmake new file mode 100644 index 00000000..6efbf39b --- /dev/null +++ b/CMake/external_json.cmake @@ -0,0 +1,50 @@ +cmake_minimum_required(VERSION 3.6) +include(ExternalProject) + + + +# We use a function to enforce a scoped variables creation only for the build +# (i.e turn off BUILD_SHARED_LIBS which is used on LRS build as well) +function(get_nlohmann_json) + + message( STATUS #CHECK_START + "Fetching nlohmann/json..." ) + #list( APPEND CMAKE_MESSAGE_INDENT " " ) # Indent outputs + + # We want to clone the json repo and build it here, during configuration, so we can use it. + # But ExternalProject_add is limited in that it only does its magic during build. + # This is possible in CMake 3.12+ with FetchContent and FetchContent_MakeAvailable in 3.14+ (meaning Ubuntu 20) + # but we need to adhere to CMake 3.10 (Ubuntu 18). + # So instead, we invoke a new CMake project just to download pybind: + configure_file( CMake/json-download.cmake.in + ${CMAKE_BINARY_DIR}/external-projects/json-download/CMakeLists.txt ) + execute_process( COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" . + -DCMAKE_MAKE_PROGRAM=${CMAKE_MAKE_PROGRAM} + -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE} + -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} + WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/json-download" + OUTPUT_QUIET + RESULT_VARIABLE configure_ret ) + execute_process( COMMAND "${CMAKE_COMMAND}" --build . + WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/json-download" + OUTPUT_QUIET + RESULT_VARIABLE build_ret ) + + if( configure_ret OR build_ret ) + message( FATAL_ERROR "Failed to download nlohmann/json" ) + endif() + + add_subdirectory( "${CMAKE_BINARY_DIR}/third-party/json" + "${CMAKE_BINARY_DIR}/third-party/json/build" ) + + # We cannot directly interface with nlohmann_json (doesn't work on bionic) + #install( TARGETS nlohmann_json EXPORT realsense2Targets ) + + message( STATUS #CHECK_PASS + "Fetching nlohmann/json - Done" ) + #list( POP_BACK CMAKE_MESSAGE_INDENT ) # Unindent outputs (requires cmake 3.15) + +endfunction() + +# Trigger the build +get_nlohmann_json() diff --git a/CMake/external_libusb.cmake b/CMake/external_libusb.cmake index 412ccc99..22acb98f 100644 --- a/CMake/external_libusb.cmake +++ b/CMake/external_libusb.cmake @@ -29,6 +29,8 @@ target_include_directories(usb INTERFACE $ SHARED [file, file2, ...] ) @@ -97,5 +136,7 @@ function( pybind11_add_module project_name library_type ...) # (workaround for RS5-10582; see also https://github.com/pybind/pybind11/issues/2898) # NOTE: this workaround seems to be needed for debug compilations only target_compile_definitions( ${project_name} PRIVATE -DPYBIND11_COMPILER_TYPE=\"_${project_name}_abi\" ) - + + target_include_directories( ${project_name} PRIVATE "${CMAKE_BINARY_DIR}/third-party/pybind11-json/include" ) + endfunction() diff --git a/CMake/global_config.cmake b/CMake/global_config.cmake index 350f7a26..6fea0025 100644 --- a/CMake/global_config.cmake +++ b/CMake/global_config.cmake @@ -59,10 +59,6 @@ macro(global_set_flags) add_definitions(-DBUILD_SHARED_LIBS) endif() - if (BUILD_INTERNAL_UNIT_TESTS) - add_definitions(-DBUILD_INTERNAL_UNIT_TESTS) - endif() - if (BUILD_WITH_CUDA) include(CMake/cuda_config.cmake) endif() @@ -84,7 +80,7 @@ macro(global_set_flags) add_definitions(-DCHECK_FOR_UPDATES) endif() endif() - + add_definitions(-D${BACKEND} -DUNICODE) endmacro() @@ -107,6 +103,5 @@ macro(global_target_config) ) - endmacro() diff --git a/CMake/json-download.cmake.in b/CMake/json-download.cmake.in new file mode 100644 index 00000000..2b719edd --- /dev/null +++ b/CMake/json-download.cmake.in @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.6) +project(nlohmann-json-download NONE) + +include(ExternalProject) +ExternalProject_Add( + nlohmann_json + PREFIX . + GIT_REPOSITORY "https://github.com/nlohmann/json.git" + GIT_TAG v3.11.3 + GIT_CONFIG advice.detachedHead=false # otherwise we'll get "You are in 'detached HEAD' state..." + SOURCE_DIR "${CMAKE_BINARY_DIR}/third-party/json" + GIT_SHALLOW 1 # No history needed (requires cmake 3.6) + # Override default steps with no action, we just want the clone step. + CONFIGURE_COMMAND "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + ) + + diff --git a/CMake/lrs_options.cmake b/CMake/lrs_options.cmake index e61f5a20..be2e2feb 100644 --- a/CMake/lrs_options.cmake +++ b/CMake/lrs_options.cmake @@ -9,7 +9,6 @@ option(COM_MULTITHREADED "Set OFF to initialize COM library with COINIT_APARTMEN option(BUILD_SHARED_LIBS "Build shared library" ON) option(BUILD_UNIT_TESTS "Build LibCI unit tests. If enabled, additional test data may be downloaded" OFF) option(BUILD_LEGACY_LIVE_TEST "Build the live-test.exe test used in Travis. If enabled, additional test data may be downloaded" OFF) -option(BUILD_INTERNAL_UNIT_TESTS "Test package for components under librealsense namespace, requires BUILD_SHARED_LIBS=OFF and BUILD_UNIT_TESTS=ON" OFF) option(BUILD_EXAMPLES "Build examples (not including graphical examples -- see BUILD_GRAPHICAL_EXAMPLES)" ON) option(BUILD_GRAPHICAL_EXAMPLES "Build graphical examples (Viewer & DQT) -- Implies BUILD_GLSL_EXTENSIONS" ON) option(BUILD_CV_EXAMPLES "Build OpenCV examples" OFF) @@ -18,6 +17,7 @@ option(BUILD_PCL_EXAMPLES "Build PCL examples" OFF) option(BUILD_TOOLS "Build tools (fw-updater, etc.) that are not examples" ON) option(ENFORCE_METADATA "Require WinSDK with Metadata support during compilation. Windows OS Only" OFF) option(BUILD_PYTHON_BINDINGS "Build Python bindings" OFF) +option(BUILD_LEGACY_PYBACKEND "Build deprecated Python backend bindings" OFF) option(BUILD_PYTHON_DOCS "Build Documentation for Python bindings" OFF) option(BUILD_CSHARP_BINDINGS "Build C# bindings" OFF) option(BUILD_MATLAB_BINDINGS "Build Matlab bindings" OFF) @@ -46,4 +46,6 @@ else() option(ENABLE_EASYLOGGINGPP_ASYNC "Switch Logger to Asynchronous Mode (set OFF for Synchronous Mode)" OFF) endif() 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) diff --git a/CMake/pybind11-json-download.cmake.in b/CMake/pybind11-json-download.cmake.in new file mode 100644 index 00000000..0710d227 --- /dev/null +++ b/CMake/pybind11-json-download.cmake.in @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.6) +project(pybind11-json-download NONE) + +include(ExternalProject) +ExternalProject_Add( + pybind11_json + PREFIX . + GIT_REPOSITORY "https://github.com/pybind/pybind11_json.git" + GIT_TAG 0.2.13 + GIT_CONFIG advice.detachedHead=false # otherwise we'll get "You are in 'detached HEAD' state..." + SOURCE_DIR "${CMAKE_BINARY_DIR}/third-party/pybind11-json" + GIT_SHALLOW ON # No history needed (requires cmake 3.6) + # Override default steps with no action, we just want the clone step. + CONFIGURE_COMMAND "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + ) + + diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake index e5a3f21a..5a187c7c 100644 --- a/CMake/unix_config.cmake +++ b/CMake/unix_config.cmake @@ -4,14 +4,18 @@ macro(os_set_flags) # Put all the collaterals together, so we can find when trying to run examples/tests # Note: this puts the outputs under / - # NOTE: do not uncomment -- this ruins our CI procedures -- otherwise it mirrors Windows, simplifies - # scripts, makes things easier to find... c'est la vie! - #set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE}) - #set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE}) + if( "${CMAKE_BUILD_TYPE}" STREQUAL "" ) + # This can happen according to the docs -- and in GHA... + message( STATUS "No output directory set; using ${CMAKE_BINARY_DIR}/Release/" ) + set( CMAKE_BUILD_TYPE "Release" ) + endif() + set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE}) + set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE}) + set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE}) set(CMAKE_POSITION_INDEPENDENT_CODE ON) - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -pedantic -g -D_DEFAULT_SOURCE") - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pedantic -g -Wno-missing-field-initializers") + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -pedantic -D_DEFAULT_SOURCE") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pedantic -Wno-missing-field-initializers") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar -Wsequence-point -Wformat -Wformat-security") execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpmachine OUTPUT_VARIABLE MACHINE) diff --git a/CMake/windows_config.cmake b/CMake/windows_config.cmake index 5cd4520b..3bd808b0 100644 --- a/CMake/windows_config.cmake +++ b/CMake/windows_config.cmake @@ -9,6 +9,7 @@ macro(os_set_flags) # Note: this puts the outputs under / set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}) set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}) + set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}) if(BUILD_WITH_OPENMP) find_package(OpenMP REQUIRED) diff --git a/CMakeLists.txt b/CMakeLists.txt index ce3b560e..c77973cd 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,4 +1,5 @@ -# minimum required cmake version: 3.1.0 + +# Xenial requires 3.5, Bionic 3.10... cmake_minimum_required(VERSION 3.1.0) set( LRS_TARGET realsense2 ) @@ -44,11 +45,8 @@ os_set_flags() # macro definition located at "CMake/global_config.cmake" global_set_flags() -if(BUILD_SHARED_LIBS) - add_library(${LRS_TARGET} SHARED "") -else() - add_library(${LRS_TARGET} STATIC "") -endif() +# If no type is given explicitly the type is STATIC or SHARED based on whether the current value of the variable [BUILD_SHARED_LIBS](https://cmake.org/cmake/help/v3.10/variable/BUILD_SHARED_LIBS.html#variable:BUILD_SHARED_LIBS) is ON +add_library(${LRS_TARGET}) config_cxx_flags() @@ -58,10 +56,24 @@ set_target_properties(${LRS_TARGET} PROPERTIES VERSION ${REALSENSE_VERSION_STRIN include(include/CMakeLists.txt) include(src/CMakeLists.txt) include(third-party/CMakeLists.txt) -include(common/utilities/CMakeLists.txt) target_link_libraries( ${LRS_TARGET} PUBLIC rsutils ) +if(BUILD_WITH_DDS) + if (CMAKE_SYSTEM MATCHES "Windows" OR CMAKE_SYSTEM MATCHES "Linux") + + message(STATUS "Building with FastDDS") + include(CMake/external_foonathan_memory.cmake) + include(CMake/external_fastdds.cmake) + + target_link_libraries( ${LRS_TARGET} PRIVATE realdds ) + + else() + MESSAGE(STATUS "Turning off `BUILD_WITH_DDS` as it's only supported on Windows & Linux and not on ${CMAKE_SYSTEM}") + set(BUILD_WITH_DDS OFF) + endif() +endif() + # configure the project according to OS specific requirments # macro definition located at "CMake/_config.cmake" os_target_config() @@ -91,6 +103,7 @@ elseif(BUILD_TOOLS) endif() if(BUILD_UNIT_TESTS OR BUILD_LEGACY_LIVE_TEST) + include( CMake/external_catch2.cmake ) add_subdirectory(unit-tests) endif() @@ -99,3 +112,7 @@ if(IMPORT_DEPTH_CAM_FW) endif() include(CMake/embedd_udev_rules.cmake) + +if( BUILD_RS2_ALL ) + include( src/realsense2-all.cmake ) +endif() diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 505972f1..8e684c2d 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -9,7 +9,7 @@ You are welcome to propose and discuss enhancements using project [issues](https > The `development` branch is the one where all contributions must be merged before being promoted to master. > If you plan to propose a patch, please commit into the `development` branch, or its own feature branch. -We recommend enabling [travis-ci](https://travis-ci.org/) on your fork of `librealsense` to make sure the changes compile on all platforms and pass unit-tests. +We recommend enabling [Github Actions](https://docs.github.com/en/actions) on your fork of `librealsense` to make sure the changes compile on all platforms and pass unit-tests. In addition, please run `pr_check.sh` and `api_check.sh` under `scripts` directory. These scripts verify compliance with project's standards: @@ -69,4 +69,4 @@ For example, when adding new value to [`rs2_option`](https://github.com/IntelRea 4. The list of Java options used for Android integration - [`wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java`](https://github.com/IntelRealSense/librealsense/blob/v2.32.1/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java#L4-L64) 5. The list of options in the [python](https://github.com/IntelRealSense/librealsense/blob/v2.32.1/wrappers/python/pybackend.cpp#L102-L165) wrapper -Once all are updated [travis-ci](https://travis-ci.org/IntelRealSense/librealsense) will give clear indication that each of the wrappers is still passing compilation. +Once all are updated [Github Actions](https://docs.github.com/en/actions) will give clear indication that each of the wrappers is still passing compilation. diff --git a/Intel Copyright b/Intel Copyright new file mode 100644 index 00000000..7cb7ff0c --- /dev/null +++ b/Intel Copyright @@ -0,0 +1,7 @@ +Copyright (2017-2024), Intel Corporation. +This "Software" is furnished under license and may only be used or copied in accordance with the terms of that license. +No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted by this document. +The Software is subject to change without notice, and should not be construed as a commitment by Intel Corporation to market, license, sell or support any product or technology. +Unless otherwise provided for in the license under which this Software is provided, the Software is provided AS IS, with no warranties of any kind, express or implied. +Except as expressly permitted by the Software license, neither Intel Corporation nor its suppliers assumes any responsibility or liability for any errors or inaccuracies that may appear herein. +Except as expressly permitted by the Software license, no part of the Software may be reproduced, stored in a retrieval system, transmitted in any form, or distributed by any means without the express written consent of Intel Corporation. diff --git a/NOTICE b/NOTICE.md similarity index 61% rename from NOTICE rename to NOTICE.md index c63a6f75..d4e41114 100644 --- a/NOTICE +++ b/NOTICE.md @@ -1,276 +1,26 @@ -This project uses code from the following third-party projects, listed here -with the full text of their respective licenses. +# Intel® RealSense™ -JSON for Modern C++ (BSD 2 Clause) - https://github.com/nlohmann/json -=============================================================================== -MIT License +## Third Party Programs -Copyright (c) 2013-2017 Niels Lohmann -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: +### This file specifies all 3rd party SW components used for Intel® RealSense™ SDK and the inbound license for each of these 3rd party components. -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - -LZ4 Library (BSD 2 Clause) - https://github.com/lz4/lz4/tree/dev/lib -=============================================================================== -LZ4 Library -Copyright (c) 2011-2016, Yann Collet -All rights reserved. - -Redistribution and use in source and binary forms, with or without modification, -are permitted provided that the following conditions are met: - -* Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -* Redistributions in binary form must reproduce the above copyright notice, this - list of conditions and the following disclaimer in the documentation and/or - other materials provided with the distribution. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. 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Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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IN NO EVENT -SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE -FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, -ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER -DEALINGS IN THE SOFTWARE. - -OpenCV (3-clause BSD License), https://opencv.org/ -=============================================================================== -Copyright (C) 2000-2019, Intel Corporation, all rights reserved. -Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved. -Copyright (C) 2009-2016, NVIDIA Corporation, all rights reserved. -Copyright (C) 2010-2013, Advanced Micro Devices, Inc., all rights reserved. -Copyright (C) 2015-2016, OpenCV Foundation, all rights reserved. -Copyright (C) 2015-2016, Itseez Inc., all rights reserved. -Copyright (C) 2019-2020, Xperience AI, all rights reserved. - -Third party copyrights are property of their respective owners. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -* Redistributions of source code must retain the above copyright notice, this -list of conditions and the following disclaimer. -* Redistributions in binary form must reproduce the above copyright notice, -this list of conditions and the following disclaimer in the documentation -and/or other materials provided with the distribution. -* Neither the names of the copyright holders nor the names of the contributors -may be used to endorse or promote products derived from this software without -specific prior written permission. - -This software is provided by the copyright holders and contributors “as is†and -any express or implied warranties, including, but not limited to, the implied -warranties of merchantability and fitness for a particular purpose are -disclaimed. In no event shall copyright holders or contributors be liable for -any direct, indirect, incidental, special, exemplary, or consequential damages -(including, but not limited to, procurement of substitute goods or services; -loss of use, data, or profits; or business interruption) however caused and on -any theory of liability, whether in contract, strict liability, or tort -(including negligence or otherwise) arising in any way out of the use of this -software, even if advised of the possibility of such damage. - -easyloggingpp (The MIT License), https://github.com/easylogging/easyloggingpp/ -=============================================================================== -Copyright (c) 2015 muflihun.com - -http://github.com/easylogging/ -http://easylogging.muflihun.com -http://muflihun.com +Copyright (c) 2012-present @abumq (Majid Q.) Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in @@ -289,38 +39,21 @@ COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +------------------------------------------------------------------------------------------------ -tclap (The MIT License), http://tclap.sourceforge.net/ -=============================================================================== -Copyright (c) 2003 Michael E. Smoot - -Permission is hereby granted, free of charge, to any person -obtaining a copy of this software and associated documentation -files (the "Software"), to deal in the Software without restriction, -including without limitation the rights to use, copy, modify, merge, -publish, distribute, sublicense, and/or sell copies of the Software, -and to permit persons to whom the Software is furnished to do so, -subject to the following conditions: - -The above copyright notice and this permission notice shall be -included in all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, -EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES -OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND -NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS -BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN -AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR -IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. +#### Zlib license +| Component | Home Page | License| Copyright | +| ------- | ------- | ------- | ------- | +| GLFW | https://github.com/glfw/glfw | Zlib license | Copyright (c) 2002-2006 Marcus Geelnard , Copyright (c) 2006-2019 Camilla Löwy | +| tiny file dialogs | http://tinyfiledialogs.sourceforge.net | zlib/libpng License | Copyright (c) 2014 - 2016 Guillaume Vareille http://ysengrin.com | -GLFW (zlib/libpng), https://github.com/glfw/glfw -=============================================================================== +###### Zlib license Copyright (c) 2002-2006 Marcus Geelnard -Copyright (c) 2006-2011 Camilla Berglund -This software is provided ‘as-is’, without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. +Copyright (c) 2006-2019 Camilla Löwy + +This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: @@ -330,84 +63,53 @@ Altered source versions must be plainly marked as such, and must not be misrepre This notice may not be removed or altered from any source distribution. -STB (Public Domain), https://github.com/nothings/stb -=============================================================================== -These libraries are in the public domain (or the equivalent where that is not possible). You can do anything you want with them. You have no legal obligation to do anything else, although I appreciate attribution. +------------------------------------------------------------------------------------------------ + +#### BSD-3-Clause license -libuvc (BSD 3 Clause), https://github.com/ktossell/libuvc -=============================================================================== -Copyright (C) 2010-2015 Ken Tossell +| Component | Home Page | License| Copyright | +| ------- | ------- | ------- | ------- | +| HIDAPI library | https://github.com/signal11/hidapi| BSD-3-Clause license | Copyright (c) 2010, Alan Ott, Signal 11 Software | +| ross_comm | https://github.com/ros/ros_comm | BSD-3-Clause | Copyright (c) 2008, Willow Garage, Inc. | + +###### BSD-3-Clause license +Copyright (c) 2010, Alan Ott, Signal 11 Software All rights reserved. Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: +modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above - copyright notice, this list of conditions and the following - disclaimer in the documentation and/or other materials provided - with the distribution. - * Neither the name of the author nor other contributors may be - used to endorse or promote products derived from this software - without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of Signal 11 Software nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. -UTHash (BSD 1 Clause), https://troydhanson.github.io/uthash/ -=============================================================================== +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. +------------------------------------------------------------------------------------------------ -Copyright (c) 2005-2015, Troy D. Hanson http://troydhanson.github.com/uthash/ -All rights reserved. +#### LGPL-2.1 license -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: +| Component | Home Page | License | Copyright | +|-----------|----------------------------------|------------------|------------------------------| +| libusb | https://github.com/libusb/libusb | LGPL-2.1 license | Copyright © 2012-2024 libusb | - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED -TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A -PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER -OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -libusbhost (Apache License, Version 2.0 ), https://android.googlesource.com/platform/system/core/+/master/libusbhost/include/usbhost/usbhost.h -=============================================================================== - -Copyright (C) 2010 The Android Open Source Project -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - http://www.apache.org/licenses/LICENSE-2.0 -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. - -libusb (LGPL 2.1), https://github.com/libusb/libusb -=============================================================================== - GNU LESSER GENERAL PUBLIC LICENSE - Version 2.1, February 1999 +###### LGPL-2.1 license + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 Copyright (C) 1991, 1999 Free Software Foundation, Inc. 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA @@ -418,7 +120,7 @@ libusb (LGPL 2.1), https://github.com/libusb/libusb as the successor of the GNU Library Public License, version 2, hence the version number 2.1.] - Preamble + Preamble The licenses for most software are designed to take away your freedom to share and change it. By contrast, the GNU General Public @@ -463,7 +165,7 @@ modified by someone else and passed on, the recipients should know that what they have is not the original version, so that the original author's reputation will not be affected by problems that might be introduced by others. - + Finally, software patents pose a constant threat to the existence of any free program. We wish to make sure that a company cannot effectively restrict the users of a free program by obtaining a @@ -519,8 +221,8 @@ modification follow. Pay close attention to the difference between a "work based on the library" and a "work that uses the library". The former contains code derived from the library, whereas the latter must be combined with the library in order to run. - - GNU LESSER GENERAL PUBLIC LICENSE + + GNU LESSER GENERAL PUBLIC LICENSE TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION 0. This License Agreement applies to any software library or other @@ -566,7 +268,7 @@ Library. You may charge a fee for the physical act of transferring a copy, and you may at your option offer warranty protection in exchange for a fee. - + 2. You may modify your copy or copies of the Library or any portion of it, thus forming a work based on the Library, and copy and distribute such modifications or work under the terms of Section 1 @@ -624,7 +326,7 @@ instead of to this License. (If a newer version than version 2 of the ordinary GNU General Public License has appeared, then you can specify that version instead if you wish.) Do not make any other change in these notices. - + Once this change is made in a given copy, it is irreversible for that copy, so the ordinary GNU General Public License applies to all subsequent copies and derivative works made from that copy. @@ -675,7 +377,7 @@ Library will still fall under Section 6.) distribute the object code for the work under the terms of Section 6. Any executables containing that work also fall under Section 6, whether or not they are linked directly with the Library itself. - + 6. As an exception to the Sections above, you may also combine or link a "work that uses the Library" with the Library to produce a work containing portions of the Library, and distribute that work @@ -737,7 +439,7 @@ restrictions of other proprietary libraries that do not normally accompany the operating system. Such a contradiction means you cannot use both them and the Library together in an executable that you distribute. - + 7. You may place library facilities that are a work based on the Library side-by-side in a single library together with other library facilities not covered by this License, and distribute such a combined @@ -778,7 +480,7 @@ subject to these terms and conditions. You may not impose any further restrictions on the recipients' exercise of the rights granted herein. You are not responsible for enforcing compliance by third parties with this License. - + 11. If, as a consequence of a court judgment or allegation of patent infringement or for any other reason (not limited to patent issues), conditions are imposed on you (whether by court order, agreement or @@ -830,7 +532,7 @@ conditions either of that version or of any later version published by the Free Software Foundation. If the Library does not specify a license version number, you may choose any version ever published by the Free Software Foundation. - + 14. If you wish to incorporate parts of the Library into other free programs whose distribution conditions are incompatible with these, write to the author to ask for permission. For software which is @@ -840,7 +542,7 @@ decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sharing and reuse of software generally. - NO WARRANTY + NO WARRANTY 15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW. @@ -863,8 +565,8 @@ FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. - END OF TERMS AND CONDITIONS - + END OF TERMS AND CONDITIONS + How to Apply These Terms to Your New Libraries If you develop a new library, and you want it to be of the greatest @@ -909,46 +611,398 @@ necessary. Here is a sample; alter the names: That's all there is to it! -HIDAPI library, https://github.com/signal11/hidapi -=============================================================================== -HIDAPI can be used under one of three licenses. +------------------------------------------------------------------------------------------------ + + +#### Apache-2.0 license + +| Component | Home Page | License| Copyright | +| ------- | ------- | ------- | ------- | +| Fast-DDS | https://github.com/eProsima/Fast-DDS | Apache-2.0 license | Copyright 2019, Proyectos y Sistemas de Mantenimiento SL (eProsima). | +| OpenCV | https://github.com/opencv/opencv | Apache-2.0 license | Copyright (C) 2000-2008, Intel Corporation, all rights reserved. Copyright (C) 2009-2010, Willow Garage Inc., all rights reserved. | +| libusbhost | https://android.googlesource.com/platform/system/core/+/master/libusbhost/include/usbhost/usbhost.h | Apache-2.0 license | Copyright (C) 2010 The Android Open Source Project | + + +###### Apache-2.0 license + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + +------------------------------------------------------------------------------------------------ + + +#### BSD-2-Clause license + +| Component | Home Page | License| Copyright | +| ------- | ------- | ------- | ------- | +| LZ4 library | https://github.com/lz4/lz4 | BSD-2-Clause license | Copyright (C) 2011-2023, Yann Collet. | + +###### BSD-2-Clause license + BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php) + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are + met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above + copyright notice, this list of conditions and the following disclaimer + in the documentation and/or other materials provided with the + distribution. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT + OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, + DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY + THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +------------------------------------------------------------------------------------------------ + + +#### Public Domain License + +| Component | Home Page | License| Copyright | +| ------- | ------- | ------- | ------- | +| arcball_camera | https://github.com/nlguillemot/arcball_camera | Public Domain License | N/A | +| STB | https://github.com/nothings/stb | Public Domain License | N/A | + +###### Public Domain License +This is free and unencumbered software released into the public domain. + +Anyone is free to copy, modify, publish, use, compile, sell, or +distribute this software, either in source code form or as a compiled +binary, for any purpose, commercial or non-commercial, and by any +means. + +In jurisdictions that recognize copyright laws, the author or authors +of this software dedicate any and all copyright interest in the +software to the public domain. We make this dedication for the benefit +of the public at large and to the detriment of our heirs and +successors. We intend this dedication to be an overt act of +relinquishment in perpetuity of all present and future rights to this +software under copyright law. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR +OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +OTHER DEALINGS IN THE SOFTWARE. + +For more information, please refer to -1. The GNU General Public License, version 3.0, in LICENSE-gpl3.txt -2. A BSD-Style License, in LICENSE-bsd.txt. -3. The more liberal original HIDAPI license. LICENSE-orig.txt +------------------------------------------------------------------------------------------------ -The license chosen is at the discretion of the user of HIDAPI. For example: -1. An author of GPL software would likely use HIDAPI under the terms of the -GPL. +#### Curl License -2. An author of commercial closed-source software would likely use HIDAPI -under the terms of the BSD-style license or the original HIDAPI license. +| Component | Home Page | License| Copyright | +| ------- | ------- | ------- | ------- | +| curl | https://github.com/curl/curl | Curl License | Copyright (c) 1996 - 2024, Daniel Stenberg, | + +###### Curl License +COPYRIGHT AND PERMISSION NOTICE + +Copyright (c) 1996 - 2024, Daniel Stenberg, , and many +contributors, see the THANKS file. -___ -Copyright (c) 2010, Alan Ott, Signal 11 Software All rights reserved. -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: +Permission to use, copy, modify, and distribute this software for any purpose +with or without fee is hereby granted, provided that the above copyright +notice and this permission notice appear in all copies. - * Redistributions of source code must retain the above copyright notice, - this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of Signal 11 Software nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT OF THIRD PARTY RIGHTS. IN +NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, +DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR +OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE +OR OTHER DEALINGS IN THE SOFTWARE. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. +Except as contained in this notice, the name of a copyright holder shall not +be used in advertising or otherwise to promote the sale, use or other dealings +in this Software without prior written authorization of the copyright holder. + +------------------------------------------------------------------------------------------------ + +#### Boost Software License 1.0 + +| Component | Home Page | License| Copyright | +| ------- | ------- | ------- | ------- | +| Catch | https://github.com/philsquared/Catch | Boost Software License 1.0 | Copyright Catch2 Authors, Distributed under the Boost Software License, Version 1.0 | + +###### Boost Software License 1.0 +Permission is hereby granted, free of charge, to any person or organization +obtaining a copy of the software and accompanying documentation covered by +this license (the "Software") to use, reproduce, display, distribute, +execute, and transmit the Software, and to prepare derivative works of the +Software, and to permit third-parties to whom the Software is furnished to +do so, all subject to the following: + +The copyright notices in the Software and this entire statement, including +the above license grant, this restriction and the following disclaimer, +must be included in all copies of the Software, in whole or in part, and +all derivative works of the Software, unless such copies or derivative +works are solely in the form of machine-executable object code generated by +a source language processor. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT +SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE +FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER +DEALINGS IN THE SOFTWARE. + +------------------------------------------------------------------------------------------------ + +#### SIL OPEN FONT LICENSE + +| Component | Home Page | License| Copyright | +| ------- | ------- | ------- | ------- | +| fontawesome | http://fontawesome.io | SIL OPEN FONT LICENSE | N/A | + +###### SIL OPEN FONT LICENSE +SIL OPEN FONT LICENSE +Version 1.1 - 26 February 2007 + +PREAMBLE +The goals of the Open Font License (OFL) are to stimulate worldwide development of collaborative font projects, to support the font creation efforts of academic and linguistic communities, and to provide a free and open framework in which fonts may be shared and improved in partnership with others. + +The OFL allows the licensed fonts to be used, studied, modified and redistributed freely as long as they are not sold by themselves. The fonts, including any derivative works, can be bundled, embedded, redistributed and/or sold with any software provided that any reserved names are not used by derivative works. The fonts and derivatives, however, cannot be released under any other type of license. The requirement for fonts to remain under this license does not apply to any document created using the fonts or their derivatives. + +DEFINITIONS +"Font Software" refers to the set of files released by the Copyright Holder(s) under this license and clearly marked as such. This may include source files, build scripts and documentation. +"Reserved Font Name" refers to any names specified as such after the copyright statement(s). + +"Original Version" refers to the collection of Font Software components as distributed by the Copyright Holder(s). + +"Modified Version" refers to any derivative made by adding to, deleting, or substituting — in part or in whole — any of the components of the Original Version, by changing formats or by porting the Font Software to a new environment. + +"Author" refers to any designer, engineer, programmer, technical writer or other person who contributed to the Font Software. + +PERMISSION & CONDITIONS +Permission is hereby granted, free of charge, to any person obtaining a copy of the Font Software, to use, study, copy, merge, embed, modify, redistribute, and sell modified and unmodified copies of the Font Software, subject to the following conditions: + +1) Neither the Font Software nor any of its individual components, in Original or Modified Versions, may be sold by itself. + +2) Original or Modified Versions of the Font Software may be bundled, redistributed and/or sold with any software, provided that each copy contains the above copyright notice and this license. These can be included either as stand-alone text files, human-readable headers or in the appropriate machine-readable metadata fields within text or binary files as long as those fields can be easily viewed by the user. + +3) No Modified Version of the Font Software may use the Reserved Font Name(s) unless explicit written permission is granted by the corresponding Copyright Holder. This restriction only applies to the primary font name as presented to the users. + +4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font Software shall not be used to promote, endorse or advertise any Modified Version, except to acknowledge the contribution(s) of the Copyright Holder(s) and the Author(s) or with their explicit written permission. + +5) The Font Software, modified or unmodified, in part or in whole, must be distributed entirely under this license, and must not be distributed under any other license. The requirement for fonts to remain under this license does not apply to any document created using the Font Software. + +TERMINATION +This license becomes null and void if any of the above conditions are not met. + +DISCLAIMER +THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM OTHER DEALINGS IN THE FONT SOFTWARE. +------------------------------------------------------------------------------------------------ diff --git a/Security.md b/Security.md new file mode 100644 index 00000000..c3e8bdad --- /dev/null +++ b/Security.md @@ -0,0 +1,6 @@ +# Security Policy +Intel is committed to rapidly addressing security vulnerabilities affecting our customers and providing clear guidance on the solution, impact, severity and mitigation. + +## Reporting a Vulnerability +Please report any security vulnerabilities in this project [utilizing the guidelines here](https://www.intel.com/content/www/us/en/security-center/vulnerability-handling-guidelines.html). + diff --git a/common/calibration-model.cpp b/common/calibration-model.cpp index 0ca91de7..170f1680 100644 --- a/common/calibration-model.cpp +++ b/common/calibration-model.cpp @@ -28,7 +28,8 @@ bool calibration_model::supports() void calibration_model::draw_float(std::string name, float& x, const float& orig, bool& changed) { - if (abs(x - orig) > 0.00001) ImGui::PushStyleColor(ImGuiCol_FrameBg, regular_blue); + if( std::abs( x - orig ) > 0.00001 ) + ImGui::PushStyleColor( ImGuiCol_FrameBg, regular_blue ); else ImGui::PushStyleColor(ImGuiCol_FrameBg, black); if (ImGui::DragFloat(std::string( rsutils::string::from() << "##" << name).c_str(), &x, 0.001f)) { @@ -37,8 +38,8 @@ void calibration_model::draw_float(std::string name, float& x, const float& orig ImGui::PopStyleColor(); } -void calibration_model::draw_float4x4(std::string name, librealsense::float3x3& feild, - const librealsense::float3x3& original, bool& changed) +void calibration_model::draw_float4x4(std::string name, float3x3& feild, + const float3x3& original, bool& changed) { ImGui::SetCursorPosX(10); ImGui::Text("%s:", name.c_str()); ImGui::SameLine(); @@ -71,66 +72,6 @@ void calibration_model::draw_float4x4(std::string name, librealsense::float3x3& ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5); } -namespace helpers -{ - #define UPDC32(octet, crc) (crc_32_tab[((crc) ^ (octet)) & 0xff] ^ ((crc) >> 8)) - - static const uint32_t crc_32_tab[] = { /* CRC polynomial 0xedb88320 */ - 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, - 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, - 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2, - 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, - 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, - 0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, - 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c, - 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, - 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, - 0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, - 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106, - 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, - 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, - 0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, - 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950, - 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, - 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, - 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, - 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa, - 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, - 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, - 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, - 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84, - 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, - 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, - 0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, - 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e, - 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, - 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, - 0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, - 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28, - 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, - 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, - 0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, - 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242, - 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, - 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, - 0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, - 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc, - 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, - 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, - 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, - 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d - }; - - /// Calculate CRC code for arbitrary characters buffer - uint32_t calc_crc32(const uint8_t *buf, size_t bufsize) - { - uint32_t oldcrc32 = 0xFFFFFFFF; - for (; bufsize; --bufsize, ++buf) - oldcrc32 = UPDC32(*buf, oldcrc32); - return ~oldcrc32; - } -} - void calibration_model::update(ux_window& window, std::string& error_message) { const auto window_name = "Calibration Window"; @@ -445,7 +386,7 @@ void calibration_model::update(ux_window& window, std::string& error_message) { auto actual_data = _calibration.data() + sizeof(librealsense::ds::table_header); auto actual_data_size = _calibration.size() - sizeof(librealsense::ds::table_header); - auto crc = helpers::calc_crc32(actual_data, actual_data_size); + auto crc = rsutils::number::calc_crc32( actual_data, actual_data_size ); table->header.crc32 = crc; dev.as().set_calibration_table(_calibration); dev.as().write_calibration(); diff --git a/common/calibration-model.h b/common/calibration-model.h index 3c4762e3..a3f9e563 100644 --- a/common/calibration-model.h +++ b/common/calibration-model.h @@ -1,21 +1,11 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2021 Intel Corporation. All Rights Reserved. - +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. #pragma once #include #include "notifications.h" +#include -namespace librealsense -{ - struct float3x3; -} - -namespace helpers -{ - // Calculate CRC code for arbitrary characters buffer - uint32_t calc_crc32(const uint8_t* buf, size_t bufsize); -} namespace rs2 { @@ -23,6 +13,8 @@ namespace rs2 class calibration_model { + using float3x3 = rsutils::number::float3x3; + public: calibration_model(rs2::device dev, std::shared_ptr not_model); @@ -33,7 +25,7 @@ namespace rs2 void open() { to_open = true; } private: - void draw_float4x4(std::string name, librealsense::float3x3& feild, const librealsense::float3x3& original, bool& changed); + void draw_float4x4(std::string name, float3x3 & feild, const float3x3& original, bool& changed); void draw_float(std::string name, float& x, const float& orig, bool& changed); rs2::device dev; diff --git a/common/device-model.cpp b/common/device-model.cpp index c0f59ac7..2bd3444e 100644 --- a/common/device-model.cpp +++ b/common/device-model.cpp @@ -13,19 +13,21 @@ #include "imgui-fonts-fontawesome.hpp" #include "imgui-fonts-monofont.hpp" +#include #include "os.h" +#include #include "viewer.h" #include "on-chip-calib.h" #include "subdevice-model.h" #include "device-model.h" using namespace rs400; -using namespace nlohmann; +using rsutils::json; using namespace rs2::sw_update; namespace rs2 { - void imgui_easy_theming(ImFont*& font_14, ImFont*& font_18, ImFont*& monofont) + void imgui_easy_theming(ImFont*& font_dynamic, ImFont*& font_18, ImFont*& monofont, int& font_size) { ImGuiStyle& style = ImGui::GetStyle(); @@ -33,6 +35,7 @@ namespace rs2 io.IniFilename = nullptr; const int OVERSAMPLE = config_file::instance().get(configurations::performance::font_oversample); + font_size = config_file::instance().get( configurations::window::font_size ); static const ImWchar icons_ranges[] = { 0xf000, 0xf999, 0 }; // will not be copied by AddFont* so keep in scope. @@ -40,13 +43,15 @@ namespace rs2 ImFontConfig config_words; config_words.OversampleV = OVERSAMPLE; config_words.OversampleH = OVERSAMPLE; - font_14 = io.Fonts->AddFontFromMemoryCompressedTTF(karla_regular_compressed_data, karla_regular_compressed_size, 16.f); + font_dynamic = io.Fonts->AddFontFromMemoryCompressedTTF( karla_regular_compressed_data, + karla_regular_compressed_size, + (float)font_size ); ImFontConfig config_glyphs; config_glyphs.MergeMode = true; config_glyphs.OversampleV = OVERSAMPLE; config_glyphs.OversampleH = OVERSAMPLE; - font_14 = io.Fonts->AddFontFromMemoryCompressedTTF(font_awesome_compressed_data, + font_dynamic = io.Fonts->AddFontFromMemoryCompressedTTF(font_awesome_compressed_data, font_awesome_compressed_size, 14.f, &config_glyphs, icons_ranges); } @@ -122,7 +127,7 @@ namespace rs2 ss << "| | |\n"; ss << "|---|---|\n"; ss << "|**librealsense**|" << api_version_to_string(rs2_get_api_version(&e)) << (is_debug() ? " DEBUG" : " RELEASE") << "|\n"; - ss << "|**OS**|" << get_os_name() << "|\n"; + ss << "|**OS**|" << rsutils::os::get_os_name() << "|\n"; for (auto& dm : devices) { @@ -415,7 +420,7 @@ namespace rs2 refresh_notifications(viewer); - auto path = get_folder_path( special_folder::user_documents ); + auto path = rsutils::os::get_special_folder( rsutils::os::special_folder::user_documents ); path += "librealsense2/presets/"; try { @@ -926,7 +931,7 @@ namespace rs2 try { std::vector data; - auto ret = file_dialog_open(open_file, "Unsigned Firmware Image\0*.bin\0", NULL, NULL); + auto ret = file_dialog_open(open_file, "Unsigned Firmware Image\0*.bin\0*.img\0", NULL, NULL); if (ret) { std::ifstream file(ret, std::ios::binary | std::ios::in); @@ -975,7 +980,7 @@ namespace rs2 { if (data.size() == 0) { - auto ret = file_dialog_open(open_file, "Signed Firmware Image\0*.bin\0", NULL, NULL); + auto ret = file_dialog_open(open_file, "Signed Firmware Image\0*.bin\0*.img\0", NULL, NULL); if (ret) { std::ifstream file(ret, std::ios::binary | std::ios::in); @@ -1211,11 +1216,11 @@ namespace rs2 textual_icon button_icon = is_recording ? textual_icons::stop : textual_icons::circle; const float icons_width = 78.0f; const ImVec2 device_panel_icons_size{ icons_width, 25 }; - std::string recorod_button_name = rsutils::string::from() << button_icon << "##" << id; + std::string record_button_name = rsutils::string::from() << button_icon << "##" << id; auto record_button_color = is_recording ? light_blue : light_grey; ImGui::PushStyleColor(ImGuiCol_Text, record_button_color); ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, record_button_color); - if (ImGui::ButtonEx(recorod_button_name.c_str(), device_panel_icons_size, (!is_streaming || is_playback_device) ? ImGuiButtonFlags_Disabled : 0)) + if (ImGui::ButtonEx(record_button_name.c_str(), device_panel_icons_size, (disable_record_button_logic(is_streaming, is_playback_device)) ? ImGuiButtonFlags_Disabled : 0)) { if (is_recording) //is_recording is changed inside stop/start_recording { @@ -1247,7 +1252,7 @@ namespace rs2 } if (ImGui::IsItemHovered()) { - std::string record_button_hover_text = (!is_streaming ? "Start streaming to enable recording" : (is_recording ? "Stop Recording" : "Start Recording")); + std::string record_button_hover_text = get_record_button_hover_text(is_streaming); ImGui::SetTooltip("%s", record_button_hover_text.c_str()); if (is_streaming) window.link_hovered(); } @@ -1383,16 +1388,11 @@ namespace rs2 if (dev.is() && !is_locked) { - // L500 devices do not support update unsigned image currently - bool is_l500_device = false; - if (dev.supports(RS2_CAMERA_INFO_PRODUCT_LINE)) - { - auto pl = dev.get_info(RS2_CAMERA_INFO_PRODUCT_LINE); - is_l500_device = (std::string(pl) == "L500"); - } - - if( ! is_l500_device ) - { + auto pl = dev.get_info(RS2_CAMERA_INFO_PRODUCT_LINE); + bool is_d400_device = (std::string(pl) == "D400"); + + if( is_d400_device ) + { if (ImGui::Selectable("Update Unsigned Firmware...", false, updateFwFlags)) { begin_update_unsigned(viewer, error_message); @@ -2186,7 +2186,6 @@ namespace rs2 auto itr = sub->options_metadata.find(RS2_OPTION_VISUAL_PRESET); if (itr != sub->options_metadata.end()) { - //TODO: Update to work with SR300 when the load json will update viewer configurations itr->second.endpoint->set_option(RS2_OPTION_VISUAL_PRESET, RS2_RS400_VISUAL_PRESET_CUSTOM); } } @@ -2255,26 +2254,11 @@ namespace rs2 /////////////////////////////////////////// //TODO: make this a member function - std::vector labels; + int selected; + std::vector< const char * > labels = opt_model.get_combo_labels( &selected ); std::vector< float > counters; - auto selected = 0, counter = 0; for (auto i = opt_model.range.min; i <= opt_model.range.max; i += opt_model.range.step) - { - std::string product = dev.get_info(RS2_CAMERA_INFO_PRODUCT_LINE); - - // Default is only there for backwards compatibility and will throw an - // exception if used - if (product == "L500" && (size_t)(i) == RS2_L500_VISUAL_PRESET_DEFAULT) - continue; - - if (std::fabs(i - opt_model.value) < 0.001f) - { - selected = counter; - } - labels.push_back(opt_model.endpoint->get_option_value_description(opt_model.opt, i)); counters.push_back(i); - counter++; - } /////////////////////////////////////////// ImGui_ScopePushStyleColor(ImGuiCol_TextSelectedBg, white); @@ -2499,7 +2483,7 @@ namespace rs2 const float left_space = 3.f; const float upper_space = 3.f; - bool update_read_only_options = _update_readonly_options_timer; + bool update_read_only_options = false; // _update_readonly_options_timer; const ImVec2 initial_screen_pos = ImGui::GetCursorScreenPos(); //Upper Space @@ -2568,6 +2552,15 @@ namespace rs2 ImGui::Text(" %s", ss.str().c_str()); ImGui::PopStyleColor(); } + else if(device_pid == "DDS") + { + ss.str( "" ); + ss << " " << "DDS"; + ImGui::SameLine(); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text(" %s", ss.str().c_str()); + ImGui::PopStyleColor(); + } } } @@ -2676,8 +2669,6 @@ namespace rs2 pos = ImGui::GetCursorPos(); ImVec2 rc; - std::string fw_version; - std::string min_fw_version; int info_control_panel_height = 0; if (show_device_info) @@ -2693,7 +2684,6 @@ namespace rs2 if (pair.first == "Recommended Firmware Version") { info_category = "Min FW Version"; - min_fw_version = pair.second; } else { @@ -2704,21 +2694,12 @@ namespace rs2 ImGui::PushStyleColor(ImGuiCol_FrameBg, sensor_bg); ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); ImGui::PushStyleColor(ImGuiCol_Text, light_grey); - ImGui::SetCursorPos({ rc.x + 145, rc.y + 1 }); + ImGui::SetCursorPos({ rc.x + 9.f * window.get_font_size(), rc.y + 1 }); std::string label = rsutils::string::from() << "##" << id << " " << pair.first; - if (pair.first == "Firmware Version") - { - fw_version = pair.second; - ImGui::PushItemWidth(80); - } ImGui::InputText(label.c_str(), (char*)pair.second.data(), pair.second.size() + 1, ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly); - if (pair.first == "Firmware Version") - { - ImGui::PopItemWidth(); - } ImGui::PopStyleColor(3); ImGui::SetCursorPos({ rc.x, rc.y + line_h }); } @@ -2753,13 +2734,16 @@ namespace rs2 { bool stop_recording = false; - ImGui::SetCursorPos({ windows_width - 35, pos.y + 3 }); + ImGui::SetCursorPos({ windows_width - 42, pos.y + 3 }); ImGui_ScopePushFont(window.get_font()); ImGui_ScopePushStyleColor(ImGuiCol_Button, sensor_bg); ImGui_ScopePushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); ImGui_ScopePushStyleColor(ImGuiCol_ButtonActive, sensor_bg); + int font_size = window.get_font_size(); + ImVec2 button_size = { font_size * 1.9f, font_size * 1.9f }; + if (!sub->streaming) { std::string label = rsutils::string::from() @@ -2802,7 +2786,7 @@ namespace rs2 } if (can_stream) { - if (ImGui::Button(label.c_str(), { 30,30 })) + if( ImGui::Button( label.c_str(), button_size ) ) { if (profiles.empty()) // profiles might be already filled profiles = sub->get_selected_profiles(); @@ -2812,8 +2796,7 @@ namespace rs2 dev_syncer = viewer.syncer->create_syncer(); std::string friendly_name = sub->s->get_info(RS2_CAMERA_INFO_NAME); - if (!viewer.zo_sensors.load() && - ((friendly_name.find("Tracking") != std::string::npos) || + if (((friendly_name.find("Tracking") != std::string::npos) || (friendly_name.find("Motion") != std::string::npos))) { viewer.synchronization_enable_prev_state = viewer.synchronization_enable.load(); @@ -2851,7 +2834,7 @@ namespace rs2 ImGui_ScopePushStyleColor(ImGuiCol_Text, light_blue); ImGui_ScopePushStyleColor(ImGuiCol_TextSelectedBg, light_blue + 0.1f); - if (ImGui::Button(label.c_str(), { 30,30 })) + if( ImGui::Button( label.c_str(), button_size ) ) { sub->stop(viewer.not_model); std::string friendly_name = sub->s->get_info(RS2_CAMERA_INFO_NAME); @@ -2935,7 +2918,7 @@ namespace rs2 label = rsutils::string::from() << "Controls ##" << sub->s->get_info(RS2_CAMERA_INFO_NAME) << "," << id; if (ImGui::TreeNode(label.c_str())) { - std::vector supported_options = sub->s->get_supported_options(); + auto const & supported_options = sub->options_metadata; // moving the color dedicated options to the end of the vector std::vector color_options = { @@ -2952,23 +2935,26 @@ namespace rs2 std::vector so_ordered; - for (auto&& i : supported_options) + for (auto const & id_model : supported_options) { - auto it = find(color_options.begin(), color_options.end(), i); + auto it = find( color_options.begin(), color_options.end(), id_model.first ); if (it == color_options.end()) - so_ordered.push_back(i); + so_ordered.push_back( id_model.first ); } - std::for_each(color_options.begin(), color_options.end(), [&](rs2_option opt) { - auto it = std::find(supported_options.begin(), supported_options.end(), opt); - if (it != supported_options.end()) - so_ordered.push_back(opt); - }); + std::for_each( color_options.begin(), + color_options.end(), + [&]( rs2_option opt ) + { + auto it = supported_options.find( opt ); + if( it != supported_options.end() ) + so_ordered.push_back( opt ); + } ); - for (auto&& i : so_ordered) + for (auto opt : so_ordered) { - auto opt = static_cast(i); - if (viewer.is_option_skipped(opt)) continue; + if( viewer.is_option_skipped( opt ) ) + continue; if (std::find(drawing_order.begin(), drawing_order.end(), opt) == drawing_order.end()) { if (serialize && opt == RS2_OPTION_VISUAL_PRESET) @@ -3002,27 +2988,10 @@ namespace rs2 label = rsutils::string::from() << pb->get_name() << "##" << id; if (ImGui::TreeNode(label.c_str())) { - if (!viewer.is_option_skipped(RS2_OPTION_MIN_DISTANCE)) - { - pb->get_option(RS2_OPTION_MIN_DISTANCE).update_all_fields(error_message, *viewer.not_model); - } - if (!viewer.is_option_skipped(RS2_OPTION_MAX_DISTANCE)) - { - pb->get_option(RS2_OPTION_MAX_DISTANCE).update_all_fields(error_message, *viewer.not_model); - } - if (!viewer.is_option_skipped(RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED)) - { - pb->get_option(RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED).update_all_fields(error_message, *viewer.not_model); - } - - for (auto i = 0; i < RS2_OPTION_COUNT; i++) - { - auto opt = static_cast(i); - if (viewer.is_option_skipped(opt)) continue; - pb->get_option(opt).draw_option( - dev.is() || update_read_only_options, - false, error_message, *viewer.not_model); - } + pb->draw_options( viewer, + dev.is< playback >() || update_read_only_options, + false, + error_message ); ImGui::TreePop(); } @@ -3035,8 +3004,7 @@ namespace rs2 const ImVec2 pos = ImGui::GetCursorPos(); draw_later.push_back([windows_width, &window, sub, pos, &viewer, this]() { - if (!sub->streaming) ImGui::SetCursorPos({ windows_width - 34 , pos.y - 3 }); - else ImGui::SetCursorPos({ windows_width - 34, pos.y - 3 }); + ImGui::SetCursorPos({ windows_width - 41, pos.y - 3 }); try { @@ -3058,8 +3026,6 @@ namespace rs2 if (ImGui::Button(label.c_str(), { 30,24 })) { - if (sub->zero_order_artifact_fix && sub->zero_order_artifact_fix->is_enabled()) - sub->verify_zero_order_conditions(); sub->post_processing_enabled = true; config_file::instance().set(get_device_sensor_name(sub.get()).c_str(), sub->post_processing_enabled); @@ -3127,9 +3093,7 @@ namespace rs2 const ImVec2 pos = ImGui::GetCursorPos(); draw_later.push_back([windows_width, &window, sub, pos, &viewer, this, pb]() { - if (!sub->streaming || !sub->post_processing_enabled) ImGui::SetCursorPos({ windows_width - 35, pos.y - 3 }); - else - ImGui::SetCursorPos({ windows_width - 35, pos.y - 3 }); + ImGui::SetCursorPos({ windows_width - 42, pos.y - 3 }); try { @@ -3138,6 +3102,8 @@ namespace rs2 ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); ImGui::PushStyleColor(ImGuiCol_ButtonActive, sensor_bg); + int font_size = window.get_font_size(); + const ImVec2 button_size = { font_size * 2.f, font_size * 1.5f }; if (!sub->post_processing_enabled) { @@ -3150,7 +3116,7 @@ namespace rs2 ImGui::PushStyleColor(ImGuiCol_Text, redish); ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, redish + 0.1f); - ImGui::ButtonEx(label.c_str(), { 25,24 }, ImGuiButtonFlags_Disabled); + ImGui::ButtonEx(label.c_str(), button_size, ImGuiButtonFlags_Disabled); } else { @@ -3160,7 +3126,7 @@ namespace rs2 << pb->get_name(); ImGui::PushStyleColor(ImGuiCol_Text, light_blue); ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue + 0.1f); - ImGui::ButtonEx(label.c_str(), { 25,24 }, ImGuiButtonFlags_Disabled); + ImGui::ButtonEx(label.c_str(), button_size, ImGuiButtonFlags_Disabled); } } else @@ -3175,10 +3141,8 @@ namespace rs2 ImGui::PushStyleColor(ImGuiCol_Text, redish); ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, redish + 0.1f); - if (ImGui::Button(label.c_str(), { 25,24 })) + if (ImGui::Button(label.c_str(), button_size)) { - if (pb->get_block()->is()) - sub->verify_zero_order_conditions(); pb->enable(true); pb->save_to_config_file(); } @@ -3198,7 +3162,7 @@ namespace rs2 ImGui::PushStyleColor(ImGuiCol_Text, light_blue); ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue + 0.1f); - if (ImGui::Button(label.c_str(), { 25,24 })) + if (ImGui::Button(label.c_str(), button_size)) { pb->enable(false); pb->save_to_config_file(); @@ -3227,22 +3191,10 @@ namespace rs2 label = rsutils::string::from() << pb->get_name() << "##" << id; if (ImGui::TreeNode(label.c_str())) { - for (auto&& opt : pb->get_option_list()) - { - if (viewer.is_option_skipped(opt)) continue; - pb->get_option(opt).draw_option( - dev.is() || update_read_only_options, - false, error_message, *viewer.not_model); - - if (opt == RS2_OPTION_MIN_DISTANCE) - { - pb->get_option(RS2_OPTION_MAX_DISTANCE).update_all_fields(error_message, *viewer.not_model); - } - else if (opt == RS2_OPTION_MAX_DISTANCE) - { - pb->get_option(RS2_OPTION_MIN_DISTANCE).update_all_fields(error_message, *viewer.not_model); - } - } + pb->draw_options( viewer, + dev.is< playback >() || update_read_only_options, + false, + error_message ); ImGui::TreePop(); } @@ -3291,6 +3243,25 @@ namespace rs2 //TODO: Move under hour glass } + bool device_model::disable_record_button_logic(bool is_streaming, bool is_playback_device) + { + return (!is_streaming || is_playback_device); + } + + std::string device_model::get_record_button_hover_text(bool is_streaming) + { + std::string record_button_hover_text; + if (!is_streaming) + { + record_button_hover_text = "Start streaming to enable recording"; + } + else + { + record_button_hover_text = is_recording ? "Stop Recording" : "Start Recording"; + } + return record_button_hover_text; + } + std::vector> get_devices_names(const device_list& list) { std::vector> device_names; diff --git a/common/device-model.h b/common/device-model.h index 1733fb9c..6c637747 100644 --- a/common/device-model.h +++ b/common/device-model.h @@ -1,12 +1,11 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2023 Intel Corporation. All Rights Reserved. - #pragma once #include #include "notifications.h" #include "realsense-ui-advanced-mode.h" -#include +#include #include "sw-update/dev-updates-profile.h" #include #include "updates-model.h" @@ -62,7 +61,7 @@ inline ImVec4 blend(const ImVec4& c, float a) namespace rs2 { - void imgui_easy_theming(ImFont*& font_14, ImFont*& font_18, ImFont*& monofont); + void imgui_easy_theming(ImFont*& font_dynamic, ImFont*& font_18, ImFont*& monofont, int& font_size); constexpr const char* server_versions_db_url = "https://librealsense.intel.com/Releases/rs_versions_db.json"; @@ -122,6 +121,7 @@ namespace rs2 static const char* last_calib_notice{ "viewer_model.last_calib_notice" }; static const char* is_measuring{ "viewer_model.is_measuring" }; static const char* output_open{ "viewer_model.output_open" }; + static const char* dashboard_open{ "viewer_model.dashboard_open" }; static const char* search_term{ "viewer_model.search_term" }; static const char* log_to_console{ "viewer_model.log_to_console" }; @@ -148,6 +148,7 @@ namespace rs2 static const char* width{ "window.width" }; static const char* height{ "window.height" }; static const char* maximized{ "window.maximized" }; + static const char* font_size{ "window.font_size" }; } namespace performance { @@ -367,6 +368,8 @@ namespace rs2 viewer_model& viewer, std::string& error_message); void begin_update_unsigned(viewer_model& viewer, std::string& error_message); void check_for_device_updates(viewer_model& viewer, bool activated_by_user = false); + bool disable_record_button_logic(bool is_streaming, bool is_playback_device); + std::string get_record_button_hover_text(bool is_streaming); std::shared_ptr< atomic_objects_in_frame > get_detected_objects() const { return _detected_objects; } @@ -424,7 +427,7 @@ namespace rs2 const std::string& error_message); void load_viewer_configurations(const std::string& json_str); - void save_viewer_configurations(std::ofstream& outfile, nlohmann::json& j); + void save_viewer_configurations(std::ofstream& outfile, rsutils::json& j); void handle_online_sw_update( std::shared_ptr< notifications_model > nm, std::shared_ptr< sw_update::dev_updates_profile::update_profile > update_profile, diff --git a/common/float2.h b/common/float2.h index ff037007..ceba5fca 100644 --- a/common/float2.h +++ b/common/float2.h @@ -1,27 +1,14 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2021 Intel Corporation. All Rights Reserved. - +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. #pragma once -#include // sqrt, sqrtf +#include namespace rs2 { -struct float2 -{ - float x, y; - - float length() const { return sqrt( x * x + y * y ); } - - float2 normalize() const { return { x / length(), y / length() }; } -}; - -inline float dot( const float2 & a, const float2 & b ) -{ - return a.x * b.x + a.y * b.y; -} +using rsutils::number::float2; } // namespace rs2 diff --git a/common/float3.h b/common/float3.h index 000767c7..a0dc8d49 100644 --- a/common/float3.h +++ b/common/float3.h @@ -1,51 +1,14 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2021 Intel Corporation. All Rights Reserved. - +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. #pragma once -#include // sqrt, sqrtf +#include namespace rs2 { -struct float3 -{ - float x, y, z; - - float length() const { return sqrt( x * x + y * y + z * z ); } - - float3 normalize() const { return ( length() > 0 ) ? float3{ x / length(), y / length(), z / length() } : *this; } -}; - -inline float3 cross( const float3 & a, const float3 & b ) -{ - return { a.y * b.z - b.y * a.z, a.x * b.z - b.x * a.z, a.x * b.y - a.y * b.x }; -} - -inline float operator*(const float3& a, const float3& b) { - return a.x * b.x + a.y * b.y + a.z * b.z; -} - -inline float3 operator*( const float3 & a, float t ) -{ - return { a.x * t, a.y * t, a.z * t }; -} - -inline float3 operator/( const float3 & a, float t ) -{ - return { a.x / t, a.y / t, a.z / t }; -} - -inline float3 operator+( const float3 & a, const float3 & b ) -{ - return { a.x + b.x, a.y + b.y, a.z + b.z }; -} - -inline float3 operator-( const float3 & a, const float3 & b ) -{ - return { a.x - b.x, a.y - b.y, a.z - b.z }; -} +using rsutils::number::float3; } // namespace rs2 diff --git a/common/fw-update-helper.cpp b/common/fw-update-helper.cpp index 208a04ca..fa258011 100644 --- a/common/fw-update-helper.cpp +++ b/common/fw-update-helper.cpp @@ -6,8 +6,10 @@ #include "viewer.h" #include "ux-window.h" +#include #include "os.h" +#include #include #include #include @@ -16,15 +18,9 @@ #ifdef INTERNAL_FW #include "common/fw/D4XX_FW_Image.h" -#include "common/fw/SR3XX_FW_Image.h" -#include "common/fw/L51X_FW_Image.h" #else #define FW_D4XX_FW_IMAGE_VERSION "" -#define FW_SR3XX_FW_IMAGE_VERSION "" -#define FW_L51X_FW_IMAGE_VERSION "" const char* fw_get_D4XX_FW_Image(int) { return NULL; } -const char* fw_get_SR3XX_FW_Image(int) { return NULL; } -const char* fw_get_L51X_FW_Image(int) { return NULL; } #endif // INTERNAL_FW @@ -51,16 +47,12 @@ namespace rs2 int parse_product_line(const std::string& product_line) { if (product_line == "D400") return RS2_PRODUCT_LINE_D400; - else if (product_line == "SR300") return RS2_PRODUCT_LINE_SR300; - else if (product_line == "L500") return RS2_PRODUCT_LINE_L500; else return -1; } std::string get_available_firmware_version(int product_line, const std::string& pid) { if (product_line == RS2_PRODUCT_LINE_D400) return FW_D4XX_FW_IMAGE_VERSION; - //else if (product_line == RS2_PRODUCT_LINE_SR300) return FW_SR3XX_FW_IMAGE_VERSION; - else if (product_line == RS2_PRODUCT_LINE_L500) return FW_L51X_FW_IMAGE_VERSION; else return ""; } @@ -81,24 +73,6 @@ namespace rs2 } } break; - case RS2_PRODUCT_LINE_SR300: - if( strlen( FW_SR3XX_FW_IMAGE_VERSION ) ) - { - int size = 0; - auto hex = fw_get_SR3XX_FW_Image( size ); - image = std::vector< uint8_t >( hex, hex + size ); - } - break; - case RS2_PRODUCT_LINE_L500: - { // default for all L515 use cases (include recovery usb2 old pid) - if( strlen( FW_L51X_FW_IMAGE_VERSION ) ) - { - int size = 0; - auto hex = fw_get_L51X_FW_Image( size ); - image = std::vector< uint8_t >( hex, hex + size ); - } - } - break; default: break; } @@ -174,12 +148,9 @@ namespace rs2 device_debug.build_command(dfu_opcode, 1); _progress = 30; - // Grant permissions for writing - // skipped for now - must be done in sudo - //chmod("/dev/d4xx-dfu504", __S_IREAD|__S_IWRITE); - // Write signed firmware to appropriate file descritptor - std::ofstream fw_path_in_device("/dev/d4xx-dfu504", std::ios::binary); + // Write signed firmware to appropriate file descriptor + std::ofstream fw_path_in_device(_dev.get_info(RS2_CAMERA_INFO_DFU_DEVICE_PATH), std::ios::binary); if (fw_path_in_device) { fw_path_in_device.write(reinterpret_cast(_fw.data()), _fw.size()); @@ -250,46 +221,59 @@ namespace rs2 return; } } - log("Backing-up camera flash memory"); + + log( "Trying to back-up camera flash memory" ); std::string log_backup_status; try { - auto flash = upd.create_flash_backup([&](const float progress) - { - _progress = ((ceil(progress * 5) / 5) * (30 - next_progress)) + next_progress; - }); + auto flash = upd.create_flash_backup( [&]( const float progress ) + { + _progress = ( ( ceil( progress * 5 ) / 5 ) * ( 30 - next_progress ) ) + next_progress; + } ); - auto temp = get_folder_path(special_folder::app_data); - temp += serial + "." + get_timestamped_file_name() + ".bin"; + // Not all cameras supports this feature + if( !flash.empty() ) + { + auto temp = rsutils::os::get_special_folder( rsutils::os::special_folder::app_data ); + temp += serial + "." + get_timestamped_file_name() + ".bin"; + { + std::ofstream file( temp.c_str(), std::ios::binary ); + file.write( (const char*)flash.data(), flash.size() ); + log_backup_status = "Backup completed and saved as '" + temp + "'"; + } + } + else { - std::ofstream file(temp.c_str(), std::ios::binary); - file.write((const char*)flash.data(), flash.size()); - log_backup_status = "Backup completed and saved as '" + temp + "'"; + log_backup_status = "Backup flash is not supported"; } } - catch (const std::exception& e) + catch( const std::exception& e ) { - if (auto not_model_protected = get_protected_notification_model()) + if( auto not_model_protected = get_protected_notification_model() ) { log_backup_status = "WARNING: backup failed; continuing without it..."; - not_model_protected->output.add_log(RS2_LOG_SEVERITY_WARN, + not_model_protected->output.add_log( RS2_LOG_SEVERITY_WARN, __FILE__, __LINE__, - log_backup_status + ", Error: " + e.what()); + log_backup_status + ", Error: " + e.what() ); } } - catch ( ... ) + catch( ... ) { - if (auto not_model_protected = get_protected_notification_model()) + if( auto not_model_protected = get_protected_notification_model() ) { log_backup_status = "WARNING: backup failed; continuing without it..."; - not_model_protected->add_log(log_backup_status + ", Unknown error occurred"); + not_model_protected->add_log( log_backup_status + ", Unknown error occurred" ); } } - log(log_backup_status); + if ( !log_backup_status.empty() ) + log(log_backup_status); + + + next_progress = 40; @@ -316,6 +300,7 @@ namespace rs2 { if (serial == d.get_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID)) { + log( "DFU device '" + serial + "' found" ); dfu = d; return true; } @@ -351,16 +336,17 @@ namespace rs2 { _progress = float(next_progress); - log("Recovery device connected, starting update"); + log("Recovery device connected, starting update..\n" + "Internal write is in progress\n" + "Please DO NOT DISCONNECT the camera"); dfu.update(_fw, [&](const float progress) { _progress = ((ceil(progress * 10) / 10 * (90 - next_progress)) + next_progress); }); - log("Firmware Download completed, await DFU transition event"); - std::this_thread::sleep_for(std::chrono::seconds(3)); - log("Firmware Update completed, waiting for device to reconnect"); + log( "Firmware Download completed, await DFU transition event" ); + std::this_thread::sleep_for( std::chrono::seconds( 3 ) ); } else { @@ -401,7 +387,8 @@ namespace rs2 return; } - log("Device reconnected succesfully!"); + log( "Device reconnected successfully!\n" + "FW update process completed successfully" ); _progress = 100; @@ -471,6 +458,8 @@ namespace rs2 { // stopping stream before starting fw update auto fw_update_manager = dynamic_cast(update_manager.get()); + if( ! fw_update_manager ) + throw std::runtime_error( "Cannot convert firmware_update_manager" ); std::for_each(fw_update_manager->get_device_model().subdevices.begin(), fw_update_manager->get_device_model().subdevices.end(), [&](const std::shared_ptr& sm) diff --git a/common/fw-update-helper.h b/common/fw-update-helper.h index 1cd20f88..d02f803f 100644 --- a/common/fw-update-helper.h +++ b/common/fw-update-helper.h @@ -41,6 +41,7 @@ namespace rs2 std::vector _fw; bool _is_signed; device_model& _model; + bool _is_d500_device = false; }; struct fw_update_notification_model : public process_notification_model diff --git a/common/fw/CMakeLists.txt b/common/fw/CMakeLists.txt index ed52c6cf..c9a009c6 100644 --- a/common/fw/CMakeLists.txt +++ b/common/fw/CMakeLists.txt @@ -14,21 +14,9 @@ set(REALSENSE_FIRMWARE_URL "https://librealsense.intel.com" CACHE STRING string(REGEX MATCH "D4XX_RECOMMENDED_FIRMWARE_VERSION \"([0-9]+.[0-9]+.[0-9]+.[0-9]+)\"" _ ${ver}) set(D4XX_FW_VERSION ${CMAKE_MATCH_1}) #message(STATUS "D4XX_FW_VERSION: ${D4XX_FW_VERSION}") -set(D4XX_FW_SHA1 b4dfa2ceb46e9b79c2d64480b149f188f7538e65) +set(D4XX_FW_SHA1 51e37fd01132c500bb4e4af408a41f42391289a5) set(D4XX_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/RS4xx/FW") -string(REGEX MATCH "SR3XX_RECOMMENDED_FIRMWARE_VERSION \"([0-9]+.[0-9]+.[0-9]+.[0-9]+)\"" _ ${ver}) -set(SR3XX_FW_VERSION ${CMAKE_MATCH_1}) -#message(STATUS "SR3XX_FW_VERSION: ${SR3XX_FW_VERSION}") -set(SR3XX_FW_SHA1 55237dba5d7db20e7c218975375d05b4210e9460) -set(SR3XX_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/SR300/FW") - -string(REGEX MATCH "L51X_RECOMMENDED_FIRMWARE_VERSION \"([0-9]+\.[0-9]+\.[0-9]+\.[0-9]+)\"" _ ${ver}) -set(L51X_FW_VERSION ${CMAKE_MATCH_1}) -#message(STATUS "L51X_FW_VERSION: ${L51X_FW_VERSION}") -set(L51X_FW_SHA1 ab73e5bfc520c0aa0340cada4b3e317b8fd31a4d) -set(L51X_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/L5xx/FW") - add_library(${PROJECT_NAME} STATIC empty.c) # disable link time optimization for fw by adding -fno-lto to disable -flto flag @@ -78,8 +66,6 @@ function(target_binary url version sha1 symbol ext) endfunction() target_binary( "${D4XX_FW_URL}" "${D4XX_FW_VERSION}" "${D4XX_FW_SHA1}" D4XX_FW_Image .bin) -target_binary( "${SR3XX_FW_URL}" "${SR3XX_FW_VERSION}" "${SR3XX_FW_SHA1}" SR3XX_FW_Image .bin) -target_binary( "${L51X_FW_URL}" "${L51X_FW_VERSION}" "${L51X_FW_SHA1}" L51X_FW_Image .bin) install(TARGETS ${PROJECT_NAME} EXPORT realsense2Targets diff --git a/common/fw/firmware-version.h b/common/fw/firmware-version.h index f0178973..9b2fe87b 100644 --- a/common/fw/firmware-version.h +++ b/common/fw/firmware-version.h @@ -1,10 +1,7 @@ /* License: Apache 2.0. See LICENSE file in root directory. - Copyright(c) 2017 Intel Corporation. All Rights Reserved. */ + Copyright(c) 2017-24 Intel Corporation. All Rights Reserved. */ #pragma once -#define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.15.0.2" -#define SR3XX_RECOMMENDED_FIRMWARE_VERSION "3.26.1.0" -#define T26X_FIRMWARE_VERSION "0.2.0.951" -#define L51X_RECOMMENDED_FIRMWARE_VERSION "1.5.8.1" +#define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.16.0.1" diff --git a/common/fw/fw.rc b/common/fw/fw.rc index 6d5f15fa..dc25a441 100644 --- a/common/fw/fw.rc +++ b/common/fw/fw.rc @@ -1,4 +1,2 @@ #include "D4XX_FW_Image.rc" -#include "SR3XX_FW_Image.rc" -#include "L51X_FW_Image.rc" diff --git a/common/measurement.cpp b/common/measurement.cpp index d128cb64..dcc8ea3b 100644 --- a/common/measurement.cpp +++ b/common/measurement.cpp @@ -184,7 +184,7 @@ float measurement::calculate_area(std::vector poly) auto a = poly[1] - poly[0]; auto b = poly[2] - poly[0]; auto n = cross(a, b); - return abs(total * n.normalize()) / 2; + return std::abs( total * n.normalized() ) / 2; } void draw_sphere(const float3& pos, float r, int lats, int longs) @@ -461,10 +461,10 @@ void measurement::draw(ux_window& win) auto axis1 = cross(vec3d{ _normal.x, _normal.y, _normal.z }, vec3d{ 0.f, 1.f, 0.f }); auto faxis1 = float3 { axis1.x, axis1.y, axis1.z }; - faxis1.normalize(); + faxis1.normalized(); auto axis2 = cross(vec3d{ _normal.x, _normal.y, _normal.z }, axis1); auto faxis2 = float3 { axis2.x, axis2.y, axis2.z }; - faxis2.normalize(); + faxis2.normalized(); matrix4 basis = matrix4::identity(); basis(0, 0) = faxis1.x; diff --git a/common/metadata-helper.cpp b/common/metadata-helper.cpp index eff84ee5..2a27aaf8 100644 --- a/common/metadata-helper.cpp +++ b/common/metadata-helper.cpp @@ -54,6 +54,8 @@ namespace rs2 class windows_metadata_helper : public metadata_helper { + using super = metadata_helper; + public: static bool parse_device_id(const std::string& id, device_id* res) { @@ -164,10 +166,8 @@ namespace rs2 { if (mi == "00") { - // L500 has 3 media-pins - if (equal(pid, "0b0d") || equal(pid, "0b3d") || equal(pid, "0b64")) return 3; // D405 has 3 media-pins - else if (equal(pid, "0b5b")) return 3; + if (equal(pid, "0b5b")) return 3; else return 2; // D400 has two } return 1; // RGB has one @@ -241,11 +241,13 @@ namespace rs2 bool is_enabled(std::string id) const override { - bool res = false; - device_id did; - if (parse_device_id(id, &did)) - foreach_device_path({ did }, [&res, did](const device_id&, std::wstring path) { + if( ! parse_device_id( id, &did ) ) + // If it's not parsed, it's not a valid USB device; return the default + return super::is_enabled( id ); + + bool res = false; + foreach_device_path({ did }, [&res, did](const device_id&, std::wstring path) { HKEY key; if (RegOpenKeyEx(HKEY_LOCAL_MACHINE, path.c_str(), 0, KEY_READ | KEY_WOW64_64KEY, &key) == ERROR_SUCCESS) diff --git a/common/metadata-helper.h b/common/metadata-helper.h index c6aab9c0..7b318d57 100644 --- a/common/metadata-helper.h +++ b/common/metadata-helper.h @@ -25,10 +25,10 @@ namespace rs2 static bool can_support_metadata(const std::string& product) { - return product == "D400" || product == "SR300" || product == "L500"; + return product == "D400" || product == "D500"; } // This is the command-line parameter that gets passed to another process (running as admin) in order to enable metadata -- see WinMain static std::string get_command_line_param() { return "--enable_metadata"; } }; -} \ No newline at end of file +} diff --git a/common/notifications.cpp b/common/notifications.cpp index 88d1fe0c..c783fad1 100644 --- a/common/notifications.cpp +++ b/common/notifications.cpp @@ -628,7 +628,7 @@ namespace rs2 { std::string clip = ""; auto lines = split_string(selected->message, '\n'); - for (auto line : lines) + for (auto & line : lines) { if (line.size() && line[0] == '$') clip += line.substr(2) + "\n"; } @@ -709,7 +709,7 @@ namespace rs2 std::string link = rsutils::string::from() << "https://github.com/IntelRealSense/librealsense/wiki/Release-Notes#release-" << _version; - ImGui::PushStyleColor(ImGuiCol_Text, alpha(white, 1.f - t)); + ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_blue, 1.f - t)); if (ImGui::Button("What's new")) { open_url(link.c_str()); diff --git a/common/notifications.h b/common/notifications.h index 175eac41..71787a17 100644 --- a/common/notifications.h +++ b/common/notifications.h @@ -71,7 +71,7 @@ namespace rs2 double timestamp = 0.0; rs2_log_severity severity = RS2_LOG_SEVERITY_NONE; std::chrono::system_clock::time_point created_time; - rs2_notification_category category; + rs2_notification_category category = RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR; bool to_close = false; // true when user clicks on close notification int width = 320; diff --git a/common/on-chip-calib.cpp b/common/on-chip-calib.cpp index 6e852e1e..d49ca4a0 100644 --- a/common/on-chip-calib.cpp +++ b/common/on-chip-calib.cpp @@ -16,16 +16,20 @@ #include "../src/algo.h" #include "../tools/depth-quality/depth-metrics.h" + +static constexpr float off_value = 0.0f; +static constexpr float on_value = 1.0f; + namespace rs2 { on_chip_calib_manager::on_chip_calib_manager(viewer_model& viewer, std::shared_ptr sub, device_model& model, device dev, std::shared_ptr sub_color, bool uvmapping_calib_full) : process_manager("On-Chip Calibration"), _model(model), _dev(dev), _sub(sub), _viewer(viewer), _sub_color(sub_color), py_px_only(!uvmapping_calib_full) { - device_id_string = "Unknown"; + device_name_string = "Unknown"; if (dev.supports(RS2_CAMERA_INFO_PRODUCT_ID)) { - device_id_string = _dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID); - if (val_in_range(device_id_string, { std::string("0AD3") })) + device_name_string = _dev.get_info( RS2_CAMERA_INFO_NAME ); + if( val_in_range( device_name_string, { std::string( "Intel RealSense D415" ) } ) ) speed = 4; } if (dev.supports(RS2_CAMERA_INFO_FIRMWARE_VERSION)) @@ -69,6 +73,78 @@ namespace rs2 _sub_color->algo_roi = { 0, 0, 0, 0 }; } } + + void on_chip_calib_manager::save_options_controlled_by_calib() + { + // Calibration might fail and be restarted, save only once, or we will keep chaged options. + if( ! _options_saved ) + { + save_laser_emitter_state(); + save_thermal_loop_state(); + _options_saved = true; + } + } + + void on_chip_calib_manager::restore_options_controlled_by_calib() + { + // Restore might be called several times, restore only if options where actually saved. + if( _options_saved ) + { + restore_laser_emitter_state(); + restore_thermal_loop_state(); + _options_saved = false; + } + } + + void on_chip_calib_manager::save_laser_emitter_state() + { + auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); + if ( it != _sub->options_metadata.end() ) //Option supported + { + _laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED ); + } + } + + void on_chip_calib_manager::save_thermal_loop_state() + { + auto it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION ); + if( it != _sub->options_metadata.end() ) // Option supported + { + _thermal_loop_prev = _sub->s->get_option( RS2_OPTION_THERMAL_COMPENSATION ); + } + } + + void on_chip_calib_manager::restore_laser_emitter_state() + { + set_laser_emitter_state( _laser_status_prev ); + } + + void on_chip_calib_manager::restore_thermal_loop_state() + { + set_thermal_loop_state( _thermal_loop_prev ); + } + + void on_chip_calib_manager::set_laser_emitter_state( float value ) + { + // Use options_model::set_option to update GUI after change + std::string ignored_error_message{ "" }; + auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); + if( it != _sub->options_metadata.end() ) // Option supported + { + it->second.set_option( RS2_OPTION_EMITTER_ENABLED, value, ignored_error_message ); + } + } + + void on_chip_calib_manager::set_thermal_loop_state( float value ) + { + // Use options_model::set_option to update GUI after change + std::string ignored_error_message{ "" }; + auto it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION ); + if( it != _sub->options_metadata.end() ) // Option supported + { + it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, value, ignored_error_message ); + } + } void on_chip_calib_manager::stop_viewer(invoker invoke) { @@ -164,15 +240,6 @@ namespace rs2 } std::this_thread::sleep_for(std::chrono::milliseconds(10)); } - - _sub->stream_enabled.clear(); - _sub->ui.selected_format_id.clear(); - if (_sub_color) - { - _sub_color->stream_enabled.clear(); - _sub_color->ui.selected_format_id.clear(); - } - _viewer.streams.clear(); } catch (...) {} } @@ -406,12 +473,6 @@ namespace rs2 bool frame_arrived = false; try { - if (_sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) - { - thermal_loop_prev = _sub->s->get_option(RS2_OPTION_THERMAL_COMPENSATION); - _sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, 0.f); - } - bool run_fl_calib = ( (action == RS2_CALIB_ACTION_FL_CALIB) && (w == 1280) && (h == 720)); if (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH) { @@ -468,10 +529,9 @@ namespace rs2 break; } - if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - _sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f); - if (_sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) - _sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, 0.f); + // TODO - When implementing UV mapping calibration - should remove from here and handle in process_flow() + set_laser_emitter_state( off_value ); + set_thermal_loop_state( off_value ); } else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) { @@ -516,8 +576,8 @@ namespace rs2 break; } - if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - _sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f); + // TODO - When implementing UV mapping calibration - should remove from here and handle in process_flow() + set_laser_emitter_state( off_value ); } else if (action == RS2_CALIB_ACTION_FL_PLUS_CALIB) { @@ -553,8 +613,8 @@ namespace rs2 break; } - if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - _sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f); + // TODO - When implementing FL plus calibration - should remove from here and handle in process_flow() + set_laser_emitter_state( off_value ); } else if (run_fl_calib) { @@ -577,11 +637,6 @@ namespace rs2 } } } - - if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - _sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f); - if (_sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) - _sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, 0.f); } else { @@ -776,7 +831,7 @@ namespace rs2 // Convert Z values into Depth values by aligning the Fitted plane with the Ground Truth (GT) plane // Calculate distance and disparity of Z values to the fitted plane. // Use the rotated plane fit to calculate GT errors - for (auto point : points_set) + for (auto & point : points_set) { // Find distance from point to the reconstructed plane auto dist2plane = p.a*point.x + p.b*point.y + p.c*point.z + p.d; @@ -1375,6 +1430,19 @@ namespace rs2 _restored = false; + save_options_controlled_by_calib(); // Restored by GUI thread on dismiss or apply. + + // Emitter on by default, off for GT/FL calib and for D415 model + float emitter_value = on_value; + if( action == RS2_CALIB_ACTION_FL_CALIB || + action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH || + device_name_string == std::string( "Intel RealSense D415" ) ) + emitter_value = off_value; + set_laser_emitter_state( emitter_value ); + + // Thermal loop should be off during calibration as to not change calibration tables during calibration + set_thermal_loop_state( off_value ); + auto fps = 30; if (_sub->dev.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR)) { @@ -1423,44 +1491,12 @@ namespace rs2 if ( action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH ) { - //Laser should be turned off during ground truth calculation - //Use options_model::set_option to update GUI after change - std::string ignored_error_message { "" }; - auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); - if ( it != _sub->options_metadata.end() ) //Option supported - { - laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED ); - it->second.set_option( RS2_OPTION_EMITTER_ENABLED, 0.0f, ignored_error_message ); - } - get_ground_truth(); - - //Restore laser - if ( it != _sub->options_metadata.end() ) //Option supported - { - it->second.set_option( RS2_OPTION_EMITTER_ENABLED, laser_status_prev, ignored_error_message ); - } } else { try { - //Save options that are going to change during the calibration - //Use options_model::set_option to update GUI after change - std::string ignored_error_message { "" }; - auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); - if ( it != _sub->options_metadata.end() ) //Option supported - { - laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED ); - it->second.set_option( RS2_OPTION_EMITTER_ENABLED, 1.0f, ignored_error_message ); - } - it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION ); - if ( it != _sub->options_metadata.end() ) //Option supported - { - thermal_loop_prev = _sub->s->get_option( RS2_OPTION_THERMAL_COMPENSATION ); - it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, 0.0f, ignored_error_message ); - } - if (action == RS2_CALIB_ACTION_FL_CALIB) calibrate_fl(); else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) @@ -1483,21 +1519,6 @@ namespace rs2 _ui_color.reset(); } - //Restore options that were changed during the calibration. - //When calibration is successful options are restored in autocalib_notification_model::draw_content() - //Use options_model::set_option to update GUI after change - std::string ignored_error_message { "" }; - auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); - if ( it != _sub->options_metadata.end() ) //Option supported - { - it->second.set_option( RS2_OPTION_EMITTER_ENABLED, laser_status_prev, ignored_error_message ); - } - it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION ); - if ( it != _sub->options_metadata.end() ) //Option supported - { - it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, thermal_loop_prev, ignored_error_message ); - } - if (_was_streaming) start_viewer(0, 0, 0, invoke); @@ -1851,10 +1872,6 @@ namespace rs2 { get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB; update_state = update_state_prev; - if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - get_manager()._sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev); - if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) - get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev); get_manager().stop_viewer(); } @@ -1891,10 +1908,6 @@ namespace rs2 { get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB; update_state = update_state_prev; - if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - get_manager()._sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev); - if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) - get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev); } else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_FAILED) { @@ -2061,11 +2074,6 @@ namespace rs2 if (ImGui::Button(get_button_name.c_str(), { 42.0f, 20.f })) { - if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - get_manager().laser_status_prev = get_manager()._sub->s->get_option(RS2_OPTION_EMITTER_ENABLED); - if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) - get_manager().thermal_loop_prev = get_manager()._sub->s->get_option(RS2_OPTION_THERMAL_COMPENSATION); - update_state_prev = update_state; update_state = RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH; get_manager().start_gt_viewer(); @@ -2074,7 +2082,7 @@ namespace rs2 ImGui::SetTooltip("%s", "Calculate ground truth for the specific target"); ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - ImGui::GetTextLineHeightWithSpacing() - 30) }); - get_manager().host_assistance = (get_manager().device_id_string == std::string("ABCD") ); // To be used for MIPI SKU only + get_manager().host_assistance = (get_manager().device_name_string == std::string("Intel RealSense D457") ); // To be used for MIPI SKU only bool assistance = (get_manager().host_assistance != 0); if (ImGui::Checkbox("Host Assistance", &assistance)) get_manager().host_assistance = (assistance ? 1 : 0); @@ -2170,7 +2178,7 @@ namespace rs2 // ImGui::SetTooltip("%s", "On-Chip Calibration Extended"); ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - ImGui::GetTextLineHeightWithSpacing() - 31) }); - get_manager().host_assistance = (get_manager().device_id_string == std::string("ABCD") ); // To be used for MIPI SKU only + get_manager().host_assistance = (get_manager().device_name_string == std::string("Intel RealSense D457") ); // To be used for MIPI SKU only bool assistance = (get_manager().host_assistance != 0); ImGui::Checkbox("Host Assistance", &assistance); if (ImGui::IsItemHovered()) @@ -2269,11 +2277,6 @@ namespace rs2 ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); if (ImGui::Button(button_name.c_str(), { float(bar_width), 20.f })) { - if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - get_manager().laser_status_prev = get_manager()._sub->s->get_option(RS2_OPTION_EMITTER_ENABLED); - if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) - get_manager().thermal_loop_prev = get_manager()._sub->s->get_option(RS2_OPTION_THERMAL_COMPENSATION); - get_manager().restore_workspace([this](std::function a) { a(); }); get_manager().reset(); get_manager().retry_times = 0; @@ -2345,30 +2348,8 @@ namespace rs2 } else if (update_state == RS2_CALIB_STATE_CALIB_COMPLETE) { - if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB || - get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB ) - { - //Restore options that were changed during the calibration. - //Use options_model::set_option to update GUI after change - std::string ignored_error_message { "" }; - auto it = get_manager()._sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); - if ( it != get_manager()._sub->options_metadata.end() ) //Option supported - { - it->second.set_option( RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev, ignored_error_message ); - } - it = get_manager()._sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION ); - if ( it != get_manager()._sub->options_metadata.end() ) //Option supported - { - it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev, ignored_error_message ); - } - } if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB) { - if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - get_manager()._sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev); - if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) - get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev); - ImGui::SetCursorScreenPos({ float(x + 20), float(y + 33) }); ImGui::Text("%s", "Health-Check Number for PX: "); @@ -2453,14 +2434,6 @@ namespace rs2 } else { - if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB) - { - if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - get_manager()._sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev); - if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) - get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev); - } - auto health = get_manager().get_health(); auto recommend_keep = fabs(health) < 0.25f; @@ -2851,11 +2824,6 @@ namespace rs2 ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); if (ImGui::Button(button_name.c_str(), { scale * 3, 20.f })) { - if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - get_manager().laser_status_prev = get_manager()._sub->s->get_option(RS2_OPTION_EMITTER_ENABLED); - if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) - get_manager().thermal_loop_prev = get_manager()._sub->s->get_option(RS2_OPTION_THERMAL_COMPENSATION); - get_manager().restore_workspace([this](std::function a) { a(); }); get_manager().reset(); get_manager().retry_times = 0; @@ -2892,6 +2860,7 @@ namespace rs2 dismiss(false); } + get_manager().restore_options_controlled_by_calib(); get_manager().restore_workspace([](std::function a) { a(); }); } @@ -3010,7 +2979,8 @@ namespace rs2 if (!use_new_calib && get_manager().done()) get_manager().apply_calib(false); - get_manager().restore_workspace([](std::function a){ a(); }); + get_manager().restore_options_controlled_by_calib(); + get_manager().restore_workspace( []( std::function< void() > a ) { a(); } ); if (update_state != RS2_CALIB_STATE_TARE_INPUT) update_state = RS2_CALIB_STATE_INITIAL_PROMPT; diff --git a/common/on-chip-calib.h b/common/on-chip-calib.h index 5f31f95c..1bddb10a 100644 --- a/common/on-chip-calib.h +++ b/common/on-chip-calib.h @@ -72,8 +72,6 @@ namespace rs2 auto_calib_action action = RS2_CALIB_ACTION_ON_CHIP_CALIB; int host_assistance = 0; int step_count_v3 = 256; - float laser_status_prev = 0.0f; - float thermal_loop_prev = 0.f; int fl_step_count = 51; int fy_scan_range = 40; @@ -103,8 +101,7 @@ namespace rs2 const std::string Y8_FORMAT = "Y8"; const std::string Z16_FORMAT = "Z16"; const std::string RGB8_FORMAT = "RGB8"; - std::string device_id_string; - + std::string device_name_string; void calibrate(); void calibrate_fl(); @@ -115,6 +112,9 @@ namespace rs2 void turn_roi_on(); void turn_roi_off(); + void save_options_controlled_by_calib(); + void restore_options_controlled_by_calib(); + void start_gt_viewer(); void start_fl_viewer(); void start_uvmapping_viewer(bool b3D = false); @@ -123,6 +123,13 @@ namespace rs2 void reset_device() { _dev.hardware_reset(); } private: + void save_laser_emitter_state(); + void save_thermal_loop_state(); + void restore_laser_emitter_state(); + void restore_thermal_loop_state(); + void set_laser_emitter_state( float value ); + void set_thermal_loop_state( float value ); + std::vector safe_send_command(const std::vector& cmd, const std::string& name); rs2::depth_frame fetch_depth_frame(invoker invoke, int timeout_ms = 5000); // Wait for next depth frame and return it std::pair get_depth_metrics(invoker invoke); @@ -137,6 +144,10 @@ namespace rs2 device _dev; + bool _options_saved = false; + float _laser_status_prev = 0.0f; + float _thermal_loop_prev = 0.0f; + bool _was_streaming = false; bool _synchronized = false; bool _post_processing = false; diff --git a/common/opengl3.h b/common/opengl3.h index cde5fdbd..91023aa8 100644 --- a/common/opengl3.h +++ b/common/opengl3.h @@ -1,6 +1,5 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2020 Intel Corporation. All Rights Reserved. - +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. #pragma once #include "matrix4.h" @@ -130,10 +129,6 @@ namespace rs2 vbo_type _type; }; - struct float3; - struct float2; - struct int3; - struct obj_mesh; class vao @@ -158,7 +153,7 @@ namespace rs2 vao(const vao& other) = delete; uint32_t _id; - int _vertex_count; + int _vertex_count = 0; vbo _vertexes, _normals, _indexes, _uvs, _tangents; }; diff --git a/common/option-model.cpp b/common/option-model.cpp index fd75bcf4..15fcbda7 100644 --- a/common/option-model.cpp +++ b/common/option-model.cpp @@ -10,7 +10,7 @@ namespace rs2 { - option_model create_option_model(rs2_option opt, + option_model create_option_model( option_value const & opt, const std::string& opt_base_label, subdevice_model* model, std::shared_ptr options, @@ -19,32 +19,17 @@ namespace rs2 { option_model option = {}; - std::stringstream ss; - - ss << opt_base_label << "/" << options->get_option_name(opt); - option.id = ss.str(); - option.opt = opt; + std::string const option_name = options->get_option_name( opt->id ); + option.id = rsutils::string::from() << opt_base_label << '/' << option_name; + option.opt = opt->id; option.endpoint = options; - option.label = options->get_option_name(opt) + std::string("##") + ss.str(); + option.label = rsutils::string::from() << option_name << "##" << option.id; option.invalidate_flag = options_invalidated; option.dev = model; - option.range = { 0, 1, 0, 0 }; - option.value = 0; - - option.supported = options->supports(opt); - if (option.supported) - { - try - { - option.range = options->get_option_range(opt); - option.read_only = options->is_option_read_only(opt); - option.value = options->get_option(opt); - } - catch (const error& e) - { - error_message = error_to_string(e); - } - } + option.value = opt; + option.supported = opt->is_valid; // i.e., supported-and-enabled! + option.range = options->get_option_range( opt->id ); + option.read_only = options->is_option_read_only( opt->id ); return option; } } @@ -176,9 +161,10 @@ void option_model::update_all_fields( std::string & error_message, notifications { try { - if( ( supported = endpoint->supports( opt ) ) ) + value = endpoint->get_option_value( opt ); + supported = value->is_valid; + if( supported ) { - value = endpoint->get_option( opt ); range = endpoint->get_option_range( opt ); read_only = endpoint->is_option_read_only( opt ); } @@ -219,6 +205,33 @@ bool option_model::is_enum() const return true; } +std::vector< const char * > option_model::get_combo_labels( int * p_selected ) const +{ + int selected = 0, counter = 0; + std::vector< const char * > labels; + for( auto i = range.min; i <= range.max; i += range.step, counter++ ) + { + auto label = endpoint->get_option_value_description( opt, i ); + + switch( value->type ) + { + case RS2_OPTION_TYPE_FLOAT: + if( std::fabs( i - value->as_float ) < 0.001f ) + selected = counter; + break; + case RS2_OPTION_TYPE_STRING: + if( 0 == strcmp( label, value->as_string ) ) + selected = counter; + break; + } + + labels.push_back( label ); + } + if( p_selected ) + *p_selected = selected; + return labels; +} + bool option_model::draw_combobox( notifications_model & model, std::string & error_message, const char * description, @@ -229,7 +242,8 @@ bool option_model::draw_combobox( notifications_model & model, std::string txt = rsutils::string::from() << ( use_option_name ? endpoint->get_option_name( opt ) : description ) << ":"; - auto pos_x = ImGui::GetCursorPosX(); + float text_length = ImGui::CalcTextSize( txt.c_str() ).x; + float combo_position_x = ImGui::GetCursorPosX() + text_length + 5; ImGui::Text( "%s", txt.c_str() ); if( ImGui::IsItemHovered() && description ) @@ -239,37 +253,22 @@ bool option_model::draw_combobox( notifications_model & model, ImGui::SameLine(); if( new_line ) - ImGui::SetCursorPosX( pos_x + 140 ); + ImGui::SetCursorPosX( combo_position_x ); ImGui::PushItemWidth( new_line ? -1.f : 100.f ); - std::vector< const char * > labels; - auto selected = 0, counter = 0; - - for( auto i = range.min; i <= range.max; i += range.step, counter++ ) - { - if( std::fabs( i - value ) < 0.001f ) - selected = counter; - - labels.push_back( endpoint->get_option_value_description( opt, i ) ); - } + int selected; + std::vector< const char * > labels = get_combo_labels( &selected ); ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, { 1, 1, 1, 1 } ); try { - int tmp_selected = selected; - float tmp_value = value; - ImGui::PushItemWidth( 105.f ); - if( ImGui::Combo( id.c_str(), - &tmp_selected, - labels.data(), - static_cast< int >( labels.size() ) ) ) + if( ImGui::Combo( id.c_str(), &selected, labels.data(), static_cast< int >( labels.size() ) ) ) { - tmp_value = range.min + range.step * tmp_selected; + float tmp_value = range.min + range.step * selected; model.add_log( rsutils::string::from() - << "Setting " << opt << " to " << tmp_value << " (" << labels[tmp_selected] << ")" ); + << "Setting " << opt << " to " << tmp_value << " (" << labels[selected] << ")" ); set_option( opt, tmp_value, error_message ); - selected = tmp_selected; if( invalidate_flag ) *invalidate_flag = true; item_clicked = true; @@ -284,6 +283,7 @@ bool option_model::draw_combobox( notifications_model & model, ImGui::PopItemWidth(); return item_clicked; } + bool option_model::draw_slider( notifications_model & model, std::string & error_message, const char * description, @@ -321,9 +321,9 @@ bool option_model::draw_slider( notifications_model & model, if( ImGui::Button( edit_id.c_str(), { 20, 20 } ) ) { if( is_all_integers() ) - edit_value = rsutils::string::from() << (int)value; + edit_value = rsutils::string::from() << (int)value->as_float; else - edit_value = rsutils::string::from() << value; + edit_value = rsutils::string::from() << value->as_float; edit_mode = true; } if( ImGui::IsItemHovered() ) @@ -358,18 +358,18 @@ bool option_model::draw_slider( notifications_model & model, if( read_only ) { ImVec2 vec{ 0, 20 }; - std::string text - = ( value == (int)value ) ? std::to_string( (int)value ) : std::to_string( value ); + std::string text = ( value->as_float == (int)value->as_float ) ? std::to_string( (int)value->as_float ) + : std::to_string( value->as_float ); if( range.min != range.max ) { - ImGui::ProgressBar( ( value / ( range.max - range.min ) ), vec, text.c_str() ); + ImGui::ProgressBar( ( value->as_float / ( range.max - range.min ) ), vec, text.c_str() ); } else // constant value options { auto c = ImGui::ColorConvertU32ToFloat4( ImGui::GetColorU32( ImGuiCol_FrameBg ) ); ImGui::PushStyleColor( ImGuiCol_FrameBgActive, c ); ImGui::PushStyleColor( ImGuiCol_FrameBgHovered, c ); - float dummy = std::floor( value ); + float dummy = std::floor( value->as_float ); if( ImGui::DragFloat( id.c_str(), &dummy, 1, 0, 0, text.c_str() ) ) { // Changing the depth units not on advanced mode is not allowed, @@ -432,7 +432,14 @@ bool option_model::draw_slider( notifications_model & model, } else { - set_option( opt, new_value, error_message ); + // run when the value is valid and the enter key is pressed to submit the new value + auto option_was_set = set_option(opt, new_value, error_message); + if (option_was_set) + { + if (invalidate_flag) + *invalidate_flag = true; + model.add_log(rsutils::string::from() << "Setting " << opt << " to " << value->as_float); + } } edit_mode = false; } @@ -446,7 +453,8 @@ bool option_model::draw_slider( notifications_model & model, } else if( is_all_integers() ) { - auto int_value = static_cast< int >( value ); + // runs when changing a value with slider and not the textbox + auto int_value = static_cast< int >( value->as_float ); if( ImGui::SliderIntWithSteps( id.c_str(), &int_value, @@ -470,7 +478,7 @@ bool option_model::draw_slider( notifications_model & model, } else { - float tmp_value = value; + float tmp_value = value->as_float; float temp_value_displayed = tmp_value; float min_range_displayed = range.min; float max_range_displayed = range.max; @@ -546,7 +554,7 @@ bool option_model::draw_checkbox( notifications_model & model, { bool checkbox_was_clicked = false; - auto bool_value = value > 0.0f; + auto bool_value = value->as_float > 0.0f; if( ImGui::Checkbox( label.c_str(), &bool_value ) ) { checkbox_was_clicked = true; @@ -660,7 +668,7 @@ bool option_model::set_option(rs2_option opt, // anything... try { - value = endpoint->get_option(opt); + value = endpoint->get_option_value(opt); } catch (...) { diff --git a/common/option-model.h b/common/option-model.h index 0c9a2ca2..5515e012 100644 --- a/common/option-model.h +++ b/common/option-model.h @@ -23,6 +23,8 @@ namespace rs2 bool draw_option( bool update_read_only_options, bool is_streaming, std::string& error_message, notifications_model& model ); + std::vector< const char * > get_combo_labels( int * p_selected = nullptr ) const; + rs2_option opt; option_range range; std::shared_ptr endpoint; @@ -32,13 +34,13 @@ namespace rs2 bool* invalidate_flag = nullptr; bool supported = false; bool read_only = false; - float value = 0.0f; - std::string label = ""; - std::string id = ""; + rs2::option_value value; + std::string label; + std::string id; subdevice_model* dev; std::function custom_draw_method = nullptr; bool edit_mode = false; - std::string edit_value = ""; + std::string edit_value; private: bool is_all_integers() const; bool is_enum() const; @@ -59,7 +61,7 @@ namespace rs2 std::string adjust_description( const std::string& str_in, const std::string& to_be_replaced, const std::string& to_replace ); }; - option_model create_option_model(rs2_option opt, + option_model create_option_model(option_value const & opt, const std::string& opt_base_label, subdevice_model* model, std::shared_ptr options, diff --git a/common/os.cpp b/common/os.cpp index 0d422414..6e2b0293 100644 --- a/common/os.cpp +++ b/common/os.cpp @@ -7,6 +7,7 @@ #endif #include "os.h" +#include #include #include @@ -168,7 +169,7 @@ Some auxillary functionalities might be affected. Please report this message if return false; } - const char* file_dialog_open(file_dialog_mode flags, const char* filters, + const char* file_dialog_open(file_dialog_mode flags, const char* filters, const char* default_path, const char* default_name) { std::string def = ""; @@ -178,14 +179,13 @@ Some auxillary functionalities might be affected. Please report this message if const char* def_ptr = nullptr; if (default_name || default_path) def_ptr = def.c_str(); - int num_filters = filters == nullptr ? 0 : 1; - char const * const * aFilterPatterns = nullptr; - char const * aSingleFilterDescription = nullptr; + char const* const* aFilterPatterns = nullptr; + char const* aSingleFilterDescription = nullptr; std::vector filters_split; - if (num_filters) + if (filters) { auto curr = filters; while (*curr != '\0') @@ -196,22 +196,31 @@ Some auxillary functionalities might be affected. Please report this message if } } + int filters_count = 0; std::vector filter; - if (filters_split.size() == 2) + if (filters_split.size() >= 1) { - filter.push_back(filters_split[1].c_str()); - aFilterPatterns = filter.data(); + filters_count = int( filters_split.size() - 1 ); + + // set description aSingleFilterDescription = filters_split[0].c_str(); + + // fill filter pattern with extensions + for (int i = 1; i < filters_split.size(); ++i) + { + filter.push_back(filters_split[i].c_str()); + } + aFilterPatterns = filter.data(); } if (flags == save_file) { - return tinyfd_saveFileDialog("Save File", def_ptr, num_filters, aFilterPatterns, aSingleFilterDescription); + return tinyfd_saveFileDialog("Save File", def_ptr, filters_count, aFilterPatterns, aSingleFilterDescription); } if (flags == open_file) { - return tinyfd_openFileDialog("Open File", def_ptr, num_filters, aFilterPatterns, aSingleFilterDescription, 0); + return tinyfd_openFileDialog("Open File", def_ptr, filters_count, aFilterPatterns, aSingleFilterDescription, 0); } return nullptr; } @@ -246,105 +255,6 @@ Some auxillary functionalities might be affected. Please report this message if return buffer; } - std::string get_folder_path(special_folder f) - { - std::string res; -#ifdef _WIN32 - - if (f == temp_folder) - { - TCHAR buf[MAX_PATH]; - if (GetTempPath(MAX_PATH, buf) != 0) - { - char str[1024]; - wcstombs(str, buf, 1023); - res = str; - } - } - else - { - GUID folder; - HRESULT hr; - switch (f) - { - case user_desktop: folder = FOLDERID_Desktop; - break; - case user_documents: folder = FOLDERID_Documents; - // The user's Documents folder location may get overridden, as we know OneDrive does in certain circumstances. - // In such cases, the new function, SHGetKnownFolderPath, does not always return the new path, while the deprecated - // function does. - CHAR path[MAX_PATH]; - CHECK_HR(SHGetFolderPathA(NULL, CSIDL_PERSONAL, NULL, 0, path)); - - res = path; - res += "\\"; - return res; - case user_pictures: folder = FOLDERID_Pictures; - break; - case user_videos: folder = FOLDERID_Videos; - break; - case app_data: folder = FOLDERID_RoamingAppData; - break; - default: - throw std::invalid_argument( - std::string("Value of f (") + std::to_string(f) + std::string(") is not supported")); - } - - PWSTR folder_path = NULL; - hr = SHGetKnownFolderPath(folder, KF_FLAG_DEFAULT_PATH, NULL, &folder_path); - if (SUCCEEDED(hr)) - { - char str[1024]; - wcstombs(str, folder_path, 1023); - CoTaskMemFree(folder_path); - res = str; - res += "\\"; - } - else - { - throw std::runtime_error("Failed to get requested special folder"); - } - } -#endif //_WIN32 -#if defined __linux__ || defined __APPLE__ - if (f == special_folder::temp_folder) - { - const char* tmp_dir = getenv("TMPDIR"); - res = tmp_dir ? tmp_dir : "/tmp/"; - } - else - { - const char* home_dir = getenv("HOME"); - if (!home_dir) - { - struct passwd* pw = getpwuid(getuid()); - home_dir = (pw && pw->pw_dir) ? pw->pw_dir : ""; - } - if (home_dir) - { - res = home_dir; - switch (f) - { - case user_desktop: res += "/Desktop/"; - break; - case user_documents: res += "/Documents/"; - break; - case user_pictures: res += "/Pictures/"; - break; - case user_videos: res += "/Videos/"; - break; - case app_data: res += "/."; - break; - default: - throw std::invalid_argument( - std::string("Value of f (") + std::to_string(f) + std::string(") is not supported")); - } - } - } -#endif // defined __linux__ || defined __APPLE__ - return res; - } - bool ends_with(const std::string& s, const std::string& suffix) { auto i = s.rbegin(), j = suffix.rbegin(); @@ -361,23 +271,6 @@ Some auxillary functionalities might be affected. Please report this message if return j == prefix.end(); } - std::string get_os_name() - { -#ifdef _WIN32 - return "Windows"; -#else -#ifdef __APPLE__ - return "Mac OS"; -#else -#ifdef __linux__ - return "Linux"; -#else - return "Unknown"; -#endif -#endif -#endif - } - bool is_debug() { #ifndef NDEBUG diff --git a/common/os.h b/common/os.h index a8c05e99..7fdc7edc 100644 --- a/common/os.h +++ b/common/os.h @@ -50,22 +50,9 @@ namespace rs2 size_t pixel_width, size_t pixels_height, size_t bytes_per_pixel, const void* raster_data, size_t stride_bytes); - enum special_folder - { - user_desktop, - user_documents, - user_pictures, - user_videos, - temp_folder, - app_data - }; - std::string get_timestamped_file_name(); - std::string get_folder_path(special_folder f); std::string url_encode(const std::string &value); - std::string get_os_name(); - bool is_debug(); } diff --git a/common/output-model.cpp b/common/output-model.cpp index e509af37..2c471a77 100644 --- a/common/output-model.cpp +++ b/common/output-model.cpp @@ -11,6 +11,9 @@ #include #include +#include +#include + using namespace rs2; using namespace rsutils::string; @@ -111,6 +114,9 @@ output_model::output_model() : fw_logger([this](){ thread_loop(); }) , incoming_ configurations::viewer::output_open, false); search_line = config_file::instance().get_or_default( configurations::viewer::search_term, std::string("")); + is_dashboard_open = config_file::instance().get_or_default( + configurations::viewer::dashboard_open, true ); + if (search_line != "") search_open = true; available_dashboards["Frame Drops per Second"] = [&](std::string name){ @@ -372,12 +378,12 @@ void output_model::draw(ux_window& win, rect view_rect, device_models_list & dev ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0,0)); ImGui::PushStyleColor(ImGuiCol_ChildWindowBg, dark_sensor_bg); + const float log_area_width = w - get_dashboard_width() - 2; + ImGui::BeginChild("##LogArea", - ImVec2(0.7f * w - 4, h - 38 - ImGui::GetTextLineHeightWithSpacing() - 1), true, + ImVec2(log_area_width, h - 38 - ImGui::GetTextLineHeightWithSpacing() - 1), true, ImGuiWindowFlags_AlwaysVerticalScrollbar); - const auto log_area_width = 0.7f * w - 4; - bool copy_all = false; bool save_all = false; std::vector output_strings; @@ -521,11 +527,10 @@ void output_model::draw(ux_window& win, rect view_rect, device_models_list & dev ImGui::PushFont(win.get_monofont()); ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue); - ImGui::PushItemWidth(0.7f * w - 32); + ImGui::PushItemWidth( w - get_dashboard_width() - 30 ); bool force_refresh = false; - - if (ImGui::IsKeyPressed(GLFW_KEY_UP) || ImGui::IsKeyPressed(GLFW_KEY_DOWN)) + if (ImGui::IsWindowFocused() && (ImGui::IsKeyPressed(GLFW_KEY_UP) || ImGui::IsKeyPressed(GLFW_KEY_DOWN))) { if (commands_histroy.size()) { @@ -537,7 +542,7 @@ void output_model::draw(ux_window& win, rect view_rect, device_models_list & dev } } - if (ImGui::IsKeyPressed(GLFW_KEY_TAB)) + if (ImGui::IsWindowFocused() && ImGui::IsKeyPressed(GLFW_KEY_TAB)) { if (!autocomplete.size() || !starts_with(to_lower(autocomplete.front()), to_lower(command_line))) { @@ -594,7 +599,7 @@ void output_model::draw(ux_window& win, rect view_rect, device_models_list & dev ImGui::PopFont(); ImGui::PopStyleColor(); - if (ImGui::IsKeyPressed(GLFW_KEY_ENTER) || ImGui::IsKeyPressed(GLFW_KEY_KP_ENTER)) + if (ImGui::IsWindowFocused() && (ImGui::IsKeyPressed(GLFW_KEY_ENTER) || ImGui::IsKeyPressed(GLFW_KEY_KP_ENTER))) { if (commands_histroy.size() > 100) commands_histroy.pop_back(); commands_histroy.push_front(command_line); @@ -604,21 +609,77 @@ void output_model::draw(ux_window& win, rect view_rect, device_models_list & dev } else command_focus = false; - if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE)) + if (ImGui::IsWindowFocused() && ImGui::IsKeyPressed(GLFW_KEY_ESCAPE)) { command_line = ""; } - ImGui::SetCursorPos(ImVec2(0.7f * w - 2, 35)); - ImGui::BeginChild("##StatsArea",ImVec2(0.3f * w - 2, h - 38), true); + float child_height = 0; + for( auto && dash : dashboards ) + { + child_height += dash->get_height(); + } + float new_dashboard_button_height = 40.f; + child_height == 0 ? child_height = new_dashboard_button_height : child_height += 5; + + auto dashboard_width = get_dashboard_width(); + ImGui::SetCursorPos( ImVec2( w - dashboard_width, 35 ) ); + + ImGui::BeginChild( "##StatsArea", ImVec2( dashboard_width - 3.f, h - 38 ), true ); + + const ImVec2 collapse_dashboard_button_size = { 28, 28 }; + const int max_dashboard_width = (int)( ( 0.3f * w ) ); + const int min_dashboard_width = static_cast(collapse_dashboard_button_size.x) + 2; + + if( is_dashboard_open ) + { + if( ImGui::Button( u8"\uf138", collapse_dashboard_button_size ) ) // close dashboard + { + is_dashboard_open = false; + config_file::instance().set( configurations::viewer::dashboard_open, is_dashboard_open ); + default_dashboard_w = min_dashboard_width; + } + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "Collapse dashboard" ); + } + + // Animation of opening dashboard panel + if( default_dashboard_w.value() != max_dashboard_width ) + default_dashboard_w = max_dashboard_width; + } + else + { + float cursor_pos_x = ImGui::GetCursorPosX(); + ImGui::SetCursorPosX( 0 ); + + if( ImGui::Button( u8"\uf137", collapse_dashboard_button_size ) ) // open dashboard + { + is_dashboard_open = true; + config_file::instance().set( configurations::viewer::dashboard_open, is_dashboard_open ); + default_dashboard_w = max_dashboard_width; + } + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "Open dashboard" ); + } + ImGui::SetCursorPosX( cursor_pos_x ); + + // Animation of closing dashboard panel + if( default_dashboard_w.value() != min_dashboard_width ) + default_dashboard_w = min_dashboard_width; + } auto top = 0; - for(auto&& dash : dashboards) + if( is_dashboard_open && dashboard_width == max_dashboard_width ) { - auto h = dash->get_height(); - auto r = rect { 0.f, (float)top, 0.3f * w - 2, (float)h }; - dash->draw(win, r); - top += h; + for( auto && dash : dashboards ) + { + auto h = dash->get_height(); + auto r = rect{ 0.f, (float)top, get_dashboard_width() - 8.f, (float)h }; + dash->draw( win, r ); + top += h; + } } dashboards.erase(std::remove_if(dashboards.begin(), dashboards.end(), @@ -640,7 +701,8 @@ void output_model::draw(ux_window& win, rect view_rect, device_models_list & dev if (can_add) { ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5); - const auto new_dashboard_name = "new_dashaborad"; + const auto new_dashboard_name = "new_dashboard"; + ImGui::SameLine(); if (ImGui::Button(u8"\uF0D0 Add Dashboard", ImVec2(-1, 25))) { ImGui::OpenPopup(new_dashboard_name); @@ -687,7 +749,6 @@ void output_model::draw(ux_window& win, rect view_rect, device_models_list & dev ImGui::EndChild(); - ImGui::PopStyleColor(); } else foreach_log([&](log_entry& log) {}); @@ -979,13 +1040,14 @@ void stream_dashboard::draw_dashboard(ux_window& win, rect& r) { pos.x + r.w, pos.y + get_height() }, ImColor(dark_sensor_bg)); auto size = ImGui::CalcTextSize(name.c_str()); - ImGui::SetCursorPos(ImVec2( r.w / 2 - size.x / 2, 5 )); + float collapse_buton_h = 28.f + 3.f; // Dashboard button size plus some spacing + ImGui::SetCursorPos(ImVec2( r.w / 2 - size.x / 2, 5 + collapse_buton_h)); ImGui::Text("%s", name.c_str()); ImGui::SameLine(); ImGui::PushStyleColor(ImGuiCol_Text, grey); ImGui::SetCursorPosX(r.w - 25); - ImGui::SetCursorPosY(3); + ImGui::SetCursorPosY( 3.f + collapse_buton_h ); std::string id = rsutils::string::from() << u8"\uF00D##Close_" << name; if (ImGui::Button(id.c_str(),ImVec2(22,22))) { @@ -1007,7 +1069,7 @@ void stream_dashboard::draw_dashboard(ux_window& win, rect& r) auto y = max_y - i * (gap_y / ticks_y); std::string y_label = rsutils::string::from() << std::fixed << std::setprecision(2) << y; auto y_pixel = ImGui::GetTextLineHeight() + i * (height_y / ticks_y); - ImGui::SetCursorPos(ImVec2( 10, y_pixel )); + ImGui::SetCursorPos(ImVec2( 10, y_pixel + collapse_buton_h)); ImGui::Text("%s", y_label.c_str()); ImGui::GetWindowDrawList()->AddLine({ pos.x + max_y_label_width + 15.f, pos.y + y_pixel + 5.f }, @@ -1037,7 +1099,7 @@ void stream_dashboard::draw_dashboard(ux_window& win, rect& r) { auto x = min_x + i * (gap_x / ticks_x); std::string x_label = rsutils::string::from() << std::fixed << std::setprecision(2) << x; - ImGui::SetCursorPos(ImVec2( 15 + max_y_label_width+ i * (graph_width / ticks_x), r.h - ImGui::GetTextLineHeight() )); + ImGui::SetCursorPos(ImVec2( 15 + max_y_label_width+ i * (graph_width / ticks_x), r.h - ImGui::GetTextLineHeight() + collapse_buton_h)); ImGui::Text("%s", x_label.c_str()); ImGui::GetWindowDrawList()->AddLine({ pos.x + 15 + max_y_label_width + i * (graph_width / ticks_x), pos.y + ImGui::GetTextLineHeight() + 5 }, @@ -1080,12 +1142,12 @@ void frame_drops_dashboard::process_frame(rs2::frame f) { auto last = stream_to_time[f.get_profile().unique_id()]; - long long fps = f.get_profile().fps(); + double fps = (double)f.get_profile().fps(); - if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS)) - fps = f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS); + if( f.supports_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) ) + fps = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.; - if (1000.f * (ts - last) > 1.5f * (1000.f / fps)) { + if (1000. * (ts - last) > 1.5 * (1000. / fps)) { drops++; } } @@ -1115,20 +1177,22 @@ void frame_drops_dashboard::draw(ux_window& win, rect r) add_point((float)i, (float)hist[i]); } r.h -= ImGui::GetTextLineHeightWithSpacing() + 10; - draw_dashboard(win, r); + + if( config_file::instance().get( configurations::viewer::dashboard_open) ) + draw_dashboard(win, r); ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 40); ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 3); ImGui::Text("%s", "Measurement Metric:"); ImGui::SameLine(); ImGui::SetCursorPosY(ImGui::GetCursorPosY() - 3); - ImGui::SetCursorPosX(200); + ImGui::SetCursorPosX( 11.5f * win.get_font_size() ); std::vector methods; methods.push_back("Viewer Processing Rate"); methods.push_back("Camera Timestamp Rate"); - ImGui::PushItemWidth(r.w - 207); + ImGui::PushItemWidth(-1.f); if (ImGui::Combo("##fps_method", &method, methods.data(), (int)(methods.size()))) { clear(false); diff --git a/common/output-model.h b/common/output-model.h index 9220d9a0..9d5ce8dd 100644 --- a/common/output-model.h +++ b/common/output-model.h @@ -137,6 +137,7 @@ namespace rs2 void draw(ux_window& win, rect view_rect, std::vector> & device_models); int get_output_height() const { return default_log_h; } + int get_dashboard_width() const { return default_dashboard_w; } void run_command(std::string command, std::vector> & device_models); bool user_defined_command(std::string command, std::vector> & device_models); @@ -157,6 +158,8 @@ namespace rs2 animated default_log_h { 36 }; bool is_output_open = true; + animated< int > default_dashboard_w { 0 }; + bool is_dashboard_open = true; bool enable_firmware_logs = false; diff --git a/common/post-processing-block-model.h b/common/post-processing-block-model.h index 6053f70e..6b16ca45 100644 --- a/common/post-processing-block-model.h +++ b/common/post-processing-block-model.h @@ -30,7 +30,11 @@ namespace rs2 protected: void processing_block_enable_disable( bool actual ) override { - dynamic_cast(_block.get())->on_processing_block_enable( actual ); + auto ppf = dynamic_cast< post_processing_filter * >( _block.get() ); + if( ! ppf ) + throw std::runtime_error( "filter is not of type post_processing_filter!" ); + + ppf->on_processing_block_enable( actual ); } }; } diff --git a/common/post-processing-filter.h b/common/post-processing-filter.h index 5a9400a7..ad552cb9 100644 --- a/common/post-processing-filter.h +++ b/common/post-processing-filter.h @@ -6,6 +6,7 @@ #include #include #include +#include /* diff --git a/common/processing-block-model.cpp b/common/processing-block-model.cpp index ac519ab6..9eabcf06 100644 --- a/common/processing-block-model.cpp +++ b/common/processing-block-model.cpp @@ -1,12 +1,11 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2023 Intel Corporation. All Rights Reserved. - -#pragma once +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. #include #include #include "subdevice-model.h" #include "processing-block-model.h" +#include "viewer.h" namespace rs2 @@ -40,24 +39,43 @@ namespace rs2 save_processing_block_to_config_file(_full_name.c_str(), _block, _enabled); } - option_model& processing_block_model::get_option(rs2_option opt) + void processing_block_model::draw_options( viewer_model & viewer, + bool update_read_only_options, + bool is_streaming, + std::string & error_message ) { - if (options_metadata.find(opt) != options_metadata.end()) - return options_metadata[opt]; + for( auto & id_model : options_metadata ) + { + if( viewer.is_option_skipped( id_model.first ) ) + continue; + + switch( id_model.first ) + { + case RS2_OPTION_MIN_DISTANCE: + case RS2_OPTION_MAX_DISTANCE: + case RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED: + id_model.second.update_all_fields( error_message, *viewer.not_model ); + break; + } - std::string error_message; - options_metadata[opt] = create_option_model(opt, get_name(), _owner, _block, _owner ? &_owner->_options_invalidated : nullptr, error_message); - return options_metadata[opt]; + id_model.second.draw_option( update_read_only_options, is_streaming, error_message, *viewer.not_model ); + } } + void processing_block_model::populate_options(const std::string& opt_base_label, subdevice_model* model, bool* options_invalidated, std::string& error_message) { - for (auto opt : _block->get_supported_options()) + for( option_value option : _block->get_supported_option_values() ) { - options_metadata[opt] = create_option_model(opt, opt_base_label, model, _block, model ? &model->_options_invalidated : nullptr, error_message); + options_metadata[option->id] = create_option_model( option, + opt_base_label, + model, + _block, + model ? &model->_options_invalidated : nullptr, + error_message ); } } diff --git a/common/processing-block-model.h b/common/processing-block-model.h index 2602beb1..0be71d80 100644 --- a/common/processing-block-model.h +++ b/common/processing-block-model.h @@ -1,5 +1,5 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. #pragma once @@ -11,6 +11,7 @@ namespace rs2 { class subdevice_model; class option_model; + class viewer_model; class processing_block_model { @@ -25,22 +26,20 @@ namespace rs2 const std::string& get_name() const { return _name; } - option_model& get_option( rs2_option opt ); - rs2::frame invoke( rs2::frame f ) const { return _invoker( f ); } void save_to_config_file(); - std::vector get_option_list() - { - return _block->get_supported_options(); - } - void populate_options( const std::string& opt_base_label, subdevice_model* model, bool* options_invalidated, std::string& error_message ); + void draw_options( viewer_model & viewer, + bool update_read_only_options, + bool is_streaming, + std::string & error_message ); + std::shared_ptr get_block() { return _block; } void enable( bool e = true ) @@ -59,7 +58,7 @@ namespace rs2 protected: bool _enabled = true; std::shared_ptr _block; - std::map options_metadata; + std::map< rs2_option, option_model > options_metadata; std::string _name; std::string _full_name; std::function _invoker; diff --git a/common/realsense-ui-advanced-mode.h b/common/realsense-ui-advanced-mode.h index 2f45ccc5..3ce48304 100644 --- a/common/realsense-ui-advanced-mode.h +++ b/common/realsense-ui-advanced-mode.h @@ -4,7 +4,6 @@ #pragma once #include -#include #include #include diff --git a/common/rect.h b/common/rect.h index 9fede1d8..2cc9256d 100644 --- a/common/rect.h +++ b/common/rect.h @@ -1,11 +1,11 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2021 Intel Corporation. All Rights Reserved. - +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. #pragma once #include "float2.h" #include // max,min +#include // floor namespace rs2 { diff --git a/common/reflectivity/reflectivity.cpp b/common/reflectivity/reflectivity.cpp index 80709340..d78447ac 100644 --- a/common/reflectivity/reflectivity.cpp +++ b/common/reflectivity/reflectivity.cpp @@ -1,9 +1,13 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2020 Intel Corporation. All Rights Reserved. -#include #include "reflectivity.h" -#include +#include +#include +#include +#include +#include +#include using namespace rs2; diff --git a/common/rendering.h b/common/rendering.h index a1c68eee..ed0b5250 100644 --- a/common/rendering.h +++ b/common/rendering.h @@ -160,8 +160,8 @@ namespace rs2 auto p2 = p[(i+1) % p.size()]; if ((p2 - p1).length() < 1e-3) return false; - p1 = p1.normalize(); - p2 = p2.normalize(); + p1 = p1.normalized(); + p2 = p2.normalized(); angles.push_back(acos((p1 * p2) / sqrt(p1.length() * p2.length()))); } @@ -624,6 +624,18 @@ namespace rs2 } break; } + case RS2_FORMAT_COMBINED_MOTION: + { + auto & motion = *reinterpret_cast< const rs2_combined_motion * >( frame.get_data() ); + draw_motion_data( (float)motion.linear_acceleration.x, + (float)motion.linear_acceleration.y, + (float)motion.linear_acceleration.z ); + draw_motion_data( (float)motion.angular_velocity.x, + (float)motion.angular_velocity.y, + (float)motion.angular_velocity.z, + false ); // Don't clear previous draw + break; + } case RS2_FORMAT_Y16: case RS2_FORMAT_Y10BPACK: glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_LUMINANCE, GL_UNSIGNED_SHORT, data); @@ -799,7 +811,7 @@ namespace rs2 draw_text((int)(xy.x - w / 2), (int)xy.y, text); } - void draw_motion_data(float x, float y, float z) + void draw_motion_data(float x, float y, float z, bool clear=true) { glMatrixMode(GL_PROJECTION); glPushMatrix(); @@ -808,7 +820,8 @@ namespace rs2 glViewport(0, 0, 768, 768); glClearColor(0, 0, 0, 1); - glClear(GL_COLOR_BUFFER_BIT); + if( clear ) + glClear(GL_COLOR_BUFFER_BIT); glMatrixMode(GL_PROJECTION); glLoadIdentity(); @@ -823,11 +836,14 @@ namespace rs2 glRotatef(-135, 0.0f, 1.0f, 0.0f); - draw_axes(); + if( clear ) + { + draw_axes(); - draw_circle(1, 0, 0, 0, 1, 0); - draw_circle(0, 1, 0, 0, 0, 1); - draw_circle(1, 0, 0, 0, 0, 1); + draw_circle( 1, 0, 0, 0, 1, 0 ); + draw_circle( 0, 1, 0, 0, 0, 1 ); + draw_circle( 1, 0, 0, 0, 0, 1 ); + } const auto canvas_size = 230; const auto vec_threshold = 0.2f; diff --git a/common/res/d415.h b/common/res/d415.h index 592d4819..f10cd6d5 100644 --- a/common/res/d415.h +++ b/common/res/d415.h @@ -1,17 +1,17 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2021 Intel Corporation. All Rights Reserved. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. -// This file is auto-generated from d415.obj using rs-embed tool version: 0.0.0.1 -// Generation time: 09/13/2021 14:09:56. +// This file is auto-generated from d415.obj using rs-embed tool version: 0.0.0.2 +// Generation time: 03/14/2024 11:16:12. #pragma once -static uint32_t d415_obj_data [] { 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deec110,0x587ac102,0xb1c3c201,0xa42c110,0x654dc107,0x4001c21b,0xd70ac10d,0xc12f,0x8e61c204,0xf5000c0e,0xc75b808,0x57d70ac1,0x478f28c1,0x149d40,0xe8c8dac1,0xfac785c0,0x24f500fc,0x41fce690,0xc110f791,0xc101d653,0xc05bbd4c,0xc0f12d70,0xc0c651b4,0x41e30c81,0xc110fca0,0xc10175cb,0xc06706ab,0xc0faaa7d,0xc0cb5520,0xe4f343d3,0xc7873500,0x350048e2,0x9cc8988e,0x9400f500,0x2d41cca1,0x4fc10ca8,0x69c15414,0x138d45b,0x16e154f5,0x384bc108,0x5658410d,0x492ac149,0x68e9c117,0xb6bd410d,0x5aadc145,0x3be5c169,0xd35c4110,0x8cf5c10f,0x6c82c178,0x33c24110,0xa8c4c10c,0xdc72c1ae,0x2efd410c,0x5e6cc150,0xa82dc183,0x144f410c,0xf380c154,0xfca0c184,0x75cb4110,0x4277c101,0xc36cc188,0xc63410c,0xad57c152,0xf500488c,0x501ee900,0x10e161c1,0x37db741,0xaba495c1,0xf535006c,0x60488c,0x6816e135,0x7b350090,0x189446,0x980f7435,0x5735003c,0x9ca4ad,0x3bf300f5,0xc3cec1a9,0xc30c4110,0xf380c105,0x3500849c,0x9cb35e6c,0xcf500,0x8cc1a800,0xc041120a,0xf8c0daae,0xac1c5a0,0xd7410cf3,0xc4c14e7f,0xccdea8,0x6084ef35,0x2cf400b4,0xc1cdd57f,0x410cabb6,0xc153d0d4,0xc22e0f31,0x40de435f,0xc12fd70a,0xc22a79a7,0x40f856f5,0xc10acccd,0xc2255579,0xc10433ea,0xc12fd70a,0xc23ba44c,0x3fcbbb61,0x302fd70a,0x18c01400,0xbb72b500,0xd70abfcb,0xf37fc12f,0xf1009cfc,0xd4941c,0x10c85cc2,0x55b1d41,0xecb179c1,0x103b0ac1,0xfe3b041,0x5930ebc1,0xca522c1,0x544e6841,0xe0da7ac1,0x1367e9c1,0xf500b4,0xc1d4bc2e,0x410d66c9,0xc145df47,0xa8e84277,0x2c00f500,0x9ec1c592,0x464110ae,0x6cc10746,0xf0e35e,0xec0b7135,0x1f40144,0xc1d441b2,0x41105e71,0xc10d4023,0xc200213c,0x24f500e4,0xc1e37c33,0x4111e25a,0xc0e959ba,0xc1e94095,0x4110cc8a,0xc1050b50,0x41f00000,0x4114cded,0xc0eb851f,0x41e969a7,0x41126405,0xc1053e87,0x18b80001,0x5e31f400,0x9dc1df82,0xaf411396,0x43c1042e,0x47c1b5ef,0x1f41142a,0x7fc101f5,0x62c1af79,0x8941140b,0x32c10442,0xf1c1cb07,0xd41142f,0x54c10189,0xd41f124,0x8f4112d1,0xc105c2,0x60c1e000,0xb5ab400,0x9790c23d,0xcccd95c8,0xb2015c0a,0xacccdc0,0xb6d68bc1,0xfc077541,0x9030f100,0x3fbb7c,0xbec00000,0x82c14a92,0x3540a0ee,0x37c10d00,0xedc18409,0xfa40365e,0x3dc10a75,0xedc16b0a,0xbf4118,0x5cc00000,0xafc14ee2,0xe03ff87b,0x6c11830,0xa9c0c930,0x18660a,0xd4a314f1,0x9ed5c143,0x4085,0x999ac120,0x9c28c179,0xc03c,0xcd76c000,0x5ee9c12f,0x198c036,0x31004801,0x30d8ac20,0xd804f100,0xfcc13c7d,0x19c09dcd,0x48c11fb0,0x6bc17e10,0x30483f,0xd76504f1,0x152bc117,0xdab53f41,0x57adc117,0x9acec0bc,0x8400180f,0xc10b13de,0xc0a0ee82,0x1cf1009c,0x35080ee0,0xc0000000,0xc0d6fb14,0x3e9c63ed,0xc0000000,0xc1462b77,0x4005c39f,0xc0000000,0xc0f05885,0xc2320be8,0x4cc83f55,0x600202,0xc12806f1,0xc117d765,0x408182c7,0xc11ae2c4,0xc11803ee,0xfcf2ca1f,0x7c0df400,0x9ec138ce,0x40454b,0x45c12800,0x97c111c3,0x3fe6dc,0x8fc12800,0xcc0e839,0xba438400,0xdc8fc147,0xcbfe6,0x4118fe31,0x11f40024,0xc14ee25c,0x3fd90312,0xc1380000,0xc1519aee,0x4067c863,0xc1380000,0xc124f4b4,0xbfd90309,0xb4020018,0xc138d100,0xc1584a91,0xc237c098,0x8c89d02d,0x2818f501,0x7d414483,0x853cd6e4,0x20c0b1eb,0xe83fd8ac,0xd8991687,0x7ec13c7d,0xd540222e,0x85191271,0xd5c11deb,0x243b7c,0x9ace00f1,0xf8c6400f,0x13de9826,0xd8a8c10b,0xf500c097,0xf382a10c,0x3ac345c0,0x85a63041,0xbef61abe,0x660abbc0,0xf458143f,0xf004ce18,0x10f10120,0xc0eb5726,0x413d08bd,0xbeb4d4ed,0xc0b56f67,0xbfd8ac20,0x19a8f103,0xc0feb266,0x981c6404,0xfb0df401,0xc9c0ec86,0x9f4141da,0x76bea73c,0xcc0b3ad,0xea4142e8,0x1a3ec120,0xf0c0bef6,0xe95b7500,0x17f4c0d9,0x4400183d,0xc00f9ace,0x10f10090,0xbff6bbfe,0xc11831fb,0xc0c95a40,0x414642e5,0x3e4e9378,0xc0c6b20b,0xc0859ed3,0x1c380000,0x2280202,0xf1000c02,0x3e550c00,0xda2bf541,0xc9625dbe,0x804216c0,0x31310138,0x5b81515,0xe6666b1,0xe8c8dac1,0x752c39c0,0x1cf1015c,0xc0be0c99,0x4233c323,0xc0b65939,0xc0eb690a,0xbef8b4dd,0xc1380000,0xc0ba5eab,0x423af658,0x197f0905,0xc11ecccd,0x6c5382fe,0x204f100,0x90c0f127,0x5c423403,0x8fc0aeba,0x8ac105c2,0x184027,0x85ce04f1,0x8fb2c0f9,0x4a054087,0x278ec118,0xc863c100,0xf5001867,0x16e25600,0x911209c1,0x1a7c2b40,0x157546c1,0x1f401d4,0xc0d47836,0x403eb168,0xc116d112,0xc0ca48bd,0x2cf10204,0xc0e8398f,0x4139bee3,0x3e4e57af,0xc0c6ae3b,0xc018c199,0x96096320,0xc12c6738,0xb4f9aed8,0x3fc4541e,0xc11deb85,0xbf97d8a7,0x999d272a,0xc14215b9,0xbf9f46d8,0x1844541e,0xfa00f100,0x1e3f0dc4,0xb93f4454,0xadc13051,0xc7f75,0xa71535f4,0xf930c12a,0xf7c4c04b,0x2d73c116,0x833ec0d0,0xa235c08d,0xebfdc118,0x35d9c107,0x6b61c012,0xce67c116,0x2a57c0ba,0xed3bbe0e,0x9a2cc115,0xe3a3c0a7,0xe7d1413a,0x6f673e7f,0xcdfdc0b5,0x5a0c0f3,0xd665c944,0xf5080440,0x2fe11600,0x10e16141,0x37db7c1,0x8c5b6cc1,0x3b35069c,0x7988957,0x76a55435,0x19f407e0,0x4093a26d,0xc110085e,0xc113aa89,0x3fccbfde,0xc10e9dcf,0xc0b06d9b,0x40953e9f,0xc118fc6c,0xc119fd17,0x409be050,0xcf50768,0x408259cd,0xc1115e14,0xc0f4649c,0x411cadb1,0xc110c85c,0xc1055b1d,0x14294329,0x4aa64407,0x84040cd,0xd4f301f4,0xb889c121,0xdc2c410c,0xa311c152,0x6f0c0da,0xdef62144,0x44054040,0x40f2864e,0xee3506fc,0x5940084,0xce925344,0x350744c0,0x285e2b0e,0x8219f408,0x54168d4,0xd3c1103e,0x18c10faa,0xc3417a9e,0x42c110b1,0x2c1070a,0xb6415455,0xd4c10cab,0xc153d0,0xe040ec32,0x1d01f407,0x4b4117e9,0x58c10d38,0xe6c14956,0x2c414b32,0x5b634401,0xc040d9,0x5c241df4,0x49594138,0x952d3aab,0x9acec0ca,0x50ee400f,0xc32c19a7,0xdd1ec130,0x3fd5413d,0xeb85be82,0xffffc0b1,0x3fd5413f,0x3c03e82,0xb1035404,0x4139aa1e,0xbd44eebf,0x90b56f67,0xb7a17503,0xd4a3192a,0x31047443,0x2803088f,0x4a00f102,0x52985d50,0x1c0ea27,0x41414000,0x3c0d65b,0x1d780e31,0x838404c8,0xa9c11437,0xccbf660a,0x3cb93503,0x7103e445,0x41454095,0xcc68068e,0x300403,0x279f8771,0xb84263c1,0x8f103cc,0xc0f91a83,0xbf4118ed,0xc1280000,0xc0d9e95b,0x4145d163,0x28194e55,0x17102,0x39694140,0x44000ccc,0xc0365ee9,0xf105e8,0x3ec3f1d6,0xc0000000,0xc1505980,0x842602d7,0x913a3100,0x4060c3a,0x9b3105c4,0x59405c3,0x43aac842,0x203d8c1,0x673105f4,0x30483f,0x23ffa5b1,0xa0e136c1,0x1e98e840,0xc4040648,0x2c04f105,0xa2c130c3,0x35404366,0xf9c118f8,0xd3c0e6e6,0x482602,0x45d004f1,0xd0adc101,0xf424409b,0x4331c11f,0x2e7ec17a,0xf1001822,0x1deb8504,0x715e91c1,0x19ebc940,0x59b42c1,0xbb7c87c1,0x5f400d8,0xc0e28899,0x3f901c88,0xc0000000,0xc0dcd7a3,0xc0a0e136,0x1004006c,0xb901f305,0xc14215,0x73c1a800,0xef411495,0x70c0e319,0x60c0105,0x3c9c2cc2,0x40,0xc0994c0,0xf10084c1,0xd0c12812,0x17c10145,0x51bff2ca,0x7c997b8f,0xcc138ce,0x55be9c64,0x7719fafd,0x63c1462b,0x3b4469d,0xe5aa371,0xdc50ac1,0xb971000c,0xbdc13051,0xc7f75,0x2aa71571,0x9f46d1c1,0x857103c0,0x64c11deb,0xc469d,0x5aa31df4,0xc646c10e,0xadbfc079,0xe1c6c117,0xc4f7c0eb,0x10c8bf9f,0x392c116,0x887ec0ad,0x2cf3f7a,0xe2b2c116,0xf8cdc0aa,0x7c841e4,0xf0303f2,0x51a41d1,0xba7e4114,0x1637c104,0x5d1ac1ba,0xf507d4,0x41c728ab,0x41133eee,0xc10436a6,0x30ccf8ce,0x7100,0xf743c1a8,0x44002413,0xc1c6f0fd,0xab35003c,0x30df28,0xb87da144,0x44084c41,0xc1d0d754,0xa8c30048,0xa4c22194,0xcdc10b52,0x2cc10acc,0x6900107,0x222e7e44,0xc30678c0,0xc04006a4,0xc118e8f1,0xc0e4a041,0x6f405ac,0xc9625d3e,0x775d64c0,0x1a47e6c0,0xc78e6c1,0x804216c1,0xf105b8c0,0x478e2500,0x2b495941,0xca6aba3b,0x657216c0,0x4f105d0,0xc0fdd973,0x413ac996,0xbeaa2103,0xc0ca5384,0x182a247c,0xe004f100,0xb7c0da3d,0x6a4231ee,0xd4c0cbfa,0x8dc0eb84,0x72cee34,0xe0da00f5,0xf419c0c8,0xd52d4231,0xc29ec0c8,0xf5074405,0xd4783600,0x933688c0,0x1a1127c0,0x183a79c1,0x4f10750,0xc0c718f2,0x408ff1bb,0xc118ac08,0xc10b0475,0x905a4ff8,0x6601f200,0x16c1329e,0xfbf48d7,0x4c117db,0xd0c0bc65,0x1ec0202,0x5302ac02,0xffa5c128,0x2102e823,0x2e8c128,0x35033003,0x1c4ee25c,0x3a1cf102,0x11c13a91,0xbf406fb6,0x5cc1177d,0x65c0e492,0x4140027c,0x9dc11650,0x9ec0b6ac,0xc0454b,0xc5c12800,0x8fc12a13,0xd84027,0x3f142471,0x5a4ff8c1,0xa471000c,0xbac10938,0x90300c,0x44e95f71,0x300cbac1,0x4f50018,0xc0eddb55,0xc1ab8fb0,0x411035fb,0xc1104420,0x68ad922c,0xb71350a,0x440a5cbc,0xc1c3a496,0x284504ec,0xd4c1a1a9,0xc8ea250a,0xf50540,0xc1d2668e,0x410cef2e,0xc14ec977,0x28b84277,0x51873505,0x370b7c7d,0xbc9b5e6c,0x60a4150a,0x42773500,0x350030a0,0x3c800f74,0x524f350c,0x35006c63,0x308c0b71,0xa9283500,0x35001889,0x9c93a495,0xa8c43500,0x44006c96,0xc159e6ff,0x4f350684,0x303352,0x395aad35,0x2b350c54,0x3c7749,0xc38fb035,0xb2350108,0xb4cbc41,0xf6a8c435,0x95370054,0x30f3a4,0x30db15,0xdd922b35,0x6c350138,0xe4fb5e,0x205b844,0xf40d74c2,0xe3b08420,0x1138f3c1,0x141cb41,0xf395bec1,0x103e05c1,0xfaad341,0xf5eb5ec1,0x10b5a0c1,0x6c0a341,0xf93f63c1,0x10f283c1,0x236da41,0x41850318,0xc10acccd,0x78dba495,0xda137100,0x1861c236,0x30ca88c,0x41440c9c,0x882fd70a,0xc010e,0x82510df4,0xf675c23c,0xd70aa641,0xda13c12f,0x185fc236,0xd70ac08c,0x56abc12f,0xda4c202,0x1b41ef35,0x14030d20,0x5c419407,0xd2c10fd3,0x80c0e03d,0xbd893501,0x440f48c7,0xc0d119ed,0xf50e1c,0x41ba5f07,0xc10cf30a,0xc14e7fd7,0x9c47492a,0x52a94400,0x75c4193,0x87f08b35,0x5b3507ec,0xcd83978,0x954f0d35,0x7d350714,0x108172b,0x8bb98535,0xad440ffc,0xa8c1095a,0xd6bc3500,0x3501201b,0x44b22a81,0x524f3507,0xf401d403,0x29cd1c01,0x10f79141,0x1d65341,0x8d483c1,0x35015c41,0xe02baafd,0xcd1b350d,0x3502a034,0xfc4b41f0,0xd4f23500,0x4402c451,0x414cadb1,0x1f40db0,0x40d53c32,0x4110b1c3,0xc1070a42,0x41342942,0x1f401a4,0x40e26239,0x4110ec45,0xc102adee,0xc0ed79b0,0x8535081c,0xc0bbb9,0xc352a835,0xd3440108,0x8041db43,0x52ab3510,0xf50018ab,0x9d83930c,0x10f91741,0x1b946c1,0xa214a2c1,0x10b5a041,0x6c0a3c1,0xae56d9c1,0x3b4408b8,0xb440cfd2,0xa553440f,0x1144116,0x4294335,0x4cc30090,0x1740f60e,0x464110f9,0xf4c101b9,0xc00108,0x2ae7844,0x3508d041,0x60e9573a,0x52aa3509,0x30084db,0x41440918,0x3454144f,0x63418511,0xa8c1520c,0x24f352,0x9408a003,0x49565841,0xb30c7fc1,0x308b841,0x44011194,0x5b6b3510,0x4409ccbc,0x415618ff,0xd8350378,0xccf656,0x38d48335,0xb0350198,0x1687cad,0x2db600f5,0x68e94202,0xb6bdc10d,0xa554c145,0x4400e446,0x415d8138,0xd003030c,0x63c1850e,0x44c1520c,0xfc6429,0x1096c03,0xa8030348,0x11dc0103,0x440a4403,0xfd35c41,0x41441218,0xc045df47,0x6c0103,0x1126003,0x724400c0,0xdcc1ff67,0x432a4411,0x1d44159,0x80988f44,0x3001841,0x5f5123c,0x502efd41,0x51daf0c1,0xcb24b41,0x53534041,0xa46a41c1,0xcb4400d8,0x6c41b483,0x4e87440f,0xff041ab,0x62ae7735,0xec03018c,0x3f00101,0x9ce68e35,0x114402b8,0x74417f7b,0xa195350a,0x44008484,0x4168b6d6,0x1e44057c,0x104177e9,0x6a433502,0x300788c,0xf0010378,0x56d93500,0x3020496,0x41850a50,0xc14ec977,0x6c84e68f,0x14a23500,0x301448a,0xf80103e4,0x573b3501,0x7100a8b9,0x41f14ed6,0x9812ec11,0x12540310,0x4f4101f4,0xf5c15414,0xab41ec26,0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,0x46210e21,0x15210e21,0xe214e21,0x46214e21,0x16211521,0x15215221,0x4e215221,0x18211621,0x16214f21,0x52214f21,0x19211821,0x18208521,0x4f208521,0x79211921,0x1a208520,0x1d211c21,0x1d211a21,0x1a207621,0x3c207621,0x1c211d21,0x1d211e21,0x75211b21,0x1e211d20,0x1d211b21,0x76207521,0x21211c20,0x1c208121,0x1e208121,0x81211e21,0x21205e20,0x81211f21,0x23212120,0x81211f21,0x20211f20,0x20208121,0x23205e21,0x1f212721,0x24212321,0x1f212721,0x20212721,0x25212421,0x24212921,0x27212921,0x26212521,0x26212921,0x28212521,0x26212921,0x28212a21,0x26212c21,0x2a212921,0x26212721,0x2b212c21,0x2b212621,0x2c212a21,0x30207f21,0x30212c21,0x2c212e21,0x2b212e21,0x2d207f21,0x30213021,0x2e213221,0x2d213021,0x2e213221,0x92213221,0x31212d20,0x2d213521,0x32213521,0x35213221,0x32213321,0x92213321,0x36213120,0x35213521,0x34213621,0x34213521,0x36213321,0x39213821,0x39213621,0x34213421,0x37213921,0x83213821,0x38213e20,0x39213e21,0x3e213921,0x37213721,0x3b213e21,0x3a208321,0x3e213e21,0x3f213a21,0x3f213e21,0x3e214021,0x3b214021,0x3d213a21,0x3f213f21,0x43213d21,0x43213f21,0x3d214021,0x45214221,0x45213d21,0x43214321,0x41214521,0x42214521,0x45214921,0x41208221,0x49214521,0x49208221,0x47214b21,0x47214921,0x4b208221,0x44214621,0x44214b21,0x47214721,0x48214421,0x48214721,0x46208221,0x44214e21,0x4e214421,0x44214c21,0x48214c21,0x52214e21,0x4e214d21,0x4c214d21,0x4f215221,0x4d214d21,0x50214f21,0x50214d21,0x4f215321,0x54208521,0x54214f21,0x50215021,0x53215421,0x79208521,0x85215520,0x54215520,0x55215421,0x51205d21,0x7a215621,0x7a215120,0x7a207920,0x79215520,0x56207a20,0x7a215b21,0x55215920,0x5b207a21,0x59215921,0x55205d21,0x5b215921,0x56207721,0x5c215721,0x5c215621,0x5b215b21,0x7b215c21,0x7b215b20,0x57207720,0x5c207c21,0x7c215c21,0x5c215d20,0x7b215d21,0x58207c20,0x7c215a21,0x5d215a20,0x5e215821,0x58207d21,0x5a207d21,0x5f215a21,0x5e215d21,0x7d208421,0x7d215a20,0x84215f20,0x7e215e20,0x84207d20,0x84208620,0x60207e20,0x86207d20,0x84215f20,0x86206020,0x78207e20,0x60206020,0x5f207820,0x93207820,0x60206120,0x86205f20,0x61207820,0x5f205f20,0x94206120,0x62209320,0x61206120,0x95206220,0x95206120,0x61206320,0x94206320,0x65206220,0x62209520,0x65209620,0x65209520,0x63206320,0x64206520,0x97209620,0x65206520,0xa2209720,0xa2206520,0x97206420,0x6620b020,0x66209720,0xb020a220,0x66206720,0xbd20b020,0xbd206720,0x67206820,0xca20bd20,0x67206820,0x69206820,0xd820ca20,0x68206820,0xe120d820,0xe1206820,0x68206a20,0x69206a20,0xe820d820,0xd8206b20,0xe1206b20,0x6b20e120,0xe8206a20,0x6b206c20,0x6c206b20,0x6b20f620,0xef20f620,0xef206b20,0x6c206a20,0xf620fd20,0x6d206c20,0x6d20fd20,0xfd206f20,0x6f20fd20,0xfd210420,0x71210420,0x7120fd20,0x6f20f620,0x4206e20,0x6e210421,0x6e210820,0x14207020,0x8210421,0x6e207121,0x8212220,0x14206e21,0x70212221,0x14207220,0x72211421,0x14212f20,0x22207321,0x2f211421,0x72207321,0x2f207420,0x74212f21,0x2f214a20,0x73214a21,0x3c207420,0x74207621,0x4a207620,0x76214a21,0x94207520,0x5f208220,0x82215f21,0x2a215320,0x5e208221,0x82214d20,0x53214820,0x4d208221,0x82213321,0x5e209220,0x1e208220,0x82211e21,0x1b211b20,0x75208221,0x82207520,0x4a214a20,0x73208221,0x82207320,0x22212220,0x8208221,0x82210821,0x71207120,0xf6208220,0x8220f620,0x4120ef20,0x33208221,0x8220ef21,0x6a206a20,0x69208220,0x82206920,0x67206720,0x66208220,0x82206620,0xa220a220,0x64208220,0x82206420,0x63206320,0x94208220,0x82209220,0x4d212a20,0x4c214821,0x41214321,0x40214021,0x3b214121,0x41213b21,0x37213721,0x34214121,0x41213421,0x5d213321,0x54215320,0x53207721,0x5f205d21,0x77215321,0x5d207720,0x5f215920,0x5d207721,0x77215d21,0x2e207b20,0x2b209221,0x92212b21,0x94212a20,0x5f215f20,0x5f205f20,0x27208621,0x5e212a21,0x27212020,0x7a205e21,0x63216a21,0x7a216221,0x6e216321,0x62217a21,0x6e216521,0x74216221,0x62216521,0x6a216321,0x63216621,0x61216621,0x67216121,0x66216021,0x61216721,0x78216821,0x60216421,0x64216821,0x68216721,0x72216021,0x69217021,0x70216921,0x69216c21,0x72217321,0x77216921,0x77217321,0x7c217621,0x7c217721,0x7f217321,0x62217421,0x70217f21,0x7f217421,0x71216221,0x72217021,0x74217421,0x64217221,0x63217121,0x71218021,0x63216221,0x6f216321,0x63218021,0x6f216121,0x61216f21,0x72217e21,0x64217321,0x73216421,0x60216021,0x7c217321,0x7c216021,0x61216121,0x6d217c21,0x6d216121,0x76217e21,0x7c216d21,0x75217621,0x76217e21,0x6d217e21,0x7e216f21,0x79217921,0x75217e21,0x6b217921,0x6b216f21,0x6f218021,0x7b216b21,0x7b218021,0x80217121,0x7d217b21,0x7b217f21,0x71217f21,0x6c217d21,0x6c217f21,0x7f217021,0x6c216521,0x65217d21,0x6e217d21,0x7d216e21,0x6e217b21,0x7a217b21,0x6c217821,0x69216521,0x78216c21,0x7b217a21,0x6a216b21,0x6b217a21,0x6a217921,0x75216b21,0x79216a21,0x6a216621,0x68217521,0x78216921,0x69217721,0x77216821,0x67216821,0x67217721,0x67217621,0x76216621,0x66217621,0x74217521,0x65217821,0x64217421,0x9b217821,0x84218b21,0x9b218321,0x8f218421,0x83219b21,0x8f218621,0x95218321,0x83218621,0x8b218421,0x84219621,0x82219621,0x97219d21,0x96218121,0x9d219721,0x96218221,0x89219d21,0x85219921,0x89218121,0x97218521,0x81218921,0x91219321,0x8a218a21,0x9c219121,0x94218a21,0x8a219321,0x94219821,0x8e219821,0xa0219421,0x95219121,0x9521a021,0xa0218321,0x92218321,0x93219121,0x95219521,0x85219321,0x84219221,0x9221a121,0x84218321,0x82218421,0xa121a121,0x90218221,0x94219321,0x85218521,0x81219421,0x8e218121,0x81219d21,0x8e219421,0x9f218221,0x82219021,0x9f219d21,0x8e219d21,0x98219f21,0x8e218821,0x9f218821,0x88218e21,0x9f218721,0x90218721,0xa1219f21,0x9a219021,0x90219a21,0x9a218721,0xa1218c21,0x8d218c21,0x8d21a121,0xa1219221,0x9e218d21,0x9e219221,0x9221a021,0x9c219e21,0x9c21a021,0xa0219121,0x9c218f21,0x86219e21,0x8f219c21,0x9e218f21,0x99219b21,0x86219c21,0x9c218a21,0x9b219921,0x8d219e21,0x8d219b21,0x8b218c21,0x8c219b21,0x8b219a21,0x87218c21,0x9a218b21,0x8b219621,0x89218721,0x99218a21,0x8a219821,0x98218921,0x97218921,0x97219821,0x97218821,0x87219621,0x97218821,0x95218721,0x86219921,0x85219521,0xa5219921,0xb621a421,0xb621a521,0xa421b721,0xb621a621,0xb621b721,0xa621b821,0xb621b521,0xa321b821,0xb821a921,0xa321a721,0xa821b821,0xb821a721,0xa821b621,0xb421a321,0xb421a921,0xa921b921,0xb321b421,0xb921b921,0xa921af21,0xa921b821,0xb821af21,0xaa21af21,0xb021aa21,0xaa21b721,0xb821b721,0xb721a521,0xa521b021,0xa221b021,0xb221a221,0xa221a421,0xa521a421,0xa421a621,0xa621b221,0xae21b221,0xac21ae21,0xae21b521,0xa621b521,0xb521b621,0xb621ac21,0xab21ac21,0xb621a821,0xb421ab21,0xad21a321,0xb321ad21,0xb921b421,0xb121b321,0xaf21b121,0xab21b921,0xa221b221,0xb221ae21,0xab21ab21,0xb021a221,0xb021ab21,0xac21aa21,0xab21ae21,0xaa21a321,0xab21af21,0xa821aa21,0xaa21a821,0xa721a721,0xa321aa21,0xa321ad21,0xb121af21,0xaf21ad21,0xad21b321,0xcd21b121,}; +static uint32_t d415_obj_data [] { 0x3b64fdf4,0xcccd4125,0xf082c12c,0xa6a0c0bf,0xd7974236,0x3197c0a3,0x875bbdbd,0x3b454230,0xb28c0d8,0xef8abd60,0xe54c4238,0x319dc078,0xa80bd3d,0x687c423c,0x3565bfe5,0xac13bda7,0xd02423c,0x2a0199bf,0x4fb7bd69,0x45c840ec,0xc48a4125,0xc4fec0bf,0xdf6840fd,0x5e844125,0x91b8c0c3,0xcccd4103,0x7ce64124,0x7af3c10f,0x3506422c,0x3197c0f5,0x5671bdbd,0x4e69423b,0x319d400d,0xbd3d,0x40a04104,0x77fb412c,0x1b67c102,0x3ad34226,0x3197c108,0xc2f9bdbd,0xe30a40ec,0x4d334133,0xd4e6c150,0x59c44220,0x319dc10d,0xeb5bd3d,0xb67f423a,0x31974061,0xbdbd,0x40a0c1c6,0x77fb412c,0xba5dc102,0xcccdc1c6,0x423c4124,0xcf41c10d,0xe30ac1cc,0x4d334133,0x433fc150,0x7d604103,0xc2424126,0x42eac0cf,0x12d4104,0x59184135,0xe2a8c149,0x711541f6,0x2c51c121,0xde8bc03f,0x18c1c5,0xe0a904c3,0x24cccd40,0x8f14541,0xf10114c1,0x31974005,0xc8dbbdbd,0xcccdc1d1,0x2cff4124,0x5946c0d2,0x710024d8,0xc1102a03,0xcd9f095,0x240df300,0x69c0d04f,0xdc423307,0x2840c43a,0x8bd600b,0x6c242b3,0x9abfbe9a,0xcc0d999,0x3f35f100,0xc0d9999a,0xc2249997,0xc0b61fe1,0xbf4e1480,0xc240129e,0xc078635a,0xc0d9999a,0xc1d013d7,0x4126b9d5,0xc0c59996,0xc200e141,0xc1256f9e,0xc084d4e8,0xc1d1e752,0x4128e277,0xc0d42bed,0x6cf89a05,0x45a0b100,0xc23ac107,0x9d71c237,0xc3003ce7,0xc1cba4fb,0x4125b3d3,0xc0bf38f3,0xb4010168,0xa618f100,0xf240da9a,0x1b412841,0xcdc0ce3b,0xa5c22b27,0x9ac119e0,0xc7c0d999,0x72c1c809,0x67412602,0x41c0c493,0xd8e02a,0x8f14571,0x900000c1,0x9d840060,0xc10608,0x98420100,0x4d554401,0x48411d,0xcf1,0xfc05c218,0xb1e2c12f,0x859dc104,0x2df4c1c6,0x57844128,0x1006c0cd,0x71003c79,0xc10c15ec,0x54e459e2,0x4f04f100,0x38c105dc,0xc2c20ace,0xa2c1352b,0xb3c13471,0x18e908,0xcb8a984,0xc1edac1,0x220138c0,0x1bc3725,0xd22cff71,0xde97b7c0,0x2cf10024,0xc0ce3271,0xc2090165,0xc1363815,0xc1437c28,0xc202abc1,0xc12d8f1e,0xc0d82dd2,0x41c53468,0x412b6c4b,0xc0caffba,0xc2054107,0xc1376d35,0xc14d9380,0x412ac49c,0xd034cccd,0x7215f302,0x27c2193a,0x53c121ac,0xc9c05ca6,0xb7c2061f,0x71c12b6f,0xc1263d,0x26c21800,0xb4c112e5,0x14bd841e,0x9a415301,0x50c0d999,0x9a405301,0x98c0d999,0xc0101,0xf51704f1,0x7f40c1f9,0xc5cbc120,0x54acc03f,0x84f7c21b,0x4401bcfd,0x411d2f6f,0xba4400a8,0x40420110,0x45a42202,0x3c710228,0xc10d42,0xe49000,0x89d35f4,0xc8d6c106,0x829ec21f,0xa01dc128,0x86c7c0ca,0xd23b4182,0x97f04129,0x3538c0b8,0xff30c208,0xb148c12b,0x2b0dc172,0xfffcc237,0x14803fd3,0xbf4e,0xbf334218,0x2863c12f,0xf74cc104,0x13841de,0x26617c44,0x31031841,0xc04d2f6f,0x9f04f503,0xf3c10d7f,0x68c082de,0x7a4125df,0x52c0c308,0x234b9e7,0xf1005403,0x1480bf05,0x8899bf4e,0x1a834203,0xa4e9c131,0xffffc104,0xf400c0e3,0x6089d05,0x24fe45c1,0x25bec041,0xbfee9d41,0x742cebc0,0x4401d4c0,0xc1b4cf41,0x8e35006c,0xb4550d,0x365b00f5,0xb476c230,0x8cd4c101,0x3469c05c,0xf1018c95,0x3b813d00,0x9b3f29c2,0x5c8cd4c0,0x532a8cc0,0xdf2009c,0xc106e101,0x423ccd76,0x408ff9c7,0xc130cccd,0x420298f0,0xc1198725,0xc1139e2e,0x2c910144,0xce3271c1,0x32d093c0,0x71710030,0x81c0ce32,0xc2054,0x8f14571,0x1bbfec1,0x29f4000c,0xc0cb5f0a,0x40fac016,0xc134cccd,0xc14f0aa0,0xc0fac016,0xc12ccccd,0xc0c1eac1,0xc0d8dc94,0xc134cccd,0xc0d22cff,0x418975c6,0x411e81d3,0xc148baf3,0xc1253b64,0xf104e0,0xc15f4253,0xc134cccd,0xc0c3e500,0xcc94ffb,0xc104f100,0x98c0c1ea,0xc3c1cf0b,0x6411844,0x64c1075a,0x30553b,0x65ea842,0x1103f0c1,0x3100542c,0x1889c8db,0x2cff3300,0x202acd2,0x4922000c,0x71001868,0xc10d7f9f,0x24b14ffb,0xeac17500,0xb005c0c1,0x31000c9e,0x6c9c0000,0xc910f500,0xfcc1505d,0xd8406fff,0x9a411b7d,0xc121eb,0x29c11c00,0x6b411c41,0x89c12b2b,0xb402eb,0x1e4d01f4,0x96874077,0x25cf411e,0xae28c14a,0xcc400b,0xda28eb44,0x44000cc0,0xc0100001,0x89350048,0x3c32eb,0xfdd800f5,0xbd214106,0xbc39411f,0xb98c166,0x4400d8e7,0xc11d1476,0x2cf1003c,0xc19f59e0,0x411ed092,0xc14e4694,0xc204999a,0x411d2856,0xc1352c01,0xc19a4257,0x411ee5b1,0xc14fdf46,0xc163bb80,0x411e6047,0xc1467a5c,0xc10253c6,0x411e8dfc,0x3c49977c,0x5908f503,0xa1411645,0x20c0f3c7,0x8bc205f3,0xd04114ef,0xe0c0e12b,0xc120c,0x447818f5,0xf79fc1e8,0xc1344136,0xa9ffc150,0x7166c1c9,0x46f4135,0x3c70c151,0x17e2c209,0xbcd84136,0xa9ffc141,0x44001881,0x419e5601,0x8f10024,0x40d79676,0x413509b3,0xc149b632,0x41b2d363,0x41357bc3,0x7851b966,0xfc05c400,0xb1e2412f,0xcb3ac104,0x24417b,0x99a9ff35,0xcf50048,0xc20647f0,0x4137fedf,0xc17937c8,0xc208300c,0x4137f302,0xc172fbb4,0x90d04478,0xcb3b3500,0x46003c1b,0x417f770e,0xb11500a8,0x79350048,0x30b844,0xfd2c9d44,0xf50084c1,0x8999a00,0x377878c2,0x5d83ec41,0x97bb88c1,0x3a35003c,0x544bcb,0xcad36238,0x16f400b4,0x37ff3042,0x79999a41,0x2b5dbbc1,0x261f8a42,0x79999ac1,0xcf81d4c1,0x36666741,0xbff574c1,0x7ddc3fc0,0x31008440,0x18ba3b25,0x26987100,0xe4f9c149,0x71000ce2,0xc0bc9bd2,0xc8a8e4f,0xcf04f100,0xb0c0d19c,0x3440f06f,0x7c4136d5,0x4fc15f08,0x18e7ad,0xc082c484,0xa8698fc0,0x310114c0,0x1887a479,0x703a7100,0x8e4ec0c0,0x71000cea,0xc0d19ccf,0xc9ba7c6,0x9bd27500,0xac03c0bc,0x3501745c,0xc865601,0xae0df400,0x31423fec,0x9a407778,0x63c17999,0xa3c20fe8,0xf2413417,0xc6c127dd,0xa8c00223,0x58044400,0x1b04099,0x2effe671,0x1f588f42,0xf14400e4,0x24c10088,0x9feb4400,0x24bf9a,0x3434c744,0x71009cc1,0x423fd624,0x60b7ff30,0x43437100,0xc33f4244,0x35000c3d,0x248a1a64,0x38a67100,0xff30408b,0x62012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deec110,0x587ac102,0xb1c3c201,0xa42c110,0x654dc107,0x4001c21b,0xd70ac10d,0xc12f,0x8e61c204,0xf5000c0e,0xc75b808,0x57d70ac1,0x478f28c1,0x149d40,0xe8c8dac1,0xfac785c0,0x24f500fc,0x41fce690,0xc110f791,0xc101d653,0xc05bbd4c,0xc0f12d70,0xc0c651b4,0x41e30c81,0xc110fca0,0xc10175cb,0xc06706ab,0xc0faaa7d,0xc0cb5520,0xe4f343d3,0xc7873500,0x350048e2,0x9cc8988e,0x9400f500,0x2d41cca1,0x4fc10ca8,0x69c15414,0x138d45b,0x16e154f5,0x384bc108,0x5658410d,0x492ac149,0x68e9c117,0xb6bd410d,0x5aadc145,0x3be5c169,0xd35c4110,0x8cf5c10f,0x6c82c178,0x33c24110,0xa8c4c10c,0xdc72c1ae,0x2efd410c,0x5e6cc150,0xa82dc183,0x144f410c,0xf380c154,0xfca0c184,0x75cb4110,0x4277c101,0xc36cc188,0xc63410c,0xad57c152,0xf500488c,0x501ee900,0x10e161c1,0x37db741,0xaba495c1,0xf535006c,0x60488c,0x6816e135,0x7b350090,0x189446,0x980f7435,0x5735003c,0x9ca4ad,0x3bf300f5,0xc3cec1a9,0xc30c4110,0xf380c105,0x3500849c,0x9cb35e6c,0xcf500,0x8cc1a800,0xc041120a,0xf8c0daae,0xac1c5a0,0xd7410cf3,0xc4c14e7f,0xccdea8,0x6084ef35,0x2cf400b4,0xc1cdd57f,0x410cabb6,0xc153d0d4,0xc22e0f31,0x40de435f,0xc12fd70a,0xc22a79a7,0x40f856f5,0xc10acccd,0xc2255579,0xc10433ea,0xc12fd70a,0xc23ba44c,0x3fcbbb61,0x302fd70a,0x18c01400,0xbb72b500,0xd70abfcb,0xf37fc12f,0xf1009cfc,0xd4941c,0x10c85cc2,0x55b1d41,0xecb179c1,0x103b0ac1,0xfe3b041,0x5930ebc1,0xca522c1,0x544e6841,0xe0da7ac1,0x1367e9c1,0xf500b4,0xc1d4bc2e,0x410d66c9,0xc145df47,0xa8e84277,0x2c00f500,0x9ec1c592,0x464110ae,0x6cc10746,0xf0e35e,0xec0b7135,0x1f40144,0xc1d441b2,0x41105e71,0xc10d4023,0xc200213c,0x24f500e4,0xc1e37c33,0x4111e25a,0xc0e959ba,0xc1e94095,0x4110cc8a,0xc1050b50,0x41f00000,0x4114cded,0xc0eb851f,0x41e969a7,0x41126405,0xc1053e87,0x18b80001,0x5e31f400,0x9dc1df82,0xaf411396,0x43c1042e,0x47c1b5ef,0x1f41142a,0x7fc101f5,0x62c1af79,0x8941140b,0x32c10442,0xf1c1cb07,0xd41142f,0x54c10189,0xd41f124,0x8f4112d1,0xc105c2,0x60c1e000,0xb5ab400,0x9790c23d,0xcccd95c8,0xb2015c0a,0xacccdc0,0xb6d68bc1,0xfc077541,0x9030f100,0x3fbb7c,0xbec00000,0x82c14a92,0x3540a0ee,0x37c10d00,0xedc18409,0xfa40365e,0x3dc10a75,0xedc16b0a,0xbf4118,0x5cc00000,0xafc14ee2,0xe03ff87b,0x6c11830,0xa9c0c930,0x18660a,0xd4a314f1,0x9ed5c143,0x4085,0x999ac120,0x9c28c179,0xc03c,0xcd76c000,0x5ee9c12f,0x198c036,0x31004801,0x30d8ac20,0xd804f100,0xfcc13c7d,0x19c09dcd,0x48c11fb0,0x6bc17e10,0x30483f,0xd76504f1,0x152bc117,0xdab53f41,0x57adc117,0x9acec0bc,0x8400180f,0xc10b13de,0xc0a0ee82,0x1cf1009c,0x35080ee0,0xc0000000,0xc0d6fb14,0x3e9c63ed,0xc0000000,0xc1462b77,0x4005c39f,0xc0000000,0xc0f05885,0xc2320be8,0x4cc83f55,0x600202,0xc12806f1,0xc117d765,0x408182c7,0xc11ae2c4,0xc11803ee,0xfcf2ca1f,0x7c0df400,0x9ec138ce,0x40454b,0x45c12800,0x97c111c3,0x3fe6dc,0x8fc12800,0xcc0e839,0xba438400,0xdc8fc147,0xcbfe6,0x4118fe31,0x11f40024,0xc14ee25c,0x3fd90312,0xc1380000,0xc1519aee,0x4067c863,0xc1380000,0xc124f4b4,0xbfd90309,0xb4020018,0xc138d100,0xc1584a91,0xc237c098,0x8c89d02d,0x2818f501,0x7d414483,0x853cd6e4,0x20c0b1eb,0xe83fd8ac,0xd8991687,0x7ec13c7d,0xd540222e,0x85191271,0xd5c11deb,0x243b7c,0x9ace00f1,0xf8c6400f,0x13de9826,0xd8a8c10b,0xf500c097,0xf382a10c,0x3ac345c0,0x85a63041,0xbef61abe,0x660abbc0,0xf458143f,0xf004ce18,0x10f10120,0xc0eb5726,0x413d08bd,0xbeb4d4ed,0xc0b56f67,0xbfd8ac20,0x19a8f103,0xc0feb266,0x981c6404,0xfb0df401,0xc9c0ec86,0x9f4141da,0x76bea73c,0xcc0b3ad,0xea4142e8,0x1a3ec120,0xf0c0bef6,0xe95b7500,0x17f4c0d9,0x4400183d,0xc00f9ace,0x10f10090,0xbff6bbfe,0xc11831fb,0xc0c95a40,0x414642e5,0x3e4e9378,0xc0c6b20b,0xc0859ed3,0x1c380000,0x2280202,0xf1000c02,0x3e550c00,0xda2bf541,0xc9625dbe,0x804216c0,0x31310138,0x5b81515,0xe6666b1,0xe8c8dac1,0x752c39c0,0x1cf1015c,0xc0be0c99,0x4233c323,0xc0b65939,0xc0eb690a,0xbef8b4dd,0xc1380000,0xc0ba5eab,0x423af658,0x197f0905,0xc11ecccd,0x6c5382fe,0x204f100,0x90c0f127,0x5c423403,0x8fc0aeba,0x8ac105c2,0x184027,0x85ce04f1,0x8fb2c0f9,0x4a054087,0x278ec118,0xc863c100,0xf5001867,0x16e25600,0x911209c1,0x1a7c2b40,0x157546c1,0x1f401d4,0xc0d47836,0x403eb168,0xc116d112,0xc0ca48bd,0x2cf10204,0xc0e8398f,0x4139bee3,0x3e4e57af,0xc0c6ae3b,0xc018c199,0x96096320,0xc12c6738,0xb4f9aed8,0x3fc4541e,0xc11deb85,0xbf97d8a7,0x999d272a,0xc14215b9,0xbf9f46d8,0x1844541e,0xfa00f100,0x1e3f0dc4,0xb93f4454,0xadc13051,0xc7f75,0xa71535f4,0xf930c12a,0xf7c4c04b,0x2d73c116,0x833ec0d0,0xa235c08d,0xebfdc118,0x35d9c107,0x6b61c012,0xce67c116,0x2a57c0ba,0xed3bbe0e,0x9a2cc115,0xe3a3c0a7,0xe7d1413a,0x6f673e7f,0xcdfdc0b5,0x5a0c0f3,0xd665c944,0xf5080440,0x2fe11600,0x10e16141,0x37db7c1,0x8c5b6cc1,0x3b35069c,0x7988957,0x76a55435,0x19f407e0,0x4093a26d,0xc110085e,0xc113aa89,0x3fccbfde,0xc10e9dcf,0xc0b06d9b,0x40953e9f,0xc118fc6c,0xc119fd17,0x409be050,0xcf50768,0x408259cd,0xc1115e14,0xc0f4649c,0x411cadb1,0xc110c85c,0xc1055b1d,0x14294329,0x4aa64407,0x84040cd,0xd4f301f4,0xb889c121,0xdc2c410c,0xa311c152,0x6f0c0da,0xdef62144,0x44054040,0x40f2864e,0xee3506fc,0x5940084,0xce925344,0x350744c0,0x285e2b0e,0x8219f408,0x54168d4,0xd3c1103e,0x18c10faa,0xc3417a9e,0x42c110b1,0x2c1070a,0xb6415455,0xd4c10cab,0xc153d0,0xe040ec32,0x1d01f407,0x4b4117e9,0x58c10d38,0xe6c14956,0x2c414b32,0x5b634401,0xc040d9,0x5c241df4,0x49594138,0x952d3aab,0x9acec0ca,0x50ee400f,0xc32c19a7,0xdd1ec130,0x3fd5413d,0xeb85be82,0xffffc0b1,0x3fd5413f,0x3c03e82,0xb1035404,0x4139aa1e,0xbd44eebf,0x90b56f67,0xb7a17503,0xd4a3192a,0x31047443,0x2803088f,0x4a00f102,0x52985d50,0x1c0ea27,0x41414000,0x3c0d65b,0x1d780e31,0x838404c8,0xa9c11437,0xccbf660a,0x3cb93503,0x7103e445,0x41454095,0xcc68068e,0x300403,0x279f8771,0xb84263c1,0x8f103cc,0xc0f91a83,0xbf4118ed,0xc1280000,0xc0d9e95b,0x4145d163,0x28194e55,0x17102,0x39694140,0x44000ccc,0xc0365ee9,0xf105e8,0x3ec3f1d6,0xc0000000,0xc1505980,0x842602d7,0x913a3100,0x4060c3a,0x9b3105c4,0x59405c3,0x43aac842,0x203d8c1,0x673105f4,0x30483f,0x23ffa5b1,0xa0e136c1,0x1e98e840,0xc4040648,0x2c04f105,0xa2c130c3,0x35404366,0xf9c118f8,0xd3c0e6e6,0x482602,0x45d004f1,0xd0adc101,0xf424409b,0x4331c11f,0x2e7ec17a,0xf1001822,0x1deb8504,0x715e91c1,0x19ebc940,0x59b42c1,0xbb7c87c1,0x5f400d8,0xc0e28899,0x3f901c88,0xc0000000,0xc0dcd7a3,0xc0a0e136,0x1004006c,0xb901f305,0xc14215,0x73c1a800,0xef411495,0x70c0e319,0x60c0105,0x3c9c2cc2,0x40,0xc0994c0,0xf10084c1,0xd0c12812,0x17c10145,0x51bff2ca,0x7c997b8f,0xcc138ce,0x55be9c64,0x7719fafd,0x63c1462b,0x3b4469d,0xe5aa371,0xdc50ac1,0xb971000c,0xbdc13051,0xc7f75,0x2aa71571,0x9f46d1c1,0x857103c0,0x64c11deb,0xc469d,0x5aa31df4,0xc646c10e,0xadbfc079,0xe1c6c117,0xc4f7c0eb,0x10c8bf9f,0x392c116,0x887ec0ad,0x2cf3f7a,0xe2b2c116,0xf8cdc0aa,0x7c841e4,0xf0303f2,0x51a41d1,0xba7e4114,0x1637c104,0x5d1ac1ba,0xf507d4,0x41c728ab,0x41133eee,0xc10436a6,0x30ccf8ce,0x7100,0xf743c1a8,0x44002413,0xc1c6f0fd,0xab35003c,0x30df28,0xb87da144,0x44084c41,0xc1d0d754,0xa8c30048,0xa4c22194,0xcdc10b52,0x2cc10acc,0x6900107,0x222e7e44,0xc30678c0,0xc04006a4,0xc118e8f1,0xc0e4a041,0x6f405ac,0xc9625d3e,0x775d64c0,0x1a47e6c0,0xc78e6c1,0x804216c1,0xf105b8c0,0x478e2500,0x2b495941,0xca6aba3b,0x657216c0,0x4f105d0,0xc0fdd973,0x413ac996,0xbeaa2103,0xc0ca5384,0x182a247c,0xe004f100,0xb7c0da3d,0x6a4231ee,0xd4c0cbfa,0x8dc0eb84,0x72cee34,0xe0da00f5,0xf419c0c8,0xd52d4231,0xc29ec0c8,0xf5074405,0xd4783600,0x933688c0,0x1a1127c0,0x183a79c1,0x4f10750,0xc0c718f2,0x408ff1bb,0xc118ac08,0xc10b0475,0x905a4ff8,0x6601f200,0x16c1329e,0xfbf48d7,0x4c117db,0xd0c0bc65,0x1ec0202,0x5302ac02,0xffa5c128,0x2102e823,0x2e8c128,0x35033003,0x1c4ee25c,0x3a1cf102,0x11c13a91,0xbf406fb6,0x5cc1177d,0x65c0e492,0x4140027c,0x9dc11650,0x9ec0b6ac,0xc0454b,0xc5c12800,0x8fc12a13,0xd84027,0x3f142471,0x5a4ff8c1,0xa471000c,0xbac10938,0x90300c,0x44e95f71,0x300cbac1,0x4f50018,0xc0eddb55,0xc1ab8fb0,0x411035fb,0xc1104420,0x68ad922c,0xb71350a,0x440a5cbc,0xc1c3a496,0x284504ec,0xd4c1a1a9,0xc8ea250a,0xf50540,0xc1d2668e,0x410cef2e,0xc14ec977,0x28b84277,0x51873505,0x370b7c7d,0xbc9b5e6c,0x60a4150a,0x42773500,0x350030a0,0x3c800f74,0x524f350c,0x35006c63,0x308c0b71,0xa9283500,0x35001889,0x9c93a495,0xa8c43500,0x44006c96,0xc159e6ff,0x4f350684,0x303352,0x395aad35,0x2b350c54,0x3c7749,0xc38fb035,0xb2350108,0xb4cbc41,0xf6a8c435,0x95370054,0x30f3a4,0x30db15,0xdd922b35,0x6c350138,0xe4fb5e,0x205b844,0xf40d74c2,0xe3b08420,0x1138f3c1,0x141cb41,0xf395bec1,0x103e05c1,0xfaad341,0xf5eb5ec1,0x10b5a0c1,0x6c0a341,0xf93f63c1,0x10f283c1,0x236da41,0x41850318,0xc10acccd,0x78dba495,0xda137100,0x1861c236,0x30ca88c,0x41440c9c,0x882fd70a,0xc010e,0x82510df4,0xf675c23c,0xd70aa641,0xda13c12f,0x185fc236,0xd70ac08c,0x56abc12f,0xda4c202,0x1b41ef35,0x14030d20,0x5c419407,0xd2c10fd3,0x80c0e03d,0xbd893501,0x440f48c7,0xc0d119ed,0xf50e1c,0x41ba5f07,0xc10cf30a,0xc14e7fd7,0x9c47492a,0x52a94400,0x75c4193,0x87f08b35,0x5b3507ec,0xcd83978,0x954f0d35,0x7d350714,0x108172b,0x8bb98535,0xad440ffc,0xa8c1095a,0xd6bc3500,0x3501201b,0x44b22a81,0x524f3507,0xf401d403,0x29cd1c01,0x10f79141,0x1d65341,0x8d483c1,0x35015c41,0xe02baafd,0xcd1b350d,0x3502a034,0xfc4b41f0,0xd4f23500,0x4402c451,0x414cadb1,0x1f40db0,0x40d53c32,0x4110b1c3,0xc1070a42,0x41342942,0x1f401a4,0x40e26239,0x4110ec45,0xc102adee,0xc0ed79b0,0x8535081c,0xc0bbb9,0xc352a835,0xd3440108,0x8041db43,0x52ab3510,0xf50018ab,0x9d83930c,0x10f91741,0x1b946c1,0xa214a2c1,0x10b5a041,0x6c0a3c1,0xae56d9c1,0x3b4408b8,0xb440cfd2,0xa553440f,0x1144116,0x4294335,0x4cc30090,0x1740f60e,0x464110f9,0xf4c101b9,0xc00108,0x2ae7844,0x3508d041,0x60e9573a,0x52aa3509,0x30084db,0x41440918,0x3454144f,0x63418511,0xa8c1520c,0x24f352,0x9408a003,0x49565841,0xb30c7fc1,0x308b841,0x44011194,0x5b6b3510,0x4409ccbc,0x415618ff,0xd8350378,0xccf656,0x38d48335,0xb0350198,0x1687cad,0x2db600f5,0x68e94202,0xb6bdc10d,0xa554c145,0x4400e446,0x415d8138,0xd003030c,0x63c1850e,0x44c1520c,0xfc6429,0x1096c03,0xa8030348,0x11dc0103,0x440a4403,0xfd35c41,0x41441218,0xc045df47,0x6c0103,0x1126003,0x724400c0,0xdcc1ff67,0x432a4411,0x1d44159,0x80988f44,0x3001841,0x5f5123c,0x502efd41,0x51daf0c1,0xcb24b41,0x53534041,0xa46a41c1,0xcb4400d8,0x6c41b483,0x4e87440f,0xff041ab,0x62ae7735,0xec03018c,0x3f00101,0x9ce68e35,0x114402b8,0x74417f7b,0xa195350a,0x44008484,0x4168b6d6,0x1e44057c,0x104177e9,0x6a433502,0x300788c,0xf0010378,0x56d93500,0x3020496,0x41850a50,0xc14ec977,0x6c84e68f,0x14a23500,0x301448a,0xf80103e4,0x573b3501,0x7100a8b9,0x41f14ed6,0x9812ec11,0x12540310,0x4f4101f4,0xf5c15414,0xab41ec26,0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#include #include inline void uncompress_d415_obj(std::vector& vertex_data, std::vector& normals, std::vector& index_data) { std::vector uncompressed(0x34278, 0); - LZ4_decompress_safe((const char*)d415_obj_data, uncompressed.data(), 0x2f457, 0x34278); + (void)LZ4_decompress_safe((const char*)d415_obj_data, uncompressed.data(), 0x2f457, 0x34278); const int vertex_size = 0x21ba * sizeof(float3); const int index_size = 0x47a0 * sizeof(short3); vertex_data.resize(0x21ba); diff --git a/common/res/d435.h b/common/res/d435.h index 80a50684..77166fab 100644 --- a/common/res/d435.h +++ b/common/res/d435.h @@ -1,17 +1,17 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2021 Intel Corporation. All Rights Reserved. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. -// This file is auto-generated from d435.obj using rs-embed tool version: 0.0.0.1 -// Generation time: 09/13/2021 13:49:42. +// This file is auto-generated from d435.obj using rs-embed tool version: 0.0.0.2 +// Generation time: 03/14/2024 11:16:13. #pragma once -static uint32_t d435_obj_data [] { 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x8602e1,0x16200ac,0x9500bc,0x450086,0x3620095,0x950362,0x6e00bc,0x2a10045,0x4502a1,0x29a0362,0x2a1006e,0x29a028e,0xb502a1,0x28e029a,0xb502db,0x91028e,0x2db00b5,0x910360,0x2d302db,0x3600091,0x2d30370,0x580360,0x8e02d3,0x2d3008e,0xdc0370,0x1380131,0xdc011d,0x7d0034,0x34011d,0x7d013f,0x1f0009,0x9013f,0x13f014a,0x131001f,0x138014a,0x14a0138,0x29001f,0x29400bd,0xbd0294,0xe2003d,0x39f0029,0x29039f,0x650294,0x2ee00e2,0xe202ee,0x7a039f,0x20065,0x650002,0x12602ee,0x2007a,0x1260300,0x2970002,0x3000126,0x2970261,0xbd0300,0x3d0297,0x297003d,0x1530261,0x39c02b0,0x2b0039c,0x37602af,0x39c0153,0x1530024,0x1240376,0x3760024,0x1240070,0xc903ba,0x26c02b1,0x26c00c9,0xa50390,0x10803a5,0x2f600a5,0xc903a5,0xa80390,0x31902f6,0xa803a5,0x2520390,0x5602f6,0xa80319,0x2d20252,0x25f0056,0x3560319,0x2d20150,0xa80150,0x10302d2,0x356027c,0x3560103,0x2d202d2,0x10300be,0x25202d2,0x36800be,0x8702f6,0x560368,0x5602f6,0xd80368,0xd80056,0xa8025f,0xc90150,0x15000c9,0xc900a7,0x2b100a7,0xa702b1,0x10c010c,0x2b10108,0x10c0108,0x2b100a5,0x26c0108,0x10c00a5,0x1080087,0x26c03a5,0x8700a5,0x36802f6,0xd8014c,0x16d00d8,0x14c025f,0x320004d,0x10a004d,0x3200320,0x26d010a,0x365004a,0x26d011b,0x100012c,0x10a026d,0x100012c,0x1060018,0x12c0100,0x1060018,0x38d0018,0x7c038d,0x38d0064,0x7c0018,0x11b0064,0x640302,0x11b007c,0x11b0302,0x4a0365,0x37011b,0x4a00c4,0xc40356,0x27c0356,0x37004a,0x4a0044,0x3560044,0x440356,0x14c0150,0x4d0368,0x440150,0x1500090,0xa70090,0x9000a7,0xa70057,0x10c0057,0x57010c,0x870087,0x31f0057,0x31f0087,0x3680368,0x4d031f,0x295011b,0x11b016f,0x295007c,0x34d007c,0x11b0295,0x37016f,0x18007c,0x37034d,0x118016f,0x1180037,0x180044,0x34d00ec,0x12c0018,0xec00ec,0x12f012c,0x10a012c,0x12f012f,0x2df010a,0x10a02df,0x2df004d,0xfb004d,0xe0118,0x440044,0x90000e,0x49000e,0x900090,0x570049,0x15e0049,0xfb0057,0x1e031f,0x4d00fb,0x15e031f,0x31f001e,0x31f015e,0xa90057,0x295016f,0x16f0118,0x11800a9,0x400a9,0x118000e,0x410004,0x4000e,0xe0049,0x1370041,0x49015e,0x15e001e,0xd30137,0x137001e,0x1e00fb,0x400d3,0x1260058,0xa90058,0x402d3,0x5800a9,0x40041,0x41011d,0x7d011d,0x7d0041,0x490049,0x137007d,0xdc0004,0x4011d,0xdc0297,0x1260004,0x1370297,0x13f007d,0x13f0137,0xdc00d3,0x1310297,0x2970131,0x13f00bd,0xd300fb,0x14a013f,0x13100fb,0x14a00bd,0x29014a,0x14a00fb,0x2900bd,0x2900fb,0xfb00e2,0x2df0045,0x1740173,0x1730172,0x1740172,0x1760177,0x1760178,0x179017d,0x1790176,0x17d0178,0x175017b,0x17c017d,0x17d0179,0x17c0175,0x17a017b,0x17b0175,0x17a017e,0x1770176,0x1760178,0x1790178,0x179017d,0x176017c,0x17d0179,0x17c017d,0x17b0175,0x17a0175,0x175017d,0x17b017b,0x17e017a,0x1840181,0x181017f,0x182017f,0x1820180,0x1810183,0x1800182,0x1830180,0x1870188,0x1860188,0x1880180,0x1870187,0x1850186,0x1800181,0xd1002482,0x180017f,0x1880187,0x1830180,0xf1002482,0x87018316,0x88018601,0x85018701,0x84018601,0x7f018101,0x8c018b01,0x89018a01,0x8b018c01,0x8c018a01,0x88901,0x18912f1,0x191018d,0x191018f,0x190018d,0x190018e,0x18d018d,0x18e018f,0x1900191,0x168f018f,0x9406f100,0x92019601,0x96019201,0x96019501,0x95019301,0x93019401,0x2ef10014,0x1930195,0x1930192,0x1980194,0x19c019a,0x19a019d,0x1a00198,0x199019a,0x19a0199,0x19f019d,0x19901a0,0x1a00197,0x19b019f,0x198019d,0x19e019b,0x19e019d,0x11000699,0x11001e9f,0xd100349a,0x19c019b,0x19e019a,0x19c019b,0xf100529b,0xffffffff,0x9704ffff,0x9a019f01,0x9e019f01,0xb8020001,0x101de01,0x1b802,0x101ed02,0xf1020002,0x1301ed01,0xf101ff02,0xbb021301,0xff01e201,0xe201ac01,0xe001bb01,0xcf01cb01,0xcb01c901,0x801e001,0xe001c902,0xf601b301,0xf601fb01,0xfb01a901,0xf801e501,0xaf01da01,0xa801fe01,0xfe01d501,0xa701af01,0xae01d501,0xd501ae01,0xf801af01,0xda01b201,0xb201da01,0xb601e801,0xff01a101,0xc501de01,0xde020401,0xc5020701,0x701ab01,0x1401de02,0xcd01dd02,0xdd01f501,0x14021401,0xc201cd02,0xc2021401,0x701cf01,0x1401f502,0xc201cf02,0xcf01b401,0x14020701,0x701c502,0xc101c102,0xcf020701,0xb401cf01,0xe001e001,0xe401b401,0xe401e001,0xc5020801,0x501c101,0x501c502,0xa01a902,0xb6020802,0x801fc01,0xb601e402,0xfc020801,0x501a901,0xb301fb02,0xb6020a01,0xa01fb01,0x501b302,0xfb020a02,0xb601b301,0xde01ff01,0x20401,0x4020002,0xed01ed02,0x13020401,0x4021302,0x1301b302,0xff01b302,0xde01ab01,0xab01ac01,0xe801ac01,0xac01e801,0xe501da01,0xbb01ac01,0xac01da01,0xbb01e501,0xe501ff01,0xff01e501,0xa501a101,0xe801ab01,0xa501b901,0xb901e801,0xa701e801,0xa701b901,0x1501ae01,0xae01b902,0xae021501,0x1501af01,0x901af02,0xaf01f202,0x901a801,0xf201af02,0xe501a801,0xef01a101,0xa101a801,0xa801e901,0xf201ef01,0xe901a801,0xa101d601,0xd601b601,0xa101db01,0xef01db01,0xe01a101,0xe901f202,0xa2021501,0xa201b901,0xb901a501,0xab01ce01,0xce01a501,0xab01f901,0x701f901,0xf901ab02,0x701e101,0xf501e102,0xcd020701,0xc201b401,0xfc01d301,0xfc01e401,0xb601d601,0xd601db01,0xc501b101,0x401b801,0xb801e102,0xe101c501,0xb801de01,0xf901e101,0xdd01de01,0xcd01cf01,0xf501dd01,0xcd01cf01,0xb401cb01,0xcf01cd01,0xf501cb01,0xcf01e101,0xc501e101,0xb401cf01,0xe401c901,0xcb01b401,0xcf01c901,0xa901c501,0xa901cf01,0xe401c101,0xd301c901,0x801c901,0x801d302,0xd3020a02,0xfc020a01,0xc101d301,0xf601a901,0xf601c101,0xa020501,0xfc01d602,0x5020a01,0x501d602,0xb301f602,0xb3020501,0xd601d601,0xb101b301,0xb8020401,0x4020101,0xb3020102,0x101b301,0xb301ed02,0xf101ed01,0xf101b301,0xb101b101,0xff01f101,0xf901de01,0xb101e801,0xdb01ff01,0xb201de01,0xde01ac01,0xb201e801,0xb201ac01,0xac01f801,0xe201f801,0xf801e201,0xff01e501,0xdb01e201,0xe501e201,0xf901db01,0xe801ce01,0xa701ce01,0xce01e801,0xa701a501,0xa201a501,0xa201a701,0xa7021501,0x1501a701,0xd501d502,0xfe020901,0x1501d501,0xfe020902,0xf2020901,0xef01e501,0xfe01db01,0xa8020e01,0xf201fe01,0xe5020e01,0xe01a801,0xe01e502,0xe501e902,0xef01e901,0xc8020b01,0xd401aa01,0xb01c801,0xd4021202,0xc7020b01,0x1201d401,0xc701f302,0xbd021201,0xf301c701,0xbd020601,0xbe01f301,0x601bd01,0xbe01ba02,0xe7020601,0xba01be01,0xe601b001,0xd01f401,0xb001e602,0xd01aa01,0xd701b002,0xb701cc01,0xd701c301,0xd801b701,0xc301d701,0xd801df01,0xb501c301,0xd0020c01,0xb501c401,0xea01d001,0xc401b501,0xea01c601,0xfd01c401,0xc601ea01,0xe101aa01,0xf901a601,0xaa01e101,0xdd01cc01,0xf001bc01,0xcc01dd01,0xbc01cc01,0xf501c001,0xcc01f001,0xc001cc01,0xe101b401,0xdf01f501,0xf501df01,0xa601cc01,0xa301e101,0xe101a301,0xcc01df01,0xd201b401,0xd201cc01,0xa301d301,0xc301df01,0xcc01ca01,0xa301d301,0xb701c301,0xcc01fc01,0xd601ca01,0xfc01cc01,0xcc01b701,0xa301d601,0xd601b701,0xd601a301,0x11021101,0xba01d602,0xd601e701,0xba01db01,0xe701d601,0xa601aa01,0xb020b01,0x1201a602,0xa6021202,0x601f301,0xba021102,0x1101a601,0xf3020602,0x601a601,0xaa01f902,0xfd01fd01,0xc01aa01,0xaa020c02,0xf401b001,0xdb01e701,0xb0020c01,0xc01f401,0xdb01f402,0xf901c601,0xce01fd01,0xc601f901,0xce01c401,0xd001c601,0xc401ce01,0xce01a201,0xf701d001,0xd001a201,0xd001f701,0xf7020c01,0x9020c01,0xc01ef02,0x901db02,0xd1020c02,0xc01d101,0xe020e02,0xef020c02,0xec01eb01,0xd601d601,0xdb01ec01,0xef01ec01,0xec01db01,0xef01fa01,0xe01fa01,0xfa01ef02,0xe020201,0xd1020202,0x2020e01,0xd101a402,0x901a401,0xa401d102,0x901e301,0xa201e302,0xe301f701,0x901f701,0x1001ce02,0xf901f902,0xe1021001,0xf5021001,0x1001e101,0xf501f002,0xbf021001,0xbf01f001,0xf001dd01,0x301bf01,0x301dd02,0xdd01bc02,0xad020301,0xad01bc01,0xbc01c001,0xee01ad01,0xee01c001,0xc001b401,0xd901ee01,0xd901b401,0xb401d201,0xdc01d901,0xdc01d201,0xd201d301,0xf01dc01,0xdc01ca02,0xd301ca01,0xeb020f01,0xf01fc01,0xca01fc02,0xd601eb01,0x1001fc01,0xa601c802,0xaa021001,0x1001c801,0xaa01ce02,0xbf020301,0x301cc01,0xad01cc02,0xcc01ad01,0xbf01ee01,0xcc021001,0xdf021001,0xee01cc01,0xd901cc01,0xa6021001,0x1001a301,0xdf01d802,0xa3021001,0xd901d801,0xdc01cc01,0xa301d801,0xfff0026e,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0x20f97ff,0x1cc01dc,0x20f01eb,0x1a301d7,0x1cc01cc,0x1eb01a3,0x1e701eb,0x1eb01ec,0x21101a3,0x21101eb,0x1a601e7,0x1d401c8,0x1d401a6,0x21101c7,0x1e701be,0x1c701a6,0x1a601bd,0x21101bd,0x1bd0211,0x1aa01be,0x20d01ce,0x1ce020d,0x20d01fd,0x20c01fd,0x20c020d,0x1e701e6,0x1ec01f4,0x1e601f4,0x1e601ec,0x1ec020c,0x1ea01ce,0x1ce01fd,0x1ea01b5,0x1a201ce,0x1a201b5,0x1b5020c,0x1a2020c,0x20c01e3,0x1a401e3,0x1a4020c,0x20c0202,0x1ec01fa,0x202020c,0xfb01fa,0x4500e2,0xac0126,0x126007a,0xac0058,0xac007a,0x7a0086,0x650086,0x9500e2,0x650045,0x950086,0x6500e2,0x2d30095,0x9100a9,0xa90091,0x450116,0x2df006e,0x1160091,0xb500b5,0x2b00116,0x2b000b5,0x6e029a,0x2df029a,0x2b0029a,0x29a0153,0x2df0153,0xb300a9,0xa90116,0x10b0295,0x10b00a9,0x10b00b3,0x700295,0x2950070,0x70034d,0x12400ec,0x34d0070,0x15300ec,0x2df0024,0x12f0024,0x12402df,0x2400ec,0xec0024,0x8c012f,0x3ba0070,0x70010b,0xb3008c,0x8c010b,0x1160337,0x2b000b3,0x3370116,0x2b002af,0xad0337,0x3620265,0x2b9008e,0x3700300,0x8e02b9,0x2b9008d,0x2b90370,0x340054,0x540034,0x9007d,0xf20054,0x54007d,0x2610009,0xdc02b9,0x2b90300,0xdc0261,0x3402b9,0xf20009,0x26100ad,0x13800dc,0x9001f,0x26100ad,0x3d0138,0x138003d,0x294001f,0xad001f,0x1f003d,0x39f0294,0x36200ad,0xad0294,0x2e1039f,0x20300,0x300008e,0x2e102e1,0x1620002,0x20162,0x16202ee,0x8602ee,0x39f00bc,0x860362,0xbc02ee,0x39f02ee,0x8d00bc,0x3600370,0x3600337,0x8d02db,0x3370360,0x36202a1,0x3370265,0x2af02db,0x2db02af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7f2278,0x223f2265,0x22422245,0x2242223f,0x2245227f,0x227b222d,0x227b2245,0x222d2242,0x227b2239,0x22442239,0x2239227b,0x2244223a,0x229a223a,0x229a2244,0x22442234,0x223c229a,0x223c2234,0x22a12289,0x22a1223c,0x22892234,0x22a12290,0x22742290,0x229022a1,0x2249228f,0x22492290,0x228f2274,0x225e2293,0x225e228f,0x22932249,0x229522a2,0x22952293,0x2299225e,0x2282224a,0x224f2299,0x2299224a,0x22532282,0x224f224a,0x224f2250,0x22502236,0x22362250,0x22362235,0x2235223b,0x22382236,0x223b223b,0x223d2238,0x22652238,0x2265223d,0x223d227a,0x227f2265,0x227a227a,0x224e227f,0x2242227f,0x2242224e,0x228b227b,0x228b2242,0x227b224e,0x22962244,0x2296227b,0x2296228b,0x22432244,0x22342244,0x22342243,0x2243222b,0x22a12234,0x22a1222b,0x222b22a0,0x227422a1,0x227422a0,0x22a02249,0x229b2249,0x224922a0,0x229b225e,0x225e229b,0x225e2232,0x22322295,0x22952232,0x228e2252,0x22522271,0x2252228e,0x228e2295,0x22712275,0x22752271,0x2275225f,0x225f225c,0x225c225f,0x225c2251,0x22512257,0x22632257,0x22512251,0x222f2263,0x225b2263,0x222f222f,0x229d225b,0x229c225b,0x229d229d,0x2264229c,0x224c229c,0x229c228c,0x2264228c,0x2297224c,0x228c228c,0x22912297,0x22802297,0x22802291,0x2291222e,0x222e2291,0x222e226e,0x226e2270,0x2270226e,0x2270229e,0x229e2292,0x22542270,0x22542292,0x22922255,0x226c2254,0x226c2255,0x22552253,0x22822253,0x22822255,0x22a0222b,0x222b2243,0x22822282,0x229b22a0,0x229b2282,0x22962232,0x22822243,0x2296228b,0x22822282,0x22522232,0x228b224e,0x22822282,0x22712252,0x22712282,0x227a225f,0x2282224e,0x227a223d,0x22822282,0x2251225f,0x223d223b,0x22822282,0x222f2251,0x223b2235,0x22502282,0x22822235,0x222f2282,0x224a229d,0x22822250,0x229d2282,0x22822264,0x228c2264,0x22822291,0x226e228c,0x22912282,0x2282229e,0x2292226e,0x229e2282,0x22822255,0x22a52292,0x22a322a4,0x22a422a3,0xcdcd22a5,}; +static uint32_t d435_obj_data [] { 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x8602e1,0x16200ac,0x9500bc,0x450086,0x3620095,0x950362,0x6e00bc,0x2a10045,0x4502a1,0x29a0362,0x2a1006e,0x29a028e,0xb502a1,0x28e029a,0xb502db,0x91028e,0x2db00b5,0x910360,0x2d302db,0x3600091,0x2d30370,0x580360,0x8e02d3,0x2d3008e,0xdc0370,0x1380131,0xdc011d,0x7d0034,0x34011d,0x7d013f,0x1f0009,0x9013f,0x13f014a,0x131001f,0x138014a,0x14a0138,0x29001f,0x29400bd,0xbd0294,0xe2003d,0x39f0029,0x29039f,0x650294,0x2ee00e2,0xe202ee,0x7a039f,0x20065,0x650002,0x12602ee,0x2007a,0x1260300,0x2970002,0x3000126,0x2970261,0xbd0300,0x3d0297,0x297003d,0x1530261,0x39c02b0,0x2b0039c,0x37602af,0x39c0153,0x1530024,0x1240376,0x3760024,0x1240070,0xc903ba,0x26c02b1,0x26c00c9,0xa50390,0x10803a5,0x2f600a5,0xc903a5,0xa80390,0x31902f6,0xa803a5,0x2520390,0x5602f6,0xa80319,0x2d20252,0x25f0056,0x3560319,0x2d20150,0xa80150,0x10302d2,0x356027c,0x3560103,0x2d202d2,0x10300be,0x25202d2,0x36800be,0x8702f6,0x560368,0x5602f6,0xd80368,0xd80056,0xa8025f,0xc90150,0x15000c9,0xc900a7,0x2b100a7,0xa702b1,0x10c010c,0x2b10108,0x10c0108,0x2b100a5,0x26c0108,0x10c00a5,0x1080087,0x26c03a5,0x8700a5,0x36802f6,0xd8014c,0x16d00d8,0x14c025f,0x320004d,0x10a004d,0x3200320,0x26d010a,0x365004a,0x26d011b,0x100012c,0x10a026d,0x100012c,0x1060018,0x12c0100,0x1060018,0x38d0018,0x7c038d,0x38d0064,0x7c0018,0x11b0064,0x640302,0x11b007c,0x11b0302,0x4a0365,0x37011b,0x4a00c4,0xc40356,0x27c0356,0x37004a,0x4a0044,0x3560044,0x440356,0x14c0150,0x4d0368,0x440150,0x1500090,0xa70090,0x9000a7,0xa70057,0x10c0057,0x57010c,0x870087,0x31f0057,0x31f0087,0x3680368,0x4d031f,0x295011b,0x11b016f,0x295007c,0x34d007c,0x11b0295,0x37016f,0x18007c,0x37034d,0x118016f,0x1180037,0x180044,0x34d00ec,0x12c0018,0xec00ec,0x12f012c,0x10a012c,0x12f012f,0x2df010a,0x10a02df,0x2df004d,0xfb004d,0xe0118,0x440044,0x90000e,0x49000e,0x900090,0x570049,0x15e0049,0xfb0057,0x1e031f,0x4d00fb,0x15e031f,0x31f001e,0x31f015e,0xa90057,0x295016f,0x16f0118,0x11800a9,0x400a9,0x118000e,0x410004,0x4000e,0xe0049,0x1370041,0x49015e,0x15e001e,0xd30137,0x137001e,0x1e00fb,0x400d3,0x1260058,0xa90058,0x402d3,0x5800a9,0x40041,0x41011d,0x7d011d,0x7d0041,0x490049,0x137007d,0xdc0004,0x4011d,0xdc0297,0x1260004,0x1370297,0x13f007d,0x13f0137,0xdc00d3,0x1310297,0x2970131,0x13f00bd,0xd300fb,0x14a013f,0x13100fb,0x14a00bd,0x29014a,0x14a00fb,0x2900bd,0x2900fb,0xfb00e2,0x2df0045,0x1740173,0x1730172,0x1740172,0x1760177,0x1760178,0x179017d,0x1790176,0x17d0178,0x175017b,0x17c017d,0x17d0179,0x17c0175,0x17a017b,0x17b0175,0x17a017e,0x1770176,0x1760178,0x1790178,0x179017d,0x176017c,0x17d0179,0x17c017d,0x17b0175,0x17a0175,0x175017d,0x17b017b,0x17e017a,0x1840181,0x181017f,0x182017f,0x1820180,0x1810183,0x1800182,0x1830180,0x1870188,0x1860188,0x1880180,0x1870187,0x1850186,0x1800181,0xd1002482,0x180017f,0x1880187,0x1830180,0xf1002482,0x87018316,0x88018601,0x85018701,0x84018601,0x7f018101,0x8c018b01,0x89018a01,0x8b018c01,0x8c018a01,0x88901,0x18912f1,0x191018d,0x191018f,0x190018d,0x190018e,0x18d018d,0x18e018f,0x1900191,0x168f018f,0x9406f100,0x92019601,0x96019201,0x96019501,0x95019301,0x93019401,0x2ef10014,0x1930195,0x1930192,0x1980194,0x19c019a,0x19a019d,0x1a00198,0x199019a,0x19a0199,0x19f019d,0x19901a0,0x1a00197,0x19b019f,0x198019d,0x19e019b,0x19e019d,0x11000699,0x11001e9f,0xd100349a,0x19c019b,0x19e019a,0x19c019b,0xf100529b,0xffffffff,0x9704ffff,0x9a019f01,0x9e019f01,0xb8020001,0x101de01,0x1b802,0x101ed02,0xf1020002,0x1301ed01,0xf101ff02,0xbb021301,0xff01e201,0xe201ac01,0xe001bb01,0xcf01cb01,0xcb01c901,0x801e001,0xe001c902,0xf601b301,0xf601fb01,0xfb01a901,0xf801e501,0xaf01da01,0xa801fe01,0xfe01d501,0xa701af01,0xae01d501,0xd501ae01,0xf801af01,0xda01b201,0xb201da01,0xb601e801,0xff01a101,0xc501de01,0xde020401,0xc5020701,0x701ab01,0x1401de02,0xcd01dd02,0xdd01f501,0x14021401,0xc201cd02,0xc2021401,0x701cf01,0x1401f502,0xc201cf02,0xcf01b401,0x14020701,0x701c502,0xc101c102,0xcf020701,0xb401cf01,0xe001e001,0xe401b401,0xe401e001,0xc5020801,0x501c101,0x501c502,0xa01a902,0xb6020802,0x801fc01,0xb601e402,0xfc020801,0x501a901,0xb301fb02,0xb6020a01,0xa01fb01,0x501b302,0xfb020a02,0xb601b301,0xde01ff01,0x20401,0x4020002,0xed01ed02,0x13020401,0x4021302,0x1301b302,0xff01b302,0xde01ab01,0xab01ac01,0xe801ac01,0xac01e801,0xe501da01,0xbb01ac01,0xac01da01,0xbb01e501,0xe501ff01,0xff01e501,0xa501a101,0xe801ab01,0xa501b901,0xb901e801,0xa701e801,0xa701b901,0x1501ae01,0xae01b902,0xae021501,0x1501af01,0x901af02,0xaf01f202,0x901a801,0xf201af02,0xe501a801,0xef01a101,0xa101a801,0xa801e901,0xf201ef01,0xe901a801,0xa101d601,0xd601b601,0xa101db01,0xef01db01,0xe01a101,0xe901f202,0xa2021501,0xa201b901,0xb901a501,0xab01ce01,0xce01a501,0xab01f901,0x701f901,0xf901ab02,0x701e101,0xf501e102,0xcd020701,0xc201b401,0xfc01d301,0xfc01e401,0xb601d601,0xd601db01,0xc501b101,0x401b801,0xb801e102,0xe101c501,0xb801de01,0xf901e101,0xdd01de01,0xcd01cf01,0xf501dd01,0xcd01cf01,0xb401cb01,0xcf01cd01,0xf501cb01,0xcf01e101,0xc501e101,0xb401cf01,0xe401c901,0xcb01b401,0xcf01c901,0xa901c501,0xa901cf01,0xe401c101,0xd301c901,0x801c901,0x801d302,0xd3020a02,0xfc020a01,0xc101d301,0xf601a901,0xf601c101,0xa020501,0xfc01d602,0x5020a01,0x501d602,0xb301f602,0xb3020501,0xd601d601,0xb101b301,0xb8020401,0x4020101,0xb3020102,0x101b301,0xb301ed02,0xf101ed01,0xf101b301,0xb101b101,0xff01f101,0xf901de01,0xb101e801,0xdb01ff01,0xb201de01,0xde01ac01,0xb201e801,0xb201ac01,0xac01f801,0xe201f801,0xf801e201,0xff01e501,0xdb01e201,0xe501e201,0xf901db01,0xe801ce01,0xa701ce01,0xce01e801,0xa701a501,0xa201a501,0xa201a701,0xa7021501,0x1501a701,0xd501d502,0xfe020901,0x1501d501,0xfe020902,0xf2020901,0xef01e501,0xfe01db01,0xa8020e01,0xf201fe01,0xe5020e01,0xe01a801,0xe01e502,0xe501e902,0xef01e901,0xc8020b01,0xd401aa01,0xb01c801,0xd4021202,0xc7020b01,0x1201d401,0xc701f302,0xbd021201,0xf301c701,0xbd020601,0xbe01f301,0x601bd01,0xbe01ba02,0xe7020601,0xba01be01,0xe601b001,0xd01f401,0xb001e602,0xd01aa01,0xd701b002,0xb701cc01,0xd701c301,0xd801b701,0xc301d701,0xd801df01,0xb501c301,0xd0020c01,0xb501c401,0xea01d001,0xc401b501,0xea01c601,0xfd01c401,0xc601ea01,0xe101aa01,0xf901a601,0xaa01e101,0xdd01cc01,0xf001bc01,0xcc01dd01,0xbc01cc01,0xf501c001,0xcc01f001,0xc001cc01,0xe101b401,0xdf01f501,0xf501df01,0xa601cc01,0xa301e101,0xe101a301,0xcc01df01,0xd201b401,0xd201cc01,0xa301d301,0xc301df01,0xcc01ca01,0xa301d301,0xb701c301,0xcc01fc01,0xd601ca01,0xfc01cc01,0xcc01b701,0xa301d601,0xd601b701,0xd601a301,0x11021101,0xba01d602,0xd601e701,0xba01db01,0xe701d601,0xa601aa01,0xb020b01,0x1201a602,0xa6021202,0x601f301,0xba021102,0x1101a601,0xf3020602,0x601a601,0xaa01f902,0xfd01fd01,0xc01aa01,0xaa020c02,0xf401b001,0xdb01e701,0xb0020c01,0xc01f401,0xdb01f402,0xf901c601,0xce01fd01,0xc601f901,0xce01c401,0xd001c601,0xc401ce01,0xce01a201,0xf701d001,0xd001a201,0xd001f701,0xf7020c01,0x9020c01,0xc01ef02,0x901db02,0xd1020c02,0xc01d101,0xe020e02,0xef020c02,0xec01eb01,0xd601d601,0xdb01ec01,0xef01ec01,0xec01db01,0xef01fa01,0xe01fa01,0xfa01ef02,0xe020201,0xd1020202,0x2020e01,0xd101a402,0x901a401,0xa401d102,0x901e301,0xa201e302,0xe301f701,0x901f701,0x1001ce02,0xf901f902,0xe1021001,0xf5021001,0x1001e101,0xf501f002,0xbf021001,0xbf01f001,0xf001dd01,0x301bf01,0x301dd02,0xdd01bc02,0xad020301,0xad01bc01,0xbc01c001,0xee01ad01,0xee01c001,0xc001b401,0xd901ee01,0xd901b401,0xb401d201,0xdc01d901,0xdc01d201,0xd201d301,0xf01dc01,0xdc01ca02,0xd301ca01,0xeb020f01,0xf01fc01,0xca01fc02,0xd601eb01,0x1001fc01,0xa601c802,0xaa021001,0x1001c801,0xaa01ce02,0xbf020301,0x301cc01,0xad01cc02,0xcc01ad01,0xbf01ee01,0xcc021001,0xdf021001,0xee01cc01,0xd901cc01,0xa6021001,0x1001a301,0xdf01d802,0xa3021001,0xd901d801,0xdc01cc01,0xa301d801,0xfff0026e,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0x20f97ff,0x1cc01dc,0x20f01eb,0x1a301d7,0x1cc01cc,0x1eb01a3,0x1e701eb,0x1eb01ec,0x21101a3,0x21101eb,0x1a601e7,0x1d401c8,0x1d401a6,0x21101c7,0x1e701be,0x1c701a6,0x1a601bd,0x21101bd,0x1bd0211,0x1aa01be,0x20d01ce,0x1ce020d,0x20d01fd,0x20c01fd,0x20c020d,0x1e701e6,0x1ec01f4,0x1e601f4,0x1e601ec,0x1ec020c,0x1ea01ce,0x1ce01fd,0x1ea01b5,0x1a201ce,0x1a201b5,0x1b5020c,0x1a2020c,0x20c01e3,0x1a401e3,0x1a4020c,0x20c0202,0x1ec01fa,0x202020c,0xfb01fa,0x4500e2,0xac0126,0x126007a,0xac0058,0xac007a,0x7a0086,0x650086,0x9500e2,0x650045,0x950086,0x6500e2,0x2d30095,0x9100a9,0xa90091,0x450116,0x2df006e,0x1160091,0xb500b5,0x2b00116,0x2b000b5,0x6e029a,0x2df029a,0x2b0029a,0x29a0153,0x2df0153,0xb300a9,0xa90116,0x10b0295,0x10b00a9,0x10b00b3,0x700295,0x2950070,0x70034d,0x12400ec,0x34d0070,0x15300ec,0x2df0024,0x12f0024,0x12402df,0x2400ec,0xec0024,0x8c012f,0x3ba0070,0x70010b,0xb3008c,0x8c010b,0x1160337,0x2b000b3,0x3370116,0x2b002af,0xad0337,0x3620265,0x2b9008e,0x3700300,0x8e02b9,0x2b9008d,0x2b90370,0x340054,0x540034,0x9007d,0xf20054,0x54007d,0x2610009,0xdc02b9,0x2b90300,0xdc0261,0x3402b9,0xf20009,0x26100ad,0x13800dc,0x9001f,0x26100ad,0x3d0138,0x138003d,0x294001f,0xad001f,0x1f003d,0x39f0294,0x36200ad,0xad0294,0x2e1039f,0x20300,0x300008e,0x2e102e1,0x1620002,0x20162,0x16202ee,0x8602ee,0x39f00bc,0x860362,0xbc02ee,0x39f02ee,0x8d00bc,0x3600370,0x3600337,0x8d02db,0x3370360,0x36202a1,0x3370265,0x2af02db,0x2db02af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#include #include inline void uncompress_d435_obj(std::vector& vertex_data, std::vector& normals, std::vector& index_data) { std::vector uncompressed(0x35640, 0); - LZ4_decompress_safe((const char*)d435_obj_data, uncompressed.data(), 0x30c6e, 0x35640); + (void)LZ4_decompress_safe((const char*)d435_obj_data, uncompressed.data(), 0x30c6e, 0x35640); const int vertex_size = 0x22a6 * sizeof(float3); const int index_size = 0x4914 * sizeof(short3); vertex_data.resize(0x22a6); diff --git a/common/res/d455.h b/common/res/d455.h new file mode 100644 index 00000000..09e03ce4 --- /dev/null +++ b/common/res/d455.h @@ -0,0 +1,23 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from d455.obj using rs-embed tool version: 0.0.0.2 +// Generation time: 03/14/2024 11:16:15. + +#pragma once +static uint32_t d455_obj_data [] { 0xf64804f1,0xad4f4155,0x3d71bffa,0x9dd7c07a,0xe9c94153,0x4000ce7,0x14f10018,0xc07c28f6,0x415311bb,0xbfe388e3,0xc07c28f6,0x40d66666,0x80000000,0xc0855e70,0x40d0a915,0x30a11983,0xb900f100,0x2940dcc4,0x70bf9078,0x9ac0855e,0x24c999,0x3d7114f1,0xfff3c07a,0x7e3140e4,0x3d71c017,0x1b11c07a,0xc1b940ef,0x5e70c007,0x189cc085,0x5e464102,0x7100184c,0x4105999a,0x1836e792,0x4304f100,0xa0411542,0x71c068de,0xd5c07a3d,0xce4116d4,0x184ffd,0x29b3dc71,0x69991341,0x2b350018,0x18292b,0x3c711c82,0x4c46e941,0x15009cc0,0x7100483a,0x413cfd39,0x304e775c,0x57d67100,0xe38a4145,0x44002433,0x41487278,0xe3710084,0x57414cf8,0x18155f,0x519da344,0x7100c041,0x4157c9d1,0xd89e73de,0x57427100,0xc943415a,0x44000c20,0x4154cccd,0x333100fc,0xc5b33,0x7a3d7135,0xdf350114,0x1088d4f,0x8d4fdf35,0xdf3500f0,0xe48d4f,0x8d4fdf35,0xdf3500d8,0xcc8d4f,0x8d4fdf35,0xdf3500c0,0xa88d4f,0x8d4fdf35,0xdf35009c,0x848d4f,0x4fdf08f1,0x976bc08d,0x2d774108,0x4fdfbfdf,0x7637c08d,0xab3b4100,0xf8000c91,0x138b6a10,0x8e24841,0x8d4fdfc0,0xf845a8c0,0xca5c5f40,0x8d4fdfbe,0x200000c0,0x11ab3641,0x3e170018,0x3f8500b4,0xc08d4fdf,0x3c2c7496,0x540300,0x3001801,0x408501bc,0xc08d4fdf,0x78376895,0x840300,0x35002401,0x843f89c9,0xf00300,0x3003001,0xc010090,0xdd2c4400,0x904143,0x101e003,0x9c030018,0xc0100,0x1002403,0x2003009c,0x180101,0x1009c03,0x1403000c,0x780801,0x3000c01,0x24010144,0xa80300,0x3001801,0x180101f8,0x3c0400,0x855e7034,0x40440168,0x80855e70,0xc0101,0x34007804,0xb0855e70,0x180101,0x3400d804,0xe0855e70,0x180101,0xf101f803,0x5e703f15,0xa13bc085,0xfb164157,0x3d713fa1,0x598fc07a,0x364c414d,0x3d714018,0x999ac07a,0x1327413d,0x71000c4d,0x412a47ac,0xc6933d7,0xb8543500,0x35000c15,0x24026666,0x4ce44400,0x3c40e5,0xd0bd8a44,0x71005440,0x40e076e0,0xdc20993d,0xde0d7102,0x50b94100,0x71000c58,0x40cabe7d,0xacaaee6c,0x44397102,0xe1374115,0x35001875,0x90c33333,0xf69a6203,0xb7aa412a,0xf3710018,0x8c40cab9,0xa8aabc,0x3f55aa71,0x57d91f41,0xcd710030,0x9740e065,0x9c2070,0xcccd71,0x5828f241,0xed71000c,0xa415a99,0x60ab84,0x5d716771,0x2e2ff141,0x1371000c,0xd941152a,0x2475ce,0x5e666635,0xed350318,0x182ad5,0x5aa30744,0x35006c41,0x543f3333,0xcd1a4400,0x6c414f,0xf1008404,0x7c28f608,0x4fc490c0,0x20993d41,0x7c28f6c0,0x482650c0,0x3f124041,0xcc04000c,0x4fdf3400,0x200c08d,0xb4020318,0x2dc0100,0x100b403,0x9c03000c,0xc0100,0x1009003,0x8403000c,0xc0100,0x1008403,0xa803000c,0x540100,0xb100cc04,0xc08d4fdf,0x408a9058,0x24b56fa8,0xb7d54400,0xc417a,0x1001803,0x90030258,0x2700100,0x1014404,0x4403009c,0x900701,0x3003001,0xc010048,0x780300,0x3003c01,0x18010090,0xa80300,0x3000c01,0xc0100c0,0x3c0400,0x26a7f044,0xf10084c1,0x26a7f004,0x596666c1,0xeccccdc2,0x26a9c2c0,0x5b6666c1,0x52c6000c,0x33c126a8,0x33c25633,0xcc10b33,0x306f500,0x26a9c2c1,0x54adf5c1,0xb56faac2,0x26a7f0c0,0x27520bc1,0x3002000c,0x41032200,0x54010048,0x30401400,0x6c0400,0x45002402,0xa852410b,0x9f1006c,0x26a85240,0x160000c1,0x733333c2,0x26a1cbc0,0x14999ac1,0x84cccdc2,0x3326000c,0x71000c33,0xc2160000,0x186ccccd,0xf7373900,0x31003014,0x18790d0b,0x999a7100,0x6666c214,0x35000c56,0x3014f737,0x999a7100,0xf2f5c214,0x35001866,0x3c12cccd,0xd5963500,0x26000c13,0x483333,0x12cccd35,0x3326003c,0x26005433,0x483333,0x13d59635,0x10f10024,0xc21db53c,0xbee93bc1,0xc126ac08,0xc21d05ab,0xbf208249,0xc126ac08,0xc21e25f5,0x18753c58,0x28707100,0xb08ec21c,0xf100183c,0x1b33330c,0x466666c2,0x26aa36bf,0x1e4ccdc1,0xc2,0x26ac0800,0x18cccdc1,0x8750018,0x90c126ac,0x3017d7,0x16fa5535,0xc4350054,0x6c164a,0x15da0b35,0x33350060,0x4815b3,0x27520b35,0x4f10174,0xc21d111d,0x3f1e63fa,0xc126ac08,0xc21c3a6c,0xc3b2b34,0xc504f100,0x42c21dba,0x83ee560,0x69c126ac,0x80c21e27,0xc70b7,0xc1014403,0x26a1cb40,0x17d7cbc1,0x3cb546c2,0x7b710030,0x9c216fa,0xc2089,0xa8cd1a21,0x363f3500,0x10198aa,0xf0620030,0x8ec21b4a,0x3001859,0x18010138,0x4ad67100,0x4813c216,0x710060e9,0xc215da0f,0xc754b06,0x1f80300,0x3002401,0xc0101b0,0x1b00300,0x3000c01,0xc010168,0x1800300,0x3000c01,0xc010228,0x2100300,0x21000c01,0x1c8999a,0x3000c01,0xc0101c8,0x24c0300,0x4000c05,0x4030024,0x180102,0x1021c03,0xea53000c,0xa8c1895b,0xc0302e8,0x33c0300,0x5cc0ba24,0xc0301,0x3030c01,0xc010354,0x147b7100,0x7ae14199,0x3000cc8,0xc010378,0x147b7300,0xe1484199,0x15000c8e,0xf1000ce9,0xba66604,0x2bd1cc42,0x26ac08bf,0xad344c1,0xff0ed442,0x76710234,0xbb420a49,0xc87b6,0xca96571,0x4362c742,0x7b350024,0x60e914,0x199a00f5,0x420a,0xaaab8000,0xbd02c126,0x300240d,0x6801003c,0x520b4401,0xcc4227,0xec00035,0x2235006c,0x6c0f93,0x101cf135,0xcd31006c,0x54104c,0x26ac0884,0x176666c1,0x301c842,0x54010030,0x300300,0x3000c01,0x1c010054,0x4402,0x1744216,0x1009003,0xc0030018,0xc0100,0x54cccd26,0x4400,0x1744216,0x1010803,0xc9350024,0x481708,0x17666644,0x4401f842,0x42176666,0xc93501bc,0x3c1708,0x182a6a35,0xcd2a0030,0x60030cc,0x191501f8,0x33350024,0x3c1933,0x24cccd26,0xcccd2600,0x6a350060,0x24182a,0xa999a44,0x304e042,0xfc0101a4,0x66663500,0x200181b,0xb130024,0x5b270504,0x14054c42,0x2054042,0x5802000c,0x66663105,0x3002459,0xa4050528,0x1b00301,0x2027001,0x54020060,0x3c0200,0x3056402,0x24030030,0x480100,0x2057001,0x64050024,0x64421405,0x5940305,0xde0fc054,0x5e8c098,0x76000c04,0xc0400000,0x311eb8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+#include +#include +inline void uncompress_d455_obj(std::vector& vertex_data, std::vector& normals, std::vector& index_data) +{ + std::vector uncompressed(0x28770, 0); + (void)LZ4_decompress_safe((const char*)d455_obj_data, uncompressed.data(), 0x21d3f, 0x28770); + const int vertex_size = 0x1ae7 * sizeof(float3); + const int index_size = 0x361a * sizeof(short3); + vertex_data.resize(0x1ae7); + memcpy(vertex_data.data(), uncompressed.data(), vertex_size); + index_data.resize(0x361a); + memcpy(index_data.data(), uncompressed.data() + vertex_size, index_size); + //normals.resize(0x1ae7); + //memcpy(normals.data(), uncompressed.data() + vertex_size + index_size, vertex_size); +} diff --git a/common/res/l500.h b/common/res/l500.h deleted file mode 100644 index 7158865d..00000000 --- a/common/res/l500.h +++ /dev/null @@ -1,23 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2021 Intel Corporation. All Rights Reserved. - -// This file is auto-generated from L515.obj using rs-embed tool version: 0.0.0.1 -// Generation time: 09/13/2021 13:11:18. - -#pragma once -static uint32_t L515_obj_data [] { 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90208,0x2080209,0x1540209,0x1550153,0x153020a,0x155020b,0x157020b,0x1540155,0x1560209,0x1560154,0x20b020c,0x157020c,0x156020c,0x1590157,0x20d020e,0x1580159,0x159015a,0x158020d,0x15b0159,0x159020e,0x15b020f,0x15a0159,0x20f020f,0x210015a,0x15c020f,0x20f015b,0x15c0212,0x210020f,0x2120212,0x15c015d,0x2100212,0x2120211,0x2130211,0x2130212,0x213015d,0x15d015f,0x2110213,0x213015e,0x214015e,0x2140213,0x214015f,0x2150160,0xcc0214,0x2140160,0x15f0215,0x15e0214,0x16000cc,0x18200cc,0x1610160,0x1600215,0x1610216,0x1820160,0x1600234,0x2160234,0x1620216,0x2160161,0x2170183,0x2170216,0x2160162,0x1830234,0x1630217,0x2170162,0x2360183,0x2360217,0x2170218,0x1630218,0x1640218,0x2180163,0x1850236,0x2190218,0x2180164,0x2190237,0x1850218,0x22d0237,0x17e017a,0x22f022d,0x22d017c,0x22f017e,0x179017a,0x17a022c,0x17b022c,0x17b017a,0x17a022e,0x17e022e,0x21a0228,0x1760165,0x228021a,0x1650228,0x1750175,0x1670165,0x21a0227,0x22b0176,0x1660167,0x1670175,0x165022b,0x16c021a,0x21a016c,0x22b0227,0x1780166,0x1650167,0x178016c,0x21e0166,0x167016b,0x166016c,0x21e0167,0x167021e,0x280016b,0x27e00bb,0xb900bb,0x27e027e,0x4e00b9,0xbc00b9,0x4e004e,0xbe00bc,0xbe004e,0x27d027d,0x25200be,0xbe0252,0x25400a2,0x253026a,0xc60254,0x26a026a,0x253006c,0x25400c6,0xc500c5,0x2720254,0x6400c5,0xc500c4,0x640272,0x7000c4,0xc400c3,0x700064,0x7000c3,0x7000c2,0xc20063,0x6300c2,0xbd00bd,0x580063,0x5800bd,0xbd021d,0xbf021d,0x5b021d,0x21d021f,0x5b0058,0x16d00bf,0xbf00b8,0x16d021d,0x22400b8,0xb80248,0x224016d,0xa20223,0xa20224,0x2240248,0x22300a2,0x1700252,0x2230273,0x2520273,0x21b0223,0x1700273,0x660222,0x66021b,0x21b0273,0x2220168,0x168016f,0x65016f,0x660168,0x1680222,0x660065,0x16f0065,0x16e0062,0x16f0062,0x5d016e,0x2210062,0x16e005d,0x5f0221,0x21c005d,0x5f0061,0x220021c,0x21c0061,0x2200221,0x5f021c,0x16a0221,0x2200061,0x5b016a,0x1690061,0x5b021f,0x5b0169,0x169016a,0x21f016a,0x21d016d,0x21f021f,0x21e016a,0x16a021e,0x16d0220,0x16c021f,0x21f016b,0x16c021e,0x16b021f,0x21e0226,0x2260220,0x2210220,0x16d0224,0x227016f,0x16c016d,0x16d016f,0x16e016e,0x227016d,0x2260174,0x16e016e,0x2210226,0x1740227,0x16f016e,0x1700222,0x2220170,0x224021b,0x170016f,0x1700224,0x1780223,0x2290225,0x2250229,0x22a0171,0x1720171,0x1710229,0x21e022a,0x1780225,0x2250171,0x2260226,0x21e0225,0x1720176,0x22a0173,0x1760172,0x1710172,0x1740174,0x2260171,0x1730176,0x1730227,0x2270172,0x1720227,0x2290174,0x177022a,0x2320229,0x1800178,0x2290232,0x1800177,0x2310229,0x22a0180,0x180022a,0x2300177,0x1760231,0x2310176,0x228022a,0x1760230,0x230017d,0x1750175,0x2280230,0x17d017f,0x22b022b,0x175017d,0x17f0232,0x1780178,0x22b017f,0xca00cb,0x17b017a,0xc900ca,0xca022c,0x179017b,0x22c00ca,0xca017a,0xcb0179,0x22d017a,0x17b022e,0xcb00c9,0x17c022d,0x22e017e,0x2300230,0xc9022e,0x17c00cb,0x17d017f,0x22f017c,0x17c017f,0x22f017d,0x17d017e,0x17e017d,0x2310230,0x23300c9,0xc90230,0x2350231,0x17f00cb,0x17f0235,0x1800232,0x2330231,0x2320235,0x1840184,0x1800232,0x1800184,0xcc0233,0x18200cb,0xcb0182,0x2340234,0x18300cb,0x23500cb,0x1830183,0x2360235,0x2350236,0x2360184,0x2330184,0x2330236,0x2330185,0x18500c9,0xc90185,0x2370237,0xc800c9,0xc80237,0x1810186,0x1890238,0xc80186,0x186012e,0x187012e,0x2390238,0x1860189,0x18a0188,0x1870186,0x18a0188,0x23a0188,0x18a0239,0x18a0189,0x189023a,0xc8012e,0xc701e7,0xcc00ba,0xc7018b,0xc700b5,0xb500cc,0xba00cc,0xcb00cb,0xca00ba,0xba00ca,0xba00c9,0xc900c0,0xc000c9,0xb800c8,0xc00248,0xc700c5,0xc400c6,0xc500c7,0xc700c3,0xc200c4,0xc300c7,0xc700bd,0xba00c2,0xbd00c7,0xc1007d,0xc70268,0x7d00c1,0x24900b9,0xc100bc,0xb90249,0xc70269,0xc6007d,0x26900c7,0x2680267,0xbb00c1,0xb900c1,0xc10079,0x26700bb,0x7900c1,0xbd00ba,0xb800b8,0xbf00bd,0xba00c0,0xbe00b8,0x24900bc,0xc000b7,0xa20248,0x24900be,0xa20248,0xb70249,0x2490248,0x79003b,0x2800280,0xbb0079,0x9100b6,0xb600b4,0x6c00b4,0x6c00b6,0xb40091,0x850091,0x8500b4,0x76004a,0x900085,0x900076,0x76027f,0x4a027f,0x4a0076,0x830085,0x900054,0x27f0054,0x540090,0x2740083,0x8d0083,0x2740274,0x4b008d,0x27c0072,0x72004b,0x27c0089,0x8d0072,0x720089,0x8d004b,0x89027c,0x890049,0x49007a,0x490071,0x750075,0x71007a,0x490075,0x2660266,0x75007a,0x490266,0x71007a,0x3b008e,0x7a0071,0x3b008e,0x79008e,0x79008b,0x8b008e,0x790267,0x268008f,0x268008b,0x8b0267,0x7d0080,0x7d008f,0x8f0268,0x7d007e,0x7e0080,0x7d0269,0x7e0269,0x7e00c6,0xc6026a,0x7e006c,0x26a0080,0x6c007e,0x800083,0x6c008f,0x830080,0x6c0091,0x850085,0x83006c,0x83008d,0x85008f,0x900083,0x8f008d,0x7a007a,0x8b008f,0x8d0089,0x7a007a,0x8e008b,0x6c0253,0x5800b4,0x5b0063,0x260063,0x63005b,0x260070,0x26005b,0x5b0021,0x610021,0x5f005d,0x5d002c,0x62002c,0x25005f,0x61002c,0x250021,0x250061,0x70005f,0x260028,0x640070,0x700022,0x280022,0x640022,0x2c0024,0x620065,0x33002c,0x640065,0x2a0272,0x2a0064,0x650024,0x660033,0x330066,0x2730273,0x27d0044,0x330273,0x2730044,0x252027d,0x2540272,0x27200b4,0x2a00b4,0xb4002a,0x2540043,0xb40253,0x44027d,0x43004e,0x4a00b4,0x510044,0x43004e,0x39027f,0x4a0043,0x51027f,0x4e0055,0x54027f,0x4e0039,0x27e0055,0x290054,0x540039,0x290274,0x2830055,0x29027e,0x2d004b,0x2740029,0x2d004b,0x3d027c,0x4b002d,0x283027c,0x27e0282,0x2800282,0x3d027e,0x2820049,0x27c003d,0x2820049,0x2800049,0x710049,0x49003b,0x280003b,0x24b002c,0x300030,0x56024b,0x2c0033,0x370030,0x300033,0x330044,0x4c0037,0x370044,0x440051,0x59004c,0x4c0051,0x510055,0x2840059,0x590055,0x550283,0x3a0284,0x2840283,0x2830282,0x3c003c,0x3a0283,0x282003d,0x281003c,0x3c003d,0x3d002d,0x2b0281,0x281002d,0x2d0029,0x35002b,0x2b0029,0x24b004f,0x25002c,0x2c004f,0x4f0050,0x210025,0x250050,0x500045,0x260021,0x210045,0x450028,0xac0026,0x5300ad,0x2bc00ad,0x2bc0041,0x400038,0x290039,0x420035,0x350039,0x390043,0x360042,0x420043,0x43002a,0x320036,0x36002a,0x2a0024,0x270027,0x32002a,0x240022,0x230023,0x270024,0x220028,0x200020,0x230022,0x280038,0x280020,0x450038,0x380040,0x410020,0x4002bc,0x4100ad,0x560053,0x5300ac,0xac024b,0x920056,0x4f024b,0x920034,0x34004f,0x50004f,0x500034,0x310045,0x450034,0x31002f,0x2f0045,0x380045,0x2f002e,0x2e0038,0x860038,0x2e003e,0x3f0086,0x86003e,0x340092,0x92006a,0x82006a,0x6b0034,0x34006a,0x6b0031,0x6f0031,0x31006b,0x6f005e,0x2f0031,0x2f005e,0x5e002e,0x5c002e,0x2e005e,0x5c003e,0x3f003e,0x3e0057,0x5c0057,0x48003f,0x3f004d,0x57004d,0x870048,0x480052,0x4d0052,0x980087,0x87005a,0x52005a,0x470098,0x69005a,0x11b0084,0x84011b,0x1cb01cb,0x9b0084,0x84009d,0x1cb0069,0x111009b,0x9b0111,0x1cc01cc,0x82009b,0x9d011a,0x880069,0x11a009d,0x88009e,0x1cc011a,0x6a0082,0x1cc0112,0x1d3006a,0x11a009e,0x9e006d,0x11201d3,0x6b006a,0x11201cd,0x6d006b,0x1d201d3,0x6d0068,0x1cd01d2,0x6f006b,0x1cd01ce,0x68006f,0x6001d2,0x680067,0x1ce0060,0x5e006f,0x670046,0x1ce0060,0x5c005e,0x1ce0114,0x46005c,0x1d10060,0x11401cf,0x47005c,0x1d10046,0x1d10047,0x470117,0x5a0117,0x1cf0057,0x5a005c,0x1d00117,0x1cf0115,0x5a0057,0x5201d0,0x115004d,0x1d00057,0x4d0115,0x1d00052,0x98004d,0x470046,0x8c0098,0x8c0046,0x460067,0x74008c,0x740067,0x670068,0x780074,0x780068,0x68006d,0x26c0078,0x26c006d,0x6d009e,0x26f026c,0x26f009e,0x9e0088,0x26d026f,0x26d0088,0x88009d,0x7f026d,0x7f009d,0x9d0084,0x81007f,0x810084,0x9b007c,0x9b0081,0x7c0084,0x9b0092,0x820092,0x26c009b,0x2700078,0x780270,0x9c0099,0x1902a0,0x2bf009c,0x2bf02a0,0x2a002c0,0x2ba02c0,0x2c002a0,0x2ba00b1,0x2ac00b1,0xb102ba,0x2ac02c1,0x2bb02c1,0x2c102ac,0x2bb00af,0x2ae00af,0xaf02bb,0x2ae00b0,0x2a800b0,0xb002ae,0x2a8006e,0x264006e,0x6e02a8,0x26402c2,0xab02c2,0xab0264,0x26402a7,0x2b500ab,0x2b502a7,0x2a70265,0x2b802b5,0x2b80265,0x26502b7,0xa102b7,0x2b70265,0xa100a9,0xa000a9,0xa900a1,0xa00073,0x7300a0,0x7302a4,0x2a400aa,0x2b600aa,0x2a402a4,0x29202b6,0x2a302b6,0x2b60260,0x2920260,0x2a202a3,0x2a20260,0x260029d,0xa802a2,0xa8029d,0x29d02b9,0x2aa02b9,0x2b9029d,0x2aa00a5,0x2ab00a5,0xa502aa,0x2ab02a1,0xa602a1,0x2a1029e,0x2ab029e,0xa700a6,0xa60297,0x29e0297,0x2ad00a7,0x2ad0297,0x2970295,0x7702ad,0x2ad0294,0x2950294,0x7b0077,0x2940294,0x285007b,0x2c3007b,0x2c30285,0x28502c4,0x2c40285,0x2c40287,0x28702b4,0x28d02b4,0x2b40287,0x28d02a6,0x2a6028d,0x2a6028e,0x28e02a5,0xa402a5,0xa4028e,0x28e029a,0xa300a4,0x29a029a,0x29900a3,0x29300a3,0x2930299,0x2990290,0x2900299,0x290025b,0x25b0291,0x2980291,0x291025b,0x2980261,0x2550261,0x2610298,0x2550263,0x2a90263,0x2a90255,0x255028a,0x26202a9,0x262028a,0x28a0258,0x29f0262,0x29f0258,0x25802b3,0x25702b3,0x2b30258,0x2570296,0x25d0296,0x25d0257,0x2570251,0x25f025d,0x25f0251,0x251025e,0x250025e,0x25e0251,0x25002b2,0x28802b2,0x2880250,0x2500277,0x2860288,0x2770277,0x2760286,0x2590286,0x2590276,0x2760279,0x25a0259,0x25a0279,0x279028f,0x24e028f,0x28f0279,0x24e029c,0x29c024e,0x29c026b,0x26b029b,0x2be029b,0x29b024d,0x26b024d,0x2c502be,0x2c5024d,0x24c00ae,0x24c02c5,0xae024d,0x24c02b1,0x25c02b1,0x25c024c,0x24c026e,0x28c025c,0x28c026e,0x26e0256,0x24a0256,0x256026e,0x24a028b,0x24b028b,0x28b024a,0x24b00ac,0x2bd028b,0x2bd00ac,0xac00ad,0x28902bd,0x28900ad,0xad02bc,0x2af0289,0x2af02bc,0x3802b0,0x3802af,0x2b002bc,0x38009f,0x86009f,0x9f0038,0x860275,0x2780275,0x275003f,0x86003f,0x9a0278,0x3f003f,0x48009a,0x24f009a,0x480048,0x87024f,0x271024f,0x870087,0x980271,0x27a0271,0x27a0098,0x98008a,0x8a0098,0x8a008c,0x8c027b,0x27b008c,0x27b0074,0x740099,0x990074,0x50078,0x19009c,0x2dc0005,0x502bf,0x9c02bf,0x2c002dc,0x2dc02bf,0x2c002ea,0xb102ea,0x2ea02c0,0xb102ed,0x2c102ed,0x2ed00b1,0x2c102e8,0xaf02e8,0x2e802c1,0xaf0018,0xb00018,0x1800af,0xb002e1,0x2e002e1,0xb000b0,0x6e02e0,0x1702e0,0x6e006e,0x2c20017,0x930017,0x9302c2,0x2c200ab,0x950093,0x9500ab,0xab02b5,0x2b80095,0x9502b5,0x2b80097,0x9702b8,0x9702b7,0x2b700b2,0xa900b2,0xb202b7,0xa90096,0xb30096,0xb300a9,0xa90073,0x1200b3,0x120073,0x7300aa,0x1b0012,0x1b00aa,0xaa001d,0x2b6001d,0x1d00aa,0x2b6001f,0x1e001f,0x1f02a3,0x2b602a3,0x1c001e,0x1e02a2,0x2a302a2,0x94001c,0x9402a2,0x2a200a8,0x2b90094,0x9400a8,0x2b9001a,0x19001a,0x1902b9,0x2b900a5,0x2a00019,0x2a000a5,0xa502a1,0xa602a0,0x2a002a1,0xa602ba,0x2ac02ba,0xa600a6,0xa702ac,0x2bb02ac,0xa700a7,0x2ad02bb,0x2ae02bb,0x2ad02ad,0x7702ae,0x2a802ae,0x770077,0x7b02a8,0x26402a8,0x264007b,0x7b02c3,0x2a70264,0x26402c4,0x2c302c4,0x26502a7,0x2a702b4,0x2c402b4,0xa10265,0x26502a6,0x2b402a6,0xa102a6,0xa102a5,0x2a500a0,0xa400a0,0xa002a5,0xa400a3,0x2a400a0,0x2a400a3,0xa30293,0x29202a4,0x2a40290,0x2930290,0x291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-#include -#include -inline void uncompress_L515_obj(std::vector& vertex_data, std::vector& normals, std::vector& index_data) -{ - std::vector uncompressed(0x3f0d2, 0); - LZ4_decompress_safe((const char*)L515_obj_data, uncompressed.data(), 0x398e0, 0x3f0d2); - const int vertex_size = 0x2924 * sizeof(float3); - const int index_size = 0x55db * sizeof(short3); - vertex_data.resize(0x2924); - memcpy(vertex_data.data(), uncompressed.data(), vertex_size); - index_data.resize(0x55db); - memcpy(index_data.data(), uncompressed.data() + vertex_size, index_size); - //normals.resize(0x2924); - //memcpy(normals.data(), uncompressed.data() + vertex_size + index_size, vertex_size); -} diff --git a/common/res/sources/D455.obj b/common/res/sources/D455.obj new file mode 100644 index 00000000..252538cb --- /dev/null +++ b/common/res/sources/D455.obj @@ -0,0 +1,34596 @@ +# FreeCAD v0.20 build2 Arch module +# http://www.freecadweb.org +mtllib corpus2_arch_module.mtl +o Part__Feature026 +usemtl 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10297//10297 -f 10296//10296 10329//10329 10330//10330 diff --git a/common/res/sr300.h b/common/res/sr300.h deleted file mode 100644 index 97eb6bd5..00000000 --- a/common/res/sr300.h +++ /dev/null @@ -1,23 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2021 Intel Corporation. All Rights Reserved. - -// This file is auto-generated from sr305.obj using rs-embed tool version: 0.0.0.1 -// Generation time: 09/13/2021 14:20:04. - -#pragma once -static uint32_t sr305_obj_data [] { 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,0xff93bf3f,0xe74f428b,0x844b4140,0xf0e2bf23,0x853d428b,0xc2c0c140,0xe85bbeed,0xc174428b,0x41c0c13c,0xec18bcda,0xbc70428b,0x3b4c146,0xd5c3bfa4,0xe5a0428b,0xfd30c146,0xee81bf9f,0x5b34428b,0x3706c13e,0xf286be5b,0xf430428b,0x840c14f,0xee0ec06b,0x914a428b,0xea1ac145,0xd951bf8e,0x8f71428b,0x3602c150,0xf6a8c072,0xfa43428b,0xe4ddc145,0xff2dbf9b,0x750a428b,0x24e4c14d,0xf22cc03d,0x86f9428b,0x365c14e,0xf691c042,0xe5e2428b,0xed22c142,0xf402bf48,0x4328428b,0xc438c14a,0xf8c4bff8,0xa44c428b,0x86d8c140,0xe8b2bf04,0x8034428b,0x1c44c141,0xffc9bf0e,0xdcc1428b,0xdb75413d,0xfe67be95,0x66a3428b,0x9783413d,0xd49cbe55,0x4c00428b,0x64be4145,0xfe0abf81,0x945d428b,0x1934413c,0xff93bdee,0x9ce1428b,0x5bd04143,0xd56ebf7e,0x7475428b,0xa6dc141,0xf11f2c03,0x4ede1e1c,0x3e400341,0x8bff25c0,0x4d1b0d42,0x34cb9b41,0x8bfb08c0,0x43068242,0x5571f5c1,0x8bd85ebf,0x43484e42,0x3df94ec1,0xfff1015c,0xffffffff,0xffffffff,0xffffffff,0x39e0beff,0xc265414e,0xf29ec04d,0x9b2f428b,0xabaac142,0xfc61bf3a,0xbbb0428b,0x614ac14f,0xe2c6c079,0xccd2428b,0x12a24150,0xfce6c087,0x9d63428b,0xd383414c,0xff5cc027,0x7f75428b,0x4c79414f,0xfe83c080,0xc90b428b,0x4db8413c,0xebcebe15,0x4a8f428b,0xcdf6413d,0xdc29bdc2,0x2042428b,0xeb58413d,0xf513bd31,0x1abb428b,0xd480413c,0xeb33bc3e,0x2412428b,0x5df24147,0xda48bfab,0x93f8428b,0x60d84140,0xfc2fbed3,0xa89428b,0x405c413f,0xdc1cbeba,0xce80428b,0x89bb4142,0xe849bf2f,0xb897428b,0x24334140,0xf711bee9,0x8212428b,0xc018413c,0xfaedbd6f,0xd7a0428b,0x6538c13b,0xe8bebcc1,0x8e4a428b,0x2628c13d,0xfb22bde8,0x2fb5428b,0xd734142,0xed13bf3a,0xd848428b,0xeb604142,0xf190bf3a,0x5bb428b,0xb7624142,0xef50bf27,0x5318428b,0x7b34c14d,0xf898c028,0x4aa428b,0xdf9b4143,0xf164bf4f,0x39bc428b,0x1cf84143,0xfe04bf4c,0x419e428b,0xa780c13e,0xf8e3bea0,0x2a29428b,0x8a9fc13f,0xe6f1beb2,0x574b428b,0xc2bcc13f,0xf723be99,0xae1b428b,0x24eec13f,0xe14ebece,0x80b7428b,0xe2e0c140,0xfce0bed5,0xcd08428b,0xe968c140,0xfcb6bf13,0xb794428b,0x85cec141,0xdf56bf30,0x3993428b,0x10d6c150,0xff64c066,0x6eb6428b,0xcfd0c14e,0xef8dc056,0xd2428b,0x19c4c14f,0xf9c0c04c,0x7df4428b,0xede9c14e,0xe9d5c048,0xe3d0428b,0xb35ac14e,0xf25cc045,0xa15d428b,0x942dc14e,0xe58bc044,0xac22428b,0x2f1cc14e,0xcfb0c03e,0x51ae428b,0x7ee4c14e,0xd1cbc032,0xe654428b,0xe147c150,0xfb92c081,0xf473428b,0xfce44143,0xf9e0bf77,0x1774428b,0xa1b5c150,0xffa0c084,0xf1c8428b,0x898bc14b,0xdc41c022,0x578b428b,0x501bc14c,0xf950c012,0xb60c428b,0x3a00c14b,0xe8a8c014,0x97c0428b,0x512fc14b,0xe8bac00a,0xfa0c428b,0xccccc14a,0xf522c001,0x711f428b,0xf398c14a,0xe45bbffe,0x6a49428b,0x2387c14a,0xf66ebff3,0x8bf428b,0x83cec14a,0xf982bff5,0xa233428b,0x29dbc149,0xe645bff1,0x1c93428b,0x51c3c14a,0xf761bfeb,0x4023428b,0x289dc148,0xfad2bfcc,0x58a3428b,0xfd3ec147,0xfda3bfbd,0x2543428b,0xc52bc146,0xf26dbfab,0xd143428b,0x8b84c145,0xdcaabf95,0x2df8428b,0xc52c146,0xfdbabf93,0xf067428b,0x707c145,0xeb0ebfa5,0x4f09428b,0x8c30c145,0xfb09bf87,0xd83e428b,0x6c6cc144,0xe3b4bf8b,0xcb79428b,0x12a9c144,0xfa2bbf77,0x4b5a428b,0x4920c144,0xf7b7bf81,0x1414428b,0xe7d0c144,0xe84cbf73,0x9ca5428b,0x45e0c143,0xe9cbbf51,0x1668428b,0x916b4144,0xeb60bf63,0x6f08428b,0x3574144,0xfcd4bf70,0x6fd3428b,0x5f374143,0xea13bf6a,0xe6df428b,0x39c64144,0xfbbbbf80,0x2789428b,0x7a86c143,0xf958bf5e,0x365a428b,0x56644143,0xf560bf58,0x77a5428b,0x8a1e4140,0xd85ebef4,0xb546428b,0x354e4143,0xeb4ebf4c,0x2b85428b,0x8f644141,0xea45bf04,0x2205428b,0x87124143,0xf4ecbf42,0x8dd3428b,0x14f4141,0xd9ffbf1c,0x3a0428b,0x76b64142,0xfb36bf15,0xe656428b,0xbc374140,0xfbcabf12,0x5470428b,0xb6954140,0xdc35bf02,0x12d8428b,0xf47ec13e,0xee94be11,0x23b5428b,0x182a4140,0xe684bed1,0x9ab428b,0xc3b8c142,0xeacdbf1b,0xb07d428b,0x5123413f,0xf48dbeb3,0x57b2428b,0xab96413e,0xeee0be74,0x994f428b,0x579b413d,0xeb88be05,0xab38428b,0x16a74150,0xf968c089,0x11bf428b,0x75364150,0xe37ec081,0x7f20428b,0xd921c142,0xe317bf29,0x8e06428b,0x67524150,0xff01c078,0x3a3b428b,0x3d07414f,0xd3cac06f,0xe5e6428b,0xe8cc4150,0xd77dc081,0xa2ba428b,0x203b4150,0xff25c074,0x2014428b,0x7aea414f,0xcccdc069,0xc0ff428b,0x2e7b414f,0xd77dc053,0x2ffa428b,0x95a0c150,0xf954c0a9,0xb7a7428b,0x56d5c148,0xf353c0e9,0x93b1428b,0xe39fc14f,0xf3fdc0aa,0x21ca428b,0x54b6c14f,0xf718c0b2,0x235b428b,0x6e31c14f,0xe84dc0b0,0x5c9b428b,0xf0ac14f,0xf981c0b4,0x6d44428b,0xc83ec14e,0xf892c0b8,0x3f8f428b,0x9a5fc142,0xf923c104,0xdbaa428b,0xb30bc14d,0xd6e9c0bf,0x74f8428b,0xdebdc143,0xfcd0c103,0xc357428b,0x7a34c14c,0xe86cc0c8,0xc561428b,0x8562c14d,0xee02c0c7,0xf8d428b,0x2596c14c,0xd6e9c0d5,0x9d2d428b,0xf79bc14c,0xe8a0c0d3,0xbd31428b,0xfc51c14b,0xefc0c0d8,0x47cf428b,0x2fac14b,0xe73cc0db,0xf85c428b,0x6afbc142,0xe6e0c104,0x2a1a428b,0x643dc14b,0xefe8c0dd,0x147b428b,0x34e9c14a,0xf4f8c0e3,0x1172428b,0x3060c14d,0xd8b3c0ca,0xcd30428b,0x3b1fc14d,0xfa22c0c9,0xe294428b,0xd433c148,0xdadfc0e7,0xde5d428b,0x896bc14e,0xdfd6c0bd,0x8d06428b,0x8f3ac14e,0xef56c0c0,0x8700428b,0xdd17c14e,0xdcaac0bc,0x5e45428b,0x27a9c14e,0xd9b2c0c3,0x7aa5428b,0x9272c14f,0xdcb0c0b5,0xa079428b,0xae6ec14f,0xf81dc0b2,0x57f2428b,0x9476c14d,0xf677c0c6,0x3a6a428b,0x4477c14f,0xea62c0af,0x9ca6428b,0x9452c14f,0xef21c0af,0xc62428b,0x4116c14e,0xeb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0x1109428c,0x9fb8c146,0xc0f3,0x79b2428c,0xafd0c130,0xf181c11e,0x5b67428b,0xcf994150,0xd521c097,0x3d79428b,0xbe494150,0xff25c0a8,0xf2dc428b,0x49c7c12b,0xff25c124,0x15bb428b,0x9b3fc130,0xd61ec11f,0x5e35428b,0xa39ec12d,0xffa0c124,0xb6e1428b,0x8ec7413c,0xff93c10d,0x28d5428b,0xb966c13a,0xd61ec111,0xdbf6428b,0xdfb3c150,0xff93c095,0x53ae428b,0x99c4c14e,0xff25c0b1,0x5dd2428b,0x4aa9c14e,0xff93c0b3,0xd06428b,0x69b5c148,0xd839c0e9,0xb2b9428b,0xab14c147,0xe5cbc0f3,0xb325428b,0xed55c10b,0xf773c13f,0x7a35428b,0x118b4139,0xf4c6c114,0x3628428b,0x80d7c10d,0xfbd9c13e,0x5d65428b,0x94edc10c,0xfe38c13e,0xd094428b,0xc305c10e,0xfc68c13c,0x9072428b,0x2bf6c125,0xfb58c12b,0x4aef428b,0x3fa8412e,0xf8a6c122,0x106d428b,0x5e0dc134,0xfec4c11b,0x74c9428b,0x4954c10f,0xf813c13c,0xd65f428b,0x7fe3c11e,0xf737c131,0x3eff428b,0xb1b0c10e,0xe3f8c13d,0xb829428b,0xf64e411c,0xe70ac133,0x94bd428b,0xbc38c10d,0xfcf8c13e,0x68a6428b,0x1774c10b,0xfd84c13f,0x2505428b,0xcfd0c10a,0xe0c1c13f,0x6107428b,0x99cdc10c,0xd0dec13f,0x85be428b,0xbc2f411e,0xff93c132,0x8e9d428b,0x8071c13f,0xd176c108,0xe856428b,0xc6cdc150,0xff5cc093,0x30e4428b,0xe7d6c13d,0xc10c,0x5735428c,0x46c7c14d,0xffafc0bd,0xa1b2428b,0xa3f9c10e,0xff3cc13c,0x910428b,0xc6d9c10d,0xff2ac13d,0xa779428b,0xb96c14f,0xf10ee88f,0x29896110,0x26d4fcc1,0x8c0000c1,0x16a07b42,0x36e19cc1,0x8be583c1,0xcfc0242,0x3f2473c1,0xfff40018,0xffffffff,0xffffffff,0xffffffff,0x4f49976d,0x809d43c1,0x8c0000c0,0x4eedd642,0x6d65dcc1,0x8be33fc0,0x1996b942,0x3672ae41,0x8bf308c1,0xd3cdf42,0x3e7b8741,0x8bf24ac1,0xee85942,0x3d816341,0x8be885c1,0xe602c42,0x3e297641,0x8bfbdcc1,0x123a0142,0x3aadfd41,0x8bd3f2c1,0x19755d42,0x36bb4041,0x8bede0c1,0x1a21ba42,0x35ba6841,0x8bd3f2c1,0x1421d342,0x3a9d8841,0x8bf00dc1,0x1b398642,0x34c8c741,0x8be1abc1,0x1c368242,0x346e0241,0x8bfccac1,0x25e90042,0x2ab7c441,0x8bf056c1,0x230c7042,0x2e2cce41,0x8bffadc1,0x24207c42,0x2be2ec41,0x8bf167c1,0x27815a42,0x29fba941,0x8beab5c1,0x2e3ef442,0x233a8641,0x8bf7dbc1,0x3b9a2942,0x10a79a41,0x8bd548c1,0x2fe24542,0x21cdfa41,0x8bf10dc1,0x319bcf42,0x1f073241,0x8bf580c1,0x3cb24242,0xf0c2d41,0x8bd96cc1,0x3a83b842,0x13b47341,0x8bebfac1,0x35645842,0x1a7ebc41,0x8bd56ec1,0x37228242,0x18ab6b41,0x8bf162c1,0x3b47b342,0x11ab3341,0x8beabac1,0x41674042,0x7611b41,0x8be499c1,0x3fe7a942,0xa746b41,0x8bf7dcc1,0x503ce342,0x8caf7d41,0x8bff20c0,0x1009e942,0x3bcbd941,0x8bfd94c1,0xa8a3142,0x3f935041,0x8bfabfc1,0xabf3442,0x3fb8cd41,0x8bfc8cc1,0xb463e42,0x3f31ce41,0x8c0000c1,0x336f0142,0x1affad41,0x8c0000c1,0x1f883e42,0x2fcf3c41,0x8bff25c1,0x2373bf42,0x2cbb3041,0x8bd61ec1,0x2aadf742,0x277ec241,0x8bff25c1,0x2db81d42,0x22562441,0x8bff69c1,0x300d6e42,0x1f847941,0x8bff25c1,0x41a11042,0x4c25141,0x8bfd11c1,0x426f5142,0x3850941,0x8bfed5c1,0x227e59c2,0x2d82c041,0x8bd94ac1,0x245b3ec2,0x2d97ed41,0x8bfe43c1,0x1af3bec2,0x3415ab41,0x8bd98cc1,0xe66c4c2,0x3e6b5f41,0x8bf81bc1,0x4feca2c2,0x9affee41,0x8beb1ec0,0x505ce1c2,0x9dfabe41,0x8bd61ec0,0x4e2d7042,0xc5d48241,0x8bd61ec0,0x4f4f8a42,0xb8627c41,0x8c0000c0,0x4f344242,0x99ac4b41,0x8bd24fc0,0x4f754a42,0xb661a241,0x8bff25c0,0x2bc9a742,0x24764441,0x8bef93c1,0x507d60c2,0x90f92141,0x8be223c0,0x50d228c2,0x8f73cf41,0x8bfbb7c0,0x15184042,0x38afb741,0x8bd61ec1,0x146fce42,0x3a659641,0x8bd61ec1,0x151c2542,0x39ebd541,0x8bd61ec1,0x19be5142,0x36825d41,0x8beedec1,0x508d2642,0x8dd8c141,0x8bf685c0,0x50517b42,0x8947ae41,0x8be5e7c0,0x4c929142,0xd289ba41,0x8bd61ec0,0x1a61f242,0x3604c341,0x8bff25c1,0x1ee09442,0x30bf6341,0x8bd61ec1,0x1f600d42,0x32010541,0x8bf9d4c1,0x242fc042,0x2ca39e41,0x8bf52dc1,0xaf54a42,0x3fe98941,0x8bff5fc1,0x159b0d42,0x37e42041,0x8bfa12c1,0x5008e742,0x93ec0741,0x8bf9cac0,0x50078042,0x96b44a41,0x8be257c0,0x50bacc42,0x94b87f41,0x8bf7c0c0,0x4ecfb5c2,0xb530bc41,0x8bdcaac0,0x508d5242,0x9f991c41,0x8bfd42c0,0x4fa68242,0x9ba02441,0x8bf4a8c0,0x303e5fc2,0x2081f941,0x8bf874c1,0x4f9e5542,0xa5df3041,0x8be568c0,0x5020c942,0xa6c24741,0x8be3c4c0,0x4ff52c42,0xab145041,0x8bd966c0,0x50b710c2,0x9b304641,0x8beee6c0,0x4f929f42,0xacecfd41,0x8bf2ddc0,0x2e3453c2,0x22e75241,0x8bf916c1,0x4ec3b642,0xb48aee41,0x8be56cc0,0x4f42c142,0xb69c3941,0x8bdd8bc0,0x4f77f442,0xb51c1a41,0x8bdf45c0,0x4ead0f42,0xbf35fc41,0x8bfe36c0,0x4db6d542,0xbdb35541,0x8be3f1c0,0x4e765342,0xc0fbcd41,0x8bfd0fc0,0x2fbcc642,0x20515341,0x8be40ac1,0x4ce5ae42,0xd047d341,0x8bf429c0,0xbfd7e42,0x3f4b2141,0x8be74ac1,0x4c462e42,0xd5229b41,0x8bf570c0,0x4c585042,0xd12d3441,0x8bee81c0,0x4c47a342,0xd3ba2041,0x8bf465c0,0x4cb81c42,0xce3d6241,0x8bf80fc0,0x4bf30542,0xd362f541,0x8bf822c0,0x2b6dbb42,0x25a3d041,0x8bfa64c1,0x4b936742,0xd4d8f741,0x8bd551c0,0x42db9f42,0x51c5c41,0x8be448c1,0x4a2fbc42,0xe4783141,0x8bf8bac0,0x49ff9242,0xe172f841,0x8be1edc0,0x4b0a3842,0xdef63441,0x8bfd43c0,0x4a40f442,0xdd60ff41,0x8bfdf8c0,0x48f11942,0xe5bd5d41,0x8bd792c0,0x4b5c6c42,0xdd6abc41,0x8bf995c0,0x48d70e42,0xe830a341,0x8bef03c0,0x508e3642,0x8a530641,0x8bef0ac0,0x4889d042,0xecffc241,0x8bd9b2c0,0x48916c42,0xeefb7041,0x8bfe02c0,0x48168d42,0xea6bbc41,0x8be283c0,0x48a94742,0xedd51a41,0x8bf371c0,0x4fe64042,0xa41a2541,0x8be4abc0,0x48f66542,0xebc21041,0x8be6b9c0,0x494aec42,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-#include -#include -inline void uncompress_sr305_obj(std::vector& vertex_data, std::vector& normals, std::vector& index_data) -{ - std::vector uncompressed(0x4ce8a, 0); - LZ4_decompress_safe((const char*)sr305_obj_data, uncompressed.data(), 0x44acd, 0x4ce8a); - const int vertex_size = 0x32f5 * sizeof(float3); - const int index_size = 0x672d * sizeof(short3); - vertex_data.resize(0x32f5); - memcpy(vertex_data.data(), uncompressed.data(), vertex_size); - index_data.resize(0x672d); - memcpy(index_data.data(), uncompressed.data() + vertex_size, index_size); - //normals.resize(0x32f5); - //memcpy(normals.data(), uncompressed.data() + vertex_size + index_size, vertex_size); -} diff --git a/common/rs-config.cpp b/common/rs-config.cpp index ade22597..81443816 100644 --- a/common/rs-config.cpp +++ b/common/rs-config.cpp @@ -3,21 +3,18 @@ #include "rs-config.h" -#include "../third-party/json.hpp" - -#include "model-views.h" - +#include +#include +#include #include -#include "os.h" - -using json = nlohmann::json; +using json = rsutils::json; using namespace rs2; void config_file::set(const char* key, const char* value) { - _values[key] = value; + _j[key] = value; save(); } @@ -28,30 +25,30 @@ void config_file::set_default(const char* key, const char* calculate) void config_file::remove(const char* key) { - _values.erase(key); + _j.erase(key); save(); } void config_file::reset() { - _values.clear(); + _j = json::object(); save(); } std::string config_file::get(const char* key, const char* def) const { - auto it = _values.find(key); - if (it != _values.end()) + auto it = _j.find(key); + if (it != _j.end() && it->is_string()) { - return it->second; + return it->string_ref(); } return get_default(key, def); } bool config_file::contains(const char* key) const { - auto it = _values.find(key); - return it != _values.end(); + auto it = _j.find(key); + return it != _j.end() && it->is_string(); } std::string config_file::get_default(const char* key, const char* def) const @@ -69,16 +66,10 @@ config_value config_file::get(const char* key) const void config_file::save(const char* filename) { - json j; - for(auto kvp : _values) - { - j[kvp.first] = kvp.second; - } - std::string s = j.dump(2); try { std::ofstream out(filename); - out << s; + out << _j.dump( 2 ); out.close(); } catch (...) @@ -88,26 +79,19 @@ void config_file::save(const char* filename) config_file& config_file::instance() { - static config_file inst(get_folder_path(rs2::special_folder::app_data) - + std::string("realsense-config.json")); + static config_file inst( rsutils::os::get_special_folder( rsutils::os::special_folder::app_data ) + + RS2_CONFIG_FILENAME ); return inst; } -config_file::config_file(std::string filename) - : _filename(std::move(filename)), _values() +config_file::config_file( std::string const & filename ) + : _filename( filename ) { try { - std::ifstream t(_filename); if (!t.good()) return; - std::string str((std::istreambuf_iterator(t)), - std::istreambuf_iterator()); - auto j = json::parse(str); - for (json::iterator it = j.begin(); it != j.end(); ++it) - { - _values[it.key()] = it.value().get(); - } + _j = json::parse( t ); } catch(...) { @@ -121,7 +105,7 @@ void config_file::save() } config_file::config_file() - : _filename(""), _values() + : _j( rsutils::json::object() ) { } @@ -129,7 +113,7 @@ config_file& config_file::operator=(const config_file& other) { if (this != &other) { - _values = other._values; + _j = other._j; _defaults = other._defaults; save(); } @@ -138,5 +122,5 @@ config_file& config_file::operator=(const config_file& other) bool config_file::operator==(const config_file& other) const { - return _values == other._values; -} \ No newline at end of file + return _j == other._j; +} diff --git a/common/rs-config.h b/common/rs-config.h index bbce8e67..9bf4e96c 100644 --- a/common/rs-config.h +++ b/common/rs-config.h @@ -1,8 +1,9 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2017 Intel Corporation. All Rights Reserved. - #pragma once +#include + #include #include #include @@ -40,7 +41,7 @@ namespace rs2 { public: config_file(); - config_file(std::string filename); + config_file( std::string const & filename ); void set_default(const char* key, const char* calculate); @@ -91,8 +92,8 @@ namespace rs2 void save(); - std::map _values; std::map _defaults; std::string _filename; + rsutils::json _j; }; } \ No newline at end of file diff --git a/common/stream-model.cpp b/common/stream-model.cpp index fedc734a..f1d61ce1 100644 --- a/common/stream-model.cpp +++ b/common/stream-model.cpp @@ -7,12 +7,6 @@ #include "os.h" #include -struct attribute -{ - std::string name; - std::string value; - std::string description; -}; namespace rs2 { @@ -78,7 +72,7 @@ namespace rs2 glPopAttrib(); } - void draw_rect(const rect& r, int line_width) + void draw_rect( const rect & r, int line_width, bool draw_cross ) { glPushAttrib(GL_ENABLE_BIT); @@ -96,6 +90,20 @@ namespace rs2 glVertex2f(r.x, r.y); glEnd(); + if( draw_cross ) + { + glLineStipple( 1, 0x0808 ); + glEnable( GL_LINE_STIPPLE ); + glBegin( GL_LINES ); + glVertex2f( r.x, r.y + r.h / 2 ); + glVertex2f( r.x + r.w, r.y + r.h / 2 ); + glEnd(); + glBegin( GL_LINES ); + glVertex2f( r.x + r.w / 2, r.y ); + glVertex2f( r.x + r.w / 2, r.y + r.h ); + glEnd(); + } + glPopAttrib(); } @@ -385,6 +393,9 @@ namespace rs2 ImGui::GetWindowDrawList()->AddRectFilled({ stream_rect.x, stream_rect.y - top_bar_height }, { stream_rect.x + stream_rect.w, stream_rect.y }, ImColor(sensor_bg)); + if( ! dev ) + throw std::runtime_error( "device is not set for the stream" ); + int offset = 5; if (dev->_is_being_recorded) offset += 23; auto p = dev->dev.as(); @@ -393,7 +404,7 @@ namespace rs2 ImGui::SetCursorScreenPos({ stream_rect.x + 4 + offset, stream_rect.y - top_bar_height + 7 }); std::string tooltip; - if (dev && dev->dev.supports(RS2_CAMERA_INFO_NAME) && + if (dev->dev.supports(RS2_CAMERA_INFO_NAME) && dev->dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER) && dev->s->supports(RS2_CAMERA_INFO_NAME)) { @@ -779,177 +790,275 @@ namespace rs2 } } - - if (show_metadata) - { - std::vector stream_details; - - if (true) // Always show stream details options - { - stream_details.push_back({ "Frame Timestamp", - rsutils::string::from() << std::fixed << std::setprecision(1) << timestamp, - "Frame Timestamp is normalized represetation of when the frame was taken.\n" - "It's a property of every frame, so when exact creation time is not provided by the hardware, an approximation will be used.\n" - "Clock Domain feilds helps to interpret the meaning of timestamp\n" - "Timestamp is measured in milliseconds, and is allowed to roll-over (reset to zero) in some situations" }); - stream_details.push_back({ "Clock Domain", - rsutils::string::from() << rs2_timestamp_domain_to_string(timestamp_domain), - "Clock Domain describes the format of Timestamp field. It can be one of the following:\n" - "1. System Time - When no hardware timestamp is available, system time of arrival will be used.\n" - " System time benefits from being comparable between device, but suffers from not being able to approximate latency.\n" - "2. Hardware Clock - Hardware timestamp is attached to the frame by the device, and is consistent accross device sensors.\n" - " Hardware timestamp encodes precisely when frame was captured, but cannot be compared across devices\n" - "3. Global Time - Global time is provided when the device can both offer hardware timestamp and implements Global Timestamp Protocol.\n" - " Global timestamps encode exact time of capture and at the same time are comparable accross devices." }); - stream_details.push_back({ "Frame Number", - rsutils::string::from() << frame_number, "Frame Number is a rolling ID assigned to frames.\n" - "Most devices do not guarantee consequitive frames to have conseuquitive frame numbers\n" - "But it is true most of the time" }); - - if (profile.as()) - { - stream_details.push_back({ "Hardware Size", - rsutils::string::from() << original_size.x << " x " << original_size.y, - "Hardware size is the original frame resolution we got from the sensor, before applying post processing filters." }); + stream_model::draw_stream_metadata(timestamp, timestamp_domain, frame_number, profile, original_size, stream_rect); - stream_details.push_back({ "Display Size", - rsutils::string::from() << size.x << " x " << size.y, - "When Post-Processing is enabled, the actual display size of the frame may differ from original capture size" }); - } - stream_details.push_back({ "Pixel Format", - rsutils::string::from() << rs2_format_to_string(profile.format()), "" }); + ImGui::PopStyleColor(5); + } - stream_details.push_back({ "Hardware FPS", - rsutils::string::from() << std::setprecision(2) << std::fixed << fps.get_fps(), - "Hardware FPS captures the number of frames per second produced by the device.\n" - "It is possible and likely that not all of these frames will make it to the application." }); + void stream_model::create_stream_details( std::vector< attribute >& stream_details, + const double timestamp, + const rs2_timestamp_domain timestamp_domain, + const unsigned long long frame_number, + const stream_profile profile, + const rs2::float2 original_size ) + { + stream_details.push_back( { "Frame Timestamp", + rsutils::string::from() << std::fixed << std::setprecision( 1 ) << timestamp, + "Frame Timestamp is normalized represetation of when the frame was taken.\n" + "It's a property of every frame, so when exact creation time is not provided by " + "the hardware, an approximation will be used.\n" + "Clock Domain fields helps to interpret the meaning of timestamp\n" + "Timestamp is measured in milliseconds, and is allowed to roll-over (reset to " + "zero) in some situations" } ); + stream_details.push_back( + { "Clock Domain", + rsutils::string::from() << rs2_timestamp_domain_to_string( timestamp_domain ), + "Clock Domain describes the format of Timestamp field. It can be one of the following:\n" + "1. System Time - When no hardware timestamp is available, system time of arrival will be used.\n" + " System time benefits from being comparable between device, but suffers from not being " + "able to approximate latency.\n" + "2. Hardware Clock - Hardware timestamp is attached to the frame by the device, and is consistent " + "accross device sensors.\n" + " Hardware timestamp encodes precisely when frame was captured, but cannot be " + "compared across devices\n" + "3. Global Time - Global time is provided when the device can both offer hardware timestamp and " + "implements Global Timestamp Protocol.\n" + " Global timestamps encode exact time of capture and at the same time are comparable " + "accross devices." } ); + stream_details.push_back( + { "Frame Number", + rsutils::string::from() << frame_number, + "Frame Number is a rolling ID assigned to frames.\n" + "Most devices do not guarantee consequitive frames to have conseuquitive frame numbers\n" + "But it is true most of the time" } ); + + if( profile.as< rs2::video_stream_profile >() ) + { + stream_details.push_back( { "Hardware Size", + rsutils::string::from() << original_size.x << " x " << original_size.y, + "Hardware size is the original frame resolution we got from the sensor, before " + "applying post processing filters." } ); + + stream_details.push_back( { "Display Size", + rsutils::string::from() << size.x << " x " << size.y, + "When Post-Processing is enabled, the actual display size of the frame may " + "differ from original capture size" } ); + } + stream_details.push_back( + { "Pixel Format", rsutils::string::from() << rs2_format_to_string( profile.format() ), "" } ); + + stream_details.push_back( + { "Hardware FPS", + rsutils::string::from() << std::setprecision( 2 ) << std::fixed << fps.get_fps(), + "Hardware FPS captures the number of frames per second produced by the device.\n" + "It is possible and likely that not all of these frames will make it to the application." } ); + + stream_details.push_back( + { "Viewer FPS", + rsutils::string::from() << std::setprecision( 2 ) << std::fixed << view_fps.get_fps(), + "Viewer FPS captures how many frames the application manages to render.\n" + "Frame drops can occur for variety of reasons." } ); + + stream_details.push_back( { "", "", "" } ); + } - stream_details.push_back({ "Viewer FPS", - rsutils::string::from() << std::setprecision(2) << std::fixed << view_fps.get_fps(), - "Viewer FPS captures how many frames the application manages to render.\n" - "Frame drops can occur for variety of reasons." }); + void stream_model::draw_stream_metadata( const double timestamp, + const rs2_timestamp_domain timestamp_domain, + const unsigned long long frame_number, + stream_profile profile, + rs2::float2 original_size, + const rect &stream_rect ) + { + std::vector< attribute > stream_details; - stream_details.push_back({ "", "", "" }); - } + create_stream_details( stream_details, timestamp, timestamp_domain, frame_number, profile, original_size ); - const std::string no_md = "no md"; + const std::string no_md = "no md"; - if (timestamp_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) - { - stream_details.push_back({ no_md, "", "" }); - } + if( timestamp_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME ) + { + stream_details.push_back( { no_md, "", ""} ); + } - std::map descriptions = { - { RS2_FRAME_METADATA_FRAME_COUNTER , "A sequential index managed per-stream. Integer value" }, - { RS2_FRAME_METADATA_FRAME_TIMESTAMP , "Timestamp set by device clock when data readout and transmit commence. Units are device dependent" }, - { RS2_FRAME_METADATA_SENSOR_TIMESTAMP , "Timestamp of the middle of sensor's exposure calculated by device. usec" }, - { RS2_FRAME_METADATA_ACTUAL_EXPOSURE , "Sensor's exposure width. When Auto Exposure (AE) is on the value is controlled by firmware. usec" }, - { RS2_FRAME_METADATA_GAIN_LEVEL , "A relative value increasing which will increase the Sensor's gain factor.\n" - "When AE is set On, the value is controlled by firmware. Integer value" }, - { RS2_FRAME_METADATA_AUTO_EXPOSURE , "Auto Exposure Mode indicator. Zero corresponds to AE switched off. " }, - { RS2_FRAME_METADATA_WHITE_BALANCE , "White Balance setting as a color temperature. Kelvin degrees" }, - { RS2_FRAME_METADATA_TIME_OF_ARRIVAL , "Time of arrival in system clock " }, - { RS2_FRAME_METADATA_TEMPERATURE , "Temperature of the device, measured at the time of the frame capture. Celsius degrees " }, - { RS2_FRAME_METADATA_BACKEND_TIMESTAMP , "Timestamp get from uvc driver. usec" }, - { RS2_FRAME_METADATA_ACTUAL_FPS , "Actual hardware FPS. May differ from requested due to Auto-Exposure" }, - { RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE , "Laser power mode. Zero corresponds to Laser power switched off and one for switched on." }, - { RS2_FRAME_METADATA_EXPOSURE_PRIORITY , "Exposure priority. When enabled Auto-exposure algorithm is allowed to reduce requested FPS to sufficiently increase exposure time (an get enough light)" }, - { RS2_FRAME_METADATA_POWER_LINE_FREQUENCY , "Power Line Frequency for anti-flickering Off/50Hz/60Hz/Auto. " }, - }; + std::map< rs2_frame_metadata_value, std::string > descriptions = { + { RS2_FRAME_METADATA_FRAME_COUNTER, "A sequential index managed per-stream. Integer value" }, + { RS2_FRAME_METADATA_FRAME_TIMESTAMP, + "Timestamp set by device clock when data readout and transmit commence. Units are device dependent" }, + { RS2_FRAME_METADATA_SENSOR_TIMESTAMP, + "Timestamp of the middle of sensor's exposure calculated by device. usec" }, + { RS2_FRAME_METADATA_ACTUAL_EXPOSURE, + "Sensor's exposure width. When Auto Exposure (AE) is on the value is controlled by firmware. usec" }, + { RS2_FRAME_METADATA_GAIN_LEVEL, + "A relative value increasing which will increase the Sensor's gain factor.\n" + "When AE is set On, the value is controlled by firmware. Integer value" }, + { RS2_FRAME_METADATA_AUTO_EXPOSURE, "Auto Exposure Mode indicator. Zero corresponds to AE switched off. " }, + { RS2_FRAME_METADATA_WHITE_BALANCE, "White Balance setting as a color temperature. Kelvin degrees" }, + { RS2_FRAME_METADATA_TIME_OF_ARRIVAL, "Time of arrival in system clock" }, + { RS2_FRAME_METADATA_TEMPERATURE, + "Temperature of the device, measured at the time of the frame capture. Celsius degrees " }, + { RS2_FRAME_METADATA_BACKEND_TIMESTAMP, "Timestamp get from uvc driver. usec" }, + { RS2_FRAME_METADATA_ACTUAL_FPS, "Hardware FPS * 1000 =\n" + "1000000 * (frame-number - prev-frame-number) / (timestamp - prev-timestamp)" }, + { RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE, + "Laser power mode. Zero corresponds to Laser power switched off and one for switched on." }, + { RS2_FRAME_METADATA_EXPOSURE_PRIORITY, + "Exposure priority. When enabled Auto-exposure algorithm is allowed to reduce requested FPS to " + "sufficiently increase exposure time (an get enough light)" }, + { RS2_FRAME_METADATA_POWER_LINE_FREQUENCY, + "Power Line Frequency for anti-flickering Off/50Hz/60Hz/Auto. " }, + }; - for (auto i = 0; i < RS2_FRAME_METADATA_COUNT; i++) + for( auto i = 0; i < RS2_FRAME_METADATA_COUNT; i++ ) + { + auto && kvp = frame_md.md_attributes[i]; + if( kvp.first ) { - auto&& kvp = frame_md.md_attributes[i]; - if (kvp.first) - { - auto val = (rs2_frame_metadata_value)i; - std::string name = rs2_frame_metadata_to_string(val); - std::string desc = ""; - if (descriptions.find(val) != descriptions.end()) desc = descriptions[val]; - stream_details.push_back({ name, rsutils::string::from() << kvp.second, desc }); - } + auto val = (rs2_frame_metadata_value)i; + std::string name = rs2_frame_metadata_to_string( val ); + std::string desc; + if( descriptions.find( val ) != descriptions.end() ) + desc = descriptions[val]; + stream_details.push_back( { name, format_value(val, kvp.second), desc } ); } + } - float max_text_width = 0.; - for (auto&& kvp : stream_details) - max_text_width = std::max(max_text_width, ImGui::CalcTextSize(kvp.name.c_str()).x); - - for (auto&& at : stream_details) - { - if (_info_height.get() > line_y + ImGui::GetTextLineHeight() - curr_info_rect.y) - { - ImGui::SetCursorScreenPos({ curr_info_rect.x + 10, line_y }); + float max_text_width = 0.f; - if (at.name == no_md) - { - auto text = "Per-frame metadata is not enabled at the OS level!\nPlease follow the installation guide for the details"; - auto size = ImGui::CalcTextSize(text); + for (auto&& kvp : stream_details) { + max_text_width = std::max(max_text_width, ImGui::CalcTextSize(kvp.name.c_str()).x); + } - for (int i = 3; i > 0; i -= 1) - ImGui::GetWindowDrawList()->AddRectFilled({ curr_info_rect.x + 10 - i, line_y - i }, - { curr_info_rect.x + 10 + i + size.x, line_y + size.y + i }, - ImColor(alpha(sensor_bg, 0.1f))); + // Set cursor to metadata start position + ImGui::SetCursorScreenPos( { stream_rect.x, stream_rect.y } ); - ImGui::PushStyleColor(ImGuiCol_Text, redish); - ImGui::Text("%s", text); - ImGui::PopStyleColor(); + // Creating layer for metadata + std::string metadata_layer_id = rsutils::string::from() << "##Metadata-" << profile.unique_id(); + ImGui::BeginChild( metadata_layer_id.c_str(), ImVec2( stream_rect.w + 2, stream_rect.h ) ); + auto screen_pos = ImGui::GetCursorScreenPos( ); + const float space_between_columns = 20.f; + const float space_between_lines = 4.f; + const float space_from_left = 10.f; - line_y += ImGui::GetTextLineHeight() + 3; - } - else - { - std::string text = ""; - if (at.name != "") text = rsutils::string::from() << at.name << ":"; - auto size = ImGui::CalcTextSize(text.c_str()); + float line_y = ImGui::GetCursorScreenPos().y; - for (int i = 3; i > 0; i -= 1) - ImGui::GetWindowDrawList()->AddRectFilled({ curr_info_rect.x + 10 - i, line_y - i }, - { curr_info_rect.x + 10 + i + size.x, line_y + size.y + i }, - ImColor(alpha(sensor_bg, 0.1f))); + for( auto && at : stream_details ) + { + ImGui::SetCursorScreenPos( { screen_pos.x + space_from_left, line_y } ); // create space from left for metadata labels column - ImGui::PushStyleColor(ImGuiCol_Text, white); - ImGui::Text("%s", text.c_str()); ImGui::SameLine(); + ImGui::PushStyleColor( ImGuiCol_FrameBg, transparent ); + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, light_blue ); - if (at.description != "") - { - if (ImGui::IsItemHovered()) - { - ImGui::SetTooltip("%s", at.description.c_str()); - } - } + if ( at.name == "" ) { + line_y += ImGui::GetTextLineHeight() + space_between_lines; // Create space separation between stream details and metatada + } + else if( at.name == no_md ) + { + std::vector warning_lines = { "Per-frame metadata is not enabled at the OS level!", "Please follow the installation guide for the details." }; + ImGui::PushStyleColor( ImGuiCol_Text, redish ); + + // This loop print 2 lines of the warning. This is work around solution because InputText can't show text after new line character. + for (int i = 0; i < warning_lines.size(); i++) { + auto warning_size = ImGui::CalcTextSize(warning_lines[i].c_str()); + + // Draw a smooth rectangle background for a warning. + for (auto i = 3; i > 0; i--) + ImGui::GetWindowDrawList()->AddRectFilled( + { screen_pos.x + space_from_left - i, line_y - i }, + { screen_pos.x + space_from_left + warning_size.x + i + 10, line_y + warning_size.y + i }, + ImColor( alpha( sensor_bg, 0.1f ) ) ); + + ImGui::SetCursorScreenPos( { screen_pos.x + space_from_left, line_y } ); // create space from left for metadata labels column. + ImGui::PushItemWidth(warning_size.x + 5); + + std::string metadata_id = rsutils::string::from() << "##" << at.name << "-" << profile.unique_id(); + ImGui::InputText( metadata_id.c_str(), + (char *)warning_lines[i].c_str(), + warning_lines[i].size(), + ImGuiInputTextFlags_ReadOnly ); + + line_y += ImGui::GetTextLineHeight() + space_between_lines; // Move down to the next line + } - text = at.value; - size = ImGui::CalcTextSize(text.c_str()); + ImGui::PopStyleColor(); // remove redish text color. + } + else + { + std::string text = rsutils::string::from() << at.name << ":"; + auto label_size = ImGui::CalcTextSize(text.c_str()); + + // Draw a smooth rectangle background for label + // When we draw multiple rectangles with a shorter pixel on w & h is darker the inside rectangle + for (auto i = 3; i > 0; i--) + ImGui::GetWindowDrawList()->AddRectFilled( + { screen_pos.x + space_from_left - i, line_y - i }, + { screen_pos.x + space_from_left + label_size.x + i + 10, line_y + label_size.y + i }, + ImColor( alpha( sensor_bg, 0.1f ) ) ); + + ImGui::PushItemWidth(label_size.x + 5); // Set input text width for label. + + std::string label_id = rsutils::string::from() << "##" << at.name << "-" << profile.unique_id(); + ImGui::InputText( label_id.c_str(), + (char *)text.c_str(), + text.size(), + ImGuiInputTextFlags_ReadOnly ); + + ImGui::PopItemWidth(); + + if( at.description != "" ) + { + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "%s", at.description.c_str() ); + } + } - for (int i = 3; i > 0; i -= 1) - ImGui::GetWindowDrawList()->AddRectFilled({ curr_info_rect.x + 20 + max_text_width - i, line_y - i }, - { curr_info_rect.x + 30 + max_text_width + i + size.x, line_y + size.y + i }, - ImColor(alpha(sensor_bg, 0.1f))); + text = at.value; + auto value_size = ImGui::CalcTextSize(text.c_str()); + + // Draw a smooth rectangle background for label value. + for (auto i = 3; i > 0; i--) + ImGui::GetWindowDrawList()->AddRectFilled( + { screen_pos.x + space_from_left + max_text_width + space_between_columns - i, line_y - i }, + { screen_pos.x + space_from_left + value_size.x + max_text_width + space_between_columns + i + 10, line_y + value_size.y + i }, + ImColor( alpha( sensor_bg, 0.1f ) ) ); + + ImGui::SetCursorScreenPos( { screen_pos.x + space_from_left + max_text_width + space_between_columns, line_y } ); - ImGui::PopStyleColor(); + ImGui::PushItemWidth(value_size.x + 5); // Set input text width for label value. - ImGui::SetCursorScreenPos({ curr_info_rect.x + 20 + max_text_width, line_y }); + std::string value_id = rsutils::string::from() << "##" << at.name << "-" << at.value << "-" << profile.unique_id(); + ImGui::InputText( value_id.c_str(), + (char *)text.c_str(), + text.size(), + ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly ); + + ImGui::PopItemWidth(); - std::string id = rsutils::string::from() << "##" << at.name << "-" << profile.unique_id(); + line_y += ImGui::GetTextLineHeight() + space_between_lines; // Move down to the next line + } - ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); - ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); + ImGui::PopStyleColor( 2 ); // pop transparent ImGuiCol_FrameBg, pop light_blue ImGuiCol_TextSelectedBg. + } - ImGui::InputText(id.c_str(), - (char*)text.c_str(), - text.size() + 1, - ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly); + ImGui::EndChild(); + } - ImGui::PopStyleColor(2); - } + std::string stream_model::format_value(rs2_frame_metadata_value& md_val, rs2_metadata_type& attribute_val) const + { + if (should_show_in_hex(md_val)) + return rsutils::string::from() << "0x" << std::hex << attribute_val; // return value as hex + return rsutils::string::from() << attribute_val; + } - line_y += ImGui::GetTextLineHeight() + 3; - } - } - } + bool stream_model::should_show_in_hex(rs2_frame_metadata_value& md_val) const + { + // place in the SET metadata types you wish to display in HEX format + static std::unordered_set< int > show_in_hex; - ImGui::PopStyleColor(5); + if (show_in_hex.find(md_val) != show_in_hex.end()) + return true; + return false; } void stream_model::show_stream_footer(ImFont* font, const rect &stream_rect, const mouse_info& mouse, const std::map &streams, viewer_model& viewer) @@ -959,6 +1068,7 @@ namespace rs2 || (profile.stream_type() == RS2_STREAM_GPIO) || (profile.stream_type() == RS2_STREAM_POSE); + // This scope contains a cursor behavior on visual stream with no metadata on if (stream_rect.contains(mouse.cursor) && !non_visual_stream && !show_metadata) { std::stringstream ss; @@ -1134,9 +1244,10 @@ namespace rs2 } } + // This function contains a cursor behavior on IMU stream with no metadata on void stream_model::show_stream_imu(ImFont* font, const rect &stream_rect, const rs2_vector& axis, const mouse_info& mouse) { - if (stream_rect.contains(mouse.cursor)) + if (stream_rect.contains(mouse.cursor) && !show_metadata) { const auto precision = 3; rs2_stream stream_type = profile.stream_type(); @@ -1510,7 +1621,8 @@ namespace rs2 void stream_model::show_frame(const rect& stream_rect, const mouse_info& g, std::string& error_message) { auto zoom_val = 1.f; - if (stream_rect.contains(g.cursor)) + // Allow mouse scrolling for zoom when not displaying scrollable metadata + if (stream_rect.contains(g.cursor) && !show_metadata) { static const auto wheel_step = 0.1f; auto mouse_wheel_value = -g.mouse_wheel * 0.1f; @@ -1528,31 +1640,32 @@ namespace rs2 _mid_click = is_middle_clicked; - _normalized_zoom = get_normalized_zoom(stream_rect, - g, is_middle_clicked, - zoom_val); - texture->show(stream_rect, 1.f, _normalized_zoom); - - if (dev && dev->show_algo_roi) + if( dev ) { - rect r{ float(dev->algo_roi.min_x), float(dev->algo_roi.min_y), - float(dev->algo_roi.max_x - dev->algo_roi.min_x), - float(dev->algo_roi.max_y - dev->algo_roi.min_y) }; + _normalized_zoom = get_normalized_zoom( stream_rect, g, is_middle_clicked, zoom_val ); + texture->show(stream_rect, 1.f, _normalized_zoom); + + if( dev->show_algo_roi ) + { + rect r{ float(dev->algo_roi.min_x), float(dev->algo_roi.min_y), + float(dev->algo_roi.max_x - dev->algo_roi.min_x), + float(dev->algo_roi.max_y - dev->algo_roi.min_y) }; - r = r.normalize(_normalized_zoom.unnormalize(get_original_stream_bounds())).unnormalize(stream_rect).cut_by(stream_rect); - glColor3f(yellow.x, yellow.y, yellow.z); - draw_rect(r, 2); + r = r.normalize(_normalized_zoom.unnormalize(get_original_stream_bounds())).unnormalize(stream_rect).cut_by(stream_rect); + glColor3f(yellow.x, yellow.y, yellow.z); + draw_rect(r, 2, true); - std::string message = "Metrics Region of Interest"; - auto msg_width = stb_easy_font_width((char*)message.c_str()); - if (msg_width < r.w) - draw_text(static_cast(r.x + r.w / 2 - msg_width / 2), static_cast(r.y + 10), message.c_str()); + std::string message = "Metrics Region of Interest"; + auto msg_width = stb_easy_font_width((char*)message.c_str()); + if (msg_width < r.w) + draw_text(static_cast(r.x + r.w / 2 - msg_width / 2), static_cast(r.y + 10), message.c_str()); - glColor3f(1.f, 1.f, 1.f); - roi_percentage = dev->roi_percentage; - } + glColor3f(1.f, 1.f, 1.f); + roi_percentage = dev->roi_percentage; + } - update_ae_roi_rect(stream_rect, g, error_message); + update_ae_roi_rect(stream_rect, g, error_message); + } texture->show_preview(stream_rect, _normalized_zoom); if (is_middle_clicked) diff --git a/common/stream-model.h b/common/stream-model.h index e80acd87..0b058f30 100644 --- a/common/stream-model.h +++ b/common/stream-model.h @@ -14,13 +14,20 @@ namespace rs2 class subdevice_model; class viewer_model; - void draw_rect(const rect& r, int line_width = 1); + void draw_rect(const rect& r, int line_width = 1, bool draw_cross = false); struct frame_metadata { std::array, RS2_FRAME_METADATA_COUNT> md_attributes{}; }; + struct attribute + { + std::string name; + std::string value; + std::string description; + }; + bool draw_combo_box(const std::string& id, const std::vector& device_names, int& new_index); class stream_model @@ -42,6 +49,21 @@ namespace rs2 void snapshot_frame(const char* filename,viewer_model& viewer) const; + void draw_stream_metadata( const double timestamp, + const rs2_timestamp_domain timestamp_domain, + const unsigned long long frame_number, + stream_profile profile, + rs2::float2 original_size, + const rect& stream_rect ); + + // This function fill details with data + void create_stream_details( std::vector< attribute >& stream_details, + const double timestamp, + const rs2_timestamp_domain timestamp_domain, + unsigned long long frame_number, + stream_profile profile, + rs2::float2 original_size ); + void begin_stream(std::shared_ptr d, rs2::stream_profile p, const viewer_model& viewer); bool draw_reflectivity(int x, int y, rs2::depth_sensor ds, const std::map &streams, std::stringstream &ss, bool same_line = false); rect layout; @@ -84,6 +106,8 @@ namespace rs2 std::unique_ptr< reflectivity > _reflectivity; rsutils::number::stabilized_value _stabilized_reflectivity; + std::string format_value(rs2_frame_metadata_value& md_val, rs2_metadata_type& attribute_val) const; + bool should_show_in_hex(rs2_frame_metadata_value& md_val) const; }; diff --git a/common/subdevice-model.cpp b/common/subdevice-model.cpp index cb2e3dcb..9205662c 100644 --- a/common/subdevice-model.cpp +++ b/common/subdevice-model.cpp @@ -1,5 +1,5 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2017 Intel Corporation. All Rights Reserved. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. #include "post-processing-filters-list.h" #include "post-processing-block-model.h" @@ -69,18 +69,33 @@ namespace rs2 return ss.str(); } - void subdevice_model::populate_options(std::map& opt_container, - const std::string& opt_base_label, - subdevice_model* model, - std::shared_ptr options, - bool* options_invalidated, - std::string& error_message) + void subdevice_model::populate_options( const std::string & opt_base_label, + bool * options_invalidated, + std::string & error_message ) { - for (auto&& i : options->get_supported_options()) + for (rs2::option_value option : s->get_supported_option_values()) { - auto opt = static_cast(i); - - opt_container[opt] = create_option_model(opt, opt_base_label, model, options, options_invalidated, error_message); + options_metadata[option->id] + = create_option_model( option, opt_base_label, this, s, options_invalidated, error_message ); + } + try + { + s->on_options_changed( [this]( const options_list & list ) + { + for( auto changed_option : list ) + { + auto it = options_metadata.find( changed_option->id ); + if( it != options_metadata.end() && ! _destructing ) // Callback runs in different context, check options_metadata still valid + { + it->second.value = changed_option; + } + } + } ); + } + catch( const std::exception & e ) + { + if( viewer.not_model ) + viewer.not_model->add_log( e.what(), RS2_LOG_SEVERITY_WARN ); } } @@ -131,7 +146,8 @@ namespace rs2 yuy2rgb(std::make_shared()), y411(std::make_shared()), viewer(viewer), - detected_objects(device_detected_objects) + detected_objects(device_detected_objects), + _destructing( false ) { supported_options = s->get_supported_options(); restore_processing_block("colorizer", depth_colorizer); @@ -180,15 +196,6 @@ namespace rs2 auto filters = s->get_recommended_filters(); - auto it = std::find_if(filters.begin(), filters.end(), [&](const filter& f) - { - if (f.is()) - return true; - return false; - }); - - auto is_zo = it != filters.end(); - for (auto&& f : s->get_recommended_filters()) { auto shared_filter = std::make_shared(f); @@ -196,17 +203,6 @@ namespace rs2 this, shared_filter->get_info(RS2_CAMERA_INFO_NAME), shared_filter, [=](rs2::frame f) { return shared_filter->process(f); }, error_message); - if (is_zo) - { - if (shared_filter->is()) - { - zero_order_artifact_fix = model; - viewer.zo_sensors++; - } - else - model->enable(false); - } - if (shared_filter->is()) model->enable(false); @@ -485,14 +481,20 @@ namespace rs2 { error_message = error_to_string(e); } - populate_options(options_metadata, ss.str().c_str(), this, s, &_options_invalidated, error_message); + populate_options(ss.str().c_str(), &_options_invalidated, error_message); } subdevice_model::~subdevice_model() { - if (zero_order_artifact_fix) - viewer.zo_sensors--; + _destructing = true; + try + { + s->on_options_changed( []( const options_list & list ) {} ); + } + catch( ... ) + { + } } void subdevice_model::sort_resolutions(std::vector>& resolutions) const @@ -524,20 +526,12 @@ namespace rs2 if (fps_group.empty()) continue; - for (auto& fps1 : first_fps_group) - { - auto it = std::find_if(std::begin(fps_group), - std::end(fps_group), - [&](const int& fps2) - { - return fps2 == fps1; - }); - if (it != std::end(fps_group)) - { - break; - } + auto fps1 = first_fps_group[0]; + auto it = std::find_if( std::begin( fps_group ), + std::end( fps_group ), + [&]( const int & fps2 ) { return fps2 == fps1; } ); + if( it == std::end( fps_group ) ) return false; - } } return true; } @@ -979,7 +973,7 @@ namespace rs2 return res; } - + // The function returns true if one of the configuration parameters changed bool subdevice_model::draw_stream_selection(std::string& error_message) { bool res = false; @@ -995,13 +989,13 @@ namespace rs2 }; auto col0 = ImGui::GetCursorPosX(); - auto col1 = 155.f; + auto col1 = 9.f * (float)config_file::instance().get( configurations::window::font_size ); if (ui.is_multiple_resolutions && !strcmp(s->get_info(RS2_CAMERA_INFO_NAME), "Stereo Module")) { if (draw_fps_selector) { - res &= draw_fps(error_message, label, streaming_tooltip, col0, col1); + res |= draw_fps(error_message, label, streaming_tooltip, col0, col1); } if (draw_streams_selector) @@ -1011,21 +1005,21 @@ namespace rs2 ImGui::Text("Available Streams:"); } - res &= draw_res_stream_formats(error_message, label, streaming_tooltip, col0, col1); + res |= draw_res_stream_formats(error_message, label, streaming_tooltip, col0, col1); } } else { - res &= draw_resolutions(error_message, label, streaming_tooltip, col0, col1); + res |= draw_resolutions(error_message, label, streaming_tooltip, col0, col1); if (draw_fps_selector) { - res &= draw_fps(error_message, label, streaming_tooltip, col0, col1); + res |= draw_fps(error_message, label, streaming_tooltip, col0, col1); } if (draw_streams_selector) { - res &= draw_streams_and_formats(error_message, label, streaming_tooltip, col0, col1); + res |= draw_streams_and_formats(error_message, label, streaming_tooltip, col0, col1); } } @@ -1595,28 +1589,9 @@ namespace rs2 _pause = false; } - bool subdevice_model::can_enable_zero_order() - { - auto ir = std::find_if(profiles.begin(), profiles.end(), [&](stream_profile p) { return (p.stream_type() == RS2_STREAM_INFRARED); }); - auto depth = std::find_if(profiles.begin(), profiles.end(), [&](stream_profile p) { return (p.stream_type() == RS2_STREAM_DEPTH); }); - - return !(ir == profiles.end() || depth == profiles.end() || !stream_enabled[depth->unique_id()] || !stream_enabled[ir->unique_id()]); - } - - void subdevice_model::verify_zero_order_conditions() - { - if (!can_enable_zero_order()) - throw std::runtime_error(rsutils::string::from() - << "Zero order filter requires both IR and Depth streams turned on.\nPlease " - "rectify the configuration and rerun"); - } - //The function decides if specific frame should be sent to the syncer bool subdevice_model::is_synchronized_frame(viewer_model& viewer, const frame& f) { - if (zero_order_artifact_fix && zero_order_artifact_fix->is_enabled() && - (f.get_profile().stream_type() == RS2_STREAM_DEPTH || f.get_profile().stream_type() == RS2_STREAM_INFRARED || f.get_profile().stream_type() == RS2_STREAM_CONFIDENCE)) - return true; if (!viewer.is_3d_view || viewer.is_3d_depth_source(f) || viewer.is_3d_texture_source(f)) return true; @@ -1625,11 +1600,6 @@ namespace rs2 void subdevice_model::play(const std::vector& profiles, viewer_model& viewer, std::shared_ptr syncer) { - if (post_processing_enabled && zero_order_artifact_fix && zero_order_artifact_fix->is_enabled()) - { - verify_zero_order_conditions(); - } - std::stringstream ss; ss << "Starting streaming of "; for (size_t i = 0; i < profiles.size(); i++) @@ -1708,7 +1678,7 @@ namespace rs2 if (next == RS2_OPTION_ENABLE_AUTO_EXPOSURE) { auto old_ae_enabled = auto_exposure_enabled; - auto_exposure_enabled = opt_md.value > 0; + auto_exposure_enabled = opt_md.value->as_float > 0; if (!old_ae_enabled && auto_exposure_enabled) { @@ -1732,11 +1702,11 @@ namespace rs2 if (next == RS2_OPTION_DEPTH_UNITS) { - opt_md.dev->depth_units = opt_md.value; + opt_md.dev->depth_units = opt_md.value->as_float; } if (next == RS2_OPTION_STEREO_BASELINE) - opt_md.dev->stereo_baseline = opt_md.value; + opt_md.dev->stereo_baseline = opt_md.value->as_float; } next_option++; diff --git a/common/subdevice-model.h b/common/subdevice-model.h index 3a94ecf7..2d251510 100644 --- a/common/subdevice-model.h +++ b/common/subdevice-model.h @@ -16,8 +16,8 @@ #include #include #include +#include -#include "../third-party/json.hpp" #include "objects-in-frame.h" #include "processing-block-model.h" @@ -74,12 +74,7 @@ namespace rs2 class subdevice_model { public: - static void populate_options(std::map& opt_container, - const std::string& opt_base_label, - subdevice_model* model, - std::shared_ptr options, - bool* options_invalidated, - std::string& error_message); + void populate_options( const std::string & opt_base_label, bool * options_invalidated, std::string & error_message ); subdevice_model(device& dev, std::shared_ptr s, std::shared_ptr< atomic_objects_in_frame > objects, std::string& error_message, viewer_model& viewer, bool new_device_connected = true); ~subdevice_model(); @@ -110,9 +105,6 @@ namespace rs2 void pause(); void resume(); - bool can_enable_zero_order(); - void verify_zero_order_conditions(); - void update_ui(std::vector profiles_vec); void get_sorted_profiles(std::vector& profiles); @@ -155,7 +147,7 @@ namespace rs2 device dev; std::shared_ptr< atomic_objects_in_frame > detected_objects; - std::map options_metadata; + std::map< rs2_option, option_model > options_metadata; std::vector resolutions; std::map> fpses_per_stream; std::vector shared_fpses; @@ -207,7 +199,6 @@ namespace rs2 std::shared_ptr depth_colorizer; std::shared_ptr yuy2rgb; std::shared_ptr y411; - std::shared_ptr zero_order_artifact_fix; std::vector> post_processing; bool post_processing_enabled = true; @@ -234,5 +225,6 @@ namespace rs2 const float SHORT_RANGE_MIN_DISTANCE = 0.05f; // 5 cm const float SHORT_RANGE_MAX_DISTANCE = 4.0f; // 4 meters + std::atomic_bool _destructing; }; } diff --git a/common/sw-update/http-downloader.cpp b/common/sw-update/http-downloader.cpp index 74b371ec..5a8dc837 100644 --- a/common/sw-update/http-downloader.cpp +++ b/common/sw-update/http-downloader.cpp @@ -9,12 +9,13 @@ #include #include #include +#include #include #include -#include "types.h" #endif // CHECK_FOR_UPDATES #include "http-downloader.h" +#include namespace rs2 @@ -95,17 +96,15 @@ namespace rs2 progress_data *myp = static_cast(p); CURL *curl(myp->curl); curl_off_t curtime(0); - curl_easy_getinfo(curl, CURLINFO_TOTAL_TIME_T, &curtime); - if (dltotal != 0 && (curtime - myp->last_run_time > HALF_SEC)) - { - myp->last_run_time = curtime; - return myp->user_callback_func(static_cast(dlnow), - static_cast(dltotal)) == callback_result::CONTINUE_DOWNLOAD ? 0 : 1; - } - else - { - return 0; - } + if( curl_easy_getinfo(curl, CURLINFO_TOTAL_TIME_T, &curtime) == CURLE_OK ) + if (dltotal != 0 && (curtime - myp->last_run_time > HALF_SEC)) + { + myp->last_run_time = curtime; + return myp->user_callback_func(static_cast(dlnow), + static_cast(dltotal)) == callback_result::CONTINUE_DOWNLOAD ? 0 : 1; + } + + return 0; } http_downloader::http_downloader() : _curl(nullptr) @@ -126,10 +125,11 @@ namespace rs2 if (!_curl) return false; set_common_options(url); - curl_easy_setopt(_curl, CURLOPT_WRITEFUNCTION, stream_write_callback); - curl_easy_setopt(_curl, CURLOPT_WRITEDATA, &output); - curl_easy_setopt(_curl, CURLOPT_SSL_VERIFYPEER ,0L); - curl_easy_setopt(_curl, CURLOPT_SSL_VERIFYHOST ,0L); + if( curl_easy_setopt(_curl, CURLOPT_WRITEFUNCTION, stream_write_callback) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_WRITEDATA, &output) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_SSL_VERIFYPEER ,0L) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_SSL_VERIFYHOST ,0L) != CURLE_OK ) + throw std::invalid_argument( "Setting CURL option failed" ); progress_data progress_record; // Should stay here - "curl_easy_perform" use it if (user_callback_func) @@ -151,8 +151,9 @@ namespace rs2 if (!_curl) return false; set_common_options(url); - curl_easy_setopt(_curl, CURLOPT_WRITEFUNCTION, vector_write_callback); - curl_easy_setopt(_curl, CURLOPT_WRITEDATA, &output); + if( curl_easy_setopt(_curl, CURLOPT_WRITEFUNCTION, vector_write_callback) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_WRITEDATA, &output) != CURLE_OK ) + throw std::invalid_argument( "Setting CURL option failed" ); progress_data progress_record; // Should stay here - "curl_easy_perform" use it if (user_callback_func) @@ -180,8 +181,9 @@ namespace rs2 if (out_file.good()) { set_common_options(url); - curl_easy_setopt(_curl, CURLOPT_WRITEFUNCTION, file_write_callback); - curl_easy_setopt(_curl, CURLOPT_WRITEDATA, &out_file); + if( curl_easy_setopt(_curl, CURLOPT_WRITEFUNCTION, file_write_callback) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_WRITEDATA, &out_file) != CURLE_OK ) + throw std::invalid_argument( "Setting CURL option failed" ); progress_data progress_record; // Should stay here - "curl_easy_perform" use it if (user_callback_func) @@ -208,19 +210,22 @@ namespace rs2 void http_downloader::set_common_options(const std::string &url) { - curl_easy_setopt(_curl, CURLOPT_URL, url.c_str()); // provide the URL to use in the request - curl_easy_setopt(_curl, CURLOPT_FOLLOWLOCATION, 1L); // follow HTTP 3xx redirects - curl_easy_setopt(_curl, CURLOPT_NOSIGNAL, 1); // skip all signal handling - curl_easy_setopt(_curl, CURLOPT_CONNECTTIMEOUT, CONNECT_TIMEOUT); // timeout for the connect phase - curl_easy_setopt(_curl, CURLOPT_FAILONERROR, 1L); // request failure on HTTP response >= 400 - curl_easy_setopt(_curl, CURLOPT_NOPROGRESS, 1L); // switch off the progress meter + if( curl_easy_setopt( _curl, CURLOPT_CONNECTTIMEOUT, CONNECT_TIMEOUT ) != CURLE_OK || // timeout for the connect phase + curl_easy_setopt( _curl, CURLOPT_URL, url.c_str() ) != CURLE_OK || // provide the URL to use in the request + curl_easy_setopt( _curl, CURLOPT_FOLLOWLOCATION, 1L ) != CURLE_OK || // follow HTTP 3xx redirects + curl_easy_setopt( _curl, CURLOPT_NOSIGNAL, 1 ) != CURLE_OK || // skip all signal handling + curl_easy_setopt( _curl, CURLOPT_FAILONERROR, 1L ) != CURLE_OK || // request failure on HTTP response >= 400 + curl_easy_setopt( _curl, CURLOPT_NOPROGRESS, 1L ) != CURLE_OK ) // switch off the progress meter + throw std::invalid_argument( "Setting CURL option failed" ); } + void http_downloader::register_progress_call_back(progress_data &progress_record, user_callback_func_type user_callback_func) { progress_record = { 0, user_callback_func, _curl }; - curl_easy_setopt(_curl, CURLOPT_XFERINFOFUNCTION, progress_callback); - curl_easy_setopt(_curl, CURLOPT_XFERINFODATA, &progress_record); - curl_easy_setopt(_curl, CURLOPT_NOPROGRESS, 0L); + if( curl_easy_setopt(_curl, CURLOPT_XFERINFOFUNCTION, progress_callback) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_XFERINFODATA, &progress_record) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_NOPROGRESS, 0L) != CURLE_OK ) + throw std::invalid_argument( "Setting CURL option failed" ); } #endif } diff --git a/common/sw-update/versions-db-manager.cpp b/common/sw-update/versions-db-manager.cpp index 7fae51f5..514f4c25 100644 --- a/common/sw-update/versions-db-manager.cpp +++ b/common/sw-update/versions-db-manager.cpp @@ -1,43 +1,24 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#include "versions-db-manager.h" +#include +#include +#include #include #include #include #include -#include "json.hpp" -#include "versions-db-manager.h" -#include namespace rs2 { namespace sw_update { - using json = nlohmann::json; + using json = rsutils::json; using namespace http; - // Get current platform - constexpr const char* PLATFORM = - -#ifdef _WIN64 - "Windows amd64"; -#elif _WIN32 - "Windows x86"; -#elif __linux__ -#ifdef __arm__ - "Linux arm"; -#else - "Linux amd64"; -#endif -#elif __APPLE__ - "Mac OS"; -#elif __ANDROID__ - "Linux arm"; -#else - ""; -#endif - query_status_type versions_db_manager::query_versions(const std::string &device_name, component_part_type component, const update_policy_type policy, version& out_version) { // Load server versions info on first access @@ -47,7 +28,7 @@ namespace rs2 return DB_LOAD_FAILURE; } - std::string platform(PLATFORM); + std::string platform = rsutils::os::get_platform_name(); std::string up_str(to_string(policy)); std::string comp_str(to_string(component)); @@ -77,7 +58,7 @@ namespace rs2 // Check if server versions are loaded if (!_server_versions_loaded) return false; - std::string platform = PLATFORM; + std::string platform = rsutils::os::get_platform_name(); std::string component_str(to_string(component)); @@ -110,7 +91,7 @@ namespace rs2 case FIRMWARE: return "FIRMWARE"; break; default: - LOG_ERROR("Unknown component type: " + component); + LOG_ERROR( "Unknown component type: " << component ); break; } return ""; @@ -126,7 +107,7 @@ namespace rs2 case ESSENTIAL: return "ESSENTIAL"; break; default: - LOG_ERROR("Unknown policy type: " + policy); + LOG_ERROR( "Unknown policy type: " << policy ); break; } return ""; @@ -147,7 +128,7 @@ namespace rs2 return true; } - LOG_ERROR("Unknown component type: " + component_str); + LOG_ERROR( "Unknown component type: " << component_str ); return false; } bool from_string(const std::string &policy_str, update_policy_type& policy_val) @@ -164,7 +145,7 @@ namespace rs2 return true; } - LOG_ERROR("Unknown policy type: " + policy_str); + LOG_ERROR( "Unknown policy type: " << policy_str ); return false; } @@ -193,7 +174,7 @@ namespace rs2 } else { - LOG_ERROR("Cannot open file: " + _dev_info_url); + LOG_ERROR( "Cannot open file: " << _dev_info_url ); } } #endif @@ -230,14 +211,17 @@ namespace rs2 } else { - std::string error_str("Server versions file parsing error - validation fail on key: " + element_key + " value: " + it.value().get() + " \n"); + std::string error_str( + "Server versions file parsing error - validation fail on key: " + element_key + + " value: " + it.value().get< std::string >() + " \n" ); LOG_ERROR(error_str); throw std::runtime_error(error_str); } } else { - std::string error_str("Server versions file parsing error - " + element_key + " should be represented as a string"); + std::string error_str( "Server versions file parsing error - " + element_key + + " should be represented as a string" ); LOG_ERROR(error_str); throw std::runtime_error(error_str); } diff --git a/common/updates-model.cpp b/common/updates-model.cpp index 78ce03df..977a8441 100644 --- a/common/updates-model.cpp +++ b/common/updates-model.cpp @@ -8,6 +8,7 @@ #include "os.h" #include #include "sw-update/http-downloader.h" +#include using namespace rs2; using namespace sw_update; diff --git a/common/utilities/CMakeLists.txt b/common/utilities/CMakeLists.txt deleted file mode 100644 index ed403f41..00000000 --- a/common/utilities/CMakeLists.txt +++ /dev/null @@ -1,8 +0,0 @@ -# License: Apache 2.0. See LICENSE file in root directory. -# Copyright(c) 2019 Intel Corporation. All Rights Reserved. - -target_sources(${LRS_TARGET} - PRIVATE - "${CMAKE_CURRENT_LIST_DIR}/time/l500/get-mfr-ww.h" - "${CMAKE_CURRENT_LIST_DIR}/time/l500/get-mfr-ww.cpp" -) diff --git a/common/utilities/imgui/wrap.cpp b/common/utilities/imgui/wrap.cpp index 4f956e9f..fc8adc0f 100644 --- a/common/utilities/imgui/wrap.cpp +++ b/common/utilities/imgui/wrap.cpp @@ -6,7 +6,7 @@ #include #include "wrap.h" #include -#include "../third-party/imgui/imgui.h" +#include namespace utilities { namespace imgui { diff --git a/common/utilities/time/l500/get-mfr-ww.cpp b/common/utilities/time/l500/get-mfr-ww.cpp deleted file mode 100644 index 654cf791..00000000 --- a/common/utilities/time/l500/get-mfr-ww.cpp +++ /dev/null @@ -1,41 +0,0 @@ -//// License: Apache 2.0. See LICENSE file in root directory. -//// Copyright(c) 2020 Intel Corporation. All Rights Reserved. - -#include "get-mfr-ww.h" -#include -#include - - -namespace utilities { -namespace time { -namespace l500 { -// The Serial Number format is PYWWXXXX: -// P – Site Name(ex.“F” for Fabrinet) -// Y – Year(ex.“9” for 2019, "0" for 2020, , "1" for 2021 ..etc) -// WW – Work Week -// XXXX – Sequential number -rsutils::time::work_week get_manufacture_work_week( const std::string & serial ) -{ - if( serial.size() != 8 ) - throw std::runtime_error( "Invalid serial number \"" + serial + "\" length" ); - unsigned Y = serial[1] - '0'; // Converts char to int, '0'-> 0, '1'-> 1, ... - unsigned man_year = 0; - // using Y from serial number to get manufactoring year - if( Y == 9 ) - man_year = 2019; - else if( Y < 9 ) - man_year = 2020 + Y; - else - throw std::runtime_error( "Invalid serial number \"" + serial + "\" year" ); - // using WW from serial number to get manufactoring work week - unsigned WW_tens = serial[2] - '0'; - unsigned WW_singles = serial[3] - '0'; - unsigned man_ww = ( (WW_tens)*10 ) + WW_singles; - if (man_ww > 53) - throw std::runtime_error( "Invalid serial number \"" + serial + "\" work week" ); - return rsutils::time::work_week( man_year, man_ww ); -} - -} // namespace l500 -} // namespace time -} // namespace utilities diff --git a/common/utilities/time/l500/get-mfr-ww.h b/common/utilities/time/l500/get-mfr-ww.h deleted file mode 100644 index eced454f..00000000 --- a/common/utilities/time/l500/get-mfr-ww.h +++ /dev/null @@ -1,18 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2020 Intel Corporation. All Rights Reserved. - -#pragma once - -#include -#include - - -namespace utilities { -namespace time { -namespace l500 { - -rsutils::time::work_week get_manufacture_work_week( const std::string & serial ); - -} // namespace l500 -} // namespace time -} // namespace utilities diff --git a/common/ux-window.cpp b/common/ux-window.cpp index 7fe0fbae..dc5767f0 100644 --- a/common/ux-window.cpp +++ b/common/ux-window.cpp @@ -12,6 +12,8 @@ #include #include "device-model.h" + +#include #include "os.h" // We use STB image to load the splash-screen from memory @@ -44,9 +46,8 @@ namespace rs2 { if (type == GL_DEBUG_TYPE_ERROR) { - fprintf(stderr, "GL CALLBACK: %s type = 0x%x, severity = 0x%x, message = %s\n", - (type == GL_DEBUG_TYPE_ERROR ? "** GL ERROR **" : ""), - type, severity, message); + fprintf(stderr, "GL CALLBACK: ** GL ERROR ** type = 0x%x, severity = 0x%x, message = %s\n", + type, severity, message); } } @@ -61,6 +62,7 @@ namespace rs2 config_file::instance().set_default(configurations::window::is_fullscreen, false); config_file::instance().set_default(configurations::window::saved_pos, false); config_file::instance().set_default(configurations::window::saved_size, false); + config_file::instance().set_default(configurations::window::font_size, 16); config_file::instance().set_default(configurations::viewer::is_measuring, false); config_file::instance().set_default(configurations::viewer::log_to_console, true); @@ -68,6 +70,7 @@ namespace rs2 config_file::instance().set_default(configurations::viewer::log_severity, 2); config_file::instance().set_default(configurations::viewer::metric_system, true); config_file::instance().set_default(configurations::viewer::ground_truth_r, 2500); + config_file::instance().set_default(configurations::viewer::dashboard_open, true); config_file::instance().set_default(configurations::record::compression_mode, 2); // Let the device decide config_file::instance().set_default(configurations::record::file_save_mode, 0); // Auto-select name @@ -86,7 +89,7 @@ namespace rs2 std::string path; try { - path = get_folder_path(special_folder::user_documents); + path = rsutils::os::get_special_folder( rsutils::os::special_folder::user_documents ); } catch (const std::exception&) { @@ -374,7 +377,7 @@ namespace rs2 _2d_vis = std::make_shared(std::make_shared()); // Load fonts to be used with the ImGui - TODO move to RAII - imgui_easy_theming(_font_14, _font_18, _monofont); + imgui_easy_theming(_font_dynamic, _font_18, _monofont, font_size); // Register for UI-controller events glfwSetWindowUserPointer(_win, this); @@ -429,7 +432,7 @@ namespace rs2 ux_window::ux_window(const char* title, context &ctx) : _win(nullptr), _width(0), _height(0), _output_height(0), - _font_14(nullptr), _font_18(nullptr), _monofont(nullptr), _app_ready(false), + _font_dynamic(nullptr), _font_18(nullptr), _monofont(nullptr), font_size(16), _app_ready(false), _first_frame(true), _query_devices(true), _missing_device(false), _hourglass_index(0), _dev_stat_message{}, _keep_alive(true), _title(title), _ctx(ctx) { @@ -644,8 +647,14 @@ namespace rs2 end_frame(); - rs2::gl::shutdown_rendering(); - if (_use_glsl_proc) rs2::gl::shutdown_processing(); + try + { + rs2::gl::shutdown_rendering(); + if (_use_glsl_proc) rs2::gl::shutdown_processing(); + } + catch( ... ) + { + } ImGui::GetIO().Fonts->ClearFonts(); // To be refactored into Viewer theme object ImGui_ImplGlfw_Shutdown(); diff --git a/common/ux-window.h b/common/ux-window.h index 9aa1f10e..bd3d7a5f 100644 --- a/common/ux-window.h +++ b/common/ux-window.h @@ -64,7 +64,8 @@ namespace rs2 ImFont* get_large_font() const { return _font_18; } ImFont* get_monofont() const { return _monofont; } - ImFont* get_font() const { return _font_14; } + ImFont* get_font() const { return _font_dynamic; } + int get_font_size() const { return font_size; } rs2::mouse_info& get_mouse() { return _mouse; } float get_scale_factor() const { return _scale_factor; } @@ -100,7 +101,8 @@ namespace rs2 int _fb_height = 0; rs2::rect _viewer_rect; - ImFont *_font_14, *_font_18, *_monofont; + ImFont *_font_dynamic, *_font_18, *_monofont; + int font_size; rs2::mouse_info _mouse{}; std::string _error_message; float _scale_factor; diff --git a/common/viewer.cpp b/common/viewer.cpp index 40c5f1f4..9646f4e2 100644 --- a/common/viewer.cpp +++ b/common/viewer.cpp @@ -7,8 +7,6 @@ #endif #endif -#include - #include "viewer.h" #include "os.h" @@ -19,9 +17,13 @@ #include #define ARCBALL_CAMERA_IMPLEMENTATION -#include +#include + +#include #include -#include "../common/utilities/imgui/wrap.h" +#include + +#include namespace rs2 { @@ -57,8 +59,9 @@ namespace rs2 void viewer_model::set_export_popup(ImFont* large_font, ImFont* font, rect stream_rect, std::string& error_message, config_file& temp_cfg) { - float w = 520; // hardcoded size to keep popup layout - float h = 325; + float font_size = (float)temp_cfg.get( configurations::window::font_size ); + float w = 32.f * font_size; + float h = 20.f * font_size; float x0 = stream_rect.x + stream_rect.w / 3; float y0 = stream_rect.y + stream_rect.h / 3; ImGui::SetNextWindowPos({ x0, y0 }); @@ -77,7 +80,6 @@ namespace rs2 static export_type tab = export_type::ply; if (ImGui::BeginPopupModal("Export", nullptr, flags)) { - ImGui::SetCursorScreenPos({ (float)(x0), (float)(y0 + 30) }); ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); ImGui::PushFont(large_font); @@ -107,7 +109,6 @@ namespace rs2 ImGui::Text("Polygon File Format defines a flexible systematic scheme for storing 3D data"); ImGui::PopStyleColor(); ImGui::NewLine(); - ImGui::SetCursorScreenPos({ (float)(x0 + 15), (float)(y0 + 90) }); ImGui::Separator(); if (ImGui::Checkbox("Meshing", &mesh)) { @@ -185,7 +186,7 @@ namespace rs2 ImGui::SetCursorScreenPos({ (float)(x0 + w / 2), (float)(y0 + h - 30) }); - if (ImGui::Button("Export", ImVec2(120, 0))) + if( ImGui::Button( "Export", ImVec2( font_size * 8.f, 0 ) ) ) { apply(); if (!last_points) @@ -228,7 +229,7 @@ namespace rs2 ImGui::SetTooltip("%s", "Save settings and export file"); } ImGui::SameLine(); - if (ImGui::Button("Cancel", ImVec2(120, 0))) + if( ImGui::Button( "Cancel", ImVec2( font_size * 8.f, 0 ) ) ) { ImGui::CloseCurrentPopup(); } @@ -246,7 +247,7 @@ namespace rs2 bool big_button(bool* status, ux_window& win, - int x, int y, + float x, float y, const char* icon, const char* label, bool dropdown, @@ -258,6 +259,7 @@ namespace rs2 auto disabled = !enabled; auto font = win.get_font(); auto large_font = win.get_large_font(); + float font_size = (float)win.get_font_size(); bool hovered = false; bool clicked = false; @@ -281,22 +283,24 @@ namespace rs2 ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, header_color); } - ImGui::SetCursorPos({float(x), float(y)}); + float button_width = font_size * 3.8f; + + ImGui::SetCursorPos( { x, y } ); ImGui::PushFont(large_font); - clicked = clicked || ImGui::Button(icon, { 60, 50 }); + clicked = clicked || ImGui::Button( icon, { button_width, 50 } ); ImGui::PopFont(); hovered = hovered || ImGui::IsItemHovered(); - ImGui::SetCursorPos({float(x + 45), float(y)}); + ImGui::SetCursorPos( { x + button_width - font_size, y } ); ImGui::PushFont(font); if (dropdown) { - clicked = clicked || ImGui::Button(u8"\uf078", { 20, 55 }); + clicked = clicked || ImGui::Button(u8"\uf078", { font_size, 55 } ); hovered = hovered || ImGui::IsItemHovered(); } - ImGui::SetCursorPos({ float(x), float(y + 35)}); - clicked = clicked || ImGui::Button(label, { 60, 20 }); + ImGui::SetCursorPos( { x, y + 35 } ); + clicked = clicked || ImGui::Button( label, { button_width, 20 } ); ImGui::PopFont(); hovered = hovered || ImGui::IsItemHovered(); @@ -339,42 +343,13 @@ namespace rs2 int selected_depth_source = -1; std::vector depth_sources_str; std::vector depth_sources; - int i = 0; - for (auto&& s : streams) - { - if (s.second.is_stream_visible() && - s.second.profile.stream_type() == RS2_STREAM_DEPTH) - { - auto stream_origin_iter = streams_origin.find(s.second.profile.unique_id()); - if (selected_depth_source_uid == -1) - { - if ( stream_origin_iter != streams_origin.end() && - streams.find( stream_origin_iter->second ) != streams.end()) - { - selected_depth_source_uid = stream_origin_iter->second; - } - } - if ( stream_origin_iter != streams_origin.end() && stream_origin_iter->second == selected_depth_source_uid) - { - selected_depth_source = i; - } - - depth_sources.push_back(s.second.profile.unique_id()); - - auto dev_name = s.second.dev ? s.second.dev->dev.get_info(RS2_CAMERA_INFO_NAME) : "Unknown"; - auto stream_name = rs2_stream_to_string(s.second.profile.stream_type()); - - depth_sources_str.push_back( rsutils::string::from() << dev_name << " " << stream_name ); - - i++; - } - } + init_depth_uid(selected_depth_source, depth_sources_str, depth_sources); int selected_tex_source = 0; std::vector tex_sources_str; std::vector tex_sources; std::vector tex_profiles; - i = 0; + int i = 0; for (auto&& s : streams) { if (s.second.is_stream_visible() && @@ -448,7 +423,8 @@ namespace rs2 ImGui::SetCursorPos({ 0, 0 }); auto cursor = ImGui::GetCursorScreenPos(); - auto left = 5; + float left = 5.f; + float button_width = win.get_font_size() * 3.8f; const auto has_stream = tex_sources_str.size() && depth_sources_str.size(); @@ -474,7 +450,7 @@ namespace rs2 paused = true; } } - left += 60; + left += button_width; // ------------ Reset Viewport --------------- @@ -486,7 +462,7 @@ namespace rs2 reset_camera(); } - left += 60; + left += button_width; // ------------ Lock Mode --------------- @@ -508,7 +484,7 @@ namespace rs2 synchronization_enable = true; } } - left += 70; + left += button_width + 10; ImGui::GetWindowDrawList()->AddLine({ cursor.x + left - 1, cursor.y + 5 }, { cursor.x + left - 1, cursor.y + top_bar_height - 5 }, ImColor(grey)); @@ -564,7 +540,7 @@ namespace rs2 { select_3d_source = false; } - left += 80; + left += button_width + 20; // ------------ Texture Selection -------------- @@ -606,7 +582,7 @@ namespace rs2 select_tex_source = false; } - left += 80; + left += button_width + 20; // ------------ Shader Selection -------------- const auto shader_selection_popup = "Shading Selection"; @@ -646,7 +622,7 @@ namespace rs2 { select_shader_source = false; } - left += 80; + left += button_width + 20; //----------------------------- @@ -675,7 +651,7 @@ namespace rs2 _measurements.enable(); } } - left += 60; + left += button_width; // -------------------- Export ------------------ @@ -690,7 +666,7 @@ namespace rs2 ImGui::OpenPopup("Export"); } - left += 60; + left += button_width; ImGui::PopStyleColor(5); @@ -793,7 +769,9 @@ namespace rs2 if (create_file) { - std::string tmp_filename = rsutils::string::from() << get_folder_path(special_folder::app_data) << "/.99-realsense-libusb.rules"; + std::string tmp_filename + = rsutils::os::get_special_folder( rsutils::os::special_folder::app_data ) // ~/. + + "99-realsense-libusb.rules"; std::ofstream out(tmp_filename.c_str()); out << realsense_udev_rules; @@ -862,10 +840,17 @@ namespace rs2 auto min_severity = (rs2_log_severity)config_file::instance().get_or_default( configurations::viewer::log_severity, 2); - if (config_file::instance().get_or_default( - configurations::viewer::log_to_console, false)) + if( ! _disable_log_to_console ) { - rs2::log_to_console(min_severity); + if( config_file::instance().get_or_default( + configurations::viewer::log_to_console, false ) ) + { + rs2::log_to_console( min_severity ); + } + else + { + rs2::log_to_console( RS2_LOG_SEVERITY_NONE ); + } } if (config_file::instance().get_or_default( configurations::viewer::log_to_file, false)) @@ -883,14 +868,14 @@ namespace rs2 - viewer_model::viewer_model( context & ctx_ ) + viewer_model::viewer_model( context & ctx_, bool disable_log_to_console ) : ppf( *this ) , ctx( ctx_ ) , frameset_alloc( this ) , synchronization_enable( true ) , synchronization_enable_prev_state(true) - , zo_sensors( 0 ) , _support_ir_reflectivity( false ) + , _disable_log_to_console( disable_log_to_console ) { syncer = std::make_shared(); @@ -957,9 +942,9 @@ namespace rs2 void rs2::viewer_model::show_popup(const ux_window& window, const popup& p) { - auto font_14 = window.get_font(); + auto font_dynamic = window.get_font(); - ImGui_ScopePushFont(font_14); + ImGui_ScopePushFont(font_dynamic); ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg); ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); ImGui::PushStyleColor(ImGuiCol_Text, light_grey); @@ -1429,7 +1414,7 @@ namespace rs2 // up = cross(cross(look, world_up), look) { float3 look = { target.x - pos.x, target.y - pos.y, target.z - pos.z }; - look = look.normalize(); + look = look.normalized(); float world_up[3] = { 0.0f, 1.0f, 0.0f }; @@ -1483,7 +1468,7 @@ namespace rs2 top_y_ruler = s_model.curr_info_rect.y + s_model.curr_info_rect.h + ruler_distance_offset; } - static const auto left_x_colored_ruler_offset = 50; + static const auto left_x_colored_ruler_offset = 55; static const auto colored_ruler_width = 20; const auto left_x_colored_ruler = stream_width - left_x_colored_ruler_offset; const auto right_x_colored_ruler = stream_width - (left_x_colored_ruler_offset - colored_ruler_width); @@ -2318,36 +2303,39 @@ namespace rs2 ImGui::PushFont(window.get_font()); - auto settings = "Settings"; - auto about = "About"; + const char* menu_items[] = { "Report Issue", "Intel Store", "Settings", "About" }; bool open_settings_popup = false; bool open_about_popup = false; - ImGui::SetNextWindowPos({ window.width() - 100, panel_y }); - ImGui::SetNextWindowSize({ 100, 90 }); + ImGui::SetNextWindowPos({ window.width() - 130, panel_y }); + auto separator_height = 2; + auto menu_items_len = sizeof( menu_items ) / sizeof( menu_items[0] ); + auto popup_height = ( ImGui::GetTextLineHeightWithSpacing() + 2 ) * menu_items_len + separator_height; + ImVec2 popup_size = { 6.f * window.get_font_size(), popup_height }; + ImGui::SetNextWindowSize( popup_size ); if (ImGui::BeginPopup("More Options")) { settings_open = true; - if (ImGui::Selectable("Report Issue")) + if( ImGui::Selectable( menu_items[0] ) ) { open_issue(devices); } - if (ImGui::Selectable("Intel Store")) + if( ImGui::Selectable( menu_items[1] ) ) { open_url("https://store.intelrealsense.com/"); } - if (ImGui::Selectable(settings)) + if( ImGui::Selectable( menu_items[2] ) ) { open_settings_popup = true; } ImGui::Separator(); - if (ImGui::Selectable(about)) + if( ImGui::Selectable( menu_items[3] ) ) { open_about_popup = true; } @@ -2370,7 +2358,7 @@ namespace rs2 { _measurements.disable(); temp_cfg = config_file::instance(); - ImGui::OpenPopup(settings); + ImGui::OpenPopup(menu_items[2]); reload_required = false; refresh_required = false; tab = config_file::instance().get_or_default(configurations::viewer::settings_tab, 0); @@ -2394,7 +2382,7 @@ namespace rs2 ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(15, 15)); ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1); - if (ImGui::BeginPopupModal(settings, nullptr, flags)) + if (ImGui::BeginPopupModal(menu_items[2], nullptr, flags)) { if (ImGui::IsWindowHovered()) window.set_hovered_over_input(); @@ -2503,12 +2491,16 @@ namespace rs2 if (tab == 1) { + // Font oversample slider int font_samples = temp_cfg.get(configurations::performance::font_oversample); ImGui::Text("Font Samples: "); if (ImGui::IsItemHovered()) ImGui::SetTooltip("Increased font samples produce nicer text, but require more GPU memory, sometimes resulting in boxes instead of font characters"); + ImGui::SameLine(); ImGui::PushItemWidth(80); + float slider_position_x = ImGui::GetCursorPosX(); + if (ImGui::SliderInt("##font_samples", &font_samples, 1, 8)) { reload_required = true; @@ -2516,6 +2508,23 @@ namespace rs2 } ImGui::PopItemWidth(); + // Font slider + int font_size = temp_cfg.get( configurations::window::font_size ); + ImGui::Text( "Font Size: " ); + if( ImGui::IsItemHovered() ) + ImGui::SetTooltip( "Viewer Font Size" ); + + ImGui::SameLine(); + ImGui::PushItemWidth( 80 ); + ImGui::SetCursorPosX( slider_position_x ); + + if( ImGui::SliderInt( "##font_size", &font_size, 16, 20 ) ) + { + reload_required = true; + temp_cfg.set( configurations::window::font_size, font_size ); + } + ImGui::PopItemWidth(); + #ifndef __APPLE__ // Not available at the moment on Mac bool gpu_rendering = temp_cfg.get(configurations::performance::glsl_for_rendering); if (ImGui::Checkbox("Use GLSL for Rendering", &gpu_rendering)) @@ -2607,32 +2616,40 @@ namespace rs2 ImGui::SetTooltip("Occlusions are a natural side-effect of having multiple sensors\nWhen this option is enabled, the SDK will filter out occluded pixels"); } - if (tab == 2) + if( tab == 2 ) { - ImGui::Text("Units of Measurement: "); + ImGui::Text( "Units of Measurement: " ); ImGui::SameLine(); - int metric_system = temp_cfg.get(configurations::viewer::metric_system); + int metric_system = temp_cfg.get( configurations::viewer::metric_system ); std::vector unit_systems; - unit_systems.push_back("Imperial System"); - unit_systems.push_back("Metric System"); + unit_systems.push_back( "Imperial System" ); + unit_systems.push_back( "Metric System" ); - ImGui::PushItemWidth(150); - if (draw_combo_box("##units_system", unit_systems, metric_system)) + ImGui::PushItemWidth( 150 ); + if( draw_combo_box( "##units_system", unit_systems, metric_system ) ) { - temp_cfg.set(configurations::viewer::metric_system, metric_system); + temp_cfg.set( configurations::viewer::metric_system, metric_system ); } ImGui::PopItemWidth(); ImGui::Separator(); - ImGui::Text("librealsense has built-in logging capabilities."); - ImGui::Text("Logs may contain API calls, timing of frames, OS error messages and file-system links, but no actual frame content."); + ImGui::Text( "librealsense has built-in logging capabilities." ); + ImGui::Text( "Logs may contain API calls, timing of frames, OS error messages and file-system links, but no actual frame content." ); - bool log_to_console = temp_cfg.get(configurations::viewer::log_to_console); - if (ImGui::Checkbox("Output librealsense log to console", &log_to_console)) + bool log_to_console = temp_cfg.get( configurations::viewer::log_to_console ); + if( _disable_log_to_console ) + ImGui::PushStyleVar( ImGuiStyleVar_Alpha, 0.6f ); + if( ImGui::Checkbox( "Output librealsense log to console", &log_to_console ) ) + temp_cfg.set( configurations::viewer::log_to_console, log_to_console ); + if( _disable_log_to_console ) { - temp_cfg.set(configurations::viewer::log_to_console, log_to_console); + ImGui::PopStyleVar(); + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "%s", "--debug was specified; this cannot be applied without a restart" ); + } } bool log_to_file = temp_cfg.get(configurations::viewer::log_to_file); if (ImGui::Checkbox("Output librealsense log to file", &log_to_file)) @@ -2878,12 +2895,12 @@ namespace rs2 if (open_about_popup) { _measurements.disable(); - ImGui::OpenPopup(about); + ImGui::OpenPopup(menu_items[3]); } { - float w = 590.f; - float h = 300.f; + float w = 590.f + window.get_font_size() * 6.f; + float h = 300.f + window.get_font_size(); float x0 = (window.width() - w) / 2.f; float y0 = (window.height() - h) / 2.f; ImGui::SetNextWindowPos({ x0, y0 }); @@ -2899,7 +2916,7 @@ namespace rs2 ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(15, 15)); ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1); - if (ImGui::BeginPopupModal(about, nullptr, flags)) + if (ImGui::BeginPopupModal(menu_items[3], nullptr, flags)) { ImGui::Image((void*)(intptr_t)window.get_splash().get_gl_handle(), ImVec2(w - 30, 100), {0.20f, 0.38f}, {0.80f, 0.56f}); @@ -3349,4 +3366,39 @@ namespace rs2 return results; } + + void viewer_model::init_depth_uid(int& selected_depth_source, std::vector& depth_sources_str, std::vector& depth_sources) + { + int i = 0; + + for (auto&& s : streams) + { + if (s.second.is_stream_visible() && + s.second.profile.stream_type() == RS2_STREAM_DEPTH) + { + auto stream_origin_iter = streams_origin.find(s.second.profile.unique_id()); + if (selected_depth_source_uid == -1) + { + if (stream_origin_iter != streams_origin.end() && + streams.find(stream_origin_iter->second) != streams.end()) + { + selected_depth_source_uid = stream_origin_iter->second; + } + } + if (stream_origin_iter != streams_origin.end() && stream_origin_iter->second == selected_depth_source_uid) + { + selected_depth_source = i; + } + + depth_sources.push_back(s.second.profile.unique_id()); + + auto dev_name = s.second.dev ? s.second.dev->dev.get_info(RS2_CAMERA_INFO_NAME) : "Unknown"; + auto stream_name = rs2_stream_to_string(s.second.profile.stream_type()); + + depth_sources_str.push_back(rsutils::string::from() << dev_name << " " << stream_name); + + i++; + } + } + } } diff --git a/common/viewer.h b/common/viewer.h index 1abcbd2c..e0e7b28b 100644 --- a/common/viewer.h +++ b/common/viewer.h @@ -59,6 +59,8 @@ namespace rs2 class viewer_model { + bool _disable_log_to_console = false; + public: void reset_camera(float3 pos = { 0.0f, 0.0f, -1.0f }); @@ -68,6 +70,7 @@ namespace rs2 const float panel_y = 50.f; float get_output_height() const { return (float)(not_model->output.get_output_height()); } + float get_dashboard_width() const { return (float)(not_model->output.get_dashboard_width()); } rs2::frame handle_ready_frames(const rect& viewer_rect, ux_window& window, int devices, std::string& error_message); @@ -162,7 +165,6 @@ namespace rs2 bool support_non_syncronized_mode = true; std::atomic synchronization_enable; std::atomic synchronization_enable_prev_state; - std::atomic zo_sensors; int selected_depth_source_uid = -1; int selected_tex_source_uid = -1; @@ -191,7 +193,7 @@ namespace rs2 press_button_model grid_object_button{ u8"\uf1cb", u8"\uf1cb", "Configure Grid", "Configure Grid", false }; - viewer_model(context &ctx_); + viewer_model(context &ctx_, bool disable_log_to_console = false ); std::shared_ptr updates; @@ -225,6 +227,7 @@ namespace rs2 float calculate_ruler_max_distance(const std::vector& distances) const; void set_export_popup(ImFont* large_font, ImFont* font, rect stream_rect, std::string& error_message, config_file& temp_cfg); + void init_depth_uid(int& selected_depth_source, std::vector& depth_sources_str, std::vector& depth_sources); streams_layout _layout; streams_layout _old_layout; diff --git a/common/windows-app-bootstrap.cpp b/common/windows-app-bootstrap.cpp index 0a8e28b5..1faf1a3f 100644 --- a/common/windows-app-bootstrap.cpp +++ b/common/windows-app-bootstrap.cpp @@ -16,6 +16,7 @@ #include #include "os.h" +#include #include "metadata-helper.h" #include "rendering.h" #include @@ -98,7 +99,7 @@ void report_error(std::string error) ss << "| | |\n"; ss << "|---|---|\n"; ss << "|**librealsense**|" << rs2::api_version_to_string(rs2_get_api_version(&e)) << (rs2::is_debug() ? " DEBUG" : " RELEASE") << "|\n"; - ss << "|**OS**|" << rs2::get_os_name() << "|\n\n"; + ss << "|**OS**|" << rsutils::os::get_os_name() << "|\n\n"; ss << "Intel RealSense Viewer / Depth Quality Tool has crashed with the following error message:\n"; ss << "```\n"; ss << error; diff --git a/config/99-realsense-d4xx-mipi-dfu.rules b/config/99-realsense-d4xx-mipi-dfu.rules index 18d0b4dc..ac06cd15 100644 --- a/config/99-realsense-d4xx-mipi-dfu.rules +++ b/config/99-realsense-d4xx-mipi-dfu.rules @@ -1,2 +1,6 @@ -SUBSYSTEM=="d4xx-class",KERNEL=="d4xx-dfu[0-9]*", GROUP="video", MODE="0660" +# Device rules for Intel RealSense MIPI devices. +# DFU rules +SUBSYSTEM=="d4xx-class", KERNEL=="d4xx-dfu*", GROUP="video", MODE="0660" +# video links for SDK, binding for ipu6 +SUBSYSTEM=="video4linux", ATTR{name}=="DS5 mux *", RUN+="/bin/bash -c 'rs_ipu6_d457_bind.sh > /dev/kmsg; rs-enum.sh -q > /dev/kmsg'" diff --git a/config/99-realsense-libusb.rules b/config/99-realsense-libusb.rules index ca9dd16d..f220c771 100644 --- a/config/99-realsense-libusb.rules +++ b/config/99-realsense-libusb.rules @@ -32,15 +32,19 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b49", MODE:="066 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b52", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b56", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6a", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6b", MODE:="0666", GROUP:="plugdev" # Intel RealSense recovery devices (DFU) SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ab3", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adb", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adc", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ade", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b55", MODE:="0666", GROUP:="plugdev" # Intel RealSense devices (Movidius, T265) @@ -68,6 +72,8 @@ KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0777", DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b56", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b56", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" @@ -76,6 +82,10 @@ KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0777", DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6a", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6a", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" # For products with motion_module, if (kernels is 4.15 and up) and (device name is "accel_3d") wait, in another process, until (enable flag is set to 1 or 200 mSec passed) and then set it to 0. -KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5|0afe|0aff|0b00|0b01|0b3a|0b3d|0b64|0b68", RUN+="/bin/sh -c '(major=`uname -r | cut -d \".\" -f1` && minor=`uname -r | cut -d \".\" -f2` && (([ $major -eq 4 ] && [ $minor -ge 15 ]) || [ $major -ge 5 ])) && (enamefile=/sys/%p/name && [ `cat $enamefile` = \"accel_3d\" ]) && enfile=/sys/%p/buffer/enable && echo \"COUNTER=0; while [ \$COUNTER -lt 20 ] && grep -q 0 $enfile; do sleep 0.01; COUNTER=\$((COUNTER+1)); done && echo 0 > $enfile\" | at now'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5|0afe|0aff|0b00|0b01|0b3a|0b3d|0b56|0b5c|0b64|0b68|0b6a|0b6b", RUN+="/bin/sh -c '(major=`uname -r | cut -d \".\" -f1` && minor=`uname -r | cut -d \".\" -f2` && (([ $$major -eq 4 ] && [ $$minor -ge 15 ]) || [ $$major -ge 5 ])) && (enamefile=/sys/%p/name && [ `cat $$enamefile` = \"accel_3d\" ]) && enfile=/sys/%p/buffer/enable && echo \"COUNTER=0; while [ \$$COUNTER -lt 20 ] && grep -q 0 $$enfile; do sleep 0.01; COUNTER=\$$((COUNTER+1)); done && echo 0 > $$enfile\" | at now'" diff --git a/doc/android.md b/doc/android.md index 27fb80ec..b3e1e84d 100644 --- a/doc/android.md +++ b/doc/android.md @@ -10,7 +10,7 @@ The AAR file is responsible to acquire camera access permissions and it also pro ## Ingredients Before jumping to the instructions section please ensure you have all the required accessories. -1. Android target device with Android version >= 4.4 that supports OTG feature. +1. Android target device with Android version >= 6.0 that supports OTG feature. 2. [Android Studio IDE](https://developer.android.com/studio). 3. [USB3 OTG](https://en.wikipedia.org/wiki/USB_On-The-Go) cable. @@ -21,19 +21,6 @@ Follow the [Java example](../wrappers/android/examples/java_example/readme.md) o You can also [build RealSense AAR from source](../wrappers/android/readme.md) and add the generated AAR as a dependency as described [here](https://developer.android.com/studio/projects/android-library#AddDependency). Graphical Java examples such as 'capture', 'recording' and 'playback' are available in the examples folder as part of the Android wrapper project. -Below is an [example](https://play.google.com/store/apps/details?id=com.intel.realsense.camera) of an application with librealsense on the android platform. +Below is an example of an application with librealsense on the android platform. ![](img/realsense-android.png) - -## Releases -The Releases of the Android Wrapper can be found in the following repository: -https://egiintel.jfrog.io/ui/repos/tree/General/librealsense - -The artifacts that are available in this repository are (to be used as written in the a.m. instructions): - |File |Description | -|---|---| -|`camera-.apk`|The camera application|| -|`librealsense-.aar`|Handles camera permissions and JNI based RealSense Java API.|| -|`librealsense-.pom`|Representation of the Maven project|| -|`librealsense-.zip`|Headers of the librealsense2 SDK|| - diff --git a/doc/api_arch.md b/doc/api_arch.md index 09dfdf06..c360dedf 100644 --- a/doc/api_arch.md +++ b/doc/api_arch.md @@ -19,7 +19,7 @@ The pipeline API is accompanied by the processing blocks, which provide tools to * Future releases will add **computer vision plugins** capabilities to the pipeline, for easy enriching available outputs based on camera streams. The pipeline makes sure all synchronization and alignment requirements of those plugins are met and takes care of threading and resource management. ## Low-Level Device API -Intel RealSenseâ„¢ devices use sensors, some commonplace like a regular RGB camera and some more exotic like the D400 Stereo module or SR300 Structured-Light sensor: +Intel RealSenseâ„¢ devices use sensors, some commonplace like a regular RGB camera and some more exotic like the D400 Stereo module Structured-Light sensor:

The Low-Level Device API provides you with the means to take direct control of the individual device sensors. diff --git a/doc/d435i.md b/doc/d435i.md index a8b711ed..fb2629f0 100644 --- a/doc/d435i.md +++ b/doc/d435i.md @@ -37,7 +37,7 @@ The following `librealsense` tools and demos are IMU ready: The IMU and data streams are fully compatible with SDK's embedded recorder utility. ## API -The IMU is treated by the SDK like any other supported sensor. Therefore the sensor access and invocation API calls are similar to those of the depth/rgb sensors of D400 and SR300: +The IMU is treated by the SDK like any other supported sensor. Therefore the sensor access and invocation API calls are similar to those of the depth/rgb sensors of the D400: ```cpp rs2::pipeline pipe; diff --git a/doc/depth-from-stereo.md b/doc/depth-from-stereo.md index 960bb9cf..ba4f29fe 100644 --- a/doc/depth-from-stereo.md +++ b/doc/depth-from-stereo.md @@ -104,7 +104,6 @@ That's why it is extremely useful to have an optional **texture projector** (usu ### Remark on Structured-Light [Structured-Light](https://en.wikipedia.org/wiki/Structured_light) is an alternative approach to depth from stereo. It relies on recognizing a specific projected pattern in a single image. -> For customers interested in a structured-light solution Intel offers the [SR300 RealSense camera](https://software.intel.com/en-us/realsense/sr300) Having certain benefits, structured-light solutions are known to be fragile since any external interference (from either sunlight or another structured-light device) will prevent you from getting any depth. diff --git a/doc/distribution_linux.md b/doc/distribution_linux.md index e54c50e8..1e159a48 100644 --- a/doc/distribution_linux.md +++ b/doc/distribution_linux.md @@ -2,7 +2,7 @@ #### Using pre-build packages **Intel® RealSense™ SDK 2.0** provides installation packages for Intel X86/AMD64-based Debian distributions in [`dpkg`](https://en.wikipedia.org/wiki/Dpkg) format for Ubuntu 16/18/20/22 [LTS](https://wiki.ubuntu.com/LTS). -The Realsense [DKMS](https://en.wikipedia.org/wiki/Dynamic_Kernel_Module_Support) kernel drivers package (`librealsense2-dkms`) supports Ubuntu LTS kernels 4.4, 4.8, 4.10, 4.13, 4.15, 4.18*, 5.0*, 5.3*, 5.4, 5.13 and 5.15. Please refer to [Ubuntu Kernel Release Schedule](https://wiki.ubuntu.com/Kernel/Support) for further details. +The Realsense [DKMS](https://en.wikipedia.org/wiki/Dynamic_Kernel_Module_Support) kernel drivers package (`librealsense2-dkms`) supports Ubuntu LTS kernels 4.4, 4.8, 4.10, 4.13, 4.15, 4.18*, 5.0*, 5.3*, 5.4, 5.13, 5.15, 5.19, 6.2 and 6.5. Please refer to [Ubuntu Kernel Release Schedule](https://wiki.ubuntu.com/Kernel/Support) for further details. #### Configuring and building from the source code While we strongly recommend to use DKMS package whenever possible, there are certain cases where installing and patching the system manually is necessary: diff --git a/doc/frame_metadata.md b/doc/frame_metadata.md index 10864b6f..c4b142ee 100644 --- a/doc/frame_metadata.md +++ b/doc/frame_metadata.md @@ -87,7 +87,7 @@ GAIN_LEVEL|16 AUTO_EXPOSURE|1 TIME_OF_ARRIVAL|1523871918775 BACKEND_TIMESTAMP|1523871918741 -ACTUAL_FPS|30 +ACTUAL_FPS|30000 - `rs-config-ui` includes a checkbox in the upper-right corner of stream's canvas, clicking on which will bring up an overlay window with the metadata attributes available. diff --git a/doc/img/windows_cmake.png b/doc/img/windows_cmake.png index 244f5a4faefae1f3e65985ee34a92388955d6c3d..d4596df2c814ba3253b428c90f598ee1df0d74c4 100644 GIT binary patch literal 79076 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z;=ef~@}P}>JQ8{WaTHVbfUiOK3(8`ziTw8@2h~bia#w*G> zJ(AXA_%pCY#j)8-k4)$9O`Am!D^4~ORD99o2YgZqO zh&ES9_!(nP2))!+-rPEg@Fqa!`UT%=jgZs!gBjTTPy+0-Ore2E)S6n*l`lw=t zI)uDe|NJnpg!N-yb;#YUb|{cKMVawI$i*n>ek=_iDcfqmMrM!@qdz1qUf% zri|yumXOTlJPRkjIX52!|NQljcoGhBt^rdR`W+=%LQo z)_w+&)3Z^ssWV5aw^OW`5>@NsF}nXN4SOESmrru%e_de6d;gE<^Z(flk~ + # Linux Ubuntu Installation -**Note:** Due to the USB 3.0 translation layer between native hardware and virtual machine, the *librealsense* team does not support installation in a VM. If you do choose to try it, we recommend using VMware Workstation Player, and not Oracle VirtualBox for proper emulation of the USB3 controller. -

Please ensure to work with the supported Kernel versions listed here and verify that the kernel is updated properly according to the instructions. -## Ubuntu Build Dependencies -The scripts and commands below invoke `wget, git, add-apt-repository` which may be blocked by router settings or a firewall. Infrequently, apt-get mirrors or repositories may also timeout. For *librealsense* users behind an enterprise firewall, configuring the system-wide Ubuntu proxy generally resolves most timeout issues. +## Table of contents + + * [Prerequisites](#prerequisites) + * [Install dependencies](#install-dependencies) + * [Install librealsense2](#install-librealsense2) + * [Building librealsense2 SDK](#building-librealsense2-sdk) + * [Troubleshooting Installation and Patch-related Issues](#troubleshooting-installation-and-patch-related-issues) + +**Note:** Due to the USB 3.0 translation layer between native hardware and virtual machine, the *librealsense* team does not support installation in a VM. \ +If you do choose to try it, we recommend using VMware Workstation Player, and not Oracle VirtualBox for proper emulation of the USB3 controller. \ +Please ensure to work with the supported Kernel versions listed [here](https://github.com/IntelRealSense/librealsense/releases/) and verify that the kernel is updated properly according to the instructions. + ## Prerequisites -**Important:** Running RealSense Depth Cameras on Linux requires patching and inserting modified kernel drivers. Some OEM/Vendors choose to lock the kernel for modifications. Unlocking this capability may require modification of BIOS settings - - **Make Ubuntu Up-to-date:** - * Update Ubuntu distribution, including getting the latest stable kernel: - * `sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade`
- -**Note:** On stock Ubuntu 14 LTS systems and kernels prior to 4.4.0-04 the standard `apt-get upgrade` command is not sufficient to bring the distribution to the latest recommended baseline. - It is recommended to upgrade the distribution with: - * `sudo apt-get install --install-recommends linux-generic-lts-xenial xserver-xorg-core-lts-xenial xserver-xorg-lts-xenial xserver-xorg-video-all-lts-xenial xserver-xorg-input-all-lts-xenial libwayland-egl1-mesa-lts-xenial `
- - * Update OS Boot and reboot to enforce the correct kernel selection with
`sudo update-grub && sudo reboot`
- - * Interrupt the boot process at Grub2 Boot Menu -> "Advanced Options for Ubuntu" and select the kernel version installed in the previous step. Press and hold SHIFT if the Boot menu is not presented. - * Complete the boot, login and verify that a supported kernel version (4.**[4,8,10,13,15,16]**]) is in place with `uname -r` - - -**Download/Clone librealsense github repository:** - * Get *librealsense* sources in one of the following ways:
- - - Install *git* and download the complete source tree.
- `sudo apt-get install git`
- `git clone https://github.com/IntelRealSense/librealsense.git`
- - - Download and unzip the latest stable version from `master` branch: - https://github.com/IntelRealSense/librealsense/archive/master.zip - -**Prepare Linux Backend and the Dev. Environment:** - 1. Navigate to *librealsense* root directory to run the following scripts.
- Unplug any connected Intel RealSense camera.
- - 2. Install the core packages required to build *librealsense* binaries and the affected kernel modules: - - `sudo apt-get install libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev cmake`

- Distribution-specific packages:
- * Ubuntu 14 or when running Ubuntu 16.04 live-disk:
- `./scripts/install_glfw3.sh`
- - * Ubuntu 16:
- `sudo apt-get install libglfw3-dev`
- - * Ubuntu 18/20/22:
- `sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at`

- -> **Cmake Note**: certain librealsense CMAKE flags (e.g. CUDA) require version 3.8+ which is currently not made available via apt manager for Ubuntu LTS. - Go to the [official CMake site](https://cmake.org/download/) to download and install the application - - **Note**:
- * on graphic sub-system utilization:
- *glfw3*, *mesa* and *gtk* packages are required if you plan to build the SDK's OpenGL-enabled examples. The *librealsense* core library and a range of demos/tools are designed for headless environment deployment. - * `libudev-dev` installation is optional but recommended, when the `libudev-dev` is installed the SDK will use an event-driven approach for triggering USB detection and enumeration, if not the SDK will use a timer polling approach which is less sensitive for device detection. - - 3. Run Intel Realsense permissions script from librealsense root directory:
- `./scripts/setup_udev_rules.sh` -
- *Notice: One can always remove permissions by running:* - *`./scripts/setup_udev_rules.sh --uninstall`* - - 4. Build and apply patched kernel modules for:
- * **Ubuntu 20/22 (focal/jammy) with LTS kernel 5.13, 5.15 **
- `./scripts/patch-realsense-ubuntu-lts-hwe.sh`
- * **Ubuntu 14/16/18/20 with LTS kernel (< 5.13) **
- `./scripts/patch-realsense-ubuntu-lts.sh`
- * **Ubuntu with Kernel 4.16**
- `./scripts/patch-ubuntu-kernel-4.16.sh`
- * **Intel® Joule™ with Ubuntu**
- Based on the custom kernel provided by Canonical Ltd. - - `./scripts/patch-realsense-ubuntu-xenial-joule.sh`
- - The script above will download, patch and build realsense-affected kernel modules (drivers).
- Then it will attempt to insert the patched module instead of the active one. If failed - the original uvc modules will be restored. - * **Arch-based distributions** - * Install the [base-devel](https://www.archlinux.org/groups/x86_64/base-devel/) package group. - * Install the matching linux-headers as well (i.e.: linux-lts-headers for the linux-lts kernel).
- * Navigate to the scripts folder
- `cd ./scripts/`
- * Then run the following script to patch the uvc module:
- `./patch-arch.sh`

- - * **Odroid XU4 with Ubuntu 16.04 4.14 image** - Based on the custom kernel provided by Hardkernel
- `./scripts/patch-realsense-ubuntu-odroid.sh`
- - Some additional details on the Odroid installation can also be found in [installation_odroid.md](installation_odroid.md) - -> Check the patched modules installation by examining the generated log as well as inspecting the latest entries in kernel log:
- `sudo dmesg | tail -n 50`
- The log should indicate that a new uvcvideo driver has been registered. - Refer to [Troubleshooting](#Troubleshooting) in case of errors/warning reports. - - 5. TM1-specific: - * Tracking Module requires *hid_sensor_custom* kernel module to operate properly. - Due to TM1's power-up sequence constraints, this driver is required to be loaded during boot for the HW to be properly initialized. - - In order to accomplish this, add the driver's name *hid_sensor_custom* to `/etc/modules` file, eg: - ```sh - echo 'hid_sensor_custom' | sudo tee -a /etc/modules - ``` + +**Note:** We are supporting **Ubuntu 18/20/22 LTS** versions. \ +**Note:** The scripts and commands below invoke `wget, git, add-apt-repository` which may be blocked by router settings or a firewall. \ +Infrequently, apt-get mirrors or repositories may also cause timeout. For _librealsense_ users behind an enterprise firewall, \ +configuring the system-wide Ubuntu proxy generally resolves most timeout issues. + +**Important:** Running RealSense Depth Cameras on Linux requires patching and inserting modified kernel drivers. \ +Some OEM/Vendors choose to lock the kernel for modifications. Unlocking this capability may require modification of BIOS settings + + +## Install dependencies + +1. Make Ubuntu up-to-date including the latest stable kernel: + ```sh + sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade + ``` +2. Install the core packages required to build _librealsense_ binaries and the affected kernel modules: + ```sh + sudo apt-get install libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev + ``` + **Cmake Note:** certain _librealsense_ [CMAKE](https://cmake.org/download/) flags (e.g. CUDA) require version 3.8+ which is currently not made available via apt manager for Ubuntu LTS. +3. Install build tools + ```sh + sudo apt-get install git wget cmake build-essential + ``` +4. Prepare Linux Backend and the Dev. Environment \ + Unplug any connected Intel RealSense camera and run: + ```sh + sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at + ``` +5. Install IDE (Optional): \ + We use [QtCreator](https://wiki.qt.io/Main) as an IDE for Linux development on Ubuntu. + +**Note**: + +* on graphic sub-system utilization: \ +*glfw3*, *mesa* and *gtk* packages are required if you plan to build the SDK's OpenGL-enabled examples. \ +The *librealsens2e* core library and a range of demos/tools are designed for headless environment deployment. + +* `libudev-dev` installation is optional but recommended, \ +when the `libudev-dev` is installed the SDK will use an event-driven approach for triggering USB detection and enumeration, \ +if not the SDK will use a timer polling approach which is less sensitive for device detection. + + +## Install librealsense2 + +1. Clone/Download the latest stable version of _librealsense2_ in one of the following ways: + * Clone the _librealsense2_ repo + ```sh + git clone https://github.com/IntelRealSense/librealsense.git + ``` + * Download and unzip the latest stable _librealsense2_ version from `master` branch \ + [IntelRealSense.zip](https://github.com/IntelRealSense/librealsense/archive/master.zip) + +2. Run Intel Realsense permissions script from _librealsense2_ root directory: + ```sh + ./scripts/setup_udev_rules.sh + ``` + Notice: You can always remove permissions by running: `./scripts/setup_udev_rules.sh --uninstall` + +3. Build and apply patched kernel modules for: + * Ubuntu 20/22 (focal/jammy) with LTS kernel 5.13, 5.15, 5.19, 6.2, 6.5 \ + `./scripts/patch-realsense-ubuntu-lts-hwe.sh` + * Ubuntu 18/20 with LTS kernel (< 5.13) \ + `./scripts/patch-realsense-ubuntu-lts.sh` + + **Note:** What the *.sh script perform? + The script above will download, patch and build realsense-affected kernel modules (drivers). \ + Then it will attempt to insert the patched module instead of the active one. If failed + the original uvc modules will be restored. + + > Check the patched modules installation by examining the generated log as well as inspecting the latest entries in kernel log: \ + `sudo dmesg | tail -n 50` \ + The log should indicate that a new _uvcvideo_ driver has been registered. + Refer to [Troubleshooting](#troubleshooting-installation-and-patch-related-issues) in case of errors/warning reports. + ## Building librealsense2 SDK - * On Ubuntu 14.04, update your build toolchain to *gcc-5*: - * `sudo add-apt-repository ppa:ubuntu-toolchain-r/test` - * `sudo apt-get update` - * `sudo apt-get install gcc-5 g++-5` - * `sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5` - * `sudo update-alternatives --set gcc "/usr/bin/gcc-5"` - - > You can check the gcc version by typing: `gcc -v` - > If everything went fine you should see gcc 5.0.0. - - - * Navigate to *librealsense* root directory and run `mkdir build && cd build`
- * Run CMake: - * `cmake ../` - The default build is set to produce the core shared object and unit-tests binaries in Debug mode. Use `-DCMAKE_BUILD_TYPE=Release` to build with optimizations.
- * `cmake ../ -DBUILD_EXAMPLES=true` - Builds *librealsense* along with the demos and tutorials
- * `cmake ../ -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false` - For systems without OpenGL or X11 build only textual examples

- - * Recompile and install *librealsense* binaries:
- `sudo make uninstall && make clean && make && sudo make install`
- The shared object will be installed in `/usr/local/lib`, header files in `/usr/local/include`.
- The binary demos, tutorials and test files will be copied into `/usr/local/bin`
- **Tip:** Use *`make -jX`* for parallel compilation, where *`X`* stands for the number of CPU cores available:
- `sudo make uninstall && make clean && make **-j8** && sudo make install`
- This enhancement may significantly improve the build time. The side-effect, however, is that it may cause a low-end platform to hang randomly.
- **Note:** Linux build configuration is presently configured to use the V4L2 backend by default.
- **Note:** If you encounter the following error during compilation `gcc: internal compiler error` it might indicate that you do not have enough memory or swap space on your machine. Try closing memory consuming applications, and if you are running inside a VM, increase available RAM to at least 2 GB.
- **Note:** You can find more information about the available configuration options on [this wiki page](https://github.com/IntelRealSense/librealsense/wiki/Build-Configuration). - 2. Install IDE (Optional): - We use QtCreator as an IDE for Linux development on Ubuntu. Follow the [link](https://wiki.qt.io/Install_Qt_5_on_Ubuntu) for QtCreator5 installation + * Navigate to _librealsense2_ root directory and run: + ```sh + mkdir build && cd build + ``` + * Run cmake configure step, here are some cmake configure examples:\ + The default build is set to produce the core shared object and unit-tests binaries in Debug mode.\ + Use `-DCMAKE_BUILD_TYPE=Release` to build with optimizations. + ```sh + cmake ../ + ``` + Builds _librealsense2_ along with the demos and tutorials: + ```sh + cmake ../ -DBUILD_EXAMPLES=true + ``` + For systems without OpenGL or X11 build only textual examples: + ```sh + cmake ../ -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false + ``` + * Recompile and install _librealsense2_ binaries: + ```sh + sudo make uninstall && make clean && make && sudo make install + ``` + **Note:** Only relevant to CPUs with more than 1 core: use `make -j$(($(nproc)-1)) install` allow parallel compilation. + + **Note:** The shared object will be installed in `/usr/local/lib`, header files in `/usr/local/include`. \ + The binary demos, tutorials and test files will be copied into `/usr/local/bin` + + **Note:** Linux build configuration is presently configured to use the V4L2 backend by default. \ + **Note:** If you encounter the following error during compilation `gcc: internal compiler error` \ + it might indicate that you do not have enough memory or swap space on your machine. \ + Try closing memory consuming applications, and if you are running inside a VM, increase available RAM to at least 2 GB. \ + **Note:** You can find more information about the available configuration options on [this wiki page](https://github.com/IntelRealSense/librealsense/wiki/Build-Configuration). + +## Troubleshooting Installation and Patch-related Issues -## Troubleshooting Installation and Patch-related Issues +| Error | Cause | Correction Steps | +|-----------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------| +| ` Multiple realsense udev-rules were found!` | The issue occurs when user install both Debians and manual from source | Remove the unneeded installation (manual / Deb) | +| `git.launchpad... access timeout` | Behind Firewall | Configure Proxy Server | +| `dmesg:... uvcvideo: module verification failed: signature and/or required key missing - tainting kernel` | A standard warning issued since Kernel 4.4-30+ | Notification only - does not affect module's functionality | +| `sudo modprobe uvcvideo` produces `dmesg: uvc kernel module is not loaded` | The patched module kernel version is incompatible with the resident kernel | Verify the actual kernel version with `uname -r`. Revert and proceed from [Make Ubuntu Up-to-date](#install-dependencies) step | +| Execution of `./scripts/patch-realsense-ubuntu-lts-hwe.sh` fails with `fatal error: openssl/opensslv.h` | Missing Dependency | Install _openssl_ package | -Error | Cause | Correction Steps | --------- | ------------ | ---------------- | -`git.launchpad... access timeout` | Behind Firewall | Configure Proxy Server | -`dmesg:... uvcvideo: module verification failed: signature and/or required key missing - tainting kernel` | A standard warning issued since Kernel 4.4-30+ | Notification only - does not affect module's functionality | -`sudo modprobe uvcvideo` produces `dmesg: uvc kernel module is not loaded` | The patched module kernel version is incompatible with the resident kernel | Verify the actual kernel version with `uname -r`.
Revert and proceed from [Make Ubuntu Up-to-date](#make-ubuntu-up-to-date) step | -Execution of `./scripts/patch-video-formats-ubuntu-xenial.sh` fails with `fatal error: openssl/opensslv.h` | Missing Dependency | Install *openssl* package from [Video4Linux backend preparation](#video4linux-backend-preparation) step | +

(back to top)

\ No newline at end of file diff --git a/doc/installation_jetson.md b/doc/installation_jetson.md index 8eaf2a66..4fc50e4a 100644 --- a/doc/installation_jetson.md +++ b/doc/installation_jetson.md @@ -1,4 +1,4 @@ -# NVidia Jetson Devices +# Nvidia Jetson Devices **NOTE**: See [support-matrix.md](./support-matrix.md) to learn more about Jetson support for RealSense devices. @@ -8,12 +8,15 @@ ### 1. Prerequisites -* NVIDIA® **Jetson Nano™**, **Jetson TX2™** and **Jetson AGX Xavier™** board (may also work on other Jetson devices) -* RealSense **D415**, **D435**, **D435i**, **D455**, **L515** and **SR300** Camera devices. +* Nvidia® **Jetson Nano™**, **Jetson TX2™**, **Jetson AGX Xavier™** and **Jetson Orin™** board (may also work on other Jetson devices) +* RealSense **D415**, **D435**, **D435i**, **D455** and **L515** Camera devices. ### 2. Establish Developer's Environment -Follow [official instructions](https://developer.nvidia.com/embedded/learn/getting-started-jetson) to get your board ready. This guide will assume you are using **NVIDIA® L4T Ubuntu 16.04/18.04/20.04** image with kernels 4.9/5.10. Note that in most cases it is necessary to install a toll named "SDK Manager" to flash and install **Jetson** boards with both the L4T (Linux for Tegra) and NVIDIA-specific software packages (CUDA, Tensor Flow, AI, etc.) +Follow [official instructions](https://developer.nvidia.com/embedded/learn/getting-started-jetson) to get your board ready. This guide will assume you are using **Nvidia® L4T Ubuntu 16.04/18.04/20.04/22.04** image with kernels 4.9/5.10/5.15. Note that in most cases it is necessary to install a toll named "SDK Manager" to flash and install **Jetson** boards with both the L4T (Linux for Tegra) and Nvidia-specific software packages (CUDA, Tensor Flow, AI, etc.) + +For **Jetson Orin™** with JetPack 6.0 you will need to follow build for MIPI driver as Nvidia released Kernel 5.15 default configuration with disabled HID: [Intel® RealSense™ camera driver for GMSL* interface](https://github.com/IntelRealSense/realsense_mipi_platform_driver) + For **Jetson Nano™** we strongly recommend enabling the Barrel Jack connector for extra power (See [jetsonhacks.com/jetson-nano-use-more-power/](https://www.jetsonhacks.com/2019/04/10/jetson-nano-use-more-power/) to learn how) ![Jetson Nano](./img/jetson.jpg) @@ -36,7 +39,7 @@ If that's the case, what is the dilemma? In order to enable the full capabilities of RealSense devices certain modifications in the kernel (driver) modules shall be applied, such as support of Depth-related streaming formats and access to per-frame metadata attributes. There is a small set of generic kernel changes that are mostly retrofitted with more advanced kernel versions aimed at improving the overall drivers stability. -NVIDIA's L4T delivers an Ubuntu-based distribution with a customized kernel based on version 4.9/5.10. The way the kernel is configured and deployed is different from a desktop Ubuntu image with two notable differences being the list of kernel modules included in default configuration and the way a new image is flashed. +Nvidia's L4T delivers an Ubuntu-based distribution with a customized kernel based on version 4.9/5.10. The way the kernel is configured and deployed is different from a desktop Ubuntu image with two notable differences being the list of kernel modules included in default configuration and the way a new image is flashed. And while it is possible to rebuild and flash a new kernel image the procedure can be perceived as challenging and shall be performed with extra caution. This guide comes with a script that allows to modify the kernel modules with Librealsense2-related patches without replacing the kernel image. The script has been verified with **Jetson AGX Xavier™** board using L4T versions 4.2.3, 4.3, 4.4 (Sept 2020) and 5.0.2. Scroll to the end of the guide for details. @@ -94,6 +97,8 @@ The method was verified with **Jetson AGX** boards with JetPack **4.2.3**[L4T 32 The method has not yet been verified on the **Jetson Nano** board. +This method is incompatible for board **Jetson Orin™** with JetPack 6.0, checkout [Intel® RealSense™ camera driver for GMSL* interface](https://github.com/IntelRealSense/realsense_mipi_platform_driver) + * **Prerequisite** * Verify the board type and Jetpack versions compatibility. @@ -106,7 +111,7 @@ The method has not yet been verified on the **Jetson Nano** board. * **Build and Patch Kernel Modules for Jetson L4T** - * Navigate to the root of libreansense2 directory. + * Navigate to the root of librealsense2 directory. * Run the script (note the ending characters - `L4T`) ```sh @@ -133,7 +138,7 @@ The method has not yet been verified on the **Jetson Nano** board. cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install ``` - The CMAKE `-DBUILD_WITH_CUDA=true` flag assumes CUDA modules are installed. If not, please reconnect the board to the Ubuntu Host PC and use NVIDIA `SDK Manager` tool to install the missing components. + The CMAKE `-DBUILD_WITH_CUDA=true` flag assumes CUDA modules are installed. If not, please reconnect the board to the Ubuntu Host PC and use Nvidia `SDK Manager` tool to install the missing components. * **Connect Realsense Device, run `realsense-viewer` and inspect the results** diff --git a/doc/installation_odroid.md b/doc/installation_odroid.md index f4ccad6d..cfb211ce 100644 --- a/doc/installation_odroid.md +++ b/doc/installation_odroid.md @@ -1,6 +1,17 @@ # Odroid 4.14 Installation -NOTE: Intel does not officially support the Odroid line of devices. Furthermore, there are several known known [issues](../../../issues?utf8=%E2%9C%93&q=is%3Aissue%20is%3Aopen%20odroid) with running librealsense on Odroid. +NOTE: Intel does not officially support the Odroid line of devices. Furthermore, there are several known [issues](../../../issues?utf8=%E2%9C%93&q=is%3Aissue%20is%3Aopen%20odroid) with running librealsense on Odroid. -To install librealsense on the Odroid, use the 4.14 image and follow the [regular instructions](installation.md) for Ubuntu 16.04 with the following exceptions: -1. Run `patch-realsense-odroid.sh` instead of `patch-realsense-lts.sh` -2. After `sudo udevadm control --reload-rules && udevadm trigger` do `sudo modprobe uvcvideo` +To install _librealsense_ on the Odroid, use the 4.14 image and follow the [regular instructions](installation.md) for Ubuntu 16.04 with the following exceptions: +1. Apply Odroid patch: + ```sh + ./script/patch-realsense-ubuntu-odroid.sh + ``` + and **NOT** `patch-realsense-lts.sh`. +2. Perform: + ```sh + sudo udevadm control --reload-rules && udevadm trigger + ``` +3. Load uvc driver: + ```sh + sudo modprobe uvcvideo + ``` diff --git a/doc/installation_windows.md b/doc/installation_windows.md index 0e5e8ad2..5863a503 100644 --- a/doc/installation_windows.md +++ b/doc/installation_windows.md @@ -1,23 +1,18 @@ -# Windows 8.1 & Windows 10 Installation +# Windows 10 & Windows 11 Installation **Note:** Due to the USB 3.0 translation layer between native hardware and virtual machine, the librealsense team does not recommend or support installation in a VM. -librealsense shall be built on Windows using [CMake v3.8+](https://cmake.org/download/) and Visual Studio 2015 / 2017: -(MSVC2013 and older are not fully compatible with the C++11 feature-set). - - ![Windows CMake](./img/windows_cmake.png) - -![link text][Win_cmake_image] +librealsense shall be built on Windows using [CMake v3.8+](https://cmake.org/download/) and Visual Studio 2017 / 2019 / 2022: +(MSVC2015 and older are not fully compatible with the C++14 feature-set). -Don't forget to check `BUILD_EXAMPLES` if you wish to use librealsense samples. +![Windows CMake](./img/windows_cmake.png) -## Windows 8.1: -When working on Windows 8.1, make sure you have [KB3075872](https://support.microsoft.com/en-us/kb/3075872) and [KB2919355](https://support.microsoft.com/en-us/kb/2919355) installed. These patches are addressing issues specific to 8.1 video drivers, that were later resolved in Windows 10. +Don't forget to check `BUILD_EXAMPLES` if you wish to use librealsense samples. ## Enabling metadata on Windows Metadata attributes is an advanced capability provided by librealsense. -Read more on this feature in [link](./frame_metadata.md). -Follow the instructions to enable metadata generation: +Read more on this feature in [link](./frame_metadata.md). +Follow the instructions to enable metadata generation: Prerequisites: - Windows 10 with administrator login. @@ -25,28 +20,30 @@ Prerequisites: #### Installation: - Verify OS version: - - Run `winver` command from desktop/terminal - "Version 1607" or later is expected. + - Run `winver` command from desktop/terminal - "Windows 10 (Build 15063 or later, 17763+ recommended) or Windows 11" is expected. + ![winver](./img/winver_Win10.png) - Install WinSDK ver10: - Navigate to "Control Panel" -> "Programs and Features" - Double-click on "Microsoft Visual Studio" and select "Modify" - Check that SDK version 10.0.10586 or later is present, install if needed: - ![winsdk](./img/WinSDK_10.0.10586.png) + + - ![winsdk](./img/WinSDK_10.0.10586.png) ##### Update Registry: - - Windows OS requires a dedicated registry entry to be present for each unique video device in order to provide metadata. + - Windows OS requires a dedicated registry entry to be present for each unique video device in order to provide metadata. ###### Use automation script: - Launch Windows `Powershell` tool as *_Admin_* and navigate to the script directory - - Run the following: - `PS > .\realsense_metadata_win10.ps1 ` + - Run the following: + `PS > .\realsense_metadata_win10.ps1 ` The supported parameters are - `-op install` adds registry keys for connected Intel Realsense devices - `-op install_all` adds keys for all RealSense devices logged in the registry - `-op remove` removes registry keys for connected Intel Realsense devices - `-op remove_all` removes the keys for all RealSense devices logged in the registry - Running the script without arguments will is similar to `-op install` operation. + Running the script without arguments will is similar to `-op install` operation. - If you receive `... cannot be loaded because running scripts is disabled on this system` message, run: @@ -61,7 +58,7 @@ loaded because running scripts is disabled on this system` message, run: - Connect Intel® RealSense™ device to the host - Navigate to "Control Panel" -> "Device Manager" - Browse for Intel® RealSense™ devices - - Select the first device from the list, e.g. `Intel® RealSense™ Camera SR300 Depth` (Step 1) + - Select the first device from the list, e.g. `Intel® RealSense™ Camera D415 Depth` (Step 1) - Find device's path (Step 2) and the additional interfaces (Step 3) ![win_dev_master_interface](./img/win_device_interface.png) @@ -70,25 +67,31 @@ loaded because running scripts is disabled on this system` message, run: - Modifying the Windows Registry: - For each interface found (Steps 2 and 3) perform - - Using Registry Editing tool such as "regedit" navigate to `HKLM\SYSTEM\CurrentControlSet\Control\DeviceClasses\{e5323777-f976-4f5b-9b55-b94699c46e44}` branch. + - Using Registry Editing tool such as "regedit" navigate to `HKLM\SYSTEM\CurrentControlSet\Control\DeviceClasses\{e5323777-f976-4f5b-9b55-b94699c46e44}` branch. - Browse into the subdirectory with the name identical to the `Device instance path` obtained from the previous step - Expand the entry into `#GLOBAL` -> `Device Parameters` - Add `DWORD 32bit` value named `MetadataBufferSizeInKB0` with value 5. - Add an additional `DWORD 32bit` value named `MetadataBufferSizeInKB1` with value 5 for RS400 device zero interface `##?##USB#VID_8086&PID... **MI_00**..` - ![win_md_reg_key](./img/win_md_reg_key.png) + ![win_md_reg_key](./img/win_md_reg_key.png) - - Repeat the previous step for + - Repeat the previous step for `HKLM\SYSTEM\CurrentControlSet\Control\DeviceClasses\{65E8773D-8F56-11D0-A3B9-00A0C9223196}` branch -- Repeat the procedure for all the additional RealSense devices (e.g. `Intel® RealSense™ Camera SR300 RGB`) +- Repeat the procedure for all the additional RealSense devices (e.g. `Intel® RealSense™ Camera D415 RGB`) #### Compiling Librealsense with Metadata support: During compilation the library will automatically detect and enable/disable metadata functionality according to the WinSDK version selected. -In case the installed WinSDK doesn't expose metadata the user will be notified that the build does not include metadata generation: +In case the installed WinSDK doesn't expose metadata the user will be notified that the build does not include metadata generation: `Librealsense notification: Featuring UVC Metadata requires WinSDK 10.0.10586.0 toolset. The library will be compiled without the metadata support!` In order to ensure compilation with metadata support check the `ENFORCE_METADATA` in the [Cmake configuration stage](#cmake_snapshot_win). When set, the compiler will check the target WinSDK version, and abort the build if it is not compatible with metadata requirements. -**Note** In case of multiple WinSDK version installed, CMake automatically selects the latest version of SDK. In some cases, however, the automatic selection may fail. Then you need to manually retarget the solution for the proper WinSDK version: +**Note** In case of multiple WinSDK version installed, CMake automatically selects the latest version of SDK. In some cases, however, the automatic selection may fail. Then you need to manually retarget the solution for the proper WinSDK version: ![win_retarget_platform](./img/win_retarget_platform.png) + +## Troubleshooting Issues + +| Error | Cause | Correction Steps | +|-----------------------------------------|--------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------| +| The camera is not recognized by the SDK | The SDK does not have access to the camera | Make sure that "Allow desktop apps to access your camera" setting is set to on in Windows OS (Setting -> Privacy -> Camera) | \ No newline at end of file diff --git a/doc/post-processing-filters.md b/doc/post-processing-filters.md index 40bb3cec..8f9d5459 100644 --- a/doc/post-processing-filters.md +++ b/doc/post-processing-filters.md @@ -84,8 +84,7 @@ The filters preserve the original data and always generate a new (filtered) fram All filters support discreet as well as floating point input data formats. The floating point inputs are utilized by D400 stereo-based Depth cameras that support Disparity data representation. -The discreet version of the filters is primarily used with SR300 camera, but also -can be applied to D400 devices (though not recommended) +The discreet version of the filters can be applied to D400 devices, though this is not recommended. ## Using Filters in application code diff --git a/doc/readme.md b/doc/readme.md index 9f83d311..ad0b8eb1 100644 --- a/doc/readme.md +++ b/doc/readme.md @@ -2,7 +2,7 @@ * White papers and further documents are available at: [intel-realsense-downloads](https://realsense.intel.com/intel-realsense-downloads/) * [Intel RealSense Community](https://communities.intel.com/community/tech/realsense) - Official support, Q&A and other useful content * [Support Site](http://www.intel.com/content/www/us/en/support/emerging-technologies/intel-realsense-technology.html) - Contains content and web ticket capability for 1:1 interaction -* [Intel RealSense Stereoscopic Depth Cameras](https://arxiv.org/abs/1705.05548) - A technical paper describing the R200, LR200, SR300 and RS400 in detail. Includes theoretical background, performance expectations, post-processing suggestions, etc. +* [Intel RealSense Stereoscopic Depth Cameras](https://arxiv.org/abs/1705.05548) - A technical paper describing the D400 series and others in detail. Includes theoretical background, performance expectations, post-processing suggestions, etc. * [Build an Autonomous Mobile Robot with the Intel® RealSense™ D400 Series Camera, ROS*, and SAWR](https://software.intel.com/en-us/articles/build-an-autonomous-mobile-robot-with-the-intel-realsense-camera-ros-and-sawr) ## librealsense Wiki diff --git a/doc/sample-data.md b/doc/sample-data.md index 80e7e5e3..8a7fd674 100644 --- a/doc/sample-data.md +++ b/doc/sample-data.md @@ -20,6 +20,5 @@ pipe.start(cfg); // Load from file | ------------- |---------------| | ![](https://librealsense.intel.com/rs-tests/TestData/outdoor-preview.png) | Outdoors scene captured with D415 pre-production sample (Depth from Stereo) | | ![](https://librealsense.intel.com/rs-tests/TestData/stairs-preview.png) | Flight of stairs captured D435 pre-production sample (Depth from Stereo) | -| ![](https://librealsense.intel.com/rs-tests/TestData/structured-preview.png) | Short-range scene captured with the SR300 Depth Camera (Structured Light technology) | | ![](https://librealsense.intel.com/rs-tests/TestData/depth_under_water.png) | Scene captured with pre-production D415 device (Depth from Stereo) with objects submerged under water [![Binder](https://mybinder.org/badge.svg)](https://mybinder.org/v2/gh/IntelRealSense/librealsense/jupyter?filepath=notebooks/depth_under_water.ipynb) | | ![](https://librealsense.intel.com/rs-tests/TestData/d435i_preview.png) | Outdoor scene with D435i pre-production sample (Depth from Stereo with IMU) | diff --git a/doc/support-matrix.md b/doc/support-matrix.md index 33c439d1..d95bdcd5 100644 --- a/doc/support-matrix.md +++ b/doc/support-matrix.md @@ -17,18 +17,3 @@ Additional platforms are tested and supported on demand, driven by community req ## D400 Stereoscopic Depth Cameras' Features Please check the Supported Features matrix at https://dev.intelrealsense.com/docs/supported-features-matrix - -## SR300 Notes: - -* Global Timestamp mechanism is not yet available for the SR300 -* D400 JSON presets are not applicable to SR300 devices, since they rely on completely different technology -* Multicamera is technically supported similar to D400 but SR300 devices suffer from destructive interference, hence should not share field of view -* On-Chip Calibration is not applicable to the SR300 since the structured light module does not lose depth calibration over time - -## L500 Camera Notes: -* On Chip calibration is only relevant for D400 stereo cameras - -The following features are not available for L500 and can be added upon demand: -* Win7 support -* pre-compiled binaries for: Android (7+) & JAVA, LabView and Node.js -* LabView wrapper diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 89cc66ee..8ad422e7 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -1,10 +1,7 @@ # License: Apache 2.0. See LICENSE file in root directory. # Copyright(c) 2019 Intel Corporation. All Rights Reserved. -# minimum required cmake version: 3.1.0 cmake_minimum_required(VERSION 3.1.0) -project(RealsenseExamples) - # Save the command line compile commands in the build output set(CMAKE_EXPORT_COMPILE_COMMANDS 1) # View the makefile commands during build @@ -29,6 +26,7 @@ add_subdirectory(save-to-disk) add_subdirectory(multicam) add_subdirectory(pointcloud) add_subdirectory(align) +add_subdirectory(align-gl) add_subdirectory(align-advanced) add_subdirectory(sensor-control) add_subdirectory(measure) diff --git a/examples/align-gl/CMakeLists.txt b/examples/align-gl/CMakeLists.txt new file mode 100644 index 00000000..565084e2 --- /dev/null +++ b/examples/align-gl/CMakeLists.txt @@ -0,0 +1,18 @@ +# License: Apache 2.0. See LICENSE file in root directory. +# Copyright(c) 2024 Intel Corporation. All Rights Reserved. +# minimum required cmake version: 3.1.0 +cmake_minimum_required(VERSION 3.1.0) + +project(RealsenseExamplesAlignGl ) + +# Save the command line compile commands in the build output +set(CMAKE_EXPORT_COMPILE_COMMANDS 1) + +if(BUILD_GRAPHICAL_EXAMPLES AND NOT APPLE) + add_executable(rs-align-gl rs-align-gl.cpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp) + set_property(TARGET rs-align-gl PROPERTY CXX_STANDARD 11) + target_link_libraries(rs-align-gl ${DEPENDENCIES} realsense2-gl) + include_directories(../../common ../../third-party/imgui ../../examples) + set_target_properties (rs-align-gl PROPERTIES FOLDER Examples) + install(TARGETS rs-align-gl RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) +endif() diff --git a/examples/align-gl/readme.md b/examples/align-gl/readme.md new file mode 100644 index 00000000..cf4daa65 --- /dev/null +++ b/examples/align-gl/readme.md @@ -0,0 +1,114 @@ +# rs-align-gl Sample + +## Overview + +> Due to driver limitations built-in GPU capabilities are not available at the moment on Mac-OS + +This example demonstrates the concept of spatial stream alignment **accelerated with GPU**. +For example usecase of alignment, please check out align-advanced and measure demos. +The need for spatial alignment (from here "align") arises from the fact +that not all camera streams are captured from a single viewport. + + +Align process lets the user translate images from one viewport to another. +That said, results of align are synthetic streams, and suffer from several artifacts: +1. **Sampling** - mapping stream to a different viewport will modify the resolution of the frame + to match the resolution of target viewport. This will either cause downsampling or + upsampling via interpolation. The interpolation used needs to be of type + Nearest Neighbor to avoid introducing non-existing values. +2. **Occlussion** - Some pixels in the resulting image correspond to 3D coordinates that the original + sensor did not see, because these 3D points were occluded in the original viewport. + Such pixels may hold invalid texture values. + +## Expected Output + +The application should open a window and display video stream from the color camera overlayed on top of depth stream data. +The slider in bottom of the window control the transparancy of the overlayed stream. +Checkboxes below allow toggling between depth to color vs color to depth alignment. + +

screenshot gif

+ +## Code Overview + +In addition to core `realsense2` this example also depends on an auxiliary `realsense2-gl` library. +This is not strictly part of core RealSense functionality, but rather a useful extension. + +So, in addition to standard `#include ` you need to include: +```cpp +#include // Include GPU-Processing API +``` + +This example also uses `IMGUI` library for simple UI rendering: + +> In order to allow texture sharing between processing and rendering application, `rs_processing_gl.hpp` needs to be included **after** including `GLFW`. + +After defining some helper functions and `window` object, we need to initialize GL processing and rendering subsystems: +```cpp +// Once we have a window, initialize GL module +// Pass our window to enable sharing of textures between processed frames and the window +rs2::gl::init_processing(app, use_gpu_processing); +// Initialize rendering module: +rs2::gl::init_rendering(); +``` + +In this example we are interested in `RS2_STREAM_DEPTH` and `RS2_STREAM_COLOR` streams: +```cpp +// Create a pipeline to easily configure and start the camera +rs2::pipeline pipe; +rs2::config cfg; +cfg.enable_stream(RS2_STREAM_DEPTH); +cfg.enable_stream(RS2_STREAM_COLOR); +pipe.start(cfg); + +``` + +SDK class responsible for GL stream alignment is called `rs2::gl::align`. The user should initialize it with desired target stream and applies it to framesets via `process` method. +```cpp +// Define two align objects. One will be used to align +// to depth viewport and the other to color. +// Creating align object is an expensive operation +// that should not be performed in the main loop +rs2::gl::align align_to_depth(RS2_STREAM_DEPTH); +rs2::gl::align align_to_color(RS2_STREAM_COLOR); +// ... +frameset = align_to_depth.process(frameset); +``` + +This example also uses GL colorizer `rs2::gl::colorizer` to colorize the depth image. +```cpp +rs2::gl::colorizer c; +``` + +Next, we render the two stream overlayed on top of each other using OpenGL blending feature: + +```cpp +glEnable(GL_BLEND); +// Use the Alpha channel for blending +glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + +if (dir == direction::to_depth) +{ + // When aligning to depth, first render depth image + // and then overlay color on top with transparancy + depth_image.render(colorized_depth, { 0, 0, app.width(), app.height() }); + color_image.render(color, { 0, 0, app.width(), app.height() }, alpha); +} +else +{ + // When aligning to color, first render color image + // and then overlay depth image on top + color_image.render(color, { 0, 0, app.width(), app.height() }); + depth_image.render(colorized_depth, { 0, 0, app.width(), app.height() }, 1 - alpha); +} + +glColor4f(1.f, 1.f, 1.f, 1.f); +glDisable(GL_BLEND); +``` + +IMGUI is used to render the slider and two checkboxes: +```cpp +// Render the UI: +ImGui_ImplGlfw_NewFrame(1); +render_slider({ 15.f, app.height() - 60, app.width() - 30, app.height() }, &alpha, &dir); +ImGui::Render(); +``` \ No newline at end of file diff --git a/examples/align-gl/rs-align-gl.cpp b/examples/align-gl/rs-align-gl.cpp new file mode 100644 index 00000000..63e4305b --- /dev/null +++ b/examples/align-gl/rs-align-gl.cpp @@ -0,0 +1,176 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. + +#include +#include "example-imgui.hpp" +#include // Include GPU-Processing API + + +/* + This example introduces the concept of spatial stream alignment. + For example usecase of alignment, please check out align-advanced and measure demos. + The need for spatial alignment (from here "align") arises from the fact + that not all camera streams are captured from a single viewport. + Align process lets the user translate images from one viewport to another. + That said, results of align are synthetic streams, and suffer from several artifacts: + 1. Sampling - mapping stream to a different viewport will modify the resolution of the frame + to match the resolution of target viewport. This will either cause downsampling or + upsampling via interpolation. The interpolation used needs to be of type + Nearest Neighbor to avoid introducing non-existing values. + 2. Occlussion - Some pixels in the resulting image correspond to 3D coordinates that the original + sensor did not see, because these 3D points were occluded in the original viewport. + Such pixels may hold invalid texture values. +*/ + +// This example assumes camera with depth and color +// streams, and direction lets you define the target stream +enum class direction +{ + to_depth, + to_color +}; + +// Forward definition of UI rendering, implemented below +void render_slider(rect location, float* alpha, direction* dir); + +int main(int argc, char * argv[]) try +{ + std::string serial; + if (!device_with_streams({ RS2_STREAM_COLOR,RS2_STREAM_DEPTH }, serial)) + return EXIT_SUCCESS; + + // The following toggle is going to control + // if we will use CPU or GPU for depth data processing + bool use_gpu_processing = true; + + // Create and initialize GUI related objects + window app(1280, 720, "RealSense Align Example"); // Simple window handling + ImGui_ImplGlfw_Init(app, false); // ImGui library intializition + + // Once we have a window, initialize GL module + // Pass our window to enable sharing of textures between processed frames and the window + rs2::gl::init_processing(app, use_gpu_processing); + // Initialize rendering module: + rs2::gl::init_rendering(); + + rs2::gl::colorizer c; // Helper to colorize depth images + texture depth_image, color_image; // Helpers for renderig images + + // Create a pipeline to easily configure and start the camera + rs2::pipeline pipe; + rs2::config cfg; + if (!serial.empty()) + cfg.enable_device(serial); + cfg.enable_stream(RS2_STREAM_DEPTH); + cfg.enable_stream(RS2_STREAM_COLOR); + pipe.start(cfg); + + // Define two align objects. One will be used to align + // to depth viewport and the other to color. + // Creating align object is an expensive operation + // that should not be performed in the main loop + rs2::gl::align align_to_depth(RS2_STREAM_DEPTH); + rs2::gl::align align_to_color(RS2_STREAM_COLOR); + + float alpha = 0.5f; // Transparancy coefficient + direction dir = direction::to_depth; // Alignment direction + + while (app) // Application still alive? + { + // Using the align object, we block the application until a frameset is available + rs2::frameset frameset = pipe.wait_for_frames(); + + if (dir == direction::to_depth) + { + // Align all frames to depth viewport + frameset = align_to_depth.process(frameset); + } + else + { + // Align all frames to color viewport + frameset = align_to_color.process(frameset); + } + // With the aligned frameset we proceed as usual + auto depth = frameset.get_depth_frame(); + auto color = frameset.get_color_frame(); + + auto colorized_depth = c.colorize(depth); + + glEnable(GL_BLEND); + // Use the Alpha channel for blending + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + + if (dir == direction::to_depth) + { + // When aligning to depth, first render depth image + // and then overlay color on top with transparancy + depth_image.render(colorized_depth, { 0, 0, app.width(), app.height() }); + color_image.render(color, { 0, 0, app.width(), app.height() }, alpha); + } + else + { + // When aligning to color, first render color image + // and then overlay depth image on top + color_image.render(color, { 0, 0, app.width(), app.height() }); + depth_image.render(colorized_depth, { 0, 0, app.width(), app.height() }, 1 - alpha); + } + + glColor4f(1.f, 1.f, 1.f, 1.f); + glDisable(GL_BLEND); + + // Render the UI: + ImGui_ImplGlfw_NewFrame(1); + render_slider({ 15.f, app.height() - 60, app.width() - 30, app.height() }, &alpha, &dir); + ImGui::Render(); + } + + return EXIT_SUCCESS; +} +catch (const rs2::error & e) +{ + std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl; + return EXIT_FAILURE; +} +catch (const std::exception & e) +{ + std::cerr << e.what() << std::endl; + return EXIT_FAILURE; +} + +void render_slider(rect location, float* alpha, direction* dir) +{ + static const int flags = ImGuiWindowFlags_NoCollapse + | ImGuiWindowFlags_NoScrollbar + | ImGuiWindowFlags_NoSavedSettings + | ImGuiWindowFlags_NoTitleBar + | ImGuiWindowFlags_NoResize + | ImGuiWindowFlags_NoMove; + + ImGui::SetNextWindowPos({ location.x, location.y }); + ImGui::SetNextWindowSize({ location.w, location.h }); + + // Render transparency slider: + ImGui::Begin("slider", nullptr, flags); + ImGui::PushItemWidth(-1); + ImGui::SliderFloat("##Slider", alpha, 0.f, 1.f); + ImGui::PopItemWidth(); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("Texture Transparancy: %.3f", *alpha); + + // Render direction checkboxes: + bool to_depth = (*dir == direction::to_depth); + bool to_color = (*dir == direction::to_color); + + if (ImGui::Checkbox("Align To Depth", &to_depth)) + { + *dir = to_depth ? direction::to_depth : direction::to_color; + } + ImGui::SameLine(); + ImGui::SetCursorPosX(location.w - 140); + if (ImGui::Checkbox("Align To Color", &to_color)) + { + *dir = to_color ? direction::to_color : direction::to_depth; + } + + ImGui::End(); +} diff --git a/examples/callback/CMakeLists.txt b/examples/callback/CMakeLists.txt index 501c049f..8998a63e 100644 --- a/examples/callback/CMakeLists.txt +++ b/examples/callback/CMakeLists.txt @@ -8,8 +8,8 @@ project(rs-callback) if(BUILD_GRAPHICAL_EXAMPLES) add_executable(${PROJECT_NAME} ${PROJECT_NAME}.cpp) set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11) - target_link_libraries(${PROJECT_NAME} ${DEPENDENCIES}) - include_directories(${PROJECT_NAME} ../ ../../third-party/tclap/include) + target_link_libraries( ${PROJECT_NAME} ${DEPENDENCIES} tclap ) + include_directories(${PROJECT_NAME} ../ ) set_target_properties (${PROJECT_NAME} PROPERTIES FOLDER "Examples") install(TARGETS ${PROJECT_NAME} RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) diff --git a/examples/capture/CMakeLists.txt b/examples/capture/CMakeLists.txt index 42f2fd0d..abf1c4dd 100644 --- a/examples/capture/CMakeLists.txt +++ b/examples/capture/CMakeLists.txt @@ -8,8 +8,8 @@ project(RealsenseExamplesCapture) if(BUILD_GRAPHICAL_EXAMPLES) add_executable(rs-capture rs-capture.cpp ../example.hpp) set_property(TARGET rs-capture PROPERTY CXX_STANDARD 11) - target_link_libraries(rs-capture ${DEPENDENCIES}) - include_directories(../ ../../third-party/tclap/include ../../examples) + target_link_libraries( rs-capture ${DEPENDENCIES} tclap ) + include_directories(../ ../../examples) set_target_properties (rs-capture PROPERTIES FOLDER "Examples") install(TARGETS rs-capture RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) diff --git a/examples/hdr/CMakeLists.txt b/examples/hdr/CMakeLists.txt index 31b099ec..26d3184f 100644 --- a/examples/hdr/CMakeLists.txt +++ b/examples/hdr/CMakeLists.txt @@ -8,8 +8,8 @@ project(RealsenseExamplesHdr) if(BUILD_GRAPHICAL_EXAMPLES) add_executable(rs-hdr rs-hdr.cpp ../example.hpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp) set_property(TARGET rs-hdr PROPERTY CXX_STANDARD 11) - target_link_libraries(rs-hdr ${DEPENDENCIES}) - include_directories(../ ../../third-party/tclap/include ../../third-party/imgui ../../third-party/glfw/include) + target_link_libraries( rs-hdr ${DEPENDENCIES} tclap ) + include_directories(../ ../../third-party/imgui ../../third-party/glfw/include) set_target_properties (rs-hdr PROPERTIES FOLDER "Examples") install(TARGETS rs-hdr RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) diff --git a/examples/post-processing/CMakeLists.txt b/examples/post-processing/CMakeLists.txt index 293be6fc..4aeb37b1 100644 --- a/examples/post-processing/CMakeLists.txt +++ b/examples/post-processing/CMakeLists.txt @@ -8,8 +8,8 @@ project(RealsenseExamplesPost-Processing) if(BUILD_GRAPHICAL_EXAMPLES) add_executable(rs-post-processing rs-post-processing.cpp ../example.hpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp) set_property(TARGET rs-post-processing PROPERTY CXX_STANDARD 11) - target_link_libraries(rs-post-processing ${DEPENDENCIES}) - include_directories(../ ../../third-party/tclap/include ../../third-party/imgui) + target_link_libraries( rs-post-processing ${DEPENDENCIES} tclap ) + include_directories(../ ../../third-party/imgui) set_target_properties (rs-post-processing PROPERTIES FOLDER "Examples") install(TARGETS rs-post-processing RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) endif() diff --git a/examples/readme.md b/examples/readme.md index a9e20d37..e97a44ab 100644 --- a/examples/readme.md +++ b/examples/readme.md @@ -31,6 +31,7 @@ For a detailed explanations and API documentation see our [Documentation](../doc |[DNN](../wrappers/openvino/dnn)| C++ & [OpenVINO](https://github.com/IntelRealSense/librealsense/tree/master/wrappers/openvino) | Intel RealSense camera used for real-time object-detection | :star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) | |[Software Device](./software-device)| C++ | Shows how to create a custom `rs2::device` | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) | |[GL](./gl)| C++ | Shows how to perform parts of frame processing using the GPU | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) | +|[GL Spatial Alignment](./align-gl)| C++ | Shows how to perform frame alignment (depth_to_color & color_to_depth) using the GPU | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) | |[Sensor Control](./sensor-control)| C++ | A tutorial for using the `rs2::sensor` API | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) | |[GrabCuts](../wrappers/opencv/grabcuts)| C++ & [OpenCV](https://github.com/IntelRealSense/librealsense/tree/master/wrappers/opencv#getting-started) | Simple background removal using the GrabCut algorithm | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) | |[Latency](../wrappers/opencv/latency-tool)| C++ & [OpenCV](https://github.com/IntelRealSense/librealsense/tree/master/wrappers/opencv#getting-started) | Basic latency estimation using computer vision | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) | diff --git a/examples/record-playback/CMakeLists.txt b/examples/record-playback/CMakeLists.txt index 380b8988..208ccc81 100644 --- a/examples/record-playback/CMakeLists.txt +++ b/examples/record-playback/CMakeLists.txt @@ -8,8 +8,8 @@ project(RealsenseExamplesRecord-Playback) if(BUILD_GRAPHICAL_EXAMPLES) add_executable(rs-record-playback rs-record-playback.cpp ../example.hpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp) set_property(TARGET rs-record-playback PROPERTY CXX_STANDARD 11) - target_link_libraries(rs-record-playback ${DEPENDENCIES}) - include_directories(../ ../../third-party/tclap/include ../../third-party/imgui) + target_link_libraries( rs-record-playback ${DEPENDENCIES} tclap ) + include_directories(../ ../../third-party/imgui) set_target_properties (rs-record-playback PROPERTIES FOLDER "Examples") install(TARGETS rs-record-playback RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) endif() diff --git a/examples/save-to-disk/CMakeLists.txt b/examples/save-to-disk/CMakeLists.txt index 9b9c4be8..9af93aab 100644 --- a/examples/save-to-disk/CMakeLists.txt +++ b/examples/save-to-disk/CMakeLists.txt @@ -7,7 +7,7 @@ project(RealsenseExamplesSaveToDisk) add_executable(rs-save-to-disk rs-save-to-disk.cpp) set_property(TARGET rs-save-to-disk PROPERTY CXX_STANDARD 11) -target_link_libraries(rs-save-to-disk ${DEPENDENCIES}) -include_directories(../../common ../../third-party ../../third-party/tclap/include) +target_link_libraries( rs-save-to-disk ${DEPENDENCIES} tclap ) +include_directories(../../common ../../third-party) set_target_properties (rs-save-to-disk PROPERTIES FOLDER "Examples") install(TARGETS rs-save-to-disk RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) diff --git a/examples/software-device/CMakeLists.txt b/examples/software-device/CMakeLists.txt index 294f66cc..12b84c8c 100644 --- a/examples/software-device/CMakeLists.txt +++ b/examples/software-device/CMakeLists.txt @@ -11,8 +11,8 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS 1) if(BUILD_GRAPHICAL_EXAMPLES) add_executable(rs-software-device rs-software-device.cpp) set_property(TARGET rs-software-device PROPERTY CXX_STANDARD 11) - target_link_libraries(rs-software-device ${DEPENDENCIES}) - include_directories(../ ../../third-party/tclap/include ../../third-party/ ../../common/res) + target_link_libraries( rs-software-device ${DEPENDENCIES} tclap ) + include_directories(../ ../../third-party/ ../../common/res) set_target_properties (rs-software-device PROPERTIES FOLDER "Examples") install(TARGETS rs-software-device RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) endif() diff --git a/examples/software-device/rs-software-device.cpp b/examples/software-device/rs-software-device.cpp index 915ee5b1..e1644f57 100644 --- a/examples/software-device/rs-software-device.cpp +++ b/examples/software-device/rs-software-device.cpp @@ -53,6 +53,7 @@ class custom_frame_source } } color_frame.frame = std::move(pixels_color); + stbi_image_free( realsense_logo ); } synthetic_frame& get_synthetic_texture() diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt index eff94cfa..3d82c53b 100644 --- a/include/CMakeLists.txt +++ b/include/CMakeLists.txt @@ -1,6 +1,6 @@ # License: Apache 2.0. See LICENSE file in root directory. # Copyright(c) 2019 Intel Corporation. All Rights Reserved. -target_sources(${LRS_TARGET} +target_sources( ${PROJECT_NAME} PRIVATE "${CMAKE_CURRENT_LIST_DIR}/librealsense2/rs.hpp" "${CMAKE_CURRENT_LIST_DIR}/librealsense2/rs.h" diff --git a/include/librealsense2/h/rs_context.h b/include/librealsense2/h/rs_context.h index c7eb47c3..6226842b 100644 --- a/include/librealsense2/h/rs_context.h +++ b/include/librealsense2/h/rs_context.h @@ -16,12 +16,37 @@ extern "C" { /** * \brief Creates RealSense context that is required for the rest of the API. +* Context settings are taken from the library configuration file's 'context' key. * \param[in] api_version Users are expected to pass their version of \c RS2_API_VERSION to make sure they are running the correct librealsense version. * \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored. * \return Context object */ rs2_context* rs2_create_context(int api_version, rs2_error** error); +/** +* \brief Creates RealSense context that is required for the rest of the API, and accepts a settings JSON. +* \param[in] api_version Users are expected to pass their version of \c RS2_API_VERSION to make sure they are running the correct librealsense version. +* \param[in] json_settings Pointer to a string containing a JSON configuration to use, or null if none +* Possible : : +* inherit: true - (bool) whether to inherit and override library configuration file values: +* the 'context' key in the file is taken as-is +* '/context' is merged, if it exists +* then the context-settings are merged +* dds: {} - (requires BUILD_WITH_DDS) false disables DDS; otherwise the DDS settings: +* domain: 0 - (int) the number of the DDS domain [0-232] +* participant: - (string) the name of the participant +* (see additional settings in realdds/doc/device.md#Settings) +* format-conversion: full - (string) how to convert formats +* full: provide all conversions (e.g., YUYV -> RGB8 etc.) +* basic: use mostly raw camera formats (no RGB8 etc.); convert interleaved (Y8I -> 2xY8) +* raw: leave all formats from camera as they are +* options-update-interval: 1000 - (uint32_t) time interval in milliseconds for option value change notifications +* (see rs2_set_options_changed_callback) +* \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored. +* \return Context object +*/ +rs2_context* rs2_create_context_ex(int api_version, const char * json_settings, rs2_error** error); + /** * \brief Frees the relevant context object. * \param[in] context Object that is no longer needed @@ -95,7 +120,9 @@ rs2_device_list* rs2_query_devices(const rs2_context* context, rs2_error** error #define RS2_PRODUCT_LINE_SR300 0x04 #define RS2_PRODUCT_LINE_L500 0x08 #define RS2_PRODUCT_LINE_T200 0x10 -#define RS2_PRODUCT_LINE_DEPTH (RS2_PRODUCT_LINE_L500 | RS2_PRODUCT_LINE_SR300 | RS2_PRODUCT_LINE_D400) +#define RS2_PRODUCT_LINE_D500 0x20 +#define RS2_PRODUCT_LINE_SW_ONLY 0x100 // enable to return only SW devices, including playback +#define RS2_PRODUCT_LINE_DEPTH ( RS2_PRODUCT_LINE_L500 | RS2_PRODUCT_LINE_SR300 | RS2_PRODUCT_LINE_D400 | RS2_PRODUCT_LINE_D500 ) #define RS2_PRODUCT_LINE_TRACKING RS2_PRODUCT_LINE_T200 /** diff --git a/include/librealsense2/h/rs_device.h b/include/librealsense2/h/rs_device.h index b9e4dd8b..974dfdf6 100644 --- a/include/librealsense2/h/rs_device.h +++ b/include/librealsense2/h/rs_device.h @@ -54,6 +54,12 @@ rs2_device* rs2_create_device(const rs2_device_list* info_list, int index, rs2_e */ void rs2_delete_device(rs2_device* device); +/** +* \param[in] device Realsense device to query +* \return True if device is still present in the system +*/ +int rs2_device_is_connected( const rs2_device * device, rs2_error ** error ); + /** * Retrieve camera specific information, like versions of various internal components. * \param[in] device The RealSense device diff --git a/include/librealsense2/h/rs_frame.h b/include/librealsense2/h/rs_frame.h index 07dd2e97..8dbeacf3 100644 --- a/include/librealsense2/h/rs_frame.h +++ b/include/librealsense2/h/rs_frame.h @@ -39,7 +39,7 @@ typedef enum rs2_frame_metadata_value RS2_FRAME_METADATA_TIME_OF_ARRIVAL , /**< Time of arrival in system clock */ RS2_FRAME_METADATA_TEMPERATURE , /**< Temperature of the device, measured at the time of the frame capture. Celsius degrees */ RS2_FRAME_METADATA_BACKEND_TIMESTAMP , /**< Timestamp get from uvc driver. usec*/ - RS2_FRAME_METADATA_ACTUAL_FPS , /**< Actual fps */ + RS2_FRAME_METADATA_ACTUAL_FPS , /**< Actual fps, times 1000 (30.1 fps would be 30100 in the metadata) */ RS2_FRAME_METADATA_FRAME_LASER_POWER , /**< Laser power value 0-360. */ RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE , /**< Laser power mode. Zero corresponds to Laser power switched off and one for switched on. deprecated, replaced by RS2_FRAME_METADATA_FRAME_EMITTER_MODE*/ RS2_FRAME_METADATA_EXPOSURE_PRIORITY , /**< Exposure priority. */ @@ -138,7 +138,7 @@ rs2_sensor* rs2_get_frame_sensor(const rs2_frame* frame, rs2_error** error); * retrieve frame number from frame handle * \param[in] frame handle returned from a callback * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored -* \return the frame nubmer of the frame, in milliseconds since the device was started +* \return the frame number */ unsigned long long rs2_get_frame_number(const rs2_frame* frame, rs2_error** error); diff --git a/include/librealsense2/h/rs_internal.h b/include/librealsense2/h/rs_internal.h index d0b9cda7..fdf5d4b5 100644 --- a/include/librealsense2/h/rs_internal.h +++ b/include/librealsense2/h/rs_internal.h @@ -22,10 +22,8 @@ extern "C" { /** * Firmware size constants */ - const int signed_fw_size = 0x18031C; - const int signed_sr300_size = 0x0C025C; - const int unsigned_fw_size = 0x200000; - const int unsigned_sr300_size = 0x100000; + const unsigned int signed_fw_size = 0x18031C; + const unsigned int unsigned_fw_size = 0x200000; /** * librealsense Recorder is intended for effective unit-testing diff --git a/include/librealsense2/h/rs_option.h b/include/librealsense2/h/rs_option.h index 2855b332..2181c808 100644 --- a/include/librealsense2/h/rs_option.h +++ b/include/librealsense2/h/rs_option.h @@ -10,6 +10,10 @@ Copyright(c) 2017 Intel Corporation. All Rights Reserved. */ #ifndef LIBREALSENSE_RS2_OPTION_H #define LIBREALSENSE_RS2_OPTION_H + +#include + + #ifdef __cplusplus extern "C" { #endif @@ -47,11 +51,11 @@ extern "C" { RS2_OPTION_ASIC_TEMPERATURE, /**< Current Asic Temperature */ RS2_OPTION_ERROR_POLLING_ENABLED, /**< disable error handling */ RS2_OPTION_PROJECTOR_TEMPERATURE, /**< Current Projector Temperature */ - RS2_OPTION_OUTPUT_TRIGGER_ENABLED, /**< Enable / disable trigger to be outputed from the camera to any external device on every depth frame */ + RS2_OPTION_OUTPUT_TRIGGER_ENABLED, /**< Enable / disable trigger to be outputted from the camera to any external device on every depth frame */ RS2_OPTION_MOTION_MODULE_TEMPERATURE, /**< Current Motion-Module Temperature */ RS2_OPTION_DEPTH_UNITS, /**< Number of meters represented by a single depth unit */ RS2_OPTION_ENABLE_MOTION_CORRECTION, /**< Enable/Disable automatic correction of the motion data */ - RS2_OPTION_AUTO_EXPOSURE_PRIORITY, /**< Allows sensor to dynamically ajust the frame rate depending on lighting conditions */ + RS2_OPTION_AUTO_EXPOSURE_PRIORITY, /**< Allows sensor to dynamically adjust the frame rate depending on lighting conditions */ RS2_OPTION_COLOR_SCHEME, /**< Color scheme for data visualization */ RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED, /**< Perform histogram equalization post-processing on the depth data */ RS2_OPTION_MIN_DISTANCE, /**< Minimal distance to the target */ @@ -62,7 +66,7 @@ extern "C" { RS2_OPTION_FILTER_SMOOTH_DELTA, /**< 2D-filter range/validity threshold*/ RS2_OPTION_HOLES_FILL, /**< Enhance depth data post-processing with holes filling where appropriate*/ RS2_OPTION_STEREO_BASELINE, /**< The distance in mm between the first and the second imagers in stereo-based depth cameras*/ - RS2_OPTION_AUTO_EXPOSURE_CONVERGE_STEP, /**< Allows dynamically ajust the converge step value of the target exposure in Auto-Exposure algorithm*/ + RS2_OPTION_AUTO_EXPOSURE_CONVERGE_STEP, /**< Allows dynamically adjust the converge step value of the target exposure in Auto-Exposure algorithm*/ RS2_OPTION_INTER_CAM_SYNC_MODE, /**< Impose Inter-camera HW synchronization mode. Applicable for D400/L500/Rolling Shutter SKUs */ RS2_OPTION_STREAM_FILTER, /**< Select a stream to process */ RS2_OPTION_STREAM_FORMAT_FILTER, /**< Select a stream format to process */ @@ -117,12 +121,59 @@ extern "C" { RS2_OPTION_AUTO_GAIN_LIMIT_TOGGLE, /**< Enable / disable color image auto-gain*/ RS2_OPTION_EMITTER_FREQUENCY, /**< Select emitter (laser projector) frequency, see rs2_emitter_frequency for values */ RS2_OPTION_DEPTH_AUTO_EXPOSURE_MODE, /**< Select depth sensor auto exposure mode see rs2_depth_auto_exposure_mode for values */ + RS2_OPTION_OHM_TEMPERATURE, /**< Temperature of the Optical Head Sensor */ + 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_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */ } rs2_option; - // This function is being deprecated. For existing options it will return option name, but for future API additions the user should call rs2_get_option_name instead. + /** + * Returns the option name if the option exists, or "UNKNOWN" otherwise. + * See rs2_option_from_string() for the reverse. + * \param[in] option the option identifier + */ const char* rs2_option_to_string(rs2_option option); + /** + * Get the specific rs2_option identifier given its name if found, or RS2_OPTION_COUNT if not. + * See rs2_option_to_string() for the reverse. + * \param[in] option_name the case-sensitive option name + */ + rs2_option rs2_option_from_string( const char * option_name ); + + /** \brief Defines known option value types. + */ + typedef enum rs2_option_type + { + RS2_OPTION_TYPE_INTEGER, /**< 64-bit signed integer value */ + RS2_OPTION_TYPE_FLOAT, + RS2_OPTION_TYPE_STRING, + RS2_OPTION_TYPE_BOOLEAN, + + RS2_OPTION_TYPE_COUNT + + } rs2_option_type; + + /** + * Returns the option type as a string, or "UNKNOWN" otherwise. + * \param[in] type the option type identifier + */ + const char * rs2_option_type_to_string( rs2_option_type type ); + + /** \brief The value of an option, in a known option type. + */ + typedef struct rs2_option_value + { + rs2_option id; + int is_valid; /**< 0 if no value available; 1 otherwise */ + rs2_option_type type; + union { + char const * as_string; /**< valid only while rs2_option_value is alive! */ + float as_float; + int64_t as_integer; /**< including boolean value */ + }; + } rs2_option_value; + /** \brief For SR300 devices: provides optimized settings (presets) for specific types of usage. */ typedef enum rs2_sr300_visual_preset { @@ -224,6 +275,18 @@ extern "C" { } rs2_depth_auto_exposure_mode; const char* rs2_depth_auto_exposure_mode_to_string( rs2_depth_auto_exposure_mode mode ); + /** \brief values for RS2_OPTION_GYRO_SENSITIVITY option. */ + typedef enum rs2_gyro_sensitivity + { + RS2_GYRO_SENSITIVITY_61_0_MILLI_DEG_SEC = 0, + RS2_GYRO_SENSITIVITY_30_5_MILLI_DEG_SEC = 1, + RS2_GYRO_SENSITIVITY_15_3_MILLI_DEG_SEC = 2, + RS2_GYRO_SENSITIVITY_7_6_MILLI_DEG_SEC = 3, + RS2_GYRO_SENSITIVITY_3_8_MILLI_DEG_SEC = 4, + RS2_GYRO_SENSITIVITY_COUNT + } rs2_gyro_sensitivity; + const char * rs2_gyro_sensitivity_to_string( rs2_gyro_sensitivity mode ); + /** * check if an option is read-only * \param[in] options the options container @@ -242,6 +305,15 @@ extern "C" { */ float rs2_get_option(const rs2_options* options, rs2_option option, rs2_error** error); + /** + * read option value from the sensor + * \param[in] options the options container + * \param[in] option_id option id to be queried + * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored + * \return pointer to the value structure of the option; use rs2_delete_option_value to clean up + */ + rs2_option_value const * rs2_get_option_value( const rs2_options * options, rs2_option option_id, rs2_error ** error ); + /** * write new value to sensor option * \param[in] options the options container @@ -251,6 +323,14 @@ extern "C" { */ void rs2_set_option(const rs2_options* options, rs2_option option, float value, rs2_error** error); + /** + * write new value to sensor option + * \param[in] options the options container + * \param[in] option_value option id, type, and value to be set + * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored + */ + void rs2_set_option_value( rs2_options const * options, rs2_option_value const * option_value, rs2_error ** error ); + /** * get the list of supported options of options container * \param[in] options the options container @@ -275,12 +355,27 @@ extern "C" { const char* rs2_get_option_name(const rs2_options* options, rs2_option option, rs2_error** error); /** - * get the specific option from options list - * \param[in] i the index of the option - * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored - */ + * get the specific option from options list + * \param[in] i the index of the option + * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored + * \return the option ID + */ rs2_option rs2_get_option_from_list(const rs2_options_list* options, int i, rs2_error** error); + /** + * get the specific option from options list + * \param[in] i the index of the option + * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored + * \return temporary (goes away with the options-list) pointer to the option-value struct + */ + rs2_option_value const * rs2_get_option_value_from_list( const rs2_options_list * options, int i, rs2_error ** error ); + + /** + * Clean up a value and all it points to + * \param[in] handle value to delete + */ + void rs2_delete_option_value( rs2_option_value const * handle ); + /** * Deletes options list * \param[in] list list to delete @@ -327,6 +422,28 @@ extern "C" { */ const char* rs2_get_option_value_description(const rs2_options* options, rs2_option option, float value, rs2_error ** error); + /** + * Sets a callback in case an option in this options container value is updated. + * Will create a thread that will periodically check the options in the container for updates. + * The update period is determined by the context's 'options-update-interval' setting. + * \param[in] options the options container + * \param[in] callback callback function pointer to update on value changes + * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored + */ + void rs2_set_options_changed_callback( rs2_options * options, + rs2_options_changed_callback_ptr callback, + rs2_error ** error ); + + /** + * Sets a callback in case an option in this options container value is updated + * \param[in] options the options container + * \param[in] callback callback object created from c++ application. ownership over the callback object is moved to librealsense + * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored + */ + void rs2_set_options_changed_callback_cpp( rs2_options * options, + rs2_options_changed_callback * callback, + rs2_error ** error ); + #ifdef __cplusplus } #endif diff --git a/include/librealsense2/h/rs_sensor.h b/include/librealsense2/h/rs_sensor.h index 7960e995..e766eadb 100644 --- a/include/librealsense2/h/rs_sensor.h +++ b/include/librealsense2/h/rs_sensor.h @@ -30,10 +30,11 @@ typedef enum rs2_camera_info { RS2_CAMERA_INFO_PRODUCT_ID , /**< Product ID as reported in the USB descriptor */ RS2_CAMERA_INFO_CAMERA_LOCKED , /**< True iff EEPROM is locked */ RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR , /**< Designated USB specification: USB2/USB3 */ - RS2_CAMERA_INFO_PRODUCT_LINE , /**< Device product line D400/SR300/L500/T200 */ + RS2_CAMERA_INFO_PRODUCT_LINE , /**< Device product line D400, etc. */ RS2_CAMERA_INFO_ASIC_SERIAL_NUMBER , /**< ASIC serial number */ RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID , /**< Firmware update ID */ RS2_CAMERA_INFO_IP_ADDRESS , /**< IP address for remote camera. */ + RS2_CAMERA_INFO_DFU_DEVICE_PATH , /**< DFU Device node path */ RS2_CAMERA_INFO_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */ } rs2_camera_info; const char* rs2_camera_info_to_string(rs2_camera_info info); @@ -51,6 +52,7 @@ typedef enum rs2_stream RS2_STREAM_GPIO , /**< Signals from external device connected through GPIO */ RS2_STREAM_POSE , /**< 6 Degrees of Freedom pose data, calculated by RealSense device */ RS2_STREAM_CONFIDENCE , /**< 4 bit per-pixel depth confidence level */ + RS2_STREAM_MOTION , /**< Native stream of combined motion data (incl. accel & gyro) */ RS2_STREAM_COUNT } rs2_stream; const char* rs2_stream_to_string(rs2_stream stream); @@ -89,6 +91,9 @@ typedef enum rs2_format RS2_FORMAT_Z16H , /**< DEPRECATED! - Variable-length Huffman-compressed 16-bit depth values. */ RS2_FORMAT_FG , /**< 16-bit per-pixel frame grabber format. */ RS2_FORMAT_Y411 , /**< 12-bit per-pixel. */ + RS2_FORMAT_Y16I , /**< 12-bit per pixel interleaved. 12-bit left, 12-bit right. */ + RS2_FORMAT_M420 , /**< 24-bit for every pixel: y for each pixel, and u,v data for every four pixels - packed as 2 lines of y, 1 line of u,v */ + RS2_FORMAT_COMBINED_MOTION , /**< Combined motion data, as in the combined_motion structure */ RS2_FORMAT_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */ } rs2_format; const char* rs2_format_to_string(rs2_format format); @@ -100,6 +105,14 @@ typedef struct rs2_extrinsics float translation[3]; /**< Three-element translation vector, in meters */ } rs2_extrinsics; +/** \brief RS2_STREAM_MOTION / RS2_FORMAT_COMBINED_MOTION content is similar to ROS2's Imu message */ +typedef struct rs2_combined_motion +{ + struct { double x, y, z, w; } orientation; + struct { double x, y, z; } angular_velocity; + struct { double x, y, z; } linear_acceleration; +} rs2_combined_motion; + /** * Deletes sensors list, any sensors created from this list will remain unaffected * \param[in] info_list list to delete @@ -622,24 +635,6 @@ void rs2_override_intrinsics( const rs2_sensor* sensor, const rs2_intrinsics* in */ void rs2_set_extrinsics(const rs2_sensor* from_sensor, const rs2_stream_profile* from_profile, rs2_sensor* to_sensor, const rs2_stream_profile* to_profile, const rs2_extrinsics* extrinsics, rs2_error** error); -/** - * Get the DSM parameters for a sensor - * \param[in] sensor Sensor that supports the CALIBRATED_SENSOR extension - * \param[out] p_params_out Pointer to the structure that will get the DSM parameters - * \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored - */ -void rs2_get_dsm_params( rs2_sensor const * sensor, rs2_dsm_params * p_params_out, rs2_error** error ); - -/** - * Set the sensor DSM parameters - * This should ideally be done when the stream is NOT running. If it is, the - * parameters may not take effect immediately. - * \param[in] sensor Sensor that supports the CALIBRATED_SENSOR extension - * \param[out] p_params Pointer to the structure that contains the DSM parameters - * \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored - */ -void rs2_override_dsm_params( rs2_sensor const * sensor, rs2_dsm_params const * p_params, rs2_error** error ); - /** * Reset the sensor DSM parameters * This should ideally be done when the stream is NOT running. May not take effect immediately. diff --git a/include/librealsense2/h/rs_types.h b/include/librealsense2/h/rs_types.h index fdb42c83..8e83a594 100644 --- a/include/librealsense2/h/rs_types.h +++ b/include/librealsense2/h/rs_types.h @@ -67,38 +67,6 @@ typedef struct rs2_intrinsics float coeffs[5]; /**< Distortion coefficients. Order for Brown-Conrady: [k1, k2, p1, p2, k3]. Order for F-Theta Fish-eye: [k1, k2, k3, k4, 0]. Other models are subject to their own interpretations */ } rs2_intrinsics; -/** \brief Video DSM (Digital Sync Module) parameters for calibration (same layout as in FW ac_depth_params) - This is the block in MC that converts angles to dimensionless integers reported to MA (using "DSM coefficients"). -*/ -#pragma pack( push, 1 ) - typedef struct rs2_dsm_params - { - unsigned long long timestamp; /**< system_clock::time_point::time_since_epoch().count() */ - unsigned short version; /**< MAJOR<<12 | MINOR<<4 | PATCH */ - unsigned char model; /**< rs2_dsm_correction_model */ - unsigned char flags[5]; /**< TBD, now 0s */ - float h_scale; /**< the scale factor to horizontal DSM scale thermal results */ - float v_scale; /**< the scale factor to vertical DSM scale thermal results */ - float h_offset; /**< the offset to horizontal DSM offset thermal results */ - float v_offset; /**< the offset to vertical DSM offset thermal results */ - float rtd_offset; /**< the offset to the Round-Trip-Distance delay thermal results */ - unsigned char temp_x2; /**< the temperature recorded times 2 (ldd for depth; hum for rgb) */ - float mc_h_scale; /**< the scale factor to horizontal LOS coefficients in MC */ - float mc_v_scale; /**< the scale factor to vertical LOS coefficients in MC */ - unsigned char weeks_since_calibration; /**< time (in weeks) since factory calibration */ - unsigned char ac_weeks_since_calibaration; /**< time (in weeks) between factory calibration and last AC event */ - unsigned char reserved[1]; - } rs2_dsm_params; -#pragma pack( pop ) - -typedef enum rs2_dsm_correction_model -{ - RS2_DSM_CORRECTION_NONE, /**< hFactor and hOffset are not used, and no artificial error is induced */ - RS2_DSM_CORRECTION_AOT, /**< Aging-over-thermal (default); aging-induced error is uniform across temperature */ - RS2_DSM_CORRECTION_TOA, /**< Thermal-over-aging; aging-induced error changes alongside temperature */ - RS2_DSM_CORRECTION_COUNT -} rs2_dsm_correction_model; - /** \brief Motion device intrinsics: scale, bias, and variances. */ typedef struct rs2_motion_device_intrinsic { @@ -233,7 +201,6 @@ typedef enum rs2_matchers RS2_MATCHER_DI_C, //compare depth and ir based on frame number, //compare the pair of corresponding depth and ir with color based on closest timestamp, - //commonly used by SR300 RS2_MATCHER_DLR_C, //compare depth, left and right ir based on frame number, //compare the set of corresponding depth, left and right with color based on closest timestamp, @@ -254,6 +221,7 @@ typedef enum rs2_matchers } rs2_matchers; const char* rs2_matchers_to_string(rs2_matchers stream); + typedef struct rs2_device_info rs2_device_info; typedef struct rs2_device rs2_device; typedef struct rs2_error rs2_error; @@ -283,6 +251,7 @@ typedef struct rs2_sensor_list rs2_sensor_list; typedef struct rs2_sensor rs2_sensor; typedef struct rs2_options rs2_options; typedef struct rs2_options_list rs2_options_list; +typedef struct rs2_options_changed_callback rs2_options_changed_callback; typedef struct rs2_devices_changed_callback rs2_devices_changed_callback; typedef struct rs2_notification rs2_notification; typedef struct rs2_notifications_callback rs2_notifications_callback; @@ -292,11 +261,12 @@ typedef struct rs2_firmware_log_parser rs2_firmware_log_parser; typedef struct rs2_terminal_parser rs2_terminal_parser; typedef void (*rs2_log_callback_ptr)(rs2_log_severity, rs2_log_message const *, void * arg); typedef void (*rs2_notification_callback_ptr)(rs2_notification*, void*); -typedef void(*rs2_software_device_destruction_callback_ptr)(void*); +typedef void (*rs2_software_device_destruction_callback_ptr)(void*); typedef void (*rs2_devices_changed_callback_ptr)(rs2_device_list*, rs2_device_list*, void*); typedef void (*rs2_frame_callback_ptr)(rs2_frame*, void*); typedef void (*rs2_frame_processor_callback_ptr)(rs2_frame*, rs2_source*, void*); -typedef void(*rs2_update_progress_callback_ptr)(const float, void*); +typedef void (*rs2_update_progress_callback_ptr)(const float, void*); +typedef void (*rs2_options_changed_callback_ptr)(const rs2_options_list *); typedef double rs2_time_t; /**< Timestamp format. units are milliseconds */ typedef long long rs2_metadata_type; /**< Metadata attribute type is defined as 64 bit signed integer*/ diff --git a/include/librealsense2/hpp/rs_context.hpp b/include/librealsense2/hpp/rs_context.hpp index 3d105aa0..e1c604ad 100644 --- a/include/librealsense2/hpp/rs_context.hpp +++ b/include/librealsense2/hpp/rs_context.hpp @@ -96,14 +96,24 @@ namespace rs2 class context { public: - context() + enum uninitialized_t { uninitialized }; + context( uninitialized_t ) + { + } + context( char const * json_settings = nullptr ) { rs2_error* e = nullptr; _context = std::shared_ptr( - rs2_create_context(RS2_API_VERSION, &e), + rs2_create_context_ex( RS2_API_VERSION, json_settings, &e ), rs2_delete_context); error::handle(e); } + context( std::string const & json_settings ) + : context( json_settings.c_str() ) + { + } + + operator bool() const { return !! _context; } /** * create a static snapshot of all connected devices at the time of the call diff --git a/include/librealsense2/hpp/rs_device.hpp b/include/librealsense2/hpp/rs_device.hpp index e8acf464..f5dbd6e3 100644 --- a/include/librealsense2/hpp/rs_device.hpp +++ b/include/librealsense2/hpp/rs_device.hpp @@ -7,6 +7,7 @@ #include "rs_types.hpp" #include "rs_sensor.hpp" #include +#include namespace rs2 { @@ -48,6 +49,48 @@ namespace rs2 return results; } + /** + * \return the type of device: USB/GMSL/DDS, etc. + */ + std::string get_type() const + { + if( supports( RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR ) ) + return "USB"; + if( supports( RS2_CAMERA_INFO_PRODUCT_ID ) ) + { + std::string pid = get_info( RS2_CAMERA_INFO_PRODUCT_ID ); + if( pid == "ABCD" ) // Specific for D457 + return "GMSL"; + return pid; // for DDS devices, this will be "DDS" + } + return {}; + } + + /** + * \return the one-line description: "[] s/n <#>" + */ + std::string get_description() const + { + std::ostringstream os; + auto type = get_type(); + if( supports( RS2_CAMERA_INFO_NAME ) ) + { + if( ! type.empty() ) + os << "[" << type << "] "; + os << get_info( RS2_CAMERA_INFO_NAME ); + } + else + { + if( ! type.empty() ) + os << type << " device"; + else + os << "unknown device"; + } + if( supports( RS2_CAMERA_INFO_SERIAL_NUMBER ) ) + os << " s/n " << get_info( RS2_CAMERA_INFO_SERIAL_NUMBER ); + return os.str(); + } + template T first() const { @@ -90,7 +133,6 @@ namespace rs2 void hardware_reset() { rs2_error* e = nullptr; - rs2_hardware_reset(_dev.get(), &e); error::handle(e); } @@ -109,6 +151,8 @@ namespace rs2 } device() : _dev(nullptr) {} + // Note: this checks the validity of rs2::device (i.e., if it's connected to a realsense device), and does + // NOT reflect the current condition (connected/disconnected). Use is_connected() for that. operator bool() const { return _dev != nullptr; @@ -117,6 +161,21 @@ namespace rs2 { return _dev; } + bool operator<( device const & other ) const + { + // All RealSense cameras have an update-ID but not always a serial number + return std::strcmp( get_info( RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID ), + other.get_info( RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID ) ) + < 0; + } + + bool is_connected() const + { + rs2_error * e = nullptr; + bool connected = rs2_device_is_connected( _dev.get(), &e ); + error::handle( e ); + return connected; + } template bool is() const @@ -821,7 +880,11 @@ namespace rs2 void on_calibration_change( rs2_calibration_status status ) noexcept override { - _callback( status ); + try + { + _callback( status ); + } + catch( ... ) { } } void release() override { delete this; } }; diff --git a/include/librealsense2/hpp/rs_options.hpp b/include/librealsense2/hpp/rs_options.hpp index de9218d0..f7127c0f 100644 --- a/include/librealsense2/hpp/rs_options.hpp +++ b/include/librealsense2/hpp/rs_options.hpp @@ -5,9 +5,153 @@ #define LIBREALSENSE_RS2_OPTIONS_HPP #include "rs_types.hpp" +#include "../h/rs_types.h" + +#include + namespace rs2 { + class option_value + { + std::shared_ptr< const rs2_option_value > _value; + + public: + explicit option_value( rs2_option_value const * handle ) + : _value( handle, rs2_delete_option_value ) + { + } + option_value( option_value const & ) = default; + option_value( option_value && ) = default; + option_value() = default; + + enum invalid_t { invalid }; + option_value( rs2_option option_id, invalid_t ) + : _value( new rs2_option_value{ option_id, false, RS2_OPTION_TYPE_COUNT } ) {} + + option_value( rs2_option option_id, int64_t as_integer ) + : _value( new rs2_option_value{ option_id, true, RS2_OPTION_TYPE_INTEGER } ) + { + const_cast< rs2_option_value * >( _value.get() )->as_integer = as_integer; + } + option_value( rs2_option option_id, float as_float ) + : _value( new rs2_option_value{ option_id, true, RS2_OPTION_TYPE_FLOAT } ) + { + const_cast< rs2_option_value * >( _value.get() )->as_float = as_float; + } + option_value( rs2_option option_id, char const * as_string ) + : _value( new rs2_option_value{ option_id, true, RS2_OPTION_TYPE_STRING } ) + { + const_cast< rs2_option_value * >( _value.get() )->as_string = as_string; + } + option_value( rs2_option option_id, bool as_boolean ) + : _value( new rs2_option_value{ option_id, true, RS2_OPTION_TYPE_BOOLEAN } ) + { + const_cast(_value.get())->as_integer = as_boolean; + } + + option_value & operator=( option_value const & ) = default; + option_value & operator=( option_value && ) = default; + + rs2_option_value const * operator->() const { return _value.get(); } + operator rs2_option_value const *() const { return _value.get(); } + }; + + class options_list + { + public: + options_list( options_list const & ) = default; + options_list( options_list && ) = default; + + explicit options_list( std::shared_ptr< rs2_options_list > list ) + : _list( std::move( list ) ) + { + rs2_error * e = nullptr; + _size = rs2_get_options_list_size( _list.get(), &e ); + error::handle( e ); + } + + options_list() + : _list( nullptr ) + , _size( 0 ) + { + } + + option_value operator[]( size_t index ) const + { + rs2_error * e = nullptr; + auto value = rs2_get_option_value_from_list( _list.get(), static_cast< int >( index ), &e ); + error::handle( e ); + return option_value( value ); + } + + size_t size() const { return _size; } + + option_value front() const { return ( *this )[0]; } + option_value back() const { return ( *this )[size() - 1]; } + + class iterator + { + iterator( const options_list & list, size_t index ) + : _list( list ) + , _index( index ) + { + } + + public: + option_value operator*() const { return _list[_index]; } + + bool operator!=( const iterator & other ) const + { + return other._index != _index || &other._list != &_list; + } + bool operator==( const iterator & other ) const + { + return ! ( *this != other ); + } + + iterator & operator++() + { + _index++; + return *this; + } + + private: + friend options_list; + const options_list & _list; + size_t _index; + }; + + iterator begin() const { return iterator( *this, 0 ); } + iterator end() const { return iterator( *this, size() ); } + + std::shared_ptr< rs2_options_list > get() const { return _list; }; + + private: + std::shared_ptr< rs2_options_list > _list; + size_t _size; + }; + + class options_changed_callback : public rs2_options_changed_callback + { + std::function< void( const options_list & ) > _callback; + + public: + explicit options_changed_callback( const std::function< void( const options_list & ) > & callback ) + : _callback( callback ) + { + } + + void on_value_changed( rs2_options_list * list ) override + { + std::shared_ptr< rs2_options_list > sptr( list, rs2_delete_options_list ); + options_list opt_list( sptr ); + _callback( opt_list ); + } + + void release() override { delete this; } + }; + class options { public: @@ -65,7 +209,7 @@ namespace rs2 } /** - * read option's value + * read option's float value * \param[in] option option id to be queried * \return value of the option */ @@ -77,6 +221,19 @@ namespace rs2 return res; } + /** + * read option's value + * \param[in] option_id option id to be queried + * \return option value + */ + option_value get_option_value( rs2_option option_id ) const + { + rs2_error * e = nullptr; + auto value = rs2_get_option_value( _options, option_id, &e ); + error::handle( e ); + return option_value( value ); + } + /** * retrieve the available range of values of a supported option * \return option range containing minimum and maximum values, step and default value @@ -103,6 +260,18 @@ namespace rs2 error::handle(e); } + /** + * write new value to the option + * \param[in] option option id to be queried + * \param[in] value option (id,type,is_valid,new value) + */ + void set_option_value( option_value const & value ) const + { + rs2_error * e = nullptr; + rs2_set_option_value( _options, value, &e ); + error::handle( e ); + } + /** * check if particular option is read-only * \param[in] option option id to be checked @@ -116,13 +285,23 @@ namespace rs2 return res > 0; } + /** + * sets a callback in case an option in this options container value is updated + * \param[in] callback the callback function + */ + void on_options_changed( std::function< void( const options_list & ) > callback ) const + { + rs2_error * e = nullptr; + rs2_set_options_changed_callback_cpp( _options, new options_changed_callback( callback ), &e ); + error::handle( e ); + } + std::vector get_supported_options() { std::vector res; rs2_error* e = nullptr; - std::shared_ptr options_list( - rs2_get_options_list(_options, &e), - rs2_delete_options_list); + std::shared_ptr< rs2_options_list > options_list( rs2_get_options_list(_options, &e), rs2_delete_options_list); + error::handle( e ); for (auto opt = 0; opt < rs2_get_options_list_size(options_list.get(), &e);opt++) { @@ -131,6 +310,16 @@ namespace rs2 return res; }; + options_list get_supported_option_values() + { + rs2_error * e = nullptr; + std::shared_ptr< rs2_options_list > sptr( + rs2_get_options_list( _options, &e ), + rs2_delete_options_list ); + error::handle( e ); + return options_list( sptr ); + }; + options& operator=(const options& other) { _options = other._options; @@ -140,6 +329,7 @@ namespace rs2 options(const options& other) : _options(other._options) {} virtual ~options() = default; + protected: explicit options(rs2_options* o = nullptr) : _options(o) { @@ -155,5 +345,7 @@ namespace rs2 private: rs2_options* _options; }; + + } #endif // LIBREALSENSE_RS2_OIPTIONS_HPP diff --git a/include/librealsense2/hpp/rs_processing.hpp b/include/librealsense2/hpp/rs_processing.hpp index 0006aa07..30a2181c 100644 --- a/include/librealsense2/hpp/rs_processing.hpp +++ b/include/librealsense2/hpp/rs_processing.hpp @@ -1003,41 +1003,6 @@ namespace rs2 } }; - class zero_order_invalidation : public filter - { - public: - /** - * Create zero order fix filter - * The filter fixes the zero order artifact - */ - zero_order_invalidation() : filter(init()) - {} - - zero_order_invalidation(filter f) :filter(f) - { - rs2_error* e = nullptr; - if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_ZERO_ORDER_FILTER, &e) && !e) - { - _block.reset(); - } - error::handle(e); - } - - private: - friend class context; - - std::shared_ptr init() - { - rs2_error* e = nullptr; - auto block = std::shared_ptr( - rs2_create_zero_order_invalidation_block(&e), - rs2_delete_processing_block); - error::handle(e); - - return block; - } - }; - class depth_huffman_decoder : public filter { public: diff --git a/include/librealsense2/hpp/rs_sensor.hpp b/include/librealsense2/hpp/rs_sensor.hpp index 094061d6..0a356199 100644 --- a/include/librealsense2/hpp/rs_sensor.hpp +++ b/include/librealsense2/hpp/rs_sensor.hpp @@ -663,68 +663,6 @@ namespace rs2 explicit wheel_odometer(std::shared_ptr dev) : wheel_odometer(sensor(dev)) {} }; - class calibrated_sensor : public sensor - { - public: - calibrated_sensor( sensor s ) - : sensor( s.get() ) - { - rs2_error* e = nullptr; - if( rs2_is_sensor_extendable_to( _sensor.get(), RS2_EXTENSION_CALIBRATED_SENSOR, &e ) == 0 && !e ) - { - _sensor.reset(); - } - error::handle( e ); - } - - operator bool() const { return _sensor.get() != nullptr; } - - /** Override the intrinsics at the sensor level, as DEPTH_TO_RGB calibration does */ - void override_intrinsics( rs2_intrinsics const& intr ) - { - rs2_error* e = nullptr; - rs2_override_intrinsics( _sensor.get(), &intr, &e ); - error::handle( e ); - } - - /** Override the intrinsics at the sensor level, as DEPTH_TO_RGB calibration does */ - void override_extrinsics( rs2_extrinsics const& extr ) - { - rs2_error* e = nullptr; - rs2_override_extrinsics( _sensor.get(), &extr, &e ); - error::handle( e ); - } - - /** Override the intrinsics at the sensor level, as DEPTH_TO_RGB calibration does */ - rs2_dsm_params get_dsm_params() const - { - rs2_error* e = nullptr; - rs2_dsm_params params; - rs2_get_dsm_params( _sensor.get(), ¶ms, &e ); - error::handle( e ); - return params; - } - - /** Set the sensor DSM parameters - * This should ideally be done when the stream is NOT running. If it is, the - * parameters may not take effect immediately. */ - void override_dsm_params( rs2_dsm_params const & params ) - { - rs2_error* e = nullptr; - rs2_override_dsm_params( _sensor.get(), ¶ms, &e ); - error::handle( e ); - } - - /** Reset the sensor DSM calibration - */ - void reset_calibration() - { - rs2_error* e = nullptr; - rs2_reset_sensor_calibration( _sensor.get(), &e ); - error::handle( e ); - } - }; - class max_usable_range_sensor : public sensor { public: diff --git a/include/librealsense2/hpp/rs_types.hpp b/include/librealsense2/hpp/rs_types.hpp index eece655b..a4981c24 100644 --- a/include/librealsense2/hpp/rs_types.hpp +++ b/include/librealsense2/hpp/rs_types.hpp @@ -28,6 +28,7 @@ struct rs2_frame_callback virtual void release() = 0; virtual ~rs2_frame_callback() {} }; +typedef std::shared_ptr rs2_frame_callback_sptr; struct rs2_frame_processor_callback { @@ -35,6 +36,7 @@ struct rs2_frame_processor_callback virtual void release() = 0; virtual ~rs2_frame_processor_callback() {} }; +typedef std::shared_ptr rs2_frame_processor_callback_sptr; struct rs2_notifications_callback { @@ -42,6 +44,7 @@ struct rs2_notifications_callback virtual void release() = 0; virtual ~rs2_notifications_callback() {} }; +typedef std::shared_ptr rs2_notifications_callback_sptr; typedef void ( *log_callback_function_ptr )(rs2_log_severity severity, rs2_log_message const * msg ); @@ -51,6 +54,7 @@ struct rs2_software_device_destruction_callback virtual void release() = 0; virtual ~rs2_software_device_destruction_callback() {} }; +typedef std::shared_ptr rs2_software_device_destruction_callback_sptr; struct rs2_log_callback { @@ -58,6 +62,7 @@ struct rs2_log_callback virtual void release() = 0; virtual ~rs2_log_callback() {} }; +typedef std::shared_ptr< rs2_log_callback > rs2_log_callback_sptr; struct rs2_calibration_change_callback { @@ -65,6 +70,7 @@ struct rs2_calibration_change_callback virtual void release() = 0; virtual ~rs2_calibration_change_callback() {} }; +typedef std::shared_ptr rs2_calibration_change_callback_sptr; struct rs2_devices_changed_callback { @@ -72,6 +78,7 @@ struct rs2_devices_changed_callback virtual void release() = 0; virtual ~rs2_devices_changed_callback() {} }; +typedef std::shared_ptr rs2_devices_changed_callback_sptr; struct rs2_playback_status_changed_callback { @@ -79,6 +86,7 @@ struct rs2_playback_status_changed_callback virtual void release() = 0; virtual ~rs2_playback_status_changed_callback() {} }; +typedef std::shared_ptr rs2_playback_status_changed_callback_sptr; struct rs2_update_progress_callback { @@ -86,6 +94,15 @@ struct rs2_update_progress_callback virtual void release() = 0; virtual ~rs2_update_progress_callback() {} }; +typedef std::shared_ptr rs2_update_progress_callback_sptr; + +struct rs2_options_changed_callback +{ + virtual void on_value_changed( rs2_options_list * list ) = 0; + virtual void release() = 0; + virtual ~rs2_options_changed_callback() {} +}; +typedef std::shared_ptr< rs2_options_changed_callback > rs2_options_changed_callback_sptr; namespace rs2 { diff --git a/include/librealsense2/rs.h b/include/librealsense2/rs.h index 1066bd56..d1003021 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 54 +#define RS2_API_MINOR_VERSION 55 #define RS2_API_PATCH_VERSION 1 #define RS2_API_BUILD_VERSION 0 @@ -44,6 +44,20 @@ extern "C" { #define RS2_API_VERSION_STR (VAR_ARG_STRING(RS2_API_MAJOR_VERSION.RS2_API_MINOR_VERSION.RS2_API_PATCH_VERSION)) #define RS2_API_FULL_VERSION_STR (VAR_ARG_STRING(RS2_API_MAJOR_VERSION.RS2_API_MINOR_VERSION.RS2_API_PATCH_VERSION.RS2_API_BUILD_VERSION)) +/** + * The library keeps persistent global settings in a per-user configuration file. These settings can relate to tool + * behavior (e.g., realsense-viewer) or library functionality (context creation, etc.) where settings are accepted + * (e.g., rs2_create_context_ex). + * + * The filename is appended to the user's AppData folder on Windows (/) and home directory as a + * hidden file on Linux (~/.). + * + * The content is a JSON file and by default contains an empty object so default values are used. JSON ordering may + * shift when written to by the various tools but the contents should stay the same. Any values that do not match the + * expected type may be ignored. + */ +#define RS2_CONFIG_FILENAME "realsense-config.json" + /** * get the size of rs2_raw_data_buffer * \param[in] buffer pointer to rs2_raw_data_buffer returned by rs2_send_and_receive_raw_data diff --git a/include/librealsense2/rs_advanced_mode.h b/include/librealsense2/rs_advanced_mode.h index a963037e..1a71734d 100644 --- a/include/librealsense2/rs_advanced_mode.h +++ b/include/librealsense2/rs_advanced_mode.h @@ -4,10 +4,7 @@ #ifndef RS400_ADVANCED_MODE_H #define RS400_ADVANCED_MODE_H -#define RS400_ADVANCED_MODE_HPP #include "h/rs_advanced_mode_command.h" -#undef RS400_ADVANCED_MODE_HPP - #include "h/rs_types.h" #ifdef __cplusplus diff --git a/package.xml b/package.xml index d3791f90..776df5ae 100644 --- a/package.xml +++ b/package.xml @@ -2,12 +2,11 @@ - librealsense2 - 2.54.1 + 2.55.1 Library for controlling and capturing data from the Intel(R) RealSense(TM) D400 devices. @@ -20,7 +19,7 @@ Apache License, Version 2.0 - ament_cmake + cmake pkg-config @@ -28,9 +27,14 @@ libssl-dev libudev-dev dkms + git udev + libx11 + libglfw3-dev + opengl + - ament_cmake + cmake diff --git a/readme.md b/readme.md index 48b87ae5..66a720fd 100644 --- a/readme.md +++ b/readme.md @@ -4,7 +4,7 @@ [![GitHub CI](../../actions/workflows/buildsCI.yaml/badge.svg?branch=development)](../../actions/workflows/buildsCI.yaml) ## Overview -**Intel® RealSenseâ„¢ SDK 2.0** is a cross-platform library for Intel® RealSenseâ„¢ depth cameras (D400 & L500 series and the SR300). +**Intel® RealSenseâ„¢ SDK 2.0** is a cross-platform library for Intel® RealSenseâ„¢ depth cameras. > :pushpin: For other Intel® RealSenseâ„¢ devices (F200, R200, LR200 and ZR300), please refer to the [latest legacy release](https://github.com/IntelRealSense/librealsense/tree/v1.12.1). diff --git a/scripts/patch-realsense-ubuntu-L4T.sh b/scripts/patch-realsense-ubuntu-L4T.sh index e58a2c79..4205bc6b 100755 --- a/scripts/patch-realsense-ubuntu-L4T.sh +++ b/scripts/patch-realsense-ubuntu-L4T.sh @@ -140,7 +140,7 @@ if [ "4.4" = "$PATCHES_REV" ]; then sed -i '/CONFIG_HID_SENSOR_GYRO_3D/c\CONFIG_HID_SENSOR_GYRO_3D=m' .config sed -i '/CONFIG_HID_SENSOR_IIO_COMMON/c\CONFIG_HID_SENSOR_IIO_COMMON=m\nCONFIG_HID_SENSOR_IIO_TRIGGER=m' .config fi -make ARCH=arm64 prepare modules_prepare -j$(($(nproc)-1)) +make ARCH=arm64 prepare modules_prepare LOCALVERSION='' -j$(($(nproc)-1)) #Remove previously applied patches git reset --hard diff --git a/scripts/patch-realsense-ubuntu-lts-hwe.sh b/scripts/patch-realsense-ubuntu-lts-hwe.sh index 61522e1f..d676c854 100755 --- a/scripts/patch-realsense-ubuntu-lts-hwe.sh +++ b/scripts/patch-realsense-ubuntu-lts-hwe.sh @@ -16,6 +16,11 @@ build_usbcore_modules=0 rebuild_ko=0 debug_uvc=0 retpoline_retrofit=0 +skip_hid_patch=0 +apply_hid_gyro_patch=0 +skip_plf_patch=0 +build_only=0 +skip_md_patch=0 #Parse input while test $# -gt 0; do @@ -45,6 +50,10 @@ while test $# -gt 0; do rebuild_ko=1; shift ;; uvc_dbg) debug_uvc=1; shift ;; + ubuntu) + shift; ubuntu_codename=$1; build_only=1; shift;; + kernel) + shift; LINUX_BRANCH=$1; build_only=1; shift;; *) echo -e "\e[36mUnrecognized flag: $1\e[0m"; shift;; esac @@ -59,16 +68,16 @@ fi #Include usability functions source ./scripts/patch-utils-hwe.sh +LINUX_BRANCH=${LINUX_BRANCH:-$(uname -r)} # Get the required tools and headers to build the kernel -sudo apt-get install linux-headers-generic build-essential git bc -y +sudo apt-get install linux-headers-generic linux-headers-$LINUX_BRANCH build-essential git bc -y #Packages to build the patched modules require_package libusb-1.0-0-dev require_package libssl-dev #sudo apt-get build-dep linux-image-unsigned-$(uname -r) -LINUX_BRANCH=$(uname -r) #Get kernel major.minor IFS='.' read -a kernel_version <<< ${LINUX_BRANCH} k_maj_min=$((${kernel_version[0]}*100 + ${kernel_version[1]})) @@ -76,10 +85,19 @@ if [[ ( ${xhci_patch} -eq 1 ) && ( ${k_maj_min} -ne 404 ) ]]; then echo -e "\e[43mThe xhci_patch flag is compatible with LTS branch 4.4 only, currently selected kernel is $(uname -r)\e[0m" exit 1 fi +k_tick=$(echo ${kernel_version[2]} | awk -F'-' '{print $2}') +# For version 5.15.0-72 hid patch already applied +[ $k_maj_min -gt 515 ] && skip_hid_patch=1 +[ $k_maj_min -eq 515 ] && [ $k_tick -ge 72 ] && skip_hid_patch=1 +# linux-image-generic for focal is 5.4.0.156.152 is same hid as 5.4.232 +[ $k_maj_min -eq 504 ] && [ $k_tick -ge 156 ] && apply_hid_gyro_patch=1 && skip_hid_patch=1 +# For kernel versions 6+ powerline frequency already applied +[ $k_maj_min -ge 600 ] && skip_plf_patch=1 +[ $k_maj_min -ge 605 ] && skip_md_patch=1 # Construct branch name from distribution codename {xenial,bionic,..} and kernel version # ubuntu_codename=`. /etc/os-release; echo ${UBUNTU_CODENAME/*, /}` -ubuntu_codename=$(lsb_release -c|cut -f2) +ubuntu_codename=${ubuntu_codename:-$(lsb_release -c|cut -f2)} if [ -z "${ubuntu_codename}" ]; then # Trusty Tahr shall use xenial code base @@ -160,12 +178,22 @@ then echo -e "\e[32mApplying patches for \e[36m${ubuntu_codename}-${kernel_branch}\e[32m line\e[0m" echo -e "\e[32mApplying realsense-uvc patch\e[0m" patch -p1 < ../scripts/realsense-camera-formats-${ubuntu_codename}-${kernel_branch}.patch || patch -p1 < ../scripts/realsense-camera-formats-${ubuntu_codename}-master.patch - echo -e "\e[32mApplying realsense-metadata patch\e[0m" - patch -p1 < ../scripts/realsense-metadata-${ubuntu_codename}-${kernel_branch}.patch || patch -p1 < ../scripts/realsense-metadata-${ubuntu_codename}-master.patch - echo -e "\e[32mApplying realsense-hid patch\e[0m" - patch -p1 < ../scripts/realsense-hid-${ubuntu_codename}-${kernel_branch}.patch || patch -p1 < ../scripts/realsense-hid-${ubuntu_codename}-master.patch - echo -e "\e[32mApplying realsense-powerlinefrequency-fix patch\e[0m" - patch -p1 < ../scripts/realsense-powerlinefrequency-control-fix.patch + if [ ${skip_md_patch} -eq 0 ]; then + echo -e "\e[32mApplying realsense-metadata patch\e[0m" + patch -p1 < ../scripts/realsense-metadata-${ubuntu_codename}-${kernel_branch}.patch || patch -p1 < ../scripts/realsense-metadata-${ubuntu_codename}-master.patch + fi + if [ ${skip_hid_patch} -eq 0 ]; then + echo -e "\e[32mApplying realsense-hid patch\e[0m" + patch -p1 < ../scripts/realsense-hid-${ubuntu_codename}-${kernel_branch}.patch || patch -p1 < ../scripts/realsense-hid-${ubuntu_codename}-master.patch + fi + if [ ${apply_hid_gyro_patch} -eq 1 ]; then + echo -e "\e[32mApplying realsense-hid gyro patch\e[0m" + patch -p1 < ../scripts/realsense-hid-focal-hwe-5.4.232.patch + fi + if [ ${skip_plf_patch} -eq 0 ]; then + echo -e "\e[32mApplying realsense-powerlinefrequency-fix patch\e[0m" + patch -p1 < ../scripts/realsense-powerlinefrequency-control-fix.patch || patch -p1 < ../scripts/realsense-powerlinefrequency-control-fix-${ubuntu_codename}.patch + fi # Applying 3rd-party patch that affects USB2 behavior # See reference https://patchwork.kernel.org/patch/9907707/ if [ ${k_maj_min} -lt 418 ]; @@ -189,8 +217,10 @@ then echo -e "\e[32mApplying 04-xhci-remove-unused-stopped_td-pointer patch\e[0m" patch -p1 < ../scripts/04-xhci-remove-unused-stopped_td-pointer.patch fi - echo -e "\e[32mIncrease UVC_URBs in uvcvideo\e[0m" - patch -p1 < ../scripts/uvcvideo_increase_UVC_URBS.patch + if [ ${skip_md_patch} -eq 0 ]; then + echo -e "\e[32mIncrease UVC_URBs in uvcvideo\e[0m" + patch -p1 < ../scripts/uvcvideo_increase_UVC_URBS.patch + fi if [ $debug_uvc -eq 1 ]; then echo -e "\e[32mApplying uvcvideo and videobuf2 debug patch\e[0m" patch -p1 < ../scripts/uvc_debug.patch @@ -198,8 +228,8 @@ then fi #Copy configuration - cp /usr/src/linux-headers-$(uname -r)/.config . - cp /usr/src/linux-headers-$(uname -r)/Module.symvers . + cp /usr/src/linux-headers-$LINUX_BRANCH/.config . + cp /usr/src/linux-headers-$LINUX_BRANCH/Module.symvers . # Basic build for kernel modules echo -e "\e[32mPrepare kernel modules configuration\e[0m" @@ -227,8 +257,10 @@ then if [[ ( $xhci_patch -eq 1 ) && ( $build_usbcore_modules -eq 0 ) ]]; then make -j$(($(nproc)-1)) make modules -j$(($(nproc)-1)) - sudo make modules_install -j$(($(nproc)-1)) - sudo make install + if [ "$build_only" -eq 0 ]; then + sudo make modules_install -j$(($(nproc)-1)) + sudo make install + fi echo -e "\e[92m\n\e[1m`sudo make kernelrelease` Kernel has been successfully installed." echo -e "\e[92m\n\e[1mScript has completed. Please reboot and load the newly installed Kernel from GRUB list.\n\e[0m" exit 0 @@ -242,9 +274,14 @@ cp $KBASE/Module.symvers . echo -e "\e[32mCompiling uvc module\e[0m" make -j -C $KBASE M=$KBASE/drivers/media/usb/uvc/ modules -echo -e "\e[32mCompiling accelerometer and gyro modules\e[0m" -make -j -C $KBASE M=$KBASE/drivers/iio/accel modules -make -j -C $KBASE M=$KBASE/drivers/iio/gyro modules +if [ $k_maj_min -ge 605 ]; then + make -j -C $KBASE M=$KBASE/drivers/media/common/ modules +fi +if [ $skip_hid_patch -eq 0 ]; then + echo -e "\e[32mCompiling accelerometer and gyro modules\e[0m" + make -j -C $KBASE M=$KBASE/drivers/iio/accel modules + make -j -C $KBASE M=$KBASE/drivers/iio/gyro modules +fi echo -e "\e[32mCompiling v4l2-core modules\e[0m" make -j -C $KBASE M=$KBASE/drivers/media/v4l2-core modules if [[ ( $xhci_patch -eq 1 ) || ( $debug_uvc -eq 1 ) ]]; then @@ -254,8 +291,14 @@ fi # Copy the patched modules to a location cp $KBASE/drivers/media/usb/uvc/uvcvideo.ko ~/$LINUX_BRANCH-uvcvideo.ko -cp $KBASE/drivers/iio/accel/hid-sensor-accel-3d.ko ~/$LINUX_BRANCH-hid-sensor-accel-3d.ko -cp $KBASE/drivers/iio/gyro/hid-sensor-gyro-3d.ko ~/$LINUX_BRANCH-hid-sensor-gyro-3d.ko +if [[ $k_maj_min -ge 605 ]]; then + cp $KBASE/drivers/media/common/uvc.ko ~/$LINUX_BRANCH-uvc.ko +fi + +if [ $skip_hid_patch -eq 0 ]; then + cp $KBASE/drivers/iio/accel/hid-sensor-accel-3d.ko ~/$LINUX_BRANCH-hid-sensor-accel-3d.ko + cp $KBASE/drivers/iio/gyro/hid-sensor-gyro-3d.ko ~/$LINUX_BRANCH-hid-sensor-gyro-3d.ko +fi cp $KBASE/drivers/media/v4l2-core/videodev.ko ~/$LINUX_BRANCH-videodev.ko if [[ ( $xhci_patch -eq 1 ) || ( $debug_uvc -eq 1 ) ]]; then cp $KBASE/drivers/media/common/videobuf2/videobuf2-common.ko ~/$LINUX_BRANCH-videobuf2-common.ko @@ -278,12 +321,15 @@ if [ $build_usbcore_modules -eq 1 ]; then fi echo -e "\e[32mPatched kernels modules were created successfully\n\e[0m" - +if [ "$build_only" -eq 1 ]; then + exit 0 +fi # Load the newly-built modules # As a precausion start with unloading the core uvcvideo: try_unload_module uvcvideo try_unload_module videobuf2_v4l2 [ ${k_maj_min} -ge 500 ] && try_unload_module videobuf2_common +[ ${k_maj_min} -ge 605 ] && try_unload_module uvc try_unload_module videodev if [ $build_usbcore_modules -eq 1 ]; then @@ -311,14 +357,18 @@ if [ $build_usbcore_modules -eq 1 ]; then try_module_insert videobuf2_core ~/$LINUX_BRANCH-videobuf2-core.ko /lib/modules/`uname -r`/kernel/drivers/media/v4l2-core/videobuf2-core.ko try_module_insert videobuf2_v4l2 ~/$LINUX_BRANCH-videobuf2-v4l2.ko /lib/modules/`uname -r`/kernel/drivers/media/v4l2-core/videobuf2-v4l2.ko fi - +if [ ${k_maj_min} -ge 605 ]; then + try_module_insert uvc ~/$LINUX_BRANCH-uvc.ko /lib/modules/`uname -r`/kernel/drivers/media/common/uvc.ko +fi try_module_insert videodev ~/$LINUX_BRANCH-videodev.ko /lib/modules/`uname -r`/kernel/drivers/media/v4l2-core/videodev.ko if [[ ( ${k_maj_min} -ge 500 ) && ( $debug_uvc -eq 1 ) ]]; then try_module_insert videobuf2-common ~/$LINUX_BRANCH-videobuf2-common.ko /lib/modules/`uname -r`/kernel/drivers/media/common/videobuf2/videobuf2-common.ko fi try_module_insert uvcvideo ~/$LINUX_BRANCH-uvcvideo.ko /lib/modules/`uname -r`/kernel/drivers/media/usb/uvc/uvcvideo.ko -try_module_insert hid_sensor_accel_3d ~/$LINUX_BRANCH-hid-sensor-accel-3d.ko /lib/modules/`uname -r`/kernel/drivers/iio/accel/hid-sensor-accel-3d.ko -try_module_insert hid_sensor_gyro_3d ~/$LINUX_BRANCH-hid-sensor-gyro-3d.ko /lib/modules/`uname -r`/kernel/drivers/iio/gyro/hid-sensor-gyro-3d.ko - +if [ $skip_hid_patch -eq 0 ]; then + try_module_insert hid_sensor_accel_3d ~/$LINUX_BRANCH-hid-sensor-accel-3d.ko /lib/modules/`uname -r`/kernel/drivers/iio/accel/hid-sensor-accel-3d.ko + try_module_insert hid_sensor_gyro_3d ~/$LINUX_BRANCH-hid-sensor-gyro-3d.ko /lib/modules/`uname -r`/kernel/drivers/iio/gyro/hid-sensor-gyro-3d.ko +fi echo -e "\e[92m\n\e[1mScript has completed. Please consult the installation guide for further instruction.\n\e[0m" + diff --git a/scripts/patch-utils-hwe.sh b/scripts/patch-utils-hwe.sh index 5ab8cc88..ed8fb22c 100644 --- a/scripts/patch-utils-hwe.sh +++ b/scripts/patch-utils-hwe.sh @@ -124,11 +124,20 @@ function choose_kernel_branch { then case "${kernel_version[0]}.${kernel_version[1]}" in "5.15") - echo master-next + echo hwe-5.15 + ;; + "5.19") + echo hwe-5.19 + ;; + "6.2") + echo hwe-6.2 + ;; + "6.5") + echo hwe-6.5 ;; *) #error message shall be redirected to stderr to be printed properly - echo -e "\e[31mUnsupported kernel version $1 . The Focal patches are maintained for Ubuntu LTS with kernel 5.4, 5.8, 5.11 only\e[0m" >&2 + echo -e "\e[31mUnsupported kernel version $1 . The Jammy patches are maintained for Ubuntu LTS with kernel 5.15, 5.19 only\e[0m" >&2 exit 1 ;; esac diff --git a/scripts/pr_check.sh b/scripts/pr_check.sh index ee7e6ef5..79e9084d 100755 --- a/scripts/pr_check.sh +++ b/scripts/pr_check.sh @@ -121,13 +121,14 @@ if [[ $1 == *"help"* ]]; then echo " --fix Try to auto-fix defects" exit 0 fi - + cd .. check_folder CMake $1 check_folder common $1 check_folder include $1 check_folder src $1 check_folder examples $1 +check_folder third-party/realdds $1 check_folder third-party/rsutils $1 check_folder tools $1 cd scripts diff --git a/scripts/realsense-camera-formats-jammy-hwe-5.19.patch b/scripts/realsense-camera-formats-jammy-hwe-5.19.patch new file mode 100644 index 00000000..d725b22b --- /dev/null +++ b/scripts/realsense-camera-formats-jammy-hwe-5.19.patch @@ -0,0 +1,197 @@ +From 54652ca363c197f78b61d513347b1055538c689d Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Wed, 24 May 2023 19:40:10 +0300 +Subject: [PATCH] Streaming formats for Ubuntu 22.04 (jammy). Kernel 5.19 + +Signed-off-by: Dmitry Perchanov +--- + drivers/media/usb/uvc/uvc_driver.c | 57 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 34 +++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 9 +++++ + include/uapi/linux/videodev2.h | 9 +++++ + 4 files changed, 109 insertions(+) + +diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c +index 28ee45e87..caed9a2ab 100644 +--- a/drivers/media/usb/uvc/uvc_driver.c ++++ b/drivers/media/usb/uvc/uvc_driver.c +@@ -169,6 +169,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -224,6 +229,58 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_HEVC, + .fcc = V4L2_PIX_FMT_HEVC, + }, ++ { ++ .name = "Depth data 16-bit (D16)", ++ .guid = UVC_GUID_FORMAT_D16, ++ .fcc = V4L2_PIX_FMT_Z16, ++ }, ++ { ++ .name = "Packed raw data 10-bit", ++ .guid = UVC_GUID_FORMAT_W10, ++ .fcc = V4L2_PIX_FMT_W10, ++ }, ++ { ++ .name = "Confidence data (C )", ++ .guid = UVC_GUID_FORMAT_CONFIDENCE_MAP, ++ .fcc = V4L2_PIX_FMT_CONFIDENCE_MAP, ++ }, ++ /* FishEye 8-bit monochrome */ ++ { ++ .name = "Raw data 8-bit (RAW8)", ++ .guid = UVC_GUID_FORMAT_RAW8, ++ .fcc = V4L2_PIX_FMT_GREY, ++ }, ++ /* Legacy formats for backward-compatibility*/ ++ { ++ .name = "Raw data 16-bit (RW16)", ++ .guid = UVC_GUID_FORMAT_RW16, ++ .fcc = V4L2_PIX_FMT_RW16, ++ }, ++ { ++ .name = "16-bit Bayer BGBG/GRGR", ++ .guid = UVC_GUID_FORMAT_BAYER16, ++ .fcc = V4L2_PIX_FMT_SBGGR16, ++ }, ++ { ++ .name = "Z16 Huffman Compression", ++ .guid = UVC_GUID_FORMAT_Z16H, ++ .fcc = V4L2_PIX_FMT_Z16H, ++ }, ++ { ++ .name = "Frame Grabber (FG )", ++ .guid = UVC_GUID_FORMAT_FG, ++ .fcc = V4L2_PIX_FMT_FG, ++ }, ++ { ++ .name = "SR300 Depth/Confidence (INZC)", ++ .guid = UVC_GUID_FORMAT_INZC, ++ .fcc = V4L2_PIX_FMT_INZC, ++ }, ++ { ++ .name = "Relative IR (PAIR)", ++ .guid = UVC_GUID_FORMAT_PAIR, ++ .fcc = V4L2_PIX_FMT_PAIR, ++ }, + }; + + /* ------------------------------------------------------------------------ +diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h +index c5b4febd2..20782860d 100644 +--- a/drivers/media/usb/uvc/uvcvideo.h ++++ b/drivers/media/usb/uvc/uvcvideo.h +@@ -148,6 +148,9 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -178,6 +181,37 @@ + { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + ++#define UVC_GUID_FORMAT_D16 \ ++ { 'P', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_W10 \ ++ { 'W', '1', '0', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_RAW8 \ ++ { 'R', 'A', 'W', '8', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++#define UVC_GUID_FORMAT_CONFIDENCE_MAP \ ++ { 'C', ' ', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ /* Legacy formats */ ++#define UVC_GUID_FORMAT_RW16 \ ++ { 'R', 'W', '1', '6', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_BAYER16 \ ++ { 'R', 'W', '1', '6', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++#define UVC_GUID_FORMAT_Z16H \ ++ { 'Z', '1', '6', 'H', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_FG \ ++ { 'F', 'G', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_INZC \ ++ { 'I', 'N', 'Z', 'C', 0x02, 0xb6, 0x0f, 0x48, \ ++ 0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89} ++#define UVC_GUID_FORMAT_PAIR \ ++ { 'P', 'A', 'I', 'R', 0x36, 0x85, 0x41, 0x48, \ ++ 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8} + + /* ------------------------------------------------------------------------ + * Driver specific constants. +diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c +index 21470de62..b5040a294 100644 +--- a/drivers/media/v4l2-core/v4l2-ioctl.c ++++ b/drivers/media/v4l2-core/v4l2-ioctl.c +@@ -1272,6 +1272,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_IPU3_Y10: descr = "10-bit greyscale (IPU3 Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break; +@@ -1397,6 +1398,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_META_FMT_RK_ISP1_STAT_3A: descr = "Rockchip ISP1 3A Statistics"; break; + case V4L2_PIX_FMT_NV12M_8L128: descr = "NV12M (8x128 Linear)"; break; + case V4L2_PIX_FMT_NV12M_10BE_8L128: descr = "10-bit NV12M (8x128 Linear, BE)"; break; ++ /* Librealsense formats*/ ++ case V4L2_PIX_FMT_RW16: descr = "16-bit Raw data"; break; ++ case V4L2_PIX_FMT_W10: descr = "10-bit packed 8888[2222]"; break; ++ case V4L2_PIX_FMT_CONFIDENCE_MAP: descr = "Packed [44] confidence data"; break; ++ case V4L2_PIX_FMT_FG: descr = "Frame Grabber (FG )"; break; ++ case V4L2_PIX_FMT_INZC: descr = "Planar Depth/Confidence (INZC)"; break; ++ case V4L2_PIX_FMT_PAIR: descr = "Relative IR (PAIR)"; break; ++ case V4L2_PIX_FMT_Z16H: descr = "Z16 Huffman Compression"; break; + + default: + /* Compressed formats */ +diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h +index 36275af26..974c93aa6 100644 +--- a/include/uapi/linux/videodev2.h ++++ b/include/uapi/linux/videodev2.h +@@ -741,6 +741,7 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ + #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ + #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ + #define V4L2_PIX_FMT_MM21 v4l2_fourcc('M', 'M', '2', '1') /* Mediatek 8-bit block mode, two non-contiguous planes */ +@@ -749,6 +750,14 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_HI240 v4l2_fourcc('H', 'I', '2', '4') /* BTTV 8-bit dithered RGB */ + #define V4L2_PIX_FMT_QC08C v4l2_fourcc('Q', '0', '8', 'C') /* Qualcomm 8-bit compressed */ + #define V4L2_PIX_FMT_QC10C v4l2_fourcc('Q', '1', '0', 'C') /* Qualcomm 10-bit compressed */ ++#define V4L2_PIX_FMT_RW16 v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */ ++#define V4L2_PIX_FMT_W10 v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */ ++#define V4L2_PIX_FMT_CONFIDENCE_MAP v4l2_fourcc('C', ' ', ' ', ' ') /* Two pixels in one byte */ ++/* Librealsense development*/ ++#define V4L2_PIX_FMT_FG v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */ ++#define V4L2_PIX_FMT_INZC v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */ ++#define V4L2_PIX_FMT_PAIR v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */ ++#define V4L2_PIX_FMT_Z16H v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/ + + /* 10bit raw packed, 32 bytes for every 25 pixels, last LSB 6 bits unused */ + #define V4L2_PIX_FMT_IPU3_SBGGR10 v4l2_fourcc('i', 'p', '3', 'b') /* IPU3 packed 10-bit BGGR bayer */ +-- +2.34.1 + diff --git a/scripts/realsense-camera-formats-jammy-hwe-6.2.patch b/scripts/realsense-camera-formats-jammy-hwe-6.2.patch new file mode 100644 index 00000000..8bdcaa4d --- /dev/null +++ b/scripts/realsense-camera-formats-jammy-hwe-6.2.patch @@ -0,0 +1,108 @@ +From bfc3070f6efcc0c2ff9fc340a8eda7e00bc94055 Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Sun, 13 Aug 2023 12:05:47 +0300 +Subject: [PATCH] Streaming formats for Ubuntu 22.04 (jammy). Kernel 6.2 + +Signed-off-by: Dmitry Perchanov +--- + drivers/media/v4l2-core/v4l2-ioctl.c | 3 +++ + include/media/v4l2-uvc.h | 40 ++++++++++++++++++++++++++++ + include/uapi/linux/videodev2.h | 3 +++ + 3 files changed, 46 insertions(+) + +diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c +index 8e0a0ff62..03a8e3d3f 100644 +--- a/drivers/media/v4l2-core/v4l2-ioctl.c ++++ b/drivers/media/v4l2-core/v4l2-ioctl.c +@@ -1311,6 +1311,9 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_IPU3_Y10: descr = "10-bit greyscale (IPU3 Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; ++ case V4L2_PIX_FMT_RW16: descr = "16-bit Raw data"; break; ++ case V4L2_PIX_FMT_W10: descr = "10-bit packed 8888[2222]"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break; +diff --git a/include/media/v4l2-uvc.h b/include/media/v4l2-uvc.h +index b010a36fc..a67d37669 100644 +--- a/include/media/v4l2-uvc.h ++++ b/include/media/v4l2-uvc.h +@@ -118,6 +118,21 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_RAW8 \ ++ { 'R', 'A', 'W', '8', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++#define UVC_GUID_FORMAT_RW16 \ ++ { 'R', 'W', '1', '6', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++#define UVC_GUID_FORMAT_D16 \ ++ { 'P', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_W10 \ ++ { 'W', '1', '0', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -294,6 +309,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -349,6 +369,26 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_HEVC, + .fcc = V4L2_PIX_FMT_HEVC, + }, ++ { ++ .name = "Raw data 8-bit (RAW8)", ++ .guid = UVC_GUID_FORMAT_RAW8, ++ .fcc = V4L2_PIX_FMT_GREY, ++ }, ++ { ++ .name = "Raw data 16-bit (RW16)", ++ .guid = UVC_GUID_FORMAT_RW16, ++ .fcc = V4L2_PIX_FMT_RW16, ++ }, ++ { ++ .name = "Depth data 16-bit (D16)", ++ .guid = UVC_GUID_FORMAT_D16, ++ .fcc = V4L2_PIX_FMT_Z16, ++ }, ++ { ++ .name = "Packed raw data 10-bit", ++ .guid = UVC_GUID_FORMAT_W10, ++ .fcc = V4L2_PIX_FMT_W10, ++ }, + }; + + static inline struct uvc_format_desc *uvc_format_by_guid(const u8 guid[16]) +diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h +index 1befd181a..0207101b5 100644 +--- a/include/uapi/linux/videodev2.h ++++ b/include/uapi/linux/videodev2.h +@@ -769,6 +769,9 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ ++#define V4L2_PIX_FMT_RW16 v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */ ++#define V4L2_PIX_FMT_W10 v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */ + #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ + #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ + #define V4L2_PIX_FMT_MM21 v4l2_fourcc('M', 'M', '2', '1') /* Mediatek 8-bit block mode, two non-contiguous planes */ +-- +2.34.1 + diff --git a/scripts/realsense-camera-formats-jammy-hwe-6.5.patch b/scripts/realsense-camera-formats-jammy-hwe-6.5.patch new file mode 100644 index 00000000..653be26a --- /dev/null +++ b/scripts/realsense-camera-formats-jammy-hwe-6.5.patch @@ -0,0 +1,154 @@ +From c22cccc6123bc487652ccaafdeb31fce5b45bdf2 Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Mon, 22 Jan 2024 14:48:48 +0200 +Subject: [PATCH] RealSense support for kernel 6.5 + +Signed-off-by: Dmitry Perchanov +--- + drivers/media/common/uvc.c | 20 ++++++++++++++++++++ + drivers/media/usb/uvc/uvc_driver.c | 27 +++++++++++++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 3 +++ + include/linux/usb/uvc.h | 15 +++++++++++++++ + include/uapi/linux/videodev2.h | 3 +++ + 5 files changed, 68 insertions(+) + +diff --git a/drivers/media/common/uvc.c b/drivers/media/common/uvc.c +index 9c0ba7a6c..a00b743cc 100644 +--- a/drivers/media/common/uvc.c ++++ b/drivers/media/common/uvc.c +@@ -120,6 +120,10 @@ static const struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .guid = UVC_GUID_FORMAT_Z16, + .fcc = V4L2_PIX_FMT_Z16, +@@ -164,6 +168,22 @@ static const struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_HEVC, + .fcc = V4L2_PIX_FMT_HEVC, + }, ++ { ++ .guid = UVC_GUID_FORMAT_RAW8, ++ .fcc = V4L2_PIX_FMT_GREY, ++ }, ++ { ++ .guid = UVC_GUID_FORMAT_RW16, ++ .fcc = V4L2_PIX_FMT_RW16, ++ }, ++ { ++ .guid = UVC_GUID_FORMAT_D16, ++ .fcc = V4L2_PIX_FMT_Z16, ++ }, ++ { ++ .guid = UVC_GUID_FORMAT_W10, ++ .fcc = V4L2_PIX_FMT_W10, ++ }, + }; + + const struct uvc_format_desc *uvc_format_by_guid(const u8 guid[16]) +diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c +index 08fcd2ffa..0409f5bca 100644 +--- a/drivers/media/usb/uvc/uvc_driver.c ++++ b/drivers/media/usb/uvc/uvc_driver.c +@@ -3084,6 +3084,15 @@ static const struct usb_device_id uvc_ids[] = { + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D555e Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b56, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, + /* Intel D405 Depth Camera */ + { .match_flags = USB_DEVICE_ID_MATCH_DEVICE + | USB_DEVICE_ID_MATCH_INT_INFO, +@@ -3102,6 +3111,24 @@ static const struct usb_device_id uvc_ids[] = { + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D585 Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b6a, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel 585 Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b6b, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, + /* Generic USB Video Class */ + { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) }, + { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_15) }, +diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c +index 01ba27f2e..fdb9b21b4 100644 +--- a/drivers/media/v4l2-core/v4l2-ioctl.c ++++ b/drivers/media/v4l2-core/v4l2-ioctl.c +@@ -1314,6 +1314,9 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_IPU3_Y10: descr = "10-bit greyscale (IPU3 Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; ++ case V4L2_PIX_FMT_RW16: descr = "16-bit Raw data"; break; ++ case V4L2_PIX_FMT_W10: descr = "10-bit packed 8888[2222]"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break; +diff --git a/include/linux/usb/uvc.h b/include/linux/usb/uvc.h +index 88d96095b..11456a014 100644 +--- a/include/linux/usb/uvc.h ++++ b/include/linux/usb/uvc.h +@@ -118,6 +118,21 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_RAW8 \ ++ { 'R', 'A', 'W', '8', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++#define UVC_GUID_FORMAT_RW16 \ ++ { 'R', 'W', '1', '6', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++#define UVC_GUID_FORMAT_D16 \ ++ { 'P', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_W10 \ ++ { 'W', '1', '0', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h +index 3af6a82d0..039c14961 100644 +--- a/include/uapi/linux/videodev2.h ++++ b/include/uapi/linux/videodev2.h +@@ -793,6 +793,9 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ ++#define V4L2_PIX_FMT_RW16 v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */ ++#define V4L2_PIX_FMT_W10 v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */ + #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ + #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ + #define V4L2_PIX_FMT_MM21 v4l2_fourcc('M', 'M', '2', '1') /* Mediatek 8-bit block mode, two non-contiguous planes */ +-- +2.34.1 + diff --git a/scripts/realsense-hid-focal-hwe-5.4.232.patch b/scripts/realsense-hid-focal-hwe-5.4.232.patch new file mode 100644 index 00000000..9c6653e0 --- /dev/null +++ b/scripts/realsense-hid-focal-hwe-5.4.232.patch @@ -0,0 +1,93 @@ +Signed-off-by: Evgeni +From 001649b143e1a4e0924ac6fc47883a45ba28ff63 Mon Sep 17 00:00:00 2001 +Date: Fri, 13 Aug 2023 12:38:24 +0300 +Subject: [PATCH] Adding missing HID timestamp patch for Gyro sensor. + Ubuntu 20.04. Kernel 5.4.232 + The patch was written by Srinivas Pandruvada + Additionally, timestamp conversion is fixed + +--- + drivers/iio/gyro/hid-sensor-gyro-3d.c | 31 ++++++++++++++++++------- + 2 files changed, 23 insertions(+), 8 deletions(-) + +diff --git a/drivers/iio/gyro/hid-sensor-gyro-3d.c b/drivers/iio/gyro/hid-sensor-gyro-3d.c +index 08cacbbf31e6..f6e88eecd145 100644 +--- a/drivers/iio/gyro/hid-sensor-gyro-3d.c ++++ b/drivers/iio/gyro/hid-sensor-gyro-3d.c +@@ -29,11 +29,13 @@ struct gyro_3d_state { + struct hid_sensor_hub_callbacks callbacks; + struct hid_sensor_common common_attributes; + struct hid_sensor_hub_attribute_info gyro[GYRO_3D_CHANNEL_MAX]; +- u32 gyro_val[GYRO_3D_CHANNEL_MAX]; ++ /* Reserve for 3 channels + padding + timestamp */ ++ u32 gyro_val[GYRO_3D_CHANNEL_MAX + 3]; + int scale_pre_decml; + int scale_post_decml; + int scale_precision; + int value_offset; ++ int64_t timestamp; + }; + + static const u32 gyro_3d_addresses[GYRO_3D_CHANNEL_MAX] = { +@@ -74,7 +76,8 @@ static const struct iio_chan_spec gyro_3d_channels[] = { + BIT(IIO_CHAN_INFO_SAMP_FREQ) | + BIT(IIO_CHAN_INFO_HYSTERESIS), + .scan_index = CHANNEL_SCAN_INDEX_Z, +- } ++ }, ++ IIO_CHAN_SOFT_TIMESTAMP(3) + }; + + /* Adjust channel real bits based on report descriptor */ +@@ -181,11 +184,11 @@ static const struct iio_info gyro_3d_info = { + }; + + /* Function to push data to buffer */ +-static void hid_sensor_push_data(struct iio_dev *indio_dev, const void *data, +- int len) ++static void hid_sensor_push_data(struct iio_dev *indio_dev, void *data, ++ int len, int64_t timestamp) + { + dev_dbg(&indio_dev->dev, "hid_sensor_push_data\n"); +- iio_push_to_buffers(indio_dev, data); ++ iio_push_to_buffers_with_timestamp(indio_dev, data, timestamp); + } + + /* Callback handler to send event after all samples are received and captured */ +@@ -197,11 +200,16 @@ static int gyro_3d_proc_event(struct hid_sensor_hub_device *hsdev, + struct gyro_3d_state *gyro_state = iio_priv(indio_dev); + + dev_dbg(&indio_dev->dev, "gyro_3d_proc_event\n"); +- if (atomic_read(&gyro_state->common_attributes.data_ready)) ++ if (atomic_read(&gyro_state->common_attributes.data_ready)) { ++ if (!gyro_state->timestamp) ++ gyro_state->timestamp = iio_get_time_ns(indio_dev); ++ + hid_sensor_push_data(indio_dev, + gyro_state->gyro_val, +- sizeof(gyro_state->gyro_val)); +- ++ sizeof(gyro_state->gyro_val), ++ gyro_state->timestamp); ++ gyro_state->timestamp = 0; ++ } + return 0; + } + +@@ -225,6 +233,13 @@ static int gyro_3d_capture_sample(struct hid_sensor_hub_device *hsdev, + *(u32 *)raw_data; + ret = 0; + break; ++ case HID_USAGE_SENSOR_TIME_TIMESTAMP: ++ gyro_state->timestamp = ++ hid_sensor_convert_timestamp( ++ &gyro_state->common_attributes, ++ *(int64_t *)raw_data); ++ ret = 0; ++ break; + default: + break; + } +-- +2.17.1 + diff --git a/scripts/realsense-hid-jammy-master.patch b/scripts/realsense-hid-jammy-master.patch index 3e1bd799..1add58da 100644 --- a/scripts/realsense-hid-jammy-master.patch +++ b/scripts/realsense-hid-jammy-master.patch @@ -1,8 +1,13 @@ -commit 3df208ef6648357775bf092a4a57bdcb02dfeb5c -Author: Yu MENG -Date: Thu Jun 23 16:02:48 2022 +0800 +From eb0cf2d5c279e97def7f2d33e30a646ac5583cc0 Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Wed, 24 May 2023 19:44:01 +0300 +Subject: [PATCH] fix the retval in [accel|gyro]_3d_capture_sample - fix the retval in [accel|gyro]_3d_capture_sample +Signed-off-by: Dmitry Perchanov +--- + drivers/iio/accel/hid-sensor-accel-3d.c | 1 + + drivers/iio/gyro/hid-sensor-gyro-3d.c | 1 + + 2 files changed, 2 insertions(+) diff --git a/drivers/iio/accel/hid-sensor-accel-3d.c b/drivers/iio/accel/hid-sensor-accel-3d.c index a2def6f93..5eac7ea19 100644 @@ -28,3 +33,6 @@ index 8f0ad022c..698c50da1 100644 break; default: break; +-- +2.34.1 + diff --git a/scripts/realsense-metadata-focal-hwe-5.13.patch b/scripts/realsense-metadata-focal-hwe-5.13.patch index 73bd0852..16a832b0 100644 --- a/scripts/realsense-metadata-focal-hwe-5.13.patch +++ b/scripts/realsense-metadata-focal-hwe-5.13.patch @@ -1,4 +1,4 @@ -From b20156512d813fcc8404fffaa37f49b1862d1300 Mon Sep 17 00:00:00 2001 +From 7f1476ad8a599649a1067576d1efc4b28bb27e11 Mon Sep 17 00:00:00 2001 From: Dmitry Perchanov Date: Sun, 22 Jan 2023 13:46:16 +0200 Subject: [PATCH] Enabling UVC Metadata attributes with Ubuntu 20.04. Kernel @@ -8,15 +8,15 @@ Co-developed-by: Yu MENG Co-developed-by: Evgeni Raikhel Signed-off-by: Dmitry Perchanov --- - drivers/media/usb/uvc/uvc_driver.c | 270 +++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvc_driver.c | 279 +++++++++++++++++++++++++++++ drivers/media/usb/uvc/uvcvideo.h | 2 +- - 2 files changed, 271 insertions(+), 1 deletion(-) + 2 files changed, 280 insertions(+), 1 deletion(-) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 9a791d8ef..89e76e5da 100644 +index 9a791d8ef..6d875181a 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -3164,6 +3164,276 @@ static const struct usb_device_id uvc_ids[] = { +@@ -3164,6 +3164,285 @@ static const struct usb_device_id uvc_ids[] = { .bInterfaceSubClass = 1, .bInterfaceProtocol = 0, .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, @@ -236,6 +236,15 @@ index 9a791d8ef..89e76e5da 100644 + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D555e Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b56, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, + /* Intel D405 */ + { .match_flags = USB_DEVICE_ID_MATCH_DEVICE + | USB_DEVICE_ID_MATCH_INT_INFO, @@ -279,16 +288,16 @@ index 9a791d8ef..89e76e5da 100644 + .idProduct = 0x0b6a, + .bInterfaceClass = USB_CLASS_VIDEO, + .bInterfaceSubClass = 1, -+ .bInterfaceProtocol = 0, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, -+ /* Intel S585 Safety Camera */ ++ /* Intel 585 Camera */ + { .match_flags = USB_DEVICE_ID_MATCH_DEVICE + | USB_DEVICE_ID_MATCH_INT_INFO, + .idVendor = 0x8086, + .idProduct = 0x0b6b, + .bInterfaceClass = USB_CLASS_VIDEO, + .bInterfaceSubClass = 1, -+ .bInterfaceProtocol = 0, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, /* Generic USB Video Class */ { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) }, diff --git a/scripts/realsense-metadata-focal-hwe-5.15.patch b/scripts/realsense-metadata-focal-hwe-5.15.patch index 04185873..a8615613 100644 --- a/scripts/realsense-metadata-focal-hwe-5.15.patch +++ b/scripts/realsense-metadata-focal-hwe-5.15.patch @@ -1,4 +1,4 @@ -From 476b6854131192d8545cf6ffa4a64daa24351033 Mon Sep 17 00:00:00 2001 +From 152daea37c2e6e3be4f2ae9d70441e2d381a0705 Mon Sep 17 00:00:00 2001 From: Dmitry Perchanov Date: Sun, 22 Jan 2023 13:46:16 +0200 Subject: [PATCH] Enabling UVC Metadata attributes with Ubuntu 20.04. Kernel @@ -8,15 +8,15 @@ Co-developed-by: Yu MENG Co-developed-by: Evgeni Raikhel Signed-off-by: Dmitry Perchanov --- - drivers/media/usb/uvc/uvc_driver.c | 270 +++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvc_driver.c | 279 +++++++++++++++++++++++++++++ drivers/media/usb/uvc/uvcvideo.h | 2 +- - 2 files changed, 271 insertions(+), 1 deletion(-) + 2 files changed, 280 insertions(+), 1 deletion(-) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 9a791d8ef..89e76e5da 100644 +index 72fff7264..4d46d06f7 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -3164,6 +3164,276 @@ static const struct usb_device_id uvc_ids[] = { +@@ -3164,6 +3164,285 @@ static const struct usb_device_id uvc_ids[] = { .bInterfaceSubClass = 1, .bInterfaceProtocol = 0, .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, @@ -236,6 +236,15 @@ index 9a791d8ef..89e76e5da 100644 + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D555e Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b56, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, + /* Intel D405 */ + { .match_flags = USB_DEVICE_ID_MATCH_DEVICE + | USB_DEVICE_ID_MATCH_INT_INFO, @@ -279,16 +288,16 @@ index 9a791d8ef..89e76e5da 100644 + .idProduct = 0x0b6a, + .bInterfaceClass = USB_CLASS_VIDEO, + .bInterfaceSubClass = 1, -+ .bInterfaceProtocol = 0, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, -+ /* Intel S585 Safety Camera */ ++ /* Intel 585 Camera */ + { .match_flags = USB_DEVICE_ID_MATCH_DEVICE + | USB_DEVICE_ID_MATCH_INT_INFO, + .idVendor = 0x8086, + .idProduct = 0x0b6b, + .bInterfaceClass = USB_CLASS_VIDEO, + .bInterfaceSubClass = 1, -+ .bInterfaceProtocol = 0, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, /* Generic USB Video Class */ { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) }, diff --git a/scripts/realsense-metadata-focal-master.patch b/scripts/realsense-metadata-focal-master.patch index a580e44e..124ece59 100644 --- a/scripts/realsense-metadata-focal-master.patch +++ b/scripts/realsense-metadata-focal-master.patch @@ -1,21 +1,21 @@ -From abc0560813209aaece6688d4660950cdff613618 Mon Sep 17 00:00:00 2001 -From: ev-mp -Date: Fri, 19 Jun 2020 12:34:08 +0300 +From e6e4fd91cdfdb0b9cbb439916ebd12d61f1ff1b4 Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Mon, 21 Aug 2023 15:10:57 +0300 Subject: [PATCH] Enabling UVC Metadata attributes with Ubuntu 20.04. Kernel 5.4 Co-developed-by: Evgeni Raikhel Signed-off-by: Dmitry Perchanov --- - drivers/media/usb/uvc/uvc_driver.c | 270 +++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvc_driver.c | 279 +++++++++++++++++++++++++++++ drivers/media/usb/uvc/uvcvideo.h | 2 +- - 2 files changed, 271 insertions(+), 1 deletion(-) + 2 files changed, 280 insertions(+), 1 deletion(-) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index ddb9eaa11..03a4b35a4 100644 +index 3be9bc97f..386832678 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -2969,6 +2969,276 @@ static const struct usb_device_id uvc_ids[] = { +@@ -2916,6 +2916,285 @@ static const struct usb_device_id uvc_ids[] = { .bInterfaceSubClass = 1, .bInterfaceProtocol = 0, .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, @@ -235,6 +235,15 @@ index ddb9eaa11..03a4b35a4 100644 + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D555e Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b56, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, + /* Intel D405 */ + { .match_flags = USB_DEVICE_ID_MATCH_DEVICE + | USB_DEVICE_ID_MATCH_INT_INFO, @@ -278,16 +287,16 @@ index ddb9eaa11..03a4b35a4 100644 + .idProduct = 0x0b6a, + .bInterfaceClass = USB_CLASS_VIDEO, + .bInterfaceSubClass = 1, -+ .bInterfaceProtocol = 0, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, -+ /* Intel S585 Safety Camera */ ++ /* Intel 585 Camera */ + { .match_flags = USB_DEVICE_ID_MATCH_DEVICE + | USB_DEVICE_ID_MATCH_INT_INFO, + .idVendor = 0x8086, + .idProduct = 0x0b6b, + .bInterfaceClass = USB_CLASS_VIDEO, + .bInterfaceSubClass = 1, -+ .bInterfaceProtocol = 0, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, /* Generic USB Video Class */ { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) }, diff --git a/scripts/realsense-metadata-jammy-hwe-6.2.patch b/scripts/realsense-metadata-jammy-hwe-6.2.patch new file mode 100644 index 00000000..9731d19e --- /dev/null +++ b/scripts/realsense-metadata-jammy-hwe-6.2.patch @@ -0,0 +1,136 @@ +From 04128af65169760ec4c8fba681ef278fc22b7ec1 Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Sun, 13 Aug 2023 12:13:21 +0300 +Subject: [PATCH] Enabling UVC Metadata attributes, Ubuntu jammy 22.04. Kernel + 6.2 + +Signed-off-by: Dmitry Perchanov +--- + drivers/media/usb/uvc/uvc_driver.c | 90 ++++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 2 +- + 2 files changed, 91 insertions(+), 1 deletion(-) + +diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c +index 362df9dd3..8f65b969b 100644 +--- a/drivers/media/usb/uvc/uvc_driver.c ++++ b/drivers/media/usb/uvc/uvc_driver.c +@@ -2963,6 +2963,33 @@ static const struct usb_device_id uvc_ids[] = { + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = (kernel_ulong_t)&uvc_ctrl_power_line_limited }, ++ /* Intel D410/ASR depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad2, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D415/ASRC depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad3, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D430/AWG depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad4, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, + /* Intel RealSense D4M */ + { .match_flags = USB_DEVICE_ID_MATCH_DEVICE + | USB_DEVICE_ID_MATCH_INT_INFO, +@@ -2972,6 +2999,69 @@ static const struct usb_device_id uvc_ids[] = { + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D435/AWGC depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b07, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D435i depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b3a, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D555e Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b56, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D405 Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b5b, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D455 Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b5c, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D585 Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b6a, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel 585 Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b6b, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, + /* Generic USB Video Class */ + { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) }, + { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_15) }, +diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h +index 33e7475d4..9a5a5a017 100644 +--- a/drivers/media/usb/uvc/uvcvideo.h ++++ b/drivers/media/usb/uvc/uvcvideo.h +@@ -52,7 +52,7 @@ + /* Maximum number of packets per URB. */ + #define UVC_MAX_PACKETS 32 + /* Maximum status buffer size in bytes of interrupt URB. */ +-#define UVC_MAX_STATUS_SIZE 16 ++#define UVC_MAX_STATUS_SIZE 32 + + #define UVC_CTRL_CONTROL_TIMEOUT 5000 + #define UVC_CTRL_STREAMING_TIMEOUT 5000 +-- +2.34.1 + diff --git a/scripts/realsense-metadata-jammy-master.patch b/scripts/realsense-metadata-jammy-master.patch index 60673e51..f2809d2e 100644 --- a/scripts/realsense-metadata-jammy-master.patch +++ b/scripts/realsense-metadata-jammy-master.patch @@ -1,4 +1,4 @@ -From 8d8d95f0da472b47d40c2e765c49ca8859b66c25 Mon Sep 17 00:00:00 2001 +From 68ebc4e3fb3729f2b6804ea4d72d5dfda356512f Mon Sep 17 00:00:00 2001 From: Dmitry Perchanov Date: Sun, 22 Jan 2023 12:58:19 +0200 Subject: [PATCH] Enabling UVC Metadata attributes with Ubuntu 22.04. Kernel @@ -8,15 +8,15 @@ Co-developed-by: Yu MENG Co-developed-by: Evgeni Raikhel Signed-off-by: Dmitry Perchanov --- - drivers/media/usb/uvc/uvc_driver.c | 270 +++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvc_driver.c | 279 +++++++++++++++++++++++++++++ drivers/media/usb/uvc/uvcvideo.h | 2 +- - 2 files changed, 271 insertions(+), 1 deletion(-) + 2 files changed, 280 insertions(+), 1 deletion(-) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 9a791d8ef..89e76e5da 100644 +index 2e7df1de0..848417912 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -3164,6 +3164,276 @@ static const struct usb_device_id uvc_ids[] = { +@@ -3152,6 +3152,285 @@ static const struct usb_device_id uvc_ids[] = { .bInterfaceSubClass = 1, .bInterfaceProtocol = 0, .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, @@ -236,6 +236,15 @@ index 9a791d8ef..89e76e5da 100644 + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D555e Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b56, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, + /* Intel D405 */ + { .match_flags = USB_DEVICE_ID_MATCH_DEVICE + | USB_DEVICE_ID_MATCH_INT_INFO, @@ -279,22 +288,22 @@ index 9a791d8ef..89e76e5da 100644 + .idProduct = 0x0b6a, + .bInterfaceClass = USB_CLASS_VIDEO, + .bInterfaceSubClass = 1, -+ .bInterfaceProtocol = 0, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, -+ /* Intel S585 Safety Camera */ ++ /* Intel 585 Camera */ + { .match_flags = USB_DEVICE_ID_MATCH_DEVICE + | USB_DEVICE_ID_MATCH_INT_INFO, + .idVendor = 0x8086, + .idProduct = 0x0b6b, + .bInterfaceClass = USB_CLASS_VIDEO, + .bInterfaceSubClass = 1, -+ .bInterfaceProtocol = 0, ++ .bInterfaceProtocol = UVC_PC_PROTOCOL_15, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, /* Generic USB Video Class */ { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) }, { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_15) }, diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h -index c3ea6a538..99f9041f8 100644 +index 1aa2cc985..2772a4640 100644 --- a/drivers/media/usb/uvc/uvcvideo.h +++ b/drivers/media/usb/uvc/uvcvideo.h @@ -187,7 +187,7 @@ diff --git a/scripts/realsense-powerlinefrequency-control-fix-jammy.patch b/scripts/realsense-powerlinefrequency-control-fix-jammy.patch new file mode 100644 index 00000000..6b926a8b --- /dev/null +++ b/scripts/realsense-powerlinefrequency-control-fix-jammy.patch @@ -0,0 +1,25 @@ +From 1e4a8437c9caee068f53cbaae00d1d76a8db21e5 Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Wed, 24 May 2023 19:52:05 +0300 +Subject: [PATCH] Bug fix for inclomplete PowerLineFrequency enumeration map + +Signed-off-by: Dmitry Perchanov +--- + drivers/media/usb/uvc/uvc_ctrl.c | 1 + + 1 file changed, 1 insertion(+) + +diff --git a/drivers/media/usb/uvc/uvc_ctrl.c b/drivers/media/usb/uvc/uvc_ctrl.c +index b3dde9849..63b9bf310 100644 +--- a/drivers/media/usb/uvc/uvc_ctrl.c ++++ b/drivers/media/usb/uvc/uvc_ctrl.c +@@ -361,6 +361,7 @@ static const struct uvc_menu_info power_line_frequency_controls[] = { + { 0, "Disabled" }, + { 1, "50 Hz" }, + { 2, "60 Hz" }, ++ { 3, "Auto" }, + }; + + static const struct uvc_menu_info exposure_auto_controls[] = { +-- +2.34.1 + diff --git a/scripts/realsense_metadata_win10.ps1 b/scripts/realsense_metadata_win10.ps1 index c0ef4eae..8d3e351a 100644 --- a/scripts/realsense_metadata_win10.ps1 +++ b/scripts/realsense_metadata_win10.ps1 @@ -77,7 +77,8 @@ $MultiPinDevices = "USB\VID_8086&PID_0B5B&MI_00",# D405 "USB\VID_8086&PID_0B5C&MI_00",# D455 "USB\VID_8086&PID_0B64&MI_00",# L515 - "USB\VID_8086&PID_0B68&MI_00" # L535 + "USB\VID_8086&PID_0B68&MI_00",# L535 + "USB\VID_8086&PID_0B56&MI_00" # D555e #Inhibit system warnings and erros, such as permissions or missing values $ErrorActionPreference = "silentlycontinue" diff --git a/scripts/rs-enum.sh b/scripts/rs-enum.sh index a66f3310..388f029b 100755 --- a/scripts/rs-enum.sh +++ b/scripts/rs-enum.sh @@ -16,14 +16,30 @@ # # Alderlake: #$ ./rs-enum.sh -# Bus Camera Sensor Node Type Video Node RS Link -# ipu6 3 depth Streaming /dev/video52 /dev/video-rs-depth-3 -# ipu6 3 depth Metadata /dev/video53 /dev/video-rs-depth-md-3 -# ipu6 3 ir Streaming /dev/video56 /dev/video-rs-ir-3 -# ipu6 3 color Streaming /dev/video54 /dev/video-rs-color-3 -# ipu6 3 color Metadata /dev/video55 /dev/video-rs-color-md-3 -# +#Bus Camera Sensor Node Type Video Node RS Link +# ipu6 0 depth Streaming /dev/video4 /dev/video-rs-depth-0 +# ipu6 0 depth Metadata /dev/video5 /dev/video-rs-depth-md-0 +# ipu6 0 ir Streaming /dev/video8 /dev/video-rs-ir-0 +# ipu6 0 imu Streaming /dev/video9 /dev/video-rs-imu-0 +# ipu6 0 color Streaming /dev/video6 /dev/video-rs-color-0 +# ipu6 0 color Metadata /dev/video7 /dev/video-rs-color-md-0 +# i2c 0 d4xx Firmware /dev/d4xx-dfu-a /dev/d4xx-dfu-0 +# ipu6 2 depth Streaming /dev/video36 /dev/video-rs-depth-2 +# ipu6 2 depth Metadata /dev/video37 /dev/video-rs-depth-md-2 +# ipu6 2 ir Streaming /dev/video40 /dev/video-rs-ir-2 +# ipu6 2 imu Streaming /dev/video41 /dev/video-rs-imu-2 +# ipu6 2 color Streaming /dev/video38 /dev/video-rs-color-2 +# ipu6 2 color Metadata /dev/video39 /dev/video-rs-color-md-2 +# i2c 2 d4xx Firmware /dev/d4xx-dfu-c /dev/d4xx-dfu-2 + # Dependency: v4l-utils +v4l2_util=$(which v4l2-ctl) +media_util=$(which media-ctl) +if [ -z ${v4l2_util} ]; then + echo "v4l2-ctl not found, install with: sudo apt install v4l-utils" + exit 1 +fi +metadata_enabled=1 # # parse command line parameters # for '-i' parameter, print links only @@ -33,95 +49,186 @@ while [[ $# -gt 0 ]]; do info=1 shift ;; + -q|--quiet) + quiet=1 + shift + ;; + -m|--mux) + shift + mux_param=$1 + shift + ;; + -n|--no-metadata) + metadata_enabled=0 + shift + ;; *) info=0 + quiet=0 shift ;; esac done #set -x +if [[ $info -eq 0 ]]; then + if [ "$(id -u)" -ne 0 ]; then + echo "Please run as root." >&2 + exit 1 + fi +fi -declare -A camera_idx=( [a]=0 [b]=1 [c]=2 [d]=3 ) -declare -A d4xx_vc=([1]=1 [2]=3 [4]=5) -declare -A d4xx_vc_named=([depth]=1 [rgb]=3 ["motion detection"]=5 [imu]=7) -declare -A camera_names=( [depth]=depth [rgb]=color ["motion detection"]=ir [imu]=imu ) +mux_list=${mux_param:-'a b c d e f g h'} + +declare -A camera_idx=( [a]=0 [b]=1 [c]=2 [d]=3 [e]=4 [f]=5 [g]=6 [h]=7) +declare -A d4xx_vc_named=([depth]=1 [rgb]=3 [ir]=5 [imu]=6) +declare -A camera_names=( [depth]=depth [rgb]=color [ir]=ir [imu]=imu ) camera_vid=("depth" "depth-md" "color" "color-md" "ir" "imu") -printf "Bus\tCamera\tSensor\tNode Type\tVideo Node\tRS Link\n" -# For Jetson we have simple method -if [ -n "$(v4l2-ctl --list-devices | grep tegra)" ]; then - for ((i = 0; i < 127; i++)); do - if [ ! -c /dev/video${i} ]; then - break; - fi - cam_id=$((i/6)) - sens_id=$((i%6)) +mdev=$(${v4l2_util} --list-devices | grep -A1 tegra | grep media) + +# For Jetson we have `simple` method +if [ -n "${mdev}" ]; then +# cache media-ctl output +dot=$(${media_util} -d ${mdev} --print-dot) + +vid_dev_idx=$(echo "${dot}" | grep "DS5 mux" | grep "vi-output" | tr '\\n' '\n' | grep video | awk -F'"' '{print $1}' | grep -Po "\\d+") +[[ -z ${vid_dev_idx} ]] && exit 0 +[[ $quiet -eq 0 ]] && printf "Bus\tCamera\tSensor\tNode Type\tVideo Node\tRS Link\n" +vid_dev_idx_arr=($(echo $vid_dev_idx | tr " " "\n")) +idx_0=${vid_dev_idx_arr[0]} + for i in $vid_dev_idx; do vid="/dev/video${i}" - dev_name=$(v4l2-ctl -d ${vid} -D | grep 'Driver name' | head -n1 | awk -F' : ' '{print $2}') - dev_ln="/dev/video-rs-${camera_vid[${sens_id}]}-${cam_id}" - bus="mipi" - if [ "$dev_name" = "uvcvideo" ]; then - dev_ln=$vid - bus="usb" + [[ ! -c "${vid}" ]] && break + cam_id=$(((i-${idx_0})/6)) + sens_id=$(((i-${idx_0})%6)) + dev_name=$(${v4l2_util} -d ${vid} -D | grep 'Driver name' | head -n1 | awk -F' : ' '{print $2}') + bus="mipi" + if [ "${dev_name}" = "tegra-video" ]; then + dev_ln="/dev/video-rs-${camera_vid[${sens_id}]}-${cam_id}" + else + continue fi - if [ -n "$(echo ${camera_vid[${sens_id}]} | awk /md/)" ]; then - type="Metadata" + type="Streaming" + sensor_name=$(echo "${camera_vid[${sens_id}]}" | awk -F'-' '{print $1}') + [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\t%s\t%s\t%s\n' ${bus} ${cam_id} ${sensor_name} ${type} ${vid} ${dev_ln} + + # create link only in case we choose not only to show it + if [[ $info -eq 0 ]]; then + [[ -e $dev_ln ]] && unlink $dev_ln + ln -s $vid $dev_ln + if [[ "${sensor_name}" == 'depth' ]]; then + # Create DFU device link for camera on jetson + i2cdev=$(echo "${dot}" | grep "${vid}" | tr '\\n' ' ' | awk '{print $5}') + dev_dfu_name="/dev/d4xx-dfu-${i2cdev}" + dev_dfu_ln="/dev/d4xx-dfu-${cam_id}" + [[ -e $dev_dfu_ln ]] && unlink $dev_dfu_ln + ln -s $dev_dfu_name $dev_dfu_ln + fi + fi + # find metadata + # skip IR and imu metadata node for now. + [[ ${sensor_name} == 'ir' ]] && continue + [[ ${sensor_name} == 'imu' ]] && continue + + i=$((i+1)) + sens_id=$(((i-${idx_0})%6)) + + type="Metadata" + vid="/dev/video${i}" + [[ ! -c "${vid}" ]] && break + dev_name=$(${v4l2_util} -d ${vid} -D | grep 'Driver name' | head -n1 | awk -F' : ' '{print $2}') + if [ "${dev_name}" = "tegra-embedded" ]; then + dev_md_ln="/dev/video-rs-${camera_vid[${sens_id}]}-${cam_id}" else - type="Streaming" + continue fi sensor_name=$(echo "${camera_vid[${sens_id}]}" | awk -F'-' '{print $1}') - printf '%s\t%d\t%s\t%s\t%s\t%s\n' ${bus} ${cam_id} ${sensor_name} ${type} ${vid} ${dev_ln} + [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\t%s\t%s\t%s\n' ${bus} ${cam_id} ${sensor_name} ${type} ${vid} ${dev_md_ln} + # create link only in case we choose not only to show it - if [[ $info -eq 0 ]] && [[ $bus != "usb" ]]; then - [[ -e $dev_ln ]] && sudo unlink $dev_ln - sudo ln -s $vid $dev_ln + if [[ $info -eq 0 ]]; then + [[ -e $dev_md_ln ]] && unlink $dev_md_ln + ln -s $vid $dev_md_ln fi done -exit 0 + exit 0 fi #ADL-P IPU6 +mdev=$(${v4l2_util} --list-devices | grep -A1 ipu6 | grep media) +if [ -n "${mdev}" ]; then +[[ $quiet -eq 0 ]] && printf "Bus\tCamera\tSensor\tNode Type\tVideo Node\tRS Link\n" # cache media-ctl output -dot=$(media-ctl --print-dot) +dot=$(${media_util} -d ${mdev} --print-dot | grep -v dashed) # for all d457 muxes a, b, c and d -for camera in a b c d; do +for camera in $mux_list; do + create_dfu_dev=0 + vpad=0 + if [ "${camera}" \> "d" ]; then + vpad=6 + fi for sens in "${!d4xx_vc_named[@]}"; do # get sensor binding from media controller d4xx_sens=$(echo "${dot}" | grep "D4XX $sens $camera" | awk '{print $1}') + [[ -z $d4xx_sens ]] && continue; # echo "SENS $sens NOT FOUND" && continue + d4xx_sens_mux=$(echo "${dot}" | grep $d4xx_sens:port0 | awk '{print $3}' | awk -F':' '{print $1}') csi2=$(echo "${dot}" | grep $d4xx_sens_mux:port0 | awk '{print $3}' | awk -F':' '{print $1}') - be_soc=$(echo "${dot}" | grep $csi2:port1 | grep -v dashed | awk '{print $3}' | awk -F':' '{print $1}') - vid_nd=$(echo "${dot}" | grep "$be_soc:port${d4xx_vc_named[${sens}]}" | grep -v dashed | awk '{print $3}' | awk -F':' '{print $1}') + be_soc=$(echo "${dot}" | grep $csi2:port1 | awk '{print $3}' | awk -F':' '{print $1}') + vid_nd=$(echo "${dot}" | grep -w "$be_soc:port$((${d4xx_vc_named[${sens}]}+${vpad}))" | awk '{print $3}' | awk -F':' '{print $1}') [[ -z $vid_nd ]] && continue; # echo "SENS $sens NOT FOUND" && continue + vid=$(echo "${dot}" | grep "${vid_nd}" | grep video | tr '\\n' '\n' | grep video | awk -F'"' '{print $1}') + [[ -z $vid ]] && continue; dev_ln="/dev/video-rs-${camera_names["${sens}"]}-${camera_idx[${camera}]}" - dev_name=$(v4l2-ctl -d $vid -D | grep Model | awk -F':' '{print $2}') - # echo Sensor: $sens,\t Device: $vid,\t Link $dev_ln - printf '%s\t%d\t%s\tStreaming\t%s\t%s\n' "$dev_name" ${camera_idx[${camera}]} ${camera_names["${sens}"]} $vid $dev_ln + dev_name=$(${v4l2_util} -d $vid -D | grep Model | awk -F':' '{print $2}') + + [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\tStreaming\t%s\t%s\n' "$dev_name" ${camera_idx[${camera}]} ${camera_names["${sens}"]} $vid $dev_ln + # create link only in case we choose not only to show it if [[ $info -eq 0 ]]; then - [[ -e $dev_ln ]] && sudo unlink $dev_ln - sudo ln -s $vid $dev_ln + [[ -e $dev_ln ]] && unlink $dev_ln + ln -s $vid $dev_ln # activate ipu6 link enumeration feature - v4l2-ctl -d $dev_ln -c enumerate_graph_link=1 + ${v4l2_util} -d $dev_ln -c enumerate_graph_link=1 fi + create_dfu_dev=1 # will create DFU device link for camera # metadata link + if [ "$metadata_enabled" -eq 0 ]; then + continue; + fi # skip IR metadata node for now. [[ ${camera_names["${sens}"]} == 'ir' ]] && continue + # skip IMU metadata node. + [[ ${camera_names["${sens}"]} == 'imu' ]] && continue + vid_num=$(echo $vid | grep -o '[0-9]\+') dev_md_ln="/dev/video-rs-${camera_names["${sens}"]}-md-${camera_idx[${camera}]}" - dev_name=$(v4l2-ctl -d "/dev/video$(($vid_num+1))" -D | grep Model | awk -F':' '{print $2}') - # echo Metadata: $sens,\t Device: "/dev/video$(($vid_num+1))",\t Link: $dev_md_ln - printf '%s\t%d\t%s\tMetadata\t/dev/video%s\t%s\n' "$dev_name" ${camera_idx[${camera}]} ${camera_names["${sens}"]} $(($vid_num+1)) $dev_md_ln + dev_name=$(${v4l2_util} -d "/dev/video$(($vid_num+1))" -D | grep Model | awk -F':' '{print $2}') + + [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\tMetadata\t/dev/video%s\t%s\n' "$dev_name" ${camera_idx[${camera}]} ${camera_names["${sens}"]} $(($vid_num+1)) $dev_md_ln # create link only in case we choose not only to show it if [[ $info -eq 0 ]]; then - [[ -e $dev_md_ln ]] && sudo unlink $dev_md_ln - sudo ln -s "/dev/video$(($vid_num+1))" $dev_md_ln + [[ -e $dev_md_ln ]] && unlink $dev_md_ln + ln -s "/dev/video$(($vid_num+1))" $dev_md_ln + ${v4l2_util} -d $dev_md_ln -c enumerate_graph_link=3 fi done + # create DFU device link for camera + if [[ ${create_dfu_dev} -eq 1 ]]; then + dev_dfu_name="/dev/d4xx-dfu-${camera}" + dev_dfu_ln="/dev/d4xx-dfu-${camera_idx[${camera}]}" + if [[ $info -eq 0 ]]; then + [[ -e $dev_dfu_ln ]] && unlink $dev_dfu_ln + ln -s $dev_dfu_name $dev_dfu_ln + else + [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\tFirmware \t%s\t%s\n' " i2c " ${camera_idx[${camera}]} "d4xx " $dev_dfu_name $dev_dfu_ln + fi + fi done - +fi # end of file + diff --git a/scripts/rs_ipu6_d457_bind.sh b/scripts/rs_ipu6_d457_bind.sh new file mode 100755 index 00000000..9372ea17 --- /dev/null +++ b/scripts/rs_ipu6_d457_bind.sh @@ -0,0 +1,114 @@ +#!/bin/bash +# file: rs_ipu6_d457_bind.sh +# This script used for binding media links of v4l2 subdevice entities +# The configuration we had is DS5 mux and IPU6 entities. +# _______ _______ _______ _______ _________ +# |depth|->| mux |->|CSI-2|->|BESOC|->|capture| +# |_____| |_____| |_____| |_____| |_______| +# +# Full graph can be viewed on http://magjac.com/graphviz-visual-editor/ +# media graph links can be generated by running 'media-ctl --print-dot' +# +# Dependency: v4l-utils +v4l2_util=$(which v4l2-ctl) +media_util=$(which media-ctl) +if [ -z ${v4l2_util} ]; then + echo "v4l2-ctl not found, install with: sudo apt install v4l-utils" + exit 1 +fi +# enable metadata capture nodes for default +metadata_enabled=1 +while [[ $# -gt 0 ]]; do + case $1 in + -q|--quiet) + quiet=1 + shift + ;; + -m|--mux) + shift + mux_param=$1 + shift + ;; + -n|--no-metadata) + metadata_enabled=0 + shift + ;; + -h|--help) + echo "-q -m -n -h" + ;; + *) + quiet=0 + shift + ;; + esac +done + +# mapping for DS5 mux entity to IPU6 BE SOC entity matching. +declare -A media_mux_capture_link=( [a]='' [b]='1 ' [c]='2 ' [d]='3 ' [e]='' [f]='1 ' [g]='2 ' [h]='3 ') +# mapping for DS5 mux entity to IPU6 CSI-2 entity matching. +declare -A media_mux_csi2_link=( [a]=0 [b]=1 [c]=2 [d]=3 [e]=0 [f]=1 [g]=2 [h]=3) + +# all available DS5 muxes, each one represent physically connected camera. +# muxes a, b, c, d usually single link cameras +# muxes e, f, g, h is aggregated link cameras, 'a' coupled to 'e' + +mux_list=${mux_param:-'a b c d e f g h'} +# Find media device. +# For case with usb camera plugged in during the boot, +# usb media controller will occupy index 0 +mdev=$(${v4l2_util} --list-devices | grep -A1 ipu6 | grep media) +[[ -z "${mdev}" ]] && exit 0 + +media_ctl_cmd="${media_util} -d ${mdev}" +#media-ctl -r # <- this can be used to clean-up all bindings from media controller +# cache media-ctl output +dot=$($media_ctl_cmd --print-dot) + +# DS5 MUX. Can be {a, b, c, d} + Aggregated {e, f, g, h}. +for mux in $mux_list; do + is_mux=$(echo "${dot}" | grep "DS5 mux ${mux}") + # skip for non-existing muxes + [[ -z $is_mux ]] && continue; + + [[ $quiet -eq 0 ]] && echo -n "Bind DS5 mux ${mux} .. " + + csi2_be_soc="CSI2 BE SOC ${media_mux_csi2_link[${mux}]}" + + csi2="CSI-2 ${media_mux_csi2_link[${mux}]}" + # capture pad + be_soc_cap="BE SOC ${media_mux_capture_link[${mux}]}capture" + + cap_pad=0 + # bind (enable) link CSI-2 pad 1 to BE-SOC pad 0 + $media_ctl_cmd -v -l "\"Intel IPU6 ${csi2}\":1 -> \"Intel IPU6 ${csi2_be_soc}\":0[1]" 1>/dev/null + # bind (enable) link DS5 mux pad 0 to CSI-2 pad 0 + $media_ctl_cmd -v -l "\"DS5 mux ${mux}\":0 -> \"Intel IPU6 ${csi2}\":0[1]" 1>/dev/null + + # for DS5 aggregated mux (above d) - use BE-SOC capture pads with offset 6 + # this offset used as capture sensor set - dept+md,rgb+md,ir,imu = 6 + cap_pad=0 + if [ "${mux}" \> "d" ]; then + cap_pad=6 + fi + + # DEPTH video streaming node + $media_ctl_cmd -v -l "\"Intel IPU6 ${csi2_be_soc}\":$((${cap_pad}+1)) -> \"Intel IPU6 ${be_soc_cap} $((${cap_pad}+0))\":0[5]" 1>/dev/null + # DEPTH metadata node + if [[ $metadata_enabled -eq 1 ]]; then + $media_ctl_cmd -v -l "\"Intel IPU6 ${csi2_be_soc}\":$((${cap_pad}+2)) -> \"Intel IPU6 ${be_soc_cap} $((${cap_pad}+1))\":0[5]" 1>/dev/null + fi + + # RGB link video streaming node + $media_ctl_cmd -v -l "\"Intel IPU6 ${csi2_be_soc}\":$((${cap_pad}+3)) -> \"Intel IPU6 ${be_soc_cap} $((${cap_pad}+2))\":0[5]" 1>/dev/null + # RGB metadata node + if [[ $metadata_enabled -eq 1 ]]; then + $media_ctl_cmd -v -l "\"Intel IPU6 ${csi2_be_soc}\":$((${cap_pad}+4)) -> \"Intel IPU6 ${be_soc_cap} $((${cap_pad}+3))\":0[5]" 1>/dev/null + fi + + # IR link video streaming node + $media_ctl_cmd -v -l "\"Intel IPU6 ${csi2_be_soc}\":$((${cap_pad}+5)) -> \"Intel IPU6 ${be_soc_cap} $((${cap_pad}+4))\":0[5]" 1>/dev/null + + # IMU link streaming node + $media_ctl_cmd -v -l "\"Intel IPU6 ${csi2_be_soc}\":$((${cap_pad}+6)) -> \"Intel IPU6 ${be_soc_cap} $((${cap_pad}+5))\":0[5]" 1>/dev/null + +done diff --git a/scripts/setup_udev_rules.sh b/scripts/setup_udev_rules.sh index 5e0a3742..af020aca 100755 --- a/scripts/setup_udev_rules.sh +++ b/scripts/setup_udev_rules.sh @@ -21,6 +21,16 @@ else echo "Remove permissions for RealSense devices" fi +# Dependency: v4l-utils +v4l2_util=$(which v4l2-ctl || true) +if [ -z ${v4l2_util} ]; then + echo "v4l2-ctl not found, install with: sudo apt install v4l-utils" + exit 1 +fi + +is_tegra=$(${v4l2_util} --list-devices | grep tegra || true) +is_ipu6=$(${v4l2_util} --list-devices | grep ipu6 || true) + exec 3>&2 exec 2> /dev/null con_dev=$(ls /dev/video* | wc -l) @@ -34,13 +44,22 @@ if [ "$install" = true ]; then echo -e "\e[0m" fi sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ - sudo cp config/99-realsense-d4xx-mipi-dfu.rules /etc/udev/rules.d/ + + if [[ -n "${is_ipu6}" ]] || [[ -n "${is_tegra}" ]]; then + sudo cp config/99-realsense-d4xx-mipi-dfu.rules /etc/udev/rules.d/ + sudo cp scripts/rs-enum.sh /usr/local/bin/rs-enum.sh + sudo cp scripts/rs_ipu6_d457_bind.sh /usr/local/bin/rs_ipu6_d457_bind.sh + fi else sudo rm /etc/udev/rules.d/99-realsense-libusb.rules - sudo rm /etc/udev/rules.d/99-realsense-d4xx-mipi-dfu.rules + if [[ -n "${is_ipu6}" ]] || [[ -n "${is_tegra}" ]]; then + sudo rm /etc/udev/rules.d/99-realsense-d4xx-mipi-dfu.rules + sudo rm /usr/local/bin/rs-enum.sh + sudo rm /usr/local/bin/rs_ipu6_d457_bind.sh + fi fi -sudo udevadm control --reload-rules && udevadm trigger +sudo udevadm control --reload-rules && sudo udevadm trigger if [ "$install" = true ]; then echo "udev-rules successfully installed" else diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index cc07057d..4269fed0 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,11 +1,8 @@ # License: Apache 2.0. See LICENSE file in root directory. # Copyright(c) 2019 Intel Corporation. All Rights Reserved. string(REPLACE ${PROJECT_SOURCE_DIR}/ "" _rel_path ${CMAKE_CURRENT_LIST_DIR}) -include(${_rel_path}/algo/CMakeLists.txt) include(${_rel_path}/core/CMakeLists.txt) include(${_rel_path}/ds/CMakeLists.txt) -include(${_rel_path}/ivcam/CMakeLists.txt) -include(${_rel_path}/l500/CMakeLists.txt) include(${_rel_path}/media/CMakeLists.txt) include(${_rel_path}/proc/CMakeLists.txt) include(${_rel_path}/res/CMakeLists.txt) @@ -69,9 +66,13 @@ target_sources(${LRS_TARGET} "${CMAKE_CURRENT_LIST_DIR}/algo.cpp" "${CMAKE_CURRENT_LIST_DIR}/archive.cpp" "${CMAKE_CURRENT_LIST_DIR}/backend.cpp" + "${CMAKE_CURRENT_LIST_DIR}/backend-device-factory.cpp" + "${CMAKE_CURRENT_LIST_DIR}/backend-device-factory.h" "${CMAKE_CURRENT_LIST_DIR}/context.cpp" "${CMAKE_CURRENT_LIST_DIR}/device.cpp" + "${CMAKE_CURRENT_LIST_DIR}/device-info.cpp" "${CMAKE_CURRENT_LIST_DIR}/device_hub.cpp" + "${CMAKE_CURRENT_LIST_DIR}/rscore/device-factory.h" "${CMAKE_CURRENT_LIST_DIR}/environment.cpp" "${CMAKE_CURRENT_LIST_DIR}/error-handling.cpp" "${CMAKE_CURRENT_LIST_DIR}/firmware_logger_device.cpp" @@ -82,9 +83,16 @@ target_sources(${LRS_TARGET} "${CMAKE_CURRENT_LIST_DIR}/image-avx.cpp" "${CMAKE_CURRENT_LIST_DIR}/log.cpp" "${CMAKE_CURRENT_LIST_DIR}/option.cpp" + "${CMAKE_CURRENT_LIST_DIR}/platform-camera.cpp" "${CMAKE_CURRENT_LIST_DIR}/rs.cpp" "${CMAKE_CURRENT_LIST_DIR}/sensor.cpp" + "${CMAKE_CURRENT_LIST_DIR}/hid-sensor.cpp" + "${CMAKE_CURRENT_LIST_DIR}/uvc-sensor.cpp" + "${CMAKE_CURRENT_LIST_DIR}/rscore-pp-block-factory.h" + "${CMAKE_CURRENT_LIST_DIR}/rscore-pp-block-factory.cpp" "${CMAKE_CURRENT_LIST_DIR}/software-device.cpp" + "${CMAKE_CURRENT_LIST_DIR}/software-device-info.cpp" + "${CMAKE_CURRENT_LIST_DIR}/software-sensor.cpp" "${CMAKE_CURRENT_LIST_DIR}/source.cpp" "${CMAKE_CURRENT_LIST_DIR}/stream.cpp" "${CMAKE_CURRENT_LIST_DIR}/sync.cpp" @@ -100,10 +108,32 @@ target_sources(${LRS_TARGET} "${CMAKE_CURRENT_LIST_DIR}/api.h" "${CMAKE_CURRENT_LIST_DIR}/archive.h" "${CMAKE_CURRENT_LIST_DIR}/backend.h" + "${CMAKE_CURRENT_LIST_DIR}/backend-device.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/backend-device-group.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/platform-device-info.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/device-watcher.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/frame-object.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/hid-data.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/hid-device.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/hid-device-info.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/playback-device-info.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/platform-utils.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/platform-utils.cpp" + "${CMAKE_CURRENT_LIST_DIR}/platform/stream-profile.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/stream-profile-impl.h" + "${CMAKE_CURRENT_LIST_DIR}/core/time-service.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/uvc-device.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/uvc-device-info.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/uvc-option.cpp" + "${CMAKE_CURRENT_LIST_DIR}/platform/uvc-option.h" "${CMAKE_CURRENT_LIST_DIR}/context.h" "${CMAKE_CURRENT_LIST_DIR}/device.h" + "${CMAKE_CURRENT_LIST_DIR}/device-info.h" "${CMAKE_CURRENT_LIST_DIR}/device_hub.h" "${CMAKE_CURRENT_LIST_DIR}/environment.h" + "${CMAKE_CURRENT_LIST_DIR}/firmware-version.h" + "${CMAKE_CURRENT_LIST_DIR}/float3.h" + "${CMAKE_CURRENT_LIST_DIR}/fourcc.h" "${CMAKE_CURRENT_LIST_DIR}/log.h" "${CMAKE_CURRENT_LIST_DIR}/error-handling.h" "${CMAKE_CURRENT_LIST_DIR}/firmware_logger_device.h" @@ -116,17 +146,22 @@ target_sources(${LRS_TARGET} "${CMAKE_CURRENT_LIST_DIR}/metadata.h" "${CMAKE_CURRENT_LIST_DIR}/metadata-parser.h" "${CMAKE_CURRENT_LIST_DIR}/option.h" + "${CMAKE_CURRENT_LIST_DIR}/platform-camera.h" + "${CMAKE_CURRENT_LIST_DIR}/pose.h" "${CMAKE_CURRENT_LIST_DIR}/sensor.h" + "${CMAKE_CURRENT_LIST_DIR}/hid-sensor.h" + "${CMAKE_CURRENT_LIST_DIR}/uvc-sensor.h" "${CMAKE_CURRENT_LIST_DIR}/software-device.h" + "${CMAKE_CURRENT_LIST_DIR}/software-device-info.h" + "${CMAKE_CURRENT_LIST_DIR}/software-sensor.h" "${CMAKE_CURRENT_LIST_DIR}/source.h" "${CMAKE_CURRENT_LIST_DIR}/stream.h" "${CMAKE_CURRENT_LIST_DIR}/sync.h" "${CMAKE_CURRENT_LIST_DIR}/terminal-parser.h" "${CMAKE_CURRENT_LIST_DIR}/types.h" - "${CMAKE_CURRENT_LIST_DIR}/command_transfer.h" + "${CMAKE_CURRENT_LIST_DIR}/platform/command-transfer.h" "${CMAKE_CURRENT_LIST_DIR}/auto-calibrated-device.h" "${CMAKE_CURRENT_LIST_DIR}/device-calibration.h" - "${CMAKE_CURRENT_LIST_DIR}/calibrated-sensor.h" "${CMAKE_CURRENT_LIST_DIR}/serializable-interface.h" "${CMAKE_CURRENT_LIST_DIR}/max-usable-range-sensor.h" "${CMAKE_CURRENT_LIST_DIR}/debug-stream-sensor.h" @@ -141,4 +176,16 @@ target_sources(${LRS_TARGET} "${CMAKE_CURRENT_LIST_DIR}/polling-device-watcher.h" "${CMAKE_CURRENT_LIST_DIR}/small-heap.h" "${CMAKE_CURRENT_LIST_DIR}/basics.h" + "${CMAKE_CURRENT_LIST_DIR}/feature-interface.h" + "${CMAKE_CURRENT_LIST_DIR}/synthetic-options-watcher.h" + "${CMAKE_CURRENT_LIST_DIR}/synthetic-options-watcher.cpp" ) + +if(BUILD_WITH_DDS) + file( GLOB_RECURSE RS_DDS_SOURCE_FILES + LIST_DIRECTORIES false + RELATIVE ${PROJECT_SOURCE_DIR} + "${CMAKE_CURRENT_LIST_DIR}/dds/*" + ) + target_sources( ${LRS_TARGET} PRIVATE ${RS_DDS_SOURCE_FILES} ) +endif() diff --git a/src/algo.cpp b/src/algo.cpp index 480e9f90..bf7af032 100644 --- a/src/algo.cpp +++ b/src/algo.cpp @@ -3,6 +3,7 @@ #include "algo.h" #include "option.h" +#include "core/video-frame.h" using namespace librealsense; @@ -79,10 +80,14 @@ auto_exposure_mechanism::auto_exposure_mechanism(option& gain_option, option& ex double values[2] = {}; - values[0] = frame->supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_EXPOSURE) ? - static_cast(frame->get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_EXPOSURE)) : _exposure_option.query(); - values[1] = frame->supports_frame_metadata(RS2_FRAME_METADATA_GAIN_LEVEL) ? - static_cast(frame->get_frame_metadata(RS2_FRAME_METADATA_GAIN_LEVEL)) : _gain_option.query(); + rs2_metadata_type actual_exposure_md; + values[0] = frame->find_metadata( RS2_FRAME_METADATA_ACTUAL_EXPOSURE, &actual_exposure_md ) + ? static_cast< double >( actual_exposure_md ) + : _exposure_option.query(); + rs2_metadata_type gain_level_md; + values[1] = frame->find_metadata( RS2_FRAME_METADATA_GAIN_LEVEL, &gain_level_md ) + ? static_cast< double >( gain_level_md ) + : _gain_option.query(); values[0] /= 1000.; // Fisheye exposure value by extension control- // is in units of MicroSeconds, from FW version 5.6.3.0 @@ -538,7 +543,7 @@ void auto_exposure_algorithm::histogram_score(std::vector& h, const int tot for (int i = 0; i <= 255; ++i) { m1 += h[i] * i; - m2 += h[i] * sqr(i); + m2 += static_cast< int64_t >( h[i] ) * sqr( i ); } } else @@ -546,7 +551,7 @@ void auto_exposure_algorithm::histogram_score(std::vector& h, const int tot for (int i = under_exposure_limit + 1; i < over_exposure_limit; ++i) { m1 += h[i] * i; - m2 += h[i] * sqr(i); + m2 += static_cast< int64_t >( h[i] ) * sqr( i ); } } score.main_mean = (float)((double)m1 / nn); @@ -888,10 +893,10 @@ bool rect_gaussian_dots_target_calculator::validate_corners(const uint8_t* img) bool ok = true; static const int pos_diff_threshold = 4; - if (abs(_corners[0].x - _corners[2].x) > pos_diff_threshold || - abs(_corners[1].x - _corners[3].x) > pos_diff_threshold || - abs(_corners[0].y - _corners[1].y) > pos_diff_threshold || - abs(_corners[2].y - _corners[3].y) > pos_diff_threshold) + if( std::abs( _corners[0].x - _corners[2].x ) > pos_diff_threshold + || std::abs( _corners[1].x - _corners[3].x ) > pos_diff_threshold + || std::abs( _corners[0].y - _corners[1].y ) > pos_diff_threshold + || std::abs( _corners[2].y - _corners[3].y ) > pos_diff_threshold ) { ok = false; } diff --git a/src/algo.h b/src/algo.h index e242ffb1..638df15b 100644 --- a/src/algo.h +++ b/src/algo.h @@ -1,10 +1,13 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2015 Intel Corporation. All Rights Reserved. - #pragma once -#include "sensor.h" -#include "types.h" +#include "core/frame-holder.h" +#include "core/roi.h" +#include "core/options-container.h" +#include "float3.h" + +#include #include #include #include diff --git a/src/algo/CMakeLists.txt b/src/algo/CMakeLists.txt deleted file mode 100644 index c95034dd..00000000 --- a/src/algo/CMakeLists.txt +++ /dev/null @@ -1,5 +0,0 @@ -# License: Apache 2.0. See LICENSE file in root directory. -# Copyright(c) 2020 Intel Corporation. All Rights Reserved. - -include(${CMAKE_CURRENT_LIST_DIR}/thermal-loop/CMakeLists.txt) -include(${CMAKE_CURRENT_LIST_DIR}/max-usable-range/CMakeLists.txt) diff --git a/src/algo/max-usable-range/CMakeLists.txt b/src/algo/max-usable-range/CMakeLists.txt deleted file mode 100644 index 6045a058..00000000 --- a/src/algo/max-usable-range/CMakeLists.txt +++ /dev/null @@ -1,7 +0,0 @@ -# License: Apache 2.0. See LICENSE file in root directory. -# Copyright(c) 2020 Intel Corporation. All Rights Reserved. -target_sources(${LRS_TARGET} - PRIVATE - "${CMAKE_CURRENT_LIST_DIR}/l500/max-usable-range.h" - "${CMAKE_CURRENT_LIST_DIR}/l500/max-usable-range.cpp" -) diff --git a/src/algo/max-usable-range/l500/max-usable-range.cpp b/src/algo/max-usable-range/l500/max-usable-range.cpp deleted file mode 100644 index 40ad1049..00000000 --- a/src/algo/max-usable-range/l500/max-usable-range.cpp +++ /dev/null @@ -1,24 +0,0 @@ -//// License: Apache 2.0. See LICENSE file in root directory. -//// Copyright(c) 2020 Intel Corporation. All Rights Reserved. - -#include "max-usable-range.h" - -// Algo parameters -static const float PROCESSING_GAIN = 1.75f; -static const float THERMAL = 74.5f; -static const float INDOOR_MAX_RANGE = 9.0f; - -// Based off of code in RS5-8358 -float librealsense::algo::max_usable_range::l500::max_usable_range(float noise_esimation) -{ - const float normalized_nest = noise_esimation / 16.0f; - - auto expected_max_range = INDOOR_MAX_RANGE; - - if (normalized_nest > THERMAL) - { - expected_max_range = 31000.0f * pow(normalized_nest, -2.0f) * PROCESSING_GAIN; - } - - return expected_max_range; -} diff --git a/src/algo/max-usable-range/l500/max-usable-range.h b/src/algo/max-usable-range/l500/max-usable-range.h deleted file mode 100644 index 57f14a86..00000000 --- a/src/algo/max-usable-range/l500/max-usable-range.h +++ /dev/null @@ -1,22 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2020 Intel Corporation. All Rights Reserved. - -#pragma once - -#include - - -namespace librealsense { -namespace algo { -namespace max_usable_range { -namespace l500 { - -// Calculate the maximum usable range based on current ambient light conditions -// Input: noise estimation value -// Output: maximum usable range [m] -float max_usable_range( float nest ); - -} // namespace l500 -} // namespace max_range -} // namespace algo -} // namespace librealsense diff --git a/src/algo/thermal-loop/CMakeLists.txt b/src/algo/thermal-loop/CMakeLists.txt deleted file mode 100644 index 24f9c099..00000000 --- a/src/algo/thermal-loop/CMakeLists.txt +++ /dev/null @@ -1,7 +0,0 @@ -# License: Apache 2.0. See LICENSE file in root directory. -# Copyright(c) 2020 Intel Corporation. All Rights Reserved. -target_sources(${LRS_TARGET} - PRIVATE - "${CMAKE_CURRENT_LIST_DIR}/l500-thermal-loop.h" - "${CMAKE_CURRENT_LIST_DIR}/l500-thermal-loop.cpp" -) diff --git a/src/algo/thermal-loop/l500-thermal-loop.cpp b/src/algo/thermal-loop/l500-thermal-loop.cpp deleted file mode 100644 index 277163a8..00000000 --- a/src/algo/thermal-loop/l500-thermal-loop.cpp +++ /dev/null @@ -1,123 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2020 Intel Corporation. All Rights Reserved. - -#include "l500-thermal-loop.h" -#include "../../l500/l500-private.h" -#include - -namespace librealsense { -namespace algo { -namespace thermal_loop { -namespace l500 { - - -const int thermal_calibration_table::id = 0x317; - -thermal_calibration_table::thermal_calibration_table() : _resolution(0) -{ - _header.max_temp = 0; - _header.min_temp = 0; - _header.reference_temp = 0; - _header.valid = 0; -} - -thermal_calibration_table::thermal_calibration_table( const std::vector< byte > & data, - int resolution ) - : _resolution( resolution ) -{ - auto expected_size = sizeof( thermal_table_header ) - + sizeof( thermal_bin ) * resolution; - - _header.valid = 0; - - if( data.size() != expected_size ) - throw std::runtime_error( rsutils::string::from() - << "data size (" << data.size() - << ") does not meet expected size " << expected_size ); - - _header = *(thermal_table_header *)data.data(); - - // The table may be invalid if the unit has not gone thru calibration - if( ! _header.valid ) - throw std::runtime_error( "thermal calibration table is not valid" ); - - auto data_ptr = (thermal_bin *)( data.data() + sizeof( thermal_table_header )); - bins.assign( data_ptr, data_ptr + resolution ); -} - - -bool operator==( const thermal_calibration_table & lhs, const thermal_calibration_table & rhs ) -{ - if( lhs.bins.size() != rhs.bins.size() ) - return false; - - if( lhs._header.max_temp != rhs._header.max_temp || lhs._header.min_temp != rhs._header.min_temp - || lhs._header.reference_temp != rhs._header.reference_temp - || lhs._header.valid != rhs._header.valid ) - return false; - - for( auto i = 0; i < rhs.bins.size(); i++ ) - { - if( lhs.bins[i].scale != rhs.bins[i].scale || lhs.bins[i].sheer != rhs.bins[i].sheer - || lhs.bins[i].tx != rhs.bins[i].tx || lhs.bins[i].ty != rhs.bins[i].ty ) - return false; - } - return true; -} - - -double thermal_calibration_table::get_thermal_scale( double hum_temp ) const -{ - auto scale = bins[_resolution - 1].scale; - - auto temp_range = _header.max_temp - _header.min_temp; - // there are 29 bins between min and max temps so 30 equal intervals - auto const interval = temp_range / ( _resolution + 1 ); - // T: |---|---|---| ... |---| - // min 0 1 2 ... 28 max - size_t index = 0; - for( double temp = _header.min_temp; index < _resolution; - ++index, temp += interval ) - { - auto interval_max = temp + interval; - if( hum_temp <= interval_max ) - { - scale = bins[index].scale; - break; - } - } - - // The "scale" is meant to be divided by, but we want something to multiply with! - if( scale == 0 ) - throw std::runtime_error( "invalid 0 scale in thermal table" ); - return 1. / scale; -} - - -std::vector< byte > thermal_calibration_table::build_raw_data() const -{ - std::vector< float > data; - - data.push_back( _header.min_temp ); - data.push_back( _header.max_temp ); - data.push_back( _header.reference_temp ); - data.push_back( _header.valid ); - - for( auto i = 0; i < bins.size(); i++ ) - { - data.push_back( bins[i].scale ); - data.push_back( bins[i].sheer ); - data.push_back( bins[i].tx ); - data.push_back( bins[i].ty ); - } - - std::vector< byte > res; - res.assign( (byte *)( data.data() ), (byte *)( data.data() + data.size() ) ); - return res; -} - - -} -} -} -} diff --git a/src/algo/thermal-loop/l500-thermal-loop.h b/src/algo/thermal-loop/l500-thermal-loop.h deleted file mode 100644 index a92cd2c2..00000000 --- a/src/algo/thermal-loop/l500-thermal-loop.h +++ /dev/null @@ -1,76 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2020 Intel Corporation. All Rights Reserved. - -#pragma once - -#include -#include "../../types.h" -#include "thermal-calibration-table-interface.h" - -namespace librealsense { -namespace algo { -namespace thermal_loop { -namespace l500 { - - -// RGB_Thermal_Info_CalibInfo table -// ----------------------------------- -// -// The table contains equally spaced bins between min & max temperature. -// -// Each bin has a set of 4 transformation parameters. The transformation maps a point in the RGB -// image in a given temperature to its expected location in the temperature in which the RGB module -// was calibrated. -// -// Reference at: -// https://rsconf.intel.com/display/L500/0x317+RGB+Thermal+Table -// -#pragma pack( push, 1 ) -class thermal_calibration_table : public thermal_calibration_table_interface -{ -public: - static const int id; - - // The header as it's written raw - struct thermal_table_header - { - float min_temp; - float max_temp; - float reference_temp; // Reference calibration temperature (humidity sensor) - float valid; // Valid table (Created in ATC && Updated in ACC) - }; - - // Each bin data, as it's written in the actual raw table - struct thermal_bin - { - float scale; - float sheer; // parameters which affect offset that are not in use - float tx; - float ty; - }; - - // Number of bins *between* min and max: - // bin - size = ( max - min ) / ( resolution + 1 ) - // In the raw calibration table, 29 is implicitly used. - size_t _resolution; - - thermal_table_header _header; - std::vector< thermal_bin > bins; - - thermal_calibration_table(); - thermal_calibration_table( const std::vector< byte > & data, int resolution = 29 ); - - double get_thermal_scale( double hum_temp ) const override; - - std::vector< byte > build_raw_data() const override; - - bool is_valid() const override { return _header.valid != 0.f; } -}; -#pragma pack( pop ) - -bool operator==( const thermal_calibration_table & lhs, const thermal_calibration_table & rhs ); - -} // namespace l500 -} // namespace thermal_loop -} // namespace algo -} // namespace librealsense diff --git a/src/algo/thermal-loop/thermal-calibration-table-interface.h b/src/algo/thermal-loop/thermal-calibration-table-interface.h deleted file mode 100644 index 974ee3fb..00000000 --- a/src/algo/thermal-loop/thermal-calibration-table-interface.h +++ /dev/null @@ -1,27 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2020 Intel Corporation. All Rights Reserved. - -#pragma once - -#include - -namespace librealsense { -namespace algo { -namespace thermal_loop { - - -struct thermal_calibration_table_interface -{ - virtual ~thermal_calibration_table_interface() {} - - virtual bool is_valid() const = 0; - - virtual double get_thermal_scale( double hum_temp ) const = 0; - - virtual std::vector< byte > build_raw_data() const = 0; -}; - - -} // namespace thermal_loop -} // namespace algo -} // namespace librealsense diff --git a/src/android/device_watcher.cpp b/src/android/device_watcher.cpp index efe178a2..e4fa25f3 100644 --- a/src/android/device_watcher.cpp +++ b/src/android/device_watcher.cpp @@ -3,10 +3,7 @@ #include "device_watcher.h" #include #include -#include #include "../usb/usb-device.h" -#include "../usbhost/device-usbhost.h" -#include "../backend.h" #include "../usb/usb-enumerator.h" #include "../hid/hid-device.h" #include "../uvc/uvc-device.h" diff --git a/src/android/device_watcher.h b/src/android/device_watcher.h index 81760a44..e09cd7c2 100644 --- a/src/android/device_watcher.h +++ b/src/android/device_watcher.h @@ -2,11 +2,13 @@ /* Copyright(c) 2019 Intel Corporation. All Rights Reserved. */ #pragma once -#include "../types.h" -#include "../backend.h" -#include "../usb/usb-device.h" +#include "../platform/device-watcher.h" +#include "../platform/backend-device-group.h" +#include "../platform/uvc-device-info.h" #include +#include +#include namespace librealsense { diff --git a/src/api.h b/src/api.h index a1cee447..62afa3b8 100644 --- a/src/api.h +++ b/src/api.h @@ -1,16 +1,23 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2017 Intel Corporation. All Rights Reserved. - - #pragma once -#include "context.h" + #include "core/extension.h" #include "device.h" #include +#include +#include "pose.h" +#include "librealsense-exception.h" +#include #include #include +namespace librealsense { +struct notification; +} + + struct rs2_raw_data_buffer { std::vector buffer; @@ -28,9 +35,8 @@ struct rs2_notification struct rs2_device { - std::shared_ptr ctx; - std::shared_ptr info; std::shared_ptr device; + mutable rsutils::subscription playback_status_changed; }; rs2_error * rs2_create_error(const char* what, const char* name, const char* args, rs2_exception_type type); @@ -106,7 +112,7 @@ namespace librealsense - static void translate_exception(const char * name, std::string args, rs2_error ** error) + static void translate_exception(const char * name, std::string const & args, rs2_error ** error) { try { throw; } catch (const librealsense_exception& e) { if (error) *error = rs2_create_error(e.what(), name, args.c_str(), e.get_exception_type() ); } @@ -406,7 +412,13 @@ return __p.invoke(func);\ #define VALIDATE_FIXED_SIZE(ARG, SIZE) if((ARG) != (SIZE)) { std::ostringstream ss; ss << "Unsupported size provided { " << ARG << " }," " expecting { " << SIZE << " }"; throw librealsense::invalid_value_exception(ss.str()); } #define VALIDATE_NOT_NULL(ARG) if(!(ARG)) throw std::runtime_error("null pointer passed for argument \"" #ARG "\""); #define VALIDATE_ENUM(ARG) if(!librealsense::is_valid(ARG)) { std::ostringstream ss; ss << "invalid enum value for argument \"" #ARG "\""; throw librealsense::invalid_value_exception(ss.str()); } - #define VALIDATE_OPTION(OBJ, OPT_ID) if(!OBJ->options->supports_option(OPT_ID)) { std::ostringstream ss; ss << "object doesn't support option #" << std::to_string(OPT_ID); throw librealsense::invalid_value_exception(ss.str()); } +#define VALIDATE_OPTION_ENABLED( OBJ, OPT_ID ) \ + if( ! OBJ->options->supports_option( OPT_ID ) ) \ + { \ + std::ostringstream ss; \ + ss << "object doesn't support option " << librealsense::get_string( OPT_ID ); \ + throw librealsense::invalid_value_exception( ss.str() ); \ + } #define VALIDATE_RANGE(ARG, MIN, MAX) if((ARG) < (MIN) || (ARG) > (MAX)) { std::ostringstream ss; ss << "out of range value for argument \"" #ARG "\""; throw librealsense::invalid_value_exception(ss.str()); } #define VALIDATE_LE(ARG, MAX) if((ARG) > (MAX)) { std::ostringstream ss; ss << "out of range value for argument \"" #ARG "\""; throw std::runtime_error(ss.str()); } #define VALIDATE_GT(ARG, MIN) if((ARG) <= (MIN)) { std::ostringstream ss; ss << "value is below allowed min for argument \"" #ARG "\""; throw std::runtime_error(ss.str()); } diff --git a/src/archive.cpp b/src/archive.cpp index 7cf970be..2b38b72e 100644 --- a/src/archive.cpp +++ b/src/archive.cpp @@ -1,39 +1,46 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2019 Intel Corporation. All Rights Reserved. -#include "archive.h" -#include "metadata-parser.h" -#include "frame-archive.h" + + +#include +#include +#include +#include +#include +#include +#include +#include + namespace librealsense { std::shared_ptr make_archive(rs2_extension type, std::atomic* in_max_frame_queue_size, - std::shared_ptr ts, std::shared_ptr parsers) { switch (type) { case RS2_EXTENSION_VIDEO_FRAME: - return std::make_shared>(in_max_frame_queue_size, ts, parsers); + return std::make_shared>(in_max_frame_queue_size, parsers); case RS2_EXTENSION_COMPOSITE_FRAME: - return std::make_shared>(in_max_frame_queue_size, ts, parsers); + return std::make_shared>(in_max_frame_queue_size, parsers); case RS2_EXTENSION_MOTION_FRAME: - return std::make_shared>(in_max_frame_queue_size, ts, parsers); + return std::make_shared>(in_max_frame_queue_size, parsers); case RS2_EXTENSION_POINTS: - return std::make_shared>(in_max_frame_queue_size, ts, parsers); + return std::make_shared>(in_max_frame_queue_size, parsers); case RS2_EXTENSION_DEPTH_FRAME: - return std::make_shared>(in_max_frame_queue_size, ts, parsers); + return std::make_shared>(in_max_frame_queue_size, parsers); case RS2_EXTENSION_POSE_FRAME: - return std::make_shared>(in_max_frame_queue_size, ts, parsers); + return std::make_shared>(in_max_frame_queue_size, parsers); case RS2_EXTENSION_DISPARITY_FRAME: - return std::make_shared>(in_max_frame_queue_size, ts, parsers); + return std::make_shared>(in_max_frame_queue_size, parsers); default: throw std::runtime_error("Requested frame type is not supported!"); diff --git a/src/archive.h b/src/archive.h index 2d09c1f8..429fdc36 100644 --- a/src/archive.h +++ b/src/archive.h @@ -3,24 +3,27 @@ #pragma once -#include "types.h" -#include "core/streaming.h" +#include "core/frame-additional-data.h" #include "callback-invocation.h" namespace librealsense { - struct frame_additional_data; + class frame_interface; + class sensor_interface; - class archive_interface : public sensor_part + class archive_interface { public: virtual callback_invocation_holder begin_callback() = 0; - virtual frame_interface* alloc_and_track(const size_t size, const frame_additional_data& additional_data, bool requires_memory) = 0; + virtual frame_interface* alloc_and_track(const size_t size, frame_additional_data && additional_data, bool requires_memory) = 0; virtual std::shared_ptr get_md_parsers() const = 0; + virtual std::shared_ptr< sensor_interface > get_sensor() const = 0; + virtual void set_sensor( const std::weak_ptr< sensor_interface > & ) = 0; + virtual void flush() = 0; virtual frame_interface* publish_frame(frame_interface* frame) = 0; @@ -31,7 +34,6 @@ namespace librealsense std::shared_ptr make_archive(rs2_extension type, std::atomic* in_max_frame_queue_size, - std::shared_ptr ts, std::shared_ptr parsers); } diff --git a/src/auto-calibrated-device.h b/src/auto-calibrated-device.h index 644c84ce..594aad36 100644 --- a/src/auto-calibrated-device.h +++ b/src/auto-calibrated-device.h @@ -1,10 +1,11 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2019 Intel Corporation. All Rights Reserved. - #pragma once #include "types.h" -#include "core/streaming.h" +#include "core/extension.h" +#include + namespace librealsense { @@ -12,18 +13,18 @@ namespace librealsense { public: virtual void write_calibration() const = 0; - virtual std::vector run_on_chip_calibration(int timeout_ms, std::string json, float* const health, update_progress_callback_ptr progress_callback) = 0; - virtual std::vector run_tare_calibration( int timeout_ms, float ground_truth_mm, std::string json, float* const health, update_progress_callback_ptr progress_callback) = 0; - virtual std::vector process_calibration_frame(int timeout_ms, const rs2_frame* f, float* const health, update_progress_callback_ptr progress_callback) = 0; + virtual std::vector run_on_chip_calibration(int timeout_ms, std::string json, float* const health, rs2_update_progress_callback_sptr progress_callback) = 0; + virtual std::vector run_tare_calibration( int timeout_ms, float ground_truth_mm, std::string json, float* const health, rs2_update_progress_callback_sptr progress_callback) = 0; + virtual std::vector process_calibration_frame(int timeout_ms, const rs2_frame* f, float* const health, rs2_update_progress_callback_sptr progress_callback) = 0; virtual std::vector get_calibration_table() const = 0; virtual void set_calibration_table(const std::vector& calibration) = 0; virtual void reset_to_factory_calibration() const = 0; virtual std::vector run_focal_length_calibration(rs2_frame_queue* left, rs2_frame_queue* right, float target_w, float target_h, - int adjust_both_sides, float* ratio, float* angle, update_progress_callback_ptr progress_callback) = 0; + int adjust_both_sides, float* ratio, float* angle, rs2_update_progress_callback_sptr progress_callback) = 0; virtual std::vector run_uv_map_calibration(rs2_frame_queue* left, rs2_frame_queue* color, rs2_frame_queue* depth, int py_px_only, - float* const health, int health_size, update_progress_callback_ptr progress_callback) = 0; + float* const health, int health_size, rs2_update_progress_callback_sptr progress_callback) = 0; virtual float calculate_target_z(rs2_frame_queue* queue1, rs2_frame_queue* queue2, rs2_frame_queue* queue3, - float target_w, float target_h, update_progress_callback_ptr progress_callback) = 0; + float target_w, float target_h, rs2_update_progress_callback_sptr progress_callback) = 0; }; MAP_EXTENSION(RS2_EXTENSION_AUTO_CALIBRATED_DEVICE, auto_calibrated_interface); } diff --git a/src/backend-device-factory.cpp b/src/backend-device-factory.cpp new file mode 100644 index 00000000..d033b95c --- /dev/null +++ b/src/backend-device-factory.cpp @@ -0,0 +1,228 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include "backend-device-factory.h" +#include "context.h" +#include "backend.h" +#include "platform/platform-device-info.h" +#include "platform/device-watcher.h" + +#include "backend-device.h" +#include "ds/d400/d400-info.h" +#include "ds/d500/d500-info.h" +#include "fw-update/fw-update-factory.h" +#include "platform-camera.h" + +#include + +#include +#include +#include +#include + + +namespace librealsense { +namespace platform { +std::shared_ptr< backend > create_backend(); +} // namespace platform +} // namespace librealsense + + +namespace librealsense { + + +std::vector< std::shared_ptr< platform::platform_device_info > > +subtract_sets( const std::vector< std::shared_ptr< platform::platform_device_info > > & first, + const std::vector< std::shared_ptr< platform::platform_device_info > > & second ) +{ + std::vector< std::shared_ptr< platform::platform_device_info > > results; + std::for_each( + first.begin(), + first.end(), + [&]( std::shared_ptr< platform::platform_device_info > const & data ) + { + if( std::find_if( + second.begin(), + second.end(), + [&]( std::shared_ptr< platform::platform_device_info > const & new_dev ) + { + return data->get_group().is_contained_in( new_dev->get_group() ); + } ) + == second.end() ) + { + results.push_back( data ); + } + } ); + return results; +} + + +// This singleton creates the actual backend; as long as someone holds it, the backend will stay alive. +// The instance is held below by the device-watcher. I.e., the device-watcher triggers creation of the +// backend! +// +class backend_singleton +{ + std::shared_ptr< platform::backend > const _backend; + +public: + backend_singleton() + : _backend( platform::create_backend() ) + { + } + + std::shared_ptr< platform::backend > get() const { return _backend; } +}; + + +static rsutils::shared_ptr_singleton< backend_singleton > the_backend; + + +// The device-watcher is also a singleton: we don't need multiple agents of notifications. It is held alive by the +// device-factory below, which is held per context. I.e., as long as the context is alive, we'll stay alive and the +// backend-singleton will stay alive. +// +// We are responsible for exposing the single notification from the platform-device-watcher to several subscribers: +// one device-watcher, but many contexts, each with further subscriptions. +// +class device_watcher_singleton +{ + // The device-watcher keeps a direct pointer to the backend instance, so we have to make sure it stays alive! + std::shared_ptr< backend_singleton > const _backend; + std::shared_ptr< platform::device_watcher > const _device_watcher; + rsutils::signal< platform::backend_device_group const &, platform::backend_device_group const & > _callbacks; + +public: + device_watcher_singleton() + : _backend( the_backend.instance() ) + , _device_watcher( _backend->get()->create_device_watcher() ) + { + assert( _device_watcher->is_stopped() ); + _device_watcher->start( + [this]( platform::backend_device_group const & old, platform::backend_device_group const & curr ) + { _callbacks.raise( old, curr ); } ); + } + + rsutils::subscription subscribe( platform::device_changed_callback && cb ) + { + return _callbacks.subscribe( std::move( cb ) ); + } + + std::shared_ptr< platform::backend > const get_backend() const { return _backend->get(); } +}; + + +static rsutils::shared_ptr_singleton< device_watcher_singleton > backend_device_watcher; + + +std::shared_ptr< platform::backend > backend_device::get_backend() +{ + auto singleton = the_backend.get(); + if( ! singleton ) + // Whoever is calling us, they are expecting a backend to exist, but it does not! + throw std::runtime_error( "backend not created yet!" ); + + return singleton->get(); +} + + +backend_device_factory::backend_device_factory( std::shared_ptr< context > const & ctx, callback && cb ) + : super( ctx ) + , _device_watcher( backend_device_watcher.instance() ) + , _dtor( _device_watcher->subscribe( + [this, liveliness = std::weak_ptr< context >( ctx ), cb = std::move( cb )]( + platform::backend_device_group const & old, platform::backend_device_group const & curr ) + { + // the factory should be alive as long as the context is alive + auto live_ctx = liveliness.lock(); + if( ! live_ctx ) + return; + + auto old_list = create_devices_from_group( old, RS2_PRODUCT_LINE_ANY ); + auto new_list = create_devices_from_group( curr, RS2_PRODUCT_LINE_ANY ); + + std::vector< std::shared_ptr< device_info > > devices_removed; + for( auto & device_removed : subtract_sets( old_list, new_list ) ) + { + devices_removed.push_back( device_removed ); + LOG_DEBUG( "Device disconnected: " << device_removed->get_address() ); + } + + std::vector< std::shared_ptr< device_info > > devices_added; + for( auto & device_added : subtract_sets( new_list, old_list ) ) + { + devices_added.push_back( device_added ); + LOG_DEBUG( "Device connected: " << device_added->get_address() ); + } + + if( devices_removed.size() + devices_added.size() ) + { + cb( devices_removed, devices_added ); + } + } ) ) +{ +} + + +backend_device_factory::~backend_device_factory() +{ +} + + +std::vector< std::shared_ptr< device_info > > backend_device_factory::query_devices( unsigned requested_mask ) const +{ + auto ctx = get_context(); + if( ! ctx ) + return {}; + + if( ( requested_mask & RS2_PRODUCT_LINE_SW_ONLY ) || ( ctx->get_device_mask() & RS2_PRODUCT_LINE_SW_ONLY ) ) + return {}; // We don't carry any software devices + + auto backend = _device_watcher->get_backend(); + platform::backend_device_group group( backend->query_uvc_devices(), + backend->query_usb_devices(), + backend->query_hid_devices() ); + auto devices = create_devices_from_group( group, requested_mask ); + return { devices.begin(), devices.end() }; +} + + +std::vector< std::shared_ptr< platform::platform_device_info > > +backend_device_factory::create_devices_from_group( platform::backend_device_group devices, int requested_mask ) const +{ + auto ctx = get_context(); + std::vector< std::shared_ptr< platform::platform_device_info > > list; + unsigned const mask = context::combine_device_masks( requested_mask, ctx->get_device_mask() ); + if( ! ( mask & RS2_PRODUCT_LINE_SW_ONLY ) ) + { + if( mask & RS2_PRODUCT_LINE_D400 ) + { + auto d400_devices = d400_info::pick_d400_devices( ctx, devices ); + std::copy( std::begin( d400_devices ), end( d400_devices ), std::back_inserter( list ) ); + } + + if( mask & RS2_PRODUCT_LINE_D500 ) + { + auto d500_devices = d500_info::pick_d500_devices( ctx, devices ); + std::copy( begin( d500_devices ), end( d500_devices ), std::back_inserter( list ) ); + } + + // Supported recovery devices + { + auto recovery_devices + = fw_update_info::pick_recovery_devices( ctx, devices.usb_devices, mask ); + std::copy( begin( recovery_devices ), end( recovery_devices ), std::back_inserter( list ) ); + } + + if( mask & RS2_PRODUCT_LINE_NON_INTEL ) + { + auto uvc_devices + = platform_camera_info::pick_uvc_devices( ctx, devices.uvc_devices ); + std::copy( begin( uvc_devices ), end( uvc_devices ), std::back_inserter( list ) ); + } + } + return list; +} + + +} // namespace librealsense \ No newline at end of file diff --git a/src/backend-device-factory.h b/src/backend-device-factory.h new file mode 100644 index 00000000..7bd52d35 --- /dev/null +++ b/src/backend-device-factory.h @@ -0,0 +1,54 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include + + +namespace librealsense { + + +class device_watcher_singleton; + + +namespace platform { +struct backend_device_group; +class platform_device_info; +} // namespace platform + + +// This factory creates "backend devices", or devices that require the backend to be detected and used. In other words, +// UVC devices. +// +// The factory abstracts away platform-specific concepts such that all the user has to do is supply a callback to know +// when changes in the list of devices have been made. +// +// Any devices created here will have a device-info that derives from platform::platform_device_info. This factory +// manages these device-info objects such that lifetime is tracked and updated appropriately, without the caller's +// knowledge. +// +class backend_device_factory : public device_factory +{ + typedef device_factory super; + + std::shared_ptr< device_watcher_singleton > const _device_watcher; + rsutils::subscription const _dtor; // raii generic code, used to automatically unsubscribe our callback + +public: + backend_device_factory( std::shared_ptr< context > const &, callback && ); + ~backend_device_factory(); + + // Query any subset of available devices and return them as device-info objects + // Devices will match both the requested mask and the device-mask from the context settings + // + std::vector< std::shared_ptr< device_info > > query_devices( unsigned mask ) const override; + +private: + std::vector< std::shared_ptr< platform::platform_device_info > > + create_devices_from_group( platform::backend_device_group, int mask ) const; +}; + + +} // namespace librealsense diff --git a/src/backend-device.h b/src/backend-device.h new file mode 100644 index 00000000..b9e04bb1 --- /dev/null +++ b/src/backend-device.h @@ -0,0 +1,41 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include + + +namespace librealsense { + + +namespace platform { +class backend; +} + + +// Common base class for all backend devices (i.e., those that require a platform backend) +// +class backend_device : public virtual device +{ + typedef device super; + +protected: + backend_device( std::shared_ptr< const device_info > const & dev_info, bool device_changed_notifications = true ) + : super( dev_info, device_changed_notifications ) + { + } + +public: + uint16_t get_pid() const { return _pid; } + std::shared_ptr< platform::backend > get_backend(); + + virtual bool is_gyro_high_sensitivity() const { return false; } + +protected: + uint16_t _pid = 0; +}; + + +} // namespace librealsense diff --git a/src/backend.cpp b/src/backend.cpp index 76eea015..7e11d3fc 100644 --- a/src/backend.cpp +++ b/src/backend.cpp @@ -16,16 +16,47 @@ #endif #include "backend.h" -void librealsense::platform::control_range::populate_raw_data(std::vector& vec, int32_t value) +#include "platform/uvc-device.h" + +#include + + +namespace librealsense { +namespace platform { + + +void control_range::populate_raw_data(std::vector& vec, int32_t value) { vec.resize(sizeof(value)); auto data = reinterpret_cast(&value); std::copy(data, data + sizeof(value), vec.data()); } -double librealsense::monotonic_to_realtime(double monotonic) + +std::ostream & operator<<( std::ostream & os, guid const & g ) +{ + std::ios_base::fmtflags f( os.flags() ); + os << std::hex; + auto prev_fill = os.fill(); + os.fill( '0' ); + os << g.data1 << '-' << g.data2 << '-' << g.data3 << '-'; + for( auto b : g.data4 ) + os << std::setw(2) << (int)b; + os.flags( f ); + os.fill( prev_fill ); + return os; +} + + +} // namespace platform + + +double monotonic_to_realtime(double monotonic) { auto realtime = std::chrono::duration_cast(std::chrono::system_clock::now().time_since_epoch()).count(); auto time_since_epoch = std::chrono::duration_cast(std::chrono::steady_clock::now().time_since_epoch()).count(); return monotonic + (realtime - time_since_epoch); -} \ No newline at end of file +} + + +} // namespace librealsense diff --git a/src/backend.h b/src/backend.h index f0d37b49..7674300c 100644 --- a/src/backend.h +++ b/src/backend.h @@ -3,31 +3,16 @@ #pragma once -#include // Inherit all type definitions in the public API -#include -#include "usb/usb-types.h" -#include "usb/usb-device.h" -#include "hid/hid-types.h" -#include "command_transfer.h" +#include "platform/uvc-device-info.h" +#include "platform/hid-device-info.h" +#include "platform/stream-profile.h" +#include "platform/frame-object.h" -#include // For shared_ptr -#include // For function -#include // For this_thread::sleep_for +#include #include -#include -#include -#include -#include -#include -#include #include -#include -#include -const uint16_t MAX_RETRIES = 100; -const uint8_t DEFAULT_V4L2_FRAME_BUFFERS = 4; -const uint16_t DELAY_FOR_RETRIES = 10; const uint16_t DELAY_FOR_CONNECTION = 50; const int DISCONNECT_PERIOD_MS = 6000; const int POLLING_DEVICES_INTERVAL_MS = 2000; @@ -37,532 +22,13 @@ const uint8_t MAX_META_DATA_SIZE = 0xff; // UVC Metadata total length namespace librealsense { - struct notification; - - template - bool list_changed(const std::vector& list1, - const std::vector& list2, - std::function equal = [](T first, T second) { return first == second; }) - { - if (list1.size() != list2.size()) - return true; - - for (auto dev1 : list1) - { - bool found = false; - for (auto dev2 : list2) - { - if (equal(dev1,dev2)) - { - found = true; - } - } - - if (!found) - { - return true; - } - } - return false; - } - - namespace platform { - struct control_range - { - control_range() - {} - - control_range(int32_t in_min, int32_t in_max, int32_t in_step, int32_t in_def) - { - populate_raw_data(min, in_min); - populate_raw_data(max, in_max); - populate_raw_data(step, in_step); - populate_raw_data(def, in_def); - } - control_range(std::vector in_min, std::vector in_max, std::vector in_step, std::vector in_def) - { - min = in_min; max = in_max; step = in_step; def = in_def; - } - std::vector min; - std::vector max; - std::vector step; - std::vector def; - - private: - void populate_raw_data(std::vector& vec, int32_t value); - }; - - class time_service - { - public: - virtual double get_time() const = 0; - virtual ~time_service() = default; - }; - - class os_time_service: public time_service - { - public: - rs2_time_t get_time() const override - { - return std::chrono::duration(std::chrono::system_clock::now().time_since_epoch()).count(); - } - }; - - struct guid { uint32_t data1; uint16_t data2, data3; uint8_t data4[8]; }; - // subdevice and node fields are assigned by Host driver; unit and GUID are hard-coded in camera firmware - struct extension_unit { int subdevice; uint8_t unit; int node; guid id; }; - - enum power_state - { - D0, - D3 - }; - - typedef std::tuple< uint32_t, uint32_t, uint32_t, uint32_t> stream_profile_tuple; - - struct stream_profile - { - uint32_t width; - uint32_t height; - uint32_t fps; - uint32_t format; - - operator stream_profile_tuple() const - { - return std::make_tuple(width, height, fps, format); - } - - }; - - inline bool operator==(const stream_profile& a, - const stream_profile& b) - { - return (a.width == b.width) && - (a.height == b.height) && - (a.fps == b.fps) && - (a.format == b.format); - } - -#pragma pack(push, 1) - struct uvc_header - { - uint8_t length; // UVC Metadata total length is - // limited by design to 255 bytes - uint8_t info; - uint32_t timestamp; - uint8_t source_clock[6]; - }; - - struct uvc_header_mipi - { - uvc_header header; - uint32_t frame_counter; - }; - - struct hid_header - { - uint8_t length; // HID report total size. Limited to 255 - uint8_t report_type; // Curently supported: IMU/Custom Temperature - uint64_t timestamp; // Driver-produced/FW-based timestamp. Note that currently only the lower 32bit are used - }; -#pragma pack(pop) - - constexpr uint8_t uvc_header_size = sizeof(uvc_header); - constexpr uint8_t hid_header_size = sizeof(hid_header); - constexpr uint8_t uvc_header_mipi_size = sizeof(uvc_header_mipi); - - struct frame_object - { - size_t frame_size; - uint8_t metadata_size; - const void * pixels; - const void * metadata; - rs2_time_t backend_time; - }; - - typedef std::function)> frame_callback; - - struct uvc_device_info - { - std::string id = ""; // to distinguish between different pins of the same device - uint16_t vid = 0; - uint16_t pid = 0; - uint16_t mi = 0; - std::string unique_id = ""; - std::string device_path = ""; - std::string serial = ""; - usb_spec conn_spec = usb_undefined; - uint32_t uvc_capabilities = 0; - bool has_metadata_node = false; - std::string metadata_node_id = ""; - - operator std::string() - { - std::stringstream s; - s << "id- " << id << - "\nvid- " << std::hex << vid << - "\npid- " << std::hex << pid << - "\nmi- " << std::dec << mi << - "\nunique_id- " << unique_id << - "\npath- " << device_path << - "\nUVC capabilities- " << std::hex << uvc_capabilities << - "\nUVC specification- " << std::hex << (uint16_t)conn_spec << std::dec << - (has_metadata_node ? ( "\nmetadata node-" + metadata_node_id) : "") << std::endl; - - return s.str(); - } - - bool operator <(const uvc_device_info& obj) const - { - return (std::make_tuple(id, vid, pid, mi, unique_id, device_path) < std::make_tuple(obj.id, obj.vid, obj.pid, obj.mi, obj.unique_id, obj.device_path)); - } - - }; - - inline bool operator==(const uvc_device_info& a, - const uvc_device_info& b) - { - return (a.vid == b.vid) && - (a.pid == b.pid) && - (a.mi == b.mi) && - (a.unique_id == b.unique_id) && - (a.id == b.id) && - (a.device_path == b.device_path) && - (a.conn_spec == b.conn_spec); - } - - inline bool operator==(const usb_device_info& a, - const usb_device_info& b) - { - return (a.id == b.id) && - (a.vid == b.vid) && - (a.pid == b.pid) && - (a.mi == b.mi) && - (a.unique_id == b.unique_id) && - (a.conn_spec == b.conn_spec); - } - - - - struct playback_device_info - { - std::string file_path; - - operator std::string() - { - return file_path; - } - }; - - inline bool operator==(const playback_device_info& a, - const playback_device_info& b) - { - return (a.file_path == b.file_path); - } - - struct hid_sensor - { - std::string name; - }; - - struct hid_sensor_input - { - uint32_t index; - std::string name; - }; - - struct callback_data{ - hid_sensor sensor; - hid_sensor_input sensor_input; - uint32_t value; - }; - - struct sensor_data - { - hid_sensor sensor; - frame_object fo; - }; - - struct hid_profile - { - std::string sensor_name; - uint32_t frequency; - }; - - enum custom_sensor_report_field{ - minimum, - maximum, - name, - size, - unit_expo, - units, - value - }; - -#pragma pack(push, 1) - struct hid_sensor_data - { - short x; - char reserved1[2]; - short y; - char reserved2[2]; - short z; - char reserved3[2]; - uint32_t ts_low; - uint32_t ts_high; - }; -#pragma pack(pop) - - typedef std::function hid_callback; - - class hid_device - { - public: - virtual ~hid_device() = default; - virtual void register_profiles(const std::vector& hid_profiles) = 0;// TODO: this should be queried from the device - virtual void open(const std::vector& hid_profiles) = 0; - virtual void close() = 0; - virtual void stop_capture() = 0; - virtual void start_capture(hid_callback callback) = 0; - virtual std::vector get_sensors() = 0; - virtual std::vector get_custom_report_data(const std::string& custom_sensor_name, - const std::string& report_name, - custom_sensor_report_field report_field) = 0; - }; - - struct request_mapping; - - class uvc_device - { - public: - virtual void probe_and_commit(stream_profile profile, frame_callback callback, int buffers = DEFAULT_V4L2_FRAME_BUFFERS) = 0; - virtual void stream_on(std::function error_handler = [](const notification& n){}) = 0; - virtual void start_callbacks() = 0; - virtual void stop_callbacks() = 0; - virtual void close(stream_profile profile) = 0; - - virtual void set_power_state(power_state state) = 0; - virtual power_state get_power_state() const = 0; - - virtual void init_xu(const extension_unit& xu) = 0; - virtual bool set_xu(const extension_unit& xu, uint8_t ctrl, const uint8_t* data, int len) = 0; - virtual bool get_xu(const extension_unit& xu, uint8_t ctrl, uint8_t* data, int len) const = 0; - virtual control_range get_xu_range(const extension_unit& xu, uint8_t ctrl, int len) const = 0; - - virtual bool get_pu(rs2_option opt, int32_t& value) const = 0; - virtual bool set_pu(rs2_option opt, int32_t value) = 0; - virtual control_range get_pu_range(rs2_option opt) const = 0; - - virtual std::vector get_profiles() const = 0; - - virtual void lock() const = 0; - virtual void unlock() const = 0; - - virtual std::string get_device_location() const = 0; - virtual usb_spec get_usb_specification() const = 0; - - virtual ~uvc_device() = default; - - protected: - std::function _error_handler; - }; - - class retry_controls_work_around : public uvc_device - { - public: - explicit retry_controls_work_around(std::shared_ptr dev) - : _dev(dev) {} - - void probe_and_commit(stream_profile profile, frame_callback callback, int buffers) override - { - _dev->probe_and_commit(profile, callback, buffers); - } - - void stream_on(std::function error_handler = [](const notification& n){}) override - { - _dev->stream_on(error_handler); - } - - void start_callbacks() override - { - _dev->start_callbacks(); - } - - void stop_callbacks() override - { - _dev->stop_callbacks(); - } - - void close(stream_profile profile) override - { - _dev->close(profile); - } - - void set_power_state(power_state state) override - { - _dev->set_power_state(state); - } - - power_state get_power_state() const override - { - return _dev->get_power_state(); - } - - void init_xu(const extension_unit& xu) override - { - _dev->init_xu(xu); - } - - bool set_xu(const extension_unit& xu, uint8_t ctrl, const uint8_t* data, int len) override - { - for (auto i = 0; i < MAX_RETRIES; ++i) - { - if (_dev->set_xu(xu, ctrl, data, len)) - return true; - - std::this_thread::sleep_for(std::chrono::milliseconds(DELAY_FOR_RETRIES)); - } - return false; - } - - bool get_xu(const extension_unit& xu, uint8_t ctrl, uint8_t* data, int len) const override - { - for (auto i = 0; i < MAX_RETRIES; ++i) - { - if (_dev->get_xu(xu, ctrl, data, len)) - return true; - - std::this_thread::sleep_for(std::chrono::milliseconds(DELAY_FOR_RETRIES)); - } - return false; - } - - control_range get_xu_range(const extension_unit& xu, uint8_t ctrl, int len) const override - { - return _dev->get_xu_range(xu, ctrl, len); - } - - bool get_pu(rs2_option opt, int32_t& value) const override - { - for (auto i = 0; i < MAX_RETRIES; ++i) - { - if (_dev->get_pu(opt, value)) - return true; - - std::this_thread::sleep_for(std::chrono::milliseconds(DELAY_FOR_RETRIES)); - } - return false; - } - - bool set_pu(rs2_option opt, int32_t value) override - { - for (auto i = 0; i < MAX_RETRIES; ++i) - { - if (_dev->set_pu(opt, value)) - return true; - - std::this_thread::sleep_for(std::chrono::milliseconds(DELAY_FOR_RETRIES)); - } - return false; - } - - control_range get_pu_range(rs2_option opt) const override - { - return _dev->get_pu_range(opt); - } - - std::vector get_profiles() const override - { - return _dev->get_profiles(); - } - - std::string get_device_location() const override - { - return _dev->get_device_location(); - } - - usb_spec get_usb_specification() const override - { - return _dev->get_usb_specification(); - } - - void lock() const override { _dev->lock(); } - void unlock() const override { _dev->unlock(); } - - private: - std::shared_ptr _dev; - }; - - class device_watcher; + class hid_device; + class uvc_device; + class command_transfer; - struct backend_device_group - { - backend_device_group(){} - - backend_device_group(const std::vector& uvc_devices, const std::vector& usb_devices, const std::vector& hid_devices) - :uvc_devices(uvc_devices), usb_devices(usb_devices), hid_devices(hid_devices) {} - - backend_device_group(const std::vector& usb_devices) - :usb_devices(usb_devices) {} - - backend_device_group(const std::vector& uvc_devices, const std::vector& usb_devices) - :uvc_devices(uvc_devices), usb_devices(usb_devices) {} - - backend_device_group(const std::vector& playback_devices) : playback_devices(playback_devices) {} - - std::vector uvc_devices; - std::vector usb_devices; - std::vector hid_devices; - std::vector playback_devices; - - bool operator == (const backend_device_group& other) - { - return !list_changed(uvc_devices, other.uvc_devices) && - !list_changed(hid_devices, other.hid_devices) && - !list_changed(playback_devices, other.playback_devices); - } - - operator std::string() - { - std::string s; - s = uvc_devices.size()>0 ? "uvc devices:\n" : ""; - for (auto uvc : uvc_devices) - { - s += uvc; - s += "\n\n"; - } - - s += usb_devices.size()>0 ? "usb devices:\n" : ""; - for (auto usb : usb_devices) - { - s += usb; - s += "\n\n"; - } - - s += hid_devices.size()>0 ? "hid devices: \n" : ""; - for (auto hid : hid_devices) - { - s += hid; - s += "\n\n"; - } - - s += playback_devices.size()>0 ? "playback devices: \n" : ""; - for (auto playback_device : playback_devices) - { - s += playback_device; - s += "\n\n"; - } - - return s; - } - }; - - - - typedef std::function device_changed_callback; class backend { @@ -576,8 +42,6 @@ namespace librealsense virtual std::shared_ptr create_hid_device(hid_device_info info) const = 0; virtual std::vector query_hid_devices() const = 0; - virtual std::shared_ptr create_time_service() const = 0; - virtual std::shared_ptr create_device_watcher() const = 0; virtual std::string get_device_serial(uint16_t device_vid, uint16_t device_pid, const std::string& device_uid) const @@ -589,228 +53,6 @@ namespace librealsense virtual ~backend() = default; }; - class multi_pins_hid_device : public hid_device - { - public: - void register_profiles(const std::vector& hid_profiles) override { _hid_profiles = hid_profiles; } - void open(const std::vector& sensor_iio) override - { - for (auto&& dev : _dev) dev->open(sensor_iio); - } - - void close() override - { - for (auto&& dev : _dev) dev->close(); - } - - void stop_capture() override - { - _dev.front()->stop_capture(); - } - - void start_capture(hid_callback callback) override - { - _dev.front()->start_capture(callback); - } - - std::vector get_sensors() override - { - return _dev.front()->get_sensors(); - } - - explicit multi_pins_hid_device(const std::vector>& dev) - : _dev(dev) - { - } - - std::vector get_custom_report_data(const std::string& custom_sensor_name, - const std::string& report_name, - custom_sensor_report_field report_field) override - { - return _dev.front()->get_custom_report_data(custom_sensor_name, report_name, report_field); - } - - private: - std::vector> _dev; - std::vector _hid_profiles; - }; - - class multi_pins_uvc_device : public uvc_device - { - public: - explicit multi_pins_uvc_device(const std::vector>& dev) - : _dev(dev) - {} - - void probe_and_commit(stream_profile profile, frame_callback callback, int buffers) override - { - auto dev_index = get_dev_index_by_profiles(profile); - _configured_indexes.insert(dev_index); - _dev[dev_index]->probe_and_commit(profile, callback, buffers); - } - - - void stream_on(std::function error_handler = [](const notification& n){}) override - { - for (auto& elem : _configured_indexes) - { - _dev[elem]->stream_on(error_handler); - } - } - void start_callbacks() override - { - for (auto& elem : _configured_indexes) - { - _dev[elem]->start_callbacks(); - } - } - - void stop_callbacks() override - { - for (auto& elem : _configured_indexes) - { - _dev[elem]->stop_callbacks(); - } - } - - void close(stream_profile profile) override - { - auto dev_index = get_dev_index_by_profiles(profile); - _dev[dev_index]->close(profile); - _configured_indexes.erase(dev_index); - } - - void set_power_state(power_state state) override - { - for (auto& elem : _dev) - { - elem->set_power_state(state); - } - } - - power_state get_power_state() const override - { - return _dev.front()->get_power_state(); - } - - void init_xu(const extension_unit& xu) override - { - _dev.front()->init_xu(xu); - } - - bool set_xu(const extension_unit& xu, uint8_t ctrl, const uint8_t* data, int len) override - { - return _dev.front()->set_xu(xu, ctrl, data, len); - } - - bool get_xu(const extension_unit& xu, uint8_t ctrl, uint8_t* data, int len) const override - { - return _dev.front()->get_xu(xu, ctrl, data, len); - } - - control_range get_xu_range(const extension_unit& xu, uint8_t ctrl, int len) const override - { - return _dev.front()->get_xu_range(xu, ctrl, len); - } - - bool get_pu(rs2_option opt, int32_t& value) const override - { - return _dev.front()->get_pu(opt, value); - } - - bool set_pu(rs2_option opt, int32_t value) override - { - return _dev.front()->set_pu(opt, value); - } - - control_range get_pu_range(rs2_option opt) const override - { - return _dev.front()->get_pu_range(opt); - } - - std::vector get_profiles() const override - { - std::vector all_stream_profiles; - for (auto& elem : _dev) - { - auto pin_stream_profiles = elem->get_profiles(); - all_stream_profiles.insert(all_stream_profiles.end(), - pin_stream_profiles.begin(), pin_stream_profiles.end()); - } - return all_stream_profiles; - } - - std::string get_device_location() const override - { - return _dev.front()->get_device_location(); - } - - usb_spec get_usb_specification() const override - { - return _dev.front()->get_usb_specification(); - } - - void lock() const override - { - std::vector locked_dev; - try { - for (auto& elem : _dev) - { - elem->lock(); - locked_dev.push_back(elem.get()); - } - } - catch(...) - { - for (auto& elem : locked_dev) - { - elem->unlock(); - } - throw; - } - } - - void unlock() const override - { - for (auto& elem : _dev) - { - elem->unlock(); - } - } - - private: - uint32_t get_dev_index_by_profiles(const stream_profile& profile) const - { - uint32_t dev_index = 0; - for (auto& elem : _dev) - { - auto pin_stream_profiles = elem->get_profiles(); - auto it = find(pin_stream_profiles.begin(), pin_stream_profiles.end(), profile); - if (it != pin_stream_profiles.end()) - { - return dev_index; - } - ++dev_index; - } - throw std::runtime_error("profile not found"); - } - - std::vector> _dev; - std::set _configured_indexes; - }; - - std::shared_ptr create_backend(); - - - - class device_watcher - { - public: - virtual void start(device_changed_callback callback) = 0; - virtual void stop() = 0; - virtual bool is_stopped() const = 0; - virtual ~device_watcher() {}; - }; } double monotonic_to_realtime(double monotonic); diff --git a/src/basics.h b/src/basics.h index 5be45517..ec42546c 100644 --- a/src/basics.h +++ b/src/basics.h @@ -9,6 +9,14 @@ // Any extension relying on these APIs must be compiled and distributed together with realsense2.dll #pragma warning(disable : 4275) /* disable: C4275: non dll-interface class used as base for dll-interface class */ #pragma warning(disable : 4251) /* disable: C4251: class needs to have dll-interface to be used by clients of class */ + +// Compiler Warning (level 2) C4250: 'class1' : inherits 'class2::member' via dominance +// This happens for librealsense::device, basically warning us of something that we know and is OK: +// 'librealsense::device': inherits 'info_container::create_snapshot' via dominance (and repeats for 3 more functions) +// And for anything else using both an interface and a container, options_container etc. +#pragma warning(disable: 4250) + + #ifdef WIN32 #define LRS_EXTENSION_API __declspec(dllexport) #else diff --git a/src/calibrated-sensor.h b/src/calibrated-sensor.h deleted file mode 100644 index b3fbe205..00000000 --- a/src/calibrated-sensor.h +++ /dev/null @@ -1,24 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2020 Intel Corporation. All Rights Reserved. - -#pragma once - -#include "types.h" -#include "core/streaming.h" - -namespace librealsense -{ - class calibrated_sensor - { - public: - virtual void override_intrinsics( rs2_intrinsics const & ) = 0; - virtual void override_extrinsics( rs2_extrinsics const & ) = 0; - - virtual rs2_dsm_params get_dsm_params() const = 0; - virtual void override_dsm_params( rs2_dsm_params const & ) = 0; - - virtual void reset_calibration() = 0; - }; - MAP_EXTENSION(RS2_EXTENSION_CALIBRATED_SENSOR, calibrated_sensor ); -} - diff --git a/src/callback-invocation.h b/src/callback-invocation.h index 162a9051..4e67c02f 100644 --- a/src/callback-invocation.h +++ b/src/callback-invocation.h @@ -44,8 +44,17 @@ struct callback_invocation_holder ~callback_invocation_holder() { - if( invocation ) - owner->deallocate( invocation ); + if( invocation && owner ) + { + try + { + owner->deallocate( invocation ); + } + catch( const std::exception & e ) + { + LOG_DEBUG( "Error while callback holder deallocation: " << e.what() ); + } + } } callback_invocation_holder & operator=( callback_invocation_holder && other ) diff --git a/src/color-sensor.h b/src/color-sensor.h index 676a7f70..6a77169a 100644 --- a/src/color-sensor.h +++ b/src/color-sensor.h @@ -6,35 +6,15 @@ #include "core/extension.h" namespace librealsense { -class color_sensor : public recordable< color_sensor > + + +class color_sensor { public: virtual ~color_sensor() = default; - - void create_snapshot( std::shared_ptr< color_sensor > & snapshot ) const override; - void - enable_recording( std::function< void( const color_sensor & ) > recording_function ) override{}; }; MAP_EXTENSION( RS2_EXTENSION_COLOR_SENSOR, librealsense::color_sensor ); -class color_sensor_snapshot - : public virtual color_sensor - , public extension_snapshot -{ -public: - color_sensor_snapshot() {} - - void update( std::shared_ptr< extension_snapshot > ext ) override {} - - void create_snapshot( std::shared_ptr< color_sensor > & snapshot ) const override - { - snapshot = std::make_shared< color_sensor_snapshot >( *this ); - } - void - enable_recording( std::function< void( const color_sensor & ) > recording_function ) override - { - // empty - } -}; + } // namespace librealsense diff --git a/src/composite-frame.h b/src/composite-frame.h index 46cca655..5463cf69 100644 --- a/src/composite-frame.h +++ b/src/composite-frame.h @@ -39,16 +39,12 @@ class composite_frame : public frame // In the next section we make the composite frame "look and feel" like the first of its // children frame_header const & get_header() const override { return first()->get_header(); } - rs2_metadata_type get_frame_metadata( const rs2_frame_metadata_value & frame_metadata ) const override + bool find_metadata( rs2_frame_metadata_value frame_metadata, rs2_metadata_type * p_output_value ) const override { - return first()->get_frame_metadata( frame_metadata ); - } - bool supports_frame_metadata( const rs2_frame_metadata_value & frame_metadata ) const override - { - return first()->supports_frame_metadata( frame_metadata ); + return first()->find_metadata( frame_metadata, p_output_value ); } int get_frame_data_size() const override { return first()->get_frame_data_size(); } - const byte * get_frame_data() const override { return first()->get_frame_data(); } + const uint8_t * get_frame_data() const override { return first()->get_frame_data(); } rs2_time_t get_frame_timestamp() const override { return first()->get_frame_timestamp(); } rs2_timestamp_domain get_frame_timestamp_domain() const override { diff --git a/src/context.cpp b/src/context.cpp index edc5af02..db857670 100644 --- a/src/context.cpp +++ b/src/context.cpp @@ -1,624 +1,186 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2015 Intel Corporation. All Rights Reserved. -#ifdef _MSC_VER -#if (_MSC_VER <= 1800) // constexpr is not supported in MSVC2013 -#error( "Librealsense requires MSVC2015 or later to build. Compilation will be aborted" ) -#endif -#endif -#include -#include -#include "ivcam/sr300.h" -#include "ds/d400/d400-factory.h" -#include "l500/l500-factory.h" -#include "ds/ds-timestamp.h" -#include "backend.h" -#include -#include "types.h" -#include "stream.h" -#include "environment.h" #include "context.h" -#include "fw-update/fw-update-factory.h" +#include "device-info.h" -template<> -bool contains(const std::shared_ptr& first, - const std::shared_ptr& second) -{ - auto first_data = first->get_device_data(); - auto second_data = second->get_device_data(); +#include "backend-device-factory.h" +#ifdef BUILD_WITH_DDS +#include "dds/rsdds-device-factory.h" +#endif +#include "rscore-pp-block-factory.h" - for (auto&& uvc : first_data.uvc_devices) - { - if (std::find(second_data.uvc_devices.begin(), - second_data.uvc_devices.end(), uvc) == - second_data.uvc_devices.end()) - return false; - } - for (auto&& usb : first_data.usb_devices) - { - if (std::find(second_data.usb_devices.begin(), - second_data.usb_devices.end(), usb) == - second_data.usb_devices.end()) - return false; - } - for (auto&& hid : first_data.hid_devices) - { - if (std::find(second_data.hid_devices.begin(), - second_data.hid_devices.end(), hid) == - second_data.hid_devices.end()) - return false; - } - for (auto&& pd : first_data.playback_devices) - { - if (std::find(second_data.playback_devices.begin(), - second_data.playback_devices.end(), pd) == - second_data.playback_devices.end()) - return false; - } - return true; -} - -namespace librealsense -{ - const std::map platform_color_fourcc_to_rs2_format = { - {rs_fourcc('Y','U','Y','2'), RS2_FORMAT_YUYV}, - {rs_fourcc('Y','U','Y','V'), RS2_FORMAT_YUYV}, - {rs_fourcc('M','J','P','G'), RS2_FORMAT_MJPEG}, - }; - const std::map platform_color_fourcc_to_rs2_stream = { - {rs_fourcc('Y','U','Y','2'), RS2_STREAM_COLOR}, - {rs_fourcc('Y','U','Y','V'), RS2_STREAM_COLOR}, - {rs_fourcc('M','J','P','G'), RS2_STREAM_COLOR}, - }; - - context::context( backend_type type ) - : _devices_changed_callback(nullptr, [](rs2_devices_changed_callback*){}) - { - static bool version_logged=false; - if (!version_logged) - { - version_logged = true; - LOG_DEBUG( "Librealsense VERSION: " << RS2_API_VERSION_STR ); - } +#include // rs2_devices_changed_callback +#include // RS2_API_FULL_VERSION_STR +#include - _backend = platform::create_backend(); +#include +#include +#include +#include +#include +#include +using json = rsutils::json; - environment::get_instance().set_time_service(_backend->create_time_service()); - _device_watcher = _backend->create_device_watcher(); - assert(_device_watcher->is_stopped()); - } +namespace librealsense { - class recovery_info : public device_info + static rsutils::json load_settings( rsutils::json const & context_settings ) { - public: - std::shared_ptr create(std::shared_ptr, bool) const override - { - throw unrecoverable_exception(RECOVERY_MESSAGE, - RS2_EXCEPTION_TYPE_DEVICE_IN_RECOVERY_MODE); - } - - static bool is_recovery_pid(uint16_t pid) - { - return pid == 0x0ADB || pid == 0x0AB3; - } + // Allow ignoring of any other settings, global or not! + if( ! context_settings.nested( "inherit" ).default_value( true ) ) + return context_settings; - static std::vector> pick_recovery_devices( - std::shared_ptr ctx, - const std::vector& usb_devices) - { - std::vector> list; - for (auto&& usb : usb_devices) - { - if (is_recovery_pid(usb.pid)) - { - list.push_back(std::make_shared(ctx, usb)); - } - } - return list; - } + auto const filename = rsutils::os::get_special_folder( rsutils::os::special_folder::app_data ) + RS2_CONFIG_FILENAME; + auto config = rsutils::json_config::load_from_file( filename ); - explicit recovery_info(std::shared_ptr ctx, platform::usb_device_info dfu) - : device_info(ctx), _dfu(std::move(dfu)) {} + // Take only the 'context' part of it + config = rsutils::json_config::load_settings( config, "context", "config-file" ); - platform::backend_device_group get_device_data()const override - { - return platform::backend_device_group({ _dfu }); - } + // Patch the given context settings into the configuration + config.override( context_settings, "context settings" ); + return config; + } - private: - platform::usb_device_info _dfu; - const char* RECOVERY_MESSAGE = "Selected RealSense device is in recovery mode!\nEither perform a firmware update or reconnect the camera to fall-back to last working firmware if available!"; - }; - class platform_camera_info : public device_info + context::context( json const & settings ) + : _settings( load_settings( settings ) ) // global | application | local + , _device_mask( _settings.nested( "device-mask" ).default_value< unsigned >( RS2_PRODUCT_LINE_ANY ) ) { - public: - std::shared_ptr create(std::shared_ptr, bool) const override; - - static std::vector> pick_uvc_devices( - const std::shared_ptr& ctx, - const std::vector& uvc_devices) + static bool version_logged = false; + if( ! version_logged ) { - std::vector> list; - auto groups = group_devices_by_unique_id(uvc_devices); - - for (auto&& g : groups) - { - if (g.front().vid != VID_INTEL_CAMERA) - list.push_back(std::make_shared(ctx, g)); - } - return list; - } - - explicit platform_camera_info(std::shared_ptr ctx, - std::vector uvcs) - : device_info(ctx), _uvcs(std::move(uvcs)) {} - - platform::backend_device_group get_device_data() const override - { - return platform::backend_device_group(); + version_logged = true; + LOG_DEBUG( "Librealsense VERSION: " << RS2_API_FULL_VERSION_STR ); } + } - private: - std::vector _uvcs; - }; - class platform_camera_sensor : public synthetic_sensor + void context::create_factories( std::shared_ptr< context > const & sptr ) { - public: - platform_camera_sensor(device* owner, - std::shared_ptr uvc_sensor) - : synthetic_sensor("RGB Camera", uvc_sensor, owner,platform_color_fourcc_to_rs2_format,platform_color_fourcc_to_rs2_stream), - _default_stream(new stream(RS2_STREAM_COLOR)) - { - } - - stream_profiles init_stream_profiles() override - { - auto lock = environment::get_instance().get_extrinsics_graph().lock(); - - auto results = synthetic_sensor::init_stream_profiles(); - - for (auto&& p : results) - { - // Register stream types - assign_stream(_default_stream, p); - environment::get_instance().get_extrinsics_graph().register_same_extrinsics(*_default_stream, *p); - } - - return results; - } + _factories.push_back( std::make_shared< backend_device_factory >( + sptr, + [this]( std::vector< std::shared_ptr< device_info > > const & removed, + std::vector< std::shared_ptr< device_info > > const & added ) + { invoke_devices_changed_callbacks( removed, added ); } ) ); +#ifdef BUILD_WITH_DDS + _factories.push_back( std::make_shared< rsdds_device_factory >( + sptr, + [this]( std::vector< std::shared_ptr< device_info > > const & removed, + std::vector< std::shared_ptr< device_info > > const & added ) + { invoke_devices_changed_callbacks( removed, added ); } ) ); +#endif + } - private: - std::shared_ptr _default_stream; - }; - class platform_camera : public device + /*static*/ std::shared_ptr< context > context::make( json const & settings ) { - public: - platform_camera(const std::shared_ptr& ctx, - const std::vector& uvc_infos, - const platform::backend_device_group& group, - bool register_device_notifications) - : device(ctx, group, register_device_notifications) - { - std::vector> devs; - for (auto&& info : uvc_infos) - devs.push_back(ctx->get_backend().create_uvc_device(info)); - - std::unique_ptr host_timestamp_reader_backup(new ds_timestamp_reader(environment::get_instance().get_time_service())); - auto raw_color_ep = std::make_shared("Raw RGB Camera", - std::make_shared(devs), - std::unique_ptr(new ds_timestamp_reader_from_metadata(std::move(host_timestamp_reader_backup))), - this); - auto color_ep = std::make_shared(this, raw_color_ep); - add_sensor(color_ep); - - register_info(RS2_CAMERA_INFO_NAME, "Platform Camera"); - std::string pid_str( rsutils::string::from() - << std::setfill( '0' ) << std::setw( 4 ) << std::hex << uvc_infos.front().pid ); - std::transform(pid_str.begin(), pid_str.end(), pid_str.begin(), ::toupper); - - using namespace platform; - auto usb_mode = raw_color_ep->get_usb_specification(); - std::string usb_type_str("USB"); - if (usb_spec_names.count(usb_mode) && (usb_undefined != usb_mode)) - usb_type_str = usb_spec_names.at(usb_mode); - - register_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR, usb_type_str); - register_info(RS2_CAMERA_INFO_SERIAL_NUMBER, uvc_infos.front().unique_id); - register_info(RS2_CAMERA_INFO_PHYSICAL_PORT, uvc_infos.front().device_path); - register_info(RS2_CAMERA_INFO_PRODUCT_ID, pid_str); - - color_ep->register_processing_block(processing_block_factory::create_pbf_vector(RS2_FORMAT_YUYV, map_supported_color_formats(RS2_FORMAT_YUYV), RS2_STREAM_COLOR)); - color_ep->register_processing_block({ {RS2_FORMAT_MJPEG} }, { {RS2_FORMAT_RGB8, RS2_STREAM_COLOR} }, []() { return std::make_shared(RS2_FORMAT_RGB8); }); - color_ep->register_processing_block(processing_block_factory::create_id_pbf(RS2_FORMAT_MJPEG, RS2_STREAM_COLOR)); - - // Timestamps are given in units set by device which may vary among the OEM vendors. - // For consistent (msec) measurements use "time of arrival" metadata attribute - color_ep->register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_uvc_header_parser(&platform::uvc_header::timestamp)); - - color_ep->try_register_pu(RS2_OPTION_BACKLIGHT_COMPENSATION); - color_ep->try_register_pu(RS2_OPTION_BRIGHTNESS); - color_ep->try_register_pu(RS2_OPTION_CONTRAST); - color_ep->try_register_pu(RS2_OPTION_EXPOSURE); - color_ep->try_register_pu(RS2_OPTION_GAMMA); - color_ep->try_register_pu(RS2_OPTION_HUE); - color_ep->try_register_pu(RS2_OPTION_SATURATION); - color_ep->try_register_pu(RS2_OPTION_SHARPNESS); - color_ep->try_register_pu(RS2_OPTION_WHITE_BALANCE); - color_ep->try_register_pu(RS2_OPTION_ENABLE_AUTO_EXPOSURE); - color_ep->try_register_pu(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE); - } - - virtual rs2_intrinsics get_intrinsics(unsigned int, const stream_profile&) const - { - return rs2_intrinsics {}; - } + std::shared_ptr< context > sptr( new context( settings ) ); + sptr->create_factories( sptr ); + return sptr; + } - std::vector get_profiles_tags() const override - { - std::vector markers; - markers.push_back({ RS2_STREAM_COLOR, -1, 640, 480, RS2_FORMAT_RGB8, 30, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT }); - return markers; - } - }; - std::shared_ptr platform_camera_info::create(std::shared_ptr ctx, - bool register_device_notifications) const + /*static*/ std::shared_ptr< context > context::make( char const * json_settings ) { - return std::make_shared(ctx, _uvcs, this->get_device_data(), register_device_notifications); + return make( ( ! json_settings || ! *json_settings ) ? json::object() : json::parse( json_settings ) ); } + context::~context() { - _device_watcher->stop(); //ensure that the device watcher will stop before the _devices_changed_callback will be deleted } - std::vector> context::query_devices(int mask) const - { - platform::backend_device_group devices(_backend->query_uvc_devices(), _backend->query_usb_devices(), _backend->query_hid_devices()); - return create_devices(devices, _playback_devices, mask); - } - - std::vector> context::create_devices(platform::backend_device_group devices, - const std::map>& playback_devices, - int mask) const + /*static*/ unsigned context::combine_device_masks( unsigned const requested_mask, unsigned const mask_in_settings ) { - std::vector> list; - - auto t = const_cast(this); // While generally a bad idea, we need to provide mutable reference to the devices - // to allow them to modify context later on - auto ctx = t->shared_from_this(); - - if (mask & RS2_PRODUCT_LINE_D400) - { - auto d400_devices = d400_info::pick_d400_devices(ctx, devices); - std::copy(begin(d400_devices), end(d400_devices), std::back_inserter(list)); - } - - if( mask & RS2_PRODUCT_LINE_L500 ) - { - auto l500_devices = l500_info::pick_l500_devices(ctx, devices); - std::copy(begin(l500_devices), end(l500_devices), std::back_inserter(list)); - } - - if (mask & RS2_PRODUCT_LINE_SR300) - { - auto sr300_devices = sr300_info::pick_sr300_devices(ctx, devices.uvc_devices, devices.usb_devices); - std::copy(begin(sr300_devices), end(sr300_devices), std::back_inserter(list)); - } - - // Supported recovery devices - if (mask & RS2_PRODUCT_LINE_D400 || mask & RS2_PRODUCT_LINE_SR300 || mask & RS2_PRODUCT_LINE_L500) - { - auto recovery_devices = fw_update_info::pick_recovery_devices(ctx, devices.usb_devices, mask); - std::copy(begin(recovery_devices), end(recovery_devices), std::back_inserter(list)); - } - - if (mask & RS2_PRODUCT_LINE_NON_INTEL) - { - auto uvc_devices = platform_camera_info::pick_uvc_devices(ctx, devices.uvc_devices); - std::copy(begin(uvc_devices), end(uvc_devices), std::back_inserter(list)); - } - - for (auto&& item : playback_devices) - { - if (auto dev = item.second.lock()) - list.push_back(dev); - } - - if (list.size()) - LOG_INFO( "Found " << list.size() << " RealSense devices (mask 0x" << std::hex << mask << ")" ); - return list; + unsigned mask = requested_mask; + // The normal bits enable, so enable only those that are on + mask &= mask_in_settings & ~RS2_PRODUCT_LINE_SW_ONLY; + // But the above turned off the SW-only bits, so turn them back on again + if( ( mask_in_settings & RS2_PRODUCT_LINE_SW_ONLY ) || ( requested_mask & RS2_PRODUCT_LINE_SW_ONLY ) ) + mask |= RS2_PRODUCT_LINE_SW_ONLY; + return mask; } - void context::on_device_changed(platform::backend_device_group old, - platform::backend_device_group curr, - const std::map>& old_playback_devices, - const std::map>& new_playback_devices) + std::vector< std::shared_ptr< device_info > > context::query_devices( int requested_mask ) const { - auto old_list = create_devices(old, old_playback_devices, RS2_PRODUCT_LINE_ANY); - auto new_list = create_devices(curr, new_playback_devices, RS2_PRODUCT_LINE_ANY); - - if (librealsense::list_changed>(old_list, new_list, [](std::shared_ptr first, std::shared_ptr second) {return *first == *second; })) + std::vector< std::shared_ptr< device_info > > list; + for( auto & factory : _factories ) { - std::vector rs2_devices_info_added; - std::vector rs2_devices_info_removed; - - auto devices_info_removed = subtract_sets(old_list, new_list); - - for (size_t i = 0; i < devices_info_removed.size(); i++) - { - rs2_devices_info_removed.push_back({ shared_from_this(), devices_info_removed[i] }); - LOG_DEBUG("\nDevice disconnected:\n\n" << std::string(devices_info_removed[i]->get_device_data())); - } - - auto devices_info_added = subtract_sets(new_list, old_list); - for (size_t i = 0; i < devices_info_added.size(); i++) + for( auto & dev_info : factory->query_devices( requested_mask ) ) { - rs2_devices_info_added.push_back({ shared_from_this(), devices_info_added[i] }); - LOG_DEBUG("\nDevice connected:\n\n" << std::string(devices_info_added[i]->get_device_data())); + LOG_INFO( "... " << dev_info->get_address() ); + list.push_back( dev_info ); } - - std::map devices_changed_callbacks; - { - std::lock_guard lock(_devices_changed_callbacks_mtx); - devices_changed_callbacks = _devices_changed_callbacks; - } - - for (auto& kvp : devices_changed_callbacks) - { - try - { - kvp.second->on_devices_changed(new rs2_device_list({ shared_from_this(), rs2_devices_info_removed }), - new rs2_device_list({ shared_from_this(), rs2_devices_info_added })); - } - catch (...) - { - LOG_ERROR("Exception thrown from user callback handler"); - } - } - - raise_devices_changed(rs2_devices_info_removed, rs2_devices_info_added); } - } - void context::raise_devices_changed(const std::vector& removed, const std::vector& added) - { - if (_devices_changed_callback) + for( auto & item : _user_devices ) { - try - { - _devices_changed_callback->on_devices_changed(new rs2_device_list({ shared_from_this(), removed }), - new rs2_device_list({ shared_from_this(), added })); - } - catch (...) + if( auto dev_info = item.second.lock() ) { - LOG_ERROR("Exception thrown from user callback handler"); + LOG_INFO( "... " << dev_info->get_address() ); + list.push_back( dev_info ); } } + LOG_INFO( "Found " << list.size() << " RealSense devices (0x" << std::hex << requested_mask << " requested & 0x" + << get_device_mask() << " from device-mask in settings)" << std::dec ); + return list; } - void context::start_device_watcher() - { - _device_watcher->start([this](platform::backend_device_group old, platform::backend_device_group curr) - { - on_device_changed(old, curr, _playback_devices, _playback_devices); - }); - } - - uint64_t context::register_internal_device_callback(devices_changed_callback_ptr callback) - { - std::lock_guard lock(_devices_changed_callbacks_mtx); - auto callback_id = unique_id::generate_id(); - _devices_changed_callbacks.insert(std::make_pair(callback_id, std::move(callback))); - - if (_device_watcher->is_stopped()) - { - start_device_watcher(); - } - - return callback_id; - } - - void context::unregister_internal_device_callback(uint64_t cb_id) - { - std::lock_guard lock(_devices_changed_callbacks_mtx); - _devices_changed_callbacks.erase(cb_id); - - if (_devices_changed_callback == nullptr && _devices_changed_callbacks.size() == 0) // There are no register callbacks any more _device_watcher can be stopped - { - _device_watcher->stop(); - } - } - - void context::set_devices_changed_callback(devices_changed_callback_ptr callback) - { - std::lock_guard lock(_devices_changed_callbacks_mtx); - _devices_changed_callback = std::move(callback); - - if (_device_watcher->is_stopped()) - { - start_device_watcher(); - } - } - std::vector filter_by_product(const std::vector& devices, const std::set& pid_list) + void context::invoke_devices_changed_callbacks( + std::vector< std::shared_ptr< device_info > > const & rs2_devices_info_removed, + std::vector< std::shared_ptr< device_info > > const & rs2_devices_info_added ) { - std::vector result; - for (auto&& info : devices) - { - if (pid_list.count(info.pid)) - result.push_back(info); - } - return result; + _devices_changed.raise( rs2_devices_info_removed, rs2_devices_info_added ); } - // TODO: Make template - std::vector filter_by_product(const std::vector& devices, const std::set& pid_list) - { - std::vector result; - for (auto&& info : devices) - { - if (pid_list.count(info.pid)) - result.push_back(info); - } - return result; - } - std::vector, std::vector>> group_devices_and_hids_by_unique_id( - const std::vector>& devices, - const std::vector& hids) + rsutils::subscription context::on_device_changes( devices_changed_callback && callback ) { - std::vector, std::vector>> results; - uint16_t vid; - uint16_t pid; - - for (auto&& dev : devices) - { - std::vector hid_group; - auto unique_id = dev.front().unique_id; - auto device_serial = dev.front().serial; - - for (auto&& hid : hids) - { - if( ! hid.unique_id.empty() ) - { - std::stringstream(hid.vid) >> std::hex >> vid; - std::stringstream(hid.pid) >> std::hex >> pid; - - if (hid.unique_id == unique_id) - { - hid_group.push_back(hid); - } - } - } - results.push_back(std::make_pair(dev, hid_group)); - } - return results; + return _devices_changed.subscribe( std::move( callback ) ); } - std::shared_ptr context::add_device(const std::string& file) - { - auto it = _playback_devices.find(file); - if (it != _playback_devices.end() && it->second.lock()) - { - //Already exists - throw librealsense::invalid_value_exception( rsutils::string::from() - << "File \"" << file << "\" already loaded to context" ); - } - auto playback_dev = std::make_shared(shared_from_this(), std::make_shared(file, shared_from_this())); - auto dinfo = std::make_shared(playback_dev); - auto prev_playback_devices = _playback_devices; - _playback_devices[file] = dinfo; - on_device_changed({}, {}, prev_playback_devices, _playback_devices); - return std::move(dinfo); - } - void context::add_software_device(std::shared_ptr dev) + void context::add_device( std::shared_ptr< device_info > const & dev ) { - auto file = dev->get_device_data().playback_devices.front().file_path; + auto address = dev->get_address(); - auto it = _playback_devices.find(file); - if (it != _playback_devices.end() && it->second.lock()) - { - //Already exists - throw librealsense::invalid_value_exception( rsutils::string::from() << "File \"" << file << "\" already loaded to context"); - } - auto prev_playback_devices = _playback_devices; - _playback_devices[file] = dev; - on_device_changed({}, {}, prev_playback_devices, _playback_devices); - } + auto it = _user_devices.find( address ); + if( it != _user_devices.end() && it->second.lock() ) + throw librealsense::invalid_value_exception( "device already in context: " + address ); + _user_devices[address] = dev; - void context::remove_device(const std::string& file) - { - auto it = _playback_devices.find(file); - if(it == _playback_devices.end() || !it->second.lock()) - { - //Not found - return; - } - auto prev_playback_devices =_playback_devices; - _playback_devices.erase(it); - on_device_changed({},{}, prev_playback_devices, _playback_devices); + std::vector< std::shared_ptr< device_info > > rs2_device_info_added{ dev }; + invoke_devices_changed_callbacks( {}, rs2_device_info_added ); } - std::vector> group_devices_by_unique_id(const std::vector& devices) - { - std::map> map; - for (auto&& info : devices) - { - map[info.unique_id].push_back(info); - } - std::vector> result; - for (auto&& kvp : map) - { - result.push_back(kvp.second); - } - return result; - } - - // TODO: Sergey - // Make template - void trim_device_list(std::vector& devices, const std::vector& chosen) - { - if (chosen.empty()) - return; - - auto was_chosen = [&chosen](const platform::usb_device_info& info) - { - return find(chosen.begin(), chosen.end(), info) != chosen.end(); - }; - devices.erase(std::remove_if(devices.begin(), devices.end(), was_chosen), devices.end()); - } - void trim_device_list(std::vector& devices, const std::vector& chosen) + void context::remove_device( std::shared_ptr< device_info > const & dev ) { - if (chosen.empty()) - return; + auto address = dev->get_address(); - auto was_chosen = [&chosen](const platform::uvc_device_info& info) - { - return find(chosen.begin(), chosen.end(), info) != chosen.end(); - }; - devices.erase(std::remove_if(devices.begin(), devices.end(), was_chosen), devices.end()); - } + auto it = _user_devices.find( address ); + if(it == _user_devices.end() ) + return; // Why not throw?! + auto dev_info = it->second.lock(); + _user_devices.erase(it); - bool mi_present(const std::vector& devices, uint32_t mi) - { - for (auto&& info : devices) + if( dev_info ) { - if (info.mi == mi) - return true; + std::vector< std::shared_ptr< device_info > > rs2_device_info_removed{ dev_info }; + invoke_devices_changed_callbacks( rs2_device_info_removed, {} ); } - return false; } - platform::uvc_device_info get_mi(const std::vector& devices, uint32_t mi) - { - for (auto&& info : devices) - { - if (info.mi == mi) - return info; - } - throw invalid_value_exception("Interface not found!"); - } - std::vector filter_by_mi(const std::vector& devices, uint32_t mi) + std::shared_ptr< processing_block_interface > context::create_pp_block( std::string const & name, + rsutils::json const & settings ) { - std::vector results; - for (auto&& info : devices) - { - if (info.mi == mi) - results.push_back(info); - } - return results; + return rscore_pp_block_factory().create_pp_block( name, settings ); } -} -using namespace librealsense; +} // namespace librealsense diff --git a/src/context.h b/src/context.h index d454666d..807bcea8 100644 --- a/src/context.h +++ b/src/context.h @@ -1,175 +1,86 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2015 Intel Corporation. All Rights Reserved. - #pragma once -#include "types.h" -#include "backend.h" -#include "core/streaming.h" - +#include +#include #include -#include "media/playback/playback_device.h" - -namespace librealsense -{ - class context; - class device_info; -} - -struct rs2_device_info -{ - std::shared_ptr ctx; - std::shared_ptr info; -}; +#include -struct rs2_device_list -{ - std::shared_ptr ctx; - std::vector list; -}; - -struct rs2_stream_profile -{ - librealsense::stream_profile_interface* profile; - std::shared_ptr clone; -}; namespace librealsense { - class device; - class context; - - class device_info - { - public: - virtual std::shared_ptr create_device() const - { - return create(_ctx, true); - } - - virtual ~device_info() = default; - - virtual platform::backend_device_group get_device_data()const = 0; - - virtual bool operator==(const device_info& other) const - { - return other.get_device_data() == get_device_data(); - } - - protected: - explicit device_info(std::shared_ptr backend) - : _ctx(std::move(backend)) - {} + class device_factory; + class device_info; + class processing_block_interface; - virtual std::shared_ptr create(std::shared_ptr ctx, - bool register_device_notifications) const = 0; - std::shared_ptr _ctx; - }; - - enum class backend_type + class context { - standard - }; + context( rsutils::json const & ); // private! use make() + void create_factories( std::shared_ptr< context > const & sptr ); - class playback_device_info : public device_info - { - std::shared_ptr _dev; public: - explicit playback_device_info(std::shared_ptr dev) - : device_info(nullptr), _dev(dev) - { - - } - - std::shared_ptr create_device() const override - { - return _dev; - } - platform::backend_device_group get_device_data() const override - { - return platform::backend_device_group({ platform::playback_device_info{ _dev->get_file_name() } }); - } - - std::shared_ptr create(std::shared_ptr, bool) const override - { - return _dev; - } - }; + static std::shared_ptr< context > make( rsutils::json const & ); + static std::shared_ptr< context > make( char const * json_settings ); - typedef std::vector> devices_info; - - class context : public std::enable_shared_from_this - { - public: - explicit context( backend_type type ); - - void stop() { _device_watcher->stop(); } ~context(); - std::vector> query_devices(int mask) const; - const platform::backend& get_backend() const { return *_backend; } - uint64_t register_internal_device_callback(devices_changed_callback_ptr callback); - void unregister_internal_device_callback(uint64_t cb_id); - void set_devices_changed_callback(devices_changed_callback_ptr callback); + // The 'device-mask' is specified in the context settings, and governs which devices will be matched by us + // + unsigned get_device_mask() const { return _device_mask; } + + // Given the requested RS2_PRODUCT_LINE mask, returns the final mask when combined with the device-mask field in + // settings. + // + // E.g., if the device-mask specifies only D400 devices, and the user requests only SW devices, the result + // should be only SW D400 devices. + // + static unsigned combine_device_masks( unsigned requested_mask, unsigned mask_in_settings ); + + // Query any subset of available devices and return them as device-info objects from which actual devices can be + // created as needed. + // + // Devices will match both the requested mask and the device-mask from the context settings. See + // RS2_PRODUCT_LINE_... defines for possible values. + // + std::vector< std::shared_ptr< device_info > > query_devices( int mask ) const; + + using devices_changed_callback + = std::function< void( std::vector< std::shared_ptr< device_info > > const & devices_removed, + std::vector< std::shared_ptr< device_info > > const & devices_added ) >; + + // Subscribe to a notification to receive when the device-list changes. + // + rsutils::subscription on_device_changes( devices_changed_callback && ); + + // Let the context maintain a list of custom devices. These can be anything, like playback devices or devices + // maintained by the user. + void add_device( std::shared_ptr< device_info > const & ); + void remove_device( std::shared_ptr< device_info > const & ); + + const rsutils::json & get_settings() const { return _settings; } + + // Create processing blocks given a name and settings. + // + std::shared_ptr< processing_block_interface > create_pp_block( std::string const & name, + rsutils::json const & settings ); - std::vector> create_devices(platform::backend_device_group devices, - const std::map>& playback_devices, int mask) const; + private: + void invoke_devices_changed_callbacks( std::vector< std::shared_ptr< device_info > > const & devices_removed, + std::vector< std::shared_ptr< device_info > > const & devices_added ); - std::shared_ptr add_device(const std::string& file); - void remove_device(const std::string& file); + std::map< std::string /*address*/, std::weak_ptr< device_info > > _user_devices; - void add_software_device(std::shared_ptr software_device); + rsutils::signal< std::vector< std::shared_ptr< device_info > > const & /*removed*/, + std::vector< std::shared_ptr< device_info > > const & /*added*/ > + _devices_changed; - private: - void on_device_changed(platform::backend_device_group old, - platform::backend_device_group curr, - const std::map>& old_playback_devices, - const std::map>& new_playback_devices); - void raise_devices_changed(const std::vector& removed, const std::vector& added); - void start_device_watcher(); - - std::shared_ptr _backend; - std::shared_ptr _device_watcher; - - std::map> _playback_devices; - std::map _devices_changed_callbacks; - - devices_changed_callback_ptr _devices_changed_callback; - std::map> _streams; - std::map>>> _extrinsics; - std::mutex _streams_mutex, _devices_changed_callbacks_mtx; - }; + rsutils::json _settings; // Save operation settings + unsigned const _device_mask; - class readonly_device_info : public device_info - { - public: - readonly_device_info(std::shared_ptr dev) : device_info(dev->get_context()), _dev(dev) {} - std::shared_ptr create(std::shared_ptr ctx, bool register_device_notifications) const override - { - return _dev; - } - - platform::backend_device_group get_device_data() const override - { - return _dev->get_device_data(); - } - private: - std::shared_ptr _dev; + std::vector< std::shared_ptr< device_factory > > _factories; }; - // Helper functions for device list manipulation: - std::vector filter_by_product(const std::vector& devices, const std::set& pid_list); - std::vector, std::vector>> group_devices_and_hids_by_unique_id( - const std::vector>& devices, - const std::vector& hids); - std::vector> group_devices_by_unique_id(const std::vector& devices); - void trim_device_list(std::vector& devices, const std::vector& chosen); - bool mi_present(const std::vector& devices, uint32_t mi); - platform::uvc_device_info get_mi(const std::vector& devices, uint32_t mi); - std::vector filter_by_mi(const std::vector& devices, uint32_t mi); - - std::vector filter_by_product(const std::vector& devices, const std::set& pid_list); - void trim_device_list(std::vector& devices, const std::vector& chosen); } diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 4390b789..c34b369b 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -1,17 +1,50 @@ # License: Apache 2.0. See LICENSE file in root directory. -# Copyright(c) 2019 Intel Corporation. All Rights Reserved. +# Copyright(c) 2023 Intel Corporation. All Rights Reserved. target_sources(${LRS_TARGET} PRIVATE - "${CMAKE_CURRENT_LIST_DIR}/streaming.cpp" - "${CMAKE_CURRENT_LIST_DIR}/streaming.h" "${CMAKE_CURRENT_LIST_DIR}/debug.h" "${CMAKE_CURRENT_LIST_DIR}/advanced_mode.h" + "${CMAKE_CURRENT_LIST_DIR}/enum-helpers.h" + "${CMAKE_CURRENT_LIST_DIR}/depth-frame.h" + "${CMAKE_CURRENT_LIST_DIR}/device-interface.h" + "${CMAKE_CURRENT_LIST_DIR}/disparity-frame.h" + "${CMAKE_CURRENT_LIST_DIR}/frame-continuation.h" + "${CMAKE_CURRENT_LIST_DIR}/frame-additional-data.h" + "${CMAKE_CURRENT_LIST_DIR}/frame-callback.h" + "${CMAKE_CURRENT_LIST_DIR}/frame-header.h" + "${CMAKE_CURRENT_LIST_DIR}/frame-holder.h" + "${CMAKE_CURRENT_LIST_DIR}/frame-interface.h" + "${CMAKE_CURRENT_LIST_DIR}/frame-processor-callback.h" + "${CMAKE_CURRENT_LIST_DIR}/info-interface.h" "${CMAKE_CURRENT_LIST_DIR}/roi.h" + "${CMAKE_CURRENT_LIST_DIR}/matcher-factory.h" + "${CMAKE_CURRENT_LIST_DIR}/matcher-factory.cpp" "${CMAKE_CURRENT_LIST_DIR}/motion.h" + "${CMAKE_CURRENT_LIST_DIR}/motion-frame.h" + "${CMAKE_CURRENT_LIST_DIR}/notification.h" + "${CMAKE_CURRENT_LIST_DIR}/notification.cpp" "${CMAKE_CURRENT_LIST_DIR}/video.h" - "${CMAKE_CURRENT_LIST_DIR}/options.h" + "${CMAKE_CURRENT_LIST_DIR}/video-frame.h" + "${CMAKE_CURRENT_LIST_DIR}/options-container.h" + "${CMAKE_CURRENT_LIST_DIR}/options-container.cpp" + "${CMAKE_CURRENT_LIST_DIR}/options-interface.h" + "${CMAKE_CURRENT_LIST_DIR}/options-registry.h" + "${CMAKE_CURRENT_LIST_DIR}/options-registry.cpp" + "${CMAKE_CURRENT_LIST_DIR}/options-watcher.h" + "${CMAKE_CURRENT_LIST_DIR}/options-watcher.cpp" "${CMAKE_CURRENT_LIST_DIR}/info.h" "${CMAKE_CURRENT_LIST_DIR}/extension.h" - "${CMAKE_CURRENT_LIST_DIR}/processing.h" + "${CMAKE_CURRENT_LIST_DIR}/pose-frame.h" + "${CMAKE_CURRENT_LIST_DIR}/pp-block-factory.h" + "${CMAKE_CURRENT_LIST_DIR}/processing-block-interface.h" + "${CMAKE_CURRENT_LIST_DIR}/recommended-processing-blocks-interface.h" + "${CMAKE_CURRENT_LIST_DIR}/sensor-interface.h" "${CMAKE_CURRENT_LIST_DIR}/serialization.h" + "${CMAKE_CURRENT_LIST_DIR}/stream-interface.h" + "${CMAKE_CURRENT_LIST_DIR}/stream-profile.h" + "${CMAKE_CURRENT_LIST_DIR}/stream-profile-interface.h" + "${CMAKE_CURRENT_LIST_DIR}/synthetic-source-interface.h" + "${CMAKE_CURRENT_LIST_DIR}/tagged-profile.h" + "${CMAKE_CURRENT_LIST_DIR}/has-features-interface.h" + "${CMAKE_CURRENT_LIST_DIR}/features-container.h" ) diff --git a/src/core/advanced_mode.h b/src/core/advanced_mode.h index 95c35227..91d2fbd2 100644 --- a/src/core/advanced_mode.h +++ b/src/core/advanced_mode.h @@ -4,14 +4,11 @@ #include "ds/ds-private.h" #include "hw-monitor.h" -#include "streaming.h" #include "option.h" -#define RS400_ADVANCED_MODE_HPP #include "ds/advanced_mode/presets.h" -#include "../../include/librealsense2/h/rs_advanced_mode_command.h" +#include #include "serializable-interface.h" - -#undef RS400_ADVANCED_MODE_HPP +#include typedef enum @@ -55,7 +52,7 @@ namespace librealsense MAP_ADVANCED_MODE(STAFactor, etAFactor); - class ds_advanced_mode_interface : public serializable_interface, public recordable + class ds_advanced_mode_interface : public serializable_interface { public: virtual bool is_enabled() const = 0; @@ -107,9 +104,6 @@ namespace librealsense explicit ds_advanced_mode_base(std::shared_ptr hwm, synthetic_sensor& depth_sensor); - void create_snapshot(std::shared_ptr& snapshot) const override {}; - void enable_recording(std::function recording_function) override {}; - virtual ~ds_advanced_mode_base() = default; bool is_enabled() const override; @@ -155,6 +149,9 @@ namespace librealsense static const uint16_t HW_MONITOR_COMMAND_SIZE = 1000; static const uint16_t HW_MONITOR_BUFFER_SIZE = 1024; + void block( const std::string & exception_message ); + void unblock(); + private: friend class auto_calibrated; void set_exposure(synthetic_sensor& sensor, const exposure_control& val); @@ -206,20 +203,27 @@ namespace librealsense std::shared_ptr _hw_monitor; synthetic_sensor& _depth_sensor; - lazy _color_sensor; - lazy _enabled; + rsutils::lazy< synthetic_sensor * > _color_sensor; + rsutils::lazy< bool > _enabled; std::shared_ptr _preset_opt; - lazy _rgb_exposure_gain_bind; - lazy _amplitude_factor_support; + rsutils::lazy< bool > _amplitude_factor_support; + bool _blocked = false; + std::string _block_message; preset get_all() const; - void set_all(const preset& p); + void set_all( const preset & p ); + void set_all_depth( const preset & p ); + void set_all_rgb( const preset & p ); + bool should_set_rgb_preset() const; std::vector send_receive(const std::vector& input) const; template void set(const T& strct, EtAdvancedModeRegGroup cmd) const { + if( _blocked ) + throw std::runtime_error( _block_message ); + auto ptr = (uint8_t*)(&strct); std::vector data(ptr, ptr + sizeof(T)); diff --git a/src/core/debug.h b/src/core/debug.h index 0a3aa3c5..1d5956e4 100644 --- a/src/core/debug.h +++ b/src/core/debug.h @@ -2,13 +2,12 @@ // Copyright(c) 2015 Intel Corporation. All Rights Reserved. #pragma once -#include "streaming.h" #include "extension.h" #include namespace librealsense { - class debug_interface : public recordable + class debug_interface { public: virtual std::vector send_receive_raw_data(const std::vector& input) = 0; @@ -19,21 +18,7 @@ namespace librealsense uint32_t param4 = 0, uint8_t const * data = nullptr, size_t dataLength = 0) const = 0; - }; MAP_EXTENSION(RS2_EXTENSION_DEBUG, librealsense::debug_interface); - - class debug_snapshot : public extension_snapshot, public debug_interface - { - public: - debug_snapshot(const std::vector& input) : m_data(input) - { - } - - private: - std::vector m_data; - }; - - } diff --git a/src/core/depth-frame.h b/src/core/depth-frame.h new file mode 100644 index 00000000..e00d6924 --- /dev/null +++ b/src/core/depth-frame.h @@ -0,0 +1,57 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include "video-frame.h" +#include "frame-holder.h" +#include "extension.h" + + +namespace librealsense { + + +class sensor_interface; +class archive_interface; + + +class depth_frame : public video_frame +{ +public: + depth_frame() + : video_frame() + { + } + + void keep() override + { + if( _original ) + _original->keep(); + video_frame::keep(); + } + + float get_distance( int x, int y ) const; + + float get_units() const { return additional_data.depth_units; } + + void set_original( frame_holder h ) + { + _original = std::move( h ); + attach_continuation( frame_continuation( + [this]() + { + if( _original ) + { + _original = {}; + } + }, + nullptr ) ); + } + +protected: + frame_holder _original; +}; + +MAP_EXTENSION( RS2_EXTENSION_DEPTH_FRAME, librealsense::depth_frame ); + + +} // namespace librealsense diff --git a/src/core/device-interface.h b/src/core/device-interface.h new file mode 100644 index 00000000..4c399f9a --- /dev/null +++ b/src/core/device-interface.h @@ -0,0 +1,76 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "info-interface.h" +#include "tagged-profile.h" +#include "stream-profile.h" + +#include + +#include +#include +#include +#include +#include // std::pair + + +namespace librealsense { + + +class sensor_interface; +class matcher; +class frame_holder; +class context; +class device_info; +class stream_interface; +class stream_profile_interface; + + +// Base class for all devices in librealsense +// +class device_interface + : public virtual info_interface + , public virtual has_features_interface + , public std::enable_shared_from_this< device_interface > +{ +public: + virtual ~device_interface() = default; + + // Return the context to which this device belongs + // Typically, same as get_device_info()->context() + // + virtual std::shared_ptr< context > get_context() const = 0; + + // Returns the device_info object from which this device was created + // + virtual std::shared_ptr< const device_info > get_device_info() const = 0; + + virtual sensor_interface & get_sensor( size_t i ) = 0; + virtual const sensor_interface & get_sensor( size_t i ) const = 0; + virtual size_t get_sensors_count() const = 0; + + virtual void hardware_reset() = 0; + + virtual std::shared_ptr< matcher > create_matcher( const frame_holder & frame ) const = 0; + + virtual std::pair< uint32_t, rs2_extrinsics > get_extrinsics( const stream_interface & ) const = 0; + + virtual bool is_valid() const = 0; + + virtual std::vector< tagged_profile > get_profiles_tags() const = 0; + + using stream_profiles = std::vector< std::shared_ptr< stream_profile_interface > >; + virtual void tag_profiles( stream_profiles profiles ) const = 0; + + // Return true if this device should use compression when recording to a bag file + // + virtual bool compress_while_record() const = 0; + + virtual bool contradicts( const stream_profile_interface * a, + const std::vector< stream_profile > & others ) const = 0; +}; + + +} // namespace librealsense diff --git a/src/core/disparity-frame.h b/src/core/disparity-frame.h new file mode 100644 index 00000000..5a6583dc --- /dev/null +++ b/src/core/disparity-frame.h @@ -0,0 +1,74 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include "depth-frame.h" +#include "sensor-interface.h" +#include "depth-sensor.h" +#include "extension.h" + + +namespace librealsense { + + +// Disparity frame provides an alternative representation of the depth data for stereo-based depth +// sensors In addition for the depth frame API it allows to query the stereoscopic baseline required +// to transform depth to disparity and vice versa +// +class disparity_frame : public depth_frame +{ +public: + disparity_frame() + : depth_frame() + { + } + + // TODO Refactor to framemetadata + float get_stereo_baseline( void ) const { return query_stereo_baseline( this->get_sensor() ); } + +protected: + static float query_stereo_baseline( const std::shared_ptr< sensor_interface > & sensor ) + { + if( sensor != nullptr ) + { + try + { + auto stereo_sensor = As< librealsense::depth_stereo_sensor >( sensor ); + if( stereo_sensor != nullptr ) + { + return stereo_sensor->get_stereo_baseline_mm(); + } + else + { + // For playback sensors + auto extendable = As< librealsense::extendable_interface >( sensor ); + if( extendable + && extendable->extend_to( TypeToExtension< librealsense::depth_stereo_sensor >::value, + (void **)( &stereo_sensor ) ) ) + { + return stereo_sensor->get_stereo_baseline_mm(); + } + } + } + catch( const std::exception & e ) + { + LOG_ERROR( "Failed to query stereo baseline from sensor. " << e.what() ); + } + catch( ... ) + { + LOG_ERROR( "Failed to query stereo baseline from sensor" ); + } + } + else + { + LOG_WARNING( "sensor was nullptr" ); + } + + return 0; + } +}; + +MAP_EXTENSION( RS2_EXTENSION_DISPARITY_FRAME, librealsense::disparity_frame ); + + +} // namespace librealsense diff --git a/src/core/enum-helpers.h b/src/core/enum-helpers.h new file mode 100644 index 00000000..0b856acb --- /dev/null +++ b/src/core/enum-helpers.h @@ -0,0 +1,84 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include + + +namespace librealsense { + + +constexpr static char const * UNKNOWN_VALUE = "UNKNOWN"; + + +// Require the last enumerator value to be in format of RS2_#####_COUNT +#define RS2_ENUM_HELPERS( TYPE, PREFIX ) RS2_ENUM_HELPERS_CUSTOMIZED( TYPE, 0, RS2_##PREFIX##_COUNT - 1, const char * ) + +// This macro can be used directly if needed to support enumerators with no RS2_#####_COUNT last value +#define RS2_ENUM_HELPERS_CUSTOMIZED( TYPE, FIRST, LAST, STRTYPE ) \ + LRS_EXTENSION_API STRTYPE get_string( TYPE value ); \ + inline bool is_valid( TYPE value ) { return value >= FIRST && value <= LAST; } \ + inline std::ostream & operator<<( std::ostream & out, TYPE value ) \ + { \ + if( is_valid( value ) ) \ + return out << get_string( value ); \ + else \ + return out << (int)value; \ + } \ + inline bool try_parse( const std::string & str, TYPE & res ) \ + { \ + for( int i = FIRST; i <= LAST; i++ ) \ + { \ + auto v = static_cast< TYPE >( i ); \ + if( str == get_string( v ) ) \ + { \ + res = v; \ + return true; \ + } \ + } \ + return false; \ + } + +// For rs2_option, these make use of the registry +LRS_EXTENSION_API std::string const & get_string( rs2_option value ); +bool is_valid( rs2_option value ); +std::ostream & operator<<( std::ostream & out, rs2_option option ); +bool try_parse( const std::string & option_name, rs2_option & result ); + +RS2_ENUM_HELPERS_CUSTOMIZED( rs2_option_type, 0, RS2_OPTION_TYPE_COUNT - 1, std::string const & ) +RS2_ENUM_HELPERS( rs2_stream, STREAM ) +LRS_EXTENSION_API char const * get_abbr_string( rs2_stream ); +RS2_ENUM_HELPERS( rs2_format, FORMAT ) +RS2_ENUM_HELPERS( rs2_distortion, DISTORTION ) +RS2_ENUM_HELPERS( rs2_camera_info, CAMERA_INFO ) +RS2_ENUM_HELPERS_CUSTOMIZED( rs2_frame_metadata_value, 0, RS2_FRAME_METADATA_COUNT - 1, std::string const & ) +RS2_ENUM_HELPERS( rs2_timestamp_domain, TIMESTAMP_DOMAIN ) +RS2_ENUM_HELPERS( rs2_calib_target_type, CALIB_TARGET ) +RS2_ENUM_HELPERS( rs2_sr300_visual_preset, SR300_VISUAL_PRESET ) +RS2_ENUM_HELPERS( rs2_extension, EXTENSION ) +RS2_ENUM_HELPERS( rs2_exception_type, EXCEPTION_TYPE ) +RS2_ENUM_HELPERS( rs2_log_severity, LOG_SEVERITY ) +RS2_ENUM_HELPERS( rs2_notification_category, NOTIFICATION_CATEGORY ) +RS2_ENUM_HELPERS( rs2_playback_status, PLAYBACK_STATUS ) +RS2_ENUM_HELPERS( rs2_matchers, MATCHER ) +RS2_ENUM_HELPERS( rs2_sensor_mode, SENSOR_MODE ) +RS2_ENUM_HELPERS( rs2_l500_visual_preset, L500_VISUAL_PRESET ) +RS2_ENUM_HELPERS( rs2_calibration_type, CALIBRATION_TYPE ) +RS2_ENUM_HELPERS_CUSTOMIZED( rs2_calibration_status, + RS2_CALIBRATION_STATUS_FIRST, + RS2_CALIBRATION_STATUS_LAST, + const char * ) +RS2_ENUM_HELPERS_CUSTOMIZED( rs2_ambient_light, + RS2_AMBIENT_LIGHT_NO_AMBIENT, + RS2_AMBIENT_LIGHT_LOW_AMBIENT, + const char * ) +RS2_ENUM_HELPERS_CUSTOMIZED( rs2_digital_gain, RS2_DIGITAL_GAIN_HIGH, RS2_DIGITAL_GAIN_LOW, const char * ) +RS2_ENUM_HELPERS( rs2_host_perf_mode, HOST_PERF ) +RS2_ENUM_HELPERS( rs2_emitter_frequency_mode, EMITTER_FREQUENCY ) +RS2_ENUM_HELPERS( rs2_depth_auto_exposure_mode, DEPTH_AUTO_EXPOSURE ) +RS2_ENUM_HELPERS( rs2_gyro_sensitivity, GYRO_SENSITIVITY ) + + +} // namespace librealsense diff --git a/src/core/extension.h b/src/core/extension.h index fac9c405..569a99d6 100644 --- a/src/core/extension.h +++ b/src/core/extension.h @@ -2,7 +2,7 @@ // Copyright(c) 2017 Intel Corporation. All Rights Reserved. #pragma once -#include "../../include/librealsense2/h/rs_types.h" +#include #include #include diff --git a/src/core/features-container.h b/src/core/features-container.h new file mode 100644 index 00000000..c8976468 --- /dev/null +++ b/src/core/features-container.h @@ -0,0 +1,48 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include + + +namespace librealsense { + + +class features_container : public virtual has_features_interface +{ +public: + bool supports_feature( feature_id id, std::shared_ptr< feature_interface > * feat_obj ) override + { + auto it = _features.find( id ); + if( it != _features.end() ) + { + if( feat_obj != nullptr ) + *feat_obj = it->second; + + return true; + } + + return false; + } + + size_t foreach_feature( std::function< void( std::shared_ptr< feature_interface > const & ) > const & fn ) override + { + for( auto const & feat : _features ) + { + fn( feat.second ); + } + + return _features.size(); + } + + void register_feature( std::shared_ptr< feature_interface > feature ) + { + _features[feature->get_id()] = feature; + } + +protected: + std::map< feature_id, std::shared_ptr< feature_interface > > _features; +}; + + +} // namespace librealsense diff --git a/src/core/frame-additional-data.h b/src/core/frame-additional-data.h new file mode 100644 index 00000000..efa551ce --- /dev/null +++ b/src/core/frame-additional-data.h @@ -0,0 +1,102 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include "frame-header.h" + +#include +#include +#include +#include // memcpy + + +namespace librealsense { + + +/** + \brief Metadata fields that are utilized internally by librealsense + Provides extention to the r2_frame_metadata list of attributes +*/ +enum frame_metadata_internal +{ + RS2_FRAME_METADATA_HW_TYPE = RS2_FRAME_METADATA_COUNT + 1, // 8-bit Module type: RS4xx, IVCAM + RS2_FRAME_METADATA_SKU_ID, // 8-bit SKU Id + RS2_FRAME_METADATA_FORMAT, // 16-bit Frame format + RS2_FRAME_METADATA_WIDTH, // 16-bit Frame width. pixels + RS2_FRAME_METADATA_HEIGHT, // 16-bit Frame height. pixels + RS2_FRAME_METADATA_ACTUAL_COUNT +}; + + +class md_attribute_parser_base; + + +// multimap is necessary here in order to permit registration to some metadata value in multiple +// places in metadata as it is required for D405, in which exposure should be available from the +// same sensor both for depth and color frames +typedef std::multimap< rs2_frame_metadata_value, std::shared_ptr< md_attribute_parser_base > > metadata_parser_map; + +#pragma pack( push, 1 ) +struct metadata_array_value +{ + bool is_valid; + rs2_metadata_type value; +}; +#pragma pack( pop ) + +typedef std::array< metadata_array_value, RS2_FRAME_METADATA_ACTUAL_COUNT > metadata_array; + +static_assert( sizeof( metadata_array_value ) == sizeof( rs2_metadata_type ) + 1, + "unexpected size for metadata array members" ); + + +struct frame_additional_data : frame_header +{ + uint32_t metadata_size = 0; + bool fisheye_ae_mode = false; // TODO: remove in future release + std::array< uint8_t, sizeof( metadata_array ) > metadata_blob = {}; + rs2_time_t last_timestamp = 0; + unsigned long long last_frame_number = 0; + bool is_blocking = false; // when running from recording, this bit indicates + // if the recorder was configured to realtime mode or not + // if true, this will force any queue receiving this frame not to drop it + + float depth_units = 0.0f; // adding depth units to frame metadata is a temporary solution, it + // will be replaced by FW metadata + + uint32_t raw_size = 0; // The frame transmitted size (payload only) + + frame_additional_data() {} + + frame_additional_data( metadata_array const & metadata ) + { + metadata_size = (uint32_t)sizeof( metadata ); + std::memcpy( metadata_blob.data(), metadata.data(), metadata_size ); + } + + frame_additional_data( rs2_time_t in_timestamp, + unsigned long long in_frame_number, + rs2_time_t in_system_time, + uint32_t md_size, + const uint8_t * md_buf, + rs2_time_t backend_time, + rs2_time_t last_timestamp, + unsigned long long last_frame_number, + bool in_is_blocking, + float in_depth_units = 0, + uint32_t transmitted_size = 0 ) + : frame_header( in_timestamp, in_frame_number, in_system_time, backend_time ) + , metadata_size( md_size ) + , last_timestamp( last_timestamp ) + , last_frame_number( last_frame_number ) + , is_blocking( in_is_blocking ) + , depth_units( in_depth_units ) + , raw_size( transmitted_size ) + { + if( metadata_size ) + std::copy( md_buf, md_buf + std::min( size_t( md_size ), metadata_blob.size() ), metadata_blob.begin() ); + } +}; + + +} // namespace librealsense diff --git a/src/core/frame-callback.h b/src/core/frame-callback.h new file mode 100644 index 00000000..5edd2fbc --- /dev/null +++ b/src/core/frame-callback.h @@ -0,0 +1,41 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include +#include +#include + + +namespace librealsense { + + +class frame_interface; + + +struct frame_callback : public rs2_frame_callback +{ + using fn = std::function< void( frame_interface * ) >; + + explicit frame_callback( fn && on_frame ) + : _on_frame( std::move( on_frame ) ) + { + } + + void on_frame( rs2_frame * fref ) override { _on_frame( (frame_interface *)( fref ) ); } + + void release() override { delete this; } + +private: + fn _on_frame; +}; + + +inline rs2_frame_callback_sptr make_frame_callback( std::function< void( frame_interface * ) > && callback ) +{ + return { new frame_callback( std::move( callback ) ), + []( rs2_frame_callback * p ) { p->release(); } }; +} + + +} // namespace librealsense diff --git a/src/core/frame-continuation.h b/src/core/frame-continuation.h new file mode 100644 index 00000000..8456f1a6 --- /dev/null +++ b/src/core/frame-continuation.h @@ -0,0 +1,73 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include + + +namespace librealsense { + + +class frame_continuation +{ + std::function< void() > continuation; + const void * protected_data = nullptr; + + frame_continuation( const frame_continuation & ) = delete; + frame_continuation & operator=( const frame_continuation & ) = delete; + +public: + frame_continuation() + : continuation( []() {} ) + { + } + + explicit frame_continuation( std::function< void() > continuation, const void * protected_data ) + : continuation( continuation ) + , protected_data( protected_data ) + { + } + + + frame_continuation( frame_continuation && other ) + : continuation( std::move( other.continuation ) ) + , protected_data( other.protected_data ) + { + other.continuation = []() { + }; + other.protected_data = nullptr; + } + + void operator()() + { + continuation(); + continuation = []() { + }; + protected_data = nullptr; + } + + void reset() + { + protected_data = nullptr; + continuation = []() { + }; + } + + const void * get_data() const { return protected_data; } + + frame_continuation & operator=( frame_continuation && other ) + { + continuation(); + protected_data = other.protected_data; + continuation = other.continuation; + other.continuation = []() { + }; + other.protected_data = nullptr; + return *this; + } + + ~frame_continuation() { continuation(); } +}; + + +} // namespace librealsense diff --git a/src/core/frame-header.h b/src/core/frame-header.h new file mode 100644 index 00000000..da26ea60 --- /dev/null +++ b/src/core/frame-header.h @@ -0,0 +1,43 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include +#include + + +namespace librealsense { + + +/* + Each frame is attached with a static header + This is a quick and dirty way to manage things like timestamp, + frame-number, metadata, etc... Things shared between all frame extensions + The point of this class is to be **fixed-sized**, avoiding per frame allocations +*/ +struct frame_header +{ + unsigned long long frame_number = 0; + rs2_time_t timestamp = 0; + rs2_timestamp_domain timestamp_domain = RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK; + rs2_time_t system_time = 0; // sys-clock at the time the frame was received from the backend + rs2_time_t backend_timestamp = 0; // time when the frame arrived to the backend (OS dependent) + + frame_header() = default; + frame_header( frame_header const & ) = default; + frame_header( rs2_time_t in_timestamp, + unsigned long long in_frame_number, + rs2_time_t in_system_time, + rs2_time_t backend_time ) + : timestamp( in_timestamp ) + , frame_number( in_frame_number ) + , system_time( in_system_time ) + , backend_timestamp( backend_time ) + { + } +}; + +std::ostream & operator<<( std::ostream & os, frame_header const & header ); + + +} // namespace librealsense diff --git a/src/core/frame-holder.h b/src/core/frame-holder.h new file mode 100644 index 00000000..1d52acf6 --- /dev/null +++ b/src/core/frame-holder.h @@ -0,0 +1,62 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include "frame-interface.h" +#include + +#include +#include // swap + + +namespace librealsense { + + +class LRS_EXTENSION_API frame_holder +{ +public: + frame_interface * frame = nullptr; + + frame_holder() = default; + frame_holder( const frame_holder & other ) = delete; + frame_holder( frame_holder && other ) { std::swap( frame, other.frame ); } + // non-acquiring ctor: will assume the frame has already been acquired! + frame_holder( frame_interface * const f ) { frame = f; } + ~frame_holder() { reset(); } + + // return a new holder after acquiring the frame + frame_holder clone() const { return acquire( frame ); } + static frame_holder acquire( frame_interface * const f ) + { + if( f ) + f->acquire(); + return frame_holder( f ); + } + + operator frame_interface *() const { return frame; } + frame_interface * operator->() const { return frame; } + operator bool() const { return frame != nullptr; } + + frame_holder & operator=( const frame_holder & other ) = delete; + frame_holder & operator=( frame_holder && other ) + { + reset(); + std::swap( frame, other.frame ); + return *this; + } + + void reset() + { + if( frame ) + { + frame->release(); + frame = nullptr; + } + } +}; + + +std::ostream & operator<<( std::ostream &, const frame_holder & ); + + +} // namespace librealsense diff --git a/src/core/frame-interface.h b/src/core/frame-interface.h new file mode 100644 index 00000000..303176cf --- /dev/null +++ b/src/core/frame-interface.h @@ -0,0 +1,63 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include +#include +#include + + +namespace librealsense { + + +class stream_profile_interface; +class archive_interface; +class sensor_interface; +struct frame_header; +class frame_continuation; + + +class frame_interface +{ +public: + virtual frame_header const & get_header() const = 0; + + virtual bool find_metadata( rs2_frame_metadata_value, rs2_metadata_type * p_output_value ) const = 0; + virtual int get_frame_data_size() const = 0; + virtual const uint8_t * get_frame_data() const = 0; + virtual rs2_time_t get_frame_timestamp() const = 0; + virtual rs2_timestamp_domain get_frame_timestamp_domain() const = 0; + virtual void set_timestamp( double new_ts ) = 0; + virtual unsigned long long get_frame_number() const = 0; + + virtual void set_timestamp_domain( rs2_timestamp_domain timestamp_domain ) = 0; + virtual rs2_time_t get_frame_system_time() const = 0; // TIME_OF_ARRIVAL + virtual std::shared_ptr< stream_profile_interface > get_stream() const = 0; + virtual void set_stream( std::shared_ptr< stream_profile_interface > sp ) = 0; + + virtual std::shared_ptr< sensor_interface > get_sensor() const = 0; + virtual void set_sensor( std::shared_ptr< sensor_interface > ) = 0; + + virtual void acquire() = 0; + virtual void release() = 0; + virtual frame_interface * publish( std::shared_ptr< archive_interface > new_owner ) = 0; + virtual void unpublish() = 0; + virtual void attach_continuation( frame_continuation && continuation ) = 0; + virtual void disable_continuation() = 0; + virtual archive_interface * get_owner() const = 0; + + virtual void mark_fixed() = 0; + virtual bool is_fixed() const = 0; + virtual void set_blocking( bool state ) = 0; + virtual bool is_blocking() const = 0; + + virtual void keep() = 0; + + virtual ~frame_interface() = default; +}; + + +std::ostream & operator<<( std::ostream &, const frame_interface & f ); + + +} // namespace librealsense diff --git a/src/core/frame-processor-callback.h b/src/core/frame-processor-callback.h new file mode 100644 index 00000000..e95d3372 --- /dev/null +++ b/src/core/frame-processor-callback.h @@ -0,0 +1,45 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include "synthetic-source-interface.h" + +#include +#include +#include + + +namespace librealsense { + + +struct frame_processor_callback : public rs2_frame_processor_callback +{ + using fn = std::function< void( frame_holder &&, synthetic_source_interface * ) >; + + explicit frame_processor_callback( fn && on_frame ) + : _on_frame( std::move( on_frame ) ) + { + } + + void on_frame( rs2_frame * f, rs2_source * source ) override + { + frame_holder front( (frame_interface *)f ); + _on_frame( std::move( front ), source->source ); + } + + void release() override { delete this; } + +private: + fn _on_frame; +}; + + +inline rs2_frame_processor_callback_sptr +make_frame_processor_callback( frame_processor_callback::fn && callback ) +{ + return { new frame_processor_callback( std::move( callback ) ), + []( rs2_frame_processor_callback * p ) { p->release(); } }; +} + + +} // namespace librealsense diff --git a/src/core/has-features-interface.h b/src/core/has-features-interface.h new file mode 100644 index 00000000..d900ae96 --- /dev/null +++ b/src/core/has-features-interface.h @@ -0,0 +1,26 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include + +#include +#include + +namespace librealsense { + + +// Interface for objects that have features +class has_features_interface +{ +public: + // Returns if a feature is supported by the device. Optional second parameter to get feature object. + virtual bool supports_feature( feature_id id, std::shared_ptr< feature_interface > * = nullptr ) { return false; } + + // Performs an operation for each of the features. Returns numbers of features it operated on. + virtual size_t foreach_feature( std::function< void( std::shared_ptr< feature_interface > const & ) > const & ) { return 0; } +}; + + +} // namespace librealsense diff --git a/src/core/info-interface.h b/src/core/info-interface.h new file mode 100644 index 00000000..7c4a92ba --- /dev/null +++ b/src/core/info-interface.h @@ -0,0 +1,30 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "extension.h" +#include + +#include +#include + + +namespace librealsense { + + +// Anything that can support getting rs2_camera_info should implement this. +// +class info_interface : public virtual recordable< info_interface > +{ +public: + virtual const std::string & get_info( rs2_camera_info info ) const = 0; + virtual bool supports_info( rs2_camera_info info ) const = 0; + + virtual ~info_interface() = default; +}; + +MAP_EXTENSION( RS2_EXTENSION_INFO, librealsense::info_interface ); + + +} // namespace librealsense diff --git a/src/core/info.h b/src/core/info.h index 4e8f3486..5ef0b88b 100644 --- a/src/core/info.h +++ b/src/core/info.h @@ -1,37 +1,41 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2017 Intel Corporation. All Rights Reserved. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. #pragma once -#include "extension.h" +#include "info-interface.h" + +#include +#include #include +#include + + +namespace librealsense { -namespace librealsense + +// Simple implementation of info_interface +// +class LRS_EXTENSION_API info_container + : public virtual info_interface + , public extension_snapshot { - class info_interface : public virtual recordable - { - public: - virtual const std::string& get_info(rs2_camera_info info) const = 0; - virtual bool supports_info(rs2_camera_info info) const = 0; - - virtual ~info_interface() = default; - }; - - MAP_EXTENSION(RS2_EXTENSION_INFO, librealsense::info_interface); - - class LRS_EXTENSION_API info_container : public virtual info_interface, public extension_snapshot - { - public: - const std::string& get_info(rs2_camera_info info) const override; - bool supports_info(rs2_camera_info info) const override; - - void register_info(rs2_camera_info info, const std::string& val); - void update_info(rs2_camera_info info, const std::string& val); - void create_snapshot(std::shared_ptr& snapshot) const override; - void enable_recording(std::function record_action) override; - void update(std::shared_ptr ext) override; - private: - std::map _camera_info; - }; - -} +public: + void register_info( rs2_camera_info info, const std::string & val ); + void update_info( rs2_camera_info info, const std::string & val ); + + // info_interface + const std::string & get_info( rs2_camera_info info ) const override; + bool supports_info( rs2_camera_info info ) const override; + + // extension_snapshot + void create_snapshot( std::shared_ptr< info_interface > & snapshot ) const override; + void enable_recording( std::function< void( const info_interface & ) > record_action ) override; + void update( std::shared_ptr< extension_snapshot > ext ) override; + +private: + std::map< rs2_camera_info, std::string > _camera_info; +}; + + +} // namespace librealsense diff --git a/src/core/matcher-factory.cpp b/src/core/matcher-factory.cpp new file mode 100644 index 00000000..ea942090 --- /dev/null +++ b/src/core/matcher-factory.cpp @@ -0,0 +1,167 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include "matcher-factory.h" +#include "frame-holder.h" +#include "stream-interface.h" + +#include + + +namespace librealsense { + + +std::shared_ptr< matcher > matcher_factory::create( rs2_matchers matcher, + std::vector< stream_interface * > const & profiles ) +{ + switch( matcher ) + { + case RS2_MATCHER_DI: + return create_DI_matcher( profiles ); + case RS2_MATCHER_DI_C: + return create_DI_C_matcher( profiles ); + case RS2_MATCHER_DLR_C: + return create_DLR_C_matcher( profiles ); + case RS2_MATCHER_DLR: + return create_DLR_matcher( profiles ); + case RS2_MATCHER_DIC: + return create_DIC_matcher( profiles ); + case RS2_MATCHER_DIC_C: + return create_DIC_C_matcher( profiles ); + + case RS2_MATCHER_DEFAULT: + default: + return create_timestamp_matcher( profiles ); + } +} + + +std::shared_ptr< matcher > matcher_factory::create_DLR_C_matcher( std::vector< stream_interface * > const & profiles ) +{ + auto color = find_profile( RS2_STREAM_COLOR, 0, profiles ); + if( ! color ) + { + LOG_DEBUG( "Created default matcher" ); + return create_timestamp_matcher( profiles ); + } + + return create_timestamp_composite_matcher( { create_DLR_matcher( profiles ), create_identity_matcher( color ) } ); +} + + +std::shared_ptr< matcher > matcher_factory::create_DI_C_matcher( std::vector< stream_interface * > const & profiles ) +{ + auto color = find_profile( RS2_STREAM_COLOR, 0, profiles ); + if( ! color ) + { + LOG_DEBUG( "Created default matcher" ); + return create_timestamp_matcher( profiles ); + } + + return create_timestamp_composite_matcher( { create_DI_matcher( profiles ), create_identity_matcher( color ) } ); +} + + +std::shared_ptr< matcher > matcher_factory::create_DLR_matcher( std::vector< stream_interface * > const & profiles ) +{ + auto depth = find_profile( RS2_STREAM_DEPTH, 0, profiles ); + auto left = find_profile( RS2_STREAM_INFRARED, 1, profiles ); + auto right = find_profile( RS2_STREAM_INFRARED, 2, profiles ); + + if( ! depth || ! left || ! right ) + { + LOG_DEBUG( "Created default matcher" ); + return create_timestamp_matcher( profiles ); + } + return create_frame_number_matcher( { depth, left, right } ); +} + + +std::shared_ptr< matcher > matcher_factory::create_DI_matcher( std::vector< stream_interface * > const & profiles ) +{ + auto depth = find_profile( RS2_STREAM_DEPTH, 0, profiles ); + auto ir = find_profile( RS2_STREAM_INFRARED, 1, profiles ); + + if( ! depth || ! ir ) + { + LOG_DEBUG( "Created default matcher" ); + return create_timestamp_matcher( profiles ); + } + return create_frame_number_matcher( { depth, ir } ); +} + + +std::shared_ptr< matcher > matcher_factory::create_DIC_matcher( std::vector< stream_interface * > const & profiles ) +{ + std::vector< std::shared_ptr< matcher > > matchers; + if( auto depth = find_profile( RS2_STREAM_DEPTH, -1, profiles ) ) + matchers.push_back( create_identity_matcher( depth ) ); + if( auto ir = find_profile( RS2_STREAM_INFRARED, -1, profiles ) ) + matchers.push_back( create_identity_matcher( ir ) ); + if( auto confidence = find_profile( RS2_STREAM_CONFIDENCE, -1, profiles ) ) + matchers.push_back( create_identity_matcher( confidence ) ); + + if( matchers.empty() ) + { + LOG_ERROR( "no depth, ir, or confidence streams found for matcher" ); + for( auto && p : profiles ) + LOG_DEBUG( p->get_stream_type() << '/' << p->get_unique_id() ); + throw std::runtime_error( "no depth, ir, or confidence streams found for matcher" ); + } + + return create_timestamp_composite_matcher( matchers ); +} + + +std::shared_ptr< matcher > matcher_factory::create_DIC_C_matcher( std::vector< stream_interface * > const & profiles ) +{ + auto color = find_profile( RS2_STREAM_COLOR, 0, profiles ); + if( ! color ) + throw std::runtime_error( "no color stream found for matcher" ); + + return create_timestamp_composite_matcher( { create_DIC_matcher( profiles ), create_identity_matcher( color ) } ); +} + + +std::shared_ptr< matcher > +matcher_factory::create_frame_number_matcher( std::vector< stream_interface * > const & profiles ) +{ + std::vector< std::shared_ptr< matcher > > matchers; + for( auto & p : profiles ) + matchers.push_back( std::make_shared< identity_matcher >( p->get_unique_id(), p->get_stream_type() ) ); + + return create_frame_number_composite_matcher( matchers ); +} + + +std::shared_ptr< matcher > +matcher_factory::create_timestamp_matcher( std::vector< stream_interface * > const & profiles ) +{ + std::vector< std::shared_ptr< matcher > > matchers; + for( auto & p : profiles ) + matchers.push_back( std::make_shared< identity_matcher >( p->get_unique_id(), p->get_stream_type() ) ); + + return create_timestamp_composite_matcher( matchers ); +} + + +std::shared_ptr< matcher > matcher_factory::create_identity_matcher( stream_interface * profile ) +{ + return std::make_shared< identity_matcher >( profile->get_unique_id(), profile->get_stream_type() ); +} + +std::shared_ptr< matcher > +matcher_factory::create_frame_number_composite_matcher( std::vector< std::shared_ptr< matcher > > const & matchers ) +{ + return std::make_shared< frame_number_composite_matcher >( matchers ); +} + + +std::shared_ptr< matcher > +matcher_factory::create_timestamp_composite_matcher( std::vector< std::shared_ptr< matcher > > const & matchers ) +{ + return std::make_shared< timestamp_composite_matcher >( matchers ); +} + + +} // namespace librealsense \ No newline at end of file diff --git a/src/core/matcher-factory.h b/src/core/matcher-factory.h new file mode 100644 index 00000000..00f34223 --- /dev/null +++ b/src/core/matcher-factory.h @@ -0,0 +1,44 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include + +#include +#include + + +namespace librealsense { + + +class stream_interface; +class matcher; + + +class matcher_factory +{ +public: + static std::shared_ptr< matcher > create( rs2_matchers matcher, + std::vector< stream_interface * > const & profiles ); + +private: + static std::shared_ptr< matcher > create_DLR_C_matcher( std::vector< stream_interface * > const & profiles ); + static std::shared_ptr< matcher > create_DLR_matcher( std::vector< stream_interface * > const & profiles ); + static std::shared_ptr< matcher > create_DI_C_matcher( std::vector< stream_interface * > const & profiles ); + static std::shared_ptr< matcher > create_DI_matcher( std::vector< stream_interface * > const & profiles ); + static std::shared_ptr< matcher > create_DIC_matcher( std::vector< stream_interface * > const & profiles ); + static std::shared_ptr< matcher > create_DIC_C_matcher( std::vector< stream_interface * > const & profiles ); + + static std::shared_ptr< matcher > create_identity_matcher( stream_interface * profiles ); + static std::shared_ptr< matcher > create_frame_number_matcher( std::vector< stream_interface * > const & profiles ); + static std::shared_ptr< matcher > create_timestamp_matcher( std::vector< stream_interface * > const & profiles ); + + static std::shared_ptr< matcher > + create_timestamp_composite_matcher( std::vector< std::shared_ptr< matcher > > const & matchers ); + static std::shared_ptr< matcher > + create_frame_number_composite_matcher( std::vector< std::shared_ptr< matcher > > const & matchers ); +}; + + +} // namespace librealsense \ No newline at end of file diff --git a/src/core/motion-frame.h b/src/core/motion-frame.h new file mode 100644 index 00000000..6ebb2d9c --- /dev/null +++ b/src/core/motion-frame.h @@ -0,0 +1,24 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include +#include "extension.h" + + +namespace librealsense { + + +class motion_frame : public frame +{ +public: + motion_frame() + : frame() + { + } +}; + +MAP_EXTENSION( RS2_EXTENSION_MOTION_FRAME, librealsense::motion_frame ); + + +} // namespace librealsense diff --git a/src/core/motion.h b/src/core/motion.h index 92348a76..8280a3ee 100644 --- a/src/core/motion.h +++ b/src/core/motion.h @@ -2,8 +2,9 @@ // Copyright(c) 2015 Intel Corporation. All Rights Reserved. #pragma once +#include "stream-profile-interface.h" +#include -#include "streaming.h" namespace librealsense { @@ -23,7 +24,7 @@ namespace librealsense MAP_EXTENSION(RS2_EXTENSION_POSE_PROFILE, librealsense::pose_stream_profile_interface); - class pose_sensor_interface : public recordable + class pose_sensor_interface { public: virtual bool export_relocalization_map(std::vector& lmap_buf) const = 0; @@ -35,7 +36,7 @@ namespace librealsense }; MAP_EXTENSION(RS2_EXTENSION_POSE_SENSOR, librealsense::pose_sensor_interface); - class wheel_odometry_interface : public recordable + class wheel_odometry_interface { public: virtual bool load_wheel_odometery_config(const std::vector& odometry_config_buf) const = 0; diff --git a/src/core/notification.cpp b/src/core/notification.cpp new file mode 100644 index 00000000..8998c6ed --- /dev/null +++ b/src/core/notification.cpp @@ -0,0 +1,55 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include "notification.h" +#include + + +namespace librealsense { + + +notification::notification( rs2_notification_category category, + int type, + rs2_log_severity severity, + std::string const & description ) + : category( category ) + , type( type ) + , severity( severity ) + , description( description ) +{ + timestamp + = std::chrono::duration< double, std::milli >( std::chrono::system_clock::now().time_since_epoch() ).count(); + LOG_INFO( description ); +} + + +notifications_processor::notifications_processor() + : _dispatcher( 10 ) +{ +} + + +notifications_processor::~notifications_processor() +{ + _dispatcher.stop(); +} + + +void notifications_processor::set_callback( rs2_notifications_callback_sptr callback ) +{ + + _dispatcher.stop(); + + std::lock_guard< std::mutex > lock( _callback_mutex ); + _callback = std::move( callback ); + _dispatcher.start(); +} + + +rs2_notifications_callback_sptr notifications_processor::get_callback() const +{ + return _callback; +} + + +} // namespace librealsense \ No newline at end of file diff --git a/src/core/notification.h b/src/core/notification.h new file mode 100644 index 00000000..f023323b --- /dev/null +++ b/src/core/notification.h @@ -0,0 +1,55 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. +#pragma once + +#include +#include +#include +#include + + +namespace librealsense { + + +struct notification +{ + notification( rs2_notification_category category, + int type, + rs2_log_severity severity, + std::string const & description ); + + rs2_notification_category category; + int type; + rs2_log_severity severity; + std::string description; + double timestamp; + std::string serialized_data; +}; + + +class notification_decoder +{ +public: + virtual ~notification_decoder() = default; + virtual notification decode( int value ) = 0; +}; + + +class notifications_processor +{ +public: + notifications_processor(); + ~notifications_processor(); + + void set_callback( rs2_notifications_callback_sptr callback ); + rs2_notifications_callback_sptr get_callback() const; + void raise_notification( const notification ); + +private: + rs2_notifications_callback_sptr _callback; + std::mutex _callback_mutex; + dispatcher _dispatcher; +}; + + +} // namespace librealsense \ No newline at end of file diff --git a/src/core/option-interface.h b/src/core/option-interface.h new file mode 100644 index 00000000..7e5d5aaa --- /dev/null +++ b/src/core/option-interface.h @@ -0,0 +1,52 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. +#pragma once + +#include "extension.h" +#include +#include +#include + + +namespace librealsense { + + +struct LRS_EXTENSION_API option_range +{ + float min; + float max; + float step; + float def; +}; + +class LRS_EXTENSION_API option : public recordable< option > +{ +public: + virtual void set( float value ) = 0; + virtual float query() const = 0; + + // Return the value currently assigned to the option + // By default, this is the result of query() + virtual rsutils::json get_value() const noexcept; + + // Return the type of the option value + virtual rs2_option_type get_value_type() const noexcept; + + // Set the value, or throw an error + // By default, this does a set() with a float + virtual void set_value( rsutils::json ); + + virtual option_range get_range() const = 0; + virtual bool is_enabled() const = 0; + virtual bool is_read_only() const { return false; } + virtual const char * get_description() const = 0; + virtual const char * get_value_description( float ) const { return nullptr; } + + // recordable< option > + virtual void create_snapshot( std::shared_ptr< option > & snapshot ) const override; + + virtual ~option() = default; +}; + + +} // namespace librealsense diff --git a/src/core/options-container.cpp b/src/core/options-container.cpp new file mode 100644 index 00000000..3058e158 --- /dev/null +++ b/src/core/options-container.cpp @@ -0,0 +1,53 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include "options-container.h" +#include "enum-helpers.h" +#include +#include + + +namespace librealsense { + + +const option & options_container::get_option( rs2_option id ) const +{ + auto it = _options.find( id ); + if( it == _options.end() ) + { + throw invalid_value_exception( rsutils::string::from() + << "option '" << get_option_name( id ) << "' not supported" ); + } + return *it->second; +} + + +void options_container::update( std::shared_ptr< extension_snapshot > ext ) +{ + auto ctr = As< options_container >( ext ); + if( ! ctr ) + return; + for( auto && opt : ctr->_options ) + { + _options[opt.first] = opt.second; + } +} + + +std::vector< rs2_option > options_container::get_supported_options() const +{ + std::vector< rs2_option > options; + for( auto option : _options ) + options.push_back( option.first ); + + return options; +} + + +std::string const & options_container::get_option_name( rs2_option option ) const +{ + return get_string( option ); +} + + +} // namespace librealsense \ No newline at end of file diff --git a/src/core/options-container.h b/src/core/options-container.h new file mode 100644 index 00000000..fb7f7e8f --- /dev/null +++ b/src/core/options-container.h @@ -0,0 +1,83 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2015 Intel Corporation. All Rights Reserved. +#pragma once + +#include "options-interface.h" +#include "extension.h" + +#include +#include +#include "enum-helpers.h" +#include + +#include +#include +#include +#include + + +namespace librealsense { + + +class LRS_EXTENSION_API options_container : public virtual options_interface, public extension_snapshot +{ +public: + bool supports_option(rs2_option id) const override + { + auto it = _options.find(id); + if (it == _options.end()) return false; + return it->second->is_enabled(); + } + + option& get_option(rs2_option id) override + { + return const_cast(const_cast(this)->get_option(id)); + } + + const option & get_option( rs2_option id ) const override; + + std::shared_ptr