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Added support for rgb metadata #3791

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merged 3 commits into from
Apr 21, 2019
Merged

Added support for rgb metadata #3791

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8075623
Added support for l500 metadata
aangerma Apr 20, 2019
ecb7012
L500 patch - HID will mapped if available on startup.
ev-mp Apr 21, 2019
f1676c6
L500 Patch - disable Zero-Order. Requires zo_point_x integration
ev-mp Apr 21, 2019
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2 changes: 1 addition & 1 deletion common/model-views.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -970,7 +970,7 @@ namespace rs2
if (shared_filter->is<zero_order_invalidation>())
zero_order_artifact_fix = model;

if (shared_filter->is<hole_filling_filter>())
if (shared_filter->is<hole_filling_filter>() || shared_filter->is<zero_order_invalidation>())
model->enabled = false;

post_processing.push_back(model);
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2 changes: 1 addition & 1 deletion src/ds5/ds5-motion.cpp
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Expand Up @@ -158,7 +158,7 @@ namespace librealsense
{
if (all_hid_infos.empty())
{
LOG_WARNING("HID device is missing!");
LOG_WARNING("No HID info provided, IMU is disabled");
return nullptr;
}

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38 changes: 38 additions & 0 deletions src/l500/l500-color.cpp
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Expand Up @@ -3,6 +3,7 @@

#include "l500-color.h"
#include "l500-private.h"
#include <cstddef>

namespace librealsense
{
Expand Down Expand Up @@ -44,6 +45,43 @@ namespace librealsense
exposure_option,
auto_exposure_option));

color_ep->register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_uvc_header_parser(&platform::uvc_header::timestamp));

// attributes of md_capture_timing
auto md_prop_offset = offsetof(metadata_raw, mode) +
offsetof(md_rgb_normal_mode, intel_capture_timing);

color_ep->register_metadata(RS2_FRAME_METADATA_FRAME_COUNTER, make_attribute_parser(&l500_md_capture_timing::frame_counter, md_capture_timing_attributes::frame_counter_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_SENSOR_TIMESTAMP, make_attribute_parser(&l500_md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_ACTUAL_FPS, make_attribute_parser(&l500_md_capture_timing::exposure_time, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset));

// attributes of md_capture_stats
md_prop_offset = offsetof(metadata_raw, mode) +
offsetof(md_rgb_normal_mode, intel_capture_stats);

color_ep->register_metadata(RS2_FRAME_METADATA_WHITE_BALANCE, make_attribute_parser(&md_capture_stats::white_balance, md_capture_stat_attributes::white_balance_attribute, md_prop_offset));

// attributes of md_rgb_control
md_prop_offset = offsetof(metadata_raw, mode) +
offsetof(md_rgb_normal_mode, intel_rgb_control);

color_ep->register_metadata(RS2_FRAME_METADATA_GAIN_LEVEL, make_attribute_parser(&md_rgb_control::gain, md_rgb_control_attributes::gain_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_ACTUAL_EXPOSURE, make_attribute_parser(&md_rgb_control::manual_exp, md_rgb_control_attributes::manual_exp_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_AUTO_EXPOSURE, make_attribute_parser(&md_rgb_control::ae_mode, md_rgb_control_attributes::ae_mode_attribute, md_prop_offset,
[](rs2_metadata_type param) { return (param != 1); }));

color_ep->register_metadata(RS2_FRAME_METADATA_BRIGHTNESS, make_attribute_parser(&md_rgb_control::brightness, md_rgb_control_attributes::brightness_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_CONTRAST, make_attribute_parser(&md_rgb_control::contrast, md_rgb_control_attributes::contrast_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_SATURATION, make_attribute_parser(&md_rgb_control::saturation, md_rgb_control_attributes::saturation_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_SHARPNESS, make_attribute_parser(&md_rgb_control::sharpness, md_rgb_control_attributes::sharpness_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE, make_attribute_parser(&md_rgb_control::awb_temp, md_rgb_control_attributes::awb_temp_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_BACKLIGHT_COMPENSATION, make_attribute_parser(&md_rgb_control::backlight_comp, md_rgb_control_attributes::backlight_comp_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_GAMMA, make_attribute_parser(&md_rgb_control::gamma, md_rgb_control_attributes::gamma_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_HUE, make_attribute_parser(&md_rgb_control::hue, md_rgb_control_attributes::hue_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_MANUAL_WHITE_BALANCE, make_attribute_parser(&md_rgb_control::manual_wb, md_rgb_control_attributes::manual_wb_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_POWER_LINE_FREQUENCY, make_attribute_parser(&md_rgb_control::power_line_frequency, md_rgb_control_attributes::power_line_frequency_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION, make_attribute_parser(&md_rgb_control::low_light_comp, md_rgb_control_attributes::low_light_comp_attribute, md_prop_offset));

return color_ep;
}

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17 changes: 17 additions & 0 deletions src/l500/l500-depth.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@
#include "proc/temporal-filter.h"
#include "proc/hole-filling-filter.h"
#include "proc/zero-order.h"
#include <cstddef>
#include "metadata-parser.h"

#define MM_TO_METER 1/1000
#define MIN_ALGO_VERSION 115
Expand Down Expand Up @@ -146,6 +148,21 @@ namespace librealsense
std::unique_ptr<notification_decoder>(new l500_notification_decoder())));

get_depth_sensor().register_option(RS2_OPTION_ERROR_POLLING_ENABLED, std::make_shared<polling_errors_disable>(_polling_error_handler.get()));

// attributes of md_capture_timing
auto md_prop_offset = offsetof(metadata_raw, mode) +
offsetof(md_l500_depth, intel_capture_timing);

get_depth_sensor().register_metadata(RS2_FRAME_METADATA_FRAME_COUNTER, make_attribute_parser(&l500_md_capture_timing::frame_counter, md_capture_timing_attributes::frame_counter_attribute, md_prop_offset));
get_depth_sensor().register_metadata(RS2_FRAME_METADATA_SENSOR_TIMESTAMP, make_attribute_parser(&l500_md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset));
get_depth_sensor().register_metadata(RS2_FRAME_METADATA_ACTUAL_FPS, make_attribute_parser(&l500_md_capture_timing::exposure_time, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset));

// attributes of md_depth_control
md_prop_offset = offsetof(metadata_raw, mode) +
offsetof(md_l500_depth, intel_depth_control);

get_depth_sensor().register_metadata(RS2_FRAME_METADATA_FRAME_LASER_POWER, make_attribute_parser(&md_l500_depth_control::laser_power, md_l500_depth_control_attributes::laser_power, md_prop_offset));
get_depth_sensor().register_metadata(RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE, make_attribute_parser(&md_l500_depth_control::laser_power_mode, md_rgb_control_attributes::manual_exp_attribute, md_prop_offset));
}

void l500_depth::create_snapshot(std::shared_ptr<debug_interface>& snapshot) const
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8 changes: 2 additions & 6 deletions src/l500/l500-factory.cpp
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Expand Up @@ -114,15 +114,11 @@ namespace librealsense
if (!ivcam2::try_fetch_usb_device(group.usb_devices, depth, hwm))
LOG_WARNING("try_fetch_usb_device(...) failed.");


#if defined( RS2_USE_WMF_BACKEND) || defined(RS2_USE_V4L2_BACKEND) //currently hid backend implemented only for windows and linux.
if (g.second.size() < 2)
{
LOG_WARNING("Skipping L500. " << g.second.size() << " HID devices were recognized, at least 2 required");
continue;
LOG_WARNING("L500 partial enum: " << g.second.size() << " HID devices were recognized (2+ expected)");
}

#endif

auto info = std::make_shared<l500_info>(ctx, g.first, hwm, g.second);
chosen.push_back(depth);
results.push_back(info);
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2 changes: 1 addition & 1 deletion src/metadata-parser.h
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Expand Up @@ -144,7 +144,7 @@ namespace librealsense
// Note that this heurisic is not deterministic and may validate false frames! TODO - requires review
md_type expected_type = md_type_trait<S>::type;

if ((s->header.md_type_id != expected_type) || (s->header.md_size !=sizeof(*s)))
if ((s->header.md_type_id != expected_type) || (s->header.md_size < sizeof(*s)))
{
std::string type = (md_type_desc.count(s->header.md_type_id) > 0) ?
md_type_desc.at(s->header.md_type_id) : (to_string()
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71 changes: 59 additions & 12 deletions src/metadata.h
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Expand Up @@ -39,22 +39,26 @@ namespace librealsense
META_DATA_CAPTURE_STATS_ID = 0x00000003,
META_DATA_CAMERA_EXTRINSICS_ID = 0x00000004,
META_DATA_CAMERA_INTRINSICS_ID = 0x00000005,
META_DATA_INTEL_L500_CAPTURE_TIMING_ID = 0x80000010,
META_DATA_INTEL_L500_DEPTH_CONTROL_ID = 0x80000012,
META_DATA_CAMERA_DEBUG_ID = 0x800000FF,
};

static const std::map<md_type, std::string> md_type_desc =
{
{ md_type::META_DATA_INTEL_DEPTH_CONTROL_ID, "Intel Depth Control"},
{ md_type::META_DATA_INTEL_CAPTURE_TIMING_ID, "Intel Capture timing"},
{ md_type::META_DATA_INTEL_CONFIGURATION_ID, "Intel Configuration"},
{ md_type::META_DATA_INTEL_STAT_ID, "Intel Statistics"},
{ md_type::META_DATA_INTEL_FISH_EYE_CONTROL_ID, "Intel Fisheye Control"},
{ md_type::META_DATA_INTEL_RGB_CONTROL_ID, "Intel RGB Control"},
{ md_type::META_DATA_INTEl_FE_FOV_MODEL_ID, "Intel Fisheye FOV Model"},
{ md_type::META_DATA_CAPTURE_STATS_ID, "Capture Statistics"},
{ md_type::META_DATA_CAMERA_EXTRINSICS_ID, "Camera Extrinsic"},
{ md_type::META_DATA_CAMERA_INTRINSICS_ID, "Camera Intrinsic"},
{ md_type::META_DATA_CAMERA_DEBUG_ID, "Camera Debug"},
{ md_type::META_DATA_INTEL_DEPTH_CONTROL_ID, "Intel Depth Control"},
{ md_type::META_DATA_INTEL_CAPTURE_TIMING_ID, "Intel Capture timing"},
{ md_type::META_DATA_INTEL_CONFIGURATION_ID, "Intel Configuration"},
{ md_type::META_DATA_INTEL_STAT_ID, "Intel Statistics"},
{ md_type::META_DATA_INTEL_FISH_EYE_CONTROL_ID, "Intel Fisheye Control"},
{ md_type::META_DATA_INTEL_RGB_CONTROL_ID, "Intel RGB Control"},
{ md_type::META_DATA_INTEl_FE_FOV_MODEL_ID, "Intel Fisheye FOV Model"},
{ md_type::META_DATA_CAPTURE_STATS_ID, "Capture Statistics"},
{ md_type::META_DATA_CAMERA_EXTRINSICS_ID, "Camera Extrinsic"},
{ md_type::META_DATA_CAMERA_INTRINSICS_ID, "Camera Intrinsic"},
{ md_type::META_DATA_CAMERA_DEBUG_ID, "Camera Debug"},
{ md_type::META_DATA_INTEL_L500_CAPTURE_TIMING_ID, "Intel Capture timing"},
{ md_type::META_DATA_INTEL_L500_DEPTH_CONTROL_ID, "Intel Depth Control"},
};

/**\brief md_capture_timing_attributes - enumerate the bit offset to check
Expand Down Expand Up @@ -101,6 +105,14 @@ namespace librealsense
preset_attribute = (1u << 6),
};

/**\brief md_depth_control_attributes - bit mask to find active attributes,
* md_depth_control struct */
enum class md_l500_depth_control_attributes : uint32_t
{
laser_power = (1u << 0),
preset_id = (1u << 1),
laser_power_mode = (1u << 2),
};
/**\brief md_fisheye_control_attributes - bit mask to find active attributes,
* md_fisheye_control struct */
enum class md_fisheye_control_attributes : uint32_t
Expand Down Expand Up @@ -271,6 +283,20 @@ namespace librealsense

REGISTER_MD_TYPE(md_capture_timing, md_type::META_DATA_INTEL_CAPTURE_TIMING_ID)

struct l500_md_capture_timing
{
md_header header;
uint32_t version;
uint32_t flags; // Bit array to specify attributes that are valid
uint32_t frame_counter;
uint32_t sensor_timestamp; //In microsecond unit
uint32_t readout_time; //The readout time in microsecond unit
uint32_t exposure_time; //The exposure time in microsecond unit
uint32_t frame_interval; //The frame interval in microsecond unit
uint32_t pipe_latency; //The latency between start of frame to frame ready in USB buffer
};
REGISTER_MD_TYPE(l500_md_capture_timing, md_type::META_DATA_INTEL_L500_CAPTURE_TIMING_ID)

/**\brief md_capture_stats - properties associated with optical sensor
* during video streaming. Corresponds to FW STMetaDataCaptureStats object*/
struct md_capture_stats
Expand Down Expand Up @@ -316,6 +342,19 @@ namespace librealsense

REGISTER_MD_TYPE(md_depth_control, md_type::META_DATA_INTEL_DEPTH_CONTROL_ID)

/**\brief md_depth_control - depth data-related parameters.
* Corresponds to FW's STMetaDataIntelDepthControl object*/
struct md_l500_depth_control
{
md_header header;
uint32_t version;
uint32_t flags;
uint32_t laser_power; //value between 1 to 12
uint32_t preset_id;
uint32_t laser_power_mode; //Auto or Manual laser power
};

REGISTER_MD_TYPE(md_l500_depth_control, md_type::META_DATA_INTEL_L500_DEPTH_CONTROL_ID)

/**\brief md_fisheye_control - fisheye-related parameters.
* Corresponds to FW's STMetaDataIntelFishEyeControl object*/
Expand Down Expand Up @@ -478,6 +517,14 @@ namespace librealsense
md_configuration intel_configuration;
};

struct md_l500_depth
{
md_capture_timing intel_capture_timing;
md_capture_stats intel_capture_stats;
md_l500_depth_control intel_depth_control;
md_configuration intel_configuration;
};

struct md_fisheye_normal_mode
{
md_capture_timing intel_capture_timing;
Expand Down Expand Up @@ -543,7 +590,7 @@ namespace librealsense
* layout as transmitted and received by backend */
struct metadata_raw
{
platform::uvc_header header;
platform::uvc_header header;
md_modes mode;
};

Expand Down
10 changes: 5 additions & 5 deletions src/sensor.cpp
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Expand Up @@ -15,7 +15,7 @@

namespace librealsense
{
sensor_base::sensor_base(std::string name, device* dev,
sensor_base::sensor_base(std::string name, device* dev,
recommended_proccesing_blocks_interface* owner)
: recommended_proccesing_blocks_base(owner),
_is_streaming(false),
Expand Down Expand Up @@ -1105,15 +1105,15 @@ namespace librealsense

if (has_metadata(mode, fo.metadata, fo.metadata_size))
{
// The timestamps conversions path comprise of:
// FW TS (32bit) -> USB Phy Layer (no changes) -> Host Driver TS (Extend to 64bit) -> LRS read as 64 bit
// The flow introduces discrepancy with UVC stream which timestamps aer not extended to 64 bit by host driver both for Win and v4l backends.
// The timestamps conversions path comprise of:
// FW TS (32bit) -> USB Phy Layer (no changes) -> Host Driver TS (Extend to 64bit) -> LRS read as 64 bit
// The flow introduces discrepancy with UVC stream which timestamps aer not extended to 64 bit by host driver both for Win and v4l backends.
// In order to allow for hw timestamp-based synchronization of Depth and IMU streams the latter will be trimmed to 32 bit.
// To revert to the extended 64 bit TS uncomment the next line instead
//auto timestamp = *((uint64_t*)((const uint8_t*)fo.metadata));
auto timestamp = *((uint32_t*)((const uint8_t*)fo.metadata));

// HID timestamps are aligned to FW Default - usec units
// HID timestamps are aligned to FW Default - usec units
return static_cast<rs2_time_t>(timestamp * TIMESTAMP_USEC_TO_MSEC);
}

Expand Down