Added API for depth auto calibration. #5346
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# Conflicts: # src/core/advanced_mode.h
ev-mp
reviewed
Nov 30, 2019
include/librealsense2/h/rs_types.h
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| @@ -173,6 +173,7 @@ typedef enum rs2_extension | |||
| RS2_EXTENSION_UPDATE_DEVICE, | |||
| RS2_EXTENSION_L500_DEPTH_SENSOR, | |||
| RS2_EXTENSION_TM2_SENSOR, | |||
| RS2_EXTENSION_AUTO_CALIBRARED_DEVICE, | |||
src/ds5/ds5-auto-calibration.cpp
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| } | ||
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| std::shared_ptr<ds5_advanced_mode_base> preset_recover; | ||
| if (_speed == 4) |
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Replace hard-coded values with enums
src/ds5/ds5-auto-calibration.cpp
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| // Begin auto-calibration | ||
| _hw_monitor->send(command{ ds::AUTO_CALIB, auto_calib_begin, _speed }); | ||
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| DirectSearchCalibrationResult result; |
ev-mp
reviewed
Dec 1, 2019
include/librealsense2/h/rs_device.h
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| * \param[in] callback callback to get progress notifications | ||
| * \return new calibration table | ||
| * \param[in] callback Callback to get progress notifications | ||
| * \return Nnew calibration table |
ev-mp
requested changes
Dec 2, 2019
src/ds5/CMakeLists.txt
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| @@ -16,6 +16,7 @@ target_sources(${LRS_TARGET} | |||
| "${CMAKE_CURRENT_LIST_DIR}/advanced_mode/presets.cpp" | |||
| "${CMAKE_CURRENT_LIST_DIR}/advanced_mode/advanced_mode.cpp" | |||
| "${CMAKE_CURRENT_LIST_DIR}/ds5-auto-calibration.cpp" | |||
| "${CMAKE_CURRENT_LIST_DIR}/ds5-wide-fov.cpp" | |||
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Tabs
I strongly recommend to rename the class to ov9282_depth or similar - wide-fov descriptive and not unique given the other SKUs to consider. In addition it doesn't allow for scaling and reuse
src/ds5/CMakeLists.txt
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| @@ -28,4 +29,5 @@ target_sources(${LRS_TARGET} | |||
| "${CMAKE_CURRENT_LIST_DIR}/ds5-fw-update-device.h" | |||
| "${CMAKE_CURRENT_LIST_DIR}/advanced_mode/json_loader.hpp" | |||
| "${CMAKE_CURRENT_LIST_DIR}/ds5-auto-calibration.h" | |||
| "${CMAKE_CURRENT_LIST_DIR}/ds5-wide-fov.h" | |||
src/ds5/ds5-auto-calibration.h
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| const int DEFAULT_AVERAGE_STEP_COUNT = 20; | ||
| const int DEFAULT_STEP_COUNT = 10; | ||
| const int DEFAULT_ACCURACY = 2; | ||
| const int DEFAULT_SPEED = 3; |
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= auto_calib_speed::speed_slow;
src/ds5/ds5-auto-calibration.h
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| const int DEFUALT_SPEED = 3; | ||
| const int DEFAULT_AVERAGE_STEP_COUNT = 20; | ||
| const int DEFAULT_STEP_COUNT = 10; | ||
| const int DEFAULT_ACCURACY = 2; |
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= subpixel_accuracy::speed_medium;
src/ds5/ds5-color.cpp
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| auto usb_spec = get_usb_spec(); | ||
| if (usb_spec >= platform::usb3_type || usb_spec == platform::usb_undefined) | ||
| { | ||
| tags.push_back({ RS2_STREAM_COLOR, -1, 640, 480, RS2_FORMAT_RGB8, 30, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT }); |
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Why should we reduce 720P to VGA for USB3?
src/ds5/ds5-wide-fov.cpp
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| } | ||
| return tags; | ||
| }; | ||
| } |
src/ds5/ds5-wide-fov.cpp
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| { | ||
| std::vector<tagged_profile> tags; | ||
| auto usb_spec = get_usb_spec(); | ||
| if (usb_spec >= platform::usb3_type || usb_spec == platform::usb_undefined) |
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You also can use the ds5-factory.cpp method for maintainability and clearness:
bool usb3mode = (usb_spec >= platform::usb3_type || usb_spec == platform::usb_undefined);
uint32_t width = usb3mode ? 1280 : 640;
uint32_t height = usb3mode ? 720 : 480;
uint32_t fps = usb3mode ? 30 : 15;
tags.push_back({ RS2_STREAM_COLOR, -1, width, height, RS2_FORMAT_RGB8, fps,...
src/ds5/ds5-wide-fov.cpp
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| @@ -0,0 +1,21 @@ | |||
| #include "ds5-wide-fov.h" | |||
ev-mp
approved these changes
Dec 2, 2019
ev-mp
approved these changes
Dec 2, 2019
… more small fixes
ev-mp
approved these changes
Dec 2, 2019
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Added auto_calibrated_device extension for on-chip (plane fit RMS) and tare calibration (absolute distance).
Use this API in viewer and added example on python for auto calibration.
Fixed viewer to put the default resolution on top and fixed default resolution in RS435.