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Added support for snapshot of imu and pose. #7440

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merged 3 commits into from
Oct 5, 2020
Merged

Added support for snapshot of imu and pose. #7440

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d61befc
Added support for snapshot of imu and pose.
aangerma Sep 29, 2020
4b6549a
CR fixes
aangerma Sep 29, 2020
5a07462
More fixes
aangerma Sep 29, 2020
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111 changes: 110 additions & 1 deletion common/model-views.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -393,6 +393,61 @@ namespace rs2
return ret;
}

bool motion_data_to_csv( const std::string & filename, rs2::frame frame )
{
bool ret = false;
auto motion = frame.as< motion_frame >();
if( frame )
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  1. if (motionframe)
  2. the two lines can be merged into:
  if (auto motion = frame.as< motion_frame >())
  {
    auto axes = motion.get_motion_data();
    ...

{
auto axes = motion.get_motion_data();
std::ofstream csv( filename );

auto profile = frame.get_profile();
csv << "Frame Info: " << std::endl << "Type," << profile.stream_name() << std::endl;
csv << "Format," << rs2_format_to_string( profile.format() ) << std::endl;
csv << "Frame Number," << frame.get_frame_number() << std::endl;
csv << "Timestamp (ms)," << std::fixed << std::setprecision( 2 )
<< frame.get_timestamp() << std::endl;
csv << std::setprecision( 7 ) << "x," << axes.x << std::endl;
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Please put those three values in a single CSV line + add units

csv << std::setprecision( 7 ) << "y," << axes.y << std::endl;
csv << std::setprecision( 7 ) << "z," << axes.z << std::endl;

ret = true;
}

return ret;
}

bool pose_data_to_csv( const std::string & filename, rs2::frame frame )
{
bool ret = false;
auto pose = frame.as< pose_frame >();
if( frame )
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Same as above

{
auto pose_data = pose.get_pose_data();
std::ofstream csv( filename );

auto profile = frame.get_profile();
csv << "Frame Info: " << std::endl << "Type," << profile.stream_name() << std::endl;
csv << "Format," << rs2_format_to_string( profile.format() ) << std::endl;
csv << "Frame Number," << frame.get_frame_number() << std::endl;
csv << "Timestamp (ms)," << std::fixed << std::setprecision( 2 )
<< frame.get_timestamp() << std::endl;
csv << std::setprecision( 7 ) << "acceleration," << pose_data.acceleration << std::endl;
csv << std::setprecision( 7 ) << "angular_acceleration," << pose_data.angular_acceleration << std::endl;
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Each one of those is a vector-like structure - need to verify that they will be presented comma-separated x,y,z,w.
Specify units at the beginning/end of each field

Please attach an actual pose CSV captured for motion and pose for review

csv << std::setprecision( 7 ) << "angular_velocity," << pose_data.angular_velocity << std::endl;
csv << std::setprecision( 7 ) << "mapper_confidence," << pose_data.mapper_confidence << std::endl;
csv << std::setprecision( 7 ) << "rotation," << pose_data.rotation << std::endl;
csv << std::setprecision( 7 ) << "tracker_confidence," << pose_data.tracker_confidence << std::endl;
csv << std::setprecision( 7 ) << "translation," << pose_data.translation << std::endl;
csv << std::setprecision( 7 ) << "velocity," << pose_data.velocity << std::endl;

ret = true;
}

return ret;
}

std::vector<const char*> get_string_pointers(const std::vector<std::string>& vec)
{
std::vector<const char*> res;
Expand Down Expand Up @@ -3092,7 +3147,8 @@ namespace rs2
ss << "PNG snapshot was saved to " << filename_png << std::endl;
}

auto original_frame = texture->get_last_frame(false).as<video_frame>();
auto last_frame = texture->get_last_frame( false );
auto original_frame = last_frame.as< video_frame >();

// For Depth-originated streams also provide a copy of the raw data accompanied by sensor-specific metadata
if (original_frame && val_in_range(original_frame.get_profile().stream_type(), { RS2_STREAM_DEPTH , RS2_STREAM_INFRARED }))
Expand Down Expand Up @@ -3125,6 +3181,59 @@ namespace rs2
}
}

auto motion = last_frame.as< motion_frame >();
if( motion
&& val_in_range( motion.get_profile().stream_type(),
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stream check can be omitted

{ RS2_STREAM_GYRO, RS2_STREAM_ACCEL } ) )
{
stream_desc = rs2_stream_to_string( motion.get_profile().stream_type() );

// And the frame's attributes
auto filename = filename_base + "_" + stream_desc + ".csv";

try
{
if( motion_data_to_csv( filename, motion ) )
ss << "The frame attributes are saved into\n" << filename;
else
viewer.not_model->add_notification(
{ to_string() << "Failed to save frame metadata file " << filename,
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Failed to save TBD frame metadata file

RS2_LOG_SEVERITY_INFO,
RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR } );
}
catch( std::exception & e )
{
viewer.not_model->add_notification( { to_string() << e.what(),
RS2_LOG_SEVERITY_INFO,
RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR } );
}
}

auto pose = last_frame.as< pose_frame >();
if (pose && pose.get_profile().stream_type() == RS2_STREAM_POSE)
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The stream type check can be omitted - imo redundant

{
stream_desc = rs2_stream_to_string( pose.get_profile().stream_type() );

// And the frame's attributes
auto filename = filename_base + "_" + stream_desc + ".csv";

try
{
if( pose_data_to_csv( filename, pose ) )
ss << "The frame attributes are saved into\n" << filename;
else
viewer.not_model->add_notification(
{ to_string() << "Failed to save frame metadata file " << filename,
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Same as above

RS2_LOG_SEVERITY_INFO,
RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR } );
}
catch( std::exception & e )
{
viewer.not_model->add_notification( { to_string() << e.what(),
RS2_LOG_SEVERITY_INFO,
RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR } );
}
}
if (ss.str().size())
viewer.not_model->add_notification(notification_data{
ss.str().c_str(), RS2_LOG_SEVERITY_INFO, RS2_NOTIFICATION_CATEGORY_HARDWARE_EVENT });
Expand Down
4 changes: 4 additions & 0 deletions common/model-views.h
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Original file line number Diff line number Diff line change
Expand Up @@ -84,6 +84,10 @@ namespace rs2

bool frame_metadata_to_csv(const std::string& filename, rs2::frame frame);

bool motion_data_to_csv( const std::string & filename, rs2::frame frame );
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bool pose_data_to_csv( const std::string & filename, rs2::frame frame );

void open_issue(std::string body);

class device_model;
Expand Down