robot-intuitive-machines
/
hight-level-robotics-congnitive-agent
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat: Определение местоположения объектов относительно RealSense и их разметка

Browse Source
main
Artem-Darius Weber 2 months ago
commit bb2dc1e41e
3122 changed files with 701091 additions and 0 deletions
Show Stats Download Patch File Download Diff File

BIN
.DS_Store vendored
View File

Binary file not shown.

8
.idea/.gitignore vendored
Unescape View File

@ -0,0 +1,8 @@
# Default ignored files
/shelf/
/workspace.xml
# Editor-based HTTP Client requests
/httpRequests/
# Datasource local storage ignored files
/dataSources/
/dataSources.local.xml

187
.idea/inspectionProfiles/Project_Default.xml
Unescape View File

@ -0,0 +1,187 @@
<component name="InspectionProjectProfileManager">
<profile version="1.0">
<option name="myName" value="Project Default" />
<inspection_tool class="Eslint" enabled="true" level="WARNING" enabled_by_default="true" />
<inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
<option name="ignoredPackages">
<value>
<list size="159">
<item index="0" class="java.lang.String" itemvalue="httpx" />
<item index="1" class="java.lang.String" itemvalue="Babel" />
<item index="2" class="java.lang.String" itemvalue="sorted-nearest" />
<item index="3" class="java.lang.String" itemvalue="PyYAML" />
<item index="4" class="java.lang.String" itemvalue="marshmallow" />
<item index="5" class="java.lang.String" itemvalue="executing" />
<item index="6" class="java.lang.String" itemvalue="fisher" />
<item index="7" class="java.lang.String" itemvalue="gradio_client" />
<item index="8" class="java.lang.String" itemvalue="Pygments" />
<item index="9" class="java.lang.String" itemvalue="langchain" />
<item index="10" class="java.lang.String" itemvalue="starlette" />
<item index="11" class="java.lang.String" itemvalue="bleach" />
<item index="12" class="java.lang.String" itemvalue="jupyter_server_terminals" />
<item index="13" class="java.lang.String" itemvalue="soupsieve" />
<item index="14" class="java.lang.String" itemvalue="uvicorn" />
<item index="15" class="java.lang.String" itemvalue="jsonschema" />
<item index="16" class="java.lang.String" itemvalue="terminado" />
<item index="17" class="java.lang.String" itemvalue="comm" />
<item index="18" class="java.lang.String" itemvalue="pydub" />
<item index="19" class="java.lang.String" itemvalue="gunicorn" />
<item index="20" class="java.lang.String" itemvalue="click" />
<item index="21" class="java.lang.String" itemvalue="ipykernel" />
<item index="22" class="java.lang.String" itemvalue="nbconvert" />
<item index="23" class="java.lang.String" itemvalue="attrs" />
<item index="24" class="java.lang.String" itemvalue="contourpy" />
<item index="25" class="java.lang.String" itemvalue="psutil" />
<item index="26" class="java.lang.String" itemvalue="dataclasses-json" />
<item index="27" class="java.lang.String" itemvalue="jedi" />
<item index="28" class="java.lang.String" itemvalue="openai" />
<item index="29" class="java.lang.String" itemvalue="jupyter_server" />
<item index="30" class="java.lang.String" itemvalue="natsort" />
<item index="31" class="java.lang.String" itemvalue="asttokens" />
<item index="32" class="java.lang.String" itemvalue="platformdirs" />
<item index="33" class="java.lang.String" itemvalue="matplotlib" />
<item index="34" class="java.lang.String" itemvalue="pandavro" />
<item index="35" class="java.lang.String" itemvalue="jsonpatch" />
<item index="36" class="java.lang.String" itemvalue="httpcore" />
<item index="37" class="java.lang.String" itemvalue="referencing" />
<item index="38" class="java.lang.String" itemvalue="json5" />
<item index="39" class="java.lang.String" itemvalue="pyfaidx" />
<item index="40" class="java.lang.String" itemvalue="numpy" />
<item index="41" class="java.lang.String" itemvalue="requests" />
<item index="42" class="java.lang.String" itemvalue="fastavro" />
<item index="43" class="java.lang.String" itemvalue="grpcio-reflection" />
<item index="44" class="java.lang.String" itemvalue="jupyter-events" />
<item index="45" class="java.lang.String" itemvalue="websocket-client" />
<item index="46" class="java.lang.String" itemvalue="sqlalchemy2-stubs" />
<item index="47" class="java.lang.String" itemvalue="pysam" />
<item index="48" class="java.lang.String" itemvalue="stack-data" />
<item index="49" class="java.lang.String" itemvalue="methplotlib" />
<item index="50" class="java.lang.String" itemvalue="zipp" />
<item index="51" class="java.lang.String" itemvalue="nest-asyncio" />
<item index="52" class="java.lang.String" itemvalue="tenacity" />
<item index="53" class="java.lang.String" itemvalue="mmh3" />
<item index="54" class="java.lang.String" itemvalue="prompt-toolkit" />
<item index="55" class="java.lang.String" itemvalue="linkify-it-py" />
<item index="56" class="java.lang.String" itemvalue="websockets" />
<item index="57" class="java.lang.String" itemvalue="ipywidgets" />
<item index="58" class="java.lang.String" itemvalue="pyarrow" />
<item index="59" class="java.lang.String" itemvalue="watchfiles" />
<item index="60" class="java.lang.String" itemvalue="tornado" />
<item index="61" class="java.lang.String" itemvalue="aiofiles" />
<item index="62" class="java.lang.String" itemvalue="jsonpointer" />
<item index="63" class="java.lang.String" itemvalue="Send2Trash" />
<item index="64" class="java.lang.String" itemvalue="plotly" />
<item index="65" class="java.lang.String" itemvalue="overrides" />
<item index="66" class="java.lang.String" itemvalue="python-multipart" />
<item index="67" class="java.lang.String" itemvalue="toml" />
<item index="68" class="java.lang.String" itemvalue="mistune" />
<item index="69" class="java.lang.String" itemvalue="pandas" />
<item index="70" class="java.lang.String" itemvalue="importlib-resources" />
<item index="71" class="java.lang.String" itemvalue="toolz" />
<item index="72" class="java.lang.String" itemvalue="mpmath" />
<item index="73" class="java.lang.String" itemvalue="pyranges" />
<item index="74" class="java.lang.String" itemvalue="debugpy" />
<item index="75" class="java.lang.String" itemvalue="argon2-cffi" />
<item index="76" class="java.lang.String" itemvalue="yarl" />
<item index="77" class="java.lang.String" itemvalue="pytz" />
<item index="78" class="java.lang.String" itemvalue="moreorless" />
<item index="79" class="java.lang.String" itemvalue="Pillow" />
<item index="80" class="java.lang.String" itemvalue="notebook_shim" />
<item index="81" class="java.lang.String" itemvalue="traitlets" />
<item index="82" class="java.lang.String" itemvalue="bowler" />
<item index="83" class="java.lang.String" itemvalue="protobuf" />
<item index="84" class="java.lang.String" itemvalue="rfc3339-validator" />
<item index="85" class="java.lang.String" itemvalue="arrow" />
<item index="86" class="java.lang.String" itemvalue="mypy" />
<item index="87" class="java.lang.String" itemvalue="python-dotenv" />
<item index="88" class="java.lang.String" itemvalue="nbclient" />
<item index="89" class="java.lang.String" itemvalue="partd" />
<item index="90" class="java.lang.String" itemvalue="MarkupSafe" />
<item index="91" class="java.lang.String" itemvalue="locket" />
<item index="92" class="java.lang.String" itemvalue="tinycss2" />
<item index="93" class="java.lang.String" itemvalue="httptools" />
<item index="94" class="java.lang.String" itemvalue="frozenlist" />
<item index="95" class="java.lang.String" itemvalue="appdirs" />
<item index="96" class="java.lang.String" itemvalue="python-json-logger" />
<item index="97" class="java.lang.String" itemvalue="semantic-version" />
<item index="98" class="java.lang.String" itemvalue="filelock" />
<item index="99" class="java.lang.String" itemvalue="jupyterlab-widgets" />
<item index="100" class="java.lang.String" itemvalue="pyzmq" />
<item index="101" class="java.lang.String" itemvalue="certifi" />
<item index="102" class="java.lang.String" itemvalue="anyio" />
<item index="103" class="java.lang.String" itemvalue="Markdown" />
<item index="104" class="java.lang.String" itemvalue="sympy" />
<item index="105" class="java.lang.String" itemvalue="uvloop" />
<item index="106" class="java.lang.String" itemvalue="notebook" />
<item index="107" class="java.lang.String" itemvalue="beautifulsoup4" />
<item index="108" class="java.lang.String" itemvalue="isoduration" />
<item index="109" class="java.lang.String" itemvalue="jupyter-lsp" />
<item index="110" class="java.lang.String" itemvalue="fqdn" />
<item index="111" class="java.lang.String" itemvalue="jupyter_client" />
<item index="112" class="java.lang.String" itemvalue="orjson" />
<item index="113" class="java.lang.String" itemvalue="jupyterlab_server" />
<item index="114" class="java.lang.String" itemvalue="altair" />
<item index="115" class="java.lang.String" itemvalue="feast" />
<item index="116" class="java.lang.String" itemvalue="fonttools" />
<item index="117" class="java.lang.String" itemvalue="mdit-py-plugins" />
<item index="118" class="java.lang.String" itemvalue="widgetsnbextension" />
<item index="119" class="java.lang.String" itemvalue="charset-normalizer" />
<item index="120" class="java.lang.String" itemvalue="uc-micro-py" />
<item index="121" class="java.lang.String" itemvalue="biopython" />
<item index="122" class="java.lang.String" itemvalue="dask" />
<item index="123" class="java.lang.String" itemvalue="ffmpy" />
<item index="124" class="java.lang.String" itemvalue="langsmith" />
<item index="125" class="java.lang.String" itemvalue="numexpr" />
<item index="126" class="java.lang.String" itemvalue="gradio" />
<item index="127" class="java.lang.String" itemvalue="webcolors" />
<item index="128" class="java.lang.String" itemvalue="async-timeout" />
<item index="129" class="java.lang.String" itemvalue="SQLAlchemy" />
<item index="130" class="java.lang.String" itemvalue="sklearn" />
<item index="131" class="java.lang.String" itemvalue="cloudpickle" />
<item index="132" class="java.lang.String" itemvalue="wcwidth" />
<item index="133" class="java.lang.String" itemvalue="jupyter_core" />
<item index="134" class="java.lang.String" itemvalue="importlib-metadata" />
<item index="135" class="java.lang.String" itemvalue="rfc3986-validator" />
<item index="136" class="java.lang.String" itemvalue="typeguard" />
<item index="137" class="java.lang.String" itemvalue="ncls" />
<item index="138" class="java.lang.String" itemvalue="jsonschema-specifications" />
<item index="139" class="java.lang.String" itemvalue="rpds-py" />
<item index="140" class="java.lang.String" itemvalue="uri-template" />
<item index="141" class="java.lang.String" itemvalue="fissix" />
<item index="142" class="java.lang.String" itemvalue="urllib3" />
<item index="143" class="java.lang.String" itemvalue="jupyterlab" />
<item index="144" class="java.lang.String" itemvalue="Cython" />
<item index="145" class="java.lang.String" itemvalue="six" />
<item index="146" class="java.lang.String" itemvalue="pyTelegramBotAPI" />
<item index="147" class="java.lang.String" itemvalue="nbformat" />
<item index="148" class="java.lang.String" itemvalue="ipython" />
<item index="149" class="java.lang.String" itemvalue="dill" />
<item index="150" class="java.lang.String" itemvalue="volatile" />
<item index="151" class="java.lang.String" itemvalue="fastjsonschema" />
<item index="152" class="java.lang.String" itemvalue="prometheus-client" />
<item index="153" class="java.lang.String" itemvalue="tqdm" />
<item index="154" class="java.lang.String" itemvalue="fastapi" />
<item index="155" class="java.lang.String" itemvalue="proto-plus" />
<item index="156" class="java.lang.String" itemvalue="aiohttp" />
<item index="157" class="java.lang.String" itemvalue="grpcio" />
<item index="158" class="java.lang.String" itemvalue="async-lru" />
</list>
</value>
</option>
</inspection_tool>
<inspection_tool class="PyPep8NamingInspection" enabled="true" level="WEAK WARNING" enabled_by_default="true">
<option name="ignoredErrors">
<list>
<option value="N803" />
</list>
</option>
</inspection_tool>
<inspection_tool class="PyUnresolvedReferencesInspection" enabled="true" level="WARNING" enabled_by_default="true">
<option name="ignoredIdentifiers">
<list>
<option value="random.random.choice" />
</list>
</option>
</inspection_tool>
</profile>
</component>

6
.idea/inspectionProfiles/profiles_settings.xml
Unescape View File

@ -0,0 +1,6 @@
<component name="InspectionProjectProfileManager">
<settings>
<option name="USE_PROJECT_PROFILE" value="false" />
<version value="1.0" />
</settings>
</component>

10
.idea/misc.xml
Unescape View File

@ -0,0 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="DiscordProjectSettings">
<option name="show" value="ASK" />
<option name="description" value="" />
</component>
<component name="MarkdownSettingsMigration">
<option name="stateVersion" value="1" />
</component>
</project>

8
.idea/modules.xml
Unescape View File

@ -0,0 +1,8 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/robot-mors-object-track.iml" filepath="$PROJECT_DIR$/.idea/robot-mors-object-track.iml" />
</modules>
</component>
</project>

8
.idea/robot-mors-object-track.iml
Unescape View File

@ -0,0 +1,8 @@
<?xml version="1.0" encoding="UTF-8"?>
<module type="PYTHON_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$" />
<orderEntry type="inheritedJdk" />
<orderEntry type="sourceFolder" forTests="false" />
</component>
</module>

6
.idea/vcs.xml
Unescape View File

@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$/librealsense" vcs="Git" />
</component>
</project>

19
001_yolo_object_classification_test.py
Unescape View File

@ -0,0 +1,19 @@
from ultralytics import YOLO
import cv2
model = YOLO('./models/yolov9e_object_classification.pt')
image_path = './assets/classification_images/rgb_web_ex.jpeg'
image = cv2.imread(image_path)
results = model(image)
annotated_image = results[0].plot()
output_path = './assets/classification_images/annotated_image.jpg'
cv2.imwrite(output_path, annotated_image)
print(f"Annotated image saved to {output_path}")
cv2.imshow('Detected Objects', annotated_image)
cv2.waitKey(0)
cv2.destroyAllWindows()

60
002_rs_with_yolo_get_3d_boxes.py
Unescape View File

@ -0,0 +1,60 @@
from Neko.RealSense import RealSenseController
import cv2
from ultralytics import YOLO
import numpy as np
controller = RealSenseController()
def inline_detection(controller):
depth_matrix = controller.acquisition.get_depth_image()
color_matrix = controller.acquisition.get_color_image()
if depth_matrix is None or color_matrix is None:
print("Не удалось получить изображения. Проверьте подключение камеры.")
return
model = YOLO('./models/yolov9e_object_classification.pt')
results = model(color_matrix)
annotated_image = results[0].plot()
detections_info = []
for detection in results[0].boxes:
# Извлекаем координаты ограничивающей рамки
x1, y1, x2, y2 = map(int, detection.xyxy[0])
# Извлекаем класс объекта
class_id = int(detection.cls[0])
class_name = model.names[class_id]
# Извлекаем соответствующую область из карты глубины
depth_values = depth_matrix[y1:y2, x1:x2]
# Вычисляем среднее значение глубины
mean_depth = np.mean(depth_values)
# Сохраняем информацию в массив
detections_info.append({
'class_id': class_id,
'class_name': class_name,
'bbox': [x1, y1, x2, y2],
'mean_depth': mean_depth
})
# Наносим информацию на изображение
cv2.putText(annotated_image, f'{class_name} {mean_depth:.2f}m', (x1, y1 - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
cv2.rectangle(annotated_image, (x1, y1), (x2, y2), (0, 255, 0), 2)
# Сохраняем аннотированное изображение
output_path = './annotated_image.jpg'
cv2.imwrite(output_path, annotated_image)
print(f"Annotated image saved to {output_path}")
# Опционально: выводим массив с информацией
print("Detections info:")
for info in detections_info:
print(info)
inline_detection(controller)

137
003_rs_build_evclid_space.py
Unescape View File

@ -0,0 +1,137 @@
from Neko.RealSense import RealSenseController
import cv2
from ultralytics import YOLO
import numpy as np
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d.art3d import Poly3DCollection
from datetime import datetime
controller = RealSenseController()
model = YOLO('./models/yolov9e_object_classification.pt')
def inline_detection(controller):
depth_matrix = controller.acquisition.get_depth_image()
color_matrix = controller.acquisition.get_color_image()
if depth_matrix is None or color_matrix is None:
print("Не удалось получить изображения. Проверьте подключение камеры.")
return []
results = model(color_matrix)
annotated_image = results[0].plot()
detections_info = []
for detection in results[0].boxes:
# Извлекаем координаты ограничивающей рамки
x1, y1, x2, y2 = map(int, detection.xyxy[0])
# Извлекаем класс объекта
class_id = int(detection.cls[0])
class_name = model.names[class_id]
# Извлекаем соответствующую область из карты глубины
depth_values = depth_matrix[y1:y2, x1:x2]
# Вычисляем среднее значение глубины
mean_depth = np.mean(depth_values)
# Сохраняем информацию в массив
detections_info.append({
'class_id': class_id,
'class_name': class_name,
'bbox': [x1, y1, x2, y2],
'mean_depth': float(mean_depth) # Преобразуем в стандартный float
})
# Наносим информацию на изображение
cv2.putText(annotated_image, f'{class_name} {mean_depth:.2f}m', (x1, y1 - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
cv2.rectangle(annotated_image, (x1, y1), (x2, y2), (0, 255, 0), 2)
# Сохраняем аннотированное изображение
output_path = './annotated_image.jpg'
cv2.imwrite(output_path, annotated_image)
print(f"Annotated image saved to {output_path}")
# Опционально: выводим массив с информацией
print("Detections info:")
for info in detections_info:
print(info)
return detections_info
def plot_3d_bounding_boxes(detections_info):
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
for detection in detections_info:
# Извлекаем координаты бокса и среднюю глубину
x1, y1, x2, y2 = detection['bbox']
mean_depth = detection['mean_depth']
class_name = detection['class_name']
# Определяем размеры бокса
width = x2 - x1
height = y2 - y1
depth = 0.05 # Задаём фиксированную глубину для визуализации
# Определяем 8 точек для 3D-бокса
box_points = [
[x1, y1, mean_depth],
[x2, y1, mean_depth],
[x2, y2, mean_depth],
[x1, y2, mean_depth],
[x1, y1, mean_depth + depth],
[x2, y1, mean_depth + depth],
[x2, y2, mean_depth + depth],
[x1, y2, mean_depth + depth]
]
# Определяем грани бокса (шесть сторон)
faces = [
[box_points[0], box_points[1], box_points[5], box_points[4]], # Верхняя грань
[box_points[3], box_points[2], box_points[6], box_points[7]], # Нижняя грань
[box_points[0], box_points[3], box_points[7], box_points[4]], # Левая грань
[box_points[1], box_points[2], box_points[6], box_points[5]], # Правая грань
[box_points[0], box_points[1], box_points[2], box_points[3]], # Передняя грань
[box_points[4], box_points[5], box_points[6], box_points[7]] # Задняя грань
]
# Добавляем бокс в виде параллелепипеда
box = Poly3DCollection(faces, facecolors='cyan', linewidths=1, edgecolors='r', alpha=0.25)
ax.add_collection3d(box)
# Добавляем метку с названием класса и глубиной
ax.text((x1 + x2) / 2, (y1 + y2) / 2, mean_depth + depth, f'{class_name} {mean_depth:.2f}m',
color='blue', fontsize=8)
# Настраиваем оси для лучшей визуализации
ax.set_xlabel("X")
ax.set_ylabel("Y")
ax.set_zlabel("Depth (m)")
ax.set_title("3D Bounding Boxes with Depth Information")
# Опционально: установить ограничения осей для лучшего отображения
all_x = [d['bbox'][0] for d in detections_info] + [d['bbox'][2] for d in detections_info]
all_y = [d['bbox'][1] for d in detections_info] + [d['bbox'][3] for d in detections_info]
all_z = [d['mean_depth'] for d in detections_info] + [d['mean_depth'] + 0.05 for d in detections_info]
ax.set_xlim(min(all_x) - 50, max(all_x) + 50)
ax.set_ylim(min(all_y) - 50, max(all_y) + 50)
ax.set_zlim(min(all_z) - 50, max(all_z) + 50)
plt.show()
def test_time_delta():
start_time = datetime.now()
detections_info = inline_detection(controller)
end_time = datetime.now()
delta_time = end_time - start_time
print(f"Время выполнения: {delta_time}")
if __name__ == "__main__":
detections_info = inline_detection(controller)
if detections_info:
plot_3d_bounding_boxes(detections_info)

21
004_select_first_person.py
Unescape View File

@ -0,0 +1,21 @@
import numpy as np
from Neko.RealSense import RealSenseController
from Neko.CameraProcessor import CameraProcessor
from Neko.TargetFollower import TargetFollower
from Neko.Visualization3D import Visualization3D
if __name__ == "__main__":
camera_processor = CameraProcessor()
detections_info, annotated_image = camera_processor.inline_detection()
if annotated_image is not None and detections_info:
image_height, image_width, _ = annotated_image.shape
camera_position = np.array([image_width / 2, image_height, 0])
follower = TargetFollower(detections_info, annotated_image, camera_position=camera_position)
selected_target = follower.select_target('person', nearest=True) # Задайте имя класса для следования
follow_vector = follower.calculate_follow_vector()
visualizer = Visualization3D(camera_position=camera_position)
visualizer.plot_scene(detections_info, follow_vector=follow_vector)

0
101_llama_inference_kafka_WORKER.py
Unescape View File

105
Neko/CameraProcessor.py
Unescape View File

@ -0,0 +1,105 @@
from Neko.RealSense import RealSenseController
import cv2
from ultralytics import YOLO
import numpy as np
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d.art3d import Poly3DCollection
from datetime import datetime
class CameraProcessor:
def __init__(self, model_path='./models/yolov9e_object_classification.pt'):
self.controller = RealSenseController()
self.model = YOLO(model_path)
def inline_detection(self):
depth_matrix = self.controller.acquisition.get_depth_image()
color_matrix = self.controller.acquisition.get_color_image()
if depth_matrix is None or color_matrix is None:
print("Не удалось получить изображения. Проверьте подключение камеры.")
return [], None
results = self.model(color_matrix)
annotated_image = results[0].plot()
detections_info = []
for detection in results[0].boxes:
x1, y1, x2, y2 = map(int, detection.xyxy[0])
class_id = int(detection.cls[0])
class_name = self.model.names[class_id]
depth_values = depth_matrix[y1:y2, x1:x2]
mean_depth = np.mean(depth_values)
detections_info.append({
'class_id': class_id,
'class_name': class_name,
'bbox': [x1, y1, x2, y2],
'mean_depth': float(mean_depth)
})
cv2.putText(annotated_image, f'{class_name} {mean_depth:.2f}m', (x1, y1 - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
cv2.rectangle(annotated_image, (x1, y1), (x2, y2), (0, 255, 0), 2)
return detections_info, annotated_image
def plot_3d_bounding_boxes(self, detections_info):
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
for detection in detections_info:
x1, y1, x2, y2 = detection['bbox']
mean_depth = detection['mean_depth']
class_name = detection['class_name']
width = x2 - x1
height = y2 - y1
depth = 0.05
box_points = [
[x1, y1, mean_depth],
[x2, y1, mean_depth],
[x2, y2, mean_depth],
[x1, y2, mean_depth],
[x1, y1, mean_depth + depth],
[x2, y1, mean_depth + depth],
[x2, y2, mean_depth + depth],
[x1, y2, mean_depth + depth]
]
faces = [
[box_points[0], box_points[1], box_points[5], box_points[4]],
[box_points[3], box_points[2], box_points[6], box_points[7]],
[box_points[0], box_points[3], box_points[7], box_points[4]],
[box_points[1], box_points[2], box_points[6], box_points[5]],
[box_points[0], box_points[1], box_points[2], box_points[3]],
[box_points[4], box_points[5], box_points[6], box_points[7]]
]
box = Poly3DCollection(faces, facecolors='cyan', linewidths=1, edgecolors='r', alpha=0.25)
ax.add_collection3d(box)
ax.text((x1 + x2) / 2, (y1 + y2) / 2, mean_depth + depth, f'{class_name} {mean_depth:.2f}m',
color='blue', fontsize=8)
ax.set_xlabel("X")
ax.set_ylabel("Y")
ax.set_zlabel("Depth (m)")
ax.set_title("3D Bounding Boxes with Depth Information")
all_x = [d['bbox'][0] for d in detections_info] + [d['bbox'][2] for d in detections_info]
all_y = [d['bbox'][1] for d in detections_info] + [d['bbox'][3] for d in detections_info]
all_z = [d['mean_depth'] for d in detections_info] + [d['mean_depth'] + 0.05 for d in detections_info]
ax.set_xlim(min(all_x) - 50, max(all_x) + 50)
ax.set_ylim(min(all_y) - 50, max(all_y) + 50)
ax.set_zlim(min(all_z) - 50, max(all_z) + 50)
plt.show()
def test_time_delta(self):
start_time = datetime.now()
detections_info, _ = self.inline_detection()
end_time = datetime.now()
delta_time = end_time - start_time
print(f"Время выполнения: {delta_time}")

0
Neko/ClassificationModels.py
Unescape View File

88
Neko/RealSense.py
Unescape View File

@ -0,0 +1,88 @@
import pyrealsense2 as rs
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.animation import FuncAnimation
import cv2
# RS_WIDTH = 1280
# RS_HEIGHT = 720
RS_WIDTH = 640
RS_HEIGHT = 480
class RealSenseInterface:
def noCameraFound(self):
print("RealSense camera not found. Check the connection.")
class ImageAcquisition(RealSenseInterface):
def __init__(self):
try:
self.__pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, RS_WIDTH, RS_HEIGHT, rs.format.z16, 30)
config.enable_stream(rs.stream.color, RS_WIDTH, RS_HEIGHT, rs.format.bgr8, 30)
self.__pipeline.start(config)
except:
self.noCameraFound()
exit()
def get_depth_image(self):
frames = self.__pipeline.wait_for_frames()
depth_frame = frames.get_depth_frame()
return np.asanyarray(depth_frame.get_data()) if depth_frame else None
def get_color_image(self):
frames = self.__pipeline.wait_for_frames()
color_frame = frames.get_color_frame()
return np.asanyarray(color_frame.get_data()) if color_frame else None
def stop(self):
self.__pipeline.stop()
class ImageDisplay(RealSenseInterface):
def display_images(self, depth_image, color_image):
fig, (ax1, ax2) = plt.subplots(1, 2)
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
ax1.imshow(depth_colormap, cmap='jet')
ax2.imshow(color_image)
plt.show()
class ImageSaver(RealSenseInterface):
def save_image(self, image, filename):
cv2.imwrite(filename, image)
class RealSenseController:
def __init__(self):
self.acquisition = ImageAcquisition()
self.display = ImageDisplay()
self.saver = ImageSaver()
def start(self):
print("RealSense 3D camera detected.")
fig, (ax1, ax2) = plt.subplots(1, 2)
depth_im = ax1.imshow(np.zeros((RS_HEIGHT, RS_WIDTH, 3)), cmap='jet')
color_im = ax2.imshow(np.zeros((RS_HEIGHT, RS_WIDTH, 3)), cmap='jet')
def update(frame):
depth_image = self.acquisition.get_depth_image()
color_image = self.acquisition.get_color_image()
if depth_image is not None and color_image is not None:
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
depth_im.set_array(depth_colormap)
color_im.set_array(color_image)
self.saver.save_image(color_image, "color_image.png")
ani = FuncAnimation(fig, update, blit=False, cache_frame_data=False)
fig.canvas.manager.window.wm_geometry("+0+0")
plt.show()
self.acquisition.stop()

86
Neko/TargetFollower.py
Unescape View File

@ -0,0 +1,86 @@
import numpy as np
import cv2
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d.art3d import Poly3DCollection
from Neko.RealSense import RealSenseController
from Neko.CameraProcessor import CameraProcessor
from ultralytics import YOLO
from datetime import datetime
class TargetFollower:
def __init__(self, detections, annotated_image, camera_position=np.array([0, 0, 0])):
self.detections = detections
self.camera_position = camera_position
self.target = None
# Сохраняем аннотированное изображение
output_path = './annotated_image.jpg'
cv2.imwrite(output_path, annotated_image)
print(f"Annotated image saved to {output_path}")
print("Detections info:")
for info in detections:
print(info)
def select_target(self, class_name, nearest=False):
"""
Выбирает объект по указанному имени класса.
Если nearest=True, выбирается ближайший объект по значению mean_depth.
:param class_name: Имя класса, который нужно выбрать.
:param nearest: Если True, выбирает ближайший объект с данным классом.
:return: Найденный объект или None, если объект не найден.
"""
if nearest:
closest_detection = None
min_depth = float('inf')
for detection in self.detections:
if detection['class_name'] == class_name:
if detection['mean_depth'] < min_depth:
min_depth = detection['mean_depth']
closest_detection = detection
self.target = closest_detection
if self.target is not None:
print(f"Closest target selected: {self.target}")
else:
print(f"Target with class name '{class_name}' not found.")
return self.target
else:
for detection in self.detections:
if detection['class_name'] == class_name:
self.target = detection
print(f"Target selected: {self.target}")
return self.target
print(f"Target with class name '{class_name}' not found.")
return None
def calculate_follow_vector(self):
if self.target is None:
print("Target not selected.")
return None
bbox = self.target['bbox']
target_center_x = (bbox[0] + bbox[2]) / 2
target_center_y = (bbox[1] + bbox[3]) / 2
target_depth = self.target['mean_depth']
target_position = np.array([target_center_x, target_center_y, target_depth])
follow_vector = target_position - self.camera_position
return follow_vector
def get_target_position(self):
if self.target is None:
print("Target not selected.")
return None
bbox = self.target['bbox']
target_center_x = (bbox[0] + bbox[2]) / 2
target_center_y = (bbox[1] + bbox[3]) / 2
target_depth = self.target['mean_depth']
target_position = np.array([target_center_x, target_center_y, target_depth])
return target_position

78
Neko/Visualization3D.py
Unescape View File

@ -0,0 +1,78 @@
import numpy as np
import cv2
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d.art3d import Poly3DCollection
from Neko.RealSense import RealSenseController
from Neko.CameraProcessor import CameraProcessor
from Neko.TargetFollower import TargetFollower
from ultralytics import YOLO
from datetime import datetime
class Visualization3D:
def __init__(self, camera_position):
self.camera_position = camera_position
def plot_scene(self, detections_info, follow_vector=None):
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
for detection in detections_info:
x1, y1, x2, y2 = detection['bbox']
mean_depth = detection['mean_depth']
class_name = detection['class_name']
width = x2 - x1
height = y2 - y1
depth = 0.05
box_points = [
[x1, y1, mean_depth],
[x2, y1, mean_depth],
[x2, y2, mean_depth],
[x1, y2, mean_depth],
[x1, y1, mean_depth + depth],
[x2, y1, mean_depth + depth],
[x2, y2, mean_depth + depth],
[x1, y2, mean_depth + depth]
]
faces = [
[box_points[0], box_points[1], box_points[5], box_points[4]],
[box_points[3], box_points[2], box_points[6], box_points[7]],
[box_points[0], box_points[3], box_points[7], box_points[4]],
[box_points[1], box_points[2], box_points[6], box_points[5]],
[box_points[0], box_points[1], box_points[2], box_points[3]],
[box_points[4], box_points[5], box_points[6], box_points[7]]
]
box = Poly3DCollection(faces, facecolors='cyan', linewidths=1, edgecolors='r', alpha=0.25)
ax.add_collection3d(box)
ax.text((x1 + x2) / 2, (y1 + y2) / 2, mean_depth + depth, f'{class_name} {mean_depth:.2f}m',
color='blue', fontsize=8)
if follow_vector is not None:
target_position = self.camera_position + follow_vector
ax.quiver(
self.camera_position[0], self.camera_position[1], self.camera_position[2],
follow_vector[0], follow_vector[1], follow_vector[2],
color='red', arrow_length_ratio=0.1
)
ax.text(target_position[0], target_position[1], target_position[2],
"Target", color='red', fontsize=10)
ax.set_xlabel("X")
ax.set_ylabel("Y")
ax.set_zlabel("Depth (m)")
ax.set_title("3D Scene with Follow Vector")
all_x = [d['bbox'][0] for d in detections_info] + [d['bbox'][2] for d in detections_info]
all_y = [d['bbox'][1] for d in detections_info] + [d['bbox'][3] for d in detections_info]
all_z = [d['mean_depth'] for d in detections_info] + [d['mean_depth'] + 0.05 for d in detections_info]
ax.set_xlim(min(all_x) - 50, max(all_x) + 50)
ax.set_ylim(min(all_y) - 50, max(all_y) + 50)
ax.set_zlim(min(all_z) - 0.1, max(all_z) + 0.1)
plt.show()

0
Neko/__init__.py
Unescape View File

BIN
Neko/__pycache__/CameraProcessor.cpython-39.pyc
View File

Binary file not shown.

BIN
Neko/__pycache__/RealSense.cpython-39.pyc
View File

Binary file not shown.

BIN
Neko/__pycache__/TargetFollower.cpython-39.pyc
View File

Binary file not shown.

BIN
Neko/__pycache__/Visualization3D.cpython-39.pyc
View File

Binary file not shown.

BIN
Neko/__pycache__/__init__.cpython-39.pyc
View File

Binary file not shown.

BIN
annotated_image.jpg
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 158 KiB

BIN
assets/classification_images/annotated_image.jpg
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 322 KiB

BIN
assets/classification_images/rgb_web_ex.jpeg
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 229 KiB

BIN
color_image.png
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 69 KiB

BIN
depth_image.png
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 53 KiB

11
docs/01_overview.md
Unescape View File

@ -0,0 +1,11 @@
Данный репозиторий включает в себя 4 модуля:
- SLAM построение карты местности в реальном времени, а также предотвращения колизии робота с динамическими объектами посредством LiDAR
- Классификация и определения относительных координат объектов посредством RealSense
- Модуль построения когнетивной карты и взаимодействия с ней
- Модуль агентной обработки и планирования действий робота
Также в репозиторий включены инфраструктурные файлы, файлы конфигурации, эксперименты и документация.

29
docs/02_installation.md
Unescape View File

@ -0,0 +1,29 @@
## Base deps:
```bash
pip install opencv-python yolov5
```
## Install realsense sdk:
### Mac OS
```bash
brew install cmake pkg-config libusb
```
Clone the official repo:
```bash
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
```
### Ubuntu 22.0

29
infrastructure/kafka/docker-compose.yaml
Unescape View File

@ -0,0 +1,29 @@
version: '3.8'
services:
kafka:
image: confluentinc/cp-kafka:latest
environment:
KAFKA_BROKER_ID: 1
KAFKA_ZOOKEEPER_CONNECT: zookeeper:2181
KAFKA_ADVERTISED_LISTENERS: PLAINTEXT://kafka:9092
KAFKA_OFFSETS_TOPIC_REPLICATION_FACTOR: 1
KAFKA_CREATE_TOPICS: "request_llm_topic:3:1,response_llm_topic:3:1" # Формат: Топик:Кол-во_партиций:Фактор_репликации
ports:
- "9092:9092"
networks:
- my_network
depends_on:
- zookeeper
zookeeper:
image: confluentinc/cp-zookeeper:latest
environment:
ZOOKEEPER_CLIENT_PORT: 2181
ports:
- "2181:2181"
networks:
- my_network
networks:
my_network:
driver: bridge

1
install_requirements.sh
Unescape View File

@ -0,0 +1 @@
pip install -r ./requirements.txt

24
librealsense/.github/ISSUE_TEMPLATE.md vendored
Unescape View File

@ -0,0 +1,24 @@
* Before opening a new issue, we wanted to provide you with some useful suggestions (Click "Preview" above for a better view):
* Consider checking out SDK [examples](https://github.com/IntelRealSense/librealsense/tree/master/examples#sample-code-for-intel-realsense-cameras).
* Have you looked in our [documentations](https://github.com/IntelRealSense/librealsense/tree/master/doc#useful-links)?
* Is you question a [frequently asked one](https://github.com/IntelRealSense/librealsense/wiki/Troubleshooting-Q%26A)?
* Try [searching our GitHub Issues](https://github.com/IntelRealSense/librealsense/issues?utf8=%E2%9C%93&q=is%3Aissue) (open and closed) for a similar issue.
* All users are welcomed to report bugs, ask questions, suggest or request enhancements and generally feel free to open new issue, even if they haven't followed any of the suggestions above :)
----------------------------------------------------------------------------------------------------
| Required Info | |
|---------------------------------|------------------------------------------- |
| Camera Model | { R200 / F200 / SR300 / ZR300 / D400 } |
| Firmware Version | (Open RealSense Viewer --> Click info) |
| Operating System & Version | {Win (8.1/10) / Linux (Ubuntu 14/16/17) / MacOS |
| Kernel Version (Linux Only) | (e.g. 4.14.13) |
| Platform | PC/Raspberry Pi/ NVIDIA Jetson / etc.. |
| SDK Version | { legacy / 2.<?>.<?> } |
| Language | {C/C#/labview/nodejs/opencv/pcl/python/unity } |
| Segment | {Robot/Smartphone/VR/AR/others } |
### Issue Description
<Describe your issue / question / feature request / etc..>

9
librealsense/.github/pull_request_template.md vendored
Unescape View File

@ -0,0 +1,9 @@
<!--
Pull requests should go to the development branch:
https://github.com/IntelRealSense/librealsense/tree/development/
If this is still a work-in-progress, please open it as DRAFT.
For further details, please see our contribution guidelines:
https://github.com/IntelRealSense/librealsense/blob/master/CONTRIBUTING.md
-->

58
librealsense/.github/workflows/build-ROS2-package-CI.yaml vendored
Unescape View File

@ -0,0 +1,58 @@
name: build_lrs_ROS2_package
on:
push:
branches: ['**']
pull_request:
branches: ['**']
permissions: read-all
jobs:
build_lrs_ros2_package:
runs-on: ubuntu-latest
timeout-minutes: 30
strategy:
matrix:
ros_distribution:
- humble
- iron
- rolling
include:
# 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
container:
image: ${{ matrix.docker_image }}
steps:
- name: setup ROS environment
uses: ros-tooling/setup-ros@44e00e21351330f8dbc9f298bc179cd0c7910477 # v0.7
with:
required-ros-distributions: ${{ matrix.ros_distribution }}
- name: build librealsense ROS 2
uses: ros-tooling/action-ros-ci@0c87ffc035492b66c9afb9159ca9664fb0b513e1 # v0.3
with:
target-ros2-distro: ${{ matrix.ros_distribution }}
skip-tests: true
colcon-defaults: | # We align the build flags to the librealsense2 ROS2 release build.
{
"build": {
"cmake-args": [
"-DBUILD_GRAPHICAL_EXAMPLES=OFF",
"-DBUILD_EXAMPLES=OFF"
]
}
}

548
librealsense/.github/workflows/buildsCI.yaml vendored
Unescape View File

@ -0,0 +1,548 @@
name: Build_CI
on:
push:
branches: ['**']
pull_request:
branches: ['**']
permissions: read-all
env:
# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
LRS_BUILD_CONFIG: Debug
LRS_RUN_CONFIG: Release
LRS_RUN_WITH_DEB_CONFIG: RelWithDebInfo
PYTHON_PATH: C:\\hostedtoolcache\\windows\\Python\\3.8.1\\x64\\python.exe
# GH-Actions Windows VM currently supply ~14 GB available on D drive, and ~80 GB on drive C.
# Building LRS statically with third parties is too much for drive D so we clone to drive 'D' and build on drive 'C'
WIN_BUILD_DIR: C:/lrs_build
jobs:
#--------------------------------------------------------------------------------
Win_SH_EX_CfU: # Windows, shared, with Examples & Tools, and Check for Updates
runs-on: windows-2019
timeout-minutes: 60
steps:
- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- 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=true
- 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_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@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- 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
timeout-minutes: 60
steps:
- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- uses: actions/setup-python@3542bca2639a428e1796aaa6a2ffef0c0f575566 # v3.1.4
with:
python-version: '3.8.1'
- 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 ${{env.WIN_BUILD_DIR}}
python3 -m pip install numpy
- name: Configure CMake
# Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
# See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
shell: bash
run: |
LRS_SRC_DIR=$(pwd)
cd ${{env.WIN_BUILD_DIR}}
cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=true -DUNIT_TESTS_ARGS="--not-live --context=windows" -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=false -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true
- name: Build
# Build your program with the given configuration
shell: bash
run: |
cd ${{env.WIN_BUILD_DIR}}
cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -m
- name: LibCI
# Note: requires BUILD_UNIT_TESTS or the executable C++ unit-tests won't run (and it won't complain)
shell: bash
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
runs-on: windows-2019
timeout-minutes: 60
steps:
- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- uses: actions/setup-python@3542bca2639a428e1796aaa6a2ffef0c0f575566 # v3.1.4
with:
python-version: '3.8.1'
- 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 ${{env.WIN_BUILD_DIR}}
python3 -m pip install numpy
- name: Configure CMake
shell: bash
run: |
LRS_SRC_DIR=$(pwd)
cd ${{env.WIN_BUILD_DIR}}
cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=false -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=true -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true
- 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
- 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 windows" ${{env.WIN_BUILD_DIR}}/Release
#--------------------------------------------------------------------------------
Win_SH_Py_RSUSB_Csharp: # Windows, Shared, Python, RSUSB backend, C# bindings
runs-on: windows-2019
timeout-minutes: 60
steps:
- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- uses: actions/setup-python@3542bca2639a428e1796aaa6a2ffef0c0f575566 # v3.1.4
with:
python-version: '3.8.1'
- 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 ${{env.WIN_BUILD_DIR}}
- name: Configure CMake
shell: bash
run: |
LRS_SRC_DIR=$(pwd)
cd ${{env.WIN_BUILD_DIR}}
cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DCHECK_FOR_UPDATES=false -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true -DFORCE_RSUSB_BACKEND=true -DBUILD_CSHARP_BINDINGS=true -DDOTNET_VERSION_LIBRARY="4.5" -DDOTNET_VERSION_EXAMPLES="4.5"
- name: Build
# Build your program with the given configuration
shell: bash
run: |
cd ${{env.WIN_BUILD_DIR}}
cmake --build . --config ${{env.LRS_BUILD_CONFIG}} -- -m
#--------------------------------------------------------------------------------
U22_ST_Py_EX_CfU_LiveTest: # Ubuntu 2022, Static, Python, Examples & Tools, Check for Updates, Legacy Live-Tests
runs-on: ubuntu-22.04
timeout-minutes: 60
steps:
- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- name: Prebuild
shell: bash
run: |
cd scripts && ./api_check.sh && cd ..
mkdir build && cd build
export LRS_LOG_LEVEL="DEBUG";
sudo apt-get update;
sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev;
sudo apt-get install -qq libusb-1.0-0-dev;
sudo apt-get install -qq libgtk-3-dev;
sudo apt-get install libglfw3-dev libglfw3;
- name: Build
shell: bash
run: |
cd build
cmake .. -DCMAKE_BUILD_TYPE=${{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=$(which python3)
cmake --build . -- -j4
- name: Test
shell: bash
id: test-step
# We set continue-on-error: true as a workaround for not skipping the upload log step on failure,
# The final step will check the return value from the test step and decide if to fail/pass the job
continue-on-error: true
run: |
export LRS_LOG_LEVEL="DEBUG";
cd build/${{env.LRS_RUN_CONFIG}}/
./live-test -d yes -i [software-device]
- name: Upload RS log artifact
uses: actions/upload-artifact@a8a3f3ad30e3422c9c7b888a15615d19a852ae32 # v3.1.3
with:
name: Log file - U22_ST_Py_EX_CfU_LiveTest
path: build/*.log
- name: Provide correct exit status for job
shell: bash
run: |
if [ ${{steps.test-step.outcome}} = "failure" ];then
echo "Test step failed, please open it to view the reported issue"
exit 1
else
exit 0
fi
#--------------------------------------------------------------------------------
U20_SH_Py_CI: # Ubuntu 2020, Shared, Python, LibCI with executables
runs-on: ubuntu-20.04
timeout-minutes: 60
steps:
- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- name: Prebuild
shell: bash
run: |
sudo apt-get update;
sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev;
sudo apt-get install -qq libusb-1.0-0-dev;
sudo apt-get install -qq libgtk-3-dev;
sudo apt-get install libglfw3-dev libglfw3;
# We force compiling with GCC 7 because the default installed GCC 9 compiled with LTO and gives an internal compiler error
sudo apt-get install gcc-7 g++-7;
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 60 --slave /usr/bin/g++ g++ /usr/bin/g++-7;
python3 -m pip install numpy
- name: Check_API
shell: bash
run: |
cd scripts
./api_check.sh
./pr_check.sh
cd ..
mkdir build
- name: Build
shell: bash
run: |
cd build
cmake .. -DCMAKE_BUILD_TYPE=${{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=$(which python3)
cmake --build . -- -j4
- name: LibCI
# Note: requires BUILD_UNIT_TESTS or the executable C++ unit-tests won't run (and it won't complain)
shell: bash
run: |
python3 unit-tests/run-unit-tests.py --no-color --debug --stdout --not-live --context "linux"
#--------------------------------------------------------------------------------
U20_ST_Py_DDS_RSUSB_CI: # Ubuntu 2020, Static, Python, DDS, RSUSB, LibCI without executables
runs-on: ubuntu-20.04
timeout-minutes: 60
steps:
- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- name: Prebuild
shell: bash
run: |
sudo apt-get update;
sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev;
sudo apt-get install -qq libusb-1.0-0-dev;
sudo apt-get install -qq libgtk-3-dev;
sudo apt-get install libglfw3-dev libglfw3;
# We force compiling with GCC 7 because the default installed GCC 9 compiled with LTO and gives an internal compiler error
sudo apt-get install gcc-7 g++-7;
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 60 --slave /usr/bin/g++ g++ /usr/bin/g++-7;
python3 -m pip install numpy
- name: Check_API
shell: bash
run: |
cd scripts
./api_check.sh
./pr_check.sh
cd ..
mkdir build
- name: Build
# Note: we force RSUSB because, on Linux, the context creation will fail on GHA:
# (backend-v4l2.cpp:555) Cannot access /sys/class/video4linux)
# And, well, we don't need any specific platform for DDS!
shell: bash
run: |
cd build
cmake .. -DCMAKE_BUILD_TYPE=${{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=$(which python3) -DFORCE_RSUSB_BACKEND=true
cmake --build . -- -j4
- name: Client for realsense2-all
shell: bash
run: |
mkdir build/rs-all-client
cd build/rs-all-client
cmake ../../.github/workflows/rs-all-client -DBUILD_WITH_DDS=ON -DFORCE_RSUSB_BACKEND=ON
cmake --build . -- -j4
./rs-all-client
- name: LibCI
# Note: we specifically disable BUILD_UNIT_TESTS so the executable C++ unit-tests won't run
# This is to save time as DDS already lengthens the build...
shell: bash
run: |
python3 unit-tests/run-unit-tests.py --no-color --debug --stdout --not-live --context "dds linux" --tag dds
#--------------------------------------------------------------------------------
U22_SH_RSUSB_LiveTest: # Ubuntu 2022, Shared, Legacy live-tests
runs-on: ubuntu-22.04
timeout-minutes: 60
env:
LRS_BUILD_NODEJS: true
steps:
- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- name: Check_API
shell: bash
run: |
cd scripts
./api_check.sh
cd ..
- name: Prebuild
shell: bash
run: |
set -x
mkdir build
sudo apt-get update;
sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev;
sudo apt-get install -qq libusb-1.0-0-dev;
sudo apt-get install -qq libgtk-3-dev;
sudo apt-get install libglfw3-dev libglfw3;
- name: Build
shell: bash
run: |
cd build
cmake .. -DCMAKE_BUILD_TYPE=${{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
id: test-step
# 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: |
export LRS_LOG_LEVEL="DEBUG";
cd build/${{env.LRS_BUILD_CONFIG}}/
./live-test -d yes -i [software-device]
- name: Upload RS log artifact
uses: actions/upload-artifact@a8a3f3ad30e3422c9c7b888a15615d19a852ae32 # v3.1.3
with:
name: Log file - U22_SH_RSUSB_LiveTest
path: build/*.log
- name: Provide correct exit status for job
shell: bash
run: |
if [ ${{steps.test-step.outcome}} = "failure" ];then
echo "Test step failed, please open it to view the reported issue"
exit 1
else
exit 0
fi
#--------------------------------------------------------------------------------
Mac_cpp:
runs-on: macos-11
timeout-minutes: 60
steps:
- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- name: Check_API
shell: bash
run: |
cd scripts
./api_check.sh
cd ..
- name: Prebuild
run: |
mkdir build
# install coreutils for greadlink use
brew install coreutils
brew install homebrew/core/glfw3;
brew list libusb || brew install libusb;
- name: Build
run: |
cd build
# `OPENSSL_ROOT_DIR` setting is Used by libcurl for 'CHECK_FOR_UPDATES' capability
# 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 = ${OPENSSL_ROOT_DIR}"
cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_BUILD_CONFIG}} -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DCHECK_FOR_UPDATES=true
cmake --build . -- -j4
ls
#--------------------------------------------------------------------------------
Android_cpp:
runs-on: ubuntu-20.04
timeout-minutes: 60
steps:
- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- name: Check_API
shell: bash
run: |
cd scripts
./api_check.sh
cd ..
- name: Prebuild
shell: bash
run: |
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 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
run: |
cd build
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

89
librealsense/.github/workflows/cppcheck-parse.py vendored
Unescape View File

@ -0,0 +1,89 @@
# Parser for cppcheck_run.log files
import sys
def usage():
print( 'usage: python chhpcheck-parse.py [OPTIONS] <path-to-log>' )
print( ' --severity <W|E|l> limit which severities are shown (Warnings, Errors, locations; default=WEl)' )
sys.exit(1)
import getopt
try:
opts, args = getopt.getopt( sys.argv[1:], 'h',
longopts=['help', 'severity='] )
except getopt.GetoptError as err:
print( '-F-', err ) # something like "option -a not recognized"
usage()
if len(args) != 1:
usage()
logfile = args[0]
severities = 'WEl'
for opt, arg in opts:
if opt in ('--severity'):
severities = arg
class LineError( Exception ):
def __init__( self, message, line=None ):
global line_number, logfile
if line is None:
line = line_number
super().__init__( f'{logfile}+{line}: {message}' )
handle = open( logfile, "r" )
line_number = 0
def nextline():
global handle, line_number
line_number += 1
line = handle.readline()
if not line:
raise LineError( 'unexpected end-of-file' )
return line.strip()
while True:
line = nextline()
if line == '<errors>':
break
import re
while True:
line = nextline()
if line == '</errors>':
break
if not line.startswith( '<error ' ):
raise LineError( 'unexpected line' )
#print( f'-D-{line_number}- {line}' )
e = dict( re.findall( '(\w+)="(.*?)"', line ) )
severity = e['severity'][0].capitalize()
id = e['id']
cwe = e.get( 'cwe', '-' )
file0 = e.get( 'file0', '' )
msg = e['msg'].replace( '&apos;', "'" )
line = nextline()
printed = False
while( line.startswith( '<location ' )):
l = dict( re.findall( '(\w+)="(.*?)"', line ) )
file = l['file']
line = l['line']
column = l['column']
info = l.get( 'info', '' )
if severity in severities:
if 'l' in severities:
if not printed:
print( f'{severity} {id:30} {file0:50} {msg}' )
print( f'| {"-":30} {file+"+"+line+"."+column:50} {info}' )
elif not printed:
print( f'{severity} {id:30} {file+"+"+line:50} {msg}' )
printed = True
line = nextline()
if not printed: # no locations!?
if severity in severities:
print( f'{severity} {id:30} {file0 or file:50} {msg}' )
if line != '</error>':
raise LineError( 'unknown error line' )
sys.exit(0)

53
librealsense/.github/workflows/rs-all-client/CMakeLists.txt vendored
Unescape View File

@ -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( ${PROJECT_NAME} PROPERTIES
CXX_STANDARD 14
MSVC_RUNTIME_LIBRARY MultiThreaded$<$<CONFIG:Debug>: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()

56
librealsense/.github/workflows/rs-all-client/main.cpp vendored
Unescape View File

@ -0,0 +1,56 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include <rsutils/time/timer.h>
#include <iostream> // for cout
#include <chrono>
#include <thread>
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;
}

196
librealsense/.github/workflows/static_analysis.yaml vendored
Unescape View File

@ -0,0 +1,196 @@
name: static_analysis
on:
push:
branches: ['**']
pull_request:
branches: ['**']
permissions: read-all
jobs:
CppCheck:
name: CppCheck
timeout-minutes: 30
runs-on: ubuntu-22.04
steps:
- uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- name: Install
shell: bash
run: |
sudo apt-get update;
sudo apt-get install -qq cppcheck;
- name: Run
shell: bash
#Selected run options:
# ./xxx : Folders to scan
# --quiet : Don't show current checked configuration in log
# --std=c++11 : Use C++11 standard (default but worth mentioning)
# --xml : Output in XML format
# -j4 : Run parallel jobs for a faster scan. current HW is 2 core (https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners) using 4 to future proof
# --enable : Additional check to run. options are [all, warning, style, performance, protability, information, unusedFunction, missingInclude]
# -I : Include directories
# -i : Ignore directories. Ignore third-party libs that we don't want to check
# --suppress : Don't issue errors about files matching the expression (when -i for folders is not enough)
# --force : Check all configurations, takes a very long time (~2 hours) and did not find additional errors. Removed.
# --max-configs=6 : Using less configuration permutations (default is 12) to reduce run time. Detects less errors. Removed.
# -Dxxx : preprocessor configuration to use. Relevant flags taken from build on Ubuntu.
run: >
cppcheck ./src ./include ./common ./tools ./examples ./third-party/realdds ./third-party/rsutils
--quiet --std=c++11 --xml -j4 --enable=warning
-I./src -I./include -I./third-party/rsutils/include -I./common
-i./src/mf -i./src/uvc -i./src/win -i./src/winusb --suppress=*:third-party/json.hpp
-DBUILD_WITH_DDS -DHWM_OVER_XU -DRS2_USE_V4L2_BACKEND -DUNICODE -DUSING_UDEV -DCHECK_FOR_UPDATES -D__linux__
&> cppcheck_run.log
- name: Diff
id: diff-step
continue-on-error: true
shell: bash
run: |
python3 .github/workflows/cppcheck-parse.py --severity E cppcheck_run.log | sort --key 3 > cppcheck_run.parsed.log
python3 .github/workflows/cppcheck-parse.py --severity E .github/workflows/cppcheck_run.log | sort --key 3 > cppcheck_run.parsed.golden
diff cppcheck_run.parsed.golden cppcheck_run.parsed.log \
&& echo "No diffs found in cppcheck_run.log"
- name: Ensure cppcheck_run.parsed.log was updated
id: diff-parsed-step
continue-on-error: true
shell: bash
run: |
diff cppcheck_run.parsed.golden .github/workflows/cppcheck_run.parsed.log \
&& echo "No diffs found in cppcheck_run.parsed.log"
- name: Upload logs
uses: actions/upload-artifact@a8a3f3ad30e3422c9c7b888a15615d19a852ae32 # v3.1.3
with:
name: cppcheck_log
path: |
cppcheck_run.log
cppcheck_run.parsed.log
- name: Provide correct exit status
shell: bash
run: |
ERROR_COUNT=$(grep cppcheck_run.log -e "severity=\"error\"" -c) || ERROR_COUNT=0
EXPECTED_ERROR_COUNT=$(grep .github/workflows/cppcheck_run.log -e "severity=\"error\"" -c) || EXPECTED_ERROR_COUNT=0
if [ $ERROR_COUNT -eq $EXPECTED_ERROR_COUNT ]
then
echo "cppcheck_run succeeded, found" $ERROR_COUNT "errors, as expected"
if [ ${{steps.diff-step.outcome}} == "failure" ]
then
echo "however, the ---> DIFF FAILED <---"
elif [ ${{steps.diff-parsed-step.outcome}} == "failure" ]
then
echo "however, the ---> PARSED log was not UPDATED <---"
else
exit 0
fi
elif [ $ERROR_COUNT -lt $EXPECTED_ERROR_COUNT ]
then
echo "cppcheck_run ---> SUCCEEDED <--- but found" $ERROR_COUNT "errors when expecting" $EXPECTED_ERROR_COUNT
else
echo "cppcheck_run ---> FAILED <--- with" $ERROR_COUNT "errors; expecting" $EXPECTED_ERROR_COUNT
fi
echo "see the diff step above, or the 'cppcheck_log' artifact (under Summary) for details"
echo "commit all files in the artifact to .github/workflows/ if these are valid results"
exit 1
#---------------------------------------------------------------------------------------------------#
# We verify the minimal CMake version we support is preserved when building with default CMake flags
minimal_cmake_version:
name: "Minimal CMake version"
timeout-minutes: 30
runs-on: ubuntu-22.04
steps:
- name: Checkout
uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 # v3.6.0
- name: "Install Dependencies"
run: |
work_dir=$(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

91
librealsense/.gitignore vendored
Unescape View File

@ -0,0 +1,91 @@
bin/
lib/
ubuntu-xenial/
ubuntu-xenial-hwe/
# Docs
doc/doxygen/html/
*.html.lnk
# CMake
build*/
connectivity_check
# XCode
.DS_Store
*.pbxuser
!default.pbxuser
*.mode1v3
!default.mode1v3
*.mode2v3
!default.mode2v3
*.perspectivev3
!default.perspectivev3
xcuserdata
*.xccheckout
*.moved-aside
DerivedData
*.xcuserstate
librealsense.xc/build
*~
*.TMP
*.a
*.o
*.so
*.pyc
*.class
local_ignore/
#Visual Studio Project
.vs/*
#Clion Project
.idea/*
# QTCreator Project
/.qmake.cache
/.qmake.stash
*.user
*.user.*
*.moc
moc_*.cpp
qrc_*.cpp
ui_*.h
Makefile*
*-build-*
librealsense-log.txt
*.pyproj
*.orig
*.psess
*.vspx
*.vsp
*.bak
*.bin
*.suo
*.tlog
*.ilk
*.pdb
*.exp
*.log
*.stamp
*.depend
*.vcxproj
*.exe
*.cache
*.lib
*.filters
*.db
*.opendb
*.rule
*.check_cache
*.dll
*.list
*.json
*.ini
*.cxx
.vscode/*

35
librealsense/CMake/Findfoonathan_memory.cmake
Unescape View File

@ -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 )

34
librealsense/CMake/android_config.cmake
Unescape View File

@ -0,0 +1,34 @@
message(STATUS "Setting Android configurations")
message(STATUS "Prepare RealSense SDK for Android OS (${ANDROID_NDK_ABI_NAME})")
macro(os_set_flags)
unset(WIN32)
unset(UNIX)
unset(APPLE)
set(BUILD_UNIT_TESTS OFF)
set(BUILD_LEGACY_LIVE_TEST OFF)
set(BUILD_EXAMPLES OFF)
set(BUILD_TOOLS OFF)
set(BUILD_WITH_OPENMP OFF)
set(BUILD_GRAPHICAL_EXAMPLES OFF)
set(ANDROID_STL "c++_static")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -pedantic -g -D_DEFAULT_SOURCE")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic -g -Wno-missing-field-initializers")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fPIE -pie")
set(HWM_OVER_XU ON)
if(FORCE_RSUSB_BACKEND)
set(BACKEND RS2_USE_ANDROID_BACKEND)
set(IMPORT_DEPTH_CAM_FW OFF)
else()
set(BACKEND RS2_USE_V4L2_BACKEND)
endif()
endmacro()
macro(os_target_config)
if(BUILD_SHARED_LIBS)
find_library(log-lib log)
target_link_libraries(${LRS_TARGET} PRIVATE log)
endif()
endmacro()

19
librealsense/CMake/catch2-download.cmake.in
Unescape View File

@ -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 ""
)

12
librealsense/CMake/connectivity_check.cmake
Unescape View File

@ -0,0 +1,12 @@
# 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" "${CMAKE_CURRENT_BINARY_DIR}/connectivity_check" SHOW_PROGRESS TIMEOUT 5 STATUS status)
list (FIND status "\"No error\"" _index)
if (${_index} EQUAL -1)
message(STATUS "Failed to identify Internet connection")
set(INTERNET_CONNECTION OFF)
else()
message(STATUS "Internet connection identified")
set(INTERNET_CONNECTION ON)
endif()

15
librealsense/CMake/cuda_config.cmake
Unescape View File

@ -0,0 +1,15 @@
info("Building with CUDA requires CMake v3.8+")
cmake_minimum_required(VERSION 3.8.0)
enable_language( CUDA )
find_package(CUDA REQUIRED)
include_directories(${CUDA_INCLUDE_DIRS})
SET(ALL_CUDA_LIBS ${CUDA_LIBRARIES} ${CUDA_cusparse_LIBRARY} ${CUDA_cublas_LIBRARY})
SET(LIBS ${LIBS} ${ALL_CUDA_LIBS})
message(STATUS "CUDA_LIBRARIES: ${CUDA_INCLUDE_DIRS} ${ALL_CUDA_LIBS}")
set(CUDA_PROPAGATE_HOST_FLAGS OFF)
set(CUDA_SEPARABLE_COMPILATION ON)
set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS}; -O3 -gencode arch=compute_53,code=sm_53 -gencode arch=compute_62,code=sm_62;")

28
librealsense/CMake/embedd_udev_rules.cmake
Unescape View File

@ -0,0 +1,28 @@
file(READ "config/99-realsense-libusb.rules" contents HEX)
set(UDEV_HEADER "${CMAKE_CURRENT_BINARY_DIR}/udev-rules.h")
file(WRITE "${UDEV_HEADER}" "#ifndef __UDEV_RULES_H__\n")
file(APPEND "${UDEV_HEADER}" "#define __UDEV_RULES_H__\n")
file(APPEND "${UDEV_HEADER}" "#ifdef __cplusplus\n")
file(APPEND "${UDEV_HEADER}" "extern \"C\" {\n")
file(APPEND "${UDEV_HEADER}" "#endif\n")
file(APPEND "${UDEV_HEADER}" "const char "
"realsense_udev_rules[] = {")
string(LENGTH "${contents}" contents_length)
math(EXPR contents_length "${contents_length} - 1")
foreach(iter RANGE 0 ${contents_length} 2)
string(SUBSTRING ${contents} ${iter} 2 line)
file(APPEND "${UDEV_HEADER}" "0x${line},")
endforeach()
file(APPEND "${UDEV_HEADER}" "};\n")
file(APPEND "${UDEV_HEADER}" "#ifdef __cplusplus\n")
file(APPEND "${UDEV_HEADER}" "}\n")
file(APPEND "${UDEV_HEADER}" "#endif\n")
file(APPEND "${UDEV_HEADER}" "#endif//\n")

51
librealsense/CMake/external_catch2.cmake
Unescape View File

@ -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()

67
librealsense/CMake/external_fastdds.cmake
Unescape View File

@ -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()

44
librealsense/CMake/external_foonathan_memory.cmake
Unescape View File

@ -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()

50
librealsense/CMake/external_json.cmake
Unescape View File

@ -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()

60
librealsense/CMake/external_libcurl.cmake
Unescape View File

@ -0,0 +1,60 @@
if(CHECK_FOR_UPDATES)
include(ExternalProject)
message(STATUS "Building libcurl enabled")
set(CURL_FLAGS -DBUILD_CURL_EXE=OFF -DBUILD_SHARED_LIBS=OFF -DUSE_WIN32_LDAP=OFF -DHTTP_ONLY=ON -DCURL_ZLIB=OFF -DCURL_DISABLE_CRYPTO_AUTH=ON -DCMAKE_USE_LIBSSH2=OFF -DBUILD_TESTING=OFF )
if (WIN32)
set(CURL_FLAGS ${CURL_FLAGS} -DCURL_STATIC_CRT=ON )
endif()
# Add SSL library flag
if (WIN32)
set(CURL_FLAGS ${CURL_FLAGS} -DCMAKE_USE_SCHANNEL=ON )
else()
set(CURL_FLAGS ${CURL_FLAGS} -DCMAKE_USE_OPENSSL=ON )
endif()
ExternalProject_Add(
libcurl
PREFIX libcurl
GIT_REPOSITORY "https://github.com/curl/curl.git"
GIT_TAG "2f33be817cbce6ad7a36f27dd7ada9219f13584c" # curl-7_75_0
SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/third-party/libcurl
CMAKE_ARGS -DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}
-DCMAKE_C_FLAGS=${CMAKE_C_FLAGS}
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-DCMAKE_C_FLAGS_DEBUG=${CMAKE_C_FLAGS_DEBUG}
-DCMAKE_C_FLAGS_MINSIZEREL=${CMAKE_C_FLAGS_MINSIZEREL}
-DCMAKE_C_FLAGS_RELEASE=${CMAKE_C_FLAGS_RELEASE}
-DCMAKE_C_FLAGS_RELWITHDEBINFO=${CMAKE_C_FLAGS_RELWITHDEBINFO}
-DCMAKE_CXX_STANDARD_LIBRARIES=${CMAKE_CXX_STANDARD_LIBRARIES}
-DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install
-DCMAKE_INSTALL_LIBDIR=lib
-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
-DANDROID_ABI=${ANDROID_ABI}
-DANDROID_STL=${ANDROID_STL} ${CURL_FLAGS}
UPDATE_COMMAND ""
PATCH_COMMAND ""
TEST_COMMAND ""
)
set(CURL_DEBUG_TARGET_NAME "libcurl-d")
set(CURL_RELEASE_TARGET_NAME "libcurl")
add_library(curl INTERFACE)
add_definitions(-DCURL_STATICLIB) # Mandatory for building libcurl as static lib
target_include_directories(curl INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install/include>)
target_link_libraries(curl INTERFACE debug ${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install/lib/${CURL_DEBUG_TARGET_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX})
target_link_libraries(curl INTERFACE optimized ${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install/lib/${CURL_RELEASE_TARGET_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX})
# libcurl required libs per OS
# (Linux require that the link dependency will be added after the libcurl link target that use it)
if (WIN32)
target_link_libraries(curl INTERFACE ws2_32.lib crypt32.lib)
else()
find_package(OpenSSL REQUIRED)
target_link_libraries(curl INTERFACE OpenSSL::SSL OpenSSL::Crypto)
endif()
endif() #CHECK_FOR_UPDATES

38
librealsense/CMake/external_libusb.cmake
Unescape View File

@ -0,0 +1,38 @@
include(ExternalProject)
ExternalProject_Add(
libusb
# Work-around for libusb master broken on Nov 26' 2020 with introduction of v1.0.24
# the issue has been reported in https://github.com/libusb/libusb/issues/812
GIT_REPOSITORY "https://github.com/ev-mp/libusb.git"
GIT_TAG "2a7372db54094a406a755f0b8548b614ba8c78ec" # "v1.0.22" + Mac get_device_list hang fix
UPDATE_COMMAND ${CMAKE_COMMAND} -E copy_if_different
${CMAKE_CURRENT_SOURCE_DIR}/third-party/libusb/CMakeLists.txt
${CMAKE_CURRENT_BINARY_DIR}/third-party/libusb/CMakeLists.txt
PATCH_COMMAND ""
SOURCE_DIR "third-party/libusb/"
CMAKE_ARGS -DCMAKE_CXX_STANDARD_LIBRARIES=${CMAKE_CXX_STANDARD_LIBRARIES}
-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-DANDROID_ABI=${ANDROID_ABI}
-DANDROID_STL=${ANDROID_STL}
-DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/libusb_install
TEST_COMMAND ""
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/libusb_install/lib/${CMAKE_STATIC_LIBRARY_PREFIX}usb${CMAKE_STATIC_LIBRARY_SUFFIX}
)
add_library(usb INTERFACE)
target_include_directories(usb INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/third-party/libusb/libusb>)
target_link_libraries(usb INTERFACE ${CMAKE_CURRENT_BINARY_DIR}/libusb_install/lib/${CMAKE_STATIC_LIBRARY_PREFIX}usb${CMAKE_STATIC_LIBRARY_SUFFIX})
set(USE_EXTERNAL_USB ON) # INTERFACE libraries can't have real deps, so targets that link with usb need to also depend on libusb
set_target_properties( libusb PROPERTIES FOLDER "3rd Party")
if (APPLE)
find_library(corefoundation_lib CoreFoundation)
find_library(iokit_lib IOKit)
target_link_libraries(usb INTERFACE objc ${corefoundation_lib} ${iokit_lib})
endif()

142
librealsense/CMake/external_pybind11.cmake
Unescape View File

@ -0,0 +1,142 @@
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_pybind11)
message( STATUS #CHECK_START
"Fetching pybind11..." )
#list( APPEND CMAKE_MESSAGE_INDENT " " ) # Indent outputs
# We want to clone the pybind 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/pybind11-download.cmake.in
${CMAKE_BINARY_DIR}/external-projects/pybind11-download/CMakeLists.txt )
execute_process( COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" .
WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/pybind11-download"
OUTPUT_QUIET
RESULT_VARIABLE configure_ret )
execute_process( COMMAND "${CMAKE_COMMAND}" --build .
WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/pybind11-download"
OUTPUT_QUIET
RESULT_VARIABLE build_ret )
if( configure_ret OR build_ret )
message( FATAL_ERROR "Failed to download pybind11" )
endif()
# Now that it's available, we can refer to it with an actual ExternalProject_add (but notice we're not
# downloading anything)
ExternalProject_Add( pybind11
PREFIX ${CMAKE_BINARY_DIR}/external-projects/pybind11 # just so it doesn't use build/pybind11-prefix
SOURCE_DIR ${CMAKE_BINARY_DIR}/third-party/pybind11
BINARY_DIR ${CMAKE_BINARY_DIR}/third-party/pybind11/build
CMAKE_ARGS
-DCMAKE_CXX_STANDARD=${CMAKE_CXX_STANDARD}
-DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
-DBUILD_SHARED_LIBS=OFF
# Suppress warnings that are meant for the author of the CMakeLists.txt files
-Wno-dev
# Just in case!
-DPYBIND11_INSTALL=OFF
-DPYBIND11_TEST=OFF
INSTALL_COMMAND ""
UPDATE_COMMAND ""
PATCH_COMMAND ""
TEST_COMMAND ""
)
add_subdirectory( "${CMAKE_BINARY_DIR}/third-party/pybind11"
"${CMAKE_BINARY_DIR}/third-party/pybind11/build" )
set_target_properties( pybind11 PROPERTIES FOLDER "3rd Party" )
# Besides pybind11, any python module will also need to be installed using:
# install(
# TARGETS ${PROJECT_NAME}
# EXPORT pyrealsense2Targets
# LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}
# ARCHIVE DESTINATION ${PYTHON_INSTALL_DIR}
# )
# But, to do this, we need to define PYTHON_INSTALL_DIR!
if( CMAKE_VERSION VERSION_LESS 3.12 )
find_package(PythonInterp REQUIRED)
find_package(PythonLibs REQUIRED)
set( PYTHON_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/pyrealsense2" CACHE PATH "Installation directory for Python bindings")
else()
find_package(Python REQUIRED COMPONENTS Interpreter Development)
set( PYTHON_INSTALL_DIR "${Python_SITEARCH}/pyrealsense2" CACHE PATH "Installation directory for Python bindings")
endif()
message( STATUS #CHECK_PASS
"Fetching pybind11 - Done" )
#list( POP_BACK CMAKE_MESSAGE_INDENT ) # Unindent outputs (requires cmake 3.15)
endfunction()
# We also want a json-compatible pybind interface:
function(get_pybind11_json)
message( STATUS #CHECK_START
"Fetching pybind11_json..." )
#list( APPEND CMAKE_MESSAGE_INDENT " " ) # Indent outputs
# We want to clone the pybind 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/pybind11-json-download.cmake.in
${CMAKE_BINARY_DIR}/external-projects/pybind11-json-download/CMakeLists.txt )
execute_process( COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" .
WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/pybind11-json-download"
OUTPUT_QUIET
RESULT_VARIABLE configure_ret )
execute_process( COMMAND "${CMAKE_COMMAND}" --build .
WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/pybind11-json-download"
OUTPUT_QUIET
RESULT_VARIABLE build_ret )
if( configure_ret OR build_ret )
message( FATAL_ERROR "Failed to download pybind11_json" )
endif()
# pybind11_add_module will add the directory automatically (see below)
message( STATUS #CHECK_PASS
"Fetching pybind11_json - Done" )
#list( POP_BACK CMAKE_MESSAGE_INDENT ) # Unindent outputs (requires cmake 3.15)
endfunction()
# Trigger the build
get_pybind11()
get_pybind11_json()
# This function overrides "pybind11_add_module" function, arguments is same as "pybind11_add_module" arguments
# pybind11_add_module(<name> SHARED [file, file2, ...] )
# Must be declared after pybind11 configuration above
function( pybind11_add_module project_name library_type ...)
# message( STATUS "adding python module --> ${project_name}"
# "_pybind11_add_module" is calling the origin pybind11 function
_pybind11_add_module( ${ARGV})
# Force Pybind11 not to share pyrealsense2 resources with other pybind modules.
# With this definition we force the ABI version to be unique and not risk crashes on different modules.
# (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()

107
librealsense/CMake/global_config.cmake
Unescape View File

@ -0,0 +1,107 @@
# Save the command line compile commands in the build output
set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
# View the makefile commands during build
#set(CMAKE_VERBOSE_MAKEFILE on)
include(GNUInstallDirs)
# include librealsense helper macros
include(CMake/lrs_macros.cmake)
include(CMake/version_config.cmake)
if(ENABLE_CCACHE)
find_program(CCACHE_FOUND ccache)
if(CCACHE_FOUND)
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
endif(CCACHE_FOUND)
endif()
macro(global_set_flags)
set(LRS_LIB_NAME ${LRS_TARGET})
add_definitions(-DELPP_THREAD_SAFE)
if (BUILD_GLSL_EXTENSIONS)
set(LRS_GL_TARGET realsense2-gl)
set(LRS_GL_LIB_NAME ${LRS_GL_TARGET})
endif()
if (BUILD_EASYLOGGINGPP)
add_definitions(-DBUILD_EASYLOGGINGPP)
endif()
if (ENABLE_EASYLOGGINGPP_ASYNC)
add_definitions(-DEASYLOGGINGPP_ASYNC)
endif()
if(TRACE_API)
add_definitions(-DTRACE_API)
endif()
if(HWM_OVER_XU)
add_definitions(-DHWM_OVER_XU)
endif()
if(COM_MULTITHREADED)
add_definitions(-DCOM_MULTITHREADED)
endif()
if (ENFORCE_METADATA)
add_definitions(-DENFORCE_METADATA)
endif()
if (BUILD_WITH_CUDA)
add_definitions(-DRS2_USE_CUDA)
endif()
if (BUILD_SHARED_LIBS)
add_definitions(-DBUILD_SHARED_LIBS)
endif()
if (BUILD_WITH_CUDA)
include(CMake/cuda_config.cmake)
endif()
if(BUILD_PYTHON_BINDINGS)
include(libusb_config)
include(CMake/external_pybind11.cmake)
endif()
if(CHECK_FOR_UPDATES)
if (ANDROID_NDK_TOOLCHAIN_INCLUDED)
message(STATUS "Android build do not support CHECK_FOR_UPDATES flag, turning it off..")
set(CHECK_FOR_UPDATES false)
elseif (NOT BUILD_GRAPHICAL_EXAMPLES)
message(STATUS "CHECK_FOR_UPDATES depends on BUILD_GRAPHICAL_EXAMPLES flag, turning it off..")
set(CHECK_FOR_UPDATES false)
else()
include(CMake/external_libcurl.cmake)
add_definitions(-DCHECK_FOR_UPDATES)
endif()
endif()
add_definitions(-D${BACKEND} -DUNICODE)
endmacro()
macro(global_target_config)
target_link_libraries(${LRS_TARGET} PRIVATE realsense-file ${CMAKE_THREAD_LIBS_INIT})
set_target_properties (${LRS_TARGET} PROPERTIES FOLDER Library)
target_include_directories(${LRS_TARGET}
PRIVATE
src
${ROSBAG_HEADER_DIRS}
${BOOST_INCLUDE_PATH}
${LZ4_INCLUDE_PATH}
${LIBUSB_LOCAL_INCLUDE_PATH}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
PRIVATE ${USB_INCLUDE_DIRS}
)
endmacro()

7
librealsense/CMake/include_os.cmake
Unescape View File

@ -0,0 +1,7 @@
if(ANDROID_NDK_TOOLCHAIN_INCLUDED)
include(CMake/android_config.cmake)
elseif (WIN32)
include(CMake/windows_config.cmake)
else()
include(CMake/unix_config.cmake)
endif()

51
librealsense/CMake/install_config.cmake
Unescape View File

@ -0,0 +1,51 @@
# Set CMAKE_INSTALL_* if not defined
set(CMAKECONFIG_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}/cmake/${LRS_TARGET}")
add_custom_target(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
include(CMakePackageConfigHelpers)
write_basic_package_version_file("${CMAKE_CURRENT_BINARY_DIR}/realsense2ConfigVersion.cmake"
VERSION ${REALSENSE_VERSION_STRING} COMPATIBILITY AnyNewerVersion)
configure_package_config_file(CMake/realsense2Config.cmake.in realsense2Config.cmake
INSTALL_DESTINATION ${CMAKECONFIG_INSTALL_DIR}
INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX}/bin
PATH_VARS CMAKE_INSTALL_INCLUDEDIR
)
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY)
configure_file(config/librealsense.pc.in config/realsense2.pc @ONLY)
install(TARGETS ${LRS_TARGET}
EXPORT realsense2Targets
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_PREFIX}/include/librealsense2"
)
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/librealsense2
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)
install(EXPORT realsense2Targets
FILE realsense2Targets.cmake
NAMESPACE ${LRS_TARGET}::
DESTINATION ${CMAKECONFIG_INSTALL_DIR}
)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/realsense2Config.cmake"
DESTINATION ${CMAKECONFIG_INSTALL_DIR}
)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/realsense2ConfigVersion.cmake"
DESTINATION ${CMAKECONFIG_INSTALL_DIR}
)
# Set library pkgconfig file for facilitating 3rd party integration
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/config/realsense2.pc"
DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig"
)
install(CODE "execute_process(COMMAND ldconfig)")

19
librealsense/CMake/json-download.cmake.in
Unescape View File

@ -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 ""
)

14
librealsense/CMake/libusb_config.cmake
Unescape View File

@ -0,0 +1,14 @@
if (NOT TARGET usb)
find_library(LIBUSB_LIB usb-1.0)
find_path(LIBUSB_INC libusb.h HINTS PATH_SUFFIXES libusb-1.0)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(usb "libusb not found; using internal version" LIBUSB_LIB LIBUSB_INC)
if (USB_FOUND AND NOT USE_EXTERNAL_USB)
add_library(usb INTERFACE)
target_include_directories(usb INTERFACE ${LIBUSB_INC})
target_link_libraries(usb INTERFACE ${LIBUSB_LIB})
else()
include(CMake/external_libusb.cmake)
endif()
install(TARGETS usb EXPORT realsense2Targets)
endif()

40
librealsense/CMake/lrs_macros.cmake
Unescape View File

@ -0,0 +1,40 @@
macro(info msg)
message(STATUS "Info: ${msg}")
endmacro()
macro(infoValue variableName)
info("${variableName}=\${${variableName}}")
endmacro()
macro(config_cxx_flags)
include(CheckCXXCompilerFlag)
if(MSVC OR MSVC_IDE)
check_cxx_compiler_flag(/std:c++14 SUPPORTS_CXX14)
else()
check_cxx_compiler_flag(-std=c++14 SUPPORTS_CXX14)
endif()
if( NOT SUPPORTS_CXX14 )
message(FATAL_ERROR "Project '${PROJECT_NAME}' requires C++14 or higher")
endif()
if( NOT CMAKE_CXX_STANDARD )
set( CMAKE_CXX_STANDARD 14 )
endif()
# We require that the current project (e.g., librealsense) use C++14. However, projects using
# the library don't need to be C++14 -- they can use C++11. Hence this is PRIVATE and not PUBLIC:
target_compile_features( ${PROJECT_NAME} PRIVATE cxx_std_${CMAKE_CXX_STANDARD} )
#set( CMAKE_CUDA_STANDARD ${LRS_CXX_STANDARD} )
endmacro()
macro(config_crt)
if(BUILD_WITH_STATIC_CRT)
foreach(flag_var
CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO
CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO)
if(${flag_var} MATCHES "/MD")
string(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
endif(${flag_var} MATCHES "/MD")
endforeach(flag_var)
endif(BUILD_WITH_STATIC_CRT)
endmacro()

51
librealsense/CMake/lrs_options.cmake
Unescape View File

@ -0,0 +1,51 @@
option(ENABLE_CCACHE "Build with ccache." ON)
option(BUILD_WITH_CUDA "Enable CUDA" OFF)
option(BUILD_GLSL_EXTENSIONS "Build GLSL extensions API" ON)
option(BUILD_WITH_OPENMP "Use OpenMP" OFF)
option(BUILD_EASYLOGGINGPP "Build EasyLogging++ as a part of the build" ON)
option(BUILD_WITH_STATIC_CRT "Build with static link CRT" ON)
option(HWM_OVER_XU "Send HWM commands over UVC XU control" ON)
option(COM_MULTITHREADED "Set OFF to initialize COM library with COINIT_APARTMENTTHREADED (Windows only)" ON)
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_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)
option(BUILD_DLIB_EXAMPLES "Build DLIB examples - requires DLIB_DIR" OFF)
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)
option(BUILD_UNITY_BINDINGS "Copy the unity project to the build folder with the required dependencies" OFF)
option(BUILD_OPENVINO_EXAMPLES "Build Intel OpenVINO Toolkit examples - requires INTEL_OPENVINO_DIR" OFF)
option(BUILD_OPEN3D_EXAMPLES "Build Open3D examples" OFF)
option(BUILD_OPENNI2_BINDINGS "Build OpenNI bindings" OFF)
option(IMPORT_DEPTH_CAM_FW "Download the latest firmware for the depth cameras" ON)
option(BUILD_CV_KINFU_EXAMPLE "Build OpenCV KinectFusion example" OFF)
option(FORCE_RSUSB_BACKEND "Use RS USB backend, mandatory for Win7/MacOS/Android, optional for Linux" OFF)
option(FORCE_LIBUVC "Explicitly turn-on libuvc backend - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
option(FORCE_WINUSB_UVC "Explicitly turn-on winusb_uvc (for win7) backend - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
option(ANDROID_USB_HOST_UVC "Build UVC backend for Android - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
# This feature requires OpenSSL installation on Linux/OSX, OSX normally does not come with OpenSSL integrated(Thats why default is OFF on OSX)
if (NOT APPLE)
option(CHECK_FOR_UPDATES "Checks for versions updates" ON)
else()
option(CHECK_FOR_UPDATES "Checks for versions updates" OFF)
endif()
option(BUILD_WITH_CPU_EXTENSIONS "Enable compiler optimizations using CPU extensions (such as AVX)" ON)
set(UNIT_TESTS_ARGS "" CACHE STRING "Command-line arguments to pass to unit-tests-config.py, e.g. '-t <tag> -r <regex>'")
#Performance improvement with Ubuntu 18/20
if(UNIX AND (NOT ANDROID_NDK_TOOLCHAIN_INCLUDED))
option(ENABLE_EASYLOGGINGPP_ASYNC "Switch Logger to Asynchronous Mode (set OFF for Synchronous Mode)" ON)
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)

7
librealsense/CMake/opengl_config.cmake
Unescape View File

@ -0,0 +1,7 @@
# The NEW policy flag set OpenGL_GL_PREFERENCE variable to GLVND.
if (POLICY CMP0072)
cmake_policy(SET CMP0072 NEW)
endif()
find_package(OpenGL REQUIRED)
set(DEPENDENCIES realsense2 glfw ${OPENGL_LIBRARIES})

19
librealsense/CMake/pybind11-download.cmake.in
Unescape View File

@ -0,0 +1,19 @@
cmake_minimum_required(VERSION 3.6)
project(pybind11-download NONE)
include(ExternalProject)
ExternalProject_Add(
pybind11
PREFIX .
GIT_REPOSITORY "https://github.com/pybind/pybind11.git"
GIT_TAG v2.10.3
GIT_CONFIG advice.detachedHead=false # otherwise we'll get "You are in 'detached HEAD' state..."
SOURCE_DIR "${CMAKE_BINARY_DIR}/third-party/pybind11"
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 ""
)

19
librealsense/CMake/pybind11-json-download.cmake.in
Unescape View File

@ -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 ""
)

10
librealsense/CMake/pyrealsense2Config.cmake.in
Unescape View File

@ -0,0 +1,10 @@
@PACKAGE_INIT@
set(pyrealsense2_VERSION_MAJOR "@REALSENSE_VERSION_MAJOR@")
set(pyrealsense2_VERSION_MINOR "@REALSENSE_VERSION_MINOR@")
set(pyrealsense2_VERSION_PATCH "@REALSENSE_VERSION_PATCH@")
set(pyrealsense2_VERSION ${realsense2_VERSION_MAJOR}.${realsense2_VERSION_MINOR}.${realsense2_VERSION_PATCH})
include("${CMAKE_CURRENT_LIST_DIR}/pyrealsense2Targets.cmake")
set(realsense2_LIBRARY pyrealsense2::pyrealsense2)

12
librealsense/CMake/realsense2-glConfig.cmake.in
Unescape View File

@ -0,0 +1,12 @@
@PACKAGE_INIT@
set(realsense2-gl_VERSION_MAJOR "@REALSENSE_VERSION_MAJOR@")
set(realsense2-gl_VERSION_MINOR "@REALSENSE_VERSION_MINOR@")
set(realsense2-gl_VERSION_PATCH "@REALSENSE_VERSION_PATCH@")
set(realsense2-gl_VERSION ${realsense2-gl_VERSION_MAJOR}.${realsense2-gl_VERSION_MINOR}.${realsense2-gl_VERSION_PATCH})
set_and_check(realsense2-gl_INCLUDE_DIR "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
include("${CMAKE_CURRENT_LIST_DIR}/realsense2-glTargets.cmake")
set(realsense2-gl_LIBRARY realsense2-gl::realsense2-gl)

12
librealsense/CMake/realsense2-netConfig.cmake.in
Unescape View File

@ -0,0 +1,12 @@
@PACKAGE_INIT@
set(realsense2-net_VERSION_MAJOR "@REALSENSE_VERSION_MAJOR@")
set(realsense2-net_VERSION_MINOR "@REALSENSE_VERSION_MINOR@")
set(realsense2-net_VERSION_PATCH "@REALSENSE_VERSION_PATCH@")
set(realsense2-net_VERSION ${realsense2-net_VERSION_MAJOR}.${realsense2-net_VERSION_MINOR}.${realsense2-gl_VERSION_PATCH})
set_and_check(realsense2-net_INCLUDE_DIR "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
include("${CMAKE_CURRENT_LIST_DIR}/realsense2-netTargets.cmake")
set(realsense2-net_LIBRARY realsense2-net::realsense2-net)

12
librealsense/CMake/realsense2Config.cmake.in
Unescape View File

@ -0,0 +1,12 @@
@PACKAGE_INIT@
set(realsense2_VERSION_MAJOR "@REALSENSE_VERSION_MAJOR@")
set(realsense2_VERSION_MINOR "@REALSENSE_VERSION_MINOR@")
set(realsense2_VERSION_PATCH "@REALSENSE_VERSION_PATCH@")
set(realsense2_VERSION ${realsense2_VERSION_MAJOR}.${realsense2_VERSION_MINOR}.${realsense2_VERSION_PATCH})
set_and_check(realsense2_INCLUDE_DIR "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
include("${CMAKE_CURRENT_LIST_DIR}/realsense2Targets.cmake")
set(realsense2_LIBRARY realsense2::realsense2)

59
librealsense/CMake/unix_config.cmake
Unescape View File

@ -0,0 +1,59 @@
message(STATUS "Setting Unix configurations")
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 <binary>/<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 "${CMAKE_C_FLAGS} -pedantic -D_DEFAULT_SOURCE")
set(CMAKE_CXX_FLAGS "${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 ${CMAKE_C_COMPILER} -dumpmachine OUTPUT_VARIABLE MACHINE)
if(${MACHINE} MATCHES "arm-*")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
elseif(${MACHINE} MATCHES "aarch64-*")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mstrict-align -ftree-vectorize")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mstrict-align -ftree-vectorize")
elseif(${MACHINE} MATCHES "powerpc64(le)?-linux-gnu")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -ftree-vectorize")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftree-vectorize")
else()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mssse3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mssse3")
set(LRS_TRY_USE_AVX true)
endif(${MACHINE} MATCHES "arm-*")
if(BUILD_WITH_OPENMP)
find_package(OpenMP REQUIRED)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
else()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -pthread")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
endif()
if(APPLE)
set(FORCE_RSUSB_BACKEND ON)
endif()
if(FORCE_RSUSB_BACKEND)
set(BACKEND RS2_USE_LIBUVC_BACKEND)
else()
set(BACKEND RS2_USE_V4L2_BACKEND)
endif()
endmacro()
macro(os_target_config)
endmacro()

28
librealsense/CMake/version_config.cmake
Unescape View File

@ -0,0 +1,28 @@
##################################################################
# Parse librealsense version and assign it to CMake variables #
# This function parses librealsense public API header file, rs.h #
# and retrieves version numbers embedded in the source code. #
# Since the function relies on hard-coded variables, it is prone #
# for failures should these constants be modified in future #
##################################################################
function(assign_version_property VER_COMPONENT)
file(STRINGS "./include/librealsense2/rs.h" REALSENSE_VERSION_${VER_COMPONENT} REGEX "#define RS2_API_${VER_COMPONENT}_VERSION")
separate_arguments(REALSENSE_VERSION_${VER_COMPONENT})
list(GET REALSENSE_VERSION_${VER_COMPONENT} -1 tmp)
if (tmp LESS 0)
message( FATAL_ERROR "Could not obtain valid Librealsense version ${VER_COMPONENT} component - actual value is ${tmp}" )
endif()
set(REALSENSE_VERSION_${VER_COMPONENT} ${tmp} PARENT_SCOPE)
endfunction()
set(REALSENSE_VERSION_MAJOR -1)
set(REALSENSE_VERSION_MINOR -1)
set(REALSENSE_VERSION_PATCH -1)
assign_version_property(MAJOR)
assign_version_property(MINOR)
assign_version_property(PATCH)
set(REALSENSE_VERSION_STRING ${REALSENSE_VERSION_MAJOR}.${REALSENSE_VERSION_MINOR}.${REALSENSE_VERSION_PATCH})
infoValue(REALSENSE_VERSION_STRING)
if (BUILD_GLSL_EXTENSIONS)
set(REALSENSE-GL_VERSION_STRING ${REALSENSE_VERSION_MAJOR}.${REALSENSE_VERSION_MINOR}.${REALSENSE_VERSION_PATCH})
endif()

102
librealsense/CMake/windows_config.cmake
Unescape View File

@ -0,0 +1,102 @@
message(STATUS "Setting Windows configurations")
cmake_minimum_required(VERSION 3.6.0) #Required by list(FILTER ...
config_crt()
macro(os_set_flags)
set_property(GLOBAL PROPERTY USE_FOLDERS ON)
# Put all the collaterals together, so we can find when trying to run examples/tests
# Note: this puts the outputs under <binary>/<build-type>
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
if(BUILD_WITH_OPENMP)
find_package(OpenMP REQUIRED)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endif()
## Check for Windows Version ##
if(${CMAKE_SYSTEM_VERSION} EQUAL 6.1) # Windows 7
set(FORCE_RSUSB_BACKEND ON)
endif()
if(FORCE_RSUSB_BACKEND)
set(BACKEND RS2_USE_WINUSB_UVC_BACKEND)
else()
set(BACKEND RS2_USE_WMF_BACKEND)
endif()
if(MSVC)
# Set CMAKE_DEBUG_POSTFIX to "d" to add a trailing "d" to library
# built in debug mode. In this Windows user can compile, build and install the
# library in both Release and Debug configuration avoiding naming clashes in the
# installation directories.
set(CMAKE_DEBUG_POSTFIX "d")
# build with multiple cores
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /MP")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj /wd4819")
set(LRS_TRY_USE_AVX true)
add_definitions(-D_UNICODE)
endif()
set(DOTNET_VERSION_LIBRARY "3.5" CACHE STRING ".Net Version, defaulting to '3.5', the Unity wrapper currently supports only .NET 3.5")
set(DOTNET_VERSION_EXAMPLES "4.0" CACHE STRING ".Net Version, defaulting to '4.0'")
# Windows.h will define the min/max macros which will
# collide with std's min/max templates, which we want to use.
add_definitions(-DNOMINMAX)
endmacro()
macro(os_target_config)
add_definitions(-D__SSSE3__ -D_CRT_SECURE_NO_WARNINGS)
if(FORCE_RSUSB_BACKEND)
if (NOT CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_CURRENT_BINARY_DIR)
message("Preparing Windows 7 drivers" )
make_directory(${CMAKE_CURRENT_BINARY_DIR}/drivers/)
file(GLOB DRIVERS RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}/src/win7/drivers/" "${CMAKE_CURRENT_SOURCE_DIR}/src/win7/drivers/*")
foreach(item IN LISTS DRIVERS)
message("Copying ${CMAKE_CURRENT_SOURCE_DIR}/src/win7/drivers/${item} to ${CMAKE_CURRENT_BINARY_DIR}/drivers/" )
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/src/win7/drivers/${item}" "${CMAKE_CURRENT_BINARY_DIR}/drivers/${item}" COPYONLY)
endforeach()
endif()
add_custom_target(realsense-driver ALL DEPENDS ${DRIVERS})
add_dependencies(${LRS_TARGET} realsense-driver)
set_target_properties (realsense-driver PROPERTIES FOLDER Library)
endif()
get_target_property(LRS_FILES ${LRS_TARGET} SOURCES)
list(APPEND LRS_HEADERS ${LRS_FILES})
list(APPEND LRS_SOURCES ${LRS_FILES})
list(FILTER LRS_HEADERS INCLUDE REGEX ".\\.h$|.\\.hpp$|.\\.def$|.\\.cuh$")
list(FILTER LRS_SOURCES INCLUDE REGEX ".\\.c$|.\\.cpp$|.\\.cc$|.\\.cu$")
foreach(_file IN ITEMS ${LRS_HEADERS})
string(REPLACE ${CMAKE_CURRENT_SOURCE_DIR}/ "" _relative_file ${_file})
get_filename_component(_file_path "${_relative_file}" PATH)
string(REPLACE "/" "\\" _file_path_msvc "${_file_path}")
source_group("Header Files\\${_file_path_msvc}" FILES "${_relative_file}")
endforeach()
foreach(_file IN ITEMS ${LRS_SOURCES})
string(REPLACE ${CMAKE_CURRENT_SOURCE_DIR}/ "" _relative_file ${_file})
get_filename_component(_file_path "${_relative_file}" PATH)
string(REPLACE "/" "\\" _file_path_msvc "${_file_path}")
source_group("Source Files\\${_file_path_msvc}" FILES "${_relative_file}")
endforeach()
endmacro()
#modify variable with prefix. Mimics list(TRANSFORM ... PREPEND introduced with cmake 3.12
FUNCTION(PREPEND var prefix)
SET(listVar "")
FOREACH(f ${ARGN})
LIST(APPEND listVar "${prefix}/${f}")
ENDFOREACH(f)
SET(${var} "${listVar}" PARENT_SCOPE)
ENDFUNCTION(PREPEND)

118
librealsense/CMakeLists.txt
Unescape View File

@ -0,0 +1,118 @@
# Xenial requires 3.5, Bionic 3.10...
cmake_minimum_required(VERSION 3.1.0)
set( LRS_TARGET realsense2 )
project( ${LRS_TARGET} LANGUAGES CXX C )
# Allow librealsense2 and all of the nested project to include the main repo folder
set(REPO_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
include_directories(${REPO_ROOT})
include(CMake/lrs_options.cmake)
include(CMake/connectivity_check.cmake)
#Deprecation message, should be removed in future releases
if(${FORCE_LIBUVC} OR ${FORCE_WINUSB_UVC} OR ${ANDROID_USB_HOST_UVC})
MESSAGE(DEPRECATION "FORCE_LIBUVC, FORCE_WINUSB_UVC and ANDROID_USB_HOST_UVC are deprecated, use FORCE_RSUSB_BACKEND instead")
set(FORCE_RSUSB_BACKEND ON)
endif()
# Checking Internet connection, as DEPTH CAM needs to download the FW from amazon cloud
if(IMPORT_DEPTH_CAM_FW AND NOT INTERNET_CONNECTION)
message(WARNING "No internet connection, disabling IMPORT_DEPTH_CAM_FW")
set(IMPORT_DEPTH_CAM_FW OFF)
endif()
if (BUILD_PC_STITCHING AND NOT BUILD_GLSL_EXTENSIONS)
MESSAGE(STATUS "BUILD_PC_STITCHING explicitely depends on BUILD_GLSL_EXTENSIONS, set it ON")
SET(BUILD_GLSL_EXTENSIONS ON)
endif()
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/CMake)
# include librealsense general configuration
include(CMake/global_config.cmake)
# include os specific macros
# macro definition located at "CMake/global_config.cmake"
include(CMake/include_os.cmake)
# set os specific configuration flags
# macro definition located at "CMake/<OS>_config.cmake"
os_set_flags()
# set global configuration flags
# macro definition located at "CMake/global_config.cmake"
global_set_flags()
# If no type is given explicitly the type is STATIC or SHARED based on whether the current value of the variable [BUILD_SHARED_LIBS](https://cmake.org/cmake/help/v3.10/variable/BUILD_SHARED_LIBS.html#variable:BUILD_SHARED_LIBS) is ON
add_library(${LRS_TARGET})
config_cxx_flags()
# set library version
set_target_properties(${LRS_TARGET} PROPERTIES VERSION ${REALSENSE_VERSION_STRING} SOVERSION "${REALSENSE_VERSION_MAJOR}.${REALSENSE_VERSION_MINOR}")
include(include/CMakeLists.txt)
include(src/CMakeLists.txt)
include(third-party/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/<OS>_config.cmake"
os_target_config()
# global project configuration
# macro definition located at "CMake/global_config.cmake"
global_target_config()
include(CMake/install_config.cmake)
add_subdirectory(wrappers)
if ( ( BUILD_EXAMPLES OR BUILD_PC_STITCHING ) AND BUILD_GLSL_EXTENSIONS )
find_package(glfw3 3.3 QUIET)
if(NOT TARGET glfw)
message(STATUS "GLFW 3.3 not found; using internal version")
set(GLFW_INSTALL ON CACHE BOOL "" FORCE)
add_subdirectory(third-party/glfw)
endif()
add_subdirectory(src/gl)
endif()
if(BUILD_EXAMPLES)
add_subdirectory(examples)
add_subdirectory(tools)
elseif(BUILD_TOOLS)
add_subdirectory(tools)
endif()
if(BUILD_UNIT_TESTS OR BUILD_LEGACY_LIVE_TEST)
include( CMake/external_catch2.cmake )
add_subdirectory(unit-tests)
endif()
if(IMPORT_DEPTH_CAM_FW)
add_subdirectory(common/fw)
endif()
include(CMake/embedd_udev_rules.cmake)
if( BUILD_RS2_ALL )
include( src/realsense2-all.cmake )
endif()

72
librealsense/CONTRIBUTING.md
Unescape View File

@ -0,0 +1,72 @@
# How to Contribute
This project welcomes third-party code via GitHub pull requests.
You are welcome to propose and discuss enhancements using project [issues](https://github.com/IntelRealSense/librealsense/issues).
> **Branching Policy**:
> The `master` branch is considered stable, at all times.
> 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 [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:
1. Every example / source file must refer to [LICENSE](https://github.com/IntelRealSense/librealsense/blob/master/LICENSE)
2. Every example / source file must include correct copyright notice
3. For indentation we are using spaces and not tabs
4. Line-endings must be Unix and not DOS style
5. Every API header file must be able to compile as the first included header (no implicit dependencies)
Most common issues can be automatically resolved by running `./pr_check.sh --fix`
Please familirize yourself with the [Apache License 2.0](https://github.com/IntelRealSense/librealsense/blob/master/LICENSE) before contributing.
## Step-by-Step
1. Make sure you have `git` and `cmake` installed on your system. On Windows we recommend using [Git Extensions](https://github.com/gitextensions/gitextensions/releases) for git bash.
2. Run `git clone https://github.com/IntelRealSense/librealsense.git` and `cd librealsense`
3. To align with latest status of the development branch, run:
```
git fetch origin
git checkout development
git reset --hard origin/development
```
4. `git checkout -b name_of_your_contribution` to create a dedicated branch
5. Make your changes to the local repository
6. Make sure your local git user is updated, or run `git config --global user.email "email@example.com"` and `git config --global user.user "user"` to set it up. This is the user & email that will appear in GitHub history.
7. `git add -p` to select the changes you wish to add
8. `git commit -m "Description of the change"`
9. Make sure you have a GitHub user and [fork librealsense](https://github.com/IntelRealSense/librealsense#fork-destination-box)
10. `git remote add fork https://github.com/username/librealsense.git` with your GitHub `username`
11. `git fetch fork`
12. `git push fork` to push `name_of_your_contribution` branch to your fork
13. Go to your fork on GitHub at `https://github.com/username/librealsense`
14. Click the `New pull request` button
15. For `base` combo-box select `development`, since you want to submit a PR to that branch
16. For `compare` combo-box select `name_of_your_contribution` with your commit
17. Review your changes and click `Create pull request`
18. Wait for all automated checks to pass
19. The PR will be approved / rejected after review from the team and the community
To continue to new change, goto step 3.
To return to your PR (in order to make more changes):
1. `git stash`
2. `git checkout name_of_your_contribution`
3. Repeat items 5-8 from the previous list
4. `git push fork`
The pull request will be automatically updated
## Comment about the Wrappers
> It is very time consuming (and often impossible) for a single developer to test contributed functionality using all of the supported [wrappers](https://github.com/IntelRealSense/librealsense/tree/master/wrappers). There is no expectation of adding new functionality to all of the wrappers. One noteable exception is maintaining parity of public enumerations. Without strict maintanance it is easy for these lists to go out of sync and this can have serious runtime consequences.
For example, when adding new value to [`rs2_option`](https://github.com/IntelRealSense/librealsense/blob/master/include/librealsense2/h/rs_option.h) enum, please also add it to:
1. The list of Matlab options under [`wrappers/matlab/option.m`](https://github.com/IntelRealSense/librealsense/blob/master/wrappers/matlab/option.m#L3-L46)
2. The list of options for [Unreal Engine](https://github.com/IntelRealSense/librealsense/blob/v2.32.1/wrappers/unrealengine4/Plugins/RealSense/Source/RealSense/Public/RealSenseTypes.h#L56-L118) integration
3. The list of options in the C# wrapper - [`wrappers/csharp/Intel.RealSense/Types/Enums/Option.cs`](https://github.com/IntelRealSense/librealsense/blob/v2.32.1/wrappers/csharp/Intel.RealSense/Types/Enums/Option.cs)
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 [Github Actions](https://docs.github.com/en/actions) will give clear indication that each of the wrappers is still passing compilation.

7
librealsense/Intel Copyright
Unescape View File

@ -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.

202
librealsense/LICENSE
Unescape View File

@ -0,0 +1,202 @@
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. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. 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 2017 Intel Corporation
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this project 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.

1008
librealsense/NOTICE.md
View File

File diff suppressed because it is too large Load Diff

6
librealsense/Security.md
Unescape View File

@ -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).

34
librealsense/cmake_uninstall.cmake
Unescape View File

@ -0,0 +1,34 @@
IF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
MESSAGE(WARNING "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
MESSAGE(STATUS "Uninstall targets will be skipped")
ELSE(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
STRING(REGEX REPLACE "\n" ";" files "${files}")
FOREACH(file ${files})
MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
IF(EXISTS "$ENV{DESTDIR}${file}")
EXEC_PROGRAM(
"@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
OUTPUT_VARIABLE rm_out
RETURN_VALUE rm_retval
)
IF(NOT "${rm_retval}" STREQUAL 0)
MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
ENDIF(NOT "${rm_retval}" STREQUAL 0)
ELSEIF(NOT "${CMAKE_VERSION}" STRLESS "2.8.1")
IF(IS_SYMLINK "$ENV{DESTDIR}${file}")
EXEC_PROGRAM(
"@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
OUTPUT_VARIABLE rm_out
RETURN_VALUE rm_retval
)
IF(NOT "${rm_retval}" STREQUAL 0)
MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
ENDIF(NOT "${rm_retval}" STREQUAL 0)
ENDIF(IS_SYMLINK "$ENV{DESTDIR}${file}")
ELSE(EXISTS "$ENV{DESTDIR}${file}")
MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
ENDIF(EXISTS "$ENV{DESTDIR}${file}")
ENDFOREACH(file)
execute_process(COMMAND ldconfig)
ENDIF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")

77
librealsense/code-of-conduct.md
Unescape View File

@ -0,0 +1,77 @@
# librealsense Code of Conduct
## Our Pledge
In the interest of fostering an open and welcoming environment, we as
contributors and maintainers pledge to making participation in our project and
our community a harassment-free experience for everyone, regardless of age, body
size, disability, ethnicity, sex characteristics, gender identity and expression,
level of experience, education, socio-economic status, nationality, personal
appearance, race, religion, or sexual identity and orientation.
## Our Standards
Examples of behavior that contributes to creating a positive environment
include:
* Using welcoming and inclusive language
* Being respectful of differing viewpoints and experiences
* Gracefully accepting constructive criticism
* Focusing on what is best for the community
* Showing empathy towards other community members
Examples of unacceptable behavior by participants include:
* The use of sexualized language or imagery and unwelcome sexual attention or
advances
* Trolling, insulting/derogatory comments, and personal or political attacks
* Public or private harassment
* Publishing others' private information, such as a physical or electronic
address, without explicit permission
* Other conduct which could reasonably be considered inappropriate in a
professional setting
## Our Responsibilities
Project maintainers are responsible for clarifying the standards of acceptable
behavior and are expected to take appropriate and fair corrective action in
response to any instances of unacceptable behavior.
Project maintainers have the right and responsibility to remove, edit, or
reject comments, commits, code, wiki edits, issues, and other contributions
that are not aligned to this Code of Conduct, or to ban temporarily or
permanently any contributor for other behaviors that they deem inappropriate,
threatening, offensive, or harmful.
## Scope
This Code of Conduct applies both within project spaces and in public spaces
when an individual is representing the project or its community. Examples of
representing a project or community include using an official project e-mail
address, posting via an official social media account, or acting as an appointed
representative at an online or offline event. Representation of a project may be
further defined and clarified by project maintainers.
## Enforcement
Instances of abusive, harassing, or otherwise unacceptable behavior may be
reported by contacting the project team at [sergey.dorodnicov@intel.com](mailto://sergey.dorodnicov@intel.com). All
complaints will be reviewed and investigated and will result in a response that
is deemed necessary and appropriate to the circumstances. The project team is
obligated to maintain confidentiality with regard to the reporter of an incident.
Further details of specific enforcement policies may be posted separately.
Project maintainers who do not follow or enforce the Code of Conduct in good
faith may face temporary or permanent repercussions as determined by other
members of the project's leadership.
## Attribution
This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4,
available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html
[homepage]: https://www.contributor-covenant.org
For answers to common questions about this code of conduct, see
https://www.contributor-covenant.org/faq

84
librealsense/common/CMakeLists.txt
Unescape View File

@ -0,0 +1,84 @@
# License: Apache 2.0. See LICENSE file in root directory.
# Copyright(c) 2019 Intel Corporation. All Rights Reserved.
set(COMMON_SRC
"${CMAKE_CURRENT_LIST_DIR}/animated.h"
"${CMAKE_CURRENT_LIST_DIR}/float2.h"
"${CMAKE_CURRENT_LIST_DIR}/float3.h"
"${CMAKE_CURRENT_LIST_DIR}/float4.h"
"${CMAKE_CURRENT_LIST_DIR}/matrix4.h"
"${CMAKE_CURRENT_LIST_DIR}/plane.h"
"${CMAKE_CURRENT_LIST_DIR}/rect.h"
"${CMAKE_CURRENT_LIST_DIR}/rendering.h"
"${CMAKE_CURRENT_LIST_DIR}/model-views.h"
"${CMAKE_CURRENT_LIST_DIR}/model-views.cpp"
"${CMAKE_CURRENT_LIST_DIR}/notifications.h"
"${CMAKE_CURRENT_LIST_DIR}/notifications.cpp"
"${CMAKE_CURRENT_LIST_DIR}/calibration-model.h"
"${CMAKE_CURRENT_LIST_DIR}/calibration-model.cpp"
"${CMAKE_CURRENT_LIST_DIR}/viewer.h"
"${CMAKE_CURRENT_LIST_DIR}/viewer.cpp"
"${CMAKE_CURRENT_LIST_DIR}/ux-window.h"
"${CMAKE_CURRENT_LIST_DIR}/ux-window.cpp"
"${CMAKE_CURRENT_LIST_DIR}/ux-alignment.cpp"
"${CMAKE_CURRENT_LIST_DIR}/ux-alignment.h"
"${CMAKE_CURRENT_LIST_DIR}/opengl3.cpp"
"${CMAKE_CURRENT_LIST_DIR}/opengl3.h"
"${CMAKE_CURRENT_LIST_DIR}/rs-config.h"
"${CMAKE_CURRENT_LIST_DIR}/rs-config.cpp"
"${CMAKE_CURRENT_LIST_DIR}/os.h"
"${CMAKE_CURRENT_LIST_DIR}/os.cpp"
"${CMAKE_CURRENT_LIST_DIR}/fw-update-helper.h"
"${CMAKE_CURRENT_LIST_DIR}/fw-update-helper.cpp"
"${CMAKE_CURRENT_LIST_DIR}/metadata-helper.h"
"${CMAKE_CURRENT_LIST_DIR}/metadata-helper.cpp"
"${CMAKE_CURRENT_LIST_DIR}/output-model.h"
"${CMAKE_CURRENT_LIST_DIR}/output-model.cpp"
"${CMAKE_CURRENT_LIST_DIR}/skybox.h"
"${CMAKE_CURRENT_LIST_DIR}/skybox.cpp"
"${CMAKE_CURRENT_LIST_DIR}/measurement.h"
"${CMAKE_CURRENT_LIST_DIR}/measurement.cpp"
"${CMAKE_CURRENT_LIST_DIR}/on-chip-calib.h"
"${CMAKE_CURRENT_LIST_DIR}/on-chip-calib.cpp"
"${CMAKE_CURRENT_LIST_DIR}/updates-model.h"
"${CMAKE_CURRENT_LIST_DIR}/updates-model.cpp"
"${CMAKE_CURRENT_LIST_DIR}/option-model.h"
"${CMAKE_CURRENT_LIST_DIR}/option-model.cpp"
"${CMAKE_CURRENT_LIST_DIR}/device-model.cpp"
"${CMAKE_CURRENT_LIST_DIR}/device-model.h"
"${CMAKE_CURRENT_LIST_DIR}/subdevice-model.h"
"${CMAKE_CURRENT_LIST_DIR}/subdevice-model.cpp"
"${CMAKE_CURRENT_LIST_DIR}/processing-block-model.h"
"${CMAKE_CURRENT_LIST_DIR}/processing-block-model.cpp"
"${CMAKE_CURRENT_LIST_DIR}/stream-model.h"
"${CMAKE_CURRENT_LIST_DIR}/stream-model.cpp"
"${CMAKE_CURRENT_LIST_DIR}/post-processing-filters.h"
"${CMAKE_CURRENT_LIST_DIR}/post-processing-filters.cpp"
)
set(SW_UPDATE_FILES
"${CMAKE_CURRENT_LIST_DIR}/sw-update/http-downloader.h"
"${CMAKE_CURRENT_LIST_DIR}/sw-update/http-downloader.cpp"
"${CMAKE_CURRENT_LIST_DIR}/sw-update/dev-updates-profile.h"
"${CMAKE_CURRENT_LIST_DIR}/sw-update/dev-updates-profile.cpp"
"${CMAKE_CURRENT_LIST_DIR}/sw-update/versions-db-manager.h"
"${CMAKE_CURRENT_LIST_DIR}/sw-update/versions-db-manager.cpp"
)
set(REFLECTIVITY_FILES
"${CMAKE_CURRENT_LIST_DIR}/reflectivity/reflectivity.h"
"${CMAKE_CURRENT_LIST_DIR}/reflectivity/reflectivity.cpp"
)
set(UTILITIES_FILES
"${CMAKE_CURRENT_LIST_DIR}/utilities/imgui/wrap.h"
"${CMAKE_CURRENT_LIST_DIR}/utilities/imgui/wrap.cpp"
)
set(COMMON_SRC
${COMMON_SRC}
${SW_UPDATE_FILES}
${REFLECTIVITY_FILES}
${UTILITIES_FILES}
)

66
librealsense/common/android_helpers.h
Unescape View File

@ -0,0 +1,66 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#pragma once
#include <inttypes.h>
#include <stdlib.h>
#include <sstream>
#include <ios>
#include <android/ndk-version.h>
#if __NDK_MAJOR__ <= 16
namespace std
{
template <typename T>
inline std::string to_string(T value)
{
std::ostringstream os;
os << value;
return os.str();
}
template <typename T>
inline T stoT(const std::string& value)
{
char* endptr;
auto x = strtoimax(value.c_str(), &endptr, 10);
return static_cast<T>(x);
}
inline long long stoll(const std::string& value)
{
return stoT<long long>(value);
}
inline unsigned long stoul(const std::string& value)
{
return stoT<unsigned long>(value);
}
inline int stoi(const std::string& value)
{
return stoT<int>(value);
}
inline float stof(const std::string& value)
{
char* pEnd;
return strtof(value.c_str(), &pEnd);
}
inline double stod(const std::string& value)
{
char* pEnd;
return strtod(value.c_str(), &pEnd);
}
inline std::ios_base& hexfloat(std::ios_base& str)
{
str.setf(std::ios_base::fixed | std::ios_base::scientific, std::ios_base::floatfield);
return str;
}
}
#endif // ANDROID_NDK_MAJOR

74
librealsense/common/animated.h
Unescape View File

@ -0,0 +1,74 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2021 Intel Corporation. All Rights Reserved.
#pragma once
#include <chrono>
namespace rs2 {
inline float clamp( float x, float min, float max )
{
return std::max( std::min( max, x ), min );
}
inline float smoothstep( float x, float min, float max )
{
if( max == min )
{
x = clamp( ( x - min ), 0.0, 1.0 );
}
else
{
x = clamp( ( x - min ) / ( max - min ), 0.0, 1.0 );
}
return x * x * ( 3 - 2 * x );
}
// Helper class that lets smoothly animate between its values
template < class T > class animated
{
private:
T _old, _new;
std::chrono::system_clock::time_point _last_update;
std::chrono::system_clock::duration _duration;
public:
animated( T def, std::chrono::system_clock::duration duration = std::chrono::milliseconds( 200 ) )
: _duration( duration )
, _old( def )
, _new( def )
{
static_assert( ( std::is_arithmetic< T >::value ), "animated class supports arithmetic built-in types only" );
_last_update = std::chrono::system_clock::now();
}
animated & operator=( const T & other )
{
if( other != _new )
{
_old = get();
_new = other;
_last_update = std::chrono::system_clock::now();
}
return *this;
}
T get() const
{
auto now = std::chrono::system_clock::now();
auto ms = std::chrono::duration_cast< std::chrono::microseconds >( now - _last_update ).count();
auto duration_ms = std::chrono::duration_cast< std::chrono::microseconds >( _duration ).count();
auto t = (float)ms / duration_ms;
t = clamp( smoothstep( t, 0.f, 1.f ), 0.f, 1.f );
return static_cast< T >( _old * ( 1.f - t ) + _new * t );
}
operator T() const { return get(); }
T value() const { return _new; }
};
} // namespace rs2

451
librealsense/common/calibration-model.cpp
Unescape View File

@ -0,0 +1,451 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
#include <rs-config.h>
#include "calibration-model.h"
#include "device-model.h"
#include "os.h"
#include "ux-window.h"
#include "../src/ds/d400/d400-private.h"
using namespace rs2;
calibration_model::calibration_model(rs2::device dev, std::shared_ptr<notifications_model> not_model)
: dev(dev), _not_model(not_model)
{
_accept = config_file::instance().get_or_default(configurations::calibration::enable_writing, false);
}
bool calibration_model::supports()
{
bool is_d400 = dev.supports(RS2_CAMERA_INFO_PRODUCT_LINE) ?
std::string(dev.get_info(RS2_CAMERA_INFO_PRODUCT_LINE)) == "D400" : false;
return dev.is<rs2::auto_calibrated_device>() && is_d400;
}
void calibration_model::draw_float(std::string name, float& x, const float& orig, bool& changed)
{
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))
{
changed = true;
}
ImGui::PopStyleColor();
}
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();
ImGui::SetCursorPosX(200);
ImGui::PushItemWidth(120);
ImGui::SetCursorPosX(200);
draw_float(name + "_XX", feild.x.x, original.x.x, changed);
ImGui::SameLine();
draw_float(name + "_XY", feild.x.y, original.x.y, changed);
ImGui::SameLine();
draw_float(name + "_XZ", feild.x.z, original.x.z, changed);
ImGui::SetCursorPosX(200);
draw_float(name + "_YX", feild.y.x, original.y.x, changed);
ImGui::SameLine();
draw_float(name + "_YY", feild.y.y, original.y.y, changed);
ImGui::SameLine();
draw_float(name + "_YZ", feild.y.z, original.y.z, changed);
ImGui::SetCursorPosX(200);
draw_float(name + "_ZX", feild.z.x, original.z.x, changed);
ImGui::SameLine();
draw_float(name + "_ZY", feild.z.y, original.z.y, changed);
ImGui::SameLine();
draw_float(name + "_ZZ", feild.z.z, original.z.z, changed);
ImGui::PopItemWidth();
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
}
void calibration_model::update(ux_window& window, std::string& error_message)
{
const auto window_name = "Calibration Window";
if (to_open)
{
try
{
_calibration = dev.as<rs2::auto_calibrated_device>().get_calibration_table();
_original = _calibration;
ImGui::OpenPopup(window_name);
}
catch(std::exception e)
{
error_message = e.what();
}
to_open = false;
}
auto table = (librealsense::ds::d400_coefficients_table*)_calibration.data();
auto orig_table = (librealsense::ds::d400_coefficients_table*)_original.data();
bool changed = false;
const float w = 620;
const float h = 500;
const float x0 = std::max(window.width() - w, 0.f) / 2;
const float y0 = std::max(window.height() - h, 0.f) / 2;
ImGui::SetNextWindowPos({ x0, y0 });
ImGui::SetNextWindowSize({ w, h });
auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoTitleBar |
ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings;
ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5, 5));
ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1);
if (ImGui::BeginPopupModal(window_name, nullptr, flags))
{
if (error_message != "") ImGui::CloseCurrentPopup();
std::string title_message = "CAMERA CALIBRATION";
auto title_size = ImGui::CalcTextSize(title_message.c_str());
ImGui::SetCursorPosX(w / 2 - title_size.x / 2);
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::PushFont(window.get_large_font());
ImGui::PushStyleColor(ImGuiCol_Text, white);
ImGui::Text("%s", title_message.c_str());
ImGui::PopStyleColor();
ImGui::PopFont();
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::SetCursorPosX(w / 2 - 260 / 2);
if (ImGui::Button(u8"\uF07C Load...", ImVec2(70, 30)))
{
try
{
if (auto fn = file_dialog_open(file_dialog_mode::open_file, "Calibration JSON\0*.json\0", nullptr, nullptr))
{
config_file cf(fn);
table->baseline = cf.get("baseline");
auto load_float3x4 = [&](std::string name, librealsense::float3x3& m){
m.x.x = cf.get(std::string( rsutils::string::from() << name << ".x.x").c_str());
m.x.y = cf.get(std::string( rsutils::string::from() << name << ".x.y").c_str());
m.x.z = cf.get(std::string( rsutils::string::from() << name << ".x.z").c_str());
m.y.x = cf.get(std::string( rsutils::string::from() << name << ".y.x").c_str());
m.y.y = cf.get(std::string( rsutils::string::from() << name << ".y.y").c_str());
m.y.z = cf.get(std::string( rsutils::string::from() << name << ".y.z").c_str());
m.z.x = cf.get(std::string( rsutils::string::from() << name << ".z.x").c_str());
m.z.y = cf.get(std::string( rsutils::string::from() << name << ".z.y").c_str());
m.z.z = cf.get(std::string( rsutils::string::from() << name << ".z.z").c_str());
};
load_float3x4("intrinsic_left", table->intrinsic_left);
load_float3x4("intrinsic_right", table->intrinsic_right);
load_float3x4("world2left_rot", table->world2left_rot);
load_float3x4("world2right_rot", table->world2right_rot);
for (int i = 0; i < librealsense::ds::max_ds_rect_resolutions; i++)
{
table->rect_params[i].x = cf.get(std::string( rsutils::string::from() << "rectified." << i << ".fx").c_str());
table->rect_params[i].y = cf.get(std::string( rsutils::string::from() << "rectified." << i << ".fy").c_str());
table->rect_params[i].z = cf.get(std::string( rsutils::string::from() << "rectified." << i << ".ppx").c_str());
table->rect_params[i].w = cf.get(std::string( rsutils::string::from() << "rectified." << i << ".ppy").c_str());
}
}
changed = true;
}
catch (const std::exception& ex)
{
error_message = ex.what();
ImGui::CloseCurrentPopup();
}
}
if (ImGui::IsItemHovered())
{
window.link_hovered();
ImGui::SetTooltip("%s", "Load calibration from file");
}
ImGui::SameLine();
if (ImGui::Button(u8"\uF0C7 Save As...", ImVec2(100, 30)))
{
try
{
if (auto fn = file_dialog_open(file_dialog_mode::save_file, "Calibration JSON\0*.json\0", nullptr, nullptr))
{
config_file cf(fn);
cf.set("baseline", table->baseline);
auto save_float3x4 = [&](std::string name, librealsense::float3x3& m){
cf.set(std::string( rsutils::string::from() << name << ".x.x").c_str(), m.x.x);
cf.set(std::string( rsutils::string::from() << name << ".x.y").c_str(), m.x.y);
cf.set(std::string( rsutils::string::from() << name << ".x.z").c_str(), m.x.z);
cf.set(std::string( rsutils::string::from() << name << ".y.x").c_str(), m.y.x);
cf.set(std::string( rsutils::string::from() << name << ".y.y").c_str(), m.y.y);
cf.set(std::string( rsutils::string::from() << name << ".y.z").c_str(), m.y.z);
cf.set(std::string( rsutils::string::from() << name << ".z.x").c_str(), m.z.x);
cf.set(std::string( rsutils::string::from() << name << ".z.y").c_str(), m.z.y);
cf.set(std::string( rsutils::string::from() << name << ".z.z").c_str(), m.z.z);
};
save_float3x4("intrinsic_left", table->intrinsic_left);
save_float3x4("intrinsic_right", table->intrinsic_right);
save_float3x4("world2left_rot", table->world2left_rot);
save_float3x4("world2right_rot", table->world2right_rot);
for (int i = 0; i < librealsense::ds::max_ds_rect_resolutions; i++)
{
auto xy = librealsense::ds::resolutions_list[(librealsense::ds::ds_rect_resolutions)i];
int w = xy.x; int h = xy.y;
cf.set(std::string( rsutils::string::from() << "rectified." << i << ".width").c_str(), w);
cf.set(std::string( rsutils::string::from() << "rectified." << i << ".height").c_str(), h);
cf.set(std::string( rsutils::string::from() << "rectified." << i << ".fx").c_str(), table->rect_params[i].x);
cf.set(std::string( rsutils::string::from() << "rectified." << i << ".fy").c_str(), table->rect_params[i].y);
cf.set(std::string( rsutils::string::from() << "rectified." << i << ".ppx").c_str(), table->rect_params[i].z);
cf.set(std::string( rsutils::string::from() << "rectified." << i << ".ppy").c_str(), table->rect_params[i].w);
}
}
}
catch (const std::exception& ex)
{
error_message = ex.what();
ImGui::CloseCurrentPopup();
}
}
if (ImGui::IsItemHovered())
{
window.link_hovered();
ImGui::SetTooltip("%s", "Save calibration image to file");
}
ImGui::SameLine();
if (_accept)
{
if (ImGui::Button(u8"\uF275 Restore Factory", ImVec2(115, 30)))
{
try
{
dev.as<rs2::auto_calibrated_device>().reset_to_factory_calibration();
_calibration = dev.as<rs2::auto_calibrated_device>().get_calibration_table();
_original = _calibration;
table = reinterpret_cast< librealsense::ds::d400_coefficients_table * >( _calibration.data() );
orig_table = reinterpret_cast< librealsense::ds::d400_coefficients_table * >( _original.data() );
changed = true;
if (auto nm = _not_model.lock())
{
nm->add_notification({ rsutils::string::from() << "Depth Calibration is reset to Factory Settings",
RS2_LOG_SEVERITY_INFO, RS2_NOTIFICATION_CATEGORY_HARDWARE_EVENT });
}
}
catch(const std::exception& ex)
{
error_message = ex.what();
ImGui::CloseCurrentPopup();
}
}
if (ImGui::IsItemHovered())
{
window.link_hovered();
ImGui::SetTooltip("%s", "Restore calibration in flash to factory settings");
}
}
else
{
ImGui::PushStyleColor(ImGuiCol_Text, grey);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, grey);
ImGui::Button(u8"\uF275 Restore Factory", ImVec2(115, 30));
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("%s", "Write selected calibration table to the device. For advanced users");
}
ImGui::PopStyleColor(2);
}
ImGui::PushStyleColor(ImGuiCol_ChildWindowBg, dark_sensor_bg);
ImGui::BeginChild("##CalibData",ImVec2(w - 15, h - 110), true);
ImGui::SetCursorPosX(10);
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::Text("Stereo Baseline(mm):"); ImGui::SameLine();
ImGui::SetCursorPosX(200);
ImGui::PushItemWidth(120);
draw_float("Baseline", table->baseline, orig_table->baseline, changed);
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::PopItemWidth();
draw_float4x4("Left Intrinsics", table->intrinsic_left, orig_table->intrinsic_left, changed);
draw_float4x4("Right Intrinsics", table->intrinsic_right, orig_table->intrinsic_right, changed);
draw_float4x4("World to Left Rotation", table->world2left_rot, orig_table->world2left_rot, changed);
draw_float4x4("World to Right Rotation", table->world2right_rot, orig_table->world2right_rot, changed);
ImGui::SetCursorPosX(10);
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::Text("Rectified Resolution:"); ImGui::SameLine();
ImGui::SetCursorPosX(200);
std::vector<std::string> resolution_names;
std::vector<const char*> resolution_names_char;
std::vector<int> resolution_offset;
for (int i = 0; i < librealsense::ds::max_ds_rect_resolutions; i++)
{
auto xy = librealsense::ds::resolutions_list[(librealsense::ds::ds_rect_resolutions)i];
int w = xy.x; int h = xy.y;
if (w != 0) {
resolution_offset.push_back(i);
std::string name = rsutils::string::from() << w << " x " << h;
resolution_names.push_back(name);
}
}
for (size_t i = 0; i < resolution_offset.size(); i++)
{
resolution_names_char.push_back(resolution_names[i].c_str());
}
ImGui::PushItemWidth(120);
ImGui::Combo("##RectifiedResolutions", &selected_resolution, resolution_names_char.data(), int(resolution_names_char.size()));
ImGui::SetCursorPosX(10);
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::Text("Focal Length:"); ImGui::SameLine();
ImGui::SetCursorPosX(200);
draw_float("FocalX", table->rect_params[selected_resolution].x, orig_table->rect_params[selected_resolution].x, changed);
ImGui::SameLine();
draw_float("FocalY", table->rect_params[selected_resolution].y, orig_table->rect_params[selected_resolution].y, changed);
ImGui::SetCursorPosX(10);
ImGui::Text("Principal Point:"); ImGui::SameLine();
ImGui::SetCursorPosX(200);
draw_float("PPX", table->rect_params[selected_resolution].z, orig_table->rect_params[selected_resolution].z, changed);
ImGui::SameLine();
draw_float("PPY", table->rect_params[selected_resolution].w, orig_table->rect_params[selected_resolution].w, changed);
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::PopItemWidth();
if (ImGui::IsWindowHovered()) window.set_hovered_over_input();
ImGui::EndChild();
ImGui::PopStyleColor();
ImGui::SetCursorScreenPos({ (float)(x0 + 10), (float)(y0 + h - 30) });
if (ImGui::Checkbox("I know what I'm doing", &_accept))
{
config_file::instance().set(configurations::calibration::enable_writing, _accept);
}
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("%s", "Changing calibration will affect depth quality. Changes are persistent.\nThere is an option to get back to factory calibration, but it maybe worse than current calibration\nBefore writing to flash, we strongly recommend to make a file backup");
}
ImGui::SetCursorScreenPos({ (float)(x0 + w - 230), (float)(y0 + h - 30) });
if (ImGui::Button("Cancel", ImVec2(100, 25)))
{
ImGui::CloseCurrentPopup();
}
if (ImGui::IsItemHovered())
{
window.link_hovered();
ImGui::SetTooltip("%s", "Close without saving any changes");
}
ImGui::SameLine();
auto streams = dev.query_sensors()[0].get_active_streams();
if (_accept && streams.size())
{
if (ImGui::Button(u8"\uF2DB Write Table", ImVec2(120, 25)))
{
try
{
auto actual_data = _calibration.data() + sizeof(librealsense::ds::table_header);
auto actual_data_size = _calibration.size() - sizeof(librealsense::ds::table_header);
auto crc = rsutils::number::calc_crc32( actual_data, actual_data_size );
table->header.crc32 = crc;
dev.as<rs2::auto_calibrated_device>().set_calibration_table(_calibration);
dev.as<rs2::auto_calibrated_device>().write_calibration();
_original = _calibration;
orig_table = reinterpret_cast< librealsense::ds::d400_coefficients_table * >( _original.data() );
ImGui::CloseCurrentPopup();
}
catch (const std::exception& ex)
{
error_message = ex.what();
ImGui::CloseCurrentPopup();
}
}
if (ImGui::IsItemHovered())
{
window.link_hovered();
ImGui::SetTooltip("%s", "Write selected calibration table to the device");
}
}
else
{
ImGui::PushStyleColor(ImGuiCol_Text, grey);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, grey);
ImGui::Button(u8"\uF2DB Write Table", ImVec2(120, 25));
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("%s", "Write selected calibration table to the device. For advanced users");
}
ImGui::PopStyleColor(2);
}
if (changed && streams.size())
{
try
{
dev.as<rs2::auto_calibrated_device>().set_calibration_table(_calibration);
}
catch (const std::exception&)
{
try
{
dev.query_sensors()[0].close();
dev.query_sensors()[0].open(streams);
dev.as<rs2::auto_calibrated_device>().set_calibration_table(_calibration);
}
catch (const std::exception& ex)
{
error_message = ex.what();
ImGui::CloseCurrentPopup();
}
}
}
if (ImGui::IsWindowHovered()) window.set_hovered_over_input();
ImGui::EndPopup();
}
ImGui::PopStyleColor(3);
ImGui::PopStyleVar(2);
}

42
librealsense/common/calibration-model.h
Unescape View File

@ -0,0 +1,42 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2024 Intel Corporation. All Rights Reserved.
#pragma once
#include <librealsense2/rs.hpp>
#include "notifications.h"
#include <rsutils/number/float3.h>
namespace rs2
{
class ux_window;
class calibration_model
{
using float3x3 = rsutils::number::float3x3;
public:
calibration_model(rs2::device dev, std::shared_ptr<notifications_model> not_model);
bool supports();
void update(ux_window& window, std::string& error_message);
void open() { to_open = true; }
private:
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;
bool to_open = false;
bool _accept = false;
std::vector<uint8_t> _calibration;
std::vector<uint8_t> _original;
int selected_resolution = 0;
std::weak_ptr<notifications_model> _not_model;
};
}

3309
librealsense/common/device-model.cpp
View File

File diff suppressed because it is too large Load Diff

466
librealsense/common/device-model.h
Unescape View File

@ -0,0 +1,466 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
#pragma once
#include <set>
#include "notifications.h"
#include "realsense-ui-advanced-mode.h"
#include <rsutils/json.h>
#include "sw-update/dev-updates-profile.h"
#include <rsutils/time/periodic-timer.h>
#include "updates-model.h"
#include "calibration-model.h"
#include "objects-in-frame.h"
ImVec4 from_rgba(uint8_t r, uint8_t g, uint8_t b, uint8_t a, bool consistent_color = false);
ImVec4 operator+(const ImVec4& c, float v);
static const ImVec4 light_blue = from_rgba(0, 174, 239, 255, true); // Light blue color for selected elements such as play button glyph when paused
static const ImVec4 regular_blue = from_rgba(0, 115, 200, 255, true); // Checkbox mark, slider grabber
static const ImVec4 light_grey = from_rgba(0xc3, 0xd5, 0xe5, 0xff, true); // Text
static const ImVec4 dark_window_background = from_rgba(9, 11, 13, 255);
static const ImVec4 almost_white_bg = from_rgba(230, 230, 230, 255, true);
static const ImVec4 black = from_rgba(0, 0, 0, 255, true);
static const ImVec4 transparent = from_rgba(0, 0, 0, 0, true);
static const ImVec4 white = from_rgba(0xff, 0xff, 0xff, 0xff, true);
static const ImVec4 scrollbar_bg = from_rgba(14, 17, 20, 255);
static const ImVec4 scrollbar_grab = from_rgba(54, 66, 67, 255);
static const ImVec4 grey{ 0.5f,0.5f,0.5f,1.f };
static const ImVec4 dark_grey = from_rgba(30, 30, 30, 255);
static const ImVec4 sensor_header_light_blue = from_rgba(80, 99, 115, 0xff);
static const ImVec4 sensor_bg = from_rgba(36, 44, 51, 0xff);
static const ImVec4 redish = from_rgba(255, 46, 54, 255, true);
static const ImVec4 light_red = from_rgba(255, 146, 154, 255, true);
static const ImVec4 dark_red = from_rgba(200, 46, 54, 255, true);
static const ImVec4 button_color = from_rgba(62, 77, 89, 0xff);
static const ImVec4 header_window_bg = from_rgba(36, 44, 54, 0xff);
static const ImVec4 header_color = from_rgba(62, 77, 89, 255);
static const ImVec4 title_color = from_rgba(27, 33, 38, 255);
static const ImVec4 device_info_color = from_rgba(33, 40, 46, 255);
static const ImVec4 yellow = from_rgba(229, 195, 101, 255, true);
static const ImVec4 yellowish = from_rgba(255, 253, 191, 255, true);
static const ImVec4 green = from_rgba(0x20, 0xe0, 0x20, 0xff, true);
static const ImVec4 dark_sensor_bg = from_rgba(0x1b, 0x21, 0x25, 170);
static const ImVec4 red = from_rgba(233, 0, 0, 255, true);
static const ImVec4 greenish = from_rgba(67, 163, 97, 255);
static const ImVec4 orange = from_rgba(255, 157, 0, 255, true);
inline ImVec4 operator*(const ImVec4& color, float t)
{
return ImVec4(color.x * t, color.y * t, color.z * t, color.w * t);
}
inline ImVec4 operator+(const ImVec4& a, const ImVec4& b)
{
return ImVec4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
}
inline ImVec4 blend(const ImVec4& c, float a)
{
return{ c.x, c.y, c.z, a * c.w };
}
namespace rs2
{
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";
typedef std::vector<std::unique_ptr<device_model>> device_models_list;
void open_issue(const device_models_list& devices);
struct textual_icon
{
explicit constexpr textual_icon(const char(&unicode_icon)[4]) :
_icon{ unicode_icon[0], unicode_icon[1], unicode_icon[2], unicode_icon[3] }
{
}
operator const char* () const
{
return _icon.data();
}
private:
std::array<char, 5> _icon;
};
inline std::ostream& operator<<(std::ostream& os, const textual_icon& i)
{
return os << static_cast<const char*>(i);
}
namespace configurations
{
namespace record
{
static const char* file_save_mode{ "record.file_save_mode" };
static const char* default_path{ "record.default_path" };
static const char* compression_mode{ "record.compression" };
}
namespace update
{
static const char* allow_rc_firmware{ "update.allow_rc_firmware" };
static const char* recommend_updates{ "update.recommend_updates" };
static const char* recommend_calibration{ "update.recommend_calibration" };
static const char* sw_updates_url{ "update.sw_update_url" };
static const char* sw_updates_official_server{ "update.sw_update_official_server" };
}
namespace calibration
{
static const char* enable_writing{ "calibration.enable_writing" };
}
namespace viewer
{
static const char* is_3d_view{ "viewer_model.is_3d_view" };
static const char* ground_truth_r{ "viewer_model.ground_truth_r" };
static const char* target_width_r{ "viewer_model.target_width_r" };
static const char* target_height_r{ "viewer_model.target_height_r" };
static const char* continue_with_ui_not_aligned{ "viewer_model.continue_with_ui_not_aligned" };
static const char* continue_with_current_fw{ "viewer_model.continue_with_current_fw" };
static const char* settings_tab{ "viewer_model.settings_tab" };
static const char* sdk_version{ "viewer_model.sdk_version" };
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" };
static const char* log_to_file{ "viewer_model.log_to_file" };
static const char* log_filename{ "viewer_model.log_filename" };
static const char* log_severity{ "viewer_model.log_severity" };
static const char* post_processing{ "viewer_model.post_processing" };
static const char* show_map_ruler{ "viewer_model.show_map_ruler" };
static const char* show_stream_details{ "viewer_model.show_stream_details" };
static const char* metric_system{ "viewer_model.metric_system" };
static const char* shading_mode{ "viewer_model.shading_mode" };
static const char* commands_xml{ "viewer_model.commands_xml" };
static const char* hwlogger_xml{ "viewer_model.hwlogger_xml" };
static const char* last_ip{ "viewer_model.last_ip" };
}
namespace window
{
static const char* is_fullscreen{ "window.is_fullscreen" };
static const char* saved_pos{ "window.saved_pos" };
static const char* position_x{ "window.position_x" };
static const char* position_y{ "window.position_y" };
static const char* saved_size{ "window.saved_size" };
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
{
static const char* glsl_for_rendering{ "performance.glsl_for_rendering.v2" };
static const char* glsl_for_processing{ "performance.glsl_for_processing.v2" };
static const char* enable_msaa{ "performance.msaa" };
static const char* msaa_samples{ "performance.msaa_samples" };
static const char* show_fps{ "performance.show_fps" };
static const char* vsync{ "performance.vsync" };
static const char* font_oversample{ "performance.font_oversample.v2" };
static const char* show_skybox{ "performance.show_skybox" };
static const char* occlusion_invalidation{ "performance.occlusion_invalidation" };
}
namespace ply
{
static const char* mesh{ "ply.mesh" };
static const char* use_normals{ "ply.normals" };
static const char* encoding{ "ply.encoding" };
enum encoding_types
{
textual = 0,
binary = 1
};
}
}
namespace textual_icons
{
// A note to a maintainer - preserve order when adding values to avoid duplicates
static const textual_icon file_movie{ u8"\uf008" };
static const textual_icon times{ u8"\uf00d" };
static const textual_icon download{ u8"\uf019" };
static const textual_icon refresh{ u8"\uf021" };
static const textual_icon lock{ u8"\uf023" };
static const textual_icon camera{ u8"\uf030" };
static const textual_icon video_camera{ u8"\uf03d" };
static const textual_icon edit{ u8"\uf044" };
static const textual_icon step_backward{ u8"\uf048" };
static const textual_icon play{ u8"\uf04b" };
static const textual_icon pause{ u8"\uf04c" };
static const textual_icon stop{ u8"\uf04d" };
static const textual_icon step_forward{ u8"\uf051" };
static const textual_icon plus_circle{ u8"\uf055" };
static const textual_icon question_mark{ u8"\uf059" };
static const textual_icon info_circle{ u8"\uf05a" };
static const textual_icon fix_up{ u8"\uf062" };
static const textual_icon minus{ u8"\uf068" };
static const textual_icon exclamation_triangle{ u8"\uf071" };
static const textual_icon shopping_cart{ u8"\uf07a" };
static const textual_icon bar_chart{ u8"\uf080" };
static const textual_icon upload{ u8"\uf093" };
static const textual_icon square_o{ u8"\uf096" };
static const textual_icon unlock{ u8"\uf09c" };
static const textual_icon floppy{ u8"\uf0c7" };
static const textual_icon square{ u8"\uf0c8" };
static const textual_icon bars{ u8"\uf0c9" };
static const textual_icon caret_down{ u8"\uf0d7" };
static const textual_icon repeat{ u8"\uf0e2" };
static const textual_icon circle{ u8"\uf111" };
static const textual_icon check_square_o{ u8"\uf14a" };
static const textual_icon cubes{ u8"\uf1b3" };
static const textual_icon toggle_off{ u8"\uf204" };
static const textual_icon toggle_on{ u8"\uf205" };
static const textual_icon connectdevelop{ u8"\uf20e" };
static const textual_icon usb_type{ u8"\uf287" };
static const textual_icon braille{ u8"\uf2a1" };
static const textual_icon window_maximize{ u8"\uf2d0" };
static const textual_icon window_restore{ u8"\uf2d2" };
static const textual_icon grid{ u8"\uf1cb" };
static const textual_icon exit{ u8"\uf011" };
static const textual_icon see_less{ u8"\uf070" };
static const textual_icon dotdotdot{ u8"\uf141" };
static const textual_icon link{ u8"\uf08e" };
static const textual_icon throphy{ u8"\uF091" };
static const textual_icon metadata{ u8"\uF0AE" };
static const textual_icon check{ u8"\uF00C" };
static const textual_icon mail{ u8"\uF01C" };
static const textual_icon cube{ u8"\uf1b2" };
static const textual_icon measure{ u8"\uf545" };
static const textual_icon wifi{ u8"\uf1eb" };
}
class viewer_model;
class ux_window;
class subdevice_model;
class syncer_model
{
public:
syncer_model() :
_active(true) {}
std::shared_ptr<rs2::asynchronous_syncer> create_syncer()
{
stop();
std::lock_guard<std::mutex> lock(_mutex);
auto shared_syncer = std::make_shared<rs2::asynchronous_syncer>();
// This queue stores the output from the syncer, and has to be large enough to deal with
// slowdowns on the processing/rendering threads of the Viewer to avoid frame drops. Frame
// drops can be pretty noticeable to the user!
//
// The syncer may also give out frames in bursts. This commonly happens, for example, when
// streams have different FPS, and is a known issue. Even with same-FPS streams, the actual
// FPS may change depending on a number of variables (e.g., exposure). When FPS is not the
// same between the streams, a latency is introduced and bursts from the syncer are the
// result.
//
// Bursts are so fast the other threads will never have a chance to pull them in time. For
// example, the syncer output can be the following, all one after the other:
//
// [Color: timestamp 100 (arrived @ 105), Infrared: timestamp 100 (arrived at 150)]
// [Color: timestamp 116 (arrived @ 120)]
// [Color: timestamp 132 (arrived @ 145)]
//
// They are received one at a time & pushed into the syncer, which will wait and keep all of
// them inside until a match with Infrared is possible. Once that happens, it will output
// everything it has as a burst.
//
// The queue size must therefore be big enough to deal with expected latency: the more
// latency, the bigger the burst.
//
// Another option is to use an aggregator, similar to the behavior inside the pipeline.
// But this still doesn't solve the issue of the bursts: we'll get frame drops in the fast
// stream instead of the slow.
//
rs2::frame_queue q(10);
_syncers.push_back({ shared_syncer,q });
shared_syncer->start([this, q](rs2::frame f)
{
q.enqueue(f);
on_frame();
});
start();
return shared_syncer;
}
void remove_syncer(std::shared_ptr<rs2::asynchronous_syncer> s)
{
stop();
std::lock_guard<std::mutex> lock(_mutex);
_syncers.erase(std::remove_if(_syncers.begin(), _syncers.end(),
[s](std::pair<std::shared_ptr<rs2::asynchronous_syncer>, rs2::frame_queue> pair)
{
return pair.first.get() == s.get();
}), _syncers.end());
start();
}
std::vector<rs2::frameset> try_wait_for_frames()
{
std::lock_guard<std::mutex> lock(_mutex);
std::vector<rs2::frameset> result;
for (auto&& s = _syncers.begin(); s != _syncers.end() && _active; s++)
{
rs2::frameset f;
if (s->second.try_wait_for_frame(&f, 1))
{
result.push_back(f);
}
}
return result;
}
void stop()
{
_active.exchange(false);
}
void start()
{
_active.exchange(true);
}
std::function<void()> on_frame = [] {};
private:
std::vector<std::pair<std::shared_ptr<rs2::asynchronous_syncer>, rs2::frame_queue>> _syncers;
std::mutex _mutex;
std::atomic<bool> _active;
};
class device_model
{
public:
typedef std::function<void(std::function<void()> load)> json_loading_func;
void reset();
explicit device_model(device& dev, std::string& error_message, viewer_model& viewer, bool new_device_connected = true, bool allow_remove=true);
~device_model();
void start_recording(const std::string& path, std::string& error_message);
void stop_recording(viewer_model& viewer);
void pause_record();
void resume_record();
void refresh_notifications(viewer_model& viewer);
bool check_for_bundled_fw_update( const rs2::context & ctx,
std::shared_ptr< notifications_model > not_model,
bool reset_delay = false );
int draw_playback_panel(ux_window& window, ImFont* font, viewer_model& view);
bool draw_advanced_controls(viewer_model& view, ux_window& window, std::string& error_message);
void draw_controls(float panel_width, float panel_height,
ux_window& window,
std::string& error_message,
device_model*& device_to_remove,
viewer_model& viewer, float windows_width,
std::vector<std::function<void()>>& draw_later,
bool load_json_if_streaming = false,
json_loading_func json_loading = [](std::function<void()> load) {load(); },
bool draw_device_outline = true);
void handle_hardware_events(const std::string& serialized_data);
void begin_update(std::vector<uint8_t> data,
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; }
std::vector<std::shared_ptr<subdevice_model>> subdevices;
std::shared_ptr<syncer_model> syncer;
std::shared_ptr<rs2::asynchronous_syncer> dev_syncer;
bool is_streaming() const;
bool metadata_supported = false;
bool get_curr_advanced_controls = true;
device dev;
std::string id;
bool is_recording = false;
int seek_pos = 0;
int playback_speed_index = 2;
bool _playback_repeat = true;
bool _should_replay = false;
bool show_device_info = false;
bool _allow_remove = true;
bool show_depth_only = false;
bool show_stream_selection = true;
std::vector<std::pair<std::string, std::string>> infos;
std::vector<std::string> restarting_device_info;
std::set<std::string> advanced_mode_settings_file_names;
std::string selected_file_preset;
std::vector<std::shared_ptr<notification_model>> related_notifications;
private:
// This class is in charge of camera accuracy health window parameters,
// Needed as a member for reseting the window memory on device disconnection.
void draw_info_icon(ux_window& window, ImFont* font, const ImVec2& size);
int draw_seek_bar();
int draw_playback_controls(ux_window& window, ImFont* font, viewer_model& view);
advanced_mode_control amc;
std::string pretty_time(std::chrono::nanoseconds duration);
float draw_device_panel(float panel_width,
ux_window& window,
std::string& error_message,
viewer_model& viewer);
void play_defaults(viewer_model& view);
float draw_preset_panel(float panel_width,
ux_window& window,
std::string& error_message,
viewer_model& viewer,
bool update_read_only_options,
bool load_json_if_streaming,
json_loading_func json_loading);
bool prompt_toggle_advanced_mode(bool enable_advanced_mode, const std::string& message_text,
std::vector<std::string>& restarting_device_info,
viewer_model& view,
ux_window& window,
const std::string& error_message);
void load_viewer_configurations(const std::string& json_str);
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,
bool reset_delay = false );
bool handle_online_fw_update(
const context & ctx,
std::shared_ptr< notifications_model > nm,
std::shared_ptr< sw_update::dev_updates_profile::update_profile > update_profile,
bool reset_delay = false );
std::shared_ptr<recorder> _recorder;
std::vector<std::shared_ptr<subdevice_model>> live_subdevices;
rsutils::time::periodic_timer _update_readonly_options_timer;
bool pause_required = false;
std::shared_ptr< atomic_objects_in_frame > _detected_objects;
std::shared_ptr<updates_model> _updates;
std::shared_ptr<sw_update::dev_updates_profile::update_profile >_updates_profile;
calibration_model _calib_model;
};
std::pair<std::string, std::string> get_device_name(const device& dev);
std::vector<std::pair<std::string, std::string>> get_devices_names(const device_list& list);
class device_changes
{
public:
explicit device_changes(rs2::context& ctx);
bool try_get_next_changes(event_information& removed_and_connected);
private:
void add_changes(const event_information& c);
std::queue<event_information> _changes;
std::mutex _mtx;
};
}

14
librealsense/common/float2.h
Unescape View File

@ -0,0 +1,14 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2024 Intel Corporation. All Rights Reserved.
#pragma once
#include <rsutils/number/float3.h>
namespace rs2 {
using rsutils::number::float2;
} // namespace rs2

14
librealsense/common/float3.h
Unescape View File

@ -0,0 +1,14 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2024 Intel Corporation. All Rights Reserved.
#pragma once
#include <rsutils/number/float3.h>
namespace rs2 {
using rsutils::number::float3;
} // namespace rs2

15
librealsense/common/float4.h
Unescape View File

@ -0,0 +1,15 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2021 Intel Corporation. All Rights Reserved.
#pragma once
namespace rs2 {
struct float4
{
float x, y, z, w;
};
}

663
librealsense/common/fw-update-helper.cpp
Unescape View File

@ -0,0 +1,663 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#include "fw-update-helper.h"
#include "model-views.h"
#include "viewer.h"
#include "ux-window.h"
#include <rsutils/os/special-folder.h>
#include "os.h"
#include <rsutils/easylogging/easyloggingpp.h>
#include <map>
#include <vector>
#include <string>
#include <thread>
#include <condition_variable>
#ifdef INTERNAL_FW
#include "common/fw/D4XX_FW_Image.h"
#else
#define FW_D4XX_FW_IMAGE_VERSION ""
const char* fw_get_D4XX_FW_Image(int) { return NULL; }
#endif // INTERNAL_FW
constexpr const char* recommended_fw_url = "https://dev.intelrealsense.com/docs/firmware-updates";
namespace rs2
{
enum firmware_update_ui_state
{
RS2_FWU_STATE_INITIAL_PROMPT = 0,
RS2_FWU_STATE_IN_PROGRESS = 1,
RS2_FWU_STATE_COMPLETE = 2,
RS2_FWU_STATE_FAILED = 3,
};
bool is_recommended_fw_available(const std::string& product_line, const std::string& pid)
{
auto pl = parse_product_line(product_line);
auto fv = get_available_firmware_version(pl, pid);
return !(fv == "");
}
int parse_product_line(const std::string& product_line)
{
if (product_line == "D400") return RS2_PRODUCT_LINE_D400;
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 return "";
}
std::vector< uint8_t > get_default_fw_image( int product_line, const std::string & pid )
{
std::vector< uint8_t > image;
switch( product_line )
{
case RS2_PRODUCT_LINE_D400:
{
bool allow_rc_firmware = config_file::instance().get_or_default( configurations::update::allow_rc_firmware, false );
if( strlen( FW_D4XX_FW_IMAGE_VERSION ) && ! allow_rc_firmware )
{
int size = 0;
auto hex = fw_get_D4XX_FW_Image( size );
image = std::vector< uint8_t >( hex, hex + size );
}
}
break;
default:
break;
}
return image;
}
bool is_upgradeable(const std::string& curr, const std::string& available)
{
if (curr == "" || available == "") return false;
return rsutils::version( curr ) < rsutils::version( available );
}
bool firmware_update_manager::check_for(
std::function<bool()> action, std::function<void()> cleanup,
std::chrono::system_clock::duration delta)
{
using namespace std;
using namespace std::chrono;
auto start = system_clock::now();
auto now = system_clock::now();
do
{
try
{
if (action()) return true;
}
catch (const error& e)
{
fail(error_to_string(e));
cleanup();
return false;
}
catch (const std::exception& ex)
{
fail(ex.what());
cleanup();
return false;
}
catch (...)
{
fail("Unknown error during update.\nPlease reconnect the camera to exit recovery mode");
cleanup();
return false;
}
now = system_clock::now();
this_thread::sleep_for(milliseconds(100));
} while (now - start < delta);
return false;
}
void firmware_update_manager::process_mipi()
{
if (!_is_signed)
{
fail("Signed FW update for MIPI device - This FW file is not signed ");
return;
}
auto dev_updatable = _dev.as<updatable>();
if(!(dev_updatable && dev_updatable.check_firmware_compatibility(_fw)))
{
fail("Firmware Update failed - fw version must be newer than version 5.13.1.1");
return;
}
log("Burning Signed Firmware on MIPI device");
// Enter DFU mode
auto device_debug = _dev.as<rs2::debug_protocol>();
uint32_t dfu_opcode = 0x1e;
device_debug.build_command(dfu_opcode, 1);
_progress = 30;
// 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<const char*>(_fw.data()), _fw.size());
}
else
{
fail("Firmware Update failed - wrong path or permissions missing");
return;
}
LOG_INFO("Firmware Update for MIPI device done.");
fw_path_in_device.close();
_progress = 100;
_done = true;
// need to find a way to update the fw version field in the viewer
}
void firmware_update_manager::process_flow(
std::function<void()> cleanup,
invoker invoke)
{
// if device is D457, and fw is signed - using mipi specific procedure
if (!strcmp(_dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID), "ABCD") && _is_signed)
{
process_mipi();
return;
}
std::string serial = "";
if (_dev.supports(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID))
serial = _dev.get_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID);
else
serial = _dev.query_sensors().front().get_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID);
// Clear FW update related notification to avoid dismissing the notification on ~device_model()
// We want the notification alive during the whole process.
_model.related_notifications.erase(
std::remove_if( _model.related_notifications.begin(),
_model.related_notifications.end(),
[]( std::shared_ptr< notification_model > n ) {
return n->is< fw_update_notification_model >();
} ) , end(_model.related_notifications));
for (auto&& n : _model.related_notifications)
{
if (n->is< fw_update_notification_model >()
|| n->is< sw_recommended_update_alert_model >())
n->dismiss(false);
}
_progress = 5;
int next_progress = 10;
update_device dfu{};
if (auto upd = _dev.as<updatable>())
{
// checking firmware version compatibility with device
if (_is_signed)
{
if (!upd.check_firmware_compatibility(_fw))
{
std::stringstream ss;
ss << "The firmware version is not compatible with ";
ss << _dev.get_info(RS2_CAMERA_INFO_NAME) << std::endl;
fail(ss.str());
return;
}
}
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;
} );
// 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
{
log_backup_status = "Backup flash is not supported";
}
}
catch( const std::exception& e )
{
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,
__FILE__,
__LINE__,
log_backup_status + ", Error: " + e.what() );
}
}
catch( ... )
{
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" );
}
}
if ( !log_backup_status.empty() )
log(log_backup_status);
next_progress = 40;
if (_is_signed)
{
log("Requesting to switch to recovery mode");
// in order to update device to DFU state, it will be disconnected then switches to DFU state
// if querying devices is called while device still switching to DFU state, an exception will be thrown
// to prevent that, a blocking is added to make sure device is updated before continue to next step of querying device
upd.enter_update_state();
if (!check_for([this, serial, &dfu]() {
auto devs = _ctx.query_devices();
for (uint32_t j = 0; j < devs.size(); j++)
{
try
{
auto d = devs[j];
if (d.is<update_device>())
{
if (d.supports(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID))
{
if (serial == d.get_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID))
{
log( "DFU device '" + serial + "' found" );
dfu = d;
return true;
}
}
}
}
catch (std::exception &e) {
if (auto not_model_protected = get_protected_notification_model())
{
not_model_protected->output.add_log(RS2_LOG_SEVERITY_WARN,
__FILE__,
__LINE__,
rsutils::string::from() << "Exception caught in FW Update process-flow: " << e.what() << "; Retrying...");
}
}
catch (...) {}
}
return false;
}, cleanup, std::chrono::seconds(60)))
{
fail("Recovery device did not connect in time!");
return;
}
}
}
else
{
dfu = _dev.as<update_device>();
}
if (dfu)
{
_progress = float(next_progress);
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 ) );
}
else
{
auto upd = _dev.as<updatable>();
upd.update_unsigned(_fw, [&](const float progress)
{
_progress = (ceil(progress * 10) / 10 * (90 - next_progress)) + next_progress;
});
log("Firmware Update completed, waiting for device to reconnect");
}
if (!check_for([this, serial]() {
auto devs = _ctx.query_devices();
for (uint32_t j = 0; j < devs.size(); j++)
{
try
{
auto d = devs[j];
if (d.query_sensors().size() && d.query_sensors().front().supports(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID))
{
auto s = d.query_sensors().front().get_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID);
if (s == serial)
{
log("Discovered connection of the original device");
return true;
}
}
}
catch (...) {}
}
return false;
}, cleanup, std::chrono::seconds(60)))
{
fail("Original device did not reconnect in time!");
return;
}
log( "Device reconnected successfully!\n"
"FW update process completed successfully" );
_progress = 100;
_done = true;
}
void fw_update_notification_model::draw_content(ux_window& win, int x, int y, float t, std::string& error_message)
{
using namespace std;
using namespace chrono;
ImGui::SetCursorScreenPos({ float(x + 9), float(y + 4) });
ImVec4 shadow{ 1.f, 1.f, 1.f, 0.1f };
ImGui::GetWindowDrawList()->AddRectFilled({ float(x), float(y) },
{ float(x + width), float(y + 25) }, ImColor(shadow));
if (update_state != RS2_FWU_STATE_COMPLETE)
{
ImGui::Text("Firmware Update Recommended!");
ImGui::SetCursorScreenPos({ float(x + 5), float(y + 27) });
draw_text(get_title().c_str(), x, y, height - 50);
ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - 67) });
ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1.f - t));
if (update_state == RS2_FWU_STATE_INITIAL_PROMPT)
ImGui::Text("Firmware updates offer critical bug fixes and\nunlock new camera capabilities.");
else
ImGui::Text("Firmware update is underway...\nPlease do not disconnect the device");
ImGui::PopStyleColor();
}
else
{
//ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_blue, 1.f - t));
ImGui::Text("Update Completed");
//ImGui::PopStyleColor();
ImGui::SetCursorScreenPos({ float(x + 10), float(y + 35) });
ImGui::PushFont(win.get_large_font());
std::string txt = rsutils::string::from() << textual_icons::throphy;
ImGui::Text("%s", txt.c_str());
ImGui::PopFont();
ImGui::SetCursorScreenPos({ float(x + 40), float(y + 35) });
ImGui::Text("Camera Firmware Updated Successfully");
}
ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) });
const auto bar_width = width - 115;
if (update_manager)
{
if (update_state == RS2_FWU_STATE_INITIAL_PROMPT)
{
auto sat = 1.f + sin(duration_cast<milliseconds>(system_clock::now() - created_time).count() / 700.f) * 0.1f;
ImGui::PushStyleColor(ImGuiCol_Button, saturate(sensor_header_light_blue, sat));
ImGui::PushStyleColor(ImGuiCol_ButtonHovered, saturate(sensor_header_light_blue, 1.5f));
std::string button_name = rsutils::string::from() << "Install" << "##fwupdate" << index;
if (ImGui::Button(button_name.c_str(), { float(bar_width), 20.f }) || update_manager->started())
{
// stopping stream before starting fw update
auto fw_update_manager = dynamic_cast<firmware_update_manager*>(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<subdevice_model>& sm)
{
if (sm->streaming)
{
try
{
sm->stop(fw_update_manager->get_protected_notification_model());
}
catch (...)
{
// avoiding exception that can be sent by stop method
// this could happen if the sensor is not streaming and the stop method is called - for example
}
}
});
auto _this = shared_from_this();
auto invoke = [_this](std::function<void()> action) {
_this->invoke(action);
};
if (!update_manager->started())
update_manager->start(invoke);
update_state = RS2_FWU_STATE_IN_PROGRESS;
enable_dismiss = false;
_progress_bar.last_progress_time = system_clock::now();
}
ImGui::PopStyleColor(2);
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("%s", "New firmware will be flashed to the device");
}
}
else if (update_state == RS2_FWU_STATE_IN_PROGRESS)
{
if (update_manager->done())
{
update_state = RS2_FWU_STATE_COMPLETE;
pinned = false;
_progress_bar.last_progress_time = last_interacted = system_clock::now();
}
if (!expanded)
{
if (update_manager->failed())
{
update_manager->check_error(error_message);
update_state = RS2_FWU_STATE_FAILED;
pinned = false;
dismiss(false);
}
draw_progress_bar(win, bar_width);
ImGui::SetCursorScreenPos({ float(x + width - 105), float(y + height - 25) });
string id = rsutils::string::from() << "Expand" << "##" << index;
ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
if (ImGui::Button(id.c_str(), { 100, 20 }))
{
expanded = true;
}
ImGui::PopStyleColor();
}
}
}
else
{
std::string button_name = rsutils::string::from() << "Learn More..." << "##" << index;
if (ImGui::Button(button_name.c_str(), { float(bar_width), 20 }))
{
open_url(recommended_fw_url);
}
if (ImGui::IsItemHovered())
{
win.link_hovered();
ImGui::SetTooltip("%s", "Internet connection required");
}
}
}
void fw_update_notification_model::draw_expanded(ux_window& win, std::string& error_message)
{
if (update_manager->started() && update_state == RS2_FWU_STATE_INITIAL_PROMPT)
update_state = RS2_FWU_STATE_IN_PROGRESS;
auto flags = ImGuiWindowFlags_NoResize |
ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoCollapse;
ImGui::PushStyleColor(ImGuiCol_WindowBg, { 0, 0, 0, 0 });
ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg);
ImGui::PushStyleVar(ImGuiStyleVar_WindowMinSize, ImVec2(500, 100));
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5, 5));
ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 0);
std::string title = "Firmware Update";
if (update_manager->failed()) title += " Failed";
ImGui::OpenPopup(title.c_str());
if (ImGui::BeginPopupModal(title.c_str(), nullptr, flags))
{
ImGui::SetCursorPosX(200);
std::string progress_str = rsutils::string::from() << "Progress: " << update_manager->get_progress() << "%";
ImGui::Text("%s", progress_str.c_str());
ImGui::SetCursorPosX(5);
draw_progress_bar(win, 490);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue);
auto s = update_manager->get_log();
ImGui::InputTextMultiline("##fw_update_log", const_cast<char*>(s.c_str()),
s.size() + 1, { 490,100 }, ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly);
ImGui::PopStyleColor();
ImGui::SetCursorPosX(190);
if (visible || update_manager->done() || update_manager->failed())
{
if (ImGui::Button("OK", ImVec2(120, 0)))
{
if (update_manager->done() || update_manager->failed())
{
update_state = RS2_FWU_STATE_FAILED;
pinned = false;
dismiss(false);
}
expanded = false;
ImGui::CloseCurrentPopup();
}
}
else
{
ImGui::PushStyleColor(ImGuiCol_Button, transparent);
ImGui::PushStyleColor(ImGuiCol_ButtonActive, transparent);
ImGui::PushStyleColor(ImGuiCol_ButtonHovered, transparent);
ImGui::PushStyleColor(ImGuiCol_Text, transparent);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, transparent);
ImGui::Button("OK", ImVec2(120, 0));
ImGui::PopStyleColor(5);
}
ImGui::EndPopup();
}
ImGui::PopStyleVar(3);
ImGui::PopStyleColor(4);
error_message = "";
}
int fw_update_notification_model::calc_height()
{
if (update_state != RS2_FWU_STATE_COMPLETE) return 150;
else return 65;
}
void fw_update_notification_model::set_color_scheme(float t) const
{
notification_model::set_color_scheme(t);
ImGui::PopStyleColor(1);
ImVec4 c;
if (update_state == RS2_FWU_STATE_COMPLETE)
{
c = alpha(saturate(light_blue, 0.7f), 1 - t);
ImGui::PushStyleColor(ImGuiCol_WindowBg, c);
}
else
{
c = alpha(sensor_bg, 1 - t);
ImGui::PushStyleColor(ImGuiCol_WindowBg, c);
}
}
fw_update_notification_model::fw_update_notification_model(std::string name,
std::shared_ptr<firmware_update_manager> manager, bool exp)
: process_notification_model(manager)
{
enable_expand = false;
expanded = exp;
if (expanded) visible = false;
message = name;
this->severity = RS2_LOG_SEVERITY_INFO;
this->category = RS2_NOTIFICATION_CATEGORY_FIRMWARE_UPDATE_RECOMMENDED;
pinned = true;
forced = true;
}
}

57
librealsense/common/fw-update-helper.h
Unescape View File

@ -0,0 +1,57 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#pragma once
#include "notifications.h"
namespace rs2
{
class viewer_model;
int parse_product_line(const std::string& product_line);
std::string get_available_firmware_version(int product_line, const std::string& pid);
std::vector<uint8_t> get_default_fw_image(int product_line, const std::string& pid);
bool is_upgradeable(const std::string& curr, const std::string& available);
bool is_recommended_fw_available(const std::string& product_line, const std::string& pid);
class firmware_update_manager : public process_manager
{
public:
firmware_update_manager(std::shared_ptr<notifications_model> not_model, device_model& model, device dev, context ctx, std::vector<uint8_t> fw, bool is_signed)
: process_manager("Firmware Update"), _not_model(not_model), _model(model),
_fw(fw), _is_signed(is_signed), _dev(dev), _ctx(ctx) {}
const device_model& get_device_model() const { return _model; }
std::shared_ptr<notifications_model> get_protected_notification_model() { return _not_model.lock(); };
protected:
void process_flow(std::function<void()> cleanup,
invoker invoke) override;
void process_mipi();
bool check_for(
std::function<bool()> action, std::function<void()> cleanup,
std::chrono::system_clock::duration delta);
std::weak_ptr<notifications_model> _not_model;
device _dev;
context _ctx;
std::vector<uint8_t> _fw;
bool _is_signed;
device_model& _model;
bool _is_d500_device = false;
};
struct fw_update_notification_model : public process_notification_model
{
fw_update_notification_model(std::string name,
std::shared_ptr<firmware_update_manager> manager, bool expaned);
void set_color_scheme(float t) const override;
void draw_content(ux_window& win, int x, int y, float t, std::string& error_message) override;
void draw_expanded(ux_window& win, std::string& error_message) override;
int calc_height() override;
};
}

75
librealsense/common/fw/CMakeLists.txt
Unescape View File

@ -0,0 +1,75 @@
# License: Apache 2.0. See LICENSE file in root directory.
# Copyright(c) 2019 Intel Corporation. All Rights Reserved.
cmake_minimum_required(VERSION 3.1.3)
project(fw)
file(READ "firmware-version.h" ver)
message(STATUS "Fetching recommended firmwares:")
set(REALSENSE_FIRMWARE_URL "https://librealsense.intel.com" CACHE STRING
"URL to download firmware binaries from")
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: ${D4XX_FW_VERSION}")
set(D4XX_FW_SHA1 51e37fd01132c500bb4e4af408a41f42391289a5)
set(D4XX_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/RS4xx/FW")
add_library(${PROJECT_NAME} STATIC empty.c)
# disable link time optimization for fw by adding -fno-lto to disable -flto flag
# jammy debian has build errors without it
if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
message(STATUS "disable link time optimization for fw project")
target_compile_options(${PROJECT_NAME} PRIVATE -fno-lto)
endif()
if (MSVC)
# lib.exe can't handle multiple .res files, so include them in one.
# even then, the linker won't grab a .res out of a .lib object, so it needs to be explicitly listed
# and to find the name of the .res file (across cmake generators) we need to create our own rule. :(
add_custom_command(TARGET ${PROJECT_NAME} BYPRODUCTS ${PROJECT_NAME}.res COMMAND ${CMAKE_RC_COMPILER} ${CMAKE_RC_FLAGS} /I . /fo "${PROJECT_NAME}.res" "${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.rc")
target_link_libraries(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.res")
endif()
target_include_directories(${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
set_target_properties (${PROJECT_NAME} PROPERTIES FOLDER Resources)
function(target_binary url version sha1 symbol ext)
set(binary "${CMAKE_CURRENT_BINARY_DIR}/${symbol}-${version}${ext}")
message(STATUS "... ${url}/${symbol}-${version}${ext}")
file(DOWNLOAD "${url}/${symbol}-${version}${ext}" "${binary}"
EXPECTED_HASH SHA1=${sha1}
STATUS status)
list(GET status 0 error_code)
if (NOT ${error_code} EQUAL 0)
message(FATAL_ERROR "FAILED with status ${status}")
else()
#message(STATUS "Download firmware ${status} for ${symbol}-${version}${ext}")
endif()
string(TOUPPER ${symbol} SYMBOL)
string(REPLACE "." "," version_commas ${version})
string(REPLACE "\\" "\\\\" binary_escaped "${binary}")
configure_file(fw.c.in "${CMAKE_CURRENT_BINARY_DIR}/${symbol}.c" @ONLY)
configure_file(fw.h.in "${CMAKE_CURRENT_BINARY_DIR}/${symbol}.h" @ONLY)
configure_file(fw.rc.in "${CMAKE_CURRENT_BINARY_DIR}/${symbol}.rc" @ONLY)
if (MSVC)
enable_language(RC)
set_source_files_properties("${PROJECT_NAME}.rc" OBJECT_DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/${symbol}.rc")
set_source_files_properties("${CMAKE_CURRENT_BINARY_DIR}/${symbol}.rc" OBJECT_DEPENDS "${binary}")
else()
set_source_files_properties("${CMAKE_CURRENT_BINARY_DIR}/${symbol}.c" OBJECT_DEPENDS "${binary}")
endif()
target_sources(${PROJECT_NAME} PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/${symbol}.c")
endfunction()
target_binary( "${D4XX_FW_URL}" "${D4XX_FW_VERSION}" "${D4XX_FW_SHA1}" D4XX_FW_Image .bin)
install(TARGETS ${PROJECT_NAME} EXPORT realsense2Targets
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})

1
librealsense/common/fw/empty.c
Unescape View File

@ -0,0 +1 @@
int fw_empty; // avoid warnings about empty.o being an empty object

7
librealsense/common/fw/firmware-version.h
Unescape View File

@ -0,0 +1,7 @@
/* License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017-24 Intel Corporation. All Rights Reserved. */
#pragma once
#define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.16.0.1"

25
librealsense/common/fw/fw.c.in
Unescape View File

@ -0,0 +1,25 @@
// All included firmware files are
// INTEL CORPORATION PROPRIETARY INFORMATION
// Copyright(c) 2019 Intel Corporation. All Rights Reserved
const int fw_@symbol@_version[4] = {@version_commas@};
#ifndef _MSC_VER
__asm__(
"#version @sha1@\n"
#ifdef __APPLE__
".const_data\n"
#define _ "_"
#else
".section .rodata\n"
#define _ ""
#endif
".global "_"fw_@symbol@_data\n"
_"fw_@symbol@_data:\n"
".incbin \"@binary_escaped@\"\n"
".global "_"fw_@symbol@_size\n"
_"fw_@symbol@_size:\n"
"1:\n"
".int 1b - "_"fw_@symbol@_data\n"
".previous"
);
#undef _
#endif

25
librealsense/common/fw/fw.h.in
Unescape View File

@ -0,0 +1,25 @@
#pragma once
#define FW_@SYMBOL@_VERSION "@version@"
extern "C" const unsigned char fw_@symbol@_data[];
extern "C" const int fw_@symbol@_size;
extern "C" const int fw_@symbol@_version[4];
#ifdef _MSC_VER
#include <windows.h>
extern "C" IMAGE_DOS_HEADER __ImageBase;
#endif
static inline const unsigned char *fw_get_@symbol@(int &size)
{
#ifdef _MSC_VER
HRSRC rc = ::FindResourceA((HMODULE)&__ImageBase, "@SYMBOL@_DATA" , "@SYMBOL@_RC");
HGLOBAL data = ::LoadResource((HMODULE)&__ImageBase, rc);
size = ::SizeofResource((HMODULE)&__ImageBase, rc);
return static_cast<const unsigned char*>(::LockResource(data));
#else
size = fw_@symbol@_size;
return fw_@symbol@_data;
#endif
}

2
librealsense/common/fw/fw.rc
Unescape View File

@ -0,0 +1,2 @@
#include "D4XX_FW_Image.rc"

1
librealsense/common/fw/fw.rc.in
Unescape View File

@ -0,0 +1 @@
@SYMBOL@_DATA @SYMBOL@_RC "@binary_escaped@"

196
librealsense/common/matrix4.h
Unescape View File

@ -0,0 +1,196 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2021 Intel Corporation. All Rights Reserved.
#pragma once
#include <librealsense2/h/rs_types.h> // rs2_quaternion
#include "float4.h"
#include <cmath> // sqrt
#include <cstring> // memset
namespace rs2 {
struct matrix4
{
float mat[4][4];
operator float*() const
{
return (float*)&mat;
}
static matrix4 identity()
{
matrix4 m;
for (int i = 0; i < 4; i++)
m.mat[i][i] = 1.f;
return m;
}
matrix4()
{
std::memset(mat, 0, sizeof(mat));
}
matrix4(float vals[4][4])
{
std::memcpy(mat,vals,sizeof(mat));
}
// convert glGetFloatv output to matrix4
//
// float m[16] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 };
// into
// rs2::matrix4 m = { {0, 1, 2, 3}, {4, 5, 6, 7}, {8, 9, 10, 11}, {12, 13, 14, 15} };
// 0 1 2 3
// 4 5 6 7
// 8 9 10 11
// 12 13 14 15
matrix4(float vals[16])
{
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
mat[i][j] = vals[i * 4 + j];
}
}
}
float& operator()(int i, int j) { return mat[i][j]; }
const float& operator()(int i, int j) const { return mat[i][j]; }
//init rotation matrix from quaternion
matrix4(const rs2_quaternion& q)
{
mat[0][0] = 1 - 2*q.y*q.y - 2*q.z*q.z; mat[0][1] = 2*q.x*q.y - 2*q.z*q.w; mat[0][2] = 2*q.x*q.z + 2*q.y*q.w; mat[0][3] = 0.0f;
mat[1][0] = 2*q.x*q.y + 2*q.z*q.w; mat[1][1] = 1 - 2*q.x*q.x - 2*q.z*q.z; mat[1][2] = 2*q.y*q.z - 2*q.x*q.w; mat[1][3] = 0.0f;
mat[2][0] = 2*q.x*q.z - 2*q.y*q.w; mat[2][1] = 2*q.y*q.z + 2*q.x*q.w; mat[2][2] = 1 - 2*q.x*q.x - 2*q.y*q.y; mat[2][3] = 0.0f;
mat[3][0] = 0.0f; mat[3][1] = 0.0f; mat[3][2] = 0.0f; mat[3][3] = 1.0f;
}
//init translation matrix from vector
matrix4(const rs2_vector& t)
{
mat[0][0] = 1.0f; mat[0][1] = 0.0f; mat[0][2] = 0.0f; mat[0][3] = t.x;
mat[1][0] = 0.0f; mat[1][1] = 1.0f; mat[1][2] = 0.0f; mat[1][3] = t.y;
mat[2][0] = 0.0f; mat[2][1] = 0.0f; mat[2][2] = 1.0f; mat[2][3] = t.z;
mat[3][0] = 0.0f; mat[3][1] = 0.0f; mat[3][2] = 0.0f; mat[3][3] = 1.0f;
}
rs2_quaternion normalize(rs2_quaternion a)
{
float norm = sqrtf(a.x*a.x + a.y*a.y + a.z*a.z + a.w*a.w);
rs2_quaternion res = a;
res.x /= norm;
res.y /= norm;
res.z /= norm;
res.w /= norm;
return res;
}
rs2_quaternion to_quaternion()
{
float tr[4];
rs2_quaternion res;
tr[0] = (mat[0][0] + mat[1][1] + mat[2][2]);
tr[1] = (mat[0][0] - mat[1][1] - mat[2][2]);
tr[2] = (-mat[0][0] + mat[1][1] - mat[2][2]);
tr[3] = (-mat[0][0] - mat[1][1] + mat[2][2]);
if (tr[0] >= tr[1] && tr[0] >= tr[2] && tr[0] >= tr[3])
{
float s = 2 * sqrt(tr[0] + 1);
res.w = s / 4;
res.x = (mat[2][1] - mat[1][2]) / s;
res.y = (mat[0][2] - mat[2][0]) / s;
res.z = (mat[1][0] - mat[0][1]) / s;
}
else if (tr[1] >= tr[2] && tr[1] >= tr[3]) {
float s = 2 * sqrt(tr[1] + 1);
res.w = (mat[2][1] - mat[1][2]) / s;
res.x = s / 4;
res.y = (mat[1][0] + mat[0][1]) / s;
res.z = (mat[2][0] + mat[0][2]) / s;
}
else if (tr[2] >= tr[3]) {
float s = 2 * sqrt(tr[2] + 1);
res.w = (mat[0][2] - mat[2][0]) / s;
res.x = (mat[1][0] + mat[0][1]) / s;
res.y = s / 4;
res.z = (mat[1][2] + mat[2][1]) / s;
}
else {
float s = 2 * sqrt(tr[3] + 1);
res.w = (mat[1][0] - mat[0][1]) / s;
res.x = (mat[0][2] + mat[2][0]) / s;
res.y = (mat[1][2] + mat[2][1]) / s;
res.z = s / 4;
}
return normalize(res);
}
void to_column_major(float column_major[16])
{
column_major[0] = mat[0][0];
column_major[1] = mat[1][0];
column_major[2] = mat[2][0];
column_major[3] = mat[3][0];
column_major[4] = mat[0][1];
column_major[5] = mat[1][1];
column_major[6] = mat[2][1];
column_major[7] = mat[3][1];
column_major[8] = mat[0][2];
column_major[9] = mat[1][2];
column_major[10] = mat[2][2];
column_major[11] = mat[3][2];
column_major[12] = mat[0][3];
column_major[13] = mat[1][3];
column_major[14] = mat[2][3];
column_major[15] = mat[3][3];
}
};
inline matrix4 operator*(const matrix4& a, const matrix4& b)
{
matrix4 res;
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
float sum = 0.0f;
for (int k = 0; k < 4; k++)
{
sum += a.mat[i][k] * b.mat[k][j];
}
res.mat[i][j] = sum;
}
}
return res;
}
inline float4 operator*(const matrix4& a, const float4& b)
{
float4 res;
int i = 0;
res.x = a(i, 0) * b.x + a(i, 1) * b.y + a(i, 2) * b.z + a(i, 3) * b.w; i++;
res.y = a(i, 0) * b.x + a(i, 1) * b.y + a(i, 2) * b.z + a(i, 3) * b.w; i++;
res.z = a(i, 0) * b.x + a(i, 1) * b.y + a(i, 2) * b.z + a(i, 3) * b.w; i++;
res.w = a(i, 0) * b.x + a(i, 1) * b.y + a(i, 2) * b.z + a(i, 3) * b.w; i++;
return res;
}
inline matrix4 identity_matrix()
{
matrix4 data;
for( int i = 0; i < 4; i++ )
for( int j = 0; j < 4; j++ )
data.mat[i][j] = (i == j) ? 1.f : 0.f;
return data;
}
} // namespace rs2

Some files were not shown because too many files have changed in this diff Show More

Write Preview
Loading…
Cancel
Save