commit bb2dc1e41e6e01b369f99f38e38f7fc3edad5d9a Author: Artem Darius Weber Date: Sat Nov 9 13:05:06 2024 +0300 feat: Определение местоположения объектов относительно RealSense и их разметка diff --git a/.DS_Store b/.DS_Store new file mode 100644 index 0000000..14a15a2 Binary files /dev/null and b/.DS_Store differ diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 0000000..13566b8 --- /dev/null +++ b/.idea/.gitignore @@ -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 diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml new file mode 100644 index 0000000..c83e0bf --- /dev/null +++ b/.idea/inspectionProfiles/Project_Default.xml @@ -0,0 +1,187 @@ + + + + \ No newline at end of file diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 0000000..105ce2d --- /dev/null +++ b/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 0000000..8a2c9e5 --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,10 @@ + + + + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 0000000..dc042dd --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/robot-mors-object-track.iml b/.idea/robot-mors-object-track.iml new file mode 100644 index 0000000..d0876a7 --- /dev/null +++ b/.idea/robot-mors-object-track.iml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 0000000..2a0680a --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/001_yolo_object_classification_test.py b/001_yolo_object_classification_test.py new file mode 100644 index 0000000..65a535a --- /dev/null +++ b/001_yolo_object_classification_test.py @@ -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() \ No newline at end of file diff --git a/002_rs_with_yolo_get_3d_boxes.py b/002_rs_with_yolo_get_3d_boxes.py new file mode 100644 index 0000000..582628b --- /dev/null +++ b/002_rs_with_yolo_get_3d_boxes.py @@ -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) \ No newline at end of file diff --git a/003_rs_build_evclid_space.py b/003_rs_build_evclid_space.py new file mode 100644 index 0000000..6267ef4 --- /dev/null +++ b/003_rs_build_evclid_space.py @@ -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) \ No newline at end of file diff --git a/004_select_first_person.py b/004_select_first_person.py new file mode 100644 index 0000000..8773448 --- /dev/null +++ b/004_select_first_person.py @@ -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) \ No newline at end of file diff --git a/101_llama_inference_kafka_WORKER.py b/101_llama_inference_kafka_WORKER.py new file mode 100644 index 0000000..e69de29 diff --git a/Neko/CameraProcessor.py b/Neko/CameraProcessor.py new file mode 100644 index 0000000..8924916 --- /dev/null +++ b/Neko/CameraProcessor.py @@ -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}") \ No newline at end of file diff --git a/Neko/ClassificationModels.py b/Neko/ClassificationModels.py new file mode 100644 index 0000000..e69de29 diff --git a/Neko/RealSense.py b/Neko/RealSense.py new file mode 100644 index 0000000..54833fb --- /dev/null +++ b/Neko/RealSense.py @@ -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() diff --git a/Neko/TargetFollower.py b/Neko/TargetFollower.py new file mode 100644 index 0000000..7eed945 --- /dev/null +++ b/Neko/TargetFollower.py @@ -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 \ No newline at end of file diff --git a/Neko/Visualization3D.py b/Neko/Visualization3D.py new file mode 100644 index 0000000..47dc9c9 --- /dev/null +++ b/Neko/Visualization3D.py @@ -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() \ No newline at end of file diff --git a/Neko/__init__.py b/Neko/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/Neko/__pycache__/CameraProcessor.cpython-39.pyc b/Neko/__pycache__/CameraProcessor.cpython-39.pyc new file mode 100644 index 0000000..d5a41cd Binary files /dev/null and b/Neko/__pycache__/CameraProcessor.cpython-39.pyc differ diff --git a/Neko/__pycache__/RealSense.cpython-39.pyc b/Neko/__pycache__/RealSense.cpython-39.pyc new file mode 100644 index 0000000..7fe79ce Binary files /dev/null and b/Neko/__pycache__/RealSense.cpython-39.pyc differ diff --git a/Neko/__pycache__/TargetFollower.cpython-39.pyc b/Neko/__pycache__/TargetFollower.cpython-39.pyc new file mode 100644 index 0000000..423d611 Binary files /dev/null and b/Neko/__pycache__/TargetFollower.cpython-39.pyc differ diff --git a/Neko/__pycache__/Visualization3D.cpython-39.pyc b/Neko/__pycache__/Visualization3D.cpython-39.pyc new file mode 100644 index 0000000..84ce256 Binary files /dev/null and b/Neko/__pycache__/Visualization3D.cpython-39.pyc differ diff --git a/Neko/__pycache__/__init__.cpython-39.pyc b/Neko/__pycache__/__init__.cpython-39.pyc new file mode 100644 index 0000000..175452c Binary files /dev/null and b/Neko/__pycache__/__init__.cpython-39.pyc differ diff --git a/annotated_image.jpg b/annotated_image.jpg new file mode 100644 index 0000000..a455609 Binary files /dev/null and b/annotated_image.jpg differ diff --git a/assets/classification_images/annotated_image.jpg b/assets/classification_images/annotated_image.jpg new file mode 100644 index 0000000..52f5b04 Binary files /dev/null and b/assets/classification_images/annotated_image.jpg differ diff --git a/assets/classification_images/rgb_web_ex.jpeg b/assets/classification_images/rgb_web_ex.jpeg new file mode 100644 index 0000000..8211619 Binary files /dev/null and b/assets/classification_images/rgb_web_ex.jpeg differ diff --git a/color_image.png b/color_image.png new file mode 100644 index 0000000..496ab31 Binary files /dev/null and b/color_image.png differ diff --git a/depth_image.png b/depth_image.png new file mode 100644 index 0000000..b778639 Binary files /dev/null and b/depth_image.png differ diff --git a/docs/01_overview.md b/docs/01_overview.md new file mode 100644 index 0000000..84d85a9 --- /dev/null +++ b/docs/01_overview.md @@ -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. + diff --git a/docs/02_installation.md b/docs/02_installation.md new file mode 100644 index 0000000..6dabeb7 --- /dev/null +++ b/docs/02_installation.md @@ -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 + + + diff --git a/infrastructure/kafka/docker-compose.yaml b/infrastructure/kafka/docker-compose.yaml new file mode 100644 index 0000000..176c5e2 --- /dev/null +++ b/infrastructure/kafka/docker-compose.yaml @@ -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 \ No newline at end of file diff --git a/install_requirements.sh b/install_requirements.sh new file mode 100644 index 0000000..b2424e7 --- /dev/null +++ b/install_requirements.sh @@ -0,0 +1 @@ +pip install -r ./requirements.txt diff --git a/librealsense/.github/ISSUE_TEMPLATE.md b/librealsense/.github/ISSUE_TEMPLATE.md new file mode 100644 index 0000000..39fcdc8 --- /dev/null +++ b/librealsense/.github/ISSUE_TEMPLATE.md @@ -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 + diff --git a/librealsense/.github/pull_request_template.md b/librealsense/.github/pull_request_template.md new file mode 100644 index 0000000..c9d3e72 --- /dev/null +++ b/librealsense/.github/pull_request_template.md @@ -0,0 +1,9 @@ + diff --git a/librealsense/.github/workflows/build-ROS2-package-CI.yaml b/librealsense/.github/workflows/build-ROS2-package-CI.yaml new file mode 100644 index 0000000..3cf92da --- /dev/null +++ b/librealsense/.github/workflows/build-ROS2-package-CI.yaml @@ -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" + ] + } + } diff --git a/librealsense/.github/workflows/buildsCI.yaml b/librealsense/.github/workflows/buildsCI.yaml new file mode 100644 index 0000000..e27dee3 --- /dev/null +++ b/librealsense/.github/workflows/buildsCI.yaml @@ -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 + diff --git a/librealsense/.github/workflows/cppcheck-parse.py b/librealsense/.github/workflows/cppcheck-parse.py new file mode 100644 index 0000000..2af4062 --- /dev/null +++ b/librealsense/.github/workflows/cppcheck-parse.py @@ -0,0 +1,89 @@ +# Parser for cppcheck_run.log files + +import sys +def usage(): + print( 'usage: python chhpcheck-parse.py [OPTIONS] ' ) + print( ' --severity 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 == '': + break + +import re +while True: + line = nextline() + if line == '': + break + if not line.startswith( ':Debug> # New in version 3.15; ignored in Linux + ) + +target_include_directories( ${PROJECT_NAME} PRIVATE + ../../../include + ../../../third-party/rsutils/include + ) +target_link_directories( ${PROJECT_NAME} PRIVATE ${CMAKE_BINARY_DIR}/../Release ) + +target_link_libraries( ${PROJECT_NAME} PRIVATE realsense2-all ) + +if( NOT WIN32 ) + find_library( LIBUSB NAMES usb-1.0 ) + target_link_libraries( ${PROJECT_NAME} PRIVATE pthread ${LIBUSB} ) + if( NOT FORCE_RSUSB_BACKEND ) + target_link_libraries( ${PROJECT_NAME} PRIVATE udev ) + endif() + if( BUILD_WITH_DDS ) + target_link_libraries( ${PROJECT_NAME} PRIVATE ssl crypto rt ) + endif() +endif() + diff --git a/librealsense/.github/workflows/rs-all-client/main.cpp b/librealsense/.github/workflows/rs-all-client/main.cpp new file mode 100644 index 0000000..6f0be73 --- /dev/null +++ b/librealsense/.github/workflows/rs-all-client/main.cpp @@ -0,0 +1,56 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include // Include RealSense Cross Platform API + +#include +#include // for cout +#include +#include + +int main(int argc, char * argv[]) try +{ + rs2::log_to_console( RS2_LOG_SEVERITY_DEBUG ); + + rs2::context context; + auto devices = context.query_devices(); + if( devices.size() ) + { + // This can run under GHA, too -- so we don't always have devices + // Run for just a little bit, count the frames + size_t n_frames = 0; + { + rs2::pipeline p( context ); + auto profile = p.start(); + auto device = profile.get_device(); + std::cout << "Streaming on " << device.get_info( RS2_CAMERA_INFO_NAME ) << std::endl; + + rsutils::time::timer timer( std::chrono::seconds( 3 ) ); + while( ! timer.has_expired() ) + { + // Block program until frames arrive + rs2::frameset frames = p.wait_for_frames(); + ++n_frames; + } + } + + std::cout << "Got " << n_frames << " frames" << std::endl; + } + else + { + // Allow enough time for DDS enumeration + std::this_thread::sleep_for( std::chrono::seconds( 3 ) ); + } + + return EXIT_SUCCESS; +} +catch (const rs2::error & e) +{ + std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl; + return EXIT_FAILURE; +} +catch (const std::exception& e) +{ + std::cerr << e.what() << std::endl; + return EXIT_FAILURE; +} diff --git a/librealsense/.github/workflows/static_analysis.yaml b/librealsense/.github/workflows/static_analysis.yaml new file mode 100644 index 0000000..95930b7 --- /dev/null +++ b/librealsense/.github/workflows/static_analysis.yaml @@ -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 diff --git a/librealsense/.gitignore b/librealsense/.gitignore new file mode 100644 index 0000000..ccd9881 --- /dev/null +++ b/librealsense/.gitignore @@ -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/* diff --git a/librealsense/CMake/Findfoonathan_memory.cmake b/librealsense/CMake/Findfoonathan_memory.cmake new file mode 100644 index 0000000..0f1f49a --- /dev/null +++ b/librealsense/CMake/Findfoonathan_memory.cmake @@ -0,0 +1,35 @@ + +# This is a dummy file, just so CMake does not complain: + +# CMake Error at build/third-party/fastdds/CMakeLists.txt:239 (find_package): +# By not providing "Findfoonathan_memory.cmake" in CMAKE_MODULE_PATH this +# project has asked CMake to find a package configuration file provided by +# "foonathan_memory", but CMake did not find one. +# +# Could not find a package configuration file provided by "foonathan_memory" +# with any of the following names: +# +# foonathan_memoryConfig.cmake +# foonathan_memory-config.cmake +# +# Add the installation prefix of "foonathan_memory" to CMAKE_PREFIX_PATH or +# set "foonathan_memory_DIR" to a directory containing one of the above +# files. If "foonathan_memory" provides a separate development package or +# SDK, be sure it has been installed. + +# FastDDS requires foonathan_memory and will not find it if we do not provide this +# file. +# +# Since all the variables should already be set by external_foonathan_memory.cmake, +# we don't really do anything. + +# This may not be the proper way to do this. But it works... + + +#message( "In Findfoonathan_memory.cmake" ) + + +#find_package( PkgConfig ) +#pkg_check_modules( foonathan_memory QUIET foonathan_memory ) + + diff --git a/librealsense/CMake/android_config.cmake b/librealsense/CMake/android_config.cmake new file mode 100644 index 0000000..3cc1d1f --- /dev/null +++ b/librealsense/CMake/android_config.cmake @@ -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() diff --git a/librealsense/CMake/catch2-download.cmake.in b/librealsense/CMake/catch2-download.cmake.in new file mode 100644 index 0000000..b9dcc33 --- /dev/null +++ b/librealsense/CMake/catch2-download.cmake.in @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.6) +project(catch2-download NONE) + +include(ExternalProject) +ExternalProject_Add( + catch2 + PREFIX . + GIT_REPOSITORY https://github.com/catchorg/Catch2.git + GIT_TAG v3.4.0 + GIT_CONFIG advice.detachedHead=false # otherwise we'll get "You are in 'detached HEAD' state..." + SOURCE_DIR "${CMAKE_BINARY_DIR}/third-party/catch2" + GIT_SHALLOW 1 # No history needed (requires cmake 3.6) + # Override default steps with no action, we just want the clone step. + CONFIGURE_COMMAND "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + ) + + diff --git a/librealsense/CMake/connectivity_check.cmake b/librealsense/CMake/connectivity_check.cmake new file mode 100644 index 0000000..ed6ee17 --- /dev/null +++ b/librealsense/CMake/connectivity_check.cmake @@ -0,0 +1,12 @@ +# License: Apache 2.0. See LICENSE file in root directory. +# Copyright(c) 2019 Intel Corporation. All Rights Reserved. +message(STATUS "Checking internet connection...") +file(DOWNLOAD "https://librealsense.intel.com/Releases/connectivity_check" "${CMAKE_CURRENT_BINARY_DIR}/connectivity_check" SHOW_PROGRESS TIMEOUT 5 STATUS status) +list (FIND status "\"No error\"" _index) +if (${_index} EQUAL -1) + message(STATUS "Failed to identify Internet connection") + set(INTERNET_CONNECTION OFF) +else() + message(STATUS "Internet connection identified") + set(INTERNET_CONNECTION ON) +endif() diff --git a/librealsense/CMake/cuda_config.cmake b/librealsense/CMake/cuda_config.cmake new file mode 100644 index 0000000..711839b --- /dev/null +++ b/librealsense/CMake/cuda_config.cmake @@ -0,0 +1,15 @@ +info("Building with CUDA requires CMake v3.8+") +cmake_minimum_required(VERSION 3.8.0) +enable_language( CUDA ) + +find_package(CUDA REQUIRED) + +include_directories(${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;") diff --git a/librealsense/CMake/embedd_udev_rules.cmake b/librealsense/CMake/embedd_udev_rules.cmake new file mode 100644 index 0000000..9324774 --- /dev/null +++ b/librealsense/CMake/embedd_udev_rules.cmake @@ -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") diff --git a/librealsense/CMake/external_catch2.cmake b/librealsense/CMake/external_catch2.cmake new file mode 100644 index 0000000..73e46ff --- /dev/null +++ b/librealsense/CMake/external_catch2.cmake @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 3.10) +include(ExternalProject) + + +# We use a function to enforce a scoped variables creation only for the build +# (i.e turn off BUILD_SHARED_LIBS which is used on LRS build as well) +function(get_catch2) + + message( STATUS "Fetching Catch2..." ) + + # We want to clone the repo and build it here, during configuration, so we can use it. + # But ExternalProject_add is limited in that it only does its magic during build. + # This is possible in CMake 3.12+ with FetchContent and FetchContent_MakeAvailable in 3.14+ (meaning Ubuntu 20) + # but we need to adhere to CMake 3.10 (Ubuntu 18). + # So instead, we invoke a new CMake project just to download it: + configure_file( CMake/catch2-download.cmake.in + ${CMAKE_BINARY_DIR}/external-projects/catch2-download/CMakeLists.txt ) + execute_process( COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" . + -DCMAKE_MAKE_PROGRAM=${CMAKE_MAKE_PROGRAM} + -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE} + -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} + WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/catch2-download" + OUTPUT_QUIET + RESULT_VARIABLE configure_ret ) + execute_process( COMMAND "${CMAKE_COMMAND}" --build . + WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/catch2-download" + OUTPUT_QUIET + RESULT_VARIABLE build_ret ) + + if( configure_ret OR build_ret ) + message( FATAL_ERROR "Failed to download catchorg/catch2" ) + endif() + + # We use cached variables so the default parameter inside the sub directory will not override the required values + # We add "FORCE" so that is a previous cached value is set our assignment will override it. + set( CATCH_INSTALL_DOCS OFF CACHE INTERNAL "" FORCE ) + set( CATCH_INSTALL_EXTRAS OFF CACHE INTERNAL "" FORCE ) + + add_subdirectory( "${CMAKE_BINARY_DIR}/third-party/catch2" + "${CMAKE_BINARY_DIR}/third-party/catch2/build" ) + + # place libraries with other 3rd-party projects + set_target_properties( Catch2 Catch2WithMain PROPERTIES + FOLDER "3rd Party/catch2" ) + + message( STATUS "Fetching Catch2 - Done" ) + +endfunction() + + +get_catch2() diff --git a/librealsense/CMake/external_fastdds.cmake b/librealsense/CMake/external_fastdds.cmake new file mode 100644 index 0000000..49acaa2 --- /dev/null +++ b/librealsense/CMake/external_fastdds.cmake @@ -0,0 +1,67 @@ +cmake_minimum_required(VERSION 3.16.3) # same as in FastDDS (U20) +include(FetchContent) + +# We use a function to enforce a scoped variables creation only for FastDDS build (i.e turn off BUILD_SHARED_LIBS which is used on LRS build as well) +function(get_fastdds) + + # Mark new options from FetchContent as advanced options + mark_as_advanced(FETCHCONTENT_QUIET) + mark_as_advanced(FETCHCONTENT_BASE_DIR) + mark_as_advanced(FETCHCONTENT_FULLY_DISCONNECTED) + mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED) + + message(CHECK_START "Fetching fastdds...") + list(APPEND CMAKE_MESSAGE_INDENT " ") # Indent outputs + + FetchContent_Declare( + fastdds + GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git + GIT_TAG v2.11.2 + GIT_SUBMODULES "" # Submodules will be cloned as part of the FastDDS cmake configure stage + GIT_SHALLOW ON # No history needed + SOURCE_DIR ${CMAKE_BINARY_DIR}/third-party/fastdds + ) + + # Set FastDDS internal variables + # We use cached variables so the default parameter inside the sub directory will not override the required values + # We add "FORCE" so that is a previous cached value is set our assignment will override it. + set(THIRDPARTY_Asio FORCE CACHE INTERNAL "" FORCE) + set(THIRDPARTY_fastcdr FORCE CACHE INTERNAL "" FORCE) + set(THIRDPARTY_TinyXML2 FORCE CACHE INTERNAL "" FORCE) + set(COMPILE_TOOLS OFF CACHE INTERNAL "" FORCE) + set(BUILD_TESTING OFF CACHE INTERNAL "" FORCE) + set(SQLITE3_SUPPORT OFF CACHE INTERNAL "" FORCE) + #set(ENABLE_OLD_LOG_MACROS OFF CACHE INTERNAL "" FORCE) doesn't work + set(FASTDDS_STATISTICS OFF CACHE INTERNAL "" FORCE) + + # Set special values for FastDDS sub directory + set(BUILD_SHARED_LIBS OFF) + set(CMAKE_INSTALL_PREFIX ${CMAKE_BINARY_DIR}/fastdds/fastdds_install) + set(CMAKE_PREFIX_PATH ${CMAKE_BINARY_DIR}/fastdds/fastdds_install) + + # Get fastdds + FetchContent_MakeAvailable(fastdds) + + # Mark new options from FetchContent as advanced options + mark_as_advanced(FETCHCONTENT_SOURCE_DIR_FASTDDS) + mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED_FASTDDS) + + # place FastDDS project with other 3rd-party projects + set_target_properties(fastcdr fastrtps foonathan_memory PROPERTIES + FOLDER "3rd Party/fastdds") + + list(POP_BACK CMAKE_MESSAGE_INDENT) # Unindent outputs + + add_library(dds INTERFACE) + target_link_libraries( dds INTERFACE fastcdr fastrtps ) + + add_definitions(-DBUILD_WITH_DDS) + + install(TARGETS dds EXPORT realsense2Targets) + message(CHECK_PASS "Done") +endfunction() + +# Trigger the FastDDS build +get_fastdds() + + diff --git a/librealsense/CMake/external_foonathan_memory.cmake b/librealsense/CMake/external_foonathan_memory.cmake new file mode 100644 index 0000000..f6c4938 --- /dev/null +++ b/librealsense/CMake/external_foonathan_memory.cmake @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 3.11) +include(FetchContent) + +# We use a function to enforce a scoped variables creation only for FastDDS build (i.e turn off BUILD_SHARED_LIBS which is used on LRS build as well) +function(get_foonathan_memory) + + # Mark new options from FetchContent as advanced options + mark_as_advanced(FETCHCONTENT_QUIET) + mark_as_advanced(FETCHCONTENT_BASE_DIR) + mark_as_advanced(FETCHCONTENT_FULLY_DISCONNECTED) + mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED) + + message(CHECK_START "Fetching foonathan_memory...") + list(APPEND CMAKE_MESSAGE_INDENT " ") + + FetchContent_Declare( + foonathan_memory + GIT_REPOSITORY https://github.com/foonathan/memory.git + GIT_TAG "v0.7-3" + GIT_SHALLOW ON # No history needed + SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/third-party/foonathan_memory + ) + + # Always a static library + set( BUILD_SHARED_LIBS OFF ) + + # Set foonathan_memory variables + # These are exposed options; not internal + set( FOONATHAN_MEMORY_BUILD_EXAMPLES OFF ) + set( FOONATHAN_MEMORY_BUILD_TESTS OFF ) + set( FOONATHAN_MEMORY_BUILD_TOOLS OFF ) + + FetchContent_MakeAvailable( foonathan_memory ) + + # Mark new options from FetchContent as advanced options + mark_as_advanced(FETCHCONTENT_SOURCE_DIR_FOONATHAN_MEMORY) + mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED_FOONATHAN_MEMORY) + + list(POP_BACK CMAKE_MESSAGE_INDENT) + message(CHECK_PASS "Done") + +endfunction() + +get_foonathan_memory() diff --git a/librealsense/CMake/external_json.cmake b/librealsense/CMake/external_json.cmake new file mode 100644 index 0000000..6efbf39 --- /dev/null +++ b/librealsense/CMake/external_json.cmake @@ -0,0 +1,50 @@ +cmake_minimum_required(VERSION 3.6) +include(ExternalProject) + + + +# We use a function to enforce a scoped variables creation only for the build +# (i.e turn off BUILD_SHARED_LIBS which is used on LRS build as well) +function(get_nlohmann_json) + + message( STATUS #CHECK_START + "Fetching nlohmann/json..." ) + #list( APPEND CMAKE_MESSAGE_INDENT " " ) # Indent outputs + + # We want to clone the json repo and build it here, during configuration, so we can use it. + # But ExternalProject_add is limited in that it only does its magic during build. + # This is possible in CMake 3.12+ with FetchContent and FetchContent_MakeAvailable in 3.14+ (meaning Ubuntu 20) + # but we need to adhere to CMake 3.10 (Ubuntu 18). + # So instead, we invoke a new CMake project just to download pybind: + configure_file( CMake/json-download.cmake.in + ${CMAKE_BINARY_DIR}/external-projects/json-download/CMakeLists.txt ) + execute_process( COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" . + -DCMAKE_MAKE_PROGRAM=${CMAKE_MAKE_PROGRAM} + -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE} + -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} + WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/json-download" + OUTPUT_QUIET + RESULT_VARIABLE configure_ret ) + execute_process( COMMAND "${CMAKE_COMMAND}" --build . + WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/json-download" + OUTPUT_QUIET + RESULT_VARIABLE build_ret ) + + if( configure_ret OR build_ret ) + message( FATAL_ERROR "Failed to download nlohmann/json" ) + endif() + + add_subdirectory( "${CMAKE_BINARY_DIR}/third-party/json" + "${CMAKE_BINARY_DIR}/third-party/json/build" ) + + # We cannot directly interface with nlohmann_json (doesn't work on bionic) + #install( TARGETS nlohmann_json EXPORT realsense2Targets ) + + message( STATUS #CHECK_PASS + "Fetching nlohmann/json - Done" ) + #list( POP_BACK CMAKE_MESSAGE_INDENT ) # Unindent outputs (requires cmake 3.15) + +endfunction() + +# Trigger the build +get_nlohmann_json() diff --git a/librealsense/CMake/external_libcurl.cmake b/librealsense/CMake/external_libcurl.cmake new file mode 100644 index 0000000..37268ba --- /dev/null +++ b/librealsense/CMake/external_libcurl.cmake @@ -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 $) + + 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 diff --git a/librealsense/CMake/external_libusb.cmake b/librealsense/CMake/external_libusb.cmake new file mode 100644 index 0000000..22acb98 --- /dev/null +++ b/librealsense/CMake/external_libusb.cmake @@ -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 $) +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() diff --git a/librealsense/CMake/external_pybind11.cmake b/librealsense/CMake/external_pybind11.cmake new file mode 100644 index 0000000..a2ab2f8 --- /dev/null +++ b/librealsense/CMake/external_pybind11.cmake @@ -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( 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() diff --git a/librealsense/CMake/global_config.cmake b/librealsense/CMake/global_config.cmake new file mode 100644 index 0000000..6fea002 --- /dev/null +++ b/librealsense/CMake/global_config.cmake @@ -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 + $ + $ + PRIVATE ${USB_INCLUDE_DIRS} + ) + + +endmacro() + diff --git a/librealsense/CMake/include_os.cmake b/librealsense/CMake/include_os.cmake new file mode 100644 index 0000000..5a1f106 --- /dev/null +++ b/librealsense/CMake/include_os.cmake @@ -0,0 +1,7 @@ +if(ANDROID_NDK_TOOLCHAIN_INCLUDED) + include(CMake/android_config.cmake) +elseif (WIN32) + include(CMake/windows_config.cmake) +else() + include(CMake/unix_config.cmake) +endif() diff --git a/librealsense/CMake/install_config.cmake b/librealsense/CMake/install_config.cmake new file mode 100644 index 0000000..9f56666 --- /dev/null +++ b/librealsense/CMake/install_config.cmake @@ -0,0 +1,51 @@ +# Set CMAKE_INSTALL_* if not defined +set(CMAKECONFIG_INSTALL_DIR "${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 "${CMAKE_INSTALL_LIBDIR}/pkgconfig" +) + +install(CODE "execute_process(COMMAND ldconfig)") diff --git a/librealsense/CMake/json-download.cmake.in b/librealsense/CMake/json-download.cmake.in new file mode 100644 index 0000000..2b719ed --- /dev/null +++ b/librealsense/CMake/json-download.cmake.in @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.6) +project(nlohmann-json-download NONE) + +include(ExternalProject) +ExternalProject_Add( + nlohmann_json + PREFIX . + GIT_REPOSITORY "https://github.com/nlohmann/json.git" + GIT_TAG v3.11.3 + GIT_CONFIG advice.detachedHead=false # otherwise we'll get "You are in 'detached HEAD' state..." + SOURCE_DIR "${CMAKE_BINARY_DIR}/third-party/json" + GIT_SHALLOW 1 # No history needed (requires cmake 3.6) + # Override default steps with no action, we just want the clone step. + CONFIGURE_COMMAND "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + ) + + diff --git a/librealsense/CMake/libusb_config.cmake b/librealsense/CMake/libusb_config.cmake new file mode 100644 index 0000000..ca221ca --- /dev/null +++ b/librealsense/CMake/libusb_config.cmake @@ -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() diff --git a/librealsense/CMake/lrs_macros.cmake b/librealsense/CMake/lrs_macros.cmake new file mode 100644 index 0000000..b19a729 --- /dev/null +++ b/librealsense/CMake/lrs_macros.cmake @@ -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() diff --git a/librealsense/CMake/lrs_options.cmake b/librealsense/CMake/lrs_options.cmake new file mode 100644 index 0000000..be2e2fe --- /dev/null +++ b/librealsense/CMake/lrs_options.cmake @@ -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 -r '") +#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) + diff --git a/librealsense/CMake/opengl_config.cmake b/librealsense/CMake/opengl_config.cmake new file mode 100644 index 0000000..8c7e9fc --- /dev/null +++ b/librealsense/CMake/opengl_config.cmake @@ -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 ${OPENGL_LIBRARIES}) diff --git a/librealsense/CMake/pybind11-download.cmake.in b/librealsense/CMake/pybind11-download.cmake.in new file mode 100644 index 0000000..1d02d4f --- /dev/null +++ b/librealsense/CMake/pybind11-download.cmake.in @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.6) +project(pybind11-download NONE) + +include(ExternalProject) +ExternalProject_Add( + pybind11 + PREFIX . + GIT_REPOSITORY "https://github.com/pybind/pybind11.git" + GIT_TAG v2.10.3 + GIT_CONFIG advice.detachedHead=false # otherwise we'll get "You are in 'detached HEAD' state..." + SOURCE_DIR "${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 "" + ) + + diff --git a/librealsense/CMake/pybind11-json-download.cmake.in b/librealsense/CMake/pybind11-json-download.cmake.in new file mode 100644 index 0000000..0710d22 --- /dev/null +++ b/librealsense/CMake/pybind11-json-download.cmake.in @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.6) +project(pybind11-json-download NONE) + +include(ExternalProject) +ExternalProject_Add( + pybind11_json + PREFIX . + GIT_REPOSITORY "https://github.com/pybind/pybind11_json.git" + GIT_TAG 0.2.13 + GIT_CONFIG advice.detachedHead=false # otherwise we'll get "You are in 'detached HEAD' state..." + SOURCE_DIR "${CMAKE_BINARY_DIR}/third-party/pybind11-json" + GIT_SHALLOW ON # No history needed (requires cmake 3.6) + # Override default steps with no action, we just want the clone step. + CONFIGURE_COMMAND "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + ) + + diff --git a/librealsense/CMake/pyrealsense2Config.cmake.in b/librealsense/CMake/pyrealsense2Config.cmake.in new file mode 100644 index 0000000..6450294 --- /dev/null +++ b/librealsense/CMake/pyrealsense2Config.cmake.in @@ -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) diff --git a/librealsense/CMake/realsense2-glConfig.cmake.in b/librealsense/CMake/realsense2-glConfig.cmake.in new file mode 100644 index 0000000..2908731 --- /dev/null +++ b/librealsense/CMake/realsense2-glConfig.cmake.in @@ -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) diff --git a/librealsense/CMake/realsense2-netConfig.cmake.in b/librealsense/CMake/realsense2-netConfig.cmake.in new file mode 100644 index 0000000..2832e89 --- /dev/null +++ b/librealsense/CMake/realsense2-netConfig.cmake.in @@ -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) diff --git a/librealsense/CMake/realsense2Config.cmake.in b/librealsense/CMake/realsense2Config.cmake.in new file mode 100644 index 0000000..b7319a6 --- /dev/null +++ b/librealsense/CMake/realsense2Config.cmake.in @@ -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) diff --git a/librealsense/CMake/unix_config.cmake b/librealsense/CMake/unix_config.cmake new file mode 100644 index 0000000..5a187c7 --- /dev/null +++ b/librealsense/CMake/unix_config.cmake @@ -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 / + 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 "${CMAKE_CXX_FLAGS} -pthread") + endif() + + if(APPLE) + set(FORCE_RSUSB_BACKEND ON) + endif() + + if(FORCE_RSUSB_BACKEND) + set(BACKEND RS2_USE_LIBUVC_BACKEND) + else() + set(BACKEND RS2_USE_V4L2_BACKEND) + endif() +endmacro() + +macro(os_target_config) +endmacro() diff --git a/librealsense/CMake/version_config.cmake b/librealsense/CMake/version_config.cmake new file mode 100644 index 0000000..525a1fe --- /dev/null +++ b/librealsense/CMake/version_config.cmake @@ -0,0 +1,28 @@ +################################################################## +# Parse librealsense version and assign it to CMake variables # +# This function parses librealsense public API header file, rs.h # +# and retrieves version numbers embedded in the source code. # +# Since the function relies on hard-coded variables, it is prone # +# for failures should these constants be modified in future # +################################################################## +function(assign_version_property VER_COMPONENT) + file(STRINGS "./include/librealsense2/rs.h" REALSENSE_VERSION_${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() diff --git a/librealsense/CMake/windows_config.cmake b/librealsense/CMake/windows_config.cmake new file mode 100644 index 0000000..3bd808b --- /dev/null +++ b/librealsense/CMake/windows_config.cmake @@ -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 / + 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) diff --git a/librealsense/CMakeLists.txt b/librealsense/CMakeLists.txt new file mode 100644 index 0000000..c77973c --- /dev/null +++ b/librealsense/CMakeLists.txt @@ -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 ${CMAKE_CURRENT_LIST_DIR}/CMake) + +# include librealsense general configuration +include(CMake/global_config.cmake) + +# include os specific macros +# macro definition located at "CMake/global_config.cmake" +include(CMake/include_os.cmake) + +# set os specific configuration flags +# macro definition located at "CMake/_config.cmake" +os_set_flags() + +# set global configuration flags +# macro definition located at "CMake/global_config.cmake" +global_set_flags() + +# If no type is given explicitly the type is STATIC or SHARED based on whether the current value of the variable [BUILD_SHARED_LIBS](https://cmake.org/cmake/help/v3.10/variable/BUILD_SHARED_LIBS.html#variable:BUILD_SHARED_LIBS) is ON +add_library(${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/_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() diff --git a/librealsense/CONTRIBUTING.md b/librealsense/CONTRIBUTING.md new file mode 100644 index 0000000..8e684c2 --- /dev/null +++ b/librealsense/CONTRIBUTING.md @@ -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. diff --git a/librealsense/Intel Copyright b/librealsense/Intel Copyright new file mode 100644 index 0000000..7cb7ff0 --- /dev/null +++ b/librealsense/Intel Copyright @@ -0,0 +1,7 @@ +Copyright (2017-2024), Intel Corporation. +This "Software" is furnished under license and may only be used or copied in accordance with the terms of that license. +No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted by this document. +The Software is subject to change without notice, and should not be construed as a commitment by Intel Corporation to market, license, sell or support any product or technology. +Unless otherwise provided for in the license under which this Software is provided, the Software is provided AS IS, with no warranties of any kind, express or implied. +Except as expressly permitted by the Software license, neither Intel Corporation nor its suppliers assumes any responsibility or liability for any errors or inaccuracies that may appear herein. +Except as expressly permitted by the Software license, no part of the Software may be reproduced, stored in a retrieval system, transmitted in any form, or distributed by any means without the express written consent of Intel Corporation. diff --git a/librealsense/LICENSE b/librealsense/LICENSE new file mode 100644 index 0000000..1cdf4d7 --- /dev/null +++ b/librealsense/LICENSE @@ -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. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 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. diff --git a/librealsense/NOTICE.md b/librealsense/NOTICE.md new file mode 100644 index 0000000..d4e4111 --- /dev/null +++ b/librealsense/NOTICE.md @@ -0,0 +1,1008 @@ +# Intel® RealSense™ + +## Third Party Programs + + +### This file specifies all 3rd party SW components used for Intel® RealSense™ SDK and the inbound license for each of these 3rd party components. + +#### MIT License + +| Component | Home Page | License| Copyright | +| ------- | ------- | ------- | ------- | +| easyloggingpp | https://github.com/abumq/easyloggingpp | MIT License | Copyright (c) 2012-present @abumq (Majid Q.) | +| GLAD | https://glad.dav1d.de/, https://github.com/Dav1dde/glad | MIT License | Copyright (c) 2013-2022 David Herberth | +| JSON for Modern C++ | https://github.com/nlohmann/json | MIT License | Copyright (c) 2013-2022 Niels Lohmann | +| imgui | https://github.com/ocornut/imgui | MIT License | Copyright (c) 2014-2024 Omar Cornut | +| rapidxml | https://github.com/Fe-Bell/RapidXML | MIT License | Copyright (c) 2006, 2007 Marcin Kalicinski | +| easyloggingpp | https://github.com/abumq/easyloggingpp | MIT License | Copyright (c) 2012-present @abumq (Majid Q.) | +| tclap | http://tclap.sourceforge.net/ | MIT License | Copyright (c) 2003 Michael E. Smoot, Copyright (c) 2004 Daniel Aarno, Copyright (c) 2017 Google Inc. | + +###### MIT License +The MIT License (MIT) + +Copyright (c) 2012-present @abumq (Majid Q.) + +Permission is hereby granted, free of charge, to any person obtaining a copy of +this software and associated documentation files (the "Software"), to deal in +the Software without restriction, including without limitation the rights to +use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +the Software, and to permit persons to whom the Software is furnished to do so, +subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 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This may include source files, build scripts and documentation. + +"Reserved Font Name" refers to any names specified as such after the copyright statement(s). + +"Original Version" refers to the collection of Font Software components as distributed by the Copyright Holder(s). + +"Modified Version" refers to any derivative made by adding to, deleting, or substituting — in part or in whole — any of the components of the Original Version, by changing formats or by porting the Font Software to a new environment. + +"Author" refers to any designer, engineer, programmer, technical writer or other person who contributed to the Font Software. + +PERMISSION & CONDITIONS +Permission is hereby granted, free of charge, to any person obtaining a copy of the Font Software, to use, study, copy, merge, embed, modify, redistribute, and sell modified and unmodified copies of the Font Software, subject to the following conditions: + +1) Neither the Font Software nor any of its individual components, in Original or Modified Versions, may be sold by itself. + +2) Original or Modified Versions of the Font Software may be bundled, redistributed and/or sold with any software, provided that each copy contains the above copyright notice and this license. These can be included either as stand-alone text files, human-readable headers or in the appropriate machine-readable metadata fields within text or binary files as long as those fields can be easily viewed by the user. + +3) No Modified Version of the Font Software may use the Reserved Font Name(s) unless explicit written permission is granted by the corresponding Copyright Holder. This restriction only applies to the primary font name as presented to the users. + +4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font Software shall not be used to promote, endorse or advertise any Modified Version, except to acknowledge the contribution(s) of the Copyright Holder(s) and the Author(s) or with their explicit written permission. + +5) The Font Software, modified or unmodified, in part or in whole, must be distributed entirely under this license, and must not be distributed under any other license. The requirement for fonts to remain under this license does not apply to any document created using the Font Software. + +TERMINATION +This license becomes null and void if any of the above conditions are not met. + +DISCLAIMER +THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM OTHER DEALINGS IN THE FONT SOFTWARE. +------------------------------------------------------------------------------------------------ diff --git a/librealsense/Security.md b/librealsense/Security.md new file mode 100644 index 0000000..c3e8bda --- /dev/null +++ b/librealsense/Security.md @@ -0,0 +1,6 @@ +# Security Policy +Intel is committed to rapidly addressing security vulnerabilities affecting our customers and providing clear guidance on the solution, impact, severity and mitigation. + +## Reporting a Vulnerability +Please report any security vulnerabilities in this project [utilizing the guidelines here](https://www.intel.com/content/www/us/en/security-center/vulnerability-handling-guidelines.html). + diff --git a/librealsense/cmake_uninstall.cmake b/librealsense/cmake_uninstall.cmake new file mode 100644 index 0000000..a66f899 --- /dev/null +++ b/librealsense/cmake_uninstall.cmake @@ -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") diff --git a/librealsense/code-of-conduct.md b/librealsense/code-of-conduct.md new file mode 100644 index 0000000..867958f --- /dev/null +++ b/librealsense/code-of-conduct.md @@ -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 + diff --git a/librealsense/common/CMakeLists.txt b/librealsense/common/CMakeLists.txt new file mode 100644 index 0000000..6875b28 --- /dev/null +++ b/librealsense/common/CMakeLists.txt @@ -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} + ) + diff --git a/librealsense/common/android_helpers.h b/librealsense/common/android_helpers.h new file mode 100644 index 0000000..48e6552 --- /dev/null +++ b/librealsense/common/android_helpers.h @@ -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 +#include +#include +#include +#include + +#if __NDK_MAJOR__ <= 16 +namespace std +{ + template + inline std::string to_string(T value) + { + std::ostringstream os; + os << value; + return os.str(); + } + + template + inline T stoT(const std::string& value) + { + char* endptr; + auto x = strtoimax(value.c_str(), &endptr, 10); + + return static_cast(x); + } + + inline long long stoll(const std::string& value) + { + return stoT(value); + } + + inline unsigned long stoul(const std::string& value) + { + return stoT(value); + } + + inline int stoi(const std::string& value) + { + return stoT(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 + diff --git a/librealsense/common/animated.h b/librealsense/common/animated.h new file mode 100644 index 0000000..d5f39e4 --- /dev/null +++ b/librealsense/common/animated.h @@ -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 + + +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 diff --git a/librealsense/common/calibration-model.cpp b/librealsense/common/calibration-model.cpp new file mode 100644 index 0000000..170f168 --- /dev/null +++ b/librealsense/common/calibration-model.cpp @@ -0,0 +1,451 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include +#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 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() && 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().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().reset_to_factory_calibration(); + _calibration = dev.as().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 resolution_names; + std::vector resolution_names_char; + std::vector 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().set_calibration_table(_calibration); + dev.as().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().set_calibration_table(_calibration); + } + catch (const std::exception&) + { + try + { + dev.query_sensors()[0].close(); + dev.query_sensors()[0].open(streams); + dev.as().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); +} diff --git a/librealsense/common/calibration-model.h b/librealsense/common/calibration-model.h new file mode 100644 index 0000000..a3f9e56 --- /dev/null +++ b/librealsense/common/calibration-model.h @@ -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 +#include "notifications.h" +#include + + +namespace rs2 +{ + class ux_window; + + class calibration_model + { + using float3x3 = rsutils::number::float3x3; + + public: + calibration_model(rs2::device dev, std::shared_ptr 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 _calibration; + std::vector _original; + + int selected_resolution = 0; + + std::weak_ptr _not_model; + }; +} diff --git a/librealsense/common/device-model.cpp b/librealsense/common/device-model.cpp new file mode 100644 index 0000000..2bd3444 --- /dev/null +++ b/librealsense/common/device-model.cpp @@ -0,0 +1,3309 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include +#include +#include + +#include + +#include +#include +#include "imgui-fonts-karla.hpp" +#include "imgui-fonts-fontawesome.hpp" +#include "imgui-fonts-monofont.hpp" + +#include +#include "os.h" +#include +#include "viewer.h" +#include "on-chip-calib.h" +#include "subdevice-model.h" +#include "device-model.h" + +using namespace rs400; +using rsutils::json; +using namespace rs2::sw_update; + +namespace rs2 +{ + void imgui_easy_theming(ImFont*& font_dynamic, ImFont*& font_18, ImFont*& monofont, int& font_size) + { + ImGuiStyle& style = ImGui::GetStyle(); + + ImGuiIO& io = ImGui::GetIO(); + io.IniFilename = nullptr; + + const int OVERSAMPLE = config_file::instance().get(configurations::performance::font_oversample); + font_size = config_file::instance().get( configurations::window::font_size ); + + static const ImWchar icons_ranges[] = { 0xf000, 0xf999, 0 }; // will not be copied by AddFont* so keep in scope. + + { + ImFontConfig config_words; + config_words.OversampleV = OVERSAMPLE; + config_words.OversampleH = OVERSAMPLE; + font_dynamic = io.Fonts->AddFontFromMemoryCompressedTTF( karla_regular_compressed_data, + karla_regular_compressed_size, + (float)font_size ); + + ImFontConfig config_glyphs; + config_glyphs.MergeMode = true; + config_glyphs.OversampleV = OVERSAMPLE; + config_glyphs.OversampleH = OVERSAMPLE; + font_dynamic = io.Fonts->AddFontFromMemoryCompressedTTF(font_awesome_compressed_data, + font_awesome_compressed_size, 14.f, &config_glyphs, icons_ranges); + } + + // Load 18px size fonts + { + ImFontConfig config_words; + config_words.OversampleV = OVERSAMPLE; + config_words.OversampleH = OVERSAMPLE; + font_18 = io.Fonts->AddFontFromMemoryCompressedTTF(karla_regular_compressed_data, karla_regular_compressed_size, 21.f, &config_words); + + ImFontConfig config_glyphs; + config_glyphs.MergeMode = true; + config_glyphs.OversampleV = OVERSAMPLE; + config_glyphs.OversampleH = OVERSAMPLE; + font_18 = io.Fonts->AddFontFromMemoryCompressedTTF(font_awesome_compressed_data, + font_awesome_compressed_size, 20.f, &config_glyphs, icons_ranges); + + } + + // Load monofont + { + ImFontConfig config_words; + config_words.OversampleV = OVERSAMPLE; + config_words.OversampleH = OVERSAMPLE; + monofont = io.Fonts->AddFontFromMemoryCompressedTTF(monospace_compressed_data, monospace_compressed_size, 15.f); + + ImFontConfig config_glyphs; + config_glyphs.MergeMode = true; + config_glyphs.OversampleV = OVERSAMPLE; + config_glyphs.OversampleH = OVERSAMPLE; + monofont = io.Fonts->AddFontFromMemoryCompressedTTF(font_awesome_compressed_data, + font_awesome_compressed_size, 14.f, &config_glyphs, icons_ranges); + } + + style.WindowRounding = 0.0f; + style.ScrollbarRounding = 0.0f; + + style.Colors[ImGuiCol_WindowBg] = dark_window_background; + style.Colors[ImGuiCol_Border] = black; + style.Colors[ImGuiCol_BorderShadow] = transparent; + style.Colors[ImGuiCol_FrameBg] = dark_window_background; + style.Colors[ImGuiCol_ScrollbarBg] = scrollbar_bg; + style.Colors[ImGuiCol_ScrollbarGrab] = scrollbar_grab; + style.Colors[ImGuiCol_ScrollbarGrabHovered] = scrollbar_grab + 0.1f; + style.Colors[ImGuiCol_ScrollbarGrabActive] = scrollbar_grab + (-0.1f); + style.Colors[ImGuiCol_ComboBg] = dark_window_background; + style.Colors[ImGuiCol_CheckMark] = regular_blue; + style.Colors[ImGuiCol_SliderGrab] = regular_blue; + style.Colors[ImGuiCol_SliderGrabActive] = regular_blue; + style.Colors[ImGuiCol_Button] = button_color; + style.Colors[ImGuiCol_ButtonHovered] = button_color + 0.1f; + style.Colors[ImGuiCol_ButtonActive] = button_color + (-0.1f); + style.Colors[ImGuiCol_Header] = header_color; + style.Colors[ImGuiCol_HeaderActive] = header_color + (-0.1f); + style.Colors[ImGuiCol_HeaderHovered] = header_color + 0.1f; + style.Colors[ImGuiCol_TitleBg] = title_color; + style.Colors[ImGuiCol_TitleBgCollapsed] = title_color; + style.Colors[ImGuiCol_TitleBgActive] = header_color; + } + + void open_issue(std::string body) + { + std::string link = "https://github.com/IntelRealSense/librealsense/issues/new?body=" + url_encode(body); + open_url(link.c_str()); + } + + void open_issue(const device_models_list& devices) + { + std::stringstream ss; + + rs2_error* e = nullptr; + + ss << "| | |\n"; + ss << "|---|---|\n"; + ss << "|**librealsense**|" << api_version_to_string(rs2_get_api_version(&e)) << (is_debug() ? " DEBUG" : " RELEASE") << "|\n"; + ss << "|**OS**|" << rsutils::os::get_os_name() << "|\n"; + + for (auto& dm : devices) + { + for (auto& kvp : dm->infos) + { + if (kvp.first != "Recommended Firmware Version" && + kvp.first != "Debug Op Code" && + kvp.first != "Physical Port" && + kvp.first != "Product Id") + ss << "|**" << kvp.first << "**|" << kvp.second << "|\n"; + } + } + + ss << "\nPlease provide a description of the problem"; + + open_issue(ss.str()); + } + + template + std::string safe_call(T t) + { + try + { + t(); + return ""; + } + catch (const error& e) + { + return error_to_string(e); + } + catch (const std::exception& e) + { + return e.what(); + } + catch (...) + { + return "Unknown error occurred"; + } + } + + std::pair get_device_name(const device& dev) + { + // retrieve device name + std::string name = (dev.supports(RS2_CAMERA_INFO_NAME)) ? dev.get_info(RS2_CAMERA_INFO_NAME) : "Unknown"; + + // retrieve device serial number + std::string serial = (dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER)) ? dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) : "Unknown"; + + std::stringstream s; + + if (dev.is()) + { + auto playback_dev = dev.as(); + + s << "Playback device: "; + name += (rsutils::string::from() << " (File: " << playback_dev.file_name() << ")"); + } + s << std::setw(25) << std::left << name; + return std::make_pair(s.str(), serial); // push name and sn to list + } + + void device_model::reset() + { + syncer->remove_syncer(dev_syncer); + subdevices.resize(0); + _recorder.reset(); + } + + device_model::~device_model() + { + for (auto&& n : related_notifications) n->dismiss(false); + + _updates->set_device_status(*_updates_profile, false); + } + + bool device_model::check_for_bundled_fw_update(const rs2::context &ctx, std::shared_ptr not_model , bool reset_delay ) + { + // LibRS can have a "bundled" FW binary downloaded during CMake. That's the version + // "available" to us, but it may not be there (e.g., no internet connection to download + // it). Lacking an available version, we try to let the user choose a "recommended" + // version for download. The recommended version is defined by the device (and comes + // from a #define). + + // 'notification_type_is_displayed()' is used to detect if fw_update notification is on to avoid displaying it during FW update process when + // the device enters recovery mode + if( ! not_model->notification_type_is_displayed< fw_update_notification_model >() + && ( dev.is< updatable >() || dev.is< update_device >() ) ) + { + std::string fw; + std::string recommended_fw_ver; + int product_line = 0; + + // Override with device info if info is available + if (dev.is()) + { + fw = dev.supports( RS2_CAMERA_INFO_FIRMWARE_VERSION ) + ? dev.get_info( RS2_CAMERA_INFO_FIRMWARE_VERSION ) + : ""; + + recommended_fw_ver = dev.supports(RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION) + ? dev.get_info(RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION) + : ""; + } + + product_line = dev.supports(RS2_CAMERA_INFO_PRODUCT_LINE) + ? parse_product_line(dev.get_info(RS2_CAMERA_INFO_PRODUCT_LINE)) + : -1; // invalid product line, will be handled later on + + bool allow_rc_firmware = config_file::instance().get_or_default( + configurations::update::allow_rc_firmware, + false ); + + bool is_rc = ( product_line == RS2_PRODUCT_LINE_D400 ) && allow_rc_firmware; + std::string pid = dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID); + std::string available_fw_ver = get_available_firmware_version( product_line, pid); + std::shared_ptr< firmware_update_manager > manager = nullptr; + + if( dev.is() || is_upgradeable( fw, available_fw_ver) ) + { + recommended_fw_ver = available_fw_ver; + auto image = get_default_fw_image(product_line, pid); + if (image.empty()) + { + not_model->add_log("could not detect a bundled FW version for the connected device", RS2_LOG_SEVERITY_WARN); + return false; + } + + manager = std::make_shared< firmware_update_manager >( not_model, + *this, + dev, + ctx, + image, + true ); + } + + auto dev_name = get_device_name(dev); + + if( dev.is() || is_upgradeable( fw, recommended_fw_ver) ) + { + std::stringstream msg; + + if (dev.is()) + { + msg << dev_name.first << "\n(S/N " << dev.get_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID) << ")\n"; + } + else + { + msg << dev_name.first << " (S/N " << dev_name.second << ")\n" + << "Current Version: " << fw << "\n"; + } + + if (is_rc) + msg << "Release Candidate: " << recommended_fw_ver << " Pre-Release"; + else + msg << "Recommended Version: " << recommended_fw_ver; + + auto n = std::make_shared< fw_update_notification_model >( msg.str(), + manager, + false ); + // The FW update delay ID include the dismissed recommended version and the device serial number + // This way a newer FW recommended version will not be dismissed + n->delay_id = "fw_update_alert." + recommended_fw_ver + "." + dev_name.second; + n->enable_complex_dismiss = true; + + // If a delay request received in the past, reset it. + if( reset_delay ) n->reset_delay(); + + if( ! n->is_delayed() ) + { + not_model->add_notification( n ); + related_notifications.push_back( n ); + return true; + } + } + else + { + if( ! fw.empty() && ! recommended_fw_ver.empty() ) + { + std::stringstream msg; + msg << "Current FW >= Bundled FW for: " << dev_name.first << " (S/N " << dev_name.second << ")\n" + << "Current Version: " << fw << "\n" + << "Recommended Version: " << recommended_fw_ver; + + not_model->add_log(msg.str(), RS2_LOG_SEVERITY_DEBUG); + } + } + } + return false; + } + + void device_model::refresh_notifications(viewer_model& viewer) + { + for (auto&& n : related_notifications) n->dismiss(false); + + auto name = get_device_name(dev); + + // Inhibit on DQT / Playback device + if( _allow_remove && ( ! dev.is< playback >() ) ) + check_for_device_updates(viewer); + + if ((bool)config_file::instance().get(configurations::update::recommend_calibration)) + { + for (auto&& model : subdevices) + { + if (model->supports_on_chip_calib()) + { + // Make sure we don't spam calibration remainders too often: + time_t rawtime; + time(&rawtime); + std::string id = rsutils::string::from() << configurations::viewer::last_calib_notice << "." << name.second; + long long last_time = config_file::instance().get_or_default(id.c_str(), (long long)0); + + std::string msg = rsutils::string::from() + << name.first << " (S/N " << name.second << ")"; + auto manager = std::make_shared(viewer, model, *this, dev); + auto n = std::make_shared( + msg, manager, false); + + // Recommend calibration once a week per device + if (rawtime - last_time < 60) + { + n->snoozed = true; + } + + // NOTE: For now do not pre-emptively suggest auto-calibration + // TODO: Revert in later release + //viewer.not_model->add_notification(n); + //related_notifications.push_back(n); + } + } + } + } + + device_model::device_model(device& dev, std::string& error_message, viewer_model& viewer, bool new_device_connected, bool remove) + : dev(dev), + _calib_model(dev, viewer.not_model), + syncer(viewer.syncer), + _update_readonly_options_timer(std::chrono::seconds(6)), + _detected_objects(std::make_shared< atomic_objects_in_frame >()), + _updates(viewer.updates), + _updates_profile(std::make_shared()), + _allow_remove(remove) + { + auto name = get_device_name(dev); + id = rsutils::string::from() << name.first << ", " << name.second; + + for (auto&& sub : dev.query_sensors()) + { + auto s = std::make_shared(sub); + auto objects = std::make_shared< atomic_objects_in_frame >(); + // checking if the sensor is color_sensor or is D405 (with integrated RGB in depth sensor) + if (s->is() || (dev.supports(RS2_CAMERA_INFO_PRODUCT_ID) && !strcmp(dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID), "0B5B"))) + objects = _detected_objects; + auto model = std::make_shared(dev, std::make_shared(sub), objects, error_message, viewer, new_device_connected); + subdevices.push_back(model); + } + + // Initialize static camera info: + for (auto i = 0; i < RS2_CAMERA_INFO_COUNT; i++) + { + auto info = static_cast(i); + + try + { + if (dev.supports(info)) + { + auto value = dev.get_info(info); + infos.push_back({ std::string(rs2_camera_info_to_string(info)), + std::string(value) }); + } + } + catch (...) + { + infos.push_back({ std::string(rs2_camera_info_to_string(info)), + std::string("???") }); + } + } + + if (dev.is()) + { + for (auto&& sub : subdevices) + { + for (auto&& p : sub->profiles) + { + sub->stream_enabled[p.unique_id()] = true; + } + } + play_defaults(viewer); + } + + refresh_notifications(viewer); + + auto path = rsutils::os::get_special_folder( rsutils::os::special_folder::user_documents ); + path += "librealsense2/presets/"; + try + { + std::string name = dev.get_info(RS2_CAMERA_INFO_NAME); + std::smatch match; + if( ! std::regex_search( name, match, std::regex( "^Intel RealSense (\\S+)" ) ) ) + throw std::runtime_error( "cannot parse device name from '" + name + "'" ); + + glob( + path, + std::string( match[1] ) + " *.preset", + [&]( std::string const & file ) { + advanced_mode_settings_file_names.insert( path + file ); + }, + false ); // recursive + } + catch( const std::exception & e ) + { + LOG_WARNING( "Exception caught trying to detect presets: " << e.what() ); + } + } + void device_model::play_defaults(viewer_model& viewer) + { + if (!dev_syncer) + dev_syncer = viewer.syncer->create_syncer(); + for (auto&& sub : subdevices) + { + if (!sub->streaming) + { + std::vector profiles; + try + { + profiles = sub->get_selected_profiles(); + } + catch (...) + { + continue; + } + + if (profiles.empty()) + continue; + + std::string friendly_name = sub->s->get_info(RS2_CAMERA_INFO_NAME); + if ((friendly_name.find("Tracking") != std::string::npos) || + (friendly_name.find("Motion") != std::string::npos)) + { + viewer.synchronization_enable_prev_state = viewer.synchronization_enable.load(); + viewer.synchronization_enable = false; + } + sub->play(profiles, viewer, dev_syncer); + + for (auto&& profile : profiles) + { + viewer.begin_stream(sub, profile); + } + } + } + } + + void device_model::start_recording(const std::string& path, std::string& error_message) + { + if (_recorder != nullptr) + { + return; //already recording + } + + try + { + int compression_mode = config_file::instance().get(configurations::record::compression_mode); + if (compression_mode == 2) + _recorder = std::make_shared(path, dev); + else + _recorder = std::make_shared(path, dev, compression_mode == 0); + + for (auto&& sub_dev_model : subdevices) + { + sub_dev_model->_is_being_recorded = true; + } + is_recording = true; + } + catch (const rs2::error& e) + { + error_message = error_to_string(e); + } + catch (const std::exception& e) + { + error_message = e.what(); + } + } + + void device_model::stop_recording(viewer_model& viewer) + { + auto saved_to_filename = _recorder->filename(); + _recorder.reset(); + for (auto&& sub_dev_model : subdevices) + { + sub_dev_model->_is_being_recorded = false; + } + is_recording = false; + notification_data nd{ rsutils::string::from() << "Saved recording to:\n" << saved_to_filename, + RS2_LOG_SEVERITY_INFO, + RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR }; + viewer.not_model->add_notification(nd); + } + + void device_model::pause_record() + { + _recorder->pause(); + } + + void device_model::resume_record() + { + _recorder->resume(); + } + + int device_model::draw_playback_controls(ux_window& window, ImFont* font, viewer_model& viewer) + { + auto p = dev.as(); + rs2_playback_status current_playback_status = p.current_status(); + + const int playback_control_height = 35; + const float combo_box_width = 90.f; + const float icon_width = 28; + const float line_width = 255; //Ideally should use: ImGui::GetContentRegionMax().x + //Line looks like this ("-" == space, "[]" == icon, "[ ]" == combo_box): |-[]-[]-[]-[]-[]-[ ]-[]-| + const int num_icons_in_line = 6; + const int num_combo_boxes_in_line = 1; + const int num_spaces_in_line = num_icons_in_line + num_combo_boxes_in_line + 1; + const float required_row_width = (num_combo_boxes_in_line * combo_box_width) + (num_icons_in_line * icon_width); + float space_width = std::max(line_width - required_row_width, 0.f) / num_spaces_in_line; + ImVec2 button_dim = { icon_width, icon_width }; + + const bool supports_playback_step = current_playback_status == RS2_PLAYBACK_STATUS_PAUSED; + + ImGui::PushFont(font); + + //////////////////// Step Backwards Button //////////////////// + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + space_width); + std::string label = rsutils::string::from() << textual_icons::step_backward << "##Step Backward " << id; + if (ImGui::ButtonEx(label.c_str(), button_dim, supports_playback_step ? 0 : ImGuiButtonFlags_Disabled)) + { + int fps = 0; + for (auto&& s : viewer.streams) + { + if (s.second.profile.fps() > fps) + fps = s.second.profile.fps(); + } + auto curr_frame = p.get_position(); + uint64_t step = fps ? uint64_t(1000.0 / (float)fps * 1e6) : 1000000ULL; + if (curr_frame >= step) + { + p.seek(std::chrono::nanoseconds(curr_frame - step)); + } + } + if (ImGui::IsItemHovered()) + { + std::string tooltip = rsutils::string::from() << "Step Backwards" << (supports_playback_step ? "" : "(Not available)"); + ImGui::SetTooltip("%s", tooltip.c_str()); + } + ImGui::SameLine(); + //////////////////// Step Backwards Button //////////////////// + + + //////////////////// Stop Button //////////////////// + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + space_width); + label = rsutils::string::from() << textual_icons::stop << "##Stop Playback " << id; + + if (ImGui::ButtonEx(label.c_str(), button_dim)) + { + bool prev = _playback_repeat; + _playback_repeat = false; + p.stop(); + _playback_repeat = prev; + } + if (ImGui::IsItemHovered()) + { + std::string tooltip = rsutils::string::from() << "Stop Playback"; + ImGui::SetTooltip("%s", tooltip.c_str()); + } + ImGui::SameLine(); + //////////////////// Stop Button //////////////////// + + + + //////////////////// Pause/Play Button //////////////////// + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + space_width); + if (current_playback_status == RS2_PLAYBACK_STATUS_PAUSED || current_playback_status == RS2_PLAYBACK_STATUS_STOPPED) + { + label = rsutils::string::from() << textual_icons::play << "##Play " << id; + if (ImGui::ButtonEx(label.c_str(), button_dim)) + { + if (current_playback_status == RS2_PLAYBACK_STATUS_STOPPED) + { + play_defaults(viewer); + } + else + { + syncer->on_frame = [] {}; + for (auto&& s : subdevices) + { + s->on_frame = [] {}; + if (s->streaming) + s->resume(); + } + viewer.paused = false; + p.resume(); + } + + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip(current_playback_status == RS2_PLAYBACK_STATUS_PAUSED ? "Resume Playback" : "Start Playback"); + } + } + else + { + label = rsutils::string::from() << textual_icons::pause << "##Pause Playback " << id; + if (ImGui::ButtonEx(label.c_str(), button_dim)) + { + p.pause(); + for (auto&& s : subdevices) + { + if (s->streaming) + s->pause(); + } + viewer.paused = true; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Pause Playback"); + } + } + + ImGui::SameLine(); + //////////////////// Pause/Play Button //////////////////// + + + + + //////////////////// Step Forward Button //////////////////// + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + space_width); + label = rsutils::string::from() << textual_icons::step_forward << "##Step Forward " << id; + if (ImGui::ButtonEx(label.c_str(), button_dim, supports_playback_step ? 0 : ImGuiButtonFlags_Disabled)) + { + int fps = 0; + for (auto&& s : viewer.streams) + { + if (s.second.profile.fps() > fps) + fps = s.second.profile.fps(); + } + auto curr_frame = p.get_position(); + uint64_t step = fps ? uint64_t(1000.0 / (float)fps * 1e6) : 1000000ULL; + p.seek(std::chrono::nanoseconds(curr_frame + step)); + } + if (ImGui::IsItemHovered()) + { + std::string tooltip = rsutils::string::from() << "Step Forward" << (supports_playback_step ? "" : "(Not available)"); + ImGui::SetTooltip("%s", tooltip.c_str()); + } + ImGui::SameLine(); + //////////////////// Step Forward Button //////////////////// + + + + + /////////////////// Repeat Button ///////////////////// + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + space_width); + if (_playback_repeat) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); + } + else + { + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + } + label = rsutils::string::from() << textual_icons::repeat << "##Repeat " << id; + if (ImGui::ButtonEx(label.c_str(), button_dim)) + { + _playback_repeat = !_playback_repeat; + } + if (ImGui::IsItemHovered()) + { + std::string tooltip = rsutils::string::from() << (_playback_repeat ? "Disable " : "Enable ") << "Repeat "; + ImGui::SetTooltip("%s", tooltip.c_str()); + } + ImGui::PopStyleColor(2); + ImGui::SameLine(); + /////////////////// Repeat Button ///////////////////// + + + //////////////////// Speed combo box //////////////////// + auto pos = ImGui::GetCursorPos(); + const float speed_combo_box_v_alignment = 3.f; + ImGui::SetCursorPos({ pos.x + space_width, pos.y + speed_combo_box_v_alignment }); + ImGui::PushItemWidth(combo_box_width); + + ImGui::PushStyleColor(ImGuiCol_FrameBg, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); + + label = rsutils::string::from() << "## " << id; + if (ImGui::Combo(label.c_str(), &playback_speed_index, "Speed: x0.25\0Speed: x0.5\0Speed: x1\0Speed: x1.5\0Speed: x2\0\0", -1, false)) + { + float speed = 1; + switch (playback_speed_index) + { + case 0: speed = 0.25f; break; + case 1: speed = 0.5f; break; + case 2: speed = 1.0f; break; + case 3: speed = 1.5f; break; + case 4: speed = 2.0f; break; + default: + throw std::runtime_error( rsutils::string::from() << "Speed #" << playback_speed_index << " is unhandled"); + } + p.set_playback_speed(speed); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Change playback speed rate"); + } + ImGui::PopStyleColor(2); + ImGui::SameLine(); + //Restore Y movement + pos = ImGui::GetCursorPos(); + ImGui::SetCursorPos({ pos.x, pos.y - speed_combo_box_v_alignment }); + //////////////////// Speed combo box //////////////////// + + //////////////////// Info Icon //////////////////// + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + space_width); + draw_info_icon(window, font, button_dim); + //////////////////// Info Icon //////////////////// + + ImGui::PopFont(); + + return playback_control_height; + } + + std::string device_model::pretty_time(std::chrono::nanoseconds duration) + { + using namespace std::chrono; + auto hhh = duration_cast(duration); + duration -= hhh; + auto mm = duration_cast(duration); + duration -= mm; + auto ss = duration_cast(duration); + duration -= ss; + auto ms = duration_cast(duration); + + std::ostringstream stream; + stream << std::setfill('0') << std::setw(hhh.count() >= 10 ? 2 : 1) << hhh.count() << ':' << + std::setfill('0') << std::setw(2) << mm.count() << ':' << + std::setfill('0') << std::setw(2) << ss.count() << '.' << + std::setfill('0') << std::setw(3) << ms.count(); + return stream.str(); + } + + int device_model::draw_seek_bar() + { + auto pos = ImGui::GetCursorPos(); + + auto p = dev.as(); + //rs2_playback_status current_playback_status = p.current_status(); + int64_t playback_total_duration = p.get_duration().count(); + auto progress = p.get_position(); + double part = (1.0 * progress) / playback_total_duration; + seek_pos = static_cast(std::max(0.0, std::min(part, 1.0)) * 100); + auto playback_status = p.current_status(); + if (seek_pos != 0 && playback_status == RS2_PLAYBACK_STATUS_STOPPED) + { + seek_pos = 0; + } + float seek_bar_width = 300.f; + ImGui::PushItemWidth(seek_bar_width); + std::string label1 = "## " + id; + if (ImGui::SeekSlider(label1.c_str(), &seek_pos, "")) + { + //Seek was dragged + if (playback_status != RS2_PLAYBACK_STATUS_STOPPED) //Ignore seek when playback is stopped + { + auto duration_db = std::chrono::duration_cast>(p.get_duration()); + auto single_percent = duration_db.count() / 100; + auto seek_time = std::chrono::duration(seek_pos * single_percent); + p.seek(std::chrono::duration_cast(seek_time)); + } + } + + ImGui::SetCursorPos({ pos.x, pos.y + 17 }); + + std::string time_elapsed = pretty_time(std::chrono::nanoseconds(progress)); + std::string duration_str = pretty_time(std::chrono::nanoseconds(playback_total_duration)); + ImGui::Text("%s", time_elapsed.c_str()); + ImGui::SameLine(); + float pos_y = ImGui::GetCursorPosY(); + + ImGui::SetCursorPos({ pos.x + seek_bar_width - 45 , pos_y }); + ImGui::Text("%s", duration_str.c_str()); + + return 50; + } + + int device_model::draw_playback_panel(ux_window& window, ImFont* font, viewer_model& view) + { + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg); + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, from_rgba(0, 0xae, 0xff, 255)); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + + + auto pos = ImGui::GetCursorPos(); + auto controls_height = draw_playback_controls(window, font, view); + float seek_bar_left_alignment = 4.f; + ImGui::SetCursorPos({ pos.x + seek_bar_left_alignment, pos.y + controls_height }); + ImGui::PushFont(font); + auto seek_bar_height = draw_seek_bar(); + ImGui::PopFont(); + ImGui::PopStyleColor(5); + return controls_height + seek_bar_height; + + } + + bool device_model::prompt_toggle_advanced_mode(bool enable_advanced_mode, const std::string& message_text, std::vector& restarting_device_info, viewer_model& view, ux_window& window, const std::string& error_message) + { + bool keep_showing = true; + bool yes_was_chosen = false; + if (yes_no_dialog("Advanced Mode", message_text, yes_was_chosen, window, error_message)) + { + if (yes_was_chosen) + { + dev.as().toggle_advanced_mode(enable_advanced_mode); + restarting_device_info = get_device_info(dev, false); + view.not_model->add_log(enable_advanced_mode ? "Turning on advanced mode..." : "Turning off advanced mode..."); + } + keep_showing = false; + } + return keep_showing; + } + + + bool device_model::draw_advanced_controls(viewer_model& view, ux_window& window, std::string& error_message) + { + bool was_set = false; + + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 0.9f, 0.9f, 0.9f, 1 }); + + auto is_advanced_mode = dev.is(); + if (is_advanced_mode && ImGui::TreeNode("Advanced Controls")) + { + try + { + auto advanced = dev.as(); + if (advanced.is_enabled()) + { + draw_advanced_mode_controls(advanced, amc, get_curr_advanced_controls, was_set, error_message); + } + else + { + ImGui::TextColored(redish, "Device is not in advanced mode"); + std::string button_text = rsutils::string::from() << "Turn on Advanced Mode" << "##" << id; + static bool show_yes_no_modal = false; + if (ImGui::Button(button_text.c_str(), ImVec2{ 226, 0 })) + { + show_yes_no_modal = true; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Advanced mode is a persistent camera state unlocking calibration formats and depth generation controls\nYou can always reset the camera to factory defaults by disabling advanced mode"); + } + if (show_yes_no_modal) + { + show_yes_no_modal = prompt_toggle_advanced_mode(true, "\t\tAre you sure you want to turn on Advanced Mode?\t\t", restarting_device_info, view, window, error_message); + } + } + } + catch (const std::exception& ex) + { + error_message = ex.what(); + } + + ImGui::TreePop(); + } + + ImGui::PopStyleColor(); + return was_set; + } + + void device_model::draw_info_icon(ux_window& window, ImFont* font, const ImVec2& size) + { + std::string info_button_name = rsutils::string::from() << textual_icons::info_circle << "##" << id; + auto info_button_color = show_device_info ? light_blue : light_grey; + ImGui::PushStyleColor(ImGuiCol_Text, info_button_color); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, info_button_color); + if (ImGui::Button(info_button_name.c_str(), size)) + { + show_device_info = !show_device_info; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", show_device_info ? "Hide Device Details" : "Show Device Details"); + window.link_hovered(); + } + ImGui::PopStyleColor(2); + } + + void device_model::begin_update_unsigned(viewer_model& viewer, std::string& error_message) + { + try + { + std::vector data; + auto ret = file_dialog_open(open_file, "Unsigned Firmware Image\0*.bin\0*.img\0", NULL, NULL); + if (ret) + { + std::ifstream file(ret, std::ios::binary | std::ios::in); + if (file.good()) + { + data = std::vector((std::istreambuf_iterator(file)), + std::istreambuf_iterator()); + } + else + { + error_message = rsutils::string::from() << "Could not open file '" << ret << "'"; + return; + } + } + + else return; // Aborted by the user + + auto manager = std::make_shared(viewer.not_model, *this, dev, viewer.ctx, data, false); + + auto n = std::make_shared( + "Manual Update requested", manager, true); + viewer.not_model->add_notification(n); + + for (auto&& n : related_notifications) + if (dynamic_cast(n.get())) + n->dismiss(false); + + auto invoke = [n](std::function action) { + n->invoke(action); + }; + manager->start(invoke); + } + catch (const error& e) + { + error_message = error_to_string(e); + } + catch (const std::exception& e) + { + error_message = e.what(); + } + } + + void device_model::begin_update(std::vector data, viewer_model& viewer, std::string& error_message) + { + try + { + if (data.size() == 0) + { + auto ret = file_dialog_open(open_file, "Signed Firmware Image\0*.bin\0*.img\0", NULL, NULL); + if (ret) + { + std::ifstream file(ret, std::ios::binary | std::ios::in); + if (file.good()) + { + data = std::vector((std::istreambuf_iterator(file)), + std::istreambuf_iterator()); + } + else + { + error_message = rsutils::string::from() << "Could not open file '" << ret << "'"; + return; + } + } + else return; // Aborted by the user + } + + auto manager = std::make_shared(viewer.not_model, *this, dev, viewer.ctx, data, true); + + auto n = std::make_shared( + "Manual Update requested", manager, true); + viewer.not_model->add_notification(n); + + for (auto&& n : related_notifications) + n->dismiss(false); + + auto invoke = [n](std::function action) { + n->invoke(action); + }; + + manager->start(invoke); + } + catch (const error& e) + { + error_message = error_to_string(e); + } + catch (const std::exception& e) + { + error_message = e.what(); + } + } + void device_model::check_for_device_updates(viewer_model& viewer, bool activated_by_user ) + { + std::weak_ptr< updates_model > updates_model_protected( viewer.updates ); + std::weak_ptr< dev_updates_profile::update_profile > update_profile_protected( + _updates_profile ); + std::weak_ptr< notifications_model > notification_model_protected( viewer.not_model ); + const context & ctx( viewer.ctx ); + std::thread check_for_device_updates_thread( [ctx, + updates_model_protected, + notification_model_protected, + this, + update_profile_protected, + activated_by_user]() { + try + { + bool need_to_check_bundle = true; + std::string server_url + = config_file::instance().get( configurations::update::sw_updates_url ); + bool use_local_file = false; + const std::string local_file_prefix = "file://"; + + // If URL contain a "file://" prefix, we open it as local file and not downloading + // it from a server + if( server_url.find( local_file_prefix ) == 0 ) + { + use_local_file = true; + server_url.erase( 0, local_file_prefix.length() ); + } + sw_update::dev_updates_profile updates_profile( dev, server_url, use_local_file ); + + bool fail_access_db = false; + bool sw_online_update_available = updates_profile.retrieve_updates( sw_update::LIBREALSENSE, fail_access_db); + bool fw_online_update_available = updates_profile.retrieve_updates( sw_update::FIRMWARE, fail_access_db); + bool fw_bundled_update_available = false; + if (sw_online_update_available || fw_online_update_available) + { + if (auto update_profile = update_profile_protected.lock()) + { + *update_profile = updates_profile.get_update_profile(); + updates_model::update_profile_model updates_profile_model(*update_profile, + ctx, + this); + + dev_updates_profile::version_info sw_update_info, fw_update_info; + bool essential_sw_update_found = update_profile->get_sw_update(sw_update::ESSENTIAL, sw_update_info); + bool essential_fw_update_found = update_profile->get_fw_update(sw_update::ESSENTIAL, fw_update_info); + if (essential_sw_update_found || essential_fw_update_found) + { + if (auto viewer_updates = updates_model_protected.lock()) + { + viewer_updates->add_profile(updates_profile_model); + need_to_check_bundle = false; + + // Log the essential updates + if (auto nm = notification_model_protected.lock()) + { + if( essential_sw_update_found ) + nm->add_log( + rsutils::string::from() + << update_profile->device_name << " (S/N " + << update_profile->serial_number << ")\n" + << "Current SW version: " << std::string( update_profile->software_version ) + << "\nEssential SW version: " + << std::string( sw_update_info.ver ), + RS2_LOG_SEVERITY_WARN ); + + if( essential_fw_update_found ) + nm->add_log( + rsutils::string::from() + << update_profile->device_name << " (S/N " + << update_profile->serial_number << ")\n" + << "Current FW version: " << std::string( update_profile->firmware_version ) + << "\nEssential FW version: " + << std::string( fw_update_info.ver ), + RS2_LOG_SEVERITY_WARN ); + } + } + } + else + { + if (auto viewer_updates = updates_model_protected.lock()) + { + // Do not create pop ups if the viewer updates windows is on + if (viewer_updates->has_updates()) + { + need_to_check_bundle = false; + } + else + { + if (sw_online_update_available) + { + if (auto nm = notification_model_protected.lock()) + { + handle_online_sw_update( nm, update_profile, activated_by_user); + } + } + if (fw_online_update_available) + { + if (auto nm = notification_model_protected.lock()) + { + need_to_check_bundle = !handle_online_fw_update( ctx, nm, update_profile , activated_by_user); + } + } + } + } + // For updating current device profile if exists (Could update firmware version) + if (auto viewer_updates = updates_model_protected.lock()) + { + viewer_updates->update_profile(updates_profile_model); + } + } + } + } + else if( auto nm = notification_model_protected.lock() ) + { + if ( activated_by_user && fail_access_db ) + nm->add_notification( { rsutils::string::from() << textual_icons::wifi << " Unable to retrieve updates.\nPlease check your network connection.\n", + RS2_LOG_SEVERITY_ERROR, + RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR } ); + else + nm->add_log( "No online SW / FW updates available" ); + } + + // If no on-line updates notification, offer bundled FW update if needed + if( need_to_check_bundle + && (bool)config_file::instance().get( configurations::update::recommend_updates ) ) + { + if( auto nm = notification_model_protected.lock() ) + { + fw_bundled_update_available = check_for_bundled_fw_update( ctx, nm , activated_by_user); + } + } + + // When no updates available (on-line + bundled), add a notification to indicate "all up to date" + if( activated_by_user && ! fail_access_db && ! sw_online_update_available + && ! fw_online_update_available && ! fw_bundled_update_available ) + { + auto n = std::make_shared< sw_update_up_to_date_model >(); + auto name = get_device_name(dev); + n->delay_id = "no_updates_alert." + name.second; + + if (auto nm = notification_model_protected.lock()) + { + nm->add_notification(n); + related_notifications.push_back(n); + } + } + } + catch( const std::exception & e ) + { + auto error = e.what(); + } + } ); + + check_for_device_updates_thread.detach(); + } + + float device_model::draw_device_panel(float panel_width, + ux_window& window, + std::string& error_message, + viewer_model& viewer) + { + /* + ============================= + [o] [@] [i] [=] + Record Sync Info More + ============================= + */ + + + const bool is_playback_device = dev.is(); + const float device_panel_height = 60.0f; + auto panel_pos = ImGui::GetCursorPos(); + + ImGui::PushFont(window.get_large_font()); + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg); + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_grey); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5, 5)); + + //////////////////////////////////////// + // Draw recording icon + //////////////////////////////////////// + bool is_streaming = std::any_of(subdevices.begin(), subdevices.end(), [](const std::shared_ptr& sm) + { + return sm->streaming; + }); + textual_icon button_icon = is_recording ? textual_icons::stop : textual_icons::circle; + const float icons_width = 78.0f; + const ImVec2 device_panel_icons_size{ icons_width, 25 }; + std::string record_button_name = rsutils::string::from() << button_icon << "##" << id; + auto record_button_color = is_recording ? light_blue : light_grey; + ImGui::PushStyleColor(ImGuiCol_Text, record_button_color); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, record_button_color); + if (ImGui::ButtonEx(record_button_name.c_str(), device_panel_icons_size, (disable_record_button_logic(is_streaming, is_playback_device)) ? ImGuiButtonFlags_Disabled : 0)) + { + if (is_recording) //is_recording is changed inside stop/start_recording + { + stop_recording(viewer); + } + else + { + int recording_setting = config_file::instance().get(configurations::record::file_save_mode); + std::string path = ""; + std::string default_path = config_file::instance().get(configurations::record::default_path); + if (!ends_with(default_path, "/") && !ends_with(default_path, "\\")) default_path += "/"; + std::string default_filename = rs2::get_timestamped_file_name() + ".bag"; + if (recording_setting == 0 && default_path.size() > 1 ) + { + path = default_path + default_filename; + } + else + { + if (const char* ret = file_dialog_open(file_dialog_mode::save_file, "ROS-bag\0*.bag\0", + default_path.c_str(), default_filename.c_str())) + { + path = ret; + if (!ends_with(rsutils::string::to_lower(path), ".bag")) path += ".bag"; + } + } + + if (path != "") start_recording(path, error_message); + } + } + if (ImGui::IsItemHovered()) + { + std::string record_button_hover_text = get_record_button_hover_text(is_streaming); + ImGui::SetTooltip("%s", record_button_hover_text.c_str()); + if (is_streaming) window.link_hovered(); + } + + ImGui::PopStyleColor(2); + ImGui::SameLine(); + //////////////////////////////////////// + // Draw Sync icon + //////////////////////////////////////// + std::string sync_button_name = rsutils::string::from() << textual_icons::refresh << "##" << id; + bool is_sync_enabled = false; //TODO: use device's member + auto sync_button_color = is_sync_enabled ? light_blue : light_grey; + ImGui::PushStyleColor(ImGuiCol_Text, sync_button_color); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, sync_button_color); + if (ImGui::ButtonEx(sync_button_name.c_str(), device_panel_icons_size, ImGuiButtonFlags_Disabled)) + { + is_sync_enabled = !is_sync_enabled; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", is_sync_enabled ? "Disable streams synchronization" : "Enable streams synchronization"); + } + ImGui::PopStyleColor(2); + ImGui::SameLine(); + //////////////////////////////////////// + // Draw Info icon + //////////////////////////////////////// + draw_info_icon(window, window.get_font(), device_panel_icons_size); + ImGui::SameLine(); + + //////////////////////////////////////// + // Draw Menu icon + //////////////////////////////////////// + std::string label = rsutils::string::from() << "device_menu" << id; + std::string bars_button_name = rsutils::string::from() << textual_icons::bars << "##" << id; + if (ImGui::Button(bars_button_name.c_str(), device_panel_icons_size)) + { + ImGui::OpenPopup(label.c_str()); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Click for more"); + window.link_hovered(); + } + ImGui::PopFont(); + ImGui::PushFont(window.get_font()); + static bool keep_showing_advanced_mode_modal = false; + bool open_calibration_ui = false; + if (ImGui::BeginPopup(label.c_str())) + { + + bool something_to_show = false; + ImGui::PushStyleColor(ImGuiCol_Text, dark_grey); + + if (_allow_remove) + { + something_to_show = true; + + if (auto adv = dev.as()) + { + const bool is_advanced_mode_enabled = adv.is_enabled(); + bool selected = is_advanced_mode_enabled; + if (ImGui::MenuItem("Advanced Mode", nullptr, &selected)) + { + keep_showing_advanced_mode_modal = true; + } + + ImGui::Separator(); + } + + if (ImGui::Selectable("Hardware Reset")) + { + try + { + restarting_device_info = get_device_info(dev, false); + dev.hardware_reset(); + } + catch (const error& e) + { + error_message = error_to_string(e); + } + catch (const std::exception& e) + { + error_message = e.what(); + } + } + + // fw update disabled when any sensor is streaming + ImGuiSelectableFlags updateFwFlags = (is_streaming) ? ImGuiSelectableFlags_Disabled : 0; + + if (dev.is() || dev.is()) + { + if (ImGui::Selectable("Update Firmware...", false, updateFwFlags)) + { + begin_update({}, viewer, error_message); + } + if (ImGui::IsItemHovered()) + { + std::string tooltip = rsutils::string::from() + << "Install official signed firmware from file to the device" + << ( is_streaming ? " (Disabled while streaming)" : "" ); + ImGui::SetTooltip("%s", tooltip.c_str()); + } + + + if( dev.supports( RS2_CAMERA_INFO_PRODUCT_LINE ) + && ( dev.get_info( RS2_CAMERA_INFO_PRODUCT_LINE ) ) ) + { + if( ImGui::Selectable( "Check For Updates", false, updateFwFlags ) ) + { + // Remove all previous SW/FW update notifications before triggering checking for updates logic + for( auto && n : related_notifications ) + { + if( n->is< fw_update_notification_model >() + || n->is< sw_recommended_update_alert_model >() ) + n->dismiss( false ); // No need for snooze, if needed a new notification will be popped + } + + check_for_device_updates( viewer , true); + } + } + + if (ImGui::IsItemHovered()) + { + std::string tooltip = rsutils::string::from() << "Check for SW / FW updates"; + ImGui::SetTooltip("%s", tooltip.c_str()); + } + } + + bool is_locked = true; + if (dev.supports(RS2_CAMERA_INFO_CAMERA_LOCKED)) + is_locked = std::string(dev.get_info(RS2_CAMERA_INFO_CAMERA_LOCKED)) == "YES" ? true : false; + + if (dev.is() && !is_locked) + { + auto pl = dev.get_info(RS2_CAMERA_INFO_PRODUCT_LINE); + bool is_d400_device = (std::string(pl) == "D400"); + + if( is_d400_device ) + { + if (ImGui::Selectable("Update Unsigned Firmware...", false, updateFwFlags)) + { + begin_update_unsigned(viewer, error_message); + } + if (ImGui::IsItemHovered()) + { + std::string tooltip = rsutils::string::from() + << "Install non official unsigned firmware from file to the device" + << ( is_streaming ? " (Disabled while streaming)" : "" ); + ImGui::SetTooltip("%s", tooltip.c_str()); + } + } + } + } + + bool has_autocalib = false; + for (auto&& sub : subdevices) + { + if (sub->supports_on_chip_calib() && !has_autocalib) + { + something_to_show = true; + + std::string device_pid = sub->s->supports(RS2_CAMERA_INFO_PRODUCT_ID) ? sub->s->get_info(RS2_CAMERA_INFO_PRODUCT_ID) : "unknown"; + std::string device_usb_type = sub->s->supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR) ? sub->s->get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR) : "unknown"; + + bool show_disclaimer = val_in_range(device_pid, { std::string("0AD2"), std::string("0AD3") }); // Specific for D410/5 + bool disable_fl_cal = (((device_pid == "0B5C") || show_disclaimer) && + (!starts_with(device_usb_type, "3."))); // D410/D15/D455@USB2 + + if (ImGui::Selectable("On-Chip Calibration")) + { + try + { + if (show_disclaimer) + { + auto disclaimer_notice = std::make_shared(); + viewer.not_model->add_notification(disclaimer_notice); + } + + auto manager = std::make_shared(viewer, sub, *this, dev); + auto n = std::make_shared("", manager, false); + viewer.not_model->add_notification(n); + n->forced = true; + n->update_state = autocalib_notification_model::RS2_CALIB_STATE_SELF_INPUT; + + for (auto&& n : related_notifications) + if (dynamic_cast(n.get())) + n->dismiss(false); + + related_notifications.push_back(n); + } + catch (const error& e) + { + error_message = error_to_string(e); + } + catch (const std::exception& e) + { + error_message = e.what(); + } + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("This will improve the depth noise.\n" + "Point at a scene that normally would have > 50 %% valid depth pixels,\n" + "then press calibrate." + "The health-check will be calculated.\n" + "If >0.25 we recommend applying the new calibration.\n" + "\"White wall\" mode should only be used when pointing at a flat white wall with projector on"); + + if (ImGui::Selectable("Focal Length Calibration")) + { + try + { + if (disable_fl_cal) + { + auto disable_fl_notice = std::make_shared(); + viewer.not_model->add_notification(disable_fl_notice); + } + else + { + std::shared_ptr< subdevice_model> sub_color; + for (auto&& sub2 : subdevices) + { + if (sub2->s->is()) + { + sub_color = sub2; + break; + } + } + + if (show_disclaimer) + { + auto disclaimer_notice = std::make_shared(); + viewer.not_model->add_notification(disclaimer_notice); + } + auto manager = std::make_shared(viewer, sub, *this, dev, sub_color); + auto n = std::make_shared("", manager, false); + viewer.not_model->add_notification(n); + n->forced = true; + n->update_state = autocalib_notification_model::RS2_CALIB_STATE_FL_INPUT; + + for (auto&& n : related_notifications) + if (dynamic_cast(n.get())) + n->dismiss(false); + + related_notifications.push_back(n); + manager->start_fl_viewer(); + } + } + catch (const error& e) + { + error_message = error_to_string(e); + } + catch (const std::exception& e) + { + error_message = e.what(); + } + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("Focal length calibration is used to adjust camera focal length with specific target."); + + if (ImGui::Selectable("Tare Calibration")) + { + try + { + if (show_disclaimer) + { + auto disclaimer_notice = std::make_shared(); + viewer.not_model->add_notification(disclaimer_notice); + } + auto manager = std::make_shared(viewer, sub, *this, dev); + auto n = std::make_shared("", manager, false); + viewer.not_model->add_notification(n); + n->forced = true; + n->update_state = autocalib_notification_model::RS2_CALIB_STATE_TARE_INPUT; + + for (auto&& n : related_notifications) + if (dynamic_cast(n.get())) + n->dismiss(false); + + related_notifications.push_back(n); + } + catch (const error& e) + { + error_message = error_to_string(e); + } + catch (const std::exception& e) + { + error_message = e.what(); + } + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("Tare calibration is used to adjust camera absolute distance to flat target.\n" + "User needs either to enter the known ground truth or use the get button\n" + "with specific target to get the ground truth."); + +//#define UVMAP_CAL +#ifdef UVMAP_CAL // Disabled due to stability and maturity levels + try + { + for (auto&& sub2 : subdevices) + { + if (sub2->s->is()) + { + if (ImGui::Selectable("UV-Mapping Calibration")) + { + if (show_disclaimer) + { + auto disclaimer_notice = std::make_shared(); + viewer.not_model->add_notification(disclaimer_notice); + } + auto manager = std::make_shared(viewer, sub, *this, dev, sub2, sub2->uvmapping_calib_full); + auto n = std::make_shared("", manager, false); + viewer.not_model->add_notification(n); + n->forced = true; + n->update_state = autocalib_notification_model::RS2_CALIB_STATE_UVMAPPING_INPUT; + + for (auto&& n : related_notifications) + if (dynamic_cast(n.get())) + n->dismiss(false); + + related_notifications.push_back(n); + manager->start_uvmapping_viewer(); + } + + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("UV-Mapping calibration is used to improve UV-Mapping with specific target."); + } + } + } + catch (const error& e) + { + error_message = error_to_string(e); + } + catch (const std::exception& e) + { + error_message = e.what(); + } +#endif //UVMAP_CAL + + //if (ImGui::Selectable("Focal Length Plus Calibration")) + //{ + // try + // { + // std::shared_ptr< subdevice_model> sub_color; + // for (auto&& sub2 : subdevices) + // { + // if (sub2->s->is()) + // { + // sub_color = sub2; + // break; + // } + // } + + // auto manager = std::make_shared(viewer, sub, *this, dev, sub_color); + // auto n = std::make_shared("", manager, false); + + // viewer.not_model->add_notification(n); + // n->forced = true; + // n->update_state = autocalib_notification_model::RS2_CALIB_STATE_FL_PLUS_INPUT; + + // for (auto&& n : related_notifications) + // if (dynamic_cast(n.get())) + // n->dismiss(false); + + // related_notifications.push_back(n); + // manager->start_fl_plus_viewer(); + // } + // catch (const error& e) + // { + // error_message = error_to_string(e); + // } + // catch (const std::exception& e) + // { + // error_message = e.what(); + // } + //} + //if (ImGui::IsItemHovered()) + // ImGui::SetTooltip("Focal length plus calibration is used to adjust camera focal length and principal points with specific target."); + + if (_calib_model.supports()) + { + if (ImGui::Selectable("Calibration Data")) + { + _calib_model.open(); + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("Access low level camera calibration parameters"); + } + + if (auto fwlogger = dev.as()) + { + if (ImGui::Selectable("Recover Logs from Flash")) + { + try + { + bool has_parser = false; + std::string hwlogger_xml = config_file::instance().get(configurations::viewer::hwlogger_xml); + std::ifstream f(hwlogger_xml.c_str()); + if (f.good()) + { + try + { + std::string str((std::istreambuf_iterator(f)), + std::istreambuf_iterator()); + fwlogger.init_parser(str); + has_parser = true; + } + catch (const std::exception& ex) + { + viewer.not_model->output.add_log( + RS2_LOG_SEVERITY_WARN, + __FILE__, + __LINE__, + rsutils::string::from() + << "Invalid Hardware Logger XML at '" << hwlogger_xml + << "': " << ex.what() << "\nEither configure valid XML or remove it" ); + } + } + + auto message = fwlogger.create_message(); + + while (fwlogger.get_flash_log(message)) + { + auto parsed = fwlogger.create_parsed_message(); + auto parsed_ok = false; + + if (has_parser) + { + if (fwlogger.parse_log(message, parsed)) + { + parsed_ok = true; + + viewer.not_model->output.add_log( message.get_severity(), + parsed.file_name(), + parsed.line(), + rsutils::string::from() + << "FW-LOG [" << parsed.thread_name() + << "] " << parsed.message() ); + } + } + + if (!parsed_ok) + { + std::stringstream ss; + for (auto& elem : message.data()) + ss << std::setfill('0') << std::setw(2) << std::hex << static_cast(elem) << " "; + viewer.not_model->output.add_log(message.get_severity(), __FILE__, 0, ss.str()); + } + } + } + catch(const std::exception& ex) + { + viewer.not_model->output.add_log( + RS2_LOG_SEVERITY_WARN, + __FILE__, + __LINE__, + rsutils::string::from() << "Failed to fetch firmware logs: " << ex.what() ); + } + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("Recovers last set of firmware logs prior to camera shutdown / disconnect"); + } + + has_autocalib = true; + } + } + if (!has_autocalib) + { + bool selected = false; + something_to_show = true; + ImGui::Selectable("On-Chip Calibration", &selected, ImGuiSelectableFlags_Disabled); + ImGui::Selectable("Tare Calibration", &selected, ImGuiSelectableFlags_Disabled); + } + + if (!something_to_show) + { + ImGui::Text("This device has no additional options"); + } + + ImGui::PopStyleColor(); + + ImGui::EndPopup(); + + } + + + if (keep_showing_advanced_mode_modal) + { + const bool is_advanced_mode_enabled = dev.as().is_enabled(); + std::string msg = rsutils::string::from() + << "\t\tAre you sure you want to " + << ( is_advanced_mode_enabled ? "turn off Advanced mode" : "turn on Advanced mode" ) + << "\t\t"; + keep_showing_advanced_mode_modal = prompt_toggle_advanced_mode(!is_advanced_mode_enabled, msg, restarting_device_info, viewer, window, error_message); + } + + _calib_model.update(window, error_message); + + + //////////////////////////////////////// + // Draw icons names + //////////////////////////////////////// + //Move to next line, and we want to keep the horizontal alignment + ImGui::SetCursorPos({ panel_pos.x, ImGui::GetCursorPosY() }); + //Using transparent-non-actionable buttons to have the same locations + ImGui::PushStyleColor(ImGuiCol_Button, ImColor(0, 0, 0, 0)); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, ImColor(0, 0, 0, 0)); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, ImColor(0, 0, 0, 0)); + const ImVec2 device_panel_icons_text_size = { icons_width, 5 }; + + ImGui::PushStyleColor(ImGuiCol_Text, record_button_color); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, record_button_color); + ImGui::ButtonEx(is_recording ? "Stop" : "Record", device_panel_icons_size, (!is_streaming ? ImGuiButtonFlags_Disabled : 0)); + if (ImGui::IsItemHovered() && is_streaming) window.link_hovered(); + ImGui::PopStyleColor(2); + + ImGui::SameLine(); ImGui::ButtonEx("Sync", device_panel_icons_size, ImGuiButtonFlags_Disabled); + + auto info_button_color = show_device_info ? light_blue : light_grey; + ImGui::PushStyleColor(ImGuiCol_Text, info_button_color); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, info_button_color); + ImGui::SameLine(); ImGui::ButtonEx("Info", device_panel_icons_size); + if (ImGui::IsItemHovered()) window.link_hovered(); + ImGui::PopStyleColor(2); + + ImGui::SameLine(); ImGui::ButtonEx("More", device_panel_icons_size); + if (ImGui::IsItemHovered()) window.link_hovered(); + ImGui::PopStyleColor(3); + + ImGui::PopStyleVar(); + ImGui::PopStyleColor(7); + ImGui::PopFont(); + + return device_panel_height; + } + + void device_model::save_viewer_configurations(std::ofstream& outfile, json& j) + { + for (auto&& sub : subdevices) + { + int num_irs = 0; + bool video_profile_saved = false; + for (auto&& p : sub->get_selected_profiles()) + { + rs2_stream stream_type = p.stream_type(); + std::string stream_format_key + = rsutils::string::from() + << "stream-" << rsutils::string::to_lower( rs2_stream_to_string( stream_type ) ) << "-format"; + std::string stream_format_value = rs2_format_to_string(p.format()); + + if (stream_type == RS2_STREAM_DEPTH) + { + stream_format_key = "stream-depth-format"; + } + else if (stream_type == RS2_STREAM_INFRARED) + { + stream_format_key = "stream-ir-format"; + num_irs++; + if (num_irs == 2) + { + stream_format_value = "R8L8"; + } + } + else + { + continue; //TODO: Ignoring other streams for now + } + + j[stream_format_key] = stream_format_value; + if (!video_profile_saved) + { + if (auto vp = p.as()) + { + j["stream-width"] = std::to_string(vp.width()); + j["stream-height"] = std::to_string(vp.height()); + j["stream-fps"] = std::to_string(vp.fps()); + video_profile_saved = true; + } + } + } + } + } + + void rs2::device_model::handle_online_sw_update( + std::shared_ptr< notifications_model > nm, + std::shared_ptr< dev_updates_profile::update_profile > update_profile, + bool reset_delay ) + { + dev_updates_profile::version_info recommended_sw_update_info; + update_profile->get_sw_update(sw_update::RECOMMENDED, recommended_sw_update_info); + auto n = std::make_shared< sw_recommended_update_alert_model >( + RS2_API_FULL_VERSION_STR, + recommended_sw_update_info.ver, + recommended_sw_update_info.download_link); + + auto dev_name = get_device_name(dev); + // The SW update delay ID include the dismissed recommended version and the device serial number + // This way a newer SW recommended version will not be dismissed. + n->delay_id = "sw_update_alert." + std::string(recommended_sw_update_info.ver) + "." + dev_name.second; + n->enable_complex_dismiss = true; // allow advanced dismiss menu + + if ( reset_delay ) n->reset_delay(); + + if (!n->is_delayed()) + { + nm->add_notification(n); + related_notifications.push_back(n); + } + } + + bool rs2::device_model::handle_online_fw_update( + const context & ctx, + std::shared_ptr< notifications_model > nm, + std::shared_ptr< dev_updates_profile::update_profile > update_profile, + bool reset_delay ) + { + bool fw_update_notification_raised = false; + std::shared_ptr< firmware_update_manager > manager = nullptr; + + std::vector< uint8_t > fw_data; + http::http_downloader downloader; + + // Try to download the recommended FW binary file + int download_retries = 3; + dev_updates_profile::version_info recommended_fw_update_info; + update_profile->get_fw_update(sw_update::RECOMMENDED, recommended_fw_update_info); + + while (download_retries > 0) + { + if (downloader.download_to_bytes_vector( + recommended_fw_update_info.download_link, + fw_data)) + download_retries = 0; + else + --download_retries; + } + + // If the download process finished successfully, pop up a + // notification for the FW update process + if (!fw_data.empty()) + { + manager = std::make_shared< firmware_update_manager >(nm, + *this, + dev, + ctx, + fw_data, + true); + + auto dev_name = get_device_name(dev); + std::stringstream msg; + msg << dev_name.first << " (S/N " << dev_name.second << ")\n" + << "Current Version: " + << std::string(update_profile->firmware_version) << "\n"; + + msg << "Recommended Version: " + << std::string(recommended_fw_update_info.ver); + + auto n = std::make_shared< fw_update_notification_model >( + msg.str(), + manager, + false); + n->delay_id = "fw_update_alert." + std::string(recommended_fw_update_info.ver) + "." + dev_name.second; + n->enable_complex_dismiss = true; + + if ( reset_delay ) n->reset_delay(); + + if (!n->is_delayed()) + { + nm->add_notification(n); + related_notifications.push_back(n); + fw_update_notification_raised = true; + } + } + else + nm->output.add_log( RS2_LOG_SEVERITY_WARN, + __FILE__, + __LINE__, + rsutils::string::from() << "Error in downloading FW binary file: " + << recommended_fw_update_info.download_link ); + + return fw_update_notification_raised; + } + + // Load viewer configuration for stereo module (depth/infrared streams) only + void device_model::load_viewer_configurations(const std::string& json_str) + { + json j; + json raw_j = json::parse(json_str); + + // If the viewer contain a viewer section, look inside it for the viewer parameters, + // for backward compatibility, if no viewer section exist, look at the root level + auto viewer_section = raw_j.find("viewer"); + j = (viewer_section != raw_j.end()) ? viewer_section.value() : raw_j; + + struct video_stream + { + rs2_format format = RS2_FORMAT_ANY; + int width = 0; + int height = 0; + int fps = 0; + }; + + std::map, video_stream> requested_streams; + + auto it = j.find("stream-depth-format"); + if (it != j.end()) + { + assert(it.value().is_string()); + std::string formatstr = it.value(); + bool found = false; + for (int i = 0; i < static_cast(RS2_FORMAT_COUNT); i++) + { + auto f = static_cast(i); + auto fstr = rs2_format_to_string(f); + if (formatstr == fstr) + { + requested_streams[std::make_pair(RS2_STREAM_DEPTH, 0)].format = f; + found = true; + break; + } + } + if (!found) + { + throw std::runtime_error( rsutils::string::from() << "Unsupported stream-depth-format: " << formatstr ); + } + + // Disable depth stream on all sub devices + for (auto&& sub : subdevices) + { + for (auto&& profile : sub->profiles) + { + if (profile.stream_type() == RS2_STREAM_DEPTH) + { + sub->stream_enabled[profile.unique_id()] = false; + break; + } + } + } + } + + it = j.find("stream-ir-format"); + if (it != j.end()) + { + assert(it.value().is_string()); + std::string formatstr = it.value(); + + bool found = false; + for (int i = 0; i < RS2_FORMAT_COUNT; i++) + { + auto format = (rs2_format)i; + if (ends_with(rs2_format_to_string(format), formatstr)) + { + requested_streams[std::make_pair(RS2_STREAM_INFRARED, 1)].format = format; + found = true; + } + } + + if (!found) + { + if (formatstr == "R8L8") + { + requested_streams[std::make_pair(RS2_STREAM_INFRARED, 1)].format = RS2_FORMAT_Y8; + requested_streams[std::make_pair(RS2_STREAM_INFRARED, 2)].format = RS2_FORMAT_Y8; + } + else + { + throw std::runtime_error( rsutils::string::from() + << "Unsupported stream-ir-format: " << formatstr ); + } + } + + // Disable infrared stream on all sub devices + for (auto&& sub : subdevices) + { + for (auto&& profile : sub->profiles) + { + if (profile.stream_type() == RS2_STREAM_INFRARED) + { + sub->stream_enabled[profile.unique_id()] = false; + break; + } + } + } + } + + // Setting the same Width,Height,FPS to every requested stereo module streams (depth,infrared) according to loaded JSON + if (!requested_streams.empty()) + { + try + { + std::string wstr = j["stream-width"]; + std::string hstr = j["stream-height"]; + std::string fstr = j["stream-fps"]; + int width = std::stoi(wstr); + int height = std::stoi(hstr); + int fps = std::stoi(fstr); + for (auto& kvp : requested_streams) + { + kvp.second.width = width; + kvp.second.height = height; + kvp.second.fps = fps; + } + } + catch (const std::exception& e) + { + throw std::runtime_error( rsutils::string::from() << "Error parsing streams from JSON: " << e.what() ); + } + } + + // Enable requested stereo module streams (depth,infrared) + for (auto&& kvp : requested_streams) + { + std::string stream_name = rsutils::string::from() + << rs2_stream_to_string( kvp.first.first ) + << ( kvp.first.second > 0 ? ( " " + std::to_string( kvp.first.second ) ) : "" ); + for (auto&& sub : subdevices) + { + auto itr = std::find_if(sub->stream_display_names.begin(), sub->stream_display_names.end(), [stream_name](const std::pair& p) { return p.second == stream_name; }); + if (itr != sub->stream_display_names.end()) + { + int uid = itr->first; + sub->stream_enabled[uid] = true; + + //Find format + size_t format_id = 0; + rs2_format requested_format = kvp.second.format; + for (; format_id < sub->format_values[uid].size(); format_id++) + { + if (sub->format_values[uid][format_id] == requested_format) + break; + } + if (format_id == sub->format_values[uid].size()) + { + throw std::runtime_error( rsutils::string::from() + << "No match found for requested format: " << requested_format ); + } + sub->ui.selected_format_id[uid] = static_cast(format_id); + + //Find fps + int requested_fps = kvp.second.fps; + size_t fps_id = 0; + for (; fps_id < sub->shared_fps_values.size(); fps_id++) + { + if (sub->shared_fps_values[fps_id] == requested_fps) + break; + } + if (fps_id == sub->shared_fps_values.size()) + { + throw std::runtime_error( rsutils::string::from() + << "No match found for requested fps: " << requested_fps ); + } + sub->ui.selected_shared_fps_id = static_cast(fps_id); + + //Find Resolution + std::pair requested_res{ kvp.second.width,kvp.second.height }; + size_t res_id = 0; + for (; res_id < sub->res_values.size(); res_id++) + { + if (sub->res_values[res_id] == requested_res) + break; + } + if (res_id == sub->res_values.size()) + { + throw std::runtime_error( rsutils::string::from() + << "No match found for requested resolution: " << requested_res.first + << "x" << requested_res.second ); + } + if (!sub->ui.is_multiple_resolutions) + sub->ui.selected_res_id = static_cast(res_id); + else + { + int depth_res_id, ir1_res_id, ir2_res_id; + sub->get_depth_ir_mismatch_resolutions_ids(depth_res_id, ir1_res_id, ir2_res_id); + + if (kvp.first.first == RS2_STREAM_DEPTH) + sub->ui.selected_res_id_map[depth_res_id] = static_cast(res_id); + else + { + sub->ui.selected_res_id_map[ir1_res_id] = static_cast(res_id); + sub->ui.selected_res_id_map[ir2_res_id] = static_cast(res_id); + } + } + } + } + } + } + + float device_model::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) + { + const float panel_height = 40.f; + + auto panel_pos = ImGui::GetCursorPos(); + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg); + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_grey); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5, 5)); + ImGui::PushFont(window.get_font()); + auto serializable = dev.as(); + + const auto load_json = [&, serializable](const std::string f) { + std::ifstream file(f); + if (!file.good()) + { + //Failed to read file, removing it from the available ones + advanced_mode_settings_file_names.erase(f); + selected_file_preset.clear(); + throw std::runtime_error( rsutils::string::from() << "Failed to read configuration file:\n\"" << f + << "\"\nRemoving it from presets." ); + } + std::string str((std::istreambuf_iterator(file)), std::istreambuf_iterator()); + + if (serializable) + { + serializable.load_json(str); + for (auto&& sub : subdevices) + { + //If json was loaded correctly, we want the presets combo box to show the name of the configuration file + // And as a workaround, set the current preset to "custom", so that if the file is removed the preset will show "custom" + if (auto dpt = sub->s->as()) + { + auto itr = sub->options_metadata.find(RS2_OPTION_VISUAL_PRESET); + if (itr != sub->options_metadata.end()) + { + itr->second.endpoint->set_option(RS2_OPTION_VISUAL_PRESET, RS2_RS400_VISUAL_PRESET_CUSTOM); + } + } + } + } + load_viewer_configurations(str); + get_curr_advanced_controls = true; + advanced_mode_settings_file_names.insert(f); + selected_file_preset = f; + viewer.not_model->add_log( rsutils::string::from() << "Loaded settings from \"" << f << "\"..." ); + }; + + const auto save_to_json = [&, serializable](std::string full_filename) + { + if (!ends_with(rsutils::string::to_lower(full_filename), ".json")) full_filename += ".json"; + std::ofstream outfile(full_filename); + + json j; + json *saved_configuraion = nullptr; + + // place all of the viewer parameters under a viewer section + if (serializable) + { + j = json::parse(serializable.serialize_json()); + j["viewer"] = json::object(); + saved_configuraion = &j["viewer"]; // point to the viewer section inside the root + } + else + { + saved_configuraion = &j; + } + + + save_viewer_configurations(outfile, *saved_configuraion); + outfile << j.dump(4); // output all the data to the file (starting at the root) + outfile.close(); + advanced_mode_settings_file_names.insert(full_filename); + selected_file_preset = full_filename; + viewer.not_model->add_log( rsutils::string::from() << "Saved settings to \"" << full_filename << "\"..."); + + }; + static const std::string popup_message = "\t\tTo use this feature, the device must be in Advanced Mode.\t\t\n\n\t\tWould you like to turn Advanced Mode?\t\t"; + //////////////////////////////////////// + // Draw Combo Box + //////////////////////////////////////// + for (auto&& sub : subdevices) + { + if (auto dpt = sub->s->as()) + { + if (dpt.supports(RS2_OPTION_VISUAL_PRESET)) + { + ImGui::SetCursorPos({ panel_pos.x + 8, ImGui::GetCursorPosY() + 10 }); + //TODO: set this once! + const auto draw_preset_combo_box = [&](option_model& opt_model, std::string& error_message, notifications_model& model) + { + bool is_clicked = false; + assert(opt_model.opt == RS2_OPTION_VISUAL_PRESET); + ImGui::Text("Preset: "); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Select a preset configuration (or use the load button)"); + } + + ImGui::SameLine(); + ImGui::PushItemWidth(185); + + /////////////////////////////////////////// + //TODO: make this a member function + int selected; + std::vector< const char * > labels = opt_model.get_combo_labels( &selected ); + std::vector< float > counters; + for (auto i = opt_model.range.min; i <= opt_model.range.max; i += opt_model.range.step) + counters.push_back(i); + /////////////////////////////////////////// + + ImGui_ScopePushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui_ScopePushStyleColor(ImGuiCol_Button, button_color); + ImGui_ScopePushStyleColor(ImGuiCol_ButtonHovered, button_color + 0.1f); + ImGui_ScopePushStyleColor(ImGuiCol_ButtonActive, button_color + 0.1f); + ImVec2 padding{ 2,2 }; + ImGui_ScopePushStyleVar(ImGuiStyleVar_FramePadding, padding); + /////////////////////////////////////////// + // Go over the loaded files and add them to the combo box + std::vector full_files_names(advanced_mode_settings_file_names.begin(), advanced_mode_settings_file_names.end()); + std::vector files_labels; + int i = static_cast(labels.size()); + for (auto&& file : full_files_names) + { + files_labels.push_back(get_file_name(file)); + if (selected_file_preset == file) + { + selected = i; + } + i++; + } + std::transform(files_labels.begin(), files_labels.end(), std::back_inserter(labels), [](const std::string& s) { return s.c_str(); }); + + try + { + if (ImGui::Combo(opt_model.id.c_str(), &selected, labels.data(), + static_cast(labels.size()))) + { + *opt_model.invalidate_flag = true; + + auto advanced = dev.as(); + if (advanced) + if (!advanced.is_enabled()) + sub->draw_advanced_mode_prompt = false; + + + if (!sub->draw_advanced_mode_prompt) + { + if (selected < static_cast(labels.size() - files_labels.size())) + { + //Known preset was chosen + auto new_val = counters[selected]; + model.add_log(rsutils::string::from() + << "Setting " << opt_model.opt << " to " << new_val << " (" + << labels[selected] << ")"); + + opt_model.set_option(opt_model.opt, static_cast(new_val), error_message); + + // Only apply preset to GUI if set_option was succesful + selected_file_preset = ""; + is_clicked = true; + } + else + { + //File was chosen + auto file = selected - static_cast(labels.size() - files_labels.size()); + if (file < 0 || file >= full_files_names.size()) + throw std::runtime_error("not a valid format"); + auto f = full_files_names[file]; + error_message = safe_call([&]() { load_json(f); }); + selected_file_preset = f; + } + } + } + if (sub->draw_advanced_mode_prompt) + { + sub->draw_advanced_mode_prompt = prompt_toggle_advanced_mode(true, popup_message, restarting_device_info, viewer, window, error_message); + } + } + catch (const error& e) + { + error_message = error_to_string(e); + } + + ImGui::PopItemWidth(); + return is_clicked; + }; + sub->options_metadata[RS2_OPTION_VISUAL_PRESET].custom_draw_method = draw_preset_combo_box; + if (sub->draw_option(RS2_OPTION_VISUAL_PRESET, dev.is() || update_read_only_options, error_message, *viewer.not_model)) + { + get_curr_advanced_controls = true; + selected_file_preset.clear(); + } + } + } + } + + ImGui::SameLine(); + const ImVec2 icons_size{ 20, 20 }; + //TODO: Change this once we have support for loading jsons with more data than only advanced controls + bool is_streaming = std::any_of(subdevices.begin(), subdevices.end(), [](const std::shared_ptr& sm) { return sm->streaming; }); + const int buttons_flags = serializable ? 0 : ImGuiButtonFlags_Disabled; + static bool require_advanced_mode_enable_prompt = false; + auto advanced_dev = dev.as(); + auto is_advanced_device = false; + auto is_advanced_mode_enabled = false; + if (advanced_dev) + { + is_advanced_device = true; + try + { + // Prevent intermittent errors in polling mode to keep imgui in sync + is_advanced_mode_enabled = advanced_dev.is_enabled(); + } + catch (...){} + } + + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 3); + + //////////////////////////////////////// + // Draw Load Icon + //////////////////////////////////////// + std::string upload_button_name = rsutils::string::from() << textual_icons::upload << "##" << id; + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_grey); + + if (ImGui::ButtonEx(upload_button_name.c_str(), icons_size, (is_streaming && !load_json_if_streaming) ? ImGuiButtonFlags_Disabled : buttons_flags)) + { + if (serializable && (!is_advanced_device || is_advanced_mode_enabled)) + { + json_loading([&]() + { + for( auto && sub : subdevices ) + { + if( auto dpt = sub->s->as< depth_sensor >() ) + { + sub->_options_invalidated = true; + } + } + auto ret = file_dialog_open(open_file, "JavaScript Object Notation (JSON | PRESET)\0*.json;*.preset\0", NULL, NULL); + if (ret) + { + error_message = safe_call([&]() { load_json(ret); }); + } + }); + } + else + { + require_advanced_mode_enable_prompt = true; + } + } + + if (ImGui::IsItemHovered()) + { + std::string tooltip = rsutils::string::from() + << "Load pre-configured device settings" + << ( is_streaming && ! load_json_if_streaming ? " (Disabled while streaming)" : "" ); + ImGui::SetTooltip("%s", tooltip.c_str()); + } + + ImGui::SameLine(); + + //////////////////////////////////////// + // Draw Save Icon + //////////////////////////////////////// + std::string save_button_name = rsutils::string::from() << textual_icons::download << "##" << id; + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 1); //Align the two icons to buttom + if (ImGui::ButtonEx(save_button_name.c_str(), icons_size, buttons_flags)) + { + if (serializable && (!is_advanced_device || is_advanced_mode_enabled)) + { + auto ret = file_dialog_open(save_file, "JavaScript Object Notation (JSON)\0*.json\0", NULL, NULL); + if (ret) + { + error_message = safe_call([&]() { save_to_json(ret); }); + } + } + else + { + require_advanced_mode_enable_prompt = true; + } + + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Save current device settings to file"); + } + ImGui::PopStyleColor(2); + ImGui::SameLine(); + + if (require_advanced_mode_enable_prompt) + { + require_advanced_mode_enable_prompt = prompt_toggle_advanced_mode(true, popup_message, restarting_device_info, viewer, window, error_message); + } + + ImGui::PopFont(); + ImGui::PopStyleVar(); + ImGui::PopStyleColor(7); + + return panel_height; + } + + + bool rs2::device_model::is_streaming() const + { + return std::any_of(subdevices.begin(), subdevices.end(), [](const std::shared_ptr& sm) + { + return sm->streaming; + }); + } + + void device_model::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>& draw_later, + bool load_json_if_streaming, + json_loading_func json_loading, + bool draw_device_outline) + { + //////////////////////////////////////// + // draw device header + //////////////////////////////////////// + const bool is_playback_device = dev.is(); + bool is_ip_device = dev.supports(RS2_CAMERA_INFO_IP_ADDRESS); + auto header_h = panel_height; + if (is_playback_device || is_ip_device) header_h += 15; + + ImColor device_header_background_color = title_color; + const float left_space = 3.f; + const float upper_space = 3.f; + + bool update_read_only_options = false; // _update_readonly_options_timer; + + const ImVec2 initial_screen_pos = ImGui::GetCursorScreenPos(); + //Upper Space + ImGui::GetWindowDrawList()->AddRectFilled({ initial_screen_pos.x,initial_screen_pos.y }, { initial_screen_pos.x + panel_width,initial_screen_pos.y + upper_space }, ImColor(black)); + if (draw_device_outline) + { + //Upper Line + ImGui::GetWindowDrawList()->AddLine({ initial_screen_pos.x,initial_screen_pos.y + upper_space }, { initial_screen_pos.x + panel_width,initial_screen_pos.y + upper_space }, ImColor(header_color)); + } + //Device Header area + ImGui::GetWindowDrawList()->AddRectFilled({ initial_screen_pos.x + 1,initial_screen_pos.y + upper_space + 1 }, { initial_screen_pos.x + panel_width, initial_screen_pos.y + header_h + upper_space }, device_header_background_color); + + auto pos = ImGui::GetCursorPos(); + ImGui::PushFont(window.get_large_font()); + ImGui::PushStyleColor(ImGuiCol_Button, device_header_background_color); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, device_header_background_color); + + //////////////////////////////////////// + // Draw device name + //////////////////////////////////////// + const ImVec2 name_pos = { pos.x + 9, pos.y + 17 }; + ImGui::SetCursorPos(name_pos); + std::stringstream ss; + if (dev.supports(RS2_CAMERA_INFO_NAME)) + ss << dev.get_info(RS2_CAMERA_INFO_NAME); + if (is_ip_device) + { + ImGui::Text(" %s", ss.str().substr(0, ss.str().find("\n IP Device")).c_str()); + + ImGui::PushFont(window.get_font()); + ImGui::Text("\tNetwork Device at %s", dev.get_info(RS2_CAMERA_INFO_IP_ADDRESS)); + ImGui::PopFont(); + } + else + { + ImGui::Text(" %s", ss.str().c_str()); + + if (dev.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR)) + { + std::string desc = dev.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR); + ss.str(""); + ss << " " << textual_icons::usb_type << " " << desc; + ImGui::SameLine(); + if (!starts_with(desc, "3.")) ImGui::PushStyleColor(ImGuiCol_Text, yellow); + else ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::Text(" %s", ss.str().c_str()); + ImGui::PopStyleColor(); + ss.str(""); + ss << "The camera was detected by the OS as connected to a USB " << desc << " port"; + ImGui::PushFont(window.get_font()); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip(" %s", ss.str().c_str()); + ImGui::PopStyleColor(); + ImGui::PopFont(); + } + else if(dev.supports(RS2_CAMERA_INFO_PRODUCT_ID)) + { + std::string device_pid = dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID); + if(device_pid == "ABCD")// Specific for D457 + { + ss.str( "" ); + ss << " " << "GMSL"; + ImGui::SameLine(); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text(" %s", ss.str().c_str()); + ImGui::PopStyleColor(); + } + else if(device_pid == "DDS") + { + ss.str( "" ); + ss << " " << "DDS"; + ImGui::SameLine(); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text(" %s", ss.str().c_str()); + ImGui::PopStyleColor(); + } + } + } + + //ImGui::Text(" %s", dev.get_info(RS2_CAMERA_INFO_NAME)); + ImGui::PopFont(); + + //////////////////////////////////////// + // Draw X Button + //////////////////////////////////////// + ImGui::PushFont(window.get_font()); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_grey); + ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg); + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_blue); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5, 5)); + if (_allow_remove) + { + ImGui::Columns(1); + float horizontal_distance_from_right_side_of_panel = 47; + ImGui::SetCursorPos({ panel_width - horizontal_distance_from_right_side_of_panel, pos.y + 9 + (header_h - panel_height) / 2 }); + std::string remove_source_button_label = rsutils::string::from() << textual_icons::times << "##" << id; + if (ImGui::Button(remove_source_button_label.c_str(), { 33,35 })) + { + for (auto&& sub : subdevices) + { + if (sub->streaming) + sub->stop(viewer.not_model); + } + device_to_remove = this; + } + + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Remove selected device from current view\n(can be restored by clicking Add Source)"); + window.link_hovered(); + } + } + ImGui::PopStyleColor(4); + ImGui::PopStyleVar(); + ImGui::PopFont(); + + //////////////////////////////////////// + // Draw playback file name + //////////////////////////////////////// + ImGui::SetCursorPos({ pos.x + 10, pos.y + panel_height - 9 }); + if (auto p = dev.as()) + { + ImGui::PushFont(window.get_font()); + auto full_path = p.file_name(); + auto filename = get_file_name(full_path); + std::string file_name_and_icon = rsutils::string::from() << " " << textual_icons::file_movie << " File: \"" << filename << "\""; + ImGui::Text("%s", file_name_and_icon.c_str()); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", full_path.c_str()); + ImGui::PopFont(); + } + ImGui::SetCursorPos({ 0, pos.y + header_h }); + + //////////////////////////////////////// + // draw device control panel + //////////////////////////////////////// + if (!is_playback_device) //Not displaying these controls for playback devices (since only info is supported) + { + pos = ImGui::GetCursorPos(); + const float vertical_space_before_device_control = 10.0f; + const float horizontal_space_before_device_control = 3.0f; + auto device_panel_pos = ImVec2{ pos.x + horizontal_space_before_device_control, pos.y + vertical_space_before_device_control }; + ImGui::SetCursorPos(device_panel_pos); + const float device_panel_height = draw_device_panel(panel_width, window, error_message, viewer); + ImGui::SetCursorPos({ device_panel_pos.x, device_panel_pos.y + device_panel_height }); + } + + //////////////////////////////////////// + // draw advanced mode panel + //////////////////////////////////////// + auto serialize = dev.is(); + if (serialize) + { + pos = ImGui::GetCursorPos(); + const float vertical_space_before_advanced_mode_control = 10.0f; + const float horizontal_space_before_device_control = 3.0f; + auto advanced_mode_pos = ImVec2{ pos.x + horizontal_space_before_device_control, pos.y + vertical_space_before_advanced_mode_control }; + ImGui::SetCursorPos(advanced_mode_pos); + const float advanced_mode_panel_height = draw_preset_panel(panel_width, window, error_message, viewer, update_read_only_options, load_json_if_streaming, json_loading); + ImGui::SetCursorPos({ advanced_mode_pos.x, advanced_mode_pos.y + advanced_mode_panel_height }); + } + + //////////////////////////////////////// + // draw playback control panel + //////////////////////////////////////// + if (auto p = dev.as()) + { + pos = ImGui::GetCursorPos(); + float space_before_playback_control = 18.0f; + auto playback_panel_pos = ImVec2{ pos.x + 10, pos.y + space_before_playback_control }; + ImGui::SetCursorPos(playback_panel_pos); + auto playback_panel_height = draw_playback_panel(window, window.get_font(), viewer); + ImGui::SetCursorPos({ playback_panel_pos.x, playback_panel_pos.y + playback_panel_height }); + } + + bool is_streaming = std::any_of(subdevices.begin(), subdevices.end(), [](const std::shared_ptr& sm) + { + return sm->streaming; + }); + + pos = ImGui::GetCursorPos(); + + ImVec2 rc; + + int info_control_panel_height = 0; + if (show_device_info) + { + ImGui::PushFont(window.get_font()); + int line_h = 22; + info_control_panel_height = (int)infos.size() * line_h + 5; + for (auto&& pair : infos) + { + rc = ImGui::GetCursorPos(); + ImGui::SetCursorPos({ rc.x + 12, rc.y + 4 }); + std::string info_category; + if (pair.first == "Recommended Firmware Version") + { + info_category = "Min FW Version"; + } + else + { + info_category = pair.first.c_str(); + } + ImGui::Text("%s:", info_category.c_str()); + ImGui::SameLine(); + ImGui::PushStyleColor(ImGuiCol_FrameBg, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::SetCursorPos({ rc.x + 9.f * window.get_font_size(), rc.y + 1 }); + std::string label = rsutils::string::from() << "##" << id << " " << pair.first; + ImGui::InputText(label.c_str(), + (char*)pair.second.data(), + pair.second.size() + 1, + ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(3); + ImGui::SetCursorPos({ rc.x, rc.y + line_h }); + } + + ImGui::SetCursorPos({ rc.x + 225, rc.y - 107 }); + ImGui::PopFont(); + } + + ImGui::SetCursorPos({ 0, pos.y + info_control_panel_height }); + ImGui::PopStyleColor(2); + + auto sensor_top_y = ImGui::GetCursorPosY(); + ImGui::SetContentRegionWidth(windows_width - 36); + + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushFont(window.get_font()); + + // Draw menu foreach subdevice with its properties + for (auto&& sub : subdevices) + { + if (show_depth_only && !sub->s->is()) continue; + + const ImVec2 pos = ImGui::GetCursorPos(); + //const ImVec2 abs_pos = ImGui::GetCursorScreenPos(); + //model_to_y[sub.get()] = pos.y; + //model_to_abs_y[sub.get()] = abs_pos.y; + + if (!show_depth_only) + { + draw_later.push_back([&error_message, windows_width, &window, sub, pos, &viewer, this]() + { + bool stop_recording = false; + + ImGui::SetCursorPos({ windows_width - 42, pos.y + 3 }); + ImGui_ScopePushFont(window.get_font()); + + ImGui_ScopePushStyleColor(ImGuiCol_Button, sensor_bg); + ImGui_ScopePushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); + ImGui_ScopePushStyleColor(ImGuiCol_ButtonActive, sensor_bg); + + int font_size = window.get_font_size(); + ImVec2 button_size = { font_size * 1.9f, font_size * 1.9f }; + + if (!sub->streaming) + { + std::string label = rsutils::string::from() + << " " << textual_icons::toggle_off << "\noff ##" << id << "," + << sub->s->get_info( RS2_CAMERA_INFO_NAME ); + + ImGui_ScopePushStyleColor(ImGuiCol_Text, redish); + ImGui_ScopePushStyleColor(ImGuiCol_TextSelectedBg, redish + 0.1f); + + std::vector profiles; + auto is_comb_supported = sub->is_selected_combination_supported(); + bool can_stream = false; + if (is_comb_supported) + can_stream = true; + else + { + profiles = sub->get_supported_profiles(); + if (!profiles.empty()) + can_stream = true; + else + { + std::string text = rsutils::string::from() << " " << textual_icons::toggle_off << "\noff "; + ImGui::TextDisabled("%s", text.c_str()); + if (std::any_of(sub->stream_enabled.begin(), sub->stream_enabled.end(), [](std::pair const& s) { return s.second; })) + { + if (ImGui::IsItemHovered()) + { + // ImGui::SetTooltip("Selected configuration (FPS, Resolution) is not supported"); + ImGui::SetTooltip("Selected value is not supported"); + } + } + else + { + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("No stream selected"); + } + } + } + } + if (can_stream) + { + if( ImGui::Button( label.c_str(), button_size ) ) + { + if (profiles.empty()) // profiles might be already filled + profiles = sub->get_selected_profiles(); + try + { + if (!dev_syncer) + dev_syncer = viewer.syncer->create_syncer(); + + std::string friendly_name = sub->s->get_info(RS2_CAMERA_INFO_NAME); + if (((friendly_name.find("Tracking") != std::string::npos) || + (friendly_name.find("Motion") != std::string::npos))) + { + viewer.synchronization_enable_prev_state = viewer.synchronization_enable.load(); + viewer.synchronization_enable = false; + } + _update_readonly_options_timer.set_expired(); + sub->play(profiles, viewer, dev_syncer); + } + catch (const error& e) + { + error_message = error_to_string(e); + } + catch (const std::exception& e) + { + error_message = e.what(); + } + + for (auto&& profile : profiles) + { + viewer.begin_stream(sub, profile); + } + } + if (ImGui::IsItemHovered()) + { + window.link_hovered(); + ImGui::SetTooltip("Start streaming data from this sensor"); + } + } + } + else + { + std::string label = rsutils::string::from() + << " " << textual_icons::toggle_on << "\n on##" << id << "," + << sub->s->get_info( RS2_CAMERA_INFO_NAME ); + ImGui_ScopePushStyleColor(ImGuiCol_Text, light_blue); + ImGui_ScopePushStyleColor(ImGuiCol_TextSelectedBg, light_blue + 0.1f); + + if( ImGui::Button( label.c_str(), button_size ) ) + { + sub->stop(viewer.not_model); + std::string friendly_name = sub->s->get_info(RS2_CAMERA_INFO_NAME); + if ((friendly_name.find("Tracking") != std::string::npos) || + (friendly_name.find("Motion") != std::string::npos)) + { + viewer.synchronization_enable = viewer.synchronization_enable_prev_state.load(); + } + + if (!std::any_of(subdevices.begin(), subdevices.end(), + [](const std::shared_ptr& sm) + { + return sm->streaming; + })) + { + stop_recording = true; + _update_readonly_options_timer.set_expired(); + } + } + if (ImGui::IsItemHovered()) + { + window.link_hovered(); + ImGui::SetTooltip("Stop streaming data from selected sub-device"); + } + } + + if (is_recording && stop_recording) + { + this->stop_recording(viewer); + for (auto&& sub : subdevices) + { + //TODO: Fix case where sensor X recorded stream 0, then stopped, and then started recording stream 1 (need 2 sensors for this to happen) + if (sub->is_selected_combination_supported()) + { + auto profiles = sub->get_selected_profiles(); + for (auto&& profile : profiles) + { + viewer.streams[profile.unique_id()].dev = sub; + } + } + } + } + }); + } + + //ImGui::GetWindowDrawList()->AddLine({ abs_pos.x, abs_pos.y - 1 }, + //{ abs_pos.x + panel_width, abs_pos.y - 1 }, + // ImColor(black), 1.f); + + std::string label = rsutils::string::from() << sub->s->get_info(RS2_CAMERA_INFO_NAME) << "##" << id; + ImGui::PushStyleColor(ImGuiCol_Header, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_HeaderActive, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, sensor_bg); + ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, { 10, 10 }); + ImGui::PushStyleVar(ImGuiStyleVar_ItemInnerSpacing, { 0, 0 }); + ImGuiTreeNodeFlags flags{}; + if (show_depth_only) flags = ImGuiTreeNodeFlags_DefaultOpen; + if (ImGui::TreeNodeEx(label.c_str(), flags)) + { + ImGui::PopStyleVar(); + ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, { 2, 2 }); + + if (show_stream_selection) + sub->draw_stream_selection(error_message); + + static const std::vector drawing_order = serialize ? + std::vector{ RS2_OPTION_EMITTER_ENABLED, RS2_OPTION_ENABLE_AUTO_EXPOSURE, RS2_OPTION_DEPTH_AUTO_EXPOSURE_MODE } + : std::vector{ RS2_OPTION_VISUAL_PRESET, RS2_OPTION_EMITTER_ENABLED, RS2_OPTION_ENABLE_AUTO_EXPOSURE, RS2_OPTION_DEPTH_AUTO_EXPOSURE_MODE }; + + for (auto& opt : drawing_order) + { + if (sub->draw_option(opt, dev.is() || update_read_only_options, error_message, *viewer.not_model)) + { + get_curr_advanced_controls = true; + selected_file_preset.clear(); + } + } + + if (sub->num_supported_non_default_options()) + { + label = rsutils::string::from() << "Controls ##" << sub->s->get_info(RS2_CAMERA_INFO_NAME) << "," << id; + if (ImGui::TreeNode(label.c_str())) + { + auto const & supported_options = sub->options_metadata; + + // moving the color dedicated options to the end of the vector + std::vector color_options = { + RS2_OPTION_BACKLIGHT_COMPENSATION, + RS2_OPTION_BRIGHTNESS, + RS2_OPTION_CONTRAST, + RS2_OPTION_GAMMA, + RS2_OPTION_HUE, + RS2_OPTION_SATURATION, + RS2_OPTION_SHARPNESS, + RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE, + RS2_OPTION_WHITE_BALANCE + }; + + std::vector so_ordered; + + for (auto const & id_model : supported_options) + { + auto it = find( color_options.begin(), color_options.end(), id_model.first ); + if (it == color_options.end()) + so_ordered.push_back( id_model.first ); + } + + std::for_each( color_options.begin(), + color_options.end(), + [&]( rs2_option opt ) + { + auto it = supported_options.find( opt ); + if( it != supported_options.end() ) + so_ordered.push_back( opt ); + } ); + + for (auto opt : so_ordered) + { + if( viewer.is_option_skipped( opt ) ) + continue; + if (std::find(drawing_order.begin(), drawing_order.end(), opt) == drawing_order.end()) + { + if (serialize && opt == RS2_OPTION_VISUAL_PRESET) + continue; + + if (sub->draw_option(opt, dev.is() || update_read_only_options, error_message, *viewer.not_model)) + { + get_curr_advanced_controls = true; + selected_file_preset.clear(); + } + } + } + + ImGui::TreePop(); + } + } + if (dev.is() && sub->s->is()) + { + if (draw_advanced_controls(viewer, window, error_message)) + { + sub->_options_invalidated = true; + selected_file_preset.clear(); + } + } + + if (sub->s->is()) { + for (auto&& pb : sub->const_effects) + { + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5); + + label = rsutils::string::from() << pb->get_name() << "##" << id; + if (ImGui::TreeNode(label.c_str())) + { + pb->draw_options( viewer, + dev.is< playback >() || update_read_only_options, + false, + error_message ); + + ImGui::TreePop(); + } + } + } + + if (sub->post_processing.size() > 0) + { + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5); + const ImVec2 pos = ImGui::GetCursorPos(); + + draw_later.push_back([windows_width, &window, sub, pos, &viewer, this]() { + ImGui::SetCursorPos({ windows_width - 41, pos.y - 3 }); + + try + { + + ImGui::PushFont(window.get_font()); + + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, sensor_bg); + + if (!sub->post_processing_enabled) + { + std::string label = rsutils::string::from() + << " " << textual_icons::toggle_off << "##" << id << "," + << sub->s->get_info( RS2_CAMERA_INFO_NAME ) << ",post"; + + ImGui::PushStyleColor(ImGuiCol_Text, redish); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, redish + 0.1f); + + if (ImGui::Button(label.c_str(), { 30,24 })) + { + sub->post_processing_enabled = true; + config_file::instance().set(get_device_sensor_name(sub.get()).c_str(), + sub->post_processing_enabled); + for (auto&& pb : sub->post_processing) + { + if (!pb->visible) + continue; + if (pb->is_enabled()) + pb->processing_block_enable_disable(true); + } + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Enable post-processing filters"); + window.link_hovered(); + } + } + else + { + std::string label = rsutils::string::from() + << " " << textual_icons::toggle_on << "##" << id << "," + << sub->s->get_info( RS2_CAMERA_INFO_NAME ) << ",post"; + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue + 0.1f); + + if (ImGui::Button(label.c_str(), { 30,24 })) + { + sub->post_processing_enabled = false; + config_file::instance().set(get_device_sensor_name(sub.get()).c_str(), + sub->post_processing_enabled); + for (auto&& pb : sub->post_processing) + { + if (!pb->visible) + continue; + if (pb->is_enabled()) + pb->processing_block_enable_disable(false); + } + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Disable post-processing filters"); + window.link_hovered(); + } + } + ImGui::PopStyleColor(5); + ImGui::PopFont(); + } + catch (...) + { + ImGui::PopStyleColor(5); + ImGui::PopFont(); + throw; + } + }); + + label = rsutils::string::from() << "Post-Processing##" << id; + if (ImGui::TreeNode(label.c_str())) + { + for (auto&& pb : sub->post_processing) + { + if (!pb->visible) continue; + + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5); + + const ImVec2 pos = ImGui::GetCursorPos(); + + draw_later.push_back([windows_width, &window, sub, pos, &viewer, this, pb]() { + ImGui::SetCursorPos({ windows_width - 42, pos.y - 3 }); + + try + { + ImGui::PushFont(window.get_font()); + + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, sensor_bg); + int font_size = window.get_font_size(); + const ImVec2 button_size = { font_size * 2.f, font_size * 1.5f }; + + if (!sub->post_processing_enabled) + { + if (!pb->is_enabled()) + { + std::string label = rsutils::string::from() + << " " << textual_icons::toggle_off << "##" << id << "," + << sub->s->get_info( RS2_CAMERA_INFO_NAME ) << "," + << pb->get_name(); + + ImGui::PushStyleColor(ImGuiCol_Text, redish); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, redish + 0.1f); + ImGui::ButtonEx(label.c_str(), button_size, ImGuiButtonFlags_Disabled); + } + else + { + std::string label = rsutils::string::from() + << " " << textual_icons::toggle_on << "##" << id << "," + << sub->s->get_info( RS2_CAMERA_INFO_NAME ) << "," + << pb->get_name(); + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue + 0.1f); + ImGui::ButtonEx(label.c_str(), button_size, ImGuiButtonFlags_Disabled); + } + } + else + { + if (!pb->is_enabled()) + { + std::string label = rsutils::string::from() + << " " << textual_icons::toggle_off << "##" << id << "," + << sub->s->get_info( RS2_CAMERA_INFO_NAME ) << "," + << pb->get_name(); + + ImGui::PushStyleColor(ImGuiCol_Text, redish); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, redish + 0.1f); + + if (ImGui::Button(label.c_str(), button_size)) + { + pb->enable(true); + pb->save_to_config_file(); + } + if (ImGui::IsItemHovered()) + { + label = rsutils::string::from() << "Enable " << pb->get_name() << " post-processing filter"; + ImGui::SetTooltip("%s", label.c_str()); + window.link_hovered(); + } + } + else + { + std::string label = rsutils::string::from() + << " " << textual_icons::toggle_on << "##" << id << "," + << sub->s->get_info( RS2_CAMERA_INFO_NAME ) << "," + << pb->get_name(); + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue + 0.1f); + + if (ImGui::Button(label.c_str(), button_size)) + { + pb->enable(false); + pb->save_to_config_file(); + } + if (ImGui::IsItemHovered()) + { + label = rsutils::string::from() + << "Disable " << pb->get_name() << " post-processing filter"; + ImGui::SetTooltip("%s", label.c_str()); + window.link_hovered(); + } + } + } + + ImGui::PopStyleColor(5); + ImGui::PopFont(); + } + catch (...) + { + ImGui::PopStyleColor(5); + ImGui::PopFont(); + throw; + } + }); + + label = rsutils::string::from() << pb->get_name() << "##" << id; + if (ImGui::TreeNode(label.c_str())) + { + pb->draw_options( viewer, + dev.is< playback >() || update_read_only_options, + false, + error_message ); + + ImGui::TreePop(); + } + } + ImGui::TreePop(); + } + } + + ImGui::TreePop(); + } + + ImGui::PopStyleVar(); + ImGui::PopStyleVar(); + ImGui::PopStyleColor(3); + + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 2); + } + + for (auto&& sub : subdevices) + { + sub->update(error_message, *viewer.not_model); + } + + ImGui::PopStyleColor(2); + ImGui::PopFont(); + + auto end_screen_pos = ImGui::GetCursorScreenPos(); + + if (draw_device_outline) + { + //Left space + ImGui::GetWindowDrawList()->AddRectFilled({ initial_screen_pos.x,initial_screen_pos.y }, { end_screen_pos.x + left_space, end_screen_pos.y }, ImColor(black)); + //Left line + ImGui::GetWindowDrawList()->AddLine({ initial_screen_pos.x + left_space,initial_screen_pos.y + upper_space }, { end_screen_pos.x + left_space, end_screen_pos.y }, ImColor(header_color)); + //Right line + const float compenstaion_right = 17.f;; + ImGui::GetWindowDrawList()->AddLine({ initial_screen_pos.x + panel_width - compenstaion_right, initial_screen_pos.y + upper_space }, { end_screen_pos.x + panel_width - compenstaion_right, end_screen_pos.y }, ImColor(header_color)); + //Button line + const float compenstaion_button = 1.0f; + ImGui::GetWindowDrawList()->AddLine({ end_screen_pos.x + left_space, end_screen_pos.y - compenstaion_button }, { end_screen_pos.x + left_space + panel_width, end_screen_pos.y - compenstaion_button }, ImColor(header_color)); + } + } + + void device_model::handle_hardware_events(const std::string& serialized_data) + { + //TODO: Move under hour glass + } + + bool device_model::disable_record_button_logic(bool is_streaming, bool is_playback_device) + { + return (!is_streaming || is_playback_device); + } + + std::string device_model::get_record_button_hover_text(bool is_streaming) + { + std::string record_button_hover_text; + if (!is_streaming) + { + record_button_hover_text = "Start streaming to enable recording"; + } + else + { + record_button_hover_text = is_recording ? "Stop Recording" : "Start Recording"; + } + return record_button_hover_text; + } + + std::vector> get_devices_names(const device_list& list) + { + std::vector> device_names; + + for (uint32_t i = 0; i < list.size(); i++) + { + try + { + auto dev = list[i]; + device_names.push_back(get_device_name(dev)); // push name and sn to list + } + catch (...) + { + device_names.push_back(std::pair(rsutils::string::from() << "Unknown Device #" << i, "")); + } + } + return device_names; + } + + device_changes::device_changes(rs2::context& ctx) + { + _changes.emplace(rs2::device_list{}, ctx.query_devices(RS2_PRODUCT_LINE_ANY)); + ctx.set_devices_changed_callback([&](event_information& info) + { + add_changes(info); + }); + } + + void device_changes::add_changes(const event_information& c) + { + std::lock_guard lock(_mtx); + _changes.push(c); + } + + bool device_changes::try_get_next_changes(event_information& removed_and_connected) + { + std::lock_guard lock(_mtx); + if (_changes.empty()) + return false; + + removed_and_connected = std::move(_changes.front()); + _changes.pop(); + return true; + } +} diff --git a/librealsense/common/device-model.h b/librealsense/common/device-model.h new file mode 100644 index 0000000..6c63774 --- /dev/null +++ b/librealsense/common/device-model.h @@ -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 +#include "notifications.h" +#include "realsense-ui-advanced-mode.h" +#include +#include "sw-update/dev-updates-profile.h" +#include +#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> 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 _icon; + }; + + inline std::ostream& operator<<(std::ostream& os, const textual_icon& i) + { + return os << static_cast(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 create_syncer() + { + stop(); + std::lock_guard lock(_mutex); + auto shared_syncer = std::make_shared(); + + // 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 s) + { + stop(); + std::lock_guard lock(_mutex); + _syncers.erase(std::remove_if(_syncers.begin(), _syncers.end(), + [s](std::pair, rs2::frame_queue> pair) + { + return pair.first.get() == s.get(); + }), _syncers.end()); + start(); + } + + std::vector try_wait_for_frames() + { + std::lock_guard lock(_mutex); + + std::vector 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 on_frame = [] {}; + private: + std::vector, rs2::frame_queue>> _syncers; + std::mutex _mutex; + std::atomic _active; + }; + + class device_model + { + public: + typedef std::function 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>& draw_later, + bool load_json_if_streaming = false, + json_loading_func json_loading = [](std::function load) {load(); }, + bool draw_device_outline = true); + void handle_hardware_events(const std::string& serialized_data); + void begin_update(std::vector 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> subdevices; + std::shared_ptr syncer; + std::shared_ptr 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> infos; + std::vector restarting_device_info; + std::set advanced_mode_settings_file_names; + std::string selected_file_preset; + + std::vector> 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& 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; + std::vector> 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; + std::shared_ptr_updates_profile; + calibration_model _calib_model; + }; + + std::pair get_device_name(const device& dev); + + std::vector> 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 _changes; + std::mutex _mtx; + }; +} diff --git a/librealsense/common/float2.h b/librealsense/common/float2.h new file mode 100644 index 0000000..ceba5fc --- /dev/null +++ b/librealsense/common/float2.h @@ -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 + + +namespace rs2 { + + +using rsutils::number::float2; + + +} // namespace rs2 diff --git a/librealsense/common/float3.h b/librealsense/common/float3.h new file mode 100644 index 0000000..a0dc8d4 --- /dev/null +++ b/librealsense/common/float3.h @@ -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 + + +namespace rs2 { + + +using rsutils::number::float3; + + +} // namespace rs2 diff --git a/librealsense/common/float4.h b/librealsense/common/float4.h new file mode 100644 index 0000000..560e331 --- /dev/null +++ b/librealsense/common/float4.h @@ -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; +}; + + +} diff --git a/librealsense/common/fw-update-helper.cpp b/librealsense/common/fw-update-helper.cpp new file mode 100644 index 0000000..fa25801 --- /dev/null +++ b/librealsense/common/fw-update-helper.cpp @@ -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 +#include "os.h" + +#include +#include +#include +#include +#include +#include + +#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 action, std::function 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(); + 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(); + 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(_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 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()) + { + // 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()) + { + 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(); + } + + 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(); + 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(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(update_manager.get()); + if( ! fw_update_manager ) + throw std::runtime_error( "Cannot convert firmware_update_manager" ); + std::for_each(fw_update_manager->get_device_model().subdevices.begin(), + fw_update_manager->get_device_model().subdevices.end(), + [&](const std::shared_ptr& sm) + { + 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 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(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 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; + } +} diff --git a/librealsense/common/fw-update-helper.h b/librealsense/common/fw-update-helper.h new file mode 100644 index 0000000..d02f803 --- /dev/null +++ b/librealsense/common/fw-update-helper.h @@ -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 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 not_model, device_model& model, device dev, context ctx, std::vector 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 get_protected_notification_model() { return _not_model.lock(); }; + + protected: + void process_flow(std::function cleanup, + invoker invoke) override; + void process_mipi(); + bool check_for( + std::function action, std::function cleanup, + std::chrono::system_clock::duration delta); + + std::weak_ptr _not_model; + device _dev; + context _ctx; + std::vector _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 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; + }; +} diff --git a/librealsense/common/fw/CMakeLists.txt b/librealsense/common/fw/CMakeLists.txt new file mode 100644 index 0000000..c9a009c --- /dev/null +++ b/librealsense/common/fw/CMakeLists.txt @@ -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 $) +set_target_properties (${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}) + diff --git a/librealsense/common/fw/empty.c b/librealsense/common/fw/empty.c new file mode 100644 index 0000000..b7d4f50 --- /dev/null +++ b/librealsense/common/fw/empty.c @@ -0,0 +1 @@ +int fw_empty; // avoid warnings about empty.o being an empty object diff --git a/librealsense/common/fw/firmware-version.h b/librealsense/common/fw/firmware-version.h new file mode 100644 index 0000000..9b2fe87 --- /dev/null +++ b/librealsense/common/fw/firmware-version.h @@ -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" + diff --git a/librealsense/common/fw/fw.c.in b/librealsense/common/fw/fw.c.in new file mode 100644 index 0000000..86755f7 --- /dev/null +++ b/librealsense/common/fw/fw.c.in @@ -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 diff --git a/librealsense/common/fw/fw.h.in b/librealsense/common/fw/fw.h.in new file mode 100644 index 0000000..a0de880 --- /dev/null +++ b/librealsense/common/fw/fw.h.in @@ -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 +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(::LockResource(data)); +#else + size = fw_@symbol@_size; + return fw_@symbol@_data; +#endif +} diff --git a/librealsense/common/fw/fw.rc b/librealsense/common/fw/fw.rc new file mode 100644 index 0000000..dc25a44 --- /dev/null +++ b/librealsense/common/fw/fw.rc @@ -0,0 +1,2 @@ +#include "D4XX_FW_Image.rc" + diff --git a/librealsense/common/fw/fw.rc.in b/librealsense/common/fw/fw.rc.in new file mode 100644 index 0000000..cae03a1 --- /dev/null +++ b/librealsense/common/fw/fw.rc.in @@ -0,0 +1 @@ +@SYMBOL@_DATA @SYMBOL@_RC "@binary_escaped@" diff --git a/librealsense/common/matrix4.h b/librealsense/common/matrix4.h new file mode 100644 index 0000000..17e49cc --- /dev/null +++ b/librealsense/common/matrix4.h @@ -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 // rs2_quaternion +#include "float4.h" + +#include // sqrt +#include // 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 \ No newline at end of file diff --git a/librealsense/common/measurement.cpp b/librealsense/common/measurement.cpp new file mode 100644 index 0000000..dcc8ea3 --- /dev/null +++ b/librealsense/common/measurement.cpp @@ -0,0 +1,676 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#include "measurement.h" +#include "ux-window.h" +#include +#include + +#include "opengl3.h" + + +using namespace rs2; + +void measurement::enable() { + measurement_active = true; + config_file::instance().set(configurations::viewer::is_measuring, true); +} +void measurement::disable() { + state.points.clear(); + state.edges.clear(); + state.polygons.clear(); + measurement_active = false; + config_file::instance().set(configurations::viewer::is_measuring, false); +} +bool measurement::is_enabled() const { return measurement_active; } + +bool measurement::display_mouse_picked_tooltip() const{ + return !(measurement_active && state.points.size() == 1) && !measurement_point_hovered; +} + +bool measurement::manipulating() const { return dragging_measurement_point; } + +std::vector measurement_state::find_path(int from, int to) +{ + std::map parents; + std::deque q; + + q.push_back(from); + for (int i = 0; i < points.size(); i++) + { + parents[i] = -1; + } + + while (q.size()) + { + auto vert = q.front(); + q.pop_front(); + + for (auto&& pair : edges) + { + int next = -1; + if (pair.first == vert) next = pair.second; + if (pair.second == vert) next = pair.first; + if (next >= 0 && parents[next] == -1) + { + parents[next] = vert; + q.push_back(next); + } + } + } + + std::vector path; + parents[from] = -1; + + if (parents[to] != -1) + { + auto p = to; + while (p != -1) + { + path.push_back(p); + p = parents[p]; + } + } + + return path; +} + +void measurement::add_point(interest_point p) +{ + auto shift = ImGui::IsKeyDown(GLFW_KEY_LEFT_SHIFT) || ImGui::IsKeyDown(GLFW_KEY_RIGHT_SHIFT); + + if (is_enabled()) + { + commit_state(); + + if (state.points.size() >= 2 && !shift) + { + state.points.clear(); + state.edges.clear(); + state.polygons.clear(); + } + + int last = int(state.points.size()); + if (current_hovered_point == -1 || + current_hovered_point >= state.points.size()) + { + state.points.push_back(p); + } + else + { + last = current_hovered_point; + } + + int prev = last - 1; + if (last_hovered_point >= 0 && last_hovered_point < state.points.size()) + prev = last_hovered_point; + + if (state.edges.size()) + { + auto path = state.find_path(prev, last); + if (path.size()) + { + state.polygons.push_back(path); + + std::vector poly; + for (auto&& idx : path) poly.push_back(state.points[idx].pos); + + auto area = calculate_area(poly); + log_function( rsutils::string::from() << "Measured area of " << area_to_string(area)); + } + } + + if (state.points.size() >= 2) + { + auto dist = state.points[last].pos - state.points[prev].pos; + state.edges.push_back(std::make_pair(last, prev)); + log_function( rsutils::string::from() << "Measured distance of " << length_to_string(dist.length())); + } + + last_hovered_point = int(state.points.size() - 1); + + commit_state(); + } +} + +std::string measurement::area_to_string(float area) +{ + return rsutils::string::from() << std::setprecision(2) << area << " m"; +} + +std::string measurement::length_to_string(float distance) +{ + std::string label; + if (is_metric()) + { + if (distance < 0.01f) + { + label = rsutils::string::from() << std::setprecision(3) << distance * 1000.f << " mm"; + } else if (distance < 1.f) { + label = rsutils::string::from() << std::setprecision(3) << distance * 100.f << " cm"; + } else { + label = rsutils::string::from() << std::setprecision(3) << distance << " m"; + } + } else + { + if (distance < 0.0254f) + { + label = rsutils::string::from() << std::setprecision(3) << distance * 1000.f << " mm"; + } else if (distance < 0.3048f) { + label = rsutils::string::from() << std::setprecision(3) << distance / 0.0254 << " in"; + } else if (distance < 0.9144) { + label = rsutils::string::from() << std::setprecision(3) << distance / 0.3048f << " ft"; + } else { + label = rsutils::string::from() << std::setprecision(3) << distance / 0.9144 << " yd"; + } + } + return label; +} + +float measurement::calculate_area(std::vector poly) +{ + if (poly.size() < 3) return 0.f; + + float3 total{ 0.f, 0.f, 0.f }; + + for (int i = 0; i < poly.size(); i++) + { + auto v1 = poly[i]; + auto v2 = poly[(i+1) % poly.size()]; + auto prod = cross(v1, v2); + total = total + prod; + } + + auto a = poly[1] - poly[0]; + auto b = poly[2] - poly[0]; + auto n = cross(a, b); + return std::abs( total * n.normalized() ) / 2; +} + +void draw_sphere(const float3& pos, float r, int lats, int longs) +{ + for(int i = 0; i <= lats; i++) + { + float lat0 = float(M_PI) * (-0.5f + (float) (i - 1) / lats); + float z0 = sin(lat0); + float zr0 = cos(lat0); + + float lat1 = float(M_PI) * (-0.5f + (float) i / lats); + float z1 = sin(lat1); + float zr1 = cos(lat1); + + glBegin(GL_QUAD_STRIP); + for(int j = 0; j <= longs; j++) + { + float lng = 2.f * float(M_PI) * (float) (j - 1) / longs; + float x = cos(lng); + float y = sin(lng); + + glNormal3f(pos.x + x * zr0, pos.y + y * zr0, pos.z + z0); + glVertex3f(pos.x + r * x * zr0, pos.y + r * y * zr0, pos.z + r * z0); + glNormal3f(pos.x + x * zr1, pos.y + y * zr1, pos.z + z1); + glVertex3f(pos.x + r * x * zr1, pos.y + r * y * zr1, pos.z + r * z1); + } + glEnd(); + } +} + +rs2::float2 measurement::project_to_2d(rs2::float3 pos) +{ + int32_t vp[4]; + glGetIntegerv(GL_VIEWPORT, vp); + check_gl_error(); + + GLfloat model[16]; + glGetFloatv(GL_MODELVIEW_MATRIX, model); + GLfloat proj[16]; + glGetFloatv(GL_PROJECTION_MATRIX, proj); + + rs2::matrix4 p(proj); + rs2::matrix4 v(model); + + return translate_3d_to_2d(pos, p, v, rs2::matrix4::identity(), vp); +} + +void measurement::draw_label(ux_window& win, float3 pos, float distance, int height, bool is_area) +{ + auto w_pos = project_to_2d(pos); + std::string label = is_area ? area_to_string(distance) : length_to_string(distance); + if (is_area) ImGui::PushFont(win.get_large_font()); + auto size = ImGui::CalcTextSize(label.c_str()); + if (is_area) ImGui::PopFont(); + + std::string win_id = rsutils::string::from() << "measurement_" << id; + id++; + + auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar; + + if (!is_area) + { + ImGui::PushStyleColor(ImGuiCol_Text, regular_blue); + ImGui::PushStyleColor(ImGuiCol_WindowBg, almost_white_bg); + } + else + { + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_WindowBg, transparent); + } + ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 10); + ImGui::SetNextWindowPos(ImVec2(w_pos.x - size.x / 2, height - w_pos.y - size.y / 2 - 5)); + ImGui::SetNextWindowSize(ImVec2(size.x + 20, size.y - 15)); + ImGui::Begin(win_id.c_str(), nullptr, flags); + + if (is_area) ImGui::PushFont(win.get_large_font()); + ImGui::Text("%s", label.c_str()); + if (is_area) { + ImGui::PopFont(); + ImGui::SameLine(); + ImGui::SetCursorPosX(ImGui::GetCursorPosX() - 7); + ImGui::Text("%s", "2"); + } + + ImGui::End(); + ImGui::PopStyleVar(); + ImGui::PopStyleColor(2); +} + +void measurement::draw_ruler(ux_window& win, float3 from, float3 to, float height, int selected) +{ + std::vector parts; + parts.push_back(from); + auto dir = to - from; + auto l = dir.length(); + auto unit = is_metric() ? 0.01f : 0.0254f; + if (l > 0.5f) unit = is_metric() ? 0.1f : 0.03048f; + auto parts_num = l / unit; + for (int i = 0; i < parts_num; i++) + { + auto t = i / (float)parts_num; + parts.push_back(from + dir * t); + } + parts.push_back(to); + + glLineWidth(3.f); + glBegin(GL_LINES); + for (int i = 1; i < parts.size(); i++) + { + auto alpha = selected == 0 ? 0.4f : 0.9f; + alpha = selected == 2 ? 1.f : alpha; + if (i % 2 == 0) glColor4f(1.f, 1.f, 1.f, alpha); + else glColor4f(light_blue.x, light_blue.y, light_blue.z, alpha); + auto from = parts[i-1]; + auto to = parts[i]; // intentional shadowing + glVertex3d(from.x, from.y, from.z); + glVertex3d(to.x, to.y, to.z); + } + glEnd(); + + if (selected == 2) + { + // calculate center of the ruler line + float3 ctr = from + (to - from) / 2; + float distance = (to - from).length(); + draw_label(win, ctr, distance, int(height)); + } +} + +void measurement::mouse_pick(ux_window& win, float3 picked, float3 normal) +{ + _picked = picked; _normal = normal; + mouse_picked_event.add_value(!input_ctrl.mouse_down); + + if (input_ctrl.click) { + add_point({ _picked, _normal }); + } + + if (is_enabled()) + { + if (point_hovered(win) < 0 && hovered_edge_id < 0) + win.cross_hovered(); + } +} + +void measurement::update_input(ux_window& win, const rs2::rect& viewer_rect) +{ + id = 0; + + if (ImGui::IsKeyPressed('Z') || ImGui::IsKeyPressed('z')) + restore_state(); + + input_ctrl.prev_mouse_down = input_ctrl.mouse_down; + + auto rect_copy = viewer_rect; + rect_copy.y += 60; + input_ctrl.click = false; + if (win.get_mouse().mouse_down[0] && !input_ctrl.mouse_down) + { + input_ctrl.mouse_down = true; + input_ctrl.down_pos = win.get_mouse().cursor; + input_ctrl.selection_started = win.time(); + } + if (input_ctrl.mouse_down && !win.get_mouse().mouse_down[0]) + { + input_ctrl.mouse_down = false; + if (win.time() - input_ctrl.selection_started < 0.5 && + (win.get_mouse().cursor - input_ctrl.down_pos).length() < 100) + { + if (rect_copy.contains(win.get_mouse().cursor)) + { + input_ctrl.click = true; + input_ctrl.click_time = float(glfwGetTime()); + } + } + } +} + +int measurement::point_hovered(ux_window& win) +{ + for (int i = 0; i < state.points.size(); i++) + { + auto&& point = state.points[i]; + auto pos_2d = project_to_2d(point.pos); + pos_2d.y = win.framebuf_height() - pos_2d.y; + + if ((pos_2d - win.get_mouse().cursor).length() < 15) + { + return i; + } + } + return -1; +} + +float distance_to_line(rs2::float2 a, rs2::float2 b, rs2::float2 p) +{ + const float l2 = dot(b - a, b - a); + if (l2 == 0.0) return (p - a).length(); + const float t = clamp(dot(p - a, b - a) / l2, 0.f, 1.f); + return (lerp(a, b, t) - p).length(); +} + +int measurement::edge_hovered(ux_window& win) +{ + for (int i = 0; i < state.edges.size(); i++) + { + auto&& a = state.points[state.edges[i].first]; + auto&& b = state.points[state.edges[i].second]; + + auto a_2d = project_to_2d(a.pos); + auto b_2d = project_to_2d(b.pos); + + auto cursor = win.get_mouse().cursor; + cursor.y = win.framebuf_height() - cursor.y; + + if (distance_to_line(a_2d, b_2d, cursor) < 15) + { + return i; + } + } + return -1; +} + +void measurement::commit_state() +{ + state_history.push_back(state); + if (state_history.size() > 100) + { + state_history.pop_front(); + } +} + +void measurement::restore_state() +{ + auto new_state = state; + while (state_history.size() && new_state == state) + { + new_state = state_history.back(); + state_history.pop_back(); + } + state = new_state; +} + +void measurement::draw(ux_window& win) +{ + auto shift = ImGui::IsKeyDown(GLFW_KEY_LEFT_SHIFT) || ImGui::IsKeyDown(GLFW_KEY_RIGHT_SHIFT); + + auto p_idx = point_hovered(win); + if (p_idx >= 0 && !win.get_mouse().mouse_down[0]) + { + _picked = state.points[p_idx].pos; + _normal = state.points[p_idx].normal; + } + if (mouse_picked_event.eval() && is_enabled()) + { + glDisable(GL_DEPTH_TEST); + glLineWidth(2.f); + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + + float size = _picked.z * 0.03f; + + glBegin(GL_LINES); + glColor3f(1.f, 1.f, 1.f); + glVertex3d(_picked.x, _picked.y, _picked.z); + auto nend = _picked + _normal * size * 0.3f; + glVertex3d(nend.x, nend.y, nend.z); + glEnd(); + + glBegin(GL_TRIANGLES); + + if (input_ctrl.mouse_down) size -= _picked.z * 0.01f; + size += _picked.z * 0.01f * single_wave(input_ctrl.click_period()); + + auto axis1 = cross(vec3d{ _normal.x, _normal.y, _normal.z }, vec3d{ 0.f, 1.f, 0.f }); + auto faxis1 = float3 { axis1.x, axis1.y, axis1.z }; + faxis1.normalized(); + auto axis2 = cross(vec3d{ _normal.x, _normal.y, _normal.z }, axis1); + auto faxis2 = float3 { axis2.x, axis2.y, axis2.z }; + faxis2.normalized(); + + matrix4 basis = matrix4::identity(); + basis(0, 0) = faxis1.x; + basis(0, 1) = faxis1.y; + basis(0, 2) = faxis1.z; + + basis(1, 0) = faxis2.x; + basis(1, 1) = faxis2.y; + basis(1, 2) = faxis2.z; + + basis(2, 0) = _normal.x; + basis(2, 1) = _normal.y; + basis(2, 2) = _normal.z; + + const int segments = 50; + for (int i = 0; i < segments; i++) + { + auto t1 = 2.f * float(M_PI) * ((float)i / segments); + auto t2 = 2.f * float(M_PI) * ((float)(i+1) / segments); + float4 xy1 { cosf(t1) * size, sinf(t1) * size, 0.f, 1.f }; + xy1 = basis * xy1; + xy1 = float4 { _picked.x + xy1.x, _picked.y + xy1.y, _picked.z + xy1.z, 1.f }; + float4 xy2 { cosf(t1) * size * 0.5f, sinf(t1) * size * 0.5f, 0.f, 1.f }; + xy2 = basis * xy2; + xy2 = float4 { _picked.x + xy2.x, _picked.y + xy2.y, _picked.z + xy2.z, 1.f }; + float4 xy3 { cosf(t2) * size * 0.5f, sinf(t2) * size * 0.5f, 0.f, 1.f }; + xy3 = basis * xy3; + xy3 = float4 { _picked.x + xy3.x, _picked.y + xy3.y, _picked.z + xy3.z, 1.f }; + float4 xy4 { cosf(t2) * size, sinf(t2) * size, 0.f, 1.f }; + xy4 = basis * xy4; + xy4 = float4 { _picked.x + xy4.x, _picked.y + xy4.y, _picked.z + xy4.z, 1.f }; + //glVertex3fv(&_picked.x); + + glColor4f(white.x, white.y, white.z, 0.5f); + glVertex3fv(&xy1.x); + glColor4f(white.x, white.y, white.z, 0.8f); + glVertex3fv(&xy2.x); + glVertex3fv(&xy3.x); + + glColor4f(white.x, white.y, white.z, 0.5f); + glVertex3fv(&xy1.x); + glVertex3fv(&xy4.x); + glColor4f(white.x, white.y, white.z, 0.8f); + glVertex3fv(&xy3.x); + } + //glVertex3fv(&_picked.x); glVertex3fv(&end.x); + glEnd(); + + if (state.points.size() == 1 || (shift && state.points.size())) + { + auto p0 = (last_hovered_point >= 0 && last_hovered_point < state.points.size()) + ? state.points[last_hovered_point] : state.points.back(); + draw_ruler(win, _picked, p0.pos, win.framebuf_height(), 2); + } + + glDisable(GL_BLEND); + glEnable(GL_DEPTH_TEST); + } + + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + + hovered_edge_id = edge_hovered(win); + + for (auto&& poly : state.polygons) + { + auto ancor = state.points[poly.front()]; + + std::vector points; + points.push_back(ancor.pos); + + auto mid = ancor.pos; + + glDisable(GL_DEPTH_TEST); + + glBegin(GL_TRIANGLES); + glColor4f(light_blue.x, light_blue.y, light_blue.z, 0.3f); + for (int i = 0; i < poly.size() - 1; i++) + { + auto b = state.points[poly[i]]; + auto c = state.points[poly[i+1]]; + glVertex3fv(&ancor.pos.x); + glVertex3fv(&b.pos.x); + glVertex3fv(&c.pos.x); + mid = mid + c.pos; + points.push_back(c.pos); + } + glEnd(); + + glEnable(GL_DEPTH_TEST); + + mid = mid * (1.f / poly.size()); + + auto area = calculate_area(points); + + draw_label(win, mid, area, int(win.framebuf_height()), true); + } + + for (int i = 0; i < state.edges.size(); i++) + { + auto&& pair = state.edges[i]; + glDisable(GL_DEPTH_TEST); + int selected = 1; + if (hovered_edge_id >= 0) + selected = hovered_edge_id == i ? 2 : 0; + draw_ruler(win, state.points[pair.second].pos, state.points[pair.first].pos, win.framebuf_height(), selected); + glEnable(GL_DEPTH_TEST); + } + + if (win.get_mouse().mouse_down[1]) { + commit_state(); + state.points.clear(); + state.edges.clear(); + state.polygons.clear(); + } + + for (auto&& points: state.points) + { + glColor4f(light_blue.x, light_blue.y, light_blue.z, 0.9f); + draw_sphere(points.pos, 0.011f, 20, 20); + } + glDisable(GL_DEPTH_TEST); + + current_hovered_point = -1; + measurement_point_hovered = false; + int hovered_point = point_hovered(win); + if (hovered_point >= 0) + { + if (!shift) last_hovered_point = hovered_point; + current_hovered_point = hovered_point; + if (!input_ctrl.prev_mouse_down && win.get_mouse().mouse_down[0]) + { + dragging_point_index = hovered_point; + measurement_point_hovered = true; + if (input_ctrl.click_period() > 0.5f) + { + dragging_measurement_point = true; + } + } + } + + int i = 0; + for (auto&& points: state.points) + { + if (measurement_point_hovered) + glColor4f(white.x, white.y, white.z, dragging_point_index == i ? 0.8f : 0.1f); + else + glColor4f(white.x, white.y, white.z, 0.6f); + + draw_sphere(points.pos, dragging_point_index == i ? 0.012f : 0.008f, 20, 20); + i++; + } + + glEnable(GL_DEPTH_TEST); + glDisable(GL_BLEND); + + if (!win.get_mouse().mouse_down[0] || input_ctrl.click_period() < 0.5f) + { + if (dragging_measurement_point && state.points.size() >= 2) + { + dragging_measurement_point = false; + input_ctrl.click_time = 0; + + for (auto&& e : state.edges) + { + if (e.first == dragging_point_index || e.second == dragging_point_index) + { + auto dist = state.points[e.first].pos - state.points[e.second].pos; + log_function( rsutils::string::from() << "Adjusted measurement to " << length_to_string(dist.length())); + } + } + + for (auto&& path : state.polygons) + { + if (std::find(path.begin(), path.end(), dragging_point_index) != path.end()) + { + std::vector poly; + for (auto&& idx : path) poly.push_back(state.points[idx].pos); + + auto area = calculate_area(poly); + log_function( rsutils::string::from() << "Adjusted area of " << area_to_string(area)); + } + } + + commit_state(); + } + dragging_point_index = -1; + } + if (dragging_measurement_point && dragging_point_index >= 0) + { + state.points[dragging_point_index].pos = _picked; + } + + if (point_hovered(win) >= 0 || hovered_edge_id >= 0) + win.link_hovered(); +} + +void measurement::show_tooltip(ux_window& win) +{ + if (mouse_picked_event.eval() && ImGui::IsWindowHovered()) + { + if (display_mouse_picked_tooltip() && hovered_edge_id < 0) + { + std::string tt = rsutils::string::from() << std::fixed << std::setprecision(3) + << _picked.x << ", " << _picked.y << ", " << _picked.z << " meters"; + ImGui::SetTooltip("%s", tt.c_str()); + } + } +} diff --git a/librealsense/common/measurement.h b/librealsense/common/measurement.h new file mode 100644 index 0000000..5d654c0 --- /dev/null +++ b/librealsense/common/measurement.h @@ -0,0 +1,104 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. +#pragma once + +#include "device-model.h" + +#include +#include +#include +#include + +namespace rs2 +{ + struct interest_point + { + float3 pos; + float3 normal; + + bool operator==(const interest_point& other) const + { + return (pos - other.pos).length() < 0.001f; + } + }; + + struct measurement_state + { + std::vector points; + std::vector> edges; + std::vector> polygons; + + bool operator==(const measurement_state& other) const + { + return points == other.points && edges == other.edges && polygons == other.polygons; + } + + std::vector find_path(int from, int to); + }; + + class measurement + { + public: + void enable(); + void disable(); + bool is_enabled() const; + + bool display_mouse_picked_tooltip() const; + bool manipulating() const; + + void add_point(interest_point p); + + void commit_state(); + void restore_state(); + + float calculate_area(std::vector points); + + std::string length_to_string(float distance); + std::string area_to_string(float area); + rs2::float2 project_to_2d(rs2::float3 pos); + void draw_label(ux_window& win, float3 pos, float distance, int height, bool is_area = false); + void draw_ruler(ux_window& win, float3 from, float3 to, float height, int selected); + void draw(ux_window& win); + + void show_tooltip(ux_window& win); + void mouse_pick(ux_window& win, float3 picked, float3 normal); + void update_input(ux_window& win, const rs2::rect& viewer_rect); + + std::function log_function = [](std::string) {}; + std::function is_metric = [](){ return true; }; + + private: + int point_hovered(ux_window& win); + int edge_hovered(ux_window& win); + + interest_point selection_point; + + measurement_state state; + std::deque state_history; + + bool dragging_measurement_point = false; + int dragging_point_index = -1; + bool measurement_point_hovered = false; + bool measurement_active = false; + int hovered_edge_id = -1; + int last_hovered_point = -1; + int current_hovered_point = -1; + + temporal_event mouse_picked_event { std::chrono::milliseconds(1000) }; + float3 _normal, _picked; + + struct mouse_control + { + bool mouse_down = false; + bool prev_mouse_down = false; + bool click = false; + double selection_started = 0.0; + float2 down_pos { 0.f, 0.f }; + int mouse_wheel = 0; + float click_time = 0.f; + float click_period() { return clamp(float(glfwGetTime() - click_time) * 10, 0.f, 1.f); } + }; + mouse_control input_ctrl; + int id = 0; + }; +} \ No newline at end of file diff --git a/librealsense/common/metadata-helper.cpp b/librealsense/common/metadata-helper.cpp new file mode 100644 index 0000000..2a27aaf --- /dev/null +++ b/librealsense/common/metadata-helper.cpp @@ -0,0 +1,366 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include "metadata-helper.h" + +#ifdef WIN32 + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include + +#define MAX_KEY_LENGTH 255 +#define MAX_VALUE_NAME 16383 + +#ifdef _MSC_VER +#define strncasecmp _strnicmp +#define strcasecmp _stricmp +#endif + +#endif + +namespace rs2 +{ +#ifdef WIN32 + struct device_id + { + std::string pid, mi, guid, sn; + }; + + inline bool equal(const std::string& a, const std::string& b) + { + return strcasecmp(a.c_str(), b.c_str()) == 0; + } + + inline bool operator==(const device_id& a, const device_id& b) + { + return equal(a.pid, b.pid) && + equal(a.guid, b.guid) && + equal(a.mi, b.mi) && + equal(a.sn, b.sn); + } + + class windows_metadata_helper : public metadata_helper + { + using super = metadata_helper; + + public: + static bool parse_device_id(const std::string& id, device_id* res) + { + static const std::regex regex("pid_([0-9a-f]+)&mi_([0-9a-f]+)#[0-9a-f]&([0-9a-f]+)&[\\s\\S]*\\{([0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12})\\}", std::regex_constants::icase); + + std::match_results match; + + if (std::regex_search(id, match, regex) && match.size() > 4) + { + res->pid = match[1]; + res->mi = match[2]; + res->sn = match[3]; + res->guid = match[4]; + return true; + } + return false; + } + + static void foreach_device_path(const std::vector& devices, + std::function action) + { + std::map> guid_to_devices; + for (auto&& d : devices) + { + guid_to_devices[d.guid].push_back(d); + } + + for (auto&& kvp : guid_to_devices) + { + auto guid = kvp.first; + + std::stringstream ss; + ss << "SYSTEM\\CurrentControlSet\\Control\\DeviceClasses\\{" << guid << "}"; + auto s = ss.str(); + std::wstring prefix(s.begin(), s.end()); + + HKEY key; + if (RegOpenKeyEx(HKEY_LOCAL_MACHINE, prefix.c_str(), 0, KEY_READ | KEY_WOW64_64KEY, &key) == ERROR_SUCCESS) + { + // Don't forget to release in the end: + std::shared_ptr raii(key, RegCloseKey); + + TCHAR achClass[MAX_PATH] = TEXT(""); // buffer for class name + DWORD cchClassName = MAX_PATH; // size of class string + DWORD cSubKeys = 0; // number of subkeys + DWORD cbMaxSubKey; // longest subkey size + DWORD cchMaxClass; // longest class string + DWORD cValues; // number of values for key + DWORD cchMaxValue; // longest value name + DWORD cbMaxValueData; // longest value data + DWORD cbSecurityDescriptor; // size of security descriptor + FILETIME ftLastWriteTime; // last write time + + DWORD retCode = RegQueryInfoKey( + key, // key handle + achClass, // buffer for class name + &cchClassName, // size of class string + NULL, // reserved + &cSubKeys, // number of subkeys + &cbMaxSubKey, // longest subkey size + &cchMaxClass, // longest class string + &cValues, // number of values for this key + &cchMaxValue, // longest value name + &cbMaxValueData, // longest value data + &cbSecurityDescriptor, // security descriptor + &ftLastWriteTime); // last write time + + for (auto i = 0ul; i < cSubKeys; i++) + { + TCHAR achKey[MAX_KEY_LENGTH]; + DWORD cbName = MAX_KEY_LENGTH; + retCode = RegEnumKeyEx(key, i, + achKey, + &cbName, + NULL, + NULL, + NULL, + &ftLastWriteTime); + if (retCode == ERROR_SUCCESS) + { + std::wstring suffix = achKey; + device_id rdid; + + std::string a = rsutils::string::windows::win_to_utf( suffix.c_str() ); + + if (parse_device_id(a, &rdid)) + { + for (auto&& did : kvp.second) + { + if (rdid == did) + { + std::wstringstream ss; + ss << prefix << "\\" << suffix << "\\#GLOBAL\\Device Parameters"; + auto path = ss.str(); + action(rdid, path); + } + } + } + } + } + } + } + } + + // Heuristic that determines how many media-pins UVC device is expected to have + static int number_of_mediapins(const std::string& pid, const std::string& mi) + { + if (mi == "00") + { + // D405 has 3 media-pins + if (equal(pid, "0b5b")) return 3; + else return 2; // D400 has two + } + return 1; // RGB has one + } + + bool is_running_as_admin() + { + BOOL result = FALSE; + PSID admin_group = NULL; + + SID_IDENTIFIER_AUTHORITY ntauthority = SECURITY_NT_AUTHORITY; + if (!AllocateAndInitializeSid( + &ntauthority, + 2, + SECURITY_BUILTIN_DOMAIN_RID, + DOMAIN_ALIAS_RID_ADMINS, + 0, 0, 0, 0, 0, 0, + &admin_group)) + { + rs2::log(RS2_LOG_SEVERITY_WARN, "Unable to query permissions - AllocateAndInitializeSid failed"); + return false; + } + std::shared_ptr raii(admin_group, FreeSid); + + if (!CheckTokenMembership(NULL, admin_group, &result)) + { + rs2::log(RS2_LOG_SEVERITY_WARN, "Unable to query permissions - CheckTokenMembership failed"); + return false; + } + + return result == TRUE; + } + + void enable_metadata_with_new_admin_process() + { + wchar_t szPath[MAX_PATH]; + if (GetModuleFileName(NULL, szPath, ARRAYSIZE(szPath))) + { + SHELLEXECUTEINFO sei = { sizeof(sei) }; + + sei.lpVerb = L"runas"; + sei.fMask = SEE_MASK_NOCLOSEPROCESS; + sei.lpFile = szPath; + sei.hwnd = NULL; + sei.nShow = SW_NORMAL; + auto cmd_line = get_command_line_param(); + std::wstring wcmd(cmd_line.begin(), cmd_line.end()); + sei.lpParameters = wcmd.c_str(); + + if (!ShellExecuteEx(&sei)) + { + auto errstr = std::system_category().message(GetLastError()); + std::string msg = "Unable to elevate to admin privilege to enable metadata! " + errstr; + rs2::log(RS2_LOG_SEVERITY_WARN, msg.c_str()); + } + else + { + WaitForSingleObject(sei.hProcess, INFINITE); + DWORD exitCode = 0; + GetExitCodeProcess(sei.hProcess, &exitCode); + CloseHandle(sei.hProcess); + if (exitCode) + throw std::runtime_error("Failed to set metadata registry keys!"); + } + } + else + { + rs2::log(RS2_LOG_SEVERITY_WARN, "Unable to fetch module name!"); + } + } + + bool is_enabled(std::string id) const override + { + device_id did; + if( ! parse_device_id( id, &did ) ) + // If it's not parsed, it's not a valid USB device; return the default + return super::is_enabled( id ); + + bool res = false; + foreach_device_path({ did }, [&res, did](const device_id&, std::wstring path) { + + HKEY key; + if (RegOpenKeyEx(HKEY_LOCAL_MACHINE, path.c_str(), 0, KEY_READ | KEY_WOW64_64KEY, &key) == ERROR_SUCCESS) + { + // Don't forget to release in the end: + std::shared_ptr raii(key, RegCloseKey); + + bool found = true; + DWORD len = sizeof(DWORD);//size of data + + for (int i = 0; i < number_of_mediapins(did.pid, did.mi); i++) + { + std::wstringstream ss; ss << L"MetadataBufferSizeInKB" << i; + std::wstring metadatakey = ss.str(); + + DWORD MetadataBufferSizeInKB = 0; + if (RegQueryValueEx( + key, + metadatakey.c_str(), + NULL, + NULL, + (LPBYTE)(&MetadataBufferSizeInKB), + &len) != ERROR_SUCCESS) + rs2::log(RS2_LOG_SEVERITY_DEBUG, "Unable to read metadata registry key!"); + + found = found && MetadataBufferSizeInKB; + } + + if (found) res = true; + } + }); + + return res; + } + + void enable_metadata() override + { + if (!is_running_as_admin()) + { + enable_metadata_with_new_admin_process(); + } + else + { + std::vector dids; + + rs2::context ctx; + auto list = ctx.query_devices(); + for (uint32_t i = 0; i < list.size(); i++) + { + try + { + rs2::device dev = list[i]; + + if (dev.supports(RS2_CAMERA_INFO_PRODUCT_LINE)) + { + std::string product = dev.get_info(RS2_CAMERA_INFO_PRODUCT_LINE); + if (can_support_metadata(product)) + { + for (auto sen : dev.query_sensors()) + { + if (sen.supports(RS2_CAMERA_INFO_PHYSICAL_PORT)) + { + std::string port = sen.get_info(RS2_CAMERA_INFO_PHYSICAL_PORT); + device_id did; + if (parse_device_id(port, &did)) + dids.push_back(did); + } + } + } + } + } + catch (...) {} + } + + bool failure = false; + foreach_device_path(dids, [&failure](const device_id& did, std::wstring path) { + HKEY key; + if (RegOpenKeyEx(HKEY_LOCAL_MACHINE, path.c_str(), 0, KEY_WRITE | KEY_WOW64_64KEY, &key) == ERROR_SUCCESS) + { + // Don't forget to release in the end: + std::shared_ptr raii(key, RegCloseKey); + + bool found = true; + DWORD len = sizeof(DWORD);//size of data + + for (int i = 0; i < number_of_mediapins(did.pid, did.mi); i++) + { + std::wstringstream ss; ss << L"MetadataBufferSizeInKB" << i; + std::wstring metadatakey = ss.str(); + + DWORD MetadataBufferSizeInKB = 5; + if (RegSetValueEx(key, metadatakey.c_str(), 0, REG_DWORD, + (const BYTE*)&MetadataBufferSizeInKB, sizeof(DWORD)) != ERROR_SUCCESS) + { + rs2::log(RS2_LOG_SEVERITY_DEBUG, "Unable to write metadata registry key!"); + failure = true; + } + } + } + }); + if (failure) throw std::runtime_error("Unable to write to metadata registry key!"); + } + } + }; +#endif + + metadata_helper& metadata_helper::instance() + { +#ifdef WIN32 + static windows_metadata_helper instance; +#else + static metadata_helper instance; +#endif + return instance; + } +} diff --git a/librealsense/common/metadata-helper.h b/librealsense/common/metadata-helper.h new file mode 100644 index 0000000..7b318d5 --- /dev/null +++ b/librealsense/common/metadata-helper.h @@ -0,0 +1,34 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include + +namespace rs2 +{ + // Helper class that is responsible for enabling per-frame metadata on different platforms + // Currently implemented for Windows + class metadata_helper + { + public: + static metadata_helper& instance(); + + // Check if metadata is enabled using Physical Port ID + // (can be retrieved with device::get_info(RS2_CAMERA_INFO_PHYSICAL_PORT)) + // throws runtime_error in case of errors + virtual bool is_enabled(std::string id) const { return true; } + + // Enable metadata for all connected devices + // throws runtime_error in case of errors + virtual void enable_metadata() { } + + static bool can_support_metadata(const std::string& product) + { + return product == "D400" || product == "D500"; + } + + // This is the command-line parameter that gets passed to another process (running as admin) in order to enable metadata -- see WinMain + static std::string get_command_line_param() { return "--enable_metadata"; } + }; +} diff --git a/librealsense/common/model-views.cpp b/librealsense/common/model-views.cpp new file mode 100644 index 0000000..909f3bc --- /dev/null +++ b/librealsense/common/model-views.cpp @@ -0,0 +1,424 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#ifdef _MSC_VER +#ifndef NOMINMAX +#define NOMINMAX +#endif +#endif + +#include + +#include "model-views.h" +#include "subdevice-model.h" +#include "stream-model.h" +#include "updates-model.h" +#include "notifications.h" +#include "fw-update-helper.h" +#include "on-chip-calib.h" +#include "viewer.h" +#include "post-processing-filters-list.h" +#include "post-processing-block-model.h" +#include +#include +#include "ux-window.h" + +#include "imgui-fonts-karla.hpp" +#include "imgui-fonts-fontawesome.hpp" +#include "imgui-fonts-monofont.hpp" + +#include "os.h" + +#include "metadata-helper.h" +#include "calibration-model.h" +#include "sw-update/http-downloader.h" + +#include +#include +#include +#include + +#include "opengl3.h" + + rs2_sensor_mode rs2::resolution_from_width_height(int width, int height) +{ + if ((width == 240 && height == 320) || (width == 320 && height == 240)) + return RS2_SENSOR_MODE_QVGA; + else if ((width == 640 && height == 480) || (height == 640 && width == 480)) + return RS2_SENSOR_MODE_VGA; + else if ((width == 1024 && height == 768) || (height == 768 && width == 1024)) + return RS2_SENSOR_MODE_XGA; + else + return RS2_SENSOR_MODE_COUNT; +} + +ImVec4 flip(const ImVec4& c) +{ + return{ c.y, c.x, c.z, c.w }; +} + +ImVec4 from_rgba(uint8_t r, uint8_t g, uint8_t b, uint8_t a, bool consistent_color) +{ + auto res = ImVec4(r / (float)255, g / (float)255, b / (float)255, a / (float)255); +#ifdef FLIP_COLOR_SCHEME + if (!consistent_color) return flip(res); +#endif + return res; +} + +ImVec4 operator+(const ImVec4& c, float v) +{ + return ImVec4( + std::max(0.f, std::min(1.f, c.x + v)), + std::max(0.f, std::min(1.f, c.y + v)), + std::max(0.f, std::min(1.f, c.z + v)), + std::max(0.f, std::min(1.f, c.w)) + ); +} + +namespace rs2 +{ + std::vector bytes_from_bin_file(const std::string& filename) + { + std::ifstream file(filename.c_str(), std::ios::binary); + if (!file.good()) + throw std::runtime_error( rsutils::string::from() << "Invalid binary file specified " << filename + << " verify the source path and location permissions" ); + + // Determine the file length + file.seekg(0, std::ios_base::end); + std::size_t size = file.tellg(); + if (!size) + throw std::runtime_error( rsutils::string::from() + << "Invalid binary file " << filename << " provided - zero-size " ); + file.seekg(0, std::ios_base::beg); + + // Create a vector to store the data + std::vector v(size); + + // Load the data + file.read((char*)&v[0], size); + + return v; + } + + // Flush binary stream to file, override previous if exists + void bin_file_from_bytes(const std::string& filename, const std::vector bytes) + { + std::ofstream file(filename, std::ios::binary | std::ios::trunc); + if (!file.good()) + throw std::runtime_error( rsutils::string::from() << "Invalid binary file specified " << filename + << " verify the target path and location permissions" ); + file.write((char*)bytes.data(), bytes.size()); + } + + void hyperlink(ux_window& window, const char* title, const char* link) + { + if (ImGui::Button(title)) + { + open_url(link); + } + if (ImGui::IsItemHovered()) + { + window.link_hovered(); + } + } + + std::tuple get_texcolor(video_frame texture, texture_coordinate texcoords) + { + const int w = texture.get_width(), h = texture.get_height(); + int x = std::min(std::max(int(texcoords.u*w + .5f), 0), w - 1); + int y = std::min(std::max(int(texcoords.v*h + .5f), 0), h - 1); + int idx = x * texture.get_bytes_per_pixel() + y * texture.get_stride_in_bytes(); + const auto texture_data = reinterpret_cast(texture.get_data()); + return std::tuple( + texture_data[idx], texture_data[idx + 1], texture_data[idx + 2]); + } + + void export_frame(const std::string& fname, std::unique_ptr exporter, + notifications_model& ns, frame data, bool notify) + { + auto manager = std::make_shared(fname, std::move(exporter), data); + + auto n = std::make_shared(manager); + ns.add_notification(n); + n->forced = true; + + auto invoke = [n](std::function action) { + n->invoke(action); + }; + manager->start(invoke); + } + + bool save_frame_raw_data(const std::string& filename, rs2::frame frame) + { + bool ret = false; + auto image = frame.as(); + if (image) + { + std::ofstream outfile(filename.data(), std::ofstream::binary); + outfile.write(static_cast(image.get_data()), image.get_height()*image.get_stride_in_bytes()); + + outfile.close(); + ret = true; + } + + return ret; + } + + bool frame_metadata_to_csv(const std::string& filename, rs2::frame frame) + { + bool ret = false; + auto image = frame.as(); + if (image) + { + std::ofstream csv(filename); + + auto profile = image.get_profile(); + csv << "Frame Info: " << std::endl << "Type," << profile.stream_name() << std::endl; + csv << "Format," << rs2_format_to_string(profile.format()) << std::endl; + csv << "Frame Number," << image.get_frame_number() << std::endl; + csv << "Timestamp (ms)," << std::fixed << std::setprecision(2) << image.get_timestamp() << std::endl; + csv << "Resolution x," << (int)image.get_width() << std::endl; + csv << "Resolution y," << (int)image.get_height() << std::endl; + csv << "Bytes per pixel," << (int)image.get_bytes_per_pixel() << std::endl; + + if (auto vsp = profile.as()) + { + auto intrinsics = vsp.get_intrinsics(); + csv << std::endl << "Intrinsic:," << std::fixed << std::setprecision(6) << std::endl; + csv << "Fx," << intrinsics.fx << std::endl; + csv << "Fy," << intrinsics.fy << std::endl; + csv << "PPx," << intrinsics.ppx << std::endl; + csv << "PPy," << intrinsics.ppy << std::endl; + csv << "Distorsion," << rs2_distortion_to_string(intrinsics.model) << std::endl; + } + + ret = true; + } + + return ret; + } + + bool motion_data_to_csv( const std::string & filename, rs2::frame frame ) + { + bool ret = false; + if( auto motion = frame.as< motion_frame >() ) + { + std::string units; + if( motion.get_profile().stream_type() == RS2_STREAM_GYRO ) + units = "( deg/sec )"; + else + units = "( m/sec^2 )"; + auto axes = motion.get_motion_data(); + std::ofstream csv( filename ); + + auto profile = frame.get_profile(); + csv << "Frame Info: " << std::endl << "Type," << profile.stream_name() << std::endl; + csv << "Format," << rs2_format_to_string( profile.format() ) << std::endl; + csv << "Frame Number," << frame.get_frame_number() << std::endl; + csv << "Timestamp (ms)," << std::fixed << std::setprecision( 2 ) + << frame.get_timestamp() << std::endl; + csv << std::setprecision( 7 ) << "Axes" << units << ", " << axes << std::endl; + + ret = true; + } + + return ret; + } + + bool pose_data_to_csv( const std::string & filename, rs2::frame frame ) + { + bool ret = false; + if( auto pose = frame.as< pose_frame >() ) + { + auto pose_data = pose.get_pose_data(); + std::ofstream csv( filename ); + + auto profile = frame.get_profile(); + csv << "Frame Info: " << std::endl << "Type," << profile.stream_name() << std::endl; + csv << "Format," << rs2_format_to_string( profile.format() ) << std::endl; + csv << "Frame Number," << frame.get_frame_number() << std::endl; + csv << "Timestamp (ms)," << std::fixed << std::setprecision( 2 ) + << frame.get_timestamp() << std::endl; + csv << std::setprecision( 7 ) << "Acceleration( meters/sec^2 ), " + << pose_data.acceleration << std::endl; + csv << std::setprecision( 7 ) << "Angular_acceleration( radians/sec^2 ), " + << pose_data.angular_acceleration << std::endl; + csv << std::setprecision( 7 ) << "Angular_velocity( radians/sec ), " + << pose_data.angular_velocity << std::endl; + csv << std::setprecision( 7 ) + << "Mapper_confidence( 0x0 - Failed 0x1 - Low 0x2 - Medium 0x3 - High ), " + << pose_data.mapper_confidence << std::endl; + csv << std::setprecision( 7 ) + << "Rotation( quaternion rotation (relative to initial position) ), " + << pose_data.rotation << std::endl; + csv << std::setprecision( 7 ) + << "Tracker_confidence( 0x0 - Failed 0x1 - Low 0x2 - Medium 0x3 - High ), " + << pose_data.tracker_confidence << std::endl; + csv << std::setprecision( 7 ) << "Translation( meters ), " << pose_data.translation + << std::endl; + csv << std::setprecision( 7 ) << "Velocity( meters/sec ), " << pose_data.velocity + << std::endl; + + ret = true; + } + + return ret; + } + + std::vector get_device_info(const device& dev, bool include_location) + { + std::vector res; + for (auto i = 0; i < RS2_CAMERA_INFO_COUNT; i++) + { + auto info = static_cast(i); + + // When camera is being reset, either because of "hardware reset" + // or because of switch into advanced mode, + // we don't want to capture the info that is about to change + if ((info == RS2_CAMERA_INFO_PHYSICAL_PORT || + info == RS2_CAMERA_INFO_ADVANCED_MODE) + && !include_location) continue; + + if (dev.supports(info)) + { + auto value = dev.get_info(info); + res.push_back(value); + } + } + return res; + } + + bool yes_no_dialog(const std::string& title, const std::string& message_text, bool& approved, ux_window& window, const std::string& error_message, bool disabled, const std::string& disabled_reason) + { + ImGui_ScopePushFont(window.get_font()); + ImGui_ScopePushStyleColor(ImGuiCol_Button, button_color); + ImGui_ScopePushStyleColor(ImGuiCol_ButtonHovered, sensor_header_light_blue); //TODO: Change color? + ImGui_ScopePushStyleColor(ImGuiCol_ButtonActive, regular_blue); //TODO: Change color? + ImGui_ScopePushStyleColor(ImGuiCol_TextSelectedBg, light_grey); + ImGui_ScopePushStyleColor(ImGuiCol_TitleBg, header_color); + ImGui_ScopePushStyleColor(ImGuiCol_PopupBg, sensor_bg); + ImGui_ScopePushStyleColor(ImGuiCol_BorderShadow, dark_grey); + ImGui_ScopePushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(20, 10)); + auto clicked = false; + + ImGui::OpenPopup(title.c_str()); + ImGui::SetNextWindowPos( {window.width() * 0.35f, window.height() * 0.35f }); + if (ImGui::BeginPopup(title.c_str())) + { + { + ImGui_ScopePushStyleColor(ImGuiCol_Text, almost_white_bg); + + ImGui::SetWindowFontScale(1.3f); + ImGui::Text("%s", title.c_str()); + } + { + ImGui_ScopePushStyleColor(ImGuiCol_Text, light_grey); + ImGui::Separator(); + ImGui::SetWindowFontScale(1.1f); + ImGui::Text("\n%s\n", message_text.c_str()); + + if (!disabled) + { + ImGui::SameLine(); + auto width = ImGui::GetWindowWidth(); + ImGui::Dummy(ImVec2(0, 0)); + ImGui::Dummy(ImVec2(width / 3.f, 0)); + ImGui::SameLine(); + if (ImGui::Button("Yes", ImVec2(60, 30))) + { + ImGui::CloseCurrentPopup(); + approved = true; + clicked = true; + } + ImGui::SameLine(); + if (ImGui::Button("No", ImVec2(60, 30))) + { + ImGui::CloseCurrentPopup(); + approved = false; + clicked = true; + } + } + else + { + ImGui::NewLine(); + { + ImGui_ScopePushStyleColor(ImGuiCol_Text, red); + ImGui::Text("%s\n\n", disabled_reason.c_str()); + } + auto window_width = ImGui::GetWindowWidth(); + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + window_width / 2.f - 30.f - ImGui::GetStyle().WindowPadding.x); + if (ImGui::Button("Close", ImVec2(60, 30))) + { + ImGui::CloseCurrentPopup(); + approved = false; + clicked = true; + } + } + } + ImGui::EndPopup(); + } + return clicked; + } + + // Create a process windows with process details from the caller, + // and close button activated by the caller + bool status_dialog(const std::string& title, const std::string& process_topic_text, const std::string& process_status_text , bool enable_close, ux_window& window) + { + ImGui_ScopePushFont(window.get_font()); + ImGui_ScopePushStyleColor(ImGuiCol_Button, button_color); + ImGui_ScopePushStyleColor(ImGuiCol_ButtonHovered, sensor_header_light_blue); //TODO: Change color? + ImGui_ScopePushStyleColor(ImGuiCol_ButtonActive, regular_blue); //TODO: Change color? + ImGui_ScopePushStyleColor(ImGuiCol_Text, light_grey); + ImGui_ScopePushStyleColor(ImGuiCol_TextSelectedBg, light_grey); + ImGui_ScopePushStyleColor(ImGuiCol_TitleBg, header_color); + ImGui_ScopePushStyleColor(ImGuiCol_PopupBg, sensor_bg); + ImGui_ScopePushStyleColor(ImGuiCol_BorderShadow, dark_grey); + ImGui_ScopePushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(20, 10)); + auto close_clicked = false; + + ImGui::OpenPopup(title.c_str()); + ImGui::SetNextWindowPos({ window.width() * 0.35f, window.height() * 0.35f }); + if (ImGui::BeginPopup(title.c_str())) + { + { + ImGui_ScopePushStyleColor(ImGuiCol_Text, almost_white_bg); + + ImGui::SetWindowFontScale(1.3f); + ImGui::Text("%s", title.c_str()); + } + { + + ImGui::Separator(); + ImGui::SetWindowFontScale(1.1f); + + ImGui::NewLine(); + ImGui::Text("%s", process_topic_text.c_str()); + ImGui::NewLine(); + + auto window_width = ImGui::GetWindowWidth(); + auto process_status_text_size = ImGui::CalcTextSize(process_status_text.c_str()).x + ImGui::CalcTextSize("Status: ").x + ImGui::GetStyle().WindowPadding.x; + auto future_window_width = std::max(process_status_text_size, window_width); + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + future_window_width / 2.f - process_status_text_size / 2.f); + + ImGui::Text("Status: %s", process_status_text.c_str()); + ImGui::NewLine(); + window_width = ImGui::GetWindowWidth(); + + if (enable_close) + { + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + window_width / 2.f - 50.f); // 50 = 30 (button size) + 20 (padding) + if (ImGui::Button("Close", ImVec2(60, 30))) + { + ImGui::CloseCurrentPopup(); + close_clicked = true; + } + } + } + ImGui::EndPopup(); + } + return close_clicked; + } + +} diff --git a/librealsense/common/model-views.h b/librealsense/common/model-views.h new file mode 100644 index 0000000..fbdff04 --- /dev/null +++ b/librealsense/common/model-views.h @@ -0,0 +1,128 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#pragma once +#include + +#include "rendering.h" +#include "ux-window.h" +#include "parser.hpp" +#include "rs-config.h" + +#define GLFW_INCLUDE_GLU +#include +#include "opengl3.h" +#include +#include +#include +#include +#include +#include + +#include "objects-in-frame.h" +#include "processing-block-model.h" + +#include "realsense-ui-advanced-mode.h" +#include "fw-update-helper.h" +#include "updates-model.h" +#include "calibration-model.h" +#include +#include "option-model.h" + + +namespace rs2 +{ + void prepare_config_file(); + + bool frame_metadata_to_csv( const std::string & filename, rs2::frame frame ); + + bool motion_data_to_csv( const std::string & filename, rs2::frame frame ); + + bool pose_data_to_csv( const std::string & filename, rs2::frame frame ); + + void open_issue(std::string body); + + class option_model; + + void hyperlink(ux_window& window, const char* title, const char* link); + + static const float FEET_TO_METER = 0.3048f; + + rs2_sensor_mode resolution_from_width_height(int width, int height); + + template + void sort_together(std::vector& vec, std::vector& names) + { + std::vector> pairs(vec.size()); + for (size_t i = 0; i < vec.size(); i++) pairs[i] = std::make_pair(vec[i], names[i]); + + std::sort(begin(pairs), end(pairs), + [](const std::pair& lhs, + const std::pair& rhs) { + return lhs.first < rhs.first; + }); + + for (size_t i = 0; i < vec.size(); i++) + { + vec[i] = pairs[i].first; + names[i] = pairs[i].second; + } + } + + template + void push_back_if_not_exists(std::vector& vec, T value) + { + auto it = std::find(vec.begin(), vec.end(), value); + if (it == vec.end()) vec.push_back(value); + } + + struct notification_model; + typedef std::map streams_layout; + + std::vector get_device_info(const device& dev, bool include_location = true); + + using color = std::array; + using face = std::array; + using colored_cube = std::array, 6>; + using tracked_point = std::pair; // translation and confidence + + class press_button_model + { + public: + press_button_model(const char* icon_default, const char* icon_pressed, std::string tooltip_default, std::string tooltip_pressed, + bool init_pressed) + { + state_pressed = init_pressed; + tooltip[unpressed] = tooltip_default; + tooltip[pressed] = tooltip_pressed; + icon[unpressed] = icon_default; + icon[pressed] = icon_pressed; + } + + void toggle_button() { state_pressed = !state_pressed; } + void set_button_pressed(bool p) { state_pressed = p; } + bool is_pressed() { return state_pressed; } + std::string get_tooltip() { return(state_pressed ? tooltip[pressed] : tooltip[unpressed]); } + std::string get_icon() { return(state_pressed ? icon[pressed] : icon[unpressed]); } + + private: + enum button_state + { + unpressed, //default + pressed + }; + + bool state_pressed = false; + std::string tooltip[2]; + std::string icon[2]; + }; + + bool yes_no_dialog(const std::string& title, const std::string& message_text, bool& approved, ux_window& window, const std::string& error_message, bool disabled = false, const std::string& disabled_reason = ""); + bool status_dialog(const std::string& title, const std::string& process_topic_text, const std::string& process_status_text, bool enable_close, ux_window& window); + + struct notifications_model; + void export_frame(const std::string& fname, std::unique_ptr exporter, notifications_model& ns, rs2::frame data, bool notify = true); + + // Auxillary function to save stream data in its internal (raw) format + bool save_frame_raw_data(const std::string& filename, rs2::frame frame); +} diff --git a/librealsense/common/notifications.cpp b/librealsense/common/notifications.cpp new file mode 100644 index 0000000..c783fad --- /dev/null +++ b/librealsense/common/notifications.cpp @@ -0,0 +1,1216 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#ifdef _MSC_VER +#ifndef NOMINMAX +#define NOMINMAX +#endif +#endif + +#include "notifications.h" +#include +#include "model-views.h" +#include "os.h" +#include "viewer.h" +#include "metadata-helper.h" +#include "ux-window.h" + +#include +#include +#include +#include + +#include + +using namespace std; +using namespace chrono; + +namespace rs2 +{ + notification_data::notification_data(std::string description, + rs2_log_severity severity, + rs2_notification_category category) + : _description(description), + _severity(severity), + _category(category) + { + _timestamp = (double)std::chrono::high_resolution_clock::now().time_since_epoch().count(); + } + + rs2_notification_category notification_data::get_category() const + { + return _category; + } + + std::string notification_data::get_description() const + { + return _description; + } + + + double notification_data::get_timestamp() const + { + return _timestamp; + } + + rs2_log_severity notification_data::get_severity() const + { + return _severity; + } + + notification_model::notification_model() + { + custom_action = []{}; + last_x = 500000; + last_y = 200; + message = ""; + last_moved = std::chrono::system_clock::now(); + + created_time = std::chrono::system_clock::now(); + last_interacted = std::chrono::system_clock::now() - std::chrono::milliseconds(500); + } + + notification_model::notification_model(const notification_data& n) + : notification_model() + { + message = n.get_description(); + timestamp = n.get_timestamp(); + severity = n.get_severity(); + created_time = std::chrono::system_clock::now(); + last_interacted = std::chrono::system_clock::now() - std::chrono::milliseconds(500); + category = n.get_category(); + } + + double notification_model::get_age_in_ms(bool total) const + { + auto interacted = duration(last_interacted - created_time).count(); + return duration(system_clock::now() - created_time).count() - (total ? 0.0 : interacted); + } + + bool notification_model::interacted() const + { + return duration(system_clock::now() - last_interacted).count() < 100; + } + + // Pops the N colors that were pushed in set_color_scheme + void notification_model::unset_color_scheme() const + { + ImGui::PopStyleColor(6); + } + + void progress_bar::draw(ux_window & win, int bar_width, int progress) + { + auto now = system_clock::now(); + auto ellapsed = duration_cast(now - last_progress_time).count() / 1000.f; + + auto new_progress = last_progress + ellapsed * progress_speed; + curr_progress_value = std::min(threshold_progress, new_progress); + + if (last_progress != progress) + { + last_progress_time = system_clock::now(); + + int delta = progress - last_progress; + + if (ellapsed > 0.f) progress_speed = delta / ellapsed; + + threshold_progress = float(std::min(100, progress + delta)); + + last_progress = progress; + } + + auto filled_w = (curr_progress_value * (bar_width - 4)) / 100.f; + + auto pos = ImGui::GetCursorScreenPos(); + ImGui::GetWindowDrawList()->AddRectFilled({ float(pos.x), float(pos.y) }, + { float(pos.x + bar_width), float(pos.y + 20) }, ImColor(black)); + + if (curr_progress_value > 0.f) + { + for (int i = 20; i >= 0; i -= 2) + { + auto a = curr_progress_value / 100.f; + ImGui::GetWindowDrawList()->AddRectFilled({ float(pos.x + 3 - i), float(pos.y + 3 - i) }, + { float(pos.x + filled_w + i), float(pos.y + 17 + i) }, + ImColor(alpha(light_blue, sqrt(a) * 0.02f)), float(i)); + } + + ImGui::GetWindowDrawList()->AddRectFilled({ float(pos.x + 3), float(pos.y + 3) }, + { float(pos.x + filled_w), float(pos.y + 17) }, ImColor(light_blue)); + + ImGui::GetWindowDrawList()->AddRectFilledMultiColor({ float(pos.x + 5), float(pos.y + 5) }, + { float(pos.x + filled_w), float(pos.y + 15) }, + ImColor(saturate(light_blue, 1.f)), ImColor(saturate(light_blue, 0.9f)), + ImColor(saturate(light_blue, 0.8f)), ImColor(saturate(light_blue, 1.f))); + + rs2::rect pbar{ float(pos.x + 3), float(pos.y + 3), float(bar_width), 17.f }; + auto mouse = win.get_mouse(); + if (pbar.contains(mouse.cursor)) + { + std::string progress_str = rsutils::string::from() << progress << "%"; + ImGui::SetTooltip("%s", progress_str.c_str()); + } + } + + ImGui::SetCursorScreenPos({ float(pos.x), float(pos.y + 25) }); + } + + void process_notification_model::draw_progress_bar(ux_window & win, int bar_width) + { + auto progress = update_manager->get_progress(); + _progress_bar.draw(win, bar_width, progress); + } + + /* Sets color scheme for notifications, must be used with unset_color_scheme to pop all colors in the end + Parameter t indicates the transparency of the nofication interface */ + void notification_model::set_color_scheme(float t) const + { + ImVec4 c; + + ImGui::PushStyleColor(ImGuiCol_Button, saturate(c, 1.3f)); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, saturate(c, 0.9f)); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, saturate(c, 1.5f)); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + c = alpha(white, 1 - t); + ImGui::PushStyleColor(ImGuiCol_Text, c); + + if (severity == RS2_LOG_SEVERITY_ERROR || + severity == RS2_LOG_SEVERITY_WARN) + { + c = alpha(dark_red, 1 - t); + ImGui::PushStyleColor(ImGuiCol_WindowBg, c); + } + else + { + c = alpha(saturate(grey, 0.7f), 1 - t); + ImGui::PushStyleColor(ImGuiCol_WindowBg, c); + } + } + + int notification_model::get_max_lifetime_ms() const + { + return 10000; + } + + void notification_model::draw_text(const char* msg, int x, int y, int h) + { + std::string text_name = rsutils::string::from() << "##notification_text_" << index; + ImGui::PushTextWrapPos(x + width - 100.f); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue); + if (enable_click) ImGui::Text("%s", msg); + else ImGui::InputTextMultiline(text_name.c_str(), const_cast(msg), + strlen(msg) + 1, { float(width - (count > 1 ? 40 : 10)), float(h) }, + ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(6); + ImGui::PopTextWrapPos(); + + if (ImGui::IsItemHovered()) + { + last_interacted = system_clock::now(); + } + } + + std::string notification_model::get_title() + { + auto title = message; + + auto parts = split_string(title, '`'); + if (parts.size() > 1) title = parts[0]; + + return title; + } + + int notification_model::calc_height() + { + auto title = get_title(); + auto lines = static_cast(std::count(title.begin(), title.end(), '\n') + 1); + return int((lines + 1) * ImGui::GetTextLineHeight() + 5); + } + + void process_notification_model::draw_pre_effect(int x, int y) + { + // TODO: Make polymorphic + if (update_state == 2) + { + auto k = duration_cast(system_clock::now() - _progress_bar.last_progress_time).count() / 500.f; + if (k <= 1.f) + { + auto size = 100; + k = pow(1.f - smoothstep(static_cast(k), 0.f, 1.f), 2.f); + ImGui::GetWindowDrawList()->AddRectFilled({ float(x - size * k), float(y - size * k) }, + { float(x + width + size * k), float(y + height + size * k) }, + ImColor(alpha(white, (1.f - k) / 2)), (size * k) / 2); + } + } + } + + void notification_model::draw_content(ux_window& win, int x, int y, float t, std::string& error_message) + { + draw_text(get_title().c_str(), x, y, height - 35); + } + + void rs2::notification_model::draw_dismiss(ux_window & win, int x, int y) + { + ImGui::SetCursorScreenPos({ float(x + width - 105), float(y + height - 25) }); + + string id = rsutils::string::from() << "Dismiss" << "##" << index; + + ImGui::PushStyleColor(ImGuiCol_Text, black); + ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg); + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + + ImGui::PushFont(win.get_font()); + + ImGui::SetNextWindowPos({ float(x + width - 125), float(y + height - 25) }); + ImGui::SetNextWindowSize({ 120, 70 }); + + std::string dismiss_popup = rsutils::string::from() << "Dismiss Options" << "##" << index; + if (ImGui::BeginPopup(dismiss_popup.c_str())) + { + if (ImGui::Selectable("Just this time")) + { + dismiss(true); + } + + if (ImGui::Selectable("Remind me later")) + { + delay(7); + dismiss(true); + } + + if (ImGui::Selectable("Don't show again")) + { + delay(1000); + dismiss(true); + } + + ImGui::EndPopup(); + } + + ImGui::PopFont(); + ImGui::PopStyleColor(4); + + if (ImGui::Button(id.c_str(), { 100, 20 })) + { + if (enable_complex_dismiss) + ImGui::OpenPopup(dismiss_popup.c_str()); + else dismiss(true); + } + if (ImGui::IsItemHovered()) + { + win.link_hovered(); + } + } + + std::function notification_model::draw(ux_window& win, int w, int y, + std::shared_ptr& selected, std::string& error_message) + { + std::function action; + while(dispatch_queue.try_dequeue(&action)) action(); + + std::function follow_up = []{}; + + if (visible) + { + auto stack = std::min(count, max_stack); + auto x = w - width - 10; + + if (dismissed) + { + x = w + width; + } + + if (!animating && (fabs(x - last_x) > 1.f || fabs(y - last_y) > 1.f)) + { + if (last_x > 100000) + { + last_x = x + 500.f; + last_y = float(y); + } + last_moved = system_clock::now(); + animating = true; + } + + auto elapsed = duration(system_clock::now() - last_moved).count(); + auto s = smoothstep(static_cast(elapsed / 250.f), 0.0f, 1.0f); + + if (s < 1.f) + { + x = int(s * x + (1 - s) * last_x); + y = int(s * y + (1 - s) * last_y); + } + else + { + last_x = float(x); last_y = float(y); + animating = false; + if (dismissed && !expanded) to_close = true; + } + + auto ms = get_age_in_ms() / get_max_lifetime_ms(); + auto t = smoothstep(static_cast(ms), 0.8f, 1.f); + if (pinned) t = 0.f; + + set_color_scheme(t); + + height = calc_height(); + + auto c = ImGui::GetStyle().Colors[ImGuiCol_WindowBg]; + c.w = smoothstep(static_cast(get_age_in_ms(true) / 200.f), 0.0f, 1.0f); + c.w = std::min(c.w, 1.f - t); + + draw_pre_effect(x, y); + + for (int i = stack - 1; i >= 0; i--) + { + auto ccopy = alpha(c, (0.9f * c.w) / (i + 1)); + + ImVec4 shadow{ 0.1f, 0.1f, 0.1f, 0.1f }; + + ImGui::GetWindowDrawList()->AddRectFilled({ float(x + 2 + i * stack_offset), float(y + 2 + i * stack_offset) }, + { float(x + 2 + width + i * stack_offset), float(y + 2 + height + i * stack_offset) }, ImColor(shadow)); + + ImGui::GetWindowDrawList()->AddRectFilledMultiColor({ float(x + i * stack_offset), float(y + i * stack_offset) }, + { float(x + width + i * stack_offset), float(y + height + i * stack_offset) }, + ImColor(saturate(ccopy, 0.9f)), ImColor(saturate(ccopy, 0.95f)), + ImColor(saturate(ccopy, 1.2f)), ImColor(saturate(ccopy, 1.1f))); + + ImGui::GetWindowDrawList()->AddRect({ float(x + i * stack_offset), float(y + i * stack_offset) }, + { float(x + width + i * stack_offset), float(y + height + i * stack_offset) }, ImColor(saturate(ccopy, 0.5f))); + } + + ImGui::SetCursorScreenPos({ float(x), float(y) }); + + if (enable_click) + { + std::string button_name = rsutils::string::from() << "##" << index; + + ImGui::PushStyleColor(ImGuiCol_Button, transparent); + + if (ImGui::Button(button_name.c_str(), { (float)width, (float)height })) + { + follow_up = custom_action; + dismiss(false); + } + if (ImGui::IsItemHovered()) + win.link_hovered(); + + ImGui::PopStyleColor(); + } + + if (count > 1) + { + std::string count_str = rsutils::string::from() << "x " << count; + ImGui::SetCursorScreenPos({ float(x + width - 22 - count_str.size() * 5), float(y + 7) }); + ImGui::Text("%s", count_str.c_str()); + } + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + 5) }); + + draw_content(win, x, y, t, error_message); + + if (enable_expand) + { + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); + + ImGui::PushFont(win.get_large_font()); + + ImGui::PushStyleColor(ImGuiCol_Button, transparent); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, transparent); + string id = rsutils::string::from() << textual_icons::dotdotdot << "##" << index; + if (ImGui::Button(id.c_str())) + { + selected = shared_from_this(); + } + + if (ImGui::IsItemHovered()) + win.link_hovered(); + + ImGui::PopStyleColor(3); + ImGui::PopFont(); + } + + if (enable_dismiss) + { + draw_dismiss(win, x, y); + } + + unset_color_scheme(); + } + + if (expanded) + { + draw_expanded(win, error_message); + } + + + return follow_up; + } + + std::shared_ptr notifications_model::add_notification(const notification_data& n) + { + return add_notification(n, []{}, false); + } + + std::shared_ptr notifications_model::add_notification(const notification_data& n, + std::function custom_action, bool use_custom_action) + { + std::shared_ptr result = nullptr; + { + using namespace std; + using namespace chrono; + lock_guard lock(m); // need to protect the pending_notifications queue because the insertion of notifications + // done from the notifications callback and proccesing and removing of old notifications done from the main thread + + for (auto&& nm : pending_notifications) + { + if (nm->category == n.get_category() && nm->message == n.get_description()) + { + nm->last_interacted = std::chrono::system_clock::now(); + nm->count++; + return nm; + } + } + + auto m = std::make_shared(n); + m->index = index++; + result = m; + m->timestamp = duration(system_clock::now().time_since_epoch()).count(); + + if (n.get_category() == RS2_NOTIFICATION_CATEGORY_COUNT) + { + m->pinned = true; + } + + if (use_custom_action) + { + m->custom_action = custom_action; + m->enable_click = true; + m->enable_expand = false; + m->enable_dismiss = false; + } + + pending_notifications.push_back(m); + + if (pending_notifications.size() > (size_t)MAX_SIZE) + { + auto it = pending_notifications.begin(); + while (it != pending_notifications.end() && (*it)->pinned) it++; + + if (it != pending_notifications.end()) + pending_notifications.erase(it); + } + } + + output.add_log(n.get_severity(), __FILE__, __LINE__, n.get_description()); + return result; + } + + void notifications_model::add_notification(std::shared_ptr model) + { + { + using namespace std; + using namespace chrono; + lock_guard lock(m); // need to protect the pending_notifications queue because the insertion of notifications + // done from the notifications callback and proccesing and removing of old notifications done from the main thread + + model->index = index++; + model->timestamp = duration(system_clock::now().time_since_epoch()).count(); + + pending_notifications.push_back(model); + + if (pending_notifications.size() > (size_t)MAX_SIZE) + { + auto it = pending_notifications.begin(); + while (it != pending_notifications.end() && (*it)->pinned) it++; + + if (it != pending_notifications.end()) + pending_notifications.erase(it); + } + } + + output.add_log(model->severity, __FILE__, __LINE__, model->get_title()); + } + + bool notifications_model::draw(ux_window& win, int w, int h, std::string& error_message) + { + bool modal_notification_found = false; + ImGui::PushFont(win.get_font()); + + std::vector> follow_up; + + { + bool pinned_drawn = false; + std::lock_guard lock(m); + if (pending_notifications.size() > 0) + { + // loop over all notifications, remove "old" ones + pending_notifications.erase(std::remove_if(std::begin(pending_notifications), + std::end(pending_notifications), + [&](std::shared_ptr& n) + { + if (n->snoozed && n->pinned) + { + n->dismissed = false; + n->to_close = false; + return true; + } + return ((n->get_age_in_ms() > n->get_max_lifetime_ms() && + !n->pinned && !n->expanded) || n->to_close); + }), end(pending_notifications)); + + auto height = 60; + for (auto& noti : pending_notifications) + { + modal_notification_found = modal_notification_found || noti->expanded; + if (pinned_drawn && noti->pinned && !noti->forced) + { + continue; + } + + follow_up.push_back(noti->draw(win, w, height, selected, error_message)); + + if (noti->pinned) pinned_drawn = true; + + if (noti->visible) + height += noti->height + 4 + + std::min(noti->count, noti->max_stack) * noti->stack_offset; + } + } + + + ImGui::PushStyleColor(ImGuiCol_WindowBg, { 0, 0, 0, 0 }); + //ImGui::Begin("Notification parent window", nullptr, flags); + + //selected.set_color_scheme(0.f); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg); + + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(3, 3)); + ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1); + + if (selected && selected->message != "") + ImGui::OpenPopup("Notification from Hardware"); + if (ImGui::BeginPopupModal("Notification from Hardware", nullptr, ImGuiWindowFlags_AlwaysAutoResize)) + { + ImGui::Text("Received the following notification:"); + + auto parts = split_string(selected->message, '`'); + + std::stringstream ss; + ss << "Timestamp: " + << std::fixed << selected->timestamp + << "\nSeverity: " << selected->severity + << "\nDescription: "; + + for (auto&& part : parts) ss << part << "\n"; + + auto s = ss.str(); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue); + ImGui::InputTextMultiline("notification", const_cast(s.c_str()), + s.size() + 1, { 500,100 }, ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(); + + if (ImGui::Button("OK", ImVec2(120, 0))) + { + selected->message = ""; + selected = nullptr; + ImGui::CloseCurrentPopup(); + } + else + { + std::string clip = ""; + auto lines = split_string(selected->message, '\n'); + for (auto & line : lines) + { + if (line.size() && line[0] == '$') clip += line.substr(2) + "\n"; + } + if (clip != "") + { + ImGui::SameLine(); + if (ImGui::Button(" Copy Commands ")) + { + glfwSetClipboardString(win, clip.c_str()); + } + if (ImGui::IsItemActive()) + ImGui::SetTooltip("Paste the copied commands to a terminal and enter your password to run"); + } + } + + ImGui::EndPopup(); + } + + ImGui::PopStyleVar(2); + ImGui::PopStyleColor(3); + + ImGui::PopStyleColor(); + } + + for (auto& action : follow_up) + { + try + { + action(); + } + catch (...) {} + } + + ImGui::PopFont(); + + return modal_notification_found; + } + + version_upgrade_model::version_upgrade_model(int version) + : process_notification_model(nullptr), _version(version) + { + enable_expand = false; + enable_dismiss = true; + update_state = 2; + //pinned = true; + _progress_bar.last_progress_time = system_clock::now(); + } + + void version_upgrade_model::set_color_scheme(float t) const + { + notification_model::set_color_scheme(t); + ImGui::PopStyleColor(1); + auto c = alpha(sensor_bg, 1 - t); + ImGui::PushStyleColor(ImGuiCol_WindowBg, c); + } + + void version_upgrade_model::draw_content(ux_window& win, int x, int y, float t, std::string& error_message) + { + if (_first) + { + _progress_bar.last_progress_time = system_clock::now(); + _first = false; + } + + ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1.f - t)); + ImGui::PushFont(win.get_large_font()); + + ImGui::SetCursorScreenPos({ float(x + 20), float(y + 16) }); + ImGui::Text("Welcome to"); ImGui::SameLine(); + std::string txt = rsutils::string::from() << "librealsense " << RS2_API_VERSION_STR << "!"; + + ImGui::PushStyleColor(ImGuiCol_Text, alpha(white, 1.f - t)); + ImGui::Text("%s", txt.c_str()); + ImGui::PopStyleColor(); + ImGui::PopFont(); + + ImGui::SetCursorScreenPos({ float(x + 17), float(y + 41) }); + + std::string link = rsutils::string::from() << "https://github.com/IntelRealSense/librealsense/wiki/Release-Notes#release-" << _version; + + ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_blue, 1.f - t)); + if (ImGui::Button("What's new")) + { + open_url(link.c_str()); + } + ImGui::PopStyleColor(); + if (ImGui::IsItemHovered()) + { + win.link_hovered(); + ImGui::SetTooltip("Open the Release Notes. Internet connection is required"); + } + ImGui::SameLine(); + ImGui::SetCursorPosX(ImGui::GetCursorPosX() - 5); + ImGui::Text("in this release?"); + ImGui::PopStyleColor(); + } + + int version_upgrade_model::calc_height() + { + return 80; + } + + void process_manager::log(std::string line) + { + std::lock_guard lock(_log_lock); + _log += line + "\n"; + } + + void process_manager::reset() + { + _progress = 0; + _started = false; + _done = false; + _failed = false; + _last_error = ""; + } + + void process_manager::fail(std::string error) + { + _last_error = error; + _progress = 0; + log("\nERROR: " + error); + _failed = true; + } + + void notification_model::invoke(std::function action) + { + // We use a weak_ptr for making sure the queue object is + // alive when we access it from the dispatcher thread + auto sptr_q = std::make_shared> (); + std::weak_ptr> wptr_q( sptr_q ); + + dispatch_queue.enqueue([wptr_q, &action](){ + try + { + action(); + auto q = wptr_q.lock(); + if( ! q ) + return; + q->enqueue( true ); + } + catch(...) + { + auto q = wptr_q.lock(); + if( ! q ) + return; + q->enqueue(false); + } + }); + bool res; + if (!sptr_q->dequeue(&res, 100000) || !res) + throw std::runtime_error("Invoke operation failed!"); + + } + + void process_manager::start(invoker invoke) + { + auto cleanup = [invoke]() { + }; + + log( rsutils::string::from() << "Started " << _process_name << " process" ); + + auto me = shared_from_this(); + std::weak_ptr ptr(me); + + std::thread t([ptr, cleanup, invoke]() { + auto self = ptr.lock(); + if (!self) return; + + try + { + self->process_flow(cleanup, invoke); + } + catch (const error& e) + { + self->fail(error_to_string(e)); + cleanup(); + } + catch (const std::exception& ex) + { + self->fail(ex.what()); + cleanup(); + } + catch (...) + { + self->fail( rsutils::string::from() << "Unknown error during " << self->_process_name << " process!" ); + cleanup(); + } + }); + t.detach(); + + _started = true; + } + + void export_manager::process_flow( + std::function cleanup, + invoker invoke) + { + _progress = 5; + _exporter->process(_data); + _progress = 100; + + _done = true; + } + + void export_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 != STATE_COMPLETE) + { + ImGui::Text("Export in progress"); + + ImGui::SetCursorScreenPos({ float(x + 10), float(y + 35) }); + + ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1.f - t)); + + std::string s = "Saving 3D view to " + get_file_name( get_manager().get_filename() ); + ImGui::Text("%s", s.c_str()); + + ImGui::PopStyleColor(); + } + else + { + ImGui::Text("Export Completed"); + + 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) }); + std::string s = "Finished saving 3D view to " + get_file_name( get_manager().get_filename() ); + + ImGui::Text("%s", s.c_str()); + } + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); + + const auto bar_width = width - 115; + + if (update_state == STATE_IN_PROGRESS) + { + if (update_manager->done()) + { + update_state = 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 = STATE_FAILED; + pinned = false; + dismiss(false); + } + + draw_progress_bar(win, bar_width); + + ImGui::SetCursorScreenPos({ float(x + width - 105), float(y + height - 25) }); + } + } + } + + int export_notification_model::calc_height() + { + return 85; + } + + void export_notification_model::set_color_scheme(float t) const + { + notification_model::set_color_scheme(t); + + ImGui::PopStyleColor(1); + + ImVec4 c; + + if (update_state == 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); + } + } + + export_notification_model::export_notification_model(std::shared_ptr manager) + : process_notification_model(manager) + { + enable_expand = false; + expanded = false; + if (expanded) visible = false; + + message = ""; + update_state = STATE_IN_PROGRESS; + this->severity = RS2_LOG_SEVERITY_INFO; + this->category = RS2_NOTIFICATION_CATEGORY_FIRMWARE_UPDATE_RECOMMENDED; + + pinned = true; + } + + metadata_warning_model::metadata_warning_model() + : notification_model() + { + enable_expand = false; + enable_dismiss = true; + pinned = true; + message = "Frame Metadata is a device feature allowing\n" + "software synchronization between different\n" + "camera streams.\n" + "It must be explicitly enabled on Windows OS\n"; + } + + void metadata_warning_model::set_color_scheme(float t) const + { + notification_model::set_color_scheme(t); + ImGui::PopStyleColor(1); + auto c = alpha(sensor_bg, 1 - t); + ImGui::PushStyleColor(ImGuiCol_WindowBg, c); + } + + void metadata_warning_model::draw_content(ux_window& win, int x, int y, float t, std::string& error_message) + { + 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)); + + ImGui::Text("Frame Metadata Disabled"); + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + 27) }); + + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + draw_text(get_title().c_str(), x, y, height - 50); + ImGui::PopStyleColor(); + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); + + auto sat = 1.f + sin(duration_cast(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() << "Enable" << "##enable_metadata" << index; + + const auto bar_width = width - 115; + if (ImGui::Button(button_name.c_str(), { float(bar_width), 20.f })) + { + metadata_helper::instance().enable_metadata(); + dismiss(false); + } + ImGui::PopStyleColor(2); + + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Enables metadata on connected devices (you may be prompted for administrator privileges)"); + } + } + + bool notification_model::is_delayed() const + { + // Make sure we don't spam calibration remainders too often: + time_t rawtime; + time(&rawtime); + std::string str = rsutils::string::from() << "notifications." << delay_id << ".next"; + long long next_time = config_file::instance().get_or_default(str.c_str(), (long long)0); + + return rawtime < next_time; + } + + void notification_model::delay(int days) + { + // Make sure we don't spam calibration remainders too often: + time_t rawtime; + time(&rawtime); + std::string str = rsutils::string::from() << "notifications." << delay_id << ".next"; + config_file::instance().set(str.c_str(), (long long)(rawtime + days * 60 * 60 * 24)); + } + void notification_model::reset_delay() + { + if( is_delayed() ) + { + std::string str = rsutils::string::from() << "notifications." << delay_id << ".next"; + config_file::instance().remove( str.c_str()); + } + } + + sw_recommended_update_alert_model::sw_recommended_update_alert_model(const std::string& current_version, const std::string& recommended_version, const std::string& recommended_version_link) + : notification_model(), _current_version(current_version), _recommended_version(recommended_version), _recommended_version_link(recommended_version_link) + { + enable_expand = false; + enable_dismiss = true; + pinned = true; + forced = true; + severity = RS2_LOG_SEVERITY_INFO; + message = "Current SW version: " + _current_version +"\n" + + "Recommended SW version: " + _recommended_version; + } + + void sw_recommended_update_alert_model::set_color_scheme(float t) const + { + notification_model::set_color_scheme(t); + ImGui::PopStyleColor(1); + auto c = alpha(sensor_bg, 1 - t); + ImGui::PushStyleColor(ImGuiCol_WindowBg, c); + } + + void sw_recommended_update_alert_model::draw_content( + ux_window& win, int x, int y, float t, std::string& error_message) + { + 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)); + + ImGui::Text("Software 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 - 77) }); + + ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1.f - t)); + ImGui::Text("We strongly recommend you upgrade \nyour software\n"); + ImGui::PopStyleColor(); + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); + + auto sat = 1.f + + sin(duration_cast(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)); + + const auto bar_width = width - 115; + + ImGui::PushStyleColor(ImGuiCol_Text, alpha(white, 1.f - t)); + std::string button_name = rsutils::string::from() << "Learn More..." << "##" << index; + if (ImGui::Button(button_name.c_str(), { float(bar_width), 20.f })) + { + bool should_dismiss = true; + try + { + open_url(_recommended_version_link.c_str()); + } + catch (const exception& e) + { + error_message = e.what(); + should_dismiss = false; + } + if (should_dismiss) dismiss(false); + } + ImGui::PopStyleColor(); + if (ImGui::IsItemHovered()) + { + win.link_hovered(); + ImGui::SetTooltip("Internet connection required"); + } + ImGui::PopStyleColor(2); + } + + sw_update_up_to_date_model::sw_update_up_to_date_model() + : notification_model() + { + enable_expand = false; + enable_dismiss = false; + pinned = false; + forced = true; + severity = RS2_LOG_SEVERITY_INFO; + message = "SW/FW versions up to date"; + } + + void sw_update_up_to_date_model::set_color_scheme(float t) const + { + notification_model::set_color_scheme(t); + ImGui::PopStyleColor(); + + ImVec4 c; + c = alpha(saturate(light_blue, 0.7f), 1 - t); + ImGui::PushStyleColor(ImGuiCol_WindowBg, c); + } + + + void sw_update_up_to_date_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)); + + ImGui::Text("Updates Status"); + + 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("SW/FW Versions All Up To Date"); + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); + } + + ucal_disclaimer_model::ucal_disclaimer_model() + : notification_model() + { + enable_expand = false; + enable_dismiss = true; + enable_complex_dismiss = true; // Allow to inhibit the disclaimer + pinned = false; + + } + + void ucal_disclaimer_model::draw_content(ux_window& win, int x, int y, float t, std::string& error_message) + { + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 4) }); + + ImGui::GetWindowDrawList()->AddRectFilled({ float(x), float(y) }, + { float(x + width), float(y + 25) }, ImColor(orange)); + + ImGui::Text("Self-Calibration - Disclaimer"); + ImGui::SetCursorScreenPos({ float(x + 5), float(y + 27) }); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + std::string message = "For D415 please refer to the links for details:"; + draw_text(message.c_str(), x, y, 30); + ImGui::PopStyleColor(); + + ImGui::SetCursorScreenPos({ float(x + 10), float(y + 47) }); + hyperlink(win, "1. Self-Calibration Whitepaper", "https://dev.intelrealsense.com/docs/self-calibration-for-depth-cameras"); + ImGui::SetCursorScreenPos({ float(x + 10), float(y + 67) }); + hyperlink(win, "2. Firmware Releases / Errata", "https://dev.intelrealsense.com/docs/firmware-releases"); + + } + + fl_cal_limitation_model::fl_cal_limitation_model() + : notification_model() + { + enable_expand = false; + enable_dismiss = true; + enable_complex_dismiss = false; + pinned = false; + message = "Focal-Length Calibration for this device\n" + " requires USB3 connection.\n" + "Please switch the connection port and rerun"; + } + + void fl_cal_limitation_model::draw_content(ux_window& win, int x, int y, float t, std::string& error_message) + { + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 4) }); + + ImGui::GetWindowDrawList()->AddRectFilled({ float(x), float(y) }, + { float(x + width), float(y + 25) }, ImColor(grey)); + + ImGui::Text("User Notification"); + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + 25) }); + ImGui::GetWindowDrawList()->AddRectFilled({ float(x+2), float(y+27) }, + { float(x + width), float(y + 79) }, ImColor(orange)); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + draw_text(get_title().c_str(), x, y, height - 50); + ImGui::PopStyleColor(); + } +} diff --git a/librealsense/common/notifications.h b/librealsense/common/notifications.h new file mode 100644 index 0000000..71787a1 --- /dev/null +++ b/librealsense/common/notifications.h @@ -0,0 +1,324 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2019 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include +#include +#include + +#include "output-model.h" + +namespace rs2 +{ + class ux_window; + + class notification_data + { + public: + notification_data(std::string description, + rs2_log_severity severity, + rs2_notification_category category); + + rs2_notification_category get_category() const; + std::string get_description() const; + double get_timestamp() const; + rs2_log_severity get_severity() const; + private: + std::string _description; + double _timestamp; + rs2_log_severity _severity; + rs2_notification_category _category; + }; + + struct notification_model : public std::enable_shared_from_this + { + notification_model(); + notification_model(const notification_data& n); + + template + bool is() + { + return dynamic_cast(this) != nullptr; + } + + double get_age_in_ms(bool total = false) const; + bool interacted() const; + std::function draw(ux_window& win, int w, int y, + std::shared_ptr& selected, std::string& error_message); + void draw_text(const char* msg, int x, int y, int h); + virtual void set_color_scheme(float t) const; + void unset_color_scheme() const; + virtual int get_max_lifetime_ms() const; + + virtual int calc_height(); + virtual void draw_pre_effect(int x, int y) {} + virtual void draw_content(ux_window& win, int x, int y, float t, std::string& error_message); + virtual void draw_dismiss(ux_window& win, int x, int y); + virtual void draw_expanded(ux_window& win, std::string& error_message) {} + + virtual void dismiss(bool snooze) { dismissed = true; snoozed = snooze; } + + std::string get_title(); + + std::function custom_action; + + int count = 1; + int height = 40; + int index = 0; + std::string message; + double timestamp = 0.0; + rs2_log_severity severity = RS2_LOG_SEVERITY_NONE; + std::chrono::system_clock::time_point created_time; + rs2_notification_category category = RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR; + bool to_close = false; // true when user clicks on close notification + + int width = 320; + int stack_offset = 4; + int max_stack = 3; + + // Behaviour variables + bool dismissed = false; + bool expanded = false; + bool visible = true; + bool pinned = false; + bool forced = false; + bool snoozed = false; + bool enable_dismiss = true; + bool enable_expand = true; + bool enable_click = false; + bool enable_complex_dismiss = false; + + std::string delay_id = ""; + + bool is_delayed() const; + void delay(int days); + void reset_delay(); + + float last_x, last_y; + bool animating = false; + std::chrono::system_clock::time_point last_moved; + std::chrono::system_clock::time_point last_interacted; + + single_consumer_queue> dispatch_queue; + void invoke(std::function action); + }; + + class device_model; + + using invoker = std::function)>; + + class process_manager : public std::enable_shared_from_this + { + public: + process_manager(std::string name) + : _process_name(name) {} + + virtual ~process_manager() = default; + + void start(invoker invoke); + int get_progress() const { return int(_progress); } + bool done() const { return _done; } + bool started() const { return _started; } + bool failed() const { return _failed; } + const std::string& get_log() const { return _log; } + void reset(); + + void check_error(std::string& error) { if (_failed) error = _last_error; } + + void log(std::string line); + void fail(std::string error); + + protected: + virtual void process_flow( + std::function cleanup, + invoker invoke) = 0; + + std::string _log; + bool _started = false; + bool _done = false; + bool _failed = false; + float _progress = 0; + + std::mutex _log_lock; + std::string _last_error; + std::string _process_name; + }; + + struct progress_bar + { + void draw(ux_window& win, int w, int progress); + + float progress_speed = 5.f; + std::chrono::system_clock::time_point last_progress_time; + int last_progress = 0; + float curr_progress_value = 0.f; + float threshold_progress = 5.f; + }; + + struct process_notification_model : public notification_model + { + process_notification_model(std::shared_ptr manager) + : update_manager(manager) {} + + void draw_progress_bar(ux_window& win, int w); + + void draw_pre_effect(int x, int y) override; + + std::shared_ptr update_manager = nullptr; + int update_state = 0; + int update_state_prev = 0; + progress_bar _progress_bar; + }; + + struct version_upgrade_model : public process_notification_model + { + version_upgrade_model(int version); + + 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; + int calc_height() override; + int get_max_lifetime_ms() const override { return 40000; } + + int _version; + bool _first = true; + }; + + struct metadata_warning_model : public notification_model + { + metadata_warning_model(); + + 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; + int calc_height() override { return 130; } + int get_max_lifetime_ms() const override { return 40000; } + }; + + + struct notifications_model + { + std::shared_ptr add_notification(const notification_data& n); + std::shared_ptr add_notification(const notification_data& n, + std::function custom_action, + bool use_custom_action = true); + void add_notification(std::shared_ptr model); + + // Check of a notification of type T is currently on the display queue. + template + bool notification_type_is_displayed() + { + std::lock_guard lock(m); + return std::any_of(pending_notifications.cbegin(), pending_notifications.cend(), [](const std::shared_ptr& nm) {return nm->is(); }); + } + bool draw(ux_window& win, int w, int h, std::string& error_message); + + notifications_model() {} + + void add_log(std::string message, rs2_log_severity severity = RS2_LOG_SEVERITY_INFO ) + { + output.add_log(severity, "", 0, message); + } + + output_model output; + + private: + std::vector> pending_notifications; + int index = 1; + const int MAX_SIZE = 6; + std::recursive_mutex m; + + std::shared_ptr selected; + }; + + struct sw_recommended_update_alert_model : public notification_model + { + sw_recommended_update_alert_model(const std::string & current_version, const std::string & recommended_version, const std::string &recommended_version_link); + + 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; + int calc_height() override { return 150; } + const std::string _current_version; + const std::string _recommended_version; + const std::string _recommended_version_link; + }; + + inline ImVec4 saturate(const ImVec4& a, float f) + { + return{ f * a.x, f * a.y, f * a.z, a.w }; + } + + inline ImVec4 alpha(const ImVec4& v, float a) + { + return{ v.x, v.y, v.z, a }; + } + + struct sw_update_up_to_date_model : public notification_model + { + sw_update_up_to_date_model(); + + 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; + int calc_height() override { return 65; } + }; + + struct ucal_disclaimer_model : public notification_model + { + ucal_disclaimer_model(); + + void draw_content(ux_window& win, int x, int y, float t, std::string& error_message) override; + int calc_height() override { return 110; } + int get_max_lifetime_ms() const override { return 15000; } + }; + + struct fl_cal_limitation_model : public notification_model + { + fl_cal_limitation_model(); + + void draw_content(ux_window& win, int x, int y, float t, std::string& error_message) override; + int calc_height() override { return 100; } + int get_max_lifetime_ms() const override { return 10000; } + }; + + class export_manager : public process_manager + { + public: + export_manager(const std::string& fname, std::unique_ptr exporter, frame data) + : process_manager("Export"), _fname(fname), _exporter(std::move(exporter)), _data(data) {} + + std::string get_filename() const { return _fname; } + frame get_data() const { return _data; } + + + private: + void process_flow(std::function cleanup, + invoker invoke) override; + + std::string _fname; + std::unique_ptr _exporter; + frame _data; + }; + + struct export_notification_model : public process_notification_model + { + enum states + { + STATE_INITIAL_PROMPT = 0, + STATE_IN_PROGRESS = 1, + STATE_COMPLETE = 2, + STATE_FAILED = 3, + }; + + export_manager& get_manager() { + return *std::dynamic_pointer_cast(update_manager); + } + + export_notification_model(std::shared_ptr manager); + + 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; + int calc_height() override; + }; +} diff --git a/librealsense/common/objects-in-frame.h b/librealsense/common/objects-in-frame.h new file mode 100644 index 0000000..c0bc6b5 --- /dev/null +++ b/librealsense/common/objects-in-frame.h @@ -0,0 +1,38 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "rect.h" +#include +#include +#include +#include + + +struct object_in_frame +{ + rs2::rect normalized_color_bbox, normalized_depth_bbox; + std::string name; + float mean_depth; + size_t id; + + object_in_frame( size_t id, std::string const & name, rs2::rect bbox_color, rs2::rect bbox_depth, float depth ) + : normalized_color_bbox( bbox_color ) + , normalized_depth_bbox( bbox_depth ) + , name( name ) + , mean_depth( depth ) + , id( id ) + { + } +}; + + +typedef std::vector< object_in_frame > objects_in_frame; + + +struct atomic_objects_in_frame : public objects_in_frame +{ + std::mutex mutex; + bool sensor_is_on = true; +}; diff --git a/librealsense/common/on-chip-calib.cpp b/librealsense/common/on-chip-calib.cpp new file mode 100644 index 0000000..d49ca4a --- /dev/null +++ b/librealsense/common/on-chip-calib.cpp @@ -0,0 +1,3141 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#include +#include "on-chip-calib.h" + +#include +#include +#include +#include +#include +#include +#include +#include "calibration-model.h" +#include "os.h" +#include "../src/algo.h" +#include "../tools/depth-quality/depth-metrics.h" + + +static constexpr float off_value = 0.0f; +static constexpr float on_value = 1.0f; + +namespace rs2 +{ + on_chip_calib_manager::on_chip_calib_manager(viewer_model& viewer, std::shared_ptr sub, device_model& model, device dev, std::shared_ptr sub_color, bool uvmapping_calib_full) + : process_manager("On-Chip Calibration"), _model(model), _dev(dev), _sub(sub), _viewer(viewer), _sub_color(sub_color), py_px_only(!uvmapping_calib_full) + { + device_name_string = "Unknown"; + if (dev.supports(RS2_CAMERA_INFO_PRODUCT_ID)) + { + device_name_string = _dev.get_info( RS2_CAMERA_INFO_NAME ); + if( val_in_range( device_name_string, { std::string( "Intel RealSense D415" ) } ) ) + speed = 4; + } + if (dev.supports(RS2_CAMERA_INFO_FIRMWARE_VERSION)) + { + std::string fw_version = dev.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION); + tare_health = is_upgradeable("05.12.14.100", fw_version); + } + } + + on_chip_calib_manager::~on_chip_calib_manager() + { + turn_roi_off(); + } + + void on_chip_calib_manager::turn_roi_on() + { + if (_sub) + { + _sub->show_algo_roi = true; + _sub->algo_roi = { librealsense::_roi_ws, librealsense::_roi_hs, librealsense::_roi_we, librealsense::_roi_he }; + } + + if (_sub_color) + { + _sub_color->show_algo_roi = true; + _sub_color->algo_roi = { librealsense::_roi_ws, librealsense::_roi_hs, librealsense::_roi_we, librealsense::_roi_he }; + } + } + + void on_chip_calib_manager::turn_roi_off() + { + if (_sub) + { + _sub->show_algo_roi = false; + _sub->algo_roi = { 0, 0, 0, 0 }; + } + + if (_sub_color) + { + _sub_color->show_algo_roi = false; + _sub_color->algo_roi = { 0, 0, 0, 0 }; + } + } + + void on_chip_calib_manager::save_options_controlled_by_calib() + { + // Calibration might fail and be restarted, save only once, or we will keep chaged options. + if( ! _options_saved ) + { + save_laser_emitter_state(); + save_thermal_loop_state(); + _options_saved = true; + } + } + + void on_chip_calib_manager::restore_options_controlled_by_calib() + { + // Restore might be called several times, restore only if options where actually saved. + if( _options_saved ) + { + restore_laser_emitter_state(); + restore_thermal_loop_state(); + _options_saved = false; + } + } + + void on_chip_calib_manager::save_laser_emitter_state() + { + auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); + if ( it != _sub->options_metadata.end() ) //Option supported + { + _laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED ); + } + } + + void on_chip_calib_manager::save_thermal_loop_state() + { + auto it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION ); + if( it != _sub->options_metadata.end() ) // Option supported + { + _thermal_loop_prev = _sub->s->get_option( RS2_OPTION_THERMAL_COMPENSATION ); + } + } + + void on_chip_calib_manager::restore_laser_emitter_state() + { + set_laser_emitter_state( _laser_status_prev ); + } + + void on_chip_calib_manager::restore_thermal_loop_state() + { + set_thermal_loop_state( _thermal_loop_prev ); + } + + void on_chip_calib_manager::set_laser_emitter_state( float value ) + { + // Use options_model::set_option to update GUI after change + std::string ignored_error_message{ "" }; + auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); + if( it != _sub->options_metadata.end() ) // Option supported + { + it->second.set_option( RS2_OPTION_EMITTER_ENABLED, value, ignored_error_message ); + } + } + + void on_chip_calib_manager::set_thermal_loop_state( float value ) + { + // Use options_model::set_option to update GUI after change + std::string ignored_error_message{ "" }; + auto it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION ); + if( it != _sub->options_metadata.end() ) // Option supported + { + it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, value, ignored_error_message ); + } + } + + void on_chip_calib_manager::stop_viewer(invoker invoke) + { + try + { + auto profiles = _sub->get_selected_profiles(); + + invoke([&]() + { + // Stop viewer UI + _sub->stop(_viewer.not_model); + if (_sub_color.get()) + _sub_color->stop(_viewer.not_model); + }); + + // Wait until frames from all active profiles stop arriving + bool frame_arrived = false; + while (frame_arrived && _viewer.streams.size()) + { + for (auto&& stream : _viewer.streams) + { + if (std::find(profiles.begin(), profiles.end(), + stream.second.original_profile) != profiles.end()) + { + auto now = std::chrono::high_resolution_clock::now(); + if (now - stream.second.last_frame > std::chrono::milliseconds(200)) + frame_arrived = false; + } + else frame_arrived = false; + } + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + } + catch (...) {} + } + + rs2::depth_frame on_chip_calib_manager::fetch_depth_frame(invoker invoke, int timeout_ms) + { + auto profiles = _sub->get_selected_profiles(); + bool frame_arrived = false; + rs2::depth_frame res = rs2::frame{}; + auto start_time = std::chrono::high_resolution_clock::now(); + while (!frame_arrived) + { + for (auto&& stream : _viewer.streams) + { + if (std::find(profiles.begin(), profiles.end(), + stream.second.original_profile) != profiles.end()) + { + auto now = std::chrono::high_resolution_clock::now(); + if (now - start_time > std::chrono::milliseconds(timeout_ms)) + throw std::runtime_error( rsutils::string::from() << "Failed to fetch depth frame within " << timeout_ms << " ms"); + + if (now - stream.second.last_frame < std::chrono::milliseconds(100)) + { + if (auto f = stream.second.texture->get_last_frame(false).as()) + { + frame_arrived = true; + res = f; + } + } + } + } + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + return res; + } + + void on_chip_calib_manager::stop_viewer() + { + try + { + auto profiles = _sub->get_selected_profiles(); + if (_sub->streaming) + _sub->stop(_viewer.not_model); + if (_sub_color.get() && _sub_color->streaming) + _sub_color->stop(_viewer.not_model); + + // Wait until frames from all active profiles stop arriving + bool frame_arrived = false; + while (frame_arrived && _viewer.streams.size()) + { + for (auto&& stream : _viewer.streams) + { + if (std::find(profiles.begin(), profiles.end(), + stream.second.original_profile) != profiles.end()) + { + auto now = std::chrono::high_resolution_clock::now(); + if (now - stream.second.last_frame > std::chrono::milliseconds(200)) + frame_arrived = false; + } + else frame_arrived = false; + } + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + } + catch (...) {} + } + + void on_chip_calib_manager::start_gt_viewer() + { + try + { + stop_viewer(); + _viewer.is_3d_view = false; + + _uid = 1; + for (const auto& format : _sub->formats) + { + if (format.second[0] == Y8_FORMAT) + { + _uid = format.first; + break; + } + } + + // Select stream + _sub->stream_enabled.clear(); + _sub->stream_enabled[_uid] = true; + + _sub->ui.selected_format_id.clear(); + _sub->ui.selected_format_id[_uid] = 0; + + _sub->ui.selected_shared_fps_id = 0; // For Ground Truth default is the lowest common FPS for USB2/# compatibility + // Select FPS value + for (int i = 0; i < _sub->shared_fps_values.size(); i++) + { + if (_sub->shared_fps_values[i] == 0) + _sub->ui.selected_shared_fps_id = i; + } + + // Select Resolution + for (int i = 0; i < _sub->res_values.size(); i++) + { + auto kvp = _sub->res_values[i]; + if (kvp.first == 1280 && kvp.second == 720) + _sub->ui.selected_res_id = i; + } + + auto profiles = _sub->get_selected_profiles(); + + if (!_model.dev_syncer) + _model.dev_syncer = _viewer.syncer->create_syncer(); + + _sub->play(profiles, _viewer, _model.dev_syncer); + for (auto&& profile : profiles) + _viewer.begin_stream(_sub, profile); + } + catch (...) {} + } + + void on_chip_calib_manager::start_fl_viewer() + { + try + { + stop_viewer(); + _viewer.is_3d_view = false; + + _uid = 1; + _uid2 = 2; + bool first_done = 0; + for (const auto& format : _sub->formats) + { + if (format.second[0] == Y8_FORMAT) + { + if (!first_done) + { + _uid = format.first; + first_done = true; + } + else + { + _uid2 = format.first; + break; + } + } + } + + // Select stream + _sub->stream_enabled.clear(); + _sub->stream_enabled[_uid] = true; + _sub->stream_enabled[_uid2] = true; + + _sub->ui.selected_format_id.clear(); + _sub->ui.selected_format_id[_uid] = 0; + _sub->ui.selected_format_id[_uid2] = 0; + + // Select FPS value + for (int i = 0; i < _sub->shared_fps_values.size(); i++) + { + if (val_in_range(_sub->shared_fps_values[i], {5,6})) + _sub->ui.selected_shared_fps_id = i; + } + + // Select Resolution + for (int i = 0; i < _sub->res_values.size(); i++) + { + auto kvp = _sub->res_values[i]; + if (kvp.first == 1280 && kvp.second == 720) + _sub->ui.selected_res_id = i; + } + + auto profiles = _sub->get_selected_profiles(); + + if (!_model.dev_syncer) + _model.dev_syncer = _viewer.syncer->create_syncer(); + + _sub->play(profiles, _viewer, _model.dev_syncer); + for (auto&& profile : profiles) + _viewer.begin_stream(_sub, profile); + } + catch (...) {} + } + + void on_chip_calib_manager::start_uvmapping_viewer(bool b3D) + { + for (int i = 0; i < 2; ++i) + { + try + { + stop_viewer(); + _viewer.is_3d_view = b3D; + + _uid = 1; + _uid2 = 2; + bool first_done = 0; + bool second_done = 0; + for (const auto& format : _sub->formats) + { + if (format.second[0] == Y8_FORMAT && !first_done) + { + _uid = format.first; + first_done = true; + } + + if (format.second[0] == Z16_FORMAT && !second_done) + { + _uid2 = format.first; + second_done = true; + } + + if (first_done && second_done) + break; + } + + _sub_color->ui.selected_format_id.clear(); + _sub_color->ui.selected_format_id[_uid_color] = 0; + for (const auto& format : _sub_color->formats) + { + int done = false; + for (int i = 0; i < int(format.second.size()); ++i) + { + if (format.second[i] == RGB8_FORMAT) + { + _uid_color = format.first; + _sub_color->ui.selected_format_id[_uid_color] = i; + done = true; + break; + } + } + if (done) + break; + } + + // Select stream + _sub->stream_enabled.clear(); + _sub->stream_enabled[_uid] = true; + _sub->stream_enabled[_uid2] = true; + + _sub->ui.selected_format_id.clear(); + _sub->ui.selected_format_id[_uid] = 0; + _sub->ui.selected_format_id[_uid2] = 0; + + // Select FPS value + for (int i = 0; i < int(_sub->shared_fps_values.size()); i++) + { + if (_sub->shared_fps_values[i] == 30) + _sub->ui.selected_shared_fps_id = i; + } + + // Select Resolution + for (int i = 0; i < _sub->res_values.size(); i++) + { + auto kvp = _sub->res_values[i]; + if (kvp.first == 1280 && kvp.second == 720) + _sub->ui.selected_res_id = i; + } + + auto profiles = _sub->get_selected_profiles(); + + std::vector profiles_color; + _sub_color->stream_enabled[_uid_color] = true; + + for (int i = 0; i < _sub_color->shared_fps_values.size(); i++) + { + if (_sub_color->shared_fps_values[i] == 30) + _sub_color->ui.selected_shared_fps_id = i; + } + + for (int i = 0; i < _sub_color->res_values.size(); i++) + { + auto kvp = _sub_color->res_values[i]; + if (kvp.first == 1280 && kvp.second == 720) + _sub_color->ui.selected_res_id = i; + } + + profiles_color = _sub_color->get_selected_profiles(); + + if (!_model.dev_syncer) + _model.dev_syncer = _viewer.syncer->create_syncer(); + + _sub->play(profiles, _viewer, _model.dev_syncer); + for (auto&& profile : profiles) + _viewer.begin_stream(_sub, profile); + + _sub_color->play(profiles_color, _viewer, _model.dev_syncer); + for (auto&& profile : profiles_color) + _viewer.begin_stream(_sub_color, profile); + } + catch (...) {} + } + } + + bool on_chip_calib_manager::start_viewer(int w, int h, int fps, invoker invoke) + { + bool frame_arrived = false; + try + { + bool run_fl_calib = ( (action == RS2_CALIB_ACTION_FL_CALIB) && (w == 1280) && (h == 720)); + if (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH) + { + _uid = 1; + for (const auto& format : _sub->formats) + { + if (format.second[0] == Y8_FORMAT) + { + _uid = format.first; + break; + } + } + } + else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + { + _uid = 1; + _uid2 = 0; + bool first_done = false; + bool second_done = false; + for (const auto& format : _sub->formats) + { + if (format.second[0] == Y8_FORMAT && !first_done) + { + _uid = format.first; + first_done = true; + } + + if (format.second[0] == Z16_FORMAT && !second_done) + { + _uid2 = format.first; + second_done = true; + } + + if (first_done && second_done) + break; + } + + _sub_color->ui.selected_format_id.clear(); + _sub_color->ui.selected_format_id[_uid_color] = 0; + for (const auto& format : _sub_color->formats) + { + int done = false; + for (int i = 0; i < format.second.size(); ++i) + { + if (format.second[i] == RGB8_FORMAT) + { + _uid_color = format.first; + _sub_color->ui.selected_format_id[_uid_color] = i; + done = true; + break; + } + } + if (done) + break; + } + + // TODO - When implementing UV mapping calibration - should remove from here and handle in process_flow() + set_laser_emitter_state( off_value ); + set_thermal_loop_state( off_value ); + } + else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + { + _uid = 1; + _uid2 = 0; + bool first_done = false; + bool second_done = false; + for (const auto& format : _sub->formats) + { + if (format.second[0] == "Y8" && !first_done) + { + _uid = format.first; + first_done = true; + } + + if (format.second[0] == "Z16" && !second_done) + { + _uid2 = format.first; + second_done = true; + } + + if (first_done && second_done) + break; + } + + _sub_color->ui.selected_format_id.clear(); + _sub_color->ui.selected_format_id[_uid_color] = 0; + for (const auto& format : _sub_color->formats) + { + int done = false; + for (int i = 0; i < format.second.size(); ++i) + { + if (format.second[i] == "RGB8") + { + _uid_color = format.first; + _sub_color->ui.selected_format_id[_uid_color] = i; + done = true; + break; + } + } + if (done) + break; + } + + // TODO - When implementing UV mapping calibration - should remove from here and handle in process_flow() + set_laser_emitter_state( off_value ); + } + else if (action == RS2_CALIB_ACTION_FL_PLUS_CALIB) + { + _uid = 1; + _uid2 = 0; + _uid_color = 2; + bool first_done = false; + bool second_done = false; + bool third_done = false; + for (const auto& format : _sub->formats) + { + if (format.second[0] == "Y8") + { + if (!first_done) + { + _uid = format.first; + first_done = true; + } + else + { + _uid_color = format.first; + third_done = true; + } + } + + if (format.second[0] == "Z16" && !second_done) + { + _uid2 = format.first; + second_done = true; + } + + if (first_done && second_done && third_done) + break; + } + + // TODO - When implementing FL plus calibration - should remove from here and handle in process_flow() + set_laser_emitter_state( off_value ); + } + else if (run_fl_calib) + { + _uid = 1; + _uid2 = 2; + bool first_done = false; + for (const auto& format : _sub->formats) + { + if (format.second[0] == Y8_FORMAT) + { + if (!first_done) + { + _uid = format.first; + first_done = true; + } + else + { + _uid2 = format.first; + break; + } + } + } + } + else + { + _uid = 0; + for (const auto& format : _sub->formats) + { + if (format.second[0] == Z16_FORMAT) + { + _uid = format.first; + break; + } + } + } + + // Select stream + _sub->stream_enabled.clear(); + _sub->stream_enabled[_uid] = true; + if (run_fl_calib || action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + _sub->stream_enabled[_uid2] = true; + + _sub->ui.selected_format_id.clear(); + _sub->ui.selected_format_id[_uid] = 0; + if (run_fl_calib || action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + _sub->ui.selected_format_id[_uid2] = 0; + + // Select FPS value + for (int i = 0; i < _sub->shared_fps_values.size(); i++) + { + if (_sub->shared_fps_values[i] == fps) + _sub->ui.selected_shared_fps_id = i; + } + + // Select Resolution + for (int i = 0; i < _sub->res_values.size(); i++) + { + auto kvp = _sub->res_values[i]; + if (kvp.first == w && kvp.second == h) + _sub->ui.selected_res_id = i; + } + + // If not supported, try WxHx30 + if (!_sub->is_selected_combination_supported()) + { + for (int i = 0; i < _sub->shared_fps_values.size(); i++) + { + //if (_sub->shared_fps_values[i] == 30) + _sub->ui.selected_shared_fps_id = i; + if (_sub->is_selected_combination_supported()) break; + } + + // If still not supported, try VGA30 + if (!_sub->is_selected_combination_supported()) + { + for (int i = 0; i < _sub->res_values.size(); i++) + { + auto kvp = _sub->res_values[i]; + if (kvp.first == 640 && kvp.second == 480) + _sub->ui.selected_res_id = i; + } + } + } + + auto profiles = _sub->get_selected_profiles(); + + std::vector profiles_color; + if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + { + _sub_color->stream_enabled[_uid_color] = true; + + for (int i = 0; i < _sub_color->shared_fps_values.size(); i++) + { + if (_sub_color->shared_fps_values[i] == fps) + _sub_color->ui.selected_shared_fps_id = i; + } + + for (int i = 0; i < _sub_color->res_values.size(); i++) + { + auto kvp = _sub_color->res_values[i]; + if (kvp.first == w && kvp.second == h) + _sub_color->ui.selected_res_id = i; + } + + profiles_color = _sub_color->get_selected_profiles(); + } + + invoke([&]() + { + if (!_model.dev_syncer) + _model.dev_syncer = _viewer.syncer->create_syncer(); + + // Start streaming + _sub->play(profiles, _viewer, _model.dev_syncer); + for (auto&& profile : profiles) + _viewer.begin_stream(_sub, profile); + + if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + { + _sub_color->play(profiles_color, _viewer, _model.dev_syncer); + for (auto&& profile : profiles_color) + _viewer.begin_stream(_sub_color, profile); + } + }); + + // Wait for frames to arrive + int count = 0; + while (!frame_arrived && count++ < 200) + { + for (auto&& stream : _viewer.streams) + { + if (std::find(profiles.begin(), profiles.end(), + stream.second.original_profile) != profiles.end()) + { + auto now = std::chrono::high_resolution_clock::now(); + if (now - stream.second.last_frame < std::chrono::milliseconds(100)) + frame_arrived = true; + } + } + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + } + catch (...) {} + + return frame_arrived; + } + + std::pair on_chip_calib_manager::get_metric(bool use_new) + { + return _metrics[use_new ? 1 : 0]; + } + + void on_chip_calib_manager::try_start_viewer(int w, int h, int fps, invoker invoke) + { + bool started = start_viewer(w, h, fps, invoke); + if (!started) + { + std::this_thread::sleep_for(std::chrono::milliseconds(600)); + started = start_viewer(w, h, fps, invoke); + } + + if (!started) + { + stop_viewer(invoke); + log( "Failed to start streaming" ); + throw std::runtime_error( rsutils::string::from() << "Failed to start streaming (" << w << ", " << h << ", " << fps << ")!"); + } + } + + std::pair on_chip_calib_manager::get_depth_metrics(invoker invoke) + { + using namespace depth_quality; + + auto f = fetch_depth_frame(invoke); + auto sensor = _sub->s->as(); + auto intr = f.get_profile().as().get_intrinsics(); + rs2::region_of_interest roi { (int)(f.get_width() * 0.45f), (int)(f.get_height() * 0.45f), + (int)(f.get_width() * 0.55f), (int)(f.get_height() * 0.55f) }; + std::vector v; + + std::vector fill_rates; + std::vector rmses; + + auto show_plane = _viewer.draw_plane; + + auto on_frame = [sensor, &fill_rates, &rmses, this]( + const std::vector& points, + const plane p, + const rs2::region_of_interest roi, + const float baseline_mm, + const float focal_length_pixels, + const int ground_thruth_mm, + const bool plane_fit, + const float plane_fit_to_ground_truth_mm, + const float distance_mm, + bool record, + std::vector& samples) + { + static const float TO_MM = 1000.f; + static const float TO_PERCENT = 100.f; + + // Calculate fill rate relative to the ROI + auto fill_rate = points.size() / float((roi.max_x - roi.min_x)*(roi.max_y - roi.min_y)) * TO_PERCENT; + fill_rates.push_back(fill_rate); + + if (!plane_fit) return; + + std::vector points_set = points; + std::vector distances; + + // Reserve memory for the data + distances.reserve(points.size()); + + // Convert Z values into Depth values by aligning the Fitted plane with the Ground Truth (GT) plane + // Calculate distance and disparity of Z values to the fitted plane. + // Use the rotated plane fit to calculate GT errors + for (auto & point : points_set) + { + // Find distance from point to the reconstructed plane + auto dist2plane = p.a*point.x + p.b*point.y + p.c*point.z + p.d; + + // Store distance, disparity and gt- error + distances.push_back(dist2plane * TO_MM); + } + + // Remove outliers [below 1% and above 99%) + std::sort(points_set.begin(), points_set.end(), [](const rs2::float3& a, const rs2::float3& b) { return a.z < b.z; }); + size_t outliers = points_set.size() / 50; + points_set.erase(points_set.begin(), points_set.begin() + outliers); // crop min 0.5% of the dataset + points_set.resize(points_set.size() - outliers); // crop max 0.5% of the dataset + + // Calculate Plane Fit RMS (Spatial Noise) mm + double plane_fit_err_sqr_sum = std::inner_product(distances.begin(), distances.end(), distances.begin(), 0.); + auto rms_error_val = static_cast(std::sqrt(plane_fit_err_sqr_sum / distances.size())); + auto rms_error_val_per = TO_PERCENT * (rms_error_val / distance_mm); + rmses.push_back(rms_error_val_per); + }; + + auto rms_std = 1000.f; + auto new_rms_std = rms_std; + auto count = 0; + + // Capture metrics on bundles of 31 frame + // Repeat until get "decent" bundle or reach 10 sec + do + { + rms_std = new_rms_std; + + rmses.clear(); + + for (int i = 0; i < 31; i++) + { + f = fetch_depth_frame(invoke); + auto res = depth_quality::analyze_depth_image(f, sensor.get_depth_scale(), sensor.get_stereo_baseline(), + &intr, roi, 0, true, v, false, on_frame); + + _viewer.draw_plane = true; + _viewer.roi_rect = res.plane_corners; + } + + auto rmses_sum_sqr = std::inner_product(rmses.begin(), rmses.end(), rmses.begin(), 0.); + new_rms_std = static_cast(std::sqrt(rmses_sum_sqr / rmses.size())); + } while ((new_rms_std < rms_std * 0.8f && new_rms_std > 10.f) && count++ < 10); + + std::sort(fill_rates.begin(), fill_rates.end()); + std::sort(rmses.begin(), rmses.end()); + + float median_fill_rate, median_rms; + if (fill_rates.empty()) + median_fill_rate = 0; + else + median_fill_rate = fill_rates[fill_rates.size() / 2]; + if (rmses.empty()) + median_rms = 0; + else + median_rms = rmses[rmses.size() / 2]; + + _viewer.draw_plane = show_plane; + + return { median_fill_rate, median_rms }; + } + + std::vector on_chip_calib_manager::safe_send_command(const std::vector& cmd, const std::string& name) + { + auto dp = _dev.as(); + if (!dp) throw std::runtime_error("Device does not support debug protocol!"); + + auto res = dp.send_and_receive_raw_data(cmd); + + if( res.size() < sizeof( int32_t ) ) + throw std::runtime_error( rsutils::string::from() << "Not enough data from " << name << "!" ); + auto return_code = *((int32_t*)res.data()); + if( return_code < 0 ) + throw std::runtime_error( rsutils::string::from() + << "Firmware error (" << return_code << ") from " << name << "!" ); + + return res; + } + + void on_chip_calib_manager::update_last_used() + { + time_t rawtime; + time(&rawtime); + std::string id = rsutils::string::from() << configurations::viewer::last_calib_notice << "." + << _sub->s->get_info( RS2_CAMERA_INFO_SERIAL_NUMBER ); + config_file::instance().set(id.c_str(), (long long)rawtime); + } + + void on_chip_calib_manager::calibrate() + { + int occ_timeout_ms = 9000; + if (action == RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || action == RS2_CALIB_ACTION_ON_CHIP_FL_CALIB) + { + if (toggle) + { + occ_timeout_ms = 12000; + if (speed_fl == 0) + speed_fl = 1; + else if (speed_fl == 1) + speed_fl = 0; + toggle = false; + std::this_thread::sleep_for(std::chrono::milliseconds(3000)); + } + + if (speed_fl == 0) + { + speed = 1; + fl_step_count = 41; + fy_scan_range = 30; + white_wall_mode = 0; + } + else if (speed_fl == 1) + { + speed = 3; + fl_step_count = 51; + fy_scan_range = 40; + white_wall_mode = 0; + } + else if (speed_fl == 2) + { + speed = 4; + fl_step_count = 41; + fy_scan_range = 30; + white_wall_mode = 1; + } + } + + std::stringstream ss; + if (action == RS2_CALIB_ACTION_ON_CHIP_CALIB) + { + ss << "{\n \"calib type\":" << 0 << + ",\n \"host assistance\":" << host_assistance << + ",\n \"speed\":" << speed << + ",\n \"average step count\":" << average_step_count << + ",\n \"scan parameter\":" << (intrinsic_scan ? 0 : 1) << + ",\n \"step count\":" << step_count << + ",\n \"apply preset\":" << (apply_preset ? 1 : 0) << + ",\n \"accuracy\":" << accuracy << + ",\n \"scan only\":" << (host_assistance ? 1 : 0) << + ",\n \"interactive scan\":" << 0 << "}"; + } + else if (action == RS2_CALIB_ACTION_ON_CHIP_FL_CALIB) + { + ss << "{\n \"calib type\":" << 1 << + ",\n \"host assistance\":" << host_assistance << + ",\n \"fl step count\":" << fl_step_count << + ",\n \"fy scan range\":" << fy_scan_range << + ",\n \"keep new value after sucessful scan\":" << keep_new_value_after_sucessful_scan << + ",\n \"fl data sampling\":" << fl_data_sampling << + ",\n \"adjust both sides\":" << adjust_both_sides << + ",\n \"fl scan location\":" << fl_scan_location << + ",\n \"fy scan direction\":" << fy_scan_direction << + ",\n \"white wall mode\":" << white_wall_mode << + ",\n \"scan only\":" << (host_assistance ? 1 : 0) << + ",\n \"interactive scan\":" << 0 << "}"; + } + else + { + ss << "{\n \"calib type\":" << 2 << + ",\n \"host assistance\":" << host_assistance << + ",\n \"fl step count\":" << fl_step_count << + ",\n \"fy scan range\":" << fy_scan_range << + ",\n \"keep new value after sucessful scan\":" << keep_new_value_after_sucessful_scan << + ",\n \"fl data sampling\":" << fl_data_sampling << + ",\n \"adjust both sides\":" << adjust_both_sides << + ",\n \"fl scan location\":" << fl_scan_location << + ",\n \"fy scan direction\":" << fy_scan_direction << + ",\n \"white wall mode\":" << white_wall_mode << + ",\n \"speed\":" << speed << + ",\n \"average step count\":" << average_step_count << + ",\n \"scan parameter\":" << (intrinsic_scan ? 0 : 1) << + ",\n \"step count\":" << step_count << + ",\n \"apply preset\":" << (apply_preset ? 1 : 0) << + ",\n \"accuracy\":" << accuracy << + ",\n \"scan only\":" << (host_assistance ? 1 : 0) << + ",\n \"interactive scan\":" << 0 << + ",\n \"depth\":" << 0 << "}"; + } + std::string json = ss.str(); + + float health[2] = { -1.0f, -1.0f }; + auto calib_dev = _dev.as(); + if (action == RS2_CALIB_ACTION_TARE_CALIB) + _new_calib = calib_dev.run_tare_calibration(ground_truth, json, health, [&](const float progress) {_progress = progress; }, 5000); + else if (action == RS2_CALIB_ACTION_ON_CHIP_CALIB || action == RS2_CALIB_ACTION_ON_CHIP_FL_CALIB || action == RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) + _new_calib = calib_dev.run_on_chip_calibration(json, health, [&](const float progress) {_progress = progress; }, occ_timeout_ms); + + auto invoke = [](std::function) {}; + int frame_fetch_timeout_ms = 3000; + + bool calib_done(!_new_calib.empty()); + + int timeout_sec(10); + timeout_sec *= (1 + static_cast(action == RS2_CALIB_ACTION_ON_CHIP_CALIB)); // when RS2_CALIB_ACTION_ON_CHIP_CALIB is in interactive-mode the process takes longer. + auto start = std::chrono::high_resolution_clock::now(); + bool is_timed_out(std::chrono::high_resolution_clock::now() - start > std::chrono::seconds(timeout_sec)); + + while (!(calib_done || is_timed_out)) + { + rs2::depth_frame f = fetch_depth_frame(invoke, frame_fetch_timeout_ms); + _new_calib = calib_dev.process_calibration_frame(f, health, [&](const float progress) {_progress = progress; }, 5000); + calib_done = !_new_calib.empty(); + is_timed_out = std::chrono::high_resolution_clock::now() - start > std::chrono::seconds(timeout_sec); + } + if (is_timed_out) + { + throw std::runtime_error("Operation timed-out!\n" + "Calibration process did not converge on time"); + } + + // finalize results: + if (action == RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) + { + int h_both = static_cast(_health); + int h_1 = (h_both & 0x00000FFF); + int h_2 = (h_both & 0x00FFF000) >> 12; + int sign = (h_both & 0x0F000000) >> 24; + + _health_1 = h_1 / 1000.0f; + if (sign & 1) + _health_1 = -_health_1; + + _health_2 = h_2 / 1000.0f; + if (sign & 2) + _health_2 = -_health_2; + } + else if (action == RS2_CALIB_ACTION_ON_CHIP_CALIB) + { + _health = health[0]; + } + else if (action == RS2_CALIB_ACTION_TARE_CALIB) + { + _health_1 = health[0] * 100; + _health_2 = health[1] * 100; + } + } + + void on_chip_calib_manager::calibrate_fl() + { + try + { + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); // W/A that allows for USB2 exposure to settle + constexpr int frames_required = 25; + + rs2::frame_queue left(frames_required,true); + rs2::frame_queue right(frames_required, true); + + int counter = 0; + + float step = 50.f / frames_required; // The first stage represents 50% of the calibration process + + // Stage 1 : Gather frames from Left/Right IR sensors + while (counter < frames_required) // TODO timeout + { + auto fl = _viewer.ppf.frames_queue[_uid].wait_for_frame(); // left intensity + auto fr = _viewer.ppf.frames_queue[_uid2].wait_for_frame(); // right intensity + if (fl && fr) + { + left.enqueue(fl); + right.enqueue(fr); + _progress += step; + counter++; + } + } + + if (counter >= frames_required) + { + // Stage 2 : Perform focal length calibration correction routine + auto calib_dev = _dev.as(); + _new_calib = calib_dev.run_focal_length_calibration(left, right, + config_file::instance().get_or_default(configurations::viewer::target_width_r, 175.0f), + config_file::instance().get_or_default(configurations::viewer::target_height_r, 100.0f), + adjust_both_sides, + &corrected_ratio, + &tilt_angle, + [&](const float progress) {_progress = progress; }); + } + else + fail("Failed to capture enough frames!"); + } + catch (const std::runtime_error& error) + { + fail(error.what()); + } + catch (...) + { + fail("Focal length calibration failed!\nPlease adjust the camera position \nand make sure the specific target is \nin the middle of the camera image"); + } + } + + void on_chip_calib_manager::calibrate_uv_mapping() + { + try + { + constexpr int frames_required = 25; + + rs2::frame_queue left(frames_required, true); + rs2::frame_queue color(frames_required, true); + rs2::frame_queue depth(frames_required, true); + + int counter = 0; + float step = 50.f / frames_required; // The first stage represents 50% of the calibration process + + // Stage 1 : Gather frames from Depth/Left IR and RGB streams + while (counter < frames_required) + { + auto fl = _viewer.ppf.frames_queue[_uid].wait_for_frame(); // left + auto fd = _viewer.ppf.frames_queue[_uid2].wait_for_frame(); // depth + auto fc = _viewer.ppf.frames_queue[_uid_color].wait_for_frame(); // rgb + + if (fl && fd && fc) + { + left.enqueue(fl); + depth.enqueue(fd); + color.enqueue(fc); + counter++; + } + _progress += step; + } + + if (counter >= frames_required) + { + auto calib_dev = _dev.as(); + _new_calib = calib_dev.run_uv_map_calibration(left, color, depth, py_px_only, _health_nums, 4, + [&](const float progress) {_progress = progress; }); + if (!_new_calib.size()) + fail("UV-Mapping calibration failed!\nPlease adjust the camera position\nand make sure the specific target is\ninside the ROI of the camera images!"); + else + log( "UV-Mapping recalibration - a new work point is generated" ); + } + else + fail("Failed to capture sufficient amount of frames to run UV-Map calibration!"); + } + catch (const std::runtime_error& error) + { + fail(error.what()); + } + catch (...) + { + fail("UV-Mapping calibration failed!\nPlease adjust the camera position\nand make sure the specific target is\ninside the ROI of the camera images!"); + } + } + + void on_chip_calib_manager::get_ground_truth() + { + try + { + int counter = 0; + int frm_idx = 0; + int limit = 50; // input frames required to calculate the target + float step = 50.f / limit; // frames gathering is 50% of the process, the rest is the internal data extraction and algo processing + + rs2::frame_queue queue(limit*2,true); + rs2::frame_queue queue2(limit * 2, true); + rs2::frame_queue queue3(limit * 2, true); + rs2::frame f; + + // Collect sufficient amount of frames (up to 50) to extract target pattern and calculate distance to it + while ((counter < limit) && (++frm_idx < limit*2)) + { + f = _viewer.ppf.frames_queue[_uid].wait_for_frame(); + if (f) + { + queue.enqueue(f); + ++counter; + _progress += step; + } + } + + // Having sufficient number of frames allows to run the algorithm for target distance estimation + if (counter >= limit) + { + auto calib_dev = _dev.as(); + float target_z_mm = calib_dev.calculate_target_z(queue, queue2, queue3, + config_file::instance().get_or_default(configurations::viewer::target_width_r, 175.0f), + config_file::instance().get_or_default(configurations::viewer::target_height_r, 100.0f), + [&](const float progress) { _progress = std::min(100.f, _progress+step); }); + + // Update the stored value with algo-calculated + if (target_z_mm > 0.f) + { + log( rsutils::string::from() << "Target Z distance calculated - " << target_z_mm << " mm"); + config_file::instance().set(configurations::viewer::ground_truth_r, target_z_mm); + } + else + fail("Failed to calculate target ground truth"); + } + else + fail("Failed to capture enough frames to calculate target'z Z distance !"); + } + catch (const std::runtime_error& error) + { + fail(error.what()); + } + catch (...) + { + fail("Calculating target's Z distance failed"); + } + } + + //void on_chip_calib_manager::calibrate_fl_plus() + //{ + // try + // { + // std::shared_ptr gt_calculator[2]; + // bool created[3] = { false, false, false }; + + // int counter = 0; + // int limit = dots_calculator::_frame_num << 1; + // int step = 50 / dots_calculator::_frame_num; + + // int ret = { 0 }; + // int id[3] = { _uid, _uid_color, _uid2 }; // 0 for left, 1 for right, and 2 for depth + // rs2_intrinsics intrin[2]; + // stream_profile profile[2]; + // float dots_x[2][4] = { 0 }; + // float dots_y[2][4] = { 0 }; + + // int idx = 0; + // int depth_frame_size = 0; + // std::vector> depth(dots_calculator::_frame_num); + + // rs2::frame f; + // int width = 0; + // int height = 0; + // bool done[3] = { false, false, false }; + // while (counter < limit) + // { + // if (!done[0]) + // { + // f = _viewer.ppf.frames_queue[id[0]].wait_for_frame(); + + // if (!created[0]) + // { + // profile[0] = f.get_profile(); + // auto vsp = profile[0].as(); + + // gt_calculator[0] = std::make_shared(); + // intrin[0] = vsp.get_intrinsics(); + // created[0] = true; + // } + + // ret = gt_calculator[0]->calculate(f.get(), dots_x[0], dots_y[0]); + // if (ret == 0) + // ++counter; + // else if (ret == 1) + // _progress += step; + // else if (ret == 2) + // { + // _progress += step; + // done[0] = true; + // } + // } + + // if (!done[1]) + // { + // f = _viewer.ppf.frames_queue[id[1]].wait_for_frame(); + + // if (!created[1]) + // { + // profile[1] = f.get_profile(); + // auto vsp = profile[1].as(); + // width = vsp.width(); + // height = vsp.height(); + + // gt_calculator[1] = std::make_shared(); + // intrin[1] = vsp.get_intrinsics(); + // created[1] = true; + // } + + // ret = gt_calculator[1]->calculate(f.get(), dots_x[1], dots_y[1]); + // if (ret == 0) + // ++counter; + // else if (ret == 1) + // _progress += step; + // else if (ret == 2) + // { + // _progress += step; + // done[1] = true; + // } + // } + + // if (!done[2]) + // { + // f = _viewer.ppf.frames_queue[id[2]].wait_for_frame(); + + // if (!created[2]) + // { + // auto p = f.get_profile(); + // auto vsp = p.as(); + // width = vsp.width(); + // depth_frame_size = vsp.width() * vsp.height() * sizeof(uint16_t); + // created[2] = true; + // } + + // depth[idx].resize(depth_frame_size); + // memmove(depth[idx++].data(), f.get_data(), depth_frame_size); + + // if (idx == dots_calculator::_frame_num) + // done[2] = true; + // } + + // if (done[0] && done[1] && done[2]) + // break; + // } + + // if (done[0] && done[1] && done[2]) + // { + // rs2_extrinsics extrin = profile[0].get_extrinsics_to(profile[1]); + + // float z[4] = { 0 }; + // find_z_at_corners(dots_x[0], dots_y[0], width, dots_calculator::_frame_num, depth, z); + + // uvmapping_calib calib(4, dots_x[0], dots_y[0], z, dots_x[1], dots_y[1], intrin[0], intrin[1], extrin); + + // bool ret = calib.calibrate(_health_1, _health_2, _ppx, _ppy, _fx, _fy, py_px_only); + // if (!ret) + // fail("Please adjust the camera position\nand make sure the specific target is\ninsid the ROI of the camera images!"); + + // _viewer.not_model->add_log(to_string() << "PX: " << intrin[1].ppx << " ---> " << _ppx); + // _viewer.not_model->add_log(to_string() << "PY: " << intrin[1].ppy << " ---> " << _ppy); + // _viewer.not_model->add_log(to_string() << "FX: " << intrin[1].fx << " ---> " << _fx); + // _viewer.not_model->add_log(to_string() << "FY: " << intrin[1].fy << " ---> " << _fy); + + // _new_calib = _old_calib; + // auto table = (librealsense::ds::coefficients_table*)_new_calib.data(); + + // _health_nums[0] = _ppx / intrin[1].ppx; + // _health_nums[1] = _ppy / intrin[1].ppy; + // _health_nums[2] = _fx / intrin[1].fx; + // _health_nums[3] = _fy / intrin[1].fy; + + // table->intrinsic_right.x.z *= _health_nums[0]; + // table->intrinsic_right.y.x *= _health_nums[1]; + // table->intrinsic_right.x.x *= _health_nums[2]; + // table->intrinsic_right.x.y *= _health_nums[3]; + + // _health_nums[0] -= 1.0f; + // _health_nums[1] -= 1.0f; + // _health_nums[2] -= 1.0f; + // _health_nums[3] -= 1.0f; + + // _health_nums[0] *= 100.0f; + // _health_nums[1] *= 100.0f; + // _health_nums[2] *= 100.0f; + // _health_nums[3] *= 100.0f; + + // auto actual_data = _new_calib.data() + sizeof(librealsense::ds::table_header); + // auto actual_data_size = _new_calib.size() - sizeof(librealsense::ds::table_header); + // auto crc = helpers::calc_crc32(actual_data, actual_data_size); + // table->header.crc32 = crc; + // } + // else + // fail("Please adjust the camera position\nand make sure the specific target is\ninsid the ROI of the camera images!"); + // } + // catch (const std::runtime_error& error) + // { + // fail(error.what()); + // } + // catch (...) + // { + // fail("UVMapping calibration failed!"); + // } + //} + + void on_chip_calib_manager::process_flow(std::function cleanup, invoker invoke) + { + if (action == RS2_CALIB_ACTION_FL_CALIB || action == RS2_CALIB_ACTION_UVMAPPING_CALIB || action == RS2_CALIB_ACTION_FL_PLUS_CALIB) + stop_viewer(invoke); + + update_last_used(); + + if (action == RS2_CALIB_ACTION_ON_CHIP_FL_CALIB || action == RS2_CALIB_ACTION_FL_CALIB) + log( rsutils::string::from() << "Starting focal length calibration"); + else if (action == RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) + log( rsutils::string::from() << "Starting OCC Extended"); + else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + log( rsutils::string::from() << "Starting UV-Mapping calibration"); + else + log( rsutils::string::from() << "Starting OCC calibration at speed " << speed); + + _in_3d_view = _viewer.is_3d_view; + _viewer.is_3d_view = (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH ? false : true); + + auto calib_dev = _dev.as(); + _old_calib = calib_dev.get_calibration_table(); + + _was_streaming = _sub->streaming; + _synchronized = _viewer.synchronization_enable.load(); + _post_processing = _sub->post_processing_enabled; + _sub->post_processing_enabled = false; + _viewer.synchronization_enable = false; + + _restored = false; + + save_options_controlled_by_calib(); // Restored by GUI thread on dismiss or apply. + + // Emitter on by default, off for GT/FL calib and for D415 model + float emitter_value = on_value; + if( action == RS2_CALIB_ACTION_FL_CALIB || + action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH || + device_name_string == std::string( "Intel RealSense D415" ) ) + emitter_value = off_value; + set_laser_emitter_state( emitter_value ); + + // Thermal loop should be off during calibration as to not change calibration tables during calibration + set_thermal_loop_state( off_value ); + + auto fps = 30; + if (_sub->dev.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR)) + { + std::string desc = _sub->dev.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR); + if (!starts_with(desc, "3.")) + fps = 6; //USB2 bandwidth limitation for 720P RGB/DI + } + + if (action != RS2_CALIB_ACTION_TARE_GROUND_TRUTH && action != RS2_CALIB_ACTION_UVMAPPING_CALIB) + { + if (!_was_streaming) + { + if (action == RS2_CALIB_ACTION_FL_CALIB) + try_start_viewer(848, 480, fps, invoke); + else + try_start_viewer(0, 0, 0, invoke); + } + + // Capture metrics before + auto metrics_before = get_depth_metrics(invoke); + _metrics.push_back(metrics_before); + } + + stop_viewer(invoke); + + _ui = std::make_shared(_sub->ui); + if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB && _sub_color.get()) + _ui_color = std::make_shared(_sub_color->ui); + + std::this_thread::sleep_for(std::chrono::milliseconds(600)); + + // Switch into special Auto-Calibration mode + if (action == RS2_CALIB_ACTION_FL_CALIB || action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + _viewer.is_3d_view = false; + + + if (action == RS2_CALIB_ACTION_FL_CALIB || action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH || action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + try_start_viewer(1280, 720, fps, invoke); + else + { + if (host_assistance && action != RS2_CALIB_ACTION_TARE_GROUND_TRUTH) + try_start_viewer(0, 0, 0, invoke); + else + try_start_viewer(256, 144, 90, invoke); + } + + if ( action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH ) + { + get_ground_truth(); + } + else + { + try + { + if (action == RS2_CALIB_ACTION_FL_CALIB) + calibrate_fl(); + else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + calibrate_uv_mapping(); + else + calibrate(); + } + catch (...) + { + log( "Calibration failed with exception" ); + stop_viewer(invoke); + if (_ui.get()) + { + _sub->ui = *_ui; + _ui.reset(); + } + if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB && _sub_color.get() && _ui_color.get()) + { + _sub_color->ui = *_ui_color; + _ui_color.reset(); + } + + if (_was_streaming) + start_viewer(0, 0, 0, invoke); + + throw; + } + } + + if (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH) + log( rsutils::string::from() << "Tare ground truth is got: " << ground_truth); + else if (action == RS2_CALIB_ACTION_FL_CALIB) + log( rsutils::string::from() << "Focal length ratio is got: " << corrected_ratio); + else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + log( "UV-Mapping calibration completed." ); + else + log( rsutils::string::from() << "Calibration completed, health factor = " << _health); + + if (action != RS2_CALIB_ACTION_UVMAPPING_CALIB) + { + stop_viewer(invoke); + if (_sub.get() && _ui.get()) + { + _sub->ui = *_ui; + _ui.reset(); + } + if (_sub_color.get() && _ui_color.get()) + { + _sub_color->ui = *_ui_color; + _ui_color.reset(); + } + } + + if (action != RS2_CALIB_ACTION_TARE_GROUND_TRUTH && action != RS2_CALIB_ACTION_UVMAPPING_CALIB) + { + if (action == RS2_CALIB_ACTION_FL_CALIB) + _viewer.is_3d_view = true; + + try_start_viewer(0, 0, 0, invoke); // Start with default settings + + // Make new calibration active + apply_calib(true); + + // Capture metrics after + auto metrics_after = get_depth_metrics(invoke); + _metrics.push_back(metrics_after); + } + + _progress = 100; + _done = true; + } + + void on_chip_calib_manager::restore_workspace(invoker invoke) + { + try + { + if (_restored) return; + + _viewer.is_3d_view = _in_3d_view; + _viewer.synchronization_enable = _synchronized; + + stop_viewer(invoke); + + if (_sub.get() && _ui.get()) + { + _sub->ui = *_ui; + _ui.reset(); + } + if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB && _sub_color.get() && _ui_color.get()) + { + _sub_color->ui = *_ui_color; + _ui_color.reset(); + } + + _sub->post_processing_enabled = _post_processing; + + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + + if (_was_streaming) start_viewer(0, 0, 0, invoke); + + _restored = true; + } + catch (...) {} + } + + void on_chip_calib_manager::keep() + { + // Write new calibration using SETINITCAL/SETINITCALNEW command + auto calib_dev = _dev.as(); + calib_dev.write_calibration(); + } + + void on_chip_calib_manager::apply_calib(bool use_new) + { + auto calib_dev = _dev.as(); + auto calib_table = use_new ? _new_calib : _old_calib; + if (calib_table.size()) + calib_dev.set_calibration_table(calib_table); + } + + void autocalib_notification_model::draw_dismiss(ux_window& win, int x, int y) + { + using namespace std; + using namespace chrono; + + auto recommend_keep = false; + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) + { + float health_1 = get_manager().get_health_1(); + float health_2 = get_manager().get_health_2(); + bool recommend_keep_1 = fabs(health_1) < 0.25f; + bool recommend_keep_2 = fabs(health_2) < 0.15f; + recommend_keep = (recommend_keep_1 && recommend_keep_2); + } + else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB) + recommend_keep = fabs(get_manager().get_health()) < 0.15f; + else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB) + recommend_keep = fabs(get_manager().get_health()) < 0.25f; + + if (recommend_keep && update_state == RS2_CALIB_STATE_CALIB_COMPLETE && (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB)) + { + auto sat = 1.f + sin(duration_cast(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)); + notification_model::draw_dismiss(win, x, y); + ImGui::PopStyleColor(2); + } + else + notification_model::draw_dismiss(win, x, y); + } + + void autocalib_notification_model::draw_intrinsic_extrinsic(int x, int y) + { + bool intrinsic = get_manager().intrinsic_scan; + bool extrinsic = !intrinsic; + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 35 + ImGui::GetTextLineHeightWithSpacing()) }); + + std::string id = rsutils::string::from() << "##Intrinsic_" << index; + if (ImGui::Checkbox("Intrinsic", &intrinsic)) + { + extrinsic = !intrinsic; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Calibrate intrinsic parameters of the camera"); + } + ImGui::SetCursorScreenPos({ float(x + 135), float(y + 35 + ImGui::GetTextLineHeightWithSpacing()) }); + + id = rsutils::string::from() << "##Intrinsic_" << index; + + if (ImGui::Checkbox("Extrinsic", &extrinsic)) + { + intrinsic = !extrinsic; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Calibrate extrinsic parameters between left and right cameras"); + } + + get_manager().intrinsic_scan = intrinsic; + } + + void autocalib_notification_model::draw_content(ux_window& win, int x, int y, float t, std::string& error_message) + { + using namespace std; + using namespace chrono; + + if (update_state == RS2_CALIB_STATE_UVMAPPING_INPUT || + update_state == RS2_CALIB_STATE_FL_INPUT || + update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH || + update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_IN_PROCESS || + update_state == RS2_CALIB_STATE_CALIB_IN_PROCESS && + (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB || + get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB)) + get_manager().turn_roi_on(); + else + get_manager().turn_roi_off(); + + const auto bar_width = width - 115; + + 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_CALIB_STATE_COMPLETE) + { + if (update_state == RS2_CALIB_STATE_INITIAL_PROMPT) + ImGui::Text("%s", "Calibration Health-Check"); + else if (update_state == RS2_CALIB_STATE_UVMAPPING_INPUT) + ImGui::Text("%s", "UV-Mapping Calibration"); + else if (update_state == RS2_CALIB_STATE_CALIB_IN_PROCESS || + update_state == RS2_CALIB_STATE_CALIB_COMPLETE || + update_state == RS2_CALIB_STATE_SELF_INPUT) + { + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) + ImGui::Text("%s", "On-Chip Calibration Extended"); + else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB) + ImGui::Text("%s", "On-Chip Focal Length Calibration"); + else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB) + ImGui::Text("%s", "Tare Calibration"); + else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB) + ImGui::Text("%s", "Focal Length Calibration"); + else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB) + ImGui::Text("%s", "UV-Mapping Calibration"); + else + ImGui::Text("%s", "On-Chip Calibration"); + } + else if (update_state == RS2_CALIB_STATE_FL_INPUT) + ImGui::Text("%s", "Focal Length Calibration"); + else if (update_state == RS2_CALIB_STATE_TARE_INPUT || update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED) + ImGui::Text("%s", "Tare Calibration"); + else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH || update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_IN_PROCESS || update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_COMPLETE) + ImGui::Text("%s", "Get Tare Calibration Ground Truth"); + else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_FAILED) + ImGui::Text("%s", "Get Tare Calibration Ground Truth Failed"); + else if (update_state == RS2_CALIB_STATE_FAILED && !((get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB) && get_manager().retry_times < 3)) + ImGui::Text("%s", "Calibration Failed"); + + if (update_state == RS2_CALIB_STATE_TARE_INPUT || update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED) + ImGui::SetCursorScreenPos({ float(x + width - 30), float(y) }); + else if (update_state == RS2_CALIB_STATE_FAILED) + ImGui::SetCursorScreenPos({ float(x + 2), float(y + 27) }); + else + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 27) }); + + ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1.f - t)); + + if (update_state == RS2_CALIB_STATE_INITIAL_PROMPT) + { + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 2); + + ImGui::Text("%s", "Following devices support On-Chip Calibration:"); + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 47) }); + + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("%s", message.c_str()); + ImGui::PopStyleColor(); + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 65) }); + ImGui::Text("%s", "Run quick calibration Health-Check? (~30 sec)"); + } + else if (update_state == RS2_CALIB_STATE_CALIB_IN_PROCESS) + { + enable_dismiss = false; + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB) + ImGui::Text("%s", "Camera is being calibrated...\nKeep the camera stationary pointing at the target"); + else + ImGui::Text("%s", "Camera is being calibrated...\nKeep the camera stationary pointing at a wall"); + } + else if (update_state == RS2_CALIB_STATE_UVMAPPING_INPUT) + { + ImGui::SetCursorScreenPos({ float(x + 15), float(y + 33) }); + ImGui::Text("%s", "Please make sure the target is inside yellow\nrectangle on both left and color images. Adjust\ncamera position if necessary before to start."); + + auto sat = 1.f + sin(duration_cast(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)); + ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - 55) }); + ImGui::Checkbox("Px/Py only", &get_manager().py_px_only); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Calibrate: {Fx/Fy/Px/Py}/{Px/Py}"); + } + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - 25) }); + std::string button_name = rsutils::string::from() << "Calibrate" << "##uvmapping" << index; + if (ImGui::Button(button_name.c_str(), { float(bar_width - 60), 20.f })) + { + get_manager().restore_workspace([this](std::function a) { a(); }); + get_manager().reset(); + get_manager().retry_times = 0; + get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB; + auto _this = shared_from_this(); + auto invoke = [_this](std::function action) { + _this->invoke(action); + }; + get_manager().start(invoke); + update_state = RS2_CALIB_STATE_CALIB_IN_PROCESS; + enable_dismiss = false; + } + + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Begin UV-Mapping calibration after adjusting camera position"); + ImGui::PopStyleColor(2); + + string id = rsutils::string::from() << "Py Px Calibration only##py_px_only" << index; + ImGui::SetCursorScreenPos({ float(x + 15), float(y + height - ImGui::GetTextLineHeightWithSpacing() - 32) }); + ImGui::Checkbox(id.c_str(), &get_manager().py_px_only); + } + else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH) + { + ImGui::SetCursorScreenPos({ float(x + 3), float(y + 33) }); + ImGui::Text("%s", "Please make sure target is inside yellow rectangle."); + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 38 + ImGui::GetTextLineHeightWithSpacing()) }); + ImGui::Text("%s", "Target Width:"); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "The width of the rectangle in millimeter inside the specific target"); + } + + const int MAX_SIZE = 256; + char buff[MAX_SIZE]; + + ImGui::SetCursorScreenPos({ float(x + 135), float(y + 35 + ImGui::GetTextLineHeightWithSpacing()) }); + std::string id = rsutils::string::from() << "##target_width_" << index; + ImGui::PushItemWidth(width - 145.0f); + float target_width = config_file::instance().get_or_default(configurations::viewer::target_width_r, 175.0f); + std::string tw = rsutils::string::from() << target_width; + memcpy(buff, tw.c_str(), tw.size() + 1); + if (ImGui::InputText(id.c_str(), buff, std::max((int)tw.size() + 1, 10))) + { + std::stringstream ss; + ss << buff; + ss >> target_width; + config_file::instance().set(configurations::viewer::target_width_r, target_width); + } + ImGui::PopItemWidth(); + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 43 + 2 * ImGui::GetTextLineHeightWithSpacing()) }); + ImGui::Text("%s", "Target Height:"); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "The height of the rectangle in millimeter inside the specific target"); + } + + ImGui::SetCursorScreenPos({ float(x + 135), float(y + 40 + 2 * ImGui::GetTextLineHeightWithSpacing()) }); + id = rsutils::string::from() << "##target_height_" << index; + ImGui::PushItemWidth(width - 145.0f); + float target_height = config_file::instance().get_or_default(configurations::viewer::target_height_r, 100.0f); + std::string th = rsutils::string::from() << target_height; + memcpy(buff, th.c_str(), th.size() + 1); + if (ImGui::InputText(id.c_str(), buff, std::max((int)th.size() + 1, 10))) + { + std::stringstream ss; + ss << buff; + ss >> target_height; + config_file::instance().set(configurations::viewer::target_height_r, target_height); + } + ImGui::PopItemWidth(); + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - 25) }); + auto sat = 1.f + sin(duration_cast(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 back_button_name = rsutils::string::from() << "Back" << "##tare" << index; + if (ImGui::Button(back_button_name.c_str(), { float(60), 20.f })) + { + get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB; + update_state = update_state_prev; + get_manager().stop_viewer(); + } + + ImGui::SetCursorScreenPos({ float(x + 85), float(y + height - 25) }); + std::string button_name = rsutils::string::from() << "Calculate" << "##tare" << index; + if (ImGui::Button(button_name.c_str(), { float(bar_width - 70), 20.f })) + { + get_manager().restore_workspace([this](std::function a) { a(); }); + get_manager().reset(); + get_manager().retry_times = 0; + get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_TARE_GROUND_TRUTH; + auto _this = shared_from_this(); + auto invoke = [_this](std::function action) { + _this->invoke(action); + }; + get_manager().start(invoke); + update_state = RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_IN_PROCESS; + enable_dismiss = false; + } + + ImGui::PopStyleColor(2); + + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Begin calculating Tare Calibration/Distance to Target"); + } + } + else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_IN_PROCESS) + { + enable_dismiss = false; + ImGui::Text("%s", "Distance to Target calculation is in process...\nKeep camera stationary pointing at the target"); + } + else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_COMPLETE) + { + get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB; + update_state = update_state_prev; + } + else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_FAILED) + { + ImGui::Text("%s", _error_message.c_str()); + + auto sat = 1.f + sin(duration_cast(system_clock::now() - created_time).count() / 700.f) * 0.1f; + + ImGui::PushStyleColor(ImGuiCol_Button, saturate(redish, sat)); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, saturate(redish, 1.5f)); + + std::string button_name = rsutils::string::from() << "Retry" << "##retry" << index; + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); + if (ImGui::Button(button_name.c_str(), { float(bar_width), 20.f })) + { + get_manager().restore_workspace([this](std::function a) { a(); }); + get_manager().reset(); + auto _this = shared_from_this(); + auto invoke = [_this](std::function action) { + _this->invoke(action); + }; + get_manager().start(invoke); + update_state = RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_IN_PROCESS; + enable_dismiss = false; + } + + ImGui::PopStyleColor(2); + + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Retry calculating ground truth"); + } + } + else if (update_state == RS2_CALIB_STATE_TARE_INPUT || update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED) + { + ImGui::PushStyleColor(ImGuiCol_Text, update_state != RS2_CALIB_STATE_TARE_INPUT_ADVANCED ? light_grey : light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, update_state != RS2_CALIB_STATE_TARE_INPUT_ADVANCED ? light_grey : light_blue); + + if (ImGui::Button(u8"\uf0d7")) + { + if (update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED) + update_state = RS2_CALIB_STATE_TARE_INPUT; + else + update_state = RS2_CALIB_STATE_TARE_INPUT_ADVANCED; + } + + if (ImGui::IsItemHovered()) + { + if (update_state == RS2_CALIB_STATE_TARE_INPUT) + ImGui::SetTooltip("%s", "More Options..."); + else + ImGui::SetTooltip("%s", "Less Options..."); + } + + ImGui::PopStyleColor(2); + if (update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED) + { + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 33) }); + ImGui::Text("%s", "Avg Step Count:"); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Number of frames to average, Min = 1, Max = 30, Default = 20"); + } + ImGui::SetCursorScreenPos({ float(x + 135), float(y + 30) }); + + std::string id = rsutils::string::from() << "##avg_step_count_" << index; + ImGui::PushItemWidth(width - 145.f); + ImGui::SliderInt(id.c_str(), &get_manager().average_step_count, 1, 30); + ImGui::PopItemWidth(); + + //------------------------- + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 38 + ImGui::GetTextLineHeightWithSpacing()) }); + ImGui::Text("%s", "Step Count:"); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Max iteration steps, Min = 5, Max = 30, Default = 20"); + } + ImGui::SetCursorScreenPos({ float(x + 135), float(y + 35 + ImGui::GetTextLineHeightWithSpacing()) }); + + id = rsutils::string::from() << "##step_count_" << index; + + ImGui::PushItemWidth(width - 145.f); + ImGui::SliderInt(id.c_str(), &get_manager().step_count, 1, 30); + ImGui::PopItemWidth(); + + //------------------------- + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 43 + 2 * ImGui::GetTextLineHeightWithSpacing()) }); + ImGui::Text("%s", "Accuracy:"); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Subpixel accuracy level, Very high = 0 (0.025%), High = 1 (0.05%), Medium = 2 (0.1%), Low = 3 (0.2%), Default = Very high (0.025%)"); + } + + ImGui::SetCursorScreenPos({ float(x + 135), float(y + 40 + 2 * ImGui::GetTextLineHeightWithSpacing()) }); + + id = rsutils::string::from() << "##accuracy_" << index; + + std::vector vals{ "Very High", "High", "Medium", "Low" }; + std::vector vals_cstr; + for (auto&& s : vals) vals_cstr.push_back(s.c_str()); + + ImGui::PushItemWidth(width - 145.f); + ImGui::Combo(id.c_str(), &get_manager().accuracy, vals_cstr.data(), int(vals.size())); + + ImGui::SetCursorScreenPos({ float(x + 135), float(y + 35 + ImGui::GetTextLineHeightWithSpacing()) }); + + ImGui::PopItemWidth(); + + // Disabled according to the decision on v2.50 + //draw_intrinsic_extrinsic(x, y + 3 * int(ImGui::GetTextLineHeightWithSpacing()) - 10); + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 52 + 4 * ImGui::GetTextLineHeightWithSpacing()) }); + id = rsutils::string::from() << "Apply High-Accuracy Preset##apply_preset_" << index; + ImGui::Checkbox(id.c_str(), &get_manager().apply_preset); + } + + if (update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED) + { + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 60 + 5 * ImGui::GetTextLineHeightWithSpacing()) }); + ImGui::Text("%s", "Ground Truth(mm):"); + ImGui::SetCursorScreenPos({ float(x + 135), float(y + 58 + 5 * ImGui::GetTextLineHeightWithSpacing()) }); + } + else + { + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 33) }); + ImGui::Text("%s", "Ground Truth (mm):"); + ImGui::SetCursorScreenPos({ float(x + 135), float(y + 30) }); + } + + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Distance in millimeter to the flat wall, between 60 and 10000."); + + std::string id = rsutils::string::from() << "##ground_truth_for_tare" << index; + get_manager().ground_truth = config_file::instance().get_or_default(configurations::viewer::ground_truth_r, 1200.0f); + + std::string gt = rsutils::string::from() << get_manager().ground_truth; + const int MAX_SIZE = 256; + char buff[MAX_SIZE]; + memcpy(buff, gt.c_str(), gt.size() + 1); + + ImGui::PushItemWidth(width - 196.f); + if (ImGui::InputText(id.c_str(), buff, std::max((int)gt.size() + 1, 10))) + { + std::stringstream ss; + ss << buff; + ss >> get_manager().ground_truth; + } + ImGui::PopItemWidth(); + + config_file::instance().set(configurations::viewer::ground_truth_r, get_manager().ground_truth); + + auto sat = 1.f + sin(duration_cast(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 get_button_name = rsutils::string::from() << "Get" << "##tare" << index; + if (update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED) + ImGui::SetCursorScreenPos({ float(x + width - 52), float(y + 58 + 5 * ImGui::GetTextLineHeightWithSpacing()) }); + else + ImGui::SetCursorScreenPos({ float(x + width - 52), float(y + 30) }); + + if (ImGui::Button(get_button_name.c_str(), { 42.0f, 20.f })) + { + update_state_prev = update_state; + update_state = RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH; + get_manager().start_gt_viewer(); + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Calculate ground truth for the specific target"); + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - ImGui::GetTextLineHeightWithSpacing() - 30) }); + get_manager().host_assistance = (get_manager().device_name_string == std::string("Intel RealSense D457") ); // To be used for MIPI SKU only + bool assistance = (get_manager().host_assistance != 0); + if (ImGui::Checkbox("Host Assistance", &assistance)) + get_manager().host_assistance = (assistance ? 1 : 0); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "check = host assitance for statistics data, uncheck = no host assistance"); + + std::string button_name = rsutils::string::from() << "Calibrate" << "##tare" << index; + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 28) }); + if (ImGui::Button(button_name.c_str(), { float(bar_width), 20.f })) + { + get_manager().restore_workspace([](std::function a) { a(); }); + get_manager().reset(); + get_manager().retry_times = 0; + get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB; + auto _this = shared_from_this(); + auto invoke = [_this](std::function action) { + _this->invoke(action); + }; + get_manager().start(invoke); + update_state = RS2_CALIB_STATE_CALIB_IN_PROCESS; + enable_dismiss = false; + } + + ImGui::PopStyleColor(2); + + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Begin Tare Calibration"); + } + } + else if (update_state == RS2_CALIB_STATE_SELF_INPUT) + { + // Disabled according to the decision on v2.50 + /* + ImGui::SetCursorScreenPos({ float(x + 9), float(y + 33) }); + ImGui::Text("%s", "Speed:"); + + ImGui::SetCursorScreenPos({ float(x + 135), float(y + 30) }); + + std::string id = to_string() << "##speed_" << index; + + std::vector vals_cstr; + if (get_manager().action != on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB) + { + std::vector vals{ "Fast", "Slow", "White Wall" }; + for (auto&& s : vals) vals_cstr.push_back(s.c_str()); + + ImGui::PushItemWidth(width - 145.f); + ImGui::Combo(id.c_str(), &get_manager().speed_fl, vals_cstr.data(), int(vals.size())); + ImGui::PopItemWidth(); + } + else + { + std::vector vals{ "Very Fast", "Fast", "Medium", "Slow", "White Wall" }; + for (auto&& s : vals) vals_cstr.push_back(s.c_str()); + + ImGui::PushItemWidth(width - 145.f); + ImGui::Combo(id.c_str(), &get_manager().speed, vals_cstr.data(), int(vals.size())); + ImGui::PopItemWidth(); + } + + if (get_manager().action != on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB) + draw_intrinsic_extrinsic(x, y); + + if (get_manager().action != on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB) + { + float tmp_y = (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB ? + float(y + 40 + 2 * ImGui::GetTextLineHeightWithSpacing()) : float(y + 35 + ImGui::GetTextLineHeightWithSpacing())); + ImGui::SetCursorScreenPos({ float(x + 9), tmp_y }); + id = to_string() << "##restore_" << index; + bool restore = (get_manager().adjust_both_sides == 1); + if (ImGui::Checkbox("Adjust both sides focal length", &restore)) + get_manager().adjust_both_sides = (restore ? 1 : 0); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "check = adjust both sides, uncheck = adjust right side only"); + }*/ + + // Deprecase OCC-Extended + //float tmp_y = (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB ? + // float(y + 45 + 3 * ImGui::GetTextLineHeightWithSpacing()) : float(y + 41 + 2 * ImGui::GetTextLineHeightWithSpacing())); + + //ImGui::SetCursorScreenPos({ float(x + 9), tmp_y }); + //if (ImGui::RadioButton("OCC", (int*)&(get_manager().action), 1)) + // get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB; + //if (ImGui::IsItemHovered()) + // ImGui::SetTooltip("%s", "On-chip calibration"); + + //ImGui::SetCursorScreenPos({ float(x + 135), tmp_y }); + //if (ImGui::RadioButton("OCC Extended", (int *)&(get_manager().action), 0)) + // get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB; + //if (ImGui::IsItemHovered()) + // ImGui::SetTooltip("%s", "On-Chip Calibration Extended"); + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - ImGui::GetTextLineHeightWithSpacing() - 31) }); + get_manager().host_assistance = (get_manager().device_name_string == std::string("Intel RealSense D457") ); // To be used for MIPI SKU only + bool assistance = (get_manager().host_assistance != 0); + ImGui::Checkbox("Host Assistance", &assistance); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "check = host assitance for statistics data, uncheck = no host assistance"); + + auto sat = 1.f + sin(duration_cast(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() << "Calibrate" << "##self" << index; + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 28) }); + if (ImGui::Button(button_name.c_str(), { float(bar_width), 20.f })) + { + get_manager().restore_workspace([this](std::function a) { a(); }); + get_manager().reset(); + get_manager().retry_times = 0; + auto _this = shared_from_this(); + auto invoke = [_this](std::function action) {_this->invoke(action);}; + get_manager().start(invoke); + update_state = RS2_CALIB_STATE_CALIB_IN_PROCESS; + enable_dismiss = false; + } + + ImGui::PopStyleColor(2); + + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Begin On-Chip Calibration"); + } + else if (update_state == RS2_CALIB_STATE_FL_INPUT) + { + ImGui::SetCursorScreenPos({ float(x + 15), float(y + 33) }); + ImGui::Text("%s", "Please make sure the target is inside yellow\nrectangle of both left and right images. Adjust\ncamera position if necessary before to start."); + + ImGui::SetCursorScreenPos({ float(x + 15), float(y + 70 + ImGui::GetTextLineHeightWithSpacing()) }); + ImGui::Text("%s", "Target Width (mm):"); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "The width of the rectangle in millimeters inside the specific target"); + } + + const int MAX_SIZE = 256; + char buff[MAX_SIZE]; + + ImGui::SetCursorScreenPos({ float(x + 145), float(y + 70 + ImGui::GetTextLineHeightWithSpacing()) }); + std::string id = rsutils::string::from() << "##target_width_" << index; + ImGui::PushItemWidth(80); + float target_width = config_file::instance().get_or_default(configurations::viewer::target_width_r, 175.0f); + std::string tw = rsutils::string::from() << target_width; + memcpy(buff, tw.c_str(), tw.size() + 1); + if (ImGui::InputText(id.c_str(), buff, std::max((int)tw.size() + 1, 10))) + { + std::stringstream ss; + ss << buff; + ss >> target_width; + config_file::instance().set(configurations::viewer::target_width_r, target_width); + } + ImGui::PopItemWidth(); + + ImGui::SetCursorScreenPos({ float(x + 15), float(y + 80 + 2 * ImGui::GetTextLineHeightWithSpacing()) }); + ImGui::Text("%s", "Target Height (mm):"); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "The height of the rectangle in millimeters inside the specific target"); + } + + ImGui::SetCursorScreenPos({ float(x + 145), float(y + 77 + 2 * ImGui::GetTextLineHeightWithSpacing()) }); + id = rsutils::string::from() << "##target_height_" << index; + ImGui::PushItemWidth(80); + float target_height = config_file::instance().get_or_default(configurations::viewer::target_height_r, 100.0f); + std::string th = rsutils::string::from() << target_height; + memcpy(buff, th.c_str(), th.size() + 1); + if (ImGui::InputText(id.c_str(), buff, std::max((int)th.size() + 1, 10))) + { + std::stringstream ss; + ss << buff; + ss >> target_height; + config_file::instance().set(configurations::viewer::target_height_r, target_height); + } + ImGui::PopItemWidth(); + + ImGui::SetCursorScreenPos({ float(x + 20), float(y + 95) + 3 * ImGui::GetTextLineHeight() }); + bool adj_both = (get_manager().adjust_both_sides == 1); + if (ImGui::Checkbox("Adjust both sides focal length", &adj_both)) + get_manager().adjust_both_sides = (adj_both ? 1 : 0); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "check = adjust both sides, uncheck = adjust right side only"); + + ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - 25) }); + auto sat = 1.f + sin(duration_cast(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() << "Calibrate" << "##fl" << index; + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); + if (ImGui::Button(button_name.c_str(), { float(bar_width), 20.f })) + { + get_manager().restore_workspace([this](std::function a) { a(); }); + get_manager().reset(); + get_manager().retry_times = 0; + get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB; + auto _this = shared_from_this(); + auto invoke = [_this](std::function action) { + _this->invoke(action); + }; + get_manager().start(invoke); + update_state = RS2_CALIB_STATE_CALIB_IN_PROCESS; + enable_dismiss = false; + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Start focal length calibration after setting up camera position correctly."); + ImGui::PopStyleColor(2); + } + else if (update_state == RS2_CALIB_STATE_FAILED) + { + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB + || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) + { + if (get_manager().retry_times < 3) + { + get_manager().restore_workspace([](std::function a){ a(); }); + get_manager().reset(); + ++get_manager().retry_times; + get_manager().toggle = true; + + auto _this = shared_from_this(); + auto invoke = [_this](std::function action) {_this->invoke(action);}; + get_manager().start(invoke); + update_state = RS2_CALIB_STATE_CALIB_IN_PROCESS; + enable_dismiss = false; + } + else + { + ImGui::Text("%s", (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB ? "OCC FL calibraton cannot work with this camera!" : "OCC Extended calibraton cannot work with this camera!")); + } + } + else + { + ImGui::Text("%s", _error_message.c_str()); + + auto sat = 1.f + sin(duration_cast(system_clock::now() - created_time).count() / 700.f) * 0.1f; + + ImGui::PushStyleColor(ImGuiCol_Button, saturate(redish, sat)); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, saturate(redish, 1.5f)); + + std::string button_name = rsutils::string::from() << "Retry" << "##retry" << index; + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); + if (ImGui::Button(button_name.c_str(), { float(bar_width), 20.f })) + { + get_manager().restore_workspace([](std::function a) { a(); }); + get_manager().reset(); + auto _this = shared_from_this(); + auto invoke = [_this](std::function action) { + _this->invoke(action); + }; + get_manager().start(invoke); + update_state = RS2_CALIB_STATE_CALIB_IN_PROCESS; + enable_dismiss = false; + } + + ImGui::PopStyleColor(2); + + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Retry on-chip calibration process"); + } + } + else if (update_state == RS2_CALIB_STATE_CALIB_COMPLETE) + { + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB) + { + ImGui::SetCursorScreenPos({ float(x + 20), float(y + 33) }); + ImGui::Text("%s", "Health-Check Number for PX: "); + + ImGui::SetCursorScreenPos({ float(x + 20), float(y + 38) + ImGui::GetTextLineHeightWithSpacing() }); + ImGui::Text("%s", "Health Check Number for PY: "); + + ImGui::SetCursorScreenPos({ float(x + 20), float(y + 43) + 2 * ImGui::GetTextLineHeightWithSpacing() }); + ImGui::Text("%s", "Health Check Number for FX: "); + + ImGui::SetCursorScreenPos({ float(x + 20), float(y + 48) + 3 * ImGui::GetTextLineHeightWithSpacing() }); + ImGui::Text("%s", "Health Check Number for FY: "); + + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + + ImGui::SetCursorScreenPos({ float(x + 220), float(y + 30) }); + std::stringstream ss_1; + ss_1 << std::fixed << std::setprecision(4) << get_manager().get_health_nums(0); + auto health_str = ss_1.str(); + std::string text_name_1 = rsutils::string::from() << "##notification_text_1_" << index; + ImGui::InputTextMultiline(text_name_1.c_str(), const_cast(health_str.c_str()), strlen(health_str.c_str()) + 1, { 86, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Health check for PX"); + + ImGui::SetCursorScreenPos({ float(x + 220), float(y + 35) + ImGui::GetTextLineHeightWithSpacing() }); + std::stringstream ss_2; + ss_2 << std::fixed << std::setprecision(4) << get_manager().get_health_nums(1); + health_str = ss_2.str(); + std::string text_name_2 = rsutils::string::from() << "##notification_text_2_" << index; + ImGui::InputTextMultiline(text_name_2.c_str(), const_cast(health_str.c_str()), strlen(health_str.c_str()) + 1, { 86, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Health check for PY"); + + ImGui::SetCursorScreenPos({ float(x + 220), float(y + 40) + 2 * ImGui::GetTextLineHeightWithSpacing() }); + std::stringstream ss_3; + ss_3 << std::fixed << std::setprecision(4) << get_manager().get_health_nums(2); + health_str = ss_3.str(); + std::string text_name_3 = rsutils::string::from() << "##notification_text_3_" << index; + ImGui::InputTextMultiline(text_name_3.c_str(), const_cast(health_str.c_str()), strlen(health_str.c_str()) + 1, { 86, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Health check for FX"); + + ImGui::SetCursorScreenPos({ float(x + 220), float(y + 45) + 3 * ImGui::GetTextLineHeightWithSpacing() }); + std::stringstream ss_4; + ss_4 << std::fixed << std::setprecision(4) << get_manager().get_health_nums(3); + health_str = ss_4.str(); + std::string text_name_4 = rsutils::string::from() << "##notification_text_4_" << index; + ImGui::InputTextMultiline(text_name_4.c_str(), const_cast(health_str.c_str()), strlen(health_str.c_str()) + 1, { 86, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Health check for FY"); + + ImGui::PopStyleColor(7); + + auto sat = 1.f + sin(duration_cast(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)); + ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - 25) }); + std::string button_name = rsutils::string::from() << "Apply" << "##apply" << index; + if (ImGui::Button(button_name.c_str(), { float(bar_width - 60), 20.f })) + { + get_manager().apply_calib(true); // Store the new calibration internally + get_manager().keep(); // Flash the new calibration + if (RS2_CALIB_STATE_UVMAPPING_INPUT == update_state) + get_manager().reset_device(); // Workaround for reloading color calibration table. Other approach? + + update_state = RS2_CALIB_STATE_COMPLETE; + pinned = false; + enable_dismiss = false; + _progress_bar.last_progress_time = last_interacted = system_clock::now() + milliseconds(500); + + get_manager().restore_workspace([](std::function a) { a(); }); + } + + ImGui::PopStyleColor(2); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "New calibration values will be saved in device"); + } + else + { + auto health = get_manager().get_health(); + + auto recommend_keep = fabs(health) < 0.25f; + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB) + recommend_keep = fabs(health) < 0.15f; + + float health_1 = -1.0f; + float health_2 = -1.0f; + bool recommend_keep_1 = false; + bool recommend_keep_2 = false; + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) + { + health_1 = get_manager().get_health_1(); + health_2 = get_manager().get_health_2(); + recommend_keep_1 = fabs(health_1) < 0.25f; + recommend_keep_2 = fabs(health_2) < 0.15f; + recommend_keep = (recommend_keep_1 && recommend_keep_2); + } + + ImGui::SetCursorScreenPos({ float(x + 10), float(y + 33) }); + + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB) + { + if (get_manager().tare_health) + { + health_1 = get_manager().get_health_1(); + health_2 = get_manager().get_health_2(); + + ImGui::Text("%s", "Health-Check Before Calibration: "); + + std::stringstream ss_1; + ss_1 << std::fixed << std::setprecision(4) << health_1 << "%"; + auto health_str = ss_1.str(); + + std::string text_name = rsutils::string::from() << "##notification_text_1_" << index; + + ImGui::SetCursorScreenPos({ float(x + 225), float(y + 30) }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::InputTextMultiline(text_name.c_str(), const_cast(health_str.c_str()), strlen(health_str.c_str()) + 1, { 86, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(7); + + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Health-check number before Tare Calibration"); + + ImGui::SetCursorScreenPos({ float(x + 10), float(y + 38) + ImGui::GetTextLineHeightWithSpacing() }); + ImGui::Text("%s", "Health-Check After Calibration: "); + + std::stringstream ss_2; + ss_2 << std::fixed << std::setprecision(4) << health_2 << "%"; + health_str = ss_2.str(); + + text_name = rsutils::string::from() << "##notification_text_2_" << index; + + ImGui::SetCursorScreenPos({ float(x + 225), float(y + 35) + ImGui::GetTextLineHeightWithSpacing() }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::InputTextMultiline(text_name.c_str(), const_cast(health_str.c_str()), strlen(health_str.c_str()) + 1, { 86, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(7); + + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Health-check number after Tare Calibration"); + } + } + else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) + { + ImGui::Text("%s", "Health-Check: "); + + std::stringstream ss_1; + ss_1 << std::fixed << std::setprecision(2) << health_1; + auto health_str = ss_1.str(); + + std::string text_name = rsutils::string::from() << "##notification_text_1_" << index; + + ImGui::SetCursorScreenPos({ float(x + 125), float(y + 30) }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::InputTextMultiline(text_name.c_str(), const_cast(health_str.c_str()), strlen(health_str.c_str()) + 1, { 66, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(7); + + ImGui::SetCursorScreenPos({ float(x + 177), float(y + 33) }); + + if (recommend_keep_1) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::Text("%s", "(Good)"); + } + else if (fabs(health_1) < 0.75f) + { + ImGui::PushStyleColor(ImGuiCol_Text, yellowish); + ImGui::Text("%s", "(Can be Improved)"); + } + else + { + ImGui::PushStyleColor(ImGuiCol_Text, redish); + ImGui::Text("%s", "(Requires Calibration)"); + } + ImGui::PopStyleColor(); + + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "OCC Health-Check captures how far camera calibration is from the optimal one\n" + "[0, 0.25) - Good\n" + "[0.25, 0.75) - Can be Improved\n" + "[0.75, ) - Requires Calibration"); + } + + ImGui::SetCursorScreenPos({ float(x + 10), float(y + 38) + ImGui::GetTextLineHeightWithSpacing() }); + ImGui::Text("%s", "FL Health-Check: "); + + std::stringstream ss_2; + ss_2 << std::fixed << std::setprecision(2) << health_2; + health_str = ss_2.str(); + + text_name = rsutils::string::from() << "##notification_text_2_" << index; + + ImGui::SetCursorScreenPos({ float(x + 125), float(y + 35) + ImGui::GetTextLineHeightWithSpacing() }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::InputTextMultiline(text_name.c_str(), const_cast(health_str.c_str()), strlen(health_str.c_str()) + 1, { 66, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(7); + + ImGui::SetCursorScreenPos({ float(x + 175), float(y + 38) + ImGui::GetTextLineHeightWithSpacing() }); + + if (recommend_keep_2) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::Text("%s", "(Good)"); + } + else if (fabs(health_2) < 0.75f) + { + ImGui::PushStyleColor(ImGuiCol_Text, yellowish); + ImGui::Text("%s", "(Can be Improved)"); + } + else + { + ImGui::PushStyleColor(ImGuiCol_Text, redish); + ImGui::Text("%s", "(Requires Calibration)"); + } + ImGui::PopStyleColor(); + + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "OCC-FL Health-Check captures how far camera calibration is from the optimal one\n" + "[0, 0.15) - Good\n" + "[0.15, 0.75) - Can be Improved\n" + "[0.75, ) - Requires Calibration"); + } + } + else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB) + { + ImGui::Text("%s", "Focal Length Imbalance: "); + + std::stringstream ss_1; + ss_1 << std::fixed << std::setprecision(3) << get_manager().corrected_ratio; + auto ratio_str = ss_1.str(); + ratio_str += " %"; + + std::string text_name = rsutils::string::from() << "##notification_text_1_" << index; + + ImGui::SetCursorScreenPos({ float(x + 175), float(y + 30) }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::InputTextMultiline(text_name.c_str(), const_cast(ratio_str.c_str()), strlen(ratio_str.c_str()) + 1, { 86, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(7); + + ImGui::SetCursorScreenPos({ float(x + 10), float(y + 38) + ImGui::GetTextLineHeightWithSpacing() }); + ImGui::Text("%s", "Estimated Tilt Angle: "); + + std::stringstream ss_2; + ss_2 << std::fixed << std::setprecision(3) << get_manager().tilt_angle; + auto align_str = ss_2.str(); + align_str += " deg"; + + text_name = rsutils::string::from() << "##notification_text_2_" << index; + + ImGui::SetCursorScreenPos({ float(x + 175), float(y + 35) + ImGui::GetTextLineHeightWithSpacing() }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::InputTextMultiline(text_name.c_str(), const_cast(align_str.c_str()), strlen(align_str.c_str()) + 1, { 86, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(7); + } + else if (get_manager().action != on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB) + { + ImGui::Text("%s", (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB ? "Health-Check: " : "FL Health-Check: ")); + + std::stringstream ss; ss << std::fixed << std::setprecision(2) << health; + auto health_str = ss.str(); + + std::string text_name = rsutils::string::from() << "##notification_text_" << index; + + ImGui::SetCursorScreenPos({ float(x + 125), float(y + 30) }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::InputTextMultiline(text_name.c_str(), const_cast(health_str.c_str()), strlen(health_str.c_str()) + 1, { 66, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(7); + + ImGui::SetCursorScreenPos({ float(x + 177), float(y + 33) }); + + if (recommend_keep) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::Text("%s", "(Good)"); + } + else if (fabs(health) < 0.75f) + { + ImGui::PushStyleColor(ImGuiCol_Text, yellowish); + ImGui::Text("%s", "(Can be Improved)"); + } + else + { + ImGui::PushStyleColor(ImGuiCol_Text, redish); + ImGui::Text("%s", "(Requires Calibration)"); + } + ImGui::PopStyleColor(); + + if (ImGui::IsItemHovered()) + { + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB) + { + ImGui::SetTooltip("%s", "Calibration Health-Check captures how far camera calibration is from the optimal one\n" + "[0, 0.25) - Good\n" + "[0.25, 0.75) - Can be Improved\n" + "[0.75, ) - Requires Calibration"); + } + else + { + ImGui::SetTooltip("%s", "Calibration Health-Check captures how far camera calibration is from the optimal one\n" + "[0, 0.15) - Good\n" + "[0.15, 0.75) - Can be Improved\n" + "[0.75, ) - Requires Calibration"); + } + } + } + + auto old_fr = get_manager().get_metric(false).first; + auto new_fr = get_manager().get_metric(true).first; + + auto old_rms = fabs(get_manager().get_metric(false).second); + auto new_rms = fabs(get_manager().get_metric(true).second); + + auto fr_improvement = 100.f * ((new_fr - old_fr) / old_fr); + auto rms_improvement = 100.f * ((old_rms - new_rms) / old_rms); + + std::string old_units = "mm"; + if (old_rms > 10.f) + { + old_rms /= 10.f; + old_units = "cm"; + } + + std::string new_units = "mm"; + if (new_rms > 10.f) + { + new_rms /= 10.f; + new_units = "cm"; + } + + // NOTE: Disabling metrics temporarily + // TODO: Re-enable in future release + if (/* fr_improvement > 1.f || rms_improvement > 1.f */ false) + { + std::string txt = rsutils::string::from() << " Fill-Rate: " << std::setprecision(1) << std::fixed << new_fr << "%%"; + if (!use_new_calib) + txt = rsutils::string::from() << " Fill-Rate: " << std::setprecision(1) << std::fixed << old_fr << "%%\n"; + + ImGui::SetCursorScreenPos({ float(x + 12), float(y + 90) }); + ImGui::PushFont(win.get_large_font()); + ImGui::Text("%s", static_cast(textual_icons::check)); + ImGui::PopFont(); + + ImGui::SetCursorScreenPos({ float(x + 35), float(y + 92) }); + ImGui::Text("%s", txt.c_str()); + + if (use_new_calib) + { + ImGui::SameLine(); + + ImGui::PushStyleColor(ImGuiCol_Text, white); + txt = rsutils::string::from() << " ( +" << std::fixed << std::setprecision(0) << fr_improvement << "%% )"; + ImGui::Text("%s", txt.c_str()); + ImGui::PopStyleColor(); + } + + if (rms_improvement > 1.f) + { + if (use_new_calib) + { + txt = rsutils::string::from() << " Noise Estimate: " << std::setprecision(2) << std::fixed << new_rms << new_units; + } + else + { + txt = rsutils::string::from() << " Noise Estimate: " << std::setprecision(2) << std::fixed << old_rms << old_units; + } + + ImGui::SetCursorScreenPos({ float(x + 12), float(y + 90 + ImGui::GetTextLineHeight() + 6) }); + ImGui::PushFont(win.get_large_font()); + ImGui::Text("%s", static_cast(textual_icons::check)); + ImGui::PopFont(); + + ImGui::SetCursorScreenPos({ float(x + 35), float(y + 92 + ImGui::GetTextLineHeight() + 6) }); + ImGui::Text("%s", txt.c_str()); + + if (use_new_calib) + { + ImGui::SameLine(); + + ImGui::PushStyleColor(ImGuiCol_Text, white); + txt = rsutils::string::from() << " ( -" << std::setprecision(0) << std::fixed << rms_improvement << "%% )"; + ImGui::Text("%s", txt.c_str()); + ImGui::PopStyleColor(); + } + } + } + else + { + ImGui::SetCursorScreenPos({ float(x + 7), (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB ? float(y + 105) + ImGui::GetTextLineHeightWithSpacing() : (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB ? (get_manager().tare_health ? float(y + 105) : float(y + 50)) + ImGui::GetTextLineHeightWithSpacing() : float(y + 105))) }); + ImGui::Text("%s", "Please compare new vs old calibration\nand decide if to keep or discard the result..."); + } + + ImGui::SetCursorScreenPos({ float(x + 20), (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB ? float(y + 70) + ImGui::GetTextLineHeightWithSpacing() : (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB ? (get_manager().tare_health ? float(y + 70) : float(y + 15)) + ImGui::GetTextLineHeightWithSpacing() : float(y + 70))) }); + + if (ImGui::RadioButton("New", use_new_calib)) + { + use_new_calib = true; + get_manager().apply_calib(true); + } + + ImGui::SetCursorScreenPos({ float(x + 150), (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB ? float(y + 70) + ImGui::GetTextLineHeightWithSpacing() : (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB ? (get_manager().tare_health ? float(y + 70) : float(y + 15)) + ImGui::GetTextLineHeightWithSpacing() : float(y + 70))) }); + if (ImGui::RadioButton("Original", !use_new_calib)) + { + use_new_calib = false; + get_manager().apply_calib(false); + } + + auto sat = 1.f + sin(duration_cast(system_clock::now() - created_time).count() / 700.f) * 0.1f; + + if (!recommend_keep || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB) + { + ImGui::PushStyleColor(ImGuiCol_Button, saturate(sensor_header_light_blue, sat)); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, saturate(sensor_header_light_blue, 1.5f)); + } + + float scale = float(bar_width) / 3; + std::string button_name; + + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB) + { + scale = float(bar_width) / 7; + + button_name = rsutils::string::from() << "Recalibrate" << "##refl" << index; + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); + if (ImGui::Button(button_name.c_str(), { scale * 3, 20.f })) + { + get_manager().restore_workspace([this](std::function a) { a(); }); + get_manager().reset(); + get_manager().retry_times = 0; + get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB; + auto _this = shared_from_this(); + auto invoke = [_this](std::function action) { + _this->invoke(action); + }; + get_manager().start(invoke); + update_state = RS2_CALIB_STATE_CALIB_IN_PROCESS; + enable_dismiss = false; + } + + ImGui::SetCursorScreenPos({ float(x + 5) + 4 * scale, float(y + height - 25) }); + } + else + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); + + button_name = rsutils::string::from() << "Apply New" << "##apply" << index; + if (!use_new_calib) button_name = rsutils::string::from() << "Keep Original" << "##original" << index; + + if (ImGui::Button(button_name.c_str(), { scale * 3, 20.f })) + { + if (use_new_calib) + { + get_manager().keep(); + update_state = RS2_CALIB_STATE_COMPLETE; + pinned = false; + enable_dismiss = false; + _progress_bar.last_progress_time = last_interacted = system_clock::now() + milliseconds(500); + } + else + { + dismiss(false); + } + + get_manager().restore_options_controlled_by_calib(); + get_manager().restore_workspace([](std::function a) { a(); }); + } + + if (!recommend_keep || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB) + ImGui::PopStyleColor(2); + + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "New calibration values will be saved in device"); + } + } + + ImGui::PopStyleColor(); + } + else + { + ImGui::Text("%s", "Calibration Complete"); + + 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("%s", "Camera Calibration Applied Successfully"); + } + + ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) }); + + if (update_manager) + { + if (update_state == RS2_CALIB_STATE_INITIAL_PROMPT) + { + auto sat = 1.f + sin(duration_cast(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() << "Health-Check" << "##health_check" << index; + + if (ImGui::Button(button_name.c_str(), { float(bar_width), 20.f }) || update_manager->started()) + { + auto _this = shared_from_this(); + auto invoke = [_this](std::function action) { + _this->invoke(action); + }; + + if (!update_manager->started()) update_manager->start(invoke); + + update_state = RS2_CALIB_STATE_CALIB_IN_PROCESS; + enable_dismiss = false; + _progress_bar.last_progress_time = system_clock::now(); + } + ImGui::PopStyleColor(2); + + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Keep the camera pointing at an object or a wall"); + } + } + else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_IN_PROCESS) + { + if (update_manager->done()) + { + update_state = RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_COMPLETE; + enable_dismiss = true; + } + + if (update_manager->failed()) + { + update_manager->check_error(_error_message); + update_state = RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_FAILED; + enable_dismiss = true; + } + + draw_progress_bar(win, bar_width); + } + else if (update_state == RS2_CALIB_STATE_CALIB_IN_PROCESS) + { + if (update_manager->done()) + { + update_state = RS2_CALIB_STATE_CALIB_COMPLETE; + enable_dismiss = true; + if (get_manager().action != on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB) + { + get_manager().apply_calib(true); + use_new_calib = true; + } + } + + if (!expanded) + { + if (update_manager->failed()) + { + update_manager->check_error(_error_message); + update_state = RS2_CALIB_STATE_FAILED; + enable_dismiss = true; + } + + draw_progress_bar(win, bar_width); + + string id = rsutils::string::from() << "Expand" << "##" << index; + ImGui::SetCursorScreenPos({ float(x + width - 105), float(y + height - 25) }); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + if (ImGui::Button(id.c_str(), { 100, 20 })) + expanded = true; + ImGui::PopStyleColor(); + } + } + } + } + + void autocalib_notification_model::dismiss(bool snooze) + { + get_manager().update_last_used(); + + if (!use_new_calib && get_manager().done()) + get_manager().apply_calib(false); + + get_manager().restore_options_controlled_by_calib(); + get_manager().restore_workspace( []( std::function< void() > a ) { a(); } ); + + if (update_state != RS2_CALIB_STATE_TARE_INPUT) + update_state = RS2_CALIB_STATE_INITIAL_PROMPT; + + get_manager().turn_roi_off(); + get_manager().reset(); + + notification_model::dismiss(snooze); + } + + void autocalib_notification_model::draw_expanded(ux_window& win, std::string& error_message) + { + if (update_manager->started() && update_state == RS2_CALIB_STATE_INITIAL_PROMPT) + update_state = RS2_CALIB_STATE_CALIB_IN_PROCESS; + + 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; + switch (get_manager().action) + { + case on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB: title = "On - Chip Calibration Extended"; break; + case on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB: title = "On-Chip Calibration"; break; + case on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB: title = "On-Chip Focal Length Calibration"; break; + case on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB: title = "Tare Calibration"; break; + case on_chip_calib_manager::RS2_CALIB_ACTION_TARE_GROUND_TRUTH: title = "Ground Truth Calculation"; break; + case on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB: title = "Focal Length Calibration"; break; + case on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB: title = "UV - Mapping Calibration"; break; + default: title = "Calibration"; + } + + 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("##autocalib_log", const_cast(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->failed()) + update_state = RS2_CALIB_STATE_FAILED; + + 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 autocalib_notification_model::calc_height() + { + if (update_state == RS2_CALIB_STATE_COMPLETE) return 65; + else if (update_state == RS2_CALIB_STATE_INITIAL_PROMPT) return 120; + else if (update_state == RS2_CALIB_STATE_CALIB_COMPLETE) + { + if (get_manager().allow_calib_keep()) + { + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB) return 190; + else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB) return 140; + else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB) return 160; + else return 170; + } + else return 80; + } + else if (update_state == RS2_CALIB_STATE_SELF_INPUT) return (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB ? 180 : 90); + else if (update_state == RS2_CALIB_STATE_TARE_INPUT) return 105; + else if (update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED) return 230; + else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH) return 135; + else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_FAILED) return 115; + else if (update_state == RS2_CALIB_STATE_FAILED) return ((get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB) ? (get_manager().retry_times < 3 ? 0 : 80) : 110); + else if (update_state == RS2_CALIB_STATE_FL_INPUT) return 200; + else if (update_state == RS2_CALIB_STATE_UVMAPPING_INPUT) return 140; + else return 100; + } + + void autocalib_notification_model::set_color_scheme(float t) const + { + notification_model::set_color_scheme(t); + + ImGui::PopStyleColor(1); + + ImVec4 c; + + if (update_state == RS2_CALIB_STATE_COMPLETE) + { + c = alpha(saturate(light_blue, 0.7f), 1 - t); + ImGui::PushStyleColor(ImGuiCol_WindowBg, c); + } + else if (update_state == RS2_CALIB_STATE_FAILED) + { + c = alpha(dark_red, 1 - t); + ImGui::PushStyleColor(ImGuiCol_WindowBg, c); + } + else + { + c = alpha(sensor_bg, 1 - t); + ImGui::PushStyleColor(ImGuiCol_WindowBg, c); + } + } + + autocalib_notification_model::autocalib_notification_model(std::string name, std::shared_ptr manager, bool exp) + : process_notification_model(manager) + { + enable_expand = false; + enable_dismiss = true; + expanded = exp; + if (expanded) visible = false; + + message = name; + this->severity = RS2_LOG_SEVERITY_INFO; + this->category = RS2_NOTIFICATION_CATEGORY_HARDWARE_EVENT; + + pinned = true; + } +} diff --git a/librealsense/common/on-chip-calib.h b/librealsense/common/on-chip-calib.h new file mode 100644 index 0000000..1bddb10 --- /dev/null +++ b/librealsense/common/on-chip-calib.h @@ -0,0 +1,218 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "notifications.h" +#include +#include "../src/algo.h" + +#include +#include + +namespace rs2 +{ + class viewer_model; + class subdevice_model; + struct subdevice_ui_selection; + + // On-chip Calibration manager owns the background thread + // leading the calibration process + // It is controlled by autocalib_notification_model UI object + // that invokes the process when needed + class on_chip_calib_manager : public process_manager + { + public: + on_chip_calib_manager(viewer_model& viewer, std::shared_ptr sub, device_model& model, device dev, std::shared_ptr sub_color = nullptr, bool uvmapping_calib_full = false); + ~on_chip_calib_manager(); + + bool allow_calib_keep() const { return true; } + + // Get health number from the calibration summary + float get_health() const { return _health; } + float get_health_1() const { return _health_1; } + float get_health_2() const { return _health_2; } + float get_health_nums(int idx) const { return _health_nums[idx]; } + + // Write new calibration to the device + void keep(); + + // Restore Viewer UI to how it was before auto-calib + void restore_workspace(invoker invoke); + + // Ask the firmware to use one of the before/after calibration tables + void apply_calib(bool use_new); + + // Get depth metrics for before/after calibration tables + std::pair get_metric(bool use_new); + + void update_last_used(); + + float ground_truth = 1200.0f; + int average_step_count = 20; + int step_count = 20; + int accuracy = 2; + int speed = 2; //"Very Fast", "Fast", "Medium", "Slow", "White Wall" + int speed_fl = 1; + bool intrinsic_scan = true; + bool apply_preset = true; + + enum auto_calib_action + { + RS2_CALIB_ACTION_ON_CHIP_OB_CALIB, // On-Chip calibration extended + RS2_CALIB_ACTION_ON_CHIP_CALIB, // On-Chip calibration + RS2_CALIB_ACTION_ON_CHIP_FL_CALIB, // On-Chip focal length calibration + RS2_CALIB_ACTION_TARE_CALIB, // Tare calibration + RS2_CALIB_ACTION_TARE_GROUND_TRUTH, // Tare ground truth + RS2_CALIB_ACTION_FL_CALIB, // Focal length calibration + RS2_CALIB_ACTION_UVMAPPING_CALIB, // UVMapping calibration + RS2_CALIB_ACTION_FL_PLUS_CALIB, // Focal length plus calibration + }; + + auto_calib_action action = RS2_CALIB_ACTION_ON_CHIP_CALIB; + int host_assistance = 0; + int step_count_v3 = 256; + + int fl_step_count = 51; + int fy_scan_range = 40; + int keep_new_value_after_sucessful_scan = 1; + int fl_data_sampling = 1; + int adjust_both_sides = 0; + + int fl_scan_location = 0; + int fy_scan_direction = 0; + int white_wall_mode = 0; + + int retry_times = 0; + bool toggle = false; + + float corrected_ratio = 0.0f; + float tilt_angle = 0.0f; + + const float correction_factor = 0.50f; + + bool tare_health = false; + + std::shared_ptr _sub; + std::shared_ptr _sub_color; + + bool py_px_only = false; + + const std::string Y8_FORMAT = "Y8"; + const std::string Z16_FORMAT = "Z16"; + const std::string RGB8_FORMAT = "RGB8"; + std::string device_name_string; + + void calibrate(); + void calibrate_fl(); + void calibrate_uv_mapping(); + //void calibrate_fl_plus(); + void get_ground_truth(); + + void turn_roi_on(); + void turn_roi_off(); + + void save_options_controlled_by_calib(); + void restore_options_controlled_by_calib(); + + void start_gt_viewer(); + void start_fl_viewer(); + void start_uvmapping_viewer(bool b3D = false); + void start_fl_plus_viewer(); + void stop_viewer(); + void reset_device() { _dev.hardware_reset(); } + + private: + void save_laser_emitter_state(); + void save_thermal_loop_state(); + void restore_laser_emitter_state(); + void restore_thermal_loop_state(); + void set_laser_emitter_state( float value ); + void set_thermal_loop_state( float value ); + + std::vector safe_send_command(const std::vector& cmd, const std::string& name); + rs2::depth_frame fetch_depth_frame(invoker invoke, int timeout_ms = 5000); // Wait for next depth frame and return it + std::pair get_depth_metrics(invoker invoke); + void process_flow(std::function cleanup, invoker invoke) override; + + float _health = -1.0f; + float _health_1 = -1.0f; //percentage of error, relative to ground truth, before the current iteration. + float _health_2 = -1.0f; //percentage of error, relative to ground truth, after the current iteration. + + float _health_nums[4] = { -0.1f, -0.1f, -0.1f, -0.1f }; + std::vector color_intrin_raw_data; + + device _dev; + + bool _options_saved = false; + float _laser_status_prev = 0.0f; + float _thermal_loop_prev = 0.0f; + + bool _was_streaming = false; + bool _synchronized = false; + bool _post_processing = false; + std::shared_ptr _ui { nullptr }; + bool _in_3d_view = false; + int _uid = 0; + int _uid2 = 0; + int _uid_color = 0; + std::shared_ptr _ui_color{ nullptr }; + + viewer_model& _viewer; + + std::vector _old_calib, _new_calib; + std::vector> _metrics; + device_model& _model; + + bool _restored = true; + + float _ppx = 0.0f; + float _ppy = 0.0f; + float _fx = 0.0f; + float _fy = 0.0f; + + void stop_viewer(invoker invoke); + bool start_viewer(int w, int h, int fps, invoker invoke); + void try_start_viewer(int w, int h, int fps, invoker invoke); + }; + + // Auto-calib notification model is managing the UI state-machine + // controling auto-calibration + struct autocalib_notification_model : public process_notification_model + { + enum auto_calib_ui_state + { + RS2_CALIB_STATE_INITIAL_PROMPT, // First screen, would you like to run Health-Check? + RS2_CALIB_STATE_FAILED, // Failed, show _error_message + RS2_CALIB_STATE_COMPLETE, // After write, quick blue notification + RS2_CALIB_STATE_CALIB_IN_PROCESS,// Calibration in process... Shows progressbar + RS2_CALIB_STATE_CALIB_COMPLETE, // Calibration complete, show before/after toggle and metrics + RS2_CALIB_STATE_TARE_INPUT, // Collect input parameters for Tare calib + RS2_CALIB_STATE_TARE_INPUT_ADVANCED, // Collect input parameters for Tare calib + RS2_CALIB_STATE_SELF_INPUT, // Collect input parameters for Self calib + RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH, // Calculating ground truth + RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_IN_PROCESS, // Calculating ground truth in process... Shows progressbar + RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_COMPLETE, // Calculating ground truth complete, show succeeded or failed + RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_FAILED, // Failed to calculating the ground truth + RS2_CALIB_STATE_FL_INPUT, // Collect input parameters for focal length calib + RS2_CALIB_STATE_UVMAPPING_INPUT, // Collect input parameters for UVMapping calibration with specific target + RS2_CALIB_STATE_FL_PLUS_INPUT, // Collect input parameters for focal length plus calib + }; + + autocalib_notification_model(std::string name, std::shared_ptr manager, bool expaned); + + on_chip_calib_manager& get_manager() { return *std::dynamic_pointer_cast(update_manager); } + + 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_dismiss(ux_window& win, int x, int y) override; + void draw_expanded(ux_window& win, std::string& error_message) override; + void draw_intrinsic_extrinsic(int x, int y); + int calc_height() override; + void dismiss(bool snooze) override; + + bool use_new_calib = true; + std::string _error_message = ""; + }; + +} diff --git a/librealsense/common/opengl3.cpp b/librealsense/common/opengl3.cpp new file mode 100644 index 0000000..01508b5 --- /dev/null +++ b/librealsense/common/opengl3.cpp @@ -0,0 +1,737 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#include "opengl3.h" + +#include // runtime_error +#include +#include + +#include + +using namespace rs2; + +int vbo::convert_type(vbo_type type) +{ + switch (type) { + case vbo_type::array_buffer: return GL_ARRAY_BUFFER; + case vbo_type::element_array_buffer: return GL_ELEMENT_ARRAY_BUFFER; + default: throw std::runtime_error("Not supported VBO type!"); + } +} + +vbo::vbo(vbo_type type) + : _type(type) +{ + glGenBuffers(1, &_id); +} + +void vbo::bind() +{ + glBindBuffer(convert_type(_type), _id); +} + +void vbo::unbind() +{ + glBindBuffer(convert_type(_type), 0); +} + +void vbo::upload(int attribute, const float* xyz, int size, int count, bool dynamic) +{ + assert(_type == vbo_type::array_buffer); + bind(); + glBufferData(convert_type(_type), count * size * sizeof(float), xyz, + dynamic ? GL_DYNAMIC_DRAW : GL_STATIC_DRAW); + glVertexAttribPointer(attribute, size, GL_FLOAT, GL_FALSE, 0, 0); + _size = count; + check_gl_error(); + unbind(); +} + +void vbo::upload(const int3* indx, int count) +{ + assert(_type == vbo_type::element_array_buffer); + bind(); + glBufferData(convert_type(_type), count * sizeof(int3), indx, GL_STATIC_DRAW); + check_gl_error(); + _size = count; +} + +void vbo::draw_points() +{ + assert(_type == vbo_type::array_buffer); + bind(); + glDrawArrays(GL_POINTS, 0, _size); + check_gl_error(); + unbind(); +} + +void vbo::draw_triangles() +{ + assert(_type == vbo_type::array_buffer); + bind(); + glDrawArrays(GL_TRIANGLES, 0, _size); + check_gl_error(); + unbind(); +} + +void vbo::draw_indexed_triangles() +{ + assert(_type == vbo_type::element_array_buffer); + glDrawElements(GL_TRIANGLES, _size * (sizeof(int3) / sizeof(int)), GL_UNSIGNED_INT, 0); + check_gl_error(); +} + +vbo::vbo(vbo&& other) + : _id(other._id), _type(other._type), _size(other._size) +{ + other._id = 0; +} + +vbo::~vbo() +{ + if (_id) glDeleteBuffers(1, &_id); +} + +vao::vao(const float3* vert, const float2* uvs, const float3* normals, + const float3* tangents, int vert_count, const int3* indx, int indx_count) + : _vertexes(vbo_type::array_buffer), + _uvs(vbo_type::array_buffer), + _indexes(vbo_type::element_array_buffer), + _tangents(vbo_type::array_buffer), + _vertex_count(vert_count) +{ + glGenVertexArrays(1, &_id); + check_gl_error(); + bind(); + _indexes.upload(indx, indx_count); + _vertexes.upload(0, (float*)vert, 3, vert_count, true); + if (normals) _normals.upload(2, (float*)normals, 3, vert_count); + if (tangents) _tangents.upload(3, (float*)tangents, 3, vert_count); + if (uvs) _uvs.upload(1, (float*)uvs, 2, vert_count); + unbind(); +} + +std::unique_ptr vao::create(const obj_mesh& mesh) +{ + return std::unique_ptr(new vao(mesh.positions.data(), + mesh.uvs.data(), + mesh.normals.data(), + mesh.tangents.data(), + int(mesh.positions.size()), + mesh.indexes.data(), + int(mesh.indexes.size()))); +} + +vao::vao(vao&& other) + : _id(other._id), + _indexes(std::move(other._indexes)), + _vertexes(std::move(other._vertexes)), + _uvs(std::move(other._uvs)), + _normals(std::move(other._normals)), + _tangents(std::move(other._tangents)) +{ + other._id = 0; +} + +vao::~vao() +{ + if (_id) glDeleteVertexArrays(1, &_id); +} + +void vao::bind() +{ + glBindVertexArray(_id); + check_gl_error(); +} + +void vao::unbind() +{ + glBindVertexArray(0); +} + +void vao::draw_points() +{ + bind(); + + glEnableVertexAttribArray(0); // vertex + if (_uvs.size()) glEnableVertexAttribArray(1); // uv + if (_normals.size()) glEnableVertexAttribArray(2); // normals + if (_tangents.size()) glEnableVertexAttribArray(3); // tangents + check_gl_error(); + + _vertexes.draw_points(); + check_gl_error(); + + glDisableVertexAttribArray(0); + if (_uvs.size()) glDisableVertexAttribArray(1); + if (_normals.size()) glDisableVertexAttribArray(2); + if (_tangents.size()) glDisableVertexAttribArray(3); + + check_gl_error(); + + unbind(); +} + +void vao::draw() +{ + bind(); + + glEnableVertexAttribArray(0); // vertex + if (_uvs.size()) glEnableVertexAttribArray(1); // uv + if (_normals.size()) glEnableVertexAttribArray(2); // normals + if (_tangents.size()) glEnableVertexAttribArray(3); // tangents + + check_gl_error(); + + _indexes.draw_indexed_triangles(); + + check_gl_error(); + + glDisableVertexAttribArray(0); + if (_uvs.size()) glDisableVertexAttribArray(1); + if (_normals.size()) glDisableVertexAttribArray(2); + if (_tangents.size()) glDisableVertexAttribArray(3); + + check_gl_error(); + + unbind(); +} + +void vao::update_positions(const float3* vert) +{ + _vertexes.upload(0, (float*)vert, 3, _vertex_count, true); +} + +static const char* vertex_shader_text = +"#version 110\n" +"attribute vec3 position;\n" +"attribute vec2 textureCoords;\n" +"varying vec2 textCoords;\n" +"uniform vec2 elementPosition;\n" +"uniform vec2 elementScale;\n" +"void main(void)\n" +"{\n" +" gl_Position = vec4(position * vec3(elementScale, 1.0) + vec3(elementPosition, 0.0), 1.0);\n" +" textCoords = textureCoords;\n" +"}"; + +static const char* splash_shader_text = +"#version 110\n" +"varying vec2 textCoords;\n" +"uniform sampler2D textureSampler;\n" +"uniform float opacity;\n" +"uniform vec2 rayOrigin;\n" +"uniform float power;\n" +"void main(void) {\n" +" vec4 FragColor = texture2D(textureSampler, textCoords);\n" +" int samples = 120;\n" +" vec2 delta = vec2(textCoords - rayOrigin);\n" +" delta *= 1.0 / float(samples) * 0.99;" +" vec2 coord = textCoords;\n" +" float illuminationDecay = power;\n" +" for(int i=0; i < samples ; i++)\n" +" {\n" +" coord -= delta;\n" +" vec4 texel = texture2D(textureSampler, coord);\n" +" texel *= illuminationDecay * 0.4;\n" +" texel.x *= 80.0 / 255.0;\n" +" texel.y *= 99.0 / 255.0;\n" +" texel.z *= 115.0 / 255.0;\n" +" FragColor += texel;\n" +" illuminationDecay *= power;\n" +" }\n" +" FragColor = clamp(FragColor, 0.0, 1.0);\n" +" gl_FragColor = vec4(FragColor.xyz, opacity);\n" +"}"; + +static const char* fragment_shader_text = +"#version 110\n" +"varying vec2 textCoords;\n" +"uniform sampler2D textureSampler;\n" +"uniform float opacity;\n" +"void main(void) {\n" +" vec2 tex = vec2(textCoords.x, 1.0 - textCoords.y);\n" +" vec4 color = texture2D(textureSampler, tex);\n" +" gl_FragColor = vec4(color.xyz, opacity);\n" +"}"; + +using namespace rs2; + +texture_2d_shader::texture_2d_shader(std::unique_ptr shader) + : _shader(std::move(shader)) +{ + init(); +} + +const char* texture_2d_shader::default_vertex_shader() +{ + return vertex_shader_text; +} + +texture_2d_shader::texture_2d_shader() +{ + _shader = shader_program::load( + vertex_shader_text, + fragment_shader_text, "position", "textureCoords"); + + init(); +} + +void visualizer_2d::draw_texture(uint32_t tex, float opacity) +{ + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + tex_2d_shader->begin(); + tex_2d_shader->set_opacity(opacity); + tex_2d_shader->end(); + draw_texture({ 0.f, 0.f }, { 1.f, 1.f }, tex); + glDisable(GL_BLEND); + check_gl_error(); +} + +void visualizer_2d::draw_texture(uint32_t tex1, uint32_t tex2, float opacity) +{ + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + tex_2d_shader->begin(); + tex_2d_shader->set_opacity(opacity); + tex_2d_shader->end(); + draw_texture({ 0.f, 0.f }, { 1.0f, 1.0f }, tex1, tex2); + glDisable(GL_BLEND); +} + +void texture_2d_shader::set_position_and_scale( + const float2& position, + const float2& scale) +{ + _shader->load_uniform(_position_location, position); + _shader->load_uniform(_scale_location, scale); +} + +void splash_screen_shader::set_ray_center(const float2& center) +{ + _shader->load_uniform(_rays_location, center); +} + +void splash_screen_shader::set_power(float power) +{ + _shader->load_uniform(_power_location, power); +} + +void texture_2d_shader::init() +{ + _position_location = _shader->get_uniform_location("elementPosition"); + _scale_location = _shader->get_uniform_location("elementScale"); + _opacity_location = _shader->get_uniform_location("opacity"); + + auto texture0_sampler_location = _shader->get_uniform_location("textureSampler"); + + _shader->begin(); + _shader->load_uniform(texture0_sampler_location, 0); + set_opacity(1.f); + _shader->end(); +} + +splash_screen_shader::splash_screen_shader() + : texture_2d_shader(shader_program::load( + vertex_shader_text, + splash_shader_text, "position", "textureCoords")) +{ + + _rays_location = _shader->get_uniform_location("rayOrigin"); + _power_location = _shader->get_uniform_location("power"); +} + +void texture_2d_shader::begin() { _shader->begin(); } +void texture_2d_shader::end() { _shader->end(); } + +void texture_2d_shader::set_opacity(float opacity) +{ + _shader->load_uniform(_opacity_location, opacity); + check_gl_error(); +} + +void texture_visualizer::draw(texture_2d_shader& shader, uint32_t tex) +{ + shader.begin(); + shader.set_position_and_scale(_position, _scale); + glActiveTexture(GL_TEXTURE0); + glBindTexture(GL_TEXTURE_2D, tex); + _geometry->draw(); + glBindTexture(GL_TEXTURE_2D, 0); + shader.end(); + check_gl_error(); +} + +void texture_visualizer::draw(texture_2d_shader& shader, uint32_t tex1, uint32_t tex2) +{ + shader.begin(); + shader.set_position_and_scale(_position, _scale); + + glActiveTexture(GL_TEXTURE0); + glBindTexture(GL_TEXTURE_2D, tex1); + + glActiveTexture(GL_TEXTURE1); + glBindTexture(GL_TEXTURE_2D, tex2); + + _geometry->draw(); + glBindTexture(GL_TEXTURE_2D, 0); + shader.end(); +} + +obj_mesh texture_visualizer::create_mesh() +{ + obj_mesh res; + + res.positions.reserve(4); + res.positions.emplace_back(float3{ -1.f, -1.f, 0.f }); + res.positions.emplace_back(float3{ 1.f, -1.f, 0.f }); + res.positions.emplace_back(float3{ 1.f, 1.f, 0.f }); + res.positions.emplace_back(float3{ -1.f, 1.f, 0.f }); + + res.uvs.reserve(4); + res.uvs.emplace_back(float2{ 0.f, 1.f }); + res.uvs.emplace_back(float2{ 1.f, 1.f }); + res.uvs.emplace_back(float2{ 1.f, 0.f }); + res.uvs.emplace_back(float2{ 0.f, 0.f }); + + res.indexes.reserve(2); + res.indexes.emplace_back(int3{ 0, 1, 2 }); + res.indexes.emplace_back(int3{ 2, 3, 0 }); + + return res; +} + +#include + +using namespace rs2; + +int shader_program::get_uniform_location(const std::string& name) +{ + return glGetUniformLocation(_id, name.c_str()); +} + +void shader_program::load_uniform(int location, int value) +{ + glUniform1i(location, value); + check_gl_error(); +} + +void shader_program::load_uniform(int location, float value) +{ + glUniform1f(location, value); + check_gl_error(); +} + +void shader_program::load_uniform(int location, bool value) +{ + load_uniform(location, value ? 1.f : 0.f); + check_gl_error(); +} + +void shader_program::load_uniform(int location, const float3& vec) +{ + glUniform3f(location, vec.x, vec.y, vec.z); + check_gl_error(); +} + +void shader_program::load_uniform(int location, const float2& vec) +{ + glUniform2f(location, vec.x, vec.y); + check_gl_error(); +} + +void shader_program::load_uniform(int location, const matrix4& matrix) +{ + glUniformMatrix4fv(location, 1, GL_FALSE, (float*)&matrix); + check_gl_error(); +} + +void shader_program::bind_attribute(int attr, const std::string& name) +{ + glBindAttribLocation(_id, attr, name.c_str()); + check_gl_error(); +} + +shader::shader(const std::string& shader_code, shader_type type) +{ + auto lambda = [&]() { + switch (type) + { + case shader_type::vertex: return GL_VERTEX_SHADER; + case shader_type::fragment: return GL_FRAGMENT_SHADER; + default: + throw std::runtime_error("Unknown shader type!"); + } + }; + const auto gl_type = lambda(); + + GLuint shader_id = glCreateShader(gl_type); + + char const * source_ptr = shader_code.c_str(); + int length = int(shader_code.size()); + glShaderSource(shader_id, 1, &source_ptr, &length); + + glCompileShader(shader_id); + + GLint result; + int log_length; + + glGetShaderiv(shader_id, GL_COMPILE_STATUS, &result); + glGetShaderiv(shader_id, GL_INFO_LOG_LENGTH, &log_length); + if ((result == GL_FALSE) && (log_length > 0)) { + std::vector error_message(log_length + 1); + glGetShaderInfoLog(shader_id, log_length, NULL, &error_message[0]); + std::string error(&error_message[0]); + std::cerr << error; + glDeleteShader(shader_id); + throw std::runtime_error(error); + } + + check_gl_error(); + + _id = shader_id; +} + +shader::~shader() +{ + glDeleteShader(_id); +} + +shader_program::shader_program() +{ + GLuint program_id = glCreateProgram(); + check_gl_error(); + _id = program_id; +} +shader_program::~shader_program() +{ + glUseProgram(0); + glDeleteProgram(_id); +} + +void shader_program::attach(const shader& shader) +{ + _shaders.push_back(&shader); +} +void shader_program::link() +{ + for (auto ps : _shaders) + { + glAttachShader(_id, ps->get_id()); + } + + glLinkProgram(_id); + + GLint result; + int log_length; + + glGetProgramiv(_id, GL_LINK_STATUS, &result); + glGetProgramiv(_id, GL_INFO_LOG_LENGTH, &log_length); + if ((result == GL_FALSE) && (log_length > 0)) { + std::vector error_message(log_length + 1); + glGetProgramInfoLog(_id, log_length, NULL, &error_message[0]); + std::string error(&error_message[0]); + std::cerr << error; + for (auto ps : _shaders) + { + glDetachShader(_id, ps->get_id()); + } + throw std::runtime_error(error); + } + + glValidateProgram(_id); + + glGetProgramiv(_id, GL_VALIDATE_STATUS, &result); + glGetProgramiv(_id, GL_INFO_LOG_LENGTH, &log_length); + if ((result == GL_FALSE) && (log_length > 0)) { + std::vector error_message(log_length + 1); + glGetProgramInfoLog(_id, log_length, NULL, &error_message[0]); + std::string error(&error_message[0]); + std::cerr << error; + for (auto ps : _shaders) + { + glDetachShader(_id, ps->get_id()); + } + throw std::runtime_error(error); + } + + for (auto ps : _shaders) + { + glDetachShader(_id, ps->get_id()); + } + _shaders.clear(); + + check_gl_error(); +} + +void shader_program::begin() const +{ + glUseProgram(_id); + check_gl_error(); +} +void shader_program::end() const +{ + glUseProgram(0); +} + +std::unique_ptr shader_program::load( + const std::string& vertex_shader, + const std::string& fragment_shader, + const char* input0, + const char* input1, + const char* output0, + const char* output1) +{ + std::unique_ptr res(new shader_program()); + shader vertex(vertex_shader, shader_type::vertex); + shader fragment(fragment_shader, shader_type::fragment); + res->attach(vertex); + res->attach(fragment); + + if (input0) glBindAttribLocation(res->get_id(), 0, input0); + if (input1) glBindAttribLocation(res->get_id(), 1, input1); + check_gl_error(); + + if (output0) glBindFragDataLocation(res->get_id(), 0, output0); + if (output1) glBindFragDataLocation(res->get_id(), 1, output1); + check_gl_error(); + + res->link(); + return std::move(res); +} + +fbo::fbo(int w, int h) : _w(w), _h(h) +{ + glGenFramebuffers(1, &_id); + check_gl_error(); + glBindFramebuffer(GL_FRAMEBUFFER, _id); + check_gl_error(); + glDrawBuffer(GL_COLOR_ATTACHMENT0); + check_gl_error(); +} + +void fbo::createTextureAttachment(uint32_t handle) +{ + glBindTexture(GL_TEXTURE_2D, handle); + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, _w, _h, 0, GL_RGBA, GL_UNSIGNED_BYTE, nullptr); + + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + + // avoids from repetition of the texture at the edges of the viewport + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_BORDER); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_BORDER); + + glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, handle, 0); + glBindTexture(GL_TEXTURE_2D, 0); + check_gl_error(); +} + +void fbo::createDepthTextureAttachment(uint32_t handle) +{ + glBindTexture(GL_TEXTURE_2D, handle); + glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT32, _w, _h, 0, GL_DEPTH_COMPONENT, GL_FLOAT, nullptr); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); + glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, handle, 0); + glBindTexture(GL_TEXTURE_2D, 0); + check_gl_error(); +} + +void fbo::bind() +{ + glGetIntegerv(GL_VIEWPORT, _viewport); + + glBindTexture(GL_TEXTURE_2D, 0); + check_gl_error(); + glBindFramebuffer(GL_FRAMEBUFFER, _id); + check_gl_error(); + glViewport(0, 0, _w, _h); + check_gl_error(); +} + +void fbo::unbind() +{ + glBindFramebuffer(GL_FRAMEBUFFER, 0); + check_gl_error(); + glViewport(_viewport[0], _viewport[1], _viewport[2], _viewport[3]); + check_gl_error(); +} + +void fbo::createDepthBufferAttachment() +{ + if (_db) glDeleteRenderbuffers(1, &_db); + glGenRenderbuffers(1, &_db); + glBindRenderbuffer(GL_RENDERBUFFER, _db); + glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT, _w, _h); + glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, _db); + check_gl_error(); +} + +fbo::~fbo() +{ + glDeleteRenderbuffers(1, &_db); + glDeleteFramebuffers(1, &_id); +} + +std::string fbo::get_status() +{ + std::string res = "UNKNOWN"; + + bind(); + auto s = glCheckFramebufferStatus(GL_FRAMEBUFFER); + + if (s == GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT) res = "GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT"; + else if (s == 0x8CD9) res = "GL_FRAMEBUFFER_INCOMPLETE_DIMENSIONS"; + else if (s == GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT) res = "GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT"; + else if (s == GL_FRAMEBUFFER_UNSUPPORTED) res = "GL_FRAMEBUFFER_UNSUPPORTED"; + else if (s == GL_FRAMEBUFFER_COMPLETE) res = "GL_FRAMEBUFFER_COMPLETE"; + + unbind(); + + return res; +} + + +void _check_gl_error(const char *file, int line) +{ + GLenum err (glGetError()); + std::stringstream ss; + + bool has_errors = false; + while (err != GL_NO_ERROR) + { + std::string error; + + switch (err) + { + case GL_INVALID_OPERATION: error="INVALID_OPERATION"; break; + case GL_INVALID_ENUM: error="INVALID_ENUM"; break; + case GL_INVALID_VALUE: error="INVALID_VALUE"; break; + case GL_OUT_OF_MEMORY: error="OUT_OF_MEMORY"; break; + case GL_INVALID_FRAMEBUFFER_OPERATION: error="INVALID_FRAMEBUFFER_OPERATION"; break; + default: error="Unknown"; break; + } + + ss << "GL_" << error.c_str() << " - " << file << ":" << line << "\n"; + err = glGetError(); + has_errors = true; + } + + if (has_errors) + { + auto error = ss.str(); + throw std::runtime_error(error); + } +} + +void clear_gl_errors() +{ + GLenum err(glGetError()); + while (err != GL_NO_ERROR) + { + err = glGetError(); + } +} diff --git a/librealsense/common/opengl3.h b/librealsense/common/opengl3.h new file mode 100644 index 0000000..91023aa --- /dev/null +++ b/librealsense/common/opengl3.h @@ -0,0 +1,332 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. +#pragma once + +#include "matrix4.h" +#include "float3.h" +#include "float2.h" + +#include +#include +#include +#include + +void _check_gl_error(const char *file, int line); +void clear_gl_errors(); + +#ifndef NDEBUG +#define check_gl_error() _check_gl_error(__FILE__,__LINE__) +#else +#ifndef _DEBUG +#define check_gl_error() _check_gl_error(__FILE__,__LINE__) +#else +#define check_gl_error() +#endif +#endif + +namespace rs2 +{ + enum class shader_type + { + vertex, + fragment + }; + + struct int3 + { + int x, y, z; + }; + + struct obj_mesh + { + std::string name; + std::vector indexes; + std::vector positions; + std::vector normals; + std::vector uvs; + std::vector tangents; + }; + + class shader + { + public: + shader(const std::string& code, shader_type type); + ~shader(); + + unsigned int get_id() const { return _id; } + + private: + unsigned int _id; + }; + + class shader_program + { + public: + shader_program(); + ~shader_program(); + + void attach(const shader& shader); + void link(); + + void begin() const; + void end() const; + + static std::unique_ptr load( + const std::string& vertex_shader, + const std::string& fragment_shader, + const char* input0 = nullptr, + const char* input1 = nullptr, + const char* output0 = nullptr, + const char* output1 = nullptr); + + unsigned int get_id() const { return _id; } + + int get_uniform_location(const std::string& name); + void load_uniform(int location, float value); + void load_uniform(int location, const float2& vec); + void load_uniform(int location, const float3& vec); + void load_uniform(int location, bool value); + void load_uniform(int location, int value); + void load_uniform(int location, const matrix4& matrix); + + void bind_attribute(int attr, const std::string& name); + + private: + std::vector _shaders; + unsigned int _id; + }; + + enum class vbo_type + { + array_buffer, + element_array_buffer, + }; + + class vbo + { + public: + vbo(vbo_type type = vbo_type::array_buffer); + vbo(vbo&& other); + ~vbo(); + + void upload(int attribute, const float* xyz, int size, int count, bool dynamic = false); + void upload(const int3* indx, int count); + + void draw_points(); + void draw_triangles(); + void draw_indexed_triangles(); + + void bind(); + void unbind(); + + uint32_t size() const { return _size; } + private: + vbo(const vbo& other) = delete; + static int convert_type(vbo_type type); + + uint32_t _id; + uint32_t _size = 0; + vbo_type _type; + }; + + struct obj_mesh; + + class vao + { + public: + static std::unique_ptr create(const obj_mesh& m); + + vao(const float3* vert, const float2* uvs, const float3* normals, + const float3* tangents, int vert_count, const int3* indx, int indx_count); + ~vao(); + void bind(); + void unbind(); + void draw(); + void draw_points(); + + // void update_uvs(const float2* uvs); + void update_positions(const float3* vert); + + vao(vao&& other); + + private: + vao(const vao& other) = delete; + + uint32_t _id; + int _vertex_count = 0; + vbo _vertexes, _normals, _indexes, _uvs, _tangents; + }; + + class texture_2d_shader + { + public: + texture_2d_shader(); + + void begin(); + void end(); + + void set_opacity(float opacity); + + void set_position_and_scale( + const float2& position, + const float2& scale); + protected: + texture_2d_shader(std::unique_ptr shader); + + std::unique_ptr _shader; + + static const char* default_vertex_shader(); + + private: + void init(); + + uint32_t _position_location; + uint32_t _scale_location; + uint32_t _opacity_location; + }; + + class splash_screen_shader : public texture_2d_shader + { + public: + splash_screen_shader(); + + void set_ray_center(const float2& center); + void set_power(float power); + private: + uint32_t _rays_location; + uint32_t _power_location; + }; + + class texture_visualizer + { + public: + texture_visualizer(float2 pos, float2 scale) + : _position(std::move(pos)), + _scale(std::move(scale)), + _geometry(vao::create(create_mesh())) + { + + } + + texture_visualizer() + : texture_visualizer({ 0.f, 0.f }, { 1.f, 1.f }) {} + + void set_position(float2 pos) { _position = pos; } + void set_scale(float2 scale) { _scale = scale; } + + void draw(texture_2d_shader& shader, uint32_t tex); + void draw(texture_2d_shader& shader, uint32_t tex1, uint32_t tex2); + + private: + static obj_mesh create_mesh(); + + float2 _position; + float2 _scale; + std::shared_ptr _geometry; + }; + + class visualizer_2d + { + public: + visualizer_2d() + : visualizer_2d(std::make_shared()) + { + } + + visualizer_2d(std::shared_ptr shader) + : tex_2d_shader(shader) + { + } + + void draw_texture(uint32_t tex, float opacity = 1.f); + void draw_texture(uint32_t tex1, uint32_t tex2, float opacity = 1.f); + + void draw_texture(float2 pos, float2 scale, uint32_t tex) + { + tex_2d_shader->begin(); + _visualizer.set_position(pos); + _visualizer.set_scale(scale); + _visualizer.draw(*tex_2d_shader, tex); + tex_2d_shader->end(); + } + + void draw_texture(float2 pos, float2 scale, uint32_t tex1, uint32_t tex2) + { + tex_2d_shader->begin(); + _visualizer.set_position(pos); + _visualizer.set_scale(scale); + _visualizer.draw(*tex_2d_shader, tex1, tex2); + tex_2d_shader->end(); + } + + texture_2d_shader& get_shader() { return *tex_2d_shader; } + + private: + texture_visualizer _visualizer; + std::shared_ptr tex_2d_shader; + }; + + inline obj_mesh make_grid(int a, int b) + { + obj_mesh res; + + auto toidx = [&](int i, int j) { + return i * b + j; + }; + + for (auto i = 0; i < a; i++) + { + for (auto j = 0; j < b; j++) + { + float3 point{ (float)j, (float)i, 1.f }; + res.positions.push_back(point); + res.normals.push_back(float3{ 0.f, 0.f, -1.f }); + + res.uvs.emplace_back(float2{ (i+0.5f)/(float)(a), (j+0.5f)/(float)(b) }); + + if (i < a - 1 && j < b - 1) + { + auto curr = toidx(i, j); + auto next_a = toidx(i + 1, j); + auto next_b = toidx(i, j + 1); + auto next_ab = toidx(i + 1, j + 1); + res.indexes.emplace_back(int3{ curr, next_a, next_b }); + res.indexes.emplace_back(int3{ next_a, next_ab, next_b }); + } + } + } + + return res; + } + + class fbo + { + public: + fbo(int w, int h); + + void createTextureAttachment(uint32_t texture); + + void createDepthTextureAttachment(uint32_t texture); + + void bind(); + + void unbind(); + + void createDepthBufferAttachment(); + + ~fbo(); + + std::string get_status(); + + void set_dims(int w, int h) { _w = w; _h = h; } + + int get_width() const { return _w; } + int get_height() const { return _h; } + uint32_t get() const { return _id; } + private: + uint32_t _id; + uint32_t _db = 0; + int _w, _h; + int32_t _viewport[4]; + }; +} diff --git a/librealsense/common/option-model.cpp b/librealsense/common/option-model.cpp new file mode 100644 index 0000000..15fcbda --- /dev/null +++ b/librealsense/common/option-model.cpp @@ -0,0 +1,678 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2022 Intel Corporation. All Rights Reserved. + +#include "option-model.h" +#include +#include +#include +#include "device-model.h" +#include "subdevice-model.h" + +namespace rs2 +{ + option_model create_option_model( option_value const & opt, + const std::string& opt_base_label, + subdevice_model* model, + std::shared_ptr options, + bool* options_invalidated, + std::string& error_message) + { + option_model option = {}; + + std::string const option_name = options->get_option_name( opt->id ); + option.id = rsutils::string::from() << opt_base_label << '/' << option_name; + option.opt = opt->id; + option.endpoint = options; + option.label = rsutils::string::from() << option_name << "##" << option.id; + option.invalidate_flag = options_invalidated; + option.dev = model; + option.value = opt; + option.supported = opt->is_valid; // i.e., supported-and-enabled! + option.range = options->get_option_range( opt->id ); + option.read_only = options->is_option_read_only( opt->id ); + return option; + } +} + +using namespace rs2; + +std::string option_model::adjust_description(const std::string& str_in, const std::string& to_be_replaced, const std::string& to_replace) +{ + std::string adjusted_string(str_in); + auto pos = adjusted_string.find(to_be_replaced); + adjusted_string.replace(pos, to_be_replaced.size(), to_replace); + return adjusted_string; +} + +bool option_model::draw( std::string & error_message, + notifications_model & model, + bool new_line, + bool use_option_name ) +{ + auto res = false; + if( endpoint->supports( opt ) ) + { + // The option's rendering model supports an alternative option title derived from its + // description rather than name. This is applied to the Holes Filling as its display must + // conform with the names used by a 3rd-party tools for consistency. + if( opt == RS2_OPTION_HOLES_FILL ) + use_option_name = false; + + std::string desc_str( endpoint->get_option_description( opt ) ); + + // Device D405 is for short range, therefore, its units are in cm - for better UX + bool use_cm_units = false; + std::string device_pid = dev->dev.get_info( RS2_CAMERA_INFO_PRODUCT_ID ); + if( device_pid == "0B5B" + && val_in_range( + opt, + { RS2_OPTION_MIN_DISTANCE, RS2_OPTION_MAX_DISTANCE, RS2_OPTION_DEPTH_UNITS } ) ) + { + use_cm_units = true; + desc_str = adjust_description( desc_str, "meters", "cm" ); + } + + auto desc = desc_str.c_str(); + + // remain option to append to the current line + if( ! new_line ) + ImGui::SameLine(); + + if( is_enum() ) + { + res = draw_combobox( model, error_message, desc, new_line, use_option_name ); + } + else + { + if( is_checkbox() ) + { + res = draw_checkbox( model, error_message, desc ); + } + else + { + res = draw_slider( model, error_message, desc, use_cm_units ); + } + } + + if( ! read_only && opt == RS2_OPTION_ENABLE_AUTO_EXPOSURE && dev->auto_exposure_enabled + && dev->s->is< roi_sensor >() && dev->streaming ) + { + ImGui::SameLine( 0, 10 ); + std::string button_label = label; + auto index = label.find_last_of( '#' ); + if( index != std::string::npos ) + { + button_label = label.substr( index + 1 ); + } + + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, { 1.f, 1.f, 1.f, 1.f } ); + if( ! dev->roi_checked ) + { + std::string caption = rsutils::string::from() << "Set ROI##" << button_label; + if( ImGui::Button( caption.c_str(), { 55, 0 } ) ) + { + dev->roi_checked = true; + } + } + else + { + std::string caption = rsutils::string::from() << "Cancel##" << button_label; + if( ImGui::Button( caption.c_str(), { 55, 0 } ) ) + { + dev->roi_checked = false; + } + } + ImGui::PopStyleColor(); + + if( ImGui::IsItemHovered() ) + ImGui::SetTooltip( "Select custom region of interest for the auto-exposure " + "algorithm\nClick the button, then draw a rect on the frame" ); + } + } + + return res; +} + +void option_model::update_supported( std::string & error_message ) +{ + try + { + supported = endpoint->supports( opt ); + } + catch( const error & e ) + { + error_message = error_to_string( e ); + } +} + +void option_model::update_read_only_status( std::string & error_message ) +{ + try + { + read_only = endpoint->is_option_read_only( opt ); + } + catch( const error & e ) + { + error_message = error_to_string( e ); + } +} + +void option_model::update_all_fields( std::string & error_message, notifications_model & model ) +{ + try + { + value = endpoint->get_option_value( opt ); + supported = value->is_valid; + if( supported ) + { + range = endpoint->get_option_range( opt ); + read_only = endpoint->is_option_read_only( opt ); + } + } + catch( const error & e ) + { + if( read_only ) + { + model.add_notification( { rsutils::string::from() + << "Could not refresh read-only option " + << endpoint->get_option_name( opt ) << ": " << e.what(), + RS2_LOG_SEVERITY_WARN, + RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR } ); + } + else + error_message = error_to_string( e ); + } +} + +bool option_model::is_all_integers() const +{ + return is_integer( range.min ) && is_integer( range.max ) && is_integer( range.def ) + && is_integer( range.step ); +} + +bool option_model::is_enum() const +{ + // We do not expect enum values to have a step that is smaller than 1, + // and we don't want to compare a floating point value to an integer so 0.9 will do the work. + if( range.step < 0.9f ) + return false; + + for( auto i = range.min; i <= range.max; i += range.step ) + { + if( endpoint->get_option_value_description( opt, i ) == nullptr ) + return false; + } + return true; +} + +std::vector< const char * > option_model::get_combo_labels( int * p_selected ) const +{ + int selected = 0, counter = 0; + std::vector< const char * > labels; + for( auto i = range.min; i <= range.max; i += range.step, counter++ ) + { + auto label = endpoint->get_option_value_description( opt, i ); + + switch( value->type ) + { + case RS2_OPTION_TYPE_FLOAT: + if( std::fabs( i - value->as_float ) < 0.001f ) + selected = counter; + break; + case RS2_OPTION_TYPE_STRING: + if( 0 == strcmp( label, value->as_string ) ) + selected = counter; + break; + } + + labels.push_back( label ); + } + if( p_selected ) + *p_selected = selected; + return labels; +} + +bool option_model::draw_combobox( notifications_model & model, + std::string & error_message, + const char * description, + bool new_line, + bool use_option_name ) +{ + bool item_clicked = false; + std::string txt = rsutils::string::from() + << ( use_option_name ? endpoint->get_option_name( opt ) : description ) << ":"; + + float text_length = ImGui::CalcTextSize( txt.c_str() ).x; + float combo_position_x = ImGui::GetCursorPosX() + text_length + 5; + + ImGui::Text( "%s", txt.c_str() ); + if( ImGui::IsItemHovered() && description ) + { + ImGui::SetTooltip( "%s", description ); + } + + ImGui::SameLine(); + if( new_line ) + ImGui::SetCursorPosX( combo_position_x ); + + ImGui::PushItemWidth( new_line ? -1.f : 100.f ); + + int selected; + std::vector< const char * > labels = get_combo_labels( &selected ); + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, { 1, 1, 1, 1 } ); + + try + { + if( ImGui::Combo( id.c_str(), &selected, labels.data(), static_cast< int >( labels.size() ) ) ) + { + float tmp_value = range.min + range.step * selected; + model.add_log( rsutils::string::from() + << "Setting " << opt << " to " << tmp_value << " (" << labels[selected] << ")" ); + set_option( opt, tmp_value, error_message ); + if( invalidate_flag ) + *invalidate_flag = true; + item_clicked = true; + } + } + catch( const error & e ) + { + error_message = error_to_string( e ); + } + + ImGui::PopStyleColor(); + ImGui::PopItemWidth(); + return item_clicked; +} + +bool option_model::draw_slider( notifications_model & model, + std::string & error_message, + const char * description, + bool use_cm_units ) +{ + bool slider_clicked = false; + std::string txt = rsutils::string::from() << endpoint->get_option_name( opt ) << ":"; + ImGui::Text( "%s", txt.c_str() ); + + ImGui::SameLine(); + ImGui::SetCursorPosX( read_only ? 268.f : 245.f ); + ImGui::PushStyleColor( ImGuiCol_Text, grey ); + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, grey ); + ImGui::PushStyleColor( ImGuiCol_ButtonActive, { 1.f, 1.f, 1.f, 0.f } ); + ImGui::PushStyleColor( ImGuiCol_ButtonHovered, { 1.f, 1.f, 1.f, 0.f } ); + ImGui::PushStyleColor( ImGuiCol_Button, { 1.f, 1.f, 1.f, 0.f } ); + ImGui::Button( textual_icons::question_mark, { 20, 20 } ); + ImGui::PopStyleColor( 5 ); + if( ImGui::IsItemHovered() && description ) + { + ImGui::SetTooltip( "%s", description ); + } + + if( ! read_only ) + { + ImGui::SameLine(); + ImGui::SetCursorPosX( 268 ); + if( ! edit_mode ) + { + std::string edit_id = rsutils::string::from() << textual_icons::edit << "##" << id; + ImGui::PushStyleColor( ImGuiCol_Text, light_grey ); + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, light_grey ); + ImGui::PushStyleColor( ImGuiCol_ButtonHovered, { 1.f, 1.f, 1.f, 0.f } ); + ImGui::PushStyleColor( ImGuiCol_Button, { 1.f, 1.f, 1.f, 0.f } ); + if( ImGui::Button( edit_id.c_str(), { 20, 20 } ) ) + { + if( is_all_integers() ) + edit_value = rsutils::string::from() << (int)value->as_float; + else + edit_value = rsutils::string::from() << value->as_float; + edit_mode = true; + } + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "Enter text-edit mode" ); + } + ImGui::PopStyleColor( 4 ); + } + else + { + std::string edit_id = rsutils::string::from() << textual_icons::edit << "##" << id; + ImGui::PushStyleColor( ImGuiCol_Text, light_blue ); + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, light_blue ); + ImGui::PushStyleColor( ImGuiCol_ButtonHovered, { 1.f, 1.f, 1.f, 0.f } ); + ImGui::PushStyleColor( ImGuiCol_Button, { 1.f, 1.f, 1.f, 0.f } ); + if( ImGui::Button( edit_id.c_str(), { 20, 20 } ) ) + { + edit_mode = false; + } + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "Exit text-edit mode" ); + } + ImGui::PopStyleColor( 4 ); + } + } + + ImGui::PushItemWidth( -1 ); + + try + { + if( read_only ) + { + ImVec2 vec{ 0, 20 }; + std::string text = ( value->as_float == (int)value->as_float ) ? std::to_string( (int)value->as_float ) + : std::to_string( value->as_float ); + if( range.min != range.max ) + { + ImGui::ProgressBar( ( value->as_float / ( range.max - range.min ) ), vec, text.c_str() ); + } + else // constant value options + { + auto c = ImGui::ColorConvertU32ToFloat4( ImGui::GetColorU32( ImGuiCol_FrameBg ) ); + ImGui::PushStyleColor( ImGuiCol_FrameBgActive, c ); + ImGui::PushStyleColor( ImGuiCol_FrameBgHovered, c ); + float dummy = std::floor( value->as_float ); + if( ImGui::DragFloat( id.c_str(), &dummy, 1, 0, 0, text.c_str() ) ) + { + // Changing the depth units not on advanced mode is not allowed, + // prompt the user to switch to advanced mode for chaging it. + if( RS2_OPTION_DEPTH_UNITS == opt ) + { + auto advanced = dev->dev.as< rs400::advanced_mode >(); + if( advanced ) + if( ! advanced.is_enabled() ) + dev->draw_advanced_mode_prompt = true; + } + } + ImGui::PopStyleColor( 2 ); + } + } + else if( edit_mode ) + { + std::string buff_str = edit_value; + + // lambda function used to convert meters to cm - while the number is a string + auto convert_float_str = []( std::string float_str, float conversion_factor ) { + if( float_str.size() == 0 ) + return float_str; + float number_float = std::stof( float_str ); + return std::to_string( number_float * conversion_factor ); + }; + + // when cm must be used instead of meters + if( use_cm_units ) + buff_str = convert_float_str( buff_str, 100.f ); + + char buff[TEXT_BUFF_SIZE]; + memset( buff, 0, TEXT_BUFF_SIZE ); + strcpy( buff, buff_str.c_str() ); + + if( ImGui::InputText( id.c_str(), + buff, + TEXT_BUFF_SIZE, + ImGuiInputTextFlags_EnterReturnsTrue ) ) + { + if( use_cm_units ) + { + buff_str = convert_float_str( std::string( buff ), 0.01f ); + memset( buff, 0, TEXT_BUFF_SIZE ); + strcpy( buff, buff_str.c_str() ); + } + float new_value; + if( ! rsutils::string::string_to_value< float >( buff, new_value ) ) + { + error_message = "Invalid float input!"; + } + else if( new_value < range.min || new_value > range.max ) + { + float val = use_cm_units ? new_value * 100.f : new_value; + float min = use_cm_units ? range.min * 100.f : range.min; + float max = use_cm_units ? range.max * 100.f : range.max; + + error_message = rsutils::string::from() + << val << " is out of bounds [" << min << ", " << max << "]"; + } + else + { + // run when the value is valid and the enter key is pressed to submit the new value + auto option_was_set = set_option(opt, new_value, error_message); + if (option_was_set) + { + if (invalidate_flag) + *invalidate_flag = true; + model.add_log(rsutils::string::from() << "Setting " << opt << " to " << value->as_float); + } + } + edit_mode = false; + } + else if( use_cm_units ) + { + buff_str = convert_float_str( buff_str, 0.01f ); + memset( buff, 0, TEXT_BUFF_SIZE ); + strcpy( buff, buff_str.c_str() ); + } + edit_value = buff; + } + else if( is_all_integers() ) + { + // runs when changing a value with slider and not the textbox + auto int_value = static_cast< int >( value->as_float ); + + if( ImGui::SliderIntWithSteps( id.c_str(), + &int_value, + static_cast< int >( range.min ), + static_cast< int >( range.max ), + static_cast< int >( range.step ) ) ) + { + // TODO: Round to step? + slider_clicked = slider_selected( opt, + static_cast< float >( int_value ), + error_message, + model ); + } + else + { + slider_clicked = slider_unselected( opt, + static_cast< float >( int_value ), + error_message, + model ); + } + } + else + { + float tmp_value = value->as_float; + float temp_value_displayed = tmp_value; + float min_range_displayed = range.min; + float max_range_displayed = range.max; + + // computing the number of decimal digits taken from the step options' property + // this will then be used to format the displayed value + auto num_of_decimal_digits = []( float f ) { + float f_0 = std::fabs( f - (int)f ); + std::string s = std::to_string( f_0 ); + size_t cur_len = s.length(); + // removing trailing zeros + while( cur_len > 3 && s[cur_len - 1] == '0' ) + cur_len--; + return cur_len - 2; + }; + int num_of_decimal_digits_displayed = (int)num_of_decimal_digits( range.step ); + + // displaying in cm instead of meters for D405 + if( use_cm_units ) + { + temp_value_displayed *= 100.f; + min_range_displayed *= 100.f; + max_range_displayed *= 100.f; + int updated_num_of_decimal_digits_displayed = num_of_decimal_digits_displayed - 2; + if( updated_num_of_decimal_digits_displayed > 0 ) + num_of_decimal_digits_displayed = updated_num_of_decimal_digits_displayed; + } + + std::stringstream formatting_ss; + formatting_ss << "%." << num_of_decimal_digits_displayed << "f"; + + + if( ImGui::SliderFloat( id.c_str(), + &temp_value_displayed, + min_range_displayed, + max_range_displayed, + formatting_ss.str().c_str() ) ) + { + tmp_value = use_cm_units ? temp_value_displayed / 100.f : temp_value_displayed; + auto loffset = std::abs( fmod( tmp_value, range.step ) ); + auto roffset = range.step - loffset; + if( tmp_value >= 0 ) + tmp_value = ( loffset < roffset ) ? tmp_value - loffset : tmp_value + roffset; + else + tmp_value = ( loffset < roffset ) ? tmp_value + loffset : tmp_value - roffset; + tmp_value = ( tmp_value < range.min ) ? range.min : tmp_value; + tmp_value = ( tmp_value > range.max ) ? range.max : tmp_value; + + slider_clicked = slider_selected( opt, tmp_value, error_message, model ); + } + else + { + slider_clicked = slider_unselected( opt, tmp_value, error_message, model ); + } + } + } + catch( const error & e ) + { + error_message = error_to_string( e ); + } + + return slider_clicked; +} + +bool option_model::is_checkbox() const +{ + return range.max == 1.0f && range.min == 0.0f && range.step == 1.0f; +} + +bool option_model::draw_checkbox( notifications_model & model, + std::string & error_message, + const char * description ) +{ + bool checkbox_was_clicked = false; + + auto bool_value = value->as_float > 0.0f; + if( ImGui::Checkbox( label.c_str(), &bool_value ) ) + { + checkbox_was_clicked = true; + model.add_log( rsutils::string::from() << "Setting " << opt << " to " << ( bool_value ? "1.0" : "0.0" ) << " (" + << ( bool_value ? "ON" : "OFF" ) << ")" ); + + set_option( opt, bool_value ? 1.f : 0.f, error_message ); + if (invalidate_flag) + *invalidate_flag = true; + } + if( ImGui::IsItemHovered() && description ) + { + ImGui::SetTooltip( "%s", description ); + } + return checkbox_was_clicked; +} + +bool option_model::slider_selected( rs2_option opt, + float value, + std::string & error_message, + notifications_model & model ) +{ + bool res = false; + auto option_was_set = set_option( opt, value, error_message, std::chrono::milliseconds( 200 ) ); + if( option_was_set ) + { + have_unset_value = false; + if (invalidate_flag) + *invalidate_flag = true; + model.add_log( rsutils::string::from() << "Setting " << opt << " to " << value ); + res = true; + } + else + { + have_unset_value = true; + unset_value = value; + } + return res; +} +bool option_model::slider_unselected( rs2_option opt, + float value, + std::string & error_message, + notifications_model & model ) +{ + bool res = false; + // Slider unselected, if last value was ignored, set with last value if the value was + // changed. + if( have_unset_value ) + { + if( value != unset_value ) + { + auto set_ok + = set_option( opt, unset_value, error_message, std::chrono::milliseconds( 100 ) ); + if( set_ok ) + { + model.add_log( rsutils::string::from() << "Setting " << opt << " to " << unset_value ); + if (invalidate_flag) + *invalidate_flag = true; + have_unset_value = false; + res = true; + } + } + else + have_unset_value = false; + } + return res; +} + +bool option_model::draw_option(bool update_read_only_options, + bool is_streaming, + std::string& error_message, notifications_model& model) +{ + if (update_read_only_options) + { + update_supported(error_message); + if (supported && is_streaming) + { + update_read_only_status(error_message); + if (read_only) + { + update_all_fields(error_message, model); + } + } + } + if (custom_draw_method) + return custom_draw_method(*this, error_message, model); + else + return draw(error_message, model); +} + +bool option_model::set_option(rs2_option opt, + float req_value, + std::string& error_message, + std::chrono::steady_clock::duration ignore_period) +{ + // Only set the value if `ignore_period` time past since last set_option() call for this option + if (last_set_stopwatch.get_elapsed() < ignore_period) + return false; + + try + { + last_set_stopwatch.reset(); + endpoint->set_option(opt, req_value); + } + catch (const error& e) + { + error_message = error_to_string(e); + } + + // Only update the cached value once set_option is done! That way, if it doesn't change + // anything... + try + { + value = endpoint->get_option_value(opt); + } + catch (...) + { + } + + return true; +} diff --git a/librealsense/common/option-model.h b/librealsense/common/option-model.h new file mode 100644 index 0000000..5515e01 --- /dev/null +++ b/librealsense/common/option-model.h @@ -0,0 +1,70 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2022 Intel Corporation. All Rights Reserved. + +#pragma once +#include +#include +namespace rs2 +{ + struct notifications_model; + class subdevice_model; + + class option_model + { + public: + bool draw( std::string& error_message, notifications_model& model, bool new_line = true, bool use_option_name = true ); + void update_supported( std::string& error_message ); + void update_read_only_status( std::string& error_message ); + void update_all_fields( std::string& error_message, notifications_model& model ); + bool set_option( rs2_option opt, + float value, + std::string& error_message, + std::chrono::steady_clock::duration ignore_period = std::chrono::seconds( 0 ) ); + bool draw_option( bool update_read_only_options, bool is_streaming, + std::string& error_message, notifications_model& model ); + + std::vector< const char * > get_combo_labels( int * p_selected = nullptr ) const; + + rs2_option opt; + option_range range; + std::shared_ptr endpoint; + float unset_value = 0; + bool have_unset_value = false; + rsutils::time::stopwatch last_set_stopwatch; + bool* invalidate_flag = nullptr; + bool supported = false; + bool read_only = false; + rs2::option_value value; + std::string label; + std::string id; + subdevice_model* dev; + std::function custom_draw_method = nullptr; + bool edit_mode = false; + std::string edit_value; + private: + bool is_all_integers() const; + bool is_enum() const; + bool is_checkbox() const; + bool draw_checkbox( notifications_model& model, std::string& error_message, const char* description ); + bool draw_combobox( notifications_model& model, std::string& error_message, const char* description, bool new_line, bool use_option_name ); + bool draw_slider( notifications_model& model, std::string& error_message, const char* description, bool use_cm_units ); + bool slider_selected( rs2_option opt, + float value, + std::string& error_message, + notifications_model& model ); + + bool slider_unselected( rs2_option opt, + float value, + std::string& error_message, + notifications_model& model ); + + std::string adjust_description( const std::string& str_in, const std::string& to_be_replaced, const std::string& to_replace ); + }; + + option_model create_option_model(option_value const & opt, + const std::string& opt_base_label, + subdevice_model* model, + std::shared_ptr options, + bool* options_invalidated, + std::string& error_message); +} diff --git a/librealsense/common/os.cpp b/librealsense/common/os.cpp new file mode 100644 index 0000000..6e2b029 --- /dev/null +++ b/librealsense/common/os.cpp @@ -0,0 +1,313 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. +#ifdef _MSC_VER +#ifndef NOMINMAX +#define NOMINMAX +#endif +#endif + +#include "os.h" +#include + +#include +#include +#include +#include +#include +#include + +#include +#include + +#define STB_IMAGE_WRITE_IMPLEMENTATION +#include + +#include + +#ifdef _WIN32 +#include +#include +#include +#include +#include +#endif + +#if (defined(_WIN32) || defined(_WIN64)) +#include "ShellAPI.h" +#endif + +#if defined __linux__ || defined __APPLE__ +#include +#include +#include +#endif + +#include + +namespace rs2 +{ + // Use shortcuts for long names to avoid trimming of essential data + std::string truncate_string(const std::string& str, size_t width) + { + if (str.length() > width) + { + std::ostringstream ss; + ss << str.substr(0, width / 3) << "..." << str.substr(str.length() - width / 3); + return ss.str().c_str(); + } + return str; + } + + void open_url(const char* url) + { +#if (defined(_WIN32) || defined(_WIN64)) + if (reinterpret_cast(ShellExecuteA(NULL, "open", url, NULL, NULL, SW_SHOW)) < 32) + throw std::runtime_error("Failed opening URL"); +#elif defined __linux__ || defined(__linux__) + std::string command_name = "xdg-open "; + std::string command = command_name + url; + if (system(command.c_str())) + throw std::runtime_error("Failed opening URL"); +#elif __APPLE__ + std::string command_name = "open "; + std::string command = command_name + url; + if (system(command.c_str())) + throw std::runtime_error("Failed opening URL"); +#else +#pragma message ( "\nLibrealsense couldn't establish OS/Build environment. \ +Some auxillary functionalities might be affected. Please report this message if encountered") +#endif + } + + std::vector split_string(std::string& input, char delim) + { + std::vector result; + auto e = input.end(); + auto i = input.begin(); + while (i != e) { + i = find_if_not(i, e, [delim](char c) { return c == delim; }); + if (i == e) break; + auto j = find(i, e, delim); + result.emplace_back(i, j); + i = j; + } + return result; + } + + // Helper function to get window rect from GLFW + rect get_window_rect(GLFWwindow* window) + { + int width, height; + glfwGetWindowSize(window, &width, &height); + int xpos, ypos; + glfwGetWindowPos(window, &xpos, &ypos); + + return{ (float)xpos, (float)ypos, + (float)width, (float)height }; + } + + // Helper function to get monitor rect from GLFW + rect get_monitor_rect(GLFWmonitor* monitor) + { + const GLFWvidmode* mode = glfwGetVideoMode(monitor); + int xpos, ypos; + glfwGetMonitorPos(monitor, &xpos, &ypos); + + return{ (float)xpos, (float)ypos, + (float)mode->width, (float)mode->height }; + } + + // Select appropriate scale factor based on the display + // that most of the application is presented on + int pick_scale_factor(GLFWwindow* window) + { + auto window_rect = get_window_rect(window); + int count; + GLFWmonitor** monitors = glfwGetMonitors(&count); + if (count == 0) return 1; // Not sure if possible, but better be safe + + // Find the monitor that covers most of the application pixels: + GLFWmonitor* best = monitors[0]; + float best_area = 0.f; + for (int i = 0; i < count; i++) + { + auto int_area = window_rect.intersection( + get_monitor_rect(monitors[i])).area(); + if (int_area >= best_area) + { + best_area = int_area; + best = monitors[i]; + } + } + + int widthMM = 0; + int heightMM = 0; + glfwGetMonitorPhysicalSize(best, &widthMM, &heightMM); + + // This indicates that the monitor dimentions are unknown + if (widthMM * heightMM == 0) return 1; + + // The actual calculation is somewhat arbitrary, but we are going for + // about 1cm buttons, regardless of resultion + // We discourage fractional scale factors + float how_many_pixels_in_mm = + get_monitor_rect(best).area() / (widthMM * heightMM); + float scale = sqrt(how_many_pixels_in_mm) / 5.f; + if (scale < 1.f) return 1; + return (int)(floor(scale)); + } + + bool directory_exists(const char* dir) + { + struct stat info; + + if (stat(dir, &info ) != 0) + return false; + else if (info.st_mode & S_IFDIR) + return true; + else + return false; + } + + const char* file_dialog_open(file_dialog_mode flags, const char* filters, + const char* default_path, const char* default_name) + { + std::string def = ""; + if (default_path) def += default_path; + if (default_name && default_path) def += "/"; + if (default_name) def += default_name; + const char* def_ptr = nullptr; + if (default_name || default_path) + def_ptr = def.c_str(); + + char const* const* aFilterPatterns = nullptr; + char const* aSingleFilterDescription = nullptr; + + std::vector filters_split; + + if (filters) + { + auto curr = filters; + while (*curr != '\0') + { + auto end = curr + strlen(curr); + filters_split.push_back({ curr, end }); + curr = end + 1; + } + } + + int filters_count = 0; + std::vector filter; + + if (filters_split.size() >= 1) + { + filters_count = int( filters_split.size() - 1 ); + + // set description + aSingleFilterDescription = filters_split[0].c_str(); + + // fill filter pattern with extensions + for (int i = 1; i < filters_split.size(); ++i) + { + filter.push_back(filters_split[i].c_str()); + } + aFilterPatterns = filter.data(); + } + + if (flags == save_file) + { + return tinyfd_saveFileDialog("Save File", def_ptr, filters_count, aFilterPatterns, aSingleFilterDescription); + } + if (flags == open_file) + { + return tinyfd_openFileDialog("Open File", def_ptr, filters_count, aFilterPatterns, aSingleFilterDescription, 0); + } + return nullptr; + } + + int save_to_png(const char* filename, + size_t pixel_width, size_t pixels_height, size_t bytes_per_pixel, + const void* raster_data, size_t stride_bytes) + { + return stbi_write_png(filename, (int)pixel_width, (int)pixels_height, (int)bytes_per_pixel, raster_data, (int)stride_bytes); + } + + std::string get_file_name(const std::string& path) + { + std::string file_name; + for (auto rit = path.rbegin(); rit != path.rend(); ++rit) + { + if (*rit == '\\' || *rit == '/') + break; + file_name += *rit; + } + std::reverse(file_name.begin(), file_name.end()); + return file_name; + } + + std::string get_timestamped_file_name() + { + std::time_t now = std::time(NULL); + std::tm * ptm = std::localtime(&now); + char buffer[16]; + // Format: 20170529_205500 + std::strftime(buffer, 16, "%Y%m%d_%H%M%S", ptm); + return buffer; + } + + bool ends_with(const std::string& s, const std::string& suffix) + { + auto i = s.rbegin(), j = suffix.rbegin(); + for (; i != s.rend() && j != suffix.rend() && *i == *j; + i++, j++); + return j == suffix.rend(); + } + + bool starts_with(const std::string& s, const std::string& prefix) + { + auto i = s.begin(), j = prefix.begin(); + for (; i != s.end() && j != prefix.end() && *i == *j; + i++, j++); + return j == prefix.end(); + } + + bool is_debug() + { +#ifndef NDEBUG + return false; +#else +#ifndef _DEBUG + return false; +#else + return true; +#endif +#endif + } + + std::string url_encode(const std::string &value) + { + // based on https://stackoverflow.com/a/17708801 + using namespace std; + + ostringstream escaped; + escaped.fill('0'); + escaped << hex; + + for (string::const_iterator i = value.begin(), n = value.end(); i != n; ++i) { + string::value_type c = (*i); + + // Keep alphanumeric and other accepted characters intact + if (isalnum(c) || c == '-' || c == '_' || c == '.' || c == '~') { + escaped << c; + continue; + } + + // Any other characters are percent-encoded + escaped << uppercase; + escaped << '%' << setw(2) << int((unsigned char)c); + escaped << nouppercase; + } + + return escaped.str(); + } +} diff --git a/librealsense/common/os.h b/librealsense/common/os.h new file mode 100644 index 0000000..7fdc7ed --- /dev/null +++ b/librealsense/common/os.h @@ -0,0 +1,58 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "rect.h" + +#include +#include + +struct GLFWmonitor; +struct GLFWwindow; + +// Either OS specific or common helper functions +namespace rs2 +{ + bool starts_with(const std::string& s, const std::string& prefix); + bool ends_with(const std::string& s, const std::string& prefix); + + std::string truncate_string(const std::string& str, size_t width); + + void open_url(const char* url); + + bool directory_exists(const char* dir); + + std::vector split_string(std::string& input, char delim); + + // Helper function to get window rect from GLFW + rect get_window_rect(GLFWwindow* window); + + // Helper function to get monitor rect from GLFW + rect get_monitor_rect(GLFWmonitor* monitor); + + // Select appropriate scale factor based on the display + // that most of the application is presented on + int pick_scale_factor(GLFWwindow* window); + + std::string get_file_name(const std::string& path); + + // Wrapper for cross-platform dialog control + enum file_dialog_mode { + open_file = (1 << 0), + save_file = (1 << 1), + }; + + const char* file_dialog_open(file_dialog_mode flags, const char* filters, const char* default_path, const char* default_name); + + // Encapsulate helper function to resolve linking + int save_to_png(const char* filename, + size_t pixel_width, size_t pixels_height, size_t bytes_per_pixel, + const void* raster_data, size_t stride_bytes); + + std::string get_timestamped_file_name(); + + std::string url_encode(const std::string &value); + + bool is_debug(); +} diff --git a/librealsense/common/output-model.cpp b/librealsense/common/output-model.cpp new file mode 100644 index 0000000..2c471a7 --- /dev/null +++ b/librealsense/common/output-model.cpp @@ -0,0 +1,1222 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#include +#include "output-model.h" +#include +#include "ux-window.h" +#include "device-model.h" +#include "os.h" + +#include +#include + +#include +#include + +using namespace rs2; +using namespace rsutils::string; + +void output_model::thread_loop() +{ + while (!to_stop) + { + std::vector dev_copy; + { + std::lock_guard lock(devices_mutex); + dev_copy = devices; + } + if (enable_firmware_logs) + for (auto&& dev : dev_copy) + { + try + { + if (auto fwlogger = dev.as()) + { + bool has_parser = false; + std::string hwlogger_xml = config_file::instance().get(configurations::viewer::hwlogger_xml); + std::ifstream f(hwlogger_xml.c_str()); + if (f.good()) + { + try + { + std::string str((std::istreambuf_iterator(f)), + std::istreambuf_iterator()); + fwlogger.init_parser(str); + has_parser = true; + } + catch (const std::exception& ex) + { + add_log( RS2_LOG_SEVERITY_WARN, + __FILE__, + __LINE__, + rsutils::string::from() + << "Invalid Hardware Logger XML at '" << hwlogger_xml << "': " << ex.what() + << "\nEither configure valid XML or remove it" ); + } + } + + auto message = fwlogger.create_message(); + while (fwlogger.get_firmware_log(message)) + { + auto parsed = fwlogger.create_parsed_message(); + auto parsed_ok = false; + + if (has_parser) + { + if (fwlogger.parse_log(message, parsed)) + { + parsed_ok = true; + + add_log( message.get_severity(), + parsed.file_name(), + parsed.line(), + rsutils::string::from() + << "FW-LOG [" << parsed.thread_name() << "] " << parsed.message() ); + } + } + + if (!parsed_ok) + { + std::stringstream ss; + for (auto& elem : message.data()) + ss << std::setfill('0') << std::setw(2) << std::hex << static_cast(elem) << " "; + add_log(message.get_severity(), __FILE__, 0, ss.str()); + } + if (!enable_firmware_logs && fwlogger.get_number_of_fw_logs() == 0) + break; + } + } + } + catch(const std::exception& ex) + { + add_log( RS2_LOG_SEVERITY_WARN, + __FILE__, + __LINE__, + rsutils::string::from() << "Failed to fetch firmware logs: " << ex.what() ); + } + } + // FW define the logs polling intervals to be no less than 100msec to cope with limited resources. + // At the same time 100 msec should guarantee no log drops + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } +} + +output_model::~output_model() +{ + to_stop = 1; + fw_logger.join(); +} + +output_model::output_model() : fw_logger([this](){ thread_loop(); }) , incoming_log_queue(100) +{ + is_output_open = config_file::instance().get_or_default( + configurations::viewer::output_open, false); + search_line = config_file::instance().get_or_default( + configurations::viewer::search_term, std::string("")); + is_dashboard_open = config_file::instance().get_or_default( + configurations::viewer::dashboard_open, true ); + + if (search_line != "") search_open = true; + + available_dashboards["Frame Drops per Second"] = [&](std::string name){ + return std::make_shared(name, &number_of_drops, &total_frames); + }; + + auto front = available_dashboards.begin(); + dashboards.push_back(front->second(front->first)); +} + +bool output_model::round_indicator(ux_window& win, std::string icon, + int count, ImVec4 color, std::string tooltip, bool& highlighted, std::string suffix) +{ + std::stringstream ss; + ss << icon; + if (count > 0) ss << " " << count << suffix; + auto size = ImGui::CalcTextSize(ss.str().c_str()); + + if (count == 0 || (!is_output_open && !highlighted)) { + color = dark_sensor_bg; + ImGui::PushStyleColor(ImGuiCol_Text, header_color); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, header_color); + } + else + { + if (!highlighted) + { + color = saturate(color, 0.3f); + ImGui::PushStyleColor(ImGuiCol_Text, white); + } + else + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + } + + auto pos = ImGui::GetCursorScreenPos(); + ImGui::GetWindowDrawList()->AddRectFilled({ pos.x, pos.y + 3 }, + { pos.x + size.x + 15, pos.y + 27 }, ImColor(color), 12, 15); + + auto res = ImGui::Button(ss.str().c_str(), ImVec2(size.x + 15, 28)); + if (count > 0 && ImGui::IsItemHovered()) + { + highlighted = true; + win.link_hovered(); + ImGui::SetTooltip("%s", tooltip.c_str()); + } + else highlighted = false; + + ImGui::PopStyleColor(2); + + return res; +} + +void output_model::open(ux_window& win) +{ + is_output_open = true; + config_file::instance().set(configurations::viewer::output_open, true); + default_log_h = static_cast((win.height() - 100) / 2); + new_log = true; +} + +void output_model::draw(ux_window& win, rect view_rect, device_models_list & device_models) +{ + ImGui::PushStyleColor(ImGuiCol_FrameBg, scrollbar_bg); + + auto x = view_rect.x; + auto y = view_rect.y; + auto w = view_rect.w; + auto h = view_rect.h; + + auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoTitleBar | + ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings; + + ImGui::PushStyleColor(ImGuiCol_WindowBg, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_Button, transparent); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + + ImGui::PushFont(win.get_font()); + ImGui::SetNextWindowPos({ x, y }); + ImGui::SetNextWindowSize({ w, h }); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(3, 3)); + + ImGui::Begin("Output", nullptr, flags); + + ImGui::SetCursorPosX(w - 31); + if (!is_output_open) + { + if (ImGui::Button(u8"\uF139", ImVec2(28, 28))) + { + open(win); + } + if (ImGui::IsItemHovered()) + { + win.link_hovered(); + ImGui::SetTooltip("%s", "Open Debug Console Window"); + } + + if (default_log_h.value() != 36) + default_log_h = 36; + } + else + { + if (ImGui::Button(u8"\uF13A", ImVec2(28, 28))) + { + is_output_open = false; + config_file::instance().set(configurations::viewer::output_open, false); + default_log_h = 36; + search_open = false; + } + if (ImGui::IsItemHovered()) + { + win.link_hovered(); + ImGui::SetTooltip("%s", "Collapse Debug Console Window"); + } + + int h_val = (int)((win.height() - 100) / 2); + if (default_log_h.value() != h_val) + default_log_h = h_val; + } + + ImGui::SameLine(); + ImGui::SetCursorPosX(5); + + if (errors_selected) errors_highlighted = true; + if (round_indicator(win, u8"\uF057", number_of_errors, redish, "Instances of logged errors", errors_highlighted)) + { + errors_selected = !errors_selected; + open(win); + } + ImGui::SameLine(); + + if (warnings_selected) warnings_highlighted = true; + if (round_indicator(win, u8"\uF071", number_of_warnings, orange, "Instances of logged warnings", warnings_highlighted)) + { + warnings_selected = !warnings_selected; + open(win); + } + ImGui::SameLine(); + + if (info_selected) info_highlighted = true; + if (round_indicator(win, u8"\uF05A", number_of_info, greenish, "Instances of logged info messages", info_highlighted)) + { + info_selected = !info_selected; + open(win); + } + ImGui::SameLine(); + + if (!is_output_open || search_open) + { + ImGui::PushStyleColor(ImGuiCol_Text, header_color); + } + else + { + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + } + bool focus_search = false; + if (ImGui::Button(u8"\uF002", ImVec2(28, 28))) + { + focus_search = true; + search_open = true; + open(win); + } + if (ImGui::IsItemHovered()) + { + win.link_hovered(); + ImGui::SetTooltip("%s", "Search through logs"); + } + ImGui::PopStyleColor(1); + ImGui::SameLine(); + + auto curr_x = ImGui::GetCursorPosX(); + ImGui::SetCursorPosX(curr_x - 5); + + + int percent = total_frames ? (int)(100 * ((double)number_of_drops / (total_frames))) : 0; + + std::stringstream ss; + ss << u8"\uF043"; + if (percent) ss << " " << percent << "%"; + auto size = ImGui::CalcTextSize(ss.str().c_str()); + + char buff[1024]; + memcpy(buff, search_line.c_str(), search_line.size()); + buff[search_line.size()] = 0; + + auto actual_search_width = w - size.x - 100 - curr_x; + if (focus_search) search_width = (int)(actual_search_width); + + if (search_open && search_width.value() != actual_search_width) + search_width = (int)(actual_search_width); + + // if (is_output_open && search_width < 1) + // { + // search_open = true; + // } + + if (search_open) + { + ImGui::PushFont(win.get_monofont()); + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 4); + ImGui::PushItemWidth(static_cast(search_width)); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue); + if (ImGui::InputText("##SearchInLogs",buff, 1023)) + { + search_line = buff; + config_file::instance().set(configurations::viewer::search_term, search_line); + } + if (focus_search) ImGui::SetKeyboardFocusHere(); + ImGui::PopItemWidth(); + ImGui::SameLine(); + ImGui::PopStyleColor(); + ImGui::SetCursorPosY(ImGui::GetCursorPosY() - 4); + ImGui::PopFont(); + } + + ImGui::SetCursorPosX(w - size.x - 3 * 30); + + if (enable_firmware_logs) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); + } + else + { + if (is_output_open) + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + else + ImGui::PushStyleColor(ImGuiCol_Text, header_color); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + } + + if (ImGui::Button(u8"\uF2DB", ImVec2(28, 28))) + { + enable_firmware_logs = !enable_firmware_logs; + } + ImGui::PopStyleColor(2); + if (ImGui::IsItemHovered()) + { + win.link_hovered(); + if (enable_firmware_logs) ImGui::SetTooltip("%s", "Disable Firmware Logs"); + else ImGui::SetTooltip("%s", "Enable Firmware Logs"); + } + ImGui::SameLine(); + + + if (round_indicator(win, u8"\uF043", percent, regular_blue, "Frame drops", drops_highlighted, "%")) + { + open(win); + } + + if (is_output_open) + { + ImGui::SetCursorPos(ImVec2(3, 35)); + + + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0,0)); + ImGui::PushStyleColor(ImGuiCol_ChildWindowBg, dark_sensor_bg); + + const float log_area_width = w - get_dashboard_width() - 2; + + ImGui::BeginChild("##LogArea", + ImVec2(log_area_width, h - 38 - ImGui::GetTextLineHeightWithSpacing() - 1), true, + ImGuiWindowFlags_AlwaysVerticalScrollbar); + + bool copy_all = false; + bool save_all = false; + std::vector output_strings; + + auto time_now = glfwGetTime(); + + int i = 0; + foreach_log([&](log_entry& log) + { + auto line = log.line; + if (log.line_number) + { + line = log.filename.substr(log.filename.find_last_of("/\\") + 1) + ":"; + line += std::string( rsutils::string::from() << log.line_number) + " - "; + line += log.line; + } + + bool ok = false; + if (info_selected || warnings_selected || errors_selected) + { + if (info_selected && log.severity <= RS2_LOG_SEVERITY_INFO) ok = true; + if (warnings_selected && log.severity == RS2_LOG_SEVERITY_WARN) ok = true; + if (errors_selected && log.severity >= RS2_LOG_SEVERITY_ERROR) ok = true; + } + else ok = true; + + if (search_line != "" && to_lower(line).find(to_lower(search_line)) == std::string::npos) ok = false; + + if (!ok) return; + + std::stringstream ss; ss << log.timestamp << " [" << rs2_log_severity_to_string(log.severity) << "] "; + if (log.line_number) ss << log.filename << ":" << log.line_number; + ss << " - " << log.line; + std::string full = ss.str(); + + ImGui::PushFont(win.get_monofont()); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + + ImVec4 color = redish; + if (log.severity >= RS2_LOG_SEVERITY_ERROR) + { + color = redish; + } + else if (log.severity >= RS2_LOG_SEVERITY_WARN) + { + color = orange; + } + else + { + color = greenish; + } + + auto margin = ImGui::GetTextLineHeightWithSpacing() - ImGui::GetTextLineHeight(); + auto size = ImGui::CalcTextSize(line.c_str()); + + auto t = single_wave(static_cast(time_now - log.time_added + 0.3f)) * 0.2f; + if (log.selected) t = 0.2f; + + auto pos = ImGui::GetCursorScreenPos(); + ImGui::GetWindowDrawList()->AddRectFilled({ pos.x, pos.y }, + { pos.x + log_area_width, pos.y + size.y + 2 * margin }, + ImColor(alpha(saturate(color, 0.3f + t), 0.7f + t))); + ImGui::GetWindowDrawList()->AddLine({ pos.x, pos.y + size.y + 2 * margin }, + { pos.x + log_area_width, pos.y + size.y + 2 * margin }, ImColor(alpha(color, 0.5f))); + + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 4); + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 4); + ImGui::Text("%s", log.timestamp.c_str()); ImGui::SameLine(); + ImGui::SetCursorPosX(ImGui::GetCursorPosX() - 4); + ImGui::SetCursorPosY(ImGui::GetCursorPosY() - 4); + + std::string label = rsutils::string::from() << "##log_entry" << i++; + ImGui::InputTextEx(label.c_str(), + (char*)line.data(), + static_cast(line.size() + 1), + ImVec2(-1, size.y + margin), + ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly); + + ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg); + ImGui::PushStyleColor(ImGuiCol_Text, black); + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5,5)); + label = rsutils::string::from() << "##log_entry" << i << "_context_menu"; + if (ImGui::BeginPopupContextItem(label.c_str())) + { + log.selected = true; + ImGui::PushFont(win.get_font()); + if (ImGui::Selectable("Copy Line")) { + glfwSetClipboardString(win, full.c_str()); + } + if (ImGui::Selectable("Copy All")) { + copy_all = true; + } + if (ImGui::Selectable("Save As...")) { + save_all = true; + } + ImGui::PopFont(); + ImGui::EndPopup(); + } + else log.selected = false; + ImGui::PopStyleVar(); + ImGui::PopStyleColor(4); + + ImGui::PopStyleColor(3); + ImGui::PopFont(); + + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 1); + + output_strings.push_back(full); + }); + + std::stringstream ss; + for (auto&& s : output_strings) ss << s << "\n"; + if (copy_all) + glfwSetClipboardString(win, ss.str().c_str()); + + if (save_all) + { + if (auto fn = file_dialog_open(file_dialog_mode::save_file, "Log File\0*.log\0", nullptr, nullptr)) + { + std::ofstream out(fn); + if (out.good()) + { + out << ss.str(); + } + out.close(); + } + } + + ImGui::EndChild(); + ImGui::PopStyleVar(); + + + ImGui::SetCursorPos(ImVec2(7, h - ImGui::GetTextLineHeightWithSpacing() - 2)); + ImGui::Text("%s", u8"\uF120"); ImGui::SameLine(); + ImGui::SetCursorPos(ImVec2(30, h - ImGui::GetTextLineHeightWithSpacing() - 4)); + + + ImGui::PushFont(win.get_monofont()); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue); + ImGui::PushItemWidth( w - get_dashboard_width() - 30 ); + + bool force_refresh = false; + if (ImGui::IsWindowFocused() && (ImGui::IsKeyPressed(GLFW_KEY_UP) || ImGui::IsKeyPressed(GLFW_KEY_DOWN))) + { + if (commands_histroy.size()) + { + if (ImGui::IsKeyPressed(GLFW_KEY_UP)) history_offset = (history_offset + 1) % commands_histroy.size(); + if (ImGui::IsKeyPressed(GLFW_KEY_DOWN)) history_offset = (history_offset - 1 + (int)commands_histroy.size()) % commands_histroy.size(); + command_line = commands_histroy[history_offset]; + + force_refresh = true; + } + } + + if (ImGui::IsWindowFocused() && ImGui::IsKeyPressed(GLFW_KEY_TAB)) + { + if (!autocomplete.size() || !starts_with(to_lower(autocomplete.front()), to_lower(command_line))) + { + std::string commands_xml = config_file::instance().get(configurations::viewer::commands_xml); + std::ifstream f(commands_xml.c_str()); + if (f.good()) + { + std::string str((std::istreambuf_iterator(f)), + std::istreambuf_iterator()); + + autocomplete.clear(); + std::regex exp("Command Name=\"(\\w+)\""); + std::smatch res; + std::string::const_iterator searchStart(str.cbegin()); + while (regex_search(searchStart, str.cend(), res, exp)) + { + if (starts_with(to_lower(res[1]), to_lower(command_line))) + autocomplete.push_back(res[1]); + searchStart = res.suffix().first; + } + } + } + if (autocomplete.size()) + { + auto temp = autocomplete.front(); + autocomplete.pop_front(); + autocomplete.push_back(temp); + + if (starts_with(to_lower(temp), command_line)) + command_line = to_lower(autocomplete.front()); + else + command_line = autocomplete.front(); + force_refresh = true; + } + } + + memcpy(buff, command_line.c_str(), command_line.size()); + buff[command_line.size()] = 0; + + int flags = ImGuiInputTextFlags_EnterReturnsTrue; + if (force_refresh) + { + flags = ImGuiInputTextFlags_ReadOnly; + } + + ImGui::PushStyleColor(ImGuiCol_FrameBg, scrollbar_bg); + if (ImGui::InputText("##TerminalCommand", buff, 1023, flags)) + { + + } + if (!command_focus && !new_log) command_line = buff; + ImGui::PopStyleColor(); + if (command_focus || new_log) ImGui::SetKeyboardFocusHere(); + ImGui::PopFont(); + ImGui::PopStyleColor(); + + if (ImGui::IsWindowFocused() && (ImGui::IsKeyPressed(GLFW_KEY_ENTER) || ImGui::IsKeyPressed(GLFW_KEY_KP_ENTER))) + { + if (commands_histroy.size() > 100) commands_histroy.pop_back(); + commands_histroy.push_front(command_line); + run_command(command_line, device_models); + command_line = ""; + command_focus = true; + } + else command_focus = false; + + if (ImGui::IsWindowFocused() && ImGui::IsKeyPressed(GLFW_KEY_ESCAPE)) + { + command_line = ""; + } + + float child_height = 0; + for( auto && dash : dashboards ) + { + child_height += dash->get_height(); + } + float new_dashboard_button_height = 40.f; + child_height == 0 ? child_height = new_dashboard_button_height : child_height += 5; + + auto dashboard_width = get_dashboard_width(); + ImGui::SetCursorPos( ImVec2( w - dashboard_width, 35 ) ); + + ImGui::BeginChild( "##StatsArea", ImVec2( dashboard_width - 3.f, h - 38 ), true ); + + const ImVec2 collapse_dashboard_button_size = { 28, 28 }; + const int max_dashboard_width = (int)( ( 0.3f * w ) ); + const int min_dashboard_width = static_cast(collapse_dashboard_button_size.x) + 2; + + if( is_dashboard_open ) + { + if( ImGui::Button( u8"\uf138", collapse_dashboard_button_size ) ) // close dashboard + { + is_dashboard_open = false; + config_file::instance().set( configurations::viewer::dashboard_open, is_dashboard_open ); + default_dashboard_w = min_dashboard_width; + } + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "Collapse dashboard" ); + } + + // Animation of opening dashboard panel + if( default_dashboard_w.value() != max_dashboard_width ) + default_dashboard_w = max_dashboard_width; + } + else + { + float cursor_pos_x = ImGui::GetCursorPosX(); + ImGui::SetCursorPosX( 0 ); + + if( ImGui::Button( u8"\uf137", collapse_dashboard_button_size ) ) // open dashboard + { + is_dashboard_open = true; + config_file::instance().set( configurations::viewer::dashboard_open, is_dashboard_open ); + default_dashboard_w = max_dashboard_width; + } + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "Open dashboard" ); + } + ImGui::SetCursorPosX( cursor_pos_x ); + + // Animation of closing dashboard panel + if( default_dashboard_w.value() != min_dashboard_width ) + default_dashboard_w = min_dashboard_width; + } + + auto top = 0; + if( is_dashboard_open && dashboard_width == max_dashboard_width ) + { + for( auto && dash : dashboards ) + { + auto h = dash->get_height(); + auto r = rect{ 0.f, (float)top, get_dashboard_width() - 8.f, (float)h }; + dash->draw( win, r ); + top += h; + } + } + + dashboards.erase(std::remove_if(dashboards.begin(), dashboards.end(), + [](std::shared_ptr p){ + return p->closing(); + }), dashboards.end()); + + bool can_add = false; + for (auto&& kvp : available_dashboards) + { + auto name = kvp.first; + auto it = std::find_if(dashboards.begin(), dashboards.end(), + [name](std::shared_ptr p){ + return p->get_name() == name; + }); + if (it == dashboards.end()) can_add = true; + } + + if (can_add) + { + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5); + const auto new_dashboard_name = "new_dashboard"; + ImGui::SameLine(); + if (ImGui::Button(u8"\uF0D0 Add Dashboard", ImVec2(-1, 25))) + { + ImGui::OpenPopup(new_dashboard_name); + } + + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Add one of the available stream dashboards to view"); + win.link_hovered(); + } + + ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg); + ImGui::PushStyleColor(ImGuiCol_Text, black); + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5,5)); + if (ImGui::BeginPopup(new_dashboard_name)) + { + for (auto&& kvp : available_dashboards) + { + auto name = kvp.first; + auto it = std::find_if(dashboards.begin(), dashboards.end(), + [name](std::shared_ptr p){ + return p->get_name() == name; + }); + if (it == dashboards.end()) + { + name = name + "##New"; + bool selected = false; + if (ImGui::Selectable(name.c_str(), &selected)) + { + dashboards.push_back(kvp.second(kvp.first)); + } + } + } + + ImGui::EndPopup(); + } + + ImGui::PopStyleColor(4); + ImGui::PopStyleVar(); + } + + + ImGui::EndChild(); + + ImGui::PopStyleColor(); + } + else foreach_log([&](log_entry& log) {}); + + + ImGui::End(); + ImGui::PopStyleColor(7); + ImGui::PopStyleVar(); + ImGui::PopFont(); + + { + std::lock_guard lock(devices_mutex); + this->devices.clear(); + for (auto && dev_model : device_models) + this->devices.push_back(dev_model->dev); + } +} + +void output_model::foreach_log(std::function action) +{ + std::lock_guard lock(m); + + // Process only the messages that are available upon invocation + log_entry le; + for (size_t len = 0; len < incoming_log_queue.size(); len++) + { + if (incoming_log_queue.try_dequeue(&le)) + { + if (le.severity >= RS2_LOG_SEVERITY_ERROR) number_of_errors++; + else if (le.severity >= RS2_LOG_SEVERITY_WARN) number_of_warnings++; + else number_of_info++; + + notification_logs.push_back(le); + } + } + + // Limit the notification window + while (notification_logs.size() > 1000) + { + auto&& le = notification_logs.front(); + if (le.severity >= RS2_LOG_SEVERITY_ERROR) number_of_errors--; + else if (le.severity >= RS2_LOG_SEVERITY_WARN) number_of_warnings--; + else number_of_info--; + notification_logs.pop_front(); + } + + for (auto&& l : notification_logs) + action(l); + + if (new_log) + { + ImGui::SetScrollPosHere(); + new_log = false; + } +} + +// Callback function must not include mutex +void output_model::add_log(rs2_log_severity severity, std::string filename, int line_number, std::string line) +{ + if (!line.size()) return; + + time_t rawtime; + struct tm * timeinfo; + char buffer[80]; + time (&rawtime); + timeinfo = localtime(&rawtime); + strftime(buffer,sizeof(buffer),"%H:%M:%S",timeinfo); + + log_entry e; + e.line = line; + e.line_number = line_number; + e.filename = filename; + e.severity = severity; + e.timestamp = buffer; + e.time_added = glfwGetTime(); + + incoming_log_queue.enqueue(std::move(e)); + new_log = true; +} + +void output_model::run_command(std::string command, device_models_list & device_models) +{ + try + { + if (to_lower(command) == "clear") + { + while (notification_logs.size() > 0) + { + auto&& le = notification_logs.front(); + if (le.severity >= RS2_LOG_SEVERITY_ERROR) number_of_errors--; + else if (le.severity >= RS2_LOG_SEVERITY_WARN) number_of_warnings--; + else number_of_info--; + notification_logs.pop_front(); + for (auto& d : dashboards) + d->clear(true); + } + + return; + } + + if( user_defined_command( command, device_models ) ) + return; + + std::regex e( "([0-9A-Fa-f]{2}\\s)+" ); + + if (std::regex_match(command, e)) + { + add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, rsutils::string::from() << "Trying to send " << command << "..."); + + std::vector raw_data; + std::stringstream ss(command); + std::string word; + while (ss >> word) + { + std::stringstream converter; + int temp; + converter << std::hex << word; + converter >> temp; + raw_data.push_back(temp); + } + if (raw_data.empty()) + throw std::runtime_error("Invalid input!"); + + bool found = false; + for (auto&& dev : devices) + { + if (auto dbg = dev.as()) + { + found = true; + auto res = dbg.send_and_receive_raw_data(raw_data); + + std::stringstream ss; + int i = 0; + for (auto& elem : res) + { + ss << std::setfill('0') << std::setw(2) << std::hex << static_cast(elem) << " "; + i++; + if (i > 80) + { + ss << "\n"; + i = 0; + } + } + add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, ss.str()); + + return; + } + } + + if (!found) + { + add_log(RS2_LOG_SEVERITY_WARN, __FILE__, __LINE__, "No device is available to receive the command"); + return; + } + } + + std::string commands_xml = config_file::instance().get(configurations::viewer::commands_xml); + std::ifstream f(commands_xml.c_str()); + if (f.good()) + { + std::string str((std::istreambuf_iterator(f)), + std::istreambuf_iterator()); + auto terminal_parser = rs2::terminal_parser(str); + + auto buffer = terminal_parser.parse_command(to_lower(command)); + + std::stringstream ss; ss << command << " = "; + for (auto& elem : buffer) + ss << std::setfill('0') << std::setw(2) << std::hex << static_cast(elem) << " "; + + add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, ss.str()); + + bool found = false; + for (auto&& dev : devices) + { + if (auto dbg = dev.as()) + { + found = true; + auto res = dbg.send_and_receive_raw_data(buffer); + + std::string response = rsutils::string::from() << "\n" << terminal_parser.parse_response(to_lower(command), res); + add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, response); + } + } + + if (!found) + add_log(RS2_LOG_SEVERITY_WARN, __FILE__, __LINE__, "No device is available to receive the command"); + + return; + } + + add_log(RS2_LOG_SEVERITY_WARN, __FILE__, __LINE__, rsutils::string::from() << "Unrecognized command '" << command << "'"); + } + catch(const std::exception& ex) + { + add_log( RS2_LOG_SEVERITY_ERROR, __FILE__, __LINE__, ex.what() ); + } +} + +bool output_model::user_defined_command( std::string command, device_models_list & device_models ) +{ + bool user_defined_command_detected = false; + bool user_defined_command_activated = false; + + // If a known command is detected , it will treated as a user_defined_command and will not be + // passed to the FW commands check logic. + // Note: For now we find the first device that supports the command and activate the command only on it. + + if( to_lower( command ) == "get-nest" ) + { + user_defined_command_detected = true; + + for( auto && dev : devices ) + { + if( auto dbg = dev.as< rs2::debug_protocol >() ) + { + // Verify minimal version for handling this command + std::vector< uint8_t > special_command + = { 'G', 'E', 'T', '-', 'N', 'E', 'S', 'T' }; + auto res = dbg.send_and_receive_raw_data( special_command ); + user_defined_command_activated = true; + } + } + } + + // Log a warning if a known command was not activated + if( user_defined_command_detected && ! user_defined_command_activated ) + { + add_log( RS2_LOG_SEVERITY_WARN, + __FILE__, + __LINE__, + rsutils::string::from() << "None of the connected devices supports '" << command << "'" ); + } + + return user_defined_command_detected; +} + + +void output_model::update_dashboards(rs2::frame f) +{ + for (auto&& d : dashboards) + d->add_frame(f); +} + +void stream_dashboard::draw_dashboard(ux_window& win, rect& r) +{ + auto min_x = 0.f; + auto max_x = 1.f; + auto min_y = 0.f; + auto max_y = 1.f; + + if (xy.size()) + { + min_x = xy[0].first; + max_x = xy[0].first; + min_y = xy[0].second; + max_y = xy[0].second; + for (auto&& p : xy) + { + min_x = std::min(min_x, p.first); + min_y = std::min(min_y, p.second); + max_x = std::max(max_x, p.first); + max_y = std::max(max_y, p.second); + } + } + + auto gap_y = max_y - min_y; + auto gap_x = max_x - min_x; + auto height_y = r.h - 2 * ImGui::GetTextLineHeight() - 10; + auto ticks_y = ceil(height_y / ImGui::GetTextLineHeight()); + + auto max_y_label_width = 0.f; + for (int i = 0; i <= ticks_y; i++) + { + auto y = max_y - i * (gap_y / ticks_y); + std::string y_label = rsutils::string::from() << std::fixed << std::setprecision(2) << y; + auto size = ImGui::CalcTextSize(y_label.c_str()); + max_y_label_width = std::max(max_y_label_width, + size.x); + } + + auto pos = ImGui::GetCursorScreenPos(); + + ImGui::PushStyleColor(ImGuiCol_Text, white); + + ImGui::GetWindowDrawList()->AddRectFilled({ pos.x, pos.y }, + { pos.x + r.w - 1, pos.y + get_height() - 1 }, ImColor(header_color)); + ImGui::GetWindowDrawList()->AddRect({ pos.x, pos.y }, + { pos.x + r.w, pos.y + get_height() }, ImColor(dark_sensor_bg)); + + auto size = ImGui::CalcTextSize(name.c_str()); + float collapse_buton_h = 28.f + 3.f; // Dashboard button size plus some spacing + ImGui::SetCursorPos(ImVec2( r.w / 2 - size.x / 2, 5 + collapse_buton_h)); + ImGui::Text("%s", name.c_str()); + ImGui::SameLine(); + + ImGui::PushStyleColor(ImGuiCol_Text, grey); + ImGui::SetCursorPosX(r.w - 25); + ImGui::SetCursorPosY( 3.f + collapse_buton_h ); + std::string id = rsutils::string::from() << u8"\uF00D##Close_" << name; + if (ImGui::Button(id.c_str(),ImVec2(22,22))) + { + close(); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Remove Dashboard from View"); + win.link_hovered(); + } + ImGui::PopStyleColor(); + + ImGui::GetWindowDrawList()->AddRectFilled({ pos.x + max_y_label_width + 15, pos.y + ImGui::GetTextLineHeight() + 5 }, + { pos.x + r.w - 10, pos.y + r.h - ImGui::GetTextLineHeight() - 5 }, ImColor(almost_white_bg)); + + //ImGui::PushFont(win.get_monofont()); + for (int i = 0; i <= ticks_y; i++) + { + auto y = max_y - i * (gap_y / ticks_y); + std::string y_label = rsutils::string::from() << std::fixed << std::setprecision(2) << y; + auto y_pixel = ImGui::GetTextLineHeight() + i * (height_y / ticks_y); + ImGui::SetCursorPos(ImVec2( 10, y_pixel + collapse_buton_h)); + ImGui::Text("%s", y_label.c_str()); + + ImGui::GetWindowDrawList()->AddLine({ pos.x + max_y_label_width + 15.f, pos.y + y_pixel + 5.f }, + { pos.x + r.w - 10.f, pos.y + y_pixel + 5.f }, ImColor(light_grey)); + } + + auto graph_width = r.w - max_y_label_width - 25; + + int ticks_x = 2; + bool has_room = true; + while (has_room) + { + float total = 0; + for (int i = 0; i <= ticks_x; i++) + { + auto x = min_x + i * (gap_x / ticks_x); + std::string x_label = rsutils::string::from() << std::fixed << std::setprecision(2) << x; + auto size = ImGui::CalcTextSize(x_label.c_str()); + total += size.x; + } + if (total < graph_width) ticks_x++; + else has_room = false; + } + ticks_x -= 3; + + for (int i = 0; i < ticks_x; i++) + { + auto x = min_x + i * (gap_x / ticks_x); + std::string x_label = rsutils::string::from() << std::fixed << std::setprecision(2) << x; + ImGui::SetCursorPos(ImVec2( 15 + max_y_label_width+ i * (graph_width / ticks_x), r.h - ImGui::GetTextLineHeight() + collapse_buton_h)); + ImGui::Text("%s", x_label.c_str()); + + ImGui::GetWindowDrawList()->AddLine({ pos.x + 15 + max_y_label_width + i * (graph_width / ticks_x), pos.y + ImGui::GetTextLineHeight() + 5 }, + { pos.x + max_y_label_width + 15 + i * (graph_width / ticks_x), pos.y + ImGui::GetTextLineHeight() + 5 + height_y }, ImColor(light_grey)); + } + + std::sort(xy.begin(), xy.end(), [](const std::pair& a, const std::pair& b) { return a.first < b.first; }); + + for (int i = 0; i + 1 < xy.size(); i++) + { + auto x0 = xy[i].first; + auto y0 = xy[i].second; + + auto x1 = xy[i+1].first; + auto y1 = xy[i+1].second; + + x0 = (x0 - min_x) / (max_x - min_x); + x1 = (x1 - min_x) / (max_x - min_x); + + y0 = (y0 - min_y) / (max_y - min_y); + y1 = (y1 - min_y) / (max_y - min_y); + + ImGui::GetWindowDrawList()->AddLine({ pos.x + 15 + max_y_label_width + x0 * graph_width, pos.y + ImGui::GetTextLineHeight() + 5 + height_y * (1.f - y0) }, + { pos.x + 15 + max_y_label_width + x1 * graph_width, pos.y + ImGui::GetTextLineHeight() + 5 + height_y * (1.f - y1) }, ImColor(black)); + } + + //ImGui::PopFont(); + ImGui::PopStyleColor(); + + xy.clear(); +} + +void frame_drops_dashboard::process_frame(rs2::frame f) +{ + write_shared_data([&](){ + double ts = glfwGetTime(); + if (method == 1) ts = f.get_timestamp() / 1000.f; + auto it = stream_to_time.find(f.get_profile().unique_id()); + if (it != stream_to_time.end()) + { + auto last = stream_to_time[f.get_profile().unique_id()]; + + double fps = (double)f.get_profile().fps(); + + if( f.supports_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) ) + fps = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.; + + if (1000. * (ts - last) > 1.5 * (1000. / fps)) { + drops++; + } + } + + counter++; + + if (ts - last_time > 1.f) + { + if (drops_history.size() > 100) drops_history.pop_front(); + drops_history.push_back(drops); + *total = counter; + *frame_drop_count = drops; + drops = 0; + last_time = ts; + counter = 0; + } + + stream_to_time[f.get_profile().unique_id()] = ts; + }); +} + +void frame_drops_dashboard::draw(ux_window& win, rect r) +{ + auto hist = read_shared_data>([&](){ return drops_history; }); + for (int i = 0; i < hist.size(); i++) + { + add_point((float)i, (float)hist[i]); + } + r.h -= ImGui::GetTextLineHeightWithSpacing() + 10; + + if( config_file::instance().get( configurations::viewer::dashboard_open) ) + draw_dashboard(win, r); + + ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 40); + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 3); + ImGui::Text("%s", "Measurement Metric:"); ImGui::SameLine(); + ImGui::SetCursorPosY(ImGui::GetCursorPosY() - 3); + + ImGui::SetCursorPosX( 11.5f * win.get_font_size() ); + + std::vector methods; + methods.push_back("Viewer Processing Rate"); + methods.push_back("Camera Timestamp Rate"); + + ImGui::PushItemWidth(-1.f); + if (ImGui::Combo("##fps_method", &method, methods.data(), (int)(methods.size()))) + { + clear(false); + } + ImGui::PopItemWidth(); +} + +int frame_drops_dashboard::get_height() const +{ + return (int)(160 + ImGui::GetTextLineHeightWithSpacing()); +} + +void frame_drops_dashboard::clear(bool full) +{ + write_shared_data([&](){ + stream_to_time.clear(); + last_time = 0; + *total = 0; + *frame_drop_count = 0; + if (full) + { + drops_history.clear(); + for (int i = 0; i < 100; i++) + drops_history.push_back(0); + } + }); +} diff --git a/librealsense/common/output-model.h b/librealsense/common/output-model.h new file mode 100644 index 0000000..9d5ce8d --- /dev/null +++ b/librealsense/common/output-model.h @@ -0,0 +1,203 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#pragma once + +#include + +#include "rect.h" +#include "animated.h" + +#include +#include +#include + +#include "rendering.h" +#include +#include +#include + +#include + +namespace rs2 +{ + class device_model; + class ux_window; + + class stream_dashboard + { + public: + stream_dashboard(std::string name, int size) : q(size), name(name), t([this](){ thread_function(); }) {} + virtual ~stream_dashboard() + { + stop = true; + t.join(); + } + + std::string get_name() const { return name; } + + void add_frame(rs2::frame f) { q.enqueue(f); } + + virtual void draw(ux_window& win, rect r) = 0; + + virtual int get_height() const { return 150; } + + virtual void clear(bool full = false) {} + + void close() { to_close = true; } + bool closing() const { return to_close; } + + protected: + virtual void process_frame(rs2::frame f) = 0; + + void write_shared_data(std::function action) + { + std::lock_guard lock(m); + action(); + } + + template + T read_shared_data(std::function action) + { + std::lock_guard lock(m); + T res = action(); + return res; + } + + void add_point(float x, float y) { xy.push_back(std::make_pair(x, y)); } + + void draw_dashboard(ux_window& win, rect& r); + + private: + void thread_function() + { + while(!stop) + { + rs2::frame f; + if (q.try_wait_for_frame(&f, 100)) + process_frame(f); + } + } + std::string name; + rs2::frame_queue q; + std::mutex m; + std::atomic stop { false }; + std::thread t; + std::vector> xy; + bool to_close = false; + }; + + class frame_drops_dashboard : public stream_dashboard + { + public: + frame_drops_dashboard(std::string name, int* frame_drop_count, int* total) + : stream_dashboard(name, 30), + last_time(glfwGetTime()), frame_drop_count(frame_drop_count), total(total) + { + clear(true); + } + + void process_frame(rs2::frame f) override; + void draw(ux_window& win, rect r) override; + int get_height() const override; + + void clear(bool full) override; + + private: + std::map stream_to_time; + int drops = 0; + double last_time; + std::deque drops_history; + int *frame_drop_count, *total; + int counter = 0; + int method = 0; + }; + + class output_model + { + public: + struct log_entry + { + std::string line = ""; + std::string filename = ""; + rs2_log_severity severity = RS2_LOG_SEVERITY_FATAL; + int line_number = 0; + double time_added = 0.0; + std::string timestamp = ""; + bool selected = false; + }; + + void update_dashboards(rs2::frame f); + + output_model(); + ~output_model(); + + void add_log(rs2_log_severity severity, std::string filename, int line_number, std::string line); + + void draw(ux_window& win, rect view_rect, std::vector> & device_models); + + int get_output_height() const { return default_log_h; } + int get_dashboard_width() const { return default_dashboard_w; } + + void run_command(std::string command, std::vector> & device_models); + bool user_defined_command(std::string command, std::vector> & device_models); + + + private: + void open(ux_window& win); + + void foreach_log(std::function action); + bool round_indicator(ux_window& win, std::string icon, int count, + ImVec4 color, std::string tooltip, bool& highlighted, std::string suffix = ""); + + bool new_log = false; + std::recursive_mutex m; + + single_consumer_queue incoming_log_queue; + std::deque notification_logs; + + animated default_log_h { 36 }; + bool is_output_open = true; + animated< int > default_dashboard_w { 0 }; + bool is_dashboard_open = true; + + bool enable_firmware_logs = false; + + bool errors_selected = false; + bool warnings_selected = false; + bool info_selected = false; + + bool errors_highlighted = false; + bool warnings_highlighted = false; + bool info_highlighted = false; + bool drops_highlighted = false; + + int number_of_errors = 0; + int number_of_warnings = 0; + int number_of_info = 0; + int number_of_drops = 0; + int total_frames = 0; + + animated search_width { 0, std::chrono::milliseconds(400) }; + bool search_open = false; + + std::deque autocomplete; + + std::mutex devices_mutex; + std::vector devices; + + std::string search_line { "" }; + std::string command_line { "" }; + std::deque commands_histroy; + int history_offset = 0; + bool command_focus = true; + + std::vector> dashboards; + std::map(std::string)>> available_dashboards; + + std::atomic to_stop { 0 }; + std::thread fw_logger; + + void thread_loop(); + }; +} diff --git a/librealsense/common/parser.hpp b/librealsense/common/parser.hpp new file mode 100644 index 0000000..6372db3 --- /dev/null +++ b/librealsense/common/parser.hpp @@ -0,0 +1,739 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2015 Intel Corporation. All Rights Reserved. + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef ANDROID +#include "android_helpers.h" +#endif + +#include "../third-party/rapidxml/rapidxml.hpp" +#include + +#define MAX_PARAMS 4 + +struct section; +typedef std::function xml_parser_function; + +const uint16_t HW_MONITOR_BUFFER_SIZE = 1024; + +#pragma pack(push, 1) +typedef struct +{ + uint8_t Version_Revision; + uint8_t Version_Number; + uint8_t Version_Minor; + uint8_t Version_Major; + int Version_spare; +}ChangeSetVersion; + +typedef struct +{ + uint8_t Version_Minor; + uint8_t Version_Major; + uint8_t Version_spare[2]; +}MajorMinorVersion; + +typedef struct +{ + uint8_t Version1; + uint8_t Version2; + uint8_t Version3; + uint8_t Version4; +}HexByte; + +typedef struct +{ + uint8_t Version2; + uint8_t Version1; + uint8_t Version_spare[2]; +}LiguriaVersion; + +typedef struct +{ + uint8_t sts; +}Bool; + +typedef struct +{ + uint8_t num; +}HwTypeNumber; + +typedef struct +{ + uint8_t Version_Minor; + uint8_t Version_Major; + uint8_t Version_spare[2]; +}WideMajorMinorVersion; + +typedef struct +{ + uint8_t value[32]; +}Ascii; + +typedef struct +{ + uint8_t version; +}DecByte; + +typedef struct +{ + uint8_t number1; + uint8_t number2; + uint8_t number3; + uint8_t number4; +}HexNumber; + +typedef struct +{ + uint8_t number1; + uint8_t number2; + uint8_t number3; + uint8_t number4; +}HexNumberReversed; + +typedef struct +{ + uint8_t number1; + uint8_t number2; + uint8_t number3; + uint8_t number4; + uint8_t number5; + uint8_t number6; + uint8_t number7; + uint8_t number8; +}BarCodeSerial12Char; + +typedef struct +{ + double number; +}DoubleNumber; +#pragma pack(pop) + +struct parameter { + std::string name, data; + bool is_decimal, is_reverse_bytes; + int format_length; + + parameter(std::string in_name, std::string in_data, + bool in_is_decimal, bool in_is_reverse_bytes, + int in_format_length) + : name(in_name), + format_length(in_format_length), + is_decimal(in_is_decimal), + is_reverse_bytes(in_is_reverse_bytes), + data(in_data) + {} + parameter() + : name(""), + format_length(2), + is_decimal(false), + is_reverse_bytes(false), + data("") + {} +}; + +struct section { + std::string name = ""; + std::string title = ""; + std::string format_type = ""; + std::string data = ""; + int offset = 0; + int size = 0; +}; + +struct data { + std::vector
sections; +}; + +struct kvp { + std::string key, value; +}; + +struct custom_formatter { + std::string name, key_size; + std::vector kv; +}; + +typedef struct command +{ + std::string name; + unsigned int op_code; + std::string read_format; + bool is_write_only = false; + bool is_read_command = false; + std::string description; + int time_out = 20000; + int num_of_parameters = 0; + bool is_cmd_write_data = false; + std::string cmd_permission; + std::string cmd_interface; + std::string cmd_pipe; + std::string i2c_reg_offset; + std::string i2c_cmd_type; + + data read_data; + std::vector parameters; +} command_from_xml; + +// units of nibbles +enum FormatSize { + Byte = 2, + Word = 4, + Double = 8 +}; + +struct commands_xml +{ + std::map commands; + std::map custom_formatters; +}; + +// While working from files, convert the file content into recognized raw format +inline void file_argument_to_blob(std::vector& params) +{ + if (!params.size()) + return; + + //The last parameter provided by the user can represent a fully-qualified file path + std::ifstream file(params.back(), std::ios::binary | std::ios::in); + if (file.good()) + { + auto data = std::vector((std::istreambuf_iterator(file)), + std::istreambuf_iterator()); + + size_t unmodified_params = params.size() - 1; // non-negative due to the file parameter + std::vector modified_params(unmodified_params + data.size()); + if (unmodified_params) // copy leading parameters + std::copy(modified_params.begin(), modified_params.begin() + unmodified_params, params.begin()); + std::transform(data.begin(), data.end(), modified_params.begin() + unmodified_params, [](uint8_t c) { return rsutils::string::hexify(c); }); + params = modified_params; // substitute original params with modified data + } +} + +inline void parse_xml_from_memory(const char * content, commands_xml& cmd_xml) +{ + auto doc = std::make_shared>(); + doc->parse<0>(doc->allocate_string(content)); + + auto node = doc->first_node("Commands"); + if (!node) + throw std::logic_error("Invalid XML file - expecting Commands node to be present"); + + for (auto NodeI = node->first_node(); NodeI; NodeI = NodeI->next_sibling()) + { + if (!strcmp(NodeI->name(), "Command")) + { + command_from_xml cmd; + for (auto AttI = NodeI->first_attribute(); AttI; AttI = AttI->next_attribute()) + { + std::string value = AttI->value(); + std::string att_name = AttI->name(); + if (att_name == "Name") { cmd.name = value; } + else if (att_name == "Opcode") { cmd.op_code = rsutils::string::ascii_hex_string_to_uint(value); } + else if (att_name == "IsWriteOnly") { cmd.is_write_only = rsutils::string::string_to_bool(value); } + else if (att_name == "ReadFormat") { cmd.read_format = value; } + else if (att_name == "IsReadCommand") { cmd.is_read_command = rsutils::string::string_to_bool(value); } + else if (att_name == "CmdPermission") { cmd.cmd_permission = value; } + else if (att_name == "TimeOut") { cmd.time_out = stoi(value); } + else if (att_name == "Description") { cmd.description = value; } + else if (att_name == "CmdInterface") { cmd.cmd_interface = value; } + else if (att_name == "CmdPipe") { cmd.cmd_pipe = value; } + else if (att_name == "I2cRegOffset") { cmd.i2c_reg_offset = value; } + else if (att_name == "I2cCmdType") { cmd.i2c_cmd_type = value; } + } + + for (auto SubNodeI = NodeI->first_node(); SubNodeI; SubNodeI = SubNodeI->next_sibling()) // Add commands + { + std::string str_name = SubNodeI->name(); + if (str_name.find("Parameter") != std::string::npos) + { + parameter param; + ++cmd.num_of_parameters; + for (auto paramAtt = SubNodeI->first_attribute(); paramAtt; paramAtt = paramAtt->next_attribute()) + { + std::string value = paramAtt->value(); + std::string att_name = paramAtt->name(); + if (att_name == "Name") { param.name = value; } + else if (att_name == "IsDecimal") { param.is_decimal = rsutils::string::string_to_bool(value); } + } + cmd.parameters.push_back(param); + } + else if (str_name == "Data") + { + parameter param; + param.name = "Data"; + cmd.is_cmd_write_data = true; + for (auto dataAtt = SubNodeI->first_attribute(); dataAtt; dataAtt = dataAtt->next_attribute()) + { + std::string value = dataAtt->value(); + std::string data_att_name = dataAtt->name(); + + if (data_att_name == "Name") { param.name = value; } + else if (data_att_name == "IsReverseBytes") { param.is_reverse_bytes = rsutils::string::string_to_bool(value); } + else if (data_att_name == "FormatLength") { param.format_length = stoi(value); } + } + cmd.parameters.push_back(param); + } + else if (str_name == "ReadData") + { + for (auto sectionNode = SubNodeI->first_node(); sectionNode; sectionNode = sectionNode->next_sibling()) // Add CMD Parameters + { + section sec; + for (auto sectionAtt = sectionNode->first_attribute(); sectionAtt; sectionAtt = sectionAtt->next_attribute()) + { + std::string value = sectionAtt->value(); + std::string section_att_name = sectionAtt->name(); + if (section_att_name == "Name") { sec.name = value; } + else if (section_att_name == "Title") { sec.title = value; } + else if (section_att_name == "Offset") { sec.offset = stoi(value); } + else if (section_att_name == "Size") { sec.size = stoi(value); } + else if (section_att_name == "FormatType") { sec.format_type = value; } + } + cmd.read_data.sections.push_back(sec); + } + } + } + cmd_xml.commands.insert(std::pair(rsutils::string::to_lower(cmd.name), cmd)); + } + else if (!strcmp(NodeI->name(), "CustomFormatter")) + { + custom_formatter customFormatter; + for (auto AttI = NodeI->first_attribute(); AttI; AttI = AttI->next_attribute()) + { + std::string value = AttI->value(); + std::string atti_name = AttI->name(); + if (atti_name == "KeySize") { customFormatter.key_size = value; } + else if (atti_name == "Name") { customFormatter.name = value; } + } + + for (auto SubNodeI = NodeI->first_node(); SubNodeI; SubNodeI = SubNodeI->next_sibling()) // Add Kvp + { + std::string sub_nodei_name = SubNodeI->name(); + if (sub_nodei_name.find("KVP") != std::string::npos) + { + kvp kvp; + for (auto paramAtt = SubNodeI->first_attribute(); paramAtt; paramAtt = paramAtt->next_attribute()) + { + std::string value = paramAtt->value(); + std::string param_att_name = paramAtt->name(); + if (param_att_name == "Key") { kvp.key = value; } + else if (param_att_name == "Value") { kvp.value = value; } + } + customFormatter.kv.push_back(kvp); + } + + } + cmd_xml.custom_formatters.insert(std::pair(rsutils::string::to_lower(customFormatter.name), customFormatter)); + } + } +} + +inline bool parse_xml_from_file(const std::string& xml_full_file_path, commands_xml& cmd_xml) +{ + std::ifstream fin(xml_full_file_path); + + if (!fin.good()) + return false; + + std::stringstream ss; + ss << fin.rdbuf(); + auto xml = ss.str(); + + parse_xml_from_memory(xml.c_str(), cmd_xml); + + return true; +} + +inline void check_section_size(unsigned section_size, unsigned struct_size, const std::string& section_name, const std::string& struct_name) +{ + std::string exception_str("Size of section %s is bigger than %s struct."); + if (section_size > struct_size) + { + auto msg = "Size of section " + section_name + " is bigger than " + struct_name + " struct!"; + throw std::runtime_error(msg); + } +} + +inline void update_format_type_to_lambda(std::map& format_type_to_lambda) +{ + format_type_to_lambda.insert(std::make_pair("ChangeSetVersion", [](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(ChangeSetVersion), sec.name.c_str(), "ChangeSetVersion"); + auto changeSetVersion = reinterpret_cast(data_offset + sec.offset); + tempStr << static_cast(changeSetVersion->Version_Major) << + ((sec.size >= 2) ? ("." + std::to_string(static_cast(changeSetVersion->Version_Minor))) : "") << + ((sec.size >= 3) ? ("." + std::to_string(static_cast(changeSetVersion->Version_Number))) : "") << + ((sec.size >= 4) ? ("." + std::to_string(static_cast(changeSetVersion->Version_Revision))) : "") << + ((sec.size >= 5) ? (" (" + std::to_string(changeSetVersion->Version_spare)) + ")" : ""); + })); + + format_type_to_lambda.insert(std::make_pair("MajorMinorVersion", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(MajorMinorVersion), sec.name.c_str(), "MajorMinorVersion"); + auto majorMinorVersion = reinterpret_cast(data_offset + sec.offset);; + tempStr << static_cast(majorMinorVersion->Version_Major) << + ((sec.size >= 2) ? ("." + std::to_string(static_cast(majorMinorVersion->Version_Minor))) : ""); + })); + + format_type_to_lambda.insert(std::make_pair("HexByte", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(HexByte), sec.name.c_str(), "HexByte"); + auto hexByte = reinterpret_cast(data_offset + sec.offset); + tempStr << rsutils::string::hexify(hexByte->Version4); + })); + + format_type_to_lambda.insert(std::make_pair("LiguriaVersion", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(LiguriaVersion), sec.name.c_str(), "LiguriaVersion"); + auto liguriaVersion = reinterpret_cast(data_offset + sec.offset); + tempStr << static_cast(liguriaVersion->Version1) << + ((sec.size >= 2) ? ("." + std::to_string(static_cast(liguriaVersion->Version2))) : ""); + })); + + format_type_to_lambda.insert(std::make_pair("Bool", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(Bool), sec.name.c_str(), "Bool"); + auto BooL = reinterpret_cast(data_offset + sec.offset); + tempStr << ((static_cast(BooL->sts)) ? "TRUE" : "FALSE"); + })); + + format_type_to_lambda.insert(std::make_pair("HwTypeNumber", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(HwTypeNumber), sec.name.c_str(), "HwTypeNumber"); + auto hwTypeNumber = reinterpret_cast(data_offset + sec.offset); + tempStr << static_cast(hwTypeNumber->num); + })); + + format_type_to_lambda.insert(std::make_pair("Ascii", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(Ascii), sec.name.c_str(), "Ascii"); + auto ascii = reinterpret_cast(data_offset + sec.offset); + auto temp = new char[sec.size + 1]; + memcpy(temp, ascii->value, sec.size); + temp[sec.size] = '\0'; + tempStr << temp; + delete[] temp; + })); + + format_type_to_lambda.insert(std::make_pair("DecByte", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(DecByte), sec.name.c_str(), "DecByte"); + auto decByte = reinterpret_cast(data_offset + sec.offset); + tempStr << static_cast(decByte->version); + })); + + format_type_to_lambda.insert(std::make_pair("HexNumber", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(HexNumber), sec.name.c_str(), "HexNumber"); + auto hexNumber = reinterpret_cast(data_offset + sec.offset); + tempStr << rsutils::string::hexify(hexNumber->number1) << + ((sec.size >= 2) ? rsutils::string::hexify(hexNumber->number2) : "") << + ((sec.size >= 3) ? rsutils::string::hexify(hexNumber->number3) : "") << + ((sec.size >= 4) ? rsutils::string::hexify(hexNumber->number4) : ""); + })); + + format_type_to_lambda.insert(std::make_pair("HexNumberTwoBytes", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(HexNumber), sec.name.c_str(), "HexNumber"); + auto hexNumber = reinterpret_cast(data_offset + sec.offset); + tempStr << rsutils::string::hexify(hexNumber->number2) << + ((sec.size >= 2) ? rsutils::string::hexify(hexNumber->number1) : ""); + })); + + format_type_to_lambda.insert(std::make_pair("HexNumberReversed", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(HexNumberReversed), sec.name.c_str(), "HexNumberReversed"); + auto hexNumberReversed = reinterpret_cast(data_offset + sec.offset); + tempStr << rsutils::string::hexify(hexNumberReversed->number4) << + ((sec.size >= 2) ? rsutils::string::hexify(hexNumberReversed->number3) : "") << + ((sec.size >= 3) ? rsutils::string::hexify(hexNumberReversed->number2) : "") << + ((sec.size >= 4) ? rsutils::string::hexify(hexNumberReversed->number1) : ""); + })); + + format_type_to_lambda.insert(std::make_pair("BarCodeSerial12Char", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(BarCodeSerial12Char), sec.name.c_str(), "BarCodeSerial12Char"); + auto barCodeSerial12Char = reinterpret_cast(data_offset + sec.offset); + tempStr << rsutils::string::hexify(barCodeSerial12Char->number1) << + ((sec.size >= 2) ? rsutils::string::hexify(barCodeSerial12Char->number2) : "") << + ((sec.size >= 3) ? rsutils::string::hexify(barCodeSerial12Char->number3) : "") << + ((sec.size >= 4) ? rsutils::string::hexify(barCodeSerial12Char->number4) : "") << + ((sec.size >= 5) ? rsutils::string::hexify(barCodeSerial12Char->number5) : "") << + ((sec.size >= 6) ? rsutils::string::hexify(barCodeSerial12Char->number6) : "") << + ((sec.size >= 7) ? rsutils::string::hexify(barCodeSerial12Char->number7) : "") << + ((sec.size >= 8) ? rsutils::string::hexify(barCodeSerial12Char->number8) : ""); + })); + + format_type_to_lambda.insert(std::make_pair("WideMajorMinorVersion", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(WideMajorMinorVersion), sec.name.c_str(), "WideMajorMinorVersion"); + auto wideMajorMinorVersion = reinterpret_cast(data_offset + sec.offset); + tempStr << static_cast(wideMajorMinorVersion->Version_Minor) << + ((sec.size >= 2) ? ("." + std::to_string(static_cast(wideMajorMinorVersion->Version_Major))) : ""); + })); + + format_type_to_lambda.insert(std::make_pair("Double", [&](const uint8_t* data_offset, const section& sec, std::stringstream& tempStr) { + check_section_size(sec.size, sizeof(DoubleNumber), sec.name.c_str(), "DoubleNumber"); + auto number = reinterpret_cast(data_offset + sec.offset); + tempStr << std::setprecision(10) << number->number; + })); +} + +inline void update_sections_data(const uint8_t* data_offset, std::vector
& sections, const std::map& custom_formatters, const std::map& format_type_to_lambda) +{ + for (auto& sec : sections) + { + std::stringstream tempStr; + auto pair = format_type_to_lambda.find(sec.format_type); + if (pair != format_type_to_lambda.end()) + { + pair->second(data_offset, sec, tempStr); + } + else + { + // FormatType not found. searching in the custom format list + auto it = custom_formatters.find(rsutils::string::to_lower(sec.format_type)); + if (it != custom_formatters.end()) + { + if (it->second.key_size == "Byte") + { + auto key = uint8_t(*(data_offset + sec.offset)); + for (auto& elem : it->second.kv) + { + auto keyStr = std::to_string(int(key)); + if (elem.key == keyStr) + { + tempStr << elem.value; + break; + } + } + } + } + } + + std::vector raw_data; + if (sec.size == 0) + throw std::runtime_error(std::string("Size of section " + sec.name + " is 0!").c_str()); + + raw_data.resize(sec.size); + memcpy(raw_data.data(), data_offset + sec.offset, sec.size); + sec.data = tempStr.str(); + } +} + +inline void decode_string_from_raw_data(const command_from_xml& command, const std::map& custom_formatters, const uint8_t* raw_data_offset, size_t data_size, std::string& output, const std::map& format_type_to_lambda) +{ + auto data_offset = raw_data_offset + 4; + data_size -= 4; + if (data_size == 0) + throw std::runtime_error("Raw data is empty!"); + + std::stringstream ss_output; + ss_output.str(""); + auto num_of_bytes_for_space = 1; + auto num_of_bytes_for_new_line = 16; + auto read_format = command.read_format; + if (read_format == "Bytes") + num_of_bytes_for_space = 1; + else if (read_format == "Words") + num_of_bytes_for_space = 2; + else if (read_format == "Doubles") + num_of_bytes_for_space = 4; + + + if (command.read_data.sections.empty()) + { + std::vector buffer; + auto bytes = 0; + auto bytes_per_line = 0; + auto start_address = "0"; + std::string curr_address = start_address; + std::stringstream dec_to_hex; + auto end_address = std::stoi(start_address) + data_size; + auto num_of_zeros = 1; + + if (curr_address.size() == 1) + { + auto temp_curr_address = curr_address; + auto temp_end_address = end_address; + auto temp_bytes_per_line = bytes_per_line; + + for (size_t offset = 0; offset < data_size; ++offset) + { + ++temp_bytes_per_line; + if (temp_bytes_per_line == num_of_bytes_for_new_line) + { + + unsigned int next_add = stoi(temp_curr_address) + num_of_bytes_for_new_line; + + if (next_add >= temp_end_address) + break; + + dec_to_hex.str(""); + dec_to_hex << std::hex << next_add; + temp_curr_address = dec_to_hex.str(); + + if (temp_curr_address.size() == 1) + temp_curr_address.insert(0, "0"); + + temp_curr_address = std::to_string(next_add); + temp_bytes_per_line = 0; + } + } + + num_of_zeros = int(dec_to_hex.str().length()); + ss_output << "Offset: 0x"; + dec_to_hex.str(""); + + for (auto i = 1; i < num_of_zeros; ++i) + { + ss_output << "0"; + } + } + else + ss_output << "Offset: 0x"; + + ss_output << std::hex << stoi(curr_address) << " => "; + + for (size_t offset = 0; offset < data_size; ++offset) + { + ++bytes_per_line; + ++bytes; + buffer.push_back(rsutils::string::hexify(static_cast(*(data_offset + offset)))); + + if (bytes == num_of_bytes_for_space) + { + bytes = 0; + reverse(buffer.begin(), buffer.end()); + + for (auto str : buffer) + ss_output << str; + + buffer.clear(); + + if (bytes_per_line == num_of_bytes_for_new_line) + { + unsigned int next_add = stoi(curr_address) + num_of_bytes_for_new_line; + + if (next_add >= end_address) + break; + + dec_to_hex.str(""); + dec_to_hex << std::hex << next_add; + curr_address = dec_to_hex.str(); + + auto putZeros = num_of_zeros - int(curr_address.size()); + ss_output << "\nOffset: 0x"; + + for (auto i = 0; i < putZeros; ++i) + { + ss_output << "0"; + } + + ss_output << curr_address << " => "; + curr_address = std::to_string(next_add); + bytes_per_line = 0; + } + else + { + if ((offset + 1) < data_size) + ss_output << " "; + } + } + } + } + else + { + auto sections = command.read_data.sections; + update_sections_data(data_offset, sections, custom_formatters, format_type_to_lambda); + unsigned max_line_len = 0; + for (auto& elem : sections) + max_line_len = ((elem.name.size() > max_line_len) ? unsigned(elem.name.size()) : max_line_len); + + const int spaces = 3; // number of spaces between section name to section data + for (auto& elem : sections) + ss_output << elem.name << ":" << std::setw((max_line_len + spaces) - elem.name.size() + elem.data.length()) << std::right << elem.data << std::endl; + } + + output = ss_output.str(); +} + +inline void encode_raw_data_command(const command_from_xml& xml_cmd_info, const std::vector& params, std::vector& raw_data) +{ + auto cmd_op_code = xml_cmd_info.op_code; + auto is_cmd_writes_data = xml_cmd_info.is_cmd_write_data; + auto parameters = params; + + auto num_of_required_parameters = xml_cmd_info.num_of_parameters + ((xml_cmd_info.is_cmd_write_data) ? 1 : 0); + if (int(params.size()) < num_of_required_parameters) + throw std::runtime_error("Number of given parameters is less than required!"); // TODO: consider to print the command info + + auto format_length = Byte; + if (is_cmd_writes_data) + format_length = ((params[xml_cmd_info.num_of_parameters].format_length == -1) ? format_length : static_cast(params[xml_cmd_info.num_of_parameters].format_length)); + + const uint16_t pre_header_data = 0xcdab; // magic number + raw_data.resize(HW_MONITOR_BUFFER_SIZE); // TODO: resize std::vector to the right size + auto write_ptr = raw_data.data(); + auto header_size = 4; + + + auto cur_index = 2; + *reinterpret_cast(write_ptr + cur_index) = pre_header_data; + cur_index += sizeof(uint16_t); + *reinterpret_cast(write_ptr + cur_index) = cmd_op_code; + cur_index += sizeof(unsigned int); + + // Parameters + for (auto param_index = 0; param_index < MAX_PARAMS; ++param_index) + { + if (param_index < xml_cmd_info.num_of_parameters) + { + unsigned decimal; + std::stringstream ss; + ss << params[param_index].data; + ss >> std::hex >> decimal; + *reinterpret_cast(write_ptr + cur_index) = decimal; + cur_index += sizeof(unsigned); + } + else + { + *reinterpret_cast(write_ptr + cur_index) = 0; + cur_index += sizeof(unsigned); + } + } + + // Data + if (is_cmd_writes_data) + { + for (auto j = xml_cmd_info.num_of_parameters; j < int(params.size()); ++j) + { + unsigned decimal; + std::stringstream ss; + ss << params[j].data; + ss >> std::hex >> decimal; + switch (format_length) + { + case Byte: + *reinterpret_cast(write_ptr + cur_index) = static_cast(decimal); + cur_index += sizeof(uint8_t); + break; + + case Word: + *reinterpret_cast(write_ptr + cur_index) = static_cast(decimal); + cur_index += sizeof(short); + break; + + case Double: + *reinterpret_cast(write_ptr + cur_index) = static_cast(decimal); + cur_index += sizeof(unsigned); + break; + + default: + *reinterpret_cast(write_ptr + cur_index) = static_cast(decimal); + cur_index += sizeof(uint8_t); + break; + } + } + } + + *reinterpret_cast(raw_data.data()) = static_cast(cur_index - header_size);// Length doesn't include hdr. + raw_data.resize(cur_index); // TODO: +} + diff --git a/librealsense/common/plane.h b/librealsense/common/plane.h new file mode 100644 index 0000000..42f9d8f --- /dev/null +++ b/librealsense/common/plane.h @@ -0,0 +1,25 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "float3.h" + +namespace rs2 { + +struct plane { + float a; + float b; + float c; + float d; +}; + +inline bool operator==(const plane& lhs, const plane& rhs) { + return lhs.a == rhs.a && lhs.b == rhs.b && lhs.c == rhs.c && lhs.d == rhs.d; +} + +inline float evaluate_plane(const plane& plane, const float3& point) { + return plane.a * point.x + plane.b * point.y + plane.c * point.z + plane.d; +} + +} \ No newline at end of file diff --git a/librealsense/common/post-processing-block-model.h b/librealsense/common/post-processing-block-model.h new file mode 100644 index 0000000..6b16ca4 --- /dev/null +++ b/librealsense/common/post-processing-block-model.h @@ -0,0 +1,42 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2019 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "processing-block-model.h" +#include "post-processing-filter.h" + + +namespace rs2 +{ + /* + A less generic processing block that's used specifically for object detection + so that the filters inside are all of type object_detection_filter. + */ + class post_processing_block_model : public processing_block_model + { + public: + post_processing_block_model( + subdevice_model * owner, + std::shared_ptr< post_processing_filter > block, + std::function invoker, + std::string& error_message, + bool enabled = true + ) + : processing_block_model( owner, block->get_name(), block, invoker, error_message, enabled ) + { + } + + protected: + void processing_block_enable_disable( bool actual ) override + { + auto ppf = dynamic_cast< post_processing_filter * >( _block.get() ); + if( ! ppf ) + throw std::runtime_error( "filter is not of type post_processing_filter!" ); + + ppf->on_processing_block_enable( actual ); + } + }; +} + + diff --git a/librealsense/common/post-processing-filter.h b/librealsense/common/post-processing-filter.h new file mode 100644 index 0000000..ad552cb --- /dev/null +++ b/librealsense/common/post-processing-filter.h @@ -0,0 +1,115 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2019 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include +#include +#include + + +/* + Generic base class for any custom post-processing filter that is added after all + the usual supported filters. + + A worker thread does the main job in the background, once start() is called. + See object_detection_filters. +*/ +class post_processing_filter : public rs2::filter +{ + std::string _name; + bool _pb_enabled; + +protected: + // Default ctor to use with post_processing_filters_list::register_filter() cannot take + // anything but a name. This name is what the user will see in the list of post-processors. + post_processing_filter( std::string const & name ) + : rs2::filter( [&]( rs2::frame f, rs2::frame_source & source ) { + // Process the frame, take the result and post it for the next post-processor + source.frame_ready(process_frame(f)); + } ) + , _name( name ) + , _pb_enabled( true ) + { + } + + bool is_pb_enabled() const { return _pb_enabled; } + +public: + // Called from post_processing_filter_model when this particular processing block + // is enabled or disabled + virtual void on_processing_block_enable( bool e ) + { + _pb_enabled = e; + } + + // Returns the name of the filter + std::string const & get_name() const { return _name; } + + virtual void start( rs2::subdevice_model & model ) + { + LOG_INFO("Starting " + get_name()); + } + +protected: + // Main handler for each frameset we get + virtual rs2::frame process_frame( rs2::frame fs ) = 0; + + + // Helper fn to get the frame context when logs are written, e.g.: + // LOG(ERROR) << get_context(fs) << "just a dummy error"; + std::string get_context( rs2::frame f = rs2::frame() ) const + { + std::ostringstream ss; + if( f ) + ss << "[#" << f.get_frame_number() << "] "; + return ss.str(); + } + + + // Returns the intrinsics and extrinsics for a depth and color frame. + void get_trinsics( + rs2::video_frame cf, rs2::depth_frame df, + rs2_intrinsics & color_intrin, rs2_intrinsics & depth_intrin, + rs2_extrinsics & color_extrin, rs2_extrinsics & depth_extrin ) + { + rs2::video_stream_profile color_profile = cf.get_profile().as< rs2::video_stream_profile >(); + color_intrin = color_profile.get_intrinsics(); + if( df ) + { + rs2::video_stream_profile depth_profile = df.get_profile().as< rs2::video_stream_profile >(); + depth_intrin = depth_profile.get_intrinsics(); + depth_extrin = depth_profile.get_extrinsics_to( color_profile ); + color_extrin = color_profile.get_extrinsics_to( depth_profile ); + } + } + + + // Returns a bounding box, input in the color-frame coordinates, after converting it to the corresponding + // coordinates in the depth frame. + rs2::rect project_rect_to_depth( + rs2::rect const & bbox, rs2::depth_frame df, + rs2_intrinsics const & color_intrin, rs2_intrinsics const & depth_intrin, + rs2_extrinsics const & color_extrin, rs2_extrinsics const & depth_extrin ) + { + // NOTE: this is a bit expensive as it actually searches along a projected beam from 0.1m to 10 meter + float top_left_depth[2], top_left_color[2] = { bbox.x, bbox.y }; + float bottom_right_depth[2], bottom_right_color[2] = { bbox.x + bbox.w, bbox.y + bbox.h }; + rs2_project_color_pixel_to_depth_pixel( top_left_depth, + reinterpret_cast(df.get_data()), df.get_units(), 0.1f, 10, + &depth_intrin, &color_intrin, + &color_extrin, &depth_extrin, + top_left_color ); + rs2_project_color_pixel_to_depth_pixel( bottom_right_depth, + reinterpret_cast(df.get_data()), df.get_units(), 0.1f, 10, + &depth_intrin, &color_intrin, + &color_extrin, &depth_extrin, + bottom_right_color ); + float left = top_left_depth[0]; + float top = top_left_depth[1]; + float right = bottom_right_depth[0]; + float bottom = bottom_right_depth[1]; + return rs2::rect { left, top, right - left, bottom - top }; + } +}; diff --git a/librealsense/common/post-processing-filters-list.h b/librealsense/common/post-processing-filters-list.h new file mode 100644 index 0000000..029920f --- /dev/null +++ b/librealsense/common/post-processing-filters-list.h @@ -0,0 +1,53 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2019 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "post-processing-filter.h" +#include +#include + + +/* + Container for all the filters that are defined. These are added into our list and can be iterated + over, without actual knowledge of any implementation. +*/ +struct post_processing_filters_list +{ + typedef std::function< + std::shared_ptr< post_processing_filter >() + > create_fn; + typedef std::list< create_fn > list; + + static list & get() + { + static list the_filters; + return the_filters; + } + + template< class T > + static list::iterator register_filter( std::string const & name ) + { + auto & filters = get(); + return filters.insert( + filters.end(), + [name]() -> std::shared_ptr< post_processing_filter > + { + try + { + return std::make_shared< T >( name ); + } + catch( std::exception const& e ) + { + LOG_ERROR( "Failed to start " << name << ": " << e.what()); + } + catch( ... ) + { + LOG_ERROR( "Failed to start " << name << ": unknown exception"); + } + return std::shared_ptr< T >(); + } + ); + } +}; + diff --git a/librealsense/common/post-processing-filters.cpp b/librealsense/common/post-processing-filters.cpp new file mode 100644 index 0000000..8c181a8 --- /dev/null +++ b/librealsense/common/post-processing-filters.cpp @@ -0,0 +1,270 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include "viewer.h" +#include "post-processing-filters.h" + +using namespace rs2; + +rs2::frame post_processing_filters::apply_filters(rs2::frame f, const rs2::frame_source& source) +{ + std::vector frames; + if (auto composite = f.as()) + { + for (auto&& f : composite) + frames.push_back(f); + } + else + frames.push_back(f); + + auto res = f; + + //In order to know what are the processing blocks we need to apply + //We should find all the sub devices releted to the frames + std::set> subdevices; + for (auto f : frames) + { + auto sub = get_frame_origin(f); + if (sub) + subdevices.insert(sub); + } + + for (auto sub : subdevices) + { + if (!sub->post_processing_enabled) + continue; + + for (auto&& pp : sub->post_processing) + if (pp->is_enabled()) + res = pp->invoke(res); + } + + return res; +} + +std::shared_ptr post_processing_filters::get_frame_origin(const rs2::frame& f) +{ + for (auto&& s : viewer.streams) + { + if (s.second.dev) + { + auto dev = s.second.dev; + + if (s.second.original_profile.unique_id() == f.get_profile().unique_id()) + { + return dev; + } + } + } + return nullptr; +} + + +//Zero the first pixel on frame ,used to invalidate the occlusion pixels +void post_processing_filters::zero_first_pixel(const rs2::frame& f) +{ + auto stream_type = f.get_profile().stream_type(); + + switch (stream_type) + { + case RS2_STREAM_COLOR: + { + auto rgb_stream = const_cast(static_cast(f.get_data())); + memset(rgb_stream, 0, 3); + // Alternatively, enable the next two lines to render invalidation with magenta color for inspection + //rgb_stream[0] = rgb_stream[2] = 0xff; // Use magenta to highlight the occlusion areas + //rgb_stream[1] = 0; + } + break; + case RS2_STREAM_INFRARED: + { + auto ir_stream = const_cast(static_cast(f.get_data())); + memset(ir_stream, 0, 2); // Override the first two bytes to cover Y8/Y16 formats + } + break; + default: + break; + } +} + +void post_processing_filters::map_id(rs2::frame new_frame, rs2::frame old_frame) +{ + if (auto new_set = new_frame.as()) + { + if (auto old_set = old_frame.as()) + { + map_id_frameset_to_frameset(new_set, old_set); + } + else + { + map_id_frameset_to_frame(new_set, old_frame); + } + } + else if (auto old_set = old_frame.as()) + { + map_id_frameset_to_frame(old_set, new_frame); + } + else + map_id_frame_to_frame(new_frame, old_frame); +} + +void post_processing_filters::map_id_frameset_to_frame(rs2::frameset first, rs2::frame second) +{ + if (auto f = first.first_or_default(second.get_profile().stream_type())) + { + auto first_uid = f.get_profile().unique_id(); + auto second_uid = second.get_profile().unique_id(); + + viewer.streams_origin[first_uid] = second_uid; + viewer.streams_origin[second_uid] = first_uid; + } +} + +void post_processing_filters::map_id_frameset_to_frameset(rs2::frameset first, rs2::frameset second) +{ + for (auto&& f : first) + { + auto first_uid = f.get_profile().unique_id(); + + frame second_f; + if (f.get_profile().stream_type() == RS2_STREAM_INFRARED) + { + second_f = second.get_infrared_frame(f.get_profile().stream_index()); + } + else + { + second_f = second.first_or_default(f.get_profile().stream_type()); + } + if (second_f) + { + auto second_uid = second_f.get_profile().unique_id(); + + viewer.streams_origin[first_uid] = second_uid; + viewer.streams_origin[second_uid] = first_uid; + } + } +} + +void rs2::post_processing_filters::map_id_frame_to_frame(rs2::frame first, rs2::frame second) +{ + if (first.get_profile().stream_type() == second.get_profile().stream_type()) + { + auto first_uid = first.get_profile().unique_id(); + auto second_uid = second.get_profile().unique_id(); + + viewer.streams_origin[first_uid] = second_uid; + viewer.streams_origin[second_uid] = first_uid; + } +} + + +std::vector post_processing_filters::handle_frame(rs2::frame f, const rs2::frame_source& source) +{ + std::vector res; + + if (uploader) f = uploader->process(f); + + auto filtered = apply_filters(f, source); + + map_id(filtered, f); + + if (auto composite = filtered.as()) + { + for (auto&& frame : composite) + { + res.push_back(frame); + } + } + else + res.push_back(filtered); + + if (viewer.is_3d_view) + { + if (auto depth = viewer.get_3d_depth_source(filtered)) + { + switch (depth.get_profile().format()) + { + case RS2_FORMAT_DISPARITY32: depth = disp_to_depth.process(depth); break; + default: break; + } + + pc->set_option(RS2_OPTION_FILTER_MAGNITUDE, + viewer.occlusion_invalidation ? 2.f : 1.f); + res.push_back(pc->calculate(depth)); + } + if (auto texture = viewer.get_3d_texture_source(filtered)) + { + update_texture(texture); + } + } + + return res; +} + + +void post_processing_filters::process(rs2::frame f, const rs2::frame_source& source) +{ + points p; + std::vector results; + + auto res = handle_frame(f, source); + auto frame = source.allocate_composite_frame(res); + + if (frame) + source.frame_ready(std::move(frame)); +} + +void post_processing_filters::start() +{ + stop(); + if (render_thread_active.exchange(true) == false) + { + viewer.syncer->start(); + render_thread = std::make_shared([&]() {post_processing_filters::render_loop(); }); + } +} + +void post_processing_filters::stop() +{ + if (render_thread_active.exchange(false) == true) + { + viewer.syncer->stop(); + render_thread->join(); + render_thread.reset(); + } +} +void post_processing_filters::render_loop() +{ + while (render_thread_active) + { + try + { + if (viewer.synchronization_enable) + { + auto frames = viewer.syncer->try_wait_for_frames(); + for (auto f : frames) + { + processing_block.invoke(f); + } + } + else + { + std::map frames_queue_local; + { + std::lock_guard lock(viewer.streams_mutex); + frames_queue_local = frames_queue; + } + for (auto&& q : frames_queue_local) + { + frame frm; + if (q.second.try_wait_for_frame(&frm, 30)) + { + processing_block.invoke(frm); + } + } + } + } + catch (...) {} + } +} + diff --git a/librealsense/common/post-processing-filters.h b/librealsense/common/post-processing-filters.h new file mode 100644 index 0000000..02cea4a --- /dev/null +++ b/librealsense/common/post-processing-filters.h @@ -0,0 +1,113 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once +#include +#include +#include +#include +#include +#include "opengl3.h" +#include + + +namespace rs2 +{ + class viewer_model; + class processing_block_model; + class subdevice_model; + + class post_processing_filters + { + public: + post_processing_filters(viewer_model& viewer) + : processing_block([&](rs2::frame f, const rs2::frame_source& source) + { + process(std::move(f), source); + }), + viewer(viewer), + depth_stream_active(false), + resulting_queue_max_size(20), + resulting_queue(static_cast(resulting_queue_max_size)), + render_thread(), + render_thread_active(false), + pc(new gl::pointcloud()), + uploader(new gl::uploader()), + disp_to_depth(false) + { + std::string s; + pc_gen = std::make_shared(nullptr, "Pointcloud Engine", pc, [=](rs2::frame f) { return pc->calculate(f); }, s); + processing_block.start(resulting_queue); + } + + ~post_processing_filters() { stop(); } + + void update_texture(frame f) { pc->map_to(f); } + + /* Start the rendering thread in case its disabled */ + void start(); + + /* Stop the rendering thread in case its enabled */ + void stop(); + + bool is_rendering() const + { + return render_thread_active.load(); + } + + rs2::frameset get_points() + { + frame f; + if (resulting_queue.poll_for_frame(&f)) + { + rs2::frameset frameset(f); + model = frameset; + } + return model; + } + + void reset(void) + { + rs2::frame f{}; + model = f; + while (resulting_queue.poll_for_frame(&f)); + } + + std::atomic depth_stream_active; + + const size_t resulting_queue_max_size; + std::map frames_queue; + rs2::frame_queue resulting_queue; + + std::shared_ptr get_pc() const { return pc; } + std::shared_ptr get_pc_model() const { return pc_gen; } + + private: + viewer_model& viewer; + void process(rs2::frame f, const rs2::frame_source& source); + std::vector handle_frame(rs2::frame f, const rs2::frame_source& source); + + void map_id(rs2::frame new_frame, rs2::frame old_frame); + void map_id_frameset_to_frame(rs2::frameset first, rs2::frame second); + void map_id_frameset_to_frameset(rs2::frameset first, rs2::frameset second); + void map_id_frame_to_frame(rs2::frame first, rs2::frame second); + + rs2::frame apply_filters(rs2::frame f, const rs2::frame_source& source); + std::shared_ptr get_frame_origin(const rs2::frame& f); + + void zero_first_pixel(const rs2::frame& f); + rs2::frame last_tex_frame; + rs2::processing_block processing_block; + std::shared_ptr pc; + rs2::frameset model; + std::shared_ptr pc_gen; + rs2::disparity_transform disp_to_depth; + + /* Post processing filter rendering */ + std::atomic render_thread_active; // True when render post processing filter rendering thread is active, False otherwise + std::shared_ptr render_thread; // Post processing filter rendering Thread running render_loop() + void render_loop(); // Post processing filter rendering function + + std::shared_ptr uploader; // GL element that helps pre-emptively copy frames to the GPU + }; +} diff --git a/librealsense/common/post-processing-worker-filter.h b/librealsense/common/post-processing-worker-filter.h new file mode 100644 index 0000000..2c72a79 --- /dev/null +++ b/librealsense/common/post-processing-worker-filter.h @@ -0,0 +1,80 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2019 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "post-processing-filter.h" + + +/* + A post-processing filter that employs a separate thread to do its work. +*/ +class post_processing_worker_filter : public post_processing_filter +{ + std::atomic_bool _alive { true }; + std::thread _worker; + rs2::frame_queue _queue; // size 1! + +protected: + post_processing_worker_filter( std::string const & name ) + : post_processing_filter( name ) + { + } + ~post_processing_worker_filter() + { + release_background_worker(); + } + + // Worker thread uses resources of classes that inherit from this class (e.g openvino_face_detection), + // so it should be released from inherited classes. + // This should be called from dtor of inherited classes! + void release_background_worker() + { + _alive = false; + if (_worker.joinable()) + _worker.join(); + } + +public: + void start( rs2::subdevice_model & model ) override + { + post_processing_filter::start( model ); + _worker = std::thread( [&]() + { + try + { + worker_start(); + } + catch( std::exception const & e ) + { + // Most likely file not found, if the user didn't set up his .xml/.bin files right + LOG( ERROR ) << "Cannot start " << get_name() << ": " << e.what(); + return; + } + while( _alive ) + { + rs2::frame f; + if( !_queue.try_wait_for_frame( &f ) ) + continue; + if (!f) + continue; + + worker_body(f); + } + LOG(DEBUG) << "End of worker loop in " + get_name(); + worker_end(); + } ); + } + +protected: + rs2::frame process_frame(rs2::frame fs) override + { + _queue.enqueue(fs); + return fs; + } + + virtual void worker_start() {} + virtual void worker_end() {} + + virtual void worker_body( rs2::frame fs ) = 0; +}; diff --git a/librealsense/common/processing-block-model.cpp b/librealsense/common/processing-block-model.cpp new file mode 100644 index 0000000..9eabcf0 --- /dev/null +++ b/librealsense/common/processing-block-model.cpp @@ -0,0 +1,98 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. + +#include +#include +#include "subdevice-model.h" +#include "processing-block-model.h" +#include "viewer.h" + + +namespace rs2 +{ + processing_block_model::processing_block_model( + subdevice_model* owner, + const std::string& name, + std::shared_ptr block, + std::function invoker, + std::string& error_message, bool enable) + : _owner(owner), _name(name), _block(block), _invoker(invoker), _enabled(enable) + { + std::stringstream ss; + ss << "##" << ((owner) ? owner->dev.get_info(RS2_CAMERA_INFO_NAME) : _name) + << "/" << ((owner) ? (*owner->s).get_info(RS2_CAMERA_INFO_NAME) : "_") + << "/" << (long long)this; + + if (_owner) + _full_name = get_device_sensor_name(_owner) + "." + _name; + else + _full_name = _name; + + _enabled = restore_processing_block(_full_name.c_str(), + block, _enabled); + + populate_options(ss.str().c_str(), owner, owner ? &owner->_options_invalidated : nullptr, error_message); + } + + void processing_block_model::save_to_config_file() + { + save_processing_block_to_config_file(_full_name.c_str(), _block, _enabled); + } + + void processing_block_model::draw_options( viewer_model & viewer, + bool update_read_only_options, + bool is_streaming, + std::string & error_message ) + { + for( auto & id_model : options_metadata ) + { + if( viewer.is_option_skipped( id_model.first ) ) + continue; + + switch( id_model.first ) + { + case RS2_OPTION_MIN_DISTANCE: + case RS2_OPTION_MAX_DISTANCE: + case RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED: + id_model.second.update_all_fields( error_message, *viewer.not_model ); + break; + } + + id_model.second.draw_option( update_read_only_options, is_streaming, error_message, *viewer.not_model ); + } + } + + + void processing_block_model::populate_options(const std::string& opt_base_label, + subdevice_model* model, + bool* options_invalidated, + std::string& error_message) + { + for( option_value option : _block->get_supported_option_values() ) + { + options_metadata[option->id] = create_option_model( option, + opt_base_label, + model, + _block, + model ? &model->_options_invalidated : nullptr, + error_message ); + } + } + + void save_processing_block_to_config_file(const char* name, + std::shared_ptr pb, bool enable) + { + for (auto opt : pb->get_supported_options()) + { + auto val = pb->get_option(opt); + std::string key = name; + key += "."; + key += pb->get_option_name(opt); + config_file::instance().set(key.c_str(), val); + } + + std::string key = name; + key += ".enabled"; + config_file::instance().set(key.c_str(), enable); + } +} diff --git a/librealsense/common/processing-block-model.h b/librealsense/common/processing-block-model.h new file mode 100644 index 0000000..0be71d8 --- /dev/null +++ b/librealsense/common/processing-block-model.h @@ -0,0 +1,70 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include + + +namespace rs2 +{ + class subdevice_model; + class option_model; + class viewer_model; + + class processing_block_model + { + public: + processing_block_model( subdevice_model* owner, + const std::string& name, + std::shared_ptr block, + std::function invoker, + std::string& error_message, + bool enabled = true ); + virtual ~processing_block_model() = default; + + const std::string& get_name() const { return _name; } + + rs2::frame invoke( rs2::frame f ) const { return _invoker( f ); } + + void save_to_config_file(); + + void populate_options( const std::string& opt_base_label, + subdevice_model* model, + bool* options_invalidated, + std::string& error_message ); + + void draw_options( viewer_model & viewer, + bool update_read_only_options, + bool is_streaming, + std::string & error_message ); + + std::shared_ptr get_block() { return _block; } + + void enable( bool e = true ) + { + processing_block_enable_disable( _enabled = e ); + } + bool is_enabled() const { return _enabled; } + + bool visible = true; + + // Callback when our state changes + // NOTE: actual may not be same as is_enabled()! The latter is this particular pb, + // while the former takes into account global "Post-Processing"... + virtual void processing_block_enable_disable( bool actual ) {} + + protected: + bool _enabled = true; + std::shared_ptr _block; + std::map< rs2_option, option_model > options_metadata; + std::string _name; + std::string _full_name; + std::function _invoker; + subdevice_model* _owner; + }; + + void save_processing_block_to_config_file(const char* name, + std::shared_ptr pb, bool enable = true); +} diff --git a/librealsense/common/realsense-ui-advanced-mode.h b/librealsense/common/realsense-ui-advanced-mode.h new file mode 100644 index 0000000..3ce4830 --- /dev/null +++ b/librealsense/common/realsense-ui-advanced-mode.h @@ -0,0 +1,636 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include +#include + +#define TEXT_BUFF_SIZE 1024 + +template +bool* draw_edit_button(const char* id, T val, std::string*& val_str) +{ + static std::map edit_mode; + static std::map edit_value; + + ImGui::SameLine(); + ImGui::SetCursorPosX(268); + if (!edit_mode[id]) + { + std::string edit_id = rsutils::string::from() << u8"\uf044##" << id; + ImGui::PushStyleColor(ImGuiCol_Text, { 0.8f, 0.8f, 0.8f, 1.f }); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 0.8f, 0.8f, 0.8f, 1.f } ); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, { 1.f,1.f,1.f,0.f }); + ImGui::PushStyleColor(ImGuiCol_Button, { 1.f,1.f,1.f,0.f }); + if (ImGui::Button(edit_id.c_str(), { 20, 20 })) + { + edit_value[id] = rsutils::string::from( val ); + edit_mode[id] = true; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Enter text-edit mode"); + } + ImGui::PopStyleColor(4); + } + else + { + std::string edit_id = rsutils::string::from() << u8"\uf044##" << id; + ImGui::PushStyleColor(ImGuiCol_Text, { 0.8f, 0.8f, 1.f, 1.f }); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 0.8f, 0.8f, 1.f, 1.f }); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, { 1.f,1.f,1.f,0.f }); + ImGui::PushStyleColor(ImGuiCol_Button, { 1.f,1.f,1.f,0.f }); + if (ImGui::Button(edit_id.c_str(), { 20, 20 })) + { + edit_mode[id] = false; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Exit text-edit mode"); + } + ImGui::PopStyleColor(4); + } + + val_str = &edit_value[id]; + return &edit_mode[id]; +} + +template +inline void slider_int(std::string& error_message, const char* id, T* val, S T::* field, bool& to_set) +{ + ImGui::Text("%s", id); + int temp = val->*field; + int min = (val + 1)->*field; + int max = (val + 2)->*field; + + std::string* val_ptr; + auto edit_mode = draw_edit_button(id, temp, val_ptr); + + std::string slider_id = rsutils::string::from() << "##" << id; + + if (*edit_mode) + { + char buff[TEXT_BUFF_SIZE]; + memset(buff, 0, TEXT_BUFF_SIZE); + strcpy(buff, val_ptr->c_str()); + if (ImGui::InputText(slider_id.c_str(), buff, TEXT_BUFF_SIZE, + ImGuiInputTextFlags_EnterReturnsTrue)) + { + int new_value = 0; + if (!rsutils::string::string_to_value(buff, new_value)) + { + error_message = "Invalid integer input!"; + } + else + { + if ((new_value > max) || (new_value < min)) + { + std::stringstream ss; + ss << "New value " << new_value << " must be within [" << min << ", " << max << "] range"; + error_message = ss.str(); + } + else + { + val->*field = static_cast(new_value); + to_set = true; + } + } + + *edit_mode = false; + } + *val_ptr = buff; + } + else if (ImGui::SliderInt(slider_id.c_str(), &temp, min, max)) + { + val->*field = temp; + to_set = true; + } +} + +template +inline void checkbox(const char* id, T* val, S T::* f, bool& to_set) +{ + bool temp = (val->*f) > 0; + + if (ImGui::Checkbox(id, &temp)) + { + val->*f = temp ? 1 : 0; + to_set = true; + } +} + +template +inline void slider_float(std::string& error_message, const char* id, T* val, S T::* field, bool& to_set) +{ + ImGui::Text("%s", id); + float temp = float(val->*field); + float min = float((val + 1)->*field); + float max = float((val + 2)->*field); + + std::string* val_ptr; + auto edit_mode = draw_edit_button(id, temp, val_ptr); + + + std::string slider_id = rsutils::string::from() << "##" << id; + + if (*edit_mode) + { + char buff[TEXT_BUFF_SIZE]; + memset(buff, 0, TEXT_BUFF_SIZE); + strcpy(buff, val_ptr->c_str()); + if (ImGui::InputText(slider_id.c_str(), buff, TEXT_BUFF_SIZE, + ImGuiInputTextFlags_EnterReturnsTrue)) + { + int new_value = 0; + if (!rsutils::string::string_to_value(buff, new_value)) + { + error_message = "Invalid integer input!"; + } + else + { + // min != max added in order to step over this check for controls + // for which min and max have been set equal to actual value + if ((min != max) && ((new_value > max) || (new_value < min))) + { + std::stringstream ss; + ss << "New value " << new_value << " must be within [" << min << ", " << max << "] range"; + error_message = ss.str(); + } + else + { + val->*field = static_cast(new_value); + to_set = true; + } + } + + *edit_mode = false; + } + *val_ptr = buff; + } + else if (ImGui::SliderFloat(slider_id.c_str(), &temp, min, max)) + { + val->*field = static_cast(temp); + to_set = true; + } +} + +template +struct param_group +{ + using group_type = T; + T vals[3]; + bool update = false; +}; + +struct advanced_mode_control +{ + param_group depth_controls; + param_group rsm; + param_group rsvc; + param_group color_control; + param_group rctc; + param_group sctc; + param_group spc; + param_group hdad; + param_group cc; + param_group depth_table; + param_group ae; + param_group census; + param_group amp_factor; +}; + +inline void draw_advanced_mode_controls(rs400::advanced_mode& advanced, + advanced_mode_control& amc, bool& get_curr_advanced_controls, bool& was_set, std::string& error_message) +{ + if (get_curr_advanced_controls) + { + for (int k = 0; k < 3; ++k) + { + // Get Current Algo Control Values + amc.depth_controls.vals[k] = advanced.get_depth_control(k); + amc.rsm.vals[k] = advanced.get_rsm(k); + amc.rsvc.vals[k] = advanced.get_rau_support_vector_control(k); + amc.color_control.vals[k] = advanced.get_color_control(k); + amc.rctc.vals[k] = advanced.get_rau_thresholds_control(k); + amc.sctc.vals[k] = advanced.get_slo_color_thresholds_control(k); + amc.spc.vals[k] = advanced.get_slo_penalty_control(k); + amc.cc.vals[k] = advanced.get_color_correction(k); + amc.depth_table.vals[k] = advanced.get_depth_table(k); + amc.census.vals[k] = advanced.get_census(k); + amc.amp_factor.vals[k] = advanced.get_amp_factor(k); + } + amc.hdad.vals[0] = advanced.get_hdad(); + amc.hdad.vals[1] = amc.hdad.vals[0]; //setting min/max to the same value + amc.hdad.vals[2] = amc.hdad.vals[0]; //setting min/max to the same value + amc.ae.vals[0] = advanced.get_ae_control(); + amc.ae.vals[1] = amc.ae.vals[0]; //setting min/max to the same value + amc.ae.vals[2] = amc.ae.vals[0]; //setting min/max to the same value + get_curr_advanced_controls = false; + } + + if (ImGui::TreeNode("Depth Control")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + slider_int(error_message, "DS Second Peak Threshold", amc.depth_controls.vals, &STDepthControlGroup::deepSeaSecondPeakThreshold, to_set); + slider_int(error_message, "DS Neighbor Threshold", amc.depth_controls.vals, &STDepthControlGroup::deepSeaNeighborThreshold, to_set); + slider_int(error_message, "DS Median Threshold", amc.depth_controls.vals, &STDepthControlGroup::deepSeaMedianThreshold, to_set); + slider_int(error_message, "Estimate Median Increment", amc.depth_controls.vals, &STDepthControlGroup::plusIncrement, to_set); + slider_int(error_message, "Estimate Median Decrement", amc.depth_controls.vals, &STDepthControlGroup::minusDecrement, to_set); + slider_int(error_message, "Score Minimum Threshold", amc.depth_controls.vals, &STDepthControlGroup::scoreThreshA, to_set); + slider_int(error_message, "Score Maximum Threshold", amc.depth_controls.vals, &STDepthControlGroup::scoreThreshB, to_set); + slider_int(error_message, "DS LR Threshold", amc.depth_controls.vals, &STDepthControlGroup::lrAgreeThreshold, to_set); + slider_int(error_message, "Texture Count Threshold", amc.depth_controls.vals, &STDepthControlGroup::textureCountThreshold, to_set); + slider_int(error_message, "Texture Difference Threshold", amc.depth_controls.vals, &STDepthControlGroup::textureDifferenceThreshold, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_depth_control(amc.depth_controls.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + if (ImGui::TreeNode("Rsm")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + checkbox("RSM Bypass", amc.rsm.vals, &STRsm::rsmBypass, to_set); + slider_float(error_message, "Disparity Difference Threshold", amc.rsm.vals, &STRsm::diffThresh, to_set); + slider_float(error_message, "SLO RAU Difference Threshold", amc.rsm.vals, &STRsm::sloRauDiffThresh, to_set); + slider_int(error_message, "Remove Threshold", amc.rsm.vals, &STRsm::removeThresh, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_rsm(amc.rsm.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + + if (ImGui::TreeNode("Rau Support Vector Control")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + slider_int(error_message, "Min West", amc.rsvc.vals, &STRauSupportVectorControl::minWest, to_set); + slider_int(error_message, "Min East", amc.rsvc.vals, &STRauSupportVectorControl::minEast, to_set); + slider_int(error_message, "Min WE Sum", amc.rsvc.vals, &STRauSupportVectorControl::minWEsum, to_set); + slider_int(error_message, "Min North", amc.rsvc.vals, &STRauSupportVectorControl::minNorth, to_set); + slider_int(error_message, "Min South", amc.rsvc.vals, &STRauSupportVectorControl::minSouth, to_set); + slider_int(error_message, "Min NS Sum", amc.rsvc.vals, &STRauSupportVectorControl::minNSsum, to_set); + slider_int(error_message, "U Shrink", amc.rsvc.vals, &STRauSupportVectorControl::uShrink, to_set); + slider_int(error_message, "V Shrink", amc.rsvc.vals, &STRauSupportVectorControl::vShrink, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_rau_support_vector_control(amc.rsvc.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + if (ImGui::TreeNode("Color Control")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + checkbox("Disable SAD Color", amc.color_control.vals, &STColorControl::disableSADColor, to_set); + checkbox("Disable RAU Color", amc.color_control.vals, &STColorControl::disableRAUColor, to_set); + checkbox("Disable SLO Right Color", amc.color_control.vals, &STColorControl::disableSLORightColor, to_set); + checkbox("Disable SLO Left Color", amc.color_control.vals, &STColorControl::disableSLOLeftColor, to_set); + checkbox("Disable SAD Normalize", amc.color_control.vals, &STColorControl::disableSADNormalize, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_color_control(amc.color_control.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + if (ImGui::TreeNode("Rau Color Thresholds Control")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + slider_int(error_message, "Diff Threshold Red", amc.rctc.vals, &STRauColorThresholdsControl::rauDiffThresholdRed, to_set); + slider_int(error_message, "Diff Threshold Green", amc.rctc.vals, &STRauColorThresholdsControl::rauDiffThresholdGreen, to_set); + slider_int(error_message, "Diff Threshold Blue", amc.rctc.vals, &STRauColorThresholdsControl::rauDiffThresholdBlue, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_rau_thresholds_control(amc.rctc.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + if (ImGui::TreeNode("SLO Color Thresholds Control")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + slider_int(error_message, "Diff Threshold Red", amc.sctc.vals, &STSloColorThresholdsControl::diffThresholdRed, to_set); + slider_int(error_message, "Diff Threshold Green", amc.sctc.vals, &STSloColorThresholdsControl::diffThresholdGreen, to_set); + slider_int(error_message, "Diff Threshold Blue", amc.sctc.vals, &STSloColorThresholdsControl::diffThresholdBlue, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_slo_color_thresholds_control(amc.sctc.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + if (ImGui::TreeNode("SLO Penalty Control")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + slider_int(error_message, "K1 Penalty", amc.spc.vals, &STSloPenaltyControl::sloK1Penalty, to_set); + slider_int(error_message, "K2 Penalty", amc.spc.vals, &STSloPenaltyControl::sloK2Penalty, to_set); + slider_int(error_message, "K1 Penalty Mod1", amc.spc.vals, &STSloPenaltyControl::sloK1PenaltyMod1, to_set); + slider_int(error_message, "K1 Penalty Mod2", amc.spc.vals, &STSloPenaltyControl::sloK1PenaltyMod2, to_set); + slider_int(error_message, "K2 Penalty Mod1", amc.spc.vals, &STSloPenaltyControl::sloK2PenaltyMod1, to_set); + slider_int(error_message, "K2 Penalty Mod2", amc.spc.vals, &STSloPenaltyControl::sloK2PenaltyMod2, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_slo_penalty_control(amc.spc.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + if (ImGui::TreeNode("HDAD")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + checkbox("Ignore SAD", amc.hdad.vals, &STHdad::ignoreSAD, to_set); + + // TODO: Not clear from documents what is the valid range: + slider_float(error_message, "AD Lambda", amc.hdad.vals, &STHdad::lambdaAD, to_set); + slider_float(error_message, "Census Lambda", amc.hdad.vals, &STHdad::lambdaCensus, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_hdad(amc.hdad.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + if (ImGui::TreeNode("Color Correction")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + slider_float(error_message, "Color Correction 1", amc.cc.vals, &STColorCorrection::colorCorrection1, to_set); + slider_float(error_message, "Color Correction 2", amc.cc.vals, &STColorCorrection::colorCorrection2, to_set); + slider_float(error_message, "Color Correction 3", amc.cc.vals, &STColorCorrection::colorCorrection3, to_set); + slider_float(error_message, "Color Correction 4", amc.cc.vals, &STColorCorrection::colorCorrection4, to_set); + slider_float(error_message, "Color Correction 5", amc.cc.vals, &STColorCorrection::colorCorrection5, to_set); + slider_float(error_message, "Color Correction 6", amc.cc.vals, &STColorCorrection::colorCorrection6, to_set); + slider_float(error_message, "Color Correction 7", amc.cc.vals, &STColorCorrection::colorCorrection7, to_set); + slider_float(error_message, "Color Correction 8", amc.cc.vals, &STColorCorrection::colorCorrection8, to_set); + slider_float(error_message, "Color Correction 9", amc.cc.vals, &STColorCorrection::colorCorrection9, to_set); + slider_float(error_message, "Color Correction 10",amc.cc.vals, &STColorCorrection::colorCorrection10, to_set); + slider_float(error_message, "Color Correction 11",amc.cc.vals, &STColorCorrection::colorCorrection11, to_set); + slider_float(error_message, "Color Correction 12",amc.cc.vals, &STColorCorrection::colorCorrection12, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_color_correction(amc.cc.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + if (ImGui::TreeNode("Depth Table")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + slider_float(error_message, "Depth Units", amc.depth_table.vals, &STDepthTableControl::depthUnits, to_set); + slider_float(error_message, "Depth Clamp Min", amc.depth_table.vals, &STDepthTableControl::depthClampMin, to_set); + slider_float(error_message, "Depth Clamp Max", amc.depth_table.vals, &STDepthTableControl::depthClampMax, to_set); + slider_float(error_message, "Disparity Mode", amc.depth_table.vals, &STDepthTableControl::disparityMode, to_set); + slider_float(error_message, "Disparity Shift", amc.depth_table.vals, &STDepthTableControl::disparityShift, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_depth_table(amc.depth_table.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + if (ImGui::TreeNode("AE Control")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + slider_float(error_message, "Mean Intensity Set Point", amc.ae.vals, &STAEControl::meanIntensitySetPoint, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_ae_control(amc.ae.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + if (ImGui::TreeNode("Census Enable Reg")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + slider_float(error_message, "u-Diameter", amc.census.vals, &STCensusRadius::uDiameter, to_set); + slider_float(error_message, "v-Diameter", amc.census.vals, &STCensusRadius::vDiameter, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_census(amc.census.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } + + if (ImGui::TreeNode("Disparity Modulation")) + { + ImGui::PushItemWidth(-1); + + auto to_set = false; + + slider_float(error_message, "A Factor", amc.amp_factor.vals, &STAFactor::amplitude, to_set); + + ImGui::PopItemWidth(); + + if (to_set) + { + try + { + advanced.set_amp_factor(amc.amp_factor.vals[0]); + } + catch (...) + { + ImGui::TreePop(); + throw; + } + was_set = true; + } + + ImGui::TreePop(); + } +} diff --git a/librealsense/common/rect.h b/librealsense/common/rect.h new file mode 100644 index 0000000..2cc9256 --- /dev/null +++ b/librealsense/common/rect.h @@ -0,0 +1,199 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. +#pragma once + +#include "float2.h" + +#include // max,min +#include // floor + + +namespace rs2 { + + +template < typename T > T normalizeT( const T & in_val, const T & min, const T & max ) +{ + if( min >= max ) + return 0; + return ( ( in_val - min ) / ( max - min ) ); +} + +template < typename T > T unnormalizeT( const T & in_val, const T & min, const T & max ) +{ + if( min == max ) + return min; + return ( ( in_val * ( max - min ) ) + min ); +} + + +struct rect +{ + float x, y; + float w, h; + + void operator=( const rect & other ) + { + x = other.x; + y = other.y; + w = other.w; + h = other.h; + } + + operator bool() const { return w * w > 0 && h * h > 0; } + + bool operator==( const rect & other ) const { return x == other.x && y == other.y && w == other.w && h == other.h; } + + bool operator!=( const rect & other ) const { return ! ( *this == other ); } + + rect normalize( const rect & normalize_to ) const + { + return rect{ normalizeT( x, normalize_to.x, normalize_to.x + normalize_to.w ), + normalizeT( y, normalize_to.y, normalize_to.y + normalize_to.h ), + normalizeT( w, 0.f, normalize_to.w ), + normalizeT( h, 0.f, normalize_to.h ) }; + } + + rect unnormalize( const rect & unnormalize_to ) const + { + return rect{ unnormalizeT( x, unnormalize_to.x, unnormalize_to.x + unnormalize_to.w ), + unnormalizeT( y, unnormalize_to.y, unnormalize_to.y + unnormalize_to.h ), + unnormalizeT( w, 0.f, unnormalize_to.w ), + unnormalizeT( h, 0.f, unnormalize_to.h ) }; + } + + // Calculate the intersection between two rects + // If the intersection is empty, a rect with width and height zero will be returned + rect intersection( const rect & other ) const + { + auto x1 = std::max( x, other.x ); + auto y1 = std::max( y, other.y ); + auto x2 = std::min( x + w, other.x + other.w ); + auto y2 = std::min( y + h, other.y + other.h ); + + return { x1, y1, std::max( x2 - x1, 0.f ), std::max( y2 - y1, 0.f ) }; + } + + // Calculate the area of the rect + float area() const { return w * h; } + + rect cut_by( const rect & r ) const + { + auto x1 = x; + auto y1 = y; + auto x2 = x + w; + auto y2 = y + h; + + x1 = std::max( x1, r.x ); + x1 = std::min( x1, r.x + r.w ); + y1 = std::max( y1, r.y ); + y1 = std::min( y1, r.y + r.h ); + + x2 = std::max( x2, r.x ); + x2 = std::min( x2, r.x + r.w ); + y2 = std::max( y2, r.y ); + y2 = std::min( y2, r.y + r.h ); + + return { x1, y1, x2 - x1, y2 - y1 }; + } + + bool contains( const float2 & p ) const + { + return ( p.x >= x ) && ( p.x < x + w ) && ( p.y >= y ) && ( p.y < y + h ); + } + + rect pan( const float2 & p ) const { return { x - p.x, y - p.y, w, h }; } + + rect center() const { return { x + w / 2.f, y + h / 2.f, 0, 0 }; } + + rect adjust_ratio( float2 size ) const + { + auto H = static_cast< float >( h ), W = static_cast< float >( h ) * size.x / size.y; + if( W > w ) + { + auto scale = w / W; + W *= scale; + H *= scale; + } + + return { float( floor( x + floor( w - W ) / 2 ) ), float( floor( y + floor( h - H ) / 2 ) ), W, H }; + } + + rect scale( float factor ) const { return { x, y, w * factor, h * factor }; } + + rect grow( int pixels ) const { return { x - pixels, y - pixels, w + pixels * 2, h + pixels * 2 }; } + + rect grow( int dx, int dy ) const { return { x - dx, y - dy, w + dx * 2, h + dy * 2 }; } + + rect shrink_by( float2 pixels ) const { return { x + pixels.x, y + pixels.y, w - pixels.x * 2, h - pixels.y * 2 }; } + + rect center_at( const float2 & new_center ) const + { + auto c = center(); + auto diff_x = new_center.x - c.x; + auto diff_y = new_center.y - c.y; + + return { x + diff_x, y + diff_y, w, h }; + } + + rect fit( rect r ) const + { + float new_w = w; + float new_h = h; + + if( w < r.w ) + new_w = r.w; + + if( h < r.h ) + new_h = r.h; + + auto res = rect{ x, y, new_w, new_h }; + return res.adjust_ratio( { w, h } ); + } + + rect zoom( float zoom_factor ) const + { + auto c = center(); + return scale( zoom_factor ).center_at( { c.x, c.y } ); + } + + rect enclose_in( rect in_rect ) const + { + rect out_rect{ x, y, w, h }; + if( w > in_rect.w || h > in_rect.h ) + { + return in_rect; + } + + if( x < in_rect.x ) + { + out_rect.x = in_rect.x; + } + + if( y < in_rect.y ) + { + out_rect.y = in_rect.y; + } + + + if( x + w > in_rect.x + in_rect.w ) + { + out_rect.x = in_rect.x + in_rect.w - w; + } + + if( y + h > in_rect.y + in_rect.h ) + { + out_rect.y = in_rect.y + in_rect.h - h; + } + + return out_rect; + } + + bool intersects( const rect & other ) const + { + return other.contains( { x, y } ) || other.contains( { x + w, y } ) || other.contains( { x, y + h } ) + || other.contains( { x + w, y + h } ) || contains( { other.x, other.y } ); + } +}; + + +} // namespace rs2 diff --git a/librealsense/common/reflectivity/reflectivity.cpp b/librealsense/common/reflectivity/reflectivity.cpp new file mode 100644 index 0000000..d78447a --- /dev/null +++ b/librealsense/common/reflectivity/reflectivity.cpp @@ -0,0 +1,226 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#include "reflectivity.h" +#include +#include +#include +#include +#include +#include + +using namespace rs2; + + +static const size_t N_STD_FRAMES = 100; +static const int NINETY_FIVE_PERCENT_OF_STD_PERIOD = static_cast< int >( 0.95 * N_STD_FRAMES ); +static const float MAX_RANGE_IN_UNIT = 65536.0f; +static const float LONG_THERMAL = 74.5f; +static const float INDOOR_MAX_RANGE = 9.0f; + +// TODO try to read from LRS +static const float FOV_H = 0.610865f; +static const float FOV_V = 0.479966f; + +static const int VGA_WIDTH = 640; +static const int VGA_HEIGHT = 480; +static const int VGA_HALF_WIDTH = VGA_WIDTH / 2; +static const int VGA_HALF_HEIGHT = VGA_HEIGHT / 2; + +static bool is_close_to_zero( float x ) +{ + return ( std::abs( x ) < std::numeric_limits< float >::epsilon() ); +} + + +reflectivity::reflectivity() + : _history_size( 0 ) +{ + _dist_queue.assign( N_STD_FRAMES, + 0 ); // Allocate size for all samples in advance to minimize runtime. +} + +// Reflectivity analysis is based on STD and normalized IR.Final reflectivity values are weighted +// average between them +float reflectivity::get_reflectivity( float raw_noise_estimation, + float max_usable_range, + float ir_val ) const +{ + // Calculating STD over time(temporal noise), when there are more than 5 % invalid return high + // value + std::vector< float > _filt_dist_arr( _dist_queue.size() ); + + // Copy non zero (or close to zero) elements in history + auto new_end = std::copy_if( _dist_queue.begin(), + _dist_queue.end(), + _filt_dist_arr.begin(), + []( float elem ) { return ! is_close_to_zero( elem ); } ); + + _filt_dist_arr.resize( new_end - _filt_dist_arr.begin() ); + + if( 0 == _filt_dist_arr.size() ) + throw std::logic_error( "reflectivity N/A, not enough data was collected" ); + + float sum = std::accumulate( _filt_dist_arr.begin(), _filt_dist_arr.end(), 0.0f ); + float mean = sum / _filt_dist_arr.size(); + + float standard_deviation = 9999.0f; + + if( _filt_dist_arr.size() >= NINETY_FIVE_PERCENT_OF_STD_PERIOD ) + { + float variance = 0.0f; + for( auto val : _filt_dist_arr ) + variance += std::pow( val - mean, 2.0f ); + + variance = variance / _filt_dist_arr.size(); + standard_deviation = std::sqrt( variance ); + } + + // Range is calculated based on position in map(assuming 0 tilt) Distance is just based on plane distance + auto range = mean / 1000.0f; + + // Normalized IR instead of IR is used to be robust to high ambient, RSS is assumed between echo to noise + auto nest = raw_noise_estimation / 16.0f; + auto normalized_ir = 0.0f; + if( ir_val > nest ) + normalized_ir = std::pow( std::pow( ir_val, 2.0f ) - std::pow( nest, 2.0f ), 0.5f ); + + auto ref_from_ir = 0.0f; + auto ref_from_std = 0.0f; + auto i_ref = 0.0f; + auto s_ref = 0.0f; + auto i_dist_85 = 0.0f; + auto s_dist_85 = 0.0f; + auto ref = 0.0f; + + + if( nest <= LONG_THERMAL * 2.0f ) + { + // We can hold reflectivity information from IR + if( normalized_ir < 70.0f ) + ref_from_ir = 0.5f; // Low confidence as IR values are low + else + ref_from_ir = 1.0f; // High confidence as IR values hold good SNR + + // Analyzing reflectivity based on 85 % reflectivity data + i_dist_85 = 6.75f * std::exp( -0.012f * normalized_ir ); + + i_dist_85 = i_dist_85 * max_usable_range / INDOOR_MAX_RANGE; + + if( 0.0f < i_dist_85 ) // protect devision by zero + { + i_ref = static_cast(0.85f * std::pow( ( range / i_dist_85 ), 2 )); + + if( i_ref > 0.95f ) + { + ref_from_ir = 0.75f; + i_ref = 0.95f; + } + } + else + ref_from_ir = 0.0f; + } + + // STD based analysis + // STD values are at the edges, hard to get data + if( standard_deviation >= 1.5f && standard_deviation <= 10.f ) + { + if( standard_deviation > 2.5f ) + ref_from_std = 0.5f; // Low confidence data due to low STD values + else + ref_from_std = 1.0f; // High confidence data + + // STD based analysis based on 85% reflectivity data + if( range > 0.0f ) + { + s_dist_85 = ( 2.25f * ( std::log( standard_deviation ) ) + 1.56f ) * max_usable_range + / INDOOR_MAX_RANGE; + if( 0 < s_dist_85 ) // protect devision by zero + { + s_ref = 0.85f * std::pow( ( range / s_dist_85 ), 2.0f ); + if( s_ref > 0.95f ) + { + ref_from_std = ref_from_std * 0.75f; + s_ref = 0.95f; + } + } + else + ref_from_std = 0.0f; + } + else + { + ref_from_std = 0.0f; + } + } + // Calculating Final reflectivity + if( is_close_to_zero( ref_from_ir + ref_from_std ) ) + throw std::logic_error( "reflectivity N/A" ); + + + ref = ( i_ref * ref_from_ir + s_ref * ref_from_std ) / ( ref_from_ir + ref_from_std ); + + // Force 15% resolution + if( ref >= 0.85f ) + ref = 0.85f; + else if( ref >= 0.7f ) + ref = 0.7f; + else if( ref >= 0.55f ) + ref = 0.55f; + else if( ref >= 0.4f ) + ref = 0.4f; + else if( ref >= 0.25f ) + ref = 0.25f; + else + ref = 0.1f; + + return ref; +} + +void reflectivity::add_depth_sample( float depth_val, int x_in_image, int y_in_image ) +{ + if( x_in_image >= 0 && x_in_image < VGA_WIDTH && y_in_image >= 0 && y_in_image < VGA_HEIGHT ) + { + auto dist_z = round( depth_val * 16000.f / MAX_RANGE_IN_UNIT ); // convert to mm units + float x_ang = FOV_H * std::abs( VGA_HALF_WIDTH - x_in_image ) / VGA_HALF_WIDTH; + float y_ang = FOV_V * std::abs( VGA_HALF_HEIGHT - y_in_image ) / VGA_HALF_HEIGHT; + auto dist_r = dist_z * std::sqrt( 1.0f + (std::pow( 2.0f * std::tan( x_ang ), 2.0f ) + std::pow( 2.0f * std::tan( y_ang ), 2.0f ) ) / 4.0f ); + + if( _dist_queue.size() >= N_STD_FRAMES ) // Keep queue as N_STD_FRAMES size queue + _dist_queue.pop_front(); + + _dist_queue.push_back( dist_r ); + if( _history_size < N_STD_FRAMES ) + _history_size++; + } +} + +void rs2::reflectivity::reset_history() +{ + if( _history_size > 0 ) + { + _dist_queue.assign( N_STD_FRAMES, 0 ); + _history_size = 0; + } +} + +float rs2::reflectivity::get_samples_ratio() const +{ + return static_cast< float >( history_size() ) / history_capacity(); +} + +bool rs2::reflectivity::is_history_full() const +{ + return history_size() == history_capacity(); +} + +// Return the history queue capacity +size_t rs2::reflectivity::history_capacity() const +{ + return N_STD_FRAMES; +} + +// Return the history queue current size +size_t rs2::reflectivity::history_size() const +{ + return _history_size; +} diff --git a/librealsense/common/reflectivity/reflectivity.h b/librealsense/common/reflectivity/reflectivity.h new file mode 100644 index 0000000..49710f2 --- /dev/null +++ b/librealsense/common/reflectivity/reflectivity.h @@ -0,0 +1,49 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include +#include + +namespace rs2 +{ + // This class calculate the IR pixel reflectivity. + // It uses depth value history, current IR value , maximum usable depth range and noise estimation. + // Note: This class is not thread safe + class reflectivity + { + public: + reflectivity(); + + // Implement algorithm requirement [RS5-8358] + // Calculate pixel reflectivity based on current IR value and previous depth values STD + float get_reflectivity(float raw_noise_estimation, float max_usable_range, float ir_val) const; + + // Add pixel depth value to the history queue + void add_depth_sample(float depth_val, int x_in_image, int y_in_image); + + // Reset depth samples history (queue history will reset only if needed (if add_depth_sample was called since last reset/construction) + void reset_history(); + + // Return the samples history ratio size / capacity [0-1] + float get_samples_ratio() const; + + // Return true if the history queue is full + bool is_history_full() const; + + // Return the history queue capacity + size_t history_capacity() const; + + // Return the history queue current size + size_t history_size() const; + + private: + // Implement a cyclic queue for depth samples + std::deque _dist_queue; + + // Holds the current history size + size_t _history_size; + }; +} diff --git a/librealsense/common/rendering.h b/librealsense/common/rendering.h new file mode 100644 index 0000000..ed0b525 --- /dev/null +++ b/librealsense/common/rendering.h @@ -0,0 +1,1237 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2015 Intel Corporation. All Rights Reserved. + +#pragma once + +#ifndef NOMINMAX +#define NOMINMAX +#endif + +#include +#include +#include +#include + +#include "matrix4.h" +#include "float3.h" +#include "float2.h" +#include "rect.h" +#include "animated.h" +#include "plane.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#define _USE_MATH_DEFINES +#include +#include +#include +#include +#include +#include +#include + +#include + +#ifdef _MSC_VER +#ifndef GL_CLAMP_TO_BORDER +#define GL_CLAMP_TO_BORDER 0x812D +#endif +#ifndef GL_CLAMP_TO_EDGE +#define GL_CLAMP_TO_EDGE 0x812F +#endif +#endif + +namespace rs2 +{ + class fps_calc + { + public: + fps_calc() + : _counter(0), + _delta(0), + _last_timestamp(0), + _num_of_frames(0) + {} + + fps_calc(const fps_calc& other) + { + std::lock_guard lock(other._mtx); + _counter = other._counter; + _delta = other._delta; + _num_of_frames = other._num_of_frames; + _last_timestamp = other._last_timestamp; + } + void add_timestamp(double timestamp, unsigned long long frame_counter) + { + std::lock_guard lock(_mtx); + if (++_counter >= _skip_frames) + { + if (_last_timestamp != 0) + { + _delta = timestamp - _last_timestamp; + _num_of_frames = frame_counter - _last_frame_counter; + } + + _last_frame_counter = frame_counter; + _last_timestamp = timestamp; + _counter = 0; + } + } + + double get_fps() const + { + std::lock_guard lock(_mtx); + if (_delta == 0) + return 0; + + return (static_cast(_numerator) * _num_of_frames) / _delta; + } + + private: + static const int _numerator = 1000; + static const int _skip_frames = 5; + int _counter; + double _delta; + double _last_timestamp; + unsigned long long _num_of_frames; + unsigned long long _last_frame_counter; + mutable std::mutex _mtx; + }; + + inline float lerp(float a, float b, float t) + { + return b * t + a * (1 - t); + } + + inline float3 lerp(const float3& a, const float3& b, float t) + { + return b * t + a * (1 - t); + } + + inline rs2::float2 lerp(const rs2::float2& a, const rs2::float2& b, float t) + { + return rs2::float2{ lerp(a.x, b.x, t), lerp(a.y, b.y, t) }; + } + + inline float3 lerp(const std::array& rect, const float2& p) + { + auto v1 = lerp(rect[0], rect[1], p.x); + auto v2 = lerp(rect[3], rect[2], p.x); + return lerp(v1, v2, p.y); + } + + using plane_3d = std::array; + + inline std::vector subdivide(const plane_3d& rect, int parts = 4) + { + std::vector res; + res.reserve(parts*parts); + for (float i = 0.f; i < parts; i++) + { + for (float j = 0.f; j < parts; j++) + { + plane_3d r; + r[0] = lerp(rect, { i / parts, j / parts }); + r[1] = lerp(rect, { i / parts, (j + 1) / parts }); + r[2] = lerp(rect, { (i + 1) / parts, (j + 1) / parts }); + r[3] = lerp(rect, { (i + 1) / parts, j / parts }); + res.push_back(r); + } + } + return res; + } + + inline bool is_valid(const plane_3d& p) + { + std::vector angles; + angles.reserve(4); + for (size_t i = 0; i < p.size(); i++) + { + auto p1 = p[i]; + auto p2 = p[(i+1) % p.size()]; + if ((p2 - p1).length() < 1e-3) return false; + + p1 = p1.normalized(); + p2 = p2.normalized(); + + angles.push_back(acos((p1 * p2) / sqrt(p1.length() * p2.length()))); + } + return std::all_of(angles.begin(), angles.end(), [](float f) { return f > 0; }) || + std::all_of(angles.begin(), angles.end(), [](float f) { return f < 0; }); + } + + inline float2 operator-(float2 a, float2 b) + { + return { a.x - b.x, a.y - b.y }; + } + + inline float2 operator*(float a, float2 b) + { + return { a * b.x, a * b.y }; + } + + inline matrix4 pose_to_world_transformation(const rs2_pose& pose) + { + matrix4 rotation(pose.rotation); + matrix4 translation(pose.translation); + matrix4 G_body_to_world = translation * rotation; + float rotate_180_y[4][4] = { { -1, 0, 0, 0 }, + { 0, 1, 0, 0 }, + { 0, 0,-1, 0 }, + { 0, 0, 0, 1 } }; + matrix4 G_vr_body_to_body(rotate_180_y); + matrix4 G_vr_body_to_world = G_body_to_world * G_vr_body_to_body; + + float rotate_90_x[4][4] = { { 1, 0, 0, 0 }, + { 0, 0,-1, 0 }, + { 0, 1, 0, 0 }, + { 0, 0, 0, 1 } }; + matrix4 G_world_to_vr_world(rotate_90_x); + matrix4 G_vr_body_to_vr_world = G_world_to_vr_world * G_vr_body_to_world; + + return G_vr_body_to_vr_world; + } + + inline rs2_pose correct_pose(const rs2_pose& pose) + { + matrix4 G_vr_body_to_vr_world = pose_to_world_transformation(pose); + rs2_pose res = pose; + res.translation.x = G_vr_body_to_vr_world.mat[0][3]; + res.translation.y = G_vr_body_to_vr_world.mat[1][3]; + res.translation.z = G_vr_body_to_vr_world.mat[2][3]; + res.rotation = G_vr_body_to_vr_world.to_quaternion(); + return res; + } + + struct mouse_info + { + float2 cursor{ 0.f, 0.f }; + float2 prev_cursor{ 0.f, 0.f }; + bool mouse_down[2] { false, false }; + int mouse_wheel = 0; + float ui_wheel = 0.f; + }; + + inline rect lerp( const rect& r, float t, const rect& other ) + { + return{ + rs2::lerp( r.x, other.x, t ), rs2::lerp( r.y, other.y, t ), + rs2::lerp( r.w, other.w, t ), rs2::lerp( r.h, other.h, t ), + }; + } + + ////////////////////////////// + // Simple font loading code // + ////////////////////////////// + +#include "../third-party/stb_easy_font.h" + + inline void draw_text(int x, int y, const char * text) + { + char buffer[60000]; // ~300 chars + glEnableClientState(GL_VERTEX_ARRAY); + glVertexPointer(2, GL_FLOAT, 16, buffer); + glDrawArrays(GL_QUADS, 0, 4 * stb_easy_font_print((float)x, (float)(y - 7), (char *)text, nullptr, buffer, sizeof(buffer))); + glDisableClientState(GL_VERTEX_ARRAY); + } + + //////////////////////// + // Image display code // + //////////////////////// + + class color_map + { + public: + color_map(std::map map, int steps = 4000) : _map(map) + { + initialize(steps); + } + + color_map(const std::vector& values, int steps = 4000) + { + for (size_t i = 0; i < values.size(); i++) + { + _map[(float)i/(values.size()-1)] = values[i]; + } + initialize(steps); + } + + color_map() {} + + float3 get(float value) const + { + if (_max == _min) return *_data; + auto t = (value - _min) / (_max - _min); + t = std::min(std::max(t, 0.f), 1.f); + return _data[(int)(t * (_size - 1))]; + } + + float min_key() const { return _min; } + float max_key() const { return _max; } + + private: + float3 calc(float value) const + { + if (_map.size() == 0) return { value, value, value }; + // if we have exactly this value in the map, just return it + if( _map.find(value) != _map.end() ) return _map.at(value); + // if we are beyond the limits, return the first/last element + if( value < _map.begin()->first ) return _map.begin()->second; + if( value > _map.rbegin()->first ) return _map.rbegin()->second; + + auto lower = _map.lower_bound(value) == _map.begin() ? _map.begin() : --(_map.lower_bound(value)) ; + auto upper = _map.upper_bound(value); + + auto t = (value - lower->first) / (upper->first - lower->first); + auto c1 = lower->second; + auto c2 = upper->second; + return lerp(c1, c2, t); + } + + void initialize(int steps) + { + if (_map.size() == 0) return; + + _min = _map.begin()->first; + _max = _map.rbegin()->first; + + _cache.resize(steps + 1); + for (int i = 0; i <= steps; i++) + { + auto t = (float)i/steps; + auto x = _min + t*(_max - _min); + _cache[i] = calc(x); + } + + // Save size and data to avoid STL checks penalties in DEBUG + _size = _cache.size(); + _data = _cache.data(); + } + + std::map _map; + std::vector _cache; + float _min, _max; + size_t _size; float3* _data; + }; + + // Temporal event is a very simple time filter + // that allows a concensus based on a set of measurements in time + // You set the window, and add measurements, and the class offers + // the most agreed upon opinion within the set time window + // It is useful to remove noise from UX elements + class temporal_event + { + public: + using clock = std::chrono::steady_clock; + + temporal_event(clock::duration window) : _window(window) {} + temporal_event() : _window(std::chrono::milliseconds(1000)) {} + + void add_value(bool val) + { + std::lock_guard lock(_m); + _measurements.push_back(std::make_pair(clock::now(), val)); + } + + bool eval() + { + return get_stat() > 0.5f; + } + + float get_stat() + { + std::lock_guard lock(_m); + + if (_t.get_elapsed() < _window) return false; // Ensure no false alarms in the warm-up time + + _measurements.erase(std::remove_if(_measurements.begin(), _measurements.end(), + [this](std::pair pair) { + return (clock::now() - pair.first) > _window; + }), + _measurements.end()); + auto trues = std::count_if(_measurements.begin(), _measurements.end(), + [](std::pair pair) { + return pair.second; + }); + return size_t(trues) / (float)_measurements.size(); + } + + void reset() + { + std::lock_guard lock(_m); + _t.reset(); + _measurements.clear(); + } + + private: + std::mutex _m; + clock::duration _window; + std::vector> _measurements; + rsutils::time::stopwatch _t; + }; + + class texture_buffer + { + GLuint texture; + rs2::frame_queue last_queue[2]; + mutable rs2::frame last[2]; + public: + std::shared_ptr colorize; + std::shared_ptr yuy2rgb; + std::shared_ptr y411; + bool zoom_preview = false; + rect curr_preview_rect{}; + int texture_id = 0; + + texture_buffer(const texture_buffer& other) + { + texture = other.texture; + } + + texture_buffer& operator=(const texture_buffer& other) + { + texture = other.texture; + return *this; + } + + rs2::frame get_last_frame(bool with_texture = false) const { + auto idx = with_texture ? 1 : 0; + last_queue[idx].poll_for_frame(&last[idx]); + return last[idx]; + } + + texture_buffer() : last_queue(), texture() {} + + GLuint get_gl_handle() const { + // If the frame is already a GPU frame + // Just get the texture from the frame + if (auto gf = get_last_frame(true).as()) + { + auto tex = gf.get_texture_id(texture_id); + return tex; + } + else return texture; + } + + // Simplified version of upload that lets us load basic RGBA textures + // This is used for the splash screen + void upload_image(int w, int h, void* data, int format = GL_RGBA) + { + if (!texture) + glGenTextures(1, &texture); + glBindTexture(GL_TEXTURE_2D, texture); + glTexImage2D(GL_TEXTURE_2D, 0, format, w, h, 0, format, GL_UNSIGNED_BYTE, data); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP); + glBindTexture(GL_TEXTURE_2D, 0); + } + + void upload(rs2::frame frame, rs2_format prefered_format = RS2_FORMAT_ANY) + { + if (!texture) + glGenTextures(1, &texture); + + int width = 0; + int height = 0; + int stride = 0; + auto format = frame.get_profile().format(); + + last_queue[0].enqueue(frame); + + // When frame is a GPU frame + // we don't need to access pixels, keep data NULL + auto data = !frame.is() ? frame.get_data() : nullptr; + + auto rendered_frame = frame; + auto image = frame.as(); + + if (image) + { + width = image.get_width(); + height = image.get_height(); + stride = image.get_stride_in_bytes(); + } + else if (auto profile = frame.get_profile().as()) + { + width = profile.width(); + height = profile.height(); + stride = width; + } + + glBindTexture(GL_TEXTURE_2D, texture); + stride = stride == 0 ? width : stride; + //glPixelStorei(GL_UNPACK_ROW_LENGTH, stride); + + // Allow upload of points frame type + if (auto pc = frame.as()) + { + if (!frame.is()) + { + // Points can be uploaded as two different + // formats: XYZ for verteces and UV for texture coordinates + if (prefered_format == RS2_FORMAT_XYZ32F) + { + // Upload vertices + data = pc.get_vertices(); + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB16F, width, height, 0, GL_RGB, GL_FLOAT, data); + } + else + { + // Upload texture coordinates + data = pc.get_texture_coordinates(); + glTexImage2D(GL_TEXTURE_2D, 0, GL_RG16F, width, height, 0, GL_RG, GL_FLOAT, data); + } + + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); + } + else + { + // Update texture_id based on desired format + if (prefered_format == RS2_FORMAT_XYZ32F) texture_id = 0; + else texture_id = 1; + } + } + else + { + switch (format) + { + case RS2_FORMAT_ANY: + throw std::runtime_error("not a valid format"); + case RS2_FORMAT_Z16H: + throw std::runtime_error("unexpected format: Z16H. Check decoder processing block"); + case RS2_FORMAT_Z16: + case RS2_FORMAT_DISPARITY16: + case RS2_FORMAT_DISPARITY32: + if (frame.is()) + { + if (prefered_format == RS2_FORMAT_Z16) + { + glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, width, height, 0, GL_RG, GL_UNSIGNED_BYTE, data); + } + else if (prefered_format == RS2_FORMAT_DISPARITY32) + { + glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F, width, height, 0, GL_RED, GL_FLOAT, data); + } + else + { + if (auto colorized_frame = colorize->colorize(frame).as()) + { + if (!colorized_frame.is()) + { + data = colorized_frame.get_data(); + + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, + colorized_frame.get_width(), + colorized_frame.get_height(), + 0, GL_RGB, GL_UNSIGNED_BYTE, + data); + + } + rendered_frame = colorized_frame; + } + } + } + else glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, width, height, 0, GL_RG, GL_UNSIGNED_BYTE, data); + break; + case RS2_FORMAT_FG: + glTexImage2D( GL_TEXTURE_2D, 0, GL_LUMINANCE, width, height, 0, GL_LUMINANCE, GL_UNSIGNED_SHORT, data); + break; + case RS2_FORMAT_XYZ32F: + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB, GL_FLOAT, data); + break; + case RS2_FORMAT_YUYV: + if (yuy2rgb) + { + if (auto colorized_frame = yuy2rgb->process(frame).as()) + { + if (!colorized_frame.is()) + { + glBindTexture(GL_TEXTURE_2D, texture); + data = colorized_frame.get_data(); + + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, + colorized_frame.get_width(), + colorized_frame.get_height(), + 0, GL_RGB, GL_UNSIGNED_BYTE, + colorized_frame.get_data()); + } + rendered_frame = colorized_frame; + } + } + else + { + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_LUMINANCE_ALPHA, GL_UNSIGNED_BYTE, data); + } + break; + case RS2_FORMAT_Y411: + if (y411) + { + if (auto colorized_frame = y411->process(frame).as()) + { + if (!colorized_frame.is()) + { + glBindTexture(GL_TEXTURE_2D, texture); + data = colorized_frame.get_data(); + + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, + colorized_frame.get_width(), + colorized_frame.get_height(), + 0, GL_RGB, GL_UNSIGNED_BYTE, + colorized_frame.get_data()); + } + rendered_frame = colorized_frame; + } + } + else + { + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_LUMINANCE_ALPHA, GL_UNSIGNED_BYTE, data); + } + break; + case RS2_FORMAT_UYVY: // Use luminance component only to avoid costly UVUY->RGB conversion + glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, width, height, 0, GL_LUMINANCE, GL_UNSIGNED_SHORT, data); + break; + case RS2_FORMAT_RGB8: case RS2_FORMAT_BGR8: // Display both RGB and BGR by interpreting them RGB, to show the flipped byte ordering. Obviously, GL_BGR could be used on OpenGL 1.2+ + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB, GL_UNSIGNED_BYTE, data); + break; + case RS2_FORMAT_RGBA8: case RS2_FORMAT_BGRA8: // Display both RGBA and BGRA by interpreting them RGBA, to show the flipped byte ordering. Obviously, GL_BGRA could be used on OpenGL 1.2+ + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, data); + break; + case RS2_FORMAT_Y8: + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, data); + break; + case RS2_FORMAT_MOTION_XYZ32F: + { + if (auto motion = frame.as()) + { + auto axes = motion.get_motion_data(); + draw_motion_data(axes.x, axes.y, axes.z); + } + else + { + throw std::runtime_error("Not expecting a frame with motion format that is not a motion_frame"); + } + break; + } + case RS2_FORMAT_COMBINED_MOTION: + { + auto & motion = *reinterpret_cast< const rs2_combined_motion * >( frame.get_data() ); + draw_motion_data( (float)motion.linear_acceleration.x, + (float)motion.linear_acceleration.y, + (float)motion.linear_acceleration.z ); + draw_motion_data( (float)motion.angular_velocity.x, + (float)motion.angular_velocity.y, + (float)motion.angular_velocity.z, + false ); // Don't clear previous draw + break; + } + case RS2_FORMAT_Y16: + case RS2_FORMAT_Y10BPACK: + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_LUMINANCE, GL_UNSIGNED_SHORT, data); + break; + case RS2_FORMAT_RAW8: + case RS2_FORMAT_MOTION_RAW: + case RS2_FORMAT_GPIO_RAW: + glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, width, height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, data); + break; + case RS2_FORMAT_6DOF: + { + if (auto pose = frame.as()) + { + rs2_pose pose_data = pose.get_pose_data(); + draw_pose_data(pose_data, frame.get_profile().unique_id()); + } + else + { + throw std::runtime_error("Not expecting a frame with 6DOF format that is not a pose_frame"); + } + break; + } + //case RS2_FORMAT_RAW10: + //{ + // // Visualize Raw10 by performing a naive down sample. Each 2x2 block contains one red pixel, two green pixels, and one blue pixel, so combine them into a single RGB triple. + // rgb.clear(); rgb.resize(width / 2 * height / 2 * 3); + // auto out = rgb.data(); auto in0 = reinterpret_cast(data), in1 = in0 + width * 5 / 4; + // for (auto y = 0; y RGB RGB + // *out++ = in0[2]; *out++ = (in0[3] + in1[2]) / 2; *out++ = in1[3]; // GBGB + // in0 += 5; in1 += 5; + // } + // in0 = in1; in1 += width * 5 / 4; + // } + // glPixelStorei(GL_UNPACK_ROW_LENGTH, width / 2); // Update row stride to reflect post-downsampling dimensions of the target texture + // glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width / 2, height / 2, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb.data()); + //} + //break; + default: + { + memset((void*)data, 0, height*width); + glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, width, height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, data); + } + } + + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + } + + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); + glBindTexture(GL_TEXTURE_2D, 0); + + last_queue[1].enqueue(rendered_frame); + } + + static void draw_axes(float axis_size = 1.f, float axisWidth = 4.f) + { + + // Triangles For X axis + glBegin(GL_TRIANGLES); + glColor3f(1.0f, 0.0f, 0.0f); + glVertex3f(axis_size * 1.1f, 0.f, 0.f); + glVertex3f(axis_size, -axis_size * 0.05f, 0.f); + glVertex3f(axis_size, axis_size * 0.05f, 0.f); + glVertex3f(axis_size * 1.1f, 0.f, 0.f); + glVertex3f(axis_size, 0.f, -axis_size * 0.05f); + glVertex3f(axis_size, 0.f, axis_size * 0.05f); + glEnd(); + + // Triangles For Y axis + glBegin(GL_TRIANGLES); + glColor3f(0.f, 1.f, 0.f); + glVertex3f(0.f, axis_size * 1.1f, 0.0f); + glVertex3f(0.f, axis_size, 0.05f * axis_size); + glVertex3f(0.f, axis_size, -0.05f * axis_size); + glVertex3f(0.f, axis_size * 1.1f, 0.0f); + glVertex3f( 0.05f * axis_size, axis_size, 0.f); + glVertex3f(-0.05f * axis_size, axis_size, 0.f); + glEnd(); + + // Triangles For Z axis + glBegin(GL_TRIANGLES); + glColor3f(0.0f, 0.0f, 1.0f); + glVertex3f(0.0f, 0.0f, 1.1f * axis_size); + glVertex3f(0.0f, 0.05f * axis_size, 1.0f * axis_size); + glVertex3f(0.0f, -0.05f * axis_size, 1.0f * axis_size); + glVertex3f(0.0f, 0.0f, 1.1f * axis_size); + glVertex3f(0.05f * axis_size, 0.f, 1.0f * axis_size); + glVertex3f(-0.05f * axis_size, 0.f, 1.0f * axis_size); + glEnd(); + + glLineWidth(axisWidth); + + // Drawing Axis + glBegin(GL_LINES); + // X axis - Red + glColor3f(1.0f, 0.0f, 0.0f); + glVertex3f(0.0f, 0.0f, 0.0f); + glVertex3f(axis_size, 0.0f, 0.0f); + + // Y axis - Green + glColor3f(0.0f, 1.0f, 0.0f); + glVertex3f(0.0f, 0.0f, 0.0f); + glVertex3f(0.0f, axis_size, 0.0f); + + // Z axis - Blue + glColor3f(0.0f, 0.0f, 1.0f); + glVertex3f(0.0f, 0.0f, 0.0f); + glVertex3f(0.0f, 0.0f, axis_size); + glEnd(); + } + + // intensity is grey intensity + static void draw_circle(float xx, float xy, float xz, float yx, float yy, float yz, float radius = 1.1, float3 center = { 0.0, 0.0, 0.0 }, float intensity = 0.5f) + { + const auto N = 50; + glColor3f(intensity, intensity, intensity); + glLineWidth(2); + glBegin(GL_LINE_STRIP); + + for (int i = 0; i <= N; i++) + { + const double theta = (2 * M_PI / N) * i; + const auto cost = static_cast(cos(theta)); + const auto sint = static_cast(sin(theta)); + glVertex3f( + center.x + radius * (xx * cost + yx * sint), + center.y + radius * (xy * cost + yy * sint), + center.z + radius * (xz * cost + yz * sint) + ); + } + + glEnd(); + } + + void multiply_vector_by_matrix(GLfloat vec[], GLfloat mat[], GLfloat* result) + { + const auto N = 4; + for (int i = 0; i < N; i++) + { + result[i] = 0; + for (int j = 0; j < N; j++) + { + result[i] += vec[j] * mat[N*j + i]; + } + } + return; + } + + float2 xyz_to_xy(float x, float y, float z, GLfloat model[], GLfloat proj[], float vec_norm) + { + GLfloat vec[4] = { x, y, z, 0 }; + float tmp_result[4]; + float result[4]; + + const auto canvas_size = 230; + + multiply_vector_by_matrix(vec, model, tmp_result); + multiply_vector_by_matrix(tmp_result, proj, result); + + return{ canvas_size * vec_norm *result[0], canvas_size * vec_norm *result[1] }; + } + + void print_text_in_3d(float x, float y, float z, const char* text, bool center_text, GLfloat model[], GLfloat proj[], float vec_norm) + { + auto xy = xyz_to_xy(x, y, z, model, proj, vec_norm); + auto w = (center_text) ? stb_easy_font_width((char*)text) : 0; + glColor3f(1.0f, 1.0f, 1.0f); + draw_text((int)(xy.x - w / 2), (int)xy.y, text); + } + + void draw_motion_data(float x, float y, float z, bool clear=true) + { + glMatrixMode(GL_PROJECTION); + glPushMatrix(); + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + + glViewport(0, 0, 768, 768); + glClearColor(0, 0, 0, 1); + if( clear ) + glClear(GL_COLOR_BUFFER_BIT); + + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + + glOrtho(-2.8, 2.8, -2.4, 2.4, -7, 7); + + glRotatef(25, 1.0f, 0.0f, 0.0f); + + glTranslatef(0, -0.33f, -1.f); + + float norm = std::sqrt(x*x + y*y + z*z); + + glRotatef(-135, 0.0f, 1.0f, 0.0f); + + if( clear ) + { + draw_axes(); + + draw_circle( 1, 0, 0, 0, 1, 0 ); + draw_circle( 0, 1, 0, 0, 0, 1 ); + draw_circle( 1, 0, 0, 0, 0, 1 ); + } + + const auto canvas_size = 230; + const auto vec_threshold = 0.2f; + if (norm < vec_threshold) + { + const auto radius = 0.05; + static const int circle_points = 100; + static const float angle = 2.0f * 3.1416f / circle_points; + + glColor3f(1.0f, 1.0f, 1.0f); + glBegin(GL_POLYGON); + double angle1 = 0.0; + glVertex2d(radius * cos(0.0), radius * sin(0.0)); + int i; + for (i = 0; i < circle_points; i++) + { + glVertex2d(radius * cos(angle1), radius *sin(angle1)); + angle1 += angle; + } + glEnd(); + } + else + { + auto vectorWidth = 5.f; + glLineWidth(vectorWidth); + glBegin(GL_LINES); + glColor3f(1.0f, 1.0f, 1.0f); + glVertex3f(0.0f, 0.0f, 0.0f); + glVertex3f(x / norm, y / norm, z / norm); + glEnd(); + + // Save model and projection matrix for later + GLfloat model[16]; + glGetFloatv(GL_MODELVIEW_MATRIX, model); + GLfloat proj[16]; + glGetFloatv(GL_PROJECTION_MATRIX, proj); + + glLoadIdentity(); + glOrtho(-canvas_size, canvas_size, -canvas_size, canvas_size, -1, +1); + + std::ostringstream s1; + const auto precision = 3; + + s1 << std::setprecision(precision) << norm; + print_text_in_3d(x / 2, y / 2, z / 2, s1.str().c_str(), true, model, proj, 1 / norm); + } + + glCopyTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 0, 0, 768, 768, 0); + + glMatrixMode(GL_MODELVIEW); + glPopMatrix(); + glMatrixMode(GL_PROJECTION); + glPopMatrix(); + } + + + void draw_grid(float step) + { + glLineWidth(1); + glBegin(GL_LINES); + glColor4f(0.1f, 0.1f, 0.1f, 0.8f); + + for (float x = -1.5; x < 1.5; x += step) + { + for (float y = -1.5; y < 1.5; y += step) + { + glVertex3f(x, y, 0); + glVertex3f(x + step, y, 0); + glVertex3f(x + step, y, 0); + glVertex3f(x + step, y + step, 0); + } + } + glEnd(); + } + + void draw_pose_data(const rs2_pose& pose, int id) + { + //TODO: use id if required to keep track of some state + glMatrixMode(GL_PROJECTION); + glPushMatrix(); + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + + glViewport(0, 0, 1024, 1024); + + glClearColor(0, 0, 0, 1); + glClear(GL_COLOR_BUFFER_BIT); + + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + + draw_grid(1.f); + draw_axes(0.3f, 2.f); + + // Drawing pose: + matrix4 pose_trans = pose_to_world_transformation(pose); + float model[16]; + pose_trans.to_column_major(model); + + // set the pose transformation as the model matrix to draw the axis + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + glLoadMatrixf(model); + + draw_axes(0.3f, 2.f); + + // remove model matrix from the rest of the render + glPopMatrix(); + + glCopyTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, 0, 0, 1024, 1024, 0); + + glMatrixMode(GL_MODELVIEW); + glPopMatrix(); + glMatrixMode(GL_PROJECTION); + glPopMatrix(); + } + + bool try_pick(int x, int y, float* result) + { + auto image = get_last_frame().as(); + if (!image) return false; + + auto format = image.get_profile().format(); + switch (format) + { + case RS2_FORMAT_Z16: + case RS2_FORMAT_Y16: + case RS2_FORMAT_DISPARITY16: + { + auto ptr = (const uint16_t*)image.get_data(); + *result = ptr[y * (image.get_stride_in_bytes() / sizeof(uint16_t)) + x]; + return true; + } + case RS2_FORMAT_DISPARITY32: + { + auto ptr = (const float*)image.get_data(); + *result = ptr[y * (image.get_stride_in_bytes() / sizeof(float)) + x]; + return true; + } + case RS2_FORMAT_RAW8: + case RS2_FORMAT_Y8: + { + auto ptr = (const uint8_t*)image.get_data(); + *result = ptr[y * image.get_stride_in_bytes() + x]; + return true; + } + default: + return false; + } + } + + void draw_texture(const rect& s, const rect& t) const + { + glBegin(GL_QUAD_STRIP); + { + glTexCoord2f(s.x, s.y + s.h); glVertex2f(t.x, t.y + t.h); + glTexCoord2f(s.x, s.y); glVertex2f(t.x, t.y); + glTexCoord2f(s.x + s.w, s.y + s.h); glVertex2f(t.x + t.w, t.y + t.h); + glTexCoord2f(s.x + s.w, s.y); glVertex2f(t.x + t.w, t.y); + } + glEnd(); + } + + void show(const rect& r, float alpha, const rect& normalized_zoom = rect{0, 0, 1, 1}) const + { + glEnable(GL_BLEND); + + glBlendFunc(GL_ONE_MINUS_SRC_ALPHA, GL_SRC_ALPHA); + glBegin(GL_QUADS); + glColor4f(1.0f, 1.0f, 1.0f, 1 - alpha); + glEnd(); + + glBindTexture(GL_TEXTURE_2D, get_gl_handle()); + + glEnable(GL_TEXTURE_2D); + draw_texture(normalized_zoom, r); + + glDisable(GL_TEXTURE_2D); + glBindTexture(GL_TEXTURE_2D, 0); + + glDisable(GL_BLEND); + } + + void show_preview(const rect& r, const rect& normalized_zoom = rect{0, 0, 1, 1}) + { + glBindTexture(GL_TEXTURE_2D, get_gl_handle()); + + glEnable(GL_TEXTURE_2D); + + // Show stream thumbnail + static const rect unit_square_coordinates{0, 0, 1, 1}; + static const float2 thumbnail_size = {141, 141}; + static const float2 thumbnail_margin = { 10, 27 }; + rect thumbnail{r.x + r.w, r.y + r.h, thumbnail_size.x, thumbnail_size.y }; + thumbnail = thumbnail.adjust_ratio({r.w, r.h}).enclose_in(r.shrink_by(thumbnail_margin)); + rect zoomed_rect = normalized_zoom.unnormalize(r); + + if (r != zoomed_rect) + { + draw_texture(unit_square_coordinates, thumbnail); + + // Draw thumbnail border + static const auto top_line_offset = 0.5f; + static const auto right_line_offset = top_line_offset / 2; + glColor3f(0.0, 0.0, 0.0); + glBegin(GL_LINE_LOOP); + glVertex2f(thumbnail.x - top_line_offset, thumbnail.y - top_line_offset); + glVertex2f(thumbnail.x + thumbnail.w + right_line_offset / 2, thumbnail.y - top_line_offset); + glVertex2f(thumbnail.x + thumbnail.w + right_line_offset / 2, thumbnail.y + thumbnail.h + top_line_offset); + glVertex2f(thumbnail.x - top_line_offset, thumbnail.y + thumbnail.h + top_line_offset); + glEnd(); + + curr_preview_rect = thumbnail; + zoom_preview = true; + } + else + { + zoom_preview = false; + } + + glDisable(GL_TEXTURE_2D); + glBindTexture(GL_TEXTURE_2D, 0); + + if (r != zoomed_rect) + { + // Draw ROI + auto normalized_thumbnail_roi = normalized_zoom.unnormalize(thumbnail); + glLineWidth(1); + glBegin(GL_LINE_STRIP); + glColor4f(1,1,1,1); + glVertex2f(normalized_thumbnail_roi.x, normalized_thumbnail_roi.y); + glVertex2f(normalized_thumbnail_roi.x, normalized_thumbnail_roi.y + normalized_thumbnail_roi.h); + glVertex2f(normalized_thumbnail_roi.x + normalized_thumbnail_roi.w, normalized_thumbnail_roi.y + normalized_thumbnail_roi.h); + glVertex2f(normalized_thumbnail_roi.x + normalized_thumbnail_roi.w, normalized_thumbnail_roi.y); + glVertex2f(normalized_thumbnail_roi.x, normalized_thumbnail_roi.y); + glEnd(); + } + } + }; + + inline bool is_integer(float f) + { + return (fabs(fmod(f, 1)) < std::numeric_limits::min()); + } + + inline std::string error_to_string(const error& e) + { + return rsutils::string::from() << rs2_exception_type_to_string(e.get_type()) + << " in " << e.get_failed_function() << "(" + << e.get_failed_args() << "):\n" << e.what(); + } + + inline std::string api_version_to_string(int version) + { + if( version / 10000 == 0 ) + return rsutils::string::from() << version; + return rsutils::string::from() << ( version / 10000 ) << "." << ( version % 10000 ) / 100 << "." + << ( version % 100 ); + } + + // Comparing parameter against a range of values of the same type + // https://stackoverflow.com/questions/15181579/c-most-efficient-way-to-compare-a-variable-to-multiple-values + template + bool val_in_range(const T& val, const std::initializer_list& list) + { + for (const auto& i : list) { + if (val == i) { + return true; + } + } + return false; + } + + inline bool is_rasterizeable(rs2_format format) + { + // Check whether the produced + switch (format) + { + case RS2_FORMAT_ANY: + case RS2_FORMAT_XYZ32F: + case RS2_FORMAT_MOTION_RAW: + case RS2_FORMAT_MOTION_XYZ32F: + case RS2_FORMAT_GPIO_RAW: + case RS2_FORMAT_6DOF: + return false; + default: + return true; + } + } + + inline float to_rad(float deg) + { + return static_cast(deg * (M_PI / 180.f)); + } + + // Single-Wave - helper function that smoothly goes from 0 to 1 between 0 and 0.5, + // and then smoothly returns from 1 to 0 between 0.5 and 1.0, and stays 0 anytime after + // Useful to animate variable on and off based on last time something happened + inline float single_wave(float x) + { + auto c = clamp(x, 0.f, 1.f); + return 0.5f * (sinf(2.f * float(M_PI) * c - float(M_PI_2)) + 1.f); + } + + // convert 3d points into 2d viewport coordinates + inline float2 translate_3d_to_2d(float3 point, matrix4 p, matrix4 v, matrix4 f, int32_t vp[4]) + { + // + // retrieve model view and projection matrix + // + // RS2_GL_MATRIX_CAMERA contains the model view matrix + // RS2_GL_MATRIX_TRANSFORMATION is identity matrix + // RS2_GL_MATRIX_PROJECTION is the projection matrix + // + // internal representation is in column major order, i.e., 13th, 14th, and 15th elelments + // of the 16 element model view matrix represents translations + // float mat[16] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 }; + // + // 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 + // + // when use matrix4 in glUniformMatrix4fv, transpose option is GL_FALSE so data is passed into + // shader as column major order + // + // rs2::matrix4 p = get_matrix(RS2_GL_MATRIX_PROJECTION); + // rs2::matrix4 v = get_matrix(RS2_GL_MATRIX_CAMERA); + // rs2::matrix4 f = get_matrix(RS2_GL_MATRIX_TRANSFORMATION); + + // matrix * operation in column major, transpose matrix + // 0 4 8 12 + // 1 5 9 13 + // 2 6 10 14 + // 3 7 11 15 + // + matrix4 vc; + matrix4 pc; + matrix4 fc; + + for (int i = 0; i < 4; i++) + { + for (int j = 0; j < 4; j++) + { + pc(i, j) = p(j, i); + vc(i, j) = v(j, i); + fc(i, j) = f(j, i); + } + } + + // obtain the final transformation matrix + auto mvp = pc * vc * fc; + + // test - origin (0, 0, -1.0, 1) should be translated into (0, 0, 0, 0) at this point + //float4 origin{ 0.f, 0.f, -1.f, 1.f }; + + // translate 3d vertex into 2d windows coordinates + float4 p3d; + p3d.x = point.x; + p3d.y = point.y; + p3d.z = point.z; + p3d.w = 1.0; + + // transform from object coordinates into clip coordinates + float4 p2d = mvp * p3d; + + // clip to [-w, w] and normalize + if (abs(p2d.w) > 0.0) + { + p2d.x /= p2d.w; + p2d.y /= p2d.w; + p2d.z /= p2d.w; + p2d.w /= p2d.w; + } + + p2d.x = clamp(p2d.x, -1.0, 1.0); + p2d.y = clamp(p2d.y, -1.0, 1.0); + p2d.z = clamp(p2d.z, -1.0, 1.0); + + // viewport coordinates + float x_vp = round((p2d.x + 1.f) / 2.f * vp[2]) + vp[0]; + float y_vp = round((p2d.y + 1.f) / 2.f * vp[3]) + vp[1]; + + float2 p_w; + p_w.x = x_vp; + p_w.y = y_vp; + + return p_w; + } +} diff --git a/librealsense/common/res/d415.h b/librealsense/common/res/d415.h new file mode 100644 index 0000000..f10cd6d --- /dev/null +++ b/librealsense/common/res/d415.h @@ -0,0 +1,23 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from d415.obj using rs-embed tool version: 0.0.0.2 +// Generation time: 03/14/2024 11:16:12. + +#pragma once +static uint32_t d415_obj_data [] { 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deec110,0x587ac102,0xb1c3c201,0xa42c110,0x654dc107,0x4001c21b,0xd70ac10d,0xc12f,0x8e61c204,0xf5000c0e,0xc75b808,0x57d70ac1,0x478f28c1,0x149d40,0xe8c8dac1,0xfac785c0,0x24f500fc,0x41fce690,0xc110f791,0xc101d653,0xc05bbd4c,0xc0f12d70,0xc0c651b4,0x41e30c81,0xc110fca0,0xc10175cb,0xc06706ab,0xc0faaa7d,0xc0cb5520,0xe4f343d3,0xc7873500,0x350048e2,0x9cc8988e,0x9400f500,0x2d41cca1,0x4fc10ca8,0x69c15414,0x138d45b,0x16e154f5,0x384bc108,0x5658410d,0x492ac149,0x68e9c117,0xb6bd410d,0x5aadc145,0x3be5c169,0xd35c4110,0x8cf5c10f,0x6c82c178,0x33c24110,0xa8c4c10c,0xdc72c1ae,0x2efd410c,0x5e6cc150,0xa82dc183,0x144f410c,0xf380c154,0xfca0c184,0x75cb4110,0x4277c101,0xc36cc188,0xc63410c,0xad57c152,0xf500488c,0x501ee900,0x10e161c1,0x37db741,0xaba495c1,0xf535006c,0x60488c,0x6816e135,0x7b350090,0x189446,0x980f7435,0x5735003c,0x9ca4ad,0x3bf300f5,0xc3cec1a9,0xc30c4110,0xf380c105,0x3500849c,0x9cb35e6c,0xcf500,0x8cc1a800,0xc041120a,0xf8c0daae,0xac1c5a0,0xd7410cf3,0xc4c14e7f,0xccdea8,0x6084ef35,0x2cf400b4,0xc1cdd57f,0x410cabb6,0xc153d0d4,0xc22e0f31,0x40de435f,0xc12fd70a,0xc22a79a7,0x40f856f5,0xc10acccd,0xc2255579,0xc10433ea,0xc12fd70a,0xc23ba44c,0x3fcbbb61,0x302fd70a,0x18c01400,0xbb72b500,0xd70abfcb,0xf37fc12f,0xf1009cfc,0xd4941c,0x10c85cc2,0x55b1d41,0xecb179c1,0x103b0ac1,0xfe3b041,0x5930ebc1,0xca522c1,0x544e6841,0xe0da7ac1,0x1367e9c1,0xf500b4,0xc1d4bc2e,0x410d66c9,0xc145df47,0xa8e84277,0x2c00f500,0x9ec1c592,0x464110ae,0x6cc10746,0xf0e35e,0xec0b7135,0x1f40144,0xc1d441b2,0x41105e71,0xc10d4023,0xc200213c,0x24f500e4,0xc1e37c33,0x4111e25a,0xc0e959ba,0xc1e94095,0x4110cc8a,0xc1050b50,0x41f00000,0x4114cded,0xc0eb851f,0x41e969a7,0x41126405,0xc1053e87,0x18b80001,0x5e31f400,0x9dc1df82,0xaf411396,0x43c1042e,0x47c1b5ef,0x1f41142a,0x7fc101f5,0x62c1af79,0x8941140b,0x32c10442,0xf1c1cb07,0xd41142f,0x54c10189,0xd41f124,0x8f4112d1,0xc105c2,0x60c1e000,0xb5ab400,0x9790c23d,0xcccd95c8,0xb2015c0a,0xacccdc0,0xb6d68bc1,0xfc077541,0x9030f100,0x3fbb7c,0xbec00000,0x82c14a92,0x3540a0ee,0x37c10d00,0xedc18409,0xfa40365e,0x3dc10a75,0xedc16b0a,0xbf4118,0x5cc00000,0xafc14ee2,0xe03ff87b,0x6c11830,0xa9c0c930,0x18660a,0xd4a314f1,0x9ed5c143,0x4085,0x999ac120,0x9c28c179,0xc03c,0xcd76c000,0x5ee9c12f,0x198c036,0x31004801,0x30d8ac20,0xd804f100,0xfcc13c7d,0x19c09dcd,0x48c11fb0,0x6bc17e10,0x30483f,0xd76504f1,0x152bc117,0xdab53f41,0x57adc117,0x9acec0bc,0x8400180f,0xc10b13de,0xc0a0ee82,0x1cf1009c,0x35080ee0,0xc0000000,0xc0d6fb14,0x3e9c63ed,0xc0000000,0xc1462b77,0x4005c39f,0xc0000000,0xc0f05885,0xc2320be8,0x4cc83f55,0x600202,0xc12806f1,0xc117d765,0x408182c7,0xc11ae2c4,0xc11803ee,0xfcf2ca1f,0x7c0df400,0x9ec138ce,0x40454b,0x45c12800,0x97c111c3,0x3fe6dc,0x8fc12800,0xcc0e839,0xba438400,0xdc8fc147,0xcbfe6,0x4118fe31,0x11f40024,0xc14ee25c,0x3fd90312,0xc1380000,0xc1519aee,0x4067c863,0xc1380000,0xc124f4b4,0xbfd90309,0xb4020018,0xc138d100,0xc1584a91,0xc237c098,0x8c89d02d,0x2818f501,0x7d414483,0x853cd6e4,0x20c0b1eb,0xe83fd8ac,0xd8991687,0x7ec13c7d,0xd540222e,0x85191271,0xd5c11deb,0x243b7c,0x9ace00f1,0xf8c6400f,0x13de9826,0xd8a8c10b,0xf500c097,0xf382a10c,0x3ac345c0,0x85a63041,0xbef61abe,0x660abbc0,0xf458143f,0xf004ce18,0x10f10120,0xc0eb5726,0x413d08bd,0xbeb4d4ed,0xc0b56f67,0xbfd8ac20,0x19a8f103,0xc0feb266,0x981c6404,0xfb0df401,0xc9c0ec86,0x9f4141da,0x76bea73c,0xcc0b3ad,0xea4142e8,0x1a3ec120,0xf0c0bef6,0xe95b7500,0x17f4c0d9,0x4400183d,0xc00f9ace,0x10f10090,0xbff6bbfe,0xc11831fb,0xc0c95a40,0x414642e5,0x3e4e9378,0xc0c6b20b,0xc0859ed3,0x1c380000,0x2280202,0xf1000c02,0x3e550c00,0xda2bf541,0xc9625dbe,0x804216c0,0x31310138,0x5b81515,0xe6666b1,0xe8c8dac1,0x752c39c0,0x1cf1015c,0xc0be0c99,0x4233c323,0xc0b65939,0xc0eb690a,0xbef8b4dd,0xc1380000,0xc0ba5eab,0x423af658,0x197f0905,0xc11ecccd,0x6c5382fe,0x204f100,0x90c0f127,0x5c423403,0x8fc0aeba,0x8ac105c2,0x184027,0x85ce04f1,0x8fb2c0f9,0x4a054087,0x278ec118,0xc863c100,0xf5001867,0x16e25600,0x911209c1,0x1a7c2b40,0x157546c1,0x1f401d4,0xc0d47836,0x403eb168,0xc116d112,0xc0ca48bd,0x2cf10204,0xc0e8398f,0x4139bee3,0x3e4e57af,0xc0c6ae3b,0xc018c199,0x96096320,0xc12c6738,0xb4f9aed8,0x3fc4541e,0xc11deb85,0xbf97d8a7,0x999d272a,0xc14215b9,0xbf9f46d8,0x1844541e,0xfa00f100,0x1e3f0dc4,0xb93f4454,0xadc13051,0xc7f75,0xa71535f4,0xf930c12a,0xf7c4c04b,0x2d73c116,0x833ec0d0,0xa235c08d,0xebfdc118,0x35d9c107,0x6b61c012,0xce67c116,0x2a57c0ba,0xed3bbe0e,0x9a2cc115,0xe3a3c0a7,0xe7d1413a,0x6f673e7f,0xcdfdc0b5,0x5a0c0f3,0xd665c944,0xf5080440,0x2fe11600,0x10e16141,0x37db7c1,0x8c5b6cc1,0x3b35069c,0x7988957,0x76a55435,0x19f407e0,0x4093a26d,0xc110085e,0xc113aa89,0x3fccbfde,0xc10e9dcf,0xc0b06d9b,0x40953e9f,0xc118fc6c,0xc119fd17,0x409be050,0xcf50768,0x408259cd,0xc1115e14,0xc0f4649c,0x411cadb1,0xc110c85c,0xc1055b1d,0x14294329,0x4aa64407,0x84040cd,0xd4f301f4,0xb889c121,0xdc2c410c,0xa311c152,0x6f0c0da,0xdef62144,0x44054040,0x40f2864e,0xee3506fc,0x5940084,0xce925344,0x350744c0,0x285e2b0e,0x8219f408,0x54168d4,0xd3c1103e,0x18c10faa,0xc3417a9e,0x42c110b1,0x2c1070a,0xb6415455,0xd4c10cab,0xc153d0,0xe040ec32,0x1d01f407,0x4b4117e9,0x58c10d38,0xe6c14956,0x2c414b32,0x5b634401,0xc040d9,0x5c241df4,0x49594138,0x952d3aab,0x9acec0ca,0x50ee400f,0xc32c19a7,0xdd1ec130,0x3fd5413d,0xeb85be82,0xffffc0b1,0x3fd5413f,0x3c03e82,0xb1035404,0x4139aa1e,0xbd44eebf,0x90b56f67,0xb7a17503,0xd4a3192a,0x31047443,0x2803088f,0x4a00f102,0x52985d50,0x1c0ea27,0x41414000,0x3c0d65b,0x1d780e31,0x838404c8,0xa9c11437,0xccbf660a,0x3cb93503,0x7103e445,0x41454095,0xcc68068e,0x300403,0x279f8771,0xb84263c1,0x8f103cc,0xc0f91a83,0xbf4118ed,0xc1280000,0xc0d9e95b,0x4145d163,0x28194e55,0x17102,0x39694140,0x44000ccc,0xc0365ee9,0xf105e8,0x3ec3f1d6,0xc0000000,0xc1505980,0x842602d7,0x913a3100,0x4060c3a,0x9b3105c4,0x59405c3,0x43aac842,0x203d8c1,0x673105f4,0x30483f,0x23ffa5b1,0xa0e136c1,0x1e98e840,0xc4040648,0x2c04f105,0xa2c130c3,0x35404366,0xf9c118f8,0xd3c0e6e6,0x482602,0x45d004f1,0xd0adc101,0xf424409b,0x4331c11f,0x2e7ec17a,0xf1001822,0x1deb8504,0x715e91c1,0x19ebc940,0x59b42c1,0xbb7c87c1,0x5f400d8,0xc0e28899,0x3f901c88,0xc0000000,0xc0dcd7a3,0xc0a0e136,0x1004006c,0xb901f305,0xc14215,0x73c1a800,0xef411495,0x70c0e319,0x60c0105,0x3c9c2cc2,0x40,0xc0994c0,0xf10084c1,0xd0c12812,0x17c10145,0x51bff2ca,0x7c997b8f,0xcc138ce,0x55be9c64,0x7719fafd,0x63c1462b,0x3b4469d,0xe5aa371,0xdc50ac1,0xb971000c,0xbdc13051,0xc7f75,0x2aa71571,0x9f46d1c1,0x857103c0,0x64c11deb,0xc469d,0x5aa31df4,0xc646c10e,0xadbfc079,0xe1c6c117,0xc4f7c0eb,0x10c8bf9f,0x392c116,0x887ec0ad,0x2cf3f7a,0xe2b2c116,0xf8cdc0aa,0x7c841e4,0xf0303f2,0x51a41d1,0xba7e4114,0x1637c104,0x5d1ac1ba,0xf507d4,0x41c728ab,0x41133eee,0xc10436a6,0x30ccf8ce,0x7100,0xf743c1a8,0x44002413,0xc1c6f0fd,0xab35003c,0x30df28,0xb87da144,0x44084c41,0xc1d0d754,0xa8c30048,0xa4c22194,0xcdc10b52,0x2cc10acc,0x6900107,0x222e7e44,0xc30678c0,0xc04006a4,0xc118e8f1,0xc0e4a041,0x6f405ac,0xc9625d3e,0x775d64c0,0x1a47e6c0,0xc78e6c1,0x804216c1,0xf105b8c0,0x478e2500,0x2b495941,0xca6aba3b,0x657216c0,0x4f105d0,0xc0fdd973,0x413ac996,0xbeaa2103,0xc0ca5384,0x182a247c,0xe004f100,0xb7c0da3d,0x6a4231ee,0xd4c0cbfa,0x8dc0eb84,0x72cee34,0xe0da00f5,0xf419c0c8,0xd52d4231,0xc29ec0c8,0xf5074405,0xd4783600,0x933688c0,0x1a1127c0,0x183a79c1,0x4f10750,0xc0c718f2,0x408ff1bb,0xc118ac08,0xc10b0475,0x905a4ff8,0x6601f200,0x16c1329e,0xfbf48d7,0x4c117db,0xd0c0bc65,0x1ec0202,0x5302ac02,0xffa5c128,0x2102e823,0x2e8c128,0x35033003,0x1c4ee25c,0x3a1cf102,0x11c13a91,0xbf406fb6,0x5cc1177d,0x65c0e492,0x4140027c,0x9dc11650,0x9ec0b6ac,0xc0454b,0xc5c12800,0x8fc12a13,0xd84027,0x3f142471,0x5a4ff8c1,0xa471000c,0xbac10938,0x90300c,0x44e95f71,0x300cbac1,0x4f50018,0xc0eddb55,0xc1ab8fb0,0x411035fb,0xc1104420,0x68ad922c,0xb71350a,0x440a5cbc,0xc1c3a496,0x284504ec,0xd4c1a1a9,0xc8ea250a,0xf50540,0xc1d2668e,0x410cef2e,0xc14ec977,0x28b84277,0x51873505,0x370b7c7d,0xbc9b5e6c,0x60a4150a,0x42773500,0x350030a0,0x3c800f74,0x524f350c,0x35006c63,0x308c0b71,0xa9283500,0x35001889,0x9c93a495,0xa8c43500,0x44006c96,0xc159e6ff,0x4f350684,0x303352,0x395aad35,0x2b350c54,0x3c7749,0xc38fb035,0xb2350108,0xb4cbc41,0xf6a8c435,0x95370054,0x30f3a4,0x30db15,0xdd922b35,0x6c350138,0xe4fb5e,0x205b844,0xf40d74c2,0xe3b08420,0x1138f3c1,0x141cb41,0xf395bec1,0x103e05c1,0xfaad341,0xf5eb5ec1,0x10b5a0c1,0x6c0a341,0xf93f63c1,0x10f283c1,0x236da41,0x41850318,0xc10acccd,0x78dba495,0xda137100,0x1861c236,0x30ca88c,0x41440c9c,0x882fd70a,0xc010e,0x82510df4,0xf675c23c,0xd70aa641,0xda13c12f,0x185fc236,0xd70ac08c,0x56abc12f,0xda4c202,0x1b41ef35,0x14030d20,0x5c419407,0xd2c10fd3,0x80c0e03d,0xbd893501,0x440f48c7,0xc0d119ed,0xf50e1c,0x41ba5f07,0xc10cf30a,0xc14e7fd7,0x9c47492a,0x52a94400,0x75c4193,0x87f08b35,0x5b3507ec,0xcd83978,0x954f0d35,0x7d350714,0x108172b,0x8bb98535,0xad440ffc,0xa8c1095a,0xd6bc3500,0x3501201b,0x44b22a81,0x524f3507,0xf401d403,0x29cd1c01,0x10f79141,0x1d65341,0x8d483c1,0x35015c41,0xe02baafd,0xcd1b350d,0x3502a034,0xfc4b41f0,0xd4f23500,0x4402c451,0x414cadb1,0x1f40db0,0x40d53c32,0x4110b1c3,0xc1070a42,0x41342942,0x1f401a4,0x40e26239,0x4110ec45,0xc102adee,0xc0ed79b0,0x8535081c,0xc0bbb9,0xc352a835,0xd3440108,0x8041db43,0x52ab3510,0xf50018ab,0x9d83930c,0x10f91741,0x1b946c1,0xa214a2c1,0x10b5a041,0x6c0a3c1,0xae56d9c1,0x3b4408b8,0xb440cfd2,0xa553440f,0x1144116,0x4294335,0x4cc30090,0x1740f60e,0x464110f9,0xf4c101b9,0xc00108,0x2ae7844,0x3508d041,0x60e9573a,0x52aa3509,0x30084db,0x41440918,0x3454144f,0x63418511,0xa8c1520c,0x24f352,0x9408a003,0x49565841,0xb30c7fc1,0x308b841,0x44011194,0x5b6b3510,0x4409ccbc,0x415618ff,0xd8350378,0xccf656,0x38d48335,0xb0350198,0x1687cad,0x2db600f5,0x68e94202,0xb6bdc10d,0xa554c145,0x4400e446,0x415d8138,0xd003030c,0x63c1850e,0x44c1520c,0xfc6429,0x1096c03,0xa8030348,0x11dc0103,0x440a4403,0xfd35c41,0x41441218,0xc045df47,0x6c0103,0x1126003,0x724400c0,0xdcc1ff67,0x432a4411,0x1d44159,0x80988f44,0x3001841,0x5f5123c,0x502efd41,0x51daf0c1,0xcb24b41,0x53534041,0xa46a41c1,0xcb4400d8,0x6c41b483,0x4e87440f,0xff041ab,0x62ae7735,0xec03018c,0x3f00101,0x9ce68e35,0x114402b8,0x74417f7b,0xa195350a,0x44008484,0x4168b6d6,0x1e44057c,0x104177e9,0x6a433502,0x300788c,0xf0010378,0x56d93500,0x3020496,0x41850a50,0xc14ec977,0x6c84e68f,0x14a23500,0x301448a,0xf80103e4,0x573b3501,0x7100a8b9,0x41f14ed6,0x9812ec11,0x12540310,0x4f4101f4,0xf5c15414,0xab41ec26,0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+#include +#include +inline void uncompress_d415_obj(std::vector& vertex_data, std::vector& normals, std::vector& index_data) +{ + std::vector uncompressed(0x34278, 0); + (void)LZ4_decompress_safe((const char*)d415_obj_data, uncompressed.data(), 0x2f457, 0x34278); + const int vertex_size = 0x21ba * sizeof(float3); + const int index_size = 0x47a0 * sizeof(short3); + vertex_data.resize(0x21ba); + memcpy(vertex_data.data(), uncompressed.data(), vertex_size); + index_data.resize(0x47a0); + memcpy(index_data.data(), uncompressed.data() + vertex_size, index_size); + //normals.resize(0x21ba); + //memcpy(normals.data(), uncompressed.data() + vertex_size + index_size, vertex_size); +} diff --git a/librealsense/common/res/d435.h b/librealsense/common/res/d435.h new file mode 100644 index 0000000..77166fa --- /dev/null +++ b/librealsense/common/res/d435.h @@ -0,0 +1,23 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from d435.obj using rs-embed tool version: 0.0.0.2 +// Generation time: 03/14/2024 11:16:13. + +#pragma once +static uint32_t d435_obj_data [] { 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x8602e1,0x16200ac,0x9500bc,0x450086,0x3620095,0x950362,0x6e00bc,0x2a10045,0x4502a1,0x29a0362,0x2a1006e,0x29a028e,0xb502a1,0x28e029a,0xb502db,0x91028e,0x2db00b5,0x910360,0x2d302db,0x3600091,0x2d30370,0x580360,0x8e02d3,0x2d3008e,0xdc0370,0x1380131,0xdc011d,0x7d0034,0x34011d,0x7d013f,0x1f0009,0x9013f,0x13f014a,0x131001f,0x138014a,0x14a0138,0x29001f,0x29400bd,0xbd0294,0xe2003d,0x39f0029,0x29039f,0x650294,0x2ee00e2,0xe202ee,0x7a039f,0x20065,0x650002,0x12602ee,0x2007a,0x1260300,0x2970002,0x3000126,0x2970261,0xbd0300,0x3d0297,0x297003d,0x1530261,0x39c02b0,0x2b0039c,0x37602af,0x39c0153,0x1530024,0x1240376,0x3760024,0x1240070,0xc903ba,0x26c02b1,0x26c00c9,0xa50390,0x10803a5,0x2f600a5,0xc903a5,0xa80390,0x31902f6,0xa803a5,0x2520390,0x5602f6,0xa80319,0x2d20252,0x25f0056,0x3560319,0x2d20150,0xa80150,0x10302d2,0x356027c,0x3560103,0x2d202d2,0x10300be,0x25202d2,0x36800be,0x8702f6,0x560368,0x5602f6,0xd80368,0xd80056,0xa8025f,0xc90150,0x15000c9,0xc900a7,0x2b100a7,0xa702b1,0x10c010c,0x2b10108,0x10c0108,0x2b100a5,0x26c0108,0x10c00a5,0x1080087,0x26c03a5,0x8700a5,0x36802f6,0xd8014c,0x16d00d8,0x14c025f,0x320004d,0x10a004d,0x3200320,0x26d010a,0x365004a,0x26d011b,0x100012c,0x10a026d,0x100012c,0x1060018,0x12c0100,0x1060018,0x38d0018,0x7c038d,0x38d0064,0x7c0018,0x11b0064,0x640302,0x11b007c,0x11b0302,0x4a0365,0x37011b,0x4a00c4,0xc40356,0x27c0356,0x37004a,0x4a0044,0x3560044,0x440356,0x14c0150,0x4d0368,0x440150,0x1500090,0xa70090,0x9000a7,0xa70057,0x10c0057,0x57010c,0x870087,0x31f0057,0x31f0087,0x3680368,0x4d031f,0x295011b,0x11b016f,0x295007c,0x34d007c,0x11b0295,0x37016f,0x18007c,0x37034d,0x118016f,0x1180037,0x180044,0x34d00ec,0x12c0018,0xec00ec,0x12f012c,0x10a012c,0x12f012f,0x2df010a,0x10a02df,0x2df004d,0xfb004d,0xe0118,0x440044,0x90000e,0x49000e,0x900090,0x570049,0x15e0049,0xfb0057,0x1e031f,0x4d00fb,0x15e031f,0x31f001e,0x31f015e,0xa90057,0x295016f,0x16f0118,0x11800a9,0x400a9,0x118000e,0x410004,0x4000e,0xe0049,0x1370041,0x49015e,0x15e001e,0xd30137,0x137001e,0x1e00fb,0x400d3,0x1260058,0xa90058,0x402d3,0x5800a9,0x40041,0x41011d,0x7d011d,0x7d0041,0x490049,0x137007d,0xdc0004,0x4011d,0xdc0297,0x1260004,0x1370297,0x13f007d,0x13f0137,0xdc00d3,0x1310297,0x2970131,0x13f00bd,0xd300fb,0x14a013f,0x13100fb,0x14a00bd,0x29014a,0x14a00fb,0x2900bd,0x2900fb,0xfb00e2,0x2df0045,0x1740173,0x1730172,0x1740172,0x1760177,0x1760178,0x179017d,0x1790176,0x17d0178,0x175017b,0x17c017d,0x17d0179,0x17c0175,0x17a017b,0x17b0175,0x17a017e,0x1770176,0x1760178,0x1790178,0x179017d,0x176017c,0x17d0179,0x17c017d,0x17b0175,0x17a0175,0x175017d,0x17b017b,0x17e017a,0x1840181,0x181017f,0x182017f,0x1820180,0x1810183,0x1800182,0x1830180,0x1870188,0x1860188,0x1880180,0x1870187,0x1850186,0x1800181,0xd1002482,0x180017f,0x1880187,0x1830180,0xf1002482,0x87018316,0x88018601,0x85018701,0x84018601,0x7f018101,0x8c018b01,0x89018a01,0x8b018c01,0x8c018a01,0x88901,0x18912f1,0x191018d,0x191018f,0x190018d,0x190018e,0x18d018d,0x18e018f,0x1900191,0x168f018f,0x9406f100,0x92019601,0x96019201,0x96019501,0x95019301,0x93019401,0x2ef10014,0x1930195,0x1930192,0x1980194,0x19c019a,0x19a019d,0x1a00198,0x199019a,0x19a0199,0x19f019d,0x19901a0,0x1a00197,0x19b019f,0x198019d,0x19e019b,0x19e019d,0x11000699,0x11001e9f,0xd100349a,0x19c019b,0x19e019a,0x19c019b,0xf100529b,0xffffffff,0x9704ffff,0x9a019f01,0x9e019f01,0xb8020001,0x101de01,0x1b802,0x101ed02,0xf1020002,0x1301ed01,0xf101ff02,0xbb021301,0xff01e201,0xe201ac01,0xe001bb01,0xcf01cb01,0xcb01c901,0x801e001,0xe001c902,0xf601b301,0xf601fb01,0xfb01a901,0xf801e501,0xaf01da01,0xa801fe01,0xfe01d501,0xa701af01,0xae01d501,0xd501ae01,0xf801af01,0xda01b201,0xb201da01,0xb601e801,0xff01a101,0xc501de01,0xde020401,0xc5020701,0x701ab01,0x1401de02,0xcd01dd02,0xdd01f501,0x14021401,0xc201cd02,0xc2021401,0x701cf01,0x1401f502,0xc201cf02,0xcf01b401,0x14020701,0x701c502,0xc101c102,0xcf020701,0xb401cf01,0xe001e001,0xe401b401,0xe401e001,0xc5020801,0x501c101,0x501c502,0xa01a902,0xb6020802,0x801fc01,0xb601e402,0xfc020801,0x501a901,0xb301fb02,0xb6020a01,0xa01fb01,0x501b302,0xfb020a02,0xb601b301,0xde01ff01,0x20401,0x4020002,0xed01ed02,0x13020401,0x4021302,0x1301b302,0xff01b302,0xde01ab01,0xab01ac01,0xe801ac01,0xac01e801,0xe501da01,0xbb01ac01,0xac01da01,0xbb01e501,0xe501ff01,0xff01e501,0xa501a101,0xe801ab01,0xa501b901,0xb901e801,0xa701e801,0xa701b901,0x1501ae01,0xae01b902,0xae021501,0x1501af01,0x901af02,0xaf01f202,0x901a801,0xf201af02,0xe501a801,0xef01a101,0xa101a801,0xa801e901,0xf201ef01,0xe901a801,0xa101d601,0xd601b601,0xa101db01,0xef01db01,0xe01a101,0xe901f202,0xa2021501,0xa201b901,0xb901a501,0xab01ce01,0xce01a501,0xab01f901,0x701f901,0xf901ab02,0x701e101,0xf501e102,0xcd020701,0xc201b401,0xfc01d301,0xfc01e401,0xb601d601,0xd601db01,0xc501b101,0x401b801,0xb801e102,0xe101c501,0xb801de01,0xf901e101,0xdd01de01,0xcd01cf01,0xf501dd01,0xcd01cf01,0xb401cb01,0xcf01cd01,0xf501cb01,0xcf01e101,0xc501e101,0xb401cf01,0xe401c901,0xcb01b401,0xcf01c901,0xa901c501,0xa901cf01,0xe401c101,0xd301c901,0x801c901,0x801d302,0xd3020a02,0xfc020a01,0xc101d301,0xf601a901,0xf601c101,0xa020501,0xfc01d602,0x5020a01,0x501d602,0xb301f602,0xb3020501,0xd601d601,0xb101b301,0xb8020401,0x4020101,0xb3020102,0x101b301,0xb301ed02,0xf101ed01,0xf101b301,0xb101b101,0xff01f101,0xf901de01,0xb101e801,0xdb01ff01,0xb201de01,0xde01ac01,0xb201e801,0xb201ac01,0xac01f801,0xe201f801,0xf801e201,0xff01e501,0xdb01e201,0xe501e201,0xf901db01,0xe801ce01,0xa701ce01,0xce01e801,0xa701a501,0xa201a501,0xa201a701,0xa7021501,0x1501a701,0xd501d502,0xfe020901,0x1501d501,0xfe020902,0xf2020901,0xef01e501,0xfe01db01,0xa8020e01,0xf201fe01,0xe5020e01,0xe01a801,0xe01e502,0xe501e902,0xef01e901,0xc8020b01,0xd401aa01,0xb01c801,0xd4021202,0xc7020b01,0x1201d401,0xc701f302,0xbd021201,0xf301c701,0xbd020601,0xbe01f301,0x601bd01,0xbe01ba02,0xe7020601,0xba01be01,0xe601b001,0xd01f401,0xb001e602,0xd01aa01,0xd701b002,0xb701cc01,0xd701c301,0xd801b701,0xc301d701,0xd801df01,0xb501c301,0xd0020c01,0xb501c401,0xea01d001,0xc401b501,0xea01c601,0xfd01c401,0xc601ea01,0xe101aa01,0xf901a601,0xaa01e101,0xdd01cc01,0xf001bc01,0xcc01dd01,0xbc01cc01,0xf501c001,0xcc01f001,0xc001cc01,0xe101b401,0xdf01f501,0xf501df01,0xa601cc01,0xa301e101,0xe101a301,0xcc01df01,0xd201b401,0xd201cc01,0xa301d301,0xc301df01,0xcc01ca01,0xa301d301,0xb701c301,0xcc01fc01,0xd601ca01,0xfc01cc01,0xcc01b701,0xa301d601,0xd601b701,0xd601a301,0x11021101,0xba01d602,0xd601e701,0xba01db01,0xe701d601,0xa601aa01,0xb020b01,0x1201a602,0xa6021202,0x601f301,0xba021102,0x1101a601,0xf3020602,0x601a601,0xaa01f902,0xfd01fd01,0xc01aa01,0xaa020c02,0xf401b001,0xdb01e701,0xb0020c01,0xc01f401,0xdb01f402,0xf901c601,0xce01fd01,0xc601f901,0xce01c401,0xd001c601,0xc401ce01,0xce01a201,0xf701d001,0xd001a201,0xd001f701,0xf7020c01,0x9020c01,0xc01ef02,0x901db02,0xd1020c02,0xc01d101,0xe020e02,0xef020c02,0xec01eb01,0xd601d601,0xdb01ec01,0xef01ec01,0xec01db01,0xef01fa01,0xe01fa01,0xfa01ef02,0xe020201,0xd1020202,0x2020e01,0xd101a402,0x901a401,0xa401d102,0x901e301,0xa201e302,0xe301f701,0x901f701,0x1001ce02,0xf901f902,0xe1021001,0xf5021001,0x1001e101,0xf501f002,0xbf021001,0xbf01f001,0xf001dd01,0x301bf01,0x301dd02,0xdd01bc02,0xad020301,0xad01bc01,0xbc01c001,0xee01ad01,0xee01c001,0xc001b401,0xd901ee01,0xd901b401,0xb401d201,0xdc01d901,0xdc01d201,0xd201d301,0xf01dc01,0xdc01ca02,0xd301ca01,0xeb020f01,0xf01fc01,0xca01fc02,0xd601eb01,0x1001fc01,0xa601c802,0xaa021001,0x1001c801,0xaa01ce02,0xbf020301,0x301cc01,0xad01cc02,0xcc01ad01,0xbf01ee01,0xcc021001,0xdf021001,0xee01cc01,0xd901cc01,0xa6021001,0x1001a301,0xdf01d802,0xa3021001,0xd901d801,0xdc01cc01,0xa301d801,0xfff0026e,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0xffffffff,0x20f97ff,0x1cc01dc,0x20f01eb,0x1a301d7,0x1cc01cc,0x1eb01a3,0x1e701eb,0x1eb01ec,0x21101a3,0x21101eb,0x1a601e7,0x1d401c8,0x1d401a6,0x21101c7,0x1e701be,0x1c701a6,0x1a601bd,0x21101bd,0x1bd0211,0x1aa01be,0x20d01ce,0x1ce020d,0x20d01fd,0x20c01fd,0x20c020d,0x1e701e6,0x1ec01f4,0x1e601f4,0x1e601ec,0x1ec020c,0x1ea01ce,0x1ce01fd,0x1ea01b5,0x1a201ce,0x1a201b5,0x1b5020c,0x1a2020c,0x20c01e3,0x1a401e3,0x1a4020c,0x20c0202,0x1ec01fa,0x202020c,0xfb01fa,0x4500e2,0xac0126,0x126007a,0xac0058,0xac007a,0x7a0086,0x650086,0x9500e2,0x650045,0x950086,0x6500e2,0x2d30095,0x9100a9,0xa90091,0x450116,0x2df006e,0x1160091,0xb500b5,0x2b00116,0x2b000b5,0x6e029a,0x2df029a,0x2b0029a,0x29a0153,0x2df0153,0xb300a9,0xa90116,0x10b0295,0x10b00a9,0x10b00b3,0x700295,0x2950070,0x70034d,0x12400ec,0x34d0070,0x15300ec,0x2df0024,0x12f0024,0x12402df,0x2400ec,0xec0024,0x8c012f,0x3ba0070,0x70010b,0xb3008c,0x8c010b,0x1160337,0x2b000b3,0x3370116,0x2b002af,0xad0337,0x3620265,0x2b9008e,0x3700300,0x8e02b9,0x2b9008d,0x2b90370,0x340054,0x540034,0x9007d,0xf20054,0x54007d,0x2610009,0xdc02b9,0x2b90300,0xdc0261,0x3402b9,0xf20009,0x26100ad,0x13800dc,0x9001f,0x26100ad,0x3d0138,0x138003d,0x294001f,0xad001f,0x1f003d,0x39f0294,0x36200ad,0xad0294,0x2e1039f,0x20300,0x300008e,0x2e102e1,0x1620002,0x20162,0x16202ee,0x8602ee,0x39f00bc,0x860362,0xbc02ee,0x39f02ee,0x8d00bc,0x3600370,0x3600337,0x8d02db,0x3370360,0x36202a1,0x3370265,0x2af02db,0x2db02af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+#include +#include +inline void uncompress_d435_obj(std::vector& vertex_data, std::vector& normals, std::vector& index_data) +{ + std::vector uncompressed(0x35640, 0); + (void)LZ4_decompress_safe((const char*)d435_obj_data, uncompressed.data(), 0x30c6e, 0x35640); + const int vertex_size = 0x22a6 * sizeof(float3); + const int index_size = 0x4914 * sizeof(short3); + vertex_data.resize(0x22a6); + memcpy(vertex_data.data(), uncompressed.data(), vertex_size); + index_data.resize(0x4914); + memcpy(index_data.data(), uncompressed.data() + vertex_size, index_size); + //normals.resize(0x22a6); + //memcpy(normals.data(), uncompressed.data() + vertex_size + index_size, vertex_size); +} diff --git a/librealsense/common/res/d455.h b/librealsense/common/res/d455.h new file mode 100644 index 0000000..09e03ce --- /dev/null +++ b/librealsense/common/res/d455.h @@ -0,0 +1,23 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from d455.obj using rs-embed tool version: 0.0.0.2 +// Generation time: 03/14/2024 11:16:15. + +#pragma once +static uint32_t d455_obj_data [] { 0xf64804f1,0xad4f4155,0x3d71bffa,0x9dd7c07a,0xe9c94153,0x4000ce7,0x14f10018,0xc07c28f6,0x415311bb,0xbfe388e3,0xc07c28f6,0x40d66666,0x80000000,0xc0855e70,0x40d0a915,0x30a11983,0xb900f100,0x2940dcc4,0x70bf9078,0x9ac0855e,0x24c999,0x3d7114f1,0xfff3c07a,0x7e3140e4,0x3d71c017,0x1b11c07a,0xc1b940ef,0x5e70c007,0x189cc085,0x5e464102,0x7100184c,0x4105999a,0x1836e792,0x4304f100,0xa0411542,0x71c068de,0xd5c07a3d,0xce4116d4,0x184ffd,0x29b3dc71,0x69991341,0x2b350018,0x18292b,0x3c711c82,0x4c46e941,0x15009cc0,0x7100483a,0x413cfd39,0x304e775c,0x57d67100,0xe38a4145,0x44002433,0x41487278,0xe3710084,0x57414cf8,0x18155f,0x519da344,0x7100c041,0x4157c9d1,0xd89e73de,0x57427100,0xc943415a,0x44000c20,0x4154cccd,0x333100fc,0xc5b33,0x7a3d7135,0xdf350114,0x1088d4f,0x8d4fdf35,0xdf3500f0,0xe48d4f,0x8d4fdf35,0xdf3500d8,0xcc8d4f,0x8d4fdf35,0xdf3500c0,0xa88d4f,0x8d4fdf35,0xdf35009c,0x848d4f,0x4fdf08f1,0x976bc08d,0x2d774108,0x4fdfbfdf,0x7637c08d,0xab3b4100,0xf8000c91,0x138b6a10,0x8e24841,0x8d4fdfc0,0xf845a8c0,0xca5c5f40,0x8d4fdfbe,0x200000c0,0x11ab3641,0x3e170018,0x3f8500b4,0xc08d4fdf,0x3c2c7496,0x540300,0x3001801,0x408501bc,0xc08d4fdf,0x78376895,0x840300,0x35002401,0x843f89c9,0xf00300,0x3003001,0xc010090,0xdd2c4400,0x904143,0x101e003,0x9c030018,0xc0100,0x1002403,0x2003009c,0x180101,0x1009c03,0x1403000c,0x780801,0x3000c01,0x24010144,0xa80300,0x3001801,0x180101f8,0x3c0400,0x855e7034,0x40440168,0x80855e70,0xc0101,0x34007804,0xb0855e70,0x180101,0x3400d804,0xe0855e70,0x180101,0xf101f803,0x5e703f15,0xa13bc085,0xfb164157,0x3d713fa1,0x598fc07a,0x364c414d,0x3d714018,0x999ac07a,0x1327413d,0x71000c4d,0x412a47ac,0xc6933d7,0xb8543500,0x35000c15,0x24026666,0x4ce44400,0x3c40e5,0xd0bd8a44,0x71005440,0x40e076e0,0xdc20993d,0xde0d7102,0x50b94100,0x71000c58,0x40cabe7d,0xacaaee6c,0x44397102,0xe1374115,0x35001875,0x90c33333,0xf69a6203,0xb7aa412a,0xf3710018,0x8c40cab9,0xa8aabc,0x3f55aa71,0x57d91f41,0xcd710030,0x9740e065,0x9c2070,0xcccd71,0x5828f241,0xed71000c,0xa415a99,0x60ab84,0x5d716771,0x2e2ff141,0x1371000c,0xd941152a,0x2475ce,0x5e666635,0xed350318,0x182ad5,0x5aa30744,0x35006c41,0x543f3333,0xcd1a4400,0x6c414f,0xf1008404,0x7c28f608,0x4fc490c0,0x20993d41,0x7c28f6c0,0x482650c0,0x3f124041,0xcc04000c,0x4fdf3400,0x200c08d,0xb4020318,0x2dc0100,0x100b403,0x9c03000c,0xc0100,0x1009003,0x8403000c,0xc0100,0x1008403,0xa803000c,0x540100,0xb100cc04,0xc08d4fdf,0x408a9058,0x24b56fa8,0xb7d54400,0xc417a,0x1001803,0x90030258,0x2700100,0x1014404,0x4403009c,0x900701,0x3003001,0xc010048,0x780300,0x3003c01,0x18010090,0xa80300,0x3000c01,0xc0100c0,0x3c0400,0x26a7f044,0xf10084c1,0x26a7f004,0x596666c1,0xeccccdc2,0x26a9c2c0,0x5b6666c1,0x52c6000c,0x33c126a8,0x33c25633,0xcc10b33,0x306f500,0x26a9c2c1,0x54adf5c1,0xb56faac2,0x26a7f0c0,0x27520bc1,0x3002000c,0x41032200,0x54010048,0x30401400,0x6c0400,0x45002402,0xa852410b,0x9f1006c,0x26a85240,0x160000c1,0x733333c2,0x26a1cbc0,0x14999ac1,0x84cccdc2,0x3326000c,0x71000c33,0xc2160000,0x186ccccd,0xf7373900,0x31003014,0x18790d0b,0x999a7100,0x6666c214,0x35000c56,0x3014f737,0x999a7100,0xf2f5c214,0x35001866,0x3c12cccd,0xd5963500,0x26000c13,0x483333,0x12cccd35,0x3326003c,0x26005433,0x483333,0x13d59635,0x10f10024,0xc21db53c,0xbee93bc1,0xc126ac08,0xc21d05ab,0xbf208249,0xc126ac08,0xc21e25f5,0x18753c58,0x28707100,0xb08ec21c,0xf100183c,0x1b33330c,0x466666c2,0x26aa36bf,0x1e4ccdc1,0xc2,0x26ac0800,0x18cccdc1,0x8750018,0x90c126ac,0x3017d7,0x16fa5535,0xc4350054,0x6c164a,0x15da0b35,0x33350060,0x4815b3,0x27520b35,0x4f10174,0xc21d111d,0x3f1e63fa,0xc126ac08,0xc21c3a6c,0xc3b2b34,0xc504f100,0x42c21dba,0x83ee560,0x69c126ac,0x80c21e27,0xc70b7,0xc1014403,0x26a1cb40,0x17d7cbc1,0x3cb546c2,0x7b710030,0x9c216fa,0xc2089,0xa8cd1a21,0x363f3500,0x10198aa,0xf0620030,0x8ec21b4a,0x3001859,0x18010138,0x4ad67100,0x4813c216,0x710060e9,0xc215da0f,0xc754b06,0x1f80300,0x3002401,0xc0101b0,0x1b00300,0x3000c01,0xc010168,0x1800300,0x3000c01,0xc010228,0x2100300,0x21000c01,0x1c8999a,0x3000c01,0xc0101c8,0x24c0300,0x4000c05,0x4030024,0x180102,0x1021c03,0xea53000c,0xa8c1895b,0xc0302e8,0x33c0300,0x5cc0ba24,0xc0301,0x3030c01,0xc010354,0x147b7100,0x7ae14199,0x3000cc8,0xc010378,0x147b7300,0xe1484199,0x15000c8e,0xf1000ce9,0xba66604,0x2bd1cc42,0x26ac08bf,0xad344c1,0xff0ed442,0x76710234,0xbb420a49,0xc87b6,0xca96571,0x4362c742,0x7b350024,0x60e914,0x199a00f5,0x420a,0xaaab8000,0xbd02c126,0x300240d,0x6801003c,0x520b4401,0xcc4227,0xec00035,0x2235006c,0x6c0f93,0x101cf135,0xcd31006c,0x54104c,0x26ac0884,0x176666c1,0x301c842,0x54010030,0x300300,0x3000c01,0x1c010054,0x4402,0x1744216,0x1009003,0xc0030018,0xc0100,0x54cccd26,0x4400,0x1744216,0x1010803,0xc9350024,0x481708,0x17666644,0x4401f842,0x42176666,0xc93501bc,0x3c1708,0x182a6a35,0xcd2a0030,0x60030cc,0x191501f8,0x33350024,0x3c1933,0x24cccd26,0xcccd2600,0x6a350060,0x24182a,0xa999a44,0x304e042,0xfc0101a4,0x66663500,0x200181b,0xb130024,0x5b270504,0x14054c42,0x2054042,0x5802000c,0x66663105,0x3002459,0xa4050528,0x1b00301,0x2027001,0x54020060,0x3c0200,0x3056402,0x24030030,0x480100,0x2057001,0x64050024,0x64421405,0x5940305,0xde0fc054,0x5e8c098,0x76000c04,0xc0400000,0x311eb8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+#include +#include +inline void uncompress_d455_obj(std::vector& vertex_data, std::vector& normals, std::vector& index_data) +{ + std::vector uncompressed(0x28770, 0); + (void)LZ4_decompress_safe((const char*)d455_obj_data, uncompressed.data(), 0x21d3f, 0x28770); + const int vertex_size = 0x1ae7 * sizeof(float3); + const int index_size = 0x361a * sizeof(short3); + vertex_data.resize(0x1ae7); + memcpy(vertex_data.data(), uncompressed.data(), vertex_size); + index_data.resize(0x361a); + memcpy(index_data.data(), uncompressed.data() + vertex_size, index_size); + //normals.resize(0x1ae7); + //memcpy(normals.data(), uncompressed.data() + vertex_size + index_size, vertex_size); +} diff --git a/librealsense/common/res/icon.h b/librealsense/common/res/icon.h new file mode 100644 index 0000000..93f5632 --- /dev/null +++ b/librealsense/common/res/icon.h @@ -0,0 +1,37 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2022 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from .png using rs-embed tool version: 0.0.0.2 +// Generation time: 10/13/2022 10:55:59. + +// This file is auto-generated from icon_16.png +static uint32_t icon_16_png_size = 0x83a; +static uint8_t icon_16_png_data[] { 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+ +// This file is auto-generated from icon_24.png +static uint32_t icon_24_png_size = 0x526; +static uint8_t icon_24_png_data[] { 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+ +// This file is auto-generated from icon_32.png +static uint32_t icon_32_png_size = 0xc63; +static uint8_t icon_32_png_data[] { 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+ +// This file is auto-generated from icon_64.png +static uint32_t icon_64_png_size = 0x1454; +static uint8_t icon_64_png_data[] { 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+ +// This file is auto-generated from icon_128.png +static uint32_t icon_128_png_size = 0x2501; +static uint8_t icon_128_png_data[] { 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+ +// This file is auto-generated from icon_256.png +static uint32_t icon_256_png_size = 0x4615; +static uint8_t icon_256_png_data[] { 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+ +// This file is auto-generated from icon_310.png +static uint32_t icon_310_png_size = 0x5542; +static uint8_t icon_310_png_data[] { 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+ +// This file is auto-generated from icon_512.png +static uint32_t icon_512_png_size = 0x96e7; +static uint8_t icon_512_png_data[] { 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diff --git a/librealsense/common/res/icon_128.png b/librealsense/common/res/icon_128.png new file mode 100644 index 0000000..c54a91c Binary files /dev/null and b/librealsense/common/res/icon_128.png differ diff --git a/librealsense/common/res/icon_16.png b/librealsense/common/res/icon_16.png new file mode 100644 index 0000000..cfeb2b4 Binary files /dev/null and b/librealsense/common/res/icon_16.png differ diff --git a/librealsense/common/res/icon_24.png b/librealsense/common/res/icon_24.png new file mode 100644 index 0000000..cd66a81 Binary files /dev/null and b/librealsense/common/res/icon_24.png differ diff --git a/librealsense/common/res/icon_256.png b/librealsense/common/res/icon_256.png new file mode 100644 index 0000000..f841880 Binary files /dev/null and b/librealsense/common/res/icon_256.png differ diff --git a/librealsense/common/res/icon_310.png b/librealsense/common/res/icon_310.png new file mode 100644 index 0000000..7477e5d Binary files /dev/null and b/librealsense/common/res/icon_310.png differ diff --git a/librealsense/common/res/icon_32.png b/librealsense/common/res/icon_32.png new file mode 100644 index 0000000..7b4017e Binary files /dev/null and b/librealsense/common/res/icon_32.png differ diff --git a/librealsense/common/res/icon_512.png b/librealsense/common/res/icon_512.png new file mode 100644 index 0000000..1c17b06 Binary files /dev/null and b/librealsense/common/res/icon_512.png differ diff --git a/librealsense/common/res/icon_64.png b/librealsense/common/res/icon_64.png new file mode 100644 index 0000000..d548a2c Binary files /dev/null and b/librealsense/common/res/icon_64.png differ diff --git a/librealsense/common/res/int-rs-splash.hpp b/librealsense/common/res/int-rs-splash.hpp new file mode 100644 index 0000000..55ecf9c --- /dev/null +++ b/librealsense/common/res/int-rs-splash.hpp @@ -0,0 +1,8 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2022 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from .png using rs-embed tool version: 0.0.0.1 +// Generation time: 10/03/2022 17:29:01. + +static uint8_t splash [] { 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+static uint32_t splash_size = 0x1153a; diff --git a/librealsense/common/res/int-rs-splash.png b/librealsense/common/res/int-rs-splash.png new file mode 100644 index 0000000..daac065 Binary files /dev/null and b/librealsense/common/res/int-rs-splash.png differ diff --git a/librealsense/common/res/nx.h b/librealsense/common/res/nx.h new file mode 100644 index 0000000..dcd686a --- /dev/null +++ b/librealsense/common/res/nx.h @@ -0,0 +1,6 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from cubemap_nx.png +static uint32_t cubemap_nx_png_size = 0x14f7c; +static uint8_t cubemap_nx_png_data [] { 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diff --git a/librealsense/common/res/ny.h b/librealsense/common/res/ny.h new file mode 100644 index 0000000..0388677 --- /dev/null +++ b/librealsense/common/res/ny.h @@ -0,0 +1,6 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from cubemap_ny.png +static uint32_t cubemap_ny_png_size = 0x14a7c; +static uint8_t cubemap_ny_png_data [] { 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diff --git a/librealsense/common/res/nz.h b/librealsense/common/res/nz.h new file mode 100644 index 0000000..65a26c9 --- /dev/null +++ b/librealsense/common/res/nz.h @@ -0,0 +1,6 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from cubemap_nz.png +static uint32_t cubemap_nz_png_size = 0x1c379; +static uint8_t cubemap_nz_png_data [] { 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diff --git a/librealsense/common/res/px.h b/librealsense/common/res/px.h new file mode 100644 index 0000000..7941dd6 --- /dev/null +++ b/librealsense/common/res/px.h @@ -0,0 +1,6 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from cubemap_px.png +static uint32_t cubemap_px_png_size = 0x15209; +static uint8_t cubemap_px_png_data [] { 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diff --git a/librealsense/common/res/py.h b/librealsense/common/res/py.h new file mode 100644 index 0000000..2d954e7 --- /dev/null +++ b/librealsense/common/res/py.h @@ -0,0 +1,6 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from cubemap_py.png +static uint32_t cubemap_py_png_size = 0x18073; +static uint8_t cubemap_py_png_data [] { 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diff --git a/librealsense/common/res/pz.h b/librealsense/common/res/pz.h new file mode 100644 index 0000000..f21e124 --- /dev/null +++ b/librealsense/common/res/pz.h @@ -0,0 +1,6 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +// This file is auto-generated from cubemap_pz.png +static uint32_t cubemap_pz_png_size = 0x1604d; +static uint8_t cubemap_pz_png_data [] { 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See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include "rs-config.h" + +#include +#include +#include +#include + +using json = rsutils::json; + +using namespace rs2; + +void config_file::set(const char* key, const char* value) +{ + _j[key] = value; + save(); +} + +void config_file::set_default(const char* key, const char* calculate) +{ + _defaults[key] = calculate; +} + +void config_file::remove(const char* key) +{ + _j.erase(key); + save(); +} + +void config_file::reset() +{ + _j = json::object(); + save(); +} + +std::string config_file::get(const char* key, const char* def) const +{ + auto it = _j.find(key); + if (it != _j.end() && it->is_string()) + { + return it->string_ref(); + } + return get_default(key, def); +} + +bool config_file::contains(const char* key) const +{ + auto it = _j.find(key); + return it != _j.end() && it->is_string(); +} + +std::string config_file::get_default(const char* key, const char* def) const +{ + auto it = _defaults.find(key); + if (it == _defaults.end()) return def; + return it->second; +} + +config_value config_file::get(const char* key) const +{ + if (!contains(key)) return config_value(get_default(key, "")); + return config_value(get(key, "")); +} + +void config_file::save(const char* filename) +{ + try + { + std::ofstream out(filename); + out << _j.dump( 2 ); + out.close(); + } + catch (...) + { + } +} + +config_file& config_file::instance() +{ + static config_file inst( rsutils::os::get_special_folder( rsutils::os::special_folder::app_data ) + + RS2_CONFIG_FILENAME ); + return inst; +} + +config_file::config_file( std::string const & filename ) + : _filename( filename ) +{ + try + { + std::ifstream t(_filename); + if (!t.good()) return; + _j = json::parse( t ); + } + catch(...) + { + + } +} + +void config_file::save() +{ + save(_filename.c_str()); +} + +config_file::config_file() + : _j( rsutils::json::object() ) +{ +} + +config_file& config_file::operator=(const config_file& other) +{ + if (this != &other) + { + _j = other._j; + _defaults = other._defaults; + save(); + } + return *this; +} + +bool config_file::operator==(const config_file& other) const +{ + return _j == other._j; +} diff --git a/librealsense/common/rs-config.h b/librealsense/common/rs-config.h new file mode 100644 index 0000000..9bf4e96 --- /dev/null +++ b/librealsense/common/rs-config.h @@ -0,0 +1,99 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. +#pragma once + +#include + +#include +#include +#include +#include + +namespace rs2 +{ + class config_value + { + public: + template + operator T() + { + std::stringstream ss; + ss.str(_val); + T res; + ss >> res; + return res; + } + + // When converting config_value to string, we can't use >> operator since it reads until first whitespace rather than the whole string; + // Therefore we use a different overload for strings + operator std::string() + { + return _val; + } + + config_value(std::string val) : _val(std::move(val)) {} + + private: + std::string _val; + }; + + class config_file + { + public: + config_file(); + config_file( std::string const & filename ); + + void set_default(const char* key, const char* calculate); + + template + void set_default(const char* key, T val) + { + std::stringstream ss; + ss << val; + set_default(key, ss.str().c_str()); + } + + bool operator==(const config_file& other) const; + + config_file& operator=(const config_file& other); + + void set(const char* key, const char* value); + std::string get(const char* key, const char* def) const; + + config_value get(const char* key) const; + + template + T get_or_default(const char* key, T def) const + { + if (contains(key)) return get(key); + return def; + } + + template + void set(const char* key, T val) + { + std::stringstream ss; + ss << val; + set(key, ss.str().c_str()); + } + + bool contains(const char* key) const; + + void save(const char* filename); + + void reset(); + + void remove(const char* key); + + static config_file& instance(); + + private: + std::string get_default(const char* key, const char* def) const; + + void save(); + + std::map _defaults; + std::string _filename; + rsutils::json _j; + }; +} \ No newline at end of file diff --git a/librealsense/common/skybox.cpp b/librealsense/common/skybox.cpp new file mode 100644 index 0000000..a33ba53 --- /dev/null +++ b/librealsense/common/skybox.cpp @@ -0,0 +1,122 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#include "skybox.h" +#include "rendering.h" + +#include + +#include "res/nx.h" +#include "res/ny.h" +#include "res/nz.h" +#include "res/px.h" +#include "res/py.h" +#include "res/pz.h" + +skybox::skybox() +{ + plus_x = nullptr; + plus_y = nullptr; + plus_z = nullptr; + + minus_x = nullptr; + minus_y = nullptr; + minus_z = nullptr; +} + +void skybox::render(rs2::float3 cam_position) +{ + auto init = [](const uint8_t* buff, int length, std::shared_ptr& tex){ + if (tex) tex.reset(); + tex = std::make_shared(); + int x, y, comp; + auto data = stbi_load_from_memory(buff, length, &x, &y, &comp, 3); + tex->upload_image(x, y, data, GL_RGB); + stbi_image_free(data); + }; + if (!initialized) + { + init(cubemap_pz_png_data, cubemap_pz_png_size, plus_z); + init(cubemap_nz_png_data, cubemap_nz_png_size, minus_z); + init(cubemap_nx_png_data, cubemap_nx_png_size, minus_x); + init(cubemap_px_png_data, cubemap_px_png_size, plus_x); + init(cubemap_py_png_data, cubemap_py_png_size, plus_y); + init(cubemap_ny_png_data, cubemap_ny_png_size, minus_y); + initialized = true; + } + glEnable(GL_TEXTURE_2D); + + glColor3f(1.f, 1.f, 1.f); + + const auto r = 50.f; + const auto re = 49.999f; + + glTranslatef(cam_position.x, cam_position.y, cam_position.z); + + glBindTexture(GL_TEXTURE_2D, plus_z->get_gl_handle()); + glBegin(GL_QUAD_STRIP); + { + glTexCoord2f(0.f, 1.f); glVertex3f(-r, r, re); + glTexCoord2f(0.f, 0.f); glVertex3f(-r, -r, re); + glTexCoord2f(1.f, 1.f); glVertex3f(r, r, re); + glTexCoord2f(1.f, 0.f); glVertex3f(r, -r, re); + } + glEnd(); + + glBindTexture(GL_TEXTURE_2D, minus_z->get_gl_handle()); + glBegin(GL_QUAD_STRIP); + { + glTexCoord2f(1.f, 1.f); glVertex3f(-r, r, -re); + glTexCoord2f(1.f, 0.f); glVertex3f(-r, -r, -re); + glTexCoord2f(0.f, 1.f); glVertex3f(r, r, -re); + glTexCoord2f(0.f, 0.f); glVertex3f(r, -r, -re); + } + glEnd(); + + glBindTexture(GL_TEXTURE_2D, minus_x->get_gl_handle()); + glBegin(GL_QUAD_STRIP); + { + glTexCoord2f(1.f, 0.f); glVertex3f(-re, -r, r); + glTexCoord2f(0.f, 0.f); glVertex3f(-re, -r, -r); + glTexCoord2f(1.f, 1.f); glVertex3f(-re, r, r); + glTexCoord2f(0.f, 1.f); glVertex3f(-re, r, -r); + } + glEnd(); + + glBindTexture(GL_TEXTURE_2D, plus_x->get_gl_handle()); + glBegin(GL_QUAD_STRIP); + { + glTexCoord2f(0.f, 0.f); glVertex3f(re, -r, r); + glTexCoord2f(1.f, 0.f); glVertex3f(re, -r, -r); + glTexCoord2f(0.f, 1.f); glVertex3f(re, r, r); + glTexCoord2f(1.f, 1.f); glVertex3f(re, r, -r); + } + glEnd(); + + + glBindTexture(GL_TEXTURE_2D, minus_y->get_gl_handle()); + glBegin(GL_QUAD_STRIP); + { + glTexCoord2f(0.f, 0.f); glVertex3f(-r, re, r); + glTexCoord2f(0.f, 1.f); glVertex3f(-r, re, -r); + glTexCoord2f(1.f, 0.f); glVertex3f(r, re, r); + glTexCoord2f(1.f, 1.f); glVertex3f(r, re, -r); + } + glEnd(); + + glBindTexture(GL_TEXTURE_2D, plus_y->get_gl_handle()); + glBegin(GL_QUAD_STRIP); + { + glTexCoord2f(0.f, 1.f); glVertex3f(-r, -re, r); + glTexCoord2f(0.f, 0.f); glVertex3f(-r, -re, -r); + glTexCoord2f(1.f, 1.f); glVertex3f(r, -re, r); + glTexCoord2f(1.f, 0.f); glVertex3f(r, -re, -r); + } + glEnd(); + + glBindTexture(GL_TEXTURE_2D, 0); + + glDisable(GL_TEXTURE_2D); + + glTranslatef(-cam_position.x, -cam_position.y, -cam_position.z); +} \ No newline at end of file diff --git a/librealsense/common/skybox.h b/librealsense/common/skybox.h new file mode 100644 index 0000000..61fda1e --- /dev/null +++ b/librealsense/common/skybox.h @@ -0,0 +1,25 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "float3.h" +#include // shared_ptr + +namespace rs2 { + class texture_buffer; +} + +class skybox +{ +public: + skybox(); + void render(rs2::float3 cam_position); + void reset() { initialized = false; } + +private: + std::shared_ptr plus_x, minus_x; + std::shared_ptr plus_y, minus_y; + std::shared_ptr plus_z, minus_z; + bool initialized = false; +}; \ No newline at end of file diff --git a/librealsense/common/stream-model.cpp b/librealsense/common/stream-model.cpp new file mode 100644 index 0000000..f1d61ce --- /dev/null +++ b/librealsense/common/stream-model.cpp @@ -0,0 +1,1674 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#include "stream-model.h" +#include "subdevice-model.h" +#include "viewer.h" +#include "os.h" +#include + + +namespace rs2 +{ + stream_model::stream_model() + : texture(std::unique_ptr(new texture_buffer())), + _stream_not_alive(std::chrono::milliseconds(1500)), + _stabilized_reflectivity(10) + { + show_map_ruler = config_file::instance().get_or_default( + configurations::viewer::show_map_ruler, true); + show_stream_details = config_file::instance().get_or_default( + configurations::viewer::show_stream_details, false); + } + + std::shared_ptr stream_model::upload_frame(frame&& f) + { + if (dev && dev->is_paused() && !dev->dev.is()) return nullptr; + + last_frame = std::chrono::high_resolution_clock::now(); + + auto image = f.as(); + auto width = (image) ? image.get_width() : 640.f; + auto height = (image) ? image.get_height() : 480.f; + + size = { static_cast(width), static_cast(height) }; + profile = f.get_profile(); + frame_number = f.get_frame_number(); + timestamp_domain = f.get_frame_timestamp_domain(); + timestamp = f.get_timestamp(); + fps.add_timestamp(f.get_timestamp(), f.get_frame_number()); + + view_fps.add_timestamp(glfwGetTime() * 1000, count++); + + // populate frame metadata attributes + for (auto i = 0; i < RS2_FRAME_METADATA_COUNT; i++) + { + if (f.supports_frame_metadata((rs2_frame_metadata_value)i)) + frame_md.md_attributes[i] = std::make_pair(true, f.get_frame_metadata((rs2_frame_metadata_value)i)); + else + frame_md.md_attributes[i].first = false; + } + + texture->upload(f); + return texture; + } + + void outline_rect(const rect& r) + { + glPushAttrib(GL_ENABLE_BIT); + + glLineWidth(1); + glLineStipple(1, 0xAAAA); + glEnable(GL_LINE_STIPPLE); + + glBegin(GL_LINE_STRIP); + glVertex2f(r.x, r.y); + glVertex2f(r.x, r.y + r.h); + glVertex2f(r.x + r.w, r.y + r.h); + glVertex2f(r.x + r.w, r.y); + glVertex2f(r.x, r.y); + glEnd(); + + glPopAttrib(); + } + + void draw_rect( const rect & r, int line_width, bool draw_cross ) + { + glPushAttrib(GL_ENABLE_BIT); + + glLineWidth((GLfloat)line_width); + + glBegin(GL_LINE_STRIP); + glVertex2f(r.x, r.y); + glVertex2f(r.x, r.y + r.h); + glVertex2f(r.x + r.w, r.y + r.h); + glVertex2f(r.x + r.w, r.y); + glVertex2f(r.x, r.y); + glVertex2f(r.x, r.y + r.h); + glVertex2f(r.x + r.w, r.y + r.h); + glVertex2f(r.x + r.w, r.y); + glVertex2f(r.x, r.y); + glEnd(); + + if( draw_cross ) + { + glLineStipple( 1, 0x0808 ); + glEnable( GL_LINE_STIPPLE ); + glBegin( GL_LINES ); + glVertex2f( r.x, r.y + r.h / 2 ); + glVertex2f( r.x + r.w, r.y + r.h / 2 ); + glEnd(); + glBegin( GL_LINES ); + glVertex2f( r.x + r.w / 2, r.y ); + glVertex2f( r.x + r.w / 2, r.y + r.h ); + glEnd(); + } + + glPopAttrib(); + } + + bool stream_model::is_stream_visible() const + { + if (dev && + (dev->is_paused() || + (dev->streaming && dev->dev.is()) || + (dev->streaming /*&& texture->get_last_frame()*/))) + { + return true; + } + return false; + } + + bool stream_model::is_stream_alive() + { + if (dev && + (dev->is_paused() || + (dev->streaming && dev->dev.is()))) + { + last_frame = std::chrono::high_resolution_clock::now(); + return true; + } + + using namespace std::chrono; + auto now = high_resolution_clock::now(); + auto diff = now - last_frame; + auto ms = duration_cast(diff).count(); + _stream_not_alive.add_value(ms > _frame_timeout + _min_timeout); + return !_stream_not_alive.eval(); + } + + void stream_model::begin_stream(std::shared_ptr d, rs2::stream_profile p, const viewer_model& viewer) + { + dev = d; + original_profile = p; + + profile = p; + texture->colorize = d->depth_colorizer; + texture->yuy2rgb = d->yuy2rgb; + texture->y411 = d->y411; + + if (auto vd = p.as()) + { + size = { + static_cast(vd.width()), + static_cast(vd.height()) }; + + original_size = { + static_cast(vd.width()), + static_cast(vd.height()) }; + } + _stream_not_alive.reset(); + + try + { + auto ds = d->dev.first< depth_sensor >(); + if( viewer._support_ir_reflectivity + && ds.supports( RS2_OPTION_ENABLE_IR_REFLECTIVITY ) + && ds.supports( RS2_OPTION_ENABLE_MAX_USABLE_RANGE ) + && ( ( p.stream_type() == RS2_STREAM_INFRARED ) + || ( p.stream_type() == RS2_STREAM_DEPTH ) ) ) + { + _reflectivity = std::unique_ptr< reflectivity >( new reflectivity() ); + } + } + catch(...) {}; + + } + + bool stream_model::draw_reflectivity( int x, + int y, + rs2::depth_sensor ds, + const std::map< int, stream_model > & streams, + std::stringstream & ss, + bool same_line ) + { + bool reflectivity_valid = false; + + static const int MAX_PIXEL_MOVEMENT_TOLERANCE = 0; + + if( std::abs( _prev_mouse_pos_x - x ) > MAX_PIXEL_MOVEMENT_TOLERANCE + || std::abs( _prev_mouse_pos_y - y ) > MAX_PIXEL_MOVEMENT_TOLERANCE ) + { + _reflectivity->reset_history(); + _stabilized_reflectivity.clear(); + _prev_mouse_pos_x = x; + _prev_mouse_pos_y = y; + } + + // Get IR sample for getting current reflectivity + auto ir_stream + = std::find_if( streams.cbegin(), + streams.cend(), + []( const std::pair< const int, stream_model > & stream ) { + return stream.second.profile.stream_type() == RS2_STREAM_INFRARED; + } ); + + // Get depth sample for adding to reflectivity history + auto depth_stream + = std::find_if( streams.cbegin(), + streams.cend(), + []( const std::pair< const int, stream_model > & stream ) { + return stream.second.profile.stream_type() == RS2_STREAM_DEPTH; + } ); + + if ((ir_stream != streams.end()) && (depth_stream != streams.end())) + { + auto depth_val = 0.0f; + auto ir_val = 0.0f; + depth_stream->second.texture->try_pick( x, y, &depth_val ); + ir_stream->second.texture->try_pick( x, y, &ir_val ); + + _reflectivity->add_depth_sample( depth_val, x, y ); // Add depth sample to the history + + float noise_est = ds.get_option( RS2_OPTION_NOISE_ESTIMATION ); + auto mur_sensor = ds.as< max_usable_range_sensor >(); + if( mur_sensor ) + { + auto max_usable_range = mur_sensor.get_max_usable_depth_range(); + reflectivity_valid = true; + std::string ref_str = "N/A"; + try + { + if (_reflectivity->is_history_full()) + { + auto pixel_ref + = _reflectivity->get_reflectivity(noise_est, max_usable_range, ir_val); + _stabilized_reflectivity.add(pixel_ref); + auto stabilized_pixel_ref = _stabilized_reflectivity.get( 0.75f ); // We use 75% stability for preventing spikes + ref_str = rsutils::string::from() << std::dec << round( stabilized_pixel_ref * 100 ) << "%"; + } + else + { + // Show dots when calculating ,dots count [3-10] + int dots_count = static_cast(_reflectivity->get_samples_ratio() * 7); + ref_str = "calculating..."; + ref_str += std::string(dots_count, '.'); + } + } + catch( ... ) + { + } + + if( same_line ) + ss << ", Reflectivity: " << ref_str; + else + ss << "\nReflectivity: " << ref_str; + } + } + + return reflectivity_valid; + } + + void stream_model::update_ae_roi_rect(const rect& stream_rect, const mouse_info& mouse, std::string& error_message) + { + if (dev->roi_checked) + { + auto&& sensor = dev->s; + // Case 1: Starting Dragging of the ROI rect + // Pre-condition: not capturing already + mouse is down + we are inside stream rect + if (!capturing_roi && mouse.mouse_down[0] && stream_rect.contains(mouse.cursor)) + { + // Initialize roi_display_rect with drag-start position + roi_display_rect.x = mouse.cursor.x; + roi_display_rect.y = mouse.cursor.y; + roi_display_rect.w = 0; // Still unknown, will be update later + roi_display_rect.h = 0; + capturing_roi = true; // Mark that we are in process of capturing the ROI rect + } + // Case 2: We are in the middle of dragging (capturing) ROI rect and we did not leave the stream boundaries + if (capturing_roi && stream_rect.contains(mouse.cursor)) + { + // x,y remain the same, only update the width,height with new mouse position relative to starting mouse position + roi_display_rect.w = mouse.cursor.x - roi_display_rect.x; + roi_display_rect.h = mouse.cursor.y - roi_display_rect.y; + } + // Case 3: We are in middle of dragging (capturing) and mouse was released + if (!mouse.mouse_down[0] && capturing_roi && stream_rect.contains(mouse.cursor)) + { + // Update width,height one last time + roi_display_rect.w = mouse.cursor.x - roi_display_rect.x; + roi_display_rect.h = mouse.cursor.y - roi_display_rect.y; + capturing_roi = false; // Mark that we are no longer dragging + + if (roi_display_rect) // If the rect is not empty? + { + // Convert from local (pixel) coordinate system to device coordinate system + auto r = roi_display_rect; + r = r.normalize(stream_rect).unnormalize(_normalized_zoom.unnormalize(get_original_stream_bounds())); + dev->roi_rect = r; // Store new rect in device coordinates into the subdevice object + + // Send it to firmware: + // Step 1: get rid of negative width / height + region_of_interest roi{}; + roi.min_x = static_cast(std::min(r.x, r.x + r.w)); + roi.max_x = static_cast(std::max(r.x, r.x + r.w)); + roi.min_y = static_cast(std::min(r.y, r.y + r.h)); + roi.max_y = static_cast(std::max(r.y, r.y + r.h)); + + try + { + // Step 2: send it to firmware + if (sensor->is()) + { + sensor->as().set_region_of_interest(roi); + } + } + catch (const error& e) + { + error_message = error_to_string(e); + } + } + else // If the rect is empty + { + try + { + // To reset ROI, just set ROI to the entire frame + auto x_margin = (int)size.x / 8; + auto y_margin = (int)size.y / 8; + + // Default ROI behavior is center 3/4 of the screen: + if (sensor->is()) + { + sensor->as().set_region_of_interest({ x_margin, y_margin, + (int)size.x - x_margin - 1, + (int)size.y - y_margin - 1 }); + } + + roi_display_rect = { 0, 0, 0, 0 }; + dev->roi_rect = { 0, 0, 0, 0 }; + } + catch (const error& e) + { + error_message = error_to_string(e); + } + } + + dev->roi_checked = false; + } + // If we left stream bounds while capturing, stop capturing + if (capturing_roi && !stream_rect.contains(mouse.cursor)) + { + capturing_roi = false; + } + + // When not capturing, just refresh the ROI rect in case the stream box moved + if (!capturing_roi) + { + auto r = dev->roi_rect; // Take the current from device, convert to local coordinates + r = r.normalize(_normalized_zoom.unnormalize(get_original_stream_bounds())).unnormalize(stream_rect).cut_by(stream_rect); + roi_display_rect = r; + } + + // Display ROI rect + glColor3f(1.0f, 1.0f, 1.0f); + outline_rect(roi_display_rect); + } + } + + bool draw_combo_box(const std::string& id, const std::vector& device_names, int& new_index) + { + std::vector device_names_chars = get_string_pointers(device_names); + return ImGui::Combo(id.c_str(), &new_index, device_names_chars.data(), static_cast(device_names.size())); + } + + void stream_model::show_stream_header(ImFont* font, const rect &stream_rect, viewer_model& viewer) + { + const auto top_bar_height = 32.f; + auto num_of_buttons = 5; + + if (!viewer.allow_stream_close) --num_of_buttons; + if (viewer.streams.size() > 1) ++num_of_buttons; + if (RS2_STREAM_DEPTH == profile.stream_type()) ++num_of_buttons; // Color map ruler button + + ImGui_ScopePushFont(font); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + + ImGui::PushStyleColor(ImGuiCol_Button, header_window_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, header_window_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, header_window_bg); + + std::string label = rsutils::string::from() << "Stream of " << profile.unique_id(); + + ImGui::GetWindowDrawList()->AddRectFilled({ stream_rect.x, stream_rect.y - top_bar_height }, + { stream_rect.x + stream_rect.w, stream_rect.y }, ImColor(sensor_bg)); + + if( ! dev ) + throw std::runtime_error( "device is not set for the stream" ); + + int offset = 5; + if (dev->_is_being_recorded) offset += 23; + auto p = dev->dev.as(); + if (dev->is_paused() || (p && p.current_status() == RS2_PLAYBACK_STATUS_PAUSED)) offset += 23; + + ImGui::SetCursorScreenPos({ stream_rect.x + 4 + offset, stream_rect.y - top_bar_height + 7 }); + + std::string tooltip; + if (dev->dev.supports(RS2_CAMERA_INFO_NAME) && + dev->dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER) && + dev->s->supports(RS2_CAMERA_INFO_NAME)) + { + std::string dev_name = dev->dev.get_info(RS2_CAMERA_INFO_NAME); + std::string dev_serial = dev->dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER); + std::string sensor_name = dev->s->get_info(RS2_CAMERA_INFO_NAME); + std::string stream_name = rs2_stream_to_string(profile.stream_type()); + std::string stream_index_str; + + // Show stream index on IR streams + if (profile.stream_type() == RS2_STREAM_INFRARED) + { + int stream_index = profile.stream_index(); + stream_index_str = rsutils::string::from() << " #" << stream_index; + } + + tooltip = rsutils::string::from() << dev_name << " s.n:" << dev_serial << " | " << sensor_name << ", " << stream_name << stream_index_str << " stream"; + const auto approx_char_width = 12; + if (stream_rect.w - 32 * num_of_buttons >= (dev_name.size() + dev_serial.size() + sensor_name.size() + stream_name.size() + stream_index_str.size()) * approx_char_width) + label = tooltip; + else + { + // Use only the SKU type for compact representation and use only the last three digits for S.N + auto short_name = split_string(dev_name, ' ').back(); + auto short_sn = dev_serial; + short_sn.erase(0, dev_serial.size() - 5).replace(0, 2, ".."); + + auto label_length = stream_rect.w - 32 * num_of_buttons; + + + if (label_length >= (short_name.size() + dev_serial.size() + sensor_name.size() + stream_name.size() + stream_index_str.size()) * approx_char_width) + label = rsutils::string::from() << short_name << " s.n:" << dev_serial << " | " << sensor_name << " " << stream_name << stream_index_str << " stream"; + else if (label_length >= (short_name.size() + short_sn.size() + stream_name.size() + stream_index_str.size()) * approx_char_width) + label = rsutils::string::from() << short_name << " s.n:" << short_sn << " " << stream_name << stream_index_str << " stream"; + else if (label_length >= (short_name.size() + stream_index_str.size()) * approx_char_width) + label = rsutils::string::from() << short_name << " " << stream_name << stream_index_str << " stream"; + else if (label_length >= short_name.size() * approx_char_width) + label = rsutils::string::from() << short_name << " " << stream_name; + else + label = ""; + } + } + else + { + label = rsutils::string::from() << "Unknown " << rs2_stream_to_string(profile.stream_type()) << " stream"; + tooltip = label; + } + + ImGui::PushTextWrapPos(stream_rect.x + stream_rect.w - 32 * num_of_buttons - 5); + ImGui::Text("%s", label.c_str()); + if (tooltip != label && ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", tooltip.c_str()); + ImGui::PopTextWrapPos(); + + ImGui::SetCursorScreenPos({ stream_rect.x + stream_rect.w - 32 * num_of_buttons, stream_rect.y - top_bar_height }); + + + label = rsutils::string::from() << textual_icons::metadata << "##Metadata" << profile.unique_id(); + if (show_metadata) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + show_metadata = false; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Hide frame metadata"); + } + ImGui::PopStyleColor(2); + } + else + { + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + show_metadata = true; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Show frame metadata"); + } + } + ImGui::SameLine(); + + if (RS2_STREAM_DEPTH == profile.stream_type()) + { + label = rsutils::string::from() << textual_icons::bar_chart << "##Color map"; + if (show_map_ruler) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + show_map_ruler = false; + config_file::instance().set(configurations::viewer::show_map_ruler, show_map_ruler); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Hide color map ruler"); + } + ImGui::PopStyleColor(2); + } + else + { + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + show_map_ruler = true; + config_file::instance().set(configurations::viewer::show_map_ruler, show_map_ruler); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Show color map ruler"); + } + } + ImGui::SameLine(); + } + + if (dev->is_paused() || (p && p.current_status() == RS2_PLAYBACK_STATUS_PAUSED)) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); + label = rsutils::string::from() << textual_icons::play << "##Resume " << profile.unique_id(); + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + if (p) + { + p.resume(); + } + dev->resume(); + viewer.paused = false; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Resume sensor"); + } + ImGui::PopStyleColor(2); + } + else + { + label = rsutils::string::from() << textual_icons::pause << "##Pause " << profile.unique_id(); + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + if (p) + { + p.pause(); + } + dev->pause(); + viewer.paused = true; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Pause sensor"); + } + } + ImGui::SameLine(); + + label = rsutils::string::from() << textual_icons::camera << "##Snapshot " << profile.unique_id(); + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + auto filename = file_dialog_open(save_file, "Portable Network Graphics (PNG)\0*.png\0", nullptr, nullptr); + + if (filename) + { + snapshot_frame(filename, viewer); + } + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Save snapshot"); + } + ImGui::SameLine(); + + label = rsutils::string::from() << textual_icons::info_circle << "##Info " << profile.unique_id(); + if (show_stream_details) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); + + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + show_stream_details = false; + config_file::instance().set( + configurations::viewer::show_stream_details, + show_stream_details); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Hide stream info overlay"); + } + + ImGui::PopStyleColor(2); + } + else + { + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + show_stream_details = true; + config_file::instance().set( + configurations::viewer::show_stream_details, + show_stream_details); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Show stream info overlay"); + } + } + ImGui::SameLine(); + + if (viewer.streams.size() > 1) + { + if (!viewer.fullscreen) + { + label = rsutils::string::from() << textual_icons::window_maximize << "##Maximize " << profile.unique_id(); + + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + viewer.fullscreen = true; + viewer.selected_stream = this; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Maximize stream to full-screen"); + } + + ImGui::SameLine(); + } + else if (viewer.fullscreen) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); + + label = rsutils::string::from() << textual_icons::window_restore << "##Restore " << profile.unique_id(); + + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + viewer.fullscreen = false; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Restore tile view"); + } + + ImGui::PopStyleColor(2); + ImGui::SameLine(); + } + } + else + { + viewer.fullscreen = false; + } + + if (viewer.allow_stream_close) + { + label = rsutils::string::from() << textual_icons::times << "##Stop " << profile.unique_id(); + if (ImGui::Button(label.c_str(), { 24, top_bar_height })) + { + dev->stop(viewer.not_model); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Stop this sensor"); + } + } + + ImGui::PopStyleColor(5); + + _info_height = (show_stream_details || show_metadata) ? (show_metadata ? stream_rect.h : 32.f) : 0.f; + + static const auto y_offset_info_rect = 0.f; + static const auto x_offset_info_rect = 0.f; + auto width_info_rect = stream_rect.w - 2.f * x_offset_info_rect; + + curr_info_rect = rect{ stream_rect.x + x_offset_info_rect, + stream_rect.y + y_offset_info_rect, + width_info_rect, + _info_height }; + + ImGui::GetWindowDrawList()->AddRectFilled({ curr_info_rect.x, curr_info_rect.y }, + { curr_info_rect.x + curr_info_rect.w, curr_info_rect.y + curr_info_rect.h }, + ImColor(dark_sensor_bg)); + + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + + ImGui::PushStyleColor(ImGuiCol_Button, header_window_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, header_window_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, header_window_bg); + + float line_y = curr_info_rect.y + 8; + float tail_w = curr_info_rect.w - 20; + float min_w = ImGui::CalcTextSize("0").x; + auto ctx = ImGui::GetCurrentContext(); + float space_w = ctx->Style.ItemSpacing.x; + + if (show_stream_details && !show_metadata) + { + if (_info_height.get() > line_y + ImGui::GetTextLineHeight() - curr_info_rect.y) + { + ImGui::SetCursorScreenPos({ curr_info_rect.x + 10, line_y }); + + if (timestamp_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) + ImGui::PushStyleColor(ImGuiCol_Text, redish); + + label = rsutils::string::from() << "Time: " << std::left << std::fixed << std::setprecision(1) << timestamp << " "; + + if( timestamp_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME ) + label = rsutils::string::from() << textual_icons::exclamation_triangle << label; + + tail_w -= ImGui::CalcTextSize(label.c_str()).x; + if (tail_w > min_w) + { + ImGui::Text("%s", label.c_str()); + + if (timestamp_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) ImGui::PopStyleColor(); + + if (ImGui::IsItemHovered()) + { + if (timestamp_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) + { + ImGui::BeginTooltip(); + ImGui::PushTextWrapPos(450.0f); + ImGui::TextUnformatted("Timestamp Domain: System Time. Hardware Timestamps unavailable!\nPlease refer to frame_metadata.md for more information"); + ImGui::PopTextWrapPos(); + ImGui::EndTooltip(); + } + else if (timestamp_domain == RS2_TIMESTAMP_DOMAIN_GLOBAL_TIME) + { + ImGui::SetTooltip("Timestamp: Global Time"); + } + else + { + ImGui::SetTooltip("Timestamp: Hardware Clock"); + } + } + + ImGui::SameLine(); + tail_w -= space_w; + } + + if (tail_w > min_w) + { + label = rsutils::string::from() << " Frame: " << std::left << frame_number; + tail_w -= ImGui::CalcTextSize(label.c_str()).x; + if (tail_w > min_w) + ImGui::Text("%s", label.c_str()); + + ImGui::SameLine(); + tail_w -= space_w; + } + + if (tail_w > min_w) + { + std::string res; + if (profile.as()) + res = rsutils::string::from() << size.x << "x" << size.y << ", "; + label = rsutils::string::from() << res << truncate_string(rs2_format_to_string(profile.format()), 9) << ", "; + tail_w -= ImGui::CalcTextSize(label.c_str()).x; + if (tail_w > min_w) + ImGui::Text("%s", label.c_str()); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Stream Resolution, Format"); + } + + ImGui::SameLine(); + tail_w -= space_w; + } + + if (tail_w > min_w) + { + label = rsutils::string::from() << "FPS: " << std::setprecision(2) << std::setw(7) << std::fixed << fps.get_fps(); + tail_w -= ImGui::CalcTextSize(label.c_str()).x; + if (tail_w > min_w) + ImGui::Text("%s", label.c_str()); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "FPS is calculated based on timestamps and not viewer time"); + } + } + + line_y += ImGui::GetTextLineHeight() + 5; + } + } + + if (show_metadata) + stream_model::draw_stream_metadata(timestamp, timestamp_domain, frame_number, profile, original_size, stream_rect); + + ImGui::PopStyleColor(5); + } + + void stream_model::create_stream_details( std::vector< attribute >& stream_details, + const double timestamp, + const rs2_timestamp_domain timestamp_domain, + const unsigned long long frame_number, + const stream_profile profile, + const rs2::float2 original_size ) + { + stream_details.push_back( { "Frame Timestamp", + rsutils::string::from() << std::fixed << std::setprecision( 1 ) << timestamp, + "Frame Timestamp is normalized represetation of when the frame was taken.\n" + "It's a property of every frame, so when exact creation time is not provided by " + "the hardware, an approximation will be used.\n" + "Clock Domain fields helps to interpret the meaning of timestamp\n" + "Timestamp is measured in milliseconds, and is allowed to roll-over (reset to " + "zero) in some situations" } ); + stream_details.push_back( + { "Clock Domain", + rsutils::string::from() << rs2_timestamp_domain_to_string( timestamp_domain ), + "Clock Domain describes the format of Timestamp field. It can be one of the following:\n" + "1. System Time - When no hardware timestamp is available, system time of arrival will be used.\n" + " System time benefits from being comparable between device, but suffers from not being " + "able to approximate latency.\n" + "2. Hardware Clock - Hardware timestamp is attached to the frame by the device, and is consistent " + "accross device sensors.\n" + " Hardware timestamp encodes precisely when frame was captured, but cannot be " + "compared across devices\n" + "3. Global Time - Global time is provided when the device can both offer hardware timestamp and " + "implements Global Timestamp Protocol.\n" + " Global timestamps encode exact time of capture and at the same time are comparable " + "accross devices." } ); + stream_details.push_back( + { "Frame Number", + rsutils::string::from() << frame_number, + "Frame Number is a rolling ID assigned to frames.\n" + "Most devices do not guarantee consequitive frames to have conseuquitive frame numbers\n" + "But it is true most of the time" } ); + + if( profile.as< rs2::video_stream_profile >() ) + { + stream_details.push_back( { "Hardware Size", + rsutils::string::from() << original_size.x << " x " << original_size.y, + "Hardware size is the original frame resolution we got from the sensor, before " + "applying post processing filters." } ); + + stream_details.push_back( { "Display Size", + rsutils::string::from() << size.x << " x " << size.y, + "When Post-Processing is enabled, the actual display size of the frame may " + "differ from original capture size" } ); + } + stream_details.push_back( + { "Pixel Format", rsutils::string::from() << rs2_format_to_string( profile.format() ), "" } ); + + stream_details.push_back( + { "Hardware FPS", + rsutils::string::from() << std::setprecision( 2 ) << std::fixed << fps.get_fps(), + "Hardware FPS captures the number of frames per second produced by the device.\n" + "It is possible and likely that not all of these frames will make it to the application." } ); + + stream_details.push_back( + { "Viewer FPS", + rsutils::string::from() << std::setprecision( 2 ) << std::fixed << view_fps.get_fps(), + "Viewer FPS captures how many frames the application manages to render.\n" + "Frame drops can occur for variety of reasons." } ); + + stream_details.push_back( { "", "", "" } ); + } + + void stream_model::draw_stream_metadata( const double timestamp, + const rs2_timestamp_domain timestamp_domain, + const unsigned long long frame_number, + stream_profile profile, + rs2::float2 original_size, + const rect &stream_rect ) + { + std::vector< attribute > stream_details; + + create_stream_details( stream_details, timestamp, timestamp_domain, frame_number, profile, original_size ); + + const std::string no_md = "no md"; + + if( timestamp_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME ) + { + stream_details.push_back( { no_md, "", ""} ); + } + + std::map< rs2_frame_metadata_value, std::string > descriptions = { + { RS2_FRAME_METADATA_FRAME_COUNTER, "A sequential index managed per-stream. Integer value" }, + { RS2_FRAME_METADATA_FRAME_TIMESTAMP, + "Timestamp set by device clock when data readout and transmit commence. Units are device dependent" }, + { RS2_FRAME_METADATA_SENSOR_TIMESTAMP, + "Timestamp of the middle of sensor's exposure calculated by device. usec" }, + { RS2_FRAME_METADATA_ACTUAL_EXPOSURE, + "Sensor's exposure width. When Auto Exposure (AE) is on the value is controlled by firmware. usec" }, + { RS2_FRAME_METADATA_GAIN_LEVEL, + "A relative value increasing which will increase the Sensor's gain factor.\n" + "When AE is set On, the value is controlled by firmware. Integer value" }, + { RS2_FRAME_METADATA_AUTO_EXPOSURE, "Auto Exposure Mode indicator. Zero corresponds to AE switched off. " }, + { RS2_FRAME_METADATA_WHITE_BALANCE, "White Balance setting as a color temperature. Kelvin degrees" }, + { RS2_FRAME_METADATA_TIME_OF_ARRIVAL, "Time of arrival in system clock" }, + { RS2_FRAME_METADATA_TEMPERATURE, + "Temperature of the device, measured at the time of the frame capture. Celsius degrees " }, + { RS2_FRAME_METADATA_BACKEND_TIMESTAMP, "Timestamp get from uvc driver. usec" }, + { RS2_FRAME_METADATA_ACTUAL_FPS, "Hardware FPS * 1000 =\n" + "1000000 * (frame-number - prev-frame-number) / (timestamp - prev-timestamp)" }, + { RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE, + "Laser power mode. Zero corresponds to Laser power switched off and one for switched on." }, + { RS2_FRAME_METADATA_EXPOSURE_PRIORITY, + "Exposure priority. When enabled Auto-exposure algorithm is allowed to reduce requested FPS to " + "sufficiently increase exposure time (an get enough light)" }, + { RS2_FRAME_METADATA_POWER_LINE_FREQUENCY, + "Power Line Frequency for anti-flickering Off/50Hz/60Hz/Auto. " }, + }; + + for( auto i = 0; i < RS2_FRAME_METADATA_COUNT; i++ ) + { + auto && kvp = frame_md.md_attributes[i]; + if( kvp.first ) + { + auto val = (rs2_frame_metadata_value)i; + std::string name = rs2_frame_metadata_to_string( val ); + std::string desc; + if( descriptions.find( val ) != descriptions.end() ) + desc = descriptions[val]; + stream_details.push_back( { name, format_value(val, kvp.second), desc } ); + } + } + + float max_text_width = 0.f; + + for (auto&& kvp : stream_details) { + max_text_width = std::max(max_text_width, ImGui::CalcTextSize(kvp.name.c_str()).x); + } + + // Set cursor to metadata start position + ImGui::SetCursorScreenPos( { stream_rect.x, stream_rect.y } ); + + // Creating layer for metadata + std::string metadata_layer_id = rsutils::string::from() << "##Metadata-" << profile.unique_id(); + ImGui::BeginChild( metadata_layer_id.c_str(), ImVec2( stream_rect.w + 2, stream_rect.h ) ); + auto screen_pos = ImGui::GetCursorScreenPos( ); + const float space_between_columns = 20.f; + const float space_between_lines = 4.f; + const float space_from_left = 10.f; + + float line_y = ImGui::GetCursorScreenPos().y; + + for( auto && at : stream_details ) + { + ImGui::SetCursorScreenPos( { screen_pos.x + space_from_left, line_y } ); // create space from left for metadata labels column + + ImGui::PushStyleColor( ImGuiCol_FrameBg, transparent ); + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, light_blue ); + + if ( at.name == "" ) { + line_y += ImGui::GetTextLineHeight() + space_between_lines; // Create space separation between stream details and metatada + } + else if( at.name == no_md ) + { + std::vector warning_lines = { "Per-frame metadata is not enabled at the OS level!", "Please follow the installation guide for the details." }; + ImGui::PushStyleColor( ImGuiCol_Text, redish ); + + // This loop print 2 lines of the warning. This is work around solution because InputText can't show text after new line character. + for (int i = 0; i < warning_lines.size(); i++) { + auto warning_size = ImGui::CalcTextSize(warning_lines[i].c_str()); + + // Draw a smooth rectangle background for a warning. + for (auto i = 3; i > 0; i--) + ImGui::GetWindowDrawList()->AddRectFilled( + { screen_pos.x + space_from_left - i, line_y - i }, + { screen_pos.x + space_from_left + warning_size.x + i + 10, line_y + warning_size.y + i }, + ImColor( alpha( sensor_bg, 0.1f ) ) ); + + ImGui::SetCursorScreenPos( { screen_pos.x + space_from_left, line_y } ); // create space from left for metadata labels column. + ImGui::PushItemWidth(warning_size.x + 5); + + std::string metadata_id = rsutils::string::from() << "##" << at.name << "-" << profile.unique_id(); + ImGui::InputText( metadata_id.c_str(), + (char *)warning_lines[i].c_str(), + warning_lines[i].size(), + ImGuiInputTextFlags_ReadOnly ); + + line_y += ImGui::GetTextLineHeight() + space_between_lines; // Move down to the next line + } + + ImGui::PopStyleColor(); // remove redish text color. + } + else + { + std::string text = rsutils::string::from() << at.name << ":"; + auto label_size = ImGui::CalcTextSize(text.c_str()); + + // Draw a smooth rectangle background for label + // When we draw multiple rectangles with a shorter pixel on w & h is darker the inside rectangle + for (auto i = 3; i > 0; i--) + ImGui::GetWindowDrawList()->AddRectFilled( + { screen_pos.x + space_from_left - i, line_y - i }, + { screen_pos.x + space_from_left + label_size.x + i + 10, line_y + label_size.y + i }, + ImColor( alpha( sensor_bg, 0.1f ) ) ); + + ImGui::PushItemWidth(label_size.x + 5); // Set input text width for label. + + std::string label_id = rsutils::string::from() << "##" << at.name << "-" << profile.unique_id(); + ImGui::InputText( label_id.c_str(), + (char *)text.c_str(), + text.size(), + ImGuiInputTextFlags_ReadOnly ); + + ImGui::PopItemWidth(); + + if( at.description != "" ) + { + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "%s", at.description.c_str() ); + } + } + + text = at.value; + auto value_size = ImGui::CalcTextSize(text.c_str()); + + // Draw a smooth rectangle background for label value. + for (auto i = 3; i > 0; i--) + ImGui::GetWindowDrawList()->AddRectFilled( + { screen_pos.x + space_from_left + max_text_width + space_between_columns - i, line_y - i }, + { screen_pos.x + space_from_left + value_size.x + max_text_width + space_between_columns + i + 10, line_y + value_size.y + i }, + ImColor( alpha( sensor_bg, 0.1f ) ) ); + + ImGui::SetCursorScreenPos( { screen_pos.x + space_from_left + max_text_width + space_between_columns, line_y } ); + + ImGui::PushItemWidth(value_size.x + 5); // Set input text width for label value. + + std::string value_id = rsutils::string::from() << "##" << at.name << "-" << at.value << "-" << profile.unique_id(); + ImGui::InputText( value_id.c_str(), + (char *)text.c_str(), + text.size(), + ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly ); + + ImGui::PopItemWidth(); + + line_y += ImGui::GetTextLineHeight() + space_between_lines; // Move down to the next line + } + + ImGui::PopStyleColor( 2 ); // pop transparent ImGuiCol_FrameBg, pop light_blue ImGuiCol_TextSelectedBg. + } + + ImGui::EndChild(); + } + + std::string stream_model::format_value(rs2_frame_metadata_value& md_val, rs2_metadata_type& attribute_val) const + { + if (should_show_in_hex(md_val)) + return rsutils::string::from() << "0x" << std::hex << attribute_val; // return value as hex + return rsutils::string::from() << attribute_val; + } + + bool stream_model::should_show_in_hex(rs2_frame_metadata_value& md_val) const + { + // place in the SET metadata types you wish to display in HEX format + static std::unordered_set< int > show_in_hex; + + if (show_in_hex.find(md_val) != show_in_hex.end()) + return true; + return false; + } + + void stream_model::show_stream_footer(ImFont* font, const rect &stream_rect, const mouse_info& mouse, const std::map &streams, viewer_model& viewer) + { + auto non_visual_stream = (profile.stream_type() == RS2_STREAM_GYRO) + || (profile.stream_type() == RS2_STREAM_ACCEL) + || (profile.stream_type() == RS2_STREAM_GPIO) + || (profile.stream_type() == RS2_STREAM_POSE); + + // This scope contains a cursor behavior on visual stream with no metadata on + if (stream_rect.contains(mouse.cursor) && !non_visual_stream && !show_metadata) + { + std::stringstream ss; + rect cursor_rect{ mouse.cursor.x, mouse.cursor.y }; + auto ts = cursor_rect.normalize(stream_rect); + auto pixels = ts.unnormalize(_normalized_zoom.unnormalize(get_stream_bounds())); + auto x = (int)pixels.x; + auto y = (int)pixels.y; + + ss << std::fixed << std::setprecision(0) << x << ", " << y; + + float val{}; + if (texture->try_pick(x, y, &val)) + { + ss << " 0x" << std::hex << static_cast< int >( round( val ) ); + } + + bool show_max_range = false; + bool show_reflectivity = false; + + if (texture->get_last_frame().is()) + { + // Draw pixel distance + auto meters = texture->get_last_frame().as().get_distance(x, y); + + if (viewer.metric_system) + { + // depth is displayed in mm when distance is below 20 cm and gets back to meters when above 30 cm + static bool display_in_mm = false; + if (!display_in_mm && meters > 0.f && meters < 0.2f) + { + display_in_mm = true; + } + else if (display_in_mm && meters > 0.3f) + { + display_in_mm = false; + } + if (display_in_mm) + ss << std::dec << " = " << std::setprecision(3) << meters * 1000 << " millimeters"; + else + ss << std::dec << " = " << std::setprecision(3) << meters << " meters"; + } + else + ss << std::dec << " = " << std::setprecision(3) << meters / FEET_TO_METER << " feet"; + + // Draw maximum usable depth range + auto ds = sensor_from_frame(texture->get_last_frame())->as(); + if (!viewer.is_option_skipped(RS2_OPTION_ENABLE_MAX_USABLE_RANGE)) + { + if (ds.supports(RS2_OPTION_ENABLE_MAX_USABLE_RANGE) && + (ds.get_option(RS2_OPTION_ENABLE_MAX_USABLE_RANGE) == 1.0f)) + { + auto mur_sensor = ds.as(); + if (mur_sensor) + { + show_max_range = true; + auto max_usable_range = mur_sensor.get_max_usable_depth_range(); + const float MIN_RANGE = 1.5f; + const float MAX_RANGE = 9.0f; + // display maximum usable range in range 1.5-9 [m] at 1.5 [m] resolution (rounded) + auto max_usable_range_limited = std::min(std::max(max_usable_range, MIN_RANGE), MAX_RANGE); + + //round to 1.5 [m] + auto max_usable_range_rounded = static_cast(max_usable_range_limited / 1.5f) * 1.5f; + + if (viewer.metric_system) + ss << std::dec << "\nMax usable range: " << std::setprecision(1) << max_usable_range_rounded << " meters"; + else + ss << std::dec << "\nMax usable range: " << std::setprecision(1) << max_usable_range_rounded / FEET_TO_METER << " feet"; + } + } + } + + // Draw IR reflectivity on depth frame + if (_reflectivity) + { + if (ds.get_option(RS2_OPTION_ENABLE_IR_REFLECTIVITY) == 1.0f) + { + rect roi_for_reflectivity{ + (float)dev->algo_roi.min_x, + (float)dev->algo_roi.min_y, + (float)( dev->algo_roi.max_x - dev->algo_roi.min_x ), + (float)( dev->algo_roi.max_y - dev->algo_roi.min_y ) }; + + auto normalized_roi = roi_for_reflectivity + .normalize( _normalized_zoom.unnormalize( get_original_stream_bounds() ) ) + .unnormalize( stream_rect ) + .cut_by( stream_rect ); + + if ((0.2f == roi_percentage) && normalized_roi.contains(mouse.cursor)) + { + // Add reflectivity information on frame, if max usable range is displayed, display reflectivity on the same line + show_reflectivity = draw_reflectivity(x, y, ds, streams, ss, show_max_range); + } + } + } + } + + // Draw IR reflectivity on IR frame + if (_reflectivity) + { + bool lf_exist = texture->get_last_frame(); + if (lf_exist) + { + auto ds = sensor_from_frame(texture->get_last_frame())->as(); + if (ds.get_option( RS2_OPTION_ENABLE_IR_REFLECTIVITY ) == 1.0f ) + { + bool lf_exist = texture->get_last_frame(); + if (is_stream_alive() && texture->get_last_frame().get_profile().stream_type() == RS2_STREAM_INFRARED) + { + rect roi_for_reflectivity{ + (float)dev->algo_roi.min_x, + (float)dev->algo_roi.min_y, + (float)(dev->algo_roi.max_x - dev->algo_roi.min_x), + (float)(dev->algo_roi.max_y - dev->algo_roi.min_y) }; + + auto normalized_roi = roi_for_reflectivity + .normalize( _normalized_zoom.unnormalize( get_original_stream_bounds() ) ) + .unnormalize( stream_rect ) + .cut_by( stream_rect ); + + if ((0.2f == roi_percentage) && normalized_roi.contains(mouse.cursor)) + { + show_reflectivity = draw_reflectivity(x, y, ds, streams, ss, show_max_range); + } + } + } + } + } + + std::string msg(ss.str().c_str()); + + ImGui_ScopePushFont(font); + + // adjust windows size to the message length + auto new_line_start_idx = msg.find_first_of('\n'); + int footer_vertical_size = 35; + auto width = float(msg.size() * 8); + + // adjust width according to the longest line + if (show_max_range || show_reflectivity) + { + footer_vertical_size = 50; + auto first_line_size = msg.find_first_of('\n') + 1; + auto second_line_size = msg.substr(new_line_start_idx).size(); + width = std::max(first_line_size, second_line_size) * 8.0f; + } + + auto align = 20; + width += align - (int)width % align; + + ImVec2 pos{ stream_rect.x + 5, stream_rect.y + stream_rect.h - footer_vertical_size }; + ImGui::GetWindowDrawList()->AddRectFilled({ pos.x, pos.y }, + { pos.x + width, pos.y + footer_vertical_size - 5 }, ImColor(dark_sensor_bg)); + + ImGui::SetCursorScreenPos({ pos.x + 10, pos.y + 5 }); + + std::string label = rsutils::string::from() << "Footer for stream of " << profile.unique_id(); + + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + + ImGui::Text("%s", msg.c_str()); + ImGui::PopStyleColor(2); + } + else + { + if (_reflectivity) + { + _reflectivity->reset_history(); + _stabilized_reflectivity.clear(); + } + } + } + + // This function contains a cursor behavior on IMU stream with no metadata on + void stream_model::show_stream_imu(ImFont* font, const rect &stream_rect, const rs2_vector& axis, const mouse_info& mouse) + { + if (stream_rect.contains(mouse.cursor) && !show_metadata) + { + const auto precision = 3; + rs2_stream stream_type = profile.stream_type(); + + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + + ImGui::PushStyleColor(ImGuiCol_Button, header_window_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, header_window_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, header_window_bg); + + float y_offset = 0; + if (show_stream_details) + { + y_offset += 30; + } + + std::string label = rsutils::string::from() << "IMU Stream Info of " << profile.unique_id(); + + ImVec2 pos{ stream_rect.x, stream_rect.y + y_offset }; + ImGui::SetCursorScreenPos({ pos.x + 5, pos.y + 5 }); + + struct motion_data { + std::string name; + float coordinate; + std::string units; + std::string toolTip; + ImVec4 colorFg; + ImVec4 colorBg; + int nameExtraSpace; + }; + + float norm = std::sqrt((axis.x*axis.x) + (axis.y*axis.y) + (axis.z*axis.z)); + + std::map motion_unit = { { RS2_STREAM_GYRO, "Radians/Sec" },{ RS2_STREAM_ACCEL, "Meter/Sec^2" } }; + std::vector motion_vector = { { "X", axis.x, motion_unit[stream_type].c_str(), "Vector X", from_rgba(233, 0, 0, 255, true) , from_rgba(233, 0, 0, 255, true), 0}, + { "Y", axis.y, motion_unit[stream_type].c_str(), "Vector Y", from_rgba(0, 255, 0, 255, true) , from_rgba(2, 100, 2, 255, true), 0}, + { "Z", axis.z, motion_unit[stream_type].c_str(), "Vector Z", from_rgba(85, 89, 245, 255, true) , from_rgba(0, 0, 245, 255, true), 0}, + { "N", norm, "Norm", "||V|| = SQRT(X^2 + Y^2 + Z^2)",from_rgba(255, 255, 255, 255, true) , from_rgba(255, 255, 255, 255, true), 0} }; + + int line_h = 18; + for (auto&& motion : motion_vector) + { + auto rc = ImGui::GetCursorPos(); + ImGui::SetCursorPos({ rc.x + 12, rc.y + 4 }); + ImGui::PushStyleColor(ImGuiCol_Text, motion.colorFg); + ImGui::Text("%s:", motion.name.c_str()); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", motion.toolTip.c_str()); + } + ImGui::PopStyleColor(1); + + ImGui::SameLine(); + ImGui::PushStyleColor(ImGuiCol_FrameBg, black); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, motion.colorBg); + + ImGui::PushItemWidth(100); + ImGui::SetCursorPos({ rc.x + 27 + motion.nameExtraSpace, rc.y + 1 }); + std::string label = rsutils::string::from() << "##" << profile.unique_id() << " " << motion.name.c_str(); + std::string coordinate = rsutils::string::from() << std::fixed << std::setprecision(precision) << std::showpos << motion.coordinate; + ImGui::InputText(label.c_str(), (char*)coordinate.c_str(), coordinate.size() + 1, ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly); + ImGui::PopItemWidth(); + + ImGui::SetCursorPos({ rc.x + 80 + motion.nameExtraSpace, rc.y + 4 }); + ImGui::PushStyleColor(ImGuiCol_Text, from_rgba(255, 255, 255, 100, true)); + ImGui::Text("(%s)", motion.units.c_str()); + + ImGui::PopStyleColor(3); + ImGui::SetCursorPos({ rc.x, rc.y + line_h }); + } + + ImGui::PopStyleColor(5); + } + } + + void stream_model::show_stream_pose(ImFont* font, const rect &stream_rect, + const rs2_pose& pose_frame, rs2_stream stream_type, bool fullScreen, float y_offset, + viewer_model& viewer) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + + ImGui::PushStyleColor(ImGuiCol_Button, header_window_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, header_window_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, header_window_bg); + + std::string label = rsutils::string::from() << "Pose Stream Info of " << profile.unique_id(); + + ImVec2 pos{ stream_rect.x, stream_rect.y + y_offset }; + ImGui::SetCursorScreenPos({ pos.x + 5, pos.y + 5 }); + + std::string confidenceName[4] = { "Failed", "Low", "Medium", "High" }; + struct pose_data { + std::string name; + float floatData[4]; + std::string strData; + uint8_t precision; + bool signedNumber; + std::string units; + std::string toolTip; + uint32_t nameExtraSpace; + bool showOnNonFullScreen; + bool fixedPlace; + bool fixedColor; + }; + + rs2_vector velocity = pose_frame.velocity; + rs2_vector acceleration = pose_frame.acceleration; + rs2_vector translation = pose_frame.translation; + const float feetTranslator = 3.2808f; + std::string unit = viewer.metric_system ? "meters" : "feet"; + + if (!viewer.metric_system) + { + velocity.x *= feetTranslator; velocity.y *= feetTranslator; velocity.z *= feetTranslator; + acceleration.x *= feetTranslator; acceleration.y *= feetTranslator; acceleration.z *= feetTranslator; + translation.x *= feetTranslator; translation.y *= feetTranslator; translation.z *= feetTranslator; + } + + std::vector pose_vector = { + { "Confidence",{ FLT_MAX , FLT_MAX , FLT_MAX , FLT_MAX }, confidenceName[pose_frame.tracker_confidence], 3, true, "", "Tracker confidence: High=Green, Medium=Yellow, Low=Red, Failed=Grey", 50, false, true, false }, + { "Velocity", {velocity.x, velocity.y , velocity.z , FLT_MAX }, "", 3, true, "(" + unit + "/Sec)", "Velocity: X, Y, Z values of velocity, in " + unit + "/Sec", 50, false, true, false}, + { "Angular Velocity",{ pose_frame.angular_velocity.x, pose_frame.angular_velocity.y , pose_frame.angular_velocity.z , FLT_MAX }, "", 3, true, "(Radians/Sec)", "Angular Velocity: X, Y, Z values of angular velocity, in Radians/Sec", 50, false, true, false }, + { "Acceleration",{ acceleration.x, acceleration.y , acceleration.z , FLT_MAX }, "", 3, true, "(" + unit + "/Sec^2)", "Acceleration: X, Y, Z values of acceleration, in " + unit + "/Sec^2", 50, false, true, false }, + { "Angular Acceleration",{ pose_frame.angular_acceleration.x, pose_frame.angular_acceleration.y , pose_frame.angular_acceleration.z , FLT_MAX }, "", 3, true, "(Radians/Sec^2)", "Angular Acceleration: X, Y, Z values of angular acceleration, in Radians/Sec^2", 50, false, true, false }, + { "Translation",{ translation.x, translation.y , translation.z , FLT_MAX }, "", 3, true, "(" + unit + ")", "Translation: X, Y, Z values of translation in " + unit + " (relative to initial position)", 50, true, true, false }, + { "Rotation",{ pose_frame.rotation.x, pose_frame.rotation.y , pose_frame.rotation.z , pose_frame.rotation.w }, "", 3, true, "(Quaternion)", "Rotation: Qi, Qj, Qk, Qr components of rotation as represented in quaternion rotation (relative to initial position)", 50, true, true, false }, + }; + + int line_h = 18; + if (fullScreen) + { + line_h += 2; + } + + for (auto&& pose : pose_vector) + { + if ((fullScreen == false) && (pose.showOnNonFullScreen == false)) + { + continue; + } + + auto rc = ImGui::GetCursorPos(); + ImGui::SetCursorPos({ rc.x + 12, rc.y + 4 }); + ImGui::Text("%s:", pose.name.c_str()); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", pose.toolTip.c_str()); + } + + if (pose.fixedColor == false) + { + switch (pose_frame.tracker_confidence) //color the line according to confidence + { + case 3: // High confidence - Green + ImGui::PushStyleColor(ImGuiCol_Text, green); + break; + case 2: // Medium confidence - Yellow + ImGui::PushStyleColor(ImGuiCol_Text, yellow); + break; + case 1: // Low confidence - Red + ImGui::PushStyleColor(ImGuiCol_Text, red); + break; + case 0: // Failed confidence - Grey + default: // Fall thourgh + ImGui::PushStyleColor(ImGuiCol_Text, grey); + break; + } + } + + ImGui::SetCursorPos({ rc.x + 100 + (fullScreen ? pose.nameExtraSpace : 0), rc.y + 1 }); + std::string label = rsutils::string::from() << "##" << profile.unique_id() << " " << pose.name.c_str(); + std::string data = ""; + + if (pose.strData.empty()) + { + data = "["; + std::string comma = ""; + unsigned int i = 0; + while ((i < 4) && (pose.floatData[i] != FLT_MAX)) + { + + data += rsutils::string::from() << std::fixed << std::setprecision(pose.precision) << (pose.signedNumber ? std::showpos : std::noshowpos) << comma << pose.floatData[i]; + comma = ", "; + i++; + } + data += "]"; + } + else + { + data = pose.strData; + } + + auto textSize = ImGui::CalcTextSize((char*)data.c_str(), (char*)data.c_str() + data.size() + 1); + ImGui::PushItemWidth(textSize.x); + ImGui::InputText(label.c_str(), (char*)data.c_str(), data.size() + 1, ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly); + ImGui::PopItemWidth(); + + if (pose.fixedColor == false) + { + ImGui::PopStyleColor(1); + } + + if (pose.fixedPlace == true) + { + ImGui::SetCursorPos({ rc.x + 300 + (fullScreen ? pose.nameExtraSpace : 0), rc.y + 4 }); + } + else + { + ImGui::SameLine(); + } + + ImGui::PushStyleColor(ImGuiCol_Text, from_rgba(255, 255, 255, 100, true)); + ImGui::Text("%s", pose.units.c_str()); + ImGui::PopStyleColor(1); + + ImGui::SetCursorPos({ rc.x, rc.y + line_h }); + } + + ImGui::PopStyleColor(5); + } + + void stream_model::snapshot_frame(const char* filename, viewer_model& viewer) const + { + std::stringstream ss; + std::string stream_desc{}; + std::string filename_base(filename); + + // Trim the file extension when provided. Note that this may amend user-provided file name in case it uses the "." character, e.g. "my.file.name" + auto loc = filename_base.find_last_of("."); + if (loc != std::string::npos) + filename_base.erase(loc, std::string::npos); + + // Snapshot the color-augmented version of the frame + if (auto colorized_frame = texture->get_last_frame(true).as()) + { + stream_desc = rs2_stream_to_string(colorized_frame.get_profile().stream_type()); + auto filename_png = filename_base + "_" + stream_desc + ".png"; + save_to_png(filename_png.data(), colorized_frame.get_width(), colorized_frame.get_height(), colorized_frame.get_bytes_per_pixel(), + colorized_frame.get_data(), colorized_frame.get_width() * colorized_frame.get_bytes_per_pixel()); + + ss << "PNG snapshot was saved to " << filename_png << std::endl; + } + + auto last_frame = texture->get_last_frame( false ); + auto original_frame = last_frame.as< video_frame >(); + + // For Depth-originated streams also provide a copy of the raw data accompanied by sensor-specific metadata + if (original_frame && val_in_range(original_frame.get_profile().stream_type(), { RS2_STREAM_DEPTH , RS2_STREAM_INFRARED })) + { + stream_desc = rs2_stream_to_string(original_frame.get_profile().stream_type()); + + //Capture raw frame + auto filename = filename_base + "_" + stream_desc + ".raw"; + if (save_frame_raw_data(filename, original_frame)) + ss << "Raw data is captured into " << filename << std::endl; + else + viewer.not_model->add_notification({ rsutils::string::from() << "Failed to save frame raw data " << filename, + RS2_LOG_SEVERITY_INFO, RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR }); + + // And the frame's attributes + filename = filename_base + "_" + stream_desc + "_metadata.csv"; + + try + { + if (frame_metadata_to_csv(filename, original_frame)) + ss << "The frame attributes are saved into " << filename; + else + viewer.not_model->add_notification({ rsutils::string::from() << "Failed to save frame metadata file " << filename, + RS2_LOG_SEVERITY_INFO, RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR }); + } + catch (std::exception& e) + { + viewer.not_model->add_notification({ rsutils::string::from() << e.what(), + RS2_LOG_SEVERITY_INFO, RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR }); + } + } + + auto motion = last_frame.as< motion_frame >(); + if( motion ) + { + stream_desc = rs2_stream_to_string( motion.get_profile().stream_type() ); + + // And the frame's attributes + auto filename = filename_base + "_" + stream_desc + ".csv"; + + try + { + if( motion_data_to_csv( filename, motion ) ) + ss << "The frame attributes are saved into\n" << filename; + else + viewer.not_model->add_notification( + { rsutils::string::from() << "Failed to save frame file " << filename, + RS2_LOG_SEVERITY_INFO, + RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR } ); + } + catch( std::exception & e ) + { + viewer.not_model->add_notification( { rsutils::string::from() << e.what(), + RS2_LOG_SEVERITY_INFO, + RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR } ); + } + } + + auto pose = last_frame.as< pose_frame >(); + if( pose ) + { + stream_desc = rs2_stream_to_string( pose.get_profile().stream_type() ); + + // And the frame's attributes + auto filename = filename_base + "_" + stream_desc + ".csv"; + + try + { + if( pose_data_to_csv( filename, pose ) ) + ss << "The frame attributes are saved into\n" << filename; + else + viewer.not_model->add_notification( + { rsutils::string::from() << "Failed to save frame file " << filename, + RS2_LOG_SEVERITY_INFO, + RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR } ); + } + catch( std::exception & e ) + { + viewer.not_model->add_notification( { rsutils::string::from() << e.what(), + RS2_LOG_SEVERITY_INFO, + RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR } ); + } + } + if (ss.str().size()) + viewer.not_model->add_notification(notification_data{ + ss.str().c_str(), RS2_LOG_SEVERITY_INFO, RS2_NOTIFICATION_CATEGORY_HARDWARE_EVENT }); + + } + + rect stream_model::get_normalized_zoom(const rect& stream_rect, const mouse_info& g, bool is_middle_clicked, float zoom_val) + { + rect zoomed_rect = dev->normalized_zoom.unnormalize(stream_rect); + if (stream_rect.contains(g.cursor)) + { + if (!is_middle_clicked) + { + if (zoom_val < 1.f) + { + zoomed_rect = zoomed_rect.center_at(g.cursor) + .zoom(zoom_val) + .fit({ 0, 0, 40, 40 }) + .enclose_in(zoomed_rect) + .enclose_in(stream_rect); + } + else if (zoom_val > 1.f) + { + zoomed_rect = zoomed_rect.zoom(zoom_val).enclose_in(stream_rect); + } + } + else + { + auto dir = g.cursor - _middle_pos; + + if (dir.length() > 0) + { + zoomed_rect = zoomed_rect.pan(1.1f * dir).enclose_in(stream_rect); + } + } + dev->normalized_zoom = zoomed_rect.normalize(stream_rect); + } + return dev->normalized_zoom; + } + + void stream_model::show_frame(const rect& stream_rect, const mouse_info& g, std::string& error_message) + { + auto zoom_val = 1.f; + // Allow mouse scrolling for zoom when not displaying scrollable metadata + if (stream_rect.contains(g.cursor) && !show_metadata) + { + static const auto wheel_step = 0.1f; + auto mouse_wheel_value = -g.mouse_wheel * 0.1f; + if (mouse_wheel_value > 0) + zoom_val += wheel_step; + else if (mouse_wheel_value < 0) + zoom_val -= wheel_step; + } + + auto is_middle_clicked = ImGui::GetIO().MouseDown[0] || + ImGui::GetIO().MouseDown[2]; + + if (!_mid_click && is_middle_clicked) + _middle_pos = g.cursor; + + _mid_click = is_middle_clicked; + + if( dev ) + { + _normalized_zoom = get_normalized_zoom( stream_rect, g, is_middle_clicked, zoom_val ); + texture->show(stream_rect, 1.f, _normalized_zoom); + + if( dev->show_algo_roi ) + { + rect r{ float(dev->algo_roi.min_x), float(dev->algo_roi.min_y), + float(dev->algo_roi.max_x - dev->algo_roi.min_x), + float(dev->algo_roi.max_y - dev->algo_roi.min_y) }; + + r = r.normalize(_normalized_zoom.unnormalize(get_original_stream_bounds())).unnormalize(stream_rect).cut_by(stream_rect); + glColor3f(yellow.x, yellow.y, yellow.z); + draw_rect(r, 2, true); + + std::string message = "Metrics Region of Interest"; + auto msg_width = stb_easy_font_width((char*)message.c_str()); + if (msg_width < r.w) + draw_text(static_cast(r.x + r.w / 2 - msg_width / 2), static_cast(r.y + 10), message.c_str()); + + glColor3f(1.f, 1.f, 1.f); + roi_percentage = dev->roi_percentage; + } + + update_ae_roi_rect(stream_rect, g, error_message); + } + texture->show_preview(stream_rect, _normalized_zoom); + + if (is_middle_clicked) + _middle_pos = g.cursor; + } +} diff --git a/librealsense/common/stream-model.h b/librealsense/common/stream-model.h new file mode 100644 index 0000000..0b058f3 --- /dev/null +++ b/librealsense/common/stream-model.h @@ -0,0 +1,114 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "rect.h" +#include "rendering.h" +#include +#include "reflectivity/reflectivity.h" +#include + +namespace rs2 +{ + class subdevice_model; + class viewer_model; + + void draw_rect(const rect& r, int line_width = 1, bool draw_cross = false); + + struct frame_metadata + { + std::array, RS2_FRAME_METADATA_COUNT> md_attributes{}; + }; + + struct attribute + { + std::string name; + std::string value; + std::string description; + }; + + bool draw_combo_box(const std::string& id, const std::vector& device_names, int& new_index); + + class stream_model + { + public: + stream_model(); + std::shared_ptr upload_frame(frame&& f); + bool is_stream_visible() const; + void update_ae_roi_rect(const rect& stream_rect, const mouse_info& mouse, std::string& error_message); + void show_frame(const rect& stream_rect, const mouse_info& g, std::string& error_message); + rect get_normalized_zoom(const rect& stream_rect, const mouse_info& g, bool is_middle_clicked, float zoom_val); + + bool is_stream_alive(); + void show_stream_footer(ImFont* font, const rect &stream_rect, const mouse_info& mouse, const std::map &streams, viewer_model& viewer); + void show_stream_header(ImFont* font, const rect& stream_rect, viewer_model& viewer); + void show_stream_imu(ImFont* font, const rect& stream_rect, const rs2_vector& axis, const mouse_info& mouse); + void show_stream_pose(ImFont* font, const rect& stream_rect, const rs2_pose& pose_data, + rs2_stream stream_type, bool fullScreen, float y_offset, viewer_model& viewer); + + void snapshot_frame(const char* filename,viewer_model& viewer) const; + + void draw_stream_metadata( const double timestamp, + const rs2_timestamp_domain timestamp_domain, + const unsigned long long frame_number, + stream_profile profile, + rs2::float2 original_size, + const rect& stream_rect ); + + // This function fill details with data + void create_stream_details( std::vector< attribute >& stream_details, + const double timestamp, + const rs2_timestamp_domain timestamp_domain, + unsigned long long frame_number, + stream_profile profile, + rs2::float2 original_size ); + + void begin_stream(std::shared_ptr d, rs2::stream_profile p, const viewer_model& viewer); + bool draw_reflectivity(int x, int y, rs2::depth_sensor ds, const std::map &streams, std::stringstream &ss, bool same_line = false); + rect layout; + std::shared_ptr texture; + float2 size; + float2 original_size; + rect get_stream_bounds() const { return { 0, 0, size.x, size.y };} + rect get_original_stream_bounds() const { return{ 0, 0, original_size.x, original_size.y };} + stream_profile original_profile; + stream_profile profile; + std::chrono::high_resolution_clock::time_point last_frame; + double timestamp = 0.0; + unsigned long long frame_number = 0; + rs2_timestamp_domain timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME; + fps_calc fps, view_fps; + int count = 0; + rect roi_display_rect{}; + float roi_percentage = 0.4f; + frame_metadata frame_md; + bool capturing_roi = false; // active modification of roi + std::shared_ptr dev; + float _frame_timeout = RS2_DEFAULT_TIMEOUT; + float _min_timeout = 167.0f; + + bool _mid_click = false; + float2 _middle_pos{0, 0}; + rect _normalized_zoom{0, 0, 1, 1}; + int color_map_idx = 1; + bool show_stream_details = false; + rect curr_info_rect{}; + temporal_event _stream_not_alive; + bool show_map_ruler = true; + bool show_metadata = false; + + animated _info_height{ 0.f }; + int _prev_mouse_pos_x = 0; + int _prev_mouse_pos_y = 0; + + private: + std::unique_ptr< reflectivity > _reflectivity; + rsutils::number::stabilized_value _stabilized_reflectivity; + + std::string format_value(rs2_frame_metadata_value& md_val, rs2_metadata_type& attribute_val) const; + bool should_show_in_hex(rs2_frame_metadata_value& md_val) const; + }; + + +} diff --git a/librealsense/common/subdevice-model.cpp b/librealsense/common/subdevice-model.cpp new file mode 100644 index 0000000..9205662 --- /dev/null +++ b/librealsense/common/subdevice-model.cpp @@ -0,0 +1,1775 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2024 Intel Corporation. All Rights Reserved. + +#include "post-processing-filters-list.h" +#include "post-processing-block-model.h" +#include + +#include "metadata-helper.h" +#include "subdevice-model.h" + +namespace rs2 +{ + static void width_height_from_resolution(rs2_sensor_mode mode, int& width, int& height) + { + switch (mode) + { + case RS2_SENSOR_MODE_VGA: + width = 640; + height = 480; + break; + case RS2_SENSOR_MODE_XGA: + width = 1024; + height = 768; + break; + case RS2_SENSOR_MODE_QVGA: + width = 320; + height = 240; + break; + default: + width = height = 0; + break; + } + } + + static int get_resolution_id_from_sensor_mode(rs2_sensor_mode sensor_mode, + const std::vector< std::pair< int, int > >& res_values) + { + int width = 0, height = 0; + width_height_from_resolution(sensor_mode, width, height); + auto iter = std::find_if(res_values.begin(), + res_values.end(), + [width, height](std::pair< int, int > res) { + if (((res.first == width) && (res.second == height)) + || ((res.first == height) && (res.second == width))) + return true; + return false; + }); + if (iter != res_values.end()) + { + return static_cast(std::distance(res_values.begin(), iter)); + } + + throw std::runtime_error("cannot convert sensor mode to resolution ID"); + } + + std::vector get_string_pointers(const std::vector& vec) + { + std::vector res; + for (auto&& s : vec) res.push_back(s.c_str()); + return res; + } + + std::string get_device_sensor_name(subdevice_model* sub) + { + std::stringstream ss; + ss << configurations::viewer::post_processing + << "." << sub->dev.get_info(RS2_CAMERA_INFO_NAME) + << "." << sub->s->get_info(RS2_CAMERA_INFO_NAME); + return ss.str(); + } + + void subdevice_model::populate_options( const std::string & opt_base_label, + bool * options_invalidated, + std::string & error_message ) + { + for (rs2::option_value option : s->get_supported_option_values()) + { + options_metadata[option->id] + = create_option_model( option, opt_base_label, this, s, options_invalidated, error_message ); + } + try + { + s->on_options_changed( [this]( const options_list & list ) + { + for( auto changed_option : list ) + { + auto it = options_metadata.find( changed_option->id ); + if( it != options_metadata.end() && ! _destructing ) // Callback runs in different context, check options_metadata still valid + { + it->second.value = changed_option; + } + } + } ); + } + catch( const std::exception & e ) + { + if( viewer.not_model ) + viewer.not_model->add_log( e.what(), RS2_LOG_SEVERITY_WARN ); + } + } + + // to be moved to processing-block-model + bool restore_processing_block(const char* name, + std::shared_ptr pb, bool enable) + { + for (auto opt : pb->get_supported_options()) + { + std::string key = name; + key += "."; + key += pb->get_option_name(opt); + if (config_file::instance().contains(key.c_str())) + { + float val = config_file::instance().get(key.c_str()); + try + { + auto range = pb->get_option_range(opt); + if (val >= range.min && val <= range.max) + pb->set_option(opt, val); + } + catch (...) + { + } + } + } + + std::string key = name; + key += ".enabled"; + if (config_file::instance().contains(key.c_str())) + { + return config_file::instance().get(key.c_str()); + } + return enable; + } + + subdevice_model::subdevice_model( + device& dev, + std::shared_ptr s, + std::shared_ptr< atomic_objects_in_frame > device_detected_objects, + std::string& error_message, + viewer_model& viewer, + bool new_device_connected + ) + : s(s), dev(dev), ui(), last_valid_ui(), + streaming(false), _pause(false), + depth_colorizer(std::make_shared()), + yuy2rgb(std::make_shared()), + y411(std::make_shared()), + viewer(viewer), + detected_objects(device_detected_objects), + _destructing( false ) + { + supported_options = s->get_supported_options(); + restore_processing_block("colorizer", depth_colorizer); + restore_processing_block("yuy2rgb", yuy2rgb); + restore_processing_block("y411", y411); + + std::string device_name(dev.get_info(RS2_CAMERA_INFO_NAME)); + std::string sensor_name(s->get_info(RS2_CAMERA_INFO_NAME)); + + std::stringstream ss; + ss << configurations::viewer::post_processing + << "." << device_name + << "." << sensor_name; + auto key = ss.str(); + + bool const is_rgb_camera = s->is< color_sensor >(); + + if (config_file::instance().contains(key.c_str())) + { + post_processing_enabled = config_file::instance().get(key.c_str()); + } + + try + { + if (s->supports(RS2_OPTION_ENABLE_AUTO_EXPOSURE)) + auto_exposure_enabled = s->get_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE) > 0; + } + catch (...) + { + + } + + try + { + if (s->supports(RS2_OPTION_DEPTH_UNITS)) + depth_units = s->get_option(RS2_OPTION_DEPTH_UNITS); + } + catch (...) {} + + try + { + if (s->supports(RS2_OPTION_STEREO_BASELINE)) + stereo_baseline = s->get_option(RS2_OPTION_STEREO_BASELINE); + } + catch (...) {} + + auto filters = s->get_recommended_filters(); + + for (auto&& f : s->get_recommended_filters()) + { + auto shared_filter = std::make_shared(f); + auto model = std::make_shared( + this, shared_filter->get_info(RS2_CAMERA_INFO_NAME), shared_filter, + [=](rs2::frame f) { return shared_filter->process(f); }, error_message); + + if (shared_filter->is()) + model->enable(false); + + if (shared_filter->is()) + model->enable(false); + + if (shared_filter->is()) + { + if (is_rgb_camera) + model->enable(false); + } + + if (shared_filter->is()) + { + if (s->supports(RS2_CAMERA_INFO_PRODUCT_ID)) + { + // using short range for D405 + std::string device_pid = s->get_info(RS2_CAMERA_INFO_PRODUCT_ID); + if (device_pid == "0B5B") + { + std::string error_msg; + auto threshold_pb = shared_filter->as(); + threshold_pb.set_option(RS2_OPTION_MIN_DISTANCE, SHORT_RANGE_MIN_DISTANCE); + threshold_pb.set_option(RS2_OPTION_MAX_DISTANCE, SHORT_RANGE_MAX_DISTANCE); + } + } + } + + if (shared_filter->is()) + { + // processing block will be skipped if the requested option is not supported + auto supported_options = s->get_supported_options(); + if (std::find(supported_options.begin(), supported_options.end(), RS2_OPTION_SEQUENCE_ID) == supported_options.end()) + continue; + } + + post_processing.push_back(model); + } + + if (is_rgb_camera) + { + for (auto& create_filter : post_processing_filters_list::get()) + { + auto filter = create_filter(); + if (!filter) + continue; + filter->start(*this); + std::shared_ptr< processing_block_model > model( + new post_processing_block_model{ + this, filter, + [=](rs2::frame f) { return filter->process(f); }, + error_message + }); + post_processing.push_back(model); + } + } + + auto colorizer = std::make_shared( + this, "Depth Visualization", depth_colorizer, + [=](rs2::frame f) { return depth_colorizer->colorize(f); }, error_message); + const_effects.push_back(colorizer); + + + if (s->supports(RS2_CAMERA_INFO_PRODUCT_ID)) + { + std::string device_pid = s->get_info(RS2_CAMERA_INFO_PRODUCT_ID); + + // using short range for D405 + if (device_pid == "0B5B") + { + std::string error_msg; + depth_colorizer->set_option(RS2_OPTION_MIN_DISTANCE, SHORT_RANGE_MIN_DISTANCE); + depth_colorizer->set_option(RS2_OPTION_MAX_DISTANCE, SHORT_RANGE_MAX_DISTANCE); + } + } + + // Hack to restore "Enable Histogram Equalization" flag if needed. + // The flag is set to true by colorizer constructor, but setting min/max_distance options above or during + // restore_processing_block earlier, causes the registered observer to unset it, which is not the desired + // behaviour. Observer should affect only if a user is setting the values after construction phase is over. + if (depth_colorizer->supports(RS2_OPTION_VISUAL_PRESET)) + { + auto option_value = depth_colorizer->get_option(RS2_OPTION_VISUAL_PRESET); + depth_colorizer->set_option(RS2_OPTION_VISUAL_PRESET, option_value); + } + + ss.str(""); + ss << "##" << dev.get_info(RS2_CAMERA_INFO_NAME) + << "/" << s->get_info(RS2_CAMERA_INFO_NAME) + << "/" << (long long)this; + + if (s->supports(RS2_CAMERA_INFO_PHYSICAL_PORT) && dev.supports(RS2_CAMERA_INFO_PRODUCT_LINE)) + { + std::string product = dev.get_info(RS2_CAMERA_INFO_PRODUCT_LINE); + std::string id = s->get_info(RS2_CAMERA_INFO_PHYSICAL_PORT); + + bool has_metadata = !rs2::metadata_helper::instance().can_support_metadata(product) + || rs2::metadata_helper::instance().is_enabled(id); + static bool showed_metadata_prompt = false; + + if (!has_metadata && !showed_metadata_prompt) + { + auto n = std::make_shared(); + viewer.not_model->add_notification(n); + showed_metadata_prompt = true; + } + } + + try + { + auto sensor_profiles = s->get_stream_profiles(); + reverse(begin(sensor_profiles), end(sensor_profiles)); + std::map def_format{ {0, RS2_FORMAT_ANY} }; + auto default_resolution = std::make_pair(1280, 720); + auto default_fps = 30; + for (auto&& profile : sensor_profiles) + { + std::stringstream res; + if (auto vid_prof = profile.as()) + { + if (profile.is_default()) + { + default_resolution = std::pair(vid_prof.width(), vid_prof.height()); + default_fps = profile.fps(); + + if (is_rgb_camera) + { + auto intrinsics = vid_prof.get_intrinsics(); + if (intrinsics.model == RS2_DISTORTION_INVERSE_BROWN_CONRADY + && (std::abs(intrinsics.coeffs[0]) > std::numeric_limits< float >::epsilon() || + std::abs(intrinsics.coeffs[1]) > std::numeric_limits< float >::epsilon() || + std::abs(intrinsics.coeffs[2]) > std::numeric_limits< float >::epsilon() || + std::abs(intrinsics.coeffs[3]) > std::numeric_limits< float >::epsilon() || + std::abs(intrinsics.coeffs[4]) > std::numeric_limits< float >::epsilon())) + { + uvmapping_calib_full = true; + } + } + } + res << vid_prof.width() << " x " << vid_prof.height(); + push_back_if_not_exists(res_values, std::pair(vid_prof.width(), vid_prof.height())); + push_back_if_not_exists(resolutions, res.str()); + push_back_if_not_exists(resolutions_per_stream[profile.stream_type()], std::pair(vid_prof.width(), vid_prof.height())); + push_back_if_not_exists(profile_id_to_res[profile.unique_id()], std::pair(vid_prof.width(), vid_prof.height())); + } + + std::stringstream fps; + fps << profile.fps(); + push_back_if_not_exists(fps_values_per_stream[profile.unique_id()], profile.fps()); + push_back_if_not_exists(shared_fps_values, profile.fps()); + push_back_if_not_exists(fpses_per_stream[profile.unique_id()], fps.str()); + push_back_if_not_exists(shared_fpses, fps.str()); + stream_display_names[profile.unique_id()] = profile.stream_name(); + + std::string format = rs2_format_to_string(profile.format()); + + push_back_if_not_exists(formats[profile.unique_id()], format); + push_back_if_not_exists(format_values[profile.unique_id()], profile.format()); + + if (profile.is_default()) + { + stream_enabled[profile.unique_id()] = true; + def_format[profile.unique_id()] = profile.format(); + } + + profiles.push_back(profile); + } + auto any_stream_enabled = std::any_of(std::begin(stream_enabled), std::end(stream_enabled), [](const std::pair& p) { return p.second; }); + if (!any_stream_enabled) + { + if (sensor_profiles.size() > 0) + stream_enabled[sensor_profiles.rbegin()->unique_id()] = true; + } + + for (auto&& fps_list : fps_values_per_stream) + { + sort_together(fps_list.second, fpses_per_stream[fps_list.first]); + } + sort_together(shared_fps_values, shared_fpses); + for (auto&& res_list : resolutions_per_stream) + { + sort_resolutions(res_list.second); + } + sort_together(res_values, resolutions); + + show_single_fps_list = is_there_common_fps(); + + int selection_index{}; + + if (!show_single_fps_list) + { + for (auto fps_array : fps_values_per_stream) + { + if (get_default_selection_index(fps_array.second, default_fps, &selection_index)) + { + ui.selected_fps_id[fps_array.first] = selection_index; + break; + } + } + } + else + { + if (get_default_selection_index(shared_fps_values, default_fps, &selection_index)) + ui.selected_shared_fps_id = selection_index; + } + + for (auto format_array : format_values) + { + if (get_default_selection_index(format_array.second, def_format[format_array.first], &selection_index)) + { + ui.selected_format_id[format_array.first] = selection_index; + } + } + + if (is_multiple_resolutions_supported()) + { + ui.is_multiple_resolutions = true; + auto default_res = std::make_pair(1280, 960); + for (auto res_array : profile_id_to_res) + { + if (get_default_selection_index(res_array.second, default_res, &selection_index)) + { + ui.selected_res_id_map[res_array.first] = selection_index; + } + } + } + else + { + get_default_selection_index(res_values, default_resolution, &selection_index); + ui.selected_res_id = selection_index; + } + + if (new_device_connected) + { + // Have the various preset options automatically update based on the resolution of the + // (closed) stream... + // TODO we have no res_values when loading color rosbag, and color sensor isn't + // even supposed to support SENSOR_MODE... see RS5-7726 + if (s->supports(RS2_OPTION_SENSOR_MODE) && !res_values.empty()) + { + // Watch out for read-only options in the playback sensor! + try + { + auto requested_sensor_mode = static_cast(resolution_from_width_height( + res_values[ui.selected_res_id].first, + res_values[ui.selected_res_id].second)); + + auto currest_sensor_mode = s->get_option(RS2_OPTION_SENSOR_MODE); + + if (requested_sensor_mode != currest_sensor_mode) + s->set_option(RS2_OPTION_SENSOR_MODE, requested_sensor_mode); + } + catch (not_implemented_error const&) + { + // Just ignore for now: need to figure out a way to write to playback sensors... + } + } + } + + if (ui.is_multiple_resolutions) + { + for (auto it = ui.selected_res_id_map.begin(); it != ui.selected_res_id_map.end(); ++it) + { + while (it->second >= 0 && !is_selected_combination_supported()) + it->second--; + } + } + else + { + while (ui.selected_res_id >= 0 && !is_selected_combination_supported()) + ui.selected_res_id--; + } + last_valid_ui = ui; + } + catch (const error& e) + { + error_message = error_to_string(e); + } + populate_options(ss.str().c_str(), &_options_invalidated, error_message); + + } + + subdevice_model::~subdevice_model() + { + _destructing = true; + try + { + s->on_options_changed( []( const options_list & list ) {} ); + } + catch( ... ) + { + } + } + + void subdevice_model::sort_resolutions(std::vector>& resolutions) const + { + std::sort(resolutions.begin(), resolutions.end(), + [](const std::pair& a, const std::pair& b) { + if (a.first != b.first) + return (a.first < b.first); + return (a.second <= b.second); + }); + } + + bool subdevice_model::is_there_common_fps() + { + std::vector first_fps_group; + size_t group_index = 0; + for (; group_index < fps_values_per_stream.size(); ++group_index) + { + if (!fps_values_per_stream[(rs2_stream)group_index].empty()) + { + first_fps_group = fps_values_per_stream[(rs2_stream)group_index]; + break; + } + } + + for (size_t i = group_index + 1; i < fps_values_per_stream.size(); ++i) + { + auto fps_group = fps_values_per_stream[(rs2_stream)i]; + if (fps_group.empty()) + continue; + + auto fps1 = first_fps_group[0]; + auto it = std::find_if( std::begin( fps_group ), + std::end( fps_group ), + [&]( const int & fps2 ) { return fps2 == fps1; } ); + if( it == std::end( fps_group ) ) + return false; + } + return true; + } + + bool subdevice_model::draw_resolutions(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1) + { + bool res = false; + + // Draw combo-box with all resolution options for this device + auto res_chars = get_string_pointers(resolutions); + if (res_chars.size() > 0) + { + ImGui::Text("Resolution:"); + streaming_tooltip(); + ImGui::SameLine(); ImGui::SetCursorPosX(col1); + + label = rsutils::string::from() << "##" << dev.get_info(RS2_CAMERA_INFO_NAME) + << s->get_info(RS2_CAMERA_INFO_NAME) << " resolution"; + + if (!allow_change_resolution_while_streaming && streaming) + { + ImGui::Text("%s", res_chars[ui.selected_res_id]); + streaming_tooltip(); + } + else + { + ImGui::PushItemWidth(-1); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 1,1,1,1 }); + auto tmp_selected_res_id = ui.selected_res_id; + if (ImGui::Combo(label.c_str(), &tmp_selected_res_id, res_chars.data(), + static_cast(res_chars.size()))) + { + res = true; + _options_invalidated = true; + + // Set sensor mode only at the Viewer app, + // DQT app will handle the sensor mode when the streaming is off (while reseting the stream) + if (s->supports(RS2_OPTION_SENSOR_MODE) && !allow_change_resolution_while_streaming) + { + auto width = res_values[tmp_selected_res_id].first; + auto height = res_values[tmp_selected_res_id].second; + auto res = resolution_from_width_height(width, height); + if (res >= RS2_SENSOR_MODE_VGA && res < RS2_SENSOR_MODE_COUNT) + { + try + { + s->set_option(RS2_OPTION_SENSOR_MODE, float(res)); + } + catch (const error& e) + { + error_message = error_to_string(e); + } + + // Only update the cached value once set_option is done! That way, if it doesn't change anything... + try + { + int sensor_mode_val = static_cast(s->get_option(RS2_OPTION_SENSOR_MODE)); + { + ui.selected_res_id = get_resolution_id_from_sensor_mode( + static_cast(sensor_mode_val), + res_values); + } + } + catch (...) {} + } + else + { + error_message = rsutils::string::from() << "Resolution " << width << "x" << height + << " is not supported on this device"; + } + } + else + { + ui.selected_res_id = tmp_selected_res_id; + } + } + ImGui::PopStyleColor(); + ImGui::PopItemWidth(); + } + ImGui::SetCursorPosX(col0); + } + return res; + } + + bool subdevice_model::draw_fps(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1) + { + bool res = false; + // FPS + if (show_single_fps_list) + { + auto fps_chars = get_string_pointers(shared_fpses); + ImGui::Text("Frame Rate (FPS):"); + streaming_tooltip(); + ImGui::SameLine(); ImGui::SetCursorPosX(col1); + + label = rsutils::string::from() + << "##" << dev.get_info(RS2_CAMERA_INFO_NAME) << s->get_info(RS2_CAMERA_INFO_NAME) << " fps"; + + if (!allow_change_fps_while_streaming && streaming) + { + ImGui::Text("%s", fps_chars[ui.selected_shared_fps_id]); + streaming_tooltip(); + } + else + { + ImGui::PushItemWidth(-1); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 1,1,1,1 }); + if (ImGui::Combo(label.c_str(), &ui.selected_shared_fps_id, fps_chars.data(), + static_cast(fps_chars.size()))) + { + res = true; + } + ImGui::PopStyleColor(); + ImGui::PopItemWidth(); + } + + ImGui::SetCursorPosX(col0); + } + return res; + } + + bool subdevice_model::draw_streams_and_formats(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1) + { + bool res = false; + + if (!streaming) + { + ImGui::Text("Available Streams:"); + } + + // Draw combo-box with all format options for current device + for (auto&& f : formats) + { + // Format + if (f.second.size() == 0) + continue; + + auto formats_chars = get_string_pointers(f.second); + if (!streaming || (streaming && stream_enabled[f.first])) + { + if (streaming) + { + label = rsutils::string::from() + << stream_display_names[f.first] << (show_single_fps_list ? "" : " stream:"); + ImGui::Text("%s", label.c_str()); + streaming_tooltip(); + } + else + { + auto tmp = stream_enabled; + label = rsutils::string::from() << stream_display_names[f.first] << "##" << f.first; + if (ImGui::Checkbox(label.c_str(), &stream_enabled[f.first])) + { + prev_stream_enabled = tmp; + } + } + } + + if (stream_enabled[f.first]) + { + if (show_single_fps_list) + { + ImGui::SameLine(); + ImGui::SetCursorPosX(col1); + } + + label = rsutils::string::from() + << "##" << dev.get_info(RS2_CAMERA_INFO_NAME) << s->get_info(RS2_CAMERA_INFO_NAME) << " " + << f.first << " format"; + + if (!show_single_fps_list) + { + ImGui::Text("Format:"); + streaming_tooltip(); + ImGui::SameLine(); ImGui::SetCursorPosX(col1); + } + + if (streaming) + { + ImGui::Text("%s", formats_chars[ui.selected_format_id[f.first]]); + streaming_tooltip(); + } + else + { + ImGui::PushItemWidth(-1); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 1,1,1,1 }); + ImGui::Combo(label.c_str(), &ui.selected_format_id[f.first], formats_chars.data(), + static_cast(formats_chars.size())); + ImGui::PopStyleColor(); + ImGui::PopItemWidth(); + } + ImGui::SetCursorPosX(col0); + // FPS + // Draw combo-box with all FPS options for this device + if (!show_single_fps_list && !fpses_per_stream[f.first].empty() && stream_enabled[f.first]) + { + auto fps_chars = get_string_pointers(fpses_per_stream[f.first]); + ImGui::Text("Frame Rate (FPS):"); + streaming_tooltip(); + ImGui::SameLine(); ImGui::SetCursorPosX(col1); + + label = rsutils::string::from() << "##" << s->get_info(RS2_CAMERA_INFO_NAME) + << s->get_info(RS2_CAMERA_INFO_NAME) << f.first << " fps"; + + if (streaming) + { + ImGui::Text("%s", fps_chars[ui.selected_fps_id[f.first]]); + streaming_tooltip(); + } + else + { + ImGui::PushItemWidth(-1); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 1,1,1,1 }); + ImGui::Combo(label.c_str(), &ui.selected_fps_id[f.first], fps_chars.data(), + static_cast(fps_chars.size())); + ImGui::PopStyleColor(); + ImGui::PopItemWidth(); + } + ImGui::SetCursorPosX(col0); + } + } + } + + return res; + } + + bool subdevice_model::draw_resolutions_combo_box_multiple_resolutions(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1, + int stream_type_id, int depth_res_id) + { + bool res = false; + + rs2_stream stream_type = RS2_STREAM_DEPTH; + if (stream_type_id != depth_res_id) + stream_type = RS2_STREAM_INFRARED; + + + auto res_pairs = resolutions_per_stream[stream_type]; + std::vector resolutions_str; + for (int i = 0; i < res_pairs.size(); ++i) + { + std::stringstream ss; + ss << res_pairs[i].first << "x" << res_pairs[i].second; + resolutions_str.push_back(ss.str()); + } + + auto res_chars = get_string_pointers(resolutions_str); + if (res_chars.size() > 0) + { + if (!(streaming && !streaming_map[stream_type_id])) + { + // resolution + // Draw combo-box with all resolution options for this stream type + ImGui::Text("Resolution:"); + streaming_tooltip(); + ImGui::SameLine(); ImGui::SetCursorPosX(col1); + + label = rsutils::string::from() << "##" << dev.get_info(RS2_CAMERA_INFO_NAME) + << s->get_info(RS2_CAMERA_INFO_NAME) << " resolution for " << rs2_stream_to_string(stream_type); + + if (!allow_change_resolution_while_streaming && streaming) + { + ImGui::Text("%s", res_chars[ui.selected_res_id_map[stream_type_id]]); + streaming_tooltip(); + } + else + { + ImGui::PushItemWidth(-1); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 1,1,1,1 }); + auto tmp_selected_res_id = ui.selected_res_id_map[stream_type_id]; + if (ImGui::Combo(label.c_str(), &tmp_selected_res_id, res_chars.data(), + static_cast(res_chars.size()))) + { + res = true; + _options_invalidated = true; + + // Set sensor mode only at the Viewer app, + // DQT app will handle the sensor mode when the streaming is off (while reseting the stream) + if (s->supports(RS2_OPTION_SENSOR_MODE) && !allow_change_resolution_while_streaming) + { + auto width = res_values[tmp_selected_res_id].first; + auto height = res_values[tmp_selected_res_id].second; + auto res = resolution_from_width_height(width, height); + if (res >= RS2_SENSOR_MODE_VGA && res < RS2_SENSOR_MODE_COUNT) + { + try + { + s->set_option(RS2_OPTION_SENSOR_MODE, float(res)); + } + catch (const error& e) + { + error_message = error_to_string(e); + } + + // Only update the cached value once set_option is done! That way, if it doesn't change anything... + try + { + int sensor_mode_val = static_cast(s->get_option(RS2_OPTION_SENSOR_MODE)); + { + ui.selected_res_id = get_resolution_id_from_sensor_mode( + static_cast(sensor_mode_val), + res_values); + } + } + catch (...) {} + } + else + { + error_message = rsutils::string::from() << "Resolution " << width << "x" << height + << " is not supported on this device"; + } + } + else + { + ui.selected_res_id_map[stream_type_id] = tmp_selected_res_id; + } + } + ImGui::PopStyleColor(); + ImGui::PopItemWidth(); + } + } + ImGui::SetCursorPosX(col0); + } + + + return res; + } + + bool subdevice_model::draw_formats_combo_box_multiple_resolutions(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1, + int stream_type_id) + { + bool res = false; + + std::map> stream_to_index; + int depth_res_id, ir1_res_id, ir2_res_id; + get_depth_ir_mismatch_resolutions_ids(depth_res_id, ir1_res_id, ir2_res_id); + stream_to_index[RS2_STREAM_DEPTH] = { depth_res_id }; + stream_to_index[RS2_STREAM_INFRARED] = { ir1_res_id, ir2_res_id }; + + rs2_stream stream_type = RS2_STREAM_DEPTH; + if (stream_type_id != depth_res_id) + stream_type = RS2_STREAM_INFRARED; + + + for (auto&& f : formats) + { + if (f.second.size() == 0) + continue; + + if (std::find(stream_to_index[stream_type].begin(), stream_to_index[stream_type].end(), f.first) == stream_to_index[stream_type].end()) + continue; + + auto formats_chars = get_string_pointers(f.second); + if (!streaming || (streaming && stream_enabled[f.first])) + { + if (streaming) + { + label = rsutils::string::from() + << stream_display_names[f.first] << (show_single_fps_list ? "" : " stream:"); + ImGui::Text("%s", label.c_str()); + streaming_tooltip(); + } + else + { + res = true; + auto tmp = stream_enabled; + label = rsutils::string::from() << stream_display_names[f.first] << "##" << f.first; + if (ImGui::Checkbox(label.c_str(), &stream_enabled[f.first])) + { + prev_stream_enabled = tmp; + } + } + } + + if (stream_enabled[f.first]) + { + if (show_single_fps_list) + { + ImGui::SameLine(); + ImGui::SetCursorPosX(col1); + } + + label = rsutils::string::from() + << "##" << dev.get_info(RS2_CAMERA_INFO_NAME) << s->get_info(RS2_CAMERA_INFO_NAME) << " " + << f.first << " format"; + + if (!show_single_fps_list) + { + ImGui::Text("Format:"); + streaming_tooltip(); + ImGui::SameLine(); ImGui::SetCursorPosX(col1); + } + + if (streaming) + { + ImGui::Text("%s", formats_chars[ui.selected_format_id[f.first]]); + streaming_tooltip(); + } + else + { + ImGui::PushItemWidth(-1); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 1,1,1,1 }); + ImGui::Combo(label.c_str(), &ui.selected_format_id[f.first], formats_chars.data(), + static_cast(formats_chars.size())); + ImGui::PopStyleColor(); + ImGui::PopItemWidth(); + } + ImGui::SetCursorPosX(col0); + } + } + return res; + } + + + bool subdevice_model::draw_res_stream_formats(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1) + { + bool res = false; + + if (!ui.is_multiple_resolutions) + { + return false; + } + + int depth_res_id, ir1_res_id, ir2_res_id; + get_depth_ir_mismatch_resolutions_ids(depth_res_id, ir1_res_id, ir2_res_id); + + std::vector stream_types_ids; + stream_types_ids.push_back(depth_res_id); + stream_types_ids.push_back(ir1_res_id); + for (auto&& stream_type_id : stream_types_ids) + { + // resolution + // Draw combo-box with all resolution options for this stream type + res &= draw_resolutions_combo_box_multiple_resolutions(error_message, label, streaming_tooltip, col0, col1, stream_type_id, depth_res_id); + + // stream and formats + // Draw combo-box with all format options for current stream type + res &= draw_formats_combo_box_multiple_resolutions(error_message, label, streaming_tooltip, col0, col1, stream_type_id); + } + + return res; + } + // The function returns true if one of the configuration parameters changed + bool subdevice_model::draw_stream_selection(std::string& error_message) + { + bool res = false; + + std::string label = rsutils::string::from() + << "Stream Selection Columns##" << dev.get_info(RS2_CAMERA_INFO_NAME) + << s->get_info(RS2_CAMERA_INFO_NAME); + + auto streaming_tooltip = [&]() { + if ((!allow_change_resolution_while_streaming && streaming) + && ImGui::IsItemHovered()) + ImGui::SetTooltip("Can't modify while streaming"); + }; + + auto col0 = ImGui::GetCursorPosX(); + auto col1 = 9.f * (float)config_file::instance().get( configurations::window::font_size ); + + if (ui.is_multiple_resolutions && !strcmp(s->get_info(RS2_CAMERA_INFO_NAME), "Stereo Module")) + { + if (draw_fps_selector) + { + res |= draw_fps(error_message, label, streaming_tooltip, col0, col1); + } + + if (draw_streams_selector) + { + if (!streaming) + { + ImGui::Text("Available Streams:"); + } + + res |= draw_res_stream_formats(error_message, label, streaming_tooltip, col0, col1); + } + } + else + { + res |= draw_resolutions(error_message, label, streaming_tooltip, col0, col1); + + if (draw_fps_selector) + { + res |= draw_fps(error_message, label, streaming_tooltip, col0, col1); + } + + if (draw_streams_selector) + { + res |= draw_streams_and_formats(error_message, label, streaming_tooltip, col0, col1); + } + } + + ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5); + return res; + } + + bool subdevice_model::is_selected_combination_supported() + { + bool enforce_inter_stream_policies = false; + std::vector results = get_selected_profiles(enforce_inter_stream_policies); + + if (results.size() == 0) + return false; + // Verify that the number of found matches corrseponds to the number of the requested streams + // TODO - review whether the comparison can be made strict (==) + return results.size() >= size_t(std::count_if(stream_enabled.begin(), stream_enabled.end(), [](const std::pair& kpv)-> bool { return kpv.second == true; })); + } + + void subdevice_model::update_ui(std::vector profiles_vec) + { + if (profiles_vec.empty()) + return; + for (auto& s : stream_enabled) + s.second = false; + for (auto& p : profiles_vec) + { + stream_enabled[p.unique_id()] = true; + + // update format + auto format_vec = format_values[p.unique_id()]; + for (int i = 0; i < format_vec.size(); i++) + { + if (format_vec[i] == p.format()) + { + ui.selected_format_id[p.unique_id()] = i; + break; + } + } + + // update resolution + if (!ui.is_multiple_resolutions) + { + for (int i = 0; i < res_values.size(); i++) + { + if (auto vid_prof = p.as()) + if (res_values[i].first == vid_prof.width() && res_values[i].second == vid_prof.height()) + { + ui.selected_res_id = i; + break; + } + } + } + else + { + auto res_vec = profile_id_to_res[p.unique_id()]; + for (int i = 0; i < res_vec.size(); i++) + { + if (auto vid_prof = p.as()) + if (res_vec[i].first == vid_prof.width() && res_vec[i].second == vid_prof.height()) + { + ui.selected_res_id_map[p.unique_id()] = i; + break; + } + } + } + + // update fps + for (int i = 0; i < shared_fps_values.size(); i++) + { + if (shared_fps_values[i] == p.fps()) + { + ui.selected_shared_fps_id = i; + break; + } + } + } + last_valid_ui = ui; + prev_stream_enabled = stream_enabled; // prev differs from curr only after user changes + } + + template + bool subdevice_model::check_profile(stream_profile p, T cond, std::map>& profiles_map, + std::vector& results, V key, int num_streams, stream_profile& def_p) + { + bool found = false; + if (auto vid_prof = p.as()) + { + for (auto& s : stream_enabled) + { + // find profiles that have an enabled stream and match the required condition + if (s.second == true && vid_prof.unique_id() == s.first && cond(vid_prof)) + { + profiles_map[key].insert(std::pair(p.unique_id(), p)); + if (profiles_map[key].size() == num_streams) + { + results.clear(); // make sure only current profiles are saved + for (auto& it : profiles_map[key]) + results.push_back(it.second); + found = true; + } + else if (results.empty() && num_streams > 1 && profiles_map[key].size() == num_streams - 1) + { + for (auto& it : profiles_map[key]) + results.push_back(it.second); + } + } + else if (!def_p.get() && cond(vid_prof)) + def_p = p; // in case no matching profile for current stream will be found, we'll use some profile that matches the condition + } + } + return found; + } + + + void subdevice_model::get_sorted_profiles(std::vector& profiles) + { + auto fps = shared_fps_values[ui.selected_shared_fps_id]; + int width = 0; + int height = 0; + std::vector> selected_resolutions; + if (!ui.is_multiple_resolutions) + { + width = res_values[ui.selected_res_id].first; + height = res_values[ui.selected_res_id].second; + } + else + { + for (auto it = profile_id_to_res.begin(); it != profile_id_to_res.end(); ++it) + { + selected_resolutions.push_back(it->second[ui.selected_res_id_map[it->first]]); + } + } + std::sort(profiles.begin(), profiles.end(), [&](stream_profile a, stream_profile b) { + int score_a = 0, score_b = 0; + if (a.fps() != fps) + score_a++; + if (b.fps() != fps) + score_b++; + + if (a.format() != format_values[a.unique_id()][ui.selected_format_id[a.unique_id()]]) + score_a++; + if (b.format() != format_values[b.unique_id()][ui.selected_format_id[b.unique_id()]]) + score_b++; + + auto a_vp = a.as(); + auto b_vp = a.as(); + if (!a_vp || !b_vp) + return score_a < score_b; + + if (!ui.is_multiple_resolutions) + { + if (a_vp.width() != width || a_vp.height() != height) + score_a++; + if (b_vp.width() != width || b_vp.height() != height) + score_b++; + } + else + { + bool a_same_res_found = false; + bool b_same_res_found = false; + for (int i = 0; i < selected_resolutions.size(); ++i) + { + if (a_vp.width() == selected_resolutions[i].first && a_vp.height() == selected_resolutions[i].second) + a_same_res_found = true; + if (b_vp.width() == selected_resolutions[i].first && b_vp.height() == selected_resolutions[i].second) + b_same_res_found = true; + } + if (!a_same_res_found) + score_a++; + if (!b_same_res_found) + score_b++; + } + + return score_a < score_b; + }); + } + + std::vector subdevice_model::get_supported_profiles() + { + std::vector results; + if (!show_single_fps_list || res_values.size() == 0) + return results; + + int num_streams = 0; + for (auto& s : stream_enabled) + if (s.second == true) + num_streams++; + stream_profile def_p; + auto fps = shared_fps_values[ui.selected_shared_fps_id]; + int width = 0; + int height = 0; + std::vector> selected_resolutions; + if (!ui.is_multiple_resolutions) + { + width = res_values[ui.selected_res_id].first; + height = res_values[ui.selected_res_id].second; + } + else + { + for (auto it = profile_id_to_res.begin(); it != profile_id_to_res.end(); ++it) + { + selected_resolutions.push_back(it->second[ui.selected_res_id_map[it->first]]); + } + } + + std::vector sorted_profiles = profiles; + + if (!ui.is_multiple_resolutions && (ui.selected_res_id != last_valid_ui.selected_res_id)) + { + get_sorted_profiles(sorted_profiles); + std::map> profiles_by_fps; + for (auto&& p : sorted_profiles) + { + if (check_profile(p, [&](video_stream_profile vsp) + { return (vsp.width() == width && vsp.height() == height); }, + profiles_by_fps, results, p.fps(), num_streams, def_p)) + break; + } + } + else if (ui.is_multiple_resolutions && (ui.selected_res_id_map != last_valid_ui.selected_res_id_map)) + { + get_sorted_profiles(sorted_profiles); + std::map> profiles_by_fps; + for (auto&& p : sorted_profiles) + { + if (check_profile(p, [&](video_stream_profile vsp) + { + bool res = false; + std::pair cur_res; + if (p.stream_type() == RS2_STREAM_DEPTH) + cur_res = selected_resolutions[0]; + else + cur_res = selected_resolutions[1]; + return (vsp.width() == cur_res.first && vsp.height() == cur_res.second); + }, + profiles_by_fps, results, p.fps(), num_streams, def_p)) + break; + } + } + else if (ui.selected_shared_fps_id != last_valid_ui.selected_shared_fps_id) + { + get_sorted_profiles(sorted_profiles); + std::map, std::map> profiles_by_res; + + for (auto&& p : sorted_profiles) + { + if (auto vid_prof = p.as()) + { + if (check_profile(p, [&](video_stream_profile vsp) { return (vsp.fps() == fps); }, + profiles_by_res, results, std::make_tuple(vid_prof.width(), vid_prof.height()), num_streams, def_p)) + break; + } + } + } + else if (ui.selected_format_id != last_valid_ui.selected_format_id) + { + if (num_streams == 0) + { + last_valid_ui = ui; + return results; + } + get_sorted_profiles(sorted_profiles); + std::vector matching_profiles; + std::map, std::map> profiles_by_fps_res; //fps, width, height + rs2_format format; + int stream_id; + // find the stream to which the user made changes + for (auto& it : ui.selected_format_id) + { + if (stream_enabled[it.first]) + { + auto last_valid_it = last_valid_ui.selected_format_id.find(it.first); + if ((last_valid_it == last_valid_ui.selected_format_id.end() || it.second != last_valid_it->second)) + { + format = format_values[it.first][it.second]; + stream_id = it.first; + } + } + } + for (auto&& p : sorted_profiles) + { + if (auto vid_prof = p.as()) + if (p.unique_id() == stream_id && p.format() == format) // && stream_enabled[stream_id] + { + profiles_by_fps_res[std::make_tuple(p.fps(), vid_prof.width(), vid_prof.height())].insert(std::pair(p.unique_id(), p)); + matching_profiles.push_back(p); + if (!def_p.get()) + def_p = p; + } + } + // take profiles not in matching_profiles with enabled stream and fps+resolution matching some profile in matching_profiles + for (auto&& p : sorted_profiles) + { + if (auto vid_prof = p.as()) + { + if (check_profile(p, [&](stream_profile prof) { return (std::find_if(matching_profiles.begin(), matching_profiles.end(), [&](stream_profile sp) + { return (stream_id != p.unique_id() && sp.fps() == p.fps() && sp.as().width() == vid_prof.width() && + sp.as().height() == vid_prof.height()); }) != matching_profiles.end()); }, + profiles_by_fps_res, results, std::make_tuple(p.fps(), vid_prof.width(), vid_prof.height()), num_streams, def_p)) + break; + } + } + } + else if (stream_enabled != prev_stream_enabled) + { + if (num_streams == 0) + return results; + get_sorted_profiles(sorted_profiles); + std::vector matching_profiles; + std::map> profiles_by_format; + + for (auto&& p : sorted_profiles) + { + // first try to find profile from the new stream to match the current configuration + if (!ui.is_multiple_resolutions) + { + if (check_profile(p, [&](video_stream_profile vid_prof) + { return (p.fps() == fps && vid_prof.width() == width && vid_prof.height() == height); }, + profiles_by_format, results, p.format(), num_streams, def_p)) + break; + } + else + { + if (check_profile(p, [&](video_stream_profile vid_prof) + { + bool res = false; + for (int i = 0; i < selected_resolutions.size(); ++i) + { + auto cur_res = selected_resolutions[i]; + if (p.fps() == fps && vid_prof.width() == cur_res.first && vid_prof.height() == cur_res.second) + { + res = true; + break; + } + } + return res; + }, + profiles_by_format, results, p.format(), num_streams, def_p)) + break; + } + } + if (results.size() < num_streams) + { + results.clear(); + std::map, std::map> profiles_by_fps_res; + for (auto&& p : sorted_profiles) + { + if (auto vid_prof = p.as()) + { + // if no stream with current configuration was found, try to find some configuration to match all enabled streams + if (check_profile(p, [&](video_stream_profile vsp) { return true; }, profiles_by_fps_res, results, + std::make_tuple(p.fps(), vid_prof.width(), vid_prof.height()), num_streams, def_p)) + break; + } + } + } + } + if (results.empty()) + results.push_back(def_p); + update_ui(results); + return results; + } + + bool subdevice_model::is_ir_calibration_profile() const + { + // checking format + bool is_cal_format = false; + // checking that the SKU is D405 - otherwise, this method should return false + if (dev.supports(RS2_CAMERA_INFO_PRODUCT_ID) && !strcmp(dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID), "0B5B")) + { + for (auto it = stream_enabled.begin(); it != stream_enabled.end(); ++it) + { + if (it->second) + { + int selected_format_index = -1; + if (ui.selected_format_id.count(it->first) > 0) + selected_format_index = ui.selected_format_id.at(it->first); + + if (format_values.count(it->first) > 0 && selected_format_index > -1) + { + auto formats = format_values.at(it->first); + if (formats.size() > selected_format_index) + { + auto format = formats[selected_format_index]; + if (format == RS2_FORMAT_Y16) + { + is_cal_format = true; + break; + } + } + } + } + } + } + return is_cal_format; + } + + std::pair subdevice_model::get_max_resolution(rs2_stream stream) const + { + if (resolutions_per_stream.count(stream) > 0) + return resolutions_per_stream.at(stream).back(); + + std::stringstream error_message; + error_message << "The stream "; + error_message << rs2_stream_to_string(stream); + error_message << " is not available with this sensor "; + error_message << s->get_info(RS2_CAMERA_INFO_NAME); + throw std::runtime_error(error_message.str()); + } + + std::vector subdevice_model::get_selected_profiles(bool enforce_inter_stream_policies) + { + std::vector results; + + std::stringstream error_message; + error_message << "The profile "; + + bool is_cal_profile = is_ir_calibration_profile(); + + for (auto&& f : formats) + { + auto stream = f.first; + if (stream_enabled[stream]) + { + auto format = format_values[stream][ui.selected_format_id[stream]]; + + auto fps = 0; + if (show_single_fps_list) + fps = shared_fps_values[ui.selected_shared_fps_id]; + else + fps = fps_values_per_stream[stream][ui.selected_fps_id[stream]]; + + for (auto&& p : profiles) + { + if (auto vid_prof = p.as()) + { + if (res_values.size() > 0) + { + int width = 0; + int height = 0; + std::vector> selected_resolutions; + if (!ui.is_multiple_resolutions) + { + width = res_values[ui.selected_res_id].first; + height = res_values[ui.selected_res_id].second; + error_message << "\n{" << stream_display_names[stream] << "," + << width << "x" << height << " at " << fps << "Hz, " + << rs2_format_to_string(format) << "} "; + } + else + { + for (auto it = profile_id_to_res.begin(); it != profile_id_to_res.end(); ++it) + { + selected_resolutions.push_back(it->second[ui.selected_res_id_map[it->first]]); + } + error_message << "\n{" << stream_display_names[stream] << "," + << selected_resolutions[0].first << "x" << selected_resolutions[0].second << " at " << fps << "Hz, " + << rs2_format_to_string(format) << "} "; + } + + if (p.unique_id() == stream && p.fps() == fps && p.format() == format) + { + // permitting to add color stream profile to depth sensor + // when infrared calibration is active + if (is_cal_profile && p.stream_type() == RS2_STREAM_COLOR) + { + auto max_color_res = get_max_resolution(RS2_STREAM_COLOR); + if (vid_prof.width() == max_color_res.first && vid_prof.height() == max_color_res.second) + results.push_back(p); + } + else + { + if (!ui.is_multiple_resolutions) + { + if (vid_prof.width() == width && vid_prof.height() == height) + results.push_back(p); + } + else + { + std::pair cur_res; + if (p.stream_type() == RS2_STREAM_DEPTH) + cur_res = selected_resolutions[0]; + else + cur_res = selected_resolutions[1]; + if (vid_prof.width() == cur_res.first && vid_prof.height() == cur_res.second) + results.push_back(p); + } + } + } + } + } + else + { + error_message << "\n{" << stream_display_names[stream] << ", at " << fps << "Hz, " + << rs2_format_to_string(format) << "} "; + + if (p.fps() == fps && + p.unique_id() == stream && + p.format() == format) + results.push_back(p); + } + } + } + } + if (results.size() == 0 && enforce_inter_stream_policies) + { + error_message << " is unsupported!"; + throw std::runtime_error(error_message.str()); + } + return results; + } + + void subdevice_model::stop(std::shared_ptr not_model) + { + if (not_model) + not_model->add_log("Stopping streaming"); + + streaming = false; + _pause = false; + + if (ui.is_multiple_resolutions) + { + int depth_res_id, ir1_res_id, ir2_res_id; + get_depth_ir_mismatch_resolutions_ids(depth_res_id, ir1_res_id, ir2_res_id); + streaming_map[depth_res_id] = false; + streaming_map[ir1_res_id] = false; + streaming_map[ir2_res_id] = false; + } + + if (profiles[0].stream_type() == RS2_STREAM_COLOR) + { + std::lock_guard< std::mutex > lock(detected_objects->mutex); + detected_objects->clear(); + detected_objects->sensor_is_on = false; + } + else if (profiles[0].stream_type() == RS2_STREAM_DEPTH) + { + viewer.disable_measurements(); + } + + s->stop(); + + _options_invalidated = true; + + queues.foreach([&](frame_queue& q) + { + frame f; + while (q.poll_for_frame(&f)); + }); + + s->close(); + } + + bool subdevice_model::is_paused() const + { + return _pause.load(); + } + + void subdevice_model::pause() + { + _pause = true; + } + + void subdevice_model::resume() + { + _pause = false; + } + + //The function decides if specific frame should be sent to the syncer + bool subdevice_model::is_synchronized_frame(viewer_model& viewer, const frame& f) + { + if (!viewer.is_3d_view || viewer.is_3d_depth_source(f) || viewer.is_3d_texture_source(f)) + return true; + + return false; + } + + void subdevice_model::play(const std::vector& profiles, viewer_model& viewer, std::shared_ptr syncer) + { + std::stringstream ss; + ss << "Starting streaming of "; + for (size_t i = 0; i < profiles.size(); i++) + { + ss << profiles[i].stream_type(); + if (i < profiles.size() - 1) ss << ", "; + } + ss << "..."; + viewer.not_model->add_log(ss.str()); + + s->open(profiles); + try { + s->start([&, syncer](frame f) + { + // The condition here must match the condition inside render_loop()! + if (viewer.synchronization_enable) + { + syncer->invoke(f); + } + else + { + auto id = f.get_profile().unique_id(); + viewer.ppf.frames_queue[id].enqueue(f); + + on_frame(); + } + }); + } + + catch (...) + { + s->close(); + throw; + } + + _options_invalidated = true; + streaming = true; + + if (ui.is_multiple_resolutions) + { + int depth_res_id, ir1_res_id, ir2_res_id; + get_depth_ir_mismatch_resolutions_ids(depth_res_id, ir1_res_id, ir2_res_id); + streaming_map[depth_res_id] = true; + streaming_map[ir1_res_id] = true; + streaming_map[ir2_res_id] = true; + } + + if (s->is< color_sensor >()) + { + std::lock_guard< std::mutex > lock(detected_objects->mutex); + detected_objects->sensor_is_on = true; + } + } + void subdevice_model::update(std::string& error_message, notifications_model& notifications) + { + if (_options_invalidated) + { + next_option = 0; + _options_invalidated = false; + + save_processing_block_to_config_file("colorizer", depth_colorizer); + save_processing_block_to_config_file("yuy2rgb", yuy2rgb); + save_processing_block_to_config_file("y411", y411); + + for (auto&& pbm : post_processing) pbm->save_to_config_file(); + } + + if (next_option < supported_options.size()) + { + auto next = supported_options[next_option]; + if (options_metadata.find(static_cast(next)) != options_metadata.end()) + { + auto& opt_md = options_metadata[static_cast(next)]; + opt_md.update_all_fields(error_message, notifications); + + if (next == RS2_OPTION_ENABLE_AUTO_EXPOSURE) + { + auto old_ae_enabled = auto_exposure_enabled; + auto_exposure_enabled = opt_md.value->as_float > 0; + + if (!old_ae_enabled && auto_exposure_enabled) + { + try + { + if (s->is()) + { + auto r = s->as().get_region_of_interest(); + roi_rect.x = static_cast(r.min_x); + roi_rect.y = static_cast(r.min_y); + roi_rect.w = static_cast(r.max_x - r.min_x); + roi_rect.h = static_cast(r.max_y - r.min_y); + } + } + catch (...) + { + auto_exposure_enabled = false; + } + } + } + + if (next == RS2_OPTION_DEPTH_UNITS) + { + opt_md.dev->depth_units = opt_md.value->as_float; + } + + if (next == RS2_OPTION_STEREO_BASELINE) + opt_md.dev->stereo_baseline = opt_md.value->as_float; + } + + next_option++; + } + } + + void subdevice_model::draw_options(const std::vector& drawing_order, + bool update_read_only_options, std::string& error_message, + notifications_model& notifications) + { + for (auto& opt : drawing_order) + { + draw_option(opt, update_read_only_options, error_message, notifications); + } + + for (auto i = 0; i < RS2_OPTION_COUNT; i++) + { + auto opt = static_cast(i); + if (viewer.is_option_skipped(opt)) continue; + if (std::find(drawing_order.begin(), drawing_order.end(), opt) == drawing_order.end()) + { + draw_option(opt, update_read_only_options, error_message, notifications); + } + } + } + + uint64_t subdevice_model::num_supported_non_default_options() const + { + return (uint64_t)std::count_if( + std::begin(options_metadata), + std::end(options_metadata), + [&](const std::pair& p) {return p.second.supported && !viewer.is_option_skipped(p.second.opt); }); + } + + bool subdevice_model::supports_on_chip_calib() + { + bool is_d400 = s->supports(RS2_CAMERA_INFO_PRODUCT_LINE) ? + std::string(s->get_info(RS2_CAMERA_INFO_PRODUCT_LINE)) == "D400" : false; + + std::string fw_version = s->supports(RS2_CAMERA_INFO_FIRMWARE_VERSION) ? + s->get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION) : ""; + + bool supported_fw = s->supports(RS2_CAMERA_INFO_FIRMWARE_VERSION) ? + is_upgradeable("05.11.12.0", fw_version) : false; + + return s->is() && is_d400 && supported_fw; + // TODO: Once auto-calib makes it into the API, switch to querying camera info + } + + void subdevice_model::get_depth_ir_mismatch_resolutions_ids(int& depth_res_id, int& ir1_res_id, int& ir2_res_id) const + { + auto it = profile_id_to_res.begin(); + if (it != profile_id_to_res.end()) + { + depth_res_id = it->first; + if (++it != profile_id_to_res.end()) + { + ir1_res_id = it->first; + if (++it != profile_id_to_res.end()) + { + ir2_res_id = it->first; + } + } + } + } +} diff --git a/librealsense/common/subdevice-model.h b/librealsense/common/subdevice-model.h new file mode 100644 index 0000000..2d25151 --- /dev/null +++ b/librealsense/common/subdevice-model.h @@ -0,0 +1,230 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "rendering.h" +#include "ux-window.h" +#include "rs-config.h" + +#define GLFW_INCLUDE_GLU +#include +#include "opengl3.h" +#include +#include +#include +#include +#include +#include +#include + +#include "objects-in-frame.h" +#include "processing-block-model.h" + +#include "realsense-ui-advanced-mode.h" +#include "fw-update-helper.h" +#include "updates-model.h" +#include "calibration-model.h" +#include +#include +#include "option-model.h" + +namespace rs2 +{ + std::vector get_string_pointers(const std::vector& vec); + + bool restore_processing_block(const char* name, + std::shared_ptr pb, bool enable = true); + + std::string get_device_sensor_name(subdevice_model* sub); + + class frame_queues + { + public: + frame_queue& at(int id) + { + std::lock_guard lock(_lookup_mutex); + return _queues[id]; + } + + template + void foreach(T action) + { + std::lock_guard lock(_lookup_mutex); + for (auto&& kvp : _queues) + action(kvp.second); + } + + private: + std::unordered_map _queues; + std::mutex _lookup_mutex; + }; + + // Preserve user selections in UI + struct subdevice_ui_selection + { + int selected_res_id = 0; + std::map selected_res_id_map; // used for depth and ir mixed resolutions + bool is_multiple_resolutions = false; // used for depth and ir mixed resolutions + int selected_shared_fps_id = 0; + std::map selected_fps_id; + std::map selected_format_id; + }; + + class subdevice_model + { + public: + void populate_options( const std::string & opt_base_label, bool * options_invalidated, std::string & error_message ); + + subdevice_model(device& dev, std::shared_ptr s, std::shared_ptr< atomic_objects_in_frame > objects, std::string& error_message, viewer_model& viewer, bool new_device_connected = true); + ~subdevice_model(); + + bool is_there_common_fps(); + bool supports_on_chip_calib(); + bool draw_stream_selection(std::string& error_message); + bool is_selected_combination_supported(); + std::vector get_selected_profiles(bool enforce_inter_stream_policies = true); + std::vector get_supported_profiles(); + void stop(std::shared_ptr not_model); + void play(const std::vector& profiles, viewer_model& viewer, std::shared_ptr); + bool is_synchronized_frame(viewer_model& viewer, const frame& f); + void update(std::string& error_message, notifications_model& model); + void draw_options(const std::vector& drawing_order, + bool update_read_only_options, std::string& error_message, + notifications_model& model); + uint64_t num_supported_non_default_options() const; + bool draw_option(rs2_option opt, bool update_read_only_options, + std::string& error_message, notifications_model& model) + { + if (options_metadata.find(opt) != options_metadata.end()) + return options_metadata[opt].draw_option(update_read_only_options, streaming, error_message, model); + return false; + } + + bool is_paused() const; + void pause(); + void resume(); + + void update_ui(std::vector profiles_vec); + void get_sorted_profiles(std::vector& profiles); + + template + bool check_profile(stream_profile p, T cond, std::map>& profiles_map, + std::vector& results, V key, int num_streams, stream_profile& def_p); + + void restore_ui_selection() { ui = last_valid_ui; } + void store_ui_selection() { last_valid_ui = ui; } + + void get_depth_ir_mismatch_resolutions_ids(int& depth_res_id, int& ir1_res_id, int& ir2_res_id) const; + + template + bool get_default_selection_index(const std::vector& values, const T& def, int* index) + { + auto max_default = values.begin(); + for (auto it = values.begin(); it != values.end(); it++) + { + + if (*it == def) + { + *index = (int)(it - values.begin()); + return true; + } + if (*max_default < *it) + { + max_default = it; + } + } + *index = (int)(max_default - values.begin()); + return false; + } + + viewer_model& viewer; + std::function on_frame = [] {}; + + std::ofstream _fout; + + std::shared_ptr s; + device dev; + std::shared_ptr< atomic_objects_in_frame > detected_objects; + + std::map< rs2_option, option_model > options_metadata; + std::vector resolutions; + std::map> fpses_per_stream; + std::vector shared_fpses; + std::map> formats; + std::map stream_enabled; + std::map prev_stream_enabled; + std::map stream_display_names; + + subdevice_ui_selection ui; + subdevice_ui_selection last_valid_ui; + + std::vector> res_values; + std::map>> profile_id_to_res; // used for depth and ir mixed resolutions + std::map> fps_values_per_stream; + std::vector shared_fps_values; + bool show_single_fps_list = false; + std::map> format_values; + + std::vector profiles; + + frame_queues queues; + std::mutex _queue_lock; + bool _options_invalidated = false; + int next_option = 0; + std::vector supported_options; + bool streaming = false; + std::map streaming_map; // used for depth and ir mixed resolutions + bool allow_change_resolution_while_streaming = false; + bool allow_change_fps_while_streaming = false; + rect normalized_zoom{ 0, 0, 1, 1 }; + rect roi_rect; + bool auto_exposure_enabled = false; + float depth_units = 1.f; + float stereo_baseline = -1.f; + + bool roi_checked = false; + + std::atomic _pause; + std::atomic _is_being_recorded{ false }; + + bool draw_streams_selector = true; + bool draw_fps_selector = true; + bool draw_advanced_mode_prompt = false; + + region_of_interest algo_roi; + bool show_algo_roi = false; + float roi_percentage; + + std::shared_ptr depth_colorizer; + std::shared_ptr yuy2rgb; + std::shared_ptr y411; + + std::vector> post_processing; + bool post_processing_enabled = true; + std::vector> const_effects; + + bool uvmapping_calib_full = false; + + private: + bool draw_resolutions(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1); + bool draw_fps(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1); + bool draw_streams_and_formats(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1); + bool draw_res_stream_formats(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1); + bool draw_resolutions_combo_box_multiple_resolutions(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1, + int stream_type_id, int depth_res_id); + bool draw_formats_combo_box_multiple_resolutions(std::string& error_message, std::string& label, std::function streaming_tooltip, float col0, float col1, + int stream_type_id); + bool is_multiple_resolutions_supported() const { return false; } + std::pair get_max_resolution(rs2_stream stream) const; + void sort_resolutions(std::vector>& resolutions) const; + bool is_ir_calibration_profile() const; + + // used in method get_max_resolution per stream + std::map>> resolutions_per_stream; + + const float SHORT_RANGE_MIN_DISTANCE = 0.05f; // 5 cm + const float SHORT_RANGE_MAX_DISTANCE = 4.0f; // 4 meters + std::atomic_bool _destructing; + }; +} diff --git a/librealsense/common/sw-update/dev-updates-profile.cpp b/librealsense/common/sw-update/dev-updates-profile.cpp new file mode 100644 index 0000000..4ac2518 --- /dev/null +++ b/librealsense/common/sw-update/dev-updates-profile.cpp @@ -0,0 +1,155 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#include +#include "dev-updates-profile.h" + +namespace rs2 +{ + namespace sw_update + { + using namespace http; + + dev_updates_profile::dev_updates_profile(const device& dev, const std::string& url, const bool use_url_as_local_path, user_callback_func_type download_callback) + : _versions_db(url, use_url_as_local_path, download_callback), _keep_trying(true) + { + + std::string dev_name = (dev.supports(RS2_CAMERA_INFO_NAME)) ? dev.get_info(RS2_CAMERA_INFO_NAME) : "Unknown"; + std::string serial = (dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER)) ? dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) : "Unknown"; + + std::string fw_update_id = "Unknown"; + + if (dev.supports(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID)) + { + fw_update_id = dev.get_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID); + } + + std::string firmware_ver = (dev.supports(RS2_CAMERA_INFO_FIRMWARE_VERSION)) ? dev.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION) : "0.0.0"; + + _update_profile.software_version = sw_update::version(RS2_API_FULL_VERSION_STR); + _update_profile.firmware_version = sw_update::version(firmware_ver); + + _update_profile.dev = dev; + + _update_profile.device_name = dev_name; + _update_profile.serial_number = serial; + _update_profile.fw_update_id = fw_update_id; + } + + bool dev_updates_profile::retrieve_updates(component_part_type comp, bool& fail_access_db) + { + // throw on unsupported components (Not implemented yet) + if (comp != LIBREALSENSE && comp != FIRMWARE) + { + std::string error_str("update component: " + sw_update::to_string(comp) + " not supported"); + throw std::runtime_error(error_str); + } + + bool update_available(false); + + auto &versions_vec((comp == FIRMWARE) ? + _update_profile.firmware_versions : _update_profile.software_versions); + + version& current_version((comp == FIRMWARE) ? _update_profile.firmware_version : _update_profile.software_version); + { + version_info experimental_update; + auto parse_update_stts = try_parse_update(_versions_db, _update_profile.device_name, EXPERIMENTAL, comp, experimental_update); + if ( parse_update_stts == VERSION_FOUND) + { + if (current_version < experimental_update.ver) + { + versions_vec[experimental_update.ver] = experimental_update; + update_available = true; + } + } + + version_info recommened_update; + if (try_parse_update(_versions_db, _update_profile.device_name, RECOMMENDED, comp, recommened_update) == VERSION_FOUND) + { + if (current_version < recommened_update.ver) + { + versions_vec[recommened_update.ver] = recommened_update; + update_available = true; + } + } + + version_info required_update; + if (try_parse_update(_versions_db, _update_profile.device_name, ESSENTIAL, comp, required_update) == VERSION_FOUND) + { + if (current_version < required_update.ver) + { + versions_vec[required_update.ver] = required_update; + update_available = true; + } + } + + fail_access_db = (parse_update_stts == DB_LOAD_FAILURE); + } + return update_available; + } + + query_status_type dev_updates_profile::try_parse_update(versions_db_manager& up_handler, + const std::string& dev_name, + update_policy_type policy, + component_part_type part, + dev_updates_profile::version_info& result) + { + query_status_type query_status = DB_LOAD_FAILURE; + if (_keep_trying) + { + sw_update::version required_version; + query_status = up_handler.query_versions(dev_name, part, policy, required_version); + if (query_status == VERSION_FOUND) + { + up_handler.get_version_download_link(part, required_version, result.download_link); + up_handler.get_version_release_notes(part, required_version, result.release_page); + up_handler.get_version_description(part, required_version, result.description); + result.ver = required_version; + + std::stringstream ss; + ss << std::string(result.ver) << " (" << sw_update::to_string(policy) << ")"; + result.name_for_display = ss.str(); + result.policy = policy; + } + else if (query_status == DB_LOAD_FAILURE) + { + _keep_trying = false; + } + + } + return query_status; + } + + bool dev_updates_profile::update_profile::get_sw_update( update_policy_type policy, + version_info & info ) const + { + auto found = std::find_if( software_versions.begin(), + software_versions.end(), + [policy]( const version_to_info::value_type & ver_info ) { + return ver_info.second.policy == policy; + } ); + if( found != software_versions.end() ) + { + info = found->second; + return true; + } + return false; + } + + bool dev_updates_profile::update_profile::get_fw_update( update_policy_type policy, + version_info & info ) const + { + auto found = std::find_if( firmware_versions.begin(), + firmware_versions.end(), + [policy]( const version_to_info::value_type & ver_info ) { + return ver_info.second.policy == policy; + } ); + if( found != firmware_versions.end() ) + { + info = found->second; + return true; + } + return false; + } + } +} diff --git a/librealsense/common/sw-update/dev-updates-profile.h b/librealsense/common/sw-update/dev-updates-profile.h new file mode 100644 index 0000000..b9cceb4 --- /dev/null +++ b/librealsense/common/sw-update/dev-updates-profile.h @@ -0,0 +1,76 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#pragma once +#include +#include + +#include + +#include "versions-db-manager.h" + +namespace rs2 +{ + namespace sw_update + { + // The dev_updates_profile class builds and holds a specific device versions profile. + // It queries the versions DB according to the desired components + // and supply a complete profile of the device software & firmware available update. + class dev_updates_profile + { + public: + + struct version_info + { + sw_update::version ver; + std::string name_for_display; + std::string release_page; + std::string download_link; + std::string description; + update_policy_type policy; + }; + + struct update_profile + { + std::string device_name; + std::string serial_number; + std::string fw_update_id; + + sw_update::version software_version; + sw_update::version firmware_version; + + typedef std::map< sw_update::version, version_info > version_to_info; + version_to_info software_versions; + version_to_info firmware_versions; + + device dev; + bool dev_active; + + update_profile() :dev_active(true){}; + + bool get_sw_update(update_policy_type policy, version_info& info) const; + bool get_fw_update(update_policy_type policy, version_info& info) const; + + }; + + explicit dev_updates_profile(const device& dev, const std::string &url, const bool use_url_as_local_path = false, http::user_callback_func_type download_callback = http::user_callback_func_type()); + + ~dev_updates_profile() {}; + + bool retrieve_updates(component_part_type comp, bool& fail_access_db); + update_profile & get_update_profile() { return _update_profile; }; + + private: + query_status_type try_parse_update(versions_db_manager& up_handler, + const std::string& dev_name, + update_policy_type policy, + component_part_type part, + version_info& result); + + + versions_db_manager _versions_db; + update_profile _update_profile; + bool _keep_trying; + }; + } +} diff --git a/librealsense/common/sw-update/http-downloader.cpp b/librealsense/common/sw-update/http-downloader.cpp new file mode 100644 index 0000000..5a8dc83 --- /dev/null +++ b/librealsense/common/sw-update/http-downloader.cpp @@ -0,0 +1,232 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + + + +#ifdef CHECK_FOR_UPDATES +#include +#include +#include +#include +#include +#include +#include +#include +#endif // CHECK_FOR_UPDATES + +#include "http-downloader.h" +#include + + +namespace rs2 +{ + namespace http + { + +#ifndef CHECK_FOR_UPDATES + // Dummy functions + http_downloader::http_downloader() {} + http_downloader::~http_downloader() {} + bool http_downloader::download_to_stream(const std::string& url, std::stringstream &output, user_callback_func_type user_callback_func) { return false; } + bool http_downloader::download_to_file(const std::string& url, const std::string &file_name, user_callback_func_type user_callback_func) { return false; } + bool http_downloader::download_to_bytes_vector(const std::string& url, std::vector &output, user_callback_func_type user_callback_func) { return false; } + +#else + + std::mutex initialize_mutex; + static const curl_off_t HALF_SEC = 500000; // User call back function delay + static const int CONNECT_TIMEOUT = 5L; // Libcurl connection timeout 5 [Sec] + + struct progress_data { + curl_off_t last_run_time; + user_callback_func_type user_callback_func; + CURL *curl; + }; + + + size_t stream_write_callback(void *input_stream, size_t size, size_t nmemb, void *output_stream) + { + if (input_stream && output_stream) + { + std::string data((const char*)input_stream, (size_t)size * nmemb); + *((std::stringstream*)output_stream) << data; + return size * nmemb; + } + return 0; // Error + } + + size_t vector_write_callback(void *input_stream, size_t size, size_t nmemb, void *output_vec) + { + uint8_t* source_bytes(static_cast(input_stream)); + + if (input_stream && output_vec) + { + int total_size((int)(size * nmemb)); + while (total_size > 0) + { + static_cast *>(output_vec)->push_back(*source_bytes); + source_bytes++; + --total_size; + } + + return size * nmemb; + } + return 0; // Error + } + + size_t file_write_callback(void *input_stream, size_t size, size_t nmemb, void *output) + { + + if (input_stream && output) + { + std::ofstream &out_stream(*static_cast (output)); + + size_t num_of_bytem(nmemb*size); + out_stream.write((char *)input_stream, num_of_bytem); + return size * nmemb; + + } + return 0; // Error + } + + // This function will be called if CURLOPT_NOPROGRESS is set to 0 + // Return value: 0 = continue download / 1 = stop download + int progress_callback(void *p, curl_off_t dltotal, curl_off_t dlnow, curl_off_t ultotal, curl_off_t ulnow) + { + progress_data *myp = static_cast(p); + CURL *curl(myp->curl); + curl_off_t curtime(0); + if( curl_easy_getinfo(curl, CURLINFO_TOTAL_TIME_T, &curtime) == CURLE_OK ) + if (dltotal != 0 && (curtime - myp->last_run_time > HALF_SEC)) + { + myp->last_run_time = curtime; + return myp->user_callback_func(static_cast(dlnow), + static_cast(dltotal)) == callback_result::CONTINUE_DOWNLOAD ? 0 : 1; + } + + return 0; + } + + http_downloader::http_downloader() : _curl(nullptr) + { + // Protect curl_easy_init() it is not considers thread safe + std::lock_guard lock(initialize_mutex); + _curl = curl_easy_init(); + } + + http_downloader::~http_downloader() + { + std::lock_guard lock(initialize_mutex); + curl_easy_cleanup(_curl); + } + + bool http_downloader::download_to_stream(const std::string& url, std::stringstream &output, user_callback_func_type user_callback_func) + { + if (!_curl) return false; + + set_common_options(url); + if( curl_easy_setopt(_curl, CURLOPT_WRITEFUNCTION, stream_write_callback) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_WRITEDATA, &output) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_SSL_VERIFYPEER ,0L) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_SSL_VERIFYHOST ,0L) != CURLE_OK ) + throw std::invalid_argument( "Setting CURL option failed" ); + + progress_data progress_record; // Should stay here - "curl_easy_perform" use it + if (user_callback_func) + { + register_progress_call_back(progress_record, user_callback_func); + } + auto res = curl_easy_perform(_curl); + + if (CURLE_OK != res) + { + LOG_ERROR("Download error from URL: " + url + ", error info: " + std::string(curl_easy_strerror(res))); + return false; + } + return true; + } + + bool http_downloader::download_to_bytes_vector(const std::string& url, std::vector &output, user_callback_func_type user_callback_func) + { + if (!_curl) return false; + + set_common_options(url); + if( curl_easy_setopt(_curl, CURLOPT_WRITEFUNCTION, vector_write_callback) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_WRITEDATA, &output) != CURLE_OK ) + throw std::invalid_argument( "Setting CURL option failed" ); + + progress_data progress_record; // Should stay here - "curl_easy_perform" use it + if (user_callback_func) + { + register_progress_call_back(progress_record, user_callback_func); + } + auto res = curl_easy_perform(_curl); + + if (CURLE_OK != res) + { + LOG_ERROR("Download error from URL: " + url + ", error info: " + std::string(curl_easy_strerror(res))); + return false; + } + return true; + } + + + bool http_downloader::download_to_file(const std::string& url, const std::string &file_name, user_callback_func_type user_callback_func) + { + if (!_curl) return false; + + /* open the file */ + std::ofstream out_file(file_name, std::ios::out); + + if (out_file.good()) + { + set_common_options(url); + if( curl_easy_setopt(_curl, CURLOPT_WRITEFUNCTION, file_write_callback) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_WRITEDATA, &out_file) != CURLE_OK ) + throw std::invalid_argument( "Setting CURL option failed" ); + + progress_data progress_record; // Should stay here - "curl_easy_perform" use it + if (user_callback_func) + { + register_progress_call_back(progress_record, user_callback_func); + } + auto res = curl_easy_perform(_curl); + out_file.close(); + + if (CURLE_OK != res) + { + LOG_ERROR("Download error from URL: " + url + ", error info: " + std::string(curl_easy_strerror(res))); + return false; + } + } + else + { + LOG_ERROR("Download error - Cannot open local file: " + file_name); + return false; + } + + return true; + } + + void http_downloader::set_common_options(const std::string &url) + { + if( curl_easy_setopt( _curl, CURLOPT_CONNECTTIMEOUT, CONNECT_TIMEOUT ) != CURLE_OK || // timeout for the connect phase + curl_easy_setopt( _curl, CURLOPT_URL, url.c_str() ) != CURLE_OK || // provide the URL to use in the request + curl_easy_setopt( _curl, CURLOPT_FOLLOWLOCATION, 1L ) != CURLE_OK || // follow HTTP 3xx redirects + curl_easy_setopt( _curl, CURLOPT_NOSIGNAL, 1 ) != CURLE_OK || // skip all signal handling + curl_easy_setopt( _curl, CURLOPT_FAILONERROR, 1L ) != CURLE_OK || // request failure on HTTP response >= 400 + curl_easy_setopt( _curl, CURLOPT_NOPROGRESS, 1L ) != CURLE_OK ) // switch off the progress meter + throw std::invalid_argument( "Setting CURL option failed" ); + } + + void http_downloader::register_progress_call_back(progress_data &progress_record, user_callback_func_type user_callback_func) + { + progress_record = { 0, user_callback_func, _curl }; + if( curl_easy_setopt(_curl, CURLOPT_XFERINFOFUNCTION, progress_callback) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_XFERINFODATA, &progress_record) != CURLE_OK || + curl_easy_setopt(_curl, CURLOPT_NOPROGRESS, 0L) != CURLE_OK ) + throw std::invalid_argument( "Setting CURL option failed" ); + } +#endif + } +} diff --git a/librealsense/common/sw-update/http-downloader.h b/librealsense/common/sw-update/http-downloader.h new file mode 100644 index 0000000..40af72a --- /dev/null +++ b/librealsense/common/sw-update/http-downloader.h @@ -0,0 +1,43 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include +#include +#include + +namespace rs2 +{ + namespace http + { + + enum class callback_result { CONTINUE_DOWNLOAD, STOP_DOWNLOAD }; + typedef std::function user_callback_func_type; + + struct progress_data; // Forward Declaration + + // This class is a service class for downloading a file from an HTTP URL. + // The class use libcurl as a client-side URL transfer library. + class http_downloader + { + public: + http_downloader(); + ~http_downloader(); + + // The optional callback function provides 2 major capabilities: + // - Current status about the download progress + // - Control the download process (stop/continue) using the return value of the callback function (true = stop download) + bool download_to_stream(const std::string& url, std::stringstream &output, user_callback_func_type user_callback_func = user_callback_func_type()); + bool download_to_bytes_vector(const std::string& url, std::vector &output, user_callback_func_type user_callback_func = user_callback_func_type()); + bool download_to_file(const std::string& url, const std::string &file_name, user_callback_func_type user_callback_func = user_callback_func_type()); + + private: + void register_progress_call_back(progress_data &progress_record, user_callback_func_type user_callback_func); + void set_common_options(const std::string &url); + + void* _curl; + }; + } +} diff --git a/librealsense/common/sw-update/versions-db-manager.cpp b/librealsense/common/sw-update/versions-db-manager.cpp new file mode 100644 index 0000000..514f4c2 --- /dev/null +++ b/librealsense/common/sw-update/versions-db-manager.cpp @@ -0,0 +1,309 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#include "versions-db-manager.h" +#include +#include +#include +#include +#include +#include +#include + + +namespace rs2 +{ + + namespace sw_update + { + using json = rsutils::json; + using namespace http; + + query_status_type versions_db_manager::query_versions(const std::string &device_name, component_part_type component, const update_policy_type policy, version& out_version) + { + // Load server versions info on first access + if (!init()) + { + out_version.clear(); + return DB_LOAD_FAILURE; + } + + std::string platform = rsutils::os::get_platform_name(); + + std::string up_str(to_string(policy)); + std::string comp_str(to_string(component)); + + if (up_str.empty() || comp_str.empty()) return NO_VERSION_FOUND; + + // Look for the required version + auto res = std::find_if(_server_versions_vec.begin(), _server_versions_vec.end(), + [&, device_name, up_str, comp_str, platform](std::unordered_map ver) + { + return (is_device_name_equal(ver["device_name"],device_name,true) && up_str == ver["policy_type"] && comp_str == ver["component"] && (platform == ver["platform"] || ver["platform"] == "*")); + }); + + if (res != _server_versions_vec.end()) + { + auto version_str = (*res)["version"]; + out_version = version(version_str); + return VERSION_FOUND; + } + + out_version.clear(); + return NO_VERSION_FOUND; // Nothing found + } + + bool versions_db_manager::get_version_data_common(const component_part_type component, const version& version, const std::string& req_field, std::string& out) + { + // Check if server versions are loaded + if (!_server_versions_loaded) return false; + + std::string platform = rsutils::os::get_platform_name(); + + std::string component_str(to_string(component)); + + if (component_str.empty()) return false; + + // Look for the required version + auto res = std::find_if(_server_versions_vec.begin(), _server_versions_vec.end(), + [version, component_str, platform](std::unordered_map version_map) + { + return (sw_update::version(version_map["version"]) == version && component_str == version_map["component"] && (platform == version_map["platform"] || version_map["platform"] == "*")); + }); + + if (res != _server_versions_vec.end()) + { + out = (*res)[req_field]; + return true; + } + + return false; // Nothing found + } + + + std::string to_string(const component_part_type& component) + { + switch (component) + { + case LIBREALSENSE: return "LIBREALSENSE"; + case VIEWER: return "VIEWER"; + case DEPTH_QUALITY_TOOL: return "DEPTH_QUALITY_TOOL"; + case FIRMWARE: return "FIRMWARE"; + break; + default: + LOG_ERROR( "Unknown component type: " << component ); + break; + } + return ""; + } + + std::string to_string(const update_policy_type& policy) + { + + switch (policy) + { + case EXPERIMENTAL: return "EXPERIMENTAL"; + case RECOMMENDED: return "RECOMMENDED"; + case ESSENTIAL: return "ESSENTIAL"; + break; + default: + LOG_ERROR( "Unknown policy type: " << policy ); + break; + } + return ""; + } + + bool from_string(const std::string &component_str, component_part_type& component_val) + { + static std::unordered_map map = + { {"LIBREALSENSE",LIBREALSENSE}, + {"VIEWER", VIEWER} , + {"DEPTH_QUALITY_TOOL", DEPTH_QUALITY_TOOL}, + {"FIRMWARE", FIRMWARE} }; + + auto val = map.find(component_str); + if (val != map.end()) + { + component_val = val->second; + return true; + } + + LOG_ERROR( "Unknown component type: " << component_str ); + return false; + } + bool from_string(const std::string &policy_str, update_policy_type& policy_val) + { + static std::unordered_map map = + { {"EXPERIMENTAL",EXPERIMENTAL}, + {"RECOMMENDED", RECOMMENDED} , + {"ESSENTIAL", ESSENTIAL} }; + + auto val = map.find(policy_str); + if (val != map.end()) + { + policy_val = val->second; + return true; + } + + LOG_ERROR( "Unknown policy type: " << policy_str ); + return false; + } + + bool versions_db_manager::get_server_data(std::stringstream &ver_data) + { + bool server_data_retrieved(false); + + if (false == _local_source_file) + { + // download file from URL + http_downloader hd; + if (hd.download_to_stream(_dev_info_url, ver_data, _download_cb_func)) + { + server_data_retrieved = true; + } + } +#ifdef CHECK_FOR_UPDATES + else + { + // read from local file + std::ifstream file(_dev_info_url); + if (file.good()) + { + server_data_retrieved = true; + ver_data << file.rdbuf(); + } + else + { + LOG_ERROR( "Cannot open file: " << _dev_info_url ); + } + } +#endif + return server_data_retrieved; + } + + void versions_db_manager::parse_versions_data(const std::stringstream &ver_data) + { + // Parse the json file + json j(json::parse(ver_data.str())); + + std::unordered_map> schema; + build_schema(schema); + + // Validate json file has a versions array + if (j.begin().key() == "versions" && j.begin().value().is_array()) + { + // Iterate through the versions + for (auto &ver : j["versions"]) + { // Iterate through the version fields + std::unordered_map curr_version; + for (auto it = ver.begin(); it != ver.end(); ++it) + { + std::string element_key(it.key()); + + auto schema_field(schema.find(element_key)); + if (schema_field != schema.end()) { + if (it.value().is_string()) + { + if (schema_field->second(it.value().get())) + { + // Value validation passed - add to current version + curr_version[element_key] = it.value().get(); + } + else + { + std::string error_str( + "Server versions file parsing error - validation fail on key: " + element_key + + " value: " + it.value().get< std::string >() + " \n" ); + LOG_ERROR(error_str); + throw std::runtime_error(error_str); + } + } + else + { + std::string error_str( "Server versions file parsing error - " + element_key + + " should be represented as a string" ); + LOG_ERROR(error_str); + throw std::runtime_error(error_str); + } + } + else + { + std::string error_str("Server versions file parsing error - " + element_key + " - unknown field"); + LOG_ERROR(error_str); + throw std::runtime_error(error_str); + } + } + + // Verify each key in the schema can be found in the current version fields + //std::pair &item + if (std::all_of(schema.cbegin(), schema.cend(), [curr_version](const std::pair> &schema_item) + { + return curr_version.end() != std::find_if(curr_version.cbegin(), curr_version.cend(), [schema_item](const std::pair &ver_item) {return schema_item.first == ver_item.first; }); + })) + { + _server_versions_vec.emplace_back(curr_version); // Version added to valid versions vector + } + else + { + std::string error_str("Server versions json file corrupted - not matching schema requirements"); + LOG_ERROR(error_str); + throw std::runtime_error(error_str); + } + } + } + else + { + std::string error_str("Server versions json file corrupted - Expect versions field of type array \n)" + "Parsed key: " + j.begin().key() + ", value type array: " + (j.begin().value().is_array() ? "TRUE" : "FALSE")); + LOG_ERROR(error_str); + throw std::runtime_error(error_str); + } + } + + + bool versions_db_manager::init() + { + // Load server versions info on first access + if (!_server_versions_loaded) + { + std::stringstream server_versions_data; + // Download / Open the json file + if (!get_server_data(server_versions_data)) + { + return false; // Failed to get version from server/file + } + else + { + // Parse and validate the json file - Throws exception on error + parse_versions_data(server_versions_data); + _server_versions_loaded = true; + } + } + return true; + } + + void versions_db_manager::build_schema(std::unordered_map>& verifier) + { + // Builds a map of fields + validation function + verifier.emplace("device_name", [](const std::string& val) -> bool { return true; }); + verifier.emplace("policy_type", [](const std::string& val) -> bool { return (val == "EXPERIMENTAL") || (val == "RECOMMENDED") || (val == "ESSENTIAL"); }); + verifier.emplace("component", [](const std::string& val) -> bool { return (val == "LIBREALSENSE") || (val == "VIEWER") || (val == "DEPTH_QUALITY_TOOL") || (val == "FIRMWARE"); }); + verifier.emplace("version", [](const std::string& val) -> bool { return version(val) != version(); }); + verifier.emplace("platform", [&](const std::string& val) -> bool { return (val == "*") || (val == "Windows amd64") || (val == "Windows x86") || (val == "Linux amd64") || (val == "Linux arm") || (val == "Mac OS"); }); + verifier.emplace("link", [](const std::string& val) -> bool { return true; }); + verifier.emplace("release_notes_link", [](const std::string& val) -> bool { return true; }); + verifier.emplace("description", [](const std::string& val) -> bool { return true; }); + + } + + bool versions_db_manager::is_device_name_equal(const std::string &str_from_db, const std::string &str_compared, bool allow_wildcard) + { + if (allow_wildcard) + return (0 == str_from_db.compare(0, str_from_db.find('*'), str_compared, 0, str_from_db.find('*'))); + else + return (str_from_db == str_compared); + } + } + + +} diff --git a/librealsense/common/sw-update/versions-db-manager.h b/librealsense/common/sw-update/versions-db-manager.h new file mode 100644 index 0000000..4bfde7e --- /dev/null +++ b/librealsense/common/sw-update/versions-db-manager.h @@ -0,0 +1,99 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include +#include +#include +#include "http-downloader.h" +#include +#include + +namespace rs2 +{ + + namespace sw_update + { + enum update_policy_type { EXPERIMENTAL, RECOMMENDED, ESSENTIAL }; + enum component_part_type { LIBREALSENSE, VIEWER, DEPTH_QUALITY_TOOL, FIRMWARE }; + enum update_source_type { FROM_FILE, FROM_SERVER }; + enum query_status_type { VERSION_FOUND, NO_VERSION_FOUND, DB_LOAD_FAILURE }; + + + std::string to_string( const component_part_type & component ); + std::string to_string( const update_policy_type & policy ); + bool from_string( const std::string & component_str, component_part_type & component_val ); + bool from_string( const std::string & policy_str, update_policy_type & policy_val ); + + using version = rsutils::version; + + + // The version_db_manager class download, parse and supply queries for the RS components versions information. + // The version file can be stored locally on the file system or on a HTTP server. + class versions_db_manager + { + public: + + explicit versions_db_manager( const std::string & url, + const bool use_url_as_local_path = false, + http::user_callback_func_type download_callback + = http::user_callback_func_type() ) + : _dev_info_url( url ) + , _local_source_file( use_url_as_local_path ) + , _server_versions_vec() + , _server_versions_loaded( false ) + , _download_cb_func( download_callback ) + { + } + + ~versions_db_manager() {} + + query_status_type query_versions(const std::string &device_name, component_part_type component, const update_policy_type policy, version& out_version); + bool get_version_download_link(const component_part_type component, const version& version, std::string& dl_link) { return get_version_data_common(component, version, "link", dl_link); }; + bool get_version_release_notes(const component_part_type component, const version& version, std::string& version_release_notes_link) { return get_version_data_common(component, version, "release_notes_link", version_release_notes_link); }; + bool get_version_description(const component_part_type component, const version& version, std::string& version_description) { return get_version_data_common(component, version, "description", version_description); }; + + private: + struct server_version_type + { + std::string policy; + std::string component; + std::string version; + std::string platform; + std::string link; + std::string device_name; + std::string rel_notes_link; + std::string desc; + + + server_version_type() : + policy(), + component(), + version(), + platform(), + link(), + device_name(), + rel_notes_link(), + desc() {} + }; + + bool get_server_data(std::stringstream &ver_data); + void parse_versions_data(const std::stringstream &ver_data); + bool get_version_data_common(const component_part_type component, const version& version, const std::string& req_field, std::string& out); + bool is_device_name_equal(const std::string &str_from_db, const std::string &str_compared, bool allow_wildcard); + + + bool init(); + void build_schema(std::unordered_map>& verifier); + + + const std::string _dev_info_url; + bool _local_source_file; + bool _server_versions_loaded; + std::vector> _server_versions_vec; + http::user_callback_func_type _download_cb_func; + }; + } +} diff --git a/librealsense/common/tiny-profiler.h b/librealsense/common/tiny-profiler.h new file mode 100644 index 0000000..72721df --- /dev/null +++ b/librealsense/common/tiny-profiler.h @@ -0,0 +1,95 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include +#include +#include // strlen + +class scoped_timer +{ +public: + void tocout(long a) + { + long c = 1; + + if (a<0) { a *= -1; std::cout << "-"; } + while ((c *= 1000)1) + { + int t = (a%c) / (c / 1000); + std::cout << (((c>a) || (t>99)) ? "" : ((t>9) ? "0" : "00")) << t; + std::cout << (((c /= 1000) == 1) ? "" : ","); + } + } + + struct profiler + { + std::unordered_map duration; + std::unordered_map counts; + std::unordered_map lasts; + int scope = 0; + + static profiler& instance() + { + static profiler inst; + return inst; + } + }; + + scoped_timer(const char* key) : key(key) + { + _started = std::chrono::high_resolution_clock::now(); + + auto& lasts = profiler::instance().lasts; + + if (lasts.find(key) == lasts.end()) + lasts[key] = std::chrono::high_resolution_clock::now(); + + auto since_last = _started - lasts[key]; + auto sec = std::chrono::duration_cast(since_last).count(); + + if (sec >= 2) + { + if (!profiler::instance().scope) + { + for (int i = 0; i < 50; i++) std::cout << "="; + std::cout << "\n"; + } + lasts[key] = _started; + for (int i = 0; i < profiler::instance().scope; i++) + std::cout << " "; + auto l = strlen(key); + std::cout << key; + std::cout << " "; + for (int i = 0; i < 50 - int(l) - profiler::instance().scope * 2; i++) + std::cout << "."; + auto avg = (profiler::instance().duration[key] + / profiler::instance().counts[key]); + std::cout << " "; + tocout(long(avg)); + std::cout << " usec,\t" << (profiler::instance().counts[key] / 2) << " Hz\n"; + profiler::instance().duration[key] = 0; + profiler::instance().counts[key] = 1; + } + + profiler::instance().scope++; + } + + ~scoped_timer() + { + auto ended = std::chrono::high_resolution_clock::now(); + auto duration = ended - _started; + auto usec = std::chrono::duration_cast(duration).count(); + profiler::instance().duration[key] += usec; + profiler::instance().counts[key]++; + profiler::instance().scope--; + } + +private: + std::chrono::high_resolution_clock::time_point _started; + const char* key; +}; diff --git a/librealsense/common/updates-model.cpp b/librealsense/common/updates-model.cpp new file mode 100644 index 0000000..977a844 --- /dev/null +++ b/librealsense/common/updates-model.cpp @@ -0,0 +1,805 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#include +#include "updates-model.h" +#include "device-model.h" +#include "ux-window.h" +#include "os.h" +#include +#include "sw-update/http-downloader.h" +#include + +using namespace rs2; +using namespace sw_update; +using namespace http; + +void updates_model::draw(std::shared_ptr not_model, ux_window& window, std::string& error_message) +{ + // Protect resources + static std::vector updates_copy; + { + std::lock_guard lock(_lock); + updates_copy = _updates; + } + + const auto window_name = "Updates Window"; + + //Main window pop up only if essential updates exists + if (updates_copy.size()) + { + ImGui::OpenPopup(window_name); + } + + position_params positions; + + positions.w = window.width() * 0.6f; + positions.h = 600; + positions.x0 = window.width() * 0.2f; + positions.y0 = std::max(window.height() - positions.h, 0.f) / 2; + ImGui::SetNextWindowPos({ positions.x0, positions.y0 }); + ImGui::SetNextWindowSize({ positions.w, positions.h }); + + auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoTitleBar | + ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_ShowBorders; + + 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)) + { + + std::string title_message = "SOFTWARE UPDATES"; + auto title_size = ImGui::CalcTextSize(title_message.c_str()); + ImGui::SetCursorPosX(positions.w / 2 - title_size.x / 2); + 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); + + positions.orig_pos = ImGui::GetCursorScreenPos(); + positions.mid_y = (positions.orig_pos.y + positions.y0 + positions.h - 30) / 2; + + ImGui::GetWindowDrawList()->AddRectFilled({ positions.orig_pos.x, positions.orig_pos.y }, + { positions.x0 + positions.w - 5, positions.y0 + positions.h - 30 }, ImColor(header_color)); + ImGui::GetWindowDrawList()->AddLine({ positions.orig_pos.x, positions.mid_y }, + { positions.x0 + positions.w - 10, positions.mid_y }, ImColor(sensor_bg)); + + auto& update = updates_copy[selected_index]; + + bool sw_update_needed(false), fw_update_needed(false); + + bool fw_update_in_process = _fw_update_state == fw_update_states::started + || _fw_update_state == fw_update_states::failed_updating + || _fw_update_state == fw_update_states::failed_downloading; + + // Verify Device Exists or a FW update process + if (update.profile.dev_active || fw_update_in_process) + { + // =========================================================================== + // Draw Software update Pane + // =========================================================================== + sw_update_needed = draw_software_section(window_name, update, positions, window, error_message); + + // =========================================================================== + // Draw Firmware update Pane + // =========================================================================== + fw_update_needed = draw_firmware_section(not_model, window_name, update, positions, window, error_message); + } + else + { // Indicate device disconnected to the user + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::SetWindowFontScale(1.5); + std::string disconnected_text = "THE DEVICE HAS BEEN DISCONNECTED,"; + auto disconnected_text_size = ImGui::CalcTextSize(disconnected_text.c_str()); + auto disconnected_text_x_pixel = positions.w / 2 - disconnected_text_size.x / 2; // Align 2 center + auto vertical_padding = 100.f; + ImGui::SetCursorPos({ disconnected_text_x_pixel, vertical_padding }); + ImGui::Text("%s", disconnected_text.c_str()); + + std::string reconnect_text = "PLEASE RECONNECT IT OR CLOSE THE UPDATES WINDOW."; + auto reconnect_text_size = ImGui::CalcTextSize(reconnect_text.c_str()); + auto reconnect_text_x_pixel = positions.w / 2 - reconnect_text_size.x / 2; // Align 2 center + ImGui::SetCursorPosX(reconnect_text_x_pixel); + ImGui::Text("%s", reconnect_text.c_str()); + + ImGui::SetWindowFontScale(3.); + + auto disconnect_icon_size = ImGui::CalcTextSize(textual_icons::lock); + auto disconnect_icon_x_pixel = (positions.w / 2.f) - (disconnect_icon_size.x / 2); // Align 2 center + ImGui::SetCursorPosX( disconnect_icon_x_pixel ); + ImGui::Text("%s", static_cast(textual_icons::lock)); + ImGui::SetWindowFontScale(1.); + ImGui::PopStyleColor(); + + + } + // =========================================================================== + // Draw Lower Pane + // =========================================================================== + + auto no_update_needed = (!sw_update_needed && !fw_update_needed); + + if (!no_update_needed) + { + ImGui::SetCursorPos({ 5, positions.h - 25 }); + if (emphasize_dismiss_text) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_red); + } + + ImGui::Checkbox("I understand and would like to proceed anyway without updating", &ignore); + + if (emphasize_dismiss_text) + { + ImGui::PopStyleColor(); + } + } + + ImGui::SetCursorPos({ positions.w - 145, positions.h - 25 }); + + auto enabled = ignore || no_update_needed; + if (enabled) + { + if (_fw_update_state != fw_update_states::started) + { + if (ImGui::Button("Close", { 120, 20 })) + { + { + std::lock_guard lock(_lock); + _updates.clear(); + } + + ImGui::CloseCurrentPopup(); + emphasize_dismiss_text = false; + ignore = false; + _fw_update_state = fw_update_states::ready; + _fw_download_progress = 0; + } + } + else + { + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + ImGui::Button("Close", { 120, 20 }); + ImGui::PopStyleColor(); + } + } + else + { + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); + + if (ImGui::Button("Close", { 120, 20 })) + { + emphasize_dismiss_text = true; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("To close this window you must install all essential update\n" + "or agree to the warning of closing without it"); + + } + ImGui::PopStyleColor(2); + } + ImGui::EndPopup(); + } + ImGui::PopStyleColor(3); + ImGui::PopStyleVar(2); + +} + +bool updates_model::draw_software_section(const char * window_name, update_profile_model& selected_profile, position_params& pos, ux_window& window, std::string& error_message) +{ + bool essential_sw_update_needed(false); + bool recommended_sw_update_needed(false); + { + // Prepare sorted array of SW updates profiles + // Assumption - essential updates version <= other policies versions + std::vector software_updates; + for (auto&& swu : selected_profile.profile.software_versions) + software_updates.push_back(swu.second); + std::sort(software_updates.begin(), software_updates.end(), [](dev_updates_profile::version_info& a, dev_updates_profile::version_info& b) { + return a.ver < b.ver; + }); + if (static_cast(software_updates.size()) <= selected_software_update_index) selected_software_update_index = 0; + + dev_updates_profile::version_info selected_software_update; + if (software_updates.size() != 0) + { + bool essential_found(false); + bool recommended_found(false); + for (auto sw_update : software_updates) + { + if (!essential_found) + { + essential_found = essential_found || sw_update.name_for_display.find("ESSENTIAL") != std::string::npos; + essential_sw_update_needed = essential_sw_update_needed || essential_found && (selected_profile.profile.software_version < sw_update.ver); + } + + if (!recommended_found) + { + recommended_found = recommended_found || sw_update.name_for_display.find("RECOMMENDED") != std::string::npos; + recommended_sw_update_needed = recommended_sw_update_needed || recommended_found && (selected_profile.profile.software_version < sw_update.ver); + } + } + + // If essential update found on DB but not needed - Remove it + if (essential_found && !essential_sw_update_needed) + { + auto it = std::find_if(software_updates.begin(), software_updates.end(), [&](dev_updates_profile::version_info& u) { + return (u.name_for_display.find("ESSENTIAL") != std::string::npos); + }); + if (it != software_updates.end()) + software_updates.erase(it); + } + + // If recommended update found on DB but not needed - Remove it + if (recommended_found && !recommended_sw_update_needed) + { + auto it = std::find_if(software_updates.begin(), software_updates.end(), [&](dev_updates_profile::version_info& u) { + return (u.name_for_display.find("RECOMMENDED") != std::string::npos); + }); + if (it != software_updates.end()) + software_updates.erase(it); + } + + if (essential_sw_update_needed || recommended_sw_update_needed) + { + selected_software_update = software_updates[selected_software_update_index]; + } + } + + ImVec2 sw_text_pos(pos.orig_pos.x + 10, pos.orig_pos.y + 10); + ImGui::SetCursorScreenPos(sw_text_pos); + + ImGui::PushFont(window.get_large_font()); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("LibRealSense SDK: "); + ImGui::PopStyleColor(); + ImGui::SameLine(); + + if (!essential_sw_update_needed || software_updates.size() == 0) + { + if (recommended_sw_update_needed) + { + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("Recommended update available!"); + } + else + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::Text("%s", static_cast(textual_icons::check_square_o)); + ImGui::SameLine(); + ImGui::Text("%s", "Up to date."); + } + ImGui::PopStyleColor(); + } + else if (essential_sw_update_needed) + { + ImGui::PushStyleColor(ImGuiCol_Text, yellowish); + ImGui::Text("Essential update is available. Please install!"); + ImGui::PopStyleColor(); + } + + + ImGui::PopFont(); + + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + sw_text_pos.y += 30; + ImGui::SetCursorScreenPos(sw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("%s", "Content:"); ImGui::SameLine(); + ImGui::PopStyleColor(); + ImGui::Text("%s", "Intel RealSense SDK 2.0, Intel RealSense Viewer and Depth Quality Tool"); + + sw_text_pos.y += 20; + ImGui::SetCursorScreenPos(sw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("%s", "Purpose:"); ImGui::SameLine(); + ImGui::PopStyleColor(); + ImGui::Text("%s", "Enhancements for stream alignment, texture mapping and camera accuracy health algorithms"); + + sw_text_pos.y += 30; + ImGui::SetCursorScreenPos(sw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("%s", "Current SW version:"); + ImGui::SameLine(); + ImGui::PopStyleColor(); + auto current_sw_ver_str = std::string(selected_profile.profile.software_version); + ImGui::Text("%s", current_sw_ver_str.c_str()); + + if (essential_sw_update_needed) + { + ImGui::SameLine(); + ImGui::PushStyleColor(ImGuiCol_Text, yellowish); + ImGui::Text("%s", " (Your version is older than the minimum version required for the proper functioning of your device)"); + ImGui::PopStyleColor(); + } + + if ( selected_software_update.ver ) + { + sw_text_pos.y += 25; + ImGui::SetCursorScreenPos(sw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + + ImGui::Text("%s", (software_updates.size() >= 2) ? + "Versions available:" : + "Version to download:"); + ImGui::SameLine(); + ImGui::PopStyleColor(); + // 3 box for multiple versions + if (software_updates.size() >= 2) + { + std::vector swu_labels; + for (auto&& swu : software_updates) + { + swu_labels.push_back(swu.name_for_display.c_str()); + } + ImGui::PushStyleColor(ImGuiCol_BorderShadow, dark_grey); + ImGui::PushStyleColor(ImGuiCol_FrameBg, sensor_bg); + + std::string combo_id = "##Software Update Version"; + ImGui::PushItemWidth(200); + ImGui::SetCursorPosY(ImGui::GetCursorPosY() - 3); + ImGui::Combo(combo_id.c_str(), &selected_software_update_index, swu_labels.data(), static_cast(swu_labels.size())); + ImGui::PopItemWidth(); + ImGui::PopStyleColor(2); + ImGui::SetWindowFontScale(1.); + } + else + { // Single version + ImGui::Text("%s", std::string(selected_software_update.ver).c_str()); + } + } + + if (selected_software_update.release_page != "") + { + sw_text_pos.y += 25; + ImGui::SetCursorScreenPos(sw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("%s", "Release Link:"); ImGui::SameLine(); + ImGui::PopStyleColor(); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::Text("%s", selected_software_update.release_page.c_str()); + + ImGui::SameLine(); + auto underline_start = ImVec2(ImGui::GetCursorScreenPos().x - (ImGui::CalcTextSize(selected_software_update.release_page.c_str()).x + 8), ImGui::GetCursorScreenPos().y + ImGui::GetFontSize()); + auto underline_end = ImVec2(ImGui::GetCursorScreenPos().x - 8, ImGui::GetCursorScreenPos().y + ImGui::GetFontSize()); + ImGui::GetWindowDrawList()->AddLine(underline_start, underline_end, ImColor(light_grey)); + + ImGui::PopStyleColor(); + if (ImGui::IsItemHovered()) + window.link_hovered(); + if (ImGui::IsItemClicked()) + { + try + { + open_url(selected_software_update.release_page.c_str()); + } + catch (...) + { + LOG_ERROR("Error opening URL: " + selected_software_update.release_page); + } + } + } + + + if (selected_software_update.description != "") + { + sw_text_pos.y += 25; + ImGui::SetCursorScreenPos(sw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + + ImGui::Text("%s", "Description:"); + ImGui::PopStyleColor(); + + ImGui::PushTextWrapPos(pos.w - 150); + ImGui::PushStyleColor(ImGuiCol_Border, transparent); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue); + auto msg = selected_software_update.description.c_str(); + sw_text_pos.x -= 4; + sw_text_pos.y += 15; + ImGui::SetCursorScreenPos(sw_text_pos); + ImGui::InputTextMultiline("##Software Update Description", const_cast(msg), + strlen(msg) + 1, ImVec2(ImGui::GetContentRegionAvailWidth() - 150, pos.mid_y - (pos.orig_pos.y + 160) - 40), + ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(7); + ImGui::PopTextWrapPos(); + } + + if ( selected_software_update.ver ) + { + ImGui::SetCursorScreenPos({ pos.orig_pos.x + pos.w - 150, pos.mid_y - 45 }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_BorderShadow, dark_grey); + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + + if (ImGui::Button("Download", { 120, 40 })) + { + try + { + open_url(selected_software_update.download_link.c_str()); + } + catch (...) + { + LOG_ERROR("Error opening URL: " + selected_software_update.download_link); + } + } + + if (ImGui::IsItemHovered()) + { + std::string tooltip = "This will redirect you to download the selected software from:\n" + selected_software_update.download_link; + ImGui::SetTooltip("%s", tooltip.c_str()); + window.link_hovered(); + } + + ImGui::PopStyleColor(3); + ImGui::SetCursorScreenPos({ pos.orig_pos.x + 10, pos.mid_y - 25 }); + ImGui::Text("%s", "Visit the release page before download to identify the most suitable package."); + } + + ImGui::PopStyleColor(); + } + return essential_sw_update_needed; +} +bool updates_model::draw_firmware_section(std::shared_ptr not_model, const char * window_name, update_profile_model& selected_profile, position_params& pos, ux_window& window, std::string& error_message) +{ + bool essential_fw_update_needed(false); + bool recommended_fw_update_needed(false); + + // Prepare sorted array of FW updates profiles + // Assumption - essential updates version <= other policies versions + std::vector firmware_updates; + for (auto&& swu : selected_profile.profile.firmware_versions) + firmware_updates.push_back(swu.second); + std::sort(firmware_updates.begin(), firmware_updates.end(), [](dev_updates_profile::version_info& a, dev_updates_profile::version_info& b) { + return a.ver < b.ver; + }); + if (static_cast(firmware_updates.size()) <= selected_firmware_update_index) selected_firmware_update_index = 0; + + dev_updates_profile::version_info selected_firmware_update; + + if (firmware_updates.size() != 0) + { + bool essential_found(false); + bool recommended_found(false); + + for (auto fw_update : firmware_updates) + { + if (!essential_found) + { + essential_found = essential_found || fw_update.name_for_display.find("ESSENTIAL") != std::string::npos; + essential_fw_update_needed = essential_fw_update_needed || essential_found && (selected_profile.profile.firmware_version < fw_update.ver); + } + + if (!recommended_found) + { + recommended_found = recommended_found || fw_update.name_for_display.find("RECOMMENDED") != std::string::npos; + recommended_fw_update_needed = recommended_fw_update_needed || recommended_found && (selected_profile.profile.firmware_version < fw_update.ver); + } + } + + // If essential update found on DB but not needed - Remove it + if (essential_found && !essential_fw_update_needed) + { + auto it = std::find_if(firmware_updates.begin(), firmware_updates.end(), [&](dev_updates_profile::version_info& u) { + return (u.name_for_display.find("ESSENTIAL") != std::string::npos); + }); + if (it != firmware_updates.end()) + firmware_updates.erase(it); + } + + // If recommended update found on DB but not needed - Remove it + if (recommended_found && !recommended_fw_update_needed) + { + auto it = std::find_if(firmware_updates.begin(), firmware_updates.end(), [&](dev_updates_profile::version_info& u) { + return (u.name_for_display.find("RECOMMENDED") != std::string::npos); + }); + if (it != firmware_updates.end()) + firmware_updates.erase(it); + } + if (essential_fw_update_needed || recommended_fw_update_needed) + { + selected_firmware_update = firmware_updates[selected_firmware_update_index]; + } + + } + + auto left_padding = 10; + auto top_padding = 15; + ImVec2 fw_text_pos(pos.orig_pos.x + left_padding, pos.mid_y + top_padding); + ImGui::SetCursorScreenPos(fw_text_pos); + + ImGui::PushFont(window.get_large_font()); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("FIRMWARE: "); + ImGui::PopStyleColor(); + ImGui::SameLine(); + if (!essential_fw_update_needed || firmware_updates.size() == 0) + { + if (recommended_fw_update_needed) + { + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("Recommended update available!"); + } + else + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::Text("%s", static_cast(textual_icons::check_square_o)); + ImGui::SameLine(); + ImGui::Text("%s", "Up to date."); + } + ImGui::PopStyleColor(); + } + else if (essential_fw_update_needed) + { + ImGui::PushStyleColor(ImGuiCol_Text, yellowish); + ImGui::Text("Essential update is available. Please install!"); + ImGui::PopStyleColor(); + } + + + ImGui::PopFont(); + + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + fw_text_pos.y += 25; + ImGui::SetCursorScreenPos(fw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("%s", "Content:"); ImGui::SameLine(); + ImGui::PopStyleColor(); + ImGui::Text("%s", "Signed Firmware Image (.bin file)"); + + fw_text_pos.y += 25; + ImGui::SetCursorScreenPos(fw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("%s", "Device detected: "); + ImGui::PopStyleColor(); + ImGui::SameLine(); + ImGui::Text("%s", selected_profile.profile.device_name.c_str()); + ImGui::SameLine(); + ImGui::Text(", SN: %s", selected_profile.profile.serial_number.c_str()); + + fw_text_pos.y += 25; + ImGui::SetCursorScreenPos(fw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("%s", "Current FW version:"); + ImGui::SameLine(); + ImGui::PopStyleColor(); + + // During FW update do not take the version from the device because a recovery device version is 0.0.0.0. + // Instead display an update in progress label + std::string current_fw_ver_str; + if (_fw_update_state != fw_update_states::started) + current_fw_ver_str = std::string(selected_profile.profile.firmware_version); + else + current_fw_ver_str = "Update in progress.."; + + ImGui::Text("%s", current_fw_ver_str.c_str()); + + + + if (essential_fw_update_needed) + { + ImGui::SameLine(); + ImGui::PushStyleColor(ImGuiCol_Text, yellowish); + ImGui::Text("%s", " (Your version is older than the minimum version required for the proper functioning of your device)"); + ImGui::PopStyleColor(); + } + + if ( selected_firmware_update.ver ) + { + fw_text_pos.y += 25; + ImGui::SetCursorScreenPos(fw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + + ImGui::Text("%s", (firmware_updates.size() >= 2) ? + "Versions available:" : + "Version to download:"); + ImGui::SameLine(); + ImGui::PopStyleColor(); + // Combo box for multiple versions + if (firmware_updates.size() >= 2) + { + std::vector fwu_labels; + for (auto&& fwu : firmware_updates) + { + fwu_labels.push_back(fwu.name_for_display.c_str()); + } + + ImGui::PushStyleColor(ImGuiCol_BorderShadow, dark_grey); + ImGui::PushStyleColor(ImGuiCol_FrameBg, sensor_bg); + + std::string combo_id = "##Firmware Update Version"; + ImGui::PushItemWidth(200); + ImGui::SetCursorPosY(ImGui::GetCursorPosY() - 3); + ImGui::Combo(combo_id.c_str(), &selected_firmware_update_index, fwu_labels.data(), static_cast(fwu_labels.size())); + ImGui::PopItemWidth(); + ImGui::PopStyleColor(2); + ImGui::SetWindowFontScale(1.); + } + else + { // Single version + ImGui::Text("%s", std::string(selected_firmware_update.ver).c_str()); + } + } + + if (selected_firmware_update.release_page != "") + { + fw_text_pos.y += 25; + ImGui::SetCursorScreenPos(fw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("%s", "Release Link:"); ImGui::SameLine(); + ImGui::PopStyleColor(); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::Text("%s", selected_firmware_update.release_page.c_str()); + + ImGui::SameLine(); + auto underline_start = ImVec2(ImGui::GetCursorScreenPos().x - (ImGui::CalcTextSize(selected_firmware_update.release_page.c_str()).x + 8), ImGui::GetCursorScreenPos().y + ImGui::GetFontSize()); + auto underline_end = ImVec2(ImGui::GetCursorScreenPos().x - 8, ImGui::GetCursorScreenPos().y + ImGui::GetFontSize()); + ImGui::GetWindowDrawList()->AddLine(underline_start, underline_end, ImColor(light_grey)); + + + ImGui::PopStyleColor(); + if (ImGui::IsItemHovered()) + window.link_hovered(); + if (ImGui::IsItemClicked()) + { + try + { + open_url(selected_firmware_update.release_page.c_str()); + } + catch (...) + { + LOG_ERROR("Error opening URL: " + selected_firmware_update.release_page); + } + } + } + + if (selected_firmware_update.description != "") + { + fw_text_pos.y += 25; + ImGui::SetCursorScreenPos(fw_text_pos); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::Text("%s", "Description:"); + ImGui::PopStyleColor(); + + ImGui::PushTextWrapPos(pos.w - 150); + ImGui::PushStyleColor(ImGuiCol_Border, transparent); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue); + auto msg = selected_firmware_update.description.c_str(); + fw_text_pos.x -= 4; + fw_text_pos.y += 15; + ImGui::SetCursorScreenPos(fw_text_pos); + ImGui::InputTextMultiline("##Firmware Update Description", const_cast(msg), + strlen(msg) + 1, ImVec2(ImGui::GetContentRegionAvailWidth() - 150, 75), + ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(7); + ImGui::PopTextWrapPos(); + } + + + if( ( _fw_update_state == fw_update_states::ready || _fw_update_state == fw_update_states::completed ) + && ( essential_fw_update_needed || recommended_fw_update_needed ) ) + { + ImGui::SetCursorScreenPos({ pos.orig_pos.x + pos.w - 150, pos.orig_pos.y + pos.h - 115 }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + + if (ImGui::Button("Download &\n Install", ImVec2(120, 40)) || _retry) + { + _retry = false; + auto link = selected_firmware_update.download_link; + std::thread download_thread([link, this]() { + std::vector vec; + http_downloader client; + + if (!client.download_to_bytes_vector(link, vec, + [this](uint64_t dl_current_bytes, uint64_t dl_total_bytes) -> callback_result { + _fw_download_progress = static_cast((dl_current_bytes * 100) / dl_total_bytes); + return callback_result::CONTINUE_DOWNLOAD; + })) + { + _fw_update_state = fw_update_states::failed_downloading; + LOG_ERROR("Error in download firmware version from: " + link); + } + + _fw_image = vec; + + _fw_download_progress = 100; + }); + download_thread.detach(); + + _fw_update_state = fw_update_states::downloading; + _progress.last_progress_time = std::chrono::system_clock::now(); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("This will download selected firmware and install it to the device"); + window.link_hovered(); + } + ImGui::PopStyleColor(2); + } + else if (_fw_update_state == fw_update_states::downloading) + { + ImGui::SetCursorScreenPos({ pos.orig_pos.x + left_padding, pos.orig_pos.y + pos.h - 95 }); + _progress.draw(window, static_cast(pos.w) - 170 - left_padding, _fw_download_progress / 3); + if (_fw_download_progress == 100 && !_fw_image.empty()) + { + _fw_download_progress = 0; + _fw_update_state = fw_update_states::started; + + _update_manager = std::make_shared(not_model, + *selected_profile.dev_model, selected_profile.profile.dev, selected_profile.ctx, _fw_image, true + ); + auto invoke = [](std::function action) { action(); }; + _update_manager->start(invoke); + } + } + else if (_fw_update_state == fw_update_states::started) + { + ImGui::SetCursorScreenPos({ pos.orig_pos.x + left_padding, pos.orig_pos.y + pos.h - 95 }); + _progress.draw(window, static_cast(pos.w) - 170 - left_padding, static_cast(_update_manager->get_progress() * 0.66 + 33)); + if (_update_manager->done()) { + _fw_update_state = fw_update_states::completed; + _fw_image.clear(); + } + + if (_update_manager->failed()) { + _fw_update_state = fw_update_states::failed_updating; + _fw_image.clear(); + _fw_download_progress = 0; + } + // Verify an error window will not pop up. ImGui cannot handle 2 PopUpModals in parallel. + if (!error_message.empty()) + { + LOG_ERROR("error caught during update process, details: " + error_message); + error_message.clear(); + } + + } + else if (_fw_update_state == fw_update_states::failed_downloading || + _fw_update_state == fw_update_states::failed_updating) + { + ImGui::SetCursorScreenPos({ pos.orig_pos.x + left_padding, pos.orig_pos.y + pos.h - 95 }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + std::string text = _fw_update_state == fw_update_states::failed_downloading ? + "Firmware download failed, check connection and press to retry" : + "Firmware update process failed, press to retry"; + if (ImGui::Button(text.c_str(), ImVec2(pos.w - 170 - left_padding, 25))) + { + _fw_update_state = fw_update_states::ready; + _update_manager.reset(); + _fw_image.clear(); + _retry = true; + } + ImGui::PopStyleColor(); + _fw_download_progress = 0; + } + else if (_fw_update_state == fw_update_states::completed) + { + _fw_update_state = fw_update_states::ready; + _update_manager.reset(); + _fw_image.clear(); + _fw_download_progress = 0; + } + + ImGui::PopStyleColor(); + + return essential_fw_update_needed; +} + diff --git a/librealsense/common/updates-model.h b/librealsense/common/updates-model.h new file mode 100644 index 0000000..ad1eb1f --- /dev/null +++ b/librealsense/common/updates-model.h @@ -0,0 +1,137 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#pragma once + +#include "sw-update/dev-updates-profile.h" +#include "notifications.h" +#include "fw-update-helper.h" + +#include +#include +#include +#include +#include + +namespace rs2 +{ + class ux_window; + + class updates_model + { + public: + struct update_profile_model + { + sw_update::dev_updates_profile::update_profile profile; + context ctx; + device_model* dev_model; + update_profile_model(sw_update::dev_updates_profile::update_profile p, + context contex, device_model* device_model) : profile(p), ctx(contex), dev_model(device_model) {}; + }; + void add_profile(const update_profile_model& update) + { + std::lock_guard lock(_lock); + auto it = std::find_if(_updates.begin(), _updates.end(), [&](update_profile_model& p) { + return (p.profile.fw_update_id == update.profile.fw_update_id); + }); + if (it == _updates.end()) + _updates.push_back(update); + else + { + *it = update; + } + } + + void update_profile(const update_profile_model& update) + { + std::lock_guard lock(_lock); + auto it = std::find_if(_updates.begin(), _updates.end(), [&](update_profile_model& p) { + return (p.profile.fw_update_id == update.profile.fw_update_id); + }); + if (it != _updates.end()) + { + *it = update; + } + } + void remove_profile(const sw_update::dev_updates_profile::update_profile &update) + { + std::lock_guard lock(_lock); + auto it = std::find_if(_updates.begin(), _updates.end(), [&](update_profile_model& p) { + return (p.profile.fw_update_id == update.fw_update_id); + }); + if (it != _updates.end()) + _updates.erase(it); + } + + // This is a helper function to indicate if a device is connected or not. + // It change its value on device connect/disconnect + // cause calling ctx.query_devices() is too slow for the UI + void set_device_status(const sw_update::dev_updates_profile::update_profile &update, bool active) + { + std::lock_guard lock(_lock); + auto it = std::find_if(_updates.begin(), _updates.end(), [&](update_profile_model& p) { + return (p.profile.fw_update_id == update.fw_update_id); + }); + if (it != _updates.end()) + it->profile.dev_active = active; + } + + bool has_updates() const + { + std::lock_guard lock(_lock); + return !_updates.empty(); + } + + void draw(std::shared_ptr not_model, ux_window& window, std::string& error_message); + private: + struct position_params + { + float w; + float h; + ImVec2 orig_pos; + float mid_y; + float x0; + float y0; + position_params() :w(0.0f), h(0.0f), orig_pos(), x0(0.0f), y0(0.0f) {} + }; + + bool draw_software_section(const char * window_name, update_profile_model& selected_profile, position_params& pos_params , ux_window& window, std::string& error_message); + bool draw_firmware_section(std::shared_ptr not_model, const char * window_name, update_profile_model& selected_profile, position_params& pos_params, ux_window& window, std::string& error_message); + + + int selected_index = 0; + int selected_software_update_index = 0; + int selected_firmware_update_index = 0; + bool ignore = false; + std::vector _updates; + mutable std::mutex _lock; + bool emphasize_dismiss_text = false; + + std::shared_ptr _fw_update = nullptr; + + enum class fw_update_states + { + ready = 0, + downloading = 1, + started = 2, + completed = 3, + failed_downloading = 4, + failed_updating = 5 + }; + + enum class fw_update_fail_reason + { + none = 0, + downloading_error = 1, + updating_error = 2 + }; + + fw_update_states _fw_update_state = fw_update_states::ready; + + progress_bar _progress; + std::atomic _fw_download_progress{ 0 }; + bool _retry = false; + std::shared_ptr _update_manager = nullptr; + std::vector _fw_image; + }; +} diff --git a/librealsense/common/utilities/imgui/wrap.cpp b/librealsense/common/utilities/imgui/wrap.cpp new file mode 100644 index 0000000..fc8adc0 --- /dev/null +++ b/librealsense/common/utilities/imgui/wrap.cpp @@ -0,0 +1,122 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#include +#include +#include +#include "wrap.h" +#include +#include + +namespace utilities { +namespace imgui { + +void trim_leading_spaces( std::string &remaining_paragraph ) +{ + auto non_space_index = remaining_paragraph.find_first_not_of( ' ' ); + + if( non_space_index != std::string::npos ) + { + // Remove trailing spaces + remaining_paragraph = remaining_paragraph.substr( non_space_index ); + } +} + +std::string wrap_paragraph( const std::string & paragraph, int wrap_pixels_width ) +{ + float space_width = ImGui::CalcTextSize( " " ).x; // Calculate space width in pixels + std::string wrapped_line; // The line that is wrapped in this iteration + std::string wrapped_paragraph; // The output wrapped paragraph + auto remaining_paragraph + = paragraph; // Holds the remaining unwrapped part of the input paragraph + + // Handle a case when the paragraph starts with spaces + trim_leading_spaces(remaining_paragraph); + + auto next_word = remaining_paragraph.substr( + 0, + remaining_paragraph.find( ' ' ) ); // The next word to add to the current line + bool first_word = true; + + while( ! next_word.empty() ) + { + float next_x = 0.0f; + // If this is the first word we try to place it first in line, + // if not we concatenate it to the last word after adding a space + if( ! first_word ) + { + next_x = ImGui::CalcTextSize( wrapped_line.c_str() ).x + space_width; + } + + if( next_x + ImGui::CalcTextSize( next_word.c_str() ).x <= wrap_pixels_width ) + { + if( ! first_word ) + wrapped_line += " "; // First word should not start with " " + wrapped_line += next_word; + } + else + { // Current line cannot feat new word so we wrap the line and + // start building the new line + + wrapped_paragraph += wrapped_line; // copy line build by now + if( ! first_word ) + wrapped_paragraph += '\n'; // break the previous line if exist + wrapped_line = next_word; // add next work to new line + } + + first_word = false; + + // If we have more characters left other then the current word, prepare inputs for next + // iteration, If not add the current line built so far to the output and finish current + // line wrap. + if( remaining_paragraph.size() > next_word.size() ) + { + remaining_paragraph = remaining_paragraph.substr( next_word.size() + 1 ); + + // Handle a case when the paragraph starts with spaces + trim_leading_spaces(remaining_paragraph); + + next_word = remaining_paragraph.substr( 0, remaining_paragraph.find( ' ' ) ); + + // If no more words exist, copy the current wrapped line to output and stop + if( next_word.empty() ) + { + wrapped_paragraph += wrapped_line; + break; + } + } + else + { + wrapped_paragraph += wrapped_line; + break; + } + } + + return wrapped_paragraph; +} + +std::string wrap( const std::string & text, int wrap_pixels_width ) +{ + // Do not wrap if the wrap is smaller then 32 pixels (~2 characters on font 16) + if( wrap_pixels_width < 32 ) + return text; + + // Split text into paragraphs + auto paragraphs_vector = rsutils::string::split( text, '\n' ); + + std::string wrapped_text; + size_t line_number = 1; + // Wrap each line according to the requested wrap width + for( auto paragraph : paragraphs_vector ) + { + wrapped_text += wrap_paragraph( paragraph, wrap_pixels_width ); + // Each paragraph except the last one ends with a new line + if( line_number++ != paragraphs_vector.size() ) + wrapped_text += '\n'; + } + + return wrapped_text; +} + +} // namespace imgui +} // namespace utilities diff --git a/librealsense/common/utilities/imgui/wrap.h b/librealsense/common/utilities/imgui/wrap.h new file mode 100644 index 0000000..4afd43b --- /dev/null +++ b/librealsense/common/utilities/imgui/wrap.h @@ -0,0 +1,23 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2020 Intel Corporation. All Rights Reserved. + +#pragma once + +namespace utilities { +namespace imgui { + +// Wrap text according to input width +// - Input: - text as a string +// - wrapping width +// - Output: - on success - wrapped text +// - on failure - an empty string +// Example: +// Input: +// this is the first line\nthis is the second line\nthis is the last line , wrap_width = 150 [pixels] +// Output: +// this is the\nfirst line\nthis is the\nsecond line\nthis is the last\nline +// Note: If the paragraph contain multiple spaces, it will be trimmed into a single space. +std::string wrap( const std::string & text, int wrap_pixels_width ); + +} // namespace imgui +} // namespace utilities diff --git a/librealsense/common/ux-alignment.cpp b/librealsense/common/ux-alignment.cpp new file mode 100644 index 0000000..f0b6c55 --- /dev/null +++ b/librealsense/common/ux-alignment.cpp @@ -0,0 +1,117 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#include "ux-alignment.h" +#include +#include +#include +#include + +#ifdef _WIN32 +#undef APIENTRY +#define GLFW_EXPOSE_NATIVE_WIN32 +#define GLFW_EXPOSE_NATIVE_WGL +#include + +#include +#endif + +#define MAGIC 250 + +bool is_gui_aligned(GLFWwindow *win) +{ +#ifdef _WIN32 + try + { + auto hwn = glfwGetWin32Window(win); + if (hwn == nullptr) + return true; + + auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | + ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar | + ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_NoBringToFrontOnFocus; + + ImGui::SetNextWindowPos({ 0, 0 }); + + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0, 0)); + ImGui::Begin("is_gui_aligned", nullptr, flags); + + auto DrawList = ImGui::GetWindowDrawList(); + if (DrawList == nullptr) + return true; + + DrawList->AddRectFilled({ 0,0 }, { 1,1 }, ImColor(MAGIC / 255.f, 0.f, 0.f, 1.f)); + + ImGui::End(); + ImGui::PopStyleVar(); + + ImGui::Render(); + + glfwSwapBuffers(win); + + ImGui_ImplGlfw_NewFrame(1.f); + + SetFocus(hwn); + + int width = 1; + int height = 1; + + HDC hdc = GetDC(hwn); + if (hdc == nullptr) + return true; + + std::shared_ptr shared_hdc(&hdc, [&](HDC* hdc) {ReleaseDC(hwn, *hdc); DeleteDC(*hdc);}); + + HDC hCaptureDC = CreateCompatibleDC(hdc); + if (hCaptureDC == nullptr) + return true; + + std::shared_ptr shared_capture_hdc(&hCaptureDC, [&](HDC* hdc) {ReleaseDC(hwn, *hdc); DeleteDC(*hdc);}); + + HBITMAP hCaptureBitmap = CreateCompatibleBitmap(hdc, width, height); + if (hCaptureBitmap == nullptr) + return true; + + std::shared_ptr shared_bmp(&hCaptureBitmap, [&](HBITMAP* bmp) {DeleteObject(bmp);}); + + auto original = SelectObject(hCaptureDC, hCaptureBitmap); + if (original == nullptr) + return true; + + if (!BitBlt(hCaptureDC, 0, 0, width, height, hdc, 0, 0, SRCCOPY | CAPTUREBLT)) + return true; + + BITMAPINFO bmi = { 0 }; + bmi.bmiHeader.biSize = sizeof(bmi.bmiHeader); + bmi.bmiHeader.biWidth = width; + bmi.bmiHeader.biHeight = height; + bmi.bmiHeader.biPlanes = 1; + bmi.bmiHeader.biBitCount = 32; + bmi.bmiHeader.biCompression = BI_RGB; + + std::vector pPixels(width * height); + + auto res = GetDIBits( + hCaptureDC, + hCaptureBitmap, + 0, + height, + pPixels.data(), + &bmi, + DIB_RGB_COLORS + ); + + if (res <= 0 || res == ERROR_INVALID_PARAMETER) + return true; + + auto ret = pPixels[0].rgbRed == MAGIC; + return ret; + } + catch (...) + { + return true; + } +#else + return true; +#endif +} \ No newline at end of file diff --git a/librealsense/common/ux-alignment.h b/librealsense/common/ux-alignment.h new file mode 100644 index 0000000..e83ca33 --- /dev/null +++ b/librealsense/common/ux-alignment.h @@ -0,0 +1,16 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#pragma once + +#define GLFW_INCLUDE_GLU +#include + +//This function checks whether there is UI misalignment, +//sometimes caused by outdated graphics card drivers, +//it puts a red pixel (1x1 rect) on the top left corner of the window, +//take a snapshot and check the value of the top left corner pixel +//if its red - there is no misalignment +//otherwise - there is misalignment + +bool is_gui_aligned(GLFWwindow *win); diff --git a/librealsense/common/ux-window.cpp b/librealsense/common/ux-window.cpp new file mode 100644 index 0000000..dc5767f --- /dev/null +++ b/librealsense/common/ux-window.cpp @@ -0,0 +1,798 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#ifndef NOMINMAX +#define NOMINMAX +#endif +#include +#include +#include "ux-window.h" + +#include +#include + +#include "device-model.h" + +#include +#include "os.h" + +// We use STB image to load the splash-screen from memory +#define STB_IMAGE_IMPLEMENTATION +#include +// int-rs-splash.hpp contains the PNG image from res/int-rs-splash.png +#include "res/int-rs-splash.hpp" +#include "res/icon.h" + +#include "ux-alignment.h" + +#include + +#include + +void glfw_error_callback(int error, const char* description) +{ + std::cerr << "GLFW Driver Error: " << description << "\n"; +} + +namespace rs2 +{ + void GLAPIENTRY MessageCallback(GLenum source, + GLenum type, + GLuint id, + GLenum severity, + GLsizei length, + const GLchar* message, + const void* userParam) + { + if (type == GL_DEBUG_TYPE_ERROR) + { + fprintf(stderr, "GL CALLBACK: ** GL ERROR ** type = 0x%x, severity = 0x%x, message = %s\n", + type, severity, message); + } + } + + void prepare_config_file() + { + config_file::instance().set_default(configurations::update::allow_rc_firmware, false); + config_file::instance().set_default(configurations::update::recommend_calibration, true); + config_file::instance().set_default(configurations::update::recommend_updates, true); + config_file::instance().set_default(configurations::update::sw_updates_url, server_versions_db_url); + config_file::instance().set_default(configurations::update::sw_updates_official_server, true); + + config_file::instance().set_default(configurations::window::is_fullscreen, false); + config_file::instance().set_default(configurations::window::saved_pos, false); + config_file::instance().set_default(configurations::window::saved_size, false); + config_file::instance().set_default(configurations::window::font_size, 16); + + config_file::instance().set_default(configurations::viewer::is_measuring, false); + config_file::instance().set_default(configurations::viewer::log_to_console, true); + config_file::instance().set_default(configurations::viewer::log_to_file, false); + config_file::instance().set_default(configurations::viewer::log_severity, 2); + config_file::instance().set_default(configurations::viewer::metric_system, true); + config_file::instance().set_default(configurations::viewer::ground_truth_r, 2500); + config_file::instance().set_default(configurations::viewer::dashboard_open, true); + + config_file::instance().set_default(configurations::record::compression_mode, 2); // Let the device decide + config_file::instance().set_default(configurations::record::file_save_mode, 0); // Auto-select name + + config_file::instance().set_default(configurations::performance::show_fps, false); + config_file::instance().set_default(configurations::performance::vsync, true); + config_file::instance().set_default(configurations::performance::occlusion_invalidation, true); + + config_file::instance().set_default(configurations::ply::mesh, true); + config_file::instance().set_default(configurations::ply::use_normals, false); + config_file::instance().set_default(configurations::ply::encoding, configurations::ply::binary); + + config_file::instance().set_default(configurations::viewer::commands_xml, "./Commands.xml"); + config_file::instance().set_default(configurations::viewer::hwlogger_xml, "./HWLoggerEvents.xml"); + + std::string path; + try + { + path = rsutils::os::get_special_folder( rsutils::os::special_folder::user_documents ); + } + catch (const std::exception&) + { + std::string msg = "Failed to get Documents folder"; + rs2::log(RS2_LOG_SEVERITY_INFO, msg.c_str()); + path = ""; + } + config_file::instance().set_default(configurations::viewer::log_filename, path + "librealsense.log"); + config_file::instance().set_default(configurations::record::default_path, path); + +#ifdef __APPLE__ + + config_file::instance().set_default(configurations::performance::font_oversample, 2); + config_file::instance().set_default(configurations::performance::enable_msaa, true); + config_file::instance().set_default(configurations::performance::msaa_samples, 4); + // On Mac-OS, mixing OpenGL 2 with OpenGL 3 is not supported by the driver + // while this can be worked-around, this will take more development time, + // so for now Macs should not use the GLSL stuff + config_file::instance().set_default(configurations::performance::glsl_for_processing, false); + config_file::instance().set_default(configurations::performance::glsl_for_rendering, false); +#else + auto vendor = (const char*)glGetString(GL_VENDOR); + auto renderer = (const char*)glGetString(GL_RENDERER); + auto version = (const char*)glGetString(GL_VERSION); + auto glsl = (const char*)glGetString(GL_SHADING_LANGUAGE_VERSION); + + bool use_glsl = false; + + // Absolutely arbitrary list of manufacturers that are likely to benefit from GLSL optimisation + if (starts_with(rsutils::string::to_lower(vendor), "intel") || + starts_with(rsutils::string::to_lower(vendor), "ati") || + starts_with(rsutils::string::to_lower(vendor), "nvidia")) + { + use_glsl = true; + } + + // Double-check that GLSL 1.3+ is supported + if (starts_with(rsutils::string::to_lower(vendor), "1.1") || starts_with(rsutils::string::to_lower(vendor), "1.2")) + { + use_glsl = false; + } + + if (use_glsl) + { + config_file::instance().set_default(configurations::performance::show_skybox, true); + config_file::instance().set_default(configurations::performance::font_oversample, 2); + config_file::instance().set_default(configurations::performance::enable_msaa, false); + config_file::instance().set_default(configurations::performance::msaa_samples, 2); + config_file::instance().set_default(configurations::performance::glsl_for_processing, true); + config_file::instance().set_default(configurations::performance::glsl_for_rendering, true); + config_file::instance().set_default(configurations::viewer::shading_mode, 2); + } + else + { + config_file::instance().set_default(configurations::performance::show_skybox, false); + config_file::instance().set_default(configurations::performance::font_oversample, 1); + config_file::instance().set_default(configurations::performance::enable_msaa, false); + config_file::instance().set_default(configurations::performance::msaa_samples, 2); + config_file::instance().set_default(configurations::performance::glsl_for_processing, false); + config_file::instance().set_default(configurations::performance::glsl_for_rendering, false); + config_file::instance().set_default(configurations::viewer::shading_mode, 0); + } +#endif + } + + void ux_window::reload() + { + _reload = true; + } + + void ux_window::refresh() + { + if (_use_glsl_proc) rs2::gl::shutdown_processing(); + rs2::gl::shutdown_rendering(); + + _use_glsl_render = config_file::instance().get(configurations::performance::glsl_for_rendering); + _use_glsl_proc = config_file::instance().get(configurations::performance::glsl_for_processing); + + rs2::gl::init_rendering(_use_glsl_render); + if (_use_glsl_proc) rs2::gl::init_processing(_win, _use_glsl_proc); + } + + void ux_window::link_hovered() + { + _link_hovered = true; + } + + void ux_window::cross_hovered() + { + _cross_hovered = true; + } + + void ux_window::setup_icon() + { + GLFWimage icon[4]; + + int x, y, comp; + + auto icon_16 = stbi_load_from_memory(icon_16_png_data, (int)icon_16_png_size, &x, &y, &comp, false); + icon[0].width = x; icon[0].height = y; + icon[0].pixels = icon_16; + + auto icon_24 = stbi_load_from_memory(icon_24_png_data, (int)icon_24_png_size, &x, &y, &comp, false); + icon[1].width = x; icon[1].height = y; + icon[1].pixels = icon_24; + + auto icon_64 = stbi_load_from_memory(icon_64_png_data, (int)icon_64_png_size, &x, &y, &comp, false); + icon[2].width = x; icon[2].height = y; + icon[2].pixels = icon_64; + + auto icon_256 = stbi_load_from_memory(icon_256_png_data, (int)icon_256_png_size, &x, &y, &comp, false); + icon[3].width = x; icon[3].height = y; + icon[3].pixels = icon_256; + + glfwSetWindowIcon(_win, 4, icon); + + stbi_image_free(icon_16); + stbi_image_free(icon_24); + stbi_image_free(icon_64); + stbi_image_free(icon_256); + } + + + void ux_window::open_window() + { + if (_win) + { + rs2::gl::shutdown_rendering(); + if (_use_glsl_proc) rs2::gl::shutdown_processing(); + + ImGui::GetIO().Fonts->ClearFonts(); // To be refactored into Viewer theme object + ImGui_ImplGlfw_Shutdown(); + glfwDestroyWindow(_win); + glfwDestroyCursor(_hand_cursor); + glfwDestroyCursor(_cross_cursor); + glfwTerminate(); + } + + if (!glfwInit()) + exit(1); + + glfwSetErrorCallback(glfw_error_callback); + + _hand_cursor = glfwCreateStandardCursor(GLFW_HAND_CURSOR); + _cross_cursor = glfwCreateStandardCursor(GLFW_CROSSHAIR_CURSOR); + + { + glfwWindowHint(GLFW_VISIBLE, 0); + auto ctx = glfwCreateWindow(640, 480, "Offscreen Context", nullptr, nullptr); + if (!ctx) throw std::runtime_error("Could not initialize offscreen context!"); + glfwMakeContextCurrent(ctx); + + gladLoadGLLoader((GLADloadproc)glfwGetProcAddress); + + // OpenGL 2.1 backward-compatibility fixes. + // On macOS, the compatibility profile is OpenGL 2.1 + extensions. + if (!GLAD_GL_VERSION_3_0 && !GLAD_GL_ARB_vertex_array_object) { + if (GLAD_GL_APPLE_vertex_array_object) { + glBindVertexArray = glBindVertexArrayAPPLE; + glDeleteVertexArrays = glDeleteVertexArraysAPPLE; + glGenVertexArrays = glGenVertexArraysAPPLE; + glIsVertexArray = glIsVertexArrayAPPLE; + } else { + throw std::runtime_error("OpenGL 3.0 or ARB_vertex_array_object extension required!"); + } + } + + prepare_config_file(); + + glfwDestroyWindow(ctx); + } + + _use_glsl_render = config_file::instance().get(configurations::performance::glsl_for_rendering); + _use_glsl_proc = config_file::instance().get(configurations::performance::glsl_for_processing); + + _enable_msaa = config_file::instance().get(configurations::performance::enable_msaa); + _msaa_samples = config_file::instance().get(configurations::performance::msaa_samples); + + _fullscreen = config_file::instance().get(configurations::window::is_fullscreen); + + rs2_error* e = nullptr; + _title_str = rsutils::string::from() << _title << " v" << api_version_to_string(rs2_get_api_version(&e)); + auto debug = is_debug(); + if (debug) + { + _title_str = _title_str + ", DEBUG"; + } + + _width = 1024; + _height = 768; + + // Dynamically adjust new window size (by detecting monitor resolution) + auto primary = glfwGetPrimaryMonitor(); + if (primary) + { + const auto mode = glfwGetVideoMode(primary); + if (_fullscreen) + { + _width = mode->width; + _height = mode->height; + } + else + { + _width = int(mode->width * 0.7f); + _height = int(mode->height * 0.7f); + } + } + + if (_enable_msaa) + glfwWindowHint(GLFW_SAMPLES, _msaa_samples); + + glfwWindowHint(GLFW_VISIBLE, 0); + + // Create GUI Windows + _win = glfwCreateWindow(_width, _height, _title_str.c_str(), + (_fullscreen ? primary : nullptr), nullptr); + if (!_win) + throw std::runtime_error("Could not open OpenGL window, please check your graphic drivers or use the textual SDK tools"); + + if (config_file::instance().get(configurations::window::saved_pos)) + { + int x = config_file::instance().get(configurations::window::position_x); + int y = config_file::instance().get(configurations::window::position_y); + + int count; + GLFWmonitor** monitors = glfwGetMonitors(&count); + if (count > 0) + { + bool legal_position = false; + for (int i = 0; i < count; i++) + { + auto rect = get_monitor_rect(monitors[i]); + if (rect.contains({ (float)x, (float)y })) + { + legal_position = true; + } + } + if (legal_position) glfwSetWindowPos(_win, x, y); + } + } + + if (config_file::instance().get(configurations::window::saved_size)) + { + int w = config_file::instance().get(configurations::window::width); + int h = config_file::instance().get(configurations::window::height); + glfwSetWindowSize(_win, w, h); + + if (config_file::instance().get(configurations::window::maximized)) + glfwMaximizeWindow(_win); + } + + glfwMakeContextCurrent(_win); + gladLoadGLLoader((GLADloadproc)glfwGetProcAddress); + + if (glDebugMessageCallback) + { + // During init, enable debug output + glEnable(GL_DEBUG_OUTPUT); + glDebugMessageCallback(MessageCallback, 0); + } + + glfwSetWindowPosCallback(_win, [](GLFWwindow* w, int x, int y) + { + config_file::instance().set(configurations::window::saved_pos, true); + config_file::instance().set(configurations::window::position_x, x); + config_file::instance().set(configurations::window::position_y, y); + }); + + glfwSetWindowSizeCallback( _win, []( GLFWwindow * window, int width, int height ) { + if( width > 0 && height > 0 ) + { + config_file::instance().set( configurations::window::saved_size, true ); + config_file::instance().set( configurations::window::width, width ); + config_file::instance().set( configurations::window::height, height ); + config_file::instance().set( configurations::window::maximized, + glfwGetWindowAttrib( window, GLFW_MAXIMIZED ) ); + } + } ); + + setup_icon(); + + ImGui_ImplGlfw_Init(_win, true); + + if (_use_glsl_render) + _2d_vis = std::make_shared(std::make_shared()); + + // Load fonts to be used with the ImGui - TODO move to RAII + imgui_easy_theming(_font_dynamic, _font_18, _monofont, font_size); + + // Register for UI-controller events + glfwSetWindowUserPointer(_win, this); + + + glfwSetCursorPosCallback(_win, [](GLFWwindow* w, double cx, double cy) + { + auto data = reinterpret_cast(glfwGetWindowUserPointer(w)); + data->_mouse.cursor = { (float)cx / data->_scale_factor, + (float)cy / data->_scale_factor }; + }); + glfwSetMouseButtonCallback(_win, [](GLFWwindow* w, int button, int action, int mods) + { + auto data = reinterpret_cast(glfwGetWindowUserPointer(w)); + data->_mouse.mouse_down[0] = (button == GLFW_MOUSE_BUTTON_1) && (action != GLFW_RELEASE); + data->_mouse.mouse_down[1] = (button == GLFW_MOUSE_BUTTON_2) && (action != GLFW_RELEASE); + }); + glfwSetScrollCallback(_win, [](GLFWwindow * w, double xoffset, double yoffset) + { + auto data = reinterpret_cast(glfwGetWindowUserPointer(w)); + data->_mouse.mouse_wheel = static_cast(yoffset); + data->_mouse.ui_wheel += static_cast(yoffset); + }); + + glfwSetDropCallback(_win, [](GLFWwindow* w, int count, const char** paths) + { + auto data = reinterpret_cast(glfwGetWindowUserPointer(w)); + + if (count <= 0) return; + + for (int i = 0; i < count; i++) + { + data->on_file_drop(paths[i]); + } + }); + + rs2::gl::init_rendering(_use_glsl_render); + if (_use_glsl_proc) rs2::gl::init_processing(_win, _use_glsl_proc); + + glfwShowWindow(_win); + glfwFocusWindow(_win); + + _show_fps = config_file::instance().get(configurations::performance::show_fps); + _vsync = config_file::instance().get(configurations::performance::vsync); + + // Prepare the splash screen and do some initialization in the background + int x, y, comp; + auto r = stbi_load_from_memory(splash, (int)splash_size, &x, &y, &comp, false); + _splash_tex.upload_image(x, y, r); + stbi_image_free(r); + } + + ux_window::ux_window(const char* title, context &ctx) : + _win(nullptr), _width(0), _height(0), _output_height(0), + _font_dynamic(nullptr), _font_18(nullptr), _monofont(nullptr), font_size(16), _app_ready(false), + _first_frame(true), _query_devices(true), _missing_device(false), + _hourglass_index(0), _dev_stat_message{}, _keep_alive(true), _title(title), _ctx(ctx) + { + open_window(); + + // Apply initial UI state + reset(); + } + + void ux_window::add_on_load_message(const std::string& msg) + { + std::lock_guard lock(_on_load_message_mtx); + _on_load_message.push_back(msg); + } + + void ux_window::imgui_config_pop() + { + ImGui::PopFont(); + ImGui::End(); + + ImGui::PopStyleColor(3); + ImGui::PopStyleVar(2); + end_frame(); + + glPopMatrix(); + } + + void ux_window::imgui_config_push() + { + glPushMatrix(); + glViewport(0, 0, _fb_width, _fb_height); + glClearColor(0.036f, 0.044f, 0.051f, 1.f); + glClear(GL_COLOR_BUFFER_BIT); + + glLoadIdentity(); + glOrtho(0, _width, _height, 0, -1, +1); + + // Fade-in the logo + auto opacity = smoothstep(float(_splash_timer.get_elapsed_ms()), 100.f, 2500.f); + auto ox = 0.7f - smoothstep(float(_splash_timer.get_elapsed_ms()), 200.f, 1900.f) * 0.4f; + auto oy = 0.5f; + auto power = std::sin(smoothstep(float(_splash_timer.get_elapsed_ms()), 150.f, 2200.f) * 3.14f) * 0.96f; + + if (_use_glsl_render) + { + auto shader = ((splash_screen_shader*)&_2d_vis->get_shader()); + shader->begin(); + shader->set_power(power); + shader->set_ray_center(float2{ ox, oy }); + shader->end(); + _2d_vis->draw_texture(_splash_tex.get_gl_handle(), opacity); + } + else + { + _splash_tex.show({ 0.f,0.f,float(_width),float(_height) }, opacity); + } + + std::string hourglass = u8"\uf251"; + static rsutils::time::periodic_timer every_200ms(std::chrono::milliseconds(200)); + bool do_200ms = every_200ms; + if (_query_devices && do_200ms) + { + _missing_device = _ctx.query_devices(RS2_PRODUCT_LINE_ANY_INTEL).size() == 0; + _hourglass_index = (_hourglass_index + 1) % 4; + + if (!_missing_device) + { + _dev_stat_message = u8"\uf287 RealSense device detected."; + _query_devices = false; + } + } + + hourglass[2] += _hourglass_index; + + auto flags = ImGuiWindowFlags_NoResize | + ImGuiWindowFlags_NoMove | + ImGuiWindowFlags_NoCollapse | + ImGuiWindowFlags_NoTitleBar; + + auto text_color = light_grey; + text_color.w = opacity; + ImGui::PushStyleColor(ImGuiCol_Text, text_color); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, { 5, 5 }); + ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1); + ImGui::PushStyleColor(ImGuiCol_WindowBg, transparent); + ImGui::SetNextWindowPos({ (float)_width / 2 - 150, (float)_height / 2 + 70 }); + + ImGui::SetNextWindowSize({ (float)_width, (float)_height }); + ImGui::Begin("Splash Screen Banner", nullptr, flags); + ImGui::PushFont(_font_18); + + ImGui::Text("%s Loading %s...", hourglass.c_str(), _title_str.c_str()); + } + + // Check that the graphic subsystem is valid and start a new frame + ux_window::operator bool() + { + end_frame(); + + if (_show_fps) + { + std::stringstream temp_title; + temp_title << _title_str; + + auto fps = ImGui::GetIO().Framerate; + + temp_title << ", FPS: " << fps; + glfwSetWindowTitle(_win, temp_title.str().c_str()); + } + + // Yield the CPU + if (!_vsync) + { + std::this_thread::yield(); + glfwSwapInterval(0); + } + else + { + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + auto res = !glfwWindowShouldClose(_win); + + + if (_first_frame) + { + assert(!_first_load.joinable()); // You must call to reset() before initiate new thread + + + _first_load = std::thread([&]() { + while (_keep_alive && !_app_ready) + { + try + { + _app_ready = on_load(); + } + catch (...) + { + std::this_thread::sleep_for(std::chrono::seconds(1)); // Wait for connect event and retry + } + } + }); + } + + // If we are just getting started, render the Splash Screen instead of normal UI + while (res && (!_app_ready || _splash_timer.get_elapsed_ms() < 2000.f)) + { + res = !glfwWindowShouldClose(_win); + glfwPollEvents(); + + begin_frame(); + + if (_first_frame) + { + _is_ui_aligned = is_gui_aligned(_win); + _first_frame = false; + } + + imgui_config_push(); + + { + std::lock_guard lock(_on_load_message_mtx); + if (_on_load_message.empty()) + { + ImGui::Text("%s", _dev_stat_message.c_str()); + } + else if (!_on_load_message.empty()) + { + ImGui::Text("%s", _dev_stat_message.c_str()); + for (auto& msg : _on_load_message) + { + auto is_last_msg = (msg == _on_load_message.back()); + if (is_last_msg) + ImGui::Text("%s", msg.c_str()); + else if (!is_last_msg) + ImGui::Text("%s", msg.c_str()); + } + } + } + + imgui_config_pop(); + + + // Yield the CPU + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // reset graphic pipe + begin_frame(); + + if (_link_hovered) + glfwSetCursor(_win, _hand_cursor); + else if (_cross_hovered) + glfwSetCursor(_win, _cross_cursor); + else + glfwSetCursor(_win, nullptr); + _cross_hovered = false; + _link_hovered = false; + _hovers_any_input_window = false; + + return res; + } + + ux_window::~ux_window() + { + if (_first_load.joinable()) + { + _keep_alive = false; + _first_load.join(); + } + + end_frame(); + + try + { + rs2::gl::shutdown_rendering(); + if (_use_glsl_proc) rs2::gl::shutdown_processing(); + } + catch( ... ) + { + } + + ImGui::GetIO().Fonts->ClearFonts(); // To be refactored into Viewer theme object + ImGui_ImplGlfw_Shutdown(); + glfwDestroyWindow(_win); + + glfwDestroyCursor(_hand_cursor); + glfwDestroyCursor(_cross_cursor); + + glfwTerminate(); + } + + void ux_window::begin_frame() + { + glfwPollEvents(); + + int state = glfwGetKey(_win, GLFW_KEY_F8); + if (state == GLFW_PRESS) + { + _fullscreen_pressed = true; + } + else + { + if (_fullscreen_pressed) + { + _fullscreen = !_fullscreen; + config_file::instance().set(configurations::window::is_fullscreen, _fullscreen); + open_window(); + } + _fullscreen_pressed = false; + } + + if (_reload) + { + open_window(); + _reload = false; + on_reload_complete(); + } + + int w = _width; int h = _height; + + glfwGetWindowSize(_win, &_width, &_height); + + // Set minimum size 1 + if (_width <= 0) _width = 1; + if (_height <= 0) _height = 1; + + int fw = _fb_width; + int fh = _fb_height; + + glfwGetFramebufferSize(_win, &_fb_width, &_fb_height); + + // Set minimum size 1 + if (_fb_width <= 0) _fb_width = 1; + if (_fb_height <= 0) _fb_height = 1; + + if (fw != _fb_width || fh != _fb_height) + { + std::string msg = rsutils::string::from() << "Framebuffer size changed to " << _fb_width << " x " << _fb_height; + rs2::log(RS2_LOG_SEVERITY_INFO, msg.c_str()); + } + + auto sf = _scale_factor; + + // Update the scale factor each frame + // based on resolution and physical display size + _scale_factor = static_cast(pick_scale_factor(_win)); + _width = static_cast(_width / _scale_factor); + _height = static_cast(_height / _scale_factor); + + if (w != _width || h != _height) + { + std::string msg = rsutils::string::from() << "Window size changed to " << _width << " x " << _height; + rs2::log(RS2_LOG_SEVERITY_INFO, msg.c_str()); + } + + if (_scale_factor != sf) + { + std::string msg = rsutils::string::from() << "Scale Factor is now " << _scale_factor; + rs2::log(RS2_LOG_SEVERITY_INFO, msg.c_str()); + } + + // Reset ImGui state + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + + ImGui::GetIO().MouseWheel = _mouse.ui_wheel; + _mouse.ui_wheel = 0.f; + + ImGui_ImplGlfw_NewFrame(_scale_factor); + //ImGui::NewFrame(); + } + + void ux_window::begin_viewport() + { + // Rendering + glViewport(0, 0, + static_cast(ImGui::GetIO().DisplaySize.x * _scale_factor), + static_cast(ImGui::GetIO().DisplaySize.y * _scale_factor)); + + if (_enable_msaa) glEnable(GL_MULTISAMPLE); + else glDisable(GL_MULTISAMPLE); + + glClearColor(0, 0, 0, 1); + glClear(GL_COLOR_BUFFER_BIT); + } + + void ux_window::end_frame() + { + if (!_first_frame) + { + ImGui::Render(); + + glfwSwapBuffers(_win); + _mouse.mouse_wheel = 0; + } + } + + void ux_window::reset() + { + if (_first_load.joinable()) + { + _keep_alive = false; + _first_load.join(); + _keep_alive = true; + } + + _query_devices = true; + _missing_device = false; + _hourglass_index = 0; + _first_frame = true; + _app_ready = false; + _splash_timer.reset(); + _dev_stat_message = u8"\uf287 Please connect Intel RealSense device!"; + + { + std::lock_guard lock(_on_load_message_mtx); + _on_load_message.clear(); + } + } + +} diff --git a/librealsense/common/ux-window.h b/librealsense/common/ux-window.h new file mode 100644 index 0000000..bd3d7a5 --- /dev/null +++ b/librealsense/common/ux-window.h @@ -0,0 +1,146 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2023 Intel Corporation. All Rights Reserved. + +#pragma once + +#define GLFW_INCLUDE_GLU +#include + +#include "imgui.h" +#include +#include +#include +#include "rendering.h" +#include +#include + +namespace rs2 +{ + class visualizer_2d; + class context; + + class viewer_ui_traits + { + public: + const static int control_panel_width = 280; + const static int control_panel_height = 40; + const static int metrics_panel_width = 250; + const static int default_log_h = 80; + // Flags for pop-up window - no window resize, move or collaps + const static auto imgui_flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | + ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar | + ImGuiWindowFlags_NoSavedSettings; + }; + + class ux_window + { + public: + std::function on_file_drop = [](std::string) {}; + std::function on_load = []() { return false; }; + std::function on_reload_complete = []() { }; + + ux_window(const char* title, context &ctx); + + float width() const { return float(_width); } + float height() const { return float(_height); } + + float framebuf_width() const { return float(_fb_width); } + float framebuf_height() const { return float(_fb_height); } + + // Check that the graphic subsystem is valid and start a new frame + operator bool(); + + ~ux_window(); + + operator GLFWwindow*() const { return _win; } + + void begin_frame(); + + void begin_viewport(); + + void end_frame(); + + void reset(); + + ImFont* get_large_font() const { return _font_18; } + ImFont* get_monofont() const { return _monofont; } + ImFont* get_font() const { return _font_dynamic; } + int get_font_size() const { return font_size; } + + rs2::mouse_info& get_mouse() { return _mouse; } + float get_scale_factor() const { return _scale_factor; } + + void add_on_load_message(const std::string& msg); + + bool is_ui_aligned() { return _is_ui_aligned; } + bool is_fullscreen() { return _fullscreen; } + + texture_buffer& get_splash() { return _splash_tex; } + + void reload(); + void refresh(); + + void link_hovered(); + void cross_hovered(); + + void set_hovered_over_input() { _hovers_any_input_window = true; } + bool get_hovered_over_input() const { return _hovers_any_input_window; } + + double time() const { return glfwGetTime(); } + private: + void open_window(); + + void setup_icon(); + + void imgui_config_push(); + void imgui_config_pop(); + + GLFWwindow *_win; + int _width, _height, _output_height; + int _fb_width = 0; + int _fb_height = 0; + rs2::rect _viewer_rect; + + ImFont *_font_dynamic, *_font_18, *_monofont; + int font_size; + rs2::mouse_info _mouse{}; + std::string _error_message; + float _scale_factor; + + std::thread _first_load; + bool _first_frame; + std::atomic _app_ready; + std::atomic _keep_alive; + texture_buffer _splash_tex; + rsutils::time::stopwatch _splash_timer; + std::string _title_str; + std::vector _on_load_message; + std::mutex _on_load_message_mtx; + + bool _hovers_any_input_window = false; + bool _query_devices = true; + bool _missing_device = false; + int _hourglass_index = 0; + std::string _dev_stat_message; + bool _fullscreen_pressed = false; + bool _fullscreen = false; + bool _reload = false; + bool _show_fps = false; + bool _vsync = true; + bool _use_glsl_proc = false; + bool _use_glsl_render = false; + bool _enable_msaa = false; + int _msaa_samples = 0; + + bool _link_hovered = false; + GLFWcursor* _hand_cursor = nullptr; + bool _cross_hovered = false; + GLFWcursor* _cross_cursor = nullptr; + + std::string _title; + std::shared_ptr _2d_vis; + context &_ctx; + + bool _is_ui_aligned = false; + }; +} diff --git a/librealsense/common/viewer.cpp b/librealsense/common/viewer.cpp new file mode 100644 index 0000000..9646f4e --- /dev/null +++ b/librealsense/common/viewer.cpp @@ -0,0 +1,3404 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#ifdef _MSC_VER +#ifndef NOMINMAX +#define NOMINMAX +#endif +#endif + +#include "viewer.h" +#include "os.h" + +#include "udev-rules.h" + +#include + +#include + +#define ARCBALL_CAMERA_IMPLEMENTATION +#include + +#include +#include +#include + +#include + +namespace rs2 +{ + template + T non_negative(const T& input) + { + return std::max(static_cast(0), input); + } + + // Allocates a frameset from points and texture frames + frameset_allocator::frameset_allocator(viewer_model* viewer) : owner(viewer), + filter([this](frame f, frame_source& s) + { + std::vector frame_vec; + auto tex = owner->get_last_texture()->get_last_frame(true); + if (tex) + { + frame_vec.push_back(tex); + frame_vec.push_back(f); + auto frame = s.allocate_composite_frame(frame_vec); + if (frame) + s.frame_ready(std::move(frame)); + } + else + s.frame_ready(std::move(f)); + }) {} + + // Need out of class declaration to take reference + const rs2_option save_to_ply::OPTION_IGNORE_COLOR; + const rs2_option save_to_ply::OPTION_PLY_MESH; + const rs2_option save_to_ply::OPTION_PLY_BINARY; + const rs2_option save_to_ply::OPTION_PLY_NORMALS; + + void viewer_model::set_export_popup(ImFont* large_font, ImFont* font, rect stream_rect, std::string& error_message, config_file& temp_cfg) + { + float font_size = (float)temp_cfg.get( configurations::window::font_size ); + float w = 32.f * font_size; + float h = 20.f * font_size; + float x0 = stream_rect.x + stream_rect.w / 3; + float y0 = stream_rect.y + stream_rect.h / 3; + ImGui::SetNextWindowPos({ x0, y0 }); + ImGui::SetNextWindowSize({ w, h }); + + auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | + ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings; + + ImGui_ScopePushFont(font); + ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(15, 15)); + ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1); + + static export_type tab = export_type::ply; + if (ImGui::BeginPopupModal("Export", nullptr, flags)) + { + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); + ImGui::PushFont(large_font); + for (auto& exporter : exporters) + { + ImGui::PushStyleColor(ImGuiCol_Text, tab != exporter.first ? light_grey : light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, tab != exporter.first ? light_grey : light_blue); + ImGui::SameLine(); + if (ImGui::Button(exporter.second.name.c_str(), { w / exporters.size() - 50, 30 })) + { + config_file::instance().set(configurations::viewer::settings_tab, tab); + temp_cfg.set(configurations::viewer::settings_tab, tab); + tab = exporter.first; + } + ImGui::PopStyleColor(2); + } + + ImGui::PopFont(); + if (tab == export_type::ply) + { + bool mesh = temp_cfg.get(configurations::ply::mesh); + bool use_normals = temp_cfg.get(configurations::ply::use_normals); + if (!mesh) use_normals = false; + int encoding = temp_cfg.get(configurations::ply::encoding); + + ImGui::PushStyleColor(ImGuiCol_Text, grey); + ImGui::Text("Polygon File Format defines a flexible systematic scheme for storing 3D data"); + ImGui::PopStyleColor(); + ImGui::NewLine(); + ImGui::Separator(); + if (ImGui::Checkbox("Meshing", &mesh)) + { + temp_cfg.set(configurations::ply::mesh, mesh); + } + ImGui::PushStyleColor(ImGuiCol_Text, grey); + ImGui::Text(" Use faces for meshing by connecting each group of 3 adjacent points"); + ImGui::PopStyleColor(); + ImGui::Separator(); + + if (!mesh) + { + ImGui::PushStyleVar(ImGuiStyleVar_Alpha, ImGui::GetStyle().Alpha * 0.5f); + ImGui::PushStyleColor(ImGuiCol_FrameBgHovered, black); + ImGui::PushStyleColor(ImGuiCol_FrameBgActive, black); + } + if (ImGui::Checkbox("Normals", &use_normals)) + { + if (!mesh) + use_normals = false; + else + temp_cfg.set(configurations::ply::use_normals, use_normals); + } + if (!mesh) + { + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Enable meshing to allow vertex normals calculation"); + } + ImGui::PopStyleColor(2); + ImGui::PopStyleVar(); + } + + ImGui::PushStyleColor(ImGuiCol_Text, grey); + ImGui::Text(" Calculate vertex normals and add them to the PLY"); + ImGui::PopStyleColor(); + ImGui::Separator(); + + ImGui::Text("Encoding:"); + ImGui::PushStyleColor(ImGuiCol_Text, grey); + ImGui::Text("Save PLY as binary, or as a larger textual human-readable file"); + ImGui::PopStyleColor(); + if (ImGui::RadioButton("Textual", encoding == configurations::ply::textual)) + { + encoding = configurations::ply::textual; + temp_cfg.set(configurations::ply::encoding, encoding); + } + if (ImGui::RadioButton("Binary", encoding == configurations::ply::binary)) + { + encoding = configurations::ply::binary; + temp_cfg.set(configurations::ply::encoding, encoding); + } + + auto curr_exporter = exporters.find(tab); + if (curr_exporter == exporters.end()) // every tab should have a corresponding exporter + error_message = "Exporter not implemented"; + else + { + curr_exporter->second.options[rs2::save_to_ply::OPTION_PLY_MESH] = mesh; + curr_exporter->second.options[rs2::save_to_ply::OPTION_PLY_NORMALS] = use_normals; + curr_exporter->second.options[rs2::save_to_ply::OPTION_PLY_BINARY] = encoding; + } + } + + ImGui::PopStyleColor(2); // button color + + auto apply = [&]() { + config_file::instance() = temp_cfg; + update_configuration(); + }; + + ImGui::PushStyleColor(ImGuiCol_Button, button_color); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, button_color + 0.1f); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, button_color + 0.1f); + + ImGui::SetCursorScreenPos({ (float)(x0 + w / 2), (float)(y0 + h - 30) }); + + if( ImGui::Button( "Export", ImVec2( font_size * 8.f, 0 ) ) ) + { + apply(); + if (!last_points) + error_message = "No depth data available"; + else + { + auto curr_exporter = exporters.find(tab); + if (curr_exporter == exporters.end()) // every tab should have a corresponding exporter + error_message = "Exporter not implemented"; + else if (auto ret = file_dialog_open(save_file, curr_exporter->second.filters.data(), NULL, NULL)) + { + auto model = ppf.get_points(); + frame tex; + if (selected_tex_source_uid >= 0 && streams.find(selected_tex_source_uid) != streams.end()) + { + tex = streams[selected_tex_source_uid].texture->get_last_frame(true); + if (tex) ppf.update_texture(tex); + } + + std::string fname(ret); + if (!ends_with(rsutils::string::to_lower(fname), curr_exporter->second.extension)) fname += curr_exporter->second.extension; + + std::unique_ptr exporter; + if (tab == export_type::ply) + exporter = std::unique_ptr(new rs2::save_to_ply(fname)); + auto data = frameset_alloc.process(last_points); + + for (auto& option : curr_exporter->second.options) + { + exporter->set_option(option.first, static_cast(option.second)); + } + + export_frame(fname, std::move(exporter), *not_model, data); + } + } + ImGui::CloseCurrentPopup(); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Save settings and export file"); + } + ImGui::SameLine(); + if( ImGui::Button( "Cancel", ImVec2( font_size * 8.f, 0 ) ) ) + { + ImGui::CloseCurrentPopup(); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Close window without saving any changes to the settings"); + } + + ImGui::PopStyleColor(3); + ImGui::EndPopup(); + } + ImGui::PopStyleVar(2); + ImGui::PopStyleColor(3); + } + + bool big_button(bool* status, + ux_window& win, + float x, float y, + const char* icon, + const char* label, + bool dropdown, + bool enabled, + const char* description, + ImVec4 text_color = light_grey + ) + { + auto disabled = !enabled; + auto font = win.get_font(); + auto large_font = win.get_large_font(); + float font_size = (float)win.get_font_size(); + + bool hovered = false; + bool clicked = false; + + if (!disabled) + { + if (*status) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); + } + else + { + ImGui::PushStyleColor(ImGuiCol_Text, text_color); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, text_color); + } + } + else + { + ImGui::PushStyleColor(ImGuiCol_Text, header_color); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, header_color); + } + + float button_width = font_size * 3.8f; + + ImGui::SetCursorPos( { x, y } ); + ImGui::PushFont(large_font); + clicked = clicked || ImGui::Button( icon, { button_width, 50 } ); + ImGui::PopFont(); + hovered = hovered || ImGui::IsItemHovered(); + + ImGui::SetCursorPos( { x + button_width - font_size, y } ); + ImGui::PushFont(font); + if (dropdown) + { + clicked = clicked || ImGui::Button(u8"\uf078", { font_size, 55 } ); + hovered = hovered || ImGui::IsItemHovered(); + } + + ImGui::SetCursorPos( { x, y + 35 } ); + clicked = clicked || ImGui::Button( label, { button_width, 20 } ); + ImGui::PopFont(); + hovered = hovered || ImGui::IsItemHovered(); + + if (hovered) + { + win.link_hovered(); + ImGui::SetTooltip("%s", description); + } + + if (clicked && !disabled) + { + *status = !(*status); + } + + ImGui::PopStyleColor(2); + + return clicked && !disabled; + } + + // Get both font and large_font for the export pop-up + void viewer_model::show_3dviewer_header(ux_window& win, rs2::rect stream_rect, bool& paused, std::string& error_message) + { + auto font = win.get_font(); + auto large_font = win.get_large_font(); + + // Draw pose header if pose stream exists + bool pose_render = false; + + for (auto&& s : streams) + { + if (s.second.is_stream_visible() && + s.second.profile.stream_type() == RS2_STREAM_POSE) + { + pose_render = true; + break; + } + } + + // Initialize and prepare depth and texture sources + int selected_depth_source = -1; + std::vector depth_sources_str; + std::vector depth_sources; + init_depth_uid(selected_depth_source, depth_sources_str, depth_sources); + + int selected_tex_source = 0; + std::vector tex_sources_str; + std::vector tex_sources; + std::vector tex_profiles; + int i = 0; + for (auto&& s : streams) + { + if (s.second.is_stream_visible() && + (s.second.profile.stream_type() == RS2_STREAM_COLOR || + s.second.profile.stream_type() == RS2_STREAM_INFRARED || + s.second.profile.stream_type() == RS2_STREAM_CONFIDENCE || + s.second.profile.stream_type() == RS2_STREAM_DEPTH || + s.second.profile.stream_type() == RS2_STREAM_FISHEYE)) + { + auto profile_unique_id = s.second.profile.unique_id(); + auto stream_origin_iter = streams_origin.find(profile_unique_id); + auto profile_found = stream_origin_iter != streams_origin.end(); + + if( selected_tex_source_uid == -1 && selected_depth_source_uid != -1 ) + { + if( profile_found && streams.find(stream_origin_iter->second ) != streams.end() ) + { + selected_tex_source_uid = streams_origin[profile_unique_id]; + } + } + if( ( profile_found && stream_origin_iter->second == selected_tex_source_uid ) ) + { + selected_tex_source = i; + } + + if( profile_found ) + { + // The texture source shall always refer to the raw (original) streams + tex_sources.push_back(streams_origin[profile_unique_id]); + tex_profiles.push_back(s.second.profile); + + auto dev_name = s.second.dev ? s.second.dev->dev.get_info(RS2_CAMERA_INFO_NAME) : "Unknown"; + std::string stream_name = rs2_stream_to_string(s.second.profile.stream_type()); + if (s.second.profile.stream_index()) + stream_name += "_" + std::to_string(s.second.profile.stream_index()); + tex_sources_str.push_back( rsutils::string::from() << dev_name << " " << stream_name ); + + i++; + } + } + } + + for (int i = 0; i < tex_sources.size(); i++) + { + auto id = tex_sources[i]; + auto it = std::find(begin(last_tex_sources), end(last_tex_sources), id); + if (it == last_tex_sources.end()) + { + // Don't auto-switch to IR stream + if (tex_profiles[i].format() != RS2_FORMAT_Y8) + selected_tex_source_uid = id; + texture_update_time = glfwGetTime(); + } + } + last_tex_sources = tex_sources; + + const auto top_bar_height = 60.f; + + ImGui::PushFont(font); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleColor(ImGuiCol_Button, header_window_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, header_window_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, header_window_bg); + + std::string label = "header of 3dviewer"; + + ImGui::GetWindowDrawList()->AddRectFilled({ stream_rect.x, stream_rect.y }, + { stream_rect.x + stream_rect.w, stream_rect.y + top_bar_height }, ImColor(sensor_bg)); + + ImGui::SetCursorPos({ 0, 0 }); + auto cursor = ImGui::GetCursorScreenPos(); + + float left = 5.f; + float button_width = win.get_font_size() * 3.8f; + + const auto has_stream = tex_sources_str.size() && depth_sources_str.size(); + + // ------------ Pause Stream -------------- + + if (paused) + { + bool active = true; + if (big_button(&active, win, 5 + left, 0, textual_icons::play, "Resume", false, has_stream, "Resume streaming")) + { + for(auto&& s : streams) + if (s.second.dev) s.second.dev->resume(); + paused = false; + } + } + else + { + bool active = false; + if (big_button(&active, win, 5 + left, 0, textual_icons::pause, "Pause", false, has_stream, "Pause streaming")) + { + for(auto&& s : streams) + if (s.second.dev) s.second.dev->pause(); + paused = true; + } + } + left += button_width; + + // ------------ Reset Viewport --------------- + + bool default_view = (pos - float3{ 0.f, 0.f, -1.f }).length() < 0.001f && + (target - float3{ 0.f, 0.f, 0.f }).length() < 0.001f; + bool active = false; + if (big_button(&active, win, 5 + left, 0, u8"\uf01e", "Reset", false, !default_view, "Reset 3D viewport to initial state")) + { + reset_camera(); + } + + left += button_width; + + // ------------ Lock Mode --------------- + + if (synchronization_enable) + { + bool active = true; + if (big_button(&active, win, 5 + left, 0, textual_icons::lock, "Unlock", false, + support_non_syncronized_mode && has_stream, "Unlock texture data from pointcloud")) + { + synchronization_enable = false; + } + } + else + { + bool active = false; + if (big_button(&active, win, 5 + left, 0, textual_icons::unlock, "Lock", false, + support_non_syncronized_mode && has_stream, "Lock pointcloud and texture data together")) + { + synchronization_enable = true; + } + } + left += button_width + 10; + + ImGui::GetWindowDrawList()->AddLine({ cursor.x + left - 1, cursor.y + 5 }, + { cursor.x + left - 1, cursor.y + top_bar_height - 5 }, ImColor(grey)); + + // ------------ Depth Selection -------------- + + const auto source_selection_popup = "Source Selection"; + + if (big_button(&select_3d_source, win, left, 0, u8"\uf1b2", + "Source", true, + has_stream, + "List of available 3D data sources")) + { + ImGui::OpenPopup(source_selection_popup); + } + + ImGui::PushStyleColor(ImGuiCol_Text, black); + ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg); + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::SetNextWindowPos({ cursor.x + left + 5, cursor.y + 60 }); + if (ImGui::BeginPopup(source_selection_popup)) + { + select_3d_source = true; + + i = 0; + for (auto&& s : streams) + { + if (s.second.is_stream_visible() && + s.second.texture->get_last_frame() && + s.second.profile.stream_type() == RS2_STREAM_DEPTH) + { + std::string id = rsutils::string::from() << depth_sources_str[i] << "##DepthSource-" << i; + + bool selected = i == selected_depth_source; + if (ImGui::MenuItem(id.c_str(), nullptr, &selected)) + { + if (selected) + { + auto stream_origin_iter = streams_origin.find(s.second.profile.unique_id()); + + if( stream_origin_iter != streams_origin.end() ) + selected_depth_source_uid = stream_origin_iter->second; + } + } + i++; + } + } + + ImGui::EndPopup(); + } + else + { + select_3d_source = false; + } + left += button_width + 20; + + // ------------ Texture Selection -------------- + + auto t = single_wave(float(glfwGetTime() - texture_update_time) * 2); + ImVec4 text_color = light_grey * (1.f - t) + light_blue * t; + + const auto tex_selection_popup = "Tex Selection"; + if (big_button(&select_tex_source, win, left, 0, u8"\uf576", + "Texture", true, + has_stream, + "List of available texture sources", text_color)) + { + ImGui::OpenPopup(tex_selection_popup); + } + + ImGui::SetNextWindowPos({ cursor.x + left + 5, cursor.y + 60 }); + if (ImGui::BeginPopup(tex_selection_popup)) + { + select_tex_source = true; + + for (int i = 0; i < tex_sources_str.size(); i++) + { + std::string id = rsutils::string::from() << tex_sources_str[i] << "##TexSource-" << i; + + bool selected = i == selected_tex_source; + if (ImGui::MenuItem(id.c_str(), nullptr, &selected)) + { + if (selected) + { + selected_tex_source_uid = tex_sources[i]; + } + } + } + + ImGui::EndPopup(); + } + else + { + select_tex_source = false; + } + + left += button_width + 20; + + // ------------ Shader Selection -------------- + const auto shader_selection_popup = "Shading Selection"; + if (big_button(&select_shader_source, win, left, 0, u8"\uf5aa", + "Shading", true, true, + "List of available shading modes")) + { + ImGui::OpenPopup(shader_selection_popup); + } + + ImGui::SetNextWindowPos({ cursor.x + left + 5, cursor.y + 60 }); + if (ImGui::BeginPopup(shader_selection_popup)) + { + select_shader_source = true; + + bool selected = selected_shader == shader_type::points; + if (ImGui::MenuItem("Raw Point-Cloud", nullptr, &selected)) + { + if (selected) selected_shader = shader_type::points; + } + + selected = selected_shader == shader_type::flat; + if (ImGui::MenuItem("Flat-Shaded Mesh", nullptr, &selected)) + { + if (selected) selected_shader = shader_type::flat; + } + + selected = selected_shader == shader_type::diffuse; + if (ImGui::MenuItem("With Diffuse Lighting", nullptr, &selected, glsl_available)) + { + if (selected) selected_shader = shader_type::diffuse; + } + + ImGui::EndPopup(); + } + else + { + select_shader_source = false; + } + left += button_width + 20; + + //----------------------------- + + ImGui::PopStyleColor(4); + + ImGui::GetWindowDrawList()->AddLine({ cursor.x + left - 1, cursor.y + 5 }, + { cursor.x + left - 1, cursor.y + top_bar_height - 5 }, ImColor(grey)); + + // -------------------- Measure ---------------- + + std::string measure_tooltip = "Measure distance between points\nHold shift to connect more than 2 points and measure area"; + if (!glsl_available) measure_tooltip += "\nRequires GLSL acceleration! \nEnable 2 checkboxes in Settings - Performance: \n- Use GLSL for Rendering \n- Use GLSL for Processing "; + if (_measurements.is_enabled()) + { + bool active = true; + if (big_button(&active, win, 5 + left, 0, textual_icons::measure, "Measure", false, glsl_available, measure_tooltip.c_str())) + { + _measurements.disable(); + } + } + else + { + bool active = false; + if (big_button(&active, win, 5 + left, 0, textual_icons::measure, "Measure", false, glsl_available, measure_tooltip.c_str())) + { + _measurements.enable(); + } + } + left += button_width; + + // -------------------- Export ------------------ + + static config_file temp_cfg; + set_export_popup(large_font, font, stream_rect, error_message, temp_cfg); + + active = false; + if (big_button(&active, win, 5 + left, 0, textual_icons::floppy, "Export", false, last_points, "Export 3D model to 3rd-party application")) + { + _measurements.disable(); + temp_cfg = config_file::instance(); + ImGui::OpenPopup("Export"); + } + + left += button_width; + + + ImGui::PopStyleColor(5); + + + ImGui::PopFont(); + } + + void viewer_model::check_permissions() + { +#ifdef __linux__ + + if (directory_exists("/etc/udev/rules.d") || directory_exists("/lib/udev/rules.d/")) + { + const std::string udev_rules_man("/etc/udev/rules.d/99-realsense-libusb.rules"); + const std::string udev_rules_deb("/lib/udev/rules.d/60-librealsense2-udev-rules.rules"); + std::ifstream f_man(udev_rules_man); + std::ifstream f_deb(udev_rules_deb); + + std::string message = "UDEV-Rules permissions configuration \n for RealSense devices.`\n" + "Missing/outdated UDEV-Rules will cause 'Permissions Denied' errors\nunless the application is running under 'sudo' (not recommended)\n" + "In case of Debians use: \n" + "sudo apt-get upgrade/install librealsense2-udev-rules\n" + "To manually install UDEV-Rules in terminal run:\n" + "$ sudo cp ~/.99-realsense-libusb.rules /etc/udev/rules.d/99-realsense-libusb.rules && sudo udevadm control --reload-rules && udevadm trigger\n"; + + bool create_file = false; + + if(!(f_man.good() || f_deb.good())) + { + message = "RealSense UDEV-Rules are missing!\n" + message; + auto n = not_model->add_notification({ message, + RS2_LOG_SEVERITY_WARN, + RS2_NOTIFICATION_CATEGORY_COUNT }); + create_file = true; + + n->enable_complex_dismiss = true; + n->delay_id = "missing-udev"; + if (n->is_delayed()) n->dismiss(true); + } + else + { + std::ifstream f; + std::string udev_fname; + if(f_man.good()) + { + if (f_deb.good()) + { + std::string duplicates = "Multiple realsense udev-rules were found! :\n1:" + udev_rules_man + + "\n2: " + udev_rules_deb+ "\nMake sure to remove redundancies!"; + auto n = not_model->add_notification({ duplicates, + RS2_LOG_SEVERITY_WARN, + RS2_NOTIFICATION_CATEGORY_COUNT }); + n->enable_complex_dismiss = true; + n->delay_id = "multiple-udev"; + if (n->is_delayed()) n->dismiss(true); + } + f.swap(f_man); + udev_fname = udev_rules_man; + create_file = true; + } + else + { + f.swap(f_deb); + udev_fname = udev_rules_deb; + } + + const std::string str((std::istreambuf_iterator(f)), + std::istreambuf_iterator()); + + std::string tmp = realsense_udev_rules; + tmp.erase(tmp.find_last_of("\n") + 1); + const std::string udev = tmp; + float udev_file_ver{0}, built_in_file_ver{0}; + + // The udev-rules file shall start with version token expressed as ##Version=xx.yy## + std::regex udev_ver_regex("^##Version=(\\d+\\.\\d+)##"); + std::smatch match; + + if (std::regex_search(udev.begin(), udev.end(), match, udev_ver_regex)) + built_in_file_ver = std::stof(std::string(match[1])); + + if (std::regex_search(str.begin(), str.end(), match, udev_ver_regex)) + udev_file_ver = std::stof(std::string(match[1])); + + if (built_in_file_ver > udev_file_ver) + { + std::stringstream s; + s << "RealSense UDEV-Rules file:\n " << udev_fname <<"\n is not up-to date! Version " << built_in_file_ver << " can be applied\n"; + auto n = not_model->add_notification({ + s.str() + message, + RS2_LOG_SEVERITY_WARN, + RS2_NOTIFICATION_CATEGORY_COUNT }); + + n->enable_complex_dismiss = true; + n->delay_id = "udev-version"; + if (n->is_delayed()) n->dismiss(true); + } + } + + if (create_file) + { + std::string tmp_filename + = rsutils::os::get_special_folder( rsutils::os::special_folder::app_data ) // ~/. + + "99-realsense-libusb.rules"; + + std::ofstream out(tmp_filename.c_str()); + out << realsense_udev_rules; + out.close(); + } + } + +#endif + } + + // Hide options from both the DQT and Viewer applications + void viewer_model::hide_common_options() + { + _hidden_options.emplace(RS2_OPTION_STREAM_FILTER); + _hidden_options.emplace(RS2_OPTION_STREAM_FORMAT_FILTER); + _hidden_options.emplace(RS2_OPTION_STREAM_INDEX_FILTER); + _hidden_options.emplace(RS2_OPTION_FRAMES_QUEUE_SIZE); + _hidden_options.emplace(RS2_OPTION_SENSOR_MODE); + _hidden_options.emplace(RS2_OPTION_NOISE_ESTIMATION); + } + + void viewer_model::update_configuration() + { + rs2_error* e = nullptr; + auto version = rs2_get_api_version(&e); + if (e) rs2::error::handle(e); + + int saved_version = config_file::instance().get_or_default( + configurations::viewer::sdk_version, 0); + + // Great the user once upon upgrading to a new version + if (version > saved_version) + { + auto n = std::make_shared(version); + not_model->add_notification(n); + + config_file::instance().set(configurations::viewer::sdk_version, version); + } + + continue_with_current_fw = config_file::instance().get_or_default( + configurations::viewer::continue_with_current_fw, false); + + is_3d_view = config_file::instance().get_or_default( + configurations::viewer::is_3d_view, true); + + if (bool measurement_enabled = config_file::instance().get_or_default( + configurations::viewer::is_measuring, false)) + _measurements.enable(); + + _measurements.log_function = [this](std::string message) { not_model->add_log(message); }; + _measurements.is_metric = [this]() { return metric_system; }; + + glsl_available = config_file::instance().get( + configurations::performance::glsl_for_rendering); + + occlusion_invalidation = config_file::instance().get_or_default( + configurations::performance::occlusion_invalidation, true); + + ground_truth_r = config_file::instance().get_or_default( + configurations::viewer::ground_truth_r, 1200); + + selected_shader = (shader_type)config_file::instance().get_or_default( + configurations::viewer::shading_mode, 2); + +#ifdef BUILD_EASYLOGGINGPP + auto min_severity = (rs2_log_severity)config_file::instance().get_or_default( + configurations::viewer::log_severity, 2); + + if( ! _disable_log_to_console ) + { + if( config_file::instance().get_or_default( + configurations::viewer::log_to_console, false ) ) + { + rs2::log_to_console( min_severity ); + } + else + { + rs2::log_to_console( RS2_LOG_SEVERITY_NONE ); + } + } + if (config_file::instance().get_or_default( + configurations::viewer::log_to_file, false)) + { + std::string filename = config_file::instance().get( + configurations::viewer::log_filename); + + rs2::log_to_file(min_severity, filename.c_str()); + } +#endif + + show_skybox = config_file::instance().get_or_default( + configurations::performance::show_skybox, true); + } + + + + viewer_model::viewer_model( context & ctx_, bool disable_log_to_console ) + : ppf( *this ) + , ctx( ctx_ ) + , frameset_alloc( this ) + , synchronization_enable( true ) + , synchronization_enable_prev_state(true) + , _support_ir_reflectivity( false ) + , _disable_log_to_console( disable_log_to_console ) + { + + syncer = std::make_shared(); + updates = std::make_shared(); + reset_camera(); + rs2_error* e = nullptr; + not_model->add_log( "librealsense version: " + api_version_to_string( rs2_get_api_version( &e ) ) + "\n" ); + + update_configuration(); + + check_permissions(); + export_model exp_model = export_model::make_exporter("PLY", ".ply", "Polygon File Format (PLY)\0*.ply\0"); + exporters.insert(std::pair(export_type::ply, exp_model)); + + hide_common_options(); // hide this options from both Viewer and DQT applications + } + + void viewer_model::gc_streams() + { + std::lock_guard lock(streams_mutex); + std::vector streams_to_remove; + for (auto&& kvp : streams) + { + if (!kvp.second.is_stream_visible() && + (!kvp.second.dev || (!kvp.second.dev->is_paused() && !kvp.second.dev->streaming))) + { + if (kvp.first == selected_depth_source_uid) + { + ppf.depth_stream_active = false; + } + streams_to_remove.push_back(kvp.first); + } + } + for (auto&& i : streams_to_remove) { + if(selected_depth_source_uid == i) + { + last_points = points(); + selected_depth_source_uid = -1; + } + + if (selected_tex_source_uid == i) + { + last_texture.reset(); + selected_tex_source_uid = -1; + } + streams.erase(i); + + if(ppf.frames_queue.find(i) != ppf.frames_queue.end()) + { + ppf.frames_queue.erase(i); + } + } + } + + bool rs2::viewer_model::is_option_skipped(rs2_option opt) const + { + return (_hidden_options.find(opt) != _hidden_options.end()); + } + + void rs2::viewer_model::disable_measurements() + { + _measurements.disable(); + } + + void rs2::viewer_model::show_popup(const ux_window& window, const popup& p) + { + auto font_dynamic = window.get_font(); + + ImGui_ScopePushFont(font_dynamic); + ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(10, 10)); + ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1); + + ImGui::SetNextWindowSize({520, 180}); + + ImGui::OpenPopup(p.header.c_str()); + + if (ImGui::BeginPopupModal(p.header.c_str(), nullptr, ImGuiWindowFlags_AlwaysAutoResize)) + { + ImGui::PushStyleColor(ImGuiCol_Button, transparent); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, transparent); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + + p.custom_command(); + + ImGui::EndPopup(); + } + + ImGui::PopStyleColor(3); + ImGui::PopStyleVar(2); + } + + void viewer_model::popup_if_error(const ux_window& window, std::string& message) + { + if (message == "") + return; + + // The list of errors the user asked not to show again: + static std::set errors_not_to_show; + static bool dont_show_this_error = false; + auto simplify_error_message = [](const std::string& s) { + std::regex e("\\b(0x)([^ ,]*)"); + return std::regex_replace(s, e, "address"); + }; + + auto it = std::find_if(_active_popups.begin(), _active_popups.end(), [&](const popup& p) { return message == p.message; }); + if (it != _active_popups.end()) + return; + + auto simplified_error_message = simplify_error_message(message); + if (errors_not_to_show.count(simplified_error_message)) + { + not_model->add_notification({ message, + RS2_LOG_SEVERITY_ERROR, + RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR }); + return; + } + + std::string header = std::string(textual_icons::exclamation_triangle) + " Oops, something went wrong!"; + + auto custom_command = [&]() + { + auto msg = _active_popups.front().message; + + // Wrap the text to feet the error pop-up window + std::string wrapped_msg; + try + { + auto trimmed_msg = rsutils::string::trim_newlines(msg); + wrapped_msg = utilities::imgui::wrap(trimmed_msg, 500); + } + catch (...) + { + wrapped_msg = msg; // Revert to original text on wrapping failure + not_model->output.add_log( RS2_LOG_SEVERITY_WARN, + __FILE__, + __LINE__, + "Wrapping of error message text failed!" ); + } + + ImGui::Text("RealSense error calling:"); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue); + ImGui::InputTextMultiline("##error", const_cast(wrapped_msg.c_str()), + msg.size() + 1, { 500,95 }, ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(); + + //ImGui::SetCursorPos({ 10, 130 }); + ImGui::PopStyleColor(5); + + if (ImGui::Button("OK", ImVec2(120, 0))) + { + if (dont_show_this_error) + { + errors_not_to_show.insert(simplify_error_message(msg)); + } + ImGui::CloseCurrentPopup(); + _active_popups.erase(_active_popups.begin()); + dont_show_this_error = false; + } + + ImGui::SameLine(); + ImGui::Checkbox("Don't show this error again", &dont_show_this_error); + }; + + popup p = {header, message, custom_command }; + _active_popups.push_back(p); + } + + std::vector read_fw_file(std::string file_path) + { + std::vector rv; + + std::ifstream file(file_path, std::ios::in | std::ios::binary | std::ios::ate); + if (file.is_open()) + { + rv.resize(file.tellg()); + + file.seekg(0, std::ios::beg); + file.read((char*)rv.data(), rv.size()); + file.close(); + } + + return rv; + } + + void rs2::viewer_model::popup_firmware_update_progress(const ux_window& window, const float progress) + { + std::string header = "Firmware update in progress"; + std::stringstream message; + message << std::endl << "Progress: " << (int)(progress * 100.0) << " [%]"; + + auto custom_command = [&]() + { + ImGui::SetCursorPos({ 10, 100 }); + ImGui::PopStyleColor(5); + + + ImGui::ProgressBar(progress, { 300 , 25 }, "Firmware update"); + }; + + popup p = { header, message.str(), custom_command }; + _active_popups.push_back(p); + } + + void viewer_model::show_icon(ImFont* font_18, const char* label_str, const char* text, int x, int y, int id, + const ImVec4& text_color, const std::string& tooltip) + { + ImGui_ScopePushFont(font_18); + + std::string label = rsutils::string::from() << label_str << id; + + ImGui::SetCursorScreenPos({(float)x, (float)y}); + ImGui::PushStyleColor(ImGuiCol_Text, text_color); + ImGui::Text("%s", text); + ImGui::PopStyleColor(); + if (ImGui::IsItemHovered() && tooltip != "") + ImGui::SetTooltip("%s", tooltip.c_str()); + + } + void viewer_model::show_paused_icon(ImFont* font_18, int x, int y, int id) + { + show_icon(font_18, "paused_icon", textual_icons::pause, x, y, id, white); + } + void viewer_model::show_recording_icon(ImFont* font_18, int x, int y, int id, float alpha_delta) + { + show_icon(font_18, "recording_icon", textual_icons::circle, x, y, id, from_rgba(255, 46, 54, static_cast(alpha_delta * 255))); + } + + void viewer_model::show_no_stream_overlay(ImFont* font_18, int min_x, int min_y, int max_x, int max_y) + { + ImGui::PushFont(font_18); + + auto pos = ImGui::GetCursorScreenPos(); + ImGui::SetCursorScreenPos({ (min_x + max_x) / 2.f - 150, (min_y + max_y) / 2.f - 20 }); + + ImGui::PushStyleColor(ImGuiCol_Text, sensor_header_light_blue); + std::string text = rsutils::string::from() << "Nothing is streaming! Toggle " << textual_icons::toggle_off << " to start"; + ImGui::Text("%s", text.c_str()); + ImGui::PopStyleColor(); + + ImGui::SetCursorScreenPos(pos); + + ImGui::PopFont(); + } + + void viewer_model::show_rendering_not_supported(ImFont* font_18, int min_x, int min_y, int max_x, int max_y, rs2_format format) + { + static rsutils::time::periodic_timer update_string(std::chrono::milliseconds(200)); + static int counter = 0; + static std::string to_print; + auto pos = ImGui::GetCursorScreenPos(); + + ImGui::PushFont(font_18); + ImGui::SetCursorScreenPos({ min_x + max_x / 2.f - 210, min_y + max_y / 2.f - 20 }); + ImGui::PushStyleColor(ImGuiCol_Text, yellowish); + std::string text = rsutils::string::from() << textual_icons::exclamation_triangle; + ImGui::Text("%s", text.c_str()); + ImGui::SetCursorScreenPos({ min_x + max_x / 2.f - 180, min_y + max_y / 2.f - 20 }); + text = rsutils::string::from() << " The requested format " << format << " is not supported for rendering "; + + if (update_string) + { + to_print.clear(); + for (int i = 0; i < text.size(); i++) + to_print += text[(i + counter) % text.size()]; + counter++; + } + + ImGui::Text("%s", to_print.c_str()); + ImGui::PopStyleColor(); + + ImGui::SetCursorScreenPos(pos); + + ImGui::PopFont(); + } + + void viewer_model::show_no_device_overlay(ImFont* font_18, int x, int y) + { + auto pos = ImGui::GetCursorScreenPos(); + ImGui::SetCursorScreenPos({ float(x), float(y) }); + + ImGui::PushFont(font_18); + ImGui::PushStyleColor(ImGuiCol_Text, from_rgba(0x70, 0x8f, 0xa8, 0xff)); + ImGui::Text("Connect a RealSense Camera\nor Add Source"); + ImGui::PopStyleColor(); + ImGui::PopFont(); + + ImGui::SetCursorScreenPos(pos); + } + + // Generate streams layout, creates a grid-like layout with factor amount of columns + std::map generate_layout(const rect& r, + int top_bar_height, size_t factor, + const std::set& active_streams, + std::map& stream_index + ) + { + std::map results; + if (factor == 0) return results; + + // Calc the number of rows + auto complement = ceil((float)active_streams.size() / factor); + + auto cell_width = static_cast(r.w / factor); + auto cell_height = static_cast(r.h / complement); + + // using the active streams sorted acc to stream type and stream index + // typical order will then be: depth, color, ir1, ir2, motion.... + std::vector active_streams_ordered; + for (auto&& active_stream : active_streams) + { + active_streams_ordered.push_back(active_stream); + } + + std::sort(active_streams_ordered.begin(), active_streams_ordered.end(), + [](const stream_model* sm1, const stream_model* sm2) + { + return (sm1->profile.stream_type() < sm2->profile.stream_type()) || + ((sm1->profile.stream_type() == sm2->profile.stream_type()) && (sm1->profile.stream_index() < sm2->profile.stream_index())); + }); + + auto it = active_streams_ordered.begin(); + for (auto x = 0; x < factor; x++) + { + for (auto y = 0; y < complement; y++) + { + // There might be spare boxes at the end (3 streams in 2x2 array for example) + if (it == active_streams_ordered.end()) break; + + rect rxy = { r.x + x * cell_width, r.y + y * cell_height + top_bar_height, + cell_width, cell_height - top_bar_height }; + // Generate box to display the stream in + results[stream_index[*it]] = rxy.adjust_ratio((*it)->size); + ++it; + } + } + + return results; + } + + // Return the total display area of the layout + // The bigger it is, the more details we can see + float evaluate_layout(const std::map& l) + { + float res = 0.f; + for (auto&& kvp : l) res += kvp.second.area(); + return res; + } + + std::map viewer_model::calc_layout(const rect& r) + { + const int top_bar_height = 32; + + std::set active_streams; + std::map stream_index; + for (auto&& stream : streams) + { + if (stream.second.is_stream_visible()) + { + active_streams.insert(&stream.second); + stream_index[&stream.second] = stream.first; + } + } + + if (fullscreen) + { + if (active_streams.count(selected_stream) == 0) fullscreen = false; + } + + std::map results; + + if (fullscreen) + { + results[stream_index[selected_stream]] = { r.x, r.y + top_bar_height, + r.w, r.h - top_bar_height }; + } + else + { + // Go over all available fx(something) layouts + for (size_t f = 1; f <= active_streams.size(); f++) + { + auto l = generate_layout(r, top_bar_height, f, + active_streams, stream_index); + + // Keep the "best" layout in result + if (evaluate_layout(l) > evaluate_layout(results)) + results = l; + } + } + + return get_interpolated_layout(results); + } + + rs2::frame viewer_model::handle_ready_frames(const rect& viewer_rect, ux_window& window, int devices, std::string& error_message) + { + std::shared_ptr texture_frame = nullptr; + points p; + frame f{}; + gc_streams(); + + std::map last_frames; + try + { + size_t index = 0; + while (ppf.resulting_queue.poll_for_frame(&f) && ++index < ppf.resulting_queue_max_size) + { + // Open the frame-set and validate the incoming frame originated from one of the source streams + // and save the frames on last_frames + // if one of the streams is missing we will use the last frame arrived + // point cloud is not a stream type yet it's a frame we want to display + if (f.is()) + { + for (auto frame : f.as()) + { + auto profile_id = frame.get_profile().unique_id(); + + if (frame.is< points >() || streams.find(profile_id) != streams.end()) + { + last_frames[profile_id] = frame; + continue; + } + + auto stream_origin_iter = streams_origin.find(profile_id); + if( (stream_origin_iter != streams_origin.end() && streams.find( stream_origin_iter->second ) != streams.end() )) + { + last_frames[ profile_id ] = frame; + } + } + } + else + { + auto profile_id = f.get_profile().unique_id(); + + if (f.is< points >() || streams.find(profile_id) != streams.end()) + { + last_frames[profile_id] = f; + continue; + } + + auto stream_origin_iter = streams_origin.find(profile_id); + if ((stream_origin_iter != streams_origin.end() && streams.find(stream_origin_iter->second) != streams.end())) + { + last_frames[profile_id] = f; + } + } + } + + for(auto&& f : last_frames) + not_model->output.update_dashboards(f.second); + + for( auto && frame : last_frames ) + { + auto f = frame.second; + + if (f.is< points >()) // find and store the 3d points frame for later use + { + if (!paused) + p = f.as< points >(); + continue; + } + + auto texture = upload_frame( std::move( f ) ); + + if( ( selected_tex_source_uid == -1 && f.get_profile().format() == RS2_FORMAT_Z16 ) + || ( f.get_profile().format() != RS2_FORMAT_ANY && is_3d_texture_source( f ) ) ) + { + texture_frame = texture; + } + } + } + catch (const error& ex) + { + error_message = error_to_string(ex); + } + catch (const std::exception& ex) + { + error_message = ex.what(); + } + + window.begin_viewport(); + + auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove + | ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar + | ImGuiWindowFlags_NoSavedSettings + | ImGuiWindowFlags_NoScrollbar | ImGuiWindowFlags_NoScrollWithMouse; + + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, { 5, 5 }); + ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 0); + + ImGui::SetNextWindowPos({ viewer_rect.x, viewer_rect.y }); + ImGui::SetNextWindowSize({ viewer_rect.w, viewer_rect.h }); + + ImGui::Begin("Viewport", nullptr, { viewer_rect.w, viewer_rect.h }, 0.f, flags); + + try + { + draw_viewport( viewer_rect, window, devices, error_message, texture_frame, p ); + + modal_notification_on = not_model->draw( window, + static_cast< int >( window.width() ), + static_cast< int >( window.height() ), + error_message ); + } + catch( const error & e ) + { + error_message = error_to_string( e ); + } + catch( const std::exception & e ) + { + error_message = e.what(); + } + + popup_if_error(window, error_message); + + if (!_active_popups.empty()) + show_popup(window, _active_popups.front()); + + ImGui::End(); + ImGui::PopStyleVar(2); + + error_message = ""; + + return f; + } + + void viewer_model::reset_camera(float3 p) + { + target = { 0.0f, 0.0f, 0.0f }; + pos = p; + + // initialize "up" to be tangent to the sphere! + // up = cross(cross(look, world_up), look) + { + float3 look = { target.x - pos.x, target.y - pos.y, target.z - pos.z }; + look = look.normalized(); + + float world_up[3] = { 0.0f, 1.0f, 0.0f }; + + float across[3] = { + look.y * world_up[2] - look.z * world_up[1], + look.z * world_up[0] - look.x * world_up[2], + look.x * world_up[1] - look.y * world_up[0], + }; + + up.x = across[1] * look.z - across[2] * look.y; + up.y = across[2] * look.x - across[0] * look.z; + up.z = across[0] * look.y - across[1] * look.x; + + float up_len = up.length(); + up.x /= -up_len; + up.y /= -up_len; + up.z /= -up_len; + } + } + + void viewer_model::draw_color_ruler(const mouse_info& mouse, + const stream_model& s_model, + const rect& stream_rect, + std::vector rgb_per_distance_vec, + float ruler_length, + const std::string& ruler_units) + { + if (rgb_per_distance_vec.empty() || (ruler_length <= 0.f)) + return; + + ruler_length = std::ceil(ruler_length); + std::sort(rgb_per_distance_vec.begin(), rgb_per_distance_vec.end(), [](const rgb_per_distance& a, + const rgb_per_distance& b) { + return a.depth_val < b.depth_val; + }); + + const auto stream_height = stream_rect.y + stream_rect.h; + const auto stream_width = stream_rect.x + stream_rect.w; + + static const auto ruler_distance_offset = 10; + auto bottom_y_ruler = stream_height - ruler_distance_offset; + if (s_model.texture->zoom_preview) + { + bottom_y_ruler = s_model.texture->curr_preview_rect.y - ruler_distance_offset; + } + + static const auto top_y_offset = 50; + auto top_y_ruler = stream_rect.y + top_y_offset; + if (s_model.show_stream_details) + { + top_y_ruler = s_model.curr_info_rect.y + s_model.curr_info_rect.h + ruler_distance_offset; + } + + static const auto left_x_colored_ruler_offset = 55; + static const auto colored_ruler_width = 20; + const auto left_x_colored_ruler = stream_width - left_x_colored_ruler_offset; + const auto right_x_colored_ruler = stream_width - (left_x_colored_ruler_offset - colored_ruler_width); + assert((bottom_y_ruler - top_y_ruler) != 0.f); + const auto ratio = (bottom_y_ruler - top_y_ruler) / ruler_length; + + // Draw numbered ruler + float y_ruler_val = top_y_ruler; + static const auto numbered_ruler_width = 20.f; + + const auto right_x_numbered_ruler = right_x_colored_ruler + numbered_ruler_width; + static const auto hovered_numbered_ruler_opac = 0.8f; + static const auto unhovered_numbered_ruler_opac = 0.6f; + float colored_ruler_opac = unhovered_numbered_ruler_opac; + float numbered_ruler_background_opac = unhovered_numbered_ruler_opac; + bool is_ruler_hovered = false; + if (mouse.cursor.x >= left_x_colored_ruler && + mouse.cursor.x <= right_x_numbered_ruler && + mouse.cursor.y >= top_y_ruler && + mouse.cursor.y <= bottom_y_ruler) + is_ruler_hovered = true; + + if (is_ruler_hovered) + { + std::stringstream ss; + auto relative_mouse_y = ImGui::GetMousePos().y - top_y_ruler; + auto y = (bottom_y_ruler - top_y_ruler) - relative_mouse_y; + ss << std::fixed << std::setprecision(2) << (y / ratio) << ruler_units; + ImGui::SetTooltip("%s", ss.str().c_str()); + colored_ruler_opac = 1.f; + numbered_ruler_background_opac = hovered_numbered_ruler_opac; + } + + // Draw a background to the numbered ruler + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + glColor4f(0.0, 0.0, 0.0, numbered_ruler_background_opac); + glBegin(GL_POLYGON); + glVertex2f(right_x_colored_ruler, top_y_ruler); + glVertex2f(right_x_numbered_ruler , top_y_ruler); + glVertex2f(right_x_numbered_ruler , bottom_y_ruler); + glVertex2f(right_x_colored_ruler, bottom_y_ruler); + glEnd(); + + + const float x_ruler_val = right_x_colored_ruler + 4.0f; + ImGui::SetCursorScreenPos({ x_ruler_val, y_ruler_val }); + const auto font_size = ImGui::GetFontSize(); + ImGui::TextUnformatted(std::to_string(static_cast(ruler_length)).c_str()); + const auto skip_numbers = ((ruler_length / 10.f) - 1.f); + auto to_skip = (skip_numbers < 0.f)?0.f: skip_numbers; + for (int i = static_cast(ruler_length - 1); i > 0; --i) + { + y_ruler_val += ((bottom_y_ruler - top_y_ruler) / ruler_length); + ImGui::SetCursorScreenPos({ x_ruler_val, y_ruler_val - font_size / 2 }); + if (((to_skip--) > 0)) + continue; + + ImGui::TextUnformatted(std::to_string(i).c_str()); + to_skip = skip_numbers; + } + y_ruler_val += ((bottom_y_ruler - top_y_ruler) / ruler_length); + ImGui::SetCursorScreenPos({ x_ruler_val, y_ruler_val - font_size }); + ImGui::Text("0"); + + auto total_depth_scale = rgb_per_distance_vec.back().depth_val - rgb_per_distance_vec.front().depth_val; + static const auto sensitivity_factor = 0.01f; + auto sensitivity = sensitivity_factor * total_depth_scale; + + // Draw colored ruler + auto last_y = bottom_y_ruler; + auto last_depth_value = 0.f; + size_t last_index = 0; + for (size_t i = 1; i < rgb_per_distance_vec.size(); ++i) + { + auto curr_depth = rgb_per_distance_vec[i].depth_val; + if ((((curr_depth - last_depth_value) < sensitivity) && (i != rgb_per_distance_vec.size() - 1))) + continue; + + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + glBegin(GL_QUADS); + glColor4f(rgb_per_distance_vec[last_index].rgb_val.r / 255.f, + rgb_per_distance_vec[last_index].rgb_val.g / 255.f, + rgb_per_distance_vec[last_index].rgb_val.b / 255.f, + colored_ruler_opac); + glVertex2f(left_x_colored_ruler, last_y); + glVertex2f(right_x_colored_ruler, last_y); + + last_depth_value = curr_depth; + last_index = i; + + auto y = bottom_y_ruler - ((rgb_per_distance_vec[i].depth_val) * ratio); + if ((i == (rgb_per_distance_vec.size() - 1)) || (std::ceil(curr_depth) > ruler_length)) + y = top_y_ruler; + + glColor4f(rgb_per_distance_vec[i].rgb_val.r / 255.f, + rgb_per_distance_vec[i].rgb_val.g / 255.f, + rgb_per_distance_vec[i].rgb_val.b / 255.f, + colored_ruler_opac); + + glVertex2f(right_x_colored_ruler, y); + glVertex2f(left_x_colored_ruler, y); + last_y = y; + glEnd(); + } + + // Draw ruler border + static const auto top_line_offset = 0.5f; + static const auto right_line_offset = top_line_offset / 2; + glColor4f(0.0, 0.0, 0.0, colored_ruler_opac); + glBegin(GL_LINE_LOOP); + glVertex2f(left_x_colored_ruler - top_line_offset, top_y_ruler - top_line_offset); + glVertex2f(right_x_numbered_ruler + right_line_offset / 2, top_y_ruler - top_line_offset); + glVertex2f(right_x_numbered_ruler + right_line_offset / 2, bottom_y_ruler + top_line_offset); + glVertex2f(left_x_colored_ruler - top_line_offset, bottom_y_ruler + top_line_offset); + glEnd(); + } + + float viewer_model::calculate_ruler_max_distance(const std::vector& distances) const + { + assert(!distances.empty()); + + float mean = std::accumulate(distances.begin(), + distances.end(), 0.0f) / distances.size(); + + float e = 0; + float inverse = 1.f / distances.size(); + for (auto elem : distances) + { + e += static_cast(pow(elem - mean, 2)); + } + + auto standard_deviation = sqrt(inverse * e); + static const auto length_jump = 4.f; + return std::ceil((mean + 1.5f * standard_deviation) / length_jump) * length_jump; + } + + void viewer_model::render_2d_view(const rect& view_rect, + ux_window& win, int output_height, + ImFont *font1, ImFont *font2, size_t dev_model_num, + const mouse_info &mouse, std::string& error_message) + { + static rsutils::time::periodic_timer every_sec(std::chrono::seconds(1)); + static bool icon_visible = false; + if (every_sec) icon_visible = !icon_visible; + float alpha = icon_visible ? 1.f : 0.2f; + + glViewport(0, 0, + static_cast(win.framebuf_width()), static_cast(win.framebuf_height())); + glLoadIdentity(); + glOrtho(0, win.width(), win.height(), 0, -1, +1); + + auto layout = calc_layout(view_rect); + + if ((layout.size() == 0) && (dev_model_num > 0)) + { + show_no_stream_overlay(font2, static_cast(view_rect.x), static_cast(view_rect.y), static_cast(win.width()), static_cast(win.height() - output_height)); + } + for (auto &&kvp : layout) + { + auto&& view_rect = kvp.second; + auto stream = kvp.first; + auto&& stream_mv = streams[stream]; + auto&& stream_size = stream_mv.size; + auto stream_rect = view_rect.adjust_ratio(stream_size).grow(-3); + + stream_mv.show_frame(stream_rect, mouse, error_message); + + auto p = stream_mv.dev->dev.as(); + float posX = stream_rect.x + 9; + float posY = stream_rect.y - 26; + + if (!stream_mv.is_stream_alive()) + { + std::string message = rsutils::string::from() << textual_icons::exclamation_triangle << " No Frames Received!"; + show_icon(font2, "warning_icon", message.c_str(), + static_cast(stream_rect.center().x - 100), + static_cast(stream_rect.center().y - 25), + stream_mv.profile.unique_id(), + blend(dark_red, alpha), + "Did not receive frames from the platform within a reasonable time window,\nplease try reducing the FPS or the resolution"); + } + + stream_mv.show_stream_header(font1, stream_rect, *this); + stream_mv.show_stream_footer(font1, stream_rect, mouse, streams, *this); + + + if (val_in_range(stream_mv.profile.format(), { RS2_FORMAT_RAW10 , RS2_FORMAT_RAW16, RS2_FORMAT_MJPEG })) + { + show_rendering_not_supported(font2, static_cast(stream_rect.x), static_cast(stream_rect.y), static_cast(stream_rect.w), + static_cast(stream_rect.h), stream_mv.profile.format()); + } + + if (stream_mv.dev->_is_being_recorded) + { + show_recording_icon(font2, static_cast(posX), static_cast(posY), stream_mv.profile.unique_id(), alpha); + posX += 23; + } + if (stream_mv.dev->is_paused() || (p && p.current_status() == RS2_PLAYBACK_STATUS_PAUSED)) + show_paused_icon(font2, static_cast(posX), static_cast(posY), stream_mv.profile.unique_id()); + + auto stream_type = stream_mv.profile.stream_type(); + + if (streams[stream].is_stream_visible()) + switch (stream_type) + { + { + case RS2_STREAM_GYRO: /* Fall Through */ + case RS2_STREAM_ACCEL: + { + auto motion = streams[stream].texture->get_last_frame().as(); + if (motion.get()) + { + auto axis = motion.get_motion_data(); + stream_mv.show_stream_imu(font1, stream_rect, axis, mouse); + } + break; + } + case RS2_STREAM_POSE: + { + if (streams[stream].show_stream_details) + { + auto pose = streams[stream].texture->get_last_frame().as(); + if (pose.get()) + { + auto pose_data = pose.get_pose_data(); + if (stream_rect.contains(win.get_mouse().cursor)) + stream_mv.show_stream_pose(font1, + stream_rect, pose_data, + stream_type, (*this).fullscreen, 30.0f, *this); + } + } + + break; + } + } + } + + //switch( stream_mv.profile.stream_type() ) + { + static std::vector< std::pair< ImColor, bool > > colors = + { + { ImColor( 1.f, 1.f, 1.f, 1.f ), false }, // the default color + { ImColor( 1.f, 0.f, 0.f, 1.f ), false }, + { ImColor( 0.f, 1.f, 0.f, 1.f ), false }, + { ImColor( 0.f, 0.f, 1.f, 1.f ), false }, + { ImColor( 1.f, 0.f, 1.f, 1.f ), false }, + { ImColor( 1.f, 1.f, 0.f, 1.f ), false }, + }; + typedef size_t ColorIdx; + static std::map< size_t, ColorIdx > id2color; + + // Returns the color (from those pre-defined above) for the given object, based on its ID + auto get_color = [&]( object_in_frame const & object ) -> ImColor + { + ColorIdx & color = id2color[object.id]; // Creates it with 0 as default if not already there + if( color < int( colors.size() )) + { + if( color > 0 ) + return colors[color].first; // Return an already-assigned color + // Find the next available color + size_t x = 0; + for( auto & p : colors ) + { + bool & in_use = p.second; + if( !in_use ) + { + in_use = true; + color = x; + return p.first; + } + ++x; + } + // No available color; use the default and mark the object so we don't do this again + color = 100; + } + // If we're here it's because there're more objects than colors + return colors[0].first; + }; + + glColor3f( 1, 1, 1 ); + auto p_objects = stream_mv.dev->detected_objects; + std::lock_guard< std::mutex > lock( p_objects->mutex ); + + // Mark colors that are no longer in use + for( auto it = id2color.begin(); it != id2color.end(); ) + { + size_t id = it->first; + bool found = false; + for( object_in_frame & object : *p_objects ) + { + if( object.id == id ) + { + found = true; + break; + } + } + if( !found ) + { + colors[it->second].second = false; // no longer in use + auto it_to_erase = it++; + id2color.erase( it_to_erase ); + } + else + { + ++it; + } + } + + + for( object_in_frame & object : *p_objects ) + { + rect const & normalized_bbox = stream_mv.profile.stream_type() == RS2_STREAM_DEPTH + ? object.normalized_depth_bbox + : object.normalized_color_bbox; + rect bbox = normalized_bbox.unnormalize( stream_rect ); + bbox.grow( 10, 5 ); // Allow more text, and easier identification of the face + + float const max_depth = 2.f; + float const min_depth = 0.8f; + float const depth_range = max_depth - min_depth; + float usable_depth = std::min( object.mean_depth, max_depth ); + float a = 0.75f * (max_depth - usable_depth) / depth_range + 0.25f; + + // Don't draw text in boxes that are too small... + auto h = bbox.h; + ImGui::PushStyleColor( ImGuiCol_Text, ImColor( 1.f, 1.f, 1.f, a ) ); + ImColor bg( dark_sensor_bg.x, dark_sensor_bg.y, dark_sensor_bg.z, dark_sensor_bg.w * a ); + + if( fabs(object.mean_depth) > 0.f ) + { + std::string str = rsutils::string::from() << std::setprecision( 2 ) << object.mean_depth << " m"; + auto size = ImGui::CalcTextSize( str.c_str() ); + if( size.y < h && size.x < bbox.w ) + { + ImGui::GetWindowDrawList()->AddRectFilled( + { bbox.x + 1, bbox.y + 1 }, + { bbox.x + size.x + 20, bbox.y + size.y + 6 }, + bg ); + ImGui::SetCursorScreenPos( { bbox.x + 10, bbox.y + 3 } ); + ImGui::Text("%s", str.c_str() ); + h -= size.y; + } + } + if( ! object.name.empty() ) + { + auto size = ImGui::CalcTextSize( object.name.c_str() ); + if( size.y < h && size.x < bbox.w ) + { + ImGui::GetWindowDrawList()->AddRectFilled( + { bbox.x + bbox.w - size.x - 20, bbox.y + bbox.h - size.y - 6 }, + { bbox.x + bbox.w - 1, bbox.y + bbox.h - 1 }, + bg ); + ImGui::SetCursorScreenPos( { bbox.x + bbox.w - size.x - 10, bbox.y + bbox.h - size.y - 4 } ); + ImGui::Text("%s", object.name.c_str() ); + h -= size.y; + } + } + + ImGui::PopStyleColor(); + + // The rectangle itself is always drawn, in the same color as the text + auto frame_color = get_color( object ); + glColor3f( a * frame_color.Value.x, a * frame_color.Value.y, a * frame_color.Value.z ); + draw_rect( bbox ); + } + } + + glColor3f(header_window_bg.x, header_window_bg.y, header_window_bg.z); + stream_rect.y -= 32; + stream_rect.h += 32; + stream_rect.w += 1; + draw_rect(stream_rect); + + auto frame = streams[stream].texture->get_last_frame().as(); + auto textured_frame = streams[stream].texture->get_last_frame(true).as(); + if (streams[stream].show_map_ruler && frame && textured_frame && + RS2_STREAM_DEPTH == stream_mv.profile.stream_type() && + RS2_FORMAT_Z16 == stream_mv.profile.format()) + { + if(RS2_FORMAT_RGB8 == textured_frame.get_profile().format()) + { + static const std::string depth_units = "m"; + float ruler_length = 0.f; + auto depth_vid_profile = stream_mv.profile.as(); + auto depth_width = depth_vid_profile.width(); + auto depth_height = depth_vid_profile.height(); + auto depth_data = static_cast(frame.get_data()); + auto textured_depth_data = static_cast(textured_frame.get_data()); + static const auto skip_pixels_factor = 30; + std::vector rgb_per_distance_vec; + std::vector distances; + for (uint64_t i = 0; i < depth_height; i+= skip_pixels_factor) + { + for (uint64_t j = 0; j < depth_width; j+= skip_pixels_factor) + { + auto depth_index = i*depth_width + j; + auto length = depth_data[depth_index] * stream_mv.dev->depth_units; + if (length > 0.f) + { + auto textured_depth_index = depth_index * 3; + auto r = textured_depth_data[textured_depth_index]; + auto g = textured_depth_data[textured_depth_index + 1]; + auto b = textured_depth_data[textured_depth_index + 2]; + rgb_per_distance_vec.push_back({ length, { r, g, b } }); + distances.push_back(length); + } + } + } + + if (!distances.empty()) + { + ruler_length = calculate_ruler_max_distance(distances); + draw_color_ruler(mouse, streams[stream], stream_rect, rgb_per_distance_vec, ruler_length, depth_units); + } + } + } + } + } + + void viewer_model::render_3d_view(const rect& viewer_rect, ux_window& win, + std::shared_ptr texture, rs2::points points) + { + auto top_bar_height = 60.f; + + if (points) + { + last_points = points; + } + if (texture) + { + last_texture = texture; + } + + auto bottom_y = win.framebuf_height() - viewer_rect.y - viewer_rect.h; + + glViewport(static_cast(non_negative(viewer_rect.x)), static_cast(non_negative(bottom_y)), + static_cast(non_negative(viewer_rect.w)), static_cast(non_negative(viewer_rect.h - top_bar_height))); + + glClearColor(0, 0, 0, 1); + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + glLoadIdentity(); + + glMatrixMode(GL_PROJECTION); + glPushMatrix(); + gluPerspective(45, non_negative(viewer_rect.w / win.framebuf_height()), 0.001f, 100.0f); + matrix4 perspective_mat; + glGetFloatv(GL_PROJECTION_MATRIX, perspective_mat); + glPopMatrix(); + + check_gl_error(); + + glMatrixMode(GL_PROJECTION); + glPushMatrix(); + glLoadMatrixf((float*)perspective_mat.mat); + + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + glLoadMatrixf(view); + + matrix4 view_mat; + memcpy(&view_mat, view, sizeof(matrix4)); + + glDisable(GL_TEXTURE_2D); + + glEnable(GL_DEPTH_TEST); + + glDepthMask(GL_FALSE); + if (show_skybox) _skybox.render(pos); + glDepthMask(GL_TRUE); + + auto r1 = matrix4::identity(); + auto r2 = matrix4::identity(); + + if (draw_plane && !paused) + { + glPushAttrib(GL_LINE_BIT); + glLineWidth(2); + glBegin(GL_LINES); + + if (is_valid(roi_rect)) + { + glColor4f(yellow.x, yellow.y, yellow.z, 1.f); + + auto rects = subdivide(roi_rect); + for (auto&& r : rects) + { + for (int i = 0; i < 4; i++) + { + auto j = (i + 1) % 4; + glVertex3f(r[i].x, r[i].y, r[i].z); + glVertex3f(r[j].x, r[j].y, r[j].z); + } + } + } + + glEnd(); + glPopAttrib(); + } + + auto x = static_cast(-M_PI / 2); + float _rx[4][4] = { + { 1 , 0, 0, 0 }, + { 0, static_cast(cos(x)), static_cast(-sin(x)), 0 }, + { 0, static_cast(sin(x)), static_cast(cos(x)), 0 }, + { 0, 0, 0, 1 } + }; + static const double z = M_PI; + static float _rz[4][4] = { + { float(cos(z)), float(-sin(z)),0, 0 }, + { float(sin(z)), float(cos(z)), 0, 0 }, + { 0 , 0, 1, 0 }, + { 0, 0, 0, 1 } + }; + + { + float tiles = 24; + if (!metric_system) tiles *= 1.f / FEET_TO_METER; + + glTranslatef(0, 0, -1); + glLineWidth(1); + + // Render "floor" grid + glBegin(GL_LINES); + + auto T = tiles * 0.5f; + + if (!metric_system) T *= FEET_TO_METER; + + for (int i = 0; i <= ceil(tiles); i++) + { + float I = float(i); + if (!metric_system) I *= FEET_TO_METER; + + if (i == tiles / 2) glColor4f(0.7f, 0.7f, 0.7f, 1.f); + else glColor4f(0.4f, 0.4f, 0.4f, 1.f); + + glVertex3f(I - T, 1, -T); + glVertex3f(I - T, 1, T); + glVertex3f(-T, 1, I - T); + glVertex3f(T, 1, I - T); + } + glEnd(); + } + + check_gl_error(); + + if (!_pc_selected) + { + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + glLoadMatrixf(r1 * view_mat); + texture_buffer::draw_axes(0.4f, 1); + glPopMatrix(); + } + + check_gl_error(); + + glColor4f(1.f, 1.f, 1.f, 1.f); + + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + glLoadMatrixf(r1 * view_mat); + if (draw_frustrum && last_points) + { + glLineWidth(1.f); + glBegin(GL_LINES); + + auto intrin = last_points.get_profile().as().get_intrinsics(); + + if (_pc_selected) glColor4f(light_blue.x, light_blue.y, light_blue.z, 0.5f); + else glColor4f(sensor_bg.x, sensor_bg.y, sensor_bg.z, 0.5f); + + for (float d = 1; d < 6; d += 2) + { + auto get_point = [&](float x, float y) -> float3 + { + float point[3]; + float pixel[2]{ x, y }; + rs2_deproject_pixel_to_point(point, &intrin, pixel, d); + glVertex3f(0.f, 0.f, 0.f); + glVertex3fv(point); + return{ point[0], point[1], point[2] }; + }; + + auto top_left = get_point(0, 0); + auto top_right = get_point(static_cast(intrin.width), 0); + auto bottom_right = get_point(static_cast(intrin.width), static_cast(intrin.height)); + auto bottom_left = get_point(0, static_cast(intrin.height)); + + glVertex3fv(&top_left.x); glVertex3fv(&top_right.x); + glVertex3fv(&top_right.x); glVertex3fv(&bottom_right.x); + glVertex3fv(&bottom_right.x); glVertex3fv(&bottom_left.x); + glVertex3fv(&bottom_left.x); glVertex3fv(&top_left.x); + } + + glEnd(); + + glColor4f(1.f, 1.f, 1.f, 1.f); + } + + check_gl_error(); + + if (last_points && last_texture) + { + auto vf_profile = last_points.get_profile().as(); + // Non-linear correspondence customized for non-flat surface exploration + + if (vf_profile.width() <= 0) + throw std::runtime_error("Profile width must be greater than 0."); + + glPointSize(std::sqrt(viewer_rect.w / vf_profile.width())); + + auto tex = last_texture->get_gl_handle(); + glBindTexture(GL_TEXTURE_2D, tex); + glEnable(GL_TEXTURE_2D); + + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, texture_border_mode); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, texture_border_mode); + + _pc_renderer.set_option(gl::pointcloud_renderer::OPTION_FILLED, selected_shader != shader_type::points ? 1.f : 0.f); + _pc_renderer.set_option(gl::pointcloud_renderer::OPTION_SHADED, selected_shader == shader_type::diffuse ? 1.f : 0.f); + + _pc_renderer.set_matrix(RS2_GL_MATRIX_CAMERA, r2 * view_mat); + _pc_renderer.set_matrix(RS2_GL_MATRIX_PROJECTION, perspective_mat); + + _pc_renderer.set_option(gl::pointcloud_renderer::OPTION_SELECTED, _pc_selected ? 1.f : 0.f); + + auto viewport_rect = viewer_rect; + + auto cursor = win.get_mouse().cursor; + auto scaled_cursor = cursor; + scaled_cursor.x *= win.get_scale_factor(); + scaled_cursor.y *= win.get_scale_factor(); + if (viewport_rect.contains(scaled_cursor)) + { + _pc_renderer.set_option(gl::pointcloud_renderer::OPTION_MOUSE_PICK, 1.f); + _pc_renderer.set_option(gl::pointcloud_renderer::OPTION_SCALE_FACTOR, win.get_scale_factor()); + + _pc_renderer.set_option(gl::pointcloud_renderer::OPTION_MOUSE_X, cursor.x); + _pc_renderer.set_option(gl::pointcloud_renderer::OPTION_MOUSE_Y, win.framebuf_height() / win.get_scale_factor() - cursor.y); + } + + // Render Point-Cloud + last_points.apply_filter(_pc_renderer); + + if (_pc_renderer.get_option(gl::pointcloud_renderer::OPTION_PICKED_ID) > 0.f) + { + float3 p { + _pc_renderer.get_option(gl::pointcloud_renderer::OPTION_PICKED_X), + _pc_renderer.get_option(gl::pointcloud_renderer::OPTION_PICKED_Y), + _pc_renderer.get_option(gl::pointcloud_renderer::OPTION_PICKED_Z), + }; + float3 normal { + _pc_renderer.get_option(gl::pointcloud_renderer::OPTION_NORMAL_X), + _pc_renderer.get_option(gl::pointcloud_renderer::OPTION_NORMAL_Y), + _pc_renderer.get_option(gl::pointcloud_renderer::OPTION_NORMAL_Z), + }; + _measurements.mouse_pick(win, p, normal); + + // Adjust track-ball controller based on picked position + // 1. Place target at the closest point to p, along (pos, target) interval + // 2. When zooming-in, move camera target and position toward p + if (!win.get_mouse().mouse_down[0]) + { + auto x1x2 = target - pos; + auto x1x0 = p - pos; + auto t = (x1x2 * x1x0) / (x1x2 * x1x2); + auto p1 = pos + x1x2* t; + + if (t > 0) { // Don't adjust if pointcloud is behind us + target = lerp(p1, target, 0.9f); + + if (win.get_mouse().mouse_wheel > 0) + { + pos = lerp(p, pos, 0.9f); + target = lerp(p, target, 0.9f); + } + } + } + + //try_select_pointcloud(win); + } + + glDisable(GL_TEXTURE_2D); + + _cam_renderer.set_matrix(RS2_GL_MATRIX_CAMERA, r2 * view_mat); + _cam_renderer.set_matrix(RS2_GL_MATRIX_PROJECTION, perspective_mat); + + if (streams.find(selected_depth_source_uid) != streams.end()) + { + auto source_frame = streams[selected_depth_source_uid].texture->get_last_frame(); + if (source_frame) + { + glDisable(GL_DEPTH_TEST); + glEnable(GL_BLEND); + + glBlendFunc(GL_ONE, GL_ONE); + + // _cam_renderer.set_option(gl::camera_renderer::OPTION_SELECTED, _pc_selected ? 1.f : 0.f); + + // if (viewer_rect.contains(cursor)) + // { + // _cam_renderer.set_option(gl::camera_renderer::OPTION_MOUSE_PICK, 1.f); + // _cam_renderer.set_option(gl::camera_renderer::OPTION_MOUSE_X, cursor.x); + // _cam_renderer.set_option(gl::camera_renderer::OPTION_MOUSE_Y, cursor.y); + // } + + // only display camera when it does not occlude point cloud + origin_occluded.add_value(_pc_renderer.get_option(gl::pointcloud_renderer::OPTION_ORIGIN_PICKED) <= 0.f); + _cam_renderer.set_option(RS2_OPTION_FILTER_MAGNITUDE, powf(origin_occluded.get_stat(), 2.f)); + source_frame.apply_filter(_cam_renderer); + + // if (_cam_renderer.get_option(gl::camera_renderer::OPTION_WAS_PICKED) > 0.f) + // { + // try_select_pointcloud(win); + // } + + glDisable(GL_BLEND); + glEnable(GL_DEPTH_TEST); + } + } + } + + check_gl_error(); + + _measurements.draw(win); + + glPopMatrix(); + + glPopMatrix(); + glMatrixMode(GL_PROJECTION); + glPopMatrix(); + + glDisable(GL_DEPTH_TEST); + + if (ImGui::IsKeyPressed('R') || ImGui::IsKeyPressed('r')) + { + reset_camera(); + } + } + + void viewer_model::show_top_bar(ux_window& window, const rect& viewer_rect, const device_models_list& devices) + { + auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | + ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar | + ImGuiWindowFlags_NoSavedSettings; + + ImGui::SetNextWindowPos({ panel_width, 0 }); + ImGui::SetNextWindowSize({ window.width() - panel_width, panel_y }); + + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0, 0)); + ImGui::PushStyleColor(ImGuiCol_WindowBg, button_color); + ImGui::Begin("Toolbar Panel", nullptr, flags); + + ImGui::PushFont(window.get_large_font()); + ImGui::PushStyleColor(ImGuiCol_Border, black); + + int buttons = window.is_fullscreen() ? 4 : 3; + + ImGui::SetCursorPosX(window.width() - panel_width - panel_y * (buttons)); + ImGui::PushStyleColor(ImGuiCol_Text, is_3d_view ? light_grey : light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, is_3d_view ? light_grey : light_blue); + if (ImGui::Button("2D", { panel_y, panel_y })) + { + is_3d_view = false; + config_file::instance().set(configurations::viewer::is_3d_view, is_3d_view); + } + ImGui::PopStyleColor(2); + ImGui::SameLine(); + + ImGui::SetCursorPosX(window.width() - panel_width - panel_y * (buttons - 1)); + auto pos1 = ImGui::GetCursorScreenPos(); + + ImGui::PushStyleColor(ImGuiCol_Text, !is_3d_view ? light_grey : light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, !is_3d_view ? light_grey : light_blue); + if (ImGui::Button("3D", { panel_y,panel_y })) + { + is_3d_view = true; + config_file::instance().set(configurations::viewer::is_3d_view, is_3d_view); + update_3d_camera(window, viewer_rect, true); + } + + ImGui::PopStyleColor(2); + ImGui::SameLine(); + + ImGui::SetCursorPosX(window.width() - panel_width - panel_y * (buttons - 2)); + + static bool settings_open = false; + ImGui::PushStyleColor(ImGuiCol_Text, !settings_open ? light_grey : light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, !settings_open ? light_grey : light_blue); + + if (ImGui::Button(u8"\uf013", { panel_y,panel_y })) + { + ImGui::OpenPopup("More Options"); + } + + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "More Options..."); + } + + if (window.is_fullscreen()) + { + ImGui::SameLine(); + ImGui::SetCursorPosX(window.width() - panel_width - panel_y * (buttons - 4)); + + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, button_color); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_red); + if (ImGui::Button(textual_icons::exit, { panel_y,panel_y })) + { + exit(0); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("Exit the App"); + window.link_hovered(); + } + ImGui::PopStyleColor(3); + } + + ImGui::PopFont(); + + ImGui::PushStyleColor(ImGuiCol_Text, black); + ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg); + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5, 5)); + + ImGui::PushFont(window.get_font()); + + const char* menu_items[] = { "Report Issue", "Intel Store", "Settings", "About" }; + bool open_settings_popup = false; + bool open_about_popup = false; + + ImGui::SetNextWindowPos({ window.width() - 130, panel_y }); + auto separator_height = 2; + auto menu_items_len = sizeof( menu_items ) / sizeof( menu_items[0] ); + auto popup_height = ( ImGui::GetTextLineHeightWithSpacing() + 2 ) * menu_items_len + separator_height; + ImVec2 popup_size = { 6.f * window.get_font_size(), popup_height }; + ImGui::SetNextWindowSize( popup_size ); + + if (ImGui::BeginPopup("More Options")) + { + settings_open = true; + + if( ImGui::Selectable( menu_items[0] ) ) + { + open_issue(devices); + } + + if( ImGui::Selectable( menu_items[1] ) ) + { + open_url("https://store.intelrealsense.com/"); + } + + if( ImGui::Selectable( menu_items[2] ) ) + { + open_settings_popup = true; + } + + ImGui::Separator(); + + if( ImGui::Selectable( menu_items[3] ) ) + { + open_about_popup = true; + } + + ImGui::EndPopup(); + } + else + { + settings_open = false; + } + + static config_file temp_cfg; + static bool reload_required = false; + static bool refresh_required = false; + static bool refresh_updates = false; + + static int tab = 0; + + if (open_settings_popup) + { + _measurements.disable(); + temp_cfg = config_file::instance(); + ImGui::OpenPopup(menu_items[2]); + reload_required = false; + refresh_required = false; + tab = config_file::instance().get_or_default(configurations::viewer::settings_tab, 0); + } + + { + float w = window.width() * 0.6f; + float h = window.height() * 0.6f; + float x0 = window.width() * 0.2f; + float y0 = window.height() * 0.2f; + ImGui::SetNextWindowPos({ x0, y0 }); + ImGui::SetNextWindowSize({ w, h }); + + flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | + ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings; + + ImGui_ScopePushFont(window.get_font()); + ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(15, 15)); + ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1); + + if (ImGui::BeginPopupModal(menu_items[2], nullptr, flags)) + { + if (ImGui::IsWindowHovered()) window.set_hovered_over_input(); + + ImGui::SetCursorScreenPos({ (float)(x0 + w / 2 - 280), (float)(y0 + 27) }); + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); + ImGui::PushFont(window.get_large_font()); + + ImGui::PushStyleColor(ImGuiCol_Text, tab != 0 ? light_grey : light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, tab != 0 ? light_grey : light_blue); + if (ImGui::Button("Playback & Record", { 170, 30})) + { + tab = 0; + config_file::instance().set(configurations::viewer::settings_tab, tab); + temp_cfg.set(configurations::viewer::settings_tab, tab); + } + ImGui::PopStyleColor(2); + ImGui::SameLine(); + + ImGui::PushStyleColor(ImGuiCol_Text, tab != 1 ? light_grey : light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, tab != 1 ? light_grey : light_blue); + if (ImGui::Button("Performance", { 150, 30})) + { + tab = 1; + config_file::instance().set(configurations::viewer::settings_tab, tab); + temp_cfg.set(configurations::viewer::settings_tab, tab); + } + ImGui::PopStyleColor(2); + ImGui::SameLine(); + + ImGui::PushStyleColor(ImGuiCol_Text, tab != 2 ? light_grey : light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, tab != 2 ? light_grey : light_blue); + if (ImGui::Button("General", { 100, 30})) + { + tab = 2; + config_file::instance().set(configurations::viewer::settings_tab, tab); + temp_cfg.set(configurations::viewer::settings_tab, tab); + } + ImGui::PopStyleColor(2); + ImGui::SameLine(); + + ImGui::PushStyleColor(ImGuiCol_Text, tab != 3 ? light_grey : light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, tab != 3 ? light_grey : light_blue); + + if (ImGui::Button("Updates", { 120, 30 })) + { + tab = 3; + config_file::instance().set(configurations::viewer::settings_tab, tab); + temp_cfg.set(configurations::viewer::settings_tab, tab); + } + + ImGui::PopStyleColor(2); + ImGui::PopFont(); + ImGui::PopStyleColor(2); // button color + + ImGui::SetCursorScreenPos({ (float)(x0 + 15), (float)(y0 + 65) }); + ImGui::Separator(); + + if (tab == 0) + { + int recording_setting = temp_cfg.get(configurations::record::file_save_mode); + ImGui::Text("When starting a new recording:"); + if (ImGui::RadioButton("Select filename automatically", recording_setting == 0)) + { + recording_setting = 0; + temp_cfg.set(configurations::record::file_save_mode, recording_setting); + } + if (ImGui::RadioButton("Ask me every time", recording_setting == 1)) + { + recording_setting = 1; + temp_cfg.set(configurations::record::file_save_mode, recording_setting); + } + ImGui::Text("Default recording folder: "); + ImGui::SameLine(); + static char path[256]; + memset(path, 0, 256); + std::string path_str = temp_cfg.get(configurations::record::default_path); + memcpy(path, path_str.c_str(), std::min(255, (int)path_str.size())); + + if (ImGui::InputText("##default_record_path", path, 255)) + { + path_str = path; + temp_cfg.set(configurations::record::default_path, path_str); + } + + ImGui::Separator(); + + ImGui::Text("ROS-bag Compression:"); + int recording_compression = temp_cfg.get(configurations::record::compression_mode); + if (ImGui::RadioButton("Always Compress (might cause frame drops)", recording_compression == 0)) + { + recording_compression = 0; + temp_cfg.set(configurations::record::compression_mode, recording_compression); + } + if (ImGui::RadioButton("Never Compress (larger .bag file size)", recording_compression == 1)) + { + recording_compression = 1; + temp_cfg.set(configurations::record::compression_mode, recording_compression); + } + if (ImGui::RadioButton("Use device defaults", recording_compression == 2)) + { + recording_compression = 2; + temp_cfg.set(configurations::record::compression_mode, recording_compression); + } + } + + if (tab == 1) + { + // Font oversample slider + int font_samples = temp_cfg.get(configurations::performance::font_oversample); + ImGui::Text("Font Samples: "); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("Increased font samples produce nicer text, but require more GPU memory, sometimes resulting in boxes instead of font characters"); + + ImGui::SameLine(); + ImGui::PushItemWidth(80); + float slider_position_x = ImGui::GetCursorPosX(); + + if (ImGui::SliderInt("##font_samples", &font_samples, 1, 8)) + { + reload_required = true; + temp_cfg.set(configurations::performance::font_oversample, font_samples); + } + ImGui::PopItemWidth(); + + // Font slider + int font_size = temp_cfg.get( configurations::window::font_size ); + ImGui::Text( "Font Size: " ); + if( ImGui::IsItemHovered() ) + ImGui::SetTooltip( "Viewer Font Size" ); + + ImGui::SameLine(); + ImGui::PushItemWidth( 80 ); + ImGui::SetCursorPosX( slider_position_x ); + + if( ImGui::SliderInt( "##font_size", &font_size, 16, 20 ) ) + { + reload_required = true; + temp_cfg.set( configurations::window::font_size, font_size ); + } + ImGui::PopItemWidth(); + +#ifndef __APPLE__ // Not available at the moment on Mac + bool gpu_rendering = temp_cfg.get(configurations::performance::glsl_for_rendering); + if (ImGui::Checkbox("Use GLSL for Rendering", &gpu_rendering)) + { + refresh_required = true; + temp_cfg.set(configurations::performance::glsl_for_rendering, gpu_rendering); + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("Using OpenGL 3 shaders is a widely supported way to boost rendering speeds on modern GPUs."); + + bool gpu_processing = temp_cfg.get(configurations::performance::glsl_for_processing); + if (ImGui::Checkbox("Use GLSL for Processing", &gpu_processing)) + { + refresh_required = true; + temp_cfg.set(configurations::performance::glsl_for_processing, gpu_processing); + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("Using OpenGL 3 shaders for depth data processing can reduce CPU utilisation."); + + if (gpu_processing && !gpu_rendering) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::Text(u8"\uf071 Using GLSL for processing but not for rendering can reduce CPU utilisation, but is likely to hurt overall performance!"); + ImGui::PopStyleColor(); + } +#endif + bool msaa = temp_cfg.get(configurations::performance::enable_msaa); + if (ImGui::Checkbox("Enable Multisample Anti-Aliasing (MSAA)", &msaa)) + { + reload_required = true; + temp_cfg.set(configurations::performance::enable_msaa, msaa); + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("MSAA will improve the rendering quality of edges at expense of greater GPU memory utilisation."); + + if (msaa) + { + int samples = temp_cfg.get(configurations::performance::msaa_samples); + ImGui::Text("MSAA Samples: "); ImGui::SameLine(); + ImGui::PushItemWidth(160); + if (ImGui::SliderInt("##samples", &samples, 2, 16)) + { + reload_required = true; + temp_cfg.set(configurations::performance::msaa_samples, samples); + } + ImGui::PopItemWidth(); + } + + bool show_fps = temp_cfg.get(configurations::performance::show_fps); + if (ImGui::Checkbox("Show Application FPS (rendering FPS)", &show_fps)) + { + reload_required = true; + temp_cfg.set(configurations::performance::show_fps, show_fps); + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("Show application refresh rate in window title\nThis rate is unrelated to camera FPS and measures application responsivness"); + + + bool vsync = temp_cfg.get(configurations::performance::vsync); + if (ImGui::Checkbox("Enable VSync", &vsync)) + { + reload_required = true; + temp_cfg.set(configurations::performance::vsync, vsync); + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("Vertical sync will try to synchronize application framerate to the monitor refresh-rate (usually limiting the framerate to 60)"); + + bool fullscreen = temp_cfg.get(configurations::window::is_fullscreen); + if (ImGui::Checkbox("Fullscreen (F8)", &fullscreen)) + { + reload_required = true; + temp_cfg.set(configurations::window::is_fullscreen, fullscreen); + } + + bool show_skybox = temp_cfg.get(configurations::performance::show_skybox); + if (ImGui::Checkbox("Show Skybox in 3D View", &show_skybox)) + { + temp_cfg.set(configurations::performance::show_skybox, show_skybox); + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("When enabled, this option provides background to the 3D view, instead of leaving it blank.\nThis is purely cosmetic"); + + bool enable_occlusion_invalidation = temp_cfg.get(configurations::performance::occlusion_invalidation); + if (ImGui::Checkbox("Perform Occlusion Invalidation", &enable_occlusion_invalidation)) + { + temp_cfg.set(configurations::performance::occlusion_invalidation, enable_occlusion_invalidation); + } + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("Occlusions are a natural side-effect of having multiple sensors\nWhen this option is enabled, the SDK will filter out occluded pixels"); + } + + if( tab == 2 ) + { + ImGui::Text( "Units of Measurement: " ); + ImGui::SameLine(); + + int metric_system = temp_cfg.get( configurations::viewer::metric_system ); + std::vector unit_systems; + unit_systems.push_back( "Imperial System" ); + unit_systems.push_back( "Metric System" ); + + ImGui::PushItemWidth( 150 ); + if( draw_combo_box( "##units_system", unit_systems, metric_system ) ) + { + temp_cfg.set( configurations::viewer::metric_system, metric_system ); + } + ImGui::PopItemWidth(); + + ImGui::Separator(); + + ImGui::Text( "librealsense has built-in logging capabilities." ); + ImGui::Text( "Logs may contain API calls, timing of frames, OS error messages and file-system links, but no actual frame content." ); + + bool log_to_console = temp_cfg.get( configurations::viewer::log_to_console ); + if( _disable_log_to_console ) + ImGui::PushStyleVar( ImGuiStyleVar_Alpha, 0.6f ); + if( ImGui::Checkbox( "Output librealsense log to console", &log_to_console ) ) + temp_cfg.set( configurations::viewer::log_to_console, log_to_console ); + if( _disable_log_to_console ) + { + ImGui::PopStyleVar(); + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "%s", "--debug was specified; this cannot be applied without a restart" ); + } + } + bool log_to_file = temp_cfg.get(configurations::viewer::log_to_file); + if (ImGui::Checkbox("Output librealsense log to file", &log_to_file)) + { + temp_cfg.set(configurations::viewer::log_to_file, log_to_file); + } + if (log_to_file) + { + ImGui::Text("Log file name:"); + ImGui::SameLine(); + static char logpath[256]; + memset(logpath, 0, 256); + std::string path_str = temp_cfg.get(configurations::viewer::log_filename); + memcpy(logpath, path_str.c_str(), std::min(255, (int)path_str.size())); + + if (ImGui::InputText("##default_log_path", logpath, 255)) + { + path_str = logpath; + temp_cfg.set(configurations::viewer::log_filename, path_str); + } + } + if (log_to_console || log_to_file) + { + int new_severity = temp_cfg.get(configurations::viewer::log_severity); + + std::vector severities; + for (int i = 0; i < RS2_LOG_SEVERITY_COUNT; i++) + severities.push_back(rs2_log_severity_to_string((rs2_log_severity)i)); + + ImGui::Text("Minimal log severity:"); + ImGui::SameLine(); + + ImGui::PushItemWidth(150); + if (draw_combo_box("##log_severity", severities, new_severity)) + { + temp_cfg.set(configurations::viewer::log_severity, new_severity); + } + ImGui::PopItemWidth(); + } + + + ImGui::Separator(); + + { + ImGui::Text("Commands.xml Path:"); + ImGui::SameLine(); + static char logpath[256]; + memset(logpath, 0, 256); + std::string path_str = temp_cfg.get(configurations::viewer::commands_xml); + memcpy(logpath, path_str.c_str(), std::min(255, (int)path_str.size())); + + if (ImGui::InputText("##commands_xml_path", logpath, 255)) + { + path_str = logpath; + temp_cfg.set(configurations::viewer::commands_xml, path_str); + } + } + + { + ImGui::Text("HWLoggerEvents.xml Path:"); + ImGui::SameLine(); + static char logpath[256]; + memset(logpath, 0, 256); + std::string path_str = temp_cfg.get(configurations::viewer::hwlogger_xml); + memcpy(logpath, path_str.c_str(), std::min(255, (int)path_str.size())); + + if (ImGui::InputText("##fw_log_xml_path", logpath, 255)) + { + path_str = logpath; + temp_cfg.set(configurations::viewer::hwlogger_xml, path_str); + } + } + + ImGui::Separator(); + + ImGui::Text("RealSense tools settings capture the state of UI, and not of the hardware:"); + + if (ImGui::Button(" Restore Defaults ")) + { + reload_required = true; + temp_cfg = config_file(); + } + ImGui::SameLine(); + if (ImGui::Button(" Export Settings ")) + { + auto ret = file_dialog_open(save_file, "JavaScript Object Notation (JSON)\0*.json\0", NULL, NULL); + if (ret) + { + try + { + std::string filename = ret; + filename = rsutils::string::to_lower(filename); + if (!ends_with(filename, ".json")) filename += ".json"; + temp_cfg.save(filename.c_str()); + } + catch (...){} + } + } + ImGui::SameLine(); + if (ImGui::Button(" Import Settings ")) + { + auto ret = file_dialog_open(open_file, "JavaScript Object Notation (JSON)\0*.json\0", NULL, NULL); + if (ret) + { + try + { + config_file file(ret); + temp_cfg = file; + reload_required = true; + } + catch (...){} + } + } + } + + if (tab == 3) + { + bool recommend_fw_updates = temp_cfg.get(configurations::update::recommend_updates); + if (ImGui::Checkbox("Recommend Bundled Firmware", &recommend_fw_updates)) + { + temp_cfg.set(configurations::update::recommend_updates, recommend_fw_updates); + refresh_updates = true; + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "When firmware of the device is below the version bundled with this software release\nsuggest firmware update"); + } +#ifdef CHECK_FOR_UPDATES + ImGui::Separator(); + + ImGui::Text("%s", "SW/FW Updates From Server:"); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Select the server URL of the SW/FW updates information"); + } + ImGui::SameLine(); + + static bool official_url(temp_cfg.get(configurations::update::sw_updates_official_server)); + static char custom_url[256] = { 0 }; + static std::string url_str = (temp_cfg.get(configurations::update::sw_updates_url)); + memcpy(custom_url, url_str.c_str(), std::min(255, (int)url_str.size())); + if (ImGui::RadioButton("Official Server", official_url)) + { + official_url = true; + temp_cfg.set(configurations::update::sw_updates_url, server_versions_db_url); + temp_cfg.set(configurations::update::sw_updates_official_server, true); + } + ImGui::SameLine(); + if (ImGui::RadioButton("Custom Server", !official_url)) + { + official_url = false; + temp_cfg.set(configurations::update::sw_updates_official_server, false); + + // Load last saved custom URL + url_str = custom_url; + temp_cfg.set(configurations::update::sw_updates_url, url_str); + + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Add file:// prefix to use a local DB file "); + } + + if (!official_url) + { + if (ImGui::InputText("##custom_server_url", custom_url, 255)) + { + url_str = custom_url; + temp_cfg.set(configurations::update::sw_updates_url, url_str); + } + } +#endif + } + + ImGui::Separator(); + + ImGui::GetWindowDrawList()->AddRectFilled({ (float)x0, (float)(y0 + h - 60) }, + { (float)(x0 + w), (float)(y0 + h) }, ImColor(sensor_bg)); + + ImGui::SetCursorScreenPos({ (float)(x0 + 15), (float)(y0 + h - 60) }); + if (reload_required) + { + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::Text(u8"\uf071 The application will be restarted in order for new settings to take effect"); + ImGui::PopStyleColor(); + } + + auto apply = [&](){ + config_file::instance() = temp_cfg; + window.on_reload_complete = [this](){ + _skybox.reset(); + }; + if (reload_required) window.reload(); + else if (refresh_required) window.refresh(); + update_configuration(); + + if (refresh_updates) + for (auto&& dev : devices) + dev->refresh_notifications(*this); + }; + + ImGui::SetCursorScreenPos({ (float)(x0 + w / 2 - 190), (float)(y0 + h - 30) }); + if (ImGui::Button("OK", ImVec2(120, 0))) + { + ImGui::CloseCurrentPopup(); + apply(); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Save settings and close"); + } + ImGui::SameLine(); + + auto configs_same = temp_cfg == config_file::instance(); + ImGui::PushStyleColor(ImGuiCol_Text, configs_same ? light_grey : light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, configs_same ? light_grey : light_blue); + if (ImGui::Button("Apply", ImVec2(120, 0))) + { + apply(); + } + ImGui::PopStyleColor(2); + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Save settings"); + } + ImGui::SameLine(); + if (ImGui::Button("Cancel", ImVec2(120, 0))) + { + ImGui::CloseCurrentPopup(); + } + if (ImGui::IsItemHovered()) + { + ImGui::SetTooltip("%s", "Close window without saving any changes to the settings"); + } + + ImGui::EndPopup(); + } + + ImGui::PopStyleColor(3); + ImGui::PopStyleVar(2); + } + + if (open_about_popup) + { + _measurements.disable(); + ImGui::OpenPopup(menu_items[3]); + } + + { + float w = 590.f + window.get_font_size() * 6.f; + float h = 300.f + window.get_font_size(); + float x0 = (window.width() - w) / 2.f; + float y0 = (window.height() - h) / 2.f; + ImGui::SetNextWindowPos({ x0, y0 }); + ImGui::SetNextWindowSize({ w, h }); + + flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove | + ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings; + + ImGui_ScopePushFont(window.get_font()); + ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleColor(ImGuiCol_Text, light_grey); + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(15, 15)); + ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1); + + if (ImGui::BeginPopupModal(menu_items[3], nullptr, flags)) + { + ImGui::Image((void*)(intptr_t)window.get_splash().get_gl_handle(), + ImVec2(w - 30, 100), {0.20f, 0.38f}, {0.80f, 0.56f}); + + auto realsense_pos = ImGui::GetCursorPos(); + ImGui::Text("Intel RealSense is a suite of depth-sensing and motion-tracking technologies."); + + ImGui::Text("librealsense is an open-source cross-platform SDK for working with RealSense devices."); + + ImGui::Text("Full source code is available at"); ImGui::SameLine(); + auto github_pos = ImGui::GetCursorPos(); + ImGui::Text("github.com/IntelRealSense/librealsense."); + + ImGui::Text("This software is distributed under the"); ImGui::SameLine(); + auto license_pos = ImGui::GetCursorPos(); + ImGui::Text("Apache License, Version 2.0."); + + ImGui::Text("RealSense is a registered trademark of Intel Corporation."); + + ImGui::Text("Copyright 2018 Intel Corporation."); + + if( RS2_API_BUILD_VERSION ) + { + ImGui::Text( "---" ); + ImGui::Text( "Full version: " ); + ImGui::SameLine(); + ImGui::Text( RS2_API_FULL_VERSION_STR ); + } + + ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, sensor_bg); + ImGui::PushStyleColor(ImGuiCol_Text, light_blue); + + ImGui::SetCursorPos({ realsense_pos.x - 4, realsense_pos.y - 3 }); + + hyperlink(window, "Intel RealSense", "https://realsense.intel.com/"); + + ImGui::SetCursorPos({ github_pos.x - 4, github_pos.y - 3 }); + hyperlink(window, "github.com/IntelRealSense/librealsense", "https://github.com/IntelRealSense/librealsense/"); + + ImGui::SetCursorPos({ license_pos.x - 4, license_pos.y - 3 }); + + hyperlink(window, "Apache License, Version 2.0", "https://raw.githubusercontent.com/IntelRealSense/librealsense/master/LICENSE"); + + ImGui::PopStyleColor(4); + + + ImGui::SetCursorScreenPos({ (float)(x0 + w / 2 - 60), (float)(y0 + h - 30) }); + if (ImGui::Button("OK", ImVec2(120, 0))) ImGui::CloseCurrentPopup(); + + ImGui::EndPopup(); + } + + ImGui::PopStyleColor(3); + ImGui::PopStyleVar(2); + } + + ImGui::PopStyleVar(); + ImGui::PopStyleColor(7); + + ImGui::GetWindowDrawList()->AddLine({ pos1.x, pos1.y + 10 }, { pos1.x,pos1.y + panel_y - 10 }, ImColor(light_grey)); + + + ImGui::SameLine(); + ImGui::SetCursorPosX(window.width() - panel_width - panel_y); + + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg); + ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_blue); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + + ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5, 5)); + + ImGui::PopStyleVar(); + ImGui::PopStyleColor(4); + ImGui::PopFont(); + + ImGui::End(); + ImGui::PopStyleColor(); + ImGui::PopStyleVar(); + } + + void viewer_model::update_3d_camera( + ux_window& win, + const rect& viewer_rect, bool force) + { + if (_measurements.manipulating()) return; + if (win.get_hovered_over_input()) return; + + mouse_info& mouse = win.get_mouse(); + auto now = std::chrono::high_resolution_clock::now(); + static auto view_clock = std::chrono::high_resolution_clock::now(); + auto sec_since_update = std::chrono::duration(now - view_clock).count() / 1000; + view_clock = now; + + if (fixed_up) + up = { 0.f, -1.f, 0.f }; + + auto dir = target - pos; + auto x_axis = cross(dir, up); + auto step = sec_since_update * 0.3f; + + if (ImGui::IsKeyPressed('w') || ImGui::IsKeyPressed('W')) + { + pos = pos + dir * step; + target = target + dir * step; + } + if (ImGui::IsKeyPressed('s') || ImGui::IsKeyPressed('S')) + { + pos = pos - dir * step; + target = target - dir * step; + } + if (ImGui::IsKeyPressed('d') || ImGui::IsKeyPressed('D')) + { + pos = pos + x_axis * step; + target = target + x_axis * step; + } + if (ImGui::IsKeyPressed('a') || ImGui::IsKeyPressed('A')) + { + pos = pos - x_axis * step; + target = target - x_axis * step; + } + + if (viewer_rect.contains(mouse.cursor) || force) + { + // Whenever the mouse reaches the end of the window + // and jump back to the start, it will add to the overflow + // counter, so by adding the overflow value + // we essentially emulate an infinite display + auto cx = mouse.cursor.x + overflow.x; + auto px = mouse.prev_cursor.x + overflow.x; + auto cy = mouse.cursor.y + overflow.y; + auto py = mouse.prev_cursor.y + overflow.y; + + auto dragging = ImGui::IsKeyDown(GLFW_KEY_LEFT_CONTROL); + + // Limit how much user mouse can jump between frames + // This can work poorly when the app FPS is really terrible (< 10) + // but overall works resonably well + const auto MAX_MOUSE_JUMP = 200; + const auto SCROLL_SLOW_MAX_TIME_MS = 50; + const auto SCROLL_FAST_MIN_TIME_MS = 500; + float zoom_per_tick = 0.2f; + static auto prev_scroll_time = std::chrono::high_resolution_clock::now(); + if (mouse.mouse_wheel != 0) + { + auto scroll_time = std::chrono::high_resolution_clock::now(); + auto delta_scroll_time = std::chrono::duration_cast(scroll_time - prev_scroll_time).count(); + prev_scroll_time = scroll_time; + + // scrolling impact is scaled up / down if the scrolling speed is fast / slow + if (delta_scroll_time < SCROLL_SLOW_MAX_TIME_MS) + zoom_per_tick *= 2.f; + else if (delta_scroll_time > SCROLL_FAST_MIN_TIME_MS) + zoom_per_tick *= 0.5f; + } + + + if (std::abs(cx - px) < MAX_MOUSE_JUMP && + std::abs(cy - py) < MAX_MOUSE_JUMP ) + arcball_camera_update( + (float*)&pos, (float*)&target, (float*)&up, view, + sec_since_update, + zoom_per_tick, + -0.1f, // pan speed + 3.0f, // rotation multiplier + static_cast(viewer_rect.w), static_cast(viewer_rect.h), // screen (window) size + static_cast(px), static_cast(cx), + static_cast(py), static_cast(cy), + (ImGui::GetIO().MouseDown[2] || + ImGui::GetIO().MouseDown[1] || + (ImGui::GetIO().MouseDown[0] && dragging)) ? 1 : 0, + (ImGui::GetIO().MouseDown[0] && !dragging) ? 1 : 0, + mouse.mouse_wheel, + 0); + + // If we are pressing mouse button + // inside the 3D viewport + // we should remember that we + // are in the middle of manipulation + // and adjust when mouse leaves the area + if (ImGui::GetIO().MouseDown[0] || + ImGui::GetIO().MouseDown[1] || + ImGui::GetIO().MouseDown[2]) + { + manipulating = true; + } + } + + auto rect = viewer_rect; + rect.w -= 10; + + // If we started manipulating the camera + // and left the viewport + if (manipulating && !rect.contains(mouse.cursor)) + { + // If mouse is no longer pressed, + // abort the manipulation + if (!ImGui::GetIO().MouseDown[0] && + !ImGui::GetIO().MouseDown[1] && + !ImGui::GetIO().MouseDown[2]) + { + manipulating = false; + overflow = float2{ 0.f, 0.f }; + } + else + { + // Wrap-around the mouse in X direction + auto startx = (mouse.cursor.x - rect.x); + if (startx < 0) + { + overflow.x -= rect.w; + startx += rect.w; + } + if (startx > rect.w) + { + overflow.x += rect.w; + startx -= rect.w; + } + startx += rect.x; + + // Wrap-around the mouse in Y direction + auto starty = (mouse.cursor.y - rect.y); + if (starty < 0) + { + overflow.y -= rect.h; + starty += rect.h; + } + if (starty > rect.h) + { + overflow.y += rect.h; + starty -= rect.h; + } + starty += rect.y; + + // Set new cursor position + glfwSetCursorPos(win, startx, starty); + } + } + else overflow = float2{ 0.f, 0.f }; + + mouse.prev_cursor = mouse.cursor; + } + + void viewer_model::begin_stream(std::shared_ptr d, rs2::stream_profile p) + { + // Starting post processing filter rendering thread + ppf.start(); + streams[p.unique_id()].begin_stream(d, p, *this); + ppf.frames_queue.emplace(p.unique_id(), rs2::frame_queue(5)); + } + + bool viewer_model::is_3d_texture_source(frame f) const + { + auto profile = f.get_profile().as(); + auto index = profile.unique_id(); + int mapped_index = -2; + auto iter = streams_origin.find(index); + if (iter != streams_origin.end()) + mapped_index = iter->second; + + if (!is_rasterizeable(profile.format())) + return false; + + if (index == selected_tex_source_uid || mapped_index == selected_tex_source_uid || selected_tex_source_uid == -1) + return true; + return false; + } + + std::shared_ptr viewer_model::get_last_texture() + { + return last_texture; + } + + std::vector rs2::viewer_model::get_frames(frame frame) + { + std::vector res; + + if (auto set = frame.as()) + for (auto&& f : set) + res.push_back(f); + + else + res.push_back(frame); + + return res; + } + + frame viewer_model::get_3d_depth_source(frame f) + { + auto frames = get_frames(f); + + for (auto&& f : frames) + { + if (is_3d_depth_source(f)) + return f; + } + return nullptr; + } + + frame rs2::viewer_model::get_3d_texture_source(frame f) + { + auto frames = get_frames(f); + + for (auto&& f : frames) + { + if (is_3d_texture_source(f)) + return f; + } + return nullptr; + } + + bool viewer_model::is_3d_depth_source(frame f) + { + + auto index = f.get_profile().unique_id(); + auto mapped_index = streams_origin[index]; + + if(index == selected_depth_source_uid || mapped_index == selected_depth_source_uid + ||(selected_depth_source_uid == -1 && f.get_profile().stream_type() == RS2_STREAM_DEPTH)) + return true; + return false; + } + + std::shared_ptr viewer_model::upload_frame(frame&& f) + { + if (f.get_profile().stream_type() == RS2_STREAM_DEPTH) + ppf.depth_stream_active = true; + + auto index = f.get_profile().unique_id(); + + std::lock_guard lock(streams_mutex); + auto stream_origin_iter = streams_origin.find(index); + if ( stream_origin_iter != streams_origin.end() && streams.find( stream_origin_iter->second ) != streams.end()) + return streams[stream_origin_iter->second].upload_frame(std::move(f)); + else return nullptr; + } + + void viewer_model::draw_viewport(const rect& viewer_rect, + ux_window& window, int devices, std::string& error_message, + std::shared_ptr texture, points points) + { + if (!modal_notification_on) + updates->draw(not_model, window, error_message); + + static bool first = true; + if (first) + { + update_3d_camera(window, viewer_rect, true); + first = false; + } + + if (!is_3d_view) + { + render_2d_view(viewer_rect, window, + static_cast(get_output_height()), window.get_font(), window.get_large_font(), + devices, window.get_mouse(), error_message); + } + else + { + if (paused) + show_paused_icon(window.get_large_font(), static_cast(panel_width + 15), static_cast(panel_y + 15 + 60), 0); + + show_3dviewer_header(window, viewer_rect, paused, error_message); + + update_3d_camera(window, viewer_rect); + + _measurements.update_input(window, viewer_rect); + + rect window_size{ 0, 0, (float)window.width(), (float)window.height() }; + rect fb_size{ 0, 0, (float)window.framebuf_width(), (float)window.framebuf_height() }; + rect new_rect = viewer_rect.normalize(window_size).unnormalize(fb_size); + + render_3d_view(new_rect, window, texture, points); + + auto rect_copy = viewer_rect; + rect_copy.y += 60; + rect_copy.h -= 60; + + if (rect_copy.contains(window.get_mouse().cursor)) + _measurements.show_tooltip(window); + } + + if (ImGui::IsKeyPressed(' ')) + { + if (paused) + { + for (auto&& s : streams) + { + if (s.second.dev) + { + s.second.dev->resume(); + if (auto p = s.second.dev->dev.as()) + { + p.resume(); + } + } + } + } + else + { + for (auto&& s : streams) + { + if (s.second.dev) + { + s.second.dev->pause(); + if (s.second.dev->dev.is()) + { + auto p = s.second.dev->dev.as(); + p.pause(); + } + } + } + } + paused = !paused; + } + } + + std::map viewer_model::get_interpolated_layout(const std::map& l) + { + using namespace std::chrono; + auto now = high_resolution_clock::now(); + if (l != _layout) // detect layout change + { + _transition_start_time = now; + _old_layout = _layout; + _layout = l; + } + + //if (_old_layout.size() == 0 && l.size() == 1) return l; + + auto diff = now - _transition_start_time; + auto ms = duration_cast(diff).count(); + auto t = smoothstep(static_cast(ms), 0, 100); + + std::map results; + for (auto&& kvp : l) + { + auto stream = kvp.first; + if (_old_layout.find(stream) == _old_layout.end()) + { + _old_layout[stream] = _layout[stream].center(); + } + results[stream] = lerp( _old_layout[stream], t, _layout[stream] ); + } + + return results; + } + + void viewer_model::init_depth_uid(int& selected_depth_source, std::vector& depth_sources_str, std::vector& depth_sources) + { + int i = 0; + + for (auto&& s : streams) + { + if (s.second.is_stream_visible() && + s.second.profile.stream_type() == RS2_STREAM_DEPTH) + { + auto stream_origin_iter = streams_origin.find(s.second.profile.unique_id()); + if (selected_depth_source_uid == -1) + { + if (stream_origin_iter != streams_origin.end() && + streams.find(stream_origin_iter->second) != streams.end()) + { + selected_depth_source_uid = stream_origin_iter->second; + } + } + if (stream_origin_iter != streams_origin.end() && stream_origin_iter->second == selected_depth_source_uid) + { + selected_depth_source = i; + } + + depth_sources.push_back(s.second.profile.unique_id()); + + auto dev_name = s.second.dev ? s.second.dev->dev.get_info(RS2_CAMERA_INFO_NAME) : "Unknown"; + auto stream_name = rs2_stream_to_string(s.second.profile.stream_type()); + + depth_sources_str.push_back(rsutils::string::from() << dev_name << " " << stream_name); + + i++; + } + } + } +} diff --git a/librealsense/common/viewer.h b/librealsense/common/viewer.h new file mode 100644 index 0000000..e0e7b28 --- /dev/null +++ b/librealsense/common/viewer.h @@ -0,0 +1,267 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved. + +#pragma once + +#include +#include "model-views.h" +#include "device-model.h" +#include "subdevice-model.h" +#include "stream-model.h" +#include "post-processing-filters.h" +#include "notifications.h" +#include "skybox.h" +#include "measurement.h" +#include "updates-model.h" +#include + +namespace rs2 +{ + struct popup + { + std::string header; + std::string message; + std::function< void() > custom_command; + + bool operator==( const popup & p ) const + { + return p.message == message; + } + }; + + class viewer_model; + + class frameset_allocator : public filter + { + public: + frameset_allocator(viewer_model* viewer); + private: + viewer_model* owner; + }; + + struct export_model + { + template + static export_model make_exporter(std::string name, std::string extension, T (&filters_str)[sz]) + { + return export_model(name, extension, filters_str, sz); + + } + std::string name; + std::string extension; + std::vector filters; + std::map options; + + private: + export_model(std::string name, std::string extension, const char* filters_str, size_t filters_size) : name(name), + extension(extension), filters(filters_str, filters_str + filters_size) {}; + }; + + class viewer_model + { + bool _disable_log_to_console = false; + + public: + void reset_camera(float3 pos = { 0.0f, 0.0f, -1.0f }); + + void update_configuration(); + + const float panel_width = 340.f; + const float panel_y = 50.f; + + float get_output_height() const { return (float)(not_model->output.get_output_height()); } + float get_dashboard_width() const { return (float)(not_model->output.get_dashboard_width()); } + + rs2::frame handle_ready_frames(const rect& viewer_rect, ux_window& window, int devices, std::string& error_message); + + ~viewer_model() + { + // Stopping post processing filter rendering thread + ppf.stop(); + streams.clear(); + } + + void begin_stream(std::shared_ptr d, rs2::stream_profile p); + + std::shared_ptr get_last_texture(); + + std::vector get_frames(frame set); + frame get_3d_depth_source(frame f); + frame get_3d_texture_source(frame f); + + bool is_3d_depth_source(frame f); + bool is_3d_texture_source(frame f) const; + + std::shared_ptr upload_frame(frame&& f); + + std::map calc_layout(const rect& r); + + void show_no_stream_overlay(ImFont* font, int min_x, int min_y, int max_x, int max_y); + void show_no_device_overlay(ImFont* font, int min_x, int min_y); + void show_rendering_not_supported(ImFont* font_18, int min_x, int min_y, int max_x, int max_y, rs2_format format); + + void show_paused_icon(ImFont* font, int x, int y, int id); + void show_recording_icon(ImFont* font_18, int x, int y, int id, float alpha_delta); + + void popup_if_error(const ux_window& window, std::string& error_message); + + void show_popup(const ux_window& window, const popup& p); + + void popup_firmware_update_progress(const ux_window& window, const float progress); + + void try_select_pointcloud(ux_window& win); + + void show_3dviewer_header(ux_window& window, rs2::rect stream_rect, bool& paused, std::string& error_message); + + void update_3d_camera(ux_window& win, const rect& viewer_rect, bool force = false); + + void show_top_bar(ux_window& window, const rect& viewer_rect, const device_models_list& devices); + + void render_3d_view(const rect& view_rect, ux_window& win, + std::shared_ptr texture, rs2::points points); + + void render_2d_view(const rect& view_rect, ux_window& win, int output_height, + ImFont *font1, ImFont *font2, size_t dev_model_num, const mouse_info &mouse, std::string& error_message); + + void gc_streams(); + + bool is_option_skipped(rs2_option opt) const; + + void disable_measurements(); + + std::mutex streams_mutex; + std::map streams; + std::map streams_origin; + bool fullscreen = false; + stream_model* selected_stream = nullptr; + std::shared_ptr syncer; + post_processing_filters ppf; + + context &ctx; + std::shared_ptr not_model = std::make_shared(); + bool is_3d_view = false; + bool paused = false; + bool metric_system = true; + uint32_t ground_truth_r = 1200; + + enum export_type + { + ply + }; + std::map exporters; + frameset_allocator frameset_alloc; + + void draw_viewport(const rect& viewer_rect, + ux_window& window, int devices, std::string& error_message, + std::shared_ptr texture, rs2::points f = rs2::points()); + + bool allow_3d_source_change = true; + bool allow_stream_close = true; + + std::array roi_rect; + bool draw_plane = false; + + bool draw_frustrum = true; + bool support_non_syncronized_mode = true; + std::atomic synchronization_enable; + std::atomic synchronization_enable_prev_state; + + int selected_depth_source_uid = -1; + int selected_tex_source_uid = -1; + std::vector last_tex_sources; + double texture_update_time = 0.0; + + enum class shader_type + { + points, + flat, + diffuse + }; + shader_type selected_shader = shader_type::diffuse; + + float dim_level = 1.f; + + bool continue_with_current_fw = false; + + bool select_3d_source = false; + bool select_tex_source = false; + bool select_shader_source = false; + bool show_help_screen = false; + bool occlusion_invalidation = true; + bool glsl_available = false; + bool modal_notification_on = false; // a notification which was expanded + + press_button_model grid_object_button{ u8"\uf1cb", u8"\uf1cb", "Configure Grid", "Configure Grid", false }; + + viewer_model(context &ctx_, bool disable_log_to_console = false ); + + std::shared_ptr updates; + + std::unordered_set _hidden_options; + bool _support_ir_reflectivity; + private: + + void check_permissions(); + void hide_common_options(); + std::vector _active_popups; + + struct rgb { + uint32_t r, g, b; + }; + + struct rgb_per_distance { + float depth_val; + rgb rgb_val; + }; + + friend class post_processing_filters; + std::map get_interpolated_layout(const std::map& l); + void show_icon(ImFont* font_18, const char* label_str, const char* text, int x, int y, + int id, const ImVec4& color, const std::string& tooltip = ""); + void draw_color_ruler(const mouse_info& mouse, + const stream_model& s_model, + const rect& stream_rect, + std::vector rgb_per_distance_vec, + float ruler_length, + const std::string& ruler_units); + float calculate_ruler_max_distance(const std::vector& distances) const; + + void set_export_popup(ImFont* large_font, ImFont* font, rect stream_rect, std::string& error_message, config_file& temp_cfg); + void init_depth_uid(int& selected_depth_source, std::vector& depth_sources_str, std::vector& depth_sources); + + streams_layout _layout; + streams_layout _old_layout; + std::chrono::high_resolution_clock::time_point _transition_start_time; + + // 3D-Viewer state + float3 pos = { 0.0f, 0.0f, -0.5f }; + float3 target = { 0.0f, 0.0f, 0.0f }; + float3 up; + bool fixed_up = true; + + float view[16]; + GLint texture_border_mode = GL_CLAMP_TO_EDGE; + + rs2::points last_points; + std::shared_ptr last_texture; + + // Infinite pan / rotate feature: + bool manipulating = false; + float2 overflow = { 0.f, 0.f }; + + rs2::gl::camera_renderer _cam_renderer; + rs2::gl::pointcloud_renderer _pc_renderer; + + + bool _pc_selected = false; + + + temporal_event origin_occluded { std::chrono::milliseconds(3000) }; + + bool show_skybox = true; + skybox _skybox; + + measurement _measurements; + + }; +} diff --git a/librealsense/common/windows-app-bootstrap.cpp b/librealsense/common/windows-app-bootstrap.cpp new file mode 100644 index 0000000..1faf1a3 --- /dev/null +++ b/librealsense/common/windows-app-bootstrap.cpp @@ -0,0 +1,204 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2015 Intel Corporation. All Rights Reserved. + +// This file converts the call to WinMain to a call to cross-platform main +// We need WinMain on Windows to offer proper Windows application and not console application +// Should not be used in CMake on Linux + + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "os.h" +#include +#include "metadata-helper.h" +#include "rendering.h" +#include + +#include + +#ifdef _MSC_VER +#pragma warning(disable: 4244) // Prevent warning for wchar->char string conversion +#endif + +// Use OS hook to modify message box behaviour +// This lets us implement "report" functionality if Viewer is crashing +HHOOK hhk; +// When launching messagebox, replace standard Cancel button with "report" +LRESULT CALLBACK cbtproc(INT code, WPARAM wParam, LPARAM lParam) +{ + HWND window = (HWND)wParam; + if (code == HCBT_ACTIVATE) + { + if (GetDlgItem(window, IDCANCEL) != NULL) + { + SetDlgItemText(window, IDCANCEL, L"Report"); + } + UnhookWindowsHookEx(hhk); + } + else CallNextHookEx(hhk, code, wParam, lParam); + return 0; +} + +bool should_intercept(int code) +{ + if (code == EXCEPTION_BREAKPOINT || code == EXCEPTION_SINGLE_STEP) return false; + return true; +} + +std::string exception_code_to_string(int code, struct _EXCEPTION_POINTERS *ep) +{ + if (code == EXCEPTION_ACCESS_VIOLATION) return "Access Violation!"; + else if (code == EXCEPTION_ARRAY_BOUNDS_EXCEEDED) return "Array out of bounds access error!"; + else if (code == EXCEPTION_DATATYPE_MISALIGNMENT) return "Read / write of misaligned data!"; + else if (code == EXCEPTION_FLT_DENORMAL_OPERAND) return "Denormal floating point operation!"; + else if (code == EXCEPTION_FLT_DIVIDE_BY_ZERO) return "Unhandled floating point division by zero!"; + else if (code == EXCEPTION_FLT_INEXACT_RESULT) return "Inexact floating point result!"; + else if (code == EXCEPTION_FLT_INVALID_OPERATION) return "Invalid floating point operation!"; + else if (code == EXCEPTION_FLT_OVERFLOW) return "Floating point overflow!"; + else if (code == EXCEPTION_FLT_STACK_CHECK) return "Floating point stack overflow / underflow!"; + else if (code == EXCEPTION_FLT_UNDERFLOW) return "Floating point underflow!"; + else if (code == EXCEPTION_ILLEGAL_INSTRUCTION) return "Illegal CPU instruction!\nPossibly newer CPU architecture is required"; + else if (code == EXCEPTION_IN_PAGE_ERROR) return "In page error!\nPossibly network connection error when running the program over network"; + else if (code == EXCEPTION_INT_DIVIDE_BY_ZERO) return "Unhandled integer division by zero!"; + else if (code == EXCEPTION_INT_OVERFLOW) return "Integer overflow!"; + else if (code == EXCEPTION_INVALID_DISPOSITION) return "Invalid disposition error!"; + else if (code == EXCEPTION_NONCONTINUABLE_EXCEPTION) return "Noncontinuable exception occured!"; + else if (code == EXCEPTION_PRIV_INSTRUCTION) return "Error due to invalid call to priviledged instruction!"; + else if (code == EXCEPTION_STACK_OVERFLOW) return "Stack overflow error!"; + else if (code == VcppException(ERROR_SEVERITY_ERROR, ERROR_MOD_NOT_FOUND)) { + auto details = (DelayLoadInfo*)ep->ExceptionRecord->ExceptionInformation[0]; + std::string dll_name = details->szDll; + std::string fname = details->dlp.szProcName; + return rsutils::string::from() << "Could not find " << dll_name << " library required for " << fname + << ".\nMake sure all program dependencies are reachable or download standalone " + "version of the App from our GitHub"; + } + else + return rsutils::string::from() << "Unknown error (" << code << ")!"; +} + +// Show custom error message box with OK and Report options +// Report will prompt new GitHub issue +void report_error(std::string error) +{ + std::wstring ws(error.begin(), error.end()); + SetWindowsHookEx(WH_CBT, &cbtproc, 0, GetCurrentThreadId()); + auto button = MessageBox(NULL, ws.c_str(), L"Something went wrong...", MB_ICONERROR | MB_OKCANCEL); + if (button == IDCANCEL) + { + std::stringstream ss; + rs2_error* e = nullptr; + + ss << "| | |\n"; + ss << "|---|---|\n"; + ss << "|**librealsense**|" << rs2::api_version_to_string(rs2_get_api_version(&e)) << (rs2::is_debug() ? " DEBUG" : " RELEASE") << "|\n"; + ss << "|**OS**|" << rsutils::os::get_os_name() << "|\n\n"; + ss << "Intel RealSense Viewer / Depth Quality Tool has crashed with the following error message:\n"; + ss << "```\n"; + ss << error; + ss << "\n```"; + + std::string link = "https://github.com/IntelRealSense/librealsense/issues/new?body=" + rs2::url_encode(ss.str()); + rs2::open_url(link.c_str()); + } +} + +// Global crash handler will be triggered when exception escapes from thread +LONG WINAPI CrashHandler(EXCEPTION_POINTERS* ep) +{ + auto code = ep->ExceptionRecord->ExceptionCode; + + if (should_intercept(code)) + { + std::string error = "Unhandled exception escaping from a worker thread!\nError type: "; + error += exception_code_to_string(code, ep); + report_error(error); + } + + return EXCEPTION_CONTINUE_SEARCH; +} + +// Actual main - implemented in the cross-platform section of the App +int main(int argv, const char** argc); + +int filter(unsigned int code, struct _EXCEPTION_POINTERS *ep) +{ + if (should_intercept(code)) + { + auto error = exception_code_to_string(code, ep); + std::cerr << "Program terminated due to an unrecoverable SEH exception:\n" << error; + return EXCEPTION_EXECUTE_HANDLER; + } + else return EXCEPTION_CONTINUE_SEARCH; +} + +// Wrapper around main. Must be in a function without destructors (that does not require stack unwinding) +int run_main(int argv, const char** argc) +{ + SetUnhandledExceptionFilter(CrashHandler); + + int res = 0; + __try + { + res = main(argv, argc); + } + __except (filter(GetExceptionCode(), GetExceptionInformation())) + { + res = EXIT_FAILURE; + } + return res; +} + +int CALLBACK WinMain( + _In_ HINSTANCE hInstance, + _In_ HINSTANCE hPrevInstance, + _In_ LPSTR lpCmdLine, + _In_ int nCmdShow +) +{ + int argCount; + + std::shared_ptr szArgList(CommandLineToArgvW(GetCommandLine(), &argCount), LocalFree); + if (szArgList == NULL) return main(0, nullptr); + + std::vector args; + for (int i = 0; i < argCount; i++) + { + std::string s = rsutils::string::windows::win_to_utf( szArgList.get()[i] ); + + if (s == rs2::metadata_helper::get_command_line_param()) + { + try + { + rs2::metadata_helper::instance().enable_metadata(); + exit(0); + } + catch (...) { exit(-1); } + } + + args.push_back(s); + } + + std::vector argc; + std::transform(args.begin(), args.end(), std::back_inserter(argc), [](const std::string& s) { return s.c_str(); }); + + // Redirect CERR to string stream + std::stringstream ss; + std::cerr.rdbuf(ss.rdbuf()); + + int res = run_main(static_cast(argc.size()), argc.data()); + + if (res == EXIT_FAILURE) + { + report_error(ss.str()); + } + + return res; +} \ No newline at end of file diff --git a/librealsense/config/99-realsense-d4xx-mipi-dfu.rules b/librealsense/config/99-realsense-d4xx-mipi-dfu.rules new file mode 100644 index 0000000..ac06cd1 --- /dev/null +++ b/librealsense/config/99-realsense-d4xx-mipi-dfu.rules @@ -0,0 +1,6 @@ +# Device rules for Intel RealSense MIPI devices. + +# DFU rules +SUBSYSTEM=="d4xx-class", KERNEL=="d4xx-dfu*", GROUP="video", MODE="0660" +# video links for SDK, binding for ipu6 +SUBSYSTEM=="video4linux", ATTR{name}=="DS5 mux *", RUN+="/bin/bash -c 'rs_ipu6_d457_bind.sh > /dev/kmsg; rs-enum.sh -q > /dev/kmsg'" diff --git a/librealsense/config/99-realsense-libusb.rules b/librealsense/config/99-realsense-libusb.rules new file mode 100644 index 0000000..f220c77 --- /dev/null +++ b/librealsense/config/99-realsense-libusb.rules @@ -0,0 +1,91 @@ +##Version=1.1## +# Device rules for Intel RealSense devices (R200, F200, SR300 LR200, ZR300, D400, L500, T200) +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a80", MODE:="0666", GROUP:="plugdev", RUN+="/usr/local/bin/usb-R200-in_udev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a66", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa2", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa5", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0abf", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0acb", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad0", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="04b4", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad1", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad2", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad4", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad6", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af6", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b03", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b07", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0c", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b48", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b49", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b52", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b56", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6a", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6b", MODE:="0666", GROUP:="plugdev" + +# Intel RealSense recovery devices (DFU) +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ab3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adb", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adc", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ade", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b55", MODE:="0666", GROUP:="plugdev" + +# Intel RealSense devices (Movidius, T265) +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0af3", MODE="0666", GROUP="plugdev" +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0b37", MODE="0666", GROUP="plugdev" +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="03e7", ATTRS{idProduct}=="2150", MODE="0666", GROUP="plugdev" + +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b56", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b56", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6a", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6a", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b6b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" + +# For products with motion_module, if (kernels is 4.15 and up) and (device name is "accel_3d") wait, in another process, until (enable flag is set to 1 or 200 mSec passed) and then set it to 0. +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5|0afe|0aff|0b00|0b01|0b3a|0b3d|0b56|0b5c|0b64|0b68|0b6a|0b6b", RUN+="/bin/sh -c '(major=`uname -r | cut -d \".\" -f1` && minor=`uname -r | cut -d \".\" -f2` && (([ $$major -eq 4 ] && [ $$minor -ge 15 ]) || [ $$major -ge 5 ])) && (enamefile=/sys/%p/name && [ `cat $$enamefile` = \"accel_3d\" ]) && enfile=/sys/%p/buffer/enable && echo \"COUNTER=0; while [ \$$COUNTER -lt 20 ] && grep -q 0 $$enfile; do sleep 0.01; COUNTER=\$$((COUNTER+1)); done && echo 0 > $$enfile\" | at now'" diff --git a/librealsense/config/librealsense-gl.pc.in b/librealsense/config/librealsense-gl.pc.in new file mode 100644 index 0000000..626795a --- /dev/null +++ b/librealsense/config/librealsense-gl.pc.in @@ -0,0 +1,17 @@ +prefix=@CMAKE_INSTALL_PREFIX@ +exec_prefix=${prefix} +includedir=${prefix}/include +#TODO: libdir=${exec_prefix}/lib@MULTI_ARCH_SUFFIX@ +libdir= ${prefix}/lib/x86_64-linux-gnu + +Name: realsense2-gl +Description: Intel(R) RealSense(tm) GLSL Extension Module +Version: @REALSENSE-GL_VERSION_STRING@ +URL: https://github.com/IntelRealSense/librealsense +Requires.private: @LRS_LIB_NAME@ +Libs: -L${libdir} -l@LRS_LIB_NAME@ +Libs.private: @LRS_PKG_LIBS@ +Cflags: -I${includedir} + +#TODO check -Wl -Bdynamic +#Libs: -L${libdir} -Wl,-Bdynamic -lrealsense diff --git a/librealsense/config/librealsense.pc.in b/librealsense/config/librealsense.pc.in new file mode 100644 index 0000000..4a95b31 --- /dev/null +++ b/librealsense/config/librealsense.pc.in @@ -0,0 +1,17 @@ +prefix=@CMAKE_INSTALL_PREFIX@ +exec_prefix=${prefix} +includedir=${prefix}/include +#TODO: libdir=${exec_prefix}/lib@MULTI_ARCH_SUFFIX@ +libdir= ${prefix}/lib/x86_64-linux-gnu + +Name: +Description: Intel(R) RealSense(tm) Cross Platform API +Version: @REALSENSE_VERSION_STRING@ +URL: https://github.com/IntelRealSense/librealsense +Requires.private: @LRS_PKG_DEPS@ +Libs: -L${libdir} -l@LRS_LIB_NAME@ +Libs.private: @LRS_PKG_LIBS@ +Cflags: -I${includedir} + +#TODO check -Wl -Bdynamic +#Libs: -L${libdir} -Wl,-Bdynamic -lrealsense diff --git a/librealsense/config/usb-R200-in b/librealsense/config/usb-R200-in new file mode 100644 index 0000000..6eed625 --- /dev/null +++ b/librealsense/config/usb-R200-in @@ -0,0 +1,17 @@ +#!/bin/bash +lockdir="/dswork.lock" +if mkdir "$lockdir" + then + # Successfully acquired lock + for i in $(ls /sys/bus/usb/drivers/uvcvideo/|grep :) ; do + echo $i >/sys/bus/usb/drivers/uvcvideo/unbind + echo $i >/sys/bus/usb/drivers/uvcvideo/bind + echo "Reseting" $i + done + + sleep 2 + rm -rf "$lockdir" + else + # Cannot acquire lock. Aborting. + exit 0 +fi \ No newline at end of file diff --git a/librealsense/config/usb-R200-in_udev b/librealsense/config/usb-R200-in_udev new file mode 100644 index 0000000..093d1b1 --- /dev/null +++ b/librealsense/config/usb-R200-in_udev @@ -0,0 +1,3 @@ +#!/bin/bash + +/usr/local/bin/usb-R200-in & \ No newline at end of file diff --git a/librealsense/config/uvc.conf b/librealsense/config/uvc.conf new file mode 100644 index 0000000..6a4ce29 --- /dev/null +++ b/librealsense/config/uvc.conf @@ -0,0 +1,2 @@ +blacklist uvcvideo +blacklist snd-usb-audio diff --git a/librealsense/doc/.gitattributes b/librealsense/doc/.gitattributes new file mode 100644 index 0000000..75a6125 --- /dev/null +++ b/librealsense/doc/.gitattributes @@ -0,0 +1,3 @@ +*.gif binary +*.png binary +*.pdf binary \ No newline at end of file diff --git a/librealsense/doc/DSO-1369.md b/librealsense/doc/DSO-1369.md new file mode 100644 index 0000000..a9fe8fb --- /dev/null +++ b/librealsense/doc/DSO-1369.md @@ -0,0 +1,29 @@ +# Patch for the DSO-1369 Issue +Extensive testing of the RS400 on large pool of different machines have identified a rare platform problem: +On the affected machines, in a stress-test of start-stop streaming the UVC module can get "stuck" within ~1000 iterations. +Possible work-arounds include re-connecting the device, or re-loading the `uvcvideo` kernel module. +We are also providing Kernel patch that prevents the problem from occurring. + +Be aware that running this script will build and install a new kernel version on your machine. + +## Installation Instructions +- Update Ubuntu distribution, including getting the latest stable kernel +```bash +$ sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade +``` + +- The following script will download, patch and build the whole Kernel from sources. +This operation should take **~30 minutes**. +The new Kernel version will be noted at the end of the installation. +```bash +$ ./scripts/patch-xhci-realsense-ubuntu-xenial.sh +``` +- Reboot and load the newly installed Kernel. +```bash +$ reboot +``` + +- Check and verify the Kernel version +```bash +$ uname -r +``` diff --git a/librealsense/doc/RaspberryPi3.md b/librealsense/doc/RaspberryPi3.md new file mode 100644 index 0000000..fc45f2e --- /dev/null +++ b/librealsense/doc/RaspberryPi3.md @@ -0,0 +1,28 @@ +# Intel® RealSense™ D400 cameras with Raspberry Pi + +This document describes how to use the Intel RealSense D400 cameras on Raspberry PI 3 Model B (which offers only USB2 interface). + +> **Note:** Camera capabilities are severely reduced when connected to USB2 port due to lack of bandwidth.
USB2 interface over D400 cameras is supported from FW 5.08.14.0 and on. Later firmware updates add more functionality, such as streaming reduced RGB video and additional Depth resolutions + +

+ +## Installation Instructions +1. Install [Ubuntu MATE](https://ubuntu-mate.org/) on your [Raspberry PI 3](https://www.raspberrypi.org/products/raspberry-pi-3-model-b/). + +2. Clone and compile the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/latest) by following the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/development/doc/installation.md). +In the section [Prerequisites](https://github.com/IntelRealSense/librealsense/blob/development/doc/installation.md##prerequisites), proceed with the steps till (not including) the kernel patches instructions. + +> **Note**: In some cases the RAM capacity is not sufficient to compile the SDK, so if the compilation process crashes or exits with an error-code try to create a [swap file](https://www.howtoforge.com/ubuntu-swap-file) and then recompile the SDK. + +3. [Activate](https://ubuntu-mate.community/t/tutorial-activate-opengl-driver-for-ubuntu-mate-16-04/7094) the OpenGL driver. +4. Plug the D400 camera and play with RealSense SDK [examples](https://github.com/IntelRealSense/librealsense/tree/master/examples)/[tools](https://github.com/IntelRealSense/librealsense/tree/master/tools). + +## Expected Output +1. Streaming Depth data with 480x270 resolution and 30 FPS using the [Intel RealSense Viewer](https://github.com/IntelRealSense/librealsense/tree/master/tools/realsense-viewer). +

+ +2. Streaming Depth and IR with 424x240 resolution and 30 FPS: +

+ +3. Point-cloud of depth and IR: +

diff --git a/librealsense/doc/android.md b/librealsense/doc/android.md new file mode 100644 index 0000000..b3e1e84 --- /dev/null +++ b/librealsense/doc/android.md @@ -0,0 +1,26 @@ +>:pushpin: The SDK 2.0 delivers cross-platform open source libraries & tools that allow users to develop on multiple Operating Systems & development environments. Intel has validated SDK2.0 on Windows and Linux platforms. Please check [latest Release](https://github.com/IntelRealSense/librealsense/releases) for the build versions. While Intel has not explicitly validated SDK2.0 on Android platforms, it is expected to work on Android as well. Please refer to the build instructions in the section below. Calibration and firmware update tools that would be used in production and manufacturing processes are not available on Android at this time. Please contact your Intel representative for additional information. + +# Intel® RealSense™ SDK 2.0 for Android OS + +Using the Android wrapper allows you to build both native (C/C++) and Java applications for Android. +In order to do that a RealSense Android App need to include `librealsense.aar` (Android Archive) in it's dependencies. +The AAR file is responsible to acquire camera access permissions and it also provides a JNI based RealSense Java API. + +> Previous Android solution was limited to rooted devices only, but is still available [here](https://github.com/IntelRealSense/librealsense/tree/v2.18.1/doc/android) + +## Ingredients +Before jumping to the instructions section please ensure you have all the required accessories. +1. Android target device with Android version >= 6.0 that supports OTG feature. +2. [Android Studio IDE](https://developer.android.com/studio). +3. [USB3 OTG](https://en.wikipedia.org/wiki/USB_On-The-Go) cable. + +## Build A RealSense Application +We provide two stand alone examples that demonstrates how to link with librealsense AAR from the maven repository. +These two examples focus on the grudle configuration and contains minimal code. +Follow the [Java example](../wrappers/android/examples/java_example/readme.md) or [Native example](../wrappers/android/examples/native_example/readme.md) for more details. +You can also [build RealSense AAR from source](../wrappers/android/readme.md) and add the generated AAR as a dependency as described [here](https://developer.android.com/studio/projects/android-library#AddDependency). +Graphical Java examples such as 'capture', 'recording' and 'playback' are available in the examples folder as part of the Android wrapper project. + +Below is an example of an application with librealsense on the android platform. + +![](img/realsense-android.png) diff --git a/librealsense/doc/api_arch.md b/librealsense/doc/api_arch.md new file mode 100644 index 0000000..c360ded --- /dev/null +++ b/librealsense/doc/api_arch.md @@ -0,0 +1,35 @@ +# API Architecture + +RealSense API provides access to configuration, control and streaming of data from RealSense depth cameras. You can get started with the basic functionality using the high level API, or get full control of all camera settings using the low level API: + +1. [High-Level Pipeline API](#high-level-pipeline-api) +The Pipeline interface configures the Intel® RealSense™ device with the best recommended settings and manages hardware resources and threading. It is accompanied by processing blocks, which abstract and simplify common processing of the camera raw data. Use this API when you require the Camera to work but do not need to fine tune the camera settings or control the streamings threads. Recommended for **Application Developers**. + +2. [Low-Level Device API](#low-level-device-api) + The Low Level Device interface enables you to take direct control of the individual device sensors, fine tune all camera settings, and manage the streaming threads, time synchronization and spatial mapping. Recommended for **Advanced Researches**, **Framework and Tool Developers** and Developers in emerging fields like **VR/AR**. + +## High-Level Pipeline API + +The High-Level Pipeline API allows the developer to focus on the output of the camera, or selected processing blocks. The `pipeline` class selects the best camera settings, according to the output required by the application. It acquires and activates the camera, manages the different streams threads, and provides time synchronized frames of the active streams. The pipeline provides access to the low level device interface, which it encapsulates. Thus, the sensors information and fine tuning capabilities are still accessible to the application. +The pipeline API is accompanied by the processing blocks, which provide tools to execute common image processing operations: + +* **Synchronize** any set of different asynchronous streams with respect to hardware timestamps using the `syncer` class +* **Align** streams to a common viewport, using the `align` class. You can also use your own calibration data to align devices that were not otherwise calibrated. +* **Project** depth data into the 3D space using the `pointcloud` class. +* Future releases will add **computer vision plugins** capabilities to the pipeline, for easy enriching available outputs based on camera streams. The pipeline makes sure all synchronization and alignment requirements of those plugins are met and takes care of threading and resource management. + +## Low-Level Device API +Intel RealSense™ devices use sensors, some commonplace like a regular RGB camera and some more exotic like the D400 Stereo module Structured-Light sensor: +

+ +The Low-Level Device API provides you with the means to take direct control of the individual device sensors. +* Each sensor has its own power management and control. +* Different sensors can be safely used from different applications and can only influence each other indirectly. +* Each sensor can offer one or more streams of data (images, motion). Streams must be configured together and are usually dependent on each other. For example, D400 depth stream depends on infrared data, so the streams must be configured with a single resolution. +* All sensors provide streaming as minimal capability, but each individual sensor can be extended to offer additional functionality. For example, most video devices let the user configure a custom region of interest for the auto-exposure mechanism. +* Standard video sensors pass UVC / HID compliance and can be used without custom drivers. + +Intel RealSense™ D400 stereo module offers **Advanced Mode** functionality, letting you control the various ASIC registers responsible for depth generation. + +The user of the device interface provides a callback to be invoked whenever new data frames become available. This callback runs immediately on the OS thread providing the best possible latency. +The callback provides a frame with the relevant data type according to the stream, which produced the data. Data frames can be extended to offer the additional functionality relevant to their stream type. For example, video stream frame data includes image resolution and information how to parse the image raw buffer. diff --git a/librealsense/doc/d435i.md b/librealsense/doc/d435i.md new file mode 100644 index 0000000..fb2629f --- /dev/null +++ b/librealsense/doc/d435i.md @@ -0,0 +1,71 @@ +# D435i + +The **Intel® RealSense™ D435i** is a depth camera which includes a [Bosch BMI055](https://www.bosch-sensortec.com/bst/products/all_products/bmi055) 6-axis inertial sensor in addition to the depth camera which measures linear accelerations and angular velocities. Each IMU data packet is timestamped using the depth sensor hardware clock to allow temporal synchronization between gyro, accel and depth frames. + +## Sensor origin and coordinate system +The IMU sensor location and orientation relative to the depth sensors are conveniently embedded into the sensor's extrinsic data. In order to align and them with SDK-wide established [orientation convention](https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0#point-coordinates) using the depth sensor as coordinate system origin, each IMU sample is multiplied internally by the extrinsic matrix. + +The resulting orientation angles and acceleration vectors share the coordinate system with the depth sensor. +![D400 Depth Sensor Orientation angles](./img/LRS_CS_axis_base.png) +1. The positive x-axis points to the right. +2. The positive y-axis points down. +3. The positive z-axis points forward + +The coordinate system is also compatible with the [OpenCV pinhole camera model](https://docs.opencv.org/3.4.0/d9/d0c/group__calib3d.html) + +Note: The accelerometer is an intertial sensor and it measures [inertial force](https://www.merriam-webster.com/dictionary/inertial%20force#:~:text=%3A%20a%20force%20opposite%20in%20direction,the%20mass%20of%20the%20body). So when the camera is idle, the accelerometer doesn’t measure G-force, but rather the force that resists to G. The resisting force aims up to the ceiling, and according to the coordinate System the positive Y-axis looks “down” and therefore the actual reading (the white line) is -9.8 + + +## IMU calibration +The D435i IMU sensor does not include internal calibration, which may manifest itself with non-zero angular velocities produced at idle mode and the gravity (accel) force measured being not equal to 9.80665. + +A [complementary calibration tool](https://github.com/IntelRealSense/librealsense/tree/development/tools/rs-imu-calibration#rs-imu-calibration-tool) has been developed and published as part of the SDK. + +Running the calibration routine will calculate IMU intrinsics and store them on device's NVRAM for later use in SDK. + +The depth<->IMU sensor extrinsic (rigid body transformation) is precalculated based on mechanical drawings and cannot be modified. + +When initialized, the SDK will query the device for the existance of the IMU calibration data, and if present - apply it to the raw IMU samples produced by the device. + +## Integration with the SDK +The following `librealsense` tools and demos are IMU ready: + - `rs-capture` - 2D Visualization + - `rs-enumerate-devices` - list the IMU and tracking profiles (FPS rates and formats). + - `rs-data-collect` - Store and serialize IMU in Excel-friendly csv format. The tool uses low-level sensor API to minimize software-imposed latencies. Useful for performance profiling. + - `realsense-viewer` - Provides 2D visualization of IMU data. + +The IMU and data streams are fully compatible with SDK's embedded recorder utility. + +## API +The IMU is treated by the SDK like any other supported sensor. Therefore the sensor access and invocation API calls are similar to those of the depth/rgb sensors of the D400: + +```cpp +rs2::pipeline pipe; + +rs2::config cfg; +cfg.enable_stream(RS2_STREAM_GYRO); +cfg.enable_stream(RS2_STREAM_ACCEL); + +pipe.start(cfg); + +while (app) // Application still alive? +{ + rs2::frameset frameset = pipe.wait_for_frames(); + + // Find and retrieve IMU data + if (rs2::motion_frame accel_frame = frameset.first_or_default(RS2_STREAM_ACCEL)) + { + rs2_vector accel_sample = accel_frame.get_motion_data(); + //std::cout << "Accel:" << accel_sample.x << ", " << accel_sample.y << ", " << accel_sample.z << std::endl; + //... + } + + if (rs2::motion_frame gyro_frame = frameset.first_or_default(RS2_STREAM_GYRO)) + { + rs2_vector gyro_sample = gyro_frame.get_motion_data(); + //std::cout << "Gyro:" << gyro_sample.x << ", " << gyro_sample.y << ", " << gyro_sample.z << std::endl; + //... + } +} +``` + diff --git a/librealsense/doc/depth-from-stereo.md b/librealsense/doc/depth-from-stereo.md new file mode 100644 index 0000000..ba4f29f --- /dev/null +++ b/librealsense/doc/depth-from-stereo.md @@ -0,0 +1,137 @@ +# Depth from Stereo + +Using this tutorial you will learn the basics of stereoscopic vision, including block-matching, calibration and rectification, depth from stereo using opencv, passive vs. active stereo and relation to structured light. + +### Why Depth? +Regular consumer web-cams offer streams of RGB data within the visible spectrum. This data can be used for object recognition and tracking, as well as some basic scene understanding. + +> Even with **machine learning** grasping the exact dimensions of physical objects is a very hard problem + +This is where **depth cameras** come-in. The goal of a depth camera is to add a brand-new channel of information, with distance to every pixel. +This new channel can be used just like the rest (for training and image processing) but also for measurement and scene reconstruction. + +### Stereoscopic Vision +Depth from Stereo is a classic computer vision algorithm inspired by human [binocular vision system](https://en.wikipedia.org/wiki/Binocular_vision). It relies on two parallel view-ports and calculates depth by estimating disparities between matching key-points in the left and right images: + +


Depth from Stereo algorithm finds disparity by matching blocks in left and right images

+ +Most naive implementation of this idea is the **SSD (Sum of Squared Differences) block-matching** algorithm: + +```python +import numpy + +fx = 942.8 # lense focal length +baseline = 54.8 # distance in mm between the two cameras +disparities = 64 # num of disparities to consider +block = 15 # block size to match +units = 0.001 # depth units + +for i in xrange(block, left.shape[0] - block - 1): + for j in xrange(block + disparities, left.shape[1] - block - 1): + ssd = numpy.empty([disparities, 1]) + + # calc SSD at all possible disparities + l = left[(i - block):(i + block), (j - block):(j + block)] + for d in xrange(0, disparities): + r = right[(i - block):(i + block), (j - d - block):(j - d + block)] + ssd[d] = numpy.sum((l[:,:]-r[:,:])**2) + + # select the best match + disparity[i, j] = numpy.argmin(ssd) + +# Convert disparity to depth +depth = np.zeros(shape=left.shape).astype(float) +depth[disparity > 0] = (fx * baseline) / (units * disparity[disparity > 0]) +``` +


Rectified image pair used as input to the algorithm

+ +


Depth map produced by the naive SSD block-matching implementation

+ +


Point-cloud reconstructed using SSD block-matching

+ +There are several challenges that any actual product has to overcome: + +1. Ensuring that the images are in fact coming from two parallel views +2. Filtering out bad pixels where matching failed due to occlusion +3. Expanding the range of generated disparities from fixed set of integers to achieve sub-pixel accuracy + +### Calibration and Rectification +In reality having two exactly parallel view-ports is challenging. While it is possible to generalize the algorithm to any two calibrated cameras (by matching along [epipolar lines](https://en.wikipedia.org/wiki/Epipolar_geometry)), the more common approach is [image rectification](https://en.wikipedia.org/wiki/Image_rectification). During this step left and right images are reprojected to a common virtual plane: + +


Image Rectification illustrated, source: Wikipedia

+ +### Software Stereo + +[opencv](https://opencv.org/) library has everything you need to get started with depth: +1. [calibrateCamera](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?highlight=calib#calibratecamera) can be used to generate extrinsic calibration between any two arbitrary view-ports +2. [stereorectify](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?highlight=calib#stereorectify) will help you rectify the two images prior to depth generation +3. [stereobm](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?highlight=calib#stereobm) and [stereosgbm](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?highlight=calib#stereosgbm) can be used for disparity calculation +4. [reprojectimageto3d](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?highlight=calib#reprojectimageto3d) to project disparity image to 3D space + +```python +import numpy +import cv2 + +fx = 942.8 # lense focal length +baseline = 54.8 # distance in mm between the two cameras +disparities = 128 # num of disparities to consider +block = 31 # block size to match +units = 0.001 # depth units + +sbm = cv2.StereoBM_create(numDisparities=disparities, + blockSize=block) + +disparity = sbm.compute(left, right) + +depth = np.zeros(shape=left.shape).astype(float) +depth[disparity > 0] = (fx * baseline) / (units * disparity[disparity > 0]) +``` + +


Point-cloud generated using opencv stereobm algorithm

+ +The average running time of [stereobm](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?highlight=calib#stereobm) on an Intel(R) Core(TM) i5-6600K CPU is around 110 ms offering effective 9 FPS (frames per second). + +> Get the full source code [here](https://github.com/dorodnic/librealsense/wiki/source.zip) + +### Passive vs Active Stereo +The quality of the results you will get with this algorithm depends primarily on the density of visually distinguishable points (features) for the algorithm to match. Any source of texture, natural or artificial will improve the accuracy significantly. + +That's why it is extremely useful to have an optional **texture projector** (usually adding details outside of the visible spectrum). As an added benefit, such projector can be used as an artificial source of light at night or in the dark. + +


Input images illuminated with texture projector

+


Left: opencv stereobm without projector. Right: stereobm with projector.

+ +### Remark on Structured-Light + +[Structured-Light](https://en.wikipedia.org/wiki/Structured_light) is an alternative approach to depth from stereo. It relies on recognizing a specific projected pattern in a single image. + +Having certain benefits, structured-light solutions are known to be fragile since any external interference (from either sunlight or another structured-light device) will prevent you from getting any depth. + +In addition, since laser projector has to illuminate the entire scene, power consumption grows with range, often requiring a dedicated power source. + +Depth from stereo on the other hand, only benefits from multi-camera setup and can be used with or without projector. + +### The D400 Series + +


+D400 Intel RealSense cameras

+ +D400 RealSense cameras offer the following basic features: +1. The device comes fully calibrated producing hardware-rectified pairs of images +2. All depth calculations is done by the camera at up-to 90 FPS +3. The device offers sub-pixel accuracy and high fill-rate +4. There is an on-board texture projector for tough lighting conditions +5. The device runs of standard USB 5V power-source drawing around 1-1.5 W + +This product was designed from the ground up to address conditions critical to robotics / drones developers and to overcome the limitations of structured light. + +


Depth-map using D415 Intel RealSense camera

+ +


Point-cloud using D415 Intel RealSense camera

+ +Just like opencv, RealSense technology offers open-source and cross-platform set of [APIs](https://github.com/IntelRealSense/librealsense) for getting depth data. + +1. [electronicdesign - New Intel RealSense Cameras Deliver Low-Cost 3D Solutions](http://www.electronicdesign.com/industrial-automation/new-intel-realsense-cameras-deliver-low-cost-3d-solutions) +1. [Augmented World Expo - Help Your Embedded Systems See, Navigate, and Understand](https://www.youtube.com/watch?v=OOVl5dx7Bb8) +1. [List of whitepapers](https://realsense.intel.com/intel-realsense-downloads/#whitepaper) covering D400 RealSense technology +1. [Where to buy Intel RealSense cameras](https://realsense.intel.com/buy-now/) diff --git a/librealsense/doc/distribution_linux.md b/librealsense/doc/distribution_linux.md new file mode 100644 index 0000000..1e159a4 --- /dev/null +++ b/librealsense/doc/distribution_linux.md @@ -0,0 +1,85 @@ +# Linux Distribution + +#### Using pre-build packages +**Intel® RealSense™ SDK 2.0** provides installation packages for Intel X86/AMD64-based Debian distributions in [`dpkg`](https://en.wikipedia.org/wiki/Dpkg) format for Ubuntu 16/18/20/22 [LTS](https://wiki.ubuntu.com/LTS). +The Realsense [DKMS](https://en.wikipedia.org/wiki/Dynamic_Kernel_Module_Support) kernel drivers package (`librealsense2-dkms`) supports Ubuntu LTS kernels 4.4, 4.8, 4.10, 4.13, 4.15, 4.18*, 5.0*, 5.3*, 5.4, 5.13, 5.15, 5.19, 6.2 and 6.5. Please refer to [Ubuntu Kernel Release Schedule](https://wiki.ubuntu.com/Kernel/Support) for further details. + +#### Configuring and building from the source code +While we strongly recommend to use DKMS package whenever possible, there are certain cases where installing and patching the system manually is necessary: + - Using SDK with non-LTS Ubuntu kernel versions: **4.16 ** + - Integration of user-specific patches/modules with `librealsense` SDK. + - Adjusting the patches for alternative kernels/distributions. + +The steps are described in [Linux manual installation guide](./installation.md) + + +## Installing the packages: +- Register the server's public key: +``` +sudo mkdir -p /etc/apt/keyrings +curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null +``` + +- Make sure apt HTTPS support is installed: +`sudo apt-get install apt-transport-https` + +- Add the server to the list of repositories: +``` +echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \ +sudo tee /etc/apt/sources.list.d/librealsense.list +sudo apt-get update +``` + +- Install the libraries (see section below if upgrading packages): + `sudo apt-get install librealsense2-dkms` + `sudo apt-get install librealsense2-utils` + The above two lines will deploy librealsense2 udev rules, build and activate kernel modules, runtime library and executable demos and tools. + +- Optionally install the developer and debug packages: + `sudo apt-get install librealsense2-dev` + `sudo apt-get install librealsense2-dbg` + With `dev` package installed, you can compile an application with **librealsense** using `g++ -std=c++11 filename.cpp -lrealsense2` or an IDE of your choice. + +Reconnect the Intel RealSense depth camera and run: `realsense-viewer` to verify the installation. + +Verify that the kernel is updated : +`modinfo uvcvideo | grep "version:"` should include `realsense` string + +## Upgrading the Packages: +Refresh the local packages cache by invoking: + `sudo apt-get update` + +Upgrade all the installed packages, including `librealsense` with: + `sudo apt-get upgrade` + +To upgrade selected packages only a more granular approach can be applied: + `sudo apt-get --only-upgrade install ` + E.g: + `sudo apt-get --only-upgrade install librealsense2-utils librealsense2-dkms` + +## Uninstalling the Packages: +**Important** Removing Debian package is allowed only when no other installed packages directly refer to it. For example removing `librealsense2-udev-rules` requires `librealsense2` to be removed first. + +Remove a single package with: + `sudo apt-get purge ` + +Remove all RealSense™ SDK-related packages with: + `dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge` + +## Package Details: +The packages and their respective content are listed below: + +Name | Content | Depends on | +-------- | ------------ | ---------------- | +librealsense2-udev-rules | Configures RealSense device permissions on kernel level | - +librealsense2-dkms | DKMS package for Depth cameras-specific kernel extensions | librealsense2-udev-rules +librealsense2 | RealSense™ SDK runtime (.so) and configuration files | librealsense2-udev-rules +librealsense2-utils | Demos and tools available as a part of RealSense™ SDK | librealsense2 +librealsense2-dev | Header files and symbolic link for developers | librealsense2 +librealsense2-dbg | Debug symbols for developers | librealsense2 +librealsense2-gl | GLSL extension module runtime and configuration file | librealsense2 +librealsense2-gl-dev | GLSL development header files and symbolic link | librealsense2 +librealsense2-gl-dbg | GLSL debug symbols required for debugging purposes | librealsense2 + +**Note** The packages include binaries and configuration files only. +Use the github repository to obtain the source code. diff --git a/librealsense/doc/distribution_windows.md b/librealsense/doc/distribution_windows.md new file mode 100644 index 0000000..d97e037 --- /dev/null +++ b/librealsense/doc/distribution_windows.md @@ -0,0 +1,48 @@ +# Windows Distribution + +**Intel® RealSense™ SDK 2.0** provides tools and binaries for the Windows platform using [GitHub Releases](https://github.com/IntelRealSense/librealsense/releases) + +> To build from source, please follow the steps described [here](./installation_windows.md) + +After plugging the camera into a USB3 port, you should be able to see the newly connected device in the Device Manager: +![Windows Device Manager: Imaging Devices](./img/win_deploy_device_manager.PNG) + +## Intel RealSense Viewer + +- Go to the [latest stable release](https://github.com/IntelRealSense/librealsense/releases/latest), navigate to the **Assets** section, download and run **Intel.RealSense.Viewer.exe**: +![GitHub Downloads](./img/win_deploy_downloads.PNG) + +- Explore the depth data: + +![Viewer](./img/windows_viewer_preview.PNG) + +## Installing the SDK + +* Go to the [latest stable release](https://github.com/IntelRealSense/librealsense/releases/latest), navigate to the **Assets** section, download and run **Intel.RealSense.SDK.exe**: + +* Click through several simple steps of the installer: +1. Intel® RealSense™ SDK 2.0 is distributed under the [Apache 2.0](../LICENSE) permissive open-source license: + + ![Step 1](./img/win_step1.PNG) + +2. The SDK includes the RealSense Viewer, as well as development packages for various programming languages: + + ![Step 2](./img/win_step2.PNG) + +3. Approve adding two shortcuts to your desktop: + + ![Step 3](./img/win_step3.PNG) + +4. Review before installing: + + ![Step 4](./img/win_step4.PNG) + +5. Open the `Intel® RealSense™ Samples` solution: + + ![Step 5](./img/win_shortcuts.PNG) + +6. Press `F5` to compile and run the demos: + + ![Step 6](./img/win_samples.PNG) + +7. Success! diff --git a/librealsense/doc/doxygen/doxyfile b/librealsense/doc/doxygen/doxyfile new file mode 100644 index 0000000..49edd1f --- /dev/null +++ b/librealsense/doc/doxygen/doxyfile @@ -0,0 +1,2443 @@ +# Doxyfile 1.8.11 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all text +# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv +# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv +# for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "Intel® RealSense™ Cross Platform API" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = "Intel Realsense Cross-platform API" + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. 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If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = "The $name class" \ + "The $name widget" \ + "The $name file" \ + is \ + provides \ + specifies \ + contains \ + represents \ + a \ + an \ + the + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, Javascript, +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: +# Fortran. In the later case the parser tries to guess whether the code is fixed +# or free formatted code, this is the default for Fortran type files), VHDL. For +# instance to make doxygen treat .inc files as Fortran files (default is PHP), +# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO, these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = ../../include + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, +# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. + +FILE_PATTERNS = *.ipp \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.inc \ + *.md + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = ../../unit-tests/catch \ + ../../examples/third_party + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse-libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = YES + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /