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Advanced mode - add disparity modulation function control #4100

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Jun 3, 2019
Merged

Advanced mode - add disparity modulation function control #4100

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7dc734a
Advanced mode: add depth linearity - amplitude factor.
ev-mp May 27, 2019
b8b59db
Amplitude Factor - Cross verification for LRS/FW version matrix
ev-mp May 28, 2019
827c594
Add missing include include to Realsense-Viewer/DQT projects
ev-mp May 29, 2019
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30 changes: 29 additions & 1 deletion common/realsense-ui-advanced-mode.h
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Original file line number Diff line number Diff line change
Expand Up @@ -195,6 +195,7 @@ struct advanced_mode_control
param_group<STDepthTableControl> depth_table;
param_group<STAEControl> ae;
param_group<STCensusRadius> census;
param_group<STAFactor> amp_factor;
};

inline void draw_advanced_mode_controls(rs400::advanced_mode& advanced,
Expand All @@ -215,6 +216,7 @@ inline void draw_advanced_mode_controls(rs400::advanced_mode& advanced,
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
Expand Down Expand Up @@ -601,5 +603,31 @@ inline void draw_advanced_mode_controls(rs400::advanced_mode& advanced,

ImGui::TreePop();
}
}

if (ImGui::TreeNode("Disparity Modulation"))
{
ImGui::PushItemWidth(-1);

auto to_set = false;

slider_float(error_message, "Amplitude 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();
}
}
5 changes: 5 additions & 0 deletions include/librealsense2/h/rs_advanced_mode_command.h
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Expand Up @@ -122,6 +122,11 @@ typedef struct
uint32_t vDiameter;
}STCensusRadius;

typedef struct
{
float amplitude;
}STAFactor;

#ifdef __cplusplus
extern "C"{
#endif
Expand Down
5 changes: 5 additions & 0 deletions include/librealsense2/rs_advanced_mode.h
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Expand Up @@ -88,6 +88,11 @@ void rs2_set_census(rs2_device* dev, const STCensusRadius* group, rs2_error** e

void rs2_get_census(rs2_device* dev, STCensusRadius* group, int mode, rs2_error** error);

void rs2_set_amp_factor(rs2_device* dev, const STAFactor* group, rs2_error** error);

/* Gets new values for STAFactor, returns 0 if success */
void rs2_get_amp_factor(rs2_device* dev, STAFactor* group, int mode, rs2_error** error);

/* Load JSON and apply advanced-mode controls, returns 0 if success */
void rs2_load_json(rs2_device* dev, const void* json_content, unsigned content_size, rs2_error** error);

Expand Down
23 changes: 23 additions & 0 deletions include/librealsense2/rs_advanced_mode.hpp
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Expand Up @@ -4,6 +4,7 @@
#ifndef R4XX_ADVANCED_MODE_HPP
#define R4XX_ADVANCED_MODE_HPP

#include <cmath>
#include "rs.hpp"
#include "rs_advanced_mode.h"

Expand Down Expand Up @@ -244,6 +245,23 @@ namespace rs400
return group;
}

void set_amp_factor(const STAFactor& group)
{
rs2_error* e = nullptr;
rs2_set_amp_factor(_dev.get(), &group, &e);
rs2::error::handle(e);
}

STAFactor get_amp_factor(int mode = 0) const
{
rs2_error* e = nullptr;
STAFactor group{};
rs2_get_amp_factor(_dev.get(), &group, mode, &e);
rs2::error::handle(e);

return group;
}

std::string serialize_json() const
{
std::string results;
Expand Down Expand Up @@ -389,5 +407,10 @@ inline bool operator==(const STCensusRadius& a, const STCensusRadius& b)
a.vDiameter == b.vDiameter);
}

inline bool operator==(const STAFactor& a, const STAFactor& b)
{
return (fabs(a.amplitude - b.amplitude) < std::numeric_limits<float>::epsilon());
}


#endif // R4XX_ADVANCED_MODE_HPP
4 changes: 2 additions & 2 deletions src/command_transfer.h
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Expand Up @@ -44,13 +44,13 @@ namespace librealsense

auto hwm = *it;
uint32_t transfered_count = 0;
auto sts = m->bulk_transfer(hwm->first_endpoint(RS2_USB_ENDPOINT_DIRECTION_WRITE), const_cast<uint8_t*>(data.data()), data.size(), transfered_count, timeout_ms);
auto sts = m->bulk_transfer(hwm->first_endpoint(RS2_USB_ENDPOINT_DIRECTION_WRITE), const_cast<uint8_t*>(data.data()), static_cast<uint32_t>(data.size()), transfered_count, timeout_ms);

if (sts != RS2_USB_STATUS_SUCCESS)
throw std::runtime_error("command transfer failed to execute bulk transfer, error: " + usb_status_to_string.at(sts));

std::vector<uint8_t> output(DEFAULT_BUFFER_SIZE);
sts = m->bulk_transfer(hwm->first_endpoint(RS2_USB_ENDPOINT_DIRECTION_READ), output.data(), output.size(), transfered_count, timeout_ms);
sts = m->bulk_transfer(hwm->first_endpoint(RS2_USB_ENDPOINT_DIRECTION_READ), output.data(), static_cast<uint32_t>(output.size()), transfered_count, timeout_ms);

if (sts != RS2_USB_STATUS_SUCCESS)
throw std::runtime_error("command transfer failed to execute bulk transfer, error: " + usb_status_to_string.at(sts));
Expand Down
10 changes: 9 additions & 1 deletion src/core/advanced_mode.h
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Expand Up @@ -26,7 +26,8 @@ typedef enum
etDepthTableControl = 9,
etAEControl = 10,
etCencusRadius9 = 11,
etLastAdvancedModeGroup = 12, // Must be last
etAFactor = 12,
etLastAdvancedModeGroup = 13, // Must be last
}
EtAdvancedModeRegGroup;

Expand All @@ -51,6 +52,7 @@ namespace librealsense
MAP_ADVANCED_MODE(STDepthTableControl, etDepthTableControl);
MAP_ADVANCED_MODE(STAEControl, etAEControl);
MAP_ADVANCED_MODE(STCensusRadius, etCencusRadius9);
MAP_ADVANCED_MODE(STAFactor, etAFactor);


class ds5_advanced_mode_interface : public recordable<ds5_advanced_mode_interface>
Expand All @@ -76,6 +78,7 @@ namespace librealsense
virtual void get_depth_table_control(STDepthTableControl* ptr, int mode = 0) const = 0;
virtual void get_ae_control(STAEControl* ptr, int mode = 0) const = 0;
virtual void get_census_radius(STCensusRadius* ptr, int mode = 0) const = 0;
virtual void get_amp_factor(STAFactor* ptr, int mode = 0) const = 0;

virtual void set_depth_control_group(const STDepthControlGroup& val) = 0;
virtual void set_rsm(const STRsm& val) = 0;
Expand All @@ -89,6 +92,7 @@ namespace librealsense
virtual void set_depth_table_control(const STDepthTableControl& val) = 0;
virtual void set_ae_control(const STAEControl& val) = 0;
virtual void set_census_radius(const STCensusRadius& val) = 0;
virtual void set_amp_factor(const STAFactor& val) = 0;

virtual std::vector<uint8_t> serialize_json() const = 0;
virtual void load_json(const std::string& json_content) = 0;
Expand Down Expand Up @@ -129,6 +133,7 @@ namespace librealsense
void get_depth_table_control(STDepthTableControl* ptr, int mode = 0) const override;
void get_ae_control(STAEControl* ptr, int mode = 0) const override;
void get_census_radius(STCensusRadius* ptr, int mode = 0) const override;
void get_amp_factor(STAFactor* ptr, int mode = 0) const override;

void set_depth_control_group(const STDepthControlGroup& val) override;
void set_rsm(const STRsm& val) override;
Expand All @@ -142,6 +147,7 @@ namespace librealsense
void set_depth_table_control(const STDepthTableControl& val) override;
void set_ae_control(const STAEControl& val) override;
void set_census_radius(const STCensusRadius& val) override;
void set_amp_factor(const STAFactor& val) override;

std::vector<uint8_t> serialize_json() const override;
void load_json(const std::string& json_content) override;
Expand Down Expand Up @@ -199,6 +205,8 @@ namespace librealsense
lazy<ds5_color_sensor*> _color_sensor;
lazy<bool> _enabled;
std::shared_ptr<advanced_mode_preset_option> _preset_opt;
bool _rgb_exposure_gain_bind;
bool _amplitude_factor_support;

static const uint16_t HW_MONITOR_COMMAND_SIZE = 1000;
static const uint16_t HW_MONITOR_BUFFER_SIZE = 1024;
Expand Down
28 changes: 26 additions & 2 deletions src/ds5/advanced_mode/advanced_mode.cpp
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Expand Up @@ -13,7 +13,9 @@ namespace librealsense
uvc_sensor& depth_sensor)
: _hw_monitor(hwm),
_depth_sensor(depth_sensor),
_color_sensor(nullptr)
_color_sensor(nullptr),
_rgb_exposure_gain_bind(false),
_amplitude_factor_support(false)
{
_enabled = [this]() {
auto results = send_receive(encode_command(ds::fw_cmd::UAMG));
Expand All @@ -38,6 +40,8 @@ namespace librealsense
}
return (ds5_color_sensor*)nullptr;
};
auto fw_ver = firmware_version(_depth_sensor.get_device().get_info(rs2_camera_info::RS2_CAMERA_INFO_FIRMWARE_VERSION));
_amplitude_factor_support = _rgb_exposure_gain_bind = (fw_ver >= firmware_version("5.11.9.0"));
}

bool ds5_advanced_mode_base::is_enabled() const
Expand Down Expand Up @@ -225,6 +229,12 @@ namespace librealsense
*ptr = get<STCensusRadius>(advanced_mode_traits<STCensusRadius>::group, nullptr, mode);
}

void ds5_advanced_mode_base::get_amp_factor(STAFactor* ptr, int mode) const
{
*ptr = _amplitude_factor_support ? get<STAFactor>(advanced_mode_traits<STAFactor>::group, nullptr, mode) :
[]() { STAFactor af; af.amplitude = 0.f; return af; }();
}

bool ds5_advanced_mode_base::supports_option(const uvc_sensor& sensor, rs2_option opt) const
{
return sensor.supports_option(opt);
Expand Down Expand Up @@ -481,6 +491,15 @@ namespace librealsense
_preset_opt->set(RS2_RS400_VISUAL_PRESET_CUSTOM);
}

void ds5_advanced_mode_base::set_amp_factor(const STAFactor& val)
{
if (_amplitude_factor_support)
{
set(val, advanced_mode_traits<STAFactor>::group);
_preset_opt->set(RS2_RS400_VISUAL_PRESET_CUSTOM);
}
}

void ds5_advanced_mode_base::set_laser_power(const laser_power_control& val)
{
if (val.was_set)
Expand Down Expand Up @@ -679,6 +698,7 @@ namespace librealsense
get_depth_table_control(&p.depth_table);
get_ae_control(&p.ae);
get_census_radius(&p.census);
get_amp_factor(&p.amplitude_factor);
get_laser_power(&p.laser_power);
get_laser_state(&p.laser_state);
get_depth_exposure(&p.depth_exposure);
Expand Down Expand Up @@ -719,6 +739,8 @@ namespace librealsense
set(p.depth_table , advanced_mode_traits<STDepthTableControl>::group);
set(p.ae , advanced_mode_traits<STAEControl>::group);
set(p.census , advanced_mode_traits<STCensusRadius>::group);
if (_amplitude_factor_support)
set(p.amplitude_factor, advanced_mode_traits<STAFactor>::group);

set_laser_state(p.laser_state);
if (p.laser_state.was_set && p.laser_state.laser_state == 1) // 1 - on
Expand All @@ -733,12 +755,14 @@ namespace librealsense

set_color_auto_exposure(p.color_auto_exposure);
if (p.color_auto_exposure.was_set && p.color_auto_exposure.auto_exposure == 0)
{
set_color_exposure(p.color_exposure);
set_color_gain(p.color_gain);
}

set_color_backlight_compensation(p.color_backlight_compensation);
set_color_brightness(p.color_brightness);
set_color_contrast(p.color_contrast);
set_color_gain(p.color_gain);
set_color_gamma(p.color_gamma);
set_color_hue(p.color_hue);
set_color_saturation(p.color_saturation);
Expand Down
6 changes: 6 additions & 0 deletions src/ds5/advanced_mode/json_loader.hpp
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Expand Up @@ -42,6 +42,7 @@ namespace librealsense
param_group<STDepthTableControl> depth_table;
param_group<STAEControl> ae;
param_group<STCensusRadius> census;
param_group<STAFactor> a_factor;
param_group<laser_state_control> laser_state;
param_group<laser_power_control> laser_power;
param_group<exposure_control> depth_exposure;
Expand Down Expand Up @@ -87,6 +88,7 @@ namespace librealsense
depth_table.vals[0] = other.depth_table;
ae.vals[0] = other.ae;
census.vals[0] = other.census;
a_factor.vals[0] = other.amplitude_factor;
laser_state.vals[0] = other.laser_state;
laser_power.vals[0] = other.laser_power;
depth_exposure.vals[0] = other.depth_exposure;
Expand Down Expand Up @@ -391,6 +393,9 @@ namespace librealsense
{ "param-censususize", make_field(p.census, &STCensusRadius::uDiameter) },
{ "param-censusvsize", make_field(p.census, &STCensusRadius::vDiameter) },

// Depth Linearity
{ "param-amplitude-factor", make_field(p.a_factor, &STAFactor::amplitude) },

// Ignored fields
{ "param-regionspatialthresholdu", make_ignored_field() },
{ "param-regionspatialthresholdv", make_ignored_field() },
Expand Down Expand Up @@ -506,6 +511,7 @@ namespace librealsense
update_preset_control(in_preset.depth_table , p.depth_table);
update_preset_control(in_preset.ae , p.ae);
update_preset_control(in_preset.census , p.census);
update_preset_control(in_preset.amplitude_factor , p.a_factor);
update_preset_camera_control(in_preset.laser_power , p.laser_power);
update_preset_camera_control(in_preset.laser_state , p.laser_state);
update_preset_camera_control(in_preset.depth_exposure , p.depth_exposure);
Expand Down
1 change: 1 addition & 0 deletions src/ds5/advanced_mode/presets.h
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Expand Up @@ -109,6 +109,7 @@ namespace librealsense
STDepthTableControl depth_table;
STAEControl ae;
STCensusRadius census;
STAFactor amplitude_factor;
laser_state_control laser_state;
laser_power_control laser_power;
exposure_control depth_exposure;
Expand Down
21 changes: 21 additions & 0 deletions src/ds5/advanced_mode/rs_advanced_mode.cpp
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Expand Up @@ -272,6 +272,27 @@ void rs2_get_census(rs2_device* dev, STCensusRadius* group, int mode, rs2_error*
}
HANDLE_EXCEPTIONS_AND_RETURN(, dev, group, mode)

void rs2_set_amp_factor(rs2_device* dev, const STAFactor* group, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(dev);
VALIDATE_NOT_NULL(group);
auto advanced_mode = VALIDATE_INTERFACE(dev->device, librealsense::ds5_advanced_mode_interface);
advanced_mode->set_amp_factor(*group);
}
HANDLE_EXCEPTIONS_AND_RETURN(, dev, group)

void rs2_get_amp_factor(rs2_device* dev, STAFactor* group, int mode, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(dev);
VALIDATE_NOT_NULL(group);
auto advanced_mode = VALIDATE_INTERFACE(dev->device, librealsense::ds5_advanced_mode_interface);
advanced_mode->get_amp_factor(group, mode);
}
HANDLE_EXCEPTIONS_AND_RETURN(, dev, group, mode)
void rs2_set_amp_factor(rs2_device* dev, const STAFactor* group, rs2_error** error);

void rs2_get_amp_factor(rs2_device* dev, STAFactor* group, int mode, rs2_error** error);

void rs2_load_json(rs2_device* dev, const void* json_content, unsigned content_size, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL(dev);
Expand Down
2 changes: 1 addition & 1 deletion src/ds5/ds5-motion.cpp
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Expand Up @@ -317,7 +317,7 @@ namespace librealsense
hid_ep->register_on_before_frame_callback(align_imu_axes);
}

if (!motion_module_fw_version.empty())
if ((!motion_module_fw_version.empty()) && ("255.255.255.255" != motion_module_fw_version))
register_info(RS2_CAMERA_INFO_FIRMWARE_VERSION, motion_module_fw_version);
}
}
Expand Down
2 changes: 2 additions & 0 deletions src/realsense.def
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Expand Up @@ -210,6 +210,8 @@ EXPORTS
rs2_get_ae_control
rs2_set_census
rs2_get_census
rs2_get_amp_factor
rs2_set_amp_factor
rs2_rs400_visual_preset_to_string
rs2_is_enabled
rs2_toggle_advanced_mode
Expand Down
1 change: 1 addition & 0 deletions tools/depth-quality/CMakeLists.txt
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Expand Up @@ -31,6 +31,7 @@ endif()
./depth-quality-model.cpp
./depth-metrics.h
../../common/rendering.h
../../common/realsense-ui-advanced-mode.h
../../common/ux-window.h
../../common/ux-window.cpp
../../common/model-views.h
Expand Down
1 change: 1 addition & 0 deletions tools/realsense-viewer/CMakeLists.txt
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Expand Up @@ -33,6 +33,7 @@ endif()
../../third-party/imgui/imgui-fonts-karla.hpp
../../third-party/imgui/imgui-fonts-fontawesome.hpp
../../common/rendering.h
../../common/realsense-ui-advanced-mode.h
../../common/model-views.h
../../common/model-views.cpp
../../common/ux-window.h
Expand Down