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D400 Calibration extensions in C# #9256

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merged 11 commits into from
Jul 4, 2021
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Merged

D400 Calibration extensions in C# #9256

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c9a4dd8
C# an example of calling on-chip calibration
DenisGeek Apr 8, 2021
8ce9aa5
delete description
DenisGeek Apr 8, 2021
a7a0de5
Added Calibration tests:
DenisGeek Apr 15, 2021
ae7a7b4
Calib demo adjustments and minor fixes
ev-mp Jun 15, 2021
3eea3c3
adding tare and occ apis with callback
remibettan Jun 13, 2021
b2ebb18
Run OCC using invocations with callbacks
ev-mp Jun 20, 2021
b9c941a
Realign code from CRLF to LF convention
ev-mp Jun 20, 2021
dbbf31c
CR fixes and enhancements
ev-mp Jun 21, 2021
cfca847
CRLF->LF adjustments
ev-mp Jun 21, 2021
d0689e1
CR fixes
ev-mp Jul 4, 2021
e3e35e6
CR updates
ev-mp Jul 4, 2021
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11 changes: 7 additions & 4 deletions wrappers/csharp/cs-tutorial-8-D400-on-chip-calibration/ExampleAutocalibrateDevice.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -167,21 +167,24 @@ public void Calibrate(Device dev = null)
try
{
sw.Start();
calTableAfter = aCalibratedDevice.RunOnChipCalibration(calibrationConfig, out health, timeout);
ProgressCallback pc = (x) => { Console.WriteLine("Progress: {0} percents",x); };
// The following line performs the same calibration flow but does not report progress"
//calTableAfter = aCalibratedDevice.RunOnChipCalibration(calibrationConfig, out health, timeout);
calTableAfter = aCalibratedDevice.RunOnChipCalibration(calibrationConfig, out health, pc, timeout);
sw.Stop();
}
catch (Exception ex)
{
sw.Stop();
thisCalibrationfault = true;
Console.WriteLine($"\t Error during calibration: {ex.Message.Replace("\n", "\t")}");
Console.WriteLine($"\n\t Error during calibration: {ex.Message.Replace("\n", "\t")}");
Console.WriteLine($"\t Please try to change distance to target or light conditions{Environment.NewLine}");
if (ConsoleKey.N == ConsoleGetKey(new[] { ConsoleKey.Y, ConsoleKey.N },
@"Let's try calibrate one more time? (Y\N)"
))
{
Console.WriteLine("");
Console.WriteLine($"Calibration fault");
Console.WriteLine($"Calibration aborted");
Console.WriteLine($"Stopping calibration pipeline...");
pipeline.Stop();
return;
Expand All @@ -190,7 +193,7 @@ public void Calibrate(Device dev = null)

if (!thisCalibrationfault)
{
Console.WriteLine($"\t Time spend: {sw.Elapsed.ToString(@"mm\:ss\.fff")} (min:sec.millisec)");
Console.WriteLine($"\n\t Time spend: {sw.Elapsed.ToString(@"mm\:ss\.fff")} (min:sec.millisec)");
Console.WriteLine($"\t Device health: {health} ({_deviceHealthDescription[GetDeviceHealth(health)]})");

var res = ConsoleGetKey(new[] { ConsoleKey.Y, ConsoleKey.N, ConsoleKey.A }, @"Accept calibration ? Yes/No/Abort");
Expand Down
12 changes: 9 additions & 3 deletions wrappers/csharp/cs-tutorial-8-D400-on-chip-calibration/Window.xaml.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,12 @@ public CaptureWindow()
using (var ctx = new Context())
{
var devices = ctx.QueryDevices();
if (0==devices.Count)
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{
Console.WriteLine("The tutorial {0} requires Realsense D400 device to run.\nConnect a device and rerun",
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System.Diagnostics.Process.GetCurrentProcess().ProcessName);
Environment.Exit(0);
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}
var dev = devices[0];

Console.WriteLine("Using device 0, an {0}", dev.Info[CameraInfo.Name]);
Expand Down Expand Up @@ -90,7 +96,7 @@ public CaptureWindow()
SetupWindow(pp, out updateDepth, out updateColor);
}

// Redndering task
// Rendering task
var renderingPause = false;
var rendering = Task.Factory.StartNew(() =>
{
Expand Down Expand Up @@ -119,7 +125,7 @@ public CaptureWindow()
{
String depth_dev_sn = depthFrame.Sensor.Info[CameraInfo.SerialNumber];
txtTimeStamp.Text = $"{depth_dev_sn} : {depthFrame.Timestamp,-20:0.00}({depthFrame.TimestampDomain})" +
$"{Environment.NewLine}If you want to start calibration mode, switch to opened application console and press C";
$"{Environment.NewLine}To start Auto-Calibration flow, switch focus to the application console and press C";
}));
}
}
Expand All @@ -131,7 +137,7 @@ public CaptureWindow()
while (!tokenSource.Token.IsCancellationRequested)
{
if (ConsoleKey.C == ExampleAutocalibrateDevice.ConsoleGetKey(new[] { ConsoleKey.C},
"If you want to start calibration mode, switch to opened application console and press C"))
"To start Auto-Calibration flow, switch focus to the application console and press C"))
{
renderingPause = true;
Console.WriteLine($"{Environment.NewLine}Stopping rendering pipeline...");
Expand Down