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Merge pull request #5997 from aseelegbaria/sr305
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SR305 added
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@ev-mp
ev-mp committed Mar 10, 2020
2 parents c7c9813 + 20fff11 commit 5fad0b9
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Showing 3 changed files with 152 additions and 112 deletions.
101 changes: 63 additions & 38 deletions src/ivcam/sr300.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -41,11 +41,24 @@ namespace librealsense
};

std::shared_ptr<device_interface> sr300_info::create(std::shared_ptr<context> ctx,
bool register_device_notifications) const
bool register_device_notifications) const
{
return std::make_shared<sr300_camera>(ctx, _color, _depth, _hwm,
this->get_device_data(),
register_device_notifications);
auto pid = _depth.pid;
switch (pid)
{
case SR300_PID:
return std::make_shared<sr300_camera>(ctx, _color, _depth, _hwm,
this->get_device_data(),
register_device_notifications);
case SR300v2_PID:
return std::make_shared<sr305_camera>(ctx, _color, _depth, _hwm,
this->get_device_data(),
register_device_notifications);
default:
throw std::runtime_error(to_string() << "Unsupported SR300 model! 0x"
<< std::hex << std::setw(4) << std::setfill('0') << (int)pid);
}

}

std::vector<std::shared_ptr<device_info>> sr300_info::pick_sr300_devices(
Expand Down Expand Up @@ -400,17 +413,17 @@ namespace librealsense
}

sr300_camera::sr300_camera(std::shared_ptr<context> ctx, const platform::uvc_device_info &color,
const platform::uvc_device_info &depth,
const platform::usb_device_info &hwm_device,
const platform::backend_device_group& group,
bool register_device_notifications)
const platform::uvc_device_info &depth,
const platform::usb_device_info &hwm_device,
const platform::backend_device_group& group,
bool register_device_notifications)
: device(ctx, group, register_device_notifications),
_depth_device_idx(add_sensor(create_depth_device(ctx, depth))),
_color_device_idx(add_sensor(create_color_device(ctx, color))),
_hw_monitor(std::make_shared<hw_monitor>(std::make_shared<locked_transfer>(ctx->get_backend().create_usb_device(hwm_device), get_raw_depth_sensor()))),
_depth_stream(new stream(RS2_STREAM_DEPTH)),
_ir_stream(new stream(RS2_STREAM_INFRARED)),
_color_stream(new stream(RS2_STREAM_COLOR))
_depth_device_idx(add_sensor(create_depth_device(ctx, depth))),
_depth_stream(new stream(RS2_STREAM_DEPTH)),
_ir_stream(new stream(RS2_STREAM_INFRARED)),
_color_stream(new stream(RS2_STREAM_COLOR)),
_color_device_idx(add_sensor(create_color_device(ctx, color))),
_hw_monitor(std::make_shared<hw_monitor>(std::make_shared<locked_transfer>(ctx->get_backend().create_usb_device(hwm_device), get_raw_depth_sensor())))
{
using namespace ivcam;
static auto device_name = "Intel RealSense SR300";
Expand All @@ -429,16 +442,16 @@ namespace librealsense
auto pid_hex_str = hexify(color.pid);
//auto recommended_fw_version = firmware_version(SR3XX_RECOMMENDED_FIRMWARE_VERSION);

register_info(RS2_CAMERA_INFO_NAME, device_name);
register_info(RS2_CAMERA_INFO_SERIAL_NUMBER, serial);
register_info(RS2_CAMERA_INFO_NAME, device_name);
register_info(RS2_CAMERA_INFO_SERIAL_NUMBER, serial);
register_info(RS2_CAMERA_INFO_ASIC_SERIAL_NUMBER, serial);
register_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID, serial);
register_info(RS2_CAMERA_INFO_FIRMWARE_VERSION, fw_version);
register_info(RS2_CAMERA_INFO_PHYSICAL_PORT, depth.device_path);
register_info(RS2_CAMERA_INFO_DEBUG_OP_CODE, std::to_string(static_cast<int>(fw_cmd::GLD)));
register_info(RS2_CAMERA_INFO_PRODUCT_ID, pid_hex_str);
register_info(RS2_CAMERA_INFO_PRODUCT_LINE, "SR300");
register_info(RS2_CAMERA_INFO_CAMERA_LOCKED, _is_locked ? "YES" : "NO");
register_info(RS2_CAMERA_INFO_PHYSICAL_PORT, depth.device_path);
register_info(RS2_CAMERA_INFO_DEBUG_OP_CODE, std::to_string(static_cast<int>(fw_cmd::GLD)));
register_info(RS2_CAMERA_INFO_PRODUCT_ID, pid_hex_str);
register_info(RS2_CAMERA_INFO_PRODUCT_LINE, "SR300");
register_info(RS2_CAMERA_INFO_CAMERA_LOCKED, _is_locked ? "YES" : "NO");
//register_info(RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION, recommended_fw_version);

register_autorange_options();
Expand All @@ -462,20 +475,32 @@ namespace librealsense
register_stream_to_extrinsic_group(*_color_stream, 0);

get_depth_sensor().register_option(RS2_OPTION_DEPTH_UNITS,
std::make_shared<const_value_option>("Number of meters represented by a single depth unit",
lazy<float>([this]() {
auto c = *_camer_calib_params;
return (c.Rmax / 1000 / 0xFFFF);
})));
std::make_shared<const_value_option>("Number of meters represented by a single depth unit",
lazy<float>([this]() {
auto c = *_camer_calib_params;
return (c.Rmax / 1000 / 0xFFFF);
})));

if (firmware_version(fw_version) >= firmware_version("3.26.2.0"))
{
roi_sensor_interface* roi_sensor;
if ((roi_sensor = dynamic_cast<roi_sensor_interface*>(&get_sensor(_color_device_idx))))
roi_sensor->set_roi_method(std::make_shared<ds5_auto_exposure_roi_method>(*_hw_monitor,
(ds::fw_cmd)ivcam::fw_cmd::SetRgbAeRoi));
}
}

sr305_camera::sr305_camera(std::shared_ptr<context> ctx, const platform::uvc_device_info &color,
const platform::uvc_device_info &depth,
const platform::usb_device_info &hwm_device,
const platform::backend_device_group& group,
bool register_device_notifications)
: sr300_camera(ctx, color, depth, hwm_device, group, register_device_notifications) {

static auto device_name = "Intel RealSense SR305";
update_info(RS2_CAMERA_INFO_NAME, device_name);

roi_sensor_interface* roi_sensor;
if ((roi_sensor = dynamic_cast<roi_sensor_interface*>(&get_sensor(_color_device_idx))))
roi_sensor->set_roi_method(std::make_shared<ds5_auto_exposure_roi_method>(*_hw_monitor,
(ds::fw_cmd)ivcam::fw_cmd::SetRgbAeRoi));

}


void sr300_camera::create_snapshot(std::shared_ptr<debug_interface>& snapshot) const
{
//TODO: implement
Expand All @@ -490,7 +515,7 @@ namespace librealsense
{
std::lock_guard<std::recursive_mutex> lock(_mtx);

if(has_metadata_ts(frame))
if (has_metadata_ts(frame))
{
auto f = std::dynamic_pointer_cast<librealsense::frame>(frame);
if (!f)
Expand Down Expand Up @@ -551,18 +576,18 @@ namespace librealsense
{
std::lock_guard<std::recursive_mutex> lock(_mtx);

return (has_metadata_ts(frame))? RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK : _backup_timestamp_reader->get_frame_timestamp_domain(frame);
return (has_metadata_ts(frame)) ? RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK : _backup_timestamp_reader->get_frame_timestamp_domain(frame);
}

std::shared_ptr<matcher> sr300_camera::create_matcher(const frame_holder& frame) const
{
std::vector<std::shared_ptr<matcher>> depth_matchers;

std::vector<stream_interface*> streams = { _depth_stream.get(), _ir_stream.get()};
std::vector<stream_interface*> streams = { _depth_stream.get(), _ir_stream.get() };

for (auto& s : streams)
{
depth_matchers.push_back(std::make_shared<identity_matcher>( s->get_unique_id(), s->get_stream_type()));
depth_matchers.push_back(std::make_shared<identity_matcher>(s->get_unique_id(), s->get_stream_type()));
}
std::vector<std::shared_ptr<matcher>> matchers;
if (!frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
Expand All @@ -574,7 +599,7 @@ namespace librealsense
matchers.push_back(std::make_shared<frame_number_composite_matcher>(depth_matchers));
}

auto color_matcher = std::make_shared<identity_matcher>( _color_stream->get_unique_id(), _color_stream->get_stream_type());
auto color_matcher = std::make_shared<identity_matcher>(_color_stream->get_unique_id(), _color_stream->get_stream_type());
matchers.push_back(color_matcher);

return std::make_shared<timestamp_composite_matcher>(matchers);
Expand Down
63 changes: 39 additions & 24 deletions src/ivcam/sr300.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,7 @@ namespace librealsense
LOG_ERROR("Frame is not valid. Failed to downcast to librealsense::frame.");
return RS2_TIMESTAMP_DOMAIN_COUNT;
}
if(f->additional_data.metadata_size >= platform::uvc_header_size )
if (f->additional_data.metadata_size >= platform::uvc_header_size)
return RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK;
else
return RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME;
Expand All @@ -101,10 +101,10 @@ namespace librealsense

class sr300_timestamp_reader_from_metadata : public frame_timestamp_reader
{
std::unique_ptr<sr300_timestamp_reader> _backup_timestamp_reader;
bool one_time_note;
mutable std::recursive_mutex _mtx;
arithmetic_wraparound<uint32_t,uint64_t > ts_wrap;
std::unique_ptr<sr300_timestamp_reader> _backup_timestamp_reader;
bool one_time_note;
mutable std::recursive_mutex _mtx;
arithmetic_wraparound<uint32_t, uint64_t > ts_wrap;

protected:

Expand All @@ -117,8 +117,8 @@ namespace librealsense
return false;
}
// Metadata support for a specific stream is immutable
const bool has_md_ts = [&]{ std::lock_guard<std::recursive_mutex> lock(_mtx);
return ((f->additional_data.metadata_blob.data() != nullptr) && (f->additional_data.metadata_size >= platform::uvc_header_size) && ((byte*)f->additional_data.metadata_blob.data())[0] >= platform::uvc_header_size);
const bool has_md_ts = [&] { std::lock_guard<std::recursive_mutex> lock(_mtx);
return ((f->additional_data.metadata_blob.data() != nullptr) && (f->additional_data.metadata_size >= platform::uvc_header_size) && ((byte*)f->additional_data.metadata_blob.data())[0] >= platform::uvc_header_size);
}();

return has_md_ts;
Expand All @@ -134,7 +134,7 @@ namespace librealsense
}
// Metadata support for a specific stream is immutable
const bool has_md_frame_counter = [&] { std::lock_guard<std::recursive_mutex> lock(_mtx);
return ((f->additional_data.metadata_blob.data() != nullptr) && (f->additional_data.metadata_size > platform::uvc_header_size) && ((byte*)f->additional_data.metadata_blob.data())[0] > platform::uvc_header_size);
return ((f->additional_data.metadata_blob.data() != nullptr) && (f->additional_data.metadata_size > platform::uvc_header_size) && ((byte*)f->additional_data.metadata_blob.data())[0] > platform::uvc_header_size);
}();

return has_md_frame_counter;
Expand All @@ -160,14 +160,14 @@ namespace librealsense
{
public:
std::shared_ptr<device_interface> create(std::shared_ptr<context> ctx,
bool register_device_notifications) const override;
bool register_device_notifications) const override;

sr300_info(std::shared_ptr<context> ctx,
platform::uvc_device_info color,
platform::uvc_device_info depth,
platform::usb_device_info hwm)
platform::uvc_device_info color,
platform::uvc_device_info depth,
platform::usb_device_info hwm)
: device_info(ctx), _color(std::move(color)),
_depth(std::move(depth)), _hwm(std::move(hwm)) {}
_depth(std::move(depth)), _hwm(std::move(hwm)) {}

static std::vector<std::shared_ptr<device_info>> pick_sr300_devices(
std::shared_ptr<context> ctx,
Expand All @@ -185,7 +185,7 @@ namespace librealsense
platform::usb_device_info _hwm;
};

class sr300_camera final : public virtual device, public debug_interface, public updatable
class sr300_camera : public device, public debug_interface, public updatable
{
public:
std::vector<tagged_profile> get_profiles_tags() const override
Expand Down Expand Up @@ -228,7 +228,7 @@ namespace librealsense

explicit preset_option(sr300_camera& owner, const option_range& opt_range)
: option_base(opt_range),
_owner(owner)
_owner(owner)
{}

private:
Expand Down Expand Up @@ -387,19 +387,19 @@ namespace librealsense
}

synthetic_sensor& get_depth_sensor() { return dynamic_cast<synthetic_sensor&>(get_sensor(_depth_device_idx)); }

uvc_sensor& get_raw_depth_sensor()
{
synthetic_sensor& depth_sensor = get_depth_sensor();
return dynamic_cast<uvc_sensor&>(*depth_sensor.get_raw_sensor());
}

sr300_camera(std::shared_ptr<context> ctx,
const platform::uvc_device_info& color,
const platform::uvc_device_info& depth,
const platform::usb_device_info& hwm_device,
const platform::backend_device_group& group,
bool register_device_notifications);
const platform::uvc_device_info& color,
const platform::uvc_device_info& depth,
const platform::usb_device_info& hwm_device,
const platform::backend_device_group& group,
bool register_device_notifications);

void rs2_apply_ivcam_preset(int preset)
{
Expand Down Expand Up @@ -439,7 +439,7 @@ namespace librealsense
{ 1, 1, 6, 1, -1 }, /* GRCursor */
{ 16, 1, 5, 3, 9 }, /* Default */
{ 1, 1, 5, 1, -1 }, /* MidRange */
{ 1, -1, -1, -1, - 1 } /* IROnly */
{ 1, -1, -1, -1, -1 } /* IROnly */
};

// The Default preset is handled differently from all the rest,
Expand Down Expand Up @@ -476,10 +476,10 @@ namespace librealsense

virtual std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;



private:
const uint8_t _depth_device_idx;
const uint8_t _color_device_idx;
std::shared_ptr<hw_monitor> _hw_monitor;
bool _is_locked = true;

template<class T>
Expand Down Expand Up @@ -528,5 +528,20 @@ namespace librealsense
std::shared_ptr<lazy<rs2_extrinsics>> _depth_to_color_extrinsics;

lazy<ivcam::camera_calib_params> _camer_calib_params;

protected:
const uint8_t _color_device_idx;
std::shared_ptr<hw_monitor> _hw_monitor;
};

class sr305_camera final : public sr300_camera {
public:
sr305_camera(std::shared_ptr<context> ctx,
const platform::uvc_device_info& color,
const platform::uvc_device_info& depth,
const platform::usb_device_info& hwm_device,
const platform::backend_device_group& group,
bool register_device_notifications);
};

}
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