Fixed C++ and python examples

examples/align/rs-align.cpp

@@ -3,6 +3,7 @@
 
 #include <librealsense2/rs.hpp>
 #include "example-imgui.hpp"
+#include "../examples/example-utils.hpp"
 
 /*
  This example introduces the concept of spatial stream alignment.

examples/ar-advanced/rs-ar-advanced.cpp

@@ -9,6 +9,7 @@
 #include <fstream>
 #include <vector>
 #include "example.hpp"
+#include "../examples/example-utils.hpp"
 
 struct point3d {
     float f[3];

examples/example-utils.hpp

@@ -0,0 +1,73 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2021 Intel Corporation. All Rights Reserved.
+
+#pragma once
+#include <iostream>
+#include <string>
+#include <map>
+#include <librealsense2/rs.hpp>
+
+//////////////////////////////
+// Demos Helpers            //
+//////////////////////////////
+
+// Find devices with specified streams
+bool device_with_streams(std::vector <rs2_stream> stream_requests, std::string& out_serial)
+{
+    rs2::context ctx;
+    auto devs = ctx.query_devices();
+    std::vector <rs2_stream> unavailable_streams = stream_requests;
+    for (auto& dev : devs)
+    {
+        std::map<rs2_stream, bool> found_streams;
+        for (auto& type : stream_requests)
+        {
+            found_streams[type] = false;
+            for (auto& sensor : dev.query_sensors())
+            {
+                for (auto& profile : sensor.get_stream_profiles())
+                {
+                    if (profile.stream_type() == type)
+                    {
+                        found_streams[type] = true;
+                        unavailable_streams.erase(std::remove(unavailable_streams.begin(), unavailable_streams.end(), type), unavailable_streams.end());
+                        if (dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER))
+                            out_serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
+                    }
+                }
+            }
+        }
+        // Check if all streams are found in current device
+        bool found_all_streams = true;
+        for (auto& stream : found_streams)
+        {
+            if (!stream.second)
+            {
+                found_all_streams = false;
+                break;
+            }
+        }
+        if (found_all_streams)
+            return true;
+    }
+    // After scanning all devices, not all requested streams were found
+    for (auto& type : unavailable_streams)
+    {
+        switch (type)
+        {
+        case RS2_STREAM_POSE:
+        case RS2_STREAM_FISHEYE:
+            std::cerr << "Connect T26X and rerun the demo" << std::endl;
+            break;
+        case RS2_STREAM_DEPTH:
+            std::cerr << "The demo requires Realsense camera with DEPTH sensor" << std::endl;
+            break;
+        case RS2_STREAM_COLOR:
+            std::cerr << "The demo requires Realsense camera with RGB sensor" << std::endl;
+            break;
+        default:
+            throw std::runtime_error("The requested stream: " + std::to_string(type) + ", for the demo is not supported by connected devices!"); // stream type
+        }
+    }
+    return false;
+}

examples/example.hpp

@@ -1070,64 +1070,3 @@ void register_glfw_callbacks(window& app, glfw_state& app_state)
         }
     };
 }
-
-// Find devices with specified streams
-bool device_with_streams(std::vector <rs2_stream> stream_requests, std::string& out_serial)
-{
-    rs2::context ctx;
-    auto devs = ctx.query_devices();
-    std::vector <rs2_stream> unavailable_streams = stream_requests;
-    for (auto& dev : devs)
-    {
-        std::map<rs2_stream, bool> found_streams;
-        for (auto& type : stream_requests)
-        {
-            found_streams[type] = false;
-            for (auto& sensor : dev.query_sensors())
-            {
-                for (auto& profile : sensor.get_stream_profiles())
-                {
-                    if (profile.stream_type() == type)
-                    {
-                        found_streams[type] = true;
-                        unavailable_streams.erase(std::remove(unavailable_streams.begin(), unavailable_streams.end(), type), unavailable_streams.end());
-                        if(dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER))
-                            out_serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
-                    }
-                }
-            }
-        }
-        // Check if all streams are found in current device
-        bool found_all_streams = true;
-        for (auto& stream : found_streams)
-        {
-            if (!stream.second)
-            {
-                found_all_streams = false;
-                break;
-            }
-        }
-        if(found_all_streams)
-            return true;
-    }
-    // After scanning all devices, not all requested streams were found
-    for (auto& type : unavailable_streams)
-    {
-        switch (type)
-        {
-        case RS2_STREAM_POSE:
-        case RS2_STREAM_FISHEYE:
-            std::cerr << "Connect T26X and rerun the demo";
-            break;
-        case RS2_STREAM_DEPTH:
-            std::cerr << "The demo requires Realsense camera with DEPTH sensor" << std::endl;
-            break;
-        case RS2_STREAM_COLOR:
-            std::cerr << "The demo requires Realsense camera with RGB sensor" << std::endl;
-            break;
-        default:
-            throw std::runtime_error("The requested stream: " + std::to_string(type) + ", for the demo is not supported by connected devices!"); // stream type
-        }
-    }
-    return false;
-}

examples/measure/rs-measure.cpp

@@ -14,6 +14,7 @@
 #include <thread>
 #include <atomic>
 #include <mutex>
+#include "../examples/example-utils.hpp"
 
 using pixel = std::pair<int, int>;
 

examples/pose-and-image/rs-pose-and-image.cpp

@@ -6,7 +6,7 @@
 #include <chrono>
 #include <thread>
 #include <mutex>
-#include "../example.hpp"
+#include "../examples/example-utils.hpp"
 
 int main(int argc, char * argv[]) try
 {

examples/pose-predict/rs-pose-predict.cpp

@@ -9,7 +9,7 @@
 
 #include <math.h>
 #include <float.h>
-#include "../example.hpp"
+#include "../examples/example-utils.hpp"
 
 inline rs2_quaternion quaternion_exp(rs2_vector v)
 {

examples/pose/rs-pose.cpp

@@ -3,7 +3,7 @@
 #include <librealsense2/rs.hpp>
 #include <iostream>
 #include <iomanip>
-#include "../example.hpp"
+#include "../examples/example-utils.hpp"
 
 int main(int argc, char * argv[]) try
 {

examples/trajectory/rs-trajectory.cpp

@@ -4,6 +4,7 @@
 #include <librealsense2/rs.hpp>
 #include "example.hpp"          // Include short list of convenience functions for rendering
 #include <cstring>
+#include "../examples/example-utils.hpp"
 
 struct short3
 {

tools/benchmark/rs-benchmark.cpp

@@ -17,6 +17,7 @@
 #include <fstream>
 
 #include "tclap/CmdLine.h"
+#include "../examples/example-utils.hpp"
 
 using namespace std;
 using namespace chrono;
@@ -206,6 +207,10 @@ class gl_blocks : public suite
 
 int main(int argc, char** argv) try
 {
+    std::string serial;
+    if (!device_with_streams({ RS2_STREAM_COLOR,RS2_STREAM_DEPTH }, serial))
+        return EXIT_SUCCESS;
+
     CmdLine cmd("librealsense rs-benchmark tool", ' ', RS2_API_VERSION_STR);
     cmd.parse(argc, argv);
 
@@ -236,6 +241,8 @@ int main(int argc, char** argv) try
 
     pipeline p;
     config cfg;
+    if (!serial.empty())
+        cfg.enable_device(serial);
     cfg.enable_stream(RS2_STREAM_DEPTH);
     cfg.enable_stream(RS2_STREAM_COLOR, RS2_FORMAT_YUYV, 30);
     auto prof = p.start(cfg);

wrappers/python/examples/align-depth2color.py

@@ -12,7 +12,6 @@
 # Import OpenCV for easy image rendering
 import cv2
 
-context = rs.context()
 # Create a pipeline
 pipeline = rs.pipeline()
 # Create a config and configure the pipeline to stream

wrappers/python/examples/opencv_pointcloud_viewer.py

@@ -30,7 +30,6 @@
 import cv2
 import numpy as np
 import pyrealsense2 as rs
-context = rs.context()
 
 class AppState:
 

wrappers/python/examples/opencv_viewer_example.py

@@ -12,7 +12,6 @@
 # Configure depth and color streams
 pipeline = rs.pipeline()
 config = rs.config()
-context = rs.context()
 
 # Get device product line for setting a supporting resolution
 pipeline_wrapper = rs.pipeline_wrapper(pipeline)

wrappers/python/examples/pyglet_pointcloud_viewer.py

@@ -84,13 +84,25 @@ def rotation(self):
         Ry = rotation_matrix((0, 1, 0), math.radians(-self.yaw))
         return np.dot(Ry, Rx).astype(np.float32)
 
-
 state = AppState()
 
 # Configure streams
 pipeline = rs.pipeline()
 config = rs.config()
 
+pipeline_wrapper = rs.pipeline_wrapper(pipeline)
+pipeline_profile = config.resolve(pipeline_wrapper)
+device = pipeline_profile.get_device()
+
+found_rgb = False
+for s in device.sensors:
+    if s.get_info(rs.camera_info.name) == 'RGB Camera':
+        found_rgb = True
+        break
+if not found_rgb:
+    print("The connected device does not support RGB stream")
+    exit(0)
+
 config.enable_stream(rs.stream.depth, rs.format.z16, 30)
 other_stream, other_format = rs.stream.color, rs.format.rgb8
 config.enable_stream(other_stream, other_format, 30)