PR #9435 from Andrew: restructure C# tutorials & add load-json

IntelRealSense · Jul 24, 2021 · f55cc5d · f55cc5d
2 parents 77d68dd + fe15d06
commit f55cc5d
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Showing 48 changed files with 798 additions and 6 deletions.
diff --git a/wrappers/csharp/CMakeLists.txt b/wrappers/csharp/CMakeLists.txt
@@ -5,9 +5,10 @@ include(CSharpUtilities)
 set(CMAKE_CSharp_FLAGS "/langversion:6")
 
 add_subdirectory(Intel.RealSense)
-add_subdirectory(cs-tutorial-1-depth)
-add_subdirectory(cs-tutorial-2-capture)
-add_subdirectory(cs-tutorial-3-processing)
-add_subdirectory(cs-tutorial-4-software-dev)
-add_subdirectory(cs-tutorial-5-pose)
-add_subdirectory(cs-tutorial-8-D400-on-chip-calibration)
+add_subdirectory(tutorial/depth)
+add_subdirectory(tutorial/capture)
+add_subdirectory(tutorial/processing)
+add_subdirectory(tutorial/software-dev)
+add_subdirectory(tutorial/pose)
+add_subdirectory(tutorial/d400-occ)
+add_subdirectory(tutorial/load-json)
diff --git a/wrappers/csharp/Intel.RealSense/Devices/CMakeLists.txt b/wrappers/csharp/Intel.RealSense/Devices/CMakeLists.txt
@@ -1,6 +1,7 @@
 target_sources(${LRS_DOTNET_TARGET}
     PRIVATE
         "${CMAKE_CURRENT_LIST_DIR}/AdvancedDevice.cs"
+        "${CMAKE_CURRENT_LIST_DIR}/SerializableDevice.cs"
         "${CMAKE_CURRENT_LIST_DIR}/AutoCalibratedDevice.cs"
         "${CMAKE_CURRENT_LIST_DIR}/CalibratedDevice.cs"
         "${CMAKE_CURRENT_LIST_DIR}/DebugDevice.cs"

diff --git a/wrappers/csharp/Intel.RealSense/Devices/SerializableDevice.cs b/wrappers/csharp/Intel.RealSense/Devices/SerializableDevice.cs
@@ -0,0 +1,47 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+
+namespace Intel.RealSense
+{
+    using System;
+    using System.Collections;
+    using System.Collections.Generic;
+    using System.Runtime.InteropServices;
+
+
+    public class SerializableDevice : Device
+    {
+        internal SerializableDevice(IntPtr dev)
+            : base(dev)
+        { }
+
+        public static SerializableDevice FromDevice(Device dev)
+        {
+            return Device.Create<SerializableDevice>(dev.Handle);
+        }
+
+        /// <summary>
+        /// Gets or sets JSON and applies advanced-mode controls
+        /// </summary>
+        /// <value>Serialize JSON content</value>
+        public string JsonConfiguration
+        {
+            get
+            {
+                object error;
+                IntPtr buffer = NativeMethods.rs2_serialize_json(Handle, out error);
+                int size = NativeMethods.rs2_get_raw_data_size(buffer, out error);
+                IntPtr data = NativeMethods.rs2_get_raw_data(buffer, out error);
+                var str = Marshal.PtrToStringAnsi(data, size);
+                NativeMethods.rs2_delete_raw_data(buffer);
+                return str;
+            }
+
+            set
+            {
+                object error;
+                NativeMethods.rs2_load_json(Handle, value, (uint)value.Length, out error);
+            }
+        }
+    }
+}
diff --git a/...harp/cs-tutorial-2-capture/CMakeLists.txt → ...rs/csharp/tutorial/capture/CMakeLists.txt b/...harp/cs-tutorial-2-capture/CMakeLists.txt → ...rs/csharp/tutorial/capture/CMakeLists.txt
diff --git a/...s/csharp/cs-tutorial-2-capture/Program.cs → wrappers/csharp/tutorial/capture/Program.cs b/...s/csharp/cs-tutorial-2-capture/Program.cs → wrappers/csharp/tutorial/capture/Program.cs
diff --git a/...rial-2-capture/Properties/AssemblyInfo.cs → ...torial/capture/Properties/AssemblyInfo.cs b/...rial-2-capture/Properties/AssemblyInfo.cs → ...torial/capture/Properties/AssemblyInfo.cs
diff --git a/.../csharp/cs-tutorial-2-capture/Window.xaml → wrappers/csharp/tutorial/capture/Window.xaml b/.../csharp/cs-tutorial-2-capture/Window.xaml → wrappers/csharp/tutorial/capture/Window.xaml
diff --git a/...harp/cs-tutorial-2-capture/Window.xaml.cs → ...rs/csharp/tutorial/capture/Window.xaml.cs b/...harp/cs-tutorial-2-capture/Window.xaml.cs → ...rs/csharp/tutorial/capture/Window.xaml.cs
diff --git a/...s/csharp/cs-tutorial-2-capture/app.config → wrappers/csharp/tutorial/capture/app.config b/...s/csharp/cs-tutorial-2-capture/app.config → wrappers/csharp/tutorial/capture/app.config
diff --git a/...8-D400-on-chip-calibration/CMakeLists.txt → ...s/csharp/tutorial/d400-occ/CMakeLists.txt b/...8-D400-on-chip-calibration/CMakeLists.txt → ...s/csharp/tutorial/d400-occ/CMakeLists.txt
diff --git a/...calibration/ExampleAutocalibrateDevice.cs → ...al/d400-occ/ExampleAutocalibrateDevice.cs b/...calibration/ExampleAutocalibrateDevice.cs → ...al/d400-occ/ExampleAutocalibrateDevice.cs
diff --git a/...arp/cs-tutorial-4-software-dev/Program.cs → wrappers/csharp/tutorial/d400-occ/Program.cs b/...arp/cs-tutorial-4-software-dev/Program.cs → wrappers/csharp/tutorial/d400-occ/Program.cs
diff --git a/...ip-calibration/Properties/AssemblyInfo.cs → ...orial/d400-occ/Properties/AssemblyInfo.cs b/...ip-calibration/Properties/AssemblyInfo.cs → ...orial/d400-occ/Properties/AssemblyInfo.cs
diff --git a/...al-8-D400-on-chip-calibration/Window.xaml → ...pers/csharp/tutorial/d400-occ/Window.xaml b/...al-8-D400-on-chip-calibration/Window.xaml → ...pers/csharp/tutorial/d400-occ/Window.xaml
diff --git a/...8-D400-on-chip-calibration/Window.xaml.cs → ...s/csharp/tutorial/d400-occ/Window.xaml.cs b/...8-D400-on-chip-calibration/Window.xaml.cs → ...s/csharp/tutorial/d400-occ/Window.xaml.cs
diff --git a/...sharp/cs-tutorial-3-processing/app.config → wrappers/csharp/tutorial/d400-occ/app.config b/...sharp/cs-tutorial-3-processing/app.config → wrappers/csharp/tutorial/d400-occ/app.config
diff --git a/...csharp/cs-tutorial-1-depth/CMakeLists.txt → ...pers/csharp/tutorial/depth/CMakeLists.txt b/...csharp/cs-tutorial-1-depth/CMakeLists.txt → ...pers/csharp/tutorial/depth/CMakeLists.txt
diff --git a/...ers/csharp/cs-tutorial-1-depth/Program.cs → wrappers/csharp/tutorial/depth/Program.cs b/...ers/csharp/cs-tutorial-1-depth/Program.cs → wrappers/csharp/tutorial/depth/Program.cs
diff --git a/...torial-1-depth/Properties/AssemblyInfo.cs → ...tutorial/depth/Properties/AssemblyInfo.cs b/...torial-1-depth/Properties/AssemblyInfo.cs → ...tutorial/depth/Properties/AssemblyInfo.cs
diff --git a/...ers/csharp/cs-tutorial-1-depth/app.config → wrappers/csharp/tutorial/depth/app.config b/...ers/csharp/cs-tutorial-1-depth/app.config → wrappers/csharp/tutorial/depth/app.config
diff --git a/wrappers/csharp/tutorial/load-json/ADP_TestLoadSettingsJson.cs b/wrappers/csharp/tutorial/load-json/ADP_TestLoadSettingsJson.cs
@@ -0,0 +1,116 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.IO;
+using System.Text.RegularExpressions;
+
+namespace Intel.RealSense
+{
+    class ADP_TestLoadSettingsJson
+    {
+
+        public bool LoadSettingsJson(Device device)
+        {
+            var deviceName = device.Info[CameraInfo.Name];
+            var usbType = device.Info[CameraInfo.UsbTypeDescriptor];
+            string[] deviceNameParts = deviceName.Split(" ".ToCharArray());
+            var model = deviceNameParts.Last().Trim();
+
+
+            SerializableDevice ser = null;
+            Console.WriteLine($"Device model: '{model}'");
+
+            var jsonFileName = $"ADP_{model}_TEST_JSON_USB{usbType}.json";
+            var jsonPath = System.IO.Path.Combine(System.IO.Directory.GetCurrentDirectory(), "JsonConfigs", jsonFileName);
+            Console.WriteLine($"Searching for a json test file: '{jsonFileName}'");
+            if (!File.Exists(jsonPath))
+            {
+                Console.WriteLine($"File not found, so no settings data will be loaded into a camera. Exiting...");
+                return false;
+            }
+
+            Console.WriteLine($"Json test file found: {jsonPath}. Loading it...");
+            Console.WriteLine($"Loading by using of SerialiazableDevice...");
+            ser = SerializableDevice.FromDevice(device);
+            try
+            {
+                ser.JsonConfiguration = File.ReadAllText(jsonPath);
+                Console.WriteLine($"Loaded");
+                Console.WriteLine(ser.JsonConfiguration);
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"Failed to load json file: {ex.Message}");
+                return false;
+            }
+
+            // check for manual options setting
+            var sensors = device.QuerySensors();
+            var depthSensor = sensors[0];
+            var colorSensor = sensors[1];
+            Console.WriteLine($"\nManulally read options:");
+            Console.WriteLine($"--------------------------------------------------");            
+            Console.WriteLine($"DEPTH OPTIONS:");
+            Console.WriteLine($"================");
+            Console.WriteLine($"Total count: {depthSensor.Options.Count()}\n");
+            for (int i = 0; i < depthSensor.Options.Count(); i++)
+            {
+                // there may be some exceptions when trying to get some options, even when going through by index. So using this relatively safe method to iterate all the options, even unacceptible
+                try
+                {
+                    var opt = depthSensor.Options.Skip(i).Take(1).FirstOrDefault();
+                    if (opt != null)
+                    {
+                        Console.WriteLine($"{opt.Key}: {opt.Value}");
+
+                    }
+                }
+                catch (Exception)
+                {
+                    Console.WriteLine($"Error getting option №{i}");
+                }                
+            }
+            Console.WriteLine($"\nCOLOR OPTIONS:");
+            Console.WriteLine($"================");
+            Console.WriteLine($"Total count: {colorSensor.Options.Count()}\n");
+            for (int i = 0; i < colorSensor.Options.Count(); i++)
+            {
+                // there may be some exceptions when trying to get some options, even when going through by index. So using this relatively safe method to iterate all the options, even unacceptible
+                try
+                {
+                    var opt = colorSensor.Options.Skip(i).Take(1).FirstOrDefault();
+                    if (opt != null)
+                    {
+                        Console.WriteLine($"{opt.Key}: {opt.Value}");
+                        if (opt.Key.ToString() == "Brightness") // check if we can set value to option. We take brightness for example
+                        {
+                            var newValue = opt.Value + 1;
+                            Console.Write($"\nCheck if we can set option manually: {opt.Key}: from {opt.Value} to {newValue}...");                            
+                            opt.Value = newValue;
+
+                            var optionsJson = Regex.Replace(ser.JsonConfiguration, @" ", "");
+                            // if we can read brightness from json settings (not all cameras returns all params), use it
+                            if (optionsJson.IndexOf("controls-color-brightness") > 0)
+                            {
+                                var shouldBe = $"\"controls-color-brightness\":\"{newValue}\"";
+                                Console.Write($"new value set: {optionsJson.IndexOf(shouldBe) > 0}\n\n");
+                            }
+                            else // else just reread value from option - it's getter will get it from device
+                            {
+                                Console.Write($"new value set: {opt.Value == newValue}\n\n"); // opt.Value getter will read value from device
+                            }
+                        }
+                    }
+                }
+                catch (Exception ex)
+                {
+                    Console.WriteLine($"Error read option №{i}: {ex.Message}");
+                }
+            }
+
+            return true;
+        }
+    }
+
+}
diff --git a/wrappers/csharp/tutorial/load-json/CMakeLists.txt b/wrappers/csharp/tutorial/load-json/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required( VERSION 3.8.0 )
+
+project(cs-tutorial-load-json)
+
+add_executable(${PROJECT_NAME}
+	Program.cs
+	Window.xaml
+	Window.xaml.cs
+	ADP_TestLoadSettingsJson.cs
+
+	Properties/AssemblyInfo.cs
+)
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_TARGET_FRAMEWORK_VERSION "v${DOTNET_VERSION_EXAMPLES}")
+# set_property(TARGET ${PROJECT_NAME} PROPERTY WIN32_EXECUTABLE TRUE)
+
+add_dependencies(${PROJECT_NAME} Intel.RealSense)
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_REFERENCES
+	"System"
+	"System.Xaml"
+	"PresentationCore"
+	"PresentationFramework"
+	"WindowsBase"
+)
+
+set_target_properties (${PROJECT_NAME} PROPERTIES
+	FOLDER Wrappers/csharp
+)
+
+add_custom_command(TARGET ${PROJECT_NAME} PRE_BUILD
+                   COMMAND ${CMAKE_COMMAND} -E copy_directory
+                       ${CMAKE_CURRENT_SOURCE_DIR}/JsonConfigs $<TARGET_FILE_DIR:${PROJECT_NAME}>/JsonConfigs)
+
diff --git a/wrappers/csharp/tutorial/load-json/JsonConfigs/ADP_D415_TEST_JSON_USB2.1.json b/wrappers/csharp/tutorial/load-json/JsonConfigs/ADP_D415_TEST_JSON_USB2.1.json
@@ -0,0 +1,95 @@
+{
+    "aux-param-autoexposure-setpoint": "400",
+    "aux-param-colorcorrection1": "0.461914",
+    "aux-param-colorcorrection10": "-0.553711",
+    "aux-param-colorcorrection11": "-0.553711",
+    "aux-param-colorcorrection12": "0.0458984",
+    "aux-param-colorcorrection2": "0.540039",
+    "aux-param-colorcorrection3": "0.540039",
+    "aux-param-colorcorrection4": "0.208008",
+    "aux-param-colorcorrection5": "-0.332031",
+    "aux-param-colorcorrection6": "-0.212891",
+    "aux-param-colorcorrection7": "-0.212891",
+    "aux-param-colorcorrection8": "0.68457",
+    "aux-param-colorcorrection9": "0.930664",
+    "aux-param-depthclampmax": "65536",
+    "aux-param-depthclampmin": "0",
+    "aux-param-disparityshift": "0",
+    "controls-autoexposure-auto": "True",
+    "controls-autoexposure-manual": "33000",
+    "controls-color-autoexposure-auto": "True",
+    "controls-color-autoexposure-manual": "156",
+    "controls-color-backlight-compensation": "0",
+    "controls-color-brightness": "-54",
+    "controls-color-contrast": "50",
+    "controls-color-gain": "64",
+    "controls-color-gamma": "300",
+    "controls-color-hue": "0",
+    "controls-color-power-line-frequency": "3",
+    "controls-color-saturation": "64",
+    "controls-color-sharpness": "50",
+    "controls-color-white-balance-auto": "True",
+    "controls-color-white-balance-manual": "4600",
+    "controls-depth-gain": "16",
+    "controls-depth-white-balance-auto": "False",
+    "controls-laserpower": "150",
+    "controls-laserstate": "on",
+    "ignoreSAD": "0",
+    "param-amplitude-factor": "0",
+    "param-autoexposure-setpoint": "400",
+    "param-censusenablereg-udiameter": "9",
+    "param-censusenablereg-vdiameter": "9",
+    "param-censususize": "9",
+    "param-censusvsize": "9",
+    "param-depthclampmax": "65536",
+    "param-depthclampmin": "0",
+    "param-depthunits": "1000",
+    "param-disableraucolor": "0",
+    "param-disablesadcolor": "0",
+    "param-disablesadnormalize": "0",
+    "param-disablesloleftcolor": "0",
+    "param-disableslorightcolor": "0",
+    "param-disparitymode": "0",
+    "param-disparityshift": "0",
+    "param-lambdaad": "800",
+    "param-lambdacensus": "26",
+    "param-leftrightthreshold": "24",
+    "param-maxscorethreshb": "2047",
+    "param-medianthreshold": "500",
+    "param-minscorethresha": "1",
+    "param-neighborthresh": "7",
+    "param-raumine": "1",
+    "param-rauminn": "1",
+    "param-rauminnssum": "3",
+    "param-raumins": "1",
+    "param-rauminw": "1",
+    "param-rauminwesum": "3",
+    "param-regioncolorthresholdb": "0.0499022",
+    "param-regioncolorthresholdg": "0.0499022",
+    "param-regioncolorthresholdr": "0.0499022",
+    "param-regionshrinku": "3",
+    "param-regionshrinkv": "1",
+    "param-robbinsmonrodecrement": "10",
+    "param-robbinsmonroincrement": "10",
+    "param-rsmdiffthreshold": "4",
+    "param-rsmrauslodiffthreshold": "1",
+    "param-rsmremovethreshold": "0.375",
+    "param-scanlineedgetaub": "72",
+    "param-scanlineedgetaug": "72",
+    "param-scanlineedgetaur": "72",
+    "param-scanlinep1": "60",
+    "param-scanlinep1onediscon": "105",
+    "param-scanlinep1twodiscon": "70",
+    "param-scanlinep2": "342",
+    "param-scanlinep2onediscon": "190",
+    "param-scanlinep2twodiscon": "130",
+    "param-secondpeakdelta": "325",
+    "param-texturecountthresh": "0",
+    "param-texturedifferencethresh": "0",
+    "param-usersm": "1",
+    "param-zunits": "1000",
+    "stream-depth-format": "Z16",
+    "stream-fps": "15",
+    "stream-height": "480",
+    "stream-width": "640"
+}