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Move stuff to and from common DS #11479

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Feb 26, 2023
Merged

Move stuff to and from common DS #11479

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d843ced
move stuff to and from common
Nir-Az Feb 23, 2023
d55a6df
undo type change
Nir-Az Feb 26, 2023
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20 changes: 10 additions & 10 deletions common/calibration-model.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -146,8 +146,8 @@ void calibration_model::update(ux_window& window, std::string& error_message)
to_open = false;
}

auto table = (librealsense::ds::coefficients_table*)_calibration.data();
auto orig_table = (librealsense::ds::coefficients_table*)_original.data();
auto table = (librealsense::ds::d400_coefficients_table*)_calibration.data();
auto orig_table = (librealsense::ds::d400_coefficients_table*)_original.data();
bool changed = false;

const float w = 620;
Expand Down Expand Up @@ -210,7 +210,7 @@ void calibration_model::update(ux_window& window, std::string& error_message)
load_float3x4("world2left_rot", table->world2left_rot);
load_float3x4("world2right_rot", table->world2right_rot);

for (int i = 0; i < librealsense::ds::max_d400_rect_resolutions; i++)
for (int i = 0; i < librealsense::ds::max_ds_rect_resolutions; i++)
{
table->rect_params[i].x = cf.get(std::string( rsutils::string::from() << "rectified." << i << ".fx").c_str());
table->rect_params[i].y = cf.get(std::string( rsutils::string::from() << "rectified." << i << ".fy").c_str());
Expand Down Expand Up @@ -262,9 +262,9 @@ void calibration_model::update(ux_window& window, std::string& error_message)
save_float3x4("world2left_rot", table->world2left_rot);
save_float3x4("world2right_rot", table->world2right_rot);

for (int i = 0; i < librealsense::ds::max_d400_rect_resolutions; i++)
for (int i = 0; i < librealsense::ds::max_ds_rect_resolutions; i++)
{
auto xy = librealsense::ds::resolutions_list[(librealsense::ds::d400_rect_resolutions)i];
auto xy = librealsense::ds::resolutions_list[(librealsense::ds::ds_rect_resolutions)i];
int w = xy.x; int h = xy.y;

cf.set(std::string( rsutils::string::from() << "rectified." << i << ".width").c_str(), w);
Expand Down Expand Up @@ -299,8 +299,8 @@ void calibration_model::update(ux_window& window, std::string& error_message)
dev.as<rs2::auto_calibrated_device>().reset_to_factory_calibration();
_calibration = dev.as<rs2::auto_calibrated_device>().get_calibration_table();
_original = _calibration;
table = reinterpret_cast< librealsense::ds::coefficients_table * >( _calibration.data() );
orig_table = reinterpret_cast< librealsense::ds::coefficients_table * >( _original.data() );
table = reinterpret_cast< librealsense::ds::d400_coefficients_table * >( _calibration.data() );
orig_table = reinterpret_cast< librealsense::ds::d400_coefficients_table * >( _original.data() );
changed = true;

if (auto nm = _not_model.lock())
Expand Down Expand Up @@ -364,9 +364,9 @@ void calibration_model::update(ux_window& window, std::string& error_message)
std::vector<std::string> resolution_names;
std::vector<const char*> resolution_names_char;
std::vector<int> resolution_offset;
for (int i = 0; i < librealsense::ds::max_d400_rect_resolutions; i++)
for (int i = 0; i < librealsense::ds::max_ds_rect_resolutions; i++)
{
auto xy = librealsense::ds::resolutions_list[(librealsense::ds::d400_rect_resolutions)i];
auto xy = librealsense::ds::resolutions_list[(librealsense::ds::ds_rect_resolutions)i];
int w = xy.x; int h = xy.y;
if (w != 0) {
resolution_offset.push_back(i);
Expand Down Expand Up @@ -446,7 +446,7 @@ void calibration_model::update(ux_window& window, std::string& error_message)
dev.as<rs2::auto_calibrated_device>().set_calibration_table(_calibration);
dev.as<rs2::auto_calibrated_device>().write_calibration();
_original = _calibration;
orig_table = reinterpret_cast< librealsense::ds::coefficients_table * >( _original.data() );
orig_table = reinterpret_cast< librealsense::ds::d400_coefficients_table * >( _original.data() );
ImGui::CloseCurrentPopup();
}
catch (const std::exception& ex)
Expand Down
36 changes: 20 additions & 16 deletions src/ds/d400/d400-auto-calibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -186,9 +186,8 @@ namespace librealsense
const int DEFAULT_FY_SCAN_DIRECTION = 0;
const int DEFAULT_WHITE_WALL_MODE = 0;

auto_calibrated::auto_calibrated(std::shared_ptr<hw_monitor>& hwm)
: _hw_monitor(hwm),
_interactive_state(interactive_calibration_state::RS2_OCC_STATE_NOT_ACTIVE),
auto_calibrated::auto_calibrated()
: _interactive_state(interactive_calibration_state::RS2_OCC_STATE_NOT_ACTIVE),
_interactive_scan(false),
_action(auto_calib_action::RS2_OCC_ACTION_ON_CHIP_CALIB),
_average_step_count(-1),
Expand Down Expand Up @@ -1769,7 +1768,7 @@ namespace librealsense
std::vector<uint8_t> res;

// Fetch current calibration using GETINITCAL command
command cmd(ds::GETINTCAL, ds::coefficients_table_id);
command cmd(ds::GETINTCAL, static_cast<int>(ds::d400_calibration_table_id::coefficients_table_id));
auto calib = _hw_monitor->send(cmd);

if (calib.size() < sizeof(table_header)) throw std::runtime_error("Missing calibration header from GETINITCAL!");
Expand All @@ -1793,28 +1792,28 @@ namespace librealsense
throw std::runtime_error("Write calibration can be called only after set calibration table was called");

table_header* hd = (table_header*)(_curr_calibration.data());
calibration_table_id tbl_id = static_cast<calibration_table_id>(hd->table_type);
d400_calibration_table_id tbl_id = static_cast<d400_calibration_table_id>(hd->table_type);
fw_cmd cmd{};
uint32_t param2 = 0;
switch (tbl_id)
{
case coefficients_table_id:
case d400_calibration_table_id::coefficients_table_id:
cmd = SETINTCAL;
break;
case rgb_calibration_id:
case d400_calibration_table_id::rgb_calibration_id:
cmd = SETINTCALNEW;
param2 = 1;
break;
default:
throw std::runtime_error( rsutils::string::from() << "Flashing calibration table type 0x" << std::hex
<< tbl_id << " is not supported" );
<< static_cast<int>(tbl_id) << " is not supported" );
}

command write_calib(cmd, tbl_id, param2);
command write_calib(cmd, static_cast<int>(tbl_id), param2);
write_calib.data = _curr_calibration;
_hw_monitor->send(write_calib);

LOG_DEBUG("Flashing " << ((tbl_id == coefficients_table_id) ? "Depth" : "RGB") << " calibration table");
LOG_DEBUG("Flashing " << ((tbl_id == d400_calibration_table_id::coefficients_table_id) ? "Depth" : "RGB") << " calibration table");

}

Expand All @@ -1823,11 +1822,11 @@ namespace librealsense
using namespace ds;

table_header* hd = (table_header*)(calibration.data());
ds::calibration_table_id tbl_id = static_cast<ds::calibration_table_id>(hd->table_type);
ds::d400_calibration_table_id tbl_id = static_cast<ds::d400_calibration_table_id >(hd->table_type);

switch (tbl_id)
{
case coefficients_table_id: // Load the modified depth calib table into flash RAM
case d400_calibration_table_id::coefficients_table_id: // Load the modified depth calib table into flash RAM
{
uint8_t* table = (uint8_t*)(calibration.data() + sizeof(table_header));
command write_calib(ds::CALIBRECALC, 0, 0, 0, 0xcafecafe);
Expand All @@ -1841,12 +1840,12 @@ namespace librealsense
LOG_ERROR("Flashing coefficients_table_id failed");
}
}
case rgb_calibration_id: // case fall-through by design. For RGB skip loading to RAM (not supported)
case d400_calibration_table_id::rgb_calibration_id: // case fall-through by design. For RGB skip loading to RAM (not supported)
_curr_calibration = calibration;
break;
default:
throw std::runtime_error( rsutils::string::from()
<< "the operation is not defined for calibration table type " << tbl_id );
<< "the operation is not defined for calibration table type " << static_cast<int>(tbl_id));
}
}

Expand Down Expand Up @@ -1929,7 +1928,7 @@ namespace librealsense
const float correction_factor = 0.5f;

auto calib_table = get_calibration_table();
auto table = (librealsense::ds::coefficients_table*)calib_table.data();
auto table = (librealsense::ds::d400_coefficients_table*)calib_table.data();

float ar[2] = { 0 };
float tmp = left_rect_sides[2] + left_rect_sides[3];
Expand Down Expand Up @@ -2418,7 +2417,7 @@ namespace librealsense
const float max_change = 16.0f;
if (fabs(color_intrin.ppx - ppx) < max_change && fabs(color_intrin.ppy - ppy) < max_change && fabs(color_intrin.fx - fx) < max_change && fabs(color_intrin.fy - fy) < max_change)
{
ret = _hw_monitor->send(command{ds::GETINTCAL, ds::rgb_calibration_id });
ret = _hw_monitor->send(command{ds::GETINTCAL, static_cast<int>(ds::d400_calibration_table_id::rgb_calibration_id) });
auto table = reinterpret_cast<librealsense::ds::rgb_calibration_table*>(ret.data());

health[0] = table->intrinsic(2, 0); // px
Expand Down Expand Up @@ -2548,4 +2547,9 @@ namespace librealsense
else
throw std::runtime_error("Failed to extract target dimension info!");
}

void auto_calibrated::set_hw_monitor_for_auto_calib(std::shared_ptr<hw_monitor> hwm)
{
_hw_monitor = hwm;
}
}
5 changes: 3 additions & 2 deletions src/ds/d400/d400-auto-calibration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ namespace librealsense
};

public:
auto_calibrated(std::shared_ptr<hw_monitor>& hwm);
auto_calibrated();
void write_calibration() const override;
std::vector<uint8_t> run_on_chip_calibration(int timeout_ms, std::string json, float* const health, update_progress_callback_ptr progress_callback) override;
std::vector<uint8_t> run_tare_calibration(int timeout_ms, float ground_truth_mm, std::string json, float* const health, update_progress_callback_ptr progress_callback) override;
Expand All @@ -60,6 +60,7 @@ namespace librealsense
float* const health, int health_size, update_progress_callback_ptr progress_callback) override;
float calculate_target_z(rs2_frame_queue* queue1, rs2_frame_queue* queue2, rs2_frame_queue* queue3,
float target_width, float target_height, update_progress_callback_ptr progress_callback) override;
void set_hw_monitor_for_auto_calib(std::shared_ptr<hw_monitor> hwm);

private:
std::vector<uint8_t> get_calibration_results(float* const health = nullptr) const;
Expand All @@ -84,7 +85,7 @@ namespace librealsense
DirectSearchCalibrationResult get_calibration_status(int timeout_ms, std::function<void(const int count)> progress_func, bool wait_for_final_results = true);

std::vector<uint8_t> _curr_calibration;
std::shared_ptr<hw_monitor>& _hw_monitor;
std::shared_ptr<hw_monitor> _hw_monitor;

bool _preset_change = false;
preset _old_preset_values;
Expand Down
8 changes: 4 additions & 4 deletions src/ds/d400/d400-color.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ namespace librealsense

_color_calib_table_raw = [this]()
{
return get_raw_calibration_table(rgb_calibration_id);
return get_d400_raw_calibration_table(d400_calibration_table_id::rgb_calibration_id);
};

_color_extrinsic = std::make_shared<lazy<rs2_extrinsics>>([this]() { return from_pose(get_color_stream_extrinsic(*_color_calib_table_raw)); });
Expand Down Expand Up @@ -120,7 +120,7 @@ namespace librealsense
auto& raw_color_ep = get_raw_color_sensor();

_ds_color_common = std::make_shared<ds_color_common>(raw_color_ep, color_ep,
_fw_version, _hw_monitor, this, ds::ds_device_type::ds5);
_fw_version, _hw_monitor, this);

register_options();
if (_pid != ds::RS457_PID)
Expand Down Expand Up @@ -326,9 +326,9 @@ namespace librealsense

rs2_intrinsics d400_color_sensor::get_intrinsics(const stream_profile& profile) const
{
return get_intrinsic_by_resolution(
return get_d400_intrinsic_by_resolution(
*_owner->_color_calib_table_raw,
ds::calibration_table_id::rgb_calibration_id,
ds::d400_calibration_table_id::rgb_calibration_id,
profile.width, profile.height);
}

Expand Down
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