Enabling LRS examples/tutorials on SR306 #8749

nohayassin · 2021-04-06T09:02:24Z

Track on: DSO-16721

examples/align/rs-align.cpp

examples/measure/rs-measure.cpp

examples/align/rs-align.cpp

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

examples/align/rs-align.cpp

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

examples/example.hpp

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

wrappers/python/examples/align-depth2color.py

wrappers/python/examples/opencv_pointcloud_viewer.py

wrappers/python/examples/opencv_viewer_example.py

examples/align/rs-align.cpp

examples/example.hpp

ev-mp · 2021-04-18T15:19:48Z

examples/example.hpp

@@ -1082,9 +1082,8 @@ std::string depth_with_stream_type_present(rs2_stream type)
            for (auto profile : sensor.get_stream_profiles())
            {
                if (profile.stream_type() == type)
-                    return dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
+                    out_serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);


Check for dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER) before the attribute query

wrappers/python/examples/align-depth2color.py

wrappers/python/examples/opencv_pointcloud_viewer.py

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

examples/align/rs-align.cpp

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

ev-mp · 2021-04-19T12:37:57Z

examples/example.hpp

            }
        }
    }
+    if (out_serial.empty())


I think the flow will select device even if not all the required streams are supported.
Please check and refactor accordingly

Still applies

ev-mp · 2021-04-19T12:38:44Z

examples/example.hpp

+    for (auto type : types)
+    {
+        bool stream_found = false;
+        for (auto dev : ctx.query_devices())


Use auto& here and below

examples/example.hpp

examples/measure/rs-measure.cpp

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

ev-mp · 2021-04-20T17:00:59Z

examples/measure/rs-measure.cpp

-    types.push_back(RS2_STREAM_COLOR);
-    types.push_back(RS2_STREAM_DEPTH);
-    if (!device_with_streams(types, serial))
+    if (!device_with_streams({ RS2_STREAM_POSE,RS2_STREAM_FISHEYE }, serial))


Request Depth +RGB

ev-mp · 2021-04-20T17:05:06Z

examples/example.hpp

    {
        bool stream_found = false;
-        for (auto dev : ctx.query_devices())
+        for (auto& dev : devs)


The check must be reset between iterations and counted per device to avoid false positives

ev-mp · 2021-04-22T09:25:08Z

examples/example.hpp

+            std::cerr << "Connect T26X and rerun the demo";
+            return false;
+        case RS2_STREAM_DEPTH:
+        case RS2_STREAM_COLOR:


Should be handled as two separate entities

ev-mp · 2021-04-22T09:26:29Z

examples/example.hpp

+            std::cerr << "The demo requires Realsense camera with DEPTH and RGB sensors";
+            return false;
+        default:
+            throw std::runtime_error("The requested stream: " + std::to_string(type) + ", is not supported by this demo!"); // stream type


~~is not supported by this demo!~~ " for the demo is not supported by connected devices"

ev-mp · 2021-04-22T09:27:44Z

examples/example.hpp

            {
-                for (auto profile : sensor.get_stream_profiles())
+                for (auto& profile : sensor.get_stream_profiles())
                {
                    if (profile.stream_type() == type && dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER))


Move the && dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER) within the clause, as discussed

ev-mp · 2021-04-22T09:29:36Z

examples/measure/rs-measure.cpp

@@ -137,7 +137,8 @@ int main(int argc, char * argv[]) try
    rs2::pipeline pipe;

    rs2::config cfg;
-    cfg.enable_device(serial);
+    if (!serial.empty())


All the Pose/FE demos needs to be retested with T265

ev-mp · 2021-04-22T09:35:31Z

wrappers/python/examples/align-depth2color.py

+try:
+    next(s for s in sensorsList if s.get_info(rs.camera_info.name) == 'RGB Camera')
+except Exception as e:
+    print("The connected device does not support RGB stream")
+    exit(0)


Replace try/catch with check routine in python similar to C++ examples. Here and in the next two demos

I need more clarification here:

There is no common file for python examples where I can put the check method and I don't think creating a common file especially for that is reasonable. What do you suggest ?

Should the method be exactly as in C++ (checking serial etc ) ?

ev-mp

A minor remark for python part

ev-mp · 2021-05-04T13:12:51Z

wrappers/python/examples/align-depth2color.py

@@ -12,19 +12,27 @@
 # Import OpenCV for easy image rendering
 import cv2

+context = rs.context()


Is it used?

ev-mp · 2021-05-04T13:14:23Z

wrappers/python/examples/opencv_pointcloud_viewer.py

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


ev-mp · 2021-05-04T13:14:36Z

wrappers/python/examples/opencv_viewer_example.py

@@ -12,13 +12,23 @@
 # Configure depth and color streams
 pipeline = rs.pipeline()
 config = rs.config()
+context = rs.context()


ev-mp · 2021-05-06T09:28:18Z

examples/align/rs-align.cpp

@@ -3,6 +3,7 @@

 #include <librealsense2/rs.hpp>
 #include "example-imgui.hpp"
+#include "../examples/example-utils.hpp"


refactor so that examples-utils.hpp is listed in examples.hpp so the change will be transparent to the users of the latter
Drop relative path and use local notation "examples-utils.hpp"

ev-mp · 2021-05-06T09:33:16Z

tools/benchmark/rs-benchmark.cpp

@@ -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))


make the demo utilize IR stream if color is not present.
test flow-

Depth stream - must
2 . Color or Infrared stream (2nd priority) - must

ev-mp · 2021-05-06T09:39:19Z

wrappers/python/examples/pyglet_pointcloud_viewer.py

+        found_rgb = True
+        break
+if not found_rgb:
+    print("The connected device does not support RGB stream")


~~The connected device does not support RGB stream~~ - " The demo requires Depth camera with Color sensor".

ev-mp · 2021-05-09T08:19:18Z

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

@@ -6,13 +6,20 @@
 #include <chrono>
 #include <thread>
 #include <mutex>
+#include "example.hpp"


replace with example-utils.hpp

ev-mp · 2021-05-09T08:19:32Z

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

@@ -9,6 +9,7 @@

 #include <math.h>
 #include <float.h>
+#include "example.hpp"


ev-mp · 2021-05-09T08:19:48Z

examples/pose/rs-pose.cpp

@@ -3,13 +3,20 @@
 #include <librealsense2/rs.hpp>
 #include <iostream>
 #include <iomanip>
+#include "example.hpp"


ev-mp · 2021-05-09T08:21:01Z

tools/benchmark/rs-benchmark.cpp

+        second_stream = ir_stream;
+    else
+    {
+        std::cout<< " Connect a device that supports either RGB stream or Infrared stream." <<std::endl;


~~ a device~~ Depth Camera ... RGB ~~stream~~ or Infrared streams

ev-mp · 2021-05-09T08:21:33Z

wrappers/python/examples/align-depth2color.py

@@ -14,17 +14,24 @@

 # Create a pipeline
 pipeline = rs.pipeline()
-


ev-mp · 2021-05-09T08:21:41Z

wrappers/python/examples/align-depth2color.py

 # Create a config and configure the pipeline to stream
 #  different resolutions of color and depth streams
 config = rs.config()
-


ev-mp

Minor fix in rs-benchmark

tools/benchmark/rs-benchmark.cpp

ev-mp

Approved

nohayassin changed the title ~~Enabling LRS examples/tutorials to work with SR306~~ Enabling LRS examples/tutorials on SR306 Apr 6, 2021

ev-mp requested changes Apr 6, 2021

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nohayassin force-pushed the dso_16719_demo branch 3 times, most recently from 383a508 to 134d609 Compare April 11, 2021 06:30

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nohayassin force-pushed the dso_16719_demo branch from f2a41e5 to b5fbe30 Compare May 5, 2021 12:26

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tools/benchmark/rs-benchmark.cpp Outdated Show resolved Hide resolved

nohayassin force-pushed the dso_16719_demo branch from 0f74d33 to e18e01c Compare May 10, 2021 08:24

nohayassin added 13 commits May 10, 2021 13:16

support SR306 camera

cdb3aa8

support SR306 camera

bf122de

support SR306 camera

5adce15

SR306 demos fix

bc82331

SR306 demos fix

30f1258

SR306 demos fix

a1286f0

SR306 demos fix

d792c9e

SR306 demo examples fixes

c86a790

SR306 demo examples fixes

41b9a86

python examples fix to work with T265

15d0ada

Fixed C++ and python examples

da17b5b

demo fixes

8f20392

fixes

3b5c2ff

benchmark fixes

79d01ea

nohayassin force-pushed the dso_16719_demo branch from e18e01c to 79d01ea Compare May 10, 2021 10:16

ubuntu fixes

897c6e6

ev-mp approved these changes May 13, 2021

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ev-mp merged commit b734940 into IntelRealSense:development May 13, 2021

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Enabling LRS examples/tutorials on SR306 #8749

Enabling LRS examples/tutorials on SR306 #8749

nohayassin commented Apr 6, 2021 •

edited by ev-mp

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		@@ -14,17 +14,24 @@

		# Create a pipeline
		pipeline = rs.pipeline()

Enabling LRS examples/tutorials on SR306 #8749

Enabling LRS examples/tutorials on SR306 #8749

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nohayassin commented Apr 6, 2021 • edited by ev-mp Loading

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nohayassin commented Apr 6, 2021 •

edited by ev-mp

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