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Allow for Tare/OCC run side by side
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remove unnecessary messages
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@ev-mp
ev-mp authored and Evgeni Raikhel committed Nov 5, 2022
1 parent e715c91 commit 03e120c
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Showing 2 changed files with 22 additions and 15 deletions.
36 changes: 22 additions & 14 deletions src/ds5/ds5-auto-calibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -421,7 +421,7 @@ namespace librealsense
_json = json;
_action = auto_calib_action::RS2_OCC_ACTION_ON_CHIP_CALIB;
_interactive_state = interactive_calibration_state::RS2_OCC_STATE_WAIT_TO_CAMERA_START;
_interactive_scan = false;// Evgeni bool(interactive_scan_v3);
_interactive_scan = false;//Ev bool(interactive_scan_v3);
switch (speed)
{
case auto_calib_speed::speed_very_fast:
Expand Down Expand Up @@ -1068,10 +1068,6 @@ namespace librealsense
}
#endif
double tmp = static_cast<double>(counter) / static_cast<double>(data_size) * 10000.0;
// LOG_WARNING(std::string(to_string() << __LINE__ << " roi_w = " << roi_w << " roi_h = " << roi_h
// << " _min_valid_depth = " << _min_valid_depth
// << " _max_valid_depth = " << _max_valid_depth
// << " counter = " << counter << " data_size = " << data_size << " fillrate = " << tmp)); // Evgeni -Debug
return static_cast<uint16_t>(tmp + 0.5f);

}
Expand Down Expand Up @@ -1238,7 +1234,8 @@ namespace librealsense
std::vector<uint8_t> res;
rs2_metadata_type frame_counter = ((frame_interface*)f)->get_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER);
rs2_metadata_type frame_ts = ((frame_interface*)f)->get_frame_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP);
//LOG_WARNING(std::string(to_string() << __FUNCTION__ << " fc = " << frame_counter));
bool tare_fc_workaround = (_action == auto_calib_action::RS2_OCC_ACTION_TARE_CALIB); //Ev - work-around tare implementation using rolling frame counter

if (_interactive_state == interactive_calibration_state::RS2_OCC_STATE_WAIT_TO_CAMERA_START)
{
if (frame_counter <= 2)
Expand All @@ -1262,24 +1259,26 @@ namespace librealsense
{
res = run_on_chip_calibration(timeout_ms, _json, health, progress_callback);
}
_prev_frame_counter = frame_counter;//+10;//*2; // Evgeni - bypass the async (+10 addition to trigger transition to collect stage)
_prev_frame_counter = frame_counter; //Ev - bypass the async (+10 addition to trigger transition to collect stage)
if (!tare_fc_workaround) _prev_frame_counter +=10; // for OCC calib Evgeni
_interactive_state = interactive_calibration_state::RS2_OCC_STATE_WAIT_TO_CALIB_START;
LOG_WARNING(std::string(to_string() << "switch INITIAL_FW_CALL=>WAIT_TO_CALIB_START, prev_fc is reset to " << _prev_frame_counter));
return res;
}
if (_interactive_state == interactive_calibration_state::RS2_OCC_STATE_WAIT_TO_CALIB_START)
{
LOG_WARNING(std::string(to_string() << "fc = " << frame_counter));
//Evgeni bool still_waiting(frame_counter >= _prev_frame_counter || frame_counter >= _total_frames);
bool still_waiting(frame_counter <= _prev_frame_counter+10); // Evgeni - bypass FW bug
//_prev_frame_counter = frame_counter; // Evgeni - to be removed
bool still_waiting(frame_counter >= _prev_frame_counter || frame_counter >= _total_frames);
if (tare_fc_workaround)
still_waiting = (frame_counter <= _prev_frame_counter+10); //Ev - bypass for Tare
else
_prev_frame_counter = frame_counter;
if (still_waiting)
{
if (progress_callback)
{
progress_callback->on_update_progress(static_cast<float>(15));
}
//LOG_WARNING(std::string(to_string() << __LINE__ << " return on still waiting"));
return res;
}
if (progress_callback)
Expand Down Expand Up @@ -1383,7 +1382,10 @@ namespace librealsense
else if (_action == auto_calib_action::RS2_OCC_ACTION_TARE_CALIB)
{
static const int FRAMES_TO_SKIP(1);
if ((frame_counter/25) != _prev_frame_counter) // Evgeni - W/A for FW not handling Frame counters correctly
bool cond = (frame_counter != _prev_frame_counter);
if (tare_fc_workaround)
cond = ((frame_counter/25) != _prev_frame_counter); // Evgeni - W/A for FW not handling Frame counters correctly
if (cond)
{
_collected_counter = 0;
_collected_sum = 0.0;
Expand All @@ -1397,7 +1399,11 @@ namespace librealsense
}
LOG_WARNING(std::string(to_string() << __LINE__ << " fr_c = " << frame_counter
<< " fr_ts = " << frame_ts << " _c_f_num = " << _collected_frame_num));
if (frame_counter < 200) //(frame_counter < _total_frames) // Evgeni - see above
cond = (frame_counter < _total_frames);
if (tare_fc_workaround)
cond = (frame_counter < 200);

if (cond) //(frame_counter < _total_frames) // Evgeni - see above
{
if (_skipped_frames < FRAMES_TO_SKIP)
{
Expand All @@ -1422,7 +1428,9 @@ namespace librealsense
}
++_collected_frame_num;
}
_prev_frame_counter = (frame_counter/25); // Evgeni
_prev_frame_counter = frame_counter;
if (tare_fc_workaround)
_prev_frame_counter = (frame_counter/25); // Evgeni. W/A for Tare with rolling frame counter
}
else
{
Expand Down
1 change: 0 additions & 1 deletion src/linux/backend-v4l2.h
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Original file line number Diff line number Diff line change
Expand Up @@ -159,7 +159,6 @@ namespace librealsense
};


//Debug Evgeni
// RAII for buffer exchange with kernel
struct kernel_buf_guard
{
Expand Down

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