diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt index 3e3044d456..a2c659ee4e 100644 --- a/common/CMakeLists.txt +++ b/common/CMakeLists.txt @@ -42,6 +42,8 @@ set(COMMON_SRC "${CMAKE_CURRENT_LIST_DIR}/decompress-huffman.h" "${CMAKE_CURRENT_LIST_DIR}/updates-model.h" "${CMAKE_CURRENT_LIST_DIR}/updates-model.cpp" + "${CMAKE_CURRENT_LIST_DIR}/option-model.h" + "${CMAKE_CURRENT_LIST_DIR}/option-model.cpp" ) set(SW_UPDATE_FILES diff --git a/common/fw-update-helper.cpp b/common/fw-update-helper.cpp index 43707dfc60..8d6e6cc1a6 100644 --- a/common/fw-update-helper.cpp +++ b/common/fw-update-helper.cpp @@ -194,10 +194,62 @@ namespace rs2 return false; } + void firmware_update_manager::process_mipi() + { + if (!_is_signed) + { + fail("Signed FW update for MIPI device - This FW file is not signed "); + return; + } + auto dev_updatable = _dev.as(); + if(!(dev_updatable && dev_updatable.check_firmware_compatibility(_fw))) + { + fail("Firmware Update failed - fw version must be newer than version 5.13.1.1"); + return; + } + + log("Burning Signed Firmware on MIPI device"); + + // Enter DFU mode + auto device_debug = _dev.as(); + uint32_t dfu_opcode = 0x1e; + device_debug.build_command(dfu_opcode, 1); + + _progress = 30; + // Grant permissions for writing + // skipped for now - must be done in sudo + //chmod("/dev/d4xx-dfu504", __S_IREAD|__S_IWRITE); + + // Write signed firmware to appropriate file descritptor + std::ofstream fw_path_in_device("/dev/d4xx-dfu504", std::ios::binary); + if (fw_path_in_device) + { + fw_path_in_device.write(reinterpret_cast(_fw.data()), _fw.size()); + } + else + { + fail("Firmware Update failed - wrong path or permissions missing"); + return; + } + LOG_INFO("Firmware Update for MIPI device done."); + fw_path_in_device.close(); + + _progress = 100; + _done = true; + // need to find a way to update the fw version field in the viewer + } + void firmware_update_manager::process_flow( std::function cleanup, invoker invoke) { + // if device is D457, and fw is signed - using mipi specific procedure + if (!strcmp(_dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID), "ABCD") && _is_signed) + { + process_mipi(); + return; + } + std::string serial = ""; if (_dev.supports(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID)) serial = _dev.get_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID); diff --git a/common/fw-update-helper.h b/common/fw-update-helper.h index a6ee4a74b8..414457d4f9 100644 --- a/common/fw-update-helper.h +++ b/common/fw-update-helper.h @@ -28,9 +28,10 @@ namespace rs2 const device_model& get_device_model() const { return _model; } std::shared_ptr get_protected_notification_model() { return _not_model.lock(); }; - private: + protected: void process_flow(std::function cleanup, invoker invoke) override; + void process_mipi(); bool check_for( std::function action, std::function cleanup, std::chrono::system_clock::duration delta); @@ -53,4 +54,4 @@ namespace rs2 void draw_expanded(ux_window& win, std::string& error_message) override; int calc_height() override; }; -} \ No newline at end of file +} diff --git a/common/fw/CMakeLists.txt b/common/fw/CMakeLists.txt index 5bd018dce6..7dbe94893c 100644 --- a/common/fw/CMakeLists.txt +++ b/common/fw/CMakeLists.txt @@ -14,7 +14,7 @@ set(REALSENSE_FIRMWARE_URL "https://librealsense.intel.com" CACHE STRING string(REGEX MATCH "D4XX_RECOMMENDED_FIRMWARE_VERSION \"([0-9]+.[0-9]+.[0-9]+.[0-9]+)\"" _ ${ver}) set(D4XX_FW_VERSION ${CMAKE_MATCH_1}) message(STATUS "D4XX_FW_VERSION: ${D4XX_FW_VERSION}") -set(D4XX_FW_SHA1 d5502ba0c51a9994caca72123ce19735bbbbbf97) +set(D4XX_FW_SHA1 8dc3b8a0b9fdf03410c15b30e04f57701985064a) set(D4XX_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/RS4xx/FW") @@ -44,6 +44,13 @@ set(L53X_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/L5xx/FW") add_library(${PROJECT_NAME} STATIC empty.c) +# disable link time optimization for fw by adding -fno-lto to disable -flto flag +# jammy debian has build errors without it +if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU") + message(STATUS "disable link time optimization for fw project") + target_compile_options(${PROJECT_NAME} PRIVATE -fno-lto) +endif() + if (MSVC) # lib.exe can't handle multiple .res files, so include them in one. # even then, the linker won't grab a .res out of a .lib object, so it needs to be explicitly listed diff --git a/common/fw/firmware-version.h b/common/fw/firmware-version.h index f82c578348..c78300f5e9 100644 --- a/common/fw/firmware-version.h +++ b/common/fw/firmware-version.h @@ -3,8 +3,8 @@ #pragma once -#define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.13.0.50" +#define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.14.0.0" #define SR3XX_RECOMMENDED_FIRMWARE_VERSION "3.26.1.0" #define T26X_FIRMWARE_VERSION "0.2.0.951" #define L51X_RECOMMENDED_FIRMWARE_VERSION "1.5.8.1" -#define L53X_RECOMMENDED_FIRMWARE_VERSION "3.5.5.1" \ No newline at end of file +#define L53X_RECOMMENDED_FIRMWARE_VERSION "3.5.5.1" diff --git a/common/model-views.cpp b/common/model-views.cpp index bd6745ddd4..ffaa13b52a 100644 --- a/common/model-views.cpp +++ b/common/model-views.cpp @@ -550,519 +550,7 @@ namespace rs2 } return option; } - std::string adjust_description(const std::string& str_in, const std::string& to_be_replaced, const std::string& to_replace) - { - std::string adjusted_string(str_in); - auto pos = adjusted_string.find(to_be_replaced); - adjusted_string.replace(pos, to_be_replaced.size(), to_replace); - return adjusted_string; - } - - bool option_model::draw(std::string& error_message, notifications_model& model, bool new_line, bool use_option_name) - { - auto res = false; - if (endpoint->supports(opt)) - { - // The option's rendering model supports an alternative option title derived from its description rather than name. - // This is applied to the Holes Filling as its display must conform with the names used by a 3rd-party tools for consistency. - if (opt == RS2_OPTION_HOLES_FILL) - use_option_name = false; - - // lambda function used to convert meters to cm - while the number is a string - auto convert_float_str = [](std::string float_str, float conversion_factor) { - if (float_str.size() == 0) - return float_str; - float number_float = std::stof(float_str); - return std::to_string(number_float * conversion_factor); - }; - - std::string desc_str (endpoint->get_option_description(opt)); - - // Device D405 is for short range, therefore, its units are in cm - for better UX - bool use_cm_units = false; - std::string device_pid = dev->dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID); - if (device_pid == "0B5B" && val_in_range(opt, { RS2_OPTION_MIN_DISTANCE, RS2_OPTION_MAX_DISTANCE, RS2_OPTION_DEPTH_UNITS })) - { - use_cm_units = true; - desc_str = adjust_description(desc_str, "meters", "cm"); - } - - auto desc = desc_str.c_str(); - - // remain option to append to the current line - if (!new_line) - ImGui::SameLine(); - - if (is_checkbox()) - { - auto bool_value = value > 0.0f; - if (ImGui::Checkbox(label.c_str(), &bool_value)) - { - if (allow_change((bool_value ? 1.0f : 0.0f), error_message)) - { - res = true; - model.add_log(to_string() << "Setting " << opt << " to " - << (bool_value? "1.0" : "0.0") << " (" << (bool_value ? "ON" : "OFF") << ")"); - - set_option(opt, bool_value ? 1.f : 0.f, error_message); - *invalidate_flag = true; - } - } - if (ImGui::IsItemHovered() && desc) - { - ImGui::SetTooltip("%s", desc); - } - } - else - { - if (!is_enum()) - { - std::string txt = to_string() << endpoint->get_option_name(opt) << ":"; - ImGui::Text("%s", txt.c_str()); - - ImGui::SameLine(); - ImGui::SetCursorPosX(read_only ? 268.f : 245.f); - ImGui::PushStyleColor(ImGuiCol_Text, grey); - ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, grey); - ImGui::PushStyleColor(ImGuiCol_ButtonActive, { 1.f,1.f,1.f,0.f }); - ImGui::PushStyleColor(ImGuiCol_ButtonHovered, { 1.f,1.f,1.f,0.f }); - ImGui::PushStyleColor(ImGuiCol_Button, { 1.f,1.f,1.f,0.f }); - ImGui::Button(textual_icons::question_mark, { 20, 20 }); - ImGui::PopStyleColor(5); - if (ImGui::IsItemHovered() && desc) - { - ImGui::SetTooltip("%s", desc); - } - - if (!read_only) - { - ImGui::SameLine(); - ImGui::SetCursorPosX(268); - if (!edit_mode) - { - std::string edit_id = to_string() << textual_icons::edit << "##" << id; - ImGui::PushStyleColor(ImGuiCol_Text, light_grey); - ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_grey); - ImGui::PushStyleColor(ImGuiCol_ButtonHovered, { 1.f,1.f,1.f,0.f }); - ImGui::PushStyleColor(ImGuiCol_Button, { 1.f,1.f,1.f,0.f }); - if (ImGui::Button(edit_id.c_str(), { 20, 20 })) - { - if (is_all_integers()) - edit_value = to_string() << (int)value; - else - edit_value = to_string() << value; - edit_mode = true; - } - if (ImGui::IsItemHovered()) - { - ImGui::SetTooltip("Enter text-edit mode"); - } - ImGui::PopStyleColor(4); - } - else - { - std::string edit_id = to_string() << textual_icons::edit << "##" << id; - ImGui::PushStyleColor(ImGuiCol_Text, light_blue); - ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue); - ImGui::PushStyleColor(ImGuiCol_ButtonHovered, { 1.f,1.f,1.f,0.f }); - ImGui::PushStyleColor(ImGuiCol_Button, { 1.f,1.f,1.f,0.f }); - if (ImGui::Button(edit_id.c_str(), { 20, 20 })) - { - edit_mode = false; - } - if (ImGui::IsItemHovered()) - { - ImGui::SetTooltip("Exit text-edit mode"); - } - ImGui::PopStyleColor(4); - } - } - - ImGui::PushItemWidth(-1); - - try - { - if (read_only) - { - ImVec2 vec{ 0, 20 }; - std::string text = (value == (int)value) ? std::to_string((int)value) : std::to_string(value); - if (range.min != range.max) - { - ImGui::ProgressBar((value / (range.max - range.min)), vec, text.c_str()); - } - else //constant value options - { - auto c = ImGui::ColorConvertU32ToFloat4(ImGui::GetColorU32(ImGuiCol_FrameBg)); - ImGui::PushStyleColor(ImGuiCol_FrameBgActive, c); - ImGui::PushStyleColor(ImGuiCol_FrameBgHovered, c); - float dummy = std::floor(value); - if (ImGui::DragFloat(id.c_str(), &dummy, 1, 0, 0, text.c_str())) - { - // Changing the depth units not on advanced mode is not allowed, - // prompt the user to switch to advanced mode for chaging it. - if (RS2_OPTION_DEPTH_UNITS == opt) - { - auto advanced = dev->dev.as(); - if (advanced) - if (!advanced.is_enabled()) - dev->draw_advanced_mode_prompt = true; - } - } - ImGui::PopStyleColor(2); - } - } - else if (edit_mode) - { - std::string buff_str = edit_value; - - // when cm must be used instead of meters - if (use_cm_units) - buff_str = convert_float_str(buff_str, 100.f); - - char buff[TEXT_BUFF_SIZE]; - memset(buff, 0, TEXT_BUFF_SIZE); - strcpy(buff, buff_str.c_str()); - - if (ImGui::InputText(id.c_str(), buff, TEXT_BUFF_SIZE, - ImGuiInputTextFlags_EnterReturnsTrue)) - { - if (use_cm_units) - { - buff_str = convert_float_str(std::string(buff), 0.01f); - memset(buff, 0, TEXT_BUFF_SIZE); - strcpy(buff, buff_str.c_str()); - } - float new_value; - if (!utilities::string::string_to_value(buff, new_value)) - { - error_message = "Invalid float input!"; - } - else if (new_value < range.min || new_value > range.max) - { - float val = use_cm_units ? new_value * 100.f : new_value; - float min = use_cm_units ? range.min * 100.f : range.min; - float max = use_cm_units ? range.max * 100.f : range.max; - - error_message = to_string() << val - << " is out of bounds [" << min << ", " << max << "]"; - } - else - { - set_option(opt, new_value, error_message); - } - edit_mode = false; - } - else if (use_cm_units) - { - buff_str = convert_float_str(buff_str, 0.01f); - memset(buff, 0, TEXT_BUFF_SIZE); - strcpy(buff, buff_str.c_str()); - } - edit_value = buff; - } - else if (is_all_integers()) - { - auto int_value = static_cast(value); - - if (ImGui::SliderIntWithSteps(id.c_str(), &int_value, - static_cast(range.min), - static_cast(range.max), - static_cast(range.step))) - { - // TODO: Round to step? - res = slider_selected( opt, static_cast< float >( int_value ), error_message, model ); - } - else - { - res = slider_unselected( opt, static_cast< float >( int_value ), error_message, model ); - } - } - else - { - float tmp_value = value; - float temp_value_displayed = tmp_value; - float min_range_displayed = range.min; - float max_range_displayed = range.max; - - // computing the number of decimal digits taken from the step options' property - // this will then be used to format the displayed value - auto num_of_decimal_digits = [](float f) { - float f_0 = std::fabs(f - (int)f); - std::string s = std::to_string(f_0); - size_t cur_len = s.length(); - //removing trailing zeros - while (cur_len > 3 && s[cur_len - 1] == '0') - cur_len--; - return cur_len - 2; - }; - int num_of_decimal_digits_displayed = (int)num_of_decimal_digits(range.step); - - // displaying in cm instead of meters for D405 - if (use_cm_units) - { - temp_value_displayed *= 100.f; - min_range_displayed *= 100.f; - max_range_displayed *= 100.f; - int updated_num_of_decimal_digits_displayed = num_of_decimal_digits_displayed - 2; - if (updated_num_of_decimal_digits_displayed > 0) - num_of_decimal_digits_displayed = updated_num_of_decimal_digits_displayed; - } - - std::stringstream formatting_ss; - formatting_ss << "%." << num_of_decimal_digits_displayed << "f"; - - - if (ImGui::SliderFloat(id.c_str(), &temp_value_displayed, - min_range_displayed, max_range_displayed, formatting_ss.str().c_str())) - { - tmp_value = use_cm_units ? temp_value_displayed / 100.f : temp_value_displayed; - auto loffset = std::abs(fmod(tmp_value, range.step)); - auto roffset = range.step - loffset; - if (tmp_value >= 0) - tmp_value = (loffset < roffset) ? tmp_value - loffset : tmp_value + roffset; - else - tmp_value = (loffset < roffset) ? tmp_value + loffset : tmp_value - roffset; - tmp_value = (tmp_value < range.min) ? range.min : tmp_value; - tmp_value = (tmp_value > range.max) ? range.max : tmp_value; - - res = slider_selected( opt, tmp_value, error_message, model ); - } - else - { - res = slider_unselected( opt, tmp_value, error_message, model ); - } - } - } - catch (const error& e) - { - error_message = error_to_string(e); - } - } - else - { - std::string txt = to_string() << (use_option_name ? endpoint->get_option_name(opt) : desc) << ":"; - - auto pos_x = ImGui::GetCursorPosX(); - - ImGui::Text("%s", txt.c_str()); - if (ImGui::IsItemHovered() && desc) - { - ImGui::SetTooltip("%s", desc); - } - - ImGui::SameLine(); - if (new_line) - ImGui::SetCursorPosX(pos_x + 120); - - ImGui::PushItemWidth(new_line ? -1.f : 100.f); - - std::vector labels; - auto selected = 0, counter = 0; - for (auto i = range.min; i <= range.max; i += range.step, counter++) - { - if (std::fabs(i - value) < 0.001f) selected = counter; - labels.push_back(endpoint->get_option_value_description(opt, i)); - } - ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 1,1,1,1 }); - - try - { - int tmp_selected = selected; - float tmp_value = value; - ImGui::PushItemWidth(135.f); - if (ImGui::Combo(id.c_str(), &tmp_selected, labels.data(), - static_cast(labels.size()))) - { - tmp_value = range.min + range.step * tmp_selected; - model.add_log(to_string() << "Setting " << opt << " to " - << tmp_value << " (" << labels[tmp_selected] << ")"); - set_option(opt, tmp_value, error_message); - selected = tmp_selected; - if (invalidate_flag) *invalidate_flag = true; - res = true; - } - } - catch (const error& e) - { - error_message = error_to_string(e); - } - - ImGui::PopStyleColor(); - - ImGui::PopItemWidth(); - } - - - } - - if (!read_only && opt == RS2_OPTION_ENABLE_AUTO_EXPOSURE && dev->auto_exposure_enabled && dev->s->is() && dev->streaming) - { - ImGui::SameLine(0, 10); - std::string button_label = label; - auto index = label.find_last_of('#'); - if (index != std::string::npos) - { - button_label = label.substr(index + 1); - } - - ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 1.f,1.f,1.f,1.f }); - if (!dev->roi_checked) - { - std::string caption = to_string() << "Set ROI##" << button_label; - if (ImGui::Button(caption.c_str(), { 55, 0 })) - { - dev->roi_checked = true; - } - } - else - { - std::string caption = to_string() << "Cancel##" << button_label; - if (ImGui::Button(caption.c_str(), { 55, 0 })) - { - dev->roi_checked = false; - } - } - ImGui::PopStyleColor(); - - if (ImGui::IsItemHovered()) - ImGui::SetTooltip("Select custom region of interest for the auto-exposure algorithm\nClick the button, then draw a rect on the frame"); - } - } - - return res; - } - - void option_model::update_supported(std::string& error_message) - { - try - { - supported = endpoint->supports(opt); - } - catch (const error& e) - { - error_message = error_to_string(e); - } - } - - void option_model::update_read_only_status(std::string& error_message) - { - try - { - read_only = endpoint->is_option_read_only(opt); - } - catch (const error& e) - { - error_message = error_to_string(e); - } - } - - void option_model::update_all_fields(std::string& error_message, notifications_model& model) - { - try - { - if ((supported = endpoint->supports(opt))) - { - value = endpoint->get_option(opt); - range = endpoint->get_option_range(opt); - read_only = endpoint->is_option_read_only(opt); - } - } - catch (const error& e) - { - if (read_only) { - model.add_notification({ to_string() << "Could not refresh read-only option " << endpoint->get_option_name(opt) << ": " << e.what(), - RS2_LOG_SEVERITY_WARN, - RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR }); - } - else - error_message = error_to_string(e); - } - } - - bool option_model::is_all_integers() const - { - return is_integer(range.min) && is_integer(range.max) && - is_integer(range.def) && is_integer(range.step); - } - - bool option_model::is_enum() const - { - if (range.step < 0.001f) return false; - - for (auto i = range.min; i <= range.max; i += range.step) - { - if (endpoint->get_option_value_description(opt, i) == nullptr) - return false; - } - return true; - } - - bool option_model::is_checkbox() const - { - return range.max == 1.0f && - range.min == 0.0f && - range.step == 1.0f; - } - - bool option_model::allow_change(float val, std::string& error_message) const - { - // Place here option restrictions - return true; - } - - bool option_model::slider_selected( rs2_option opt, - float value, - std::string & error_message, - notifications_model & model ) - { - bool res = false; - auto option_was_set - = set_option( opt, value, error_message, std::chrono::milliseconds( 200 ) ); - if( option_was_set ) - { - have_unset_value = false; - *invalidate_flag = true; - model.add_log( to_string() << "Setting " << opt << " to " << value ); - res = true; - } - else - { - have_unset_value = true; - unset_value = value; - } - return res; - } - bool option_model::slider_unselected( rs2_option opt, - float value, - std::string & error_message, - notifications_model & model ) - { - bool res = false; - // Slider unselected, if last value was ignored, set with last value if the value was - // changed. - if( have_unset_value ) - { - if( value != unset_value ) - { - auto set_ok = set_option( opt, - unset_value, - error_message, - std::chrono::milliseconds( 100 ) ); - if( set_ok ) - { - model.add_log( to_string() << "Setting " << opt << " to " << unset_value ); - *invalidate_flag = true; - have_unset_value = false; - res = true; - } - } - else - have_unset_value = false; - } - return res; - } - - + void subdevice_model::populate_options(std::map& opt_container, const std::string& opt_base_label, subdevice_model* model, @@ -2014,24 +1502,28 @@ namespace rs2 { // checking format bool is_cal_format = false; - for (auto it = stream_enabled.begin(); it != stream_enabled.end(); ++it) + // checking that the SKU is D405 - otherwise, this method should return false + if (dev.supports(RS2_CAMERA_INFO_PRODUCT_ID) && !strcmp(dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID), "0B5B")) { - if (it->second) + for (auto it = stream_enabled.begin(); it != stream_enabled.end(); ++it) { - int selected_format_index = -1; - if (ui.selected_format_id.count(it->first) > 0) - selected_format_index = ui.selected_format_id.at(it->first); - - if (format_values.count(it->first) > 0 && selected_format_index > -1) + if (it->second) { - auto formats = format_values.at(it->first); - if (formats.size() > selected_format_index) + int selected_format_index = -1; + if (ui.selected_format_id.count(it->first) > 0) + selected_format_index = ui.selected_format_id.at(it->first); + + if (format_values.count(it->first) > 0 && selected_format_index > -1) { - auto format = formats[selected_format_index]; - if (format == RS2_FORMAT_Y16) + auto formats = format_values.at(it->first); + if (formats.size() > selected_format_index) { - is_cal_format = true; - break; + auto format = formats[selected_format_index]; + if (format == RS2_FORMAT_Y16) + { + is_cal_format = true; + break; + } } } } @@ -2231,9 +1723,7 @@ namespace rs2 this->tm2.record_trajectory(true); } }); - s->open(profiles); - try { s->start([&, syncer](frame f) { @@ -2491,7 +1981,7 @@ namespace rs2 glPopAttrib(); } - bool stream_model::is_stream_visible() + bool stream_model::is_stream_visible() const { if (dev && (dev->is_paused() || @@ -3202,7 +2692,8 @@ namespace rs2 if (profile.as()) { stream_details.push_back({ "Hardware Size", - to_string() << original_size.x << " x " << original_size.y, "" }); + to_string() << original_size.x << " x " << original_size.y, + "Hardware size is the original frame resolution we got from the sensor, before applying post processing filters." }); stream_details.push_back({ "Display Size", to_string() << size.x << " x " << size.y, @@ -4381,7 +3872,17 @@ namespace rs2 for (auto&& f : first) { auto first_uid = f.get_profile().unique_id(); - if (auto second_f = second.first_or_default(f.get_profile().stream_type())) + + frame second_f; + if (f.get_profile().stream_type() == RS2_STREAM_INFRARED) + { + second_f = second.get_infrared_frame( f.get_profile().stream_index() ); + } + else + { + second_f = second.first_or_default( f.get_profile().stream_type() ); + } + if ( second_f ) { auto second_uid = second_f.get_profile().unique_id(); @@ -5899,6 +5400,46 @@ namespace rs2 } #endif //UVMAP_CAL + //if (ImGui::Selectable("Focal Length Plus Calibration")) + //{ + // try + // { + // std::shared_ptr< subdevice_model> sub_color; + // for (auto&& sub2 : subdevices) + // { + // if (sub2->s->is()) + // { + // sub_color = sub2; + // break; + // } + // } + + // auto manager = std::make_shared(viewer, sub, *this, dev, sub_color); + // auto n = std::make_shared("", manager, false); + + // viewer.not_model->add_notification(n); + // n->forced = true; + // n->update_state = autocalib_notification_model::RS2_CALIB_STATE_FL_PLUS_INPUT; + + // for (auto&& n : related_notifications) + // if (dynamic_cast(n.get())) + // n->dismiss(false); + + // related_notifications.push_back(n); + // manager->start_fl_plus_viewer(); + // } + // catch (const error& e) + // { + // error_message = error_to_string(e); + // } + // catch (const std::exception& e) + // { + // error_message = e.what(); + // } + //} + //if (ImGui::IsItemHovered()) + // ImGui::SetTooltip("Focal length plus calibration is used to adjust camera focal length and principal points with specific target."); + if (_calib_model.supports()) { if (ImGui::Selectable("Calibration Data")) @@ -6381,6 +5922,7 @@ namespace rs2 json_loading_func json_loading) { const float panel_height = 40.f; + auto panel_pos = ImGui::GetCursorPos(); ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg); ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg); diff --git a/common/model-views.h b/common/model-views.h index 03be8835c4..9160cc716a 100644 --- a/common/model-views.h +++ b/common/model-views.h @@ -30,6 +30,7 @@ #include #include #include "reflectivity/reflectivity.h" +#include "option-model.h" ImVec4 from_rgba(uint8_t r, uint8_t g, uint8_t b, uint8_t a, bool consistent_color = false); ImVec4 operator+(const ImVec4& c, float v); @@ -93,6 +94,7 @@ namespace rs2 void open_issue(std::string body); class device_model; + class option_model; typedef std::vector> device_models_list; @@ -307,52 +309,6 @@ namespace rs2 std::vector> get_devices_names(const device_list& list); std::vector get_device_info(const device& dev, bool include_location = true); - class option_model - { - public: - bool draw(std::string& error_message, notifications_model& model,bool new_line=true, bool use_option_name = true); - void update_supported(std::string& error_message); - void update_read_only_status(std::string& error_message); - void update_all_fields(std::string& error_message, notifications_model& model); - bool set_option( rs2_option opt, - float value, - std::string & error_message, - std::chrono::steady_clock::duration ignore_period = std::chrono::seconds( 0 ) ); - bool draw_option(bool update_read_only_options, bool is_streaming, - std::string& error_message, notifications_model& model); - - rs2_option opt; - option_range range; - std::shared_ptr endpoint; - float unset_value = 0; - bool have_unset_value = false; - utilities::time::stopwatch last_set_stopwatch; - bool* invalidate_flag = nullptr; - bool supported = false; - bool read_only = false; - float value = 0.0f; - std::string label = ""; - std::string id = ""; - subdevice_model* dev; - std::function custom_draw_method = nullptr; - bool edit_mode = false; - std::string edit_value = ""; - private: - bool is_all_integers() const; - bool is_enum() const; - bool is_checkbox() const; - bool allow_change(float val, std::string& error_message) const; - bool slider_selected( rs2_option opt, - float value, - std::string& error_message, - notifications_model& model); - - bool slider_unselected(rs2_option opt, - float value, - std::string& error_message, - notifications_model& model); - }; - class frame_queues { public: @@ -661,6 +617,9 @@ namespace rs2 viewer_model& viewer; std::function on_frame = []{}; + + std::ofstream _fout; + std::shared_ptr s; device dev; tm2_model tm2; @@ -747,7 +706,7 @@ namespace rs2 public: stream_model(); std::shared_ptr upload_frame(frame&& f); - bool is_stream_visible(); + bool is_stream_visible() const; void update_ae_roi_rect(const rect& stream_rect, const mouse_info& mouse, std::string& error_message); void show_frame(const rect& stream_rect, const mouse_info& g, std::string& error_message); rect get_normalized_zoom(const rect& stream_rect, const mouse_info& g, bool is_middle_clicked, float zoom_val); diff --git a/common/on-chip-calib.cpp b/common/on-chip-calib.cpp index 8e871b38f4..a817ca3f41 100644 --- a/common/on-chip-calib.cpp +++ b/common/on-chip-calib.cpp @@ -21,12 +21,18 @@ namespace rs2 on_chip_calib_manager::on_chip_calib_manager(viewer_model& viewer, std::shared_ptr sub, device_model& model, device dev, std::shared_ptr sub_color, bool uvmapping_calib_full) : process_manager("On-Chip Calibration"), _model(model), _dev(dev), _sub(sub), _viewer(viewer), _sub_color(sub_color), py_px_only(!uvmapping_calib_full) { + device_id_string = "Unknown"; if (dev.supports(RS2_CAMERA_INFO_PRODUCT_ID)) { - std::string dev_pid = dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID); - if (val_in_range(dev_pid, { std::string("0AD3") })) + device_id_string = _dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID); + if (val_in_range(device_id_string, { std::string("0AD3") })) speed = 4; } + if (dev.supports(RS2_CAMERA_INFO_FIRMWARE_VERSION)) + { + std::string fw_version = dev.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION); + tare_health = is_upgradeable("05.12.14.100", fw_version); + } } on_chip_calib_manager::~on_chip_calib_manager() @@ -400,11 +406,6 @@ namespace rs2 bool frame_arrived = false; try { - if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) - { - laser_status_prev = _sub->s->get_option(RS2_OPTION_EMITTER_ENABLED); - _sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f); - } if (_sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) { thermal_loop_prev = _sub->s->get_option(RS2_OPTION_THERMAL_COMPENSATION); @@ -423,7 +424,6 @@ namespace rs2 break; } } - } else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) { @@ -473,6 +473,89 @@ namespace rs2 if (_sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) _sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, 0.f); } + else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + { + _uid = 1; + _uid2 = 0; + bool first_done = false; + bool second_done = false; + for (const auto& format : _sub->formats) + { + if (format.second[0] == "Y8" && !first_done) + { + _uid = format.first; + first_done = true; + } + + if (format.second[0] == "Z16" && !second_done) + { + _uid2 = format.first; + second_done = true; + } + + if (first_done && second_done) + break; + } + + _sub_color->ui.selected_format_id.clear(); + _sub_color->ui.selected_format_id[_uid_color] = 0; + for (const auto& format : _sub_color->formats) + { + int done = false; + for (int i = 0; i < format.second.size(); ++i) + { + if (format.second[i] == "RGB8") + { + _uid_color = format.first; + _sub_color->ui.selected_format_id[_uid_color] = i; + done = true; + break; + } + } + if (done) + break; + } + + if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) + _sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f); + } + else if (action == RS2_CALIB_ACTION_FL_PLUS_CALIB) + { + _uid = 1; + _uid2 = 0; + _uid_color = 2; + bool first_done = false; + bool second_done = false; + bool third_done = false; + for (const auto& format : _sub->formats) + { + if (format.second[0] == "Y8") + { + if (!first_done) + { + _uid = format.first; + first_done = true; + } + else + { + _uid_color = format.first; + third_done = true; + } + } + + if (format.second[0] == "Z16" && !second_done) + { + _uid2 = format.first; + second_done = true; + } + + if (first_done && second_done && third_done) + break; + } + + if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) + _sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f); + } else if (run_fl_calib) { _uid = 1; @@ -824,18 +907,20 @@ namespace rs2 if (action == RS2_CALIB_ACTION_ON_CHIP_CALIB) { ss << "{\n \"calib type\":" << 0 << + ",\n \"host assistance\":" << host_assistance << ",\n \"speed\":" << speed << ",\n \"average step count\":" << average_step_count << ",\n \"scan parameter\":" << (intrinsic_scan ? 0 : 1) << ",\n \"step count\":" << step_count << ",\n \"apply preset\":" << (apply_preset ? 1 : 0) << ",\n \"accuracy\":" << accuracy << - ",\n \"scan only\":" << 0 << + ",\n \"scan only\":" << (host_assistance ? 1 : 0) << ",\n \"interactive scan\":" << 0 << "}"; } else if (action == RS2_CALIB_ACTION_ON_CHIP_FL_CALIB) { ss << "{\n \"calib type\":" << 1 << + ",\n \"host assistance\":" << host_assistance << ",\n \"fl step count\":" << fl_step_count << ",\n \"fy scan range\":" << fy_scan_range << ",\n \"keep new value after sucessful scan\":" << keep_new_value_after_sucessful_scan << @@ -844,12 +929,13 @@ namespace rs2 ",\n \"fl scan location\":" << fl_scan_location << ",\n \"fy scan direction\":" << fy_scan_direction << ",\n \"white wall mode\":" << white_wall_mode << - ",\n \"scan only\":" << 0 << + ",\n \"scan only\":" << (host_assistance ? 1 : 0) << ",\n \"interactive scan\":" << 0 << "}"; } else { ss << "{\n \"calib type\":" << 2 << + ",\n \"host assistance\":" << host_assistance << ",\n \"fl step count\":" << fl_step_count << ",\n \"fy scan range\":" << fy_scan_range << ",\n \"keep new value after sucessful scan\":" << keep_new_value_after_sucessful_scan << @@ -864,24 +950,43 @@ namespace rs2 ",\n \"step count\":" << step_count << ",\n \"apply preset\":" << (apply_preset ? 1 : 0) << ",\n \"accuracy\":" << accuracy << - ",\n \"scan only\":" << 0 << + ",\n \"scan only\":" << (host_assistance ? 1 : 0) << ",\n \"interactive scan\":" << 0 << ",\n \"depth\":" << 0 << "}"; } std::string json = ss.str(); - auto invoke = [](std::function) {}; - int frame_fetch_timeout_ms = 3000; - rs2::depth_frame f = fetch_depth_frame(invoke, frame_fetch_timeout_ms); - rs2_metadata_type frame_counter = 0; - _progress = 0; - + float health[2] = { -1.0f, -1.0f }; auto calib_dev = _dev.as(); if (action == RS2_CALIB_ACTION_TARE_CALIB) - _new_calib = calib_dev.run_tare_calibration(ground_truth, json, [&](const float progress) {_progress = progress;}, 5000); + _new_calib = calib_dev.run_tare_calibration(ground_truth, json, health, [&](const float progress) {_progress = progress; }, 5000); else if (action == RS2_CALIB_ACTION_ON_CHIP_CALIB || action == RS2_CALIB_ACTION_ON_CHIP_FL_CALIB || action == RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) - _new_calib = calib_dev.run_on_chip_calibration(json, &_health, [&](const float progress) {_progress = progress;}, occ_timeout_ms); + _new_calib = calib_dev.run_on_chip_calibration(json, health, [&](const float progress) {_progress = progress; }, occ_timeout_ms); + + auto invoke = [](std::function) {}; + int frame_fetch_timeout_ms = 3000; + + bool calib_done(!_new_calib.empty()); + + int timeout_sec(10); + timeout_sec *= (1 + static_cast(action == RS2_CALIB_ACTION_ON_CHIP_CALIB)); // when RS2_CALIB_ACTION_ON_CHIP_CALIB is in interactive-mode the process takes longer. + auto start = std::chrono::high_resolution_clock::now(); + bool is_timed_out(std::chrono::high_resolution_clock::now() - start > std::chrono::seconds(timeout_sec)); + while (!(calib_done || is_timed_out)) + { + rs2::depth_frame f = fetch_depth_frame(invoke, frame_fetch_timeout_ms); + _new_calib = calib_dev.process_calibration_frame(f, health, [&](const float progress) {_progress = progress; }, 5000); + calib_done = !_new_calib.empty(); + is_timed_out = std::chrono::high_resolution_clock::now() - start > std::chrono::seconds(timeout_sec); + } + if (is_timed_out) + { + throw std::runtime_error("Operation timed-out!\n" + "Calibration process did not converge on time"); + } + + // finalize results: if (action == RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) { int h_both = static_cast(_health); @@ -897,6 +1002,15 @@ namespace rs2 if (sign & 2) _health_2 = -_health_2; } + else if (action == RS2_CALIB_ACTION_ON_CHIP_CALIB) + { + _health = health[0]; + } + else if (action == RS2_CALIB_ACTION_TARE_CALIB) + { + _health_1 = health[0] * 100; + _health_2 = health[1] * 100; + } } void on_chip_calib_manager::calibrate_fl() @@ -1062,9 +1176,174 @@ namespace rs2 } } + //void on_chip_calib_manager::calibrate_fl_plus() + //{ + // try + // { + // std::shared_ptr gt_calculator[2]; + // bool created[3] = { false, false, false }; + + // int counter = 0; + // int limit = dots_calculator::_frame_num << 1; + // int step = 50 / dots_calculator::_frame_num; + + // int ret = { 0 }; + // int id[3] = { _uid, _uid_color, _uid2 }; // 0 for left, 1 for right, and 2 for depth + // rs2_intrinsics intrin[2]; + // stream_profile profile[2]; + // float dots_x[2][4] = { 0 }; + // float dots_y[2][4] = { 0 }; + + // int idx = 0; + // int depth_frame_size = 0; + // std::vector> depth(dots_calculator::_frame_num); + + // rs2::frame f; + // int width = 0; + // int height = 0; + // bool done[3] = { false, false, false }; + // while (counter < limit) + // { + // if (!done[0]) + // { + // f = _viewer.ppf.frames_queue[id[0]].wait_for_frame(); + + // if (!created[0]) + // { + // profile[0] = f.get_profile(); + // auto vsp = profile[0].as(); + + // gt_calculator[0] = std::make_shared(); + // intrin[0] = vsp.get_intrinsics(); + // created[0] = true; + // } + + // ret = gt_calculator[0]->calculate(f.get(), dots_x[0], dots_y[0]); + // if (ret == 0) + // ++counter; + // else if (ret == 1) + // _progress += step; + // else if (ret == 2) + // { + // _progress += step; + // done[0] = true; + // } + // } + + // if (!done[1]) + // { + // f = _viewer.ppf.frames_queue[id[1]].wait_for_frame(); + + // if (!created[1]) + // { + // profile[1] = f.get_profile(); + // auto vsp = profile[1].as(); + // width = vsp.width(); + // height = vsp.height(); + + // gt_calculator[1] = std::make_shared(); + // intrin[1] = vsp.get_intrinsics(); + // created[1] = true; + // } + + // ret = gt_calculator[1]->calculate(f.get(), dots_x[1], dots_y[1]); + // if (ret == 0) + // ++counter; + // else if (ret == 1) + // _progress += step; + // else if (ret == 2) + // { + // _progress += step; + // done[1] = true; + // } + // } + + // if (!done[2]) + // { + // f = _viewer.ppf.frames_queue[id[2]].wait_for_frame(); + + // if (!created[2]) + // { + // auto p = f.get_profile(); + // auto vsp = p.as(); + // width = vsp.width(); + // depth_frame_size = vsp.width() * vsp.height() * sizeof(uint16_t); + // created[2] = true; + // } + + // depth[idx].resize(depth_frame_size); + // memmove(depth[idx++].data(), f.get_data(), depth_frame_size); + + // if (idx == dots_calculator::_frame_num) + // done[2] = true; + // } + + // if (done[0] && done[1] && done[2]) + // break; + // } + + // if (done[0] && done[1] && done[2]) + // { + // rs2_extrinsics extrin = profile[0].get_extrinsics_to(profile[1]); + + // float z[4] = { 0 }; + // find_z_at_corners(dots_x[0], dots_y[0], width, dots_calculator::_frame_num, depth, z); + + // uvmapping_calib calib(4, dots_x[0], dots_y[0], z, dots_x[1], dots_y[1], intrin[0], intrin[1], extrin); + + // bool ret = calib.calibrate(_health_1, _health_2, _ppx, _ppy, _fx, _fy, py_px_only); + // if (!ret) + // fail("Please adjust the camera position\nand make sure the specific target is\ninsid the ROI of the camera images!"); + + // _viewer.not_model->add_log(to_string() << "PX: " << intrin[1].ppx << " ---> " << _ppx); + // _viewer.not_model->add_log(to_string() << "PY: " << intrin[1].ppy << " ---> " << _ppy); + // _viewer.not_model->add_log(to_string() << "FX: " << intrin[1].fx << " ---> " << _fx); + // _viewer.not_model->add_log(to_string() << "FY: " << intrin[1].fy << " ---> " << _fy); + + // _new_calib = _old_calib; + // auto table = (librealsense::ds::coefficients_table*)_new_calib.data(); + + // _health_nums[0] = _ppx / intrin[1].ppx; + // _health_nums[1] = _ppy / intrin[1].ppy; + // _health_nums[2] = _fx / intrin[1].fx; + // _health_nums[3] = _fy / intrin[1].fy; + + // table->intrinsic_right.x.z *= _health_nums[0]; + // table->intrinsic_right.y.x *= _health_nums[1]; + // table->intrinsic_right.x.x *= _health_nums[2]; + // table->intrinsic_right.x.y *= _health_nums[3]; + + // _health_nums[0] -= 1.0f; + // _health_nums[1] -= 1.0f; + // _health_nums[2] -= 1.0f; + // _health_nums[3] -= 1.0f; + + // _health_nums[0] *= 100.0f; + // _health_nums[1] *= 100.0f; + // _health_nums[2] *= 100.0f; + // _health_nums[3] *= 100.0f; + + // auto actual_data = _new_calib.data() + sizeof(librealsense::ds::table_header); + // auto actual_data_size = _new_calib.size() - sizeof(librealsense::ds::table_header); + // auto crc = helpers::calc_crc32(actual_data, actual_data_size); + // table->header.crc32 = crc; + // } + // else + // fail("Please adjust the camera position\nand make sure the specific target is\ninsid the ROI of the camera images!"); + // } + // catch (const std::runtime_error& error) + // { + // fail(error.what()); + // } + // catch (...) + // { + // fail("UVMapping calibration failed!"); + // } + //} + void on_chip_calib_manager::process_flow(std::function cleanup, invoker invoke) { - if (action == RS2_CALIB_ACTION_FL_CALIB || action == RS2_CALIB_ACTION_UVMAPPING_CALIB) + if (action == RS2_CALIB_ACTION_FL_CALIB || action == RS2_CALIB_ACTION_UVMAPPING_CALIB || action == RS2_CALIB_ACTION_FL_PLUS_CALIB) stop_viewer(invoke); update_last_used(); @@ -1076,7 +1355,7 @@ namespace rs2 else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) log(to_string() << "Starting UV-Mapping calibration"); else - log(to_string() << "Starting OCC at speed " << speed); + log(to_string() << "Starting OCC calibration at speed " << speed); _in_3d_view = _viewer.is_3d_view; _viewer.is_3d_view = (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH ? false : true); @@ -1131,14 +1410,53 @@ namespace rs2 if (action == RS2_CALIB_ACTION_FL_CALIB || action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH || action == RS2_CALIB_ACTION_UVMAPPING_CALIB) try_start_viewer(1280, 720, fps, invoke); else - try_start_viewer(256, 144, 90, invoke); + { + if (host_assistance && action != RS2_CALIB_ACTION_TARE_GROUND_TRUTH) + try_start_viewer(0, 0, 0, invoke); + else + try_start_viewer(256, 144, 90, invoke); + } + + if ( action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH ) + { + //Laser should be turned off during ground truth calculation + //Use options_model::set_option to update GUI after change + std::string ignored_error_message { "" }; + auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); + if ( it != _sub->options_metadata.end() ) //Option supported + { + laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED ); + it->second.set_option( RS2_OPTION_EMITTER_ENABLED, 0.0f, ignored_error_message ); + } - if (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH) get_ground_truth(); + + //Restore laser + if ( it != _sub->options_metadata.end() ) //Option supported + { + it->second.set_option( RS2_OPTION_EMITTER_ENABLED, laser_status_prev, ignored_error_message ); + } + } else { try { + //Save options that are going to change during the calibration + //Use options_model::set_option to update GUI after change + std::string ignored_error_message { "" }; + auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); + if ( it != _sub->options_metadata.end() ) //Option supported + { + laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED ); + it->second.set_option( RS2_OPTION_EMITTER_ENABLED, 1.0f, ignored_error_message ); + } + it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION ); + if ( it != _sub->options_metadata.end() ) //Option supported + { + thermal_loop_prev = _sub->s->get_option( RS2_OPTION_THERMAL_COMPENSATION ); + it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, 0.0f, ignored_error_message ); + } + if (action == RS2_CALIB_ACTION_FL_CALIB) calibrate_fl(); else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB) @@ -1160,8 +1478,25 @@ namespace rs2 _sub_color->ui = *_ui_color; _ui_color.reset(); } + + //Restore options that were changed during the calibration. + //When calibration is successful options are restored in autocalib_notification_model::draw_content() + //Use options_model::set_option to update GUI after change + std::string ignored_error_message { "" }; + auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); + if ( it != _sub->options_metadata.end() ) //Option supported + { + it->second.set_option( RS2_OPTION_EMITTER_ENABLED, laser_status_prev, ignored_error_message ); + } + it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION ); + if ( it != _sub->options_metadata.end() ) //Option supported + { + it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, thermal_loop_prev, ignored_error_message ); + } + if (_was_streaming) start_viewer(0, 0, 0, invoke); + throw; } } @@ -1330,7 +1665,9 @@ namespace rs2 update_state == RS2_CALIB_STATE_FL_INPUT || update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH || update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_IN_PROCESS || - update_state == RS2_CALIB_STATE_CALIB_IN_PROCESS && (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB)) + update_state == RS2_CALIB_STATE_CALIB_IN_PROCESS && + (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB || + get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB)) get_manager().turn_roi_on(); else get_manager().turn_roi_off(); @@ -1443,6 +1780,10 @@ namespace rs2 if (ImGui::IsItemHovered()) ImGui::SetTooltip("%s", "Begin UV-Mapping calibration after adjusting camera position"); ImGui::PopStyleColor(2); + + string id = to_string() << "Py Px Calibration only##py_px_only" << index; + ImGui::SetCursorScreenPos({ float(x + 15), float(y + height - ImGui::GetTextLineHeightWithSpacing() - 32) }); + ImGui::Checkbox(id.c_str(), &get_manager().py_px_only); } else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH) { @@ -1728,6 +2069,14 @@ namespace rs2 if (ImGui::IsItemHovered()) ImGui::SetTooltip("%s", "Calculate ground truth for the specific target"); + ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - ImGui::GetTextLineHeightWithSpacing() - 30) }); + get_manager().host_assistance = (get_manager().device_id_string == std::string("ABCD") ); // To be used for MIPI SKU only + bool assistance = (get_manager().host_assistance != 0); + if (ImGui::Checkbox("Host Assistance", &assistance)) + get_manager().host_assistance = (assistance ? 1 : 0); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "check = host assitance for statistics data, uncheck = no host assistance"); + std::string button_name = to_string() << "Calibrate" << "##tare" << index; ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 28) }); @@ -1816,6 +2165,13 @@ namespace rs2 //if (ImGui::IsItemHovered()) // ImGui::SetTooltip("%s", "On-Chip Calibration Extended"); + ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - ImGui::GetTextLineHeightWithSpacing() - 31) }); + get_manager().host_assistance = (get_manager().device_id_string == std::string("ABCD") ); // To be used for MIPI SKU only + bool assistance = (get_manager().host_assistance != 0); + ImGui::Checkbox("Host Assistance", &assistance); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "check = host assitance for statistics data, uncheck = no host assistance"); + auto sat = 1.f + sin(duration_cast(system_clock::now() - created_time).count() / 700.f) * 0.1f; ImGui::PushStyleColor(ImGuiCol_Button, saturate(sensor_header_light_blue, sat)); ImGui::PushStyleColor(ImGuiCol_ButtonHovered, saturate(sensor_header_light_blue, 1.5f)); @@ -1985,12 +2341,29 @@ namespace rs2 } else if (update_state == RS2_CALIB_STATE_CALIB_COMPLETE) { + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB || + get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB ) + { + //Restore options that were changed during the calibration. + //Use options_model::set_option to update GUI after change + std::string ignored_error_message { "" }; + auto it = get_manager()._sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED ); + if ( it != get_manager()._sub->options_metadata.end() ) //Option supported + { + it->second.set_option( RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev, ignored_error_message ); + } + it = get_manager()._sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION ); + if ( it != get_manager()._sub->options_metadata.end() ) //Option supported + { + it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev, ignored_error_message ); + } + } if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB) { if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED)) get_manager()._sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev); if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION)) - get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().laser_status_prev); + get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev); ImGui::SetCursorScreenPos({ float(x + 20), float(y + 33) }); ImGui::Text("%s", "Health-Check Number for PX: "); @@ -2105,7 +2478,60 @@ namespace rs2 ImGui::SetCursorScreenPos({ float(x + 10), float(y + 33) }); - if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) + if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB) + { + if (get_manager().tare_health) + { + health_1 = get_manager().get_health_1(); + health_2 = get_manager().get_health_2(); + + ImGui::Text("%s", "Health-Check Before Calibration: "); + + std::stringstream ss_1; + ss_1 << std::fixed << std::setprecision(4) << health_1 << "%"; + auto health_str = ss_1.str(); + + std::string text_name = to_string() << "##notification_text_1_" << index; + + ImGui::SetCursorScreenPos({ float(x + 225), float(y + 30) }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::InputTextMultiline(text_name.c_str(), const_cast(health_str.c_str()), strlen(health_str.c_str()) + 1, { 86, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(7); + + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Health-check number before Tare Calibration"); + + ImGui::SetCursorScreenPos({ float(x + 10), float(y + 38) + ImGui::GetTextLineHeightWithSpacing() }); + ImGui::Text("%s", "Health-Check After Calibration: "); + + std::stringstream ss_2; + ss_2 << std::fixed << std::setprecision(4) << health_2 << "%"; + health_str = ss_2.str(); + + text_name = to_string() << "##notification_text_2_" << index; + + ImGui::SetCursorScreenPos({ float(x + 225), float(y + 35) + ImGui::GetTextLineHeightWithSpacing() }); + ImGui::PushStyleColor(ImGuiCol_Text, white); + ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabActive, transparent); + ImGui::PushStyleColor(ImGuiCol_ScrollbarGrabHovered, transparent); + ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white); + ImGui::InputTextMultiline(text_name.c_str(), const_cast(health_str.c_str()), strlen(health_str.c_str()) + 1, { 86, ImGui::GetTextLineHeight() + 6 }, ImGuiInputTextFlags_ReadOnly); + ImGui::PopStyleColor(7); + + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("%s", "Health-check number after Tare Calibration"); + } + } + else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB) { ImGui::Text("%s", "Health-Check: "); @@ -2382,11 +2808,11 @@ namespace rs2 } else { - ImGui::SetCursorScreenPos({ float(x + 7), (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB ? float(y + 105) + ImGui::GetTextLineHeightWithSpacing() : (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB ? float(y + 50) + ImGui::GetTextLineHeightWithSpacing() : float(y + 105))) }); + ImGui::SetCursorScreenPos({ float(x + 7), (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB ? float(y + 105) + ImGui::GetTextLineHeightWithSpacing() : (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB ? (get_manager().tare_health ? float(y + 105) : float(y + 50)) + ImGui::GetTextLineHeightWithSpacing() : float(y + 105))) }); ImGui::Text("%s", "Please compare new vs old calibration\nand decide if to keep or discard the result..."); } - ImGui::SetCursorScreenPos({ float(x + 20), (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB ? float(y + 70) + ImGui::GetTextLineHeightWithSpacing() : (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB ? float(y + 15) + ImGui::GetTextLineHeightWithSpacing() : float(y + 70))) }); + ImGui::SetCursorScreenPos({ float(x + 20), (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB ? float(y + 70) + ImGui::GetTextLineHeightWithSpacing() : (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB ? (get_manager().tare_health ? float(y + 70) : float(y + 15)) + ImGui::GetTextLineHeightWithSpacing() : float(y + 70))) }); if (ImGui::RadioButton("New", use_new_calib)) { @@ -2394,7 +2820,7 @@ namespace rs2 get_manager().apply_calib(true); } - ImGui::SetCursorScreenPos({ float(x + 150), (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB ? float(y + 70) + ImGui::GetTextLineHeightWithSpacing() : (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB ? float(y + 15) + ImGui::GetTextLineHeightWithSpacing() : float(y + 70))) }); + ImGui::SetCursorScreenPos({ float(x + 150), (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB ? float(y + 70) + ImGui::GetTextLineHeightWithSpacing() : (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB ? (get_manager().tare_health ? float(y + 70) : float(y + 15)) + ImGui::GetTextLineHeightWithSpacing() : float(y + 70))) }); if (ImGui::RadioButton("Original", !use_new_calib)) { use_new_calib = false; @@ -2544,8 +2970,11 @@ namespace rs2 { update_state = RS2_CALIB_STATE_CALIB_COMPLETE; enable_dismiss = true; - get_manager().apply_calib(true); - use_new_calib = true; + if (get_manager().action != on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB) + { + get_manager().apply_calib(true); + use_new_calib = true; + } } if (!expanded) @@ -2685,9 +3114,9 @@ namespace rs2 } else return 80; } - else if (update_state == RS2_CALIB_STATE_SELF_INPUT) return (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB ? 160 : 60); - else if (update_state == RS2_CALIB_STATE_TARE_INPUT) return 85; - else if (update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED) return 220; + else if (update_state == RS2_CALIB_STATE_SELF_INPUT) return (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB ? 180 : 90); + else if (update_state == RS2_CALIB_STATE_TARE_INPUT) return 105; + else if (update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED) return 230; else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH) return 135; else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_FAILED) return 115; else if (update_state == RS2_CALIB_STATE_FAILED) return ((get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB || get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB) ? (get_manager().retry_times < 3 ? 0 : 80) : 110); diff --git a/common/on-chip-calib.h b/common/on-chip-calib.h index 8c1f331b8e..9690592c5f 100644 --- a/common/on-chip-calib.h +++ b/common/on-chip-calib.h @@ -66,9 +66,11 @@ namespace rs2 RS2_CALIB_ACTION_TARE_GROUND_TRUTH, // Tare ground truth RS2_CALIB_ACTION_FL_CALIB, // Focal length calibration RS2_CALIB_ACTION_UVMAPPING_CALIB, // UVMapping calibration + RS2_CALIB_ACTION_FL_PLUS_CALIB, // Focal length plus calibration }; auto_calib_action action = RS2_CALIB_ACTION_ON_CHIP_CALIB; + int host_assistance = 0; int step_count_v3 = 256; float laser_status_prev = 0.0f; float thermal_loop_prev = 0.f; @@ -89,6 +91,10 @@ namespace rs2 float corrected_ratio = 0.0f; float tilt_angle = 0.0f; + const float correction_factor = 0.50f; + + bool tare_health = false; + std::shared_ptr _sub; std::shared_ptr _sub_color; @@ -97,11 +103,13 @@ namespace rs2 const std::string Y8_FORMAT = "Y8"; const std::string Z16_FORMAT = "Z16"; const std::string RGB8_FORMAT = "RGB8"; + std::string device_id_string; void calibrate(); void calibrate_fl(); void calibrate_uv_mapping(); + //void calibrate_fl_plus(); void get_ground_truth(); void turn_roi_on(); @@ -110,6 +118,7 @@ namespace rs2 void start_gt_viewer(); void start_fl_viewer(); void start_uvmapping_viewer(bool b3D = false); + void start_fl_plus_viewer(); void stop_viewer(); void reset_device() { _dev.hardware_reset(); } @@ -120,8 +129,8 @@ namespace rs2 void process_flow(std::function cleanup, invoker invoke) override; float _health = -1.0f; - float _health_1 = -1.0f; - float _health_2 = -1.0f; + float _health_1 = -1.0f; //percentage of error, relative to ground truth, before the current iteration. + float _health_2 = -1.0f; //percentage of error, relative to ground truth, after the current iteration. float _health_nums[4] = { -0.1f, -0.1f, -0.1f, -0.1f }; std::vector color_intrin_raw_data; @@ -176,6 +185,7 @@ namespace rs2 RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_FAILED, // Failed to calculating the ground truth RS2_CALIB_STATE_FL_INPUT, // Collect input parameters for focal length calib RS2_CALIB_STATE_UVMAPPING_INPUT, // Collect input parameters for UVMapping calibration with specific target + RS2_CALIB_STATE_FL_PLUS_INPUT, // Collect input parameters for focal length plus calib }; autocalib_notification_model(std::string name, std::shared_ptr manager, bool expaned); diff --git a/common/option-model.cpp b/common/option-model.cpp new file mode 100644 index 0000000000..8b367d2e40 --- /dev/null +++ b/common/option-model.cpp @@ -0,0 +1,569 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2022 Intel Corporation. All Rights Reserved. + +#include "option-model.h" +#include +#include +#include +#include "model-views.h" + +using namespace rs2; + +std::string option_model::adjust_description(const std::string& str_in, const std::string& to_be_replaced, const std::string& to_replace) +{ + std::string adjusted_string(str_in); + auto pos = adjusted_string.find(to_be_replaced); + adjusted_string.replace(pos, to_be_replaced.size(), to_replace); + return adjusted_string; +} + +bool option_model::draw( std::string & error_message, + notifications_model & model, + bool new_line, + bool use_option_name ) +{ + auto res = false; + if( endpoint->supports( opt ) ) + { + // The option's rendering model supports an alternative option title derived from its + // description rather than name. This is applied to the Holes Filling as its display must + // conform with the names used by a 3rd-party tools for consistency. + if( opt == RS2_OPTION_HOLES_FILL ) + use_option_name = false; + + std::string desc_str( endpoint->get_option_description( opt ) ); + + // Device D405 is for short range, therefore, its units are in cm - for better UX + bool use_cm_units = false; + std::string device_pid = dev->dev.get_info( RS2_CAMERA_INFO_PRODUCT_ID ); + if( device_pid == "0B5B" + && val_in_range( + opt, + { RS2_OPTION_MIN_DISTANCE, RS2_OPTION_MAX_DISTANCE, RS2_OPTION_DEPTH_UNITS } ) ) + { + use_cm_units = true; + desc_str = adjust_description( desc_str, "meters", "cm" ); + } + + auto desc = desc_str.c_str(); + + // remain option to append to the current line + if( ! new_line ) + ImGui::SameLine(); + + if( is_enum() ) + { + res = draw_combobox( model, error_message, desc, new_line, use_option_name ); + } + else + { + if( is_checkbox() ) + { + res = draw_checkbox( model, error_message, desc ); + } + else + { + res = draw_slider( model, error_message, desc, use_cm_units ); + } + } + + if( ! read_only && opt == RS2_OPTION_ENABLE_AUTO_EXPOSURE && dev->auto_exposure_enabled + && dev->s->is< roi_sensor >() && dev->streaming ) + { + ImGui::SameLine( 0, 10 ); + std::string button_label = label; + auto index = label.find_last_of( '#' ); + if( index != std::string::npos ) + { + button_label = label.substr( index + 1 ); + } + + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, { 1.f, 1.f, 1.f, 1.f } ); + if( ! dev->roi_checked ) + { + std::string caption = to_string() << "Set ROI##" << button_label; + if( ImGui::Button( caption.c_str(), { 55, 0 } ) ) + { + dev->roi_checked = true; + } + } + else + { + std::string caption = to_string() << "Cancel##" << button_label; + if( ImGui::Button( caption.c_str(), { 55, 0 } ) ) + { + dev->roi_checked = false; + } + } + ImGui::PopStyleColor(); + + if( ImGui::IsItemHovered() ) + ImGui::SetTooltip( "Select custom region of interest for the auto-exposure " + "algorithm\nClick the button, then draw a rect on the frame" ); + } + } + + return res; +} + +void option_model::update_supported( std::string & error_message ) +{ + try + { + supported = endpoint->supports( opt ); + } + catch( const error & e ) + { + error_message = error_to_string( e ); + } +} + +void option_model::update_read_only_status( std::string & error_message ) +{ + try + { + read_only = endpoint->is_option_read_only( opt ); + } + catch( const error & e ) + { + error_message = error_to_string( e ); + } +} + +void option_model::update_all_fields( std::string & error_message, notifications_model & model ) +{ + try + { + if( ( supported = endpoint->supports( opt ) ) ) + { + value = endpoint->get_option( opt ); + range = endpoint->get_option_range( opt ); + read_only = endpoint->is_option_read_only( opt ); + } + } + catch( const error & e ) + { + if( read_only ) + { + model.add_notification( { to_string() + << "Could not refresh read-only option " + << endpoint->get_option_name( opt ) << ": " << e.what(), + RS2_LOG_SEVERITY_WARN, + RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR } ); + } + else + error_message = error_to_string( e ); + } +} + +bool option_model::is_all_integers() const +{ + return is_integer( range.min ) && is_integer( range.max ) && is_integer( range.def ) + && is_integer( range.step ); +} + +bool option_model::is_enum() const +{ + // We do not expect enum values to have a step that is smaller than 1, + // and we don't want to compare a floating point value to an integer so 0.9 will do the work. + if( range.step < 0.9f ) + return false; + + for( auto i = range.min; i <= range.max; i += range.step ) + { + if( endpoint->get_option_value_description( opt, i ) == nullptr ) + return false; + } + return true; +} + +bool option_model::draw_combobox( notifications_model & model, + std::string & error_message, + const char * description, + bool new_line, + bool use_option_name ) +{ + bool item_clicked = false; + std::string txt + = to_string() << ( use_option_name ? endpoint->get_option_name( opt ) : description ) + << ":"; + + auto pos_x = ImGui::GetCursorPosX(); + + ImGui::Text( "%s", txt.c_str() ); + if( ImGui::IsItemHovered() && description ) + { + ImGui::SetTooltip( "%s", description ); + } + + ImGui::SameLine(); + if( new_line ) + ImGui::SetCursorPosX( pos_x + 120 ); + + ImGui::PushItemWidth( new_line ? -1.f : 100.f ); + + std::vector< const char * > labels; + auto selected = 0, counter = 0; + for( auto i = range.min; i <= range.max; i += range.step, counter++ ) + { + if( std::fabs( i - value ) < 0.001f ) + selected = counter; + labels.push_back( endpoint->get_option_value_description( opt, i ) ); + } + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, { 1, 1, 1, 1 } ); + + try + { + int tmp_selected = selected; + float tmp_value = value; + ImGui::PushItemWidth( 135.f ); + if( ImGui::Combo( id.c_str(), + &tmp_selected, + labels.data(), + static_cast< int >( labels.size() ) ) ) + { + tmp_value = range.min + range.step * tmp_selected; + model.add_log( to_string() << "Setting " << opt << " to " << tmp_value << " (" + << labels[tmp_selected] << ")" ); + set_option( opt, tmp_value, error_message ); + selected = tmp_selected; + if( invalidate_flag ) + *invalidate_flag = true; + item_clicked = true; + } + } + catch( const error & e ) + { + error_message = error_to_string( e ); + } + + ImGui::PopStyleColor(); + ImGui::PopItemWidth(); + return item_clicked; +} +bool option_model::draw_slider( notifications_model & model, + std::string & error_message, + const char * description, + bool use_cm_units ) +{ + bool slider_clicked = false; + std::string txt = to_string() << endpoint->get_option_name( opt ) << ":"; + ImGui::Text( "%s", txt.c_str() ); + + ImGui::SameLine(); + ImGui::SetCursorPosX( read_only ? 268.f : 245.f ); + ImGui::PushStyleColor( ImGuiCol_Text, grey ); + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, grey ); + ImGui::PushStyleColor( ImGuiCol_ButtonActive, { 1.f, 1.f, 1.f, 0.f } ); + ImGui::PushStyleColor( ImGuiCol_ButtonHovered, { 1.f, 1.f, 1.f, 0.f } ); + ImGui::PushStyleColor( ImGuiCol_Button, { 1.f, 1.f, 1.f, 0.f } ); + ImGui::Button( textual_icons::question_mark, { 20, 20 } ); + ImGui::PopStyleColor( 5 ); + if( ImGui::IsItemHovered() && description ) + { + ImGui::SetTooltip( "%s", description ); + } + + if( ! read_only ) + { + ImGui::SameLine(); + ImGui::SetCursorPosX( 268 ); + if( ! edit_mode ) + { + std::string edit_id = to_string() << textual_icons::edit << "##" << id; + ImGui::PushStyleColor( ImGuiCol_Text, light_grey ); + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, light_grey ); + ImGui::PushStyleColor( ImGuiCol_ButtonHovered, { 1.f, 1.f, 1.f, 0.f } ); + ImGui::PushStyleColor( ImGuiCol_Button, { 1.f, 1.f, 1.f, 0.f } ); + if( ImGui::Button( edit_id.c_str(), { 20, 20 } ) ) + { + if( is_all_integers() ) + edit_value = to_string() << (int)value; + else + edit_value = to_string() << value; + edit_mode = true; + } + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "Enter text-edit mode" ); + } + ImGui::PopStyleColor( 4 ); + } + else + { + std::string edit_id = to_string() << textual_icons::edit << "##" << id; + ImGui::PushStyleColor( ImGuiCol_Text, light_blue ); + ImGui::PushStyleColor( ImGuiCol_TextSelectedBg, light_blue ); + ImGui::PushStyleColor( ImGuiCol_ButtonHovered, { 1.f, 1.f, 1.f, 0.f } ); + ImGui::PushStyleColor( ImGuiCol_Button, { 1.f, 1.f, 1.f, 0.f } ); + if( ImGui::Button( edit_id.c_str(), { 20, 20 } ) ) + { + edit_mode = false; + } + if( ImGui::IsItemHovered() ) + { + ImGui::SetTooltip( "Exit text-edit mode" ); + } + ImGui::PopStyleColor( 4 ); + } + } + + ImGui::PushItemWidth( -1 ); + + try + { + if( read_only ) + { + ImVec2 vec{ 0, 20 }; + std::string text + = ( value == (int)value ) ? std::to_string( (int)value ) : std::to_string( value ); + if( range.min != range.max ) + { + ImGui::ProgressBar( ( value / ( range.max - range.min ) ), vec, text.c_str() ); + } + else // constant value options + { + auto c = ImGui::ColorConvertU32ToFloat4( ImGui::GetColorU32( ImGuiCol_FrameBg ) ); + ImGui::PushStyleColor( ImGuiCol_FrameBgActive, c ); + ImGui::PushStyleColor( ImGuiCol_FrameBgHovered, c ); + float dummy = std::floor( value ); + if( ImGui::DragFloat( id.c_str(), &dummy, 1, 0, 0, text.c_str() ) ) + { + // Changing the depth units not on advanced mode is not allowed, + // prompt the user to switch to advanced mode for chaging it. + if( RS2_OPTION_DEPTH_UNITS == opt ) + { + auto advanced = dev->dev.as< rs400::advanced_mode >(); + if( advanced ) + if( ! advanced.is_enabled() ) + dev->draw_advanced_mode_prompt = true; + } + } + ImGui::PopStyleColor( 2 ); + } + } + else if( edit_mode ) + { + std::string buff_str = edit_value; + + // lambda function used to convert meters to cm - while the number is a string + auto convert_float_str = []( std::string float_str, float conversion_factor ) { + if( float_str.size() == 0 ) + return float_str; + float number_float = std::stof( float_str ); + return std::to_string( number_float * conversion_factor ); + }; + + // when cm must be used instead of meters + if( use_cm_units ) + buff_str = convert_float_str( buff_str, 100.f ); + + char buff[TEXT_BUFF_SIZE]; + memset( buff, 0, TEXT_BUFF_SIZE ); + strcpy( buff, buff_str.c_str() ); + + if( ImGui::InputText( id.c_str(), + buff, + TEXT_BUFF_SIZE, + ImGuiInputTextFlags_EnterReturnsTrue ) ) + { + if( use_cm_units ) + { + buff_str = convert_float_str( std::string( buff ), 0.01f ); + memset( buff, 0, TEXT_BUFF_SIZE ); + strcpy( buff, buff_str.c_str() ); + } + float new_value; + if( ! utilities::string::string_to_value< float >( buff, new_value ) ) + { + error_message = "Invalid float input!"; + } + else if( new_value < range.min || new_value > range.max ) + { + float val = use_cm_units ? new_value * 100.f : new_value; + float min = use_cm_units ? range.min * 100.f : range.min; + float max = use_cm_units ? range.max * 100.f : range.max; + + error_message = to_string() + << val << " is out of bounds [" << min << ", " << max << "]"; + } + else + { + set_option( opt, new_value, error_message ); + } + edit_mode = false; + } + else if( use_cm_units ) + { + buff_str = convert_float_str( buff_str, 0.01f ); + memset( buff, 0, TEXT_BUFF_SIZE ); + strcpy( buff, buff_str.c_str() ); + } + edit_value = buff; + } + else if( is_all_integers() ) + { + auto int_value = static_cast< int >( value ); + + if( ImGui::SliderIntWithSteps( id.c_str(), + &int_value, + static_cast< int >( range.min ), + static_cast< int >( range.max ), + static_cast< int >( range.step ) ) ) + { + // TODO: Round to step? + slider_clicked = slider_selected( opt, + static_cast< float >( int_value ), + error_message, + model ); + } + else + { + slider_clicked = slider_unselected( opt, + static_cast< float >( int_value ), + error_message, + model ); + } + } + else + { + float tmp_value = value; + float temp_value_displayed = tmp_value; + float min_range_displayed = range.min; + float max_range_displayed = range.max; + + // computing the number of decimal digits taken from the step options' property + // this will then be used to format the displayed value + auto num_of_decimal_digits = []( float f ) { + float f_0 = std::fabs( f - (int)f ); + std::string s = std::to_string( f_0 ); + size_t cur_len = s.length(); + // removing trailing zeros + while( cur_len > 3 && s[cur_len - 1] == '0' ) + cur_len--; + return cur_len - 2; + }; + int num_of_decimal_digits_displayed = (int)num_of_decimal_digits( range.step ); + + // displaying in cm instead of meters for D405 + if( use_cm_units ) + { + temp_value_displayed *= 100.f; + min_range_displayed *= 100.f; + max_range_displayed *= 100.f; + int updated_num_of_decimal_digits_displayed = num_of_decimal_digits_displayed - 2; + if( updated_num_of_decimal_digits_displayed > 0 ) + num_of_decimal_digits_displayed = updated_num_of_decimal_digits_displayed; + } + + std::stringstream formatting_ss; + formatting_ss << "%." << num_of_decimal_digits_displayed << "f"; + + + if( ImGui::SliderFloat( id.c_str(), + &temp_value_displayed, + min_range_displayed, + max_range_displayed, + formatting_ss.str().c_str() ) ) + { + tmp_value = use_cm_units ? temp_value_displayed / 100.f : temp_value_displayed; + auto loffset = std::abs( fmod( tmp_value, range.step ) ); + auto roffset = range.step - loffset; + if( tmp_value >= 0 ) + tmp_value = ( loffset < roffset ) ? tmp_value - loffset : tmp_value + roffset; + else + tmp_value = ( loffset < roffset ) ? tmp_value + loffset : tmp_value - roffset; + tmp_value = ( tmp_value < range.min ) ? range.min : tmp_value; + tmp_value = ( tmp_value > range.max ) ? range.max : tmp_value; + + slider_clicked = slider_selected( opt, tmp_value, error_message, model ); + } + else + { + slider_clicked = slider_unselected( opt, tmp_value, error_message, model ); + } + } + } + catch( const error & e ) + { + error_message = error_to_string( e ); + } + + return slider_clicked; +} + +bool option_model::is_checkbox() const +{ + return range.max == 1.0f && range.min == 0.0f && range.step == 1.0f; +} + +bool option_model::draw_checkbox( notifications_model & model, + std::string & error_message, + const char * description ) +{ + bool checkbox_was_clicked = false; + + auto bool_value = value > 0.0f; + if( ImGui::Checkbox( label.c_str(), &bool_value ) ) + { + checkbox_was_clicked = true; + model.add_log( to_string() << "Setting " << opt << " to " << ( bool_value ? "1.0" : "0.0" ) + << " (" << ( bool_value ? "ON" : "OFF" ) << ")" ); + + set_option( opt, bool_value ? 1.f : 0.f, error_message ); + } + if( ImGui::IsItemHovered() && description ) + { + ImGui::SetTooltip( "%s", description ); + } + return checkbox_was_clicked; +} + +bool option_model::slider_selected( rs2_option opt, + float value, + std::string & error_message, + notifications_model & model ) +{ + bool res = false; + auto option_was_set = set_option( opt, value, error_message, std::chrono::milliseconds( 200 ) ); + if( option_was_set ) + { + have_unset_value = false; + *invalidate_flag = true; + model.add_log( to_string() << "Setting " << opt << " to " << value ); + res = true; + } + else + { + have_unset_value = true; + unset_value = value; + } + return res; +} +bool option_model::slider_unselected( rs2_option opt, + float value, + std::string & error_message, + notifications_model & model ) +{ + bool res = false; + // Slider unselected, if last value was ignored, set with last value if the value was + // changed. + if( have_unset_value ) + { + if( value != unset_value ) + { + auto set_ok + = set_option( opt, unset_value, error_message, std::chrono::milliseconds( 100 ) ); + if( set_ok ) + { + model.add_log( to_string() << "Setting " << opt << " to " << unset_value ); + *invalidate_flag = true; + have_unset_value = false; + res = true; + } + } + else + have_unset_value = false; + } + return res; +} diff --git a/common/option-model.h b/common/option-model.h new file mode 100644 index 0000000000..a6e4e8bcdb --- /dev/null +++ b/common/option-model.h @@ -0,0 +1,61 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2022 Intel Corporation. All Rights Reserved. + +#pragma once +#include +#include +namespace rs2 +{ + struct notifications_model; + class subdevice_model; + + class option_model + { + public: + bool draw( std::string& error_message, notifications_model& model, bool new_line = true, bool use_option_name = true ); + void update_supported( std::string& error_message ); + void update_read_only_status( std::string& error_message ); + void update_all_fields( std::string& error_message, notifications_model& model ); + bool set_option( rs2_option opt, + float value, + std::string& error_message, + std::chrono::steady_clock::duration ignore_period = std::chrono::seconds( 0 ) ); + bool draw_option( bool update_read_only_options, bool is_streaming, + std::string& error_message, notifications_model& model ); + + rs2_option opt; + option_range range; + std::shared_ptr endpoint; + float unset_value = 0; + bool have_unset_value = false; + utilities::time::stopwatch last_set_stopwatch; + bool* invalidate_flag = nullptr; + bool supported = false; + bool read_only = false; + float value = 0.0f; + std::string label = ""; + std::string id = ""; + subdevice_model* dev; + std::function custom_draw_method = nullptr; + bool edit_mode = false; + std::string edit_value = ""; + private: + bool is_all_integers() const; + bool is_enum() const; + bool is_checkbox() const; + bool draw_checkbox( notifications_model& model, std::string& error_message, const char* description ); + bool draw_combobox( notifications_model& model, std::string& error_message, const char* description, bool new_line, bool use_option_name ); + bool draw_slider( notifications_model& model, std::string& error_message, const char* description, bool use_cm_units ); + bool slider_selected( rs2_option opt, + float value, + std::string& error_message, + notifications_model& model ); + + bool slider_unselected( rs2_option opt, + float value, + std::string& error_message, + notifications_model& model ); + + std::string adjust_description( const std::string& str_in, const std::string& to_be_replaced, const std::string& to_replace ); + }; +} diff --git a/common/reflectivity/reflectivity.cpp b/common/reflectivity/reflectivity.cpp index 33d2240725..8070934018 100644 --- a/common/reflectivity/reflectivity.cpp +++ b/common/reflectivity/reflectivity.cpp @@ -119,7 +119,7 @@ float reflectivity::get_reflectivity( float raw_noise_estimation, // STD based analysis // STD values are at the edges, hard to get data - if( standard_deviation >= 1.5f || standard_deviation <= 10.f ) + if( standard_deviation >= 1.5f && standard_deviation <= 10.f ) { if( standard_deviation > 2.5f ) ref_from_std = 0.5f; // Low confidence data due to low STD values diff --git a/common/res/icon.h b/common/res/icon.h index d1e85317b3..93f5632623 100644 --- a/common/res/icon.h +++ b/common/res/icon.h @@ -1,18 +1,37 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2018 Intel Corporation. All Rights Reserved. +// Copyright(c) 2022 Intel Corporation. All Rights Reserved. -// This file is auto-generated from icon.png -static uint32_t icon_64_png_size = 0xf24; -static uint8_t icon_64_png_data [] { 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+// This file is auto-generated from .png using rs-embed tool version: 0.0.0.2 +// Generation time: 10/13/2022 10:55:59. // This file is auto-generated from icon_16.png -static uint32_t icon_16_png_size = 0x339; -static uint8_t icon_16_png_data[]{ 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}; +static uint32_t icon_16_png_size = 0x83a; +static uint8_t icon_16_png_data[] { 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// This file is auto-generated from icon_24.png -static uint32_t icon_24_png_size = 0x577; -static uint8_t icon_24_png_data[]{ 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}; +static uint32_t icon_24_png_size = 0x526; +static uint8_t icon_24_png_data[] { 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+ +// This file is auto-generated from icon_32.png +static uint32_t icon_32_png_size = 0xc63; +static uint8_t icon_32_png_data[] { 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+ +// This file is auto-generated from icon_64.png +static uint32_t icon_64_png_size = 0x1454; +static uint8_t icon_64_png_data[] { 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+ +// This file is auto-generated from icon_128.png +static uint32_t icon_128_png_size = 0x2501; +static uint8_t icon_128_png_data[] { 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// This file is auto-generated from icon_256.png -static uint32_t icon_256_png_size = 0xb2e2; -static uint8_t icon_256_png_data[]{ 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}; +static uint32_t icon_256_png_size = 0x4615; +static uint8_t icon_256_png_data[] { 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+ +// This file is auto-generated from icon_310.png +static uint32_t icon_310_png_size = 0x5542; +static uint8_t icon_310_png_data[] { 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+ +// This file is auto-generated from icon_512.png +static uint32_t icon_512_png_size = 0x96e7; +static uint8_t icon_512_png_data[] { 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diff --git a/common/res/icon_128.png b/common/res/icon_128.png new file mode 100644 index 0000000000..c54a91c259 Binary files /dev/null and b/common/res/icon_128.png differ diff --git a/common/res/icon_16.png b/common/res/icon_16.png new file mode 100644 index 0000000000..cfeb2b4285 Binary files /dev/null and b/common/res/icon_16.png differ diff --git a/common/res/icon_24.png b/common/res/icon_24.png new file mode 100644 index 0000000000..cd66a81b8b Binary files /dev/null and b/common/res/icon_24.png differ diff --git a/common/res/icon_256.png b/common/res/icon_256.png new file mode 100644 index 0000000000..f841880309 Binary files /dev/null and b/common/res/icon_256.png differ diff --git a/common/res/icon_310.png b/common/res/icon_310.png new file mode 100644 index 0000000000..7477e5ddf3 Binary files /dev/null and b/common/res/icon_310.png differ diff --git a/common/res/icon_32.png b/common/res/icon_32.png new file mode 100644 index 0000000000..7b4017e417 Binary files /dev/null and b/common/res/icon_32.png differ diff --git a/common/res/icon_512.png b/common/res/icon_512.png new file mode 100644 index 0000000000..1c17b060ba Binary files /dev/null and b/common/res/icon_512.png differ diff --git a/common/res/icon_64.png b/common/res/icon_64.png new file mode 100644 index 0000000000..d548a2c099 Binary files /dev/null and b/common/res/icon_64.png differ diff --git a/common/res/int-rs-splash.hpp b/common/res/int-rs-splash.hpp index 936bf201d5..55ecf9cb38 100644 --- a/common/res/int-rs-splash.hpp +++ b/common/res/int-rs-splash.hpp @@ -1,7 +1,8 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2017 Intel Corporation. All Rights Reserved. +// Copyright(c) 2022 Intel Corporation. All Rights Reserved. -// This file is auto-generated from res/int-rs-splash.png +// This file is auto-generated from .png using rs-embed tool version: 0.0.0.1 +// Generation time: 10/03/2022 17:29:01. -static uint8_t splash[] { 0x89, 0x50, 0x4e, 0x47, 0xd, 0xa, 0x1a, 0xa, 0x0, 0x0, 0x0, 0xd, 0x49, 0x48, 0x44, 0x52, 0x0, 0x0, 0x7, 0x80, 0x0, 0x0, 0x4, 0x38, 0x8, 0x6, 0x0, 0x0, 0x0, 0xe8, 0xd3, 0xc1, 0x43, 0x0, 0x0, 0x0, 0x9, 0x70, 0x48, 0x59, 0x73, 0x0, 0x0, 0x17, 0x12, 0x0, 0x0, 0x17, 0x12, 0x1, 0x67, 0x9f, 0xd2, 0x52, 0x0, 0x0, 0x38, 0x2e, 0x69, 0x54, 0x58, 0x74, 0x58, 0x4d, 0x4c, 0x3a, 0x63, 0x6f, 0x6d, 0x2e, 0x61, 0x64, 0x6f, 0x62, 0x65, 0x2e, 0x78, 0x6d, 0x70, 0x0, 0x0, 0x0, 0x0, 0x0, 0x3c, 0x3f, 0x78, 0x70, 0x61, 0x63, 0x6b, 0x65, 0x74, 0x20, 0x62, 0x65, 0x67, 0x69, 0x6e, 0x3d, 0x22, 0xef, 0xbb, 0xbf, 0x22, 0x20, 0x69, 0x64, 0x3d, 0x22, 0x57, 0x35, 0x4d, 0x30, 0x4d, 0x70, 0x43, 0x65, 0x68, 0x69, 0x48, 0x7a, 0x72, 0x65, 0x53, 0x7a, 0x4e, 0x54, 0x63, 0x7a, 0x6b, 0x63, 0x39, 0x64, 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+static uint32_t splash_size = 0x1153a; diff --git a/common/res/int-rs-splash.png b/common/res/int-rs-splash.png index 4e9293eed4..daac065c32 100644 Binary files a/common/res/int-rs-splash.png and b/common/res/int-rs-splash.png differ diff --git a/common/sw-update/versions-db-manager.h b/common/sw-update/versions-db-manager.h index f79cc0f74c..536623b4ba 100644 --- a/common/sw-update/versions-db-manager.h +++ b/common/sw-update/versions-db-manager.h @@ -9,6 +9,7 @@ #include #include "http-downloader.h" #include +#include namespace rs2 { diff --git a/common/viewer.h b/common/viewer.h index 4bd83fab72..80c0fca2cf 100644 --- a/common/viewer.h +++ b/common/viewer.h @@ -15,11 +15,11 @@ namespace rs2 { struct popup { - const std::string header; - const std::string message; - std::function custom_command; + std::string header; + std::string message; + std::function< void() > custom_command; - bool operator =(const popup& p) + bool operator==( const popup & p ) const { return p.message == message; } diff --git a/config/99-realsense-d4xx-mipi-dfu.rules b/config/99-realsense-d4xx-mipi-dfu.rules new file mode 100644 index 0000000000..18d0b4dc7d --- /dev/null +++ b/config/99-realsense-d4xx-mipi-dfu.rules @@ -0,0 +1,2 @@ +SUBSYSTEM=="d4xx-class",KERNEL=="d4xx-dfu[0-9]*", GROUP="video", MODE="0660" + diff --git a/doc/distribution_linux.md b/doc/distribution_linux.md index e842f0a2f4..d2dd07e980 100644 --- a/doc/distribution_linux.md +++ b/doc/distribution_linux.md @@ -1,8 +1,8 @@ # Linux Distribution #### Using pre-build packages -**Intel® RealSense™ SDK 2.0** provides installation packages for Intel X86/AMD64-based Debian distributions in [`dpkg`](https://en.wikipedia.org/wiki/Dpkg) format for Ubuntu 16/18/20 [LTS](https://wiki.ubuntu.com/LTS). -The Realsense [DKMS](https://en.wikipedia.org/wiki/Dynamic_Kernel_Module_Support) kernel drivers package (`librealsense2-dkms`) supports Ubuntu LTS kernels 4.4, 4.8, 4.10, 4.13, 4.15, 4.18*, 5.0*, 5.3* and 5.4. Please refer to [Ubuntu Kernel Release Schedule](https://wiki.ubuntu.com/Kernel/Support) for further details. +**Intel® RealSense™ SDK 2.0** provides installation packages for Intel X86/AMD64-based Debian distributions in [`dpkg`](https://en.wikipedia.org/wiki/Dpkg) format for Ubuntu 16/18/20/22 [LTS](https://wiki.ubuntu.com/LTS). +The Realsense [DKMS](https://en.wikipedia.org/wiki/Dynamic_Kernel_Module_Support) kernel drivers package (`librealsense2-dkms`) supports Ubuntu LTS kernels 4.4, 4.8, 4.10, 4.13, 4.15, 4.18*, 5.0*, 5.3*, 5.4, 5.13 and 5.15. Please refer to [Ubuntu Kernel Release Schedule](https://wiki.ubuntu.com/Kernel/Support) for further details. #### Configuring and building from the source code While we strongly recommend to use DKMS package whenever possible, there are certain cases where installing and patching the system manually is necessary: diff --git a/doc/installation.md b/doc/installation.md index 8151c2f4b4..63ed4c371c 100644 --- a/doc/installation.md +++ b/doc/installation.md @@ -37,14 +37,14 @@ The scripts and commands below invoke `wget, git, add-apt-repository` which may Unplug any connected Intel RealSense camera.
2. Install the core packages required to build *librealsense* binaries and the affected kernel modules: - - `sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev`

- Distribution-specific packages:
+ + `sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev`

+ Distribution-specific packages:
* Ubuntu 14 or when running Ubuntu 16.04 live-disk:
`./scripts/install_glfw3.sh`
* Ubuntu 16:
- `sudo apt-get install libglfw3-dev`
+ `sudo apt-get install libglfw3-dev`
* Ubuntu 18/20:
`sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at`

@@ -52,11 +52,10 @@ The scripts and commands below invoke `wget, git, add-apt-repository` which may > **Cmake Note**: certain librealsense CMAKE flags (e.g. CUDA) require version 3.8+ which is currently not made available via apt manager for Ubuntu LTS. Go to the [official CMake site](https://cmake.org/download/) to download and install the application - **Note**: - - * on graphic sub-system utilization:
+ **Note**:
+ * on graphic sub-system utilization:
*glfw3*, *mesa* and *gtk* packages are required if you plan to build the SDK's OpenGL-enabled examples. The *librealsense* core library and a range of demos/tools are designed for headless environment deployment. - * `libudev-dev` installation is optional but recommended, when the `libudev-dev` is installed the SDK will use an event-driven approach for triggering USB detection and enumeration, if not the SDK will use a timer polling approach which is less sensitive for device detection. + * `libudev-dev` installation is optional but recommended, when the `libudev-dev` is installed the SDK will use an event-driven approach for triggering USB detection and enumeration, if not the SDK will use a timer polling approach which is less sensitive for device detection. 3. Run Intel Realsense permissions script from librealsense root directory:
`./scripts/setup_udev_rules.sh` @@ -65,12 +64,13 @@ The scripts and commands below invoke `wget, git, add-apt-repository` which may *`./scripts/setup_udev_rules.sh --uninstall`* 4. Build and apply patched kernel modules for:
- - * **Ubuntu 14/16/18/20 with LTS kernel** + * **Ubuntu 20/22 (focal/jammy) with LTS kernel 5.13, 5.15 **
+ `./scripts/patch-realsense-ubuntu-lts-hwe.sh`
+ * **Ubuntu 14/16/18/20 with LTS kernel (< 5.13) **
`./scripts/patch-realsense-ubuntu-lts.sh`
- * **Ubuntu with Kernel 4.16** + * **Ubuntu with Kernel 4.16**
`./scripts/patch-ubuntu-kernel-4.16.sh`
- * **Intel® Joule™ with Ubuntu** + * **Intel® Joule™ with Ubuntu**
Based on the custom kernel provided by Canonical Ltd. `./scripts/patch-realsense-ubuntu-xenial-joule.sh`
diff --git a/examples/C/depth/rs-depth.c b/examples/C/depth/rs-depth.c index 337b71cfe2..f21e4ebac5 100644 --- a/examples/C/depth/rs-depth.c +++ b/examples/C/depth/rs-depth.c @@ -114,7 +114,7 @@ int main() check_error(e); // Start the pipeline streaming - // The retunred object should be released with rs2_delete_pipeline_profile(...) + // The returned object should be released with rs2_delete_pipeline_profile(...) rs2_pipeline_profile* pipeline_profile = rs2_pipeline_start_with_config(pipeline, config, &e); if (e) { diff --git a/examples/capture/rs-capture.cpp b/examples/capture/rs-capture.cpp index f0073cf348..b7cc55bdd0 100644 --- a/examples/capture/rs-capture.cpp +++ b/examples/capture/rs-capture.cpp @@ -47,4 +47,4 @@ catch (const std::exception& e) { std::cerr << e.what() << std::endl; return EXIT_FAILURE; -} \ No newline at end of file +} diff --git a/include/librealsense2/h/rs_device.h b/include/librealsense2/h/rs_device.h index 0ac28df07a..b9e4dd8b3e 100644 --- a/include/librealsense2/h/rs_device.h +++ b/include/librealsense2/h/rs_device.h @@ -276,12 +276,14 @@ void rs2_enter_update_state(const rs2_device* device, rs2_error** error); "speed": 3, "scan parameter": 0, "adjust both sides": 0, - "white wall mode": 0 + "white wall mode": 0, + "host assistance": 0 } - calib_type - calibraton type: 0 = regular, 1 = focal length, 2 = both regular and focal length in order + calib_type - calibraton type: 0 = regular, 1 = focal length, 2 = both regular and focal length in order, speed - for regular calibration. value can be one of: Very fast = 0, Fast = 1, Medium = 2, Slow = 3, White wall = 4, default is Slow for type 0 and Fast for type 2 scan_parameter - for regular calibration. value can be one of: Py scan (default) = 0, Rx scan = 1 adjust_both_sides - for focal length calibration. value can be one of: 0 = adjust right only, 1 = adjust both sides + host_assistance: 0 for no assistance, 1 for starting with assistance, 2 for first part feeding host data to firmware, 3 for second part of feeding host data to firmware (calib_type 2 only) white_wall_mode - white wall mode: 0 for normal mode and 1 for white wall mode if json is nullptr it will be ignored and calibration will use the default parameters * \param[out] health The absolute value of regular calibration Health-Check captures how far camera calibration is from the optimal one @@ -311,13 +313,17 @@ const rs2_raw_data_buffer* rs2_run_on_chip_calibration_cpp(rs2_device* device, c "speed": 3, "scan parameter": 0, "adjust both sides": 0, - "white wall mode": 0 - } + "white wall mode": 0, + "host assistance": 0 + } calib_type - calibraton type: 0 = regular, 1 = focal length, 2 = both regular and focal length in order + 30 = regular for version 3, 31 = focal length for version 3, 32 = both regular and focal length in order for version 3, + 33 = regular for second part of version 3 speed - for regular calibration, value can be one of: Very fast = 0, Fast = 1, Medium = 2, Slow = 3, White wall = 4, default is Slow for type 0 and Fast for type 2 scan_parameter - for regular calibration. value can be one of: Py scan (default) = 0, Rx scan = 1 adjust_both_sides - for focal length calibration. value can be one of: 0 = adjust right only, 1 = adjust both sides white_wall_mode - white wall mode: 0 for normal mode and 1 for white wall mode + host_assistance: 0 for no assistance, 1 for starting with assistance, 2 for first part feeding host data to firmware, 3 for second part of feeding host data to firmware (calib_type 2 only) if json is nullptr it will be ignored and calibration will use the default parameters * \param[out] health The absolute value of regular calibration Health-Check captures how far camera calibration is from the optimal one [0, 0.25) - Good @@ -348,20 +354,39 @@ const rs2_raw_data_buffer* rs2_run_on_chip_calibration(rs2_device* device, const "step count": 20, "accuracy": 2, "scan parameter": 0, - "data sampling": 0 + "data sampling": 0, + "host assistance": 0, + "depth" : 0 } average step count - number of frames to average, must be between 1 - 30, default = 20 step count - max iteration steps, must be between 5 - 30, default = 10 accuracy - Subpixel accuracy level, value can be one of: Very high = 0 (0.025%), High = 1 (0.05%), Medium = 2 (0.1%), Low = 3 (0.2%), Default = Very high (0.025%), default is Medium scan_parameter - value can be one of: Py scan (default) = 0, Rx scan = 1 data_sampling - value can be one of:polling data sampling = 0, interrupt data sampling = 1 + host_assistance: 0 for no assistance, 1 for starting with assistance, 2 for feeding host data to firmware + depth: 0 for not relating to depth, > 0 for feeding depth from host to firmware, -1 for ending to feed depth from host to firmware if json is nullptr it will be ignored and calibration will use the default parameters * \param[in] content_size Json string size if its 0 the json will be ignored and calibration will use the default parameters +* \param[out] health The absolute value of regular calibration Health-Check captures how far camera calibration is from the optimal one + [0, 0.25) - Good + [0.25, 0.75) - Can be Improved + [0.75, ) - Requires Calibration * \param[in] callback Optional callback to get progress notifications * \param[in] timeout_ms Timeout in ms (use 5000 msec unless instructed otherwise) +* \param[out] health The health check numbers before and after calibration +* \return New calibration table +*/ +const rs2_raw_data_buffer* rs2_run_tare_calibration_cpp(rs2_device* dev, float ground_truth_mm, const void* json_content, int content_size, float* health, rs2_update_progress_callback* progress_callback, int timeout_ms, rs2_error** error); + + +/** +* During host assisted calibration (Tare or on-chip), this is used to pump new depth frames until calibration is done. +* \param[in] f The next frame. +* \param[in] timeout_ms Timeout in ms (use 5000 msec unless instructed otherwise) +* \param[out] health The health check numbers before and after calibration * \return New calibration table */ -const rs2_raw_data_buffer* rs2_run_tare_calibration_cpp(rs2_device* dev, float ground_truth_mm, const void* json_content, int content_size, rs2_update_progress_callback* progress_callback, int timeout_ms, rs2_error** error); +const rs2_raw_data_buffer* rs2_process_calibration_frame(rs2_device* dev, const rs2_frame* f, float* const health, rs2_update_progress_callback* progress_callback, int timeout_ms, rs2_error** error); /** @@ -438,21 +463,26 @@ void rs2_trigger_device_calibration( rs2_device* dev, rs2_calibration_type type, "step count": 20, "accuracy": 2, "scan parameter": 0, - "data sampling": 0 + "data sampling": 0, + "host assistance": 0, + "depth": 0 } average step count - number of frames to average, must be between 1 - 30, default = 20 step count - max iteration steps, must be between 5 - 30, default = 10 accuracy - Subpixel accuracy level, value can be one of: Very high = 0 (0.025%), High = 1 (0.05%), Medium = 2 (0.1%), Low = 3 (0.2%), Default = Very high (0.025%), default is Medium scan_parameter - value can be one of: Py scan (default) = 0, Rx scan = 1 data_sampling - value can be one of:polling data sampling = 0, interrupt data sampling = 1 + host_assistance: 0 for no assistance, 1 for starting with assistance, 2 for feeding host data to firmware + depth: 0 for not relating to depth, > 0 for feeding depth from host to firmware, -1 for ending to feed depth from host to firmware if json is nullptr it will be ignored and calibration will use the default parameters * \param[in] content_size Json string size if its 0 the json will be ignored and calibration will use the default parameters * \param[in] callback Optional callback for update progress notifications, the progress value is normailzed to 1 * \param[in] client_data Optional client data for the callback * \param[in] timeout_ms Timeout in ms (use 5000 msec unless instructed otherwise) +* \param[out] health The health check numbers before and after calibration * \return New calibration table */ -const rs2_raw_data_buffer* rs2_run_tare_calibration(rs2_device* dev, float ground_truth_mm, const void* json_content, int content_size, rs2_update_progress_callback_ptr callback, void* client_data, int timeout_ms, rs2_error** error); +const rs2_raw_data_buffer* rs2_run_tare_calibration(rs2_device* dev, float ground_truth_mm, const void* json_content, int content_size, float* health, rs2_update_progress_callback_ptr callback, void* client_data, int timeout_ms, rs2_error** error); /** * Read current calibration table from flash. diff --git a/include/librealsense2/h/rs_frame.h b/include/librealsense2/h/rs_frame.h index 29b34ab5ab..07dd2e974a 100644 --- a/include/librealsense2/h/rs_frame.h +++ b/include/librealsense2/h/rs_frame.h @@ -62,9 +62,19 @@ typedef enum rs2_frame_metadata_value RS2_FRAME_METADATA_FRAME_LED_POWER , /**< Led power value 0-360. */ RS2_FRAME_METADATA_RAW_FRAME_SIZE , /**< The number of transmitted payload bytes, not including metadata */ RS2_FRAME_METADATA_GPIO_INPUT_DATA , /**< GPIO input data */ - RS2_FRAME_METADATA_SEQUENCE_NAME , /**< sub-preset id */ - RS2_FRAME_METADATA_SEQUENCE_ID , /**< sub-preset sequence id */ - RS2_FRAME_METADATA_SEQUENCE_SIZE , /**< sub-preset sequence size */ + RS2_FRAME_METADATA_SEQUENCE_NAME , /**< sub-preset id */ + RS2_FRAME_METADATA_SEQUENCE_ID , /**< sub-preset sequence id */ + RS2_FRAME_METADATA_SEQUENCE_SIZE , /**< sub-preset sequence size */ + + //mipi metadata_values + RS2_FRAME_METADATA_TRIGGER , /**< Frame trigger type */ + RS2_FRAME_METADATA_PRESET , /**< Preset id, used in MIPI SKU Metadata */ + RS2_FRAME_METADATA_INPUT_WIDTH , /**< Frame input width in pixels, used as safety attribute */ + RS2_FRAME_METADATA_INPUT_HEIGHT , /**< Frame input height in pixels, used as safety attribute */ + RS2_FRAME_METADATA_SUB_PRESET_INFO , /**< Sub-preset information */ + RS2_FRAME_METADATA_CALIB_INFO , /**< FW-controlled frame counter to be using in Calibration scenarios */ + RS2_FRAME_METADATA_CRC , /**< CRC checksum of the Metadata */ + RS2_FRAME_METADATA_COUNT } rs2_frame_metadata_value; const char* rs2_frame_metadata_to_string(rs2_frame_metadata_value metadata); @@ -353,10 +363,10 @@ void rs2_pose_frame_get_pose_data(const rs2_frame* frame, rs2_pose* pose, rs2_er * Extract the target dimensions on the specific target * \param[in] frame Left or right camera frame of specified size based on the target type * \param[in] calib_type Calibration target type -* \param[out] target_dims The array to hold the result target dimensions calculated. - For type RS2_CALIB_TARGET_RECT_GAUSSIAN_DOT_VERTICES and RS2_CALIB_TARGET_ROI_RECT_GAUSSIAN_DOT_VERTICES, the four rectangle side sizes in pixels with the order of top, bottom, left, and right - For type RS2_CALIB_TARGET_POS_GAUSSIAN_DOT_VERTICES, the four vertices coordinates in pixels with the order of top, bottom, left, and right * \param[in] target_dims_size Target dimension array size. 4 for RS2_CALIB_TARGET_RECT_GAUSSIAN_DOT_VERTICES and 8 for RS2_CALIB_TARGET_POS_GAUSSIAN_DOT_VERTICES. +* \param[out] target_dims The array to hold the result target dimensions calculated. + For type RS2_CALIB_TARGET_RECT_GAUSSIAN_DOT_VERTICES, the four rectangle side sizes in pixels with the order of top, bottom, left, and right + For type RS2_CALIB_TARGET_POS_GAUSSIAN_DOT_VERTICES, the four vertices coordinates in pixels with the order of top, bottom, left, and right * \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored */ void rs2_extract_target_dimensions(const rs2_frame* frame, rs2_calib_target_type calib_type, float * target_dims, unsigned int target_dims_size, rs2_error** error); diff --git a/include/librealsense2/h/rs_option.h b/include/librealsense2/h/rs_option.h index ff9033fa7d..f7c82a0dc0 100644 --- a/include/librealsense2/h/rs_option.h +++ b/include/librealsense2/h/rs_option.h @@ -34,12 +34,12 @@ extern "C" { RS2_OPTION_ENABLE_AUTO_EXPOSURE, /**< Enable / disable color image auto-exposure*/ RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE, /**< Enable / disable color image auto-white-balance*/ RS2_OPTION_VISUAL_PRESET, /**< Provide access to several recommend sets of option presets for the depth camera */ - RS2_OPTION_LASER_POWER, /**< Power of the laser emitter, with 0 meaning projector off*/ + RS2_OPTION_LASER_POWER, /**< Power of the laser emitter (mW), with 0 meaning projector turned off*/ RS2_OPTION_ACCURACY, /**< Set the number of patterns projected per frame. The higher the accuracy value the more patterns projected. Increasing the number of patterns help to achieve better accuracy. Note that this control is affecting the Depth FPS */ RS2_OPTION_MOTION_RANGE, /**< Motion vs. Range trade-off, with lower values allowing for better motion sensitivity and higher values allowing for better depth range*/ RS2_OPTION_FILTER_OPTION, /**< Set the filter to apply to each depth frame. Each one of the filter is optimized per the application requirements*/ RS2_OPTION_CONFIDENCE_THRESHOLD, /**< The confidence level threshold used by the Depth algorithm pipe to set whether a pixel will get a valid range or will be marked with invalid range*/ - RS2_OPTION_EMITTER_ENABLED, /**< Emitter select: 0 – disable all emitters. 1 – enable laser. 2 – enable auto laser. 3 – enable LED.*/ + RS2_OPTION_EMITTER_ENABLED, /**< Emitter select: 0 - disable all emitters. 1 - enable laser. 2 - enable auto laser. 3 - enable LED.*/ RS2_OPTION_FRAMES_QUEUE_SIZE, /**< Number of frames the user is allowed to keep per stream. Trying to hold-on to more frames will cause frame-drops.*/ RS2_OPTION_TOTAL_FRAME_DROPS, /**< Total number of detected frame drops from all streams */ RS2_OPTION_AUTO_EXPOSURE_MODE, /**< Auto-Exposure modes: Static, Anti-Flicker and Hybrid */ @@ -115,6 +115,7 @@ extern "C" { RS2_OPTION_RECEIVER_SENSITIVITY, /**< Control receiver sensitivity to incoming light, both projected and ambient (same as APD on L515). */ RS2_OPTION_AUTO_EXPOSURE_LIMIT_TOGGLE, /**< Enable / disable color image auto-exposure*/ RS2_OPTION_AUTO_GAIN_LIMIT_TOGGLE, /**< Enable / disable color image auto-gain*/ + RS2_OPTION_EMITTER_FREQUENCY, /**< Select emitter (laser projector) frequency, see rs2_emitter_frequency for values */ RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */ } rs2_option; @@ -204,6 +205,15 @@ extern "C" { } rs2_host_perf_mode; const char* rs2_host_perf_mode_to_string( rs2_host_perf_mode perf ); + /** \brief values for RS2_EMITTER_FREQUENCY option. */ + typedef enum rs2_emitter_frequency_mode + { + RS2_EMITTER_FREQUENCY_57_KHZ = 0, /**< Emitter frequency shall be 57 [KHZ] */ + RS2_EMITTER_FREQUENCY_91_KHZ = 1, /**< Emitter frequency shall be 91 [KHZ] */ + RS2_EMITTER_FREQUENCY_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */ + } rs2_emitter_frequency_mode; + const char* rs2_emitter_frequency_mode_to_string( rs2_emitter_frequency_mode mode ); + /** * check if an option is read-only * \param[in] options the options container diff --git a/include/librealsense2/h/rs_sensor.h b/include/librealsense2/h/rs_sensor.h index 315b9577ff..fede746a9b 100644 --- a/include/librealsense2/h/rs_sensor.h +++ b/include/librealsense2/h/rs_sensor.h @@ -89,6 +89,7 @@ typedef enum rs2_format RS2_FORMAT_Z16H , /**< Variable-length Huffman-compressed 16-bit depth values. */ RS2_FORMAT_FG , /**< 16-bit per-pixel frame grabber format. */ RS2_FORMAT_Y411 , /**< 12-bit per-pixel. */ + RS2_FORMAT_Y16I , /**< 12-bit per pixel interleaved. 12-bit left, 12-bit right. */ RS2_FORMAT_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */ } rs2_format; const char* rs2_format_to_string(rs2_format format); diff --git a/include/librealsense2/hpp/rs_device.hpp b/include/librealsense2/hpp/rs_device.hpp index 6a27e364fa..de9616a88e 100644 --- a/include/librealsense2/hpp/rs_device.hpp +++ b/include/librealsense2/hpp/rs_device.hpp @@ -343,13 +343,15 @@ namespace rs2 "speed": 3, "scan parameter": 0, "adjust both sides": 0, - "white wall mode": 0 + "white wall mode": 0, + "host assistance": 0 } calib_type - calibraton type: 0 = regular, 1 = focal length, 2 = both regular and focal length in order speed - for regular calibration. value can be one of: Very fast = 0, Fast = 1, Medium = 2, Slow = 3, White wall = 4, default is Slow for type 0 and Fast for type 2 scan_parameter - for regular calibration. value can be one of: Py scan (default) = 0, Rx scan = 1 adjust_both_sides - for focal length calibration. value can be one of: 0 = adjust right only, 1 = adjust both sides white_wall_mode - white wall mode: 0 for normal mode and 1 for white wall mode + host_assistance: 0 for no assistance, 1 for starting with assistance, 2 for first part feeding host data to firmware, 3 for second part of feeding host data to firmware (calib_type 2 only) if json is nullptr it will be ignored and calibration will use the default parameters * \param[out] health The absolute value of regular calibration Health-Check captures how far camera calibration is from the optimal one [0, 0.25) - Good @@ -397,13 +399,15 @@ namespace rs2 "speed": 3, "scan parameter": 0, "adjust both sides": 0, - "white wall mode": 0 + "white wall mode": 0, + "host assistance": 0 } focal_length - calibraton type: 0 = regular, 1 = focal length, 2 = both regular and focal length in order speed - for regular calibration. value can be one of: Very fast = 0, Fast = 1, Medium = 2, Slow = 3, White wall = 4, default is Slow for type 0 and Fast for type 2 scan_parameter - for regular calibration. value can be one of: Py scan (default) = 0, Rx scan = 1 adjust_both_sides - for focal length calibration. value can be one of: 0 = adjust right only, 1 = adjust both sides white_wall_mode - white wall mode: 0 for normal mode and 1 for white wall mode + host_assistance: 0 for no assistance, 1 for starting with assistance, 2 for first part feeding host data to firmware, 3 for second part of feeding host data to firmware (calib_type 2 only) if json is nullptr it will be ignored and calibration will use the default parameters * \param[out] health The absolute value of regular calibration Health-Check captures how far camera calibration is from the optimal one [0, 0.25) - Good @@ -426,14 +430,15 @@ namespace rs2 std::vector results; rs2_error* e = nullptr; - std::shared_ptr list( - rs2_run_on_chip_calibration_cpp(_dev.get(), json_content.data(), static_cast< int >( json_content.size() ), health, nullptr, timeout_ms, &e), - rs2_delete_raw_data); + const rs2_raw_data_buffer* buf = rs2_run_on_chip_calibration_cpp(_dev.get(), json_content.data(), static_cast< int >( json_content.size() ), health, nullptr, timeout_ms, &e); error::handle(e); + std::shared_ptr list(buf, rs2_delete_raw_data); + auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); + error::handle(e); results.insert(results.begin(), start, start + size); @@ -450,29 +455,36 @@ namespace rs2 "step count": 20, "accuracy": 2, "scan parameter": 0, - "data sampling": 0 + "data sampling": 0, + "host assistance": 0, + "depth" : 0 } average step count - number of frames to average, must be between 1 - 30, default = 20 step count - max iteration steps, must be between 5 - 30, default = 10 accuracy - Subpixel accuracy level, value can be one of: Very high = 0 (0.025%), High = 1 (0.05%), Medium = 2 (0.1%), Low = 3 (0.2%), Default = Very high (0.025%), default is Medium scan_parameter - value can be one of: Py scan (default) = 0, Rx scan = 1 data_sampling - value can be one of:polling data sampling = 0, interrupt data sampling = 1 + host_assistance: 0 for no assistance, 1 for starting with assistance, 2 for feeding host data to firmware + depth: 0 for not relating to depth, > 0 for feeding depth from host to firmware, -1 for ending to feed depth from host to firmware if json is nullptr it will be ignored and calibration will use the default parameters * \param[in] content_size Json string size if its 0 the json will be ignored and calibration will use the default parameters + * \param[out] health The absolute value of regular calibration Health-Check captures how far camera calibration is from the optimal one + [0, 0.25) - Good + [0.25, 0.75) - Can be Improved + [0.75, ) - Requires Calibration * \param[in] callback Optional callback to get progress notifications * \param[in] timeout_ms Timeout in ms * \return New calibration table */ template - calibration_table run_tare_calibration(float ground_truth_mm, std::string json_content, T callback, int timeout_ms = 5000) const + calibration_table run_tare_calibration(float ground_truth_mm, std::string json_content, float* health, T callback, int timeout_ms = 5000) const { std::vector results; rs2_error* e = nullptr; - std::shared_ptr list( - rs2_run_tare_calibration_cpp(_dev.get(), ground_truth_mm, json_content.data(), int(json_content.size()), new update_progress_callback(std::move(callback)), timeout_ms, &e), - rs2_delete_raw_data); + const rs2_raw_data_buffer* buf = rs2_run_tare_calibration_cpp(_dev.get(), ground_truth_mm, json_content.data(), int(json_content.size()), health, new update_progress_callback(std::move(callback)), timeout_ms, &e); error::handle(e); + std::shared_ptr list(buf, rs2_delete_raw_data); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); @@ -494,27 +506,88 @@ namespace rs2 "step count": 20, "accuracy": 2, "scan parameter": 0, - "data sampling": 0 + "data sampling": 0, + "host assistance": 0, + "depth" : 0 } average step count - number of frames to average, must be between 1 - 30, default = 20 step count - max iteration steps, must be between 5 - 30, default = 10 accuracy - Subpixel accuracy level, value can be one of: Very high = 0 (0.025%), High = 1 (0.05%), Medium = 2 (0.1%), Low = 3 (0.2%), Default = Very high (0.025%), default is Medium scan_parameter - value can be one of: Py scan (default) = 0, Rx scan = 1 data_sampling - value can be one of:polling data sampling = 0, interrupt data sampling = 1 + host_assistance: 0 for no assistance, 1 for starting with assistance, 2 for feeding host data to firmware + depth: 0 for not relating to depth, > 0 for feeding depth from host to firmware, -1 for ending to feed depth from host to firmware if json is nullptr it will be ignored and calibration will use the default parameters * \param[in] content_size Json string size if its 0 the json will be ignored and calibration will use the default parameters + * \param[out] health The absolute value of regular calibration Health-Check captures how far camera calibration is from the optimal one + [0, 0.25) - Good + [0.25, 0.75) - Can be Improved + [0.75, ) - Requires Calibration * \param[in] timeout_ms Timeout in ms * \return New calibration table */ - calibration_table run_tare_calibration(float ground_truth_mm, std::string json_content, int timeout_ms = 5000) const + calibration_table run_tare_calibration(float ground_truth_mm, std::string json_content, float * health, int timeout_ms = 5000) const { std::vector results; rs2_error* e = nullptr; - std::shared_ptr list( - rs2_run_tare_calibration_cpp(_dev.get(), ground_truth_mm, json_content.data(), static_cast< int >( json_content.size() ), nullptr, timeout_ms, &e), - rs2_delete_raw_data); + const rs2_raw_data_buffer* buf = rs2_run_tare_calibration_cpp(_dev.get(), ground_truth_mm, json_content.data(), static_cast< int >( json_content.size() ), health, nullptr, timeout_ms, &e); + error::handle(e); + std::shared_ptr list(buf, rs2_delete_raw_data); + + auto size = rs2_get_raw_data_size(list.get(), &e); + error::handle(e); + + auto start = rs2_get_raw_data(list.get(), &e); + + results.insert(results.begin(), start, start + size); + + return results; + } + + /** + * When doing a host-assited calibration (Tare or on-chip) add frame to the calibration process + * \param[in] f The next depth frame. + * \param[in] callback Optional callback to get progress notifications + * \param[in] timeout_ms Timeout in ms + * \param[out] health The health check numbers before and after calibration + * \return a New calibration table when process is done. An empty table otherwise - need more frames. + **/ + template + calibration_table process_calibration_frame(rs2::frame f, float* const health, T callback, int timeout_ms = 5000) const + { + std::vector results; + + rs2_error* e = nullptr; + const rs2_raw_data_buffer* buf = rs2_process_calibration_frame(_dev.get(), f.get(), health, new update_progress_callback(std::move(callback)), timeout_ms, &e); error::handle(e); + std::shared_ptr list(buf, rs2_delete_raw_data); + + auto size = rs2_get_raw_data_size(list.get(), &e); + error::handle(e); + + auto start = rs2_get_raw_data(list.get(), &e); + + results.insert(results.begin(), start, start + size); + + return results; + } + + /** + * When doing a host-assited calibration (Tare or on-chip) add frame to the calibration process + * \param[in] f The next depth frame. + * \param[in] timeout_ms Timeout in ms + * \param[out] health The health check numbers before and after calibration + * \return a New calibration table when process is done. An empty table otherwise - need more frames. + **/ + calibration_table process_calibration_frame(rs2::frame f, float* const health, int timeout_ms = 5000) const + { + std::vector results; + + rs2_error* e = nullptr; + const rs2_raw_data_buffer* buf = rs2_process_calibration_frame(_dev.get(), f.get(), health, nullptr, timeout_ms, &e); + error::handle(e); + std::shared_ptr list(buf, rs2_delete_raw_data); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); diff --git a/include/librealsense2/rs.h b/include/librealsense2/rs.h index 1ff69d4d02..08e50f33c2 100644 --- a/include/librealsense2/rs.h +++ b/include/librealsense2/rs.h @@ -24,7 +24,7 @@ extern "C" { #include "h/rs_sensor.h" #define RS2_API_MAJOR_VERSION 2 -#define RS2_API_MINOR_VERSION 51 +#define RS2_API_MINOR_VERSION 53 #define RS2_API_PATCH_VERSION 1 #define RS2_API_BUILD_VERSION 0 diff --git a/include/librealsense2/utilities/string/chrono.h b/include/librealsense2/utilities/string/chrono.h new file mode 100644 index 0000000000..428d9eeafa --- /dev/null +++ b/include/librealsense2/utilities/string/chrono.h @@ -0,0 +1,59 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2022 Intel Corporation. All Rights Reserved. + +// This is in lieu of the C++20 chrono_io.h + +// NOTE: make sure to include this file BEFORE any usage in another header +// (e.g., Catch should be include after this! Without these definitions, Catch +// output does not know how to stringify durations...) + +#pragma once + +#include +#include +#include +#include + + +inline std::string to_string( const std::time_t & time ) +{ + std::ostringstream os; + os << time; + return os.str(); +} + + +template< typename Clock, typename Duration = typename Clock::duration > +std::string to_string( const std::chrono::time_point< Clock, Duration > & tp ) +{ + auto in_time_t = std::chrono::system_clock::to_time_t( tp ); + return to_string( in_time_t ); +} + + +template< typename Rep, typename Period = std::ratio< 1 > > +std::string to_string( const std::chrono::duration< Rep, Period > & duration ) +{ + auto seconds_as_int = std::chrono::duration_cast< std::chrono::seconds >( duration ); + if( seconds_as_int == duration ) + return std::to_string( seconds_as_int.count() ) + "s"; + auto seconds_as_double = std::chrono::duration_cast< std::chrono::duration< double > >( duration ); + std::ostringstream os; + os << seconds_as_double.count(); + os << 's'; + return os.str(); +} + + +template< typename Clock, typename Duration = typename Clock::duration > +std::ostream & operator<<( std::ostream & o, const std::chrono::time_point< Clock, Duration > & tp ) +{ + return o << to_string( tp ); +} + + +template< typename Rep, typename Period = std::ratio< 1 > > +std::ostream & operator<<( std::ostream & o, const std::chrono::duration< Rep, Period > & duration ) +{ + return o << to_string( duration ); +} diff --git a/package.xml b/package.xml index 88015cceb2..39fe89bbfb 100644 --- a/package.xml +++ b/package.xml @@ -7,16 +7,16 @@ librealsense2 - 2.51.1 + 2.53.1 Library for controlling and capturing data from the Intel(R) RealSense(TM) D400 devices. - LibRS ROS Team + LibRealSense ROS Team https://github.com/IntelRealSense/librealsense/ - LibRS ROS Team + LibRealSense ROS Team Apache License, Version 2.0 diff --git a/readme.md b/readme.md index 5f90d02629..074e254455 100644 --- a/readme.md +++ b/readme.md @@ -52,7 +52,7 @@ The librealsense port in vcpkg is kept up to date by Microsoft team members and | **[Depth Quality Tool](./tools/depth-quality)** | This application allows you to test the camera’s depth quality, including: standard deviation from plane fit, normalized RMS – the subpixel accuracy, distance accuracy and fill rate. You should be able to easily get and interpret several of the depth quality metrics and record and save the data for offline analysis. |[**Depth.Quality.Tool.exe**](https://github.com/IntelRealSense/librealsense/releases) | | **[Debug Tools](./tools/)** | Device enumeration, FW logger, etc as can be seen at the tools directory | Included in [**Intel.RealSense.SDK.exe**](https://github.com/IntelRealSense/librealsense/releases)| | **[Code Samples](./examples)** |These simple examples demonstrate how to easily use the SDK to include code snippets that access the camera into your applications. Check some of the [**C++ examples**](./examples) including capture, pointcloud and more and basic [**C examples**](./examples/C) | Included in [**Intel.RealSense.SDK.exe**](https://github.com/IntelRealSense/librealsense/releases) | -| **[Wrappers](https://github.com/IntelRealSense/librealsense/tree/development/wrappers)** | [Python](./wrappers/python), [C#/.NET](./wrappers/csharp), [Node.js](./wrappers/nodejs) API, as well as integration with the following 3rd-party technologies: [ROS](https://github.com/intel-ros/realsense/releases), [ROS2](https://github.com/intel/ros2_intel_realsense), [LabVIEW](./wrappers/labview), [OpenCV](./wrappers/opencv), [PCL](./wrappers/pcl), [Unity](./wrappers/unity), [Matlab](./wrappers/matlab), [OpenNI](./wrappers/openni2), [UnrealEngine4](./wrappers/unrealengine4) and more to come. | | +| **[Wrappers](https://github.com/IntelRealSense/librealsense/tree/development/wrappers)** | [Python](./wrappers/python), [C#/.NET](./wrappers/csharp), [Node.js](./wrappers/nodejs) API, as well as integration with the following 3rd-party technologies: [ROS1](https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy), [ROS2](https://github.com/IntelRealSense/realsense-ros/tree/ros2-development), [LabVIEW](./wrappers/labview), [OpenCV](./wrappers/opencv), [PCL](./wrappers/pcl), [Unity](./wrappers/unity), [Matlab](./wrappers/matlab), [OpenNI](./wrappers/openni2), [UnrealEngine4](./wrappers/unrealengine4) and more to come. | | ## Ready to Hack! diff --git a/scripts/Docker/Dockerfile b/scripts/Docker/Dockerfile index a034200682..b1fc5dbbfc 100644 --- a/scripts/Docker/Dockerfile +++ b/scripts/Docker/Dockerfile @@ -59,6 +59,7 @@ FROM ${BASE_IMAGE} as librealsense COPY --from=librealsense-builder /opt/librealsense /usr/local/ COPY --from=librealsense-builder /usr/lib/python3/dist-packages/pyrealsense2 /usr/lib/python3/dist-packages/pyrealsense2 COPY --from=librealsense-builder /usr/src/librealsense/config/99-realsense-libusb.rules /etc/udev/rules.d/ +COPY --from=librealsense-builder /usr/src/librealsense/config/99-realsense-d4xx-mipi-dfu.rules /etc/udev/rules.d/ ENV PYTHONPATH=$PYTHONPATH:/usr/local/lib # Install dep packages diff --git a/scripts/libuvc_installation.sh b/scripts/libuvc_installation.sh index 018bea0337..d22e6f79da 100755 --- a/scripts/libuvc_installation.sh +++ b/scripts/libuvc_installation.sh @@ -40,6 +40,7 @@ cd ./librealsense-master echo Install udev-rules sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ +sudo cp config/99-realsense-d4xx-mipi-dfu.rules /etc/udev/rules.d/ sudo udevadm control --reload-rules && sudo udevadm trigger mkdir build && cd build cmake ../ -DFORCE_LIBUVC=true -DCMAKE_BUILD_TYPE=release diff --git a/scripts/patch-realsense-ubuntu-L4T.sh b/scripts/patch-realsense-ubuntu-L4T.sh index 566335dc2e..8823f82504 100755 --- a/scripts/patch-realsense-ubuntu-L4T.sh +++ b/scripts/patch-realsense-ubuntu-L4T.sh @@ -121,7 +121,7 @@ kernel_ver=`uname -r` sudo cp /usr/src/linux-headers-${kernel_ver}-ubuntu18.04_aarch64/kernel-4.9/Module.symvers . #Jetpack prior to 4.4.1 requires manual reconfiguration of kernel -if [ "4.4" == PATCHES_REV ]; then +if [ "4.4" = "$PATCHES_REV" ]; then echo -e "\e[32mUpdate the kernel tree to support HID IMU sensors\e[0m" sudo sed -i '/CONFIG_HID_SENSOR_ACCEL_3D/c\CONFIG_HID_SENSOR_ACCEL_3D=m' .config sudo sed -i '/CONFIG_HID_SENSOR_GYRO_3D/c\CONFIG_HID_SENSOR_GYRO_3D=m' .config @@ -134,7 +134,7 @@ sudo git reset --hard echo -e "\e[32mApply Librealsense Kernel Patches\e[0m" sudo -s patch -p1 < ./LRS_Patches/01-realsense-camera-formats-L4T-${PATCHES_REV}.patch sudo -s patch -p1 < ./LRS_Patches/02-realsense-metadata-L4T-${PATCHES_REV}.patch -if [ "4.4" == PATCHES_REV ]; then # for Jetpack 4.4 and older +if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older sudo -s patch -p1 < ./LRS_Patches/03-realsense-hid-L4T-4.9.patch fi sudo -s patch -p1 < ./LRS_Patches/04-media-uvcvideo-mark-buffer-error-where-overflow.patch @@ -146,7 +146,7 @@ sudo -s make -j$(($(nproc)-1)) ARCH=arm64 M=drivers/media/usb/uvc/ modules echo -e "\e[32mCompiling v4l2-core modules\e[0m" #sudo -s make -j -C $KBASE M=$KBASE/drivers/media/v4l2-core modules sudo -s make -j$(($(nproc)-1)) ARCH=arm64 M=drivers/media/v4l2-core modules -if [ "4.4" == PATCHES_REV ]; then # for Jetpack 4.4 and older +if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older echo -e "\e[32mCompiling accelerometer and gyro modules\e[0m" sudo -s make -j$(($(nproc)-1)) ARCH=arm64 M=drivers/iio modules fi @@ -155,7 +155,7 @@ echo -e "\e[32mCopying the patched modules to (~/) \e[0m" sudo cp drivers/media/usb/uvc/uvcvideo.ko ~/${TEGRA_TAG}-uvcvideo.ko sudo cp drivers/media/v4l2-core/videobuf-vmalloc.ko ~/${TEGRA_TAG}-videobuf-vmalloc.ko sudo cp drivers/media/v4l2-core/videobuf-core.ko ~/${TEGRA_TAG}-videobuf-core.ko -if [ "4.4" == PATCHES_REV ]; then # for Jetpack 4.4 and older +if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older sudo cp drivers/iio/common/hid-sensors/hid-sensor-iio-common.ko ~/${TEGRA_TAG}-hid-sensor-iio-common.ko sudo cp drivers/iio/common/hid-sensors/hid-sensor-trigger.ko ~/${TEGRA_TAG}-hid-sensor-trigger.ko sudo cp drivers/iio/accel/hid-sensor-accel-3d.ko ~/${TEGRA_TAG}-hid-sensor-accel-3d.ko @@ -164,7 +164,7 @@ fi popd echo -e "\e[32mMove the modified modules into the modules tree\e[0m" -if [ "4.4" == PATCHES_REV ]; then # for Jetpack 4.4 and older +if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older #Optional - create kernel modules directories in kernel tree sudo mkdir -p /lib/modules/`uname -r`/kernel/drivers/iio/accel sudo mkdir -p /lib/modules/`uname -r`/kernel/drivers/iio/gyro @@ -180,7 +180,7 @@ sudo depmod echo -e "\e[32mInsert the modified kernel modules\e[0m" try_module_insert uvcvideo ~/${TEGRA_TAG}-uvcvideo.ko /lib/modules/`uname -r`/kernel/drivers/media/usb/uvc/uvcvideo.ko -if [ "4.4" == PATCHES_REV ]; then # for Jetpack 4.4 and older +if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older try_module_insert hid_sensor_accel_3d ~/${TEGRA_TAG}-hid-sensor-accel-3d.ko /lib/modules/`uname -r`/kernel/drivers/iio/accel/hid-sensor-accel-3d.ko try_module_insert hid_sensor_gyro_3d ~/${TEGRA_TAG}-hid-sensor-gyro-3d.ko /lib/modules/`uname -r`/kernel/drivers/iio/gyro/hid-sensor-gyro-3d.ko #Preventively unload all HID-related modules diff --git a/scripts/patch-realsense-ubuntu-lts-hwe.sh b/scripts/patch-realsense-ubuntu-lts-hwe.sh new file mode 100755 index 0000000000..2671528e5e --- /dev/null +++ b/scripts/patch-realsense-ubuntu-lts-hwe.sh @@ -0,0 +1,324 @@ +#!/bin/bash + +#Break execution on any error received +set -e + +#Locally suppress stderr to avoid raising not relevant messages +exec 3>&2 +exec 2> /dev/null +con_dev=$(ls /dev/video* | wc -l) +exec 2>&3 + +#Parse user inputs +reset_driver=0 +xhci_patch=0 +build_usbcore_modules=0 +rebuild_ko=0 +debug_uvc=0 +retpoline_retrofit=0 + +#Parse input +while test $# -gt 0; do + case "$1" in + --help) + ;& + -h) + echo "Parse user-provided flags" + echo "[Flag] [Operation]" + echo " " + echo "options:" + echo "-h, --help Show script activation flags" + echo "reset Remove custom kernel patches and rebuild ko with Ubuntu stock driver" + echo "xhci-patch Rebuild XHCI host controller modules to retrofit kernel fixes. Applicable for Kernel 4.4 only" + echo "build_usbcore_modules Rebuilds usbcore/usbhost kernel modules" + echo "ko Rebuild modified kernel modules w/o modifying the source tree" + echo "uvc_dbg Add profyling messages to uvcvideo and videobuf2 modules" + exit 0 + ;; + reset) + reset_driver=1; shift;; + build_usbcore_modules) + build_usbcore_modules=1 ;& # fallthrough: usbcore implies xhci + xhci-patch) + xhci_patch=1; shift ;; + ko) + rebuild_ko=1; shift ;; + uvc_dbg) + debug_uvc=1; shift ;; + *) + echo -e "\e[36mUnrecognized flag: $1\e[0m"; shift;; + esac +done + +if [ $con_dev -ne 0 ]; +then + echo -e "\e[32m" + read -p "Remove all RealSense cameras attached. Hit any key when ready" + echo -e "\e[0m" +fi + +#Include usability functions +source ./scripts/patch-utils-hwe.sh + +# Get the required tools and headers to build the kernel +sudo apt-get install linux-headers-generic build-essential git bc -y +#Packages to build the patched modules +require_package libusb-1.0-0-dev +require_package libssl-dev + +#sudo apt-get build-dep linux-image-unsigned-$(uname -r) + +LINUX_BRANCH=$(uname -r) +#Get kernel major.minor +IFS='.' read -a kernel_version <<< ${LINUX_BRANCH} +k_maj_min=$((${kernel_version[0]}*100 + ${kernel_version[1]})) +if [[ ( ${xhci_patch} -eq 1 ) && ( ${k_maj_min} -ne 404 ) ]]; then + echo -e "\e[43mThe xhci_patch flag is compatible with LTS branch 4.4 only, currently selected kernel is $(uname -r)\e[0m" + exit 1 +fi + +# Construct branch name from distribution codename {xenial,bionic,..} and kernel version +# ubuntu_codename=`. /etc/os-release; echo ${UBUNTU_CODENAME/*, /}` +ubuntu_codename=$(lsb_release -c|cut -f2) +if [ -z "${ubuntu_codename}" ]; +then + # Trusty Tahr shall use xenial code base + ubuntu_codename="xenial" + retpoline_retrofit=1 +fi + +kernel_branch=$(choose_kernel_branch ${LINUX_BRANCH} ${ubuntu_codename}) +kernel_name="ubuntu-${ubuntu_codename}" +echo -e "\e[32mCreate patches workspace in \e[93m${kernel_name} \e[32mfolder\n\e[0m" + +#Distribution-specific packages +if { [ ${ubuntu_codename} != "xenial" ]; } ; +then + require_package libelf-dev + require_package elfutils + #Ubuntu 18.04 kernel 4.18 + 20.04/ 5.4 + require_package bison + require_package flex + # required if kernel >=5.11 + require_package dwarves +fi + +# Get the linux kernel and change into source tree +if [ ! -d ${kernel_name} ]; then + mkdir ${kernel_name} + cd ${kernel_name} + git init + git remote add origin git://git.launchpad.net/~ubuntu-kernel/ubuntu/+source/linux/+git/${ubuntu_codename} + cd .. +fi + +cd ${kernel_name} + +if [ $rebuild_ko -eq 0 ]; +then + #Search the repository for the tag that matches the mmaj.min.patch-build of Ubuntu kernel + kernel_full_num=$(echo $LINUX_BRANCH | cut -d '-' -f 1,2) + if [ "${ubuntu_codename}" != "jammy" ]; + then + kernel_git_tag=$(git ls-remote --tags origin | grep "${kernel_full_num}\." | grep '[^^{}]$' | tail -n 1 | awk -F/ '{print $NF}') + else + kernel_git_tag=$(git ls-remote --tags origin | grep "${kernel_full_num}\." | grep '[^^{}]$' | head -n 1 | awk -F/ '{print $NF}') + fi + echo -e "\e[32mFetching Ubuntu LTS tag \e[47m${kernel_git_tag}\e[0m \e[32m to the local kernel sources folder\e[0m" + git fetch origin tag ${kernel_git_tag} --no-tags --depth 1 + + # Verify that there are no trailing changes., warn the user to make corrective action if needed + if [ $(git status | grep 'modified:' | wc -l) -ne 0 ]; + then + echo -e "\e[36mThe kernel has modified files:\e[0m" + git status | grep 'modified:' + echo -e "\e[36mProceeding will reset all local kernel changes. Press 'n' within 3 seconds to abort the operation" + set +e + read -n 1 -t 3 -r -p "Do you want to proceed? [Y/n]" response + set -e + response=${response,,} # tolower + if [[ $response =~ ^(n|N)$ ]]; + then + echo -e "\e[41mScript has been aborted on user requiest. Please resolve the modified files are rerun\e[0m" + exit 1 + else + echo -e "\e[0m" + printf "Resetting local changes in %s folder\n " ${kernel_name} + git reset --hard + fi + fi + + echo -e "\e[32mSwitching to LTS tag ${kernel_git_tag}\e[0m" + git checkout ${kernel_git_tag} + + + if [ $reset_driver -eq 1 ]; + then + echo -e "\e[43mUser requested to rebuild and reinstall ubuntu-${ubuntu_codename} stock drivers\e[0m" + else + # Patching kernel for RealSense devices + echo -e "\e[32mApplying patches for \e[36m${ubuntu_codename}-${kernel_branch}\e[32m line\e[0m" + echo -e "\e[32mApplying realsense-uvc patch\e[0m" + patch -p1 < ../scripts/realsense-camera-formats-${ubuntu_codename}-${kernel_branch}.patch || patch -p1 < ../scripts/realsense-camera-formats-${ubuntu_codename}-master.patch + echo -e "\e[32mApplying realsense-metadata patch\e[0m" + patch -p1 < ../scripts/realsense-metadata-${ubuntu_codename}-${kernel_branch}.patch || patch -p1 < ../scripts/realsense-metadata-${ubuntu_codename}-master.patch + echo -e "\e[32mApplying realsense-hid patch\e[0m" + patch -p1 < ../scripts/realsense-hid-${ubuntu_codename}-${kernel_branch}.patch || patch -p1 < ../scripts/realsense-hid-${ubuntu_codename}-master.patch + echo -e "\e[32mApplying realsense-powerlinefrequency-fix patch\e[0m" + patch -p1 < ../scripts/realsense-powerlinefrequency-control-fix.patch + # Applying 3rd-party patch that affects USB2 behavior + # See reference https://patchwork.kernel.org/patch/9907707/ + if [ ${k_maj_min} -lt 418 ]; + then + echo -e "\e[32mRetrofit UVC bug fix rectified in 4.18+\e[0m" + if patch -N --dry-run -p1 < ../scripts/v1-media-uvcvideo-mark-buffer-error-where-overflow.patch; then + patch -N -p1 < ../scripts/v1-media-uvcvideo-mark-buffer-error-where-overflow.patch + else + echo -e "\e[36m Skip the patch - it is already found in the source tree\e[0m" + fi + fi + if [ $xhci_patch -eq 1 ]; then + echo -e "\e[32mApplying streamoff hotfix patch in videobuf2-core\e[0m" + patch -p1 < ../scripts/01-Backport-streamoff-vb2-core-hotfix.patch + echo -e "\e[32mApplying 01-xhci-Add-helper-to-get-hardware-dequeue-pointer-for patch\e[0m" + patch -p1 < ../scripts/01-xhci-Add-helper-to-get-hardware-dequeue-pointer-for.patch + echo -e "\e[32mApplying 02-xhci-Add-stream-id-to-to-xhci_dequeue_state-structur patch\e[0m" + patch -p1 < ../scripts/02-xhci-Add-stream-id-to-to-xhci_dequeue_state-structur.patch + echo -e "\e[32mApplying 03-xhci-Find-out-where-an-endpoint-or-stream-stopped-fr patch\e[0m" + patch -p1 < ../scripts/03-xhci-Find-out-where-an-endpoint-or-stream-stopped-fr.patch + echo -e "\e[32mApplying 04-xhci-remove-unused-stopped_td-pointer patch\e[0m" + patch -p1 < ../scripts/04-xhci-remove-unused-stopped_td-pointer.patch + fi + echo -e "\e[32mIncrease UVC_URBs in uvcvideo\e[0m" + patch -p1 < ../scripts/uvcvideo_increase_UVC_URBS.patch + if [ $debug_uvc -eq 1 ]; then + echo -e "\e[32mApplying uvcvideo and videobuf2 debug patch\e[0m" + patch -p1 < ../scripts/uvc_debug.patch + fi + fi + + #Copy configuration + cp /usr/src/linux-headers-$(uname -r)/.config . + cp /usr/src/linux-headers-$(uname -r)/Module.symvers . + + # Basic build for kernel modules + echo -e "\e[32mPrepare kernel modules configuration\e[0m" + #Retpoline script manual retrieval. based on https://github.com/IntelRealSense/librealsense/issues/1493 + #Required since the retpoline patches were introduced into Ubuntu kernels + if [ ! -f scripts/ubuntu-retpoline-extract-one ]; then + pwd + for f in $(find . -name 'retpoline-extract-one'); do cp ${f} scripts/ubuntu-retpoline-extract-one; done; + echo $$$ + fi + + #Reuse current kernel configuration. Assign default values to newly-introduced options. + make olddefconfig modules_prepare + + #Replacement of USBcore modules implies usbcore is modular + [ ${build_usbcore_modules} -eq 1 ] && make menuconfig modules_prepare + + #Vermagic identity is required + sed -i "s/\".*\"/\"$LINUX_BRANCH\"/g" ./include/generated/utsrelease.h + sed -i "s/.*/$LINUX_BRANCH/g" ./include/config/kernel.release + #Patch for Trusty Tahr (Ubuntu 14.05) with GCC not retrofitted with the retpoline patch. + [ $retpoline_retrofit -eq 1 ] && sed -i "s/#ifdef RETPOLINE/#if (1)/g" ./include/linux/vermagic.h + + + if [[ ( $xhci_patch -eq 1 ) && ( $build_usbcore_modules -eq 0 ) ]]; then + make -j$(($(nproc)-1)) + make modules -j$(($(nproc)-1)) + sudo make modules_install -j$(($(nproc)-1)) + sudo make install + echo -e "\e[92m\n\e[1m`sudo make kernelrelease` Kernel has been successfully installed." + echo -e "\e[92m\n\e[1mScript has completed. Please reboot and load the newly installed Kernel from GRUB list.\n\e[0m" + exit 0 + fi +fi # rebuild_ko==0 + +# Build the uvc, accel and gyro modules +KBASE=`pwd` +cd drivers/media/usb/uvc +cp $KBASE/Module.symvers . + +echo -e "\e[32mCompiling uvc module\e[0m" +make -j -C $KBASE M=$KBASE/drivers/media/usb/uvc/ modules +echo -e "\e[32mCompiling accelerometer and gyro modules\e[0m" +make -j -C $KBASE M=$KBASE/drivers/iio/accel modules +make -j -C $KBASE M=$KBASE/drivers/iio/gyro modules +echo -e "\e[32mCompiling v4l2-core modules\e[0m" +make -j -C $KBASE M=$KBASE/drivers/media/v4l2-core modules +if [[ ( $xhci_patch -eq 1 ) || ( $debug_uvc -eq 1 ) ]]; then + echo -e "\e[32mCompiling media/common modules\e[0m" + make -j -C $KBASE M=$KBASE/drivers/media/common/videobuf2 modules +fi + +# Copy the patched modules to a location +cp $KBASE/drivers/media/usb/uvc/uvcvideo.ko ~/$LINUX_BRANCH-uvcvideo.ko +cp $KBASE/drivers/iio/accel/hid-sensor-accel-3d.ko ~/$LINUX_BRANCH-hid-sensor-accel-3d.ko +cp $KBASE/drivers/iio/gyro/hid-sensor-gyro-3d.ko ~/$LINUX_BRANCH-hid-sensor-gyro-3d.ko +cp $KBASE/drivers/media/v4l2-core/videodev.ko ~/$LINUX_BRANCH-videodev.ko +if [[ ( $xhci_patch -eq 1 ) || ( $debug_uvc -eq 1 ) ]]; then + cp $KBASE/drivers/media/common/videobuf2/videobuf2-common.ko ~/$LINUX_BRANCH-videobuf2-common.ko + cp $KBASE/drivers/media/common/videobuf2/videobuf2-v4l2.ko ~/$LINUX_BRANCH-videobuf2-v4l2.ko +fi + +if [ $build_usbcore_modules -eq 1 ]; then + make -j -C $KBASE M=$KBASE/drivers/usb/core modules + make -j -C $KBASE M=$KBASE/drivers/usb/host modules + make -j -C $KBASE M=$KBASE/drivers/hid/usbhid modules + cp $KBASE/drivers/media/v4l2-core/videobuf2-v4l2.ko ~/$LINUX_BRANCH-videobuf2-v4l2.ko + cp $KBASE/drivers/media/v4l2-core/videobuf2-core.ko ~/$LINUX_BRANCH-videobuf2-core.ko + cp $KBASE/drivers/media/v4l2-core/v4l2-common.ko ~/$LINUX_BRANCH-v4l2-common.ko + cp $KBASE/drivers/usb/core/usbcore.ko ~/$LINUX_BRANCH-usbcore.ko + cp $KBASE/drivers/usb/host/ehci-hcd.ko ~/$LINUX_BRANCH-ehci-hcd.ko + cp $KBASE/drivers/usb/host/ehci-pci.ko ~/$LINUX_BRANCH-ehci-pci.ko + cp $KBASE/drivers/usb/host/xhci-hcd.ko ~/$LINUX_BRANCH-xhci-hcd.ko + cp $KBASE/drivers/usb/host/xhci-pci.ko ~/$LINUX_BRANCH-xhci-pci.ko + cp $KBASE/drivers/hid/usbhid/usbhid.ko ~/$LINUX_BRANCH-usbhid.ko +fi + +echo -e "\e[32mPatched kernels modules were created successfully\n\e[0m" + +# Load the newly-built modules +# As a precausion start with unloading the core uvcvideo: +try_unload_module uvcvideo +try_unload_module videobuf2_v4l2 +[ ${k_maj_min} -ge 500 ] && try_unload_module videobuf2_common +try_unload_module videodev + +if [ $build_usbcore_modules -eq 1 ]; then + echo -e "\e[32mReplacing USB Core modules\e[0m" + + try_unload_module videobuf2_core + try_unload_module v4l2_common + + #Replace usb subsystem modules + try_unload_module usbhid + try_unload_module xhci-pci + try_unload_module xhci-hcd + try_unload_module ehci-pci + try_unload_module ehci-hcd + + try_module_insert usbcore ~/$LINUX_BRANCH-usbcore.ko /lib/modules/`uname -r`/kernel/drivers/usb/core/usbcore.ko + try_module_insert ehci-hcd ~/$LINUX_BRANCH-ehci-hcd.ko /lib/modules/`uname -r`/kernel/drivers/usb/host/ehci-hcd.ko + try_module_insert ehci-pci ~/$LINUX_BRANCH-ehci-pci.ko /lib/modules/`uname -r`/kernel/drivers/usb/host/ehci-pci.ko + try_module_insert xhci-hcd ~/$LINUX_BRANCH-xhci-hcd.ko /lib/modules/`uname -r`/kernel/drivers/usb/host/xhci-hcd.ko + try_module_insert xhci-pci ~/$LINUX_BRANCH-xhci-pci.ko /lib/modules/`uname -r`/kernel/drivers/usb/host/xhci-pci.ko + + try_module_insert videodev ~/$LINUX_BRANCH-videodev.ko /lib/modules/`uname -r`/kernel/drivers/media/v4l2-core/videodev.ko + try_module_insert v4l2-common ~/$LINUX_BRANCH-v4l2-common.ko /lib/modules/`uname -r`/kernel/drivers/media/v4l2-core/v4l2-common.ko + + try_module_insert videobuf2_core ~/$LINUX_BRANCH-videobuf2-core.ko /lib/modules/`uname -r`/kernel/drivers/media/v4l2-core/videobuf2-core.ko + try_module_insert videobuf2_v4l2 ~/$LINUX_BRANCH-videobuf2-v4l2.ko /lib/modules/`uname -r`/kernel/drivers/media/v4l2-core/videobuf2-v4l2.ko +fi + +try_module_insert videodev ~/$LINUX_BRANCH-videodev.ko /lib/modules/`uname -r`/kernel/drivers/media/v4l2-core/videodev.ko +if [[ ( ${k_maj_min} -ge 500 ) && ( $debug_uvc -eq 1 ) ]]; then + try_module_insert videobuf2-common ~/$LINUX_BRANCH-videobuf2-common.ko /lib/modules/`uname -r`/kernel/drivers/media/common/videobuf2/videobuf2-common.ko +fi +try_module_insert uvcvideo ~/$LINUX_BRANCH-uvcvideo.ko /lib/modules/`uname -r`/kernel/drivers/media/usb/uvc/uvcvideo.ko +try_module_insert hid_sensor_accel_3d ~/$LINUX_BRANCH-hid-sensor-accel-3d.ko /lib/modules/`uname -r`/kernel/drivers/iio/accel/hid-sensor-accel-3d.ko +try_module_insert hid_sensor_gyro_3d ~/$LINUX_BRANCH-hid-sensor-gyro-3d.ko /lib/modules/`uname -r`/kernel/drivers/iio/gyro/hid-sensor-gyro-3d.ko + +echo -e "\e[92m\n\e[1mScript has completed. Please consult the installation guide for further instruction.\n\e[0m" + diff --git a/scripts/patch-realsense-ubuntu-lts.sh b/scripts/patch-realsense-ubuntu-lts.sh index 255a490026..ed9a0ee37d 100755 --- a/scripts/patch-realsense-ubuntu-lts.sh +++ b/scripts/patch-realsense-ubuntu-lts.sh @@ -116,7 +116,7 @@ then kernel_full_num=$(echo $LINUX_BRANCH | cut -d '-' -f 1,2) kernel_git_tag=$(git ls-remote --tags origin | grep "${kernel_full_num}\." | grep '[^^{}]$' | tail -n 1 | awk -F/ '{print $NF}') echo -e "\e[32mFetching Ubuntu LTS tag \e[47m${kernel_git_tag}\e[0m \e[32m to the local kernel sources folder\e[0m" - git fetch origin tag ${kernel_git_tag} --no-tags + git fetch origin tag ${kernel_git_tag} --no-tags --depth 1 # Verify that there are no trailing changes., warn the user to make corrective action if needed if [ $(git status | grep 'modified:' | wc -l) -ne 0 ]; @@ -144,7 +144,7 @@ then if [ $reset_driver -eq 1 ]; - then + then echo -e "\e[43mUser requested to rebuild and reinstall ubuntu-${ubuntu_codename} stock drivers\e[0m" else # Patching kernel for RealSense devices diff --git a/scripts/patch-utils-hwe.sh b/scripts/patch-utils-hwe.sh new file mode 100644 index 0000000000..5ab8cc8850 --- /dev/null +++ b/scripts/patch-utils-hwe.sh @@ -0,0 +1,258 @@ +#Break execution on any error received +function require_package { + package_name=$1 + printf "\e[32mPackage required %s: \e[0m" "${package_name}" + #Supress error code and message in case the package is not installed + exec 3>&2 + exec 2>/dev/null + set +e + installed=$(dpkg-query -W -f='${Status}' ${package_name} | grep -c "ok installed" || true) + exec 2>&3 + set -e + + if [ $installed -eq 0 ]; + then + echo -e "\e[31m - not found, installing now...\e[0m" + sudo apt-get install ${package_name} -y + echo -e "\e[32mMissing package installed\e[0m" + else + echo -e "\e[32m - found\e[0m" + fi +} + +#Based on the current kernel version select the branch name to fetch the kernel source code +# The reference name are pulled here : http://kernel.ubuntu.com/git/ubuntu/ubuntu-xenial.git/ +# As of Jun 19 +# Branch Commit message Author Age +# hwe UBUNTU: Ubuntu-hwe-4.15.0-24.26~16.04.1 Andy Whitcroft 6 days +# hwe-edge UBUNTU: Ubuntu-hwe-4.15.0-23.25~16.04.1 Kleber Sacilotto de Souza 4 weeks +# hwe-zesty UBUNTU: Ubuntu-hwe-4.10.0-43.47~16.04.1 Thadeu Lima de Souza Cascardo 6 months +# master UBUNTU: Ubuntu-4.4.0-128.154 Stefan Bader 4 weeks +# master-next UBUNTU: SAUCE: Redpine: fix soft-ap invisible issue Sanjay Kumar Konduri 2 days + +# As of Jun 21, 2020 +#Ubuntu bionic repo : http://kernel.ubuntu.com/git/ubuntu/ubuntu-bionic.git/ +# hwe UBUNTU: Ubuntu-hwe-5.3.0-56.50~18.04.1 Kleber Sacilotto de Souza 3 weeks +# hwe-5.0 UBUNTU: Ubuntu-hwe-5.0-5.0.0-53.57~18.04.1 Sultan Alsawaf 7 days +# hwe-5.4 UBUNTU: Ubuntu-hwe-5.4-5.4.0-38.42~18.04.1 Stefan Bader 4 days +# hwe-edge UBUNTU: Ubuntu-hwe-edge-5.3.0-24.26~18.04.2 Kleber Sacilotto de Souza 7 months +# master UBUNTU: Ubuntu-4.15.0-106.107 Kleber Sacilotto de Souza 2 weeks +# master-current UBUNTU: Ubuntu-4.15.0-66.75 Khalid Elmously 4 months + +#Ubuntu focal repo : https://kernel.ubuntu.com/git/ubuntu/ubuntu-focal.git/ +# Branch Commit message +# master UBUNTU: Ubuntu-5.4.0-21.25 +function choose_kernel_branch { + + # Split the kernel version string + IFS='.' read -a kernel_version <<< "$1" + + if [ "$2" == "xenial" ]; + then + case "${kernel_version[1]}" in + "4") # Kernel 4.4. is managed on master branch + echo master + ;; + "8") # kernel 4.8 is deprecated and available via explicit tags. Currently on 4.8.0-58 + echo Ubuntu-hwe-4.8.0-58.63_16.04.1 + ;; + "10") # kernel 4.10 is managed on branch hwe-zesty as of 1.1.2018 + echo hwe-zesty + ;; + "13") # kernel 4.13 is on hwe branch and replaced with 4.15. Provide source from a tagged version instead (back-compat) + echo Ubuntu-hwe-4.13.0-45.50_16.04.1 + ;; + "15") # kernel 4.15 for Ubuntu xenial is either hwe or hwe-edge + echo hwe + ;; + *) + #error message shall be redirected to stderr to be printed properly + echo -e "\e[31mUnsupported kernel version $1 . The patches are maintained for Ubuntu16 (Xenial) with LTS kernel versions 4.4, 4.8, 4.10, 4.13 and 4.15\e[0m" >&2 + exit 1 + ;; + esac + elif [ "$2" == "bionic" ]; + then + case "${kernel_version[0]}.${kernel_version[1]}" in + "4.15") # kernel 4.15 for Ubuntu 18/Bionic Beaver + echo master + ;; + "4.18") # kernel 4.18 for Ubuntu 18/Bionic Beaver + echo Ubuntu-hwe-4.18.0-25.26_18.04.1 + ;; + "5.0") # kernel 5.0 for Ubuntu 18/Bionic Beaver + echo 5 + ;; + "5.3") # kernel 5.3 + #echo Ubuntu-hwe-5.3.0-64.58_18.04.1 + echo 5 + ;; + "5.4") # kernel 5.4 + echo hwe-5.4 + ;; + *) + #error message shall be redirected to stderr to be printed properly + echo -e "\e[31mUnsupported kernel version $1 . The Bionic patches are maintained for Bionic Beaver LTS kernels 4.1[5/8], 5.[0/3/4]\e[0m" >&2 + exit 1 + ;; + esac + elif [ "$2" == "focal" ]; # Ubuntu 20 + then + case "${kernel_version[0]}.${kernel_version[1]}" in + "5.4") # kernel 5.4 + echo master + ;; + "5.8") # kernel 5.8 + echo hwe-5.8 + ;; + "5.11") # kernel 5.11 + echo hwe-5.11 + ;; + "5.13") + echo hwe-5.13 + ;; + "5.15") + echo hwe-5.15 + ;; + *) + #error message shall be redirected to stderr to be printed properly + echo -e "\e[31mUnsupported kernel version $1 . The Focal patches are maintained for Ubuntu LTS with kernel 5.4, 5.8, 5.11 only\e[0m" >&2 + exit 1 + ;; + esac + elif [ "$2" == "jammy" ]; # Ubuntu 22 + then + case "${kernel_version[0]}.${kernel_version[1]}" in + "5.15") + echo master-next + ;; + *) + #error message shall be redirected to stderr to be printed properly + echo -e "\e[31mUnsupported kernel version $1 . The Focal patches are maintained for Ubuntu LTS with kernel 5.4, 5.8, 5.11 only\e[0m" >&2 + exit 1 + ;; + esac + + else + echo -e "\e[31mUnsupported distribution $2, kernel version $1 . The patches are maintained for Ubuntu 16/18/20 LTS\e[0m" >&2 + exit 1 + fi +} + +function try_unload_module { + unload_module_name=$1 + op_failed=0 + + sudo modprobe -r ${unload_module_name} || op_failed=$? + + if [ $op_failed -ne 0 ]; + then + echo -e "\e[31mFailed to unload module $unload_module_name. error type $op_failed . Operation is aborted\e[0m" >&2 + exit 1 + fi +} + +function try_load_module { + load_module_name=$1 + op_failed=0 + + if [ $(lsmod | grep ^${load_module_name} | wc -l) -eq 0 ]; then + sudo modprobe ${load_module_name} || op_failed=$? + else + printf "\e[32mn/a\e[0m" + fi + + if [ $op_failed -ne 0 ]; + then + echo -e "\e[31mFailed to reload module $load_module_name. error type $op_failed . Operation is aborted\e[0m" >&2 + exit 1 + fi +} + +function try_module_insert { + module_name=$1 + src_ko=$2 + tgt_ko=$3 + backup_available=1 + dependent_modules="" + + printf "\e[32mReplacing \e[93m\e[1m%s \e[32m -\n\e[0m" ${module_name} + + #Check if the module is loaded, and if does - are there dependent kernel modules. + #Unload those first, then unload the requsted module and proceed with replacement + # lsmod | grep ^videodev + #videodev 176128 4 uvcvideo,v4l2_common,videobuf2_core,videobuf2_v4l2 + # In the above scenario videodev cannot be unloaded untill all the modules listed on the right are unloaded + # Note that in case of multiple dependencies we'll remove only modules one by one starting with the first on the list + # And that the modules stack unwinding will start from the last (i.e leaf) dependency, + # for instance : videobuf2_core,videobuf2_v4l2,uvcvideo will start with unloading uvcvideo as it should automatically unwind dependent modules + if [ $(lsmod | grep ^${module_name} | wc -l) -ne 0 ]; + then + dependencies=$(lsmod | grep ^${module_name} | awk '{printf $4}') + dependent_module=$(lsmod | grep ^${module_name} | awk '{printf $4}' | awk -F, '{printf $NF}') + if [ ! -z "$dependencies" ]; + then + printf "\e[32m\tModule \e[93m\e[1m%s \e[32m\e[21m is used by \e[34m$dependencies\n\e[0m" ${module_name} + fi + while [ ! -z "$dependent_module" ] + do + printf "\e[32m\tUnloading dependency \e[34m$dependent_module\e[0m\n\t" + dependent_modules+="$dependent_module " + try_unload_module $dependent_module + dependent_module=$(lsmod | grep ^${module_name} | awk '{printf $4}' | awk -F, '{printf $NF}') + done + + # Unload existing modules if resident + printf "\e[32mModule is resident, unloading ... \e[0m" + try_unload_module ${module_name} + printf "\e[32m succeeded. \e[0m\n" + fi + + # backup the existing module (if available) for recovery + if [ -f ${tgt_ko} ]; + then + sudo cp ${tgt_ko} ${tgt_ko}.bckup + else + backup_available=0 + fi + + # copy the patched module to target location + sudo cp ${src_ko} ${tgt_ko} + + # try to load the new module + modprobe_failed=0 + printf "\e[32m\tApplying the patched module ... \e[0m" + sudo modprobe ${module_name} || modprobe_failed=$? + + # Check and revert the backup module if 'modprobe' operation crashed + if [ $modprobe_failed -ne 0 ]; + then + echo -e "\e[31mFailed to insert the patched module. Operation is aborted, the original module is restored\e[0m" + echo -e "\e[31mVerify that the current kernel version is aligned to the patched module version\e[0m" + if [ ${backup_available} -ne 0 ]; + then + sudo cp ${tgt_ko}.bckup ${tgt_ko} + sudo modprobe ${module_name} + printf "\e[34mThe original \e[33m %s \e[34m module was reloaded\n\e[0m" ${module_name} + fi + exit 1 + else + # Everything went OK, delete backup + printf "\e[32m succeeded\e[0m" + sudo rm ${tgt_ko}.bckup + fi + + # Reload all dependent modules recursively + if [ ! -z "$dependent_modules" ]; + then + #Retrieve the list of dependent modules that were unloaded + modules_list=(${dependent_modules}) + for (( idx=${#modules_list[@]}-1 ; idx>=0 ; idx-- )); + do + printf "\e[32m\tReloading dependent kernel module \e[34m${modules_list[idx]} \e[32m... \e[0m" + try_load_module ${modules_list[idx]} + printf "\e[32m succeeded. \e[0m\n" + done + fi + printf "\n" +} diff --git a/scripts/realsense-camera-formats-bionic-5.patch b/scripts/realsense-camera-formats-bionic-5.patch index e95d7faa78..d5527c3f49 100644 --- a/scripts/realsense-camera-formats-bionic-5.patch +++ b/scripts/realsense-camera-formats-bionic-5.patch @@ -1,21 +1,34 @@ -Signed-off-by: Evgeni Raikhel -From aa2b05837765037fedd6d2092adf0ad08a68e9ab Mon Sep 17 00:00:00 2001 -From: Evgeni Raikhel -Date: Mon, 24 Jun 2019 10:25:39 +0300 -Subject: [PATCH] Streaming formats for Ubuntu 18.04 (Bionic Beaver), Kernel 5.0.0 +From 96a62f5aadc5a78ea12c6eaace6c1366c01c23f9 Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Sun, 21 Aug 2022 14:51:39 +0300 +Subject: [PATCH] Streaming formats for Ubuntu 18.04 (Bionic Beaver), Kernel + 5.0.0 +Signed-off-by: Dmitry Perchanov --- - drivers/media/usb/uvc/uvc_driver.c | 32 ++++++++++++++++++++++++++++ - drivers/media/usb/uvc/uvcvideo.h | 19 +++++++++++++++++ - drivers/media/v4l2-core/v4l2-ioctl.c | 5 +++++ - include/uapi/linux/videodev2.h | 3 +++ - 4 files changed, 59 insertions(+) + drivers/media/usb/uvc/uvc_driver.c | 57 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 34 +++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 10 +++++ + include/uapi/linux/videodev2.h | 9 +++++ + 4 files changed, 110 insertions(+) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 33a22c016..a7b76c987 100644 +index 075a2fa21c25..01aac563525e 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -219,6 +219,58 @@ static struct uvc_format_desc uvc_fmts[] = { +@@ -169,6 +169,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -219,6 +224,58 @@ static struct uvc_format_desc uvc_fmts[] = { .guid = UVC_GUID_FORMAT_CNF4, .fcc = V4L2_PIX_FMT_CNF4, }, @@ -75,10 +88,20 @@ index 33a22c016..a7b76c987 100644 /* ------------------------------------------------------------------------ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h -index 9b41b14ce..4b88f31f5 100644 +index 9b41b14ce076..77bf03d73ccd 100644 --- a/drivers/media/usb/uvc/uvcvideo.h +++ b/drivers/media/usb/uvc/uvcvideo.h -@@ -165,6 +165,37 @@ +@@ -139,6 +139,9 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -165,6 +168,37 @@ {0x32, 0x00, 0x00, 0x00, 0x02, 0x00, 0x10, 0x00, \ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} @@ -117,10 +140,18 @@ index 9b41b14ce..4b88f31f5 100644 /* ------------------------------------------------------------------------ * Driver specific constants. diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c -index 90aad465f..e2d757e9a 100644 +index 20015fa5dff3..5ecc22f99eda 100644 --- a/drivers/media/v4l2-core/v4l2-ioctl.c +++ b/drivers/media/v4l2-core/v4l2-ioctl.c -@@ -1302,6 +1302,15 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) +@@ -1195,6 +1195,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_Y10P: descr = "10-bit Greyscale (MIPI Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break; +@@ -1302,6 +1303,15 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) case V4L2_META_FMT_VSP1_HGO: descr = "R-Car VSP1 1-D Histogram"; break; case V4L2_META_FMT_VSP1_HGT: descr = "R-Car VSP1 2-D Histogram"; break; case V4L2_META_FMT_UVC: descr = "UVC payload header metadata"; break; @@ -137,10 +168,16 @@ index 90aad465f..e2d757e9a 100644 default: /* Compressed formats */ diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h -index b5671ce27..8954f78be 100644 +index b5671ce2724f..120337e9f177 100644 --- a/include/uapi/linux/videodev2.h +++ b/include/uapi/linux/videodev2.h -@@ -692,6 +692,14 @@ struct v4l2_pix_format { +@@ -687,11 +687,20 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ + #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ + #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ #define V4L2_PIX_FMT_INZI v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */ #define V4L2_PIX_FMT_SUNXI_TILED_NV12 v4l2_fourcc('S', 'T', '1', '2') /* Sunxi Tiled NV12 Format */ #define V4L2_PIX_FMT_CNF4 v4l2_fourcc('C', 'N', 'F', '4') /* Intel 4-bit packed depth confidence information */ @@ -156,5 +193,5 @@ index b5671ce27..8954f78be 100644 /* 10bit raw bayer packed, 32 bytes for every 25 pixels, last LSB 6 bits unused */ #define V4L2_PIX_FMT_IPU3_SBGGR10 v4l2_fourcc('i', 'p', '3', 'b') /* IPU3 packed 10-bit BGGR bayer */ -- -2.17.1 +2.37.1 diff --git a/scripts/realsense-camera-formats-bionic-hwe-5.4.patch b/scripts/realsense-camera-formats-bionic-hwe-5.4.patch index 3ee3ffeced..7840b7e63d 100644 --- a/scripts/realsense-camera-formats-bionic-hwe-5.4.patch +++ b/scripts/realsense-camera-formats-bionic-hwe-5.4.patch @@ -1,23 +1,36 @@ -Subject: [PATCH] Streaming formats for Ubuntu 18.04 (Bionic Beaver), Kernel 5.4 -From 120e2ef648e5f906555407ff7265ce729fc6d503 Mon Sep 17 00:00:00 2001 -From: Evgeni Raikhel -Signed-off-by: Evgeni Raikhel -Date: Mon, 24 Jun 2019 10:25:39 +0300 +From 254919d40c14fa1c780a081e5f7a1482b486f8a3 Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Wed, 3 Aug 2022 13:49:51 +0300 +Subject: [PATCH] Streaming formats for Ubuntu 18.04 (Bionic Beaver), Kernel + 5.4 +Signed-off-by: Dmitry Perchanov --- - drivers/media/usb/uvc/uvc_driver.c | 37 ++++++++++++++++++++++++++++ - drivers/media/usb/uvc/uvcvideo.h | 22 +++++++++++++++++ - drivers/media/v4l2-core/v4l2-ioctl.c | 8 ++++++ - include/uapi/linux/videodev2.h | 8 ++++++ - 4 files changed, 75 insertions(+) + drivers/media/usb/uvc/uvc_driver.c | 57 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 34 +++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 9 +++++ + include/uapi/linux/videodev2.h | 9 +++++ + 4 files changed, 109 insertions(+) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 99883550375e..443ecea63bd8 100644 +index 3be9bc97f8b6..38decd79331b 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -214,6 +214,58 @@ static struct uvc_format_desc uvc_fmts[] = { - .guid = UVC_GUID_FORMAT_CNF4, - .fcc = V4L2_PIX_FMT_CNF4, +@@ -164,6 +164,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -219,6 +224,58 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_HEVC, + .fcc = V4L2_PIX_FMT_HEVC, }, + { + .name = "Depth data 16-bit (D16)", @@ -75,52 +88,70 @@ index 99883550375e..443ecea63bd8 100644 /* ------------------------------------------------------------------------ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h -index 24e3d8c647e7..1aa8493a24d1 100644 +index 42dd82ff2e1f..37ad0e83d978 100644 --- a/drivers/media/usb/uvc/uvcvideo.h +++ b/drivers/media/usb/uvc/uvcvideo.h -@@ -165,6 +165,37 @@ - {0x32, 0x00, 0x00, 0x00, 0x02, 0x00, 0x10, 0x00, \ +@@ -139,6 +139,9 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -169,6 +172,37 @@ + { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_D16 \ ++#define UVC_GUID_FORMAT_D16 \ + { 'P', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_W10 \ ++#define UVC_GUID_FORMAT_W10 \ + { 'W', '1', '0', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_RAW8 \ ++#define UVC_GUID_FORMAT_RAW8 \ + { 'R', 'A', 'W', '8', 0x66, 0x1a, 0x42, 0xa2, \ + 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} -+ #define UVC_GUID_FORMAT_CONFIDENCE_MAP \ ++#define UVC_GUID_FORMAT_CONFIDENCE_MAP \ + { 'C', ' ', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + /* Legacy formats */ -+ #define UVC_GUID_FORMAT_RW16 \ ++#define UVC_GUID_FORMAT_RW16 \ + { 'R', 'W', '1', '6', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_BAYER16 \ ++#define UVC_GUID_FORMAT_BAYER16 \ + { 'R', 'W', '1', '6', 0x66, 0x1a, 0x42, 0xa2, \ + 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} -+ #define UVC_GUID_FORMAT_Z16H \ ++#define UVC_GUID_FORMAT_Z16H \ + { 'Z', '1', '6', 'H', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_FG \ ++#define UVC_GUID_FORMAT_FG \ + { 'F', 'G', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_INZC \ ++#define UVC_GUID_FORMAT_INZC \ + { 'I', 'N', 'Z', 'C', 0x02, 0xb6, 0x0f, 0x48, \ + 0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89} -+ #define UVC_GUID_FORMAT_PAIR \ ++#define UVC_GUID_FORMAT_PAIR \ + { 'P', 'A', 'I', 'R', 0x36, 0x85, 0x41, 0x48, \ + 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8} /* ------------------------------------------------------------------------ * Driver specific constants. diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c -index 58868d7129eb..c29033b8439c 100644 +index 3012e8ecffb9..6e52eafe8885 100644 --- a/drivers/media/v4l2-core/v4l2-ioctl.c +++ b/drivers/media/v4l2-core/v4l2-ioctl.c -@@ -1330,6 +1330,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) +@@ -1236,6 +1236,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_Y10P: descr = "10-bit Greyscale (MIPI Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break; +@@ -1348,6 +1349,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) case V4L2_META_FMT_VSP1_HGT: descr = "R-Car VSP1 2-D Histogram"; break; case V4L2_META_FMT_UVC: descr = "UVC Payload Header Metadata"; break; case V4L2_META_FMT_D4XX: descr = "Intel D4xx UVC Metadata"; break; @@ -136,10 +167,16 @@ index 58868d7129eb..c29033b8439c 100644 default: /* Compressed formats */ diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h -index 530638dffd93..d7c85713e32c 100644 +index 3210b3c82a4a..cc1c3ef1a981 100644 --- a/include/uapi/linux/videodev2.h +++ b/include/uapi/linux/videodev2.h -@@ -727,6 +727,14 @@ struct v4l2_pix_format { +@@ -721,11 +721,20 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ + #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ + #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ #define V4L2_PIX_FMT_INZI v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */ #define V4L2_PIX_FMT_SUNXI_TILED_NV12 v4l2_fourcc('S', 'T', '1', '2') /* Sunxi Tiled NV12 Format */ #define V4L2_PIX_FMT_CNF4 v4l2_fourcc('C', 'N', 'F', '4') /* Intel 4-bit packed depth confidence information */ @@ -155,5 +192,5 @@ index 530638dffd93..d7c85713e32c 100644 /* 10bit raw bayer packed, 32 bytes for every 25 pixels, last LSB 6 bits unused */ #define V4L2_PIX_FMT_IPU3_SBGGR10 v4l2_fourcc('i', 'p', '3', 'b') /* IPU3 packed 10-bit BGGR bayer */ -- -2.17.1 +2.37.1 diff --git a/scripts/realsense-camera-formats-bionic-master.patch b/scripts/realsense-camera-formats-bionic-master.patch index 06f5303bdf..9374212eaf 100644 --- a/scripts/realsense-camera-formats-bionic-master.patch +++ b/scripts/realsense-camera-formats-bionic-master.patch @@ -1,20 +1,20 @@ -From ee8d2d09ab3492665a8ca5fb7fb6727a279392b2 Mon Sep 17 00:00:00 2001 -From: Evgeni -From: icarpis -Date: Sun, 13 May 2018 10:37:44 -0400 -Subject: [PATCH] Streaming formats for Ubuntu 18.04 (Bionic Beaver), Kernel 4.15 +From e80a0fe1bc32f14242731cd03ed28a2f41b425ea Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Sun, 21 Aug 2022 14:59:42 +0300 +Subject: [PATCH] Streaming formats for Ubuntu 18.04 (Bionic Beaver), Kernel + 4.15 -Signed-off-by: Evgeni Raikhel +Signed-off-by: Dmitry Perchanov --- drivers/media/usb/uvc/Makefile | 1 + - drivers/media/usb/uvc/uvc_driver.c | 37 ++++++++++++++++++++++++++++ - drivers/media/usb/uvc/uvcvideo.h | 22 +++++++++++++++++ - drivers/media/v4l2-core/v4l2-ioctl.c | 3 +++ - include/uapi/linux/videodev2.h | 3 +++ - 5 files changed, 66 insertions(+) + drivers/media/usb/uvc/uvc_driver.c | 62 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 37 +++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 9 ++++ + include/uapi/linux/videodev2.h | 9 ++++ + 5 files changed, 118 insertions(+) diff --git a/drivers/media/usb/uvc/Makefile b/drivers/media/usb/uvc/Makefile -index a4fe5b5d5..cb5ee0955 100644 +index a4fe5b5d533f..cb5ee0955b5e 100644 --- a/drivers/media/usb/uvc/Makefile +++ b/drivers/media/usb/uvc/Makefile @@ -1,4 +1,5 @@ @@ -24,12 +24,24 @@ index a4fe5b5d5..cb5ee0955 100644 uvc_status.o uvc_isight.o uvc_debugfs.o ifeq ($(CONFIG_MEDIA_CONTROLLER),y) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 28b91b7d7..f50a2b148 100644 +index 977a42918629..48470748394d 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -208,6 +208,63 @@ static struct uvc_format_desc uvc_fmts[] = { - .guid = UVC_GUID_FORMAT_INZI, - .fcc = V4L2_PIX_FMT_INZI, +@@ -158,6 +158,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -208,6 +213,63 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_HEVC, + .fcc = V4L2_PIX_FMT_HEVC, }, + { + .name = "Luminosity data 8-bit (L8)", @@ -89,16 +101,26 @@ index 28b91b7d7..f50a2b148 100644 + .fcc = V4L2_PIX_FMT_PAIR, + }, }; - + /* ------------------------------------------------------------------------ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h -index 05398784d..8c99aabef 100644 +index 0a9bd98b4277..16abd30354e8 100644 --- a/drivers/media/usb/uvc/uvcvideo.h +++ b/drivers/media/usb/uvc/uvcvideo.h -@@ -156,6 +156,40 @@ +@@ -138,6 +138,9 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -156,6 +159,40 @@ #define UVC_GUID_FORMAT_HEVC \ - { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ - 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_L8 \ + { '2', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} @@ -133,14 +155,22 @@ index 05398784d..8c99aabef 100644 + #define UVC_GUID_FORMAT_PAIR \ + { 'P', 'A', 'I', 'R', 0x36, 0x85, 0x41, 0x48, \ + 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8} - + /* ------------------------------------------------------------------------ * Driver specific constants. diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c -index 89e0878ce..c422d70a2 100644 +index 5ee5795dbe8c..547c4235bf15 100644 --- a/drivers/media/v4l2-core/v4l2-ioctl.c +++ b/drivers/media/v4l2-core/v4l2-ioctl.c -@@ -1248,6 +1248,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) +@@ -1151,6 +1151,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_Y10BPACK: descr = "10-bit Greyscale (Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_PAL8: descr = "8-bit Palette"; break; +@@ -1248,6 +1249,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) case V4L2_TCH_FMT_TU08: descr = "8-bit unsigned touch data"; break; case V4L2_META_FMT_VSP1_HGO: descr = "R-Car VSP1 1-D Histogram"; break; case V4L2_META_FMT_VSP1_HGT: descr = "R-Car VSP1 2-D Histogram"; break; @@ -152,14 +182,18 @@ index 89e0878ce..c422d70a2 100644 + case V4L2_PIX_FMT_INZC: descr = "Planar Depth/Confidence (INZC)"; break; + case V4L2_PIX_FMT_PAIR: descr = "Relative IR (PAIR)"; break; + case V4L2_PIX_FMT_Z16H: descr = "Z16 Huffman Compression"; break; - + default: /* Compressed formats */ diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h -index 1c095b5a9..3e20f2b8a 100644 +index f1ed70857076..9cf19fc581b5 100644 --- a/include/uapi/linux/videodev2.h +++ b/include/uapi/linux/videodev2.h -@@ -679,6 +679,14 @@ struct v4l2_pix_format { +@@ -676,9 +676,18 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ #define V4L2_PIX_FMT_INZI v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */ @@ -171,8 +205,9 @@ index 1c095b5a9..3e20f2b8a 100644 +#define V4L2_PIX_FMT_INZC v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */ +#define V4L2_PIX_FMT_PAIR v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */ +#define V4L2_PIX_FMT_Z16H v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/ - + /* SDR formats - used only for Software Defined Radio devices */ #define V4L2_SDR_FMT_CU8 v4l2_fourcc('C', 'U', '0', '8') /* IQ u8 */ --- -2.17.0 +-- +2.37.1 + diff --git a/scripts/realsense-camera-formats-focal-hwe-5.11.patch b/scripts/realsense-camera-formats-focal-hwe-5.11.patch index f1bac7931f..00d16ebae4 100644 --- a/scripts/realsense-camera-formats-focal-hwe-5.11.patch +++ b/scripts/realsense-camera-formats-focal-hwe-5.11.patch @@ -1,14 +1,34 @@ -From f8b9d58e03e42f45e4b5d85c18e70bfa6b08ec94 Mon Sep 17 00:00:00 2001 -From: Kevin -Date: Sat, 4 Sep 2021 00:41:14 +0200 -Subject: [PATCH] Streaming formats for Ubuntu 20.04. Kernel 5.11 +From 0c44e50ca7f94124a0701d24aea3032e759542cd Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Wed, 3 Aug 2022 11:39:15 +0300 +Subject: [PATCH] Streaming formats for Ubuntu 20.04. Kernel 5.11 Origin: From: + Kevin +Signed-off-by: Dmitry Perchanov +--- + drivers/media/usb/uvc/uvc_driver.c | 57 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 34 +++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 9 +++++ + include/uapi/linux/videodev2.h | 9 +++++ + 4 files changed, 109 insertions(+) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 282f3d2388cc..85765f82b430 100644 +index 282f3d2388cc..ccd31259f295 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -219,6 +219,58 @@ static struct uvc_format_desc uvc_fmts[] = { +@@ -164,6 +164,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -219,6 +224,58 @@ static struct uvc_format_desc uvc_fmts[] = { .guid = UVC_GUID_FORMAT_HEVC, .fcc = V4L2_PIX_FMT_HEVC, }, @@ -68,15 +88,20 @@ index 282f3d2388cc..85765f82b430 100644 /* ------------------------------------------------------------------------ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h -index a3dfacf069c4..e837e1a6d7d1 100644 +index a3dfacf069c4..ced37a11a176 100644 --- a/drivers/media/usb/uvc/uvcvideo.h +++ b/drivers/media/usb/uvc/uvcvideo.h -@@ -164,11 +164,41 @@ - #define UVC_GUID_FORMAT_KSMEDIA_L8_IR \ - {0x32, 0x00, 0x00, 0x00, 0x02, 0x00, 0x10, 0x00, \ +@@ -139,6 +139,9 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -- - #define UVC_GUID_FORMAT_HEVC \ ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -169,6 +172,37 @@ { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} @@ -115,10 +140,18 @@ index a3dfacf069c4..e837e1a6d7d1 100644 /* ------------------------------------------------------------------------ * Driver specific constants. diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c -index 9906b41004e9..4fd8957556b1 100644 +index 5d8b103b0570..d8082f56cd3f 100644 --- a/drivers/media/v4l2-core/v4l2-ioctl.c +++ b/drivers/media/v4l2-core/v4l2-ioctl.c -@@ -1405,6 +1405,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) +@@ -1286,6 +1286,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_Y10P: descr = "10-bit Greyscale (MIPI Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break; +@@ -1405,6 +1406,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) case V4L2_META_FMT_VIVID: descr = "Vivid Metadata"; break; case V4L2_META_FMT_RK_ISP1_PARAMS: descr = "Rockchip ISP1 3A Parameters"; break; case V4L2_META_FMT_RK_ISP1_STAT_3A: descr = "Rockchip ISP1 3A Statistics"; break; @@ -134,10 +167,17 @@ index 9906b41004e9..4fd8957556b1 100644 default: /* Compressed formats */ diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h -index 79dbde3bcf8d..47d8945e5ac2 100644 +index 79dbde3bcf8d..ec4256c0dd62 100644 --- a/include/uapi/linux/videodev2.h +++ b/include/uapi/linux/videodev2.h -@@ -735,6 +735,14 @@ struct v4l2_pix_format { +@@ -729,12 +729,21 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ + #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ + #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ + #define V4L2_PIX_FMT_INZI v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */ #define V4L2_PIX_FMT_SUNXI_TILED_NV12 v4l2_fourcc('S', 'T', '1', '2') /* Sunxi Tiled NV12 Format */ #define V4L2_PIX_FMT_CNF4 v4l2_fourcc('C', 'N', 'F', '4') /* Intel 4-bit packed depth confidence information */ #define V4L2_PIX_FMT_HI240 v4l2_fourcc('H', 'I', '2', '4') /* BTTV 8-bit dithered RGB */ @@ -152,3 +192,6 @@ index 79dbde3bcf8d..47d8945e5ac2 100644 /* 10bit raw bayer packed, 32 bytes for every 25 pixels, last LSB 6 bits unused */ #define V4L2_PIX_FMT_IPU3_SBGGR10 v4l2_fourcc('i', 'p', '3', 'b') /* IPU3 packed 10-bit BGGR bayer */ +-- +2.37.1 + diff --git a/scripts/realsense-camera-formats-focal-hwe-5.13.patch b/scripts/realsense-camera-formats-focal-hwe-5.13.patch new file mode 100644 index 0000000000..1c66c55cfa --- /dev/null +++ b/scripts/realsense-camera-formats-focal-hwe-5.13.patch @@ -0,0 +1,198 @@ +From 61f6a00523acb55e9c1780bdba5ef9a2b120162d Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Thu, 1 Sep 2022 18:09:21 +0300 +Subject: [PATCH] Streaming formats for Ubuntu 20.04 (focal). Kernel 5.13 + +Author: Yu MENG + +Signed-off-by: Dmitry Perchanov +--- + drivers/media/usb/uvc/uvc_driver.c | 57 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 34 +++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 9 +++++ + include/uapi/linux/videodev2.h | 9 +++++ + 4 files changed, 109 insertions(+) + +diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c +index 9a791d8ef200..205d524128da 100644 +--- a/drivers/media/usb/uvc/uvc_driver.c ++++ b/drivers/media/usb/uvc/uvc_driver.c +@@ -165,6 +165,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -220,6 +225,58 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_HEVC, + .fcc = V4L2_PIX_FMT_HEVC, + }, ++ { ++ .name = "Depth data 16-bit (D16)", ++ .guid = UVC_GUID_FORMAT_D16, ++ .fcc = V4L2_PIX_FMT_Z16, ++ }, ++ { ++ .name = "Packed raw data 10-bit", ++ .guid = UVC_GUID_FORMAT_W10, ++ .fcc = V4L2_PIX_FMT_W10, ++ }, ++ { ++ .name = "Confidence data (C )", ++ .guid = UVC_GUID_FORMAT_CONFIDENCE_MAP, ++ .fcc = V4L2_PIX_FMT_CONFIDENCE_MAP, ++ }, ++ /* FishEye 8-bit monochrome */ ++ { ++ .name = "Raw data 8-bit (RAW8)", ++ .guid = UVC_GUID_FORMAT_RAW8, ++ .fcc = V4L2_PIX_FMT_GREY, ++ }, ++ /* Legacy formats for backward-compatibility*/ ++ { ++ .name = "Raw data 16-bit (RW16)", ++ .guid = UVC_GUID_FORMAT_RW16, ++ .fcc = V4L2_PIX_FMT_RW16, ++ }, ++ { ++ .name = "16-bit Bayer BGBG/GRGR", ++ .guid = UVC_GUID_FORMAT_BAYER16, ++ .fcc = V4L2_PIX_FMT_SBGGR16, ++ }, ++ { ++ .name = "Z16 Huffman Compression", ++ .guid = UVC_GUID_FORMAT_Z16H, ++ .fcc = V4L2_PIX_FMT_Z16H, ++ }, ++ { ++ .name = "Frame Grabber (FG )", ++ .guid = UVC_GUID_FORMAT_FG, ++ .fcc = V4L2_PIX_FMT_FG, ++ }, ++ { ++ .name = "SR300 Depth/Confidence (INZC)", ++ .guid = UVC_GUID_FORMAT_INZC, ++ .fcc = V4L2_PIX_FMT_INZC, ++ }, ++ { ++ .name = "Relative IR (PAIR)", ++ .guid = UVC_GUID_FORMAT_PAIR, ++ .fcc = V4L2_PIX_FMT_PAIR, ++ }, + }; + + /* ------------------------------------------------------------------------ +diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h +index c3ea6a53869f..3a551e3fa262 100644 +--- a/drivers/media/usb/uvc/uvcvideo.h ++++ b/drivers/media/usb/uvc/uvcvideo.h +@@ -145,6 +145,9 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -175,6 +178,37 @@ + { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + ++ #define UVC_GUID_FORMAT_D16 \ ++ { 'P', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_W10 \ ++ { 'W', '1', '0', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_RAW8 \ ++ { 'R', 'A', 'W', '8', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++ #define UVC_GUID_FORMAT_CONFIDENCE_MAP \ ++ { 'C', ' ', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ /* Legacy formats */ ++ #define UVC_GUID_FORMAT_RW16 \ ++ { 'R', 'W', '1', '6', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_BAYER16 \ ++ { 'R', 'W', '1', '6', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++ #define UVC_GUID_FORMAT_Z16H \ ++ { 'Z', '1', '6', 'H', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_FG \ ++ { 'F', 'G', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_INZC \ ++ { 'I', 'N', 'Z', 'C', 0x02, 0xb6, 0x0f, 0x48, \ ++ 0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89} ++ #define UVC_GUID_FORMAT_PAIR \ ++ { 'P', 'A', 'I', 'R', 0x36, 0x85, 0x41, 0x48, \ ++ 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8} + + /* ------------------------------------------------------------------------ + * Driver specific constants. +diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c +index dcc33eef6d71..c9f8896814ae 100644 +--- a/drivers/media/v4l2-core/v4l2-ioctl.c ++++ b/drivers/media/v4l2-core/v4l2-ioctl.c +@@ -1265,6 +1265,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_Y10P: descr = "10-bit Greyscale (MIPI Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break; +@@ -1385,6 +1386,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_META_FMT_VIVID: descr = "Vivid Metadata"; break; + case V4L2_META_FMT_RK_ISP1_PARAMS: descr = "Rockchip ISP1 3A Parameters"; break; + case V4L2_META_FMT_RK_ISP1_STAT_3A: descr = "Rockchip ISP1 3A Statistics"; break; ++ /* Librealsense formats*/ ++ case V4L2_PIX_FMT_RW16: descr = "16-bit Raw data"; break; ++ case V4L2_PIX_FMT_W10: descr = "10-bit packed 8888[2222]"; break; ++ case V4L2_PIX_FMT_CONFIDENCE_MAP: descr = "Packed [44] confidence data"; break; ++ case V4L2_PIX_FMT_FG: descr = "Frame Grabber (FG )"; break; ++ case V4L2_PIX_FMT_INZC: descr = "Planar Depth/Confidence (INZC)"; break; ++ case V4L2_PIX_FMT_PAIR: descr = "Relative IR (PAIR)"; break; ++ case V4L2_PIX_FMT_Z16H: descr = "Z16 Huffman Compression"; break; + + default: + /* Compressed formats */ +diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h +index 311a01cc5775..467b895a71f1 100644 +--- a/include/uapi/linux/videodev2.h ++++ b/include/uapi/linux/videodev2.h +@@ -731,12 +731,21 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ + #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ + #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ + #define V4L2_PIX_FMT_INZI v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */ + #define V4L2_PIX_FMT_SUNXI_TILED_NV12 v4l2_fourcc('S', 'T', '1', '2') /* Sunxi Tiled NV12 Format */ + #define V4L2_PIX_FMT_CNF4 v4l2_fourcc('C', 'N', 'F', '4') /* Intel 4-bit packed depth confidence information */ + #define V4L2_PIX_FMT_HI240 v4l2_fourcc('H', 'I', '2', '4') /* BTTV 8-bit dithered RGB */ ++#define V4L2_PIX_FMT_RW16 v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */ ++#define V4L2_PIX_FMT_W10 v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */ ++#define V4L2_PIX_FMT_CONFIDENCE_MAP v4l2_fourcc('C', ' ', ' ', ' ') /* Two pixels in one byte */ ++/* Librealsense development*/ ++#define V4L2_PIX_FMT_FG v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */ ++#define V4L2_PIX_FMT_INZC v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */ ++#define V4L2_PIX_FMT_PAIR v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */ ++#define V4L2_PIX_FMT_Z16H v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/ + + /* 10bit raw bayer packed, 32 bytes for every 25 pixels, last LSB 6 bits unused */ + #define V4L2_PIX_FMT_IPU3_SBGGR10 v4l2_fourcc('i', 'p', '3', 'b') /* IPU3 packed 10-bit BGGR bayer */ +-- +2.37.1 + diff --git a/scripts/realsense-camera-formats-focal-hwe-5.15.patch b/scripts/realsense-camera-formats-focal-hwe-5.15.patch new file mode 100644 index 0000000000..ad3eff53e5 --- /dev/null +++ b/scripts/realsense-camera-formats-focal-hwe-5.15.patch @@ -0,0 +1,198 @@ +From 9fc6c15c8f7b3fc70740d121bb86a0b2ee88a339 Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Thu, 1 Sep 2022 18:04:31 +0300 +Subject: [PATCH] Streaming formats for Ubuntu 20.04 (focal). Kernel 5.15 + +Author: Yu MENG + +Signed-off-by: Dmitry Perchanov +--- + drivers/media/usb/uvc/uvc_driver.c | 57 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 34 +++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 9 +++++ + include/uapi/linux/videodev2.h | 9 +++++ + 4 files changed, 109 insertions(+) + +diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c +index 9a791d8ef200..205d524128da 100644 +--- a/drivers/media/usb/uvc/uvc_driver.c ++++ b/drivers/media/usb/uvc/uvc_driver.c +@@ -165,6 +165,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -220,6 +225,58 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_HEVC, + .fcc = V4L2_PIX_FMT_HEVC, + }, ++ { ++ .name = "Depth data 16-bit (D16)", ++ .guid = UVC_GUID_FORMAT_D16, ++ .fcc = V4L2_PIX_FMT_Z16, ++ }, ++ { ++ .name = "Packed raw data 10-bit", ++ .guid = UVC_GUID_FORMAT_W10, ++ .fcc = V4L2_PIX_FMT_W10, ++ }, ++ { ++ .name = "Confidence data (C )", ++ .guid = UVC_GUID_FORMAT_CONFIDENCE_MAP, ++ .fcc = V4L2_PIX_FMT_CONFIDENCE_MAP, ++ }, ++ /* FishEye 8-bit monochrome */ ++ { ++ .name = "Raw data 8-bit (RAW8)", ++ .guid = UVC_GUID_FORMAT_RAW8, ++ .fcc = V4L2_PIX_FMT_GREY, ++ }, ++ /* Legacy formats for backward-compatibility*/ ++ { ++ .name = "Raw data 16-bit (RW16)", ++ .guid = UVC_GUID_FORMAT_RW16, ++ .fcc = V4L2_PIX_FMT_RW16, ++ }, ++ { ++ .name = "16-bit Bayer BGBG/GRGR", ++ .guid = UVC_GUID_FORMAT_BAYER16, ++ .fcc = V4L2_PIX_FMT_SBGGR16, ++ }, ++ { ++ .name = "Z16 Huffman Compression", ++ .guid = UVC_GUID_FORMAT_Z16H, ++ .fcc = V4L2_PIX_FMT_Z16H, ++ }, ++ { ++ .name = "Frame Grabber (FG )", ++ .guid = UVC_GUID_FORMAT_FG, ++ .fcc = V4L2_PIX_FMT_FG, ++ }, ++ { ++ .name = "SR300 Depth/Confidence (INZC)", ++ .guid = UVC_GUID_FORMAT_INZC, ++ .fcc = V4L2_PIX_FMT_INZC, ++ }, ++ { ++ .name = "Relative IR (PAIR)", ++ .guid = UVC_GUID_FORMAT_PAIR, ++ .fcc = V4L2_PIX_FMT_PAIR, ++ }, + }; + + /* ------------------------------------------------------------------------ +diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h +index c3ea6a53869f..3a551e3fa262 100644 +--- a/drivers/media/usb/uvc/uvcvideo.h ++++ b/drivers/media/usb/uvc/uvcvideo.h +@@ -145,6 +145,9 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -175,6 +178,37 @@ + { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + ++ #define UVC_GUID_FORMAT_D16 \ ++ { 'P', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_W10 \ ++ { 'W', '1', '0', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_RAW8 \ ++ { 'R', 'A', 'W', '8', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++ #define UVC_GUID_FORMAT_CONFIDENCE_MAP \ ++ { 'C', ' ', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ /* Legacy formats */ ++ #define UVC_GUID_FORMAT_RW16 \ ++ { 'R', 'W', '1', '6', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_BAYER16 \ ++ { 'R', 'W', '1', '6', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++ #define UVC_GUID_FORMAT_Z16H \ ++ { 'Z', '1', '6', 'H', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_FG \ ++ { 'F', 'G', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_INZC \ ++ { 'I', 'N', 'Z', 'C', 0x02, 0xb6, 0x0f, 0x48, \ ++ 0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89} ++ #define UVC_GUID_FORMAT_PAIR \ ++ { 'P', 'A', 'I', 'R', 0x36, 0x85, 0x41, 0x48, \ ++ 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8} + + /* ------------------------------------------------------------------------ + * Driver specific constants. +diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c +index 7c596a85f34f..7c36ba1bb35a 100644 +--- a/drivers/media/v4l2-core/v4l2-ioctl.c ++++ b/drivers/media/v4l2-core/v4l2-ioctl.c +@@ -1267,6 +1267,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_Y10P: descr = "10-bit Greyscale (MIPI Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break; +@@ -1387,6 +1388,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_META_FMT_VIVID: descr = "Vivid Metadata"; break; + case V4L2_META_FMT_RK_ISP1_PARAMS: descr = "Rockchip ISP1 3A Parameters"; break; + case V4L2_META_FMT_RK_ISP1_STAT_3A: descr = "Rockchip ISP1 3A Statistics"; break; ++ /* Librealsense formats*/ ++ case V4L2_PIX_FMT_RW16: descr = "16-bit Raw data"; break; ++ case V4L2_PIX_FMT_W10: descr = "10-bit packed 8888[2222]"; break; ++ case V4L2_PIX_FMT_CONFIDENCE_MAP: descr = "Packed [44] confidence data"; break; ++ case V4L2_PIX_FMT_FG: descr = "Frame Grabber (FG )"; break; ++ case V4L2_PIX_FMT_INZC: descr = "Planar Depth/Confidence (INZC)"; break; ++ case V4L2_PIX_FMT_PAIR: descr = "Relative IR (PAIR)"; break; ++ case V4L2_PIX_FMT_Z16H: descr = "Z16 Huffman Compression"; break; + + default: + /* Compressed formats */ +diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h +index 9260791b8438..fd50e9c34a0e 100644 +--- a/include/uapi/linux/videodev2.h ++++ b/include/uapi/linux/videodev2.h +@@ -731,12 +731,21 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ + #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ + #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ + #define V4L2_PIX_FMT_INZI v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */ + #define V4L2_PIX_FMT_SUNXI_TILED_NV12 v4l2_fourcc('S', 'T', '1', '2') /* Sunxi Tiled NV12 Format */ + #define V4L2_PIX_FMT_CNF4 v4l2_fourcc('C', 'N', 'F', '4') /* Intel 4-bit packed depth confidence information */ + #define V4L2_PIX_FMT_HI240 v4l2_fourcc('H', 'I', '2', '4') /* BTTV 8-bit dithered RGB */ ++#define V4L2_PIX_FMT_RW16 v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */ ++#define V4L2_PIX_FMT_W10 v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */ ++#define V4L2_PIX_FMT_CONFIDENCE_MAP v4l2_fourcc('C', ' ', ' ', ' ') /* Two pixels in one byte */ ++/* Librealsense development*/ ++#define V4L2_PIX_FMT_FG v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */ ++#define V4L2_PIX_FMT_INZC v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */ ++#define V4L2_PIX_FMT_PAIR v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */ ++#define V4L2_PIX_FMT_Z16H v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/ + + /* 10bit raw bayer packed, 32 bytes for every 25 pixels, last LSB 6 bits unused */ + #define V4L2_PIX_FMT_IPU3_SBGGR10 v4l2_fourcc('i', 'p', '3', 'b') /* IPU3 packed 10-bit BGGR bayer */ +-- +2.37.1 + diff --git a/scripts/realsense-camera-formats-focal-hwe-5.8.patch b/scripts/realsense-camera-formats-focal-hwe-5.8.patch index b0b885655f..028f5950f7 100644 --- a/scripts/realsense-camera-formats-focal-hwe-5.8.patch +++ b/scripts/realsense-camera-formats-focal-hwe-5.8.patch @@ -1,23 +1,35 @@ +From 220ef83ed573ec29ec87b8501046e6e6cf93f202 Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Wed, 3 Aug 2022 11:53:47 +0300 Subject: [PATCH] Streaming formats for Ubuntu 20.04. Kernel 5.8 -From 120e2ef648e5f906555407ff7265ce729fc6d503 Mon Sep 17 00:00:00 2001 -From: Evgeni Raikhel -Signed-off-by: Evgeni Raikhel -Date: Mon, 10 Apr 2021 19:21:14 +0200 +Signed-off-by: Dmitry Perchanov --- - drivers/media/usb/uvc/uvc_driver.c | 37 ++++++++++++++++++++++++++++ - drivers/media/usb/uvc/uvcvideo.h | 22 +++++++++++++++++ - drivers/media/v4l2-core/v4l2-ioctl.c | 8 ++++++ - include/uapi/linux/videodev2.h | 8 ++++++ - 4 files changed, 75 insertions(+) + drivers/media/usb/uvc/uvc_driver.c | 57 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 34 +++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 9 +++++ + include/uapi/linux/videodev2.h | 9 +++++ + 4 files changed, 109 insertions(+) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 99883550375e..443ecea63bd8 100644 +index 6efa73512194..52712c6b5eb4 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -219,6 +219,58 @@ static struct uvc_format_desc uvc_fmts[] = { - .guid = UVC_GUID_FORMAT_CNF4, - .fcc = V4L2_PIX_FMT_CNF4, +@@ -164,6 +164,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -219,6 +224,58 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_HEVC, + .fcc = V4L2_PIX_FMT_HEVC, }, + { + .name = "Depth data 16-bit (D16)", @@ -75,55 +87,73 @@ index 99883550375e..443ecea63bd8 100644 /* ------------------------------------------------------------------------ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h -index 24e3d8c647e7..1aa8493a24d1 100644 +index c7f043121b41..edeaec307953 100644 --- a/drivers/media/usb/uvc/uvcvideo.h +++ b/drivers/media/usb/uvc/uvcvideo.h -@@ -169,6 +169,37 @@ - {0x32, 0x00, 0x00, 0x00, 0x02, 0x00, 0x10, 0x00, \ +@@ -139,6 +139,9 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -169,6 +172,37 @@ + { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_D16 \ ++#define UVC_GUID_FORMAT_D16 \ + { 'P', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_W10 \ ++#define UVC_GUID_FORMAT_W10 \ + { 'W', '1', '0', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_RAW8 \ ++#define UVC_GUID_FORMAT_RAW8 \ + { 'R', 'A', 'W', '8', 0x66, 0x1a, 0x42, 0xa2, \ + 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} -+ #define UVC_GUID_FORMAT_CONFIDENCE_MAP \ ++#define UVC_GUID_FORMAT_CONFIDENCE_MAP \ + { 'C', ' ', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ /* Legacy formats */ -+ #define UVC_GUID_FORMAT_RW16 \ ++/* Legacy formats */ ++#define UVC_GUID_FORMAT_RW16 \ + { 'R', 'W', '1', '6', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_BAYER16 \ ++#define UVC_GUID_FORMAT_BAYER16 \ + { 'R', 'W', '1', '6', 0x66, 0x1a, 0x42, 0xa2, \ + 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} -+ #define UVC_GUID_FORMAT_Z16H \ ++#define UVC_GUID_FORMAT_Z16H \ + { 'Z', '1', '6', 'H', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_FG \ ++#define UVC_GUID_FORMAT_FG \ + { 'F', 'G', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_INZC \ ++#define UVC_GUID_FORMAT_INZC \ + { 'I', 'N', 'Z', 'C', 0x02, 0xb6, 0x0f, 0x48, \ + 0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89} -+ #define UVC_GUID_FORMAT_PAIR \ ++#define UVC_GUID_FORMAT_PAIR \ + { 'P', 'A', 'I', 'R', 0x36, 0x85, 0x41, 0x48, \ + 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8} /* ------------------------------------------------------------------------ * Driver specific constants. diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c -index 58868d7129eb..c29033b8439c 100644 +index 89a981d8188c..8dbccd126e43 100644 --- a/drivers/media/v4l2-core/v4l2-ioctl.c +++ b/drivers/media/v4l2-core/v4l2-ioctl.c -@@ -1398,6 +1398,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) +@@ -1281,6 +1281,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_Y10P: descr = "10-bit Greyscale (MIPI Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break; +@@ -1398,6 +1399,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) case V4L2_META_FMT_UVC: descr = "UVC Payload Header Metadata"; break; - case V4L2_META_FMT_D4XX: descr = "Intel D4xx UVC Metadata"; break; - case V4L2_META_FMT_VIVID: descr = "Vivid Metadata"; break; + case V4L2_META_FMT_D4XX: descr = "Intel D4xx UVC Metadata"; break; + case V4L2_META_FMT_VIVID: descr = "Vivid Metadata"; break; + /* Librealsense formats*/ + case V4L2_PIX_FMT_RW16: descr = "16-bit Raw data"; break; + case V4L2_PIX_FMT_W10: descr = "10-bit packed 8888[2222]"; break; @@ -136,10 +166,16 @@ index 58868d7129eb..c29033b8439c 100644 default: /* Compressed formats */ diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h -index 530638dffd93..d7c85713e32c 100644 +index dd2f95c32e73..a37d09b83703 100644 --- a/include/uapi/linux/videodev2.h +++ b/include/uapi/linux/videodev2.h -@@ -738,6 +738,14 @@ struct v4l2_pix_format { +@@ -733,11 +733,20 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ + #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ + #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ #define V4L2_PIX_FMT_INZI v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */ #define V4L2_PIX_FMT_SUNXI_TILED_NV12 v4l2_fourcc('S', 'T', '1', '2') /* Sunxi Tiled NV12 Format */ #define V4L2_PIX_FMT_CNF4 v4l2_fourcc('C', 'N', 'F', '4') /* Intel 4-bit packed depth confidence information */ @@ -155,5 +191,5 @@ index 530638dffd93..d7c85713e32c 100644 /* 10bit raw bayer packed, 32 bytes for every 25 pixels, last LSB 6 bits unused */ #define V4L2_PIX_FMT_IPU3_SBGGR10 v4l2_fourcc('i', 'p', '3', 'b') /* IPU3 packed 10-bit BGGR bayer */ -- -2.17.1 +2.37.1 diff --git a/scripts/realsense-camera-formats-focal-master.patch b/scripts/realsense-camera-formats-focal-master.patch index 8ff15bd21d..76fdc2f7b8 100644 --- a/scripts/realsense-camera-formats-focal-master.patch +++ b/scripts/realsense-camera-formats-focal-master.patch @@ -1,23 +1,35 @@ +From 94ab8102528390f53066516914f86bbf10115b0e Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Wed, 3 Aug 2022 12:05:20 +0300 Subject: [PATCH] Streaming formats for Ubuntu 20.04. Kernel 5.4 -From 120e2ef648e5f906555407ff7265ce729fc6d503 Mon Sep 17 00:00:00 2001 -From: Evgeni Raikhel -Signed-off-by: Evgeni Raikhel -Date: Mon, 24 Jun 2019 10:25:39 +0300 +Signed-off-by: Dmitry Perchanov --- - drivers/media/usb/uvc/uvc_driver.c | 37 ++++++++++++++++++++++++++++ - drivers/media/usb/uvc/uvcvideo.h | 22 +++++++++++++++++ - drivers/media/v4l2-core/v4l2-ioctl.c | 8 ++++++ - include/uapi/linux/videodev2.h | 8 ++++++ - 4 files changed, 75 insertions(+) + drivers/media/usb/uvc/uvc_driver.c | 57 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 34 +++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 9 +++++ + include/uapi/linux/videodev2.h | 9 +++++ + 4 files changed, 109 insertions(+) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 99883550375e..443ecea63bd8 100644 +index 3be9bc97f8b6..38decd79331b 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -214,6 +214,58 @@ static struct uvc_format_desc uvc_fmts[] = { - .guid = UVC_GUID_FORMAT_CNF4, - .fcc = V4L2_PIX_FMT_CNF4, +@@ -164,6 +164,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -219,6 +224,58 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_HEVC, + .fcc = V4L2_PIX_FMT_HEVC, }, + { + .name = "Depth data 16-bit (D16)", @@ -75,52 +87,70 @@ index 99883550375e..443ecea63bd8 100644 /* ------------------------------------------------------------------------ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h -index 24e3d8c647e7..1aa8493a24d1 100644 +index 42dd82ff2e1f..291ef3c4c33d 100644 --- a/drivers/media/usb/uvc/uvcvideo.h +++ b/drivers/media/usb/uvc/uvcvideo.h -@@ -165,6 +165,37 @@ - {0x32, 0x00, 0x00, 0x00, 0x02, 0x00, 0x10, 0x00, \ +@@ -139,6 +139,9 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -169,6 +172,37 @@ + { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_D16 \ ++#define UVC_GUID_FORMAT_D16 \ + { 'P', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_W10 \ ++#define UVC_GUID_FORMAT_W10 \ + { 'W', '1', '0', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_RAW8 \ ++#define UVC_GUID_FORMAT_RAW8 \ + { 'R', 'A', 'W', '8', 0x66, 0x1a, 0x42, 0xa2, \ + 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} -+ #define UVC_GUID_FORMAT_CONFIDENCE_MAP \ ++#define UVC_GUID_FORMAT_CONFIDENCE_MAP \ + { 'C', ' ', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ /* Legacy formats */ -+ #define UVC_GUID_FORMAT_RW16 \ ++/* Legacy formats */ ++#define UVC_GUID_FORMAT_RW16 \ + { 'R', 'W', '1', '6', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_BAYER16 \ ++#define UVC_GUID_FORMAT_BAYER16 \ + { 'R', 'W', '1', '6', 0x66, 0x1a, 0x42, 0xa2, \ + 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} -+ #define UVC_GUID_FORMAT_Z16H \ ++#define UVC_GUID_FORMAT_Z16H \ + { 'Z', '1', '6', 'H', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_FG \ ++#define UVC_GUID_FORMAT_FG \ + { 'F', 'G', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} -+ #define UVC_GUID_FORMAT_INZC \ ++#define UVC_GUID_FORMAT_INZC \ + { 'I', 'N', 'Z', 'C', 0x02, 0xb6, 0x0f, 0x48, \ + 0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89} -+ #define UVC_GUID_FORMAT_PAIR \ ++#define UVC_GUID_FORMAT_PAIR \ + { 'P', 'A', 'I', 'R', 0x36, 0x85, 0x41, 0x48, \ + 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8} /* ------------------------------------------------------------------------ * Driver specific constants. diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c -index 58868d7129eb..c29033b8439c 100644 +index 3012e8ecffb9..6e52eafe8885 100644 --- a/drivers/media/v4l2-core/v4l2-ioctl.c +++ b/drivers/media/v4l2-core/v4l2-ioctl.c -@@ -1330,6 +1330,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) +@@ -1236,6 +1236,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_Y10P: descr = "10-bit Greyscale (MIPI Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break; +@@ -1348,6 +1349,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) case V4L2_META_FMT_VSP1_HGT: descr = "R-Car VSP1 2-D Histogram"; break; case V4L2_META_FMT_UVC: descr = "UVC Payload Header Metadata"; break; case V4L2_META_FMT_D4XX: descr = "Intel D4xx UVC Metadata"; break; @@ -136,10 +166,16 @@ index 58868d7129eb..c29033b8439c 100644 default: /* Compressed formats */ diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h -index 530638dffd93..d7c85713e32c 100644 +index 3210b3c82a4a..cc1c3ef1a981 100644 --- a/include/uapi/linux/videodev2.h +++ b/include/uapi/linux/videodev2.h -@@ -727,6 +727,14 @@ struct v4l2_pix_format { +@@ -721,11 +721,20 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ + #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ + #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ #define V4L2_PIX_FMT_INZI v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */ #define V4L2_PIX_FMT_SUNXI_TILED_NV12 v4l2_fourcc('S', 'T', '1', '2') /* Sunxi Tiled NV12 Format */ #define V4L2_PIX_FMT_CNF4 v4l2_fourcc('C', 'N', 'F', '4') /* Intel 4-bit packed depth confidence information */ @@ -155,5 +191,5 @@ index 530638dffd93..d7c85713e32c 100644 /* 10bit raw bayer packed, 32 bytes for every 25 pixels, last LSB 6 bits unused */ #define V4L2_PIX_FMT_IPU3_SBGGR10 v4l2_fourcc('i', 'p', '3', 'b') /* IPU3 packed 10-bit BGGR bayer */ -- -2.17.1 +2.37.1 diff --git a/scripts/realsense-camera-formats-jammy-master.patch b/scripts/realsense-camera-formats-jammy-master.patch new file mode 100644 index 0000000000..5e1c12f074 --- /dev/null +++ b/scripts/realsense-camera-formats-jammy-master.patch @@ -0,0 +1,198 @@ +From a82c166d13d5ad2b1837e68123f5e25ea81c458e Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Thu, 1 Sep 2022 18:14:43 +0300 +Subject: [PATCH] Streaming formats for Ubuntu 22.04 (jammy). Kernel 5.15 + +Author: Yu MENG + +Signed-off-by: Dmitry Perchanov +--- + drivers/media/usb/uvc/uvc_driver.c | 57 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 34 +++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 9 +++++ + include/uapi/linux/videodev2.h | 9 +++++ + 4 files changed, 109 insertions(+) + +diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c +index 9a791d8ef200..205d524128da 100644 +--- a/drivers/media/usb/uvc/uvc_driver.c ++++ b/drivers/media/usb/uvc/uvc_driver.c +@@ -165,6 +165,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -220,6 +225,58 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_HEVC, + .fcc = V4L2_PIX_FMT_HEVC, + }, ++ { ++ .name = "Depth data 16-bit (D16)", ++ .guid = UVC_GUID_FORMAT_D16, ++ .fcc = V4L2_PIX_FMT_Z16, ++ }, ++ { ++ .name = "Packed raw data 10-bit", ++ .guid = UVC_GUID_FORMAT_W10, ++ .fcc = V4L2_PIX_FMT_W10, ++ }, ++ { ++ .name = "Confidence data (C )", ++ .guid = UVC_GUID_FORMAT_CONFIDENCE_MAP, ++ .fcc = V4L2_PIX_FMT_CONFIDENCE_MAP, ++ }, ++ /* FishEye 8-bit monochrome */ ++ { ++ .name = "Raw data 8-bit (RAW8)", ++ .guid = UVC_GUID_FORMAT_RAW8, ++ .fcc = V4L2_PIX_FMT_GREY, ++ }, ++ /* Legacy formats for backward-compatibility*/ ++ { ++ .name = "Raw data 16-bit (RW16)", ++ .guid = UVC_GUID_FORMAT_RW16, ++ .fcc = V4L2_PIX_FMT_RW16, ++ }, ++ { ++ .name = "16-bit Bayer BGBG/GRGR", ++ .guid = UVC_GUID_FORMAT_BAYER16, ++ .fcc = V4L2_PIX_FMT_SBGGR16, ++ }, ++ { ++ .name = "Z16 Huffman Compression", ++ .guid = UVC_GUID_FORMAT_Z16H, ++ .fcc = V4L2_PIX_FMT_Z16H, ++ }, ++ { ++ .name = "Frame Grabber (FG )", ++ .guid = UVC_GUID_FORMAT_FG, ++ .fcc = V4L2_PIX_FMT_FG, ++ }, ++ { ++ .name = "SR300 Depth/Confidence (INZC)", ++ .guid = UVC_GUID_FORMAT_INZC, ++ .fcc = V4L2_PIX_FMT_INZC, ++ }, ++ { ++ .name = "Relative IR (PAIR)", ++ .guid = UVC_GUID_FORMAT_PAIR, ++ .fcc = V4L2_PIX_FMT_PAIR, ++ }, + }; + + /* ------------------------------------------------------------------------ +diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h +index c3ea6a53869f..3a551e3fa262 100644 +--- a/drivers/media/usb/uvc/uvcvideo.h ++++ b/drivers/media/usb/uvc/uvcvideo.h +@@ -145,6 +145,9 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -175,6 +178,37 @@ + { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + ++ #define UVC_GUID_FORMAT_D16 \ ++ { 'P', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_W10 \ ++ { 'W', '1', '0', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_RAW8 \ ++ { 'R', 'A', 'W', '8', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++ #define UVC_GUID_FORMAT_CONFIDENCE_MAP \ ++ { 'C', ' ', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ /* Legacy formats */ ++ #define UVC_GUID_FORMAT_RW16 \ ++ { 'R', 'W', '1', '6', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_BAYER16 \ ++ { 'R', 'W', '1', '6', 0x66, 0x1a, 0x42, 0xa2, \ ++ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a} ++ #define UVC_GUID_FORMAT_Z16H \ ++ { 'Z', '1', '6', 'H', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_FG \ ++ { 'F', 'G', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++ #define UVC_GUID_FORMAT_INZC \ ++ { 'I', 'N', 'Z', 'C', 0x02, 0xb6, 0x0f, 0x48, \ ++ 0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89} ++ #define UVC_GUID_FORMAT_PAIR \ ++ { 'P', 'A', 'I', 'R', 0x36, 0x85, 0x41, 0x48, \ ++ 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8} + + /* ------------------------------------------------------------------------ + * Driver specific constants. +diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c +index 7c596a85f34f..7c36ba1bb35a 100644 +--- a/drivers/media/v4l2-core/v4l2-ioctl.c ++++ b/drivers/media/v4l2-core/v4l2-ioctl.c +@@ -1267,6 +1267,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_Y10P: descr = "10-bit Greyscale (MIPI Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break; +@@ -1387,6 +1388,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_META_FMT_VIVID: descr = "Vivid Metadata"; break; + case V4L2_META_FMT_RK_ISP1_PARAMS: descr = "Rockchip ISP1 3A Parameters"; break; + case V4L2_META_FMT_RK_ISP1_STAT_3A: descr = "Rockchip ISP1 3A Statistics"; break; ++ /* Librealsense formats*/ ++ case V4L2_PIX_FMT_RW16: descr = "16-bit Raw data"; break; ++ case V4L2_PIX_FMT_W10: descr = "10-bit packed 8888[2222]"; break; ++ case V4L2_PIX_FMT_CONFIDENCE_MAP: descr = "Packed [44] confidence data"; break; ++ case V4L2_PIX_FMT_FG: descr = "Frame Grabber (FG )"; break; ++ case V4L2_PIX_FMT_INZC: descr = "Planar Depth/Confidence (INZC)"; break; ++ case V4L2_PIX_FMT_PAIR: descr = "Relative IR (PAIR)"; break; ++ case V4L2_PIX_FMT_Z16H: descr = "Z16 Huffman Compression"; break; + + default: + /* Compressed formats */ +diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h +index 9260791b8438..fd50e9c34a0e 100644 +--- a/include/uapi/linux/videodev2.h ++++ b/include/uapi/linux/videodev2.h +@@ -731,12 +731,21 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ + #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ + #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ + #define V4L2_PIX_FMT_INZI v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */ + #define V4L2_PIX_FMT_SUNXI_TILED_NV12 v4l2_fourcc('S', 'T', '1', '2') /* Sunxi Tiled NV12 Format */ + #define V4L2_PIX_FMT_CNF4 v4l2_fourcc('C', 'N', 'F', '4') /* Intel 4-bit packed depth confidence information */ + #define V4L2_PIX_FMT_HI240 v4l2_fourcc('H', 'I', '2', '4') /* BTTV 8-bit dithered RGB */ ++#define V4L2_PIX_FMT_RW16 v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */ ++#define V4L2_PIX_FMT_W10 v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */ ++#define V4L2_PIX_FMT_CONFIDENCE_MAP v4l2_fourcc('C', ' ', ' ', ' ') /* Two pixels in one byte */ ++/* Librealsense development*/ ++#define V4L2_PIX_FMT_FG v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */ ++#define V4L2_PIX_FMT_INZC v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */ ++#define V4L2_PIX_FMT_PAIR v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */ ++#define V4L2_PIX_FMT_Z16H v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/ + + /* 10bit raw bayer packed, 32 bytes for every 25 pixels, last LSB 6 bits unused */ + #define V4L2_PIX_FMT_IPU3_SBGGR10 v4l2_fourcc('i', 'p', '3', 'b') /* IPU3 packed 10-bit BGGR bayer */ +-- +2.37.1 + diff --git a/scripts/realsense-camera-formats-xenial-hwe-zesty.patch b/scripts/realsense-camera-formats-xenial-hwe-zesty.patch index 2ad52d861e..14da7e3e61 100644 --- a/scripts/realsense-camera-formats-xenial-hwe-zesty.patch +++ b/scripts/realsense-camera-formats-xenial-hwe-zesty.patch @@ -1,22 +1,34 @@ -From ceb29b08b480a2a6a5e9dccf396a284378268037 Mon Sep 17 00:00:00 2001 -From: aangerma -From: Evgeni Raikhel -From: icarpis -Date: Thu, 30 Aug 2018 16:07:01 +0300 -Subject: [PATCH] Register realsense development formats. Kernel 4.10 +From 27e4e53acd1e4e4175bd2f4a5bc9ed19024d3113 Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Sun, 21 Aug 2022 15:57:47 +0300 +Subject: [PATCH] Register realsense development formats. Xenial hwe-zesty, + Kernel 4.10 +Signed-off-by: Dmitry Perchanov --- - drivers/media/usb/uvc/uvc_driver.c | 82 ++++++++++++++++++++++++++++++++++++ - drivers/media/usb/uvc/uvcvideo.h | 42 ++++++++++++++++++ - drivers/media/v4l2-core/v4l2-ioctl.c | 8 +++- - include/uapi/linux/videodev2.h | 11 ++++- - 4 files changed, 141 insertions(+), 2 deletions(-) + drivers/media/usb/uvc/uvc_driver.c | 92 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 48 +++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 10 ++- + include/uapi/linux/videodev2.h | 13 +++- + 4 files changed, 161 insertions(+), 2 deletions(-) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 04bf350..bb8fefb 100644 +index 04bf35063c4c..c79677e15658 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -188,6 +188,93 @@ static struct uvc_format_desc uvc_fmts[] = { +@@ -158,6 +158,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -188,6 +193,93 @@ static struct uvc_format_desc uvc_fmts[] = { .guid = UVC_GUID_FORMAT_GR16, .fcc = V4L2_PIX_FMT_SGRBG16, }, @@ -111,10 +123,19 @@ index 04bf350..bb8fefb 100644 /* ------------------------------------------------------------------------ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h -index 3d6cc62..6ffdc0e 100644 +index 3d6cc62f3cd2..cf89ab33feb6 100644 --- a/drivers/media/usb/uvc/uvcvideo.h +++ b/drivers/media/usb/uvc/uvcvideo.h -@@ -143,6 +143,51 @@ +@@ -137,12 +137,60 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} #define UVC_GUID_FORMAT_RW10 \ { 'R', 'W', '1', '0', 0x00, 0x00, 0x10, 0x00, \ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} @@ -167,10 +188,18 @@ index 3d6cc62..6ffdc0e 100644 /* ------------------------------------------------------------------------ * Driver specific constants. diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c -index 0c3f238..5347286 100644 +index 0c3f238a2e76..ba436a17599f 100644 --- a/drivers/media/v4l2-core/v4l2-ioctl.c +++ b/drivers/media/v4l2-core/v4l2-ioctl.c -@@ -1217,7 +1217,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) +@@ -1130,6 +1130,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_Y10BPACK: descr = "10-bit Greyscale (Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_PAL8: descr = "8-bit Palette"; break; + case V4L2_PIX_FMT_UV8: descr = "8-bit Chrominance UV 4-4"; break; +@@ -1217,7 +1218,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) case V4L2_TCH_FMT_DELTA_TD08: descr = "8-bit signed deltas"; break; case V4L2_TCH_FMT_TU16: descr = "16-bit unsigned touch data"; break; case V4L2_TCH_FMT_TU08: descr = "8-bit unsigned touch data"; break; @@ -187,11 +216,14 @@ index 0c3f238..5347286 100644 /* Compressed formats */ flags = V4L2_FMT_FLAG_COMPRESSED; diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h -index 45184a2..e7f6029 100644 +index 45184a2ef66c..3196ac01d84f 100644 --- a/include/uapi/linux/videodev2.h +++ b/include/uapi/linux/videodev2.h -@@ -661,7 +661,17 @@ struct v4l2_pix_format { +@@ -659,9 +659,20 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ - @@ -210,5 +242,5 @@ index 45184a2..e7f6029 100644 #define V4L2_SDR_FMT_CU8 v4l2_fourcc('C', 'U', '0', '8') /* IQ u8 */ #define V4L2_SDR_FMT_CU16LE v4l2_fourcc('C', 'U', '1', '6') /* IQ u16le */ -- -2.7.4 +2.37.1 diff --git a/scripts/realsense-camera-formats-xenial-hwe.patch b/scripts/realsense-camera-formats-xenial-hwe.patch index 5a26d9d8ea..d757a280b4 100644 --- a/scripts/realsense-camera-formats-xenial-hwe.patch +++ b/scripts/realsense-camera-formats-xenial-hwe.patch @@ -1,20 +1,19 @@ -From 7013990ed22d6ab5884b2cf8647332c37586f3b6 Mon Sep 17 00:00:00 2001 -From: Evgeni -From: icarpis -Date: Sun, 2 Sep 2018 13:12:14 +0300 -Subject: [PATCH] Streaming formats for Ubuntu Kernel 4.15 +From 7a1bdea21fa4ec32d1a984a1a9459f2c6a02c61c Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Sun, 21 Aug 2022 15:52:41 +0300 +Subject: [PATCH] Streaming formats for Ubuntu Xenial hwe Kernel 4.15 -Signed-off-by: Evgeni Raikhel +Signed-off-by: Dmitry Perchanov --- drivers/media/usb/uvc/Makefile | 1 + - drivers/media/usb/uvc/uvc_driver.c | 52 ++++++++++++++++++++++++++++++++++++ - drivers/media/usb/uvc/uvcvideo.h | 34 +++++++++++++++++++++++ - drivers/media/v4l2-core/v4l2-ioctl.c | 8 +++++- - include/uapi/linux/videodev2.h | 8 ++++++ - 5 files changed, 102 insertions(+), 1 deletion(-) + drivers/media/usb/uvc/uvc_driver.c | 62 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 40 ++++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 10 ++++- + include/uapi/linux/videodev2.h | 10 +++++ + 5 files changed, 122 insertions(+), 1 deletion(-) diff --git a/drivers/media/usb/uvc/Makefile b/drivers/media/usb/uvc/Makefile -index a4fe5b5..cb5ee09 100644 +index a4fe5b5d533f..cb5ee0955b5e 100644 --- a/drivers/media/usb/uvc/Makefile +++ b/drivers/media/usb/uvc/Makefile @@ -1,4 +1,5 @@ @@ -24,12 +23,24 @@ index a4fe5b5..cb5ee09 100644 uvc_status.o uvc_isight.o uvc_debugfs.o ifeq ($(CONFIG_MEDIA_CONTROLLER),y) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 28b91b7..a262064 100644 +index 3fff6fabefac..2eca76e13d33 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -208,6 +208,63 @@ static struct uvc_format_desc uvc_fmts[] = { - .guid = UVC_GUID_FORMAT_INZI, - .fcc = V4L2_PIX_FMT_INZI, +@@ -158,6 +158,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -208,6 +213,63 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_HEVC, + .fcc = V4L2_PIX_FMT_HEVC, }, + { + .name = "Luminosity data 8-bit (L8)", @@ -92,13 +103,23 @@ index 28b91b7..a262064 100644 /* ------------------------------------------------------------------------ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h -index 0539878..401882d 100644 +index 029fbf881d74..38b6aaa5938f 100644 --- a/drivers/media/usb/uvc/uvcvideo.h +++ b/drivers/media/usb/uvc/uvcvideo.h -@@ -156,6 +156,43 @@ +@@ -138,6 +138,9 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +@@ -156,6 +159,43 @@ #define UVC_GUID_FORMAT_HEVC \ - { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ - 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + { 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} +#define UVC_GUID_FORMAT_L8 \ + { '2', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} @@ -140,10 +161,18 @@ index 0539878..401882d 100644 /* ------------------------------------------------------------------------ * Driver specific constants. diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c -index 89e0878..b584ff1 100644 +index 34d121170a57..d894beb6cd93 100644 --- a/drivers/media/v4l2-core/v4l2-ioctl.c +++ b/drivers/media/v4l2-core/v4l2-ioctl.c -@@ -1248,7 +1248,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) +@@ -1151,6 +1151,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) + case V4L2_PIX_FMT_Y10BPACK: descr = "10-bit Greyscale (Packed)"; break; + case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break; + case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break; + case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break; + case V4L2_PIX_FMT_PAL8: descr = "8-bit Palette"; break; +@@ -1248,7 +1249,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) case V4L2_TCH_FMT_TU08: descr = "8-bit unsigned touch data"; break; case V4L2_META_FMT_VSP1_HGO: descr = "R-Car VSP1 1-D Histogram"; break; case V4L2_META_FMT_VSP1_HGT: descr = "R-Car VSP1 2-D Histogram"; break; @@ -160,10 +189,14 @@ index 89e0878..b584ff1 100644 /* Compressed formats */ flags = V4L2_FMT_FLAG_COMPRESSED; diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h -index 1c095b5..959bf0b 100644 +index f1ed70857076..6286f73ae08d 100644 --- a/include/uapi/linux/videodev2.h +++ b/include/uapi/linux/videodev2.h -@@ -679,6 +679,15 @@ struct v4l2_pix_format { +@@ -676,9 +676,19 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ + #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ + #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ #define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */ #define V4L2_PIX_FMT_INZI v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */ @@ -180,5 +213,5 @@ index 1c095b5..959bf0b 100644 /* SDR formats - used only for Software Defined Radio devices */ #define V4L2_SDR_FMT_CU8 v4l2_fourcc('C', 'U', '0', '8') /* IQ u8 */ -- -2.7.4 +2.37.1 diff --git a/scripts/realsense-camera-formats-xenial-master.patch b/scripts/realsense-camera-formats-xenial-master.patch index ba7c5b5fdc..2d13fea5d8 100644 --- a/scripts/realsense-camera-formats-xenial-master.patch +++ b/scripts/realsense-camera-formats-xenial-master.patch @@ -1,25 +1,20 @@ -From e5d0e1f6e3a35ea469d41aaeccecc69bcda5d37f Mon Sep 17 00:00:00 2001 -From: aangerma -From: icarpis -From: administrator -Date: Thu, 30 Aug 2018 16:07:01 +0300 - -Subject: [PATCH] RS4xx, ZR300, RS5 Pixel formats for kernel 4.4 -Also include development formats - -Date: Wed, 22 Aug 2018 10:02:43 +0300 - +From 5a856a80549a98f0a890530f0cda0461783c3aec Mon Sep 17 00:00:00 2001 +From: Dmitry Perchanov +Date: Sun, 21 Aug 2022 15:45:33 +0300 +Subject: [PATCH] RS4xx, ZR300, RS5 Pixel formats for kernel 4.4 Also include + development formats, Y16I +Signed-off-by: Dmitry Perchanov --- drivers/media/usb/uvc/Makefile | 1 + - drivers/media/usb/uvc/uvc_driver.c | 70 ++++++++++++++++++++++++++++++++++++ - drivers/media/usb/uvc/uvcvideo.h | 43 +++++++++++++++++++++- - drivers/media/v4l2-core/v4l2-ioctl.c | 6 ++++ - include/uapi/linux/videodev2.h | 9 ++++- - 5 files changed, 127 insertions(+), 2 deletions(-) + drivers/media/usb/uvc/uvc_driver.c | 96 ++++++++++++++++++++++++++++ + drivers/media/usb/uvc/uvcvideo.h | 57 +++++++++++++++++ + drivers/media/v4l2-core/v4l2-ioctl.c | 12 ++++ + include/uapi/linux/videodev2.h | 14 ++++ + 5 files changed, 180 insertions(+) diff --git a/drivers/media/usb/uvc/Makefile b/drivers/media/usb/uvc/Makefile -index c26d12f..d86cf22 100644 +index c26d12fdb8f4..d86cf22155d1 100644 --- a/drivers/media/usb/uvc/Makefile +++ b/drivers/media/usb/uvc/Makefile @@ -1,3 +1,4 @@ @@ -28,10 +23,22 @@ index c26d12f..d86cf22 100644 uvc_status.o uvc_isight.o uvc_debugfs.o ifeq ($(CONFIG_MEDIA_CONTROLLER),y) diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c -index 4a07535..ac186a7 100644 +index 8805f555e4c8..e618e65f5ea2 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c -@@ -168,6 +168,97 @@ static struct uvc_format_desc uvc_fmts[] = { +@@ -158,6 +158,11 @@ static struct uvc_format_desc uvc_fmts[] = { + .guid = UVC_GUID_FORMAT_Y12I, + .fcc = V4L2_PIX_FMT_Y12I, + }, ++ { ++ .name = "Greyscale 16 L/R (Y16I)", ++ .guid = UVC_GUID_FORMAT_Y16I, ++ .fcc = V4L2_PIX_FMT_Y16I, ++ }, + { + .name = "Depth data 16-bit (Z16)", + .guid = UVC_GUID_FORMAT_Z16, +@@ -168,6 +173,97 @@ static struct uvc_format_desc uvc_fmts[] = { .guid = UVC_GUID_FORMAT_RW10, .fcc = V4L2_PIX_FMT_SRGGB10P, }, @@ -130,10 +137,19 @@ index 4a07535..ac186a7 100644 /* ------------------------------------------------------------------------ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h -index 7e4d3ee..24904e2 100644 +index 7e4d3eea371b..a5ea1b4b7902 100644 --- a/drivers/media/usb/uvc/uvcvideo.h +++ b/drivers/media/usb/uvc/uvcvideo.h -@@ -131,6 +131,60 @@ +@@ -125,12 +125,69 @@ + #define UVC_GUID_FORMAT_Y12I \ + { 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} ++#define UVC_GUID_FORMAT_Y16I \ ++ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \ ++ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} + #define UVC_GUID_FORMAT_Z16 \ + { 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \ + 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} #define UVC_GUID_FORMAT_RW10 \ { 'R', 'W', '1', '0', 0x00, 0x00, 0x10, 0x00, \ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71} @@ -195,15 +211,16 @@ index 7e4d3ee..24904e2 100644 /* ------------------------------------------------------------------------ * Driver specific constants. diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c -index 5e2a7e5..7ac69b3 100644 +index 75bdcb4b7d57..ca906a9173fd 100644 --- a/drivers/media/v4l2-core/v4l2-ioctl.c +++ b/drivers/media/v4l2-core/v4l2-ioctl.c -@@ -1229,6 +1229,17 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) +@@ -1229,6 +1229,18 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt) case V4L2_SDR_FMT_CS8: descr = "Complex S8"; break; case V4L2_SDR_FMT_CS14LE: descr = "Complex S14LE"; break; case V4L2_SDR_FMT_RU12LE: descr = "Real U12LE"; break; + case V4L2_PIX_FMT_Y8I: descr = "8-bit Greyscale L/R interleaved"; break; + case V4L2_PIX_FMT_Y12I: descr = "12-bit Grey L/R interleaved"; break; ++ case V4L2_PIX_FMT_Y16I: descr = "16-bit Grey L/R interleaved"; break; + case V4L2_PIX_FMT_Z16: descr = "16-bit Depth data"; break; + case V4L2_PIX_FMT_RW16: descr = "16-bit Raw data"; break; + case V4L2_PIX_FMT_INZI: descr = "32-bit IR:Depth 10:16"; break; @@ -217,12 +234,14 @@ index 5e2a7e5..7ac69b3 100644 default: /* Compressed formats */ diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h -index 421d274..c17b625 100644 +index 421d27413731..e49ee3858c23 100644 --- a/include/uapi/linux/videodev2.h +++ b/include/uapi/linux/videodev2.h -@@ -624,6 +624,19 @@ struct v4l2_pix_format { +@@ -623,7 +623,21 @@ struct v4l2_pix_format { + #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */ #define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */ #define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */ ++#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */ #define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */ +#define V4L2_PIX_FMT_Y16 v4l2_fourcc('Y', '1', '6', ' ') /* Greyscale 16-bit */ +#define V4L2_PIX_FMT_RW16 v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */ @@ -241,5 +260,5 @@ index 421d274..c17b625 100644 /* SDR formats - used only for Software Defined Radio devices */ #define V4L2_SDR_FMT_CU8 v4l2_fourcc('C', 'U', '0', '8') /* IQ u8 */ -- -2.7.4 +2.37.1 diff --git a/scripts/realsense-hid-focal-hwe-5.13.patch b/scripts/realsense-hid-focal-hwe-5.13.patch new file mode 100644 index 0000000000..3e1bd79950 --- /dev/null +++ b/scripts/realsense-hid-focal-hwe-5.13.patch @@ -0,0 +1,30 @@ +commit 3df208ef6648357775bf092a4a57bdcb02dfeb5c +Author: Yu MENG +Date: Thu Jun 23 16:02:48 2022 +0800 + + fix the retval in [accel|gyro]_3d_capture_sample + +diff --git a/drivers/iio/accel/hid-sensor-accel-3d.c b/drivers/iio/accel/hid-sensor-accel-3d.c +index a2def6f93..5eac7ea19 100644 +--- a/drivers/iio/accel/hid-sensor-accel-3d.c ++++ b/drivers/iio/accel/hid-sensor-accel-3d.c +@@ -280,6 +280,7 @@ static int accel_3d_capture_sample(struct hid_sensor_hub_device *hsdev, + hid_sensor_convert_timestamp( + &accel_state->common_attributes, + *(int64_t *)raw_data); ++ ret = 0; + break; + default: + break; +diff --git a/drivers/iio/gyro/hid-sensor-gyro-3d.c b/drivers/iio/gyro/hid-sensor-gyro-3d.c +index 8f0ad022c..698c50da1 100644 +--- a/drivers/iio/gyro/hid-sensor-gyro-3d.c ++++ b/drivers/iio/gyro/hid-sensor-gyro-3d.c +@@ -231,6 +231,7 @@ static int gyro_3d_capture_sample(struct hid_sensor_hub_device *hsdev, + gyro_state->timestamp = + hid_sensor_convert_timestamp(&gyro_state->common_attributes, + *(s64 *)raw_data); ++ ret = 0; + break; + default: + break; diff --git a/scripts/realsense-hid-focal-hwe-5.15.patch b/scripts/realsense-hid-focal-hwe-5.15.patch new file mode 100644 index 0000000000..3e1bd79950 --- /dev/null +++ b/scripts/realsense-hid-focal-hwe-5.15.patch @@ -0,0 +1,30 @@ +commit 3df208ef6648357775bf092a4a57bdcb02dfeb5c +Author: Yu MENG +Date: Thu Jun 23 16:02:48 2022 +0800 + + fix the retval in [accel|gyro]_3d_capture_sample + +diff --git a/drivers/iio/accel/hid-sensor-accel-3d.c b/drivers/iio/accel/hid-sensor-accel-3d.c +index a2def6f93..5eac7ea19 100644 +--- a/drivers/iio/accel/hid-sensor-accel-3d.c ++++ b/drivers/iio/accel/hid-sensor-accel-3d.c +@@ -280,6 +280,7 @@ static int accel_3d_capture_sample(struct hid_sensor_hub_device *hsdev, + hid_sensor_convert_timestamp( + &accel_state->common_attributes, + *(int64_t *)raw_data); ++ ret = 0; + break; + default: + break; +diff --git a/drivers/iio/gyro/hid-sensor-gyro-3d.c b/drivers/iio/gyro/hid-sensor-gyro-3d.c +index 8f0ad022c..698c50da1 100644 +--- a/drivers/iio/gyro/hid-sensor-gyro-3d.c ++++ b/drivers/iio/gyro/hid-sensor-gyro-3d.c +@@ -231,6 +231,7 @@ static int gyro_3d_capture_sample(struct hid_sensor_hub_device *hsdev, + gyro_state->timestamp = + hid_sensor_convert_timestamp(&gyro_state->common_attributes, + *(s64 *)raw_data); ++ ret = 0; + break; + default: + break; diff --git a/scripts/realsense-hid-jammy-master.patch b/scripts/realsense-hid-jammy-master.patch new file mode 100644 index 0000000000..3e1bd79950 --- /dev/null +++ b/scripts/realsense-hid-jammy-master.patch @@ -0,0 +1,30 @@ +commit 3df208ef6648357775bf092a4a57bdcb02dfeb5c +Author: Yu MENG +Date: Thu Jun 23 16:02:48 2022 +0800 + + fix the retval in [accel|gyro]_3d_capture_sample + +diff --git a/drivers/iio/accel/hid-sensor-accel-3d.c b/drivers/iio/accel/hid-sensor-accel-3d.c +index a2def6f93..5eac7ea19 100644 +--- a/drivers/iio/accel/hid-sensor-accel-3d.c ++++ b/drivers/iio/accel/hid-sensor-accel-3d.c +@@ -280,6 +280,7 @@ static int accel_3d_capture_sample(struct hid_sensor_hub_device *hsdev, + hid_sensor_convert_timestamp( + &accel_state->common_attributes, + *(int64_t *)raw_data); ++ ret = 0; + break; + default: + break; +diff --git a/drivers/iio/gyro/hid-sensor-gyro-3d.c b/drivers/iio/gyro/hid-sensor-gyro-3d.c +index 8f0ad022c..698c50da1 100644 +--- a/drivers/iio/gyro/hid-sensor-gyro-3d.c ++++ b/drivers/iio/gyro/hid-sensor-gyro-3d.c +@@ -231,6 +231,7 @@ static int gyro_3d_capture_sample(struct hid_sensor_hub_device *hsdev, + gyro_state->timestamp = + hid_sensor_convert_timestamp(&gyro_state->common_attributes, + *(s64 *)raw_data); ++ ret = 0; + break; + default: + break; diff --git a/scripts/realsense-metadata-focal-hwe-5.13.patch b/scripts/realsense-metadata-focal-hwe-5.13.patch new file mode 100644 index 0000000000..ca7d2ae9a4 --- /dev/null +++ b/scripts/realsense-metadata-focal-hwe-5.13.patch @@ -0,0 +1,282 @@ +commit ab286feb0c58d5106a28c4c1d0f419e259972d4f +Author: Yu MENG +Date: Thu Jun 23 15:53:34 2022 +0800 + + Enabling UVC Metadata attributes with Ubuntu 22.04. Kernel 5.15 + +diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c +index 27c47e22e..8ae13f2a7 100644 +--- a/drivers/media/usb/uvc/uvc_driver.c ++++ b/drivers/media/usb/uvc/uvc_driver.c +@@ -3216,6 +3216,258 @@ static const struct usb_device_id uvc_ids[] = { + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel SR306 depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0aa3, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel SR300 depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0aa5, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D400/PSR depth camera*/ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad1, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D410/ASR depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad2, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D415/ASRC depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad3, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D430/AWG depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad4, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D450/AWGT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad5, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* USB2 Descriptor, Depth Sensor */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad6, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D400 IMU Module */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0af2, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D420/PWG depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0af6, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D420_MM/PWGT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0afe, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D410_MM/ASRT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0aff, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D400_MM/PSRT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b00, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D430_MM/AWGCT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b01, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D460/DS5U depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b03, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D435/AWGC depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b07, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D405 S depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b0c, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L500 depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b0d, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D435i depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b3a, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L515 Pre-PRQ */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b3d, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel SR305 Depth Camera*/ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b48, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D416 Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b49, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D430i depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b4b, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D465 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b4d, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D405 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b5b, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D455 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b5c, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L515 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b64, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L535 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b68, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, + /* Generic USB Video Class */ + { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) }, + { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_15) }, +diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h +index b96cd0c8c..a4801a1e4 100644 +--- a/drivers/media/usb/uvc/uvcvideo.h ++++ b/drivers/media/usb/uvc/uvcvideo.h +@@ -218,7 +218,7 @@ + /* Maximum number of packets per URB. */ + #define UVC_MAX_PACKETS 32 + /* Maximum status buffer size in bytes of interrupt URB. */ +-#define UVC_MAX_STATUS_SIZE 16 ++#define UVC_MAX_STATUS_SIZE 32 + + #define UVC_CTRL_CONTROL_TIMEOUT 5000 + #define UVC_CTRL_STREAMING_TIMEOUT 5000 diff --git a/scripts/realsense-metadata-focal-hwe-5.15.patch b/scripts/realsense-metadata-focal-hwe-5.15.patch new file mode 100644 index 0000000000..ca7d2ae9a4 --- /dev/null +++ b/scripts/realsense-metadata-focal-hwe-5.15.patch @@ -0,0 +1,282 @@ +commit ab286feb0c58d5106a28c4c1d0f419e259972d4f +Author: Yu MENG +Date: Thu Jun 23 15:53:34 2022 +0800 + + Enabling UVC Metadata attributes with Ubuntu 22.04. Kernel 5.15 + +diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c +index 27c47e22e..8ae13f2a7 100644 +--- a/drivers/media/usb/uvc/uvc_driver.c ++++ b/drivers/media/usb/uvc/uvc_driver.c +@@ -3216,6 +3216,258 @@ static const struct usb_device_id uvc_ids[] = { + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel SR306 depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0aa3, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel SR300 depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0aa5, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D400/PSR depth camera*/ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad1, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D410/ASR depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad2, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D415/ASRC depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad3, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D430/AWG depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad4, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D450/AWGT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad5, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* USB2 Descriptor, Depth Sensor */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad6, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D400 IMU Module */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0af2, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D420/PWG depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0af6, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D420_MM/PWGT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0afe, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D410_MM/ASRT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0aff, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D400_MM/PSRT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b00, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D430_MM/AWGCT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b01, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D460/DS5U depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b03, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D435/AWGC depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b07, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D405 S depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b0c, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L500 depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b0d, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D435i depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b3a, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L515 Pre-PRQ */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b3d, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel SR305 Depth Camera*/ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b48, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D416 Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b49, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D430i depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b4b, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D465 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b4d, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D405 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b5b, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D455 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b5c, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L515 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b64, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L535 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b68, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, + /* Generic USB Video Class */ + { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) }, + { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_15) }, +diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h +index b96cd0c8c..a4801a1e4 100644 +--- a/drivers/media/usb/uvc/uvcvideo.h ++++ b/drivers/media/usb/uvc/uvcvideo.h +@@ -218,7 +218,7 @@ + /* Maximum number of packets per URB. */ + #define UVC_MAX_PACKETS 32 + /* Maximum status buffer size in bytes of interrupt URB. */ +-#define UVC_MAX_STATUS_SIZE 16 ++#define UVC_MAX_STATUS_SIZE 32 + + #define UVC_CTRL_CONTROL_TIMEOUT 5000 + #define UVC_CTRL_STREAMING_TIMEOUT 5000 diff --git a/scripts/realsense-metadata-jammy-master.patch b/scripts/realsense-metadata-jammy-master.patch new file mode 100644 index 0000000000..ca7d2ae9a4 --- /dev/null +++ b/scripts/realsense-metadata-jammy-master.patch @@ -0,0 +1,282 @@ +commit ab286feb0c58d5106a28c4c1d0f419e259972d4f +Author: Yu MENG +Date: Thu Jun 23 15:53:34 2022 +0800 + + Enabling UVC Metadata attributes with Ubuntu 22.04. Kernel 5.15 + +diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c +index 27c47e22e..8ae13f2a7 100644 +--- a/drivers/media/usb/uvc/uvc_driver.c ++++ b/drivers/media/usb/uvc/uvc_driver.c +@@ -3216,6 +3216,258 @@ static const struct usb_device_id uvc_ids[] = { + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel SR306 depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0aa3, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel SR300 depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0aa5, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D400/PSR depth camera*/ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad1, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D410/ASR depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad2, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D415/ASRC depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad3, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D430/AWG depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad4, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D450/AWGT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad5, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* USB2 Descriptor, Depth Sensor */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0ad6, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D400 IMU Module */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0af2, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D420/PWG depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0af6, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D420_MM/PWGT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0afe, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D410_MM/ASRT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0aff, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D400_MM/PSRT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b00, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D430_MM/AWGCT depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b01, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D460/DS5U depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b03, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D435/AWGC depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b07, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D405 S depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b0c, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L500 depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b0d, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D435i depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b3a, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L515 Pre-PRQ */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b3d, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel SR305 Depth Camera*/ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b48, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D416 Depth Camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b49, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D430i depth camera */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b4b, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D465 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b4d, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D405 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b5b, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel D455 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b5c, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L515 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b64, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, ++ /* Intel L535 */ ++ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE ++ | USB_DEVICE_ID_MATCH_INT_INFO, ++ .idVendor = 0x8086, ++ .idProduct = 0x0b68, ++ .bInterfaceClass = USB_CLASS_VIDEO, ++ .bInterfaceSubClass = 1, ++ .bInterfaceProtocol = 0, ++ .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, + /* Generic USB Video Class */ + { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) }, + { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_15) }, +diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h +index b96cd0c8c..a4801a1e4 100644 +--- a/drivers/media/usb/uvc/uvcvideo.h ++++ b/drivers/media/usb/uvc/uvcvideo.h +@@ -218,7 +218,7 @@ + /* Maximum number of packets per URB. */ + #define UVC_MAX_PACKETS 32 + /* Maximum status buffer size in bytes of interrupt URB. */ +-#define UVC_MAX_STATUS_SIZE 16 ++#define UVC_MAX_STATUS_SIZE 32 + + #define UVC_CTRL_CONTROL_TIMEOUT 5000 + #define UVC_CTRL_STREAMING_TIMEOUT 5000 diff --git a/scripts/setup_udev_rules.sh b/scripts/setup_udev_rules.sh index 6147907990..5e0a374216 100755 --- a/scripts/setup_udev_rules.sh +++ b/scripts/setup_udev_rules.sh @@ -34,8 +34,10 @@ if [ "$install" = true ]; then echo -e "\e[0m" fi sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ + sudo cp config/99-realsense-d4xx-mipi-dfu.rules /etc/udev/rules.d/ else sudo rm /etc/udev/rules.d/99-realsense-libusb.rules + sudo rm /etc/udev/rules.d/99-realsense-d4xx-mipi-dfu.rules fi sudo udevadm control --reload-rules && udevadm trigger diff --git a/src/algo.cpp b/src/algo.cpp index d058a82000..480e9f9017 100644 --- a/src/algo.cpp +++ b/src/algo.cpp @@ -646,7 +646,7 @@ void rect_gaussian_dots_target_calculator::normalize(const uint8_t* img) for (int j = 0; j < _height; ++j) { for (int i = 0; i < _width; ++i) - *q++ = 1.0 - (*p++ - min_val) * factor; + *q++ = 1.0f - (*p++ - min_val) * factor; p += jumper; } @@ -768,7 +768,7 @@ bool rect_gaussian_dots_target_calculator::find_corners() _pts[1].x = 0; _pts[1].y = 0; peak = 0.0f; - p = _ncc.data() + _htsize * _width; + p = _ncc.data() + (_htsize * _width); for (int j = _htsize; j < _hheight; ++j) { p += _hwidth; @@ -792,7 +792,7 @@ bool rect_gaussian_dots_target_calculator::find_corners() _pts[2].x = 0; _pts[2].y = 0; peak = 0.0f; - p = _ncc.data() + _hheight * _width; + p = _ncc.data() + (_hheight * _width); for (int j = _hheight; j < _height - _htsize; ++j) { p += _htsize; @@ -816,7 +816,7 @@ bool rect_gaussian_dots_target_calculator::find_corners() _pts[3].x = 0; _pts[3].y = 0; peak = 0.0f; - p = _ncc.data() + _hheight * _width; + p = _ncc.data() + (_hheight * _width); for (int j = _hheight; j < _height - _htsize; ++j) { p += _hwidth; @@ -849,52 +849,54 @@ void rect_gaussian_dots_target_calculator::refine_corners() // upper left int pos = (_pts[0].y - hs) * _width + _pts[0].x - hs; - _corners[0].x = static_cast(_pts[0].x - hs); + _corners[0].x = static_cast(_pts[0].x) - hs; minimize_x(_ncc.data() + pos, _patch_size, f, _corners[0].x); - _corners[0].y = static_cast(_pts[0].y - hs); + _corners[0].y = static_cast(_pts[0].y) - hs; minimize_y(_ncc.data() + pos, _patch_size, f, _corners[0].y); // upper right pos = (_pts[1].y - hs) * _width + _pts[1].x - hs; - _corners[1].x = static_cast(_pts[1].x - hs); + _corners[1].x = static_cast(_pts[1].x) - hs; minimize_x(_ncc.data() + pos, _patch_size, f, _corners[1].x); - _corners[1].y = static_cast(_pts[1].y - hs); + _corners[1].y = static_cast(_pts[1].y) - hs; minimize_y(_ncc.data() + pos, _patch_size, f, _corners[1].y); // lower left pos = (_pts[2].y - hs) * _width + _pts[2].x - hs; - _corners[2].x = static_cast(_pts[2].x - hs); + _corners[2].x = static_cast(_pts[2].x) - hs; minimize_x(_ncc.data() + pos, _patch_size, f, _corners[2].x); - _corners[2].y = static_cast(_pts[2].y - hs); + _corners[2].y = static_cast(_pts[2].y) - hs; minimize_y(_ncc.data() + pos, _patch_size, f, _corners[2].y); // lower right pos = (_pts[3].y - hs) * _width + _pts[3].x - hs; - _corners[3].x = static_cast(_pts[3].x - hs); + _corners[3].x = static_cast(_pts[3].x) - hs; minimize_x(_ncc.data() + pos, _patch_size, f, _corners[3].x); - _corners[3].y = static_cast(_pts[3].y - hs); + _corners[3].y = static_cast(_pts[3].y) - hs; minimize_y(_ncc.data() + pos, _patch_size, f, _corners[3].y); } bool rect_gaussian_dots_target_calculator::validate_corners(const uint8_t* img) { + bool ok = true; + static const int pos_diff_threshold = 4; if (abs(_corners[0].x - _corners[2].x) > pos_diff_threshold || abs(_corners[1].x - _corners[3].x) > pos_diff_threshold || abs(_corners[0].y - _corners[1].y) > pos_diff_threshold || abs(_corners[2].y - _corners[3].y) > pos_diff_threshold) { - return false; + ok = false; } - return true; + return ok; } void rect_gaussian_dots_target_calculator::calculate_rect_sides(float* rect_sides) @@ -997,7 +999,7 @@ double rect_gaussian_dots_target_calculator::subpixel_agj(double* f, int s) double right_mv = 0.0f; if (x_0 == s - 1) - right_mv = static_cast(s - 1); + right_mv = static_cast(s) - 1; else { x_1 = x_0 + 1; diff --git a/src/auto-calibrated-device.h b/src/auto-calibrated-device.h index 0e003663c9..644c84ceaf 100644 --- a/src/auto-calibrated-device.h +++ b/src/auto-calibrated-device.h @@ -12,15 +12,16 @@ namespace librealsense { public: virtual void write_calibration() const = 0; - virtual std::vector run_on_chip_calibration(int timeout_ms, std::string json, float* health, update_progress_callback_ptr progress_callback) = 0; - virtual std::vector run_tare_calibration( int timeout_ms, float ground_truth_mm, std::string json, update_progress_callback_ptr progress_callback) = 0; + virtual std::vector run_on_chip_calibration(int timeout_ms, std::string json, float* const health, update_progress_callback_ptr progress_callback) = 0; + virtual std::vector run_tare_calibration( int timeout_ms, float ground_truth_mm, std::string json, float* const health, update_progress_callback_ptr progress_callback) = 0; + virtual std::vector process_calibration_frame(int timeout_ms, const rs2_frame* f, float* const health, update_progress_callback_ptr progress_callback) = 0; virtual std::vector get_calibration_table() const = 0; virtual void set_calibration_table(const std::vector& calibration) = 0; virtual void reset_to_factory_calibration() const = 0; virtual std::vector run_focal_length_calibration(rs2_frame_queue* left, rs2_frame_queue* right, float target_w, float target_h, int adjust_both_sides, float* ratio, float* angle, update_progress_callback_ptr progress_callback) = 0; virtual std::vector run_uv_map_calibration(rs2_frame_queue* left, rs2_frame_queue* color, rs2_frame_queue* depth, int py_px_only, - float* health, int health_size, update_progress_callback_ptr progress_callback) = 0; + float* const health, int health_size, update_progress_callback_ptr progress_callback) = 0; virtual float calculate_target_z(rs2_frame_queue* queue1, rs2_frame_queue* queue2, rs2_frame_queue* queue3, float target_w, float target_h, update_progress_callback_ptr progress_callback) = 0; }; diff --git a/src/backend.h b/src/backend.h index 9f7831b0de..f722f7a719 100644 --- a/src/backend.h +++ b/src/backend.h @@ -154,6 +154,12 @@ namespace librealsense uint8_t source_clock[6]; }; + struct uvc_header_mipi + { + uvc_header header; + uint32_t frame_counter; + }; + struct hid_header { uint8_t length; // HID report total size. Limited to 255 @@ -164,6 +170,7 @@ namespace librealsense constexpr uint8_t uvc_header_size = sizeof(uvc_header); constexpr uint8_t hid_header_size = sizeof(hid_header); + constexpr uint8_t uvc_header_mipi_size = sizeof(uvc_header_mipi); struct frame_object { @@ -196,11 +203,12 @@ namespace librealsense s << "id- " << id << "\nvid- " << std::hex << vid << "\npid- " << std::hex << pid << - "\nmi- " << mi << + "\nmi- " << std::dec << mi << "\nunique_id- " << unique_id << "\npath- " << device_path << - "\nsusb specification- " << std::hex << (uint16_t)conn_spec << std::dec << - (has_metadata_node ? ( "\nmetadata node-" + metadata_node_id) : ""); + "\nUVC capabilities- " << std::hex << uvc_capabilities << + "\nUVC specification- " << std::hex << (uint16_t)conn_spec << std::dec << + (has_metadata_node ? ( "\nmetadata node-" + metadata_node_id) : "") << std::endl; return s.str(); } diff --git a/src/context.cpp b/src/context.cpp index 8a3bcac62d..4bd363cf07 100644 --- a/src/context.cpp +++ b/src/context.cpp @@ -583,7 +583,7 @@ namespace librealsense void context::remove_device(const std::string& file) { auto it = _playback_devices.find(file); - if (!it->second.lock() || it == _playback_devices.end()) + if(it == _playback_devices.end() || !it->second.lock()) { //Not found return; diff --git a/src/ds5/advanced_mode/advanced_mode.cpp b/src/ds5/advanced_mode/advanced_mode.cpp index 7abe96d46f..56a4ea0cd1 100644 --- a/src/ds5/advanced_mode/advanced_mode.cpp +++ b/src/ds5/advanced_mode/advanced_mode.cpp @@ -90,6 +90,7 @@ namespace librealsense default_430(p); break; case ds::RS455_PID: + case ds::RS457_PID: default_450_mid_low_res(p); switch (res) { diff --git a/src/ds5/ds5-active.cpp b/src/ds5/ds5-active.cpp index 583c151d33..9e65741206 100644 --- a/src/ds5/ds5-active.cpp +++ b/src/ds5/ds5-active.cpp @@ -25,7 +25,7 @@ namespace librealsense { using namespace ds; - //Projector's capacity is established based on actual HW capabilities + // Projector's capacity is established based on actual HW capabilities auto pid = group.uvc_devices.front().pid; if ((pid != RS_USB2_PID) && ((_device_capabilities & d400_caps::CAP_ACTIVE_PROJECTOR) == d400_caps::CAP_ACTIVE_PROJECTOR)) { @@ -69,9 +69,32 @@ namespace librealsense } //PROJECTOR TEMPERATURE OPTION - depth_ep.register_option(RS2_OPTION_PROJECTOR_TEMPERATURE, - std::make_shared(raw_depth_ep, - RS2_OPTION_PROJECTOR_TEMPERATURE)); + if (_pid == ds::RS457_PID) + { + depth_ep.register_option(RS2_OPTION_PROJECTOR_TEMPERATURE, + std::make_shared(_hw_monitor, + RS2_OPTION_PROJECTOR_TEMPERATURE)); + } + else + { + depth_ep.register_option(RS2_OPTION_PROJECTOR_TEMPERATURE, + std::make_shared(raw_depth_ep, + RS2_OPTION_PROJECTOR_TEMPERATURE)); + } + + // EMITTER FREQUENCY OPTION + if( ( _pid == ds::RS457_PID || _pid == ds::RS455_PID ) + && _fw_version >= firmware_version( "5.13.1.53" ) ) + { + auto emitter_freq = std::make_shared< emitter_frequency >( + raw_depth_ep, + std::map< float, std::string >{ + { (float)RS2_EMITTER_FREQUENCY_57_KHZ, "57 KHZ" }, + { (float)RS2_EMITTER_FREQUENCY_91_KHZ, "91 KHZ" } } ); + + depth_ep.register_option( RS2_OPTION_EMITTER_FREQUENCY, emitter_freq ); + } + } else { diff --git a/src/ds5/ds5-active.h b/src/ds5/ds5-active.h index 2071a14fe1..783a8e7cfe 100644 --- a/src/ds5/ds5-active.h +++ b/src/ds5/ds5-active.h @@ -7,6 +7,7 @@ namespace librealsense { + // Active means the HW includes an active projector class ds5_active : public virtual ds5_device { public: diff --git a/src/ds5/ds5-auto-calibration.cpp b/src/ds5/ds5-auto-calibration.cpp index acdd770350..65ed2ed90a 100644 --- a/src/ds5/ds5-auto-calibration.cpp +++ b/src/ds5/ds5-auto-calibration.cpp @@ -10,22 +10,28 @@ #include "librealsense2/rsutil.h" #include "../algo.h" +#undef UCAL_PROFILE +#ifdef UCAL_PROFILE +#define LOG_OCC_WARN(...) do { CLOG(WARNING ,"librealsense") << __VA_ARGS__; } while(false) +#else +#define LOG_OCC_WARN(...) +#endif //UCAL_PROFILE + namespace librealsense { #pragma pack(push, 1) #pragma pack(1) - struct DirectSearchCalibrationResult + struct TareCalibrationResult { - uint16_t status; // DscStatus - uint16_t stepCount; - uint16_t stepSize; // 1/1000 of a pixel - uint32_t pixelCountThreshold; // minimum number of pixels in - // selected bin - uint16_t minDepth; // Depth range for FWHM - uint16_t maxDepth; - uint32_t rightPy; // 1/1000000 of normalized unit - float healthCheck; - float rightRotation[9]; // Right rotation + uint16_t status; // DscStatus + uint32_t tareDepth; // Tare depth in 1/100 of depth unit + uint32_t aveDepth; // Average depth in 1/100 of depth unit + int32_t curPx; // Current Px in 1/1000000 of normalized unit + int32_t calPx; // Calibrated Px in 1/1000000 of normalized unit + float curRightRotation[9]; // Current right rotation + float calRightRotation[9]; // Calibrated right rotation + uint16_t accuracyLevel; // [0-3] (Very High/High/Medium/Low) + uint16_t iterations; // Number of iterations it took to converge }; struct FocalLengthCalibrationResult @@ -79,15 +85,17 @@ namespace librealsense enum auto_calib_sub_cmd : uint8_t { - py_rx_calib_begin = 0x08, - py_rx_calib_check_status = 0x03, - tare_calib_begin = 0x0b, - tare_calib_check_status = 0x0c, - get_calibration_result = 0x0d, - focal_length_calib_begin = 0x11, - get_focal_legth_calib_result = 0x12, - py_rx_plus_fl_calib_begin = 0x13, - get_py_rx_plus_fl_calib_result = 0x14 + py_rx_calib_check_status = 0x03, + interactive_scan_control = 0x05, + py_rx_calib_begin = 0x08, + tare_calib_begin = 0x0b, + tare_calib_check_status = 0x0c, + get_calibration_result = 0x0d, + focal_length_calib_begin = 0x11, + get_focal_legth_calib_result = 0x12, + py_rx_plus_fl_calib_begin = 0x13, + get_py_rx_plus_fl_calib_result = 0x14, + set_coefficients = 0x19 }; enum auto_calib_speed @@ -99,6 +107,14 @@ namespace librealsense speed_white_wall = 4 }; + enum class host_assistance_type + { + no_assistance = 0, + assistance_start, + assistance_first_feed, + assistance_second_feed, + }; + enum subpixel_accuracy { very_high = 0, //(0.025%) @@ -151,7 +167,7 @@ namespace librealsense const int DEFAULT_AVERAGE_STEP_COUNT = 20; const int DEFAULT_STEP_COUNT = 20; const int DEFAULT_ACCURACY = subpixel_accuracy::medium; - const int DEFAULT_SPEED = auto_calib_speed::speed_slow; + const auto_calib_speed DEFAULT_SPEED = auto_calib_speed::speed_slow; const int DEFAULT_SCAN = scan_parameter::py_scan; const int DEFAULT_SAMPLING = data_sampling::interrupt; @@ -168,7 +184,19 @@ namespace librealsense const int DEFAULT_WHITE_WALL_MODE = 0; auto_calibrated::auto_calibrated(std::shared_ptr& hwm) - : _hw_monitor(hwm){} + : _hw_monitor(hwm), + _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), + _collected_counter(-1), + _collected_frame_num(-1), + _collected_sum(-1.0), + _min_valid_depth(0), + _max_valid_depth(uint16_t(-1)), + _resize_factor(5), + _skipped_frames(0) + {} std::map auto_calibrated::parse_json(std::string json_content) { @@ -245,11 +273,69 @@ namespace librealsense thermal_compensation_guard& operator=(const thermal_compensation_guard&); }; - std::vector auto_calibrated::run_on_chip_calibration(int timeout_ms, std::string json, float* health, update_progress_callback_ptr progress_callback) + DirectSearchCalibrationResult auto_calibrated::get_calibration_status(int timeout_ms, std::function progress_func, bool wait_for_final_results) + { + DirectSearchCalibrationResult result{}; + + int count = 0; + int retries = 0; + bool done = false; + + auto start = std::chrono::high_resolution_clock::now(); + auto now = start; + + // While not ready... + do + { + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + try + { + // Check calibration status + auto res = _hw_monitor->send(command{ ds::AUTO_CALIB, py_rx_calib_check_status }); + LOG_OCC_WARN(std::string(to_string() << __LINE__ << " check occ status, res size = " << res.size())); + if (res.size() < sizeof(DirectSearchCalibrationResult)) + { + if (!((retries++) % 5)) // Add log debug once in a sec + { + LOG_DEBUG("Not enough data from CALIB_STATUS!"); + } + } + else + { + result = *reinterpret_cast(res.data()); + done = !wait_for_final_results || result.status != RS2_DSC_STATUS_RESULT_NOT_READY; + } + } + catch (const invalid_value_exception& e) + { + LOG_DEBUG("error: " << e.what()); + // Asked for status while firmware is still in progress. + } + + if (progress_func) + { + progress_func(count); + } + + now = std::chrono::high_resolution_clock::now(); + + } while (now - start < std::chrono::milliseconds(timeout_ms) && !done); + + + // If we exit due to timeout, report timeout + if (!done) + { + throw std::runtime_error("Operation timed-out!\n" + "Calibration state did not converge on time"); + } + return result; + } + + std::vector auto_calibrated::run_on_chip_calibration(int timeout_ms, std::string json, float* const health, update_progress_callback_ptr progress_callback) { int calib_type = DEFAULT_CALIB_TYPE; - int speed = DEFAULT_SPEED; + auto_calib_speed speed(DEFAULT_SPEED); int speed_fl = auto_calib_speed::speed_slow; int scan_parameter = DEFAULT_SCAN; int data_sampling = DEFAULT_SAMPLING; @@ -265,6 +351,12 @@ namespace librealsense int fy_scan_direction = DEFAULT_FY_SCAN_DIRECTION; int white_wall_mode = DEFAULT_WHITE_WALL_MODE; + host_assistance_type host_assistance(host_assistance_type::no_assistance); + int scan_only_v3 = 0; + int interactive_scan_v3 = 0; + uint16_t step_count_v3 = 0; + uint16_t fill_factor[256] = { 0 }; + float h_1 = 0.0f; float h_2 = 0.0f; @@ -273,14 +365,25 @@ namespace librealsense if (json.size() > 0) { + int tmp_speed(DEFAULT_SPEED); + int tmp_host_assistance(0); auto jsn = parse_json(json); try_fetch(jsn, "calib type", &calib_type); - if (calib_type == 0) - try_fetch(jsn, "speed", &speed); + { + try_fetch(jsn, "speed", &tmp_speed); + if (tmp_speed < speed_very_fast || tmp_speed > speed_white_wall) + throw invalid_value_exception(to_string() << "Auto calibration failed! Given value of 'speed' " << speed << " is out of range (0 - 4)."); + speed = auto_calib_speed(tmp_speed); + } else try_fetch(jsn, "speed", &speed_fl); + try_fetch(jsn, "host assistance", &tmp_host_assistance); + if (tmp_host_assistance < (int)host_assistance_type::no_assistance || tmp_host_assistance > (int)host_assistance_type::assistance_second_feed) + throw invalid_value_exception(to_string() << "Auto calibration failed! Given value of 'host assistance' " << tmp_host_assistance << " is out of range (0 - " << (int)host_assistance_type::assistance_second_feed << ")."); + host_assistance = host_assistance_type(tmp_host_assistance); + try_fetch(jsn, "scan parameter", &scan_parameter); try_fetch(jsn, "data sampling", &data_sampling); try_fetch(jsn, "apply preset", &apply_preset); @@ -294,88 +397,172 @@ namespace librealsense try_fetch(jsn, "fl scan location", &fl_scan_location); try_fetch(jsn, "fy scan direction", &fy_scan_direction); try_fetch(jsn, "white wall mode", &white_wall_mode); + + try_fetch(jsn, "scan only", &scan_only_v3); + try_fetch(jsn, "interactive scan", &interactive_scan_v3); + + int val = 0; + try_fetch(jsn, "step count v3", &val); + + step_count_v3 = static_cast(val); + if (step_count_v3 > 0) + { + for (int i = 0; i < step_count_v3; ++i) + { + val = 0; + std::stringstream ss; + ss << "fill factor " << i; + try_fetch(jsn, ss.str(), &val); + fill_factor[i] = static_cast(val); + } + } + try_fetch(jsn, "resize factor", &_resize_factor); } std::vector res; + + if (host_assistance != host_assistance_type::no_assistance && _interactive_state == interactive_calibration_state::RS2_OCC_STATE_NOT_ACTIVE) + { + _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; // Production code must enforce non-interactive runs. Interactive scans for development only + switch (speed) + { + case auto_calib_speed::speed_very_fast: + _total_frames = 60; + break; + case auto_calib_speed::speed_fast: + _total_frames = 120; + break; + case auto_calib_speed::speed_medium: + _total_frames = 256; + break; + case auto_calib_speed::speed_slow: + _total_frames = 256; + break; + case auto_calib_speed::speed_white_wall: + _total_frames = 120; + break; + } + std::fill_n(_fill_factor, 256, 0); + DirectSearchCalibrationResult result = get_calibration_status(timeout_ms, [progress_callback, host_assistance, speed](int count) + { + if (progress_callback) + { + if (host_assistance != host_assistance_type::no_assistance) + if (count < 20) progress_callback->on_update_progress(static_cast(80 + count++)); + else + progress_callback->on_update_progress(count++ * (2.f * speed)); //curently this number does not reflect the actual progress + } + }, false); + // Handle errors from firmware + rs2_dsc_status status = (rs2_dsc_status)result.status; + + if (result.maxDepth == 0) + { + throw std::runtime_error("Firmware calibration values are not yet set."); + } + _min_valid_depth = result.minDepth; + _max_valid_depth = result.maxDepth; + return res; + } + + std::shared_ptr preset_recover; if (calib_type == 0) { - LOG_INFO("run_on_chip_calibration with parameters: speed = " << speed << " scan_parameter = " << scan_parameter << " data_sampling = " << data_sampling); + LOG_DEBUG("run_on_chip_calibration with parameters: speed = " << speed << " scan_parameter = " << scan_parameter << " data_sampling = " << data_sampling); check_params(speed, scan_parameter, data_sampling); - param4 param{ (byte)scan_parameter, 0, (byte)data_sampling }; + int p4 = 0; + if (scan_parameter) + p4 |= 1; + if (host_assistance != host_assistance_type::no_assistance) + p4 |= (1 << 1); + if (data_sampling) + p4 |= (1 << 3); + if (scan_only_v3) + p4 |= (1 << 8); + if (interactive_scan_v3) + p4 |= (1 << 9); - std::shared_ptr preset_recover; if (speed == speed_white_wall && apply_preset) + { preset_recover = change_preset(); - - std::this_thread::sleep_for(std::chrono::milliseconds(200)); + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + } // Begin auto-calibration - _hw_monitor->send(command{ ds::AUTO_CALIB, py_rx_calib_begin, speed, 0, param.param_4 }); - - DirectSearchCalibrationResult result{}; - - int count = 0; - int retries = 0; - bool done = false; - - auto start = std::chrono::high_resolution_clock::now(); - auto now = start; - - // While not ready... - do + if (host_assistance == host_assistance_type::no_assistance || host_assistance == host_assistance_type::assistance_start) { - std::this_thread::sleep_for(std::chrono::milliseconds(200)); - - // Check calibration status - try - { - auto res = _hw_monitor->send(command{ ds::AUTO_CALIB, py_rx_calib_check_status }); - - if (res.size() < sizeof(DirectSearchCalibrationResult)) - throw std::runtime_error("Not enough data from CALIB_STATUS!"); + auto res = _hw_monitor->send(command{ ds::AUTO_CALIB, py_rx_calib_begin, speed, 0, p4 }); + LOG_OCC_WARN(std::string(to_string() << __LINE__ + << " send occ py_rx_calib_begin, speed = " << speed << ", p4 = " << p4 << " res size = " << res.size())); + } - result = *reinterpret_cast(res.data()); - done = result.status != RS2_DSC_STATUS_RESULT_NOT_READY; - } - catch (const std::exception& ex) + if (host_assistance != host_assistance_type::assistance_start) + { + if (host_assistance == host_assistance_type::assistance_first_feed) { - if (!((retries++) % 5)) // Add log debug once in a sec + command cmd(ds::AUTO_CALIB, interactive_scan_control, 0, 0); + LOG_OCC_WARN(" occ interactive_scan_control 0,0 - save statistics "); + uint8_t* p = reinterpret_cast(&step_count_v3); + cmd.data.push_back(p[0]); + cmd.data.push_back(p[1]); + for (uint16_t i = 0; i < step_count_v3; ++i) + { + p = reinterpret_cast(fill_factor + i); + cmd.data.push_back(p[0]); + cmd.data.push_back(p[1]); + } + bool success = false; + int iter =0; + do // Retries are needed to overcome MIPI SKU occasionaly reporting busy state { - LOG_DEBUG(ex.what()); + try + { + if (iter==0) // apply only in the first iteration + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); // Sending shorter request may fail with MIPI SKU + auto res = _hw_monitor->send(cmd); + success = true; + } + catch(...) + { + LOG_OCC_WARN("occ Save Statistics result failed"); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); // For the FW to recuperate + }; } + while(( ++iter < 3) && (!success)); } + DirectSearchCalibrationResult result = get_calibration_status(timeout_ms, [progress_callback, host_assistance, speed](int count) + { + if (progress_callback) + { + if (host_assistance != host_assistance_type::no_assistance) + if (count < 20) progress_callback->on_update_progress(static_cast(80 + count++)); + else + progress_callback->on_update_progress(count++ * (2.f * speed)); //curently this number does not reflect the actual progress + } + }); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + + auto status = (rs2_dsc_status)result.status; + + // Handle errors from firmware + if (status != RS2_DSC_STATUS_SUCCESS) + { + handle_calibration_error(status); + } if (progress_callback) - progress_callback->on_update_progress(count++ * (2.f * speed)); //curently this number does not reflect the actual progress - - now = std::chrono::high_resolution_clock::now(); - - } while (now - start < std::chrono::milliseconds(timeout_ms) && !done); - - - // If we exit due to timeout, report timeout - if (!done) - { - throw std::runtime_error("Operation timed-out!\n" - "Calibration state did not converged in time"); + progress_callback->on_update_progress(static_cast(100)); + res = get_calibration_results(health); + LOG_OCC_WARN(std::string(to_string() << "Py: " << result.rightPy)); } - - std::this_thread::sleep_for(std::chrono::milliseconds(100)); - - auto status = (rs2_dsc_status)result.status; - - // Handle errors from firmware - if (status != RS2_DSC_STATUS_SUCCESS) - { - handle_calibration_error(status); - } - - res = get_calibration_results(health); } else if (calib_type == 1) { - LOG_INFO("run_on_chip_focal_length_calibration with parameters: step count = " << fl_step_count + LOG_DEBUG("run_on_chip_focal_length_calibration with parameters: step count = " << fl_step_count << ", fy scan range = " << fy_scan_range << ", keep new value after sucessful scan = " << keep_new_value_after_sucessful_scan << ", interrrupt data sampling " << fl_data_sampling << ", adjust both sides = " << adjust_both_sides << ", fl scan location = " << fl_scan_location << ", fy scan direction = " << fy_scan_direction << ", white wall mode = " << white_wall_mode); @@ -395,67 +582,99 @@ namespace librealsense p4 |= (1 << 6); if (white_wall_mode) p4 |= (1 << 7); - _hw_monitor->send(command{ ds::AUTO_CALIB, focal_length_calib_begin, fl_step_count, fy_scan_range, p4 }); - - FocalLengthCalibrationResult result{}; + if (scan_only_v3) + p4 |= (1 << 8); + if (interactive_scan_v3) + p4 |= (1 << 9); - int count = 0; - bool done = false; + if (speed == speed_white_wall && apply_preset) + { + preset_recover = change_preset(); + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + } - auto start = std::chrono::high_resolution_clock::now(); - auto now = start; + if (host_assistance == host_assistance_type::no_assistance || host_assistance == host_assistance_type::assistance_start) + _hw_monitor->send(command{ ds::AUTO_CALIB, focal_length_calib_begin, fl_step_count, fy_scan_range, p4 }); - // While not ready... - do + if (host_assistance != host_assistance_type::assistance_start) { - std::this_thread::sleep_for(std::chrono::milliseconds(200)); + if (host_assistance == host_assistance_type::assistance_first_feed) + { + command cmd(ds::AUTO_CALIB, interactive_scan_control, 0, 0); + LOG_OCC_WARN(std::string(to_string() << __LINE__ << "occ interactive_scan_control 0,0 " << " res size = " << res.size())); + uint8_t* p = reinterpret_cast(&step_count_v3); + cmd.data.push_back(p[0]); + cmd.data.push_back(p[1]); + for (uint16_t i = 0; i < step_count_v3; ++i) + { + p = reinterpret_cast(fill_factor + i); + cmd.data.push_back(p[0]); + cmd.data.push_back(p[1]); + } - // Check calibration status - try + _hw_monitor->send(cmd); + } + + FocalLengthCalibrationResult result{}; + + int count = 0; + bool done = false; + + auto start = std::chrono::high_resolution_clock::now(); + auto now = start; + + // While not ready... + do { + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + + // Check calibration status auto res = _hw_monitor->send(command{ ds::AUTO_CALIB, get_focal_legth_calib_result }); if (res.size() < sizeof(FocalLengthCalibrationResult)) - throw std::runtime_error("Not enough data from CALIB_STATUS!"); + LOG_WARNING("Not enough data from CALIB_STATUS!"); + else + { + result = *reinterpret_cast(res.data()); + done = result.status != RS2_DSC_STATUS_RESULT_NOT_READY; + } - result = *reinterpret_cast(res.data()); - done = result.status != RS2_DSC_STATUS_RESULT_NOT_READY; - } - catch (const std::exception& ex) - { - LOG_WARNING(ex.what()); - } + if (progress_callback) + { + if (host_assistance != host_assistance_type::no_assistance) + if (count < 20) progress_callback->on_update_progress(static_cast(80 + count++)); + else + progress_callback->on_update_progress(count++* (2.f * 3)); //curently this number does not reflect the actual progress + } - if (progress_callback) - progress_callback->on_update_progress(count++ * (2.f * 3)); //curently this number does not reflect the actual progress + now = std::chrono::high_resolution_clock::now(); - now = std::chrono::high_resolution_clock::now(); + } while (now - start < std::chrono::milliseconds(timeout_ms) && !done); - } while (now - start < std::chrono::milliseconds(timeout_ms) && !done); + // If we exit due to timeout, report timeout + if (!done) + { + throw std::runtime_error("Operation timed-out!\n" + "Calibration did not converge on time"); + } - // If we exit due to timeout, report timeout - if (!done) - { - throw std::runtime_error("Operation timed-out!\n" - "Calibration state did not converged in time"); - } + std::this_thread::sleep_for(std::chrono::milliseconds(100)); - std::this_thread::sleep_for(std::chrono::milliseconds(100)); + auto status = (rs2_dsc_status)result.status; - auto status = (rs2_dsc_status)result.status; + // Handle errors from firmware + if (status != RS2_DSC_STATUS_SUCCESS) + { + handle_calibration_error(status); + } - // Handle errors from firmware - if (status != RS2_DSC_STATUS_SUCCESS) - { - handle_calibration_error(status); + res = get_calibration_results(health); } - - res = get_calibration_results(health); } - else + else if (calib_type == 2) { - LOG_INFO("run_on_chip_calibration with parameters: speed = " << speed_fl + LOG_DEBUG("run_on_chip_calibration with parameters: speed = " << speed_fl << ", keep new value after sucessful scan = " << keep_new_value_after_sucessful_scan << " data_sampling = " << data_sampling << ", adjust both sides = " << adjust_both_sides << ", fl scan location = " << fl_scan_location << ", fy scan direction = " << fy_scan_direction << ", white wall mode = " << white_wall_mode); @@ -476,95 +695,129 @@ namespace librealsense p4 |= (1 << 6); if (white_wall_mode) p4 |= (1 << 7); + if (scan_only_v3) + p4 |= (1 << 8); + if (interactive_scan_v3) + p4 |= (1 << 9); - std::shared_ptr preset_recover; if (speed == speed_white_wall && apply_preset) + { preset_recover = change_preset(); - - std::this_thread::sleep_for(std::chrono::milliseconds(200)); + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + } // Begin auto-calibration - _hw_monitor->send(command{ ds::AUTO_CALIB, py_rx_plus_fl_calib_begin, speed_fl, 0, p4 }); - - DscPyRxFLCalibrationTableResult result{}; - - int count = 0; - bool done = false; - - auto start = std::chrono::high_resolution_clock::now(); - auto now = start; - float progress = 0.0f; - - // While not ready... - do + if (host_assistance == host_assistance_type::no_assistance || host_assistance == host_assistance_type::assistance_start) { - std::this_thread::sleep_for(std::chrono::milliseconds(200)); + _hw_monitor->send(command{ ds::AUTO_CALIB, py_rx_plus_fl_calib_begin, speed_fl, 0, p4 }); + LOG_OCC_WARN(std::string(to_string() << __LINE__ << "occ py_rx_plus_fl_calib_begin speed_fl = " << speed_fl << " res size = " << res.size())); + } - // Check calibration status - try + if (host_assistance != host_assistance_type::assistance_start) + { + if ((host_assistance == host_assistance_type::assistance_first_feed) || (host_assistance == host_assistance_type::assistance_second_feed)) { - auto res = _hw_monitor->send(command{ ds::AUTO_CALIB, get_py_rx_plus_fl_calib_result }); - - if (res.size() < sizeof(DscPyRxFLCalibrationTableResult)) - throw std::runtime_error("Not enough data from CALIB_STATUS!"); + command cmd(ds::AUTO_CALIB, interactive_scan_control, 0, 0); + LOG_OCC_WARN(std::string(to_string() << __LINE__ << "occ interactive_scan_control 0,0")); + uint8_t* p = reinterpret_cast(&step_count_v3); + cmd.data.push_back(p[0]); + cmd.data.push_back(p[1]); + for (uint16_t i = 0; i < step_count_v3; ++i) + { + p = reinterpret_cast(fill_factor + i); + cmd.data.push_back(p[0]); + cmd.data.push_back(p[1]); + } - result = *reinterpret_cast(res.data()); - done = result.status != RS2_DSC_STATUS_RESULT_NOT_READY; - } - catch (const std::exception& ex) - { - LOG_WARNING(ex.what()); + _hw_monitor->send(cmd); } - if (progress_callback) + if (host_assistance != host_assistance_type::assistance_first_feed) { - progress = count++ * (2.f * speed); - progress_callback->on_update_progress(progress); //curently this number does not reflect the actual progress - } + DscPyRxFLCalibrationTableResult result{}; - now = std::chrono::high_resolution_clock::now(); + int count = 0; + bool done = false; - } while (now - start < std::chrono::milliseconds(timeout_ms) && !done); + auto start = std::chrono::high_resolution_clock::now(); + auto now = start; + float progress = 0.0f; - // If we exit due to timeout, report timeout - if (!done) - { - throw std::runtime_error("Operation timed-out!\n" - "Calibration state did not converged in time"); - } + // While not ready... + do + { + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + + // Check calibration status + try + { + auto res = _hw_monitor->send(command{ ds::AUTO_CALIB, get_py_rx_plus_fl_calib_result }); + LOG_OCC_WARN(std::string(to_string() << __LINE__ << "occ get_py_rx_plus_fl_calib_result res size = " << res.size() )); + + if (res.size() < sizeof(DscPyRxFLCalibrationTableResult)) + throw std::runtime_error("Not enough data from CALIB_STATUS!"); + + result = *reinterpret_cast(res.data()); + done = result.status != RS2_DSC_STATUS_RESULT_NOT_READY; + } + catch (const std::exception& ex) + { + LOG_WARNING(ex.what()); + } + + if (progress_callback) + { + if (host_assistance != host_assistance_type::no_assistance) + if (count < 20) progress_callback->on_update_progress(static_cast(80 + count++)); + else + progress_callback->on_update_progress(count++* (2.f * speed)); //curently this number does not reflect the actual progress + } + + now = std::chrono::high_resolution_clock::now(); + + } while (now - start < std::chrono::milliseconds(timeout_ms) && !done); + + // If we exit due to timeout, report timeout + if (!done) + { + throw std::runtime_error("Operation timed-out!\n" + "Calibration state did not converge on time"); + } - std::this_thread::sleep_for(std::chrono::milliseconds(100)); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); - auto status = (rs2_dsc_status)result.status; + auto status = (rs2_dsc_status)result.status; - // Handle errors from firmware - if (status != RS2_DSC_STATUS_SUCCESS) - handle_calibration_error(status); + // Handle errors from firmware + if (status != RS2_DSC_STATUS_SUCCESS) + handle_calibration_error(status); - res = get_PyRxFL_calibration_results(&h_1, &h_2); + res = get_PyRxFL_calibration_results(&h_1, &h_2); - int health_1 = static_cast(abs(h_1) * 1000.0f + 0.5f); - health_1 &= 0xFFF; + int health_1 = static_cast(abs(h_1) * 1000.0f + 0.5f); + health_1 &= 0xFFF; - int health_2 = static_cast(abs(h_2) * 1000.0f + 0.5f); - health_2 &= 0xFFF; + int health_2 = static_cast(abs(h_2) * 1000.0f + 0.5f); + health_2 &= 0xFFF; - int sign = 0; - if (h_1 < 0.0f) - sign = 1; - if (h_2 < 0.0f) - sign |= 2; + int sign = 0; + if (h_1 < 0.0f) + sign = 1; + if (h_2 < 0.0f) + sign |= 2; - int h = health_1; - h |= health_2 << 12; - h |= sign << 24; - *health = static_cast(h); + int h = health_1; + h |= health_2 << 12; + h |= sign << 24; + *health = static_cast(h); + } + } } return res; } - std::vector auto_calibrated::run_tare_calibration(int timeout_ms, float ground_truth_mm, std::string json, update_progress_callback_ptr progress_callback) + std::vector auto_calibrated::run_tare_calibration(int timeout_ms, float ground_truth_mm, std::string json, float* const health, update_progress_callback_ptr progress_callback) { int average_step_count = DEFAULT_AVERAGE_STEP_COUNT; int step_count = DEFAULT_STEP_COUNT; @@ -573,6 +826,8 @@ namespace librealsense int scan_parameter = DEFAULT_SCAN; int data_sampling = DEFAULT_TARE_SAMPLING; int apply_preset = 1; + int depth = 0; + host_assistance_type host_assistance(host_assistance_type::no_assistance); std::vector res; //Enforce Thermal Compensation off during Tare calibration @@ -588,71 +843,683 @@ namespace librealsense try_fetch(jsn, "scan parameter", &scan_parameter); try_fetch(jsn, "data sampling", &data_sampling); try_fetch(jsn, "apply preset", &apply_preset); + int tmp_host_assistance(0); + try_fetch(jsn, "host assistance", &tmp_host_assistance); + if (tmp_host_assistance < (int)host_assistance_type::no_assistance || tmp_host_assistance >(int)host_assistance_type::assistance_second_feed) + throw invalid_value_exception(to_string() << "Auto calibration failed! Given value of 'host assistance' " << tmp_host_assistance << " is out of range (0 - " << (int)host_assistance_type::assistance_second_feed << ")."); + host_assistance = host_assistance_type(tmp_host_assistance); + try_fetch(jsn, "depth", &depth); + try_fetch(jsn, "resize factor", &_resize_factor); } - LOG_INFO("run_tare_calibration with parameters: speed = " << speed << " average_step_count = " << average_step_count << " step_count = " << step_count << " accuracy = " << accuracy << " scan_parameter = " << scan_parameter << " data_sampling = " << data_sampling); - check_tare_params(speed, scan_parameter, data_sampling, average_step_count, step_count, accuracy); + if (host_assistance != host_assistance_type::no_assistance && _interactive_state == interactive_calibration_state::RS2_OCC_STATE_NOT_ACTIVE) + { + _json = json; + _ground_truth_mm = ground_truth_mm; + _total_frames = step_count; + _average_step_count = average_step_count; + _action = auto_calib_action::RS2_OCC_ACTION_TARE_CALIB; + _interactive_state = interactive_calibration_state::RS2_OCC_STATE_WAIT_TO_CAMERA_START; + + DirectSearchCalibrationResult result = get_calibration_status(timeout_ms, [progress_callback, host_assistance, speed](int count) + { + if (progress_callback) + { + if (host_assistance != host_assistance_type::no_assistance) + if (count < 20) progress_callback->on_update_progress(static_cast(80 + count++)); + else + progress_callback->on_update_progress(count++ * (2.f * speed)); //curently this number does not reflect the actual progress + } + }, false); + // Handle errors from firmware + rs2_dsc_status status = (rs2_dsc_status)result.status; - std::shared_ptr preset_recover; - if (apply_preset) - preset_recover = change_preset(); + if (result.maxDepth == 0) + { + throw std::runtime_error("Firmware calibration values are not yet set."); + } + _min_valid_depth = result.minDepth; + _max_valid_depth = result.maxDepth; - auto param2 = (int)ground_truth_mm * 100; + return res; + } - tare_calibration_params param3{ (byte)average_step_count, (byte)step_count, (byte)accuracy, 0}; + if (depth > 0) + { + LOG_OCC_WARN("run_tare_calibration interactive control (2) with parameters: depth = " << depth); + _hw_monitor->send(command{ ds::AUTO_CALIB, interactive_scan_control, 2, depth }); + } + else + { + std::shared_ptr preset_recover; + if (depth == 0) + { + if (apply_preset) + { + if (host_assistance != host_assistance_type::no_assistance) + change_preset_and_stay(); + else + preset_recover = change_preset(); + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + } - param4 param{ (byte)scan_parameter, 0, (byte)data_sampling }; + LOG_DEBUG("run_tare_calibration with parameters: speed = " << speed << " average_step_count = " << average_step_count << " step_count = " << step_count << " accuracy = " << accuracy << " scan_parameter = " << scan_parameter << " data_sampling = " << data_sampling); + check_tare_params(speed, scan_parameter, data_sampling, average_step_count, step_count, accuracy); - _hw_monitor->send(command{ ds::AUTO_CALIB, tare_calib_begin, param2, param3.param3, param.param_4}); + auto param2 = (int)ground_truth_mm * 100; - DirectSearchCalibrationResult result; + tare_calibration_params param3{ (byte)average_step_count, (byte)step_count, (byte)accuracy, 0 }; - // While not ready... - int count = 0; - bool done = false; + param4 param{ (byte)scan_parameter, 0, (byte)data_sampling }; + if (host_assistance != host_assistance_type::no_assistance) + param.param_4 |= (1 << 8); - auto start = std::chrono::high_resolution_clock::now(); - auto now = start; - do + // Log the current preset + auto advanced_mode = dynamic_cast(this); + if (advanced_mode) + { + auto cur_preset = (rs2_rs400_visual_preset)(int)advanced_mode->_preset_opt->query(); + LOG_DEBUG("run_tare_calibration with preset: " << rs2_rs400_visual_preset_to_string(cur_preset)); + } + + if (depth == 0) + _hw_monitor->send(command{ ds::AUTO_CALIB, tare_calib_begin, param2, param3.param3, param.param_4 }); + } + + if (host_assistance == host_assistance_type::no_assistance || depth < 0) + { + TareCalibrationResult result; + + // While not ready... + int count = 0; + bool done = false; + + auto start = std::chrono::high_resolution_clock::now(); + auto now = start; + do + { + memset(&result, 0, sizeof(TareCalibrationResult)); + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + + // Check calibration status + try + { + res = _hw_monitor->send(command{ ds::AUTO_CALIB, tare_calib_check_status }); + if (res.size() < sizeof(TareCalibrationResult)) + { + if (depth < 0) + restore_preset(); + throw std::runtime_error("Not enough data from CALIB_STATUS!"); + } + + result = *reinterpret_cast(res.data()); + done = result.status != RS2_DSC_STATUS_RESULT_NOT_READY; + } + catch (const std::exception& ex) + { + LOG_INFO(ex.what()); + } + + if (progress_callback) + { + if (depth < 0 && count < 20) + progress_callback->on_update_progress(static_cast(80 + count++)); + else if (depth == 0) + progress_callback->on_update_progress(count++ * (2.f * speed)); //curently this number does not reflect the actual progress + } + + now = std::chrono::high_resolution_clock::now(); + + } while (now - start < std::chrono::milliseconds(timeout_ms) && !done); + + // If we exit due to timeout, report timeout + if (!done) + { + if (depth < 0) + restore_preset(); + + throw std::runtime_error("Operation timed-out!\n" + "Calibration did not converge on time"); + } + + auto status = (rs2_dsc_status)result.status; + + uint8_t* p = res.data() + sizeof(TareCalibrationResult) + 2 * result.iterations * sizeof(uint32_t); + float* ph = reinterpret_cast(p); + health[0] = ph[0]; + health[1] = ph[1]; + + LOG_INFO("Ground truth: " << ground_truth_mm << "mm"); + LOG_INFO("Health check numbers from TareCalibrationResult(0x0C): before=" << ph[0] << ", after=" << ph[1]); + LOG_INFO("Z calculated from health check numbers : before=" << (ph[0] + 1) * ground_truth_mm << ", after=" << (ph[1] + 1) * ground_truth_mm); + + // Handle errors from firmware + if (status != RS2_DSC_STATUS_SUCCESS) + handle_calibration_error(status); + + res = get_calibration_results(); + + if (depth < 0) + { + restore_preset(); + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + } + if (progress_callback) + progress_callback->on_update_progress(static_cast(100)); + } + } + + return res; + } + + uint16_t auto_calibrated::calc_fill_rate(const rs2_frame* f) + { + auto frame = ((video_frame*)f); + int width = frame->get_width(); + int height = frame->get_height(); + int roi_w = width / _resize_factor; + int roi_h = height / _resize_factor; + int roi_start_w = (width - roi_w) / 2; + int roi_start_h = (height - roi_h) / 2; + int from = roi_start_h; + int to = roi_start_h + roi_h; + int roi_size = roi_w * roi_h; + int data_size = roi_size; + const uint16_t* p = reinterpret_cast(frame->get_frame_data()); + +#ifdef SAVE_RAW_IMAGE + std::vector cropped_image(width * height, 0); + int cropped_idx(0); + cropped_idx += from * width + roi_start_w; +#endif + + p += from * width + roi_start_w; + + int counter(0); + for (int j = from; j < to; ++j) { - memset(&result, 0, sizeof(DirectSearchCalibrationResult)); - std::this_thread::sleep_for(std::chrono::milliseconds(200)); + for (int i = 0; i < roi_w; ++i) + { +#ifdef SAVE_RAW_IMAGE + cropped_image[cropped_idx] = (*p); + cropped_idx++; +#endif + if ((*p) >= _min_valid_depth && (*p) <= _max_valid_depth) + ++counter; + ++p; + } + p += (width - roi_w); +#ifdef SAVE_RAW_IMAGE + cropped_idx += (width - roi_w); +#endif + } +#ifdef SAVE_RAW_IMAGE + { + unsigned long milliseconds_since_epoch = + std::chrono::duration_cast + (std::chrono::system_clock::now().time_since_epoch()).count(); + + std::stringstream name_s; + name_s << "cropped_image_" << std::setfill('0') << std::setw(4) << milliseconds_since_epoch << "_" << frame->get_frame_number() << ".raw"; + std::ofstream fout(name_s.str(), std::ios::out | std::ios::binary); + fout.write((char*)&cropped_image[0], cropped_image.size() * sizeof(uint16_t)); + fout.close(); + } +#endif + double tmp = static_cast(counter) / static_cast(data_size) * 10000.0; + return static_cast(tmp + 0.5f); - // Check calibration status - try + } + + // fill_missing_data: + // Fill every zeros section linearly based on the section's edges. + void auto_calibrated::fill_missing_data(uint16_t data[256], int size) + { + int counter = 0; + int start = 0; + while (data[start++] == 0) + ++counter; + + if (start + 2 > size) + throw std::runtime_error(to_string() << "There is no enought valid data in the array!"); + + for (int i = 0; i < counter; ++i) + data[i] = data[counter]; + + start = 0; + int end = 0; + float tmp = 0; + for (int i = 0; i < size; ++i) + { + if (data[i] == 0) + start = i; + + if (start != 0 && data[i] != 0) + end = i; + + if (start != 0 && end != 0) { - res = _hw_monitor->send(command{ ds::AUTO_CALIB, tare_calib_check_status }); - if (res.size() < sizeof(DirectSearchCalibrationResult)) - throw std::runtime_error("Not enough data from CALIB_STATUS!"); + tmp = static_cast(data[end] - data[start - 1]); + tmp /= end - start + 1; + for (int j = start; j < end; ++j) + data[j] = static_cast(tmp * (j - start + 1) + data[start - 1] + 0.5f); + start = 0; + end = 0; + } + } + + if (start != 0 && end == 0) + { + for (int i = start; i < size; ++i) + data[i] = data[start - 1]; + } + } - result = *reinterpret_cast(res.data()); - done = result.status != RS2_DSC_STATUS_RESULT_NOT_READY; + void auto_calibrated::remove_outliers(uint16_t data[256], int size) + { + //Due to the async between the preset activation and the flow, the initial frames of the sample may include unrelated data. + // the purpose of the function is to eliminate those by replacing them with a single value. + // This assumes that the fill_rate is contiguous during scan (i.e. grows or shrinks monotonically) + // Additionally, this function rectifies singular sporadic outliers which are in the top 5% that may skew the results + uint16_t base_fr = 0; + for (int i = 255; i >= 0; i--) + { + // Initialize reference value + if (!base_fr) + { + if (data[i]) + base_fr = data[i]; + continue; } - catch (const std::exception& ex) + + // Rectify missing values + if (!data[i]) + data[i] = base_fr; + } + + static const int _outlier_percentile = 9500; // The outlier value is expected to be significantly above this value + for (int i = 0; i <= 253; i++) // Check for single outliers by assessing triples + { + auto val1 = data[i]; + auto val2 = data[i+1]; + auto val3 = data[i+2]; + + // Check for rectification candidate + if ((val2 > val1) && (val2 > val3)) { - LOG_INFO(ex.what()); + auto diff = val3-val1; + auto delta = std::max(std::abs(val2-val1),std::abs(val2-val3)); + // Actual outlier is a + // - spike 3 times or more than the expected gap + // - in the 5 top percentile + // - with neighbour values being smaller by at least 500 points to avoid clamping around the peak + if ((delta > 500) && (delta > (std::abs(diff) * 3)) && (val2 > _outlier_percentile)) + { + data[i+1] = data[i] + diff/2; + LOG_OCC_WARN(std::string(to_string() << "Outlier with value " << val2 << " was changed to be " << data[i+1] )); + } } + } + } - if (progress_callback) - progress_callback->on_update_progress(count++ * (2.f * speed)); //curently this number does not reflect the actual progress + // get_depth_frame_sum: + // Function sums the pixels in the image ROI - Add the collected avarage parameters to _collected_counter, _collected_sum. + void auto_calibrated::collect_depth_frame_sum(const rs2_frame* f) + { + auto frame = ((video_frame*)f); + int width = frame->get_width(); + int height = frame->get_height(); + int roi_w = width / _resize_factor; + int roi_h = height / _resize_factor; + int roi_start_w = (width - roi_w) / 2; + int roi_start_h = (height - roi_h) / 2; - now = std::chrono::high_resolution_clock::now(); + const uint16_t* p = reinterpret_cast(frame->get_frame_data()); - } while (now - start < std::chrono::milliseconds(timeout_ms) && !done); +#ifdef SAVE_RAW_IMAGE + std::vector origin_image(width * height, 0); + for (int ii = 0; ii < width * height; ii++) + origin_image[ii] = *(p + ii); - // If we exit due to timeout, report timeout - if (!done) - throw std::runtime_error("Operation timed-out!\nCalibration state did not converged in time"); + { + unsigned long milliseconds_since_epoch = + std::chrono::duration_cast + (std::chrono::system_clock::now().time_since_epoch()).count(); + + std::stringstream name_s; + name_s << "origin_tare_image_" << std::setfill('0') << std::setw(4) << milliseconds_since_epoch << "_" << frame->get_frame_number() << ".raw"; + + std::ofstream fout(name_s.str(), std::ios::out | std::ios::binary); + fout.write((char*)&origin_image[0], origin_image.size() * sizeof(uint16_t)); + fout.close(); + } + std::vector cropped_image(width * height, 0); + int cropped_idx(0); + cropped_idx += roi_start_h * width + roi_start_w; +#endif + + p += roi_start_h * width + roi_start_w; + + for (int j = 0; j < roi_h; ++j) + { + for (int i = 0; i < roi_w; ++i) + { +#ifdef SAVE_RAW_IMAGE + cropped_image[cropped_idx] = (*p); + cropped_idx++; +#endif + if ((*p) >= _min_valid_depth && (*p) <= _max_valid_depth) + { + ++_collected_counter; + _collected_sum += *p; + } + ++p; + } + p += (width- roi_w); +#ifdef SAVE_RAW_IMAGE + cropped_idx += (width - roi_w); +#endif + } +#ifdef SAVE_RAW_IMAGE + { + unsigned long milliseconds_since_epoch = + std::chrono::duration_cast + (std::chrono::system_clock::now().time_since_epoch()).count(); - auto status = (rs2_dsc_status)result.status; + std::stringstream name_s; + name_s << "cropped_tare_image_" << std::setfill('0') << std::setw(4) << milliseconds_since_epoch << "_" << frame->get_frame_number() << ".raw"; - // Handle errors from firmware - if (status != RS2_DSC_STATUS_SUCCESS) - handle_calibration_error(status); + std::ofstream fout(name_s.str(), std::ios::out | std::ios::binary); + fout.write((char*)&cropped_image[0], cropped_image.size() * sizeof(uint16_t)); + fout.close(); + } +#endif + } - return get_calibration_results(); + std::vector auto_calibrated::process_calibration_frame(int timeout_ms, const rs2_frame* f, float* const health, update_progress_callback_ptr progress_callback) + { + try + { + std::vector 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); + bool tare_fc_workaround = (_action == auto_calib_action::RS2_OCC_ACTION_TARE_CALIB); //Tare calib shall use rolling frame counter + bool mipi_sku = ((frame_interface*)f)->supports_frame_metadata(RS2_FRAME_METADATA_CALIB_INFO); + if (mipi_sku) + frame_counter = ((frame_interface*)f)->get_frame_metadata(RS2_FRAME_METADATA_CALIB_INFO); + + if (_interactive_state == interactive_calibration_state::RS2_OCC_STATE_WAIT_TO_CAMERA_START) + { + if (frame_counter <= 2) + { + return res; + } + if (progress_callback) + { + progress_callback->on_update_progress(static_cast(10)); + } + _interactive_state = interactive_calibration_state::RS2_OCC_STATE_INITIAL_FW_CALL; + } + if (_interactive_state == interactive_calibration_state::RS2_OCC_STATE_INITIAL_FW_CALL) + { + if (_action == auto_calib_action::RS2_OCC_ACTION_TARE_CALIB) + { + res = run_tare_calibration(timeout_ms, _ground_truth_mm, _json, health, progress_callback); + } + else if (_action == auto_calib_action::RS2_OCC_ACTION_ON_CHIP_CALIB) + { + res = run_on_chip_calibration(timeout_ms, _json, health, progress_callback); + } + _prev_frame_counter = frame_counter; + if ((!tare_fc_workaround) && mipi_sku) _prev_frame_counter +=10; // Compensate for MIPI OCC calib. invoke delay + _interactive_state = interactive_calibration_state::RS2_OCC_STATE_WAIT_TO_CALIB_START; + LOG_OCC_WARN(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) + { + bool still_waiting(frame_counter >= _prev_frame_counter || frame_counter >= _total_frames); + _prev_frame_counter = frame_counter; + if (still_waiting) + { + if (progress_callback) + { + progress_callback->on_update_progress(static_cast(15)); + } + return res; + } + if (progress_callback) + { + progress_callback->on_update_progress(static_cast(20)); + } + _collected_counter = 0; + _collected_sum = 0; + _collected_frame_num = 0; + _skipped_frames = 0; + _prev_frame_counter = -1; + _interactive_state = interactive_calibration_state::RS2_OCC_STATE_DATA_COLLECT; + LOG_OCC_WARN(std::string(to_string() << __LINE__ << " switch to RS2_OCC_STATE_DATA_COLLECT")); + } + if (_interactive_state == interactive_calibration_state::RS2_OCC_STATE_DATA_COLLECT) + { + if (_action == auto_calib_action::RS2_OCC_ACTION_ON_CHIP_CALIB) + { +#ifdef SAVE_RAW_IMAGE + { + unsigned long milliseconds_since_epoch = + std::chrono::duration_cast + (std::chrono::system_clock::now().time_since_epoch()).count(); + + std::stringstream name_s; + name_s << "all_frame_numbers.txt"; + std::ofstream fout(name_s.str(), std::ios::app); + fout << frame_counter << ", " << _prev_frame_counter << ", " << _total_frames << ", " + << ((frame_interface*)f)->get_frame_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP) << ", " << milliseconds_since_epoch << std::endl; + fout.close(); + } +#endif +#ifdef SAVE_RAW_IMAGE + { + auto frame = ((video_frame*)f); + int width = frame->get_width(); + int height = frame->get_height(); + const uint16_t* p = reinterpret_cast(frame->get_frame_data()); + { + unsigned long milliseconds_since_epoch = + std::chrono::duration_cast + (std::chrono::system_clock::now().time_since_epoch()).count(); + + std::stringstream name_s; + name_s << "origin_image_" << std::setfill('0') << std::setw(4) << milliseconds_since_epoch << "_" << frame->get_frame_number() << ".raw"; + + std::ofstream fout(name_s.str(), std::ios::out | std::ios::binary); + fout.write((char*)p, width * height * sizeof(uint16_t)); + fout.close(); + } + } +#endif + + static const int FRAMES_TO_SKIP(_interactive_scan ? 1 : 0); + int fw_host_offset = (_interactive_scan ? 0 : 1); + + if (frame_counter + fw_host_offset < _total_frames) + { + if (frame_counter < _prev_frame_counter) + { + throw std::runtime_error("Frames arrived in a wrong order!"); + } + if (_skipped_frames < FRAMES_TO_SKIP || frame_counter == _prev_frame_counter) + { + _skipped_frames++; + } + else + { + if (progress_callback) + { + progress_callback->on_update_progress(static_cast(20 + static_cast(frame_counter * 60.0 / _total_frames))); + } + auto fill_rate = calc_fill_rate(f); + if (frame_counter < 10) // handle discrepancy on stream/preset activation + fill_rate = 0; + if (frame_counter + fw_host_offset < 256) + { + _fill_factor[frame_counter + fw_host_offset] = fill_rate; + LOG_OCC_WARN(std::string(to_string() << __LINE__ << " fc = " << frame_counter << ", _fill_factor[" << frame_counter + fw_host_offset << "] = " << fill_rate)); + } + + if (_interactive_scan) + { + auto res = _hw_monitor->send(command{ ds::AUTO_CALIB, interactive_scan_control, 1}); + LOG_OCC_WARN(std::string(to_string() << __LINE__ << " occ interactive_scan_control 1,")); + } + _skipped_frames = 0; + _prev_frame_counter = frame_counter; + } + } + else + { + _interactive_state = interactive_calibration_state::RS2_OCC_STATE_WAIT_FOR_FINAL_FW_CALL; + LOG_OCC_WARN(std::string(to_string() << __LINE__ << " go to final FW call")); + } + } + else if (_action == auto_calib_action::RS2_OCC_ACTION_TARE_CALIB) + { + static const int FRAMES_TO_SKIP(1); + if (frame_counter != _prev_frame_counter) + { + _collected_counter = 0; + _collected_sum = 0.0; + _collected_frame_num = 0; + _skipped_frames = 0; + if (progress_callback) + { + double progress_rate = std::min(1.0, static_cast(frame_counter) / _total_frames); + progress_callback->on_update_progress(static_cast(20 + static_cast(progress_rate * 60.0))); + } + } + LOG_OCC_WARN(std::string(to_string() << __LINE__ << " fr_c = " << frame_counter + << " fr_ts = " << frame_ts << " _c_f_num = " << _collected_frame_num)); + + if (frame_counter < _total_frames) + { + if (_skipped_frames < FRAMES_TO_SKIP) + { + _skipped_frames++; + } + else + { + if (_collected_frame_num < _average_step_count) + { + collect_depth_frame_sum(f); + if (_collected_counter && (_collected_frame_num + 1) == _average_step_count) + { + _collected_sum = (_collected_sum / _collected_counter) * 10000; + int depth = static_cast(_collected_sum + 0.5); + + std::stringstream ss; + ss << "{\n \"depth\":" << depth << "}"; + + std::string json = ss.str(); + run_tare_calibration(timeout_ms, _ground_truth_mm, json, health, progress_callback); + } + } + ++_collected_frame_num; + } + _prev_frame_counter = frame_counter; + } + else + { + _interactive_state = interactive_calibration_state::RS2_OCC_STATE_WAIT_FOR_FINAL_FW_CALL; + } + } + } + if (_interactive_state == interactive_calibration_state::RS2_OCC_STATE_WAIT_FOR_FINAL_FW_CALL) + { + LOG_OCC_WARN(std::string(to_string() << __LINE__ << " :RS2_OCC_STATE_WAIT_FOR_FINAL_FW_CALL")); + if (frame_counter > _total_frames) + { + _interactive_state = interactive_calibration_state::RS2_OCC_STATE_FINAL_FW_CALL; + } + else if (_interactive_scan) + { + _hw_monitor->send(command{ ds::AUTO_CALIB, interactive_scan_control, 1 }); + LOG_OCC_WARN(std::string(to_string() << __LINE__ << "Call for interactive_scan_control, 1")); + } + } + if (_interactive_state == interactive_calibration_state::RS2_OCC_STATE_FINAL_FW_CALL) + { + LOG_OCC_WARN(std::string(to_string() << __LINE__ << " :RS2_OCC_STATE_FINAL_FW_CALL")); + if (progress_callback) + { + progress_callback->on_update_progress(static_cast(80)); + } + if (_action == auto_calib_action::RS2_OCC_ACTION_ON_CHIP_CALIB) + { +#ifdef SAVE_RAW_IMAGE + { + std::stringstream ss; + ss << "{\n \"calib type\":" << 0 << + ",\n \"host assistance\":" << 2 << + ",\n \"step count v3\":" << _total_frames; + for (int i = 0; i < _total_frames; ++i) + ss << ",\n \"fill factor " << i << "\":" << _fill_factor[i]; + ss << "}"; + + std::stringstream name_s; + name_s << "fill_factor_before_fill.txt"; + std::ofstream fout(name_s.str(), std::ios::out); + fout << ss.str(); + fout.close(); + } +#endif + // Do not delete - to be used to improve algo robustness + fill_missing_data(_fill_factor, _total_frames); + remove_outliers(_fill_factor, _total_frames); + std::stringstream ss; + ss << "{\n \"calib type\":" << 0 << + ",\n \"host assistance\":" << 2 << + ",\n \"step count v3\":" << _total_frames; + for (int i = 0; i < _total_frames; ++i) + ss << ",\n \"fill factor " << i << "\":" << _fill_factor[i]; + ss << "}"; + + std::string json = ss.str(); +#ifdef SAVE_RAW_IMAGE + { + std::stringstream name_s; + name_s << "fill_factor.txt"; + std::ofstream fout(name_s.str(), std::ios::out); + fout << json; + fout.close(); + } +#endif + + res = run_on_chip_calibration(timeout_ms, json, health, progress_callback); + } + else if (_action == auto_calib_action::RS2_OCC_ACTION_TARE_CALIB) + { + std::stringstream ss; + ss << "{\n \"depth\":" << -1 << "}"; + + std::string json = ss.str(); + res = run_tare_calibration(timeout_ms, _ground_truth_mm, json, health, progress_callback); + } + if (progress_callback) + { + progress_callback->on_update_progress(static_cast(100)); + } + _interactive_state = interactive_calibration_state::RS2_OCC_STATE_NOT_ACTIVE; + } + return res; + } + catch (const std::exception&) + { + _interactive_state = interactive_calibration_state::RS2_OCC_STATE_NOT_ACTIVE; + throw; + } } + std::shared_ptr auto_calibrated::change_preset() { preset old_preset_values; @@ -681,6 +1548,35 @@ namespace librealsense return recover_preset; } + void auto_calibrated::change_preset_and_stay() + { + auto advanced_mode = dynamic_cast(this); + if (advanced_mode) + { + _old_preset = (rs2_rs400_visual_preset)(int)advanced_mode->_preset_opt->query(); + if (_old_preset == RS2_RS400_VISUAL_PRESET_CUSTOM) + _old_preset_values = advanced_mode->get_all(); + advanced_mode->_preset_opt->set(RS2_RS400_VISUAL_PRESET_HIGH_ACCURACY); + _preset_change = true; + } + } + + void auto_calibrated::restore_preset() + { + if (_preset_change) + { + auto advanced_mode = dynamic_cast(this); + if (_old_preset == RS2_RS400_VISUAL_PRESET_CUSTOM) + { + advanced_mode->_preset_opt->set(RS2_RS400_VISUAL_PRESET_CUSTOM); + advanced_mode->set_all(_old_preset_values); + } + else + advanced_mode->_preset_opt->set(static_cast(_old_preset)); + } + _preset_change = false; + } + void auto_calibrated::check_params(int speed, int scan_parameter, int data_sampling) const { if (speed < speed_very_fast || speed > speed_white_wall) @@ -766,7 +1662,7 @@ namespace librealsense else throw std::runtime_error(to_string() << "Calibration didn't converge! (RESULT=" << int(status) << ")"); } - std::vector auto_calibrated::get_calibration_results(float* health) const + std::vector auto_calibrated::get_calibration_results(float* const health) const { using namespace ds; @@ -793,7 +1689,7 @@ namespace librealsense return calib; } - std::vector auto_calibrated::get_PyRxFL_calibration_results(float* health, float* health_fl) const + std::vector auto_calibrated::get_PyRxFL_calibration_results(float* const health, float* health_fl) const { using namespace ds; @@ -891,7 +1787,14 @@ namespace librealsense uint8_t* table = (uint8_t*)(calibration.data() + sizeof(table_header)); command write_calib(ds::CALIBRECALC, 0, 0, 0, 0xcafecafe); write_calib.data.insert(write_calib.data.end(), (uint8_t*)table, ((uint8_t*)table) + hd->table_size); - _hw_monitor->send(write_calib); + try + { + _hw_monitor->send(write_calib); + } + catch(...) + { + LOG_ERROR("Flashing coefficients_table_id failed"); + } } case rgb_calibration_id: // case fall-through by design. For RGB skip loading to RAM (not supported) _curr_calibration = calibration; @@ -1327,7 +2230,7 @@ namespace librealsense } std::vector auto_calibrated::run_uv_map_calibration(rs2_frame_queue* left, rs2_frame_queue* color, rs2_frame_queue* depth, int py_px_only, - float* health, int health_size, update_progress_callback_ptr progress_callback) + float* const health, int health_size, update_progress_callback_ptr progress_callback) { float left_dots_x[4]; float left_dots_y[4]; diff --git a/src/ds5/ds5-auto-calibration.h b/src/ds5/ds5-auto-calibration.h index f83adbb06c..ea19c5e12c 100644 --- a/src/ds5/ds5-auto-calibration.h +++ b/src/ds5/ds5-auto-calibration.h @@ -9,26 +9,61 @@ namespace librealsense { +#pragma pack(push, 1) +#pragma pack(1) + struct DirectSearchCalibrationResult + { + uint16_t status; // DscStatus + uint16_t stepCount; + uint16_t stepSize; // 1/1000 of a pixel + uint32_t pixelCountThreshold; // minimum number of pixels in + // selected bin + uint16_t minDepth; // Depth range for FWHM + uint16_t maxDepth; + uint32_t rightPy; // 1/1000000 of normalized unit + float healthCheck; + float rightRotation[9]; // Right rotation + }; +#pragma pack(pop) + class auto_calibrated : public auto_calibrated_interface { + enum class auto_calib_action + { + RS2_OCC_ACTION_ON_CHIP_CALIB, // On-Chip calibration + RS2_OCC_ACTION_TARE_CALIB // Tare calibration + }; + + enum class interactive_calibration_state + { + RS2_OCC_STATE_NOT_ACTIVE = 0, + RS2_OCC_STATE_WAIT_TO_CAMERA_START, + RS2_OCC_STATE_INITIAL_FW_CALL, + RS2_OCC_STATE_WAIT_TO_CALIB_START, + RS2_OCC_STATE_DATA_COLLECT, + RS2_OCC_STATE_WAIT_FOR_FINAL_FW_CALL, + RS2_OCC_STATE_FINAL_FW_CALL + }; + public: auto_calibrated(std::shared_ptr& hwm); void write_calibration() const override; - std::vector run_on_chip_calibration(int timeout_ms, std::string json, float* health, update_progress_callback_ptr progress_callback) override; - std::vector run_tare_calibration(int timeout_ms, float ground_truth_mm, std::string json, update_progress_callback_ptr progress_callback) override; + std::vector run_on_chip_calibration(int timeout_ms, std::string json, float* const health, update_progress_callback_ptr progress_callback) override; + std::vector run_tare_calibration(int timeout_ms, float ground_truth_mm, std::string json, float* const health, update_progress_callback_ptr progress_callback) override; + std::vector process_calibration_frame(int timeout_ms, const rs2_frame* f, float* const health, update_progress_callback_ptr progress_callback) override; std::vector get_calibration_table() const override; void set_calibration_table(const std::vector& calibration) override; void reset_to_factory_calibration() const override; - std::vector run_focal_length_calibration(rs2_frame_queue* left, rs2_frame_queue* right, float target_w, float target_h, + std::vector run_focal_length_calibration(rs2_frame_queue* left, rs2_frame_queue* right, float target_w, float target_h, int adjust_both_sides, float* ratio, float* angle, update_progress_callback_ptr progress_callback) override; std::vector run_uv_map_calibration(rs2_frame_queue* left, rs2_frame_queue* color, rs2_frame_queue* depth, int py_px_only, - float* health, int health_size, update_progress_callback_ptr progress_callback) override; + 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; private: - std::vector get_calibration_results(float* health = nullptr) const; - std::vector get_PyRxFL_calibration_results(float* health = nullptr, float* health_fl = nullptr) const; + std::vector get_calibration_results(float* const health = nullptr) const; + std::vector get_PyRxFL_calibration_results(float* const health = nullptr, float* health_fl = nullptr) const; void handle_calibration_error(int status) const; std::map parse_json(std::string json); std::shared_ptr< ds5_advanced_mode_base> change_preset(); @@ -38,10 +73,38 @@ namespace librealsense void check_one_button_params(int speed, int keep_new_value_after_sucessful_scan, int data_sampling, int adjust_both_sides, int fl_scan_location, int fy_scan_direction, int white_wall_mode) const; void get_target_rect_info(rs2_frame_queue* frames, float rect_sides[4], float& fx, float& fy, int progress, update_progress_callback_ptr progress_callback); void undistort(uint8_t* img, const rs2_intrinsics& intrin, int roi_ws, int roi_hs, int roi_we, int roi_he); + void change_preset_and_stay(); + void restore_preset(); void find_z_at_corners(float left_x[4], float left_y[4], rs2_frame_queue* frames, float left_z[4]); void get_target_dots_info(rs2_frame_queue* frames, float dots_x[4], float dots_y[4], rs2::stream_profile & profile, rs2_intrinsics & fy, int progress, update_progress_callback_ptr progress_callback); + uint16_t calc_fill_rate(const rs2_frame* f); + void fill_missing_data(uint16_t data[256], int size); + void remove_outliers(uint16_t data[256], int size); + void collect_depth_frame_sum(const rs2_frame* f); + DirectSearchCalibrationResult get_calibration_status(int timeout_ms, std::function progress_func, bool wait_for_final_results = true); std::vector _curr_calibration; std::shared_ptr& _hw_monitor; + + bool _preset_change = false; + preset _old_preset_values; + rs2_rs400_visual_preset _old_preset; + + std::string _json; + float _ground_truth_mm; + int _total_frames; + int _average_step_count; + int _collected_counter; + int _collected_frame_num; + double _collected_sum; + int _resize_factor; + auto_calib_action _action; + interactive_calibration_state _interactive_state; + bool _interactive_scan; + rs2_metadata_type _prev_frame_counter; + uint16_t _fill_factor[256]; + uint16_t _min_valid_depth, _max_valid_depth; + int _skipped_frames; + }; } diff --git a/src/ds5/ds5-color.cpp b/src/ds5/ds5-color.cpp index d2dc6a004a..a0e1e2bd68 100644 --- a/src/ds5/ds5-color.cpp +++ b/src/ds5/ds5-color.cpp @@ -55,16 +55,32 @@ namespace librealsense // except for D405, in which the color is part of the depth unit // and it will then been found in end point 0 (the depth's one) auto color_devs_info_mi3 = filter_by_mi(group.uvc_devices, 3); - if (color_devs_info_mi3.size() == 1) + if (color_devs_info_mi3.size() == 1 || ds::RS457_PID == _pid) { // means color end point in part of a separate color sensor (e.g. D435) - color_devs_info = color_devs_info_mi3; + if (ds::RS457_PID == _pid) + color_devs_info = group.uvc_devices; + else + color_devs_info = color_devs_info_mi3; std::unique_ptr ds5_timestamp_reader_backup(new ds5_timestamp_reader(backend.create_time_service())); - std::unique_ptr ds5_timestamp_reader_metadata(new ds5_timestamp_reader_from_metadata(std::move(ds5_timestamp_reader_backup))); + frame_timestamp_reader* timestamp_reader_from_metadata; + if (ds::RS457_PID != _pid) + timestamp_reader_from_metadata = new ds5_timestamp_reader_from_metadata(std::move(ds5_timestamp_reader_backup)); + else + timestamp_reader_from_metadata = new ds5_timestamp_reader_from_metadata_mipi_color(std::move(ds5_timestamp_reader_backup)); + + std::unique_ptr ds5_timestamp_reader_metadata(timestamp_reader_from_metadata); auto enable_global_time_option = std::shared_ptr(new global_time_option()); + platform::uvc_device_info info; + if (ds::RS457_PID == _pid) + info = color_devs_info[1]; + else + info = color_devs_info.front(); + auto uvcd = backend.create_uvc_device(info); + //auto ftr = std::unique_ptr(new global_timestamp_reader(std::move(ds5_timestamp_reader_metadata), _tf_keeper, enable_global_time_option)); auto raw_color_ep = std::make_shared("Raw RGB Camera", - backend.create_uvc_device(color_devs_info.front()), + uvcd, std::unique_ptr(new global_timestamp_reader(std::move(ds5_timestamp_reader_metadata), _tf_keeper, enable_global_time_option)), this); @@ -101,47 +117,54 @@ namespace librealsense { auto& color_ep = get_color_sensor(); auto& raw_color_ep = get_raw_color_sensor(); - - color_ep.register_pu(RS2_OPTION_BRIGHTNESS); - color_ep.register_pu(RS2_OPTION_CONTRAST); - color_ep.register_pu(RS2_OPTION_SATURATION); - color_ep.register_pu(RS2_OPTION_GAMMA); - color_ep.register_pu(RS2_OPTION_SHARPNESS); - color_ep.register_pu(RS2_OPTION_BACKLIGHT_COMPENSATION); - - auto white_balance_option = std::make_shared(raw_color_ep, RS2_OPTION_WHITE_BALANCE); - color_ep.register_option(RS2_OPTION_WHITE_BALANCE, white_balance_option); - auto auto_white_balance_option = std::make_shared(raw_color_ep, RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE); - color_ep.register_option(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE, auto_white_balance_option); - color_ep.register_option(RS2_OPTION_WHITE_BALANCE, - std::make_shared( - white_balance_option, - auto_white_balance_option)); + + if (!val_in_range(_pid, { ds::RS457_PID })) + { + color_ep.register_pu(RS2_OPTION_BRIGHTNESS); + color_ep.register_pu(RS2_OPTION_CONTRAST); + color_ep.register_pu(RS2_OPTION_SATURATION); + color_ep.register_pu(RS2_OPTION_GAMMA); + color_ep.register_pu(RS2_OPTION_SHARPNESS); + color_ep.register_pu(RS2_OPTION_BACKLIGHT_COMPENSATION); + + auto white_balance_option = std::make_shared(raw_color_ep, RS2_OPTION_WHITE_BALANCE); + color_ep.register_option(RS2_OPTION_WHITE_BALANCE, white_balance_option); + auto auto_white_balance_option = std::make_shared(raw_color_ep, RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE); + color_ep.register_option(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE, auto_white_balance_option); + color_ep.register_option(RS2_OPTION_WHITE_BALANCE, + std::make_shared( + white_balance_option, + auto_white_balance_option)); + + color_ep.register_option(RS2_OPTION_POWER_LINE_FREQUENCY, + std::make_shared(raw_color_ep, RS2_OPTION_POWER_LINE_FREQUENCY, + std::map{ { 0.f, "Disabled"}, + { 1.f, "50Hz" }, + { 2.f, "60Hz" }, + { 3.f, "Auto" }, })); + } // Currently disabled for certain sensors - if (!val_in_range(_pid, { ds::RS465_PID })) + // D457 + if (!val_in_range(_pid, { ds::RS465_PID, ds::RS457_PID})) { color_ep.register_pu(RS2_OPTION_HUE); } - color_ep.register_option(RS2_OPTION_POWER_LINE_FREQUENCY, - std::make_shared(raw_color_ep, RS2_OPTION_POWER_LINE_FREQUENCY, - std::map{ { 0.f, "Disabled"}, - { 1.f, "50Hz" }, - { 2.f, "60Hz" }, - { 3.f, "Auto" }, })); - if (_separate_color) { // Currently disabled for certain sensors - if (!val_in_range(_pid, { ds::RS465_PID })) + if (!val_in_range(_pid, { ds::RS457_PID})) { - color_ep.register_pu(RS2_OPTION_AUTO_EXPOSURE_PRIORITY); - } - // From 5.11.15 auto-exposure priority is supported on the D465 - else if (_fw_version >= firmware_version("5.11.15.0")) - { - color_ep.register_pu(RS2_OPTION_AUTO_EXPOSURE_PRIORITY); + if (!val_in_range(_pid, { ds::RS465_PID})) + { + color_ep.register_pu(RS2_OPTION_AUTO_EXPOSURE_PRIORITY); + } + // From 5.11.15 auto-exposure priority is supported on the D465 + else if (_fw_version >= firmware_version("5.11.15.0")) + { + color_ep.register_pu(RS2_OPTION_AUTO_EXPOSURE_PRIORITY); + } } auto gain_option = std::make_shared(raw_color_ep, RS2_OPTION_GAIN); @@ -154,6 +177,7 @@ namespace librealsense std::make_shared( exposure_option, auto_exposure_option)); + color_ep.register_option(RS2_OPTION_GAIN, std::make_shared( gain_option, @@ -171,16 +195,20 @@ namespace librealsense if (val_in_range(_pid, { ds::RS455_PID })) { if (_thermal_monitor) - _thermal_monitor->add_observer([&](float){ - _color_calib_table_raw.reset(); } ); + _thermal_monitor->add_observer([&](float) { + _color_calib_table_raw.reset(); }); } - auto md_prop_offset = offsetof(metadata_raw, mode) + - offsetof(md_rgb_mode, rgb_mode) + - offsetof(md_rgb_normal_mode, intel_rgb_control); + if (_pid != ds::RS457_PID) //not mipi device + { + auto md_prop_offset = offsetof(metadata_raw, mode) + + offsetof(md_rgb_mode, rgb_mode) + + offsetof(md_rgb_normal_mode, intel_rgb_control); + + color_ep.register_metadata(RS2_FRAME_METADATA_AUTO_EXPOSURE, make_attribute_parser(&md_rgb_control::ae_mode, md_rgb_control_attributes::ae_mode_attribute, md_prop_offset, + [](rs2_metadata_type param) { return (param != 1); })); // OFF value via UVC is 1 (ON is 8) + } - color_ep.register_metadata(RS2_FRAME_METADATA_AUTO_EXPOSURE, make_attribute_parser(&md_rgb_control::ae_mode, md_rgb_control_attributes::ae_mode_attribute, md_prop_offset, - [](rs2_metadata_type param) { return (param != 1); })); // OFF value via UVC is 1 (ON is 8) } else { @@ -192,18 +220,58 @@ namespace librealsense color_ep.register_metadata(RS2_FRAME_METADATA_AUTO_EXPOSURE, make_attribute_parser(&md_rgb_control::ae_mode, md_rgb_control_attributes::ae_mode_attribute, md_prop_offset)); } + if (_pid != ds::RS457_PID) + { + register_metadata(color_ep); + } + else + { + register_metadata_mipi(color_ep); + } + + // Starting with firmware 5.10.9, auto-exposure ROI is available for color sensor + if (_fw_version >= firmware_version("5.10.9.0")) + { + roi_sensor_interface* roi_sensor; + if ((roi_sensor = dynamic_cast(&color_ep))) + roi_sensor->set_roi_method(std::make_shared(*_hw_monitor, ds::fw_cmd::SETRGBAEROI)); + } + if (_pid != ds::RS457_PID) + { + color_ep.register_processing_block(processing_block_factory::create_pbf_vector(RS2_FORMAT_YUYV, map_supported_color_formats(RS2_FORMAT_YUYV), RS2_STREAM_COLOR)); + color_ep.register_processing_block(processing_block_factory::create_id_pbf(RS2_FORMAT_RAW16, RS2_STREAM_COLOR)); + } + else + { + // Work-around for discrepancy between the RGB YUYV descriptor and the parser . Use UYUV parser instead + color_ep.register_processing_block(processing_block_factory::create_pbf_vector(RS2_FORMAT_UYVY, map_supported_color_formats(RS2_FORMAT_UYVY), RS2_STREAM_COLOR)); + color_ep.register_processing_block(processing_block_factory::create_pbf_vector(RS2_FORMAT_YUYV, map_supported_color_formats(RS2_FORMAT_YUYV), RS2_STREAM_COLOR)); + } + + color_ep.register_processing_block(processing_block_factory::create_id_pbf(RS2_FORMAT_RAW16, RS2_STREAM_COLOR)); + + if (_pid == ds::RS465_PID) + { + color_ep.register_processing_block({ {RS2_FORMAT_MJPEG} }, { {RS2_FORMAT_RGB8, RS2_STREAM_COLOR} }, []() { return std::make_shared(RS2_FORMAT_RGB8); }); + color_ep.register_processing_block(processing_block_factory::create_id_pbf(RS2_FORMAT_MJPEG, RS2_STREAM_COLOR)); + } + + } + + void ds5_color::register_metadata(const synthetic_sensor &color_ep) const + { color_ep.register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_uvc_header_parser(&platform::uvc_header::timestamp)); color_ep.register_metadata(RS2_FRAME_METADATA_ACTUAL_FPS, std::make_shared(false, [](const rs2_metadata_type& param) - {return param * 100; })); //the units of the exposure of the RGB sensor are 100 microseconds so the md_attribute_actual_fps need the lambda to convert it to microseconds + {return param*100;})); //the units of the exposure of the RGB sensor are 100 microseconds so the md_attribute_actual_fps need the lambda to convert it to microseconds - // attributes of md_capture_timing - auto md_prop_offset = offsetof(metadata_raw, mode) + - offsetof(md_rgb_mode, rgb_mode) + - offsetof(md_rgb_normal_mode, intel_capture_timing); + // attributes of md_capture_timing + auto md_prop_offset = offsetof(metadata_raw, mode) + + offsetof(md_rgb_mode, rgb_mode) + + offsetof(md_rgb_normal_mode, intel_capture_timing); color_ep.register_metadata(RS2_FRAME_METADATA_FRAME_COUNTER, make_attribute_parser(&md_capture_timing::frame_counter, md_capture_timing_attributes::frame_counter_attribute, md_prop_offset)); color_ep.register_metadata(RS2_FRAME_METADATA_SENSOR_TIMESTAMP, make_rs400_sensor_ts_parser(make_uvc_header_parser(&platform::uvc_header::timestamp), - make_attribute_parser(&md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset))); + make_attribute_parser(&md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset))); // attributes of md_rgb_control md_prop_offset = offsetof(metadata_raw, mode) + @@ -213,19 +281,19 @@ namespace librealsense color_ep.register_metadata(RS2_FRAME_METADATA_GAIN_LEVEL, make_attribute_parser(&md_rgb_control::gain, md_rgb_control_attributes::gain_attribute, md_prop_offset)); color_ep.register_metadata(RS2_FRAME_METADATA_ACTUAL_EXPOSURE, make_attribute_parser(&md_rgb_control::manual_exp, md_rgb_control_attributes::manual_exp_attribute, md_prop_offset)); - // attributes of md_capture_stats - md_prop_offset = offsetof(metadata_raw, mode) + - offsetof(md_rgb_mode, rgb_mode) + - offsetof(md_rgb_normal_mode, intel_capture_stats); + // attributes of md_capture_stats + md_prop_offset = offsetof(metadata_raw, mode) + + offsetof(md_rgb_mode, rgb_mode) + + offsetof(md_rgb_normal_mode, intel_capture_stats); color_ep.register_metadata(RS2_FRAME_METADATA_WHITE_BALANCE, make_attribute_parser(&md_capture_stats::white_balance, md_capture_stat_attributes::white_balance_attribute, md_prop_offset)); - // attributes of md_rgb_control - md_prop_offset = offsetof(metadata_raw, mode) + - offsetof(md_rgb_mode, rgb_mode) + - offsetof(md_rgb_normal_mode, intel_rgb_control); + // attributes of md_rgb_control + md_prop_offset = offsetof(metadata_raw, mode) + + offsetof(md_rgb_mode, rgb_mode) + + offsetof(md_rgb_normal_mode, intel_rgb_control); - color_ep.register_metadata(RS2_FRAME_METADATA_BRIGHTNESS, + color_ep.register_metadata(RS2_FRAME_METADATA_BRIGHTNESS, make_attribute_parser(&md_rgb_control::brightness, md_rgb_control_attributes::brightness_attribute, md_prop_offset, [](const rs2_metadata_type& param) { // cast to short in order to return negative values @@ -245,16 +313,97 @@ namespace librealsense color_ep.register_metadata(RS2_FRAME_METADATA_MANUAL_WHITE_BALANCE, make_attribute_parser(&md_rgb_control::manual_wb, md_rgb_control_attributes::manual_wb_attribute, md_prop_offset)); color_ep.register_metadata(RS2_FRAME_METADATA_POWER_LINE_FREQUENCY, make_attribute_parser(&md_rgb_control::power_line_frequency, md_rgb_control_attributes::power_line_frequency_attribute, md_prop_offset)); color_ep.register_metadata(RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION, make_attribute_parser(&md_rgb_control::low_light_comp, md_rgb_control_attributes::low_light_comp_attribute, md_prop_offset)); + } + void ds5_color::register_metadata_mipi(const synthetic_sensor &color_ep) const + { + // for mipi device + color_ep.register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_uvc_header_parser(&platform::uvc_header::timestamp)); - color_ep.register_processing_block(processing_block_factory::create_pbf_vector(RS2_FORMAT_YUYV, map_supported_color_formats(RS2_FORMAT_YUYV), RS2_STREAM_COLOR)); - color_ep.register_processing_block(processing_block_factory::create_id_pbf(RS2_FORMAT_RAW16, RS2_STREAM_COLOR)); - - if (_pid == ds::RS465_PID) - { - color_ep.register_processing_block({ {RS2_FORMAT_MJPEG} }, { {RS2_FORMAT_RGB8, RS2_STREAM_COLOR} }, []() { return std::make_shared(RS2_FORMAT_RGB8); }); - color_ep.register_processing_block(processing_block_factory::create_id_pbf(RS2_FORMAT_MJPEG, RS2_STREAM_COLOR)); - } + // frame counter + color_ep.register_metadata(RS2_FRAME_METADATA_FRAME_COUNTER, make_uvc_header_parser(&platform::uvc_header_mipi::frame_counter)); + + // attributes of md_mipi_rgb_control structure + auto md_prop_offset = offsetof(metadata_mipi_rgb_raw, rgb_mode); + + // to be checked + color_ep.register_metadata(RS2_FRAME_METADATA_SENSOR_TIMESTAMP, + make_attribute_parser(&md_mipi_rgb_mode::hw_timestamp, + md_mipi_rgb_control_attributes::hw_timestamp_attribute, + md_prop_offset)); + + color_ep.register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, + make_attribute_parser(&md_mipi_rgb_mode::hw_timestamp, + md_mipi_rgb_control_attributes::hw_timestamp_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_BRIGHTNESS, + make_attribute_parser(&md_mipi_rgb_mode::brightness, + md_mipi_rgb_control_attributes::brightness_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_CONTRAST, + make_attribute_parser(&md_mipi_rgb_mode::contrast, + md_mipi_rgb_control_attributes::contrast_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_SATURATION, + make_attribute_parser(&md_mipi_rgb_mode::saturation, + md_mipi_rgb_control_attributes::saturation_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_SHARPNESS, + make_attribute_parser(&md_mipi_rgb_mode::sharpness, + md_mipi_rgb_control_attributes::sharpness_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE, + make_attribute_parser(&md_mipi_rgb_mode::auto_white_balance_temp, + md_mipi_rgb_control_attributes::auto_white_balance_temp_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_GAMMA, + make_attribute_parser(&md_mipi_rgb_mode::gamma, + md_mipi_rgb_control_attributes::gamma_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_ACTUAL_EXPOSURE, + make_attribute_parser(&md_mipi_rgb_mode::manual_exposure, + md_mipi_rgb_control_attributes::manual_exposure_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_MANUAL_WHITE_BALANCE, + make_attribute_parser(&md_mipi_rgb_mode::manual_white_balance, + md_mipi_rgb_control_attributes::manual_white_balance_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_AUTO_EXPOSURE, + make_attribute_parser(&md_mipi_rgb_mode::auto_exposure_mode, + md_mipi_rgb_control_attributes::auto_exposure_mode_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_GAIN_LEVEL, + make_attribute_parser(&md_mipi_rgb_mode::gain, + md_mipi_rgb_control_attributes::gain_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_BACKLIGHT_COMPENSATION, + make_attribute_parser(&md_mipi_rgb_mode::backlight_compensation, + md_mipi_rgb_control_attributes::backlight_compensation_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_HUE, + make_attribute_parser(&md_mipi_rgb_mode::hue, + md_mipi_rgb_control_attributes::hue_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_POWER_LINE_FREQUENCY, + make_attribute_parser(&md_mipi_rgb_mode::power_line_frequency, + md_mipi_rgb_control_attributes::power_line_frequency_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION, + make_attribute_parser(&md_mipi_rgb_mode::low_light_compensation, + md_mipi_rgb_control_attributes::low_light_compensation_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_INPUT_WIDTH, + make_attribute_parser(&md_mipi_rgb_mode::input_width, + md_mipi_rgb_control_attributes::input_width_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_INPUT_HEIGHT, + make_attribute_parser(&md_mipi_rgb_mode::input_height, + md_mipi_rgb_control_attributes::input_height_attribute, + md_prop_offset)); + color_ep.register_metadata(RS2_FRAME_METADATA_CRC, + make_attribute_parser(&md_mipi_rgb_mode::crc, + md_mipi_rgb_control_attributes::crc_attribute, + md_prop_offset)); } rs2_intrinsics ds5_color_sensor::get_intrinsics(const stream_profile& profile) const diff --git a/src/ds5/ds5-color.h b/src/ds5/ds5-color.h index 22dd675f78..09a5f7cf53 100644 --- a/src/ds5/ds5-color.h +++ b/src/ds5/ds5-color.h @@ -36,6 +36,9 @@ namespace librealsense const platform::backend_device_group& group); void init(); + void register_metadata(const synthetic_sensor& color_ep) const; + void register_metadata_mipi(const synthetic_sensor& color_ep) const; + friend class ds5_color_sensor; friend class rs435i_device; diff --git a/src/ds5/ds5-device.cpp b/src/ds5/ds5-device.cpp index be1c6c0010..536c3d2a89 100644 --- a/src/ds5/ds5-device.cpp +++ b/src/ds5/ds5-device.cpp @@ -29,6 +29,8 @@ #include "proc/temporal-filter.h" #include "proc/y8i-to-y8y8.h" #include "proc/y12i-to-y16y16.h" +#include "proc/y12i-to-y16y16-mipi.h" +#include "proc/y16i-to-y10msby10msb.h" #include "proc/color-formats-converter.h" #include "proc/syncer-processing-block.h" #include "proc/hole-filling-filter.h" @@ -59,6 +61,7 @@ namespace librealsense {rs_fourcc('W','1','0',' '), RS2_FORMAT_W10}, {rs_fourcc('Y','1','6',' '), RS2_FORMAT_Y16}, {rs_fourcc('Y','1','2','I'), RS2_FORMAT_Y12I}, + {rs_fourcc('Y','1','6','I'), RS2_FORMAT_Y16I}, {rs_fourcc('Z','1','6',' '), RS2_FORMAT_Z16}, {rs_fourcc('Z','1','6','H'), RS2_FORMAT_Z16H}, {rs_fourcc('R','G','B','2'), RS2_FORMAT_BGR8}, @@ -75,6 +78,7 @@ namespace librealsense {rs_fourcc('W','1','0',' '), RS2_STREAM_INFRARED}, {rs_fourcc('Y','1','6',' '), RS2_STREAM_INFRARED}, {rs_fourcc('Y','1','2','I'), RS2_STREAM_INFRARED}, + {rs_fourcc('Y','1','6','I'), RS2_STREAM_INFRARED}, {rs_fourcc('R','G','B','2'), RS2_STREAM_INFRARED}, {rs_fourcc('Z','1','6',' '), RS2_STREAM_DEPTH}, {rs_fourcc('Z','1','6','H'), RS2_STREAM_DEPTH}, @@ -711,8 +715,14 @@ namespace librealsense depth_devices.push_back(backend.create_uvc_device(info)); std::unique_ptr timestamp_reader_backup(new ds5_timestamp_reader(backend.create_time_service())); - std::unique_ptr timestamp_reader_metadata(new ds5_timestamp_reader_from_metadata(std::move(timestamp_reader_backup))); + frame_timestamp_reader* timestamp_reader_from_metadata; + if (all_device_infos.front().pid != RS457_PID) + timestamp_reader_from_metadata = new ds5_timestamp_reader_from_metadata(std::move(timestamp_reader_backup)); + else + timestamp_reader_from_metadata = new ds5_timestamp_reader_from_metadata_mipi(std::move(timestamp_reader_backup)); + std::unique_ptr timestamp_reader_metadata(timestamp_reader_from_metadata); auto enable_global_time_option = std::shared_ptr(new global_time_option()); + auto raw_depth_ep = std::make_shared("Raw Depth Sensor", std::make_shared(depth_devices), std::unique_ptr(new global_timestamp_reader(std::move(timestamp_reader_metadata), _tf_keeper, enable_global_time_option)), this); @@ -755,6 +765,8 @@ namespace librealsense auto&& backend = ctx->get_backend(); auto& raw_sensor = get_raw_depth_sensor(); auto pid = group.uvc_devices.front().pid; + // to be changed for D457 + bool mipi_sensor= (RS457_PID == pid); _color_calib_table_raw = [this]() { @@ -771,7 +783,8 @@ namespace librealsense } else { - _hw_monitor = std::make_shared( + if (!mipi_sensor) + _hw_monitor = std::make_shared( std::make_shared( backend.create_usb_device(group.usb_devices.front()), raw_sensor)); } @@ -823,9 +836,9 @@ namespace librealsense _recommended_fw_version = firmware_version(D4XX_RECOMMENDED_FIRMWARE_VERSION); if (_fw_version >= firmware_version("5.10.4.0")) _device_capabilities = parse_device_capabilities(); - + + //D457 Development advanced_mode = is_camera_in_advanced_mode(); - auto _usb_mode = usb3_type; usb_type_str = usb_spec_names.at(_usb_mode); usb_modality = (_fw_version >= firmware_version("5.9.8.0")); @@ -849,11 +862,23 @@ namespace librealsense []() { return std::make_shared(); } ); // L+R - depth_sensor.register_processing_block( - { RS2_FORMAT_Y12I }, - { {RS2_FORMAT_Y16, RS2_STREAM_INFRARED, 1}, {RS2_FORMAT_Y16, RS2_STREAM_INFRARED, 2} }, - []() {return std::make_shared(); } - ); + if (!mipi_sensor) + { + depth_sensor.register_processing_block( + { RS2_FORMAT_Y12I }, + { {RS2_FORMAT_Y16, RS2_STREAM_INFRARED, 1}, {RS2_FORMAT_Y16, RS2_STREAM_INFRARED, 2} }, + []() {return std::make_shared(); } + ); + } + else + { + depth_sensor.register_processing_block( + { RS2_FORMAT_Y12I }, + { {RS2_FORMAT_Y16, RS2_STREAM_INFRARED, 1}, {RS2_FORMAT_Y16, RS2_STREAM_INFRARED, 2} }, + []() {return std::make_shared(); } + ); + } + pid_hex_str = hexify(_pid); @@ -873,23 +898,35 @@ namespace librealsense } if (_fw_version >= firmware_version("5.5.8.0")) + //if hw_monitor was created by usb replace it with xu + // D400_IMU will remain using USB interface due to HW limitations { - depth_sensor.register_option(RS2_OPTION_OUTPUT_TRIGGER_ENABLED, - std::make_shared>(raw_depth_sensor, depth_xu, DS5_EXT_TRIGGER, - "Generate trigger from the camera to external device once per frame")); + if (_pid == ds::RS457_PID) + { + depth_sensor.register_option(RS2_OPTION_ASIC_TEMPERATURE, + std::make_shared(_hw_monitor, + RS2_OPTION_ASIC_TEMPERATURE)); + } + else + { + depth_sensor.register_option(RS2_OPTION_OUTPUT_TRIGGER_ENABLED, + std::make_shared>(raw_depth_sensor, depth_xu, DS5_EXT_TRIGGER, + "Generate trigger from the camera to external device once per frame")); - auto error_control = std::make_shared>(raw_depth_sensor, depth_xu, DS5_ERROR_REPORTING, "Error reporting"); + depth_sensor.register_option(RS2_OPTION_ASIC_TEMPERATURE, + std::make_shared(raw_depth_sensor, + RS2_OPTION_ASIC_TEMPERATURE)); - _polling_error_handler = std::make_shared(1000, - error_control, - raw_depth_sensor.get_notifications_processor(), - std::make_shared()); + // D457 dev - get_xu fails for D457 - error polling id not defined + auto error_control = std::make_shared>(raw_depth_sensor, depth_xu, DS5_ERROR_REPORTING, "Error reporting"); - depth_sensor.register_option(RS2_OPTION_ERROR_POLLING_ENABLED, std::make_shared(_polling_error_handler)); + _polling_error_handler = std::make_shared(1000, + error_control, + raw_depth_sensor.get_notifications_processor(), + std::make_shared()); - depth_sensor.register_option(RS2_OPTION_ASIC_TEMPERATURE, - std::make_shared(raw_depth_sensor, - RS2_OPTION_ASIC_TEMPERATURE)); + depth_sensor.register_option(RS2_OPTION_ERROR_POLLING_ENABLED, std::make_shared(_polling_error_handler)); + } } if ((val_in_range(pid, { RS455_PID })) && (_fw_version >= firmware_version("5.12.11.0"))) @@ -902,8 +939,7 @@ namespace librealsense _thermal_monitor = std::make_shared(temperature_sensor, thermal_compensation_toggle); depth_sensor.register_option(RS2_OPTION_THERMAL_COMPENSATION, - std::make_shared(_thermal_monitor,thermal_compensation_toggle)); - + std::make_shared(_thermal_monitor,thermal_compensation_toggle)); } std::shared_ptr