Merge branch 'development' into D4XX_MIPI

common/sw-update/versions-db-manager.h

@@ -9,6 +9,7 @@
 #include <vector>
 #include "http-downloader.h"
 #include <regex>
+#include <sstream>
 
 namespace rs2
 {

src/ds5/ds5-device.cpp

@@ -879,11 +879,6 @@ namespace librealsense
                 );
             }
 
-            depth_sensor.register_processing_block(
-                { RS2_FORMAT_Y16I },
-                { {RS2_FORMAT_Y16, RS2_STREAM_INFRARED, 1}, {RS2_FORMAT_Y16, RS2_STREAM_INFRARED, 2} },
-                []() {return std::make_shared<y16i_to_y10msby10msb>(); }
-            );
 
             pid_hex_str = hexify(_pid);
 

tools/embed/rs-embed.cpp

@@ -14,7 +14,7 @@
 #include <stb_image.h>
 
 
-#define RS_EMBED_VERSION "0.0.0.1"
+#define RS_EMBED_VERSION "0.0.0.2"
 
 struct float3
 {
@@ -57,6 +57,16 @@ std::string get_current_time()
     return std::string(buffer);
 }
 
+std::string get_current_year()
+{
+    auto t = time(nullptr);
+    char buffer[20] = {};
+    const tm* time = localtime(&t);
+    if (nullptr != time)
+        strftime(buffer, sizeof(buffer), "%Y", time);
+    return std::string(buffer);
+}
+
 int main(int argc, char** argv) try
 {
     // Parse command line arguments
@@ -151,7 +161,7 @@ int main(int argc, char** argv) try
         ofstream myfile;
         myfile.open(output);
         myfile << "// License: Apache 2.0. See LICENSE file in root directory.\n";
-        myfile << "// Copyright(c) 2021 Intel Corporation. All Rights Reserved.\n\n";
+        myfile << "// Copyright(c) " << get_current_year() << " Intel Corporation. All Rights Reserved.\n\n";
         myfile << "// This file is auto-generated from " << name << ".obj using rs-embed tool version: " << RS_EMBED_VERSION <<"\n";
         myfile << "// Generation time: " << get_current_time() << ".\n\n";
         myfile << "#pragma once\n";
@@ -203,7 +213,7 @@ int main(int argc, char** argv) try
         ofstream myfile;
         myfile.open(output);
         myfile << "// License: Apache 2.0. See LICENSE file in root directory.\n";
-        myfile << "// Copyright(c) 2021 Intel Corporation. All Rights Reserved.\n\n";
+        myfile << "// Copyright(c) " << get_current_year() << " Intel Corporation. All Rights Reserved.\n\n";
         myfile << "// This file is auto-generated from " << name << ".png using rs-embed tool version: " << RS_EMBED_VERSION << "\n";
         myfile << "// Generation time: " << get_current_time() << ".\n\n";
 

tools/rs-server/CMakeLists.txt

@@ -16,7 +16,7 @@ set(DEPENDENCIES ${DEPENDENCIES} realsense2 Threads::Threads)
 
 set(CMAKE_CXX_FLAGS "-DNEWLOCALE_NOT_USED=1 -DBSD=1 -DSOCKLEN_T=socklen_t -D_FILE_OFFSET_BITS=64 -D_LARGEFILE_SOURCE=1 -DALLOW_RTSP_SERVER_PORT_REUSE=1 -DNO_OPENSSL=1 -latomic")
 
-SET(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} "-pthread")
+SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pthread")
 
 set(LIVE ${CMAKE_BINARY_DIR}/third-party/live)
 

unit-tests/live/options/test-timestamp-domain.py

@@ -0,0 +1,83 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2022 Intel Corporation. All Rights Reserved.
+
+# test:device D400*
+
+import time
+import pyrealsense2 as rs
+
+from rspy import test
+
+
+def close_resources(sensor):
+    """
+    Stop and Close sensor.
+    :sensor: sensor of device
+    """
+    if len(sensor.get_active_streams()) > 0:
+        sensor.stop()
+        sensor.close()
+
+
+def set_and_verify_timestamp_domain(sensor, global_time_enabled: bool):
+    """
+    Perform sensor (depth or color) test according given global time
+    :sensor: depth or color sensor in device
+    :global_time_enabled bool: True - timestamp is enabled otherwise false
+    """
+    global frame_queue
+
+    sensor.set_option(rs.option.global_time_enabled, global_time_enabled)
+    time.sleep(0.3)  # Waiting for new frame from device. Need in case low FPS.
+    frame = frame_queue.wait_for_frame()
+
+    if not frame:
+        test.fail()
+
+    expected_ts_domain = rs.timestamp_domain.global_time if global_time_enabled else \
+        rs.timestamp_domain.hardware_clock
+
+    test.check_equal(sensor.get_option(rs.option.global_time_enabled), global_time_enabled)
+    test.check_equal(frame.get_frame_timestamp_domain(), expected_ts_domain)
+
+
+frame_queue = rs.frame_queue(capacity=1, keep_frames=False)
+device = test.find_first_device_or_exit()
+
+# Depth sensor test
+depth_sensor = device.first_depth_sensor()
+depth_profile = next(p for p in depth_sensor.profiles if p.stream_type() == rs.stream.depth)
+depth_sensor.open(depth_profile)
+depth_sensor.start(frame_queue)
+
+# Test #1
+test.start('Check setting global time domain: depth sensor - timestamp domain is OFF')
+set_and_verify_timestamp_domain(depth_sensor, False)
+test.finish()
+
+# Test #2
+test.start('Check setting global time domain: depth sensor - timestamp domain is ON')
+set_and_verify_timestamp_domain(depth_sensor, True)
+test.finish()
+
+close_resources(depth_sensor)
+
+# Color sensor test
+color_sensor = device.first_color_sensor()
+color_profile = next(p for p in color_sensor.profiles if p.stream_type() == rs.stream.color)
+color_sensor.open(color_profile)
+color_sensor.start(frame_queue)
+
+# Test #3
+test.start('Check setting global time domain: color sensor - timestamp domain is OFF')
+set_and_verify_timestamp_domain(color_sensor, False)
+test.finish()
+
+# Test #4
+test.start('Check setting global time domain: color sensor - timestamp domain is ON')
+set_and_verify_timestamp_domain(color_sensor, True)
+test.finish()
+
+close_resources(color_sensor)
+
+test.print_results_and_exit()

unit-tests/utilities/time/test-waiting-on.cpp

@@ -162,5 +162,7 @@ TEST_CASE( "Not invoked flush timeout expected" )
     invoked.wait_until( timeout, [&]() { return invoked; } );
     auto wait_time = sw.get_elapsed();
 
+    INFO( wait_time.count() );
+    INFO( timeout.count() );
     REQUIRE( wait_time >= timeout );
 }

wrappers/python/pyrsutil.cpp

@@ -43,15 +43,15 @@ void init_util(py::module &m) {
             const rs2_extrinsics& color_to_depth, const rs2_extrinsics& depth_to_color,
             std::array<float, 2> from_pixel)->std::array<float, 2>
     {
-        std::array<float, 2> to_pixel;
+        std::array<float, 2> to_pixel{-1.0f, -1.0f};
         rs2_project_color_pixel_to_depth_pixel(to_pixel.data(), static_cast<const uint16_t*>(data._ptr), 
                 depth_scale, depth_min, depth_max, &depth_intrin, &color_intrin, &depth_to_color,
                 &color_to_depth, from_pixel.data());
         return to_pixel;
     };
 
-    m.def("rs2_project_color_pixel_to_depth_pixel", cp_to_dp, "data"_a, "depth_scale"_a,
-          "depth_min"_a, "depth_max"_a, "depth_intrin"_a, "color_intrin"_a, "depth_to_color"_a,
+    m.def("rs2_project_color_pixel_to_depth_pixel", cp_to_dp, "Given pixel coordinates of the color image and a minimum and maximum depth, compute the corresponding pixel coordinates in the depth image. Returns [-1 -1] on failure.",
+          "data"_a, "depth_scale"_a, "depth_min"_a, "depth_max"_a, "depth_intrin"_a, "color_intrin"_a, "depth_to_color"_a,
           "color_to_depth"_a, "from_pixel"_a);
     /** end rsutil.h **/
 }