Provide OCC/Tare updated python example with host-assistance mode

wrappers/python/examples/depth_ucal_example.py

@@ -0,0 +1,176 @@
+## License: Apache 2.0. See LICENSE file in root directory.
+## Copyright(c) 2022 Intel Corporation. All Rights Reserved.
+
+#####################################################
+##                   auto calibration              ##
+#####################################################
+
+# First import the library
+import sys
+import os
+import time
+
+import pyrealsense2 as rs
+
+#rs.log_to_console(rs.log_severity.warn)
+
+def on_chip_calibration_json(occ_json_file, host_assistance, interactive_mode):
+    try:
+        occ_json = open(occ_json_file).read()
+    except:
+        if occ_json_file:
+            print('Error reading occ_json_file: ', occ_json_file)
+        print ('Using default parameters for on-chip calibration.')
+        occ_json = '{\n  '+\
+                    '"calib type": 0,\n'+\
+                    '"host assistance": ' + str(int(host_assistance)) + ',\n'+\
+                    '"keep new value after sucessful scan": 0,\n'+\
+                    '"fl data sampling": 1,\n'+\
+                    '"adjust both sides": 0,\n'+\
+                    '"fl scan location": 0,\n'+\
+                    '"fy scan direction": 0,\n'+\
+                    '"white wall mode": 0,\n'+\
+                    '"speed": 3,\n'+\
+                    '"scan parameter": 0,\n'+\
+                    '"apply preset": 1,\n'+\
+                    '"scan only": ' + str(int(host_assistance)) + ',\n'+\
+                    '"interactive scan": ' + str(int(interactive_mode)) + ',\n'+\
+                    '"resize factor": 1\n'+\
+                    '}'
+    return occ_json
+
+
+def tare_calibration_json(tare_json_file, host_assistance):
+    try:
+        tare_json = open(tare_json_file).read()
+    except:
+        if tare_json_file:
+            print('Error reading tare_json_file: ', tare_json_file)
+        print ('Using default parameters for Tare calibration.')
+        tare_json = '{\n  '+\
+                    '"host assistance": ' + str(int(host_assistance)) + ',\n'+\
+                    '"speed": 3,\n'+\
+                    '"scan parameter": 0,\n'+\
+                    '"step count": 20,\n'+\
+                    '"apply preset": 1,\n'+\
+                    '"accuracy": 2,\n'+\
+                    '"depth": 0,\n'+\
+                    '"resize factor": 1\n'+\
+                    '}'
+    return tare_json
+
+def on_chip_calib_cb(progress):
+    pp = int(progress)
+    sys.stdout.write('\r' + '*'*pp + ' '*(99-pp) + '*')
+    if (pp == 100):
+        print()
+
+def main(argv):
+    if '--help' in sys.argv or '-h' in sys.argv:
+        print('USAGE:')
+        print('depth_auto_calibration_example.py [--occ <json_file_name>] [--tare <json_file_name>]')
+        print
+        print('Occ and Tare calibration uses parameters given with --occ and --tare arguments respectfully.')
+        print('If these are argument are not given, using default values, defined in this example program.')
+        sys.exit(-1)
+
+    #rs.log_to_console(rs.log_severity.warn)
+    ctx = rs.context()
+
+    try:
+        device = ctx.query_devices()[0]
+    except IndexError:
+        print('Device is not connected')
+        sys.exit(1)
+    # Bring device in start phase
+    device.hardware_reset()
+    time.sleep(1)
+
+    params = dict(zip(sys.argv[1::2], sys.argv[2::2]))
+    occ_json_file = params.get('--occ', None)
+    tare_json_file = params.get('--tare', None)
+
+    pipeline = rs.pipeline()
+    config = rs.config()
+
+    # Get device product line for setting a supporting resolution
+    pipeline_wrapper = rs.pipeline_wrapper(pipeline)
+    pipeline_profile = config.resolve(pipeline_wrapper)
+    device = pipeline_profile.get_device()
+
+    auto_calibrated_device = rs.auto_calibrated_device(device)
+
+    if not auto_calibrated_device:
+        print("The connected device does not support auto calibration")
+        return
+
+    config.enable_stream(rs.stream.depth, 256, 144, rs.format.z16, 90)
+    # config.enable_stream(rs.stream.depth, 848, 480, rs.format.z16, 30)
+    conf = pipeline.start(config)
+    calib_dev = rs.auto_calibrated_device(conf.get_device())
+    interactive_mode = False
+
+    while True:
+        try:
+            print ("interactive_mode: ", interactive_mode)
+            operation_str = "Please select what the operation you want to do\n" + \
+                            "c - on chip calibration\n" + \
+                            "C - on chip calibration - host assist\n" + \
+                            "t - tare calibration\n" + \
+                            "T - tare calibration - host assist\n" + \
+                            "g - get the active calibration\n" + \
+                            "w - write new calibration\n" + \
+                            "e - exit\n"
+            operation = input(operation_str)
+
+            if operation.lower() == 'c':
+                print("Starting on chip calibration")
+                occ_json = on_chip_calibration_json(occ_json_file, operation == 'C', interactive_mode)
+                new_calib, health = calib_dev.run_on_chip_calibration(occ_json, on_chip_calib_cb, 5000)
+                calib_done = len(new_calib) > 0
+                while (not calib_done):
+                    frame_set = pipeline.wait_for_frames()
+                    depth_frame = frame_set.get_depth_frame()
+                    new_calib, health = calib_dev.process_calibration_frame(depth_frame, on_chip_calib_cb, 5000)
+                    calib_done = len(new_calib) > 0
+                print("Calibration completed")
+                print("health factor = ", health)
+
+            if operation.lower() == 'i':
+                interactive_mode = not interactive_mode
+
+            if operation.lower() == 't':
+                print("Starting tare calibration" + (" - host assistance" if operation == 'T' else ""))
+                ground_truth = float(input("Please enter ground truth in mm\n"))
+                tare_json = tare_calibration_json(tare_json_file, operation == 'T')
+                new_calib, health = calib_dev.run_tare_calibration(ground_truth, tare_json, on_chip_calib_cb, 5000)
+                calib_done = len(new_calib) > 0
+                while (not calib_done):
+                    frame_set = pipeline.wait_for_frames()
+                    depth_frame = frame_set.get_depth_frame()
+                    new_calib, health = calib_dev.process_calibration_frame(depth_frame, on_chip_calib_cb, 5000)
+                    calib_done = len(new_calib) > 0
+                print("Calibration completed")
+                print("health factor = ", health)
+
+            if operation == 'g':
+                calib = calib_dev.get_calibration_table()
+                print("Calibration", calib)
+
+            if operation == 'w':
+                print("Writing the new calibration")
+                calib_dev.set_calibration_table(new_calib)
+                calib_dev.write_calibration()
+
+            if operation == 'e':
+                pipeline.stop()
+                return
+
+            print("Done\n")
+        except Exception as e:
+            print(e)
+        except:
+            print("A different Error")
+
+if __name__ == "__main__":
+    main(sys.argv[1:])