PR IntelRealSense#11037 from remibettan: merge development work

kirkoman · Oct 27, 2022 · c00e630 · c00e630
2 parents dee61e5 + 9c1c3ab
commit c00e630
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Showing 22 changed files with 22,004 additions and 9,464 deletions.
diff --git a/common/on-chip-calib.cpp b/common/on-chip-calib.cpp
@@ -405,17 +405,6 @@ 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);
-                _sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, 0.f);
-            }
-
             bool run_fl_calib = ( (action == RS2_CALIB_ACTION_FL_CALIB) && (w == 1280) && (h == 720));
             if (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH)
             {
@@ -428,7 +417,6 @@ namespace rs2
                         break;
                     }
                 }
-
             }
             else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB)
             {
@@ -1422,12 +1410,46 @@ namespace rs2
                 try_start_viewer(256, 144, 90, invoke);
         }
 
-        if (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH)
+        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 );
+            }
+
             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)
@@ -1449,8 +1471,25 @@ 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;
             }
         }
@@ -2294,12 +2333,29 @@ 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: ");

diff --git a/common/res/icon.h b/common/res/icon.h
diff --git a/common/res/icon_128.png b/common/res/icon_128.png
diff --git a/common/res/icon_16.png b/common/res/icon_16.png
diff --git a/common/res/icon_24.png b/common/res/icon_24.png
diff --git a/common/res/icon_256.png b/common/res/icon_256.png
diff --git a/common/res/icon_310.png b/common/res/icon_310.png
diff --git a/common/res/icon_32.png b/common/res/icon_32.png
diff --git a/common/res/icon_512.png b/common/res/icon_512.png
diff --git a/common/res/icon_64.png b/common/res/icon_64.png
diff --git a/common/res/int-rs-splash.hpp b/common/res/int-rs-splash.hpp
diff --git a/common/res/int-rs-splash.png b/common/res/int-rs-splash.png
diff --git a/common/sw-update/versions-db-manager.h b/common/sw-update/versions-db-manager.h
@@ -9,6 +9,7 @@
 #include <vector>
 #include "http-downloader.h"
 #include <regex>
+#include <sstream>
 
 namespace rs2
 {

diff --git a/src/ds5/ds5-device.cpp b/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);
 
@@ -1134,42 +1129,6 @@ namespace librealsense
                     lazy<float>([default_depth_units]()
                         { return default_depth_units; })));
             }
-
-            // D457 dev - auto gain and exposure limits disabled for all devices
-            if (false) // D457 dev - this condition should be removed after bug resolved in FW
-            {
-                // Auto exposure and gain limit
-                if (_fw_version >= firmware_version("5.12.10.11"))
-                {
-                    auto exposure_range = depth_sensor.get_option(RS2_OPTION_EXPOSURE).get_range();
-                    auto gain_range = depth_sensor.get_option(RS2_OPTION_GAIN).get_range();
-
-                    option_range enable_range = { 0.f /*min*/, 1.f /*max*/, 1.f /*step*/, 0.f /*default*/ };
-
-                    //GAIN Limit
-                    auto gain_limit_toggle_control = std::make_shared<limits_option>(RS2_OPTION_AUTO_GAIN_LIMIT_TOGGLE, enable_range, "Toggle Auto-Gain Limit", *_hw_monitor);
-                    _gain_limit_value_control = std::make_shared<auto_gain_limit_option>(*_hw_monitor, &depth_sensor, gain_range, gain_limit_toggle_control);
-                    depth_sensor.register_option(RS2_OPTION_AUTO_GAIN_LIMIT_TOGGLE, gain_limit_toggle_control);
-
-                    depth_sensor.register_option(RS2_OPTION_AUTO_GAIN_LIMIT,
-                        std::make_shared<auto_disabling_control>(
-                            _gain_limit_value_control,
-                            gain_limit_toggle_control
-
-                            ));
-
-                    // EXPOSURE Limit
-                    auto ae_limit_toggle_control = std::make_shared<limits_option>(RS2_OPTION_AUTO_EXPOSURE_LIMIT_TOGGLE, enable_range, "Toggle Auto-Exposure Limit", *_hw_monitor);
-                    _ae_limit_value_control = std::make_shared<auto_exposure_limit_option>(*_hw_monitor, &depth_sensor, exposure_range, ae_limit_toggle_control);
-                    depth_sensor.register_option(RS2_OPTION_AUTO_EXPOSURE_LIMIT_TOGGLE, ae_limit_toggle_control);
-
-                    depth_sensor.register_option(RS2_OPTION_AUTO_EXPOSURE_LIMIT,
-                        std::make_shared<auto_disabling_control>(
-                            _ae_limit_value_control,
-                            ae_limit_toggle_control
-                            ));
-                }
-            }
         }); //group_multiple_fw_calls