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Multi-camera with RSUSB - Follow-up #6467

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merged 4 commits into from
Jun 1, 2020
Merged

Multi-camera with RSUSB - Follow-up #6467

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b06fdd0
Support filtering USB devices (T265's) by serial number
radfordi Jan 9, 2020
c258646
Merge branch 't265-config-serial' of https://github.com/radfordi/libr…
dorodnic May 27, 2020
f717634
Fix unit-test for T265 with Serial, fix multicamera with LibUVC
dorodnic May 27, 2020
5050f72
Fix rs-multicam with T265
dorodnic May 27, 2020
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11 changes: 8 additions & 3 deletions examples/multicam/rs-multicam.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,16 +18,21 @@ int main(int argc, char * argv[]) try

std::vector<rs2::pipeline> pipelines;

// Start a streaming pipe per each connected device
// Capture serial numbers before opening streaming
std::vector<std::string> serials;
for (auto&& dev : ctx.query_devices())
serials.push_back(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));

// Start a streaming pipe per each connected device
for (auto&& serial : serials)
{
rs2::pipeline pipe(ctx);
rs2::config cfg;
cfg.enable_device(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
cfg.enable_device(serial);
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@dorodnic, it would make this a much simpler change everywhere this change is needed to allow enable_device() to accept a rs2::device as well as a serial number string. After all, we have dev here and the rs2::config just wants a device. Doing the lookup again seems wasteful. It would be a bigger change to add support for this, but it would make it usage for users much cleaner going forward.

    for (auto&& dev : ctx.query_devices())
       cfg.enable_device(dev);

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Hi @radfordi
You are 100% right. I didn't want to expand the scope of this PR beyond simply getting your original work merged, but I also thought about it.

pipe.start(cfg);
pipelines.emplace_back(pipe);
// Map from each device's serial number to a different colorizer
colorizers[dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)] = rs2::colorizer();
colorizers[serial] = rs2::colorizer();
}

// We'll keep track of the last frame of each stream available to make the presentation persistent
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34 changes: 25 additions & 9 deletions src/device_hub.cpp
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Expand Up @@ -18,6 +18,15 @@ namespace librealsense
{
bool filtered = false;
auto data = dev->get_device_data();
for (const auto& usb : data.usb_devices)
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So TM2 was just skipped... It is weird that the usb screening was not in place and yet it worked

{
if (usb.vid == vid || vid == 0)
{
result.push_back(dev);
filtered = true;
break;
}
}
for (const auto& uvc : data.uvc_devices)
{
if (uvc.vid == vid || vid == 0)
Expand Down Expand Up @@ -71,21 +80,28 @@ namespace librealsense
{
// _camera_index is the curr device that the hub will expose
auto d = _device_list[ (_camera_index + i) % _device_list.size()];
auto dev = d->create_device(_register_device_notifications);

if(serial.size() > 0 )
try
{
auto new_serial = dev->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
auto dev = d->create_device(_register_device_notifications);

if(serial.size() > 0 )
{
auto new_serial = dev->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);

if(serial == new_serial)
if(serial == new_serial)
{
res = dev;
cycle_devices = false; // Requesting a device by its serial shall not invoke internal cycling
}
}
else // Use the first selected if "any device" pattern was used
{
res = dev;
cycle_devices = false; // Requesting a device by its serial shall not invoke internal cycling
}
}
else // Use the first selected if "any device" pattern was used
}
catch (const std::exception& ex)
{
res = dev;
LOG(WARNING) << "Could not open device " << ex.what();
}
}

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