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Updated OCC part of the RS Viewer #8724

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merged 3 commits into from
Apr 6, 2021
Merged

Updated OCC part of the RS Viewer #8724

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7711471
Updated OCC part of the RS Viewer for DSO-16841.
daversintel Apr 1, 2021
a036989
Corrected a API doc.
daversintel Apr 2, 2021
9d5f175
Updated the corresponding C++ versionof teh API doc.
daversintel Apr 2, 2021
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26 changes: 10 additions & 16 deletions common/on-chip-calib.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -544,9 +544,9 @@ namespace rs2
if (action == RS2_CALIB_ACTION_ON_CHIP_FL_CALIB)
log(to_string() << "Starting focal length calibration");
else if (action == RS2_CALIB_ACTION_ON_CHIP_OB_CALIB)
log(to_string() << "Starting one button calibration");
log(to_string() << "Starting OCC Extended");
else
log(to_string() << "Starting calibration at speed " << speed);
log(to_string() << "Starting OCC at speed " << speed);

_in_3d_view = _viewer.is_3d_view;
_viewer.is_3d_view = (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH ? false : true);
Expand Down Expand Up @@ -759,7 +759,7 @@ namespace rs2
update_state == RS2_CALIB_STATE_SELF_INPUT)
{
if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB)
ImGui::Text("%s", "On-Chip and Focal Length Calibration");
ImGui::Text("%s", "On-Chip Calibration Extended");
else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB)
ImGui::Text("%s", "On-Chip Focal Length Calibration");
else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB)
Expand Down Expand Up @@ -1151,22 +1151,16 @@ namespace rs2
float tmp_y = (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB ?
float(y + 45 + 3 * ImGui::GetTextLineHeightWithSpacing()) : float(y + 40 + 2 * ImGui::GetTextLineHeightWithSpacing()));
ImGui::SetCursorScreenPos({ float(x + 9), tmp_y });
if (ImGui::RadioButton("OCC All", (int *)&(get_manager().action), 0))
get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB;
if (ImGui::IsItemHovered())
ImGui::SetTooltip("%s", "Both OCC Py/Rx calibration and OCC FL calibration in order");

ImGui::SetCursorScreenPos({ float(x + 6 + width / 3), tmp_y });
if (ImGui::RadioButton("OCC Py/Rx", (int*)&(get_manager().action), 1))
if (ImGui::RadioButton("OCC", (int*)&(get_manager().action), 1))
get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB;
if (ImGui::IsItemHovered())
ImGui::SetTooltip("%s", "On-chip Py/Rx calibration");
ImGui::SetTooltip("%s", "On-Chip Calibration");

ImGui::SetCursorScreenPos({ float(x + 3 + 2 * width / 3), tmp_y });
if (ImGui::RadioButton("OCC FL", (int*)&(get_manager().action), 2))
get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB;
ImGui::SetCursorScreenPos({ float(x + 135), tmp_y });
if (ImGui::RadioButton("OCC Extended", (int *)&(get_manager().action), 0))
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get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB;
if (ImGui::IsItemHovered())
ImGui::SetTooltip("%s", "On-chip focal length calibration");
ImGui::SetTooltip("%s", "On-Chip Calibration Extended");

auto sat = 1.f + sin(duration_cast<milliseconds>(system_clock::now() - created_time).count() / 700.f) * 0.1f;
ImGui::PushStyleColor(ImGuiCol_Button, saturate(sensor_header_light_blue, sat));
Expand Down Expand Up @@ -1703,7 +1697,7 @@ namespace rs2
if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_FL_CALIB)
title = "On-Chip Focal Length Calibration";
else if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB)
title = "One Button On-Chip Calibration";
title = "On-Chip Calibration Extended";
else
title = "On-Chip Calibration";
if (update_manager->failed()) title += " Failed";
Expand Down
4 changes: 2 additions & 2 deletions common/on-chip-calib.h
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Original file line number Diff line number Diff line change
Expand Up @@ -64,14 +64,14 @@ namespace rs2

enum auto_calib_action
{
RS2_CALIB_ACTION_ON_CHIP_OB_CALIB, // One button On-Chip calibration for both
RS2_CALIB_ACTION_ON_CHIP_OB_CALIB, // On-Chip calibration extended
RS2_CALIB_ACTION_ON_CHIP_CALIB, // On-Chip calibration
RS2_CALIB_ACTION_ON_CHIP_FL_CALIB, // On-Chip focal length calibration
RS2_CALIB_ACTION_TARE_CALIB, // Tare calibration
RS2_CALIB_ACTION_TARE_GROUND_TRUTH, // Tare ground truth
};

auto_calib_action action = RS2_CALIB_ACTION_ON_CHIP_OB_CALIB;
auto_calib_action action = RS2_CALIB_ACTION_ON_CHIP_CALIB;
float laser_status_prev = 0.0f;

int fl_step_count = 51;
Expand Down
10 changes: 6 additions & 4 deletions include/librealsense2/h/rs_frame.h
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Original file line number Diff line number Diff line change
Expand Up @@ -348,10 +348,12 @@ void rs2_synthetic_frame_ready(rs2_source* source, rs2_frame* frame, rs2_error**
void rs2_pose_frame_get_pose_data(const rs2_frame* frame, rs2_pose* pose, rs2_error** error);

/**
* Calculate the rectangle size on the specific target
* \param[in] frame Left or right camera frame of size 256x144
* \param[out] rect_sides The four rectangle side sizes 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
* 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[in] target_dims_size Target dimension array size
* \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
* \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);

Expand Down
10 changes: 6 additions & 4 deletions include/librealsense2/hpp/rs_frame.hpp
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Expand Up @@ -707,10 +707,12 @@ namespace rs2
int get_bytes_per_pixel() const { return get_bits_per_pixel() / 8; }

/**
* Calculate the rectangle size on the specific target
* \param[in] frame Left or right camera frame of size 256x144
* \param[out] rec_sides The four rectangle side sizes in pixels with the order of top, bottom, left, and right
* \return true if succeeded
* 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[in] target_dims_size Target dimension array size
* \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
* \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
bool extract_target_dimensions(rs2_calib_target_type calib_type, float* target_dims, unsigned int target_dims_size) const
{
Expand Down