Merge pull request IntelRealSense#241 from eraikhel/ds41t_klockwork

Fix SR300 color modes
souch55 · Sep 5, 2016 · b18bf6d · b18bf6d
2 parents e9a0350 + c77c39b
commit b18bf6d
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Showing 26 changed files with 502 additions and 109 deletions.
diff --git a/examples/cpp-config-ui.cpp b/examples/cpp-config-ui.cpp
@@ -690,7 +690,7 @@ int main(int argc, char * argv[])
                             dev->stop();
                         }
 
-                        if (has_motion_module)
+                        if (has_motion_module && motion_tracking_enable)
                         {
                             running = false;
                             dev->stop(rs::source::motion_data);
@@ -707,7 +707,7 @@ int main(int argc, char * argv[])
                             dev->start();
                         }
 
-                        if (has_motion_module)
+                        if (has_motion_module && motion_tracking_enable)
                         {
                             running = true;
                             dev->start(rs::source::motion_data);

diff --git a/librealsense.vc12/cpp-alignimages/cpp-alignimages.vcxproj b/librealsense.vc12/cpp-alignimages/cpp-alignimages.vcxproj
@@ -160,6 +160,9 @@
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       <Project>{979d0add-6ab7-403a-bb17-5434615e4446}</Project>
     </ProjectReference>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="..\..\examples\example.hpp" />

diff --git a/librealsense.vc12/cpp-callback/cpp-callback.vcxproj b/librealsense.vc12/cpp-callback/cpp-callback.vcxproj
@@ -151,9 +151,6 @@
     <ClCompile Include="..\..\examples\cpp-callback.cpp" />
   </ItemGroup>
   <ItemGroup>
-    <ProjectReference Include="..\..\examples\third_party\glfw\msvc120\glfw3.vcxproj">
-      <Project>{979d0add-6ab7-403a-bb17-5434615e4446}</Project>
-    </ProjectReference>
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diff --git a/librealsense.vc12/cpp-capture/cpp-capture.vcxproj b/librealsense.vc12/cpp-capture/cpp-capture.vcxproj
@@ -160,6 +160,9 @@
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       <Project>{979d0add-6ab7-403a-bb17-5434615e4446}</Project>
     </ProjectReference>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="..\..\examples\example.hpp" />

diff --git a/librealsense.vc12/cpp-config-ui/cpp-config-ui.vcxproj b/librealsense.vc12/cpp-config-ui/cpp-config-ui.vcxproj
@@ -157,6 +157,9 @@
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       <Project>{979d0add-6ab7-403a-bb17-5434615e4446}</Project>
     </ProjectReference>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="..\..\examples\concurrency.hpp" />

diff --git a/librealsense.vc12/cpp-enumerate-devices/cpp-enumerate-devices.vcxproj b/librealsense.vc12/cpp-enumerate-devices/cpp-enumerate-devices.vcxproj
@@ -150,6 +150,11 @@
   <ItemGroup>
     <ClCompile Include="..\..\examples\cpp-enumerate-devices.cpp" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
+  </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
   </ImportGroup>

diff --git a/librealsense.vc12/cpp-headless/cpp-headless.vcxproj b/librealsense.vc12/cpp-headless/cpp-headless.vcxproj
@@ -21,6 +21,11 @@
   <ItemGroup>
     <ClCompile Include="..\..\examples\cpp-headless.cpp" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
+  </ItemGroup>
   <PropertyGroup Label="Globals">
     <ProjectGuid>{7F7D0E8C-1614-411C-AD0A-C3D583EC5811}</ProjectGuid>
     <Keyword>Win32Proj</Keyword>

diff --git a/librealsense.vc12/cpp-multicam/cpp-multicam.vcxproj b/librealsense.vc12/cpp-multicam/cpp-multicam.vcxproj
@@ -160,6 +160,9 @@
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       <Project>{979d0add-6ab7-403a-bb17-5434615e4446}</Project>
     </ProjectReference>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="..\..\examples\example.hpp" />

diff --git a/librealsense.vc12/cpp-pointcloud/cpp-pointcloud.vcxproj b/librealsense.vc12/cpp-pointcloud/cpp-pointcloud.vcxproj
@@ -160,6 +160,9 @@
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       <Project>{979d0add-6ab7-403a-bb17-5434615e4446}</Project>
     </ProjectReference>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets" />

diff --git a/librealsense.vc12/cpp-restart/cpp-restart.vcxproj b/librealsense.vc12/cpp-restart/cpp-restart.vcxproj
@@ -160,6 +160,9 @@
     <ProjectReference Include="..\..\examples\third_party\glfw\msvc120\glfw3.vcxproj">
       <Project>{979d0add-6ab7-403a-bb17-5434615e4446}</Project>
     </ProjectReference>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="..\..\examples\example.hpp" />

diff --git a/librealsense.vc12/realsense.sln b/librealsense.vc12/realsense.sln
@@ -1,9 +1,12 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
 # Visual Studio 2013
-VisualStudioVersion = 12.0.31101.0
+VisualStudioVersion = 12.0.40629.0
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "realsense", "realsense\realsense.vcxproj", "{1AE4CEB5-9A0B-4B9F-9505-824FD56BB41F}"
+	ProjectSection(ProjectDependencies) = postProject
+		{622186C4-6D7D-4288-B8FD-8F08419181C2} = {622186C4-6D7D-4288-B8FD-8F08419181C2}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "cpp-capture", "cpp-capture\cpp-capture.vcxproj", "{4074122F-153D-4761-9539-7B7D5E72B11D}"
 	ProjectSection(ProjectDependencies) = postProject
@@ -112,12 +115,25 @@ EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "glfw3", "..\examples\third_party\glfw\msvc120\glfw3.vcxproj", "{979D0ADD-6AB7-403A-BB17-5434615E4446}"
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "cpp-callback", "cpp-callback\cpp-callback.vcxproj", "{22315D69-5DB9-4C89-98FE-B45F1A5D6674}"
+	ProjectSection(ProjectDependencies) = postProject
+		{1AE4CEB5-9A0B-4B9F-9505-824FD56BB41F} = {1AE4CEB5-9A0B-4B9F-9505-824FD56BB41F}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "cpp-motion-module", "cpp-motion-module\cpp-motion-module.vcxproj", "{D1A726B7-DF03-4F04-AEC8-936AB88FC372}"
+	ProjectSection(ProjectDependencies) = postProject
+		{1AE4CEB5-9A0B-4B9F-9505-824FD56BB41F} = {1AE4CEB5-9A0B-4B9F-9505-824FD56BB41F}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "cpp-callback-2", "cpp-callback-2\cpp-callback-2.vcxproj", "{C3CB58F0-844A-4B8F-B3C6-159A9677E868}"
+	ProjectSection(ProjectDependencies) = postProject
+		{1AE4CEB5-9A0B-4B9F-9505-824FD56BB41F} = {1AE4CEB5-9A0B-4B9F-9505-824FD56BB41F}
+		{979D0ADD-6AB7-403A-BB17-5434615E4446} = {979D0ADD-6AB7-403A-BB17-5434615E4446}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "cpp-stride", "cpp-stride\cpp-stride.vcxproj", "{78B5B485-34B9-4462-A284-B19118D3D0DA}"
+	ProjectSection(ProjectDependencies) = postProject
+		{1AE4CEB5-9A0B-4B9F-9505-824FD56BB41F} = {1AE4CEB5-9A0B-4B9F-9505-824FD56BB41F}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "unit-tests-live-lr200", "unit-tests-live-lr200\unit-tests-live-lr200.vcxproj", "{9D0CA8E1-96E2-4A56-9000-F52035256190}"
 	ProjectSection(ProjectDependencies) = postProject

diff --git a/librealsense.vc12/unit-tests-live-f200/unit-tests-live-f200.vcxproj b/librealsense.vc12/unit-tests-live-f200/unit-tests-live-f200.vcxproj
@@ -25,6 +25,11 @@
     <ClCompile Include="..\..\unit-tests\unit-tests-live-f200.cpp" />
     <ClCompile Include="..\..\unit-tests\unit-tests-live.cpp" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
+  </ItemGroup>
   <PropertyGroup Label="Globals">
     <ProjectGuid>{D37BF473-AEE1-4097-9E0B-C1A8A5BF97EC}</ProjectGuid>
     <Keyword>Win32Proj</Keyword>

diff --git a/librealsense.vc12/unit-tests-live-lr200/unit-tests-live-lr200.vcxproj b/librealsense.vc12/unit-tests-live-lr200/unit-tests-live-lr200.vcxproj
@@ -27,6 +27,11 @@
     <ClCompile Include="..\..\unit-tests\unit-tests-live-lr200.cpp" />
     <ClCompile Include="..\..\unit-tests\unit-tests-live.cpp" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
+  </ItemGroup>
   <PropertyGroup Label="Globals">
     <ProjectGuid>{9D0CA8E1-96E2-4A56-9000-F52035256190}</ProjectGuid>
     <Keyword>Win32Proj</Keyword>

diff --git a/librealsense.vc12/unit-tests-live-r200/unit-tests-live-ds4.vcxproj b/librealsense.vc12/unit-tests-live-r200/unit-tests-live-ds4.vcxproj
@@ -27,6 +27,11 @@
     <ClCompile Include="..\..\unit-tests\unit-tests-live-r200.cpp" />
     <ClCompile Include="..\..\unit-tests\unit-tests-live.cpp" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
+  </ItemGroup>
   <PropertyGroup Label="Globals">
     <ProjectGuid>{7B497980-3BB8-4699-A459-0F3091D24E03}</ProjectGuid>
     <Keyword>Win32Proj</Keyword>

diff --git a/librealsense.vc12/unit-tests-live-sr300/unit-tests-live-sr300.vcxproj b/librealsense.vc12/unit-tests-live-sr300/unit-tests-live-sr300.vcxproj
@@ -154,6 +154,11 @@
     <ClCompile Include="..\..\unit-tests\unit-tests-live-sr300.cpp" />
     <ClCompile Include="..\..\unit-tests\unit-tests-live.cpp" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
+  </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
   </ImportGroup>

diff --git a/librealsense.vc12/unit-tests-live-zr300/unit-tests-live-zr300.vcxproj b/librealsense.vc12/unit-tests-live-zr300/unit-tests-live-zr300.vcxproj
@@ -28,6 +28,11 @@
     <ClCompile Include="..\..\unit-tests\unit-tests-live-zr300.cpp" />
     <ClCompile Include="..\..\unit-tests\unit-tests-live.cpp" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
+  </ItemGroup>
   <PropertyGroup Label="Globals">
     <ProjectGuid>{1B6AC368-20CD-4016-9452-8621E06349CE}</ProjectGuid>
     <Keyword>Win32Proj</Keyword>

diff --git a/librealsense.vc12/unit-tests-offline/unit-tests-offline.vcxproj b/librealsense.vc12/unit-tests-offline/unit-tests-offline.vcxproj
@@ -24,6 +24,11 @@
   <ItemGroup>
     <ClCompile Include="..\..\unit-tests\unit-tests-offline.cpp" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
+  </ItemGroup>
   <PropertyGroup Label="Globals">
     <ProjectGuid>{B57FBF49-D142-4CCA-AFCB-E5F1687EE217}</ProjectGuid>
     <Keyword>Win32Proj</Keyword>

diff --git a/librealsense.vc14/unit-tests-live-f200/unit-tests-live-f200.vcxproj b/librealsense.vc14/unit-tests-live-f200/unit-tests-live-f200.vcxproj
@@ -25,6 +25,14 @@
     <ClCompile Include="..\..\unit-tests\unit-tests-live-f200.cpp" />
     <ClCompile Include="..\..\unit-tests\unit-tests-live.cpp" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\realsense-s\realsense-s.vcxproj">
+      <Project>{622186c4-6d7d-4288-b8fd-8f08419181c2}</Project>
+    </ProjectReference>
+    <ProjectReference Include="..\realsense\realsense.vcxproj">
+      <Project>{1ae4ceb5-9a0b-4b9f-9505-824fd56bb41f}</Project>
+    </ProjectReference>
+  </ItemGroup>
   <PropertyGroup Label="Globals">
     <ProjectGuid>{D37BF473-AEE1-4097-9E0B-C1A8A5BF97EC}</ProjectGuid>
     <Keyword>Win32Proj</Keyword>

diff --git a/src/device.cpp b/src/device.cpp
@@ -333,7 +333,7 @@ void rs_device_base::start_video_streaming()
     // dispatching the uvc configuration for a requested stream to the hardware
     for(auto mode_selection : selected_modes)
     {
-        assert(mode_selection.mode.subdevice <= timestamp_readers.size());
+        assert((size_t)mode_selection.mode.subdevice <= timestamp_readers.size());
         auto timestamp_reader = timestamp_readers[mode_selection.mode.subdevice];
 
         // Create a stream buffer for each stream served by this subdevice mode
@@ -522,8 +522,8 @@ const char * rs_device_base::get_option_description(rs_option option) const
     case RS_OPTION_R200_LR_EXPOSURE                                : return "This control allows manual adjustment of the exposure time value for the L/R imagers";
     case RS_OPTION_R200_EMITTER_ENABLED                            : return "Enables / disables R200 emitter";
     case RS_OPTION_R200_DEPTH_UNITS                                : return "Micrometers per increment in integer depth values, 1000 is default (mm scale). Set before streaming";
-    case RS_OPTION_R200_DEPTH_CLAMP_MIN                            : return "Minimum depth in current depth units that will be output. Any values less than Min Depth will be mapped to 0 during the conversion between disparity and depth. Set before streaming";
-    case RS_OPTION_R200_DEPTH_CLAMP_MAX                            : return "Maximum depth in current depth units that will be output. Any values greater than Max Depth will be mapped to 0 during the conversion between disparity and depth. Set before streaming";
+    case RS_OPTION_R200_DEPTH_CLAMP_MIN                            : return "Minimum depth in current depth units that will be output. Any values less than 'Min Depth' will be mapped to 0 during the conversion between disparity and depth. Set before streaming";
+    case RS_OPTION_R200_DEPTH_CLAMP_MAX                            : return "Maximum depth in current depth units that will be output. Any values greater than 'Max Depth' will be mapped to 0 during the conversion between disparity and depth. Set before streaming";
     case RS_OPTION_R200_DISPARITY_MULTIPLIER                       : return "The disparity scale factor used when in disparity output mode. Can only be set before streaming";
     case RS_OPTION_R200_DISPARITY_SHIFT                            : return "{0 - 512}. Can only be set before streaming starts";
     case RS_OPTION_R200_AUTO_EXPOSURE_MEAN_INTENSITY_SET_POINT     : return "(Requires LR-Auto-Exposure ON) Mean intensity set point";

diff --git a/src/f200.cpp b/src/f200.cpp
@@ -33,7 +33,7 @@ namespace rsimpl
     };
     static const cam_mode f200_depth_modes[] = {
         {{640, 480}, {2,5,15,30,60}}, 
-        {{640, 240}, {2,5,15,30,60,110}}
+        {{640, 240}, {2,5,15,30,60}}    // 110 FPS is excluded due to a bug in timestamp field
     };
     static const cam_mode f200_ir_only_modes[] = {
         {{640, 480}, {30,60,120,240,300}}, 
@@ -88,7 +88,15 @@ namespace rsimpl
         info.presets[RS_STREAM_DEPTH   ][RS_PRESET_HIGHEST_FRAMERATE] = {true, 640, 480, RS_FORMAT_Z16,  60};
         info.presets[RS_STREAM_COLOR   ][RS_PRESET_HIGHEST_FRAMERATE] = {true, 640, 480, RS_FORMAT_RGB8, 60};
 
-        update_supported_options(*device.get(), ivcam::depth_xu, eu_F200_depth_controls, info.options);
+        // Hardcoded extension controls
+        //                                  option                         min  max    step     def
+        //                                  ------                         ---  ---    ----     ---
+        info.options.push_back({ RS_OPTION_F200_LASER_POWER,                0,  16,     1,      16  });
+        info.options.push_back({ RS_OPTION_F200_ACCURACY,                   1,  3,      1,      2   });
+        info.options.push_back({ RS_OPTION_F200_MOTION_RANGE,               0,  100,    1,      0   });
+        info.options.push_back({ RS_OPTION_F200_FILTER_OPTION,              0,  7,      1,      5   });
+        info.options.push_back({ RS_OPTION_F200_CONFIDENCE_THRESHOLD,       0,  15,     1,      6   });
+        info.options.push_back({ RS_OPTION_F200_DYNAMIC_FPS,                0,  1000,   1,      60  });
 
         rsimpl::pose depth_to_color = {transpose((const float3x3 &)c.Rt), (const float3 &)c.Tt * 0.001f}; // convert mm to m
         info.stream_poses[RS_STREAM_DEPTH] = info.stream_poses[RS_STREAM_INFRARED] = inverse(depth_to_color);

diff --git a/src/sr300.cpp b/src/sr300.cpp
@@ -16,25 +16,25 @@ namespace rsimpl
                                                                               {rs_option::RS_OPTION_F200_CONFIDENCE_THRESHOLD, 0x06}};
 
     static const cam_mode sr300_color_modes[] = {
-        {{1920, 1080}, {5,15,30}},
-        {{1280,  720}, {5,15,30,60}},
-        {{ 960,  540}, {5,15,30,60}},
-        {{ 848,  480}, {5,15,30,60}},
-        {{ 640,  480}, {5,15,30,60}},
-        {{ 640,  360}, {5,15,30,60}},
-        {{ 424,  240}, {5,15,30,60}},
-        {{ 320,  240}, {5,15,30,60}},
-        {{ 320,  180}, {5,15,30,60}}
+        {{1920, 1080}, { 10,30 } },
+        {{1280,  720}, { 10,30,60 } },
+        {{ 960,  540}, { 10,30,60 } },
+        {{ 848,  480}, { 10,30,60 } },
+        {{ 640,  480}, { 10,30,60 } },
+        {{ 640,  360}, { 10,30,60 } },
+        {{ 424,  240}, { 10,30,60 } },
+        {{ 320,  240}, { 10,30,60 } },
+        {{ 320,  180}, { 10,30,60 } },
     };
 
     static const cam_mode sr300_depth_modes[] = {
-        {{640, 480}, {5,15,30,60}}, 
-        {{640, 240}, {5,15,30,60,110}}
+        {{640, 480}, {10,30,60}},
+        {{640, 240}, {10,30,60,110}}
     };
 
     static const cam_mode sr300_ir_only_modes[] = {
-        {{640, 480}, {30,60,120,200}}      
-    };    
+        {{640, 480}, {30,60,120,200}}
+    };
 
     static static_device_info get_sr300_info(std::shared_ptr<uvc::device> device, const ivcam::camera_calib_params & c)
     {

diff --git a/src/stream.h b/src/stream.h
@@ -13,7 +13,7 @@ namespace rsimpl
 {
     struct stream_interface : rs_stream_interface
     {
-        stream_interface(calibration_validator in_validator, rs_stream in_stream) : validator(in_validator), stream(in_stream){};
+        stream_interface(calibration_validator in_validator, rs_stream in_stream) : stream(in_stream), validator(in_validator){};
 
         virtual rs_extrinsics                   get_extrinsics_to(const rs_stream_interface & other) const override;
         virtual rsimpl::pose                    get_pose() const = 0;