PR realsenseai#14177 from remibettan: hkr merged to dev

Author: Nir-Az

.gitignore

@@ -3,6 +3,10 @@ lib/
 
 ubuntu-xenial/
 ubuntu-xenial-hwe/
+ubuntu-focal-master/
+
+.gitconfig
+
 
 # Docs
 doc/doxygen/html/

common/CMakeLists.txt

@@ -57,6 +57,8 @@ set(COMMON_SRC
     "${CMAKE_CURRENT_LIST_DIR}/stream-model.cpp"
     "${CMAKE_CURRENT_LIST_DIR}/post-processing-filters.h"
     "${CMAKE_CURRENT_LIST_DIR}/post-processing-filters.cpp"
+    "${CMAKE_CURRENT_LIST_DIR}/labeled-point-cloud-utilities.h"
+    "${CMAKE_CURRENT_LIST_DIR}/labeled-point-cloud-utilities.cpp"
     "${CMAKE_CURRENT_LIST_DIR}/dds-model.h"
     "${CMAKE_CURRENT_LIST_DIR}/dds-model.cpp"
     "${CMAKE_CURRENT_LIST_DIR}/hdr-model.h"

common/d500-on-chip-calib.cpp

@@ -5,7 +5,6 @@
 #include <viewer.h>
 #include "d500-on-chip-calib.h"
 
-
 namespace rs2
 {
     d500_on_chip_calib_manager::d500_on_chip_calib_manager(viewer_model& viewer, std::shared_ptr<subdevice_model> sub,
@@ -81,6 +80,18 @@ namespace rs2
 
     void d500_on_chip_calib_manager::prepare_for_calibration()
     {
+        // safety sensor in service mode - if safety sensor exists
+        auto sensors = _dev.query_sensors();
+        for (auto&& s : sensors)
+        {
+            if (s.is<rs2::safety_sensor>())
+            {
+                rs2::safety_sensor safety_s = s.as<rs2::safety_sensor>();
+                set_option_if_needed<rs2::safety_sensor>(safety_s, RS2_OPTION_SAFETY_MODE, RS2_SAFETY_MODE_SERVICE);
+                break;
+            }
+        }
+
         // set depth preset as default preset, turn projector ON and depth AE ON
         if (_sub->s->supports(RS2_CAMERA_INFO_NAME) && 
             (std::string(_sub->s->get_info(RS2_CAMERA_INFO_NAME)) == "Stereo Module"))
@@ -186,6 +197,15 @@ namespace rs2
         else
         {
             update_ui_on_calibration_complete(win, x, y);
+            if (get_manager().get_device_pid() == "0B6B")
+            {
+                if (!reset_called &&
+                    get_manager().action != d500_on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB_ABORT)
+                {
+                    get_manager().reset_device();
+                    reset_called = true;
+                }
+            }
         }
 
         ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) });
@@ -294,6 +314,7 @@ namespace rs2
 
     void d500_autocalib_notification_model::update_ui_after_abort_called(ux_window& win, int x, int y)
     {
+        ImGui::SetCursorScreenPos({ float(x + 10), float(y) });
         ImGui::Text("%s", "Calibration Aborting");
         ImGui::SetCursorScreenPos({ float(x + 10), float(y + 40) });
         ImGui::PushFont(win.get_large_font());

common/d500-on-chip-calib.h

@@ -23,7 +23,8 @@ namespace rs2
     class d500_on_chip_calib_manager : public process_manager
     {
     public:
-        d500_on_chip_calib_manager(viewer_model& viewer, std::shared_ptr<subdevice_model> sub, device_model& model, device dev);
+        d500_on_chip_calib_manager(viewer_model& viewer, std::shared_ptr<subdevice_model> sub, device_model& model, 
+            device dev);
 
         enum calib_action
         {

common/device-model.cpp

@@ -1041,6 +1041,7 @@ namespace rs2
             error_message = e.what();
         }
     }
+
     void device_model::check_for_device_updates(viewer_model& viewer, bool activated_by_user )
     {
         std::weak_ptr< updates_model > updates_model_protected( viewer.updates );
@@ -1385,7 +1386,6 @@ namespace rs2
                         RsImGui::CustomTooltip("%s", tooltip.c_str());
                     }
 
-
                     if( dev.supports( RS2_CAMERA_INFO_PRODUCT_LINE )
                         && ( dev.get_info( RS2_CAMERA_INFO_PRODUCT_LINE ) ) )
                     {
@@ -1839,33 +1839,24 @@ namespace rs2
 
                     //Find Resolution
                     std::pair<int, int> requested_res{ kvp.second.width,kvp.second.height };
-                    size_t res_id = 0;
-                    for (; res_id < sub->res_values.size(); res_id++)
-                    {
-                        if (sub->res_values[res_id] == requested_res)
-                            break;
-                    }
-                    if (res_id == sub->res_values.size())
-                    {
-                        throw std::runtime_error( rsutils::string::from()
-                                                  << "No match found for requested resolution: " << requested_res.first
-                                                  << "x" << requested_res.second );
-                    }
                     if (!sub->ui.is_multiple_resolutions)
-                        sub->ui.selected_res_id = static_cast<int>(res_id);
-                    else
                     {
-                        int depth_res_id, ir1_res_id, ir2_res_id;
-                        sub->get_depth_ir_mismatch_resolutions_ids(depth_res_id, ir1_res_id, ir2_res_id);
-
-                        if (kvp.first.first == RS2_STREAM_DEPTH)
-                        sub->ui.selected_res_id_map[depth_res_id] = static_cast<int>(res_id);
-                        else
+                        size_t res_id = 0;
+                        for (; res_id < sub->res_values.size(); res_id++)
+                        {
+                            if (sub->res_values[res_id] == requested_res)
+                                break;
+                        }
+                        if (res_id == sub->res_values.size())
                         {
-                            sub->ui.selected_res_id_map[ir1_res_id] = static_cast<int>(res_id);
-                            sub->ui.selected_res_id_map[ir2_res_id] = static_cast<int>(res_id);
+                            throw std::runtime_error(rsutils::string::from()
+                                << "No match found for requested resolution: " << requested_res.first
+                                << "x" << requested_res.second);
                         }
+                        sub->ui.selected_res_id = static_cast<int>(res_id);
                     }
+                    else
+                        sub->ui.selected_stream_to_res[kvp.first.first] = requested_res;
                 }
             }
         }
@@ -2129,7 +2120,7 @@ namespace rs2
                             sub->_options_invalidated = true;
                         }
                     }
-                    auto ret = file_dialog_open(open_file, "JavaScript Object Notation (JSON | PRESET)\0*.json;*.preset\0", NULL, NULL);
+                    auto ret = file_dialog_open(open_file, "JavaScript Object Notation (JSON | PRESET)\0*.json\0*.preset\0", NULL, NULL);
                     if (ret)
                     {
                         error_message = safe_call([&]() { load_json(ret); });
@@ -2985,23 +2976,60 @@ namespace rs2
 
     bool device_model::disable_record_button_logic(bool is_streaming, bool is_playback_device)
     {
-        return (!is_streaming || is_playback_device);
+        bool depth_mapping_camera_streaming_alone = is_depth_mapping_camera_streaming_alone();
+        return (!is_streaming || is_playback_device || depth_mapping_camera_streaming_alone);
     }
 
     std::string device_model::get_record_button_hover_text(bool is_streaming)
     {
+        bool depth_mapping_camera_streaming_alone = is_depth_mapping_camera_streaming_alone();
         std::string record_button_hover_text;
         if (!is_streaming)
         {
             record_button_hover_text = "Start streaming to enable recording";
         }
         else
         {
-            record_button_hover_text = is_recording ? "Stop Recording" : "Start Recording";
+            if (depth_mapping_camera_streaming_alone)
+            {
+                record_button_hover_text = "To record Depth Mapping Camera also stream Stereo Module";
+            }
+            else
+            { 
+                record_button_hover_text = is_recording ? "Stop Recording" : "Start Recording";
+            }
         }
         return record_button_hover_text;
     }
 
+    //In order to record LPC and enable 3D we need to also record depth stereo sensor
+    bool device_model::is_depth_mapping_camera_streaming_alone()
+    {
+        std::string pid = dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID);
+        if (pid == "0B6B")
+        {
+            bool depth_mapping_sensor_streaming = false;
+            bool depth_stereo_sensor_streaming = false;
+            for (auto&& sub : subdevices)
+            {
+                if (sub->s->is<rs2::depth_mapping_sensor>() && sub->streaming)
+                {
+                    depth_mapping_sensor_streaming = true;
+                }
+                if (sub->s->is<rs2::depth_stereo_sensor>() && sub->streaming)
+                {
+                    depth_stereo_sensor_streaming = true;
+                }
+            }
+            if (depth_mapping_sensor_streaming && !depth_stereo_sensor_streaming)
+            {
+                return true;
+            }
+        }
+        return false;
+    }
+    
+
     std::vector<std::pair<std::string, std::string>> get_devices_names(const device_list& list)
     {
         std::vector<std::pair<std::string, std::string>> device_names;
@@ -3434,7 +3462,7 @@ namespace rs2
                         }
                         else
                         {
-                            manager = std::make_shared< d500_on_chip_calib_manager >( viewer, sub, *this, dev );
+                            manager = std::make_shared<d500_on_chip_calib_manager>(viewer, sub, *this, dev );
                             n = std::make_shared< d500_autocalib_notification_model >( "", manager, false );
                         }
                         viewer.not_model->add_notification( n );

common/device-model.h

@@ -167,6 +167,10 @@ namespace rs2
             static const char* hwlogger_xml{ "viewer_model.hwlogger_xml" };
 
             static const char* last_ip{ "viewer_model.last_ip" };
+
+            static const char* lpc_point_size{ "viewer_model.lpc_point_size" };
+            static const char* show_safety_zones_3d{ "viewer_model.show_safety_zones_3d" };
+            static const char* show_safety_zones_2d{ "viewer_model.show_safety_zones_2d" };
         }
         namespace window
         {
@@ -260,6 +264,8 @@ namespace rs2
         static const textual_icon cube{ u8"\uf1b2" };
         static const textual_icon measure{ u8"\uf545" };
         static const textual_icon wifi{ u8"\uf1eb" };
+        static const textual_icon grid_6{ u8"\uf58d" };
+        static const textual_icon polygon{ u8"\uf5ee" };
     }
 
     class viewer_model;
@@ -400,6 +406,7 @@ namespace rs2
         void check_for_device_updates(viewer_model& viewer, bool activated_by_user = false);
         bool disable_record_button_logic(bool is_streaming, bool is_playback_device);
         std::string get_record_button_hover_text(bool is_streaming);
+        bool is_depth_mapping_camera_streaming_alone();
 
         void open_hdr_config_tool_window();
 

common/labeled-point-cloud-utilities.cpp

@@ -0,0 +1,48 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2023 RealSense, Inc. All Rights Reserved.
+
+#include "float3.h"
+#include <map>
+#include <vector>
+#include <algorithm>
+#include <include/librealsense2/h/rs_types.h>
+#include <include/librealsense2/hpp/rs_frame.hpp>
+
+#include "labeled-point-cloud-utilities.h"
+
+namespace rs2 
+{
+    std::map<rs2_point_cloud_label, float3> labeled_point_cloud_utilities::get_label_to_color3f()
+    {
+        static const float3 ORANGE_COL = { 1.0f, 0.65f, 0.2f };
+        static const float3 DARK_PURPLE_COL = { 0.2f, 0.1f, 0.2f };
+        static const float3 WHITE_COL = { 1.0f, 1.0f, 1.0f };
+        static const float3 GREEN_COL = { 0.0f, 1.0f, 0.0f };
+        static const float3 RED_COL = { 1.0f, 0.0f, 0.0f };
+        static const float3 TURQUOISE_COL = { 0.0f, 1.0f, 1.0f };
+        static const float3 BLUE_COL = { 0.0f, 0.0f, 1.0f };
+        static const float3 PINK_COL = { 1.0f, 0.75f, 0.8f };
+        static const float3 GREY_COL = { 0.5f, 0.5f, 0.5f };
+        static const float3 YELLOW_COL = { 1.0f, 1.0f, 0.0f };
+        std::map<rs2_point_cloud_label, float3> label_to_color3f;
+
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_UNKNOWN] = ORANGE_COL;
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_UNDEFINED] = ORANGE_COL;
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_INVALID] = ORANGE_COL;
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_GAP] = ORANGE_COL;
+
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_GROUND] = WHITE_COL;
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_NEAR_GROUND] = GREEN_COL;
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_OVERHEAD] = TURQUOISE_COL;
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_ABOVE_CEILING_HEIGHT] = BLUE_COL;
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_MASKED] = GREY_COL;
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_CLIFF] = DARK_PURPLE_COL;
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_OBSTACLE] = PINK_COL;
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_OBSTACLE_DANGER] = RED_COL;
+        label_to_color3f[RS2_POINT_CLOUD_LABEL_OBSTACLE_WARNING] = YELLOW_COL;
+
+
+
+        return label_to_color3f;
+    }
+} // rs2 namespace

common/labeled-point-cloud-utilities.h

@@ -0,0 +1,17 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2023-2024 RealSense, Inc. All Rights Reserved.
+
+#pragma once
+
+#include <include/librealsense2/h/rs_types.h>
+#include <common/float3.h>
+
+namespace rs2
+{
+    class labeled_point_cloud_utilities
+    {
+    public:
+        static std::map<rs2_point_cloud_label, float3> get_label_to_color3f();
+    };
+    
+}

common/metadata-helper.h

@@ -31,4 +31,4 @@ namespace rs2
         // This is the command-line parameter that gets passed to another process (running as admin) in order to enable metadata -- see WinMain
         static std::string get_command_line_param() { return "--enable_metadata"; }
     };
-}
+}

common/os.cpp

@@ -201,13 +201,13 @@ Some auxillary functionalities might be affected. Please report this message if
 
         if (filters_split.size() >= 1)
         {
-            filters_count = int( filters_split.size() - 1 );
+            filters_count = static_cast<int>( filters_split.size() - 1 );
 
             // set description
             aSingleFilterDescription = filters_split[0].c_str();
 
             // fill filter pattern with extensions
-            for (int i = 1; i < filters_split.size(); ++i)
+            for(int i = 1; i < filters_split.size(); ++i)
             {
                 filter.push_back(filters_split[i].c_str());
             }