Tag v0.2.3, corresponds to internal sha bd92ad

Author: Boris Bolshem

CMakeLists.txt

@@ -13,3 +13,8 @@ else()
 endif()
 
 add_subdirectory(samples)
+
+option(BUILD_TESTS "set run_tests to NO if build tests should be run, set to OFF to skip tests" OFF)
+if(BUILD_TESTS)
+	add_subdirectory(tests)
+endif(BUILD_TESTS)

samples/playback_sample/playback_sample.cpp

@@ -29,7 +29,7 @@ int main(int argc, char* argv[])
     string playback_file_name(argv[1]);
 
     //create a playback enabled context with a given output file
-    rs::playback::context context(playback_file_name);
+    rs::playback::context context(playback_file_name.c_str());
 
     //create a playback enabled device
     rs::device* device = context.get_device(0);

samples/projection_sample/projection_sample.cpp

@@ -12,8 +12,8 @@ using namespace std;
 using namespace rs::core;
 
 //helper functions
-void get_depth_coordinates_from_rectangle_on_depth_image(custom_image &depthImage, vector<point3dF32> &depthCoordinates);
-void get_color_coordinates_from_rectangle_on_color_image(custom_image &colorImage, vector<pointF32> &colorCoordinates);
+void get_depth_coordinates_from_rectangle_on_depth_image(std::shared_ptr<image_interface> depthImage, vector<point3dF32> &depthCoordinates);
+void get_color_coordinates_from_rectangle_on_color_image(std::shared_ptr<image_interface> colorImage, vector<pointF32> &colorCoordinates);
 
 int main ()
 {
@@ -53,27 +53,27 @@ int main ()
     ColorInfo.format = rs::utils::convert_pixel_format(colorFormat);
     ColorInfo.pitch = color_pixel_size * colorWidth;
 
-    custom_image colorImage (&ColorInfo,
+    std::shared_ptr<image_interface> colorImage(image_interface::create_instance_from_raw_data(&ColorInfo,
                              device->get_frame_data(rs::stream::color),
                              stream_type::color,
                              image_interface::flag::any,
                              device->get_frame_timestamp(rs::stream::color),
                              device->get_frame_number(rs::stream::color),
-                             nullptr, nullptr);
+                             nullptr, nullptr));
 
     image_info  DepthInfo;
     DepthInfo.width = depthWidth;
     DepthInfo.height = depthHeight;
     DepthInfo.format = rs::utils::convert_pixel_format(depthFormat);
     DepthInfo.pitch = depth_pixel_size * depthWidth;
 
-    custom_image depthImage (&DepthInfo,
+    std::shared_ptr<image_interface> depthImage (image_interface::create_instance_from_raw_data(&DepthInfo,
                              device->get_frame_data(rs::stream::depth),
                              stream_type::depth,
                              image_interface::flag::any,
                              device->get_frame_timestamp(rs::stream::depth),
                              device->get_frame_number(rs::stream::depth),
-                             nullptr, nullptr);
+                             nullptr, nullptr));
 
     /**
      * MapDepthToColor example.
@@ -99,7 +99,7 @@ int main ()
     get_color_coordinates_from_rectangle_on_color_image(colorImage, colorCoordinates);
 
     vector<pointF32> mappedDepthCoordinates(colorCoordinates.size());
-    if(projection_->map_color_to_depth(&depthImage, colorCoordinates.size(), colorCoordinates.data(), mappedDepthCoordinates.data()) < status_no_error)
+    if(projection_->map_color_to_depth(depthImage.get(), colorCoordinates.size(), colorCoordinates.data(), mappedDepthCoordinates.data()) < status_no_error)
     {
         cerr<<"failed to map the color coordinates to depth" << endl;
         return -1;
@@ -168,9 +168,9 @@ int main ()
      * QueryUVMap Example.
      * Retrieve the UV map for the specific depth image. The UVMap is a pointF32 array of depth size width*height.
      */
-    auto depthImageInfo = depthImage.query_info();
+    auto depthImageInfo = depthImage->query_info();
     vector<pointF32> uvmap(depthImageInfo.width * depthImageInfo.height);
-    if(projection_->query_uvmap(&depthImage, uvmap.data()) < status_no_error)
+    if(projection_->query_uvmap(depthImage.get(), uvmap.data()) < status_no_error)
     {
         cerr<<"failed to query UV map" << endl;
         return -1;
@@ -181,9 +181,9 @@ int main ()
      * Retrieve the inverse UV map for the specific depth image. The inverse UV map maps color coordinates
      * back to the depth coordinates. The inverse UVMap is a pointF32 array of color size width*height.
      */
-    auto colorImageInfo = colorImage.query_info();
+    auto colorImageInfo = colorImage->query_info();
     vector<pointF32> invUVmap(colorImageInfo.width * colorImageInfo.height);
-    if(projection_->query_invuvmap(&depthImage, invUVmap.data()) < status_no_error)
+    if(projection_->query_invuvmap(depthImage.get(), invUVmap.data()) < status_no_error)
     {
         cerr<<"failed to query invariant UV map" << endl;
         return -1;
@@ -195,7 +195,7 @@ int main ()
      * size width*height. The world coordiantes units are in mm.
      */
     vector<point3dF32> vertices(depthImageInfo.width * depthImageInfo.height);
-    if(projection_->query_vertices(&depthImage, vertices.data()) < status_no_error)
+    if(projection_->query_vertices(depthImage.get(), vertices.data()) < status_no_error)
     {
         cerr<<"failed to query vertices" << endl;
         return -1;
@@ -206,7 +206,7 @@ int main ()
      * Get the color pixel for every depth pixel using the UV map, and output a color image, aligned in space
      * and resolution to the depth image.
      */
-    std::unique_ptr<image_interface> colorImageMappedToDepth = std::unique_ptr<image_interface>(projection_->create_color_image_mapped_to_depth(&depthImage, &colorImage));
+    std::unique_ptr<image_interface> colorImageMappedToDepth = std::unique_ptr<image_interface>(projection_->create_color_image_mapped_to_depth(depthImage.get(), colorImage.get()));
     //use the mapped image...
 
     //The application must release the instance after use. (e.g. use smart ptr)
@@ -216,7 +216,7 @@ int main ()
      * Map every depth pixel to the color image resolution, and output a depth image, aligned in space
      * and resolution to the color image. The color image size may be different from original.
      */
-    std::unique_ptr<image_interface> depthImageMappedToColor = std::unique_ptr<image_interface>(projection_->create_depth_image_mapped_to_color(&depthImage, &colorImage));
+    std::unique_ptr<image_interface> depthImageMappedToColor = std::unique_ptr<image_interface>(projection_->create_depth_image_mapped_to_color(depthImage.get(), colorImage.get()));
     //use the mapped image...
 
     //The application must release the instance after use. (e.g. use smart ptr)
@@ -226,12 +226,18 @@ int main ()
     return 0;
 }
 
-void get_depth_coordinates_from_rectangle_on_depth_image(custom_image &depthImage, vector<point3dF32> &depthCoordinates)
+void get_depth_coordinates_from_rectangle_on_depth_image(std::shared_ptr<image_interface> depthImage, vector<point3dF32> &depthCoordinates)
 {
-    auto depthImageInfo = depthImage.query_info();
+    if(!depthImage)
+    {
+        cerr<<"cant use null image" << endl;
+        return;
+    }
+
+    auto depthImageInfo = depthImage->query_info();
 
     // get read access to the detph image data
-    const void * depthImageData = depthImage.query_data();
+    const void * depthImageData = depthImage->query_data();
     if(!depthImageData)
     {
         cerr<<"failed to get depth image data" << endl;
@@ -254,9 +260,15 @@ void get_depth_coordinates_from_rectangle_on_depth_image(custom_image &depthImag
 
 }
 
-void get_color_coordinates_from_rectangle_on_color_image(custom_image &colorImage, vector<pointF32> &colorCoordinates)
+void get_color_coordinates_from_rectangle_on_color_image(std::shared_ptr<image_interface> colorImage, vector<pointF32> &colorCoordinates)
 {
-    auto colorImageInfo = colorImage.query_info();
+    if(!colorImage)
+    {
+        cerr<<"cant use null image" << endl;
+        return;
+    }
+
+    auto colorImageInfo = colorImage->query_info();
 
     // create a pointF32 array for the color coordinates you would like to project, for example the central rectangle
     const int startX = colorImageInfo.width / 4; const int endX = (colorImageInfo.width  * 3) / 4;

samples/record_sample/record_sample.cpp

@@ -22,7 +22,7 @@ int main(int argc, char* argv[])
     const string output_file(argv[1]);
 
     //create a record enabled context with a given output file
-    rs::record::context context(output_file);
+    rs::record::context context(output_file.c_str());
 
     if(context.get_device_count() == 0)
     {

samples/sync_utility_sample/sync_utility_sample.cpp

@@ -76,7 +76,7 @@ void frame_handler(rs::frame new_frame)
     std::cout << "Received "<<frame_counter << " frame of type " << (int)info.format << " with timestamp " << new_frame.get_frame_number() << endl;
 
     auto st_type  = (info.format ==  pixel_format::rgb8 ? stream_type::color : stream_type::depth );
-    auto  image = new custom_image(&info,
+    auto  image = image_interface::create_instance_from_raw_data(&info,
                                    new_frame.get_data(),
                                    st_type,
                                    image_interface::flag::any,

samples/video_module_sample/video_module_async_sample.cpp

@@ -20,7 +20,7 @@ using namespace rs::mock;
 int main (int argc, char* argv[])
 {
     // initialize the device from live device or playback file, based on command line parameters.
-    std::unique_ptr<context> ctx;
+    std::unique_ptr<context_interface> ctx;
 
     if (argc > 1)
     {
@@ -46,8 +46,7 @@ int main (int argc, char* argv[])
     rs::device * device = ctx->get_device(0); //device memory managed by the context
 
     // initialize the module
-    bool is_complete_sample_set_required = false;
-    std::unique_ptr<video_module_interface> module(new video_module_mock(is_complete_sample_set_required));
+    std::unique_ptr<video_module_interface> module(new video_module_mock());
 
     // get the first supported module configuration
     video_module_interface::supported_module_config supported_config = {};
@@ -57,10 +56,9 @@ int main (int argc, char* argv[])
         return -1;
     }
 
-    if(supported_config.complete_sample_set_required)
+    if(supported_config.config_flags & video_module_interface::supported_module_config::flags::time_synced_input)
     {
-        cerr<<"error : (complete_sample_set_required == true) is not inmplemented" << endl;
-        return -1;
+        cout<<"the sample is not implementing complete sample set syncroniztion"<< endl;
     }
 
     auto device_name = device->get_name();
@@ -139,8 +137,8 @@ int main (int argc, char* argv[])
         stream_callback_per_stream[stream] = [stream, &module](rs::frame frame)
         {
             correlated_sample_set sample_set;
-            smart_ptr<metadata_interface> metadata(new rs::core::metadata());
-            smart_ptr<image_interface> image(new lrs_image(frame, image_interface::flag::any, metadata));
+            smart_ptr<metadata_interface> metadata(metadata_interface::create_instance());
+            smart_ptr<image_interface> image(image_interface::create_instance_from_librealsense_frame(frame, image_interface::flag::any, metadata));
             sample_set[stream] = image;
 
             //send asynced sample set to the module
@@ -170,9 +168,12 @@ int main (int argc, char* argv[])
             if (!supported_motion_config.is_enabled)
                 continue;
 
-            actual_config[motion].flags = sample_flags::none;
-            actual_config[motion].frame_rate = 0; // not implemented by librealsense
-            actual_config[motion].is_enabled = true;
+            video_module_interface::actual_motion_sensor_config &actual_motion_config = actual_config[motion];
+            actual_motion_config.flags = sample_flags::none;
+            actual_motion_config.frame_rate = 0; // not implemented by librealsense
+            actual_motion_config.intrinsics = convert_motion_intrinsics(device->get_motion_intrinsics());
+            actual_motion_config.extrinsics = convert_extrinsics(device->get_motion_extrinsics_from(rs::stream::depth));
+            actual_motion_config.is_enabled = true;
             actual_motions.push_back(motion);
         }
 
@@ -219,7 +220,7 @@ int main (int argc, char* argv[])
         rs_intrinsics depth_intrin = device->get_stream_intrinsics(rs::stream::depth);
         rs_extrinsics extrinsics = device->get_extrinsics(rs::stream::depth, rs::stream::color);
         projection.reset(rs::core::projection_interface::create_instance(&color_intrin, &depth_intrin, &extrinsics));
-        module->set_projection(projection.get());
+        actual_config.projection = projection.get();
     }
 
     // setting the enabled module configuration

samples/video_module_sample/video_module_mock.cpp

@@ -14,10 +14,8 @@ namespace rs
     namespace mock
     {
 
-        video_module_mock::video_module_mock(bool is_complete_sample_set_required):
-            m_processing_handler(nullptr),
-            m_projection(nullptr),
-            m_is_complete_sample_set_required(is_complete_sample_set_required) {}
+        video_module_mock::video_module_mock():
+            m_processing_handler(nullptr) {}
 
         int32_t video_module_mock::query_module_uid()
         {
@@ -34,7 +32,9 @@ namespace rs
                     std::memcpy(supported_config.device_name, device_name, std::strlen(device_name));
 
                     supported_config.concurrent_samples_count = 1;
-                    supported_config.complete_sample_set_required = m_is_complete_sample_set_required;
+                    supported_config.config_flags = static_cast<supported_module_config::flags>(
+                                                supported_module_config::flags::sync_processing_supported |
+                                                supported_module_config::flags::async_processing_supported);
 
                     video_module_interface::supported_image_stream_config & color_desc = supported_config[stream_type::color];
                     color_desc.min_size.width = 640;
@@ -183,11 +183,6 @@ namespace rs
             return status_no_error;
         }
 
-        void video_module_mock::set_projection(rs::core::projection_interface * projection)
-        {
-            m_projection = projection;
-        }
-
         video_module_control_interface * video_module_mock::query_video_module_control()
         {
             return nullptr;

samples/video_module_sample/video_module_mock.h

@@ -17,10 +17,8 @@ namespace rs
         private:
             rs::core::video_module_interface::actual_module_config m_current_module_config;
             rs::core::video_module_interface::processing_event_handler * m_processing_handler;
-            rs::core::projection_interface * m_projection;
-            bool m_is_complete_sample_set_required;
         public:
-            video_module_mock(bool is_complete_sample_set_required);
+            video_module_mock();
             int32_t query_module_uid();
             rs::core::status query_supported_module_config(int32_t idx,
                     rs::core::video_module_interface::supported_module_config &supported_config);
@@ -30,7 +28,6 @@ namespace rs
             rs::core::status process_sample_set_async(rs::core::correlated_sample_set *sample_set);
             rs::core::status register_event_hander(rs::core::video_module_interface::processing_event_handler *handler);
             rs::core::status unregister_event_hander(rs::core::video_module_interface::processing_event_handler *handler);
-            void set_projection(rs::core::projection_interface * projection);
             rs::core::video_module_control_interface *query_video_module_control();
         };
     }

samples/video_module_sample/video_module_sync_sample.cpp

@@ -18,7 +18,7 @@ using namespace rs::mock;
 int main (int argc, char* argv[])
 {
     // initialize the device from live device or playback file, based on command line parameters.
-    std::unique_ptr<context> ctx;
+    std::unique_ptr<context_interface> ctx;
     int frames_count = 0;
 
     if (argc > 1)
@@ -54,8 +54,7 @@ int main (int argc, char* argv[])
     rs::device * device = ctx->get_device(0); //device memory managed by the context
 
     // initialize the module
-    bool is_complete_sample_set_required = true;
-    std::unique_ptr<video_module_interface> module(new video_module_mock(is_complete_sample_set_required));
+    std::unique_ptr<video_module_interface> module(new video_module_mock());
 
     // get the first supported module configuration
     video_module_interface::supported_module_config supported_config = {};
@@ -142,7 +141,7 @@ int main (int argc, char* argv[])
         rs_intrinsics depth_intrin = device->get_stream_intrinsics(rs::stream::depth);
         rs_extrinsics extrinsics = device->get_extrinsics(rs::stream::depth, rs::stream::color);
         projection.reset(rs::core::projection_interface::create_instance(&color_intrin, &depth_intrin, &extrinsics));
-        module->set_projection(projection.get());
+        actual_config.projection = projection.get();
     }
 
     // setting the enabled module configuration
@@ -168,8 +167,8 @@ int main (int argc, char* argv[])
                                rs::utils::convert_pixel_format(device->get_stream_format(librealsense_stream)),
                                device->get_stream_width(librealsense_stream)
                               };
-            smart_ptr<metadata_interface> metadata(new rs::core::metadata());
-            smart_ptr<image_interface> image(new custom_image(&info,
+            smart_ptr<metadata_interface> metadata(metadata_interface::create_instance());
+            smart_ptr<image_interface> image(image_interface::create_instance_from_raw_data(&info,
                                              device->get_frame_data(librealsense_stream),
                                              stream,
                                              image_interface::flag::any,

sdk/CMakeLists.txt

@@ -1,6 +1,5 @@
 cmake_minimum_required(VERSION 2.8.9)
 project(realsense_sdk)
-include(ExternalProject)
 
 if(CMAKE_USE_INTEL_COMPILER EQUAL 1)
 MESSAGE("---------    Using Intel compiler------------")
@@ -41,8 +40,7 @@ add_definitions(-Wno-unused-variable)
 add_definitions(-Wno-reorder)
 add_definitions(-Werror)
 
-
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 
 
 set(ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
@@ -95,4 +93,3 @@ add_subdirectory(src/utilities)
 add_subdirectory(src/core)
 add_subdirectory(src/tools)
 add_subdirectory(src/cameras)
-