HF v0.2.10

Author: Boris Bolshem

README.md

@@ -3,7 +3,7 @@
 [ ![Release] [release-image] ] [releases]
 [ ![License] [license-image] ] [license]
 
-[release-image]: http://img.shields.io/badge/release-0.2.9-blue.svg?style=flat
+[release-image]: http://img.shields.io/badge/release-0.2.10-blue.svg?style=flat
 [releases]: https://github.com/IntelRealSense/realsense_sdk
 
 [license-image]: http://img.shields.io/badge/license-Apache--2-blue.svg?style=flat

sdk/CMakeVersion

@@ -1,4 +1,4 @@
 set(SDK_VERSION_MAJOR  0  )
 set(SDK_VERSION_MINOR  2  )
-set(SDK_VERSION_COMMIT_NUMBER  9  )
+set(SDK_VERSION_COMMIT_NUMBER  10  )
 set(SDK_VERSION_COMMIT_ID  0  )

sdk/include/rs_sdk_version.h

@@ -4,8 +4,8 @@
 
 #define SDK_VER_MAJOR		0
 #define SDK_VER_MINOR		2
-#define SDK_VER_COMMIT_NUMBER	9
+#define SDK_VER_COMMIT_NUMBER	10
 #define SDK_VER_COMMIT_ID	0
-#define SDK_VERSION_STRING static volatile char version_id[] = "VERSION: 0.2.9.0";
+#define SDK_VERSION_STRING static volatile char version_id[] = "VERSION: 0.2.10.0";
 
 SDK_VERSION_STRING

sdk/src/cameras/include/file_types.h

@@ -185,7 +185,7 @@ namespace rs
                 frame_sample * copy()
                 {
                     auto rv = new frame_sample(this);
-                    size_t size = finfo.stride * finfo.height  * (finfo.bpp / 8);
+                    size_t size = finfo.stride * finfo.height;
                     auto data_clone = new uint8_t[size];
                     memcpy(data_clone, data, size);
                     rv->data = data_clone;

sdk/src/cameras/playback/include/linux/v1/conversions.h

@@ -66,8 +66,10 @@ namespace rs
                         memset(&target, 0, sizeof(target));
                         target.width = source.width;
                         target.height = source.height;
-                        target.stride = source.stride_x;
-                        target.bpp = source.bpp * 8;
+                        auto bpp_v1_is_bytes_per_pixel = source.bpp;
+                        target.bpp = bpp_v1_is_bytes_per_pixel * 8;
+                        auto stride_x_v1_is_pixels_per_raw = source.stride_x;
+                        target.stride = stride_x_v1_is_pixels_per_raw * bpp_v1_is_bytes_per_pixel;
                         target.format = source.format;
                         target.framerate = source.framerate;
                         target.index_in_stream = source.index_in_stream;

sdk/src/cameras/playback/include/windows/v10/conversions.h

@@ -9,7 +9,6 @@
 #include "include/windows/projection_types.h"
 #include "status.h"
 #include "image/librealsense_image_utils.h"
-#include "rs/utils/log_utils.h"
 
 namespace rs
 {

sdk/src/cameras/playback/windows/v10/conversions.cpp

@@ -3,6 +3,9 @@
 
 #include "windows/v10/conversions.h"
 #include "include/linear_algebra.h"
+#include "image/image_utils.h"
+#include "rs/utils/librealsense_conversion_utils.h"
+#include "rs/utils/log_utils.h"
 
 namespace rs
 {
@@ -148,7 +151,7 @@ namespace rs
                             return core::status_item_unavailable;
                         target.width = source.width;
                         target.height = source.height;
-                        target.stride = source.width == 628 ? 640 : source.width;
+                        target.stride = (source.width == 628 ? 640 : source.width) * core::image_utils::get_pixel_size(format);
                         target.bpp = rs::core::image_utils::get_pixel_size(format);
                         target.format = format;
                         return core::status_no_error;

sdk/src/cameras/record/disk_write.cpp

@@ -220,7 +220,7 @@ namespace rs
             file_types::disk_format::sw_info sw_info;
             memset(&sw_info, 0, sizeof(file_types::disk_format::sw_info));
             sw_info.data.sdk = {SDK_VER_MAJOR, SDK_VER_MINOR, SDK_VER_COMMIT_NUMBER, SDK_VER_COMMIT_ID};
-            sw_info.data.librealsense = {RS_API_VERSION};
+            sw_info.data.librealsense = {RS_API_MAJOR_VERSION, RS_API_MINOR_VERSION, RS_API_PATCH_VERSION};
 
             uint32_t bytes_written = 0;
             m_file->write_bytes(&chunk, sizeof(chunk), bytes_written);
@@ -411,7 +411,7 @@ namespace rs
             if (frame)
             {
                 /* Get raw stream size */
-                int32_t nbytes = (frame->finfo.stride * frame->finfo.height * (frame->finfo.bpp / 8));
+                int32_t nbytes = (frame->finfo.stride * frame->finfo.height);
 
                 std::vector<uint8_t> buffer;
                 file_types::compression_type ctype = m_compression.compression_policy(frame->finfo.stream);

sdk/src/cameras/record/record_device_impl.cpp

@@ -535,17 +535,25 @@ namespace rs
                 file_types::frame_info fi = {intr.width, intr.height, si.get_format()};
                 fi.framerate = si.get_framerate();
                 rs_intrinsics intrinsics = intr;
-                rs_intrinsics rect_intrinsics =  si.get_rectified_intrinsics();
-                rs_extrinsics extrinsics = si.get_extrinsics_to(m_device->get_stream_interface(rs_stream::RS_STREAM_DEPTH));
+                rs_intrinsics rect_intrinsics = {};
+                rs_extrinsics extrinsics = {};
+
+                //save empty calibration data in case rectified intrinsics data is not valid
+                try {rect_intrinsics = si.get_rectified_intrinsics();}
+                catch(...) {LOG_WARN("failed to read rectified intrinsics of stream - " << *it);}
+
+                //save empty calibration data in case extrinsics data is not valid
+                try {extrinsics = si.get_extrinsics_to(m_device->get_stream_interface(rs_stream::RS_STREAM_DEPTH));}
+                catch(...) {LOG_WARN("failed to read extrinsics of stream - " << *it);}
+
                 auto depth_scale = *it == rs_stream::RS_STREAM_DEPTH ? m_device->get_depth_scale() : 0;
                 profiles[*it] = {fi, si.get_framerate(), intrinsics, rect_intrinsics, extrinsics, depth_scale};
+
                 //save empty calibration data in case motion calibration data is not valid
-                try
-                {
-                    profiles[*it].motion_extrinsics = m_device->get_motion_extrinsics_from(*it);
-                }
+                try { profiles[*it].motion_extrinsics = m_device->get_motion_extrinsics_from(*it); }
                 catch(...)
                 {
+                    LOG_WARN("failed to read motion extrinsics of stream - " << *it)
                     rs_extrinsics ext = {};
                     profiles[*it].motion_extrinsics = ext;
                 }