Add reflectivity tool to Depth Quality Tool application #7675

Nir-Az · 2020-10-29T14:30:57Z

Adding reflectivity tool to DQT:

Add new option "RS2_NOISE_ESTIMATION"
Add new option "RS2_ENABLE_IR_REFLECTIVITY"
Add reflectivity algorithm class
Add display at the DQT application
Current calculations for display occurs at frame rate

UI:

Note: This PR does not contain all logical conditions for activating IR Reflectivity

Tracked on [RS5-9263]

maloel · 2020-10-29T18:05:49Z

src/l500/l500-options.cpp

+    {
+        if (value == 1.0f)
+        {
+            auto &max_usable_range_option = _l500_depth_dev->get_depth_sensor().get_option(RS2_OPTION_ENABLE_MAX_USABLE_RANGE);


I think we should do this only AFTER we've checked that all the other options are acceptable...

src/l500/l500-options.cpp

maloel · 2020-10-29T18:08:38Z

src/l500/l500-options.cpp

+    const char * ir_reflectivity_option::get_description() const
+    {
+
+        return "IR Reflectivity Tool� calculates the percentage of IR light reflected by the "


There's a symbol � after Tool that I don't think should be there

maloel · 2020-10-29T18:09:47Z

src/l500/l500-options.cpp

+    {
+
+        return "IR Reflectivity Tool� calculates the percentage of IR light reflected by the "
+               "object and returns to the camera for processing.\n For example, a value of 60% means "


Space after \n shouldn't be there

maloel · 2020-10-29T18:10:33Z

src/l500/l500-options.cpp

+
+        return "IR Reflectivity Tool� calculates the percentage of IR light reflected by the "
+               "object and returns to the camera for processing.\n For example, a value of 60% means "
+               "that 60% of the IR light projected by L515 is reflected by the object and returns "


by L515 -> by the camera

maloel · 2020-10-29T18:12:25Z

src/types.cpp

@@ -447,6 +447,8 @@ namespace librealsense
            CASE(SEQUENCE_ID)
            CASE(HUMIDITY_TEMPERATURE)
            CASE(ENABLE_MAX_USABLE_RANGE)
+            CASE(NOISE_ESTIMATION)
+            CASE(ENABLE_IR_REFLECTIVITY)


I think you need to override this one manually to return Enable IR Reflectivity

Cause we want capitalized R in IR ?

wrappers/matlab/option.m

maloel · 2020-10-29T18:14:18Z

wrappers/python/pybackend.cpp

@@ -182,6 +182,8 @@ PYBIND11_MODULE(NAME, m) {
        .value("sequence_id", RS2_OPTION_SEQUENCE_ID)
        .value("humidity_temperature", RS2_OPTION_HUMIDITY_TEMPERATURE)
        .value("enable_max_usable_range", RS2_OPTION_ENABLE_MAX_USABLE_RANGE)
+		.value("noise_estimation", RS2_OPTION_NOISE_ESTIMATION)


maloel · 2020-10-29T18:15:42Z

common/viewer.h

@@ -188,12 +192,13 @@ namespace rs2

        std::shared_ptr<updates_model> updates;

-        bool draw_max_usable_range = true;
+        std::unordered_set<int> _hided_options;


_hidden_options? No such thing as hided :)

common/viewer.h

common/reflectivity/reflectivity.h

maloel · 2020-10-29T18:28:41Z

common/model-views.cpp

+            if (_reflectivity_data_collected)
+            {
+                viewer.ref.reset();
+                _reflectivity_data_collected = false;


Can't we make it so the Reflectivity class knows whether data has been collected (essentially, if it's not empty)?

We can I thought about it too but wasn't sure what I preffer , if you think its better I can change.

common/model-views.cpp

maloel · 2020-10-31T09:55:20Z

common/model-views.cpp

+                        viewer.ref.add_input(val, x, y);
+                        _reflectivity_data_collected = true;
+
+                        float noise_est = ds.get_option(RS2_OPTION_NOISE_ESTIMATION);


Remind me -- the noise estimation is now shown in the Viewer? With the temperatures?

Yes, I will add it to the hidden options for the viewer+ DQT since nobody asked for it.

common/model-views.cpp

maloel · 2020-10-31T09:57:45Z

common/model-views.cpp

+                                try
+                                {
+                                    pixel_ref = viewer.ref.get_reflectivity(noise_est, max_usable_range, ir_val);
+


common/model-views.cpp

maloel · 2020-11-02T16:13:38Z

common/reflectivity/reflectivity.cpp

+        return false;
+    } );
+
+    if (0 == count_valid)


Needed? Why not just use _filt_dist_arr.empty()?

maloel · 2020-11-02T16:17:57Z

common/reflectivity/reflectivity.cpp

+float reflectivity::get_reflectivity(float raw_noise_estimation,float max_usable_range, float ir_val) const
+{
+    //Calculating STD over time(temporal noise), when there are more than 5 % invalid return high value
+    std::vector<float> _filt_dist_arr(STD_PERIOD);


Why not _dist_queue.size()?

maloel · 2020-11-02T16:18:31Z

common/reflectivity/reflectivity.cpp

+using namespace rs2;
+
+
+static const int STD_PERIOD = 100;


N_STD_FRAMES? Period implies time...

maloel · 2020-11-02T16:19:49Z

common/reflectivity/reflectivity.cpp

+            return true;
+        }
+        return false;
+    } );


maloel · 2020-11-02T16:20:02Z

common/reflectivity/reflectivity.cpp

+static const int VGA_HALF_WIDTH = 320;
+static const int VGA_HALF_HEIGHT = 240;
+
+static bool is_close_to_zero(float x) { return (std::abs(x) < std::numeric_limits<float>::epsilon()); }


maloel · 2020-11-02T16:22:47Z

common/reflectivity/reflectivity.cpp

+    {
+        float variance = 0.0f;
+        for( auto val : _filt_dist_arr )
+            variance += pow( val - mean, 2.0f );


Can't we do all this why we're counting count_valid? Then maybe we don't need to copy to another vector?

Changed as discussed (count_vaid removed)

maloel · 2020-11-02T16:23:03Z

common/reflectivity/reflectivity.cpp

+        standard_deviation = sqrt( variance );
+    }
+
+    //Range is calculated based on position in map(assuming 0 tilt) Distance is just based on plane distance


Space between // and the text, please

maloel · 2020-11-02T16:42:25Z

common/model-views.cpp

+                }
+                catch (...) {};
+                if (pixel_ref != -1.0f)
+                    ref_str = to_string() << std::dec << round(pixel_ref * 100) << "%";


Move into the try block

maloel · 2020-11-02T16:42:31Z

common/model-views.cpp

+                auto max_usable_range = mur_sensor.get_max_usable_depth_range();
+                reflectivity_valid = true;
+                std::string ref_str = "N/A";
+                float pixel_ref = -1.0f;


maloel · 2020-11-02T16:42:44Z

common/model-views.cpp

+                {
+                    pixel_ref = _reflectivity->get_reflectivity(noise_est, max_usable_range, ir_val);
+                }
+                catch (...) {};


maloel · 2020-11-02T16:52:21Z

common/model-views.cpp

+                    && ds.supports( RS2_OPTION_ENABLE_MAX_USABLE_RANGE )
+                    && ( p.stream_type() == RS2_STREAM_INFRARED ) || ( p.stream_type() == RS2_STREAM_DEPTH ) )
+            {
+                _reflectivity = std::unique_ptr< reflectivity >(new reflectivity());


Can't we check whether it's skipped here rather than later?

maloel · 2020-11-02T16:57:29Z

common/reflectivity/reflectivity.cpp

+            variance += pow( val - mean, 2.0f );
+
+        variance = variance / _filt_dist_arr.size();
+        standard_deviation = sqrt( variance );


This is a double conversion, no? Maybe use std::sqrt...
Make sure no warnings.

maloel · 2020-11-02T17:37:51Z

common/reflectivity/reflectivity.cpp

+static bool is_close_to_zero(float x) { return (std::abs(x) < std::numeric_limits<float>::epsilon()); }
+
+
+reflectivity::reflectivity() : _is_empty(false)


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Nir-Az force-pushed the add_reflectivity_tool branch from 6396f7d to b9c5db1 Compare November 2, 2020 10:32

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0e3a2d3

Nir-Az force-pushed the add_reflectivity_tool branch from b9c5db1 to 0e3a2d3 Compare November 3, 2020 08:07

updates after review

88c6be2

maloel approved these changes Nov 3, 2020

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maloel merged commit 7573fee into IntelRealSense:development Nov 3, 2020

Nir-Az deleted the add_reflectivity_tool branch December 23, 2020 07:24

RealSenseSupport mentioned this pull request Jan 11, 2021

L515 camera max distance #6690

Closed

		static bool is_close_to_zero(float x) { return (std::abs(x) < std::numeric_limits<float>::epsilon()); }


		reflectivity::reflectivity() : _is_empty(false)

Add reflectivity tool to Depth Quality Tool application #7675

Add reflectivity tool to Depth Quality Tool application #7675

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Nir-Az commented Oct 29, 2020 • edited

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Nir-Az Nov 3, 2020 • edited

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Nir-Az commented Oct 29, 2020 •

edited

Nir-Az Nov 3, 2020 •

edited