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Add reflectivity tool to Depth Quality Tool application #7675

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merged 2 commits into from
Nov 3, 2020
Merged

Add reflectivity tool to Depth Quality Tool application #7675

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0e3a2d3
Add reflectivity tool
Nir-Az Oct 25, 2020
88c6be2
updates after review
Nir-Az Nov 3, 2020
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8 changes: 7 additions & 1 deletion common/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,13 @@ set(COMMON_SRC
"${CMAKE_CURRENT_LIST_DIR}/sw-update/versions-db-manager.h"
"${CMAKE_CURRENT_LIST_DIR}/sw-update/versions-db-manager.cpp"
)

set(REFLECTIVITY_FILES
"${CMAKE_CURRENT_LIST_DIR}/reflectivity/reflectivity.h"
"${CMAKE_CURRENT_LIST_DIR}/reflectivity/reflectivity.cpp"
)
set(COMMON_SRC
${COMMON_SRC}
${SW_UPDATE_FILES})
${SW_UPDATE_FILES}
${REFLECTIVITY_FILES})

146 changes: 128 additions & 18 deletions common/model-views.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2024,7 +2024,7 @@ namespace rs2
for (auto i = 0; i < RS2_OPTION_COUNT; i++)
{
auto opt = static_cast<rs2_option>(i);
if (skip_option(opt)) continue;
if (viewer.is_option_skipped(opt)) continue;
if (std::find(drawing_order.begin(), drawing_order.end(), opt) == drawing_order.end())
{
draw_option(opt, update_read_only_options, error_message, notifications);
Expand All @@ -2037,7 +2037,7 @@ namespace rs2
return (uint64_t)std::count_if(
std::begin(options_metadata),
std::end(options_metadata),
[](const std::pair<int, option_model>& p) {return p.second.supported && !skip_option(p.second.opt); });
[&](const std::pair<int, option_model>& p) {return p.second.supported && !viewer.is_option_skipped(p.second.opt); });
}

bool option_model::draw_option(bool update_read_only_options,
Expand Down Expand Up @@ -2174,7 +2174,7 @@ namespace rs2
return !_stream_not_alive.eval();
}

void stream_model::begin_stream(std::shared_ptr<subdevice_model> d, rs2::stream_profile p)
void stream_model::begin_stream(std::shared_ptr<subdevice_model> d, rs2::stream_profile p, const viewer_model& viewer)
{
dev = d;
original_profile = p;
Expand All @@ -2195,7 +2195,82 @@ namespace rs2
static_cast<float>(vd.height()) };
}
_stream_not_alive.reset();

try
{
if( ! viewer.is_option_skipped( RS2_OPTION_ENABLE_IR_REFLECTIVITY ) )
{
auto ds = d->dev.first< depth_sensor >();
if( ds.supports( RS2_OPTION_ENABLE_IR_REFLECTIVITY )
&& 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() );
}
}
}
catch(...) {};

}

bool stream_model::draw_reflectivity( int x,
int y,
rs2::depth_sensor ds,
const std::map< int, stream_model > & streams,
std::stringstream & ss,
bool same_line )
{
bool reflectivity_valid = false;

// Get IR sample for getting current reflectivity
auto ir_stream
= std::find_if( streams.cbegin(),
streams.cend(),
[]( const std::pair< const int, stream_model > & stream ) {
return stream.second.profile.stream_type() == RS2_STREAM_INFRARED;
} );

// Get depth sample for adding to reflectivity history
auto depth_stream
= std::find_if( streams.cbegin(),
streams.cend(),
[]( const std::pair< const int, stream_model > & stream ) {
return stream.second.profile.stream_type() == RS2_STREAM_DEPTH;
} );

if( ir_stream != streams.end() && depth_stream != streams.end() )
{
auto depth_val = 0.0f;
auto ir_val = 0.0f;
depth_stream->second.texture->try_pick( x, y, &depth_val );
ir_stream->second.texture->try_pick( x, y, &ir_val );

_reflectivity->add_depth_sample( depth_val, x, y ); // Add depth sample to the history

float noise_est = ds.get_option( RS2_OPTION_NOISE_ESTIMATION );
auto mur_sensor = ds.as< max_usable_range_sensor >();
if( mur_sensor )
{
auto max_usable_range = mur_sensor.get_max_usable_depth_range();
reflectivity_valid = true;
std::string ref_str = "N/A";
try
{
auto pixel_ref = _reflectivity->get_reflectivity( noise_est, max_usable_range, ir_val );
ref_str = to_string() << std::dec << round( pixel_ref * 100 ) << "%";
}
catch( ... )
{
}

if( same_line )
ss << ", Reflectivity: " << ref_str;
else
ss << "\nReflectivity: " << ref_str;
}
}

return reflectivity_valid;
}

void stream_model::update_ae_roi_rect(const rect& stream_rect, const mouse_info& mouse, std::string& error_message)
Expand Down Expand Up @@ -2860,7 +2935,7 @@ namespace rs2
ImGui::PopStyleColor(5);
}

void stream_model::show_stream_footer(ImFont* font, const rect &stream_rect, const mouse_info& mouse, viewer_model& viewer)
void stream_model::show_stream_footer(ImFont* font, const rect &stream_rect, const mouse_info& mouse, const std::map<int, stream_model> &streams, viewer_model& viewer)
{
auto non_visual_stream = (profile.stream_type() == RS2_STREAM_GYRO)
|| (profile.stream_type() == RS2_STREAM_ACCEL)
Expand All @@ -2885,29 +2960,33 @@ namespace rs2
}

bool show_max_range = false;
bool show_reflectivity = false;

if (texture->get_last_frame().is<depth_frame>())
{
// Draw pixel distance
auto meters = texture->get_last_frame().as<depth_frame>().get_distance(x, y);

if (viewer.metric_system)
ss << std::dec << " = " << std::setprecision(3) << meters << " meters";
else
ss << std::dec << " = " << std::setprecision(3) << meters / FEET_TO_METER << " feet";

// Draw maximum usable depth range
auto ds = sensor_from_frame(texture->get_last_frame())->as<depth_sensor>();

if (viewer.draw_max_usable_range)
if (!viewer.is_option_skipped(RS2_OPTION_ENABLE_MAX_USABLE_RANGE))
{
if (ds.supports(RS2_OPTION_ENABLE_MAX_USABLE_RANGE))
if (ds.supports(RS2_OPTION_ENABLE_MAX_USABLE_RANGE) &&
(ds.get_option(RS2_OPTION_ENABLE_MAX_USABLE_RANGE) == 1.0f))
{
if (ds.get_option(RS2_OPTION_ENABLE_MAX_USABLE_RANGE) == 1.0)
auto mur_sensor = ds.as<max_usable_range_sensor>();
if (mur_sensor)
{
show_max_range = true;
auto mur_sensor = ds.as<max_usable_range_sensor>();
auto max_usable_range = mur_sensor.get_max_usable_depth_range();
const float MIN_RANGE = 3.0f;
const float MAX_RANGE = 9.0f;
// display maximu, usable range in range 3-9 [m] at 1 [m] resolution (rounded)
// display maximum usable range in range 3-9 [m] at 1 [m] resolution (rounded)
auto max_usable_range_rounded = round(std::min(std::max(max_usable_range, MIN_RANGE), MAX_RANGE));

if (viewer.metric_system)
Expand All @@ -2917,6 +2996,34 @@ namespace rs2
}
}
}

// Draw IR reflectivity on depth frame
if (_reflectivity)
{
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if (ds.get_option(RS2_OPTION_ENABLE_IR_REFLECTIVITY) == 1.0f)
{
// Add reflectivity information on frame, if max usable range is displayed, display reflectivity on the same line
show_reflectivity = draw_reflectivity(x, y, ds, streams, ss, show_max_range);
}
}
}

// Draw IR reflectivity on IR frame
if (_reflectivity)
{
bool lf_exist = texture->get_last_frame();
if (lf_exist)
{
auto ds = sensor_from_frame(texture->get_last_frame())->as<depth_sensor>();
if (ds.get_option( RS2_OPTION_ENABLE_IR_REFLECTIVITY ) == 1.0f )
{
bool lf_exist = texture->get_last_frame();
if (is_stream_alive() && texture->get_last_frame().get_profile().stream_type() == RS2_STREAM_INFRARED)
{
show_reflectivity = draw_reflectivity(x, y, ds, streams, ss, show_max_range);
}
}
}
}

std::string msg(ss.str().c_str());
Expand All @@ -2929,7 +3036,7 @@ namespace rs2
auto width = float(msg.size() * 8);

// adjust width according to the longest line
if (show_max_range)
if (show_max_range || show_reflectivity)
{
footer_vertical_size = 50;
auto first_line_size = msg.find_first_of('\n') + 1;
Expand All @@ -2954,6 +3061,13 @@ namespace rs2
ImGui::Text("%s", msg.c_str());
ImGui::PopStyleColor(2);
}
else
{
if (_reflectivity)
{
_reflectivity->reset_history();
}
}
}

void stream_model::show_stream_imu(ImFont* font, const rect &stream_rect, const rs2_vector& axis, const mouse_info& mouse)
Expand Down Expand Up @@ -6201,15 +6315,11 @@ namespace rs2
for (auto&& i : sub->s->get_supported_options())
{
auto opt = static_cast<rs2_option>(i);
if (skip_option(opt)) continue;
if (viewer.is_option_skipped(opt)) continue;
if (std::find(drawing_order.begin(), drawing_order.end(), opt) == drawing_order.end())
{
if (serialize && opt == RS2_OPTION_VISUAL_PRESET)
continue;
if (opt == RS2_OPTION_ENABLE_MAX_USABLE_RANGE && !viewer.draw_max_usable_range)
{
continue;
}

if (sub->draw_option(opt, dev.is<playback>() || update_read_only_options, error_message, *viewer.not_model))
{
Expand Down Expand Up @@ -6242,7 +6352,7 @@ namespace rs2
for (auto i = 0; i < RS2_OPTION_COUNT; i++)
{
auto opt = static_cast<rs2_option>(i);
if (skip_option(opt)) continue;
if (viewer.is_option_skipped(opt)) continue;
pb->get_option(opt).draw_option(
dev.is<playback>() || update_read_only_options,
false, error_message, *viewer.not_model);
Expand Down Expand Up @@ -6445,7 +6555,7 @@ namespace rs2
{
for (auto&& opt : pb->get_option_list())
{
if (skip_option(opt)) continue;
if (viewer.is_option_skipped(opt)) continue;
pb->get_option(opt).draw_option(
dev.is<playback>() || update_read_only_options,
false, error_message, *viewer.not_model);
Expand Down
25 changes: 8 additions & 17 deletions common/model-views.h
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
#include "calibration-model.h"
#include "cah-model.h"
#include "../common/utilities/time/periodic_timer.h"
#include "reflectivity/reflectivity.h"

ImVec4 from_rgba(uint8_t r, uint8_t g, uint8_t b, uint8_t a, bool consistent_color = false);
ImVec4 operator+(const ImVec4& c, float v);
Expand Down Expand Up @@ -264,20 +265,6 @@ namespace rs2

void imgui_easy_theming(ImFont*& font_14, ImFont*& font_18, ImFont*& monofont);

// avoid display the following options
bool static skip_option(rs2_option opt)
{
if (opt == RS2_OPTION_STREAM_FILTER ||
opt == RS2_OPTION_STREAM_FORMAT_FILTER ||
opt == RS2_OPTION_STREAM_INDEX_FILTER ||
opt == RS2_OPTION_FRAMES_QUEUE_SIZE ||
opt == RS2_OPTION_SENSOR_MODE ||
opt == RS2_OPTION_TRIGGER_CAMERA_ACCURACY_HEALTH ||
opt == RS2_OPTION_RESET_CAMERA_ACCURACY_HEALTH)
return true;
return false;
}

template<class T>
void sort_together(std::vector<T>& vec, std::vector<std::string>& names)
{
Expand Down Expand Up @@ -700,16 +687,16 @@ namespace rs2
rect get_normalized_zoom(const rect& stream_rect, const mouse_info& g, bool is_middle_clicked, float zoom_val);

bool is_stream_alive();

void show_stream_footer(ImFont* font, const rect& stream_rect,const mouse_info& mouse, viewer_model& viewer);
void show_stream_footer(ImFont* font, const rect &stream_rect, const mouse_info& mouse, const std::map<int, stream_model> &streams, viewer_model& viewer);
void show_stream_header(ImFont* font, const rect& stream_rect, viewer_model& viewer);
void show_stream_imu(ImFont* font, const rect& stream_rect, const rs2_vector& axis, const mouse_info& mouse);
void show_stream_pose(ImFont* font, const rect& stream_rect, const rs2_pose& pose_data,
rs2_stream stream_type, bool fullScreen, float y_offset, viewer_model& viewer);

void snapshot_frame(const char* filename,viewer_model& viewer) const;

void begin_stream(std::shared_ptr<subdevice_model> d, rs2::stream_profile p);
void begin_stream(std::shared_ptr<subdevice_model> d, rs2::stream_profile p, const viewer_model& viewer);
bool draw_reflectivity(int x, int y, rs2::depth_sensor ds, const std::map<int, stream_model> &streams, std::stringstream &ss, bool same_line = false);
rect layout;
std::shared_ptr<texture_buffer> texture;
float2 size;
Expand Down Expand Up @@ -742,6 +729,10 @@ namespace rs2
bool show_metadata = false;

animated<float> _info_height{ 0.f };

private:
std::unique_ptr< reflectivity > _reflectivity;

};

std::pair<std::string, std::string> get_device_name(const device& dev);
Expand Down