PR #13527 from Nir-Az: R/256 -> align to development 20/11/2024

.github/workflows/static_analysis.yaml

@@ -194,3 +194,15 @@ jobs:
             echo "Error - The minimal CMake version required for LibRS is ${EXPECTED_CMAKE_MAJOR_VER}.${EXPECTED_CMAKE_MINOR_VER} but on this build the minimal CMake version that works is $CURRENT_CMAKE_MAJOR_VER.$CURRENT_CMAKE_MINOR_VER"
             exit 1
           fi              
+
+  build_flags_docs:
+    name: "Generate build-flags.html"
+    timeout-minutes: 10
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@f43a0e5ff2bd294095638e18286ca9a3d1956744 #v3
+
+      - name: Build docs 
+        run: |
+            python3 scripts/lrs_options-to-html.py

CMake/lrs_options.cmake

@@ -1,3 +1,9 @@
+## This file is also being used to generate our build flags document at https://intelrealsense.github.io/librealsense/build-flags-docs/build-flags.html
+## Formatting notes for this file:
+## Options are listed as: <name> | <description> [comment] | <value>
+## regular comments should be ABOVE their relevent option
+## use double # for comments that should not show in the options doc
+
 option(ENABLE_CCACHE "Build with ccache." ON)
 option(BUILD_WITH_CUDA "Enable CUDA" OFF)
 option(BUILD_GLSL_EXTENSIONS "Build GLSL extensions API" ON)

common/d500-on-chip-calib.cpp

@@ -88,7 +88,8 @@ namespace rs2
             auto depth_sensor = _sub->s->as <rs2::depth_sensor>();
 
             // disabling the depth visual preset change for D555 - not needed
-            if (get_device_pid() != "0B56" && get_device_pid() != "DDS")
+            std::string dev_name = _dev.supports( RS2_CAMERA_INFO_NAME ) ? _dev.get_info( RS2_CAMERA_INFO_NAME ) : "";
+            if( dev_name.find( "D555" ) == std::string::npos )
             {
                 // set depth preset as default preset
                 set_option_if_needed<rs2::depth_sensor>(depth_sensor, RS2_OPTION_VISUAL_PRESET, 1);

common/device-model.cpp

@@ -3351,10 +3351,10 @@ namespace rs2
             {
                 bool is_d555 = false;
 
-                if( dev.supports( RS2_CAMERA_INFO_PRODUCT_ID ) )
+                if( dev.supports( RS2_CAMERA_INFO_NAME ) )
                 {
-                    auto pid_str = std::string( dev.get_info( RS2_CAMERA_INFO_PRODUCT_ID ) );
-                    if( pid_str == "0B56" || pid_str == "DDS" )
+                    auto dev_name = std::string( dev.get_info( RS2_CAMERA_INFO_NAME ) );
+                    if( dev_name.find( "D555" ) != std::string::npos )
                         is_d555 = true;
                 }
 

common/output-model.cpp

@@ -893,6 +893,7 @@ void output_model::add_log(rs2_log_severity severity, std::string filename, int
 
 void output_model::run_command(std::string command, device_models_list & device_models)
 {
+    std::string opcode_error_as_string = "";
     try
     {
         if (to_lower(command) == "clear")
@@ -990,7 +991,11 @@ void output_model::run_command(std::string command, device_models_list & device_
                 {
                     found = true;
                     auto res = dbg.send_and_receive_raw_data(buffer);
-
+                    if (res.data())
+                    {
+                        int8_t opcode = *res.data();
+                        opcode_error_as_string = dbg.get_opcode_string(opcode);
+                    }
                     std::string response = rsutils::string::from() << "\n" << terminal_parser.parse_response(to_lower(command), res);
                     add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, response);
                 }
@@ -1006,7 +1011,10 @@ void output_model::run_command(std::string command, device_models_list & device_
     }
     catch(const std::exception& ex)
     {
-        add_log( RS2_LOG_SEVERITY_ERROR, __FILE__, __LINE__, ex.what() );
+        std::string error_string = rsutils::string::from() << ex.what();
+        if (opcode_error_as_string != "")
+            error_string = rsutils::string::from() << error_string << " (" << opcode_error_as_string << ")";
+        add_log( RS2_LOG_SEVERITY_ERROR, __FILE__, __LINE__, error_string);
     }
 }
 

common/subdevice-model.cpp

@@ -194,8 +194,6 @@ namespace rs2
         }
         catch (...) {}
 
-        auto filters = s->get_recommended_filters();
-
         for (auto&& f : s->get_recommended_filters())
         {
             auto shared_filter = std::make_shared<filter>(f);
@@ -215,6 +213,9 @@ namespace rs2
                     model->enable(false);
             }
 
+            if( shared_filter->is< rotation_filter >() )
+                model->enable( false ); 
+
             if (shared_filter->is<threshold_filter>())
             {
                 if (s->supports(RS2_CAMERA_INFO_PRODUCT_ID))

doc/build-flags.css

@@ -0,0 +1,91 @@
+/* This file is used in lrs_options-to-html, creating the html build-flags.html file we use to keep
+    the flags updated */
+body {
+  font-family: 'Roboto', Arial, sans-serif;
+  background-color: #f5f5f5;
+  margin: 0;
+  padding: 0;
+}
+
+.container {
+  width: 80%;
+  margin: 0 auto;
+  padding: 30px;
+}
+
+h1 {
+  text-align: center;
+  margin-bottom: 20px;
+}
+
+h2 {
+  text-align: center;
+  margin-bottom: 30px;
+}
+
+table {
+  width: 100%;
+  border-collapse: collapse;
+  box-shadow: 0 0 20px rgba(0, 0, 0, 0.1);
+  border-radius: 8px;
+  overflow: visible;
+}
+
+th, td {
+  padding: 16px;
+  text-align: left;
+  border: 1px solid #ddd;
+}
+
+th {
+  background-color: #5873e0;
+  color: white;
+}
+
+tr:hover {
+  background-color: #f0f0f0;
+}
+
+code {
+  padding: 2px 4px;
+  border-radius: 4px;
+  font-family: 'Roboto Mono', monospace;
+}
+/* --- Tooltip --- */
+.tooltip {
+  position: relative;
+  display: block;
+}
+
+.tooltip .tooltip-text {
+  visibility: hidden;
+  /*width: 120px;*/
+  background-color: #555;
+  color: #fff;
+  text-align: center;
+  padding: 5%;
+  border-radius: 6px;
+  position: absolute;
+  z-index: 1;
+  bottom: 125%;
+  left: 50%;
+  margin-left: -60px;
+  opacity: 0;
+  transition: opacity 0.3s;
+}
+
+.tooltip .tooltip-text::after {
+  content: "";
+  position: absolute;
+  top: 100%;
+  left: 50%;
+  margin-left: -5px;
+  border-width: 5px;
+  border-style: solid;
+  border-color: #555 transparent transparent transparent;
+}
+
+.tooltip:hover .tooltip-text {
+  visibility: visible;
+  opacity: 1;
+}

examples/post-processing/rs-post-processing.cpp

@@ -22,6 +22,7 @@ struct filter_slider_ui
     std::string description;
     bool is_int;
     float value;
+    float step;
     rs2::option_range range;
 
     bool render(const float3& location, bool enabled);
@@ -71,6 +72,7 @@ int main(int argc, char * argv[]) try
 
     // Declare filters
     rs2::decimation_filter dec_filter;  // Decimation - reduces depth frame density
+    rs2::rotation_filter rot_filter;    // Rotation - rotates frames
     rs2::threshold_filter thr_filter;   // Threshold  - removes values outside recommended range
     rs2::spatial_filter spat_filter;    // Spatial    - edge-preserving spatial smoothing
     rs2::temporal_filter temp_filter;   // Temporal   - reduces temporal noise
@@ -85,6 +87,7 @@ int main(int argc, char * argv[]) try
 
     // The following order of emplacement will dictate the orders in which filters are applied
     filters.emplace_back("Decimate", dec_filter);
+    filters.emplace_back("Rotate", rot_filter);
     filters.emplace_back("Threshold", thr_filter);
     filters.emplace_back(disparity_filter_name, depth_to_disparity);
     filters.emplace_back("Spatial", spat_filter);
@@ -115,11 +118,12 @@ int main(int argc, char * argv[]) try
             /* Apply filters.
             The implemented flow of the filters pipeline is in the following order:
             1. apply decimation filter
-            2. apply threshold filter
-            3. transform the scene into disparity domain
-            4. apply spatial filter
-            5. apply temporal filter
-            6. revert the results back (if step Disparity filter was applied
+            2. apply rotation filter
+            3. apply threshold filter
+            4. transform the scene into disparity domain
+            5. apply spatial filter
+            6. apply temporal filter
+            7. revert the results back (if step Disparity filter was applied
             to depth domain (each post processing block is optional and can be applied independantly).
             */
             bool revert_disparity = false;
@@ -269,11 +273,12 @@ void render_ui(float w, float h, std::vector<filter_options>& filters)
         ImGui::Checkbox(filter.filter_name.c_str(), &tmp_value);
         filter.is_enabled = tmp_value;
         ImGui::PopStyleColor();
-
-        if (filter.supported_options.size() == 0)
+        
+        if( filter.supported_options.size() == 0 )
         {
             offset_y += elements_margin;
         }
+
         // Draw a slider for each of the filter's options
         for (auto& option_slider_pair : filter.supported_options)
         {
@@ -316,11 +321,21 @@ bool filter_slider_ui::render(const float3& location, bool enabled)
     {
         int value_as_int = static_cast<int>(value);
         value_changed = ImGui::SliderInt(("##" + name).c_str(), &value_as_int, static_cast<int>(range.min), static_cast<int>(range.max), "%.0f");
+        if( step > 1 )
+        {
+            value_as_int = static_cast< int >( range.min )
+                         + ( ( value_as_int - static_cast< int >( range.min ) ) / static_cast< int >( step ) )
+                               * static_cast< int >( step );
+        }
         value = static_cast<float>(value_as_int);
     }
     else
     {
         value_changed = ImGui::SliderFloat(("##" + name).c_str(), &value, range.min, range.max, "%.3f", 1.0f);
+        if( step > 0.0f )
+        {
+            value = range.min + round( ( value - range.min ) / step ) * step;
+        }
     }
 
     ImGui::PopItemWidth();
@@ -356,12 +371,13 @@ filter_options::filter_options(const std::string name, rs2::filter& flt) :
     filter(flt),
     is_enabled(true)
 {
-    const std::array<rs2_option, 5> possible_filter_options = {
+    const std::array<rs2_option, 6> possible_filter_options = {
         RS2_OPTION_FILTER_MAGNITUDE,
         RS2_OPTION_FILTER_SMOOTH_ALPHA,
         RS2_OPTION_MIN_DISTANCE,
         RS2_OPTION_MAX_DISTANCE,
-        RS2_OPTION_FILTER_SMOOTH_DELTA
+        RS2_OPTION_FILTER_SMOOTH_DELTA,
+        RS2_OPTION_ROTATION
     };
 
     //Go over each filter option and create a slider for it
@@ -378,6 +394,7 @@ filter_options::filter_options(const std::string name, rs2::filter& flt) :
             supported_options[opt].name = name + "_" + opt_name;
             std::string prefix = "Filter ";
             supported_options[opt].label = opt_name;
+            supported_options[opt].step = range.step;
         }
     }
 }

include/librealsense2/h/rs_option.h

@@ -125,6 +125,7 @@ extern "C" {
         RS2_OPTION_SOC_PVT_TEMPERATURE, /**< Temperature of PVT SOC */
         RS2_OPTION_GYRO_SENSITIVITY,/**< Control of the gyro sensitivity level, see rs2_gyro_sensitivity for values */
         RS2_OPTION_REGION_OF_INTEREST,/**< The rectangular area used from the streaming profile */
+        RS2_OPTION_ROTATION,/**Rotates frames*/
         RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
     } rs2_option;
 

include/librealsense2/h/rs_processing.h

@@ -224,6 +224,12 @@ rs2_processing_block* rs2_create_align(rs2_stream align_to, rs2_error** error);
 */
 rs2_processing_block* rs2_create_decimation_filter_block(rs2_error** error);
 
+/**
+ * Creates post-processing filter block. This block accepts frames and applies rotation filter
+ * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+ */
+rs2_processing_block * rs2_create_rotation_filter_block( rs2_error ** error );
+
 /**
 * Creates Depth post-processing filter block. This block accepts depth frames, applies temporal filter
 * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored

include/librealsense2/h/rs_types.h

@@ -161,6 +161,7 @@ typedef enum rs2_extension
     RS2_EXTENSION_SOFTWARE_DEVICE,
     RS2_EXTENSION_SOFTWARE_SENSOR,
     RS2_EXTENSION_DECIMATION_FILTER,
+    RS2_EXTENSION_ROTATION_FILTER,
     RS2_EXTENSION_THRESHOLD_FILTER,
     RS2_EXTENSION_DISPARITY_FILTER,
     RS2_EXTENSION_SPATIAL_FILTER,

include/librealsense2/hpp/rs_device.hpp

@@ -1042,6 +1042,14 @@ namespace rs2
 
             return results;
         }
+
+        std::string get_opcode_string(int opcode)
+        {
+            rs2_error* e = nullptr;
+            char buffer[1024];
+            rs2_hw_monitor_get_opcode_string(opcode, buffer, sizeof(buffer), _dev.get(), &e);
+            return std::string(buffer);
+        }
     };
 
     class device_list

include/librealsense2/hpp/rs_processing.hpp

@@ -851,6 +851,48 @@ namespace rs2
         }
     };
 
+    class rotation_filter : public filter
+    {
+    public:
+        /**
+         * Create rotation filter
+         * Rotation filter performs rotation of the frames
+         */
+        rotation_filter()
+            : filter( init(), 1 )
+        {
+        }
+
+        rotation_filter( float value )
+            : filter( init(), 1 )
+        {
+            set_option( RS2_OPTION_ROTATION, value );
+        }
+
+        rotation_filter( filter f )
+            : filter( f )
+        {
+            rs2_error * e = nullptr;
+            if( ! rs2_is_processing_block_extendable_to( f.get(), RS2_EXTENSION_ROTATION_FILTER, &e ) && ! e )
+            {
+                _block.reset();
+            }
+            error::handle( e );
+        }
+
+    private:
+        friend class context;
+
+        std::shared_ptr< rs2_processing_block > init()
+        {
+            rs2_error * e = nullptr;
+            auto block = std::shared_ptr< rs2_processing_block >( rs2_create_rotation_filter_block( &e ),
+                                                                  rs2_delete_processing_block );
+            error::handle( e );
+            return block;
+        }
+    };
+
     class temporal_filter : public filter
     {
     public:

include/librealsense2/rs.h

@@ -136,6 +136,8 @@ float rs2_depth_frame_get_distance(const rs2_frame* frame_ref, int x, int y, rs2
 */
 rs2_time_t rs2_get_time( rs2_error** error);
 
+void rs2_hw_monitor_get_opcode_string(int opcode, char* buffer, size_t buffer_size,rs2_device* device, rs2_error** error);
+
 #ifdef __cplusplus
 }
 #endif