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l500-color.cpp
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l500-color.cpp
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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2018 Intel Corporation. All Rights Reserved.
#include "l500-color.h"
#include <cstddef>
#include "l500-private.h"
#include "proc/color-formats-converter.h"
#include "ac-trigger.h"
#include "algo/depth-to-rgb-calibration/debug.h"
namespace librealsense
{
using namespace ivcam2;
std::map<uint32_t, rs2_format> l500_color_fourcc_to_rs2_format = {
{rs_fourcc('Y','U','Y','2'), RS2_FORMAT_YUYV},
{rs_fourcc('Y','U','Y','V'), RS2_FORMAT_YUYV},
{rs_fourcc('U','Y','V','Y'), RS2_FORMAT_UYVY}
};
std::map<uint32_t, rs2_stream> l500_color_fourcc_to_rs2_stream = {
{rs_fourcc('Y','U','Y','2'), RS2_STREAM_COLOR},
{rs_fourcc('Y','U','Y','V'), RS2_STREAM_COLOR},
{rs_fourcc('U','Y','V','Y'), RS2_STREAM_COLOR}
};
std::shared_ptr<synthetic_sensor> l500_color::create_color_device(std::shared_ptr<context> ctx, const std::vector<platform::uvc_device_info>& color_devices_info)
{
auto&& backend = ctx->get_backend();
std::unique_ptr<frame_timestamp_reader> timestamp_reader_metadata(new ivcam2::l500_timestamp_reader_from_metadata(backend.create_time_service()));
auto enable_global_time_option = std::shared_ptr<global_time_option>(new global_time_option());
auto raw_color_ep = std::make_shared<uvc_sensor>("RGB Camera", ctx->get_backend().create_uvc_device(color_devices_info.front()),
std::unique_ptr<frame_timestamp_reader>(new global_timestamp_reader(std::move(timestamp_reader_metadata), _tf_keeper, enable_global_time_option)),
this);
auto color_ep = std::make_shared<l500_color_sensor>(this, raw_color_ep, ctx, l500_color_fourcc_to_rs2_format, l500_color_fourcc_to_rs2_stream);
color_ep->register_info(RS2_CAMERA_INFO_PHYSICAL_PORT, color_devices_info.front().device_path);
// processing blocks
if( _autocal )
{
color_ep->register_processing_block(
processing_block_factory::create_pbf_vector< yuy2_converter >(
RS2_FORMAT_YUYV, // from
map_supported_color_formats( RS2_FORMAT_YUYV ), RS2_STREAM_COLOR, // to
[=]( std::shared_ptr< generic_processing_block > pb )
{
auto cpb = std::make_shared< composite_processing_block >();
cpb->add(std::make_shared< ac_trigger::color_processing_block >(_autocal));
cpb->add( pb );
return cpb;
} ) );
}
else
{
color_ep->register_processing_block(
processing_block_factory::create_pbf_vector< yuy2_converter >(
RS2_FORMAT_YUYV, // from
map_supported_color_formats( RS2_FORMAT_YUYV ), RS2_STREAM_COLOR ) ); // to
}
// options
color_ep->register_option(RS2_OPTION_GLOBAL_TIME_ENABLED, enable_global_time_option);
color_ep->get_option(RS2_OPTION_GLOBAL_TIME_ENABLED).set(0);
color_ep->register_pu(RS2_OPTION_BACKLIGHT_COMPENSATION);
color_ep->register_pu(RS2_OPTION_BRIGHTNESS);
color_ep->register_pu(RS2_OPTION_CONTRAST);
color_ep->register_pu(RS2_OPTION_GAIN);
color_ep->register_pu(RS2_OPTION_HUE);
color_ep->register_pu(RS2_OPTION_SATURATION);
color_ep->register_pu(RS2_OPTION_SHARPNESS);
color_ep->register_pu(RS2_OPTION_AUTO_EXPOSURE_PRIORITY);
color_ep->register_option(RS2_OPTION_GLOBAL_TIME_ENABLED, enable_global_time_option);
auto white_balance_option = std::make_shared<uvc_pu_option>(*raw_color_ep, RS2_OPTION_WHITE_BALANCE);
auto auto_white_balance_option = std::make_shared<uvc_pu_option>(*raw_color_ep, RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE);
color_ep->register_option(RS2_OPTION_WHITE_BALANCE, white_balance_option);
color_ep->register_option(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE, auto_white_balance_option);
color_ep->register_option(RS2_OPTION_WHITE_BALANCE,
std::make_shared<auto_disabling_control>(
white_balance_option,
auto_white_balance_option));
auto exposure_option = std::make_shared<uvc_pu_option>(*raw_color_ep, RS2_OPTION_EXPOSURE);
auto auto_exposure_option = std::make_shared<uvc_pu_option>(*raw_color_ep, RS2_OPTION_ENABLE_AUTO_EXPOSURE);
color_ep->register_option(RS2_OPTION_EXPOSURE, exposure_option);
color_ep->register_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE, auto_exposure_option);
color_ep->register_option(RS2_OPTION_EXPOSURE,
std::make_shared<auto_disabling_control>(
exposure_option,
auto_exposure_option));
color_ep->register_option(RS2_OPTION_POWER_LINE_FREQUENCY,
std::make_shared<uvc_pu_option>(*raw_color_ep, RS2_OPTION_POWER_LINE_FREQUENCY,
std::map<float, std::string>{ { 0.f, "Disabled"},
{ 1.f, "50Hz" },
{ 2.f, "60Hz" },
{ 3.f, "Auto" }, }));
// metadata
// attributes of md_capture_timing
auto md_prop_offset = offsetof(metadata_raw, mode) +
offsetof(md_rgb_normal_mode, intel_capture_timing);
color_ep->register_metadata(RS2_FRAME_METADATA_FRAME_COUNTER, make_attribute_parser(&l500_md_capture_timing::frame_counter, md_capture_timing_attributes::frame_counter_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_SENSOR_TIMESTAMP, make_attribute_parser(&l500_md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_ACTUAL_FPS, make_attribute_parser(&l500_md_capture_timing::exposure_time, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset));
// attributes of md_capture_stats
md_prop_offset = offsetof(metadata_raw, mode) +
offsetof(md_rgb_normal_mode, intel_capture_stats);
color_ep->register_metadata(RS2_FRAME_METADATA_WHITE_BALANCE, make_attribute_parser(&md_capture_stats::white_balance, md_capture_stat_attributes::white_balance_attribute, md_prop_offset));
// attributes of md_rgb_control
md_prop_offset = offsetof(metadata_raw, mode) +
offsetof(md_rgb_normal_mode, intel_rgb_control);
color_ep->register_metadata(RS2_FRAME_METADATA_GAIN_LEVEL, make_attribute_parser(&md_rgb_control::gain, md_rgb_control_attributes::gain_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_ACTUAL_EXPOSURE, make_attribute_parser(&md_rgb_control::manual_exp, md_rgb_control_attributes::manual_exp_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_AUTO_EXPOSURE, make_attribute_parser(&md_rgb_control::ae_mode, md_rgb_control_attributes::ae_mode_attribute, md_prop_offset,
[](rs2_metadata_type param) { return (param != 1); }));
color_ep->register_metadata(RS2_FRAME_METADATA_BRIGHTNESS, make_attribute_parser(&md_rgb_control::brightness, md_rgb_control_attributes::brightness_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_CONTRAST, make_attribute_parser(&md_rgb_control::contrast, md_rgb_control_attributes::contrast_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_SATURATION, make_attribute_parser(&md_rgb_control::saturation, md_rgb_control_attributes::saturation_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_SHARPNESS, make_attribute_parser(&md_rgb_control::sharpness, md_rgb_control_attributes::sharpness_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE, make_attribute_parser(&md_rgb_control::awb_temp, md_rgb_control_attributes::awb_temp_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_BACKLIGHT_COMPENSATION, make_attribute_parser(&md_rgb_control::backlight_comp, md_rgb_control_attributes::backlight_comp_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_GAMMA, make_attribute_parser(&md_rgb_control::gamma, md_rgb_control_attributes::gamma_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_HUE, make_attribute_parser(&md_rgb_control::hue, md_rgb_control_attributes::hue_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_MANUAL_WHITE_BALANCE, make_attribute_parser(&md_rgb_control::manual_wb, md_rgb_control_attributes::manual_wb_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_POWER_LINE_FREQUENCY, make_attribute_parser(&md_rgb_control::power_line_frequency, md_rgb_control_attributes::power_line_frequency_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION, make_attribute_parser(&md_rgb_control::low_light_comp, md_rgb_control_attributes::low_light_comp_attribute, md_prop_offset));
color_ep->register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_uvc_header_parser(&platform::uvc_header::timestamp));
return color_ep;
}
l500_color::l500_color(std::shared_ptr<context> ctx, const platform::backend_device_group & group)
:device(ctx, group),
l500_device(ctx, group),
_color_stream(new stream(RS2_STREAM_COLOR))
{
auto color_devs_info = filter_by_mi(group.uvc_devices, 4);
if (color_devs_info.size() != 1)
throw invalid_value_exception(to_string() << "L500 with RGB models are expected to include a single color device! - "
<< color_devs_info.size() << " found");
_color_intrinsics_table_raw = [this]() { return get_raw_intrinsics_table(); };
_color_extrinsics_table_raw = [this]() { return get_raw_extrinsics_table(); };
// This lazy instance will get shared between all the extrinsics edges. If you ever need to override
// it, be careful not to overwrite the shared-ptr itself (register_extrinsics) or the sharing
// will get ruined. Instead, overwriting the lazy<> function should do it:
// *_color_extrinsic = [=]() { return extr; };
_color_extrinsic = std::make_shared<lazy<rs2_extrinsics>>(
[this]()
{
return get_color_stream_extrinsic(*_color_extrinsics_table_raw);
} );
environment::get_instance().get_extrinsics_graph().register_extrinsics(*_depth_stream, *_color_stream, _color_extrinsic);
register_stream_to_extrinsic_group(*_depth_stream, 0);
_color_device_idx = add_sensor(create_color_device(ctx, color_devs_info));
}
l500_color_sensor * l500_color::get_color_sensor()
{
return &dynamic_cast< l500_color_sensor & >( get_sensor( _color_device_idx ));
}
rs2_intrinsics l500_color_sensor::get_intrinsics( const stream_profile& profile ) const
{
using namespace ivcam2;
auto intrinsic = check_calib<intrinsic_rgb>( *_owner->_color_intrinsics_table_raw );
auto num_of_res = intrinsic->resolution.num_of_resolutions;
for( auto i = 0; i < num_of_res; i++ )
{
auto model = intrinsic->resolution.intrinsic_resolution[i];
if( model.height == profile.height && model.width == profile.width )
{
rs2_intrinsics intrinsics;
intrinsics.width = model.width;
intrinsics.height = model.height;
intrinsics.fx = model.ipm.focal_length.x;
intrinsics.fy = model.ipm.focal_length.y;
intrinsics.ppx = model.ipm.principal_point.x;
intrinsics.ppy = model.ipm.principal_point.y;
if( model.distort.radial_k1 || model.distort.radial_k2 || model.distort.tangential_p1 || model.distort.tangential_p2 || model.distort.radial_k3 )
{
intrinsics.coeffs[0] = model.distort.radial_k1;
intrinsics.coeffs[1] = model.distort.radial_k2;
intrinsics.coeffs[2] = model.distort.tangential_p1;
intrinsics.coeffs[3] = model.distort.tangential_p2;
intrinsics.coeffs[4] = model.distort.radial_k3;
intrinsics.model = RS2_DISTORTION_INVERSE_BROWN_CONRADY;
}
return intrinsics;
}
}
throw std::runtime_error( to_string() << "intrinsics for resolution " << profile.width << "," << profile.height << " don't exist" );
}
rs2_intrinsics ivcam2::rgb_calibration_table::get_intrinsics() const
{
// TODO: we currently use the wrong distortion model, but all the code is
// written to expect the INVERSE brown. The table assumes REGULAR brown.
return { width, height,
intr.px, intr.py, // NOTE: this is normalized!
intr.fx, intr.fy, // NOTE: this is normalized!
RS2_DISTORTION_INVERSE_BROWN_CONRADY, // see comment above
{ intr.d[0], intr.d[1], intr.d[2], intr.d[3], intr.d[4] } };
}
void ivcam2::rgb_calibration_table::set_intrinsics( rs2_intrinsics const & i )
{
// The table in FW is resolution-agnostic; it can apply to ALL resolutions. To
// do this, the focal length and principal point are normalized:
width = i.width;
height = i.height;
intr.fx = 2 * i.fx / i.width;
intr.fy = 2 * i.fy / i.height;
intr.px = 2 * i.ppx / i.width - 1;
intr.py = 2 * i.ppy / i.height - 1;
intr.d[0] = i.coeffs[0];
intr.d[1] = i.coeffs[1];
intr.d[2] = i.coeffs[2];
intr.d[3] = i.coeffs[3];
intr.d[4] = i.coeffs[4];
}
void l500_color_sensor::override_intrinsics( rs2_intrinsics const& intr )
{
// The distortion model is not part of the table. The FW assumes it is brown,
// but in LRS we (mistakenly) use INVERSE brown. We therefore make sure the user
// has not tried to change anything from the intrinsics reported:
if( intr.model != RS2_DISTORTION_INVERSE_BROWN_CONRADY )
throw invalid_value_exception( "invalid intrinsics distortion model" );
rgb_calibration_table table;
AC_LOG( DEBUG, "Reading RGB calibration table 0x" << std::hex << table.table_id );
ivcam2::read_fw_table( *_owner->_hw_monitor, table.table_id, &table );
AC_LOG( DEBUG, " version: " << table.version );
AC_LOG( DEBUG, " timestamp: " << table.timestamp << "; incrementing" );
AC_LOG( DEBUG, " type: " << table.type << "; setting to 0x10" );
AC_LOG( DEBUG, " intrinsics: " << table.get_intrinsics() );
table.set_intrinsics( intr );
AC_LOG( INFO, "Overriding intr: " << intr );
AC_LOG( DEBUG, " normalized: " << table.get_intrinsics() );
table.update_write_fields();
write_fw_table( *_owner->_hw_monitor, table.table_id, table );
AC_LOG( DEBUG, " done" );
// Intrinsics are resolution-specific, so all the rest of the profile info is not
// important
_owner->_color_intrinsics_table_raw.reset();
}
void l500_color_sensor::override_extrinsics( rs2_extrinsics const& extr )
{
rgb_calibration_table table;
AC_LOG( DEBUG, "Reading RGB calibration table 0x" << std::hex << table.table_id );
ivcam2::read_fw_table( *_owner->_hw_monitor, table.table_id, &table );
AC_LOG( DEBUG, " version: " << table.version );
AC_LOG( DEBUG, " timestamp: " << table.timestamp << "; incrementing" );
AC_LOG( DEBUG, " type: " << table.type << "; setting to 0x10" );
AC_LOG( DEBUG, " raw extr: " << table.get_extrinsics() );
table.extr = to_raw_extrinsics(extr);
AC_LOG( INFO , "Overriding extr: " << extr );
table.update_write_fields();
AC_LOG( DEBUG, " as raw: " << table.get_extrinsics());
ivcam2::write_fw_table( *_owner->_hw_monitor, table.table_id, table );
AC_LOG( DEBUG, " done" );
environment::get_instance().get_extrinsics_graph().override_extrinsics( *_owner->_depth_stream, *_owner->_color_stream, extr );
}
rs2_dsm_params l500_color_sensor::get_dsm_params() const
{
throw std::logic_error( "color sensor does not support DSM parameters" );
}
void l500_color_sensor::override_dsm_params( rs2_dsm_params const & dsm )
{
throw std::logic_error( "color sensor does not support DSM parameters" );
}
void ivcam2::rgb_calibration_table::update_write_fields()
{
// We don't touch the version...
//version = ;
// This signifies AC results:
type = 0x10;
// The time-stamp is simply a sequential number that we increment
++timestamp;
}
void l500_color_sensor::reset_calibration()
{
// Read from EEPROM (factory defaults), write to FLASH (current)
// Note that factory defaults may be different than the trinsics at the time of
// our initialization!
rgb_calibration_table table;
AC_LOG( DEBUG, "Reading factory calibration from table 0x" << std::hex << table.eeprom_table_id );
ivcam2::read_fw_table( *_owner->_hw_monitor, table.eeprom_table_id, &table );
AC_LOG( DEBUG, " version: " << table.version );
AC_LOG( DEBUG, " timestamp: " << table.timestamp << "; incrementing" );
AC_LOG( DEBUG, " type: " << table.type << "; setting to 0x10" );
AC_LOG( DEBUG, "Normalized:" );
AC_LOG( DEBUG, " intrinsics: " << table.get_intrinsics() );
AC_LOG( DEBUG, " extrinsics: " << table.get_extrinsics() );
AC_LOG( DEBUG, "Writing RGB calibration table 0x" << std::hex << table.table_id );
ivcam2::write_fw_table( *_owner->_hw_monitor, table.table_id, table );
AC_LOG( DEBUG, " done" );
_owner->_color_intrinsics_table_raw.reset();
environment::get_instance().get_extrinsics_graph().override_extrinsics(
*_owner->_depth_stream,
*_owner->_color_stream,
from_raw_extrinsics(table.get_extrinsics()));
AC_LOG( INFO, "Color sensor calibration has been reset" );
}
std::vector<tagged_profile> l500_color::get_profiles_tags() const
{
std::vector<tagged_profile> tags;
tags.push_back({ RS2_STREAM_COLOR, -1, 1280, 720, RS2_FORMAT_RGB8, 30, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
return tags;
}
std::vector<uint8_t> l500_color::get_raw_intrinsics_table() const
{
AC_LOG( DEBUG, "RGB_INTRINSIC_GET" );
return _hw_monitor->send(command{ RGB_INTRINSIC_GET });
}
std::vector<uint8_t> l500_color::get_raw_extrinsics_table() const
{
AC_LOG( DEBUG, "RGB_EXTRINSIC_GET" );
return _hw_monitor->send(command{ RGB_EXTRINSIC_GET });
}
}