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ROSBAG 3D rendering fix #9300

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merged 2 commits into from
Jul 1, 2021
Merged

ROSBAG 3D rendering fix #9300

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18b3614
fix
nohayassin Jun 28, 2021
5740d69
added depth units to SW device
nohayassin Jun 28, 2021
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1 change: 1 addition & 0 deletions include/librealsense2/h/rs_internal.h
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Expand Up @@ -85,6 +85,7 @@ typedef struct rs2_software_video_frame
rs2_timestamp_domain domain;
int frame_number;
const rs2_stream_profile* profile;
float depth_units;
} rs2_software_video_frame;

/** \brief All the parameters required to define a motion frame. */
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2 changes: 1 addition & 1 deletion src/media/ros/ros_reader.cpp
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Expand Up @@ -798,7 +798,7 @@ namespace librealsense
}

// find depth units from old rosbag
auto depth_sensor = As<librealsense::depth_sensor>(sensor_extensions.find(RS2_EXTENSION_DEPTH_STEREO_SENSOR)).get();
auto depth_sensor = As<librealsense::depth_sensor>(sensor_extensions.find(RS2_EXTENSION_DEPTH_SENSOR)).get();
if(depth_sensor)
m_legacy_depth_units = depth_sensor->get_depth_scale();

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1 change: 1 addition & 0 deletions src/software-device.cpp
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Expand Up @@ -264,6 +264,7 @@ namespace librealsense
data.timestamp = software_frame.timestamp;
data.timestamp_domain = software_frame.domain;
data.frame_number = software_frame.frame_number;
data.depth_units = software_frame.depth_units;

data.metadata_size = 0;
for (auto i : _metadata_map)
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5 changes: 3 additions & 2 deletions unit-tests/unit-tests-post-processing.cpp
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Expand Up @@ -248,10 +248,11 @@ TEST_CASE("Post-Processing Filters sequence validation", "[software-device][post
[](void*) {}, // Custom deleter (if required)
(int)test_cfg.input_res_x *depth_bpp, // Stride
depth_bpp, // Bytes-per-pixels
(rs2_time_t)frame_number + i, // Timestamp
(rs2_time_t)frame_number + i, // Timestamp
RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME, // Clock Domain
frame_number, // Frame# for potential sync services
depth_stream_profile }); // Depth stream profile
depth_stream_profile, // Depth stream profile
test_cfg.depth_units }); // Depth units

rs2::frameset fset = sync.wait_for_frames();
REQUIRE(fset);
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