forked from IntelRealSense/librealsense
-
Notifications
You must be signed in to change notification settings - Fork 10
/
Copy pathdepth-quality-model.cpp
1124 lines (955 loc) · 47.7 KB
/
depth-quality-model.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
#include <iomanip>
#include "depth-quality-model.h"
#include <librealsense2/rs_advanced_mode.hpp>
#include "model-views.h"
namespace rs2
{
namespace depth_quality
{
tool_model::tool_model()
: _update_readonly_options_timer(std::chrono::seconds(6)), _roi_percent(0.4f),
_roi_located(std::chrono::seconds(4)),
_too_close(std::chrono::seconds(4)),
_too_far(std::chrono::seconds(4)),
_skew_right(std::chrono::seconds(1)),
_skew_left(std::chrono::seconds(1)),
_skew_up(std::chrono::seconds(1)),
_skew_down(std::chrono::seconds(1)),
_angle_alert(std::chrono::seconds(4)),
_min_dist(300.f), _max_dist(2000.f), _max_angle(10.f)
{
_viewer_model.is_3d_view = true;
_viewer_model.allow_3d_source_change = false;
_viewer_model.allow_stream_close = false;
_viewer_model.draw_plane = true;
_viewer_model.synchronization_enable = false;
_viewer_model.support_non_syncronized_mode = false; //pipeline outputs only syncronized frameset
}
bool tool_model::start(ux_window& window)
{
bool valid_config = false;
std::vector<rs2::config> cfgs;
rs2::config cfg;
// Preferred configuration Depth + Synthetic Color
cfg.enable_stream(RS2_STREAM_DEPTH, -1, 0, 0, RS2_FORMAT_Z16, 30);
cfg.enable_stream(RS2_STREAM_INFRARED, -1, 0, 0, RS2_FORMAT_RGB8, 30);
cfgs.push_back(cfg);
// Use Infrared luminocity as a secondary video in case synthetic chroma is not supported
cfg.disable_all_streams();
cfg.enable_stream(RS2_STREAM_DEPTH, 0, 0, 0, RS2_FORMAT_Z16, 30);
cfg.enable_stream(RS2_STREAM_INFRARED, 1, 0, 0, RS2_FORMAT_Y8, 30);
cfgs.push_back(cfg);
for (auto& cfg : cfgs)
{
if (valid_config = cfg.can_resolve(_pipe))
{
try {
_pipe.start(cfg);
break;
}
catch (...)
{
if (!_device_in_use)
{
window.add_on_load_message("Device is not functional or busy!");
_device_in_use = true;
}
}
}
}
if (valid_config)
{
// Toggle advanced mode
auto dev = _pipe.get_active_profile().get_device();
if (dev.is<rs400::advanced_mode>())
{
auto advanced_mode = dev.as<rs400::advanced_mode>();
if (!advanced_mode.is_enabled())
{
window.add_on_load_message("Toggling device into Advanced Mode...");
advanced_mode.toggle_advanced_mode(true);
valid_config = false;
}
}
update_configuration();
}
_ctx.set_devices_changed_callback([this, &window](rs2::event_information info) mutable
{
auto dev = get_active_device();
if (dev && info.was_removed(dev))
{
std::unique_lock<std::mutex> lock(_mutex);
reset(window);
}
});
return valid_config;
}
void draw_notification(ux_window& win, const rect& viewer_rect, int w,
const std::string& msg, const std::string& second_line)
{
auto flags = ImGuiWindowFlags_NoResize |
ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoCollapse |
ImGuiWindowFlags_NoTitleBar;
ImGui::PushStyleColor(ImGuiCol_Text, yellow);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, { 5, 5 });
ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 6);
ImGui::PushStyleColor(ImGuiCol_WindowBg, blend(sensor_bg, 0.8f));
ImGui::SetNextWindowPos({ viewer_rect.w / 2 + viewer_rect.x - w / 2, viewer_rect.h / 2 + viewer_rect.y - 38.f });
ImGui::SetNextWindowSize({ float(w), 76.f });
ImGui::Begin(msg.c_str(), nullptr, flags);
if (second_line != "")
{
auto pos = ImGui::GetCursorPos();
ImGui::SetCursorPosY(pos.y - 10);
}
ImGui::PushFont(win.get_large_font());
ImGui::Text("%s", msg.c_str());
ImGui::PopFont();
ImGui::PushFont(win.get_font());
ImGui::Text("%s", second_line.c_str());
ImGui::PopFont();
ImGui::End();
ImGui::PopStyleColor(3);
ImGui::PopStyleVar(2);
}
bool tool_model::draw_instructions(ux_window& win, const rect& viewer_rect, bool& distance, bool& orientation)
{
auto plane_fit_found = is_valid(_metrics_model.get_plane());
_metrics_model.set_plane_fit(plane_fit_found);
_roi_located.add_value(plane_fit_found);
if (!_roi_located.eval())
{
draw_notification(win, viewer_rect, 450,
u8"\n \uf1b2 Please point the camera to a flat Wall / Surface!",
"");
return false;
}
_angle_alert.add_value(fabs(_metrics_model.get_last_metrics().angle) > _max_angle);
if (_angle_alert.eval())
{
orientation = true;
}
_skew_right.add_value(orientation && _metrics_model.get_last_metrics().angle_x > 0.f
&& fabs(_metrics_model.get_last_metrics().angle_x) > fabs(_metrics_model.get_last_metrics().angle_y));
_skew_left.add_value(orientation && _metrics_model.get_last_metrics().angle_x < 0.f
&& fabs(_metrics_model.get_last_metrics().angle_x) > fabs(_metrics_model.get_last_metrics().angle_y));
_skew_up.add_value(orientation && _metrics_model.get_last_metrics().angle_y < 0.f
&& fabs(_metrics_model.get_last_metrics().angle_x) <= fabs(_metrics_model.get_last_metrics().angle_y));
_skew_down.add_value(orientation && _metrics_model.get_last_metrics().angle_y > 0.f
&& fabs(_metrics_model.get_last_metrics().angle_x) <= fabs(_metrics_model.get_last_metrics().angle_y));
_too_close.add_value(_metrics_model.get_last_metrics().distance < _min_dist);
_too_far.add_value(_metrics_model.get_last_metrics().distance > _max_dist);
constexpr const char* orientation_instruction = " Recommended angle: < 3 degrees"; // " Use the orientation gimbal to align the camera";
constexpr const char* distance_instruction = " Recommended distance: 0.3m-2m from the target"; // " Use the distance locator to position the camera";
if (_skew_right.eval())
{
draw_notification(win, viewer_rect, 400,
u8"\n \uf061 Rotate the camera slightly Right",
orientation_instruction);
return false;
}
if (_skew_left.eval())
{
draw_notification(win, viewer_rect, 400,
u8"\n \uf060 Rotate the camera slightly Left",
orientation_instruction);
return false;
}
if (_skew_up.eval())
{
draw_notification(win, viewer_rect, 400,
u8"\n \uf062 Rotate the camera slightly Up",
orientation_instruction);
return false;
}
if (_skew_down.eval())
{
draw_notification(win, viewer_rect, 400,
u8"\n \uf063 Rotate the camera slightly Down",
orientation_instruction);
return false;
}
if (_too_close.eval())
{
draw_notification(win, viewer_rect, 400,
u8"\n \uf0b2 Move the camera further Away",
distance_instruction);
distance = true;
return true; // Show metrics even when too close/far
}
if (_too_far.eval())
{
draw_notification(win, viewer_rect, 400,
u8"\n \uf066 Move the camera Closer to the wall",
distance_instruction);
distance = true;
return true;
}
return true;
}
void tool_model::draw_guides(ux_window& win, const rect& viewer_rect, bool distance_guide, bool orientation_guide)
{
static const float fade_factor = 0.6f;
static timer animation_clock;
auto flags = ImGuiWindowFlags_NoResize |
ImGuiWindowFlags_NoScrollbar |
ImGuiWindowFlags_NoMove |
ImGuiWindowFlags_NoCollapse |
ImGuiWindowFlags_NoTitleBar;
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, { 5, 5 });
ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 0);
bool any_guide = distance_guide || orientation_guide;
if (any_guide)
{
ImGui::PushStyleColor(ImGuiCol_WindowBg, dark_sensor_bg);
}
else
{
ImGui::PushStyleColor(ImGuiCol_WindowBg, dark_sensor_bg);
}
const auto window_y = viewer_rect.y + viewer_rect.h / 2;
const auto window_h = viewer_rect.h / 2 - 5;
ImGui::SetNextWindowPos({ viewer_rect.w + viewer_rect.x - 95.f, window_y });
ImGui::SetNextWindowSize({ 90.f, window_h });
ImGui::Begin("Guides", nullptr, flags);
ImGui::PushStyleColor(ImGuiCol_Text,
blend(light_grey, any_guide ? 1.f : fade_factor));
//ImGui::PushFont(win.get_large_font());
//ImGui::Text(u8"\uf1e5 ");
//ImGui::PopFont();
ImGui::PopStyleColor();
ImGui::PushStyleColor(ImGuiCol_Text,
blend(light_grey, orientation_guide ? 1.f : fade_factor));
ImGui::Text("Orientation:");
auto angle = _metrics_model.get_last_metrics().angle;
auto x = _metrics_model.get_last_metrics().angle_x;
auto y = _metrics_model.get_last_metrics().angle_y;
static float prev_x = 0.f;
static float prev_y = 0.f;
prev_x = (prev_x + x) / 2.f;
prev_y = (prev_y + y) / 2.f;
ImGui::Text("%.1f degree", angle);
auto pos = ImGui::GetCursorPos();
ImGui::SetCursorPos({ pos.x, pos.y + 5 });
pos = ImGui::GetCursorPos();
auto pos1 = ImGui::GetCursorScreenPos();
ImGui::GetWindowDrawList()->AddCircle(
{ pos1.x + 41, pos1.y + 40 }, 41,
ImColor(blend(light_grey, orientation_guide ? 1.f : fade_factor)), 64);
for (int i = 2; i < 7; i += 1)
{
auto t = (animation_clock.elapsed_ms() / 500) * M_PI - i * (M_PI / 5);
float alpha = (1.f + float(sin(t))) / 2.f;
auto c = blend(grey, (1.f - float(i)/7.f)*fade_factor);
if (orientation_guide) c = blend(light_blue, alpha);
ImGui::GetWindowDrawList()->AddCircle(
{ pos1.x + 41 - 2 * i * prev_x, pos1.y + 40 - 2 * i * prev_y }, 40.f - i*i,
ImColor(c), 64);
}
if (angle < 50)
{
ImGui::GetWindowDrawList()->AddCircleFilled(
{ pos1.x + 41 + 70 * prev_x, pos1.y + 40 + 70 * prev_y }, 10.f,
ImColor(blend(grey, orientation_guide ? 1.f : fade_factor)), 64);
}
ImGui::SetCursorPos({ pos.x, pos.y + 90 });
ImGui::PopStyleColor();
ImGui::PushStyleColor(ImGuiCol_Text,
blend(light_grey, distance_guide ? 1.f : fade_factor));
if (window_h > 100)
{
ImGui::Text("Distance:");
auto wall_dist = _metrics_model.get_last_metrics().distance;
ImGui::Text("%.2f mm", wall_dist);
if (window_h > 220)
{
pos = ImGui::GetCursorPos();
pos1 = ImGui::GetCursorScreenPos();
auto min_y = pos1.y + 10;
auto max_y = window_h + window_y;
int bar_spacing = 15;
int parts = int(max_y - min_y) / bar_spacing;
ImGui::GetWindowDrawList()->AddRect(
{ pos1.x + 1, pos1.y },
{ pos1.x + 81, max_y - 5 },
ImColor(blend(light_grey, distance_guide ? 1.f : fade_factor * fade_factor)));
for (int i = 0; i < parts; i++)
{
auto y = min_y + bar_spacing * i + 5;
auto t = 1.f - float(i) / (parts - 1);
auto tnext = 1.f - float(i + 1) / (parts - 1);
float d = t * 1.5f * _max_dist;
float dnext = tnext * 1.5f * _max_dist;
auto c = light_grey;
ImGui::GetWindowDrawList()->AddLine({ pos1.x + 45, y },
{ pos1.x + 80, y },
ImColor(blend(c, distance_guide ? 1.f : fade_factor * fade_factor)));
if (d >= _min_dist && d <= _max_dist)
c = green;
ImGui::SetCursorPos({ pos.x + 7, pos.y + bar_spacing * i + 5 });
ImGui::PushStyleColor(ImGuiCol_Text, blend(c, distance_guide ? 1.f : fade_factor));
ImGui::Text("%.0f", d);
ImGui::PopStyleColor();
_depth_scale_events[i].add_value(d > wall_dist && dnext <= wall_dist);
if (_depth_scale_events[i].eval())
{
for (int j = -2; j < 2; j++)
{
auto yc = yellow;
auto factor = (1 - abs(j) / 3.f);
yc = blend(yc, factor*factor);
if (!distance_guide) yc = blend(yc, fade_factor);
ImGui::GetWindowDrawList()->AddRectFilled(
{ pos1.x + 45, y + (bar_spacing * j) + 1 },
{ pos1.x + 80, y + (bar_spacing * (j + 1)) }, ImColor(yc));
}
if (wall_dist < _min_dist)
{
for (int j = 1; j < 5; j++)
{
auto t = (animation_clock.elapsed_ms() / 500) * M_PI - j * (M_PI / 5);
auto alpha = (1 + float(sin(t))) / 2.f;
ImGui::SetCursorPos({ pos.x + 57, pos.y + bar_spacing * (i - j) + 14 });
ImGui::PushStyleColor(ImGuiCol_Text,
blend(blend(light_grey, alpha), distance_guide ? 1.f : fade_factor));
ImGui::Text(u8"\uf106");
ImGui::PopStyleColor();
}
}
if (wall_dist > _max_dist)
{
for (int j = 1; j < 5; j++)
{
auto t = (animation_clock.elapsed_ms() / 500) * M_PI - j * (M_PI / 5);
auto alpha = (1.f + float(sin(t))) / 2.f;
ImGui::SetCursorPos({ pos.x + 57, pos.y + bar_spacing * (i + j) + 14 });
ImGui::PushStyleColor(ImGuiCol_Text,
blend(blend(light_grey, alpha), distance_guide ? 1.f : fade_factor));
ImGui::Text(u8"\uf107");
ImGui::PopStyleColor();
}
}
}
}
}
}
ImGui::PopStyleColor();
ImGui::End();
ImGui::PopStyleColor(2);
ImGui::PopStyleVar(2);
}
void tool_model::render(ux_window& win)
{
rect viewer_rect = { _viewer_model.panel_width,
_viewer_model.panel_y, win.width() -
_viewer_model.panel_width,
win.height() - _viewer_model.panel_y };
if (_first_frame)
{
_viewer_model.update_3d_camera(viewer_rect, win.get_mouse(), true);
_first_frame = false;
}
_viewer_model.show_top_bar(win, viewer_rect);
_viewer_model.roi_rect = _metrics_model.get_plane();
bool distance_guide = false;
bool orientation_guide = false;
bool found = draw_instructions(win, viewer_rect, distance_guide, orientation_guide);
ImGui::PushStyleColor(ImGuiCol_WindowBg, button_color);
ImGui::SetNextWindowPos({ 0, 0 });
ImGui::SetNextWindowSize({ _viewer_model.panel_width, _viewer_model.panel_y });
ImGui::Begin("Add Device Panel", nullptr, viewer_ui_traits::imgui_flags);
ImGui::End();
ImGui::PopStyleColor();
// Set window position and size
ImGui::SetNextWindowPos({ 0, _viewer_model.panel_y });
ImGui::SetNextWindowSize({ _viewer_model.panel_width, win.height() - _viewer_model.panel_y });
ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0, 0));
ImGui::PushStyleColor(ImGuiCol_WindowBg, sensor_bg);
// *********************
// Creating window menus
// *********************
ImGui::Begin("Control Panel", nullptr, viewer_ui_traits::imgui_flags | ImGuiWindowFlags_AlwaysVerticalScrollbar);
ImGui::SetContentRegionWidth(_viewer_model.panel_width - 26);
if (_device_model.get())
{
device_model* device_to_remove = nullptr;
std::vector<std::function<void()>> draw_later;
auto windows_width = ImGui::GetContentRegionMax().x;
_device_model->draw_controls(_viewer_model.panel_width, _viewer_model.panel_y,
win,
_error_message, device_to_remove, _viewer_model, windows_width,
_update_readonly_options_timer,
draw_later);
ImGui::SetContentRegionWidth(windows_width);
auto pos = ImGui::GetCursorScreenPos();
for (auto&& lambda : draw_later)
{
try
{
lambda();
}
catch (const error& e)
{
_error_message = error_to_string(e);
}
catch (const std::exception& e)
{
_error_message = e.what();
}
}
// Restore the cursor position after invoking lambdas
ImGui::SetCursorScreenPos(pos);
if (_depth_sensor_model.get())
{
ImGui::PushStyleColor(ImGuiCol_HeaderHovered, sensor_bg);
ImGui::PushStyleColor(ImGuiCol_Text, from_rgba(0xc3, 0xd5, 0xe5, 0xff));
ImGui::PushFont(win.get_font());
ImGui::PushStyleColor(ImGuiCol_Header, sensor_header_light_blue);
ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, { 10, 10 });
ImGui::PushStyleVar(ImGuiStyleVar_ItemInnerSpacing, { 0, 0 });
if (ImGui::TreeNodeEx("Configuration", ImGuiTreeNodeFlags_DefaultOpen))
{
ImGui::PopStyleVar();
ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, { 2, 2 });
if (_depth_sensor_model->draw_stream_selection())
{
if (_depth_sensor_model->is_selected_combination_supported())
{
// Preserve streams and ui selections
auto primary = _depth_sensor_model->get_selected_profiles().front().as<video_stream_profile>();
auto secondary = _pipe.get_active_profile().get_streams().back().as<video_stream_profile>();
_depth_sensor_model->store_ui_selection();
_pipe.stop();
rs2::config cfg;
// We have a single resolution control that obides both streams
cfg.enable_stream(primary.stream_type(), primary.stream_index(),
primary.width(), primary.height(), primary.format(), primary.fps());
cfg.enable_stream(secondary.stream_type(), secondary.stream_index(),
primary.width(), primary.height(), secondary.format(), primary.fps());
// The secondary stream may use its previous resolution when appropriate
if (!cfg.can_resolve(_pipe))
{
cfg.disable_stream(secondary.stream_type());
cfg.enable_stream(secondary.stream_type(), secondary.stream_index(),
secondary.width(), secondary.height(), secondary.format(), primary.fps());
}
// Wait till a valid device is registered and responsive
bool success = false;
do
{
try // Retries are needed to cope with HW stability issues
{
_pipe.start(cfg);
success = true;
}
catch (...)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
} while (!success);
update_configuration();
}
else
{
_error_message = "Selected configuration is not supported!";
_depth_sensor_model->restore_ui_selection();
}
}
auto col0 = ImGui::GetCursorPosX();
auto col1 = 145.f;
ImGui::Text("Region of Interest:");
ImGui::SameLine(); ImGui::SetCursorPosX(col1);
ImGui::PushItemWidth(-1);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, { 1,1,1,1 });
static std::vector<std::string> items{ "80%", "60%", "40%", "20%" };
if (draw_combo_box("##ROI Percent", items, _roi_combo_index))
{
if (_roi_combo_index == 0) _roi_percent = 0.8f;
else if (_roi_combo_index == 1) _roi_percent = 0.6f;
else if (_roi_combo_index == 2) _roi_percent = 0.4f;
else if (_roi_combo_index == 3) _roi_percent = 0.2f;
update_configuration();
}
ImGui::PopStyleColor();
ImGui::PopItemWidth();
ImGui::SetCursorPosX(col0);
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::Text("Distance:");
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("Estimated distance to the wall in mm");
}
ImGui::SameLine(); ImGui::SetCursorPosX(col1);
ImGui::Text("%.2f mm", _metrics_model.get_last_metrics().distance);
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue);
std::string gt_str("Ground Truth");
if (_use_ground_truth) gt_str += ":";
if (ImGui::Checkbox(gt_str.c_str(), &_use_ground_truth))
{
if (_use_ground_truth) _metrics_model.set_ground_truth(_ground_truth);
else _metrics_model.disable_ground_truth();
}
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("True measured distance to the wall in mm");
}
ImGui::SameLine(); ImGui::SetCursorPosX(col1);
if (_use_ground_truth)
{
ImGui::PushItemWidth(120);
if (ImGui::InputInt("##GT", &_ground_truth, 1))
{
_metrics_model.set_ground_truth(_ground_truth);
}
ImGui::PopItemWidth();
ImGui::SetCursorPosX(col1 + 120); ImGui::SameLine();
ImGui::Text("(mm)");
}
else
{
_ground_truth = int(_metrics_model.get_last_metrics().distance);
ImGui::Dummy({ 1,1 });
}
ImGui::PopStyleColor();
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::Text("Angle:");
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("Estimated angle to the wall in degrees");
}
ImGui::SameLine(); ImGui::SetCursorPosX(col1);
ImGui::Text("%.2f deg", _metrics_model.get_last_metrics().angle);
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::TreePop();
}
ImGui::PopStyleVar();
ImGui::PushStyleVar(ImGuiStyleVar_ItemInnerSpacing, { 0, 0 });
ImGui::PopStyleVar();
ImGui::PushStyleVar(ImGuiStyleVar_ItemInnerSpacing, { 0, 0 });
if (ImGui::TreeNodeEx("Metrics", ImGuiTreeNodeFlags_DefaultOpen))
{
ImGui::PopStyleVar();
ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, { 2, 2 });
_metrics_model.render(win);
ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
if (ImGui::Button(u8"\uf0c7 Save Report", { 140, 25 }))
{
snapshot_metrics();
}
if (ImGui::IsItemHovered())
{
ImGui::SetTooltip("Save Metrics snapshot. This will create:\nPNG image with the depth frame\nPLY 3D model with the point cloud\nJSON file with camera settings you can load later\nand a CSV with metrics recent values");
}
ImGui::PopStyleColor(2);
ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
ImGui::TreePop();
}
ImGui::PopStyleVar();
ImGui::PopStyleVar();
ImGui::PopFont();
ImGui::PopStyleColor(3);
}
}
ImGui::End();
ImGui::PopStyleVar();
ImGui::PopStyleColor();
try
{
frameset f;
if (_pipe.poll_for_frames(&f))
{
_viewer_model.ppf.frames_queue.enqueue(f);
}
frame dpt = _viewer_model.handle_ready_frames(viewer_rect, win, 1, _error_message);
if (dpt)
_metrics_model.begin_process_frame(dpt);
}
catch (...){} // on device disconnect
}
void tool_model::update_configuration()
{
// Capture the old configuration before reconfiguring the stream
bool save = false;
subdevice_ui_selection prev_ui;
if (_depth_sensor_model)
{
prev_ui = _depth_sensor_model->last_valid_ui;
save = true;
// Clean-up the models for new configuration
for (auto&& s : _device_model->subdevices)
s->streaming = false;
_viewer_model.gc_streams();
_viewer_model.ppf.reset();
_viewer_model.selected_depth_source_uid = -1;
_viewer_model.selected_tex_source_uid = -1;
}
auto dev = _pipe.get_active_profile().get_device();
auto dpt_sensor = std::make_shared<sensor>(dev.first<depth_sensor>());
_device_model = std::shared_ptr<rs2::device_model>(new device_model(dev, _error_message, _viewer_model));
_device_model->allow_remove = false;
_device_model->show_depth_only = true;
_device_model->show_stream_selection = false;
_depth_sensor_model = std::shared_ptr<rs2::subdevice_model>(
new subdevice_model(dev, dpt_sensor, _error_message));
_depth_sensor_model->draw_streams_selector = false;
_depth_sensor_model->draw_fps_selector = true;
// Retrieve stereo baseline for supported devices
auto baseline_mm = -1.f;
auto profiles = dpt_sensor->get_stream_profiles();
auto right_sensor = std::find_if(profiles.begin(), profiles.end(), [](rs2::stream_profile& p)
{ return (p.stream_index() == 2) && (p.stream_type() == RS2_STREAM_INFRARED); });
if (right_sensor != profiles.end())
{
auto left_sensor = std::find_if(profiles.begin(), profiles.end(), [](rs2::stream_profile& p)
{ return (p.stream_index() == 0) && (p.stream_type() == RS2_STREAM_DEPTH); });
try
{
auto extrin = (*left_sensor).get_extrinsics_to(*right_sensor);
baseline_mm = fabs(extrin.translation[0]) * 1000; // baseline in mm
}
catch (...) {
_error_message = "Extrinsic parameters are not available";
}
}
_metrics_model.reset();
// Restore GUI controls to the selected configuration
if (save)
{
_depth_sensor_model->ui = _depth_sensor_model->last_valid_ui = prev_ui;
}
// Connect the device_model to the viewer_model
for (auto&& sub : _device_model.get()->subdevices)
{
if (!sub->s->is<depth_sensor>()) continue;
sub->show_algo_roi = true;
auto profiles = _pipe.get_active_profile().get_streams();
sub->streaming = true; // The streaming activated externally to the device_model
sub->depth_colorizer->set_option(RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED, 0.f);
sub->depth_colorizer->set_option(RS2_OPTION_MIN_DISTANCE, 0.3f);
sub->depth_colorizer->set_option(RS2_OPTION_MAX_DISTANCE, 2.7f);
sub->options_invalidated = true;
for (auto&& profile : profiles)
{
_viewer_model.streams[profile.unique_id()].begin_stream(sub, profile);
_viewer_model.streams[profile.unique_id()].texture->colorize = sub->depth_colorizer;
if (profile.stream_type() == RS2_STREAM_DEPTH)
{
auto depth_profile = profile.as<video_stream_profile>();
_metrics_model.update_stream_attributes(depth_profile.get_intrinsics(),
sub->s->as<depth_sensor>().get_depth_scale(), baseline_mm);
_metrics_model.update_roi_attributes({ int(depth_profile.width() * (0.5f - 0.5f*_roi_percent)),
int(depth_profile.height() * (0.5f - 0.5f*_roi_percent)),
int(depth_profile.width() * (0.5f + 0.5f*_roi_percent)),
int(depth_profile.height() * (0.5f + 0.5f*_roi_percent)) },
_roi_percent);
}
}
sub->algo_roi = _metrics_model.get_roi();
}
}
// Reset tool state when the active camera is disconnected
void tool_model::reset(ux_window& win)
{
try
{
_pipe.stop();
}
catch(...){}
_device_in_use = false;
_first_frame = true;
win.reset();
}
bool metric_plot::has_trend(bool positive)
{
const auto window_size = 110;
const auto curr_window = 10;
auto best = ranges[GREEN_RANGE].x;
if (ranges[RED_RANGE].x < ranges[GREEN_RANGE].x)
best = ranges[GREEN_RANGE].y;
auto min_val = 0.f;
for (int i = 0; i < curr_window; i++)
{
auto val = fabs(best - _vals[(SIZE + _idx - i) % SIZE]);
min_val += val / curr_window;
}
auto improved = 0;
for (int i = curr_window; i <= window_size; i++)
{
auto val = fabs(best - _vals[(SIZE + _idx - i) % SIZE]);
if (positive && min_val < val * 0.8) improved++;
if (!positive && min_val * 0.8 > val) improved++;
}
return improved > window_size * 0.4;
}
void tool_model::snapshot_metrics()
{
if (auto ret = file_dialog_open(save_file, NULL, NULL, NULL))
{
std::string filename_base(ret);
// Save depth/ir images
for (auto const &stream : _viewer_model.streams)
{
if (auto frame = stream.second.texture->get_last_frame().as<video_frame>())
{
// Use the colorizer to get an rgb image for the depth stream
if (frame.is<rs2::depth_frame>())
{
rs2::colorizer color_map;
frame = color_map(frame);
}
std::string stream_desc = rs2_stream_to_string(frame.get_profile().stream_type());
std::string filename = filename_base + "_" + stream_desc + ".png";
save_to_png(filename.data(), frame.get_width(), frame.get_height(), frame.get_bytes_per_pixel(), frame.get_data(), frame.get_width() * frame.get_bytes_per_pixel());
_viewer_model.not_model.add_notification({ to_string() << stream_desc << " snapshot was saved to " << filename,
0, RS2_LOG_SEVERITY_INFO,
RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR });
}
}
// Export 3d view in PLY format
frame ply_texture;
if (_viewer_model.selected_tex_source_uid >= 0)
{
ply_texture = _viewer_model.streams[_viewer_model.selected_tex_source_uid].texture->get_last_frame();
if (ply_texture)
_viewer_model.ppf.update_texture(ply_texture);
}
export_to_ply(filename_base + "_3d_mesh.ply", _viewer_model.not_model, _viewer_model.ppf.get_points(), ply_texture);
// Save Metrics
_metrics_model.serialize_to_csv(filename_base + "_depth_metrics.csv", capture_description());
// Save camera configuration - supported when camera is in advanced mode only
if (_device_model.get())
{
if (auto adv = _device_model->dev.as<rs400::advanced_mode>())
{
std::string filename = filename_base + "_configuration.json";
std::ofstream out(filename);
out << adv.serialize_json();
out.close();
}
}
}
}
metrics_model::metrics_model() :
_frame_queue(1),
_depth_scale_units(0.f),
_stereo_baseline_mm(0.f),
_ground_truth_mm(0),
_use_gt(false),
_plane_fit(false),
_roi_percentage(0.4f),
_active(true)
{
_worker_thread = std::thread([this]() {
while (_active)
{
rs2::frame depth_frame;
if (!_frame_queue.poll_for_frame(&depth_frame))
{
std::this_thread::sleep_for(std::chrono::milliseconds(10));
continue;
}
auto profile = depth_frame.get_profile();
auto stream_type = profile.stream_type();
if (RS2_STREAM_DEPTH == stream_type)
{
float su = 0, baseline = -1.f;
rs2_intrinsics intrin{};
int gt_mm{};
bool plane_fit_set{};
region_of_interest roi{};
{
std::lock_guard<std::mutex> lock(_m);
su = _depth_scale_units;
baseline = _stereo_baseline_mm;
auto depth_profile = profile.as<video_stream_profile>();
intrin = depth_profile.get_intrinsics();
_depth_intrinsic = intrin;
_roi = { int(intrin.width * (0.5f - 0.5f*this->_roi_percentage)),
int(intrin.height * (0.5f - 0.5f*this->_roi_percentage)),
int(intrin.width * (0.5f + 0.5f*this->_roi_percentage)),
int(intrin.height * (0.5f + 0.5f*this->_roi_percentage)) };
roi = _roi;
}
std::tie(gt_mm, plane_fit_set) = get_inputs();
auto metrics = analyze_depth_image(depth_frame, su, baseline, &intrin, roi, gt_mm, plane_fit_set,callback);
{
std::lock_guard<std::mutex> lock(_m);
_latest_metrics = metrics;
}
}
// Artificially slow down the calculation, so even on small ROIs / resolutions
// the output is updated within reasonable interval (keeping it human readable)
std::this_thread::sleep_for(std::chrono::milliseconds(80));
}
});
}
metrics_model::~metrics_model()
{
_active = false;
_worker_thread.join();
reset();
}
std::shared_ptr<metric_plot> tool_model::make_metric(
const std::string& name, float min, float max, const bool requires_plane_fit,
const std::string& units,
const std::string& description)
{
auto res = std::make_shared<metric_plot>(name, min, max, units, description, requires_plane_fit);
_metrics_model.add_metric(res);
return res;
}
rs2::device tool_model::get_active_device(void) const
{
rs2::device dev{};
try
{
if (_pipe.get_active_profile())
dev = _pipe.get_active_profile().get_device();
}
catch(...){}
return dev;
}
std::string tool_model::capture_description()
{
std::stringstream ss;
ss << "Device Info:"
<< "\nType:," << _device_model->dev.get_info(RS2_CAMERA_INFO_NAME)
<< "\nHW Id:," << _device_model->dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID)
<< "\nSerial Num:," << _device_model->dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)
<< "\nFirmware Ver:," << _device_model->dev.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION)
<< "\n\nStreaming profile:\nStream,Format,Resolution,FPS\n";
for (auto& stream : _pipe.get_active_profile().get_streams())
{
auto vs = stream.as<video_stream_profile>();
ss << vs.stream_name() << ","
<< rs2_format_to_string(vs.format()) << ","
<< vs.width() << "x" << vs.height() << "," << vs.fps() << "\n";
}
return ss.str();
}
void metric_plot::render(ux_window& win)
{
std::lock_guard<std::mutex> lock(_m);
if (!_persistent_visibility.eval()) return;
std::stringstream ss;
auto val = _vals[(SIZE + _idx - 1) % SIZE];
ss << _label << std::setprecision(2) << std::fixed << std::setw(3) << val << " " << _units;
ImGui::PushStyleColor(ImGuiCol_HeaderHovered, sensor_bg);
auto range = get_range(val);
if (range == GREEN_RANGE)
ImGui::PushStyleColor(ImGuiCol_Text, green);
else if (range == YELLOW_RANGE)
ImGui::PushStyleColor(ImGuiCol_Text, yellow);
else if (range == RED_RANGE)