UCAL enhancements and refactoring #9336

ev-mp · 2021-07-05T08:23:13Z

Tracked on LRS-62

2. Taget based focal length calibration. 3. UVMapping calibration.

…perators, floating point conversion

…eaks

…Minor inconsistencies

…fication adjustments

Change-Id: I441f7208edd6de25f433b53fc3f216d3fe8fd2b0

Change-Id: Iaa92be84b7b77e9dbac126535dd2e320f534a7c0

Change-Id: I35043b064960fb8509085898329f6c9e8d15d2be

Change-Id: I6d75b823d3a58b49c832cc25601e130453853337

…gly. Verify that the cali table is valid before calling FW flash API.Remove comments Change-Id: Iefb5b37a871af9ce4cdd8185b7c8d36e9d814879

Change-Id: I1750b5e1f2e23fed537be228147610b7de2af33e

Change-Id: Ibb4f45c86a88d693214dc9d46b08da8edc9efb62

Change-Id: I5d5a0bdca32e1be13452e81c6d3a7c7aa692fb9f

Change-Id: I9ba2ae9fbe1a6f268cb79d8651e39049b5f25dc0

Change-Id: Ic0ddf6b1a0935367ab0237e971820d089c982cbd

Change-Id: I7cf8a2bc2335f9f543c17a217be59365b7a78c98

Change-Id: Idc41413272ae5236976fc65b68302f702613823f

remibettan

minor changes - Impressive work!

remibettan · 2021-10-13T06:33:12Z

common/calibration-model.h

+namespace helpers
+{
+    // Calculate CRC code for arbitrary characters buffer
+    uint32_t calc_crc32(const uint8_t* buf, size_t bufsize);


Where is the implementation of this method?

calibration-model.cpp

remibettan · 2021-10-13T11:38:12Z

common/on-chip-calib.cpp

+        : process_manager("On-Chip Calibration"), _model(model), _dev(dev), _sub(sub), _viewer(viewer), _sub_color(sub_color), py_px_only(!uvmapping_calib_full)
+    {
+        auto dev_name = dev.get_info(RS2_CAMERA_INFO_NAME);
+        if (!strcmp(dev_name, "Intel RealSense D415"))


Can you make it characteristics oriented instead of specific camera name?

The spec is SKU-specific. I will change the code for robustness

remibettan · 2021-10-13T11:40:02Z

common/on-chip-calib.cpp

+    {
+        if (_sub)
+        {
+            _sub->show_algo_roi = true;


seems like same code instead of the pointer, both for on, and off - please consider to refactor with some helper function.

Agree, but lower priority

remibettan · 2021-10-13T11:40:52Z

common/on-chip-calib.cpp

+                {
+                    // Stop viewer UI
+                    _sub->stop(_viewer.not_model);
+                    if (_sub_color.get())


Is there a reason why there is a need to check _sub_color pointer and not _sub?

_sub stands for depth, and _sub_color - RGB

remibettan · 2021-10-13T11:41:17Z

common/on-chip-calib.cpp

+        {
+            auto profiles = _sub->get_selected_profiles();
+            _sub->stop(_viewer.not_model);
+            if (_sub_color.get())


same question as before

remibettan · 2021-10-13T11:44:54Z

common/on-chip-calib.cpp

+                for (int i = 0; i < _sub_color->res_values.size(); i++)
+                {
+                    auto kvp = _sub_color->res_values[i];
+                    if (kvp.first == 1280 && kvp.second == 720)


remibettan · 2021-10-13T11:46:09Z

common/on-chip-calib.cpp

+            int counter = 0;
+            int frm_idx = 0;
+            int limit = 50; // input frames required to calculate the target
+            float step = 50.f / limit;  // frames gathering is 50% of the process, the rest is the internal data extraction and algo processing


It is used by GUI marker, don't think that it is necessary

remibettan · 2021-10-13T11:47:42Z

common/on-chip-calib.cpp

-                ImGui::SetCursorScreenPos({ float(x + 135),  tmp_y });
-                if (ImGui::RadioButton("OCC Extended", (int *)&(get_manager().action), 0))
-                    get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_OB_CALIB;
+                // Deprecase OCC-Extended


comments - consider to remove

I think it is better to keep it till the version is stabilized.
I'm not sure that this decision will hold

remibettan · 2021-10-13T12:15:19Z

src/ds5/ds5-auto-calibration.cpp

+        auto table = (librealsense::ds::coefficients_table*)calib_table.data();
+
+        float ar[2] = { 0 };
+        float tmp = left_rect_sides[2] + left_rect_sides[3];


consider to use helper function in order to remove repetition of code for left and right

The algorithmic part implementation is according to a reference design. I'd rather not refactor it to keep the Matlab/C++ parity

remibettan · 2021-10-13T12:16:03Z

src/ds5/ds5-auto-calibration.cpp

+        if (ar[0] > 0.0f)
+            align = ar[1] / ar[0] - 1.0f;
+
+        float ta[2] = { 0 };


please comment these "ta" and "gt" so that their meaning would be clear (or change the names)

I wish I knew it :) - it is the algo domain

remibettan · 2021-10-14T06:20:31Z

Approved

Change-Id: Ib28fc35ebbd9fc783d25b8b992fedc5879e614d9

Change-Id: Ia86a5a76f2b0a11ae56deba3d0b426a909e84191

fix callback ptr from PR #9336

Fix python compilation for new calibration values. add comments Fix some warnings move calculation of sum of pixels in depth image to function: get_depth_frame_sum fix merge. retry on set_pu SEMAPHORE_TIMEOUT error CR updates add ticket number to comment changed inheritence to using added comment fix callback ptr from PR realsenseai#9336

ev-mp force-pushed the ucal branch 2 times, most recently from 3c7738c to 9c5d9d5 Compare July 8, 2021 12:35

ev-mp mentioned this pull request Aug 1, 2021

UCAL #9108

Closed

ev-mp force-pushed the ucal branch from 87df23b to 519b7d9 Compare September 22, 2021 07:22

ev-mp marked this pull request as ready for review September 22, 2021 07:22

ev-mp force-pushed the ucal branch from 433cc4c to 668940c Compare September 27, 2021 10:41

ev-mp force-pushed the ucal branch from 44b7890 to 5bef52f Compare October 10, 2021 08:19

daversintel and others added 23 commits October 10, 2021 14:56

1. Tare health check numbers.

d8e387d

2. Taget based focal length calibration. 3. UVMapping calibration.

Trying to fix python build.

707405d

Trying to fix more wrapper build errors.

7eee7b4

Trying to fix linux build errors.

ad3b441

Added both sides option for target based focal length calibration.

edead03

Updated UCAL menu order.

58abe8e

Reverted API changes for tare calibration.

004ac8e

Some code update based on reviewer's feedback.

09312ac

Removed health check for python tare calibration.

d51d17a

Resolve pedantic warning, undefined behavior with ++ and assignment o…

11b7783

…perators, floating point conversion

Added FL and UV-Mapping calibration APIs to make the client code easier.

7c142f1

Fixed typo.

60ef840

Remove trailing spaces in /common dir

91c9e88

Remove trailing WS: demos and includes

165d653

Add missing custom deleter for all auto-calib calls to avoid memory l…

cc44dcd

…eaks

Ground truth API refactoring

26fccc7

Python wip

1e07064

Refactor on-chip-calib flow

053a8fd

Adjust names for new APIs, update and fix documentation

0703d85

Implement python port for new APIs. Update exported func names list. …

eea7860

…Minor inconsistencies

Adjust max frame number. Fix queue management. Documentation and noti…

0dcd629

…fication adjustments

Add missing target_z API to Python wraper

b25c1bc

Change-Id: I441f7208edd6de25f433b53fc3f216d3fe8fd2b0

Disable UV-Mapping option in UI

5da74ee

Remove unused code

04ab988

Change-Id: Iaa92be84b7b77e9dbac126535dd2e320f534a7c0

ev-mp force-pushed the ucal branch from 5bef52f to 04ab988 Compare October 12, 2021 07:06

Evgeni Raikhel added 10 commits October 12, 2021 21:51

Add queue::size call to python wrapper

f230c71

Change-Id: I35043b064960fb8509085898329f6c9e8d15d2be

Improve code readability

9f2c244

Change-Id: I6d75b823d3a58b49c832cc25601e130453853337

Allow for UV-Map calib return no new calib table and respond accordin…

1b5f14d

…gly. Verify that the cali table is valid before calling FW flash API.Remove comments Change-Id: Iefb5b37a871af9ce4cdd8185b7c8d36e9d814879

Add Px/Py onl checkbox for UV-Cal

fb90dc9

Change-Id: I1750b5e1f2e23fed537be228147610b7de2af33e

Deprecate unstable OCC-Exc mode

a977c94

Change-Id: Ibb4f45c86a88d693214dc9d46b08da8edc9efb62

Set Px/Py checkbox tooltip

a43cd48

Change-Id: I5d5a0bdca32e1be13452e81c6d3a7c7aa692fb9f

Allow for USB2 mode for certain calib operations. DSO-17710

65fee9f

Change-Id: I9ba2ae9fbe1a6f268cb79d8651e39049b5f25dc0

Add notification on Depth Calib Factory Reset. DSO-17646

380627a

Change-Id: Ic0ddf6b1a0935367ab0237e971820d089c982cbd

Adjust mcalib results according to DSO-17657

438afca

Change-Id: I7cf8a2bc2335f9f543c17a217be59365b7a78c98

Add target size input fields for FL-Cal stage

d4da48a

Change-Id: Idc41413272ae5236976fc65b68302f702613823f

ev-mp changed the title ~~UCAL enhancements and refactoring draft~~ UCAL enhancements and refactoring Oct 13, 2021

remibettan requested changes Oct 13, 2021

View reviewed changes

ev-mp force-pushed the ucal branch from e7db288 to 6bd3601 Compare October 14, 2021 05:51

ev-mp and others added 2 commits October 17, 2021 09:55

Add GIL-release for FL-Cal routing in python wrapper. Minor GCC comments

0f09d17

CR fixes, code cleanup

46a4b04

Change-Id: Ib28fc35ebbd9fc783d25b8b992fedc5879e614d9

ev-mp force-pushed the ucal branch from 6bd3601 to 46a4b04 Compare October 17, 2021 08:07

Update the new calib APIs for C# wrapper

337e5d6

Change-Id: Ia86a5a76f2b0a11ae56deba3d0b426a909e84191

ev-mp merged commit c334bda into realsenseai:development Oct 17, 2021

maloel added a commit to maloel/librealsense that referenced this pull request Oct 20, 2021

fix callback ptr from PR realsenseai#9336

469ee07

ev-mp pushed a commit to ev-mp/librealsense that referenced this pull request Oct 20, 2021

fix callback ptr from PR realsenseai#9336

7e115f6

ev-mp added a commit that referenced this pull request Oct 20, 2021

Merge pull request #9878 from maloel/development

eba4af8

fix callback ptr from PR #9336

ev-mp mentioned this pull request Nov 14, 2021

Added FL and UV-Mapping calibration APIs to make the client code eas… #9267

Closed

ev-mp pushed a commit to ev-mp/librealsense that referenced this pull request May 9, 2022

fix callback ptr from PR realsenseai#9336

be1fcbf

ev-mp pushed a commit to ev-mp/librealsense that referenced this pull request May 10, 2022

fix callback ptr from PR realsenseai#9336

8d38794

ev-mp deleted the ucal branch February 14, 2023 08:53

MartyG-RealSense mentioned this pull request Jul 31, 2024

RealSense error calling rs2_run_on_chip_calibration_cpp(device:0x559eecacdfa0): hwmon command 0x80( 8 3 0 0 ) failed (response -7= HW not ready) #7087

Closed

UCAL enhancements and refactoring #9336

UCAL enhancements and refactoring #9336

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ev-mp commented Jul 5, 2021

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remibettan commented Oct 14, 2021

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