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d/rs: Generalize laser emitter option setup to any rs option

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Mateo de Mayo 2021-12-13 09:40:19 -03:00 committed by Jakob Bornecrantz
parent fa431fc010
commit 1c7323f1c2
2 changed files with 24 additions and 7 deletions
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2
src/xrt/drivers/realsense/rs_ddev.c
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@ -430,6 +430,8 @@ rs_ddev_destroy(struct xrt_device *xdev)
close_ddev(rs); close_ddev(rs);
m_relation_history_destroy(&rs->relation_hist);
free(rs); free(rs);
} }

29
src/xrt/drivers/realsense/rs_hdev.c
View file

@ -444,23 +444,38 @@ rs_source_load_stream_options_from_json(struct rs_source *rs)
* *
*/ */
//! Disable any laser emitters because they confuse SLAM feature detection //! Set an option for all sensors. Return whether it was set for any.
static void static bool
disable_all_laser_emitters(struct rs_source *rs) set_option_in_all_sensors(struct rs_source *rs, enum rs2_option option, float value)
{ {
struct rs_container *rsc = &rs->rsc; struct rs_container *rsc = &rs->rsc;
rs2_sensor_list *sensors = DO(rs2_query_sensors, rsc->device); rs2_sensor_list *sensors = DO(rs2_query_sensors, rsc->device);
int sensors_count = DO(rs2_get_sensors_count, sensors); int sensors_count = DO(rs2_get_sensors_count, sensors);
bool any_set = false;
for (int i = 0; i < sensors_count; i++) { for (int i = 0; i < sensors_count; i++) {
rs2_sensor *sensor = DO(rs2_create_sensor, sensors, i); rs2_sensor *sensor = DO(rs2_create_sensor, sensors, i);
rs2_options *sensor_options = (rs2_options *)sensor; rs2_options *sensor_options = (rs2_options *)sensor;
bool has_emitter = DO(rs2_supports_option, sensor_options, RS2_OPTION_EMITTER_ENABLED); bool has_option = DO(rs2_supports_option, sensor_options, option);
if (has_emitter) { if (has_option) {
DO(rs2_set_option, sensor_options, RS2_OPTION_EMITTER_ENABLED, 0); float min, max, step, def;
DO(rs2_get_option_range, sensor_options, option, &min, &max, &step, &def);
bool valid_value = value >= min && value <= max;
if (valid_value) {
DO(rs2_set_option, sensor_options, option, value);
any_set = true;
} else {
float cur = rs2_get_option(sensor_options, option, NULL);
const char *option_desc = DO(rs2_get_option_description, sensor_options, option);
const char *option_name = DO(rs2_get_option_name, sensor_options, option);
RS_ERROR(rs, "Invalid value=%f for option %s ('%s')", value, option_name, option_desc);
RS_ERROR(rs, "Min=%f Max=%f Step=%f Current=%f", min, max, step, cur);
}
} }
rs2_delete_sensor(sensor); rs2_delete_sensor(sensor);
} }
rs2_delete_sensor_list(sensors); rs2_delete_sensor_list(sensors);
return any_set;
} }
@ -824,7 +839,7 @@ rs_source_stream_start(struct xrt_fs *xfs,
struct rs_container *rsc = &rs->rsc; struct rs_container *rsc = &rs->rsc;
rsc->profile = DO(rs2_pipeline_start_with_config_and_callback, rsc->pipeline, rsc->config, on_frame, rs); rsc->profile = DO(rs2_pipeline_start_with_config_and_callback, rsc->pipeline, rsc->config, on_frame, rs);
disable_all_laser_emitters(rs); set_option_in_all_sensors(rs, RS2_OPTION_EMITTER_ENABLED, 0); // Lasers are bad for SLAM
rs->is_running = true; rs->is_running = true;
return rs->is_running; return rs->is_running;