Merge branch 'development'

# Conflicts: # readme.md # wrappers/python/python.cpp
IntelRealSense · Nov 21, 2017 · 13f3db2 · 13f3db2
2 parents 3f523d6 + 03b8c5a
commit 13f3db2
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Showing 88 changed files with 1,889 additions and 907 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -47,7 +47,7 @@ before_install:
   - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
       sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test;
       sudo apt-get update;
-      sudo apt-get install -qq build-essential xorg-dev libglu1-mesa-dev libglew-dev libglm-dev;
+      sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev;
       sudo apt-get install -qq libusb-1.0-0-dev;
       sudo apt-get install -qq libgtk-3-dev;
       sudo apt-get install -qq python python-dev;
@@ -93,6 +93,7 @@ script:
   # Exit immediately if a command exits with a non-zero status
   - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
       set -e;
+      pyenv install 3.6.1;
       pyenv local `pyenv versions|sed 's/ //g'|grep "^3"|tail -1`;
       mkdir build && cd build;
       cmake .. -DBUILD_EXAMPLES:BOOL=true -DBUILD_PYTHON_BINDINGS:BOOL=true -DBUILD_NODEJS_BINDINGS:BOOL=true;

diff --git a/common/model-views.cpp b/common/model-views.cpp
diff --git a/common/model-views.h b/common/model-views.h
@@ -143,10 +143,6 @@ namespace rs2
         frame_queue& at(int id)
         {
             std::lock_guard<std::mutex> lock(_lookup_mutex);
-            if (_queues.find(id) == _queues.end())
-            {
-                _queues[id] = frame_queue(4);
-            }
             return _queues[id];
         }
 
@@ -172,7 +168,8 @@ namespace rs2
         std::map<int, int> selected_format_id;
     };
 
-    class subdevice_model;
+     class viewer_model;
+     class subdevice_model;
 
     class processing_block_model
     {
@@ -209,7 +206,7 @@ namespace rs2
         bool is_selected_combination_supported();
         std::vector<stream_profile> get_selected_profiles();
         void stop();
-        void play(const std::vector<stream_profile>& profiles);
+        void play(const std::vector<stream_profile>& profiles, viewer_model& viewer);
         void update(std::string& error_message, notifications_model& model);
         void draw_options(const std::vector<rs2_option>& drawing_order,
                           bool update_read_only_options, std::string& error_message,
@@ -478,14 +475,22 @@ namespace rs2
 
     std::string get_file_name(const std::string& path);
 
+    class viewer_model;
     class async_pointclound_mapper
     {
     public:
-        async_pointclound_mapper()
-            : keep_calculating_pointcloud(true),
-              resulting_3d_models(1), depth_frames_to_render(1),
-              t([this]() {render_loop(); })
+        async_pointclound_mapper(viewer_model& viewer)
+            : processing_block([&](rs2::frame f, const rs2::frame_source& source)
+        {
+            this->proccess(std::move(f),source);
+        }),
+        viewer(viewer),
+        keep_calculating_pointcloud(true),
+        depth_stream_active(false),
+        resulting_3d_models(1),
+        t([this]() {render_loop(); })
         {
+            processing_block.start(resulting_3d_models);
         }
 
         ~async_pointclound_mapper() { stop(); }
@@ -501,17 +506,13 @@ namespace rs2
             }
         }
 
-        void push_frame(frame f)
-        {
-            depth_frames_to_render.enqueue(f);
-        }
-
-        points get_points()
+        rs2::frameset get_points()
         {
             frame f;
             if (resulting_3d_models.poll_for_frame(&f))
             {
-                model = f;
+                rs2::frameset frameset(f);
+                model = frameset;
             }
             return model;
         }
@@ -521,16 +522,22 @@ namespace rs2
             rs2::frame f{};
             model = f;
             while (resulting_3d_models.poll_for_frame(&f));
-            while (depth_frames_to_render.poll_for_frame(&f));
         }
 
+        std::atomic<bool> depth_stream_active;
+
     private:
-        void render_loop();
+        viewer_model& viewer;
 
+        void render_loop();
+        void proccess(rs2::frame f, const rs2::frame_source& source);
+        rs2::frame last_tex_frame;
+        rs2::processing_block processing_block;
         pointcloud pc;
-        points model;
+        rs2::frameset model;
         std::atomic<bool> keep_calculating_pointcloud;
-        frame_queue depth_frames_to_render;
+
+
         frame_queue resulting_3d_models;
 
         std::thread t;
@@ -552,12 +559,19 @@ namespace rs2
         float get_output_height() const { return (is_output_collapsed ? default_log_h : 20); }
 
         viewer_model()
+            :pc(*this),
+             synchronization_enable(true)
         {
             reset_camera();
             rs2_error* e = nullptr;
             not_model.add_log(to_string() << "librealsense version: " << api_version_to_string(rs2_get_api_version(&e)) << "\n");
         }
 
+        ~viewer_model()
+        {
+            pc.stop();
+            streams.clear();
+        }
         void upload_frame(frame&& f);
 
         std::map<int, rect> calc_layout(const rect& r);
@@ -586,6 +600,7 @@ namespace rs2
 
         void gc_streams();
 
+        std::mutex streams_mutex;
         std::map<int, stream_model> streams;
         bool fullscreen = false;
         stream_model* selected_stream = nullptr;
@@ -597,6 +612,7 @@ namespace rs2
         bool is_3d_view = false;
         bool paused = false;
 
+
         void draw_viewport(const rect& viewer_rect, ux_window& window, int devices, std::string& error_message);
 
         bool allow_3d_source_change = true;
@@ -606,14 +622,19 @@ namespace rs2
         bool draw_plane = false;
 
         bool draw_frustrum = true;
-        bool syncronize = false;
+        bool support_non_syncronized_mode = true;
+        std::atomic<bool> synchronization_enable;
 
         int selected_depth_source_uid = -1;
         int selected_tex_source_uid = -1;
 
         float dim_level = 1.f;
 
+        rs2::syncer s;
+        rs2::frame_queue syncer_queue;
     private:
+
+        friend class async_pointclound_mapper;
         std::map<int, rect> get_interpolated_layout(const std::map<int, rect>& l);
         void show_icon(ImFont* font_18, const char* label_str, const char* text, int x, int y,
                        int id, const ImVec4& color, const std::string& tooltip = "");
@@ -633,10 +654,10 @@ namespace rs2
         rs2::points last_points;
         rs2::frame last_texture;
         texture_buffer texture;
-        rs2::syncer s;
+
     };
 
-    void export_to_ply(const std::string& file_name, notifications_model& ns, points points, video_frame texture);
+    void export_to_ply(const std::string& file_name, notifications_model& ns, frameset points, video_frame texture);
 
     // Wrapper for cross-platform dialog control
     enum file_dialog_mode {

diff --git a/common/rendering.h b/common/rendering.h
@@ -755,7 +755,7 @@ namespace rs2
             return last;
         }
 
-        texture_buffer() : last_queue(1), texture(), 
+        texture_buffer() : last_queue(1), texture(),
             colorize(std::make_shared<colorizer>()) {}
 
         GLuint get_gl_handle() const { return texture; }
@@ -777,6 +777,7 @@ namespace rs2
 
         void upload(rs2::frame frame)
         {
+            last_queue.enqueue(frame);
             // If the frame timestamp has changed since the last time show(...) was called, re-upload the texture
             if (!texture)
                 glGenTextures(1, &texture);
@@ -864,7 +865,7 @@ namespace rs2
             //}
             //break;
             default:
-                throw std::runtime_error("The requested format is not suported for rendering");
+                throw std::runtime_error("The requested format is not supported for rendering");
             }
             glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
             glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
@@ -873,7 +874,6 @@ namespace rs2
             glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
             glBindTexture(GL_TEXTURE_2D, 0);
 
-            last_queue.enqueue(frame);
         }
 
         static void draw_axis(float axis_size = 1.f, float axisWidth = 4.f)

diff --git a/common/ux-window.cpp b/common/ux-window.cpp
@@ -14,20 +14,27 @@ namespace rs2
         _win(nullptr), _width(0), _height(0), _output_height(0),
         _font_14(nullptr), _font_18(nullptr), _app_ready(false),
         _first_frame(true), _query_devices(true), _missing_device(false),
-        _hourglass_index(0), _dev_stat_message{}
+        _hourglass_index(0), _dev_stat_message{}, _keep_alive(true)
     {
         if (!glfwInit())
             exit(1);
 
         rs2_error* e = nullptr;
         _title_str = to_string() << title << " v" << api_version_to_string(rs2_get_api_version(&e));
 
+        _width = 1024;
+        _height = 768;
+
+        // Dynamically adjust new window size (by detecting monitor resolution)
         auto primary = glfwGetPrimaryMonitor();
-        const auto mode = glfwGetVideoMode(primary);
+        if (primary)
+        {
+            const auto mode = glfwGetVideoMode(primary);
+            _width = int(mode->width * 0.7f);
+            _height = int(mode->height * 0.7f);
+        }
 
         // Create GUI Windows
-        _width = int(mode->width * 0.7f);
-        _height = int(mode->height * 0.7f);
         _win = glfwCreateWindow(_width, _height, _title_str.c_str(), nullptr, nullptr);
         glfwMakeContextCurrent(_win);
         ImGui_ImplGlfw_Init(_win, true);
@@ -71,7 +78,7 @@ namespace rs2
 
         // Prepare the splash screen and do some initialization in the background
         int x, y, comp;
-        auto r = stbi_load_from_memory(splash, splash_size, &x, &y, &comp, false);
+        auto r = stbi_load_from_memory(splash, (int)splash_size, &x, &y, &comp, false);
         _splash_tex.upload_image(x, y, r);
 
         // Apply initial UI state
@@ -97,8 +104,10 @@ namespace rs2
 
         if (_first_frame)
         {
-            std::thread first_load([&]() {
-                do
+            assert(!_first_load.joinable()); // You must call to reset() before initiate new thread
+
+            _first_load = std::thread([&]() {
+                while (_keep_alive && !_app_ready)
                 {
                     try
                     {
@@ -108,10 +117,9 @@ namespace rs2
                     {
                         std::this_thread::sleep_for(std::chrono::seconds(1)); // Wait for connect event and retry
                     }
-                } while (!_app_ready);
+                }
             });
             _first_frame = false;
-            first_load.detach();
         }
 
         // If we are just getting started, render the Splash Screen instead of normal UI
@@ -123,16 +131,16 @@ namespace rs2
             begin_frame();
 
             glPushMatrix();
-            glViewport(0.f, 0.f, _fb_width, _fb_height);
+            glViewport(0, 0, _fb_width, _fb_height);
             glClearColor(0.036f, 0.044f, 0.051f, 1.f);
             glClear(GL_COLOR_BUFFER_BIT);
 
             glLoadIdentity();
             glOrtho(0, _width, _height, 0, -1, +1);
 
             // Fade-in the logo
-            auto opacity = smoothstep(_splash_timer.elapsed_ms(), 100.f, 2000.f);
-            _splash_tex.show({ 0.f,0.f,(float)_width,(float)_height }, opacity);
+            auto opacity = smoothstep(float(_splash_timer.elapsed_ms()), 100.f, 2000.f);
+            _splash_tex.show({ 0.f,0.f,float(_width),float(_height) }, opacity);
 
             std::string hourglass = u8"\uf250";
             static periodic_timer every_200ms(std::chrono::milliseconds(200));
@@ -163,7 +171,7 @@ namespace rs2
             ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, { 5, 5 });
             ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1);
             ImGui::PushStyleColor(ImGuiCol_WindowBg, transparent);
-            ImGui::SetNextWindowPos({ (float)_width/2 - 150, (float)_height/2 + 70 });
+            ImGui::SetNextWindowPos({ (float)_width / 2 - 150, (float)_height / 2 + 70 });
             ImGui::PushFont(_font_18);
             ImGui::SetNextWindowSize({ (float)_width, (float)_height });
             ImGui::Begin("Splash Screen Banner", nullptr, flags);
@@ -211,6 +219,12 @@ namespace rs2
 
     ux_window::~ux_window()
     {
+        if (_first_load.joinable())
+        {
+            _keep_alive = false;
+            _first_load.join();
+        }
+
         ImGui::GetIO().Fonts->ClearFonts();  // To be refactored into Viewer theme object
         ImGui_ImplGlfw_Shutdown();
         glfwDestroyWindow(_win);
@@ -262,12 +276,24 @@ namespace rs2
 
     void ux_window::reset()
     {
+        if (_first_load.joinable())
+        {
+            _keep_alive = false;
+            _first_load.join();
+            _keep_alive = true;
+        }
+
         _query_devices = true;
         _missing_device = false;
         _hourglass_index = 0;
         _first_frame = true;
         _app_ready = false;
         _splash_timer.reset();
         _dev_stat_message = u8"\uf287 Please connect Intel RealSense device!";
+
+        {
+            std::lock_guard<std::mutex> lock(_on_load_message_mtx);
+            _on_load_message.clear();
+        }
     }
 }
diff --git a/common/ux-window.h b/common/ux-window.h
@@ -6,6 +6,7 @@
 #include "imgui.h"
 #include <string>
 #include <functional>
+#include <thread>
 #include "rendering.h"
 
 namespace rs2
@@ -71,8 +72,10 @@ namespace rs2
         std::string              _error_message;
         float                    _scale_factor;
 
+        std::thread              _first_load;
         bool                     _first_frame;
         std::atomic<bool>        _app_ready;
+        std::atomic<bool>        _keep_alive;
         texture_buffer           _splash_tex;
         timer                    _splash_timer;
         std::string              _title_str;

diff --git a/config/99-realsense-libusb.rules b/config/99-realsense-libusb.rules
@@ -11,6 +11,7 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad2", MODE:="066
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad3", MODE:="0666", GROUP:="plugdev"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad4", MODE:="0666", GROUP:="plugdev"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0666", GROUP:="plugdev"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad6", MODE:="0666", GROUP:="plugdev"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af6", MODE:="0666", GROUP:="plugdev"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0666", GROUP:="plugdev"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0666", GROUP:="plugdev"