PR #8351 from Nir: Adjust python examples to support L515 device

wrappers/python/examples/align-depth2color.py

@@ -15,11 +15,22 @@
 # Create a pipeline
 pipeline = rs.pipeline()
 
-#Create a config and configure the pipeline to stream
+# Create a config and configure the pipeline to stream
 #  different resolutions of color and depth streams
 config = rs.config()
+
+# Get device product line for setting a supporting resolution
+pipeline_wrapper = rs.pipeline_wrapper(pipeline)
+pipeline_profile = config.resolve(pipeline_wrapper)
+device = pipeline_profile.get_device()
+device_product_line = str(device.get_info(rs.camera_info.product_line))
+
 config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
-config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
+
+if device_product_line == 'L500':
+    config.enable_stream(rs.stream.color, 960, 540, rs.format.bgr8, 30)
+else:
+    config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
 
 # Start streaming
 profile = pipeline.start(config)
@@ -66,10 +77,13 @@
         depth_image_3d = np.dstack((depth_image,depth_image,depth_image)) #depth image is 1 channel, color is 3 channels
         bg_removed = np.where((depth_image_3d > clipping_distance) | (depth_image_3d <= 0), grey_color, color_image)
 
-        # Render images
+        # Render images:
+        #   depth align to color on left
+        #   depth on right
         depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
         images = np.hstack((bg_removed, depth_colormap))
-        cv2.namedWindow('Align Example', cv2.WINDOW_AUTOSIZE)
+
+        cv2.namedWindow('Align Example', cv2.WINDOW_NORMAL)
         cv2.imshow('Align Example', images)
         key = cv2.waitKey(1)
         # Press esc or 'q' to close the image window

wrappers/python/examples/depth_auto_calibration_example.py

@@ -28,6 +28,18 @@ def main(argv):
     pipeline = rs.pipeline()
     config = rs.config()
 
+    # Get device product line for setting a supporting resolution
+    pipeline_wrapper = rs.pipeline_wrapper(pipeline)
+    pipeline_profile = config.resolve(pipeline_wrapper)
+    device = pipeline_profile.get_device()
+
+    auto_calibrated_device = rs.auto_calibrated_device(device)
+
+    if not auto_calibrated_device:
+        print("The connected device does not support auto calibration")
+        return
+
+
     config.enable_stream(rs.stream.depth, 256, 144, rs.format.z16, 90)
     conf = pipeline.start(config)
     calib_dev = rs.auto_calibrated_device(conf.get_device())

wrappers/python/examples/frame_queue_example.py

@@ -30,7 +30,7 @@ def slower_processing(frame):
     # Create a config and configure the pipeline to stream
     #  different resolutions of color and depth streams
     config = rs.config()
-    config.enable_stream(rs.stream.depth, 640, 360, rs.format.z16, 30)
+    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
 
     # Start streaming to the slow processing function.
     # This stream will lag, causing the occasional frame drop.

wrappers/python/examples/opencv_pointcloud_viewer.py

@@ -66,8 +66,9 @@ def pivot(self):
 # Configure depth and color streams
 pipeline = rs.pipeline()
 config = rs.config()
-config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
-config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
+
+config.enable_stream(rs.stream.depth, rs.format.z16, 30)
+config.enable_stream(rs.stream.color, rs.format.bgr8, 30)
 
 # Start streaming
 pipeline.start(config)

wrappers/python/examples/opencv_viewer_example.py

@@ -12,8 +12,19 @@
 # Configure depth and color streams
 pipeline = rs.pipeline()
 config = rs.config()
+
+# Get device product line for setting a supporting resolution
+pipeline_wrapper = rs.pipeline_wrapper(pipeline)
+pipeline_profile = config.resolve(pipeline_wrapper)
+device = pipeline_profile.get_device()
+device_product_line = str(device.get_info(rs.camera_info.product_line))
+
 config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
-config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
+
+if device_product_line == 'L500':
+    config.enable_stream(rs.stream.color, 960, 540, rs.format.bgr8, 30)
+else:
+    config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
 
 # Start streaming
 pipeline.start(config)
@@ -35,8 +46,15 @@
         # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
         depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
 
-        # Stack both images horizontally
-        images = np.hstack((color_image, depth_colormap))
+        depth_colormap_dim = depth_colormap.shape
+        color_colormap_dim = color_image.shape
+
+        # If depth and color resolutions are different, resize color image to match depth image for display
+        if depth_colormap_dim != color_colormap_dim:
+            resized_color_image = cv2.resize(color_image, dsize=(depth_colormap_dim[1], depth_colormap_dim[0]), interpolation=cv2.INTER_AREA)
+            images = np.hstack((resized_color_image, depth_colormap))
+        else:
+            images = np.hstack((color_image, depth_colormap))
 
         # Show images
         cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)

wrappers/python/examples/pyglet_pointcloud_viewer.py

@@ -90,18 +90,15 @@ def rotation(self):
 # Configure streams
 pipeline = rs.pipeline()
 config = rs.config()
-config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
-# other_stream, other_format = rs.stream.infrared, rs.format.y8
+
+config.enable_stream(rs.stream.depth, rs.format.z16, 30)
 other_stream, other_format = rs.stream.color, rs.format.rgb8
-config.enable_stream(other_stream, 640, 480, other_format, 30)
+config.enable_stream(other_stream, other_format, 30)
 
 # Start streaming
 pipeline.start(config)
 profile = pipeline.get_active_profile()
 
-depth_sensor = profile.get_device().first_depth_sensor()
-depth_scale = depth_sensor.get_depth_scale()
-
 depth_profile = rs.video_stream_profile(profile.get_stream(rs.stream.depth))
 depth_intrinsics = depth_profile.get_intrinsics()
 w, h = depth_intrinsics.width, depth_intrinsics.height
@@ -145,8 +142,16 @@ def convert_fmt(fmt):
     w * h, 'v3f/stream', 't2f/stream', 'n3f/stream')
 # Create and allocate memory for our color data
 other_profile = rs.video_stream_profile(profile.get_stream(other_stream))
-image_data = pyglet.image.ImageData(w, h, convert_fmt(
-    other_profile.format()), (gl.GLubyte * (w * h * 3))())
+
+image_w, image_h = w, h
+color_intrinsics = other_profile.get_intrinsics()
+color_w, color_h = color_intrinsics.width, color_intrinsics.height
+
+if state.color:
+    image_w, image_h = color_w, color_h
+
+image_data = pyglet.image.ImageData(image_w, image_h, convert_fmt(
+other_profile.format()), (gl.GLubyte * (image_w * image_h * 3))())
 
 if (pyglet.version.startswith('1.') and not pyglet.version.startswith('1.4')):
     # pyglet.clock.ClockDisplay has be removed in 1.4
@@ -422,9 +427,17 @@ def run(dt):
     # handle color source or size change
     fmt = convert_fmt(mapped_frame.profile.format())
     global image_data
+
     if (image_data.format, image_data.pitch) != (fmt, color_source.strides[0]):
-        empty = (gl.GLubyte * (w * h * 3))()
-        image_data = pyglet.image.ImageData(w, h, fmt, empty)
+        if state.color:
+            global color_w, color_h
+            image_w, image_h = color_w, color_h
+        else:
+            image_w, image_h = w, h
+
+        empty = (gl.GLubyte * (image_w * image_h * 3))()
+        image_data = pyglet.image.ImageData(image_w, image_h, fmt, empty)
+
     # copy image data to pyglet
     image_data.set_data(fmt, color_source.strides[0], color_source.ctypes.data)
 

wrappers/python/examples/python-rs400-advanced-mode-example.py

@@ -21,7 +21,7 @@ def find_device_that_supports_advanced_mode() :
             if dev.supports(rs.camera_info.name):
                 print("Found device that supports advanced mode:", dev.get_info(rs.camera_info.name))
             return dev
-    raise Exception("No device that supports advanced mode was found")
+    raise Exception("No D400 product line device that supports advanced mode was found")
 
 try:
     dev = find_device_that_supports_advanced_mode()

wrappers/python/examples/python-tutorial-1-depth.py

@@ -11,7 +11,13 @@
 try:
     # Create a context object. This object owns the handles to all connected realsense devices
     pipeline = rs.pipeline()
-    pipeline.start()
+
+    # Configure streams
+    config = rs.config()
+    config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
+
+    # Start streaming
+    pipeline.start(config)
 
     while True:
         # This call waits until a new coherent set of frames is available on a device

wrappers/python/examples/read_bag_example.py

@@ -16,7 +16,7 @@
 
 # Create object for parsing command-line options
 parser = argparse.ArgumentParser(description="Read recorded bag file and display depth stream in jet colormap.\
-                                Remember to change the stream resolution, fps and format to match the recorded.")
+                                Remember to change the stream fps and format to match the recorded.")
 # Add argument which takes path to a bag file as an input
 parser.add_argument("-i", "--input", type=str, help="Path to the bag file")
 # Parse the command line arguments to an object
@@ -37,10 +37,13 @@
 
     # Create a config object
     config = rs.config()
-    # Tell config that we will use a recorded device from filem to be used by the pipeline through playback.
+
+    # Tell config that we will use a recorded device from file to be used by the pipeline through playback.
     rs.config.enable_device_from_file(config, args.input)
+
     # Configure the pipeline to stream the depth stream
-    config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)
+    # Change this parameters according to the recorded bag file resolution
+    config.enable_stream(rs.stream.depth, rs.format.z16, 30)
 
     # Start streaming from file
     pipeline.start(config)

wrappers/python/pyrs_device.cpp

@@ -24,7 +24,8 @@ void init_device(py::module &m) {
              "like versions of various internal components", "info"_a)
         .def("hardware_reset", &rs2::device::hardware_reset, "Send hardware reset request to the device")
         .def(py::init<>())
-        .def("__nonzero__", &rs2::device::operator bool)
+        .def("__nonzero__", &rs2::device::operator bool) // Called to implement truth value testing in Python 2
+        .def("__bool__", &rs2::device::operator bool) // Called to implement truth value testing in Python 3
         .def(BIND_DOWNCAST(device, debug_protocol))
         .def(BIND_DOWNCAST(device, playback))
         .def(BIND_DOWNCAST(device, recorder))

wrappers/python/pyrs_frame.cpp

@@ -56,7 +56,9 @@ void init_frame(py::module &m) {
         .def("stream_name", &rs2::stream_profile::stream_name, "The stream's human-readable name.")
         .def("is_default", &rs2::stream_profile::is_default, "Checks if the stream profile is marked/assigned as default, "
              "meaning that the profile will be selected when the user requests stream configuration using wildcards.")
-        .def("__nonzero__", &rs2::stream_profile::operator bool, "Checks if the profile is valid")
+        .def("__nonzero__", &rs2::stream_profile::operator bool, "Checks if the profile is valid") // Called to implement truth value testing in Python 2
+        .def("__bool__", &rs2::stream_profile::operator bool, "Checks if the profile is valid") // Called to implement truth value testing in Python 3
+
         .def("get_extrinsics_to", &rs2::stream_profile::get_extrinsics_to, "Get the extrinsic transformation between two profiles (representing physical sensors)", "to"_a)
         .def("register_extrinsics_to", &rs2::stream_profile::register_extrinsics_to, "Assign extrinsic transformation parameters "
              "to a specific profile (sensor). The extrinsic information is generally available as part of the camera calibration, "
@@ -109,7 +111,8 @@ void init_frame(py::module &m) {
         // .def(py::self = py::self) // can't overload assignment in python
         .def(py::init<rs2::frame>())
         .def("swap", &rs2::frame::swap, "Swap the internal frame handle with the one in parameter", "other"_a)
-        .def("__nonzero__", &rs2::frame::operator bool, "check if internal frame handle is valid")
+        .def("__nonzero__", &rs2::frame::operator bool, "check if internal frame handle is valid") // Called to implement truth value testing in Python 2
+        .def("__bool__", &rs2::frame::operator bool, "check if internal frame handle is valid") // Called to implement truth value testing in Python 3
         .def("get_timestamp", &rs2::frame::get_timestamp, "Retrieve the time at which the frame was captured")
         .def_property_readonly("timestamp", &rs2::frame::get_timestamp, "Time at which the frame was captured. Identical to calling get_timestamp.")
         .def("get_frame_timestamp_domain", &rs2::frame::get_frame_timestamp_domain, "Retrieve the timestamp domain.")

wrappers/python/pyrs_processing.cpp

@@ -73,7 +73,8 @@ void init_processing(py::module &m) {
         .def(BIND_DOWNCAST(filter, depth_huffman_decoder))
         .def(BIND_DOWNCAST(filter, hdr_merge))
         .def(BIND_DOWNCAST(filter, sequence_id_filter))
-        .def("__nonzero__", &rs2::filter::operator bool); // No docstring in C++
+        .def("__nonzero__", &rs2::filter::operator bool) // Called to implement truth value testing in Python 2
+        .def("__bool__", &rs2::filter::operator bool);   // Called to implement truth value testing in Python 3
         // get_queue?
         // is/as?