Merge remote-tracking branch 'origin/ac' into AC2

# Conflicts: # include/librealsense2/h/rs_types.h # src/l500/l500-depth.cpp # src/l500/l500-device.cpp # src/rs.cpp # src/types.cpp # tools/realsense-viewer/realsense-viewer.cpp
IntelRealSense · Jun 23, 2020 · caf395e · caf395e
2 parents 0316b7c + ee3f2ab
commit caf395e
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Showing 97 changed files with 6,475 additions and 684 deletions.
diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
@@ -7,6 +7,8 @@ set(COMMON_SRC
         "${CMAKE_CURRENT_LIST_DIR}/model-views.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/notifications.h"
         "${CMAKE_CURRENT_LIST_DIR}/notifications.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/calibration-model.h"
+        "${CMAKE_CURRENT_LIST_DIR}/calibration-model.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/viewer.h"
         "${CMAKE_CURRENT_LIST_DIR}/viewer.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/ux-window.h"
@@ -23,6 +25,8 @@ set(COMMON_SRC
         "${CMAKE_CURRENT_LIST_DIR}/fw-update-helper.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/metadata-helper.h"
         "${CMAKE_CURRENT_LIST_DIR}/metadata-helper.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/output-model.h"
+        "${CMAKE_CURRENT_LIST_DIR}/output-model.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/skybox.h"
         "${CMAKE_CURRENT_LIST_DIR}/skybox.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/measurement.h"

diff --git a/common/calibration-model.cpp b/common/calibration-model.cpp
diff --git a/common/calibration-model.h b/common/calibration-model.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <librealsense2/rs.hpp>
+#include "ux-window.h"
+
+namespace librealsense
+{
+    struct float3x3;
+}
+
+namespace rs2
+{
+    class calibration_model
+    {
+    public:
+        calibration_model(rs2::device dev);
+
+        bool supports();
+
+        void update(ux_window& window, std::string& error_message);
+
+        void open() { to_open = true; }
+
+    private:
+        void draw_float4x4(std::string name, librealsense::float3x3& feild, const librealsense::float3x3& original, bool& changed);
+        void draw_float(std::string name, float& x, const float& orig, bool& changed);
+
+        rs2::device dev;
+        bool to_open = false;
+        bool _accept = false;
+
+        std::vector<uint8_t> _calibration;
+        std::vector<uint8_t> _original;
+
+        int selected_resolution = 0;
+    };
+}
diff --git a/common/fw-update-helper.cpp b/common/fw-update-helper.cpp
@@ -196,7 +196,7 @@ namespace rs2
 
             auto flash = upd.create_flash_backup([&](const float progress)
             {
-                _progress = ((ceil(progress * 5) / 5) * (30 - next_progress)) + next_progress;
+                _progress = int((ceil(progress * 5) / 5) * (30 - next_progress)) + next_progress;
             });
 
             auto temp = get_folder_path(special_folder::app_data);
@@ -221,7 +221,7 @@ namespace rs2
                 if (!check_for([this, serial, &dfu]() {
                     auto devs = _ctx.query_devices();
 
-                    for (int j = 0; j < devs.size(); j++)
+                    for (uint32_t j = 0; j < devs.size(); j++)
                     {
                         try
                         {
@@ -267,7 +267,7 @@ namespace rs2
 
             dfu.update(_fw, [&](const float progress)
             {
-                _progress = (ceil(progress * 10) / 10 * (90 - next_progress)) + next_progress;
+                _progress = int((ceil(progress * 10) / 10 * (90 - next_progress)) + next_progress);
             });
 
             log("Firmware Download completed, await DFU transition event");
@@ -279,15 +279,15 @@ namespace rs2
             auto upd = _dev.as<updatable>();
             upd.update_unsigned(_fw, [&](const float progress)
             {
-                _progress = (ceil(progress * 10) / 10 * (90 - next_progress)) + next_progress;
+                _progress = int((ceil(progress * 10) / 10 * (90 - next_progress)) + next_progress);
             });
             log("Firmware Update completed, waiting for device to reconnect");
         }
 
         if (!check_for([this, serial, &dfu]() {
             auto devs = _ctx.query_devices();
 
-            for (int j = 0; j < devs.size(); j++)
+            for (uint32_t j = 0; j < devs.size(); j++)
             {
                 try
                 {
@@ -341,7 +341,7 @@ namespace rs2
 
             ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - 67) });
 
-            ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1. - t));
+            ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1.f - t));
 
             if (update_state == RS2_FWU_STATE_INITIAL_PROMPT)
                 ImGui::Text("Firmware updates offer critical bug fixes and\nunlock new camera capabilities.");

diff --git a/common/measurement.cpp b/common/measurement.cpp
@@ -85,8 +85,8 @@ void measurement::add_point(interest_point p)
             state.polygons.clear();
         }
 
-        int last = state.points.size();
-        if (current_hovered_point == -1 || 
+        int last = int(state.points.size());
+        if (current_hovered_point == -1 ||
             current_hovered_point >= state.points.size())
         {
             state.points.push_back(p);
@@ -122,7 +122,7 @@ void measurement::add_point(interest_point p)
             log_function(to_string() << "Measured distance of " << length_to_string(dist.length()));
         }
 
-        last_hovered_point = state.points.size() - 1;
+        last_hovered_point = int(state.points.size() - 1);
 
         commit_state();
     }
@@ -186,18 +186,18 @@ void draw_sphere(const float3& pos, float r, int lats, int longs)
 {
     for(int i = 0; i <= lats; i++) 
     {
-        float lat0 = M_PI * (-0.5 + (float) (i - 1) / lats);
+        float lat0 = float(M_PI) * (-0.5f + (float) (i - 1) / lats);
         float z0  = sin(lat0);
         float zr0 =  cos(lat0);
 
-        float lat1 = M_PI * (-0.5 + (float) i / lats);
+        float lat1 = float(M_PI) * (-0.5f + (float) i / lats);
         float z1 = sin(lat1);
         float zr1 = cos(lat1);
 
         glBegin(GL_QUAD_STRIP);
         for(int j = 0; j <= longs; j++) 
         {
-            float lng = 2 * M_PI * (float) (j - 1) / longs;
+            float lng = 2.f * float(M_PI) * (float) (j - 1) / longs;
             float x = cos(lng);
             float y = sin(lng);
 
@@ -305,7 +305,7 @@ void measurement::draw_ruler(ux_window& win, float3 from, float3 to, float heigh
         // calculate center of the ruler line
         float3 ctr = from + (to - from) / 2;
         float distance = (to - from).length();
-        draw_label(win, ctr, distance, height);
+        draw_label(win, ctr, distance, int(height));
     }
 }
 
@@ -352,7 +352,7 @@ void measurement::update_input(ux_window& win, const rs2::rect& viewer_rect)
             if (rect_copy.contains(win.get_mouse().cursor))
             {
                 input_ctrl.click = true;
-                input_ctrl.click_time = glfwGetTime();
+                input_ctrl.click_time = float(glfwGetTime());
             }
         }
     }
@@ -478,8 +478,8 @@ void measurement::draw(ux_window& win)
         const int segments = 50;
         for (int i = 0; i < segments; i++)
         {
-            auto t1 = 2 * M_PI * ((float)i / segments);
-            auto t2 = 2 * M_PI * ((float)(i+1) / segments);
+            auto t1 = 2.f * float(M_PI) * ((float)i / segments);
+            auto t2 = 2.f * float(M_PI) * ((float)(i+1) / segments);
             float4 xy1 { cosf(t1) * size, sinf(t1) * size, 0.f, 1.f };
             xy1 = basis * xy1;
             xy1 = float4 { _picked.x + xy1.x, _picked.y + xy1.y, _picked.z  + xy1.z, 1.f };
@@ -556,7 +556,7 @@ void measurement::draw(ux_window& win)
 
         auto area = calculate_area(points);
 
-        draw_label(win, mid, area, win.framebuf_height(), true);
+        draw_label(win, mid, area, int(win.framebuf_height()), true);
     }
 
     for (int i = 0; i < state.edges.size(); i++)

diff --git a/common/measurement.h b/common/measurement.h
@@ -96,8 +96,8 @@ namespace rs2
             double selection_started = 0.0;
             float2 down_pos { 0.f, 0.f };
             int mouse_wheel = 0;
-            double click_time = 0.0;
-            float click_period() { return clamp((glfwGetTime() - click_time) * 10, 0.f, 1.f); }
+            float click_time = 0.f;
+            float click_period() { return clamp(float(glfwGetTime() - click_time) * 10, 0.f, 1.f); }
         };
         mouse_control input_ctrl;
         int id = 0;

diff --git a/common/metadata-helper.cpp b/common/metadata-helper.cpp
@@ -118,7 +118,7 @@ namespace rs2
                         &cbSecurityDescriptor,   // security descriptor 
                         &ftLastWriteTime);       // last write time 
 
-                    for (int i = 0; i < cSubKeys; i++)
+                    for (auto i = 0ul; i < cSubKeys; i++)
                     {
                         TCHAR achKey[MAX_KEY_LENGTH];
                         DWORD cbName = MAX_KEY_LENGTH;
@@ -133,7 +133,8 @@ namespace rs2
                         {
                             std::wstring suffix = achKey;
                             device_id rdid;
-                            if (parse_device_id(std::string(suffix.begin(), suffix.end()), &rdid))
+                            auto a = std::string(suffix.begin(), suffix.end());
+                            if (parse_device_id(a, &rdid))
                             {
                                 for (auto&& did : kvp.second)
                                 {
@@ -223,6 +224,7 @@ namespace rs2
                         CloseHandle(sei.hProcess);
                         if (exitCode)
                             throw std::runtime_error("Failed to set metadata registry keys!");
+                        return true;
                     }
                 }
                 else
@@ -287,7 +289,7 @@ namespace rs2
 
                 rs2::context ctx;
                 auto list = ctx.query_devices();
-                for (int i = 0; i < list.size(); i++)
+                for (uint32_t i = 0; i < list.size(); i++)
                 {
                     try
                     {