RealSense Device over Network #5999

apuzhevi · 2020-03-09T11:46:51Z

Do not merge, work in progress

This PR is adding Linux server tool (intended to run on Raspberry Pi 4 or similar) and an extension library to librealsense that allows connecting to this server.
Based on live555 for streaming and lz4 and libjpeg-turbo for compression

…r_handling_after_merge return realsense errors

…_pr_check_error mchanan_fix_pr_check_error

…ipt_queues add script to setup network queues

…t_device Nhershko net device

…m GitHub instead. (IntelRealSense#146)

CMakeLists.txt

dorodnic · 2020-03-12T10:04:55Z

CMakeLists.txt

+    add_subdirectory(src/ethernet)
+endif()
+
+add_subdirectory(src/compression)


consider moving under src/ethernet?

Don't we want to make COMPRESSION factory available LRS wide?

include/librealsense2-net/rs_net.h

dorodnic · 2020-03-12T10:33:19Z

src/ethernet/ip_device.hh

+
+    ~ip_device();
+
+    ip_sensor *remote_sensors[NUM_OF_SENSORS];


Please use std::vector<unique_ptr<ip_sensor>> instead, it's better

make_shared is not fully supported at c++11. as well at my setup.
@dorodnic , are you suggesting to use shared_ptr or to leave it as is for now?
my source:
[(https://stackoverflow.com/questions/24609271/errormake-unique-is-not-a-member-of-std)]

after viewing the ip_sensors usages I will use shared_ptr. WIP.

Not blocking issue.
New task for post release was created: https://rsjira.intel.com/browse/CAMOE-279

dorodnic · 2020-03-12T10:37:50Z

src/ipDeviceCommon/MemoryPool.h

+#include <ipDeviceCommon/RsCommon.h>
+
+#define POOL_SIZE 100                 //TODO:: to define the right value
+#define MAX_FRAME_SIZE 1280 * 720 * 3 //TODO:: to define the right value


I would recommend against using this memory pool implementation - max frame size can be larger in near future, and it's significant amount of memory to hold just in case.
Also, librealsense already has memory pool.
I recommend to use new / delete for now and eventually port to librealsense mem-pool in the future
not blocker

W'll handle it after the first version

dorodnic · 2020-03-12T10:42:04Z

tools/rs-server/RsSensor.cpp

+        }
+        case RS2_FORMAT_RGBA8:
+        {
+                bpp = 3;


dorodnic · 2020-03-12T10:42:27Z

tools/rs-server/RsSensor.cpp

+        {
+                // W/A - thease options fail on get range
+                // TODO Michal: check why...
+                if (opt == RS2_OPTION_LASER_POWER || opt == RS2_OPTION_EMITTER_ENABLED)


please check, should work

dorodnic · 2020-03-12T10:43:25Z

tools/rs-server/RsServer.cpp

+  scheduler = BasicTaskScheduler::createNew();
+  env = BasicUsageEnvironment::createNew(*scheduler);
+
+  rtspServer = RsRTSPServer::createNew(*env, 8554);


please add command line option to configure the port

ev-mp

General comments:
LRS uses C++ Camel notation for naming
Tab=4 spaces

include/librealsense2/hpp/rs_internal.hpp

src/compression/JpegCompression.cpp

ev-mp · 2020-03-12T14:29:22Z

src/ethernet/RsRtspClient.cpp

+    if (resultCode != 0)
+    {
+      env << "Failed to get a SDP description: " << resultString << "\n";
+      delete[] resultString;


Deleting memory allocated elsewhere should be reserved for extreme cases. Additionally the same member is used above in rsRtspClient->m_lastReturnValue.msg = resultString; which may lead to dangling ptr.

we do it due to Live555 implementation, in order to fix it we will need to do risky changes in the Live555.
We wont have dangling ptr because m_lastReturnValue.msg is string and not char*

ev-mp · 2020-03-12T14:29:47Z

src/ethernet/RsRtspClient.cpp

+
+    // Create a media session object from this SDP description:
+    scs.m_session = RsMediaSession::createNew(env, sdpDescription);
+    delete[] sdpDescription; // because we don't need it anymore


src/ethernet/RsRtspClient.cpp

ev-mp · 2020-03-12T14:30:55Z

src/ethernet/RsRtspClient.cpp

+
+      // TODO: update width and height in subsession?
+      long long int uniqueKey = getStreamProfileUniqueKey(videoStream);
+      // TODO Michal: should the map key be long long?


ev-mp · 2020-03-12T14:32:42Z

src/ethernet/RsRtspClient.cpp

+      // TODO: when to delete p?
+    }
+  //TODO:remove this loop - once will be at API function?
+  } while (0);


Pls check whether this loop is needed and remove if not

tools/rs-server/CMakeLists.txt

bug fix

…eate_extrinsics_map Nhershko create extrinsics map

… nhershko_todo_cleanup

…do_cleanup client todo's cleanup

…igment Cspungin aligment

…te_objects delete objects

…/lrsj into cspungin_aligment

…igment Cspungin aligment

Installation fixes. Zlib removed.

apuzhevi and others added 15 commits March 9, 2020 13:06

Integration: base for LRS network extentions.

e059ba6

add new net-device includes

7842d76

return realsense errors

386f041

Merge pull request IntelRealSense#142 from IntelRealSense/server_erro…

857674f

…r_handling_after_merge return realsense errors

mchanan_fix_pr_check_error

4910930

Merge pull request IntelRealSense#143 from IntelRealSense/mchanan_fix…

57aa0ea

…_pr_check_error mchanan_fix_pr_check_error

add script to setup network queues

a930aa6

Merge pull request IntelRealSense#144 from IntelRealSense/mchanan_scr…

aa58fb2

…ipt_queues add script to setup network queues

get extrinsics map + add it to streams

7618f3a

release sw device ptr from active object after creation

2690509

add header and cleanup

6687506

remove old ip_device generator

5446e4c

generate minimal map

7870a11

Merge pull request IntelRealSense#145 from IntelRealSense/nhershko_ne…

6f2e77a

…t_device Nhershko net device

Removed lz4, libjpeg-turbo and zlib from dource tree. Downloading fro…

6127ef5

…m GitHub instead. (IntelRealSense#146)

dorodnic suggested changes Mar 12, 2020

View reviewed changes

apuzhevi and others added 2 commits March 12, 2020 13:32

Linux static compilation fixed. (IntelRealSense#147)

84b1809

create map at client side

ee2c0d3

ev-mp reviewed Mar 12, 2020

View reviewed changes

Merge branch 'master' into nhershko_create_extrinsics_map

23c813a

dorodnic reviewed Mar 12, 2020

View reviewed changes

tools/rs-server/CMakeLists.txt Outdated Show resolved Hide resolved

mchanan and others added 9 commits March 15, 2020 09:36

bug fix

ea3198e

use rs_sensor for device data container

81d9469

change to stream type

387f337

Merge pull request IntelRealSense#150 from IntelRealSense/mchanan_stream

889fb17

bug fix

review fixes

adf3925

handle NaN extrinsics

9f2589b

Do not download live555 if exists

5c8658a

Merge branch 'master' into nhershko_create_extrinsics_map

0a22968

Merge pull request IntelRealSense#148 from IntelRealSense/nhershko_cr…

658f873

…eate_extrinsics_map Nhershko create extrinsics map

nhershko and others added 28 commits March 25, 2020 09:30

cleaning

efefc08

Merge branch 'master' into nhershko_todo_cleanup

99d2503

16-bit alligment

fd94f77

change headers size

0d79b54

update default resolution

25728c2

Merge remote-tracking branch 'origin-lrsj/nhershko_todo_cleanup' into…

d1377ec

… nhershko_todo_cleanup

remove prints

c68ff74

add commemt

b767b00

change bach logger configuration

ab5c06e

Merge pull request IntelRealSense#185 from IntelRealSense/nhershko_to…

7ea0607

…do_cleanup client todo's cleanup

delete objects

fadab66

use union

58a8671

Merge branch 'master' into cspungin_aligment

80dc2ed

fix merge

645de72

Log fix.

d15a016

Merge branch 'master' into cspungin_aligment

0069523

change to nullptr

7867b3c

Merge branch 'master' into mchnan_delete_objects

8a4c48f

Merge pull request IntelRealSense#191 from IntelRealSense/cspungin_al…

3078527

…igment Cspungin aligment

Merge branch 'master' into mchnan_delete_objects

c1396e5

Merge pull request IntelRealSense#193 from IntelRealSense/mchnan_dele…

1055fc0

…te_objects delete objects

remove_alligned_aloc

192b7b3

Merge branch 'cspungin_aligment' of https://github.com/IntelRealSense…

82ba924

…/lrsj into cspungin_aligment

remove include

135b6b6

Merge branch 'master' into cspungin_aligment

74007ce

Merge pull request IntelRealSense#195 from IntelRealSense/cspungin_al…

bfd02ea

…igment Cspungin aligment

ev_mp changes (IntelRealSense#194)

c1a73df

Installation fixes. Zlib removed.

zlib leftovers

9426f24

dorodnic mentioned this pull request Mar 26, 2020

RealSense Device over Network #6136

Merged

dorodnic merged commit 9426f24 into IntelRealSense:development Mar 26, 2020

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RealSense Device over Network #5999

RealSense Device over Network #5999

apuzhevi commented Mar 9, 2020

dorodnic Mar 12, 2020

apuzhevi Mar 12, 2020

apuzhevi Mar 24, 2020

dorodnic Mar 12, 2020

nhershko Mar 12, 2020 •

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RealSense Device over Network #5999

RealSense Device over Network #5999

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apuzhevi commented Mar 9, 2020

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nhershko Mar 12, 2020 • edited Loading

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nhershko Mar 12, 2020 •

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