RealSense Device over Network

CMakeLists.txt

@@ -23,6 +23,10 @@ if(IMPORT_DEPTH_CAM_FW AND NOT INTERNET_CONNECTION)
     set(IMPORT_DEPTH_CAM_FW OFF)
 endif()
 
+set(BUILD_IPDEV           ON CACHE BOOL "Enable IP device support")
+set(BUILD_IPDEV_UNITTESTS ON CACHE BOOL "Enable unittests for IP device")
+set(BUILD_IPDEV_STATS     ON CACHE BOOL "Enable statistics for IP device")
+
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/CMake)
 
 # include librealsense general configuration
@@ -83,6 +87,12 @@ if(BUILD_EXAMPLES)
     add_subdirectory(tools)
 endif()
 
+if(BUILD_IPDEV)
+    add_subdirectory(src/ethernet)
+endif()
+
+add_subdirectory(src/compression)
+
 if(BUILD_UNIT_TESTS)
     add_subdirectory(unit-tests)
 endif()

common/model-views.cpp

@@ -5294,8 +5294,9 @@ namespace rs2
         // draw device header
         ////////////////////////////////////////
         const bool is_playback_device = dev.is<playback>();
+        bool is_ip_device = dev.supports(RS2_CAMERA_INFO_IP_ADDRESS);
         auto header_h = panel_height;
-        if (is_playback_device) header_h += 15;
+        if (is_playback_device || is_ip_device) header_h += 15;
 
         ImColor device_header_background_color = title_color;
         const float left_space = 3.f;
@@ -5327,7 +5328,14 @@ namespace rs2
         std::stringstream ss;
         if(dev.supports(RS2_CAMERA_INFO_NAME))
             ss << dev.get_info(RS2_CAMERA_INFO_NAME);
-        ImGui::Text(" %s", ss.str().c_str());
+        if(is_ip_device)
+        {
+            ImGui::Text(" %s", ss.str().substr(0, ss.str().find("\n IP Device")).c_str());
+        }
+        else
+        {
+            ImGui::Text(" %s", ss.str().c_str());
+        }
         if (dev.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR))
         {
             std::string desc = dev.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR);
@@ -5347,6 +5355,14 @@ namespace rs2
             ImGui::PopStyleColor();
             ImGui::PopFont();
         }
+        if(is_ip_device)
+        {
+            ImGui::PushFont(window.get_font());
+            ss.str("");
+            ss << dev.get_info(RS2_CAMERA_INFO_IP_ADDRESS);
+            ImGui::Text("\tIP device\t%s", ss.str().c_str());
+            ImGui::PopFont();
+        }
 
 
         //ImGui::Text(" %s", dev.get_info(RS2_CAMERA_INFO_NAME));

include/librealsense2-net/rs_net.h

@@ -0,0 +1,26 @@
+/* License: Apache 2.0. See LICENSE file in root directory.
+   Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
+
+/** \file rs_net.h
+* \
+* Exposes RealSense network device functionality for C compilers
+*/
+
+#ifndef LIBREALSENSE_RS2_NET_H
+#define LIBREALSENSE_RS2_NET_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "librealsense2/rs.h"
+
+/**
+* create RealSense net device by ip address
+*/
+rs2_device* rs2_create_net_device(int api_version, const char* address, rs2_error** error);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

include/librealsense2-net/rs_net.hpp

@@ -0,0 +1,47 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+
+#ifndef LIBREALSENSE_RS2_NET_HPP
+#define LIBREALSENSE_RS2_NET_HPP
+
+#include <librealsense2/rs.hpp>
+#include "rs_net.h"
+
+#include <memory>
+
+namespace rs2
+{
+        class net_device : public rs2::device
+        {
+        public:
+            net_device(const std::string& address) : rs2::device(init(address)) { }
+
+            /**
+            * Add network device to existing context.
+            * Any future queries on the context will return this device.
+            * This operation cannot be undone (except for destroying the context)
+            *
+            * \param[in] ctx   context to add the device to
+            */
+            void add_to(context& ctx)
+            {
+                rs2_error* e = nullptr;
+                rs2_context_add_software_device(((std::shared_ptr<rs2_context>)ctx).get(), _dev.get(), &e);
+                error::handle(e);
+            }
+
+
+        private:
+            std::shared_ptr<rs2_device> init(const std::string& address)
+            {
+                rs2_error* e = nullptr;
+                auto dev = std::shared_ptr<rs2_device>(
+                    rs2_create_net_device(RS2_API_VERSION, address.c_str(), &e),
+                    rs2_delete_device);
+                error::handle(e);
+
+                return dev;
+            }
+        };
+}
+#endif // LIBREALSENSE_RS2_NET_HPP

include/librealsense2/h/rs_sensor.h

@@ -33,6 +33,7 @@ typedef enum rs2_camera_info {
     RS2_CAMERA_INFO_PRODUCT_LINE                   , /**< Device product line D400/SR300/L500/T200 */
     RS2_CAMERA_INFO_ASIC_SERIAL_NUMBER             , /**< ASIC serial number */
     RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID             , /**< Firmware update ID */
+    RS2_CAMERA_INFO_IP_ADDRESS                     , /**< IP address for remote camera. */
     RS2_CAMERA_INFO_COUNT                            /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
 } rs2_camera_info;
 const char* rs2_camera_info_to_string(rs2_camera_info info);

include/librealsense2/hpp/rs_internal.hpp

@@ -246,25 +246,27 @@ namespace rs2
     };
 
 
-    class software_device : public device
+        class software_device : public device
     {
-        std::shared_ptr<rs2_device> create_device_ptr()
+        std::shared_ptr<rs2_device> create_device_ptr(std::function<void(rs2_device*)> deleter)
         {
             rs2_error* e = nullptr;
             std::shared_ptr<rs2_device> dev(
                 rs2_create_software_device(&e),
-                rs2_delete_device);
+                deleter);
             error::handle(e);
             return dev;
         }
 
     public:
-        software_device()
-            : device(create_device_ptr())
-        {}
+        software_device(std::function<void(rs2_device*)> deleter = &rs2_delete_device)
+            : device(create_device_ptr(deleter))
+        {
+            this->set_destruction_callback([]{});
+        }
 
         software_device(std::string name)
-            : device(create_device_ptr())
+            : device(create_device_ptr(&rs2_delete_device))
         {
             update_info(RS2_CAMERA_INFO_NAME, name);
         }

scripts/setup_network_queues.sh

@@ -0,0 +1,6 @@
+#!/bin/bash -e
+
+echo 8388608 > /proc/sys/net/core/wmem_default
+echo 8388608 > /proc/sys/net/core/rmem_default
+
+echo "Setting-up network queues successfully changed"

src/compression/CMakeLists.txt

@@ -0,0 +1,57 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2019 Intel Corporation. All Rights Reserved.
+cmake_minimum_required(VERSION 3.9.0)
+
+project(realsense2-compression VERSION 1.0.0 LANGUAGES CXX C)
+# Save the command line compile commands in the build output
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
+
+set(DEPENDENCIES ${DEPENDENCIES} realsense2)
+
+file(GLOB COMPRESSION_SOURCES 
+ "*.hh"
+ "*.h"
+ "*.cpp"
+ "../ipDeviceCommon/*.h"
+ "../ipDeviceCommon/*.cpp"
+)
+
+add_library(${PROJECT_NAME} STATIC ${COMPRESSION_SOURCES})
+
+include_directories(${PROJECT_NAME}
+    ../../common
+    ../ipDeviceCommon
+)
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11)
+
+add_dependencies(realsense2-compression 
+    lz4
+    libjpeg-turbo
+    zlib
+)
+
+include_directories(${PROJECT_NAME}
+    ${CMAKE_BINARY_DIR}/zlib/include
+    ${CMAKE_BINARY_DIR}/libjpeg-turbo/include
+    ${CMAKE_BINARY_DIR}/lz4/include
+)
+
+target_link_libraries(${PROJECT_NAME}
+    PRIVATE ${DEPENDENCIES}
+    ${CMAKE_BINARY_DIR}/zlib/lib/libz.a
+    ${CMAKE_BINARY_DIR}/libjpeg-turbo/lib/libturbojpeg.a
+    ${CMAKE_BINARY_DIR}/lz4/lib/liblz4.a
+)
+
+if(BUILD_IPDEV_STATS)
+    add_definitions(-DSTATISTICS)
+endif()
+
+set_target_properties (${PROJECT_NAME} PROPERTIES FOLDER "Library")
+
+install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)

src/compression/CompressionFactory.cpp

@@ -0,0 +1,64 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+
+#include "RvlCompression.h"
+#include "GzipCompression.h"
+#include "JpegCompression.h"
+#include "Lz4Compression.h"
+#include "CompressionFactory.h"
+
+std::shared_ptr<ICompression> CompressionFactory::getObject(int t_width, int t_height, rs2_format t_format, rs2_stream t_streamType, int t_bpp)
+{       
+        ZipMethod zipMeth;
+        if (t_streamType == RS2_STREAM_COLOR || t_streamType == RS2_STREAM_INFRARED)
+        {
+                zipMeth = ZipMethod::jpeg;
+        }
+        else if (t_streamType == RS2_STREAM_DEPTH)
+        {
+                zipMeth = ZipMethod::lz;
+        }
+        if (!isCompressionSupported(t_format, t_streamType))
+        {
+                return nullptr;
+        }
+
+        switch (zipMeth)
+        {
+        case ZipMethod::gzip:
+                return std::make_shared<GzipCompression>(t_width, t_height, t_format, t_bpp);
+                break;
+        case ZipMethod::rvl:
+                return std::make_shared<RvlCompression>(t_width, t_height, t_format, t_bpp);
+                break;
+        case ZipMethod::jpeg:
+                return std::make_shared<JpegCompression>(t_width, t_height, t_format, t_bpp);
+                break;
+        case ZipMethod::lz:
+                return std::make_shared<Lz4Compression>(t_width, t_height, t_format, t_bpp);
+                break;
+        default:
+                printf("error: unknown zip method\n");
+                return nullptr;
+        }
+}
+
+bool & CompressionFactory::getIsEnabled()
+{
+        static bool m_isEnabled;
+        return m_isEnabled;
+};
+
+bool CompressionFactory::isCompressionSupported(rs2_format t_format, rs2_stream t_streamType)
+{
+        if (getIsEnabled() == 0)
+        {
+                return false;
+        }
+
+        if ((t_streamType == RS2_STREAM_COLOR || t_streamType == RS2_STREAM_INFRARED) && ( t_format != RS2_FORMAT_BGR8 && t_format != RS2_FORMAT_RGB8 && t_format != RS2_FORMAT_Y8 && t_format != RS2_FORMAT_YUYV && t_format != RS2_FORMAT_UYVY))
+        {
+                return false;
+        }
+        return true;
+}

src/compression/CompressionFactory.h

@@ -0,0 +1,23 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+
+#pragma once
+
+#include "ICompression.h"
+#define IS_COMPRESSION_ENABLED 1
+
+typedef enum ZipMethod
+{
+    gzip,
+    rvl,
+    jpeg,
+    lz,
+} ZipMethod;
+
+class CompressionFactory
+{
+public:
+    static std::shared_ptr<ICompression> getObject(int t_width, int t_height, rs2_format t_format, rs2_stream t_streamType, int t_bpp);
+    static bool isCompressionSupported(rs2_format t_format, rs2_stream t_streamType);
+    static bool &getIsEnabled();
+};