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PR IntelRealSense#10948 from OhadMeir: Fix DSO-18454 laser turned off…
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… after calibration
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@Nir-Az
Nir-Az authored Oct 27, 2022
2 parents 824237e + 7f270f2 commit 6b9ed48
Showing 1 changed file with 70 additions and 14 deletions.
84 changes: 70 additions & 14 deletions common/on-chip-calib.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -400,17 +400,6 @@ namespace rs2
bool frame_arrived = false;
try
{
if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
{
laser_status_prev = _sub->s->get_option(RS2_OPTION_EMITTER_ENABLED);
_sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f);
}
if (_sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
{
thermal_loop_prev = _sub->s->get_option(RS2_OPTION_THERMAL_COMPENSATION);
_sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, 0.f);
}

bool run_fl_calib = ( (action == RS2_CALIB_ACTION_FL_CALIB) && (w == 1280) && (h == 720));
if (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH)
{
Expand All @@ -423,7 +412,6 @@ namespace rs2
break;
}
}

}
else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB)
{
Expand Down Expand Up @@ -1133,12 +1121,46 @@ namespace rs2
else
try_start_viewer(256, 144, 90, invoke);

if (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH)
if ( action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH )
{
//Laser should be turned off during ground truth calculation
//Use options_model::set_option to update GUI after change
std::string ignored_error_message { "" };
auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED );
if ( it != _sub->options_metadata.end() ) //Option supported
{
laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED );
it->second.set_option( RS2_OPTION_EMITTER_ENABLED, 0.0f, ignored_error_message );
}

get_ground_truth();

//Restore laser
if ( it != _sub->options_metadata.end() ) //Option supported
{
it->second.set_option( RS2_OPTION_EMITTER_ENABLED, laser_status_prev, ignored_error_message );
}
}
else
{
try
{
//Save options that are going to change during the calibration
//Use options_model::set_option to update GUI after change
std::string ignored_error_message { "" };
auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED );
if ( it != _sub->options_metadata.end() ) //Option supported
{
laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED );
it->second.set_option( RS2_OPTION_EMITTER_ENABLED, 1.0f, ignored_error_message );
}
it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION );
if ( it != _sub->options_metadata.end() ) //Option supported
{
thermal_loop_prev = _sub->s->get_option( RS2_OPTION_THERMAL_COMPENSATION );
it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, 0.0f, ignored_error_message );
}

if (action == RS2_CALIB_ACTION_FL_CALIB)
calibrate_fl();
else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB)
Expand All @@ -1160,8 +1182,25 @@ namespace rs2
_sub_color->ui = *_ui_color;
_ui_color.reset();
}

//Restore options that were changed during the calibration.
//When calibration is successful options are restored in autocalib_notification_model::draw_content()
//Use options_model::set_option to update GUI after change
std::string ignored_error_message { "" };
auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED );
if ( it != _sub->options_metadata.end() ) //Option supported
{
it->second.set_option( RS2_OPTION_EMITTER_ENABLED, laser_status_prev, ignored_error_message );
}
it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION );
if ( it != _sub->options_metadata.end() ) //Option supported
{
it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, thermal_loop_prev, ignored_error_message );
}

if (_was_streaming)
start_viewer(0, 0, 0, invoke);

throw;
}
}
Expand Down Expand Up @@ -1985,12 +2024,29 @@ namespace rs2
}
else if (update_state == RS2_CALIB_STATE_CALIB_COMPLETE)
{
if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB ||
get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB )
{
//Restore options that were changed during the calibration.
//Use options_model::set_option to update GUI after change
std::string ignored_error_message { "" };
auto it = get_manager()._sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED );
if ( it != get_manager()._sub->options_metadata.end() ) //Option supported
{
it->second.set_option( RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev, ignored_error_message );
}
it = get_manager()._sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION );
if ( it != get_manager()._sub->options_metadata.end() ) //Option supported
{
it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev, ignored_error_message );
}
}
if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB)
{
if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
get_manager()._sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev);
if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().laser_status_prev);
get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev);

ImGui::SetCursorScreenPos({ float(x + 20), float(y + 33) });
ImGui::Text("%s", "Health-Check Number for PX: ");
Expand Down

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