Add reflectivity tool to Depth Quality Tool application - #7675
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maloel
reviewed
Oct 29, 2020
| { | ||
| if (value == 1.0f) | ||
| { | ||
| auto &max_usable_range_option = _l500_depth_dev->get_depth_sensor().get_option(RS2_OPTION_ENABLE_MAX_USABLE_RANGE); |
Contributor
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I think we should do this only AFTER we've checked that all the other options are acceptable...
maloel
reviewed
Oct 29, 2020
maloel
reviewed
Oct 29, 2020
| const char * ir_reflectivity_option::get_description() const | ||
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| return "IR Reflectivity Tool� calculates the percentage of IR light reflected by the " |
Contributor
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There's a symbol � after Tool that I don't think should be there
maloel
reviewed
Oct 29, 2020
| { | ||
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| return "IR Reflectivity Tool� calculates the percentage of IR light reflected by the " | ||
| "object and returns to the camera for processing.\n For example, a value of 60% means " |
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Space after \n shouldn't be there
maloel
reviewed
Oct 29, 2020
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| return "IR Reflectivity Tool� calculates the percentage of IR light reflected by the " | ||
| "object and returns to the camera for processing.\n For example, a value of 60% means " | ||
| "that 60% of the IR light projected by L515 is reflected by the object and returns " |
maloel
reviewed
Oct 29, 2020
| CASE(HUMIDITY_TEMPERATURE) | ||
| CASE(ENABLE_MAX_USABLE_RANGE) | ||
| CASE(NOISE_ESTIMATION) | ||
| CASE(ENABLE_IR_REFLECTIVITY) |
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I think you need to override this one manually to return Enable IR Reflectivity
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Cause we want capitalized R in IR ?
maloel
reviewed
Oct 29, 2020
maloel
reviewed
Oct 29, 2020
| .value("sequence_id", RS2_OPTION_SEQUENCE_ID) | ||
| .value("humidity_temperature", RS2_OPTION_HUMIDITY_TEMPERATURE) | ||
| .value("enable_max_usable_range", RS2_OPTION_ENABLE_MAX_USABLE_RANGE) | ||
| .value("noise_estimation", RS2_OPTION_NOISE_ESTIMATION) |
maloel
reviewed
Oct 29, 2020
| std::shared_ptr<updates_model> updates; | ||
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| bool draw_max_usable_range = true; | ||
| std::unordered_set<int> _hided_options; |
Contributor
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_hidden_options? No such thing as hided :)
maloel
reviewed
Oct 29, 2020
maloel
reviewed
Oct 29, 2020
maloel
reviewed
Oct 29, 2020
maloel
reviewed
Oct 29, 2020
| if (_reflectivity_data_collected) | ||
| { | ||
| viewer.ref.reset(); | ||
| _reflectivity_data_collected = false; |
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Can't we make it so the Reflectivity class knows whether data has been collected (essentially, if it's not empty)?
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We can I thought about it too but wasn't sure what I preffer , if you think its better I can change.
maloel
reviewed
Oct 31, 2020
maloel
reviewed
Oct 31, 2020
maloel
reviewed
Oct 31, 2020
| viewer.ref.add_input(val, x, y); | ||
| _reflectivity_data_collected = true; | ||
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| float noise_est = ds.get_option(RS2_OPTION_NOISE_ESTIMATION); |
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Remind me -- the noise estimation is now shown in the Viewer? With the temperatures?
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Yes, I will add it to the hidden options for the viewer+ DQT since nobody asked for it.
maloel
reviewed
Oct 31, 2020
maloel
reviewed
Oct 31, 2020
| try | ||
| { | ||
| pixel_ref = viewer.ref.get_reflectivity(noise_est, max_usable_range, ir_val); | ||
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maloel
reviewed
Oct 31, 2020
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maloel
reviewed
Nov 2, 2020
| return false; | ||
| } ); | ||
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| if (0 == count_valid) |
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Needed? Why not just use _filt_dist_arr.empty()?
maloel
reviewed
Nov 2, 2020
| float reflectivity::get_reflectivity(float raw_noise_estimation,float max_usable_range, float ir_val) const | ||
| { | ||
| //Calculating STD over time(temporal noise), when there are more than 5 % invalid return high value | ||
| std::vector<float> _filt_dist_arr(STD_PERIOD); |
maloel
reviewed
Nov 2, 2020
| using namespace rs2; | ||
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| static const int STD_PERIOD = 100; |
Contributor
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N_STD_FRAMES? Period implies time...
maloel
reviewed
Nov 2, 2020
| return true; | ||
| } | ||
| return false; | ||
| } ); |
maloel
reviewed
Nov 2, 2020
| static const int VGA_HALF_WIDTH = 320; | ||
| static const int VGA_HALF_HEIGHT = 240; | ||
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| static bool is_close_to_zero(float x) { return (std::abs(x) < std::numeric_limits<float>::epsilon()); } |
maloel
reviewed
Nov 2, 2020
| { | ||
| float variance = 0.0f; | ||
| for( auto val : _filt_dist_arr ) | ||
| variance += pow( val - mean, 2.0f ); |
Contributor
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Can't we do all this why we're counting count_valid? Then maybe we don't need to copy to another vector?
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Changed as discussed (count_vaid removed)
maloel
reviewed
Nov 2, 2020
| standard_deviation = sqrt( variance ); | ||
| } | ||
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| //Range is calculated based on position in map(assuming 0 tilt) Distance is just based on plane distance |
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Space between // and the text, please
maloel
reviewed
Nov 2, 2020
| } | ||
| catch (...) {}; | ||
| if (pixel_ref != -1.0f) | ||
| ref_str = to_string() << std::dec << round(pixel_ref * 100) << "%"; |
maloel
reviewed
Nov 2, 2020
| auto max_usable_range = mur_sensor.get_max_usable_depth_range(); | ||
| reflectivity_valid = true; | ||
| std::string ref_str = "N/A"; | ||
| float pixel_ref = -1.0f; |
maloel
reviewed
Nov 2, 2020
| { | ||
| pixel_ref = _reflectivity->get_reflectivity(noise_est, max_usable_range, ir_val); | ||
| } | ||
| catch (...) {}; |
maloel
reviewed
Nov 2, 2020
| && ds.supports( RS2_OPTION_ENABLE_MAX_USABLE_RANGE ) | ||
| && ( p.stream_type() == RS2_STREAM_INFRARED ) || ( p.stream_type() == RS2_STREAM_DEPTH ) ) | ||
| { | ||
| _reflectivity = std::unique_ptr< reflectivity >(new reflectivity()); |
Contributor
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Can't we check whether it's skipped here rather than later?
maloel
reviewed
Nov 2, 2020
| variance += pow( val - mean, 2.0f ); | ||
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| variance = variance / _filt_dist_arr.size(); | ||
| standard_deviation = sqrt( variance ); |
Contributor
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This is a double conversion, no? Maybe use std::sqrt...
Make sure no warnings.
maloel
reviewed
Nov 2, 2020
| static bool is_close_to_zero(float x) { return (std::abs(x) < std::numeric_limits<float>::epsilon()); } | ||
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| reflectivity::reflectivity() : _is_empty(false) |
Nir-Az
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maloel
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Nov 3, 2020
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Adding reflectivity tool to DQT:
UI:
Note: This PR does not contain all logical conditions for activating IR Reflectivity
Tracked on [RS5-9263]