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Unity processing blocks #2164

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merged 6 commits into from
Aug 6, 2018
Merged

Unity processing blocks #2164

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ef23e17
C# - AllocateVideoFrame API added
matkatz Jul 29, 2018
cca7ea4
Unity - join single and multi processing blocks to single class
matkatz Jul 29, 2018
62c6a1a
Unity - move processing blocks to ProcessingPipe
matkatz Jul 29, 2018
3486fab
Unity - update alignment sample
matkatz Jul 30, 2018
ca574c3
Unity - remove toggle method from alignment filter
matkatz Jul 30, 2018
b858d4c
Unity - change RealSense prefix to Rs
matkatz Jul 30, 2018
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7 changes: 7 additions & 0 deletions wrappers/csharp/Intel.RealSense/Processing.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -237,6 +237,13 @@ public class FrameSource
internal FrameSource(HandleRef instance)
{
m_instance = instance;
}

public VideoFrame AllocateVideoFrame(StreamProfile profile, Frame original, int bpp, int width, int height, int stride, Extension extension = Extension.VideoFrame )
{
object error;
var fref = NativeMethods.rs2_allocate_synthetic_video_frame(m_instance.Handle, profile.m_instance.Handle, original.m_instance.Handle, bpp, width, height, stride, extension, out error);
return new VideoFrame(fref);
}

public FrameSet AllocateCompositeFrame(FramesReleaser releaser, params Frame[] frames)
Expand Down
2 changes: 1 addition & 1 deletion wrappers/unity/Assets/RealSenseSDK2.0/Editor/DefaultStreamPropertyDrawer.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
using UnityEditor;
using UnityEngine;

[CustomEditor(typeof(RealSenseStreamTexture), true)]
[CustomEditor(typeof(RsStreamTextureRenderer), true)]
public class DefaultStreamPropertyDrawer : Editor
{
bool hasDefault = false;
Expand Down
25 changes: 16 additions & 9 deletions ...nseSDK2.0/Editor/RealSenseDeviceEditor.cs → .../RealSenseSDK2.0/Editor/RsDeviceEditor.cs
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Expand Up @@ -2,8 +2,8 @@
using UnityEditor;
using UnityEngine;

[CustomEditor(typeof(RealSenseDevice))]
public class RealSenseDeviceEditor : Editor
[CustomEditor(typeof(RsDevice))]
public class RsDeviceEditor : Editor
{
private SerializedProperty config;
private SerializedProperty mode;
Expand Down Expand Up @@ -39,7 +39,7 @@ public override void OnInspectorGUI()

// EditorGUILayout.PropertyField(serializedObject.FindProperty("m_Script"), true);

var device = target as RealSenseDevice;
var device = target as RsDevice;
// bool isStreaming = device.ActiveProfile != null;
bool isStreaming = device.isActiveAndEnabled && device.ActiveProfile != null;

Expand All @@ -57,9 +57,9 @@ public override void OnInspectorGUI()

// EditorGUILayout.PropertyField(serializedObject.FindProperty("DeviceConfiguration"), true);

switch ((RealSenseConfiguration.Mode)mode.enumValueIndex)
switch ((RsConfiguration.Mode)mode.enumValueIndex)
{
case RealSenseConfiguration.Mode.Live:
case RsConfiguration.Mode.Live:
// EditorGUILayout.BeginHorizontal();
// var sn = config.FindPropertyRelative("RequestedSerialNumber");
// selectedSerial = EditorGUILayout.Popup(selectedSerial, names);
Expand All @@ -77,10 +77,13 @@ public override void OnInspectorGUI()

EditorGUILayout.Space();
EditorGUILayout.PropertyField(config.FindPropertyRelative("Profiles"), true);
EditorGUILayout.Space();
EditorGUILayout.PropertyField(serializedObject.FindProperty("_processingPipe"), false);
EditorGUILayout.Space();
EditorGUI.EndDisabledGroup();
break;

case RealSenseConfiguration.Mode.Playback:
case RsConfiguration.Mode.Playback:
{
EditorGUI.BeginDisabledGroup(isStreaming);
EditorGUILayout.BeginHorizontal();
Expand All @@ -95,10 +98,11 @@ public override void OnInspectorGUI()
}
}
EditorGUILayout.EndHorizontal();
EditorGUILayout.Space();
EditorGUILayout.PropertyField(serializedObject.FindProperty("_processingPipe"), false);
EditorGUILayout.Space();
EditorGUI.EndDisabledGroup();



if (isStreaming)
{
using (var playback = PlaybackDevice.FromDevice(device.ActiveProfile.Device))
Expand Down Expand Up @@ -163,7 +167,7 @@ public override void OnInspectorGUI()
}
break;

case RealSenseConfiguration.Mode.Record:
case RsConfiguration.Mode.Record:
{
EditorGUILayout.BeginHorizontal();
var prop = config.FindPropertyRelative("RecordPath");
Expand All @@ -180,6 +184,9 @@ public override void OnInspectorGUI()

EditorGUILayout.Space();
EditorGUILayout.PropertyField(config.FindPropertyRelative("Profiles"), true);
EditorGUILayout.Space();
EditorGUILayout.PropertyField(serializedObject.FindProperty("_processingPipe"), false);
EditorGUILayout.Space();
EditorGUI.EndDisabledGroup();
}
break;
Expand Down
0 ...K2.0/Editor/RealSenseDeviceEditor.cs.meta → ...SenseSDK2.0/Editor/RsDeviceEditor.cs.meta
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6 changes: 3 additions & 3 deletions .../Editor/RealSenseDeviceInspectorEditor.cs → ...eSDK2.0/Editor/RsDeviceInspectorEditor.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@ public static bool IsIntegersOnly(this Sensor.CameraOption opt)
}


[CustomEditor(typeof(RealSenseDeviceInspector))]
public class RealSenseDeviceInspectorEditor : Editor
[CustomEditor(typeof(RsDeviceInspector))]
public class RsDeviceInspectorEditor : Editor
{
public static void DrawHorizontal(string field, string value)
{
Expand All @@ -58,7 +58,7 @@ protected override bool ShouldHideOpenButton()

public override void OnInspectorGUI()
{
var deviceInspector = target as RealSenseDeviceInspector;
var deviceInspector = target as RsDeviceInspector;
if (!deviceInspector.streaming)
{
EditorGUILayout.HelpBox("Start streaming to see device settings", MessageType.Info);
Expand Down
0 ...or/RealSenseDeviceInspectorEditor.cs.meta → ....0/Editor/RsDeviceInspectorEditor.cs.meta
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44 changes: 22 additions & 22 deletions wrappers/unity/Assets/RealSenseSDK2.0/Editor/Tests/NewPlayModeTest.cs
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Expand Up @@ -13,11 +13,11 @@ public class NewPlayModeTest
[Category("Live")]
public IEnumerator TestLiveCamera()
{
var go = new GameObject("RealSenseDevice", typeof(RealSenseDevice));
var go = new GameObject("RealSenseDevice", typeof(RsDevice));
Assert.NotNull(go);
Assert.NotNull(go.GetComponent<RealSenseDevice>());
Assert.NotNull(go.GetComponent<RsDevice>());

var rs = RealSenseDevice.Instance;
var rs = RsDevice.Instance;
Assert.NotNull(rs);

bool started = false;
Expand All @@ -39,31 +39,31 @@ public IEnumerator TestLiveCamera()
GameObject.Destroy(go);
yield return null;
Assert.That(go == null);
Assert.IsNull(RealSenseDevice.Instance);
Assert.IsNull(RsDevice.Instance);
}

[UnityTest]
[Category("Live")]
public IEnumerator TestLiveDepthTexture()
{
var go = new GameObject("RealSenseDevice", typeof(RealSenseDevice));
var go = new GameObject("RealSenseDevice", typeof(RsDevice));

var depth_go = new GameObject("Depth");
var depth = depth_go.AddComponent<RealSenseStreamTexture>();
var depth = depth_go.AddComponent<RsStreamTextureRenderer>();

depth._stream = Stream.Depth;
depth._format = Format.Z16;

depth.textureBinding = new RealSenseStreamTexture.TextureEvent();
depth.textureBinding = new RsStreamTextureRenderer.TextureEvent();
Assert.IsNotNull(depth.textureBinding);

Texture depth_tex = null;
depth.textureBinding.AddListener(t => depth_tex = t);

yield return new WaitUntil(() => RealSenseDevice.Instance.Streaming);
yield return new WaitUntil(() => RsDevice.Instance.Streaming);
Assert.IsNotNull(depth_tex);

using (var depth_profile = RealSenseDevice.Instance.ActiveProfile.GetStream(Stream.Depth) as VideoStreamProfile)
using (var depth_profile = RsDevice.Instance.ActiveProfile.GetStream(Stream.Depth) as VideoStreamProfile)
{
Assert.AreEqual(depth_tex.width, depth_profile.Width);
Assert.AreEqual(depth_tex.height, depth_profile.Height);
Expand All @@ -78,8 +78,8 @@ public IEnumerator TestLiveDepthTexture()
[Category("Live")]
public IEnumerator TestDisabledNoStart()
{
var go = new GameObject("RealSenseDevice", typeof(RealSenseDevice));
var rs = RealSenseDevice.Instance;
var go = new GameObject("RealSenseDevice", typeof(RsDevice));
var rs = RsDevice.Instance;

rs.OnStop += Assert.Fail;
rs.OnStart += delegate
Expand All @@ -92,15 +92,15 @@ public IEnumerator TestDisabledNoStart()
GameObject.Destroy(go);
yield return null;
Assert.That(go == null);
Assert.IsNull(RealSenseDevice.Instance);
Assert.IsNull(RsDevice.Instance);
}

[UnityTest]
[Category("Live")]
public IEnumerator TestDisableStop()
{
var go = new GameObject("RealSenseDevice", typeof(RealSenseDevice));
var rs = RealSenseDevice.Instance;
var go = new GameObject("RealSenseDevice", typeof(RsDevice));
var rs = RsDevice.Instance;

bool started = false;
rs.OnStart += delegate
Expand Down Expand Up @@ -129,8 +129,8 @@ public IEnumerator TestDisableStop()
[Category("Live")]
public void TestExtrinsics()
{
var go = new GameObject("RealSenseDevice", typeof(RealSenseDevice));
var rs = RealSenseDevice.Instance;
var go = new GameObject("RealSenseDevice", typeof(RsDevice));
var rs = RsDevice.Instance;

var depth = rs.ActiveProfile.GetStream(Stream.Depth);
Assert.IsNotNull(depth);
Expand All @@ -149,13 +149,13 @@ public void TestExtrinsics()
[Category("Live"), Category("Record")]
public IEnumerator TestRecord()
{
var go = new GameObject("RealSenseDevice", typeof(RealSenseDevice));
var rs = RealSenseDevice.Instance;
var go = new GameObject("RealSenseDevice", typeof(RsDevice));
var rs = RsDevice.Instance;

go.SetActive(false);

rs.processMode = RealSenseDevice.ProcessMode.UnityThread;
rs.DeviceConfiguration.mode = RealSenseConfiguration.Mode.Record;
rs.processMode = RsDevice.ProcessMode.UnityThread;
rs.DeviceConfiguration.mode = RsConfiguration.Mode.Record;
var path = "D:/test.bag";
rs.DeviceConfiguration.RecordPath = path;

Expand Down Expand Up @@ -186,15 +186,15 @@ public IEnumerator TestPlayback()
var go = new GameObject("RealSenseDevice");
go.SetActive(false);

var rs = go.AddComponent<RealSenseDevice>();
var rs = go.AddComponent<RsDevice>();

Debug.Log(JsonUtility.ToJson(rs.DeviceConfiguration, true));

var path = "D:/test.bag";
var fi = new System.IO.FileInfo(path);
Assert.True(fi.Exists);
rs.DeviceConfiguration.PlaybackFile = path;
rs.DeviceConfiguration.mode = RealSenseConfiguration.Mode.Playback;
rs.DeviceConfiguration.mode = RsConfiguration.Mode.Playback;
rs.DeviceConfiguration.Profiles = null;

Debug.Log(JsonUtility.ToJson(rs.DeviceConfiguration, true));
Expand Down
8 changes: 4 additions & 4 deletions ...2.0/Misc/Utils/RealSenseDeviceListener.cs → ...enseSDK2.0/Misc/Utils/RsDeviceListener.cs
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Expand Up @@ -6,9 +6,9 @@
using System.Threading;
using UnityEngine;

public class RealSenseDeviceListener : MonoBehaviour
public class RsDeviceListener : MonoBehaviour
{
public static RealSenseDeviceListener Instance { get; private set; }
public static RsDeviceListener Instance { get; private set; }
private Context ctx;
private Pipeline pipeline;
readonly List<Device> m_added = new List<Device>();
Expand Down Expand Up @@ -39,9 +39,9 @@ void Update()
{
if (e.WaitOne(0))
{
var avail = FindObjectsOfType<RealSenseStreamAvailability>();
var avail = FindObjectsOfType<RsStreamAvailability>();
AutoResetEvent done = new AutoResetEvent(false);
Dictionary<RealSenseStreamAvailability, bool> resolvables = new Dictionary<RealSenseStreamAvailability, bool>();
Dictionary<RsStreamAvailability, bool> resolvables = new Dictionary<RsStreamAvailability, bool>();
int tasks = avail.Count();
foreach (var a in avail)
{
Expand Down
0 ...isc/Utils/RealSenseDeviceListener.cs.meta → ...DK2.0/Misc/Utils/RsDeviceListener.cs.meta
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4 changes: 2 additions & 2 deletions ...Misc/Utils/RealSenseStreamAvailability.cs → ...SDK2.0/Misc/Utils/RsStreamAvailability.cs
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Expand Up @@ -4,9 +4,9 @@
using System;
using UnityEngine.Events;

public class RealSenseStreamAvailability : MonoBehaviour
public class RsStreamAvailability : MonoBehaviour
{
public RealSenseConfiguration DeviceConfiguration;
public RsConfiguration DeviceConfiguration;

[Space]
public UnityEvent OnDeviceAvailable;
Expand Down
0 ...Utils/RealSenseStreamAvailability.cs.meta → ...0/Misc/Utils/RsStreamAvailability.cs.meta
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32 changes: 15 additions & 17 deletions wrappers/unity/Assets/RealSenseSDK2.0/Prefabs/PointCloud.prefab
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Expand Up @@ -9,45 +9,45 @@ Prefab:
m_Modifications: []
m_RemovedComponents: []
m_ParentPrefab: {fileID: 0}
m_RootGameObject: {fileID: 1749190083057562}
m_RootGameObject: {fileID: 1308323762867094}
m_IsPrefabParent: 1
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GameObject:
m_ObjectHideFlags: 0
m_PrefabParentObject: {fileID: 0}
m_PrefabInternal: {fileID: 100100000}
serializedVersion: 5
m_Component:
- component: {fileID: 4810509327237356}
- component: {fileID: 33048205770214360}
- component: {fileID: 23076220388684884}
- component: {fileID: 114128454867765796}
- component: {fileID: 4093320342193112}
- component: {fileID: 33879412422067796}
- component: {fileID: 23213942756892742}
- component: {fileID: 114148710568042142}
m_Layer: 0
m_Name: PointCloud
m_TagString: Untagged
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
--- !u!4 &4810509327237356
--- !u!4 &4093320342193112
Transform:
m_ObjectHideFlags: 1
m_PrefabParentObject: {fileID: 0}
m_PrefabInternal: {fileID: 100100000}
m_GameObject: {fileID: 1749190083057562}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_GameObject: {fileID: 1308323762867094}
m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children: []
m_Father: {fileID: 0}
m_RootOrder: 0
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- !u!23 &23076220388684884
--- !u!23 &23213942756892742
MeshRenderer:
m_ObjectHideFlags: 1
m_PrefabParentObject: {fileID: 0}
m_PrefabInternal: {fileID: 100100000}
m_GameObject: {fileID: 1749190083057562}
m_GameObject: {fileID: 1308323762867094}
m_Enabled: 1
m_CastShadows: 1
m_ReceiveShadows: 1
Expand Down Expand Up @@ -77,23 +77,21 @@ MeshRenderer:
m_SortingLayerID: 0
m_SortingLayer: 0
m_SortingOrder: 0
--- !u!33 &33048205770214360
--- !u!33 &33879412422067796
MeshFilter:
m_ObjectHideFlags: 1
m_PrefabParentObject: {fileID: 0}
m_PrefabInternal: {fileID: 100100000}
m_GameObject: {fileID: 1749190083057562}
m_GameObject: {fileID: 1308323762867094}
m_Mesh: {fileID: 0}
--- !u!114 &114128454867765796
--- !u!114 &114148710568042142
MonoBehaviour:
m_ObjectHideFlags: 1
m_PrefabParentObject: {fileID: 0}
m_PrefabInternal: {fileID: 100100000}
m_GameObject: {fileID: 1749190083057562}
m_GameObject: {fileID: 1308323762867094}
m_Enabled: 1
m_EditorHideFlags: 0
m_Script: {fileID: 11500000, guid: 701924db2ae3d894aafb2d751551e249, type: 3}
m_Name:
m_EditorClassIdentifier:
stream: 1
DebugDrawing: 1
5 changes: 2 additions & 3 deletions wrappers/unity/Assets/RealSenseSDK2.0/Prefabs/PointCloud.prefab.meta
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