on chip calibration bug fixes

common/model-views.h

@@ -157,6 +157,7 @@ namespace rs2
         namespace viewer
         {
             static const char* is_3d_view          { "viewer_model.is_3d_view" };
+            static const char* ground_truth_r      { "viewer_model.ground_truth_r" };
             static const char* continue_with_ui_not_aligned { "viewer_model.continue_with_ui_not_aligned" };
             static const char* continue_with_current_fw{ "viewer_model.continue_with_current_fw" };
             static const char* settings_tab        { "viewer_model.settings_tab" };

common/on-chip-calib.cpp

@@ -335,6 +335,9 @@ namespace rs2
         _in_3d_view = _viewer.is_3d_view;
         _viewer.is_3d_view = true;
 
+        config_file::instance().set(configurations::viewer::ground_truth_r, ground_truth);
+
+
         auto calib_dev = _dev.as<auto_calibrated_device>();
         _old_calib = calib_dev.get_calibration_table();
 
@@ -390,6 +393,9 @@ namespace rs2
 
             _viewer.is_3d_view = _in_3d_view;
 
+            _viewer.ground_truth_r = ground_truth;
+            config_file::instance().set(configurations::viewer::ground_truth_r, ground_truth);
+
             _viewer.synchronization_enable = _synchronized;
 
             stop_viewer(invoke);
@@ -431,7 +437,7 @@ namespace rs2
         using namespace chrono;
 
         auto health = get_manager().get_health();
-        auto recommend_keep = health > 0.25;
+        auto recommend_keep = fabs(health) > 0.25f;  
         if (!recommend_keep && update_state == RS2_CALIB_STATE_CALIB_COMPLETE && !get_manager().tare)
         {
             auto sat = 1.f + sin(duration_cast<milliseconds>(system_clock::now() - created_time).count() / 700.f) * 0.1f;
@@ -505,6 +511,8 @@ namespace rs2
 
             if (update_state == RS2_CALIB_STATE_TARE_INPUT || update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED)
                 ImGui::SetCursorScreenPos({ float(x + width - 30), float(y) });
+            else if (update_state == RS2_CALIB_STATE_FAILED)
+                ImGui::SetCursorScreenPos({ float(x + 2), float(y + 27) });
             else
                 ImGui::SetCursorScreenPos({ float(x + 9), float(y + 27) });
 
@@ -557,7 +565,7 @@ namespace rs2
                     ImGui::Text("%s", "Avg Step Count:");
                     if (ImGui::IsItemHovered())
                     {
-                        ImGui::SetTooltip("%s", "Number of frames to average, Min = 1, Max = 30, Default = 10");
+                        ImGui::SetTooltip("%s", "Number of frames to average, Min = 1, Max = 30, Default = 20"); 
                     }
                     ImGui::SetCursorScreenPos({ float(x + 135), float(y + 30) });
 
@@ -572,7 +580,7 @@ namespace rs2
                     ImGui::Text("%s", "Step Count:");
                     if (ImGui::IsItemHovered())
                     {
-                        ImGui::SetTooltip("%s", "Max iteration steps, Min = 5, Max = 30, Default = 10");
+                        ImGui::SetTooltip("%s", "Max iteration steps, Min = 5, Max = 30, Default = 20");
                     }
                     ImGui::SetCursorScreenPos({ float(x + 135), float(y + 35 + ImGui::GetTextLineHeightWithSpacing()) });
 
@@ -636,6 +644,8 @@ namespace rs2
 
                 std::string id = to_string() << "##ground_truth_for_tare" << index;
 
+                get_manager().ground_truth = config_file::instance().get_or_default(configurations::viewer::ground_truth_r,2500);
+
                 std::string gt = to_string() << get_manager().ground_truth;
                 const int MAX_SIZE = 256;
                 char buff[MAX_SIZE];
@@ -650,6 +660,8 @@ namespace rs2
                 }
                 ImGui::PopItemWidth();
 
+                config_file::instance().set(configurations::viewer::ground_truth_r, get_manager().ground_truth);
+
                 auto sat = 1.f + sin(duration_cast<milliseconds>(system_clock::now() - created_time).count() / 700.f) * 0.1f;
 
                 ImGui::PushStyleColor(ImGuiCol_Button, saturate(sensor_header_light_blue, sat));
@@ -689,6 +701,7 @@ namespace rs2
                 for (auto&& s : vals) vals_cstr.push_back(s.c_str());
 
                 ImGui::PushItemWidth(width - 145);
+
                 ImGui::Combo(id.c_str(), &get_manager().speed, vals_cstr.data(), vals.size());
                 ImGui::PopItemWidth();
 
@@ -751,7 +764,7 @@ namespace rs2
             {
                 auto health = get_manager().get_health();
 
-                auto recommend_keep = health > 0.25;
+                auto recommend_keep = fabs(health) > 0.25f;
 
                 ImGui::SetCursorScreenPos({ float(x + 15), float(y + 33) });
 
@@ -789,7 +802,7 @@ namespace rs2
                         ImGui::PushStyleColor(ImGuiCol_Text, light_blue);
                         ImGui::Text("%s", "(Good)");
                     }
-                    else if (health < 0.75f)
+                    else if (fabs(health) < 0.75f)
                     {
                         ImGui::PushStyleColor(ImGuiCol_Text, yellowish);
                         ImGui::Text("%s", "(Can be Improved)");
@@ -804,9 +817,9 @@ namespace rs2
                     if (ImGui::IsItemHovered())
                     {
                         ImGui::SetTooltip("%s", "Calibration Health-Check captures how far camera calibration is from the optimal one\n"
-                            "[0, 0.15) - Good\n"
-                            "[0.15, 0.25) - Can be Improved\n"
-                            "[0.25, ) - Requires Calibration");
+                            "[0, 0.25) - Good\n"
+                            "[0.25, 0.75) - Can be Improved\n"
+                            "[0.75, ) - Requires Calibration");
                     }
                 }
 
@@ -1130,6 +1143,7 @@ namespace rs2
         else if (update_state == RS2_CALIB_STATE_SELF_INPUT) return 110;
         else if (update_state == RS2_CALIB_STATE_TARE_INPUT) return 85;
         else if (update_state == RS2_CALIB_STATE_TARE_INPUT_ADVANCED) return 210;
+        else if (update_state == RS2_CALIB_STATE_FAILED) return 110;
         else return 100;
     }
 

common/on-chip-calib.h

@@ -26,6 +26,8 @@ namespace rs2
             : process_manager("On-Chip Calibration"), _model(model),
              _dev(dev), _sub(sub), _viewer(viewer)
         {
+                auto dev_name = dev.get_info(RS2_CAMERA_INFO_NAME);
+                if (!strcmp(dev_name, "Intel RealSense D415")) { speed = 4; }
         }
 
         bool allow_calib_keep() const { return true; }

common/ux-window.cpp

@@ -38,6 +38,7 @@ namespace rs2
         config_file::instance().set_default(configurations::viewer::log_to_file, false);
         config_file::instance().set_default(configurations::viewer::log_severity, 2);
         config_file::instance().set_default(configurations::viewer::metric_system, true);
+        config_file::instance().set_default(configurations::viewer::ground_truth_r, 2500);
 
         config_file::instance().set_default(configurations::record::compression_mode, 2); // Let the device decide
         config_file::instance().set_default(configurations::record::default_path, get_folder_path(special_folder::user_documents));

common/viewer.cpp

@@ -758,6 +758,9 @@ namespace rs2
         is_3d_view = config_file::instance().get_or_default(
             configurations::viewer::is_3d_view, false);
 
+        ground_truth_r = config_file::instance().get_or_default(
+            configurations::viewer::ground_truth_r, 2500);
+
         metric_system = config_file::instance().get_or_default(
             configurations::viewer::metric_system, true);
 

common/viewer.h

@@ -134,6 +134,7 @@ namespace rs2
         bool is_3d_view = false;
         bool paused = false;
         bool metric_system = true;
+        uint32_t ground_truth_r = 2500;
 
         enum export_type
         {

src/ds5/ds5-auto-calibration.cpp

@@ -310,7 +310,7 @@ namespace librealsense
             }
 
             if (progress_callback)
-                progress_callback->on_update_progress(count * (2 * speed)); //curently this number does not reflect the actual progress
+                progress_callback->on_update_progress(count++ * (2 * speed)); //curently this number does not reflect the actual progress
 
             now = std::chrono::high_resolution_clock::now();
 

src/hw-monitor.cpp

@@ -152,7 +152,7 @@ namespace librealsense
         if (opCodeAsUint32 != opCodeXmit)
         {
             auto err_type = static_cast<hwmon_response>(opCodeAsUint32);
-            throw invalid_value_exception(to_string() << "hwmon command 0x" << std::hex << opCodeXmit << " failed. Error type: "
+            throw invalid_value_exception(to_string() << "hwmon command 0x" << std::hex << opCodeXmit << " failed.\nError type: "
                 << hwmon_error2str(err_type) << " (" << std::dec <<(int)err_type  << ").");
         }