Enabling LRS examples/tutorials on SR306

examples/align/rs-align.cpp

@@ -33,6 +33,10 @@ void render_slider(rect location, float* alpha, direction* dir);
 
 int main(int argc, char * argv[]) try
 {
+    std::string serial;
+    if (!device_with_streams({ RS2_STREAM_COLOR,RS2_STREAM_DEPTH }, serial))
+        return EXIT_SUCCESS;
+
     // Create and initialize GUI related objects
     window app(1280, 720, "RealSense Align Example"); // Simple window handling
     ImGui_ImplGlfw_Init(app, false);      // ImGui library intializition
@@ -42,6 +46,8 @@ int main(int argc, char * argv[]) try
     // Create a pipeline to easily configure and start the camera
     rs2::pipeline pipe;
     rs2::config cfg;
+    if (!serial.empty())
+        cfg.enable_device(serial);
     cfg.enable_stream(RS2_STREAM_DEPTH);
     cfg.enable_stream(RS2_STREAM_COLOR);
     pipe.start(cfg);

examples/ar-advanced/rs-ar-advanced.cpp

@@ -54,6 +54,10 @@ std::vector<uint8_t> bytes_from_raw_file(const std::string& filename);
 
 int main(int argc, char * argv[]) try
 {
+    std::string serial;
+    if (!device_with_streams({ RS2_STREAM_POSE,RS2_STREAM_FISHEYE }, serial))
+        return EXIT_SUCCESS;
+
     std::string out_map_filepath, in_map_filepath, default_filepath = "map.raw";
     for (int c = 1; c < argc; ++c) {
         if (!std::strcmp(argv[c], "-m") || !std::strcmp(argv[c], "--load_map")) {
@@ -76,6 +80,8 @@ int main(int argc, char * argv[]) try
     rs2::pipeline pipe;
     // Create a configuration for configuring the pipeline with a non default profile
     rs2::config cfg;
+    if (!serial.empty())
+        cfg.enable_device(serial);
     // Enable fisheye and pose streams
     cfg.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
     cfg.enable_stream(RS2_STREAM_FISHEYE, 1);

examples/example-utils.hpp

@@ -0,0 +1,74 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2021 Intel Corporation. All Rights Reserved.
+
+#pragma once
+#include <iostream>
+#include <string>
+#include <map>
+#include <librealsense2/rs.hpp>
+#include <algorithm>
+
+//////////////////////////////
+// Demos Helpers            //
+//////////////////////////////
+
+// Find devices with specified streams
+bool device_with_streams(std::vector <rs2_stream> stream_requests, std::string& out_serial)
+{
+    rs2::context ctx;
+    auto devs = ctx.query_devices();
+    std::vector <rs2_stream> unavailable_streams = stream_requests;
+    for (auto dev : devs)
+    {
+        std::map<rs2_stream, bool> found_streams;
+        for (auto& type : stream_requests)
+        {
+            found_streams[type] = false;
+            for (auto& sensor : dev.query_sensors())
+            {
+                for (auto& profile : sensor.get_stream_profiles())
+                {
+                    if (profile.stream_type() == type)
+                    {
+                        found_streams[type] = true;
+                        unavailable_streams.erase(std::remove(unavailable_streams.begin(), unavailable_streams.end(), type), unavailable_streams.end());
+                        if (dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER))
+                            out_serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
+                    }
+                }
+            }
+        }
+        // Check if all streams are found in current device
+        bool found_all_streams = true;
+        for (auto& stream : found_streams)
+        {
+            if (!stream.second)
+            {
+                found_all_streams = false;
+                break;
+            }
+        }
+        if (found_all_streams)
+            return true;
+    }
+    // After scanning all devices, not all requested streams were found
+    for (auto& type : unavailable_streams)
+    {
+        switch (type)
+        {
+        case RS2_STREAM_POSE:
+        case RS2_STREAM_FISHEYE:
+            std::cerr << "Connect T26X and rerun the demo" << std::endl;
+            break;
+        case RS2_STREAM_DEPTH:
+            std::cerr << "The demo requires Realsense camera with DEPTH sensor" << std::endl;
+            break;
+        case RS2_STREAM_COLOR:
+            std::cerr << "The demo requires Realsense camera with RGB sensor" << std::endl;
+            break;
+        default:
+            throw std::runtime_error("The requested stream: " + std::to_string(type) + ", for the demo is not supported by connected devices!"); // stream type
+        }
+    }
+    return false;
+}

examples/example.hpp

@@ -19,6 +19,7 @@
 #include <functional>
 
 #include "../third-party/stb_easy_font.h"
+#include "example-utils.hpp"
 
 #ifndef PI
 #define PI  3.14159265358979323846

examples/measure/rs-measure.cpp

@@ -99,6 +99,10 @@ void render_simple_distance(const rs2::depth_frame& depth,
 
 int main(int argc, char * argv[]) try
 {
+    std::string serial;
+    if (!device_with_streams({ RS2_STREAM_COLOR,RS2_STREAM_DEPTH }, serial))
+        return EXIT_SUCCESS;
+
     // OpenGL textures for the color and depth frames
     texture depth_image, color_image;
 
@@ -133,6 +137,8 @@ int main(int argc, char * argv[]) try
     rs2::pipeline pipe;
 
     rs2::config cfg;
+    if (!serial.empty())
+        cfg.enable_device(serial);
     cfg.enable_stream(RS2_STREAM_DEPTH); // Enable default depth
     // For the color stream, set format to RGBA
     // To allow blending of the color frame on top of the depth frame

examples/pose-and-image/CMakeLists.txt

@@ -20,6 +20,7 @@ endif()
 if(BUILD_EXAMPLES)
     add_executable(rs-pose-and-image rs-pose-and-image.cpp)
     target_link_libraries(rs-pose-and-image ${DEPENDENCIES})
+    include_directories(../../examples)
     set_target_properties (rs-pose-and-image PROPERTIES FOLDER Examples)
     install(TARGETS rs-pose-and-image RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 endif()

examples/pose-and-image/rs-pose-and-image.cpp

@@ -6,13 +6,20 @@
 #include <chrono>
 #include <thread>
 #include <mutex>
+#include "example-utils.hpp"
 
 int main(int argc, char * argv[]) try
 {
+    std::string serial;
+    if (!device_with_streams({ RS2_STREAM_POSE }, serial))
+        return EXIT_SUCCESS;
+
     // Declare RealSense pipeline, encapsulating the actual device and sensors
     rs2::pipeline pipe;
     // Create a configuration for configuring the pipeline with a non default profile
     rs2::config cfg;
+    if (!serial.empty())
+        cfg.enable_device(serial);
     // Add pose stream
     cfg.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
     // Enable both image streams

examples/pose-predict/CMakeLists.txt

@@ -9,6 +9,7 @@ if(BUILD_EXAMPLES)
     add_executable(rs-pose-predict rs-pose-predict.cpp)
     set_property(TARGET rs-pose-predict PROPERTY CXX_STANDARD 11)
     target_link_libraries(rs-pose-predict ${DEPENDENCIES})
+    include_directories(../../examples)
     set_target_properties (rs-pose-predict PROPERTIES FOLDER Examples)
     install(TARGETS rs-pose-predict RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 endif()

examples/pose-predict/rs-pose-predict.cpp

@@ -9,6 +9,7 @@
 
 #include <math.h>
 #include <float.h>
+#include "example-utils.hpp"
 
 inline rs2_quaternion quaternion_exp(rs2_vector v)
 {
@@ -46,10 +47,16 @@ rs2_pose predict_pose(rs2_pose & pose, float dt_s)
 
 int main(int argc, char * argv[]) try
 {
+    std::string serial;
+    if (!device_with_streams({ RS2_STREAM_POSE }, serial))
+        return EXIT_SUCCESS;
+
     // Declare RealSense pipeline, encapsulating the actual device and sensors
     rs2::pipeline pipe;
     // Create a configuration for configuring the pipeline with a non default profile
     rs2::config cfg;
+    if (!serial.empty())
+        cfg.enable_device(serial);
     // Add pose stream
     cfg.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
 

examples/pose/CMakeLists.txt

@@ -9,6 +9,7 @@ if(BUILD_EXAMPLES)
     add_executable(rs-pose rs-pose.cpp)
     set_property(TARGET rs-pose PROPERTY CXX_STANDARD 11)
     target_link_libraries(rs-pose ${DEPENDENCIES})
+    include_directories(../../examples)
     set_target_properties (rs-pose PROPERTIES FOLDER Examples)
     install(TARGETS rs-pose RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 endif()

examples/pose/rs-pose.cpp

@@ -3,13 +3,20 @@
 #include <librealsense2/rs.hpp>
 #include <iostream>
 #include <iomanip>
+#include "example-utils.hpp"
 
 int main(int argc, char * argv[]) try
 {
+    std::string serial;
+    if (!device_with_streams({ RS2_STREAM_POSE}, serial))
+        return EXIT_SUCCESS;
+
     // Declare RealSense pipeline, encapsulating the actual device and sensors
     rs2::pipeline pipe;
     // Create a configuration for configuring the pipeline with a non default profile
     rs2::config cfg;
+    if (!serial.empty())
+        cfg.enable_device(serial);
     // Add pose stream
     cfg.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
     // Start pipeline with chosen configuration

examples/trajectory/rs-trajectory.cpp

@@ -439,6 +439,10 @@ class split_screen_renderer
 // In this example, we show how to track the camera's motion using a T265 device
 int main(int argc, char * argv[]) try
 {
+    std::string serial;
+    if (!device_with_streams({ RS2_STREAM_POSE }, serial))
+        return EXIT_SUCCESS;
+
     // Initialize window for rendering
     window app(1280, 720, "RealSense Trajectory Example");
 
@@ -456,6 +460,8 @@ int main(int argc, char * argv[]) try
     rs2::pipeline pipe;
     // Create a configuration for configuring the pipeline with a non default profile
     rs2::config cfg;
+    if (!serial.empty())
+        cfg.enable_device(serial);
     // Add pose stream
     cfg.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
 

tools/benchmark/CMakeLists.txt

@@ -21,7 +21,7 @@ endif()
 if(BUILD_GRAPHICAL_EXAMPLES)
     add_executable(rs-benchmark rs-benchmark.cpp ../../third-party/glad/glad.c)
     target_link_libraries(rs-benchmark ${DEPENDENCIES} realsense2-gl)
-    include_directories(../../third-party/tclap/include ../../third-party/glad)
+    include_directories(../../third-party/tclap/include ../../third-party/glad ../../examples)
     set_target_properties (rs-benchmark PROPERTIES
         FOLDER Tools
     )

tools/benchmark/rs-benchmark.cpp

@@ -17,6 +17,7 @@
 #include <fstream>
 
 #include "tclap/CmdLine.h"
+#include "example-utils.hpp"
 
 using namespace std;
 using namespace chrono;
@@ -206,6 +207,21 @@ class gl_blocks : public suite
 
 int main(int argc, char** argv) try
 {
+    std::string serial;
+    rs2_stream second_stream;
+    if (!device_with_streams({ RS2_STREAM_DEPTH }, serial))
+        return EXIT_SUCCESS;
+
+    if (device_with_streams({ RS2_STREAM_COLOR }, serial))
+        second_stream = RS2_STREAM_COLOR;
+    else if (device_with_streams({ RS2_STREAM_INFRARED }, serial))
+        second_stream = RS2_STREAM_INFRARED;
+    else
+    {
+        std::cout<< " Connect a Depth Camera that supports either RGB or Infrared streams." <<std::endl;
+        return EXIT_SUCCESS;
+    }
+
     CmdLine cmd("librealsense rs-benchmark tool", ' ', RS2_API_VERSION_STR);
     cmd.parse(argc, argv);
 
@@ -236,8 +252,13 @@ int main(int argc, char** argv) try
 
     pipeline p;
     config cfg;
+    if (!serial.empty())
+        cfg.enable_device(serial);
     cfg.enable_stream(RS2_STREAM_DEPTH);
-    cfg.enable_stream(RS2_STREAM_COLOR, RS2_FORMAT_YUYV, 30);
+    if(second_stream == RS2_STREAM_COLOR)
+        cfg.enable_stream(RS2_STREAM_COLOR, RS2_FORMAT_YUYV, 30);
+    else
+        cfg.enable_stream(RS2_STREAM_INFRARED);
     auto prof = p.start(cfg);
     auto dev = prof.get_device();
     auto name = dev.get_info(RS2_CAMERA_INFO_NAME);

wrappers/python/examples/align-depth2color.py

@@ -25,6 +25,15 @@
 device = pipeline_profile.get_device()
 device_product_line = str(device.get_info(rs.camera_info.product_line))
 
+found_rgb = False
+for s in device.sensors:
+    if s.get_info(rs.camera_info.name) == 'RGB Camera':
+        found_rgb = True
+        break
+if not found_rgb:
+    print("The demo requires Depth camera with Color sensor")
+    exit(0)
+
 config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
 
 if device_product_line == 'L500':

wrappers/python/examples/opencv_pointcloud_viewer.py

@@ -31,7 +31,6 @@
 import numpy as np
 import pyrealsense2 as rs
 
-
 class AppState:
 
     def __init__(self, *args, **kwargs):
@@ -67,6 +66,19 @@ def pivot(self):
 pipeline = rs.pipeline()
 config = rs.config()
 
+pipeline_wrapper = rs.pipeline_wrapper(pipeline)
+pipeline_profile = config.resolve(pipeline_wrapper)
+device = pipeline_profile.get_device()
+
+found_rgb = False
+for s in device.sensors:
+    if s.get_info(rs.camera_info.name) == 'RGB Camera':
+        found_rgb = True
+        break
+if not found_rgb:
+    print("The demo requires Depth camera with Color sensor")
+    exit(0)
+
 config.enable_stream(rs.stream.depth, rs.format.z16, 30)
 config.enable_stream(rs.stream.color, rs.format.bgr8, 30)
 

wrappers/python/examples/opencv_viewer_example.py

@@ -19,6 +19,15 @@
 device = pipeline_profile.get_device()
 device_product_line = str(device.get_info(rs.camera_info.product_line))
 
+found_rgb = False
+for s in device.sensors:
+    if s.get_info(rs.camera_info.name) == 'RGB Camera':
+        found_rgb = True
+        break
+if not found_rgb:
+    print("The demo requires Depth camera with Color sensor")
+    exit(0)
+
 config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
 
 if device_product_line == 'L500':

wrappers/python/examples/pyglet_pointcloud_viewer.py

@@ -84,13 +84,25 @@ def rotation(self):
         Ry = rotation_matrix((0, 1, 0), math.radians(-self.yaw))
         return np.dot(Ry, Rx).astype(np.float32)
 
-
 state = AppState()
 
 # Configure streams
 pipeline = rs.pipeline()
 config = rs.config()
 
+pipeline_wrapper = rs.pipeline_wrapper(pipeline)
+pipeline_profile = config.resolve(pipeline_wrapper)
+device = pipeline_profile.get_device()
+
+found_rgb = False
+for s in device.sensors:
+    if s.get_info(rs.camera_info.name) == 'RGB Camera':
+        found_rgb = True
+        break
+if not found_rgb:
+    print("The demo requires Depth camera with Color sensor")
+    exit(0)
+
 config.enable_stream(rs.stream.depth, rs.format.z16, 30)
 other_stream, other_format = rs.stream.color, rs.format.rgb8
 config.enable_stream(other_stream, other_format, 30)