Fixed compilation issues on linux and some tests issues.

chunyang-zhang · Feb 26, 2019 · bddee0d · bddee0d
1 parent f7c8447
commit bddee0d
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Showing 12 changed files with 82 additions and 84 deletions.
diff --git a/include/librealsense2/h/rs_option.h b/include/librealsense2/h/rs_option.h
@@ -70,7 +70,9 @@ extern "C" {
         RS2_OPTION_EMITTER_ON_OFF, /**< When supported, this option make the camera to switch the emitter state every frame. 0 for disabled, 1 for enabled */
         RS2_OPTION_ZERO_ORDER_POINT_X, /**< Zero order point x*/
         RS2_OPTION_ZERO_ORDER_POINT_Y, /**< Zero order point y*/
-        RS2_OPTION_LLD_TEMPERATURE,
+        RS2_OPTION_LLD_TEMPERATURE, /**< LLD temperature*/
+        RS2_OPTION_MC_TEMPERATURE, /**< MC temperature*/
+        RS2_OPTION_MA_TEMPERATURE, /**< MA temperature*/
         RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
     } rs2_option;
 

diff --git a/include/librealsense2/hpp/rs_frame.hpp b/include/librealsense2/hpp/rs_frame.hpp
@@ -996,5 +996,20 @@ namespace rs2
     private:
         size_t _size;
     };
+
+    template<class T>
+    class frame_callback : public rs2_frame_callback
+    {
+        T on_frame_function;
+    public:
+        explicit frame_callback(T on_frame) : on_frame_function(on_frame) {}
+
+        void on_frame(rs2_frame* fref) override
+        {
+            on_frame_function(frame{ fref });
+        }
+
+        void release() override { delete this; }
+    };
 }
 #endif // LIBREALSENSE_RS2_FRAME_HPP
diff --git a/include/librealsense2/hpp/rs_options.hpp b/include/librealsense2/hpp/rs_options.hpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
 
 #ifndef LIBREALSENSE_RS2_OPTIONS_HPP
 #define LIBREALSENSE_RS2_OPTIONS_HPP

diff --git a/include/librealsense2/hpp/rs_types.hpp b/include/librealsense2/hpp/rs_types.hpp
@@ -66,21 +66,6 @@ struct rs2_playback_status_changed_callback
 
 namespace rs2
 {
-    template<class T>
-    class frame_callback : public rs2_frame_callback
-    {
-        T on_frame_function;
-    public:
-        explicit frame_callback(T on_frame) : on_frame_function(on_frame) {}
-
-        void on_frame(rs2_frame* fref) override
-        {
-            on_frame_function(frame{ fref });
-        }
-
-        void release() override { delete this; }
-    };
-
     class error : public std::runtime_error
     {
         std::string function, args;

diff --git a/src/l500/l500.h b/src/l500/l500.h
@@ -238,10 +238,10 @@ namespace librealsense
                 rs2_intrinsics intrinsics;
                 intrinsics.width = profile.width;
                 intrinsics.height = profile.height;
-                intrinsics.fx = std::abs(intr[0]);
-                intrinsics.fy = std::abs(intr[1]);
-                intrinsics.ppx = std::abs(intr[2]);
-                intrinsics.ppy = std::abs(intr[3]);
+                intrinsics.fx = std::fabs(intr[0]);
+                intrinsics.fy = std::fabs(intr[1]);
+                intrinsics.ppx = std::fabs(intr[2]);
+                intrinsics.ppy = std::fabs(intr[3]);
                 return intrinsics;
             }
 

diff --git a/src/media/CMakeLists.txt b/src/media/CMakeLists.txt
@@ -12,7 +12,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/playback/playback_sensor.h"
         "${CMAKE_CURRENT_LIST_DIR}/ros/ros_reader.h"
         "${CMAKE_CURRENT_LIST_DIR}/ros/ros_writer.h"
-		"${CMAKE_CURRENT_LIST_DIR}/ros/ros_reader.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/ros/ros_reader.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/ros/ros_writer.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/ros/ros_file_format.h"
 )
diff --git a/src/media/ros/ros_reader.cpp b/src/media/ros/ros_reader.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
 
 #pragma once
 #include "ros_reader.h"
@@ -239,21 +239,6 @@ namespace librealsense
         return m_file_path;
     }
 
-    template <typename ROS_TYPE>
-    typename ROS_TYPE::ConstPtr ros_reader::instantiate_msg(const rosbag::MessageInstance& msg)
-    {
-        typename ROS_TYPE::ConstPtr msg_instnance_ptr = msg.instantiate<ROS_TYPE>();
-        if (msg_instnance_ptr == nullptr)
-        {
-            throw io_exception(to_string()
-                << "Invalid file format, expected "
-                << rs2rosinternal::message_traits::DataType<ROS_TYPE>::value()
-                << " message but got: " << msg.getDataType()
-                << "(Topic: " << msg.getTopic() << ")");
-        }
-        return msg_instnance_ptr;
-    }
-
     std::shared_ptr<serialized_frame> ros_reader::create_frame(const rosbag::MessageInstance& msg)
     {
         auto next_msg_topic = msg.getTopic();
@@ -357,21 +342,6 @@ namespace librealsense
         }
     }
 
-    template <typename T>
-    static bool ros_reader::safe_convert(const std::string& key, T& val)
-    {
-        try
-        {
-            convert(key, val);
-        }
-        catch (const std::exception& e)
-        {
-            LOG_ERROR(e.what());
-            return false;
-        }
-        return true;
-    }
-
     std::map<std::string, std::string> ros_reader::get_frame_metadata(const rosbag::Bag& bag,
         const std::string& topic,
         const device_serializer::stream_identifier& stream_id,
@@ -921,7 +891,8 @@ namespace librealsense
             }
             throw io_exception("Unrecognized sensor name");
         }
-        throw io_exception("Unrecognized device");
+        //Unrecognized sensor
+        return std::make_shared<recommended_proccesing_blocks_snapshot>(processing_blocks{});
     }
 
     std::shared_ptr<recommended_proccesing_blocks_snapshot> ros_reader::read_proccesing_blocks(const rosbag::Bag& file, device_serializer::sensor_identifier sensor_id, const nanoseconds& timestamp,

diff --git a/src/media/ros/ros_reader.h b/src/media/ros/ros_reader.h
@@ -27,7 +27,20 @@ namespace librealsense
     private:
 
         template <typename ROS_TYPE>
-        static typename ROS_TYPE::ConstPtr instantiate_msg(const rosbag::MessageInstance& msg);
+        static typename ROS_TYPE::ConstPtr instantiate_msg(const rosbag::MessageInstance& msg)
+        {
+            typename ROS_TYPE::ConstPtr msg_instnance_ptr = msg.instantiate<ROS_TYPE>();
+            if (msg_instnance_ptr == nullptr)
+            {
+                throw io_exception(to_string()
+                    << "Invalid file format, expected "
+                    << rs2rosinternal::message_traits::DataType<ROS_TYPE>::value()
+                    << " message but got: " << msg.getDataType()
+                    << "(Topic: " << msg.getTopic() << ")");
+            }
+            return msg_instnance_ptr;
+        }
+
         std::shared_ptr<serialized_frame> create_frame(const rosbag::MessageInstance& msg);
         static nanoseconds get_file_duration(const rosbag::Bag& file, uint32_t version);
         static void get_legacy_frame_metadata(const rosbag::Bag& bag,
@@ -36,7 +49,20 @@ namespace librealsense
             frame_additional_data& additional_data);
 
         template <typename T>
-        static bool safe_convert(const std::string& key, T& val);
+        static bool safe_convert(const std::string& key, T& val)
+        {
+            try
+            {
+                convert(key, val);
+            }
+            catch (const std::exception& e)
+            {
+                LOG_ERROR(e.what());
+                return false;
+            }
+            return true;
+        }
+
         static std::map<std::string, std::string> get_frame_metadata(const rosbag::Bag& bag,
             const std::string& topic,
             const device_serializer::stream_identifier& stream_id,

diff --git a/src/media/ros/ros_writer.cpp b/src/media/ros/ros_writer.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
 
 #pragma once
 #include "proc/decimation-filter.h"
@@ -370,16 +370,6 @@ namespace librealsense
         write_extension_snapshot(device_id, sensor_id, timestamp, type, snapshot, false);
     }
 
-    template <rs2_extension E>
-    std::shared_ptr<typename ExtensionToType<E>::type> ros_writer::SnapshotAs(std::shared_ptr<librealsense::extension_snapshot> snapshot)
-    {
-        auto as_type = As<typename ExtensionToType<E>::type>(snapshot);
-        if (as_type == nullptr)
-        {
-            throw invalid_value_exception(to_string() << "Failed to cast snapshot to \"" << E << "\" (as \"" << ExtensionToType<E>::to_string() << "\")");
-        }
-        return as_type;
-    }
     void ros_writer::write_extension_snapshot(uint32_t device_id, uint32_t sensor_id, const nanoseconds& timestamp, rs2_extension type, std::shared_ptr<librealsense::extension_snapshot> snapshot, bool is_device)
     {
         switch (type)
@@ -547,20 +537,6 @@ namespace librealsense
         }
     }
 
-    template <typename T>
-    void ros_writer::write_message(std::string const& topic, nanoseconds const& time, T const& msg)
-    {
-        try
-        {
-            m_bag.write(topic, to_rostime(time), msg);
-            LOG_DEBUG("Recorded: \"" << topic << "\" . TS: " << time.count());
-        }
-        catch (rosbag::BagIOException& e)
-        {
-            throw io_exception(to_string() << "Ros Writer failed to write topic: \"" << topic << "\" to file. (Exception message: " << e.what() << ")");
-        }
-    }
-
     uint8_t ros_writer::is_big_endian()
     {
         int num = 1;

diff --git a/src/media/ros/ros_writer.h b/src/media/ros/ros_writer.h
@@ -39,7 +39,16 @@ namespace librealsense
         void write_extension_snapshot(uint32_t device_id, uint32_t sensor_id, const nanoseconds& timestamp, rs2_extension type, std::shared_ptr<librealsense::extension_snapshot> snapshot);
 
         template <rs2_extension E>
-        std::shared_ptr<typename ExtensionToType<E>::type> SnapshotAs(std::shared_ptr<librealsense::extension_snapshot> snapshot);
+        std::shared_ptr<typename ExtensionToType<E>::type> SnapshotAs(std::shared_ptr<librealsense::extension_snapshot> snapshot)
+        {
+            auto as_type = As<typename ExtensionToType<E>::type>(snapshot);
+            if (as_type == nullptr)
+            {
+                throw invalid_value_exception(to_string() << "Failed to cast snapshot to \"" << E << "\" (as \"" << ExtensionToType<E>::to_string() << "\")");
+            }
+            return as_type;
+        }
+
         void write_extension_snapshot(uint32_t device_id, uint32_t sensor_id, const nanoseconds& timestamp, rs2_extension type, std::shared_ptr<librealsense::extension_snapshot> snapshot, bool is_device);
         void write_vendor_info(const std::string& topic, nanoseconds timestamp, std::shared_ptr<info_interface> info_snapshot);
         void write_sensor_option(device_serializer::sensor_identifier sensor_id, const nanoseconds& timestamp, rs2_option type, const librealsense::option& option);
@@ -48,7 +57,19 @@ namespace librealsense
         void write_sensor_processing_blocks(device_serializer::sensor_identifier sensor_id, const nanoseconds& timestamp, std::shared_ptr<recommended_proccesing_blocks_interface> proccesing_blocks);
 
         template <typename T>
-        void write_message(std::string const& topic, nanoseconds const& time, T const& msg);
+        void write_message(std::string const& topic, nanoseconds const& time, T const& msg)
+        {
+            try
+            {
+                m_bag.write(topic, to_rostime(time), msg);
+                LOG_DEBUG("Recorded: \"" << topic << "\" . TS: " << time.count());
+            }
+            catch (rosbag::BagIOException& e)
+            {
+                throw io_exception(to_string() << "Ros Writer failed to write topic: \"" << topic << "\" to file. (Exception message: " << e.what() << ")");
+            }
+        }
+
         static uint8_t is_big_endian();
         std::map<stream_identifier, geometry_msgs::Transform> m_extrinsics_msgs;
         std::string m_file_path;

diff --git a/src/proc/zero-order.cpp b/src/proc/zero-order.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
 
 #include "zero-order.h"
 #include <iomanip>

diff --git a/src/types.cpp b/src/types.cpp
@@ -278,6 +278,8 @@ namespace librealsense
             CASE(ZERO_ORDER_POINT_X)
             CASE(ZERO_ORDER_POINT_Y)
             CASE(LLD_TEMPERATURE)
+            CASE(MC_TEMPERATURE)
+            CASE(MA_TEMPERATURE)
         default: assert(!is_valid(value)); return UNKNOWN_VALUE;
         }
 #undef CASE