PR #7074 from Eran: New AC limiters & handling per VAL request

IntelRealSense · Aug 11, 2020 · 158a2f4 · 158a2f4
2 parents 91e9429 + 7f5c425
commit 158a2f4
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Showing 3 changed files with 46 additions and 13 deletions.
diff --git a/src/algo/depth-to-rgb-calibration/valid-results.cpp b/src/algo/depth-to-rgb-calibration/valid-results.cpp
@@ -417,22 +417,25 @@ void librealsense::algo::depth_to_rgb_calibration::validate_dsm_params(
         for h/vFactor and divide the suggested h/vOffset range by 10.
 
         Update ww30: +/-1.5% limiter both H/V [0.985..1.015] until AC3.
+        Update ww33: vFactor for all 60 cocktail 1500h units is in the range
+                     of 1.000-1.015; changing to [0.995-1.015]
     */
+    std::string error;
+
     if( dsm_params.model != RS2_DSM_CORRECTION_AOT )
-        throw invalid_value_exception( "non-AoT (1) mode is currently unsupported" );
+        error += to_string() << " {mode}" << +dsm_params.model << " must be AOT";
 
     if( dsm_params.h_scale < 0.985 || dsm_params.h_scale > 1.015 )
-        throw invalid_value_exception( to_string() << "H scale (" << dsm_params.h_scale
-                                                   << ") exceeds 1.5% change in FOV" );
-    if( dsm_params.v_scale < 0.985 || dsm_params.v_scale > 1.015 )
-        throw invalid_value_exception( to_string() << "V scale (" << dsm_params.v_scale
-                                                   << ") exceeds 1.5% change in FOV" );
+        error += to_string() << " {H-scale}" << dsm_params.h_scale << " exceeds 1.5% change";
+    if( dsm_params.v_scale < 0.995 || dsm_params.v_scale > 1.015 )
+        error += to_string() << " {V-scale}" << dsm_params.v_scale << " exceeds [-0.5%-1.5%]";
 
     if( dsm_params.h_offset < -2. || dsm_params.h_offset > 2. )
-        throw invalid_value_exception( to_string() << "H offset (" << dsm_params.h_offset
-                                                   << ") is limited to 2deg FOV tilt" );
+        error += to_string() << " {H-offset}" << dsm_params.h_offset << " is limited to 2 degrees";
     if( dsm_params.v_offset < -2. || dsm_params.v_offset > 2. )
-        throw invalid_value_exception( to_string() << "V offset (" << dsm_params.v_offset
-                                                   << ") is limited to 2deg FOV tilt" );
+        error += to_string() << " {V-offset}" << dsm_params.v_offset << " is limited to 2 degrees";
+
+    if( ! error.empty() )
+        throw invalid_value_exception( "invalid DSM:" + error + " [LIMIT]" );
 }
 
diff --git a/src/l500/l500-depth.cpp b/src/l500/l500-depth.cpp
@@ -236,7 +236,16 @@ namespace librealsense
 
     void l500_depth_sensor::override_dsm_params( rs2_dsm_params const & dsm_params )
     {
-        algo::depth_to_rgb_calibration::validate_dsm_params( dsm_params );  // throws!
+        try
+        {
+            algo::depth_to_rgb_calibration::validate_dsm_params( dsm_params );  // throws!
+        }
+        catch( invalid_value_exception const & e )
+        {
+            if( ! getenv( "RS2_AC_IGNORE_LIMITERS" ))
+                throw;
+            AC_LOG( ERROR, "Ignoring (RS2_AC_IGNORE_LIMITERS) " << e.what() );
+        }
 
         ac_depth_results table( dsm_params );
         // table.params.timestamp = std::chrono::system_clock::now().time_since_epoch().count();

diff --git a/unit-tests/algo/d2rgb/test-reproduction.cpp b/unit-tests/algo/d2rgb/test-reproduction.cpp
@@ -149,7 +149,7 @@ int main( int argc, char * argv[] )
             {
                 // The build number is only available within Jenkins and so we have to hard-
                 // code it ><
-                std::cout << RS2_API_VERSION_STR << ".2082" << std::endl;
+                std::cout << RS2_API_VERSION_STR << ".2158" << std::endl;
                 continue;
             }
             if( ! strcmp( dir, "--debug" ) || ! strcmp( dir, "-d" ) )
@@ -183,6 +183,14 @@ int main( int argc, char * argv[] )
             read_binary_file( dir, "cal.registers", &camera.cal_regs );
             read_binary_file( dir, "dsm.params", &camera.dsm_params );
 
+            if( camera.cal_regs.EXTLdsmXoffset < 0. || camera.cal_regs.EXTLdsmXoffset > 100000.
+                || camera.cal_regs.EXTLdsmXscale < 0. || camera.cal_regs.EXTLdsmXscale > 100000.
+                || camera.cal_regs.EXTLdsmYoffset < 0 || camera.cal_regs.EXTLdsmYoffset > 100000.
+                || camera.cal_regs.EXTLdsmYscale < 0 || camera.cal_regs.EXTLdsmYscale > 100000. )
+            {
+                throw std::invalid_argument( "cal.registers file is malformed! (hexdump -v -e '4/ \"%f  \"')" );
+            }
+
             algo::optimizer::settings settings;
             try
             {
@@ -254,7 +262,7 @@ int main( int argc, char * argv[] )
                 status += results;
             }
 
-            TRACE( "\n___\nRESULTS:  (" << RS2_API_VERSION_STR << " build 2082)" );
+            TRACE( "\n___\nRESULTS:  (" << RS2_API_VERSION_STR << " build 2158)" );
 
             auto intr = cal.get_calibration().get_intrinsics();
             auto extr = cal.get_calibration().get_extrinsics();
@@ -268,6 +276,19 @@ int main( int argc, char * argv[] )
             AC_LOG( DEBUG, AC_D_PREC << "extr" << (rs2_extrinsics) extr );
             AC_LOG( DEBUG, AC_D_PREC << "dsm" << cal.get_dsm_params() );
 
+            try
+            {
+                algo::validate_dsm_params( cal.get_dsm_params() );
+            }
+            catch( librealsense::invalid_value_exception const & e )
+            {
+                AC_LOG( ERROR, "Exception: " << e.what() );
+                if( ! status.empty() )
+                    status += ' ';
+                status += logger.get_codes();
+                logger.reset();
+            }
+
             TRACE( "\n___\nVS:" );
             AC_LOG( DEBUG, AC_D_PREC << "dsm" << camera.dsm_params );