private void ResetToFactoryCalibration(Device dev = null)
{
using (var ctx = new Context())
{
dev = dev ?? ctx.QueryDevices()[0];
if (!IsTheDeviceD400Series(dev))
{
return;
}
Console.WriteLine($"{Environment.NewLine}Reset to factory settings device an {dev.Info[CameraInfo.Name]}" +
$"{Environment.NewLine}\tSerial number: {dev.Info[CameraInfo.SerialNumber]}" +
$"{Environment.NewLine}\tFirmware version: {dev.Info[CameraInfo.FirmwareVersion]}");
var aCalibratedDevice = AutoCalibratedDevice.FromDevice(dev);
aCalibratedDevice.reset_to_factory_calibration();
Console.WriteLine($"Device calibration has been reset to factory defaults");
}
}
public void TestCalibrationModes(Device dev = null)
{
try
{
if (dev == null)
{
Console.WriteLine($"{Environment.NewLine}Getting context...");
dev = new Context().QueryDevices().First();
}
if (!IsTheDeviceD400Series(dev))
{
return;
}
Console.WriteLine($"{Environment.NewLine}Test calibration modes using device {dev.Info[CameraInfo.Name]}" +
$"{Environment.NewLine}\tSerial number: {dev.Info[CameraInfo.SerialNumber]}" +
$"{Environment.NewLine}\tFirmware version: {dev.Info[CameraInfo.FirmwareVersion]}");
var depthProfiles = dev.QuerySensors()
.SelectMany(s => s.StreamProfiles)
.Where(sp => sp.Stream == Stream.Depth)
.Select(sp => sp.As <VideoStreamProfile>())
.OrderByDescending(p => p.Height)
.OrderByDescending(p => p.Width)
.OrderByDescending(p => p.Framerate)
.OrderByDescending(p => p.Format)
.ToList();
var fileName = Path.Combine(Directory.GetCurrentDirectory(), "ReportTestCalibrationModes.csv");
Console.WriteLine($"Report about testing calibration modes will be written to file:\n\t{fileName}");
var calibrationSetCount = 0;
if (IsLinux)
{
calibrationSetCount = CountEnumEntries <CalibrationSpeed>() * CountEnumEntries <CalibrationScanParameter>();
}
else
{
calibrationSetCount = CountEnumEntries <CalibrationSpeed>() * CountEnumEntries <CalibrationScanParameter>() * CountEnumEntries <CalibrationDataSampling>();
}
var depthProfileSet = 0;
var depthProfileSetCount = depthProfiles.Count;
using (var file = new StreamWriter(fileName))
{
var headers = GetHeader4FileReport();
file.WriteLine(headers);
file.Flush();
foreach (var depthProfile in depthProfiles)
{
Console.WriteLine($"{Environment.NewLine}Starting pipeline for calibration mode, depth profile set {++depthProfileSet} of {depthProfiles.Count}");
Console.WriteLine($"\t Format:\t {depthProfile.Format}");
Console.WriteLine($"\t Framerate:\t {depthProfile.Framerate}");
Console.WriteLine($"\t Width:\t\t {depthProfile.Width}");
Console.WriteLine($"\t Height:\t {depthProfile.Height}");
using (var pipeline = StartPipeline(depthProfile, dev))
{
var aCalibratedDevice = AutoCalibratedDevice.FromDevice(dev);
//calibratoin config set
var calibrationSet = 0;
foreach (var calibrationSpeed in GetEnumEntries <CalibrationSpeed>())
{
foreach (var calibrationScanParameter in GetEnumEntries <CalibrationScanParameter>())
{
foreach (var calibrationDataSampling in GetEnumEntries <CalibrationDataSampling>())
{
if (calibrationDataSampling == CalibrationDataSampling.Windows && IsLinux)
{
continue;
}
Console.WriteLine("");
#if (CalibrationTestAndBurns2FW)
// 1. Calibration table before running on-chip calibration.
Console.WriteLine($"{Environment.NewLine}1. Calibration table before running on-chip calibration.");
var calTableBefore = aCalibratedDevice.CalibrationTable;
Console.WriteLine("\t Step 1 : done");
#endif
// 2. Runs the on-chip self-calibration routine that returns pointer to new calibration table.
Console.WriteLine($"2. Runs the on-chip self-calibration routine for depth profile {depthProfileSet} of {depthProfileSetCount} calibration, set {++calibrationSet} of {calibrationSetCount} ");
Console.WriteLine($"\t Format : {depthProfile.Format}");
Console.WriteLine($"\t Framerate : {depthProfile.Framerate}");
Console.WriteLine($"\t Width : {depthProfile.Width}");
Console.WriteLine($"\t Height : {depthProfile.Height}");
Console.WriteLine($"\t Calibration Speed : {calibrationSpeed}");
Console.WriteLine($"\t Calibration Scan Parameter: {calibrationScanParameter}");
Console.WriteLine($"\t Calibration Data Sampling : {calibrationDataSampling}");
string calibrationConfig = GetCalibrationConfig(calibrationSpeed, calibrationScanParameter, calibrationDataSampling);
//var timeout = _timeoutForCalibrationSpeed[calibrationSpeed];
var timeout = Convert.ToInt32(TimeSpan.FromMinutes(2).TotalMilliseconds);
float health = 888;
var deviceHealth = DeviceHealth.Failed;
byte[] calTableAfter = null;
var sw = new Stopwatch();
try
{
sw.Start();
calTableAfter = aCalibratedDevice.RunOnChipCalibration(calibrationConfig, out health, timeout);
sw.Stop();
deviceHealth = GetDeviceHealth(health);
}
catch (Exception ex)
{
sw.Stop();
//write to report file
file.WriteLine(GetRow4FileReport(depthProfileSet, depthProfile, calibrationSet, calibrationSpeed, calibrationScanParameter, calibrationDataSampling, timeout, sw.Elapsed, "", _deviceHealthDescription[DeviceHealth.Failed], ex.Message.Replace("\n", "\t")));
file.Flush();
Console.WriteLine($"\t Time spend: {sw.Elapsed.ToString(@"mm\:ss\.fff")}");
Console.WriteLine($"\t Calibration failed: {ex.Message.Replace("\n", "\t")}");
Console.WriteLine("\t Step 2: failed");
continue;
}
file.WriteLine(GetRow4FileReport(depthProfileSet, depthProfile, calibrationSet, calibrationSpeed, calibrationScanParameter, calibrationDataSampling, timeout, sw.Elapsed, health.ToString(), _deviceHealthDescription[GetDeviceHealth(health)]));
file.Flush();
Console.WriteLine($"\t Time spend: {sw.Elapsed.ToString(@"mm\:ss\.fff")}");
Console.WriteLine($"\t Device health: {health} ({_deviceHealthDescription[GetDeviceHealth(health)]})");
Console.WriteLine("\t Step 2: done");
#if (CalibrationTestAndBurns2FW)
// 3. Toggle between calibration tables to assess which is better. This is optional.
Console.WriteLine("3. Toggle between calibration tables to assess which is better.");
if (deviceHealth <= DeviceHealth.CouldBePerformed)
{
aCalibratedDevice.CalibrationTable = calTableAfter;
Console.WriteLine("\t Step 3: done");
}
else
{
Console.WriteLine("\t Step 3: skipped");
}
// 4. burns the new calibration to FW persistently.
Console.WriteLine("4. Burns the new calibration to FW persistently.");
if (deviceHealth <= DeviceHealth.CouldBePerformed)
{
aCalibratedDevice.WriteCalibration();
Console.WriteLine("\t Step 4: done");
}
else
{
Console.WriteLine("\t Step 4: skipped");
}
#endif
}
}
}
Console.WriteLine($"{Environment.NewLine}Stopping calibration pipeline for depth profile set {depthProfileSet} of {depthProfiles.Count}...");
pipeline.Stop();
}
}
}
Console.WriteLine($"Report about testing calibration modes has been written to file:\n\t{fileName}");
Console.WriteLine("Testing calibration modes complete");
}
catch (Exception ex)
{
Console.WriteLine($"{Environment.NewLine} Error during calibration:{Environment.NewLine} {ex.Message}");
}
}
public void Calibrate(Device dev = null)
{
try
{
if (dev == null)
{
Console.WriteLine($"{Environment.NewLine}Getting context...");
dev = new Context().QueryDevices().First();
}
if (!IsTheDeviceD400Series(dev))
{
return;
}
Console.WriteLine($"{Environment.NewLine}Calibration device {dev.Info[CameraInfo.Name]}" +
$"{Environment.NewLine}\tSerial number: {dev.Info[CameraInfo.SerialNumber]}" +
$"{Environment.NewLine}\tFirmware version: {dev.Info[CameraInfo.FirmwareVersion]}");
VideoStreamProfile depthProfile = dev.QuerySensors()
.SelectMany(s => s.StreamProfiles)
.Where(sp => sp.Stream == Stream.Depth)
.Select(sp => sp.As <VideoStreamProfile>())
.Where(p =>
p.Width == 256 &&
p.Height == 144 &&
p.Framerate == 90 &&
p.Format == Format.Z16
).Last();
Console.WriteLine($"{Environment.NewLine}Starting pipeline for calibration mode");
using (var pipeline = StartPipeline(depthProfile, dev))
{
var aCalibratedDevice = AutoCalibratedDevice.FromDevice(dev);
// 1. Calibration table before running on-chip calibration.
Console.WriteLine($"{Environment.NewLine}1. Calibration table before running on-chip calibration.");
var calTableBefore = aCalibratedDevice.CalibrationTable;
Console.WriteLine("Step 1 : done");
// 2. Runs the on-chip self-calibration routine that returns pointer to new calibration table.
//calibratoin config
var calibrationSpeed = CalibrationSpeed.Slow;
var calibrationScanParameter = CalibrationScanParameter.Intrinsic;
var calibrationDataSampling = CalibrationDataSampling.WindowsAndLinux;
string calibrationConfig = GetCalibrationConfig(calibrationSpeed, calibrationScanParameter, calibrationDataSampling);
var timeout = _timeoutForCalibrationSpeed[calibrationSpeed];
float health = 100;
var succeedOnChipCalibration = false;
var abortRequested = false;
byte[] calTableAfter = null;
while (!succeedOnChipCalibration && !abortRequested)
{
Console.WriteLine($"{Environment.NewLine}2. Runs the on-chip self-calibration routine that returns pointer to new calibration table.");
Console.WriteLine($"\t Format : {depthProfile.Format}");
Console.WriteLine($"\t Framerate : {depthProfile.Framerate}");
Console.WriteLine($"\t Width : {depthProfile.Width}");
Console.WriteLine($"\t Height : {depthProfile.Height}");
Console.WriteLine($"\t Calibration Speed : {calibrationSpeed}");
Console.WriteLine($"\t Calibration Scan Parameter: {calibrationScanParameter}");
Console.WriteLine($"\t Calibration Data Sampling : {calibrationDataSampling}");
Console.WriteLine($"\t Calibration Timeout : {TimeSpan.FromMilliseconds(timeout).ToString(@"mm\:ss\.fff")} (min:sec.millisec)");
var sw = new Stopwatch();
var thisCalibrationfault = false;
try
{
sw.Start();
ProgressCallback pc = (x) => { Console.WriteLine("Progress: {0} percents", x); };
// The following line performs the same calibration flow but does not report progress"
//calTableAfter = aCalibratedDevice.RunOnChipCalibration(calibrationConfig, out health, timeout);
calTableAfter = aCalibratedDevice.RunOnChipCalibration(calibrationConfig, out health, pc, timeout);
sw.Stop();
}
catch (Exception ex)
{
sw.Stop();
thisCalibrationfault = true;
Console.WriteLine($"\n\t Error during calibration: {ex.Message.Replace("\n", "\t")}");
Console.WriteLine($"\t Please try to change distance to target or light conditions{Environment.NewLine}");
if (ConsoleKey.N == ConsoleGetKey(new[] { ConsoleKey.Y, ConsoleKey.N },
@"Let's try calibrate one more time? (Y\N)"
))
{
Console.WriteLine("");
Console.WriteLine($"Calibration failed");
Console.WriteLine($"Stopping calibration pipeline...");
pipeline.Stop();
return;
}
}
if (!thisCalibrationfault)
{
Console.WriteLine($"\n\t Time spend: {sw.Elapsed.ToString(@"mm\:ss\.fff")} (min:sec.millisec)");
Console.WriteLine($"\t Device health: {health} ({_deviceHealthDescription[GetDeviceHealth(health)]})");
var res = ConsoleGetKey(new[] { ConsoleKey.Y, ConsoleKey.N, ConsoleKey.A }, @"Accept calibration ? Yes/No/Abort");
Console.WriteLine("User's selection = {0}", res);
if (res == ConsoleKey.A)
{
abortRequested = true;
}
else
{
succeedOnChipCalibration = (res == ConsoleKey.Y);
}
}
}
Console.WriteLine("Step 2 : done");
// 3. Toggle between calibration tables to assess which is better. This is optional.
Console.WriteLine($"{Environment.NewLine}3. Toggle between calibration tables to assess which is better.");
aCalibratedDevice.CalibrationTable = calTableAfter;
Console.WriteLine("Step 3 : done");
// 4. burns the new calibration to FW persistently.
Console.WriteLine("");
if (ConsoleKey.Y == ConsoleGetKey(new[] { ConsoleKey.Y, ConsoleKey.N },
@"4. Burns the new calibration to FW persistently. (Y\N)"))
{
aCalibratedDevice.WriteCalibration();
Console.WriteLine("Step 4 : done");
}
else
{
Console.WriteLine("Step 4 : skipped");
}
Console.WriteLine("Calibration complete");
Console.WriteLine($"{Environment.NewLine}Stopping calibration pipeline...");
pipeline.Stop();
}
//}
}
catch (Exception ex)
{
Console.WriteLine($"{Environment.NewLine} Error during calibration:{Environment.NewLine} {ex.Message}");
}
}