PR #13734 from OhadMeir: Fix examples for D555

IntelRealSense · Feb 3, 2025 · 818c156 · 818c156
2 parents d25d198 + d0f24d2
commit 818c156
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Showing 3 changed files with 58 additions and 19 deletions.
diff --git a/examples/C/depth/rs-depth.c b/examples/C/depth/rs-depth.c
@@ -36,7 +36,7 @@ float get_depth_unit_value(const rs2_device* const dev)
     int num_of_sensors = rs2_get_sensors_count(sensor_list, &e);
     check_error(e);
 
-    float depth_scale = 0;
+    float depth_scale = 0.001f; // Default to mm
     int is_depth_sensor_found = 0;
     int i;
     for (i = 0; i < num_of_sensors; ++i)
@@ -50,7 +50,8 @@ float get_depth_unit_value(const rs2_device* const dev)
 
         if (1 == is_depth_sensor_found)
         {
-            depth_scale = rs2_get_option((const rs2_options*)sensor, RS2_OPTION_DEPTH_UNITS, &e);
+            if( rs2_supports_option((const rs2_options*)sensor, RS2_OPTION_DEPTH_UNITS, &e) )
+                depth_scale = rs2_get_option((const rs2_options*)sensor, RS2_OPTION_DEPTH_UNITS, &e);
             check_error(e);
             rs2_delete_sensor(sensor);
             break;

diff --git a/examples/motion/rs-motion.cpp b/examples/motion/rs-motion.cpp
@@ -190,8 +190,7 @@ class rotation_estimator
     }
 };
 
-
-bool check_imu_is_supported()
+bool check_accel_gyro_are_supported()
 {
     bool found_gyro = false;
     bool found_accel = false;
@@ -218,13 +217,48 @@ bool check_imu_is_supported()
     return found_gyro && found_accel;
 }
 
+bool check_combined_motion_is_supported()
+{
+    rs2::context ctx;
+
+    for (auto dev : ctx.query_devices())
+    {
+        for (auto sensor : dev.query_sensors())
+        {
+            for (auto profile : sensor.get_stream_profiles())
+            {
+                if (profile.stream_type() == RS2_STREAM_MOTION)
+                    return true;
+            }
+        }
+    }
+
+    return false;
+}
+
 int main(int argc, char * argv[]) try
 {
+    // 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;
+
     // Before running the example, check that a device supporting IMU is connected
-    if (!check_imu_is_supported())
+    if (check_accel_gyro_are_supported())
+    {
+        // Add streams of gyro and accelerometer to configuration
+        cfg.enable_stream(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F);
+        cfg.enable_stream(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F);
+    }
+    else if (check_combined_motion_is_supported())
     {
-        std::cerr << "Device supporting IMU not found";
-        return EXIT_FAILURE;
+        // Add combined gyro and accelerometer to configuration
+        cfg.enable_stream(RS2_STREAM_MOTION, RS2_FORMAT_COMBINED_MOTION);
+    }
+    else
+    {
+            std::cerr << "Device supporting IMU not found";
+            return EXIT_FAILURE;
     }
 
     // Initialize window for rendering
@@ -234,15 +268,6 @@ int main(int argc, char * argv[]) try
     // Register callbacks to allow manipulation of the view state
     register_glfw_callbacks(app, app_state);
 
-    // 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;
-
-    // Add streams of gyro and accelerometer to configuration
-    cfg.enable_stream(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F);
-    cfg.enable_stream(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F);
-
     // Declare object for rendering camera motion
     camera_renderer camera;
     // Declare object that handles camera pose calculations

diff --git a/examples/sensor-control/api_how_to.h b/examples/sensor-control/api_how_to.h
@@ -171,9 +171,16 @@ class how_to
                 std::cout << "       Description   : " << description << std::endl;
 
                 // Get the current value of the option
-                float current_value = sensor.get_option(option_type);
-                std::cout << "       Current Value : " << current_value << std::endl;
-
+                if (option_type != RS2_OPTION_REGION_OF_INTEREST)
+                {
+                    float current_value = sensor.get_option(option_type);
+                    std::cout << "       Current Value : " << current_value << std::endl;
+                }
+                else
+                {
+                    rs2_option_rect current_value = sensor.get_option_value(option_type)->as_rect;
+                    std::cout << "       Current Value : [(" << current_value.x1 << "," << current_value.y1 << "), (" << current_value.x2 << "," << current_value.y2 << ")]" << std::endl;
+                }
                 //To change the value of an option, please follow the change_sensor_option() function
             }
             else
@@ -307,6 +314,12 @@ class how_to
             return;
         }
 
+        if (option_type == RS2_OPTION_REGION_OF_INTEREST)
+        {
+            std::cerr << "Setting ROI is not demonstrated in this example. Check `set_region_of_interest` API" << std::endl;
+            return;
+        }
+
         // Each option provides its rs2::option_range to provide information on how it can be changed
         // To get the supported range of an option we do the following: