support SR306 camera

Author: nohayassin

common/fw/firmware-version.h

@@ -4,6 +4,6 @@
 #pragma once
 
 #define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.12.12.100"
-#define SR3XX_RECOMMENDED_FIRMWARE_VERSION "3.26.1.0"
+#define SR305_RECOMMENDED_FIRMWARE_VERSION "3.26.1.0"
 #define T26X_FIRMWARE_VERSION "0.2.0.951"
 #define L5XX_RECOMMENDED_FIRMWARE_VERSION "1.5.5.0"

examples/align/rs-align.cpp

@@ -33,6 +33,13 @@ void render_slider(rect location, float* alpha, direction* dir);
 
 int main(int argc, char * argv[]) try
 {
+    auto serial = depth_with_stream_type_present(RS2_STREAM_COLOR);
+    if (serial.empty())
+    {
+        std::cerr << "The demo requires Realsense Depth camera with RGB sensor";
+        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 +49,7 @@ int main(int argc, char * argv[]) try
     // Create a pipeline to easily configure and start the camera
     rs2::pipeline pipe;
     rs2::config cfg;
+    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 +54,12 @@ std::vector<uint8_t> bytes_from_raw_file(const std::string& filename);
 
 int main(int argc, char * argv[]) try
 {
+    auto serial = depth_with_stream_type_present(RS2_STREAM_POSE);
+    if (serial.empty())
+    {
+        std::cerr << "The demo requires Realsense Depth camera with POSE sensor";
+        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 +82,7 @@ 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;
+    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.hpp

@@ -1070,3 +1070,21 @@ void register_glfw_callbacks(window& app, glfw_state& app_state)
         }
     };
 }
+
+// Find devices with specified streams
+std::string depth_with_stream_type_present(rs2_stream type)
+{
+    rs2::context ctx;
+    for (auto dev : ctx.query_devices(RS2_PRODUCT_LINE_DEPTH))
+    {    
+        for (auto sensor : dev.query_sensors())
+        {
+            for (auto profile : sensor.get_stream_profiles())
+            {
+                if (profile.stream_type() == type)
+                    return dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
+            }
+        }
+    }
+    return "";
+}

examples/measure/rs-measure.cpp

@@ -99,6 +99,13 @@ void render_simple_distance(const rs2::depth_frame& depth,
 
 int main(int argc, char * argv[]) try
 {
+    auto serial = depth_with_stream_type_present(RS2_STREAM_COLOR);
+    if (serial.empty())
+    {
+        std::cerr << "The demo requires Realsense Depth camera with RGB sensor";
+        return EXIT_SUCCESS;;
+    }
+
     // OpenGL textures for the color and depth frames
     texture depth_image, color_image;
 
@@ -133,6 +140,7 @@ int main(int argc, char * argv[]) try
     rs2::pipeline pipe;
 
     rs2::config cfg;
+    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/rs-pose-and-image.cpp

@@ -6,9 +6,16 @@
 #include <chrono>
 #include <thread>
 #include <mutex>
+#include "../example.hpp"
 
 int main(int argc, char * argv[]) try
 {
+    auto serial = depth_with_stream_type_present(RS2_STREAM_POSE);
+    if (serial.empty())
+    {
+        std::cerr << "The demo requires Realsense Depth camera with POSE sensor";
+        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

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

@@ -9,6 +9,7 @@
 
 #include <math.h>
 #include <float.h>
+#include "../example.hpp"
 
 inline rs2_quaternion quaternion_exp(rs2_vector v)
 {
@@ -46,6 +47,13 @@ rs2_pose predict_pose(rs2_pose & pose, float dt_s)
 
 int main(int argc, char * argv[]) try
 {
+    auto serial = depth_with_stream_type_present(RS2_STREAM_POSE);
+    if (serial.empty())
+    {
+        std::cerr << "The demo requires Realsense Depth camera with POSE sensor";
+        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

examples/pose/rs-pose.cpp

@@ -3,9 +3,17 @@
 #include <librealsense2/rs.hpp>
 #include <iostream>
 #include <iomanip>
+#include "../example.hpp"
 
 int main(int argc, char * argv[]) try
 {
+    auto serial = depth_with_stream_type_present(RS2_STREAM_POSE);
+    if (serial.empty())
+    {
+        std::cerr << "The demo requires Realsense Depth camera with POSE sensor";
+        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

examples/trajectory/rs-trajectory.cpp

@@ -439,6 +439,13 @@ 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
 {
+    auto serial = depth_with_stream_type_present(RS2_STREAM_POSE);
+    if (serial.empty())
+    {
+        std::cerr << "The demo requires Realsense Depth camera with POSE sensor";
+        return EXIT_SUCCESS;;
+    }
+
     // Initialize window for rendering
     window app(1280, 720, "RealSense Trajectory Example");
 

src/ivcam/sr300.cpp

@@ -91,22 +91,18 @@ namespace librealsense
                     return results;
                 }
             }
-
             if (mi_present(group, 2))
             {
                 depth = get_mi(group, 2);
                 chosen.push_back(depth);
             }
+            if (!depth.pid) // SR306 : only mi=0 is defined
+                std::swap(color, depth);
+            auto info = std::make_shared<sr300_info>(ctx, color, depth, hwm);
+            results.push_back(info);
 
             if (!color.pid && !depth.pid)
                 LOG_WARNING("SR300 group_devices is empty.");
-            else
-            {
-                if (!depth.pid) // SR306 : only mi=0 is defined
-                    std::swap(color, depth);
-                auto info = std::make_shared<sr300_info>(ctx, color, depth, hwm);
-                results.push_back(info);
-            }
         }
 
         trim_device_list(uvc, chosen);
@@ -534,9 +530,9 @@ namespace librealsense
         device(ctx, group, register_device_notifications) {
 
         static auto device_name = "Intel RealSense SR305";
-        //auto recommended_fw_version = firmware_version(SR3XX_RECOMMENDED_FIRMWARE_VERSION);
+        auto recommended_fw_version = firmware_version(SR305_RECOMMENDED_FIRMWARE_VERSION);
         update_info(RS2_CAMERA_INFO_NAME, device_name);
-        //register_info(RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION, recommended_fw_version);
+        register_info(RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION, recommended_fw_version);
 
         roi_sensor_interface* roi_sensor;
         if ((roi_sensor = dynamic_cast<roi_sensor_interface*>(&get_sensor(_color_device_idx))))

wrappers/python/examples/align-depth2color.py

@@ -20,10 +20,15 @@
 config = rs.config()
 
 # Get device product line for setting a supporting resolution
+# And product id to skip SR306
 pipeline_wrapper = rs.pipeline_wrapper(pipeline)
 pipeline_profile = config.resolve(pipeline_wrapper)
 device = pipeline_profile.get_device()
 device_product_line = str(device.get_info(rs.camera_info.product_line))
+device_product_id = str(device.get_info(rs.camera_info.product_id))
+if device_product_id == "0AA3":
+    print("The connected device does not support RGB stream")
+    exit(0)
 
 config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
 

wrappers/python/examples/opencv_pointcloud_viewer.py

@@ -67,6 +67,15 @@ def pivot(self):
 pipeline = rs.pipeline()
 config = rs.config()
 
+# Get device product id to skip SR306
+pipeline_wrapper = rs.pipeline_wrapper(pipeline)
+pipeline_profile = config.resolve(pipeline_wrapper)
+device = pipeline_profile.get_device()
+device_product_id = str(device.get_info(rs.camera_info.product_id))
+if device_product_id == "0AA3":
+    print("The connected device does not support RGB stream")
+    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

@@ -14,10 +14,15 @@
 config = rs.config()
 
 # Get device product line for setting a supporting resolution
+# And product id to skip SR306
 pipeline_wrapper = rs.pipeline_wrapper(pipeline)
 pipeline_profile = config.resolve(pipeline_wrapper)
 device = pipeline_profile.get_device()
 device_product_line = str(device.get_info(rs.camera_info.product_line))
+device_product_id = str(device.get_info(rs.camera_info.product_id))
+if device_product_id == "0AA3":
+    print("The connected device does not support RGB stream")
+    exit(0)
 
 config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)