Merge pull request #672 from zivsha/pipeline_changes

Pipeline changes

.travis.yml

@@ -76,8 +76,8 @@ script:
       sudo "PATH=$PATH" make install;
 
       export LRS_LOG_LEVEL="DEBUG";
-      wget http://realsense-hw-public.s3.amazonaws.com/rs-tests/awgc4;
-      ./unit-tests/live-test from awgc4 -d yes;
+      wget http://realsense-hw-public.s3.amazonaws.com/rs-tests/live_test_awgc;
+      ./unit-tests/live-test from live_test_awgc -d yes;
     fi
   - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
       mkdir build && cd build;

CMake/realsense.def

@@ -198,25 +198,32 @@ EXPORTS
     rs2_playback_device_set_status_changed_callback
     rs2_playback_device_get_current_status
     rs2_playback_device_set_playback_speed
-	rs2_playback_device_stop
+    rs2_playback_device_stop
 
     rs2_create_align
+
     rs2_create_pipeline
-    rs2_pipeline_get_device
-    rs2_start_pipeline_with_callback
-    rs2_start_pipeline_with_callback_cpp
-    rs2_start_pipeline
-    rs2_open_pipeline
-    rs2_stop_pipeline
-    rs2_enable_pipeline_stream
-    rs2_enable_pipeline_device
-    rs2_disable_stream_pipeline
-    rs2_disable_all_streams_pipeline
+    rs2_pipeline_stop
     rs2_pipeline_wait_for_frames
     rs2_pipeline_poll_for_frames
-    rs2_pipeline_get_active_streams
-    rs2_pipeline_get_stream_type_selection
     rs2_delete_pipeline
+    rs2_pipeline_start
+    rs2_pipeline_start_with_config
+    rs2_pipeline_get_active_profile
+    rs2_pipeline_profile_get_device
+    rs2_pipeline_profile_get_streams
+    rs2_delete_pipeline_profile
+    rs2_create_config
+    rs2_delete_config
+    rs2_config_enable_stream
+    rs2_config_enable_all_stream
+    rs2_config_enable_device
+    rs2_config_enable_device_from_file
+    rs2_config_enable_record_to_file
+    rs2_config_disable_stream
+    rs2_config_disable_all_streams
+    rs2_config_resolve
+    rs2_config_can_resolve
 
     rs2_create_device_hub
     rs2_device_hub_is_device_connected

appveyor.yml

@@ -32,14 +32,14 @@ build:
   verbosity: minimal
 test_script:
 - ps: >-
-    $url = "http://realsense-hw-public.s3.amazonaws.com/rs-tests/awgc4"
+    $url = "http://realsense-hw-public.s3.amazonaws.com/rs-tests/live_test_awgc"
 
-    $output = "C:/projects/librealsense/build/Debug/awgc4"
+    $output = "C:/projects/librealsense/build/Debug/live_test_awgc"
 
     Invoke-WebRequest -Uri $url -OutFile $output
 
 
-    & cmd.exe /c C:/projects/librealsense/build/Debug/live-test.exe from C:/projects/librealsense/build/Debug/awgc4 -d yes
+    & cmd.exe /c C:/projects/librealsense/build/Debug/live-test.exe from C:/projects/librealsense/build/Debug/live_test_awgc -d yes
 
     if ($LASTEXITCODE -ne 0)
 

examples/align/readme.md

@@ -49,7 +49,7 @@ Next, we declare three functions to help the code look clearer:
 ```cpp
 void render_slider(rect location, float& clipping_dist);
 void remove_background(rs2::video_frame& color, const rs2::depth_frame& depth_frame, float depth_scale, float clipping_dist);
-bool try_get_depth_scale(rs2::pipeline& p, float& scale);
+bool try_get_depth_scale(rs2::device dev, float& scale);
 ```
 
 `render_slider(..)`  is where all the GUI code goes, and we will not cover this function in this overview.
@@ -70,19 +70,12 @@ We first define some variables that will be used to show the window and render t
     texture renderer;                     // Helper for renderig images
 ```
 
-Then, we create a context:
+Then, we create an `align` object:
 
 ```cpp
-// Create a context
-rs2::context ctx;
-```
-`rs2::context` encapsulates all of the devices and sensors, and provides some additional functionalities.
-In this example we will use the `context` to create an `rs2::align` object:
-
-```cpp
-    // Using the context to create a rs2::align object. 
-    // rs2::align allows you to perform alignment of depth frames to others
-    rs2::align align = ctx.create_align(RS2_STREAM_COLOR); 
+// Using the context to create a rs2::align object. 
+// rs2::align allows you to perform alignment of depth frames to others
+rs2::align align(RS2_STREAM_COLOR); 
 ```
 
 `rs2::align` is a utility class that performs image alignment (registration) of 2 frames. Basically, each pixel from the first image will be transformed so that it matches its corresponding pixel in the second image. 
@@ -94,16 +87,27 @@ Next, we define a `rs2::pipeline` which is a top level API for using RealSense d
 ```cpp
 // Create a pipeline to easily configure and start the camera
 rs2::pipeline pipe;
-pipe.start(align);
+//Calling pipeline's start() without any additional parameters will start the first device
+// with its default streams.
+//The start function returns the pipeline profile which the pipeline used to start the device
+rs2::pipeline_profile profile = pipe.start();
 ```
-we pass the `align` object to `Pipeline::start` as the post processing handler for incoming frames that the pipeline produces. This means that frames will first be processed by the pipeline, and once the pipeline is ready to output them, it will pass them on to `align` which will perform additional processing.
-
-`rs2::align` contains an overload for `operator()` which takes a `rs2::frame`. This allows us to pass it as the argument for `pipeline::start`. The pipeline synchronizes its frames before publishing them, thus, by calling `start` with an `align` object, the frames it will provide will be synchronized and aligned to one another. We will soon see how to get these frames from the `align` object.
 
-At this point of the program the camera is configured and the resulted frames are being aligned.
+At this point of the program the camera is configured and streams are available from the pipeline.
 
 Before actually using the frames, we try to get the depth scale units of the depth camera. Depth scale units are used to convert the depth pixel data (16-bit unsigned) into metric units.
 
+```cpp
+// Each depth camera might have different units for depth pixels, so we get it here
+float depth_scale;
+//Using the pipeline's profile, we can retrieve the device that the pipeline uses
+if (!try_get_depth_scale(profile.get_device(), depth_scale))
+{
+    std::cerr << "Device does not have a depth sensor" << std::endl;
+    return EXIT_FAILURE;
+}
+```
+
 These units are expressed as depth in meters corresponding to a depth value of 1. For example if we have a depth pixel with a value of 2 and the depth scale units are 0.5 then that pixel is `2 X 0.5 = 1` meter away from the camera.
 
 Now comes the interesting part of the application. We start our main loop, which breaks only when the window is closed:

examples/align/rs-align.cpp

@@ -14,7 +14,7 @@
 
 void render_slider(rect location, float& clipping_dist);
 void remove_background(rs2::video_frame& color, const rs2::depth_frame& depth_frame, float depth_scale, float clipping_dist);
-bool try_get_depth_scale(rs2::pipeline& p, float& scale);
+bool try_get_depth_scale(rs2::device dev, float& scale);
 int main(int argc, char * argv[]) try
 {
     // Create and initialize GUI related objects
@@ -30,13 +30,15 @@ int main(int argc, char * argv[]) try
 
     // Create a pipeline to easily configure and start the camera
     rs2::pipeline pipe;
-
-    // By passing align to Pipeline::start, frames will be passed to align's handler
-    pipe.start();
+    //Calling pipeline's start() without any additional parameters will start the first device
+    // with its default streams.
+    //The start function returns the pipeline profile which the pipeline used to start the device
+    rs2::pipeline_profile profile = pipe.start();
 
     // Each depth camera might have different units for depth pixels, so we get it here
     float depth_scale;
-    if (!try_get_depth_scale(pipe, depth_scale))
+    //Using the pipeline's profile, we can retrieve the device that the pipeline uses
+    if (!try_get_depth_scale(profile.get_device(), depth_scale))
     {
         std::cerr << "Device does not have a depth sensor" << std::endl;
         return EXIT_FAILURE;
@@ -113,11 +115,8 @@ catch (const std::exception & e)
     return EXIT_FAILURE;
 }
 
-bool try_get_depth_scale(rs2::pipeline& p, float& scale)
+bool try_get_depth_scale(rs2::device dev, float& scale)
 {
-    // Get the underlying device from the pipeline
-    rs2::device dev = p.get_device();
-
     // Go over the device's sensors
     for (rs2::sensor& sensor : dev.query_sensors())
     {

examples/multicam/rs-multicam.cpp

@@ -22,6 +22,7 @@ class device_container
         rs2::colorizer colorize_frame;
         texture tex;
         rs2::pipeline pipe;
+        rs2::pipeline_profile profile;
     };
 
 public:
@@ -43,23 +44,29 @@ class device_container
         }
         // Create a pipeline from the given device
         rs2::pipeline p;
-        p.enable_device(serial_number);
+        rs2::config c;
+        c.enable_device(serial_number);
+        // Start the pipeline with the configuration
+        rs2::pipeline_profile profile = p.start(c);
         // Hold it internally
-        _devices.emplace(serial_number, view_port{ {},{},{}, p });
+        _devices.emplace(serial_number, view_port{ {},{},{}, p, profile });
 
-        // Start the pipeline with the default configuration
-        p.start();
     }
 
     void remove_devices(const rs2::event_information& info)
     {
         std::lock_guard<std::mutex> lock(_mutex);
         // Go over the list of devices and check if it was disconnected
-        for (auto itr = _devices.begin(); itr != _devices.end(); ++itr)
+        auto itr = _devices.begin();
+        while(itr != _devices.end())
         {
-            if (info.was_removed(itr->second.pipe.get_device()))
+            if (info.was_removed(itr->second.profile.get_device()))
             {
-                _devices.erase(itr);
+                itr = _devices.erase(itr);
+            }
+            else
+            {
+                ++itr;
             }
         }
     }