Integrate libtm source code

CMake/Findlibtm.cmake

@@ -55,7 +55,10 @@ find_library(INFRA_LIBRARY_DEBUG
 	HINTS
 	"${LIBTM_DIR}/bin/Debug"
 	)
-
+find_library(LIBUSB_LIBRARY
+	NAMES		
+	libusb-1.0.lib
+	)
 
 # handle the LIBTM and REQUIRED arguments and set LIBTM_FOUND to TRUE if
 # all listed variables are TRUE

CMakeLists.txt

@@ -121,7 +121,7 @@ elseif(UNIX)
 endif()
 
 
-option(BUILD_WITH_TM2 "Build with support for Intel TM2 tracking device" OFF)
+option(BUILD_WITH_TM2 "Build with support for Intel TM2 tracking device" ON)
 
 option(BUILD_EASYLOGGINGPP "Build EasyLogging++ as a part of the build" ON)
 
@@ -785,44 +785,48 @@ if(HWM_OVER_XU)
     add_definitions(-DHWM_OVER_XU)
 endif()
 
-if (NOT USE_SYSTEM_LIBUSB)
-    if(NOT WIN32 OR FORCE_LIBUVC)
-       include(ExternalProject)
-
-       ExternalProject_Add(
-         libusb
-
-         GIT_REPOSITORY "https://github.com/libusb/libusb.git"
-         GIT_TAG "master"
-
-         UPDATE_COMMAND   ${CMAKE_COMMAND} -E copy
-                          ${CMAKE_CURRENT_SOURCE_DIR}/third-party/libusb/CMakeLists.txt
-                          ${CMAKE_CURRENT_BINARY_DIR}/third-party/libusb/CMakeLists.txt
-         PATCH_COMMAND ""
-
-         SOURCE_DIR "third-party/libusb/"
-         CMAKE_ARGS -DCMAKE_CXX_STANDARD_LIBRARIES=${CMAKE_CXX_STANDARD_LIBRARIES}
+if ((NOT USE_SYSTEM_LIBUSB AND FORCE_LIBUVC) OR (BUILD_WITH_TM2 AND WIN32))
+        include(ExternalProject)
+
+        ExternalProject_Add(
+            libusb
+
+            GIT_REPOSITORY "https://github.com/libusb/libusb.git"
+            GIT_TAG "master"
+
+            UPDATE_COMMAND ${CMAKE_COMMAND} -E copy
+                    ${CMAKE_CURRENT_SOURCE_DIR}/third-party/libusb/CMakeLists.txt
+                    ${CMAKE_CURRENT_BINARY_DIR}/third-party/libusb/CMakeLists.txt
+            PATCH_COMMAND ""
+
+            SOURCE_DIR "third-party/libusb/"
+            CMAKE_ARGS -DCMAKE_CXX_STANDARD_LIBRARIES=${CMAKE_CXX_STANDARD_LIBRARIES}
                     -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
                     -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/libusb_install
-
-         TEST_COMMAND ""
-       )
-
-       set(LIBUSB_LOCAL_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/third-party/libusb)
-
-       set(LIBUSB1_LIBRARY_DIRS ${CMAKE_CURRENT_BINARY_DIR}/libusb_install/lib)
-       link_directories(${LIBUSB1_LIBRARY_DIRS})
-
-       set(LIBUSB1_LIBRARIES usb log)
-    endif()
+            TEST_COMMAND ""
+        )
+
+        set(LIBUSB_LOCAL_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/third-party/libusb)
+
+        set(LIBUSB1_LIBRARY_DIRS ${CMAKE_CURRENT_BINARY_DIR}/libusb_install/lib)
+        link_directories(${LIBUSB1_LIBRARY_DIRS})
+
+        set(LIBUSB1_LIBRARIES usb)
+
+        if(NOT WIN32)
+            set(LIBUSB1_LIBRARIES ${LIBUSB1_LIBRARIES} log)
+        endif()
+
 endif()
 
 add_subdirectory(third-party/realsense-file)
 
 
 if (BUILD_WITH_TM2)
     message(STATUS "Building with TM2")
-
+
+	add_subdirectory(third-party/libtm)
+
     if(WIN32)
         source_group("Source Files\\Devices\\Tracking" FILES
             src/tm2/tm-context.cpp
@@ -837,22 +841,10 @@ if (BUILD_WITH_TM2)
             src/tm2/tm-conversions.h
             src/tm2/controller_event_serializer.h
             )
+		add_dependencies(tm libusb)
     endif()
 
     list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/CMake)
-    find_package(libtm REQUIRED)
-
-    if(BUILD_WITH_STATIC_CRT)
-        foreach(flag_var
-                CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
-                CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO
-                CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
-                CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO)
-            if(${flag_var} MATCHES "/MD")
-                string(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
-            endif(${flag_var} MATCHES "/MD")
-        endforeach(flag_var)
-    endif()
 
     list(APPEND REALSENSE_HPP
     src/tm2/tm-context.h
@@ -867,16 +859,7 @@ if (BUILD_WITH_TM2)
     src/tm2/tm-device.cpp
     src/tm2/tm-info.cpp
     )
-
-    include_directories(${LIBTM_INCLUDE_DIR})
-    set(TRACKING_DEVICE_LIBS libtm)
-
-    install(TARGETS libtm
-        EXPORT realsense2Targets
-        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
-        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-    )
+
 endif()
 
 if(LRS_TRY_USE_AVX)
@@ -904,6 +887,8 @@ endif()
 
 if(BUILD_WITH_TM2)
     target_compile_definitions(realsense2 PRIVATE WITH_TRACKING=1 BUILD_STATIC=1)
+	target_link_libraries(realsense2 PRIVATE tm ${CMAKE_THREAD_LIBS_INIT} ${TRACKING_DEVICE_LIBS})
+	target_include_directories(realsense2 PRIVATE third-party/libtm/libtm/include)
 endif()
 set_target_properties(realsense2 PROPERTIES VERSION ${REALSENSE_VERSION_STRING}
                                 SOVERSION ${REALSENSE_VERSION_MAJOR})

common/model-views.cpp

@@ -2100,7 +2100,7 @@ namespace rs2
         if (render_pose)
         {
             total_top_bar_height += top_bar_height; // add additional bar height for pose
-            const int num_of_pose_buttons = 3; // trajectory, draw camera, boundary selection
+            const int num_of_pose_buttons = 2; // trajectory, draw camera
 
             ImGui::SetNextWindowPos({ stream_rect.x, stream_rect.y + buttons_heights });
             ImGui::SetNextWindowSize({ stream_rect.w, buttons_heights });
@@ -2137,25 +2137,6 @@ namespace rs2
             if (ImGui::IsItemHovered())
                 ImGui::SetTooltip("%s", tm2.trajectory_button.get_tooltip().c_str());
 
-            // Draw boundary selection button
-            ImGui::SameLine();
-            color_icon = tm2.boundary_button.is_pressed(); //draw boundary is on - color the icon
-            if (color_icon)
-            {
-                ImGui::PushStyleColor(ImGuiCol_Text, light_blue);
-                ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue);
-            }
-            if (ImGui::Button(tm2.boundary_button.get_icon().c_str(), { 24, buttons_heights }))
-            {
-                tm2.boundary_button.toggle_button();
-            }
-            if (color_icon)
-            {
-                ImGui::PopStyleColor(2);
-            }
-            if (ImGui::IsItemHovered())
-                ImGui::SetTooltip("%s", tm2.boundary_button.get_tooltip().c_str());
-
             ImGui::End();
         }
 
@@ -3864,7 +3845,6 @@ namespace rs2
                 rs2_vector translation{ pose_trans.mat[0][3], pose_trans.mat[1][3], pose_trans.mat[2][3] };
                 tracked_point p{ translation , pose_data.tracker_confidence }; //TODO: Osnat - use tracker_confidence or mapper_confidence ?
                 tm2.draw_trajectory(p);
-                tm2.draw_boundary(p);
             }
         }
 
@@ -6669,76 +6649,6 @@ namespace rs2
         }
     }
 
-    void tm2_model::draw_boundary(tracked_point& p)
-    {
-        if (!boundary_button.is_pressed())
-        {
-            //TODO - separate button
-            if (boundary.size() > 0)
-            {
-                //cleanup last boundary
-                boundary.clear();
-            }
-            return;
-        }
-
-        // if new boundary - grab from trajectory
-        if (boundary.size() == 0)
-        {
-            std::vector<float2> trajectory_projection;
-            //create the boundary from the trajectory
-            for (auto&& v : trajectory)
-            {
-                // project the trajectory on XZ plane - ignore y coordinate of the point
-                float2 p{ v.first.x, v.first.z };
-                trajectory_projection.push_back(p);
-            }
-            boundary = simplify_line(trajectory_projection);
-        }
-        // check if there is any boundary to render
-        if (boundary.size() == 0)
-        {
-            return;
-        }
-
-        // check if the current position is inside or outside the boundary, to color it accordingly
-        float2 point{ p.first.x, p.first.z };
-        bool inside = point_in_polygon_2D(boundary, point);
-        color c;
-        if (inside)
-        {
-            c = { 0.0f, 1.0f, 0.0f };
-        }
-        else
-        {
-            c = { 1.0f, 0.0f, 0.0f };
-        }
-        // draw the boundary lines parallel to XZ plane
-        glLineWidth(1.0f);
-        for (float height = -1.0f; height < 1.0f; height += 0.2f)
-        {
-            glBegin(GL_LINE_STRIP);
-            glColor3f(c[0], c[1], c[2]);
-            for (auto&& v : boundary)
-            {
-                glVertex3f(v.x, height, v.y);
-            }
-            glVertex3f(boundary[0].x, height, boundary[0].y);
-            glEnd();
-        }
-
-        // draw vertical lines along the boundary
-        glLineWidth(1.0f);
-        glBegin(GL_LINES);
-        glColor3f(c[0], c[1], c[2]);
-        for (auto&& v : boundary)
-        {
-            glVertex3f(v.x, -1.0f, v.y);
-            glVertex3f(v.x, 1.0f, v.y);
-        }
-        glEnd();
-    }
-
     std::string get_timestamped_file_name()
     {
         std::time_t now = std::time(NULL);

common/model-views.h

@@ -754,11 +754,9 @@ namespace rs2
         void draw_controller_pose_object();
         void draw_pose_object();
         void draw_trajectory(tracked_point& p);
-        void draw_boundary(tracked_point& p);
 
         press_button_model trajectory_button{ u8"\uf1b0", u8"\uf1b0","Draw trajectory", "Stop drawing trajectory" };
         press_button_model camera_object_button{ u8"\uf047", u8"\uf083",  "Draw pose axis", "Draw camera pose" };
-        press_button_model boundary_button{ u8"\uf278", u8"\uf278", "Set trajectory as boundary", "Discard boundary" };
 
     private:
         void add_to_trajectory(tracked_point& p);
@@ -823,7 +821,7 @@ namespace rs2
 
         viewer_model()
             : ppf(*this),
-              synchronization_enable(true)
+              synchronization_enable(false)
         {
             s.start(ppf.syncer_queue);
             reset_camera();

src/tm2/controller_event_serializer.h

@@ -23,41 +23,6 @@ namespace librealsense
         return oss.str();
     }
 
-    std::string get_string(perc::Status value)
-    {
-
-#define CASE_RETURN_STR(X) case perc::Status::##X: {\
-        static std::string s##X##_str = make_less_screamy(#X);\
-        return s##X##_str; }
-
-        switch (value)
-        {
-            CASE_RETURN_STR(SUCCESS)
-            CASE_RETURN_STR(COMMON_ERROR)
-            CASE_RETURN_STR(FEATURE_UNSUPPORTED)
-            CASE_RETURN_STR(ERROR_PARAMETER_INVALID)
-            CASE_RETURN_STR(INIT_FAILED)
-            CASE_RETURN_STR(ALLOC_FAILED)
-            CASE_RETURN_STR(ERROR_USB_TRANSFER)
-            CASE_RETURN_STR(ERROR_EEPROM_VERIFY_FAIL)
-            CASE_RETURN_STR(ERROR_FW_INTERNAL)
-            CASE_RETURN_STR(BUFFER_TOO_SMALL)
-            CASE_RETURN_STR(NOT_SUPPORTED_BY_FW)
-            CASE_RETURN_STR(DEVICE_BUSY)
-            CASE_RETURN_STR(TIMEOUT)
-            CASE_RETURN_STR(TABLE_NOT_EXIST)
-            CASE_RETURN_STR(TABLE_LOCKED)
-            CASE_RETURN_STR(DEVICE_STOPPED)
-            CASE_RETURN_STR(TEMPERATURE_WARNING)
-            CASE_RETURN_STR(TEMPERATURE_STOP)
-            CASE_RETURN_STR(CRC_ERROR)
-            CASE_RETURN_STR(INCOMPATIBLE)
-            CASE_RETURN_STR(SLAM_NO_DICTIONARY)
-        default: return to_string() << "Unknown (" << (int)value << ")";
-        }
-#undef CASE_RETURN_STR
-    }
-
     inline std::ostream& operator<<(std::ostream& os, const perc::TrackingData::Version& v)
     {
         return os << v.major << "." << v.minor << "." << v.patch << "." << v.build;
@@ -95,7 +60,7 @@ namespace librealsense
         static std::string serialized_data(const perc::TrackingData::ControllerConnectedEventFrame& frame)
         {
             std::string serialized_data = to_string() <<
-                "\"status\": \"" << get_string(frame.status) << "\","
+                "\"status\": \"" << (int)frame.status << "\","
                 "\"controllerId\": " << (int)frame.controllerId << ","
                 "\"manufacturerId\": " << (int)frame.manufacturerId << ","
                 "\"protocol\": \"" << frame.protocol << "\","

src/tm2/tm-context.cpp

@@ -19,7 +19,7 @@ namespace librealsense
     tm2_context::tm2_context(context* ctx)
         : _is_disposed(false), _t(&tm2_context::thread_proc, this), _ctx(ctx)
     {
-        _manager = std::shared_ptr<TrackingManager>(perc::TrackingManager::CreateInstance(this), 
+        _manager = std::shared_ptr<TrackingManager>(perc::TrackingManager::CreateInstance(this),
             [](perc::TrackingManager* ptr) { perc::TrackingManager::ReleaseInstance(ptr); });
         if (_manager == nullptr)
         {
@@ -48,7 +48,7 @@ namespace librealsense
 
     }
 
-    void tm2_context::onStateChanged(TrackingManager::EventType state, TrackingDevice* dev)
+    void tm2_context::onStateChanged(TrackingManager::EventType state, TrackingDevice* dev, TrackingData::DeviceInfo devInfo)
     {
         std::shared_ptr<tm2_info> added;
         std::shared_ptr<tm2_info> removed;
@@ -73,9 +73,9 @@ namespace librealsense
         on_device_changed(removed, added);
     }
 
-    void tm2_context::onError(TrackingManager::Error error, TrackingDevice* dev)
+    void tm2_context::onError(Status error, TrackingDevice* dev)
     {
-        LOG_ERROR("Error occured while connecting device:" << dev << " Error: 0x" << std::hex << error);
+        LOG_ERROR("Error occured while connecting device:" << dev << " Error: 0x" << std::hex << static_cast<int>(error));
     }
 
     void tm2_context::thread_proc()

src/tm2/tm-context.h

@@ -21,8 +21,8 @@ namespace librealsense
         std::vector<perc::TrackingDevice*> query_devices() const;
         signal<tm2_context, std::shared_ptr<tm2_info>, std::shared_ptr<tm2_info>> on_device_changed;
         // TrackingManager::Listener
-        void onStateChanged(perc::TrackingManager::EventType state, perc::TrackingDevice*) override;
-        void onError(perc::TrackingManager::Error error, perc::TrackingDevice*) override;
+        void onStateChanged(perc::TrackingManager::EventType state, perc::TrackingDevice* device, perc::TrackingData::DeviceInfo deviceInfo) override;
+        void onError(perc::Status error, perc::TrackingDevice*) override;
     private:
         void thread_proc();
         friend class connect_disconnect_listener;