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Set depth invalidation enabled by CMake flag #6288

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merged 4 commits into from
Apr 23, 2020
Merged

Set depth invalidation enabled by CMake flag #6288

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106034c
Set depth invalidation enabled by flag
Nir-Az Apr 22, 2020
27ad71d
Change_depth_invalidation_fix_eol
Nir-Az Apr 22, 2020
49f638e
Merge remote-tracking branch 'origin/development' into change_depth_i…
Nir-Az Apr 23, 2020
163ec5f
Cosmetics fixes according to code review
Nir-Az Apr 23, 2020
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3 changes: 2 additions & 1 deletion CMake/lrs_options.cmake
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Expand Up @@ -30,4 +30,5 @@ option(FORCE_RSUSB_BACKEND "Use RS USB backend, mandatory for Win7/MacOS/Android
option(BUILD_NETWORK_DEVICE "Build Network Device support" OFF)
option(FORCE_LIBUVC "Explicitly turn-on libuvc backend - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
option(FORCE_WINUSB_UVC "Explicitly turn-on winusb_uvc (for win7) backend - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
option(ANDROID_USB_HOST_UVC "Build UVC backend for Android - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
option(ANDROID_USB_HOST_UVC "Build UVC backend for Android - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
option(ENABLE_L500_DEPTH_INVALIDATION "Turn on the depth frame validator to automatically catch corrupted frames and restart the sensor" ON)
4 changes: 4 additions & 0 deletions src/l500/CMakeLists.txt
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Expand Up @@ -21,3 +21,7 @@ target_sources(${LRS_TARGET}
"${CMAKE_CURRENT_LIST_DIR}/l500-serializable.h"
"${CMAKE_CURRENT_LIST_DIR}/l500-options.h"
)

if (ENABLE_L500_DEPTH_INVALIDATION)
add_definitions(-DENABLE_L500_DEPTH_INVALIDATION)
endif()
11 changes: 9 additions & 2 deletions src/l500/l500-depth.h
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Expand Up @@ -87,8 +87,14 @@ namespace librealsense
{
public:
explicit l500_depth_sensor(l500_device* owner, std::shared_ptr<uvc_sensor> uvc_sensor, std::map<uint32_t,rs2_format> l500_depth_fourcc_to_rs2_format_map, std::map<uint32_t, rs2_stream> l500_depth_fourcc_to_rs2_stream_map)
: synthetic_sensor("L500 Depth Sensor", uvc_sensor, owner, l500_depth_fourcc_to_rs2_format_map, l500_depth_fourcc_to_rs2_stream_map), _owner(owner), _depth_invalidation_enabled(false)
: synthetic_sensor("L500 Depth Sensor", uvc_sensor, owner, l500_depth_fourcc_to_rs2_format_map, l500_depth_fourcc_to_rs2_stream_map), _owner(owner)
{
#ifdef ENABLE_L500_DEPTH_INVALIDATION
_depth_invalidation_enabled = true;
#else
_depth_invalidation_enabled = false;
#endif

register_option(RS2_OPTION_DEPTH_UNITS, std::make_shared<const_value_option>("Number of meters represented by a single depth unit",
lazy<float>([&]() {
return read_znorm(); })));
Expand All @@ -111,7 +117,8 @@ namespace librealsense
<< "Unsupported depth invalidation enabled " << val << " is out of range.");
});

register_option(static_cast<rs2_option>(RS2_OPTION_DEPTH_INVALIDATION_ENABLE), _depth_invalidation_option);
// The depth invalidation enable option is deprecated for now.
//register_option(static_cast<rs2_option>(RS2_OPTION_DEPTH_INVALIDATION_ENABLE), _depth_invalidation_option);
}

std::vector<rs2_option> get_supported_options() const override
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