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Enabled left color for D405 and D455 #6916

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merged 2 commits into from
Sep 16, 2020
Merged

Enabled left color for D405 and D455 #6916

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124ca5a
Enabled left color for D405 and D455
daversintel Jul 23, 2020
2209018
Fix control and formats selection
ev-mp Sep 16, 2020
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8 changes: 6 additions & 2 deletions src/ds5/ds5-factory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -897,7 +897,8 @@ namespace librealsense
};
};

class rs405_device : public ds5_active,
class rs405_device : public ds5_nonmonochrome,
public ds5_active,
public ds5_color,
public ds5_motion,
public ds5_advanced_mode_base,
Expand All @@ -909,6 +910,7 @@ namespace librealsense
bool register_device_notifications)
: device(ctx, group, register_device_notifications),
ds5_device(ctx, group),
ds5_nonmonochrome(ctx, group),
ds5_active(ctx, group),
ds5_color(ctx, group),
ds5_motion(ctx, group),
Expand Down Expand Up @@ -943,7 +945,8 @@ namespace librealsense
bool compress_while_record() const override { return false; }
};

class rs455_device : public ds5_active,
class rs455_device : public ds5_nonmonochrome,
public ds5_active,
public ds5_color,
public ds5_motion,
public ds5_advanced_mode_base,
Expand All @@ -955,6 +958,7 @@ namespace librealsense
bool register_device_notifications)
: device(ctx, group, register_device_notifications),
ds5_device(ctx, group),
ds5_nonmonochrome(ctx, group),
ds5_active(ctx, group),
ds5_color(ctx, group),
ds5_motion(ctx, group),
Expand Down
23 changes: 16 additions & 7 deletions src/ds5/ds5-nonmonochrome.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,25 +29,34 @@ namespace librealsense

auto pid = group.uvc_devices.front().pid;
auto& depth_ep = get_depth_sensor();

// RGB for D455 from Left Imager is available with FW 5.12.8.100
if ((RS455_PID == pid) && (_fw_version < firmware_version("5.12.8.100")))
return;

if ((_fw_version >= firmware_version("5.5.8.0")) && (!val_in_range(pid, { RS_USB2_PID, RS465_PID })))
{
depth_ep.register_option(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE,
std::make_shared<uvc_xu_option<uint8_t>>(get_raw_depth_sensor(),
if (RS455_PID != pid)
{
depth_ep.register_option(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE,
std::make_shared<uvc_xu_option<uint8_t>>(get_raw_depth_sensor(),
depth_xu,
DS5_ENABLE_AUTO_WHITE_BALANCE,
"Enable Auto White Balance"));

// RS400 rolling-shutter Skus allow to get low-quality color image from the same viewport as the depth
depth_ep.register_processing_block({ {RS2_FORMAT_BGR8} }, { {RS2_FORMAT_RGB8, RS2_STREAM_INFRARED} }, []() { return std::make_shared<bgr_to_rgb>(); });
depth_ep.register_processing_block({ {RS2_FORMAT_W10} }, { {RS2_FORMAT_RAW10, RS2_STREAM_INFRARED, 1} }, []() { return std::make_shared<w10_converter>(RS2_FORMAT_RAW10); });
depth_ep.register_processing_block({ {RS2_FORMAT_W10} }, { {RS2_FORMAT_Y10BPACK, RS2_STREAM_INFRARED, 1} }, []() { return std::make_shared<w10_converter>(RS2_FORMAT_Y10BPACK); });
}

depth_ep.register_processing_block({ {RS2_FORMAT_W10} }, { {RS2_FORMAT_RAW10, RS2_STREAM_INFRARED, 1} }, []() { return std::make_shared<w10_converter>(RS2_FORMAT_RAW10); });
depth_ep.register_processing_block({ {RS2_FORMAT_W10} }, { {RS2_FORMAT_Y10BPACK, RS2_STREAM_INFRARED, 1} }, []() { return std::make_shared<w10_converter>(RS2_FORMAT_Y10BPACK); });
// RS400 rolling-shutter SKUs allow to get low-quality color image from the same viewport as the depth
depth_ep.register_processing_block({ {RS2_FORMAT_BGR8} }, { {RS2_FORMAT_RGB8, RS2_STREAM_INFRARED} }, []() { return std::make_shared<bgr_to_rgb>(); });
}

depth_ep.register_processing_block(processing_block_factory::create_pbf_vector<yuy2_converter>(RS2_FORMAT_YUYV, map_supported_color_formats(RS2_FORMAT_YUYV), RS2_STREAM_INFRARED));
depth_ep.register_processing_block(processing_block_factory::create_pbf_vector<uyvy_converter>(RS2_FORMAT_UYVY, map_supported_color_formats(RS2_FORMAT_UYVY), RS2_STREAM_INFRARED));

get_depth_sensor().unregister_option(RS2_OPTION_EMITTER_ON_OFF);
if (RS455_PID != pid)
get_depth_sensor().unregister_option(RS2_OPTION_EMITTER_ON_OFF);

if ((_fw_version >= firmware_version("5.9.13.6") &&
_fw_version < firmware_version("5.9.15.1")))
Expand Down