Added support for rgb metadata #3791
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src/l500/l500-color.h
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| auto intrinsic = (intrinsic_rgb*)(res.data()); | ||
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| auto model = intrinsic->resolution.intrinsicResolution[0]; |
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Add mapping between the requested profile and the table's entry
src/l500/l500-color.h
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| return {}; | ||
| using namespace ivcam2; | ||
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| auto res = *_owner->_color_intrinsics_table_raw; |
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Employ the embedded template for the table validation
auto table = check_calib<TBD_table>(*_TBD_table_raw);
src/l500/l500-depth.cpp
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| command cmd_fy(0x01, 0xa00e080c, 0xa00e0810); | ||
| command cmd_cx(0x01, 0xa00e0814, 0xa00e0818); | ||
| command cmd_cy(0x01, 0xa00e0818, 0xa00e081c); | ||
| auto fx = _hw_monitor->send(cmd_fx); // CBUFspare_000 |
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What happens if the cal throws ? wrapping with try/catch or some other preventive measure is needed
src/l500/l500-depth.h
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| if (res.size() < sizeof(float) * 4) | ||
| if (res.size() < sizeof(intrinsic_depth)) |
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The same as with RGB intrinsic above
src/l500/l500-depth.h
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| throw invalid_value_exception("size of calibration invalid"); | ||
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| auto intrinsic = (intrinsic_depth*)(res.data()); | ||
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| auto model = intrinsic->resolution.intrinsicResolution[0].world.pinhole_cam_model; |
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Depth does has multiple resolutions. How is this translated to intrinsicResolution[0].world.pinhole_cam_model
src/l500/l500-private.cpp
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| auto res = *((pose*)raw_data.data()); | ||
| float trans_scale = 0.001f; | ||
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| if (res.position.x > 0.f) // Extrinsic of color is referenced to the Depth Sensor CS |
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This heuristic will work for D400 only
src/l500/l500-private.h
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| @@ -28,8 +28,11 @@ namespace librealsense | |||
| GVD = 0x10, | |||
| GLD = 0x0f, | |||
| DPT_INTRINSICS_GET = 0x5A, | |||
| DPT_INTRINSICS_FULL_GET = 0x7F, | |||
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Please make the list ordered to prevent/highlight duplicates
src/l500/l500-private.h
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| @@ -72,6 +75,87 @@ namespace librealsense | |||
| { DFU_error, "DFU error" }, | |||
| }; | |||
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| typedef struct pinhole_model | |||
| { | |||
| float2 focalLength; | |||
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Please switch to unified code style
src/l500/l500-private.h
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| @@ -72,6 +75,87 @@ namespace librealsense | |||
| { DFU_error, "DFU error" }, | |||
| }; | |||
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| typedef struct pinhole_model | |||
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Pls verify whether those type require #pragma pack(ing) for parsing
src/l500/l500-private.h
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| uint16_t reserved16; | ||
| uint8_t reserved8; | ||
| uint8_t numOfResolutions; | ||
| pinhole_camera_model intrinsicResolution[1]; //Dynamic number of entries according to numOfResolutions |
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Provision for 5 resolutions
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This is required as a back-compatibility measure, as well as Android/Mac bypass. The drawback -The enum flow that is dependent on HID activation latency will not commit, resulting in partial functionality only. Will be added to known-issues Change-Id: Ib8c546741eedb37a040c7ba0d7a79bf804c4dfdc Signed-off-by: Evgeni Raikhel <[email protected]>
Change-Id: Iae982b95509a65a5d1b0057728c45209c0c15d3e Signed-off-by: Evgeni Raikhel <[email protected]>
ev-mp
changed the title
Spitted l500-depth class to l500-device and l500-depth.
Added support for rgb metadata
Tracked On: RS5-2343