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Read the depth units from intrinsics. #5106

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Oct 23, 2019
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Read the depth units from intrinsics. #5106

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9 changes: 4 additions & 5 deletions src/l500/l500-depth.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -167,13 +167,12 @@ namespace librealsense

float l500_depth_sensor::read_znorm()
{
const int baseline_znorm = 0xa00e0b08;
auto res = _owner->_hw_monitor->send(command(ivcam2::fw_cmd::MRD, baseline_znorm, baseline_znorm + 4));
if (res.size() < 1)
auto intrin = get_intrinsic();
if (intrin.resolution.num_of_resolutions < 1)
{
throw std::runtime_error("Invalid result size!");
throw std::runtime_error("Invalid intrinsics!");
}
auto znorm = *(float*)res.data();
auto znorm = intrin.resolution.intrinsic_resolution[0].world.znorm;
return 1/znorm* MM_TO_METER;
}

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