d400-nonmonochrome.cpp

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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
 
#include <mutex>
#include <chrono>
#include <vector>
#include <iterator>
#include <cstddef>
 
#include "device.h"
#include "image.h"
#include "metadata-parser.h"
 
#include "d400-nonmonochrome.h"
#include "d400-private.h"
#include "d400-options.h"
#include "d400-info.h"
#include "ds/ds-timestamp.h"
#include "proc/color-formats-converter.h"
#include "proc/depth-formats-converter.h"
 
namespace librealsense
{
    d400_nonmonochrome::d400_nonmonochrome( std::shared_ptr< const d400_info > const & dev_info )
        : device(dev_info), d400_device(dev_info)
    {
        using namespace ds;
 
        auto pid = dev_info->get_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 ((val_in_range(pid, { RS455_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 })))
        {
            if (!val_in_range(pid, { RS405_PID, RS455_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"));
 
                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<uyvy_converter>(RS2_FORMAT_UYVY, map_supported_color_formats(RS2_FORMAT_UYVY), RS2_STREAM_INFRARED));
 
        if (!val_in_range(pid, { RS405_PID , RS455_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")))
        {
            get_depth_sensor().register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,
                std::make_shared<external_sync_mode>(*_hw_monitor));
        }
    }
}