ds5-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 "context.h"
#include "image.h"
#include "metadata-parser.h"

#include "ds5-nonmonochrome.h"
#include "ds5-private.h"
#include "ds5-options.h"
#include "ds5-timestamp.h"
#include "proc/color-formats-converter.h"
#include "proc/depth-formats-converter.h"

namespace librealsense
{
    ds5_nonmonochrome::ds5_nonmonochrome(std::shared_ptr<context> ctx,
                                         const platform::backend_device_group& group)
        : device(ctx, group), ds5_device(ctx, group)
    {
        using namespace ds;

        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 })))
        {
            if (RS455_PID != pid && RS405_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"));

                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 (RS455_PID != pid && RS405_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")))
        {
            get_depth_sensor().register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,
                std::make_shared<external_sync_mode>(*_hw_monitor));
        }
    }
}