SR305/SR300 depth image incorrect with BUILD_WITH_CUDA=true

[andrusza2]

Required Info
Camera Model	SR305 (SR300 also exposed to this bug)
Firmware Version	3.27.3.0
Operating System & Version	Linux (Ubuntu 18)
Kernel Version (Linux Only)	4.9.201
Platform	NVIDIA Jetson (tested also on x86 PC)
SDK Version	2.44
Language	C++
Segment	Depth Camera

Issue Description

As mentioned in /issues/6373 - depth camera is not working properly when librealsense is build with CUDA. There is a bug in src/proc/depth-formats-converter.cpp file, which causes the wrong data to be copied for build with CUDA.

The functions unpack_z16_y8_from_sr300_inzi and unpack_z16_y16_from_sr300_inzi use the source data pointer (in) - the first half of the data is bit-shifted and stored in dest[1], the second half is directly copied to dest[0]. In the CPU version, the pointer is moved in a loop and after its execution it points to in + count - so the copying works as it should. In the CUDA version, the pointer is never moved, so bad data is copied to dest[0], resulting in an incorrect depth image. Simply moving the pointer to the right place fixes the problem.

[MartyG-RealSense]

Thanks very much @andrusza2 for your report of your own experience of this SR300 issue and your kind contribution of a PR solution to address the problem. This case will be kept open for the duration that the PR is active. Thanks again!

[MartyG-RealSense]

Hi @andrusza2 As your kindly contributed PR fix for incorrect depth with CUDA was released in SDK 2.47.0, I will close this case. Thanks so much for your work in resolving this SR300 issue!