adding support for y16i - 10 MSB

include/librealsense2/h/rs_sensor.h

@@ -89,6 +89,7 @@ typedef enum rs2_format
     RS2_FORMAT_Z16H            , /**< Variable-length Huffman-compressed 16-bit depth values. */
     RS2_FORMAT_FG              , /**< 16-bit per-pixel frame grabber format. */
     RS2_FORMAT_Y411            , /**< 12-bit per-pixel. */
+    RS2_FORMAT_Y16I            , /**< 12-bit per pixel interleaved. 12-bit left, 12-bit right. */
     RS2_FORMAT_COUNT             /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
 } rs2_format;
 const char* rs2_format_to_string(rs2_format format);

src/ds5/ds5-device.cpp

@@ -29,6 +29,7 @@
 #include "proc/temporal-filter.h"
 #include "proc/y8i-to-y8y8.h"
 #include "proc/y12i-to-y16y16.h"
+#include "proc/y16i-to-y16y16.h"
 #include "proc/color-formats-converter.h"
 #include "proc/syncer-processing-block.h"
 #include "proc/hole-filling-filter.h"
@@ -59,6 +60,7 @@ namespace librealsense
         {rs_fourcc('W','1','0',' '), RS2_FORMAT_W10},
         {rs_fourcc('Y','1','6',' '), RS2_FORMAT_Y16},
         {rs_fourcc('Y','1','2','I'), RS2_FORMAT_Y12I},
+        {rs_fourcc('Y','1','6','I'), RS2_FORMAT_Y16I},
         {rs_fourcc('Z','1','6',' '), RS2_FORMAT_Z16},
         {rs_fourcc('Z','1','6','H'), RS2_FORMAT_Z16H},
         {rs_fourcc('R','G','B','2'), RS2_FORMAT_BGR8},
@@ -75,6 +77,7 @@ namespace librealsense
         {rs_fourcc('W','1','0',' '), RS2_STREAM_INFRARED},
         {rs_fourcc('Y','1','6',' '), RS2_STREAM_INFRARED},
         {rs_fourcc('Y','1','2','I'), RS2_STREAM_INFRARED},
+        {rs_fourcc('Y','1','6','I'), RS2_STREAM_INFRARED},
         {rs_fourcc('R','G','B','2'), RS2_STREAM_INFRARED},
         {rs_fourcc('Z','1','6',' '), RS2_STREAM_DEPTH},
         {rs_fourcc('Z','1','6','H'), RS2_STREAM_DEPTH},
@@ -855,6 +858,12 @@ namespace librealsense
                 []() {return std::make_shared<y12i_to_y16y16>(); }
             );
 
+            depth_sensor.register_processing_block(
+                { RS2_FORMAT_Y16I },
+                { {RS2_FORMAT_Y16, RS2_STREAM_INFRARED, 1}, {RS2_FORMAT_Y16, RS2_STREAM_INFRARED, 2} },
+                []() {return std::make_shared<y16i_to_y16y16>(); }
+            );
+
             pid_hex_str = hexify(_pid);
 
             if ((_pid == RS416_PID || _pid == RS416_RGB_PID) && _fw_version >= firmware_version("5.12.0.1"))

src/proc/CMakeLists.txt

@@ -26,6 +26,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/disparity-transform.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/y8i-to-y8y8.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/y12i-to-y16y16.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/y16i-to-y16y16.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/identity-processing-block.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/threshold.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/rates-printer.cpp"
@@ -55,6 +56,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/disparity-transform.h"
         "${CMAKE_CURRENT_LIST_DIR}/y8i-to-y8y8.h"
         "${CMAKE_CURRENT_LIST_DIR}/y12i-to-y16y16.h"
+        "${CMAKE_CURRENT_LIST_DIR}/y16i-to-y16y16.h"
         "${CMAKE_CURRENT_LIST_DIR}/identity-processing-block.h"
         "${CMAKE_CURRENT_LIST_DIR}/threshold.h"
         "${CMAKE_CURRENT_LIST_DIR}/rates-printer.h"

src/proc/y16i-to-y16y16.cpp

@@ -0,0 +1,39 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2022 Intel Corporation. All Rights Reserved.
+
+#include "y16i-to-y16y16.h"
+#include "stream.h"
+// CUDA TODO
+//#ifdef RS2_USE_CUDA
+//#include "cuda/cuda-conversion.cuh"
+//#endif
+
+namespace librealsense
+{
+    struct y16i_pixel { uint8_t rl : 8, rh : 4, ll : 8, lh : 4; int l() const { return lh << 8 | ll; } int r() const { return rh << 8 | rl; } };
+    void unpack_y16_y16_from_y16i(byte* const dest[], const byte* source, int width, int height, int actual_size)
+    {
+        auto count = width * height;
+// CUDA TODO
+//#ifdef RS2_USE_CUDA
+//        rscuda::split_frame_y16_y16_from_y16i_cuda(dest, count, reinterpret_cast<const y12i_pixel*>(source));
+//#else
+        split_frame(dest, count, reinterpret_cast<const y16i_pixel*>(source),
+            [](const y16i_pixel& p) -> uint16_t { return static_cast<uint16_t>(p.l()); },  
+            [](const y16i_pixel& p) -> uint16_t { return static_cast<uint16_t>(p.r()); });
+//#endif
+    }
+
+    y16i_to_y16y16::y16i_to_y16y16(int left_idx, int right_idx)
+        : y16i_to_y16y16("Y16I to Y16L Y16R Transform", left_idx, right_idx) {}
+
+    y16i_to_y16y16::y16i_to_y16y16(const char* name, int left_idx, int right_idx)
+        : interleaved_functional_processing_block(name, RS2_FORMAT_Y16I, RS2_FORMAT_Y16, RS2_STREAM_INFRARED, RS2_EXTENSION_VIDEO_FRAME, 1,
+            RS2_FORMAT_Y16, RS2_STREAM_INFRARED, RS2_EXTENSION_VIDEO_FRAME, 2)
+    {}
+
+    void y16i_to_y16y16::process_function(byte* const dest[], const byte* source, int width, int height, int actual_size, int input_size)
+    {
+        unpack_y16_y16_from_y16i(dest, source, width, height, actual_size);
+    }
+}

src/proc/y16i-to-y16y16.h

@@ -0,0 +1,22 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2022 Intel Corporation. All Rights Reserved.
+
+#pragma once
+
+#include "synthetic-stream.h"
+#include "option.h"
+#include "image.h"
+
+namespace librealsense
+{
+    class y16i_to_y16y16 : public interleaved_functional_processing_block
+    {
+    public:
+        y16i_to_y16y16(int left_idx = 1, int right_idx = 2);
+
+    protected:
+        y16i_to_y16y16(const char* name, int left_idx, int right_idx);
+        void process_function(byte* const dest[], const byte* source, int width, int height, int actual_size, int input_size) override;
+    };
+}
+

src/to-string.cpp

@@ -417,6 +417,7 @@ const char * get_string( rs2_format value )
     CASE( Z16H )
     CASE( FG )
     CASE( Y411 )
+    CASE( Y16I )
     default:
         assert( ! is_valid( value ) );
         return UNKNOWN_VALUE;

wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/StreamFormat.java

@@ -32,6 +32,7 @@ public enum StreamFormat {
     Z16H(28),
     FG(29),
     Y411(30);
+    Y16I(31);
     private final int mValue;
 
     private StreamFormat(int value) { mValue = value; }

wrappers/csharp/Intel.RealSense/Types/Enums/Format.cs

@@ -99,6 +99,9 @@ public enum Format
         FG = 29,
 
         /// <summary>12-bit per-pixel. 4 pixel data stream taking 6 bytes.</summary>
-        Y411 = 30
+        Y411 = 30,
+
+        /// <summary>12-bit per pixel interleaved. 12-bit left, 12-bit right. Each pixel is stored in a 24-bit word in little-endian order.</summary>
+        Y16i = 31
     }
 }

wrappers/nodejs/src/addon.cpp

@@ -4703,6 +4703,7 @@ void InitModule(v8::Local<v8::Object> exports) {
   _FORCE_SET_ENUM(RS2_FORMAT_Z16H);
   _FORCE_SET_ENUM(RS2_FORMAT_FG);
   _FORCE_SET_ENUM(RS2_FORMAT_Y411);
+  _FORCE_SET_ENUM(RS2_FORMAT_Y16I);
   _FORCE_SET_ENUM(RS2_FORMAT_COUNT);
 
   // rs2_frame_metadata_value