Handle dynamic number of intrinsic tables for USB2 support #7094
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src/l500/l500-color.cpp
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| * sizeof( pinhole_camera_model ) ); | ||
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| // Validate table size | ||
| if (expected_size > response_vec.size()) |
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Also check for expected < actual, or just use !=
I think that since the table size is const it can all be replaced with check_calib<> above
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See my comment above: we can only use the bytes covered by the number of resolutions, but we're not guaranteed that there will be no extra information.
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The table has the reserved space for up to 5 tables, but only some of them will be active.
Yet the raw table size is predefined by FW spec, thus non-modifiable, is it?
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Like mentioned above, FW send extra bytes for debugging purpose. and it can change on each FW version.
- we get different size of output for USB2/USB3
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| auto resolutions_rgb_table_ptr = reinterpret_cast<const ivcam2::intrinsic_rgb *>(response_vec.data()); | ||
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| // Get full maximum size of the resolution array and deduct the unused resolutions size from it |
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I suggest you comment what the "agreement" is between FW and us: that they guarantee only as many bytes as required for the given number of resolutions, and that they may send more.
src/l500/l500-depth.cpp
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| // Set a new memory allocated intrinsics struct (Full size 5 resolutions) | ||
| // Copy the relevant data from the dynamic resolution received from the FW | ||
| ivcam2::intrinsic_depth resolutions_depth_table_output; | ||
| resolutions_depth_table_output.orient = resolutions_depth_table_ptr->orient; |
| @@ -221,7 +222,7 @@ namespace librealsense | |||
| ivcam2::intrinsic_depth get_intrinsic() const override | |||
| { | |||
| using namespace ivcam2; | |||
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Don't need this using statement
On L515 device we get 2 depth resolutions on USB3 and 1 on USB2.
This PR replace sharing the FW raw data vector with a physical preallocated full size buffer (Support up to 5 resolutions)
Same change apply for depth and color intrinsic tables handling.