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Merged
remibettan merged 2 commits into from
Jul 29, 2024
Merged

set_calibration_table removed from engine #13189

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95e8071
set_calibration_table removed from engine
remibettan Jul 24, 2024
0065e4f
typo
remibettan Jul 29, 2024
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1 change: 0 additions & 1 deletion src/calibration-engine-interface.h
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Expand Up @@ -45,7 +45,6 @@ class calibration_engine_interface
virtual int8_t get_triggered_calibration_progress() const = 0;
virtual std::vector<uint8_t> get_calibration_table(std::vector<uint8_t>& current_calibration) const = 0;
virtual void write_calibration(std::vector<uint8_t>& calibration) const = 0;
virtual void set_calibration_table(const std::vector<uint8_t>& calibration, std::vector<uint8_t>& current_calibration) const = 0;
virtual std::string get_calibration_config() const = 0;
virtual void set_calibration_config(const std::string& calibration_config_json_str) const = 0;
};
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12 changes: 11 additions & 1 deletion src/ds/d500/d500-auto-calibration.cpp
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Expand Up @@ -225,7 +225,17 @@ namespace librealsense

void d500_auto_calibrated::set_calibration_table(const std::vector<uint8_t>& calibration)
{
_calib_engine->set_calibration_table(calibration, _curr_calibration);
if (_curr_calibration.size() != sizeof(ds::table_header) && // First time setting table, only header set by get_calibration_table
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@OhadMeir OhadMeir Jul 28, 2024

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Is _curr_calibration here is same as in d500_debug_protocol_calibration_engine? Notice that d500_debug_protocol_calibration_engine::get_calibration_table still uses the member

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@remibettan remibettan Jul 28, 2024

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get_valibration_table remained in the engine, because it uses the debug protocol interface.
It gets the current_calibration as param - this is the same as the one used in the set_calibration_table method:
std::vector<uint8_t> d500_auto_calibrated::get_calibration_table() const
{
return _calib_engine->get_calibration_table(_curr_calibration);
}

_curr_calibration.size() != sizeof(ds::d500_coefficients_table)) // Table was previously set
throw std::runtime_error(rsutils::string::from() <<
"Current calibration table has unexpected size " << _curr_calibration.size());

if (calibration.size() != sizeof(ds::d500_coefficients_table) - sizeof(ds::table_header))
throw std::runtime_error(rsutils::string::from() <<
"Setting calibration table with unexpected size" << calibration.size());

_curr_calibration.resize(sizeof(ds::table_header)); // Remove previously set calibration, keep header.
_curr_calibration.insert(_curr_calibration.end(), calibration.begin(), calibration.end());
}

void d500_auto_calibrated::reset_to_factory_calibration() const
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17 changes: 1 addition & 16 deletions src/ds/d500/d500-debug-protocol-calibration-engine.cpp
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Expand Up @@ -113,7 +113,7 @@ std::vector<uint8_t> d500_debug_protocol_calibration_engine::get_calibration_tab
if (calib.size() < sizeof(ds::table_header) + header->table_size)
throw std::runtime_error("GET_HKR_CONFIG_TABLE response is smaller then expected table size!");

// Backwards compalibility dictates that we will return the table without the header, but we need the header
// Backwards compatibility dictates that we will return the table without the header, but we need the header
// details like versions to later set back the table. Save it at the start of _curr_calibration.
current_calibration.assign(calib.begin(), calib.begin() + sizeof(ds::table_header));

Expand All @@ -140,21 +140,6 @@ void d500_debug_protocol_calibration_engine::write_calibration(std::vector<uint8
_dev->send_receive_raw_data(cmd);
}

void d500_debug_protocol_calibration_engine::set_calibration_table(const std::vector<uint8_t>& calibration, std::vector<uint8_t>& current_calibration) const
{
if (current_calibration.size() != sizeof(ds::table_header) && // First time setting table, only header set by get_calibration_table
current_calibration.size() != sizeof(ds::d500_coefficients_table)) // Table was previously set
throw std::runtime_error(rsutils::string::from() <<
"Current calibration table has unexpected size " << current_calibration.size());

if (calibration.size() != sizeof(ds::d500_coefficients_table) - sizeof(ds::table_header))
throw std::runtime_error(rsutils::string::from() <<
"Setting calibration table with unexpected size" << calibration.size());

current_calibration.resize(sizeof(ds::table_header)); // Remove previously set calibration, keep header.
current_calibration.insert(current_calibration.end(), calibration.begin(), calibration.end());
}

std::string d500_debug_protocol_calibration_engine::get_calibration_config() const
{
calibration_config_with_header* result;
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1 change: 0 additions & 1 deletion src/ds/d500/d500-debug-protocol-calibration-engine.h
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Expand Up @@ -30,7 +30,6 @@ class d500_debug_protocol_calibration_engine : public calibration_engine_interfa
virtual int8_t get_triggered_calibration_progress() const override;
virtual std::vector<uint8_t> get_calibration_table(std::vector<uint8_t>& current_calibration) const override;
virtual void write_calibration(std::vector<uint8_t>& calibration) const override;
virtual void set_calibration_table(const std::vector<uint8_t>& calibration, std::vector<uint8_t>& current_calibration) const override;
virtual std::string get_calibration_config() const override;
virtual void set_calibration_config(const std::string& calibration_config_json_str) const override;
ds::d500_coefficients_table get_depth_calibration() const;
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