enabling the requested profiles with D405, using pipe API

judestainz · Jul 19, 2021 · a10a92f · a10a92f
1 parent 400571d
commit a10a92f
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Showing 2 changed files with 46 additions and 5 deletions.
diff --git a/src/device.cpp b/src/device.cpp
@@ -311,15 +311,16 @@ void device::tag_profiles(stream_profiles profiles) const
 
 bool device::contradicts(const stream_profile_interface* a, const std::vector<stream_profile>& others) const
 {
+    bool is_d405 = (get_info(RS2_CAMERA_INFO_PRODUCT_ID) == "0B5B");
     if (auto vid_a = dynamic_cast<const video_stream_profile_interface*>(a))
     {
         for (auto request : others)
         {
             if (a->get_framerate() != 0 && request.fps != 0 && (a->get_framerate() != request.fps))
                 return true;
-            if (vid_a->get_width() != 0 && request.width != 0 && (vid_a->get_width() != request.width))
+            if (vid_a->get_width() != 0 && request.width != 0 && (vid_a->get_width() != request.width) && (!(is_d405 && vid_a->get_width() == 1280 && request.width == 1288)))
                 return true;
-            if (vid_a->get_height() != 0 && request.height != 0 && (vid_a->get_height() != request.height))
+            if (vid_a->get_height() != 0 && request.height != 0 && (vid_a->get_height() != request.height) && (!(is_d405 && vid_a->get_height() == 720 && request.height == 808)))
                 return true;
         }
     }

diff --git a/src/pipeline/resolver.h b/src/pipeline/resolver.h
@@ -351,10 +351,20 @@ namespace librealsense
                     if (!has_wildcards(request)) continue;
                     for (auto candidate : candidates)
                     {
-                        if (match(candidate.get(), request) && !dev->contradicts(candidate.get(), requests))
+                        //if (match(candidate.get(), request) && !dev->contradicts(candidate.get(), requests))
+                        if (match(candidate.get(), request))
                         {
-                            request = to_request(candidate.get());
-                            break;
+                            if (candidate.get()->get_stream_type() == RS2_STREAM_COLOR &&
+                                candidate.get()->get_format() == RS2_FORMAT_RGB8 &&
+                                candidate.get()->get_framerate() == 15)
+                            {
+                                int a = 1;
+                            }
+                            if (!dev->contradicts(candidate.get(), requests))
+                            {
+                                request = to_request(candidate.get());
+                                break;
+                            }
                         }
                     }
                     if (has_wildcards(request))
@@ -409,6 +419,36 @@ namespace librealsense
 
                     if (targets.size() > 0) // if subdevice is handling any streams
                     {
+                        // moving the infrared profile to first position if it is requested
+                        if (dev->get_info(RS2_CAMERA_INFO_PRODUCT_ID) == "0B5B" && targets.size() > 1)
+                        {
+                            // moving the infrared profile to first position if it is requested
+                            int ir_index = -1;
+                            for (int i = 0; i < targets.size(); ++i)
+                            {
+                                if (targets[i].stream == RS2_STREAM_INFRARED)
+                                {
+                                    ir_index = i;
+                                    break;
+                                }
+                            }
+                            // ir_index not -1: means that the ir profile has been found in targets
+                            // ir_index not 0: means that the ir profile is not in targets's first position
+                            if (ir_index != -1 && ir_index != 0) 
+                            {
+                                std::swap(targets[0], targets[ir_index]);
+                            }
+                            /*auto it = std::find(targets.begin(), targets.end(), [&](const stream_profile& sp) {
+                                return sp.stream == RS2_STREAM_INFRARED;
+                                });
+                            if (it != targets.end()) // means that the ir profile has been found in targets
+                            {
+                                stream_profile ir_sp = *it;
+                                targets.erase(it);
+                                targets.
+                            }*/
+                        }
+
                         auto_complete(targets, profiles, dev);
 
                         for (auto && t : targets)