RGB sensor auto-exposure region of interest

src/ds5/ds5-color.cpp

@@ -133,6 +133,14 @@ namespace librealsense
         color_ep->register_metadata(RS2_FRAME_METADATA_POWER_LINE_FREQUENCY, make_attribute_parser(&md_rgb_control::power_line_frequency, md_rgb_control_attributes::power_line_frequency_attribute, md_prop_offset));
         color_ep->register_metadata(RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION, make_attribute_parser(&md_rgb_control::low_light_comp, md_rgb_control_attributes::low_light_comp_attribute, md_prop_offset));
 
+        // Starting with firmware 5.10.9, auto-exposure ROI is available for color sensor
+        if (_fw_version >= firmware_version("5.10.9.0"))
+        {
+            roi_sensor_interface* roi_sensor;
+            if (roi_sensor = dynamic_cast<roi_sensor_interface*>(color_ep.get()))
+                roi_sensor->set_roi_method(std::make_shared<ds5_auto_exposure_roi_method>(*_hw_monitor, ds::fw_cmd::SETRGBAEROI));
+        }
+
         return color_ep;
     }
 

src/ds5/ds5-color.h

@@ -30,7 +30,9 @@ namespace librealsense
         std::shared_ptr<lazy<rs2_extrinsics>> _color_extrinsic;
     };
 
-    class ds5_color_sensor : public uvc_sensor, public video_sensor_interface
+    class ds5_color_sensor : public uvc_sensor, 
+                             public video_sensor_interface,
+                             public roi_sensor_base
     {
     public:
         explicit ds5_color_sensor(ds5_color* owner,

src/ds5/ds5-device.cpp

@@ -24,45 +24,41 @@
 
 namespace librealsense
 {
-    class ds5_auto_exposure_roi_method : public region_of_interest_method
+    ds5_auto_exposure_roi_method::ds5_auto_exposure_roi_method(
+        const hw_monitor& hwm,
+        ds::fw_cmd cmd) 
+        : _hw_monitor(hwm), _cmd(cmd) {}
+
+    void ds5_auto_exposure_roi_method::set(const region_of_interest& roi)
     {
-    public:
-        explicit ds5_auto_exposure_roi_method(const hw_monitor& hwm) : _hw_monitor(hwm) {}
+        command cmd(_cmd);
+        cmd.param1 = roi.min_y;
+        cmd.param2 = roi.max_y;
+        cmd.param3 = roi.min_x;
+        cmd.param4 = roi.max_x;
+        _hw_monitor.send(cmd);
+    }
 
-        void set(const region_of_interest& roi) override
-        {
-            command cmd(ds::SETAEROI);
-            cmd.param1 = roi.min_y;
-            cmd.param2 = roi.max_y;
-            cmd.param3 = roi.min_x;
-            cmd.param4 = roi.max_x;
-            _hw_monitor.send(cmd);
-        }
+    region_of_interest ds5_auto_exposure_roi_method::get() const
+    {
+        region_of_interest roi;
+        command cmd(_cmd + 1);
+        auto res = _hw_monitor.send(cmd);
 
-        region_of_interest get() const override
+        if (res.size() < 4 * sizeof(uint16_t))
         {
-            region_of_interest roi;
-            command cmd(ds::GETAEROI);
-            auto res = _hw_monitor.send(cmd);
-
-            if (res.size() < 4 * sizeof(uint16_t))
-            {
-                throw std::runtime_error("Invalid result size!");
-            }
-
-            auto words = reinterpret_cast<uint16_t*>(res.data());
+            throw std::runtime_error("Invalid result size!");
+        }
 
-            roi.min_y = words[0];
-            roi.max_y = words[1];
-            roi.min_x = words[2];
-            roi.max_x = words[3];
+        auto words = reinterpret_cast<uint16_t*>(res.data());
 
-            return roi;
-        }
+        roi.min_y = words[0];
+        roi.max_y = words[1];
+        roi.min_x = words[2];
+        roi.max_x = words[3];
 
-    private:
-        const hw_monitor& _hw_monitor;
-    };
+        return roi;
+    }
 
     std::vector<uint8_t> ds5_device::send_receive_raw_data(const std::vector<uint8_t>& input)
     {

src/ds5/ds5-device.h

@@ -13,6 +13,19 @@
 
 namespace librealsense
 {
+    class ds5_auto_exposure_roi_method : public region_of_interest_method
+    {
+    public:
+        explicit ds5_auto_exposure_roi_method(const hw_monitor& hwm,
+            ds::fw_cmd cmd = ds::fw_cmd::SETAEROI);
+
+        void set(const region_of_interest& roi) override;
+        region_of_interest get() const override;
+    private:
+        const ds::fw_cmd _cmd;
+        const hw_monitor& _hw_monitor;
+    };
+
     class ds5_device : public virtual device, public debug_interface
     {
     public:

src/ds5/ds5-private.h

@@ -111,6 +111,8 @@ namespace librealsense
             GET_EXTRINSICS  = 0x53,     // get extrinsics
             SET_CAM_SYNC    = 0x69,     // set Inter-cam HW sync mode [0-default, 1-master, 2-slave]
             GET_CAM_SYNC    = 0x6A,     // fet Inter-cam HW sync mode
+            SETRGBAEROI     = 0x75,     // set RGB auto-exposure region of interest
+            GETRGBAEROI     = 0x76,     // get RGB auto-exposure region of interest
         };
 
         const int etDepthTableControl = 9; // Identifier of the depth table control

wrappers/csharp/Intel.RealSense/Sensor.cs

@@ -92,6 +92,32 @@ public void Dispose()
         #endregion
     }
 
+    public struct ROI
+    {
+        public int minX, minY, maxX, maxY;
+    }
+
+    public class AutoExposureROI
+    {
+        internal IntPtr m_instance;
+
+        public ROI GetRegionOfInterest()
+        {
+            var result = new ROI();
+            object error;
+            NativeMethods.rs2_get_region_of_interest(m_instance, out result.minX,
+                out result.minY, out result.maxX, out result.maxY, out error);
+            return result;
+        }
+
+        public void SetRegionOfInterest(ROI value)
+        {
+            object error;
+            NativeMethods.rs2_set_region_of_interest(m_instance,
+                value.minX, value.minY, value.maxX, value.maxY, out error);
+        }
+    }
+
     public class Sensor : IDisposable
     {
         protected readonly IntPtr m_instance;
@@ -108,6 +134,19 @@ internal Sensor(IntPtr sensor)
             m_instance = sensor;
         }
 
+        public AutoExposureROI AutoExposureSettings
+        {
+            get
+            {
+                object error;
+                if (NativeMethods.rs2_is_sensor_extendable_to(m_instance, Extension.Roi, out error) > 0)
+                {
+                    return new AutoExposureROI { m_instance = m_instance };
+                }
+                return null;
+            }
+        }
+
         public class CameraInfos
         {
             readonly IntPtr m_sensor;