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Fix pointcloud for L515 #9490

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merged 4 commits into from
Jul 26, 2021
Merged

Fix pointcloud for L515 #9490

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09551f6
removed thresholds checking part
nohayassin Jul 25, 2021
b6a1f6c
L500 depth units fix
nohayassin Jul 25, 2021
08a2a9b
L500 depth units fix
nohayassin Jul 25, 2021
9e17241
L500 depth units fix
nohayassin Jul 25, 2021
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3 changes: 3 additions & 0 deletions src/l500/l500-depth.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -504,6 +504,9 @@ namespace librealsense
{
try
{
auto depth_units = get_option(RS2_OPTION_DEPTH_UNITS).query();
set_frame_metadata_modifier([&, depth_units](frame_additional_data& data) {data.depth_units = depth_units; });

_user_requests = requests;

auto is_ir_requested
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9 changes: 9 additions & 0 deletions src/l500/l500-depth.h
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Expand Up @@ -242,6 +242,15 @@ namespace librealsense
return get_l500_recommended_proccesing_blocks();
};

void set_frame_metadata_modifier(on_frame_md callback) override
{
_metadata_modifier = callback;
auto s = get_raw_sensor().get();
auto uvc = As< librealsense::uvc_sensor >(s);
if (uvc)
uvc->set_frame_metadata_modifier(callback);
}

float read_baseline() const override;
float read_znorm();

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