PR #13743 from AviaAv: deprecate Z16H format

IntelRealSense · Feb 5, 2025 · 9306cb8 · 9306cb8
2 parents a96ca05 + f266c19
commit 9306cb8
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Showing 7 changed files with 5 additions and 16 deletions.
diff --git a/common/rendering.h b/common/rendering.h
@@ -511,7 +511,7 @@ namespace rs2
                 case RS2_FORMAT_ANY:
                     throw std::runtime_error("not a valid format");
                 case RS2_FORMAT_Z16H:
-                    throw std::runtime_error("unexpected format: Z16H. Check decoder processing block");
+                    throw std::runtime_error("unexpected format: Z16H is deprecated! Check decoder processing block");
                 case RS2_FORMAT_Z16:
                 case RS2_FORMAT_DISPARITY16:
                 case RS2_FORMAT_DISPARITY32:

diff --git a/src/ds/d400/d400-device.cpp b/src/ds/d400/d400-device.cpp
@@ -64,7 +64,6 @@ namespace librealsense
         {fourcc('Y','1','6',' '), RS2_FORMAT_Y16},
         {fourcc('Y','1','2','I'), RS2_FORMAT_Y12I},
         {fourcc('Z','1','6',' '), RS2_FORMAT_Z16},
-        {fourcc('Z','1','6','H'), RS2_FORMAT_Z16H},
         {fourcc('R','G','B','2'), RS2_FORMAT_BGR8},
         {fourcc('M','J','P','G'), RS2_FORMAT_MJPEG},
         {fourcc('B','Y','R','2'), RS2_FORMAT_RAW16}
@@ -638,11 +637,6 @@ namespace librealsense
                     usb_modality = false;
             }
 
-            if (_fw_version >= firmware_version("5.12.1.1"))
-            {
-                depth_sensor.register_processing_block(processing_block_factory::create_id_pbf(RS2_FORMAT_Z16H, RS2_STREAM_DEPTH));
-            }
-
             depth_sensor.register_processing_block(
                 { {RS2_FORMAT_Y8I} },
                 { {RS2_FORMAT_Y8, RS2_STREAM_INFRARED, 1} , {RS2_FORMAT_Y8, RS2_STREAM_INFRARED, 2} },

diff --git a/src/ds/d500/d500-device.cpp b/src/ds/d500/d500-device.cpp
@@ -54,7 +54,6 @@ namespace librealsense
         {rs_fourcc('Y','1','2','I'), RS2_FORMAT_Y12I},
         {rs_fourcc('Y','1','6','I'), RS2_FORMAT_Y16I},
         {rs_fourcc('Z','1','6',' '), RS2_FORMAT_Z16},
-        {rs_fourcc('Z','1','6','H'), RS2_FORMAT_Z16H},
         {rs_fourcc('R','G','B','2'), RS2_FORMAT_BGR8},
         {rs_fourcc('M','J','P','G'), RS2_FORMAT_MJPEG},
         {rs_fourcc('B','Y','R','2'), RS2_FORMAT_RAW16}
@@ -505,8 +504,6 @@ namespace librealsense
 
             _is_symmetrization_enabled = check_symmetrization_enabled();
 
-            depth_sensor.register_processing_block(processing_block_factory::create_id_pbf(RS2_FORMAT_Z16H, RS2_STREAM_DEPTH));
-
             depth_sensor.register_processing_block(
                 { {RS2_FORMAT_Y8I} },
                 { {RS2_FORMAT_Y8, RS2_STREAM_INFRARED, 1} , {RS2_FORMAT_Y8, RS2_STREAM_INFRARED, 2} },

diff --git a/src/image.cpp b/src/image.cpp
@@ -49,7 +49,7 @@ namespace librealsense
         case RS2_FORMAT_INZI: return 32;
         case RS2_FORMAT_INVI: return 16;
         case RS2_FORMAT_W10: return 32;
-        case RS2_FORMAT_Z16H: return 16;
+        case RS2_FORMAT_Z16H: return 16; // DEPRECATED!
         case RS2_FORMAT_FG: return 16;
         case RS2_FORMAT_Y411: return 12;
         case RS2_FORMAT_Y16I: return 32;

diff --git a/src/proc/synthetic-stream.cpp b/src/proc/synthetic-stream.cpp
@@ -142,7 +142,7 @@ namespace librealsense
             composite.foreach_rs([&](const rs2::frame& frame)
             {
                 auto format = frame.get_profile().format();
-                if (depth_result_frame &&  val_in_range(format, { RS2_FORMAT_DISPARITY32, RS2_FORMAT_DISPARITY16, RS2_FORMAT_Z16H }))
+                if (depth_result_frame &&  val_in_range(format, { RS2_FORMAT_DISPARITY32, RS2_FORMAT_DISPARITY16 }))
                     return;
                 if (disparity_result_frame && format == RS2_FORMAT_Z16)
                     return;

diff --git a/src/uvc-sensor.cpp b/src/uvc-sensor.cpp
@@ -193,7 +193,7 @@ void uvc_sensor::open( const stream_profiles & requests )
                         expected_size = compute_frame_expected_size( width, height, bpp );
 
                     // For compressed formats copy the raw data as is
-                    if( val_in_range( req_profile_base->get_format(), { RS2_FORMAT_MJPEG, RS2_FORMAT_Z16H } ) )
+                    if( val_in_range( req_profile_base->get_format(), { RS2_FORMAT_MJPEG } ) )
                         expected_size = static_cast< int >( f.frame_size );
 
                     auto extension = frame_source::stream_to_frame_types( req_profile_base->get_stream_type() );

diff --git a/third-party/realdds/src/dds-stream-profile.cpp b/third-party/realdds/src/dds-stream-profile.cpp
@@ -64,7 +64,7 @@ enum rs2_format  // copy from rs2_sensor.h
     RS2_FORMAT_INZI,  /**< multi-planar Depth 16bit + IR 10bit.  */
     RS2_FORMAT_INVI,  /**< 8-bit IR stream.  */
     RS2_FORMAT_W10,   /**< Grey-scale image as a bit-packed array. 4 pixel data stream taking 5 bytes */
-    RS2_FORMAT_Z16H,  /**< Variable-length Huffman-compressed 16-bit depth values. */
+    RS2_FORMAT_Z16H,  /**< DEPRECATED! - Variable-length Huffman-compressed 16-bit depth values. */
     RS2_FORMAT_FG,    /**< 16-bit per-pixel frame grabber format. */
     RS2_FORMAT_Y411,  /**< 12-bit per-pixel. */
     RS2_FORMAT_COMBINED_MOTION,
@@ -84,7 +84,6 @@ int dds_video_encoding::to_rs2() const
         { "Y12I", RS2_FORMAT_Y12I },
 //      { "Y16I", RS2_FORMAT_Y16I },
         { "16UC1", RS2_FORMAT_Z16 },  // Used by depth streams; ROS2-compatible
-        { "Z16H", RS2_FORMAT_Z16H },
         { "rgb8", RS2_FORMAT_RGB8 },  // Used by color streams; ROS2-compatible
         { "RGBA", RS2_FORMAT_RGBA8 },
         { "RGB2", RS2_FORMAT_BGR8 },
@@ -117,7 +116,6 @@ dds_video_encoding dds_video_encoding::from_rs2( int rs2_format )
     case RS2_FORMAT_Y12I: encoding = "Y12I"; break;
 //  case RS2_FORMAT_Y16I: encoding = "Y16I"; break;
     case RS2_FORMAT_Z16: encoding = "16UC1"; break;
-    case RS2_FORMAT_Z16H: encoding = "Z16H"; break;
     case RS2_FORMAT_RGB8: encoding = "rgb8"; break;
     case RS2_FORMAT_RGBA8: encoding = "RGBA"; break;  // todo
     case RS2_FORMAT_BGR8: encoding = "RGB2"; break;