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deprecate Z16H format #13743

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merged 1 commit into from
Feb 5, 2025
Merged

deprecate Z16H format #13743

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2 changes: 1 addition & 1 deletion common/rendering.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
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6 changes: 0 additions & 6 deletions src/ds/d400/d400-device.cpp
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Expand Up @@ -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}
Expand Down Expand Up @@ -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} },
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3 changes: 0 additions & 3 deletions src/ds/d500/d500-device.cpp
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Expand Up @@ -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}
Expand Down Expand Up @@ -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} },
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2 changes: 1 addition & 1 deletion src/image.cpp
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Expand Up @@ -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;
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2 changes: 1 addition & 1 deletion src/proc/synthetic-stream.cpp
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Expand Up @@ -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;
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2 changes: 1 addition & 1 deletion src/uvc-sensor.cpp
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Expand Up @@ -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() );
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4 changes: 1 addition & 3 deletions third-party/realdds/src/dds-stream-profile.cpp
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Expand Up @@ -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,
Expand All @@ -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 },
Expand Down Expand Up @@ -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;
Expand Down