Colorizer: check depth stream format supported or not before process

Arun-Prasad-V · Mar 25, 2024 · 8f83ef8 · 8f83ef8
1 parent 9e8b5ec
commit 8f83ef8
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/src/proc/colorizer.cpp b/src/proc/colorizer.cpp
@@ -245,10 +245,11 @@ namespace librealsense
         if (!frame || frame.is<rs2::frameset>())
             return false;
 
-        if (frame.get_profile().stream_type() != RS2_STREAM_DEPTH)
+        if ((frame.get_profile().stream_type() == RS2_STREAM_DEPTH) && 
+                    (_supported_formats.find(frame.get_profile().format()) != _supported_formats.end()))
+            return true;
+        else
             return false;
-
-        return true;
     }
 
     rs2::frame colorizer::process_frame(const rs2::frame_source& source, const rs2::frame& f)

diff --git a/src/proc/colorizer.h b/src/proc/colorizer.h
@@ -6,6 +6,7 @@
 
 #include <map>
 #include <vector>
+#include <set>
 
 namespace rs2
 {
@@ -169,5 +170,7 @@ namespace librealsense {
 
         float   _depth_units = 0.f;
         float   _d2d_convert_factor = 0.f;
+
+        const std::set<rs2_format> _supported_formats = {RS2_FORMAT_Z16, RS2_FORMAT_DISPARITY32};
     };
 }