From 8f83ef8473bf0e69ccd90a94f1b99a5e1ef00984 Mon Sep 17 00:00:00 2001
From: Arun-Prasad-V <arunprasadv777@gmail.com>
Date: Tue, 19 Mar 2024 09:11:45 +0530
Subject: [PATCH] Colorizer: check depth stream format supported or not before
 process

---
 src/proc/colorizer.cpp | 7 ++++---
 src/proc/colorizer.h   | 3 +++
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/proc/colorizer.cpp b/src/proc/colorizer.cpp
index a959b75ff85..e25471109bd 100644
--- 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
index b94e62649c0..7d6436ccda1 100644
--- 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};
     };
 }